+ python -m lidar_slam --no-model /working/2ebe2e34-2dd4-4ae1-892e-b7f820598c99 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/2ebe2e34-2dd4-4ae1-892e-b7f820598c99 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 0.001346184 Adjusted end_distance from 9.223372036854776e+18 to 231.381346184 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001346184 meters 0.14868433661606345 Centerline is valid? [0, False] SLAMing on 0.031346184 meters 0.1521334622998026 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999772e-01 6.75241839e-04 -1.62906769e-06 1.86382495e-04] [-6.75239731e-04 9.99999209e-01 1.06098853e-03 -4.30303923e-03] [ 2.34549025e-06 -1.06098719e-03 9.99999437e-01 -2.50197362e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.061346184 meters 0.15712910025269541 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999202e-01 1.26229902e-03 -5.80440221e-05 8.82687686e-04] [-1.26218208e-03 9.99997258e-01 1.97248756e-03 -6.81037124e-03] [ 6.05337320e-05 -1.97241272e-03 9.99998053e-01 -1.09321165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091346184 meters 0.16244747075496835 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99996185e-01 -2.68608971e-03 -6.44516342e-04 2.50930817e-03] [ 2.68465053e-03 9.99993924e-01 -2.22352782e-03 -5.95115634e-03] [ 6.50485022e-04 2.22178904e-03 9.99997320e-01 -1.37089663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121346184 meters 0.164653034955765 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99997909e-01 -1.96018672e-03 -5.82198405e-04 2.94508163e-03] [ 1.95955944e-03 9.99997501e-01 -1.07606313e-03 -9.77495761e-03] [ 5.84306234e-04 1.07492003e-03 9.99999252e-01 -2.21570668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.151346184 meters 0.16981620806422582 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99985617e-01 -5.27879408e-03 -9.48419573e-04 4.21101505e-03] [ 5.27477653e-03 9.99977311e-01 -4.18975435e-03 -1.35423041e-02] [ 9.70514905e-04 4.18469138e-03 9.99990773e-01 -2.69235501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.181346184 meters 0.17385252905718718 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 0.99999032 -0.00427919 -0.00102092 0.00523499] [ 0.00427637 0.99998709 -0.00274487 -0.01786568] [ 0.00103265 0.00274048 0.99999571 -0.00390496] [ 0. 0. 0. 1. ]] SLAMing on 0.211346184 meters 0.17329519783145048 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99993098e-01 -3.59759410e-03 -9.28274977e-04 5.40553094e-03] [ 3.59601092e-03 9.99992087e-01 -1.70157562e-03 -2.17675067e-02] [ 9.34389209e-04 1.69822579e-03 9.99998121e-01 -4.44643109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.241346184 meters 0.1758038798501894 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99997798e-01 -1.99680804e-03 -6.46152451e-04 5.79330365e-03] [ 1.99699551e-03 9.99997964e-01 2.89619314e-04 -3.03986357e-02] [ 6.45572822e-04 -2.90909039e-04 9.99999749e-01 -5.59167446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.271346184 meters 0.17555452879568448 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99999051e-01 -1.12978647e-03 -7.88214382e-04 6.51928847e-03] [ 1.13086352e-03 9.99998426e-01 1.36734198e-03 -3.45143860e-02] [ 7.86668337e-04 -1.36823205e-03 9.99998755e-01 -6.03348798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30134618399999996 meters 0.17569314183046822 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99999622e-01 -5.00633230e-04 -7.10923827e-04 6.64182388e-03] [ 5.02239662e-04 9.99997317e-01 2.26126283e-03 -3.82585375e-02] [ 7.09789857e-04 -2.26161903e-03 9.99997191e-01 -6.40533915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33134618399999993 meters 0.1760405839835204 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99999913e-01 2.90336013e-04 -3.00925836e-04 5.46116690e-03] [-2.89303444e-04 9.99994090e-01 3.42569057e-03 -4.49856141e-02] [ 3.01918659e-04 -3.42560321e-03 9.99994087e-01 -6.07796719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36134618399999996 meters 0.17444891462657597 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99992434e-01 -3.75791324e-03 -1.00508075e-03 6.83713395e-03] [ 3.75692694e-03 9.99992461e-01 -9.81406340e-04 -4.43331884e-02] [ 1.00876121e-03 9.77622899e-04 9.99999013e-01 -5.57932015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.391346184 meters 0.17463921984428427 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99995304e-01 -2.88815076e-03 -1.02528588e-03 7.31921824e-03] [ 2.88839451e-03 9.99995801e-01 2.36337457e-04 -4.86065491e-02] [ 1.02459900e-03 -2.39297778e-04 9.99999446e-01 -6.16990476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42134618399999996 meters 0.1715498345268375 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99997043e-01 -2.25349613e-03 -9.13735854e-04 7.20213938e-03] [ 2.25458086e-03 9.99996753e-01 1.18784953e-03 -5.27993617e-02] [ 9.11056072e-04 -1.18990611e-03 9.99998877e-01 -6.37163642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45134618399999993 meters 0.16998163238021516 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.99998406 -0.00551538 -0.00120521 0.0079978 ] [ 0.00551319 0.99998315 -0.001816 -0.05779225] [ 0.00121521 0.00180932 0.99999762 -0.00653588] [ 0. 0. 0. 1. ]] SLAMing on 0.48134618399999995 meters 0.16997994212429496 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99988093e-01 -4.76397539e-03 -1.05744864e-03 7.97427286e-03] [ 4.76334224e-03 9.99988475e-01 -6.00467193e-04 -6.27655774e-02] [ 1.06029706e-03 5.95423054e-04 9.99999261e-01 -7.01651203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.511346184 meters 0.1676937511733784 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99991606e-01 -3.96156609e-03 -1.04597941e-03 8.40012107e-03] [ 3.96225997e-03 9.99991931e-01 6.62143026e-04 -6.72342491e-02] [ 1.04334785e-03 -6.66281910e-04 9.99999234e-01 -7.66424049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.541346184 meters 0.1676877938205055 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99994008e-01 -3.34442398e-03 -8.94213094e-04 8.25454984e-03] [ 3.34595818e-03 9.99992924e-01 1.71973780e-03 -7.14708204e-02] [ 8.88455234e-04 -1.72271949e-03 9.99998121e-01 -8.01607729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5713461839999999 meters 0.16453994981659975 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.01 [[ 0.9999752 -0.00696233 -0.00105794 0.0082942 ] [ 0.00696074 0.99997465 -0.00150017 -0.07578607] [ 0.00106836 0.00149276 0.99999832 -0.00768977] [ 0. 0. 0. 1. ]] SLAMing on 0.601346184 meters 0.15896254242783892 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.01 [[ 9.99979871e-01 -6.28117195e-03 -8.96771086e-04 8.29603934e-03] [ 6.28089125e-03 9.99980225e-01 -3.15491812e-04 -8.06087638e-02] [ 8.98735011e-04 3.09852940e-04 9.99999548e-01 -8.23440376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.631346184 meters 0.1580720413221893 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.01 [[ 9.99985238e-01 -5.36873002e-03 -8.36930228e-04 8.88162932e-03] [ 5.36974882e-03 9.99984839e-01 1.21985186e-03 -8.56232332e-02] [ 8.30368484e-04 -1.22432796e-03 9.99998906e-01 -9.31251641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6613461839999999 meters 0.15640425543855652 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.01 [[ 9.99988123e-01 -4.84869386e-03 -4.94638676e-04 7.92328173e-03] [ 4.84986472e-03 9.99985374e-01 2.39403770e-03 -9.27197462e-02] [ 4.83023485e-04 -2.39640820e-03 9.99997012e-01 -9.14527938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6913461839999999 meters 0.15587800118650696 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.01 [[ 9.99990349e-01 -4.36347865e-03 -5.12747852e-04 8.22760386e-03] [ 4.36511394e-03 9.99985248e-01 3.23265480e-03 -9.58056897e-02] [ 4.98634667e-04 -3.23486180e-03 9.99994644e-01 -9.52658505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.721346184 meters 0.15467507834104577 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.01 [[ 9.99992449e-01 -3.83779798e-03 -6.11095571e-04 8.73764477e-03] [ 3.84026923e-03 9.99984239e-01 4.09549678e-03 -9.88292672e-02] [ 5.95368251e-04 -4.09781263e-03 9.99991427e-01 -9.93602376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.751346184 meters 0.15467507834104577 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.01 [[ 9.99992449e-01 -3.83779798e-03 -6.11095571e-04 8.73764477e-03] [ 3.84026923e-03 9.99984239e-01 4.09549678e-03 -9.88292672e-02] [ 5.95368251e-04 -4.09781263e-03 9.99991427e-01 -9.93602376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.781346184 meters 0.1513984149164612 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.01 [[ 9.99993329e-01 -3.62232473e-03 -4.69931635e-04 8.33215559e-03] [ 3.62447228e-03 9.99982609e-01 4.65251449e-03 -1.01558593e-01] [ 4.53070543e-04 -4.65418671e-03 9.99989067e-01 -9.84715387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8113461839999999 meters 0.14535227811993795 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:-0.01 [[ 9.99985765e-01 -5.32971928e-03 -2.53784232e-04 6.79101035e-03] [ 5.33048637e-03 9.99980911e-01 3.12451975e-03 -1.06299172e-01] [ 2.37126575e-04 -3.12582806e-03 9.99995086e-01 -8.37190280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8413461839999999 meters 0.14238885476791704 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:-0.01 [[ 9.99988112e-01 -4.87163743e-03 -2.08899620e-04 6.94309481e-03] [ 4.87243730e-03 9.99980063e-01 4.01663184e-03 -1.09905925e-01] [ 1.89327881e-04 -4.01760194e-03 9.99991911e-01 -8.72803608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.871346184 meters 0.14199969015322889 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:-0.01 [[ 9.99989989e-01 -4.47437647e-03 -4.34883713e-05 6.94942455e-03] [ 4.47453625e-03 9.99977893e-01 4.91847493e-03 -1.13696724e-01] [ 2.14803013e-05 -4.91862029e-03 9.99987903e-01 -9.25166550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9013461839999999 meters 0.13900243422285785 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:-0.01 [[ 9.99990949e-01 -4.25356150e-03 9.74402703e-05 6.67208125e-03] [ 4.25294977e-03 9.99975304e-01 5.59495908e-03 -1.16910555e-01] [-1.21236366e-04 -5.59449403e-03 9.99984343e-01 -9.32518653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9313461839999999 meters 0.13526070449462357 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:-0.01 [[ 9.99991481e-01 -4.11944120e-03 2.59273712e-04 6.26881040e-03] [ 4.11778944e-03 9.99973051e-01 6.07785663e-03 -1.19258410e-01] [-2.84304097e-04 -6.07673722e-03 9.99981496e-01 -9.26048712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9613461839999999 meters 0.13233853897435424 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.12, Z:-0.01 [[ 9.99989928e-01 -4.42173474e-03 7.69153315e-04 4.26031084e-03] [ 4.41675598e-03 9.99970030e-01 6.35858669e-03 -1.22642087e-01] [-7.97246247e-04 -6.35512548e-03 9.99979488e-01 -7.99738457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.991346184 meters 0.1290053848801428 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.12, Z:-0.01 [[ 9.99990389e-01 -4.31409994e-03 7.81570090e-04 4.12219889e-03] [ 4.30879731e-03 9.99968514e-01 6.66378099e-03 -1.24308215e-01] [-8.10293698e-04 -6.66034932e-03 9.99977491e-01 -7.83112608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.021346184 meters 0.12808303012840852 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.13, Z:-0.01 [[ 9.99990959e-01 -4.16865535e-03 8.39461066e-04 3.81168630e-03] [ 4.16260488e-03 9.99966239e-01 7.08473914e-03 -1.26474931e-01] [-8.68966560e-04 -7.08118074e-03 9.99974551e-01 -7.55476813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.051346184 meters 0.12442554718606512 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.13, Z:-0.01 [[ 9.99991641e-01 -4.00602393e-03 8.18563165e-04 3.69834611e-03] [ 3.99980537e-03 9.99964157e-01 7.46235501e-03 -1.28621813e-01] [-8.48428198e-04 -7.45901854e-03 9.99971821e-01 -7.32780540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.081346184 meters 0.1220262892520815 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.13, Z:-0.01 [[ 0.99999113 -0.00407415 0.00107267 0.00255124] [ 0.00406564 0.99996116 0.0078198 -0.13170039] [-0.00110449 -0.00781537 0.99996885 -0.00644578] [ 0. 0. 0. 1. ]] SLAMing on 1.1113461839999998 meters 0.11914980203676408 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.13, Z:-0.01 [[ 0.99999097 -0.00412126 0.00104128 0.00226086] [ 0.00411299 0.99996095 0.00782178 -0.13247407] [-0.00107347 -0.00781742 0.99996887 -0.00591313] [ 0. 0. 0. 1. ]] SLAMing on 1.1413461839999999 meters 0.11511570735266276 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.13, Z:-0.01 [[ 0.99999067 -0.00418584 0.00106878 0.00191197] [ 0.00417736 0.99996077 0.00781129 -0.13304518] [-0.00110143 -0.00780675 0.99996892 -0.00548075] [ 0. 0. 0. 1. ]] SLAMing on 1.171346184 meters 0.110133965847564 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:-0.01 [[ 9.99968142e-01 7.67399226e-04 7.94524599e-03 -8.92792938e-03] [-8.00833929e-04 9.99990835e-01 4.20581354e-03 -1.37854171e-01] [-7.94194564e-03 -4.21204237e-03 9.99959591e-01 -8.49398060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.201346184 meters 0.11031831899206898 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:-0.01 [[ 9.99970475e-01 -2.76658024e-03 7.16897861e-03 -6.96044611e-03] [ 2.76424503e-03 9.99996123e-01 3.35625466e-04 -1.37760561e-01] [-7.16987936e-03 -3.15798743e-04 9.99974246e-01 -9.05112211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.231346184 meters 0.10791715689272073 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:-0.01 [[ 9.99970515e-01 -2.56988738e-03 7.23632102e-03 -7.00926839e-03] [ 2.56362575e-03 9.99996332e-01 8.74448512e-04 -1.39797862e-01] [-7.23854171e-03 -8.55871510e-04 9.99973435e-01 -9.22370467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.261346184 meters 0.10540636649660468 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:-0.01 [[ 0.99997071 -0.00245068 0.00725078 -0.00712963] [ 0.0024416 0.99999622 0.0012604 -0.14158969] [-0.00725384 -0.00124266 0.99997292 -0.00912401] [ 0. 0. 0. 1. ]] SLAMing on 1.291346184 meters 0.10182224724435272 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:-0.01 [[ 0.99997012 -0.00233508 0.00736886 -0.00783467] [ 0.00232077 0.99999541 0.00194912 -0.1453965 ] [-0.00737338 -0.00193196 0.99997095 -0.00840886] [ 0. 0. 0. 1. ]] SLAMing on 1.3213461839999998 meters 0.09995503947240635 Centerline is valid? [False, True] Translation: X:-0.01, Y:-0.15, Z:-0.01 [[ 0.99997077 -0.002138 0.00734074 -0.00793092] [ 0.00211899 0.99999438 0.00259668 -0.14806908] [-0.00734625 -0.00258105 0.99996968 -0.00822321] [ 0. 0. 0. 1. ]] SLAMing on 1.3513461839999998 meters 0.09678851521287068 Centerline is valid? [True, True] Translation: X:0.02, Y:-0.15, Z:-0.01 [[ 9.99967160e-01 -2.43746337e-03 7.72900635e-03 2.39872517e-02] [ 2.43591859e-03 9.99997011e-01 2.09275770e-04 -1.51312441e-01] [-7.72949335e-03 -1.90441667e-04 9.99970109e-01 -6.59157783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3813461839999999 meters 0.0953063831196843 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.16, Z:-0.01 [[ 9.99974066e-01 -2.56115082e-03 6.73109692e-03 5.67059982e-02] [ 2.55998247e-03 9.99996707e-01 1.82185677e-04 -1.58470935e-01] [-6.73154136e-03 -1.64949462e-04 9.99977329e-01 -5.23399533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.411346184 meters 0.09094281915443006 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.17, Z:-0.00 [[ 9.99951866e-01 -5.14585398e-03 8.35378727e-03 8.86669236e-02] [ 5.14416184e-03 9.99986744e-01 2.24034098e-04 -1.71929738e-01] [-8.35482938e-03 -1.81050081e-04 9.99965081e-01 -3.59660427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.441346184 meters 0.08899662314655991 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.18, Z:-0.00 [[ 9.99942390e-01 -5.80767788e-03 9.02708436e-03 1.20032136e-01] [ 5.80570930e-03 9.99983117e-01 2.44264618e-04 -1.78055062e-01] [-9.02835056e-03 -1.91841918e-04 9.99959225e-01 -4.38472132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.471346184 meters 0.08756767590719879 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.18, Z:-0.00 [[ 9.99926218e-01 -6.93143679e-03 9.97563094e-03 1.52978401e-01] [ 6.92912044e-03 9.99975958e-01 2.66744942e-04 -1.84065763e-01] [-9.97724003e-03 -1.97602912e-04 9.99950207e-01 -4.79766882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.501346184 meters 0.08521622943611584 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.20, Z:-0.00 [[ 9.99908965e-01 -7.50692034e-03 1.12119190e-02 1.85222833e-01] [ 7.50404902e-03 9.99971800e-01 2.98143515e-04 -1.95857818e-01] [-1.12138409e-02 -2.13981584e-04 9.99937100e-01 -1.01314125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.531346184 meters 0.08381008481368386 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.20, Z:-0.00 [[ 9.99866425e-01 -8.14445824e-03 1.41703791e-02 2.16330084e-01] [ 8.13991492e-03 9.99966799e-01 3.78267827e-04 -1.99290323e-01] [-1.41729894e-02 -2.62871619e-04 9.99899524e-01 -1.65815714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.561346184 meters 0.08119491363536326 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.21, Z:-0.00 [[ 9.99832532e-01 -9.83751335e-03 1.54314745e-02 2.48881010e-01] [ 9.83243948e-03 9.99951579e-01 4.04636447e-04 -2.07207867e-01] [-1.54347079e-02 -2.52839644e-04 9.99880846e-01 -1.49706225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5913461839999998 meters 0.08182585519741796 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.21, Z:-0.00 [[ 9.99867447e-01 -9.54562403e-03 1.31897598e-02 2.79831222e-01] [ 9.54186657e-03 9.99954415e-01 3.47779754e-04 -2.13531367e-01] [-1.31924783e-02 -2.21878727e-04 9.99912951e-01 -4.18714802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6213461839999999 meters 0.07990777244422737 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.22, Z:-0.00 [[ 9.99832576e-01 -1.06963843e-02 1.48461321e-02 3.12068980e-01] [ 1.06918397e-02 9.99942766e-01 3.85451515e-04 -2.22284604e-01] [-1.48494054e-02 -2.26654515e-04 9.99889716e-01 -3.92178631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6513461839999999 meters 0.07853197735176234 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.23, Z:-0.01 [[ 9.99797316e-01 -1.07864188e-02 1.69994280e-02 3.43594667e-01] [ 1.07804548e-02 9.99941791e-01 4.42435373e-04 -2.28041433e-01] [-1.70032108e-02 -2.59084133e-04 9.99855401e-01 -5.44918247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.681346184 meters 0.07583543245611364 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.24, Z:-0.00 [[ 9.99719722e-01 -1.07662315e-02 2.10847282e-02 3.75902980e-01] [ 1.07572374e-02 9.99941993e-01 5.39944275e-04 -2.41431056e-01] [-2.10893183e-02 -3.12979513e-04 9.99777547e-01 -2.69794142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.711346184 meters 0.07645487486826757 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.25, Z:-0.01 [[ 9.99773815e-01 -9.17970444e-03 1.91846809e-02 4.07099508e-01] [ 9.17194446e-03 9.99957816e-01 4.92439689e-04 -2.46138303e-01] [-1.91883920e-02 -3.16367479e-04 9.99815836e-01 -5.43861724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.741346184 meters 0.07546950735744037 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.25, Z:-0.00 [[ 9.99741576e-01 -8.84557068e-03 2.09412779e-02 4.40060747e-01] [ 8.83639769e-03 9.99960818e-01 5.30528542e-04 -2.54227324e-01] [-2.09451502e-02 -3.45345982e-04 9.99780567e-01 -4.84908723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.771346184 meters 0.07374608748157407 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.27, Z:-0.01 [[ 9.99667826e-01 -1.05377786e-02 2.35200318e-02 4.72002834e-01] [ 1.05267351e-02 9.99944416e-01 5.93298468e-04 -2.70917975e-01] [-2.35249765e-02 -3.45512245e-04 9.99723190e-01 -6.84542748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8013461839999998 meters 0.0731774663740815 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.28, Z:-0.01 [[ 9.99655456e-01 -1.16185798e-02 2.35367304e-02 5.04976690e-01] [ 1.16079603e-02 9.99932453e-01 5.87769501e-04 -2.80630680e-01] [-2.35419696e-02 -3.14353557e-04 9.99722800e-01 -7.88908894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8313461839999998 meters 0.07289720470673469 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.29, Z:-0.01 [[ 9.99630398e-01 -1.21927181e-02 2.42982663e-02 5.37912495e-01] [ 1.21817348e-02 9.99925620e-01 5.99990023e-04 -2.89531581e-01] [-2.43037745e-02 -3.03773228e-04 9.99704573e-01 -9.18246790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8613461839999998 meters 0.07066441251155803 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.30, Z:-0.01 [[ 9.99293901e-01 -1.50196871e-02 3.44399157e-02 5.71033446e-01] [ 1.49997358e-02 9.99887147e-01 8.37618807e-04 -3.01398646e-01] [-3.44486098e-02 -3.20437728e-04 9.99406419e-01 -6.11526037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8913461839999999 meters 0.07071374615582443 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.32, Z:-0.01 [[ 9.99320512e-01 -1.71240290e-02 3.26386669e-02 6.03126519e-01] [ 1.71073809e-02 9.99853347e-01 7.89279289e-04 -3.22128508e-01] [-3.26473960e-02 -2.30380875e-04 9.99466905e-01 -9.70757252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.921346184 meters 0.07041382466417867 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.33, Z:-0.01 [[ 9.99237961e-01 -1.91400377e-02 3.40169871e-02 6.35985459e-01] [ 1.91234263e-02 9.99816799e-01 8.13642992e-04 -3.34195892e-01] [-3.40263284e-02 -1.62501617e-04 9.99420924e-01 -1.12023911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.951346184 meters 0.07020147327395887 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.35, Z:-0.01 [[ 9.99234573e-01 -2.10632490e-02 3.29637285e-02 6.69087165e-01] [ 2.10489749e-02 9.99778141e-01 7.80022199e-04 -3.46428656e-01] [-3.29728451e-02 -8.55724530e-05 9.99456244e-01 -1.40201402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.981346184 meters 0.07016623997819675 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.36, Z:-0.02 [[ 9.99175260e-01 -2.32687247e-02 3.32771269e-02 7.01032544e-01] [ 2.32557475e-02 9.99729247e-01 7.77022506e-04 -3.59093214e-01] [-3.32861974e-02 -2.49720272e-06 9.99445861e-01 -1.67358509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0113461839999998 meters 0.0707956291994289 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.38, Z:-0.03 [[ 9.99292376e-01 -2.71428699e-02 2.60386752e-02 7.32094904e-01] [ 2.71364105e-02 9.99631559e-01 6.01458813e-04 -3.83672951e-01] [-2.60454068e-02 1.05562973e-04 9.99660755e-01 -2.54700341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.041346184 meters 0.07001037361010594 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.40, Z:-0.03 [[ 9.99074211e-01 -3.07010528e-02 3.01358136e-02 7.64705411e-01] [ 3.06941471e-02 9.99528584e-01 6.91836146e-04 -3.97442032e-01] [-3.01428472e-02 2.33797445e-04 9.99545574e-01 -2.61062625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.071346184 meters 0.07043173537599504 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.41, Z:-0.03 [[ 9.99068614e-01 -3.33465531e-02 2.73845057e-02 7.97184304e-01] [ 3.33420280e-02 9.99443806e-01 6.21964252e-04 -4.10385866e-01] [-2.73900150e-02 2.91669993e-04 9.99624781e-01 -3.06858175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.101346184 meters 0.06940535535379877 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.42, Z:-0.03 [[ 9.98673681e-01 -3.75609885e-02 3.52143468e-02 8.30077955e-01] [ 3.75565207e-02 9.99294194e-01 7.88567144e-04 -4.22300278e-01] [-3.52191116e-02 5.35007093e-04 9.99379471e-01 -2.96774136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.131346184 meters 0.06998061244309761 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.44, Z:-0.03 [[ 9.98532236e-01 -4.12956123e-02 3.50434871e-02 8.61310376e-01] [ 4.12938159e-02 9.99146746e-01 7.75329875e-04 -4.36355080e-01] [-3.50456038e-02 6.72887432e-04 9.99385488e-01 -3.21227929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.161346184 meters 0.07199512255538673 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.46, Z:-0.04 [[ 9.98553094e-01 -4.66578088e-02 2.67351226e-02 8.91352442e-01] [ 4.66588366e-02 9.98910712e-01 5.85719776e-04 -4.60569630e-01] [-2.67333287e-02 6.62557421e-04 9.99642381e-01 -4.22292445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.191346184 meters 0.07317911831561622 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.47, Z:-0.05 [[ 9.98572536e-01 -4.90340132e-02 2.11791303e-02 9.23207297e-01] [ 4.90351796e-02 9.98796944e-01 4.64555422e-04 -4.71306083e-01] [-2.11764296e-02 5.74630172e-04 9.99775589e-01 -4.88995456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2213461839999997 meters 0.07436757529563452 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.48, Z:-0.05 [[ 9.98496381e-01 -5.16599580e-02 1.83364774e-02 9.54776606e-01] [ 5.16613344e-02 9.98664582e-01 3.98928196e-04 -4.81663259e-01] [-1.83325991e-02 5.48958530e-04 9.99831793e-01 -5.38158067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.251346184 meters 0.07430266976611993 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.49, Z:-0.06 [[ 9.98294855e-01 -5.49026797e-02 1.98261965e-02 9.86707201e-01] [ 5.49050611e-02 9.98491489e-01 4.24610545e-04 -4.89344742e-01] [-1.98196008e-02 6.64672010e-04 9.99803351e-01 -5.62126739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2813461839999998 meters 0.07486510562412038 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.50, Z:-0.06 [[ 9.98109855e-01 -5.93028212e-02 1.61211617e-02 1.01789007e+00] [ 5.93050176e-02 9.98239850e-01 3.42206263e-04 -4.99924488e-01] [-1.61130799e-02 6.14506337e-04 9.99869987e-01 -6.27002279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.311346184 meters 0.07619671259490245 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.51, Z:-0.07 [[ 9.98098905e-01 -6.05301133e-02 1.16051913e-02 1.04821969e+00] [ 6.05313255e-02 9.98166268e-01 2.47093173e-04 -5.06057276e-01] [-1.15988671e-02 4.55854187e-04 9.99932627e-01 -6.84449837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.341346184 meters 0.07729375512310724 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.51, Z:-0.07 [[ 9.97993523e-01 -6.26856596e-02 8.91264630e-03 1.07885527e+00] [ 6.26864688e-02 9.98033251e-01 1.88807417e-04 -5.13044619e-01] [-8.90695288e-03 3.70273745e-04 9.99960264e-01 -7.31077932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.371346184 meters 0.07851729466182766 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.52, Z:-0.08 [[ 9.97831352e-01 -6.54718697e-02 6.78427473e-03 1.11036082e+00] [ 6.54723993e-02 9.97854370e-01 1.44240931e-04 -5.19883822e-01] [-6.77916191e-03 3.00254621e-04 9.99976976e-01 -7.76759137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.401346184 meters 0.08163372002556736 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.53, Z:-0.08 [[ 9.97427420e-01 -7.15314303e-02 4.66856886e-03 1.13993798e+00] [ 7.15317534e-02 9.97438318e-01 9.79472440e-05 -5.34854620e-01] [-4.66361578e-03 2.36255649e-04 9.99989097e-01 -8.36125111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4313461839999997 meters 0.08330456118850986 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.54, Z:-0.09 [[ 9.97285974e-01 -7.35883061e-02 2.33377946e-03 1.17117283e+00] [ 7.35883891e-02 9.97288698e-01 5.03666718e-05 -5.39995454e-01] [-2.33115828e-03 1.21509096e-04 9.99997275e-01 -8.74574726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461346184 meters 0.08438751914333617 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.54, Z:-0.09 [[ 9.97138686e-01 -7.55723585e-02 1.80539231e-03 1.20253675e+00] [ 7.55724111e-02 9.97140316e-01 3.91703574e-05 -5.43596224e-01] [-1.80318965e-03 9.73795711e-05 9.99998370e-01 -8.97741460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4913461839999997 meters 0.08632915019960195 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.55, Z:-0.09 [[ 9.96864162e-01 -7.91131459e-02 1.71847560e-03 1.23335082e+00] [ 7.91131988e-02 9.96865638e-01 3.72481678e-05 -5.48423162e-01] [-1.71603609e-03 9.88227380e-05 9.99998523e-01 -9.30895598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.521346184 meters 0.08959847724826468 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.55, Z:-0.10 [[ 9.96473175e-01 -8.38392451e-02 -3.49191567e-03 1.26366755e+00] [ 8.38395003e-02 9.96479269e-01 -7.34704537e-05 -5.54798338e-01] [ 3.48578128e-03 -2.19549129e-04 9.99993901e-01 -9.96804408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.551346184 meters 0.09114198516160255 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.56, Z:-0.10 [[ 9.96269134e-01 -8.62106369e-02 -3.94198304e-03 1.29407923e+00] [ 8.62109815e-02 9.96276899e-01 -8.27365704e-05 -5.57397293e-01] [ 3.93443941e-03 -2.57414335e-04 9.99992227e-01 -1.02993242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.581346184 meters 0.09277227066244838 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.56, Z:-0.11 [[ 9.96104706e-01 -8.80558279e-02 -4.64613834e-03 1.32414172e+00] [ 8.80563234e-02 9.96115492e-01 -9.81901905e-05 -5.60296467e-01] [ 4.63673660e-03 -3.11314149e-04 9.99989202e-01 -1.05669250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.611346184 meters 0.09479774983334982 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.56, Z:-0.11 [[ 9.95913383e-01 -9.01260611e-02 -5.81613505e-03 1.35472472e+00] [ 9.01268771e-02 9.95930284e-01 -1.22175117e-04 -5.64923866e-01] [ 5.80347619e-03 -4.02514255e-04 9.99983079e-01 -1.08863343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6413461839999997 meters 0.1003344866124176 Centerline is valid? [True, False] Translation: X:1.35, Y:-0.57, Z:-0.11 [[ 9.95842122e-01 -9.10936679e-02 -6.41135649e-04 1.34892819e+00] [ 9.10902365e-02 9.95833930e-01 -4.16567338e-03 -5.66638147e-01] [ 1.01793110e-03 4.08995182e-03 9.99991118e-01 -1.13151098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.671346184 meters 0.1003344866124176 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.57, Z:-0.11 [[ 9.95842122e-01 -9.10936679e-02 -6.41135649e-04 1.34892819e+00] [ 9.10902365e-02 9.95833930e-01 -4.16567338e-03 -5.66638147e-01] [ 1.01793110e-03 4.08995182e-03 9.99991118e-01 -1.13151098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7013461839999997 meters 0.10312602945076892 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.57, Z:-0.12 [[ 0.99660136 -0.08227929 -0.0039814 1.3523149 ] [ 0.08221828 0.9965213 -0.01361777 -0.56554568] [ 0.00508801 0.01324414 0.99989935 -0.1155573 ] [ 0. 0. 0. 1. ]] SLAMing on 2.731346184 meters 0.10463839670099839 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.57, Z:-0.12 [[ 0.99712082 -0.07547036 -0.00736881 1.35241024] [ 0.07530274 0.99694258 -0.02085629 -0.56510436] [ 0.00892032 0.02024135 0.99975533 -0.12038531] [ 0. 0. 0. 1. ]] SLAMing on 2.7613461839999998 meters 0.10750804806979224 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.57, Z:-0.12 [[ 0.9974305 -0.07127309 -0.00724905 1.35190093] [ 0.07115116 0.99733914 -0.01587951 -0.56809919] [ 0.00836155 0.01532293 0.99984763 -0.12089387] [ 0. 0. 0. 1. ]] SLAMing on 2.791346184 meters 0.11236825678898403 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.57, Z:-0.12 [[ 0.99743828 -0.07117672 -0.00712364 1.3523857 ] [ 0.07105833 0.99734886 -0.01568335 -0.5682503 ] [ 0.00822104 0.01513698 0.99985163 -0.12218383] [ 0. 0. 0. 1. ]] SLAMing on 2.821346184 meters 0.11500980955558272 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.57, Z:-0.12 [[ 0.99769127 -0.06758092 -0.00670415 1.35071199] [ 0.06750088 0.99765267 -0.01152323 -0.57051956] [ 0.00746716 0.01104409 0.99991113 -0.121539 ] [ 0. 0. 0. 1. ]] SLAMing on 2.851346184 meters 0.11724810358576603 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.57, Z:-0.13 [[ 0.99790525 -0.06466969 -0.00171559 1.34413825] [ 0.06463931 0.99780956 -0.01406597 -0.57015772] [ 0.00262147 0.01392561 0.9998996 -0.12671286] [ 0. 0. 0. 1. ]] SLAMing on 2.881346184 meters 0.11931950114648521 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.57, Z:-0.13 [[ 9.97982444e-01 -6.34768167e-02 1.31747693e-03 1.34061504e+00] [ 6.34894999e-02 9.97867777e-01 -1.51321822e-02 -5.69237626e-01] [-3.54125018e-04 1.51852981e-02 9.99884634e-01 -1.29718511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9113461839999997 meters 0.12236845743024585 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.57, Z:-0.13 [[ 9.97994829e-01 -6.32848559e-02 1.16091157e-03 1.34257628e+00] [ 6.32952295e-02 9.97876564e-01 -1.53647817e-02 -5.66836407e-01] [-1.86088447e-04 1.54074529e-02 9.99881281e-01 -1.32298464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.941346184 meters 0.12368219203928371 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.57, Z:-0.14 [[ 0.9984567 -0.05528924 0.00522764 1.33606303] [ 0.05537057 0.99832182 -0.01695989 -0.56567572] [-0.00428116 0.01722317 0.9998425 -0.13960553] [ 0. 0. 0. 1. ]] SLAMing on 2.9713461839999997 meters 0.12414823891649836 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.56, Z:-0.14 [[ 0.99868167 -0.05106922 0.00518251 1.33618924] [ 0.05113212 0.99860943 -0.01283374 -0.56495998] [-0.0045199 0.01308181 0.99990421 -0.14039508] [ 0. 0. 0. 1. ]] SLAMing on 3.001346184 meters 0.12381415738724062 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.56, Z:-0.15 [[ 0.99903043 -0.04283686 0.01015847 1.32859941] [ 0.04296354 0.9989972 -0.01259849 -0.56402273] [-0.00960861 0.01302272 0.99986903 -0.14661993] [ 0. 0. 0. 1. ]] SLAMing on 3.0313461839999998 meters 0.12550520547024013 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.56, Z:-0.16 [[ 0.99932996 -0.03425726 0.01288669 1.32498608] [ 0.03444349 0.99930119 -0.01451811 -0.56001544] [-0.01238034 0.01495225 0.99981156 -0.15629742] [ 0. 0. 0. 1. ]] SLAMing on 3.061346184 meters 0.12571183923657658 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.56, Z:-0.16 [[ 9.99546883e-01 -3.00829502e-02 -1.02254265e-03 1.32383945e+00] [ 3.00669540e-02 9.99461657e-01 -1.31291588e-02 -5.57801439e-01] [ 1.41695600e-03 1.30924650e-02 9.99913286e-01 -1.55109141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.091346184 meters 0.12530728759640647 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.56, Z:-0.16 [[ 9.99665609e-01 -2.58322471e-02 -1.16816853e-03 1.32445891e+00] [ 2.58205344e-02 9.99624954e-01 -9.12420469e-03 -5.56469427e-01] [ 1.40342912e-03 9.09099090e-03 9.99957691e-01 -1.55979837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.121346184 meters 0.12446152750352374 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.55, Z:-0.16 [[ 0.9998824 -0.01379501 0.00669894 1.32765579] [ 0.01389311 0.99979358 -0.01482467 -0.54964105] [-0.00649305 0.014916 0.99986767 -0.16275429] [ 0. 0. 0. 1. ]] SLAMing on 3.151346184 meters 0.12620597571556547 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.55, Z:-0.16 [[ 0.99996633 -0.00501082 0.0064982 1.32849211] [ 0.00504553 0.99997304 -0.00533569 -0.55190894] [-0.00647129 0.00536829 0.99996465 -0.1641965 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1813461839999997 meters 0.1268836340756011 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.55, Z:-0.17 [[ 9.99978761e-01 -5.49363750e-04 6.49424594e-03 1.32932090e+00] [ 5.54790561e-04 9.99999498e-01 -8.33861782e-04 -5.51734791e-01] [-6.49378459e-03 8.37447018e-04 9.99978564e-01 -1.65548653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.211346184 meters 0.12790263097720705 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.55, Z:-0.17 [[ 0.9999715 0.0036886 0.00658735 1.32951378] [-0.00371101 0.99998736 0.00339158 -0.55144533] [-0.00657475 -0.00341593 0.99997255 -0.16618024] [ 0. 0. 0. 1. ]] SLAMing on 3.2413461839999997 meters 0.13121364067385552 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.55, Z:-0.17 [[ 0.9999766 0.00302192 0.00613798 1.33125611] [-0.00303191 0.99999409 0.00161943 -0.54591268] [-0.00613305 -0.001638 0.99997985 -0.1675717 ] [ 0. 0. 0. 1. ]] SLAMing on 3.271346184 meters 0.13279522201613497 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.54, Z:-0.17 [[ 9.99977861e-01 2.88423120e-03 5.99652446e-03 1.33209362e+00] [-2.89124179e-03 9.99995147e-01 1.16076891e-03 -5.44183527e-01] [-5.99314743e-03 -1.17808061e-03 9.99981347e-01 -1.68442327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.301346184 meters 0.1352479515698804 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.54, Z:-0.17 [[ 9.99978218e-01 2.83809814e-03 5.95891667e-03 1.33253711e+00] [-2.84411216e-03 9.99995454e-01 1.00101649e-03 -5.43549220e-01] [-5.95604860e-03 -1.01794252e-03 9.99981744e-01 -1.69041351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.331346184 meters 0.13770701753012685 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.54, Z:-0.17 [[ 9.99978717e-01 2.82238511e-03 5.88223437e-03 1.33297541e+00] [-2.82768535e-03 9.99995603e-01 8.92936306e-04 -5.43068027e-01] [-5.87968830e-03 -9.09550409e-04 9.99982301e-01 -1.69526528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.361346184 meters 0.11902045919778081 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.54, Z:-0.17 [[ 9.99979791e-01 2.70904747e-03 5.75133204e-03 1.33352239e+00] [-2.71245689e-03 9.99996150e-01 5.85087763e-04 -5.42087042e-01] [-5.74972487e-03 -6.00676179e-04 9.99983290e-01 -1.70046495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3913461839999997 meters 0.13956943614211786 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.54, Z:-0.17 [[ 9.99980730e-01 2.65500766e-03 5.61159883e-03 1.33404295e+00] [-2.65711381e-03 9.99996402e-01 3.67899555e-04 -5.41274341e-01] [-5.61060186e-03 -3.82803123e-04 9.99984187e-01 -1.70419715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.421346184 meters 0.11927866057429898 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.54, Z:-0.17 [[ 9.99982502e-01 2.41653853e-03 5.39955034e-03 1.33449172e+00] [-2.41540187e-03 9.99997059e-01 -2.17021825e-04 -5.39606118e-01] [-5.40005890e-03 2.03975944e-04 9.99985399e-01 -1.70455016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4513461839999997 meters 0.12099748885675961 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.54, Z:-0.17 [[ 9.99984179e-01 2.21368802e-03 5.17123023e-03 1.33497040e+00] [-2.20995895e-03 9.99997294e-01 -7.26721880e-04 -5.38171365e-01] [-5.17282497e-03 7.15282176e-04 9.99986365e-01 -1.70532097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.481346184 meters 0.1187613938826765 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.54, Z:-0.17 [[ 9.99985440e-01 2.06408215e-03 4.98587172e-03 1.33529218e+00] [-2.05878722e-03 9.99997312e-01 -1.06688509e-03 -5.37319337e-01] [-4.98806045e-03 1.05660471e-03 9.99987001e-01 -1.70520272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5113461839999998 meters 0.11812351826739255 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.54, Z:-0.17 [[ 0.99998786 0.00206131 0.0044766 1.33625014] [-0.00205404 0.99999657 -0.00162635 -0.53528033] [-0.00447994 0.00161713 0.99998866 -0.17058411] [ 0. 0. 0. 1. ]] SLAMing on 3.541346184 meters 0.11669328789110156 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.53, Z:-0.17 [[ 0.99998922 0.00203569 0.00417356 1.33698575] [-0.00202764 0.99999608 -0.00193255 -0.53408536] [-0.00417748 0.00192406 0.99998942 -0.17074452] [ 0. 0. 0. 1. ]] SLAMing on 3.571346184 meters 0.11625583203817877 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.53, Z:-0.17 [[ 0.9999903 0.00170004 0.00406269 1.33672739] [-0.00168957 0.99999525 -0.00257861 -0.53265941] [-0.00406705 0.00257172 0.99998842 -0.16990038] [ 0. 0. 0. 1. ]] SLAMing on 3.6013461839999996 meters 0.11346402906194121 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.53, Z:-0.16 [[ 0.9999869 0.00225756 0.00459277 1.3324623 ] [-0.00224764 0.99999513 -0.00216535 -0.53385327] [-0.00459764 0.002155 0.99998711 -0.1647493 ] [ 0. 0. 0. 1. ]] SLAMing on 3.631346184 meters 0.11155948549946129 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.54, Z:-0.16 [[ 0.99998693 0.00231303 0.00455955 1.33176685] [-0.00230467 0.99999565 -0.0018389 -0.53529018] [-0.00456378 0.00182837 0.99998791 -0.16353312] [ 0. 0. 0. 1. ]] SLAMing on 3.6613461839999997 meters 0.1114709862990994 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.54, Z:-0.16 [[ 9.99986558e-01 2.60119150e-03 4.48528317e-03 1.33148660e+00] [-2.59590451e-03 9.99995930e-01 -1.18415939e-03 -5.37260208e-01] [-4.48834514e-03 1.17250011e-03 9.99989240e-01 -1.62846372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.691346184 meters 0.10936369463614348 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.54, Z:-0.16 [[ 9.99986983e-01 2.49515860e-03 4.45063345e-03 1.33080771e+00] [-2.48989980e-03 9.99996196e-01 -1.18673374e-03 -5.37846512e-01] [-4.45357761e-03 1.17563666e-03 9.99989392e-01 -1.61641096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7213461839999997 meters 0.1065364654661284 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.54, Z:-0.16 [[ 0.99998869 0.00169641 0.00444404 1.32892908] [-0.0016861 0.99999588 -0.00232378 -0.5364334 ] [-0.00444796 0.00231626 0.99998743 -0.15856312] [ 0. 0. 0. 1. ]] SLAMing on 3.751346184 meters 0.10589244426168537 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.54, Z:-0.16 [[ 0.99998937 0.00148097 0.00436701 1.32872082] [-0.00146897 0.99999514 -0.00274959 -0.5354042 ] [-0.00437106 0.00274315 0.99998668 -0.15788509] [ 0. 0. 0. 1. ]] SLAMing on 3.7813461839999998 meters 0.1038924587677244 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.54, Z:-0.16 [[ 0.99998994 0.001436 0.0042499 1.32868206] [-0.00142389 0.99999492 -0.00285302 -0.53512822] [-0.00425398 0.00284694 0.9999869 -0.15737077] [ 0. 0. 0. 1. ]] SLAMing on 3.811346184 meters 0.10381076170267162 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.53, Z:-0.16 [[ 9.99990110e-01 1.27271845e-03 4.26158282e-03 1.32820149e+00] [-1.25964199e-03 9.99994495e-01 -3.06973282e-03 -5.34915096e-01] [-4.26546626e-03 3.06433439e-03 9.99986208e-01 -1.56611539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.841346184 meters 0.10392957561561054 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.53, Z:-0.16 [[ 9.99990282e-01 1.18048570e-03 4.24752483e-03 1.32783065e+00] [-1.16693849e-03 9.99994229e-01 -3.19050232e-03 -5.34739487e-01] [-4.25126666e-03 3.18551471e-03 9.99985890e-01 -1.55876803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8713461839999996 meters 0.1042933845564716 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.53, Z:-0.16 [[ 9.99990586e-01 1.10504222e-03 4.19610149e-03 1.32777566e+00] [-1.09101853e-03 9.99993817e-01 -3.34289595e-03 -5.34359673e-01] [-4.19976959e-03 3.33828646e-03 9.99985609e-01 -1.55561964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.901346184 meters 0.10442301819854442 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.53, Z:-0.15 [[ 9.99990881e-01 8.91972789e-04 4.17630955e-03 1.32736083e+00] [-8.76543828e-04 9.99992790e-01 -3.69477461e-03 -5.33738475e-01] [-4.17957508e-03 3.69108020e-03 9.99984453e-01 -1.54799921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9313461839999997 meters 0.10506867436124197 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.53, Z:-0.15 [[ 9.99991200e-01 7.18159125e-04 4.13323467e-03 1.32709944e+00] [-7.01549598e-04 9.99991679e-01 -4.01857773e-03 -5.32984474e-01] [-4.13608625e-03 4.01564270e-03 9.99983384e-01 -1.54157002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.961346184 meters 0.10371004456342613 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.53, Z:-0.15 [[ 9.99991513e-01 2.63853015e-04 4.11150154e-03 1.32618442e+00] [-2.44356030e-04 9.99988728e-01 -4.74184045e-03 -5.31605619e-01] [-4.11270635e-03 4.74079554e-03 9.99980305e-01 -1.52469128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9913461839999997 meters 0.10677769426315435 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.53, Z:-0.15 [[ 9.99991650e-01 -3.94253401e-06 4.08647602e-03 1.32590059e+00] [ 2.52628262e-05 9.99986390e-01 -5.21724216e-03 -5.30570083e-01] [-4.08639983e-03 5.21730183e-03 9.99978040e-01 -1.51873430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0213461839999995 meters 0.10747311813494793 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.53, Z:-0.15 [[ 0.99998335 0.00383276 0.00431431 1.3252779 ] [-0.00382676 0.9999917 -0.00139805 -0.52990309] [-0.00431963 0.00138151 0.99998972 -0.15133296] [ 0. 0. 0. 1. ]] SLAMing on 4.051346184 meters 0.1086685342573768 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.53, Z:-0.15 [[ 0.99998464 0.00350902 0.00428962 1.3252555 ] [-0.00350017 0.99999173 -0.00206889 -0.52808461] [-0.00429684 0.00205385 0.99998866 -0.15110173] [ 0. 0. 0. 1. ]] SLAMing on 4.081346184 meters 0.10781174503218825 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.53, Z:-0.15 [[ 0.99998612 0.00305588 0.00429206 1.32483903] [-0.00304353 0.99999121 -0.00288225 -0.52621409] [-0.00430083 0.00286915 0.99998664 -0.15035351] [ 0. 0. 0. 1. ]] SLAMing on 4.111346183999999 meters 0.11147707501076433 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.53, Z:-0.15 [[ 0.99998654 0.00297157 0.00425314 1.32472125] [-0.00295865 0.999991 -0.00304054 -0.52585341] [-0.00426213 0.00302792 0.99998633 -0.14998785] [ 0. 0. 0. 1. ]] SLAMing on 4.141346184 meters 0.11517501702187342 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.53, Z:-0.15 [[ 0.99998501 0.00300728 0.00457593 1.32396575] [-0.00299566 0.99999228 -0.00254392 -0.52777942] [-0.00458355 0.00253017 0.99998629 -0.1495659 ] [ 0. 0. 0. 1. ]] SLAMing on 4.171346184 meters 0.11720482250973295 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.53, Z:-0.15 [[ 0.99998507 0.00282004 0.00468021 1.3234841 ] [-0.00280703 0.99999218 -0.00278579 -0.52750248] [-0.00468803 0.00277261 0.99998517 -0.14909724] [ 0. 0. 0. 1. ]] SLAMing on 4.201346184 meters 0.11845215791461908 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.53, Z:-0.15 [[ 0.99998611 0.0025164 0.00463168 1.32329191] [-0.0025008 0.99999119 -0.00337034 -0.52615814] [-0.00464012 0.00335871 0.99998359 -0.14859161] [ 0. 0. 0. 1. ]] SLAMing on 4.2313461839999995 meters 0.11398178842618732 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.52, Z:-0.15 [[ 0.9999873 0.00227271 0.00449732 1.32349794] [-0.00225507 0.99998976 -0.0039244 -0.52455444] [-0.00450619 0.00391421 0.99998219 -0.14837503] [ 0. 0. 0. 1. ]] SLAMing on 4.261346184 meters 0.11508605645902695 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.52, Z:-0.15 [[ 0.99998869 0.00175804 0.00441813 1.32319581] [-0.00173633 0.99998642 -0.00491306 -0.52230588] [-0.00442671 0.00490533 0.99997817 -0.14755777] [ 0. 0. 0. 1. ]] SLAMing on 4.291346184 meters 0.09294994438623791 Centerline is valid? [False, True] Translation: X:1.32, Y:-0.52, Z:-0.15 [[ 0.99999046 0.00149006 0.00410712 1.323756 ] [-0.00146656 0.99998257 -0.00571932 -0.51992971] [-0.00411557 0.00571325 0.99997521 -0.14738366] [ 0. 0. 0. 1. ]] SLAMing on 4.321346184 meters 0.11293941491136217 Centerline is valid? [True, False] Translation: X:1.34, Y:-0.52, Z:-0.15 [[ 9.99995849e-01 -1.70344068e-03 -2.32372866e-03 1.33582493e+00] [ 1.70218889e-03 9.99998405e-01 -5.40569309e-04 -5.19906849e-01] [ 2.32464578e-03 5.36611640e-04 9.99997154e-01 -1.45749314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.351346184 meters 0.11342949211835666 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.15 [[ 9.99995483e-01 -1.77291961e-03 -2.42728497e-03 1.33607445e+00] [ 1.77108622e-03 9.99998145e-01 -7.57265630e-04 -5.19179457e-01] [ 2.42862304e-03 7.52963278e-04 9.99996767e-01 -1.45768723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.381346184 meters 0.11690015596959817 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.15 [[ 9.99995329e-01 -1.69763863e-03 -2.54149047e-03 1.33633825e+00] [ 1.69592179e-03 9.99998332e-01 -6.77526948e-04 -5.19225328e-01] [ 2.54263643e-03 6.73213615e-04 9.99996541e-01 -1.45790559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.411346184 meters 0.09464860274546637 Centerline is valid? [False, True] Translation: X:1.34, Y:-0.52, Z:-0.15 [[ 9.99995101e-01 -1.79490822e-03 -2.56450712e-03 1.33612134e+00] [ 1.79288124e-03 9.99998079e-01 -7.92477215e-04 -5.19167486e-01] [ 2.56592462e-03 7.87875476e-04 9.99996398e-01 -1.45396318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4413461839999995 meters 0.11444805539046579 Centerline is valid? [True, False] Translation: X:1.34, Y:-0.52, Z:-0.15 [[ 9.99995248e-01 -1.59369719e-03 -2.63884331e-03 1.33640314e+00] [ 1.59252740e-03 9.99998633e-01 -4.45337832e-04 -5.19833687e-01] [ 2.63954943e-03 4.41133286e-04 9.99996419e-01 -1.45582761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.471346184 meters 0.09382311506310044 Centerline is valid? [False, True] Translation: X:1.34, Y:-0.52, Z:-0.15 [[ 9.99994992e-01 -1.64698671e-03 -2.70235218e-03 1.33627206e+00] [ 1.64568835e-03 9.99998529e-01 -4.82610866e-04 -5.19954819e-01] [ 2.70314306e-03 4.78161220e-04 9.99996232e-01 -1.45188982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.501346184 meters 0.0956774436572201 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.53, Z:-0.15 [[ 9.99995410e-01 -1.22354032e-03 -2.77195715e-03 1.36444608e+00] [ 1.22408014e-03 9.99999232e-01 1.93057300e-04 -5.25725128e-01] [ 2.77171881e-03 -1.96449512e-04 9.99996139e-01 -1.49383732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.531346184 meters 0.09522237365000744 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.53, Z:-0.15 [[ 9.99999566e-01 -9.08475750e-05 -9.27716090e-04 1.39405586e+00] [ 9.09064840e-05 9.99999994e-01 6.34570461e-05 -5.27653851e-01] [ 9.27710319e-04 -6.35413539e-05 9.99999568e-01 -1.48694829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.561346184 meters 0.09522237365000744 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.53, Z:-0.15 [[ 9.99999562e-01 -1.26922140e-04 -9.27718179e-04 1.42321910e+00] [ 1.26981037e-04 9.99999990e-01 6.34269808e-05 -5.29672906e-01] [ 9.27710119e-04 -6.35447556e-05 9.99999568e-01 -1.50569415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.591346184 meters 0.0931796707741313 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.53, Z:-0.15 [[ 9.99999884e-01 -2.31237938e-04 4.23106746e-04 1.45370778e+00] [ 2.31251139e-04 9.99999973e-01 -3.11516876e-05 -5.29517239e-01] [-4.23099531e-04 3.12495279e-05 9.99999910e-01 -1.47787312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.621346184 meters 0.09496861012624082 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.54, Z:-0.15 [[ 9.99997313e-01 -1.43416841e-03 1.82148667e-03 1.48379887e+00] [ 1.43440375e-03 9.99998963e-01 -1.27899437e-04 -5.36370955e-01] [-1.82130135e-03 1.30511841e-04 9.99998333e-01 -1.50245809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.651346183999999 meters 0.09522475500958162 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.54, Z:-0.15 [[ 9.99992520e-01 -3.28887501e-03 2.03531288e-03 1.51519191e+00] [ 3.28917071e-03 9.99994581e-01 -1.41956189e-04 -5.40952536e-01] [-2.03483497e-03 1.48649619e-04 9.99997919e-01 -1.50565338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.681346184 meters 0.09596131450928538 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.55, Z:-0.15 [[ 9.99967905e-01 -7.69154426e-03 2.24242030e-03 1.54509379e+00] [ 7.69191874e-03 9.99970404e-01 -1.58422869e-04 -5.47076278e-01] [-2.24113542e-03 1.75666299e-04 9.99997473e-01 -1.49271070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.711346184 meters 0.09620409995360117 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.55, Z:-0.15 [[ 9.99946634e-01 -9.63887713e-03 3.71757503e-03 1.57739210e+00] [ 9.63990651e-03 9.99953501e-01 -2.59077218e-04 -5.50482359e-01] [-3.71490496e-03 2.94900468e-04 9.99993056e-01 -1.49392282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.741346184 meters 0.09702476338744705 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.55, Z:-0.15 [[ 9.99933303e-01 -1.11590997e-02 2.97716339e-03 1.60786826e+00] [ 1.11597698e-02 9.99937706e-01 -2.08561982e-04 -5.54043176e-01] [-2.97465057e-03 2.41772530e-04 9.99995546e-01 -1.50843967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7713461839999995 meters 0.09866399188065803 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.56, Z:-0.15 [[ 9.99913754e-01 -1.26681608e-02 3.46447001e-03 1.63877516e+00] [ 1.26690771e-02 9.99919715e-01 -2.42674457e-04 -5.59254940e-01] [-3.46111763e-03 2.86545165e-04 9.99993969e-01 -1.53264276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.801346184 meters 0.1001436427679298 Centerline is valid? [True, False] Translation: X:1.63, Y:-0.56, Z:-0.16 [[ 0.99994464 -0.00663906 0.00816379 1.62909801] [ 0.00667631 0.99996739 -0.00454424 -0.55855314] [-0.00813335 0.00459849 0.99995635 -0.15716716] [ 0. 0. 0. 1. ]] SLAMing on 4.831346184 meters 0.09794201617461254 Centerline is valid? [False, True] Translation: X:1.63, Y:-0.56, Z:-0.16 [[ 9.99964232e-01 -2.12169711e-03 8.18737973e-03 1.62933427e+00] [ 2.12053545e-03 9.99997740e-01 1.50561513e-04 -5.59213365e-01] [-8.18768067e-03 -1.33194499e-04 9.99966472e-01 -1.57672596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.861346183999999 meters 0.09993659820586866 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.56, Z:-0.16 [[ 9.99969296e-01 -2.71606251e-04 7.83160615e-03 1.65931297e+00] [ 2.76582835e-04 9.99999761e-01 -6.34372665e-04 -5.61809464e-01] [-7.83143198e-03 6.36519275e-04 9.99969131e-01 -1.62177473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.891346184 meters 0.09812880544789454 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.56, Z:-0.16 [[ 9.99939944e-01 2.63130461e-03 1.06388035e-02 1.69059385e+00] [-2.62227571e-03 9.99996190e-01 -8.62536567e-04 -5.58371861e-01] [-1.06410326e-02 8.34586890e-04 9.99943034e-01 -1.60789898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.921346184 meters 0.09241282369562825 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.55, Z:-0.15 [[ 9.99930155e-01 3.63167029e-03 1.12470648e-02 1.72384647e+00] [-3.62166569e-03 9.99993028e-01 -9.09768758e-04 -5.49563037e-01] [-1.12502903e-02 8.68972107e-04 9.99936336e-01 -1.54960810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.951346184 meters 0.09266735810440005 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.55, Z:-0.16 [[ 9.99904532e-01 4.71688835e-03 1.29876185e-02 1.75346120e+00] [-4.70356592e-03 9.99988380e-01 -1.05613388e-03 -5.49283569e-01] [-1.29924492e-02 9.94944933e-04 9.99915100e-01 -1.56591614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9813461839999995 meters 0.09141825276116404 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.55, Z:-0.16 [[ 9.99894187e-01 4.53918256e-03 1.38206622e-02 1.78656562e+00] [-4.52432767e-03 9.99989154e-01 -1.10590863e-03 -5.46784379e-01] [-1.38255322e-02 1.04326241e-03 9.99903879e-01 -1.55153316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.011346184 meters 0.09254201606360321 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.55, Z:-0.16 [[ 9.99872229e-01 3.79149018e-03 1.55290175e-02 1.81840305e+00] [-3.77249956e-03 9.99992100e-01 -1.25202322e-03 -5.51703631e-01] [-1.55336418e-02 1.19328004e-03 9.99878634e-01 -1.57416818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.041346184 meters 0.09018019277512701 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.55, Z:-0.16 [[ 9.99888440e-01 2.50448549e-03 1.47253494e-02 1.85026929e+00] [-2.48704899e-03 9.99996185e-01 -1.20230817e-03 -5.50372990e-01] [-1.47283043e-02 1.16555137e-03 9.99890853e-01 -1.56964124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.071346183999999 meters 0.0998802995291845 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.57, Z:-0.17 [[ 9.99883950e-01 1.11637693e-03 1.51934124e-02 1.87952495e+00] [-1.09781589e-03 9.99998641e-01 -1.22993592e-03 -5.68810134e-01] [-1.51947648e-02 1.21311362e-03 9.99883817e-01 -1.68418075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.101346184 meters 0.09554345214446014 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.56, Z:-0.16 [[ 9.99860100e-01 -1.89088169e-03 1.66194066e-02 1.91164443e+00] [ 1.91379987e-03 9.99997240e-01 -1.36320543e-03 -5.63167202e-01] [-1.66167830e-02 1.39482093e-03 9.99860959e-01 -1.63276112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.131346184 meters 0.0959847470358218 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.57, Z:-0.16 [[ 9.99829883e-01 -3.24617109e-03 1.81567339e-02 1.94386896e+00] [ 3.27353566e-03 9.99993550e-01 -1.47761275e-03 -5.65480518e-01] [-1.81518202e-02 1.53679810e-03 9.99834061e-01 -1.64135214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.161346184 meters 0.0959953185653908 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.57, Z:-0.16 [[ 9.99810664e-01 -4.07390656e-03 1.90273591e-02 1.97615063e+00] [ 4.10421706e-03 9.99990370e-01 -1.55421754e-03 -5.67170664e-01] [-1.90208441e-02 1.63201568e-03 9.99817755e-01 -1.64293675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1913461839999995 meters 0.09680560922529376 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.57, Z:-0.17 [[ 9.99781791e-01 -4.79396371e-03 2.03319591e-02 2.00854878e+00] [ 4.82885838e-03 9.99986951e-01 -1.66749933e-03 -5.70683757e-01] [-2.03236998e-02 1.76531562e-03 9.99791894e-01 -1.66184327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.221346184 meters 0.10438428532074358 Centerline is valid? [True, False] Translation: X:2.02, Y:-0.57, Z:-0.16 [[ 9.99971300e-01 -7.55279882e-03 5.94915584e-04 2.01809169e+00] [ 7.55299745e-03 9.99971420e-01 -3.32343501e-04 -5.70561328e-01] [-5.92388458e-04 3.36827359e-04 9.99999768e-01 -1.59113908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.251346184 meters 0.097569679727956 Centerline is valid? [False, True] Translation: X:2.02, Y:-0.57, Z:-0.16 [[ 9.99973121e-01 -7.30966297e-03 5.70709627e-04 2.01839789e+00] [ 7.30962359e-03 9.99973282e-01 7.10596793e-05 -5.71335590e-01] [-5.71213801e-04 -6.68860967e-05 9.99999835e-01 -1.59503740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.281346183999999 meters 0.10035447480371763 Centerline is valid? [True, False] Translation: X:2.02, Y:-0.57, Z:-0.16 [[ 9.99973913e-01 -7.19530578e-03 6.33402461e-04 2.01821114e+00] [ 7.19506736e-03 9.99974044e-01 3.77884135e-04 -5.72299288e-01] [-6.36105013e-04 -3.73316904e-04 9.99999728e-01 -1.59436722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.311346184 meters 0.09780237707636376 Centerline is valid? [False, True] Translation: X:2.02, Y:-0.57, Z:-0.16 [[ 9.99975073e-01 -7.02419060e-03 7.17038818e-04 2.01818629e+00] [ 7.02366346e-03 9.99975064e-01 7.35058629e-04 -5.73137618e-01] [-7.22184130e-04 -7.30004067e-04 9.99999473e-01 -1.59652307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.341346184 meters 0.10445073674647173 Centerline is valid? [True, False] Translation: X:2.02, Y:-0.57, Z:-0.16 [[ 9.99974129e-01 -7.16620168e-03 6.22566812e-04 2.01848706e+00] [ 7.16597468e-03 9.99974257e-01 3.66098859e-04 -5.71872294e-01] [-6.25174324e-04 -3.61628090e-04 9.99999739e-01 -1.59732131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.371346184 meters 0.09876172849566132 Centerline is valid? [False, True] Translation: X:2.01, Y:-0.57, Z:-0.16 [[ 9.99976920e-01 6.43789360e-04 6.76349465e-03 2.00599776e+00] [-6.27886476e-04 9.99997034e-01 -2.35314237e-03 -5.70470593e-01] [-6.76498952e-03 2.34884136e-03 9.99974359e-01 -1.61638724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.401346183999999 meters 0.09938061746974522 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.57, Z:-0.16 [[ 9.99958948e-01 1.02365714e-03 9.00302069e-03 2.03594721e+00] [-1.01588273e-03 9.99999107e-01 -8.68064305e-04 -5.74113704e-01] [-9.00390125e-03 8.58882656e-04 9.99959095e-01 -1.63042534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.431346184 meters 0.09959150756827527 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.58, Z:-0.16 [[ 9.99927963e-01 2.76299847e-03 1.16804965e-02 2.06588113e+00] [-2.75000660e-03 9.99995582e-01 -1.12818547e-03 -5.76544749e-01] [-1.16835621e-02 1.09598276e-03 9.99931144e-01 -1.63743205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.461346184 meters 0.09762300646422158 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.58, Z:-0.16 [[ 9.99906470e-01 4.73272177e-03 1.28317275e-02 2.09699707e+00] [-4.71722451e-03 9.99988108e-01 -1.23772795e-03 -5.76195881e-01] [-1.28374328e-02 1.17708204e-03 9.99916904e-01 -1.63559095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.491346184 meters 0.09571034232464407 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.57, Z:-0.16 [[ 9.99899059e-01 6.81683494e-03 1.24660278e-02 2.12821666e+00] [-6.80236661e-03 9.99976140e-01 -1.20265416e-03 -5.74974936e-01] [-1.24739286e-02 1.11773427e-03 9.99921573e-01 -1.64757241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5213461839999995 meters 0.09297049793245682 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.57, Z:-0.17 [[ 9.99876852e-01 9.64150833e-03 1.23823397e-02 2.15975616e+00] [-9.62744584e-03 9.99952941e-01 -1.19479607e-03 -5.71484373e-01] [-1.23932767e-02 1.07543863e-03 9.99922622e-01 -1.66162532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.551346184 meters 0.09299547406937823 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.57, Z:-0.17 [[ 9.99837395e-01 1.46292323e-02 1.05436588e-02 2.18925900e+00] [-1.46192936e-02 9.99892613e-01 -1.01908745e-03 -5.68654911e-01] [-1.05574350e-02 8.64780899e-04 9.99943895e-01 -1.70344703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.581346184 meters 0.09039114598421513 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.56, Z:-0.17 [[ 9.99810703e-01 1.68887744e-02 9.66062382e-03 2.22185180e+00] [-1.68805692e-02 9.99857080e-01 -9.30262649e-04 -5.64328927e-01] [-9.67495412e-03 7.67009724e-04 9.99952902e-01 -1.70453027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.611346183999999 meters 0.08890351704983246 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.56, Z:-0.17 [[ 9.99752716e-01 1.96838663e-02 1.03465834e-02 2.25258284e+00] [-1.96745690e-02 9.99805937e-01 -9.99613168e-04 -5.62407366e-01] [-1.03642518e-02 7.95801411e-04 9.99945973e-01 -1.71731783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.641346184 meters 0.08981665565981962 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.56, Z:-0.17 [[ 9.99706493e-01 2.14529971e-02 1.12559430e-02 2.28218295e+00] [-2.14421052e-02 9.99769500e-01 -1.08746643e-03 -5.63617117e-01] [-1.12766779e-02 8.45796141e-04 9.99936059e-01 -1.74652446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.671346184 meters 0.08931507139252885 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.56, Z:-0.17 [[ 9.99707392e-01 2.09641261e-02 1.20679540e-02 2.31340668e+00] [-2.09515893e-02 9.99779813e-01 -1.16435282e-03 -5.63737609e-01] [-1.20897065e-02 9.11169306e-04 9.99926502e-01 -1.74843624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.701346184 meters 0.08984152598235488 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.57, Z:-0.18 [[ 9.99720854e-01 2.03305381e-02 1.20367881e-02 2.34560218e+00] [-2.03181278e-02 9.99792901e-01 -1.15243846e-03 -5.65030607e-01] [-1.20577250e-02 9.07551765e-04 9.99926891e-01 -1.76337909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7313461839999995 meters 0.09131309518105298 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.56, Z:-0.18 [[ 9.99753308e-01 1.78639942e-02 1.31985088e-02 2.37702697e+00] [-1.78486743e-02 9.99839883e-01 -1.27761884e-03 -5.64754175e-01] [-1.32192189e-02 1.04172778e-03 9.99912080e-01 -1.77972266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.761346184 meters 0.09165344552922365 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.57, Z:-0.18 [[ 9.99787216e-01 1.58860031e-02 1.31589357e-02 2.40831918e+00] [-1.58705985e-02 9.99873242e-01 -1.27425958e-03 -5.65433122e-01] [-1.31775106e-02 1.06514825e-03 9.99912606e-01 -1.78300812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.791346184 meters 0.09222823953137713 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.57, Z:-0.18 [[ 9.99789170e-01 1.47454209e-02 1.42894083e-02 2.44078439e+00] [-1.47272566e-02 9.99890602e-01 -1.37557334e-03 -5.67178681e-01] [-1.43081285e-02 1.16483954e-03 9.99896955e-01 -1.79900184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.821346183999999 meters 0.09725780114701073 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.58, Z:-0.19 [[ 9.99829467e-01 1.30178919e-02 1.30985125e-02 2.46983633e+00] [-1.30023518e-02 9.99914658e-01 -1.27086403e-03 -5.76171916e-01] [-1.31139386e-02 1.10033584e-03 9.99913403e-01 -1.86213044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.851346184 meters 0.0943728210004952 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.57, Z:-0.19 [[ 9.99843145e-01 1.20588748e-02 1.29718512e-02 2.50260198e+00] [-1.20435418e-02 9.99926681e-01 -1.25949040e-03 -5.72848847e-01] [-1.29860881e-02 1.10306581e-03 9.99915069e-01 -1.87097741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.881346184 meters 0.10049622679527309 Centerline is valid? [True, False] Translation: X:2.52, Y:-0.57, Z:-0.19 [[ 9.99962236e-01 6.02941906e-03 6.25886947e-03 2.51532124e+00] [-6.02376881e-03 9.99981433e-01 -9.21217694e-04 -5.65252619e-01] [-6.26430766e-03 8.83480922e-04 9.99979989e-01 -1.85296401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.911346184 meters 0.09962996319433137 Centerline is valid? [False, True] Translation: X:2.52, Y:-0.56, Z:-0.18 [[ 9.99967029e-01 5.28745020e-03 6.16314494e-03 2.51536036e+00] [-5.27213434e-03 9.99982980e-01 -2.49867603e-03 -5.61104518e-01] [-6.17625167e-03 2.46610071e-03 9.99977886e-01 -1.84916690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9413461839999995 meters 0.09229962154933724 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.55, Z:-0.18 [[ 9.99967888e-01 6.20275191e-03 5.07423576e-03 2.54869254e+00] [-6.20054675e-03 9.99980675e-01 -4.50195637e-04 -5.49177549e-01] [-5.07693015e-03 4.18718145e-04 9.99987025e-01 -1.81798736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.971346184 meters 0.09587050480319576 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.55, Z:-0.19 [[ 9.99950198e-01 8.53661209e-03 5.16981667e-03 2.57764541e+00] [-8.53427922e-03 9.99963470e-01 -4.73141095e-04 -5.51324691e-01] [-5.17366684e-03 4.28996873e-04 9.99986524e-01 -1.87788051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.001346184 meters 0.09479098872301041 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.55, Z:-0.19 [[ 9.99926475e-01 1.07378356e-02 5.63414649e-03 2.60885546e+00] [-1.07351099e-02 9.99942245e-01 -5.13801944e-04 -5.49582276e-01] [-5.63933821e-03 4.53280985e-04 9.99983996e-01 -1.89489082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.031346183999999 meters 0.09001643494892243 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.54, Z:-0.19 [[ 9.99912270e-01 1.23979338e-02 4.66290117e-03 2.64003914e+00] [-1.23960813e-02 9.99923075e-01 -4.25977267e-04 -5.40619945e-01] [-4.66782371e-03 3.68138194e-04 9.99989038e-01 -1.88121648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061346184 meters 0.08808691172264228 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.53, Z:-0.19 [[ 9.99861776e-01 1.59689913e-02 4.62829671e-03 2.67088514e+00] [-1.59672034e-02 9.99872427e-01 -4.22998498e-04 -5.34803501e-01] [-4.63446113e-03 3.49039075e-04 9.99989200e-01 -1.89893730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.091346184 meters 0.08775434842919891 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.53, Z:-0.19 [[ 9.99848811e-01 1.67202599e-02 4.77374803e-03 2.70073723e+00] [-1.67183591e-02 9.99860143e-01 -4.37806494e-04 -5.33600651e-01] [-4.78040062e-03 3.57931069e-04 9.99988510e-01 -1.91752385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121346184 meters 0.08828015897568647 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.53, Z:-0.19 [[ 9.99834084e-01 1.75964774e-02 4.70833213e-03 2.72989654e+00] [-1.75946388e-02 9.99845109e-01 -4.31641148e-04 -5.34481893e-01] [-4.71519821e-03 3.48728129e-04 9.99988823e-01 -1.94364191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.151346183999999 meters 0.0895778362592842 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.54, Z:-0.20 [[ 9.99819142e-01 1.81035413e-02 5.82620630e-03 2.75875854e+00] [-1.81007386e-02 9.99836026e-01 -5.33430824e-04 -5.37377364e-01] [-5.83490794e-03 4.27875712e-04 9.99982885e-01 -1.96888185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.181346184 meters 0.08680075305850156 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.53, Z:-0.19 [[ 9.99821275e-01 1.74208773e-02 7.34371744e-03 2.78866981e+00] [-1.74164113e-02 9.99848097e-01 -6.71658546e-04 -5.32807835e-01] [-7.35430279e-03 5.43637301e-04 9.99972809e-01 -1.94821438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.211346184 meters 0.08854786908553645 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.54, Z:-0.20 [[ 9.99851584e-01 1.58490294e-02 6.75419511e-03 2.81723669e+00] [-1.58452167e-02 9.99874266e-01 -6.17624587e-04 -5.36677362e-01] [-6.76313462e-03 5.10511236e-04 9.99976999e-01 -1.97970133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.241346184 meters 0.08881055312975214 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.54, Z:-0.20 [[ 9.99888252e-01 1.39828786e-02 5.28798738e-03 2.84717328e+00] [-1.39805191e-02 9.99902151e-01 -4.82912828e-04 -5.37713849e-01] [-5.29422247e-03 4.08930055e-04 9.99985902e-01 -1.99459956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2713461839999995 meters 0.0894196299143719 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.54, Z:-0.20 [[ 9.99934148e-01 1.10957993e-02 2.92960714e-03 2.87773392e+00] [-1.10950643e-02 9.99938412e-01 -2.67025328e-04 -5.38191596e-01] [-2.93238957e-03 2.34503564e-04 9.99995673e-01 -2.02792099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.301346184 meters 0.09278867209774 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.55, Z:-0.21 [[ 9.99938035e-01 1.04334027e-02 3.88197288e-03 2.90549947e+00] [-1.04320971e-02 9.99945521e-01 -3.56430748e-04 -5.45943403e-01] [-3.88548018e-03 3.15911544e-04 9.99992402e-01 -2.07611595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.331346184 meters 0.09272578364066225 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.55, Z:-0.21 [[ 9.99925651e-01 1.11966355e-02 4.82981881e-03 2.93503847e+00] [-1.11946323e-02 9.99937241e-01 -4.41583994e-04 -5.47406892e-01] [-4.83445994e-03 3.87483117e-04 9.99988239e-01 -2.09183995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.361346183999999 meters 0.09518738589028239 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.55, Z:-0.21 [[ 9.99908935e-01 1.23692390e-02 5.39667068e-03 2.96386690e+00] [-1.23667788e-02 9.99923409e-01 -4.89009628e-04 -5.52740101e-01] [-5.40230602e-03 4.22225664e-04 9.99985318e-01 -2.12714233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.391346184 meters 0.0921280748815823 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.55, Z:-0.21 [[ 9.99839526e-01 1.66957349e-02 6.49426996e-03 2.99542595e+00] [-1.66922413e-02 9.99860500e-01 -5.91782898e-04 -5.45154273e-01] [-6.50324425e-03 4.83284011e-04 9.99978737e-01 -2.11294435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.421346184 meters 0.09106124647618646 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.54, Z:-0.21 [[ 9.99784716e-01 1.95401642e-02 6.97884229e-03 3.02472575e+00] [-1.95361925e-02 9.99808948e-01 -6.36835222e-04 -5.42676981e-01] [-6.98995283e-03 5.00358116e-04 9.99975445e-01 -2.12879462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.451346184 meters 0.084203850168432 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.53, Z:-0.21 [[ 9.99724933e-01 2.25851842e-02 6.32197328e-03 3.05655158e+00] [-2.25819873e-02 9.99744828e-01 -5.76611627e-04 -5.29847091e-01] [-6.33338297e-03 4.33690300e-04 9.99979850e-01 -2.08294815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4813461839999995 meters 0.084203850168432 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.53, Z:-0.21 [[ 9.99726614e-01 2.25107081e-02 6.32175944e-03 3.08480522e+00] [-2.25074950e-02 9.99746507e-01 -5.78961437e-04 -5.32327987e-01] [-6.33318975e-03 4.36516188e-04 9.99979850e-01 -2.09732143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.511346184 meters 0.08268874986353146 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.53, Z:-0.21 [[ 9.99592534e-01 2.80311428e-02 5.38718316e-03 3.11531090e+00] [-2.80289062e-02 9.99606993e-01 -4.90231916e-04 -5.25071935e-01] [-5.39880772e-03 3.39035311e-04 9.99985369e-01 -2.12994076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.541346184 meters 0.07963998639215338 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.52, Z:-0.21 [[ 9.99542119e-01 3.00158067e-02 3.82155703e-03 3.14491560e+00] [-3.00146822e-02 9.99549396e-01 -3.51285123e-04 -5.17295711e-01] [-3.83037913e-03 2.36421456e-04 9.99992636e-01 -2.12185330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.571346183999999 meters 0.07916306695118794 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.52, Z:-0.21 [[ 9.99477101e-01 3.20968208e-02 3.91386210e-03 3.17511801e+00] [-3.20956693e-02 9.99484738e-01 -3.56674599e-04 -5.15238600e-01] [-3.92329356e-03 2.30870071e-04 9.99992277e-01 -2.14668852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601346184 meters 0.07822262859062848 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.51, Z:-0.22 [[ 9.99416789e-01 3.41282617e-02 1.15940816e-03 3.20445799e+00] [-3.41281580e-02 9.99417459e-01 -1.09171395e-04 -5.07604792e-01] [-1.16245859e-03 6.95392600e-05 9.99999322e-01 -2.18161508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.631346184 meters 0.07903377540415354 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.51, Z:-0.22 [[ 9.99412245e-01 3.42805917e-02 -7.29285336e-05 3.23156225e+00] [-3.42805918e-02 9.99412248e-01 8.33966905e-07 -5.08133094e-01] [ 7.29142586e-05 1.66655655e-06 9.99999997e-01 -2.22441124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.661346184 meters 0.0789650198972163 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.51, Z:-0.22 [[ 9.99429841e-01 3.37621518e-02 3.32025895e-04 3.26057241e+00] [-3.37621424e-02 9.99429896e-01 -3.39325146e-05 -5.07072289e-01] [-3.32982240e-04 2.27032621e-05 9.99999944e-01 -2.24292310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6913461839999995 meters 0.07914746346045295 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.51, Z:-0.23 [[ 9.99433696e-01 3.36312603e-02 1.10704099e-03 3.28910637e+00] [-3.36311656e-02 9.99434307e-01 -1.04047802e-04 -5.06441906e-01] [-1.10991400e-03 6.67578003e-05 9.99999382e-01 -2.26406975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.721346184 meters 0.07901936868338581 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.50, Z:-0.23 [[ 9.99446155e-01 3.30668178e-02 3.73759641e-03 3.31897038e+00] [-3.30657695e-02 9.99453119e-01 -3.41927767e-04 -4.99200355e-01] [-3.74685886e-03 2.18151890e-04 9.99992957e-01 -2.26059927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.751346184 meters 0.07919240663632413 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.50, Z:-0.23 [[ 9.99431622e-01 3.34657074e-02 4.05939038e-03 3.34749959e+00] [-3.34644769e-02 9.99439839e-01 -3.70701903e-04 -4.97488551e-01] [-4.06952227e-03 2.34645829e-04 9.99991692e-01 -2.27591800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.781346183999999 meters 0.07947322400949794 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.50, Z:-0.23 [[ 9.99409969e-01 3.40997857e-02 4.11325241e-03 3.37558653e+00] [-3.40985257e-02 9.99418405e-01 -3.76086408e-04 -4.95584506e-01] [-4.12368463e-03 2.35608662e-04 9.99991470e-01 -2.30324200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.811346184 meters 0.07940223654369523 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.49, Z:-0.23 [[ 9.99370823e-01 3.50611410e-02 5.35477648e-03 3.40383986e+00] [-3.50590229e-02 9.99385124e-01 -4.88923946e-04 -4.88650823e-01] [-5.36862619e-03 3.00883095e-04 9.99985544e-01 -2.32181612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.841346184 meters 0.07988483176535165 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.49, Z:-0.23 [[ 9.99360630e-01 3.53158301e-02 5.57889382e-03 3.43145273e+00] [-3.53135391e-02 9.99376153e-01 -5.08672529e-04 -4.87879124e-01] [-5.59337764e-03 3.11336814e-04 9.99984308e-01 -2.33581684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.871346184 meters 0.08006350093834069 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.49, Z:-0.24 [[ 9.99381219e-01 3.47230572e-02 5.61140010e-03 3.46073721e+00] [-3.47207473e-02 9.99396924e-01 -5.08563709e-04 -4.87116053e-01] [-5.62567489e-03 3.13417014e-04 9.99984127e-01 -2.35351902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.901346183999999 meters 0.08058106429663062 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.49, Z:-0.24 [[ 9.99387622e-01 3.44309513e-02 6.23626840e-03 3.48827457e+00] [-3.44280839e-02 9.99407017e-01 -5.66598656e-04 -4.87594476e-01] [-6.25207893e-03 3.51548912e-04 9.99980394e-01 -2.37893884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.931346184 meters 0.07811145860723283 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.48, Z:-0.23 [[ 9.99412689e-01 3.31402481e-02 8.71780709e-03 3.51867174e+00] [-3.31346512e-02 9.99450588e-01 -7.85699847e-04 -4.79472189e-01] [-8.73905571e-03 4.96376900e-04 9.99961691e-01 -2.33240823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.961346184 meters 0.07831801808526617 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.48, Z:-0.23 [[ 9.99432641e-01 3.27014659e-02 8.06284755e-03 3.54703678e+00] [-3.26966534e-02 9.99465056e-01 -7.28003448e-04 -4.79061805e-01] [-8.08234116e-03 4.63962277e-04 9.99967230e-01 -2.34353758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.991346183999999 meters 0.07853512912810313 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.48, Z:-0.24 [[ 9.99445420e-01 3.19194338e-02 9.48691528e-03 3.57640654e+00] [-3.19127671e-02 9.99490294e-01 -8.53315341e-04 -4.79546736e-01] [-9.50931708e-03 5.50088392e-04 9.99954634e-01 -2.35080910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0213461839999995 meters 0.0783648958571391 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.48, Z:-0.23 [[ 9.99453528e-01 3.03309973e-02 1.31406197e-02 3.60535249e+00] [-3.03180839e-02 9.99539604e-01 -1.18084618e-03 -4.76358549e-01] [-1.31703861e-02 7.81802469e-04 9.99912961e-01 -2.33731828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.051346184 meters 0.07916619688397031 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.48, Z:-0.23 [[ 9.99479358e-01 2.92632771e-02 1.35894547e-02 3.63427489e+00] [-2.92493843e-02 9.99571401e-01 -1.21999013e-03 -4.77613759e-01] [-1.36193312e-02 8.21871769e-04 9.99906915e-01 -2.34457020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.081346184 meters 0.07936387889479435 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.48, Z:-0.24 [[ 9.99482608e-01 2.88809415e-02 1.41565490e-02 3.66351359e+00] [-2.88658437e-02 9.99582488e-01 -1.26970018e-03 -4.77349481e-01] [-1.41873086e-02 8.60402513e-04 9.99898985e-01 -2.35887664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.111346183999999 meters 0.08084892345656117 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.48, Z:-0.24 [[ 9.99512811e-01 2.81985710e-02 1.33783603e-02 3.69127659e+00] [-2.81850376e-02 9.99602004e-01 -1.19909040e-03 -4.80391742e-01] [-1.34068484e-02 8.21436627e-04 9.99909787e-01 -2.39755918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141346184 meters 0.08066589546368015 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.48, Z:-0.24 [[ 9.99557463e-01 2.72093657e-02 1.20219940e-02 3.72053649e+00] [-2.71983825e-02 9.99629476e-01 -1.07617584e-03 -4.79794169e-01] [-1.20468216e-02 7.48720797e-04 9.99927154e-01 -2.43579886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.171346184 meters 0.08236537418068934 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.48, Z:-0.25 [[ 9.99583516e-01 2.66254675e-02 1.11301011e-02 3.74832103e+00] [-2.66160384e-02 9.99645236e-01 -9.94470079e-04 -4.83486413e-01] [-1.11526308e-02 6.97816700e-04 9.99937564e-01 -2.47285970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.201346183999999 meters 0.08415719980977308 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.49, Z:-0.25 [[ 9.99616397e-01 2.54066369e-02 1.10254983e-02 3.77619628e+00] [-2.53972874e-02 9.99676949e-01 -9.87202919e-04 -4.86759121e-01] [-1.10470180e-02 7.06806475e-04 9.99938730e-01 -2.50004080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2313461839999995 meters 0.08388372148826306 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.49, Z:-0.25 [[ 9.99644213e-01 2.45469737e-02 1.04351586e-02 3.80525093e+00] [-2.45385577e-02 9.99698448e-01 -9.33796651e-04 -4.85176431e-01] [-1.04549338e-02 6.77400676e-04 9.99945116e-01 -2.51622610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.261346184 meters 0.08494691859915382 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.49, Z:-0.25 [[ 9.99675591e-01 2.34934149e-02 9.83727530e-03 3.83334916e+00] [-2.34858977e-02 9.99723782e-01 -8.78998414e-04 -4.88111903e-01] [-9.85520874e-03 6.47676018e-04 9.99951226e-01 -2.54247812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.291346184 meters 0.08548221900791567 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.49, Z:-0.26 [[ 9.99694995e-01 2.27172592e-02 9.68723563e-03 3.86155183e+00] [-2.27099233e-02 9.99741721e-01 -8.66619636e-04 -4.89504952e-01] [-9.70442084e-03 6.46358935e-04 9.99952702e-01 -2.55253683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.321346183999999 meters 0.08581407629000046 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.49, Z:-0.26 [[ 9.99716790e-01 2.16879955e-02 9.79648642e-03 3.89055028e+00] [-2.16804600e-02 9.99764569e-01 -8.74757240e-04 -4.90714528e-01] [-9.81315175e-03 6.62117168e-04 9.99951631e-01 -2.56801732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.351346184 meters 0.08872006301477456 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.50, Z:-0.26 [[ 9.99728895e-01 2.12313423e-02 9.55855831e-03 3.91754310e+00] [-2.12241467e-02 9.99774378e-01 -8.53613932e-04 -4.95347951e-01] [-9.57452506e-03 6.50510269e-04 9.99953952e-01 -2.62198244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.381346184 meters 0.08628113326822093 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.49, Z:-0.26 [[ 9.99743690e-01 2.07000242e-02 9.16857601e-03 3.94706472e+00] [-2.06933936e-02 9.99785535e-01 -8.17472933e-04 -4.91811483e-01] [-9.18353138e-03 6.27534454e-04 9.99957634e-01 -2.60392071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.411346184 meters 0.09007762869542897 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.50, Z:-0.27 [[ 9.99731978e-01 2.10796430e-02 9.57190021e-03 3.97419118e+00] [-2.10724349e-02 9.99777587e-01 -8.53287015e-04 -4.99004813e-01] [-9.58775829e-03 6.51355071e-04 9.99953824e-01 -2.65433903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4413461839999995 meters 0.08269334463168157 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.48, Z:-0.26 [[ 9.99708164e-01 2.26543933e-02 8.38840911e-03 4.00493018e+00] [-2.26489192e-02 9.99743201e-01 -7.47014719e-04 -4.84571175e-01] [-8.40317814e-03 5.56808313e-04 9.99964538e-01 -2.60361957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.471346184 meters 0.0848767220104678 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.49, Z:-0.27 [[ 9.99706325e-01 2.29373005e-02 7.81947033e-03 4.03187680e+00] [-2.29325467e-02 9.99736772e-01 -6.97077444e-04 -4.90033248e-01] [-7.83340110e-03 5.17552361e-04 9.99969185e-01 -2.66180261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501346184 meters 0.08473246066893445 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.49, Z:-0.27 [[ 9.99695608e-01 2.35993244e-02 7.19472612e-03 4.06030043e+00] [-2.35953277e-02 9.99721387e-01 -6.39893025e-04 -4.91911215e-01] [-7.20782261e-03 4.69936326e-04 9.99973913e-01 -2.68903524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.531346183999999 meters 0.08592069929586561 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.50, Z:-0.27 [[ 9.99697750e-01 2.34897096e-02 7.25554078e-03 4.08829132e+00] [-2.34856387e-02 9.99723966e-01 -6.45777057e-04 -4.95155697e-01] [-7.26870712e-03 4.75180862e-04 9.99973470e-01 -2.71549295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561346184 meters 0.08588277287962956 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.49, Z:-0.27 [[ 9.99661179e-01 2.48611834e-02 7.71029658e-03 4.11659154e+00] [-2.48566379e-02 9.99690791e-01 -6.84816841e-04 -4.92251956e-01] [-7.72493785e-03 4.92932760e-04 9.99970041e-01 -2.72820684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.591346184 meters 0.08570931556960897 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.49, Z:-0.27 [[ 9.99649822e-01 2.55641367e-02 6.83428570e-03 4.14525157e+00] [-2.55605875e-02 9.99673091e-01 -6.06179450e-04 -4.91989506e-01] [-6.84754796e-03 4.31278822e-04 9.99976462e-01 -2.74592755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.621346184 meters 0.08537150862366197 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.49, Z:-0.28 [[ 9.99615846e-01 2.69798782e-02 6.34396714e-03 4.17430044e+00] [-2.69768497e-02 9.99635900e-01 -5.62480834e-04 -4.92292221e-01] [-6.35683296e-03 3.91124507e-04 9.99979719e-01 -2.77344566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.651346183999999 meters 0.08525095117615722 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.49, Z:-0.28 [[ 9.99551017e-01 2.93124171e-02 6.20860938e-03 4.20292374e+00] [-2.93095684e-02 9.99570231e-01 -5.49346513e-04 -4.90725804e-01] [-6.22204379e-03 3.67128205e-04 9.99980576e-01 -2.80259337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.681346184 meters 0.08425686428216367 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.49, Z:-0.28 [[ 9.99496551e-01 3.10528640e-02 6.50881251e-03 4.23300988e+00] [-3.10497777e-02 9.99517674e-01 -5.74703374e-04 -4.89666680e-01] [-6.52351933e-03 3.72316858e-04 9.99978652e-01 -2.80693388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.711346184 meters 0.08073788149104132 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.48, Z:-0.28 [[ 9.99401780e-01 3.37551247e-02 7.52825872e-03 4.26352290e+00] [-3.37510760e-02 9.99430049e-01 -6.64242506e-04 -4.81882581e-01] [-7.54638957e-03 4.09758311e-04 9.99971442e-01 -2.78209707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.741346183999999 meters 0.08008602186738163 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.48, Z:-0.28 [[ 9.99358896e-01 3.48353380e-02 8.26416444e-03 4.29231129e+00] [-3.48304873e-02 9.99392968e-01 -7.30204077e-04 -4.80631240e-01] [-8.28458473e-03 4.41891066e-04 9.99965585e-01 -2.79254073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7713461839999995 meters 0.08156375963716121 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.48, Z:-0.28 [[ 9.99361861e-01 3.48257229e-02 7.93973086e-03 4.32017755e+00] [-3.48212428e-02 9.99393310e-01 -7.01844030e-04 -4.82761574e-01] [-7.95935613e-03 4.24924859e-04 9.99968234e-01 -2.83142672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801346184 meters 0.08041543095768255 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.48, Z:-0.28 [[ 9.99346097e-01 3.52563173e-02 8.02310503e-03 4.34929158e+00] [-3.52517686e-02 9.99378213e-01 -7.07697303e-04 -4.80787309e-01] [-8.04306717e-03 4.24405896e-04 9.99967564e-01 -2.82759320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.831346184 meters 0.08144241347791097 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.48, Z:-0.29 [[ 9.99402879e-01 3.40049729e-02 6.12753781e-03 4.37832919e+00] [-3.40022986e-02 9.99421609e-01 -5.40114501e-04 -4.80952887e-01] [-6.14236027e-03 3.31441617e-04 9.99981081e-01 -2.86601231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.861346183999999 meters 0.0815999721503503 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.48, Z:-0.29 [[ 9.99418779e-01 3.35770364e-02 5.88952367e-03 4.40684072e+00] [-3.35745551e-02 9.99436081e-01 -5.19707153e-04 -4.82296456e-01] [-5.90365268e-03 3.21666952e-04 9.99982522e-01 -2.88486203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.891346184 meters 0.07959535284811765 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.48, Z:-0.29 [[ 9.99440530e-01 3.30165368e-02 5.34175993e-03 4.43633371e+00] [-3.30144870e-02 9.99454762e-01 -4.71474656e-04 -4.79283312e-01] [-5.35441386e-03 2.94855416e-04 9.99985622e-01 -2.87002350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.921346184 meters 0.07873686352898789 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.48, Z:-0.29 [[ 9.99425616e-01 3.33206786e-02 6.17820142e-03 4.46557531e+00] [-3.33179485e-02 9.99444655e-01 -5.44321597e-04 -4.78647367e-01] [-6.19290755e-03 3.38163951e-04 9.99980767e-01 -2.86766501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.951346183999999 meters 0.08357749064852399 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.49, Z:-0.29 [[ 9.99368457e-01 3.45484413e-02 8.31215556e-03 4.49379843e+00] [-3.45435708e-02 9.99402927e-01 -7.28844379e-04 -4.87044241e-01] [-8.33237303e-03 4.41252548e-04 9.99965188e-01 -2.94251394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9813461839999995 meters 0.08053041527737913 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.48, Z:-0.29 [[ 9.99352955e-01 3.48997847e-02 8.69920785e-03 4.52322120e+00] [-3.48944548e-02 9.99390711e-01 -7.63767913e-04 -4.80721232e-01] [-8.72056285e-03 4.59719606e-04 9.99961869e-01 -2.90488228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.011346184 meters 0.07979640244801212 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.48, Z:-0.29 [[ 9.99339426e-01 3.53277289e-02 8.52432916e-03 4.55239002e+00] [-3.53226308e-02 9.99375681e-01 -7.47924831e-04 -4.78592406e-01] [-8.54542975e-03 4.46329039e-04 9.99963388e-01 -2.90540973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041346184 meters 0.08075329932313748 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.48, Z:-0.29 [[ 9.99298013e-01 3.59183274e-02 1.06467887e-02 4.58072314e+00] [-3.59104333e-02 9.99354578e-01 -9.31769587e-04 -4.80628066e-01] [-1.06733846e-02 5.48784703e-04 9.99942887e-01 -2.92908409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.071346184000001 meters 0.07891890711140624 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.48, Z:-0.29 [[ 9.99270064e-01 3.63012744e-02 1.18977258e-02 4.61001665e+00] [-3.62914460e-02 9.99340706e-01 -1.04101091e-03 -4.78973832e-01] [-1.19276717e-02 6.08465368e-04 9.99928678e-01 -2.90898679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.101346184 meters 0.07900662258778256 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.48, Z:-0.29 [[ 9.99273033e-01 3.56950170e-02 1.33892048e-02 4.63908197e+00] [-3.56825342e-02 9.99362491e-01 -1.17011612e-03 -4.81229993e-01] [-1.34224364e-02 6.91504729e-04 9.99909676e-01 -2.90777965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.131346184 meters 0.08288704035630663 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.49, Z:-0.30 [[ 9.99273610e-01 3.52885369e-02 1.43864902e-02 4.66566732e+00] [-3.52740927e-02 9.99376886e-01 -1.25660185e-03 -4.90826615e-01] [-1.44218694e-02 7.48218676e-04 9.99895719e-01 -2.97062518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.161346184000001 meters 0.0768783251301287 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.48, Z:-0.29 [[ 9.99278115e-01 3.51882755e-02 1.43190255e-02 4.69566580e+00] [-3.51739810e-02 9.99380424e-01 -1.24898472e-03 -4.79721703e-01] [-1.43541033e-02 7.44425966e-04 9.99896697e-01 -2.89377353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.191346184 meters 0.07748128710976768 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.48, Z:-0.29 [[ 9.99299706e-01 3.45669139e-02 1.43257164e-02 4.72301436e+00] [-3.45525484e-02 9.99402102e-01 -1.24914815e-03 -4.80806194e-01] [-1.43603303e-02 7.53283375e-04 9.99896601e-01 -2.90955315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.221346184 meters 0.07767401052539977 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.48, Z:-0.29 [[ 9.99295946e-01 3.46204732e-02 1.44580776e-02 4.75143586e+00] [-3.46058771e-02 9.99400245e-01 -1.25858476e-03 -4.82165842e-01] [-1.44929791e-02 7.57364191e-04 9.99894684e-01 -2.91090025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.251346184 meters 0.07924729986335789 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.49, Z:-0.29 [[ 9.99357209e-01 3.25178580e-02 1.50916519e-02 4.77824809e+00] [-3.25017158e-02 9.99470816e-01 -1.31371149e-03 -4.87912552e-01] [-1.51263848e-02 8.22362470e-04 9.99885252e-01 -2.93259702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281346184 meters 0.07978287749103846 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.49, Z:-0.29 [[ 9.99385280e-01 3.14899987e-02 1.54091390e-02 4.80714835e+00] [-3.14730952e-02 9.99503703e-01 -1.33831170e-03 -4.91842620e-01] [-1.54436349e-02 8.52515718e-04 9.99880377e-01 -2.94344894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.311346184000001 meters 0.08024575653446767 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.49, Z:-0.30 [[ 9.99419158e-01 3.00063463e-02 1.61544179e-02 4.83543002e+00] [-2.99875963e-02 9.99549288e-01 -1.40171212e-03 -4.94986881e-01] [-1.61891971e-02 9.16465782e-04 9.99868526e-01 -2.95201187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.341346184 meters 0.081890807222577 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.50, Z:-0.30 [[ 9.99479415e-01 2.83633412e-02 1.53759570e-02 4.86329893e+00] [-2.83461854e-02 9.99597278e-01 -1.33259316e-03 -5.00944807e-01] [-1.54075616e-02 8.96049701e-04 9.99880895e-01 -2.99021311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.371346184 meters 0.081890807222577 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.50, Z:-0.30 [[ 9.99481395e-01 2.82934566e-02 1.53759744e-02 4.89152342e+00] [-2.82762956e-02 9.99599258e-01 -1.33239281e-03 -5.03296551e-01] [-1.54075106e-02 8.96926226e-04 9.99880895e-01 -3.00457669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.401346184000001 meters 0.08263468308457313 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.51, Z:-0.30 [[ 9.99520828e-01 2.73856136e-02 1.44271190e-02 4.91956791e+00] [-2.73704321e-02 9.99624580e-01 -1.24872494e-03 -5.06889704e-01] [-1.44558999e-02 8.53250102e-04 9.99895144e-01 -3.04065261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.431346184 meters 0.08193867680505358 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.51, Z:-0.31 [[ 9.99552148e-01 2.67060385e-02 1.35015388e-02 4.94832950e+00] [-2.66926789e-02 9.99643004e-01 -1.16875499e-03 -5.08052924e-01] [-1.35279317e-02 8.07839317e-04 9.99908167e-01 -3.05072371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.461346184 meters 0.0836856420230269 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.51, Z:-0.31 [[ 9.99611551e-01 2.50783151e-02 1.21583106e-02 4.97610209e+00] [-2.50673763e-02 9.99685211e-01 -1.05128673e-03 -5.14656654e-01] [-1.21808478e-02 7.46101417e-04 9.99925532e-01 -3.10789310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.491346184000001 meters 0.08476241563007902 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.52, Z:-0.31 [[ 9.99618718e-01 2.51882604e-02 1.13123490e-02 5.00328597e+00] [-2.51787847e-02 9.99682484e-01 -9.79305808e-04 -5.19320932e-01] [-1.13334242e-02 6.94101218e-04 9.99935534e-01 -3.14789821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.521346184 meters 0.08237105676174791 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.52, Z:-0.31 [[ 9.99617578e-01 2.55725386e-02 1.05234684e-02 5.03245226e+00] [-2.55643758e-02 9.99672764e-01 -9.09482526e-04 -5.17232648e-01] [-1.05432826e-02 6.40108817e-04 9.99944213e-01 -3.13340554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.551346184 meters 0.0824185785110328 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.52, Z:-0.31 [[ 9.99618325e-01 2.58418257e-02 9.76750691e-03 5.06161560e+00] [-2.58348110e-02 9.99665870e-01 -8.43685522e-04 -5.18757053e-01] [-9.78604566e-03 5.91021814e-04 9.99951941e-01 -3.13589987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.581346184000001 meters 0.08492612839252572 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.53, Z:-0.32 [[ 9.99606977e-01 2.61908243e-02 9.99661583e-03 5.08842018e+00] [-2.61834950e-02 9.99656781e-01 -8.63374704e-04 -5.25399471e-01] [-1.00157973e-02 6.01289037e-04 9.99949660e-01 -3.17782858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.611346184 meters 0.08360404450931179 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.53, Z:-0.32 [[ 9.99580881e-01 2.67893884e-02 1.09723177e-02 5.11779054e+00] [-2.67806258e-02 9.99640888e-01 -9.44786475e-04 -5.25369063e-01] [-1.09936876e-02 6.50544963e-04 9.99939356e-01 -3.16480139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.641346184000001 meters 0.07961949009527336 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.52, Z:-0.31 [[ 9.99547675e-01 2.76923093e-02 1.17295116e-02 5.14775637e+00] [-2.76823651e-02 9.99616260e-01 -1.00933517e-03 -5.20766238e-01] [-1.17529614e-02 6.84177998e-04 9.99930697e-01 -3.13358121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.671346184 meters 0.0796474476312171 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.52, Z:-0.32 [[ 9.99527539e-01 2.82947832e-02 1.20043271e-02 5.17587366e+00] [-2.82844112e-02 9.99599382e-01 -1.03295059e-03 -5.23948007e-01] [-1.20287451e-02 6.92927233e-04 9.99927412e-01 -3.16038928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.701346184 meters 0.07825864333351279 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.52, Z:-0.32 [[ 9.99482067e-01 2.94259039e-02 1.30274563e-02 5.20473795e+00] [-2.94138000e-02 9.99566693e-01 -1.11977834e-03 -5.23551362e-01] [-1.30547619e-02 7.36011377e-04 9.99914512e-01 -3.15593231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.731346184000001 meters 0.07797365476844778 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.52, Z:-0.32 [[ 9.99421411e-01 3.11510141e-02 1.36549118e-02 5.23359219e+00] [-3.11379022e-02 9.99514411e-01 -1.17183912e-03 -5.24396994e-01] [-1.36847851e-02 7.45975798e-04 9.99906081e-01 -3.16229790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.761346184 meters 0.07621704956883352 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.52, Z:-0.32 [[ 9.99301007e-01 3.51657251e-02 1.26834241e-02 5.26348839e+00] [-3.51547500e-02 9.99381289e-01 -1.08729288e-03 -5.19936609e-01] [-1.27138122e-02 6.40650268e-04 9.99918971e-01 -3.17127034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.791346184 meters 0.07672899454076622 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.52, Z:-0.32 [[ 9.99245033e-01 3.68649938e-02 1.22611406e-02 5.29074178e+00] [-3.68548444e-02 9.99320075e-01 -1.05277106e-03 -5.21907237e-01] [-1.22916143e-02 6.00093823e-04 9.99924275e-01 -3.21020602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.821346184000001 meters 0.07521514600117875 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.52, Z:-0.32 [[ 9.99165883e-01 3.91230958e-02 1.17013152e-02 5.31967754e+00] [-3.91140246e-02 9.99234250e-01 -1.00317089e-03 -5.20443977e-01] [-1.17316020e-02 5.44648604e-04 9.99931034e-01 -3.22691621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.851346184 meters 0.07590806823058943 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.52, Z:-0.33 [[ 9.99056575e-01 4.22189784e-02 1.01743907e-02 5.34729148e+00] [-4.22122637e-02 9.99108283e-01 -8.73908818e-04 -5.22441634e-01] [-1.02022136e-02 4.43600285e-04 9.99947858e-01 -3.29481662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.881346184 meters 0.07386588984670714 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.52, Z:-0.33 [[ 9.99023600e-01 4.32758408e-02 8.89092344e-03 5.37644501e+00] [-4.32707754e-02 9.99063091e-01 -7.61392619e-04 -5.19647322e-01] [-8.91554336e-03 3.75932043e-04 9.99960185e-01 -3.28061002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.911346184000001 meters 0.07523472184838258 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.52, Z:-0.33 [[ 9.99002843e-01 4.40147381e-02 7.48487897e-03 5.40382413e+00] [-4.40111630e-02 9.99030833e-01 -6.41765310e-04 -5.23444978e-01] [-7.50587201e-03 3.11707140e-04 9.99971782e-01 -3.33052294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.941346184 meters 0.07355822425318251 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.52, Z:-0.33 [[ 9.98969781e-01 4.46570652e-02 8.06992401e-03 5.43343480e+00] [-4.46528891e-02 9.99002319e-01 -6.97015380e-04 -5.21194079e-01] [-8.09299946e-03 3.35951879e-04 9.99967195e-01 -3.30096143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.971346184 meters 0.07286664771109964 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.52, Z:-0.33 [[ 9.98917791e-01 4.53263121e-02 1.04294128e-02 5.46334912e+00] [-4.53195188e-02 9.98972149e-01 -8.86892906e-04 -5.20849424e-01] [-1.04588925e-02 4.13277133e-04 9.99945219e-01 -3.28578671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001346184 meters 0.0728907526842431 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.52, Z:-0.33 [[ 9.98907822e-01 4.53584942e-02 1.12147469e-02 5.49182312e+00] [-4.53506315e-02 9.98970675e-01 -9.54544765e-04 -5.23379451e-01] [-1.12464999e-02 4.44906379e-04 9.99936657e-01 -3.29301589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.031346184 meters 0.07303924210506309 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.53, Z:-0.33 [[ 9.98884027e-01 4.58344445e-02 1.13975392e-02 5.51930909e+00] [-4.58263568e-02 9.98948950e-01 -9.69896181e-04 -5.26464990e-01] [-1.14300145e-02 4.46506105e-04 9.99934576e-01 -3.31261295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061346184000001 meters 0.07321656470035279 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.53, Z:-0.34 [[ 9.98853825e-01 4.67975083e-02 1.00513191e-02 5.54634166e+00] [-4.67912639e-02 9.98904322e-01 -8.55645368e-04 -5.28661304e-01] [-1.00803482e-02 3.84350723e-04 9.99949118e-01 -3.35331536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.091346184 meters 0.07368722354151595 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.53, Z:-0.34 [[ 9.98901028e-01 4.58887436e-02 9.53729686e-03 5.57376145e+00] [-4.58830947e-02 9.98946488e-01 -8.10372845e-04 -5.30841100e-01] [-9.56443619e-03 3.71881573e-04 9.99954191e-01 -3.38142656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121346184 meters 0.07377841105095928 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.53, Z:-0.34 [[ 9.98913138e-01 4.57251966e-02 9.04156074e-03 5.60234652e+00] [-4.57200588e-02 9.98953991e-01 -7.74228862e-04 -5.32892532e-01] [-9.06750496e-03 3.60006693e-04 9.99958825e-01 -3.39412140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.151346184000001 meters 0.07450359713110129 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.54, Z:-0.34 [[ 9.98978654e-01 4.43530237e-02 8.62890587e-03 5.63035223e+00] [-4.43483639e-02 9.99015860e-01 -7.30707234e-04 -5.35942994e-01] [-8.65282290e-03 3.47283071e-04 9.99962503e-01 -3.41506878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.181346184 meters 0.07487918652470796 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.54, Z:-0.34 [[ 9.99063132e-01 4.23144956e-02 9.07421876e-03 5.65868533e+00] [-4.23092080e-02 9.99104265e-01 -7.73968622e-04 -5.41193050e-01] [-9.09884076e-03 3.89320507e-04 9.99958529e-01 -3.42991313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.211346184 meters 0.07604920333023725 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.55, Z:-0.35 [[ 9.99111244e-01 4.10988791e-02 9.35976184e-03 5.68568294e+00] [-4.10932706e-02 9.99155002e-01 -7.90821979e-04 -5.47224239e-01] [-9.38435476e-03 4.05495904e-04 9.99955884e-01 -3.46703344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.241346184000001 meters 0.07396283831158967 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.55, Z:-0.34 [[ 9.99147530e-01 4.01849480e-02 9.45424648e-03 5.71532722e+00] [-4.01792190e-02 9.99192173e-01 -7.95205761e-04 -5.45694273e-01] [-9.47856439e-03 4.14663632e-04 9.99954991e-01 -3.42876486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.271346184 meters 0.07462122954628772 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.55, Z:-0.34 [[ 9.99166683e-01 3.97490966e-02 9.27091049e-03 5.74296779e+00] [-3.97435678e-02 9.99209608e-01 -7.79905242e-04 -5.47696678e-01] [-9.29458337e-03 4.10796274e-04 9.99956720e-01 -3.44164823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301346184 meters 0.0737950737838251 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.55, Z:-0.34 [[ 9.99149338e-01 4.01385829e-02 9.46011495e-03 5.77194311e+00] [-4.01328597e-02 9.99194037e-01 -7.94121662e-04 -5.46481879e-01] [-9.48436536e-03 4.13784667e-04 9.99954937e-01 -3.43367593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.331346184000001 meters 0.07420793019733632 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.55, Z:-0.35 [[ 9.99109982e-01 4.09491354e-02 1.01198802e-02 5.79968823e+00] [-4.09426306e-02 9.99161138e-01 -8.49201946e-04 -5.46625835e-01] [-1.01461651e-02 4.34111625e-04 9.99948432e-01 -3.45544660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361346184 meters 0.07374230086577917 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.55, Z:-0.35 [[ 9.99098034e-01 4.12544631e-02 1.00592158e-02 5.82811453e+00] [-4.12480680e-02 9.99148581e-01 -8.42477650e-04 -5.47806458e-01] [-1.00854071e-02 4.26794547e-04 9.99949050e-01 -3.46115992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.391346184 meters 0.07453035519712466 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.55, Z:-0.35 [[ 9.99131906e-01 4.06784815e-02 8.98301648e-03 5.85483258e+00] [-4.06733291e-02 9.99172212e-01 -7.55596805e-04 -5.52622887e-01] [-9.00631698e-03 3.89571691e-04 9.99959366e-01 -3.50023238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421346184 meters 0.07504914626755442 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.56, Z:-0.35 [[ 9.99187752e-01 3.91870407e-02 9.39213956e-03 5.88342681e+00] [-3.91813927e-02 9.99231806e-01 -7.84670899e-04 -5.58826647e-01] [-9.41567351e-03 4.16036443e-04 9.99955585e-01 -3.52133581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.451346184 meters 0.0749298729216342 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.56, Z:-0.35 [[ 9.99232716e-01 3.79425670e-02 9.71292050e-03 5.91245562e+00] [-3.79364756e-02 9.99279824e-01 -8.10684133e-04 -5.60609106e-01] [-9.73668493e-03 4.41588136e-04 9.99952500e-01 -3.51877872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481346184000001 meters 0.07452025897652878 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.56, Z:-0.35 [[ 9.99279405e-01 3.66503219e-02 9.87042824e-03 5.94122013e+00] [-3.66439757e-02 9.99328045e-01 -8.23097545e-04 -5.61025137e-01] [-9.89396254e-03 4.60812692e-04 9.99950947e-01 -3.50491618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.511346184 meters 0.07644272102554692 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.57, Z:-0.35 [[ 9.99351068e-01 3.48411734e-02 9.13982441e-03 5.96919820e+00] [-3.48356671e-02 9.99392764e-01 -7.61012690e-04 -5.66545392e-01] [-9.16078896e-03 4.42126964e-04 9.99957941e-01 -3.54755341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541346184 meters 0.08280477833224177 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.58, Z:-0.37 [[ 9.99403065e-01 3.32417168e-02 9.40754828e-03 5.99497345e+00] [-3.32358051e-02 9.99447230e-01 -7.84089826e-04 -5.80914207e-01] [-9.42841256e-03 4.70954335e-04 9.99955441e-01 -3.66298355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.571346184000001 meters 0.07576891993074905 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.57, Z:-0.36 [[ 9.99399211e-01 3.32132237e-02 9.90448468e-03 6.02517254e+00] [-3.32066865e-02 9.99448166e-01 -8.23791572e-04 -5.69522879e-01] [-9.92637983e-03 4.94401529e-04 9.99950610e-01 -3.56591063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601346184 meters 0.07655022073700035 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.57, Z:-0.36 [[ 9.99393068e-01 3.32691837e-02 1.03274817e-02 6.05275102e+00] [-3.32620813e-02 9.99446295e-01 -8.58770201e-04 -5.72503825e-01] [-1.03503339e-02 5.14735450e-04 9.99946301e-01 -3.58651746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.631346184 meters 0.07678544224566404 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.57, Z:-0.36 [[ 9.99403187e-01 3.29971237e-02 1.02205082e-02 6.08154044e+00] [-3.29901701e-02 9.99455316e-01 -8.48246893e-04 -5.73572911e-01] [-1.02429310e-02 5.10564344e-04 9.99947409e-01 -3.60860533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661346184000001 meters 0.07731047761283685 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.58, Z:-0.36 [[ 9.99410425e-01 3.29512528e-02 9.64457155e-03 6.10928553e+00] [-3.29450568e-02 9.99456844e-01 -8.00648145e-04 -5.75817850e-01] [-9.66571539e-03 4.82435146e-04 9.99953170e-01 -3.63327940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.691346184 meters 0.07655063738309253 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.57, Z:-0.36 [[ 9.99408547e-01 3.32331733e-02 8.83815690e-03 6.13847148e+00] [-3.32279910e-02 9.99447529e-01 -7.32590485e-04 -5.74881788e-01] [-8.85762039e-03 4.38482994e-04 9.99960674e-01 -3.64178774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721346184 meters 0.07719647130447727 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.58, Z:-0.37 [[ 9.99375762e-01 3.39901824e-02 9.63091575e-03 6.16663126e+00] [-3.39840736e-02 9.99422057e-01 -7.97279095e-04 -5.75293730e-01] [-9.65244928e-03 4.69483653e-04 9.99953304e-01 -3.66250089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.751346184 meters 0.07775391538559866 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.58, Z:-0.37 [[ 9.99364450e-01 3.44633650e-02 9.10894384e-03 6.19395780e+00] [-3.44579182e-02 9.99405865e-01 -7.54276285e-04 -5.77457974e-01] [-9.12952679e-03 4.39921663e-04 9.99958228e-01 -3.69276232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781346184 meters 0.07501233137028664 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.57, Z:-0.37 [[ 9.99390854e-01 3.37591211e-02 8.84546165e-03 6.22286786e+00] [-3.37539609e-02 9.99429905e-01 -7.32059067e-04 -5.72281454e-01] [-8.86513256e-03 4.33043770e-04 9.99960610e-01 -3.66632759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.811346184000001 meters 0.07874927847892002 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.58, Z:-0.37 [[ 9.99399508e-01 3.35710609e-02 8.57945197e-03 6.24933173e+00] [-3.35662053e-02 9.99436244e-01 -7.09362678e-04 -5.80756615e-01] [-8.59842931e-03 4.20957065e-04 9.99962944e-01 -3.74372299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841346184 meters 0.08004166678781235 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.58, Z:-0.38 [[ 9.99459349e-01 3.12768873e-02 1.01373499e-02 6.27765886e+00] [-3.12700175e-02 9.99510624e-01 -8.35508788e-04 -5.84274459e-01] [-1.01585211e-02 5.18061960e-04 9.99948267e-01 -3.75579756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.871346184 meters 0.07648157077429296 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.58, Z:-0.37 [[ 9.99532569e-01 2.91361043e-02 9.25905030e-03 6.30853174e+00] [-2.91302965e-02 9.99575333e-01 -7.61531301e-04 -5.77781134e-01] [-9.27730634e-03 4.91456457e-04 9.99956844e-01 -3.69862495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901346184000001 meters 0.07738948034045436 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.58, Z:-0.37 [[ 9.99566765e-01 2.77425303e-02 9.83023798e-03 6.33761249e+00] [-2.77359070e-02 9.99614958e-01 -8.09487110e-04 -5.79718186e-01] [-9.84891014e-03 5.36485846e-04 9.99951354e-01 -3.71182541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.931346184 meters 0.07806698635121842 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.58, Z:-0.37 [[ 9.99620289e-01 2.59216615e-02 9.34588137e-03 6.36648961e+00] [-2.59155988e-02 9.99663838e-01 -7.69244090e-04 -5.81484015e-01] [-9.36267973e-03 5.26747887e-04 9.99956030e-01 -3.72339455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961346184 meters 0.08009676256300097 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.58, Z:-0.38 [[ 9.99693820e-01 2.31462653e-02 8.74734596e-03 6.39530012e+00] [-2.31408665e-02 9.99731957e-01 -7.17913294e-04 -5.83866497e-01] [-8.76161830e-03 5.15272318e-04 9.99961484e-01 -3.76169000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.991346184000001 meters 0.08100030733478733 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.59, Z:-0.38 [[ 9.99722742e-01 2.16833090e-02 9.18006510e-03 6.42398112e+00] [-2.16772920e-02 9.99764735e-01 -7.54446554e-04 -5.86495911e-01] [-9.19426425e-03 5.55238426e-04 9.99957578e-01 -3.78732865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021346184 meters 0.08180474592960446 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.59, Z:-0.38 [[ 9.99752486e-01 2.00479274e-02 9.64611110e-03 6.45274528e+00] [-2.00412165e-02 9.99798841e-01 -7.91880985e-04 -5.90133084e-01] [-9.66004627e-03 5.98365183e-04 9.99953162e-01 -3.81159803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.051346184 meters 0.08243383071474512 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.59, Z:-0.38 [[ 9.99806962e-01 1.68678872e-02 1.00753662e-02 6.48315791e+00] [-1.68604342e-02 9.99857513e-01 -8.24221720e-04 -5.90777711e-01] [-1.00878335e-02 6.54187565e-04 9.99948903e-01 -3.81556227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081346184000001 meters 0.0844642417939307 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.59, Z:-0.38 [[ 9.99813618e-01 1.62582642e-02 1.04114869e-02 6.51084833e+00] [-1.62502468e-02 9.99867591e-01 -8.54189312e-04 -5.94197866e-01] [-1.04239959e-02 6.84840875e-04 9.99945434e-01 -3.83776576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.111346184 meters 0.08578069498654144 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.60, Z:-0.39 [[ 9.99810806e-01 1.59088037e-02 1.11920716e-02 6.53817228e+00] [-1.58995331e-02 9.99873174e-01 -9.16821493e-04 -5.96207428e-01] [-1.12052377e-02 7.38699324e-04 9.99936946e-01 -3.85129112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141346184 meters 0.0859243080079298 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.60, Z:-0.39 [[ 9.99813974e-01 1.55337805e-02 1.14332292e-02 6.56663086e+00] [-1.55241020e-02 9.99879057e-01 -9.34789615e-04 -5.96465285e-01] [-1.14463672e-02 7.57125104e-04 9.99934202e-01 -3.85694848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.171346184 meters 0.0835931213873321 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.59, Z:-0.38 [[ 9.99798605e-01 1.52454208e-02 1.30509409e-02 6.59674374e+00] [-1.52328192e-02 9.99883407e-01 -1.06443447e-03 -5.91685328e-01] [-1.30656470e-02 8.65417479e-04 9.99914266e-01 -3.84489799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201346184 meters 0.0856578847114421 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.60, Z:-0.39 [[ 9.99816713e-01 1.47663860e-02 1.21858468e-02 6.62487535e+00] [-1.47553602e-02 9.99890639e-01 -9.94221687e-04 -5.96343281e-01] [-1.21991952e-02 8.14232900e-04 9.99925256e-01 -3.88229499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.231346184000001 meters 0.08364193948507401 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.59, Z:-0.39 [[ 9.99815805e-01 1.48459857e-02 1.21635718e-02 6.65504182e+00] [-1.48350217e-02 9.99889464e-01 -9.91116835e-04 -5.94418637e-01] [-1.21769414e-02 8.10487425e-04 9.99925530e-01 -3.88120263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261346184 meters 0.08783202013839624 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.60, Z:-0.39 [[ 9.99798522e-01 1.53261715e-02 1.29623707e-02 6.68329540e+00] [-1.53137678e-02 9.99882180e-01 -1.05561825e-03 -6.01678543e-01] [-1.29770220e-02 8.56902837e-04 9.99915428e-01 -3.94330994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.291346184 meters 0.08783202013839624 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.60, Z:-0.40 [[ 9.99799030e-01 1.52929820e-02 1.29624132e-02 6.71239556e+00] [-1.52805823e-02 9.99882688e-01 -1.05509483e-03 -6.03998960e-01] [-1.29770281e-02 8.56809563e-04 9.99915428e-01 -3.95811073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321346184000001 meters 0.08337914434745566 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.60, Z:-0.39 [[ 9.99808813e-01 1.55033222e-02 1.19157236e-02 6.74296625e+00] [-1.54928613e-02 9.99879508e-01 -9.69719677e-04 -5.96120767e-01] [-1.19293217e-02 7.84925627e-04 9.99928535e-01 -3.93915612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.351346184 meters 0.087086180096369 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.60, Z:-0.40 [[ 9.99806137e-01 1.65679344e-02 1.06392047e-02 6.77092168e+00] [-1.65596495e-02 9.99862504e-01 -8.66345132e-04 -6.02964230e-01] [-1.06520954e-02 6.89995678e-04 9.99943027e-01 -4.00455228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381346184 meters 0.08228481283979365 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.60, Z:-0.40 [[ 9.99762573e-01 1.91877633e-02 1.03260378e-02 6.80184026e+00] [-1.91801176e-02 9.99815693e-01 -8.38953840e-04 -5.95516169e-01] [-1.03402322e-02 6.40700031e-04 9.99946333e-01 -3.99195438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.411346184000001 meters 0.08240758031613513 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.60, Z:-0.40 [[ 9.99745939e-01 1.99806929e-02 1.04321346e-02 6.82966843e+00] [-1.99729051e-02 9.99800160e-01 -8.50183825e-04 -5.97080219e-01] [-1.04470371e-02 6.41607792e-04 9.99945222e-01 -4.02219768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441346184 meters 0.08105240111688221 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.60, Z:-0.40 [[ 9.99713149e-01 2.14403252e-02 1.06739187e-02 6.85910219e+00] [-2.14322809e-02 9.99769926e-01 -8.67471697e-04 -5.95852198e-01] [-1.06900618e-02 6.38456438e-04 9.99942656e-01 -4.03195694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.471346184 meters 0.08016764976472297 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.59, Z:-0.40 [[ 9.99685348e-01 2.28962409e-02 1.02453892e-02 6.88782508e+00] [-2.28889027e-02 9.99737668e-01 -8.32936259e-04 -5.94417708e-01] [-1.02617726e-02 5.98168457e-04 9.99947168e-01 -4.04561591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.501346184 meters 0.08281192933672114 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.60, Z:-0.41 [[ 9.99599492e-01 2.58804931e-02 1.14479302e-02 6.91616208e+00] [-2.58715565e-02 9.99664844e-01 -9.28060056e-04 -5.98774924e-01] [-1.14681121e-02 6.31512587e-04 9.99934040e-01 -4.10111338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.531346184 meters 0.07839673995227567 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.59, Z:-0.41 [[ 9.99556854e-01 2.75038616e-02 1.13856356e-02 6.94612355e+00] [-2.74951153e-02 9.99621511e-01 -9.24034612e-04 -5.91601629e-01] [-1.14067408e-02 6.10575767e-04 9.99934755e-01 -4.06718018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561346184 meters 0.07692794150688707 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.59, Z:-0.41 [[ 9.99531224e-01 2.82814883e-02 1.17256404e-02 6.97487948e+00] [-2.82722756e-02 9.99599807e-01 -9.50736732e-04 -5.89924426e-01] [-1.17478362e-02 6.18780511e-04 9.99930800e-01 -4.06017564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.591346184 meters 0.07643834885819945 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.59, Z:-0.41 [[ 9.99488068e-01 2.93958562e-02 1.26287938e-02 7.00429442e+00] [-2.93852824e-02 9.99567637e-01 -1.02205800e-03 -5.90518177e-01] [-1.26533779e-02 6.50434105e-04 9.99919731e-01 -4.06748565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621346184 meters 0.07906106942053787 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.60, Z:-0.41 [[ 9.99420376e-01 3.11333978e-02 1.37703554e-02 7.03288171e+00] [-3.11210134e-02 9.99515005e-01 -1.11277360e-03 -5.95066032e-01] [-1.37983213e-02 6.83581194e-04 9.99904565e-01 -4.11485087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.651346184000001 meters 0.07640933101758633 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.59, Z:-0.41 [[ 9.99412422e-01 3.12519497e-02 1.40757550e-02 7.06270093e+00] [-3.12390112e-02 9.99511295e-01 -1.13819059e-03 -5.90677455e-01] [-1.41044468e-02 6.97809145e-04 9.99900284e-01 -4.08936062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681346184 meters 0.07583109538796015 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.59, Z:-0.41 [[ 9.99402582e-01 3.14822268e-02 1.42600212e-02 7.09201822e+00] [-3.14689947e-02 9.99504065e-01 -1.15140739e-03 -5.91446912e-01] [-1.42891980e-02 7.01970984e-04 9.99897658e-01 -4.09852803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.711346184 meters 0.07631619259242094 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.59, Z:-0.41 [[ 9.99386830e-01 3.14549647e-02 1.53801320e-02 7.11926138e+00] [-3.14395657e-02 9.99504883e-01 -1.24205026e-03 -5.93692732e-01] [-1.54115856e-02 7.57743999e-04 9.99880947e-01 -4.12052951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741346184000001 meters 0.07632362782201767 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.59, Z:-0.41 [[ 9.99406092e-01 3.10800342e-02 1.48826920e-02 7.14837916e+00] [-3.10656013e-02 9.99516627e-01 -1.20003502e-03 -5.94833101e-01] [-1.49127952e-02 7.36982536e-04 9.99888526e-01 -4.12839493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.771346184 meters 0.0778168046798771 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.60, Z:-0.41 [[ 9.99445185e-01 2.93943327e-02 1.56619354e-02 7.17592540e+00] [-2.93781534e-02 9.99567572e-01 -1.26215316e-03 -5.97636371e-01] [-1.56922629e-02 8.01334161e-04 9.99876548e-01 -4.13308762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801346184 meters 0.07585981380890114 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.59, Z:-0.41 [[ 9.99415479e-01 2.94376854e-02 1.73816843e-02 7.20486389e+00] [-2.94178084e-02 9.99566225e-01 -1.39819439e-03 -5.94427499e-01] [-1.74153042e-02 8.86046062e-04 9.99847949e-01 -4.10240579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.831346184000001 meters 0.07819954806384007 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.60, Z:-0.41 [[ 9.99422691e-01 2.90140012e-02 1.76769133e-02 7.23230232e+00] [-2.89933910e-02 9.99578593e-01 -1.42115763e-03 -6.00093090e-01] [-1.77106976e-02 9.07823521e-04 9.99842741e-01 -4.14033796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861346184 meters 0.07784020945106794 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.60, Z:-0.41 [[ 9.99405706e-01 2.87261508e-02 1.90536872e-02 7.26104600e+00] [-2.87022039e-02 9.99586837e-01 -1.52914303e-03 -6.01446240e-01] [-1.90897413e-02 9.81351455e-04 9.99817293e-01 -4.14942479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.891346184 meters 0.07811616316128593 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.60, Z:-0.42 [[ 9.99388830e-01 2.83354908e-02 2.04711146e-02 7.28968007e+00] [-2.83078011e-02 9.99597907e-01 -1.64119226e-03 -6.03660733e-01] [-2.05093873e-02 1.06069697e-03 9.99789098e-01 -4.15909085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921346184 meters 0.07849934652527282 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.61, Z:-0.42 [[ 9.99400675e-01 2.76589109e-02 2.08152799e-02 7.31836886e+00] [-2.76301676e-02 9.99616824e-01 -1.66726194e-03 -6.05452147e-01] [-2.08534186e-02 1.09113304e-03 9.99781948e-01 -4.16917576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.951346184 meters 0.07904990300235859 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.61, Z:-0.42 [[ 9.99398889e-01 2.67188045e-02 2.20899354e-02 7.34675859e+00] [-2.66862419e-02 9.99642296e-01 -1.76761639e-03 -6.07525282e-01] [-2.21292623e-02 1.17705650e-03 9.99754425e-01 -4.16950164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981346184000001 meters 0.07755786067712116 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.61, Z:-0.42 [[ 9.99387064e-01 2.57152182e-02 2.37533964e-02 7.37614781e+00] [-2.56773263e-02 9.99668480e-01 -1.89890092e-03 -6.05297968e-01] [-2.37943523e-02 1.28781331e-03 9.99716045e-01 -4.15084639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.011346184 meters 0.07754085290424866 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.61, Z:-0.42 [[ 9.99402348e-01 2.53419701e-02 2.35102312e-02 7.40510655e+00] [-2.53047860e-02 9.99678019e-01 -1.87781700e-03 -6.06787993e-01] [-2.35502489e-02 1.28177335e-03 9.99721833e-01 -4.16490993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.041346184 meters 0.07810734289954942 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.61, Z:-0.42 [[ 9.99355220e-01 2.55463451e-02 2.52295312e-02 7.43381319e+00] [-2.55036672e-02 9.99672704e-01 -2.01196564e-03 -6.09917203e-01] [-2.52726721e-02 1.36722280e-03 9.99679660e-01 -4.17224791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.071346184000001 meters 0.07876399606227193 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.61, Z:-0.42 [[ 9.99350192e-01 2.52458383e-02 2.57262843e-02 7.46178753e+00] [-2.52013661e-02 9.99680290e-01 -2.05147680e-03 -6.12562258e-01] [-2.57698507e-02 1.40180622e-03 9.99666919e-01 -4.18943209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.101346184 meters 0.07859529720874955 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.61, Z:-0.42 [[ 9.99284564e-01 2.53948026e-02 2.80261219e-02 7.49165870e+00] [-2.53421381e-02 9.99676343e-01 -2.23277364e-03 -6.12617393e-01] [-2.80737519e-02 1.52093439e-03 9.99604697e-01 -4.18198710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.131346184 meters 0.07798131301242772 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.61, Z:-0.42 [[ 9.99278256e-01 2.56394182e-02 2.80283134e-02 7.52228796e+00] [-2.55868902e-02 9.99670112e-01 -2.23120718e-03 -6.13051424e-01] [-2.80762740e-02 1.51243944e-03 9.99604640e-01 -4.19135088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161346184000001 meters 0.08032077777207026 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.62, Z:-0.42 [[ 9.99257310e-01 2.57909693e-02 2.86296166e-02 7.55067512e+00] [-2.57362137e-02 9.99666170e-01 -2.27945152e-03 -6.20501247e-01] [-2.86788484e-02 1.54094066e-03 9.99587489e-01 -4.22605083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.191346184 meters 0.07888520124168205 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.62, Z:-0.42 [[ 9.99225945e-01 2.60417898e-02 2.94844996e-02 7.58093508e+00] [-2.59838389e-02 9.99659608e-01 -2.34697605e-03 -6.21093597e-01] [-2.95355828e-02 1.57903887e-03 9.99562482e-01 -4.23009525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221346184 meters 0.0797520083979862 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.63, Z:-0.43 [[ 9.99272959e-01 2.52625035e-02 2.85544922e-02 7.61095125e+00] [-2.52078694e-02 9.99679650e-01 -2.27173903e-03 -6.25363773e-01] [-2.86027346e-02 1.55028947e-03 9.99589656e-01 -4.25521602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.251346184 meters 0.07969405925638648 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.63, Z:-0.43 [[ 9.99323368e-01 2.52272098e-02 2.67655554e-02 7.64094925e+00] [-2.51791750e-02 9.99680685e-01 -2.13021760e-03 -6.27358085e-01] [-2.68107482e-02 1.45484162e-03 9.99639469e-01 -4.27867102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281346184 meters 0.07781128633878437 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.63, Z:-0.43 [[ 9.99323944e-01 2.59709705e-02 2.60223814e-02 7.67076996e+00] [-2.59257960e-02 9.99661723e-01 -2.07192728e-03 -6.26681888e-01] [-2.60673886e-02 1.39587559e-03 9.99659213e-01 -4.28891924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.311346184 meters 0.07938512323342957 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.63, Z:-0.43 [[ 9.99301274e-01 2.67903800e-02 2.60622163e-02 7.69858507e+00] [-2.67453577e-02 9.99640126e-01 -2.07460308e-03 -6.32649728e-01] [-2.61084166e-02 1.37611021e-03 9.99658170e-01 -4.32260620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341346184 meters 0.07679076482521721 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.63, Z:-0.43 [[ 9.99294374e-01 2.75669523e-02 2.55111215e-02 7.72848720e+00] [-2.75241106e-02 9.99619081e-01 -2.02902280e-03 -6.28864468e-01] [-2.55573378e-02 1.32542014e-03 9.99672479e-01 -4.31571750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.371346184 meters 0.07540224913987487 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.63, Z:-0.43 [[ 9.99267245e-01 2.88688326e-02 2.51309195e-02 7.75841324e+00] [-2.88276904e-02 9.99582399e-01 -1.99794503e-03 -6.28128487e-01] [-2.51781032e-02 1.27201466e-03 9.99682172e-01 -4.32558357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401346184000001 meters 0.07664279185884974 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.64, Z:-0.44 [[ 9.99244994e-01 2.99802741e-02 2.47108312e-02 7.78574288e+00] [-2.99408199e-02 9.99549741e-01 -1.96516492e-03 -6.35136245e-01] [-2.47586212e-02 1.22381866e-03 9.99692709e-01 -4.36960438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.431346184 meters 0.07668424871038385 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.64, Z:-0.44 [[ 9.99220243e-01 3.03084071e-02 2.53042612e-02 7.81436559e+00] [-3.02672180e-02 9.99539823e-01 -2.00926178e-03 -6.37948733e-01] [-2.53535143e-02 1.24180546e-03 9.99677777e-01 -4.38863194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461346184 meters 0.07651911929741272 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.64, Z:-0.44 [[ 9.99199958e-01 3.08212473e-02 2.54851811e-02 7.84285920e+00] [-3.07796790e-02 9.99524149e-01 -2.02183986e-03 -6.39831364e-01] [-2.55353696e-02 1.23579661e-03 9.99673155e-01 -4.39950756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.491346184000001 meters 0.07644905126119914 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.64, Z:-0.44 [[ 9.99174689e-01 3.15261774e-02 2.56133102e-02 7.87124128e+00] [-3.14844671e-02 9.99502179e-01 -2.03020914e-03 -6.41598611e-01] [-2.56645641e-02 1.22211217e-03 9.99669864e-01 -4.40761749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521346184 meters 0.07666225722024245 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.64, Z:-0.44 [[ 9.99108124e-01 3.30530184e-02 2.62764837e-02 7.89916244e+00] [-3.30096855e-02 9.99452865e-01 -2.08128923e-03 -6.43165609e-01] [-2.63308998e-02 1.21205452e-03 9.99652547e-01 -4.41960481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.551346184 meters 0.07448594086614876 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.64, Z:-0.44 [[ 9.99066191e-01 3.41005557e-02 2.65310771e-02 7.92816286e+00] [-3.40568178e-02 9.99417695e-01 -2.09880520e-03 -6.40846304e-01] [-2.65871983e-02 1.19328126e-03 9.99645786e-01 -4.41805052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581346184000001 meters 0.07410725871967618 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.64, Z:-0.44 [[ 9.99032129e-01 3.55953258e-02 2.58414016e-02 7.95655056e+00] [-3.55543762e-02 9.99365656e-01 -2.04253589e-03 -6.41898762e-01] [-2.58977140e-02 1.12178406e-03 9.99663969e-01 -4.44133969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.611346184 meters 0.07411808211718794 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.64, Z:-0.45 [[ 9.99065082e-01 3.59220469e-02 2.40534302e-02 7.98510187e+00] [-3.58866983e-02 9.99354059e-01 -1.89977795e-03 -6.44018772e-01] [-2.41061370e-02 1.03480362e-03 9.99708869e-01 -4.47929752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641346184 meters 0.07460598078820299 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.65, Z:-0.45 [[ 9.99071934e-01 3.57030756e-02 2.40948467e-02 8.01208685e+00] [-3.56675714e-02 9.99361900e-01 -1.90181305e-03 -6.47939483e-01] [-2.41473724e-02 1.04064338e-03 9.99707868e-01 -4.50568120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.671346184 meters 0.07358978891939144 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.65, Z:-0.45 [[ 9.99150695e-01 3.46902835e-02 2.22367338e-02 8.04169153e+00] [-3.46598616e-02 9.99397631e-01 -1.75216082e-03 -6.47451049e-01] [-2.22841220e-02 9.79950587e-04 9.99751198e-01 -4.50658747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701346184 meters 0.07483542600546823 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.65, Z:-0.45 [[ 9.99245788e-01 3.28021873e-02 2.07815395e-02 8.06963761e+00] [-3.27752047e-02 9.99461407e-01 -1.63774991e-03 -6.52111826e-01] [-2.08240685e-02 9.55395491e-04 9.99782699e-01 -4.52819964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.731346184000001 meters 0.07580713726246138 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.66, Z:-0.45 [[ 9.99297290e-01 3.10649959e-02 2.09736244e-02 8.09781151e+00] [-3.10371568e-02 9.99516867e-01 -1.65163075e-03 -6.57033018e-01] [-2.10147992e-02 9.99508464e-04 9.99778665e-01 -4.54823056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761346184 meters 0.07547270895931595 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.66, Z:-0.46 [[ 9.99320886e-01 3.02770069e-02 2.10016635e-02 8.12598795e+00] [-3.02489504e-02 9.99541030e-01 -1.65237885e-03 -6.59882207e-01] [-2.10420534e-02 1.01597842e-03 9.99778075e-01 -4.56525573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.791346184 meters 0.07644484606361812 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.66, Z:-0.46 [[ 9.99345204e-01 2.93766695e-02 2.11228315e-02 8.15338802e+00] [-2.93481094e-02 9.99567872e-01 -1.66088591e-03 -6.64906012e-01] [-2.11624951e-02 1.03988320e-03 9.99775509e-01 -4.59371441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821346184000001 meters 0.07665330768139228 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.67, Z:-0.46 [[ 9.99323664e-01 2.96963684e-02 2.16873373e-02 8.18106608e+00] [-2.96663812e-02 9.99558405e-01 -1.70319928e-03 -6.67817116e-01] [-2.17283391e-02 1.05866253e-03 9.99763351e-01 -4.60318537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.851346184 meters 0.07446469228043325 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.66, Z:-0.46 [[ 9.99294379e-01 3.05870435e-02 2.17985448e-02 8.21040396e+00] [-3.05570104e-02 9.99531563e-01 -1.70959541e-03 -6.64295795e-01] [-2.18406250e-02 1.04229072e-03 9.99760922e-01 -4.58589020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881346184 meters 0.07544072450368572 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.67, Z:-0.46 [[ 9.99236565e-01 3.19043688e-02 2.25476815e-02 8.23809687e+00] [-3.18725988e-02 9.99490378e-01 -1.76707635e-03 -6.67987840e-01] [-2.25925681e-02 1.04707409e-03 9.99744207e-01 -4.60731000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.911346184000001 meters 0.07338083404211769 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.66, Z:-0.46 [[ 9.99054618e-01 3.59016976e-02 2.45140579e-02 8.26911390e+00] [-3.58654600e-02 9.99354790e-01 -1.91645489e-03 -6.63864356e-01] [-2.45670452e-02 1.03543514e-03 9.99697648e-01 -4.58340157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941346184 meters 0.07307898258271639 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.67, Z:-0.46 [[ 9.99029460e-01 3.68908678e-02 2.40666058e-02 8.29742452e+00] [-3.68561917e-02 9.99318806e-01 -1.88296551e-03 -6.65052337e-01] [-2.41196760e-02 9.94134576e-04 9.99708584e-01 -4.59833124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.971346184 meters 0.07320275312823481 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.67, Z:-0.46 [[ 9.99014313e-01 3.71777282e-02 2.42532411e-02 8.32507155e+00] [-3.71426279e-02 9.99308175e-01 -1.89627837e-03 -6.67795423e-01] [-2.43069614e-02 9.93580124e-04 9.99704048e-01 -4.61435257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001346184 meters 0.07268134348362877 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.67, Z:-0.46 [[ 9.99006843e-01 3.73488440e-02 2.42979665e-02 8.35345825e+00] [-3.73137275e-02 9.99301799e-01 -1.89719234e-03 -6.69538266e-01] [-2.43518596e-02 9.88660425e-04 9.99702961e-01 -4.61960334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.031346184 meters 0.07315031953552413 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.67, Z:-0.47 [[ 9.99038078e-01 3.71043651e-02 2.33705862e-02 8.38178094e+00] [-3.70718477e-02 9.99310940e-01 -1.82325173e-03 -6.74982398e-01] [-2.34221331e-02 9.55107089e-04 9.99725208e-01 -4.65334972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061346184 meters 0.07401672063176595 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.68, Z:-0.47 [[ 9.99094356e-01 3.58708902e-02 2.28855220e-02 8.40948033e+00] [-3.58393934e-02 9.99355968e-01 -1.78508330e-03 -6.80203296e-01] [-2.29348155e-02 9.63263425e-04 9.99736498e-01 -4.68249908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.091346184 meters 0.07540641943155439 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.69, Z:-0.47 [[ 9.99144155e-01 3.48545834e-02 2.22736653e-02 8.43639020e+00] [-3.48245669e-02 9.99391936e-01 -1.73420464e-03 -6.86959293e-01] [-2.23205665e-02 9.57049682e-04 9.99750407e-01 -4.72416838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121346184 meters 0.0755651279091607 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.69, Z:-0.47 [[ 9.99175335e-01 3.40760410e-02 2.20787973e-02 8.46447868e+00] [-3.40464105e-02 9.99418779e-01 -1.71665414e-03 -6.91277347e-01] [-2.21244614e-02 9.63534683e-04 9.99754760e-01 -4.74564603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.151346184000001 meters 0.07669056438860304 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.70, Z:-0.48 [[ 9.99288573e-01 3.13893173e-02 2.09059660e-02 8.49339284e+00] [-3.13622121e-02 9.99506767e-01 -1.62321516e-03 -6.99084609e-01] [-2.09466061e-02 9.66403019e-04 9.99780129e-01 -4.77403415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181346184 meters 0.076808168966088 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.70, Z:-0.48 [[ 9.99324034e-01 3.02265792e-02 2.09243575e-02 8.52227252e+00] [-3.01991649e-02 9.99542580e-01 -1.62498123e-03 -7.03150587e-01] [-2.09639040e-02 9.91984672e-04 9.99779741e-01 -4.77983590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.211346184 meters 0.076808168966088 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.71, Z:-0.48 [[ 9.99326079e-01 3.01588302e-02 2.09244680e-02 8.55049126e+00] [-3.01314308e-02 9.99544627e-01 -1.62355685e-03 -7.05247525e-01] [-2.09639041e-02 9.91978539e-04 9.99779741e-01 -4.79419338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241346184000001 meters 0.0768827378224536 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.71, Z:-0.48 [[ 9.99352840e-01 2.92475819e-02 2.09399013e-02 8.57932131e+00] [-2.92199722e-02 9.99571687e-01 -1.62333789e-03 -7.09306620e-01] [-2.09784112e-02 1.01042399e-03 9.99779418e-01 -4.80245352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.271346184 meters 0.07604809721566341 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.71, Z:-0.48 [[ 9.99351898e-01 2.82572454e-02 2.23004829e-02 8.60847940e+00] [-2.82257226e-02 9.99600083e-01 -1.72711107e-03 -7.13146252e-01] [-2.23403680e-02 1.09654449e-03 9.99749821e-01 -4.79003014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301346184 meters 0.0758017562516884 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.72, Z:-0.48 [[ 9.99344054e-01 2.79050687e-02 2.30817808e-02 8.63702308e+00] [-2.78712445e-02 9.99609926e-01 -1.78587649e-03 -7.15824939e-01] [-2.31226122e-02 1.14138710e-03 9.99731985e-01 -4.78689217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.331346184000001 meters 0.07570727847098307 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.72, Z:-0.48 [[ 9.99335060e-01 2.79936971e-02 2.33621590e-02 8.66592599e+00] [-2.79591099e-02 9.99607436e-01 -1.80587013e-03 -7.18741527e-01] [-2.34035409e-02 1.15148416e-03 9.99725436e-01 -4.79795096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361346184 meters 0.07495033756025744 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.72, Z:-0.48 [[ 9.99331223e-01 2.86547440e-02 2.27159176e-02 8.69438994e+00] [-2.86222484e-02 9.99588760e-01 -1.75443533e-03 -7.20941785e-01] [-2.27568488e-02 1.10308137e-03 9.99740421e-01 -4.81046720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.391346184 meters 0.0754143872011972 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.73, Z:-0.49 [[ 9.99343882e-01 2.90331133e-02 2.16537159e-02 8.72179307e+00] [-2.90036939e-02 9.99577907e-01 -1.67151465e-03 -7.26805275e-01] [-2.16931053e-02 1.04238019e-03 9.99764133e-01 -4.85212402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421346184 meters 0.07535619052070994 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.73, Z:-0.49 [[ 9.99332793e-01 2.96891541e-02 2.12726064e-02 8.75003521e+00] [-2.96609598e-02 9.99558672e-01 -1.63974662e-03 -7.29695964e-01] [-2.13119009e-02 1.00768664e-03 9.99772368e-01 -4.87020510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.451346184 meters 0.07578688137096046 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.73, Z:-0.49 [[ 9.99358051e-01 2.95009723e-02 2.03267768e-02 8.77825389e+00] [-2.94752174e-02 9.99564285e-01 -1.56554500e-03 -7.33405205e-01] [-2.03641052e-02 9.65403834e-04 9.99792164e-01 -4.89757907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481346184000001 meters 0.07599671148932183 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.74, Z:-0.49 [[ 9.99309389e-01 3.04987170e-02 2.12266976e-02 8.80643126e+00] [-3.04708905e-02 9.99534320e-01 -1.63319788e-03 -7.38184190e-01] [-2.12666232e-02 9.85273601e-04 9.99773354e-01 -4.92835219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.511346184 meters 0.07503838923671802 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.74, Z:-0.49 [[ 9.99296479e-01 3.09184971e-02 2.12271991e-02 8.83544818e+00] [-3.08907944e-02 9.99521434e-01 -1.63179797e-03 -7.41253016e-01] [-2.12674933e-02 9.74924920e-04 9.99773346e-01 -4.92975862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541346184 meters 0.07604419346442513 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.75, Z:-0.50 [[ 9.99310933e-01 3.08376063e-02 2.06567238e-02 8.86286801e+00] [-3.08113657e-02 9.99523957e-01 -1.58745390e-03 -7.45473692e-01] [-2.06958435e-02 9.49898173e-04 9.99785367e-01 -4.95342753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.571346184000001 meters 0.07620840046040882 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.75, Z:-0.50 [[ 9.99331595e-01 3.09888576e-02 1.93921151e-02 8.89191809e+00] [-3.09658116e-02 9.99519337e-01 -1.48764235e-03 -7.47330504e-01] [-1.94288944e-02 8.86155421e-04 9.99810849e-01 -4.96692296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601346184 meters 0.07697227589658359 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.75, Z:-0.50 [[ 9.99354928e-01 3.11977292e-02 1.77884873e-02 8.91948489e+00] [-3.11783688e-02 9.99512905e-01 -1.36472803e-03 -7.52258234e-01] [-1.78223990e-02 8.09231664e-04 9.99840841e-01 -5.00496557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.631346184 meters 0.07679262516810015 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.76, Z:-0.50 [[ 9.99357341e-01 3.11636628e-02 1.77124703e-02 8.94797665e+00] [-3.11445119e-02 9.99513972e-01 -1.35609262e-03 -7.56429219e-01] [-1.77461224e-02 8.03574876e-04 9.99842202e-01 -5.02962554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661346184000001 meters 0.07713118278638659 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.76, Z:-0.51 [[ 9.99351275e-01 3.16589956e-02 1.71679088e-02 8.97502647e+00] [-3.16410835e-02 9.99498432e-01 -1.31404332e-03 -7.61992048e-01] [-1.72008993e-02 7.69979630e-04 9.99851757e-01 -5.06825183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.691346184 meters 0.07680732269215258 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.77, Z:-0.51 [[ 9.99308329e-01 3.29158175e-02 1.73035601e-02 9.00366682e+00] [-3.28978486e-02 9.99457845e-01 -1.32215142e-03 -7.65882582e-01] [-1.73376986e-02 7.51987021e-04 9.99849408e-01 -5.09266575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.721346184 meters 0.07562792381818119 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.77, Z:-0.51 [[ 9.99178050e-01 3.63981494e-02 1.78437168e-02 9.03237508e+00] [-3.63796278e-02 9.99337115e-01 -1.36159935e-03 -7.65847461e-01] [-1.78814482e-02 7.11332413e-04 9.99839861e-01 -5.09683418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.751346184 meters 0.07159447587994645 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.76, Z:-0.50 [[ 9.99081836e-01 3.91130049e-02 1.74830676e-02 9.06225268e+00] [-3.90956410e-02 9.99234583e-01 -1.33399743e-03 -7.57940421e-01] [-1.75218624e-02 6.49260870e-04 9.99846270e-01 -5.04125579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.781346184 meters 0.07369438297537584 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.76, Z:-0.51 [[ 9.98955750e-01 4.19516686e-02 1.80960597e-02 9.09031745e+00] [-4.19335669e-02 9.99119450e-01 -1.37876618e-03 -7.64272047e-01] [-1.81379667e-02 6.18494074e-04 9.99835302e-01 -5.12070592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.811346184 meters 0.06928908207467142 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.76, Z:-0.51 [[ 9.98701641e-01 4.70245941e-02 1.95887515e-02 9.12114750e+00] [-4.70044031e-02 9.98893571e-01 -1.49014975e-03 -7.56513031e-01] [-1.96371516e-02 5.67457432e-04 9.99807012e-01 -5.05742995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.841346184 meters 0.07078910466280942 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.76, Z:-0.51 [[ 9.98609704e-01 4.87099923e-02 2.01493415e-02 9.14857810e+00] [-4.86889120e-02 9.98812811e-01 -1.53575134e-03 -7.62144348e-01] [-2.02002269e-02 5.52566670e-04 9.99795802e-01 -5.12438410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.871346184 meters 0.06873415510671758 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.76, Z:-0.51 [[ 9.98563172e-01 4.96287244e-02 2.02133709e-02 9.17824658e+00] [-4.96077866e-02 9.98767594e-01 -1.53625737e-03 -7.58509241e-01] [-2.02647023e-02 5.31309442e-04 9.99794509e-01 -5.07729473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.901346184000001 meters 0.06802550221860644 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.76, Z:-0.51 [[ 9.98539458e-01 5.00220318e-02 2.04143721e-02 9.20714628e+00] [-5.00007856e-02 9.98747975e-01 -1.55016460e-03 -7.58609352e-01] [-2.04663552e-02 5.27165881e-04 9.99790403e-01 -5.06953087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.931346184 meters 0.06965366060156791 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.76, Z:-0.51 [[ 9.98617347e-01 4.92024835e-02 1.85070377e-02 9.23412534e+00] [-4.91848901e-02 9.98788703e-01 -1.40488489e-03 -7.64664993e-01] [-1.85537440e-02 4.92675801e-04 9.99827743e-01 -5.13531562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961346184 meters 0.06964989525236476 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.77, Z:-0.51 [[ 9.98719951e-01 4.74660388e-02 1.74766796e-02 9.26243590e+00] [-4.74501085e-02 9.98872730e-01 -1.32529258e-03 -7.67322703e-01] [-1.75198850e-02 4.94325800e-04 9.99846393e-01 -5.14454235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.991346184000001 meters 0.06940140533979307 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.77, Z:-0.52 [[ 9.98785082e-01 4.63089266e-02 1.68476489e-02 9.29083700e+00] [-4.62939882e-02 9.98927044e-01 -1.27580501e-03 -7.71327100e-01] [-1.68886533e-02 4.94310148e-04 9.99857254e-01 -5.15648746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021346184 meters 0.07046331094337384 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.78, Z:-0.52 [[ 9.98952706e-01 4.24448659e-02 1.70858170e-02 9.31910445e+00] [-4.24289698e-02 9.99098650e-01 -1.29194874e-03 -7.82272621e-01] [-1.71252533e-02 5.65662078e-04 9.99853192e-01 -5.18992845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051346184 meters 0.07101667904197857 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.79, Z:-0.52 [[ 9.99033589e-01 4.03029946e-02 1.75372978e-02 9.34721426e+00] [-4.02859147e-02 9.99187313e-01 -1.32625450e-03 -7.86543388e-01] [-1.75764975e-02 6.18466706e-04 9.99845330e-01 -5.20115397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081346184000001 meters 0.0711205536739792 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.79, Z:-0.52 [[ 9.99086201e-01 3.90466846e-02 1.73815873e-02 9.37579201e+00] [-3.90297534e-02 9.99237187e-01 -1.31237779e-03 -7.88434594e-01] [-1.74195724e-02 6.32779472e-04 9.99848068e-01 -5.19927058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.111346184 meters 0.0718196363255851 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.79, Z:-0.52 [[ 9.99140018e-01 3.79283774e-02 1.67529966e-02 9.40316806e+00] [-3.79124768e-02 9.99280262e-01 -1.26581312e-03 -7.92137056e-01] [-1.67889490e-02 6.29576953e-04 9.99858857e-01 -5.21621483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141346184 meters 0.07198789059727674 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.80, Z:-0.52 [[ 9.99113174e-01 3.82983643e-02 1.74957173e-02 9.43106559e+00] [-3.82811588e-02 9.99266139e-01 -1.31738366e-03 -7.96888353e-01] [-1.75333315e-02 6.46459039e-04 9.99846070e-01 -5.24171524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.171346184 meters 0.07200160928109232 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.80, Z:-0.53 [[ 9.99090957e-01 3.91989658e-02 1.67541384e-02 9.45837801e+00] [-3.91833220e-02 9.99231243e-01 -1.26109770e-03 -8.00803462e-01] [-1.67906923e-02 6.03468511e-04 9.99858844e-01 -5.26996841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201346184 meters 0.0711129621043061 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.80, Z:-0.53 [[ 9.99070758e-01 3.94913183e-02 1.72642810e-02 9.48721530e+00] [-3.94747882e-02 9.99219725e-01 -1.29733796e-03 -8.02891307e-01] [-1.73020437e-02 6.14628587e-04 9.99850120e-01 -5.27085734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.231346184 meters 0.0716411717571094 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.81, Z:-0.53 [[ 9.99056703e-01 3.98034496e-02 1.73605723e-02 9.51473718e+00] [-3.97867938e-02 9.99207341e-01 -1.30387441e-03 -8.07574147e-01] [-1.73987100e-02 6.11922962e-04 9.99848444e-01 -5.30167600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261346184 meters 0.07084148355556144 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.81, Z:-0.53 [[ 9.98963454e-01 4.19227633e-02 1.77341392e-02 9.54293990e+00] [-4.19057468e-02 9.99120683e-01 -1.33022255e-03 -8.06511986e-01] [-1.77743119e-02 5.85681369e-04 9.99841853e-01 -5.29624138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.291346184 meters 0.06969926755426709 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.80, Z:-0.53 [[ 9.98940773e-01 4.26782211e-02 1.72017638e-02 9.57195185e+00] [-4.26623549e-02 9.99088716e-01 -1.28843460e-03 -8.03965743e-01] [-1.72410762e-02 5.53202107e-04 9.99851209e-01 -5.27298940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321346184000001 meters 0.06948772198190843 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.80, Z:-0.53 [[ 9.98881079e-01 4.42644957e-02 1.66506552e-02 9.60048019e+00] [-4.42498685e-02 9.99019718e-01 -1.24605456e-03 -8.04345985e-01] [-1.66894889e-02 5.07871016e-04 9.99860592e-01 -5.28911997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.351346184 meters 0.06865205186765998 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.81, Z:-0.53 [[ 9.98683621e-01 4.79127683e-02 1.83137110e-02 9.62915262e+00] [-4.78957377e-02 9.98851404e-01 -1.36767339e-03 -8.07500346e-01] [-1.83582050e-02 4.88724315e-04 9.99831355e-01 -5.31361663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381346184 meters 0.06819879165191066 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.81, Z:-0.53 [[ 9.98575581e-01 4.95105701e-02 1.98874808e-02 9.65670799e+00] [-4.94907879e-02 9.98773475e-01 -1.48595144e-03 -8.09834926e-01] [-1.99366586e-02 4.99587732e-04 9.99801120e-01 -5.32765929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.411346184000001 meters 0.06795026764581939 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.81, Z:-0.53 [[ 9.98502075e-01 5.11129390e-02 1.95210915e-02 9.68550216e+00] [-5.10942283e-02 9.98692775e-01 -1.45636318e-03 -8.11045256e-01] [-1.95700120e-02 4.56766553e-04 9.99808385e-01 -5.34114804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441346184 meters 0.06699827200536344 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.81, Z:-0.53 [[ 9.98385932e-01 5.33660388e-02 1.94318253e-02 9.71426089e+00] [-5.33479504e-02 9.98574934e-01 -1.44842390e-03 -8.10516836e-01] [-1.94814303e-02 4.09437999e-04 9.99810135e-01 -5.33477746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.471346184 meters 0.06599942781124764 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.81, Z:-0.53 [[ 9.98126759e-01 5.75460195e-02 2.07708473e-02 9.74360788e+00] [-5.75263148e-02 9.98342794e-01 -1.54542288e-03 -8.12122205e-01] [-2.08253586e-02 3.47657627e-04 9.99783068e-01 -5.34038397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501346184 meters 0.06564088064309735 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.81, Z:-0.54 [[ 9.97980134e-01 5.97313476e-02 2.16290997e-02 9.77230136e+00] [-5.97104897e-02 9.98214439e-01 -1.60945799e-03 -8.14526571e-01] [-2.16866148e-02 3.14722961e-04 9.99764768e-01 -5.35790550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.531346184 meters 0.06537498184953082 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.82, Z:-0.54 [[ 9.97900299e-01 6.13448274e-02 2.07799284e-02 9.79965360e+00] [-6.13259308e-02 9.98116596e-01 -1.54599283e-03 -8.16644210e-01] [-2.08356301e-02 2.68398259e-04 9.99782879e-01 -5.37628655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.561346184 meters 0.06528003493869283 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.82, Z:-0.54 [[ 9.97858272e-01 6.23047048e-02 1.99246673e-02 9.82791949e+00] [-6.22874738e-02 9.98057146e-01 -1.48483733e-03 -8.19140682e-01] [-1.99784689e-02 2.40600022e-04 9.99800382e-01 -5.39722657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.591346184 meters 0.0653064282744845 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.82, Z:-0.54 [[ 9.97718677e-01 6.45359251e-02 1.98130491e-02 9.85543779e+00] [-6.45195230e-02 9.97915367e-01 -1.46662123e-03 -8.24640624e-01] [-1.98663959e-02 1.84946911e-04 9.99802627e-01 -5.43654199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.621346184 meters 0.06505041713593716 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.83, Z:-0.54 [[ 9.97694178e-01 6.48928405e-02 1.98808144e-02 9.88313348e+00] [-6.48763127e-02 9.97892222e-01 -1.47586236e-03 -8.28524054e-01] [-1.99346829e-02 1.82665357e-04 9.99801268e-01 -5.44058103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.651346184000001 meters 0.06483955988389155 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.83, Z:-0.54 [[ 9.97666718e-01 6.52264175e-02 2.01651569e-02 9.91176417e+00] [-6.52096251e-02 9.97870475e-01 -1.48987336e-03 -8.32265401e-01] [-2.02193938e-02 1.71434747e-04 9.99795552e-01 -5.44754960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.681346184 meters 0.06480099014088957 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.84, Z:-0.55 [[ 9.97624965e-01 6.59176640e-02 1.99822867e-02 9.93835363e+00] [-6.59014873e-02 9.97825055e-01 -1.46768781e-03 -8.37417130e-01] [-2.00355729e-02 1.47339583e-04 9.99799257e-01 -5.45858520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.711346184 meters 0.0648915425946491 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.84, Z:-0.55 [[ 9.97566193e-01 6.68723017e-02 1.97429977e-02 9.96544604e+00] [-6.68567445e-02 9.97761535e-01 -1.44771512e-03 -8.41720626e-01] [-1.97956158e-02 1.24239107e-04 9.99804040e-01 -5.47699395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741346184000001 meters 0.06483340285508768 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.85, Z:-0.55 [[ 9.97589953e-01 6.64958173e-02 1.98139344e-02 9.99259026e+00] [-6.64800280e-02 9.97786695e-01 -1.45522558e-03 -8.46325849e-01] [-1.98668466e-02 1.34487506e-04 9.99802626e-01 -5.49241704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.771346184 meters 0.0649999682514601 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.85, Z:-0.55 [[ 9.97593188e-01 6.65078028e-02 1.96097810e-02 1.00196186e+01] [-6.64924438e-02 9.97785897e-01 -1.43493038e-03 -8.51186719e-01] [-1.96617969e-02 1.27574513e-04 9.99806680e-01 -5.52180758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801346184 meters 0.06511943485556301 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.86, Z:-0.56 [[ 9.97566974e-01 6.72132458e-02 1.85070585e-02 1.00473370e+01] [-6.71998550e-02 9.97738628e-01 -1.34519649e-03 -8.55490888e-01] [-1.85556222e-02 9.82519422e-05 9.99827825e-01 -5.55895852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.831346184000001 meters 0.06478080726597017 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.86, Z:-0.55 [[ 9.97540613e-01 6.81759895e-02 1.62714497e-02 1.00753698e+01] [-6.81657823e-02 9.97673308e-01 -1.18174993e-03 -8.61114387e-01] [-1.63141580e-02 6.96874525e-05 9.99866913e-01 -5.54890746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.861346184 meters 0.06496260033861896 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.86, Z:-0.56 [[ 9.97498330e-01 6.88835015e-02 1.58790543e-02 1.01029673e+01] [-6.88739283e-02 9.97624709e-01 -1.14960843e-03 -8.63979960e-01] [-1.59205260e-02 5.30796408e-05 9.99873259e-01 -5.57876619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.891346184 meters 0.06510881347291243 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.87, Z:-0.56 [[ 9.97496154e-01 6.90954323e-02 1.50745888e-02 1.01314668e+01] [-6.90867602e-02 9.97610053e-01 -1.09590218e-03 -8.67340738e-01] [-1.51142831e-02 5.17037097e-05 9.99885771e-01 -5.59935318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.921346184 meters 0.06586756180463293 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.87, Z:-0.57 [[ 9.97449778e-01 6.97734672e-02 1.50200986e-02 1.01580190e+01] [-6.97650582e-02 9.97562861e-01 -1.08373267e-03 -8.71135936e-01] [-1.50591083e-02 3.30908592e-05 9.99886605e-01 -5.67373523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.951346184 meters 0.06537732072407797 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.88, Z:-0.56 [[ 9.97519331e-01 6.89570134e-02 1.41461910e-02 1.01861485e+01] [-6.89494293e-02 9.97619631e-01 -1.02371590e-03 -8.79810807e-01] [-1.41831102e-02 4.58046008e-05 9.99899414e-01 -5.64626708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.981346184 meters 0.06505263138322874 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.89, Z:-0.56 [[ 9.97609349e-01 6.76090290e-02 1.43040255e-02 1.02140724e+01] [-6.76011667e-02 9.97711890e-01 -1.03300606e-03 -8.85195609e-01] [-1.43411369e-02 6.35676922e-05 9.99897159e-01 -5.63956446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.011346184 meters 0.0653194876956666 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.89, Z:-0.57 [[ 9.97702400e-01 6.62308632e-02 1.42615914e-02 1.02415189e+01] [-6.62230444e-02 9.97804323e-01 -1.02031678e-03 -8.91007113e-01] [-1.42978540e-02 7.35264988e-05 9.99897778e-01 -5.66609117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041346184 meters 0.06544618461066326 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.90, Z:-0.57 [[ 9.97815225e-01 6.45160247e-02 1.42287851e-02 1.02701060e+01] [-6.45080383e-02 9.97916666e-01 -1.02000590e-03 -8.96289373e-01] [-1.42649485e-02 9.99064009e-05 9.99898245e-01 -5.68040499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.071346184000001 meters 0.06540371001864195 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.91, Z:-0.57 [[ 9.98130413e-01 5.92554193e-02 1.49824488e-02 1.02979315e+01] [-5.92460331e-02 9.98242838e-01 -1.06994631e-03 -9.09197212e-01] [-1.50195223e-02 1.80295297e-04 9.99887184e-01 -5.67162680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.101346184 meters 0.06532748574538491 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.92, Z:-0.57 [[ 9.98239187e-01 5.70909100e-02 1.60982560e-02 1.03260814e+01] [-5.70799713e-02 9.98368960e-01 -1.13853051e-03 -9.17183132e-01] [-1.61369988e-02 2.17637780e-04 9.99869766e-01 -5.67789076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.131346184 meters 0.06532748574538491 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.92, Z:-0.57 [[ 9.98245343e-01 5.69831663e-02 1.60982507e-02 1.03534452e+01] [-5.69722123e-02 9.98375115e-01 -1.13860812e-03 -9.18978220e-01] [-1.61369744e-02 2.19457294e-04 9.99869766e-01 -5.69180353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161346184000001 meters 0.0656191557688451 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.93, Z:-0.57 [[ 9.98385921e-01 5.42725656e-02 1.67344326e-02 1.03812726e+01] [-5.42604027e-02 9.98526122e-01 -1.18033816e-03 -9.27805399e-01] [-1.67738280e-02 2.70415949e-04 9.99859273e-01 -5.71132240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.191346184 meters 0.06597035985565136 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.94, Z:-0.57 [[ 9.98589942e-01 5.04686054e-02 1.64634947e-02 1.04094998e+01] [-5.04563345e-02 9.98725594e-01 -1.16012561e-03 -9.40190991e-01] [-1.65010634e-02 3.27802174e-04 9.99863794e-01 -5.72614588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.221346184 meters 0.06625184142511938 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.95, Z:-0.57 [[ 9.98690117e-01 4.82887957e-02 1.69187116e-02 1.04377577e+01] [-4.82755463e-02 9.98833346e-01 -1.19089328e-03 -9.45654810e-01] [-1.69564801e-02 3.72573304e-04 9.99856159e-01 -5.74219406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.251346184 meters 0.06663164111683627 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.95, Z:-0.58 [[ 9.98769594e-01 4.68333990e-02 1.63073882e-02 1.04654359e+01] [-4.68209036e-02 9.98902641e-01 -1.14740379e-03 -9.50954860e-01] [-1.63432299e-02 3.82465372e-04 9.99866367e-01 -5.75599676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281346184 meters 0.06710022376932104 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.96, Z:-0.58 [[ 9.98856330e-01 4.48081886e-02 1.66810449e-02 1.04925337e+01] [-4.47948591e-02 9.98995519e-01 -1.17204926e-03 -9.56477490e-01] [-1.67168065e-02 4.23483764e-04 9.99860175e-01 -5.77609420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.311346184 meters 0.06815038334250614 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.97, Z:-0.58 [[ 9.99051047e-01 4.02470037e-02 1.66488636e-02 1.05215712e+01] [-4.02331482e-02 9.99189638e-01 -1.16645884e-03 -9.66826369e-01] [-1.66823184e-02 4.95515728e-04 9.99860718e-01 -5.80019438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341346184 meters 0.06892685294493035 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.97, Z:-0.58 [[ 9.99141089e-01 3.81946229e-02 1.60703250e-02 1.05486794e+01] [-3.81814274e-02 9.99270188e-01 -1.12723462e-03 -9.74517382e-01] [-1.61016510e-02 5.12678482e-04 9.99870229e-01 -5.82931630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.371346184 meters 0.06992281955857356 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.98, Z:-0.59 [[ 9.99243722e-01 3.53650658e-02 1.61646601e-02 1.05771124e+01] [-3.53513887e-02 9.99374304e-01 -1.13115778e-03 -9.82736146e-01] [-1.61945494e-02 5.58859130e-04 9.99868704e-01 -5.85382159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401346184 meters 0.0721551383384865 Centerline is valid? [True, True] Translation: X:10.61, Y:-1.00, Z:-0.59 [[ 9.99425825e-01 2.90324327e-02 1.74681821e-02 1.06050282e+01] [-2.90155248e-02 9.99578216e-01 -1.22064272e-03 -9.95016990e-01] [-1.74962525e-02 7.13093386e-04 9.99846675e-01 -5.86030382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.431346184 meters 0.0705227832773506 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.99, Z:-0.58 [[ 9.99511137e-01 2.57378820e-02 1.77495934e-02 1.06349241e+01] [-2.57199163e-02 9.99668419e-01 -1.23974868e-03 -9.93683993e-01] [-1.77756165e-02 7.82624556e-04 9.99841695e-01 -5.80801425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.461346184 meters 0.07480065383956887 Centerline is valid? [True, True] Translation: X:10.66, Y:-1.01, Z:-0.59 [[ 9.99572258e-01 2.26036373e-02 1.85573781e-02 1.06629600e+01] [-2.25835187e-02 9.99744124e-01 -1.29300215e-03 -1.00657949e+00] [-1.85818562e-02 8.73358184e-04 9.99826961e-01 -5.86299121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.491346184000001 meters 0.07550110375409703 Centerline is valid? [True, True] Translation: X:10.69, Y:-1.01, Z:-0.59 [[ 9.99636156e-01 1.94050081e-02 1.87350066e-02 1.06935583e+01] [-1.93839176e-02 9.99811260e-01 -1.30668316e-03 -1.01240674e+00] [-1.87568268e-02 9.43049907e-04 9.99823631e-01 -5.87228548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.521346184 meters 0.0749052424202226 Centerline is valid? [True, True] Translation: X:10.72, Y:-1.02, Z:-0.59 [[ 9.99703944e-01 1.52742952e-02 1.89399248e-02 1.07243201e+01] [-1.52519955e-02 9.99882809e-01 -1.32129004e-03 -1.01833338e+00] [-1.89578870e-02 1.03202721e-03 9.99819750e-01 -5.86387586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.551346184 meters 0.07856484959447656 Centerline is valid? [True, True] Translation: X:10.75, Y:-1.03, Z:-0.59 [[ 9.99709068e-01 1.42037655e-02 1.94944096e-02 1.07544311e+01] [-1.41800029e-02 9.99898538e-01 -1.35663783e-03 -1.02978726e+00] [-1.95117010e-02 1.07981236e-03 9.99809046e-01 -5.92173016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.581346184000001 meters 0.07504210813630426 Centerline is valid? [True, True] Translation: X:10.79, Y:-1.03, Z:-0.59 [[ 9.99724293e-01 1.39899328e-02 1.88578828e-02 1.07870003e+01] [-1.39676868e-02 9.99901588e-01 -1.31086861e-03 -1.02597329e+00] [-1.88743659e-02 1.04710620e-03 9.99821315e-01 -5.90529542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.611346184 meters 0.0758349865180293 Centerline is valid? [True, True] Translation: X:10.82, Y:-1.03, Z:-0.59 [[ 9.99665372e-01 1.72804656e-02 1.92491549e-02 1.08164186e+01] [-1.72576360e-02 9.99850162e-01 -1.35149920e-03 -1.02929275e+00] [-1.92696252e-02 1.01885204e-03 9.99813804e-01 -5.93792479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.641346184 meters 0.07752381653576859 Centerline is valid? [True, True] Translation: X:10.85, Y:-1.03, Z:-0.60 [[ 9.99634031e-01 1.96214065e-02 1.86226704e-02 1.08467172e+01] [-1.96004653e-02 9.99807039e-01 -1.30637448e-03 -1.03297019e+00] [-1.86447098e-02 9.40883385e-04 9.99825730e-01 -5.98392816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.671346184 meters 0.07321598031470905 Centerline is valid? [True, True] Translation: X:10.88, Y:-1.02, Z:-0.60 [[ 9.99599066e-01 2.23883502e-02 1.73340603e-02 1.08786839e+01] [-2.23706141e-02 9.99749006e-01 -1.21644453e-03 -1.02463586e+00] [-1.73569438e-02 8.28183238e-04 9.99849014e-01 -5.96540563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.701346184 meters 0.07227493649471112 Centerline is valid? [True, True] Translation: X:10.91, Y:-1.02, Z:-0.60 [[ 9.99557247e-01 2.46085841e-02 1.67250298e-02 1.09091525e+01] [-2.45923527e-02 9.99696871e-01 -1.17548999e-03 -1.02413681e+00] [-1.67488871e-02 7.63661701e-04 9.99859436e-01 -5.99052027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.731346184 meters 0.07223866178578735 Centerline is valid? [True, True] Translation: X:10.94, Y:-1.03, Z:-0.60 [[ 9.99491383e-01 2.76230475e-02 1.59355728e-02 1.09377912e+01] [-2.76086648e-02 9.99618179e-01 -1.12188412e-03 -1.02611225e+00] [-1.59604782e-02 6.81353625e-04 9.99872391e-01 -6.02991689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.761346184 meters 0.07209214563636118 Centerline is valid? [True, True] Translation: X:10.97, Y:-1.03, Z:-0.60 [[ 9.99450306e-01 2.80978919e-02 1.75952763e-02 1.09669387e+01] [-2.80804529e-02 9.99604900e-01 -1.23744598e-03 -1.02772431e+00] [-1.76230941e-02 7.42682435e-04 9.99844425e-01 -6.04032852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.791346184 meters 0.07239242812945504 Centerline is valid? [True, True] Translation: X:11.00, Y:-1.03, Z:-0.61 [[ 9.99468540e-01 2.78119994e-02 1.70038048e-02 1.09960346e+01] [-2.77956961e-02 9.99612911e-01 -1.19442963e-03 -1.03070770e+00] [-1.70304423e-02 7.21162244e-04 9.99854711e-01 -6.06249304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.821346184000001 meters 0.07286015303240204 Centerline is valid? [True, True] Translation: X:11.03, Y:-1.03, Z:-0.61 [[ 9.99503602e-01 2.70524933e-02 1.61465935e-02 1.10250636e+01] [-2.70377015e-02 9.99633772e-01 -1.13373441e-03 -1.03421159e+00] [-1.61713505e-02 6.96604846e-04 9.99868993e-01 -6.08904322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.851346184 meters 0.07487441828954021 Centerline is valid? [True, True] Translation: X:11.05, Y:-1.04, Z:-0.61 [[ 9.99621650e-01 2.37660120e-02 1.38467934e-02 1.10534907e+01] [-2.37548228e-02 9.99717342e-01 -9.72010096e-04 -1.04383800e+00] [-1.38659803e-02 6.42714214e-04 9.99903656e-01 -6.14503257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881346184 meters 0.07299389788754827 Centerline is valid? [True, True] Translation: X:11.08, Y:-1.04, Z:-0.61 [[ 9.99682739e-01 2.18530436e-02 1.25246463e-02 1.10835741e+01] [-2.18437417e-02 9.99761011e-01 -8.79021828e-04 -1.04391865e+00] [-1.25408624e-02 6.05157810e-04 9.99921177e-01 -6.12996177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.911346184000001 meters 0.07662490358940788 Centerline is valid? [True, True] Translation: X:11.11, Y:-1.06, Z:-0.62 [[ 9.99743068e-01 1.95993547e-02 1.13869988e-02 1.11116962e+01] [-1.95915232e-02 9.99807748e-01 -7.98911817e-04 -1.05502210e+00] [-1.14004678e-02 5.75617898e-04 9.99934847e-01 -6.19990691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.941346184 meters 0.07793067838616391 Centerline is valid? [True, True] Translation: X:11.14, Y:-1.06, Z:-0.62 [[ 9.99791820e-01 1.78118426e-02 9.95264882e-03 1.11403308e+01] [-1.78057738e-02 9.99841221e-01 -6.98053255e-04 -1.05964362e+00] [-9.96350217e-03 5.20693320e-04 9.99950228e-01 -6.22354403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.971346184 meters 0.07761428886531102 Centerline is valid? [True, True] Translation: X:11.17, Y:-1.06, Z:-0.62 [[ 9.99854944e-01 1.47459951e-02 8.52329146e-03 1.11704365e+01] [-1.47414397e-02 9.99891161e-01 -5.97048630e-04 -1.06082212e+00] [-8.53116787e-03 4.71316437e-04 9.99963498e-01 -6.20691820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.001346184 meters 0.07561647425396874 Centerline is valid? [True, True] Translation: X:11.20, Y:-1.06, Z:-0.62 [[ 9.99846802e-01 1.43441281e-02 1.00308987e-02 1.12005490e+01] [-1.43377939e-02 9.99896961e-01 -7.03103883e-04 -1.05948593e+00] [-1.00399505e-02 5.59175210e-04 9.99949442e-01 -6.17432239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.031346184 meters 0.0781087672357814 Centerline is valid? [True, True] Translation: X:11.23, Y:-1.07, Z:-0.62 [[ 9.99828621e-01 1.49560158e-02 1.09108459e-02 1.12299370e+01] [-1.49485802e-02 9.99887973e-01 -7.62725649e-04 -1.06737430e+00] [-1.09210309e-02 5.99493278e-04 9.99940184e-01 -6.22469824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.061346184 meters 0.07768574486424888 Centerline is valid? [True, True] Translation: X:11.26, Y:-1.07, Z:-0.62 [[ 9.99802393e-01 1.58470363e-02 1.20019188e-02 1.12604763e+01] [-1.58381031e-02 9.99874217e-01 -8.38997397e-04 -1.06858411e+00] [-1.20137048e-02 6.48743977e-04 9.99927622e-01 -6.23275713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.091346184 meters 0.08014429584820487 Centerline is valid? [True, True] Translation: X:11.29, Y:-1.07, Z:-0.63 [[ 9.99801796e-01 1.61336642e-02 1.16650175e-02 1.12900581e+01] [-1.61252530e-02 9.99869648e-01 -8.14769704e-04 -1.07415251e+00] [-1.16766422e-02 6.26506855e-04 9.99931629e-01 -6.28096437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.121346184 meters 0.07444837660910208 Centerline is valid? [True, True] Translation: X:11.32, Y:-1.06, Z:-0.62 [[ 9.99774747e-01 1.77007462e-02 1.17106213e-02 1.13216075e+01] [-1.76923462e-02 9.99843142e-01 -8.20511846e-04 -1.06064152e+00] [-1.17233081e-02 6.13138657e-04 9.99931092e-01 -6.20825326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.151346184 meters 0.07984274591179336 Centerline is valid? [True, True] Translation: X:11.35, Y:-1.07, Z:-0.63 [[ 9.99772015e-01 1.75298880e-02 1.21909895e-02 1.13489763e+01] [-1.75207740e-02 9.99846135e-01 -8.54006946e-04 -1.07176213e+00] [-1.22040843e-02 6.40216673e-04 9.99925322e-01 -6.29786050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.181346184 meters 0.07390983245966887 Centerline is valid? [True, True] Translation: X:11.38, Y:-1.06, Z:-0.62 [[ 9.99769168e-01 1.70472904e-02 1.30767332e-02 1.13796123e+01] [-1.70367832e-02 9.99854445e-01 -9.14492942e-04 -1.06057231e+00] [-1.30904195e-02 6.91496379e-04 9.99914078e-01 -6.22288742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.211346184 meters 0.07495557270612019 Centerline is valid? [True, True] Translation: X:11.41, Y:-1.06, Z:-0.63 [[ 9.99789029e-01 1.67693071e-02 1.18611776e-02 1.14091323e+01] [-1.67606664e-02 9.99859188e-01 -8.27529147e-04 -1.06406144e+00] [-1.18733845e-02 6.28553322e-04 9.99929311e-01 -6.26910283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.241346184000001 meters 0.07494065860194289 Centerline is valid? [True, True] Translation: X:11.44, Y:-1.06, Z:-0.63 [[ 9.99791715e-01 1.68690276e-02 1.14875047e-02 1.14386071e+01] [-1.68609093e-02 9.99857522e-01 -8.03189669e-04 -1.06499304e+00] [-1.14994170e-02 6.09332601e-04 9.99933694e-01 -6.28552665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.271346184 meters 0.07532966350521271 Centerline is valid? [True, True] Translation: X:11.47, Y:-1.07, Z:-0.63 [[ 9.99795254e-01 1.66078361e-02 1.15597958e-02 1.14674074e+01] [-1.65995948e-02 9.99861890e-01 -8.08510817e-04 -1.06559296e+00] [-1.15716269e-02 6.16457352e-04 9.99932856e-01 -6.30111392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301346184 meters 0.07599124626117751 Centerline is valid? [True, True] Translation: X:11.50, Y:-1.07, Z:-0.63 [[ 9.99786316e-01 1.58337156e-02 1.32897214e-02 1.14966182e+01] [-1.58227886e-02 9.99874382e-01 -9.26967373e-04 -1.06695880e+00] [-1.33027293e-02 7.16488843e-04 9.99911258e-01 -6.31005659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.331346184000001 meters 0.07713763983940501 Centerline is valid? [True, True] Translation: X:11.53, Y:-1.07, Z:-0.63 [[ 9.99781249e-01 1.49644051e-02 1.46123528e-02 1.15272772e+01] [-1.49511263e-02 9.99887708e-01 -1.01756447e-03 -1.06841442e+00] [-1.46259392e-02 7.98870744e-04 9.99892716e-01 -6.31399747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361346184 meters 0.07688588651354919 Centerline is valid? [True, True] Translation: X:11.56, Y:-1.07, Z:-0.63 [[ 9.99774939e-01 1.39918059e-02 1.59468328e-02 1.15589000e+01] [-1.39758716e-02 9.99901716e-01 -1.11022874e-03 -1.06972742e+00] [-1.59607996e-02 8.87107984e-04 9.99872225e-01 -6.31687622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.391346184 meters 0.07755021308979945 Centerline is valid? [True, True] Translation: X:11.59, Y:-1.07, Z:-0.63 [[ 9.99772850e-01 1.34631689e-02 1.65224345e-02 1.15896863e+01] [-1.34460911e-02 9.99908942e-01 -1.14426844e-03 -1.07359714e+00] [-1.65363355e-02 9.21846356e-04 9.99862840e-01 -6.33154017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421346184 meters 0.07741980278683987 Centerline is valid? [True, True] Translation: X:11.62, Y:-1.08, Z:-0.63 [[ 9.99754173e-01 1.25193229e-02 1.82991899e-02 1.16231862e+01] [-1.24981475e-02 9.99921087e-01 -1.27108885e-03 -1.07574599e+00] [-1.83136590e-02 1.04207041e-03 9.99831748e-01 -6.33424762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.451346184 meters 0.07791996596787798 Centerline is valid? [True, True] Translation: X:11.65, Y:-1.08, Z:-0.64 [[ 9.99756048e-01 1.26319630e-02 1.81184164e-02 1.16540885e+01] [-1.26110968e-02 9.99919676e-01 -1.26545687e-03 -1.07814582e+00] [-1.81329463e-02 1.03665506e-03 9.99835047e-01 -6.35253663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.481346184 meters 0.07814834604578194 Centerline is valid? [True, True] Translation: X:11.69, Y:-1.08, Z:-0.64 [[ 9.99748257e-01 1.31131105e-02 1.82063057e-02 1.16859144e+01] [-1.30920524e-02 9.99913482e-01 -1.27534694e-03 -1.07991556e+00] [-1.82214543e-02 1.03666797e-03 9.99833438e-01 -6.38065444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.511346184 meters 0.07796351092566395 Centerline is valid? [True, True] Translation: X:11.72, Y:-1.08, Z:-0.64 [[ 9.99733860e-01 1.31951885e-02 1.89234263e-02 1.17186128e+01] [-1.31722599e-02 9.99912350e-01 -1.33578392e-03 -1.08108181e+00] [-1.89393935e-02 1.08616413e-03 9.99820044e-01 -6.38645779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541346184 meters 0.08073414348538237 Centerline is valid? [True, True] Translation: X:11.75, Y:-1.09, Z:-0.64 [[ 9.99765601e-01 1.35751084e-02 1.68659434e-02 1.17495787e+01] [-1.35569561e-02 9.99907392e-01 -1.19013907e-03 -1.08582348e+00] [-1.68805377e-02 9.61209247e-04 9.99857052e-01 -6.44396429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.571346184000001 meters 0.07997585192581326 Centerline is valid? [True, True] Translation: X:11.78, Y:-1.09, Z:-0.64 [[ 9.99775525e-01 1.32852441e-02 1.65046318e-02 1.17817197e+01] [-1.32678489e-02 9.99911302e-01 -1.16301642e-03 -1.08588128e+00] [-1.65186189e-02 9.43774392e-04 9.99863113e-01 -6.44901822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601346184 meters 0.07740200249667045 Centerline is valid? [True, True] Translation: X:11.81, Y:-1.08, Z:-0.64 [[ 9.99794408e-01 1.23464024e-02 1.60843762e-02 1.18138712e+01] [-1.23297005e-02 9.99923340e-01 -1.13715070e-03 -1.08295487e+00] [-1.60971829e-02 9.38601368e-04 9.99869991e-01 -6.43936773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.631346184 meters 0.07959661225807123 Centerline is valid? [True, True] Translation: X:11.84, Y:-1.09, Z:-0.65 [[ 9.99863525e-01 1.05672502e-02 1.26990198e-02 1.18427766e+01] [-1.05566019e-02 9.99943868e-01 -9.05260002e-04 -1.08885810e+00] [-1.27078731e-02 7.71077961e-04 9.99918954e-01 -6.49676794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.661346184000001 meters 0.07942131227449065 Centerline is valid? [True, True] Translation: X:11.88, Y:-1.09, Z:-0.65 [[ 9.99883240e-01 9.59278859e-03 1.18947556e-02 1.18752883e+01] [-9.58338229e-03 9.99953719e-01 -8.47540975e-04 -1.08934637e+00] [-1.19023354e-02 7.33450025e-04 9.99928896e-01 -6.50671796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.691346184 meters 0.08496121518577648 Centerline is valid? [True, True] Translation: X:11.91, Y:-1.10, Z:-0.66 [[ 9.99888908e-01 9.27052054e-03 1.16717601e-02 1.19052999e+01] [-9.26150518e-03 9.99956770e-01 -8.26222880e-04 -1.10063839e+00] [-1.16789150e-02 7.18033027e-04 9.99931541e-01 -6.58136954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.721346184 meters 0.0816787784258759 Centerline is valid? [True, True] Translation: X:11.94, Y:-1.10, Z:-0.66 [[ 9.99889425e-01 8.68586559e-03 1.20703518e-02 1.19382031e+01] [-8.67614863e-03 9.99961994e-01 -8.57158968e-04 -1.09647201e+00] [-1.20773382e-02 7.52340022e-04 9.99926783e-01 -6.55325575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.751346184 meters 0.0790674289430566 Centerline is valid? [True, True] Translation: X:11.97, Y:-1.09, Z:-0.66 [[ 9.99893992e-01 8.67004556e-03 1.16976856e-02 1.19712512e+01] [-8.66089439e-03 9.99962147e-01 -8.32738339e-04 -1.09368444e+00] [-1.17044627e-02 7.31337641e-04 9.99931233e-01 -6.55103850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.781346184 meters 0.08296845585329073 Centerline is valid? [True, True] Translation: X:12.00, Y:-1.10, Z:-0.66 [[ 9.99899000e-01 9.18764270e-03 1.08432555e-02 1.20012886e+01] [-9.17978148e-03 9.99957565e-01 -7.74536521e-04 -1.10357920e+00] [-1.08499115e-02 6.74919578e-04 9.99940910e-01 -6.61796185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.811346184 meters 0.0808671168292679 Centerline is valid? [True, True] Translation: X:12.03, Y:-1.10, Z:-0.66 [[ 9.99893361e-01 9.81379581e-03 1.08146472e-02 1.20337467e+01] [-9.80599019e-03 9.99951620e-01 -7.74554112e-04 -1.10225377e+00] [-1.08217253e-02 6.68423190e-04 9.99941220e-01 -6.61489149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841346184 meters 0.07861734221476382 Centerline is valid? [True, True] Translation: X:12.07, Y:-1.10, Z:-0.66 [[ 9.99873972e-01 1.11911713e-02 1.12604631e-02 1.20663386e+01] [-1.11827613e-02 9.99937143e-01 -8.09543323e-04 -1.10025868e+00] [-1.12688150e-02 6.83518227e-04 9.99936271e-01 -6.59999791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.871346184 meters 0.07832578953475332 Centerline is valid? [True, True] Translation: X:12.10, Y:-1.10, Z:-0.66 [[ 9.99844079e-01 1.29830031e-02 1.19690995e-02 1.20985703e+01] [-1.29734900e-02 9.99915460e-01 -8.72112132e-04 -1.09853657e+00] [-1.19794102e-02 7.16695159e-04 9.99927987e-01 -6.60724618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901346184 meters 0.08146672607559459 Centerline is valid? [True, True] Translation: X:12.13, Y:-1.10, Z:-0.67 [[ 9.99844934e-01 1.42614372e-02 1.03305424e-02 1.21281887e+01] [-1.42544015e-02 9.99898116e-01 -7.54376666e-04 -1.10484229e+00] [-1.03402484e-02 6.07003989e-04 9.99946354e-01 -6.67041211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.931346184 meters 0.08126843844152824 Centerline is valid? [True, True] Translation: X:12.16, Y:-1.11, Z:-0.67 [[ 9.99815891e-01 1.56968453e-02 1.10359909e-02 1.21577377e+01] [-1.56888848e-02 9.99876596e-01 -8.07529880e-04 -1.10579599e+00] [-1.10473046e-02 6.34238817e-04 9.99938776e-01 -6.68709905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961346184 meters 0.07752653965841745 Centerline is valid? [True, True] Translation: X:12.19, Y:-1.10, Z:-0.67 [[ 9.99807040e-01 1.62961505e-02 1.09690101e-02 1.21883523e+01] [-1.62883161e-02 9.99867014e-01 -8.03195794e-04 -1.10039706e+00] [-1.09806404e-02 6.24374105e-04 9.99939516e-01 -6.65921623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.991346184000001 meters 0.0761008522325108 Centerline is valid? [True, True] Translation: X:12.22, Y:-1.10, Z:-0.66 [[ 9.99790880e-01 1.67094533e-02 1.17893913e-02 1.22187640e+01] [-1.67004463e-02 9.99860166e-01 -8.62032184e-04 -1.09947365e+00] [-1.18021468e-02 6.64963819e-04 9.99930131e-01 -6.64675998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021346184 meters 0.0761008522325108 Centerline is valid? [True, True] Translation: X:12.25, Y:-1.10, Z:-0.67 [[ 9.99791488e-01 1.66731079e-02 1.17893558e-02 1.22478681e+01] [-1.66640926e-02 9.99860772e-01 -8.62518817e-04 -1.10155515e+00] [-1.18020953e-02 6.65880054e-04 9.99930131e-01 -6.66154798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.051346184 meters 0.07846804864690263 Centerline is valid? [True, True] Translation: X:12.28, Y:-1.11, Z:-0.67 [[ 9.99784843e-01 1.63956777e-02 1.27062683e-02 1.22755717e+01] [-1.63851918e-02 9.99865322e-01 -9.28916820e-04 -1.10708848e+00] [-1.27197872e-02 7.20522314e-04 9.99918841e-01 -6.70202232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081346183999997 meters 0.07690153424270123 Centerline is valid? [True, True] Translation: X:12.31, Y:-1.10, Z:-0.67 [[ 9.99785656e-01 1.56156595e-02 1.35938353e-02 1.23057962e+01] [-1.56035927e-02 9.99877763e-01 -9.93276400e-04 -1.10453171e+00] [-1.36076843e-02 7.80950828e-04 9.99907106e-01 -6.68559712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.111346184 meters 0.07683412561092628 Centerline is valid? [True, True] Translation: X:12.34, Y:-1.11, Z:-0.67 [[ 9.99788568e-01 1.52873368e-02 1.37519473e-02 1.23361136e+01] [-1.52749823e-02 9.99882828e-01 -1.00297598e-03 -1.10685158e+00] [-1.37656688e-02 7.92703171e-04 9.99904934e-01 -6.70378330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.141346184 meters 0.07806472551052512 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.11, Z:-0.67 [[ 9.99796530e-01 1.39027637e-02 1.46154959e-02 1.23662004e+01] [-1.38886998e-02 9.99902982e-01 -1.06332200e-03 -1.11138045e+00] [-1.46288610e-02 8.60115414e-04 9.99892623e-01 -6.72485031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.171346183999997 meters 0.07733733830165744 Centerline is valid? [True, True] Translation: X:12.40, Y:-1.11, Z:-0.67 [[ 9.99799617e-01 1.33291922e-02 1.49351579e-02 1.23985446e+01] [-1.33145222e-02 9.99910773e-01 -1.08125772e-03 -1.11253742e+00] [-1.49482375e-02 8.82186567e-04 9.99887880e-01 -6.73498081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201346184 meters 0.07755383844240578 Centerline is valid? [True, True] Translation: X:12.43, Y:-1.12, Z:-0.68 [[ 9.99813156e-01 1.30900489e-02 1.42233768e-02 1.24310107e+01] [-1.30766766e-02 9.99913963e-01 -1.03276348e-03 -1.11528774e+00] [-1.42356720e-02 8.46576018e-04 9.99898309e-01 -6.75908434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.231346184 meters 0.07865419135244425 Centerline is valid? [True, True] Translation: X:12.46, Y:-1.12, Z:-0.68 [[ 9.99826742e-01 1.32261783e-02 1.30978796e-02 1.24621070e+01] [-1.32148097e-02 9.99912225e-01 -9.54142262e-04 -1.11947188e+00] [-1.31093496e-02 7.80890962e-04 9.99913764e-01 -6.79640288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261346183999997 meters 0.07826263834737816 Centerline is valid? [True, True] Translation: X:12.49, Y:-1.12, Z:-0.68 [[ 9.99829427e-01 1.35148236e-02 1.25883156e-02 1.24930531e+01] [-1.35042184e-02 9.99908384e-01 -9.27090783e-04 -1.12013131e+00] [-1.25996917e-02 7.56937285e-04 9.99920334e-01 -6.81283024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.291346184 meters 0.07926991070902624 Centerline is valid? [True, True] Translation: X:12.52, Y:-1.12, Z:-0.68 [[ 9.99838323e-01 1.38183064e-02 1.15057380e-02 1.25234642e+01] [-1.38094558e-02 9.99904285e-01 -8.48335700e-04 -1.12199380e+00] [-1.15163593e-02 6.89310565e-04 9.99933447e-01 -6.84702015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321346184 meters 0.07711154083331669 Centerline is valid? [True, True] Translation: X:12.55, Y:-1.12, Z:-0.68 [[ 9.99818184e-01 1.44655315e-02 1.24236666e-02 1.25541421e+01] [-1.44552496e-02 9.99895097e-01 -9.17004468e-04 -1.11980746e+00] [-1.24356283e-02 7.37250540e-04 9.99922403e-01 -6.83706709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.351346183999997 meters 0.07718589385180005 Centerline is valid? [True, True] Translation: X:12.58, Y:-1.12, Z:-0.69 [[ 9.99809702e-01 1.48682506e-02 1.26291229e-02 1.25841978e+01] [-1.48576578e-02 9.99889184e-01 -9.32169424e-04 -1.12350989e+00] [-1.26415831e-02 7.44352847e-04 9.99919815e-01 -6.85669094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381346183999998 meters 0.07853417869652037 Centerline is valid? [True, True] Translation: X:12.61, Y:-1.13, Z:-0.69 [[ 9.99773291e-01 1.58883888e-02 1.41748008e-02 1.26135185e+01] [-1.58751464e-02 9.99873435e-01 -1.04625761e-03 -1.13169936e+00] [-1.41896301e-02 8.20993375e-04 9.99898985e-01 -6.89945027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.411346184 meters 0.07856160782392486 Centerline is valid? [True, True] Translation: X:12.64, Y:-1.14, Z:-0.69 [[ 9.99759730e-01 1.60951041e-02 1.48805268e-02 1.26446017e+01] [-1.60805516e-02 9.99870098e-01 -1.09709664e-03 -1.13500029e+00] [-1.48962517e-02 8.57545958e-04 9.99888677e-01 -6.91419160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.441346183999997 meters 0.07903424197964645 Centerline is valid? [True, True] Translation: X:12.67, Y:-1.14, Z:-0.69 [[ 9.99771667e-01 1.63636126e-02 1.37420959e-02 1.26744613e+01] [-1.63512133e-02 9.99865796e-01 -1.01416354e-03 -1.13910645e+00] [-1.37568471e-02 7.89232032e-04 9.99905059e-01 -6.93737412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.471346183999998 meters 0.07884156521140184 Centerline is valid? [True, True] Translation: X:12.70, Y:-1.14, Z:-0.70 [[ 9.99755349e-01 1.69858512e-02 1.41676966e-02 1.27048214e+01] [-1.69727213e-02 9.99855405e-01 -1.04647883e-03 -1.14187200e+00] [-1.41834234e-02 8.05758437e-04 9.99899086e-01 -6.95634880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501346184 meters 0.07739635997337418 Centerline is valid? [True, True] Translation: X:12.74, Y:-1.14, Z:-0.69 [[ 9.99732651e-01 1.82514195e-02 1.41955037e-02 1.27355020e+01] [-1.82383653e-02 9.99833117e-01 -1.04853276e-03 -1.13820046e+00] [-1.42122720e-02 7.89349656e-04 9.99898689e-01 -6.93260139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.531346184 meters 0.07585931398160019 Centerline is valid? [True, True] Translation: X:12.77, Y:-1.13, Z:-0.69 [[ 9.99698992e-01 1.91228804e-02 1.53701483e-02 1.27661304e+01] [-1.91076547e-02 9.99816786e-01 -1.13685681e-03 -1.13479793e+00] [-1.53890723e-02 8.42827120e-04 9.99881226e-01 -6.91322116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561346183999998 meters 0.07757568267609352 Centerline is valid? [True, True] Translation: X:12.79, Y:-1.14, Z:-0.69 [[ 9.99662126e-01 2.06578707e-02 1.57761281e-02 1.27949065e+01] [-2.06420472e-02 9.99786251e-01 -1.16519803e-03 -1.13945807e+00] [-1.57968265e-02 8.39152756e-04 9.99874870e-01 -6.94580213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.591346184 meters 0.07441267540366182 Centerline is valid? [True, True] Translation: X:12.83, Y:-1.14, Z:-0.69 [[ 9.99646954e-01 2.12156390e-02 1.59957537e-02 1.28254515e+01] [-2.11994374e-02 9.99774568e-01 -1.18176641e-03 -1.13502991e+00] [-1.60172197e-02 8.42248212e-04 9.99871361e-01 -6.92858855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621346184 meters 0.07519190747171618 Centerline is valid? [True, True] Translation: X:12.85, Y:-1.14, Z:-0.70 [[ 9.99649495e-01 2.13205160e-02 1.56946798e-02 1.28537659e+01] [-2.13049303e-02 9.99772352e-01 -1.15960053e-03 -1.13825510e+00] [-1.57158303e-02 8.24820026e-04 9.99876159e-01 -6.96268386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.651346183999998 meters 0.07587655611311939 Centerline is valid? [True, True] Translation: X:12.88, Y:-1.14, Z:-0.70 [[ 9.99653934e-01 2.06417613e-02 1.63073631e-02 1.28819300e+01] [-2.06248614e-02 9.99786560e-01 -1.20385364e-03 -1.14060037e+00] [-1.63287321e-02 8.67099922e-04 9.99866301e-01 -6.97685243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681346184 meters 0.07957918986149444 Centerline is valid? [True, True] Translation: X:12.91, Y:-1.15, Z:-0.70 [[ 9.99675684e-01 1.96663942e-02 1.61789727e-02 1.29108042e+01] [-1.96496656e-02 9.99806216e-01 -1.19230233e-03 -1.14853114e+00] [-1.61992858e-02 8.74004240e-04 9.99868401e-01 -7.03739152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.711346184 meters 0.07736377736369736 Centerline is valid? [True, True] Translation: X:12.94, Y:-1.15, Z:-0.70 [[ 9.99705720e-01 1.84887393e-02 1.57047430e-02 1.29412458e+01] [-1.84728361e-02 9.99828693e-01 -1.15710533e-03 -1.14560702e+00] [-1.57234461e-02 8.66653673e-04 9.99876003e-01 -7.02616584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741346183999998 meters 0.07868024744985998 Centerline is valid? [True, True] Translation: X:12.97, Y:-1.15, Z:-0.71 [[ 9.99750151e-01 1.66071158e-02 1.49612340e-02 1.29719805e+01] [-1.65924951e-02 9.99861729e-01 -1.10084944e-03 -1.14991294e+00] [-1.49774472e-02 8.52330191e-04 9.99887468e-01 -7.05743234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.771346184 meters 0.08099624811242942 Centerline is valid? [True, True] Translation: X:13.00, Y:-1.15, Z:-0.71 [[ 9.99801498e-01 1.35271079e-02 1.46280998e-02 1.30013652e+01] [-1.35128263e-02 9.99908120e-01 -1.07471856e-03 -1.15479320e+00] [-1.46412936e-02 8.76838259e-04 9.99892426e-01 -7.08016398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801346184 meters 0.07889350022222952 Centerline is valid? [True, True] Translation: X:13.03, Y:-1.15, Z:-0.71 [[ 9.99786320e-01 1.31027023e-02 1.59885244e-02 1.30342087e+01] [-1.30856644e-02 9.99913695e-01 -1.16979256e-03 -1.15173054e+00] [-1.60024720e-02 9.60322133e-04 9.99871491e-01 -7.05618452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.831346183999997 meters 0.08220770030542687 Centerline is valid? [True, True] Translation: X:13.06, Y:-1.16, Z:-0.71 [[ 9.99789094e-01 1.22574580e-02 1.64779298e-02 1.30643983e+01] [-1.22390501e-02 9.99924359e-01 -1.21750859e-03 -1.15861063e+00] [-1.64916069e-02 1.01557760e-03 9.99863488e-01 -7.08941485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861346184 meters 0.08359455196957323 Centerline is valid? [True, True] Translation: X:13.10, Y:-1.16, Z:-0.71 [[ 9.99753302e-01 1.18673749e-02 1.87750060e-02 1.30955924e+01] [-1.18434996e-02 9.99928908e-01 -1.38233616e-03 -1.16047328e+00] [-1.87900759e-02 1.15963337e-03 9.99822778e-01 -7.09100194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.891346184 meters 0.08393896887144003 Centerline is valid? [True, True] Translation: X:13.13, Y:-1.16, Z:-0.71 [[ 9.99735181e-01 1.16544238e-02 1.98429282e-02 1.31290567e+01] [-1.16276432e-02 9.99931324e-01 -1.46447765e-03 -1.16231159e+00] [-1.98586332e-02 1.23336334e-03 9.99802037e-01 -7.09501879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921346183999997 meters 0.07966452398200656 Centerline is valid? [True, True] Translation: X:13.16, Y:-1.16, Z:-0.71 [[ 9.99706648e-01 1.17731772e-02 2.11662347e-02 1.31625503e+01] [-1.17424806e-02 9.99929816e-01 -1.57397248e-03 -1.15597368e+00] [-2.11832798e-02 1.32496666e-03 9.99774731e-01 -7.06296873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.951346184 meters 0.07973625233768937 Centerline is valid? [True, True] Translation: X:13.20, Y:-1.16, Z:-0.71 [[ 9.99726059e-01 1.06452009e-02 2.08443281e-02 1.31950754e+01] [-1.06151387e-02 9.99942453e-01 -1.55234132e-03 -1.15725313e+00] [-2.08596535e-02 1.33065064e-03 9.99781528e-01 -7.07786631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981346184 meters 0.08018327049738465 Centerline is valid? [True, True] Translation: X:13.23, Y:-1.16, Z:-0.71 [[ 9.99718225e-01 1.07677826e-02 2.11548153e-02 1.32277473e+01] [-1.07369451e-02 9.99941124e-01 -1.57075377e-03 -1.15977049e+00] [-2.11704833e-02 1.34317308e-03 9.99774978e-01 -7.11456694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.011346183999997 meters 0.0803560228644174 Centerline is valid? [True, True] Translation: X:13.26, Y:-1.16, Z:-0.71 [[ 9.99736055e-01 1.09424717e-02 2.02010603e-02 1.32595233e+01] [-1.09142501e-02 9.99939303e-01 -1.50675818e-03 -1.16116132e+00] [-2.02163218e-02 1.28588105e-03 9.99794802e-01 -7.13662125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041346184 meters 0.08014018278719266 Centerline is valid? [True, True] Translation: X:13.29, Y:-1.16, Z:-0.72 [[ 9.99738346e-01 1.16002125e-02 1.97148456e-02 1.32922029e+01] [-1.15733863e-02 9.99931939e-01 -1.47426855e-03 -1.16094299e+00] [-1.97306056e-02 1.24571528e-03 9.99804557e-01 -7.15477289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.071346184 meters 0.08060313033754365 Centerline is valid? [True, True] Translation: X:13.32, Y:-1.16, Z:-0.72 [[ 9.99739648e-01 1.32585761e-02 1.85700560e-02 1.33235369e+01] [-1.32349239e-02 9.99911440e-01 -1.39599747e-03 -1.16078827e+00] [-1.85869203e-02 1.14986075e-03 9.99826587e-01 -7.18950743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101346183999997 meters 0.08141846612571811 Centerline is valid? [True, True] Translation: X:13.35, Y:-1.16, Z:-0.72 [[ 9.99754202e-01 1.36520578e-02 1.74687433e-02 1.33546607e+01] [-1.36312015e-02 9.99906230e-01 -1.31244099e-03 -1.16412324e+00] [-1.74850227e-02 1.07399844e-03 9.99846548e-01 -7.23154998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.131346183999998 meters 0.0800295562890496 Centerline is valid? [True, True] Translation: X:13.39, Y:-1.16, Z:-0.72 [[ 9.99742883e-01 1.45712189e-02 1.73737699e-02 1.33866203e+01] [-1.45506719e-02 9.99893277e-01 -1.30847574e-03 -1.16388677e+00] [-1.73909818e-02 1.05533928e-03 9.99848208e-01 -7.24728768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161346184 meters 0.07889205222227844 Centerline is valid? [True, True] Translation: X:13.42, Y:-1.16, Z:-0.72 [[ 9.99710304e-01 1.58803066e-02 1.80865523e-02 1.34183989e+01] [-1.58580356e-02 9.99873309e-01 -1.37411621e-03 -1.16324628e+00] [-1.81060823e-02 1.08690094e-03 9.99835481e-01 -7.24612344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.191346183999997 meters 0.07976028994586015 Centerline is valid? [True, True] Translation: X:13.45, Y:-1.16, Z:-0.72 [[ 9.99660108e-01 1.70192414e-02 1.97487677e-02 1.34495538e+01] [-1.69928917e-02 9.99854483e-01 -1.50130214e-03 -1.16303783e+00] [-1.97714450e-02 1.16520319e-03 9.99803847e-01 -7.24015721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.221346183999998 meters 0.0797486553124258 Centerline is valid? [True, True] Translation: X:13.48, Y:-1.16, Z:-0.72 [[ 9.99629185e-01 1.77621007e-02 2.06397889e-02 1.34816166e+01] [-1.77335880e-02 9.99841525e-01 -1.56366798e-03 -1.16308196e+00] [-2.06642920e-02 1.19707064e-03 9.99785754e-01 -7.24399679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.251346184 meters 0.07815730791759741 Centerline is valid? [True, True] Translation: X:13.51, Y:-1.16, Z:-0.72 [[ 9.99585917e-01 1.87927496e-02 2.17905085e-02 1.35138678e+01] [-1.87609751e-02 9.99822617e-01 -1.66171089e-03 -1.16063200e+00] [-2.18178713e-02 1.25221161e-03 9.99761178e-01 -7.23623382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281346184 meters 0.07907449964531334 Centerline is valid? [True, True] Translation: X:13.54, Y:-1.16, Z:-0.73 [[ 9.99549436e-01 2.08994636e-02 2.15438484e-02 1.35437100e+01] [-2.08688789e-02 9.99780870e-01 -1.64352195e-03 -1.16364929e+00] [-2.15734763e-02 1.19318547e-03 9.99766553e-01 -7.26599316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.311346183999998 meters 0.07562519934530114 Centerline is valid? [True, True] Translation: X:13.58, Y:-1.16, Z:-0.73 [[ 9.99460531e-01 2.49147833e-02 2.13986334e-02 1.35750934e+01] [-2.48854244e-02 9.99688969e-01 -1.63723207e-03 -1.15664623e+00] [-2.14327691e-02 1.10383476e-03 9.99769682e-01 -7.27273721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341346184 meters 0.07516009391039644 Centerline is valid? [True, True] Translation: X:13.61, Y:-1.16, Z:-0.73 [[ 9.99418965e-01 2.59974001e-02 2.20424259e-02 1.36051159e+01] [-2.59664675e-02 9.99661389e-01 -1.68842570e-03 -1.15556829e+00] [-2.20788567e-02 1.11508073e-03 9.99755610e-01 -7.29481213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.371346184 meters 0.07457001679249775 Centerline is valid? [True, True] Translation: X:13.64, Y:-1.15, Z:-0.73 [[ 9.99424041e-01 2.66175707e-02 2.10497521e-02 1.36350845e+01] [-2.65895130e-02 9.99645137e-01 -1.61173156e-03 -1.15375976e+00] [-2.10851827e-02 1.05110061e-03 9.99777130e-01 -7.30867331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401346183999998 meters 0.07527033134273571 Centerline is valid? [True, True] Translation: X:13.66, Y:-1.15, Z:-0.73 [[ 9.99470448e-01 2.70585050e-02 1.80737703e-02 1.36632746e+01] [-2.70379128e-02 9.99633452e-01 -1.38277098e-03 -1.15176231e+00] [-1.81045611e-02 8.93361709e-04 9.99835700e-01 -7.34730472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.431346184 meters 0.07500448185856666 Centerline is valid? [True, True] Translation: X:13.69, Y:-1.15, Z:-0.74 [[ 9.99493860e-01 2.61222154e-02 1.81563783e-02 1.36922961e+01] [-2.61012513e-02 9.99658337e-01 -1.39069775e-03 -1.15158817e+00] [-1.81865030e-02 9.16089670e-04 9.99834192e-01 -7.35984383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461346184 meters 0.07636924420592917 Centerline is valid? [True, True] Translation: X:13.72, Y:-1.15, Z:-0.74 [[ 9.99512130e-01 2.48383090e-02 1.89356851e-02 1.37207021e+01] [-2.48153166e-02 9.99691004e-01 -1.44827665e-03 -1.15494942e+00] [-1.89658068e-02 9.77675053e-04 9.99819655e-01 -7.38408159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.491346183999998 meters 0.07621659599769354 Centerline is valid? [True, True] Translation: X:13.75, Y:-1.15, Z:-0.74 [[ 9.99525532e-01 2.35689381e-02 1.98297006e-02 1.37500552e+01] [-2.35434975e-02 9.99721665e-01 -1.51546407e-03 -1.15453438e+00] [-1.98598992e-02 1.04788452e-03 9.99802224e-01 -7.37661376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.521346184 meters 0.07758475199340818 Centerline is valid? [True, True] Translation: X:13.78, Y:-1.16, Z:-0.74 [[ 9.99547822e-01 2.09091137e-02 2.16092505e-02 1.37794887e+01] [-2.08783344e-02 9.99780664e-01 -1.64901216e-03 -1.15596679e+00] [-2.16389902e-02 1.19710136e-03 9.99765133e-01 -7.36406971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.551346184 meters 0.07822204326357315 Centerline is valid? [True, True] Translation: X:13.81, Y:-1.16, Z:-0.74 [[ 9.99556483e-01 1.96499958e-02 2.23766648e-02 1.38107617e+01] [-1.96167196e-02 9.99806119e-01 -1.70565015e-03 -1.15718598e+00] [-2.24058424e-02 1.26593690e-03 9.99748156e-01 -7.36558160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581346183999997 meters 0.07768236867848237 Centerline is valid? [True, True] Translation: X:13.84, Y:-1.16, Z:-0.74 [[ 9.99508171e-01 1.94316940e-02 2.46135279e-02 1.38430479e+01] [-1.93914755e-02 9.99810216e-01 -1.87165487e-03 -1.15643157e+00] [-2.46452260e-02 1.39344171e-03 9.99695289e-01 -7.36004573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.611346184 meters 0.07947768065081744 Centerline is valid? [True, True] Translation: X:13.87, Y:-1.16, Z:-0.74 [[ 9.99514916e-01 1.84459429e-02 2.50934352e-02 1.38736142e+01] [-1.84035298e-02 9.99828797e-01 -1.92011993e-03 -1.15941172e+00] [-2.51245575e-02 1.45738073e-03 9.99683266e-01 -7.38473493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641346184 meters 0.07977575359929417 Centerline is valid? [True, True] Translation: X:13.91, Y:-1.16, Z:-0.74 [[ 9.99550815e-01 1.69873310e-02 2.46900694e-02 1.39060778e+01] [-1.69458289e-02 9.99854624e-01 -1.88919640e-03 -1.16010712e+00] [-2.47185724e-02 1.46995411e-03 9.99693369e-01 -7.41143903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.671346183999997 meters 0.08520548190711706 Centerline is valid? [True, True] Translation: X:13.94, Y:-1.17, Z:-0.75 [[ 9.99551293e-01 1.65250581e-02 2.49826908e-02 1.39358748e+01] [-1.64824766e-02 9.99862332e-01 -1.90941678e-03 -1.17187532e+00] [-2.50108047e-02 1.49678339e-03 9.99686060e-01 -7.47651145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701346184 meters 0.08232781798800648 Centerline is valid? [True, True] Translation: X:13.97, Y:-1.17, Z:-0.75 [[ 9.99589919e-01 1.51188396e-02 2.43190307e-02 1.39689649e+01] [-1.50778484e-02 9.99884578e-01 -1.86805704e-03 -1.16684883e+00] [-2.43444666e-02 1.50061233e-03 9.99702503e-01 -7.46884445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.731346184 meters 0.08141450217253611 Centerline is valid? [True, True] Translation: X:14.00, Y:-1.17, Z:-0.75 [[ 9.99614318e-01 1.43637539e-02 2.37675761e-02 1.40011157e+01] [-1.43244527e-02 9.99895738e-01 -1.82300088e-03 -1.16536201e+00] [-2.37912831e-02 1.48184026e-03 9.99715849e-01 -7.47276233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761346183999997 meters 0.08317981198130017 Centerline is valid? [True, True] Translation: X:14.03, Y:-1.17, Z:-0.75 [[ 9.99647232e-01 1.30341254e-02 2.31413805e-02 1.40315791e+01] [-1.29962755e-02 9.99913951e-01 -1.78524406e-03 -1.16787404e+00] [-2.31626583e-02 1.48386253e-03 9.99730608e-01 -7.51178188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.791346184 meters 0.08118406759593266 Centerline is valid? [True, True] Translation: X:14.06, Y:-1.17, Z:-0.75 [[ 9.99659953e-01 1.28478748e-02 2.26916186e-02 1.40637169e+01] [-1.28115427e-02 9.99916405e-01 -1.74578135e-03 -1.16525625e+00] [-2.27121512e-02 1.45447307e-03 9.99740988e-01 -7.51702480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.821346184 meters 0.08284377816189878 Centerline is valid? [True, True] Translation: X:14.10, Y:-1.17, Z:-0.75 [[ 9.99655555e-01 1.29048056e-02 2.28525162e-02 1.40952426e+01] [-1.28678692e-02 9.99915652e-01 -1.76261596e-03 -1.16940218e+00] [-2.28733348e-02 1.46794565e-03 9.99737293e-01 -7.54821377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.851346183999997 meters 0.08215838755617666 Centerline is valid? [True, True] Translation: X:14.13, Y:-1.17, Z:-0.76 [[ 9.99639146e-01 1.31969916e-02 2.33969438e-02 1.41273340e+01] [-1.31581847e-02 9.99911786e-01 -1.81181457e-03 -1.16947204e+00] [-2.34187904e-02 1.50329946e-03 9.99724612e-01 -7.55713700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.881346183999998 meters 0.0821950607307422 Centerline is valid? [True, True] Translation: X:14.16, Y:-1.17, Z:-0.76 [[ 9.99649592e-01 1.46724864e-02 2.20320619e-02 1.41588885e+01] [-1.46383153e-02 9.99891389e-01 -1.71145535e-03 -1.16840056e+00] [-2.20547803e-02 1.38834337e-03 9.99755800e-01 -7.58767145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.911346184 meters 0.0821950607307422 Centerline is valid? [True, True] Translation: X:14.19, Y:-1.17, Z:-0.76 [[ 9.99645452e-01 1.49522856e-02 2.20317883e-02 1.41914836e+01] [-1.49181051e-02 9.99887248e-01 -1.71496787e-03 -1.17113086e+00] [-2.20549469e-02 1.38568730e-03 9.99755800e-01 -7.60418076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941346183999997 meters 0.0812826102853195 Centerline is valid? [True, True] Translation: X:14.22, Y:-1.17, Z:-0.76 [[ 9.99645900e-01 1.60805577e-02 2.12011895e-02 1.42236872e+01] [-1.60490227e-02 9.99869834e-01 -1.65673852e-03 -1.16931699e+00] [-2.12250710e-02 1.31589350e-03 9.99773857e-01 -7.62158159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.971346183999998 meters 0.08113635737966723 Centerline is valid? [True, True] Translation: X:14.26, Y:-1.17, Z:-0.76 [[ 9.99635183e-01 1.72435445e-02 2.07884653e-02 1.42564584e+01] [-1.72133053e-02 9.99850507e-01 -1.63269289e-03 -1.16923650e+00] [-2.08135110e-02 1.27425905e-03 9.99782563e-01 -7.64663991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001346184 meters 0.0807758821032336 Centerline is valid? [True, True] Translation: X:14.29, Y:-1.17, Z:-0.77 [[ 9.99585271e-01 1.96748498e-02 2.10282448e-02 1.42873944e+01] [-1.96443198e-02 9.99805658e-01 -1.65745804e-03 -1.16778010e+00] [-2.10567683e-02 1.24368508e-03 9.99777508e-01 -7.67917234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.031346183999997 meters 0.08025338294531192 Centerline is valid? [True, True] Translation: X:14.32, Y:-1.17, Z:-0.77 [[ 9.99538194e-01 2.15190422e-02 2.14553126e-02 1.43189271e+01] [-2.14876654e-02 9.99767682e-01 -1.69191951e-03 -1.16766853e+00] [-2.14867367e-02 1.23011359e-03 9.99768377e-01 -7.69134159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061346183999998 meters 0.07872317452530703 Centerline is valid? [True, True] Translation: X:14.35, Y:-1.16, Z:-0.77 [[ 9.99504984e-01 2.24820121e-02 2.20078607e-02 1.43495072e+01] [-2.24491907e-02 9.99746476e-01 -1.73730511e-03 -1.16447122e+00] [-2.20413393e-02 1.24238645e-03 9.99756288e-01 -7.68951214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.091346184 meters 0.079232215263387 Centerline is valid? [True, True] Translation: X:14.38, Y:-1.17, Z:-0.77 [[ 9.99497287e-01 2.35352250e-02 2.12430520e-02 1.43785912e+01] [-2.35048718e-02 9.99722315e-01 -1.67744423e-03 -1.16502519e+00] [-2.12766322e-02 1.17728574e-03 9.99772934e-01 -7.70796591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121346184 meters 0.08074164411869725 Centerline is valid? [True, True] Translation: X:14.41, Y:-1.16, Z:-0.78 [[ 9.99447134e-01 2.60302571e-02 2.06845640e-02 1.44077815e+01] [-2.60020085e-02 9.99660556e-01 -1.63350769e-03 -1.16338343e+00] [-2.07200634e-02 1.09476437e-03 9.99784717e-01 -7.75275380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.151346183999998 meters 0.07696363123529458 Centerline is valid? [True, True] Translation: X:14.44, Y:-1.16, Z:-0.77 [[ 9.99387828e-01 2.74544549e-02 2.16846045e-02 1.44385394e+01] [-2.74237602e-02 9.99622433e-01 -1.71167188e-03 -1.15555001e+00] [-2.17234102e-02 1.11595065e-03 9.99763396e-01 -7.72943279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181346184 meters 0.07702806550942756 Centerline is valid? [True, True] Translation: X:14.47, Y:-1.16, Z:-0.78 [[ 9.99376979e-01 2.82822891e-02 2.11131836e-02 1.44661880e+01] [-2.82533575e-02 9.99599404e-01 -1.66740747e-03 -1.15588829e+00] [-2.11518838e-02 1.06985032e-03 9.99775701e-01 -7.75706085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.211346184 meters 0.07707849716563846 Centerline is valid? [True, True] Translation: X:14.49, Y:-1.16, Z:-0.78 [[ 9.99360459e-01 2.86963554e-02 2.13352479e-02 1.44945387e+01] [-2.86669584e-02 9.99587602e-01 -1.68249606e-03 -1.15666039e+00] [-2.13747308e-02 1.06980337e-03 9.99770962e-01 -7.78078700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241346183999998 meters 0.07882697298573467 Centerline is valid? [True, True] Translation: X:14.52, Y:-1.16, Z:-0.78 [[ 9.99335438e-01 2.85399443e-02 2.26749471e-02 1.45221633e+01] [-2.85067266e-02 9.99592004e-01 -1.78690521e-03 -1.15946166e+00] [-2.27166940e-02 1.13932918e-03 9.99741293e-01 -7.81539377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.271346184 meters 0.0775360613065798 Centerline is valid? [True, True] Translation: X:14.55, Y:-1.16, Z:-0.78 [[ 9.99337836e-01 2.84177570e-02 2.27226764e-02 1.45515703e+01] [-2.83844277e-02 9.99595482e-01 -1.78803554e-03 -1.15700676e+00] [-2.27642967e-02 1.14188140e-03 9.99740208e-01 -7.81123703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301346184 meters 0.07887915766736787 Centerline is valid? [True, True] Translation: X:14.58, Y:-1.16, Z:-0.78 [[ 9.99372902e-01 2.76934888e-02 2.20651992e-02 1.45789781e+01] [-2.76618963e-02 9.99615830e-01 -1.73577205e-03 -1.15928994e+00] [-2.21047920e-02 1.12431830e-03 9.99755027e-01 -7.83869879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.331346183999997 meters 0.0794317471206483 Centerline is valid? [True, True] Translation: X:14.61, Y:-1.16, Z:-0.79 [[ 9.99393290e-01 2.73347036e-02 2.15839455e-02 1.46071424e+01] [-2.73044461e-02 9.99625726e-01 -1.69536743e-03 -1.15949714e+00] [-2.16222096e-02 1.10500116e-03 9.99765602e-01 -7.86118786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361346184 meters 0.079646394628984 Centerline is valid? [True, True] Translation: X:14.64, Y:-1.16, Z:-0.79 [[ 9.99416454e-01 2.79146982e-02 1.96855473e-02 1.46363788e+01] [-2.78896780e-02 9.99609814e-01 -1.54443755e-03 -1.15640111e+00] [-1.97209788e-02 9.94512721e-04 9.99805028e-01 -7.90406052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.391346184 meters 0.07931228335303811 Centerline is valid? [True, True] Translation: X:14.66, Y:-1.16, Z:-0.79 [[ 9.99388020e-01 2.93140697e-02 1.90858698e-02 1.46640018e+01] [-2.92908181e-02 9.99569811e-01 -1.49672795e-03 -1.15537782e+00] [-1.91215344e-02 9.36771238e-04 9.99816728e-01 -7.92821413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421346183999997 meters 0.07728779415280511 Centerline is valid? [True, True] Translation: X:14.69, Y:-1.15, Z:-0.79 [[ 9.99405215e-01 2.93176287e-02 1.81574284e-02 1.46936824e+01] [-2.92966170e-02 9.99569750e-01 -1.42216775e-03 -1.15036721e+00] [-1.81913108e-02 8.89370641e-04 9.99834129e-01 -7.92186956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.451346184 meters 0.07627016837650907 Centerline is valid? [True, True] Translation: X:14.72, Y:-1.14, Z:-0.79 [[ 9.99334321e-01 3.16569282e-02 1.81315814e-02 1.47226830e+01] [-3.16363836e-02 9.99498437e-01 -1.41887136e-03 -1.14490593e+00] [-1.81674044e-02 8.44309180e-04 9.99834603e-01 -7.94015496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481346184 meters 0.07631169791904946 Centerline is valid? [True, True] Translation: X:14.75, Y:-1.14, Z:-0.80 [[ 9.99297400e-01 3.24214408e-02 1.88031049e-02 1.47509889e+01] [-3.23995079e-02 9.99473917e-01 -1.46999382e-03 -1.14455498e+00] [-1.88408722e-02 8.59749660e-04 9.99822125e-01 -7.96493088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.511346183999997 meters 0.0746184871463371 Centerline is valid? [True, True] Translation: X:14.78, Y:-1.14, Z:-0.80 [[ 9.99259934e-01 3.35358219e-02 1.88396817e-02 1.47799911e+01] [-3.35140246e-02 9.99437164e-01 -1.47161182e-03 -1.14093158e+00] [-1.88784297e-02 8.39129179e-04 9.99821434e-01 -7.95868978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541346184 meters 0.07588658414373432 Centerline is valid? [True, True] Translation: X:14.81, Y:-1.14, Z:-0.80 [[ 9.99217023e-01 3.45247259e-02 1.93231789e-02 1.48071126e+01] [-3.45019981e-02 9.99403490e-01 -1.50843705e-03 -1.14287230e+00] [-1.93637308e-02 8.40567700e-04 9.99812152e-01 -8.01003906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.571346184 meters 0.07644532552987164 Centerline is valid? [True, True] Translation: X:14.83, Y:-1.14, Z:-0.80 [[ 9.99214119e-01 3.39080601e-02 2.05277153e-02 1.48348359e+01] [-3.38823259e-02 9.99424548e-01 -1.60023775e-03 -1.14440495e+00] [-2.05701635e-02 9.03453415e-04 9.99788004e-01 -8.01858816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601346183999997 meters 0.07626925398752436 Centerline is valid? [True, True] Translation: X:14.86, Y:-1.14, Z:-0.80 [[ 9.99210179e-01 3.31440389e-02 2.19200869e-02 1.48637768e+01] [-3.31145690e-02 9.99450106e-01 -1.70614174e-03 -1.14438842e+00] [-2.19645816e-02 9.78919964e-04 9.99758270e-01 -8.01595722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.631346183999998 meters 0.07655464125143206 Centerline is valid? [True, True] Translation: X:14.89, Y:-1.15, Z:-0.80 [[ 9.99249275e-01 3.23731855e-02 2.12805917e-02 1.48922093e+01] [-3.23452646e-02 9.99475385e-01 -1.65502397e-03 -1.14539979e+00] [-2.13230060e-02 9.65455137e-04 9.99772173e-01 -8.02445337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661346184 meters 0.07510349088085455 Centerline is valid? [True, True] Translation: X:14.92, Y:-1.14, Z:-0.80 [[ 9.99275127e-01 3.12662885e-02 2.17172648e-02 1.49213683e+01] [-3.12369806e-02 9.99510582e-01 -1.68752716e-03 -1.14281320e+00] [-2.17593986e-02 1.00792214e-03 9.99762728e-01 -8.00503373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.691346183999997 meters 0.07760402322572563 Centerline is valid? [True, True] Translation: X:14.95, Y:-1.15, Z:-0.80 [[ 9.99286054e-01 3.08340539e-02 2.18321499e-02 1.49489537e+01] [-3.08043562e-02 9.99523995e-01 -1.69535577e-03 -1.14893789e+00] [-2.18740324e-02 1.02162005e-03 9.99760213e-01 -8.04950567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721346183999998 meters 0.07664140205483755 Centerline is valid? [True, True] Translation: X:14.98, Y:-1.15, Z:-0.81 [[ 9.99284439e-01 3.14469778e-02 2.10166216e-02 1.49778027e+01] [-3.14196407e-02 9.99504952e-01 -1.62976074e-03 -1.14785668e+00] [-2.10574684e-02 9.68259850e-04 9.99777798e-01 -8.05922954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.751346184 meters 0.07707292287519012 Centerline is valid? [True, True] Translation: X:15.01, Y:-1.15, Z:-0.81 [[ 9.99249718e-01 3.29915082e-02 2.02869953e-02 1.50054866e+01] [-3.29663700e-02 9.99455225e-01 -1.57240155e-03 -1.15086349e+00] [-2.03278193e-02 9.02433215e-04 9.99792961e-01 -8.11902739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781346183999997 meters 0.07662702444370749 Centerline is valid? [True, True] Translation: X:15.03, Y:-1.15, Z:-0.81 [[ 9.99203336e-01 3.47387017e-02 1.96447336e-02 1.50328525e+01] [-3.47154896e-02 9.99396078e-01 -1.52148631e-03 -1.15242477e+00] [-1.96857242e-02 8.38297652e-04 9.99805866e-01 -8.14540355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.811346183999998 meters 0.07500460767556351 Centerline is valid? [True, True] Translation: X:15.06, Y:-1.15, Z:-0.82 [[ 9.99112978e-01 3.71051585e-02 1.99113893e-02 1.50622523e+01] [-3.70818504e-02 9.99311047e-01 -1.53865323e-03 -1.15064562e+00] [-1.99547633e-02 7.98937256e-04 9.99800565e-01 -8.15644923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841346184 meters 0.07352381039790863 Centerline is valid? [True, True] Translation: X:15.09, Y:-1.15, Z:-0.82 [[ 9.98982932e-01 4.04125788e-02 1.99981421e-02 1.50919410e+01] [-4.03897593e-02 9.99182808e-01 -1.54383428e-03 -1.14858266e+00] [-2.00441901e-02 7.34543945e-04 9.99798825e-01 -8.16498062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.871346184 meters 0.07155326846803677 Centerline is valid? [True, True] Translation: X:15.12, Y:-1.14, Z:-0.82 [[ 9.98607203e-01 4.85344259e-02 2.06896848e-02 1.51215119e+01] [-4.85117656e-02 9.98821336e-01 -1.59603664e-03 -1.14133240e+00] [-2.07427613e-02 5.90120549e-04 9.99784672e-01 -8.19057753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.901346183999998 meters 0.06928170828084525 Centerline is valid? [True, True] Translation: X:15.15, Y:-1.13, Z:-0.82 [[ 9.98366385e-01 5.33311795e-02 2.05023507e-02 1.51517796e+01] [-5.33099378e-02 9.98576762e-01 -1.58160305e-03 -1.13474655e+00] [-2.05575197e-02 4.86040277e-04 9.99788554e-01 -8.16379432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.931346184 meters 0.06788296157051862 Centerline is valid? [True, True] Translation: X:15.18, Y:-1.13, Z:-0.82 [[ 9.98069847e-01 5.84063482e-02 2.11016349e-02 1.51826274e+01] [-5.83849861e-02 9.98292815e-01 -1.62753133e-03 -1.12904095e+00] [-2.11606687e-02 3.92371286e-04 9.99776011e-01 -8.15651870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.961346184 meters 0.06642075289896697 Centerline is valid? [True, True] Translation: X:15.21, Y:-1.12, Z:-0.82 [[ 9.97544006e-01 6.68265172e-02 2.09803102e-02 1.52125582e+01] [-6.68071733e-02 9.97764586e-01 -1.62233175e-03 -1.11920408e+00] [-2.10418253e-02 2.16712090e-04 9.99778573e-01 -8.15152830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.991346183999998 meters 0.06667785995897534 Centerline is valid? [True, True] Translation: X:15.24, Y:-1.12, Z:-0.82 [[ 9.97406630e-01 6.92004919e-02 1.97814686e-02 1.52401416e+01] [-6.91839239e-02 9.97602761e-01 -1.52149957e-03 -1.11877657e+00] [-1.98393362e-02 1.48994145e-04 9.99803170e-01 -8.19505189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.021346184 meters 0.06648745864145061 Centerline is valid? [True, True] Translation: X:15.27, Y:-1.12, Z:-0.82 [[ 9.97314206e-01 7.05207723e-02 1.97786408e-02 1.52677225e+01] [-7.05043878e-02 9.97510303e-01 -1.52534913e-03 -1.11951119e+00] [-1.98369668e-02 1.26771395e-04 9.99803220e-01 -8.21205274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.051346184 meters 0.06674414101387029 Centerline is valid? [True, True] Translation: X:15.30, Y:-1.12, Z:-0.82 [[ 9.97330731e-01 7.03857918e-02 1.94229872e-02 1.52960645e+01] [-7.03700860e-02 9.97519837e-01 -1.49175186e-03 -1.12276846e+00] [-1.94798132e-02 1.20972686e-04 9.99810243e-01 -8.24878442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.081346183999997 meters 0.06678946959365395 Centerline is valid? [True, True] Translation: X:15.32, Y:-1.13, Z:-0.83 [[ 9.97560476e-01 6.72241533e-02 1.88151363e-02 1.53244049e+01] [-6.72089264e-02 9.97737883e-01 -1.44116417e-03 -1.13025661e+00] [-1.88694553e-02 1.73103305e-04 9.99821941e-01 -8.26505672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.111346184 meters 0.06749745708593408 Centerline is valid? [True, True] Translation: X:15.35, Y:-1.14, Z:-0.83 [[ 9.97693415e-01 6.54013654e-02 1.81799705e-02 1.53519963e+01] [-6.53870163e-02 9.97859021e-01 -1.38321551e-03 -1.13564404e+00] [-1.82315117e-02 1.91290982e-04 9.99833774e-01 -8.31420979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.141346184 meters 0.06736036222438459 Centerline is valid? [True, True] Translation: X:15.38, Y:-1.14, Z:-0.83 [[ 9.97842464e-01 6.30821243e-02 1.81951234e-02 1.53803717e+01] [-6.30673025e-02 9.98008311e-01 -1.38782929e-03 -1.13889600e+00] [-1.82464316e-02 2.37317642e-04 9.99833492e-01 -8.29830691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.171346183999997 meters 0.06772289379993102 Centerline is valid? [True, True] Translation: X:15.41, Y:-1.14, Z:-0.83 [[ 9.97991452e-01 6.06341207e-02 1.83457157e-02 1.54091343e+01] [-6.06187243e-02 9.98160020e-01 -1.39468033e-03 -1.14321796e+00] [-1.83965252e-02 2.79785169e-04 9.99830730e-01 -8.31535622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201346184 meters 0.06883792987014499 Centerline is valid? [True, True] Translation: X:15.44, Y:-1.15, Z:-0.83 [[ 9.98314956e-01 5.53384644e-02 1.74614740e-02 1.54368605e+01] [-5.53238720e-02 9.98467592e-01 -1.31801115e-03 -1.15148332e+00] [-1.75076526e-02 3.49753886e-04 9.99846668e-01 -8.33185713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.231346184 meters 0.06980158222737516 Centerline is valid? [True, True] Translation: X:15.47, Y:-1.16, Z:-0.84 [[ 9.98503726e-01 5.19746627e-02 1.69983265e-02 1.54657086e+01] [-5.19603854e-02 9.98648325e-01 -1.28079884e-03 -1.15817311e+00] [-1.70419194e-02 3.95642817e-04 9.99854698e-01 -8.35497680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261346183999997 meters 0.07001979444466609 Centerline is valid? [True, True] Translation: X:15.50, Y:-1.16, Z:-0.83 [[ 9.98668301e-01 4.89833576e-02 1.61943226e-02 1.54951654e+01] [-4.89700129e-02 9.98799504e-01 -1.21979148e-03 -1.16279327e+00] [-1.62346308e-02 4.25130904e-04 9.99868119e-01 -8.34757121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.291346184 meters 0.07173871611209644 Centerline is valid? [True, True] Translation: X:15.52, Y:-1.17, Z:-0.84 [[ 9.98931778e-01 4.30906602e-02 1.66882726e-02 1.55236165e+01] [-4.30756682e-02 9.99071022e-01 -1.25693967e-03 -1.17380309e+00] [-1.67269319e-02 5.36738489e-04 9.99859951e-01 -8.38810702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321346184 meters 0.07272506435672708 Centerline is valid? [True, True] Translation: X:15.55, Y:-1.18, Z:-0.84 [[ 9.99040155e-01 4.05411376e-02 1.65886699e-02 1.55513322e+01] [-4.05259778e-02 9.99177704e-01 -1.24914341e-03 -1.18047859e+00] [-1.66256708e-02 5.75672362e-04 9.99861618e-01 -8.41873001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.351346183999997 meters 0.07348552735364106 Centerline is valid? [True, True] Translation: X:15.58, Y:-1.19, Z:-0.84 [[ 9.99150754e-01 3.75245451e-02 1.70199412e-02 1.55801670e+01] [-3.75081813e-02 9.99295501e-01 -1.27975878e-03 -1.18566835e+00] [-1.70559730e-02 6.40284911e-04 9.99854331e-01 -8.42286600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381346183999998 meters 0.07462405879801418 Centerline is valid? [True, True] Translation: X:15.61, Y:-1.19, Z:-0.84 [[ 9.99232209e-01 3.46602784e-02 1.82663021e-02 1.56075331e+01] [-3.46409289e-02 9.99398877e-01 -1.37474371e-03 -1.19127544e+00] [-1.83029709e-02 7.40926526e-04 9.99832212e-01 -8.43535439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.411346184 meters 0.07572616621566515 Centerline is valid? [True, True] Translation: X:15.64, Y:-1.20, Z:-0.84 [[ 9.99299025e-01 3.14777949e-02 2.02634519e-02 1.56359447e+01] [-3.14534327e-02 9.99504063e-01 -1.51994306e-03 -1.19653120e+00] [-2.03012469e-02 8.81522494e-04 9.99793520e-01 -8.42180236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.441346183999997 meters 0.07664452407214863 Centerline is valid? [True, True] Translation: X:15.66, Y:-1.20, Z:-0.84 [[ 9.99348867e-01 3.00970105e-02 1.99000352e-02 1.56634294e+01] [-3.00732574e-02 9.99546584e-01 -1.49187240e-03 -1.20081779e+00] [-1.99359131e-02 8.92442110e-04 9.99800862e-01 -8.44148116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.471346183999998 meters 0.0776645614284656 Centerline is valid? [True, True] Translation: X:15.69, Y:-1.21, Z:-0.85 [[ 9.99387300e-01 2.86766157e-02 2.00668140e-02 1.56903066e+01] [-2.86522025e-02 9.99588311e-01 -1.50310923e-03 -1.20605690e+00] [-2.01016568e-02 9.27229859e-04 9.99797511e-01 -8.46457668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501346184 meters 0.07902217452840976 Centerline is valid? [True, True] Translation: X:15.72, Y:-1.21, Z:-0.85 [[ 9.99442016e-01 2.54211553e-02 2.16661232e-02 1.57192634e+01] [-2.53920316e-02 9.99676261e-01 -1.61829436e-03 -1.21399633e+00] [-2.17002479e-02 1.06724449e-03 9.99763952e-01 -8.47012153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.531346183999997 meters 0.07971909600950626 Centerline is valid? [True, True] Translation: X:15.75, Y:-1.22, Z:-0.85 [[ 9.99478726e-01 2.48009357e-02 2.06685786e-02 1.57485917e+01] [-2.47743133e-02 9.99691879e-01 -1.54315789e-03 -1.21840611e+00] [-2.07004819e-02 1.03030364e-03 9.99785191e-01 -8.48778723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561346183999998 meters 0.07824760028961165 Centerline is valid? [True, True] Translation: X:15.78, Y:-1.22, Z:-0.85 [[ 9.99463019e-01 2.51037813e-02 2.10588077e-02 1.57772982e+01] [-2.50762046e-02 9.99684306e-01 -1.57259621e-03 -1.21795741e+00] [-2.10916377e-02 1.04367679e-03 9.99777002e-01 -8.48110358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.591346184 meters 0.07807997118842437 Centerline is valid? [True, True] Translation: X:15.81, Y:-1.22, Z:-0.85 [[ 9.99454768e-01 2.60282364e-02 2.03149515e-02 1.58061615e+01] [-2.60027906e-02 9.99660721e-01 -1.51575829e-03 -1.21948482e+00] [-2.03475116e-02 9.86686419e-04 9.99792481e-01 -8.49794508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621346184 meters 0.07586560755506853 Centerline is valid? [True, True] Translation: X:15.84, Y:-1.22, Z:-0.85 [[ 9.99352830e-01 2.93782616e-02 2.07566581e-02 1.58365594e+01] [-2.93524808e-02 9.99567928e-01 -1.54569067e-03 -1.21648190e+00] [-2.07930994e-02 9.35430938e-04 9.99783363e-01 -8.49552846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.651346183999998 meters 0.07590423081844191 Centerline is valid? [True, True] Translation: X:15.86, Y:-1.22, Z:-0.85 [[ 9.99289892e-01 3.12509158e-02 2.10497540e-02 1.58641271e+01] [-3.12247868e-02 9.99511156e-01 -1.56890825e-03 -1.21986373e+00] [-2.10884938e-02 9.10520077e-04 9.99777198e-01 -8.53251716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681346184 meters 0.07567861209830033 Centerline is valid? [True, True] Translation: X:15.89, Y:-1.22, Z:-0.86 [[ 9.99248184e-01 3.31128982e-02 2.01644103e-02 1.58911696e+01] [-3.30893229e-02 9.99451270e-01 -1.50177225e-03 -1.22351097e+00] [-2.02030735e-02 8.33416514e-04 9.99795550e-01 -8.57998782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.711346184 meters 0.07494455643832254 Centerline is valid? [True, True] Translation: X:15.92, Y:-1.23, Z:-0.86 [[ 9.99165520e-01 3.63160196e-02 1.86925035e-02 1.59191439e+01] [-3.62963555e-02 9.99340103e-01 -1.39028129e-03 -1.22540543e+00] [-1.87306578e-02 7.10651377e-04 9.99824313e-01 -8.61518525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741346183999998 meters 0.07505582520207715 Centerline is valid? [True, True] Translation: X:15.95, Y:-1.23, Z:-0.86 [[ 9.99176388e-01 3.68004467e-02 1.70959976e-02 1.59476196e+01] [-3.67840847e-02 9.99322429e-01 -1.27064346e-03 -1.22612026e+00] [-1.71311740e-02 6.40736319e-04 9.99853045e-01 -8.63459339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.771346184 meters 0.0748569126453851 Centerline is valid? [True, True] Translation: X:15.98, Y:-1.23, Z:-0.87 [[ 9.99155718e-01 3.80187834e-02 1.55699215e-02 1.59766412e+01] [-3.80053719e-02 9.99276866e-01 -1.15646492e-03 -1.22644652e+00] [-1.56026298e-02 5.63747881e-04 9.99878113e-01 -8.65990545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801346184 meters 0.0748569126453851 Centerline is valid? [True, True] Translation: X:16.00, Y:-1.23, Z:-0.87 [[ 9.99159529e-01 3.79185164e-02 1.55699129e-02 1.60040076e+01] [-3.79050909e-02 9.99280674e-01 -1.15658401e-03 -1.22833405e+00] [-1.56025690e-02 5.65432971e-04 9.99878113e-01 -8.67382502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.831346183999997 meters 0.07483212674591047 Centerline is valid? [True, True] Translation: X:16.03, Y:-1.23, Z:-0.87 [[ 9.99149601e-01 3.84090780e-02 1.49938846e-02 1.60313734e+01] [-3.83967027e-02 9.99261955e-01 -1.11246412e-03 -1.23104875e+00] [-1.50255472e-02 5.35802354e-04 9.99886967e-01 -8.70169419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861346184 meters 0.07380836200959147 Centerline is valid? [True, True] Translation: X:16.06, Y:-1.23, Z:-0.87 [[ 9.99214735e-01 3.72782428e-02 1.34255493e-02 1.60610671e+01] [-3.72682628e-02 9.99304804e-01 -9.92864238e-04 -1.23478790e+00] [-1.34532282e-02 4.91737676e-04 9.99909380e-01 -8.70663300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.891346184 meters 0.07448532543812139 Centerline is valid? [True, True] Translation: X:16.09, Y:-1.24, Z:-0.87 [[ 9.99238651e-01 3.66030835e-02 1.35030255e-02 1.60888265e+01] [-3.65929068e-02 9.99329755e-01 -1.00003882e-03 -1.24032002e+00] [-1.35305796e-02 5.05162487e-04 9.99908330e-01 -8.73225538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921346183999997 meters 0.07435958400558533 Centerline is valid? [True, True] Translation: X:16.12, Y:-1.24, Z:-0.87 [[ 9.99246622e-01 3.62937294e-02 1.37460585e-02 1.61170591e+01] [-3.62831630e-02 9.99341031e-01 -1.01737722e-03 -1.24362926e+00] [-1.37739247e-02 5.17860272e-04 9.99905001e-01 -8.72873793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.951346184 meters 0.07414376688354728 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.25, Z:-0.87 [[ 9.99236500e-01 3.63378577e-02 1.43518768e-02 1.61455371e+01] [-3.63263869e-02 9.99339418e-01 -1.05921661e-03 -1.24651421e+00] [-1.43808859e-02 5.37056071e-04 9.99896445e-01 -8.73182232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981346184 meters 0.07429742985887083 Centerline is valid? [True, True] Translation: X:16.17, Y:-1.25, Z:-0.87 [[ 9.99150770e-01 3.81925365e-02 1.54618852e-02 1.61731313e+01] [-3.81794564e-02 9.99270248e-01 -1.14036335e-03 -1.25069306e+00] [-1.54941552e-02 5.49068552e-04 9.99879808e-01 -8.74886389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.011346183999997 meters 0.072576832463998 Centerline is valid? [True, True] Translation: X:16.20, Y:-1.25, Z:-0.87 [[ 9.99089249e-01 3.95855583e-02 1.59265636e-02 1.62027585e+01] [-3.95718596e-02 9.99216037e-01 -1.17445957e-03 -1.24969168e+00] [-1.59605694e-02 5.43146192e-04 9.99872474e-01 -8.72649988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041346184 meters 0.07134272452627179 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.25, Z:-0.87 [[ 9.98826295e-01 4.49565526e-02 1.80261394e-02 1.62321664e+01] [-4.49399931e-02 9.98988812e-01 -1.32287418e-03 -1.25208772e+00] [-1.80673835e-02 5.11226935e-04 9.99836641e-01 -8.74974319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.071346184 meters 0.07054169588213716 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.25, Z:-0.88 [[ 9.98676622e-01 4.79051800e-02 1.87109286e-02 1.62598058e+01] [-4.78878268e-02 9.98851774e-01 -1.37465083e-03 -1.25290200e+00] [-1.87552971e-02 4.76805939e-04 9.99823990e-01 -8.77096722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101346183999997 meters 0.06938179927401746 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.25, Z:-0.88 [[ 9.98503992e-01 5.09743270e-02 1.97837516e-02 1.62890651e+01] [-5.09555774e-02 9.98699867e-01 -1.45099495e-03 -1.25116896e+00] [-1.98319935e-02 4.40731767e-04 9.99803230e-01 -8.75785593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.131346183999998 meters 0.06877023772263109 Centerline is valid? [True, True] Translation: X:16.32, Y:-1.25, Z:-0.88 [[ 9.98306730e-01 5.42648620e-02 2.09522751e-02 1.63167329e+01] [-5.42445810e-02 9.98526498e-01 -1.53550433e-03 -1.25012590e+00] [-2.10047259e-02 3.96356922e-04 9.99779298e-01 -8.76230038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161346184 meters 0.06837142409136525 Centerline is valid? [True, True] Translation: X:16.35, Y:-1.25, Z:-0.88 [[ 9.98135209e-01 5.72637156e-02 2.11417010e-02 1.63452553e+01] [-5.72437907e-02 9.98359031e-01 -1.54692649e-03 -1.24887369e+00] [-2.11955909e-02 3.33810687e-04 9.99775293e-01 -8.77021788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.191346183999997 meters 0.06771807783860607 Centerline is valid? [True, True] Translation: X:16.37, Y:-1.25, Z:-0.88 [[ 9.97873486e-01 6.16159567e-02 2.12597982e-02 1.63744762e+01] [-6.15967329e-02 9.98099902e-01 -1.55851550e-03 -1.24860334e+00] [-2.13154319e-02 2.45667181e-04 9.99772770e-01 -8.77772164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221346183999998 meters 0.06761117084338257 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.25, Z:-0.88 [[ 9.97836940e-01 6.22215469e-02 2.12113298e-02 1.64018824e+01] [-6.22026158e-02 9.98062336e-01 -1.55174981e-03 -1.25226347e+00] [-2.12667816e-02 2.28993087e-04 9.99773810e-01 -8.79602316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.251346184 meters 0.0675894269149186 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.26, Z:-0.88 [[ 9.97826080e-01 6.26161450e-02 2.05507339e-02 1.64301389e+01] [-6.25985831e-02 9.98037662e-01 -1.49737809e-03 -1.25712234e+00] [-2.06041664e-02 2.07676085e-04 9.99787690e-01 -8.80865624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281346183999997 meters 0.06757701127918601 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.26, Z:-0.88 [[ 9.97842483e-01 6.23737015e-02 2.04914824e-02 1.64580728e+01] [-6.23563835e-02 9.98052844e-01 -1.48362341e-03 -1.26210429e+00] [-2.05441214e-02 2.02647735e-04 9.99788927e-01 -8.82607034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.311346183999998 meters 0.06749792697121629 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.27, Z:-0.88 [[ 9.97859912e-01 6.20130112e-02 2.07360139e-02 1.64860820e+01] [-6.19951202e-02 9.98075318e-01 -1.50514112e-03 -1.26767509e+00] [-2.07894420e-02 2.16388317e-04 9.99783853e-01 -8.81964135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341346184 meters 0.0670157561086899 Centerline is valid? [True, True] Translation: X:16.51, Y:-1.27, Z:-0.88 [[ 9.97848421e-01 6.18983999e-02 2.16128681e-02 1.65143424e+01] [-6.18790902e-02 9.98082431e-01 -1.56170690e-03 -1.27105789e+00] [-2.16680911e-02 2.20962155e-04 9.99765195e-01 -8.79562452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.371346184 meters 0.06699242185614056 Centerline is valid? [True, True] Translation: X:16.54, Y:-1.28, Z:-0.88 [[ 9.97869021e-01 6.15087417e-02 2.17736583e-02 1.65417746e+01] [-6.14891510e-02 9.98106519e-01 -1.56873532e-03 -1.27735451e+00] [-2.18289212e-02 2.26548612e-04 9.99761695e-01 -8.81808309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.401346183999998 meters 0.06735170776593916 Centerline is valid? [True, True] Translation: X:16.57, Y:-1.29, Z:-0.89 [[ 9.98017996e-01 5.92453619e-02 2.12147911e-02 1.65683415e+01] [-5.92265003e-02 9.98243418e-01 -1.51684167e-03 -1.29335944e+00] [-2.12673915e-02 2.57357452e-04 9.99773790e-01 -8.86991254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.431346184 meters 0.06829693473492579 Centerline is valid? [True, True] Translation: X:16.59, Y:-1.31, Z:-0.89 [[ 9.98194729e-01 5.61195758e-02 2.13980478e-02 1.65946436e+01] [-5.60997003e-02 9.98424002e-01 -1.52847274e-03 -1.30511921e+00] [-2.14501018e-02 3.25289365e-04 9.99769867e-01 -8.92709154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461346184 meters 0.06850686020213884 Centerline is valid? [True, True] Translation: X:16.62, Y:-1.31, Z:-0.89 [[ 9.98423555e-01 5.25024243e-02 1.98469083e-02 1.66233871e+01] [-5.24846791e-02 9.98620728e-01 -1.41428669e-03 -1.31430916e+00] [-1.98937875e-02 3.70398532e-04 9.99802030e-01 -8.91906936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.491346183999998 meters 0.06930636433320528 Centerline is valid? [True, True] Translation: X:16.65, Y:-1.33, Z:-0.89 [[ 9.98630445e-01 4.80910608e-02 2.06030107e-02 1.66515342e+01] [-4.80710128e-02 9.98842843e-01 -1.46750226e-03 -1.32504411e+00] [-2.06497435e-02 4.75084843e-04 9.99786658e-01 -8.93209335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521346184 meters 0.07033796457927044 Centerline is valid? [True, True] Translation: X:16.68, Y:-1.34, Z:-0.89 [[ 9.99017401e-01 3.92166928e-02 2.06466524e-02 1.66806298e+01] [-3.91947222e-02 9.99230513e-01 -1.46787385e-03 -1.34215071e+00] [-2.06883303e-02 6.57191710e-04 9.99785758e-01 -8.90892345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.551346184 meters 0.07201618128029162 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.36, Z:-0.89 [[ 9.99212742e-01 3.43470615e-02 1.98538756e-02 1.67089136e+01] [-3.43257883e-02 9.99409700e-01 -1.41137956e-03 -1.35582903e+00] [-1.98906326e-02 7.28768511e-04 9.99801896e-01 -8.93473992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581346183999997 meters 0.07472399389790346 Centerline is valid? [True, True] Translation: X:16.74, Y:-1.37, Z:-0.90 [[ 9.99348938e-01 3.00933667e-02 1.99020188e-02 1.67361123e+01] [-3.00711417e-02 9.99546759e-01 -1.41511612e-03 -1.37180917e+00] [-1.99355840e-02 8.15718362e-04 9.99800934e-01 -8.98414196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.611346184 meters 0.07460553676642262 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.38, Z:-0.90 [[ 9.99422757e-01 2.69288373e-02 2.07121050e-02 1.67646354e+01] [-2.69041317e-02 9.99636937e-01 -1.47058865e-03 -1.38063610e+00] [-2.07441865e-02 9.12498558e-04 9.99784400e-01 -8.98191029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641346184 meters 0.07585588193543305 Centerline is valid? [True, True] Translation: X:16.79, Y:-1.40, Z:-0.90 [[ 9.99578897e-01 2.11822887e-02 1.98327991e-02 1.67939527e+01] [-2.11585580e-02 9.99775145e-01 -1.40563413e-03 -1.39513377e+00] [-1.98581141e-02 9.85408783e-04 9.99802323e-01 -8.98042425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.671346183999997 meters 0.07693744928305386 Centerline is valid? [True, True] Translation: X:16.82, Y:-1.40, Z:-0.90 [[ 9.99633465e-01 1.92848751e-02 1.90007450e-02 1.68238375e+01] [-1.92627859e-02 9.99813551e-01 -1.34489372e-03 -1.40312355e+00] [-1.90231384e-02 9.78393487e-04 9.99818565e-01 -8.99806280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701346184 meters 0.07616649878554875 Centerline is valid? [True, True] Translation: X:16.85, Y:-1.41, Z:-0.90 [[ 9.99609988e-01 1.95911110e-02 1.99012398e-02 1.68545327e+01] [-1.95669038e-02 9.99807555e-01 -1.41038077e-03 -1.40994651e+00] [-1.99250408e-02 1.02042506e-03 9.99800956e-01 -8.99773847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.731346184 meters 0.07562043405599278 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.41, Z:-0.90 [[ 9.99596629e-01 2.08682779e-02 1.92638018e-02 1.68861763e+01] [-2.08458319e-02 9.99781770e-01 -1.36528047e-03 -1.41341000e+00] [-1.92880889e-02 9.63159780e-04 9.99813504e-01 -9.01083302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761346183999997 meters 0.07471023454586503 Centerline is valid? [True, True] Translation: X:16.92, Y:-1.42, Z:-0.90 [[ 9.99531347e-01 2.31073718e-02 2.00782496e-02 1.69170245e+01] [-2.30833920e-02 9.99732527e-01 -1.42529239e-03 -1.41518909e+00] [-2.01058140e-02 9.61150321e-04 9.99797396e-01 -9.02414707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.791346184 meters 0.07372367779977393 Centerline is valid? [True, True] Translation: X:16.95, Y:-1.42, Z:-0.90 [[ 9.99462117e-01 2.55399133e-02 2.05715754e-02 1.69477216e+01] [-2.55152351e-02 9.99673365e-01 -1.46124718e-03 -1.41617193e+00] [-2.06021762e-02 9.35572616e-04 9.99787315e-01 -9.03510023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821346184 meters 0.07137491752234601 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.41, Z:-0.90 [[ 9.99308582e-01 3.15328963e-02 1.96985711e-02 1.69776809e+01] [-3.15114193e-02 9.99502412e-01 -1.39980655e-03 -1.41349531e+00] [-1.97329093e-02 7.78108767e-04 9.99804984e-01 -9.04432068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.851346183999997 meters 0.07154923593865391 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.42, Z:-0.91 [[ 9.99265018e-01 3.38802237e-02 1.79319125e-02 1.70049934e+01] [-3.38627650e-02 9.99425677e-01 -1.27643749e-03 -1.41640069e+00] [-1.79648598e-02 6.68275192e-04 9.99838396e-01 -9.08806185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881346183999998 meters 0.07130722458130881 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.42, Z:-0.91 [[ 9.99209867e-01 3.59668650e-02 1.69123377e-02 1.70332156e+01] [-3.59516677e-02 9.99352807e-01 -1.20186479e-03 -1.41738202e+00] [-1.69446194e-02 5.92888409e-04 9.99856254e-01 -9.11964447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.911346184 meters 0.07042845238499865 Centerline is valid? [True, True] Translation: X:17.06, Y:-1.42, Z:-0.91 [[ 9.99149531e-01 3.79012118e-02 1.62392413e-02 1.70624590e+01] [-3.78874715e-02 9.99281347e-01 -1.15304902e-03 -1.41704564e+00] [-1.62712728e-02 5.36804596e-04 9.99867470e-01 -9.13047562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.941346183999997 meters 0.07082948601548789 Centerline is valid? [True, True] Translation: X:17.09, Y:-1.42, Z:-0.92 [[ 9.99107356e-01 3.88946233e-02 1.64832792e-02 1.70903634e+01] [-3.88806232e-02 9.99243179e-01 -1.16908145e-03 -1.42105027e+00] [-1.65162753e-02 5.27157711e-04 9.99863458e-01 -9.16248419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.971346183999998 meters 0.07021022684237146 Centerline is valid? [True, True] Translation: X:17.12, Y:-1.42, Z:-0.92 [[ 9.99088348e-01 3.97797431e-02 1.54933704e-02 1.71196581e+01] [-3.97674950e-02 9.99208357e-01 -1.09794174e-03 -1.42317166e+00] [-1.55247810e-02 4.80808266e-04 9.99879368e-01 -9.15111044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.001346184 meters 0.07090397045368617 Centerline is valid? [True, True] Translation: X:17.15, Y:-1.43, Z:-0.92 [[ 9.99110387e-01 3.91617435e-02 1.56458510e-02 1.71466541e+01] [-3.91491863e-02 9.99232762e-01 -1.10817924e-03 -1.42738823e+00] [-1.56772452e-02 4.94671056e-04 9.99876982e-01 -9.18408353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.031346183999997 meters 0.07055782419878893 Centerline is valid? [True, True] Translation: X:17.18, Y:-1.43, Z:-0.92 [[ 9.99198194e-01 3.78095550e-02 1.31683632e-02 1.71760229e+01] [-3.78005749e-02 9.99284870e-01 -9.30262263e-04 -1.43302443e+00] [-1.31941189e-02 4.31744673e-04 9.99912861e-01 -9.21440701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.061346183999998 meters 0.07049405889036221 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.44, Z:-0.92 [[ 9.99214808e-01 3.77218072e-02 1.21174934e-02 1.72046293e+01] [-3.77141828e-02 9.99288199e-01 -8.57181758e-04 -1.43767431e+00] [-1.21412026e-02 3.99507346e-04 9.99926213e-01 -9.23491374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.091346184 meters 0.07064500126376116 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.44, Z:-0.93 [[ 9.99264831e-01 3.68242992e-02 1.06662404e-02 1.72330577e+01] [-3.68183445e-02 9.99321690e-01 -7.54170245e-04 -1.44157546e+00] [-1.06867772e-02 3.60902489e-04 9.99942830e-01 -9.25379187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.121346183999997 meters 0.07098737823751841 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.44, Z:-0.93 [[ 9.99282198e-01 3.63306480e-02 1.07318123e-02 1.72611128e+01] [-3.63245926e-02 9.99339756e-01 -7.58701780e-04 -1.44448472e+00] [-1.07522908e-02 3.68328473e-04 9.99942125e-01 -9.27471232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.151346183999998 meters 0.07183090618325241 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.45, Z:-0.93 [[ 9.99297039e-01 3.63361147e-02 9.22576854e-03 1.72886700e+01] [-3.63316420e-02 9.99339575e-01 -6.51990559e-04 -1.44790230e+00] [-9.24336642e-03 3.16344915e-04 9.99957229e-01 -9.31697928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.181346184 meters 0.07172850551980252 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.45, Z:-0.93 [[ 9.99304350e-01 3.62631447e-02 8.70632433e-03 1.73174562e+01] [-3.62591705e-02 9.99342231e-01 -6.13936402e-04 -1.45007407e+00] [-8.72286085e-03 2.97825219e-04 9.99961911e-01 -9.33805233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.211346184 meters 0.07278927640422007 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.45, Z:-0.94 [[ 9.99351673e-01 3.53569257e-02 6.79122170e-03 1.73459406e+01] [-3.53544901e-02 9.99374720e-01 -4.78387952e-04 -1.45467005e+00] [-6.80388961e-03 2.37977620e-04 9.99976825e-01 -9.38813026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.241346183999998 meters 0.07244967038749829 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.46, Z:-0.94 [[ 9.99362783e-01 3.50169607e-02 6.91673492e-03 1.73751805e+01] [-3.50144236e-02 9.99386688e-01 -4.87598124e-04 -1.45628882e+00] [-6.92956700e-03 2.45101932e-04 9.99975960e-01 -9.39232755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.271346184 meters 0.07292246052389806 Centerline is valid? [True, True] Translation: X:17.40, Y:-1.46, Z:-0.94 [[ 9.99402640e-01 3.36523391e-02 7.86660585e-03 1.74039018e+01] [-3.36490237e-02 9.99433558e-01 -5.53459657e-04 -1.45816752e+00] [-7.88077509e-03 2.88425435e-04 9.99968905e-01 -9.40622700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301346184 meters 0.07317543293307525 Centerline is valid? [True, True] Translation: X:17.43, Y:-1.46, Z:-0.94 [[ 9.99423826e-01 3.29744425e-02 8.04380247e-03 1.74324400e+01] [-3.29709597e-02 9.99456150e-01 -5.65240694e-04 -1.45895399e+00] [-8.05806635e-03 2.99703130e-04 9.99967488e-01 -9.42047380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.331346183999997 meters 0.0739632108251115 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.46, Z:-0.94 [[ 9.99470686e-01 3.16382960e-02 7.57406370e-03 1.74600624e+01] [-3.16351666e-02 9.99499341e-01 -5.32642521e-04 -1.46052776e+00] [-7.58712358e-03 2.92753818e-04 9.99971175e-01 -9.44463713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361346184 meters 0.0733116306483547 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.46, Z:-0.94 [[ 9.99526353e-01 2.93970334e-02 9.10410672e-03 1.74894341e+01] [-2.93924406e-02 9.99567745e-01 -6.37888954e-04 -1.45890184e+00] [-9.11892347e-03 3.69994903e-04 9.99958353e-01 -9.43508755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.391346184 meters 0.07401593754176208 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.46, Z:-0.94 [[ 9.99560818e-01 2.81531033e-02 9.25062874e-03 1.75175410e+01] [-2.81483085e-02 9.99603548e-01 -6.48142332e-04 -1.46048400e+00] [-9.26520852e-03 3.87468129e-04 9.99957002e-01 -9.44713183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421346183999997 meters 0.07425150941675368 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.46, Z:-0.94 [[ 9.99580321e-01 2.72659872e-02 9.78508745e-03 1.75462481e+01] [-2.72605986e-02 9.99628127e-01 -6.83670528e-04 -1.46059961e+00] [-9.80008960e-03 4.16636264e-04 9.99951891e-01 -9.44694515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.451346184 meters 0.07408723510105727 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.46, Z:-0.94 [[ 9.99597307e-01 2.60911711e-02 1.11568521e-02 1.75753162e+01] [-2.60841070e-02 9.99659449e-01 -7.78228128e-04 -1.45940018e+00] [-1.11733575e-02 4.86898217e-04 9.99937458e-01 -9.44432270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481346184 meters 0.07420861442671622 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.46, Z:-0.95 [[ 9.99615552e-01 2.53876847e-02 1.11451507e-02 1.76040989e+01] [-2.53806009e-02 9.99677559e-01 -7.76599459e-04 -1.45820700e+00] [-1.11612731e-02 4.93430276e-04 9.99937589e-01 -9.46125627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.511346183999997 meters 0.07720427441838426 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.46, Z:-0.95 [[ 9.99633822e-01 2.42763028e-02 1.19533768e-02 1.76310112e+01] [-2.42680808e-02 9.99705140e-01 -8.32431356e-04 -1.46451628e+00] [-1.19700606e-02 5.42041025e-04 9.99928209e-01 -9.52901751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541346184 meters 0.07874024286308615 Centerline is valid? [True, True] Translation: X:17.66, Y:-1.46, Z:-0.96 [[ 9.99699998e-01 2.21625923e-02 1.04275147e-02 1.76615888e+01] [-2.21562627e-02 9.99754259e-01 -7.22146423e-04 -1.46404253e+00] [-1.04409569e-02 4.90895023e-04 9.99945371e-01 -9.57770866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.571346184 meters 0.07935665919073612 Centerline is valid? [True, True] Translation: X:17.69, Y:-1.47, Z:-0.96 [[ 9.99735324e-01 2.11591966e-02 9.03162828e-03 1.76912484e+01] [-2.11543947e-02 9.99776024e-01 -6.26890611e-04 -1.46547505e+00] [-9.04286991e-03 4.35666059e-04 9.99959018e-01 -9.60941376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601346183999997 meters 0.07737843452161745 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.46, Z:-0.96 [[ 9.99761614e-01 1.98065562e-02 9.18780723e-03 1.77200561e+01] [-1.98015118e-02 9.99803726e-01 -6.39686297e-04 -1.46189650e+00] [-9.19867389e-03 4.57601331e-04 9.99957587e-01 -9.59119400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.631346183999998 meters 0.08242470809531814 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.47, Z:-0.97 [[ 9.99777637e-01 1.86199435e-02 9.89814950e-03 1.77463906e+01] [-1.86140437e-02 9.99826507e-01 -6.87850328e-04 -1.47240731e+00] [-9.90923998e-03 5.03452789e-04 9.99950776e-01 -9.67753661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661346184 meters 0.08450513116441832 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.47, Z:-0.97 [[ 9.99831806e-01 1.54313505e-02 9.91124180e-03 1.77754678e+01] [-1.54253102e-02 9.99880788e-01 -6.85601073e-04 -1.47305997e+00] [-9.92064001e-03 5.32601780e-04 9.99950647e-01 -9.68494278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.691346183999997 meters 0.08005615789598253 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.46, Z:-0.96 [[ 9.99856987e-01 1.38987322e-02 9.63485523e-03 1.78060936e+01] [-1.38929545e-02 9.99903266e-01 -6.66346619e-04 -1.46444262e+00] [-9.64318458e-03 5.32394718e-04 9.99953362e-01 -9.61941348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.721346183999998 meters 0.08005615789598253 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.47, Z:-0.96 [[ 9.99857973e-01 1.38276750e-02 9.63477872e-03 1.78343561e+01] [-1.38218833e-02 9.99904250e-01 -6.67457314e-04 -1.46630206e+00] [-9.64308558e-03 5.34191730e-04 9.99953362e-01 -9.63377316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.751346184 meters 0.08085923403416256 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.47, Z:-0.96 [[ 9.99861901e-01 1.24500625e-02 1.10079900e-02 1.78639623e+01] [-1.24424488e-02 9.99922301e-01 -7.59867711e-04 -1.46942696e+00] [-1.10165951e-02 6.22796421e-04 9.99939122e-01 -9.64523181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.781346183999997 meters 0.0816532902122124 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.47, Z:-0.97 [[ 9.99880011e-01 1.08860691e-02 1.10208002e-02 1.78946316e+01] [-1.08783628e-02 9.99940541e-01 -7.58958998e-04 -1.47213918e+00] [-1.10284070e-02 6.38979667e-04 9.99938981e-01 -9.66073378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.811346183999998 meters 0.0812454914943132 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.47, Z:-0.96 [[ 9.99886931e-01 9.14895174e-03 1.19341009e-02 1.79263124e+01] [-9.13980846e-03 9.99957894e-01 -8.20463255e-04 -1.47113927e+00] [-1.19411048e-02 7.11295089e-04 9.99928449e-01 -9.64795313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841346184 meters 0.0824931390429996 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.47, Z:-0.97 [[ 9.99893711e-01 8.54480580e-03 1.18132796e-02 1.79570587e+01] [-8.53588972e-03 9.99963245e-01 -8.04966223e-04 -1.47433821e+00] [-1.18197237e-02 7.04043812e-04 9.99929897e-01 -9.67981988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.871346183999997 meters 0.08264224332656948 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.48, Z:-0.97 [[ 9.99891019e-01 8.90027485e-03 1.17786023e-02 1.79891698e+01] [-8.89141098e-03 9.99960147e-01 -8.04693213e-04 -1.47589058e+00] [-1.17852948e-02 6.99877124e-04 9.99930306e-01 -9.70093638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901346183999998 meters 0.08286269405892488 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.47, Z:-0.97 [[ 9.99882654e-01 1.04188910e-02 1.12305351e-02 1.80205362e+01] [-1.04108949e-02 9.99945509e-01 -7.70225773e-04 -1.47384960e+00] [-1.12379480e-02 6.53215470e-04 9.99936639e-01 -9.73184572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.931346184 meters 0.0849235603727927 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.48, Z:-0.98 [[ 9.99887675e-01 1.11068556e-02 1.00635177e-02 1.80513443e+01] [-1.11004576e-02 9.99938149e-01 -6.91406377e-04 -1.47711358e+00] [-1.00705746e-02 5.79619064e-04 9.99949122e-01 -9.78045667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961346184 meters 0.08209520683092207 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.47, Z:-0.98 [[ 9.99864782e-01 1.27621283e-02 1.03704037e-02 1.80822835e+01] [-1.27553005e-02 9.99918386e-01 -7.24265869e-04 -1.47209013e+00] [-1.03788005e-02 5.91890319e-04 9.99945964e-01 -9.77352695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.991346183999998 meters 0.08071128184403045 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.47, Z:-0.98 [[ 9.99827236e-01 1.40085808e-02 1.22171407e-02 1.81121526e+01] [-1.39991807e-02 9.99901641e-01 -8.54602952e-04 -1.47012619e+00] [-1.22279108e-02 6.83425346e-04 9.99925003e-01 -9.77348316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021346184 meters 0.08118897296426142 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.47, Z:-0.98 [[ 9.99808787e-01 1.47374627e-02 1.28528475e-02 1.81414615e+01] [-1.47271346e-02 9.99891147e-01 -8.97844766e-04 -1.47201019e+00] [-1.28646804e-02 7.08387471e-04 9.99916996e-01 -9.79814161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.051346184 meters 0.07978349927824772 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.47, Z:-0.98 [[ 9.99778362e-01 1.60626287e-02 1.36094851e-02 1.81721422e+01] [-1.60511751e-02 9.99870720e-01 -9.50411392e-04 -1.46702791e+00] [-1.36229917e-02 7.31752517e-04 9.99906935e-01 -9.78583777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081346183999997 meters 0.08013277092459181 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.47, Z:-0.98 [[ 9.99765234e-01 1.66045587e-02 1.39199534e-02 1.82019685e+01] [-1.65926549e-02 9.99861862e-01 -9.70228769e-04 -1.46661108e+00] [-1.39341407e-02 7.39032010e-04 9.99902642e-01 -9.79724654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.111346184 meters 0.080095418959223 Centerline is valid? [True, True] Translation: X:18.23, Y:-1.47, Z:-0.98 [[ 9.99775328e-01 1.62438706e-02 1.36172518e-02 1.82321050e+01] [-1.62324103e-02 9.99867793e-01 -9.51711562e-04 -1.46626467e+00] [-1.36309109e-02 7.30456922e-04 9.99906828e-01 -9.81563519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141346184 meters 0.07916881643512286 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.46, Z:-0.98 [[ 9.99794873e-01 1.54373965e-02 1.31110458e-02 1.82620072e+01] [-1.54267081e-02 9.99880582e-01 -9.15971653e-04 -1.46278149e+00] [-1.31236203e-02 7.13523486e-04 9.99913627e-01 -9.82437365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.171346183999997 meters 0.08400642350234488 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.47, Z:-0.99 [[ 9.99827207e-01 1.42921392e-02 1.18865925e-02 1.82904171e+01] [-1.42832849e-02 9.99897645e-01 -8.29461881e-04 -1.47156550e+00] [-1.18972307e-02 6.59538968e-04 9.99929008e-01 -9.90551118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201346184 meters 0.08233720699234633 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.47, Z:-0.99 [[ 9.99857502e-01 1.28744469e-02 1.09190295e-02 1.83214634e+01] [-1.28669003e-02 9.99916928e-01 -7.61111612e-04 -1.46944441e+00] [-1.09279214e-02 6.20509090e-04 9.99940096e-01 -9.91016353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.231346184 meters 0.08294251482146386 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.47, Z:-0.99 [[ 9.99887805e-01 9.46989652e-03 1.16059913e-02 1.83515370e+01] [-9.46114186e-03 9.99954915e-01 -8.08996325e-04 -1.47458727e+00] [-1.16131292e-02 6.99099629e-04 9.99932321e-01 -9.94537285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.261346183999997 meters 0.08572236493696678 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.48, Z:-1.00 [[ 9.99895759e-01 7.28476933e-03 1.24660886e-02 1.83822874e+01] [-7.27455784e-03 9.99973167e-01 -8.64290105e-04 -1.48121548e+00] [-1.24720503e-02 7.73514728e-04 9.99921922e-01 -9.97444956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.291346184 meters 0.08460110541441236 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.48, Z:-1.00 [[ 9.99905025e-01 5.91635353e-03 1.24474223e-02 1.84149736e+01] [-5.90602360e-03 9.99982184e-01 -8.66480161e-04 -1.47941158e+00] [-1.24523270e-02 7.92883097e-04 9.99922152e-01 -9.95577387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321346184 meters 0.08547037063300758 Centerline is valid? [True, True] Translation: X:18.45, Y:-1.48, Z:-1.00 [[ 9.99911050e-01 4.58815381e-03 1.25236124e-02 1.84472246e+01] [-4.57758194e-03 9.99989142e-01 -8.72689418e-04 -1.48162808e+00] [-1.25274804e-02 8.15283930e-04 9.99921196e-01 -9.96585849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.351346183999997 meters 0.08702862471952963 Centerline is valid? [True, True] Translation: X:18.48, Y:-1.49, Z:-1.00 [[ 9.99904039e-01 3.93062441e-03 1.32839416e-02 1.84786255e+01] [-3.91873476e-03 9.99991898e-01 -9.20950407e-04 -1.48664776e+00] [-1.32874539e-02 8.68805787e-04 9.99911340e-01 -9.98611371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381346183999998 meters 0.08493982453383873 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.48, Z:-1.00 [[ 9.99885449e-01 4.79899019e-03 1.43547336e-02 1.85116480e+01] [-4.78514430e-03 9.99988052e-01 -9.98743077e-04 -1.48362805e+00] [-1.43593551e-02 9.29939198e-04 9.99896467e-01 -9.96454623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.411346184 meters 0.08862484146578198 Centerline is valid? [True, True] Translation: X:18.54, Y:-1.49, Z:-1.00 [[ 9.99888617e-01 5.36038944e-03 1.39290811e-02 1.85434206e+01] [-5.34737213e-03 9.99985231e-01 -9.71618286e-04 -1.49087536e+00] [-1.39340836e-02 8.97026084e-04 9.99902514e-01 -1.00178233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441346183999997 meters 0.08591306071538608 Centerline is valid? [True, True] Translation: X:18.58, Y:-1.48, Z:-1.00 [[ 9.99923520e-01 5.66538882e-03 1.09935262e-02 1.85759022e+01] [-5.65721365e-03 9.99983698e-01 -7.74590460e-04 -1.48491704e+00] [-1.09977353e-02 7.12338493e-04 9.99939269e-01 -1.00176814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.471346183999998 meters 0.0861575821521761 Centerline is valid? [True, True] Translation: X:18.61, Y:-1.49, Z:-1.00 [[ 9.99917881e-01 6.39926690e-03 1.11031467e-02 1.86084194e+01] [-6.39097124e-03 9.99979271e-01 -7.82465057e-04 -1.48673734e+00] [-1.11079237e-02 7.11440911e-04 9.99938052e-01 -1.00449640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501346184 meters 0.08587447243079686 Centerline is valid? [True, True] Translation: X:18.64, Y:-1.49, Z:-1.01 [[ 9.99912690e-01 7.16394504e-03 1.11035704e-02 1.86411199e+01] [-7.15568489e-03 9.99974091e-01 -7.83468675e-04 -1.48701555e+00] [-1.11088954e-02 7.03946620e-04 9.99938047e-01 -1.00634847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.531346183999997 meters 0.08553803055146807 Centerline is valid? [True, True] Translation: X:18.67, Y:-1.49, Z:-1.01 [[ 9.99901143e-01 8.15641107e-03 1.14532816e-02 1.86737647e+01] [-8.14774429e-03 9.99966484e-01 -8.03164925e-04 -1.48751383e+00] [-1.14594487e-02 7.09767116e-04 9.99934086e-01 -1.00785389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561346183999998 meters 0.08490978159020633 Centerline is valid? [True, True] Translation: X:18.71, Y:-1.49, Z:-1.01 [[ 9.99866662e-01 9.49404991e-03 1.32861234e-02 1.87056391e+01] [-9.48234075e-03 9.99954596e-01 -9.44026262e-04 -1.48924932e+00] [-1.32944828e-02 8.17916838e-04 9.99911290e-01 -1.00886589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.591346184 meters 0.08621221569071305 Centerline is valid? [True, True] Translation: X:18.74, Y:-1.50, Z:-1.01 [[ 9.99851038e-01 9.61021596e-03 1.43368747e-02 1.87370370e+01] [-9.59667691e-03 9.99953438e-01 -1.01285178e-03 -1.49524221e+00] [-1.43459409e-02 8.75114544e-04 9.99896709e-01 -1.01095940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.621346183999997 meters 0.08616819112712144 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.50, Z:-1.01 [[ 9.99833988e-01 9.22543275e-03 1.57126430e-02 1.87694781e+01] [-9.20904371e-03 9.99956974e-01 -1.11508391e-03 -1.49753880e+00] [-1.57222541e-02 9.70200377e-04 9.99875927e-01 -1.01032073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.651346183999998 meters 0.08347080733576355 Centerline is valid? [True, True] Translation: X:18.80, Y:-1.49, Z:-1.01 [[ 9.99804121e-01 9.45937478e-03 1.73850507e-02 1.88028015e+01] [-9.43919321e-03 9.99954678e-01 -1.24254965e-03 -1.49298385e+00] [-1.73960165e-02 1.07820541e-03 9.99848097e-01 -1.00604462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681346184 meters 0.08185072636342289 Centerline is valid? [True, True] Translation: X:18.83, Y:-1.49, Z:-1.00 [[ 9.99737927e-01 1.13888709e-02 1.98587560e-02 1.88346583e+01] [-1.13627707e-02 9.99934424e-01 -1.42663936e-03 -1.48899901e+00] [-1.98737015e-02 1.20061499e-03 9.99801778e-01 -1.00222198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.711346184 meters 0.08159361404005006 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.49, Z:-1.00 [[ 9.99684958e-01 1.29629500e-02 2.14929309e-02 1.88664170e+01] [-1.29327511e-02 9.99915177e-01 -1.54346828e-03 -1.49153390e+00] [-2.15111158e-02 1.26501930e-03 9.99767809e-01 -1.00379024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741346183999998 meters 0.0803345280534931 Centerline is valid? [True, True] Translation: X:18.90, Y:-1.49, Z:-1.01 [[ 9.99646664e-01 1.54548738e-02 2.16262281e-02 1.88982812e+01] [-1.54248550e-02 9.99879822e-01 -1.55420354e-03 -1.49349746e+00] [-2.16476491e-02 1.22007295e-03 9.99764918e-01 -1.00634658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.771346184 meters 0.07967841151561963 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.49, Z:-1.01 [[ 9.99616357e-01 1.82751317e-02 2.08124736e-02 1.89282343e+01] [-1.82478963e-02 9.99832371e-01 -1.49778606e-03 -1.49437824e+00] [-2.08363570e-02 1.11742758e-03 9.99782275e-01 -1.01008972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801346184 meters 0.07956857390732694 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.49, Z:-1.01 [[ 9.99601799e-01 1.95232818e-02 2.03736158e-02 1.89601158e+01] [-1.94974669e-02 9.99808833e-01 -1.46495920e-03 -1.49460181e+00] [-2.03983219e-02 1.06714195e-03 9.99791363e-01 -1.01192300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.831346183999997 meters 0.07985310974119672 Centerline is valid? [True, True] Translation: X:18.99, Y:-1.50, Z:-1.01 [[ 9.99607414e-01 1.99239689e-02 1.96990782e-02 1.89905613e+01] [-1.98998451e-02 9.99800970e-01 -1.41990264e-03 -1.49606203e+00] [-1.97234476e-02 1.02733660e-03 9.99804946e-01 -1.01407941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861346184 meters 0.08008625589373437 Centerline is valid? [True, True] Translation: X:19.02, Y:-1.50, Z:-1.02 [[ 9.99597916e-01 2.04478310e-02 1.96441687e-02 1.90195873e+01] [-2.04239318e-02 9.99790406e-01 -1.41647794e-03 -1.49927229e+00] [-1.96690153e-02 1.01469723e-03 9.99806031e-01 -1.01585625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.891346184 meters 0.08097492006261783 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.51, Z:-1.02 [[ 9.99599023e-01 2.03358277e-02 1.97040154e-02 1.90482684e+01] [-2.03117679e-02 9.99792686e-01 -1.42044137e-03 -1.50620076e+00] [-1.97288163e-02 1.01964841e-03 9.99804848e-01 -1.01933698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.921346183999997 meters 0.07871052297030619 Centerline is valid? [True, True] Translation: X:19.08, Y:-1.51, Z:-1.02 [[ 9.99632686e-01 1.96169305e-02 1.86994187e-02 1.90790036e+01] [-1.95951518e-02 9.99807089e-01 -1.34720518e-03 -1.50581910e+00] [-1.87222394e-02 9.80292390e-04 9.99824243e-01 -1.01836894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.951346184 meters 0.07983046416767063 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.51, Z:-1.02 [[ 9.99651879e-01 1.78587543e-02 1.94212720e-02 1.91087008e+01] [-1.78349199e-02 9.99839965e-01 -1.39975964e-03 -1.51207064e+00] [-1.94431619e-02 1.05289552e-03 9.99810409e-01 -1.02015203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.981346184 meters 0.08025215006091624 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.52, Z:-1.02 [[ 9.99681830e-01 1.58262289e-02 1.96410070e-02 1.91398265e+01] [-1.58015002e-02 9.99874149e-01 -1.41359978e-03 -1.51743304e+00] [-1.96609072e-02 1.10279263e-03 9.99806097e-01 -1.02056804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.011346183999997 meters 0.0825574548130541 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.53, Z:-1.02 [[ 9.99703290e-01 1.57900502e-02 1.85474307e-02 1.91701892e+01] [-1.57680394e-02 9.99874789e-01 -1.33238117e-03 -1.52514420e+00] [-1.85661467e-02 1.03952922e-03 9.99827094e-01 -1.02441985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.041346184 meters 0.07994572831183022 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.52, Z:-1.02 [[ 9.99687142e-01 1.72629200e-02 1.81000087e-02 1.92025708e+01] [-1.72422263e-02 9.99850498e-01 -1.29874054e-03 -1.52281860e+00] [-1.81197228e-02 9.86249766e-04 9.99835338e-01 -1.02324420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.071346184 meters 0.08140826809230234 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.53, Z:-1.03 [[ 9.99655601e-01 1.89194695e-02 1.81860946e-02 1.92329659e+01] [-1.88986444e-02 9.99820538e-01 -1.31630124e-03 -1.52776575e+00] [-1.82077346e-02 9.72155374e-04 9.99833753e-01 -1.02739356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.101346183999997 meters 0.07774398801276554 Centerline is valid? [True, True] Translation: X:19.26, Y:-1.52, Z:-1.03 [[ 9.99571439e-01 2.37394803e-02 1.71282244e-02 1.92640240e+01] [-2.37216848e-02 9.99717830e-01 -1.24140777e-03 -1.52049939e+00] [-1.71528617e-02 8.34565411e-04 9.99852531e-01 -1.02720600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.131346183999998 meters 0.07721332610834843 Centerline is valid? [True, True] Translation: X:19.29, Y:-1.52, Z:-1.03 [[ 9.99514548e-01 2.59626686e-02 1.72223249e-02 1.92940286e+01] [-2.59449963e-02 9.99662592e-01 -1.24880608e-03 -1.52158984e+00] [-1.72489363e-02 8.01366684e-04 9.99850905e-01 -1.03005701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.161346184 meters 0.07549679234758612 Centerline is valid? [True, True] Translation: X:19.32, Y:-1.52, Z:-1.03 [[ 9.99443777e-01 2.79387741e-02 1.82088472e-02 1.93243138e+01] [-2.79193526e-02 9.99609307e-01 -1.31998516e-03 -1.52042403e+00] [-1.82386119e-02 8.10871728e-04 9.99833334e-01 -1.03008894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.191346183999997 meters 0.07560138215002442 Centerline is valid? [True, True] Translation: X:19.35, Y:-1.52, Z:-1.03 [[ 9.99361860e-01 2.95049223e-02 2.01328560e-02 1.93530941e+01] [-2.94814945e-02 9.99564261e-01 -1.45953771e-03 -1.52302023e+00] [-2.01671469e-02 8.65059636e-04 9.99796248e-01 -1.03152125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221346183999998 meters 0.07442251386547927 Centerline is valid? [True, True] Translation: X:19.38, Y:-1.52, Z:-1.03 [[ 9.99260514e-01 3.15302922e-02 2.20060408e-02 1.93834988e+01] [-3.15028234e-02 9.99502392e-01 -1.59387871e-03 -1.52246127e+00] [-2.20453458e-02 8.99447640e-04 9.99756567e-01 -1.02958893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.251346184 meters 0.07322341045776175 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.52, Z:-1.03 [[ 9.99221620e-01 3.19572266e-02 2.31277033e-02 1.94129011e+01] [-3.19269872e-02 9.99488799e-01 -1.67566296e-03 -1.52320997e+00] [-2.31694299e-02 9.35960767e-04 9.99731115e-01 -1.02910551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281346183999997 meters 0.07508886195241424 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.53, Z:-1.03 [[ 9.99278900e-01 2.95127739e-02 2.38888090e-02 1.94409397e+01] [-2.94798467e-02 9.99563879e-01 -1.72942964e-03 -1.53343515e+00] [-2.39294308e-02 1.02394413e-03 9.99713126e-01 -1.03195603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.311346183999998 meters 0.07396148008150384 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.53, Z:-1.03 [[ 9.99287195e-01 2.85425409e-02 2.47068049e-02 1.94695113e+01] [-2.85070463e-02 9.99591993e-01 -1.78772792e-03 -1.53420725e+00] [-2.47477506e-02 1.08213558e-03 9.99693142e-01 -1.02969191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.341346184 meters 0.07592394666230794 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.54, Z:-1.03 [[ 9.99278466e-01 2.76190875e-02 2.60716874e-02 1.94981141e+01] [-2.75793230e-02 9.99617843e-01 -1.88361619e-03 -1.54092612e+00] [-2.61137477e-02 1.16321761e-03 9.99658301e-01 -1.03120028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.371346183999997 meters 0.07398469567051062 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.54, Z:-1.03 [[ 9.99248899e-01 2.74454941e-02 2.73565710e-02 1.95277840e+01] [-2.74016809e-02 9.99622552e-01 -1.97522215e-03 -1.53812252e+00] [-2.74004562e-02 1.22412253e-03 9.99623787e-01 -1.02843871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401346183999998 meters 0.07423885603426787 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.54, Z:-1.03 [[ 9.99223179e-01 2.79775502e-02 2.77542055e-02 1.95569849e+01] [-2.79327260e-02 9.99607801e-01 -2.00150461e-03 -1.54205457e+00] [-2.77993175e-02 1.22469918e-03 9.99612774e-01 -1.03013083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.431346184 meters 0.0726306904015281 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.54, Z:-1.03 [[ 9.99098435e-01 3.08322546e-02 2.91837223e-02 1.95876261e+01] [-3.07838666e-02 9.99523846e-01 -2.10599452e-03 -1.54266729e+00] [-2.92347589e-02 1.20570801e-03 9.99571846e-01 -1.03187412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461346184 meters 0.07131745411235027 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.54, Z:-1.03 [[ 9.98976899e-01 3.32636110e-02 3.06379912e-02 1.96173337e+01] [-3.32113979e-02 9.99445902e-01 -2.21164702e-03 -1.54215427e+00] [-3.06945822e-02 1.19185376e-03 9.99528100e-01 -1.03220948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.491346183999998 meters 0.07199991863237092 Centerline is valid? [True, True] Translation: X:19.65, Y:-1.55, Z:-1.04 [[ 9.98912209e-01 3.49315563e-02 3.08898986e-02 1.96459197e+01] [-3.48793008e-02 9.99389046e-01 -2.22905746e-03 -1.54621716e+00] [-3.09488907e-02 1.14921464e-03 9.99520308e-01 -1.03523428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521346184 meters 0.07018990427571463 Centerline is valid? [True, True] Translation: X:19.68, Y:-1.54, Z:-1.03 [[ 9.98876946e-01 3.61694760e-02 3.06041876e-02 1.96755203e+01] [-3.61188122e-02 9.99345066e-01 -2.20684021e-03 -1.54432628e+00] [-3.06639641e-02 1.09897491e-03 9.99529146e-01 -1.03473234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.551346184 meters 0.07023270301212785 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.55, Z:-1.04 [[ 9.98895738e-01 3.60654497e-02 3.01095961e-02 1.97037762e+01] [-3.60164002e-02 9.99348843e-01 -2.16996473e-03 -1.54707682e+00] [-3.01682508e-02 1.08312926e-03 9.99544248e-01 -1.03584519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581346183999997 meters 0.07092859919711897 Centerline is valid? [True, True] Translation: X:19.73, Y:-1.55, Z:-1.04 [[ 9.98947312e-01 3.48138910e-02 2.98707478e-02 1.97312740e+01] [-3.47651023e-02 9.99393196e-01 -2.15127650e-03 -1.55107460e+00] [-2.99275164e-02 1.11055227e-03 9.99551455e-01 -1.03817542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.611346184 meters 0.07092859919711897 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.55, Z:-1.04 [[ 9.98949743e-01 3.47438405e-02 2.98710089e-02 1.97594866e+01] [-3.46951291e-02 9.99395635e-01 -2.14764263e-03 -1.55301341e+00] [-2.99275733e-02 1.10900854e-03 9.99551455e-01 -1.03961109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641346184 meters 0.07302204920761281 Centerline is valid? [True, True] Translation: X:19.79, Y:-1.56, Z:-1.04 [[ 9.99178794e-01 2.95408618e-02 2.77322006e-02 1.97889264e+01] [-2.94969636e-02 9.99562887e-01 -1.99077455e-03 -1.56416044e+00] [-2.77788877e-02 1.17112400e-03 9.99613406e-01 -1.04397258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.671346183999997 meters 0.07267881554352452 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.57, Z:-1.05 [[ 9.99282090e-01 2.66701534e-02 2.69073957e-02 1.98188901e+01] [-2.66277901e-02 9.99643551e-01 -1.93155723e-03 -1.56876625e+00] [-2.69493195e-02 1.21368606e-03 9.99636064e-01 -1.04578869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701346184 meters 0.07640847831052605 Centerline is valid? [True, True] Translation: X:19.85, Y:-1.58, Z:-1.05 [[ 9.99401730e-01 2.35665030e-02 2.53140863e-02 1.98482229e+01] [-2.35280497e-02 9.99721528e-01 -1.81586062e-03 -1.58169558e+00] [-2.53498305e-02 1.21918316e-03 9.99677898e-01 -1.05243537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.731346184 meters 0.0774682675939011 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.59, Z:-1.05 [[ 9.99554199e-01 1.80873135e-02 2.37540114e-02 1.98787571e+01] [-1.80518933e-02 9.99835598e-01 -1.70472766e-03 -1.58778719e+00] [-2.37809401e-02 1.27516281e-03 9.99716380e-01 -1.05448031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761346183999997 meters 0.07741470860911767 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.59, Z:-1.05 [[ 9.99602753e-01 1.59568107e-02 2.32318048e-02 1.99097714e+01] [-1.59223655e-02 9.99871842e-01 -1.66690828e-03 -1.59062294e+00] [-2.32554260e-02 1.29634082e-03 9.99728716e-01 -1.05490330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.791346184 meters 0.0783090493844653 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.59, Z:-1.06 [[ 9.99593259e-01 1.49547508e-02 2.42831443e-02 1.99407233e+01] [-1.49169462e-02 9.99887227e-01 -1.73723141e-03 -1.59486141e+00] [-2.43063857e-02 1.37429446e-03 9.99703612e-01 -1.05627241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821346184 meters 0.08223989413026518 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.61, Z:-1.06 [[ 9.99592377e-01 1.52058264e-02 2.41632702e-02 1.99717199e+01] [-1.51683544e-02 9.99883452e-01 -1.73332576e-03 -1.60516231e+00] [-2.41868106e-02 1.36610218e-03 9.99706523e-01 -1.05963257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.851346183999997 meters 0.0773794032694975 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.60, Z:-1.06 [[ 9.99558872e-01 1.67760754e-02 2.45076605e-02 2.00039964e+01] [-1.67376884e-02 9.99858347e-01 -1.77063507e-03 -1.59835225e+00] [-2.45338932e-02 1.35965240e-03 9.99698074e-01 -1.05670459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881346183999998 meters 0.0770992512920607 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.60, Z:-1.06 [[ 9.99515127e-01 1.86350847e-02 2.49448353e-02 2.00347541e+01] [-1.85958694e-02 9.99825456e-01 -1.80315183e-03 -1.60017215e+00] [-2.49740832e-02 1.33840663e-03 9.99687203e-01 -1.05802810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.911346184 meters 0.07607668983554812 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.60, Z:-1.06 [[ 9.99486288e-01 2.03860858e-02 2.47298815e-02 2.00667830e+01] [-2.03480797e-02 9.99791358e-01 -1.78754596e-03 -1.59973163e+00] [-2.47611629e-02 1.28342208e-03 9.99692572e-01 -1.05861851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941346183999997 meters 0.07613234888725481 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.60, Z:-1.06 [[ 9.99446522e-01 2.22965161e-02 2.46883602e-02 2.00973056e+01] [-2.22591952e-02 9.99750639e-01 -1.78549416e-03 -1.59933704e+00] [-2.47220142e-02 1.23496290e-03 9.99693602e-01 -1.05899399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.971346183999998 meters 0.0745430730391439 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.60, Z:-1.06 [[ 9.99444583e-01 2.22297434e-02 2.48266678e-02 2.01289495e+01] [-2.21918749e-02 9.99752110e-01 -1.79982791e-03 -1.59737376e+00] [-2.48605232e-02 1.24787795e-03 9.99690151e-01 -1.05857454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001346184 meters 0.07550197484165919 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.60, Z:-1.06 [[ 9.99453992e-01 2.23436261e-02 2.43409100e-02 2.01599963e+01] [-2.23073635e-02 9.99749610e-01 -1.76032609e-03 -1.60263393e+00] [-2.43741473e-02 1.21638341e-03 9.99702166e-01 -1.06174028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.031346183999997 meters 0.07511895868534027 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.61, Z:-1.06 [[ 9.99433465e-01 2.22080384e-02 2.52893601e-02 2.01908317e+01] [-2.21685646e-02 9.99752554e-01 -1.84021391e-03 -1.60680803e+00] [-2.53239699e-02 1.27854255e-03 9.99678479e-01 -1.06423257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061346183999998 meters 0.07725628887755819 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.61, Z:-1.07 [[ 9.99375339e-01 2.32156375e-02 2.66452004e-02 2.02219777e+01] [-2.31722795e-02 9.99729614e-01 -1.93489214e-03 -1.61459313e+00] [-2.66829157e-02 1.31625346e-03 9.99643081e-01 -1.06752367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.091346184 meters 0.0734955854433883 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.61, Z:-1.06 [[ 9.99313375e-01 2.44745970e-02 2.78167525e-02 2.02548336e+01] [-2.44276258e-02 9.99699546e-01 -2.02720838e-03 -1.60844393e+00] [-2.78580100e-02 1.34631923e-03 9.99610984e-01 -1.06393750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.121346183999997 meters 0.0729697129958679 Centerline is valid? [True, True] Translation: X:20.29, Y:-1.61, Z:-1.06 [[ 9.99205741e-01 2.63341682e-02 2.99065007e-02 2.02861667e+01] [-2.62803109e-02 9.99652208e-01 -2.19256409e-03 -1.60830712e+00] [-2.99538388e-02 1.40487049e-03 9.99550296e-01 -1.06313419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.151346183999998 meters 0.0723671627953156 Centerline is valid? [True, True] Translation: X:20.32, Y:-1.61, Z:-1.06 [[ 9.99081198e-01 3.05738338e-02 3.00333107e-02 2.03162236e+01] [-3.05213741e-02 9.99531685e-01 -2.20370662e-03 -1.60523521e+00] [-3.00866214e-02 1.28502394e-03 9.99546469e-01 -1.06331874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181346184 meters 0.0718174576988462 Centerline is valid? [True, True] Translation: X:20.35, Y:-1.60, Z:-1.06 [[ 9.99079758e-01 3.18202892e-02 2.87594694e-02 2.03458512e+01] [-3.17726799e-02 9.99492892e-01 -2.11101144e-03 -1.60434204e+00] [-2.88120582e-02 1.19530338e-03 9.99584132e-01 -1.06498221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.211346184 meters 0.07105198334953093 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.60, Z:-1.07 [[ 9.99039293e-01 3.33231295e-02 2.84615412e-02 2.03759184e+01] [-3.32771387e-02 9.99443981e-01 -2.08815248e-03 -1.60384575e+00] [-2.85152998e-02 1.13902772e-03 9.99592707e-01 -1.06712231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241346183999998 meters 0.07115135893866366 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.61, Z:-1.07 [[ 9.99080621e-01 3.45457424e-02 2.53870862e-02 2.04046799e+01] [-3.45095432e-02 9.99402632e-01 -1.86275921e-03 -1.60510797e+00] [-2.54362712e-02 9.84949883e-04 9.99675960e-01 -1.07196904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.271346184 meters 0.07138738718257608 Centerline is valid? [True, True] Translation: X:20.43, Y:-1.61, Z:-1.08 [[ 9.99080154e-01 3.47828966e-02 2.50798073e-02 2.04333575e+01] [-3.47476872e-02 9.99394426e-01 -1.83846634e-03 -1.60731515e+00] [-2.51285668e-02 9.65309938e-04 9.99683762e-01 -1.07514786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301346184 meters 0.07049157270946214 Centerline is valid? [True, True] Translation: X:20.46, Y:-1.61, Z:-1.08 [[ 9.99133558e-01 3.42699792e-02 2.36157011e-02 2.04623406e+01] [-3.42386518e-02 9.99412189e-01 -1.72973612e-03 -1.60694662e+00] [-2.36610976e-02 9.19667633e-04 9.99719614e-01 -1.07584998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.331346183999997 meters 0.07178087296711898 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.61, Z:-1.08 [[ 9.99177631e-01 3.35825326e-02 2.27217093e-02 2.04891113e+01] [-3.35533675e-02 9.99435542e-01 -1.66371360e-03 -1.61110998e+00] [-2.27647556e-02 8.99955555e-04 9.99740444e-01 -1.08060255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361346184 meters 0.07217891080902479 Centerline is valid? [True, True] Translation: X:20.52, Y:-1.61, Z:-1.08 [[ 9.99242195e-01 3.26759110e-02 2.11499778e-02 2.05175688e+01] [-3.26505039e-02 9.99465635e-01 -1.54557984e-03 -1.61396098e+00] [-2.11891793e-02 8.53851160e-04 9.99775120e-01 -1.08350544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.391346184 meters 0.07435160288786102 Centerline is valid? [True, True] Translation: X:20.54, Y:-1.62, Z:-1.09 [[ 9.99274053e-01 3.21480056e-02 2.04419487e-02 2.05448150e+01] [-3.21241781e-02 9.99482770e-01 -1.49300865e-03 -1.61990604e+00] [-2.04793727e-02 8.35244001e-04 9.99789927e-01 -1.08947362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421346183999997 meters 0.07237648487624965 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.62, Z:-1.09 [[ 9.99274127e-01 3.22072234e-02 2.03448597e-02 2.05746101e+01] [-3.21836813e-02 9.99480870e-01 -1.48360020e-03 -1.61519319e+00] [-2.03820807e-02 8.27750815e-04 9.99791921e-01 -1.08679178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.451346184 meters 0.07282184974061681 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.61, Z:-1.09 [[ 9.99228781e-01 3.27265041e-02 2.16983786e-02 2.06026242e+01] [-3.26998755e-02 9.99463966e-01 -1.58098660e-03 -1.61410179e+00] [-2.17384877e-02 8.70233035e-04 9.99763312e-01 -1.08713082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481346184 meters 0.07247623289745678 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.62, Z:-1.09 [[ 9.99218307e-01 3.25147175e-02 2.24848219e-02 2.06309191e+01] [-3.24861297e-02 9.99470848e-01 -1.63562517e-03 -1.61593749e+00] [-2.25261059e-02 9.03901768e-04 9.99745846e-01 -1.08774105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.511346183999997 meters 0.07285241618971297 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.62, Z:-1.09 [[ 9.99220029e-01 3.20897834e-02 2.30126027e-02 2.06593869e+01] [-3.20597651e-02 9.99484555e-01 -1.67227949e-03 -1.62042022e+00] [-2.30544041e-02 9.33196524e-04 9.99733776e-01 -1.09050116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541346184 meters 0.07337562444704997 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.62, Z:-1.09 [[ 9.99211977e-01 3.11524680e-02 2.45957036e-02 2.06869411e+01] [-3.11179307e-02 9.99514125e-01 -1.78578774e-03 -1.62451422e+00] [-2.46393849e-02 1.01901310e-03 9.99695885e-01 -1.09129312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.571346184 meters 0.07271693023025663 Centerline is valid? [True, True] Translation: X:20.72, Y:-1.62, Z:-1.09 [[ 9.99217394e-01 3.00533520e-02 2.57175929e-02 2.07155990e+01] [-3.00153010e-02 9.99547701e-01 -1.86440735e-03 -1.62314766e+00] [-2.57619926e-02 1.09102697e-03 9.99667509e-01 -1.09010659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.601346183999997 meters 0.07245870704491751 Centerline is valid? [True, True] Translation: X:20.75, Y:-1.62, Z:-1.09 [[ 9.99264163e-01 2.86193273e-02 2.55355949e-02 2.07455003e+01] [-2.85814138e-02 9.99589759e-01 -1.84855492e-03 -1.62341068e+00] [-2.55780236e-02 1.11735128e-03 9.99672204e-01 -1.08865136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.631346183999998 meters 0.07375910095720213 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.63, Z:-1.09 [[ 9.99311496e-01 2.66481570e-02 2.58149075e-02 2.07740268e+01] [-2.66087663e-02 9.99644178e-01 -1.86825779e-03 -1.62811205e+00] [-2.58555076e-02 1.18006865e-03 9.99664994e-01 -1.09030428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.661346184 meters 0.07559015838361613 Centerline is valid? [True, True] Translation: X:20.80, Y:-1.64, Z:-1.09 [[ 9.99418218e-01 2.27189959e-02 2.54376338e-02 2.08038529e+01] [-2.26795468e-02 9.99741096e-01 -1.83828431e-03 -1.63676317e+00] [-2.54728118e-02 1.26030082e-03 9.99674721e-01 -1.09377364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.691346183999997 meters 0.0765047192610066 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.64, Z:-1.10 [[ 9.99485812e-01 2.09646175e-02 2.42609868e-02 2.08343639e+01] [-2.09282414e-02 9.99779445e-01 -1.75233056e-03 -1.64438734e+00] [-2.42923729e-02 1.24368975e-03 9.99704123e-01 -1.09802563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721346183999998 meters 0.0768348214647876 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.65, Z:-1.10 [[ 9.99525268e-01 1.92790185e-02 2.40324358e-02 2.08657313e+01] [-1.92428419e-02 9.99813333e-01 -1.73569758e-03 -1.65145356e+00] [-2.40614123e-02 1.27242123e-03 9.99709673e-01 -1.10217327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.751346184 meters 0.08256396941294612 Centerline is valid? [True, True] Translation: X:20.89, Y:-1.67, Z:-1.11 [[ 9.99615274e-01 1.67146566e-02 2.21342294e-02 2.08942285e+01] [-1.66832701e-02 9.99859541e-01 -1.60191686e-03 -1.66868899e+00] [-2.21578959e-02 1.23202924e-03 9.99753725e-01 -1.11094903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781346183999997 meters 0.08036785728507627 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.66, Z:-1.11 [[ 9.99657200e-01 1.69502256e-02 1.99542682e-02 2.09267003e+01] [-1.69249096e-02 9.99855731e-01 -1.43690818e-03 -1.66479801e+00] [-1.99757453e-02 1.09869142e-03 9.99799861e-01 -1.11060828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.811346183999998 meters 0.07844045517025014 Centerline is valid? [True, True] Translation: X:20.96, Y:-1.66, Z:-1.11 [[ 9.99669055e-01 1.70408296e-02 1.92714860e-02 2.09590924e+01] [-1.70171481e-02 9.99854229e-01 -1.39216639e-03 -1.65978499e+00] [-1.92924004e-02 1.06375993e-03 9.99813318e-01 -1.10870812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841346184 meters 0.07774160414518223 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.66, Z:-1.11 [[ 9.99610957e-01 2.01414994e-02 1.92939269e-02 2.09887942e+01] [-2.01181046e-02 9.99796622e-01 -1.40590069e-03 -1.65879078e+00] [-1.93183199e-02 1.01719650e-03 9.99812866e-01 -1.10960347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.871346183999997 meters 0.0745736268273908 Centerline is valid? [True, True] Translation: X:21.02, Y:-1.66, Z:-1.11 [[ 9.99510783e-01 2.29274911e-02 2.12726231e-02 2.10192030e+01] [-2.28996956e-02 9.99736567e-01 -1.54934018e-03 -1.65642282e+00] [-2.13025417e-02 1.06144562e-03 9.99772512e-01 -1.10841399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901346183999998 meters 0.07355986563854142 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.66, Z:-1.11 [[ 9.99399891e-01 2.55770715e-02 2.33596191e-02 2.10494998e+01] [-2.55442738e-02 9.99672244e-01 -1.70139519e-03 -1.65789824e+00] [-2.33954795e-02 1.10366966e-03 9.99725679e-01 -1.10891082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.931346184 meters 0.07305327158472412 Centerline is valid? [True, True] Translation: X:21.08, Y:-1.66, Z:-1.11 [[ 9.99279332e-01 2.89205647e-02 2.45849013e-02 2.10784894e+01] [-2.88852422e-02 9.99581130e-01 -1.79074228e-03 -1.65587381e+00] [-2.46263928e-02 1.07931092e-03 9.99696142e-01 -1.10937897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961346184 meters 0.07212028884129447 Centerline is valid? [True, True] Translation: X:21.11, Y:-1.65, Z:-1.11 [[ 9.99248109e-01 3.03716682e-02 2.40993382e-02 2.11084070e+01] [-3.03381747e-02 9.99538152e-01 -1.75429531e-03 -1.65256152e+00] [-2.41414889e-02 1.02184633e-03 9.99708030e-01 -1.10919934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.991346183999998 meters 0.07311996315785346 Centerline is valid? [True, True] Translation: X:21.14, Y:-1.65, Z:-1.11 [[ 9.99251155e-01 3.05803405e-02 2.37059403e-02 2.11357484e+01] [-3.05479762e-02 9.99531811e-01 -1.72625895e-03 -1.65370645e+00] [-2.37476310e-02 1.00079775e-03 9.99717484e-01 -1.11232234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021346184 meters 0.07305026357586002 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.65, Z:-1.11 [[ 9.99306380e-01 3.01513312e-02 2.18553638e-02 2.11649736e+01] [-3.01237680e-02 9.99544913e-01 -1.58936603e-03 -1.65173146e+00] [-2.18933392e-02 9.29897708e-04 9.99759880e-01 -1.11441484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.051346184 meters 0.07440276116199182 Centerline is valid? [True, True] Translation: X:21.19, Y:-1.66, Z:-1.12 [[ 9.99350077e-01 2.89850909e-02 2.14309853e-02 2.11919041e+01] [-2.89583409e-02 9.99579406e-01 -1.55754249e-03 -1.65753940e+00] [-2.14671171e-02 9.35924427e-04 9.99769117e-01 -1.11910284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081346183999997 meters 0.07490685788674431 Centerline is valid? [True, True] Translation: X:21.22, Y:-1.66, Z:-1.12 [[ 9.99420486e-01 2.68101925e-02 2.09739168e-02 2.12206336e+01] [-2.67841518e-02 9.99640082e-01 -1.52155394e-03 -1.66205745e+00] [-2.10071610e-02 9.58903610e-04 9.99778865e-01 -1.12204336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.111346184 meters 0.07546439614285978 Centerline is valid? [True, True] Translation: X:21.25, Y:-1.67, Z:-1.12 [[ 9.99467136e-01 2.50743663e-02 2.08978496e-02 2.12502819e+01] [-2.50481692e-02 9.99685098e-01 -1.51443613e-03 -1.66685561e+00] [-2.09292423e-02 9.90176272e-04 9.99780469e-01 -1.12381732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141346184 meters 0.0773952775867731 Centerline is valid? [True, True] Translation: X:21.28, Y:-1.67, Z:-1.12 [[ 9.99513559e-01 2.06213427e-02 2.33966843e-02 2.12792480e+01] [-2.05873119e-02 9.99786623e-01 -1.69447846e-03 -1.67145704e+00] [-2.34266344e-02 1.21197936e-03 9.99724824e-01 -1.12249852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.171346183999997 meters 0.08056853811098774 Centerline is valid? [True, True] Translation: X:21.31, Y:-1.68, Z:-1.12 [[ 9.99550723e-01 1.80633444e-02 2.39179433e-02 2.13091036e+01] [-1.80271036e-02 9.99836002e-01 -1.72998364e-03 -1.67816422e+00] [-2.39452701e-02 1.29803516e-03 9.99712428e-01 -1.12393731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201346184 meters 0.07791141799658928 Centerline is valid? [True, True] Translation: X:21.34, Y:-1.67, Z:-1.12 [[ 9.99587129e-01 1.62938839e-02 2.36660161e-02 2.13420449e+01] [-1.62579335e-02 9.99866368e-01 -1.71069930e-03 -1.67471680e+00] [-2.36907275e-02 1.32523248e-03 9.99718457e-01 -1.12169734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.231346184 meters 0.07939253606909721 Centerline is valid? [True, True] Translation: X:21.37, Y:-1.68, Z:-1.12 [[ 9.99581067e-01 1.42583787e-02 2.51870729e-02 2.13722001e+01] [-1.42169390e-02 9.99897271e-01 -1.82358961e-03 -1.68168047e+00] [-2.52104869e-02 1.46474257e-03 9.99681092e-01 -1.12322552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261346183999997 meters 0.07915798005827836 Centerline is valid? [True, True] Translation: X:21.40, Y:-1.68, Z:-1.12 [[ 9.99600376e-01 1.34240640e-02 2.48773484e-02 2.14039909e+01] [-1.33834833e-02 9.99908822e-01 -1.79701876e-03 -1.68449223e+00] [-2.48992034e-02 1.46335505e-03 9.99688896e-01 -1.12439845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.291346184 meters 0.08030555429152582 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.69, Z:-1.13 [[ 9.99618765e-01 1.28118162e-02 2.44577488e-02 2.14352894e+01] [-1.27722761e-02 9.99916861e-01 -1.77220732e-03 -1.68891760e+00] [-2.44784206e-02 1.45915057e-03 9.99699294e-01 -1.12633361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.321346184 meters 0.080041550682932 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.69, Z:-1.13 [[ 9.99598909e-01 1.27625586e-02 2.52811903e-02 2.14685623e+01] [-1.27201702e-02 9.99917408e-01 -1.83679014e-03 -1.69042068e+00] [-2.53025444e-02 1.51447238e-03 9.99678692e-01 -1.12698202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.351346183999997 meters 0.08114284228755564 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.70, Z:-1.13 [[ 9.99605947e-01 1.24041363e-02 2.51811064e-02 2.14990804e+01] [-1.23617570e-02 9.99921901e-01 -1.83795535e-03 -1.69590192e+00] [-2.52019380e-02 1.52594838e-03 9.99681216e-01 -1.13025363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381346183999998 meters 0.07986776494705863 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.70, Z:-1.13 [[ 9.99612147e-01 1.20170802e-02 2.51226084e-02 2.15313663e+01] [-1.19746485e-02 9.99926611e-01 -1.83875035e-03 -1.69796913e+00] [-2.51428611e-02 1.53720278e-03 9.99682686e-01 -1.13255712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.411346184 meters 0.08120328415105106 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.70, Z:-1.14 [[ 9.99642968e-01 1.09735425e-02 2.43622401e-02 2.15614550e+01] [-1.09331123e-02 9.99938626e-01 -1.79212550e-03 -1.70451867e+00] [-2.43804109e-02 1.52513055e-03 9.99701590e-01 -1.13611546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441346183999997 meters 0.08330644994566283 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.71, Z:-1.14 [[ 9.99726074e-01 8.02136500e-03 2.19871412e-02 2.15918478e+01] [-7.98760132e-03 9.99966781e-01 -1.62300476e-03 -1.70911249e+00] [-2.19994296e-02 1.44693566e-03 9.99756936e-01 -1.13833849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.471346183999998 meters 0.08201871854059435 Centerline is valid? [True, True] Translation: X:21.62, Y:-1.71, Z:-1.14 [[ 9.99719933e-01 7.42891480e-03 2.24692353e-02 2.16248043e+01] [-7.39365947e-03 9.99971302e-01 -1.65171899e-03 -1.70821226e+00] [-2.24808610e-02 1.48512653e-03 9.99746170e-01 -1.13671475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501346184 meters 0.08446524917549127 Centerline is valid? [True, True] Translation: X:21.66, Y:-1.72, Z:-1.14 [[ 9.99735890e-01 6.95035034e-03 2.19052990e-02 2.16555931e+01] [-6.91660194e-03 9.99974774e-01 -1.61603882e-03 -1.71534740e+00] [-2.19159784e-02 1.46410178e-03 9.99758744e-01 -1.14008795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.531346183999997 meters 0.08446524917549127 Centerline is valid? [True, True] Translation: X:21.69, Y:-1.72, Z:-1.14 [[ 9.99733929e-01 7.22779688e-03 2.19050250e-02 2.16882032e+01] [-7.19403402e-03 9.99972811e-01 -1.61974077e-03 -1.71795275e+00] [-2.19161366e-02 1.46172431e-03 9.99758744e-01 -1.14173911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561346183999998 meters 0.08384772226034247 Centerline is valid? [True, True] Translation: X:21.72, Y:-1.72, Z:-1.14 [[ 9.99730002e-01 8.10760113e-03 2.17758844e-02 2.17207149e+01] [-8.07419293e-03 9.99966088e-01 -1.62166879e-03 -1.72133809e+00] [-2.17882938e-02 1.44540825e-03 9.99761562e-01 -1.14405240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.591346184 meters 0.08215580423106954 Centerline is valid? [True, True] Translation: X:21.75, Y:-1.72, Z:-1.14 [[ 9.99670489e-01 1.07370471e-02 2.33158762e-02 2.17518501e+01] [-1.06993577e-02 9.99941245e-01 -1.74062086e-03 -1.72270209e+00] [-2.33331954e-02 1.49058241e-03 9.99726633e-01 -1.14474444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621346183999997 meters 0.08124268577563534 Centerline is valid? [True, True] Translation: X:21.78, Y:-1.72, Z:-1.14 [[ 9.99637101e-01 1.21419390e-02 2.40466000e-02 2.17831365e+01] [-1.21022548e-02 9.99925154e-01 -1.79515540e-03 -1.72194099e+00] [-2.40665969e-02 1.50348586e-03 9.99709227e-01 -1.14407413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.651346183999998 meters 0.08308710191662595 Centerline is valid? [True, True] Translation: X:21.81, Y:-1.73, Z:-1.15 [[ 9.99601155e-01 1.33457267e-02 2.48881951e-02 2.18136126e+01] [-1.33035631e-02 9.99909776e-01 -1.85893347e-03 -1.72546229e+00] [-2.49107584e-02 1.52709037e-03 9.99688513e-01 -1.14563278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681346184 meters 0.07977067141799042 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.72, Z:-1.15 [[ 9.99592000e-01 1.70643108e-02 2.29050642e-02 2.18446972e+01] [-1.70295357e-02 9.99853521e-01 -1.71243902e-03 -1.71709310e+00] [-2.29309307e-02 1.32167773e-03 9.99736178e-01 -1.14563100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.711346183999996 meters 0.07878397360469236 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.72, Z:-1.15 [[ 9.99585213e-01 1.89193581e-02 2.17131205e-02 2.18770608e+01] [-1.88886982e-02 9.99820286e-01 -1.61628682e-03 -1.71710440e+00] [-2.17397974e-02 1.20548382e-03 9.99762936e-01 -1.14899564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741346183999998 meters 0.07885611212083724 Centerline is valid? [True, True] Translation: X:21.91, Y:-1.72, Z:-1.15 [[ 9.99580416e-01 1.98172235e-02 2.11251087e-02 2.19086100e+01] [-1.97881690e-02 9.99802941e-01 -1.58352483e-03 -1.71920026e+00] [-2.11523269e-02 1.16483318e-03 9.99775586e-01 -1.15273263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.771346184 meters 0.07826122261852911 Centerline is valid? [True, True] Translation: X:21.94, Y:-1.72, Z:-1.15 [[ 9.99538224e-01 2.09231177e-02 2.20354516e-02 2.19394312e+01] [-2.08917431e-02 9.99780377e-01 -1.65309511e-03 -1.72033797e+00] [-2.20652000e-02 1.19197276e-03 9.99755823e-01 -1.15467634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801346184 meters 0.07809601156544058 Centerline is valid? [True, True] Translation: X:21.97, Y:-1.72, Z:-1.16 [[ 9.99534130e-01 2.05410702e-02 2.25740469e-02 2.19703372e+01] [-2.05080253e-02 9.99788253e-01 -1.69439910e-03 -1.72237277e+00] [-2.26040716e-02 1.23066061e-03 9.99743738e-01 -1.15554907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.831346183999997 meters 0.07814253511093543 Centerline is valid? [True, True] Translation: X:22.00, Y:-1.72, Z:-1.16 [[ 9.99542001e-01 2.00068651e-02 2.27049211e-02 2.20015907e+01] [-1.99733206e-02 9.99799063e-01 -1.70325203e-03 -1.72436085e+00] [-2.27344356e-02 1.24897927e-03 9.99740759e-01 -1.15589585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861346184 meters 0.07800376800678253 Centerline is valid? [True, True] Translation: X:22.03, Y:-1.72, Z:-1.16 [[ 9.99552744e-01 1.94583892e-02 2.27086479e-02 2.20331955e+01] [-1.94246747e-02 9.99809871e-01 -1.70431514e-03 -1.72467700e+00] [-2.27374936e-02 1.26244477e-03 9.99740673e-01 -1.15597618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.891346184 meters 0.07904081594887599 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.73, Z:-1.16 [[ 9.99625531e-01 1.78199061e-02 2.07665200e-02 2.20636923e+01] [-1.77913557e-02 9.99840506e-01 -1.55878347e-03 -1.72582560e+00] [-2.07909852e-02 1.18873521e-03 9.99783137e-01 -1.15734560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921346183999997 meters 0.08130803397051964 Centerline is valid? [True, True] Translation: X:22.09, Y:-1.73, Z:-1.16 [[ 9.99652882e-01 1.70083046e-02 2.01204578e-02 2.20944811e+01] [-1.69814309e-02 9.99854671e-01 -1.50575372e-03 -1.73226983e+00] [-2.01431441e-02 1.16355688e-03 9.99796429e-01 -1.16044625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.951346184 meters 0.08295976376576947 Centerline is valid? [True, True] Translation: X:22.13, Y:-1.74, Z:-1.16 [[ 9.99666892e-01 1.60704398e-02 2.01952124e-02 2.21252437e+01] [-1.60430200e-02 9.99870149e-01 -1.51902967e-03 -1.73833889e+00] [-2.02170015e-02 1.19453148e-03 9.99794902e-01 -1.16409524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981346184 meters 0.08242100692337072 Centerline is valid? [True, True] Translation: X:22.16, Y:-1.74, Z:-1.17 [[ 9.99678663e-01 1.60879374e-02 1.95895050e-02 2.21573111e+01] [-1.60621658e-02 9.99869911e-01 -1.47221841e-03 -1.74128458e+00] [-1.96106416e-02 1.15709546e-03 9.99807023e-01 -1.16754250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.011346183999997 meters 0.08036847860859231 Centerline is valid? [True, True] Translation: X:22.19, Y:-1.74, Z:-1.17 [[ 9.99683255e-01 1.55582592e-02 1.97820636e-02 2.21896622e+01] [-1.55317863e-02 9.99878263e-01 -1.49117364e-03 -1.74136157e+00] [-1.98028554e-02 1.18345053e-03 9.99803204e-01 -1.16912374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041346184 meters 0.08018900356940475 Centerline is valid? [True, True] Translation: X:22.22, Y:-1.74, Z:-1.17 [[ 9.99694907e-01 1.57658918e-02 1.90139414e-02 2.22219716e+01] [-1.57413923e-02 9.99875063e-01 -1.43749084e-03 -1.74264108e+00] [-1.90342292e-02 1.13774636e-03 9.99818185e-01 -1.17065999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.071346184 meters 0.08215230757892664 Centerline is valid? [True, True] Translation: X:22.25, Y:-1.75, Z:-1.17 [[ 9.99687456e-01 1.59405522e-02 1.92584592e-02 2.22528810e+01] [-1.59152891e-02 9.99872271e-01 -1.46435788e-03 -1.74806323e+00] [-1.92793420e-02 1.15739626e-03 9.99813466e-01 -1.17275115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101346183999997 meters 0.08201720688386616 Centerline is valid? [True, True] Translation: X:22.28, Y:-1.75, Z:-1.17 [[ 9.99617985e-01 1.70761145e-02 2.17322283e-02 2.22837773e+01] [-1.70440593e-02 9.99853362e-01 -1.65939192e-03 -1.75011696e+00] [-2.17573775e-02 1.28835262e-03 9.99762450e-01 -1.17048227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.131346183999998 meters 0.08031123022640688 Centerline is valid? [True, True] Translation: X:22.32, Y:-1.75, Z:-1.17 [[ 9.99560281e-01 1.80123214e-02 2.35542148e-02 2.23158822e+01] [-1.79749255e-02 9.99836821e-01 -1.79843037e-03 -1.74899400e+00] [-2.35827652e-02 1.37425431e-03 9.99720943e-01 -1.16837917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161346184 meters 0.07851438339412771 Centerline is valid? [True, True] Translation: X:22.35, Y:-1.75, Z:-1.17 [[ 9.99533248e-01 1.89572945e-02 2.39563760e-02 2.23482615e+01] [-1.89189480e-02 9.99819353e-01 -1.82633357e-03 -1.74819591e+00] [-2.39866707e-02 1.37225170e-03 9.99711337e-01 -1.16837367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.191346183999997 meters 0.07889029752761155 Centerline is valid? [True, True] Translation: X:22.38, Y:-1.76, Z:-1.17 [[ 9.99531432e-01 1.94848361e-02 2.36063158e-02 2.23810597e+01] [-1.94476364e-02 9.99809249e-01 -1.80441032e-03 -1.75540793e+00] [-2.36369715e-02 1.34447778e-03 9.99719704e-01 -1.17280050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.221346183999998 meters 0.0795482403520501 Centerline is valid? [True, True] Translation: X:22.41, Y:-1.76, Z:-1.18 [[ 9.99577899e-01 1.89200537e-02 2.20466654e-02 2.24123882e+01] [-1.88873216e-02 9.99820187e-01 -1.69197651e-03 -1.76015229e+00] [-2.20747134e-02 1.27485986e-03 9.99755511e-01 -1.17614316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.251346184 meters 0.07919134196713333 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.76, Z:-1.18 [[ 9.99613405e-01 1.89432339e-02 2.03517541e-02 2.24450595e+01] [-1.89152832e-02 9.99819865e-01 -1.56502013e-03 -1.76053969e+00] [-2.03777346e-02 1.17945591e-03 9.99791657e-01 -1.17786657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281346183999997 meters 0.0793785396558346 Centerline is valid? [True, True] Translation: X:22.48, Y:-1.76, Z:-1.18 [[ 9.99608704e-01 1.97726769e-02 1.97858667e-02 2.24757054e+01] [-1.97462012e-02 9.99803850e-01 -1.53260114e-03 -1.76261156e+00] [-1.98122893e-02 1.14130574e-03 9.99803066e-01 -1.18043762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.311346183999998 meters 0.0782740829903907 Centerline is valid? [True, True] Translation: X:22.51, Y:-1.76, Z:-1.18 [[ 9.99572124e-01 2.14072706e-02 1.99323234e-02 2.25062353e+01] [-2.13806896e-02 9.99770212e-01 -1.54573725e-03 -1.76260101e+00] [-1.99608333e-02 1.11890905e-03 9.99800137e-01 -1.18165885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.341346184 meters 0.07737296866950912 Centerline is valid? [True, True] Translation: X:22.54, Y:-1.76, Z:-1.18 [[ 9.99504328e-01 2.33523913e-02 2.11131200e-02 2.25362346e+01] [-2.33229886e-02 9.99726641e-01 -1.63782739e-03 -1.76308031e+00] [-2.11455957e-02 1.14459450e-03 9.99775752e-01 -1.18279203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.371346183999997 meters 0.0739649363834558 Centerline is valid? [True, True] Translation: X:22.57, Y:-1.76, Z:-1.18 [[ 9.99252140e-01 2.97522814e-02 2.46974098e-02 2.25673198e+01] [-2.97139989e-02 9.99556606e-01 -1.91568124e-03 -1.75825541e+00] [-2.47434550e-02 1.18038978e-03 9.99693137e-01 -1.18059138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401346183999998 meters 0.07313079965511798 Centerline is valid? [True, True] Translation: X:22.60, Y:-1.76, Z:-1.18 [[ 9.99073228e-01 3.29190805e-02 2.77312071e-02 2.25964765e+01] [-3.28720586e-02 9.99457255e-01 -2.14993249e-03 -1.75669184e+00] [-2.77869299e-02 1.23635813e-03 9.99613104e-01 -1.17945042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.431346184 meters 0.07198871427335321 Centerline is valid? [True, True] Translation: X:22.63, Y:-1.75, Z:-1.18 [[ 9.98933266e-01 3.65317760e-02 2.82446261e-02 2.26270098e+01] [-3.64844780e-02 9.99331824e-01 -2.18829488e-03 -1.75201198e+00] [-2.83056960e-02 1.15547011e-03 9.99598646e-01 -1.17842270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461346183999996 meters 0.0708465358108043 Centerline is valid? [True, True] Translation: X:22.66, Y:-1.75, Z:-1.18 [[ 9.98788518e-01 3.99168370e-02 2.87774501e-02 2.26578457e+01] [-3.98691545e-02 9.99202423e-01 -2.22905434e-03 -1.74765040e+00] [-2.88434747e-02 1.07902127e-03 9.99583358e-01 -1.17816960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491346183999998 meters 0.06952168266207202 Centerline is valid? [True, True] Translation: X:22.69, Y:-1.74, Z:-1.18 [[ 9.98675493e-01 4.35715750e-02 2.73637870e-02 2.26868895e+01] [-4.35298110e-02 9.99049878e-01 -2.12036550e-03 -1.74141554e+00] [-2.74301758e-02 9.26416581e-04 9.99623293e-01 -1.18088311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521346184 meters 0.07002136242953176 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.74, Z:-1.19 [[ 9.98712206e-01 4.35705327e-02 2.59911338e-02 2.27137722e+01] [-4.35328759e-02 9.99049967e-01 -2.01317634e-03 -1.74490785e+00] [-2.60541565e-02 8.79114982e-04 9.99660146e-01 -1.18565304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551346184 meters 0.07033855871309858 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.75, Z:-1.19 [[ 9.98752372e-01 4.26643715e-02 2.59509377e-02 2.27421570e+01] [-4.26266199e-02 9.99089058e-01 -2.00644111e-03 -1.74876973e+00] [-2.60129014e-02 8.97737066e-04 9.99661204e-01 -1.18946007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581346183999997 meters 0.07152503191394287 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.75, Z:-1.19 [[ 9.98984254e-01 3.78737450e-02 2.44139262e-02 2.27721217e+01] [-3.78389755e-02 9.99282072e-01 -1.88472775e-03 -1.75290939e+00] [-2.44677805e-02 9.59015389e-04 9.99700159e-01 -1.19163932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.611346184 meters 0.07219759208962603 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.76, Z:-1.19 [[ 9.99094622e-01 3.55343295e-02 2.33933444e-02 2.28018468e+01] [-3.55017643e-02 9.99367982e-01 -1.80604185e-03 -1.75561354e+00] [-2.34427359e-02 9.73901696e-04 9.99724707e-01 -1.19294332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641346184 meters 0.07351156667725524 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.76, Z:-1.20 [[ 9.99136078e-01 3.38156945e-02 2.41577315e-02 2.28294762e+01] [-3.37804533e-02 9.99427537e-01 -1.86551510e-03 -1.76010857e+00] [-2.42069858e-02 1.04784432e-03 9.99706419e-01 -1.19517647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.671346183999997 meters 0.07492002926157017 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.77, Z:-1.20 [[ 9.99187362e-01 3.25683287e-02 2.37469984e-02 2.28562152e+01] [-3.25339629e-02 9.99468951e-01 -1.83217839e-03 -1.76521870e+00] [-2.37940586e-02 1.05810553e-03 9.99716321e-01 -1.19882316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701346184 meters 0.07432134902611878 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.77, Z:-1.20 [[ 9.99217711e-01 3.09944217e-02 2.45624267e-02 2.28852079e+01] [-3.09572696e-02 9.99518919e-01 -1.89146280e-03 -1.76560833e+00] [-2.46092350e-02 1.12959747e-03 9.99696509e-01 -1.19886367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.731346184 meters 0.07427235861465045 Centerline is valid? [True, True] Translation: X:22.91, Y:-1.77, Z:-1.20 [[ 9.99232025e-01 3.06433820e-02 2.44201330e-02 2.29135019e+01] [-3.06065854e-02 9.99529742e-01 -1.87924491e-03 -1.76668424e+00] [-2.44662357e-02 1.13038481e-03 9.99700018e-01 -1.19980417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761346183999997 meters 0.07374834720200338 Centerline is valid? [True, True] Translation: X:22.94, Y:-1.77, Z:-1.20 [[ 9.99231657e-01 3.07874363e-02 2.42534608e-02 2.29426104e+01] [-3.07512454e-02 9.99525331e-01 -1.86384240e-03 -1.76530863e+00] [-2.42993313e-02 1.11658621e-03 9.99704104e-01 -1.19942466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.791346184 meters 0.07537271242565238 Centerline is valid? [True, True] Translation: X:22.97, Y:-1.77, Z:-1.20 [[ 9.99127182e-01 3.24220703e-02 2.63378707e-02 2.29714439e+01] [-3.23800374e-02 9.99473586e-01 -2.02094435e-03 -1.76643863e+00] [-2.63895293e-02 1.16635920e-03 9.99651055e-01 -1.20206330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821346184 meters 0.07321303262850841 Centerline is valid? [True, True] Translation: X:23.00, Y:-1.76, Z:-1.20 [[ 9.99076953e-01 3.37655233e-02 2.65542952e-02 2.30008821e+01] [-3.37232729e-02 9.99429132e-01 -2.03744376e-03 -1.76147648e+00] [-2.66079316e-02 1.14006536e-03 9.99645296e-01 -1.20155783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.851346183999997 meters 0.07301224938028492 Centerline is valid? [True, True] Translation: X:23.03, Y:-1.76, Z:-1.20 [[ 9.99061894e-01 3.51387557e-02 2.53100650e-02 2.30293134e+01] [-3.51008549e-02 9.99381892e-01 -1.94031524e-03 -1.76148513e+00] [-2.53626009e-02 1.05009010e-03 9.99677766e-01 -1.20494189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881346183999998 meters 0.07320366361215315 Centerline is valid? [True, True] Translation: X:23.06, Y:-1.76, Z:-1.21 [[ 9.99076097e-01 3.59994310e-02 2.34732666e-02 2.30570898e+01] [-3.59670923e-02 9.99351356e-01 -1.79855467e-03 -1.76175377e+00] [-2.35227878e-02 9.52627833e-04 9.99722847e-01 -1.20929974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.911346184 meters 0.07428025318175516 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.76, Z:-1.21 [[ 9.99101838e-01 3.52861202e-02 2.34607492e-02 2.30842580e+01] [-3.52536687e-02 9.99376783e-01 -1.79551730e-03 -1.76498408e+00] [-2.35094849e-02 9.66827159e-04 9.99723146e-01 -1.21237859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.941346183999997 meters 0.07353218736599991 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.76, Z:-1.21 [[ 9.99148967e-01 3.42250351e-02 2.30214966e-02 2.31132691e+01] [-3.41935610e-02 9.99413680e-01 -1.75953557e-03 -1.76412565e+00] [-2.30682188e-02 9.70851197e-04 9.99733422e-01 -1.21288889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.971346183999998 meters 0.07445655998443143 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.77, Z:-1.21 [[ 9.99203870e-01 3.30507481e-02 2.23444298e-02 2.31410721e+01] [-3.30208212e-02 9.99453206e-01 -1.70708588e-03 -1.76686723e+00] [-2.23886325e-02 9.67895398e-04 9.99748875e-01 -1.21487786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001346184 meters 0.07650999593383094 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.77, Z:-1.22 [[ 9.99318945e-01 2.99443100e-02 2.15635028e-02 2.31690237e+01] [-2.99157779e-02 9.99551070e-01 -1.64460844e-03 -1.77168847e+00] [-2.16030690e-02 9.98399411e-04 9.99766128e-01 -1.21851410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.031346183999997 meters 0.07757406776524342 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.78, Z:-1.22 [[ 9.99379387e-01 2.81110441e-02 2.12275925e-02 2.31983541e+01] [-2.80830336e-02 9.99604287e-01 -1.61654597e-03 -1.77615953e+00] [-2.12646352e-02 1.01940753e-03 9.99773362e-01 -1.22133607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061346183999998 meters 0.0778195867891901 Centerline is valid? [True, True] Translation: X:23.23, Y:-1.78, Z:-1.22 [[ 9.99400553e-01 2.72049968e-02 2.14107897e-02 2.32272120e+01] [-2.71762878e-02 9.99629326e-01 -1.63074783e-03 -1.77860062e+00] [-2.14472178e-02 1.04790450e-03 9.99769433e-01 -1.22316846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.091346184 meters 0.07626837159239555 Centerline is valid? [True, True] Translation: X:23.26, Y:-1.78, Z:-1.22 [[ 9.99415159e-01 2.67829723e-02 2.12605660e-02 2.32557501e+01] [-2.67545872e-02 9.99640722e-01 -1.61847515e-03 -1.77698692e+00] [-2.12962751e-02 1.04871093e-03 9.99772659e-01 -1.22235656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121346183999997 meters 0.07783464809414337 Centerline is valid? [True, True] Translation: X:23.28, Y:-1.78, Z:-1.23 [[ 9.99380874e-01 2.81653670e-02 2.10851008e-02 2.32828079e+01] [-2.81377988e-02 9.99602768e-01 -1.60306746e-03 -1.78024428e+00] [-2.11218761e-02 1.00878664e-03 9.99776399e-01 -1.22674966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.151346183999998 meters 0.07553264785272457 Centerline is valid? [True, True] Translation: X:23.31, Y:-1.78, Z:-1.22 [[ 9.99324222e-01 2.99175453e-02 2.13551106e-02 2.33119671e+01] [-2.98897124e-02 9.99551888e-01 -1.62141002e-03 -1.77507057e+00] [-2.13940497e-02 9.82016194e-04 9.99770639e-01 -1.22484014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181346184 meters 0.07495591600311696 Centerline is valid? [True, True] Translation: X:23.34, Y:-1.77, Z:-1.23 [[ 9.99269082e-01 3.19340771e-02 2.10122735e-02 2.33415264e+01] [-3.19076165e-02 9.99489552e-01 -1.59343481e-03 -1.77247940e+00] [-2.10524327e-02 9.21818572e-04 9.99777948e-01 -1.22562729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.211346183999996 meters 0.07272507539994565 Centerline is valid? [True, True] Translation: X:23.37, Y:-1.76, Z:-1.23 [[ 9.99076335e-01 3.69723036e-02 2.18980891e-02 2.33724863e+01] [-3.69448217e-02 9.99315931e-01 -1.65835946e-03 -1.76324227e+00] [-2.19444227e-02 8.47806690e-04 9.99758833e-01 -1.22528794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241346183999998 meters 0.07362969131005404 Centerline is valid? [True, True] Translation: X:23.40, Y:-1.77, Z:-1.23 [[ 9.99039770e-01 3.84823379e-02 2.09439083e-02 2.33998866e+01] [-3.84574738e-02 9.99258975e-01 -1.58880295e-03 -1.76512726e+00] [-2.09895292e-02 7.81827528e-04 9.99779390e-01 -1.23054220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.271346184 meters 0.07340020282446723 Centerline is valid? [True, True] Translation: X:23.43, Y:-1.76, Z:-1.23 [[ 9.98980960e-01 3.98777325e-02 2.11378255e-02 2.34274102e+01] [-3.98527745e-02 9.99204280e-01 -1.60082804e-03 -1.76453936e+00] [-2.11848431e-02 7.56795737e-04 9.99775290e-01 -1.23389900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301346184 meters 0.0732284629087487 Centerline is valid? [True, True] Translation: X:23.46, Y:-1.76, Z:-1.24 [[ 9.98922185e-01 4.09105002e-02 2.19271261e-02 2.34569101e+01] [-4.08839864e-02 9.99162527e-01 -1.65629424e-03 -1.76033445e+00] [-2.19765226e-02 7.58040735e-04 9.99758200e-01 -1.23546867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.331346183999997 meters 0.07328026199931173 Centerline is valid? [True, True] Translation: X:23.48, Y:-1.76, Z:-1.24 [[ 9.98889246e-01 4.12093778e-02 2.28486418e-02 2.34844019e+01] [-4.11806945e-02 9.99150227e-01 -1.72466591e-03 -1.76053983e+00] [-2.29002980e-02 7.81827300e-04 9.99737448e-01 -1.23690426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361346184 meters 0.07323629376255072 Centerline is valid? [True, True] Translation: X:23.51, Y:-1.76, Z:-1.24 [[ 9.98886692e-01 4.11329080e-02 2.30967412e-02 2.35134873e+01] [-4.11036348e-02 9.99153372e-01 -1.74093349e-03 -1.76199467e+00] [-2.31487965e-02 7.89635280e-04 9.99731719e-01 -1.23895157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.391346184 meters 0.07256180812442477 Centerline is valid? [True, True] Translation: X:23.54, Y:-1.76, Z:-1.24 [[ 9.98893728e-01 4.07468777e-02 2.34736278e-02 2.35413399e+01] [-4.07165500e-02 9.99169172e-01 -1.76869312e-03 -1.76256385e+00] [-2.35261940e-02 8.10971325e-04 9.99722892e-01 -1.24022271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421346183999997 meters 0.07256180812442477 Centerline is valid? [True, True] Translation: X:23.57, Y:-1.76, Z:-1.24 [[ 9.98897908e-01 4.06441755e-02 2.34738089e-02 2.35686930e+01] [-4.06138760e-02 9.99173355e-01 -1.76628497e-03 -1.76448293e+00] [-2.35261935e-02 8.10976003e-04 9.99722892e-01 -1.24161529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.451346184 meters 0.07278864254522256 Centerline is valid? [True, True] Translation: X:23.60, Y:-1.77, Z:-1.24 [[ 9.98983031e-01 3.92116711e-02 2.22564103e-02 2.35978025e+01] [-3.91841559e-02 9.99230609e-01 -1.67121218e-03 -1.76569450e+00] [-2.23048174e-02 7.97413960e-04 9.99750899e-01 -1.24350996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481346184 meters 0.07406608619750674 Centerline is valid? [True, True] Translation: X:23.62, Y:-1.77, Z:-1.25 [[ 9.99024016e-01 3.81895141e-02 2.21940777e-02 2.36249897e+01] [-3.81619052e-02 9.99270180e-01 -1.66633769e-03 -1.76946348e+00] [-2.22415167e-02 8.17743085e-04 9.99752292e-01 -1.24610927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.511346183999997 meters 0.07455760433632627 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.77, Z:-1.25 [[ 9.99054549e-01 3.71707976e-02 2.25464037e-02 2.36532409e+01] [-3.71421035e-02 9.99308565e-01 -1.69024539e-03 -1.77172703e+00] [-2.25936421e-02 8.51226483e-04 9.99744369e-01 -1.24711985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541346184 meters 0.07383190173047594 Centerline is valid? [True, True] Translation: X:23.68, Y:-1.77, Z:-1.25 [[ 9.99038875e-01 3.75067578e-02 2.26841004e-02 2.36826812e+01] [-3.74778328e-02 9.99296015e-01 -1.69905784e-03 -1.76996921e+00] [-2.27318572e-02 8.47273917e-04 9.99741239e-01 -1.24581483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.571346184 meters 0.07273925111952159 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.77, Z:-1.25 [[ 9.99014974e-01 3.79058998e-02 2.30699814e-02 2.37117872e+01] [-3.78761249e-02 9.99280951e-01 -1.72638370e-03 -1.76814098e+00] [-2.31188331e-02 8.50881670e-04 9.99732362e-01 -1.24524919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601346183999997 meters 0.07347083969087076 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.77, Z:-1.25 [[ 9.98939534e-01 3.92666715e-02 2.40402810e-02 2.37396722e+01] [-3.92347771e-02 9.99228404e-01 -1.79713099e-03 -1.77185646e+00] [-2.40922990e-02 8.52010124e-04 9.99709375e-01 -1.24849722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.631346183999998 meters 0.07216416630487396 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.77, Z:-1.25 [[ 9.98876334e-01 4.00203577e-02 2.53858408e-02 2.37688213e+01] [-3.99850859e-02 9.99198478e-01 -1.89572100e-03 -1.76953145e+00] [-2.54413609e-02 8.78535814e-04 9.99675930e-01 -1.24698636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661346184 meters 0.07228785676032169 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.77, Z:-1.25 [[ 9.98878363e-01 3.98605624e-02 2.55568410e-02 2.37969391e+01] [-3.98247854e-02 9.99204858e-01 -1.90755827e-03 -1.77115191e+00] [-2.56125560e-02 8.87622974e-04 9.99671551e-01 -1.24870574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.691346183999997 meters 0.07220893433025516 Centerline is valid? [True, True] Translation: X:23.82, Y:-1.77, Z:-1.25 [[ 9.98849297e-01 4.07837849e-02 2.52342175e-02 2.38241527e+01] [-4.07492764e-02 9.99167634e-01 -1.88045692e-03 -1.77389592e+00] [-2.52899055e-02 8.50016966e-04 9.99679798e-01 -1.25226606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.721346183999998 meters 0.07149369065782506 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.77, Z:-1.26 [[ 9.98824657e-01 4.22564919e-02 2.37422251e-02 2.38525877e+01] [-4.22264123e-02 9.99106505e-01 -1.76706835e-03 -1.77430554e+00] [-2.37956817e-02 7.62442448e-04 9.99716552e-01 -1.25656304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.751346184 meters 0.07230859289076406 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.78, Z:-1.26 [[ 9.98828146e-01 4.26508291e-02 2.28744897e-02 2.38800122e+01] [-4.26230349e-02 9.99089777e-01 -1.70147637e-03 -1.77676543e+00] [-2.29262382e-02 7.24502314e-04 9.99736897e-01 -1.25979946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.781346183999997 meters 0.07279363614349867 Centerline is valid? [True, True] Translation: X:23.91, Y:-1.78, Z:-1.26 [[ 9.98875345e-01 4.19938589e-02 2.20127249e-02 2.39074424e+01] [-4.19680020e-02 9.99117617e-01 -1.63549536e-03 -1.77827210e+00] [-2.20619820e-02 7.09825908e-04 9.99756353e-01 -1.26175609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.811346183999998 meters 0.07250621521501045 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.78, Z:-1.26 [[ 9.98973169e-01 3.97552402e-02 2.17285313e-02 2.39358383e+01] [-3.97295548e-02 9.99209168e-01 -1.61268491e-03 -1.78004972e+00] [-2.17754603e-02 7.47764080e-04 9.99762607e-01 -1.26088609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841346184 meters 0.0727624609381298 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.78, Z:-1.26 [[ 9.99008149e-01 3.85329923e-02 2.23142657e-02 2.39639779e+01] [-3.85056443e-02 9.99257014e-01 -1.65411576e-03 -1.78328151e+00] [-2.23614246e-02 7.93249940e-04 9.99749637e-01 -1.26123982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.871346183999997 meters 0.07371475194099866 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.79, Z:-1.26 [[ 9.99044830e-01 3.71045571e-02 2.30798670e-02 2.39911879e+01] [-3.70749701e-02 9.99311026e-01 -1.70867100e-03 -1.78833496e+00] [-2.31273650e-02 8.51353551e-04 9.99732164e-01 -1.26280088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901346183999998 meters 0.07471908121622385 Centerline is valid? [True, True] Translation: X:24.02, Y:-1.79, Z:-1.26 [[ 9.99123737e-01 3.46846755e-02 2.34250042e-02 2.40182375e+01] [-3.46535723e-02 9.99397883e-01 -1.73253349e-03 -1.79378420e+00] [-2.34709920e-02 9.19255254e-04 9.99724096e-01 -1.26456436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.931346184 meters 0.07642603865721039 Centerline is valid? [True, True] Translation: X:24.05, Y:-1.80, Z:-1.27 [[ 9.99231742e-01 3.13871033e-02 2.34685993e-02 2.40464412e+01] [-3.13550655e-02 9.99506808e-01 -1.73195864e-03 -1.80119989e+00] [-2.35113859e-02 9.94768578e-04 9.99723074e-01 -1.26781269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961346183999996 meters 0.07653769532308609 Centerline is valid? [True, True] Translation: X:24.08, Y:-1.80, Z:-1.27 [[ 9.99272008e-01 2.96490901e-02 2.40080236e-02 2.40750147e+01] [-2.96150814e-02 9.99559808e-01 -1.77094671e-03 -1.80330265e+00] [-2.40499624e-02 1.05865791e-03 9.99710197e-01 -1.26840426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.991346183999998 meters 0.07727795400841404 Centerline is valid? [True, True] Translation: X:24.10, Y:-1.81, Z:-1.27 [[ 9.99323207e-01 2.79529398e-02 2.39115218e-02 2.41032935e+01] [-2.79187580e-02 9.99608642e-01 -1.76222095e-03 -1.80682746e+00] [-2.39514231e-02 1.09344830e-03 9.99712526e-01 -1.26954940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.021346184 meters 0.07689367759126137 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.81, Z:-1.27 [[ 9.99392779e-01 2.55004293e-02 2.37445193e-02 2.41322695e+01] [-2.54660806e-02 9.99674159e-01 -1.74790515e-03 -1.80877321e+00] [-2.37813547e-02 1.14216395e-03 9.99716531e-01 -1.26901358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.051346184 meters 0.07981425263395568 Centerline is valid? [True, True] Translation: X:24.16, Y:-1.82, Z:-1.27 [[ 9.99433131e-01 2.13363314e-02 2.60418263e-02 2.41612299e+01] [-2.12936676e-02 9.99771431e-01 -1.91452616e-03 -1.81748670e+00] [-2.60767229e-02 1.35891488e-03 9.99659021e-01 -1.26796712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.081346183999997 meters 0.07890071290611893 Centerline is valid? [True, True] Translation: X:24.19, Y:-1.82, Z:-1.27 [[ 9.99457381e-01 1.98229281e-02 2.63057864e-02 2.41927505e+01] [-1.97789177e-02 9.99802511e-01 -1.93219560e-03 -1.81739477e+00] [-2.63388931e-02 1.41084717e-03 9.99652076e-01 -1.26691839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.111346184 meters 0.07840651627258295 Centerline is valid? [True, True] Translation: X:24.22, Y:-1.82, Z:-1.27 [[ 9.99497298e-01 1.87676873e-02 2.55524182e-02 2.42245534e+01] [-1.87259235e-02 9.99822901e-01 -1.87276012e-03 -1.81853257e+00] [-2.55830402e-02 1.39332605e-03 9.99671729e-01 -1.26783257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141346184 meters 0.08101263051904599 Centerline is valid? [True, True] Translation: X:24.25, Y:-1.83, Z:-1.27 [[ 9.99512466e-01 1.84330390e-02 2.52002596e-02 2.42549981e+01] [-1.83921671e-02 9.99829133e-01 -1.85272595e-03 -1.82800449e+00] [-2.52301051e-02 1.38833530e-03 9.99680706e-01 -1.27401890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.171346183999997 meters 0.0794816517180931 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.83, Z:-1.27 [[ 9.99522950e-01 1.86182205e-02 2.46421373e-02 2.42878240e+01] [-1.85790714e-02 9.99825744e-01 -1.81672281e-03 -1.82750131e+00] [-2.46716673e-02 1.35802812e-03 9.99694686e-01 -1.27445863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201346184 meters 0.07895807027535502 Centerline is valid? [True, True] Translation: X:24.32, Y:-1.83, Z:-1.28 [[ 9.99507542e-01 2.00552674e-02 2.41342115e-02 2.43196080e+01] [-2.00178833e-02 9.99798020e-01 -1.78963079e-03 -1.82916152e+00] [-2.41652284e-02 1.30563364e-03 9.99707126e-01 -1.27695392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.231346184 meters 0.07794550911956534 Centerline is valid? [True, True] Translation: X:24.35, Y:-1.83, Z:-1.28 [[ 9.99469843e-01 2.18706299e-02 2.41186340e-02 2.43504894e+01] [-2.18337434e-02 9.99760010e-01 -1.79168784e-03 -1.82931115e+00] [-2.41520311e-02 1.26413789e-03 9.99707498e-01 -1.27905435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261346183999997 meters 0.07746066027730304 Centerline is valid? [True, True] Translation: X:24.38, Y:-1.83, Z:-1.28 [[ 9.99340279e-01 2.63772438e-02 2.49649434e-02 2.43803277e+01] [-2.63390930e-02 9.99651343e-01 -1.85583092e-03 -1.82748525e+00] [-2.50051909e-02 1.19705262e-03 9.99686605e-01 -1.28069823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.291346184 meters 0.07531783070758925 Centerline is valid? [True, True] Translation: X:24.41, Y:-1.82, Z:-1.28 [[ 9.99282268e-01 2.84230033e-02 2.50416116e-02 2.44105553e+01] [-2.83852524e-02 9.99595324e-01 -1.86177084e-03 -1.82257773e+00] [-2.50843949e-02 1.14962213e-03 9.99684676e-01 -1.27901783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321346184 meters 0.07516182844768399 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.82, Z:-1.28 [[ 9.99230980e-01 2.95251212e-02 2.58014675e-02 2.44398766e+01] [-2.94854247e-02 9.99563371e-01 -1.91771615e-03 -1.82311659e+00] [-2.58468226e-02 1.15547416e-03 9.99665247e-01 -1.27992365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.351346183999997 meters 0.07575413829226985 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.83, Z:-1.28 [[ 9.99102843e-01 3.14713418e-02 2.83383820e-02 2.44684887e+01] [-3.14242954e-02 9.99503920e-01 -2.10409282e-03 -1.82699649e+00] [-2.83905426e-02 1.21169143e-03 9.99596173e-01 -1.28079107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381346183999998 meters 0.07379084407623668 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.82, Z:-1.28 [[ 9.99010353e-01 3.27766348e-02 3.00667002e-02 2.44981022e+01] [-3.27242868e-02 9.99461926e-01 -2.23161223e-03 -1.82471237e+00] [-3.01236669e-02 1.24549240e-03 9.99545403e-01 -1.27968811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.411346184 meters 0.07378267612338799 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.83, Z:-1.28 [[ 9.99026664e-01 3.28035929e-02 2.94897938e-02 2.45264859e+01] [-3.27532807e-02 9.99461073e-01 -2.18765089e-03 -1.82688705e+00] [-2.95456638e-02 1.21963408e-03 9.99562688e-01 -1.28310041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441346183999997 meters 0.07435072503142408 Centerline is valid? [True, True] Translation: X:24.55, Y:-1.83, Z:-1.29 [[ 9.99110088e-01 3.27263581e-02 2.66085952e-02 2.45542273e+01] [-3.26854252e-02 9.99463743e-01 -1.97193141e-03 -1.83293221e+00] [-2.66588603e-02 1.10046331e-03 9.99643984e-01 -1.29040505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.471346183999998 meters 0.07501163223090593 Centerline is valid? [True, True] Translation: X:24.58, Y:-1.84, Z:-1.29 [[ 9.99141914e-01 3.23124509e-02 2.59102436e-02 2.45815617e+01] [-3.22735120e-02 9.99477231e-01 -1.91971714e-03 -1.83689054e+00] [-2.59587293e-02 1.08185530e-03 9.99662430e-01 -1.29374974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.501346184 meters 0.07434730738926952 Centerline is valid? [True, True] Translation: X:24.61, Y:-1.84, Z:-1.29 [[ 9.99184645e-01 3.18988411e-02 2.47489260e-02 2.46106009e+01] [-3.18632478e-02 9.99490560e-01 -1.83129708e-03 -1.83667511e+00] [-2.47947342e-02 1.04122276e-03 9.99692021e-01 -1.29374481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.531346183999997 meters 0.07485067873332388 Centerline is valid? [True, True] Translation: X:24.64, Y:-1.84, Z:-1.29 [[ 9.99183307e-01 3.18481919e-02 2.48678908e-02 2.46382391e+01] [-3.18122736e-02 9.99492170e-01 -1.83874422e-03 -1.83874981e+00] [-2.49138228e-02 1.04613839e-03 9.99689055e-01 -1.29437674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.561346183999998 meters 0.07526488057402582 Centerline is valid? [True, True] Translation: X:24.67, Y:-1.84, Z:-1.29 [[ 9.99164429e-01 3.23595760e-02 2.49660020e-02 2.46664019e+01] [-3.23235895e-02 9.99475756e-01 -1.84374056e-03 -1.84061819e+00] [-2.50125764e-02 1.03520919e-03 9.99686601e-01 -1.29452223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.591346184 meters 0.07474310874984154 Centerline is valid? [True, True] Translation: X:24.70, Y:-1.84, Z:-1.29 [[ 9.99146220e-01 3.26970561e-02 2.52533861e-02 2.46951000e+01] [-3.26604120e-02 9.99464771e-01 -1.86226732e-03 -1.84207503e+00] [-2.53007604e-02 1.03589136e-03 9.99679348e-01 -1.29468493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621346183999997 meters 0.0739354089238846 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.84, Z:-1.29 [[ 9.99108344e-01 3.27466951e-02 2.66490361e-02 2.47236732e+01] [-3.27059587e-02 9.99463089e-01 -1.96317764e-03 -1.84314007e+00] [-2.66990155e-02 1.08984488e-03 9.99642924e-01 -1.29459708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.651346183999998 meters 0.07553956110495354 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.85, Z:-1.30 [[ 9.99093511e-01 3.30131504e-02 2.68754146e-02 2.47509204e+01] [-3.29718561e-02 9.99454323e-01 -1.97832778e-03 -1.84960766e+00] [-2.69260602e-02 1.09040215e-03 9.99636833e-01 -1.29802741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681346184 meters 0.07482544357440894 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.85, Z:-1.30 [[ 9.99120155e-01 3.33562928e-02 2.54218935e-02 2.47797253e+01] [-3.33195194e-02 9.99443003e-01 -1.86886506e-03 -1.84995776e+00] [-2.54700720e-02 1.02017548e-03 9.99675065e-01 -1.30124940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.711346183999996 meters 0.07482724842583104 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.85, Z:-1.31 [[ 9.99145758e-01 3.32900449e-02 2.44852390e-02 2.48081491e+01] [-3.32559497e-02 9.99445250e-01 -1.79847653e-03 -1.85408268e+00] [-2.45315272e-02 9.82660321e-04 9.99698574e-01 -1.30511296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741346183999998 meters 0.07518405822425743 Centerline is valid? [True, True] Translation: X:24.83, Y:-1.86, Z:-1.31 [[ 9.99165010e-01 3.33390379e-02 2.36176041e-02 2.48346871e+01] [-3.33073557e-02 9.99443652e-01 -1.73368354e-03 -1.86291024e+00] [-2.36622638e-02 9.45595992e-04 9.99719562e-01 -1.31040030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.771346184 meters 0.07406089056171256 Centerline is valid? [True, True] Translation: X:24.86, Y:-1.86, Z:-1.31 [[ 9.99159481e-01 3.31121050e-02 2.41644258e-02 2.48636857e+01] [-3.30789345e-02 9.99451173e-01 -1.77124344e-03 -1.86255769e+00] [-2.42098133e-02 9.70421218e-04 9.99706429e-01 -1.30879249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.801346183999996 meters 0.07417801229486205 Centerline is valid? [True, True] Translation: X:24.89, Y:-1.86, Z:-1.31 [[ 9.99156251e-01 3.30432610e-02 2.43911595e-02 2.48923692e+01] [-3.30094878e-02 9.99453442e-01 -1.78609403e-03 -1.86397842e+00] [-2.44368467e-02 9.79447340e-04 9.99700896e-01 -1.30833827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.831346183999997 meters 0.07525640874068282 Centerline is valid? [True, True] Translation: X:24.92, Y:-1.87, Z:-1.31 [[ 9.99138135e-01 3.30737620e-02 2.50821204e-02 2.49201658e+01] [-3.30380934e-02 9.99452408e-01 -1.83525493e-03 -1.86811705e+00] [-2.51290844e-02 1.00500775e-03 9.99683710e-01 -1.30892901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.861346184 meters 0.07423110735916084 Centerline is valid? [True, True] Translation: X:24.95, Y:-1.87, Z:-1.31 [[ 9.99066501e-01 3.44708081e-02 2.60363065e-02 2.49491929e+01] [-3.44329224e-02 9.99405201e-01 -1.90217569e-03 -1.87025803e+00] [-2.60863897e-02 1.00389389e-03 9.99659188e-01 -1.30878372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.891346184 meters 0.07376136344424147 Centerline is valid? [True, True] Translation: X:24.98, Y:-1.87, Z:-1.31 [[ 9.99043448e-01 3.47589610e-02 2.65330752e-02 2.49782365e+01] [-3.47197773e-02 9.99395211e-01 -1.93619487e-03 -1.87414063e+00] [-2.65843284e-02 1.01312034e-03 9.99646061e-01 -1.31081598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.921346183999997 meters 0.0740134198160888 Centerline is valid? [True, True] Translation: X:25.01, Y:-1.88, Z:-1.31 [[ 9.99003814e-01 3.51697582e-02 2.74675580e-02 2.50055149e+01] [-3.51279401e-02 9.99380815e-01 -2.00365527e-03 -1.87907733e+00] [-2.75210185e-02 1.03678053e-03 9.99620687e-01 -1.31328455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.951346184 meters 0.07363422837427251 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.88, Z:-1.31 [[ 9.99016063e-01 3.51741842e-02 2.70126419e-02 2.50337434e+01] [-3.51338130e-02 9.99380680e-01 -1.96783776e-03 -1.88203475e+00] [-2.70651295e-02 1.01684442e-03 9.99633155e-01 -1.31477610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981346184 meters 0.07403425883526216 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.89, Z:-1.32 [[ 9.99124243e-01 3.35548275e-02 2.49964100e-02 2.50633936e+01] [-3.35198119e-02 9.99436399e-01 -1.81862924e-03 -1.88583796e+00] [-2.50433457e-02 9.79161601e-04 9.99685887e-01 -1.31657965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.011346183999997 meters 0.0746935037882338 Centerline is valid? [True, True] Translation: X:25.09, Y:-1.89, Z:-1.32 [[ 9.99138480e-01 3.36136701e-02 2.43396628e-02 2.50904391e+01] [-3.35804749e-02 9.99434447e-01 -1.77139216e-03 -1.88984114e+00] [-2.43854404e-02 9.52528636e-04 9.99702177e-01 -1.31911337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.041346184 meters 0.07361850888882099 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.89, Z:-1.32 [[ 9.99084737e-01 3.43480874e-02 2.54930651e-02 2.51192019e+01] [-3.43119813e-02 9.99409454e-01 -1.85252309e-03 -1.89015117e+00] [-2.55416409e-02 9.76109971e-04 9.99673283e-01 -1.31816212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.071346184 meters 0.07245410279386406 Centerline is valid? [True, True] Translation: X:25.15, Y:-1.89, Z:-1.32 [[ 9.99012646e-01 3.51237508e-02 2.72039670e-02 2.51477809e+01] [-3.50829781e-02 9.99382452e-01 -1.97476180e-03 -1.89085754e+00] [-2.72565282e-02 1.01841584e-03 9.99627953e-01 -1.31634879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.101346183999997 meters 0.07262525288405995 Centerline is valid? [True, True] Translation: X:25.18, Y:-1.89, Z:-1.32 [[ 9.99006574e-01 3.49597882e-02 2.76347259e-02 2.51759255e+01] [-3.49177076e-02 9.99388182e-01 -2.00399131e-03 -1.89398995e+00] [-2.76878776e-02 1.03705922e-03 9.99616079e-01 -1.31738557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.131346183999998 meters 0.07272847111966356 Centerline is valid? [True, True] Translation: X:25.20, Y:-1.90, Z:-1.32 [[ 9.99005814e-01 3.46413479e-02 2.80599337e-02 2.52044765e+01] [-3.45978939e-02 9.99399246e-01 -2.03278662e-03 -1.89593061e+00] [-2.81134951e-02 1.05995105e-03 9.99604176e-01 -1.31771087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.161346184 meters 0.07385190862022195 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.90, Z:-1.32 [[ 9.98993637e-01 3.43533487e-02 2.88367977e-02 2.52319648e+01] [-3.43073819e-02 9.99409149e-01 -2.08742827e-03 -1.90093613e+00] [-2.88914696e-02 1.09601252e-03 9.99581953e-01 -1.31983320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.191346183999997 meters 0.07332203557378791 Centerline is valid? [True, True] Translation: X:25.26, Y:-1.90, Z:-1.32 [[ 9.98966569e-01 3.46112955e-02 2.94593327e-02 2.52605524e+01] [-3.45635338e-02 9.99400235e-01 -2.12910543e-03 -1.90384491e+00] [-2.95153551e-02 1.10868650e-03 9.99563712e-01 -1.32008523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.221346183999998 meters 0.0733566267145909 Centerline is valid? [True, True] Translation: X:25.29, Y:-1.91, Z:-1.32 [[ 9.98927656e-01 3.55611838e-02 2.96469169e-02 2.52879188e+01] [-3.55132802e-02 9.99366911e-01 -2.14095025e-03 -1.90760866e+00] [-2.97042825e-02 1.08579515e-03 9.99558141e-01 -1.32301930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.251346184 meters 0.0721810797652936 Centerline is valid? [True, True] Translation: X:25.32, Y:-1.91, Z:-1.32 [[ 9.98918445e-01 3.58750704e-02 2.95790346e-02 2.53168573e+01] [-3.58276074e-02 9.99355708e-01 -2.13321765e-03 -1.90798921e+00] [-2.96365064e-02 1.07116442e-03 9.99560168e-01 -1.32374576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.281346183999997 meters 0.07217856848220044 Centerline is valid? [True, True] Translation: X:25.34, Y:-1.91, Z:-1.33 [[ 9.98908843e-01 3.60272942e-02 2.97179665e-02 2.53445847e+01] [-3.59795039e-02 9.99350234e-01 -2.14147560e-03 -1.91125967e+00] [-2.97758083e-02 1.06990122e-03 9.99556030e-01 -1.32535940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.311346183999998 meters 0.07255208511839996 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.91, Z:-1.33 [[ 9.98940486e-01 3.61440821e-02 2.84870306e-02 2.53722210e+01] [-3.61002844e-02 9.99346069e-01 -2.05043213e-03 -1.91349808e+00] [-2.85425130e-02 1.01986976e-03 9.99592059e-01 -1.32718014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.341346184 meters 0.07255208511839996 Centerline is valid? [True, True] Translation: X:25.40, Y:-1.92, Z:-1.33 [[ 9.98942978e-01 3.60749910e-02 2.84872346e-02 2.54004301e+01] [-3.60312462e-02 9.99348566e-01 -2.04759198e-03 -1.91543488e+00] [-2.85425439e-02 1.01899707e-03 9.99592059e-01 -1.32861545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.371346183999997 meters 0.07261474032942594 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.92, Z:-1.33 [[ 9.98964944e-01 3.60733291e-02 2.77084120e-02 2.54276697e+01] [-3.60319838e-02 9.99348656e-01 -1.99016401e-03 -1.91719464e+00] [-2.77621561e-02 9.89715025e-04 9.99614067e-01 -1.33009475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.401346183999998 meters 0.07277269961362165 Centerline is valid? [True, True] Translation: X:25.46, Y:-1.92, Z:-1.33 [[ 9.98967476e-01 3.64579551e-02 2.71071928e-02 2.54562138e+01] [-3.64185986e-02 9.99334731e-01 -1.94432404e-03 -1.91997183e+00] [-2.71600453e-02 9.55110507e-04 9.99630642e-01 -1.33265207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.431346184 meters 0.07244258581754476 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.93, Z:-1.33 [[ 9.98920004e-01 3.63442766e-02 2.89468196e-02 2.54848470e+01] [-3.62994114e-02 9.99338807e-01 -2.07407134e-03 -1.92514765e+00] [-2.90030608e-02 1.02107884e-03 9.99578801e-01 -1.33294130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461346183999996 meters 0.07164839893512229 Centerline is valid? [True, True] Translation: X:25.51, Y:-1.93, Z:-1.33 [[ 9.98914516e-01 3.57850734e-02 2.98197665e-02 2.55132893e+01] [-3.57372746e-02 9.99358940e-01 -2.13451133e-03 -1.92728325e+00] [-2.98770338e-02 1.06651717e-03 9.99553013e-01 -1.33204929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.491346183999998 meters 0.07160116217435615 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.93, Z:-1.33 [[ 9.98886921e-01 3.56667613e-02 3.08674652e-02 2.55420833e+01] [-3.56155590e-02 9.99363127e-01 -2.20718062e-03 -1.93104061e+00] [-3.09265295e-02 1.10536182e-03 9.99521049e-01 -1.33159722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521346184 meters 0.07174470947882744 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.93, Z:-1.33 [[ 9.98872847e-01 3.62394810e-02 3.06551049e-02 2.55693916e+01] [-3.61893036e-02 9.99342552e-01 -2.19026466e-03 -1.93339504e+00] [-3.07143249e-02 1.07840900e-03 9.99527622e-01 -1.33190254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.551346183999996 meters 0.07180475308024818 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.93, Z:-1.33 [[ 9.98919345e-01 3.62120481e-02 2.91346709e-02 2.55983925e+01] [-3.61667999e-02 9.99343605e-01 -2.07871295e-03 -1.93491568e+00] [-2.91908215e-02 1.02275876e-03 9.99573334e-01 -1.33394748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581346183999997 meters 0.07171445822799291 Centerline is valid? [True, True] Translation: X:25.63, Y:-1.94, Z:-1.34 [[ 9.98972291e-01 3.61394702e-02 2.73550805e-02 2.56268190e+01] [-3.60996013e-02 9.99346294e-01 -1.95006530e-03 -1.93741497e+00] [-2.74076726e-02 9.60553705e-04 9.99623878e-01 -1.33702600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.611346184 meters 0.07281359766205538 Centerline is valid? [True, True] Translation: X:25.65, Y:-1.94, Z:-1.34 [[ 9.99053459e-01 3.51609717e-02 2.56103895e-02 2.56537893e+01] [-3.51257249e-02 9.99381235e-01 -1.82497628e-03 -1.94489914e+00] [-2.56587106e-02 9.23665366e-04 9.99670334e-01 -1.34306639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.641346184 meters 0.07227233315546043 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.95, Z:-1.35 [[ 9.99207764e-01 3.27979804e-02 2.25418835e-02 2.56823159e+01] [-3.27701345e-02 9.99461628e-01 -1.60368398e-03 -1.95230169e+00] [-2.25823452e-02 8.63712923e-04 9.99744613e-01 -1.34804714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.671346183999997 meters 0.07373021461293698 Centerline is valid? [True, True] Translation: X:25.71, Y:-1.96, Z:-1.35 [[ 9.99258099e-01 3.10585221e-02 2.27732143e-02 2.57092660e+01] [-3.10296779e-02 9.99517152e-01 -1.61894816e-03 -1.95999632e+00] [-2.28125005e-02 9.11101551e-04 9.99739346e-01 -1.35111584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701346184 meters 0.07443639593316508 Centerline is valid? [True, True] Translation: X:25.74, Y:-1.96, Z:-1.35 [[ 9.99257287e-01 2.99389555e-02 2.42597011e-02 2.57369867e+01] [-2.99059516e-02 9.99551233e-01 -1.72219098e-03 -1.96471525e+00] [-2.43003748e-02 9.95402444e-04 9.99704207e-01 -1.35088317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.731346184 meters 0.07390176475283297 Centerline is valid? [True, True] Translation: X:25.77, Y:-1.97, Z:-1.35 [[ 9.99309601e-01 2.84245424e-02 2.39241778e-02 2.57658056e+01] [-2.83920783e-02 9.99595426e-01 -1.69561336e-03 -1.96502502e+00] [-2.39626957e-02 1.01518558e-03 9.99712338e-01 -1.34896141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761346183999997 meters 0.07360100407186865 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.97, Z:-1.35 [[ 9.99311104e-01 2.73893624e-02 2.50427631e-02 2.57948086e+01] [-2.73535143e-02 9.99624250e-01 -1.77297614e-03 -1.96648389e+00] [-2.50819139e-02 1.08674716e-03 9.99684809e-01 -1.34723347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.791346184 meters 0.07500015490061104 Centerline is valid? [True, True] Translation: X:25.82, Y:-1.97, Z:-1.35 [[ 9.99340667e-01 2.65798674e-02 2.47334030e-02 2.58232130e+01] [-2.65447074e-02 9.99646097e-01 -1.74885485e-03 -1.97253074e+00] [-2.47711342e-02 1.09116083e-03 9.99692553e-01 -1.35125577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821346184 meters 0.07622434637849339 Centerline is valid? [True, True] Translation: X:25.85, Y:-1.98, Z:-1.36 [[ 9.99367690e-01 2.57766757e-02 2.44904667e-02 2.58514251e+01] [-2.57420006e-02 9.99667123e-01 -1.73012516e-03 -1.97901562e+00] [-2.45269113e-02 1.09859757e-03 9.99698566e-01 -1.35592396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.851346183999997 meters 0.0763775490759405 Centerline is valid? [True, True] Translation: X:25.88, Y:-1.98, Z:-1.36 [[ 9.99507062e-01 2.31839381e-02 2.11692735e-02 2.58813240e+01] [-2.31574804e-02 9.99730713e-01 -1.49413607e-03 -1.98308473e+00] [-2.11982128e-02 1.00317252e-03 9.99774789e-01 -1.36140764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881346183999998 meters 0.07765140515580245 Centerline is valid? [True, True] Translation: X:25.91, Y:-1.99, Z:-1.37 [[ 9.99569805e-01 2.12745564e-02 2.01890553e-02 2.59103458e+01] [-2.12501205e-02 9.99773176e-01 -1.42414103e-03 -1.98819877e+00] [-2.02147739e-02 9.94508512e-04 9.99795166e-01 -1.36514784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.911346184 meters 0.07664670120557224 Centerline is valid? [True, True] Translation: X:25.94, Y:-1.99, Z:-1.37 [[ 9.99613068e-01 1.94083434e-02 1.99256272e-02 2.59408052e+01] [-1.93841725e-02 9.99811121e-01 -1.40549896e-03 -1.98794010e+00] [-1.99491421e-02 1.01871334e-03 9.99800477e-01 -1.36510306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.941346183999997 meters 0.07773908819713853 Centerline is valid? [True, True] Translation: X:25.97, Y:-1.99, Z:-1.36 [[ 9.99676583e-01 1.58204449e-02 1.99108880e-02 2.59717196e+01] [-1.57956111e-02 9.99874256e-01 -1.40390738e-03 -1.99008757e+00] [-1.99305947e-02 1.08894869e-03 9.99800773e-01 -1.36268697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.971346183999998 meters 0.07792257451788331 Centerline is valid? [True, True] Translation: X:26.00, Y:-1.99, Z:-1.36 [[ 9.99642425e-01 1.54498344e-02 2.18248743e-02 2.60038312e+01] [-1.54200435e-02 9.99879929e-01 -1.53263995e-03 -1.99240636e+00] [-2.18459328e-02 1.19555140e-03 9.99760634e-01 -1.36205018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001346184 meters 0.07847823228560138 Centerline is valid? [True, True] Translation: X:26.03, Y:-2.00, Z:-1.36 [[ 9.99611492e-01 1.59833896e-02 2.28340878e-02 2.60348447e+01] [-1.59507042e-02 9.99871479e-01 -1.61285927e-03 -1.99670573e+00] [-2.28569321e-02 1.24801289e-03 9.99737967e-01 -1.36379350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.031346183999997 meters 0.07911396869252432 Centerline is valid? [True, True] Translation: X:26.07, Y:-2.00, Z:-1.37 [[ 9.99575053e-01 1.64313591e-02 2.40774656e-02 2.60655771e+01] [-1.63951088e-02 9.99864142e-01 -1.70221560e-03 -2.00146018e+00] [-2.41021642e-02 1.30673958e-03 9.99708647e-01 -1.36529385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061346183999998 meters 0.07874153527082646 Centerline is valid? [True, True] Translation: X:26.10, Y:-2.00, Z:-1.37 [[ 9.99554644e-01 1.74859671e-02 2.41817142e-02 2.60981406e+01] [-1.74495818e-02 9.99846274e-01 -1.71487101e-03 -2.00112183e+00] [-2.42079830e-02 1.29214649e-03 9.99706109e-01 -1.36635510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.091346184 meters 0.0786037418590016 Centerline is valid? [True, True] Translation: X:26.13, Y:-2.00, Z:-1.37 [[ 9.99565253e-01 1.77704054e-02 2.35269591e-02 2.61308546e+01] [-1.77359157e-02 9.99841305e-01 -1.67383584e-03 -2.00090125e+00] [-2.35529702e-02 1.25583599e-03 9.99721802e-01 -1.36759322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121346183999997 meters 0.0781293115983263 Centerline is valid? [True, True] Translation: X:26.16, Y:-2.00, Z:-1.37 [[ 9.99555192e-01 1.86819624e-02 2.32465439e-02 2.61631252e+01] [-1.86484072e-02 9.99824726e-01 -1.65941447e-03 -2.00121864e+00] [-2.32734706e-02 1.22516533e-03 9.99728385e-01 -1.37027591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.151346183999998 meters 0.0785321920256081 Centerline is valid? [True, True] Translation: X:26.19, Y:-2.01, Z:-1.38 [[ 9.99539638e-01 2.00728854e-02 2.27506328e-02 2.61939901e+01] [-2.00409706e-02 9.99797831e-01 -1.62996720e-03 -2.00507715e+00] [-2.27787515e-02 1.17327207e-03 9.99739842e-01 -1.37613923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.181346184 meters 0.07753067367567994 Centerline is valid? [True, True] Translation: X:26.23, Y:-2.00, Z:-1.38 [[ 9.99540872e-01 2.09134644e-02 2.19242306e-02 2.62254342e+01] [-2.08838053e-02 9.99780660e-01 -1.58090839e-03 -2.00476344e+00] [-2.19524840e-02 1.12232118e-03 9.99758385e-01 -1.37784255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.211346183999996 meters 0.07643757974429462 Centerline is valid? [True, True] Translation: X:26.26, Y:-2.00, Z:-1.38 [[ 9.99529966e-01 2.15143349e-02 2.18398906e-02 2.62556370e+01] [-2.14850078e-02 9.99767927e-01 -1.57660483e-03 -2.00387188e+00] [-2.18687418e-02 1.10663355e-03 9.99760238e-01 -1.37828217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.241346183999998 meters 0.07727260885967087 Centerline is valid? [True, True] Translation: X:26.28, Y:-2.01, Z:-1.38 [[ 9.99510778e-01 2.21347205e-02 2.20965932e-02 2.62849133e+01] [-2.21048677e-02 9.99754386e-01 -1.59438416e-03 -2.00824795e+00] [-2.21264573e-02 1.10516188e-03 9.99754569e-01 -1.38079358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.271346184 meters 0.07692289274117564 Centerline is valid? [True, True] Translation: X:26.31, Y:-2.01, Z:-1.38 [[ 9.99515895e-01 2.19665063e-02 2.20328937e-02 2.63142826e+01] [-2.19367329e-02 9.99758093e-01 -1.59213434e-03 -2.00897107e+00] [-2.20625374e-02 1.10803387e-03 9.99755979e-01 -1.38134512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.301346183999996 meters 0.07660512138945033 Centerline is valid? [True, True] Translation: X:26.34, Y:-2.01, Z:-1.38 [[ 9.99541297e-01 2.20334082e-02 2.07779635e-02 2.63443706e+01] [-2.20069873e-02 9.99756693e-01 -1.49941033e-03 -2.00929599e+00] [-2.08059452e-02 1.04146217e-03 9.99782990e-01 -1.38270477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.331346183999997 meters 0.07818770168947063 Centerline is valid? [True, True] Translation: X:26.37, Y:-2.01, Z:-1.39 [[ 9.99570124e-01 2.16756539e-02 1.97416569e-02 2.63729970e+01] [-2.16516901e-02 9.99764557e-01 -1.42682759e-03 -2.01322037e+00] [-1.97679363e-02 9.98773995e-04 9.99804096e-01 -1.38646683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361346184 meters 0.0791852543146098 Centerline is valid? [True, True] Translation: X:26.40, Y:-2.02, Z:-1.39 [[ 9.99623795e-01 2.06993623e-02 1.79945884e-02 2.64029328e+01] [-2.06793396e-02 9.99785317e-01 -1.29809244e-03 -2.01642346e+00] [-1.80175950e-02 9.25487884e-04 9.99837242e-01 -1.39010367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.391346184 meters 0.0800705071022946 Centerline is valid? [True, True] Translation: X:26.43, Y:-2.02, Z:-1.39 [[ 9.99680384e-01 1.84314234e-02 1.73035676e-02 2.64325188e+01] [-1.84125601e-02 9.99829695e-01 -1.24883091e-03 -2.02052640e+00] [-1.73236384e-02 9.29828783e-04 9.99849502e-01 -1.39420068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421346183999997 meters 0.08057192505227162 Centerline is valid? [True, True] Translation: X:26.46, Y:-2.02, Z:-1.40 [[ 9.99713434e-01 1.77262940e-02 1.60881296e-02 2.64618095e+01] [-1.77098908e-02 9.99842493e-01 -1.16149163e-03 -2.02437040e+00] [-1.61061845e-02 8.76239770e-04 9.99869903e-01 -1.39801298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.451346184 meters 0.08087075025471774 Centerline is valid? [True, True] Translation: X:26.49, Y:-2.03, Z:-1.40 [[ 9.99723094e-01 1.79318479e-02 1.52375990e-02 2.64911675e+01] [-1.79171640e-02 9.99838870e-01 -1.09963876e-03 -2.02773002e+00] [-1.52548624e-02 8.26319703e-04 9.99883296e-01 -1.40099344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.481346184 meters 0.08154415209949188 Centerline is valid? [True, True] Translation: X:26.52, Y:-2.03, Z:-1.40 [[ 9.99702962e-01 1.79880452e-02 1.64444119e-02 2.65195207e+01] [-1.79709528e-02 9.99837805e-01 -1.18659366e-03 -2.03012795e+00] [-1.64630892e-02 8.90719450e-04 9.99864077e-01 -1.40305597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.511346183999997 meters 0.08016618511037463 Centerline is valid? [True, True] Translation: X:26.55, Y:-2.03, Z:-1.40 [[ 9.99673234e-01 1.90112561e-02 1.70879288e-02 2.65495709e+01] [-1.89929752e-02 9.99818859e-01 -1.23148105e-03 -2.02738697e+00] [-1.71082455e-02 9.06528040e-04 9.99853232e-01 -1.40206627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.541346184 meters 0.07965683207095672 Centerline is valid? [True, True] Translation: X:26.58, Y:-2.02, Z:-1.40 [[ 9.99657159e-01 1.98141636e-02 1.71161625e-02 2.65795623e+01] [-1.97959497e-02 9.99803281e-01 -1.23292131e-03 -2.02405547e+00] [-1.71372247e-02 8.93667924e-04 9.99852748e-01 -1.40167604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.571346184 meters 0.07841992456878766 Centerline is valid? [True, True] Translation: X:26.61, Y:-2.02, Z:-1.40 [[ 9.99636328e-01 2.07555029e-02 1.72168685e-02 2.66095691e+01] [-2.07371879e-02 9.99784190e-01 -1.24164756e-03 -2.01796337e+00] [-1.72389240e-02 8.84166574e-04 9.99851008e-01 -1.39931274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601346183999997 meters 0.0786565314800761 Centerline is valid? [True, True] Translation: X:26.64, Y:-2.01, Z:-1.40 [[ 9.99564604e-01 2.31279620e-02 1.83221056e-02 2.66388425e+01] [-2.31076924e-02 9.99732114e-01 -1.31726240e-03 -2.01336526e+00] [-1.83476630e-02 8.93307293e-04 9.99831268e-01 -1.40095478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.631346183999998 meters 0.07649685924618053 Centerline is valid? [True, True] Translation: X:26.67, Y:-2.01, Z:-1.40 [[ 9.99520386e-01 2.42497959e-02 1.92599423e-02 2.66679710e+01] [-2.42275983e-02 9.99705509e-01 -1.38506175e-03 -2.01090690e+00] [-1.92878579e-02 9.17775313e-04 9.99813551e-01 -1.40199999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.661346184 meters 0.07648291028203574 Centerline is valid? [True, True] Translation: X:26.70, Y:-2.01, Z:-1.41 [[ 9.99491804e-01 2.47070664e-02 2.01418446e-02 2.66965499e+01] [-2.46829140e-02 9.99694283e-01 -1.44687529e-03 -2.01435699e+00] [-2.01714349e-02 9.48980580e-04 9.99796086e-01 -1.40597894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.691346183999997 meters 0.07740410749794686 Centerline is valid? [True, True] Translation: X:26.72, Y:-2.02, Z:-1.41 [[ 9.99514301e-01 2.34671789e-02 2.05049873e-02 2.67245557e+01] [-2.34419571e-02 9.99724119e-01 -1.46956500e-03 -2.01660300e+00] [-2.05338170e-02 9.88174200e-04 9.99788671e-01 -1.40929808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721346183999998 meters 0.07781080455387214 Centerline is valid? [True, True] Translation: X:26.75, Y:-2.02, Z:-1.41 [[ 9.99546849e-01 2.19309596e-02 2.06186680e-02 2.67541255e+01] [-2.19051185e-02 9.99758961e-01 -1.47833455e-03 -2.01651990e+00] [-2.06461194e-02 1.02601028e-03 9.99786320e-01 -1.40968523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.751346184 meters 0.07935321880509676 Centerline is valid? [True, True] Translation: X:26.78, Y:-2.02, Z:-1.41 [[ 9.99590914e-01 1.97786052e-02 2.06594317e-02 2.67829342e+01] [-1.97522605e-02 9.99803812e-01 -1.47849088e-03 -2.01979789e+00] [-2.06846211e-02 1.06981558e-03 9.99785478e-01 -1.41170919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781346183999997 meters 0.08036477060147762 Centerline is valid? [True, True] Translation: X:26.81, Y:-2.02, Z:-1.41 [[ 9.99701298e-01 1.56715462e-02 1.87541131e-02 2.68130073e+01] [-1.56490901e-02 9.99876643e-01 -1.34356227e-03 -2.02174792e+00] [-1.87728554e-02 1.04967614e-03 9.99823223e-01 -1.41283505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.811346183999998 meters 0.08091113882333392 Centerline is valid? [True, True] Translation: X:26.84, Y:-2.02, Z:-1.41 [[ 9.99736819e-01 1.38341626e-02 1.83004964e-02 2.68436635e+01] [-1.38124805e-02 9.99903744e-01 -1.31065570e-03 -2.02463183e+00] [-1.83168667e-02 1.05753551e-03 9.99831673e-01 -1.41345898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.841346184 meters 0.08370551482716014 Centerline is valid? [True, True] Translation: X:26.87, Y:-2.03, Z:-1.42 [[ 9.99722409e-01 1.33649747e-02 1.94031326e-02 2.68747180e+01] [-1.33406429e-02 9.99910053e-01 -1.38291495e-03 -2.03264142e+00] [-1.94198700e-02 1.12368080e-03 9.99810785e-01 -1.41687824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.871346183999997 meters 0.08186623866805308 Centerline is valid? [True, True] Translation: X:26.91, Y:-2.03, Z:-1.42 [[ 9.99696594e-01 1.38147106e-02 2.03929758e-02 2.69073084e+01] [-1.37878074e-02 9.99903879e-01 -1.45925638e-03 -2.03077641e+00] [-2.04111748e-02 1.17763921e-03 9.99790977e-01 -1.41513668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.901346183999998 meters 0.08049030436559423 Centerline is valid? [True, True] Translation: X:26.94, Y:-2.03, Z:-1.42 [[ 9.99574292e-01 1.76102533e-02 2.32618386e-02 2.69375649e+01] [-1.75759461e-02 9.99844122e-01 -1.67847278e-03 -2.02808056e+00] [-2.32877709e-02 1.26890942e-03 9.99727998e-01 -1.41527991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.931346184 meters 0.07867972122793616 Centerline is valid? [True, True] Translation: X:26.97, Y:-2.03, Z:-1.42 [[ 9.99520084e-01 2.06056429e-02 2.31302815e-02 2.69698358e+01] [-2.05725546e-02 9.99786972e-01 -1.66758870e-03 -2.02511920e+00] [-2.31597159e-02 1.19093942e-03 9.99731068e-01 -1.41740412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961346183999996 meters 0.07619830477227062 Centerline is valid? [True, True] Translation: X:27.00, Y:-2.02, Z:-1.42 [[ 9.99436911e-01 2.49191836e-02 2.24698839e-02 2.70014744e+01] [-2.48890049e-02 9.99688905e-01 -1.62177856e-03 -2.02029854e+00] [-2.25033070e-02 1.06161231e-03 9.99746205e-01 -1.42018513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.991346183999998 meters 0.07555212675009884 Centerline is valid? [True, True] Translation: X:27.03, Y:-2.02, Z:-1.43 [[ 9.99263206e-01 3.27282607e-02 2.00475791e-02 2.70311189e+01] [-3.27057701e-02 9.99463973e-01 -1.44879102e-03 -2.01742058e+00] [-2.00842495e-02 7.92052043e-04 9.99797977e-01 -1.42913358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021346184 meters 0.07329507474352605 Centerline is valid? [True, True] Translation: X:27.06, Y:-2.01, Z:-1.43 [[ 9.99204589e-01 3.48369717e-02 1.94055110e-02 2.70608286e+01] [-3.48162734e-02 9.99392744e-01 -1.40354852e-03 -2.01080113e+00] [-1.94426223e-02 7.26804544e-04 9.99810710e-01 -1.42782238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.051346183999996 meters 0.07395433666604855 Centerline is valid? [True, True] Translation: X:27.09, Y:-2.01, Z:-1.43 [[ 9.99169549e-01 3.62510858e-02 1.86029765e-02 2.70884327e+01] [-3.62323208e-02 9.99342489e-01 -1.34487607e-03 -2.01135194e+00] [-1.86394980e-02 6.69730201e-04 9.99826045e-01 -1.43127856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081346183999997 meters 0.07297450178636576 Centerline is valid? [True, True] Translation: X:27.12, Y:-2.01, Z:-1.43 [[ 9.99135821e-01 3.72666820e-02 1.84066901e-02 2.71181615e+01] [-3.72485333e-02 9.99305150e-01 -1.32796390e-03 -2.00836381e+00] [-1.84433890e-02 6.41194094e-04 9.99829701e-01 -1.42990588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.111346184 meters 0.0727134205756091 Centerline is valid? [True, True] Translation: X:27.15, Y:-2.01, Z:-1.43 [[ 9.99099590e-01 3.79971335e-02 1.88740058e-02 2.71472521e+01] [-3.79781912e-02 9.99277641e-01 -1.36116950e-03 -2.00701675e+00] [-1.89120925e-02 6.43143291e-04 9.99820944e-01 -1.42953289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141346184 meters 0.07216313025281965 Centerline is valid? [True, True] Translation: X:27.18, Y:-2.01, Z:-1.43 [[ 9.99070792e-01 3.81999360e-02 1.99579151e-02 2.71760724e+01] [-3.81788263e-02 9.99269888e-01 -1.43780055e-03 -2.00739016e+00] [-1.99982675e-02 6.74494761e-04 9.99799787e-01 -1.43054424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.171346183999997 meters 0.07248405171895447 Centerline is valid? [True, True] Translation: X:27.20, Y:-2.01, Z:-1.43 [[ 9.99034703e-01 3.87434354e-02 2.07028602e-02 2.72036496e+01] [-3.87208364e-02 9.99248954e-01 -1.49148380e-03 -2.01070889e+00] [-2.07450966e-02 6.88412018e-04 9.99784560e-01 -1.43464803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201346184 meters 0.07195977005967813 Centerline is valid? [True, True] Translation: X:27.23, Y:-2.01, Z:-1.44 [[ 9.98974506e-01 4.01587726e-02 2.09095723e-02 2.72321161e+01] [-4.01361192e-02 9.99193092e-01 -1.50210586e-03 -2.01225313e+00] [-2.09530229e-02 6.61336370e-04 9.99780243e-01 -1.43868387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.231346184 meters 0.07195977005967813 Centerline is valid? [True, True] Translation: X:27.26, Y:-2.01, Z:-1.44 [[ 9.98978656e-01 4.00553866e-02 2.09096021e-02 2.72594734e+01] [-4.00327192e-02 9.99197241e-01 -1.50169161e-03 -2.01407661e+00] [-2.09529676e-02 6.63089635e-04 9.99780243e-01 -1.44007529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261346183999997 meters 0.07231914485330439 Centerline is valid? [True, True] Translation: X:27.29, Y:-2.02, Z:-1.44 [[ 9.98972792e-01 3.99199720e-02 2.14419491e-02 2.72874528e+01] [-3.98961664e-02 9.99202649e-01 -1.53703648e-03 -2.01545023e+00] [-2.14862108e-02 6.80006052e-04 9.99768913e-01 -1.44215205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.291346184 meters 0.07256409665012972 Centerline is valid? [True, True] Translation: X:27.32, Y:-2.02, Z:-1.44 [[ 9.98993140e-01 3.96636541e-02 2.09642554e-02 2.73162416e+01] [-3.96408885e-02 9.99212864e-01 -1.50053926e-03 -2.01582359e+00] [-2.10072705e-02 6.67986716e-04 9.99779100e-01 -1.44309618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.321346184 meters 0.07207124859535802 Centerline is valid? [True, True] Translation: X:27.35, Y:-2.02, Z:-1.44 [[ 9.99037332e-01 3.82734565e-02 2.14371566e-02 2.73456386e+01] [-3.82493636e-02 9.99267050e-01 -1.53293691e-03 -2.01502101e+00] [-2.14801150e-02 7.11503604e-04 9.99769023e-01 -1.44140223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.351346183999997 meters 0.07398137956871666 Centerline is valid? [True, True] Translation: X:27.38, Y:-2.02, Z:-1.44 [[ 9.99241760e-01 3.30243453e-02 2.06227247e-02 2.73753077e+01] [-3.30009917e-02 9.99454235e-01 -1.47181094e-03 -2.02101921e+00] [-2.06600751e-02 7.90124591e-04 9.99786246e-01 -1.44142790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381346183999998 meters 0.07542022532677918 Centerline is valid? [True, True] Translation: X:27.40, Y:-2.03, Z:-1.44 [[ 9.99365293e-01 2.91364527e-02 2.04958158e-02 2.74047030e+01] [-2.91125765e-02 9.99575069e-01 -1.46240310e-03 -2.02774749e+00] [-2.05297157e-02 8.64788892e-04 9.99788869e-01 -1.44278631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.411346184 meters 0.07774083692860974 Centerline is valid? [True, True] Translation: X:27.43, Y:-2.04, Z:-1.45 [[ 9.99487590e-01 2.45347242e-02 2.05573667e-02 2.74335416e+01] [-2.45097372e-02 9.99698516e-01 -1.46658676e-03 -2.03688819e+00] [-2.05871513e-02 9.61979615e-04 9.99787599e-01 -1.44518054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441346183999997 meters 0.07862366268453087 Centerline is valid? [True, True] Translation: X:27.46, Y:-2.05, Z:-1.45 [[ 9.99586438e-01 1.87582725e-02 2.17963145e-02 2.74630676e+01] [-1.87288335e-02 9.99823392e-01 -1.55400638e-03 -2.04514895e+00] [-2.18216156e-02 1.14514415e-03 9.99761224e-01 -1.44573398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.471346183999998 meters 0.07823812757533416 Centerline is valid? [True, True] Translation: X:27.49, Y:-2.05, Z:-1.45 [[ 9.99593959e-01 1.98512755e-02 2.04412084e-02 2.74934762e+01] [-1.98256196e-02 9.99802391e-01 -1.45701420e-03 -2.04563094e+00] [-2.04660927e-02 1.05116297e-03 9.99789995e-01 -1.44809327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501346184 meters 0.08085075607882224 Centerline is valid? [True, True] Translation: X:27.52, Y:-2.05, Z:-1.45 [[ 9.99600431e-01 2.05809962e-02 1.93752825e-02 2.75219166e+01] [-2.05580729e-02 9.99787706e-01 -1.38158179e-03 -2.05241081e+00] [-1.93996036e-02 9.82711281e-04 9.99811327e-01 -1.45463268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.531346183999997 meters 0.07875388138242162 Centerline is valid? [True, True] Translation: X:27.55, Y:-2.05, Z:-1.45 [[ 9.99612693e-01 2.06587756e-02 1.86461744e-02 2.75518429e+01] [-2.06375540e-02 9.99786139e-01 -1.32984496e-03 -2.05025056e+00] [-1.86696597e-02 9.44518466e-04 9.99825261e-01 -1.45448005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.561346183999998 meters 0.0799562169443967 Centerline is valid? [True, True] Translation: X:27.58, Y:-2.05, Z:-1.46 [[ 9.99646528e-01 2.00421040e-02 1.74680649e-02 2.75802831e+01] [-2.00233848e-02 9.99798736e-01 -1.24588687e-03 -2.05446317e+00] [-1.74895194e-02 8.95676696e-04 9.99846645e-01 -1.45859433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.591346184 meters 0.0802638141932887 Centerline is valid? [True, True] Translation: X:27.61, Y:-2.06, Z:-1.46 [[ 9.99647452e-01 2.00453192e-02 1.74113915e-02 2.76090303e+01] [-2.00267477e-02 9.99798675e-01 -1.24035241e-03 -2.05605488e+00] [-1.74327494e-02 8.91221585e-04 9.99847641e-01 -1.45992907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.621346183999997 meters 0.0793762106622366 Centerline is valid? [True, True] Translation: X:27.64, Y:-2.05, Z:-1.46 [[ 9.99651470e-01 1.99847878e-02 1.72495635e-02 2.76381572e+01] [-1.99665404e-02 9.99799893e-01 -1.22943668e-03 -2.05475543e+00] [-1.72706818e-02 8.84594081e-04 9.99850459e-01 -1.45867623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.651346183999998 meters 0.08010325786178622 Centerline is valid? [True, True] Translation: X:27.67, Y:-2.06, Z:-1.46 [[ 9.99648558e-01 2.00854632e-02 1.73013154e-02 2.76668156e+01] [-2.00671522e-02 9.99797876e-01 -1.23133709e-03 -2.05687991e+00] [-1.73225504e-02 8.83716219e-04 9.99849563e-01 -1.46010557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681346184 meters 0.07877331992852764 Centerline is valid? [True, True] Translation: X:27.70, Y:-2.05, Z:-1.46 [[ 9.99592871e-01 2.22539845e-02 1.78564660e-02 2.76965903e+01] [-2.22348523e-02 9.99751969e-01 -1.26928528e-03 -2.05470521e+00] [-1.78802837e-02 8.71732633e-04 9.99839755e-01 -1.45986431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.711346183999996 meters 0.07745440692577477 Centerline is valid? [True, True] Translation: X:27.73, Y:-2.05, Z:-1.46 [[ 9.99512553e-01 2.44651677e-02 1.93936114e-02 2.77268803e+01] [-2.44430404e-02 9.99700276e-01 -1.37721417e-03 -2.05314735e+00] [-1.94214924e-02 9.02504029e-04 9.99810978e-01 -1.45967539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741346183999998 meters 0.07773811384807368 Centerline is valid? [True, True] Translation: X:27.76, Y:-2.05, Z:-1.46 [[ 9.99445599e-01 2.62446027e-02 2.04869808e-02 2.77559468e+01] [-2.62202804e-02 9.99655131e-01 -1.45496818e-03 -2.05497031e+00] [-2.05181005e-02 9.16987162e-04 9.99789061e-01 -1.46176644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.771346184 meters 0.0772975451498615 Centerline is valid? [True, True] Translation: X:27.78, Y:-2.06, Z:-1.46 [[ 9.99389276e-01 2.79342372e-02 2.09941163e-02 2.77846831e+01] [-2.79090639e-02 9.99609354e-01 -1.49116098e-03 -2.05511393e+00] [-2.10275695e-02 9.04324163e-04 9.99778487e-01 -1.46343384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801346183999996 meters 0.07594626336223805 Centerline is valid? [True, True] Translation: X:27.81, Y:-2.06, Z:-1.47 [[ 9.99317238e-01 3.00626608e-02 2.14777663e-02 2.78137631e+01] [-3.00368472e-02 9.99547631e-01 -1.52353846e-03 -2.05533628e+00] [-2.15138520e-02 8.77373862e-04 9.99768165e-01 -1.46541402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.831346183999997 meters 0.07551690422961824 Centerline is valid? [True, True] Translation: X:27.84, Y:-2.06, Z:-1.47 [[ 9.99303424e-01 3.01022704e-02 2.20572062e-02 2.78423478e+01] [-3.00750693e-02 9.99546419e-01 -1.56397300e-03 -2.05706969e+00] [-2.20942806e-02 8.99511565e-04 9.99755487e-01 -1.46609117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861346184 meters 0.07558584729790431 Centerline is valid? [True, True] Translation: X:27.87, Y:-2.06, Z:-1.47 [[ 9.99289910e-01 3.02725830e-02 2.24331358e-02 2.78702216e+01] [-3.02445126e-02 9.99541266e-01 -1.58959350e-03 -2.05905840e+00] [-2.24709660e-02 9.09985486e-04 9.99747082e-01 -1.46691573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.891346184 meters 0.07497841026185104 Centerline is valid? [True, True] Translation: X:27.90, Y:-2.06, Z:-1.47 [[ 9.99345209e-01 2.98226233e-02 2.04881626e-02 2.78988168e+01] [-2.97991562e-02 9.99554855e-01 -1.44980891e-03 -2.05842148e+00] [-2.05222795e-02 8.38329626e-04 9.99789044e-01 -1.46706468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921346183999997 meters 0.07602752313890183 Centerline is valid? [True, True] Translation: X:27.93, Y:-2.06, Z:-1.47 [[ 9.99392481e-01 2.89461149e-02 1.94111006e-02 2.79263896e+01] [-2.89248983e-02 9.99580645e-01 -1.37294260e-03 -2.06318400e+00] [-1.94427018e-02 8.10644398e-04 9.99810644e-01 -1.46962481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.951346184 meters 0.07617404501132319 Centerline is valid? [True, True] Translation: X:27.96, Y:-2.07, Z:-1.47 [[ 9.99422286e-01 2.78611121e-02 1.94641420e-02 2.79553448e+01] [-2.78396177e-02 9.99611458e-01 -1.37444975e-03 -2.06596608e+00] [-1.94948731e-02 8.31781434e-04 9.99809611e-01 -1.46991516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981346184 meters 0.07738088905387056 Centerline is valid? [True, True] Translation: X:27.98, Y:-2.07, Z:-1.47 [[ 9.99477700e-01 2.62047588e-02 1.89113402e-02 2.79830327e+01] [-2.61842058e-02 9.99656245e-01 -1.33364519e-03 -2.07259066e+00] [-1.89397872e-02 8.37770203e-04 9.99820275e-01 -1.47279804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.011346184 meters 0.07867441732551586 Centerline is valid? [True, True] Translation: X:28.01, Y:-2.08, Z:-1.48 [[ 9.99501079e-01 2.53471031e-02 1.88445444e-02 2.80101355e+01] [-2.53265369e-02 9.99678348e-01 -1.32925128e-03 -2.07867740e+00] [-1.88721756e-02 8.51321045e-04 9.99821542e-01 -1.47624809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041346184 meters 0.07811866046413404 Centerline is valid? [True, True] Translation: X:28.04, Y:-2.08, Z:-1.48 [[ 9.99501368e-01 2.47337879e-02 1.96279145e-02 2.80390260e+01] [-2.47114107e-02 9.99693671e-01 -1.38183348e-03 -2.08177545e+00] [-1.96560799e-02 8.96110997e-04 9.99806399e-01 -1.47687780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.071346184 meters 0.07947672543599663 Centerline is valid? [True, True] Translation: X:28.07, Y:-2.09, Z:-1.48 [[ 9.99528307e-01 2.31446579e-02 2.01863397e-02 2.80662898e+01] [-2.31206854e-02 9.99731673e-01 -1.42017027e-03 -2.08973699e+00] [-2.02137925e-02 9.52778380e-04 9.99795226e-01 -1.47999962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.101346184 meters 0.07877245488603712 Centerline is valid? [True, True] Translation: X:28.10, Y:-2.09, Z:-1.48 [[ 9.99546230e-01 2.29025018e-02 1.95655409e-02 2.80955330e+01] [-2.28799740e-02 9.99737274e-01 -1.37450780e-03 -2.09084457e+00] [-1.95918802e-02 9.26225023e-04 9.99807632e-01 -1.47988975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.131346183999995 meters 0.08024049617338833 Centerline is valid? [True, True] Translation: X:28.12, Y:-2.10, Z:-1.48 [[ 9.99561085e-01 2.17518432e-02 2.01120328e-02 2.81238200e+01] [-2.17278467e-02 9.99762927e-01 -1.41091366e-03 -2.09663345e+00] [-2.01379548e-02 9.73303220e-04 9.99796737e-01 -1.48216526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.161346183999996 meters 0.07908157161524049 Centerline is valid? [True, True] Translation: X:28.15, Y:-2.10, Z:-1.48 [[ 9.99581522e-01 1.96108108e-02 2.12649306e-02 2.81536756e+01] [-1.95835366e-02 9.99807114e-01 -1.49009734e-03 -2.09871481e+00] [-2.12900509e-02 1.07303122e-03 9.99772765e-01 -1.47820574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.191346184 meters 0.07841870634863944 Centerline is valid? [True, True] Translation: X:28.18, Y:-2.10, Z:-1.48 [[ 9.99592746e-01 1.84307333e-02 2.17864679e-02 2.81838247e+01] [-1.84018527e-02 9.99829508e-01 -1.52537690e-03 -2.09948011e+00] [-2.18108672e-02 1.12384431e-03 9.99761483e-01 -1.47708143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221346184 meters 0.0785040683885512 Centerline is valid? [True, True] Translation: X:28.22, Y:-2.10, Z:-1.48 [[ 9.99609565e-01 1.71210218e-02 2.20814122e-02 2.82154404e+01] [-1.70910772e-02 9.99852745e-01 -1.54412140e-03 -2.10254753e+00] [-2.21045976e-02 1.16612340e-03 9.99754983e-01 -1.47690131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.251346184 meters 0.08096714357614002 Centerline is valid? [True, True] Translation: X:28.24, Y:-2.11, Z:-1.48 [[ 9.99639337e-01 1.48155000e-02 2.23985767e-02 2.82442859e+01] [-1.47841264e-02 9.99889483e-01 -1.56565010e-03 -2.11438918e+00] [-2.24192971e-02 1.23394204e-03 9.99747894e-01 -1.48166552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281346184 meters 0.08154374841678448 Centerline is valid? [True, True] Translation: X:28.28, Y:-2.12, Z:-1.49 [[ 9.99648566e-01 1.40347210e-02 2.24893424e-02 2.82760774e+01] [-1.40029469e-02 9.99900722e-01 -1.56971761e-03 -2.12098826e+00] [-2.25091403e-02 1.25424889e-03 9.99745850e-01 -1.48500323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.311346184 meters 0.08267324769199691 Centerline is valid? [True, True] Translation: X:28.31, Y:-2.13, Z:-1.49 [[ 9.99648443e-01 1.31851654e-02 2.30030669e-02 2.83065534e+01] [-1.31514948e-02 9.99912212e-01 -1.61442074e-03 -2.12784629e+00] [-2.30223340e-02 1.31132847e-03 9.99734091e-01 -1.48706261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.341346183999995 meters 0.08109883392323382 Centerline is valid? [True, True] Translation: X:28.34, Y:-2.13, Z:-1.49 [[ 9.99659351e-01 1.21285364e-02 2.31101634e-02 2.83392846e+01] [-1.20942719e-02 9.99925546e-01 -1.62185427e-03 -2.12911571e+00] [-2.31281134e-02 1.34180119e-03 9.99731609e-01 -1.48695430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.371346184 meters 0.08225574438258657 Centerline is valid? [True, True] Translation: X:28.37, Y:-2.14, Z:-1.49 [[ 9.99698237e-01 1.03542716e-02 2.22760881e-02 2.83703906e+01] [-1.03217548e-02 9.99945490e-01 -1.57420181e-03 -2.13644668e+00] [-2.22911736e-02 1.34379846e-03 9.99750618e-01 -1.48839822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401346184 meters 0.0845342521086811 Centerline is valid? [True, True] Translation: X:28.40, Y:-2.14, Z:-1.49 [[ 9.99703619e-01 9.72137642e-03 2.23196873e-02 2.84013320e+01] [-9.68867753e-03 9.99951827e-01 -1.57269781e-03 -2.14371478e+00] [-2.23339009e-02 1.35598344e-03 9.99749648e-01 -1.49078777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.431346184 meters 0.08375110545689776 Centerline is valid? [True, True] Translation: X:28.43, Y:-2.14, Z:-1.49 [[ 9.99715624e-01 1.05820726e-02 2.13703143e-02 2.84342204e+01] [-1.05522291e-02 9.99943185e-01 -1.50877780e-03 -2.14494089e+00] [-2.13850662e-02 1.28284429e-03 9.99770490e-01 -1.49120060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.461346184 meters 0.08351929495030505 Centerline is valid? [True, True] Translation: X:28.47, Y:-2.15, Z:-1.49 [[ 9.99711179e-01 1.18284842e-02 2.09199753e-02 2.84664433e+01] [-1.18000220e-02 9.99929277e-01 -1.48345231e-03 -2.14761126e+00] [-2.09360428e-02 1.23616769e-03 9.99780053e-01 -1.49217943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.491346184 meters 0.08146099864864405 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.15, Z:-1.50 [[ 9.99639423e-01 1.60561636e-02 2.15226458e-02 2.84967164e+01] [-1.60267499e-02 9.99870380e-01 -1.53844437e-03 -2.15045410e+00] [-2.15445576e-02 1.19295158e-03 9.99767177e-01 -1.49518227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.521346183999995 meters 0.084567911075845 Centerline is valid? [True, True] Translation: X:28.53, Y:-2.16, Z:-1.50 [[ 9.99590001e-01 1.86115383e-02 2.17586839e-02 2.85267373e+01] [-1.85820974e-02 9.99826130e-01 -1.55448262e-03 -2.16107105e+00] [-2.17838321e-02 1.14952330e-03 9.99762043e-01 -1.50134012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.551346183999996 meters 0.07872875082765524 Centerline is valid? [True, True] Translation: X:28.56, Y:-2.15, Z:-1.50 [[ 9.99495884e-01 2.17027509e-02 2.31725896e-02 2.85581829e+01] [-2.16701446e-02 9.99763801e-01 -1.65731996e-03 -2.15262063e+00] [-2.32030847e-02 1.15433111e-03 9.99730106e-01 -1.49740493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.581346184 meters 0.07666015114032854 Centerline is valid? [True, True] Translation: X:28.59, Y:-2.15, Z:-1.50 [[ 9.99293177e-01 2.82877991e-02 2.47577657e-02 2.85884508e+01] [-2.82525923e-02 9.99599247e-01 -1.77075632e-03 -2.15125919e+00] [-2.47979348e-02 1.07003364e-03 9.99691911e-01 -1.49664868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.611346184 meters 0.07425766785535223 Centerline is valid? [True, True] Translation: X:28.62, Y:-2.15, Z:-1.50 [[ 9.99166493e-01 3.15615378e-02 2.58880065e-02 2.86181827e+01] [-3.15241205e-02 9.99501275e-01 -1.85229930e-03 -2.14952196e+00] [-2.59335570e-02 1.03465875e-03 9.99663133e-01 -1.49583315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.641346184 meters 0.0735792930374582 Centerline is valid? [True, True] Translation: X:28.65, Y:-2.15, Z:-1.50 [[ 9.99102972e-01 3.38113612e-02 2.54959462e-02 2.86455885e+01] [-3.37757897e-02 9.99427770e-01 -1.82465856e-03 -2.15231441e+00] [-2.55430508e-02 9.61876076e-04 9.99673260e-01 -1.49807657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.671346184 meters 0.0725906662797035 Centerline is valid? [True, True] Translation: X:28.67, Y:-2.15, Z:-1.50 [[ 9.99047137e-01 3.55332781e-02 2.53417646e-02 2.86744211e+01] [-3.54987523e-02 9.99368080e-01 -1.81112401e-03 -2.15497047e+00] [-2.53901058e-02 9.09797229e-04 9.99677205e-01 -1.49944079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.701346183999995 meters 0.07264736131423047 Centerline is valid? [True, True] Translation: X:28.70, Y:-2.17, Z:-1.51 [[ 9.99041063e-01 3.76200963e-02 2.23982677e-02 2.87015724e+01] [-3.75936655e-02 9.99291827e-01 -1.60008711e-03 -2.16604697e+00] [-2.24426013e-02 7.56519744e-04 9.99747847e-01 -1.50588354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.731346183999996 meters 0.072546020280479 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.17, Z:-1.51 [[ 9.99042568e-01 3.83674869e-02 2.10210311e-02 2.87297226e+01] [-3.83444154e-02 9.99263457e-01 -1.49965827e-03 -2.17226484e+00] [-2.10630863e-02 6.92183297e-04 9.99777909e-01 -1.50964797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761346184 meters 0.0714117326707476 Centerline is valid? [True, True] Translation: X:28.76, Y:-2.17, Z:-1.51 [[ 9.99025476e-01 3.98254045e-02 1.90272478e-02 2.87582445e+01] [-3.98067836e-02 9.99206475e-01 -1.35653453e-03 -2.17473180e+00] [-1.90661737e-02 5.97799021e-04 9.99818045e-01 -1.51072415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.791346184 meters 0.07194113291245338 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.18, Z:-1.52 [[ 9.98992719e-01 4.11378576e-02 1.79227440e-02 2.87851184e+01] [-4.11215558e-02 9.99153335e-01 -1.27730158e-03 -2.18035453e+00] [-1.79601149e-02 5.39003857e-04 9.99838559e-01 -1.51558527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821346184 meters 0.0701441022729848 Centerline is valid? [True, True] Translation: X:28.81, Y:-2.18, Z:-1.52 [[ 9.98841848e-01 4.49567368e-02 1.71422096e-02 2.88137491e+01] [-4.49424183e-02 9.98988834e-01 -1.21979678e-03 -2.18391224e+00] [-1.71797141e-02 4.47971716e-04 9.99852317e-01 -1.51503867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.851346184 meters 0.0692294295132765 Centerline is valid? [True, True] Translation: X:28.84, Y:-2.19, Z:-1.51 [[ 9.98815361e-01 4.58234423e-02 1.63733516e-02 2.88417726e+01] [-4.58104905e-02 9.98949469e-01 -1.16541217e-03 -2.18818998e+00] [-1.64095541e-02 4.13960311e-04 9.99865269e-01 -1.51425825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.881346183999995 meters 0.06829852180066674 Centerline is valid? [True, True] Translation: X:28.87, Y:-2.19, Z:-1.51 [[ 9.98733071e-01 4.72614830e-02 1.72802031e-02 2.88705411e+01] [-4.72473281e-02 9.98882468e-01 -1.22670218e-03 -2.19326800e+00] [-1.73188677e-02 4.08704612e-04 9.99849934e-01 -1.51362979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.911346183999996 meters 0.0681356030428443 Centerline is valid? [True, True] Translation: X:28.90, Y:-2.21, Z:-1.52 [[ 9.98747903e-01 4.70559521e-02 1.69812735e-02 2.88976690e+01] [-4.70422372e-02 9.98892173e-01 -1.20641378e-03 -2.20552835e+00] [-1.70192302e-02 4.06066131e-04 9.99855080e-01 -1.51532763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941346184 meters 0.06802908899302851 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.21, Z:-1.52 [[ 9.98719455e-01 4.74895131e-02 1.74412403e-02 2.89260597e+01] [-4.74751928e-02 9.98871655e-01 -1.23442286e-03 -2.21308628e+00] [-1.74801827e-02 4.04815878e-04 9.99847128e-01 -1.51673093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.971346184 meters 0.06752325778729919 Centerline is valid? [True, True] Translation: X:28.95, Y:-2.22, Z:-1.52 [[ 9.98724368e-01 4.70913310e-02 1.82220623e-02 2.89542215e+01] [-4.70756591e-02 9.98890496e-01 -1.28827909e-03 -2.21922503e+00] [-1.82625117e-02 4.28820129e-04 9.99833134e-01 -1.51533490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.001346184 meters 0.06697163005744769 Centerline is valid? [True, True] Translation: X:28.98, Y:-2.23, Z:-1.51 [[ 9.98685851e-01 4.68895660e-02 2.06867197e-02 2.89812975e+01] [-4.68693551e-02 9.98899959e-01 -1.46102189e-03 -2.22839128e+00] [-2.07324702e-02 4.89528673e-04 9.99784939e-01 -1.51290088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.031346184 meters 0.06683644843081403 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.23, Z:-1.51 [[ 9.98665896e-01 4.69206979e-02 2.15609987e-02 2.90099355e+01] [-4.68988082e-02 9.98898489e-01 -1.52005527e-03 -2.23223506e+00] [-2.16085710e-02 5.06842215e-04 9.99766379e-01 -1.51117009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.061346184 meters 0.06684158634444426 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.24, Z:-1.51 [[ 9.98643833e-01 4.69827533e-02 2.24302600e-02 2.90379641e+01] [-4.69591190e-02 9.98895563e-01 -1.57953002e-03 -2.23687093e+00] [-2.24796978e-02 5.24082669e-04 9.99747162e-01 -1.51197769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.091346183999995 meters 0.06699551500534058 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.24, Z:-1.51 [[ 9.98691548e-01 4.60770472e-02 2.21832959e-02 2.90659533e+01] [-4.60537423e-02 9.98937745e-01 -1.56056173e-03 -2.24269106e+00] [-2.22316377e-02 5.36896018e-04 9.99752702e-01 -1.51350759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.121346184 meters 0.0679344179059454 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.26, Z:-1.52 [[ 9.98952839e-01 4.11232785e-02 2.00524620e-02 2.90954326e+01] [-4.11033053e-02 9.99153911e-01 -1.40735902e-03 -2.25835841e+00] [-2.00933710e-02 5.81662822e-04 9.99797939e-01 -1.51574721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.151346184 meters 0.0679344179059454 Centerline is valid? [True, True] Translation: X:29.12, Y:-2.26, Z:-1.52 [[ 9.98957381e-01 4.10129052e-02 2.00522259e-02 2.91227995e+01] [-4.09928422e-02 9.99158444e-01 -1.41072597e-03 -2.26014459e+00] [-2.00932088e-02 5.87257392e-04 9.99797939e-01 -1.51713672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.181346184 meters 0.06971961815511568 Centerline is valid? [True, True] Translation: X:29.15, Y:-2.27, Z:-1.52 [[ 9.99132894e-01 3.69157540e-02 1.92532593e-02 2.91499497e+01] [-3.68965579e-02 9.99318176e-01 -1.35142266e-03 -2.27378969e+00] [-1.92900207e-02 6.39871840e-04 9.99813725e-01 -1.52269782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.211346184 meters 0.07086028888897121 Centerline is valid? [True, True] Translation: X:29.18, Y:-2.28, Z:-1.53 [[ 9.99294696e-01 3.31842276e-02 1.75760507e-02 2.91791740e+01] [-3.31677021e-02 9.99449042e-01 -1.23097831e-03 -2.28327225e+00] [-1.76072161e-02 6.47152883e-04 9.99844772e-01 -1.52628654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241346184 meters 0.07438535142072886 Centerline is valid? [True, True] Translation: X:29.21, Y:-2.30, Z:-1.53 [[ 9.99574274e-01 2.59804651e-02 1.32772792e-02 2.92073520e+01] [-2.59703941e-02 9.99662279e-01 -9.30392688e-04 -2.29792759e+00] [-1.32969673e-02 5.85180421e-04 9.99911420e-01 -1.53116729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.271346183999995 meters 0.07607127906135878 Centerline is valid? [True, True] Translation: X:29.24, Y:-2.31, Z:-1.53 [[ 9.99665367e-01 2.26797349e-02 1.24412377e-02 2.92364304e+01] [-2.26706492e-02 9.99742609e-01 -8.70855931e-04 -2.30649721e+00] [-1.24577863e-02 5.88513577e-04 9.99922226e-01 -1.53457252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301346183999996 meters 0.07745949402720333 Centerline is valid? [True, True] Translation: X:29.27, Y:-2.32, Z:-1.54 [[ 9.99715190e-01 1.99540210e-02 1.30910757e-02 2.92656298e+01] [-1.99437232e-02 9.99800684e-01 -9.16716101e-04 -2.31526791e+00] [-1.31067586e-02 6.55370222e-04 9.99913888e-01 -1.53611142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.331346184 meters 0.07681191348739068 Centerline is valid? [True, True] Translation: X:29.30, Y:-2.32, Z:-1.53 [[ 9.99746032e-01 1.76218831e-02 1.40477816e-02 2.92951337e+01] [-1.76098036e-02 9.99844452e-01 -9.83131116e-04 -2.31970890e+00] [-1.40629211e-02 7.35502759e-04 9.99900842e-01 -1.53422656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361346184 meters 0.07752959139483045 Centerline is valid? [True, True] Translation: X:29.32, Y:-2.33, Z:-1.53 [[ 9.99774623e-01 1.52555695e-02 1.47638613e-02 2.93246142e+01] [-1.52419883e-02 9.99883302e-01 -1.03198666e-03 -2.32997092e+00] [-1.47778820e-02 8.06723473e-04 9.99890476e-01 -1.53498484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.391346184 meters 0.07756735176796341 Centerline is valid? [True, True] Translation: X:29.36, Y:-2.33, Z:-1.54 [[ 9.99782237e-01 1.49178376e-02 1.45923748e-02 2.93553485e+01] [-1.49045660e-02 9.99888403e-01 -1.01782427e-03 -2.33486205e+00] [-1.46059300e-02 8.00109610e-04 9.99893008e-01 -1.53641299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421346184 meters 0.07761748170727191 Centerline is valid? [True, True] Translation: X:29.39, Y:-2.34, Z:-1.54 [[ 9.99771021e-01 1.51378546e-02 1.51244840e-02 2.93869056e+01] [-1.51236132e-02 9.99885074e-01 -1.05555180e-03 -2.33875626e+00] [-1.51387246e-02 8.26573251e-04 9.99885061e-01 -1.53763836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.451346183999995 meters 0.07740015147032654 Centerline is valid? [True, True] Translation: X:29.42, Y:-2.34, Z:-1.54 [[ 9.99778680e-01 1.52586360e-02 1.44832427e-02 2.94180063e+01] [-1.52455831e-02 9.99883268e-01 -1.01122898e-03 -2.34016915e+00] [-1.44969820e-02 7.90199692e-04 9.99894601e-01 -1.53772494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481346183999996 meters 0.07793495566782875 Centerline is valid? [True, True] Translation: X:29.45, Y:-2.34, Z:-1.54 [[ 9.99764537e-01 1.71220506e-02 1.33306079e-02 2.94478554e+01] [-1.71111446e-02 9.99853160e-01 -9.31756565e-04 -2.34390134e+00] [-1.33446040e-02 7.03435211e-04 9.99910709e-01 -1.54157584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.511346184 meters 0.07762050790951432 Centerline is valid? [True, True] Translation: X:29.48, Y:-2.35, Z:-1.54 [[ 9.99764442e-01 1.77970885e-02 1.24226982e-02 2.94774008e+01] [-1.77876424e-02 9.99841408e-01 -8.70476851e-04 -2.34687295e+00] [-1.24362200e-02 6.49301291e-04 9.99922456e-01 -1.54443157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541346184 meters 0.07401545680042178 Centerline is valid? [True, True] Translation: X:29.51, Y:-2.34, Z:-1.54 [[ 9.99743358e-01 1.88848794e-02 1.25132000e-02 2.95073773e+01] [-1.88753846e-02 9.99821460e-01 -8.76464773e-04 -2.34374371e+00] [-1.25275179e-02 6.40048372e-04 9.99921323e-01 -1.54194582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.571346184 meters 0.0776474500883166 Centerline is valid? [True, True] Translation: X:29.53, Y:-2.36, Z:-1.55 [[ 9.99719321e-01 1.92236631e-02 1.38466445e-02 2.95346876e+01] [-1.92120699e-02 9.99814961e-01 -9.69801869e-04 -2.35534960e+00] [-1.38627255e-02 7.03506964e-04 9.99903660e-01 -1.54901763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601346184 meters 0.07739566834053854 Centerline is valid? [True, True] Translation: X:29.56, Y:-2.36, Z:-1.55 [[ 9.99685677e-01 2.00830413e-02 1.50072965e-02 2.95643547e+01] [-2.00695473e-02 9.99798036e-01 -1.04924241e-03 -2.35754207e+00] [-1.50253375e-02 7.47722966e-04 9.99886834e-01 -1.54979648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.631346183999995 meters 0.07775081827707556 Centerline is valid? [True, True] Translation: X:29.59, Y:-2.36, Z:-1.55 [[ 9.99673534e-01 2.08165553e-02 1.48153914e-02 2.95937493e+01] [-2.08035010e-02 9.99783048e-01 -1.03471882e-03 -2.36147331e+00] [-1.48337165e-02 7.26169009e-04 9.99889711e-01 -1.55228565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.661346183999996 meters 0.07675324032980488 Centerline is valid? [True, True] Translation: X:29.62, Y:-2.36, Z:-1.55 [[ 9.99617773e-01 2.35974779e-02 1.44037215e-02 2.96228202e+01] [-2.35854216e-02 9.99721319e-01 -1.00634750e-03 -2.36361697e+00] [-1.44234547e-02 6.66245006e-04 9.99895755e-01 -1.55440233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.691346184 meters 0.07617068336665259 Centerline is valid? [True, True] Translation: X:29.65, Y:-2.36, Z:-1.56 [[ 9.99589745e-01 2.51403026e-02 1.37225060e-02 2.96516407e+01] [-2.51294935e-02 9.99683744e-01 -9.59581573e-04 -2.36362358e+00] [-1.37422903e-02 6.14348276e-04 9.99905382e-01 -1.55539615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721346184 meters 0.0758522867381193 Centerline is valid? [True, True] Translation: X:29.68, Y:-2.36, Z:-1.56 [[ 9.99557099e-01 2.65483026e-02 1.34459197e-02 2.96807354e+01] [-2.65380633e-02 9.99647362e-01 -9.39403651e-04 -2.36347473e+00] [-1.34661177e-02 5.82158921e-04 9.99909158e-01 -1.55677656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.751346184 meters 0.07531054786970623 Centerline is valid? [True, True] Translation: X:29.71, Y:-2.36, Z:-1.56 [[ 9.99513410e-01 2.81653417e-02 1.34036317e-02 2.97083785e+01] [-2.81553154e-02 9.99603122e-01 -9.36172854e-04 -2.36360211e+00] [-1.34246798e-02 5.58333842e-04 9.99909729e-01 -1.55840301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781346184 meters 0.07512108929693255 Centerline is valid? [True, True] Translation: X:29.74, Y:-2.36, Z:-1.56 [[ 9.99460703e-01 3.07241035e-02 1.15902044e-02 2.97362229e+01] [-3.07167836e-02 9.99527801e-01 -8.09082796e-04 -2.36339477e+00] [-1.16095898e-02 4.52632659e-04 9.99932504e-01 -1.56153199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.811346184 meters 0.07464814264136124 Centerline is valid? [True, True] Translation: X:29.77, Y:-2.36, Z:-1.56 [[ 9.99433301e-01 3.18941318e-02 1.07629339e-02 2.97650461e+01] [-3.18879010e-02 9.99491170e-01 -7.50065891e-04 -2.36317572e+00] [-1.07813801e-02 4.06433458e-04 9.99941797e-01 -1.56472361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.841346183999995 meters 0.07478499311394524 Centerline is valid? [True, True] Translation: X:29.79, Y:-2.36, Z:-1.57 [[ 9.99426739e-01 3.24565206e-02 9.63155201e-03 2.97935265e+01] [-3.24515598e-02 9.99473084e-01 -6.70930501e-04 -2.36448544e+00] [-9.64825306e-03 3.57986997e-04 9.99953390e-01 -1.56850198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.871346184 meters 0.07075586872298849 Centerline is valid? [True, True] Translation: X:29.82, Y:-2.36, Z:-1.56 [[ 9.99423475e-01 3.28464415e-02 8.59238572e-03 2.98229626e+01] [-3.28425064e-02 9.99460360e-01 -5.98712795e-04 -2.35790125e+00] [-8.60741451e-03 3.16172139e-04 9.99962906e-01 -1.56203039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901346184 meters 0.071388873880829 Centerline is valid? [True, True] Translation: X:29.85, Y:-2.36, Z:-1.57 [[ 9.99446407e-01 3.20937576e-02 8.76757853e-03 2.98510232e+01] [-3.20896314e-02 9.99484808e-01 -6.10932561e-04 -2.35939436e+00] [-8.78266866e-03 3.29245990e-04 9.99961377e-01 -1.56506025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.931346184 meters 0.07059557213619373 Centerline is valid? [True, True] Translation: X:29.88, Y:-2.36, Z:-1.56 [[ 9.99462558e-01 3.16786962e-02 8.42941099e-03 2.98797669e+01] [-3.16748784e-02 9.99498053e-01 -5.86070127e-04 -2.35651833e+00] [-8.44374582e-03 3.18754580e-04 9.99964300e-01 -1.56385414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961346184 meters 0.07191169140744225 Centerline is valid? [True, True] Translation: X:29.91, Y:-2.36, Z:-1.57 [[ 9.99495409e-01 3.07556872e-02 7.93824033e-03 2.99076358e+01] [-3.07522692e-02 9.99526885e-01 -5.52304548e-04 -2.35905056e+00] [-7.95147113e-03 3.07906956e-04 9.99968339e-01 -1.56854477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.991346184 meters 0.07177489299158878 Centerline is valid? [True, True] Translation: X:29.94, Y:-2.36, Z:-1.57 [[ 9.99506725e-01 3.02202351e-02 8.54660385e-03 2.99362980e+01] [-3.02162705e-02 9.99543209e-01 -5.92656077e-04 -2.35877244e+00] [-8.56061004e-03 3.34117241e-04 9.99963301e-01 -1.57030403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.021346183999995 meters 0.07253129620666038 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.36, Z:-1.57 [[ 9.99530549e-01 2.94271292e-02 8.52787987e-03 2.99634028e+01] [-2.94231456e-02 9.99566870e-01 -5.92241965e-04 -2.36016908e+00] [-8.54161417e-03 3.41046886e-04 9.99963462e-01 -1.57315417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.051346183999996 meters 0.07318120558832811 Centerline is valid? [True, True] Translation: X:29.99, Y:-2.36, Z:-1.57 [[ 9.99581560e-01 2.78166140e-02 7.93352366e-03 2.99930650e+01] [-2.78131441e-02 9.99612990e-01 -5.47386086e-04 -2.36101652e+00] [-7.94567973e-03 3.26500801e-04 9.99968379e-01 -1.57424730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081346184 meters 0.07369267323030448 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.36, Z:-1.58 [[ 9.99620034e-01 2.66383593e-02 7.08421970e-03 3.00225737e+01] [-2.66355635e-02 9.99645091e-01 -4.88721520e-04 -2.36254754e+00] [-7.09472419e-03 2.99843639e-04 9.99974787e-01 -1.57642715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.111346184 meters 0.07434145024261093 Centerline is valid? [True, True] Translation: X:30.05, Y:-2.36, Z:-1.58 [[ 9.99683685e-01 2.38984115e-02 7.83556386e-03 3.00521363e+01] [-2.38949108e-02 9.99714330e-01 -5.40097162e-04 -2.36312335e+00] [-7.84623294e-03 3.52696222e-04 9.99969156e-01 -1.57757076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141346184 meters 0.07297392617651006 Centerline is valid? [True, True] Translation: X:30.08, Y:-2.36, Z:-1.57 [[ 9.99704608e-01 2.26832533e-02 8.72736144e-03 3.00811384e+01] [-2.26788544e-02 9.99742620e-01 -6.02688345e-04 -2.35884088e+00] [-8.73878612e-03 4.04583757e-04 9.99961734e-01 -1.57446959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.171346184 meters 0.07370840663567009 Centerline is valid? [True, True] Translation: X:30.11, Y:-2.36, Z:-1.58 [[ 9.99740193e-01 2.09925577e-02 8.88021926e-03 3.01084235e+01] [-2.09879367e-02 9.99779541e-01 -6.13245752e-04 -2.35919852e+00] [-8.89113513e-03 4.26708947e-04 9.99960382e-01 -1.57533185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.201346183999995 meters 0.07659661514011826 Centerline is valid? [True, True] Translation: X:30.14, Y:-2.36, Z:-1.58 [[ 9.99764342e-01 1.92501183e-02 1.00346185e-02 3.01352072e+01] [-1.92441519e-02 9.99814576e-01 -6.90817764e-04 -2.36491389e+00] [-1.00460561e-02 4.97547246e-04 9.99949413e-01 -1.57969664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.231346183999996 meters 0.07794205030308027 Centerline is valid? [True, True] Translation: X:30.16, Y:-2.37, Z:-1.58 [[ 9.99805655e-01 1.54288415e-02 1.22720714e-02 3.01647726e+01] [-1.54196733e-02 9.99880756e-01 -8.41346987e-04 -2.36812282e+00] [-1.22835890e-02 6.51952143e-04 9.99924341e-01 -1.58076634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261346184 meters 0.07979870727196484 Centerline is valid? [True, True] Translation: X:30.19, Y:-2.37, Z:-1.58 [[ 9.99824555e-01 1.36372088e-02 1.28407639e-02 3.01937872e+01] [-1.36270392e-02 9.99906761e-01 -8.79137894e-04 -2.37334953e+00] [-1.28515556e-02 7.04002060e-04 9.99917168e-01 -1.58363522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.291346184 meters 0.07973943686736061 Centerline is valid? [True, True] Translation: X:30.23, Y:-2.37, Z:-1.58 [[ 9.99865043e-01 1.02044774e-02 1.28749471e-02 3.02253853e+01] [-1.01939984e-02 9.99947653e-01 -8.79266742e-04 -2.37302518e+00] [-1.28832456e-02 7.47900888e-04 9.99916728e-01 -1.58390538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321346184 meters 0.08073930774681864 Centerline is valid? [True, True] Translation: X:30.26, Y:-2.38, Z:-1.59 [[ 9.99875545e-01 8.54503271e-03 1.32618900e-02 3.02571549e+01] [-8.53377943e-03 9.99963177e-01 -9.04901938e-04 -2.37575392e+00] [-1.32691340e-02 7.91615275e-04 9.99911648e-01 -1.58545411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.351346184 meters 0.08136457175646933 Centerline is valid? [True, True] Translation: X:30.29, Y:-2.38, Z:-1.59 [[ 9.99887864e-01 7.35979054e-03 1.30419397e-02 3.02889018e+01] [-7.34887325e-03 9.99972605e-01 -8.84818018e-04 -2.37784237e+00] [-1.30480945e-02 7.88875236e-04 9.99914559e-01 -1.58634777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.381346183999995 meters 0.08169951002920477 Centerline is valid? [True, True] Translation: X:30.32, Y:-2.38, Z:-1.59 [[ 9.99879341e-01 6.99085324e-03 1.38719552e-02 3.03216023e+01] [-6.97843843e-03 9.99975206e-01 -9.43160942e-04 -2.37960552e+00] [-1.38782048e-02 8.46242556e-04 9.99903335e-01 -1.58643901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.411346183999996 meters 0.08217806712767933 Centerline is valid? [True, True] Translation: X:30.35, Y:-2.38, Z:-1.59 [[ 9.99855714e-01 7.01265965e-03 1.54716854e-02 3.03542513e+01] [-6.99710538e-03 9.99974959e-01 -1.05924118e-03 -2.38048185e+00] [-1.54787261e-02 9.50831333e-04 9.99879745e-01 -1.58692327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441346184 meters 0.08226130407688097 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.38, Z:-1.59 [[ 9.99833172e-01 7.53034727e-03 1.66410040e-02 3.03866540e+01] [-7.51234087e-03 9.99971127e-01 -1.14429684e-03 -2.38256636e+00] [-1.66491405e-02 1.01909305e-03 9.99860874e-01 -1.58717758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.471346184 meters 0.0800418531822475 Centerline is valid? [True, True] Translation: X:30.42, Y:-2.38, Z:-1.59 [[ 9.99795201e-01 9.23449358e-03 1.80077649e-02 3.04187404e+01] [-9.21347478e-03 9.99956774e-01 -1.24982423e-03 -2.38159504e+00] [-1.80185280e-02 1.08365418e-03 9.99837066e-01 -1.58596378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501346184 meters 0.07980894088421109 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.38, Z:-1.59 [[ 9.99761708e-01 1.03926882e-02 1.91968357e-02 3.04496876e+01] [-1.03689804e-02 9.99945351e-01 -1.33411142e-03 -2.38374099e+00] [-1.92096516e-02 1.13474190e-03 9.99814834e-01 -1.58707224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.531346184 meters 0.07848899174196092 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.38, Z:-1.59 [[ 9.99763525e-01 1.34097534e-02 1.71193514e-02 3.04811880e+01] [-1.33913338e-02 9.99909624e-01 -1.19013914e-03 -2.38053001e+00] [-1.71337636e-02 9.60606758e-04 9.99852745e-01 -1.59066663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561346184 meters 0.07747387320893358 Centerline is valid? [True, True] Translation: X:30.51, Y:-2.38, Z:-1.59 [[ 9.99741308e-01 1.56080027e-02 1.65441108e-02 3.05127615e+01] [-1.55910917e-02 9.99877789e-01 -1.15066913e-03 -2.37862377e+00] [-1.65600486e-02 8.92430717e-04 9.99862475e-01 -1.59267946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.591346183999995 meters 0.07708855467173892 Centerline is valid? [True, True] Translation: X:30.54, Y:-2.38, Z:-1.60 [[ 9.99725675e-01 1.69931674e-02 1.61185002e-02 3.05437746e+01] [-1.69772862e-02 9.99855246e-01 -1.12160874e-03 -2.37722310e+00] [-1.61352266e-02 8.47652661e-04 9.99869459e-01 -1.59573163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621346184 meters 0.07605683715069508 Centerline is valid? [True, True] Translation: X:30.57, Y:-2.37, Z:-1.60 [[ 9.99664638e-01 2.12282223e-02 1.48314996e-02 3.05733224e+01] [-2.12152075e-02 9.99774397e-01 -1.03431531e-03 -2.37364337e+00] [-1.48501102e-02 7.19315102e-04 9.99889472e-01 -1.59924994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.651346184 meters 0.07476309913283768 Centerline is valid? [True, True] Translation: X:30.60, Y:-2.37, Z:-1.60 [[ 9.99661160e-01 2.22558653e-02 1.34997063e-02 3.06026912e+01] [-2.22451516e-02 9.99752101e-01 -9.43288738e-04 -2.37110832e+00] [-1.35173535e-02 6.42666101e-04 9.99908430e-01 -1.60064245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681346184 meters 0.07482753454581316 Centerline is valid? [True, True] Translation: X:30.63, Y:-2.37, Z:-1.60 [[ 9.99641025e-01 2.31502612e-02 1.34865005e-02 3.06300636e+01] [-2.31396541e-02 9.99731799e-01 -9.42037621e-04 -2.37242634e+00] [-1.35046919e-02 6.29626497e-04 9.99908609e-01 -1.60402796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.711346184 meters 0.07433912523626104 Centerline is valid? [True, True] Translation: X:30.66, Y:-2.37, Z:-1.60 [[ 9.99662341e-01 2.24878948e-02 1.30191530e-02 3.06586255e+01] [-2.24779752e-02 9.99746926e-01 -9.07770635e-04 -2.37208992e+00] [-1.30362721e-02 6.14819920e-04 9.99914835e-01 -1.60483518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741346184 meters 0.07560389247565076 Centerline is valid? [True, True] Translation: X:30.69, Y:-2.37, Z:-1.60 [[ 9.99708954e-01 1.91987635e-02 1.46087097e-02 3.06868645e+01] [-1.91859456e-02 9.99815415e-01 -1.01707410e-03 -2.37345199e+00] [-1.46255397e-02 7.36496176e-04 9.99892770e-01 -1.60432441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.771346183999995 meters 0.07666567591124317 Centerline is valid? [True, True] Translation: X:30.72, Y:-2.38, Z:-1.61 [[ 9.99740628e-01 1.76252676e-02 1.44231230e-02 3.07166170e+01] [-1.76126433e-02 9.99844383e-01 -1.00184809e-03 -2.37569269e+00] [-1.44385364e-02 7.47558917e-04 9.99895479e-01 -1.60547449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801346183999996 meters 0.07853138066836911 Centerline is valid? [True, True] Translation: X:30.75, Y:-2.38, Z:-1.61 [[ 9.99768111e-01 1.56913510e-02 1.47481096e-02 3.07460859e+01] [-1.56779591e-02 9.99876570e-01 -1.02322112e-03 -2.38055971e+00] [-1.47623449e-02 7.91763592e-04 9.99890717e-01 -1.60829979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.831346184 meters 0.0797756022282016 Centerline is valid? [True, True] Translation: X:30.78, Y:-2.38, Z:-1.61 [[ 9.99814039e-01 1.26873183e-02 1.45230873e-02 3.07770014e+01] [-1.26740380e-02 9.99919175e-01 -1.00610592e-03 -2.38498503e+00] [-1.45346783e-02 8.21852665e-04 9.99894028e-01 -1.60987307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861346184 meters 0.082659119327508 Centerline is valid? [True, True] Translation: X:30.81, Y:-2.39, Z:-1.61 [[ 9.99871174e-01 7.67582897e-03 1.40967139e-02 3.08068429e+01] [-7.66281023e-03 9.99970163e-01 -9.77311607e-04 -2.39116316e+00] [-1.41037950e-02 8.69165260e-04 9.99900159e-01 -1.61234233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.891346184 meters 0.08164415550856988 Centerline is valid? [True, True] Translation: X:30.84, Y:-2.39, Z:-1.61 [[ 9.99875595e-01 6.36328025e-03 1.44327385e-02 3.08388531e+01] [-6.34961547e-03 9.99979349e-01 -9.92417326e-04 -2.39055773e+00] [-1.44387554e-02 9.00651524e-04 9.99895350e-01 -1.61125972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921346184 meters 0.0847838743340617 Centerline is valid? [True, True] Translation: X:30.87, Y:-2.40, Z:-1.62 [[ 9.99886729e-01 5.74805710e-03 1.39100061e-02 3.08695348e+01] [-5.73521388e-03 9.99983090e-01 -9.63022589e-04 -2.39690145e+00] [-1.39153064e-02 8.83136647e-04 9.99902787e-01 -1.61596555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.951346183999995 meters 0.0833491240367877 Centerline is valid? [True, True] Translation: X:30.90, Y:-2.39, Z:-1.61 [[ 9.99866616e-01 5.69033944e-03 1.53091699e-02 3.09021746e+01] [-5.67479725e-03 9.99983338e-01 -1.05847115e-03 -2.39232727e+00] [-1.53149378e-02 9.71453536e-04 9.99882248e-01 -1.61479790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.981346183999996 meters 0.08293574394280899 Centerline is valid? [True, True] Translation: X:30.94, Y:-2.39, Z:-1.61 [[ 9.99844878e-01 5.22732167e-03 1.68194791e-02 3.09357740e+01] [-5.20842730e-03 9.99985755e-01 -1.16697112e-03 -2.39247795e+00] [-1.68253396e-02 1.07918706e-03 9.99857862e-01 -1.61421329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.011346184 meters 0.08372756891529202 Centerline is valid? [True, True] Translation: X:30.97, Y:-2.40, Z:-1.62 [[ 9.99827284e-01 4.98144245e-03 1.79049308e-02 3.09664338e+01] [-4.95980044e-03 9.99986915e-01 -1.25292079e-03 -2.39611740e+00] [-1.79109379e-02 1.16389951e-03 9.99838909e-01 -1.61549139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041346184 meters 0.08372756891529202 Centerline is valid? [True, True] Translation: X:31.00, Y:-2.40, Z:-1.62 [[ 9.99825866e-01 5.25792359e-03 1.79050782e-02 3.09990480e+01] [-5.23636276e-03 9.99985508e-01 -1.25084397e-03 -2.39860053e+00] [-1.79113956e-02 1.15686867e-03 9.99838909e-01 -1.61714494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.071346184 meters 0.08598286245249143 Centerline is valid? [True, True] Translation: X:31.03, Y:-2.40, Z:-1.62 [[ 9.99790933e-01 4.03108354e-03 2.00459654e-02 3.10303612e+01] [-4.00363333e-03 9.99990992e-01 -1.40930749e-03 -2.40441876e+00] [-2.00514659e-02 1.32875616e-03 9.99798066e-01 -1.61827579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101346184 meters 0.0865460836846685 Centerline is valid? [True, True] Translation: X:31.06, Y:-2.41, Z:-1.62 [[ 9.99788343e-01 3.68771971e-03 2.02402838e-02 3.10623531e+01] [-3.65957728e-03 9.99992285e-01 -1.42728017e-03 -2.40732799e+00] [-2.02453910e-02 1.35290720e-03 9.99794126e-01 -1.62003937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.131346183999995 meters 0.08737503750679396 Centerline is valid? [True, True] Translation: X:31.09, Y:-2.41, Z:-1.62 [[ 9.99774265e-01 2.92580492e-03 2.10441994e-02 3.10940740e+01] [-2.89509991e-03 9.99994700e-01 -1.48939046e-03 -2.41154363e+00] [-2.10484455e-02 1.42812920e-03 9.99777437e-01 -1.62145451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.161346183999996 meters 0.0878500594072175 Centerline is valid? [True, True] Translation: X:31.13, Y:-2.41, Z:-1.62 [[ 9.99777970e-01 1.94935052e-03 2.09811986e-02 3.11259477e+01] [-1.91840867e-03 9.99997043e-01 -1.49476834e-03 -2.41469069e+00] [-2.09840504e-02 1.45418594e-03 9.99778753e-01 -1.62288150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.191346184 meters 0.08867944504185431 Centerline is valid? [True, True] Translation: X:31.16, Y:-2.42, Z:-1.62 [[ 9.99766046e-01 1.69622737e-03 2.15632858e-02 3.11569474e+01] [-1.66354525e-03 9.99997441e-01 -1.53348463e-03 -2.41637894e+00] [-2.15658317e-02 1.49725436e-03 9.99766309e-01 -1.62359122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221346184 meters 0.08406732919685195 Centerline is valid? [True, True] Translation: X:31.19, Y:-2.41, Z:-1.62 [[ 9.99799050e-01 2.11778528e-03 1.99342524e-02 3.11896202e+01] [-2.08988869e-03 9.99996808e-01 -1.42015849e-03 -2.40988692e+00] [-1.99371964e-02 1.37821274e-03 9.99800284e-01 -1.62299776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.251346184 meters 0.08807379623497358 Centerline is valid? [True, True] Translation: X:31.22, Y:-2.42, Z:-1.63 [[ 9.99820179e-01 2.94358357e-03 1.87335036e-02 3.12213268e+01] [-2.91902886e-03 9.99994845e-01 -1.33794676e-03 -2.41934811e+00] [-1.87373454e-02 1.28302253e-03 9.99823617e-01 -1.62874153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281346184 meters 0.08626495822627098 Centerline is valid? [True, True] Translation: X:31.25, Y:-2.42, Z:-1.63 [[ 9.99799741e-01 5.17812209e-03 1.93304219e-02 3.12518440e+01] [-5.15212615e-03 9.99985756e-01 -1.39437932e-03 -2.41806820e+00] [-1.93373668e-02 1.29450731e-03 9.99812178e-01 -1.62915348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.311346183999994 meters 0.08665410750657698 Centerline is valid? [True, True] Translation: X:31.28, Y:-2.42, Z:-1.63 [[ 9.99776776e-01 7.15687624e-03 1.98790756e-02 3.12822076e+01] [-7.12979322e-03 9.99973556e-01 -1.43292933e-03 -2.42065460e+00] [-1.98888052e-02 1.29087577e-03 9.99801365e-01 -1.63137489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.341346183999995 meters 0.08234883460799823 Centerline is valid? [True, True] Translation: X:31.31, Y:-2.41, Z:-1.63 [[ 9.99765208e-01 9.59732859e-03 1.94273251e-02 3.13141057e+01] [-9.57191032e-03 9.99953207e-01 -1.40094437e-03 -2.41452137e+00] [-1.94398614e-02 1.21465882e-03 9.99810290e-01 -1.63011880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.371346184 meters 0.08116524200348714 Centerline is valid? [True, True] Translation: X:31.35, Y:-2.41, Z:-1.63 [[ 9.99756180e-01 1.29967820e-02 1.78511947e-02 3.13460379e+01] [-1.29758626e-02 9.99914981e-01 -1.28721103e-03 -2.41249012e+00] [-1.78664066e-02 1.05526253e-03 9.99839826e-01 -1.63403277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401346184 meters 0.08027978174108771 Centerline is valid? [True, True] Translation: X:31.38, Y:-2.41, Z:-1.63 [[ 9.99756170e-01 1.41161537e-02 1.69804320e-02 3.13782253e+01] [-1.40974830e-02 9.99899883e-01 -1.21874825e-03 -2.41171567e+00] [-1.69959360e-02 9.79069729e-04 9.99855079e-01 -1.63498822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.431346184 meters 0.08039605205216092 Centerline is valid? [True, True] Translation: X:31.41, Y:-2.41, Z:-1.64 [[ 9.99758186e-01 1.50352481e-02 1.60471383e-02 3.14102068e+01] [-1.50186387e-02 9.99886547e-01 -1.15505481e-03 -2.41258754e+00] [-1.60626842e-02 9.13769330e-04 9.99870569e-01 -1.63651561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.461346184 meters 0.08076109154894168 Centerline is valid? [True, True] Translation: X:31.44, Y:-2.41, Z:-1.64 [[ 9.99748977e-01 1.55628069e-02 1.61177497e-02 3.14403540e+01] [-1.55459310e-02 9.99878468e-01 -1.17181028e-03 -2.41361785e+00] [-1.61340276e-02 9.20950702e-04 9.99869414e-01 -1.63860648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.491346184 meters 0.07774501968083834 Centerline is valid? [True, True] Translation: X:31.47, Y:-2.41, Z:-1.64 [[ 9.99743892e-01 1.56865484e-02 1.63120238e-02 3.14713452e+01] [-1.56692652e-02 9.99876525e-01 -1.18681357e-03 -2.40994135e+00] [-1.63286267e-02 9.30912188e-04 9.99866246e-01 -1.63753802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.521346183999995 meters 0.0781529437824993 Centerline is valid? [True, True] Translation: X:31.50, Y:-2.41, Z:-1.64 [[ 9.99720525e-01 1.63733013e-02 1.70524582e-02 3.15009999e+01] [-1.63545128e-02 9.99865486e-01 -1.24068534e-03 -2.41386141e+00] [-1.70704785e-02 9.61453953e-04 9.99853827e-01 -1.63888486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.551346183999996 meters 0.07720527092769727 Centerline is valid? [True, True] Translation: X:31.53, Y:-2.41, Z:-1.64 [[ 9.99659501e-01 1.76533525e-02 1.92156266e-02 3.15316389e+01] [-1.76297297e-02 9.99843607e-01 -1.39807093e-03 -2.41443546e+00] [-1.92373020e-02 1.05882859e-03 9.99814385e-01 -1.63874998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.581346184 meters 0.07720025467940525 Centerline is valid? [True, True] Translation: X:31.56, Y:-2.42, Z:-1.64 [[ 9.99633983e-01 1.83870879e-02 1.98447776e-02 3.15622509e+01] [-1.83620476e-02 9.99830362e-01 -1.44330311e-03 -2.41565613e+00] [-1.98679493e-02 1.07838409e-03 9.99802031e-01 -1.63931529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.611346184 meters 0.0795821197136567 Centerline is valid? [True, True] Translation: X:31.59, Y:-2.42, Z:-1.64 [[ 9.99560227e-01 2.04713782e-02 2.14540445e-02 3.15915936e+01] [-2.04425580e-02 9.99789809e-01 -1.56182300e-03 -2.41887978e+00] [-2.14815077e-02 1.12256060e-03 9.99768616e-01 -1.64197709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641346184 meters 0.0796077057185098 Centerline is valid? [True, True] Translation: X:31.62, Y:-2.42, Z:-1.64 [[ 9.99522390e-01 2.13676859e-02 2.23252002e-02 3.16226834e+01] [-2.13367310e-02 9.99771027e-01 -1.62385607e-03 -2.41841330e+00] [-2.23547863e-02 1.14673371e-03 9.99749443e-01 -1.64201316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.671346184 meters 0.07643579411105367 Centerline is valid? [True, True] Translation: X:31.65, Y:-2.41, Z:-1.64 [[ 9.99503719e-01 2.18603906e-02 2.26812629e-02 3.16542224e+01] [-2.18285476e-02 9.99760366e-01 -1.65059458e-03 -2.41166042e+00] [-2.27119104e-02 1.15467640e-03 9.99741384e-01 -1.63872839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.701346183999995 meters 0.0782848054000379 Centerline is valid? [True, True] Translation: X:31.68, Y:-2.42, Z:-1.64 [[ 9.99491833e-01 2.26116694e-02 2.24674718e-02 3.16842814e+01] [-2.25806242e-02 9.99743689e-01 -1.63455133e-03 -2.41743297e+00] [-2.24986731e-02 1.12639117e-03 9.99746238e-01 -1.64329884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.731346183999996 meters 0.07646712056163027 Centerline is valid? [True, True] Translation: X:31.72, Y:-2.42, Z:-1.64 [[ 9.99471163e-01 2.26400997e-02 2.33413733e-02 3.17152539e+01] [-2.26065784e-02 9.99742995e-01 -1.69903764e-03 -2.41769581e+00] [-2.33738408e-02 1.17047054e-03 9.99726109e-01 -1.64391724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.761346184 meters 0.07748358614610941 Centerline is valid? [True, True] Translation: X:31.74, Y:-2.42, Z:-1.65 [[ 9.99518690e-01 2.11091833e-02 2.27330464e-02 3.17448165e+01] [-2.10769920e-02 9.99776486e-01 -1.65475702e-03 -2.42244062e+00] [-2.27628958e-02 1.17481634e-03 9.99740201e-01 -1.64650606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.791346184 meters 0.07987833325431268 Centerline is valid? [True, True] Translation: X:31.77, Y:-2.43, Z:-1.65 [[ 9.99585923e-01 1.77265196e-02 2.26661209e-02 3.17743996e+01] [-1.76936505e-02 9.99842094e-01 -1.64988547e-03 -2.42948596e+00] [-2.26917885e-02 1.24815586e-03 9.99741729e-01 -1.64886887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.821346184 meters 0.07698617997041114 Centerline is valid? [True, True] Translation: X:31.81, Y:-2.43, Z:-1.65 [[ 9.99622942e-01 1.60640911e-02 2.22692132e-02 3.18073188e+01] [-1.60319976e-02 9.99870169e-01 -1.61895144e-03 -2.42637036e+00] [-2.22923290e-02 1.26132103e-03 9.99750699e-01 -1.64746010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.851346184 meters 0.07832363184569824 Centerline is valid? [True, True] Translation: X:31.84, Y:-2.43, Z:-1.65 [[ 9.99645470e-01 1.52053963e-02 2.18570537e-02 3.18380990e+01] [-1.51743424e-02 9.99883605e-01 -1.58593505e-03 -2.43147811e+00] [-2.18786244e-02 1.25370637e-03 9.99759848e-01 -1.64925212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.881346183999995 meters 0.07929214211328595 Centerline is valid? [True, True] Translation: X:31.87, Y:-2.44, Z:-1.65 [[ 9.99654426e-01 1.47022715e-02 2.17915431e-02 3.18698913e+01] [-1.46711835e-02 9.99891115e-01 -1.58580135e-03 -2.43587375e+00] [-2.18124853e-02 1.26554561e-03 9.99761278e-01 -1.65172545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.911346183999996 meters 0.07982527468388034 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.44, Z:-1.65 [[ 9.99631588e-01 1.52453929e-02 2.24558895e-02 3.19007728e+01] [-1.52123721e-02 9.99882939e-01 -1.64057406e-03 -2.44028345e+00] [-2.24782719e-02 1.29836231e-03 9.99746489e-01 -1.65441402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.941346184 meters 0.07930493841010353 Centerline is valid? [True, True] Translation: X:31.93, Y:-2.44, Z:-1.66 [[ 9.99627035e-01 1.63362911e-02 2.18841478e-02 3.19329807e+01] [-1.63050976e-02 9.99865778e-01 -1.60307871e-03 -2.44222073e+00] [-2.19073988e-02 1.24565765e-03 9.99759228e-01 -1.65550550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.971346184 meters 0.07635323797262367 Centerline is valid? [True, True] Translation: X:31.97, Y:-2.44, Z:-1.65 [[ 9.99597913e-01 1.82026898e-02 2.17410603e-02 3.19652348e+01] [-1.81721115e-02 9.99833588e-01 -1.60323019e-03 -2.43827347e+00] [-2.17666255e-02 1.20750458e-03 9.99762350e-01 -1.65461204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001346184 meters 0.07519340857254399 Centerline is valid? [True, True] Translation: X:32.00, Y:-2.44, Z:-1.65 [[ 9.99527833e-01 2.13057252e-02 2.21399362e-02 3.19961037e+01] [-2.12747112e-02 9.99772330e-01 -1.63543936e-03 -2.43558826e+00] [-2.21697399e-02 1.16364641e-03 9.99753544e-01 -1.65327583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.031346184 meters 0.07354906915895969 Centerline is valid? [True, True] Translation: X:32.03, Y:-2.43, Z:-1.65 [[ 9.99496236e-01 2.25656865e-02 2.23173678e-02 3.20264143e+01] [-2.25344749e-02 9.99744706e-01 -1.64906481e-03 -2.43452684e+00] [-2.23488826e-02 1.14532391e-03 9.99749576e-01 -1.65347558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.061346183999994 meters 0.0743366402799851 Centerline is valid? [True, True] Translation: X:32.06, Y:-2.44, Z:-1.66 [[ 9.99504379e-01 2.28222493e-02 2.16827279e-02 3.20556536e+01] [-2.27928564e-02 9.99738926e-01 -1.60179222e-03 -2.44026118e+00] [-2.17136236e-02 1.10678703e-03 9.99763619e-01 -1.65706932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.091346183999995 meters 0.07485839742951404 Centerline is valid? [True, True] Translation: X:32.08, Y:-2.45, Z:-1.66 [[ 9.99496236e-01 2.35034647e-02 2.13274720e-02 3.20837438e+01] [-2.34751818e-02 9.99723178e-01 -1.57555497e-03 -2.44535792e+00] [-2.13585991e-02 1.07409498e-03 9.99771302e-01 -1.66008418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121346184 meters 0.07459981364806366 Centerline is valid? [True, True] Translation: X:32.11, Y:-2.45, Z:-1.66 [[ 9.99484371e-01 2.34047034e-02 2.19820682e-02 3.21129591e+01] [-2.33746471e-02 9.99725458e-01 -1.62329608e-03 -2.44902991e+00] [-2.20140260e-02 1.10863598e-03 9.99757047e-01 -1.66075473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.151346184 meters 0.07463601975069038 Centerline is valid? [True, True] Translation: X:32.14, Y:-2.45, Z:-1.66 [[ 9.99467904e-01 2.36162893e-02 2.24984447e-02 3.21421968e+01] [-2.35848765e-02 9.99720459e-01 -1.66058205e-03 -2.45200628e+00] [-2.25313722e-02 1.12907543e-03 9.99745499e-01 -1.66234437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181346184 meters 0.07419467080854963 Centerline is valid? [True, True] Translation: X:32.17, Y:-2.46, Z:-1.67 [[ 9.99445417e-01 2.54516649e-02 2.14725563e-02 3.21710652e+01] [-2.54235005e-02 9.99675516e-01 -1.58365955e-03 -2.45558389e+00] [-2.15058956e-02 1.03687373e-03 9.99768184e-01 -1.66632394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.211346184 meters 0.07338686197326708 Centerline is valid? [True, True] Translation: X:32.20, Y:-2.46, Z:-1.67 [[ 9.99407043e-01 2.72274967e-02 2.10766482e-02 3.22004385e+01] [-2.72007520e-02 9.99628782e-01 -1.55462149e-03 -2.45615110e+00] [-2.11111527e-02 9.80398988e-04 9.99776654e-01 -1.66787599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241346184 meters 0.07328032641505577 Centerline is valid? [True, True] Translation: X:32.23, Y:-2.46, Z:-1.67 [[ 9.99381540e-01 2.84315067e-02 2.06926834e-02 3.22286685e+01] [-2.84059782e-02 9.99595303e-01 -1.52664041e-03 -2.45659278e+00] [-2.07277138e-02 9.37900328e-04 9.99784718e-01 -1.66925719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.271346183999995 meters 0.07327950866195994 Centerline is valid? [True, True] Translation: X:32.26, Y:-2.46, Z:-1.67 [[ 9.99336730e-01 2.98772414e-02 2.08194613e-02 3.22562248e+01] [-2.98517328e-02 9.99553159e-01 -1.53500331e-03 -2.45706103e+00] [-2.08560200e-02 9.12488191e-04 9.99782073e-01 -1.67091118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301346183999996 meters 0.07111502858225735 Centerline is valid? [True, True] Translation: X:32.29, Y:-2.45, Z:-1.67 [[ 9.99201772e-01 3.30687191e-02 2.24115593e-02 3.22867594e+01] [-3.30400555e-02 9.99452669e-01 -1.64814581e-03 -2.45308388e+00] [-2.24537948e-02 9.06351051e-04 9.99747471e-01 -1.66865924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.331346184 meters 0.07008304078601578 Centerline is valid? [True, True] Translation: X:32.32, Y:-2.45, Z:-1.67 [[ 9.99160147e-01 3.44149285e-02 2.22399178e-02 3.23160456e+01] [-3.43870099e-02 9.99407252e-01 -1.63666304e-03 -2.45187366e+00] [-2.22830608e-02 8.70524205e-04 9.99751323e-01 -1.66889864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361346184 meters 0.06906913671472287 Centerline is valid? [True, True] Translation: X:32.34, Y:-2.45, Z:-1.67 [[ 9.99096916e-01 3.64397307e-02 2.18517335e-02 3.23448253e+01] [-3.64132941e-02 9.99335525e-01 -1.60662257e-03 -2.45087876e+00] [-2.18957584e-02 8.09478056e-04 9.99759931e-01 -1.66938512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.391346184 meters 0.06936995018690603 Centerline is valid? [True, True] Translation: X:32.37, Y:-2.45, Z:-1.67 [[ 9.99106971e-01 3.62944351e-02 2.16327122e-02 3.23719601e+01] [-3.62685144e-02 9.99340817e-01 -1.58948589e-03 -2.45399541e+00] [-2.16761418e-02 8.03480102e-04 9.99764722e-01 -1.67187239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421346184 meters 0.07018328125215613 Centerline is valid? [True, True] Translation: X:32.40, Y:-2.46, Z:-1.68 [[ 9.99156319e-01 3.55974726e-02 2.04809846e-02 3.23988405e+01] [-3.55741154e-02 9.99365909e-01 -1.50375648e-03 -2.45769861e+00] [-2.05215278e-02 7.73894874e-04 9.99789112e-01 -1.67522071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.451346183999995 meters 0.0705557903489828 Centerline is valid? [True, True] Translation: X:32.43, Y:-2.46, Z:-1.68 [[ 9.99213739e-01 3.41761543e-02 2.00970990e-02 3.24270653e+01] [-3.41534405e-02 9.99415516e-01 -1.47244854e-03 -2.46068704e+00] [-2.01356752e-02 7.84905735e-04 9.99796949e-01 -1.67713765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481346183999996 meters 0.0718418164422529 Centerline is valid? [True, True] Translation: X:32.45, Y:-2.46, Z:-1.68 [[ 9.99316907e-01 3.13519871e-02 1.95645909e-02 3.24549042e+01] [-3.13299468e-02 9.99508071e-01 -1.43210970e-03 -2.46444409e+00] [-1.95998660e-02 8.18173847e-04 9.99807569e-01 -1.67962681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511346184 meters 0.07178280873249314 Centerline is valid? [True, True] Translation: X:32.48, Y:-2.47, Z:-1.68 [[ 9.99383753e-01 2.94243079e-02 1.91395875e-02 3.24847720e+01] [-2.94029077e-02 9.99566663e-01 -1.39861827e-03 -2.46555915e+00] [-1.91724470e-02 8.34996848e-04 9.99815843e-01 -1.68007911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541346184 meters 0.0722755254527736 Centerline is valid? [True, True] Translation: X:32.51, Y:-2.47, Z:-1.68 [[ 9.99418543e-01 2.75390411e-02 2.01041784e-02 3.25134120e+01] [-2.75150428e-02 9.99620310e-01 -1.46938783e-03 -2.46887610e+00] [-2.01370106e-02 9.15366109e-04 9.99796811e-01 -1.68131098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.571346184 meters 0.07439256417084875 Centerline is valid? [True, True] Translation: X:32.54, Y:-2.48, Z:-1.68 [[ 9.99499152e-01 2.28616091e-02 2.18813037e-02 3.25420626e+01] [-2.28321255e-02 9.99738039e-01 -1.59634584e-03 -2.47850837e+00] [-2.19120667e-02 1.09594964e-03 9.99759301e-01 -1.68314080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601346184 meters 0.07486066699998858 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.48, Z:-1.68 [[ 9.99525203e-01 2.10005138e-02 2.25465609e-02 3.25726315e+01] [-2.09687793e-02 9.99778781e-01 -1.64302879e-03 -2.48263155e+00] [-2.25760776e-02 1.16947483e-03 9.99744444e-01 -1.68379708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.631346183999995 meters 0.07629895290887168 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.49, Z:-1.69 [[ 9.99588108e-01 1.84564131e-02 2.19766869e-02 3.26038005e+01] [-1.84256721e-02 9.99828952e-01 -1.60049045e-03 -2.48671525e+00] [-2.20024671e-02 1.19489599e-03 9.99757202e-01 -1.68510526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.661346183999996 meters 0.07942881146534453 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.49, Z:-1.69 [[ 9.99679661e-01 1.33496333e-02 2.15026364e-02 3.26330330e+01] [-1.33189801e-02 9.99910069e-01 -1.56814471e-03 -2.49406999e+00] [-2.15216368e-02 1.28124919e-03 9.99767562e-01 -1.68803937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.691346184 meters 0.0788562104379872 Centerline is valid? [True, True] Translation: X:32.67, Y:-2.50, Z:-1.69 [[ 9.99682165e-01 1.17454010e-02 2.23072621e-02 3.26652406e+01] [-1.17120745e-02 9.99930092e-01 -1.62403880e-03 -2.49722880e+00] [-2.23247776e-02 1.36225831e-03 9.99749843e-01 -1.68878867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721346184 meters 0.08114741231488366 Centerline is valid? [True, True] Translation: X:32.69, Y:-2.50, Z:-1.69 [[ 9.99695278e-01 9.22587889e-03 2.28961629e-02 3.26943792e+01] [-9.19002605e-03 9.99956375e-01 -1.67061895e-03 -2.50474589e+00] [-2.29105770e-02 1.45969354e-03 9.99736453e-01 -1.69231746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.751346184 meters 0.08159265506313598 Centerline is valid? [True, True] Translation: X:32.72, Y:-2.51, Z:-1.69 [[ 9.99744809e-01 5.34438123e-03 2.19488865e-02 3.27244780e+01] [-5.31050503e-03 9.99984617e-01 -1.60141072e-03 -2.50696460e+00] [-2.19571074e-02 1.48444238e-03 9.99757812e-01 -1.69361599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781346184 meters 0.08142567168729568 Centerline is valid? [True, True] Translation: X:32.76, Y:-2.51, Z:-1.69 [[ 9.99755881e-01 4.94951906e-03 2.15332495e-02 3.27569128e+01] [-4.91697589e-03 9.99986689e-01 -1.56398204e-03 -2.50787761e+00] [-2.15407038e-02 1.45772177e-03 9.99766909e-01 -1.69386982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.811346183999994 meters 0.0830107084556948 Centerline is valid? [True, True] Translation: X:32.79, Y:-2.51, Z:-1.70 [[ 9.99743513e-01 4.95586334e-03 2.20985822e-02 3.27882760e+01] [-4.92139080e-03 9.99986587e-01 -1.61405563e-03 -2.51178510e+00] [-2.21062848e-02 1.50488589e-03 9.99754494e-01 -1.69598106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.841346183999995 meters 0.08198732268765387 Centerline is valid? [True, True] Translation: X:32.82, Y:-2.51, Z:-1.70 [[ 9.99730976e-01 5.46571971e-03 2.25411162e-02 3.28211120e+01] [-5.42997456e-03 9.99983902e-01 -1.64667804e-03 -2.51084326e+00] [-2.25497536e-02 1.52383736e-03 9.99744561e-01 -1.69560970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.871346184 meters 0.08239904259261174 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.51, Z:-1.70 [[ 9.99736289e-01 5.36760344e-03 2.23280450e-02 3.28532948e+01] [-5.33238601e-03 9.99984444e-01 -1.63651302e-03 -2.51236251e+00] [-2.23364818e-02 1.51701969e-03 9.99749359e-01 -1.69660645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.901346184 meters 0.08288491957239956 Centerline is valid? [True, True] Translation: X:32.89, Y:-2.52, Z:-1.70 [[ 9.99728565e-01 4.61683370e-03 2.28359755e-02 3.28851784e+01] [-4.57966397e-03 9.99988103e-01 -1.67971287e-03 -2.51665731e+00] [-2.28434588e-02 1.57467584e-03 9.99737814e-01 -1.69901140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.931346184 meters 0.08331363817952239 Centerline is valid? [True, True] Translation: X:32.92, Y:-2.52, Z:-1.70 [[ 9.99718559e-01 3.94151699e-03 2.33937376e-02 3.29170476e+01] [-3.90217922e-03 9.99990895e-01 -1.72696324e-03 -2.52050845e+00] [-2.34003314e-02 1.63519064e-03 9.99724837e-01 -1.70061474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.961346184 meters 0.08331363817952239 Centerline is valid? [True, True] Translation: X:32.95, Y:-2.52, Z:-1.70 [[ 9.99717420e-01 4.22258614e-03 2.33933785e-02 3.29496665e+01] [-4.18321213e-03 9.99989751e-01 -1.73180722e-03 -2.52310879e+00] [-2.34004514e-02 1.63345838e-03 9.99724837e-01 -1.70226585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.991346184 meters 0.08889341205439492 Centerline is valid? [True, True] Translation: X:32.98, Y:-2.53, Z:-1.71 [[ 9.99714366e-01 3.51073083e-03 2.36402563e-02 3.29796779e+01] [-3.47012658e-03 9.99992433e-01 -1.75839349e-03 -2.53471108e+00] [-2.36462507e-02 1.67585655e-03 9.99718984e-01 -1.70664673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.021346183999995 meters 0.08578417236318207 Centerline is valid? [True, True] Translation: X:33.01, Y:-2.53, Z:-1.71 [[ 9.99695859e-01 2.93424865e-03 2.44863021e-02 3.30118524e+01] [-2.89036580e-03 9.99994153e-01 -1.82733889e-03 -2.53220206e+00] [-2.44915208e-02 1.75600875e-03 9.99698495e-01 -1.70650287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.051346183999996 meters 0.08395168971636106 Centerline is valid? [True, True] Translation: X:33.04, Y:-2.53, Z:-1.71 [[ 9.99685621e-01 3.56508414e-03 2.48183391e-02 3.30444868e+01] [-3.52006686e-03 9.99992080e-01 -1.85732319e-03 -2.53245374e+00] [-2.48247640e-02 1.76937707e-03 9.99690252e-01 -1.70800726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081346184 meters 0.09011599883919919 Centerline is valid? [True, True] Translation: X:33.07, Y:-2.55, Z:-1.71 [[ 9.99685941e-01 4.48815647e-03 2.46551312e-02 3.30749600e+01] [-4.44384664e-03 9.99988412e-01 -1.85168142e-03 -2.54571106e+00] [-2.46631561e-02 1.74153627e-03 9.99694301e-01 -1.71428143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.111346184 meters 0.0840981142341477 Centerline is valid? [True, True] Translation: X:33.11, Y:-2.53, Z:-1.71 [[ 9.99710551e-01 6.37097600e-03 2.31996795e-02 3.31081877e+01] [-6.33215103e-03 9.99978426e-01 -1.74659138e-03 -2.53496951e+00] [-2.32103065e-02 1.59918196e-03 9.99729326e-01 -1.71230605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141346184 meters 0.08215015651633628 Centerline is valid? [True, True] Translation: X:33.14, Y:-2.53, Z:-1.71 [[ 9.99708144e-01 8.17382999e-03 2.27335670e-02 3.31402220e+01] [-8.13677361e-03 9.99965413e-01 -1.72205462e-03 -2.53247067e+00] [-2.27468565e-02 1.53657414e-03 9.99740076e-01 -1.71269480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171346184 meters 0.08478278031709441 Centerline is valid? [True, True] Translation: X:33.17, Y:-2.54, Z:-1.72 [[ 9.99713392e-01 9.93853758e-03 2.17798117e-02 3.31701033e+01] [-9.90489755e-03 9.99949581e-01 -1.65188573e-03 -2.53852241e+00] [-2.17951310e-02 1.43568549e-03 9.99761427e-01 -1.71740352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.201346183999995 meters 0.0821475327474466 Centerline is valid? [True, True] Translation: X:33.20, Y:-2.54, Z:-1.72 [[ 9.99688538e-01 1.33641241e-02 2.10767184e-02 3.32007664e+01] [-1.33333613e-02 9.99909828e-01 -1.59942232e-03 -2.53503164e+00] [-2.10961927e-02 1.31790066e-03 9.99776582e-01 -1.71905013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.231346183999996 meters 0.08261707730334109 Centerline is valid? [True, True] Translation: X:33.23, Y:-2.54, Z:-1.72 [[ 9.99691016e-01 1.50485582e-02 1.97841679e-02 3.32319910e+01] [-1.50219161e-02 9.99886048e-01 -1.49457308e-03 -2.53727345e+00] [-1.98044046e-02 1.19691517e-03 9.99803157e-01 -1.72273478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261346184 meters 0.07887595706175042 Centerline is valid? [True, True] Translation: X:33.26, Y:-2.53, Z:-1.72 [[ 9.99664506e-01 1.73760019e-02 1.92080615e-02 3.32637340e+01] [-1.73511305e-02 9.99848391e-01 -1.46075340e-03 -2.53202346e+00] [-1.92305314e-02 1.12698174e-03 9.99814441e-01 -1.72224734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.291346184 meters 0.078778785498524 Centerline is valid? [True, True] Translation: X:33.29, Y:-2.53, Z:-1.73 [[ 9.99651211e-01 1.89495901e-02 1.83948299e-02 3.32936838e+01] [-1.89270249e-02 9.99819888e-01 -1.40005414e-03 -2.53319877e+00] [-1.84180472e-02 1.05140641e-03 9.99829821e-01 -1.72575532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321346184 meters 0.07757302778792186 Centerline is valid? [True, True] Translation: X:33.32, Y:-2.53, Z:-1.73 [[ 9.99656448e-01 1.94966538e-02 1.75176019e-02 3.33230421e+01] [-1.94762382e-02 9.99809428e-01 -1.33529250e-03 -2.53216872e+00] [-1.75402973e-02 9.93656773e-04 9.99845663e-01 -1.72786798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.351346184 meters 0.076654997168198 Centerline is valid? [True, True] Translation: X:33.35, Y:-2.53, Z:-1.73 [[ 9.99632261e-01 2.10654298e-02 1.70760381e-02 3.33530278e+01] [-2.10462784e-02 9.99777657e-01 -1.30048981e-03 -2.53333042e+00] [-1.70996367e-02 9.40624513e-04 9.99853348e-01 -1.73055317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.381346183999995 meters 0.07889563607269166 Centerline is valid? [True, True] Translation: X:33.38, Y:-2.54, Z:-1.74 [[ 9.99623132e-01 2.16139227e-02 1.69242916e-02 3.33810985e+01] [-2.15951734e-02 9.99765965e-01 -1.28982897e-03 -2.53978149e+00] [-1.69482090e-02 9.23859863e-04 9.99855942e-01 -1.73522617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.411346183999996 meters 0.0776802940851149 Centerline is valid? [True, True] Translation: X:33.41, Y:-2.54, Z:-1.73 [[ 9.99631664e-01 2.14791008e-02 1.65887076e-02 3.34099417e+01] [-2.14610738e-02 9.99768886e-01 -1.26397834e-03 -2.53769253e+00] [-1.66120228e-02 9.07501295e-04 9.99861599e-01 -1.73421844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441346184 meters 0.07658903485056155 Centerline is valid? [True, True] Translation: X:33.44, Y:-2.54, Z:-1.73 [[ 9.99635317e-01 2.05731933e-02 1.74921855e-02 3.34387457e+01] [-2.05530344e-02 9.99787877e-01 -1.33145997e-03 -2.53592264e+00] [-1.75158674e-02 9.71456914e-04 9.99846113e-01 -1.73172124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.471346184 meters 0.07858782596846761 Centerline is valid? [True, True] Translation: X:33.47, Y:-2.54, Z:-1.73 [[ 9.99606381e-01 1.99542765e-02 1.97208190e-02 3.34674167e+01] [-1.99285809e-02 9.99800283e-01 -1.49865354e-03 -2.54116423e+00] [-1.97467850e-02 1.10505570e-03 9.99804403e-01 -1.73314945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501346184 meters 0.07882129543663266 Centerline is valid? [True, True] Translation: X:33.50, Y:-2.55, Z:-1.73 [[ 9.99594604e-01 1.84112522e-02 2.17175860e-02 3.34968427e+01] [-1.83797678e-02 9.99829719e-01 -1.64844947e-03 -2.54532157e+00] [-2.17442379e-02 1.24861700e-03 9.99762786e-01 -1.73311089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.531346184 meters 0.0790856210845255 Centerline is valid? [True, True] Translation: X:33.53, Y:-2.55, Z:-1.74 [[ 9.99605904e-01 1.76430161e-02 2.18348464e-02 3.35278158e+01] [-1.76110684e-02 9.99843544e-01 -1.65459345e-03 -2.54907393e+00] [-2.18606222e-02 1.26940641e-03 9.99760222e-01 -1.73544988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.561346183999994 meters 0.07872052644380888 Centerline is valid? [True, True] Translation: X:33.56, Y:-2.55, Z:-1.74 [[ 9.99596758e-01 1.76693285e-02 2.22287370e-02 3.35597229e+01] [-1.76363379e-02 9.99843057e-01 -1.67932207e-03 -2.55120280e+00] [-2.22549208e-02 1.28661138e-03 9.99751501e-01 -1.73568399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.591346183999995 meters 0.07772028793917508 Centerline is valid? [True, True] Translation: X:33.59, Y:-2.55, Z:-1.73 [[ 9.99560173e-01 1.80957074e-02 2.34948219e-02 3.35921089e+01] [-1.80588176e-02 9.99835339e-01 -1.78136473e-03 -2.55096374e+00] [-2.35231883e-02 1.35629253e-03 9.99722372e-01 -1.73486356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621346184 meters 0.07830188646458736 Centerline is valid? [True, True] Translation: X:33.62, Y:-2.55, Z:-1.74 [[ 9.99552430e-01 1.87134851e-02 2.33397832e-02 3.36231723e+01] [-1.86771035e-02 9.99823991e-01 -1.77581608e-03 -2.55376790e+00] [-2.33689069e-02 1.33910173e-03 9.99726013e-01 -1.73722848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.651346184 meters 0.07736358859506345 Centerline is valid? [True, True] Translation: X:33.66, Y:-2.55, Z:-1.74 [[ 9.99544068e-01 1.96655925e-02 2.29111542e-02 3.36555728e+01] [-1.96306825e-02 9.99805772e-01 -1.74764880e-03 -2.55347949e+00] [-2.29410728e-02 1.29709039e-03 9.99735978e-01 -1.73768698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681346184 meters 0.07714508432618122 Centerline is valid? [True, True] Translation: X:33.69, Y:-2.55, Z:-1.74 [[ 9.99513939e-01 2.08384267e-02 2.31871914e-02 3.36875368e+01] [-2.08027246e-02 9.99782016e-01 -1.77990952e-03 -2.55249294e+00] [-2.32192275e-02 1.29668762e-03 9.99729556e-01 -1.73769918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.711346184 meters 0.07633513134441149 Centerline is valid? [True, True] Translation: X:33.72, Y:-2.55, Z:-1.74 [[ 9.99474745e-01 2.13384336e-02 2.43906634e-02 3.37178502e+01] [-2.12990080e-02 9.99771392e-01 -1.87509702e-03 -2.55346622e+00] [-2.44250991e-02 1.35461518e-03 9.99700745e-01 -1.73819859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741346184 meters 0.07623720134708183 Centerline is valid? [True, True] Translation: X:33.75, Y:-2.56, Z:-1.74 [[ 9.99429502e-01 2.19959496e-02 2.56290664e-02 3.37486642e+01] [-2.19526443e-02 9.99757071e-01 -1.96986636e-03 -2.55664193e+00] [-2.56661694e-02 1.40611677e-03 9.99669581e-01 -1.74029873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.771346183999995 meters 0.07546670935703663 Centerline is valid? [True, True] Translation: X:33.78, Y:-2.56, Z:-1.74 [[ 9.99393326e-01 2.29657583e-02 2.61830764e-02 3.37804732e+01] [-2.29209018e-02 9.99735257e-01 -2.01206072e-03 -2.55815356e+00] [-2.62223531e-02 1.41070033e-03 9.99655140e-01 -1.74100574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801346183999996 meters 0.07444749330805761 Centerline is valid? [True, True] Translation: X:33.81, Y:-2.56, Z:-1.74 [[ 9.99271277e-01 2.59869576e-02 2.79569961e-02 3.38102948e+01] [-2.59369021e-02 9.99661266e-01 -2.15164671e-03 -2.55562077e+00] [-2.80034409e-02 1.42496088e-03 9.99606811e-01 -1.74024198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.831346184 meters 0.07403161136989608 Centerline is valid? [True, True] Translation: X:33.84, Y:-2.55, Z:-1.74 [[ 9.99245350e-01 2.77674746e-02 2.71606065e-02 3.38410020e+01] [-2.77209108e-02 9.99613518e-01 -2.08949074e-03 -2.55473504e+00] [-2.72081293e-02 1.33499716e-03 9.99628899e-01 -1.74224967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861346184 meters 0.07265320510675069 Centerline is valid? [True, True] Translation: X:33.87, Y:-2.55, Z:-1.75 [[ 9.99246174e-01 2.91983782e-02 2.55839571e-02 3.38707611e+01] [-2.91575099e-02 9.99572890e-01 -1.96908703e-03 -2.55313961e+00] [-2.56305240e-02 1.22163820e-03 9.99670738e-01 -1.74508120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.891346184 meters 0.07209400072027629 Centerline is valid? [True, True] Translation: X:33.90, Y:-2.56, Z:-1.75 [[ 9.99226165e-01 3.20021333e-02 2.28677733e-02 3.38998050e+01] [-3.19702309e-02 9.99487273e-01 -1.75940637e-03 -2.55604775e+00] [-2.29123531e-02 1.02695689e-03 9.99736950e-01 -1.75367109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921346184 meters 0.071786740002503 Centerline is valid? [True, True] Translation: X:33.93, Y:-2.56, Z:-1.76 [[ 9.99222136e-01 3.32970920e-02 2.11288063e-02 3.39282326e+01] [-3.32701377e-02 9.99445073e-01 -1.62604903e-03 -2.55745126e+00] [-2.11712240e-02 9.21825888e-04 9.99775440e-01 -1.75718896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.951346183999995 meters 0.07102787950851643 Centerline is valid? [True, True] Translation: X:33.96, Y:-2.56, Z:-1.76 [[ 9.99218424e-01 3.38986025e-02 2.03328972e-02 3.39576674e+01] [-3.38737916e-02 9.99424895e-01 -1.56350232e-03 -2.55562844e+00] [-2.03742042e-02 8.73528004e-04 9.99792043e-01 -1.75725880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981346183999996 meters 0.07116120483565816 Centerline is valid? [True, True] Translation: X:33.99, Y:-2.55, Z:-1.76 [[ 9.99193513e-01 3.48814775e-02 1.98898525e-02 3.39852901e+01] [-3.48579473e-02 9.99391108e-01 -1.52860112e-03 -2.55483499e+00] [-1.99310615e-02 8.34048890e-04 9.99801009e-01 -1.75780313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.011346184 meters 0.07154650270473928 Centerline is valid? [True, True] Translation: X:34.01, Y:-2.56, Z:-1.76 [[ 9.99177299e-01 3.51970876e-02 2.01467126e-02 3.40136530e+01] [-3.51730591e-02 9.99380041e-01 -1.54589672e-03 -2.55544965e+00] [-2.01886335e-02 8.36003399e-04 9.99795839e-01 -1.75820988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041346184 meters 0.07033638107269143 Centerline is valid? [True, True] Translation: X:34.04, Y:-2.56, Z:-1.76 [[ 9.99136615e-01 3.61569401e-02 2.04621491e-02 3.40429945e+01] [-3.61323957e-02 9.99345782e-01 -1.56806903e-03 -2.55596284e+00] [-2.05054590e-02 8.27368717e-04 9.99789399e-01 -1.75874143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.071346184 meters 0.07167651235946164 Centerline is valid? [True, True] Translation: X:34.07, Y:-2.56, Z:-1.76 [[ 9.99125651e-01 3.62085044e-02 2.09016190e-02 3.40702635e+01] [-3.61829084e-02 9.99343901e-01 -1.60160411e-03 -2.56178985e+00] [-2.09458972e-02 8.43922379e-04 9.99780254e-01 -1.76302149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101346184 meters 0.07071297834974537 Centerline is valid? [True, True] Translation: X:34.10, Y:-2.56, Z:-1.76 [[ 9.99103455e-01 3.67356579e-02 2.10422869e-02 3.40992592e+01] [-3.67098846e-02 9.99324668e-01 -1.60992709e-03 -2.56163038e+00] [-2.10872181e-02 8.36023793e-04 9.99777290e-01 -1.76301191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.131346183999995 meters 0.07054009434065833 Centerline is valid? [True, True] Translation: X:34.13, Y:-2.56, Z:-1.76 [[ 9.99106032e-01 3.66347966e-02 2.10957004e-02 3.41270096e+01] [-3.66088793e-02 9.99328368e-01 -1.61356755e-03 -2.56343088e+00] [-2.11406445e-02 8.39835120e-04 9.99776159e-01 -1.76498487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.161346183999996 meters 0.07068222840097262 Centerline is valid? [True, True] Translation: X:34.16, Y:-2.57, Z:-1.77 [[ 9.99093529e-01 3.66140049e-02 2.17148682e-02 3.41558452e+01] [-3.65866149e-02 9.99329111e-01 -1.65742617e-03 -2.56672602e+00] [-2.17609849e-02 8.61450237e-04 9.99762831e-01 -1.76771758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.191346184 meters 0.07163249611724222 Centerline is valid? [True, True] Translation: X:34.18, Y:-2.57, Z:-1.77 [[ 9.99090950e-01 3.59104476e-02 2.29720005e-02 3.41829787e+01] [-3.58796395e-02 9.99354583e-01 -1.75201626e-03 -2.57120143e+00] [-2.30200897e-02 9.26196490e-04 9.99734574e-01 -1.76796089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221346184 meters 0.07190086107717042 Centerline is valid? [True, True] Translation: X:34.21, Y:-2.57, Z:-1.77 [[ 9.99095304e-01 3.51622428e-02 2.39205130e-02 3.42095444e+01] [-3.51286567e-02 9.99381136e-01 -1.82296248e-03 -2.57185880e+00] [-2.39698089e-02 9.81017759e-04 9.99712202e-01 -1.76640210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.251346184 meters 0.07228890083605702 Centerline is valid? [True, True] Translation: X:34.24, Y:-2.57, Z:-1.77 [[ 9.99155110e-01 3.32997258e-02 2.40872196e-02 3.42383135e+01] [-3.32652334e-02 9.99444881e-01 -1.83136530e-03 -2.57350430e+00] [-2.41348323e-02 1.02855102e-03 9.99708183e-01 -1.76578471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281346184 meters 0.07176643966763603 Centerline is valid? [True, True] Translation: X:34.27, Y:-2.58, Z:-1.77 [[ 9.99231648e-01 3.00089747e-02 2.52106250e-02 3.42672076e+01] [-2.99702009e-02 9.99548959e-01 -1.91451478e-03 -2.57778989e+00] [-2.52567066e-02 1.15747626e-03 9.99680328e-01 -1.76584734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.311346183999994 meters 0.07376409222822697 Centerline is valid? [True, True] Translation: X:34.30, Y:-2.59, Z:-1.77 [[ 9.99314634e-01 2.74590218e-02 2.48246690e-02 3.42951692e+01] [-2.74206746e-02 9.99622207e-01 -1.88387523e-03 -2.58681473e+00] [-2.48670198e-02 1.20187492e-03 9.99690045e-01 -1.77038272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.341346183999995 meters 0.07456888054299048 Centerline is valid? [True, True] Translation: X:34.32, Y:-2.59, Z:-1.77 [[ 9.99389925e-01 2.46858156e-02 2.47060347e-02 3.43246049e+01] [-2.46470331e-02 9.99694461e-01 -1.87308847e-03 -2.59234276e+00] [-2.47447248e-02 1.26301529e-03 9.99693005e-01 -1.77201821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.371346184 meters 0.07660921350249034 Centerline is valid? [True, True] Translation: X:34.35, Y:-2.60, Z:-1.77 [[ 9.99531551e-01 2.01948802e-02 2.29966490e-02 3.43546730e+01] [-2.01601336e-02 9.99795247e-01 -1.74180503e-03 -2.59932109e+00] [-2.30271159e-02 1.27737357e-03 9.99734025e-01 -1.77392201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401346184 meters 0.07829120577921117 Centerline is valid? [True, True] Translation: X:34.38, Y:-2.61, Z:-1.78 [[ 9.99553238e-01 1.94968173e-02 2.26539009e-02 3.43841510e+01] [-1.94629303e-02 9.99809108e-01 -1.71539711e-03 -2.60554099e+00] [-2.26830212e-02 1.27371944e-03 9.99741896e-01 -1.77728111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.431346184 meters 0.0771452908111302 Centerline is valid? [True, True] Translation: X:34.42, Y:-2.61, Z:-1.78 [[ 9.99592280e-01 1.91085328e-02 2.12164512e-02 3.44155280e+01] [-1.90787279e-02 9.99816694e-01 -1.60634935e-03 -2.60567464e+00] [-2.12432570e-02 1.20091151e-03 9.99773615e-01 -1.77820601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.461346184 meters 0.07988390956458782 Centerline is valid? [True, True] Translation: X:34.45, Y:-2.61, Z:-1.78 [[ 9.99586424e-01 2.01676234e-02 2.04999601e-02 3.44454188e+01] [-2.01399953e-02 9.99795963e-01 -1.55330016e-03 -2.61386736e+00] [-2.05271037e-02 1.13978866e-03 9.99788647e-01 -1.78300749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.491346184 meters 0.07682684438574022 Centerline is valid? [True, True] Translation: X:34.48, Y:-2.61, Z:-1.78 [[ 9.99555678e-01 2.13424694e-02 2.08073546e-02 3.44763159e+01] [-2.13142413e-02 9.99771581e-01 -1.57749036e-03 -2.61024795e+00] [-2.08362693e-02 1.13329647e-03 9.99782259e-01 -1.78147346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.521346183999995 meters 0.07722597651617294 Centerline is valid? [True, True] Translation: X:34.51, Y:-2.61, Z:-1.78 [[ 9.99529981e-01 2.19167637e-02 2.14353226e-02 3.45053585e+01] [-2.18869265e-02 9.99759131e-01 -1.62560474e-03 -2.61302535e+00] [-2.14657875e-02 1.15568735e-03 9.99768915e-01 -1.78267466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.551346183999996 meters 0.07685983441388268 Centerline is valid? [True, True] Translation: X:34.54, Y:-2.61, Z:-1.78 [[ 9.99422917e-01 2.36731785e-02 2.43600985e-02 3.45351266e+01] [-2.36352286e-02 9.99718947e-01 -1.84465369e-03 -2.61440162e+00] [-2.43969209e-02 1.26783267e-03 9.99701547e-01 -1.78078054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581346184 meters 0.07678303897921403 Centerline is valid? [True, True] Translation: X:34.57, Y:-2.62, Z:-1.78 [[ 9.99366261e-01 2.49906546e-02 2.53484427e-02 3.45652503e+01] [-2.49498946e-02 9.99686853e-01 -1.92303755e-03 -2.61697321e+00] [-2.53885629e-02 1.28937787e-03 9.99676827e-01 -1.78183486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.611346184 meters 0.07580248732137992 Centerline is valid? [True, True] Translation: X:34.59, Y:-2.62, Z:-1.78 [[ 9.99322547e-01 2.66006794e-02 2.54332779e-02 3.45949604e+01] [-2.65601443e-02 9.99645353e-01 -1.93032396e-03 -2.61770712e+00] [-2.54756060e-02 1.25350473e-03 9.99674658e-01 -1.78325056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641346184 meters 0.07579538622728037 Centerline is valid? [True, True] Translation: X:34.62, Y:-2.62, Z:-1.79 [[ 9.99299997e-01 2.81875208e-02 2.45963525e-02 3.46230592e+01] [-2.81500987e-02 9.99601965e-01 -1.86644450e-03 -2.62079471e+00] [-2.46391727e-02 1.17274823e-03 9.99695722e-01 -1.78754264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.671346184 meters 0.07331567684104959 Centerline is valid? [True, True] Translation: X:34.65, Y:-2.62, Z:-1.79 [[ 9.99302057e-01 3.10241749e-02 2.08062533e-02 3.46517369e+01] [-3.09980143e-02 9.99518199e-01 -1.57875446e-03 -2.61795022e+00] [-2.08452084e-02 9.32700040e-04 9.99782280e-01 -1.79255249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.701346183999995 meters 0.07191685880919221 Centerline is valid? [True, True] Translation: X:34.68, Y:-2.62, Z:-1.79 [[ 9.99267536e-01 3.32315833e-02 1.89750595e-02 3.46810339e+01] [-3.32102411e-02 9.99447352e-01 -1.43884185e-03 -2.61524435e+00] [-1.90123880e-02 8.07621653e-04 9.99818922e-01 -1.79461559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.731346183999996 meters 0.07390575719297925 Centerline is valid? [True, True] Translation: X:34.71, Y:-2.62, Z:-1.80 [[ 9.99220868e-01 3.52421036e-02 1.77665631e-02 3.47081610e+01] [-3.52237196e-02 9.99378545e-01 -1.34671529e-03 -2.61885323e+00] [-1.78029831e-02 7.19861588e-04 9.99841255e-01 -1.80183984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761346184 meters 0.06994632926303221 Centerline is valid? [True, True] Translation: X:34.74, Y:-2.61, Z:-1.80 [[ 9.99036168e-01 3.97871511e-02 1.85396104e-02 3.47391313e+01] [-3.97679889e-02 9.99207958e-01 -1.40125719e-03 -2.60891168e+00] [-1.85806783e-02 6.62623590e-04 9.99827145e-01 -1.79660925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.791346184 meters 0.0694141894410523 Centerline is valid? [True, True] Translation: X:34.77, Y:-2.61, Z:-1.80 [[ 9.98903828e-01 4.18940146e-02 2.08814028e-02 3.47678350e+01] [-4.18701643e-02 9.99121814e-01 -1.57826987e-03 -2.61020981e+00] [-2.09291851e-02 7.02232054e-04 9.99780714e-01 -1.79684988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821346184 meters 0.0680443676702902 Centerline is valid? [True, True] Translation: X:34.80, Y:-2.61, Z:-1.79 [[ 9.98794429e-01 4.33038214e-02 2.31185465e-02 3.47974030e+01] [-4.32749734e-02 9.99061672e-01 -1.74690458e-03 -2.61065372e+00] [-2.31725013e-02 7.44344079e-04 9.99731204e-01 -1.79436736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.851346184 meters 0.06802519769468234 Centerline is valid? [True, True] Translation: X:34.83, Y:-2.62, Z:-1.80 [[ 9.98785036e-01 4.28075742e-02 2.44123707e-02 3.48261775e+01] [-4.27752820e-02 9.99083018e-01 -1.84368820e-03 -2.61622393e+00] [-2.44689089e-02 7.97202142e-04 9.99700274e-01 -1.79538480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.881346183999995 meters 0.06802519769468234 Centerline is valid? [True, True] Translation: X:34.85, Y:-2.62, Z:-1.80 [[ 9.98789637e-01 4.27000595e-02 2.44124328e-02 3.48535297e+01] [-4.26677553e-02 9.99087617e-01 -1.84286649e-03 -2.61815161e+00] [-2.44688499e-02 7.99012240e-04 9.99700274e-01 -1.79677620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.911346183999996 meters 0.06841328296270252 Centerline is valid? [True, True] Translation: X:34.88, Y:-2.62, Z:-1.80 [[ 9.98866363e-01 4.15003388e-02 2.33175928e-02 3.48818321e+01] [-4.14706178e-02 9.99138179e-01 -1.75694748e-03 -2.62145949e+00] [-2.33704111e-02 7.87960763e-04 9.99726564e-01 -1.79861471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941346184 meters 0.06904754306678038 Centerline is valid? [True, True] Translation: X:34.91, Y:-2.63, Z:-1.80 [[ 9.98964248e-01 4.00245523e-02 2.16440735e-02 3.49114888e+01] [-3.99986498e-02 9.99198407e-01 -1.62851528e-03 -2.62503519e+00] [-2.16919044e-02 7.61094823e-04 9.99764413e-01 -1.80121318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.971346184 meters 0.07191796035327294 Centerline is valid? [True, True] Translation: X:34.94, Y:-2.63, Z:-1.81 [[ 9.99258956e-01 3.45178663e-02 1.70310344e-02 3.49396939e+01] [-3.45010711e-02 9.99403842e-01 -1.27906999e-03 -2.63360384e+00] [-1.70650319e-02 6.90533217e-04 9.99854143e-01 -1.80788598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001346184 meters 0.07299218146284801 Centerline is valid? [True, True] Translation: X:34.97, Y:-2.64, Z:-1.81 [[ 9.99367710e-01 3.17380429e-02 1.60273734e-02 3.49689599e+01] [-3.17227713e-02 9.99495978e-01 -1.20624564e-03 -2.63989785e+00] [-1.60575791e-02 6.97050238e-04 9.99870826e-01 -1.81105580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.031346184 meters 0.074516320498073 Centerline is valid? [True, True] Translation: X:35.00, Y:-2.65, Z:-1.81 [[ 9.99450224e-01 2.89450540e-02 1.61689251e-02 3.49964059e+01] [-2.89291363e-02 9.99580723e-01 -1.21753760e-03 -2.64809926e+00] [-1.61973875e-02 7.49115189e-04 9.99868533e-01 -1.81427748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.061346183999994 meters 0.07386375481583957 Centerline is valid? [True, True] Translation: X:35.03, Y:-2.66, Z:-1.81 [[ 9.99524928e-01 2.37698343e-02 1.96192056e-02 3.50253099e+01] [-2.37454547e-02 9.99716949e-01 -1.47469376e-03 -2.65506219e+00] [-1.96487056e-02 1.00812622e-03 9.99806437e-01 -1.81038995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.091346183999995 meters 0.07873376417569874 Centerline is valid? [True, True] Translation: X:35.05, Y:-2.67, Z:-1.81 [[ 9.99552366e-01 2.09419219e-02 2.13659327e-02 3.50532436e+01] [-2.09123937e-02 9.99780024e-01 -1.60454403e-03 -2.66694607e+00] [-2.13948349e-02 1.15701299e-03 9.99770435e-01 -1.81388039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121346184 meters 0.07612230339063357 Centerline is valid? [True, True] Translation: X:35.08, Y:-2.66, Z:-1.81 [[ 9.99545179e-01 1.88621484e-02 2.35298846e-02 3.50845994e+01] [-1.88258313e-02 9.99821222e-01 -1.76402800e-03 -2.66277096e+00] [-2.35589513e-02 1.32025605e-03 9.99721578e-01 -1.80865241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.151346184 meters 0.07690440865312011 Centerline is valid? [True, True] Translation: X:35.12, Y:-2.67, Z:-1.81 [[ 9.99573433e-01 1.73909342e-02 2.34628817e-02 3.51167610e+01] [-1.73544653e-02 9.99847856e-01 -1.75706523e-03 -2.66555569e+00] [-2.34898690e-02 1.34912996e-03 9.99723165e-01 -1.80844552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181346184 meters 0.07765664444804257 Centerline is valid? [True, True] Translation: X:35.15, Y:-2.67, Z:-1.81 [[ 9.99632678e-01 1.59421801e-02 2.19170090e-02 3.51475104e+01] [-1.59099605e-02 9.99872078e-01 -1.64366646e-03 -2.67102358e+00] [-2.19404089e-02 1.29436396e-03 9.99758442e-01 -1.81157478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.211346184 meters 0.07872928859300415 Centerline is valid? [True, True] Translation: X:35.18, Y:-2.68, Z:-1.82 [[ 9.99622032e-01 1.64051760e-02 2.20604362e-02 3.51783842e+01] [-1.63727503e-02 9.99864597e-01 -1.64968361e-03 -2.67768343e+00] [-2.20845125e-02 1.28787007e-03 9.99755278e-01 -1.81560805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241346184 meters 0.07851500486100021 Centerline is valid? [True, True] Translation: X:35.21, Y:-2.68, Z:-1.82 [[ 9.99636176e-01 1.65793268e-02 2.12753967e-02 3.52107124e+01] [-1.65491227e-02 9.99861782e-01 -1.59496427e-03 -2.68086533e+00] [-2.12988995e-02 1.24229483e-03 9.99772381e-01 -1.81801248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.271346183999995 meters 0.07858314481873051 Centerline is valid? [True, True] Translation: X:35.24, Y:-2.68, Z:-1.82 [[ 9.99637811e-01 1.82662521e-02 1.97633968e-02 3.52423232e+01] [-1.82404363e-02 9.99832526e-01 -1.48573156e-03 -2.68239112e+00] [-1.97872257e-02 1.12470046e-03 9.99803581e-01 -1.82167721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301346183999996 meters 0.07822951314116393 Centerline is valid? [True, True] Translation: X:35.27, Y:-2.68, Z:-1.82 [[ 9.99632041e-01 1.96549351e-02 1.86940027e-02 3.52725759e+01] [-1.96318711e-02 9.99806273e-01 -1.41649948e-03 -2.68218648e+00] [-1.87182224e-02 1.04898001e-03 9.99824248e-01 -1.82371131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.331346184 meters 0.0774889652809277 Centerline is valid? [True, True] Translation: X:35.30, Y:-2.68, Z:-1.83 [[ 9.99603251e-01 2.16801992e-02 1.79808065e-02 3.53027096e+01] [-2.16591628e-02 9.99764483e-01 -1.36387499e-03 -2.68140983e+00] [-1.80061408e-02 9.73884657e-04 9.99837402e-01 -1.82535119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361346184 meters 0.07615621725741122 Centerline is valid? [True, True] Translation: X:35.33, Y:-2.68, Z:-1.83 [[ 9.99578500e-01 2.35435468e-02 1.69859845e-02 3.53312765e+01] [-2.35250164e-02 9.99722416e-01 -1.28994043e-03 -2.67983247e+00] [-1.70116393e-02 8.89801153e-04 9.99854896e-01 -1.82699884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.391346184 meters 0.07383668334738536 Centerline is valid? [True, True] Translation: X:35.36, Y:-2.68, Z:-1.83 [[ 9.99435763e-01 2.82988729e-02 1.80922372e-02 3.53617041e+01] [-2.82786938e-02 9.99599139e-01 -1.37026317e-03 -2.67883541e+00] [-1.81237616e-02 8.57865181e-04 9.99835383e-01 -1.82922224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421346184 meters 0.07343523482799041 Centerline is valid? [True, True] Translation: X:35.39, Y:-2.68, Z:-1.83 [[ 9.99352246e-01 3.05420216e-02 1.90334888e-02 3.53901949e+01] [-3.05200651e-02 9.99533113e-01 -1.44305159e-03 -2.68088193e+00] [-1.90686760e-02 8.61213527e-04 9.99817805e-01 -1.83059793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.451346183999995 meters 0.07125600625957598 Centerline is valid? [True, True] Translation: X:35.42, Y:-2.68, Z:-1.83 [[ 9.99273839e-01 3.24237651e-02 2.00123557e-02 3.54195837e+01] [-3.23998804e-02 9.99473835e-01 -1.51665980e-03 -2.67731540e+00] [-2.00510017e-02 8.67160526e-04 9.99798582e-01 -1.82790551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481346183999996 meters 0.0698107617796235 Centerline is valid? [True, True] Translation: X:35.45, Y:-2.67, Z:-1.82 [[ 9.99085788e-01 3.58339121e-02 2.33134744e-02 3.54504775e+01] [-3.58025165e-02 9.99357330e-01 -1.76281011e-03 -2.67438217e+00] [-2.33616599e-02 9.26517475e-04 9.99726650e-01 -1.82375909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.511346184 meters 0.06980243078638323 Centerline is valid? [True, True] Translation: X:35.48, Y:-2.68, Z:-1.83 [[ 9.99027527e-01 3.73704998e-02 2.33975775e-02 3.54785885e+01] [-3.73392629e-02 9.99301078e-01 -1.77066442e-03 -2.67615573e+00] [-2.34473951e-02 8.95294199e-04 9.99724671e-01 -1.82552553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541346184 meters 0.06981835638879334 Centerline is valid? [True, True] Translation: X:35.51, Y:-2.68, Z:-1.83 [[ 9.99063697e-01 3.76879900e-02 2.12448677e-02 3.55073333e+01] [-3.76623353e-02 9.99289231e-01 -1.60653446e-03 -2.67804672e+00] [-2.12903146e-02 8.04898922e-04 9.99773012e-01 -1.82871142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.571346184 meters 0.06993967494602817 Centerline is valid? [True, True] Translation: X:35.54, Y:-2.68, Z:-1.83 [[ 9.99077179e-01 3.83756339e-02 1.92899279e-02 3.55358544e+01] [-3.83546325e-02 9.99263127e-01 -1.45764404e-03 -2.68078905e+00] [-1.93316517e-02 7.16440800e-04 9.99812869e-01 -1.83272156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.601346184 meters 0.06988527613044562 Centerline is valid? [True, True] Translation: X:35.56, Y:-2.68, Z:-1.84 [[ 9.99073224e-01 3.86864200e-02 1.88693743e-02 3.55636434e+01] [-3.86663827e-02 9.99251159e-01 -1.42571971e-03 -2.68312724e+00] [-1.89104002e-02 6.94787941e-04 9.99820941e-01 -1.83695080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.631346183999995 meters 0.07018277793257964 Centerline is valid? [True, True] Translation: X:35.59, Y:-2.69, Z:-1.84 [[ 9.99055029e-01 3.93043559e-02 1.85530978e-02 3.55913118e+01] [-3.92851138e-02 9.99227060e-01 -1.40060575e-03 -2.68514046e+00] [-1.85938073e-02 6.70421659e-04 9.99826895e-01 -1.83955688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.661346183999996 meters 0.07023060923812585 Centerline is valid? [True, True] Translation: X:35.62, Y:-2.69, Z:-1.84 [[ 9.99050153e-01 3.93919410e-02 1.86297138e-02 3.56195234e+01] [-3.93726341e-02 9.99223613e-01 -1.40214137e-03 -2.68660045e+00] [-1.86704830e-02 6.67308642e-04 9.99825469e-01 -1.84170114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.691346184 meters 0.06918211750490773 Centerline is valid? [True, True] Translation: X:35.65, Y:-2.69, Z:-1.84 [[ 9.99049780e-01 3.95719425e-02 1.82646753e-02 3.56485128e+01] [-3.95534357e-02 9.99216513e-01 -1.37353381e-03 -2.68626882e+00] [-1.83047186e-02 6.49797993e-04 9.99832243e-01 -1.84136136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721346184 meters 0.06961666030355522 Centerline is valid? [True, True] Translation: X:35.68, Y:-2.69, Z:-1.84 [[ 9.99055839e-01 3.93345769e-02 1.84450858e-02 3.56753530e+01] [-3.93156219e-02 9.99225876e-01 -1.38928214e-03 -2.68937215e+00] [-1.84854538e-02 6.62790418e-04 9.99828910e-01 -1.84330409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.751346184 meters 0.06899945548103288 Centerline is valid? [True, True] Translation: X:35.70, Y:-2.69, Z:-1.84 [[ 9.99061582e-01 3.91447217e-02 1.85376942e-02 3.57039092e+01] [-3.91256516e-02 9.99233331e-01 -1.39042406e-03 -2.68903602e+00] [-1.85779097e-02 6.63819897e-04 9.99827195e-01 -1.84175530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781346184 meters 0.07037935750459651 Centerline is valid? [True, True] Translation: X:35.73, Y:-2.69, Z:-1.84 [[ 9.99075539e-01 3.79278025e-02 2.02373062e-02 3.57313891e+01] [-3.79048923e-02 9.99280204e-01 -1.51459916e-03 -2.69309625e+00] [-2.02801849e-02 7.46106061e-04 9.99794058e-01 -1.84253084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.811346183999994 meters 0.06959995845132541 Centerline is valid? [True, True] Translation: X:35.76, Y:-2.69, Z:-1.84 [[ 9.99089444e-01 3.70699277e-02 2.11211547e-02 3.57599479e+01] [-3.70448368e-02 9.99312358e-01 -1.57811178e-03 -2.69363520e+00] [-2.11651314e-02 7.94245095e-04 9.99775678e-01 -1.84082050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.841346183999995 meters 0.07028914626494065 Centerline is valid? [True, True] Translation: X:35.79, Y:-2.70, Z:-1.84 [[ 9.99126439e-01 3.58407547e-02 2.14895048e-02 3.57871866e+01] [-3.58145209e-02 9.99357166e-01 -1.60452006e-03 -2.69869068e+00] [-2.15331978e-02 8.33482101e-04 9.99767786e-01 -1.84292591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.871346184 meters 0.07037288757076472 Centerline is valid? [True, True] Translation: X:35.82, Y:-2.70, Z:-1.84 [[ 9.99137361e-01 3.50221938e-02 2.23154637e-02 3.58157351e+01] [-3.49937608e-02 9.99386146e-01 -1.66348761e-03 -2.70265181e+00] [-2.23600243e-02 8.81150620e-04 9.99749595e-01 -1.84461142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901346184 meters 0.07256933787585818 Centerline is valid? [True, True] Translation: X:35.84, Y:-2.71, Z:-1.85 [[ 9.99181013e-01 3.35828172e-02 2.25720340e-02 3.58428918e+01] [-3.35533865e-02 9.99435512e-01 -1.68143260e-03 -2.71142464e+00] [-2.26157596e-02 9.22687345e-04 9.99743805e-01 -1.84870598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.931346184 meters 0.0712864684353131 Centerline is valid? [True, True] Translation: X:35.87, Y:-2.71, Z:-1.85 [[ 9.99151047e-01 3.29897594e-02 2.46751123e-02 3.58721316e+01] [-3.29544836e-02 9.99455169e-01 -1.83499769e-03 -2.71097684e+00] [-2.47222047e-02 1.02028428e-03 9.99693839e-01 -1.84620087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961346184 meters 0.07129456177619647 Centerline is valid? [True, True] Translation: X:35.90, Y:-2.71, Z:-1.85 [[ 9.99162699e-01 3.26597497e-02 2.46422679e-02 3.59005742e+01] [-3.26245108e-02 9.99466002e-01 -1.83080513e-03 -2.71326139e+00] [-2.46889026e-02 1.02533026e-03 9.99694657e-01 -1.84735742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.991346184 meters 0.07190338649984013 Centerline is valid? [True, True] Translation: X:35.93, Y:-2.72, Z:-1.85 [[ 9.99216159e-01 3.17426694e-02 2.36531124e-02 3.59289155e+01] [-3.17099836e-02 9.99495570e-01 -1.75576905e-03 -2.71702039e+00] [-2.36969139e-02 1.00435300e-03 9.99718684e-01 -1.85019218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.021346183999995 meters 0.07588797182275386 Centerline is valid? [True, True] Translation: X:35.96, Y:-2.73, Z:-1.86 [[ 9.99348030e-01 2.96166392e-02 2.06487244e-02 3.59566964e+01] [-2.95913201e-02 9.99560909e-01 -1.53071430e-03 -2.73049382e+00] [-2.06849924e-02 9.18693301e-04 9.99785621e-01 -1.85997261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.051346183999996 meters 0.07237618609630651 Centerline is valid? [True, True] Translation: X:35.99, Y:-2.73, Z:-1.86 [[ 9.99339596e-01 2.98957333e-02 2.06547320e-02 3.59862630e+01] [-2.98704512e-02 9.99552605e-01 -1.53153394e-03 -2.72686577e+00] [-2.06912776e-02 9.13556343e-04 9.99785495e-01 -1.85731717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081346184 meters 0.07304799915524225 Centerline is valid? [True, True] Translation: X:36.01, Y:-2.73, Z:-1.86 [[ 9.99356607e-01 2.93936705e-02 2.05519700e-02 3.60138873e+01] [-2.93685527e-02 9.99567491e-01 -1.52298203e-03 -2.73120222e+00] [-2.05878471e-02 9.18420538e-04 9.99787626e-01 -1.85872226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.111346184 meters 0.07536555450003236 Centerline is valid? [True, True] Translation: X:36.04, Y:-2.74, Z:-1.86 [[ 9.99258871e-01 3.03780872e-02 2.36406516e-02 3.60424917e+01] [-3.03452244e-02 9.99537950e-01 -1.74768012e-03 -2.73893462e+00] [-2.36828196e-02 1.02900399e-03 9.99718993e-01 -1.86051229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141346184 meters 0.07129215807180836 Centerline is valid? [True, True] Translation: X:36.07, Y:-2.73, Z:-1.85 [[ 9.99228368e-01 3.08549087e-02 2.43031352e-02 3.60718824e+01] [-3.08203171e-02 9.99523326e-01 -1.79671562e-03 -2.73265244e+00] [-2.43469880e-02 1.04629889e-03 9.99703021e-01 -1.85472331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.171346184 meters 0.07058083070132665 Centerline is valid? [True, True] Translation: X:36.10, Y:-2.73, Z:-1.86 [[ 9.99187780e-01 3.16781521e-02 2.49053065e-02 3.61006934e+01] [-3.16421262e-02 9.99497570e-01 -1.83937570e-03 -2.73477399e+00] [-2.49510614e-02 1.04982487e-03 9.99688123e-01 -1.85605031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.201346183999995 meters 0.07068148881440635 Centerline is valid? [True, True] Translation: X:36.13, Y:-2.74, Z:-1.86 [[ 9.99186321e-01 3.23024093e-02 2.41505776e-02 3.61280659e+01] [-3.22687405e-02 9.99477639e-01 -1.78263515e-03 -2.73872317e+00] [-2.41955457e-02 1.00187594e-03 9.99706743e-01 -1.85843042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.231346183999996 meters 0.0708561009469765 Centerline is valid? [True, True] Translation: X:36.16, Y:-2.74, Z:-1.86 [[ 9.99178161e-01 3.32168775e-02 2.32301951e-02 3.61553262e+01] [-3.31860212e-02 9.99447725e-01 -1.71264514e-03 -2.74214564e+00] [-2.32742544e-02 9.40319878e-04 9.99728676e-01 -1.86248790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261346184 meters 0.0709889100664661 Centerline is valid? [True, True] Translation: X:36.18, Y:-2.75, Z:-1.87 [[ 9.99200818e-01 3.44970472e-02 2.01910453e-02 3.61822828e+01] [-3.44740287e-02 9.99404488e-01 -1.48709877e-03 -2.74606153e+00] [-2.02303218e-02 7.89843630e-04 9.99795034e-01 -1.86768513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.291346184 meters 0.0705559699145426 Centerline is valid? [True, True] Translation: X:36.21, Y:-2.75, Z:-1.87 [[ 9.99183385e-01 3.58339809e-02 1.86678453e-02 3.62109212e+01] [-3.58145726e-02 9.99357509e-01 -1.37305587e-03 -2.74794641e+00] [-1.87050534e-02 7.03353715e-04 9.99824798e-01 -1.87052598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321346184 meters 0.07054174289503921 Centerline is valid? [True, True] Translation: X:36.24, Y:-2.75, Z:-1.87 [[ 9.99168291e-01 3.65934807e-02 1.79901183e-02 3.62389071e+01] [-3.65755704e-02 9.99330013e-01 -1.32369393e-03 -2.74979452e+00] [-1.80265037e-02 6.64594167e-04 9.99837289e-01 -1.87320662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.351346184 meters 0.07032951100069794 Centerline is valid? [True, True] Translation: X:36.27, Y:-2.75, Z:-1.87 [[ 9.99147115e-01 3.69787569e-02 1.83742536e-02 3.62680121e+01] [-3.69602110e-02 9.99315829e-01 -1.34802148e-03 -2.75198375e+00] [-1.84115307e-02 6.67755485e-04 9.99830270e-01 -1.87374507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.381346183999995 meters 0.07041916508438743 Centerline is valid? [True, True] Translation: X:36.30, Y:-2.76, Z:-1.88 [[ 9.99146290e-01 3.68253279e-02 1.87239549e-02 3.62965223e+01] [-3.68060680e-02 9.99321485e-01 -1.37231365e-03 -2.75706652e+00] [-1.87617863e-02 6.81986937e-04 9.99823750e-01 -1.87607775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.411346183999996 meters 0.06859709774892206 Centerline is valid? [True, True] Translation: X:36.32, Y:-2.76, Z:-1.87 [[ 9.99146938e-01 3.68409457e-02 1.86585333e-02 3.63245820e+01] [-3.68218221e-02 9.99320911e-01 -1.36755752e-03 -2.75729115e+00] [-1.86962446e-02 6.79349718e-04 9.99824979e-01 -1.87403742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.441346184 meters 0.06844915102943332 Centerline is valid? [True, True] Translation: X:36.35, Y:-2.76, Z:-1.88 [[ 9.99107601e-01 3.70507661e-02 2.02790903e-02 3.63517774e+01] [-3.70282674e-02 9.99313117e-01 -1.48395016e-03 -2.76224484e+00] [-2.03201424e-02 7.31726305e-04 9.99793257e-01 -1.87594656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.471346184 meters 0.06760296126746058 Centerline is valid? [True, True] Translation: X:36.38, Y:-2.76, Z:-1.88 [[ 9.99068961e-01 3.76245015e-02 2.11094209e-02 3.63805623e+01] [-3.76003369e-02 9.99291670e-01 -1.54060725e-03 -2.76396733e+00] [-2.11524331e-02 7.45451546e-04 9.99775984e-01 -1.87656629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.501346184 meters 0.06761271235013096 Centerline is valid? [True, True] Translation: X:36.41, Y:-2.77, Z:-1.88 [[ 9.99012031e-01 3.87212111e-02 2.18089219e-02 3.64081954e+01] [-3.86957060e-02 9.99249775e-01 -1.59043252e-03 -2.76708371e+00] [-2.18541438e-02 7.44949588e-04 9.99760892e-01 -1.87824504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.531346184 meters 0.06656794534368923 Centerline is valid? [True, True] Translation: X:36.44, Y:-2.77, Z:-1.88 [[ 9.98915730e-01 4.11964863e-02 2.16844331e-02 3.64375905e+01] [-4.11719194e-02 9.99150830e-01 -1.57834809e-03 -2.76623276e+00] [-2.17310417e-02 6.83847001e-04 9.99763619e-01 -1.87740159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.561346183999994 meters 0.06675547448836007 Centerline is valid? [True, True] Translation: X:36.47, Y:-2.77, Z:-1.88 [[ 9.98921786e-01 4.14486366e-02 2.09111553e-02 3.64651079e+01] [-4.14258244e-02 9.99140421e-01 -1.52309776e-03 -2.76799540e+00] [-2.09563109e-02 6.55193684e-04 9.99780178e-01 -1.87884138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.591346183999995 meters 0.06589352890209921 Centerline is valid? [True, True] Translation: X:36.49, Y:-2.77, Z:-1.88 [[ 9.98914084e-01 4.19685920e-02 2.02309413e-02 3.64929346e+01] [-4.19474013e-02 9.99118738e-01 -1.47085525e-03 -2.76751962e+00] [-2.02748422e-02 6.20622610e-04 9.99794252e-01 -1.87825702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.621346184 meters 0.06538222765296302 Centerline is valid? [True, True] Translation: X:36.52, Y:-2.77, Z:-1.88 [[ 9.98811993e-01 4.37357070e-02 2.14892904e-02 3.65212334e+01] [-4.37122882e-02 9.99042945e-01 -1.55853613e-03 -2.77385147e+00] [-2.15368877e-02 6.17338524e-04 9.99767864e-01 -1.88062555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.651346184 meters 0.06493523120468865 Centerline is valid? [True, True] Translation: X:36.55, Y:-2.78, Z:-1.88 [[ 9.98810954e-01 4.37192458e-02 2.15709299e-02 3.65496000e+01] [-4.36956790e-02 9.99043665e-01 -1.56287806e-03 -2.77871092e+00] [-2.16186287e-02 6.18463299e-04 9.99766099e-01 -1.88152487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.681346184 meters 0.06526154097575555 Centerline is valid? [True, True] Translation: X:36.58, Y:-2.78, Z:-1.88 [[ 9.98798347e-01 4.36633588e-02 2.22569902e-02 3.65768817e+01] [-4.36382581e-02 9.99046096e-01 -1.61244610e-03 -2.78423467e+00] [-2.23061640e-02 6.39252221e-04 9.99750982e-01 -1.88406497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.711346184 meters 0.06536056829337747 Centerline is valid? [True, True] Translation: X:36.60, Y:-2.79, Z:-1.88 [[ 9.98792885e-01 4.40562042e-02 2.17215231e-02 3.66040915e+01] [-4.40324545e-02 9.99028866e-01 -1.57067667e-03 -2.78763043e+00] [-2.17696266e-02 6.12328705e-04 9.99762826e-01 -1.88499876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.741346184 meters 0.06679637680256512 Centerline is valid? [True, True] Translation: X:36.63, Y:-2.79, Z:-1.89 [[ 9.98879440e-01 4.27727216e-02 2.02573256e-02 3.66308399e+01] [-4.27518581e-02 9.99084652e-01 -1.46206769e-03 -2.79343434e+00] [-2.03013197e-02 5.94391048e-04 9.99793730e-01 -1.88984269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.771346183999995 meters 0.06679637680256512 Centerline is valid? [True, True] Translation: X:36.66, Y:-2.80, Z:-1.89 [[ 9.98883821e-01 4.26701919e-02 2.02574912e-02 3.66582065e+01] [-4.26493539e-02 9.99089036e-01 -1.45976580e-03 -2.79526356e+00] [-2.03013259e-02 5.94167524e-04 9.99793730e-01 -1.89123528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.801346183999996 meters 0.06588929555392735 Centerline is valid? [True, True] Translation: X:36.69, Y:-2.80, Z:-1.89 [[ 9.98897603e-01 4.22403803e-02 2.04775230e-02 3.66870241e+01] [-4.22190604e-02 9.99107293e-01 -1.47252779e-03 -2.79655373e+00] [-2.05214427e-02 6.06362702e-04 9.99789229e-01 -1.89004300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.831346184 meters 0.06609153674966427 Centerline is valid? [True, True] Translation: X:36.72, Y:-2.80, Z:-1.89 [[ 9.98953510e-01 4.15533379e-02 1.91103176e-02 3.67154680e+01] [-4.15346666e-02 9.99136120e-01 -1.37307079e-03 -2.80214668e+00] [-1.91508643e-02 5.77893213e-04 9.99816438e-01 -1.89302047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.861346184 meters 0.06654496440465496 Centerline is valid? [True, True] Translation: X:36.74, Y:-2.81, Z:-1.90 [[ 9.99022432e-01 4.00396948e-02 1.87351050e-02 3.67428401e+01] [-4.00214969e-02 9.99197913e-01 -1.34540621e-03 -2.81279444e+00] [-1.87739475e-02 5.94284036e-04 9.99823577e-01 -1.89662134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.891346184 meters 0.06638018658377605 Centerline is valid? [True, True] Translation: X:36.77, Y:-2.82, Z:-1.90 [[ 9.99054357e-01 3.89354106e-02 1.93500672e-02 3.67716893e+01] [-3.89158382e-02 9.99241529e-01 -1.38715204e-03 -2.81700438e+00] [-1.93894001e-02 6.32816200e-04 9.99811808e-01 -1.89659139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.921346184 meters 0.0671864383859392 Centerline is valid? [True, True] Translation: X:36.80, Y:-2.82, Z:-1.90 [[ 9.99058967e-01 3.80531807e-02 2.08119240e-02 3.67995488e+01] [-3.80303857e-02 9.99275472e-01 -1.49011771e-03 -2.82383121e+00] [-2.08535489e-02 6.97229965e-04 9.99782298e-01 -1.89787819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.951346183999995 meters 0.06576100459905526 Centerline is valid? [True, True] Translation: X:36.83, Y:-2.83, Z:-1.89 [[ 9.98914303e-01 3.96560981e-02 2.44460644e-02 3.68301678e+01] [-3.96252010e-02 9.99213086e-01 -1.74719747e-03 -2.82501465e+00] [-2.44961145e-02 7.76620325e-04 9.99699624e-01 -1.89143715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981346183999996 meters 0.06460608206572033 Centerline is valid? [True, True] Translation: X:36.86, Y:-2.82, Z:-1.89 [[ 9.98818758e-01 4.10941853e-02 2.59298508e-02 3.68591717e+01] [-4.10599235e-02 9.99154968e-01 -1.85260050e-03 -2.82424532e+00] [-2.59840704e-02 7.85734442e-04 9.99662048e-01 -1.88897514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.011346184 meters 0.06431300895057399 Centerline is valid? [True, True] Translation: X:36.89, Y:-2.83, Z:-1.89 [[ 9.98756814e-01 4.22789486e-02 2.64067460e-02 3.68876383e+01] [-4.22438821e-02 9.99105551e-01 -1.88463946e-03 -2.82612797e+00] [-2.64628071e-02 7.66773034e-04 9.99649505e-01 -1.88961762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041346184 meters 0.0644717817269095 Centerline is valid? [True, True] Translation: X:36.92, Y:-2.83, Z:-1.90 [[ 9.98765546e-01 4.34808474e-02 2.40166795e-02 3.69159453e+01] [-4.34522247e-02 9.99054038e-01 -1.71261021e-03 -2.83398272e+00] [-2.40684264e-02 6.66917910e-04 9.99710091e-01 -1.89633299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.071346184 meters 0.06446848280324569 Centerline is valid? [True, True] Translation: X:36.94, Y:-2.84, Z:-1.90 [[ 9.98788642e-01 4.35053581e-02 2.29898152e-02 3.69441372e+01] [-4.34791725e-02 9.99052991e-01 -1.63787472e-03 -2.83996524e+00] [-2.30393000e-02 6.36312523e-04 9.99734358e-01 -1.90041047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101346184 meters 0.06505142647305207 Centerline is valid? [True, True] Translation: X:36.97, Y:-2.85, Z:-1.90 [[ 9.98825561e-01 4.28356949e-02 2.26407100e-02 3.69715446e+01] [-4.28101521e-02 9.99081925e-01 -1.61188955e-03 -2.84530311e+00] [-2.26889705e-02 6.40744243e-04 9.99742367e-01 -1.90339100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.131346183999995 meters 0.06523351660795197 Centerline is valid? [True, True] Translation: X:37.00, Y:-2.85, Z:-1.90 [[ 9.98896900e-01 4.07867191e-02 2.32685711e-02 3.70003810e+01] [-4.07592487e-02 9.99167628e-01 -1.65382520e-03 -2.84653398e+00] [-2.33166571e-02 7.03591391e-04 9.99727882e-01 -1.90005737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.161346183999996 meters 0.0658875163448103 Centerline is valid? [True, True] Translation: X:37.03, Y:-2.85, Z:-1.90 [[ 9.98937325e-01 3.93948558e-02 2.39220723e-02 3.70276031e+01] [-3.93654418e-02 9.99223435e-01 -1.69943555e-03 -2.85078808e+00] [-2.39704442e-02 7.55926663e-04 9.99712382e-01 -1.90152961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.191346184 meters 0.06638992046995616 Centerline is valid? [True, True] Translation: X:37.06, Y:-2.86, Z:-1.90 [[ 9.98983941e-01 3.76910844e-02 2.47076306e-02 3.70559145e+01] [-3.76592814e-02 9.99289103e-01 -1.75138127e-03 -2.85776291e+00] [-2.47560774e-02 8.19130147e-04 9.99693186e-01 -1.90326873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221346184 meters 0.0680354058516901 Centerline is valid? [True, True] Translation: X:37.08, Y:-2.87, Z:-1.91 [[ 9.99119821e-01 3.30026929e-02 2.58921933e-02 3.70844920e+01] [-3.29662690e-02 9.99454785e-01 -1.83246512e-03 -2.87279784e+00] [-2.59385528e-02 9.77283213e-04 9.99663061e-01 -1.90631282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.251346184 meters 0.06805635798930475 Centerline is valid? [True, True] Translation: X:37.11, Y:-2.88, Z:-1.91 [[ 9.99222233e-01 3.04253547e-02 2.50844084e-02 3.71143342e+01] [-3.03903896e-02 9.99536531e-01 -1.77403182e-03 -2.87693992e+00] [-2.51267581e-02 1.01032709e-03 9.99683763e-01 -1.90648414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.281346184 meters 0.06730597959744512 Centerline is valid? [True, True] Translation: X:37.14, Y:-2.88, Z:-1.91 [[ 9.99271478e-01 2.85474171e-02 2.53289918e-02 3.71436106e+01] [-2.85111518e-02 9.99591869e-01 -1.79182607e-03 -2.87820064e+00] [-2.53698063e-02 1.06836195e-03 9.99677564e-01 -1.90520186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.311346183999994 meters 0.06823682864538322 Centerline is valid? [True, True] Translation: X:37.17, Y:-2.88, Z:-1.91 [[ 9.99374974e-01 2.64210429e-02 2.34859361e-02 3.71733201e+01] [-2.63893392e-02 9.99650364e-01 -1.65886258e-03 -2.88208486e+00] [-2.35215534e-02 1.03804742e-03 9.99722791e-01 -1.90720231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.341346183999995 meters 0.07033134318471874 Centerline is valid? [True, True] Translation: X:37.20, Y:-2.89, Z:-1.91 [[ 9.99527768e-01 2.37479916e-02 1.95006234e-02 3.72021425e+01] [-2.37256281e-02 9.99717559e-01 -1.37739939e-03 -2.88803414e+00] [-1.95278261e-02 9.14084402e-04 9.99808896e-01 -1.91240894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.371346184 meters 0.07171924361590701 Centerline is valid? [True, True] Translation: X:37.23, Y:-2.89, Z:-1.92 [[ 9.99568235e-01 2.28034480e-02 1.85296245e-02 3.72305531e+01] [-2.27831270e-02 9.99739576e-01 -1.30706344e-03 -2.89397190e+00] [-1.85546045e-02 8.84336308e-04 9.99827457e-01 -1.91637077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.401346184 meters 0.0724696009364248 Centerline is valid? [True, True] Translation: X:37.26, Y:-2.90, Z:-1.92 [[ 9.99607272e-01 2.11973039e-02 1.83296477e-02 3.72599586e+01] [-2.11770945e-02 9.99774900e-01 -1.29597290e-03 -2.90040327e+00] [-1.83529928e-02 9.07295249e-04 9.99831158e-01 -1.91934887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.431346184 meters 0.07286014062675301 Centerline is valid? [True, True] Translation: X:37.29, Y:-2.91, Z:-1.92 [[ 9.99648672e-01 1.94713157e-02 1.79833628e-02 3.72896487e+01] [-1.94515897e-02 9.99809992e-01 -1.27118622e-03 -2.90650538e+00] [-1.80046974e-02 9.20934619e-04 9.99837478e-01 -1.92216055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.461346184 meters 0.07475672222485828 Centerline is valid? [True, True] Translation: X:37.32, Y:-2.91, Z:-1.92 [[ 9.99694960e-01 1.65814372e-02 1.83041693e-02 3.73189132e+01] [-1.65605875e-02 9.99862032e-01 -1.29006729e-03 -2.91403074e+00] [-1.83230351e-02 9.86545967e-04 9.99831632e-01 -1.92397239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.491346184 meters 0.07525666747702549 Centerline is valid? [True, True] Translation: X:37.35, Y:-2.92, Z:-1.92 [[ 9.99696585e-01 1.59895991e-02 1.87369030e-02 3.73511467e+01] [-1.59677084e-02 9.99871640e-01 -1.31735538e-03 -2.91552673e+00] [-1.87555620e-02 1.01777027e-03 9.99823581e-01 -1.92488005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.521346183999995 meters 0.07611929561564082 Centerline is valid? [True, True] Translation: X:37.38, Y:-2.92, Z:-1.92 [[ 9.99663400e-01 1.53633695e-02 2.09058040e-02 3.73826129e+01] [-1.53358302e-02 9.99881308e-01 -1.47699714e-03 -2.91668781e+00] [-2.09260143e-02 1.15589213e-03 9.99780359e-01 -1.92206026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.551346183999996 meters 0.07565380207853466 Centerline is valid? [True, True] Translation: X:37.42, Y:-2.92, Z:-1.92 [[ 9.99642270e-01 1.53339865e-02 2.19134932e-02 3.74153258e+01] [-1.53036110e-02 9.99881687e-01 -1.55319109e-03 -2.91818800e+00] [-2.19347172e-02 1.21727989e-03 9.99758664e-01 -1.92260371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.581346184 meters 0.07413878030131402 Centerline is valid? [True, True] Translation: X:37.45, Y:-2.92, Z:-1.92 [[ 9.99637521e-01 1.52786806e-02 2.21672796e-02 3.74481564e+01] [-1.52474869e-02 9.99882509e-01 -1.57554447e-03 -2.91881495e+00] [-2.21887474e-02 1.23697807e-03 9.99753034e-01 -1.92356151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.611346184 meters 0.0754750059433376 Centerline is valid? [True, True] Translation: X:37.48, Y:-2.93, Z:-1.93 [[ 9.99688380e-01 1.38648824e-02 2.07583438e-02 3.74779637e+01] [-1.38369715e-02 9.99903158e-01 -1.48759836e-03 -2.92644345e+00] [-2.07769589e-02 1.19990218e-03 9.99783416e-01 -1.92849078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641346184 meters 0.07750458464983564 Centerline is valid? [True, True] Translation: X:37.51, Y:-2.93, Z:-1.93 [[ 9.99770706e-01 1.01291347e-02 1.88662456e-02 3.75076223e+01] [-1.01053753e-02 9.99948022e-01 -1.35427089e-03 -2.93344652e+00] [-1.88789826e-02 1.16330987e-03 9.99821099e-01 -1.93157331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.671346184 meters 0.07913094627240465 Centerline is valid? [True, True] Translation: X:37.54, Y:-2.94, Z:-1.93 [[ 9.99791004e-01 8.00153000e-03 1.88128666e-02 3.75377997e+01] [-7.97753738e-03 9.99967268e-01 -1.35003271e-03 -2.93535847e+00] [-1.88230532e-02 1.19967021e-03 9.99822111e-01 -1.93177901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.701346183999995 meters 0.08980570334500472 Centerline is valid? [True, True] Translation: X:37.57, Y:-2.95, Z:-1.94 [[ 9.99812778e-01 6.27323144e-03 1.83044997e-02 3.75659165e+01] [-6.25026453e-03 9.99979607e-01 -1.31165313e-03 -2.95246295e+00] [-1.83123547e-02 1.19699960e-03 9.99831598e-01 -1.94047043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.731346183999996 meters 0.08161351422978115 Centerline is valid? [True, True] Translation: X:37.60, Y:-2.94, Z:-1.93 [[ 9.99841124e-01 5.29662742e-03 1.70197462e-02 3.75992590e+01] [-5.27669012e-03 9.99985339e-01 -1.21611596e-03 -2.93911328e+00] [-1.70259380e-02 1.12611482e-03 9.99854414e-01 -1.93477418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761346184 meters 0.08315365477183496 Centerline is valid? [True, True] Translation: X:37.63, Y:-2.95, Z:-1.94 [[ 9.99831740e-01 3.69326462e-03 1.79680866e-02 3.76292695e+01] [-3.67064096e-03 9.99992429e-01 -1.29191931e-03 -2.94738232e+00] [-1.79727219e-02 1.22574753e-03 9.99837726e-01 -1.93898340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.791346184 meters 0.08378303758583502 Centerline is valid? [True, True] Translation: X:37.66, Y:-2.95, Z:-1.94 [[ 9.99810474e-01 3.40004095e-03 1.91691222e-02 3.76623464e+01] [-3.37427760e-03 9.99993360e-01 -1.37618621e-03 -2.95293685e+00] [-1.91736740e-02 1.31124345e-03 9.99815308e-01 -1.94049007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821346184 meters 0.08423546457159346 Centerline is valid? [True, True] Translation: X:37.69, Y:-2.96, Z:-1.94 [[ 9.99777630e-01 3.22398823e-03 2.08397745e-02 3.76946463e+01] [-3.19333242e-03 9.99993770e-01 -1.50413446e-03 -2.95654006e+00] [-2.08444940e-02 1.43725166e-03 9.99781697e-01 -1.94111086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.851346184 meters 0.08664935484136069 Centerline is valid? [True, True] Translation: X:37.72, Y:-2.96, Z:-1.94 [[ 9.99821141e-01 3.90897770e-04 1.89085661e-02 3.77238254e+01] [-3.64942478e-04 9.99998987e-01 -1.37610486e-03 -2.95821522e+00] [-1.89090849e-02 1.36895819e-03 9.99820270e-01 -1.94296252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.881346183999995 meters 0.08886519346486697 Centerline is valid? [True, True] Translation: X:37.75, Y:-2.96, Z:-1.95 [[ 9.99837036e-01 -1.65163597e-03 1.79770383e-02 3.77545350e+01] [ 1.67540283e-03 9.99997742e-01 -1.30708725e-03 -2.96205031e+00] [-1.79748389e-02 1.33699302e-03 9.99837546e-01 -1.94582597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.911346183999996 meters 0.09045552226231762 Centerline is valid? [True, True] Translation: X:37.79, Y:-2.97, Z:-1.95 [[ 9.99861185e-01 -3.70276840e-03 1.62450165e-02 3.77854607e+01] [ 3.72243991e-03 9.99992374e-01 -1.18085509e-03 -2.96652245e+00] [-1.62405202e-02 1.24116227e-03 9.99867344e-01 -1.94908513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941346184 meters 0.09232944328849288 Centerline is valid? [True, True] Translation: X:37.82, Y:-2.97, Z:-1.95 [[ 9.99860482e-01 -5.24851184e-03 1.58577989e-02 3.78153344e+01] [ 5.26746508e-03 9.99985461e-01 -1.15366808e-03 -2.97259211e+00] [-1.58515133e-02 1.23703753e-03 9.99873592e-01 -1.95209870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.971346184 meters 0.09499854635512556 Centerline is valid? [True, True] Translation: X:37.84, Y:-2.98, Z:-1.96 [[ 9.99861207e-01 -7.42269639e-03 1.49154307e-02 3.78448830e+01] [ 7.43971598e-03 9.99971735e-01 -1.08590977e-03 -2.97846822e+00] [-1.49069487e-02 1.19672562e-03 9.99888169e-01 -1.95501190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001346184 meters 0.09608043993227584 Centerline is valid? [True, True] Translation: X:37.88, Y:-2.98, Z:-1.96 [[ 9.99874583e-01 -8.02409474e-03 1.36540438e-02 3.78769615e+01] [ 8.03837995e-03 9.99967200e-01 -9.91666145e-04 -2.98072800e+00] [-1.36456387e-02 1.10129817e-03 9.99906287e-01 -1.95801569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.031346184 meters 0.09724635950621899 Centerline is valid? [True, True] Translation: X:37.91, Y:-2.98, Z:-1.96 [[ 9.99866315e-01 -7.97325666e-03 1.42751605e-02 3.79093627e+01] [ 7.98888160e-03 9.99967550e-01 -1.03786388e-03 -2.98340616e+00] [-1.42664221e-02 1.15176770e-03 9.99897566e-01 -1.96001635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.061346183999994 meters 0.09740898137914107 Centerline is valid? [True, True] Translation: X:37.94, Y:-2.99, Z:-1.96 [[ 9.99837904e-01 -7.68021523e-03 1.62843760e-02 3.79407229e+01] [ 7.70055274e-03 9.99969646e-01 -1.18656062e-03 -2.98582187e+00] [-1.62747687e-02 1.31176698e-03 9.99866697e-01 -1.96080024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.091346183999995 meters 0.09669949816171453 Centerline is valid? [True, True] Translation: X:37.97, Y:-2.98, Z:-1.96 [[ 9.99817879e-01 -6.25716678e-03 1.80293458e-02 3.79719697e+01] [ 6.28189046e-03 9.99979404e-01 -1.31499460e-03 -2.98470059e+00] [-1.80207463e-02 1.42801349e-03 9.99836593e-01 -1.96111648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121346184 meters 0.09650112639211789 Centerline is valid? [True, True] Translation: X:38.00, Y:-2.98, Z:-1.96 [[ 9.99815635e-01 -5.26387743e-03 1.84658493e-02 3.80033684e+01] [ 5.28964104e-03 9.99985103e-01 -1.34663706e-03 -2.98354170e+00] [-1.84584857e-02 1.44406650e-03 9.99828585e-01 -1.96176277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.151346184 meters 0.09710564488639489 Centerline is valid? [True, True] Translation: X:38.03, Y:-2.98, Z:-1.96 [[ 9.99819860e-01 -4.62520826e-03 1.84080186e-02 3.80345189e+01] [ 4.65065819e-03 9.99988288e-01 -1.33997741e-03 -2.98430409e+00] [-1.84016054e-02 1.42534542e-03 9.99829660e-01 -1.96324970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181346184 meters 0.08770791156655205 Centerline is valid? [True, True] Translation: X:38.07, Y:-2.97, Z:-1.96 [[ 9.99801833e-01 -4.70617214e-03 1.93428478e-02 3.80681969e+01] [ 4.73437554e-03 9.99987795e-01 -1.41254526e-03 -2.96922110e+00] [-1.93359640e-02 1.50384165e-03 9.99811912e-01 -1.95762149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.211346184 meters 0.08655300633613094 Centerline is valid? [True, True] Translation: X:38.10, Y:-2.97, Z:-1.96 [[ 9.99811150e-01 -4.16125784e-03 1.89828406e-02 3.81009186e+01] [ 4.18824185e-03 9.99990274e-01 -1.38196068e-03 -2.96925997e+00] [-1.89769053e-02 1.46120442e-03 9.99818855e-01 -1.95910493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.241346183999994 meters 0.09992784613809312 Centerline is valid? [True, True] Translation: X:38.13, Y:-2.99, Z:-1.97 [[ 9.99814391e-01 -4.58451653e-03 1.87127069e-02 3.81299937e+01] [ 4.61090605e-03 9.99988435e-01 -1.36734445e-03 -2.99212776e+00] [-1.87062218e-02 1.45337319e-03 9.99823967e-01 -1.96931035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.271346183999995 meters 0.08987124035682546 Centerline is valid? [True, True] Translation: X:38.16, Y:-2.97, Z:-1.96 [[ 9.99838922e-01 -4.94915170e-03 1.72521361e-02 3.81640804e+01] [ 4.97177821e-03 9.99986836e-01 -1.26887569e-03 -2.97401324e+00] [-1.72456292e-02 1.35444510e-03 9.99850366e-01 -1.96307807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301346183999996 meters 0.09086716552263621 Centerline is valid? [True, True] Translation: X:38.20, Y:-2.98, Z:-1.96 [[ 9.99827055e-01 -5.01501404e-03 1.79083576e-02 3.81961135e+01] [ 5.03932119e-03 9.99986441e-01 -1.31243899e-03 -2.97604757e+00] [-1.79015329e-02 1.40245797e-03 9.99838771e-01 -1.96435349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.331346184 meters 0.08844193441560935 Centerline is valid? [True, True] Translation: X:38.23, Y:-2.97, Z:-1.97 [[ 9.99816953e-01 -6.15906767e-03 1.81142717e-02 3.82285090e+01] [ 6.18431825e-03 9.99979981e-01 -1.33827384e-03 -2.97400766e+00] [-1.81056666e-02 1.45005329e-03 9.99835027e-01 -1.96501862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361346184 meters 0.08741737040538555 Centerline is valid? [True, True] Translation: X:38.26, Y:-2.98, Z:-1.97 [[ 9.99806051e-01 -5.80487829e-03 1.88192457e-02 3.82607896e+01] [ 5.83199211e-03 9.99982033e-01 -1.38618779e-03 -2.97613108e+00] [-1.88108610e-02 1.49567263e-03 9.99821941e-01 -1.96681161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.391346184 meters 0.08646357385374444 Centerline is valid? [True, True] Translation: X:38.29, Y:-2.98, Z:-1.97 [[ 9.99806835e-01 -5.96600610e-03 1.87269782e-02 3.82932853e+01] [ 5.99296704e-03 9.99981084e-01 -1.38389429e-03 -2.97705843e+00] [-1.87183676e-02 1.49585714e-03 9.99823677e-01 -1.96963535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421346184 meters 0.08683351516707727 Centerline is valid? [True, True] Translation: X:38.33, Y:-2.98, Z:-1.97 [[ 9.99818397e-01 -5.44235496e-03 1.82634679e-02 3.83267255e+01] [ 5.46796790e-03 9.99984136e-01 -1.35277017e-03 -2.97780942e+00] [-1.82558159e-02 1.45238856e-03 9.99832294e-01 -1.97020452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.451346183999995 meters 0.09368244058229105 Centerline is valid? [True, True] Translation: X:38.36, Y:-2.99, Z:-1.98 [[ 9.99820702e-01 -4.51132770e-03 1.83905164e-02 3.83571623e+01] [ 4.53727286e-03 9.99988769e-01 -1.36930970e-03 -2.98901338e+00] [-1.83841325e-02 1.45250698e-03 9.99829942e-01 -1.97572030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481346183999996 meters 0.08982277414572605 Centerline is valid? [True, True] Translation: X:38.39, Y:-2.98, Z:-1.98 [[ 9.99828748e-01 -4.01171863e-03 1.80660226e-02 3.83904925e+01] [ 4.03683098e-03 9.99990936e-01 -1.35377892e-03 -2.98297227e+00] [-1.80604278e-02 1.42647656e-03 9.99835880e-01 -1.97534934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.511346184 meters 0.08652070044756237 Centerline is valid? [True, True] Translation: X:38.42, Y:-2.98, Z:-1.98 [[ 9.99830667e-01 -2.31190852e-03 1.82563027e-02 3.84226126e+01] [ 2.33732001e-03 9.99996329e-01 -1.37071475e-03 -2.97976578e+00] [-1.82530667e-02 1.41315347e-03 9.99832400e-01 -1.97506454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541346184 meters 0.08412484336559319 Centerline is valid? [True, True] Translation: X:38.45, Y:-2.98, Z:-1.97 [[ 9.99797998e-01 -2.86453009e-04 2.00968073e-02 3.84535469e+01] [ 3.16889306e-04 9.99998808e-01 -1.51131600e-03 -2.97864956e+00] [-2.00963504e-02 1.51737917e-03 9.99796897e-01 -1.97397340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.571346184 meters 0.08427375834467808 Centerline is valid? [True, True] Translation: X:38.48, Y:-2.98, Z:-1.98 [[ 9.99795214e-01 1.18202377e-03 2.02023203e-02 3.84838993e+01] [-1.15155772e-03 9.99998182e-01 -1.51961363e-03 -2.98034000e+00] [-2.02040798e-02 1.49603829e-03 9.99794757e-01 -1.97551560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601346184 meters 0.08737895731107911 Centerline is valid? [True, True] Translation: X:38.51, Y:-2.98, Z:-1.98 [[ 9.99806031e-01 3.98901239e-03 1.92870145e-02 3.85131833e+01] [-3.96173714e-03 9.99991098e-01 -1.45217907e-03 -2.98298608e+00] [-1.92926356e-02 1.37548731e-03 9.99812934e-01 -1.97925011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.631346183999995 meters 0.08969686112640242 Centerline is valid? [True, True] Translation: X:38.54, Y:-2.99, Z:-1.98 [[ 9.99812219e-01 5.94080622e-03 1.84454113e-02 3.85436871e+01] [-5.91622560e-03 9.99981537e-01 -1.38689714e-03 -2.98812032e+00] [-1.84533100e-02 1.27750949e-03 9.99828907e-01 -1.98374365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.661346183999996 meters 0.08969686112640242 Centerline is valid? [True, True] Translation: X:38.58, Y:-2.99, Z:-1.99 [[ 9.99810650e-01 6.19775256e-03 1.84459062e-02 3.85762762e+01] [-6.17333592e-03 9.99979992e-01 -1.38033671e-03 -2.99078749e+00] [-1.84540921e-02 1.26620257e-03 9.99828907e-01 -1.98539948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.691346184 meters 0.08078483528880166 Centerline is valid? [True, True] Translation: X:38.61, Y:-2.98, Z:-1.98 [[ 9.99812723e-01 7.80776574e-03 1.77075424e-02 3.86095166e+01] [-7.78544015e-03 9.99968809e-01 -1.32938192e-03 -2.97812510e+00] [-1.77173696e-02 1.19127195e-03 9.99842325e-01 -1.98251736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721346184 meters 0.08005133905413579 Centerline is valid? [True, True] Translation: X:38.64, Y:-2.98, Z:-1.99 [[ 9.99807525e-01 9.65714568e-03 1.70778132e-02 3.86416447e+01] [-9.63658265e-03 9.99952740e-01 -1.28596246e-03 -2.98074762e+00] [-1.70894248e-02 1.12114319e-03 9.99853337e-01 -1.98646196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.751346184 meters 0.0787110037919471 Centerline is valid? [True, True] Translation: X:38.67, Y:-2.98, Z:-1.99 [[ 9.99783660e-01 1.30830851e-02 1.61698878e-02 3.86727954e+01] [-1.30649124e-02 9.99913895e-01 -1.22899507e-03 -2.98000509e+00] [-1.61845745e-02 1.01747102e-03 9.99868504e-01 -1.99039849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781346184 meters 0.07822453116666457 Centerline is valid? [True, True] Translation: X:38.70, Y:-2.98, Z:-1.99 [[ 9.99740617e-01 1.61216674e-02 1.60869835e-02 3.87023725e+01] [-1.61040480e-02 9.99869572e-01 -1.22420382e-03 -2.97928920e+00] [-1.61046215e-02 9.64820732e-04 9.99869847e-01 -1.99204085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.811346183999994 meters 0.07594294941821375 Centerline is valid? [True, True] Translation: X:38.73, Y:-2.97, Z:-1.99 [[ 9.99661746e-01 1.98089071e-02 1.68523385e-02 3.87334304e+01] [-1.97901168e-02 9.99803336e-01 -1.28104994e-03 -2.97438410e+00] [-1.68744004e-02 9.47106878e-04 9.99857169e-01 -1.98999088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.841346183999995 meters 0.07426606053345178 Centerline is valid? [True, True] Translation: X:38.76, Y:-2.97, Z:-1.99 [[ 9.99576749e-01 2.34627155e-02 1.71995563e-02 3.87635113e+01] [-2.34436494e-02 9.99724302e-01 -1.30933945e-03 -2.97081119e+00] [-1.72255351e-02 9.05564903e-04 9.99851219e-01 -1.98923896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.871346184 meters 0.07265587118474431 Centerline is valid? [True, True] Translation: X:38.79, Y:-2.97, Z:-1.99 [[ 9.99389486e-01 3.02764337e-02 1.74353956e-02 3.87930741e+01] [-3.02578893e-02 9.99541245e-01 -1.32648867e-03 -2.96716580e+00] [-1.74675584e-02 7.98120561e-04 9.99847112e-01 -1.99104989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901346184 meters 0.07162933212603793 Centerline is valid? [True, True] Translation: X:38.82, Y:-2.97, Z:-1.99 [[ 9.99330216e-01 3.24469435e-02 1.69208507e-02 3.88215411e+01] [-3.24297737e-02 9.99473186e-01 -1.28819304e-03 -2.96686962e+00] [-1.69537345e-02 7.38590874e-04 9.99856002e-01 -1.99358933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.931346184 meters 0.07038033075425695 Centerline is valid? [True, True] Translation: X:38.85, Y:-2.96, Z:-2.00 [[ 9.99178616e-01 3.73885206e-02 1.56266219e-02 3.88501586e+01] [-3.73745034e-02 9.99300623e-01 -1.18818690e-03 -2.96405336e+00] [-1.56601176e-02 6.03173711e-04 9.99877191e-01 -1.99584059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961346184 meters 0.06887489709633855 Centerline is valid? [True, True] Translation: X:38.88, Y:-2.96, Z:-2.00 [[ 9.99078830e-01 3.98968734e-02 1.58028492e-02 3.88790928e+01] [-3.98828544e-02 9.99203640e-01 -1.20140711e-03 -2.96026915e+00] [-1.58381968e-02 5.70037677e-04 9.99874405e-01 -1.99502805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.991346183999994 meters 0.0678757199738578 Centerline is valid? [True, True] Translation: X:38.91, Y:-2.96, Z:-2.00 [[ 9.98991861e-01 4.19661834e-02 1.59405707e-02 3.89086214e+01] [-4.19521700e-02 9.99118884e-01 -1.21262850e-03 -2.95835107e+00] [-1.59774146e-02 5.42664475e-04 9.99872206e-01 -1.99604863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.021346183999995 meters 0.06783340517641717 Centerline is valid? [True, True] Translation: X:38.94, Y:-2.96, Z:-2.00 [[ 9.98889923e-01 4.42898964e-02 1.60413986e-02 3.89359140e+01] [-4.42760591e-02 9.99018593e-01 -1.21689419e-03 -2.96001554e+00] [-1.60795516e-02 5.05293430e-04 9.99870588e-01 -1.99992858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.051346183999996 meters 0.06571374221956512 Centerline is valid? [True, True] Translation: X:38.97, Y:-2.96, Z:-2.00 [[ 9.98598520e-01 5.01126344e-02 1.70211829e-02 3.89664875e+01] [-5.00979729e-02 9.98743479e-01 -1.28694240e-03 -2.95570031e+00] [-1.70642875e-02 4.32412016e-04 9.99854301e-01 -1.99999563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081346184 meters 0.06530216706454747 Centerline is valid? [True, True] Translation: X:39.00, Y:-2.95, Z:-2.00 [[ 9.98427726e-01 5.29198443e-02 1.84814959e-02 3.89950643e+01] [-5.29030151e-02 9.98598676e-01 -1.39865664e-03 -2.95376249e+00] [-1.85296140e-02 4.18730707e-04 9.99828224e-01 -2.00103604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.111346184 meters 0.06478307131309614 Centerline is valid? [True, True] Translation: X:39.02, Y:-2.95, Z:-2.00 [[ 9.98292005e-01 5.52481681e-02 1.89924440e-02 3.90238259e+01] [-5.52307382e-02 9.98472577e-01 -1.44143906e-03 -2.95105861e+00] [-1.90430714e-02 3.90010386e-04 9.99818588e-01 -2.00086645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141346184 meters 0.06452151440803056 Centerline is valid? [True, True] Translation: X:39.05, Y:-2.95, Z:-2.00 [[ 9.98180973e-01 5.70020354e-02 1.96344991e-02 3.90523603e+01] [-5.69839594e-02 9.98373998e-01 -1.47933183e-03 -2.95023504e+00] [-1.96868983e-02 3.57789385e-04 9.99806130e-01 -2.00137070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.171346184 meters 0.0640749244507101 Centerline is valid? [True, True] Translation: X:39.08, Y:-2.95, Z:-2.00 [[ 9.98114676e-01 5.79160546e-02 2.03180687e-02 3.90815943e+01] [-5.78968198e-02 9.98321393e-01 -1.53414069e-03 -2.95145987e+00] [-2.03728141e-02 3.54896771e-04 9.99792390e-01 -2.00091386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.201346183999995 meters 0.06376420354115404 Centerline is valid? [True, True] Translation: X:39.11, Y:-2.95, Z:-2.00 [[ 9.97997573e-01 5.87821832e-02 2.33559187e-02 3.91089414e+01] [-5.87572629e-02 9.98270761e-01 -1.75240601e-03 -2.95499539e+00] [-2.34185410e-02 3.76567093e-04 9.99725677e-01 -1.99996729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.231346183999996 meters 0.0635428353173536 Centerline is valid? [True, True] Translation: X:39.14, Y:-2.96, Z:-2.00 [[ 9.97968181e-01 5.88494071e-02 2.44183738e-02 3.91372496e+01] [-5.88222565e-02 9.98266796e-01 -1.82931007e-03 -2.95785261e+00] [-2.44837056e-02 3.89249394e-04 9.99700153e-01 -2.00119146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261346184 meters 0.06383200852815421 Centerline is valid? [True, True] Translation: X:39.17, Y:-2.96, Z:-2.00 [[ 9.98047980e-01 5.78671598e-02 2.34866310e-02 3.91650815e+01] [-5.78417957e-02 9.98324213e-01 -1.75842274e-03 -2.96232832e+00] [-2.35490273e-02 3.96481353e-04 9.99722605e-01 -2.00411899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.291346184 meters 0.06435957035530895 Centerline is valid? [True, True] Translation: X:39.19, Y:-2.97, Z:-2.01 [[ 9.98217596e-01 5.55390756e-02 2.18412972e-02 3.91938906e+01] [-5.55166537e-02 9.98456427e-01 -1.63206477e-03 -2.96814169e+00] [-2.18982269e-02 4.16600041e-04 9.99760118e-01 -2.00829024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321346184 meters 0.06450057936868966 Centerline is valid? [True, True] Translation: X:39.22, Y:-2.97, Z:-2.01 [[ 9.98306322e-01 5.44134022e-02 2.05832303e-02 3.92223323e+01] [-5.43932398e-02 9.98518407e-01 -1.53855614e-03 -2.97045080e+00] [-2.06364524e-02 4.16361739e-04 9.99786959e-01 -2.00926876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.351346184 meters 0.06509834738969722 Centerline is valid? [True, True] Translation: X:39.25, Y:-2.98, Z:-2.01 [[ 9.98431877e-01 5.24266598e-02 1.96273487e-02 3.92500065e+01] [-5.24079574e-02 9.98624682e-01 -1.46638039e-03 -2.97591125e+00] [-1.96772323e-02 4.35451671e-04 9.99806290e-01 -2.01236266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.381346183999995 meters 0.06589450375672792 Centerline is valid? [True, True] Translation: X:39.28, Y:-2.99, Z:-2.02 [[ 9.98649199e-01 4.86868567e-02 1.81484711e-02 3.92783051e+01] [-4.86702952e-02 9.98813982e-01 -1.35338616e-03 -2.98584616e+00] [-1.81928388e-02 4.68266555e-04 9.99834387e-01 -2.01523687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.411346183999996 meters 0.0660348082253626 Centerline is valid? [True, True] Translation: X:39.31, Y:-2.99, Z:-2.02 [[ 9.98698577e-01 4.78242852e-02 1.77197615e-02 3.93064370e+01] [-4.78083664e-02 9.98855653e-01 -1.32112761e-03 -2.99099347e+00] [-1.77626659e-02 4.72255414e-04 9.99842120e-01 -2.01690905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441346184 meters 0.06661506217025337 Centerline is valid? [True, True] Translation: X:39.33, Y:-3.00, Z:-2.02 [[ 9.98755532e-01 4.66956945e-02 1.75185243e-02 3.93335634e+01] [-4.66799478e-02 9.98909042e-01 -1.30692362e-03 -2.99617731e+00] [-1.75604400e-02 4.87533399e-04 9.99845685e-01 -2.02016365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.471346184 meters 0.06653422832769444 Centerline is valid? [True, True] Translation: X:39.36, Y:-3.00, Z:-2.02 [[ 9.98739192e-01 4.68708677e-02 1.79763016e-02 3.93624399e+01] [-4.68543994e-02 9.98900836e-01 -1.33642234e-03 -2.99874329e+00] [-1.80191820e-02 4.92468554e-04 9.99837520e-01 -2.02095306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501346184 meters 0.0656690251971656 Centerline is valid? [True, True] Translation: X:39.39, Y:-3.00, Z:-2.02 [[ 9.98681952e-01 4.76984344e-02 1.89530581e-02 3.93913869e+01] [-4.76803046e-02 9.98861656e-01 -1.40755515e-03 -2.99531541e+00] [-1.89986212e-02 5.02012340e-04 9.99819384e-01 -2.01701321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.531346184 meters 0.065837427008944 Centerline is valid? [True, True] Translation: X:39.42, Y:-3.00, Z:-2.02 [[ 9.98680170e-01 4.80372138e-02 1.81753550e-02 3.94198758e+01] [-4.80206189e-02 9.98845434e-01 -1.34862743e-03 -2.99691713e+00] [-1.82191546e-02 4.74055678e-04 9.99833905e-01 -2.01894756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.561346183999994 meters 0.06591464084180167 Centerline is valid? [True, True] Translation: X:39.45, Y:-3.00, Z:-2.02 [[ 9.98687655e-01 4.80235019e-02 1.77963536e-02 3.94486570e+01] [-4.80076116e-02 9.98846099e-01 -1.31928199e-03 -3.00147554e+00] [-1.78391750e-02 4.63190203e-04 9.99840762e-01 -2.02241645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.591346183999995 meters 0.06640126933933835 Centerline is valid? [True, True] Translation: X:39.48, Y:-3.01, Z:-2.03 [[ 9.98759287e-01 4.60616778e-02 1.89263930e-02 3.94765288e+01] [-4.60433841e-02 9.98938458e-01 -1.40142578e-03 -3.01397055e+00] [-1.89708539e-02 5.28251834e-04 9.99819898e-01 -2.02678112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621346184 meters 0.06695400794691468 Centerline is valid? [True, True] Translation: X:39.50, Y:-3.02, Z:-2.03 [[ 9.98830419e-01 4.45298330e-02 1.88384780e-02 3.95040686e+01] [-4.45114516e-02 9.99007901e-01 -1.39412591e-03 -3.01941882e+00] [-1.88818686e-02 5.53967363e-04 9.99821568e-01 -2.02841099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.651346184 meters 0.06718211696531408 Centerline is valid? [True, True] Translation: X:39.53, Y:-3.02, Z:-2.03 [[ 9.98863809e-01 4.35291893e-02 1.93984779e-02 3.95324795e+01] [-4.35095577e-02 9.99051983e-01 -1.43312359e-03 -3.02137708e+00] [-1.94424705e-02 5.87476095e-04 9.99810805e-01 -2.02804987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681346184 meters 0.06742651150706168 Centerline is valid? [True, True] Translation: X:39.56, Y:-3.02, Z:-2.03 [[ 9.98925541e-01 4.20398906e-02 1.95041256e-02 3.95618908e+01] [-4.20197881e-02 9.99115742e-01 -1.43953881e-03 -3.02133749e+00] [-1.95473969e-02 6.18432866e-04 9.99808740e-01 -2.02671107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.711346184 meters 0.06772085792074843 Centerline is valid? [True, True] Translation: X:39.59, Y:-3.02, Z:-2.03 [[ 9.99029993e-01 4.01375013e-02 1.81122546e-02 3.95918480e+01] [-4.01198929e-02 9.99193982e-01 -1.33464738e-03 -3.02282817e+00] [-1.81512252e-02 6.06691052e-04 9.99835069e-01 -2.02627072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.741346183999994 meters 0.06833897892963911 Centerline is valid? [True, True] Translation: X:39.62, Y:-3.03, Z:-2.03 [[ 9.99080289e-01 3.87174970e-02 1.84263844e-02 3.96197499e+01] [-3.86990228e-02 9.99249989e-01 -1.35824790e-03 -3.03098477e+00] [-1.84651523e-02 6.43915631e-04 9.99829297e-01 -2.03024849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.771346183999995 meters 0.06881223231576786 Centerline is valid? [True, True] Translation: X:39.65, Y:-3.04, Z:-2.04 [[ 9.99112295e-01 3.74449917e-02 1.93001366e-02 3.96477081e+01] [-3.74245169e-02 9.99298447e-01 -1.42108315e-03 -3.04035274e+00] [-1.93398090e-02 6.97523354e-04 9.99812725e-01 -2.03517283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801346183999996 meters 0.06945672030966468 Centerline is valid? [True, True] Translation: X:39.68, Y:-3.05, Z:-2.04 [[ 9.99167509e-01 3.55455768e-02 2.00200117e-02 3.96759935e+01] [-3.55231970e-02 9.99367767e-01 -1.47249759e-03 -3.04816401e+00] [-2.00596952e-02 7.60096927e-04 9.99798495e-01 -2.03838814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.831346184 meters 0.07026005048686303 Centerline is valid? [True, True] Translation: X:39.71, Y:-3.05, Z:-2.04 [[ 9.99252557e-01 3.30569767e-02 2.00390511e-02 3.97050621e+01] [-3.30340949e-02 9.99453142e-01 -1.47189866e-03 -3.05017302e+00] [-2.00767491e-02 8.08826581e-04 9.99798115e-01 -2.03608875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.861346184 meters 0.07020104233558173 Centerline is valid? [True, True] Translation: X:39.73, Y:-3.05, Z:-2.03 [[ 9.99292104e-01 3.20214640e-02 1.97463207e-02 3.97340577e+01] [-3.19990528e-02 9.99486847e-01 -1.44995586e-03 -3.04831478e+00] [-1.97826175e-02 8.17065884e-04 9.99803971e-01 -2.03387521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.891346184 meters 0.07099762127275595 Centerline is valid? [True, True] Translation: X:39.76, Y:-3.05, Z:-2.03 [[ 9.99342667e-01 3.06902892e-02 1.92961023e-02 3.97626981e+01] [-3.06686662e-02 9.99528603e-01 -1.41558291e-03 -3.05084766e+00] [-1.93304508e-02 8.22866679e-04 9.99812811e-01 -2.03430242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.921346184 meters 0.07223495305992933 Centerline is valid? [True, True] Translation: X:39.79, Y:-3.06, Z:-2.04 [[ 9.99493660e-01 2.66001242e-02 1.74601656e-02 3.97917385e+01] [-2.65818448e-02 9.99645823e-01 -1.27821067e-03 -3.06392155e+00] [-1.74879821e-02 8.13440053e-04 9.99846743e-01 -2.03983153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.951346183999995 meters 0.07491874015702327 Centerline is valid? [True, True] Translation: X:39.82, Y:-3.08, Z:-2.05 [[ 9.99584267e-01 2.32728238e-02 1.70196608e-02 3.98198831e+01] [-2.32549685e-02 9.99728790e-01 -1.24628376e-03 -3.07685424e+00] [-1.70440494e-02 8.49973960e-04 9.99854378e-01 -2.04569635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981346183999996 meters 0.07714687265463906 Centerline is valid? [True, True] Translation: X:39.85, Y:-3.09, Z:-2.05 [[ 9.99679006e-01 1.90455307e-02 1.67078749e-02 3.98490315e+01] [-1.90277548e-02 9.99818209e-01 -1.22226217e-03 -3.08648395e+00] [-1.67281162e-02 9.03956486e-04 9.99859667e-01 -2.04841770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.011346184 meters 0.08143063153325215 Centerline is valid? [True, True] Translation: X:39.88, Y:-3.10, Z:-2.05 [[ 9.99775217e-01 1.09214663e-02 1.81724448e-02 3.98779479e+01] [-1.08991080e-02 9.99939720e-01 -1.32892806e-03 -3.09709875e+00] [-1.81858632e-02 1.13056590e-03 9.99833984e-01 -2.04699357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.041346184 meters 0.08280501491201395 Centerline is valid? [True, True] Translation: X:39.91, Y:-3.10, Z:-2.05 [[ 9.99787897e-01 8.33805044e-03 1.88318354e-02 3.99089378e+01] [-8.31361817e-03 9.99964496e-01 -1.37530761e-03 -3.10225318e+00] [-1.88426342e-02 1.21845521e-03 9.99821719e-01 -2.04640869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.071346184 meters 0.08137508161316433 Centerline is valid? [True, True] Translation: X:39.94, Y:-3.10, Z:-2.05 [[ 9.99810832e-01 5.45519123e-03 1.86692626e-02 3.99401561e+01] [-5.43065740e-03 9.99984323e-01 -1.36457538e-03 -3.10236058e+00] [-1.86764140e-02 1.26293087e-03 9.99824783e-01 -2.04576796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101346184 meters 0.08281728399466753 Centerline is valid? [True, True] Translation: X:39.97, Y:-3.11, Z:-2.05 [[ 9.99828867e-01 3.47840219e-03 1.81696756e-02 3.99704947e+01] [-3.45485007e-03 9.99993151e-01 -1.32746099e-03 -3.10841259e+00] [-1.81741686e-02 1.26446031e-03 9.99834037e-01 -2.04804298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.131346183999995 meters 0.08746360628605114 Centerline is valid? [True, True] Translation: X:40.00, Y:-3.12, Z:-2.06 [[ 9.99869261e-01 1.20959341e-03 1.61244265e-02 3.99988059e+01] [-1.19071319e-03 9.99998594e-01 -1.18045690e-03 -3.12140422e+00] [-1.61258317e-02 1.16110300e-03 9.99869296e-01 -2.05502809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.161346183999996 meters 0.08558240666447794 Centerline is valid? [True, True] Translation: X:40.03, Y:-3.12, Z:-2.06 [[ 9.99874758e-01 8.29348891e-04 1.58044267e-02 4.00314738e+01] [-8.11306152e-04 9.99999012e-01 -1.14800297e-03 -3.12163124e+00] [-1.58053632e-02 1.13503696e-03 9.99874443e-01 -2.05548256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.191346184 meters 0.08618995058318482 Centerline is valid? [True, True] Translation: X:40.06, Y:-3.12, Z:-2.06 [[ 9.99876822e-01 7.40993731e-04 1.56777191e-02 4.00623969e+01] [-7.23108726e-04 9.99999081e-01 -1.14642924e-03 -3.12433308e+00] [-1.56785542e-02 1.13495133e-03 9.99876440e-01 -2.05627843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221346184 meters 0.08705833625970183 Centerline is valid? [True, True] Translation: X:40.09, Y:-3.12, Z:-2.05 [[ 9.99843173e-01 6.65996814e-04 1.76970388e-02 4.00940990e+01] [-6.43190823e-04 9.99998955e-01 -1.29435016e-03 -3.12422076e+00] [-1.76978823e-02 1.28276460e-03 9.99842557e-01 -2.05384669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.251346184 meters 0.08751760377893548 Centerline is valid? [True, True] Translation: X:40.13, Y:-3.13, Z:-2.06 [[ 9.99832167e-01 3.40144117e-04 1.83172796e-02 4.01260699e+01] [-3.15584151e-04 9.99999047e-01 -1.34368249e-03 -3.12798437e+00] [-1.83177192e-02 1.33767633e-03 9.99831322e-01 -2.05610060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281346184 meters 0.09116233069774077 Centerline is valid? [True, True] Translation: X:40.16, Y:-3.14, Z:-2.06 [[ 9.99822985e-01 -6.92810342e-05 1.88147265e-02 4.01564959e+01] [ 9.53679760e-05 9.99999035e-01 -1.38562349e-03 -3.13898233e+00] [-1.88146123e-02 1.38717254e-03 9.99822027e-01 -2.06150656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.311346183999994 meters 0.09121112761757622 Centerline is valid? [True, True] Translation: X:40.19, Y:-3.14, Z:-2.06 [[ 9.99838955e-01 -3.47682449e-03 1.76061030e-02 4.01863930e+01] [ 3.50037118e-03 9.99993020e-01 -1.30677669e-03 -3.14252763e+00] [-1.76014367e-02 1.36819414e-03 9.99844147e-01 -2.06410535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.341346183999995 meters 0.09231584654020826 Centerline is valid? [True, True] Translation: X:40.22, Y:-3.15, Z:-2.07 [[ 9.99847983e-01 -4.98206861e-03 1.67089552e-02 4.02173626e+01] [ 5.00348152e-03 9.99986714e-01 -1.23996327e-03 -3.14565913e+00] [-1.67025556e-02 1.32337772e-03 9.99859627e-01 -2.06605213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.371346184 meters 0.09431902492084374 Centerline is valid? [True, True] Translation: X:40.25, Y:-3.15, Z:-2.07 [[ 9.99844684e-01 -6.89947896e-03 1.62174289e-02 4.02476457e+01] [ 6.91990509e-03 9.99975333e-01 -1.20373878e-03 -3.14957515e+00] [-1.62087237e-02 1.31577489e-03 9.99867764e-01 -2.06768991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401346184 meters 0.09548295875690464 Centerline is valid? [True, True] Translation: X:40.28, Y:-3.15, Z:-2.07 [[ 9.99852314e-01 -7.03447407e-03 1.56801196e-02 4.02795267e+01] [ 7.05356209e-03 9.99974448e-01 -1.16236673e-03 -3.15322690e+00] [-1.56715423e-02 1.27279576e-03 9.99876384e-01 -2.07000622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.431346184 meters 0.08956063648978108 Centerline is valid? [True, True] Translation: X:40.31, Y:-3.15, Z:-2.07 [[ 9.99830770e-01 -9.28812291e-03 1.58796224e-02 4.03108931e+01] [ 9.30801235e-03 9.99955984e-01 -1.17906259e-03 -3.14732358e+00] [-1.58679722e-02 1.32667077e-03 9.99873216e-01 -2.06759150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461346184 meters 0.09454755997817726 Centerline is valid? [True, True] Translation: X:40.34, Y:-3.16, Z:-2.07 [[ 9.99814505e-01 -1.01469358e-02 1.63705746e-02 4.03412853e+01] [ 1.01681550e-02 9.99947567e-01 -1.21346239e-03 -3.15923183e+00] [-1.63574033e-02 1.37969584e-03 9.99865257e-01 -2.07164929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.491346183999994 meters 0.09014430217794082 Centerline is valid? [True, True] Translation: X:40.37, Y:-3.15, Z:-2.07 [[ 9.99789821e-01 -1.07106642e-02 1.74812969e-02 4.03736633e+01] [ 1.07350237e-02 9.99941533e-01 -1.30021175e-03 -3.15494376e+00] [-1.74663486e-02 1.48760061e-03 9.99846345e-01 -2.06834073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.521346183999995 meters 0.0894276170381 Centerline is valid? [True, True] Translation: X:40.41, Y:-3.15, Z:-2.07 [[ 9.99752661e-01 -1.13002999e-02 1.91551554e-02 4.04058345e+01] [ 1.13295921e-02 9.99934808e-01 -1.42137059e-03 -3.15391601e+00] [-1.91378447e-02 1.63803913e-03 9.99815513e-01 -2.06518291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.551346183999996 meters 0.08835502233566514 Centerline is valid? [True, True] Translation: X:40.44, Y:-3.15, Z:-2.07 [[ 9.99763141e-01 -1.11991663e-02 1.86612185e-02 4.04376950e+01] [ 1.12270230e-02 9.99936011e-01 -1.38865942e-03 -3.15395000e+00] [-1.86444725e-02 1.59784043e-03 9.99824900e-01 -2.06596478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.581346184 meters 0.08835502233566514 Centerline is valid? [True, True] Translation: X:40.47, Y:-3.16, Z:-2.07 [[ 9.99764366e-01 -1.10903225e-02 1.86605937e-02 4.04702471e+01] [ 1.11183147e-02 9.99937214e-01 -1.39698659e-03 -3.15651763e+00] [-1.86439291e-02 1.60413177e-03 9.99824900e-01 -2.06761368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.611346184 meters 0.09645636050206517 Centerline is valid? [True, True] Translation: X:40.50, Y:-3.17, Z:-2.08 [[ 9.99784780e-01 -1.01506608e-02 1.80930162e-02 4.04995782e+01] [ 1.01768352e-02 9.99947296e-01 -1.35517377e-03 -3.17273296e+00] [-1.80783067e-02 1.53901176e-03 9.99835390e-01 -2.07606807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.641346184 meters 0.09059556922729432 Centerline is valid? [True, True] Translation: X:40.53, Y:-3.17, Z:-2.08 [[ 9.99794299e-01 -9.63323814e-03 1.78482654e-02 4.05325928e+01] [ 9.65871416e-03 9.99952453e-01 -1.34171289e-03 -3.16685034e+00] [-1.78344918e-02 1.51382819e-03 9.99839807e-01 -2.07610626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.671346184 meters 0.09484154706129347 Centerline is valid? [True, True] Translation: X:40.56, Y:-3.18, Z:-2.08 [[ 9.99821691e-01 -1.02276160e-02 1.58739294e-02 4.05616138e+01] [ 1.02478914e-02 9.99946773e-01 -1.19645736e-03 -3.17691804e+00] [-1.58608476e-02 1.35891832e-03 9.99873285e-01 -2.08317088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.701346183999995 meters 0.0973904560556037 Centerline is valid? [True, True] Translation: X:40.59, Y:-3.18, Z:-2.09 [[ 9.99837308e-01 -1.02772904e-02 1.48234234e-02 4.05924247e+01] [ 1.02949111e-02 9.99946387e-01 -1.11288990e-03 -3.18367989e+00] [-1.48111912e-02 1.26531467e-03 9.99889508e-01 -2.08782586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.731346183999996 meters 0.09662584501370257 Centerline is valid? [True, True] Translation: X:40.62, Y:-3.18, Z:-2.09 [[ 9.99846279e-01 -1.08042813e-02 1.38089163e-02 4.06247935e+01] [ 1.08196682e-02 9.99940925e-01 -1.04005476e-03 -3.18487276e+00] [-1.37968635e-02 1.18930278e-03 9.99904111e-01 -2.08917156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.761346184 meters 0.09215269194862007 Centerline is valid? [True, True] Translation: X:40.66, Y:-3.18, Z:-2.09 [[ 9.99839936e-01 -1.11332858e-02 1.40054529e-02 4.06574749e+01] [ 1.11491583e-02 9.99937289e-01 -1.05574005e-03 -3.18050707e+00] [-1.39928207e-02 1.21172007e-03 9.99901361e-01 -2.08723756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.791346184 meters 0.09642182339861739 Centerline is valid? [True, True] Translation: X:40.69, Y:-3.19, Z:-2.09 [[ 9.99768473e-01 -1.17552207e-02 1.80226142e-02 4.06884884e+01] [ 1.17815570e-02 9.99929676e-01 -1.35581232e-03 -3.18849866e+00] [-1.80054089e-02 1.56783287e-03 9.99836660e-01 -2.08520012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821346184 meters 0.09609352733237092 Centerline is valid? [True, True] Translation: X:40.72, Y:-3.19, Z:-2.08 [[ 9.99731591e-01 -1.17145792e-02 1.99878424e-02 4.07205547e+01] [ 1.17471757e-02 9.99929853e-01 -1.51418134e-03 -3.19064349e+00] [-1.99687023e-02 1.74857561e-03 9.99799077e-01 -2.08397981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.851346184 meters 0.09403366961393461 Centerline is valid? [True, True] Translation: X:40.75, Y:-3.19, Z:-2.08 [[ 9.99700787e-01 -1.18414357e-02 2.14036761e-02 4.07533635e+01] [ 1.18787725e-02 9.99928136e-01 -1.61810640e-03 -3.19169889e+00] [-2.13829772e-02 1.87187164e-03 9.99769606e-01 -2.08349033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.881346183999995 meters 0.09563659351658292 Centerline is valid? [True, True] Translation: X:40.78, Y:-3.20, Z:-2.09 [[ 9.99670670e-01 -1.25936599e-02 2.23595933e-02 4.07847515e+01] [ 1.26347270e-02 9.99918740e-01 -1.69633649e-03 -3.19958565e+00] [-2.23364133e-02 1.97828519e-03 9.99748554e-01 -2.08601032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.911346183999996 meters 0.0977211700856767 Centerline is valid? [True, True] Translation: X:40.82, Y:-3.21, Z:-2.09 [[ 9.99690451e-01 -1.36754728e-02 2.07842261e-02 4.08154259e+01] [ 1.37113990e-02 9.99904735e-01 -1.58700790e-03 -3.20891326e+00] [-2.07605430e-02 1.87149746e-03 9.99782725e-01 -2.09094965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.941346184 meters 0.09857451447463456 Centerline is valid? [True, True] Translation: X:40.85, Y:-3.21, Z:-2.09 [[ 9.99711423e-01 -1.41758358e-02 1.93937003e-02 4.08473283e+01] [ 1.42071983e-02 9.99897977e-01 -1.48032129e-03 -3.21225765e+00] [-1.93707369e-02 1.75542425e-03 9.99810829e-01 -2.09417468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.971346184 meters 0.10003442341715765 Centerline is valid? [True, False] Translation: X:40.85, Y:-3.21, Z:-2.09 [[ 9.99905658e-01 -1.34454036e-02 2.81018382e-03 4.08514076e+01] [ 1.34519464e-02 9.99906821e-01 -2.32244941e-03 -3.21228217e+00] [-2.77869570e-03 2.36003275e-03 9.99993355e-01 -2.09009552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001346184 meters 0.1040437972772506 Centerline is valid? [False, False] Translation: X:40.85, Y:-3.22, Z:-2.09 [[ 9.99956763e-01 -8.69021795e-03 3.30940655e-03 4.08510286e+01] [ 8.67827642e-03 9.99955842e-01 3.60578327e-03 -3.21693042e+00] [-3.34059546e-03 -3.57690742e-03 9.99988023e-01 -2.09142951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.031346184 meters 0.10179483904135699 Centerline is valid? [False, False] Translation: X:40.85, Y:-3.22, Z:-2.09 [[ 9.99959042e-01 -8.43800202e-03 3.27337980e-03 4.08510019e+01] [ 8.42446119e-03 9.99955991e-01 4.12861624e-03 -3.21877530e+00] [-3.30807302e-03 -4.10087068e-03 9.99986120e-01 -2.09129077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.061346183999994 meters 0.10365000811146927 Centerline is valid? [False, False] Translation: X:40.85, Y:-3.22, Z:-2.09 [[ 9.99960764e-01 -8.22608803e-03 3.28660097e-03 4.08507310e+01] [ 8.21073194e-03 9.99955439e-01 4.65881660e-03 -3.22091943e+00] [-3.32477835e-03 -4.63164840e-03 9.99983747e-01 -2.09096079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.091346183999995 meters 0.10350614669990882 Centerline is valid? [False, False] Translation: X:40.85, Y:-3.23, Z:-2.09 [[ 9.99963702e-01 -7.80168920e-03 3.42463972e-03 4.08500049e+01] [ 7.78217646e-03 9.99953617e-01 5.67456863e-03 -3.22536104e+00] [-3.46875210e-03 -5.64771151e-03 9.99978035e-01 -2.09034667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.121346184 meters 0.10422282987959522 Centerline is valid? [False, False] Translation: X:40.85, Y:-3.23, Z:-2.09 [[ 9.99965073e-01 -7.61987779e-03 3.43360992e-03 4.08498331e+01] [ 7.59884643e-03 9.99952540e-01 6.09712062e-03 -3.22694479e+00] [-3.47990628e-03 -6.07081619e-03 9.99975517e-01 -2.09016589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.151346184 meters 0.10394750794824371 Centerline is valid? [False, False] Translation: X:40.84, Y:-3.23, Z:-2.09 [[ 9.99944947e-01 -1.70433736e-03 1.03536880e-02 4.08392989e+01] [ 1.68749067e-03 9.99997239e-01 1.63563841e-03 -3.22763001e+00] [-1.03564471e-02 -1.61807661e-03 9.99945061e-01 -2.09347409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181346184 meters 0.09281243976698143 Centerline is valid? [False, True] Translation: X:40.84, Y:-3.23, Z:-2.09 [[ 9.99947955e-01 -1.39377522e-03 1.01066461e-02 4.08402009e+01] [ 1.37324721e-03 9.99996981e-01 2.03779515e-03 -3.22798417e+00] [-1.01094558e-02 -2.02381017e-03 9.99946850e-01 -2.09409722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.211346184 meters 0.10308708607286445 Centerline is valid? [True, False] Translation: X:40.84, Y:-3.23, Z:-2.10 [[ 9.99952077e-01 -7.81513497e-04 9.75876436e-03 4.08415324e+01] [ 7.53223272e-04 9.99995505e-01 2.90229459e-03 -3.22972381e+00] [-9.76098868e-03 -2.89480497e-03 9.99948170e-01 -2.09522382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.241346183999994 meters 0.1027117470217376 Centerline is valid? [False, False] Translation: X:40.84, Y:-3.23, Z:-2.10 [[ 9.99953032e-01 -2.47162200e-04 9.68877002e-03 4.08422977e+01] [ 2.09822296e-04 9.99992548e-01 3.85476349e-03 -3.23195454e+00] [-9.68965057e-03 -3.85254952e-03 9.99945633e-01 -2.09634144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.271346183999995 meters 0.10279572446461864 Centerline is valid? [False, False] Translation: X:40.84, Y:-3.23, Z:-2.10 [[ 9.99953648e-01 1.83635749e-04 9.62647650e-03 4.08428062e+01] [-2.28476843e-04 9.99989129e-01 4.65720759e-03 -3.23406847e+00] [-9.62551663e-03 -4.65919114e-03 9.99942819e-01 -2.09706622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301346183999996 meters 0.10355132180205742 Centerline is valid? [False, False] Translation: X:40.84, Y:-3.24, Z:-2.10 [[ 9.99955266e-01 -3.19745096e-03 8.90180138e-03 4.08449089e+01] [ 3.18456827e-03 9.99993862e-01 1.46099907e-03 -3.23550301e+00] [-8.90641822e-03 -1.43258532e-03 9.99959311e-01 -2.09811578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.331346184 meters 0.09428991714567096 Centerline is valid? [False, True] Translation: X:40.85, Y:-3.24, Z:-2.10 [[ 9.99956798e-01 -2.93110545e-03 8.82099022e-03 4.08450441e+01] [ 2.91331563e-03 9.99993698e-01 2.02893378e-03 -3.23718597e+00] [-8.82688165e-03 -2.00314779e-03 9.99959036e-01 -2.09814386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361346184 meters 0.10487561561031733 Centerline is valid? [True, False] Translation: X:40.85, Y:-3.24, Z:-2.10 [[ 9.99957664e-01 -2.59731558e-03 8.82750049e-03 4.08451110e+01] [ 2.57308946e-03 9.99992896e-01 2.75464232e-03 -3.23931096e+00] [-8.83459245e-03 -2.73181175e-03 9.99957243e-01 -2.09832204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.391346184 meters 0.09532915333243791 Centerline is valid? [False, True] Translation: X:40.85, Y:-3.24, Z:-2.10 [[ 9.99958683e-01 -2.07408951e-03 8.85044601e-03 4.08454268e+01] [ 2.04030273e-03 9.99990604e-01 3.82484529e-03 -3.24211789e+00] [-8.85829592e-03 -3.80662967e-03 9.99953519e-01 -2.09898234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421346184 meters 0.09764826576062803 Centerline is valid? [True, True] Translation: X:40.88, Y:-3.25, Z:-2.10 [[ 9.99948041e-01 -2.66034077e-03 9.84059295e-03 4.08764863e+01] [ 2.66831741e-03 9.99996122e-01 -7.97544520e-04 -3.25078571e+00] [-9.83843304e-03 8.23760906e-04 9.99951262e-01 -2.09730590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.451346183999995 meters 0.09817237621836994 Centerline is valid? [True, True] Translation: X:40.91, Y:-3.25, Z:-2.10 [[ 9.99944497e-01 -2.61912627e-03 1.02050202e-02 4.09089637e+01] [ 2.62776861e-03 9.99996200e-01 -8.33555792e-04 -3.25459159e+00] [-1.02027983e-02 8.60325959e-04 9.99947580e-01 -2.09788207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481346183999996 meters 0.09843509410931786 Centerline is valid? [True, True] Translation: X:40.94, Y:-3.26, Z:-2.10 [[ 9.99966190e-01 -1.68679902e-03 8.04820977e-03 4.09411092e+01] [ 1.69214447e-03 9.99998352e-01 -6.57416323e-04 -3.25736676e+00] [-8.04708758e-03 6.71012829e-04 9.99967397e-01 -2.10021469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.511346184 meters 0.098201889351556 Centerline is valid? [True, True] Translation: X:40.97, Y:-3.26, Z:-2.11 [[ 9.99983626e-01 4.85141773e-04 5.70202900e-03 4.09710249e+01] [-4.82486921e-04 9.99999775e-01 -4.66964132e-04 -3.25989151e+00] [-5.70225426e-03 4.64205332e-04 9.99983634e-01 -2.10507775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541346184 meters 0.09834522872346559 Centerline is valid? [True, True] Translation: X:41.00, Y:-3.26, Z:-2.11 [[ 9.99985599e-01 1.86724437e-03 5.03148827e-03 4.10026676e+01] [-1.86519963e-03 9.99998176e-01 -4.11050844e-04 -3.26401013e+00] [-5.03224662e-03 4.01660194e-04 9.99987258e-01 -2.10832511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.571346184 meters 0.09817894884872791 Centerline is valid? [True, True] Translation: X:41.03, Y:-3.27, Z:-2.11 [[ 9.99980340e-01 3.44827774e-03 5.23725815e-03 4.10333434e+01] [-3.44607952e-03 9.99993970e-01 -4.28693226e-04 -3.26907614e+00] [-5.23870483e-03 4.10636790e-04 9.99986194e-01 -2.11002623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601346184 meters 0.09895811298221079 Centerline is valid? [True, True] Translation: X:41.06, Y:-3.27, Z:-2.11 [[ 9.99981386e-01 3.49815138e-03 4.99906339e-03 4.10644673e+01] [-3.49614856e-03 9.99993805e-01 -4.09320537e-04 -3.27328909e+00] [-5.00046428e-03 3.91835449e-04 9.99987421e-01 -2.11141062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.631346183999995 meters 0.09166889555570595 Centerline is valid? [True, True] Translation: X:41.10, Y:-3.26, Z:-2.11 [[ 9.99984630e-01 3.29701907e-03 4.45755268e-03 4.10972663e+01] [-3.29543906e-03 9.99994505e-01 -3.61756172e-04 -3.26371494e+00] [-4.45872090e-03 3.47061019e-04 9.99990000e-01 -2.10700231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.661346183999996 meters 0.08989996759570404 Centerline is valid? [True, True] Translation: X:41.13, Y:-3.26, Z:-2.11 [[ 9.99982950e-01 3.09395600e-03 4.95240235e-03 4.11286415e+01] [-3.09198203e-03 9.99995137e-01 -4.06195719e-04 -3.26233569e+00] [-4.95363502e-03 3.90876055e-04 9.99987654e-01 -2.10541052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.691346184 meters 0.08701069042739862 Centerline is valid? [True, True] Translation: X:41.16, Y:-3.26, Z:-2.10 [[ 9.99975502e-01 2.28497360e-03 6.61621728e-03 4.11608061e+01] [-2.28146886e-03 9.99997253e-01 -5.37218670e-04 -3.26146643e+00] [-6.61742663e-03 5.22110816e-04 9.99977968e-01 -2.10234742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721346184 meters 0.09242272935502777 Centerline is valid? [True, True] Translation: X:41.19, Y:-3.27, Z:-2.11 [[ 9.99978714e-01 1.73926390e-03 6.28863689e-03 4.11907312e+01] [-1.73607995e-03 9.99998362e-01 -5.11725777e-04 -3.27465218e+00] [-6.28951662e-03 5.00797308e-04 9.99980095e-01 -2.10707186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.751346184 meters 0.0939297387611363 Centerline is valid? [True, True] Translation: X:41.22, Y:-3.28, Z:-2.11 [[ 9.99976956e-01 1.99810206e-03 6.48804205e-03 4.12216365e+01] [-1.99470428e-03 9.99997870e-01 -5.30127254e-04 -3.28110148e+00] [-6.48908748e-03 5.17173312e-04 9.99978812e-01 -2.10936676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781346184 meters 0.08627513410217859 Centerline is valid? [True, True] Translation: X:41.25, Y:-3.27, Z:-2.11 [[ 9.99988890e-01 2.07339831e-03 4.23324392e-03 4.12548032e+01] [-2.07196311e-03 9.99997795e-01 -3.43386488e-04 -3.26901703e+00] [-4.23394656e-03 3.34611548e-04 9.99990981e-01 -2.10523789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.811346183999994 meters 0.08680998434257133 Centerline is valid? [True, True] Translation: X:41.29, Y:-3.27, Z:-2.11 [[ 9.99992046e-01 1.74124222e-03 3.58833349e-03 4.12861233e+01] [-1.74018627e-03 9.99998442e-01 -2.97376492e-04 -3.27143279e+00] [-3.58884570e-03 2.91129758e-04 9.99993518e-01 -2.10674052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.841346183999995 meters 0.09718444839063019 Centerline is valid? [True, True] Translation: X:41.32, Y:-3.29, Z:-2.12 [[ 9.99994267e-01 1.55993724e-03 3.00534137e-03 4.13158504e+01] [-1.55921632e-03 9.99998755e-01 -2.42208618e-04 -3.29126754e+00] [-3.00571546e-03 2.37521252e-04 9.99995455e-01 -2.11598612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.871346184 meters 0.08884703611298417 Centerline is valid? [True, True] Translation: X:41.35, Y:-3.28, Z:-2.11 [[ 9.99993788e-01 1.18039394e-03 3.32110836e-03 4.13481789e+01] [-1.17948362e-03 9.99999266e-01 -2.76045051e-04 -3.28252817e+00] [-3.32143176e-03 2.72126143e-04 9.99994447e-01 -2.11206028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901346184 meters 0.08877980997929824 Centerline is valid? [True, True] Translation: X:41.38, Y:-3.29, Z:-2.11 [[ 9.99990224e-01 -5.94591029e-04 4.38158050e-03 4.13790786e+01] [ 5.96194944e-04 9.99999756e-01 -3.64761656e-04 -3.28759094e+00] [-4.38136254e-03 3.67370366e-04 9.99990334e-01 -2.11243359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.931346184 meters 0.09477792650731207 Centerline is valid? [True, True] Translation: X:41.41, Y:-3.30, Z:-2.11 [[ 9.99983982e-01 -1.66505939e-03 5.40956837e-03 4.14094068e+01] [ 1.66748852e-03 9.99998511e-01 -4.44564570e-04 -3.29859635e+00] [-5.40882008e-03 4.53577842e-04 9.99985269e-01 -2.11464897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961346184 meters 0.08870165823467716 Centerline is valid? [True, True] Translation: X:41.44, Y:-3.29, Z:-2.11 [[ 9.99978724e-01 -2.35419101e-03 6.08350278e-03 4.14427730e+01] [ 2.35732151e-03 9.99997093e-01 -5.07469811e-04 -3.28852826e+00] [-6.08229041e-03 5.21799786e-04 9.99981367e-01 -2.10943266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.991346183999994 meters 0.09017071092662685 Centerline is valid? [True, True] Translation: X:41.47, Y:-3.29, Z:-2.11 [[ 9.99977934e-01 -3.25027767e-03 5.79374568e-03 4.14738351e+01] [ 3.25312494e-03 9.99994592e-01 -4.82081702e-04 -3.28942428e+00] [-5.79214745e-03 5.00918842e-04 9.99983100e-01 -2.10843183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.021346183999995 meters 0.09162142372617257 Centerline is valid? [True, True] Translation: X:41.50, Y:-3.30, Z:-2.11 [[ 9.99978608e-01 -2.82075668e-03 5.90142142e-03 4.15047008e+01] [ 2.82370707e-03 9.99995892e-01 -4.91672706e-04 -3.29574030e+00] [-5.90001029e-03 5.08326074e-04 9.99982466e-01 -2.11189750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.051346183999996 meters 0.09383433376932257 Centerline is valid? [True, True] Translation: X:41.54, Y:-3.30, Z:-2.12 [[ 9.99979936e-01 -3.06241270e-03 5.54523668e-03 4.15354545e+01] [ 3.06503687e-03 9.99995195e-01 -4.64791873e-04 -3.30417534e+00] [-5.54378665e-03 4.81778902e-04 9.99984517e-01 -2.11618538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081346184 meters 0.0928618687373341 Centerline is valid? [True, True] Translation: X:41.57, Y:-3.31, Z:-2.12 [[ 9.99983548e-01 -3.90302334e-03 4.20358376e-03 4.15661831e+01] [ 3.90454251e-03 9.99992315e-01 -3.53253392e-04 -3.30689551e+00] [-4.20217270e-03 3.69660652e-04 9.99991103e-01 -2.11887913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.111346184 meters 0.09516112924471788 Centerline is valid? [True, True] Translation: X:41.59, Y:-3.31, Z:-2.12 [[ 9.99982581e-01 -5.73709335e-03 1.38688424e-03 4.15948496e+01] [ 5.73726148e-03 9.99983535e-01 -1.17282059e-04 -3.31198724e+00] [-1.38618854e-03 1.25236934e-04 9.99999031e-01 -2.12343477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141346184 meters 0.0957584161062552 Centerline is valid? [True, True] Translation: X:41.63, Y:-3.31, Z:-2.12 [[ 9.99978557e-01 -6.51243283e-03 6.87733024e-04 4.16267424e+01] [ 6.51247240e-03 9.99978792e-01 -5.53086469e-05 -3.31393012e+00] [-6.87358245e-04 5.97863033e-05 9.99999762e-01 -2.12406435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.171346184 meters 0.09801164049199398 Centerline is valid? [True, True] Translation: X:41.66, Y:-3.32, Z:-2.13 [[ 9.99970373e-01 -7.69052017e-03 -3.28671166e-04 4.16564205e+01] [ 7.69052968e-03 9.99970427e-01 2.76908046e-05 -3.31827318e+00] [ 3.28448489e-04 -3.02176395e-05 9.99999946e-01 -2.12526980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.201346183999995 meters 0.09777769153462094 Centerline is valid? [True, True] Translation: X:41.69, Y:-3.32, Z:-2.13 [[ 9.99971214e-01 -7.57447805e-03 4.46279250e-04 4.16883076e+01] [ 7.57449444e-03 9.99971312e-01 -3.50302062e-05 -3.32054615e+00] [-4.46001112e-04 3.84095375e-05 9.99999900e-01 -2.12551760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.231346183999996 meters 0.09967468265317873 Centerline is valid? [True, True] Translation: X:41.72, Y:-3.33, Z:-2.13 [[ 9.99959612e-01 -8.67801681e-03 2.33785106e-03 4.17192019e+01] [ 8.67849698e-03 9.99962322e-01 -1.95323597e-04 -3.32804546e+00] [-2.33606795e-03 2.15604742e-04 9.99997248e-01 -2.12592508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261346184 meters 0.10041598311491522 Centerline is valid? [True, False] Translation: X:41.72, Y:-3.33, Z:-2.13 [[ 9.99962133e-01 -8.39837745e-03 2.28039272e-03 4.17197137e+01] [ 8.39803944e-03 9.99964723e-01 1.57756029e-04 -3.32847670e+00] [-2.28163717e-03 -1.38599227e-04 9.99997387e-01 -2.12650165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.291346184 meters 0.10085312861434732 Centerline is valid? [False, False] Translation: X:41.72, Y:-3.33, Z:-2.13 [[ 9.99984529e-01 -4.71832672e-03 2.94606372e-03 4.17176339e+01] [ 4.70597033e-03 9.99980161e-01 4.18713975e-03 -3.32979959e+00] [-2.96576157e-03 -4.17321089e-03 9.99986894e-01 -2.12544439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321346184 meters 0.10277855322307132 Centerline is valid? [False, False] Translation: X:41.72, Y:-3.33, Z:-2.13 [[ 9.99984893e-01 -4.70453098e-03 2.84286622e-03 4.17176396e+01] [ 4.69269182e-03 9.99980349e-01 4.15693470e-03 -3.32996543e+00] [-2.86236678e-03 -4.14353121e-03 9.99987319e-01 -2.12512311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.351346184 meters 0.10591583087948953 Centerline is valid? [False, False] Translation: X:41.72, Y:-3.33, Z:-2.13 [[ 9.99986621e-01 -4.34283209e-03 2.81013734e-03 4.17181017e+01] [ 4.32938920e-03 9.99979241e-01 4.77224240e-03 -3.33139979e+00] [-2.83080405e-03 -4.76001238e-03 9.99984664e-01 -2.12573832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.381346183999995 meters 0.10613999803264136 Centerline is valid? [False, False] Translation: X:41.72, Y:-3.33, Z:-2.13 [[ 9.99987966e-01 -4.02099189e-03 2.81045291e-03 4.17184085e+01] [ 4.00589693e-03 9.99977632e-01 5.35615535e-03 -3.33295975e+00] [-2.83192710e-03 -5.34483251e-03 9.99981706e-01 -2.12624104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.411346183999996 meters 0.1077147058319815 Centerline is valid? [False, False] Translation: X:41.72, Y:-3.33, Z:-2.13 [[ 9.99987086e-01 -4.17195863e-03 2.90216929e-03 4.17177136e+01] [ 4.15660917e-03 9.99977448e-01 5.27503658e-03 -3.33358924e+00] [-2.92411108e-03 -5.26290527e-03 9.99981876e-01 -2.12550125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441346184 meters 0.10732814797654003 Centerline is valid? [False, False] Translation: X:41.72, Y:-3.33, Z:-2.13 [[ 9.99988399e-01 -3.94926141e-03 2.75763135e-03 4.17182490e+01] [ 3.93392867e-03 9.99976896e-01 5.54357166e-03 -3.33393741e+00] [-2.77946065e-03 -5.53265903e-03 9.99980832e-01 -2.12583768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.471346184 meters 0.10732814797654003 Centerline is valid? [False, False] Translation: X:41.72, Y:-3.33, Z:-2.13 [[ 9.99988399e-01 -3.94926141e-03 2.75763135e-03 4.17182490e+01] [ 3.93392867e-03 9.99976896e-01 5.54357166e-03 -3.33393741e+00] [-2.77946065e-03 -5.53265903e-03 9.99980832e-01 -2.12583768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501346184 meters 0.10878070984182185 Centerline is valid? [False, False] Translation: X:41.72, Y:-3.33, Z:-2.13 [[ 9.99988971e-01 -3.90554756e-03 2.60850226e-03 4.17184953e+01] [ 3.89102494e-03 9.99977031e-01 5.54948076e-03 -3.33396894e+00] [-2.63011611e-03 -5.53926980e-03 9.99981199e-01 -2.12574638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.531346184 meters 0.109910154968259 Centerline is valid? [False, False] Translation: X:41.72, Y:-3.34, Z:-2.13 [[ 9.99989799e-01 -3.70947691e-03 2.57703117e-03 4.17184943e+01] [ 3.69430202e-03 9.99975956e-01 5.86852842e-03 -3.33523286e+00] [-2.59873838e-03 -5.85894822e-03 9.99979459e-01 -2.12568425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.561346183999994 meters 0.10716786227692712 Centerline is valid? [False, False] Translation: X:41.72, Y:-3.34, Z:-2.13 [[ 9.99989928e-01 -3.59468521e-03 2.68735280e-03 4.17182405e+01] [ 3.57804986e-03 9.99974566e-01 6.16962254e-03 -3.33644196e+00] [-2.70946230e-03 -6.15994492e-03 9.99977357e-01 -2.12568558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.591346183999995 meters 0.09321372176239806 Centerline is valid? [False, True] Translation: X:41.72, Y:-3.34, Z:-2.13 [[ 9.99991122e-01 -3.30204374e-03 2.61774008e-03 4.17185523e+01] [ 3.28460942e-03 9.99972583e-01 6.63662159e-03 -3.33769154e+00] [-2.63958272e-03 -6.62796442e-03 9.99974551e-01 -2.12596333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621346184 meters 0.09562643055574681 Centerline is valid? [True, True] Translation: X:41.75, Y:-3.34, Z:-2.13 [[ 9.99994250e-01 -3.15246759e-03 1.24965957e-03 4.17495980e+01] [ 3.15260611e-03 9.99995025e-01 -1.08892804e-04 -3.34132632e+00] [-1.24931007e-03 1.12831862e-04 9.99999213e-01 -2.12516269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.651346184 meters 0.09771603477104193 Centerline is valid? [True, True] Translation: X:41.78, Y:-3.34, Z:-2.13 [[ 9.99997001e-01 -2.16226517e-03 1.15034709e-03 4.17801607e+01] [ 2.16238916e-03 9.99997656e-01 -1.06548906e-04 -3.34446957e+00] [-1.15011400e-03 1.09036085e-04 9.99999333e-01 -2.12703683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681346184 meters 0.09697817253058416 Centerline is valid? [True, True] Translation: X:41.81, Y:-3.34, Z:-2.13 [[ 9.99998809e-01 -1.19214834e-03 9.79832452e-04 4.18119233e+01] [ 1.19223770e-03 9.99999285e-01 -9.06221963e-05 -3.34419104e+00] [-9.79723717e-04 9.17902816e-05 9.99999516e-01 -2.12743835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.711346184 meters 0.09622639582816024 Centerline is valid? [True, True] Translation: X:41.84, Y:-3.35, Z:-2.13 [[ 9.99999406e-01 -4.72466223e-05 1.08929648e-03 4.18429880e+01] [ 4.73565856e-05 9.99999994e-01 -1.00923335e-04 -3.34529891e+00] [-1.08929171e-03 1.00974860e-04 9.99999402e-01 -2.12893693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.741346183999994 meters 0.0981264521990954 Centerline is valid? [True, True] Translation: X:41.87, Y:-3.36, Z:-2.14 [[ 9.99999869e-01 4.26427128e-04 -2.81409663e-04 4.18720723e+01] [-4.26419549e-04 9.99999909e-01 2.69933222e-05 -3.35528638e+00] [ 2.81421148e-04 -2.68733201e-05 9.99999960e-01 -2.13532167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.771346183999995 meters 0.10092812451554328 Centerline is valid? [True, False] Translation: X:41.87, Y:-3.36, Z:-2.14 [[ 9.99999683e-01 7.86407908e-04 -1.27924998e-04 4.18722240e+01] [-7.86303992e-04 9.99999363e-01 8.10357107e-04 -3.35747048e+00] [ 1.28562188e-04 -8.10256262e-04 9.99999663e-01 -2.13613645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.801346183999996 meters 0.10107664014151668 Centerline is valid? [False, False] Translation: X:41.87, Y:-3.36, Z:-2.14 [[ 9.99999392e-01 1.09418761e-03 -1.39106192e-04 4.18728897e+01] [-1.09400976e-03 9.99998592e-01 1.27220479e-03 -3.35809780e+00] [ 1.40498027e-04 -1.27205183e-03 9.99999181e-01 -2.13713187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.831346184 meters 0.09456352859870906 Centerline is valid? [False, True] Translation: X:41.87, Y:-3.36, Z:-2.14 [[ 9.99999625e-01 8.31560575e-04 -2.40578659e-04 4.18730564e+01] [-8.31395591e-04 9.99999420e-01 6.85067108e-04 -3.35628040e+00] [ 2.41148194e-04 -6.84866835e-04 9.99999736e-01 -2.13698483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.861346184 meters 0.09143948743361448 Centerline is valid? [True, True] Translation: X:41.90, Y:-3.35, Z:-2.13 [[ 9.99998276e-01 1.55217667e-03 1.01957503e-03 4.19043379e+01] [-1.55207729e-03 9.99998791e-01 -9.82558258e-05 -3.34610304e+00] [-1.01972631e-03 9.66731971e-05 9.99999475e-01 -2.13073230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.891346184 meters 0.09469713315723192 Centerline is valid? [True, True] Translation: X:41.93, Y:-3.35, Z:-2.13 [[ 9.99994366e-01 1.93484707e-03 2.74289712e-03 4.19331099e+01] [-1.93413251e-03 9.99998095e-01 -2.63140957e-04 -3.35293870e+00] [-2.74340103e-03 2.57834348e-04 9.99996204e-01 -2.13186528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.921346184 meters 0.09720245625369821 Centerline is valid? [True, True] Translation: X:41.96, Y:-3.36, Z:-2.13 [[ 9.99991674e-01 8.70877900e-04 3.98671935e-03 4.19625547e+01] [-8.69366110e-04 9.99999550e-01 -3.80923804e-04 -3.36150374e+00] [-3.98704929e-03 3.77454714e-04 9.99991980e-01 -2.13464717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.951346183999995 meters 0.09528753114954985 Centerline is valid? [True, True] Translation: X:41.99, Y:-3.37, Z:-2.14 [[ 9.99991419e-01 2.99294666e-04 4.13175762e-03 4.19943874e+01] [-2.97696481e-04 9.99999881e-01 -3.87414501e-04 -3.36575018e+00] [-4.13187308e-03 3.86181168e-04 9.99991389e-01 -2.13593907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.981346183999996 meters 0.10183001114999751 Centerline is valid? [True, False] Translation: X:41.99, Y:-3.37, Z:-2.14 [[ 9.99988744e-01 7.12375226e-04 4.69085929e-03 4.19938435e+01] [-7.17705459e-04 9.99999099e-01 1.13471684e-03 -3.37097928e+00] [-4.69004671e-03 -1.13807073e-03 9.99988354e-01 -2.13712694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.011346184 meters 0.09896657507879267 Centerline is valid? [False, True] Translation: X:41.99, Y:-3.37, Z:-2.14 [[ 9.99988431e-01 7.27251362e-04 4.75499105e-03 4.19938847e+01] [-7.33091640e-04 9.99998979e-01 1.22661406e-03 -3.37123543e+00] [-4.75409414e-03 -1.23008572e-03 9.99987943e-01 -2.13739674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.041346184 meters 0.10116806814699261 Centerline is valid? [True, False] Translation: X:41.99, Y:-3.37, Z:-2.14 [[ 9.99989153e-01 4.76190868e-04 4.63330908e-03 4.19943842e+01] [-4.79013305e-04 9.99999700e-01 6.08071445e-04 -3.36856350e+00] [-4.63301813e-03 -6.10284266e-04 9.99989081e-01 -2.13757254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.071346184 meters 0.10350610330471846 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.37, Z:-2.14 [[ 9.99989757e-01 6.48329292e-04 4.47950268e-03 4.19950690e+01] [-6.51714000e-04 9.99999503e-01 7.54180714e-04 -3.36820596e+00] [-4.47901150e-03 -7.57092344e-04 9.99989683e-01 -2.13807490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.101346184 meters 0.10342631335963916 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.37, Z:-2.14 [[ 9.99989621e-01 7.84339134e-04 4.48814245e-03 4.19950548e+01] [-7.89039624e-04 9.99999142e-01 1.04563826e-03 -3.36916799e+00] [-4.48731846e-03 -1.04916873e-03 9.99989382e-01 -2.13812119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.131346183999995 meters 0.10349387958083313 Centerline is valid? [False, False] Translation: X:41.99, Y:-3.37, Z:-2.14 [[ 9.99988911e-01 1.01516418e-03 4.59872909e-03 4.19947463e+01] [-1.02259534e-03 9.99998175e-01 1.61385233e-03 -3.37137895e+00] [-4.59708238e-03 -1.61853708e-03 9.99988124e-01 -2.13812618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.161346183999996 meters 0.10371975443147041 Centerline is valid? [False, False] Translation: X:41.99, Y:-3.38, Z:-2.14 [[ 9.99987172e-01 -7.83934632e-04 5.00411010e-03 4.19930549e+01] [ 7.83757396e-04 9.99999692e-01 3.73788935e-05 -3.37528700e+00] [-5.00413786e-03 -3.34564057e-05 9.99987479e-01 -2.13692635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.191346184 meters 0.10560390336439168 Centerline is valid? [False, False] Translation: X:41.99, Y:-3.38, Z:-2.14 [[ 9.99987857e-01 -3.13339737e-04 4.91800592e-03 4.19939564e+01] [ 3.09469208e-04 9.99999642e-01 7.87752985e-04 -3.37641211e+00] [-4.91825100e-03 -7.86221448e-04 9.99987596e-01 -2.13808382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.221346184 meters 0.10282960719405776 Centerline is valid? [False, False] Translation: X:41.99, Y:-3.37, Z:-2.14 [[ 9.99988610e-01 -5.17192109e-04 4.74479468e-03 4.19944636e+01] [ 5.15956091e-04 9.99999833e-01 2.61720217e-04 -3.37442764e+00] [-4.74492924e-03 -2.59269130e-04 9.99988709e-01 -2.13821995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.251346184 meters 0.10796613729683606 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.37, Z:-2.14 [[ 9.99989596e-01 -3.93941274e-04 4.54447768e-03 4.19952994e+01] [ 3.92537230e-04 9.99999875e-01 3.09843846e-04 -3.37369996e+00] [-4.54459917e-03 -3.08056746e-04 9.99989626e-01 -2.13879988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.281346184 meters 0.10000619071048289 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.37, Z:-2.14 [[ 9.99989696e-01 -5.30724453e-04 4.50855120e-03 4.19951559e+01] [ 5.30329558e-04 9.99999855e-01 8.87829207e-05 -3.37336856e+00] [-4.50859767e-03 -8.63909879e-05 9.99989832e-01 -2.13846034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.311346183999994 meters 0.09730143444755977 Centerline is valid? [False, True] Translation: X:42.00, Y:-3.37, Z:-2.14 [[ 9.99989844e-01 -2.95062171e-04 4.49717599e-03 4.19953414e+01] [ 2.92632598e-04 9.99999811e-01 5.40892511e-04 -3.37457824e+00] [-4.49733473e-03 -5.39570997e-04 9.99989741e-01 -2.13875741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.341346183999995 meters 0.1004728141651665 Centerline is valid? [True, False] Translation: X:42.00, Y:-3.38, Z:-2.14 [[ 9.99983995e-01 -3.56830106e-03 4.39060369e-03 4.19963298e+01] [ 3.57702906e-03 9.99991639e-01 -1.98163659e-03 -3.37891779e+00] [-4.38349591e-03 1.99731019e-03 9.99988398e-01 -2.14007730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.371346184 meters 0.1066779287437252 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.38, Z:-2.14 [[ 9.99984545e-01 -3.15581865e-03 4.57715057e-03 4.19962785e+01] [ 3.16072029e-03 9.99994439e-01 -1.06405481e-03 -3.38155921e+00] [-4.57376715e-03 1.07850546e-03 9.99988959e-01 -2.14066982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.401346184 meters 0.10004739037639503 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.38, Z:-2.14 [[ 9.99985031e-01 -2.93393410e-03 4.61837687e-03 4.19965096e+01] [ 2.93692683e-03 9.99995482e-01 -6.41355372e-04 -3.38234705e+00] [-4.61647431e-03 6.54909607e-04 9.99989130e-01 -2.14114322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.431346184 meters 0.10127304208970757 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.38, Z:-2.14 [[ 9.99985235e-01 -2.95754338e-03 4.55874121e-03 4.19968331e+01] [ 2.96109530e-03 9.99995317e-01 -7.72593340e-04 -3.38147531e+00] [-4.55643488e-03 7.86080800e-04 9.99989310e-01 -2.14135596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461346184 meters 0.10047858594903807 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.38, Z:-2.14 [[ 9.99987308e-01 6.15958733e-04 5.00047657e-03 4.19952669e+01] [-6.29207632e-04 9.99996295e-01 2.64838662e-03 -3.38044671e+00] [-4.99882675e-03 -2.65149934e-03 9.99983991e-01 -2.14020459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.491346183999994 meters 0.10313431312858073 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.38, Z:-2.14 [[ 9.99987723e-01 9.89293348e-04 4.85545389e-03 4.19960099e+01] [-1.00504024e-03 9.99994240e-01 3.24176727e-03 -3.38151085e+00] [-4.85221887e-03 -3.24660740e-03 9.99982958e-01 -2.14098558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.521346183999995 meters 0.10886300911356579 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.38, Z:-2.14 [[ 9.99987479e-01 1.33124468e-03 4.82382458e-03 4.19964178e+01] [-1.34995717e-03 9.99991569e-01 3.87800527e-03 -3.38309657e+00] [-4.81862134e-03 -3.88446867e-03 9.99980846e-01 -2.14164261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.551346183999996 meters 0.1037898780955741 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.39, Z:-2.14 [[ 9.99986379e-01 1.57557847e-03 4.97591049e-03 4.19962079e+01] [-1.59838159e-03 9.99988225e-01 4.58205512e-03 -3.38571437e+00] [-4.96863251e-03 -4.58994612e-03 9.99977122e-01 -2.14196985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581346184 meters 0.10397810640272115 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.39, Z:-2.14 [[ 9.99986031e-01 1.62134941e-03 5.03085464e-03 4.19960351e+01] [-1.64535323e-03 9.99987266e-01 4.77085587e-03 -3.38652239e+00] [-5.02305535e-03 -4.77906675e-03 9.99975964e-01 -2.14193518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.611346184 meters 0.10300378893248703 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.39, Z:-2.14 [[ 9.99986291e-01 1.74762513e-03 4.93601333e-03 4.19963185e+01] [-1.77211412e-03 9.99986123e-01 4.96128097e-03 -3.38684229e+00] [-4.92727437e-03 -4.96996013e-03 9.99975510e-01 -2.14207747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641346184 meters 0.10532727134740347 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.39, Z:-2.14 [[ 9.99987458e-01 1.65741087e-03 4.72624177e-03 4.19965210e+01] [-1.67956254e-03 9.99987606e-01 4.68684256e-03 -3.38589849e+00] [-4.71841517e-03 -4.69472179e-03 9.99977848e-01 -2.14167734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.671346184 meters 0.10546779297049433 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.38, Z:-2.14 [[ 9.99990487e-01 -1.90851692e-03 3.92224143e-03 4.19989358e+01] [ 1.90507301e-03 9.99997797e-01 8.81595284e-04 -3.38495134e+00] [-3.92391533e-03 -8.74114741e-04 9.99991919e-01 -2.14290289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.701346183999995 meters 0.10342788181879684 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.39, Z:-2.14 [[ 9.99990573e-01 -1.79665978e-03 3.95306165e-03 4.19987624e+01] [ 1.79196257e-03 9.99997685e-01 1.19146796e-03 -3.38621162e+00] [-3.95519316e-03 -1.18437299e-03 9.99991477e-01 -2.14280450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.731346183999996 meters 0.10499231052459786 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.39, Z:-2.14 [[ 9.99991490e-01 -1.07706297e-03 3.98256750e-03 4.19991099e+01] [ 1.06686215e-03 9.99996147e-01 2.56260662e-03 -3.39022454e+00] [-3.98531225e-03 -2.55833596e-03 9.99988786e-01 -2.14357784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761346184 meters 0.10582102075945377 Centerline is valid? [False, False] Translation: X:42.00, Y:-3.39, Z:-2.14 [[ 9.99992152e-01 -9.40800219e-04 3.84858773e-03 4.19994214e+01] [ 9.30009428e-04 9.99995634e-01 2.80466083e-03 -3.39090588e+00] [-3.85120956e-03 -2.80105959e-03 9.99988661e-01 -2.14371905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.791346184 meters 0.09985507127429996 Centerline is valid? [False, True] Translation: X:42.00, Y:-3.39, Z:-2.14 [[ 9.99993391e-01 -6.69511568e-04 3.57355417e-03 4.20004186e+01] [ 6.58366351e-04 9.99994919e-01 3.11907010e-03 -3.39096378e+00] [-3.57562427e-03 -3.11669678e-03 9.99988750e-01 -2.14444074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821346184 meters 0.09851737803485884 Centerline is valid? [True, True] Translation: X:42.03, Y:-3.39, Z:-2.14 [[ 9.99994127e-01 2.17162802e-03 2.65151167e-03 4.20315410e+01] [-2.17091271e-03 9.99997606e-01 -2.72622467e-04 -3.39004273e+00] [-2.65209736e-03 2.66864665e-04 9.99996448e-01 -2.14492396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.851346184 meters 0.09745563665825457 Centerline is valid? [True, True] Translation: X:42.06, Y:-3.39, Z:-2.15 [[ 9.99984237e-01 4.17540203e-03 3.75385768e-03 4.20623657e+01] [-4.17398329e-03 9.99991215e-01 -3.85697446e-04 -3.39376259e+00] [-3.75543514e-03 3.70022827e-04 9.99992880e-01 -2.14571258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.881346183999995 meters 0.0958344393653073 Centerline is valid? [True, True] Translation: X:42.09, Y:-3.40, Z:-2.15 [[ 9.99968964e-01 5.76462944e-03 5.37034426e-03 4.20929880e+01] [-5.76174672e-03 9.99983249e-01 -5.52101463e-04 -3.39688815e+00] [-5.37343696e-03 5.21141764e-04 9.99985427e-01 -2.14576258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.911346183999996 meters 0.0949934519279436 Centerline is valid? [True, True] Translation: X:42.12, Y:-3.40, Z:-2.15 [[ 9.99932602e-01 9.42352053e-03 6.78144775e-03 4.21220357e+01] [-9.41899920e-03 9.99955396e-01 -6.98350024e-04 -3.40185354e+00] [-6.78772619e-03 6.34428506e-04 9.99976762e-01 -2.14534861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941346184 meters 0.09638970035186352 Centerline is valid? [True, True] Translation: X:42.15, Y:-3.41, Z:-2.15 [[ 9.99917108e-01 1.06087823e-02 7.29599428e-03 4.21519670e+01] [-1.06035880e-02 9.99943499e-01 -7.50260391e-04 -3.40695353e+00] [-7.30354140e-03 6.72834482e-04 9.99973102e-01 -2.14689031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.971346184 meters 0.09640102700769693 Centerline is valid? [True, True] Translation: X:42.18, Y:-3.41, Z:-2.15 [[ 9.99916959e-01 1.10491941e-02 6.63252399e-03 4.21822509e+01] [-1.10449078e-02 9.99938770e-01 -6.82540949e-04 -3.40817619e+00] [-6.63965941e-03 6.09228654e-04 9.99977772e-01 -2.14639780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001346184 meters 0.09141562840538103 Centerline is valid? [True, True] Translation: X:42.21, Y:-3.40, Z:-2.14 [[ 9.99897466e-01 1.25411283e-02 6.91207089e-03 4.22132648e+01] [-1.25365054e-02 9.99921162e-01 -7.11745378e-04 -3.40145695e+00] [-6.92045205e-03 6.25019187e-04 9.99975858e-01 -2.14334466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.031346184 meters 0.09416563698815668 Centerline is valid? [True, True] Translation: X:42.24, Y:-3.41, Z:-2.15 [[ 9.99847830e-01 1.59201235e-02 7.13210339e-03 4.22419432e+01] [-1.59152874e-02 9.99873074e-01 -7.34330261e-04 -3.40790042e+00] [-7.14288877e-03 6.20709042e-04 9.99974297e-01 -2.14538986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.061346183999994 meters 0.0946762312846924 Centerline is valid? [True, True] Translation: X:42.27, Y:-3.41, Z:-2.15 [[ 9.99815979e-01 1.78534292e-02 7.01874210e-03 4.22706778e+01] [-1.78487916e-02 9.99840436e-01 -7.22840770e-04 -3.41424309e+00] [-7.03052735e-03 5.97431687e-04 9.99975107e-01 -2.14936516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.091346183999995 meters 0.0958450856244967 Centerline is valid? [True, True] Translation: X:42.30, Y:-3.42, Z:-2.15 [[ 9.99791316e-01 1.91239552e-02 7.18317217e-03 4.22989904e+01] [-1.91191323e-02 9.99816939e-01 -7.39498607e-04 -3.42207831e+00] [-7.19599935e-03 6.02008267e-04 9.99973927e-01 -2.15357229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.121346184 meters 0.08890738348351925 Centerline is valid? [True, True] Translation: X:42.33, Y:-3.41, Z:-2.15 [[ 9.99778662e-01 1.99140250e-02 6.78667627e-03 4.23290314e+01] [-1.99097329e-02 9.99801537e-01 -6.99422646e-04 -3.41477021e+00] [-6.79925768e-03 5.64146925e-04 9.99976726e-01 -2.15254537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.151346184 meters 0.08901680255595172 Centerline is valid? [True, True] Translation: X:42.36, Y:-3.41, Z:-2.15 [[ 9.99778556e-01 1.98910981e-02 6.86902113e-03 4.23582228e+01] [-1.98867042e-02 9.99801990e-01 -7.07390032e-04 -3.41448330e+00] [-6.88173176e-03 5.70631194e-04 9.99976158e-01 -2.15121697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.181346184 meters 0.0895257455270129 Centerline is valid? [True, True] Translation: X:42.39, Y:-3.41, Z:-2.15 [[ 9.99791904e-01 1.93671471e-02 6.40791458e-03 4.23873465e+01] [-1.93633146e-02 9.99812296e-01 -6.59591052e-04 -3.41372712e+00] [-6.41948619e-03 5.35375328e-04 9.99979252e-01 -2.14957849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.211346184 meters 0.09190059017457891 Centerline is valid? [True, True] Translation: X:42.42, Y:-3.42, Z:-2.15 [[ 9.99835610e-01 1.70388167e-02 6.19939555e-03 4.24161441e+01] [-1.70351930e-02 9.99854688e-01 -6.36865901e-04 -3.41802390e+00] [-6.20934614e-03 5.31153306e-04 9.99980581e-01 -2.14810104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.241346183999994 meters 0.09379344934929379 Centerline is valid? [True, True] Translation: X:42.45, Y:-3.43, Z:-2.15 [[ 9.99866841e-01 1.52495195e-02 5.80959772e-03 4.24458657e+01] [-1.52463132e-02 9.99883591e-01 -5.95794129e-04 -3.42840954e+00] [-5.81800701e-03 5.07139848e-04 9.99982947e-01 -2.15200594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.271346183999995 meters 0.097385416615676 Centerline is valid? [True, True] Translation: X:42.47, Y:-3.45, Z:-2.16 [[ 9.99918476e-01 1.11444075e-02 6.23252529e-03 4.24735067e+01] [-1.11406373e-02 9.99937737e-01 -6.39323123e-04 -3.44634368e+00] [-6.23926211e-03 5.69836699e-04 9.99980373e-01 -2.15677210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.301346183999996 meters 0.09954049250813675 Centerline is valid? [True, True] Translation: X:42.50, Y:-3.45, Z:-2.16 [[ 9.99931176e-01 9.97127191e-03 6.18192452e-03 4.25021571e+01] [-9.96753631e-03 9.99950121e-01 -6.34794022e-04 -3.45198015e+00] [-6.18794587e-03 5.73131776e-04 9.99980690e-01 -2.15797971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.331346184 meters 0.09948971571483983 Centerline is valid? [True, True] Translation: X:42.53, Y:-3.45, Z:-2.16 [[ 9.99937602e-01 9.98978185e-03 4.99973050e-03 4.25329941e+01] [-9.98734294e-03 9.99949994e-01 -5.12538000e-04 -3.45164543e+00] [-5.00460063e-03 4.62571996e-04 9.99987370e-01 -2.15809265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361346184 meters 0.08971560681462251 Centerline is valid? [True, True] Translation: X:42.56, Y:-3.44, Z:-2.15 [[ 9.99941152e-01 9.58719638e-03 5.07718750e-03 4.25648157e+01] [-9.58467123e-03 9.99953930e-01 -5.21451057e-04 -3.43558525e+00] [-5.08195284e-03 4.72757198e-04 9.99986975e-01 -2.15310633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.391346184 meters 0.08971560681462251 Centerline is valid? [True, True] Translation: X:42.59, Y:-3.44, Z:-2.15 [[ 9.99941503e-01 9.55057532e-03 5.07720690e-03 4.25939395e+01] [-9.54805065e-03 9.99954280e-01 -5.21261901e-04 -3.43852653e+00] [-5.08195312e-03 4.72753980e-04 9.99986975e-01 -2.15402819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.421346184 meters 0.09067004550185652 Centerline is valid? [True, True] Translation: X:42.62, Y:-3.44, Z:-2.15 [[ 9.99943913e-01 9.44470809e-03 4.79255498e-03 4.26236733e+01] [-9.44246458e-03 9.99955299e-01 -4.90535508e-04 -3.43929348e+00] [-4.79697371e-03 4.45254465e-04 9.99988395e-01 -2.15348815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.451346183999995 meters 0.09225237098426554 Centerline is valid? [True, True] Translation: X:42.65, Y:-3.45, Z:-2.16 [[ 9.99950171e-01 8.91226461e-03 4.49733959e-03 4.26520246e+01] [-8.91027722e-03 9.99960196e-01 -4.61746235e-04 -3.44547692e+00] [-4.50127578e-03 4.21650684e-04 9.99989780e-01 -2.15598005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.481346183999996 meters 0.09343094905861113 Centerline is valid? [True, True] Translation: X:42.68, Y:-3.45, Z:-2.16 [[ 9.99969122e-01 7.48304225e-03 2.39974678e-03 4.26814143e+01] [-7.48247252e-03 9.99971976e-01 -2.46301050e-04 -3.45185911e+00] [-2.40152261e-03 2.28337405e-04 9.99997090e-01 -2.16002741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.511346184 meters 0.0957321263056971 Centerline is valid? [True, True] Translation: X:42.71, Y:-3.46, Z:-2.16 [[ 9.99978627e-01 6.15475244e-03 2.20541773e-03 4.27094681e+01] [-6.15426690e-03 9.99981037e-01 -2.26876549e-04 -3.46031542e+00] [-2.20677227e-03 2.13298971e-04 9.99997542e-01 -2.16359126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.541346184 meters 0.09783466006774784 Centerline is valid? [True, True] Translation: X:42.74, Y:-3.47, Z:-2.16 [[ 9.99992573e-01 2.72250890e-03 2.72810452e-03 4.27394596e+01] [-2.72175709e-03 9.99996257e-01 -2.79255054e-04 -3.46825058e+00] [-2.72885459e-03 2.71827742e-04 9.99996240e-01 -2.16294866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.571346184 meters 0.10018987401292452 Centerline is valid? [True, False] Translation: X:42.74, Y:-3.47, Z:-2.16 [[ 9.99993375e-01 2.39633612e-03 2.73994243e-03 4.27391504e+01] [-2.39406721e-03 9.99996789e-01 -8.31068012e-04 -3.46687943e+00] [-2.74192515e-03 8.24502900e-04 9.99995901e-01 -2.16241676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601346184 meters 0.1024557760918103 Centerline is valid? [False, False] Translation: X:42.74, Y:-3.46, Z:-2.16 [[ 9.99994714e-01 2.02893038e-03 2.54086882e-03 4.27397769e+01] [-2.02472190e-03 9.99996576e-01 -1.65779675e-03 -3.46307577e+00] [-2.54422368e-03 1.65264344e-03 9.99995398e-01 -2.16245913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.631346183999995 meters 0.10106942967530434 Centerline is valid? [False, False] Translation: X:42.74, Y:-3.46, Z:-2.16 [[ 9.99994592e-01 2.18953313e-03 2.45400293e-03 4.27404538e+01] [-2.18584262e-03 9.99996478e-01 -1.50554763e-03 -3.46276036e+00] [-2.45729073e-03 1.50017543e-03 9.99995856e-01 -2.16315575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.661346183999996 meters 0.10477456296146115 Centerline is valid? [False, False] Translation: X:42.74, Y:-3.46, Z:-2.16 [[ 9.99992987e-01 2.87872167e-03 2.39572743e-03 4.27417103e+01] [-2.87766889e-03 9.99995761e-01 -4.42771993e-04 -3.46441798e+00] [-2.39699189e-03 4.35874777e-04 9.99997032e-01 -2.16487200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.691346184 meters 0.10503484643976323 Centerline is valid? [False, False] Translation: X:42.74, Y:-3.47, Z:-2.17 [[ 9.99991503e-01 3.31579648e-03 2.44951827e-03 4.27422315e+01] [-3.31653090e-03 9.99994457e-01 2.95819813e-04 -3.46609081e+00] [-2.44852381e-03 -3.03941203e-04 9.99996956e-01 -2.16589024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.721346184 meters 0.10708740113583347 Centerline is valid? [False, False] Translation: X:42.74, Y:-3.47, Z:-2.17 [[ 9.99990948e-01 3.53799564e-03 2.36361228e-03 4.27429247e+01] [-3.53930974e-03 9.99993584e-01 5.52017122e-04 -3.46630948e+00] [-2.36164408e-03 -5.60377681e-04 9.99997054e-01 -2.16662874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.751346184 meters 0.10803180638964388 Centerline is valid? [False, False] Translation: X:42.74, Y:-3.47, Z:-2.17 [[ 9.99990949e-01 3.68453627e-03 2.12747552e-03 4.27438882e+01] [-3.68576021e-03 9.99993044e-01 5.71670099e-04 -3.46540860e+00] [-2.12535438e-03 -5.79506289e-04 9.99997574e-01 -2.16730206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781346184 meters 0.09521960052841899 Centerline is valid? [False, True] Translation: X:42.74, Y:-3.46, Z:-2.17 [[ 9.99991711e-01 3.55670448e-03 1.98208532e-03 4.27442330e+01] [-3.55710893e-03 9.99993653e-01 2.00562833e-04 -3.46409434e+00] [-1.98135940e-03 -2.07611664e-04 9.99998016e-01 -2.16734356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.811346183999994 meters 0.10116196753459564 Centerline is valid? [True, False] Translation: X:42.75, Y:-3.46, Z:-2.17 [[ 9.99991764e-01 3.82055626e-03 1.36958133e-03 4.27462406e+01] [-3.82042237e-03 9.99992697e-01 -1.00357355e-04 -3.46057908e+00] [-1.36995475e-03 9.51241496e-05 9.99999057e-01 -2.16829957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.841346183999995 meters 0.0990941734871439 Centerline is valid? [False, True] Translation: X:42.75, Y:-3.46, Z:-2.17 [[ 9.99993639e-01 3.37298798e-03 1.15942072e-03 4.27463821e+01] [-3.37169789e-03 9.99993697e-01 -1.11286465e-03 -3.45761434e+00] [-1.16316709e-03 1.10894835e-03 9.99998709e-01 -2.16776078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.871346184 meters 0.09413959714235738 Centerline is valid? [True, True] Translation: X:42.78, Y:-3.45, Z:-2.17 [[ 9.99989336e-01 4.45765083e-03 1.20719326e-03 4.27766454e+01] [-4.45750564e-03 9.99990058e-01 -1.22941452e-04 -3.45158878e+00] [-1.20772929e-03 1.17559070e-04 9.99999264e-01 -2.16746961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.901346184 meters 0.09414927820960542 Centerline is valid? [True, True] Translation: X:42.81, Y:-3.46, Z:-2.17 [[ 9.99979114e-01 6.03233985e-03 2.32009092e-03 4.28056679e+01] [-6.03181035e-03 9.99981781e-01 -2.35149194e-04 -3.45557125e+00] [-2.32146715e-03 2.21149934e-04 9.99997281e-01 -2.17094581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.931346184 meters 0.09395102347252103 Centerline is valid? [True, True] Translation: X:42.83, Y:-3.46, Z:-2.17 [[ 9.99977542e-01 6.41736024e-03 1.93206094e-03 4.28347246e+01] [-6.41699253e-03 9.99979392e-01 -1.96458847e-04 -3.45888782e+00] [-1.93328187e-03 1.84056415e-04 9.99998114e-01 -2.17248086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.961346184 meters 0.09737560743406136 Centerline is valid? [True, True] Translation: X:42.86, Y:-3.47, Z:-2.18 [[ 9.99978943e-01 6.34940769e-03 1.34095246e-03 4.28627883e+01] [-6.34922992e-03 9.99979834e-01 -1.36781604e-04 -3.46589230e+00] [-1.34179390e-03 1.28264708e-04 9.99999092e-01 -2.17548982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.991346183999994 meters 0.09477074219172758 Centerline is valid? [True, True] Translation: X:42.89, Y:-3.46, Z:-2.17 [[ 9.99989090e-01 4.64862293e-03 4.58996979e-04 4.28937346e+01] [-4.64860193e-03 9.99989194e-01 -4.67996267e-05 -3.46167701e+00] [-4.59209573e-04 4.46654218e-05 9.99999894e-01 -2.17421122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.021346183999995 meters 0.09193626712144506 Centerline is valid? [True, True] Translation: X:42.92, Y:-3.46, Z:-2.17 [[ 9.99991502e-01 4.10329947e-03 3.97325549e-04 4.29233399e+01] [-4.10328321e-03 9.99991581e-01 -4.17224801e-05 -3.45871811e+00] [-3.97493404e-04 4.00917864e-05 9.99999920e-01 -2.17258601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.051346183999996 meters 0.0988074718655478 Centerline is valid? [True, True] Translation: X:42.95, Y:-3.47, Z:-2.17 [[ 9.99989667e-01 4.10866378e-03 1.94556726e-03 4.29516589e+01] [-4.10828827e-03 9.99991542e-01 -1.96965099e-04 -3.46888623e+00] [-1.94636007e-03 1.88970113e-04 9.99998088e-01 -2.17330432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.081346184 meters 0.09445418693398555 Centerline is valid? [True, True] Translation: X:42.98, Y:-3.46, Z:-2.17 [[ 9.99990823e-01 3.87903980e-03 1.81860820e-03 4.29823816e+01] [-3.87871229e-03 9.99992461e-01 -1.83580946e-04 -3.46370259e+00] [-1.81930661e-03 1.76525403e-04 9.99998329e-01 -2.17192291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.111346184 meters 0.09331564948270445 Centerline is valid? [True, True] Translation: X:43.01, Y:-3.46, Z:-2.17 [[ 9.99990457e-01 3.49625961e-03 2.61942238e-03 4.30116852e+01] [-3.49557825e-03 9.99993855e-01 -2.64649696e-04 -3.46412815e+00] [-2.62033157e-03 2.55490774e-04 9.99996534e-01 -2.17253801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.141346184 meters 0.09628126006728006 Centerline is valid? [True, True] Translation: X:43.04, Y:-3.47, Z:-2.18 [[ 9.99988841e-01 3.98248732e-03 2.54128552e-03 4.30401972e+01] [-3.98184905e-03 9.99992040e-01 -2.56169144e-04 -3.47161379e+00] [-2.54228548e-03 2.46047270e-04 9.99996738e-01 -2.17653442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.171346184 meters 0.09003131849757931 Centerline is valid? [True, True] Translation: X:43.07, Y:-3.47, Z:-2.18 [[ 9.99992445e-01 3.35801492e-03 1.95805956e-03 4.30716596e+01] [-3.35763566e-03 9.99994344e-01 -1.96947002e-04 -3.46521442e+00] [-1.95870983e-03 1.90371064e-04 9.99998064e-01 -2.17703224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.201346183999995 meters 0.09686668635269323 Centerline is valid? [True, True] Translation: X:43.10, Y:-3.48, Z:-2.18 [[ 9.99999356e-01 1.10268009e-03 -2.68552191e-04 4.30992756e+01] [-1.10267300e-03 9.99999392e-01 2.65273146e-05 -3.47938369e+00] [ 2.68581279e-04 -2.62311723e-05 9.99999964e-01 -2.18498406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.231346183999996 meters 0.09782508346555199 Centerline is valid? [True, True] Translation: X:43.13, Y:-3.48, Z:-2.18 [[ 9.99999951e-01 2.97971388e-04 -9.79494972e-05 4.31289387e+01] [-2.97970533e-04 9.99999956e-01 8.73748380e-06 -3.48137285e+00] [ 9.79520964e-05 -8.70829731e-06 9.99999995e-01 -2.18469952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261346184 meters 0.10143579620318308 Centerline is valid? [True, False] Translation: X:43.13, Y:-3.48, Z:-2.18 [[ 9.99999927e-01 8.84326788e-05 -3.71677838e-04 4.31297360e+01] [-8.86865432e-05 9.99999763e-01 -6.83061879e-04 -3.47810479e+00] [ 3.71617345e-04 6.83094792e-04 9.99999698e-01 -2.18482952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.291346184 meters 0.09273396787495351 Centerline is valid? [False, True] Translation: X:43.13, Y:-3.47, Z:-2.18 [[ 9.99999753e-01 -3.07694532e-04 -6.31692612e-04 4.31300828e+01] [ 3.06644669e-04 9.99998573e-01 -1.66140956e-03 -3.47462881e+00] [ 6.32202917e-04 1.66121545e-03 9.99998420e-01 -2.18434977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.321346184 meters 0.09278322625278054 Centerline is valid? [True, True] Translation: X:43.16, Y:-3.48, Z:-2.18 [[ 9.99997466e-01 3.24908788e-04 2.22764178e-03 4.31603035e+01] [-3.24414842e-04 9.99999923e-01 -2.22092770e-04 -3.47849014e+00] [-2.22771377e-03 2.21369527e-04 9.99997494e-01 -2.18494978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.351346184 meters 0.09460803162371101 Centerline is valid? [True, True] Translation: X:43.19, Y:-3.49, Z:-2.19 [[ 9.99998387e-01 3.16175704e-04 1.76828895e-03 4.31909323e+01] [-3.15866916e-04 9.99999935e-01 -1.74901473e-04 -3.48785156e+00] [-1.76834413e-03 1.74342647e-04 9.99998421e-01 -2.18986472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.381346183999995 meters 0.09885475936755972 Centerline is valid? [True, True] Translation: X:43.22, Y:-3.50, Z:-2.20 [[ 9.99995898e-01 -2.86145934e-03 -1.25537789e-04 4.32198192e+01] [ 2.86146097e-03 9.99995906e-01 1.28061156e-05 -3.49938511e+00] [ 1.25500631e-04 -1.31652846e-05 9.99999992e-01 -2.19623930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.411346183999996 meters 0.1004584791843133 Centerline is valid? [True, False] Translation: X:43.22, Y:-3.50, Z:-2.20 [[ 9.99995623e-01 -2.94924016e-03 -2.37073400e-04 4.32205082e+01] [ 2.94917293e-03 9.99995611e-01 -2.83444530e-04 -3.49749093e+00] [ 2.37908306e-04 2.82744118e-04 9.99999932e-01 -2.19676906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.441346184 meters 0.09739998940910094 Centerline is valid? [False, True] Translation: X:43.22, Y:-3.50, Z:-2.20 [[ 9.99999772e-01 6.74601060e-04 4.29138914e-05 4.32194532e+01] [-6.74729118e-04 9.99995098e-01 3.05753628e-03 -3.49539436e+00] [-4.08510638e-05 -3.05756454e-03 9.99995325e-01 -2.19591817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.471346184 meters 0.10071019844740274 Centerline is valid? [True, False] Translation: X:43.22, Y:-3.49, Z:-2.20 [[ 9.99999457e-01 9.18723106e-04 -4.91732306e-04 4.32214861e+01] [-9.17347239e-04 9.99995685e-01 2.79094894e-03 -3.49209009e+00] [ 4.94294294e-04 -2.79049634e-03 9.99995984e-01 -2.19710274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501346184 meters 0.10065687241749156 Centerline is valid? [False, False] Translation: X:43.22, Y:-3.49, Z:-2.20 [[ 9.99999113e-01 1.05998490e-03 -8.06686493e-04 4.32220921e+01] [-1.05780038e-03 9.99995786e-01 2.70364591e-03 -3.49171568e+00] [ 8.09548917e-04 -2.70279020e-03 9.99996020e-01 -2.19709194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.531346184 meters 0.10086893004569797 Centerline is valid? [False, False] Translation: X:43.22, Y:-3.49, Z:-2.20 [[ 9.99998747e-01 1.37883194e-03 -7.77726148e-04 4.32221524e+01] [-1.37627179e-03 9.99993664e-01 3.28282704e-03 -3.49390298e+00] [ 7.82247687e-04 -3.28175256e-03 9.99994309e-01 -2.19739663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.561346183999994 meters 0.09337060283455952 Centerline is valid? [False, True] Translation: X:43.22, Y:-3.49, Z:-2.20 [[ 9.99998611e-01 1.41229092e-03 -8.84994040e-04 4.32227240e+01] [-1.40949532e-03 9.99994040e-01 3.15159846e-03 -3.49341197e+00] [ 8.89439739e-04 -3.15034669e-03 9.99994642e-01 -2.19794415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.591346183999995 meters 0.09239891095625079 Centerline is valid? [True, True] Translation: X:43.25, Y:-3.49, Z:-2.20 [[ 9.99994259e-01 1.84781099e-03 -2.84028591e-03 4.32525981e+01] [-1.84703152e-03 9.99998256e-01 2.77033868e-04 -3.48826127e+00] [ 2.84079286e-03 -2.71786180e-04 9.99995928e-01 -2.19690161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.621346184 meters 0.10234808706035484 Centerline is valid? [True, False] Translation: X:43.25, Y:-3.48, Z:-2.20 [[ 9.99993107e-01 1.73444252e-03 -3.28294279e-03 4.32541001e+01] [-1.73587820e-03 9.99998399e-01 -4.34516213e-04 -3.48426323e+00] [ 3.28218389e-03 4.40212007e-04 9.99994517e-01 -2.19759120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.651346184 meters 0.10372085352954238 Centerline is valid? [False, False] Translation: X:43.26, Y:-3.48, Z:-2.20 [[ 9.99991997e-01 1.66556336e-03 -3.63755796e-03 4.32554390e+01] [-1.66926484e-03 9.99998092e-01 -1.01477311e-03 -3.48035555e+00] [ 3.63586085e-03 1.02083704e-03 9.99992869e-01 -2.19827985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.681346184 meters 0.09578471444917595 Centerline is valid? [False, True] Translation: X:43.26, Y:-3.48, Z:-2.20 [[ 9.99991820e-01 1.96465394e-03 -3.53546633e-03 4.32557153e+01] [-1.96641794e-03 9.99997944e-01 -4.95537556e-04 -3.48143576e+00] [ 3.53448550e-03 5.02485708e-04 9.99993627e-01 -2.19902283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.711346184 meters 0.10653924896688205 Centerline is valid? [True, False] Translation: X:43.26, Y:-3.48, Z:-2.20 [[ 9.99992083e-01 2.26272659e-03 -3.27333350e-03 4.32555326e+01] [-2.26216284e-03 9.99997426e-01 1.75917027e-04 -3.48364923e+00] [ 3.27372312e-03 -1.68510821e-04 9.99994627e-01 -2.19960527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.741346183999994 meters 0.09350241050163861 Centerline is valid? [False, True] Translation: X:43.25, Y:-3.49, Z:-2.20 [[ 9.99993086e-01 2.27304987e-03 -2.94289752e-03 4.32548387e+01] [-2.27168997e-03 9.99997311e-01 4.65357320e-04 -3.48529207e+00] [ 2.94394739e-03 -4.58668752e-04 9.99995561e-01 -2.19964083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.771346183999995 meters 0.09922834560548441 Centerline is valid? [True, True] Translation: X:43.28, Y:-3.50, Z:-2.20 [[ 9.99999498e-01 7.56006309e-04 6.57278851e-04 4.32827508e+01] [-7.55962043e-04 9.99999712e-01 -6.75940838e-05 -3.49510263e+00] [-6.57329763e-04 6.70971721e-05 9.99999782e-01 -2.19923470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.801346183999996 meters 0.10005871441374675 Centerline is valid? [True, False] Translation: X:43.28, Y:-3.49, Z:-2.20 [[ 9.99999736e-01 6.04582564e-04 4.03536351e-04 4.32835978e+01] [-6.04317326e-04 9.99999602e-01 -6.57082266e-04 -3.49223092e+00] [-4.03933451e-04 6.56838228e-04 9.99999703e-01 -2.19957711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.831346184 meters 0.10053321081297355 Centerline is valid? [False, False] Translation: X:43.29, Y:-3.49, Z:-2.20 [[ 9.99999653e-01 8.32723828e-04 -1.91618731e-05 4.32853371e+01] [-8.32738774e-04 9.99999338e-01 -7.93658066e-04 -3.48965285e+00] [ 1.85009625e-05 7.93673748e-04 9.99999685e-01 -2.20073785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.861346184 meters 0.09583890926722911 Centerline is valid? [False, True] Translation: X:43.29, Y:-3.49, Z:-2.20 [[ 9.99999016e-01 1.31938789e-03 -4.76085267e-04 4.32873755e+01] [-1.31963053e-03 9.99998999e-01 -5.09704305e-04 -3.48807577e+00] [ 4.75412293e-04 5.10332060e-04 9.99999757e-01 -2.20233299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.891346184 meters 0.10348265031227143 Centerline is valid? [True, False] Translation: X:43.29, Y:-3.49, Z:-2.20 [[ 9.99998198e-01 1.80819062e-03 -5.78858128e-04 4.32884505e+01] [-1.80806738e-03 9.99998343e-01 2.13367087e-04 -3.48895887e+00] [ 5.79242977e-04 -2.12320088e-04 9.99999810e-01 -2.20368856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.921346184 meters 0.09589566511603138 Centerline is valid? [False, True] Translation: X:43.29, Y:-3.49, Z:-2.20 [[ 9.99998005e-01 1.93025536e-03 -5.13729220e-04 4.32886436e+01] [-1.93002760e-03 9.99998039e-01 4.43463676e-04 -3.48933864e+00] [ 5.14584211e-04 -4.42471280e-04 9.99999770e-01 -2.20422584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.951346183999995 meters 0.09632654449909812 Centerline is valid? [True, True] Translation: X:43.32, Y:-3.49, Z:-2.20 [[ 9.99998782e-01 6.35412338e-04 1.42567072e-03 4.33181328e+01] [-6.35205711e-04 9.99999788e-01 -1.45381590e-04 -3.49310223e+00] [-1.42576280e-03 1.44475818e-04 9.99998973e-01 -2.20338181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.981346183999996 meters 0.09953910923001824 Centerline is valid? [True, True] Translation: X:43.35, Y:-3.50, Z:-2.20 [[ 9.99996831e-01 -5.74940006e-04 2.45105994e-03 4.33472363e+01] [ 5.75550825e-04 9.99999803e-01 -2.48508199e-04 -3.50058000e+00] [-2.45091658e-03 2.49918121e-04 9.99996965e-01 -2.20368394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.011346184 meters 0.10009097603297569 Centerline is valid? [True, False] Translation: X:43.35, Y:-3.50, Z:-2.20 [[ 9.99996916e-01 -3.60781111e-04 2.45719984e-03 4.33475916e+01] [ 3.60467471e-04 9.99999927e-01 1.28083130e-04 -3.50110192e+00] [-2.45724587e-03 -1.27196995e-04 9.99996973e-01 -2.20425022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.041346184 meters 0.10067559371769151 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.50, Z:-2.21 [[ 9.99997116e-01 6.76498348e-05 2.40080121e-03 4.33484383e+01] [-6.96464341e-05 9.99999652e-01 8.31564879e-04 -3.50208130e+00] [-2.40074412e-03 -8.31729688e-04 9.99996772e-01 -2.20539888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.071346184 meters 0.1031986617957998 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.50, Z:-2.21 [[ 9.99996898e-01 1.31014832e-04 2.48720143e-03 4.33483442e+01] [-1.33633557e-04 9.99999437e-01 1.05274292e-03 -3.50285703e+00] [-2.48706210e-03 -1.05307203e-03 9.99996353e-01 -2.20557772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.101346184 meters 0.10360067042443603 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.50, Z:-2.21 [[ 9.99996173e-01 1.04782758e-04 2.76472887e-03 4.33477227e+01] [-1.08520191e-04 9.99999081e-01 1.35171075e-03 -3.50458966e+00] [-2.76458470e-03 -1.35200560e-03 9.99995265e-01 -2.20554881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.131346183999995 meters 0.1044833227030463 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99996468e-01 4.79189601e-04 2.61441865e-03 4.33486043e+01] [-4.84174651e-04 9.99998066e-01 1.90645289e-03 -3.50529542e+00] [-2.61350004e-03 -1.90771199e-03 9.99994765e-01 -2.20647057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.161346183999996 meters 0.10254223553577553 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99996776e-01 5.62556565e-04 2.47619933e-03 4.33490286e+01] [-5.67487785e-04 9.99997857e-01 1.99119526e-03 -3.50521104e+00] [-2.47507386e-03 -1.99259405e-03 9.99994952e-01 -2.20667848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.191346184 meters 0.10413175003809921 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99996732e-01 5.42452362e-04 2.49851098e-03 4.33488048e+01] [-5.47583166e-04 9.99997742e-01 2.05331870e-03 -3.50579320e+00] [-2.49739151e-03 -2.05468013e-03 9.99994771e-01 -2.20640560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221346184 meters 0.10782987078315726 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99996732e-01 8.65669890e-04 2.40534768e-03 4.33492911e+01] [-8.71875369e-04 9.99996292e-01 2.58001827e-03 -3.50696194e+00] [-2.40310532e-03 -2.58210700e-03 9.99993779e-01 -2.20690357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.251346184 meters 0.10211894593772368 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99996573e-01 8.64215906e-04 2.47138837e-03 4.33489741e+01] [-8.70897416e-04 9.99995966e-01 2.70374832e-03 -3.50776475e+00] [-2.46904177e-03 -2.70589138e-03 9.99993291e-01 -2.20665475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281346184 meters 0.10211894593772368 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99996573e-01 8.64215906e-04 2.47138837e-03 4.33489741e+01] [-8.70897416e-04 9.99995966e-01 2.70374832e-03 -3.50776475e+00] [-2.46904177e-03 -2.70589138e-03 9.99993291e-01 -2.20665475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.311346183999994 meters 0.11729106490842607 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99996444e-01 1.00463409e-03 2.47021179e-03 4.33490724e+01] [-1.01207883e-03 9.99994945e-01 3.01440866e-03 -3.50862457e+00] [-2.46717092e-03 -3.01689799e-03 9.99992406e-01 -2.20681016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.341346183999995 meters 0.10904936848208135 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99996482e-01 1.02908666e-03 2.44474812e-03 4.33491282e+01] [-1.03662808e-03 9.99994703e-01 3.08548470e-03 -3.50884549e+00] [-2.44155994e-03 -3.08800814e-03 9.99992251e-01 -2.20683458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.371346184 meters 0.10490954633027674 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99996455e-01 9.17269475e-04 2.49972786e-03 4.33487049e+01] [-9.24712592e-04 9.99995138e-01 2.97804344e-03 -3.50911821e+00] [-2.49698404e-03 -2.98034441e-03 9.99992441e-01 -2.20638035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401346184 meters 0.09861662861155741 Centerline is valid? [False, True] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99996330e-01 1.20704755e-03 2.42569258e-03 4.33491434e+01] [-1.21546631e-03 9.99993233e-01 3.47218883e-03 -3.51014814e+00] [-2.42148507e-03 -3.47512444e-03 9.99991030e-01 -2.20687914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.431346184 meters 0.10119006526419339 Centerline is valid? [True, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99995958e-01 1.38519649e-03 2.48291377e-03 4.33490457e+01] [-1.39509297e-03 9.99991073e-01 3.98854232e-03 -3.51208089e+00] [-2.47736669e-03 -3.99199009e-03 9.99988963e-01 -2.20703224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.461346184 meters 0.10104816924615982 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99996120e-01 1.46132888e-03 2.37149371e-03 4.33493200e+01] [-1.47107861e-03 9.99990453e-01 4.11469428e-03 -3.51232897e+00] [-2.36545815e-03 -4.11816697e-03 9.99988723e-01 -2.20713731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.491346183999994 meters 0.10059530141960084 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99996596e-01 1.28955572e-03 2.26808064e-03 4.33492694e+01] [-1.29818638e-03 9.99991907e-01 3.80792531e-03 -3.51168295e+00] [-2.26315176e-03 -3.81085674e-03 9.99990178e-01 -2.20672135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.521346183999995 meters 0.10369589512789483 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.20 [[ 9.99997582e-01 6.19446981e-04 2.10981618e-03 4.33484399e+01] [-6.25049728e-04 9.99996278e-01 2.65593870e-03 -3.50956367e+00] [-2.10816312e-03 -2.65725102e-03 9.99994247e-01 -2.20485337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.551346183999996 meters 0.10220757340911395 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99997494e-01 9.98977110e-04 2.00344612e-03 4.33490881e+01] [-1.00548620e-03 9.99994211e-01 3.25057584e-03 -3.51058310e+00] [-2.00018727e-03 -3.25258213e-03 9.99992710e-01 -2.20553249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581346184 meters 0.10255678846721007 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99997118e-01 1.18526843e-03 2.08790236e-03 4.33489292e+01] [-1.19300055e-03 9.99992421e-01 3.70594942e-03 -3.51226573e+00] [-2.08349399e-03 -3.70842961e-03 9.99990953e-01 -2.20564423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.611346184 meters 0.10535729288244997 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99995066e-01 -2.53241616e-03 1.85871120e-03 4.33497364e+01] [ 2.53172183e-03 9.99996725e-01 3.75812804e-04 -3.51483709e+00] [-1.85965683e-03 -3.71105210e-04 9.99998202e-01 -2.20636440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641346184 meters 0.10636059696904443 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.52, Z:-2.21 [[ 9.99995839e-01 -2.26519139e-03 1.78623418e-03 4.33503997e+01] [ 2.26381789e-03 9.99997141e-01 7.70583872e-04 -3.51520956e+00] [-1.78797459e-03 -7.66536956e-04 9.99998108e-01 -2.20716380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.671346183999994 meters 0.1078450329515934 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99996322e-01 -2.31362241e-03 1.41539816e-03 4.33512744e+01] [ 2.31306720e-03 9.99997247e-01 3.93772108e-04 -3.51324882e+00] [-1.41630530e-03 -3.90496749e-04 9.99998921e-01 -2.20723331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.701346183999995 meters 0.1060926581626411 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99997928e-01 -2.01442071e-03 2.92000505e-04 4.33537620e+01] [ 2.01452018e-03 9.99997913e-01 -3.40759166e-04 -3.50779229e+00] [-2.91313463e-04 3.41346701e-04 9.99999899e-01 -2.20743503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.731346183999996 meters 0.1052071144547178 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.51, Z:-2.21 [[ 9.99998690e-01 -1.61864478e-03 -1.42163282e-05 4.33547869e+01] [ 1.61864629e-03 9.99998684e-01 1.06716232e-04 -3.50827235e+00] [ 1.40435738e-05 -1.06739103e-04 9.99999994e-01 -2.20808530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.761346184 meters 0.09713910091343866 Centerline is valid? [False, True] Translation: X:43.36, Y:-3.51, Z:-2.21 [[ 9.99999636e-01 -8.34754113e-04 -1.75351921e-04 4.33559379e+01] [ 8.34987646e-04 9.99998759e-01 1.33597123e-03 -3.51090577e+00] [ 1.74236496e-04 -1.33611716e-03 9.99999092e-01 -2.20946250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.791346184 meters 0.09977603051208417 Centerline is valid? [True, True] Translation: X:43.39, Y:-3.52, Z:-2.22 [[ 9.99997671e-01 1.48573539e-03 -1.56556110e-03 4.33851334e+01] [-1.48549087e-03 9.99998884e-01 1.57335670e-04 -3.52129360e+00] [ 1.56579312e-03 -1.55009677e-04 9.99998762e-01 -2.21528753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.821346184 meters 0.10554754623537548 Centerline is valid? [True, False] Translation: X:43.39, Y:-3.52, Z:-2.22 [[ 9.99997102e-01 1.50882256e-03 -1.87614349e-03 4.33862028e+01] [-1.50905524e-03 9.99998854e-01 -1.22613075e-04 -3.51940100e+00] [ 1.87595633e-03 1.25443924e-04 9.99998233e-01 -2.21589257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.851346184 meters 0.09128978927355609 Centerline is valid? [False, True] Translation: X:43.39, Y:-3.52, Z:-2.22 [[ 9.99996284e-01 1.37263855e-03 -2.35556777e-03 4.33875241e+01] [-1.37461165e-03 9.99998706e-01 -8.36219901e-04 -3.51588267e+00] [ 2.35441689e-03 8.39454784e-04 9.99996876e-01 -2.21623581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.881346183999995 meters 0.09250606692853548 Centerline is valid? [True, True] Translation: X:43.42, Y:-3.52, Z:-2.22 [[ 9.99996185e-01 2.19062503e-03 -1.68288141e-03 4.34161975e+01] [-2.19035040e-03 9.99997588e-01 1.65013282e-04 -3.51524272e+00] [ 1.68323883e-03 -1.61326552e-04 9.99998570e-01 -2.21516870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.911346183999996 meters 0.09438441991323719 Centerline is valid? [True, True] Translation: X:43.44, Y:-3.52, Z:-2.22 [[ 9.99996542e-01 2.56621056e-03 5.74860090e-04 4.34443093e+01] [-2.56617792e-03 9.99996706e-01 -5.75042177e-05 -3.52292366e+00] [-5.75005764e-04 5.60288256e-05 9.99999833e-01 -2.21717461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.941346184 meters 0.09287711521575773 Centerline is valid? [True, True] Translation: X:43.47, Y:-3.53, Z:-2.22 [[ 9.99992835e-01 3.08782138e-03 2.18965143e-03 4.34733013e+01] [-3.08735085e-03 9.99995210e-01 -2.18237740e-04 -3.52762224e+00] [-2.19031482e-03 2.11475954e-04 9.99997579e-01 -2.21823633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.971346184 meters 0.09313074673457207 Centerline is valid? [True, True] Translation: X:43.50, Y:-3.54, Z:-2.22 [[ 9.99988817e-01 2.27904132e-03 4.14401136e-03 4.35026614e+01] [-2.27735519e-03 9.99997322e-01 -4.11557536e-04 -3.53509387e+00] [-4.14493822e-03 4.02115548e-04 9.99991329e-01 -2.21954927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001346184 meters 0.10867635073853313 Centerline is valid? [True, False] Translation: X:43.50, Y:-3.53, Z:-2.22 [[ 9.99992463e-01 -1.43024160e-03 3.60953430e-03 4.35044396e+01] [ 1.44547134e-03 9.99990050e-01 -4.22023325e-03 -3.53496786e+00] [-3.60346243e-03 4.22541892e-03 9.99984580e-01 -2.22061659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.031346184 meters 0.1051002760842218 Centerline is valid? [False, False] Translation: X:43.50, Y:-3.53, Z:-2.22 [[ 9.99990401e-01 2.36609034e-03 3.68762884e-03 4.35043819e+01] [-2.36328381e-03 9.99996915e-01 -7.65238929e-04 -3.53184236e+00] [-3.68942808e-03 7.56516670e-04 9.99992908e-01 -2.22054901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.061346183999994 meters 0.09113359141784291 Centerline is valid? [False, True] Translation: X:43.51, Y:-3.53, Z:-2.22 [[ 9.99992377e-01 2.22779130e-03 3.20659427e-03 4.35058046e+01] [-2.22303785e-03 9.99996426e-01 -1.48519862e-03 -3.52802523e+00] [-3.20989152e-03 1.47805891e-03 9.99993756e-01 -2.22104539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.091346183999995 meters 0.10029329800784513 Centerline is valid? [True, False] Translation: X:43.51, Y:-3.53, Z:-2.22 [[ 9.99990670e-01 3.20748288e-03 2.89354535e-03 4.35080198e+01] [-3.20718704e-03 9.99994851e-01 -1.06877238e-04 -3.52956966e+00] [-2.89387326e-03 9.75960995e-05 9.99995808e-01 -2.22353502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.121346184 meters 0.10081707798761134 Centerline is valid? [False, False] Translation: X:43.51, Y:-3.53, Z:-2.22 [[ 9.99988587e-01 3.27869250e-03 3.47494270e-03 4.35067280e+01] [-3.28083539e-03 9.99994431e-01 6.11147249e-04 -3.53371053e+00] [-3.47291959e-03 -6.22540989e-04 9.99993776e-01 -2.22351878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.151346184 meters 0.09660617416470454 Centerline is valid? [False, True] Translation: X:43.51, Y:-3.54, Z:-2.22 [[ 9.99994624e-01 -3.80162939e-04 3.25679007e-03 4.35076480e+01] [ 3.88911298e-04 9.99996317e-01 -2.68597865e-03 -3.53626672e+00] [-3.25575697e-03 2.68723082e-03 9.99991089e-01 -2.22438309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.181346184 meters 0.10487762350767156 Centerline is valid? [True, False] Translation: X:43.51, Y:-3.54, Z:-2.23 [[ 9.99993904e-01 1.36714417e-04 3.48901844e-03 4.35078195e+01] [-1.31115716e-04 9.99998704e-01 -1.60484212e-03 -3.53903036e+00] [-3.48923333e-03 1.60437487e-03 9.99992626e-01 -2.22544419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.211346184 meters 0.10925358192766589 Centerline is valid? [False, False] Translation: X:43.51, Y:-3.53, Z:-2.22 [[ 9.99993790e-01 -7.29705222e-04 3.44770033e-03 4.35072617e+01] [ 7.40560976e-04 9.99994769e-01 -3.14846754e-03 -3.53410825e+00] [-3.44538484e-03 3.15100123e-03 9.99989100e-01 -2.22421940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.241346183999994 meters 0.09781031324892112 Centerline is valid? [False, True] Translation: X:43.51, Y:-3.53, Z:-2.22 [[ 9.99994260e-01 -1.14432530e-03 3.18922808e-03 4.35074425e+01] [ 1.15735549e-03 9.99990979e-01 -4.08684164e-03 -3.53101592e+00] [-3.18452263e-03 4.09050925e-03 9.99986563e-01 -2.22348186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.271346183999995 meters 0.09889590236450654 Centerline is valid? [True, True] Translation: X:43.54, Y:-3.54, Z:-2.22 [[ 9.99987607e-01 -1.19605071e-03 4.83276985e-03 4.35389690e+01] [ 1.19854765e-03 9.99999150e-01 -5.13804708e-04 -3.53688686e+00] [-4.83215120e-03 5.19590645e-04 9.99988190e-01 -2.22493204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.301346183999996 meters 0.10181399618525025 Centerline is valid? [True, False] Translation: X:43.54, Y:-3.54, Z:-2.23 [[ 9.99988376e-01 -6.88023546e-04 4.77229488e-03 4.35395818e+01] [ 6.86530105e-04 9.99999715e-01 3.14570892e-04 -3.53879851e+00] [-4.77250996e-03 -3.11290911e-04 9.99988563e-01 -2.22573954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.331346184 meters 0.11198912859110935 Centerline is valid? [False, False] Translation: X:43.54, Y:-3.54, Z:-2.23 [[ 9.99986036e-01 -3.59257982e-04 5.27246694e-03 4.35387060e+01] [ 3.51826072e-04 9.99998943e-01 1.41042950e-03 -3.54417379e+00] [-5.27296808e-03 -1.40855481e-03 9.99985106e-01 -2.22618616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.361346184 meters 0.10247864193846692 Centerline is valid? [False, False] Translation: X:43.54, Y:-3.54, Z:-2.23 [[ 9.99986302e-01 -1.52777059e-04 5.23188533e-03 4.35391339e+01] [ 1.43723966e-04 9.99998492e-01 1.73070148e-03 -3.54478547e+00] [-5.23214185e-03 -1.72992583e-03 9.99984816e-01 -2.22676248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.391346184 meters 0.10349067615182779 Centerline is valid? [False, False] Translation: X:43.54, Y:-3.54, Z:-2.23 [[ 9.99986946e-01 -1.97523311e-04 5.10573896e-03 4.35396895e+01] [ 1.89891879e-04 9.99998864e-01 1.49511869e-03 -3.54334163e+00] [-5.10602848e-03 -1.49412964e-03 9.99985848e-01 -2.22710587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.421346183999994 meters 0.1052108052432403 Centerline is valid? [False, False] Translation: X:43.54, Y:-3.54, Z:-2.23 [[ 9.99988625e-01 -5.12291795e-04 4.74206723e-03 4.35402081e+01] [ 5.09144122e-04 9.99999649e-01 6.64960011e-04 -3.53991483e+00] [-4.74240622e-03 -6.62538051e-04 9.99988535e-01 -2.22657319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.451346183999995 meters 0.10614561355709384 Centerline is valid? [False, False] Translation: X:43.54, Y:-3.54, Z:-2.23 [[ 9.99988965e-01 -1.06100681e-04 4.69676339e-03 4.35408579e+01] [ 9.99403235e-05 9.99999135e-01 1.31183293e-03 -3.54104615e+00] [-4.69689852e-03 -1.31134906e-03 9.99988110e-01 -2.22743688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481346183999996 meters 0.1064374496913265 Centerline is valid? [False, False] Translation: X:43.54, Y:-3.54, Z:-2.23 [[ 9.99988433e-01 1.86489034e-04 4.80620441e-03 4.35407740e+01] [-1.95787341e-04 9.99998110e-01 1.93424863e-03 -3.54320292e+00] [-4.80583461e-03 -1.93516725e-03 9.99986579e-01 -2.22774167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.511346184 meters 0.10453421989926238 Centerline is valid? [False, False] Translation: X:43.54, Y:-3.55, Z:-2.23 [[ 9.99987114e-01 8.21702940e-04 5.00961168e-03 4.35412588e+01] [-8.37565853e-04 9.99994640e-01 3.16522038e-03 -3.54653253e+00] [-5.00698396e-03 -3.16937547e-03 9.99982442e-01 -2.22917414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.541346184 meters 0.10890111367089751 Centerline is valid? [False, False] Translation: X:43.54, Y:-3.55, Z:-2.23 [[ 9.99987473e-01 8.89573455e-04 4.92577023e-03 4.35417033e+01] [-9.05337767e-04 9.99994473e-01 3.19907080e-03 -3.54611790e+00] [-4.92289719e-03 -3.20349021e-03 9.99982751e-01 -2.22956202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.571346184 meters 0.10541554683744321 Centerline is valid? [False, False] Translation: X:43.54, Y:-3.54, Z:-2.23 [[ 9.99989105e-01 5.61119059e-04 4.63402028e-03 4.35421859e+01] [-5.72004717e-04 9.99997080e-01 2.34808320e-03 -3.54311979e+00] [-4.63268919e-03 -2.35070830e-03 9.99986506e-01 -2.22923183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601346184 meters 0.10052981431453822 Centerline is valid? [False, False] Translation: X:43.54, Y:-3.54, Z:-2.23 [[ 9.99990405e-01 4.72002948e-04 4.35520673e-03 4.35426417e+01] [-4.80588469e-04 9.99997943e-01 1.97048740e-03 -3.54188517e+00] [-4.35426769e-03 -1.97256155e-03 9.99988575e-01 -2.22901513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.631346183999995 meters 0.09530561497315793 Centerline is valid? [False, True] Translation: X:43.54, Y:-3.54, Z:-2.23 [[ 9.99991204e-01 3.99728253e-04 4.17511226e-03 4.35429223e+01] [-4.06757517e-04 9.99998501e-01 1.68289741e-03 -3.54106145e+00] [-4.17443330e-03 -1.68458087e-03 9.99989868e-01 -2.22887554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.661346183999996 meters 0.09601463906681426 Centerline is valid? [True, True] Translation: X:43.57, Y:-3.55, Z:-2.23 [[ 9.99986164e-01 3.07750186e-03 4.26616967e-03 4.35721946e+01] [-3.07557785e-03 9.99995166e-01 -4.57479607e-04 -3.54565236e+00] [-4.26755695e-03 4.44352341e-04 9.99990795e-01 -2.23051245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.691346184 meters 0.09447966639579634 Centerline is valid? [True, True] Translation: X:43.60, Y:-3.55, Z:-2.23 [[ 9.99974314e-01 4.40973555e-03 5.65025050e-03 4.36028866e+01] [-4.40638890e-03 9.99990109e-01 -6.04613058e-04 -3.54728730e+00] [-5.65286079e-03 5.79700327e-04 9.99983854e-01 -2.23106914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721346184 meters 0.09693954294073191 Centerline is valid? [True, True] Translation: X:43.63, Y:-3.55, Z:-2.23 [[ 9.99969861e-01 5.42985000e-03 5.54917379e-03 4.36330927e+01] [-5.42664004e-03 9.99985100e-01 -5.93350065e-04 -3.55404993e+00] [-5.55231291e-03 5.63218813e-04 9.99984427e-01 -2.23239482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.751346184 meters 0.1039506592991547 Centerline is valid? [True, False] Translation: X:43.63, Y:-3.55, Z:-2.23 [[ 9.99970268e-01 5.59438941e-03 5.30721751e-03 4.36339749e+01] [-5.59164974e-03 9.99984226e-01 -5.30913207e-04 -3.55333554e+00] [-5.31010393e-03 5.01221320e-04 9.99985776e-01 -2.23292120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781346184 meters 0.09703459346977902 Centerline is valid? [False, True] Translation: X:43.63, Y:-3.55, Z:-2.23 [[ 9.99974775e-01 5.07486386e-03 4.96932380e-03 4.36340976e+01] [-5.06675220e-03 9.99985813e-01 -1.64357796e-03 -3.55007077e+00] [-4.97759424e-03 1.61835817e-03 9.99986302e-01 -2.23194487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.811346183999994 meters 0.0988948532127873 Centerline is valid? [True, True] Translation: X:43.66, Y:-3.56, Z:-2.23 [[ 9.99978659e-01 4.91501243e-03 4.30388542e-03 4.36640026e+01] [-4.91313141e-03 9.99987830e-01 -4.47514474e-04 -3.55569312e+00] [-4.30603258e-03 4.26359369e-04 9.99990638e-01 -2.23476485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.841346183999995 meters 0.09871250930126904 Centerline is valid? [True, True] Translation: X:43.69, Y:-3.56, Z:-2.24 [[ 9.99977230e-01 5.24875140e-03 4.24142462e-03 4.36941663e+01] [-5.24692498e-03 9.99986137e-01 -4.41628401e-04 -3.55949693e+00] [-4.24368382e-03 4.19363908e-04 9.99990908e-01 -2.23723001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.871346184 meters 0.09939668954373972 Centerline is valid? [True, True] Translation: X:43.72, Y:-3.57, Z:-2.24 [[ 9.99970851e-01 5.44189134e-03 5.35556570e-03 4.37239555e+01] [-5.43898208e-03 9.99985053e-01 -5.57635731e-04 -3.56637969e+00] [-5.35852025e-03 5.28490651e-04 9.99985503e-01 -2.23994004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901346184 meters 0.09361488479590999 Centerline is valid? [True, True] Translation: X:43.76, Y:-3.57, Z:-2.24 [[ 9.99958418e-01 5.87735614e-03 6.97278336e-03 4.37554391e+01] [-5.87244219e-03 9.99982494e-01 -7.24998154e-04 -3.56641751e+00] [-6.97692237e-03 6.84020740e-04 9.99975427e-01 -2.24122052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.931346184 meters 0.09252088270379323 Centerline is valid? [True, True] Translation: X:43.79, Y:-3.57, Z:-2.24 [[ 9.99946183e-01 6.69410160e-03 7.92591525e-03 4.37872584e+01] [-6.68777804e-03 9.99977297e-01 -8.24068522e-04 -3.56860705e+00] [-7.93125170e-03 7.71017411e-04 9.99968250e-01 -2.24187548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961346184 meters 0.10103650978359471 Centerline is valid? [True, False] Translation: X:43.79, Y:-3.57, Z:-2.24 [[ 9.99948664e-01 6.60646106e-03 7.68272376e-03 4.37878998e+01] [-6.59753313e-03 9.99977532e-01 -1.18684197e-03 -3.56691102e+00] [-7.69039197e-03 1.13609402e-03 9.99969783e-01 -2.24200255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.991346183999994 meters 0.09996718023339529 Centerline is valid? [False, True] Translation: X:43.79, Y:-3.56, Z:-2.24 [[ 9.99957332e-01 6.21892649e-03 6.83078891e-03 4.37891769e+01] [-6.20095755e-03 9.99977266e-01 -2.64861724e-03 -3.56092341e+00] [-6.84710517e-03 2.60614680e-03 9.99973162e-01 -2.24122731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.021346183999995 meters 0.08869017042564442 Centerline is valid? [True, True] Translation: X:43.82, Y:-3.55, Z:-2.24 [[ 9.99945252e-01 7.51953433e-03 7.27671540e-03 4.38220035e+01] [-7.51445422e-03 9.99971503e-01 -7.25220786e-04 -3.54768082e+00] [-7.28196136e-03 6.70500536e-04 9.99973261e-01 -2.23809367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.051346183999996 meters 0.08943216486373314 Centerline is valid? [True, True] Translation: X:43.85, Y:-3.55, Z:-2.24 [[ 9.99944439e-01 8.18896650e-03 6.63776862e-03 4.38517415e+01] [-8.18475357e-03 9.99966285e-01 -6.61608157e-04 -3.55494998e+00] [-6.64296272e-03 6.07242897e-04 9.99977751e-01 -2.24207679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081346184 meters 0.09572732934477268 Centerline is valid? [True, True] Translation: X:43.88, Y:-3.57, Z:-2.25 [[ 9.99940732e-01 7.81379168e-03 7.58138287e-03 4.38804457e+01] [-7.80828320e-03 9.99969229e-01 -7.55907062e-04 -3.57206112e+00] [-7.58705609e-03 6.96664677e-04 9.99970975e-01 -2.24748140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.111346184 meters 0.0881547278072681 Centerline is valid? [True, True] Translation: X:43.91, Y:-3.57, Z:-2.24 [[ 9.99932299e-01 7.06514217e-03 9.24554977e-03 4.39123676e+01] [-7.05692018e-03 9.99974675e-01 -9.21613790e-04 -3.56773131e+00] [-9.25182696e-03 8.56306289e-04 9.99956834e-01 -2.24369533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141346184 meters 0.09500489861402647 Centerline is valid? [True, True] Translation: X:43.94, Y:-3.58, Z:-2.25 [[ 9.99932482e-01 7.02384369e-03 9.25722084e-03 4.39425198e+01] [-7.01564834e-03 9.99974969e-01 -9.17469467e-04 -3.58050420e+00] [-9.26343329e-03 8.52462116e-04 9.99956730e-01 -2.24710909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.171346183999994 meters 0.09533614607797547 Centerline is valid? [True, True] Translation: X:43.97, Y:-3.58, Z:-2.25 [[ 9.99937908e-01 6.74057709e-03 8.87377237e-03 4.39743837e+01] [-6.73301682e-03 9.99976944e-01 -8.81578289e-04 -3.58134966e+00] [-8.87951013e-03 8.21776292e-04 9.99960239e-01 -2.24697019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.201346183999995 meters 0.09533614607797547 Centerline is valid? [True, True] Translation: X:44.01, Y:-3.58, Z:-2.25 [[ 9.99936243e-01 6.98344676e-03 8.87362203e-03 4.40061204e+01] [-6.97588271e-03 9.99975278e-01 -8.83085564e-04 -3.58467497e+00] [-8.87956964e-03 8.21127914e-04 9.99960239e-01 -2.24815977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.231346183999996 meters 0.0928941030874253 Centerline is valid? [True, True] Translation: X:44.04, Y:-3.58, Z:-2.25 [[ 9.99924767e-01 7.82116274e-03 9.44929521e-03 4.40389811e+01] [-7.81259638e-03 9.99969036e-01 -9.43134679e-04 -3.58133776e+00] [-9.45637903e-03 8.69240195e-04 9.99954910e-01 -2.24553992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261346184 meters 0.09104230839577186 Centerline is valid? [True, True] Translation: X:44.07, Y:-3.58, Z:-2.25 [[ 9.99925445e-01 7.97323632e-03 9.24831169e-03 4.40707401e+01] [-7.96501875e-03 9.99967851e-01 -9.25040593e-04 -3.58454838e+00] [-9.25538993e-03 8.51308651e-04 9.99956806e-01 -2.24822607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.291346184 meters 0.09677045085277874 Centerline is valid? [True, True] Translation: X:44.10, Y:-3.60, Z:-2.25 [[ 9.99934759e-01 6.76338629e-03 9.20513502e-03 4.40987796e+01] [-6.75513054e-03 9.99976754e-01 -9.27660759e-04 -3.60160857e+00] [-9.21119516e-03 8.65418349e-04 9.99957202e-01 -2.25431641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321346184 meters 0.0967972075995856 Centerline is valid? [True, True] Translation: X:44.13, Y:-3.61, Z:-2.26 [[ 9.99963729e-01 3.66034485e-03 7.69037559e-03 4.41286326e+01] [-3.65447915e-03 9.99993021e-01 -7.76645692e-04 -3.61066691e+00] [-7.69316470e-03 7.48513205e-04 9.99970127e-01 -2.25797959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.351346184 meters 0.10283366315096454 Centerline is valid? [True, False] Translation: X:44.13, Y:-3.61, Z:-2.26 [[ 9.99965184e-01 3.42154689e-03 7.61074378e-03 4.41286130e+01] [-3.41238986e-03 9.99993439e-01 -1.21583259e-03 -3.60932819e+00] [-7.61485387e-03 1.18981943e-03 9.99970299e-01 -2.25761927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.381346183999995 meters 0.09697704338517892 Centerline is valid? [False, True] Translation: X:44.13, Y:-3.61, Z:-2.26 [[ 9.99967495e-01 3.24944687e-03 7.37902787e-03 4.41291219e+01] [-3.23698583e-03 9.99993316e-01 -1.70002568e-03 -3.60698071e+00] [-7.38450269e-03 1.67608461e-03 9.99971330e-01 -2.25752350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.411346183999996 meters 0.09734636062831584 Centerline is valid? [True, True] Translation: X:44.16, Y:-3.61, Z:-2.25 [[ 9.99922954e-01 4.16827787e-03 1.16923510e-02 4.41586116e+01] [-4.15449127e-03 9.99990646e-01 -1.20315384e-03 -3.60840497e+00] [-1.16972567e-02 1.15448537e-03 9.99930918e-01 -2.25341188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441346184 meters 0.09842153243343886 Centerline is valid? [True, True] Translation: X:44.19, Y:-3.62, Z:-2.26 [[ 9.99895928e-01 5.21957393e-03 1.34495319e-02 4.41880126e+01] [-5.20144107e-03 9.99985516e-01 -1.38284239e-03 -3.61629361e+00] [-1.34565550e-02 1.31274153e-03 9.99908595e-01 -2.25543755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.471346184 meters 0.09880368776261138 Centerline is valid? [True, True] Translation: X:44.22, Y:-3.62, Z:-2.26 [[ 9.99908104e-01 5.87182613e-03 1.22190896e-02 4.42191980e+01] [-5.85697013e-03 9.99982065e-01 -1.25123237e-03 -3.62474665e+00] [-1.22262175e-02 1.17955054e-03 9.99924561e-01 -2.25949925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501346184 meters 0.09755184635841142 Centerline is valid? [True, True] Translation: X:44.25, Y:-3.63, Z:-2.27 [[ 9.99936405e-01 7.71066314e-03 8.22994105e-03 4.42503989e+01] [-7.70399316e-03 9.99969969e-01 -8.41847768e-04 -3.63138057e+00] [-8.23618510e-03 7.78390821e-04 9.99965779e-01 -2.26632672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.531346184 meters 0.09809188651633603 Centerline is valid? [True, True] Translation: X:44.28, Y:-3.63, Z:-2.27 [[ 9.99937750e-01 8.72121192e-03 6.95965831e-03 4.42818751e+01] [-8.71646036e-03 9.99961757e-01 -7.12769376e-04 -3.63402259e+00] [-6.96560836e-03 6.52061420e-04 9.99975527e-01 -2.26840956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.561346183999994 meters 0.09762409347375053 Centerline is valid? [True, True] Translation: X:44.31, Y:-3.63, Z:-2.27 [[ 9.99945282e-01 8.91510245e-03 5.47299658e-03 4.43124096e+01] [-8.91213206e-03 9.99960125e-01 -5.66884254e-04 -3.63380272e+00] [-5.47783218e-03 5.18077167e-04 9.99984862e-01 -2.26826795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.591346183999995 meters 0.09641423290559221 Centerline is valid? [True, True] Translation: X:44.34, Y:-3.64, Z:-2.27 [[ 9.99954617e-01 7.99166867e-03 5.18624836e-03 4.43418907e+01] [-7.98898348e-03 9.99967943e-01 -5.38261585e-04 -3.63609426e+00] [-5.19038371e-03 4.96804305e-04 9.99986406e-01 -2.26670275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621346184 meters 0.09101220560491245 Centerline is valid? [True, True] Translation: X:44.37, Y:-3.64, Z:-2.26 [[ 9.99950358e-01 6.91449905e-03 7.17438070e-03 4.43728393e+01] [-6.90934555e-03 9.99975854e-01 -7.42857099e-04 -3.63503675e+00] [-7.17934395e-03 6.93249947e-04 9.99973988e-01 -2.26497754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.651346184 meters 0.09388290926592316 Centerline is valid? [True, True] Translation: X:44.40, Y:-3.65, Z:-2.27 [[ 9.99939681e-01 6.21281180e-03 9.05728278e-03 4.44028885e+01] [-6.20460368e-03 9.99980315e-01 -9.34062833e-04 -3.64797748e+00] [-9.06290765e-03 8.77809642e-04 9.99958546e-01 -2.26744639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681346184 meters 0.09676298085224842 Centerline is valid? [True, True] Translation: X:44.43, Y:-3.66, Z:-2.27 [[ 9.99923803e-01 5.90948738e-03 1.08381595e-02 4.44338619e+01] [-5.89772424e-03 9.99981984e-01 -1.11698571e-03 -3.65973804e+00] [-1.08445651e-02 1.05298012e-03 9.99940642e-01 -2.26842416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.711346184 meters 0.09371021152262321 Centerline is valid? [True, True] Translation: X:44.47, Y:-3.66, Z:-2.26 [[ 9.99912541e-01 5.52564389e-03 1.20156873e-02 4.44669352e+01] [-5.51110173e-03 9.99984041e-01 -1.24303962e-03 -3.65794482e+00] [-1.20223642e-02 1.17671123e-03 9.99927036e-01 -2.26388365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.741346183999994 meters 0.09496375961755475 Centerline is valid? [True, True] Translation: X:44.50, Y:-3.66, Z:-2.26 [[ 9.99915508e-01 6.32886951e-03 1.13543789e-02 4.44980594e+01] [-6.31590251e-03 9.99979361e-01 -1.17752134e-03 -3.66211691e+00] [-1.13615969e-02 1.10570870e-03 9.99934844e-01 -2.26453602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.771346183999995 meters 0.09622184842356545 Centerline is valid? [True, True] Translation: X:44.53, Y:-3.67, Z:-2.27 [[ 9.99933055e-01 7.07106093e-03 9.15887363e-03 4.45297412e+01] [-7.06265780e-03 9.99974608e-01 -9.49504921e-04 -3.66774498e+00] [-9.16535508e-03 8.84755366e-04 9.99957606e-01 -2.26760300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801346183999996 meters 0.09631859388541106 Centerline is valid? [True, True] Translation: X:44.56, Y:-3.68, Z:-2.28 [[ 9.99953368e-01 7.66726752e-03 5.87145023e-03 4.45606125e+01] [-7.66383216e-03 9.99970448e-01 -6.07370929e-04 -3.67731798e+00] [-5.87593359e-03 5.62344797e-04 9.99982578e-01 -2.27541448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.831346184 meters 0.09603530236939213 Centerline is valid? [True, True] Translation: X:44.59, Y:-3.68, Z:-2.28 [[ 9.99965574e-01 7.17632836e-03 4.16543411e-03 4.45906363e+01] [-7.17456866e-03 9.99974167e-01 -4.37243802e-04 -3.68306566e+00] [-4.16846431e-03 4.07343556e-04 9.99991229e-01 -2.27847331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861346184 meters 0.09908112715246281 Centerline is valid? [True, True] Translation: X:44.62, Y:-3.69, Z:-2.28 [[ 9.99972886e-01 6.28903613e-03 3.83092811e-03 4.46198062e+01] [-6.28755217e-03 9.99980153e-01 -3.99284443e-04 -3.69276256e+00] [-3.83336319e-03 3.75186456e-04 9.99992582e-01 -2.28063181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.891346184 meters 0.10074648437378295 Centerline is valid? [True, False] Translation: X:44.62, Y:-3.69, Z:-2.28 [[ 9.99972441e-01 6.26375536e-03 3.98537567e-03 4.46191428e+01] [-6.26302488e-03 9.99980368e-01 -1.95742953e-04 -3.69387917e+00] [-3.98652352e-03 1.70777052e-04 9.99992039e-01 -2.28005309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.921346183999994 meters 0.09703097978959353 Centerline is valid? [False, True] Translation: X:44.62, Y:-3.69, Z:-2.28 [[ 9.99973985e-01 5.97119403e-03 4.04653728e-03 4.46184340e+01] [-5.96896805e-03 9.99982028e-01 -5.61948669e-04 -3.69369144e+00] [-4.04982006e-03 5.37780398e-04 9.99991655e-01 -2.27912474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.951346183999995 meters 0.09599246675699133 Centerline is valid? [True, True] Translation: X:44.65, Y:-3.70, Z:-2.28 [[ 9.99968833e-01 5.70834737e-03 5.45422851e-03 4.46491076e+01] [-5.70526901e-03 9.99983557e-01 -5.79792270e-04 -3.69599468e+00] [-5.45744848e-03 5.48656358e-04 9.99984958e-01 -2.27801747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981346183999996 meters 0.10250948589954129 Centerline is valid? [True, False] Translation: X:44.65, Y:-3.70, Z:-2.28 [[ 9.99985542e-01 1.93286872e-03 5.01789496e-03 4.46500433e+01] [-1.91193013e-03 9.99989460e-01 -4.17423264e-03 -3.69735918e+00] [-5.02591032e-03 4.16457842e-03 9.99978698e-01 -2.27829941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.011346184 meters 0.09812153552820649 Centerline is valid? [False, True] Translation: X:44.65, Y:-3.70, Z:-2.28 [[ 9.99984024e-01 2.76525529e-03 4.92992210e-03 4.46511107e+01] [-2.75170037e-03 9.99992421e-01 -2.75418550e-03 -3.70026132e+00] [-4.93750076e-03 2.74057583e-03 9.99984055e-01 -2.27979795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041346184 meters 0.09842658751645893 Centerline is valid? [True, True] Translation: X:44.68, Y:-3.71, Z:-2.28 [[ 9.99983961e-01 2.99913414e-03 4.80455095e-03 4.46823461e+01] [-2.99679891e-03 9.99995388e-01 -4.93172384e-04 -3.70749253e+00] [-4.80600788e-03 4.78766201e-04 9.99988336e-01 -2.28229499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.071346184 meters 0.1008514645257599 Centerline is valid? [True, False] Translation: X:44.68, Y:-3.71, Z:-2.28 [[ 9.99983045e-01 3.32990775e-03 4.77725148e-03 4.46826982e+01] [-3.33046222e-03 9.99994448e-01 1.08114391e-04 -3.70893187e+00] [-4.77686495e-03 -1.24023013e-04 9.99988583e-01 -2.28280348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101346184 meters 0.10020668369839311 Centerline is valid? [False, False] Translation: X:44.68, Y:-3.71, Z:-2.28 [[ 9.99982984e-01 3.56075493e-03 4.62090981e-03 4.46832579e+01] [-3.56293923e-03 9.99993545e-01 4.64552920e-04 -3.70942628e+00] [-4.61922582e-03 -4.81009036e-04 9.99989216e-01 -2.28319097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.131346183999995 meters 0.10316210601066801 Centerline is valid? [False, False] Translation: X:44.68, Y:-3.71, Z:-2.28 [[ 9.99982843e-01 3.55554481e-03 4.65535346e-03 4.46830022e+01] [-3.55836056e-03 9.99993491e-01 5.96696662e-04 -3.71016937e+00] [-4.65320157e-03 -6.13251851e-04 9.99988986e-01 -2.28294455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.161346183999996 meters 0.1059428953036447 Centerline is valid? [False, False] Translation: X:44.68, Y:-3.71, Z:-2.28 [[ 9.99990168e-01 -4.44365760e-04 4.41198768e-03 4.46831231e+01] [ 4.58353259e-04 9.99994871e-01 -3.16983461e-03 -3.71200738e+00] [-4.41055649e-03 3.17182569e-03 9.99985243e-01 -2.28253248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.191346184 meters 0.10195602890053831 Centerline is valid? [False, False] Translation: X:44.68, Y:-3.71, Z:-2.28 [[ 9.99990084e-01 7.75754926e-05 4.45261019e-03 4.46835143e+01] [-6.78275541e-05 9.99997601e-01 -2.18937309e-03 -3.71426303e+00] [-4.45276935e-03 2.18904937e-03 9.99987690e-01 -2.28331479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221346184 meters 0.09997789095349692 Centerline is valid? [False, True] Translation: X:44.68, Y:-3.72, Z:-2.28 [[ 9.99989913e-01 2.95444760e-04 4.48177501e-03 4.46835875e+01] [-2.87698631e-04 9.99998464e-01 -1.72890815e-03 -3.71551657e+00] [-4.48227893e-03 1.72760131e-03 9.99988462e-01 -2.28355802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.251346184 meters 0.10507447237278704 Centerline is valid? [True, False] Translation: X:44.68, Y:-3.72, Z:-2.28 [[ 9.99990021e-01 8.07902116e-04 4.39384379e-03 4.46843263e+01] [-8.04117827e-04 9.99999304e-01 -8.62969222e-04 -3.71717363e+00] [-4.39453792e-03 8.59427442e-04 9.99989975e-01 -2.28448237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.281346184 meters 0.1032470845108714 Centerline is valid? [False, False] Translation: X:44.68, Y:-3.72, Z:-2.29 [[ 9.99989490e-01 1.40109349e-03 4.36534868e-03 4.46847599e+01] [-1.40216342e-03 9.99998988e-01 2.42044536e-04 -3.72008426e+00] [-4.36500513e-03 -2.48162925e-04 9.99990443e-01 -2.28517770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.311346183999994 meters 0.10075267083202175 Centerline is valid? [False, False] Translation: X:44.68, Y:-3.72, Z:-2.28 [[ 9.99989894e-01 1.33420080e-03 4.29321149e-03 4.46847178e+01] [-1.33485299e-03 9.99999098e-01 1.49049249e-04 -3.72006972e+00] [-4.29300876e-03 -1.54778549e-04 9.99990773e-01 -2.28491193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.341346183999995 meters 0.10302771497315501 Centerline is valid? [False, False] Translation: X:44.68, Y:-3.72, Z:-2.28 [[ 9.99990304e-01 1.19803905e-03 4.23747970e-03 4.46847136e+01] [-1.19773274e-03 9.99999280e-01 -7.48227346e-05 -3.71959454e+00] [-4.23756629e-03 6.97466409e-05 9.99991019e-01 -2.28474073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.371346184 meters 0.10382014327229022 Centerline is valid? [False, False] Translation: X:44.69, Y:-3.72, Z:-2.29 [[ 9.99991150e-01 1.54877294e-03 3.91158622e-03 4.46858764e+01] [-1.55009058e-03 9.99998743e-01 3.33846658e-04 -3.71982129e+00] [-3.91106425e-03 -3.39907017e-04 9.99992294e-01 -2.28558005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.401346184 meters 0.10324459578493933 Centerline is valid? [False, False] Translation: X:44.69, Y:-3.72, Z:-2.29 [[ 9.99991373e-01 1.81913582e-03 3.73431564e-03 4.46866757e+01] [-1.82165447e-03 9.99998116e-01 6.71171772e-04 -3.72009799e+00] [-3.73308765e-03 -6.77968615e-04 9.99992802e-01 -2.28630128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.431346184 meters 0.09695272471655512 Centerline is valid? [False, True] Translation: X:44.69, Y:-3.72, Z:-2.29 [[ 9.99991321e-01 2.04110613e-03 3.63199617e-03 4.46872271e+01] [-2.04466132e-03 9.99997434e-01 9.75408706e-04 -3.72052159e+00] [-3.62999594e-03 -9.82826442e-04 9.99992929e-01 -2.28688180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.461346184 meters 0.09824664778230607 Centerline is valid? [True, True] Translation: X:44.72, Y:-3.73, Z:-2.29 [[ 9.99984292e-01 3.21050383e-03 4.59440488e-03 4.47175176e+01] [-3.20835841e-03 9.99994741e-01 -4.74257670e-04 -3.72718385e+00] [-4.59590332e-03 4.59509723e-04 9.99989333e-01 -2.28958959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.491346183999994 meters 0.09623179583746373 Centerline is valid? [True, True] Translation: X:44.75, Y:-3.73, Z:-2.29 [[ 9.99978624e-01 4.23018249e-03 4.98567392e-03 4.47495701e+01] [-4.22766967e-03 9.99990931e-01 -5.14438767e-04 -3.72704796e+00] [-4.98780487e-03 4.93349988e-04 9.99987439e-01 -2.28980446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.521346183999995 meters 0.09719192015415822 Centerline is valid? [True, True] Translation: X:44.78, Y:-3.73, Z:-2.29 [[ 9.99974828e-01 5.17079445e-03 4.85865399e-03 4.47803041e+01] [-5.16841551e-03 9.99986518e-01 -5.02057697e-04 -3.72989163e+00] [-4.86118452e-03 4.76933517e-04 9.99988071e-01 -2.29034378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.551346183999996 meters 0.09340743053191863 Centerline is valid? [True, True] Translation: X:44.81, Y:-3.72, Z:-2.29 [[ 9.99969120e-01 6.12541518e-03 4.92326148e-03 4.48119889e+01] [-6.12297998e-03 9.99981125e-01 -5.09551767e-04 -3.72436073e+00] [-4.92628977e-03 4.79391001e-04 9.99987751e-01 -2.28863210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.581346184 meters 0.09830764951736942 Centerline is valid? [True, True] Translation: X:44.84, Y:-3.73, Z:-2.29 [[ 9.99960518e-01 7.11270218e-03 5.32648390e-03 4.48411661e+01] [-7.10986316e-03 9.99974572e-01 -5.51747668e-04 -3.73284883e+00] [-5.33027287e-03 5.13855312e-04 9.99985662e-01 -2.29058839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.611346184 meters 0.09726747019264895 Centerline is valid? [True, True] Translation: X:44.87, Y:-3.73, Z:-2.29 [[ 9.99938926e-01 8.35998509e-03 7.22881032e-03 4.48720446e+01] [-8.35479147e-03 9.99964818e-01 -7.48361748e-04 -3.73362678e+00] [-7.23481229e-03 6.87920839e-04 9.99973592e-01 -2.29071820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.641346184 meters 0.09769191106714574 Centerline is valid? [True, True] Translation: X:44.90, Y:-3.74, Z:-2.29 [[ 9.99939390e-01 8.57785113e-03 6.90191478e-03 4.49027280e+01] [-8.57312415e-03 9.99962995e-01 -7.14174568e-04 -3.73862731e+00] [-6.90778546e-03 6.54960310e-04 9.99975926e-01 -2.29290274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.671346183999994 meters 0.09882123599559439 Centerline is valid? [True, True] Translation: X:44.93, Y:-3.74, Z:-2.30 [[ 9.99941615e-01 8.71138162e-03 6.39360824e-03 4.49321585e+01] [-8.70733442e-03 9.99961872e-01 -6.60571279e-04 -3.74417084e+00] [-6.39911896e-03 6.04861426e-04 9.99979342e-01 -2.29562297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.701346183999995 meters 0.10027809789898677 Centerline is valid? [True, False] Translation: X:44.94, Y:-3.74, Z:-2.29 [[ 9.99992319e-01 3.81673260e-03 -8.91004485e-04 4.49426144e+01] [-3.81612427e-03 9.99992485e-01 6.83452399e-04 -3.74057126e+00] [ 8.93606344e-04 -6.80046966e-04 9.99999370e-01 -2.29184269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.731346183999996 meters 0.0957074064909551 Centerline is valid? [False, True] Translation: X:44.94, Y:-3.74, Z:-2.29 [[ 9.99993284e-01 3.53145045e-03 -9.80168244e-04 4.49428052e+01] [-3.53140591e-03 9.99993763e-01 4.71668569e-05 -3.73854803e+00] [ 9.80328699e-04 -4.37051682e-05 9.99999519e-01 -2.29176743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.761346184 meters 0.10013161505458398 Centerline is valid? [True, False] Translation: X:44.94, Y:-3.74, Z:-2.29 [[ 9.99994405e-01 3.17498105e-03 -1.05335466e-03 4.49428744e+01] [-3.17569321e-03 9.99994730e-01 -6.75105677e-04 -3.73648205e+00] [ 1.05120566e-03 6.78447031e-04 9.99999217e-01 -2.29158435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.791346184 meters 0.10068041155599196 Centerline is valid? [False, False] Translation: X:44.94, Y:-3.73, Z:-2.29 [[ 9.99993807e-01 3.21153232e-03 -1.43947982e-03 4.49443180e+01] [-3.21322723e-03 9.99994145e-01 -1.17668898e-03 -3.73292136e+00] [ 1.43569242e-03 1.18130707e-03 9.99998272e-01 -2.29241266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.821346184 meters 0.09252512640902504 Centerline is valid? [False, True] Translation: X:44.94, Y:-3.73, Z:-2.29 [[ 9.99995000e-01 2.79099653e-03 -1.48653167e-03 4.49440738e+01] [-2.79395731e-03 9.99994110e-01 -1.99340234e-03 -3.73088355e+00] [ 1.48095934e-03 1.99754568e-03 9.99996908e-01 -2.29179941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.851346184 meters 0.09256470755197804 Centerline is valid? [True, True] Translation: X:44.97, Y:-3.73, Z:-2.29 [[ 9.99993824e-01 3.24063642e-03 1.36010424e-03 4.49737019e+01] [-3.24046038e-03 9.99994741e-01 -1.31613453e-04 -3.73344568e+00] [-1.36052360e-03 1.27205276e-04 9.99999066e-01 -2.29179943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.881346183999995 meters 0.09427398837146765 Centerline is valid? [True, True] Translation: X:45.00, Y:-3.74, Z:-2.29 [[ 9.99995401e-01 2.77748543e-03 1.21809450e-03 4.50032938e+01] [-2.77734709e-03 9.99996137e-01 -1.15244173e-04 -3.73849294e+00] [-1.21840988e-03 1.11860572e-04 9.99999251e-01 -2.29368718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.911346183999996 meters 0.09506982415306965 Centerline is valid? [True, True] Translation: X:45.03, Y:-3.74, Z:-2.29 [[ 9.99995330e-01 2.87636438e-03 1.03284844e-03 4.50331329e+01] [-2.87626322e-03 9.99995859e-01 -9.94209047e-05 -3.74154647e+00] [-1.03313014e-03 9.64496964e-05 9.99999462e-01 -2.29475853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.941346184 meters 0.08790220850242145 Centerline is valid? [True, True] Translation: X:45.06, Y:-3.73, Z:-2.29 [[ 9.99996352e-01 2.38956056e-03 -1.25924898e-03 4.50645019e+01] [-2.38941036e-03 9.99997138e-01 1.20764742e-04 -3.72774654e+00] [ 1.25953395e-03 -1.17755439e-04 9.99999200e-01 -2.29440963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.971346184 meters 0.08964143560359951 Centerline is valid? [True, True] Translation: X:45.09, Y:-3.73, Z:-2.30 [[ 9.99992435e-01 1.41118476e-03 -3.62461971e-03 4.50934391e+01] [-1.40993309e-03 9.99998946e-01 3.47856076e-04 -3.72919893e+00] [ 3.62510678e-03 -3.42742973e-04 9.99993371e-01 -2.29583218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001346184 meters 0.0980641563014405 Centerline is valid? [True, True] Translation: X:45.12, Y:-3.74, Z:-2.30 [[ 9.99986508e-01 1.23035314e-03 -5.04669012e-03 4.51203363e+01] [-1.22793129e-03 9.99999129e-01 4.82959054e-04 -3.74145032e+00] [ 5.04727994e-03 -4.76755550e-04 9.99987149e-01 -2.30098527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.031346184 meters 0.09950799570255979 Centerline is valid? [True, True] Translation: X:45.15, Y:-3.74, Z:-2.30 [[ 9.99984182e-01 -2.28790673e-05 -5.62452297e-03 4.51491882e+01] [ 2.59117683e-05 9.99999854e-01 5.39120296e-04 -3.74347757e+00] [ 5.62450982e-03 -5.39257510e-04 9.99984037e-01 -2.30307967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.061346183999994 meters 0.09370440769686732 Centerline is valid? [True, True] Translation: X:45.18, Y:-3.74, Z:-2.30 [[ 9.99989783e-01 -1.21936053e-03 -4.35276123e-03 4.51785930e+01] [ 1.22118342e-03 9.99999168e-01 4.16158008e-04 -3.73752763e+00] [ 4.35225016e-03 -4.21469276e-04 9.99990440e-01 -2.30280482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.091346183999995 meters 0.09370440769686732 Centerline is valid? [True, True] Translation: X:45.21, Y:-3.74, Z:-2.30 [[ 9.99989441e-01 -1.47189837e-03 -4.35325722e-03 4.52068347e+01] [ 1.47370132e-03 9.99998830e-01 4.10981701e-04 -3.74009793e+00] [ 4.35264720e-03 -4.17392763e-04 9.99990440e-01 -2.30344959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121346184 meters 0.09442163675274708 Centerline is valid? [True, True] Translation: X:45.23, Y:-3.74, Z:-2.30 [[ 9.99993056e-01 -2.11089882e-03 -3.07130561e-03 4.52349008e+01] [ 2.11180603e-03 9.99997727e-01 2.92166773e-04 -3.74439175e+00] [ 3.07068189e-03 -2.98650745e-04 9.99995241e-01 -2.30399061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.151346184 meters 0.09348378587458833 Centerline is valid? [True, True] Translation: X:45.26, Y:-3.74, Z:-2.30 [[ 9.99994426e-01 -3.11618754e-03 -1.19898829e-03 4.52649507e+01] [ 3.11632623e-03 9.99995138e-01 1.13825241e-04 -3.74462327e+00] [ 1.19862776e-03 -1.17561045e-04 9.99999275e-01 -2.30278227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181346184 meters 0.09754598846267476 Centerline is valid? [True, True] Translation: X:45.29, Y:-3.75, Z:-2.30 [[ 9.99989743e-01 -4.51227897e-03 3.91785852e-04 4.52947099e+01] [ 4.51229399e-03 9.99989819e-01 -3.74635579e-05 -3.74639373e+00] [-3.91612817e-04 3.92310266e-05 9.99999923e-01 -2.30003029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.211346184 meters 0.09885586691204108 Centerline is valid? [True, True] Translation: X:45.33, Y:-3.75, Z:-2.30 [[ 9.99987209e-01 -4.81985822e-03 1.53301238e-03 4.53270715e+01] [ 4.82008628e-03 9.99988373e-01 -1.45105800e-04 -3.74767307e+00] [-1.53229517e-03 1.52493196e-04 9.99998814e-01 -2.29826873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.241346183999994 meters 0.09964631460622198 Centerline is valid? [True, True] Translation: X:45.36, Y:-3.75, Z:-2.30 [[ 9.99987686e-01 -4.85083073e-03 1.04782115e-03 4.53594858e+01] [ 4.85093685e-03 9.99988229e-01 -9.87562929e-05 -3.75002709e+00] [-1.04732977e-03 1.03837991e-04 9.99999446e-01 -2.29919801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.271346183999995 meters 0.10005392305319946 Centerline is valid? [True, False] Translation: X:45.36, Y:-3.75, Z:-2.30 [[ 9.99989950e-01 -4.39127271e-03 9.03604620e-04 4.53605916e+01] [ 4.39078587e-03 9.99990215e-01 5.40053318e-04 -3.75066754e+00] [-9.05967300e-04 -5.36080356e-04 9.99999446e-01 -2.30045294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301346183999996 meters 0.10177169043593792 Centerline is valid? [False, False] Translation: X:45.36, Y:-3.75, Z:-2.30 [[ 9.99993573e-01 -3.48958001e-03 8.23195018e-04 4.53622002e+01] [ 3.48792824e-03 9.99991918e-01 1.99951008e-03 -3.75338695e+00] [-8.30165815e-04 -1.99662598e-03 9.99997662e-01 -2.30284112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.331346184 meters 0.10365443353786218 Centerline is valid? [False, False] Translation: X:45.36, Y:-3.75, Z:-2.30 [[ 9.99994878e-01 -3.12860451e-03 6.74917394e-04 4.53632566e+01] [ 3.12694583e-03 9.99992123e-01 2.44481957e-03 -3.75356467e+00] [-6.82560951e-04 -2.44269662e-03 9.99996784e-01 -2.30399894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361346184 meters 0.104393837710402 Centerline is valid? [False, False] Translation: X:45.36, Y:-3.75, Z:-2.30 [[ 9.99994882e-01 -3.15846796e-03 5.10843153e-04 4.53639160e+01] [ 3.15732851e-03 9.99992560e-01 2.21616097e-03 -3.75213207e+00] [-5.17839025e-04 -2.21453673e-03 9.99997414e-01 -2.30442117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.391346184 meters 0.09628643484841423 Centerline is valid? [False, True] Translation: X:45.37, Y:-3.75, Z:-2.30 [[ 9.99994385e-01 -3.35064717e-03 -5.86383789e-05 4.53654561e+01] [ 3.35072456e-03 9.99993443e-01 1.37351737e-03 -3.74702158e+00] [ 5.40358223e-05 -1.37370614e-03 9.99999055e-01 -2.30483831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.421346183999994 meters 0.09924730358573 Centerline is valid? [True, True] Translation: X:45.40, Y:-3.75, Z:-2.31 [[ 9.99993934e-01 -3.48010133e-03 1.46179274e-04 4.53960648e+01] [ 3.48010338e-03 9.99993944e-01 -1.37190132e-05 -3.75229179e+00] [-1.46130645e-04 1.42276490e-05 9.99999989e-01 -2.30592260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.451346183999995 meters 0.0974333978546624 Centerline is valid? [True, True] Translation: X:45.43, Y:-3.75, Z:-2.31 [[ 9.99995154e-01 -2.76356651e-03 1.43341158e-03 4.54275220e+01] [ 2.76378082e-03 9.99996170e-01 -1.47552911e-04 -3.75347983e+00] [-1.43299832e-03 1.51513831e-04 9.99998962e-01 -2.30674301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.481346183999996 meters 0.10928706995996858 Centerline is valid? [True, False] Translation: X:45.43, Y:-3.75, Z:-2.31 [[ 9.99996415e-01 -2.30526517e-03 1.36220497e-03 4.54283496e+01] [ 2.30454055e-03 9.99997202e-01 5.33281012e-04 -3.75461881e+00] [-1.36343051e-03 -5.30139843e-04 9.99998930e-01 -2.30781742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.511346184 meters 0.09540705042911077 Centerline is valid? [False, True] Translation: X:45.43, Y:-3.75, Z:-2.31 [[ 9.99997584e-01 -2.02136406e-03 8.64112388e-04 4.54300748e+01] [ 2.02092892e-03 9.99997831e-01 5.04152080e-04 -3.75282363e+00] [-8.65129589e-04 -5.02404552e-04 9.99999500e-01 -2.30887530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.541346184 meters 0.09673834542241382 Centerline is valid? [True, True] Translation: X:45.46, Y:-3.75, Z:-2.31 [[ 9.99999467e-01 -9.30000753e-04 -4.49071409e-04 4.54609402e+01] [ 9.30022003e-04 9.99999566e-01 4.71117970e-05 -3.75450527e+00] [ 4.49027401e-04 -4.75294182e-05 9.99999898e-01 -2.30919971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.571346184 meters 0.09472826251473236 Centerline is valid? [True, True] Translation: X:45.49, Y:-3.75, Z:-2.31 [[ 9.99997356e-01 1.55440102e-04 -2.29447040e-03 4.54920141e+01] [-1.54898352e-04 9.99999960e-01 2.36287068e-04 -3.75161508e+00] [ 2.29450704e-03 -2.35931033e-04 9.99997340e-01 -2.30942130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601346184 meters 0.09843577159345075 Centerline is valid? [True, True] Translation: X:45.52, Y:-3.76, Z:-2.31 [[ 9.99989393e-01 1.54182853e-03 -4.34017811e-03 4.55197711e+01] [-1.53990962e-03 9.99998715e-01 4.45433825e-04 -3.75788004e+00] [ 4.34085932e-03 -4.38745618e-04 9.99990482e-01 -2.31300872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.631346183999995 meters 0.09790186411376971 Centerline is valid? [True, True] Translation: X:45.55, Y:-3.76, Z:-2.31 [[ 9.99989333e-01 1.53992812e-03 -4.35453999e-03 4.55487543e+01] [-1.53799959e-03 9.99998718e-01 4.46191978e-04 -3.76013034e+00] [ 4.35522151e-03 -4.39489938e-04 9.99990419e-01 -2.31453074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.661346183999996 meters 0.09813159189970166 Centerline is valid? [True, True] Translation: X:45.58, Y:-3.76, Z:-2.32 [[ 9.99991001e-01 5.28881327e-04 -4.20930567e-03 4.55780875e+01] [-5.27067736e-04 9.99999768e-01 4.31950251e-04 -3.76395829e+00] [ 4.20953314e-03 -4.29727775e-04 9.99991048e-01 -2.31536123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.691346184 meters 0.1015451623088102 Centerline is valid? [True, False] Translation: X:45.58, Y:-3.77, Z:-2.32 [[ 9.99991283e-01 1.10748754e-03 -4.02579829e-03 4.55786449e+01] [-1.10131488e-03 9.99998215e-01 1.53516916e-03 -3.76623961e+00] [ 4.02749129e-03 -1.53072211e-03 9.99990718e-01 -2.31684992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721346184 meters 0.10926750547969856 Centerline is valid? [False, False] Translation: X:45.58, Y:-3.77, Z:-2.32 [[ 9.99991088e-01 1.30954592e-03 -4.01357821e-03 4.55790192e+01] [-1.30198552e-03 9.99997374e-01 1.88574041e-03 -3.76672948e+00] [ 4.01603713e-03 -1.88049799e-03 9.99990168e-01 -2.31745249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.751346184 meters 0.10383159709412416 Centerline is valid? [False, False] Translation: X:45.58, Y:-3.77, Z:-2.32 [[ 9.99991560e-01 1.15769720e-03 -3.94207113e-03 4.55787533e+01] [-1.15104870e-03 9.99997912e-01 1.68840037e-03 -3.76634301e+00] [ 3.94401756e-03 -1.68384861e-03 9.99990805e-01 -2.31726024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781346184 meters 0.10332535274253105 Centerline is valid? [False, False] Translation: X:45.58, Y:-3.77, Z:-2.32 [[ 9.99992054e-01 1.21117048e-03 -3.79804918e-03 4.55787087e+01] [-1.20392363e-03 9.99997452e-01 1.90975189e-03 -3.76676832e+00] [ 3.80035254e-03 -1.90516415e-03 9.99990964e-01 -2.31760403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.811346183999994 meters 0.10744900784122592 Centerline is valid? [False, False] Translation: X:45.58, Y:-3.77, Z:-2.32 [[ 9.99992056e-01 1.23746475e-03 -3.78909162e-03 4.55785942e+01] [-1.22967076e-03 9.99997125e-01 2.05859407e-03 -3.76746464e+00] [ 3.79162817e-03 -2.05391838e-03 9.99990702e-01 -2.31749842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.841346183999995 meters 0.10241230260687362 Centerline is valid? [False, False] Translation: X:45.58, Y:-3.77, Z:-2.32 [[ 9.99992516e-01 1.20437320e-03 -3.67659890e-03 4.55782397e+01] [-1.19649307e-03 9.99996984e-01 2.14476867e-03 -3.76812136e+00] [ 3.67917091e-03 -2.14035360e-03 9.99990941e-01 -2.31734022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.871346184 meters 0.10608584407924855 Centerline is valid? [False, False] Translation: X:45.58, Y:-3.77, Z:-2.32 [[ 9.99992524e-01 9.10809801e-04 -3.75789546e-03 4.55780531e+01] [-9.04789695e-04 9.99998305e-01 1.60337770e-03 -3.76674020e+00] [ 3.75934947e-03 -1.59996560e-03 9.99991654e-01 -2.31673644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901346184 meters 0.09602196627370414 Centerline is valid? [False, True] Translation: X:45.58, Y:-3.77, Z:-2.32 [[ 9.99991668e-01 7.72423612e-04 -4.00836318e-03 4.55784631e+01] [-7.67707727e-04 9.99999012e-01 1.17791667e-03 -3.76518707e+00] [ 4.00926907e-03 -1.17482960e-03 9.99991273e-01 -2.31649310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.931346184 meters 0.10363343680697037 Centerline is valid? [True, False] Translation: X:45.58, Y:-3.76, Z:-2.32 [[ 9.99991212e-01 6.94721939e-04 -4.13437271e-03 4.55787329e+01] [-6.90836776e-04 9.99999319e-01 9.41076586e-04 -3.76427395e+00] [ 4.13502368e-03 -9.38212139e-04 9.99991011e-01 -2.31645530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961346184 meters 0.09782205111290444 Centerline is valid? [False, True] Translation: X:45.58, Y:-3.76, Z:-2.32 [[ 9.99990719e-01 9.02633154e-04 -4.21282805e-03 4.55792206e+01] [-8.97384396e-04 9.99998819e-01 1.24762303e-03 -3.76471853e+00] [ 4.21394922e-03 -1.24383092e-03 9.99990348e-01 -2.31697063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.991346183999994 meters 0.09800430926812563 Centerline is valid? [True, True] Translation: X:45.61, Y:-3.77, Z:-2.32 [[ 9.99975702e-01 2.77274625e-03 -6.39594186e-03 4.56083895e+01] [-2.76840504e-03 9.99995932e-01 6.87498653e-04 -3.77103474e+00] [ 6.39782210e-03 -6.69775391e-04 9.99979309e-01 -2.32239902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.021346183999995 meters 0.10255234925462958 Centerline is valid? [True, False] Translation: X:45.61, Y:-3.77, Z:-2.32 [[ 9.99973618e-01 3.28681812e-03 -6.47769674e-03 4.56095187e+01] [-3.27764317e-03 9.99993611e-01 1.42649899e-03 -3.77196255e+00] [ 6.48234399e-03 -1.40522978e-03 9.99978002e-01 -2.32386032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.051346183999996 meters 0.10076091392368765 Centerline is valid? [False, False] Translation: X:45.61, Y:-3.77, Z:-2.32 [[ 9.99972863e-01 3.29914289e-03 -6.58703577e-03 4.56098974e+01] [-3.29003437e-03 9.99993617e-01 1.39315343e-03 -3.77162197e+00] [ 6.59158993e-03 -1.37144405e-03 9.99977335e-01 -2.32411270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081346184 meters 0.10133383230114351 Centerline is valid? [False, False] Translation: X:45.61, Y:-3.77, Z:-2.32 [[ 9.99972196e-01 2.35399178e-03 -7.07568136e-03 4.56096394e+01] [-2.35810961e-03 9.99997055e-01 -5.73683147e-04 -3.76631196e+00] [ 7.07431007e-03 5.90352429e-04 9.99974802e-01 -2.32208218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.111346184 meters 0.0980847889909653 Centerline is valid? [False, True] Translation: X:45.61, Y:-3.76, Z:-2.32 [[ 9.99969474e-01 2.34535651e-03 -7.45325494e-03 4.56103318e+01] [-2.35182829e-03 9.99996865e-01 -8.59670121e-04 -3.76482511e+00] [ 7.45121534e-03 8.77172655e-04 9.99971855e-01 -2.32187467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141346184 meters 0.0938997356730939 Centerline is valid? [True, True] Translation: X:45.64, Y:-3.76, Z:-2.32 [[ 9.99978100e-01 2.71428403e-03 -6.03598294e-03 4.56394304e+01] [-2.71062442e-03 9.99996138e-01 6.14396810e-04 -3.76189703e+00] [ 6.03762728e-03 -5.98022072e-04 9.99981595e-01 -2.32097633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.171346183999994 meters 0.09805838680273242 Centerline is valid? [True, True] Translation: X:45.67, Y:-3.78, Z:-2.32 [[ 9.99987765e-01 2.35337618e-03 -4.35108169e-03 4.56660270e+01] [-2.35147626e-03 9.99997138e-01 4.41718309e-04 -3.77657608e+00] [ 4.35210877e-03 -4.31481439e-04 9.99990436e-01 -2.32436933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.201346183999995 meters 0.09814871589201019 Centerline is valid? [True, True] Translation: X:45.70, Y:-3.78, Z:-2.33 [[ 9.99983067e-01 1.24517018e-03 -5.68459923e-03 4.56952812e+01] [-1.24190099e-03 9.99999061e-01 5.78590706e-04 -3.78164078e+00] [ 5.68531434e-03 -5.71521200e-04 9.99983675e-01 -2.32626462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.231346183999996 meters 0.0975592640841084 Centerline is valid? [True, True] Translation: X:45.72, Y:-3.78, Z:-2.33 [[ 9.99977780e-01 -1.02031743e-04 -6.66555352e-03 4.57241743e+01] [ 1.06549253e-04 9.99999765e-01 6.77388078e-04 -3.78313490e+00] [ 6.66548284e-03 -6.78083236e-04 9.99977556e-01 -2.32663828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261346184 meters 0.09978964300091692 Centerline is valid? [True, True] Translation: X:45.75, Y:-3.79, Z:-2.33 [[ 9.99966268e-01 -9.77530402e-04 -8.15516001e-03 4.57524580e+01] [ 9.84323426e-04 9.99999172e-01 8.29000358e-04 -3.78749812e+00] [ 8.15434288e-03 -8.36999709e-04 9.99966402e-01 -2.32762388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.291346184 meters 0.10420608560668043 Centerline is valid? [True, False] Translation: X:45.75, Y:-3.79, Z:-2.33 [[ 9.99965488e-01 -1.09146319e-03 -8.23600074e-03 4.57531505e+01] [ 1.09596088e-03 9.99999253e-01 5.41607703e-04 -3.78556404e+00] [ 8.23540344e-03 -5.50615346e-04 9.99965937e-01 -2.32831177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321346184 meters 0.10038655480568309 Centerline is valid? [False, False] Translation: X:45.75, Y:-3.79, Z:-2.33 [[ 9.99965794e-01 -6.58942901e-04 -8.24483000e-03 4.57537693e+01] [ 6.69017302e-04 9.99999033e-01 1.21920685e-03 -3.78687106e+00] [ 8.24401864e-03 -1.22468107e-03 9.99965268e-01 -2.32920053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.351346184 meters 0.10697244888397249 Centerline is valid? [False, False] Translation: X:45.75, Y:-3.79, Z:-2.33 [[ 9.99968616e-01 -5.11786628e-04 -7.90604893e-03 4.57532014e+01] [ 5.25525203e-04 9.99998355e-01 1.73574993e-03 -3.78878164e+00] [ 7.90514759e-03 -1.73985028e-03 9.99967240e-01 -2.32941635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.381346183999995 meters 0.10224133711590937 Centerline is valid? [False, False] Translation: X:45.75, Y:-3.79, Z:-2.33 [[ 9.99974204e-01 -9.91028535e-04 -7.11397096e-03 4.57507276e+01] [ 1.00363630e-03 9.99997932e-01 1.76890259e-03 -3.79163529e+00] [ 7.11220321e-03 -1.77599680e-03 9.99973131e-01 -2.32815265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.411346183999996 meters 0.10642875044876693 Centerline is valid? [False, False] Translation: X:45.75, Y:-3.79, Z:-2.33 [[ 9.99974192e-01 -7.97857486e-04 -7.13993054e-03 4.57510438e+01] [ 8.12999492e-04 9.99997426e-01 2.11809863e-03 -3.79216393e+00] [ 7.13822222e-03 -2.12384873e-03 9.99972267e-01 -2.32849947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441346184 meters 0.10481390915483267 Centerline is valid? [False, False] Translation: X:45.75, Y:-3.79, Z:-2.33 [[ 9.99973282e-01 -1.00474261e-03 -7.24055775e-03 4.57511337e+01] [ 1.01771647e-03 9.99997883e-01 1.78836928e-03 -3.79083344e+00] [ 7.23874557e-03 -1.79569033e-03 9.99972188e-01 -2.32821792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.471346184 meters 0.11561731604749055 Centerline is valid? [False, False] Translation: X:45.75, Y:-3.79, Z:-2.33 [[ 9.99973445e-01 -1.21619189e-03 -7.18540021e-03 4.57509069e+01] [ 1.22692248e-03 9.99998139e-01 1.48916866e-03 -3.79012707e+00] [ 7.18357572e-03 -1.49794504e-03 9.99973076e-01 -2.32803189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501346184 meters 0.10613617729585283 Centerline is valid? [False, False] Translation: X:45.75, Y:-3.79, Z:-2.33 [[ 9.99974298e-01 -1.19778358e-03 -7.06879476e-03 4.57507885e+01] [ 1.20904097e-03 9.99998007e-01 1.58848976e-03 -3.79050746e+00] [ 7.06687801e-03 -1.59699540e-03 9.99973754e-01 -2.32822056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.531346184 meters 0.11526606387158805 Centerline is valid? [False, False] Translation: X:45.75, Y:-3.79, Z:-2.33 [[ 9.99958512e-01 -4.77908871e-03 -7.75465196e-03 4.57530865e+01] [ 4.76316364e-03 9.99986512e-01 -2.07078703e-03 -3.79054927e+00] [ 7.76444384e-03 2.03376444e-03 9.99967788e-01 -2.32949408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.561346183999994 meters 0.11720349858264797 Centerline is valid? [False, False] Translation: X:45.75, Y:-3.79, Z:-2.33 [[ 9.99963126e-01 -3.91358604e-03 -7.64393949e-03 4.57542034e+01] [ 3.90885822e-03 9.99992160e-01 -6.33347841e-04 -3.79344983e+00] [ 7.64635822e-03 6.03445411e-04 9.99970584e-01 -2.33158688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.591346183999995 meters 0.10853065698603578 Centerline is valid? [False, False] Translation: X:45.75, Y:-3.79, Z:-2.33 [[ 9.99962236e-01 -3.79514739e-03 -7.81808598e-03 4.57549279e+01] [ 3.79080798e-03 9.99992653e-01 -5.69791245e-04 -3.79290047e+00] [ 7.82019098e-03 5.40132865e-04 9.99969276e-01 -2.33209154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621346184 meters 0.11054768720979817 Centerline is valid? [False, False] Translation: X:45.76, Y:-3.79, Z:-2.33 [[ 9.99960397e-01 -3.75359170e-03 -8.06937241e-03 4.57557244e+01] [ 3.74795593e-03 9.99992722e-01 -7.13422973e-04 -3.79167428e+00] [ 8.07199158e-03 6.83151068e-04 9.99967188e-01 -2.33242912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.651346184 meters 0.11188164858860894 Centerline is valid? [False, False] Translation: X:45.76, Y:-3.79, Z:-2.33 [[ 9.99960267e-01 -3.44720283e-03 -8.22075287e-03 4.57563460e+01] [ 3.44501617e-03 9.99994027e-01 -2.80138989e-04 -3.79217608e+00] [ 8.22166946e-03 2.51807232e-04 9.99966170e-01 -2.33286366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681346184 meters 0.11232892939776394 Centerline is valid? [False, False] Translation: X:45.76, Y:-3.79, Z:-2.33 [[ 9.99962994e-01 -3.10655864e-03 -8.02242478e-03 4.57562469e+01] [ 3.11039148e-03 9.99995054e-01 4.65333434e-04 -3.79440695e+00] [ 8.02093951e-03 -4.90269096e-04 9.99967712e-01 -2.33339223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.711346184 meters 0.1138482199232558 Centerline is valid? [False, False] Translation: X:45.76, Y:-3.80, Z:-2.33 [[ 9.99965338e-01 -2.84212853e-03 -7.82592762e-03 4.57560404e+01] [ 2.85055705e-03 9.99995369e-01 1.06605664e-03 -3.79637936e+00] [ 7.82286151e-03 -1.08832795e-03 9.99968809e-01 -2.33375578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.741346183999994 meters 0.10950871502741595 Centerline is valid? [False, False] Translation: X:45.76, Y:-3.80, Z:-2.33 [[ 9.99964868e-01 -2.24807558e-03 -8.07523914e-03 4.57572057e+01] [ 2.26336605e-03 9.99995662e-01 1.88486034e-03 -3.79781530e+00] [ 8.07096680e-03 -1.90307135e-03 9.99965618e-01 -2.33473627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.771346183999995 meters 0.10976953881777103 Centerline is valid? [False, False] Translation: X:45.76, Y:-3.80, Z:-2.33 [[ 9.99962918e-01 -2.28674560e-03 -8.30258064e-03 4.57577721e+01] [ 2.30050183e-03 9.99995996e-01 1.64769057e-03 -3.79666990e+00] [ 8.29877955e-03 -1.66672957e-03 9.99964175e-01 -2.33482880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801346183999996 meters 0.10838198813332182 Centerline is valid? [False, False] Translation: X:45.76, Y:-3.80, Z:-2.33 [[ 9.99960504e-01 -2.32420594e-03 -8.57833565e-03 4.57584955e+01] [ 2.33600235e-03 9.99996339e-01 1.36537657e-03 -3.79508406e+00] [ 8.57513083e-03 -1.38536166e-03 9.99962273e-01 -2.33499284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.831346184 meters 0.11347673664607427 Centerline is valid? [False, False] Translation: X:45.76, Y:-3.79, Z:-2.34 [[ 9.99958214e-01 -2.29512809e-03 -8.84890816e-03 4.57593146e+01] [ 2.30539611e-03 9.99996681e-01 1.15034575e-03 -3.79359566e+00] [ 8.84623860e-03 -1.17069792e-03 9.99960186e-01 -2.33531251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861346184 meters 0.100092059688909 Centerline is valid? [False, False] Translation: X:45.76, Y:-3.80, Z:-2.34 [[ 9.99958776e-01 -1.82983279e-03 -8.89375710e-03 4.57597934e+01] [ 1.84667026e-03 9.99996518e-01 1.88533504e-03 -3.79542471e+00] [ 8.89027628e-03 -1.90168116e-03 9.99958672e-01 -2.33599497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.891346184 meters 0.09990562516575709 Centerline is valid? [False, True] Translation: X:45.76, Y:-3.80, Z:-2.34 [[ 9.99960707e-01 -1.43199876e-03 -8.74833304e-03 4.57598642e+01] [ 1.45533652e-03 9.99995398e-01 2.66189774e-03 -3.79781324e+00] [ 8.74448095e-03 -2.67452492e-03 9.99958190e-01 -2.33664811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.921346183999994 meters 0.10460561083937381 Centerline is valid? [True, False] Translation: X:45.76, Y:-3.80, Z:-2.34 [[ 9.99962510e-01 -1.08764489e-03 -8.59040765e-03 4.57599283e+01] [ 1.11648306e-03 9.99993756e-01 3.35293781e-03 -3.79968496e+00] [ 8.58670721e-03 -3.36240315e-03 9.99957480e-01 -2.33727791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.951346183999995 meters 0.09985415834737506 Centerline is valid? [False, True] Translation: X:45.76, Y:-3.80, Z:-2.34 [[ 9.99963039e-01 -1.31465482e-03 -8.49659089e-03 4.57593846e+01] [ 1.34090121e-03 9.99994345e-01 3.08409043e-03 -3.79955350e+00] [ 8.49248833e-03 -3.09536952e-03 9.99959147e-01 -2.33675316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981346183999996 meters 0.09651392336681981 Centerline is valid? [True, True] Translation: X:45.79, Y:-3.79, Z:-2.33 [[ 9.99956543e-01 -1.31734544e-03 -9.22912834e-03 4.57891240e+01] [ 1.32631467e-03 9.99998654e-01 9.65786236e-04 -3.79254581e+00] [ 9.22784365e-03 -9.77984994e-04 9.99956944e-01 -2.33249315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.011346184 meters 0.09651392336681981 Centerline is valid? [True, True] Translation: X:45.82, Y:-3.80, Z:-2.33 [[ 9.99956110e-01 -1.60935876e-03 -9.22978988e-03 4.58165182e+01] [ 1.61828257e-03 9.99998230e-01 9.59461893e-04 -3.79524290e+00] [ 9.22822943e-03 -9.74356190e-04 9.99956944e-01 -2.33295219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.041346184 meters 0.1039486820130374 Centerline is valid? [True, False] Translation: X:45.82, Y:-3.79, Z:-2.33 [[ 9.99954607e-01 -1.54545440e-03 -9.40193627e-03 4.58171665e+01] [ 1.55428815e-03 9.99998357e-01 9.32332529e-04 -3.79450487e+00] [ 9.40047995e-03 -9.46903526e-04 9.99955366e-01 -2.33336760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.071346184 meters 0.09983293076771117 Centerline is valid? [False, True] Translation: X:45.82, Y:-3.80, Z:-2.33 [[ 9.99954852e-01 -1.35472626e-03 -9.40525628e-03 4.58174954e+01] [ 1.36628654e-03 9.99998319e-01 1.22281268e-03 -3.79517917e+00] [ 9.40358389e-03 -1.23560775e-03 9.99955022e-01 -2.33388860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.101346184 meters 0.10816865641998862 Centerline is valid? [True, False] Translation: X:45.82, Y:-3.80, Z:-2.34 [[ 9.99957375e-01 -6.05254880e-04 -9.21314224e-03 4.58180910e+01] [ 6.29055067e-04 9.99996472e-01 2.58060805e-03 -3.79896457e+00] [ 9.21154782e-03 -2.58629362e-03 9.99954228e-01 -2.33548115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.131346183999995 meters 0.1048440703620869 Centerline is valid? [False, False] Translation: X:45.82, Y:-3.80, Z:-2.34 [[ 9.99957704e-01 -6.25707122e-04 -9.17600312e-03 4.58179394e+01] [ 6.49778100e-04 9.99996355e-01 2.62050646e-03 -3.79936891e+00] [ 9.17433001e-03 -2.62635799e-03 9.99954466e-01 -2.33542277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.161346183999996 meters 0.100129849005624 Centerline is valid? [False, False] Translation: X:45.82, Y:-3.80, Z:-2.34 [[ 9.99956477e-01 -3.75459097e-04 -9.32213183e-03 4.58187548e+01] [ 4.02762650e-04 9.99995635e-01 2.92719129e-03 -3.79931304e+00] [ 9.32099209e-03 -2.93081850e-03 9.99952264e-01 -2.33616186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.191346184 meters 0.1099891318769504 Centerline is valid? [False, False] Translation: X:45.82, Y:-3.80, Z:-2.34 [[ 9.99956389e-01 -6.94064659e-04 -9.31329054e-03 4.58184283e+01] [ 7.16734698e-04 9.99996788e-01 2.43104317e-03 -3.79821256e+00] [ 9.31157333e-03 -2.43761231e-03 9.99953675e-01 -2.33566559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.221346184 meters 0.09593574708699741 Centerline is valid? [False, True] Translation: X:45.82, Y:-3.80, Z:-2.33 [[ 9.99957090e-01 -1.16712739e-03 -9.18996865e-03 4.58174821e+01] [ 1.18345142e-03 9.99997731e-01 1.77104943e-03 -3.79702660e+00] [ 9.18788076e-03 -1.78184932e-03 9.99956203e-01 -2.33456974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.251346184 meters 0.09685235168885817 Centerline is valid? [True, True] Translation: X:45.85, Y:-3.80, Z:-2.33 [[ 9.99977581e-01 -1.05065898e-03 -6.61311869e-03 4.58457271e+01] [ 1.05516445e-03 9.99999214e-01 6.77842036e-04 -3.80153657e+00] [ 6.61240131e-03 -6.84804767e-04 9.99977903e-01 -2.33382758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.281346184 meters 0.09538154627167358 Centerline is valid? [True, True] Translation: X:45.87, Y:-3.80, Z:-2.33 [[ 9.99980010e-01 -1.63808077e-03 -6.10711230e-03 4.58746340e+01] [ 1.64193045e-03 9.99998456e-01 6.25398863e-04 -3.80362679e+00] [ 6.10607842e-03 -6.35413815e-04 9.99981156e-01 -2.33386428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.311346183999994 meters 0.10425301379592569 Centerline is valid? [True, False] Translation: X:45.87, Y:-3.81, Z:-2.34 [[ 9.99982789e-01 -1.12511338e-03 -5.75803171e-03 4.58746666e+01] [ 1.13551232e-03 9.99997730e-01 1.80303737e-03 -3.80666245e+00] [ 5.75599001e-03 -1.80954465e-03 9.99981797e-01 -2.33504160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.341346183999995 meters 0.10704190518850856 Centerline is valid? [False, False] Translation: X:45.87, Y:-3.81, Z:-2.33 [[ 9.99983007e-01 -1.34174149e-03 -5.67316389e-03 4.58742648e+01] [ 1.35047479e-03 9.99997909e-01 1.53585473e-03 -3.80634145e+00] [ 5.67109130e-03 -1.54349010e-03 9.99982728e-01 -2.33467112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.371346184 meters 0.10206585147975725 Centerline is valid? [False, False] Translation: X:45.87, Y:-3.81, Z:-2.33 [[ 9.99982259e-01 -1.39163599e-03 -5.79186970e-03 4.58747517e+01] [ 1.39941006e-03 9.99998125e-01 1.33840253e-03 -3.80520987e+00] [ 5.78999627e-03 -1.34648399e-03 9.99982331e-01 -2.33497702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.401346184 meters 0.10523640239544547 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.80, Z:-2.34 [[ 9.99981184e-01 -1.15371012e-03 -6.02506959e-03 4.58758451e+01] [ 1.16282901e-03 9.99998184e-01 1.51020682e-03 -3.80450630e+00] [ 6.02331630e-03 -1.51718453e-03 9.99980709e-01 -2.33586767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.431346184 meters 0.1040038507738346 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.80, Z:-2.34 [[ 9.99981608e-01 -9.49089525e-04 -5.99031470e-03 4.58761901e+01] [ 9.60188437e-04 9.99997827e-01 1.85020564e-03 -3.80498063e+00] [ 5.98854567e-03 -1.85592344e-03 9.99980346e-01 -2.33648813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461346184 meters 0.10537557233692277 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.81, Z:-2.34 [[ 9.99982169e-01 -4.78117185e-04 -5.95248938e-03 4.58768703e+01] [ 4.93780802e-04 9.99996419e-01 2.63024825e-03 -3.80625114e+00] [ 5.95121050e-03 -2.63314058e-03 9.99978825e-01 -2.33766370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.491346183999994 meters 0.10794016239531812 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.81, Z:-2.34 [[ 9.99985363e-01 -5.57413003e-04 -5.38166119e-03 4.58755349e+01] [ 5.73968258e-04 9.99995107e-01 3.07518096e-03 -3.80942125e+00] [ 5.37992071e-03 -3.07822485e-03 9.99980790e-01 -2.33746676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.521346183999995 meters 0.10229074302178538 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.81, Z:-2.34 [[ 9.99986189e-01 -4.62722629e-04 -5.23525141e-03 4.58755239e+01] [ 4.80319459e-04 9.99994238e-01 3.36046173e-03 -3.81016427e+00] [ 5.23366629e-03 -3.36292991e-03 9.99980650e-01 -2.33794029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.551346183999996 meters 0.11251503519393868 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.81, Z:-2.34 [[ 9.99986131e-01 -4.52193331e-04 -5.24720793e-03 4.58758028e+01] [ 4.69761070e-04 9.99994288e-01 3.34726710e-03 -3.80970398e+00] [ 5.24566435e-03 -3.34968561e-03 9.99980631e-01 -2.33827923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581346184 meters 0.11729492653744392 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.81, Z:-2.34 [[ 9.99984685e-01 -1.02960720e-03 -5.43779010e-03 4.58757019e+01] [ 1.04175175e-03 9.99996969e-01 2.23100222e-03 -3.80622827e+00] [ 5.43547656e-03 -2.23663288e-03 9.99982726e-01 -2.33738903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.611346184 meters 0.10882066426427159 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.81, Z:-2.34 [[ 9.99983510e-01 -1.06233629e-03 -5.64363976e-03 4.58760745e+01] [ 1.07387874e-03 9.99997337e-01 2.04257768e-03 -3.80533092e+00] [ 5.64145483e-03 -2.04860459e-03 9.99981988e-01 -2.33724461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641346184 meters 0.10750078336256576 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.80, Z:-2.34 [[ 9.99983327e-01 -1.39494165e-03 -5.60352293e-03 4.58754473e+01] [ 1.40348294e-03 9.99997859e-01 1.52062918e-03 -3.80468121e+00] [ 5.60138974e-03 -1.52846827e-03 9.99983144e-01 -2.33638543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.671346183999994 meters 0.10408912185527053 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.81, Z:-2.34 [[ 9.99983442e-01 -1.15817603e-03 -5.63680974e-03 4.58759591e+01] [ 1.16831954e-03 9.99997704e-01 1.79655270e-03 -3.80521200e+00] [ 5.63471607e-03 -1.80310855e-03 9.99982499e-01 -2.33707642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.701346183999995 meters 0.1072502510875965 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.81, Z:-2.34 [[ 9.99982031e-01 -5.84159999e-04 -5.96635123e-03 4.58775242e+01] [ 5.98947823e-04 9.99996753e-01 2.47705138e-03 -3.80562727e+00] [ 5.96488486e-03 -2.48058040e-03 9.99979133e-01 -2.33842955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.731346183999996 meters 0.10512704226737432 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.80, Z:-2.34 [[ 9.99980971e-01 -7.90653929e-04 -6.11822317e-03 4.58776826e+01] [ 8.03062224e-04 9.99997625e-01 2.02589726e-03 -3.80442116e+00] [ 6.11660686e-03 -2.03077203e-03 9.99979231e-01 -2.33819445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761346184 meters 0.09637389964030874 Centerline is valid? [False, True] Translation: X:45.88, Y:-3.80, Z:-2.34 [[ 9.99979877e-01 -8.70855763e-04 -6.28380720e-03 4.58782471e+01] [ 8.81630823e-04 9.99998146e-01 1.71216815e-03 -3.80290134e+00] [ 6.28230450e-03 -1.71767370e-03 9.99978791e-01 -2.33848784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.791346184 meters 0.10564344633517507 Centerline is valid? [True, False] Translation: X:45.88, Y:-3.80, Z:-2.34 [[ 9.99975064e-01 -3.25648622e-04 -7.05445912e-03 4.58807980e+01] [ 3.38565960e-04 9.99998268e-01 1.82997150e-03 -3.80059228e+00] [ 7.05385098e-03 -1.83231427e-03 9.99973443e-01 -2.33999966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.821346184 meters 0.10947258031038813 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.80, Z:-2.34 [[ 9.99972503e-01 1.41939410e-04 -7.41442524e-03 4.58822395e+01] [-1.25019451e-04 9.99997387e-01 2.28244607e-03 -3.80057989e+00] [ 7.41472984e-03 -2.28145636e-03 9.99969908e-01 -2.34104243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.851346184 meters 0.09969475246777448 Centerline is valid? [False, True] Translation: X:45.88, Y:-3.80, Z:-2.34 [[ 9.99971768e-01 8.64752846e-05 -7.51376777e-03 4.58822837e+01] [-7.04298091e-05 9.99997717e-01 2.13571499e-03 -3.80044580e+00] [ 7.51393531e-03 -2.13512550e-03 9.99969491e-01 -2.34081794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.881346183999995 meters 0.10125552797077866 Centerline is valid? [True, False] Translation: X:45.88, Y:-3.80, Z:-2.34 [[ 9.99972613e-01 1.49746070e-04 -7.39942571e-03 4.58818925e+01] [-1.32172664e-04 9.99997170e-01 2.37540073e-03 -3.80177243e+00] [ 7.39976048e-03 -2.37435767e-03 9.99969803e-01 -2.34063081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.911346183999996 meters 0.09549220661014347 Centerline is valid? [False, True] Translation: X:45.88, Y:-3.80, Z:-2.34 [[ 9.99972532e-01 2.27760121e-04 -7.40827456e-03 4.58821110e+01] [-2.09411680e-04 9.99996909e-01 2.47743096e-03 -3.80170553e+00] [ 7.40881592e-03 -2.47581154e-03 9.99969489e-01 -2.34091585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.941346184 meters 0.11074134020805618 Centerline is valid? [True, False] Translation: X:45.88, Y:-3.80, Z:-2.34 [[ 9.99959271e-01 -3.35405929e-03 -8.37899592e-03 4.58849437e+01] [ 3.34161188e-03 9.99993293e-01 -1.49910812e-03 -3.79978144e+00] [ 8.38396782e-03 1.47104771e-03 9.99963772e-01 -2.34214131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.971346184 meters 0.1006140264012678 Centerline is valid? [False, False] Translation: X:45.88, Y:-3.80, Z:-2.34 [[ 9.99958365e-01 -3.59626259e-03 -8.38664110e-03 4.58845765e+01] [ 3.58080506e-03 9.99991864e-01 -1.85740127e-03 -3.79927523e+00] [ 8.39325257e-03 1.82729301e-03 9.99963106e-01 -2.34156375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.001346184 meters 0.09811605091303505 Centerline is valid? [False, True] Translation: X:45.89, Y:-3.80, Z:-2.34 [[ 9.99958964e-01 -3.11640692e-03 -8.50634948e-03 4.58853135e+01] [ 3.10739623e-03 9.99994597e-01 -1.07230140e-03 -3.80067513e+00] [ 8.50964525e-03 1.04582480e-03 9.99963245e-01 -2.34233545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.031346184 meters 0.10584064738195673 Centerline is valid? [True, False] Translation: X:45.89, Y:-3.80, Z:-2.34 [[ 9.99959607e-01 -2.56049543e-03 -8.61562318e-03 4.58862680e+01] [ 2.55893357e-03 9.99996707e-01 -1.92300449e-04 -3.80217717e+00] [ 8.61608720e-03 1.70245874e-04 9.99962866e-01 -2.34348393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.061346183999994 meters 0.10228474974728712 Centerline is valid? [False, False] Translation: X:45.89, Y:-3.80, Z:-2.34 [[ 9.99960783e-01 -2.03518566e-03 -8.61914081e-03 4.58870380e+01] [ 2.04117045e-03 9.99997682e-01 6.85621086e-04 -3.80378508e+00] [ 8.61772546e-03 -7.03187334e-04 9.99962619e-01 -2.34467674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.091346183999995 meters 0.10276394933106445 Centerline is valid? [False, False] Translation: X:45.89, Y:-3.81, Z:-2.35 [[ 9.99965073e-01 -1.77497974e-03 -8.16710416e-03 4.58865032e+01] [ 1.78803257e-03 9.99997136e-01 1.59119584e-03 -3.80661120e+00] [ 8.16425643e-03 -1.60574331e-03 9.99965383e-01 -2.34532594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.121346184 meters 0.10565362201930076 Centerline is valid? [False, False] Translation: X:45.89, Y:-3.81, Z:-2.35 [[ 9.99967194e-01 -1.52285143e-03 -7.95564198e-03 4.58863236e+01] [ 1.54048114e-03 9.99996371e-01 2.21034394e-03 -3.80847646e+00] [ 7.95224708e-03 -2.22252694e-03 9.99965910e-01 -2.34571670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.151346184 meters 0.10647696307449747 Centerline is valid? [False, False] Translation: X:45.89, Y:-3.81, Z:-2.35 [[ 9.99969819e-01 -1.63939225e-03 -7.59426690e-03 4.58852571e+01] [ 1.65770254e-03 9.99995733e-01 2.40540138e-03 -3.81007044e+00] [ 7.59029110e-03 -2.41791782e-03 9.99968270e-01 -2.34519827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.181346184 meters 0.10671502996371053 Centerline is valid? [False, False] Translation: X:45.89, Y:-3.81, Z:-2.35 [[ 9.99968204e-01 -1.36882066e-03 -7.85603104e-03 4.58861987e+01] [ 1.39003459e-03 9.99995401e-01 2.69551206e-03 -3.80996836e+00] [ 7.85230524e-03 -2.70634650e-03 9.99965508e-01 -2.34578750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.211346184 meters 0.10426781749357239 Centerline is valid? [False, False] Translation: X:45.89, Y:-3.81, Z:-2.35 [[ 9.99967094e-01 -1.74361706e-03 -7.92279694e-03 4.58859043e+01] [ 1.75985273e-03 9.99996365e-01 2.04272543e-03 -3.80852408e+00] [ 7.91920641e-03 -2.05660117e-03 9.99966528e-01 -2.34508439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.241346183999994 meters 0.1039668938630335 Centerline is valid? [False, False] Translation: X:45.89, Y:-3.81, Z:-2.35 [[ 9.99964845e-01 -1.51915488e-03 -8.24629231e-03 4.58868468e+01] [ 1.53714693e-03 9.99996451e-01 2.17593578e-03 -3.80791067e+00] [ 8.24295746e-03 -2.18853504e-03 9.99963631e-01 -2.34548623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.271346183999995 meters 0.11349084739185812 Centerline is valid? [False, False] Translation: X:45.89, Y:-3.81, Z:-2.35 [[ 9.99965271e-01 -1.43228315e-03 -8.21007805e-03 4.58867945e+01] [ 1.45196631e-03 9.99996085e-01 2.39198009e-03 -3.80874924e+00] [ 8.20661992e-03 -2.40381778e-03 9.99963436e-01 -2.34556732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301346183999996 meters 0.10670229147670549 Centerline is valid? [False, False] Translation: X:45.89, Y:-3.81, Z:-2.35 [[ 9.99966077e-01 -1.15816481e-03 -8.15495930e-03 4.58868610e+01] [ 1.18228965e-03 9.99994938e-01 2.95410388e-03 -3.81053625e+00] [ 8.15149668e-03 -2.96364519e-03 9.99962384e-01 -2.34593272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.331346184 meters 0.09830035208525593 Centerline is valid? [False, True] Translation: X:45.89, Y:-3.81, Z:-2.35 [[ 9.99949860e-01 -4.61702142e-03 -8.88596781e-03 4.58892803e+01] [ 4.61286216e-03 9.99989241e-01 -4.88508979e-04 -3.81100644e+00] [ 8.88812766e-03 4.47494741e-04 9.99960400e-01 -2.34735324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361346184 meters 0.10338533381336351 Centerline is valid? [True, False] Translation: X:45.89, Y:-3.81, Z:-2.35 [[ 9.99948286e-01 -4.39448717e-03 -9.17135772e-03 4.58902761e+01] [ 4.39160142e-03 9.99990301e-01 -3.34763400e-04 -3.81041064e+00] [ 9.17273988e-03 2.94469141e-04 9.99957886e-01 -2.34794861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.391346184 meters 0.09878501461478849 Centerline is valid? [False, True] Translation: X:45.89, Y:-3.81, Z:-2.35 [[ 9.99960457e-01 -3.03749067e-04 -8.88777836e-03 4.58894624e+01] [ 3.37737486e-04 9.99992636e-01 3.82292391e-03 -3.81060142e+00] [ 8.88655170e-03 -3.82577448e-03 9.99953195e-01 -2.34761732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.421346183999994 meters 0.09838623007644068 Centerline is valid? [True, True] Translation: X:45.92, Y:-3.81, Z:-2.35 [[ 9.99950114e-01 3.44756081e-04 -9.98255226e-03 4.59185921e+01] [-3.33959462e-04 9.99999358e-01 1.08319564e-03 -3.81032867e+00] [ 9.98291928e-03 -1.07980783e-03 9.99949586e-01 -2.34706478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.451346183999995 meters 0.09726689316745353 Centerline is valid? [True, True] Translation: X:45.95, Y:-3.81, Z:-2.35 [[ 9.99946954e-01 2.47366685e-03 -9.99846429e-03 4.59486934e+01] [-2.46293778e-03 9.99996378e-01 1.08524304e-03 -3.81293593e+00] [ 1.00011126e-02 -1.06055988e-03 9.99949425e-01 -2.34800909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481346183999996 meters 0.10076496049214884 Centerline is valid? [True, False] Translation: X:45.95, Y:-3.81, Z:-2.35 [[ 9.99946490e-01 2.38130023e-03 -1.00671410e-02 4.59485594e+01] [-2.37212044e-03 9.99996760e-01 9.23698241e-04 -3.81293170e+00] [ 1.00693080e-02 -8.99768343e-04 9.99948898e-01 -2.34764634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.511346184 meters 0.09226742413101194 Centerline is valid? [False, True] Translation: X:45.95, Y:-3.81, Z:-2.35 [[ 9.99944829e-01 2.61429368e-03 -1.01737613e-02 4.59490053e+01] [-2.60171550e-03 9.99995835e-01 1.24937410e-03 -3.81356370e+00] [ 1.01769852e-02 -1.22283593e-03 9.99947465e-01 -2.34800613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541346184 meters 0.09591533204214238 Centerline is valid? [True, True] Translation: X:45.98, Y:-3.82, Z:-2.35 [[ 9.99946539e-01 3.62062294e-03 -9.68552467e-03 4.59764548e+01] [-3.61094033e-03 9.99992963e-01 1.01700058e-03 -3.82333819e+00] [ 9.68913869e-03 -9.81972363e-04 9.99952577e-01 -2.34980328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.571346184 meters 0.09506736304694868 Centerline is valid? [True, True] Translation: X:46.01, Y:-3.82, Z:-2.35 [[ 9.99951471e-01 3.17256992e-03 -9.32690981e-03 4.60051048e+01] [-3.16357848e-03 9.99994517e-01 9.78627284e-04 -3.82487081e+00] [ 9.32996343e-03 -9.49073381e-04 9.99956025e-01 -2.34862615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60134618399999 meters 0.10075541064280169 Centerline is valid? [True, False] Translation: X:46.00, Y:-3.82, Z:-2.35 [[ 9.99953142e-01 2.89078287e-03 -9.23892984e-03 4.60046340e+01] [-2.88517413e-03 9.99995645e-01 6.20347077e-04 -3.82424563e+00] [ 9.24068290e-03 -5.93662087e-04 9.99957128e-01 -2.34814897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.631346183999995 meters 0.09417765494003655 Centerline is valid? [False, True] Translation: X:46.00, Y:-3.82, Z:-2.35 [[ 9.99954180e-01 2.57708445e-03 -9.21938991e-03 4.60040745e+01] [-2.57528321e-03 9.99996662e-01 2.07242078e-04 -3.82379840e+00] [ 9.21989322e-03 -1.83490042e-04 9.99957479e-01 -2.34734310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.661346183999996 meters 0.09910578904221803 Centerline is valid? [True, True] Translation: X:46.03, Y:-3.84, Z:-2.35 [[ 9.99941526e-01 6.22934122e-04 -1.07961802e-02 4.60317619e+01] [-6.10659127e-04 9.99999163e-01 1.14023494e-03 -3.83768636e+00] [ 1.07968814e-02 -1.13357548e-03 9.99941069e-01 -2.35151797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.691346184 meters 0.09710726713401992 Centerline is valid? [True, True] Translation: X:46.06, Y:-3.84, Z:-2.35 [[ 9.99944761e-01 -1.53435219e-05 -1.05106642e-02 4.60607738e+01] [ 2.69980374e-05 9.99999385e-01 1.10868669e-03 -3.84048896e+00] [ 1.05106408e-02 -1.10890922e-03 9.99944147e-01 -2.35221935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721346184 meters 0.10257388436793662 Centerline is valid? [True, False] Translation: X:46.06, Y:-3.84, Z:-2.35 [[ 9.99945821e-01 3.81972058e-04 -1.04024062e-02 4.60609613e+01] [-3.62037663e-04 9.99998095e-01 1.91814100e-03 -3.84258536e+00] [ 1.04031191e-02 -1.91427101e-03 9.99944054e-01 -2.35291730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.751346184 meters 0.10452259152248328 Centerline is valid? [False, False] Translation: X:46.06, Y:-3.84, Z:-2.35 [[ 9.99947907e-01 2.31097376e-04 -1.02043668e-02 4.60604242e+01] [-2.11452112e-04 9.99998122e-01 1.92621897e-03 -3.84296434e+00] [ 1.02047928e-02 -1.92396089e-03 9.99946079e-01 -2.35269476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781346184 meters 0.1046811865828555 Centerline is valid? [False, False] Translation: X:46.06, Y:-3.84, Z:-2.35 [[ 9.99947260e-01 1.57583016e-04 -1.02690006e-02 4.60605963e+01] [-1.39428349e-04 9.99998426e-01 1.76860178e-03 -3.84231219e+00] [ 1.02692632e-02 -1.76707671e-03 9.99945708e-01 -2.35269974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.811346183999994 meters 0.11122546454641494 Centerline is valid? [False, False] Translation: X:46.06, Y:-3.84, Z:-2.35 [[ 9.99945926e-01 2.59626892e-04 -1.03960237e-02 4.60610355e+01] [-2.40259777e-04 9.99998234e-01 1.86414047e-03 -3.84209879e+00] [ 1.03964893e-02 -1.86154193e-03 9.99944222e-01 -2.35293221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.841346183999995 meters 0.10415046132196536 Centerline is valid? [False, False] Translation: X:46.06, Y:-3.84, Z:-2.35 [[ 9.99944911e-01 5.79022210e-05 -1.04962400e-02 4.60609293e+01] [-4.20631531e-05 9.99998860e-01 1.50923751e-03 -3.84145355e+00] [ 1.04963154e-02 -1.50871286e-03 9.99943774e-01 -2.35246113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.871346184 meters 0.10432560530935524 Centerline is valid? [False, False] Translation: X:46.06, Y:-3.84, Z:-2.35 [[ 9.99941451e-01 8.08580957e-04 -1.07907402e-02 4.60623184e+01] [-7.81337661e-04 9.99996498e-01 2.52866892e-03 -3.84309410e+00] [ 1.07927471e-02 -2.52008965e-03 9.99938581e-01 -2.35373232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901346184 meters 0.10432560530935524 Centerline is valid? [False, False] Translation: X:46.06, Y:-3.84, Z:-2.35 [[ 9.99941451e-01 8.08580957e-04 -1.07907402e-02 4.60623184e+01] [-7.81337661e-04 9.99996498e-01 2.52866892e-03 -3.84309410e+00] [ 1.07927471e-02 -2.52008965e-03 9.99938581e-01 -2.35373232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.931346184 meters 0.10066809746938633 Centerline is valid? [False, False] Translation: X:46.06, Y:-3.84, Z:-2.35 [[ 9.99939990e-01 1.23620811e-03 -1.08852514e-02 4.60630852e+01] [-1.20166105e-03 9.99994223e-01 3.17971827e-03 -3.84428189e+00] [ 1.08891193e-02 -3.16644707e-03 9.99935698e-01 -2.35465424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961346184 meters 0.10048250887435531 Centerline is valid? [False, False] Translation: X:46.06, Y:-3.84, Z:-2.35 [[ 9.99939402e-01 1.16135222e-03 -1.09473307e-02 4.60630655e+01] [-1.12757029e-03 9.99994586e-01 3.09152729e-03 -3.84433067e+00] [ 1.09508618e-02 -3.07899606e-03 9.99935297e-01 -2.35449254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.991346183999994 meters 0.08838907795475726 Centerline is valid? [False, True] Translation: X:46.06, Y:-3.84, Z:-2.35 [[ 9.99935019e-01 7.39916941e-04 -1.13758602e-02 4.60631851e+01] [-7.23118731e-04 9.99998642e-01 1.48069625e-03 -3.83949601e+00] [ 1.13769404e-02 -1.47237393e-03 9.99934197e-01 -2.35314727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.021346183999995 meters 0.08803470401568969 Centerline is valid? [True, True] Translation: X:46.09, Y:-3.84, Z:-2.35 [[ 9.99914994e-01 5.44190304e-03 -1.18486867e-02 4.60922089e+01] [-5.42929499e-03 9.99984661e-01 1.09599450e-03 -3.83763331e+00] [ 1.18544692e-02 -1.03157132e-03 9.99929201e-01 -2.35304284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.051346183999996 meters 0.08784677733098702 Centerline is valid? [True, True] Translation: X:46.12, Y:-3.84, Z:-2.35 [[ 9.99870792e-01 1.06338055e-02 -1.20549741e-02 4.61214487e+01] [-1.06211306e-02 9.99942973e-01 1.11496056e-03 -3.83660889e+00] [ 1.20661429e-02 -9.86779041e-04 9.99926715e-01 -2.35372986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081346184 meters 0.08277779996089997 Centerline is valid? [True, True] Translation: X:46.15, Y:-3.83, Z:-2.35 [[ 9.99828738e-01 1.55774369e-02 -9.99189443e-03 4.61529600e+01] [-1.55689706e-02 9.99878369e-01 9.24543671e-04 -3.82905505e+00] [ 1.00050811e-02 -7.68821821e-04 9.99949652e-01 -2.35122484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.111346184 meters 0.08082498033030026 Centerline is valid? [True, True] Translation: X:46.18, Y:-3.83, Z:-2.35 [[ 9.99713564e-01 2.20230024e-02 -9.36897910e-03 4.61826143e+01] [-2.20158449e-02 9.99757246e-01 8.66423083e-04 -3.82932403e+00] [ 9.38578599e-03 -6.59908917e-04 9.99955735e-01 -2.35436258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141346184 meters 0.0797890234329357 Centerline is valid? [True, True] Translation: X:46.21, Y:-3.83, Z:-2.36 [[ 9.99662327e-01 2.37642102e-02 -1.05116653e-02 4.62115412e+01] [-2.37553589e-02 9.99717335e-01 9.66122214e-04 -3.83074024e+00] [ 1.05316532e-02 -7.16087598e-04 9.99944284e-01 -2.35663495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.171346183999994 meters 0.07857588604210466 Centerline is valid? [True, True] Translation: X:46.24, Y:-3.83, Z:-2.36 [[ 9.99563434e-01 2.64780672e-02 -1.31092904e-02 4.62410219e+01] [-2.64645619e-02 9.99649029e-01 1.20263966e-03 -3.82816495e+00] [ 1.31365330e-02 -8.55183004e-04 9.99913346e-01 -2.35844869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.201346183999995 meters 0.08010409155500793 Centerline is valid? [True, True] Translation: X:46.27, Y:-3.83, Z:-2.36 [[ 9.99555565e-01 2.72187014e-02 -1.21578823e-02 4.62689075e+01] [-2.72071282e-02 9.99629194e-01 1.11632367e-03 -3.83056619e+00] [ 1.21837590e-02 -7.85046478e-04 9.99925467e-01 -2.35828976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.231346183999996 meters 0.0760569159638625 Centerline is valid? [True, True] Translation: X:46.30, Y:-3.82, Z:-2.35 [[ 9.99569834e-01 2.71355653e-02 -1.11268679e-02 4.62990058e+01] [-2.71259263e-02 9.99631508e-01 1.01631686e-03 -3.82299338e+00] [ 1.11503460e-02 -7.14053079e-04 9.99937578e-01 -2.35286458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261346184 meters 0.07687984526359376 Centerline is valid? [True, True] Translation: X:46.33, Y:-3.83, Z:-2.35 [[ 9.99561584e-01 2.75802273e-02 -1.07689673e-02 4.63267956e+01] [-2.75712103e-02 9.99619357e-01 9.84910996e-04 -3.82717164e+00] [ 1.07920322e-02 -6.87565734e-04 9.99941528e-01 -2.35409777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.291346184 meters 0.08097569067788288 Centerline is valid? [True, True] Translation: X:46.35, Y:-3.84, Z:-2.36 [[ 9.99551577e-01 2.75952605e-02 -1.16252881e-02 4.63537954e+01] [-2.75847644e-02 9.99618904e-01 1.06228289e-03 -3.83934928e+00] [ 1.16501718e-02 -7.41125701e-04 9.99931860e-01 -2.36021906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321346184 meters 0.08208416007185694 Centerline is valid? [True, True] Translation: X:46.38, Y:-3.84, Z:-2.36 [[ 9.99572833e-01 2.67241427e-02 -1.18309237e-02 4.63813388e+01] [-2.67132360e-02 9.99642556e-01 1.07897615e-03 -3.84452811e+00] [ 1.18555295e-02 -7.62472991e-04 9.99929430e-01 -2.36310511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35134618399999 meters 0.0818846222637592 Centerline is valid? [True, True] Translation: X:46.41, Y:-3.85, Z:-2.36 [[ 9.99586830e-01 2.52032958e-02 -1.38189585e-02 4.64102751e+01] [-2.51882590e-02 9.99681930e-01 1.26112380e-03 -3.84545460e+00] [ 1.38463476e-02 -9.12527231e-04 9.99903718e-01 -2.36358576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.381346183999995 meters 0.0791193069135317 Centerline is valid? [True, True] Translation: X:46.44, Y:-3.84, Z:-2.36 [[ 9.99656051e-01 2.31646450e-02 -1.22954963e-02 4.64402150e+01] [-2.31525979e-02 9.99731314e-01 1.12126119e-03 -3.83858559e+00] [ 1.23181663e-02 -8.36202855e-04 9.99923779e-01 -2.35782408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.411346183999996 meters 0.08319116135207731 Centerline is valid? [True, True] Translation: X:46.47, Y:-3.85, Z:-2.36 [[ 9.99702643e-01 2.14027377e-02 -1.16854188e-02 4.64675721e+01] [-2.13917506e-02 9.99770604e-01 1.06443207e-03 -3.84776702e+00] [ 1.17055200e-02 -8.14143987e-04 9.99931157e-01 -2.35955589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441346184 meters 0.08270888023881141 Centerline is valid? [True, True] Translation: X:46.50, Y:-3.85, Z:-2.36 [[ 9.99737799e-01 2.03793559e-02 -1.04409835e-02 4.64966933e+01] [-2.03705378e-02 9.99792048e-01 9.50230697e-04 -3.85051400e+00] [ 1.04581774e-02 -7.37293097e-04 9.99945040e-01 -2.35838183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.471346184 meters 0.08125447048161438 Centerline is valid? [True, True] Translation: X:46.53, Y:-3.85, Z:-2.36 [[ 9.99762482e-01 1.97009111e-02 -9.31956458e-03 4.65255621e+01] [-1.96938639e-02 9.99805698e-01 8.47341897e-04 -3.85187164e+00] [ 9.33444718e-03 -6.63602401e-04 9.99956213e-01 -2.35768754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.501346184 meters 0.08100158883840176 Centerline is valid? [True, True] Translation: X:46.55, Y:-3.85, Z:-2.36 [[ 9.99768995e-01 1.92369809e-02 -9.58618542e-03 4.65547718e+01] [-1.92295101e-02 9.99814717e-01 8.70897738e-04 -3.85302295e+00] [ 9.60116270e-03 -6.86358907e-04 9.99953672e-01 -2.35725804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.531346184 meters 0.08272913495127487 Centerline is valid? [True, True] Translation: X:46.58, Y:-3.86, Z:-2.36 [[ 9.99747336e-01 2.01589786e-02 -9.94383363e-03 4.65822157e+01] [-2.01509969e-02 9.99796541e-01 9.02230198e-04 -3.85638096e+00] [ 9.95999851e-03 -7.01624076e-04 9.99950152e-01 -2.35892647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.561346183999994 meters 0.08171777841396152 Centerline is valid? [True, True] Translation: X:46.61, Y:-3.86, Z:-2.36 [[ 9.99712582e-01 2.13579917e-02 -1.08898541e-02 4.66114854e+01] [-2.13485405e-02 9.99771610e-01 9.83410480e-04 -3.85591344e+00] [ 1.09083707e-02 -7.50645339e-04 9.99940220e-01 -2.36076572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.591346183999995 meters 0.0812564425682816 Centerline is valid? [True, True] Translation: X:46.64, Y:-3.86, Z:-2.36 [[ 9.99623222e-01 2.43312973e-02 -1.27044387e-02 4.66409737e+01] [-2.43186307e-02 9.99703596e-01 1.15057536e-03 -3.85506745e+00] [ 1.27286680e-02 -8.41187292e-04 9.99918633e-01 -2.36402100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.621346184 meters 0.08097632810572443 Centerline is valid? [True, True] Translation: X:46.67, Y:-3.86, Z:-2.37 [[ 9.99587238e-01 2.51842836e-02 -1.38240992e-02 4.66696556e+01] [-2.51693878e-02 9.99682419e-01 1.25047580e-03 -3.85548581e+00] [ 1.38512013e-02 -9.02015537e-04 9.99903661e-01 -2.36544273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.651346184 meters 0.08051224863614923 Centerline is valid? [True, True] Translation: X:46.70, Y:-3.86, Z:-2.37 [[ 9.99534020e-01 2.68020435e-02 -1.46080154e-02 4.66986295e+01] [-2.67855966e-02 9.99640329e-01 1.32040912e-03 -3.85581598e+00] [ 1.46381510e-02 -9.28509424e-04 9.99892425e-01 -2.36665779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.681346184 meters 0.08027096186480348 Centerline is valid? [True, True] Translation: X:46.73, Y:-3.85, Z:-2.37 [[ 9.99501667e-01 2.85105791e-02 -1.35485975e-02 4.67273939e+01] [-2.84965947e-02 9.99593140e-01 1.22413949e-03 -3.85464419e+00] [ 1.35779860e-02 -8.37440573e-04 9.99907464e-01 -2.36540966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.711346184 meters 0.08038811325104826 Centerline is valid? [True, True] Translation: X:46.76, Y:-3.86, Z:-2.36 [[ 9.99541891e-01 2.84591421e-02 -1.02998230e-02 4.67564184e+01] [-2.84510700e-02 9.99594754e-01 9.29423252e-04 -3.85623055e+00] [ 1.03220996e-02 -6.35956489e-04 9.99946523e-01 -2.36293800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.741346183999994 meters 0.08086985110579553 Centerline is valid? [True, True] Translation: X:46.78, Y:-3.86, Z:-2.36 [[ 9.99597629e-01 2.70899240e-02 -8.40927299e-03 4.67846295e+01] [-2.70845139e-02 9.99632861e-01 7.56591520e-04 -3.85887514e+00] [ 8.42668162e-03 -5.28526019e-04 9.99964355e-01 -2.36052123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.771346183999995 meters 0.08344475176400014 Centerline is valid? [True, True] Translation: X:46.81, Y:-3.87, Z:-2.36 [[ 9.99668017e-01 2.46872363e-02 -7.37533904e-03 4.68124194e+01] [-2.46830102e-02 9.99695108e-01 6.63502306e-04 -3.86546847e+00] [ 7.38947039e-03 -4.81236466e-04 9.99972582e-01 -2.36114003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801346183999996 meters 0.08528189962381622 Centerline is valid? [True, True] Translation: X:46.84, Y:-3.87, Z:-2.36 [[ 9.99709754e-01 2.30912578e-02 -6.87037541e-03 4.68410323e+01] [-2.30875528e-02 9.99733256e-01 6.18104662e-04 -3.87046221e+00] [ 6.88281559e-03 -4.59305104e-04 9.99976208e-01 -2.36361995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.831346184 meters 0.08244481823734974 Centerline is valid? [True, True] Translation: X:46.87, Y:-3.87, Z:-2.36 [[ 9.99723002e-01 2.18659071e-02 -8.70641154e-03 4.68711694e+01] [-2.18599096e-02 9.99760737e-01 7.83437969e-04 -3.86674751e+00] [ 8.72145900e-03 -5.92899589e-04 9.99961792e-01 -2.36328482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861346184 meters 0.08326748187631156 Centerline is valid? [True, True] Translation: X:46.90, Y:-3.87, Z:-2.37 [[ 9.99716651e-01 1.98413671e-02 -1.31505501e-02 4.69012838e+01] [-1.98275009e-02 9.99802715e-01 1.18397071e-03 -3.86773495e+00] [ 1.31714473e-02 -9.22892689e-04 9.99912827e-01 -2.36686499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.891346184 meters 0.08350378097750617 Centerline is valid? [True, True] Translation: X:46.93, Y:-3.87, Z:-2.37 [[ 9.99713591e-01 1.87361260e-02 -1.48894086e-02 4.69303114e+01] [-1.87182505e-02 9.99823902e-01 1.33901610e-03 -3.86850208e+00] [ 1.49118746e-02 -1.05992891e-03 9.99888250e-01 -2.36926399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.921346183999994 meters 0.08699406113812148 Centerline is valid? [True, True] Translation: X:46.96, Y:-3.87, Z:-2.37 [[ 9.99706852e-01 1.80451209e-02 -1.61425938e-02 4.69583337e+01] [-1.80240322e-02 9.99836501e-01 1.45094204e-03 -3.87493105e+00] [ 1.61661369e-02 -1.15956207e-03 9.99868647e-01 -2.37339611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.951346183999995 meters 0.08128358716980194 Centerline is valid? [True, True] Translation: X:46.99, Y:-3.86, Z:-2.37 [[ 9.99794817e-01 1.50415601e-02 -1.35674477e-02 4.69888425e+01] [-1.50264016e-02 9.99886355e-01 1.21852085e-03 -3.86356007e+00] [ 1.35842343e-02 -1.01440091e-03 9.99907215e-01 -2.36551709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.981346183999996 meters 0.08826351190322528 Centerline is valid? [True, True] Translation: X:47.01, Y:-3.88, Z:-2.37 [[ 9.99844799e-01 1.35797477e-02 -1.12235590e-02 4.70149939e+01] [-1.35693088e-02 9.99907427e-01 1.00572277e-03 -3.87658258e+00] [ 1.12361775e-02 -8.53270748e-04 9.99936508e-01 -2.36696565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.011346184 meters 0.08743871809709948 Centerline is valid? [True, True] Translation: X:47.04, Y:-3.88, Z:-2.36 [[ 9.99900815e-01 1.16843049e-02 -7.86361409e-03 4.70436307e+01] [-1.16791258e-02 9.99931549e-01 7.04216250e-04 -3.87629478e+00] [ 7.87130410e-03 -6.12306264e-04 9.99968833e-01 -2.36302511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041346184 meters 0.08584960075156846 Centerline is valid? [True, True] Translation: X:47.07, Y:-3.87, Z:-2.36 [[ 9.99937446e-01 9.47329742e-03 -5.94641403e-03 4.70736242e+01] [-9.47029674e-03 9.99955014e-01 5.32575299e-04 -3.87477710e+00] [ 5.95119177e-03 -4.76227679e-04 9.99982178e-01 -2.36170269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.071346184 meters 0.08818934697761385 Centerline is valid? [True, True] Translation: X:47.10, Y:-3.88, Z:-2.37 [[ 9.99936898e-01 6.95218838e-03 -8.82428993e-03 4.71028074e+01] [-6.94547482e-03 9.99975567e-01 7.91221961e-04 -3.87839073e+00] [ 8.82957505e-03 -7.29883149e-04 9.99960752e-01 -2.36636753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10134618399999 meters 0.08961795971134472 Centerline is valid? [True, True] Translation: X:47.13, Y:-3.88, Z:-2.37 [[ 9.99910191e-01 5.91566486e-03 -1.20255751e-02 4.71327950e+01] [-5.90312823e-03 9.99981996e-01 1.07772602e-03 -3.88047250e+00] [ 1.20317340e-02 -1.00664072e-03 9.99927109e-01 -2.37005241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.131346183999995 meters 0.09160641367428858 Centerline is valid? [True, True] Translation: X:47.16, Y:-3.88, Z:-2.37 [[ 9.99901694e-01 4.92446108e-03 -1.31283280e-02 4.71622277e+01] [-4.90944426e-03 9.99987257e-01 1.17583110e-03 -3.88244160e+00] [ 1.31339510e-02 -1.11126271e-03 9.99913128e-01 -2.37223833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.161346183999996 meters 0.09277969456217317 Centerline is valid? [True, True] Translation: X:47.19, Y:-3.88, Z:-2.37 [[ 9.99899765e-01 5.09983624e-03 -1.32080353e-02 4.71907123e+01] [-5.08467836e-03 9.99986376e-01 1.18095283e-03 -3.87662301e+00] [ 1.32138781e-02 -1.11367584e-03 9.99912073e-01 -2.37016226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.191346184 meters 0.09444074603267028 Centerline is valid? [True, True] Translation: X:47.22, Y:-3.88, Z:-2.37 [[ 9.99907278e-01 6.38072139e-03 -1.20299970e-02 4.72194203e+01] [-6.36824095e-03 9.99979144e-01 1.07546495e-03 -3.87711645e+00] [ 1.20366083e-02 -9.98755309e-04 9.99927059e-01 -2.37037975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221346184 meters 0.08773473313050277 Centerline is valid? [True, True] Translation: X:47.25, Y:-3.87, Z:-2.37 [[ 9.99909470e-01 7.52114497e-03 -1.11572613e-02 4.72506525e+01] [-7.51047727e-03 9.99971298e-01 9.97714641e-04 -3.86556223e+00] [ 1.11644450e-02 -9.13827961e-04 9.99937258e-01 -2.36691783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.251346184 meters 0.09068957336511603 Centerline is valid? [True, True] Translation: X:47.28, Y:-3.87, Z:-2.37 [[ 9.99929426e-01 7.38151349e-03 -9.30893360e-03 4.72778614e+01] [-7.37410039e-03 9.99972466e-01 8.30414846e-04 -3.86977375e+00] [ 9.31480701e-03 -7.61711229e-04 9.99956326e-01 -2.36921448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.281346184 meters 0.09913601036723049 Centerline is valid? [True, True] Translation: X:47.31, Y:-3.88, Z:-2.37 [[ 9.99948852e-01 7.11699917e-03 -7.18619313e-03 4.73052788e+01] [-7.11257833e-03 9.99974500e-01 6.40555101e-04 -3.87955320e+00] [ 7.19056871e-03 -5.89409977e-04 9.99973974e-01 -2.37260913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.311346183999994 meters 0.09129364809967923 Centerline is valid? [True, True] Translation: X:47.34, Y:-3.86, Z:-2.37 [[ 9.99958781e-01 6.00238923e-03 -6.81231641e-03 4.73352486e+01] [-5.99840236e-03 9.99981826e-01 6.05524773e-04 -3.86346148e+00] [ 6.81582720e-03 -5.64636799e-04 9.99976613e-01 -2.36817150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.341346183999995 meters 0.09319464618260982 Centerline is valid? [True, True] Translation: X:47.36, Y:-3.86, Z:-2.37 [[ 9.99956312e-01 5.77685532e-03 -7.34858466e-03 4.73636382e+01] [-5.77220956e-03 9.99983127e-01 6.53249662e-04 -3.86259828e+00] [ 7.35223440e-03 -6.10803552e-04 9.99972785e-01 -2.36860200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.371346184 meters 0.09215528704329434 Centerline is valid? [True, True] Translation: X:47.39, Y:-3.86, Z:-2.37 [[ 9.99956612e-01 5.43462885e-03 -7.56563572e-03 4.73928265e+01] [-5.42969646e-03 9.99985033e-01 6.72333998e-04 -3.85813769e+00] [ 7.56917637e-03 -6.31225722e-04 9.99971154e-01 -2.36754546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401346184 meters 0.08959337022480868 Centerline is valid? [True, True] Translation: X:47.42, Y:-3.85, Z:-2.37 [[ 9.99956965e-01 5.21158312e-03 -7.67518885e-03 4.74227410e+01] [-5.20650464e-03 9.99986214e-01 6.81507014e-04 -3.85098380e+00] [ 7.67863477e-03 -6.41516779e-04 9.99970313e-01 -2.36766564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.431346184 meters 0.09560487680340182 Centerline is valid? [True, True] Translation: X:47.45, Y:-3.86, Z:-2.37 [[ 9.99962687e-01 4.18316484e-03 -7.55810476e-03 4.74498426e+01] [-4.17821817e-03 9.99991047e-01 6.70156573e-04 -3.86021661e+00] [ 7.56084046e-03 -6.38552158e-04 9.99971213e-01 -2.37108845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461346184 meters 0.09765880923610808 Centerline is valid? [True, True] Translation: X:47.48, Y:-3.86, Z:-2.37 [[ 9.99961373e-01 2.99965649e-03 -8.26157315e-03 4.74783579e+01] [-2.99370669e-03 9.99995251e-01 7.32449773e-04 -3.85588740e+00] [ 8.26373101e-03 -7.07688754e-04 9.99965604e-01 -2.37306156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.491346183999994 meters 0.09991474533390274 Centerline is valid? [True, True] Translation: X:47.51, Y:-3.86, Z:-2.37 [[ 9.99952975e-01 2.15165946e-03 -9.45609400e-03 4.75065095e+01] [-2.14383143e-03 9.99997351e-01 8.37887244e-04 -3.85626740e+00] [ 9.45787180e-03 -8.17575571e-04 9.99954939e-01 -2.37435219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.521346183999995 meters 0.09177736417832344 Centerline is valid? [True, True] Translation: X:47.54, Y:-3.84, Z:-2.37 [[ 9.99941610e-01 1.33320173e-03 -1.07238011e-02 4.75372482e+01] [-1.32308976e-03 9.99998673e-01 9.49985795e-04 -3.84134535e+00] [ 1.07250534e-02 -9.35741774e-04 9.99942047e-01 -2.37192535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.551346183999996 meters 0.10221870845704592 Centerline is valid? [True, False] Translation: X:47.54, Y:-3.84, Z:-2.37 [[ 9.99941569e-01 9.48098184e-04 -1.07684516e-02 4.75377434e+01] [-9.46711239e-04 9.99999543e-01 1.33893774e-04 -3.83777367e+00] [ 1.07685737e-02 -1.23691337e-04 9.99942010e-01 -2.37248620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581346184 meters 0.09270685719530951 Centerline is valid? [False, True] Translation: X:47.54, Y:-3.83, Z:-2.37 [[ 9.99936296e-01 4.78548367e-03 -1.02227030e-02 4.75379234e+01] [-4.74819101e-03 9.99981996e-01 3.66918429e-03 -3.83360492e+00] [ 1.02400777e-02 -3.62041120e-03 9.99941015e-01 -2.37432298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.611346184 meters 0.09355419759588988 Centerline is valid? [True, True] Translation: X:47.57, Y:-3.83, Z:-2.37 [[ 9.99946351e-01 5.63783650e-03 -8.68966135e-03 4.75672818e+01] [-5.63119088e-03 9.99983833e-01 7.89051287e-04 -3.83229661e+00] [ 8.69396941e-03 -7.40075813e-04 9.99961933e-01 -2.37243587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.641346184 meters 0.09375791832089596 Centerline is valid? [True, True] Translation: X:47.60, Y:-3.83, Z:-2.37 [[ 9.99955600e-01 5.81923251e-03 -7.41176619e-03 4.75965999e+01] [-5.81441099e-03 9.99982870e-01 6.71905143e-04 -3.83028080e+00] [ 7.41554920e-03 -6.28780256e-04 9.99972307e-01 -2.37086821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.671346183999994 meters 0.09374427147590034 Centerline is valid? [True, True] Translation: X:47.63, Y:-3.82, Z:-2.37 [[ 9.99962940e-01 6.89971245e-03 -5.14911570e-03 4.76274219e+01] [-6.89739947e-03 9.99976104e-01 4.66823161e-04 -3.82123881e+00] [ 5.15221360e-03 -4.31290352e-04 9.99986634e-01 -2.36728565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.701346183999995 meters 0.09390254763804606 Centerline is valid? [True, True] Translation: X:47.66, Y:-3.82, Z:-2.37 [[ 9.99955542e-01 7.43023960e-03 -5.80563727e-03 4.76566842e+01] [-7.42731298e-03 9.99972279e-01 5.25496142e-04 -3.81825074e+00] [ 5.80938089e-03 -4.82352495e-04 9.99983009e-01 -2.36811584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.731346183999996 meters 0.09411970648736596 Centerline is valid? [True, True] Translation: X:47.69, Y:-3.82, Z:-2.37 [[ 9.99943401e-01 7.73445708e-03 -7.30562972e-03 4.76856388e+01] [-7.72983240e-03 9.99969906e-01 6.61053388e-04 -3.81623325e+00] [ 7.31052275e-03 -6.04544680e-04 9.99973095e-01 -2.36970326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761346184 meters 0.09576681461045317 Centerline is valid? [True, True] Translation: X:47.71, Y:-3.81, Z:-2.37 [[ 9.99935824e-01 7.82849821e-03 -8.18921927e-03 4.77137711e+01] [-7.82269691e-03 9.99969128e-01 7.40199312e-04 -3.81367259e+00] [ 8.19476110e-03 -6.76090028e-04 9.99966194e-01 -2.37390986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.791346184 meters 0.09665778310979108 Centerline is valid? [True, True] Translation: X:47.74, Y:-3.81, Z:-2.37 [[ 9.99951614e-01 7.08390953e-03 -6.82553629e-03 4.77421632e+01] [-7.07986753e-03 9.99974748e-01 6.16168580e-04 -3.81268470e+00] [ 6.82972881e-03 -5.67814873e-04 9.99976516e-01 -2.37354589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.821346184 meters 0.09665778310979108 Centerline is valid? [True, True] Translation: X:47.77, Y:-3.82, Z:-2.37 [[ 9.99952301e-01 6.98611476e-03 -6.82561863e-03 4.77696013e+01] [-6.98207667e-03 9.99975436e-01 6.15257165e-04 -3.81503062e+00] [ 6.82974922e-03 -5.67570825e-04 9.99976516e-01 -2.37397584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85134618399999 meters 0.09685697446641975 Centerline is valid? [True, True] Translation: X:47.80, Y:-3.81, Z:-2.37 [[ 9.99956967e-01 6.78657764e-03 -6.32513297e-03 4.77976389e+01] [-6.78311068e-03 9.99976832e-01 5.69415663e-04 -3.81230352e+00] [ 6.32885081e-03 -5.26487082e-04 9.99979834e-01 -2.37380228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.881346183999995 meters 0.09744747979484707 Centerline is valid? [True, True] Translation: X:47.83, Y:-3.80, Z:-2.37 [[ 9.99946968e-01 7.82807980e-03 -6.69199812e-03 4.78263710e+01] [-7.82422343e-03 9.99969209e-01 6.02251346e-04 -3.80496572e+00] [ 6.69650654e-03 -5.49859719e-04 9.99977427e-01 -2.37428313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.911346183999996 meters 0.08956132443983039 Centerline is valid? [True, True] Translation: X:47.86, Y:-3.79, Z:-2.37 [[ 9.99926044e-01 9.74468370e-03 -7.27647639e-03 4.78574619e+01] [-9.74017044e-03 9.99952349e-01 6.55433371e-04 -3.79010050e+00] [ 7.28251665e-03 -5.84510778e-04 9.99973311e-01 -2.37265524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941346184 meters 0.09319784664369798 Centerline is valid? [True, True] Translation: X:47.89, Y:-3.79, Z:-2.38 [[ 9.99852962e-01 1.57409591e-02 -6.80276122e-03 4.78869345e+01] [-1.57371517e-02 9.99875976e-01 6.12848245e-04 -3.79336768e+00] [ 6.81156433e-03 -5.05702047e-04 9.99976673e-01 -2.37632400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.971346184 meters 0.08233639961908536 Centerline is valid? [True, True] Translation: X:47.92, Y:-3.77, Z:-2.37 [[ 9.99641432e-01 2.59727766e-02 -6.51327624e-03 4.79198113e+01] [-2.59695007e-02 9.99662563e-01 5.87042686e-04 -3.76835476e+00] [ 6.52632555e-03 -4.17685659e-04 9.99978616e-01 -2.37286177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001346184 meters 0.0811007318030285 Centerline is valid? [True, True] Translation: X:47.95, Y:-3.76, Z:-2.37 [[ 9.99552688e-01 2.92612925e-02 -6.18072118e-03 4.79505899e+01] [-2.92584074e-02 9.99571726e-01 5.56717201e-04 -3.76450243e+00] [ 6.19436440e-03 -3.75630117e-04 9.99980744e-01 -2.37352406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.031346184 meters 0.07792733711235608 Centerline is valid? [True, True] Translation: X:47.98, Y:-3.76, Z:-2.37 [[ 9.99509191e-01 3.04884014e-02 -7.19960851e-03 4.79801677e+01] [-3.04845569e-02 9.99535031e-01 6.43157660e-04 -3.75673735e+00] [ 7.21586976e-03 -4.23365117e-04 9.99973876e-01 -2.37248403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.061346183999994 meters 0.07947860482577729 Centerline is valid? [True, True] Translation: X:48.01, Y:-3.76, Z:-2.37 [[ 9.99445303e-01 3.26824240e-02 -6.39879665e-03 4.80093628e+01] [-3.26794149e-02 9.99465720e-01 5.74268238e-04 -3.75963764e+00] [ 6.41414639e-03 -3.64840763e-04 9.99979363e-01 -2.37467851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.091346183999995 meters 0.07465788982268774 Centerline is valid? [True, True] Translation: X:48.04, Y:-3.75, Z:-2.37 [[ 9.99248511e-01 3.84597559e-02 -4.82285437e-03 4.80411066e+01] [-3.84581124e-02 9.99260119e-01 4.33077128e-04 -3.74621430e+00] [ 4.83594207e-03 -2.47273800e-04 9.99988276e-01 -2.37233867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.121346184 meters 0.07444129000122542 Centerline is valid? [True, True] Translation: X:48.07, Y:-3.75, Z:-2.37 [[ 9.99159774e-01 4.06598125e-02 -5.15038047e-03 4.80691521e+01] [-4.06579760e-02 9.99173016e-01 4.60831620e-04 -3.74574433e+00] [ 5.16485851e-03 -2.51040372e-04 9.99986631e-01 -2.37400005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.151346184 meters 0.07379242496612337 Centerline is valid? [True, True] Translation: X:48.10, Y:-3.74, Z:-2.38 [[ 9.99042558e-01 4.34038633e-02 -5.48387008e-03 4.80984664e+01] [-4.34018185e-02 9.99057576e-01 4.91388342e-04 -3.74413201e+00] [ 5.50003011e-03 -2.52907932e-04 9.99984843e-01 -2.37632936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181346184 meters 0.07266226442676621 Centerline is valid? [True, True] Translation: X:48.13, Y:-3.74, Z:-2.38 [[ 9.98958530e-01 4.50988319e-02 -6.92459313e-03 4.81274877e+01] [-4.50956450e-02 9.98982484e-01 6.15768600e-04 -3.74109618e+00] [ 6.94531769e-03 -3.02858303e-04 9.99975835e-01 -2.37643248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.211346184 meters 0.07068709011723458 Centerline is valid? [True, True] Translation: X:48.16, Y:-3.73, Z:-2.38 [[ 9.98826860e-01 4.80616196e-02 -5.91477472e-03 4.81575672e+01] [-4.80593318e-02 9.98844343e-01 5.28404577e-04 -3.73487118e+00] [ 5.93333525e-03 -2.43524563e-04 9.99982368e-01 -2.37550508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.241346183999994 meters 0.0698890769945983 Centerline is valid? [True, True] Translation: X:48.19, Y:-3.73, Z:-2.37 [[ 9.98744256e-01 4.99216726e-02 -4.21150992e-03 4.81864951e+01] [-4.99205333e-02 9.98753122e-01 3.75272564e-04 -3.73496255e+00] [ 4.22499291e-03 -1.64560497e-04 9.99991061e-01 -2.37482978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.271346183999995 meters 0.06887332403815549 Centerline is valid? [True, True] Translation: X:48.22, Y:-3.73, Z:-2.37 [[ 9.98675791e-01 5.13851905e-02 -2.49540271e-03 4.82151546e+01] [-5.13847967e-02 9.98678904e-01 2.21718778e-04 -3.73450742e+00] [ 2.50349911e-03 -9.31994149e-05 9.99996862e-01 -2.37365874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.301346183999996 meters 0.06887282288774776 Centerline is valid? [True, True] Translation: X:48.24, Y:-3.73, Z:-2.37 [[ 9.98567924e-01 5.34695495e-02 -1.76302095e-03 4.82430579e+01] [-5.34693586e-02 9.98569479e-01 1.55290808e-04 -3.73420715e+00] [ 1.76880224e-03 -6.08008209e-05 9.99998434e-01 -2.37364451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.331346184 meters 0.06866658362438592 Centerline is valid? [True, True] Translation: X:48.27, Y:-3.73, Z:-2.37 [[ 9.98549635e-01 5.37527717e-02 -3.04407293e-03 4.82715004e+01] [-5.37522091e-02 9.98554269e-01 2.66374744e-04 -3.73368709e+00] [ 3.05399040e-03 -1.02362759e-04 9.99995331e-01 -2.37347099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.361346184 meters 0.06861736929757499 Centerline is valid? [True, True] Translation: X:48.30, Y:-3.73, Z:-2.38 [[ 9.98528820e-01 5.40407747e-02 -4.44862053e-03 4.83006624e+01] [-5.40395697e-02 9.98538718e-01 3.90715836e-04 -3.73440120e+00] [ 4.46323443e-03 -1.49739483e-04 9.99990029e-01 -2.37546887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.391346184 meters 0.06771348967070673 Centerline is valid? [True, True] Translation: X:48.33, Y:-3.73, Z:-2.38 [[ 9.98440703e-01 5.54901256e-02 -6.08343293e-03 4.83298859e+01] [-5.54878978e-02 9.98459217e-01 5.34503339e-04 -3.73435927e+00] [ 6.10371933e-03 -1.96112985e-04 9.99981353e-01 -2.37805765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.421346183999994 meters 0.06854561585401224 Centerline is valid? [True, True] Translation: X:48.36, Y:-3.74, Z:-2.38 [[ 9.98456205e-01 5.51411065e-02 -6.68317784e-03 4.83573229e+01] [-5.51383972e-02 9.98478548e-01 5.89116580e-04 -3.73933491e+00] [ 6.70549424e-03 -2.19707390e-04 9.99977494e-01 -2.38041478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.451346183999995 meters 0.068016094725864 Centerline is valid? [True, True] Translation: X:48.39, Y:-3.74, Z:-2.38 [[ 9.98439564e-01 5.54187846e-02 -6.86989890e-03 4.83858828e+01] [-5.54159556e-02 9.98463174e-01 6.01604926e-04 -3.74073713e+00] [ 6.89268128e-03 -2.19964147e-04 9.99976221e-01 -2.38091535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481346183999996 meters 0.0671017770623852 Centerline is valid? [True, True] Translation: X:48.41, Y:-3.74, Z:-2.38 [[ 9.98418437e-01 5.59139082e-02 -5.85319968e-03 4.84143055e+01] [-5.59118751e-02 9.98435577e-01 5.10528981e-04 -3.74134589e+00] [ 5.87258847e-03 -1.82458178e-04 9.99982740e-01 -2.38017636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.511346184 meters 0.06709395052737407 Centerline is valid? [True, True] Translation: X:48.44, Y:-3.74, Z:-2.38 [[ 9.98452704e-01 5.53708218e-02 -5.12533940e-03 4.84420964e+01] [-5.53692684e-02 9.98465846e-01 4.44595003e-04 -3.74413934e+00] [ 5.14209394e-03 -1.60120790e-04 9.99986767e-01 -2.37908083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541346184 meters 0.0671663355979726 Centerline is valid? [True, True] Translation: X:48.47, Y:-3.75, Z:-2.38 [[ 9.98493960e-01 5.47623398e-02 -3.30112204e-03 4.84709148e+01] [-5.47616980e-02 9.98499412e-01 2.84581343e-04 -3.74783766e+00] [ 3.31175275e-03 -1.03377704e-04 9.99994511e-01 -2.37771190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.571346184 meters 0.06847556940142575 Centerline is valid? [True, True] Translation: X:48.50, Y:-3.75, Z:-2.38 [[ 9.98649310e-01 5.18500365e-02 -3.33607484e-03 4.84984825e+01] [-5.18493563e-02 9.98654875e-01 2.90102507e-04 -3.75472613e+00] [ 3.34662923e-03 -1.16737336e-04 9.99994393e-01 -2.37687068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60134618399999 meters 0.06828146086045529 Centerline is valid? [True, True] Translation: X:48.53, Y:-3.76, Z:-2.38 [[ 9.98649606e-01 5.17912187e-02 -4.07850608e-03 4.85270148e+01] [-5.17902155e-02 9.98657925e-01 3.51257700e-04 -3.75753527e+00] [ 4.09122448e-03 -1.39556655e-04 9.99991621e-01 -2.37771089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.631346183999995 meters 0.0693191496903084 Centerline is valid? [True, True] Translation: X:48.55, Y:-3.76, Z:-2.38 [[ 9.98694334e-01 5.09563665e-02 -3.61603780e-03 4.85538053e+01] [-5.09555676e-02 9.98700872e-01 3.12779560e-04 -3.76397094e+00] [ 3.62727821e-03 -1.28113916e-04 9.99993413e-01 -2.37912348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.661346183999996 meters 0.06988383334301439 Centerline is valid? [True, True] Translation: X:48.58, Y:-3.77, Z:-2.38 [[ 9.98825588e-01 4.83939608e-02 -2.33866756e-03 4.85817434e+01] [-4.83936271e-02 9.98828322e-01 1.99108155e-04 -3.77180257e+00] [ 2.34556303e-03 -8.56977136e-05 9.99997245e-01 -2.38022380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.691346184 meters 0.06984994161019588 Centerline is valid? [True, True] Translation: X:48.61, Y:-3.78, Z:-2.38 [[ 9.98871677e-01 4.74638571e-02 -1.59875670e-03 4.86103894e+01] [-4.74637024e-02 9.98872954e-01 1.34548684e-04 -3.77521618e+00] [ 1.60334103e-03 -5.85139574e-05 9.99998713e-01 -2.37980184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721346184 meters 0.06952786806078023 Centerline is valid? [True, True] Translation: X:48.64, Y:-3.78, Z:-2.38 [[ 9.98864452e-01 4.76298248e-02 -1.09847636e-03 4.86389239e+01] [-4.76297534e-02 9.98865055e-01 9.10341487e-05 -3.77734660e+00] [ 1.10156559e-03 -3.86106171e-05 9.99999393e-01 -2.37882664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.751346184 meters 0.0687489719910915 Centerline is valid? [True, True] Translation: X:48.67, Y:-3.78, Z:-2.38 [[ 9.98878674e-01 4.73355143e-02 -8.61923348e-04 4.86669863e+01] [-4.73354717e-02 9.98879046e-01 6.97638438e-05 -3.77691303e+00] [ 8.64259479e-04 -2.88860676e-05 9.99999626e-01 -2.37619987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781346184 meters 0.0702709901660886 Centerline is valid? [True, True] Translation: X:48.70, Y:-3.78, Z:-2.37 [[ 9.99010319e-01 4.44786326e-02 1.81815924e-04 4.86952469e+01] [-4.44786304e-02 9.99010336e-01 -1.64189962e-05 -3.78320965e+00] [-1.82366282e-04 8.31582339e-06 9.99999983e-01 -2.37231110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.811346183999994 meters 0.06983828385986596 Centerline is valid? [True, True] Translation: X:48.72, Y:-3.79, Z:-2.37 [[ 9.99055058e-01 4.34616788e-02 2.70432377e-04 4.87234693e+01] [-4.34616737e-02 9.99055095e-01 -2.45618523e-05 -3.78564086e+00] [-2.71244343e-04 1.27851991e-05 9.99999963e-01 -2.37198065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.841346183999995 meters 0.07084710612783376 Centerline is valid? [True, True] Translation: X:48.75, Y:-3.79, Z:-2.37 [[ 9.99077209e-01 4.29499220e-02 -1.86333139e-04 4.87507208e+01] [-4.29499200e-02 9.99077226e-01 1.46313332e-05 -3.79182611e+00] [ 1.86789610e-04 -6.61483817e-06 9.99999983e-01 -2.37442530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.871346184 meters 0.070708371167072 Centerline is valid? [True, True] Translation: X:48.78, Y:-3.80, Z:-2.38 [[ 9.99050345e-01 4.35418132e-02 1.58725426e-03 4.87790113e+01] [-4.35416466e-02 9.99051603e-01 -1.39363139e-04 -3.79695856e+00] [-1.59181703e-03 7.01191284e-05 9.99998731e-01 -2.37775124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901346184 meters 0.0705090104870322 Centerline is valid? [True, True] Translation: X:48.81, Y:-3.80, Z:-2.38 [[ 9.99063392e-01 4.32399309e-02 1.62688643e-03 4.88061751e+01] [-4.32397555e-02 9.99064714e-01 -1.42862196e-04 -3.79960363e+00] [-1.63154218e-03 7.23822182e-05 9.99998666e-01 -2.37988532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.931346184 meters 0.07169446172572806 Centerline is valid? [True, True] Translation: X:48.83, Y:-3.80, Z:-2.38 [[ 9.99097643e-01 4.24132213e-02 2.24010521e-03 4.88336790e+01] [-4.24128972e-02 9.99100150e-01 -1.92004518e-04 -3.80473966e+00] [-2.24623298e-03 9.68219091e-05 9.99997473e-01 -2.38013954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961346184 meters 0.07161999112201804 Centerline is valid? [True, True] Translation: X:48.86, Y:-3.80, Z:-2.38 [[ 9.99107774e-01 4.20854376e-02 3.53160161e-03 4.88620525e+01] [-4.20846274e-02 9.99114004e-01 -3.03425733e-04 -3.80446015e+00] [-3.54124243e-03 1.54528870e-04 9.99993718e-01 -2.37644552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.991346183999994 meters 0.07083538371256548 Centerline is valid? [True, True] Translation: X:48.89, Y:-3.80, Z:-2.37 [[ 9.99145968e-01 4.10897073e-02 4.35562810e-03 4.88910081e+01] [-4.10884733e-02 9.99155443e-01 -3.72453267e-04 -3.80346666e+00] [-4.36725352e-03 1.93169071e-04 9.99990445e-01 -2.37413068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.021346183999995 meters 0.07084958799133691 Centerline is valid? [True, True] Translation: X:48.92, Y:-3.81, Z:-2.37 [[ 9.99159619e-01 4.07020256e-02 4.83751528e-03 4.89188655e+01] [-4.07005048e-02 9.99171306e-01 -4.12451540e-04 -3.80544698e+00] [-4.85029407e-03 2.15215610e-04 9.99988214e-01 -2.37390522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.051346183999996 meters 0.07125892954426737 Centerline is valid? [True, True] Translation: X:48.95, Y:-3.81, Z:-2.38 [[ 9.99142236e-01 4.09509672e-02 6.14904037e-03 4.89468149e+01] [-4.09485430e-02 9.99161122e-01 -5.19673131e-04 -3.80922201e+00] [-6.16516319e-03 2.67433130e-04 9.99980959e-01 -2.37500535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081346184 meters 0.0702625482159407 Centerline is valid? [True, True] Translation: X:48.98, Y:-3.81, Z:-2.38 [[ 9.99028015e-01 4.36800911e-02 5.92236724e-03 4.89763679e+01] [-4.36778958e-02 9.99045540e-01 -4.99571163e-04 -3.80970427e+00] [-5.93853590e-03 2.40409048e-04 9.99982338e-01 -2.37864212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.111346184 meters 0.06963040317703689 Centerline is valid? [True, True] Translation: X:49.01, Y:-3.81, Z:-2.38 [[ 9.98997283e-01 4.44984302e-02 4.93138741e-03 4.90055248e+01] [-4.44969078e-02 9.99009435e-01 -4.18055964e-04 -3.80908805e+00] [-4.94510538e-03 1.98205281e-04 9.99987753e-01 -2.38035969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141346184 meters 0.06861660388414884 Centerline is valid? [True, True] Translation: X:49.03, Y:-3.81, Z:-2.38 [[ 9.98967583e-01 4.52170731e-02 4.37996050e-03 4.90341776e+01] [-4.52158816e-02 9.98977170e-01 -3.70745139e-04 -3.80670652e+00] [-4.39224456e-03 1.72318600e-04 9.99990339e-01 -2.38069926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.171346183999994 meters 0.06798837920709255 Centerline is valid? [True, True] Translation: X:49.06, Y:-3.81, Z:-2.38 [[ 9.98866488e-01 4.74413085e-02 3.88092322e-03 4.90634672e+01] [-4.74403996e-02 9.98874017e-01 -3.25969297e-04 -3.80514139e+00] [-3.89201778e-03 1.41487259e-04 9.99992416e-01 -2.38144932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.201346183999995 meters 0.06789588257419014 Centerline is valid? [True, True] Translation: X:49.09, Y:-3.81, Z:-2.38 [[ 9.98867146e-01 4.74770516e-02 3.21786954e-03 4.90916904e+01] [-4.74764263e-02 9.98872322e-01 -2.70453153e-04 -3.80674389e+00] [-3.22708114e-03 1.17373822e-04 9.99994786e-01 -2.38200186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.231346183999996 meters 0.06784977204783368 Centerline is valid? [True, True] Translation: X:49.12, Y:-3.81, Z:-2.38 [[ 9.98856942e-01 4.76809591e-02 3.36685301e-03 4.91200052e+01] [-4.76802706e-02 9.98862609e-01 -2.84507045e-04 -3.80834589e+00] [-3.37658915e-03 1.23649374e-04 9.99994292e-01 -2.38269041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.261346184 meters 0.06652796018713672 Centerline is valid? [True, True] Translation: X:49.15, Y:-3.80, Z:-2.38 [[ 9.98724749e-01 5.01533502e-02 5.78933564e-03 4.91490711e+01] [-5.01513896e-02 9.98741510e-01 -4.83438718e-04 -3.80467022e+00] [-5.80629589e-03 1.92478986e-04 9.99983125e-01 -2.38045933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.291346184 meters 0.06585162605487722 Centerline is valid? [True, True] Translation: X:49.18, Y:-3.80, Z:-2.38 [[ 9.98613304e-01 5.20132328e-02 8.12971880e-03 4.91785111e+01] [-5.20094266e-02 9.98646363e-01 -6.79045286e-04 -3.80399029e+00] [-8.15403345e-03 2.55281644e-04 9.99966723e-01 -2.37873643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321346184 meters 0.06583791763015967 Centerline is valid? [True, True] Translation: X:49.21, Y:-3.81, Z:-2.38 [[ 9.98549434e-01 5.30384448e-02 9.27100149e-03 4.92066068e+01] [-5.30335712e-02 9.98592432e-01 -7.70913700e-04 -3.80545502e+00] [-9.29883999e-03 2.78121121e-04 9.99956726e-01 -2.37813904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35134618399999 meters 0.06524829023774335 Centerline is valid? [True, True] Translation: X:49.23, Y:-3.81, Z:-2.38 [[ 9.98424068e-01 5.47616001e-02 1.22697931e-02 4.92349393e+01] [-5.47532059e-02 9.98499398e-01 -1.01926799e-03 -3.80543971e+00] [-1.23071978e-02 3.45851186e-04 9.99924204e-01 -2.37725970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.381346183999995 meters 0.06535780502494243 Centerline is valid? [True, True] Translation: X:49.26, Y:-3.81, Z:-2.38 [[ 9.98445634e-01 5.42971717e-02 1.25751180e-02 4.92631061e+01] [-5.42883547e-02 9.98524757e-01 -1.04169357e-03 -3.80719678e+00] [-1.26131276e-02 3.57391926e-04 9.99920387e-01 -2.37823673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.411346183999996 meters 0.0645414877759832 Centerline is valid? [True, True] Translation: X:49.29, Y:-3.81, Z:-2.38 [[ 9.98416153e-01 5.48423214e-02 1.25500756e-02 4.92916501e+01] [-5.48336260e-02 9.98494967e-01 -1.03616617e-03 -3.80593438e+00] [-1.25880130e-02 3.46358889e-04 9.99920708e-01 -2.37862813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441346184 meters 0.06487324049420849 Centerline is valid? [True, True] Translation: X:49.32, Y:-3.81, Z:-2.38 [[ 9.98380061e-01 5.56322004e-02 1.19294940e-02 4.93191172e+01] [-5.56244399e-02 9.98451280e-01 -9.81603172e-04 -3.80676511e+00] [-1.19656273e-02 3.16441614e-04 9.99928359e-01 -2.37840605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.471346184 meters 0.0649314763902325 Centerline is valid? [True, True] Translation: X:49.35, Y:-3.81, Z:-2.38 [[ 9.98337392e-01 5.62396316e-02 1.26315238e-02 4.93469431e+01] [-5.62309944e-02 9.98417246e-01 -1.03817949e-03 -3.80824030e+00] [-1.26699181e-02 3.26170261e-04 9.99919680e-01 -2.37867691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501346184 meters 0.06433725630670985 Centerline is valid? [True, True] Translation: X:49.38, Y:-3.81, Z:-2.38 [[ 9.98322804e-01 5.64313787e-02 1.29258744e-02 4.93754127e+01] [-5.64223595e-02 9.98406425e-01 -1.06166413e-03 -3.80773316e+00] [-1.29651872e-02 3.30575178e-04 9.99915894e-01 -2.37932156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.531346184 meters 0.0647117325984572 Centerline is valid? [True, True] Translation: X:49.40, Y:-3.81, Z:-2.38 [[ 9.98273722e-01 5.72444225e-02 1.31396992e-02 4.94031723e+01] [-5.72352201e-02 9.98360142e-01 -1.07563706e-03 -3.81198590e+00] [-1.31797262e-02 3.21726635e-04 9.99913092e-01 -2.38108340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.561346183999994 meters 0.06360401834991067 Centerline is valid? [True, True] Translation: X:49.43, Y:-3.81, Z:-2.38 [[ 9.98113111e-01 5.98248352e-02 1.38277337e-02 4.94323136e+01] [-5.98149049e-02 9.98208845e-01 -1.13097866e-03 -3.80922111e+00] [-1.38706267e-02 3.01740053e-04 9.99903753e-01 -2.38190429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.591346183999995 meters 0.06307803472320289 Centerline is valid? [True, True] Translation: X:49.46, Y:-3.81, Z:-2.38 [[ 9.98083945e-01 6.03980588e-02 1.34355144e-02 4.94610112e+01] [-6.03887774e-02 9.98174331e-01 -1.09580877e-03 -3.80883409e+00] [-1.34771704e-02 2.82354853e-04 9.99909139e-01 -2.38367360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621346184 meters 0.06314864527464915 Centerline is valid? [True, True] Translation: X:49.49, Y:-3.81, Z:-2.39 [[ 9.98051977e-01 6.09995513e-02 1.30884159e-02 4.94889499e+01] [-6.09908413e-02 9.98137759e-01 -1.06397097e-03 -3.81104439e+00] [-1.31289439e-02 2.63624832e-04 9.99913777e-01 -2.38637774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.651346184 meters 0.06330065023346079 Centerline is valid? [True, True] Translation: X:49.52, Y:-3.81, Z:-2.39 [[ 9.98051628e-01 6.07829355e-02 1.40848474e-02 4.95161498e+01] [-6.07728454e-02 9.98150967e-01 -1.14368095e-03 -3.81366445e+00] [-1.41283204e-02 2.85476378e-04 9.99900150e-01 -2.38604179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681346184 meters 0.06306373333712069 Centerline is valid? [True, True] Translation: X:49.54, Y:-3.81, Z:-2.38 [[ 9.98016151e-01 6.09445727e-02 1.57962630e-02 4.95439205e+01] [-6.09319362e-02 9.98141102e-01 -1.28046598e-03 -3.81313052e+00] [-1.58449368e-02 3.15428839e-04 9.99874411e-01 -2.38416951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.711346184 meters 0.06306373333712069 Centerline is valid? [True, True] Translation: X:49.57, Y:-3.82, Z:-2.38 [[ 9.98032715e-01 6.06726237e-02 1.57966109e-02 4.95711380e+01] [-6.06600213e-02 9.98157670e-01 -1.27615966e-03 -3.81513189e+00] [-1.58449363e-02 3.15426341e-04 9.99874411e-01 -2.38459793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.741346183999994 meters 0.0629006076978545 Centerline is valid? [True, True] Translation: X:49.60, Y:-3.82, Z:-2.38 [[ 9.98008519e-01 6.07736313e-02 1.68985937e-02 4.95991230e+01] [-6.07593071e-02 9.98151520e-01 -1.36025278e-03 -3.81519598e+00] [-1.69500245e-02 3.30797019e-04 9.99856283e-01 -2.38280249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.771346183999995 meters 0.06288901636736624 Centerline is valid? [True, True] Translation: X:49.63, Y:-3.82, Z:-2.38 [[ 9.97964102e-01 6.12380387e-02 1.78200596e-02 4.96281984e+01] [-6.12222740e-02 9.98123134e-01 -1.42936856e-03 -3.81668766e+00] [-1.78741455e-02 3.35473934e-04 9.99840188e-01 -2.38257386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801346183999996 meters 0.06287655406885043 Centerline is valid? [True, True] Translation: X:49.66, Y:-3.82, Z:-2.39 [[ 9.97943661e-01 6.18129869e-02 1.69588980e-02 4.96559268e+01] [-6.17988544e-02 9.98087702e-01 -1.35663812e-03 -3.81947454e+00] [-1.70103254e-02 3.05807947e-04 9.99855267e-01 -2.38661119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.831346184 meters 0.0626919356289492 Centerline is valid? [True, True] Translation: X:49.68, Y:-3.82, Z:-2.39 [[ 9.97947785e-01 6.19360756e-02 1.62523929e-02 4.96839527e+01] [-6.19231363e-02 9.98080076e-01 -1.29866186e-03 -3.81994402e+00] [-1.63016235e-02 2.89597589e-04 9.99867078e-01 -2.38794122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861346184 meters 0.06276728033192262 Centerline is valid? [True, True] Translation: X:49.71, Y:-3.82, Z:-2.39 [[ 9.97919502e-01 6.26421629e-02 1.52520823e-02 4.97113026e+01] [-6.26309112e-02 9.98036018e-01 -1.21472229e-03 -3.82156794e+00] [-1.52982203e-02 2.56943251e-04 9.99882942e-01 -2.38989526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.891346184 meters 0.06287322932380296 Centerline is valid? [True, True] Translation: X:49.74, Y:-3.82, Z:-2.39 [[ 9.97902214e-01 6.30766811e-02 1.45774789e-02 4.97385282e+01] [-6.30664666e-02 9.98008655e-01 -1.15980207e-03 -3.82360483e+00] [-1.46216066e-02 2.38018967e-04 9.99893070e-01 -2.39249493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.921346183999994 meters 0.06278338156655158 Centerline is valid? [True, True] Translation: X:49.77, Y:-3.83, Z:-2.39 [[ 9.97870103e-01 6.33437149e-02 1.55830689e-02 4.97663618e+01] [-6.33320968e-02 9.97991739e-01 -1.23841595e-03 -3.82602263e+00] [-1.56302199e-02 2.48869819e-04 9.99877810e-01 -2.39343972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.951346183999995 meters 0.06276028034762339 Centerline is valid? [True, True] Translation: X:49.79, Y:-3.83, Z:-2.39 [[ 9.97828801e-01 6.37650843e-02 1.64832743e-02 4.97935488e+01] [-6.37522195e-02 9.97964905e-01 -1.30529785e-03 -3.82823742e+00] [-1.65329617e-02 2.51618468e-04 9.99863290e-01 -2.39372623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981346183999996 meters 0.06245841542365117 Centerline is valid? [True, True] Translation: X:49.82, Y:-3.83, Z:-2.39 [[ 9.97829641e-01 6.36105514e-02 1.70207325e-02 4.98210065e+01] [-6.35968914e-02 9.97974765e-01 -1.34317076e-03 -3.82786475e+00] [-1.70717013e-02 2.57789924e-04 9.99854235e-01 -2.39331840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.011346184 meters 0.06239203608282411 Centerline is valid? [True, True] Translation: X:49.85, Y:-3.83, Z:-2.39 [[ 9.97845946e-01 6.32882904e-02 1.72644225e-02 4.98488147e+01] [-6.32742734e-02 9.97995252e-01 -1.35748620e-03 -3.82964855e+00] [-1.73157247e-02 2.62168316e-04 9.99850037e-01 -2.39265429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041346184 meters 0.0631465932599765 Centerline is valid? [True, True] Translation: X:49.88, Y:-3.84, Z:-2.39 [[ 9.97842447e-01 6.29937343e-02 1.84997229e-02 4.98757059e+01] [-6.29776803e-02 9.98013883e-01 -1.44968181e-03 -3.83574929e+00] [-1.85543011e-02 2.81484409e-04 9.99827815e-01 -2.39287677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.071346184 meters 0.06322764179522693 Centerline is valid? [True, True] Translation: X:49.90, Y:-3.84, Z:-2.39 [[ 9.97857467e-01 6.25192705e-02 1.92825472e-02 4.99038511e+01] [-6.25017859e-02 9.98043712e-01 -1.50867330e-03 -3.83867590e+00] [-1.93391461e-02 3.00247287e-04 9.99812936e-01 -2.39318254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10134618399999 meters 0.06295615206793265 Centerline is valid? [True, True] Translation: X:49.93, Y:-3.84, Z:-2.40 [[ 9.97890180e-01 6.21011879e-02 1.89375772e-02 4.99321292e+01] [-6.20843266e-02 9.98069814e-01 -1.47755038e-03 -3.83941212e+00] [-1.89927817e-02 2.98706283e-04 9.99819576e-01 -2.39502449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.131346183999995 meters 0.06287358003112012 Centerline is valid? [True, True] Translation: X:49.96, Y:-3.84, Z:-2.40 [[ 9.97960679e-01 6.12903975e-02 1.78317194e-02 4.99599018e+01] [-6.12753523e-02 9.98119933e-01 -1.38939503e-03 -3.84251598e+00] [-1.78833511e-02 2.93916719e-04 9.99840037e-01 -2.39726974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.161346183999996 meters 0.06358599140192468 Centerline is valid? [True, True] Translation: X:49.99, Y:-3.85, Z:-2.40 [[ 9.98134123e-01 5.86169298e-02 1.70975901e-02 4.99882311e+01] [-5.86027832e-02 9.98280497e-01 -1.32767979e-03 -3.85067291e+00] [-1.71460152e-02 3.23236136e-04 9.99852944e-01 -2.40199067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.191346184 meters 0.06382886935554057 Centerline is valid? [True, True] Translation: X:50.02, Y:-3.86, Z:-2.40 [[ 9.98232214e-01 5.71942716e-02 1.61636343e-02 5.00168857e+01] [-5.71815018e-02 9.98363015e-01 -1.25147011e-03 -3.85522324e+00] [-1.62087516e-02 3.24996899e-04 9.99868577e-01 -2.40429853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221346184 meters 0.06404018192601503 Centerline is valid? [True, True] Translation: X:50.05, Y:-3.86, Z:-2.41 [[ 9.98330251e-01 5.59877178e-02 1.42156940e-02 5.00453251e+01] [-5.59777609e-02 9.98431412e-01 -1.09766525e-03 -3.85950340e+00] [-1.42548512e-02 3.00069707e-04 9.99898349e-01 -2.40739785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.251346184 meters 0.06464227593024041 Centerline is valid? [True, True] Translation: X:50.07, Y:-3.87, Z:-2.41 [[ 9.98460702e-01 5.44471172e-02 1.05706355e-02 5.00724161e+01] [-5.44415508e-02 9.98516627e-01 -8.13837721e-04 -3.86543791e+00] [-1.05992664e-02 2.37103195e-04 9.99943798e-01 -2.41127320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281346184 meters 0.06493829694130351 Centerline is valid? [True, True] Translation: X:50.10, Y:-3.87, Z:-2.41 [[ 9.98533666e-01 5.32619930e-02 9.67878740e-03 5.00994030e+01] [-5.32572741e-02 9.98580547e-01 -7.44823545e-04 -3.86973190e+00] [-9.70471960e-03 2.28265551e-04 9.99952882e-01 -2.41225562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.311346183999994 meters 0.06565988785003134 Centerline is valid? [True, True] Translation: X:50.13, Y:-3.88, Z:-2.41 [[ 9.98585983e-01 5.24197252e-02 8.84348086e-03 5.01264184e+01] [-5.24157665e-02 9.98625118e-01 -6.78991236e-04 -3.87552822e+00] [-8.86691465e-03 2.14493304e-04 9.99960665e-01 -2.41429934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.341346183999995 meters 0.06576808584250893 Centerline is valid? [True, True] Translation: X:50.15, Y:-3.88, Z:-2.42 [[ 9.98640522e-01 5.16029484e-02 7.36507134e-03 5.01546522e+01] [-5.16001742e-02 9.98667663e-01 -5.66319358e-04 -3.88180198e+00] [-7.38448233e-03 1.85510495e-04 9.99972717e-01 -2.41806213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.371346184 meters 0.06569456656796659 Centerline is valid? [True, True] Translation: X:50.18, Y:-3.89, Z:-2.42 [[ 9.98633046e-01 5.19330936e-02 5.91545223e-03 5.01822015e+01] [-5.19313118e-02 9.98650556e-01 -4.54512753e-04 -3.88504796e+00] [-5.93107391e-03 1.46694261e-04 9.99982400e-01 -2.42082688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401346184 meters 0.06514342584073499 Centerline is valid? [True, True] Translation: X:50.21, Y:-3.89, Z:-2.42 [[ 9.98614074e-01 5.23916905e-02 5.00412528e-03 5.02098416e+01] [-5.23904240e-02 9.98626605e-01 -3.83919423e-04 -3.88654014e+00] [-5.01736683e-03 1.21219094e-04 9.99987406e-01 -2.42160052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.431346184 meters 0.06518072857239966 Centerline is valid? [True, True] Translation: X:50.24, Y:-3.89, Z:-2.42 [[ 9.98618905e-01 5.23806173e-02 4.06849621e-03 5.02372898e+01] [-5.23797815e-02 9.98627188e-01 -3.11792436e-04 -3.89062281e+00] [-4.07924281e-03 9.82548790e-05 9.99991675e-01 -2.42315040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461346184 meters 0.06551026058212313 Centerline is valid? [True, True] Translation: X:50.27, Y:-3.90, Z:-2.42 [[ 9.98668649e-01 5.14979055e-02 2.98239799e-03 5.02651334e+01] [-5.14974528e-02 9.98673100e-01 -2.28420397e-04 -3.89710468e+00] [-2.99020381e-03 7.45303895e-05 9.99995527e-01 -2.42470571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.491346183999994 meters 0.06569322820224965 Centerline is valid? [True, True] Translation: X:50.29, Y:-3.90, Z:-2.43 [[ 9.98696612e-01 5.09632338e-02 2.79752161e-03 5.02931532e+01] [-5.09628404e-02 9.98700528e-01 -2.11802432e-04 -3.90163166e+00] [-2.80468044e-03 6.89567241e-05 9.99996064e-01 -2.42510084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.521346183999995 meters 0.06594116188897996 Centerline is valid? [True, True] Translation: X:50.32, Y:-3.91, Z:-2.43 [[ 9.98700813e-01 5.09467137e-02 1.05741365e-03 5.03210503e+01] [-5.09466567e-02 9.98701373e-01 -8.07912521e-05 -3.90646098e+00] [-1.06015651e-03 2.68145989e-05 9.99999438e-01 -2.42703561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.551346183999996 meters 0.0668411498748606 Centerline is valid? [True, True] Translation: X:50.35, Y:-3.92, Z:-2.43 [[ 9.98830896e-01 4.82936765e-02 -2.13595670e-03 5.03500660e+01] [-4.82934449e-02 9.98833178e-01 1.59880800e-04 -3.91867430e+00] [ 2.14118565e-03 -5.65411756e-05 9.99997706e-01 -2.43333826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581346184 meters 0.06849917290053419 Centerline is valid? [True, True] Translation: X:50.38, Y:-3.93, Z:-2.44 [[ 9.98952406e-01 4.55999941e-02 -3.83812013e-03 5.03774183e+01] [-4.55992280e-02 9.98959773e-01 2.86914091e-04 -3.93004174e+00] [ 3.84721090e-03 -1.11598206e-04 9.99992593e-01 -2.43780876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.611346184 meters 0.06917141021591683 Centerline is valid? [True, True] Translation: X:50.41, Y:-3.94, Z:-2.44 [[ 9.99037277e-01 4.35985122e-02 -4.86720434e-03 5.04052930e+01] [-4.35972732e-02 9.99049122e-01 3.60415614e-04 -3.93749205e+00] [ 4.87828981e-03 -1.47871796e-04 9.99988090e-01 -2.43900100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641346184 meters 0.07051561729091646 Centerline is valid? [True, True] Translation: X:50.43, Y:-3.95, Z:-2.44 [[ 9.99159550e-01 4.05016999e-02 -6.30924360e-03 5.04337152e+01] [-4.04995332e-02 9.99179446e-01 4.70851207e-04 -3.94799510e+00] [ 6.32313680e-03 -2.14934060e-04 9.99979986e-01 -2.43867063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.671346183999994 meters 0.07161272182964333 Centerline is valid? [True, True] Translation: X:50.46, Y:-3.96, Z:-2.44 [[ 9.99235833e-01 3.84300562e-02 -7.13303702e-03 5.04611468e+01] [-3.84272386e-02 9.99261259e-01 5.31703082e-04 -3.95697039e+00] [ 7.14820094e-03 -2.57193857e-04 9.99974418e-01 -2.43927335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.701346183999995 meters 0.07132622349363471 Centerline is valid? [True, True] Translation: X:50.49, Y:-3.96, Z:-2.44 [[ 9.99340014e-01 3.55468262e-02 -7.48059120e-03 5.04896627e+01] [-3.55436512e-02 9.99367970e-01 5.56986115e-04 -3.96431611e+00] [ 7.49566233e-03 -2.90730988e-04 9.99971865e-01 -2.43915495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.731346183999996 meters 0.0741345254056585 Centerline is valid? [True, True] Translation: X:50.52, Y:-3.99, Z:-2.44 [[ 9.99529863e-01 2.92024196e-02 -9.34195788e-03 5.05178037e+01] [-2.91971819e-02 9.99573429e-01 6.96584988e-04 -3.98563294e+00] [ 9.35831484e-03 -4.23498654e-04 9.99956120e-01 -2.44337704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761346184 meters 0.07561815736861364 Centerline is valid? [True, True] Translation: X:50.55, Y:-4.00, Z:-2.45 [[ 9.99614449e-01 2.60473889e-02 -9.61704430e-03 5.05469669e+01] [-2.60416979e-02 9.99660601e-01 7.16532361e-04 -3.99640320e+00] [ 9.63244408e-03 -4.65811939e-04 9.99953498e-01 -2.44542089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.791346184 meters 0.07720641212931882 Centerline is valid? [True, True] Translation: X:50.58, Y:-4.01, Z:-2.45 [[ 9.99679904e-01 2.32709763e-02 -9.92727229e-03 5.05757615e+01] [-2.32647789e-02 9.99729065e-01 7.39316688e-04 -4.00652790e+00] [ 9.94178727e-03 -5.08124241e-04 9.99950450e-01 -2.44698844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821346184 meters 0.07937351379863129 Centerline is valid? [True, True] Translation: X:50.60, Y:-4.02, Z:-2.45 [[ 9.99731397e-01 2.02363846e-02 -1.12970182e-02 5.06041836e+01] [-2.02281641e-02 9.99795036e-01 8.41474444e-04 -4.02341944e+00] [ 1.13117311e-02 -6.12730483e-04 9.99935833e-01 -2.44850312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85134618399999 meters 0.0804127834958262 Centerline is valid? [True, True] Translation: X:50.63, Y:-4.03, Z:-2.45 [[ 9.99739194e-01 1.86519006e-02 -1.31776434e-02 5.06326049e+01] [-1.86405929e-02 9.99825768e-01 9.80417570e-04 -4.03263100e+00] [ 1.31936341e-02 -7.34522786e-04 9.99912690e-01 -2.45114652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.881346183999995 meters 0.08232735894126834 Centerline is valid? [True, True] Translation: X:50.66, Y:-4.04, Z:-2.45 [[ 9.99740666e-01 1.71677853e-02 -1.49621853e-02 5.06602404e+01] [-1.71530586e-02 9.99852257e-01 1.11204668e-03 -4.04281092e+00] [ 1.49790661e-02 -8.55111049e-04 9.99887442e-01 -2.45386348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.911346183999996 meters 0.0826154276998415 Centerline is valid? [True, True] Translation: X:50.69, Y:-4.05, Z:-2.45 [[ 9.99738530e-01 1.56005530e-02 -1.67180988e-02 5.06894632e+01] [-1.55819466e-02 9.99877822e-01 1.24263576e-03 -4.05032661e+00] [ 1.67354420e-02 -9.81810321e-04 9.99859471e-01 -2.45446569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941346184 meters 0.08267792344896514 Centerline is valid? [True, True] Translation: X:50.72, Y:-4.06, Z:-2.46 [[ 9.99717181e-01 1.31819634e-02 -1.97938085e-02 5.07192831e+01] [-1.31553991e-02 9.99912381e-01 1.47166954e-03 -4.06341082e+00] [ 1.98114736e-02 -1.21085787e-03 9.99803000e-01 -2.45615498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.971346184 meters 0.08168605562093248 Centerline is valid? [True, True] Translation: X:50.75, Y:-4.07, Z:-2.46 [[ 9.99676017e-01 1.20943299e-02 -2.23961539e-02 5.07481336e+01] [-1.20600899e-02 9.99925891e-01 1.66327449e-03 -4.06972314e+00] [ 2.24146103e-02 -1.39263599e-03 9.99747791e-01 -2.45826117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001346184 meters 0.08457265727184196 Centerline is valid? [True, True] Translation: X:50.78, Y:-4.08, Z:-2.47 [[ 9.99609298e-01 1.21647964e-02 -2.51648186e-02 5.07752713e+01] [-1.21216358e-02 9.99924787e-01 1.86695422e-03 -4.08307433e+00] [ 2.51856370e-02 -1.56118604e-03 9.99681572e-01 -2.46554523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.031346184 meters 0.0814528625279219 Centerline is valid? [True, True] Translation: X:50.80, Y:-4.09, Z:-2.46 [[ 9.99550840e-01 1.25116963e-02 -2.72318791e-02 5.08035503e+01] [-1.24615369e-02 9.99920330e-01 2.01087375e-03 -4.08879033e+00] [ 2.72548690e-02 -1.67061948e-03 9.99627121e-01 -2.46399423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.061346183999994 meters 0.080235584962057 Centerline is valid? [True, True] Translation: X:50.83, Y:-4.09, Z:-2.46 [[ 9.99571085e-01 1.19800152e-02 -2.67231169e-02 5.08314922e+01] [-1.19317498e-02 9.99926884e-01 1.96485970e-03 -4.09148255e+00] [ 2.67447021e-02 -1.64516340e-03 9.99640943e-01 -2.46167824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.091346183999995 meters 0.08104542264949482 Centerline is valid? [True, True] Translation: X:50.86, Y:-4.10, Z:-2.46 [[ 9.99594801e-01 1.21600801e-02 -2.57364766e-02 5.08586203e+01] [-1.21154016e-02 9.99924817e-01 1.89122359e-03 -4.09839787e+00] [ 2.57575391e-02 -1.57864952e-03 9.99666973e-01 -2.46138633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121346184 meters 0.08286400138300687 Centerline is valid? [True, True] Translation: X:50.89, Y:-4.11, Z:-2.46 [[ 9.99592158e-01 1.14632867e-02 -2.61555231e-02 5.08856096e+01] [-1.14169458e-02 9.99932980e-01 1.92039599e-03 -4.10772971e+00] [ 2.61757842e-02 -1.62099659e-03 9.99656041e-01 -2.46334869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.151346184 meters 0.08189189150350154 Centerline is valid? [True, True] Translation: X:50.91, Y:-4.12, Z:-2.46 [[ 9.99621834e-01 1.00304259e-02 -2.56042875e-02 5.09138519e+01] [-9.98577844e-03 9.99948390e-01 1.87101930e-03 -4.12074153e+00] [ 2.56217332e-02 -1.61463300e-03 9.99670406e-01 -2.46182155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181346184 meters 0.08209823906251904 Centerline is valid? [True, True] Translation: X:50.94, Y:-4.13, Z:-2.46 [[ 9.99683034e-01 8.53125948e-03 -2.36864658e-02 5.09412721e+01] [-8.49281402e-03 9.99962451e-01 1.72322221e-03 -4.12984403e+00] [ 2.37002777e-02 -1.52151126e-03 9.99717951e-01 -2.46073192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.211346184 meters 0.08360692724449255 Centerline is valid? [True, True] Translation: X:50.97, Y:-4.14, Z:-2.46 [[ 9.99705747e-01 6.10612998e-03 -2.34762542e-02 5.09688422e+01] [-6.06765961e-03 9.99980130e-01 1.70957717e-03 -4.13952272e+00] [ 2.34862266e-02 -1.56662820e-03 9.99722933e-01 -2.46035236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.241346183999994 meters 0.08585005166368459 Centerline is valid? [True, True] Translation: X:51.00, Y:-4.15, Z:-2.46 [[ 9.99722825e-01 9.97701433e-04 -2.35218506e-02 5.09985954e+01] [-9.57655153e-04 9.99998073e-01 1.71371699e-03 -4.15387768e+00] [ 2.35235150e-02 -1.69071617e-03 9.99721854e-01 -2.45826529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.271346183999995 meters 0.08611746867983472 Centerline is valid? [True, True] Translation: X:51.03, Y:-4.16, Z:-2.46 [[ 9.99699544e-01 -1.74820865e-03 -2.44492393e-02 5.10280857e+01] [ 1.79227794e-03 9.99996808e-01 1.78068397e-03 -4.16189297e+00] [ 2.44460483e-02 -1.82396879e-03 9.99699487e-01 -2.45846349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301346183999996 meters 0.08891414962525888 Centerline is valid? [True, True] Translation: X:51.06, Y:-4.17, Z:-2.46 [[ 9.99674417e-01 -4.08838066e-03 -2.51862008e-02 5.10562836e+01] [ 4.13587682e-03 9.99989765e-01 1.83399741e-03 -4.17497953e+00] [ 2.51784450e-02 -1.93756732e-03 9.99681095e-01 -2.46201515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.331346184 meters 0.08675841846095192 Centerline is valid? [True, True] Translation: X:51.09, Y:-4.18, Z:-2.46 [[ 9.99584654e-01 -8.55464763e-03 -2.75197625e-02 5.10858575e+01] [ 8.61302538e-03 9.99960900e-01 2.00346363e-03 -4.18495568e+00] [ 2.75015475e-02 -2.23965992e-03 9.99619252e-01 -2.46135049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361346184 meters 0.08959980962807662 Centerline is valid? [True, True] Translation: X:51.11, Y:-4.20, Z:-2.46 [[ 9.99576737e-01 -1.01045636e-02 -2.72808580e-02 5.11131321e+01] [ 1.01624258e-02 9.99946395e-01 1.98316489e-03 -4.19575486e+00] [ 2.72593565e-02 -2.25956519e-03 9.99625841e-01 -2.46287530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.391346184 meters 0.09135793236897642 Centerline is valid? [True, True] Translation: X:51.14, Y:-4.20, Z:-2.46 [[ 9.99601930e-01 -1.11821484e-02 -2.59025129e-02 5.11400660e+01] [ 1.12346009e-02 9.99935122e-01 1.88035382e-03 -4.20419671e+00] [ 2.58798060e-02 -2.17060970e-03 9.99662705e-01 -2.46231249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.421346183999994 meters 0.09683778685743652 Centerline is valid? [True, True] Translation: X:51.17, Y:-4.22, Z:-2.47 [[ 9.99619873e-01 -1.15659362e-02 -2.50267439e-02 5.11669475e+01] [ 1.16149208e-02 9.99930901e-01 1.81280621e-03 -4.21824837e+00] [ 2.50040478e-02 -2.10280077e-03 9.99685138e-01 -2.46510253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.451346183999995 meters 0.08783804024980058 Centerline is valid? [True, True] Translation: X:51.20, Y:-4.21, Z:-2.46 [[ 9.99632414e-01 -1.11202442e-02 -2.47260243e-02 5.11965582e+01] [ 1.11677167e-02 9.99936050e-01 1.78267624e-03 -4.20923448e+00] [ 2.47046193e-02 -2.05815418e-03 9.99692676e-01 -2.45766297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481346183999996 meters 0.09680988874151344 Centerline is valid? [True, True] Translation: X:51.22, Y:-4.23, Z:-2.46 [[ 9.99676038e-01 -9.37373564e-03 -2.36633018e-02 5.12233665e+01] [ 9.41676765e-03 9.99954203e-01 1.70773434e-03 -4.23208516e+00] [ 2.36462102e-02 -1.93001292e-03 9.99718526e-01 -2.46489108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.511346184 meters 0.09336523068794504 Centerline is valid? [True, True] Translation: X:51.25, Y:-4.23, Z:-2.46 [[ 9.99705976e-01 -7.45323796e-03 -2.30740455e-02 5.12532160e+01] [ 7.49363399e-03 9.99970537e-01 1.66474110e-03 -4.23113308e+00] [ 2.30609580e-02 -1.83716007e-03 9.99732373e-01 -2.46273424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541346184 meters 0.08208361773601773 Centerline is valid? [True, True] Translation: X:51.28, Y:-4.22, Z:-2.45 [[ 9.99737940e-01 -2.36150355e-03 -2.27700253e-02 5.12843833e+01] [ 2.39951457e-03 9.99995773e-01 1.64216698e-03 -4.21843706e+00] [ 2.27660511e-02 -1.69637364e-03 9.99739381e-01 -2.45380634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.571346184 meters 0.08117130474858003 Centerline is valid? [True, True] Translation: X:51.31, Y:-4.22, Z:-2.45 [[ 9.99736421e-01 -1.50892449e-04 -2.29579118e-02 5.13140904e+01] [ 1.88931943e-04 9.99998613e-01 1.65476306e-03 -4.22089774e+00] [ 2.29576302e-02 -1.65866438e-03 9.99735063e-01 -2.45377888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60134618399999 meters 0.07954610856200851 Centerline is valid? [True, True] Translation: X:51.34, Y:-4.22, Z:-2.45 [[ 9.99722353e-01 1.63517522e-03 -2.35062446e-02 5.13426341e+01] [-1.59584259e-03 9.99997295e-01 1.69194553e-03 -4.22172113e+00] [ 2.35089476e-02 -1.65396350e-03 9.99722258e-01 -2.45295209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.631346183999995 meters 0.07954610856200851 Centerline is valid? [True, True] Translation: X:51.37, Y:-4.22, Z:-2.45 [[ 9.99722781e-01 1.33493993e-03 -2.35070037e-02 5.13700143e+01] [-1.29577188e-03 9.99997747e-01 1.68138204e-03 -4.22350559e+00] [ 2.35091953e-02 -1.65045621e-03 9.99722258e-01 -2.45338026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.661346183999996 meters 0.08370637542459182 Centerline is valid? [True, True] Translation: X:51.40, Y:-4.23, Z:-2.46 [[ 9.99697746e-01 3.36132162e-03 -2.43540361e-02 5.13974922e+01] [-3.31983166e-03 9.99992969e-01 1.74384876e-03 -4.23417750e+00] [ 2.43597265e-02 -1.66247037e-03 9.99701876e-01 -2.45842852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.691346184 meters 0.07907510699574363 Centerline is valid? [True, True] Translation: X:51.43, Y:-4.23, Z:-2.46 [[ 9.99681455e-01 6.99445283e-03 -2.42500600e-02 5.14276869e+01] [-6.95435915e-03 9.99974309e-01 1.73728458e-03 -4.23225933e+00] [ 2.42615883e-02 -1.56808755e-03 9.99704415e-01 -2.45502901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721346184 meters 0.08211407724943542 Centerline is valid? [True, True] Translation: X:51.46, Y:-4.24, Z:-2.46 [[ 9.99677944e-01 8.72771863e-03 -2.38292979e-02 5.14557580e+01] [-8.68954369e-03 9.99960791e-01 1.70509681e-03 -4.24147552e+00] [ 2.38432451e-02 -1.49748195e-03 9.99714588e-01 -2.45942808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.751346184 meters 0.07614345342301497 Centerline is valid? [True, True] Translation: X:51.49, Y:-4.23, Z:-2.45 [[ 9.99666945e-01 1.06642933e-02 -2.35004652e-02 5.14868363e+01] [-1.06276955e-02 9.99942110e-01 1.68167270e-03 -4.23321059e+00] [ 2.35170386e-02 -1.43135682e-03 9.99722412e-01 -2.45366455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781346184 meters 0.07513941805055847 Centerline is valid? [True, True] Translation: X:51.52, Y:-4.23, Z:-2.45 [[ 9.99654656e-01 1.26297123e-02 -2.30447051e-02 5.15163180e+01] [-1.25950678e-02 9.99919321e-01 1.64789339e-03 -4.23428515e+00] [ 2.30636583e-02 -1.35707467e-03 9.99733077e-01 -2.45285882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.811346183999994 meters 0.07454535859525599 Centerline is valid? [True, True] Translation: X:51.55, Y:-4.24, Z:-2.46 [[ 9.99612508e-01 1.70911861e-02 -2.19710259e-02 5.15458560e+01] [-1.70607754e-02 9.99853220e-01 1.57083892e-03 -4.23761292e+00] [ 2.19946485e-02 -1.19538750e-03 9.99757374e-01 -2.45505594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.841346183999995 meters 0.07450353891528362 Centerline is valid? [True, True] Translation: X:51.57, Y:-4.24, Z:-2.46 [[ 9.99586227e-01 1.86641886e-02 -2.18865943e-02 5.15741078e+01] [-1.86344391e-02 9.99825143e-01 1.56243518e-03 -4.23893296e+00] [ 2.19119289e-02 -1.15394428e-03 9.99759239e-01 -2.45630633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.871346184 meters 0.07425700179941075 Centerline is valid? [True, True] Translation: X:51.60, Y:-4.24, Z:-2.46 [[ 9.99508069e-01 2.00986695e-02 -2.40762008e-02 5.16012258e+01] [-2.00632404e-02 9.99797247e-01 1.71222013e-03 -4.23929764e+00] [ 2.41057326e-02 -1.22833123e-03 9.99708660e-01 -2.45722228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901346184 meters 0.07413159239627444 Centerline is valid? [True, True] Translation: X:51.63, Y:-4.24, Z:-2.46 [[ 9.99505697e-01 1.91262794e-02 -2.49509011e-02 5.16300980e+01] [-1.90881035e-02 9.99816244e-01 1.76733425e-03 -4.24130430e+00] [ 2.49801187e-02 -1.29019527e-03 9.99687116e-01 -2.45784191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.931346184 meters 0.07472855170834833 Centerline is valid? [True, True] Translation: X:51.66, Y:-4.25, Z:-2.46 [[ 9.99553968e-01 1.78764393e-02 -2.39227390e-02 5.16580817e+01] [-1.78411364e-02 9.99839409e-01 1.68834439e-03 -4.24637455e+00] [ 2.39490788e-02 -1.26078249e-03 9.99712385e-01 -2.45864042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961346184 meters 0.07345819396216724 Centerline is valid? [True, True] Translation: X:51.69, Y:-4.25, Z:-2.46 [[ 9.99624522e-01 1.53214162e-02 -2.27171689e-02 5.16866716e+01] [-1.52890702e-02 9.99881840e-01 1.59686467e-03 -4.24772418e+00] [ 2.27389509e-02 -1.24894069e-03 9.99740656e-01 -2.45531311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.991346183999994 meters 0.0754486357245332 Centerline is valid? [True, True] Translation: X:51.71, Y:-4.26, Z:-2.46 [[ 9.99712478e-01 1.21490308e-02 -2.06727409e-02 5.17142269e+01] [-1.21215487e-02 9.99925474e-01 1.45418243e-03 -4.25621475e+00] [ 2.06888672e-02 -1.20317869e-03 9.99785239e-01 -2.45582141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.021346184 meters 0.07988538008171667 Centerline is valid? [True, True] Translation: X:51.74, Y:-4.27, Z:-2.46 [[ 9.99790810e-01 4.54446814e-03 -1.99420158e-02 5.17426635e+01] [-4.51739044e-03 9.99988813e-01 1.40265934e-03 -4.26823347e+00] [ 1.99481670e-02 -1.31228005e-03 9.99800154e-01 -2.45509673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.051346184 meters 0.07990021437337068 Centerline is valid? [True, True] Translation: X:51.77, Y:-4.27, Z:-2.45 [[ 9.99812543e-01 -2.54239069e-04 -1.93601346e-02 5.17727837e+01] [ 2.80664127e-04 9.99999033e-01 1.36221631e-03 -4.26936350e+00] [ 1.93597696e-02 -1.36739465e-03 9.99811647e-01 -2.45260104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.081346184 meters 0.08528281275850923 Centerline is valid? [True, True] Translation: X:51.80, Y:-4.28, Z:-2.46 [[ 9.99786205e-01 -4.93042396e-03 -2.00807206e-02 5.18013286e+01] [ 4.95977908e-03 9.99986703e-01 1.41231507e-03 -4.28015312e+00] [ 2.00734903e-02 -1.51160906e-03 9.99797364e-01 -2.45555513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.111346184 meters 0.08616709740177395 Centerline is valid? [True, True] Translation: X:51.83, Y:-4.28, Z:-2.46 [[ 9.99714350e-01 -9.95582568e-03 -2.17278696e-02 5.18319033e+01] [ 9.99138284e-03 9.99948917e-01 1.52852979e-03 -4.28335510e+00] [ 2.17115419e-02 -1.74518463e-03 9.99762753e-01 -2.45569737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141346184 meters 0.08858805412255208 Centerline is valid? [True, True] Translation: X:51.86, Y:-4.29, Z:-2.45 [[ 9.99637054e-01 -1.73900549e-02 -2.05754027e-02 5.18621314e+01] [ 1.74235009e-02 9.99847152e-01 1.44736781e-03 -4.28905759e+00] [ 2.05470880e-02 -1.80533804e-03 9.99787256e-01 -2.45421773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.171346184 meters 0.09068611801739893 Centerline is valid? [True, True] Translation: X:51.89, Y:-4.29, Z:-2.46 [[ 9.99627675e-01 -1.98468050e-02 -1.87247086e-02 5.18904664e+01] [ 1.98748965e-02 9.99801610e-01 1.31532035e-03 -4.29478887e+00] [ 1.86948889e-02 -1.68698227e-03 9.99823812e-01 -2.45503529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201346184 meters 0.09212439710624182 Centerline is valid? [True, True] Translation: X:51.92, Y:-4.30, Z:-2.45 [[ 9.99626907e-01 -2.12278608e-02 -1.71879508e-02 5.19183937e+01] [ 2.12517084e-02 9.99773430e-01 1.20597714e-03 -4.29851388e+00] [ 1.71584562e-02 -1.57080051e-03 9.99851549e-01 -2.45441643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.231346184 meters 0.09357778783658942 Centerline is valid? [True, True] Translation: X:51.95, Y:-4.30, Z:-2.45 [[ 9.99603629e-01 -2.28233313e-02 -1.64827130e-02 5.19484885e+01] [ 2.28454836e-02 9.99738338e-01 1.15691081e-03 -4.29725901e+00] [ 1.64519956e-02 -1.53300780e-03 9.99863482e-01 -2.45162649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26134618399999 meters 0.09243352025780366 Centerline is valid? [True, True] Translation: X:51.98, Y:-4.29, Z:-2.45 [[ 9.99644259e-01 -2.17948029e-02 -1.53734485e-02 5.19792717e+01] [ 2.18139570e-02 9.99761465e-01 1.07931271e-03 -4.29307905e+00] [ 1.53462580e-02 -1.41428450e-03 9.99881239e-01 -2.44925262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29134618399999 meters 0.09318778404499359 Centerline is valid? [True, True] Translation: X:52.01, Y:-4.29, Z:-2.45 [[ 9.99644647e-01 -2.09239899e-02 -1.65156482e-02 5.20089936e+01] [ 2.09459690e-02 9.99779937e-01 1.15892814e-03 -4.29298821e+00] [ 1.64877643e-02 -1.50445256e-03 9.99862936e-01 -2.45074931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32134618399999 meters 0.09051182207836912 Centerline is valid? [True, True] Translation: X:52.04, Y:-4.29, Z:-2.45 [[ 9.99617222e-01 -2.00015194e-02 -1.91140875e-02 5.20397500e+01] [ 2.00307989e-02 9.99798463e-01 1.34158670e-03 -4.28933288e+00] [ 1.90834015e-02 -1.72394361e-03 9.99816409e-01 -2.45438328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.351346184 meters 0.09191277928304212 Centerline is valid? [True, True] Translation: X:52.07, Y:-4.29, Z:-2.46 [[ 9.99596661e-01 -1.99833370e-02 -2.01787329e-02 5.20670296e+01] [ 2.00159013e-02 9.99798663e-01 1.41309605e-03 -4.29347917e+00] [ 2.01464318e-02 -1.81642162e-03 9.99795390e-01 -2.45767815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.381346184 meters 0.09092263469904861 Centerline is valid? [True, True] Translation: X:52.10, Y:-4.29, Z:-2.46 [[ 9.99574950e-01 -2.12668546e-02 -1.99408967e-02 5.20967947e+01] [ 2.12989106e-02 9.99772177e-01 1.39652704e-03 -4.29292060e+00] [ 1.99066540e-02 -1.82065283e-03 9.99800185e-01 -2.45733505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.411346184 meters 0.09501688055203504 Centerline is valid? [True, True] Translation: X:52.13, Y:-4.30, Z:-2.46 [[ 9.99539752e-01 -2.34033698e-02 -1.93019551e-02 5.21255151e+01] [ 2.34338021e-02 9.99724477e-01 1.35194424e-03 -4.29768869e+00] [ 1.92649969e-02 -1.80364020e-03 9.99812786e-01 -2.45819526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.441346184 meters 0.10032459198104804 Centerline is valid? [True, False] Translation: X:52.12, Y:-4.30, Z:-2.47 [[ 9.99823723e-01 -1.87194786e-02 -1.45070013e-03 5.21201012e+01] [ 1.87186447e-02 9.99824619e-01 -5.86223900e-04 -4.29759011e+00] [ 1.46141951e-03 5.58965422e-04 9.99998776e-01 -2.46581201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.471346184 meters 0.09337319453667278 Centerline is valid? [False, True] Translation: X:52.12, Y:-4.30, Z:-2.47 [[ 9.99827897e-01 -1.84900146e-02 -1.51543046e-03 5.21208852e+01] [ 1.84895211e-02 9.99828997e-01 -3.38957811e-04 -4.29725937e+00] [ 1.52143865e-03 3.10879892e-04 9.99998794e-01 -2.46678631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501346184 meters 0.09484392887245492 Centerline is valid? [True, True] Translation: X:52.15, Y:-4.30, Z:-2.47 [[ 9.99836463e-01 -1.80512254e-02 -1.09606991e-03 5.21514375e+01] [ 1.80513298e-02 9.99837058e-01 8.54721837e-05 -4.30176054e+00] [ 1.09434844e-03 -1.05243725e-04 9.99999396e-01 -2.46999357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.531346184 meters 0.09563568389959552 Centerline is valid? [True, True] Translation: X:52.18, Y:-4.30, Z:-2.47 [[ 9.99837572e-01 -1.78641719e-02 -2.38783124e-03 5.21831384e+01] [ 1.78646638e-02 9.99840397e-01 1.84824019e-04 -4.30383086e+00] [ 2.38414841e-03 -2.27451801e-04 9.99997132e-01 -2.47147831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561346184 meters 0.09726270094974081 Centerline is valid? [True, True] Translation: X:52.21, Y:-4.31, Z:-2.47 [[ 9.99854719e-01 -1.69333049e-02 -1.95018233e-03 5.22139298e+01] [ 1.69336299e-02 9.99856605e-01 1.50266314e-04 -4.30662136e+00] [ 1.94735818e-03 -1.83268148e-04 9.99998087e-01 -2.47312101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.591346184 meters 0.09752702794254126 Centerline is valid? [True, True] Translation: X:52.25, Y:-4.30, Z:-2.47 [[ 9.99845201e-01 -1.73768171e-02 -2.76042553e-03 5.22467953e+01] [ 1.73774723e-02 9.99848978e-01 2.13551985e-04 -4.30345739e+00] [ 2.75629779e-03 -2.61488145e-04 9.99996167e-01 -2.47214070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.621346184 meters 0.09822662245046705 Centerline is valid? [True, True] Translation: X:52.28, Y:-4.30, Z:-2.47 [[ 9.99846137e-01 -1.73463575e-02 -2.60894615e-03 5.22786423e+01] [ 1.73469435e-02 9.99849510e-01 2.02128653e-04 -4.30462019e+00] [ 2.60504734e-03 -2.47354794e-04 9.99996576e-01 -2.47235282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65134618399999 meters 0.0988881100211118 Centerline is valid? [True, True] Translation: X:52.31, Y:-4.31, Z:-2.47 [[ 9.99848632e-01 -1.73629472e-02 -1.11377127e-03 5.23110789e+01] [ 1.73630555e-02 9.99849247e-01 8.76859215e-05 -4.30672758e+00] [ 1.11208088e-03 -1.07011121e-04 9.99999376e-01 -2.47258210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68134618399999 meters 0.10020490055376705 Centerline is valid? [True, False] Translation: X:52.30, Y:-4.31, Z:-2.48 [[ 9.99921294e-01 -1.09943653e-02 6.04406203e-03 5.23015626e+01] [ 1.10153913e-02 9.99933354e-01 -3.45658314e-03 -4.30613318e+00] [-6.00565628e-03 3.52288879e-03 9.99975760e-01 -2.47754208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71134618399999 meters 0.10246027078590354 Centerline is valid? [False, False] Translation: X:52.30, Y:-4.31, Z:-2.48 [[ 9.99954210e-01 -6.85994468e-03 6.67232661e-03 5.23009097e+01] [ 6.85301169e-03 9.99975955e-01 1.06137569e-03 -4.30686844e+00] [-6.67944715e-03 -1.01560156e-03 9.99977177e-01 -2.47846914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.741346184 meters 0.10415253993245696 Centerline is valid? [False, False] Translation: X:52.30, Y:-4.31, Z:-2.48 [[ 9.99957127e-01 -6.51181353e-03 6.58335254e-03 5.23020102e+01] [ 6.50219213e-03 9.99977763e-01 1.48182375e-03 -4.30662453e+00] [-6.59285550e-03 -1.43895400e-03 9.99977232e-01 -2.47987842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.771346184 meters 0.10502723981023 Centerline is valid? [False, False] Translation: X:52.30, Y:-4.31, Z:-2.48 [[ 9.99961855e-01 -5.98515887e-03 6.36133930e-03 5.23041865e+01] [ 5.97269249e-03 9.99980209e-01 1.97690342e-03 -4.30515156e+00] [-6.37304549e-03 -1.93883369e-03 9.99977812e-01 -2.48242543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.801346184 meters 0.10607792368926373 Centerline is valid? [False, False] Translation: X:52.31, Y:-4.30, Z:-2.48 [[ 9.99965467e-01 -5.73195941e-03 6.01743648e-03 5.23057467e+01] [ 5.72025364e-03 9.99981717e-01 1.96072036e-03 -4.30329306e+00] [-6.02856523e-03 -1.92623139e-03 9.99979973e-01 -2.48367240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.831346184 meters 0.09387172593533656 Centerline is valid? [False, True] Translation: X:52.31, Y:-4.30, Z:-2.48 [[ 9.99969743e-01 -5.47815064e-03 5.52288114e-03 5.23074397e+01] [ 5.46823271e-03 9.99983412e-01 1.80929139e-03 -4.30093337e+00] [-5.53270110e-03 -1.77903624e-03 9.99983112e-01 -2.48461487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.861346184 meters 0.10515172663383755 Centerline is valid? [True, False] Translation: X:52.31, Y:-4.30, Z:-2.49 [[ 9.99972540e-01 -5.34424299e-03 5.13394727e-03 5.23087514e+01] [ 5.33631995e-03 9.99984552e-01 1.55572589e-03 -4.29859902e+00] [-5.14218213e-03 -1.52828679e-03 9.99985611e-01 -2.48531481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.891346184 meters 0.10537129242434268 Centerline is valid? [False, False] Translation: X:52.31, Y:-4.30, Z:-2.49 [[ 9.99975075e-01 -5.22936290e-03 4.74371886e-03 5.23097992e+01] [ 5.22295874e-03 9.99985434e-01 1.36141468e-03 -4.29714823e+00] [-4.75076909e-03 -1.33660450e-03 9.99987822e-01 -2.48564859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921346184 meters 0.10551862855861278 Centerline is valid? [False, False] Translation: X:52.31, Y:-4.30, Z:-2.49 [[ 9.99977305e-01 -5.05953029e-03 4.44859237e-03 5.23109337e+01] [ 5.05431212e-03 9.99986527e-01 1.18345362e-03 -4.29522779e+00] [-4.45452015e-03 -1.16094219e-03 9.99989405e-01 -2.48633235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.951346184 meters 0.09669345082543573 Centerline is valid? [False, True] Translation: X:52.31, Y:-4.30, Z:-2.49 [[ 9.99979386e-01 -4.81075033e-03 4.25251255e-03 5.23117995e+01] [ 4.80474211e-03 9.99987446e-01 1.42195273e-03 -4.29503830e+00] [-4.25929983e-03 -1.40149119e-03 9.99989947e-01 -2.48703100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.981346184 meters 0.09339966331372528 Centerline is valid? [True, True] Translation: X:52.34, Y:-4.29, Z:-2.49 [[ 9.99978432e-01 -5.19657439e-03 4.01630396e-03 5.23448080e+01] [ 5.19802628e-03 9.99986429e-01 -3.51145311e-04 -4.29096251e+00] [-4.01442470e-03 3.72014591e-04 9.99991873e-01 -2.48639774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01134618399999 meters 0.10969754728575279 Centerline is valid? [True, False] Translation: X:52.35, Y:-4.29, Z:-2.49 [[ 9.99980211e-01 -4.84173643e-03 4.01675779e-03 5.23456856e+01] [ 4.84104623e-03 9.99988266e-01 1.81535563e-04 -4.29116548e+00] [-4.01758960e-03 -1.62086660e-04 9.99991916e-01 -2.48773961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04134618399999 meters 0.09941319886930511 Centerline is valid? [False, True] Translation: X:52.35, Y:-4.29, Z:-2.49 [[ 9.99980686e-01 -4.68535463e-03 4.08363311e-03 5.23462230e+01] [ 4.68373701e-03 9.99988949e-01 4.05594729e-04 -4.29072034e+00] [-4.08548834e-03 -3.86460232e-04 9.99991580e-01 -2.48870186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07134618399999 meters 0.09807110009924243 Centerline is valid? [True, True] Translation: X:52.38, Y:-4.29, Z:-2.49 [[ 9.99976591e-01 -4.71827805e-03 4.95538330e-03 5.23784585e+01] [ 4.72057396e-03 9.99988756e-01 -4.51721692e-04 -4.29012380e+00] [-4.95319624e-03 4.75103371e-04 9.99987620e-01 -2.48713945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.101346184 meters 0.09816827572855609 Centerline is valid? [True, True] Translation: X:52.41, Y:-4.29, Z:-2.49 [[ 9.99964441e-01 -4.03569441e-03 7.40468805e-03 5.24099561e+01] [ 4.04082487e-03 9.99991606e-01 -6.78036525e-04 -4.29092120e+00] [-7.40188955e-03 7.07933463e-04 9.99972355e-01 -2.48665611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.131346184 meters 0.0981224396753808 Centerline is valid? [True, True] Translation: X:52.44, Y:-4.29, Z:-2.49 [[ 9.99958639e-01 -4.09307025e-03 8.12198274e-03 5.24418218e+01] [ 4.09923923e-03 9.99991322e-01 -7.43039181e-04 -4.29301198e+00] [-8.11887094e-03 7.76302398e-04 9.99966740e-01 -2.48644391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.161346184 meters 0.10038398446847599 Centerline is valid? [True, False] Translation: X:52.44, Y:-4.29, Z:-2.49 [[ 9.99959768e-01 -3.72723099e-03 8.15900353e-03 5.24423922e+01] [ 3.72849616e-03 9.99993039e-01 -1.39858775e-04 -4.29398726e+00] [-8.15842545e-03 1.70273962e-04 9.99966705e-01 -2.48744158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.191346184 meters 0.10069734950105425 Centerline is valid? [False, False] Translation: X:52.44, Y:-4.30, Z:-2.49 [[ 9.99960889e-01 -3.16369553e-03 8.25900359e-03 5.24430203e+01] [ 3.15605519e-03 9.99994580e-01 9.37961163e-04 -4.29623666e+00] [-8.26192624e-03 -9.11858607e-04 9.99965454e-01 -2.48879793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.221346184 meters 0.10711219274538034 Centerline is valid? [False, False] Translation: X:52.44, Y:-4.30, Z:-2.49 [[ 9.99955222e-01 -3.24107402e-03 8.89096790e-03 5.24419313e+01] [ 3.22653237e-03 9.99993434e-01 1.64941023e-03 -4.30021592e+00] [-8.89625539e-03 -1.62064938e-03 9.99959114e-01 -2.48920336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.251346184 meters 0.10817941850772725 Centerline is valid? [False, False] Translation: X:52.44, Y:-4.30, Z:-2.49 [[ 9.99956476e-01 -2.73017945e-03 8.92142591e-03 5.24426622e+01] [ 2.70727384e-03 9.99993011e-01 2.57855257e-03 -4.30211397e+00] [-8.92840346e-03 -2.55428760e-03 9.99956879e-01 -2.49048427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281346184 meters 0.11140274560172515 Centerline is valid? [False, False] Translation: X:52.44, Y:-4.30, Z:-2.49 [[ 9.99956255e-01 -2.62803562e-03 8.97671511e-03 5.24426972e+01] [ 2.60253351e-03 9.99992548e-01 2.85141806e-03 -4.30297811e+00] [-8.98414184e-03 -2.82793113e-03 9.99955643e-01 -2.49074110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.311346184 meters 0.11263418315801232 Centerline is valid? [False, False] Translation: X:52.44, Y:-4.30, Z:-2.49 [[ 9.99957086e-01 -2.38543049e-03 8.95187153e-03 5.24432957e+01] [ 2.35642434e-03 9.99991944e-01 3.24938349e-03 -4.30330738e+00] [-8.95955060e-03 -3.22814964e-03 9.99954652e-01 -2.49158622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.341346184 meters 0.10965980211695227 Centerline is valid? [False, False] Translation: X:52.44, Y:-4.30, Z:-2.49 [[ 9.99955473e-01 -2.98704787e-03 8.95153239e-03 5.24424037e+01] [ 2.96657891e-03 9.99992957e-01 2.29904953e-03 -4.30134200e+00] [-8.95833671e-03 -2.27239173e-03 9.99957291e-01 -2.49016762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.371346184 meters 0.1162078015059342 Centerline is valid? [False, False] Translation: X:52.44, Y:-4.30, Z:-2.49 [[ 9.99957813e-01 -2.67227437e-03 8.78813133e-03 5.24431611e+01] [ 2.64876774e-03 9.99992886e-01 2.68536801e-03 -4.30162396e+00] [-8.79524486e-03 -2.66197700e-03 9.99957778e-01 -2.49079935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40134618399999 meters 0.10609776837484035 Centerline is valid? [False, False] Translation: X:52.44, Y:-4.30, Z:-2.49 [[ 9.99958195e-01 -2.59783754e-03 8.76694064e-03 5.24431243e+01] [ 2.57346882e-03 9.99992797e-01 2.78975169e-03 -4.30221843e+00] [-8.77412482e-03 -2.76707362e-03 9.99957678e-01 -2.49069327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43134618399999 meters 0.10603666691306486 Centerline is valid? [False, False] Translation: X:52.44, Y:-4.30, Z:-2.49 [[ 9.99961634e-01 -2.08472153e-03 8.50785891e-03 5.24438218e+01] [ 2.05588109e-03 9.99992116e-01 3.39719804e-03 -4.30416450e+00] [-8.51487405e-03 -3.37957656e-03 9.99958037e-01 -2.49097787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46134618399999 meters 0.10517197869113862 Centerline is valid? [False, False] Translation: X:52.44, Y:-4.30, Z:-2.49 [[ 9.99963570e-01 -2.10281887e-03 8.27268242e-03 5.24442563e+01] [ 2.07683800e-03 9.99992889e-01 3.14789998e-03 -4.30326131e+00] [-8.27924305e-03 -3.13060428e-03 9.99960826e-01 -2.49087973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.491346184 meters 0.1028806034039036 Centerline is valid? [False, False] Translation: X:52.45, Y:-4.30, Z:-2.49 [[ 9.99966530e-01 -2.16563948e-03 7.88982164e-03 5.24450401e+01] [ 2.14455232e-03 9.99994109e-01 2.68018497e-03 -4.30128235e+00] [-7.89557948e-03 -2.66317513e-03 9.99965283e-01 -2.49080817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.521346184 meters 0.1028806034039036 Centerline is valid? [False, False] Translation: X:52.45, Y:-4.30, Z:-2.49 [[ 9.99966530e-01 -2.16563948e-03 7.88982164e-03 5.24450401e+01] [ 2.14455232e-03 9.99994109e-01 2.68018497e-03 -4.30128235e+00] [-7.89557948e-03 -2.66317513e-03 9.99965283e-01 -2.49080817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.551346184 meters 0.10385924649783922 Centerline is valid? [False, False] Translation: X:52.45, Y:-4.30, Z:-2.49 [[ 9.99973481e-01 -1.94182312e-03 7.01896541e-03 5.24469945e+01] [ 1.92734442e-03 9.99996002e-01 2.06897281e-03 -4.29739018e+00] [-7.02295493e-03 -2.05538998e-03 9.99973226e-01 -2.49090318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.581346184 meters 0.10256975313924847 Centerline is valid? [False, False] Translation: X:52.45, Y:-4.30, Z:-2.49 [[ 9.99975010e-01 -1.79321253e-03 6.83841099e-03 5.24474524e+01] [ 1.77820652e-03 9.99995999e-01 2.19982002e-03 -4.29761462e+00] [-6.84232838e-03 -2.18760494e-03 9.99974198e-01 -2.49104023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.611346184 meters 0.10328178683775044 Centerline is valid? [False, False] Translation: X:52.45, Y:-4.30, Z:-2.49 [[ 9.99976946e-01 -1.14117904e-03 6.69373489e-03 5.24484971e+01] [ 1.11989001e-03 9.99994306e-01 3.18332767e-03 -4.29963175e+00] [-6.69732953e-03 -3.17575803e-03 9.99972530e-01 -2.49223374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641346184 meters 0.10493322206580703 Centerline is valid? [False, False] Translation: X:52.45, Y:-4.30, Z:-2.49 [[ 9.99977211e-01 -8.44191272e-04 6.69816384e-03 5.24487302e+01] [ 8.19298122e-04 9.99992752e-01 3.71828786e-03 -4.30123726e+00] [-6.70125423e-03 -3.71271533e-03 9.99970654e-01 -2.49267064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.671346184 meters 0.09326030325873208 Centerline is valid? [False, True] Translation: X:52.45, Y:-4.30, Z:-2.49 [[ 9.99977644e-01 -1.00537696e-03 6.61063513e-03 5.24485225e+01] [ 9.83103631e-04 9.99993833e-01 3.37170394e-03 -4.30087606e+00] [-6.61398420e-03 -3.36512962e-03 9.99972465e-01 -2.49208194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701346184 meters 0.10661676386657452 Centerline is valid? [True, False] Translation: X:52.45, Y:-4.30, Z:-2.49 [[ 9.99978541e-01 -9.00022770e-04 6.48899912e-03 5.24490815e+01] [ 8.77745782e-04 9.99993715e-01 3.43506999e-03 -4.30030960e+00] [-6.49204998e-03 -3.42930059e-03 9.99973046e-01 -2.49252175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.731346184 meters 0.10686922635103462 Centerline is valid? [False, False] Translation: X:52.45, Y:-4.30, Z:-2.49 [[ 9.99979172e-01 -9.84121026e-04 6.37857545e-03 5.24492226e+01] [ 9.63455277e-04 9.99994280e-01 3.24213250e-03 -4.29970718e+00] [-6.38172961e-03 -3.23591950e-03 9.99974401e-01 -2.49236230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76134618399999 meters 0.10219381146817091 Centerline is valid? [False, False] Translation: X:52.45, Y:-4.30, Z:-2.49 [[ 9.99980042e-01 -5.22161966e-04 6.29625431e-03 5.24499237e+01] [ 4.97373262e-04 9.99992122e-01 3.93797900e-03 -4.30121338e+00] [-6.29826098e-03 -3.93476882e-03 9.99972424e-01 -2.49319841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79134618399999 meters 0.09765853188035423 Centerline is valid? [False, True] Translation: X:52.45, Y:-4.30, Z:-2.49 [[ 9.99980703e-01 1.10325213e-04 6.21147164e-03 5.24509332e+01] [-1.40966077e-04 9.99987824e-01 4.93272590e-03 -4.30317809e+00] [-6.21085180e-03 -4.93350632e-03 9.99968542e-01 -2.49454280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82134618399999 meters 0.09787373860719316 Centerline is valid? [True, True] Translation: X:52.48, Y:-4.31, Z:-2.49 [[ 9.99980273e-01 5.78753451e-04 6.25452257e-03 5.24828881e+01] [-5.74983153e-04 9.99999652e-01 -6.04592738e-04 -4.30603017e+00] [-6.25487031e-03 6.00984566e-04 9.99980258e-01 -2.49489922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.851346184 meters 0.09942510058676556 Centerline is valid? [True, True] Translation: X:52.51, Y:-4.31, Z:-2.50 [[ 9.99982367e-01 1.03753561e-03 5.84723694e-03 5.25136311e+01] [-1.03421238e-03 9.99999302e-01 -5.71338363e-04 -4.31141249e+00] [-5.84782564e-03 5.65281003e-04 9.99982742e-01 -2.49574421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.881346184 meters 0.10255081403511755 Centerline is valid? [True, False] Translation: X:52.51, Y:-4.31, Z:-2.50 [[ 9.99983535e-01 9.87234305e-04 5.65288261e-03 5.25139545e+01] [-9.82883041e-04 9.99999219e-01 -7.72468822e-04 -4.31046070e+00] [-5.65364080e-03 7.66899980e-04 9.99983724e-01 -2.49557473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.911346184 meters 0.09783949273500672 Centerline is valid? [False, True] Translation: X:52.51, Y:-4.31, Z:-2.50 [[ 9.99984090e-01 9.29433995e-04 5.56379292e-03 5.25138350e+01] [-9.24637535e-04 9.99999199e-01 -8.64594845e-04 -4.31056036e+00] [-5.56459205e-03 8.59436597e-04 9.99984148e-01 -2.49509021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.941346184 meters 0.1003704117309595 Centerline is valid? [True, False] Translation: X:52.51, Y:-4.31, Z:-2.50 [[ 9.99982686e-01 1.34076918e-03 5.72980903e-03 5.25135338e+01] [-1.34153936e-03 9.99999092e-01 1.30574788e-04 -4.31414412e+00] [-5.72962875e-03 -1.38259291e-04 9.99983576e-01 -2.49519563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.971346184 meters 0.102039350407077 Centerline is valid? [False, False] Translation: X:52.51, Y:-4.32, Z:-2.50 [[ 9.99982563e-01 1.70885582e-03 5.65266778e-03 5.25139510e+01] [-1.71319619e-03 9.99998241e-01 7.63091334e-04 -4.31586100e+00] [-5.65135382e-03 -7.72762157e-04 9.99983732e-01 -2.49563808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001346184 meters 0.10263996118961986 Centerline is valid? [False, False] Translation: X:52.51, Y:-4.32, Z:-2.50 [[ 9.99982139e-01 2.05428261e-03 5.61269791e-03 5.25143950e+01] [-2.06192646e-03 9.99996954e-01 1.35643862e-03 -4.31727659e+00] [-5.60989430e-03 -1.36798736e-03 9.99983329e-01 -2.49623556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.031346184 meters 0.10423985807915748 Centerline is valid? [False, False] Translation: X:52.51, Y:-4.32, Z:-2.50 [[ 9.99981201e-01 2.16465179e-03 5.73683422e-03 5.25142687e+01] [-2.17426341e-03 9.99996242e-01 1.66971425e-03 -4.31866216e+00] [-5.73319831e-03 -1.68215625e-03 9.99982150e-01 -2.49650069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061346184 meters 0.09810578199288988 Centerline is valid? [False, True] Translation: X:52.51, Y:-4.32, Z:-2.50 [[ 9.99981857e-01 2.34425354e-03 5.54890230e-03 5.25149994e+01] [-2.35445348e-03 9.99995549e-01 1.83237295e-03 -4.31846930e+00] [-5.54458206e-03 -1.84540434e-03 9.99982926e-01 -2.49702555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.091346184 meters 0.0962033326350603 Centerline is valid? [True, True] Translation: X:52.55, Y:-4.32, Z:-2.50 [[ 9.99978730e-01 3.29613132e-03 5.62807449e-03 5.25472994e+01] [-3.29294591e-03 9.99994413e-01 -5.75158646e-04 -4.31704743e+00] [-5.62993885e-03 5.56613467e-04 9.99983997e-01 -2.49600637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.121346184 meters 0.10569153739588294 Centerline is valid? [True, False] Translation: X:52.55, Y:-4.32, Z:-2.50 [[ 9.99980214e-01 3.12165873e-03 5.46134897e-03 5.25473691e+01] [-3.11621703e-03 9.99994640e-01 -1.00462915e-03 -4.31597968e+00] [-5.46445580e-03 9.87590521e-04 9.99984582e-01 -2.49555863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15134618399999 meters 0.09598433796176882 Centerline is valid? [False, True] Translation: X:52.55, Y:-4.31, Z:-2.49 [[ 9.99982082e-01 2.95662046e-03 5.20511396e-03 5.25474096e+01] [-2.94876178e-03 9.99994502e-01 -1.51682709e-03 -4.31492122e+00] [-5.20957002e-03 1.50145127e-03 9.99985303e-01 -2.49476531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18134618399999 meters 0.09557343910133263 Centerline is valid? [True, True] Translation: X:52.58, Y:-4.32, Z:-2.49 [[ 9.99973238e-01 4.20370262e-03 5.98767684e-03 5.25788445e+01] [-4.20026293e-03 9.99991007e-01 -5.86920731e-04 -4.31835496e+00] [-5.99009023e-03 5.61755207e-04 9.99981901e-01 -2.49473602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21134618399999 meters 0.09450183385839982 Centerline is valid? [True, True] Translation: X:52.61, Y:-4.32, Z:-2.49 [[ 9.99962201e-01 4.64860918e-03 7.34763595e-03 5.26098943e+01] [-4.64343321e-03 9.99988959e-01 -7.21343280e-04 -4.31934246e+00] [-7.35090807e-03 6.87197757e-04 9.99972746e-01 -2.49430713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.241346184 meters 0.09891003796202148 Centerline is valid? [True, True] Translation: X:52.64, Y:-4.33, Z:-2.50 [[ 9.99969274e-01 4.72451253e-03 6.25543421e-03 5.26402811e+01] [-4.72077667e-03 9.99988670e-01 -6.11850271e-04 -4.32868617e+00] [-6.25825403e-03 5.82300963e-04 9.99980247e-01 -2.49671562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.271346184 meters 0.09874946767437696 Centerline is valid? [True, True] Translation: X:52.67, Y:-4.33, Z:-2.50 [[ 9.99991856e-01 2.85269360e-03 2.85466776e-03 5.26708776e+01] [-2.85190305e-03 9.99995894e-01 -2.80964056e-04 -4.32877588e+00] [-2.85545754e-03 2.72820532e-04 9.99995886e-01 -2.49874716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.301346184 meters 0.10033748355150836 Centerline is valid? [True, False] Translation: X:52.67, Y:-4.33, Z:-2.50 [[ 9.99990697e-01 3.31276962e-03 2.76240449e-03 5.26719128e+01] [-3.31396662e-03 9.99994417e-01 4.28852049e-04 -4.32953757e+00] [-2.76096838e-03 -4.38002576e-04 9.99996093e-01 -2.50009023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.331346184 meters 0.10226119435490205 Centerline is valid? [False, False] Translation: X:52.67, Y:-4.33, Z:-2.50 [[ 9.99989477e-01 3.50104125e-03 2.96457516e-03 5.26717791e+01] [-3.50383816e-03 9.99993421e-01 9.38776477e-04 -4.33124121e+00] [-2.96126896e-03 -9.49153989e-04 9.99995165e-01 -2.50060213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.361346184 meters 0.10389012285193026 Centerline is valid? [False, False] Translation: X:52.67, Y:-4.34, Z:-2.50 [[ 9.99995352e-01 2.97556334e-04 3.03424836e-03 5.26729632e+01] [-2.93041310e-04 9.99998849e-01 -1.48835650e-03 -4.33563826e+00] [-3.03468774e-03 1.48746043e-03 9.99994289e-01 -2.50276269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.391346184 meters 0.10715329418799248 Centerline is valid? [False, False] Translation: X:52.67, Y:-4.34, Z:-2.50 [[ 9.99994593e-01 3.46308965e-04 3.27022724e-03 5.26725118e+01] [-3.42563302e-04 9.99999285e-01 -1.14587386e-03 -4.33709333e+00] [-3.27062173e-03 1.14474741e-03 9.99993996e-01 -2.50287231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421346184 meters 0.10976082395329499 Centerline is valid? [False, False] Translation: X:52.67, Y:-4.34, Z:-2.50 [[ 9.99994508e-01 -6.90591980e-05 3.31345612e-03 5.26718689e+01] [ 7.48839714e-05 9.99998452e-01 -1.75782289e-03 -4.33614042e+00] [-3.31332959e-03 1.75806136e-03 9.99992966e-01 -2.50195563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.451346184 meters 0.10141826236662578 Centerline is valid? [False, False] Translation: X:52.67, Y:-4.33, Z:-2.50 [[ 9.99995432e-01 -2.47748233e-04 3.01240855e-03 5.26724225e+01] [ 2.54709544e-04 9.99997298e-01 -2.31071487e-03 -4.33384556e+00] [-3.01182793e-03 2.31147160e-03 9.99992793e-01 -2.50175032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.481346184 meters 0.10109280108303598 Centerline is valid? [False, False] Translation: X:52.67, Y:-4.33, Z:-2.50 [[ 9.99989761e-01 3.41378554e-03 2.97054516e-03 5.26719478e+01] [-3.41628049e-03 9.99993816e-01 8.35228172e-04 -4.33050695e+00] [-2.96767550e-03 -8.45367836e-04 9.99995239e-01 -2.50068884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51134618399999 meters 0.10398432539770117 Centerline is valid? [False, False] Translation: X:52.67, Y:-4.33, Z:-2.50 [[ 9.99989903e-01 3.58422857e-03 2.71074991e-03 5.26727311e+01] [-3.58663342e-03 9.99993178e-01 8.82812906e-04 -4.32989568e+00] [-2.70756721e-03 -8.92526458e-04 9.99995936e-01 -2.50102829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54134618399999 meters 0.10159955252597638 Centerline is valid? [False, False] Translation: X:52.67, Y:-4.33, Z:-2.50 [[ 9.99990171e-01 3.51165012e-03 2.70663033e-03 5.26726598e+01] [-3.51362671e-03 9.99993564e-01 7.25870366e-04 -4.32968440e+00] [-2.70406391e-03 -7.35373320e-04 9.99996074e-01 -2.50091948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57134618399999 meters 0.09788156590860286 Centerline is valid? [False, True] Translation: X:52.67, Y:-4.33, Z:-2.50 [[ 9.99990042e-01 3.49955524e-03 2.76942263e-03 5.26725191e+01] [-3.50158529e-03 9.99993604e-01 7.28513463e-04 -4.32998425e+00] [-2.76685544e-03 -7.38203577e-04 9.99995900e-01 -2.50093072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.601346184 meters 0.09594898285412909 Centerline is valid? [True, True] Translation: X:52.70, Y:-4.33, Z:-2.50 [[ 9.99993314e-01 2.52394961e-03 2.64592696e-03 5.27033767e+01] [-2.52323038e-03 9.99996779e-01 -2.75130493e-04 -4.32849658e+00] [-2.64661285e-03 2.68452370e-04 9.99996462e-01 -2.50078802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.631346184 meters 0.10265820302739456 Centerline is valid? [True, False] Translation: X:52.70, Y:-4.33, Z:-2.50 [[ 9.99993565e-01 2.61186611e-03 2.45933252e-03 5.27042882e+01] [-2.61101775e-03 9.99996531e-01 -3.48099629e-04 -4.32713605e+00] [-2.46023318e-03 3.41676028e-04 9.99996915e-01 -2.50155703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.661346184 meters 0.10369189212623997 Centerline is valid? [False, False] Translation: X:52.71, Y:-4.33, Z:-2.50 [[ 9.99993638e-01 2.83735914e-03 2.16162382e-03 5.27058197e+01] [-2.83663366e-03 9.99995919e-01 -3.38611572e-04 -4.32516186e+00] [-2.16257576e-03 3.32477683e-04 9.99997606e-01 -2.50292303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.691346184 meters 0.10909790784042996 Centerline is valid? [False, False] Translation: X:52.71, Y:-4.32, Z:-2.50 [[ 9.99993327e-01 3.04622644e-03 2.01634839e-03 5.27066110e+01] [-3.04594624e-03 9.99995351e-01 -1.42018311e-04 -4.32482685e+00] [-2.01677163e-03 1.35875675e-04 9.99997957e-01 -2.50367989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.721346184 meters 0.10476173604048088 Centerline is valid? [False, False] Translation: X:52.71, Y:-4.32, Z:-2.50 [[ 9.99993506e-01 3.07236576e-03 1.88355261e-03 5.27072018e+01] [-3.07187697e-03 9.99995247e-01 -2.62341686e-04 -4.32371880e+00] [-1.88434966e-03 2.56553941e-04 9.99998192e-01 -2.50411205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.751346184 meters 0.10441105900846596 Centerline is valid? [False, False] Translation: X:52.71, Y:-4.32, Z:-2.50 [[ 9.99994474e-01 2.86497676e-03 1.68667302e-03 5.27076548e+01] [-2.86359506e-03 9.99995563e-01 -8.21035152e-04 -4.32155868e+00] [-1.68901778e-03 8.16200666e-04 9.99998241e-01 -2.50409536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781346184 meters 0.10214933933055882 Centerline is valid? [False, False] Translation: X:52.71, Y:-4.32, Z:-2.50 [[ 9.99996010e-01 2.61349223e-03 1.07186161e-03 5.27090770e+01] [-2.61151120e-03 9.99994887e-01 -1.84547138e-03 -4.31629696e+00] [-1.07667926e-03 1.84266484e-03 9.99997723e-01 -2.50419442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.811346184 meters 0.10301835395709076 Centerline is valid? [False, False] Translation: X:52.71, Y:-4.32, Z:-2.50 [[ 9.99995733e-01 2.76469435e-03 9.43124850e-04 5.27097981e+01] [-2.76302037e-03 9.99994613e-01 -1.77164191e-03 -4.31564148e+00] [-9.48017818e-04 1.76902848e-03 9.99997986e-01 -2.50487754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.841346184 meters 0.10056870556381751 Centerline is valid? [False, False] Translation: X:52.71, Y:-4.32, Z:-2.51 [[ 9.99995313e-01 2.88249385e-03 1.03229634e-03 5.27100085e+01] [-2.88087158e-03 9.99994618e-01 -1.56957126e-03 -4.31589457e+00] [-1.03681506e-03 1.56658999e-03 9.99998235e-01 -2.50553516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.871346184 meters 0.1139501245303009 Centerline is valid? [False, False] Translation: X:52.71, Y:-4.31, Z:-2.51 [[ 9.99999461e-01 -8.58895493e-04 5.83364395e-04 5.27121703e+01] [ 8.62047347e-04 9.99984917e-01 -5.42430182e-03 -4.31485073e+00] [-5.78696687e-04 5.42480179e-03 9.99985118e-01 -2.50743831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90134618399999 meters 0.1054746524210492 Centerline is valid? [False, False] Translation: X:52.71, Y:-4.32, Z:-2.51 [[ 9.99995191e-01 2.80657599e-03 1.31932071e-03 5.27102474e+01] [-2.80456289e-03 9.99994904e-01 -1.52523963e-03 -4.31512893e+00] [-1.32359469e-03 1.52153217e-03 9.99997967e-01 -2.50672739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93134618399999 meters 0.10452236508482182 Centerline is valid? [False, False] Translation: X:52.72, Y:-4.31, Z:-2.50 [[ 9.99972177e-01 -2.69321313e-03 -6.95646903e-03 5.27220896e+01] [ 2.71276876e-03 9.99992391e-01 2.80323896e-03 -4.31164095e+00] [ 6.94886638e-03 -2.82203226e-03 9.99971874e-01 -2.50241976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96134618399999 meters 0.10112416323296106 Centerline is valid? [False, False] Translation: X:52.72, Y:-4.31, Z:-2.50 [[ 9.99969088e-01 -3.44255965e-03 -7.06909177e-03 5.27217177e+01] [ 3.45294822e-03 9.99992976e-01 1.45789796e-03 -4.30730538e+00] [ 7.06402321e-03 -1.48226210e-03 9.99973951e-01 -2.50142559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.991346184 meters 0.1041395353785636 Centerline is valid? [False, False] Translation: X:52.72, Y:-4.31, Z:-2.50 [[ 9.99971396e-01 -3.25703113e-03 -6.82628859e-03 5.27217249e+01] [ 3.27008811e-03 9.99992844e-01 1.90246253e-03 -4.30826274e+00] [ 6.82004335e-03 -1.92473068e-03 9.99974891e-01 -2.50224050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.021346184 meters 0.10646743028067024 Centerline is valid? [False, False] Translation: X:52.72, Y:-4.31, Z:-2.50 [[ 9.99974882e-01 -2.50810171e-03 -6.62902898e-03 5.27225067e+01] [ 2.52989730e-03 9.99991415e-01 3.28156255e-03 -4.31119647e+00] [ 6.62074158e-03 -3.29825088e-03 9.99972643e-01 -2.50413570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.051346184 meters 0.1075933609107478 Centerline is valid? [False, False] Translation: X:52.72, Y:-4.31, Z:-2.50 [[ 9.99977316e-01 -2.32595920e-03 -6.32112454e-03 5.27222424e+01] [ 2.35007271e-03 9.99989980e-01 3.81000360e-03 -4.31295583e+00] [ 6.31219929e-03 -3.82477228e-03 9.99972763e-01 -2.50478303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.081346184 meters 0.10954698466647145 Centerline is valid? [False, False] Translation: X:52.72, Y:-4.31, Z:-2.51 [[ 9.99976346e-01 -2.45190485e-03 -6.42623356e-03 5.27230058e+01] [ 2.47405425e-03 9.99991019e-01 3.44103587e-03 -4.31059279e+00] [ 6.41773875e-03 -3.45685333e-03 9.99973431e-01 -2.50556265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.111346184 meters 0.10996626531363801 Centerline is valid? [False, False] Translation: X:52.72, Y:-4.31, Z:-2.51 [[ 9.99973724e-01 -2.65549737e-03 -6.74540279e-03 5.27238749e+01] [ 2.67462125e-03 9.99992425e-01 2.82766108e-03 -4.30753070e+00] [ 6.73784285e-03 -2.84562818e-03 9.99973252e-01 -2.50582470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141346184 meters 0.10920662545833108 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.31, Z:-2.51 [[ 9.99971412e-01 -2.57183377e-03 -7.11055629e-03 5.27250433e+01] [ 2.59072195e-03 9.99993137e-01 2.64842370e-03 -4.30566287e+00] [ 7.10369619e-03 -2.66676947e-03 9.99971213e-01 -2.50636452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.171346184 meters 0.10847142150820795 Centerline is valid? [False, False] Translation: X:52.72, Y:-4.30, Z:-2.51 [[ 9.99970883e-01 -2.81760069e-03 -7.09181154e-03 5.27247172e+01] [ 2.83373414e-03 9.99993418e-01 2.26592106e-03 -4.30479842e+00] [ 7.08538040e-03 -2.28595140e-03 9.99972286e-01 -2.50593606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201346184 meters 0.1098968238037242 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.31, Z:-2.51 [[ 9.99971192e-01 -2.54323556e-03 -7.15168483e-03 5.27250954e+01] [ 2.56236936e-03 9.99993159e-01 2.66753646e-03 -4.30558605e+00] [ 7.14485173e-03 -2.68578487e-03 9.99970868e-01 -2.50630495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.231346184 meters 0.1116070815069149 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.30, Z:-2.51 [[ 9.99948075e-01 -6.47532597e-03 -7.86880118e-03 5.27269075e+01] [ 6.46267307e-03 9.99977784e-01 -1.63234835e-03 -4.30414423e+00] [ 7.87919636e-03 1.58141010e-03 9.99967708e-01 -2.50661003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26134618399999 meters 0.1085281890619233 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.30, Z:-2.51 [[ 9.99949433e-01 -6.39191608e-03 -7.76367287e-03 5.27267688e+01] [ 6.38135915e-03 9.99978681e-01 -1.38379703e-03 -4.30495080e+00] [ 7.77235247e-03 1.33418427e-03 9.99968905e-01 -2.50677312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29134618399999 meters 0.10900216310211577 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.31, Z:-2.51 [[ 9.99950498e-01 -6.01600005e-03 -7.92520285e-03 5.27277620e+01] [ 6.00916406e-03 9.99981552e-01 -8.86094431e-04 -4.30539222e+00] [ 7.93038740e-03 8.38426723e-04 9.99968202e-01 -2.50775973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32134618399999 meters 0.11314962086149326 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.31, Z:-2.51 [[ 9.99971602e-01 -1.69108725e-03 -7.34400983e-03 5.27268906e+01] [ 1.71970364e-03 9.99990947e-01 3.89199805e-03 -4.30724100e+00] [ 7.33736164e-03 -3.90451704e-03 9.99965458e-01 -2.50838851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.351346184 meters 0.1132807613877144 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.31, Z:-2.51 [[ 9.99970100e-01 -1.64722906e-03 -7.55552564e-03 5.27275076e+01] [ 1.67597416e-03 9.99991376e-01 3.79976162e-03 -4.30653601e+00] [ 7.54920141e-03 -3.81231088e-03 9.99964237e-01 -2.50864355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.381346184 meters 0.11296520686188985 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.31, Z:-2.51 [[ 9.99968014e-01 -1.52175666e-03 -7.85209129e-03 5.27282928e+01] [ 1.55070141e-03 9.99992021e-01 3.68147646e-03 -4.30574342e+00] [ 7.84642633e-03 -3.69353495e-03 9.99962395e-01 -2.50890357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.411346184 meters 0.10769441693624293 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.31, Z:-2.51 [[ 9.99966375e-01 -1.53775276e-03 -8.05501321e-03 5.27286737e+01] [ 1.56574713e-03 9.99992753e-01 3.47024453e-03 -4.30510562e+00] [ 8.04961845e-03 -3.48273995e-03 9.99961536e-01 -2.50881131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.441346184 meters 0.10769441693624293 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.31, Z:-2.51 [[ 9.99966375e-01 -1.53775276e-03 -8.05501321e-03 5.27286737e+01] [ 1.56574713e-03 9.99992753e-01 3.47024453e-03 -4.30510562e+00] [ 8.04961845e-03 -3.48273995e-03 9.99961536e-01 -2.50881131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.471346184 meters 0.11164716991831478 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.30, Z:-2.51 [[ 9.99961046e-01 -9.50188660e-04 -8.77516058e-03 5.27309087e+01] [ 9.82735039e-04 9.99992652e-01 3.70535428e-03 -4.30376693e+00] [ 8.77157532e-03 -3.71383360e-03 9.99954632e-01 -2.50990181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501346184 meters 0.10778624332908857 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.30, Z:-2.51 [[ 9.99958414e-01 -1.12569873e-03 -9.05004149e-03 5.27311990e+01] [ 1.15452693e-03 9.99994275e-01 3.18082943e-03 -4.30229797e+00] [ 9.04640902e-03 -3.19114567e-03 9.99953988e-01 -2.50941913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.531346184 meters 0.10338036915304867 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.30, Z:-2.51 [[ 9.99955388e-01 -1.21619498e-03 -9.36713331e-03 5.27318168e+01] [ 1.24203510e-03 9.99995438e-01 2.75327081e-03 -4.30053473e+00] [ 9.36374206e-03 -2.76478229e-03 9.99952337e-01 -2.50933040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561346184 meters 0.10527212782450637 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.30, Z:-2.51 [[ 9.99952052e-01 -1.19855397e-03 -9.71890462e-03 5.27326816e+01] [ 1.22210177e-03 9.99996332e-01 2.41731014e-03 -4.29879643e+00] [ 9.71597169e-03 -2.42907172e-03 9.99949848e-01 -2.50948209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.591346184 meters 0.10070255751255615 Centerline is valid? [False, False] Translation: X:52.73, Y:-4.30, Z:-2.51 [[ 9.99947587e-01 -1.17339034e-03 -1.01708786e-02 5.27336333e+01] [ 1.19285555e-03 9.99997468e-01 1.90796284e-03 -4.29688906e+00] [ 1.01686140e-02 -1.91999523e-03 9.99946455e-01 -2.50950380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.621346184 meters 0.09600911155539936 Centerline is valid? [False, True] Translation: X:52.73, Y:-4.30, Z:-2.51 [[ 9.99944881e-01 -8.10196487e-04 -1.04679487e-02 5.27347421e+01] [ 8.33605640e-04 9.99997161e-01 2.23209980e-03 -4.29689588e+00] [ 1.04661105e-02 -2.24070291e-03 9.99942718e-01 -2.51020364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65134618399999 meters 0.09197418078260215 Centerline is valid? [True, True] Translation: X:52.77, Y:-4.29, Z:-2.51 [[ 9.99959037e-01 1.43191719e-03 -8.93716647e-03 5.27657227e+01] [-1.42477699e-03 9.99998661e-01 8.05249423e-04 -4.29222627e+00] [ 8.93830755e-03 -7.92482969e-04 9.99959739e-01 -2.50727088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68134618399999 meters 0.1021058779805388 Centerline is valid? [True, False] Translation: X:52.77, Y:-4.29, Z:-2.51 [[ 9.99957386e-01 1.29059655e-03 -9.14111189e-03 5.27658962e+01] [-1.28756636e-03 9.99999114e-01 3.37367778e-04 -4.29094692e+00] [ 9.14153919e-03 -3.25583613e-04 9.99958162e-01 -2.50681853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71134618399999 meters 0.08833226817136257 Centerline is valid? [False, True] Translation: X:52.77, Y:-4.29, Z:-2.51 [[ 9.99953847e-01 1.25860618e-03 -9.52464261e-03 5.27666202e+01] [-1.26009803e-03 9.99999195e-01 -1.50631335e-04 -4.28888489e+00] [ 9.52444535e-03 1.62626366e-04 9.99954628e-01 -2.50666702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.741346184 meters 0.10069225732435028 Centerline is valid? [True, False] Translation: X:52.77, Y:-4.29, Z:-2.51 [[ 9.99952107e-01 1.44445643e-03 -9.67972297e-03 5.27672534e+01] [-1.44434152e-03 9.99998957e-01 1.88615553e-05 -4.28893595e+00] [ 9.67974012e-03 -4.87982624e-06 9.99953150e-01 -2.50712144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.771346184 meters 0.10151909349463203 Centerline is valid? [False, False] Translation: X:52.77, Y:-4.29, Z:-2.51 [[ 9.99951439e-01 1.65049247e-03 -9.71576183e-03 5.27677147e+01] [-1.64722412e-03 9.99998584e-01 3.44389397e-04 -4.28949401e+00] [ 9.71631648e-03 -3.28368635e-04 9.99952742e-01 -2.50772610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.801346184 meters 0.08860253474592919 Centerline is valid? [False, True] Translation: X:52.77, Y:-4.29, Z:-2.51 [[ 9.99953712e-01 1.68735542e-03 -9.47245721e-03 5.27675416e+01] [-1.68109628e-03 9.99998363e-01 6.68695765e-04 -4.29007417e+00] [ 9.47357003e-03 -6.52740699e-04 9.99954912e-01 -2.50829116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.831346184 meters 0.09401859314828305 Centerline is valid? [True, True] Translation: X:52.79, Y:-4.30, Z:-2.51 [[ 9.99968092e-01 7.35459091e-05 -7.98809836e-03 5.27938033e+01] [-6.81447983e-05 9.99999769e-01 6.76414831e-04 -4.30162861e+00] [ 7.98814626e-03 -6.75848900e-04 9.99967866e-01 -2.50967286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.861346184 meters 0.0934649026430913 Centerline is valid? [True, True] Translation: X:52.82, Y:-4.30, Z:-2.51 [[ 9.99974893e-01 -2.27933831e-03 -6.70947656e-03 5.28227548e+01] [ 2.28320054e-03 9.99997232e-01 5.68035329e-04 -4.30400117e+00] [ 6.70816325e-03 -5.83340148e-04 9.99977330e-01 -2.50773229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.891346184 meters 0.09277699313914947 Centerline is valid? [True, True] Translation: X:52.85, Y:-4.31, Z:-2.51 [[ 9.99974309e-01 -3.63159111e-03 -6.18002296e-03 5.28517565e+01] [ 3.63489293e-03 9.99993257e-01 5.23125494e-04 -4.30826213e+00] [ 6.17808151e-03 -5.45575777e-04 9.99980767e-01 -2.50690788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921346184 meters 0.0962037883663807 Centerline is valid? [True, True] Translation: X:52.88, Y:-4.32, Z:-2.51 [[ 9.99953073e-01 -7.29061001e-03 -6.37949150e-03 5.28803550e+01] [ 7.29420634e-03 9.99973251e-01 5.40647972e-04 -4.32227478e+00] [ 6.37537920e-03 -5.87155929e-04 9.99979505e-01 -2.50978944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.951346184 meters 0.09590551540876988 Centerline is valid? [True, True] Translation: X:52.91, Y:-4.33, Z:-2.51 [[ 9.99931791e-01 -8.83821149e-03 -7.63535293e-03 5.29106177e+01] [ 8.84341103e-03 9.99960687e-01 6.47488928e-04 -4.32573925e+00] [ 7.62933012e-03 -7.14967328e-04 9.99970641e-01 -2.51098341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.981346184 meters 0.09641209461255587 Centerline is valid? [True, True] Translation: X:52.94, Y:-4.33, Z:-2.51 [[ 9.99909467e-01 -9.67146745e-03 -9.35525720e-03 5.29415908e+01] [ 9.67931437e-03 9.99952839e-01 7.93856543e-04 -4.32852535e+00] [ 9.34713824e-03 -8.84337148e-04 9.99955924e-01 -2.51076972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01134618399999 meters 0.09708461006316084 Centerline is valid? [True, True] Translation: X:52.97, Y:-4.33, Z:-2.51 [[ 9.99894767e-01 -1.03192427e-02 -1.01965183e-02 5.29722027e+01] [ 1.03285939e-02 9.99946285e-01 8.64861089e-04 -4.33018711e+00] [ 1.01870459e-02 -9.70085773e-04 9.99947640e-01 -2.50994133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04134618399999 meters 0.09731479337728635 Centerline is valid? [True, True] Translation: X:53.00, Y:-4.34, Z:-2.51 [[ 9.99912171e-01 -9.38759629e-03 -9.35541265e-03 5.30025494e+01] [ 9.39542788e-03 9.99955547e-01 7.93519135e-04 -4.33525963e+00] [ 9.34754753e-03 -8.81347546e-04 9.99955922e-01 -2.51088986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07134618399999 meters 0.0976636087720157 Centerline is valid? [True, True] Translation: X:53.03, Y:-4.34, Z:-2.51 [[ 9.99925964e-01 -8.94047787e-03 -8.25433291e-03 5.30321751e+01] [ 8.94655931e-03 9.99959734e-01 7.00126372e-04 -4.34206502e+00] [ 8.24774107e-03 -7.73922417e-04 9.99965687e-01 -2.51271373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.101346184 meters 0.09753844773255652 Centerline is valid? [True, True] Translation: X:53.06, Y:-4.35, Z:-2.51 [[ 9.99937748e-01 -8.53352400e-03 -7.18880341e-03 5.30617883e+01] [ 8.53812625e-03 9.99963364e-01 6.09748953e-04 -4.34901618e+00] [ 7.18333673e-03 -6.71089906e-04 9.99973974e-01 -2.51457313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.131346184 meters 0.09724372287745849 Centerline is valid? [True, True] Translation: X:53.09, Y:-4.36, Z:-2.52 [[ 9.99941172e-01 -7.11204101e-03 -8.18974566e-03 5.30922513e+01] [ 7.11797088e-03 9.99974425e-01 6.95139607e-04 -4.35676139e+00] [ 8.18459235e-03 -7.53393084e-04 9.99966222e-01 -2.51702946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.161346184 meters 0.09664425746905007 Centerline is valid? [True, True] Translation: X:53.12, Y:-4.36, Z:-2.52 [[ 9.99949572e-01 -5.27328933e-03 -8.54672068e-03 5.31209400e+01] [ 5.27966500e-03 9.99985801e-01 7.23588483e-04 -4.35685348e+00] [ 8.54278363e-03 -7.68675816e-04 9.99963214e-01 -2.51571938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.191346184 meters 0.09985630479404557 Centerline is valid? [True, True] Translation: X:53.15, Y:-4.36, Z:-2.52 [[ 9.99950269e-01 -2.59715724e-03 -9.62877472e-03 5.31491641e+01] [ 2.60512310e-03 9.99996275e-01 8.14847441e-04 -4.36107306e+00] [ 9.62662256e-03 -8.39891061e-04 9.99953310e-01 -2.51616469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.221346184 meters 0.08808019570310165 Centerline is valid? [True, True] Translation: X:53.18, Y:-4.34, Z:-2.51 [[ 9.99941362e-01 5.85258799e-03 -9.11149874e-03 5.31814260e+01] [-5.84579783e-03 9.99982615e-01 7.71684482e-04 -4.34087315e+00] [ 9.11585670e-03 -7.18375253e-04 9.99958192e-01 -2.50935644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.251346184 meters 0.08831919954455447 Centerline is valid? [True, True] Translation: X:53.21, Y:-4.35, Z:-2.51 [[ 9.99913308e-01 9.93101633e-03 -8.64592954e-03 5.32105126e+01] [-9.92505698e-03 9.99950478e-01 7.31901580e-04 -4.34520594e+00] [ 8.65276990e-03 -6.46026786e-04 9.99962355e-01 -2.51272143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281346184 meters 0.08539572658235461 Centerline is valid? [True, True] Translation: X:53.24, Y:-4.35, Z:-2.52 [[ 9.99871468e-01 1.37467667e-02 -8.25071518e-03 5.32411822e+01] [-1.37414663e-02 9.99905337e-01 6.98763051e-04 -4.34574355e+00] [ 8.25953988e-03 -5.85296313e-04 9.99965718e-01 -2.51514169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.311346184 meters 0.07923426549335259 Centerline is valid? [True, True] Translation: X:53.27, Y:-4.34, Z:-2.52 [[ 9.99795687e-01 1.84609867e-02 -8.23263666e-03 5.32721727e+01] [-1.84558685e-02 9.99829433e-01 6.97235861e-04 -4.33960341e+00] [ 8.24410411e-03 -5.45152947e-04 9.99965868e-01 -2.51596773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.341346184 meters 0.07976320758263165 Centerline is valid? [True, True] Translation: X:53.30, Y:-4.34, Z:-2.52 [[ 9.99754464e-01 2.01545484e-02 -9.20905577e-03 5.33004157e+01] [-2.01482347e-02 9.99796701e-01 7.77869718e-04 -4.34164836e+00] [ 9.22286119e-03 -5.92132506e-04 9.99957293e-01 -2.51717719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.371346184 meters 0.07824363575486085 Centerline is valid? [True, True] Translation: X:53.33, Y:-4.34, Z:-2.52 [[ 9.99715715e-01 2.14132628e-02 -1.04861997e-02 5.33299058e+01] [-2.14051514e-02 9.99770492e-01 8.85172729e-04 -4.33853767e+00] [ 1.05027475e-02 -6.60462396e-04 9.99944627e-01 -2.51652852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40134618399999 meters 0.07860298798987167 Centerline is valid? [True, True] Translation: X:53.36, Y:-4.34, Z:-2.52 [[ 9.99650277e-01 2.31258285e-02 -1.28265407e-02 5.33574970e+01] [-2.31138475e-02 9.99732254e-01 1.08154992e-03 -4.33996520e+00] [ 1.28481182e-02 -7.84700966e-04 9.99917152e-01 -2.51965687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43134618399999 meters 0.07740694083859713 Centerline is valid? [True, True] Translation: X:53.39, Y:-4.34, Z:-2.52 [[ 9.99659825e-01 2.28444191e-02 -1.25844140e-02 5.33860659e+01] [-2.28328719e-02 9.99738734e-01 1.06050446e-03 -4.34211481e+00] [ 1.26053528e-02 -7.72805391e-04 9.99920251e-01 -2.52057568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46134618399999 meters 0.07773405800899762 Centerline is valid? [True, True] Translation: X:53.41, Y:-4.35, Z:-2.52 [[ 9.99677814e-01 2.24808195e-02 -1.17847814e-02 5.34132781e+01] [-2.24706860e-02 9.99747010e-01 9.91600502e-04 -4.34785826e+00] [ 1.18040920e-02 -7.26468899e-04 9.99930065e-01 -2.52121010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.491346184 meters 0.07847576724163279 Centerline is valid? [True, True] Translation: X:53.44, Y:-4.35, Z:-2.52 [[ 9.99737878e-01 2.02479615e-02 -1.06861975e-02 5.34427084e+01] [-2.02394967e-02 9.99794756e-01 8.99683791e-04 -4.35425403e+00] [ 1.07022210e-02 -6.83164704e-04 9.99942496e-01 -2.51958462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.521346184 meters 0.08338070758723676 Centerline is valid? [True, True] Translation: X:53.47, Y:-4.37, Z:-2.52 [[ 9.99771557e-01 1.82773088e-02 -1.10803454e-02 5.34701581e+01] [-1.82681083e-02 9.99832691e-01 9.30998186e-04 -4.36525105e+00] [ 1.10955077e-02 -7.28368555e-04 9.99938178e-01 -2.52314264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.551346184 meters 0.08071183409831474 Centerline is valid? [True, True] Translation: X:53.50, Y:-4.36, Z:-2.52 [[ 9.99807139e-01 1.59680657e-02 -1.14326620e-02 5.34996869e+01] [-1.59581199e-02 9.99872200e-01 9.60654153e-04 -4.36307299e+00] [ 1.14465407e-02 -7.78025090e-04 9.99934184e-01 -2.52058689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.581346184 meters 0.08175064371166056 Centerline is valid? [True, True] Translation: X:53.53, Y:-4.37, Z:-2.52 [[ 9.99830296e-01 1.38516704e-02 -1.21453823e-02 5.35296045e+01] [-1.38402837e-02 9.99903697e-01 1.02108942e-03 -4.36823037e+00] [ 1.21583565e-02 -8.52820601e-04 9.99925721e-01 -2.52121959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.611346184 meters 0.08606856331850464 Centerline is valid? [True, True] Translation: X:53.56, Y:-4.38, Z:-2.52 [[ 9.99889315e-01 9.31004728e-03 -1.16051845e-02 5.35577162e+01] [-9.29934938e-03 9.99956284e-01 9.75442655e-04 -4.38156531e+00] [ 1.16137586e-02 -8.67414023e-04 9.99932182e-01 -2.52407288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641346184 meters 0.08572274642758777 Centerline is valid? [True, True] Translation: X:53.59, Y:-4.39, Z:-2.52 [[ 9.99915749e-01 6.97584360e-03 -1.09467628e-02 5.35865942e+01] [-6.96620843e-03 9.99975314e-01 9.18068511e-04 -4.38638017e+00] [ 1.09528968e-02 -8.41733733e-04 9.99939661e-01 -2.52427158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.671346184 meters 0.08637043216730389 Centerline is valid? [True, True] Translation: X:53.62, Y:-4.39, Z:-2.52 [[ 9.99941562e-01 5.21367533e-03 -9.47052108e-03 5.36156497e+01] [-5.20638265e-03 9.99986131e-01 7.94531286e-04 -4.39247088e+00] [ 9.47453216e-03 -7.45177699e-04 9.99954838e-01 -2.52365624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701346184 meters 0.08898132001190737 Centerline is valid? [True, True] Translation: X:53.64, Y:-4.40, Z:-2.52 [[ 9.99966418e-01 2.51064366e-03 -7.80122590e-03 5.36443935e+01] [-2.50561669e-03 9.99996647e-01 6.54088641e-04 -4.40042521e+00] [ 7.80284192e-03 -6.34519794e-04 9.99969356e-01 -2.52100459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.731346184 meters 0.08898969749663996 Centerline is valid? [True, True] Translation: X:53.67, Y:-4.40, Z:-2.52 [[ 9.99968393e-01 2.24276687e-03 -7.62771443e-03 5.36728830e+01] [-2.23796275e-03 9.99997292e-01 6.38301616e-04 -4.40199381e+00] [ 7.62912533e-03 -6.21210901e-04 9.99970705e-01 -2.51992770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76134618399999 meters 0.0911296108827438 Centerline is valid? [True, True] Translation: X:53.70, Y:-4.41, Z:-2.52 [[ 9.99965200e-01 1.55834507e-03 -8.19576586e-03 5.36997628e+01] [-1.55278765e-03 9.99998560e-01 6.84404656e-04 -4.40731618e+00] [ 8.19682060e-03 -6.71654554e-04 9.99966180e-01 -2.52178355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79134618399999 meters 0.08995286065629704 Centerline is valid? [True, True] Translation: X:53.73, Y:-4.41, Z:-2.52 [[ 9.99957912e-01 6.33211907e-04 -9.15281586e-03 5.37292500e+01] [-6.26230429e-04 9.99999511e-01 7.65614224e-04 -4.40870417e+00] [ 9.15329617e-03 -7.59850229e-04 9.99957819e-01 -2.52227257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82134618399999 meters 0.08812155273837884 Centerline is valid? [True, True] Translation: X:53.76, Y:-4.41, Z:-2.53 [[ 9.99915675e-01 -2.28233164e-03 -1.27841472e-02 5.37594216e+01] [ 2.29620155e-03 9.99996791e-01 1.07035733e-03 -4.41197091e+00] [ 1.27816632e-02 -1.09962205e-03 9.99917707e-01 -2.52527763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.851346184 meters 0.09313305661112063 Centerline is valid? [True, True] Translation: X:53.79, Y:-4.42, Z:-2.53 [[ 9.99901246e-01 -4.42294716e-03 -1.33392711e-02 5.37870218e+01] [ 4.43822052e-03 9.99989529e-01 1.11560713e-03 -4.42498142e+00] [ 1.33341972e-02 -1.17469959e-03 9.99910406e-01 -2.53038343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.881346184 meters 0.09417814733770703 Centerline is valid? [True, True] Translation: X:53.82, Y:-4.43, Z:-2.53 [[ 9.99894572e-01 -6.03117703e-03 -1.32086856e-02 5.38161443e+01] [ 6.04628614e-03 9.99981111e-01 1.10424212e-03 -4.43135197e+00] [ 1.32017762e-02 -1.18398919e-03 9.99912152e-01 -2.53114467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.911346184 meters 0.09538353335279869 Centerline is valid? [True, True] Translation: X:53.84, Y:-4.44, Z:-2.53 [[ 9.99913751e-01 -7.74483850e-03 -1.06069783e-02 5.38442499e+01] [ 7.75465480e-03 9.99969541e-01 8.84641918e-04 -4.43648967e+00] [ 1.05998038e-02 -9.66819074e-04 9.99943353e-01 -2.52944696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.941346184 meters 0.09481850128786226 Centerline is valid? [True, True] Translation: X:53.87, Y:-4.44, Z:-2.52 [[ 9.99952015e-01 -8.17849559e-03 -5.39255043e-03 5.38731154e+01] [ 8.18103420e-03 9.99966434e-01 4.48871745e-04 -4.43680164e+00] [ 5.38869833e-03 -4.92966846e-04 9.99985359e-01 -2.52170067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.971346184 meters 0.08999706913647113 Centerline is valid? [True, True] Translation: X:53.90, Y:-4.43, Z:-2.52 [[ 9.99971176e-01 -6.97913424e-03 -2.98983173e-03 5.39042136e+01] [ 6.97991156e-03 9.99975609e-01 2.49634857e-04 -4.43142641e+00] [ 2.98801657e-03 -2.70496423e-04 9.99995499e-01 -2.51778198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001346184 meters 0.09099579969847495 Centerline is valid? [True, True] Translation: X:53.93, Y:-4.44, Z:-2.52 [[ 9.99984719e-01 -3.38852202e-03 -4.36803368e-03 5.39338182e+01] [ 3.39014740e-03 9.99994187e-01 3.64758349e-04 -4.43685637e+00] [ 4.36677229e-03 -3.79561054e-04 9.99990394e-01 -2.52258351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.031346184 meters 0.08836216063985403 Centerline is valid? [True, True] Translation: X:53.96, Y:-4.44, Z:-2.52 [[ 9.99984199e-01 -1.62365592e-03 -5.38197675e-03 5.39642400e+01] [ 1.62609540e-03 9.99998577e-01 4.48924219e-04 -4.43539622e+00] [ 5.38124019e-03 -4.57668733e-04 9.99985416e-01 -2.52466559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061346184 meters 0.0898776841182683 Centerline is valid? [True, True] Translation: X:53.99, Y:-4.44, Z:-2.53 [[ 9.99966567e-01 -1.07098950e-03 -8.10661022e-03 5.39920848e+01] [ 1.07649441e-03 9.99999193e-01 6.74731679e-04 -4.43945761e+00] [ 8.10588105e-03 -6.83435842e-04 9.99966913e-01 -2.52854744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.091346184 meters 0.08995441062788792 Centerline is valid? [True, True] Translation: X:54.02, Y:-4.44, Z:-2.53 [[ 9.99940181e-01 -5.47524487e-04 -1.09240475e-02 5.40208271e+01] [ 5.57427216e-04 9.99999436e-01 9.03483127e-04 -4.44086913e+00] [ 1.09235467e-02 -9.09518443e-04 9.99939923e-01 -2.53152567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.121346184 meters 0.09178429698743301 Centerline is valid? [True, True] Translation: X:54.05, Y:-4.44, Z:-2.53 [[ 9.99935106e-01 -1.14826564e-03 -1.13342115e-02 5.40481617e+01] [ 1.15897781e-03 9.99998888e-01 9.38595274e-04 -4.44388802e+00] [ 1.13331211e-02 -9.51670464e-04 9.99935325e-01 -2.53379122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15134618399999 meters 0.0915886983225044 Centerline is valid? [True, True] Translation: X:54.08, Y:-4.45, Z:-2.53 [[ 9.99953971e-01 -1.77342508e-03 -9.42928873e-03 5.40768220e+01] [ 1.78086671e-03 9.99998109e-01 7.80866074e-04 -4.44574967e+00] [ 9.42788610e-03 -7.97622438e-04 9.99955238e-01 -2.53238939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18134618399999 meters 0.09213537130204812 Centerline is valid? [True, True] Translation: X:54.10, Y:-4.45, Z:-2.53 [[ 9.99962021e-01 -2.64372474e-03 -8.30467499e-03 5.41049004e+01] [ 2.64951663e-03 9.99996254e-01 6.86501400e-04 -4.44993401e+00] [ 8.30282896e-03 -7.08478702e-04 9.99965280e-01 -2.53172122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21134618399999 meters 0.0902508412204309 Centerline is valid? [True, True] Translation: X:54.13, Y:-4.45, Z:-2.53 [[ 9.99981271e-01 -3.16851896e-03 -5.23614916e-03 5.41338607e+01] [ 3.17080150e-03 9.99994882e-01 4.27674413e-04 -4.45164765e+00] [ 5.23476726e-03 -4.44269193e-04 9.99986200e-01 -2.53018580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.241346184 meters 0.09167948887594604 Centerline is valid? [True, True] Translation: X:54.16, Y:-4.46, Z:-2.53 [[ 9.99973307e-01 -3.51994270e-03 -6.40269710e-03 5.41624519e+01] [ 3.52339253e-03 9.99993654e-01 5.27609665e-04 -4.45568355e+00] [ 6.40079931e-03 -5.50154797e-04 9.99979363e-01 -2.53233166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.271346184 meters 0.09585821588409844 Centerline is valid? [True, True] Translation: X:54.19, Y:-4.46, Z:-2.54 [[ 9.99968163e-01 -3.10850260e-03 -7.34911514e-03 5.41904994e+01] [ 3.11303508e-03 9.99994971e-01 6.05380282e-04 -4.46302772e+00] [ 7.34719636e-03 -6.28239062e-04 9.99972812e-01 -2.53594607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.301346184 meters 0.09120116362691295 Centerline is valid? [True, True] Translation: X:54.22, Y:-4.45, Z:-2.54 [[ 9.99956094e-01 -7.99340360e-04 -9.33657253e-03 5.42213913e+01] [ 8.06563519e-04 9.99999378e-01 7.69901599e-04 -4.45496160e+00] [ 9.33595131e-03 -7.77398334e-04 9.99956117e-01 -2.53604313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.331346184 meters 0.09120116362691295 Centerline is valid? [True, True] Translation: X:54.25, Y:-4.46, Z:-2.54 [[ 9.99955825e-01 -1.07892023e-03 -9.33721269e-03 5.42487720e+01] [ 1.08608341e-03 9.99999120e-01 7.62127975e-04 -4.45702568e+00] [ 9.33638220e-03 -7.72235300e-04 9.99956117e-01 -2.53658592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.361346184 meters 0.09456667462235632 Centerline is valid? [True, True] Translation: X:54.28, Y:-4.46, Z:-2.54 [[ 9.99964686e-01 -4.84251540e-04 -8.39002779e-03 5.42761562e+01] [ 4.90035554e-04 9.99999644e-01 6.87349464e-04 -4.46434234e+00] [ 8.38969195e-03 -6.91436603e-04 9.99964567e-01 -2.53872050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.391346184 meters 0.09122729539528927 Centerline is valid? [True, True] Translation: X:54.31, Y:-4.46, Z:-2.54 [[ 9.99974432e-01 4.02583984e-04 -7.13960246e-03 5.43053707e+01] [-3.98420735e-04 9.99999750e-01 5.84533355e-04 -4.46280414e+00] [ 7.13983599e-03 -5.81673844e-04 9.99974342e-01 -2.53775476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421346184 meters 0.09054802754294726 Centerline is valid? [True, True] Translation: X:54.33, Y:-4.47, Z:-2.54 [[ 9.99988913e-01 6.98698522e-04 -4.65684075e-03 5.43341175e+01] [-6.96952051e-04 9.99999686e-01 3.76645547e-04 -4.46869696e+00] [ 4.65710245e-03 -3.73395777e-04 9.99989086e-01 -2.53899606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.451346184 meters 0.08398104480715746 Centerline is valid? [True, True] Translation: X:54.36, Y:-4.46, Z:-2.54 [[ 9.99990590e-01 6.69554164e-05 -4.33756765e-03 5.43637428e+01] [-6.54241682e-05 9.99999935e-01 3.53160965e-04 -4.45978996e+00] [ 4.33759102e-03 -3.52873860e-04 9.99990530e-01 -2.53513520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.481346184 meters 0.08479108104740588 Centerline is valid? [True, True] Translation: X:54.39, Y:-4.46, Z:-2.53 [[ 9.99990972e-01 2.03550556e-04 -4.24434880e-03 5.43914162e+01] [-2.02088948e-04 9.99999920e-01 3.44791701e-04 -4.46100287e+00] [ 4.24441864e-03 -3.43930852e-04 9.99990933e-01 -2.53391511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51134618399999 meters 0.08974249622954214 Centerline is valid? [True, True] Translation: X:54.42, Y:-4.47, Z:-2.54 [[ 9.99984373e-01 1.79277185e-03 -5.29524927e-03 5.44194203e+01] [-1.79051656e-03 9.99998304e-01 4.30617923e-04 -4.46638224e+00] [ 5.29601229e-03 -4.21129963e-04 9.99985887e-01 -2.53566472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54134618399999 meters 0.08673330987263903 Centerline is valid? [True, True] Translation: X:54.45, Y:-4.46, Z:-2.54 [[ 9.99972512e-01 2.91747081e-03 -6.81649183e-03 5.44480770e+01] [-2.91379216e-03 9.99995604e-01 5.49538768e-04 -4.46392297e+00] [ 6.81806513e-03 -5.29661822e-04 9.99976616e-01 -2.53736421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57134618399999 meters 0.08416152426190567 Centerline is valid? [True, True] Translation: X:54.48, Y:-4.46, Z:-2.54 [[ 9.99959264e-01 4.35754625e-03 -7.90459121e-03 5.44766033e+01] [-4.35261493e-03 9.99990322e-01 6.40950659e-04 -4.46350500e+00] [ 7.90730768e-03 -6.06518907e-04 9.99968553e-01 -2.54074646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.601346184 meters 0.0845482472687507 Centerline is valid? [True, True] Translation: X:54.50, Y:-4.47, Z:-2.54 [[ 9.99943912e-01 5.22832764e-03 -9.21076813e-03 5.45038755e+01] [-5.22167744e-03 9.99986089e-01 7.45903325e-04 -4.46741065e+00] [ 9.21453983e-03 -6.97765829e-04 9.99957302e-01 -2.54427084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.631346184 meters 0.08339645625840611 Centerline is valid? [True, True] Translation: X:54.53, Y:-4.47, Z:-2.54 [[ 9.99946333e-01 7.48375760e-03 -7.16405203e-03 5.45342525e+01] [-7.47978547e-03 9.99971857e-01 5.81086880e-04 -4.46561258e+00] [ 7.16819912e-03 -5.27470123e-04 9.99974169e-01 -2.54253770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.661346184 meters 0.08134239911491038 Centerline is valid? [True, True] Translation: X:54.56, Y:-4.46, Z:-2.54 [[ 9.99956092e-01 8.01319836e-03 -4.85835548e-03 5.45636040e+01] [-8.01138552e-03 9.99967831e-01 3.92486083e-04 -4.46094363e+00] [ 4.86134426e-03 -3.53546691e-04 9.99988121e-01 -2.53779177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.691346184 meters 0.0826378587021671 Centerline is valid? [True, True] Translation: X:54.59, Y:-4.46, Z:-2.54 [[ 9.99956168e-01 9.03477002e-03 -2.45653103e-03 5.45925719e+01] [-9.03430980e-03 9.99959170e-01 1.98378376e-04 -4.46264828e+00] [ 2.45822303e-03 -1.76176619e-04 9.99996963e-01 -2.53533598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.721346184 meters 0.08131389703806494 Centerline is valid? [True, True] Translation: X:54.62, Y:-4.46, Z:-2.53 [[ 9.99943778e-01 1.05821928e-02 6.76984765e-04 5.46224130e+01] [-1.05821576e-02 9.99944006e-01 -5.55569957e-05 -4.46031028e+00] [-6.77534772e-04 4.83899127e-05 9.99999769e-01 -2.53261514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.751346184 meters 0.08272619652170499 Centerline is valid? [True, True] Translation: X:54.65, Y:-4.47, Z:-2.54 [[ 9.99934611e-01 1.14312762e-02 3.14146997e-04 5.46496952e+01] [-1.14312682e-02 9.99934661e-01 -2.71836911e-05 -4.46529700e+00] [-3.14437215e-04 2.35908150e-05 9.99999950e-01 -2.53505779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781346184 meters 0.08088587364801111 Centerline is valid? [True, True] Translation: X:54.68, Y:-4.46, Z:-2.54 [[ 9.99932795e-01 1.15308103e-02 -1.20254677e-03 5.46785885e+01] [-1.15307034e-02 9.99933515e-01 9.58060019e-05 -4.46399705e+00] [ 1.20357154e-03 -8.19333531e-05 9.99999272e-01 -2.53764434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.811346184 meters 0.08145948634942039 Centerline is valid? [True, True] Translation: X:54.71, Y:-4.47, Z:-2.54 [[ 9.99920932e-01 1.22194618e-02 -2.96878557e-03 5.47064596e+01] [-1.22188087e-02 9.99925319e-01 2.38000454e-04 -4.46651269e+00] [ 2.97147209e-03 -2.01706613e-04 9.99995565e-01 -2.54091362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.841346184 meters 0.08137483655256947 Centerline is valid? [True, True] Translation: X:54.74, Y:-4.46, Z:-2.55 [[ 9.99876276e-01 1.29156332e-02 -8.97878985e-03 5.47366114e+01] [-1.29096490e-02 9.99916405e-01 7.24117971e-04 -4.46440784e+00] [ 8.98739171e-03 -6.08115355e-04 9.99959428e-01 -2.54569448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87134618399999 meters 0.0830008845410396 Centerline is valid? [True, True] Translation: X:54.76, Y:-4.47, Z:-2.55 [[ 9.99847969e-01 1.34046654e-02 -1.11513849e-02 5.47638195e+01] [-1.33954858e-02 9.99909874e-01 8.97460522e-04 -4.46741072e+00] [ 1.11624100e-02 -7.47945861e-04 9.99937419e-01 -2.54814869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90134618399999 meters 0.07954700905903365 Centerline is valid? [True, True] Translation: X:54.79, Y:-4.46, Z:-2.55 [[ 9.99824549e-01 1.45568903e-02 -1.17884610e-02 5.47936391e+01] [-1.45467102e-02 9.99893741e-01 9.48848500e-04 -4.46161259e+00] [ 1.18010207e-02 -7.77198697e-04 9.99930063e-01 -2.54664692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93134618399999 meters 0.07858931872504121 Centerline is valid? [True, True] Translation: X:54.82, Y:-4.46, Z:-2.55 [[ 9.99787526e-01 1.77041122e-02 -1.05577797e-02 5.48230926e+01] [-1.76961195e-02 9.99843050e-01 8.49995959e-04 -4.46198920e+00] [ 1.05711711e-02 -6.62983626e-04 9.99943904e-01 -2.54622655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96134618399999 meters 0.07862670229780115 Centerline is valid? [True, True] Translation: X:54.85, Y:-4.46, Z:-2.55 [[ 9.99763223e-01 1.94495290e-02 -9.75771783e-03 5.48514029e+01] [-1.94427957e-02 9.99810663e-01 7.84449666e-04 -4.46480385e+00] [ 9.77112751e-03 -5.94546613e-04 9.99952085e-01 -2.54691422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.991346184 meters 0.07617967347346492 Centerline is valid? [True, True] Translation: X:54.88, Y:-4.46, Z:-2.54 [[ 9.99749547e-01 2.09289918e-02 -7.92594827e-03 5.48811999e+01] [-2.09245969e-02 9.99780854e-01 6.37033943e-04 -4.46264536e+00] [ 7.93754380e-03 -4.71027123e-04 9.99968386e-01 -2.54443240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.021346184 meters 0.0756015255278962 Centerline is valid? [True, True] Translation: X:54.91, Y:-4.46, Z:-2.54 [[ 9.99746569e-01 2.12411698e-02 -7.45719899e-03 5.49102163e+01] [-2.12372979e-02 9.99774284e-01 5.98029814e-04 -4.46272027e+00] [ 7.46821864e-03 -4.39507498e-04 9.99972016e-01 -2.54217643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.051346184 meters 0.07517274910686178 Centerline is valid? [True, True] Translation: X:54.94, Y:-4.46, Z:-2.54 [[ 9.99768211e-01 2.06356874e-02 -6.13946811e-03 5.49394008e+01] [-2.06330561e-02 9.99786995e-01 4.91619536e-04 -4.46030166e+00] [ 6.14830528e-03 -3.64829594e-04 9.99981032e-01 -2.53694304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.081346184 meters 0.07660255624793431 Centerline is valid? [True, True] Translation: X:54.97, Y:-4.47, Z:-2.54 [[ 9.99786163e-01 1.99325463e-02 -5.50648042e-03 5.49668830e+01] [-1.99304247e-02 9.99801273e-01 4.39913612e-04 -4.46544402e+00] [ 5.51415473e-03 -3.30073049e-04 9.99984742e-01 -2.53715729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.111346184 meters 0.07625980225702371 Centerline is valid? [True, True] Translation: X:55.00, Y:-4.47, Z:-2.54 [[ 9.99803886e-01 1.91533917e-02 -5.03359398e-03 5.49954998e+01] [-1.91516097e-02 9.99816510e-01 4.01975153e-04 -4.46917751e+00] [ 5.04036955e-03 -3.05494892e-04 9.99987251e-01 -2.53842811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141346184 meters 0.07837179714556804 Centerline is valid? [True, True] Translation: X:55.02, Y:-4.48, Z:-2.55 [[ 9.99798846e-01 1.86588972e-02 -7.35620701e-03 5.50232240e+01] [-1.86550732e-02 9.99825806e-01 5.88106233e-04 -4.48192386e+00] [ 7.36589902e-03 -4.50757352e-04 9.99972770e-01 -2.54582631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.171346184 meters 0.07757251143540038 Centerline is valid? [True, True] Translation: X:55.05, Y:-4.48, Z:-2.55 [[ 9.99776336e-01 1.92475218e-02 -8.76418687e-03 5.50515972e+01] [-1.92421324e-02 9.99814609e-01 6.98860277e-04 -4.48281998e+00] [ 8.77601340e-03 -5.30062323e-04 9.99961350e-01 -2.54685441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201346184 meters 0.07742206094414773 Centerline is valid? [True, True] Translation: X:55.08, Y:-4.48, Z:-2.55 [[ 9.99721103e-01 2.15696638e-02 -9.61590835e-03 5.50794012e+01] [-2.15632856e-02 9.99767191e-01 7.66501357e-04 -4.48199435e+00] [ 9.63020286e-03 -5.58937004e-04 9.99953472e-01 -2.54712490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.231346184 meters 0.07402606070584142 Centerline is valid? [True, True] Translation: X:55.11, Y:-4.47, Z:-2.54 [[ 9.99524488e-01 2.90704423e-02 -1.02813790e-02 5.51105980e+01] [-2.90635356e-02 9.99577229e-01 8.20567459e-04 -4.46917023e+00] [ 1.03008865e-02 -5.21364046e-04 9.99946809e-01 -2.54219349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26134618399999 meters 0.07169566241108084 Centerline is valid? [True, True] Translation: X:55.14, Y:-4.46, Z:-2.54 [[ 9.99371268e-01 3.34471884e-02 -1.17623864e-02 5.51410876e+01] [-3.34384499e-02 9.99440338e-01 9.38851538e-04 -4.46417837e+00] [ 1.17872053e-02 -5.44945285e-04 9.99930380e-01 -2.54198904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29134618399999 meters 0.06914783105360114 Centerline is valid? [True, True] Translation: X:55.17, Y:-4.46, Z:-2.54 [[ 9.99241019e-01 3.67355621e-02 -1.29570466e-02 5.51703802e+01] [-3.67252609e-02 9.99324867e-01 1.03214728e-03 -4.46106454e+00] [ 1.29862154e-02 -5.55512980e-04 9.99915521e-01 -2.54199533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32134618399999 meters 0.06840878974186997 Centerline is valid? [True, True] Translation: X:55.20, Y:-4.46, Z:-2.55 [[ 9.99126009e-01 3.87063241e-02 -1.57809376e-02 5.51974748e+01] [-3.86914296e-02 9.99250427e-01 1.24816317e-03 -4.46449182e+00] [ 1.58174204e-02 -6.36485248e-04 9.99874694e-01 -2.54695555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.351346184 meters 0.06933528512037665 Centerline is valid? [True, True] Translation: X:55.22, Y:-4.47, Z:-2.55 [[ 9.99131382e-01 3.85032816e-02 -1.59366917e-02 5.52248244e+01] [-3.84880230e-02 9.99258263e-01 1.26316575e-03 -4.46917177e+00] [ 1.59735069e-02 -6.48696783e-04 9.99872205e-01 -2.55034851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.381346184 meters 0.06848653216413478 Centerline is valid? [True, True] Translation: X:55.25, Y:-4.47, Z:-2.55 [[ 9.99142242e-01 3.84748694e-02 -1.53122277e-02 5.52541136e+01] [-3.84608840e-02 9.99259378e-01 1.20689051e-03 -4.46946442e+00] [ 1.53473221e-02 -6.16933480e-04 9.99882033e-01 -2.54863203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.411346184 meters 0.06849349224471893 Centerline is valid? [True, True] Translation: X:55.28, Y:-4.47, Z:-2.55 [[ 9.99210679e-01 3.78809035e-02 -1.19606361e-02 5.52817793e+01] [-3.78723326e-02 9.99282142e-01 9.42360434e-04 -4.47162325e+00] [ 1.19877475e-02 -4.88639422e-04 9.99928025e-01 -2.54529665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.441346184 meters 0.06796392010856521 Centerline is valid? [True, True] Translation: X:55.31, Y:-4.47, Z:-2.54 [[ 9.99191666e-01 3.89923981e-02 -9.77788250e-03 5.53103338e+01] [-3.89867242e-02 9.99239432e-01 7.70295014e-04 -4.47307886e+00] [ 9.80048140e-03 -3.88464750e-04 9.99951899e-01 -2.54265547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.471346184 meters 0.06764064203795381 Centerline is valid? [True, True] Translation: X:55.34, Y:-4.47, Z:-2.54 [[ 9.99147950e-01 4.01918343e-02 -9.38037139e-03 5.53378171e+01] [-4.01866771e-02 9.99191917e-01 7.37708687e-04 -4.47483156e+00] [ 9.40244113e-03 -3.60114166e-04 9.99955731e-01 -2.54209614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501346184 meters 0.06616665401660995 Centerline is valid? [True, True] Translation: X:55.37, Y:-4.47, Z:-2.54 [[ 9.99045342e-01 4.24606144e-02 -1.02713876e-02 5.53664028e+01] [-4.24546109e-02 9.99098075e-01 8.01918056e-04 -4.47439208e+00] [ 1.02961735e-02 -3.65084732e-04 9.99946926e-01 -2.54163104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.531346184 meters 0.0658529043004851 Centerline is valid? [True, True] Translation: X:55.39, Y:-4.48, Z:-2.55 [[ 9.98813508e-01 4.71097813e-02 -1.23387372e-02 5.53940348e+01] [-4.71014322e-02 9.98889644e-01 9.66546623e-04 -4.47842042e+00] [ 1.23705706e-02 -3.84227632e-04 9.99923408e-01 -2.54808515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561346184 meters 0.06498426895390137 Centerline is valid? [True, True] Translation: X:55.42, Y:-4.48, Z:-2.55 [[ 9.98693074e-01 4.93449002e-02 -1.33125828e-02 5.54228759e+01] [-4.93354635e-02 9.98781727e-01 1.03652726e-03 -4.47917712e+00] [ 1.33475118e-02 -3.78390148e-04 9.99910846e-01 -2.54850185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.591346184 meters 0.06323092241608276 Centerline is valid? [True, True] Translation: X:55.45, Y:-4.48, Z:-2.55 [[ 9.98563716e-01 5.16726323e-02 -1.41578511e-02 5.54517057e+01] [-5.16622469e-02 9.98664010e-01 1.09854084e-03 -4.47593618e+00] [ 1.41957009e-02 -3.65536620e-04 9.99899169e-01 -2.54505670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62134618399999 meters 0.06272136785720069 Centerline is valid? [True, True] Translation: X:55.48, Y:-4.47, Z:-2.55 [[ 9.98263925e-01 5.70466031e-02 -1.46568051e-02 5.54796629e+01] [-5.70360386e-02 9.98371471e-01 1.13813236e-03 -4.47480862e+00] [ 1.46978627e-02 -3.00190374e-04 9.99891936e-01 -2.54670095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65134618399999 meters 0.06223111303704846 Centerline is valid? [True, True] Translation: X:55.51, Y:-4.48, Z:-2.55 [[ 9.98102130e-01 5.98617540e-02 -1.44467234e-02 5.55086263e+01] [-5.98518732e-02 9.98206646e-01 1.11572172e-03 -4.47549629e+00] [ 1.44876043e-02 -2.48940769e-04 9.99895018e-01 -2.54746919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68134618399999 meters 0.06175243377561688 Centerline is valid? [True, True] Translation: X:55.54, Y:-4.48, Z:-2.55 [[ 9.97908705e-01 6.27587169e-02 -1.54776931e-02 5.55375696e+01] [-6.27477789e-02 9.98028705e-01 1.19178563e-03 -4.47694627e+00] [ 1.55219769e-02 -2.18102396e-04 9.99879503e-01 -2.54892946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71134618399999 meters 0.06083894596364258 Centerline is valid? [True, True] Translation: X:55.57, Y:-4.48, Z:-2.55 [[ 9.97520540e-01 6.85783149e-02 -1.58046409e-02 5.55663685e+01] [-6.85677053e-02 9.97645728e-01 1.21283651e-03 -4.47793285e+00] [ 1.58506068e-02 -1.26141372e-04 9.99874363e-01 -2.54914384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.741346184 meters 0.060617812761234006 Centerline is valid? [True, True] Translation: X:55.59, Y:-4.48, Z:-2.55 [[ 9.97296395e-01 7.19258117e-02 -1.50524877e-02 5.55945614e+01] [-7.19166306e-02 9.97409983e-01 1.15104305e-03 -4.47808960e+00] [ 1.50962912e-02 -6.54068900e-05 9.99886042e-01 -2.54955706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.771346184 meters 0.06042441118419925 Centerline is valid? [True, True] Translation: X:55.62, Y:-4.48, Z:-2.55 [[ 9.97100892e-01 7.46553276e-02 -1.47102875e-02 5.56233983e+01] [-7.46469118e-02 9.97209397e-01 1.12110791e-03 -4.47781239e+00] [ 1.47529336e-02 -1.97801656e-05 9.99891169e-01 -2.54843182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.801346184 meters 0.06027653703490876 Centerline is valid? [True, True] Translation: X:55.65, Y:-4.48, Z:-2.55 [[ 9.96735305e-01 7.95371436e-02 -1.38770958e-02 5.56519522e+01] [-7.95301816e-02 9.96831902e-01 1.05369202e-03 -4.47720359e+00] [ 1.39169394e-02 5.33959073e-05 9.99903153e-01 -2.54653504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.831346184 meters 0.06030862377241031 Centerline is valid? [True, True] Translation: X:55.68, Y:-4.48, Z:-2.55 [[ 9.96687419e-01 8.01077395e-02 -1.40334589e-02 5.56807925e+01] [-8.01007254e-02 9.96786209e-01 1.06208154e-03 -4.48104594e+00] [ 1.40734392e-02 6.55269300e-05 9.99900962e-01 -2.54783681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.861346184 meters 0.060254953871671714 Centerline is valid? [True, True] Translation: X:55.71, Y:-4.49, Z:-2.55 [[ 9.96706683e-01 8.00752437e-02 -1.27962481e-02 5.57094531e+01] [-8.00694566e-02 9.96788820e-01 9.64752319e-04 -4.48699579e+00] [ 1.28324098e-02 6.30135490e-05 9.99917659e-01 -2.54824735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.891346184 meters 0.05988815347454414 Centerline is valid? [True, True] Translation: X:55.74, Y:-4.50, Z:-2.55 [[ 9.96952562e-01 7.73934793e-02 -9.78969530e-03 5.57369291e+01] [-7.73899461e-02 9.97000626e-01 7.39791354e-04 -4.49977503e+00] [ 9.81758738e-03 2.00871062e-05 9.99951806e-01 -2.54802587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921346184 meters 0.05931852902322913 Centerline is valid? [True, True] Translation: X:55.77, Y:-4.51, Z:-2.55 [[ 9.97103342e-01 7.55534385e-02 -8.75229127e-03 5.57652497e+01] [-7.55505990e-02 9.97141754e-01 6.55076376e-04 -4.50797100e+00] [ 8.77676834e-03 8.06200397e-06 9.99961483e-01 -2.54543253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.951346184 meters 0.05934991855768626 Centerline is valid? [True, True] Translation: X:55.79, Y:-4.52, Z:-2.55 [[ 9.97265267e-01 7.33389831e-02 -9.13127712e-03 5.57923448e+01] [-7.33357742e-02 9.97307071e-01 6.86203009e-04 -4.51617718e+00] [ 9.15701267e-03 -1.46771501e-05 9.99958074e-01 -2.54674735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.981346184 meters 0.06001304081841058 Centerline is valid? [True, True] Translation: X:55.82, Y:-4.53, Z:-2.55 [[ 9.97683946e-01 6.72307659e-02 -1.03328556e-02 5.58186728e+01] [-6.72263364e-02 9.97737449e-01 7.75804521e-04 -4.53081246e+00] [ 1.03616349e-02 -7.93676879e-05 9.99946314e-01 -2.55021680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01134618399999 meters 0.06016292990315019 Centerline is valid? [True, True] Translation: X:55.85, Y:-4.54, Z:-2.55 [[ 9.97891188e-01 6.39433128e-02 -1.11548315e-02 5.58463802e+01] [-6.39379545e-02 9.97953525e-01 8.36684665e-04 -4.53937018e+00] [ 1.11855038e-02 -1.21703143e-04 9.99937433e-01 -2.55060812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04134618399999 meters 0.06019311910200234 Centerline is valid? [True, True] Translation: X:55.87, Y:-4.55, Z:-2.55 [[ 9.98112297e-01 6.03231665e-02 -1.15307803e-02 5.58744540e+01] [-6.03172748e-02 9.98178887e-01 8.58359001e-04 -4.54754472e+00] [ 1.15615604e-02 -1.61233427e-04 9.99933150e-01 -2.54943125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07134618399999 meters 0.061232734563065834 Centerline is valid? [True, True] Translation: X:55.90, Y:-4.56, Z:-2.56 [[ 9.98275818e-01 5.75599091e-02 -1.14999499e-02 5.59013274e+01] [-5.75538558e-02 9.98342035e-01 8.56907218e-04 -4.56011528e+00] [ 1.15302069e-02 -1.93563296e-04 9.99933506e-01 -2.55517107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.101346184 meters 0.06198708067878013 Centerline is valid? [True, True] Translation: X:55.93, Y:-4.58, Z:-2.56 [[ 9.98630551e-01 5.05476012e-02 -1.34893470e-02 5.59306572e+01] [-5.05385881e-02 9.98721600e-01 1.00842556e-03 -4.57945626e+00] [ 1.35230757e-02 -3.25312020e-04 9.99908506e-01 -2.55510721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.131346184 meters 0.06233595769197784 Centerline is valid? [True, True] Translation: X:55.96, Y:-4.59, Z:-2.56 [[ 9.98757944e-01 4.77615392e-02 -1.41917163e-02 5.59597564e+01] [-4.77513001e-02 9.98858694e-01 1.05965850e-03 -4.58922998e+00] [ 1.42261301e-02 -3.80669444e-04 9.99898731e-01 -2.55608313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.161346184 meters 0.06297906226255298 Centerline is valid? [True, True] Translation: X:55.99, Y:-4.60, Z:-2.56 [[ 9.98882419e-01 4.49400363e-02 -1.46392213e-02 5.59886273e+01] [-4.49288463e-02 9.98989592e-01 1.09253611e-03 -4.59827866e+00] [ 1.46735283e-02 -4.33591790e-04 9.99892244e-01 -2.55683707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.191346184 meters 0.06378141309496299 Centerline is valid? [True, True] Translation: X:56.02, Y:-4.61, Z:-2.56 [[ 9.99036092e-01 4.20754709e-02 -1.25116389e-02 5.60156372e+01] [-4.20671028e-02 9.99114354e-01 9.31366470e-04 -4.61299584e+00] [ 1.25397457e-02 -4.04140318e-04 9.99921293e-01 -2.55646167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.221346184 meters 0.06363924588144086 Centerline is valid? [True, True] Translation: X:56.04, Y:-4.62, Z:-2.55 [[ 9.99099561e-01 4.09310117e-02 -1.11678036e-02 5.60444501e+01] [-4.09243459e-02 9.99161908e-01 8.24843267e-04 -4.61933712e+00] [ 1.11922056e-02 -3.67065489e-04 9.99937298e-01 -2.55416758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.251346184 meters 0.06363924588144086 Centerline is valid? [True, True] Translation: X:56.07, Y:-4.62, Z:-2.55 [[ 9.99111797e-01 4.06311565e-02 -1.11681067e-02 5.60717665e+01] [-4.06245178e-02 9.99174146e-01 8.20745865e-04 -4.62117961e+00] [ 1.11922313e-02 -3.66317927e-04 9.99937298e-01 -2.55471086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281346184 meters 0.06339182988911082 Centerline is valid? [True, True] Translation: X:56.10, Y:-4.63, Z:-2.55 [[ 9.99116813e-01 4.09214093e-02 -9.54112335e-03 5.61002156e+01] [-4.09166025e-02 9.99162321e-01 6.98533711e-04 -4.62657354e+00] [ 9.56171593e-03 -3.07526424e-04 9.99954238e-01 -2.55234899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.311346184 meters 0.06315958383069079 Centerline is valid? [True, True] Translation: X:56.13, Y:-4.63, Z:-2.55 [[ 9.99108072e-01 4.13001426e-02 -8.79539874e-03 5.61287092e+01] [-4.12960966e-02 9.99146747e-01 6.41205594e-04 -4.63150576e+00] [ 8.81437592e-03 -2.77418049e-04 9.99961114e-01 -2.55176865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.341346184 meters 0.0625752401348513 Centerline is valid? [True, True] Translation: X:56.16, Y:-4.64, Z:-2.55 [[ 9.98983965e-01 4.43311214e-02 -8.11103512e-03 5.61564196e+01] [-4.43277582e-02 9.99016865e-01 5.94035952e-04 -4.63783859e+00] [ 8.12939515e-03 -2.33888387e-04 9.99966929e-01 -2.55092309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37134618399999 meters 0.06210913513944988 Centerline is valid? [True, True] Translation: X:56.19, Y:-4.64, Z:-2.55 [[ 9.98913993e-01 4.58242118e-02 -8.42475527e-03 5.61854648e+01] [-4.58206820e-02 9.98949494e-01 6.11622757e-04 -4.64121853e+00] [ 8.44393214e-03 -2.24930498e-04 9.99964324e-01 -2.55072562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40134618399999 meters 0.06187357701258242 Centerline is valid? [True, True] Translation: X:56.21, Y:-4.65, Z:-2.55 [[ 9.98881897e-01 4.65960275e-02 -7.98535508e-03 5.62142067e+01] [-4.65929029e-02 9.98913794e-01 5.76972676e-04 -4.64543803e+00] [ 8.00356598e-03 -2.04266687e-04 9.99967950e-01 -2.55102400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43134618399999 meters 0.06213388475082643 Centerline is valid? [True, True] Translation: X:56.24, Y:-4.65, Z:-2.55 [[ 9.98943518e-01 4.50482763e-02 -9.08304068e-03 5.62423683e+01] [-4.50441854e-02 9.98984781e-01 6.54568402e-04 -4.65394590e+00] [ 9.10330658e-03 -2.44738694e-04 9.99958534e-01 -2.55096877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46134618399999 meters 0.06283982118571697 Centerline is valid? [True, True] Translation: X:56.27, Y:-4.66, Z:-2.55 [[ 9.99019619e-01 4.31978086e-02 -9.68250743e-03 5.62692624e+01] [-4.31930510e-02 9.99066499e-01 7.00034768e-04 -4.66131977e+00] [ 9.70370877e-03 -2.81131430e-04 9.99952878e-01 -2.55341476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.491346184 meters 0.06393622517507949 Centerline is valid? [True, True] Translation: X:56.30, Y:-4.67, Z:-2.56 [[ 9.99118845e-01 4.05430967e-02 -1.08531222e-02 5.62966328e+01] [-4.05369605e-02 9.99177731e-01 7.84858670e-04 -4.67132767e+00] [ 1.08760186e-02 -3.44214500e-04 9.99940795e-01 -2.55686459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.521346184 meters 0.06477151153333463 Centerline is valid? [True, True] Translation: X:56.33, Y:-4.68, Z:-2.56 [[ 9.99246711e-01 3.67670788e-02 -1.24174275e-02 5.63258047e+01] [-3.67587420e-02 9.99323765e-01 8.99018251e-04 -4.68042236e+00] [ 1.24420846e-02 -4.41892017e-04 9.99922497e-01 -2.55922927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.551346184 meters 0.06899292627196968 Centerline is valid? [True, True] Translation: X:56.35, Y:-4.70, Z:-2.56 [[ 9.99464870e-01 2.95703005e-02 -1.39846420e-02 5.63534696e+01] [-2.95590342e-02 9.99562524e-01 1.01168114e-03 -4.69907501e+00] [ 1.40084397e-02 -5.97767253e-04 9.99901698e-01 -2.56432695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.581346184 meters 0.0675366945615015 Centerline is valid? [True, True] Translation: X:56.38, Y:-4.70, Z:-2.56 [[ 9.99560722e-01 2.66399195e-02 -1.29876149e-02 5.63826473e+01] [-2.66299709e-02 9.99644919e-01 9.38372909e-04 -4.70017162e+00] [ 1.30080015e-02 -5.92100894e-04 9.99915217e-01 -2.55882903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.611346184 meters 0.0683292728987502 Centerline is valid? [True, True] Translation: X:56.41, Y:-4.71, Z:-2.56 [[ 9.99649345e-01 2.43442985e-02 -1.04183666e-02 5.64108357e+01] [-2.43377868e-02 9.99703510e-01 7.51366558e-04 -4.70708410e+00] [ 1.04335691e-02 -4.97543102e-04 9.99945445e-01 -2.55711833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641346184 meters 0.07249857586421432 Centerline is valid? [True, True] Translation: X:56.44, Y:-4.72, Z:-2.56 [[ 9.99760741e-01 2.08977918e-02 -6.46090727e-03 5.64380737e+01] [-2.08952257e-02 9.99781563e-01 4.64423894e-04 -4.72155547e+00] [ 6.46920140e-03 -3.29310661e-04 9.99979020e-01 -2.55544559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.671346184 meters 0.07040581066822767 Centerline is valid? [True, True] Translation: X:56.47, Y:-4.72, Z:-2.55 [[ 9.99772203e-01 2.08118073e-02 -4.73406825e-03 5.64670757e+01] [-2.08104308e-02 9.99783382e-01 3.39847450e-04 -4.71973918e+00] [ 4.74011561e-03 -2.41252034e-04 9.99988736e-01 -2.55256452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701346184 meters 0.07214325045148447 Centerline is valid? [True, True] Translation: X:56.49, Y:-4.73, Z:-2.55 [[ 9.99782880e-01 2.01581581e-02 -5.27659666e-03 5.64948983e+01] [-2.01564467e-02 9.99796767e-01 3.77323764e-04 -4.72523833e+00] [ 5.28313044e-03 -2.70884400e-04 9.99986007e-01 -2.55464892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.731346184 meters 0.07063475787926231 Centerline is valid? [True, True] Translation: X:56.52, Y:-4.72, Z:-2.55 [[ 9.99782203e-01 2.01525682e-02 -5.42402380e-03 5.65232946e+01] [-2.01507613e-02 9.99796878e-01 3.87583597e-04 -4.72353513e+00] [ 5.43073287e-03 -2.78200974e-04 9.99985215e-01 -2.55404764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76134618399999 meters 0.07096013486762762 Centerline is valid? [True, True] Translation: X:56.55, Y:-4.73, Z:-2.56 [[ 9.99794646e-01 1.92901666e-02 -6.20931524e-03 5.65515181e+01] [-1.92877880e-02 9.99813875e-01 4.42730320e-04 -4.72596259e+00] [ 6.21669987e-03 -3.22875447e-04 9.99980624e-01 -2.55589229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79134618399999 meters 0.07142584703899606 Centerline is valid? [True, True] Translation: X:56.58, Y:-4.73, Z:-2.56 [[ 9.99833526e-01 1.72768340e-02 -5.86789499e-03 5.65807282e+01] [-1.72746662e-02 9.99850694e-01 4.19924008e-04 -4.72986888e+00] [ 5.87427384e-03 -3.18488174e-04 9.99982696e-01 -2.55696558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82134618399999 meters 0.07298615512452607 Centerline is valid? [True, True] Translation: X:56.61, Y:-4.74, Z:-2.56 [[ 9.99868833e-01 1.51052098e-02 -5.84368051e-03 5.66088580e+01] [-1.51030269e-02 9.99885856e-01 4.17501096e-04 -4.73519930e+00] [ 5.84931993e-03 -3.29189070e-04 9.99982838e-01 -2.55830353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.851346184 meters 0.07420338654780761 Centerline is valid? [True, True] Translation: X:56.64, Y:-4.74, Z:-2.56 [[ 9.99891959e-01 1.29386322e-02 -6.97581908e-03 5.66382647e+01] [-1.29354666e-02 9.99916209e-01 4.98714699e-04 -4.73997647e+00] [ 6.98168725e-03 -4.08425343e-04 9.99975544e-01 -2.55968939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.881346184 meters 0.07660714350754598 Centerline is valid? [True, True] Translation: X:56.67, Y:-4.75, Z:-2.56 [[ 9.99922749e-01 9.57862956e-03 -7.92122747e-03 5.66672112e+01] [-9.57444427e-03 9.99954004e-01 5.66118128e-04 -4.74633089e+00] [ 7.92628576e-03 -4.90233044e-04 9.99968466e-01 -2.56243932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.911346184 meters 0.07633218805362627 Centerline is valid? [True, True] Translation: X:56.70, Y:-4.75, Z:-2.56 [[ 9.99936394e-01 7.27037571e-03 -8.62256643e-03 5.66965705e+01] [-7.26533788e-03 9.99973418e-01 6.15440925e-04 -4.74716343e+00] [ 8.62681171e-03 -5.52755921e-04 9.99962636e-01 -2.56152059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.941346184 meters 0.08097050132288132 Centerline is valid? [True, True] Translation: X:56.72, Y:-4.76, Z:-2.56 [[ 9.99961966e-01 4.65484595e-03 -7.37557047e-03 5.67245222e+01] [-4.65109322e-03 9.99989045e-01 5.25875581e-04 -4.75712670e+00] [ 7.37793755e-03 -4.91551114e-04 9.99972662e-01 -2.56326213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.971346184 meters 0.08004560146418893 Centerline is valid? [True, True] Translation: X:56.75, Y:-4.76, Z:-2.56 [[ 9.99986530e-01 -7.51648345e-05 -5.18976460e-03 5.67547366e+01] [ 7.70893137e-05 9.99999928e-01 3.70623007e-04 -4.75682464e+00] [ 5.18973637e-03 -3.71018090e-04 9.99986464e-01 -2.55926833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001346184 meters 0.08088670766891327 Centerline is valid? [True, True] Translation: X:56.78, Y:-4.76, Z:-2.56 [[ 9.99981147e-01 -2.24982369e-03 -5.71340386e-03 5.67838214e+01] [ 2.25218346e-03 9.99997381e-01 4.06623673e-04 -4.75944372e+00] [ 5.71247407e-03 -4.19483641e-04 9.99983596e-01 -2.55984929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.031346184 meters 0.0819919126588549 Centerline is valid? [True, True] Translation: X:56.81, Y:-4.76, Z:-2.56 [[ 9.99974859e-01 -4.18371862e-03 -5.72513108e-03 5.68128602e+01] [ 4.18611834e-03 9.99991155e-01 4.07236559e-04 -4.76222566e+00] [ 5.72337667e-03 -4.31192397e-04 9.99983528e-01 -2.56176562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061346184 meters 0.08517223133691584 Centerline is valid? [True, True] Translation: X:56.84, Y:-4.77, Z:-2.57 [[ 9.99950906e-01 -6.43143558e-03 -7.53806745e-03 5.68411146e+01] [ 6.43566791e-03 9.99979147e-01 5.37339202e-04 -4.76839000e+00] [ 7.53445440e-03 -5.85825320e-04 9.99971444e-01 -2.56634137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.091346184 meters 0.08955286468330013 Centerline is valid? [True, True] Translation: X:56.87, Y:-4.78, Z:-2.57 [[ 9.99909409e-01 -9.64601327e-03 -9.38766662e-03 5.68700006e+01] [ 9.65271569e-03 9.99953188e-01 6.68911751e-04 -4.77718379e+00] [ 9.38077483e-03 -7.59467631e-04 9.99955711e-01 -2.57192009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12134618399999 meters 0.09011310521218928 Centerline is valid? [True, True] Translation: X:56.90, Y:-4.78, Z:-2.57 [[ 9.99892137e-01 -1.16293141e-02 -8.97073789e-03 5.68994844e+01] [ 1.16355077e-02 9.99932101e-01 6.38532742e-04 -4.77922557e+00] [ 8.96270309e-03 -7.42842958e-04 9.99959558e-01 -2.57202634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15134618399999 meters 0.08539605957847753 Centerline is valid? [True, True] Translation: X:56.93, Y:-4.77, Z:-2.57 [[ 9.99859680e-01 -1.42425852e-02 -8.81863870e-03 5.69300348e+01] [ 1.42486727e-02 9.99898285e-01 6.27856971e-04 -4.77075423e+00] [ 8.80879941e-03 -7.53422767e-04 9.99960918e-01 -2.56719224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18134618399999 meters 0.09549039273529966 Centerline is valid? [True, True] Translation: X:56.96, Y:-4.78, Z:-2.57 [[ 9.99789345e-01 -1.84513474e-02 -8.98964301e-03 5.69590175e+01] [ 1.84578455e-02 9.99829434e-01 6.40407790e-04 -4.78207579e+00] [ 8.97629329e-03 -8.06202327e-04 9.99959387e-01 -2.56883633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21134618399999 meters 0.08987447618285128 Centerline is valid? [True, True] Translation: X:56.99, Y:-4.77, Z:-2.57 [[ 9.99773647e-01 -1.93819216e-02 -8.77471214e-03 5.69908409e+01] [ 1.93881575e-02 9.99811836e-01 6.26155033e-04 -4.77398683e+00] [ 8.76092496e-03 -7.96138802e-04 9.99961305e-01 -2.56740225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.241346184 meters 0.09303014191976201 Centerline is valid? [True, True] Translation: X:57.02, Y:-4.78, Z:-2.57 [[ 9.99771687e-01 -1.94027762e-02 -8.95018627e-03 5.70209264e+01] [ 1.94092629e-02 9.99811419e-01 6.38456871e-04 -4.78162908e+00] [ 8.93611060e-03 -8.12027622e-04 9.99959742e-01 -2.57129185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.271346184 meters 0.09761674132318278 Centerline is valid? [True, True] Translation: X:57.05, Y:-4.79, Z:-2.57 [[ 9.99816225e-01 -1.84413318e-02 -5.23766397e-03 5.70502938e+01] [ 1.84435390e-02 9.99829834e-01 3.73415089e-04 -4.78892912e+00] [ 5.22988642e-03 -4.69947525e-04 9.99986214e-01 -2.57353186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.301346184 meters 0.08519252767886273 Centerline is valid? [True, True] Translation: X:57.08, Y:-4.77, Z:-2.57 [[ 9.99867173e-01 -1.59079825e-02 -3.54562631e-03 5.70828010e+01] [ 1.59089791e-02 9.99873412e-01 2.53073934e-04 -4.76768596e+00] [ 3.54115159e-03 -3.09447615e-04 9.99993682e-01 -2.56726052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.331346184 meters 0.08429813790760976 Centerline is valid? [True, True] Translation: X:57.11, Y:-4.76, Z:-2.57 [[ 9.99903338e-01 -1.35190992e-02 -3.24780654e-03 5.71137109e+01] [ 1.35199222e-02 9.99908575e-01 2.31590483e-04 -4.76289619e+00] [ 3.24437872e-03 -2.75478189e-04 9.99994699e-01 -2.56734286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.361346184 meters 0.08272504557834844 Centerline is valid? [True, True] Translation: X:57.15, Y:-4.76, Z:-2.57 [[ 9.99950788e-01 -9.48656140e-03 -2.90278874e-03 5.71451443e+01] [ 9.48720206e-03 9.99954974e-01 2.07015137e-04 -4.75697348e+00] [ 2.90069418e-03 -2.34544293e-04 9.99995765e-01 -2.56738848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.391346184 meters 0.07972440441148057 Centerline is valid? [True, True] Translation: X:57.18, Y:-4.75, Z:-2.57 [[ 9.99996219e-01 -1.28469052e-03 -2.43150065e-03 5.71759567e+01] [ 1.28511619e-03 9.99999159e-01 1.73512682e-04 -4.74606596e+00] [ 2.43127569e-03 -1.76636786e-04 9.99997029e-01 -2.56846931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421346184 meters 0.08173063304298103 Centerline is valid? [True, True] Translation: X:57.20, Y:-4.75, Z:-2.57 [[ 9.99998060e-01 1.53697129e-03 -1.23233953e-03 5.72045869e+01] [-1.53686496e-03 9.99998815e-01 8.72324840e-05 -4.75019655e+00] [ 1.23247214e-03 -8.53383753e-05 9.99999237e-01 -2.57013457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.451346184 meters 0.07828236791172423 Centerline is valid? [True, True] Translation: X:57.23, Y:-4.74, Z:-2.57 [[ 9.99993841e-01 3.10749109e-03 -1.63161283e-03 5.72342847e+01] [-3.10731383e-03 9.99995166e-01 1.11165942e-04 -4.74463384e+00] [ 1.63195039e-03 -1.06095324e-04 9.99998663e-01 -2.56896751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.481346184 meters 0.07810215237114272 Centerline is valid? [True, True] Translation: X:57.26, Y:-4.74, Z:-2.57 [[ 9.99978629e-01 6.10423820e-03 -2.34077644e-03 5.72637787e+01] [-6.10386748e-03 9.99981358e-01 1.65484581e-04 -4.74160558e+00] [ 2.34174296e-03 -1.51193256e-04 9.99997247e-01 -2.57040947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51134618399999 meters 0.07767554707396994 Centerline is valid? [True, True] Translation: X:57.29, Y:-4.74, Z:-2.57 [[ 9.99965565e-01 7.53859540e-03 -3.46951593e-03 5.72932684e+01] [-7.53779021e-03 9.99971560e-01 2.45095796e-04 -4.74035083e+00] [ 3.47126493e-03 -2.18934873e-04 9.99993951e-01 -2.57273592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54134618399999 meters 0.07715883154403333 Centerline is valid? [True, True] Translation: X:57.32, Y:-4.74, Z:-2.58 [[ 9.99941404e-01 9.68188292e-03 -4.84244727e-03 5.73223130e+01] [-9.68034073e-03 9.99953086e-01 3.41810859e-04 -4.73904765e+00] [ 4.84552947e-03 -2.94914290e-04 9.99988217e-01 -2.57519371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57134618399999 meters 0.07678266728572043 Centerline is valid? [True, True] Translation: X:57.35, Y:-4.74, Z:-2.58 [[ 9.99922090e-01 1.12684590e-02 -5.36992707e-03 5.73517870e+01] [-1.12665841e-02 9.99936458e-01 3.79270179e-04 -4.73730332e+00] [ 5.37385964e-03 -3.18739895e-04 9.99985510e-01 -2.57801333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.601346184 meters 0.07453540369485775 Centerline is valid? [True, True] Translation: X:57.38, Y:-4.73, Z:-2.58 [[ 9.99828472e-01 1.67886144e-02 -7.82105188e-03 5.73817140e+01] [-1.67847983e-02 9.99858972e-01 5.53320696e-04 -4.72823550e+00] [ 7.82923839e-03 -4.21951008e-04 9.99969262e-01 -2.58290357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.631346184 meters 0.07359615411214877 Centerline is valid? [True, True] Translation: X:57.41, Y:-4.73, Z:-2.58 [[ 9.99763641e-01 2.00196288e-02 -8.47798159e-03 5.74111854e+01] [-2.00152649e-02 9.99799495e-01 5.99278949e-04 -4.72504257e+00] [ 8.48827905e-03 -4.29448257e-04 9.99963882e-01 -2.58461185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.661346184 meters 0.07197291337408378 Centerline is valid? [True, True] Translation: X:57.44, Y:-4.72, Z:-2.59 [[ 9.99675277e-01 2.40133719e-02 -8.52635940e-03 5.74415857e+01] [-2.40091012e-02 9.99711558e-01 6.02903404e-04 -4.72105315e+00] [ 8.53837778e-03 -3.97997402e-04 9.99963468e-01 -2.58562993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.691346184 meters 0.0705233087158587 Centerline is valid? [True, True] Translation: X:57.47, Y:-4.72, Z:-2.59 [[ 9.99582353e-01 2.77210834e-02 -8.16462332e-03 5.74720025e+01] [-2.77172921e-02 9.99615635e-01 5.77170928e-04 -4.71805245e+00] [ 8.17748493e-03 -3.50628625e-04 9.99966502e-01 -2.58541016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.721346184 meters 0.06873047374273615 Centerline is valid? [True, True] Translation: X:57.50, Y:-4.71, Z:-2.58 [[ 9.99426995e-01 3.33263503e-02 -5.91919339e-03 5.75016920e+01] [-3.33244573e-02 9.99444499e-01 4.18169593e-04 -4.71318575e+00] [ 5.92984134e-03 -2.20676072e-04 9.99982394e-01 -2.58248401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.751346184 meters 0.06794591582033935 Centerline is valid? [True, True] Translation: X:57.53, Y:-4.71, Z:-2.58 [[ 9.99375494e-01 3.50596575e-02 -4.40937616e-03 5.75307556e+01] [-3.50586298e-02 9.99385209e-01 3.10172659e-04 -4.71162312e+00] [ 4.41753986e-03 -1.55392268e-04 9.99990231e-01 -2.58085396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781346184 meters 0.06538698153865345 Centerline is valid? [True, True] Translation: X:57.56, Y:-4.70, Z:-2.57 [[ 9.99341972e-01 3.61501057e-02 -2.96522702e-03 5.75601888e+01] [-3.61496480e-02 9.99346366e-01 2.07810794e-04 -4.70294159e+00] [ 2.97080123e-03 -1.00482136e-04 9.99995582e-01 -2.57462640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.811346184 meters 0.06689870404598647 Centerline is valid? [True, True] Translation: X:57.59, Y:-4.71, Z:-2.58 [[ 9.99352514e-01 3.57897418e-02 -3.69422500e-03 5.75879471e+01] [-3.57890302e-02 9.99359334e-01 2.58572501e-04 -4.70921686e+00] [ 3.70111248e-03 -1.26192349e-04 9.99993143e-01 -2.57903422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.841346184 meters 0.06782357913082432 Centerline is valid? [True, True] Translation: X:57.62, Y:-4.71, Z:-2.58 [[ 9.99382004e-01 3.48586416e-02 -4.52603834e-03 5.76155862e+01] [-3.48575681e-02 9.99392240e-01 3.15874619e-04 -4.71418171e+00] [ 4.53429856e-03 -1.57912720e-04 9.99989708e-01 -2.58302680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87134618399999 meters 0.06895257412294371 Centerline is valid? [True, True] Translation: X:57.64, Y:-4.72, Z:-2.59 [[ 9.99365905e-01 3.51432672e-02 -5.72175332e-03 5.76430536e+01] [-3.51415563e-02 9.99382265e-01 3.99297240e-04 -4.72016836e+00] [ 5.73225141e-03 -1.97972730e-04 9.99983551e-01 -2.58803527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90134618399999 meters 0.06756413870058818 Centerline is valid? [True, True] Translation: X:57.67, Y:-4.72, Z:-2.59 [[ 9.99367674e-01 3.49166458e-02 -6.71420689e-03 5.76715326e+01] [-3.49142806e-02 9.99390201e-01 4.69199916e-04 -4.71832553e+00] [ 6.72649546e-03 -2.34481525e-04 9.99977349e-01 -2.58778059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93134618399999 meters 0.0669069513830675 Centerline is valid? [True, True] Translation: X:57.70, Y:-4.72, Z:-2.59 [[ 9.99299215e-01 3.65625719e-02 -8.01602072e-03 5.77005491e+01] [-3.65592527e-02 9.99331330e-01 5.60267987e-04 -4.71664765e+00] [ 8.03114548e-03 -2.66815633e-04 9.99967714e-01 -2.58837647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96134618399999 meters 0.0652537153260306 Centerline is valid? [True, True] Translation: X:57.73, Y:-4.71, Z:-2.58 [[ 9.99249126e-01 3.79711853e-02 -7.70540413e-03 5.77292488e+01] [-3.79682053e-02 9.99278806e-01 5.32718047e-04 -4.71329992e+00] [ 7.72007497e-03 -2.39757678e-04 9.99970171e-01 -2.58486224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.991346184 meters 0.06466152175684162 Centerline is valid? [True, True] Translation: X:57.76, Y:-4.71, Z:-2.58 [[ 9.99192639e-01 3.94521496e-02 -7.58935366e-03 5.77581633e+01] [-3.94493178e-02 9.99221436e-01 5.22525733e-04 -4.71312901e+00] [ 7.60405963e-03 -2.22709042e-04 9.99971064e-01 -2.58329056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.021346184 meters 0.06436104932728025 Centerline is valid? [True, True] Translation: X:57.79, Y:-4.71, Z:-2.58 [[ 9.99144398e-01 4.11476409e-02 -4.16450968e-03 5.77872525e+01] [-4.11467947e-02 9.99153070e-01 2.88701436e-04 -4.71440969e+00] [ 4.17286202e-03 -1.17098198e-04 9.99991287e-01 -2.58048756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.051346184 meters 0.06557797068056172 Centerline is valid? [True, True] Translation: X:57.81, Y:-4.72, Z:-2.58 [[ 9.99147594e-01 4.11533849e-02 -3.23804819e-03 5.78146823e+01] [-4.11528783e-02 9.99152837e-01 2.22933868e-04 -4.72105506e+00] [ 3.24447952e-03 -8.94888346e-05 9.99994733e-01 -2.58325883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.081346184 meters 0.06419758639991939 Centerline is valid? [True, True] Translation: X:57.84, Y:-4.72, Z:-2.58 [[ 9.99161155e-01 4.08075140e-02 -3.42549006e-03 5.78424415e+01] [-4.08069624e-02 9.99167022e-01 2.30796484e-04 -4.71893467e+00] [ 3.43205493e-03 -9.08190373e-05 9.99994106e-01 -2.58029241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.111346184 meters 0.06511823415568248 Centerline is valid? [True, True] Translation: X:57.87, Y:-4.73, Z:-2.59 [[ 9.99225224e-01 3.88678789e-02 -6.18380660e-03 5.78700744e+01] [-3.88659897e-02 9.99244341e-01 4.25425217e-04 -4.72601166e+00] [ 6.19566913e-03 -1.84755844e-04 9.99980790e-01 -2.58536029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141346184 meters 0.06511823415568248 Centerline is valid? [True, True] Translation: X:57.90, Y:-4.73, Z:-2.59 [[ 9.99236710e-01 3.85713927e-02 -6.18423505e-03 5.78973894e+01] [-3.85695364e-02 9.99255831e-01 4.19202270e-04 -4.72770640e+00] [ 6.19580214e-03 -1.80359218e-04 9.99980790e-01 -2.58590179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.171346184 meters 0.06577421233432286 Centerline is valid? [True, True] Translation: X:57.93, Y:-4.73, Z:-2.59 [[ 9.99276969e-01 3.71770458e-02 -7.96284544e-03 5.79259577e+01] [-3.71739206e-02 9.99308665e-01 5.40175692e-04 -4.73354794e+00] [ 7.97742258e-03 -2.43774944e-04 9.99968150e-01 -2.58934100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201346184 meters 0.06650454422291902 Centerline is valid? [True, True] Translation: X:57.95, Y:-4.74, Z:-2.59 [[ 9.99330822e-01 3.55546739e-02 -8.58919477e-03 5.79533805e+01] [-3.55509640e-02 9.99367694e-01 5.84265153e-04 -4.74005197e+00] [ 8.60453713e-03 -2.78520021e-04 9.99962941e-01 -2.59213034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.231346184 meters 0.0668487052039063 Centerline is valid? [True, True] Translation: X:57.98, Y:-4.75, Z:-2.59 [[ 9.99372706e-01 3.41825815e-02 -9.25990347e-03 5.79812030e+01] [-3.41782205e-02 9.99415556e-01 6.28843716e-04 -4.74626413e+00] [ 9.27598708e-03 -3.11962224e-04 9.99956928e-01 -2.59416232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26134618399999 meters 0.06689582351280465 Centerline is valid? [True, True] Translation: X:58.01, Y:-4.75, Z:-2.59 [[ 9.99439318e-01 3.27809413e-02 -6.81605457e-03 5.80101978e+01] [-3.27785752e-02 9.99462533e-01 4.58581463e-04 -4.75133305e+00] [ 6.82742390e-03 -2.34903788e-04 9.99976665e-01 -2.59047965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29134618399999 meters 0.0671392475271185 Centerline is valid? [True, True] Translation: X:58.04, Y:-4.75, Z:-2.59 [[ 9.99446152e-01 3.28911096e-02 -5.05608643e-03 5.80382251e+01] [-3.28898029e-02 9.99458926e-01 3.41400607e-04 -4.75442090e+00] [ 5.06457976e-03 -1.74917837e-04 9.99987160e-01 -2.58895394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32134618399999 meters 0.06726428283198181 Centerline is valid? [True, True] Translation: X:58.07, Y:-4.76, Z:-2.59 [[ 9.99492211e-01 3.16767142e-02 -3.45038345e-03 5.80657582e+01] [-3.16761029e-02 9.99498159e-01 2.31687561e-04 -4.75837065e+00] [ 3.45599101e-03 -1.22275211e-04 9.99994021e-01 -2.58732654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.351346184 meters 0.0677050678153195 Centerline is valid? [True, True] Translation: X:58.09, Y:-4.77, Z:-2.59 [[ 9.99486578e-01 3.20246039e-02 -1.00229244e-03 5.80928791e+01] [-3.20245537e-02 9.99487080e-01 6.60681233e-05 -4.76896164e+00] [ 1.00389415e-03 -3.39362345e-05 9.99999496e-01 -2.58913708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.381346184 meters 0.06815583869409353 Centerline is valid? [True, True] Translation: X:58.12, Y:-4.77, Z:-2.59 [[ 9.99523121e-01 3.08414344e-02 -1.52885403e-03 5.81212800e+01] [-3.08413144e-02 9.99524288e-01 1.01981366e-04 -4.77408988e+00] [ 1.53127199e-03 -5.47808653e-05 9.99998826e-01 -2.58962678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.411346184 meters 0.06859793202477199 Centerline is valid? [True, True] Translation: X:58.15, Y:-4.78, Z:-2.59 [[ 9.99542197e-01 3.01831187e-02 -2.09184573e-03 5.81497022e+01] [-3.01828919e-02 9.99544383e-01 1.39906747e-04 -4.77804303e+00] [ 2.09511547e-03 -7.67047439e-05 9.99997802e-01 -2.58974481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.441346184 meters 0.06888318307867587 Centerline is valid? [True, True] Translation: X:58.18, Y:-4.78, Z:-2.59 [[ 9.99535987e-01 2.99678270e-02 -5.45337540e-03 5.81794136e+01] [-2.99662677e-02 9.99550843e-01 3.67427158e-04 -4.78103730e+00] [ 5.46193697e-03 -2.03839360e-04 9.99985063e-01 -2.59448556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.471346184 meters 0.06963060415164866 Centerline is valid? [True, True] Translation: X:58.21, Y:-4.79, Z:-2.60 [[ 9.99514443e-01 3.03904616e-02 -6.87743077e-03 5.82063612e+01] [-3.03880015e-02 9.99538071e-01 4.61935615e-04 -4.78658871e+00] [ 6.88829232e-03 -2.52719942e-04 9.99976243e-01 -2.59925716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501346184 meters 0.06737535319828206 Centerline is valid? [True, True] Translation: X:58.24, Y:-4.78, Z:-2.60 [[ 9.99524155e-01 2.99741017e-02 -7.28126525e-03 5.82352460e+01] [-2.99713347e-02 9.99550639e-01 4.88848264e-04 -4.78475203e+00] [ 7.29264612e-03 -2.70386410e-04 9.99973372e-01 -2.59702736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.531346184 meters 0.06710275750691681 Centerline is valid? [True, True] Translation: X:58.26, Y:-4.79, Z:-2.60 [[ 9.99555912e-01 2.88836658e-02 -7.32895137e-03 5.82636429e+01] [-2.88808375e-02 9.99582741e-01 4.91470927e-04 -4.78919477e+00] [ 7.34008878e-03 -2.79586417e-04 9.99973022e-01 -2.59602834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561346184 meters 0.06766654062812817 Centerline is valid? [True, True] Translation: X:58.29, Y:-4.79, Z:-2.59 [[ 9.99612994e-01 2.73466973e-02 -5.10111396e-03 5.82913814e+01] [-2.73453162e-02 9.99625989e-01 3.40302539e-04 -4.79343425e+00] [ 5.10851224e-03 -2.00679265e-04 9.99986931e-01 -2.59462706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.591346184 meters 0.06981137849167071 Centerline is valid? [True, True] Translation: X:58.32, Y:-4.80, Z:-2.60 [[ 9.99628781e-01 2.69581283e-02 -3.94443470e-03 5.83187777e+01] [-2.69573014e-02 9.99636551e-01 2.62649638e-04 -4.80243793e+00] [ 3.95008164e-03 -1.56220823e-04 9.99992186e-01 -2.59563827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62134618399999 meters 0.06744156506661628 Centerline is valid? [True, True] Translation: X:58.35, Y:-4.80, Z:-2.59 [[ 9.99643681e-01 2.66925253e-02 1.41770268e-04 5.83481144e+01] [-2.66925240e-02 9.99643691e-01 -1.10033463e-05 -4.80076754e+00] [-1.42013461e-04 7.21521927e-06 9.99999990e-01 -2.58743746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65134618399999 meters 0.06746227981999914 Centerline is valid? [True, True] Translation: X:58.38, Y:-4.80, Z:-2.59 [[ 9.99630990e-01 2.71597043e-02 -4.84930455e-04 5.83769104e+01] [-2.71596924e-02 9.99631107e-01 3.09450662e-05 -4.80430010e+00] [ 4.85592026e-04 -1.77630852e-05 9.99999882e-01 -2.58880651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68134618399999 meters 0.06789131530078052 Centerline is valid? [True, True] Translation: X:58.41, Y:-4.81, Z:-2.59 [[ 9.99635981e-01 2.68795690e-02 -2.32238760e-03 5.84052197e+01] [-2.68792843e-02 9.99638675e-01 1.53717948e-04 -4.80854035e+00] [ 2.32568034e-03 -9.12378751e-05 9.99997291e-01 -2.59227062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71134618399999 meters 0.06863403655590125 Centerline is valid? [True, True] Translation: X:58.43, Y:-4.82, Z:-2.60 [[ 9.99624033e-01 2.61772093e-02 -8.15755262e-03 5.84346516e+01] [-2.61736350e-02 9.99657263e-01 5.44635166e-04 -4.81507297e+00] [ 8.16901376e-03 -3.30917597e-04 9.99966578e-01 -2.60039854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.741346184 meters 0.06904431971877797 Centerline is valid? [True, True] Translation: X:58.46, Y:-4.82, Z:-2.60 [[ 9.99647519e-01 2.47886169e-02 -9.50592766e-03 5.84641098e+01] [-2.47837069e-02 9.99692636e-01 6.33989539e-04 -4.81892784e+00] [ 9.51872160e-03 -3.98173944e-04 9.99954617e-01 -2.60151793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.771346184 meters 0.06946196603377175 Centerline is valid? [True, True] Translation: X:58.49, Y:-4.82, Z:-2.60 [[ 9.99679000e-01 2.37275658e-02 -8.88257447e-03 5.84929077e+01] [-2.37232498e-02 9.99718389e-01 5.90962823e-04 -4.82151629e+00] [ 8.89409515e-03 -3.80049591e-04 9.99960375e-01 -2.60142401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.801346184 meters 0.06997441594555685 Centerline is valid? [True, True] Translation: X:58.52, Y:-4.82, Z:-2.60 [[ 9.99718910e-01 2.27224538e-02 -6.76694338e-03 5.85205871e+01] [-2.27199350e-02 9.99741768e-01 4.48870874e-04 -4.82351433e+00] [ 6.77539539e-03 -2.95000187e-04 9.99977003e-01 -2.59891171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.831346184 meters 0.06971742846432831 Centerline is valid? [True, True] Translation: X:58.55, Y:-4.83, Z:-2.59 [[ 9.99766146e-01 2.15417598e-02 -1.89910138e-03 5.85491671e+01] [-2.15415615e-02 9.99767946e-01 1.24854230e-04 -4.82516429e+00] [ 1.90135026e-03 -8.39154231e-05 9.99998189e-01 -2.59402714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.861346184 meters 0.06979503635886002 Centerline is valid? [True, True] Translation: X:58.58, Y:-4.83, Z:-2.59 [[ 9.99774390e-01 2.12347674e-02 5.04065495e-04 5.85775146e+01] [-2.12347524e-02 9.99774517e-01 -3.49846896e-05 -4.82882045e+00] [-5.04694728e-04 2.42730907e-05 9.99999872e-01 -2.59290704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.891346184 meters 0.07107984651749061 Centerline is valid? [True, True] Translation: X:58.61, Y:-4.83, Z:-2.59 [[ 9.99778137e-01 2.09469896e-02 2.21347828e-03 5.86051838e+01] [-2.09467115e-02 9.99780583e-01 -1.48730221e-04 -4.83470884e+00] [-2.21610805e-03 1.02332132e-04 9.99997539e-01 -2.59373247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921346184 meters 0.07119791204811225 Centerline is valid? [True, True] Translation: X:58.63, Y:-4.84, Z:-2.59 [[ 9.99784692e-01 2.05771163e-02 2.67421858e-03 5.86342833e+01] [-2.05767117e-02 9.99788261e-01 -1.78698373e-04 -4.83707666e+00] [-2.67732944e-03 1.23633273e-04 9.99996408e-01 -2.59377474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.951346184 meters 0.07113084005986715 Centerline is valid? [True, True] Translation: X:58.66, Y:-4.84, Z:-2.60 [[ 9.99823939e-01 1.87541010e-02 -6.12860998e-04 5.86640062e+01] [-1.87540801e-02 9.99824126e-01 3.98643146e-05 -4.83766433e+00] [ 6.13500831e-04 -2.83636518e-05 9.99999811e-01 -2.59849118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.981346184 meters 0.07240389129037311 Centerline is valid? [True, True] Translation: X:58.69, Y:-4.84, Z:-2.60 [[ 9.99837876e-01 1.77045364e-02 -3.28192585e-03 5.86926536e+01] [-1.77039221e-02 9.99843250e-01 2.16145454e-04 -4.84150064e+00] [ 3.28523817e-03 -1.58007452e-04 9.99994591e-01 -2.60214703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01134618399999 meters 0.07185001381682386 Centerline is valid? [True, True] Translation: X:58.72, Y:-4.84, Z:-2.60 [[ 9.99832888e-01 1.76446458e-02 -4.78141189e-03 5.87216069e+01] [-1.76433423e-02 9.99844295e-01 3.14667743e-04 -4.84102299e+00] [ 4.78621959e-03 -2.30255072e-04 9.99988519e-01 -2.60392978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04134618399999 meters 0.07352842636800438 Centerline is valid? [True, True] Translation: X:58.75, Y:-4.85, Z:-2.61 [[ 9.99838130e-01 1.69574758e-02 -6.01313304e-03 5.87491913e+01] [-1.69554050e-02 9.99856169e-01 3.95198557e-04 -4.84529122e+00] [ 6.01896974e-03 -2.93179480e-04 9.99981843e-01 -2.60703970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07134618399999 meters 0.07341919109451402 Centerline is valid? [True, True] Translation: X:58.78, Y:-4.85, Z:-2.61 [[ 9.99849937e-01 1.62905090e-02 -5.89264184e-03 5.87775657e+01] [-1.62885092e-02 9.99867258e-01 3.87204732e-04 -4.84634053e+00] [ 5.89816741e-03 -2.91164276e-04 9.99982563e-01 -2.60691458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.101346184 meters 0.07392969390517788 Centerline is valid? [True, True] Translation: X:58.81, Y:-4.85, Z:-2.61 [[ 9.99870181e-01 1.52530845e-02 -5.19280681e-03 5.88059034e+01] [-1.52515204e-02 9.99883631e-01 3.40673602e-04 -4.84854971e+00] [ 5.19739885e-03 -2.61431177e-04 9.99986459e-01 -2.60708433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.131346184 meters 0.07463589438130465 Centerline is valid? [True, True] Translation: X:58.83, Y:-4.85, Z:-2.61 [[ 9.99889752e-01 1.43024250e-02 -3.99042756e-03 5.88337616e+01] [-1.43014980e-02 9.99897694e-01 2.60758055e-04 -4.85102643e+00] [ 3.99374879e-03 -2.03660216e-04 9.99992004e-01 -2.60741913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.161346184 meters 0.07591062462323786 Centerline is valid? [True, True] Translation: X:58.86, Y:-4.85, Z:-2.61 [[ 9.99909547e-01 1.31395830e-02 -2.87210604e-03 5.88612341e+01] [-1.31391001e-02 9.99913661e-01 1.86945262e-04 -4.85327786e+00] [ 2.87431445e-03 -1.49191463e-04 9.99995858e-01 -2.60862033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.191346184 meters 0.07636438597616244 Centerline is valid? [True, True] Translation: X:58.89, Y:-4.85, Z:-2.61 [[ 9.99919076e-01 1.25361433e-02 -2.16486527e-03 5.88902117e+01] [-1.25358680e-02 9.99921413e-01 1.40687305e-04 -4.85467542e+00] [ 2.16645881e-03 -1.13537454e-04 9.99997647e-01 -2.60833645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.221346184 meters 0.07711850261341566 Centerline is valid? [True, True] Translation: X:58.92, Y:-4.86, Z:-2.61 [[ 9.99938071e-01 1.09039573e-02 -2.22682000e-03 5.89200469e+01] [-1.09036606e-02 9.99940543e-01 1.45371665e-04 -4.85655337e+00] [ 2.22827272e-03 -1.21082173e-04 9.99997510e-01 -2.60854569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.251346184 meters 0.07901581918500471 Centerline is valid? [True, True] Translation: X:58.95, Y:-4.86, Z:-2.61 [[ 9.99961064e-01 8.35766882e-03 -2.83191493e-03 5.89482344e+01] [-8.35717938e-03 9.99965061e-01 1.84617929e-04 -4.86139120e+00] [ 2.83335896e-03 -1.60943920e-04 9.99995973e-01 -2.60955665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281346184 meters 0.08317986688336336 Centerline is valid? [True, True] Translation: X:58.98, Y:-4.87, Z:-2.61 [[ 9.99984291e-01 2.50367211e-03 -5.01486424e-03 5.89768016e+01] [-2.50205400e-03 9.99996816e-01 3.28911288e-04 -4.87226012e+00] [ 5.01567176e-03 -3.16358660e-04 9.99987371e-01 -2.61406986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.311346184 meters 0.08531683852531805 Centerline is valid? [True, True] Translation: X:59.01, Y:-4.88, Z:-2.62 [[ 9.99987792e-01 2.69828275e-04 -4.93388369e-03 5.90052795e+01] [-2.68242030e-04 9.99999912e-01 3.22159356e-04 -4.87864818e+00] [ 4.93397018e-03 -3.20831948e-04 9.99987776e-01 -2.61598109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.341346184 meters 0.08747399515679831 Centerline is valid? [True, True] Translation: X:59.03, Y:-4.88, Z:-2.62 [[ 9.99986635e-01 -2.77764481e-03 -4.36050512e-03 5.90349674e+01] [ 2.77891477e-03 9.99996098e-01 2.85209141e-04 -4.88360289e+00] [ 4.35969590e-03 -2.97322801e-04 9.99990452e-01 -2.61649004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37134618399999 meters 0.08283706798946869 Centerline is valid? [True, True] Translation: X:59.07, Y:-4.88, Z:-2.61 [[ 9.99990185e-01 -2.93067459e-03 -3.32267594e-03 5.90651435e+01] [ 2.93141087e-03 9.99995680e-01 2.16744969e-04 -4.87587907e+00] [ 3.32202637e-03 -2.26482970e-04 9.99994456e-01 -2.61303379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40134618399999 meters 0.08606964062513645 Centerline is valid? [True, True] Translation: X:59.09, Y:-4.88, Z:-2.61 [[ 9.99992946e-01 -3.41830715e-03 -1.55660748e-03 5.90941112e+01] [ 3.41846926e-03 9.99994152e-01 1.01493546e-04 -4.88132083e+00] [ 1.55625144e-03 -1.06814045e-04 9.99998783e-01 -2.61403567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43134618399999 meters 0.08309290118370624 Centerline is valid? [True, True] Translation: X:59.13, Y:-4.88, Z:-2.61 [[ 9.99995132e-01 -2.95928384e-03 -9.89647077e-04 5.91250991e+01] [ 2.95934937e-03 9.99995619e-01 6.47527470e-05 -4.87534051e+00] [ 9.89451120e-04 -6.76811432e-05 9.99999508e-01 -2.61191274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46134618399999 meters 0.09022869331298893 Centerline is valid? [True, True] Translation: X:59.16, Y:-4.88, Z:-2.62 [[ 9.99993394e-01 -3.23607869e-03 -1.65508290e-03 5.91551192e+01] [ 3.23626362e-03 9.99994757e-01 1.09067260e-04 -4.88433331e+00] [ 1.65472127e-03 -1.14422824e-04 9.99998624e-01 -2.61704049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.491346184 meters 0.09138053195551228 Centerline is valid? [True, True] Translation: X:59.19, Y:-4.89, Z:-2.62 [[ 9.99988628e-01 -4.18931078e-03 -2.27911332e-03 5.91856017e+01] [ 4.18966166e-03 9.99991212e-01 1.49205364e-04 -4.88723427e+00] [ 2.27846822e-03 -1.58752381e-04 9.99997392e-01 -2.62029460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.521346184 meters 0.09354572556165226 Centerline is valid? [True, True] Translation: X:59.22, Y:-4.89, Z:-2.62 [[ 9.99972731e-01 -6.74500834e-03 -3.00688542e-03 5.92157206e+01] [ 6.74563060e-03 9.99977229e-01 1.96849991e-04 -4.89300239e+00] [ 3.00548920e-03 -2.17127961e-04 9.99995460e-01 -2.62316323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.551346184 meters 0.0905755869153564 Centerline is valid? [True, True] Translation: X:59.25, Y:-4.89, Z:-2.62 [[ 9.99941167e-01 -1.03290114e-02 -3.31268387e-03 5.92460743e+01] [ 1.03297865e-02 9.99946623e-01 2.16937272e-04 -4.89072058e+00] [ 3.31026630e-03 -2.51143826e-04 9.99994490e-01 -2.62229568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.581346184 meters 0.09508641691605121 Centerline is valid? [True, True] Translation: X:59.28, Y:-4.90, Z:-2.62 [[ 9.99856103e-01 -1.67570362e-02 -2.64120460e-03 5.92751073e+01] [ 1.67575524e-02 9.99859567e-01 1.73428216e-04 -4.89735688e+00] [ 2.63792755e-03 -2.17663385e-04 9.99996497e-01 -2.62253988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.611346184 meters 0.09220516288205813 Centerline is valid? [True, True] Translation: X:59.31, Y:-4.89, Z:-2.62 [[ 9.99817083e-01 -1.88929522e-02 -2.97606022e-03 5.93067738e+01] [ 1.88936182e-02 9.99821480e-01 1.95832109e-04 -4.89063385e+00] [ 2.97182908e-03 -2.52024834e-04 9.99995552e-01 -2.62087412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641346184 meters 0.0943003415060287 Centerline is valid? [True, True] Translation: X:59.34, Y:-4.89, Z:-2.62 [[ 9.99807710e-01 -1.93860105e-02 -2.95374834e-03 5.93380198e+01] [ 1.93866700e-02 9.99812042e-01 1.94773743e-04 -4.89223278e+00] [ 2.94941728e-03 -2.51999635e-04 9.99995619e-01 -2.62162077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.671346184 meters 0.09530166654577399 Centerline is valid? [True, True] Translation: X:59.37, Y:-4.89, Z:-2.62 [[ 9.99817740e-01 -1.89469154e-02 -2.34554294e-03 5.93707864e+01] [ 1.89473326e-02 9.99820471e-01 1.55759137e-04 -4.89133655e+00] [ 2.34217069e-03 -2.00172530e-04 9.99997237e-01 -2.62397974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701346184 meters 0.09559112175952568 Centerline is valid? [True, True] Translation: X:59.40, Y:-4.89, Z:-2.62 [[ 9.99838940e-01 -1.79267213e-02 -8.52855476e-04 5.94017778e+01] [ 1.79267762e-02 9.99839301e-01 5.67266032e-05 -4.89266850e+00] [ 8.51701501e-04 -7.20064160e-05 9.99999635e-01 -2.62479764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.731346184 meters 0.09522100342116352 Centerline is valid? [True, True] Translation: X:59.43, Y:-4.89, Z:-2.63 [[ 9.99863549e-01 -1.65141085e-02 -4.09612801e-04 5.94329418e+01] [ 1.65141212e-02 9.99863632e-01 2.76140024e-05 -4.89268398e+00] [ 4.09100922e-04 -3.43746299e-05 9.99999916e-01 -2.62627316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76134618399999 meters 0.08787879947405557 Centerline is valid? [True, True] Translation: X:59.46, Y:-4.88, Z:-2.62 [[ 9.99908047e-01 -1.35594810e-02 1.94563170e-04 5.94647501e+01] [ 1.35594837e-02 9.99908066e-01 -1.22862905e-05 -4.87677436e+00] [-1.94378687e-04 1.49233368e-05 9.99999981e-01 -2.62367080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79134618399999 meters 0.09341319465092643 Centerline is valid? [True, True] Translation: X:59.50, Y:-4.88, Z:-2.63 [[ 9.99921584e-01 -1.25135044e-02 4.88226847e-04 5.94957510e+01] [ 1.25135202e-02 9.99921702e-01 -2.92891371e-05 -4.88457116e+00] [-4.87822111e-04 3.53962769e-05 9.99999880e-01 -2.62550426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82134618399999 meters 0.08878528483174006 Centerline is valid? [True, True] Translation: X:59.53, Y:-4.88, Z:-2.62 [[ 9.99932536e-01 -1.15526343e-02 1.20803218e-03 5.95278826e+01] [ 1.15527381e-02 9.99933262e-01 -7.89496664e-05 -4.87542417e+00] [-1.20703948e-03 9.29004194e-05 9.99999267e-01 -2.62235531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.851346184 meters 0.08764700783500934 Centerline is valid? [True, True] Translation: X:59.56, Y:-4.87, Z:-2.62 [[ 9.99925232e-01 -1.17062169e-02 3.53483098e-03 5.95604583e+01] [ 1.17071096e-02 9.99931443e-01 -2.31933442e-04 -4.87138456e+00] [-3.53187358e-03 2.73298754e-04 9.99993726e-01 -2.62110313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.881346184 meters 0.08761288116557756 Centerline is valid? [True, True] Translation: X:59.59, Y:-4.87, Z:-2.62 [[ 9.99915935e-01 -1.20829962e-02 4.70356887e-03 5.95928516e+01] [ 1.20845847e-02 9.99926931e-01 -3.09453296e-04 -4.87440093e+00] [-4.69948606e-03 3.66267959e-04 9.99988890e-01 -2.62270323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.911346184 meters 0.09163746052109392 Centerline is valid? [True, True] Translation: X:59.62, Y:-4.88, Z:-2.63 [[ 9.99910037e-01 -1.27357762e-02 4.20924224e-03 5.96232634e+01] [ 1.27370511e-02 9.99918842e-01 -2.76228255e-04 -4.88403586e+00] [-4.20538265e-03 3.29816739e-04 9.99991103e-01 -2.62644498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.941346184 meters 0.08981074900907153 Centerline is valid? [True, True] Translation: X:59.65, Y:-4.88, Z:-2.63 [[ 9.99899445e-01 -1.39693981e-02 2.44046705e-03 5.96541517e+01] [ 1.39698317e-02 9.99902404e-01 -1.60708582e-04 -4.88125802e+00] [-2.43798387e-03 1.94785336e-04 9.99997009e-01 -2.62890318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.971346184 meters 0.09477797701523491 Centerline is valid? [True, True] Translation: X:59.68, Y:-4.88, Z:-2.63 [[ 9.99864687e-01 -1.61345095e-02 -3.20713594e-03 5.96834007e+01] [ 1.61352727e-02 9.99869795e-01 2.12229693e-04 -4.88137119e+00] [ 3.20329413e-03 -2.63948989e-04 9.99994835e-01 -2.63430191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001346184 meters 0.08886093504365933 Centerline is valid? [True, True] Translation: X:59.72, Y:-4.87, Z:-2.63 [[ 9.99861185e-01 -1.60975275e-02 -4.29899210e-03 5.97166073e+01] [ 1.60989079e-02 9.99870363e-01 2.86673946e-04 -4.86953539e+00] [ 4.29382005e-03 -3.55843229e-04 9.99990718e-01 -2.63285710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.031346184 meters 0.09200643057775919 Centerline is valid? [True, True] Translation: X:59.75, Y:-4.88, Z:-2.64 [[ 9.99869671e-01 -1.56653228e-02 -3.90375463e-03 5.97470818e+01] [ 1.56664577e-02 9.99877240e-01 2.60293449e-04 -4.87513998e+00] [ 3.89919782e-03 -3.21417532e-04 9.99992346e-01 -2.63600503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061346184 meters 0.09200643057775919 Centerline is valid? [True, True] Translation: X:59.78, Y:-4.88, Z:-2.64 [[ 9.99870793e-01 -1.55935320e-02 -3.90371435e-03 5.97788166e+01] [ 1.55946687e-02 9.99878362e-01 2.60899109e-04 -4.87733691e+00] [ 3.89917117e-03 -3.21742531e-04 9.99992346e-01 -2.63663323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.091346184 meters 0.09153534162139142 Centerline is valid? [True, True] Translation: X:59.81, Y:-4.88, Z:-2.64 [[ 9.99882722e-01 -1.51962778e-02 -1.90140680e-03 5.98106273e+01] [ 1.51965484e-02 9.99884518e-01 1.27946427e-04 -4.87879220e+00] [ 1.89924291e-03 -1.56826242e-04 9.99998184e-01 -2.63880361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12134618399999 meters 0.09087258459500423 Centerline is valid? [True, True] Translation: X:59.84, Y:-4.88, Z:-2.64 [[ 9.99875728e-01 -1.57647711e-02 -1.51996008e-05 5.98424331e+01] [ 1.57647711e-02 9.99875728e-01 2.09038242e-06 -4.87883989e+00] [ 1.51647575e-05 -2.32974087e-06 1.00000000e+00 -2.63810359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15134618399999 meters 0.09848870758341496 Centerline is valid? [True, True] Translation: X:59.87, Y:-4.89, Z:-2.64 [[ 9.99859031e-01 -1.66998081e-02 1.74178182e-03 5.98729177e+01] [ 1.67000337e-02 9.99860538e-01 -1.15021485e-04 -4.88999098e+00] [-1.73961808e-03 1.44093086e-04 9.99998476e-01 -2.63829810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18134618399999 meters 0.09451416688273351 Centerline is valid? [True, True] Translation: X:59.90, Y:-4.88, Z:-2.63 [[ 9.99790554e-01 -1.98767677e-02 4.87468701e-03 5.99046954e+01] [ 1.98785850e-02 9.99802349e-01 -3.24640426e-04 -4.87695013e+00] [-4.86727072e-03 4.21474311e-04 9.99988066e-01 -2.63195563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21134618399999 meters 0.09596559787017399 Centerline is valid? [True, True] Translation: X:59.94, Y:-4.88, Z:-2.63 [[ 9.99741708e-01 -2.22592590e-02 4.58712549e-03 5.99355692e+01] [ 2.22608934e-02 9.99752149e-01 -3.05546587e-04 -4.88001047e+00] [-4.57918732e-03 4.07581178e-04 9.99989432e-01 -2.63377278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.241346184 meters 0.09270628878913101 Centerline is valid? [True, True] Translation: X:59.97, Y:-4.88, Z:-2.64 [[ 9.99688835e-01 -2.45073685e-02 4.64995502e-03 5.99670358e+01] [ 2.45090725e-02 9.99699560e-01 -3.09807410e-04 -4.87723943e+00] [-4.64096542e-03 4.23677093e-04 9.99989141e-01 -2.63503655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.271346184 meters 0.09636627680601055 Centerline is valid? [True, True] Translation: X:60.00, Y:-4.88, Z:-2.64 [[ 9.99583452e-01 -2.88337210e-02 1.24017623e-03 5.99960955e+01] [ 2.88338447e-02 9.99584215e-01 -8.19454154e-05 -4.88297246e+00] [-1.23729779e-03 1.17670330e-04 9.99999228e-01 -2.64132068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.301346184 meters 0.09568212915438778 Centerline is valid? [True, True] Translation: X:60.03, Y:-4.88, Z:-2.64 [[ 9.99573517e-01 -2.92012650e-02 2.65577041e-04 6.00282715e+01] [ 2.92012704e-02 9.99573552e-01 -1.62916011e-05 -4.87978351e+00] [-2.64988051e-04 2.40398400e-05 9.99999965e-01 -2.64191398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.331346184 meters 0.09892847329104157 Centerline is valid? [True, True] Translation: X:60.06, Y:-4.88, Z:-2.64 [[ 9.99580311e-01 -2.89672937e-02 3.14162294e-04 6.00607001e+01] [ 2.89673006e-02 9.99580360e-01 -1.74384395e-05 -4.88210256e+00] [-3.13525314e-04 2.65315543e-05 9.99999950e-01 -2.64212655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.361346184 meters 0.10106736946248003 Centerline is valid? [True, False] Translation: X:60.06, Y:-4.88, Z:-2.64 [[ 9.99680446e-01 -2.52716627e-02 5.90466163e-04 6.00597009e+01] [ 2.52695098e-02 9.99674871e-01 3.40635083e-03 -4.87978239e+00] [-6.76358334e-04 -3.39034153e-03 9.99994024e-01 -2.64182278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.391346184 meters 0.09908443418025932 Centerline is valid? [False, True] Translation: X:60.05, Y:-4.87, Z:-2.65 [[ 9.99849536e-01 -1.61897437e-02 6.22876507e-03 6.00516347e+01] [ 1.61910409e-02 9.99868904e-01 -1.57886781e-04 -4.87439189e+00] [-6.22539236e-03 2.58713214e-04 9.99980589e-01 -2.64686947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421346184 meters 0.10219583489278679 Centerline is valid? [True, False] Translation: X:60.04, Y:-4.87, Z:-2.65 [[ 9.99888225e-01 -7.64951840e-03 1.28460670e-02 6.00432588e+01] [ 7.68025385e-03 9.99967757e-01 -2.34496952e-03 -4.87380541e+00] [-1.28277149e-02 2.44336847e-03 9.99914736e-01 -2.65260871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.451346184 meters 0.09556064694426153 Centerline is valid? [False, True] Translation: X:60.04, Y:-4.87, Z:-2.65 [[ 9.99909035e-01 -3.26338798e-03 1.30871236e-02 6.00433236e+01] [ 3.23436681e-03 9.99992265e-01 2.23808899e-03 -4.87389872e+00] [-1.30943261e-02 -2.19555684e-03 9.99911855e-01 -2.65357383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.481346184 meters 0.09791801211351846 Centerline is valid? [True, True] Translation: X:60.07, Y:-4.88, Z:-2.65 [[ 9.99911292e-01 -2.67533642e-03 1.30480374e-02 6.00741479e+01] [ 2.69017659e-03 9.99995754e-01 -1.11992987e-03 -4.87591120e+00] [-1.30449858e-02 1.15493204e-03 9.99914244e-01 -2.65313706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51134618399999 meters 0.09833615895830337 Centerline is valid? [True, True] Translation: X:60.11, Y:-4.87, Z:-2.65 [[ 9.99893093e-01 -2.93654523e-03 1.43240870e-02 6.01066570e+01] [ 2.95454152e-03 9.99994872e-01 -1.23536582e-03 -4.87374482e+00] [-1.43203858e-02 1.27755486e-03 9.99896642e-01 -2.65270995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54134618399999 meters 0.09750683134834998 Centerline is valid? [True, True] Translation: X:60.14, Y:-4.87, Z:-2.65 [[ 9.99892460e-01 -2.96014174e-03 1.43633383e-02 6.01388582e+01] [ 2.97825352e-03 9.99994797e-01 -1.23974641e-03 -4.87345236e+00] [-1.43595937e-02 1.28239075e-03 9.99896073e-01 -2.65392749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57134618399999 meters 0.09608653813151125 Centerline is valid? [True, True] Translation: X:60.17, Y:-4.87, Z:-2.66 [[ 9.99895289e-01 -3.12829612e-03 1.41288865e-02 6.01710547e+01] [ 3.14585136e-03 9.99994307e-01 -1.22045285e-03 -4.87269151e+00] [-1.41249881e-02 1.26477243e-03 9.99899437e-01 -2.65519025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.601346184 meters 0.09649665861461383 Centerline is valid? [True, True] Translation: X:60.20, Y:-4.87, Z:-2.66 [[ 9.99900398e-01 -3.11992553e-03 1.37644277e-02 6.02023754e+01] [ 3.13660189e-03 9.99994373e-01 -1.19013362e-03 -4.87280160e+00] [-1.37606371e-02 1.23318861e-03 9.99904558e-01 -2.65666497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.631346184 meters 0.0976981565475166 Centerline is valid? [True, True] Translation: X:60.23, Y:-4.88, Z:-2.66 [[ 9.99920093e-01 -2.18645046e-03 1.24510011e-02 6.02334850e+01] [ 2.20003067e-03 9.99997000e-01 -1.07709956e-03 -4.87512401e+00] [-1.24486087e-02 1.10440608e-03 9.99921903e-01 -2.65955221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.661346184 meters 0.09826823904774358 Centerline is valid? [True, True] Translation: X:60.26, Y:-4.88, Z:-2.66 [[ 9.99942470e-01 -7.33164365e-04 1.07013681e-02 6.02643456e+01] [ 7.43120268e-04 9.99999295e-01 -9.26392581e-04 -4.87647382e+00] [-1.07006813e-02 9.34291689e-04 9.99942310e-01 -2.66282258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.691346184 meters 0.09587192636488547 Centerline is valid? [True, True] Translation: X:60.30, Y:-4.87, Z:-2.67 [[ 9.99960868e-01 6.15413951e-04 8.82518129e-03 6.02959182e+01] [-6.08694099e-04 9.99999523e-01 -7.64106433e-04 -4.87317642e+00] [-8.82564732e-03 7.58704696e-04 9.99960765e-01 -2.66606980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.721346184 meters 0.09380687298199444 Centerline is valid? [True, True] Translation: X:60.33, Y:-4.87, Z:-2.67 [[ 9.99983707e-01 3.00321166e-03 4.85446564e-03 6.03279814e+01] [-3.00120764e-03 9.99995408e-01 -4.20052078e-04 -4.86704124e+00] [-4.85570485e-03 4.05475975e-04 9.99988129e-01 -2.67085565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.751346184 meters 0.09344122545124231 Centerline is valid? [True, True] Translation: X:60.36, Y:-4.87, Z:-2.67 [[ 9.99982291e-01 4.49010179e-03 3.90596456e-03 6.03590197e+01] [-4.48881424e-03 9.99989868e-01 -3.38343220e-04 -4.86577157e+00] [-3.90744418e-03 3.20804079e-04 9.99992314e-01 -2.67186306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781346184 meters 0.09436195661035275 Centerline is valid? [True, True] Translation: X:60.39, Y:-4.87, Z:-2.67 [[ 9.99966470e-01 5.97729394e-03 5.59740572e-03 6.03889856e+01] [-5.97466916e-03 9.99982034e-01 -4.85532860e-04 -4.86759505e+00] [-5.60020733e-03 4.52073933e-04 9.99984217e-01 -2.67240644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.811346184 meters 0.09370245816468699 Centerline is valid? [True, True] Translation: X:60.42, Y:-4.87, Z:-2.67 [[ 9.99945009e-01 6.43073593e-03 8.28402889e-03 6.04192019e+01] [-6.42499618e-03 9.99979101e-01 -7.19296631e-04 -4.86783214e+00] [-8.28848137e-03 6.66032222e-04 9.99965428e-01 -2.67184974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.841346184 meters 0.09087819485066356 Centerline is valid? [True, True] Translation: X:60.45, Y:-4.86, Z:-2.67 [[ 9.99915954e-01 6.59354869e-03 1.11628918e-02 6.04514887e+01] [-6.58315807e-03 9.99977863e-01 -9.67307069e-04 -4.86355445e+00] [-1.11690227e-02 8.93738690e-04 9.99937225e-01 -2.66721401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87134618399999 meters 0.08846530248535087 Centerline is valid? [True, True] Translation: X:60.48, Y:-4.86, Z:-2.67 [[ 9.99890209e-01 7.44242462e-03 1.28132786e-02 6.04838848e+01] [-7.42879924e-03 9.99971789e-01 -1.11064767e-03 -4.85945634e+00] [-1.28211830e-02 1.01533845e-03 9.99917290e-01 -2.66570299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90134618399999 meters 0.08673961129204467 Centerline is valid? [True, True] Translation: X:60.52, Y:-4.85, Z:-2.66 [[ 9.99866643e-01 8.78421620e-03 1.37671534e-02 6.05165088e+01] [-8.76860118e-03 9.99960842e-01 -1.19417627e-03 -4.85365561e+00] [-1.37771042e-02 1.07329834e-03 9.99904515e-01 -2.66363448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93134618399999 meters 0.08619718242908109 Centerline is valid? [True, True] Translation: X:60.55, Y:-4.85, Z:-2.66 [[ 9.99858329e-01 9.16034817e-03 1.41212656e-02 6.05487018e+01] [-9.14398196e-03 9.99957445e-01 -1.22310766e-03 -4.85387265e+00] [-1.41318688e-02 1.09380978e-03 9.99899542e-01 -2.66492245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96134618399999 meters 0.09510378096696567 Centerline is valid? [True, True] Translation: X:60.58, Y:-4.87, Z:-2.67 [[ 9.99853927e-01 1.01423877e-02 1.37570760e-02 6.05789055e+01] [-1.01269002e-02 9.99948008e-01 -1.19497618e-03 -4.87184581e+00] [-1.37684806e-02 1.05548509e-03 9.99904653e-01 -2.66993716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.991346184 meters 0.09123688103023367 Centerline is valid? [True, True] Translation: X:60.61, Y:-4.87, Z:-2.67 [[ 9.99869275e-01 1.06436756e-02 1.21714513e-02 6.06113755e+01] [-1.06315592e-02 9.99942922e-01 -1.05975070e-03 -4.86751083e+00] [-1.21820362e-02 9.30210661e-04 9.99925364e-01 -2.67226649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.021346184 meters 0.09151670616893816 Centerline is valid? [True, True] Translation: X:60.64, Y:-4.87, Z:-2.68 [[ 9.99877856e-01 1.12830248e-02 1.08150560e-02 6.06414595e+01] [-1.12734364e-02 9.99936004e-01 -9.47134772e-04 -4.86697046e+00] [-1.08250504e-02 8.25096239e-04 9.99941067e-01 -2.67523833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.051346184 meters 0.09047441673244441 Centerline is valid? [True, True] Translation: X:60.67, Y:-4.86, Z:-2.68 [[ 9.99888113e-01 1.14131164e-02 9.66964675e-03 6.06725410e+01] [-1.14054536e-02 9.99934597e-01 -8.47236997e-04 -4.86493190e+00] [-9.67868394e-03 7.36855495e-04 9.99952889e-01 -2.67609785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.081346184 meters 0.08700064112305071 Centerline is valid? [True, True] Translation: X:60.70, Y:-4.86, Z:-2.68 [[ 9.99892873e-01 1.17536003e-02 8.72330419e-03 6.07029200e+01] [-1.17473711e-02 9.99930705e-01 -7.64981646e-04 -4.85881800e+00] [-8.73169100e-03 6.62423804e-04 9.99961659e-01 -2.67643456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.111346184 meters 0.08847909677256051 Centerline is valid? [True, True] Translation: X:60.73, Y:-4.86, Z:-2.68 [[ 9.99906685e-01 1.12135219e-02 7.80241389e-03 6.07310678e+01] [-1.12085219e-02 9.99936948e-01 -6.84263950e-04 -4.86208591e+00] [-7.80959495e-03 5.96746571e-04 9.99969327e-01 -2.67870849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141346184 meters 0.0896513345535638 Centerline is valid? [True, True] Translation: X:60.76, Y:-4.87, Z:-2.68 [[ 9.99927093e-01 8.92508663e-03 8.13339046e-03 6.07613929e+01] [-8.91958906e-03 9.99959966e-01 -7.11949737e-04 -4.86503540e+00] [-8.13941907e-03 6.39351330e-04 9.99966670e-01 -2.67927061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.171346184 meters 0.09513192310734937 Centerline is valid? [True, True] Translation: X:60.79, Y:-4.88, Z:-2.68 [[ 9.99929111e-01 7.29000553e-03 9.41426299e-03 6.07898791e+01] [-7.28256816e-03 9.99973142e-01 -8.24050562e-04 -4.87573950e+00] [-9.42001748e-03 7.55432134e-04 9.99955345e-01 -2.68109078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201346184 meters 0.09182803593632737 Centerline is valid? [True, True] Translation: X:60.82, Y:-4.87, Z:-2.68 [[ 9.99916769e-01 6.16559230e-03 1.13331208e-02 6.08215211e+01] [-6.15474793e-03 9.99980568e-01 -9.91503079e-04 -4.87136209e+00] [-1.13390138e-02 9.21668054e-04 9.99935287e-01 -2.67894472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.231346184 meters 0.09132205047789711 Centerline is valid? [True, True] Translation: X:60.85, Y:-4.87, Z:-2.68 [[ 9.99895033e-01 4.02182821e-03 1.39193022e-02 6.08528065e+01] [-4.00525012e-03 9.99991236e-01 -1.21868635e-03 -4.86931783e+00] [-1.39240816e-02 1.16280815e-03 9.99902379e-01 -2.67570624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26134618399999 meters 0.09464164761562203 Centerline is valid? [True, True] Translation: X:60.88, Y:-4.88, Z:-2.68 [[ 9.99886017e-01 3.92645957e-03 1.45785942e-02 6.08838050e+01] [-3.90829723e-03 9.99991551e-01 -1.27410363e-03 -4.87572381e+00] [-1.45834737e-02 1.21698092e-03 9.99892915e-01 -2.67656433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29134618399999 meters 0.09266788041211979 Centerline is valid? [True, True] Translation: X:60.92, Y:-4.87, Z:-2.68 [[ 9.99889765e-01 4.21282461e-03 1.42375956e-02 6.09173183e+01] [-4.19549648e-03 9.99990422e-01 -1.24671750e-03 -4.87304395e+00] [-1.42427114e-02 1.18684629e-03 9.99897863e-01 -2.67878540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32134618399999 meters 0.09143157358972244 Centerline is valid? [True, True] Translation: X:60.95, Y:-4.87, Z:-2.68 [[ 9.99924108e-01 4.65294848e-03 1.14073621e-02 6.09495746e+01] [-4.64182879e-03 9.99988726e-01 -1.00106479e-03 -4.87071695e+00] [-1.14118914e-02 9.48037799e-04 9.99934433e-01 -2.68316449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.351346184 meters 0.0925867875152426 Centerline is valid? [True, True] Translation: X:60.98, Y:-4.87, Z:-2.69 [[ 9.99933779e-01 4.43078640e-03 1.06210049e-02 6.09803237e+01] [-4.42110811e-03 9.99989790e-01 -9.34546003e-04 -4.87389112e+00] [-1.06250372e-02 8.87527506e-04 9.99943159e-01 -2.68536307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.381346184 meters 0.09194054967842519 Centerline is valid? [True, True] Translation: X:61.01, Y:-4.87, Z:-2.69 [[ 9.99934953e-01 3.35773366e-03 1.09002574e-02 6.10128772e+01] [-3.34742011e-03 9.99993932e-01 -9.64281386e-04 -4.87363865e+00] [-1.09034291e-02 9.27730921e-04 9.99940125e-01 -2.68525726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.411346184 meters 0.09406653137064472 Centerline is valid? [True, True] Translation: X:61.04, Y:-4.88, Z:-2.69 [[ 9.99933363e-01 2.81287938e-03 1.11963041e-02 6.10440966e+01] [-2.80198233e-03 9.99995586e-01 -9.88840172e-04 -4.87571782e+00] [-1.11990362e-02 9.57402433e-04 9.99936830e-01 -2.68707126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.441346184 meters 0.09276573901448128 Centerline is valid? [True, True] Translation: X:61.08, Y:-4.87, Z:-2.69 [[ 9.99939902e-01 3.15425096e-03 1.04996296e-02 6.10770686e+01] [-3.14467461e-03 9.99994624e-01 -9.28450079e-04 -4.87456831e+00] [-1.05025017e-02 8.95376363e-04 9.99944446e-01 -2.68821728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.471346184 meters 0.09206684935873129 Centerline is valid? [True, True] Translation: X:61.11, Y:-4.88, Z:-2.69 [[ 9.99945384e-01 3.49426968e-03 9.84985545e-03 6.11106027e+01] [-3.48583600e-03 9.99993543e-01 -8.73261544e-04 -4.87525720e+00] [-9.85284327e-03 8.38878869e-04 9.99951108e-01 -2.68998880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501346184 meters 0.09357787358240227 Centerline is valid? [True, True] Translation: X:61.14, Y:-4.88, Z:-2.69 [[ 9.99937029e-01 2.90545603e-03 1.08395596e-02 6.11414546e+01] [-2.89515663e-03 9.99995343e-01 -9.65737741e-04 -4.87876492e+00] [-1.08423150e-02 9.34294705e-04 9.99940784e-01 -2.69210346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.531346184 meters 0.09737579899224799 Centerline is valid? [True, True] Translation: X:61.17, Y:-4.89, Z:-2.69 [[ 9.99934874e-01 1.95549773e-03 1.12438578e-02 6.11722182e+01] [-1.94432422e-03 9.99997605e-01 -1.00458909e-03 -4.88695264e+00] [-1.12457953e-02 9.82661957e-04 9.99936281e-01 -2.69318674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561346184 meters 0.09479564591001956 Centerline is valid? [True, True] Translation: X:61.20, Y:-4.88, Z:-2.69 [[ 9.99941729e-01 5.55570825e-04 1.07810264e-02 6.12038096e+01] [-5.45160639e-04 9.99999382e-01 -9.68517202e-04 -4.88391585e+00] [-1.07815579e-02 9.62583374e-04 9.99941414e-01 -2.69312123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.591346184 meters 0.09621436492102148 Centerline is valid? [True, True] Translation: X:61.23, Y:-4.89, Z:-2.69 [[ 9.99957146e-01 -1.88858201e-03 9.06305585e-03 6.12348881e+01] [ 1.89604194e-03 9.99997871e-01 -8.14592114e-04 -4.88549539e+00] [-9.06149813e-03 8.31741139e-04 9.99958598e-01 -2.69398223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62134618399999 meters 0.09680805551719282 Centerline is valid? [True, True] Translation: X:61.27, Y:-4.89, Z:-2.70 [[ 9.99954582e-01 -3.35715976e-03 8.91984373e-03 6.12660586e+01] [ 3.36444316e-03 9.99994019e-01 -8.01658353e-04 -4.88671095e+00] [-8.91709908e-03 8.31632251e-04 9.99959896e-01 -2.69522288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65134618399999 meters 0.09709219840639782 Centerline is valid? [True, True] Translation: X:61.30, Y:-4.89, Z:-2.70 [[ 9.99954158e-01 -3.35564886e-03 8.96777524e-03 6.12979369e+01] [ 3.36300792e-03 9.99994021e-01 -8.05657400e-04 -4.88897858e+00] [-8.96501811e-03 8.35779167e-04 9.99959464e-01 -2.69661302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68134618399999 meters 0.09979967235257207 Centerline is valid? [True, True] Translation: X:61.33, Y:-4.90, Z:-2.70 [[ 9.99946480e-01 -2.51300571e-03 1.00360107e-02 6.13274626e+01] [ 2.52218419e-03 9.99996412e-01 -9.02003434e-04 -4.89609877e+00] [-1.00337079e-02 9.27267826e-04 9.99949231e-01 -2.69895088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71134618399999 meters 0.09643689289145053 Centerline is valid? [True, True] Translation: X:61.36, Y:-4.89, Z:-2.70 [[ 9.99934289e-01 3.35410246e-04 1.14588716e-02 6.13581825e+01] [-3.23594170e-04 9.99999414e-01 -1.03301133e-03 -4.89233198e+00] [-1.14592113e-02 1.02923543e-03 9.99933811e-01 -2.70010179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.741346184 meters 0.09567686388056261 Centerline is valid? [True, True] Translation: X:61.39, Y:-4.89, Z:-2.70 [[ 9.99928574e-01 1.98659631e-03 1.17855978e-02 6.13903005e+01] [-1.97421950e-03 9.99997488e-01 -1.06170447e-03 -4.89131312e+00] [-1.17876773e-02 1.03836128e-03 9.99929984e-01 -2.70036551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.771346184 meters 0.09280431088725422 Centerline is valid? [True, True] Translation: X:61.42, Y:-4.89, Z:-2.70 [[ 9.99930038e-01 3.42621611e-03 1.13216705e-02 6.14223243e+01] [-3.41487723e-03 9.99993648e-01 -1.02069934e-03 -4.88576457e+00] [-1.13250957e-02 9.81965811e-04 9.99935387e-01 -2.69974642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.801346184 meters 0.09331810872423807 Centerline is valid? [True, True] Translation: X:61.45, Y:-4.89, Z:-2.70 [[ 9.99932372e-01 4.72935492e-03 1.06247331e-02 6.14532012e+01] [-4.71943878e-03 9.99988404e-01 -9.58186261e-04 -4.88579518e+00] [-1.06291415e-02 9.07978683e-04 9.99943097e-01 -2.70004802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.831346184 meters 0.09658249166884535 Centerline is valid? [True, True] Translation: X:61.48, Y:-4.90, Z:-2.70 [[ 9.99935149e-01 4.85981996e-03 1.02995379e-02 6.14836186e+01] [-4.85053736e-03 9.99987807e-01 -9.26052131e-04 -4.89584616e+00] [-1.03039128e-02 8.76033782e-04 9.99946530e-01 -2.70363156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.861346184 meters 0.09739839131918385 Centerline is valid? [True, True] Translation: X:61.52, Y:-4.90, Z:-2.71 [[ 9.99946969e-01 3.91596438e-03 9.52489351e-03 6.15151740e+01] [-3.90796621e-03 9.99991996e-01 -8.58179324e-04 -4.90211959e+00] [-9.52817787e-03 8.20910853e-04 9.99954269e-01 -2.70609053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.891346184 meters 0.09861663827632325 Centerline is valid? [True, True] Translation: X:61.55, Y:-4.91, Z:-2.71 [[ 9.99945720e-01 3.47869990e-03 9.82118190e-03 6.15456920e+01] [-3.47013688e-03 9.99993584e-01 -8.88799283e-04 -4.90804391e+00] [-9.82421075e-03 8.54670194e-04 9.99951376e-01 -2.70743122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921346184 meters 0.09993875382826915 Centerline is valid? [True, True] Translation: X:61.58, Y:-4.91, Z:-2.71 [[ 9.99946449e-01 4.10022003e-03 9.50200403e-03 6.15771958e+01] [-4.09223719e-03 9.99991257e-01 -8.59412280e-04 -4.91018146e+00] [-9.50544474e-03 8.20481803e-04 9.99954486e-01 -2.70672282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.951346184 meters 0.09993875382826915 Centerline is valid? [True, True] Translation: X:61.61, Y:-4.91, Z:-2.71 [[ 9.99945341e-01 4.36229879e-03 9.50189917e-03 6.16098232e+01] [-4.35431677e-03 9.99990150e-01 -8.60570577e-04 -4.91334787e+00] [-9.50555964e-03 8.19149259e-04 9.99954486e-01 -2.70760691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.981346184 meters 0.09245530261254721 Centerline is valid? [True, True] Translation: X:61.64, Y:-4.90, Z:-2.71 [[ 9.99947088e-01 5.49547530e-03 8.69603752e-03 6.16433114e+01] [-5.48881484e-03 9.99984625e-01 -7.89599798e-04 -4.90277109e+00] [-8.70024304e-03 7.41827079e-04 9.99961877e-01 -2.70654950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01134618399999 meters 0.09239677749857028 Centerline is valid? [True, True] Translation: X:61.67, Y:-4.91, Z:-2.71 [[ 9.99948412e-01 6.33436800e-03 7.94034557e-03 6.16741306e+01] [-6.32879819e-03 9.99979709e-01 -7.26387409e-04 -4.90527113e+00] [-7.94478565e-03 6.76097092e-04 9.99968211e-01 -2.70856418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04134618399999 meters 0.09777563180625368 Centerline is valid? [True, True] Translation: X:61.70, Y:-4.92, Z:-2.71 [[ 9.99941796e-01 7.35108283e-03 7.89722772e-03 6.17029838e+01] [-7.34560004e-03 9.99972759e-01 -7.23049882e-04 -4.91805098e+00] [-7.90232779e-03 6.64997921e-04 9.99968555e-01 -2.71227529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07134618399999 meters 0.09897946573598361 Centerline is valid? [True, True] Translation: X:61.73, Y:-4.92, Z:-2.71 [[ 9.99925605e-01 8.19659684e-03 9.03332927e-03 6.17320121e+01] [-8.18945936e-03 9.99966124e-01 -8.26834412e-04 -4.92254858e+00] [-9.03980049e-03 7.52794816e-04 9.99958857e-01 -2.71337907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.101346184 meters 0.09906413432516512 Centerline is valid? [True, True] Translation: X:61.76, Y:-4.93, Z:-2.71 [[ 9.99917865e-01 8.40218229e-03 9.67812913e-03 6.17625141e+01] [-8.39398696e-03 9.99964376e-01 -8.87097649e-04 -4.92528746e+00] [-9.68523791e-03 8.05786698e-04 9.99952772e-01 -2.71403273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.131346184 meters 0.0925414479811134 Centerline is valid? [True, True] Translation: X:61.79, Y:-4.92, Z:-2.71 [[ 9.99922198e-01 8.21385323e-03 9.38779726e-03 6.17937724e+01] [-8.20613401e-03 9.99965959e-01 -8.60485820e-04 -4.91746471e+00] [-9.39454559e-03 7.83381350e-04 9.99955563e-01 -2.71303266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.161346184 meters 0.09561028311176747 Centerline is valid? [True, True] Translation: X:61.82, Y:-4.93, Z:-2.72 [[ 9.99927333e-01 8.55591893e-03 8.49266855e-03 6.18235368e+01] [-8.54961658e-03 9.99963149e-01 -7.78121750e-04 -4.92703323e+00] [-8.49901313e-03 7.05456147e-04 9.99963634e-01 -2.71701322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.191346184 meters 0.09058579334728846 Centerline is valid? [True, True] Translation: X:61.85, Y:-4.92, Z:-2.72 [[ 9.99923334e-01 8.90279575e-03 8.60620897e-03 6.18542183e+01] [-8.89632692e-03 9.99960115e-01 -7.89638312e-04 -4.92068038e+00] [-8.61289570e-03 7.13014125e-04 9.99962654e-01 -2.71524827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.221346184 meters 0.09210711181733279 Centerline is valid? [True, True] Translation: X:61.88, Y:-4.92, Z:-2.72 [[ 9.99921913e-01 8.60951052e-03 9.05778830e-03 6.18830278e+01] [-8.60233926e-03 9.99962654e-01 -8.30386177e-04 -4.92454232e+00] [-9.06459925e-03 7.52403167e-04 9.99958633e-01 -2.71519922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.251346184 meters 0.0901886370085636 Centerline is valid? [True, True] Translation: X:61.91, Y:-4.92, Z:-2.71 [[ 9.99923657e-01 7.61822303e-03 9.72842350e-03 6.19139444e+01] [-7.60990882e-03 9.99970647e-01 -8.91362290e-04 -4.92281983e+00] [-9.73492854e-03 8.17261826e-04 9.99952280e-01 -2.71258483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281346184 meters 0.09115925640856898 Centerline is valid? [True, True] Translation: X:61.94, Y:-4.93, Z:-2.71 [[ 9.99919974e-01 6.59991732e-03 1.07929103e-02 6.19447951e+01] [-6.58963124e-03 9.99977800e-01 -9.88325294e-04 -4.92945201e+00] [-1.07991936e-02 9.17124903e-04 9.99941266e-01 -2.71408780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.311346184 meters 0.09198943822641598 Centerline is valid? [True, True] Translation: X:61.98, Y:-4.94, Z:-2.72 [[ 9.99920495e-01 5.49825986e-03 1.13477916e-02 6.19767444e+01] [-5.48681960e-03 9.99984407e-01 -1.03903501e-03 -4.93678243e+00] [-1.13533275e-02 9.76689115e-04 9.99935072e-01 -2.71564096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.341346184 meters 0.09314840415869842 Centerline is valid? [True, True] Translation: X:62.01, Y:-4.94, Z:-2.72 [[ 9.99929117e-01 4.52936393e-03 1.10111859e-02 6.20082164e+01] [-4.51855358e-03 9.99989285e-01 -1.00644059e-03 -4.94388865e+00] [-1.10156264e-02 9.56614613e-04 9.99938869e-01 -2.71710142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37134618399999 meters 0.09350265257931936 Centerline is valid? [True, True] Translation: X:62.04, Y:-4.95, Z:-2.72 [[ 9.99943546e-01 3.83701226e-03 9.90872817e-03 6.20401690e+01] [-3.82818185e-03 9.99992258e-01 -9.09987616e-04 -4.94743291e+00] [-9.91214309e-03 8.72003829e-04 9.99950493e-01 -2.71903755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40134618399999 meters 0.09795255524885253 Centerline is valid? [True, True] Translation: X:62.07, Y:-4.95, Z:-2.73 [[ 9.99975636e-01 5.62797892e-03 4.12951821e-03 6.20707079e+01] [-5.62647848e-03 9.99984101e-01 -3.74870921e-04 -4.95415176e+00] [-4.13156232e-03 3.51627142e-04 9.99991403e-01 -2.72539834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43134618399999 meters 0.09841459928158662 Centerline is valid? [True, True] Translation: X:62.10, Y:-4.96, Z:-2.73 [[ 9.99970415e-01 7.25982300e-03 2.54245512e-03 6.20998034e+01] [-7.25924891e-03 9.99973624e-01 -2.34957113e-04 -4.95620699e+00] [-2.54409381e-03 2.16493848e-04 9.99996740e-01 -2.72885295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46134618399999 meters 0.09324382830519055 Centerline is valid? [True, True] Translation: X:62.13, Y:-4.95, Z:-2.73 [[ 9.99958498e-01 8.48633418e-03 3.31417812e-03 6.21300868e+01] [-8.48536460e-03 9.99963952e-01 -3.06506283e-04 -4.95112283e+00] [-3.31665977e-03 2.78371552e-04 9.99994461e-01 -2.72916966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.491346184 meters 0.09757396820379616 Centerline is valid? [True, True] Translation: X:62.16, Y:-4.97, Z:-2.73 [[ 9.99921074e-01 9.66607511e-03 8.02579548e-03 6.21580791e+01] [-9.66043955e-03 9.99953063e-01 -7.40651483e-04 -4.96741507e+00] [-8.03257796e-03 6.63060314e-04 9.99967518e-01 -2.73210727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.521346184 meters 0.09552672028263776 Centerline is valid? [True, True] Translation: X:62.19, Y:-4.97, Z:-2.73 [[ 9.99916532e-01 8.97120908e-03 9.29768717e-03 6.21878350e+01] [-8.96362031e-03 9.99959458e-01 -8.57550731e-04 -4.96760708e+00] [-9.30500349e-03 7.74138216e-04 9.99956408e-01 -2.73027878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.551346184 meters 0.09663329273584435 Centerline is valid? [True, True] Translation: X:62.22, Y:-4.97, Z:-2.73 [[ 9.99924505e-01 7.47789613e-03 9.75012489e-03 6.22183807e+01] [-7.46948955e-03 9.99971699e-01 -8.98332798e-04 -4.96946796e+00] [-9.75656660e-03 8.25436523e-04 9.99952063e-01 -2.72751088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.581346184 meters 0.09645972420026677 Centerline is valid? [True, True] Translation: X:62.25, Y:-4.97, Z:-2.72 [[ 9.99925121e-01 6.46922139e-03 1.03875810e-02 6.22502460e+01] [-6.45963132e-03 9.99978679e-01 -9.56510385e-04 -4.96701377e+00] [-1.03935474e-02 8.89338819e-04 9.99945590e-01 -2.72268059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.611346184 meters 0.09795511169792671 Centerline is valid? [True, True] Translation: X:62.28, Y:-4.97, Z:-2.72 [[ 9.99900805e-01 7.05851744e-03 1.21884484e-02 6.22806714e+01] [-7.04535023e-03 9.99974551e-01 -1.12290338e-03 -4.97329994e+00] [-1.21960642e-02 1.03692010e-03 9.99925088e-01 -2.72306121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641346184 meters 0.09789742971814082 Centerline is valid? [True, True] Translation: X:62.31, Y:-4.98, Z:-2.73 [[ 9.99881406e-01 7.92643747e-03 1.32039927e-02 6.23114108e+01] [-7.91105262e-03 9.99967967e-01 -1.21699155e-03 -4.97976514e+00] [-1.32132162e-02 1.11238974e-03 9.99912083e-01 -2.72585099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.671346184 meters 0.09522964433963356 Centerline is valid? [True, True] Translation: X:62.34, Y:-4.98, Z:-2.73 [[ 9.99876695e-01 8.54078431e-03 1.31775940e-02 6.23432444e+01] [-8.52554467e-03 9.99962922e-01 -1.21222506e-03 -4.98227818e+00] [-1.31874588e-02 1.09972942e-03 9.99912437e-01 -2.72843926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701346184 meters 0.09794559981401532 Centerline is valid? [True, True] Translation: X:62.37, Y:-4.99, Z:-2.74 [[ 9.99927771e-01 7.45663269e-03 9.42610472e-03 6.23720893e+01] [-7.44875711e-03 9.99971879e-01 -8.70338736e-04 -4.99032307e+00] [-9.43232944e-03 8.00063107e-04 9.99955195e-01 -2.73500281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.731346184 meters 0.09860070914397462 Centerline is valid? [True, True] Translation: X:62.40, Y:-4.99, Z:-2.74 [[ 9.99950464e-01 6.77948970e-03 7.28749917e-03 6.24026861e+01] [-6.77476081e-03 9.99976824e-01 -6.73393854e-04 -4.99365782e+00] [-7.29189554e-03 6.23989434e-04 9.99973219e-01 -2.73822885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76134618399999 meters 0.09835677942340945 Centerline is valid? [True, True] Translation: X:62.43, Y:-5.00, Z:-2.74 [[ 9.99957148e-01 6.71712894e-03 6.37038908e-03 6.24334441e+01] [-6.71350864e-03 9.99977290e-01 -5.89515945e-04 -4.99586929e+00] [-6.37420427e-03 5.46723021e-04 9.99979535e-01 -2.73944416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79134618399999 meters 0.09574019322189574 Centerline is valid? [True, True] Translation: X:62.46, Y:-5.00, Z:-2.74 [[ 9.99946782e-01 8.55488123e-03 5.76610933e-03 6.24643319e+01] [-8.55194321e-03 9.99963289e-01 -5.33996799e-04 -4.99503221e+00] [-5.77046593e-03 4.84656941e-04 9.99983233e-01 -2.73837185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82134618399999 meters 0.09615454599565429 Centerline is valid? [True, True] Translation: X:62.49, Y:-5.00, Z:-2.74 [[ 9.99927271e-01 1.02821848e-02 6.30311429e-03 6.24929853e+01] [-1.02787090e-02 9.99947002e-01 -5.83597103e-04 -4.99825489e+00] [-6.30878089e-03 5.18766781e-04 9.99979965e-01 -2.73775336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.851346184 meters 0.09558000170939633 Centerline is valid? [True, True] Translation: X:62.52, Y:-5.00, Z:-2.74 [[ 9.99901449e-01 1.16429728e-02 7.84430954e-03 6.25230150e+01] [-1.16376238e-02 9.99932016e-01 -7.27205789e-04 -4.99916875e+00] [-7.85224309e-03 6.35844999e-04 9.99968969e-01 -2.73669847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.881346184 meters 0.0889275112608203 Centerline is valid? [True, True] Translation: X:62.55, Y:-4.99, Z:-2.73 [[ 9.99881047e-01 1.24743978e-02 9.07084854e-03 6.25529379e+01] [-1.24672780e-02 9.99921927e-01 -8.41028562e-04 -4.98992915e+00] [-9.08063168e-03 7.27839729e-04 9.99958505e-01 -2.73334063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.911346184 meters 0.09993251614923013 Centerline is valid? [True, True] Translation: X:62.58, Y:-5.01, Z:-2.74 [[ 9.99862936e-01 1.31467783e-02 1.00633880e-02 6.25790829e+01] [-1.31380612e-02 9.99913258e-01 -9.31838453e-04 -5.01367443e+00] [-1.00747657e-02 7.99497324e-04 9.99948929e-01 -2.73960028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.941346184 meters 0.08961651267738695 Centerline is valid? [True, True] Translation: X:62.61, Y:-5.00, Z:-2.74 [[ 9.99875055e-01 1.30412698e-02 8.93303100e-03 6.26100372e+01] [-1.30344025e-02 9.99914707e-01 -8.26548538e-04 -5.00091772e+00] [-8.94304831e-03 7.10008544e-04 9.99959758e-01 -2.73859943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.971346184 meters 0.09340964887413854 Centerline is valid? [True, True] Translation: X:62.64, Y:-5.01, Z:-2.74 [[ 9.99887547e-01 1.27448989e-02 7.90322462e-03 6.26374936e+01] [-1.27395133e-02 9.99918582e-01 -7.31421709e-04 -5.01062369e+00] [-7.91190304e-03 6.30656223e-04 9.99968502e-01 -2.74136123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001346184 meters 0.08905077819579979 Centerline is valid? [True, True] Translation: X:62.67, Y:-5.00, Z:-2.74 [[ 9.99925080e-01 1.05952954e-02 6.12983238e-03 6.26687718e+01] [-1.05920198e-02 9.99943742e-01 -5.66578556e-04 -5.00342477e+00] [-6.13549059e-03 5.01608802e-04 9.99981052e-01 -2.73789309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.031346184 meters 0.09230182312733808 Centerline is valid? [True, True] Translation: X:62.70, Y:-5.01, Z:-2.74 [[ 9.99928438e-01 9.28855739e-03 7.53933400e-03 6.26969037e+01] [-9.28356210e-03 9.99956664e-01 -6.97290030e-04 -5.01101000e+00] [-7.54548409e-03 6.27248255e-04 9.99971336e-01 -2.73823564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061346184 meters 0.09088568284380802 Centerline is valid? [True, True] Translation: X:62.73, Y:-5.01, Z:-2.74 [[ 9.99944784e-01 8.23395352e-03 6.52928775e-03 6.27266625e+01] [-8.23018804e-03 9.99965949e-01 -6.03365241e-04 -5.01215919e+00] [-6.53403351e-03 5.49594659e-04 9.99978502e-01 -2.73943944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.091346184 meters 0.09541360833053052 Centerline is valid? [True, True] Translation: X:62.75, Y:-5.03, Z:-2.74 [[ 9.99942661e-01 6.96592139e-03 8.13327947e-03 6.27539771e+01] [-6.96003849e-03 9.99975496e-01 -7.51393547e-04 -5.02617415e+00] [-8.13831432e-03 6.94742525e-04 9.99966642e-01 -2.74290427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12134618399999 meters 0.09116388784296471 Centerline is valid? [True, True] Translation: X:62.79, Y:-5.02, Z:-2.74 [[ 9.99920806e-01 6.77830570e-03 1.06035884e-02 6.27854649e+01] [-6.76831515e-03 9.99976617e-01 -9.77787490e-04 -5.02205455e+00] [-1.06099682e-02 9.05941627e-04 9.99943302e-01 -2.74044060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15134618399999 meters 0.09182472447328645 Centerline is valid? [True, True] Translation: X:62.82, Y:-5.02, Z:-2.74 [[ 9.99903743e-01 7.66557270e-03 1.15647256e-02 6.28167250e+01] [-7.65378796e-03 9.99970144e-01 -1.06294000e-03 -5.02469620e+00] [-1.15725284e-02 9.74323726e-04 9.99932561e-01 -2.73959924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18134618399999 meters 0.09062299364152218 Centerline is valid? [True, True] Translation: X:62.85, Y:-5.02, Z:-2.74 [[ 9.99894597e-01 8.69135927e-03 1.16299476e-02 6.28489517e+01] [-8.67944815e-03 9.99961756e-01 -1.07425770e-03 -5.02206664e+00] [-1.16388396e-02 9.73202940e-04 9.99931793e-01 -2.73795975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21134618399999 meters 0.09165521709170792 Centerline is valid? [True, True] Translation: X:62.88, Y:-5.03, Z:-2.74 [[ 9.99900259e-01 8.81994135e-03 1.10309207e-02 6.28794754e+01] [-8.80922174e-03 9.99960678e-01 -1.01999083e-03 -5.02674837e+00] [-1.10394832e-02 9.22715269e-04 9.99938637e-01 -2.73917226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.241346184 meters 0.0918770586137261 Centerline is valid? [True, True] Translation: X:62.91, Y:-5.03, Z:-2.74 [[ 9.99900240e-01 8.36708391e-03 1.13798797e-02 6.29103554e+01] [-8.35564684e-03 9.99964537e-01 -1.05219993e-03 -5.03157653e+00] [-1.13882799e-02 9.57008710e-04 9.99934693e-01 -2.74063336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.271346184 meters 0.09299969324361734 Centerline is valid? [True, True] Translation: X:62.94, Y:-5.04, Z:-2.74 [[ 9.99920422e-01 5.47138169e-03 1.13672351e-02 6.29402248e+01] [-5.45977510e-03 9.99984542e-01 -1.05183762e-03 -5.03756165e+00] [-1.13728144e-02 9.89691370e-04 9.99934838e-01 -2.74058167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.301346184 meters 0.09741238209390979 Centerline is valid? [True, True] Translation: X:62.97, Y:-5.05, Z:-2.74 [[ 9.99931799e-01 4.19000598e-03 1.09013875e-02 6.29695380e+01] [-4.17925649e-03 9.99990758e-01 -1.00866075e-03 -5.04737004e+00] [-1.09055131e-02 9.63032266e-04 9.99940069e-01 -2.74220412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.331346184 meters 0.09832198317440537 Centerline is valid? [True, True] Translation: X:63.00, Y:-5.05, Z:-2.75 [[ 9.99960042e-01 3.16354248e-03 8.36105757e-03 6.30003693e+01] [-3.15718785e-03 9.99994717e-01 -7.73116851e-04 -5.05164031e+00] [-8.36345919e-03 7.46688529e-04 9.99964747e-01 -2.74543275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.361346184 meters 0.09892878482454243 Centerline is valid? [True, True] Translation: X:63.03, Y:-5.06, Z:-2.75 [[ 9.99973372e-01 3.32242982e-03 6.49746559e-03 6.30325707e+01] [-3.31862033e-03 9.99994315e-01 -5.96997181e-04 -5.05641458e+00] [-6.49941214e-03 5.75418662e-04 9.99978713e-01 -2.74957054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.391346184 meters 0.09987503386856246 Centerline is valid? [True, True] Translation: X:63.06, Y:-5.06, Z:-2.76 [[ 9.99990069e-01 3.27125808e-03 3.02654317e-03 6.30638854e+01] [-3.27043800e-03 9.99994614e-01 -2.75871793e-04 -5.06257972e+00] [-3.02742932e-03 2.65970931e-04 9.99995382e-01 -2.75544495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421346184 meters 0.10216925653633768 Centerline is valid? [True, False] Translation: X:63.06, Y:-5.06, Z:-2.75 [[ 9.99990292e-01 3.12629772e-03 3.10529125e-03 6.30634021e+01] [-3.12504967e-03 9.99995034e-01 -4.06679650e-04 -5.06283549e+00] [-3.10654724e-03 3.96971512e-04 9.99995096e-01 -2.75497775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.451346184 meters 0.10195380047065433 Centerline is valid? [False, False] Translation: X:63.06, Y:-5.06, Z:-2.75 [[ 9.99989910e-01 3.05420393e-03 3.29423317e-03 6.30624706e+01] [-3.05315776e-03 9.99995287e-01 -3.22559370e-04 -5.06438212e+00] [-3.29520281e-03 3.12498302e-04 9.99994522e-01 -2.75414125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.481346184 meters 0.10198436912680317 Centerline is valid? [False, False] Translation: X:63.06, Y:-5.07, Z:-2.75 [[ 9.99989706e-01 3.14922279e-03 3.26658627e-03 6.30623162e+01] [-3.14874189e-03 9.99995031e-01 -1.52350052e-04 -5.06550792e+00] [-3.26704982e-03 1.42062847e-04 9.99994653e-01 -2.75377980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51134618399999 meters 0.10130943282314608 Centerline is valid? [False, False] Translation: X:63.06, Y:-5.07, Z:-2.75 [[ 9.99989648e-01 3.31343639e-03 3.11835761e-03 6.30625420e+01] [-3.31352034e-03 9.99994510e-01 2.17554719e-05 -5.06625237e+00] [-3.11826840e-03 -3.20879881e-05 9.99995138e-01 -2.75358442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54134618399999 meters 0.09553170576413944 Centerline is valid? [False, True] Translation: X:63.06, Y:-5.07, Z:-2.75 [[ 9.99990229e-01 3.35346939e-03 2.88041662e-03 6.30627626e+01] [-3.35323268e-03 9.99994374e-01 -8.70057029e-05 -5.06628545e+00] [-2.88069219e-03 7.73461456e-05 9.99995848e-01 -2.75305454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57134618399999 meters 0.09456408352817264 Centerline is valid? [True, True] Translation: X:63.09, Y:-5.07, Z:-2.75 [[ 9.99989023e-01 4.49134607e-03 1.33466314e-03 6.30931637e+01] [-4.49119009e-03 9.99989907e-01 -1.19837363e-04 -5.06647340e+00] [-1.33518790e-03 1.13841821e-04 9.99999102e-01 -2.75267058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.601346184 meters 0.0899089099056727 Centerline is valid? [True, True] Translation: X:63.12, Y:-5.06, Z:-2.75 [[ 9.99969183e-01 7.73893511e-03 -1.32019242e-03 6.31236320e+01] [-7.73878577e-03 9.99970048e-01 1.18187482e-04 -5.05925271e+00] [ 1.32106753e-03 -1.07967154e-04 9.99999122e-01 -2.75304508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.631346184 meters 0.10022615635642206 Centerline is valid? [True, False] Translation: X:63.12, Y:-5.06, Z:-2.75 [[ 9.99966807e-01 8.00281118e-03 -1.52945305e-03 6.31242887e+01] [-8.00222476e-03 9.99967906e-01 3.89157581e-04 -5.05994924e+00] [ 1.53251832e-03 -3.76905637e-04 9.99998755e-01 -2.75334278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.661346184 meters 0.09238991649685069 Centerline is valid? [False, True] Translation: X:63.13, Y:-5.06, Z:-2.75 [[ 9.99988879e-01 4.17242679e-03 -2.19844080e-03 6.31258599e+01] [-4.18061924e-03 9.99984285e-01 -3.73515528e-03 -5.06011755e+00] [ 2.18282159e-03 3.74430459e-03 9.99990608e-01 -2.75357912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.691346184 meters 0.09396831365187966 Centerline is valid? [True, True] Translation: X:63.15, Y:-5.07, Z:-2.76 [[ 9.99986742e-01 5.01966423e-03 -1.14809913e-03 6.31524087e+01] [-5.01955865e-03 9.99987397e-01 9.48259658e-05 -5.07092900e+00] [ 1.14856066e-03 -8.90617576e-05 9.99999336e-01 -2.75771896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.721346184 meters 0.08570540071985573 Centerline is valid? [True, True] Translation: X:63.18, Y:-5.06, Z:-2.75 [[ 9.99980501e-01 6.23165324e-03 -4.05181949e-04 6.31825517e+01] [-6.23164053e-03 9.99980583e-01 3.26189953e-05 -5.05684196e+00] [ 4.05377351e-04 -3.00934110e-05 9.99999917e-01 -2.75304355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.751346184 meters 0.08556175832608741 Centerline is valid? [True, True] Translation: X:63.21, Y:-5.06, Z:-2.75 [[ 9.99966728e-01 8.11247510e-03 8.55354528e-04 6.32118851e+01] [-8.11241606e-03 9.99967091e-01 -7.24713848e-05 -5.05548304e+00] [-8.55914302e-04 6.55299817e-05 9.99999632e-01 -2.75180247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781346184 meters 0.08460170115163138 Centerline is valid? [True, True] Translation: X:63.24, Y:-5.05, Z:-2.75 [[ 9.99941642e-01 1.06897481e-02 1.56263746e-03 6.32417299e+01] [-1.06895552e-02 9.99942856e-01 -1.31759174e-04 -5.05448537e+00] [-1.56395664e-03 1.15047585e-04 9.99998770e-01 -2.75156024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.811346184 meters 0.08799016569331772 Centerline is valid? [True, True] Translation: X:63.27, Y:-5.07, Z:-2.76 [[ 9.99931680e-01 1.14739347e-02 2.23273936e-03 6.32690488e+01] [-1.14735422e-02 9.99934159e-01 -1.88488285e-04 -5.06618628e+00] [-2.23475506e-03 1.62857978e-04 9.99997490e-01 -2.75537443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.841346184 meters 0.08563267808510899 Centerline is valid? [True, True] Translation: X:63.30, Y:-5.07, Z:-2.76 [[ 9.99939282e-01 1.08519078e-02 1.91515458e-03 6.32979729e+01] [-1.08516179e-02 9.99941106e-01 -1.61738414e-04 -5.06816558e+00] [-1.91679696e-03 1.40946068e-04 9.99998153e-01 -2.75707492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87134618399999 meters 0.08563267808510899 Centerline is valid? [True, True] Translation: X:63.33, Y:-5.07, Z:-2.76 [[ 9.99940030e-01 1.07827475e-02 1.91516597e-03 6.33262464e+01] [-1.07824576e-02 9.99941855e-01 -1.61602908e-04 -5.07044516e+00] [-1.91679713e-03 1.40943021e-04 9.99998153e-01 -2.75763488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90134618399999 meters 0.0876807473568045 Centerline is valid? [True, True] Translation: X:63.35, Y:-5.08, Z:-2.76 [[ 9.99953254e-01 9.65559686e-03 5.10043103e-04 6.33544329e+01] [-9.65557569e-03 9.99953383e-01 -4.39499083e-05 -5.07960896e+00] [-5.10443689e-04 3.90230940e-05 9.99999869e-01 -2.76074167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93134618399999 meters 0.08462746935736044 Centerline is valid? [True, True] Translation: X:63.39, Y:-5.08, Z:-2.76 [[ 9.99969383e-01 7.72689963e-03 -1.23631066e-03 6.33852146e+01] [-7.72677772e-03 9.99970143e-01 1.03355193e-04 -5.07687168e+00] [ 1.23707236e-03 -9.37993308e-05 9.99999230e-01 -2.75966433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96134618399999 meters 0.09449999311414099 Centerline is valid? [True, True] Translation: X:63.41, Y:-5.09, Z:-2.76 [[ 9.99992081e-01 3.10459940e-03 -2.48995900e-03 6.34129334e+01] [-3.10408982e-03 9.99995161e-01 2.08495043e-04 -5.09260939e+00] [ 2.49059425e-03 -2.00764335e-04 9.99996878e-01 -2.75902109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.991346184 meters 0.08871294777326665 Centerline is valid? [True, True] Translation: X:63.44, Y:-5.09, Z:-2.76 [[ 9.99997569e-01 2.07273803e-03 -7.52390116e-04 6.34427332e+01] [-2.07269236e-03 9.99997850e-01 6.14743507e-05 -5.08562768e+00] [ 7.52515919e-04 -5.99147280e-05 9.99999715e-01 -2.75581312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.021346184 meters 0.09793290506402168 Centerline is valid? [True, True] Translation: X:63.47, Y:-5.11, Z:-2.76 [[ 9.99998391e-01 1.78307489e-03 -1.97657033e-04 6.34692367e+01] [-1.78307187e-03 9.99998410e-01 1.54796874e-05 -5.10681138e+00] [ 1.97684321e-04 -1.51272258e-05 9.99999980e-01 -2.76029475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.051346184 meters 0.08804359965428372 Centerline is valid? [True, True] Translation: X:63.50, Y:-5.10, Z:-2.76 [[ 9.99996971e-01 2.42883917e-03 3.98492647e-04 6.34999660e+01] [-2.42882597e-03 9.99997050e-01 -3.36142953e-05 -5.10056661e+00] [-3.98573115e-04 3.26463242e-05 9.99999920e-01 -2.76122483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.081346184 meters 0.08985214961981032 Centerline is valid? [True, True] Translation: X:63.53, Y:-5.11, Z:-2.76 [[ 9.99996556e-01 2.52006160e-03 -7.33599601e-04 6.35285243e+01] [-2.52001815e-03 9.99996823e-01 6.01526165e-05 -5.10609473e+00] [ 7.33748859e-04 -5.83037250e-05 9.99999729e-01 -2.76345089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.111346184 meters 0.09144603393121374 Centerline is valid? [True, True] Translation: X:63.56, Y:-5.11, Z:-2.76 [[ 9.99994580e-01 2.54358897e-03 -2.09062082e-03 6.35569953e+01] [-2.54323225e-03 9.99996751e-01 1.73270598e-04 -5.10944919e+00] [ 2.09105475e-03 -1.67952724e-04 9.99997800e-01 -2.76420763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141346184 meters 0.09191878616629681 Centerline is valid? [True, True] Translation: X:63.59, Y:-5.11, Z:-2.76 [[ 9.99990200e-01 4.33062657e-03 -9.19494823e-04 6.35866221e+01] [-4.33055854e-03 9.99990620e-01 7.59620799e-05 -5.10811611e+00] [ 9.19815162e-04 -7.19794093e-05 9.99999574e-01 -2.76072811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.171346184 meters 0.08947961168042542 Centerline is valid? [True, True] Translation: X:63.62, Y:-5.11, Z:-2.76 [[ 9.99982277e-01 5.87649260e-03 -9.54927104e-04 6.36167649e+01] [-5.87641961e-03 9.99982731e-01 7.92270443e-05 -5.10811052e+00] [ 9.55376190e-04 -7.36140878e-05 9.99999541e-01 -2.76039362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201346184 meters 0.08744566706442372 Centerline is valid? [True, True] Translation: X:63.65, Y:-5.11, Z:-2.76 [[ 9.99979686e-01 6.35554189e-03 -4.85006513e-04 6.36451644e+01] [-6.35552372e-03 9.99979803e-01 3.89996538e-05 -5.11071051e+00] [ 4.85244581e-04 -3.59163911e-05 9.99999882e-01 -2.76290269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.231346184 meters 0.08805860633312974 Centerline is valid? [True, True] Translation: X:63.67, Y:-5.12, Z:-2.77 [[ 9.99977780e-01 6.59873075e-03 -9.46529925e-04 6.36719261e+01] [-6.59866080e-03 9.99978226e-01 7.70070821e-05 -5.11758889e+00] [ 9.47017464e-04 -7.07595411e-05 9.99999549e-01 -2.76638410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26134618399999 meters 0.08867879051388287 Centerline is valid? [True, True] Translation: X:63.70, Y:-5.12, Z:-2.76 [[ 9.99978282e-01 6.56732431e-03 -5.52788750e-04 6.36998692e+01] [-6.56730085e-03 9.99978434e-01 4.42309237e-05 -5.12031753e+00] [ 5.53067308e-04 -4.05996331e-05 9.99999846e-01 -2.76493315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29134618399999 meters 0.08648754978821079 Centerline is valid? [True, True] Translation: X:63.73, Y:-5.12, Z:-2.76 [[ 9.99976790e-01 6.80651435e-03 -3.00166320e-04 6.37290717e+01] [-6.80650759e-03 9.99976835e-01 2.35310320e-05 -5.11608225e+00] [ 3.00319531e-04 -2.14874015e-05 9.99999955e-01 -2.76186076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32134618399999 meters 0.08549382243348 Centerline is valid? [True, True] Translation: X:63.76, Y:-5.11, Z:-2.76 [[ 9.99974379e-01 7.05474939e-03 -1.21351527e-03 6.37584362e+01] [-7.05463412e-03 9.99975111e-01 9.92402484e-05 -5.11470712e+00] [ 1.21418518e-03 -9.06767995e-05 9.99999259e-01 -2.76111237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.351346184 meters 0.08823834847042746 Centerline is valid? [True, True] Translation: X:63.79, Y:-5.12, Z:-2.77 [[ 9.99959126e-01 8.50977723e-03 -3.05448794e-03 6.37852042e+01] [-8.50904907e-03 9.99963766e-01 2.51304829e-04 -5.12464533e+00] [ 3.05651581e-03 -2.25303770e-04 9.99995303e-01 -2.76749326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.381346184 meters 0.08796244781184032 Centerline is valid? [True, True] Translation: X:63.81, Y:-5.13, Z:-2.77 [[ 9.99958288e-01 8.86861676e-03 -2.18417239e-03 6.38136872e+01] [-8.86824583e-03 9.99960660e-01 1.79455021e-04 -5.12802182e+00] [ 2.18567798e-03 -1.60077758e-04 9.99997599e-01 -2.76882845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.411346184 meters 0.089964708977408 Centerline is valid? [True, True] Translation: X:63.84, Y:-5.13, Z:-2.77 [[ 9.99958689e-01 9.08808646e-03 -1.67256960e-04 6.38415547e+01] [-9.08808450e-03 9.99958702e-01 1.25026780e-05 -5.13423529e+00] [ 1.67363678e-04 -1.09821161e-05 9.99999986e-01 -2.76923669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.441346184 meters 0.08998081289747327 Centerline is valid? [True, True] Translation: X:63.87, Y:-5.14, Z:-2.77 [[ 9.99964032e-01 8.44830624e-03 7.48323151e-04 6.38706961e+01] [-8.44826133e-03 9.99964311e-01 -6.31548209e-05 -5.13510779e+00] [-7.48829995e-04 5.68305198e-05 9.99999718e-01 -2.76738198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.471346184 meters 0.09054007731541346 Centerline is valid? [True, True] Translation: X:63.90, Y:-5.14, Z:-2.77 [[ 9.99967319e-01 7.37150423e-03 3.31984542e-03 6.38992114e+01] [-7.37063016e-03 9.99972799e-01 -2.75443693e-04 -5.13663163e+00] [-3.32178555e-03 2.50965339e-04 9.99994451e-01 -2.76552436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501346184 meters 0.09046430238949306 Centerline is valid? [True, True] Translation: X:63.93, Y:-5.14, Z:-2.77 [[ 9.99970458e-01 7.03659530e-03 3.09333477e-03 6.39282291e+01] [-7.03583521e-03 9.99975215e-01 -2.56534513e-04 -5.13968289e+00] [-3.09506323e-03 2.34762741e-04 9.99995183e-01 -2.76652916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.531346184 meters 0.08702351561538264 Centerline is valid? [True, True] Translation: X:63.96, Y:-5.14, Z:-2.77 [[ 9.99976158e-01 6.15812302e-03 3.12423136e-03 6.39578521e+01] [-6.15734573e-03 9.99981010e-01 -2.58352421e-04 -5.13757867e+00] [-3.12576300e-03 2.39109289e-04 9.99995086e-01 -2.76774300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561346184 meters 0.0876547431583138 Centerline is valid? [True, True] Translation: X:63.99, Y:-5.14, Z:-2.77 [[ 9.99997035e-01 2.43146582e-03 1.31342577e-04 6.39878214e+01] [-2.43146442e-03 9.99997044e-01 -1.08166424e-05 -5.14288942e+00] [-1.31368489e-04 1.04972556e-05 9.99999991e-01 -2.76989793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.591346184 meters 0.08994970401292814 Centerline is valid? [True, True] Translation: X:64.02, Y:-5.15, Z:-2.77 [[ 9.99999580e-01 3.28845672e-04 -8.55105572e-04 6.40160558e+01] [-3.28786105e-04 9.99999944e-01 6.98003675e-05 -5.14922180e+00] [ 8.55128477e-04 -6.95191914e-05 9.99999632e-01 -2.77188597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62134618399999 meters 0.09384119876928587 Centerline is valid? [True, True] Translation: X:64.04, Y:-5.16, Z:-2.77 [[ 9.99994170e-01 -2.22861191e-03 -2.58705435e-03 6.40443993e+01] [ 2.22917001e-03 9.99997493e-01 2.12866995e-04 -5.15790366e+00] [ 2.58657347e-03 -2.18632738e-04 9.99996631e-01 -2.77452573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65134618399999 meters 0.09901709916288248 Centerline is valid? [True, True] Translation: X:64.07, Y:-5.17, Z:-2.78 [[ 9.99985027e-01 -4.46090781e-03 -3.16954008e-03 6.40731046e+01] [ 4.46176228e-03 9.99990012e-01 2.62570504e-04 -5.16931325e+00] [ 3.16833712e-03 -2.76708307e-04 9.99994943e-01 -2.77670273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68134618399999 meters 0.10152003286442393 Centerline is valid? [True, False] Translation: X:64.07, Y:-5.17, Z:-2.78 [[ 9.99987481e-01 -4.11507127e-03 -2.84664208e-03 6.40730464e+01] [ 4.11848890e-03 9.99990804e-01 1.19576426e-03 -5.17178940e+00] [ 2.84169524e-03 -1.20747315e-03 9.99995233e-01 -2.77767449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71134618399999 meters 0.09602398022221018 Centerline is valid? [False, True] Translation: X:64.07, Y:-5.17, Z:-2.78 [[ 9.99989194e-01 -3.72097234e-03 -2.78684787e-03 6.40734106e+01] [ 3.72621981e-03 9.99991290e-01 1.88012148e-03 -5.17343049e+00] [ 2.77982772e-03 -1.89048557e-03 9.99994349e-01 -2.77843518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.741346184 meters 0.09227440162960929 Centerline is valid? [True, True] Translation: X:64.10, Y:-5.17, Z:-2.78 [[ 9.99990793e-01 -4.04384143e-03 -1.43545415e-03 6.41045917e+01] [ 4.04402542e-03 9.99991815e-01 1.25299920e-04 -5.17098167e+00] [ 1.43493571e-03 -1.31103779e-04 9.99998962e-01 -2.77722338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.771346184 meters 0.10495205080895262 Centerline is valid? [True, False] Translation: X:64.11, Y:-5.17, Z:-2.78 [[ 9.99991842e-01 -3.75902148e-03 -1.47873198e-03 6.41051385e+01] [ 3.75986030e-03 9.99992772e-01 5.64887225e-04 -5.17179510e+00] [ 1.47659786e-03 -5.70442442e-04 9.99998747e-01 -2.77791056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.801346184 meters 0.10475683491287564 Centerline is valid? [False, False] Translation: X:64.11, Y:-5.17, Z:-2.78 [[ 9.99991615e-01 -3.67035957e-03 -1.81616506e-03 6.41061474e+01] [ 3.67117177e-03 9.99993163e-01 4.44069908e-04 -5.17032139e+00] [ 1.81452274e-03 -4.50733639e-04 9.99998252e-01 -2.77828880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.831346184 meters 0.09429699778953625 Centerline is valid? [False, True] Translation: X:64.11, Y:-5.17, Z:-2.78 [[ 9.99991198e-01 -3.59390292e-03 -2.16514557e-03 6.41071281e+01] [ 3.59445736e-03 9.99993508e-01 2.52239954e-04 -5.16872824e+00] [ 2.16422499e-03 -2.60020257e-04 9.99997624e-01 -2.77860399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.861346184 meters 0.10466436738639356 Centerline is valid? [True, False] Translation: X:64.11, Y:-5.17, Z:-2.78 [[ 9.99990725e-01 -3.58381980e-03 -2.38871234e-03 6.41075725e+01] [ 3.58386842e-03 9.99993578e-01 1.60719516e-05 -5.16785411e+00] [ 2.38863940e-03 -2.46326333e-05 9.99997147e-01 -2.77851990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.891346184 meters 0.09122914266765342 Centerline is valid? [False, True] Translation: X:64.11, Y:-5.17, Z:-2.78 [[ 9.99991697e-01 -3.19696422e-03 -2.52676232e-03 6.41083733e+01] [ 3.19824757e-03 9.99994759e-01 5.04026796e-04 -5.16854239e+00] [ 2.52513772e-03 -5.12103823e-04 9.99996681e-01 -2.77927382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921346184 meters 0.10581002720843101 Centerline is valid? [True, False] Translation: X:64.11, Y:-5.17, Z:-2.78 [[ 9.99991672e-01 -3.12130376e-03 -2.62931421e-03 6.41087333e+01] [ 3.12265498e-03 9.99994994e-01 5.09958849e-04 -5.16811988e+00] [ 2.62770931e-03 -5.18165043e-04 9.99996413e-01 -2.77947068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.951346184 meters 0.09502554492911426 Centerline is valid? [False, True] Translation: X:64.11, Y:-5.16, Z:-2.78 [[ 9.99989706e-01 -3.33234145e-03 -3.07958152e-03 6.41094539e+01] [ 3.33161349e-03 9.99994421e-01 -2.41481454e-04 -5.16453810e+00] [ 3.08036903e-03 2.31218993e-04 9.99995229e-01 -2.77908008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.981346184 meters 0.09120891236319753 Centerline is valid? [True, True] Translation: X:64.14, Y:-5.16, Z:-2.78 [[ 9.99989899e-01 -2.96180044e-03 -3.38078234e-03 6.41408510e+01] [ 2.96273674e-03 9.99995574e-01 2.71975011e-04 -5.15944974e+00] [ 3.37996184e-03 -2.81988632e-04 9.99994248e-01 -2.77908220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01134618399999 meters 0.09335572319095214 Centerline is valid? [True, True] Translation: X:64.17, Y:-5.17, Z:-2.78 [[ 9.99991307e-01 -2.40636950e-03 -3.40511116e-03 6.41698782e+01] [ 2.40731521e-03 9.99997065e-01 2.73660199e-04 -5.16616345e+00] [ 3.40444264e-03 -2.81854996e-04 9.99994165e-01 -2.78187439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04134618399999 meters 0.09362024135374358 Centerline is valid? [True, True] Translation: X:64.20, Y:-5.17, Z:-2.79 [[ 9.99977849e-01 -8.79728071e-04 -6.59749256e-03 6.41988244e+01] [ 8.83245948e-04 9.99999469e-01 5.30319517e-04 -5.16995258e+00] [ 6.59702253e-03 -5.36134978e-04 9.99978096e-01 -2.78890951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07134618399999 meters 0.09418913228306834 Centerline is valid? [True, True] Translation: X:64.23, Y:-5.17, Z:-2.79 [[ 9.99960703e-01 -5.28193375e-04 -8.84949170e-03 6.42266164e+01] [ 5.34495984e-04 9.99999605e-01 7.09850187e-04 -5.17179492e+00] [ 8.84911326e-03 -7.14552310e-04 9.99960591e-01 -2.79148785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.101346184 meters 0.09303047458069522 Centerline is valid? [True, True] Translation: X:64.26, Y:-5.17, Z:-2.79 [[ 9.99946317e-01 -8.18040959e-04 -1.03293035e-02 6.42556677e+01] [ 8.26639694e-04 9.99999315e-01 8.28218266e-04 -5.16981437e+00] [ 1.03286189e-02 -8.36712417e-04 9.99946308e-01 -2.79211390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.131346184 meters 0.09169204770076916 Centerline is valid? [True, True] Translation: X:64.28, Y:-5.17, Z:-2.79 [[ 9.99945450e-01 -1.61606886e-03 -1.03191567e-02 6.42842280e+01] [ 1.62468134e-03 9.99998339e-01 8.26282448e-04 -5.16765906e+00] [ 1.03178042e-02 -8.43002716e-04 9.99946415e-01 -2.79057301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.161346184 meters 0.0955150432494494 Centerline is valid? [True, True] Translation: X:64.31, Y:-5.18, Z:-2.79 [[ 9.99959859e-01 -2.64612768e-03 -8.56024371e-03 6.43108297e+01] [ 2.65208093e-03 9.99996249e-01 6.84176610e-04 -5.17712300e+00] [ 8.55840118e-03 -7.06851606e-04 9.99963126e-01 -2.79188008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.191346184 meters 0.09706826466962613 Centerline is valid? [True, True] Translation: X:64.34, Y:-5.18, Z:-2.79 [[ 9.99976073e-01 -3.08394833e-03 -6.19220260e-03 6.43386062e+01] [ 3.08706796e-03 9.99995113e-01 4.94304943e-04 -5.18374381e+00] [ 6.19064792e-03 -5.13408865e-04 9.99980706e-01 -2.79181630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.221346184 meters 0.09624826493199813 Centerline is valid? [True, True] Translation: X:64.37, Y:-5.19, Z:-2.79 [[ 9.99979226e-01 -3.82751085e-03 -5.18632045e-03 6.43674512e+01] [ 3.82969247e-03 9.99992582e-01 4.10783380e-04 -5.18512174e+00] [ 5.18470970e-03 -4.30636859e-04 9.99986467e-01 -2.79025836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.251346184 meters 0.0960156521439213 Centerline is valid? [True, True] Translation: X:64.40, Y:-5.19, Z:-2.79 [[ 9.99975994e-01 -4.71202368e-03 -5.08013768e-03 6.43976769e+01] [ 4.71414098e-03 9.99988806e-01 4.04884865e-04 -5.18507796e+00] [ 5.07817298e-03 -4.28823630e-04 9.99987014e-01 -2.78888005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281346184 meters 0.09875798029960518 Centerline is valid? [True, True] Translation: X:64.43, Y:-5.19, Z:-2.79 [[ 9.99969787e-01 -4.79446416e-03 -6.11865962e-03 6.44265682e+01] [ 4.79753680e-03 9.99988373e-01 4.87596531e-04 -5.19097022e+00] [ 6.11625072e-03 -5.16936294e-04 9.99981162e-01 -2.79072803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.311346184 meters 0.09802375996134961 Centerline is valid? [True, True] Translation: X:64.46, Y:-5.19, Z:-2.79 [[ 9.99959418e-01 -5.47462194e-03 -7.15478405e-03 6.44566659e+01] [ 5.47884072e-03 9.99984828e-01 5.70177481e-04 -5.19186502e+00] [ 7.15155400e-03 -6.09354264e-04 9.99974242e-01 -2.79184325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.341346184 meters 0.09568609421921286 Centerline is valid? [True, True] Translation: X:64.49, Y:-5.19, Z:-2.79 [[ 9.99927205e-01 -8.53748726e-03 -8.52622439e-03 6.44871802e+01] [ 8.54358951e-03 9.99963272e-01 6.79536981e-04 -5.18981759e+00] [ 8.52010970e-03 -7.52332075e-04 9.99963420e-01 -2.79295100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37134618399999 meters 0.10557838495533398 Centerline is valid? [True, False] Translation: X:64.49, Y:-5.19, Z:-2.79 [[ 9.99930506e-01 -8.31600312e-03 -8.35626670e-03 6.44872928e+01] [ 8.32616915e-03 9.99964638e-01 1.18252345e-03 -5.19095076e+00] [ 8.34613733e-03 -1.25201696e-03 9.99964387e-01 -2.79370123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40134618399999 meters 0.09955940735848873 Centerline is valid? [False, True] Translation: X:64.49, Y:-5.19, Z:-2.80 [[ 9.99936062e-01 -7.81827096e-03 -8.16980732e-03 6.44877628e+01] [ 7.83611153e-03 9.99966977e-01 2.15399629e-03 -5.19296636e+00] [ 8.15269701e-03 -2.21787809e-03 9.99964307e-01 -2.79508276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43134618399999 meters 0.098361412138239 Centerline is valid? [True, True] Translation: X:64.52, Y:-5.19, Z:-2.79 [[ 9.99924437e-01 -9.19761743e-03 -8.15623354e-03 6.45175316e+01] [ 9.20347307e-03 9.99957415e-01 6.80690569e-04 -5.19459948e+00] [ 8.14962548e-03 -7.55704810e-04 9.99966506e-01 -2.79487157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46134618399999 meters 0.09870022622138162 Centerline is valid? [True, True] Translation: X:64.55, Y:-5.20, Z:-2.79 [[ 9.99908728e-01 -1.03728197e-02 -8.65675977e-03 6.45481100e+01] [ 1.03794614e-02 9.99945871e-01 7.22658121e-04 -5.19793925e+00] [ 8.64879519e-03 -8.12444667e-04 9.99962268e-01 -2.79484607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.491346184 meters 0.10307300222047526 Centerline is valid? [True, False] Translation: X:64.55, Y:-5.20, Z:-2.79 [[ 9.99946136e-01 -6.37029587e-03 -8.19420138e-03 6.45469440e+01] [ 6.41108676e-03 9.99967141e-01 4.96142147e-03 -5.19832005e+00] [ 8.16232640e-03 -5.01368796e-03 9.99954119e-01 -2.79475544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.521346184 meters 0.1025473566928593 Centerline is valid? [False, False] Translation: X:64.55, Y:-5.20, Z:-2.79 [[ 9.99941844e-01 -6.51641042e-03 -8.59334956e-03 6.45475393e+01] [ 6.55401528e-03 9.99969038e-01 4.35516622e-03 -5.19635562e+00] [ 8.56470344e-03 -4.41123388e-03 9.99953592e-01 -2.79426564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.551346184 meters 0.09923047855655885 Centerline is valid? [False, True] Translation: X:64.55, Y:-5.20, Z:-2.79 [[ 9.99963761e-01 -2.36689466e-03 -8.17766831e-03 6.45466576e+01] [ 2.43812386e-03 9.99959084e-01 8.71124723e-03 -5.19691881e+00] [ 8.15671511e-03 -8.73086971e-03 9.99928617e-01 -2.79440066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.581346184 meters 0.09353103994561618 Centerline is valid? [True, True] Translation: X:64.58, Y:-5.19, Z:-2.79 [[ 9.99962032e-01 -1.87527511e-04 -8.71202003e-03 6.45778091e+01] [ 1.94261586e-04 9.99999683e-01 7.72123852e-04 -5.18507990e+00] [ 8.71187248e-03 -7.73786947e-04 9.99961752e-01 -2.78884028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.611346184 meters 0.09429710103461823 Centerline is valid? [True, True] Translation: X:64.61, Y:-5.19, Z:-2.79 [[ 9.99968671e-01 1.05016336e-04 -7.91487123e-03 6.46052986e+01] [-9.94783186e-05 9.99999750e-01 7.00088178e-04 -5.18953728e+00] [ 7.91494277e-03 -6.99278887e-04 9.99968432e-01 -2.78979551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641346184 meters 0.09348862591329334 Centerline is valid? [True, True] Translation: X:64.63, Y:-5.19, Z:-2.79 [[ 9.99978599e-01 2.06247713e-04 -6.53905772e-03 6.46342077e+01] [-2.02472688e-04 9.99999812e-01 5.77960862e-04 -5.19181635e+00] [ 6.53917570e-03 -5.76624513e-04 9.99978453e-01 -2.78954106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.671346184 meters 0.09254783439878865 Centerline is valid? [True, True] Translation: X:64.66, Y:-5.19, Z:-2.79 [[ 9.99981219e-01 1.18386738e-03 -6.01327517e-03 6.46632614e+01] [-1.18069559e-03 9.99999162e-01 5.30987613e-04 -5.19245110e+00] [ 6.01389875e-03 -5.23877793e-04 9.99981779e-01 -2.78917348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701346184 meters 0.1005744392264775 Centerline is valid? [True, False] Translation: X:64.66, Y:-5.19, Z:-2.79 [[ 9.99979565e-01 1.13333958e-03 -6.29171701e-03 6.46640719e+01] [-1.13228794e-03 9.99999344e-01 1.70706663e-04 -5.19046847e+00] [ 6.29190636e-03 -1.63579139e-04 9.99980192e-01 -2.78942944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.731346184 meters 0.0928318869004229 Centerline is valid? [False, True] Translation: X:64.66, Y:-5.19, Z:-2.79 [[ 9.99978634e-01 6.53814390e-04 -6.50410654e-03 6.46639664e+01] [-6.59343639e-04 9.99999423e-01 -8.48008817e-04 -5.18778977e+00] [ 6.50354835e-03 8.52279140e-04 9.99978489e-01 -2.78848867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76134618399999 meters 0.0928318869004229 Centerline is valid? [True, True] Translation: X:64.69, Y:-5.19, Z:-2.79 [[ 9.99979479e-01 5.31774555e-04 -6.38430606e-03 6.46913453e+01] [-5.28296745e-04 9.99999711e-01 5.46417707e-04 -5.19073721e+00] [ 6.38459478e-03 -5.43033685e-04 9.99979471e-01 -2.78960747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79134618399999 meters 0.09156540471158796 Centerline is valid? [True, True] Translation: X:64.72, Y:-5.19, Z:-2.79 [[ 9.99983700e-01 1.76422592e-03 -5.43027829e-03 6.47210174e+01] [-1.76172514e-03 9.99998340e-01 4.65273903e-04 -5.18983035e+00] [ 5.43109012e-03 -4.55699661e-04 9.99985148e-01 -2.78916792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82134618399999 meters 0.09165918844005792 Centerline is valid? [True, True] Translation: X:64.75, Y:-5.19, Z:-2.79 [[ 9.99988882e-01 1.68736303e-03 -4.40326019e-03 6.47498412e+01] [-1.68572175e-03 9.99998508e-01 3.76426647e-04 -5.19316011e+00] [ 4.40388879e-03 -3.68999791e-04 9.99990235e-01 -2.79003911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.851346184 meters 0.09161648378993088 Centerline is valid? [True, True] Translation: X:64.78, Y:-5.20, Z:-2.79 [[ 9.99988520e-01 2.08576596e-03 -4.31392477e-03 6.47784331e+01] [-2.08419568e-03 9.99997760e-01 3.68467866e-04 -5.19648978e+00] [ 4.31468364e-03 -3.59472573e-04 9.99990627e-01 -2.79120807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.881346184 meters 0.09130573445323947 Centerline is valid? [True, True] Translation: X:64.81, Y:-5.20, Z:-2.79 [[ 9.99990217e-01 2.06431762e-03 -3.91209749e-03 6.48076638e+01] [-2.06302751e-03 9.99997816e-01 3.33782150e-04 -5.19774400e+00] [ 3.91277798e-03 -3.25708120e-04 9.99992292e-01 -2.79189795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.911346184 meters 0.09240931905086268 Centerline is valid? [True, True] Translation: X:64.84, Y:-5.20, Z:-2.79 [[ 9.99981968e-01 3.14613332e-03 -5.11524625e-03 6.48353899e+01] [-3.14394367e-03 9.99994963e-01 4.36047682e-04 -5.19887805e+00] [ 5.11659235e-03 -4.19957773e-04 9.99986822e-01 -2.79275476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.941346184 meters 0.09168315867203213 Centerline is valid? [True, True] Translation: X:64.86, Y:-5.20, Z:-2.79 [[ 9.99979990e-01 3.37399415e-03 -5.35127010e-03 6.48640191e+01] [-3.37160144e-03 9.99994212e-01 4.56087503e-04 -5.19843964e+00] [ 5.35277796e-03 -4.38036027e-04 9.99985578e-01 -2.79290020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.971346184 meters 0.09962845766206578 Centerline is valid? [True, True] Translation: X:64.89, Y:-5.21, Z:-2.80 [[ 9.99974600e-01 2.98467231e-03 -6.47229620e-03 6.48899926e+01] [-2.98116993e-03 9.99995405e-01 5.50715179e-04 -5.21333631e+00] [ 6.47391016e-03 -5.31406176e-04 9.99978903e-01 -2.79764651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001346184 meters 0.09368717304007164 Centerline is valid? [True, True] Translation: X:64.92, Y:-5.21, Z:-2.80 [[ 9.99968525e-01 2.90269475e-03 -7.38392767e-03 6.49192754e+01] [-2.89813305e-03 9.99995603e-01 6.28412465e-04 -5.20658429e+00] [ 7.38571929e-03 -6.06993081e-04 9.99972541e-01 -2.79750444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.031346184 meters 0.0940911590716618 Centerline is valid? [True, True] Translation: X:64.95, Y:-5.21, Z:-2.80 [[ 9.99974649e-01 2.51773479e-03 -6.66056568e-03 6.49480498e+01] [-2.51401819e-03 9.99996679e-01 5.66314891e-04 -5.20917842e+00] [ 6.66196939e-03 -5.49555751e-04 9.99977658e-01 -2.79639415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061346184 meters 0.09486026134929719 Centerline is valid? [True, True] Translation: X:64.98, Y:-5.21, Z:-2.80 [[ 9.99974787e-01 1.95305524e-03 -6.82726324e-03 6.49763148e+01] [-1.94914424e-03 9.99997933e-01 5.79457904e-04 -5.21095862e+00] [ 6.82838084e-03 -5.66135973e-04 9.99976526e-01 -2.79631023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.091346184 meters 0.09720281327042773 Centerline is valid? [True, True] Translation: X:65.00, Y:-5.22, Z:-2.80 [[ 9.99975766e-01 4.64831920e-04 -6.94638254e-03 6.50041933e+01] [-4.60747908e-04 9.99999720e-01 5.89522287e-04 -5.21557330e+00] [ 6.94665462e-03 -5.86307469e-04 9.99975700e-01 -2.79701461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12134618399999 meters 0.09626674099360569 Centerline is valid? [True, True] Translation: X:65.03, Y:-5.22, Z:-2.80 [[ 9.99975802e-01 -2.47993888e-03 -6.49965762e-03 6.50347039e+01] [ 2.48358026e-03 9.99996763e-01 5.52229488e-04 -5.21533835e+00] [ 6.49826708e-03 -5.68358546e-04 9.99978725e-01 -2.79726304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15134618399999 meters 0.10249585595723967 Centerline is valid? [True, False] Translation: X:65.04, Y:-5.22, Z:-2.80 [[ 9.99977391e-01 -2.19826436e-03 -6.35499659e-03 6.50350351e+01] [ 2.20547719e-03 9.99996932e-01 1.12820043e-03 -5.21629474e+00] [ 6.35249700e-03 -1.14219072e-03 9.99979170e-01 -2.79829977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18134618399999 meters 0.1043439458979802 Centerline is valid? [False, False] Translation: X:65.03, Y:-5.22, Z:-2.80 [[ 9.99978887e-01 -2.18284403e-03 -6.12051218e-03 6.50348176e+01] [ 2.19109414e-03 9.99996700e-01 1.34156190e-03 -5.21679055e+00] [ 6.11756356e-03 -1.35494419e-03 9.99980370e-01 -2.79880056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21134618399999 meters 0.1053861546433269 Centerline is valid? [False, False] Translation: X:65.04, Y:-5.22, Z:-2.80 [[ 9.99979410e-01 -1.94617633e-03 -6.11496192e-03 6.50354391e+01] [ 1.95661539e-03 9.99996638e-01 1.70161563e-03 -5.21694634e+00] [ 6.11162972e-03 -1.71354522e-03 9.99979856e-01 -2.79979456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.241346184 meters 0.10248776713984116 Centerline is valid? [False, False] Translation: X:65.04, Y:-5.21, Z:-2.80 [[ 9.99978355e-01 -2.43030301e-03 -6.11424711e-03 6.50352195e+01] [ 2.43569472e-03 9.99996651e-01 8.74535897e-04 -5.21407050e+00] [ 6.11210125e-03 -8.89409407e-04 9.99980925e-01 -2.79946238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.271346184 meters 0.10281124627457773 Centerline is valid? [False, False] Translation: X:65.04, Y:-5.21, Z:-2.80 [[ 9.99977670e-01 -2.47083113e-03 -6.20930414e-03 6.50355370e+01] [ 2.47525248e-03 9.99996688e-01 7.04469074e-04 -5.21303932e+00] [ 6.20754295e-03 -7.19822938e-04 9.99980474e-01 -2.79959126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.301346184 meters 0.10340206439194842 Centerline is valid? [False, False] Translation: X:65.04, Y:-5.21, Z:-2.80 [[ 9.99977736e-01 -2.57532541e-03 -6.15594380e-03 6.50355105e+01] [ 2.57889689e-03 9.99996511e-01 5.72300592e-04 -5.21242235e+00] [ 6.15444846e-03 -5.88163394e-04 9.99980888e-01 -2.79974128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.331346184 meters 0.09590816280406134 Centerline is valid? [False, True] Translation: X:65.04, Y:-5.21, Z:-2.80 [[ 9.99977886e-01 -2.27378695e-03 -6.24966891e-03 6.50363854e+01] [ 2.27999264e-03 9.99996915e-01 9.86018544e-04 -5.21258978e+00] [ 6.24740763e-03 -1.00024594e-03 9.99979985e-01 -2.80077775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.361346184 meters 0.10582089542470258 Centerline is valid? [True, False] Translation: X:65.04, Y:-5.21, Z:-2.80 [[ 9.99975682e-01 -2.76673273e-03 -6.40154079e-03 6.50363245e+01] [ 2.76696750e-03 9.99996172e-01 2.78188003e-05 -5.20937113e+00] [ 6.40143932e-03 -4.55309792e-05 9.99979510e-01 -2.80016562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.391346184 meters 0.10633513116537245 Centerline is valid? [False, False] Translation: X:65.04, Y:-5.21, Z:-2.80 [[ 9.99974413e-01 -2.80750114e-03 -6.57958655e-03 6.50369068e+01] [ 2.80617591e-03 9.99996040e-01 -2.10638038e-04 -5.20771079e+00] [ 6.58015187e-03 1.92169171e-04 9.99978332e-01 -2.80043162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421346184 meters 0.10913152494939861 Centerline is valid? [False, False] Translation: X:65.04, Y:-5.21, Z:-2.80 [[ 9.99974759e-01 -2.38099335e-03 -6.69412951e-03 6.50381445e+01] [ 2.38303850e-03 9.99997116e-01 2.97554387e-04 -5.20766132e+00] [ 6.69340173e-03 -3.13499245e-04 9.99977550e-01 -2.80192885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.451346184 meters 0.10839812458517119 Centerline is valid? [False, False] Translation: X:65.04, Y:-5.21, Z:-2.80 [[ 9.99975805e-01 -1.87345631e-03 -6.69916775e-03 6.50390674e+01] [ 1.88084482e-03 9.99997630e-01 1.09676915e-03 -5.20890726e+00] [ 6.69709712e-03 -1.10934271e-03 9.99976959e-01 -2.80336827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.481346184 meters 0.10903355808612276 Centerline is valid? [False, False] Translation: X:65.04, Y:-5.21, Z:-2.80 [[ 9.99975401e-01 -1.96620095e-03 -6.73285070e-03 6.50390640e+01] [ 1.97229705e-03 9.99997651e-01 8.98907159e-04 -5.20845833e+00] [ 6.73106745e-03 -9.12164228e-04 9.99976930e-01 -2.80325585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51134618399999 meters 0.10055201970047281 Centerline is valid? [False, False] Translation: X:65.04, Y:-5.20, Z:-2.80 [[ 9.99971408e-01 -2.24756223e-03 -7.22017227e-03 6.50399715e+01] [ 2.24729178e-03 9.99997474e-01 -4.55700495e-05 -5.20418530e+00] [ 7.22025645e-03 2.93429128e-05 9.99973933e-01 -2.80301054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54134618399999 meters 0.09907220612648009 Centerline is valid? [False, True] Translation: X:65.04, Y:-5.20, Z:-2.80 [[ 9.99969397e-01 -2.22675312e-03 -7.49982660e-03 6.50408272e+01] [ 2.22479619e-03 9.99997489e-01 -2.69261716e-04 -5.20251218e+00] [ 7.50040734e-03 2.52567890e-04 9.99971840e-01 -2.80334107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57134618399999 meters 0.096416030349793 Centerline is valid? [True, True] Translation: X:65.07, Y:-5.20, Z:-2.80 [[ 9.99964745e-01 -2.31168637e-03 -8.07245911e-03 6.50688773e+01] [ 2.31738488e-03 9.99997072e-01 6.96637996e-04 -5.20008999e+00] [ 8.07082507e-03 -7.15320431e-04 9.99967175e-01 -2.80453478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.601346184 meters 0.09984628332676813 Centerline is valid? [True, True] Translation: X:65.10, Y:-5.21, Z:-2.81 [[ 9.99967783e-01 -2.40995974e-03 -7.65667483e-03 6.50962294e+01] [ 2.41509290e-03 9.99996865e-01 6.61240866e-04 -5.21001257e+00] [ 7.65505726e-03 -6.79711144e-04 9.99970469e-01 -2.80813408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.631346184 meters 0.09950346351507794 Centerline is valid? [True, True] Translation: X:65.12, Y:-5.21, Z:-2.81 [[ 9.99971769e-01 -3.18719630e-03 -6.80467711e-03 6.51246076e+01] [ 3.19124851e-03 9.99994737e-01 5.84728851e-04 -5.21218587e+00] [ 6.80277765e-03 -6.06427759e-04 9.99976677e-01 -2.80786897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.661346184 meters 0.09468748819770031 Centerline is valid? [True, True] Translation: X:65.15, Y:-5.21, Z:-2.81 [[ 9.99975325e-01 -3.48025105e-03 -6.10227216e-03 6.51536497e+01] [ 3.48350365e-03 9.99993796e-01 5.22467095e-04 -5.20595144e+00] [ 6.10041598e-03 -5.43711491e-04 9.99981244e-01 -2.80570660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.691346184 meters 0.09426191665131553 Centerline is valid? [True, True] Translation: X:65.18, Y:-5.21, Z:-2.80 [[ 9.99976007e-01 -4.46771625e-03 -5.29387727e-03 6.51828789e+01] [ 4.47018396e-03 9.99989905e-01 4.54404092e-04 -5.20509386e+00] [ 5.29179368e-03 -4.78057794e-04 9.99985884e-01 -2.80274283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.721346184 meters 0.09417902283971068 Centerline is valid? [True, True] Translation: X:65.21, Y:-5.21, Z:-2.80 [[ 9.99981540e-01 -4.15891469e-03 -4.42981159e-03 6.52130212e+01] [ 4.16064260e-03 9.99991272e-01 3.80920956e-04 -5.20723691e+00] [ 4.42818871e-03 -3.99344787e-04 9.99990116e-01 -2.80284510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.751346184 meters 0.09995732108844028 Centerline is valid? [True, True] Translation: X:65.24, Y:-5.22, Z:-2.80 [[ 9.99980315e-01 -4.44851967e-03 -4.42485474e-03 6.52414239e+01] [ 4.45024533e-03 9.99990025e-01 3.80222126e-04 -5.21986915e+00] [ 4.42311918e-03 -3.99906331e-04 9.99990138e-01 -2.80456879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781346184 meters 0.09658887952680567 Centerline is valid? [True, True] Translation: X:65.27, Y:-5.22, Z:-2.80 [[ 9.99982657e-01 -4.25704386e-03 -4.06972944e-03 6.52726164e+01] [ 4.25850279e-03 9.99990871e-01 3.49885570e-04 -5.21838498e+00] [ 4.06820281e-03 -3.67210457e-04 9.99991657e-01 -2.80423927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.811346184 meters 0.09826567889682186 Centerline is valid? [True, True] Translation: X:65.30, Y:-5.22, Z:-2.81 [[ 9.99967294e-01 -5.68928107e-03 -5.74829592e-03 6.53021452e+01] [ 5.69221516e-03 9.99983677e-01 4.94196439e-04 -5.22475453e+00] [ 5.74539047e-03 -5.26900813e-04 9.99983356e-01 -2.80723700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.841346184 meters 0.1026286895969407 Centerline is valid? [True, False] Translation: X:65.30, Y:-5.22, Z:-2.81 [[ 9.99967983e-01 -5.40396739e-03 -5.90173661e-03 6.53030705e+01] [ 5.40920462e-03 9.99984990e-01 8.71803743e-04 -5.22487390e+00] [ 5.89693683e-03 -9.03699531e-04 9.99982205e-01 -2.80815120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87134618399999 meters 0.09714640389857494 Centerline is valid? [False, True] Translation: X:65.30, Y:-5.23, Z:-2.81 [[ 9.99968379e-01 -5.19497114e-03 -6.02098750e-03 6.53037158e+01] [ 5.20209126e-03 9.99985788e-01 1.16749331e-03 -5.22508512e+00] [ 6.01483683e-03 -1.19877812e-03 9.99981192e-01 -2.80874473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90134618399999 meters 0.09793827482077283 Centerline is valid? [True, True] Translation: X:65.33, Y:-5.23, Z:-2.81 [[ 9.99953492e-01 -6.66138120e-03 -6.97425743e-03 6.53332137e+01] [ 6.66581073e-03 9.99977596e-01 6.12073372e-04 -5.23082278e+00] [ 6.97002392e-03 -6.58533985e-04 9.99975492e-01 -2.81134878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93134618399999 meters 0.11431887120959379 Centerline is valid? [True, False] Translation: X:65.33, Y:-5.23, Z:-2.81 [[ 9.99957013e-01 -6.07217368e-03 -7.00726733e-03 6.53341292e+01] [ 6.08336720e-03 9.99980252e-01 1.57720888e-03 -5.23282992e+00] [ 6.99755187e-03 -1.61976886e-03 9.99974205e-01 -2.81267347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96134618399999 meters 0.0984796448395636 Centerline is valid? [False, True] Translation: X:65.33, Y:-5.23, Z:-2.81 [[ 9.99958640e-01 -5.77845982e-03 -7.02337407e-03 6.53346916e+01] [ 5.79320248e-03 9.99981055e-01 2.08055636e-03 -5.23361199e+00] [ 7.01121860e-03 -2.12115814e-03 9.99973171e-01 -2.81351787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.991346184 meters 0.09904031634405903 Centerline is valid? [True, True] Translation: X:65.36, Y:-5.24, Z:-2.81 [[ 9.99961293e-01 -5.16675572e-03 -7.12165574e-03 6.53645086e+01] [ 5.17139514e-03 9.99986428e-01 6.33192268e-04 -5.23547050e+00] [ 7.11828753e-03 -6.69996655e-04 9.99974440e-01 -2.81288551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.021346184 meters 0.09867728840327908 Centerline is valid? [True, True] Translation: X:65.39, Y:-5.23, Z:-2.81 [[ 9.99975920e-01 -4.27851245e-03 -5.46389364e-03 6.53941661e+01] [ 4.28122762e-03 9.99990718e-01 4.85329270e-04 -5.23405825e+00] [ 5.46176644e-03 -5.08709755e-04 9.99984955e-01 -2.80915376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.051346184 meters 0.09891183303443421 Centerline is valid? [True, True] Translation: X:65.42, Y:-5.24, Z:-2.81 [[ 9.99986584e-01 -3.31837377e-03 -3.97738140e-03 6.54238371e+01] [ 3.31980514e-03 9.99994427e-01 3.53328060e-04 -5.23814677e+00] [ 3.97618676e-03 -3.66527451e-04 9.99992028e-01 -2.80841282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.081346184 meters 0.1033591468810029 Centerline is valid? [True, False] Translation: X:65.42, Y:-5.24, Z:-2.81 [[ 9.99988675e-01 -2.60999986e-03 -3.97969495e-03 6.54244806e+01] [ 2.61597192e-03 9.99995459e-01 1.49616723e-03 -5.24131918e+00] [ 3.97577188e-03 -1.50656106e-03 9.99990962e-01 -2.80937068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.111346184 meters 0.09955641989358494 Centerline is valid? [False, True] Translation: X:65.43, Y:-5.25, Z:-2.81 [[ 9.99974309e-01 -5.82358910e-03 -4.17939234e-03 6.54259227e+01] [ 5.81859752e-03 9.99982345e-01 -1.20549732e-03 -5.24590406e+00] [ 4.18633887e-03 1.18114815e-03 9.99990540e-01 -2.81074336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141346184 meters 0.10095924848619764 Centerline is valid? [True, False] Translation: X:65.42, Y:-5.25, Z:-2.81 [[ 9.99992220e-01 -1.63461473e-03 -3.59003101e-03 6.54248210e+01] [ 1.64750413e-03 9.99992198e-01 3.59031333e-03 -5.24787302e+00] [ 3.58413422e-03 -3.59619999e-03 9.99987111e-01 -2.81119914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.171346184 meters 0.09918007171754724 Centerline is valid? [False, True] Translation: X:65.43, Y:-5.25, Z:-2.81 [[ 9.99990219e-01 -1.83937807e-03 -4.02217571e-03 6.54255223e+01] [ 1.85117308e-03 9.99993992e-01 2.93074162e-03 -5.24524103e+00] [ 4.01676081e-03 -2.93815870e-03 9.99987616e-01 -2.81076353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201346184 meters 0.09912481086037556 Centerline is valid? [True, True] Translation: X:65.45, Y:-5.24, Z:-2.81 [[ 9.99986258e-01 -2.86314036e-04 -5.23474827e-03 6.54549772e+01] [ 2.88794343e-04 9.99999846e-01 4.73066140e-04 -5.24399527e+00] [ 5.23461202e-03 -4.74571405e-04 9.99986187e-01 -2.80901135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.231346184 meters 0.09869147821490688 Centerline is valid? [True, True] Translation: X:65.48, Y:-5.25, Z:-2.81 [[ 9.99981690e-01 3.00414796e-03 -5.25315229e-03 6.54838665e+01] [-3.00169500e-03 9.99995382e-01 4.74773627e-04 -5.24925805e+00] [ 5.25455432e-03 -4.58996572e-04 9.99986089e-01 -2.81289891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26134618399999 meters 0.0939336358890064 Centerline is valid? [True, True] Translation: X:65.51, Y:-5.25, Z:-2.81 [[ 9.99975956e-01 4.54634683e-03 -5.23618642e-03 6.55139295e+01] [-4.54393101e-03 9.99989564e-01 4.73174903e-04 -5.24831289e+00] [ 5.23828299e-03 -4.49370657e-04 9.99986179e-01 -2.81458956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29134618399999 meters 0.09276102086959462 Centerline is valid? [True, True] Translation: X:65.54, Y:-5.25, Z:-2.81 [[ 9.99958972e-01 8.22484358e-03 -3.79563711e-03 6.55437964e+01] [-8.22360013e-03 9.99966127e-01 3.43090961e-04 -5.25044927e+00] [ 3.79833041e-03 -3.11863083e-04 9.99992738e-01 -2.81454175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32134618399999 meters 0.08917561151226926 Centerline is valid? [True, True] Translation: X:65.57, Y:-5.24, Z:-2.81 [[ 9.99931287e-01 1.08040854e-02 -4.54895297e-03 6.55746326e+01] [-1.08023283e-02 9.99941569e-01 4.10657297e-04 -5.24330896e+00] [ 4.55312394e-03 -3.61489796e-04 9.99989569e-01 -2.81240676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.351346184 meters 0.08910148996384937 Centerline is valid? [True, True] Translation: X:65.60, Y:-5.24, Z:-2.81 [[ 9.99886806e-01 1.38667011e-02 -5.83872658e-03 6.56038296e+01] [-1.38638586e-02 9.99903753e-01 5.27022891e-04 -5.24245865e+00] [ 5.84547269e-03 -4.46015955e-04 9.99982816e-01 -2.81297670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.381346184 meters 0.08664754664121178 Centerline is valid? [True, True] Translation: X:65.63, Y:-5.24, Z:-2.82 [[ 9.99818529e-01 1.77249222e-02 -6.98107242e-03 6.56348396e+01] [-1.77209495e-02 9.99842773e-01 6.30517603e-04 -5.23982836e+00] [ 6.99115068e-03 -5.06691950e-04 9.99975433e-01 -2.81515043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.411346184 meters 0.08559755273774029 Centerline is valid? [True, True] Translation: X:65.66, Y:-5.24, Z:-2.82 [[ 9.99701185e-01 2.28554389e-02 -8.67003392e-03 6.56635176e+01] [-2.28495065e-02 9.99738610e-01 7.82689474e-04 -5.24422005e+00] [ 8.68565636e-03 -5.84349598e-04 9.99962108e-01 -2.82192485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.441346184 meters 0.08571859158887417 Centerline is valid? [True, True] Translation: X:65.69, Y:-5.25, Z:-2.82 [[ 9.99678727e-01 2.35673221e-02 -9.32871225e-03 6.56917197e+01] [-2.35604955e-02 9.99722059e-01 8.41019755e-04 -5.24762542e+00] [ 9.34594000e-03 -6.20960475e-04 9.99956133e-01 -2.82309648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.471346184 meters 0.08351568560684046 Centerline is valid? [True, True] Translation: X:65.72, Y:-5.25, Z:-2.82 [[ 9.99683878e-01 2.37471485e-02 -8.25937244e-03 6.57212592e+01] [-2.37418344e-02 9.99717848e-01 7.40870049e-04 -5.24542922e+00] [ 8.27463560e-03 -5.44543190e-04 9.99965616e-01 -2.82084990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501346184 meters 0.08379997125389486 Centerline is valid? [True, True] Translation: X:65.75, Y:-5.25, Z:-2.82 [[ 9.99707708e-01 2.30022848e-02 -7.44264766e-03 6.57504163e+01] [-2.29979421e-02 9.99735289e-01 6.68552956e-04 -5.24646627e+00] [ 7.45605576e-03 -4.97191964e-04 9.99972080e-01 -2.81834034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.531346184 meters 0.08376927282266794 Centerline is valid? [True, True] Translation: X:65.78, Y:-5.25, Z:-2.82 [[ 9.99715406e-01 2.29961416e-02 -6.34692786e-03 6.57790188e+01] [-2.29929870e-02 9.99735464e-01 5.69564771e-04 -5.24755777e+00] [ 6.35834667e-03 -4.23467847e-04 9.99979696e-01 -2.81590923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561346184 meters 0.08359684953270884 Centerline is valid? [True, True] Translation: X:65.81, Y:-5.25, Z:-2.82 [[ 9.99714818e-01 2.31863083e-02 -5.71644313e-03 6.58074694e+01] [-2.31837551e-02 9.99731089e-01 5.12502467e-04 -5.25088028e+00] [ 5.72678896e-03 -3.79827693e-04 9.99983530e-01 -2.81682125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.591346184 meters 0.08347353460467209 Centerline is valid? [True, True] Translation: X:65.84, Y:-5.25, Z:-2.82 [[ 9.99706865e-01 2.38417086e-02 -4.21397844e-03 6.58358677e+01] [-2.38403291e-02 9.99715708e-01 3.77302545e-04 -5.25456458e+00] [ 4.22177598e-03 -2.76729311e-04 9.99991050e-01 -2.81708778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62134618399999 meters 0.08383036792190457 Centerline is valid? [True, True] Translation: X:65.86, Y:-5.26, Z:-2.82 [[ 9.99711823e-01 2.36086533e-02 -4.34779975e-03 6.58647557e+01] [-2.36071838e-02 9.99721236e-01 3.89004983e-04 -5.25654528e+00] [ 4.35577162e-03 -2.86253573e-04 9.99990473e-01 -2.81770001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65134618399999 meters 0.085051151499285 Centerline is valid? [True, True] Translation: X:65.89, Y:-5.26, Z:-2.82 [[ 9.99731675e-01 2.26965816e-02 -4.63067838e-03 6.58920790e+01] [-2.26949075e-02 9.99742352e-01 4.13772079e-04 -5.25922929e+00] [ 4.63887650e-03 -3.08568237e-04 9.99989193e-01 -2.81861333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68134618399999 meters 0.085051151499285 Centerline is valid? [True, True] Translation: X:65.92, Y:-5.26, Z:-2.82 [[ 9.99734030e-01 2.25925886e-02 -4.63073755e-03 6.59194784e+01] [-2.25909164e-02 9.99744707e-01 4.13110456e-04 -5.26155194e+00] [ 4.63888859e-03 -3.08387977e-04 9.99989193e-01 -2.81890959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71134618399999 meters 0.08548002450408675 Centerline is valid? [True, True] Translation: X:65.95, Y:-5.26, Z:-2.82 [[ 9.99748912e-01 2.16578565e-02 -5.74900016e-03 6.59483150e+01] [-2.16552623e-02 9.99765366e-01 5.13111418e-04 -5.26345138e+00] [ 5.75876414e-03 -3.88486476e-04 9.99983343e-01 -2.82007708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.741346184 meters 0.08722549859375349 Centerline is valid? [True, True] Translation: X:65.98, Y:-5.27, Z:-2.82 [[ 9.99785237e-01 1.95644064e-02 -6.83472486e-03 6.59758042e+01] [-1.95606950e-02 9.99808486e-01 6.09441246e-04 -5.27018055e+00] [ 6.84533927e-03 -4.75618392e-04 9.99976457e-01 -2.82298363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.771346184 meters 0.08874835713913043 Centerline is valid? [True, True] Translation: X:66.00, Y:-5.28, Z:-2.82 [[ 9.99818713e-01 1.80011273e-02 -6.20487008e-03 6.60039571e+01] [-1.79980390e-02 9.99837869e-01 5.53215548e-04 -5.27675254e+00] [ 6.21382259e-03 -4.41439763e-04 9.99980597e-01 -2.82340798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.801346184 meters 0.08809583887850166 Centerline is valid? [True, True] Translation: X:66.03, Y:-5.28, Z:-2.82 [[ 9.99855811e-01 1.63073988e-02 -4.73568151e-03 6.60333380e+01] [-1.63055815e-02 9.99866966e-01 4.22106256e-04 -5.27859103e+00] [ 4.74193496e-03 -3.44827352e-04 9.99988698e-01 -2.82221326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.831346184 meters 0.08889469845087292 Centerline is valid? [True, True] Translation: X:66.06, Y:-5.28, Z:-2.82 [[ 9.99901429e-01 1.35452094e-02 -3.69602180e-03 6.60634679e+01] [-1.35440835e-02 9.99908220e-01 3.29476934e-04 -5.27982803e+00] [ 3.70014541e-03 -2.79385229e-04 9.99993115e-01 -2.81844974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.861346184 meters 0.08846444565988226 Centerline is valid? [True, True] Translation: X:66.09, Y:-5.28, Z:-2.82 [[ 9.99906600e-01 1.26537583e-02 -5.16468702e-03 6.60932487e+01] [-1.26515497e-02 9.99919860e-01 4.60098193e-04 -5.28075370e+00] [ 5.17009509e-03 -3.94713925e-04 9.99986557e-01 -2.81893775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.891346184 meters 0.08902213643860694 Centerline is valid? [True, True] Translation: X:66.12, Y:-5.28, Z:-2.82 [[ 9.99905691e-01 1.21287489e-02 -6.44231607e-03 6.61220817e+01] [-1.21253062e-02 9.99926321e-01 5.73173746e-04 -5.28486812e+00] [ 6.44879329e-03 -4.95004636e-04 9.99979084e-01 -2.82085777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921346184 meters 0.09576667645435721 Centerline is valid? [True, True] Translation: X:66.15, Y:-5.30, Z:-2.83 [[ 9.99905029e-01 1.11616769e-02 -8.08392032e-03 6.61490797e+01] [-1.11562274e-02 9.99937509e-01 7.18898059e-04 -5.30037517e+00] [ 8.09143926e-03 -6.28643731e-04 9.99967066e-01 -2.82666510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.951346184 meters 0.09700447779652056 Centerline is valid? [True, True] Translation: X:66.18, Y:-5.30, Z:-2.83 [[ 9.99918870e-01 1.01436000e-02 -7.70461224e-03 6.61764986e+01] [-1.01386261e-02 9.99948369e-01 6.84346631e-04 -5.30330119e+00] [ 7.71115617e-03 -6.06176927e-04 9.99970085e-01 -2.82693335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.981346184 meters 0.09631652832550312 Centerline is valid? [True, True] Translation: X:66.21, Y:-5.30, Z:-2.83 [[ 9.99903339e-01 1.11970744e-02 -8.24240897e-03 6.62059171e+01] [-1.11914175e-02 9.99937106e-01 7.32125315e-04 -5.30259284e+00] [ 8.25008823e-03 -6.39810307e-04 9.99965763e-01 -2.82536312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01134618399999 meters 0.09099681879494213 Centerline is valid? [True, True] Translation: X:66.24, Y:-5.29, Z:-2.82 [[ 9.99896716e-01 1.22515946e-02 -7.51366748e-03 6.62355560e+01] [-1.22469293e-02 9.99924781e-01 6.66610095e-04 -5.29352268e+00] [ 7.52126935e-03 -5.74521891e-04 9.99971550e-01 -2.82318248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04134618399999 meters 0.09163056568314769 Centerline is valid? [True, True] Translation: X:66.26, Y:-5.30, Z:-2.83 [[ 9.99874378e-01 1.43017620e-02 -6.83290468e-03 6.62639417e+01] [-1.42979529e-02 9.99897595e-01 6.05987112e-04 -5.29620462e+00] [ 6.84087164e-03 -5.08214437e-04 9.99976472e-01 -2.82540267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07134618399999 meters 0.08828802548561049 Centerline is valid? [True, True] Translation: X:66.29, Y:-5.29, Z:-2.82 [[ 9.99869779e-01 1.50187762e-02 -5.90439644e-03 6.62933278e+01] [-1.50159485e-02 9.99887118e-01 5.22943963e-04 -5.29316435e+00] [ 5.91158392e-03 -4.34215752e-04 9.99982432e-01 -2.82472016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.101346184 meters 0.0889690132638472 Centerline is valid? [True, True] Translation: X:66.32, Y:-5.30, Z:-2.82 [[ 9.99875262e-01 1.49832027e-02 -4.99634694e-03 6.63211102e+01] [-1.49811812e-02 9.99887678e-01 4.41781630e-04 -5.29744669e+00] [ 5.00240505e-03 -3.66875345e-04 9.99987421e-01 -2.82481486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.131346184 meters 0.08898361207954462 Centerline is valid? [True, True] Translation: X:66.35, Y:-5.30, Z:-2.82 [[ 9.99885823e-01 1.39155702e-02 -5.89052441e-03 6.63504721e+01] [-1.39127406e-02 9.99903077e-01 5.21071734e-04 -5.29747980e+00] [ 5.89720449e-03 -4.39058901e-04 9.99982515e-01 -2.82433751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.161346184 meters 0.09965778598075219 Centerline is valid? [True, True] Translation: X:66.38, Y:-5.32, Z:-2.83 [[ 9.99891968e-01 1.30382749e-02 -6.78646103e-03 6.63770043e+01] [-1.30345050e-02 9.99914868e-01 5.99442791e-04 -5.31565578e+00] [ 6.79369898e-03 -5.10919872e-04 9.99976792e-01 -2.82825843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.191346184 meters 0.09009369335161133 Centerline is valid? [True, True] Translation: X:66.41, Y:-5.30, Z:-2.82 [[ 9.99906586e-01 1.19524313e-02 -6.63016968e-03 6.64077265e+01] [-1.19488113e-02 9.99928439e-01 5.85335406e-04 -5.29969191e+00] [ 6.63669140e-03 -5.06058080e-04 9.99977849e-01 -2.82402894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.221346184 meters 0.10307385517137198 Centerline is valid? [True, False] Translation: X:66.41, Y:-5.30, Z:-2.82 [[ 9.99944910e-01 7.88210022e-03 -6.93184170e-03 6.64084824e+01] [-7.90689968e-03 9.99962412e-01 -3.55751522e-03 -5.29999791e+00] [ 6.90354045e-03 3.61212862e-03 9.99969646e-01 -2.82421347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.251346184 meters 0.10437837105799487 Centerline is valid? [False, False] Translation: X:66.41, Y:-5.30, Z:-2.83 [[ 9.99944725e-01 8.16676378e-03 -6.62205933e-03 6.64083485e+01] [-8.18519653e-03 9.99962688e-01 -2.76122858e-03 -5.30220541e+00] [ 6.59926194e-03 2.81527881e-03 9.99974262e-01 -2.82518876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281346184 meters 0.09295158557381589 Centerline is valid? [False, True] Translation: X:66.41, Y:-5.30, Z:-2.83 [[ 9.99947180e-01 8.03169212e-03 -6.41321662e-03 6.64079511e+01] [-8.04961818e-03 9.99963753e-01 -2.77427077e-03 -5.30223924e+00] [ 6.39070207e-03 2.82574818e-03 9.99975587e-01 -2.82534493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.311346184 meters 0.0944540103954839 Centerline is valid? [True, True] Translation: X:66.44, Y:-5.30, Z:-2.83 [[ 9.99941318e-01 6.91549290e-03 -8.33889721e-03 6.64361994e+01] [-6.90954602e-03 9.99975854e-01 7.41747544e-04 -5.30344752e+00] [ 8.34382541e-03 -6.84086022e-04 9.99964956e-01 -2.82725379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.341346184 meters 0.09501389190997325 Centerline is valid? [True, True] Translation: X:66.47, Y:-5.31, Z:-2.83 [[ 9.99939549e-01 6.66369686e-03 -8.74607414e-03 6.64652800e+01] [-6.65714971e-03 9.99977539e-01 7.77480771e-04 -5.30501397e+00] [ 8.75105859e-03 -7.19209846e-04 9.99961450e-01 -2.82835925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37134618399999 meters 0.09305638546655909 Centerline is valid? [True, True] Translation: X:66.49, Y:-5.30, Z:-2.83 [[ 9.99939681e-01 7.19633217e-03 -8.29736265e-03 6.64946688e+01] [-7.19046012e-03 9.99973876e-01 7.37315284e-04 -5.30493260e+00] [ 8.30245186e-03 -6.77608955e-04 9.99965304e-01 -2.82858391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40134618399999 meters 0.09797573662982867 Centerline is valid? [True, True] Translation: X:66.52, Y:-5.32, Z:-2.83 [[ 9.99955560e-01 7.05635619e-03 -6.25180054e-03 6.65215441e+01] [-7.05302688e-03 9.99974973e-01 5.54424305e-04 -5.31942394e+00] [ 6.25555629e-03 -5.10305549e-04 9.99980304e-01 -2.83229273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43134618399999 meters 0.09455932589420837 Centerline is valid? [True, True] Translation: X:66.55, Y:-5.32, Z:-2.83 [[ 9.99968349e-01 6.01190033e-03 -5.21137375e-03 6.65507331e+01] [-6.00957455e-03 9.99981836e-01 4.61833478e-04 -5.31602783e+00] [ 5.21405559e-03 -4.30500721e-04 9.99986314e-01 -2.83090275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46134618399999 meters 0.09496082021131934 Centerline is valid? [True, True] Translation: X:66.58, Y:-5.32, Z:-2.83 [[ 9.99972714e-01 5.20748262e-03 -5.23961370e-03 6.65794867e+01] [-5.20512246e-03 9.99986346e-01 4.63980449e-04 -5.31768837e+00] [ 5.24195833e-03 -4.36694958e-04 9.99986165e-01 -2.82946259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.491346184 meters 0.09401231601392514 Centerline is valid? [True, True] Translation: X:66.61, Y:-5.32, Z:-2.83 [[ 9.99979999e-01 4.25183181e-03 -4.68218366e-03 6.66083326e+01] [-4.24993873e-03 9.99990883e-01 4.14189273e-04 -5.31661624e+00] [ 4.68390204e-03 -3.94281995e-04 9.99988953e-01 -2.82679624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.521346184 meters 0.09822001792628857 Centerline is valid? [True, True] Translation: X:66.63, Y:-5.33, Z:-2.82 [[ 9.99994529e-01 2.94035853e-03 -1.51562602e-03 6.66348983e+01] [-2.94016043e-03 9.99995669e-01 1.32917675e-04 -5.32720905e+00] [ 1.51601028e-03 -1.28460764e-04 9.99998843e-01 -2.82458455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.551346184 meters 0.1006158270720428 Centerline is valid? [True, False] Translation: X:66.63, Y:-5.33, Z:-2.82 [[ 9.99994224e-01 3.14506250e-03 -1.28834325e-03 6.66346411e+01] [-3.14415808e-03 9.99994810e-01 7.03427183e-04 -5.32929630e+00] [ 1.29054889e-03 -6.99372366e-04 9.99998923e-01 -2.82499580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.581346184 meters 0.10560507973220647 Centerline is valid? [False, False] Translation: X:66.64, Y:-5.33, Z:-2.83 [[ 9.99998155e-01 -4.93411462e-04 -1.85675401e-03 6.66368229e+01] [ 4.87685516e-04 9.99995129e-01 -3.08303763e-03 -5.32916432e+00] [ 1.85826617e-03 3.08212643e-03 9.99993524e-01 -2.82632736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.611346184 meters 0.10120893210113208 Centerline is valid? [False, False] Translation: X:66.64, Y:-5.33, Z:-2.83 [[ 9.99999059e-01 -4.09348649e-04 -1.30969460e-03 6.66364790e+01] [ 4.06384094e-04 9.99997357e-01 -2.26301241e-03 -5.33086330e+00] [ 1.31061750e-03 2.26247804e-03 9.99996582e-01 -2.82791817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641346184 meters 0.10368699592897475 Centerline is valid? [False, False] Translation: X:66.64, Y:-5.33, Z:-2.83 [[ 9.99999302e-01 -1.04573223e-04 -1.17669526e-03 6.66368275e+01] [ 1.02704180e-04 9.99998733e-01 -1.58833109e-03 -5.33220925e+00] [ 1.17685987e-03 1.58820913e-03 9.99998046e-01 -2.82899083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.671346184 meters 0.10017199059725841 Centerline is valid? [False, False] Translation: X:66.64, Y:-5.33, Z:-2.83 [[ 9.99999424e-01 3.85221613e-05 -1.07289991e-03 6.66367616e+01] [-3.98296285e-05 9.99999257e-01 -1.21863445e-03 -5.33343616e+00] [ 1.07285217e-03 1.21867648e-03 9.99998682e-01 -2.82927942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701346184 meters 0.10243975833247286 Centerline is valid? [False, False] Translation: X:66.64, Y:-5.33, Z:-2.83 [[ 9.99999239e-01 4.66778960e-04 -1.14175180e-03 6.66374492e+01] [-4.67422678e-04 9.99999732e-01 -5.63596681e-04 -5.33478181e+00] [ 1.14148842e-03 5.64129933e-04 9.99999189e-01 -2.83008797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.731346184 meters 0.10165335057038279 Centerline is valid? [False, False] Translation: X:66.64, Y:-5.33, Z:-2.83 [[ 9.99999382e-01 1.47572530e-04 -1.10217037e-03 6.66365774e+01] [-1.48736311e-04 9.99999431e-01 -1.05589132e-03 -5.33427203e+00] [ 1.10201392e-03 1.05605460e-03 9.99998835e-01 -2.82888199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76134618399999 meters 0.09759018790686422 Centerline is valid? [False, True] Translation: X:66.64, Y:-5.33, Z:-2.83 [[ 9.99999210e-01 1.64991670e-04 -1.24642367e-03 6.66369009e+01] [-1.66456139e-04 9.99999296e-01 -1.17492498e-03 -5.33355651e+00] [ 1.24622894e-03 1.17513153e-03 9.99998533e-01 -2.82884218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79134618399999 meters 0.09816344682254904 Centerline is valid? [True, True] Translation: X:66.67, Y:-5.34, Z:-2.83 [[ 9.99998761e-01 8.94034578e-04 -1.29575661e-03 6.66659982e+01] [-8.93885400e-04 9.99999594e-01 1.15702685e-04 -5.33827823e+00] [ 1.29585952e-03 -1.14544284e-04 9.99999154e-01 -2.83101496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82134618399999 meters 0.09708713445245734 Centerline is valid? [True, True] Translation: X:66.70, Y:-5.34, Z:-2.83 [[ 9.99996066e-01 1.51956289e-03 -2.35760628e-03 6.66955687e+01] [-1.51907106e-03 9.99998824e-01 2.10390782e-04 -5.34053724e+00] [ 2.35792321e-03 -2.06808582e-04 9.99997199e-01 -2.83403924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.851346184 meters 0.09569753697834402 Centerline is valid? [True, True] Translation: X:66.72, Y:-5.34, Z:-2.84 [[ 9.99977725e-01 2.30169252e-03 -6.26517129e-03 6.67239325e+01] [-2.29825734e-03 9.99997205e-01 5.55443171e-04 -5.34108441e+00] [ 6.26643223e-03 -5.41031823e-04 9.99980219e-01 -2.83721186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.881346184 meters 0.09664341939664535 Centerline is valid? [True, True] Translation: X:66.75, Y:-5.34, Z:-2.84 [[ 9.99972422e-01 1.54818539e-03 -7.26353671e-03 6.67531002e+01] [-1.54352786e-03 9.99998600e-01 6.46782796e-04 -5.34343879e+00] [ 7.26452787e-03 -6.35553488e-04 9.99973411e-01 -2.83717617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.911346184 meters 0.09997669067628935 Centerline is valid? [True, True] Translation: X:66.78, Y:-5.35, Z:-2.84 [[ 9.99990010e-01 1.11324776e-03 -4.32899288e-03 6.67804247e+01] [-1.11159431e-03 9.99999308e-01 3.84335802e-04 -5.35308275e+00] [ 4.32941775e-03 -3.79519879e-04 9.99990556e-01 -2.83728213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.941346184 meters 0.0978249181256362 Centerline is valid? [True, True] Translation: X:66.81, Y:-5.36, Z:-2.84 [[ 9.99996157e-01 1.01615368e-03 -2.57931899e-03 6.68090724e+01] [-1.01556746e-03 9.99999458e-01 2.28576168e-04 -5.35522228e+00] [ 2.57954987e-03 -2.25955817e-04 9.99996647e-01 -2.83731377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.971346184 meters 0.09928076336105342 Centerline is valid? [True, True] Translation: X:66.84, Y:-5.36, Z:-2.84 [[ 9.99997950e-01 5.37596789e-04 -1.95225248e-03 6.68366974e+01] [-5.37258504e-04 9.99999841e-01 1.73799280e-04 -5.36246125e+00] [ 1.95234560e-03 -1.72750059e-04 9.99998079e-01 -2.83820905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001346184 meters 0.09768962660393876 Centerline is valid? [True, True] Translation: X:66.87, Y:-5.36, Z:-2.84 [[ 9.99997763e-01 5.23488497e-04 -2.04956174e-03 6.68659688e+01] [-5.23116873e-04 9.99999847e-01 1.81850730e-04 -5.36311766e+00] [ 2.04965662e-03 -1.80778163e-04 9.99997883e-01 -2.83759708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.031346184 meters 0.096323610893205 Centerline is valid? [True, True] Translation: X:66.90, Y:-5.36, Z:-2.84 [[ 9.99994356e-01 2.27594738e-03 -2.47141090e-03 6.68962558e+01] [-2.27541162e-03 9.99997387e-01 2.19572264e-04 -5.36024357e+00] [ 2.47190418e-03 -2.13947547e-04 9.99996922e-01 -2.83551049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061346184 meters 0.09520705272876515 Centerline is valid? [True, True] Translation: X:66.93, Y:-5.36, Z:-2.84 [[ 9.99987920e-01 3.90962429e-03 -2.97915160e-03 6.69262772e+01] [-3.90885298e-03 9.99992325e-01 2.64679360e-04 -5.36034076e+00] [ 2.98016354e-03 -2.53031097e-04 9.99995527e-01 -2.83643695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.091346184 meters 0.0945371296323286 Centerline is valid? [True, True] Translation: X:66.96, Y:-5.36, Z:-2.84 [[ 9.99976386e-01 6.17201419e-03 -3.02219448e-03 6.69562187e+01] [-6.17123183e-03 9.99980922e-01 2.68127502e-04 -5.36223775e+00] [ 3.02379171e-03 -2.49470508e-04 9.99995397e-01 -2.83819232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12134618399999 meters 0.09296202266669644 Centerline is valid? [True, True] Translation: X:66.99, Y:-5.36, Z:-2.84 [[ 9.99961265e-01 8.48254309e-03 -2.34839144e-03 6.69861895e+01] [-8.48207676e-03 9.99964005e-01 2.08461131e-04 -5.36330009e+00] [ 2.35007519e-03 -1.88533820e-04 9.99997221e-01 -2.83961291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15134618399999 meters 0.09214992155603938 Centerline is valid? [True, True] Translation: X:67.02, Y:-5.37, Z:-2.84 [[ 9.99918541e-01 1.25627268e-02 -2.25586408e-03 6.70156343e+01] [-1.25623071e-02 9.99921071e-01 2.00148457e-04 -5.36527036e+00] [ 2.25820044e-03 -1.71793296e-04 9.99997436e-01 -2.84115397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18134618399999 meters 0.091967452368975 Centerline is valid? [True, True] Translation: X:67.04, Y:-5.37, Z:-2.84 [[ 9.99910049e-01 1.30462960e-02 -3.11255206e-03 6.70444084e+01] [-1.30455016e-02 9.99914866e-01 2.75384994e-04 -5.36688841e+00] [ 3.11587983e-03 -2.34755419e-04 9.99995118e-01 -2.84143567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21134618399999 meters 0.09259193724084688 Centerline is valid? [True, True] Translation: X:67.07, Y:-5.37, Z:-2.84 [[ 9.99920964e-01 1.24371968e-02 -1.83892740e-03 6.70726668e+01] [-1.24369194e-02 9.99922645e-01 1.62195011e-04 -5.37019922e+00] [ 1.84080240e-03 -1.39311599e-04 9.99998296e-01 -2.84082373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.241346184 meters 0.09555278759599907 Centerline is valid? [True, True] Translation: X:67.10, Y:-5.38, Z:-2.84 [[ 9.99950609e-01 9.84792804e-03 -1.34055954e-03 6.71010492e+01] [-9.84777808e-03 9.99951502e-01 1.18412076e-04 -5.37894076e+00] [ 1.34166064e-03 -1.05204694e-04 9.99999094e-01 -2.84084277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.271346184 meters 0.09809972511464589 Centerline is valid? [True, True] Translation: X:67.13, Y:-5.39, Z:-2.84 [[ 9.99969782e-01 7.49281520e-03 -2.07212656e-03 6.71292570e+01] [-7.49245090e-03 9.99971914e-01 1.83516394e-04 -5.38752541e+00] [ 2.07344342e-03 -1.67985541e-04 9.99997836e-01 -2.84265499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.301346184 meters 0.09899502464662274 Centerline is valid? [True, True] Translation: X:67.16, Y:-5.39, Z:-2.84 [[ 9.99980586e-01 5.60348097e-03 -2.72563759e-03 6.71588224e+01] [-5.60284369e-03 9.99984275e-01 2.41390058e-04 -5.39321449e+00] [ 2.72694735e-03 -2.26114051e-04 9.99996256e-01 -2.84391635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.331346184 meters 0.09813720790489337 Centerline is valid? [True, True] Translation: X:67.19, Y:-5.40, Z:-2.84 [[ 9.99989409e-01 3.34776316e-03 -3.15813923e-03 6.71891716e+01] [-3.34689649e-03 9.99994360e-01 2.79671422e-04 -5.39538155e+00] [ 3.15905770e-03 -2.69098495e-04 9.99994974e-01 -2.84376803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.361346184 meters 0.10077434816772059 Centerline is valid? [True, False] Translation: X:67.19, Y:-5.40, Z:-2.84 [[ 9.99991514e-01 3.12761275e-03 -2.68141326e-03 6.71881278e+01] [-3.12657296e-03 9.99995035e-01 3.91882297e-04 -5.39633491e+00] [ 2.68262560e-03 -3.83495337e-04 9.99996328e-01 -2.84383020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.391346184 meters 0.0989123616093311 Centerline is valid? [False, True] Translation: X:67.19, Y:-5.39, Z:-2.84 [[ 9.99993849e-01 -7.32084823e-04 -3.43006387e-03 6.71901504e+01] [ 7.18833372e-04 9.99992280e-01 -3.86296634e-03 -5.39498290e+00] [ 3.43286541e-03 3.86047694e-03 9.99986656e-01 -2.84436562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421346184 meters 0.10286213328348472 Centerline is valid? [True, False] Translation: X:67.19, Y:-5.40, Z:-2.85 [[ 9.99994042e-01 -2.59975969e-04 -3.44216113e-03 6.71910434e+01] [ 2.49416825e-04 9.99995264e-01 -3.06766532e-03 -5.39620175e+00] [ 3.44294235e-03 3.06678851e-03 9.99989370e-01 -2.84575758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.451346184 meters 0.10538377776307198 Centerline is valid? [False, False] Translation: X:67.19, Y:-5.40, Z:-2.85 [[ 9.99994320e-01 9.11419302e-05 -3.36920016e-03 6.71913360e+01] [-9.92011228e-05 9.99997134e-01 -2.39192984e-03 -5.39799740e+00] [ 3.36897250e-03 2.39225049e-03 9.99991464e-01 -2.84650892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48134618399999 meters 0.09755495729472051 Centerline is valid? [False, True] Translation: X:67.19, Y:-5.40, Z:-2.85 [[ 9.99994596e-01 -4.18647515e-05 -3.28735565e-03 6.71909706e+01] [ 3.36493914e-05 9.99996877e-01 -2.49909412e-03 -5.39794428e+00] [ 3.28745000e-03 2.49897000e-03 9.99991474e-01 -2.84624634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51134618399999 meters 0.10554690431487955 Centerline is valid? [True, False] Translation: X:67.19, Y:-5.40, Z:-2.85 [[ 9.99994266e-01 -1.78135855e-04 -3.38178521e-03 6.71910221e+01] [ 1.68753181e-04 9.99996137e-01 -2.77455643e-03 -5.39689336e+00] [ 3.38226640e-03 2.77396984e-03 9.99990433e-01 -2.84597750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54134618399999 meters 0.09710165905493275 Centerline is valid? [False, True] Translation: X:67.19, Y:-5.40, Z:-2.85 [[ 9.99993480e-01 -3.38632887e-04 -3.59525092e-03 6.71913489e+01] [ 3.27219503e-04 9.99994907e-01 -3.17468622e-03 -5.39512849e+00] [ 3.59630766e-03 3.17348909e-03 9.99988498e-01 -2.84573330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57134618399999 meters 0.09710165905493275 Centerline is valid? [True, True] Translation: X:67.22, Y:-5.40, Z:-2.85 [[ 9.99994413e-01 -6.21545367e-04 -3.28454725e-03 6.72193617e+01] [ 6.22503738e-04 9.99999764e-01 2.90767334e-04 -5.39935444e+00] [ 3.28436575e-03 -2.92810353e-04 9.99994564e-01 -2.84798332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.601346184 meters 0.09870867624279926 Centerline is valid? [True, True] Translation: X:67.25, Y:-5.40, Z:-2.85 [[ 9.99994570e-01 -8.79318945e-04 -3.17605131e-03 6.72476272e+01] [ 8.80222631e-04 9.99999573e-01 2.83144868e-04 -5.40494225e+00] [ 3.17580098e-03 -2.85938963e-04 9.99994916e-01 -2.84959989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.631346184 meters 0.09889044791959768 Centerline is valid? [True, True] Translation: X:67.28, Y:-5.41, Z:-2.85 [[ 9.99995202e-01 -1.09868366e-03 -2.89625870e-03 6.72770052e+01] [ 1.09943620e-03 9.99999362e-01 2.58251687e-04 -5.41158436e+00] [ 2.89597311e-03 -2.61434700e-04 9.99995772e-01 -2.85296800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.661346184 meters 0.10008399627610297 Centerline is valid? [True, False] Translation: X:67.28, Y:-5.41, Z:-2.85 [[ 9.99996411e-01 -6.75262790e-04 -2.59273204e-03 6.72770504e+01] [ 6.78505806e-04 9.99998988e-01 1.25013457e-03 -5.41452337e+00] [ 2.59188525e-03 -1.25188927e-03 9.99995857e-01 -2.85415886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.691346184 meters 0.10246635526289209 Centerline is valid? [False, False] Translation: X:67.28, Y:-5.42, Z:-2.86 [[ 9.99996771e-01 -3.41518733e-04 -2.51830718e-03 6.72777603e+01] [ 3.46340768e-04 9.99998107e-01 1.91460482e-03 -5.41552559e+00] [ 2.51764854e-03 -1.91547083e-03 9.99994996e-01 -2.85560417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.721346184 meters 0.10387187497543375 Centerline is valid? [False, False] Translation: X:67.28, Y:-5.41, Z:-2.85 [[ 9.99996087e-01 -8.12027278e-04 -2.67694276e-03 6.72775149e+01] [ 8.14735272e-04 9.99999157e-01 1.01066423e-03 -5.41321329e+00] [ 2.67611982e-03 -1.01284128e-03 9.99995906e-01 -2.85465455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.751346184 meters 0.10246427884313117 Centerline is valid? [False, False] Translation: X:67.28, Y:-5.41, Z:-2.85 [[ 9.99994808e-01 -7.23368527e-04 -3.14015940e-03 6.72786816e+01] [ 7.25694728e-04 9.99999463e-01 7.39714519e-04 -5.41133085e+00] [ 3.13962262e-03 -7.41989475e-04 9.99994796e-01 -2.85479462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781346184 meters 0.10286944903158186 Centerline is valid? [False, False] Translation: X:67.28, Y:-5.41, Z:-2.85 [[ 9.99994041e-01 -9.92915112e-04 -3.30630864e-03 6.72786310e+01] [ 9.93458443e-04 9.99999493e-01 1.62693332e-04 -5.40976452e+00] [ 3.30614542e-03 -1.65977043e-04 9.99994521e-01 -2.85409705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.811346184 meters 0.10252117715565176 Centerline is valid? [False, False] Translation: X:67.28, Y:-5.41, Z:-2.85 [[ 9.99993321e-01 -1.20999389e-03 -3.44864323e-03 6.72783559e+01] [ 1.20867684e-03 9.99999196e-01 -3.83963923e-04 -5.40876498e+00] [ 3.44910505e-03 3.79793064e-04 9.99993980e-01 -2.85309201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.841346184 meters 0.10242180862404163 Centerline is valid? [False, False] Translation: X:67.28, Y:-5.41, Z:-2.85 [[ 9.99993375e-01 -8.93381676e-04 -3.52877959e-03 6.72790018e+01] [ 8.93564454e-04 9.99999600e-01 5.02201301e-05 -5.40939767e+00] [ 3.52873331e-03 -5.33729894e-05 9.99993773e-01 -2.85381002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87134618399999 meters 0.10410862123365512 Centerline is valid? [False, False] Translation: X:67.28, Y:-5.41, Z:-2.85 [[ 9.99993526e-01 -6.74648371e-04 -3.53464060e-03 6.72794975e+01] [ 6.76003842e-04 9.99999698e-01 3.82301460e-04 -5.40977368e+00] [ 3.53438161e-03 -3.84688415e-04 9.99993680e-01 -2.85456026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90134618399999 meters 0.10492245673962795 Centerline is valid? [False, False] Translation: X:67.28, Y:-5.41, Z:-2.86 [[ 9.99993342e-01 -2.05776148e-04 -3.64336303e-03 6.72805967e+01] [ 2.09490190e-04 9.99999459e-01 1.01904694e-03 -5.41054416e+00] [ 3.64315136e-03 -1.01980341e-03 9.99992844e-01 -2.85587273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93134618399999 meters 0.09678726346591167 Centerline is valid? [False, True] Translation: X:67.28, Y:-5.41, Z:-2.86 [[ 9.99993090e-01 3.57976055e-04 -3.70034001e-03 6.72819294e+01] [-3.51250543e-04 9.99998286e-01 1.81802914e-03 -5.41149084e+00] [ 3.70098447e-03 -1.81671683e-03 9.99991501e-01 -2.85772147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96134618399999 meters 0.09577203656460638 Centerline is valid? [True, True] Translation: X:67.31, Y:-5.41, Z:-2.86 [[ 9.99985873e-01 8.36767762e-04 -5.24923071e-03 6.73112886e+01] [-8.34364567e-04 9.99999546e-01 4.59991768e-04 -5.41111991e+00] [ 5.24961324e-03 -4.55605497e-04 9.99986117e-01 -2.85839762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.991346184 meters 0.0967068884990665 Centerline is valid? [True, True] Translation: X:67.34, Y:-5.41, Z:-2.86 [[ 9.99980898e-01 3.26116889e-05 -6.18084246e-03 6.73399556e+01] [-2.92641623e-05 9.99999853e-01 5.41686808e-04 -5.41408766e+00] [ 6.18085921e-03 -5.41495583e-04 9.99980752e-01 -2.85852921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.021346184 meters 0.10989395207203259 Centerline is valid? [True, False] Translation: X:67.34, Y:-5.41, Z:-2.86 [[ 9.99981519e-01 -1.87159871e-04 -6.07677609e-03 6.73394129e+01] [ 1.89543722e-04 9.99999905e-01 3.91715276e-04 -5.41377979e+00] [ 6.07670220e-03 -3.92859851e-04 9.99981460e-01 -2.85807836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.051346184 meters 0.10069060332095973 Centerline is valid? [False, False] Translation: X:67.34, Y:-5.41, Z:-2.86 [[ 9.99982938e-01 -2.71297648e-04 -5.83527927e-03 6.73387101e+01] [ 2.74319958e-04 9.99999829e-01 5.17143386e-04 -5.41460336e+00] [ 5.83513797e-03 -5.18735296e-04 9.99982841e-01 -2.85783392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.081346184 meters 0.0973967418714283 Centerline is valid? [False, True] Translation: X:67.34, Y:-5.42, Z:-2.86 [[ 9.99983696e-01 -3.13880540e-04 -5.70170861e-03 6.73383062e+01] [ 3.17429675e-04 9.99999756e-01 6.21574331e-04 -5.41523537e+00] [ 5.70151212e-03 -6.23374088e-04 9.99983552e-01 -2.85767132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.111346184 meters 0.09925394314220187 Centerline is valid? [True, True] Translation: X:67.37, Y:-5.42, Z:-2.86 [[ 9.99986553e-01 -9.97505732e-04 -5.08901539e-03 6.73660682e+01] [ 9.99867235e-04 9.99999394e-01 4.61516220e-04 -5.42097479e+00] [ 5.08855194e-03 -4.66598354e-04 9.99986944e-01 -2.85864626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141346184 meters 0.10331410752151722 Centerline is valid? [True, False] Translation: X:67.37, Y:-5.42, Z:-2.86 [[ 9.99986832e-01 -6.96259253e-04 -5.08435124e-03 6.73667047e+01] [ 7.01305222e-04 9.99999263e-01 9.90735465e-04 -5.42170480e+00] [ 5.08365769e-03 -9.94288101e-04 9.99986584e-01 -2.85968631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.171346184 meters 0.10492383014169007 Centerline is valid? [False, False] Translation: X:67.37, Y:-5.42, Z:-2.86 [[ 9.99987197e-01 -4.83230120e-04 -5.03703762e-03 6.73669268e+01] [ 4.90317019e-04 9.99998892e-01 1.40581781e-03 -5.42289376e+00] [ 5.03635271e-03 -1.40826956e-03 9.99986326e-01 -2.86022319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201346184 meters 0.10097147552441456 Centerline is valid? [False, False] Translation: X:67.37, Y:-5.42, Z:-2.86 [[ 9.99987573e-01 -9.76335621e-05 -4.98438830e-03 6.73672764e+01] [ 1.07991732e-04 9.99997835e-01 2.07789580e-03 -5.42477623e+00] [ 4.98417464e-03 -2.07840825e-03 9.99985419e-01 -2.86096587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23134618399999 meters 0.10108789161610376 Centerline is valid? [False, False] Translation: X:67.37, Y:-5.43, Z:-2.86 [[ 9.99986879e-01 1.14369630e-04 -5.12147124e-03 6.73674784e+01] [-1.02379407e-04 9.99997254e-01 2.34136869e-03 -5.42609522e+00] [ 5.12172496e-03 -2.34081364e-03 9.99984144e-01 -2.86078180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26134618399999 meters 0.0979640382491677 Centerline is valid? [False, True] Translation: X:67.37, Y:-5.42, Z:-2.86 [[ 9.99985360e-01 -3.59788538e-04 -5.39905418e-03 6.73674303e+01] [ 3.67092909e-04 9.99999019e-01 1.35196827e-03 -5.42334946e+00] [ 5.39856246e-03 -1.35393043e-03 9.99984511e-01 -2.85971144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29134618399999 meters 0.09914070786726419 Centerline is valid? [True, True] Translation: X:67.40, Y:-5.42, Z:-2.86 [[ 9.99982744e-01 5.02930632e-04 -5.85313878e-03 6.73954749e+01] [-4.99912975e-04 9.99999741e-01 5.17013786e-04 -5.42289470e+00] [ 5.85339729e-03 -5.14078804e-04 9.99982737e-01 -2.85709711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32134618399999 meters 0.0940418193025635 Centerline is valid? [True, True] Translation: X:67.43, Y:-5.42, Z:-2.86 [[ 9.99981191e-01 3.40907617e-03 -5.09852118e-03 6.74270852e+01] [-3.40681759e-03 9.99994095e-01 4.51605961e-04 -5.41562513e+00] [ 5.10003063e-03 -4.34227736e-04 9.99986900e-01 -2.85506363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.351346184 meters 0.09247561808312832 Centerline is valid? [True, True] Translation: X:67.46, Y:-5.42, Z:-2.86 [[ 9.99976932e-01 4.43648638e-03 -5.14316870e-03 6.74561435e+01] [-4.43420621e-03 9.99990066e-01 4.54657600e-04 -5.41939962e+00] [ 5.14513469e-03 -4.31841241e-04 9.99986670e-01 -2.85746279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.381346184 meters 0.09184466778927641 Centerline is valid? [True, True] Translation: X:67.48, Y:-5.43, Z:-2.86 [[ 9.99980358e-01 5.26906222e-03 -3.39425663e-03 6.74844006e+01] [-5.26807623e-03 9.99986079e-01 2.99362147e-04 -5.42536481e+00] [ 3.39578674e-03 -2.81475064e-04 9.99994195e-01 -2.85969624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.411346184 meters 0.0915543733407365 Centerline is valid? [True, True] Translation: X:67.51, Y:-5.43, Z:-2.86 [[ 9.99971187e-01 5.90147718e-03 -4.77464431e-03 6.75129274e+01] [-5.89953315e-03 9.99982509e-01 4.21138804e-04 -5.42871722e+00] [ 4.77704614e-03 -3.92958497e-04 9.99988513e-01 -2.86101213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.441346184 meters 0.09314525542939558 Centerline is valid? [True, True] Translation: X:67.54, Y:-5.43, Z:-2.86 [[ 9.99965753e-01 5.50772732e-03 -6.17717402e-03 6.75403812e+01] [-5.50446900e-03 9.99984702e-01 5.44355609e-04 -5.43087263e+00] [ 6.18007769e-03 -5.10334904e-04 9.99980773e-01 -2.86182665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.471346184 meters 0.09966374210049642 Centerline is valid? [True, True] Translation: X:67.57, Y:-5.44, Z:-2.86 [[ 9.99957591e-01 4.79228737e-03 -7.86447518e-03 6.75676163e+01] [-4.78698394e-03 9.99988302e-01 6.93038062e-04 -5.44274823e+00] [ 7.86770442e-03 -6.55361555e-04 9.99968834e-01 -2.86465430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501346184 meters 0.09586528862021197 Centerline is valid? [True, True] Translation: X:67.60, Y:-5.44, Z:-2.86 [[ 9.99966242e-01 3.70006715e-03 -7.33647304e-03 6.75968488e+01] [-3.69542681e-03 9.99992963e-01 6.45957341e-04 -5.44281342e+00] [ 7.33881150e-03 -6.18824136e-04 9.99972879e-01 -2.86470838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.531346184 meters 0.09441150357625791 Centerline is valid? [True, True] Translation: X:67.63, Y:-5.45, Z:-2.86 [[ 9.99972281e-01 3.05033195e-03 -6.79207582e-03 6.76250414e+01] [-3.04634362e-03 9.99995181e-01 5.97471799e-04 -5.44630473e+00] [ 6.79386558e-03 -5.76764240e-04 9.99976755e-01 -2.86467578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561346184 meters 0.09467601553006495 Centerline is valid? [True, True] Translation: X:67.65, Y:-5.45, Z:-2.86 [[ 9.99974523e-01 2.71800548e-03 -6.60049918e-03 6.76531720e+01] [-2.71423495e-03 9.99996148e-01 5.80139854e-04 -5.45098660e+00] [ 6.60205058e-03 -5.62209768e-04 9.99978048e-01 -2.86481435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.591346184 meters 0.09321893326789189 Centerline is valid? [True, True] Translation: X:67.68, Y:-5.45, Z:-2.86 [[ 9.99988562e-01 2.89102612e-03 -3.81015283e-03 6.76820805e+01] [-2.88977344e-03 9.99995769e-01 3.34239155e-04 -5.44877759e+00] [ 3.81110301e-03 -3.23224854e-04 9.99992685e-01 -2.85939093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62134618399999 meters 0.09415652511198157 Centerline is valid? [True, True] Translation: X:67.71, Y:-5.45, Z:-2.86 [[ 9.99986348e-01 3.72733695e-03 -3.66217269e-03 6.77094250e+01] [-3.72618732e-03 9.99993006e-01 3.20694552e-04 -5.45192678e+00] [ 3.66334242e-03 -3.07044233e-04 9.99993243e-01 -2.85947510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65134618399999 meters 0.09331001170989069 Centerline is valid? [True, True] Translation: X:67.74, Y:-5.45, Z:-2.86 [[ 9.99980858e-01 4.37067024e-03 -4.37956665e-03 6.77379070e+01] [-4.36903164e-03 9.99990382e-01 3.83644091e-04 -5.45385361e+00] [ 4.38120131e-03 -3.64502282e-04 9.99990336e-01 -2.86120857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68134618399999 meters 0.09521110226358397 Centerline is valid? [True, True] Translation: X:67.76, Y:-5.46, Z:-2.87 [[ 9.99946345e-01 5.64113547e-03 -8.68822253e-03 6.77645888e+01] [-5.63473507e-03 9.99983835e-01 7.60978184e-04 -5.46412886e+00] [ 8.69237486e-03 -7.11981522e-04 9.99961967e-01 -2.86917384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71134618399999 meters 0.09500511960646803 Centerline is valid? [True, True] Translation: X:67.79, Y:-5.47, Z:-2.87 [[ 9.99938844e-01 5.20808495e-03 -9.75619539e-03 6.77936714e+01] [-5.19999684e-03 9.99986115e-01 8.54206673e-04 -5.46619739e+00] [ 9.76050871e-03 -8.03422248e-04 9.99952042e-01 -2.87004290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.741346184 meters 0.09615595030286216 Centerline is valid? [True, True] Translation: X:67.82, Y:-5.47, Z:-2.87 [[ 9.99933738e-01 3.77673688e-03 -1.08745897e-02 6.78222109e+01] [-3.76660648e-03 9.99992453e-01 9.51896657e-04 -5.46805479e+00] [ 1.08781026e-02 -9.10873282e-04 9.99940417e-01 -2.86894040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.771346184 meters 0.09726966002771793 Centerline is valid? [True, True] Translation: X:67.85, Y:-5.47, Z:-2.87 [[ 9.99944240e-01 2.62972887e-03 -1.02274795e-02 6.78519308e+01] [-2.62071039e-03 9.99996165e-01 8.95090863e-04 -5.47043944e+00] [ 1.02297941e-02 -8.68237691e-04 9.99947297e-01 -2.86725543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.801346184 meters 0.10179549445408329 Centerline is valid? [True, False] Translation: X:67.85, Y:-5.47, Z:-2.87 [[ 9.99949174e-01 2.54891025e-03 -9.75464372e-03 6.78502271e+01] [-2.53543878e-03 9.99995815e-01 1.39314793e-03 -5.47412313e+00] [ 9.75815391e-03 -1.36834482e-03 9.99951452e-01 -2.86626692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.831346184 meters 0.09877235418513367 Centerline is valid? [False, True] Translation: X:67.85, Y:-5.48, Z:-2.87 [[ 9.99948881e-01 -1.22123959e-03 -1.00371197e-02 6.78511957e+01] [ 1.19954702e-03 9.99996933e-01 -2.16697088e-03 -5.47609709e+00] [ 1.00397353e-02 2.15482011e-03 9.99947279e-01 -2.86679849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.861346184 meters 0.10140598881180696 Centerline is valid? [True, False] Translation: X:67.85, Y:-5.48, Z:-2.87 [[ 9.99951137e-01 -6.93949856e-04 -9.86116236e-03 6.78512181e+01] [ 6.83174053e-04 9.99999166e-01 -1.09607839e-03 -5.47952476e+00] [ 9.86191476e-03 1.08928794e-03 9.99950777e-01 -2.86748208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.891346184 meters 0.10221780455027814 Centerline is valid? [False, False] Translation: X:67.85, Y:-5.48, Z:-2.87 [[ 9.99952985e-01 -6.96042813e-04 -9.67176546e-03 6.78507924e+01] [ 6.87497922e-04 9.99999370e-01 -8.86784906e-04 -5.48038389e+00] [ 9.67237661e-03 8.80093895e-04 9.99952834e-01 -2.86751705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921346184 meters 0.09512630663864763 Centerline is valid? [False, True] Translation: X:67.85, Y:-5.48, Z:-2.87 [[ 9.99953685e-01 2.72988814e-03 -9.22903508e-03 6.78487795e+01] [-2.70751061e-03 9.99993367e-01 2.43631265e-03 -5.47884569e+00] [ 9.23562473e-03 -2.41121210e-03 9.99954444e-01 -2.86597629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.951346184 meters 0.0952219915395562 Centerline is valid? [True, True] Translation: X:67.88, Y:-5.48, Z:-2.87 [[ 9.99944354e-01 4.28359244e-03 -9.64053149e-03 6.78780011e+01] [-4.27529736e-03 9.99990473e-01 8.80882255e-04 -5.47945713e+00] [ 9.64421298e-03 -8.39617099e-04 9.99953141e-01 -2.86538566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98134618399999 meters 0.09313303000598837 Centerline is valid? [True, True] Translation: X:67.91, Y:-5.48, Z:-2.87 [[ 9.99919568e-01 5.89961218e-03 -1.12272842e-02 6.79074363e+01] [-5.88847026e-03 9.99982137e-01 1.02519569e-03 -5.47961297e+00] [ 1.12331319e-02 -9.59001702e-04 9.99936447e-01 -2.86606641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01134618399999 meters 0.09246318320356105 Centerline is valid? [True, True] Translation: X:67.94, Y:-5.49, Z:-2.87 [[ 9.99881254e-01 9.99679821e-03 -1.17278485e-02 6.79368533e+01] [-9.98491591e-03 9.99949576e-01 1.07128649e-03 -5.48589557e+00] [ 1.17379666e-02 -9.54057701e-04 9.99930653e-01 -2.86968100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04134618399999 meters 0.09031874942730571 Centerline is valid? [True, True] Translation: X:67.97, Y:-5.48, Z:-2.87 [[ 9.99871228e-01 1.16188739e-02 -1.10692604e-02 6.79674136e+01] [-1.16083910e-02 9.99932109e-01 1.01081262e-03 -5.48459571e+00] [ 1.10802534e-02 -8.82186155e-04 9.99938223e-01 -2.86819163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07134618399999 meters 0.08946914905508471 Centerline is valid? [True, True] Translation: X:68.00, Y:-5.48, Z:-2.87 [[ 9.99866511e-01 1.27500804e-02 -1.02174578e-02 6.79967903e+01] [-1.27412276e-02 9.99918394e-01 9.31069621e-04 -5.48404649e+00] [ 1.02284952e-02 -8.00762378e-04 9.99947367e-01 -2.86661650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.101346184 meters 0.09000469371736472 Centerline is valid? [True, True] Translation: X:68.02, Y:-5.49, Z:-2.87 [[ 9.99843471e-01 1.38365876e-02 -1.10264824e-02 6.80241200e+01] [-1.38263572e-02 9.99903908e-01 1.00349935e-03 -5.48649546e+00] [ 1.10393079e-02 -8.50886192e-04 9.99938703e-01 -2.86738722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.131346184 meters 0.08831100110616519 Centerline is valid? [True, True] Translation: X:68.05, Y:-5.49, Z:-2.87 [[ 9.99788467e-01 1.65781596e-02 -1.21731868e-02 6.80535130e+01] [-1.65658880e-02 9.99862162e-01 1.10823055e-03 -5.49048591e+00] [ 1.21898813e-02 -9.06336471e-04 9.99925290e-01 -2.87251173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.161346184 meters 0.08757887408732366 Centerline is valid? [True, True] Translation: X:68.08, Y:-5.49, Z:-2.88 [[ 9.99735717e-01 1.80756906e-02 -1.42044303e-02 6.80817967e+01] [-1.80591494e-02 9.99836086e-01 1.29192779e-03 -5.49378587e+00] [ 1.42254545e-02 -1.03506643e-03 9.99898277e-01 -2.87524543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.191346184 meters 0.08783193335468534 Centerline is valid? [True, True] Translation: X:68.11, Y:-5.50, Z:-2.88 [[ 9.99715552e-01 1.89327671e-02 -1.45039880e-02 6.81103132e+01] [-1.89156804e-02 9.99820219e-01 1.31436148e-03 -5.49600379e+00] [ 1.45262649e-02 -1.03963482e-03 9.99893948e-01 -2.87554855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.221346184 meters 0.09221833132184858 Centerline is valid? [True, True] Translation: X:68.14, Y:-5.50, Z:-2.88 [[ 9.99685465e-01 1.97806682e-02 -1.54174053e-02 6.81375853e+01] [-1.97614609e-02 9.99803747e-01 1.39718405e-03 -5.50383017e+00] [ 1.54420168e-02 -1.09207413e-03 9.99880169e-01 -2.87756588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.251346184 meters 0.08639547639492721 Centerline is valid? [True, True] Translation: X:68.17, Y:-5.49, Z:-2.87 [[ 9.99659613e-01 2.09857753e-02 -1.55001823e-02 6.81676628e+01] [-2.09665198e-02 9.99779193e-01 1.40375260e-03 -5.48967948e+00] [ 1.55262186e-02 -1.07828990e-03 9.99878880e-01 -2.87124345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281346184 meters 0.08443707381077227 Centerline is valid? [True, True] Translation: X:68.20, Y:-5.49, Z:-2.87 [[ 9.99661624e-01 2.12072754e-02 -1.50628244e-02 6.81970618e+01] [-2.11891894e-02 9.99774560e-01 1.35930134e-03 -5.48805958e+00] [ 1.50882557e-02 -1.03967235e-03 9.99885625e-01 -2.86937522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.311346184 meters 0.08714433009535469 Centerline is valid? [True, True] Translation: X:68.22, Y:-5.50, Z:-2.87 [[ 9.99678566e-01 2.13288828e-02 -1.37056020e-02 6.82235863e+01] [-2.13139238e-02 9.99772068e-01 1.23661578e-03 -5.49809603e+00] [ 1.37288537e-02 -9.44098129e-04 9.99905309e-01 -2.87253739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.341346184 meters 0.08674192296855837 Centerline is valid? [True, True] Translation: X:68.25, Y:-5.51, Z:-2.87 [[ 9.99766156e-01 1.97051728e-02 -8.90725602e-03 6.82519717e+01] [-1.96987971e-02 9.99805637e-01 8.02962090e-04 -5.50666210e+00] [ 8.92134729e-03 -6.27312093e-04 9.99960007e-01 -2.87323437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37134618399999 meters 0.08682617370425336 Centerline is valid? [True, True] Translation: X:68.28, Y:-5.51, Z:-2.87 [[ 9.99795498e-01 1.83982173e-02 -8.39451409e-03 6.82818345e+01] [-1.83925090e-02 9.99830557e-01 7.56696857e-04 -5.50945575e+00] [ 8.40701357e-03 -6.02145935e-04 9.99964479e-01 -2.87283025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40134618399999 meters 0.08712406318323697 Centerline is valid? [True, True] Translation: X:68.31, Y:-5.51, Z:-2.87 [[ 9.99820293e-01 1.67228610e-02 -8.92906190e-03 6.83113957e+01] [-1.67163388e-02 9.99859949e-01 8.04585795e-04 -5.51034409e+00] [ 8.94126635e-03 -6.55179982e-04 9.99959811e-01 -2.87221670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43134618399999 meters 0.08833595244897446 Centerline is valid? [True, True] Translation: X:68.34, Y:-5.51, Z:-2.87 [[ 9.99832036e-01 1.46769143e-02 -1.09766634e-02 6.83418732e+01] [-1.46669311e-02 9.99891945e-01 9.89446101e-04 -5.51300068e+00] [ 1.09899994e-02 -8.28285943e-04 9.99939265e-01 -2.87281546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46134618399999 meters 0.09028856306856434 Centerline is valid? [True, True] Translation: X:68.37, Y:-5.52, Z:-2.88 [[ 9.99852094e-01 9.59208023e-03 -1.42752084e-02 6.83712443e+01] [-9.57468479e-03 9.99953334e-01 1.28642377e-03 -5.51944073e+00] [ 1.42868817e-02 -1.14955288e-03 9.99897276e-01 -2.87593076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.491346184 meters 0.09028856306856434 Centerline is valid? [True, True] Translation: X:68.40, Y:-5.52, Z:-2.88 [[ 9.99853093e-01 9.48705530e-03 -1.42754095e-02 6.83986783e+01] [-9.46968090e-03 9.99954337e-01 1.28419102e-03 -5.52178252e+00] [ 1.42869408e-02 -1.14881880e-03 9.99897276e-01 -2.87615784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.521346184 meters 0.09641016894657085 Centerline is valid? [True, True] Translation: X:68.43, Y:-5.54, Z:-2.88 [[ 9.99868873e-01 7.18045951e-03 -1.45147343e-02 6.84259901e+01] [-7.16225493e-03 9.99973498e-01 1.30580779e-03 -5.53801035e+00] [ 1.45237259e-02 -1.20167834e-03 9.99893803e-01 -2.88049128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.551346184 meters 0.09466141730506568 Centerline is valid? [True, True] Translation: X:68.46, Y:-5.54, Z:-2.88 [[ 9.99876908e-01 4.34870421e-03 -1.50750840e-02 6.84564648e+01] [-4.32874498e-03 9.99989711e-01 1.35636515e-03 -5.53971882e+00] [ 1.50808273e-02 -1.29094200e-03 9.99885444e-01 -2.87964551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.581346184 meters 0.10009404033076048 Centerline is valid? [True, False] Translation: X:68.45, Y:-5.54, Z:-2.88 [[ 9.99888728e-01 3.68019631e-03 -1.44564328e-02 6.84542978e+01] [-3.66693745e-03 9.99992832e-01 9.43559762e-04 -5.54008369e+00] [ 1.44598017e-02 -8.90443935e-04 9.99895055e-01 -2.87845027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.611346184 meters 0.0948675438278532 Centerline is valid? [False, True] Translation: X:68.45, Y:-5.54, Z:-2.88 [[ 9.99891361e-01 3.29579280e-03 -1.43667881e-02 6.84538290e+01] [-3.29076179e-03 9.99994516e-01 3.73809939e-04 -5.53855624e+00] [ 1.43679413e-02 -3.26491651e-04 9.99896723e-01 -2.87802481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641346184 meters 0.1036244821578248 Centerline is valid? [True, False] Translation: X:68.45, Y:-5.54, Z:-2.89 [[ 9.99992866e-01 2.87176601e-03 2.45387030e-03 6.84510073e+01] [-2.87742097e-03 9.99993206e-01 2.30409228e-03 -5.53888421e+00] [-2.44723682e-03 -2.31113666e-03 9.99994335e-01 -2.88548095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.671346184 meters 0.1025943974345604 Centerline is valid? [False, False] Translation: X:68.45, Y:-5.54, Z:-2.89 [[ 9.99992855e-01 2.96328124e-03 2.34696680e-03 6.84514563e+01] [-2.96882138e-03 9.99992807e-01 2.36059739e-03 -5.53880915e+00] [-2.33995480e-03 -2.36754825e-03 9.99994460e-01 -2.88581439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701346184 meters 0.10326576614615669 Centerline is valid? [False, False] Translation: X:68.45, Y:-5.54, Z:-2.89 [[ 9.99993542e-01 2.92589471e-03 2.08665117e-03 6.84519522e+01] [-2.92999546e-03 9.99993777e-01 1.96488701e-03 -5.53753832e+00] [-2.08088913e-03 -1.97098820e-03 9.99995893e-01 -2.88567892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73134618399999 meters 0.1024127658155189 Centerline is valid? [False, False] Translation: X:68.45, Y:-5.54, Z:-2.88 [[ 9.99995001e-01 2.47952542e-03 1.96216728e-03 6.84515898e+01] [-2.48158177e-03 9.99996374e-01 1.04625789e-03 -5.53542362e+00] [-1.95956595e-03 -1.05112194e-03 9.99997528e-01 -2.88463320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76134618399999 meters 0.09256096647828857 Centerline is valid? [False, True] Translation: X:68.45, Y:-5.53, Z:-2.88 [[ 9.99996306e-01 2.25017418e-03 1.52483405e-03 6.84521966e+01] [-2.25032661e-03 9.99997463e-01 9.82563577e-05 -5.53211534e+00] [-1.52460909e-03 -1.01687369e-04 9.99998833e-01 -2.88396533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79134618399999 meters 0.09463875395417067 Centerline is valid? [True, True] Translation: X:68.48, Y:-5.54, Z:-2.88 [[ 9.99991172e-01 3.44827193e-03 2.40129594e-03 6.84812033e+01] [-3.44779415e-03 9.99994036e-01 -2.03080993e-04 -5.53751604e+00] [-2.40198190e-03 1.94800026e-04 9.99997096e-01 -2.88442132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82134618399999 meters 0.0918370228315361 Centerline is valid? [True, True] Translation: X:68.51, Y:-5.53, Z:-2.89 [[ 9.99987854e-01 4.49684679e-03 2.01723176e-03 6.85117078e+01] [-4.49651169e-03 9.99989876e-01 -1.70619459e-04 -5.53413133e+00] [-2.01797859e-03 1.61546880e-04 9.99997951e-01 -2.88519351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.851346184 meters 0.0920366712167784 Centerline is valid? [True, True] Translation: X:68.54, Y:-5.53, Z:-2.89 [[ 9.99983808e-01 5.63306530e-03 8.07594906e-04 6.85407157e+01] [-5.63301172e-03 9.99984132e-01 -6.86105333e-05 -5.53432918e+00] [-8.07968579e-04 6.40602308e-05 9.99999672e-01 -2.88860001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.881346184 meters 0.10263183904976159 Centerline is valid? [True, False] Translation: X:68.54, Y:-5.53, Z:-2.89 [[ 9.99984550e-01 5.51791732e-03 6.72530071e-04 6.85411191e+01] [-5.51763557e-03 9.99984689e-01 -4.20078221e-04 -5.53292380e+00] [-6.74837731e-04 4.16360955e-04 9.99999686e-01 -2.88874978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.911346184 meters 0.09530691242168073 Centerline is valid? [False, True] Translation: X:68.54, Y:-5.53, Z:-2.89 [[ 9.99985084e-01 5.43468301e-03 5.43758997e-04 6.85414696e+01] [-5.43429992e-03 9.99984987e-01 -7.03522687e-04 -5.53175317e+00] [-5.47574256e-04 7.00557244e-04 9.99999605e-01 -2.88884183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.941346184 meters 0.09280494195165818 Centerline is valid? [True, True] Translation: X:68.57, Y:-5.53, Z:-2.89 [[ 9.99967789e-01 7.68383807e-03 2.31947795e-03 6.85721798e+01] [-7.68341296e-03 9.99970464e-01 -1.92130201e-04 -5.53003671e+00] [-2.32088574e-03 1.74302506e-04 9.99997292e-01 -2.88804967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.971346184 meters 0.09109301410759521 Centerline is valid? [True, True] Translation: X:68.60, Y:-5.53, Z:-2.89 [[ 9.99948591e-01 9.54289137e-03 3.42769196e-03 6.86024447e+01] [-9.54197617e-03 9.99954434e-01 -2.83257437e-04 -5.52968251e+00] [-3.43023887e-03 2.50535919e-04 9.99994085e-01 -2.88767504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001346184 meters 0.09188595311049645 Centerline is valid? [True, True] Translation: X:68.63, Y:-5.53, Z:-2.89 [[ 9.99945652e-01 1.00340884e-02 2.83003933e-03 6.86298512e+01] [-1.00334631e-02 9.99949636e-01 -2.35035883e-04 -5.53113679e+00] [-2.83225517e-03 2.06628014e-04 9.99995968e-01 -2.88924872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.031346184 meters 0.08671937653037838 Centerline is valid? [True, True] Translation: X:68.66, Y:-5.52, Z:-2.89 [[ 9.99942564e-01 1.07116142e-02 3.60095557e-04 6.86600605e+01] [-1.07116037e-02 9.99942629e-01 -3.10941083e-05 -5.51914563e+00] [-3.60407966e-04 2.72351215e-05 9.99999935e-01 -2.88951809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061346184 meters 0.08678990119027574 Centerline is valid? [True, True] Translation: X:68.69, Y:-5.52, Z:-2.89 [[ 9.99950361e-01 9.85261691e-03 -1.48342004e-03 6.86895301e+01] [-9.85244753e-03 9.99951456e-01 1.21446216e-04 -5.52046763e+00] [ 1.48454459e-03 -1.06824869e-04 9.99998892e-01 -2.89197330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.091346184 meters 0.0921624229321041 Centerline is valid? [True, True] Translation: X:68.72, Y:-5.53, Z:-2.90 [[ 9.99962342e-01 8.20901923e-03 -2.81528748e-03 6.87173099e+01] [-8.20840362e-03 9.99966284e-01 2.30150531e-04 -5.53292388e+00] [ 2.81708187e-03 -2.07032848e-04 9.99996011e-01 -2.89749353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12134618399999 meters 0.08692348438091664 Centerline is valid? [True, True] Translation: X:68.75, Y:-5.53, Z:-2.90 [[ 9.99973785e-01 6.58245356e-03 -3.01667615e-03 6.87469910e+01] [-6.58173836e-03 9.99978310e-01 2.46946547e-04 -5.52738746e+00] [ 3.01823624e-03 -2.27085101e-04 9.99995419e-01 -2.89657868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15134618399999 meters 0.08975263912456083 Centerline is valid? [True, True] Translation: X:68.77, Y:-5.54, Z:-2.90 [[ 9.99986527e-01 4.60666336e-03 -2.39272604e-03 6.87745613e+01] [-4.60620960e-03 9.99989372e-01 1.95116908e-04 -5.53579017e+00] [ 2.39359945e-03 -1.84092881e-04 9.99997118e-01 -2.89884116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18134618399999 meters 0.09201434224312513 Centerline is valid? [True, True] Translation: X:68.80, Y:-5.54, Z:-2.89 [[ 9.99999143e-01 1.19076369e-03 -5.44339887e-04 6.88046422e+01] [-1.19073972e-03 9.99999290e-01 4.43590347e-05 -5.53827221e+00] [ 5.44392322e-04 -4.37108296e-05 9.99999851e-01 -2.89482613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21134618399999 meters 0.0911913997926854 Centerline is valid? [True, True] Translation: X:68.84, Y:-5.54, Z:-2.89 [[ 9.99999932e-01 -1.49652977e-04 3.37777703e-04 6.88350062e+01] [ 1.49662596e-04 9.99999988e-01 -2.84512517e-05 -5.53558757e+00] [-3.37773441e-04 2.85018025e-05 9.99999943e-01 -2.89198295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.241346184 meters 0.09811737151595717 Centerline is valid? [True, True] Translation: X:68.86, Y:-5.55, Z:-2.90 [[ 9.99995615e-01 -1.08445737e-03 2.75569660e-03 6.88639866e+01] [ 1.08508408e-03 9.99999386e-01 -2.25936605e-04 -5.55019279e+00] [-2.75544989e-03 2.28925777e-04 9.99996178e-01 -2.89520336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.271346184 meters 0.10510364833691528 Centerline is valid? [True, False] Translation: X:68.86, Y:-5.55, Z:-2.90 [[ 9.99995752e-01 -5.45106624e-04 2.86320282e-03 6.88645855e+01] [ 5.43116865e-04 9.99999611e-01 6.95673101e-04 -5.55257238e+00] [-2.86358093e-03 -6.94115092e-04 9.99995659e-01 -2.89650666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.301346184 meters 0.09421652940665187 Centerline is valid? [False, True] Translation: X:68.87, Y:-5.55, Z:-2.90 [[ 9.99995809e-01 1.14017461e-04 2.89298149e-03 6.88656445e+01] [-1.19336089e-04 9.99998303e-01 1.83835333e-03 -5.55478649e+00] [-2.89276698e-03 -1.83869086e-03 9.99994126e-01 -2.89834181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.331346184 meters 0.09689164028651026 Centerline is valid? [True, True] Translation: X:68.90, Y:-5.56, Z:-2.90 [[ 9.99998637e-01 -6.87469463e-04 1.50120176e-03 6.88961882e+01] [ 6.87658308e-04 9.99999756e-01 -1.25282922e-04 -5.56055935e+00] [-1.50111527e-03 1.26315065e-04 9.99998865e-01 -2.89996523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.361346184 meters 0.09799281225371426 Centerline is valid? [True, True] Translation: X:68.93, Y:-5.56, Z:-2.90 [[ 9.99999233e-01 -1.23512074e-03 9.61851973e-05 6.89276301e+01] [ 1.23512129e-03 9.99999237e-01 -5.65388590e-06 -5.56035252e+00] [-9.61781407e-05 5.77268194e-06 9.99999995e-01 -2.89905676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.391346184 meters 0.09697466765690262 Centerline is valid? [True, True] Translation: X:68.96, Y:-5.56, Z:-2.90 [[ 9.99998004e-01 -1.04650576e-03 -1.70184184e-03 6.89591725e+01] [ 1.04675572e-03 9.99999441e-01 1.45988831e-04 -5.55821338e+00] [ 1.70168811e-03 -1.47769952e-04 9.99998541e-01 -2.89821466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421346184 meters 0.09662661453434702 Centerline is valid? [True, True] Translation: X:68.99, Y:-5.56, Z:-2.90 [[ 9.99999747e-01 3.04647890e-04 -6.42239409e-04 6.89898434e+01] [-3.04612747e-04 9.99999952e-01 5.48165796e-05 -5.55836255e+00] [ 6.42256078e-04 -5.46209314e-05 9.99999792e-01 -2.89763189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.451346184 meters 0.09564905634925325 Centerline is valid? [True, True] Translation: X:69.02, Y:-5.56, Z:-2.90 [[ 9.99997087e-01 2.40876760e-03 1.51952464e-04 6.90199111e+01] [-2.40876560e-03 9.99997099e-01 -1.33320847e-05 -5.55852841e+00] [-1.51984137e-04 1.29660280e-05 9.99999988e-01 -2.89746033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48134618399999 meters 0.09209990807249559 Centerline is valid? [True, True] Translation: X:69.05, Y:-5.56, Z:-2.90 [[ 9.99966415e-01 7.11270815e-03 4.07172748e-03 6.90510800e+01] [-7.11135213e-03 9.99974654e-01 -3.47413603e-04 -5.55504935e+00] [-4.07409533e-03 3.18446447e-04 9.99991650e-01 -2.89729095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51134618399999 meters 0.0932678182315097 Centerline is valid? [True, True] Translation: X:69.08, Y:-5.56, Z:-2.90 [[ 9.99934149e-01 9.87119824e-03 5.85295295e-03 6.90797687e+01] [-9.86844083e-03 9.99951181e-01 -4.99807484e-04 -5.55920262e+00] [-5.85760091e-03 4.42015051e-04 9.99982746e-01 -2.89923145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54134618399999 meters 0.09252514712856985 Centerline is valid? [True, True] Translation: X:69.11, Y:-5.56, Z:-2.90 [[ 9.99922221e-01 1.12802767e-02 5.32051392e-03 6.91093969e+01] [-1.12780173e-02 9.99936298e-01 -4.54470675e-04 -5.55894316e+00] [-5.32530154e-03 3.94430479e-04 9.99985743e-01 -2.90182072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57134618399999 meters 0.08733506331202634 Centerline is valid? [True, True] Translation: X:69.14, Y:-5.55, Z:-2.90 [[ 9.99901577e-01 1.38556998e-02 2.20353016e-03 6.91400242e+01] [-1.38553176e-02 9.99903993e-01 -1.88600555e-04 -5.54633130e+00] [-2.20593180e-03 1.58051382e-04 9.99997554e-01 -2.90285374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.601346184 meters 0.08805192474730283 Centerline is valid? [True, True] Translation: X:69.17, Y:-5.55, Z:-2.90 [[ 9.99894302e-01 1.44547478e-02 1.56394608e-03 6.91683317e+01] [-1.44545547e-02 9.99895518e-01 -1.34708340e-04 -5.54747139e+00] [-1.56572985e-03 1.12087957e-04 9.99998768e-01 -2.90375872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.631346184 meters 0.09065280352588861 Centerline is valid? [True, True] Translation: X:69.20, Y:-5.55, Z:-2.91 [[ 9.99886358e-01 1.49121858e-02 2.21311449e-03 6.91955537e+01] [-1.49118013e-02 9.99888795e-01 -1.90152797e-04 -5.55287571e+00] [-2.21570397e-03 1.57129664e-04 9.99997533e-01 -2.90504600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.661346184 meters 0.08860745735105394 Centerline is valid? [True, True] Translation: X:69.22, Y:-5.55, Z:-2.90 [[ 9.99890646e-01 1.44668067e-02 3.06724728e-03 6.92246503e+01] [-1.44660699e-02 9.99895327e-01 -2.62263666e-04 -5.55044210e+00] [-3.07072034e-03 2.17863973e-04 9.99995262e-01 -2.90346255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.691346184 meters 0.09055503466988915 Centerline is valid? [True, True] Translation: X:69.25, Y:-5.56, Z:-2.90 [[ 9.99928958e-01 1.13590670e-02 3.61244421e-03 6.92539417e+01] [-1.13580300e-02 9.99935448e-01 -3.07458507e-04 -5.55694157e+00] [-3.61570346e-03 2.66406415e-04 9.99993428e-01 -2.90427236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.721346184 meters 0.08981038058166867 Centerline is valid? [True, True] Translation: X:69.28, Y:-5.56, Z:-2.91 [[ 9.99950010e-01 9.52128860e-03 3.05314453e-03 6.92836435e+01] [-9.52053829e-03 9.99954645e-01 -2.60188499e-04 -5.55836503e+00] [-3.05548339e-03 2.31107913e-04 9.99995305e-01 -2.90605198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.751346184 meters 0.08911976966705157 Centerline is valid? [True, True] Translation: X:69.31, Y:-5.56, Z:-2.91 [[ 9.99964124e-01 8.42549962e-03 8.72293503e-04 6.93125900e+01] [-8.42543719e-03 9.99964503e-01 -7.52150193e-05 -5.55915603e+00] [-8.72896262e-04 6.78628668e-05 9.99999617e-01 -2.90889369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781346184 meters 0.09111352806978595 Centerline is valid? [True, True] Translation: X:69.34, Y:-5.56, Z:-2.91 [[ 9.99975165e-01 6.29208824e-03 -3.17488039e-03 6.93420429e+01] [-6.29126553e-03 9.99980174e-01 2.69053143e-04 -5.56302043e+00] [ 3.17651035e-03 -2.49072446e-04 9.99994924e-01 -2.91434786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.811346184 meters 0.09198409360004084 Centerline is valid? [True, True] Translation: X:69.37, Y:-5.57, Z:-2.92 [[ 9.99976341e-01 5.62526697e-03 -3.95906035e-03 6.93704236e+01] [-5.62398704e-03 9.99984129e-01 3.34351204e-04 -5.56572265e+00] [ 3.96087833e-03 -3.12077590e-04 9.99992107e-01 -2.91715680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.841346184 meters 0.09178520705444244 Centerline is valid? [True, True] Translation: X:69.40, Y:-5.57, Z:-2.92 [[ 9.99975733e-01 4.78823676e-03 -5.06018266e-03 6.93998117e+01] [-4.78613023e-03 9.99988455e-01 4.28322557e-04 -5.56702761e+00] [ 5.06217514e-03 -4.04093470e-04 9.99987105e-01 -2.91816622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87134618399999 meters 0.09296353658188791 Centerline is valid? [True, True] Translation: X:69.43, Y:-5.57, Z:-2.92 [[ 9.99986245e-01 4.21766317e-03 -3.11796203e-03 6.94273520e+01] [-4.21686589e-03 9.99991075e-01 2.62237353e-04 -5.56895626e+00] [ 3.11904023e-03 -2.49085718e-04 9.99995105e-01 -2.91671708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90134618399999 meters 0.09543964607218675 Centerline is valid? [True, True] Translation: X:69.46, Y:-5.57, Z:-2.92 [[ 9.99990802e-01 4.19948405e-03 -8.71963060e-04 6.94553607e+01] [-4.19942257e-03 9.99991180e-01 7.23238422e-05 -5.57347492e+00] [ 8.72259092e-04 -6.86614356e-05 9.99999617e-01 -2.91528183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93134618399999 meters 0.10263922393777207 Centerline is valid? [True, False] Translation: X:69.46, Y:-5.57, Z:-2.91 [[ 9.99992183e-01 3.86496878e-03 -8.34828900e-04 6.94550036e+01] [-3.86535952e-03 9.99992420e-01 -4.66952486e-04 -5.57186110e+00] [ 8.33017816e-04 4.70175749e-04 9.99999543e-01 -2.91485524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96134618399999 meters 0.09644057777131049 Centerline is valid? [False, True] Translation: X:69.46, Y:-5.57, Z:-2.92 [[ 9.99991609e-01 3.99417573e-03 -9.10457561e-04 6.94554304e+01] [-3.99451196e-03 9.99991954e-01 -3.67788084e-04 -5.57160808e+00] [ 9.08981225e-04 3.71421832e-04 9.99999518e-01 -2.91523448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.991346184 meters 0.09469513118995407 Centerline is valid? [True, True] Translation: X:69.48, Y:-5.57, Z:-2.92 [[ 9.99990172e-01 4.43129503e-03 -1.41550986e-04 6.94845532e+01] [-4.43129356e-03 9.99990182e-01 1.06440971e-05 -5.57160403e+00] [ 1.41596763e-04 -1.00167385e-05 9.99999990e-01 -2.91649304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.021346184 meters 0.09341407022214676 Centerline is valid? [True, True] Translation: X:69.51, Y:-5.57, Z:-2.92 [[ 9.99983871e-01 5.62800500e-03 -7.63867271e-04 6.95134050e+01] [-5.62795879e-03 9.99984161e-01 6.26234025e-05 -5.57086380e+00] [ 7.64207616e-04 -5.83233789e-05 9.99999706e-01 -2.91825976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.051346184 meters 0.09195665500458075 Centerline is valid? [True, True] Translation: X:69.54, Y:-5.57, Z:-2.92 [[ 9.99976061e-01 6.59160173e-03 -2.10453186e-03 6.95429121e+01] [-6.59124830e-03 9.99978262e-01 1.74829905e-04 -5.56947090e+00] [ 2.10563853e-03 -1.60954228e-04 9.99997770e-01 -2.91922779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.081346184 meters 0.09455733264025164 Centerline is valid? [True, True] Translation: X:69.57, Y:-5.57, Z:-2.92 [[ 9.99952240e-01 9.22826122e-03 -3.21826223e-03 6.95714905e+01] [-9.22744611e-03 9.99957390e-01 2.68031291e-04 -5.57211123e+00] [ 3.22059857e-03 -2.38322148e-04 9.99994785e-01 -2.92244197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.111346184 meters 0.0921195661133989 Centerline is valid? [True, True] Translation: X:69.60, Y:-5.57, Z:-2.92 [[ 9.99918063e-01 1.27123465e-02 -1.50424244e-03 6.96025982e+01] [-1.27121720e-02 9.99919189e-01 1.25510461e-04 -5.56783391e+00] [ 1.50571641e-03 -1.06377988e-04 9.99998861e-01 -2.92075711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141346184 meters 0.09152809437389807 Centerline is valid? [True, True] Translation: X:69.63, Y:-5.57, Z:-2.92 [[ 9.99887966e-01 1.49640719e-02 -3.64627741e-04 6.96316726e+01] [-1.49640621e-02 9.99888032e-01 2.98433814e-05 -5.56554079e+00] [ 3.65033493e-04 -2.43837258e-05 9.99999933e-01 -2.91891758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.171346184 meters 0.08943752563542443 Centerline is valid? [True, True] Translation: X:69.66, Y:-5.56, Z:-2.92 [[ 9.99815647e-01 1.90945669e-02 2.01713813e-03 6.96615729e+01] [-1.90942652e-02 9.99817674e-01 -1.68747543e-04 -5.56002463e+00] [-2.01999252e-03 1.30200663e-04 9.99997951e-01 -2.91760667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201346184 meters 0.08581168611506573 Centerline is valid? [True, True] Translation: X:69.69, Y:-5.56, Z:-2.92 [[ 9.99762171e-01 2.13713821e-02 4.34345692e-03 6.96922213e+01] [-2.13700081e-02 9.99771570e-01 -3.62505944e-04 -5.55612328e+00] [-4.35021199e-03 2.69600021e-04 9.99990501e-01 -2.91680067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23134618399999 meters 0.08630766977767743 Centerline is valid? [True, True] Translation: X:69.72, Y:-5.56, Z:-2.92 [[ 9.99746231e-01 2.19601299e-02 5.02255804e-03 6.97199615e+01] [-2.19582964e-02 9.99758799e-01 -4.19897481e-04 -5.56024567e+00] [-5.03056760e-03 3.09504106e-04 9.99987299e-01 -2.91847093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26134618399999 meters 0.0844653886500758 Centerline is valid? [True, True] Translation: X:69.75, Y:-5.56, Z:-2.92 [[ 9.99775172e-01 2.11925099e-02 6.94331919e-04 6.97492782e+01] [-2.11924743e-02 9.99775413e-01 -5.87227162e-05 -5.55645422e+00] [-6.95420462e-04 4.39949024e-05 9.99999757e-01 -2.92258288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29134618399999 meters 0.0840635200597013 Centerline is valid? [True, True] Translation: X:69.78, Y:-5.56, Z:-2.92 [[ 9.99796045e-01 2.01226296e-02 -1.71728175e-03 6.97785217e+01] [-2.01224154e-02 9.99797514e-01 1.41954559e-04 -5.55636952e+00] [ 1.71979052e-03 -1.07369750e-04 9.99998515e-01 -2.92449007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32134618399999 meters 0.09262140044058892 Centerline is valid? [True, True] Translation: X:69.81, Y:-5.57, Z:-2.93 [[ 9.99824558e-01 1.83519238e-02 -3.74957345e-03 6.98057125e+01] [-1.83508865e-02 9.99831560e-01 3.10865050e-04 -5.57404475e+00] [ 3.75464684e-03 -2.42002514e-04 9.99992922e-01 -2.93188958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.351346184 meters 0.08656541844483968 Centerline is valid? [True, True] Translation: X:69.84, Y:-5.57, Z:-2.93 [[ 9.99882915e-01 1.48689558e-02 -3.61538656e-03 6.98366677e+01] [-1.48679668e-02 9.99889421e-01 3.00257597e-04 -5.56578760e+00] [ 3.61945129e-03 -2.46468994e-04 9.99993419e-01 -2.92737159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.381346184 meters 0.08656541844483968 Centerline is valid? [True, True] Translation: X:69.86, Y:-5.57, Z:-2.93 [[ 9.99884456e-01 1.47649201e-02 -3.61554590e-03 6.98640810e+01] [-1.47639374e-02 9.99890963e-01 2.98339562e-04 -5.56793467e+00] [ 3.61955663e-03 -2.44925397e-04 9.99993419e-01 -2.92786250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.411346184 meters 0.09028974142689845 Centerline is valid? [True, True] Translation: X:69.89, Y:-5.58, Z:-2.93 [[ 9.99905370e-01 1.33614890e-02 -3.27430817e-03 6.98923477e+01] [-1.33606736e-02 9.99910706e-01 2.70774442e-04 -5.57741977e+00] [ 3.27763374e-03 -2.27001856e-04 9.99994603e-01 -2.92917413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.441346184 meters 0.08759970174202317 Centerline is valid? [True, True] Translation: X:69.92, Y:-5.57, Z:-2.93 [[ 9.99919192e-01 1.24299578e-02 -2.66555358e-03 6.99220331e+01] [-1.24294159e-02 9.99922728e-01 2.19758086e-04 -5.57348217e+00] [ 2.66807919e-03 -1.86609053e-04 9.99996423e-01 -2.92620829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.471346184 meters 0.08732345132346325 Centerline is valid? [True, True] Translation: X:69.95, Y:-5.57, Z:-2.93 [[ 9.99919414e-01 1.26419248e-02 -1.16077810e-03 6.99513742e+01] [-1.26418227e-02 9.99920084e-01 9.52483559e-05 -5.57416417e+00] [ 1.16188946e-03 -8.05663292e-05 9.99999322e-01 -2.92515223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501346184 meters 0.08605097093309269 Centerline is valid? [True, True] Translation: X:69.98, Y:-5.57, Z:-2.93 [[ 9.99876135e-01 1.57244991e-02 6.73777780e-04 6.99823024e+01] [-1.57244649e-02 9.99876361e-01 -5.59721555e-05 -5.57336535e+00] [-6.74574609e-04 4.53704275e-05 9.99999771e-01 -2.92575224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.531346184 meters 0.08521022414905896 Centerline is valid? [True, True] Translation: X:70.01, Y:-5.57, Z:-2.93 [[ 9.99844016e-01 1.76218294e-02 1.18961234e-03 7.00121780e+01] [-1.76217239e-02 9.99844720e-01 -9.91380698e-05 -5.57357814e+00] [-1.19117461e-03 7.81595857e-05 9.99999287e-01 -2.92624421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561346184 meters 0.08504106200882018 Centerline is valid? [True, True] Translation: X:70.04, Y:-5.58, Z:-2.93 [[ 9.99822334e-01 1.88205827e-02 1.04244964e-03 7.00396762e+01] [-1.88205013e-02 9.99822875e-01 -8.77853230e-05 -5.57528200e+00] [-1.04391716e-03 6.81503017e-05 9.99999453e-01 -2.92701431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.591346184 meters 0.08613396001125274 Centerline is valid? [True, True] Translation: X:70.07, Y:-5.58, Z:-2.93 [[ 9.99811034e-01 1.94148531e-02 9.79529067e-04 7.00672096e+01] [-1.94147816e-02 9.99811512e-01 -8.24733744e-05 -5.57963435e+00] [-9.80945646e-04 6.34404469e-05 9.99999517e-01 -2.92949484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62134618399999 meters 0.08677676209770785 Centerline is valid? [True, True] Translation: X:70.10, Y:-5.58, Z:-2.93 [[ 9.99824854e-01 1.87115103e-02 3.74499117e-04 7.00961313e+01] [-1.87114996e-02 9.99824924e-01 -3.21222801e-05 -5.58330360e+00] [-3.75034608e-04 2.51092140e-05 9.99999929e-01 -2.93033559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65134618399999 meters 0.08680985698974616 Centerline is valid? [True, True] Translation: X:70.13, Y:-5.59, Z:-2.93 [[ 9.99840453e-01 1.78495410e-02 6.79310732e-04 7.01250335e+01] [-1.78495062e-02 9.99840683e-01 -5.72542383e-05 -5.58554169e+00] [-6.80224468e-04 4.51197425e-05 9.99999768e-01 -2.93012074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68134618399999 meters 0.0857567721197811 Centerline is valid? [True, True] Translation: X:70.15, Y:-5.59, Z:-2.93 [[ 9.99854489e-01 1.69374832e-02 2.03054443e-03 7.01540002e+01] [-1.69371755e-02 9.99856542e-01 -1.68621514e-04 -5.58627163e+00] [-2.03310916e-03 1.34205290e-04 9.99997924e-01 -2.92777966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71134618399999 meters 0.084093904005253 Centerline is valid? [True, True] Translation: X:70.18, Y:-5.58, Z:-2.93 [[ 9.99855351e-01 1.66466256e-02 3.48808477e-03 7.01828764e+01] [-1.66457197e-02 9.99861409e-01 -2.88564321e-04 -5.58477175e+00] [-3.49240497e-03 2.30460899e-04 9.99993875e-01 -2.92592728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.741346184 meters 0.08437747974489086 Centerline is valid? [True, True] Translation: X:70.21, Y:-5.59, Z:-2.93 [[ 9.99846553e-01 1.67075647e-02 5.26579935e-03 7.02113254e+01] [-1.67055065e-02 9.99860359e-01 -4.34605201e-04 -5.58679403e+00] [-5.27232522e-03 3.46570667e-04 9.99986041e-01 -2.92511273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.771346184 meters 0.08549284750714786 Centerline is valid? [True, True] Translation: X:70.24, Y:-5.59, Z:-2.93 [[ 9.99846799e-01 1.62901862e-02 6.40381592e-03 7.02388150e+01] [-1.62871371e-02 9.99867216e-01 -5.27992651e-04 -5.59330823e+00] [-6.41156670e-03 4.23611934e-04 9.99979356e-01 -2.92790233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.801346184 meters 0.08549284750714786 Centerline is valid? [True, True] Translation: X:70.27, Y:-5.60, Z:-2.93 [[ 9.99848497e-01 1.61856295e-02 6.40384558e-03 7.02662207e+01] [-1.61825807e-02 9.99868914e-01 -5.27632690e-04 -5.59543079e+00] [-6.41154619e-03 4.23922005e-04 9.99979356e-01 -2.92839384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.831346184 meters 0.08664834364089061 Centerline is valid? [True, True] Translation: X:70.29, Y:-5.60, Z:-2.93 [[ 9.99876355e-01 1.46485600e-02 5.71788397e-03 7.02943613e+01] [-1.46461091e-02 9.99892629e-01 -4.70280123e-04 -5.60112572e+00] [-5.72415896e-03 3.86477223e-04 9.99983542e-01 -2.93060780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.861346184 meters 0.0873552081713124 Centerline is valid? [True, True] Translation: X:70.32, Y:-5.61, Z:-2.93 [[ 9.99910265e-01 1.26005213e-02 4.54839039e-03 7.03230973e+01] [-1.25989497e-02 9.99920560e-01 -3.74016996e-04 -5.60558346e+00] [-4.55274188e-03 3.16678492e-04 9.99989586e-01 -2.93242401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.891346184 meters 0.08958188003594618 Centerline is valid? [True, True] Translation: X:70.35, Y:-5.61, Z:-2.93 [[ 9.99941024e-01 1.05889235e-02 2.41326371e-03 7.03518337e+01] [-1.05884756e-02 9.99943921e-01 -1.98329941e-04 -5.61299498e+00] [-2.41522847e-03 1.72765460e-04 9.99997068e-01 -2.93389220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921346184 meters 0.0871790629625557 Centerline is valid? [True, True] Translation: X:70.38, Y:-5.61, Z:-2.93 [[ 9.99944162e-01 1.01960810e-02 2.77709167e-03 7.03804609e+01] [-1.01954852e-02 9.99947999e-01 -2.28588102e-04 -5.61120385e+00] [-2.77927796e-03 2.00261541e-04 9.99996118e-01 -2.93261577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.951346184 meters 0.09117503835471989 Centerline is valid? [True, True] Translation: X:70.41, Y:-5.62, Z:-2.94 [[ 9.99942711e-01 1.05778543e-02 1.63827472e-03 7.04078393e+01] [-1.05776469e-02 9.99944046e-01 -1.35241110e-04 -5.62269028e+00] [-1.63961361e-03 1.17904270e-04 9.99998649e-01 -2.93645303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98134618399999 meters 0.09144235479215053 Centerline is valid? [True, True] Translation: X:70.44, Y:-5.63, Z:-2.94 [[ 9.99942562e-01 1.06498010e-02 1.20617861e-03 7.04364325e+01] [-1.06496883e-02 9.99943285e-01 -9.97600658e-05 -5.62692581e+00] [-1.20717263e-03 8.69089095e-05 9.99999268e-01 -2.93955178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01134618399999 meters 0.09050215541385785 Centerline is valid? [True, True] Translation: X:70.47, Y:-5.63, Z:-2.94 [[ 9.99953564e-01 9.63657389e-03 -7.94217592e-05 7.04662126e+01] [-9.63657346e-03 9.99953567e-01 5.87907655e-06 -5.62880271e+00] [ 7.94747256e-05 -5.11344993e-06 9.99999997e-01 -2.94082077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04134618399999 meters 0.0925516448268195 Centerline is valid? [True, True] Translation: X:70.49, Y:-5.64, Z:-2.94 [[ 9.99960334e-01 8.90619930e-03 1.03051678e-04 7.04929896e+01] [-8.90619830e-03 9.99960339e-01 -1.02230317e-05 -5.63616309e+00] [-1.03138639e-04 9.30482751e-06 9.99999995e-01 -2.94179305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07134618399999 meters 0.08864405634969771 Centerline is valid? [True, True] Translation: X:70.52, Y:-5.63, Z:-2.94 [[ 9.99959847e-01 8.79946801e-03 1.69508461e-03 7.05222464e+01] [-8.79924425e-03 9.99961276e-01 -1.39419312e-04 -5.63255235e+00] [-1.69624579e-03 1.24498250e-04 9.99998554e-01 -2.93861337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.101346184 meters 0.09342071109073183 Centerline is valid? [True, True] Translation: X:70.55, Y:-5.64, Z:-2.94 [[ 9.99946189e-01 9.89627954e-03 3.11169445e-03 7.05488555e+01] [-9.89553393e-03 9.99951006e-01 -2.54920233e-04 -5.64380963e+00] [-3.11406476e-03 2.24114638e-04 9.99995126e-01 -2.93944847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.131346184 meters 0.09329996637436073 Centerline is valid? [True, True] Translation: X:70.58, Y:-5.65, Z:-2.94 [[ 9.99939216e-01 1.05215056e-02 3.29570053e-03 7.05780599e+01] [-1.05206756e-02 9.99944620e-01 -2.69061954e-04 -5.64623630e+00] [-3.29834895e-03 2.34372604e-04 9.99994533e-01 -2.94030119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.161346184 meters 0.08849768365184617 Centerline is valid? [True, True] Translation: X:70.61, Y:-5.64, Z:-2.94 [[ 9.99944285e-01 1.04407624e-02 1.55504753e-03 7.06074665e+01] [-1.04405764e-02 9.99945488e-01 -1.27668540e-04 -5.63986568e+00] [-1.55629572e-03 1.11425834e-04 9.99998783e-01 -2.93991352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.191346184 meters 0.09434651249209405 Centerline is valid? [True, True] Translation: X:70.63, Y:-5.66, Z:-2.95 [[ 9.99944258e-01 1.05513179e-02 3.88204750e-04 7.06337078e+01] [-1.05513058e-02 9.99944333e-01 -3.30565978e-05 -5.65629383e+00] [-3.88531930e-04 2.89586881e-05 9.99999924e-01 -2.94673499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.221346184 meters 0.08984624662765431 Centerline is valid? [True, True] Translation: X:70.66, Y:-5.65, Z:-2.95 [[ 9.99948448e-01 1.01394736e-02 -5.41474703e-04 7.06632749e+01] [-1.01394520e-02 9.99948594e-01 4.27279203e-05 -5.65222598e+00] [ 5.41880106e-04 -3.72354608e-05 9.99999852e-01 -2.94705620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.251346184 meters 0.09070103301931516 Centerline is valid? [True, True] Translation: X:70.69, Y:-5.66, Z:-2.95 [[ 9.99956160e-01 9.31228334e-03 9.79507679e-04 7.06911350e+01] [-9.31220852e-03 9.99956637e-01 -8.09160038e-05 -5.65787177e+00] [-9.80218718e-04 7.17910767e-05 9.99999517e-01 -2.94640110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281346184 meters 0.09208824603572463 Centerline is valid? [True, True] Translation: X:70.72, Y:-5.66, Z:-2.94 [[ 9.99958937e-01 8.67106143e-03 2.63399380e-03 7.07185022e+01] [-8.67052539e-03 9.99962387e-01 -2.14862668e-04 -5.66261427e+00] [-2.63575781e-03 1.92015735e-04 9.99996508e-01 -2.94364009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.311346184 meters 0.09257169977395406 Centerline is valid? [True, True] Translation: X:70.75, Y:-5.67, Z:-2.94 [[ 9.99953800e-01 8.44641918e-03 4.58867453e-03 7.07474924e+01] [-8.44479838e-03 9.99964273e-01 -3.72477148e-04 -5.66628986e+00] [-4.59165668e-03 3.33709508e-04 9.99989403e-01 -2.94111112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.341346184 meters 0.09127409726218327 Centerline is valid? [True, True] Translation: X:70.78, Y:-5.67, Z:-2.94 [[ 9.99933923e-01 9.42861949e-03 6.57653378e-03 7.07769780e+01] [-9.42532001e-03 9.99955439e-01 -5.32518610e-04 -5.66726089e+00] [-6.58126164e-03 4.70497487e-04 9.99978233e-01 -2.93952199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37134618399999 meters 0.09137116753184045 Centerline is valid? [True, True] Translation: X:70.81, Y:-5.67, Z:-2.94 [[ 9.99920211e-01 1.02051461e-02 7.44496895e-03 7.08059968e+01] [-1.02009403e-02 9.99947787e-01 -6.02678209e-04 -5.67120931e+00] [-7.45073065e-03 5.26684438e-04 9.99972104e-01 -2.93972133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40134618399999 meters 0.09617926240858804 Centerline is valid? [True, True] Translation: X:70.83, Y:-5.68, Z:-2.94 [[ 9.99902071e-01 1.12089322e-02 8.37902958e-03 7.08335425e+01] [-1.12036443e-02 9.99937008e-01 -6.77762151e-04 -5.68394327e+00] [-8.38609876e-03 5.83820111e-04 9.99964666e-01 -2.94195349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43134618399999 meters 0.09127152721534514 Centerline is valid? [True, True] Translation: X:70.86, Y:-5.68, Z:-2.94 [[ 9.99909300e-01 1.10514379e-02 7.69785756e-03 7.08624599e+01] [-1.10469713e-02 9.99938787e-01 -6.22523108e-04 -5.67852519e+00] [-7.70426612e-03 5.37428634e-04 9.99970177e-01 -2.94176432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46134618399999 meters 0.09117870575069657 Centerline is valid? [True, True] Translation: X:70.89, Y:-5.68, Z:-2.94 [[ 9.99895946e-01 1.22553304e-02 7.60949391e-03 7.08912081e+01] [-1.22510068e-02 9.99924765e-01 -6.14550100e-04 -5.68251172e+00] [-7.61645292e-03 5.21262192e-04 9.99970859e-01 -2.94250469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.491346184 meters 0.08742347318232906 Centerline is valid? [True, True] Translation: X:70.92, Y:-5.68, Z:-2.94 [[ 9.99898847e-01 1.27729194e-02 6.25685342e-03 7.09210363e+01] [-1.27700056e-02 9.99918332e-01 -5.05424851e-04 -5.67731715e+00] [-6.26279819e-03 4.25473673e-04 9.99980298e-01 -2.94262982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.521346184 meters 0.09064258860546372 Centerline is valid? [True, True] Translation: X:70.95, Y:-5.68, Z:-2.95 [[ 9.99911614e-01 1.26018617e-02 4.23748518e-03 7.09481645e+01] [-1.26005214e-02 9.99920552e-01 -3.42835334e-04 -5.68494897e+00] [-4.24146888e-03 2.89410510e-04 9.99990963e-01 -2.94576273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.551346184 meters 0.09371935544020446 Centerline is valid? [True, True] Translation: X:70.98, Y:-5.70, Z:-2.95 [[ 9.99938061e-01 1.05119146e-02 3.65708987e-03 7.09760879e+01] [-1.05109069e-02 9.99944715e-01 -2.94667363e-04 -5.69562332e+00] [-3.65998520e-03 2.56209780e-04 9.99993269e-01 -2.94891411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.581346184 meters 0.09189350934461783 Centerline is valid? [True, True] Translation: X:71.01, Y:-5.70, Z:-2.95 [[ 9.99956518e-01 8.28148318e-03 4.28708077e-03 7.10057404e+01] [-8.28007663e-03 9.99965660e-01 -3.45734615e-04 -5.69777541e+00] [-4.28979675e-03 3.10222224e-04 9.99990751e-01 -2.94966202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.611346184 meters 0.09569243895849566 Centerline is valid? [True, True] Translation: X:71.03, Y:-5.71, Z:-2.95 [[ 9.99978617e-01 5.52678807e-03 3.49580094e-03 7.10341524e+01] [-5.52583613e-03 9.99984693e-01 -2.81911106e-04 -5.70965981e+00] [-3.49730550e-03 2.62587855e-04 9.99993850e-01 -2.95213279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641346184 meters 0.09693110272861459 Centerline is valid? [True, True] Translation: X:71.06, Y:-5.72, Z:-2.95 [[ 9.99990263e-01 3.42019279e-03 2.78856372e-03 7.10640087e+01] [-3.41957954e-03 9.99994128e-01 -2.24652142e-04 -5.71679505e+00] [-2.78931570e-03 2.15114239e-04 9.99996087e-01 -2.95400142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.671346184 meters 0.09520256680061868 Centerline is valid? [True, True] Translation: X:71.09, Y:-5.72, Z:-2.95 [[ 9.99997640e-01 5.99456593e-04 2.08818856e-03 7.10941044e+01] [-5.99106877e-04 9.99999806e-01 -1.68094829e-04 -5.71788706e+00] [-2.08828892e-03 1.66843384e-04 9.99997806e-01 -2.95302278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701346184 meters 0.09904268881351241 Centerline is valid? [True, True] Translation: X:71.12, Y:-5.73, Z:-2.95 [[ 9.99997435e-01 6.07457305e-04 2.18198454e-03 7.11241943e+01] [-6.07076275e-04 9.99999800e-01 -1.75283546e-04 -5.72651604e+00] [-2.18209058e-03 1.73958465e-04 9.99997604e-01 -2.95361806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73134618399999 meters 0.09621335409785275 Centerline is valid? [True, True] Translation: X:71.16, Y:-5.72, Z:-2.95 [[ 9.99997895e-01 1.38519602e-03 1.51338714e-03 7.11556500e+01] [-1.38501412e-03 9.99999034e-01 -1.21239334e-04 -5.72386851e+00] [-1.51355362e-03 1.19143016e-04 9.99998847e-01 -2.95259509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76134618399999 meters 0.09576891476983401 Centerline is valid? [True, True] Translation: X:71.19, Y:-5.73, Z:-2.95 [[ 9.99992299e-01 3.49341610e-03 1.78814638e-03 7.11854511e+01] [-3.49316425e-03 9.99993889e-01 -1.43950290e-04 -5.72744642e+00] [-1.78863833e-03 1.37702892e-04 9.99998391e-01 -2.95473780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79134618399999 meters 0.09509570614505795 Centerline is valid? [True, True] Translation: X:71.21, Y:-5.73, Z:-2.96 [[ 9.99986118e-01 5.02937216e-03 1.57141180e-03 7.12147010e+01] [-5.02917870e-03 9.99987346e-01 -1.27036378e-04 -5.72998625e+00] [-1.57203083e-03 1.19131704e-04 9.99998757e-01 -2.95622686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82134618399999 meters 0.09975251352222261 Centerline is valid? [True, True] Translation: X:71.24, Y:-5.74, Z:-2.96 [[ 9.99977659e-01 6.18785228e-03 2.52834162e-03 7.12423263e+01] [-6.18735710e-03 9.99980837e-01 -2.03628526e-04 -5.74040260e+00] [-2.52955319e-03 1.87980224e-04 9.99996783e-01 -2.95758216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.851346184 meters 0.09504206997343197 Centerline is valid? [True, True] Translation: X:71.27, Y:-5.73, Z:-2.95 [[ 9.99971697e-01 6.95931871e-03 2.85878739e-03 7.12716142e+01] [-6.95868665e-03 9.99975761e-01 -2.30981097e-04 -5.73255009e+00] [-2.86032557e-03 2.11081154e-04 9.99995887e-01 -2.95404068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.881346184 meters 0.0884076056528811 Centerline is valid? [True, True] Translation: X:71.30, Y:-5.72, Z:-2.95 [[ 9.99967314e-01 7.37904845e-03 3.30477955e-03 7.13012480e+01] [-7.37820711e-03 9.99972745e-01 -2.66702775e-04 -5.72261952e+00] [-3.30665749e-03 2.42310709e-04 9.99994504e-01 -2.95122466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.911346184 meters 0.09271538692907932 Centerline is valid? [True, True] Translation: X:71.33, Y:-5.73, Z:-2.95 [[ 9.99966879e-01 7.72751684e-03 2.55474173e-03 7.13282095e+01] [-7.72701427e-03 9.99970125e-01 -2.06534611e-04 -5.73352896e+00] [-2.55626141e-03 1.86787245e-04 9.99996715e-01 -2.95470686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.941346184 meters 0.08915349052460858 Centerline is valid? [True, True] Translation: X:71.36, Y:-5.73, Z:-2.95 [[ 9.99960984e-01 8.24418312e-03 3.17230815e-03 7.13570537e+01] [-8.24341369e-03 9.99965990e-01 -2.55542215e-04 -5.73030296e+00] [-3.17430700e-03 2.29381596e-04 9.99994936e-01 -2.95418673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.971346184 meters 0.0882572137044051 Centerline is valid? [True, True] Translation: X:71.39, Y:-5.73, Z:-2.95 [[ 9.99952933e-01 8.47804276e-03 4.71740060e-03 7.13858802e+01] [-8.47634821e-03 9.99964003e-01 -3.79089880e-04 -5.73261435e+00] [-4.72044473e-03 3.39085708e-04 9.99988801e-01 -2.95331770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001346184 meters 0.08844547149208641 Centerline is valid? [True, True] Translation: X:71.41, Y:-5.74, Z:-2.95 [[ 9.99959990e-01 7.54232735e-03 4.80949749e-03 7.14148177e+01] [-7.54055805e-03 9.99971495e-01 -3.85903470e-04 -5.73593152e+00] [-4.81227100e-03 3.49621735e-04 9.99988360e-01 -2.95297609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.031346184 meters 0.09225798410339145 Centerline is valid? [True, True] Translation: X:71.44, Y:-5.75, Z:-2.95 [[ 9.99967584e-01 6.79911492e-03 4.31306494e-03 7.14429206e+01] [-6.79768574e-03 9.99976836e-01 -3.45935448e-04 -5.74544601e+00] [-4.31531708e-03 3.16605374e-04 9.99990639e-01 -2.95411908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061346184 meters 0.09068767987615105 Centerline is valid? [True, True] Translation: X:71.47, Y:-5.74, Z:-2.95 [[ 9.99977812e-01 5.39624989e-03 3.90586563e-03 7.14728398e+01] [-5.39506860e-03 9.99985398e-01 -3.12915042e-04 -5.74447938e+00] [-3.90749716e-03 2.91835686e-04 9.99992323e-01 -2.95423551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.091346184 meters 0.08996111830180635 Centerline is valid? [True, True] Translation: X:71.50, Y:-5.75, Z:-2.96 [[ 9.99978974e-01 5.40810889e-03 3.57818839e-03 7.15026674e+01] [-5.40711780e-03 9.99985340e-01 -2.86597345e-04 -5.74678417e+00] [-3.57968589e-03 2.67243633e-04 9.99993557e-01 -2.95521804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12134618399999 meters 0.09070875672040547 Centerline is valid? [True, True] Translation: X:71.53, Y:-5.75, Z:-2.96 [[ 9.99982419e-01 4.71820899e-03 3.59177915e-03 7.15319055e+01] [-4.71720639e-03 9.99988833e-01 -2.87557282e-04 -5.75233136e+00] [-3.59309579e-03 2.70609063e-04 9.99993508e-01 -2.95704763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15134618399999 meters 0.09294761389166455 Centerline is valid? [True, True] Translation: X:71.56, Y:-5.76, Z:-2.96 [[ 9.99988471e-01 3.33251240e-03 3.45724539e-03 7.15602848e+01] [-3.33157562e-03 9.99994412e-01 -2.76686412e-04 -5.76209160e+00] [-3.45814813e-03 2.65165148e-04 9.99993985e-01 -2.95945420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18134618399999 meters 0.0910484084649391 Centerline is valid? [True, True] Translation: X:71.59, Y:-5.76, Z:-2.96 [[ 9.99991383e-01 2.59513699e-03 3.24026977e-03 7.15912545e+01] [-2.59431211e-03 9.99996601e-01 -2.58748347e-04 -5.76207722e+00] [-3.24093024e-03 2.50339846e-04 9.99994717e-01 -2.95946438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21134618399999 meters 0.09308798302960274 Centerline is valid? [True, True] Translation: X:71.62, Y:-5.77, Z:-2.96 [[ 9.99997442e-01 5.82421122e-04 2.18551871e-03 7.16208606e+01] [-5.82043711e-04 9.99999816e-01 -1.73319410e-04 -5.76826680e+00] [-2.18561925e-03 1.72046900e-04 9.99997597e-01 -2.96031169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.241346184 meters 0.09627705993494123 Centerline is valid? [True, True] Translation: X:71.65, Y:-5.78, Z:-2.96 [[ 9.99996950e-01 -2.40405297e-03 -5.66218679e-04 7.16501596e+01] [ 2.40407883e-03 9.99997109e-01 4.49931387e-05 -5.77668797e+00] [ 5.66108876e-04 -4.63542358e-05 9.99999839e-01 -2.96258895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.271346184 meters 0.09827688708437705 Centerline is valid? [True, True] Translation: X:71.68, Y:-5.78, Z:-2.96 [[ 9.99991383e-01 -3.80021243e-03 -1.67100635e-03 7.16813235e+01] [ 3.80044194e-03 9.99992769e-01 1.34194140e-04 -5.78244791e+00] [ 1.67048431e-03 -1.40543547e-04 9.99998595e-01 -2.96469042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.301346184 meters 0.09827688708437705 Centerline is valid? [True, True] Translation: X:71.71, Y:-5.78, Z:-2.97 [[ 9.99991510e-01 -3.76669038e-03 -1.67100162e-03 7.17121839e+01] [ 3.76691995e-03 9.99992896e-01 1.34253195e-04 -5.78495987e+00] [ 1.67048406e-03 -1.40546584e-04 9.99998595e-01 -2.96524267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.331346184 meters 0.09907082439849264 Centerline is valid? [True, True] Translation: X:71.74, Y:-5.79, Z:-2.97 [[ 9.99989044e-01 -3.96655540e-03 -2.48565198e-03 7.17430768e+01] [ 3.96706429e-03 9.99992111e-01 1.99835008e-04 -5.78884198e+00] [ 2.48483971e-03 -2.09693560e-04 9.99996891e-01 -2.96606387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.361346184 meters 0.09924764614064405 Centerline is valid? [True, True] Translation: X:71.77, Y:-5.79, Z:-2.97 [[ 9.99993394e-01 -2.93112966e-03 -2.14967974e-03 7.17744185e+01] [ 2.93150766e-03 9.99995688e-01 1.72710193e-04 -5.79282601e+00] [ 2.14916424e-03 -1.79010855e-04 9.99997675e-01 -2.96809025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.391346184 meters 0.09897576096786223 Centerline is valid? [True, True] Translation: X:71.80, Y:-5.80, Z:-2.97 [[ 9.99997142e-01 -1.81432798e-03 -1.55700764e-03 7.18048110e+01] [ 1.81452427e-03 9.99998346e-01 1.24665832e-04 -5.79608947e+00] [ 1.55677888e-03 -1.27490704e-04 9.99998780e-01 -2.96985123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421346184 meters 0.09857822355547032 Centerline is valid? [True, True] Translation: X:71.84, Y:-5.80, Z:-2.97 [[ 9.99999103e-01 -1.72873405e-04 -1.32850064e-03 7.18359333e+01] [ 1.73015285e-04 9.99999979e-01 1.06682466e-04 -5.79787346e+00] [ 1.32848217e-03 -1.06912221e-04 9.99999112e-01 -2.97206579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.451346184 meters 0.09793682985165815 Centerline is valid? [True, True] Translation: X:71.87, Y:-5.79, Z:-2.97 [[ 9.99995570e-01 2.56192922e-03 -1.51553368e-03 7.18656541e+01] [-2.56174889e-03 9.99996711e-01 1.20914125e-04 -5.79404486e+00] [ 1.51583847e-03 -1.17031173e-04 9.99998844e-01 -2.97057031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48134618399999 meters 0.09132375007942092 Centerline is valid? [True, True] Translation: X:71.90, Y:-5.78, Z:-2.97 [[ 9.99994357e-01 2.64168719e-03 -2.07533044e-03 7.18959246e+01] [-2.64135090e-03 9.99996498e-01 1.64762597e-04 -5.78097875e+00] [ 2.07575843e-03 -1.59279992e-04 9.99997833e-01 -2.96658511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51134618399999 meters 0.09707713340487667 Centerline is valid? [True, True] Translation: X:71.92, Y:-5.79, Z:-2.97 [[ 9.99991185e-01 3.75857130e-03 -1.87157988e-03 7.19235059e+01] [-3.75830021e-03 9.99992927e-01 1.48341424e-04 -5.79180513e+00] [ 1.87212419e-03 -1.41306158e-04 9.99998238e-01 -2.96836346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54134618399999 meters 0.09471347527146316 Centerline is valid? [True, True] Translation: X:71.95, Y:-5.79, Z:-2.97 [[ 9.99993762e-01 3.48023091e-03 -6.03995618e-04 7.19523014e+01] [-3.48020313e-03 9.99993943e-01 4.70473377e-05 -5.78890448e+00] [ 6.04155695e-04 -4.49450168e-05 9.99999816e-01 -2.96625839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57134618399999 meters 0.10060994693947292 Centerline is valid? [True, False] Translation: X:71.95, Y:-5.79, Z:-2.97 [[ 9.99999340e-01 -3.67401114e-04 -1.08814647e-03 7.19537157e+01] [ 3.63101026e-04 9.99992135e-01 -3.94931903e-03 -5.78891738e+00] [ 1.08958889e-03 3.94892131e-03 9.99991609e-01 -2.96678369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.601346184 meters 0.09299260281366895 Centerline is valid? [False, True] Translation: X:71.95, Y:-5.79, Z:-2.97 [[ 9.99999589e-01 -1.25155773e-04 -8.98480904e-04 7.19538818e+01] [ 1.22142428e-04 9.99994371e-01 -3.35309375e-03 -5.79006228e+00] [ 8.98895505e-04 3.35298263e-03 9.99993975e-01 -2.96779149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.631346184 meters 0.09483257402835173 Centerline is valid? [True, True] Translation: X:71.98, Y:-5.80, Z:-2.97 [[ 9.99996245e-01 -2.23288572e-03 -1.58882283e-03 7.19832440e+01] [ 2.23308787e-03 9.99997499e-01 1.25470936e-04 -5.79779264e+00] [ 1.58853869e-03 -1.29018446e-04 9.99998730e-01 -2.97194831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.661346184 meters 0.10039223311723007 Centerline is valid? [True, False] Translation: X:71.98, Y:-5.80, Z:-2.97 [[ 9.99997107e-01 -2.07277514e-03 -1.22058762e-03 7.19832819e+01] [ 2.07381388e-03 9.99997488e-01 8.50368271e-04 -5.79897843e+00] [ 1.21882193e-03 -8.52897082e-04 9.99998894e-01 -2.97343300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.691346184 meters 0.09885866157185454 Centerline is valid? [False, True] Translation: X:71.98, Y:-5.80, Z:-2.97 [[ 9.99997447e-01 -1.90354848e-03 -1.21741926e-03 7.19836844e+01] [ 1.90495776e-03 9.99997516e-01 1.15748277e-03 -5.79920020e+00] [ 1.21521292e-03 -1.15979895e-03 9.99998589e-01 -2.97408693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.721346184 meters 0.10105317512688637 Centerline is valid? [True, False] Translation: X:71.98, Y:-5.80, Z:-2.97 [[ 9.99997160e-01 -2.06352617e-03 -1.19273369e-03 7.19834618e+01] [ 2.06461482e-03 9.99997453e-01 9.12217957e-04 -5.79864858e+00] [ 1.19084826e-03 -9.14677901e-04 9.99998873e-01 -2.97382205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.751346184 meters 0.09978754984359846 Centerline is valid? [False, True] Translation: X:71.98, Y:-5.80, Z:-2.97 [[ 9.99997332e-01 -1.86152753e-03 -1.36740945e-03 7.19841033e+01] [ 1.86302909e-03 9.99997662e-01 1.09765719e-03 -5.79869408e+00] [ 1.36536294e-03 -1.10020178e-03 9.99998463e-01 -2.97418970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781346184 meters 0.10127184143624558 Centerline is valid? [True, False] Translation: X:71.99, Y:-5.80, Z:-2.97 [[ 9.99996965e-01 -1.68484893e-03 -1.79751142e-03 7.19853941e+01] [ 1.68642232e-03 9.99998196e-01 8.74159241e-04 -5.79700585e+00] [ 1.79603535e-03 -8.77187951e-04 9.99998002e-01 -2.97463929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.811346184 meters 0.09918236676226329 Centerline is valid? [False, True] Translation: X:71.99, Y:-5.80, Z:-2.98 [[ 9.99996664e-01 -1.57300114e-03 -2.04875509e-03 7.19862383e+01] [ 1.57462566e-03 9.99998447e-01 7.91556433e-04 -5.79605077e+00] [ 2.04750678e-03 -7.94779815e-04 9.99997588e-01 -2.97507553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.841346184 meters 0.09924172978743856 Centerline is valid? [True, True] Translation: X:72.02, Y:-5.80, Z:-2.98 [[ 9.99994645e-01 2.44268932e-04 -3.26358757e-03 7.20158587e+01] [-2.43396041e-04 9.99999935e-01 2.67858334e-04 -5.79828533e+00] [ 3.26365279e-03 -2.67062555e-04 9.99994639e-01 -2.97777633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87134618399999 meters 0.09682802870208662 Centerline is valid? [True, True] Translation: X:72.05, Y:-5.80, Z:-2.98 [[ 9.99989578e-01 2.24704891e-03 -3.97417255e-03 7.20457591e+01] [-2.24577295e-03 9.99997425e-01 3.25498011e-04 -5.79675778e+00] [ 3.97489372e-03 -3.16569530e-04 9.99992050e-01 -2.97906748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90134618399999 meters 0.09137504861835992 Centerline is valid? [True, True] Translation: X:72.08, Y:-5.78, Z:-2.98 [[ 9.99970951e-01 3.95863802e-03 -6.51355123e-03 7.20754864e+01] [-3.95525117e-03 9.99992036e-01 5.32768098e-04 -5.78468933e+00] [ 6.51560839e-03 -5.06989890e-04 9.99978645e-01 -2.97737045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93134618399999 meters 0.0935008028366784 Centerline is valid? [True, True] Translation: X:72.10, Y:-5.79, Z:-2.98 [[ 9.99965723e-01 4.90486218e-03 -6.67042667e-03 7.21028416e+01] [-4.90133981e-03 9.99987840e-01 5.44301099e-04 -5.78769008e+00] [ 6.67301528e-03 -5.11588415e-04 9.99977604e-01 -2.97765897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96134618399999 meters 0.09012830679286447 Centerline is valid? [True, True] Translation: X:72.13, Y:-5.78, Z:-2.97 [[ 9.99968554e-01 6.21235453e-03 -4.92927396e-03 7.21339389e+01] [-6.21044225e-03 9.99980634e-01 4.03155650e-04 -5.78088093e+00] [ 4.93168305e-03 -3.72530001e-04 9.99987770e-01 -2.97405467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.991346184 meters 0.09061063860465471 Centerline is valid? [True, True] Translation: X:72.16, Y:-5.78, Z:-2.98 [[ 9.99973665e-01 6.20589277e-03 -3.76255971e-03 7.21618251e+01] [-6.20478440e-03 9.99980703e-01 3.06179766e-04 -5.78461174e+00] [ 3.76438723e-03 -2.82825831e-04 9.99992875e-01 -2.97515031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.021346184 meters 0.0891784073464582 Centerline is valid? [True, True] Translation: X:72.19, Y:-5.79, Z:-2.98 [[ 9.99972963e-01 6.70898756e-03 -3.01028486e-03 7.21901996e+01] [-6.70828106e-03 9.99977469e-01 2.44733289e-04 -5.78578960e+00] [ 3.01185895e-03 -2.24532835e-04 9.99995439e-01 -2.97586950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.051346184 meters 0.09167514602495767 Centerline is valid? [True, True] Translation: X:72.22, Y:-5.79, Z:-2.98 [[ 9.99968261e-01 7.47509630e-03 -2.75674376e-03 7.22176114e+01] [-7.47450842e-03 9.99972040e-01 2.23493945e-04 -5.79359531e+00] [ 2.75833732e-03 -2.02881547e-04 9.99996175e-01 -2.98007363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.081346184 meters 0.08817005578468358 Centerline is valid? [True, True] Translation: X:72.25, Y:-5.79, Z:-2.98 [[ 9.99947339e-01 9.64776393e-03 -3.49861239e-03 7.22482530e+01] [-9.64682504e-03 9.99953428e-01 2.85135804e-04 -5.78734430e+00] [ 3.50120037e-03 -2.51370286e-04 9.99993839e-01 -2.98106150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.111346184 meters 0.08866370744995396 Centerline is valid? [True, True] Translation: X:72.28, Y:-5.79, Z:-2.98 [[ 9.99942309e-01 1.03438847e-02 -2.89521641e-03 7.22757140e+01] [-1.03432489e-02 9.99946480e-01 2.34495062e-04 -5.78799317e+00] [ 2.89748705e-03 -2.04535590e-04 9.99995781e-01 -2.98096392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141346184 meters 0.08856108167944426 Centerline is valid? [True, True] Translation: X:72.30, Y:-5.79, Z:-2.98 [[ 9.99940346e-01 1.03938727e-02 -3.35749848e-03 7.23036120e+01] [-1.03930192e-02 9.99945954e-01 2.71539015e-04 -5.78700654e+00] [ 3.36013936e-03 -2.36628270e-04 9.99994327e-01 -2.98011663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.171346184 meters 0.0903335006394934 Centerline is valid? [True, True] Translation: X:72.33, Y:-5.79, Z:-2.98 [[ 9.99940866e-01 1.00656107e-02 -4.11688627e-03 7.23310375e+01] [-1.00643234e-02 9.99949298e-01 3.33289532e-04 -5.79133767e+00] [ 4.12003229e-03 -2.91836148e-04 9.99991470e-01 -2.98065887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201346184 meters 0.09048382328372821 Centerline is valid? [True, True] Translation: X:72.36, Y:-5.80, Z:-2.98 [[ 9.99962471e-01 7.98495638e-03 -3.36104822e-03 7.23601002e+01] [-7.98408505e-03 9.99968090e-01 2.72582992e-04 -5.79758979e+00] [ 3.36311753e-03 -2.45737868e-04 9.99994315e-01 -2.98142722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23134618399999 meters 0.08934002374333609 Centerline is valid? [True, True] Translation: X:72.39, Y:-5.80, Z:-2.98 [[ 9.99976568e-01 6.04967769e-03 -3.20387193e-03 7.23896831e+01] [-6.04887657e-03 9.99981672e-01 2.59679545e-04 -5.79979525e+00] [ 3.20538419e-03 -2.40293635e-04 9.99994834e-01 -2.98088783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26134618399999 meters 0.09323638665946525 Centerline is valid? [True, True] Translation: X:72.42, Y:-5.81, Z:-2.98 [[ 9.99993283e-01 1.77121116e-03 -3.20871061e-03 7.24184649e+01] [-1.77038405e-03 9.99998399e-01 2.60591211e-04 -5.80892937e+00] [ 3.20916703e-03 -2.54908811e-04 9.99994818e-01 -2.98129819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29134618399999 meters 0.0969422193797037 Centerline is valid? [True, True] Translation: X:72.45, Y:-5.82, Z:-2.98 [[ 9.99991041e-01 2.11980754e-04 -4.22765103e-03 7.24462950e+01] [-2.10535276e-04 9.99999919e-01 3.42352684e-04 -5.81790123e+00] [ 4.22772326e-03 -3.41459548e-04 9.99991005e-01 -2.98398324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32134618399999 meters 0.09755185457184595 Centerline is valid? [True, True] Translation: X:72.47, Y:-5.82, Z:-2.99 [[ 9.99985999e-01 -4.86995543e-04 -5.26923084e-03 7.24744724e+01] [ 4.89248590e-04 9.99999789e-01 4.26304927e-04 -5.82275795e+00] [ 5.26902212e-03 -4.28876922e-04 9.99986027e-01 -2.98769517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.351346184 meters 0.09735329103011954 Centerline is valid? [True, True] Translation: X:72.50, Y:-5.83, Z:-2.99 [[ 9.99975737e-01 1.41239332e-03 -6.82128020e-03 7.25039061e+01] [-1.40865935e-03 9.99998855e-01 5.52173410e-04 -5.83089216e+00] [ 6.82205228e-03 -5.42551153e-04 9.99976582e-01 -2.99429720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.381346184 meters 0.09189560472082141 Centerline is valid? [True, True] Translation: X:72.53, Y:-5.82, Z:-2.99 [[ 9.99971449e-01 3.08069575e-03 -6.90010156e-03 7.25342006e+01] [-3.07691455e-03 9.99995110e-01 5.58540958e-04 -5.82430781e+00] [ 6.90178852e-03 -5.37293988e-04 9.99976038e-01 -2.99260854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.411346184 meters 0.09012565605096219 Centerline is valid? [True, True] Translation: X:72.56, Y:-5.82, Z:-2.99 [[ 9.99963575e-01 5.41609064e-03 -6.59663649e-03 7.25649157e+01] [-5.41268738e-03 9.99985209e-01 5.33652189e-04 -5.82188071e+00] [ 6.59942923e-03 -4.97927219e-04 9.99978100e-01 -2.99083957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.441346184 meters 0.09015804152793215 Centerline is valid? [True, True] Translation: X:72.59, Y:-5.82, Z:-2.99 [[ 9.99955847e-01 7.49526848e-03 -5.66781298e-03 7.25936369e+01] [-7.49279289e-03 9.99971824e-01 4.57888681e-04 -5.82007107e+00] [ 5.67108528e-03 -4.15400716e-04 9.99983833e-01 -2.98863237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.471346184 meters 0.08778856822091366 Centerline is valid? [True, True] Translation: X:72.62, Y:-5.81, Z:-2.99 [[ 9.99902316e-01 1.25283519e-02 -6.19672053e-03 7.26242943e+01] [-1.25254866e-02 9.99921428e-01 5.00976431e-04 -5.81298134e+00] [ 6.20251005e-03 -4.23310554e-04 9.99980675e-01 -2.98525553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501346184 meters 0.08800335056063964 Centerline is valid? [True, True] Translation: X:72.65, Y:-5.82, Z:-2.99 [[ 9.99888290e-01 1.35971574e-02 -6.20679272e-03 7.26527025e+01] [-1.35943104e-02 9.99907468e-01 5.00658789e-04 -5.81644760e+00] [ 6.21302593e-03 -4.16225794e-04 9.99980612e-01 -2.98747910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.531346184 meters 0.08622691848670698 Centerline is valid? [True, True] Translation: X:72.68, Y:-5.82, Z:-2.99 [[ 9.99883901e-01 1.44414062e-02 -4.86103635e-03 7.26816754e+01] [-1.44396729e-02 9.99895666e-01 3.91495966e-04 -5.81825329e+00] [ 4.86618293e-03 -3.21258740e-04 9.99988108e-01 -2.98755468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561346184 meters 0.08600383569694135 Centerline is valid? [True, True] Translation: X:72.71, Y:-5.82, Z:-2.99 [[ 9.99892425e-01 1.46195100e-02 -1.18678306e-03 7.27106643e+01] [-1.46194076e-02 9.99893126e-01 9.49354863e-05 -5.82268616e+00] [ 1.18804413e-03 -7.75752083e-05 9.99999291e-01 -2.98684691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.591346184 meters 0.08670930312957671 Centerline is valid? [True, True] Translation: X:72.74, Y:-5.83, Z:-2.99 [[ 9.99897800e-01 1.42778171e-02 -7.30993108e-04 7.27385810e+01] [-1.42777789e-02 9.99898066e-01 5.75155685e-05 -5.82517468e+00] [ 7.31739791e-04 -4.70727325e-05 9.99999731e-01 -2.98716379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62134618399999 meters 0.08920665106708987 Centerline is valid? [True, True] Translation: X:72.77, Y:-5.83, Z:-2.99 [[ 9.99898475e-01 1.41816353e-02 -1.38575374e-03 7.27661075e+01] [-1.41814961e-02 9.99899431e-01 1.10208921e-04 -5.83046790e+00] [ 1.38717732e-03 -9.05456712e-05 9.99999034e-01 -2.98918974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65134618399999 meters 0.08858695912776142 Centerline is valid? [True, True] Translation: X:72.80, Y:-5.83, Z:-2.99 [[ 9.99904080e-01 1.37999792e-02 -1.17977900e-03 7.27952751e+01] [-1.37998780e-02 9.99904773e-01 9.38334082e-05 -5.83224463e+00] [ 1.18096155e-03 -7.75436014e-05 9.99999300e-01 -2.99139203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68134618399999 meters 0.08678484909893307 Centerline is valid? [True, True] Translation: X:72.82, Y:-5.83, Z:-2.99 [[ 9.99915153e-01 1.29295869e-02 -1.58538002e-03 7.28238837e+01] [-1.29294027e-02 9.99916404e-01 1.26329946e-04 -5.83368424e+00] [ 1.58688088e-03 -1.05821211e-04 9.99998735e-01 -2.99194602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71134618399999 meters 0.08914737315724515 Centerline is valid? [True, True] Translation: X:72.85, Y:-5.84, Z:-2.99 [[ 9.99924823e-01 1.22287811e-02 -8.97407729e-04 7.28506696e+01] [-1.22287226e-02 9.99925224e-01 7.06553594e-05 -5.84386660e+00] [ 8.98204653e-04 -5.96758976e-05 9.99999595e-01 -2.99455677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.741346184 meters 0.08585770077319407 Centerline is valid? [True, True] Translation: X:72.88, Y:-5.84, Z:-2.99 [[ 9.99939296e-01 1.09908469e-02 -7.78449882e-04 7.28794544e+01] [-1.09908027e-02 9.99939597e-01 6.09731626e-05 -5.84087373e+00] [ 7.79073008e-04 -5.24136722e-05 9.99999695e-01 -2.99276629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.771346184 meters 0.09297387832799964 Centerline is valid? [True, True] Translation: X:72.91, Y:-5.85, Z:-2.99 [[ 9.99958442e-01 9.11510128e-03 1.69546183e-04 7.29067651e+01] [-9.11509891e-03 9.99958457e-01 -1.47754316e-05 -5.85465555e+00] [-1.69673819e-04 1.32293874e-05 9.99999986e-01 -2.99157659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.801346184 meters 0.09300261662213039 Centerline is valid? [True, True] Translation: X:72.93, Y:-5.86, Z:-2.99 [[ 9.99964975e-01 8.34918863e-03 -5.82907721e-04 7.29349616e+01] [-8.34916363e-03 9.99965144e-01 4.53187765e-05 -5.85615706e+00] [ 5.83265778e-04 -4.04503973e-05 9.99999829e-01 -2.99057451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.831346184 meters 0.09365014336102034 Centerline is valid? [True, True] Translation: X:72.96, Y:-5.86, Z:-2.99 [[ 9.99971747e-01 7.46614852e-03 -8.72852702e-04 7.29632758e+01] [-7.46609133e-03 9.99972126e-01 6.87581639e-05 -5.86015905e+00] [ 8.73341731e-04 -6.22394233e-05 9.99999617e-01 -2.99163293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.861346184 meters 0.09594778734735218 Centerline is valid? [True, True] Translation: X:72.99, Y:-5.87, Z:-3.00 [[ 9.99976476e-01 6.29986159e-03 -2.71274656e-03 7.29909294e+01] [-6.29929833e-03 9.99980136e-01 2.16127540e-04 -5.87128656e+00] [ 2.71405425e-03 -1.99034056e-04 9.99996297e-01 -2.99636217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.891346184 meters 0.0967950284000298 Centerline is valid? [True, True] Translation: X:73.02, Y:-5.88, Z:-3.00 [[ 9.99978985e-01 5.37268964e-03 -3.62825709e-03 7.30196851e+01] [-5.37167559e-03 9.99985531e-01 2.89173961e-04 -5.87806744e+00] [ 3.62975824e-03 -2.69678064e-04 9.99993376e-01 -3.00001676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921346184 meters 0.09913849640672592 Centerline is valid? [True, True] Translation: X:73.05, Y:-5.89, Z:-3.00 [[ 9.99978914e-01 4.36907708e-03 -4.80438205e-03 7.30479755e+01] [-4.36728737e-03 9.99990390e-01 3.82944126e-04 -5.88626044e+00] [ 4.80600900e-03 -3.61953934e-04 9.99988386e-01 -3.00393770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.951346184 meters 0.10072166092280885 Centerline is valid? [True, False] Translation: X:73.05, Y:-5.89, Z:-3.00 [[ 9.99981208e-01 4.05126912e-03 -4.60109375e-03 7.30472371e+01] [-4.05055819e-03 9.99991783e-01 1.63820928e-04 -5.88617284e+00] [ 4.60171963e-03 -1.45180852e-04 9.99989401e-01 -3.00356122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98134618399999 meters 0.10208187641179514 Centerline is valid? [False, False] Translation: X:73.05, Y:-5.89, Z:-3.00 [[ 9.99981950e-01 3.90033138e-03 -4.57025126e-03 7.30470176e+01] [-3.90058949e-03 9.99992392e-01 -4.75651847e-05 -5.88573291e+00] [ 4.57003097e-03 6.53910002e-05 9.99989555e-01 -3.00333121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01134618399999 meters 0.10175172738621677 Centerline is valid? [False, False] Translation: X:73.05, Y:-5.89, Z:-3.00 [[ 9.99980420e-01 4.20315085e-03 -4.63617670e-03 7.30475421e+01] [-4.20119472e-03 9.99991082e-01 4.31586487e-04 -5.88670058e+00] [ 4.63794938e-03 -4.12100556e-04 9.99989160e-01 -3.00395922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04134618399999 meters 0.10181731762254555 Centerline is valid? [False, False] Translation: X:73.05, Y:-5.89, Z:-3.00 [[ 9.99979188e-01 4.53196779e-03 -4.59189619e-03 7.30477129e+01] [-4.52719050e-03 9.99989201e-01 1.05023530e-03 -5.88858171e+00] [ 4.59660623e-03 -1.02942506e-03 9.99988906e-01 -3.00445625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07134618399999 meters 0.10109478745188896 Centerline is valid? [False, False] Translation: X:73.05, Y:-5.89, Z:-3.00 [[ 9.99986912e-01 4.63888012e-04 -5.09522471e-03 7.30486793e+01] [-4.80547039e-04 9.99994542e-01 -3.26879986e-03 -5.88842946e+00] [ 5.09368055e-03 3.27120557e-03 9.99981677e-01 -3.00422518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.101346184 meters 0.09435250521704099 Centerline is valid? [False, True] Translation: X:73.05, Y:-5.89, Z:-3.00 [[ 9.99987370e-01 6.11247093e-04 -4.98863631e-03 7.30484555e+01] [-6.25391294e-04 9.99995788e-01 -2.83421666e-03 -5.88998781e+00] [ 4.98688290e-03 2.83730071e-03 9.99983540e-01 -3.00428961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.131346184 meters 0.09045597931185403 Centerline is valid? [True, True] Translation: X:73.08, Y:-5.89, Z:-3.00 [[ 9.99983883e-01 -1.09692168e-04 -5.67646491e-03 7.30780100e+01] [ 1.12093404e-04 9.99999904e-01 4.22699586e-04 -5.88606611e+00] [ 5.67641800e-03 -4.23329068e-04 9.99983799e-01 -3.00386670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.161346184 meters 0.09117306498342101 Centerline is valid? [True, True] Translation: X:73.11, Y:-5.89, Z:-3.00 [[ 9.99974550e-01 -1.33276110e-03 -7.00876232e-03 7.31077170e+01] [ 1.33645603e-03 9.99998970e-01 5.22529805e-04 -5.88820353e+00] [ 7.00805869e-03 -5.31883409e-04 9.99975302e-01 -3.00357553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.191346184 meters 0.09117306498342101 Centerline is valid? [True, True] Translation: X:73.14, Y:-5.89, Z:-3.00 [[ 9.99974139e-01 -1.61030243e-03 -7.00921081e-03 7.31350689e+01] [ 1.61396218e-03 9.99998564e-01 5.16508538e-04 -5.89006246e+00] [ 7.00836901e-03 -5.27807782e-04 9.99975302e-01 -3.00403717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.221346184 meters 0.09406771815149796 Centerline is valid? [True, True] Translation: X:73.16, Y:-5.90, Z:-3.00 [[ 9.99973314e-01 -3.33605957e-03 -6.49940634e-03 7.31625715e+01] [ 3.33926029e-03 9.99994309e-01 4.81674081e-04 -5.89797502e+00] [ 6.49776245e-03 -5.03364436e-04 9.99978763e-01 -3.00339363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.251346184 meters 0.09486536227281993 Centerline is valid? [True, True] Translation: X:73.19, Y:-5.90, Z:-3.00 [[ 9.99968703e-01 -3.54517304e-03 -7.07275968e-03 7.31903894e+01] [ 3.54896897e-03 9.99993565e-01 5.24218117e-04 -5.90390595e+00] [ 7.07085572e-03 -5.49302715e-04 9.99974850e-01 -3.00485386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281346184 meters 0.09124451655403212 Centerline is valid? [True, True] Translation: X:73.22, Y:-5.90, Z:-3.00 [[ 9.99984172e-01 -2.56525404e-03 -5.00755218e-03 7.32208571e+01] [ 2.56714570e-03 9.99996636e-01 3.71370731e-04 -5.90359285e+00] [ 5.00658267e-03 -3.84219968e-04 9.99987393e-01 -3.00449081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.311346184 meters 0.09961142268701112 Centerline is valid? [True, True] Translation: X:73.25, Y:-5.93, Z:-3.01 [[ 9.99989297e-01 -2.22446152e-03 -4.05675724e-03 7.32477508e+01] [ 2.22569682e-03 9.99997478e-01 3.00013922e-04 -5.92514559e+00] [ 4.05607964e-03 -3.09039822e-04 9.99991726e-01 -3.01129102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.341346184 meters 0.09071136689381255 Centerline is valid? [True, True] Translation: X:73.28, Y:-5.91, Z:-3.01 [[ 9.99992594e-01 -8.74830515e-04 -3.74800838e-03 7.32782909e+01] [ 8.75875847e-04 9.99999578e-01 2.77270902e-04 -5.91144474e+00] [ 3.74776423e-03 -2.80551639e-04 9.99992938e-01 -3.00715509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37134618399999 meters 0.09150925891931251 Centerline is valid? [True, True] Translation: X:73.31, Y:-5.91, Z:-3.01 [[ 9.99994186e-01 5.38917096e-04 -3.36718417e-03 7.33072249e+01] [-5.38081952e-04 9.99999824e-01 2.48925167e-04 -5.91321791e+00] [ 3.36731773e-03 -2.47111899e-04 9.99994300e-01 -3.00765914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40134618399999 meters 0.08915746898081209 Centerline is valid? [True, True] Translation: X:73.34, Y:-5.91, Z:-3.01 [[ 9.99990312e-01 1.44560323e-03 -4.15774917e-03 7.33366474e+01] [-1.44435443e-03 9.99998911e-01 3.03341855e-04 -5.90969739e+00] [ 4.15818315e-03 -2.97333653e-04 9.99991311e-01 -3.00792501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43134618399999 meters 0.09093878891765163 Centerline is valid? [True, True] Translation: X:73.36, Y:-5.92, Z:-3.01 [[ 9.99971608e-01 2.79752954e-03 -6.99687708e-03 7.33639655e+01] [-2.79399543e-03 9.99995964e-01 5.14822356e-04 -5.91615198e+00] [ 6.99828907e-03 -4.95258497e-04 9.99975389e-01 -3.01371206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46134618399999 meters 0.08868047471782643 Centerline is valid? [True, True] Translation: X:73.39, Y:-5.92, Z:-3.01 [[ 9.99967178e-01 2.47370489e-03 -7.71520762e-03 7.33929211e+01] [-2.46939915e-03 9.99996790e-01 5.67560790e-04 -5.91666302e+00] [ 7.71658683e-03 -5.48490234e-04 9.99970076e-01 -3.01382619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.491346184 meters 0.09137758231261586 Centerline is valid? [True, True] Translation: X:73.42, Y:-5.93, Z:-3.02 [[ 9.99972566e-01 1.18670977e-03 -7.31155578e-03 7.34196676e+01] [-1.18281880e-03 9.99999157e-01 5.36468336e-04 -5.92549300e+00] [ 7.31218625e-03 -5.27805373e-04 9.99973126e-01 -3.01603229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.521346184 meters 0.09483405130286214 Centerline is valid? [True, True] Translation: X:73.45, Y:-5.94, Z:-3.01 [[ 9.99984850e-01 -1.17385599e-03 -5.37793584e-03 7.34479426e+01] [ 1.17599589e-03 9.99999231e-01 3.94758645e-04 -5.93528921e+00] [ 5.37746831e-03 -4.01077095e-04 9.99985461e-01 -3.01391115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.551346184 meters 0.0899326924984837 Centerline is valid? [True, True] Translation: X:73.48, Y:-5.93, Z:-3.01 [[ 9.99988925e-01 -1.73976307e-03 -4.37299767e-03 7.34773632e+01] [ 1.74117983e-03 9.99998433e-01 3.20193641e-04 -5.92754470e+00] [ 4.37243375e-03 -3.27804270e-04 9.99990387e-01 -3.00891701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.581346184 meters 0.09458716622255874 Centerline is valid? [True, True] Translation: X:73.51, Y:-5.94, Z:-3.01 [[ 9.99991015e-01 -1.58268966e-03 -3.93265273e-03 7.35055488e+01] [ 1.58383416e-03 9.99998704e-01 2.87927648e-04 -5.93703907e+00] [ 3.93219194e-03 -2.94153730e-04 9.99992226e-01 -3.01054895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.611346184 meters 0.0893349811732907 Centerline is valid? [True, True] Translation: X:73.54, Y:-5.93, Z:-3.01 [[ 9.99993219e-01 -9.49372397e-04 -3.55825206e-03 7.35358596e+01] [ 9.50305657e-04 9.99999515e-01 2.60598973e-04 -5.93137630e+00] [ 3.55800293e-03 -2.63978633e-04 9.99993635e-01 -3.01062852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641346184 meters 0.0887958005190768 Centerline is valid? [True, True] Translation: X:73.56, Y:-5.93, Z:-3.01 [[ 9.99997085e-01 -1.32889760e-04 -2.41080663e-03 7.35649441e+01] [ 1.33306207e-04 9.99999976e-01 1.72581820e-04 -5.93435609e+00] [ 2.41078364e-03 -1.72902692e-04 9.99997079e-01 -3.01237977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.671346184 meters 0.08951096949518779 Centerline is valid? [True, True] Translation: X:73.59, Y:-5.94, Z:-3.02 [[ 9.99991926e-01 1.46345651e-05 -4.01835700e-03 7.35942925e+01] [-1.34560191e-05 9.99999957e-01 2.93317396e-04 -5.93877917e+00] [ 4.01836112e-03 -2.93260957e-04 9.99991883e-01 -3.01675148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701346184 meters 0.09027468156284273 Centerline is valid? [True, True] Translation: X:73.62, Y:-5.94, Z:-3.02 [[ 9.99974496e-01 3.37829883e-04 -7.13389891e-03 7.36221042e+01] [-3.34130940e-04 9.99999809e-01 5.19687780e-04 -5.94387798e+00] [ 7.13407312e-03 -5.17290869e-04 9.99974418e-01 -3.02264164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73134618399999 meters 0.08935361217024002 Centerline is valid? [True, True] Translation: X:73.65, Y:-5.94, Z:-3.02 [[ 9.99963883e-01 5.41830158e-04 -8.48174935e-03 7.36505926e+01] [-5.36608969e-04 9.99999665e-01 6.17842810e-04 -5.94312794e+00] [ 8.48208128e-03 -6.13269112e-04 9.99963838e-01 -3.02270420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76134618399999 meters 0.08928574129752337 Centerline is valid? [True, True] Translation: X:73.68, Y:-5.94, Z:-3.02 [[ 9.99950915e-01 8.28420112e-04 -9.87321351e-03 7.36795261e+01] [-8.21364017e-04 9.99999404e-01 7.18703928e-04 -5.94282290e+00] [ 9.87380302e-03 -7.10559149e-04 9.99951000e-01 -3.02361572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79134618399999 meters 0.08932942093108459 Centerline is valid? [True, True] Translation: X:73.71, Y:-5.94, Z:-3.03 [[ 9.99929363e-01 1.00735762e-03 -1.18428764e-02 7.37081450e+01] [-9.97224625e-04 9.99999132e-01 8.61493396e-04 -5.94304436e+00] [ 1.18437339e-02 -8.49622535e-04 9.99929500e-01 -3.02515905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82134618399999 meters 0.08848429241466792 Centerline is valid? [True, True] Translation: X:73.74, Y:-5.94, Z:-3.02 [[ 9.99933241e-01 1.45792185e-03 -1.14624426e-02 7.37367908e+01] [-1.44846871e-03 9.99998604e-01 8.32963662e-04 -5.94394005e+00] [ 1.14636410e-02 -8.16305065e-04 9.99933957e-01 -3.02499883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.851346184 meters 0.0923033363300303 Centerline is valid? [True, True] Translation: X:73.76, Y:-5.95, Z:-3.03 [[ 9.99932001e-01 1.04974003e-03 -1.16142460e-02 7.37643212e+01] [-1.04002230e-03 9.99999104e-01 8.42715767e-04 -5.95257350e+00] [ 1.16151202e-02 -8.30579389e-04 9.99932197e-01 -3.02761297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.881346184 meters 0.08898437142594062 Centerline is valid? [True, True] Translation: X:73.79, Y:-5.95, Z:-3.03 [[ 9.99940882e-01 1.61434067e-03 -1.07529868e-02 7.37937429e+01] [-1.60604941e-03 9.99998406e-01 7.79655695e-04 -5.94891049e+00] [ 1.07542283e-02 -7.62339775e-04 9.99941881e-01 -3.02560940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.911346184 meters 0.08849809920805626 Centerline is valid? [True, True] Translation: X:73.82, Y:-5.95, Z:-3.03 [[ 9.99936267e-01 3.01334641e-03 -1.08803626e-02 7.38228071e+01] [-3.00494804e-03 9.99995175e-01 7.88149187e-04 -5.94934576e+00] [ 1.08826851e-02 -7.55404032e-04 9.99940496e-01 -3.02770549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.941346184 meters 0.08996675229049299 Centerline is valid? [True, True] Translation: X:73.85, Y:-5.95, Z:-3.03 [[ 9.99938094e-01 3.80434323e-03 -1.04563732e-02 7.38504951e+01] [-3.79665311e-03 9.99992508e-01 7.55199760e-04 -5.95287223e+00] [ 1.04591679e-02 -7.15453787e-04 9.99945045e-01 -3.02979321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.971346184 meters 0.08684314832150894 Centerline is valid? [True, True] Translation: X:73.88, Y:-5.95, Z:-3.03 [[ 9.99927162e-01 5.10158523e-03 -1.09382183e-02 7.38795931e+01] [-5.09324489e-03 9.99986717e-01 7.90216096e-04 -5.94798494e+00] [ 1.09421043e-02 -7.34447514e-04 9.99939864e-01 -3.02907088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001346184 meters 0.08983443672713512 Centerline is valid? [True, True] Translation: X:73.91, Y:-5.95, Z:-3.03 [[ 9.99922132e-01 7.26331156e-03 -1.01476159e-02 7.39075450e+01] [-7.25624741e-03 9.99973405e-01 7.32783639e-04 -5.95450844e+00] [ 1.01526684e-02 -6.59092968e-04 9.99948243e-01 -3.03302981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.031346184 meters 0.08822165906248901 Centerline is valid? [True, True] Translation: X:73.94, Y:-5.95, Z:-3.03 [[ 9.99915810e-01 7.97810651e-03 -1.02334008e-02 7.39371484e+01] [-7.97096452e-03 9.99967959e-01 7.38506727e-04 -5.95228576e+00] [ 1.02389648e-02 -6.56874477e-04 9.99947365e-01 -3.03221516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061346184 meters 0.08967843247117413 Centerline is valid? [True, True] Translation: X:73.96, Y:-5.95, Z:-3.03 [[ 9.99919169e-01 7.73057784e-03 -1.00942130e-02 7.39642917e+01] [-7.72363503e-03 9.99969908e-01 7.26604372e-04 -5.95485178e+00] [ 1.00995263e-02 -6.48581623e-04 9.99948788e-01 -3.03253294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.091346184 meters 0.08725467361023467 Centerline is valid? [True, True] Translation: X:73.99, Y:-5.95, Z:-3.03 [[ 9.99926547e-01 8.37003480e-03 -8.76605242e-03 7.39932020e+01] [-8.36482580e-03 9.99964815e-01 6.30720569e-04 -5.95088604e+00] [ 8.77102314e-03 -5.57347739e-04 9.99961379e-01 -3.03022512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12134618399999 meters 0.08600804939389436 Centerline is valid? [True, True] Translation: X:74.02, Y:-5.95, Z:-3.03 [[ 9.99951332e-01 6.74908197e-03 -7.19609086e-03 7.40222158e+01] [-6.74553530e-03 9.99977115e-01 5.17017046e-04 -5.94918596e+00] [ 7.19941556e-03 -4.68450398e-04 9.99973974e-01 -3.02635370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15134618399999 meters 0.08996401864019436 Centerline is valid? [True, True] Translation: X:74.05, Y:-5.96, Z:-3.03 [[ 9.99966355e-01 5.15628463e-03 -6.37984276e-03 7.40488981e+01] [-5.15347571e-03 9.99986616e-01 4.56641473e-04 -5.95772517e+00] [ 6.38211194e-03 -4.23747745e-04 9.99979544e-01 -3.02815105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18134618399999 meters 0.09109801088608434 Centerline is valid? [True, True] Translation: X:74.08, Y:-5.96, Z:-3.03 [[ 9.99976327e-01 3.32016918e-03 -6.02684026e-03 7.40778480e+01] [-3.31762471e-03 9.99994403e-01 4.32138401e-04 -5.96014090e+00] [ 6.02824130e-03 -4.12133377e-04 9.99981745e-01 -3.02779981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21134618399999 meters 0.09387639056224562 Centerline is valid? [True, True] Translation: X:74.11, Y:-5.97, Z:-3.03 [[ 9.99981400e-01 -9.58148893e-04 -6.02346541e-03 7.41083470e+01] [ 9.60772801e-04 9.99999445e-01 4.32735935e-04 -5.96556164e+00] [ 6.02304744e-03 -4.38515068e-04 9.99981765e-01 -3.02902935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.241346184 meters 0.09051827650216462 Centerline is valid? [True, True] Translation: X:74.14, Y:-5.96, Z:-3.03 [[ 9.99982169e-01 -2.33258771e-03 -5.49727092e-03 7.41379020e+01] [ 2.33478745e-03 9.99997197e-01 3.93768566e-04 -5.96325417e+00] [ 5.49633701e-03 -4.06596504e-04 9.99984812e-01 -3.02962136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.271346184 meters 0.09558741412184106 Centerline is valid? [True, True] Translation: X:74.17, Y:-5.98, Z:-3.03 [[ 9.99981520e-01 -3.73021694e-03 -4.80062199e-03 7.41650360e+01] [ 3.73190702e-03 9.99992978e-01 3.43145800e-04 -5.97622548e+00] [ 4.79930827e-03 -3.61054933e-04 9.99988418e-01 -3.03406411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.301346184 meters 0.09492914482618424 Centerline is valid? [True, True] Translation: X:74.20, Y:-5.98, Z:-3.04 [[ 9.99971218e-01 -6.17891154e-03 -4.40284807e-03 7.41950965e+01] [ 6.18035983e-03 9.99980852e-01 3.15414984e-04 -5.97774661e+00] [ 4.40081484e-03 -3.42617091e-04 9.99990258e-01 -3.03531334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.331346184 meters 0.09649201864741123 Centerline is valid? [True, True] Translation: X:74.23, Y:-5.98, Z:-3.03 [[ 9.99961118e-01 -7.38616130e-03 -4.81732280e-03 7.42253469e+01] [ 7.38791227e-03 9.99972649e-01 3.45779123e-04 -5.98067252e+00] [ 4.81463706e-03 -3.81355637e-04 9.99988337e-01 -3.03463367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.361346184 meters 0.09653476027866507 Centerline is valid? [True, True] Translation: X:74.26, Y:-5.98, Z:-3.03 [[ 9.99952717e-01 -8.80340577e-03 -4.13086064e-03 7.42569597e+01] [ 8.80470719e-03 9.99961194e-01 2.96969674e-04 -5.97891664e+00] [ 4.12808600e-03 -3.33326651e-04 9.99991424e-01 -3.03159152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.391346184 meters 0.0952810077359985 Centerline is valid? [True, True] Translation: X:74.29, Y:-5.98, Z:-3.03 [[ 9.99946056e-01 -9.12437950e-03 -4.96291584e-03 7.42896811e+01] [ 9.12626596e-03 9.99958291e-01 3.57596935e-04 -5.97791313e+00] [ 4.95944599e-03 -4.02870535e-04 9.99987621e-01 -3.03100404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421346184 meters 0.09669214975841904 Centerline is valid? [True, True] Translation: X:74.32, Y:-5.98, Z:-3.03 [[ 9.99942930e-01 -9.23810544e-03 -5.36609997e-03 7.43202133e+01] [ 9.24031187e-03 9.99957233e-01 3.86532088e-04 -5.98197861e+00] [ 5.36229965e-03 -4.36094466e-04 9.99985528e-01 -3.03230515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.451346184 meters 0.09459238939716695 Centerline is valid? [True, True] Translation: X:74.35, Y:-5.98, Z:-3.03 [[ 9.99938140e-01 -9.51424921e-03 -5.76147660e-03 7.43523885e+01] [ 9.51680103e-03 9.99954628e-01 4.15658090e-04 -5.98102274e+00] [ 5.75726051e-03 -4.70463204e-04 9.99983316e-01 -3.03291105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48134618399999 meters 0.10233270519603845 Centerline is valid? [True, False] Translation: X:74.35, Y:-5.99, Z:-3.03 [[ 9.99946113e-01 -9.03518314e-03 -5.11236481e-03 7.43519434e+01] [ 9.04495490e-03 9.99957305e-01 1.89151665e-03 -5.98563252e+00] [ 5.09505633e-03 -1.93765583e-03 9.99985143e-01 -3.03459940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51134618399999 meters 0.09488717892932778 Centerline is valid? [False, True] Translation: X:74.35, Y:-5.99, Z:-3.04 [[ 9.99949474e-01 -8.67447141e-03 -5.07976160e-03 7.43523643e+01] [ 8.68776519e-03 9.99958878e-01 2.60081634e-03 -5.98719628e+00] [ 5.05699201e-03 -2.64481670e-03 9.99983716e-01 -3.03544356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54134618399999 meters 0.10412603653348673 Centerline is valid? [True, False] Translation: X:74.35, Y:-5.99, Z:-3.04 [[ 9.99947819e-01 -8.77897069e-03 -5.22386495e-03 7.43526486e+01] [ 8.79110334e-03 9.99958703e-01 2.30413060e-03 -5.98602886e+00] [ 5.20342133e-03 -2.34993390e-03 9.99983701e-01 -3.03534365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57134618399999 meters 0.09459896762259577 Centerline is valid? [False, True] Translation: X:74.35, Y:-5.98, Z:-3.03 [[ 9.99969980e-01 -5.52325962e-03 -5.43438039e-03 7.43516953e+01] [ 5.54788133e-03 9.99974367e-01 4.52613484e-03 -5.98070021e+00] [ 5.40924208e-03 -4.55614826e-03 9.99974990e-01 -3.03300531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.601346184 meters 0.09923358776602616 Centerline is valid? [True, True] Translation: X:74.38, Y:-5.99, Z:-3.03 [[ 9.99983312e-01 -2.55704449e-03 -5.18038622e-03 7.43809231e+01] [ 2.55915149e-03 9.99996645e-01 4.00139542e-04 -5.98761746e+00] [ 5.17934566e-03 -4.13390258e-04 9.99986502e-01 -3.03320785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.631346184 meters 0.09151952947789771 Centerline is valid? [True, True] Translation: X:74.41, Y:-5.98, Z:-3.03 [[ 9.99988787e-01 -5.67283769e-04 -4.70156593e-03 7.44113564e+01] [ 5.68995338e-04 9.99999772e-01 3.62712648e-04 -5.97837160e+00] [ 4.70135910e-03 -3.65383750e-04 9.99988882e-01 -3.03238860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.661346184 meters 0.08952007325147866 Centerline is valid? [True, True] Translation: X:74.44, Y:-5.98, Z:-3.04 [[ 9.99983745e-01 3.02700156e-03 -4.83182047e-03 7.44416613e+01] [-3.02523354e-03 9.99995354e-01 3.73179755e-04 -5.98451834e+00] [ 4.83292764e-03 -3.58556304e-04 9.99988257e-01 -3.03727899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.691346184 meters 0.09013697527039914 Centerline is valid? [True, True] Translation: X:74.47, Y:-5.99, Z:-3.04 [[ 9.99981826e-01 3.52953116e-03 -4.88784938e-03 7.44687725e+01] [-3.52773580e-03 9.99993707e-01 3.75884500e-04 -5.98870425e+00] [ 4.88914531e-03 -3.58634627e-04 9.99987984e-01 -3.03900107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.721346184 meters 0.08810502798396264 Centerline is valid? [True, True] Translation: X:74.50, Y:-5.99, Z:-3.04 [[ 9.99978569e-01 3.97939158e-03 -5.19860738e-03 7.44977642e+01] [-3.97736699e-03 9.99992010e-01 3.99728926e-04 -5.98608622e+00] [ 5.20015652e-03 -3.79043590e-04 9.99986407e-01 -3.03753609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.751346184 meters 0.08751388669449618 Centerline is valid? [True, True] Translation: X:74.53, Y:-5.98, Z:-3.04 [[ 9.99970216e-01 4.19080000e-03 -6.48109281e-03 7.45271820e+01] [-4.18765903e-03 9.99991108e-01 4.98131186e-04 -5.98350546e+00] [ 6.48312275e-03 -4.70975743e-04 9.99978873e-01 -3.03587130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781346184 meters 0.08830986791638974 Centerline is valid? [True, True] Translation: X:74.55, Y:-5.98, Z:-3.04 [[ 9.99961227e-01 5.32801469e-03 -7.01119110e-03 7.45547463e+01] [-5.32437222e-03 9.99985681e-01 5.38084577e-04 -5.98352201e+00] [ 7.01395763e-03 -5.00733522e-04 9.99975277e-01 -3.03546849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.811346184 meters 0.08751711518260655 Centerline is valid? [True, True] Translation: X:74.58, Y:-5.99, Z:-3.04 [[ 9.99946639e-01 7.25572321e-03 -7.35349250e-03 7.45844794e+01] [-7.25176392e-03 9.99973546e-01 5.64944240e-04 -5.98509709e+00] [ 7.35739705e-03 -5.11588302e-04 9.99972803e-01 -3.03633908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.841346184 meters 0.08681309344860248 Centerline is valid? [True, True] Translation: X:74.61, Y:-5.99, Z:-3.04 [[ 9.99942486e-01 7.50110757e-03 -7.66540175e-03 7.46133123e+01] [-7.49682044e-03 9.99971726e-01 5.87864395e-04 -5.99045034e+00] [ 7.66959465e-03 -5.30364444e-04 9.99970448e-01 -3.03940406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87134618399999 meters 0.08655509390415543 Centerline is valid? [True, True] Translation: X:74.64, Y:-6.00, Z:-3.04 [[ 9.99947787e-01 8.05551727e-03 -6.28742937e-03 7.46419112e+01] [-8.05264784e-03 9.99967461e-01 4.81558143e-04 -5.99715231e+00] [ 6.29110398e-03 -4.30902545e-04 9.99980118e-01 -3.04151083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90134618399999 meters 0.08607082882744738 Centerline is valid? [True, True] Translation: X:74.67, Y:-6.00, Z:-3.04 [[ 9.99961210e-01 6.68714144e-03 -5.73235443e-03 7.46702617e+01] [-6.68474287e-03 9.99977561e-01 4.37484639e-04 -5.99932057e+00] [ 5.73515132e-03 -3.99148354e-04 9.99983474e-01 -3.03941151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93134618399999 meters 0.09111176804724042 Centerline is valid? [True, True] Translation: X:74.70, Y:-6.01, Z:-3.04 [[ 9.99964498e-01 5.98913826e-03 -5.92730569e-03 7.46977527e+01] [-5.98656132e-03 9.99981978e-01 4.52403494e-04 -6.00662670e+00] [ 5.92990838e-03 -4.16903254e-04 9.99982331e-01 -3.03908624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96134618399999 meters 0.08763199822286025 Centerline is valid? [True, True] Translation: X:74.73, Y:-6.00, Z:-3.04 [[ 9.99957164e-01 5.08443168e-03 -7.73430534e-03 7.47281108e+01] [-5.08001007e-03 9.99986922e-01 5.91226760e-04 -5.99719652e+00] [ 7.73721025e-03 -5.51911085e-04 9.99969915e-01 -3.03544459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.991346184 meters 0.08807699380544938 Centerline is valid? [True, True] Translation: X:74.76, Y:-6.00, Z:-3.04 [[ 9.99924567e-01 5.88153048e-03 -1.07827354e-02 7.47563535e+01] [-5.87299375e-03 9.99982415e-01 8.23197272e-04 -5.99967640e+00] [ 1.07873874e-02 -7.59808238e-04 9.99941526e-01 -3.04044795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.021346184 meters 0.08934669055987263 Centerline is valid? [True, True] Translation: X:74.78, Y:-6.01, Z:-3.05 [[ 9.99911415e-01 5.60304845e-03 -1.20734532e-02 7.47831188e+01] [-5.59234516e-03 9.99983939e-01 9.20093144e-04 -6.00735746e+00] [ 1.20784146e-02 -8.52492720e-04 9.99926690e-01 -3.04610316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.051346184 meters 0.08942531030655228 Centerline is valid? [True, True] Translation: X:74.81, Y:-6.01, Z:-3.05 [[ 9.99892845e-01 5.29313399e-03 -1.36484830e-02 7.48110800e+01] [-5.27943677e-03 9.99985523e-01 1.03940548e-03 -6.01260792e+00] [ 1.36537871e-02 -9.67237800e-04 9.99906315e-01 -3.04968691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.081346184 meters 0.08731794056047523 Centerline is valid? [True, True] Translation: X:74.84, Y:-6.01, Z:-3.05 [[ 9.99883918e-01 5.28489726e-03 -1.42905961e-02 7.48401408e+01] [-5.26989061e-03 9.99985523e-01 1.08756002e-03 -6.01077763e+00] [ 1.42961368e-02 -1.01212389e-03 9.99897293e-01 -3.04905729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.111346184 meters 0.08731794056047523 Centerline is valid? [True, True] Translation: X:74.87, Y:-6.01, Z:-3.05 [[ 9.99884474e-01 5.17820499e-03 -1.42907517e-02 7.48675849e+01] [-5.16321657e-03 9.99986081e-01 1.08551511e-03 -6.01273733e+00] [ 1.42961738e-02 -1.01160346e-03 9.99897293e-01 -3.04946153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141346184 meters 0.0883941437749594 Centerline is valid? [True, True] Translation: X:74.90, Y:-6.01, Z:-3.05 [[ 9.99872338e-01 3.52475899e-03 -1.55847554e-02 7.48957348e+01] [-3.50674640e-03 9.99993152e-01 1.18295931e-03 -6.01074949e+00] [ 1.55888183e-02 -1.12815650e-03 9.99877851e-01 -3.04720953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.171346184 meters 0.0884938574663635 Centerline is valid? [True, True] Translation: X:74.92, Y:-6.01, Z:-3.05 [[ 9.99882831e-01 3.64265271e-03 -1.48679356e-02 7.49245252e+01] [-3.62628542e-03 9.99992789e-01 1.12765568e-03 -6.01035719e+00] [ 1.48719361e-02 -1.07360818e-03 9.99888830e-01 -3.04581633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201346184 meters 0.08855285540640002 Centerline is valid? [True, True] Translation: X:74.95, Y:-6.01, Z:-3.05 [[ 9.99884857e-01 3.89755639e-03 -1.46656642e-02 7.49536738e+01] [-3.88174152e-03 9.99991854e-01 1.10667203e-03 -6.01092875e+00] [ 1.46698580e-02 -1.04961629e-03 9.99891841e-01 -3.04572885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23134618399999 meters 0.08888353959780154 Centerline is valid? [True, True] Translation: X:74.98, Y:-6.02, Z:-3.05 [[ 9.99874145e-01 4.99602620e-03 -1.50577042e-02 7.49816494e+01] [-4.97945793e-03 9.99986955e-01 1.13760959e-03 -6.01574869e+00] [ 1.50631913e-02 -1.06248721e-03 9.99885979e-01 -3.05025235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26134618399999 meters 0.08894062098642774 Centerline is valid? [True, True] Translation: X:75.01, Y:-6.02, Z:-3.05 [[ 9.99870454e-01 4.97956325e-03 -1.53062038e-02 7.50104249e+01] [-4.96245763e-03 9.99987020e-01 1.15533901e-03 -6.01964515e+00] [ 1.53117582e-02 -1.07923295e-03 9.99882186e-01 -3.05286000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29134618399999 meters 0.09040486503635746 Centerline is valid? [True, True] Translation: X:75.04, Y:-6.02, Z:-3.05 [[ 9.99866201e-01 4.17994994e-03 -1.58147837e-02 7.50377552e+01] [-4.16161403e-03 9.99990630e-01 1.19214834e-03 -6.02410635e+00] [ 1.58196186e-02 -1.12617381e-03 9.99874228e-01 -3.05445946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32134618399999 meters 0.09106542074104736 Centerline is valid? [True, True] Translation: X:75.07, Y:-6.02, Z:-3.05 [[ 9.99859464e-01 2.42446617e-03 -1.65883564e-02 7.50677145e+01] [-2.40404783e-03 9.99996328e-01 1.25071420e-03 -6.02286024e+00] [ 1.65913278e-02 -1.21065923e-03 9.99861621e-01 -3.05306445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.351346184 meters 0.09276101053722793 Centerline is valid? [True, True] Translation: X:75.10, Y:-6.03, Z:-3.05 [[ 9.99839657e-01 2.20009976e-03 -1.77713084e-02 7.50953243e+01] [-2.17666900e-03 9.99996736e-01 1.33769533e-03 -6.02570322e+00] [ 1.77741934e-02 -1.29879859e-03 9.99841183e-01 -3.05376778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.381346184 meters 0.09318727376981911 Centerline is valid? [True, True] Translation: X:75.12, Y:-6.03, Z:-3.05 [[ 9.99839745e-01 1.25554008e-03 -1.78580027e-02 7.51241405e+01] [-1.23174712e-03 9.99998339e-01 1.34327845e-03 -6.02614033e+00] [ 1.78596596e-02 -1.32106664e-03 9.99839631e-01 -3.05300686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.411346184 meters 0.09360069560670814 Centerline is valid? [True, True] Translation: X:75.15, Y:-6.03, Z:-3.05 [[ 9.99838827e-01 4.05986033e-04 -1.79487031e-02 7.51528028e+01] [-3.81934302e-04 9.99999025e-01 1.34343369e-03 -6.02925565e+00] [ 1.79492311e-02 -1.33636193e-03 9.99838006e-01 -3.05256663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.441346184 meters 0.09441440713173914 Centerline is valid? [True, True] Translation: X:75.18, Y:-6.03, Z:-3.05 [[ 9.99854116e-01 -5.53323721e-04 -1.70716150e-02 7.51816444e+01] [ 5.75150436e-04 9.99999024e-01 1.27365518e-03 -6.03401447e+00] [ 1.70708935e-02 -1.28328812e-03 9.99853458e-01 -3.05312608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.471346184 meters 0.09562918632061561 Centerline is valid? [True, True] Translation: X:75.21, Y:-6.04, Z:-3.05 [[ 9.99870892e-01 -1.40018831e-03 -1.60074543e-02 7.52085503e+01] [ 1.41948889e-03 9.99998279e-01 1.19442593e-03 -6.03941076e+00] [ 1.60057543e-02 -1.21699412e-03 9.99871159e-01 -3.05355316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501346184 meters 0.09722543960182718 Centerline is valid? [True, True] Translation: X:75.24, Y:-6.05, Z:-3.06 [[ 9.99860208e-01 -2.57491732e-03 -1.65207049e-02 7.52365471e+01] [ 2.59563450e-03 9.99995872e-01 1.23269281e-03 -6.04563506e+00] [ 1.65174626e-02 -1.27540221e-03 9.99862764e-01 -3.05608051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.531346184 meters 0.09303166818508546 Centerline is valid? [True, True] Translation: X:75.26, Y:-6.04, Z:-3.05 [[ 9.99870450e-01 -3.13223239e-03 -1.57883630e-02 7.52648311e+01] [ 3.15110131e-03 9.99994350e-01 1.17038093e-03 -6.04113204e+00] [ 1.57846079e-02 -1.21998003e-03 9.99874671e-01 -3.05322423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561346184 meters 0.09816720947113532 Centerline is valid? [True, True] Translation: X:75.29, Y:-6.05, Z:-3.06 [[ 9.99867020e-01 -2.97601878e-03 -1.60338841e-02 7.52916979e+01] [ 2.99548284e-03 9.99994805e-01 1.19005358e-03 -6.05155180e+00] [ 1.60302592e-02 -1.23792455e-03 9.99870741e-01 -3.05659794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.591346184 meters 0.09845526935079206 Centerline is valid? [True, True] Translation: X:75.32, Y:-6.05, Z:-3.06 [[ 9.99846571e-01 -2.01281164e-03 -1.74006371e-02 7.53196134e+01] [ 2.03556982e-03 9.99997096e-01 1.29028092e-03 -6.05117898e+00] [ 1.73979894e-02 -1.32550316e-03 9.99847765e-01 -3.05665688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62134618399999 meters 0.09920916900359349 Centerline is valid? [True, True] Translation: X:75.35, Y:-6.05, Z:-3.06 [[ 9.99837614e-01 -2.01225166e-03 -1.79079920e-02 7.53460698e+01] [ 2.03627642e-03 9.99997051e-01 1.32343330e-03 -6.05305877e+00] [ 1.79052761e-02 -1.35968402e-03 9.99838763e-01 -3.05712636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65134618399999 meters 0.10007265243821623 Centerline is valid? [True, False] Translation: X:75.34, Y:-6.06, Z:-3.07 [[ 9.99996726e-01 1.48568409e-03 2.08346464e-03 7.53371358e+01] [-1.48417517e-03 9.99998635e-01 -7.25593561e-04 -6.05508158e+00] [-2.08453980e-03 7.22498959e-04 9.99997566e-01 -3.06563899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68134618399999 meters 0.10009286629915 Centerline is valid? [False, False] Translation: X:75.34, Y:-6.06, Z:-3.07 [[ 9.99996086e-01 1.90281928e-03 2.05127515e-03 7.53374457e+01] [-1.90292049e-03 9.99998188e-01 4.73888759e-05 -6.05746420e+00] [-2.05118126e-03 -5.12921039e-05 9.99997895e-01 -3.06607212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71134618399999 meters 0.1030357694405714 Centerline is valid? [False, False] Translation: X:75.34, Y:-6.06, Z:-3.07 [[ 9.99994491e-01 1.93933855e-03 2.69402359e-03 7.53356761e+01] [-1.94187792e-03 9.99997672e-01 9.40297923e-04 -6.06293658e+00] [-2.69219377e-03 -9.45524208e-04 9.99995929e-01 -3.06560371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.741346184 meters 0.10381890238448892 Centerline is valid? [False, False] Translation: X:75.34, Y:-6.07, Z:-3.07 [[ 9.99993610e-01 2.10922817e-03 2.88642012e-03 7.53353102e+01] [-2.11356544e-03 9.99996641e-01 1.50042187e-03 -6.06509124e+00] [-2.88324569e-03 -1.50651292e-03 9.99994709e-01 -3.06578026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.771346184 meters 0.09603538070819377 Centerline is valid? [False, True] Translation: X:75.33, Y:-6.07, Z:-3.07 [[ 9.99993272e-01 2.04517653e-03 3.04509990e-03 7.53346889e+01] [-2.05014374e-03 9.99996572e-01 1.62898491e-03 -6.06617537e+00] [-3.04175790e-03 -1.63521684e-03 9.99994037e-01 -3.06538765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.801346184 meters 0.091606966241454 Centerline is valid? [True, True] Translation: X:75.37, Y:-6.06, Z:-3.06 [[ 9.99995119e-01 2.96334907e-03 9.90450996e-04 7.53672990e+01] [-2.96327075e-03 9.99995606e-01 -8.05339997e-05 -6.05908199e+00] [-9.90685295e-04 7.75986322e-05 9.99999506e-01 -3.06174529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.831346184 meters 0.09127611461197382 Centerline is valid? [True, True] Translation: X:75.40, Y:-6.06, Z:-3.06 [[ 9.99989272e-01 4.63120788e-03 -8.76071284e-05 7.53972745e+01] [-4.63120744e-03 9.99989276e-01 5.19456016e-06 -6.05903398e+00] [ 8.76302460e-05 -4.78877765e-06 9.99999996e-01 -3.06362630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.861346184 meters 0.09469953263567515 Centerline is valid? [True, True] Translation: X:75.43, Y:-6.07, Z:-3.07 [[ 9.99946570e-01 9.96407340e-03 -2.75217129e-03 7.54259483e+01] [-9.96348840e-03 9.99950338e-01 2.26187655e-04 -6.06823915e+00] [ 2.75428836e-03 -1.98754343e-04 9.99996187e-01 -3.07470043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.891346184 meters 0.08773935764322775 Centerline is valid? [True, True] Translation: X:75.46, Y:-6.06, Z:-3.07 [[ 9.99912272e-01 1.24376748e-02 -4.55548133e-03 7.54557491e+01] [-1.24361047e-02 9.99922599e-01 3.72845173e-04 -6.06012154e+00] [ 4.55976606e-03 -3.16160021e-04 9.99989554e-01 -3.07341845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921346184 meters 0.09380440769243736 Centerline is valid? [True, True] Translation: X:75.48, Y:-6.07, Z:-3.08 [[ 9.99872100e-01 1.51835109e-02 -5.02432633e-03 7.54831124e+01] [-1.51816325e-02 9.99884668e-01 4.11793153e-04 -6.07375538e+00] [ 5.02999933e-03 -3.35463009e-04 9.99987293e-01 -3.08303598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.951346184 meters 0.08748681577818308 Centerline is valid? [True, True] Translation: X:75.51, Y:-6.06, Z:-3.08 [[ 9.99848861e-01 1.63790941e-02 -5.82923421e-03 7.55130793e+01] [-1.63765899e-02 9.99865781e-01 4.77072984e-04 -6.06318774e+00] [ 5.83626584e-03 -3.81537902e-04 9.99982896e-01 -3.07709406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98134618399999 meters 0.0931879561678945 Centerline is valid? [True, True] Translation: X:75.54, Y:-6.07, Z:-3.08 [[ 9.99826525e-01 1.78364313e-02 -5.36481438e-03 7.55410016e+01] [-1.78343285e-02 9.99840859e-01 4.39546331e-04 -6.07115079e+00] [ 5.37180056e-03 -3.43792219e-04 9.99985513e-01 -3.08176757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01134618399999 meters 0.08402498849757199 Centerline is valid? [True, True] Translation: X:75.57, Y:-6.06, Z:-3.07 [[ 9.99820581e-01 1.80115189e-02 -5.86439592e-03 7.55717144e+01] [-1.80090167e-02 9.99837710e-01 4.79203517e-04 -6.05676608e+00] [ 5.87207537e-03 -3.73505534e-04 9.99982689e-01 -3.07249504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04134618399999 meters 0.08744335402426083 Centerline is valid? [True, True] Translation: X:75.60, Y:-6.07, Z:-3.08 [[ 9.99820112e-01 1.82921735e-02 -5.01391457e-03 7.55985570e+01] [-1.82903550e-02 9.99832634e-01 4.08323758e-04 -6.06829394e+00] [ 5.02054454e-03 -3.16544029e-04 9.99987347e-01 -3.07977171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07134618399999 meters 0.08394978762173132 Centerline is valid? [True, True] Translation: X:75.63, Y:-6.06, Z:-3.08 [[ 9.99819480e-01 1.81862828e-02 -5.50156868e-03 7.56279044e+01] [-1.81840890e-02 9.99834555e-01 4.48519510e-04 -6.06493292e+00] [ 5.50881538e-03 -3.48397529e-04 9.99984766e-01 -3.07745184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.101346184 meters 0.0952950959509751 Centerline is valid? [True, True] Translation: X:75.65, Y:-6.09, Z:-3.09 [[ 9.99820434e-01 1.82070409e-02 -5.25396200e-03 7.56538103e+01] [-1.82050556e-02 9.99834184e-01 4.25447828e-04 -6.08745090e+00] [ 5.26083696e-03 -3.29722762e-04 9.99986107e-01 -3.09175680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.131346184 meters 0.08785742487643237 Centerline is valid? [True, True] Translation: X:75.68, Y:-6.08, Z:-3.09 [[ 9.99808932e-01 1.87659671e-02 -5.47158791e-03 7.56835085e+01] [-1.87638110e-02 9.99823845e-01 4.45125077e-04 -6.07704509e+00] [ 5.47897727e-03 -3.42372186e-04 9.99984932e-01 -3.08523560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.161346184 meters 0.0841231269872236 Centerline is valid? [True, True] Translation: X:75.71, Y:-6.07, Z:-3.08 [[ 9.99805914e-01 1.91694856e-02 -4.54582648e-03 7.57130173e+01] [-1.91680053e-02 9.99816209e-01 3.68987574e-04 -6.07214969e+00] [ 4.55206430e-03 -2.81781533e-04 9.99989600e-01 -3.08148210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.191346184 meters 0.0843721581492423 Centerline is valid? [True, True] Translation: X:75.74, Y:-6.07, Z:-3.08 [[ 9.99813856e-01 1.90539404e-02 -3.03324849e-03 7.57420281e+01] [-1.90532839e-02 9.99818440e-01 2.45206925e-04 -6.07232640e+00] [ 3.03736993e-03 -1.87367937e-04 9.99995370e-01 -3.08059446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.221346184 meters 0.08497452063063632 Centerline is valid? [True, True] Translation: X:75.77, Y:-6.08, Z:-3.08 [[ 9.99801812e-01 1.98197065e-02 -1.87495825e-03 7.57694163e+01] [-1.98194625e-02 9.99803564e-01 1.48648833e-04 -6.07603850e+00] [ 1.87753612e-03 -1.11458708e-04 9.99998231e-01 -3.08178366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.251346184 meters 0.08533046695793356 Centerline is valid? [True, True] Translation: X:75.80, Y:-6.08, Z:-3.08 [[ 9.99802042e-01 1.98860433e-02 -6.49001647e-04 7.57973306e+01] [-1.98860151e-02 9.99802252e-01 4.99187929e-05 -6.07957672e+00] [ 6.49865996e-04 -3.70028546e-05 9.99999788e-01 -3.08265939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281346184 meters 0.08561912784048896 Centerline is valid? [True, True] Translation: X:75.83, Y:-6.08, Z:-3.08 [[ 9.99813369e-01 1.93141885e-02 4.34410635e-04 7.58259709e+01] [-1.93141740e-02 9.99813463e-01 -3.76576976e-05 -6.08203395e+00] [-4.35056930e-04 2.92603869e-05 9.99999905e-01 -3.08214024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.311346184 meters 0.08353160585995152 Centerline is valid? [True, True] Translation: X:75.86, Y:-6.08, Z:-3.08 [[ 9.99823884e-01 1.87604345e-02 4.96151769e-04 7.58553863e+01] [-1.87604155e-02 9.99824007e-01 -4.27332296e-05 -6.07989413e+00] [-4.96866144e-04 3.34176903e-05 9.99999876e-01 -3.08033426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.341346184 meters 0.08708462641539355 Centerline is valid? [True, True] Translation: X:75.88, Y:-6.09, Z:-3.09 [[ 9.99847840e-01 1.74430075e-02 -1.95984610e-04 7.58831007e+01] [-1.74430050e-02 9.99847859e-01 1.41303795e-05 -6.08893686e+00] [ 1.96201269e-04 -1.07096689e-05 9.99999981e-01 -3.08520838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37134618399999 meters 0.08647340896361025 Centerline is valid? [True, True] Translation: X:75.91, Y:-6.09, Z:-3.09 [[ 9.99893597e-01 1.45687160e-02 -7.39101067e-04 7.59125045e+01] [-1.45686761e-02 9.99893869e-01 5.94272780e-05 -6.09487583e+00] [ 7.39888405e-04 -4.86532307e-05 9.99999725e-01 -3.08905086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40134618399999 meters 0.08999769825301146 Centerline is valid? [True, True] Translation: X:75.94, Y:-6.11, Z:-3.10 [[ 9.99915583e-01 1.28455690e-02 -1.95386482e-03 7.59400803e+01] [-1.28452870e-02 9.99917484e-01 1.56816718e-04 -6.10538733e+00] [ 1.95571800e-03 -1.31705526e-04 9.99998079e-01 -3.09575003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43134618399999 meters 0.08822421174584984 Centerline is valid? [True, True] Translation: X:75.97, Y:-6.11, Z:-3.10 [[ 9.99925834e-01 1.13209934e-02 -4.49016436e-03 7.59708301e+01] [-1.13194706e-02 9.99935866e-01 3.64403013e-04 -6.10540512e+00] [ 4.49400180e-03 -3.13549703e-04 9.99989853e-01 -3.09706602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46134618399999 meters 0.0896219410587918 Centerline is valid? [True, True] Translation: X:76.00, Y:-6.11, Z:-3.10 [[ 9.99924903e-01 1.01408057e-02 -6.88127635e-03 7.60006063e+01] [-1.01372063e-02 9.99948462e-01 5.57747028e-04 -6.11012927e+00] [ 6.88657770e-03 -4.87948224e-04 9.99976168e-01 -3.10041013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.491346184 meters 0.08795316568622788 Centerline is valid? [True, True] Translation: X:76.03, Y:-6.10, Z:-3.10 [[ 9.99925678e-01 8.20449251e-03 -9.01803645e-03 7.60309657e+01] [-8.19823234e-03 9.99966127e-01 7.30931496e-04 -6.10488899e+00] [ 9.02372790e-03 -6.56945213e-04 9.99959070e-01 -3.09812716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.521346184 meters 0.08976239285904981 Centerline is valid? [True, True] Translation: X:76.06, Y:-6.11, Z:-3.10 [[ 9.99932619e-01 7.71484837e-03 -8.67397054e-03 7.60582607e+01] [-7.70906668e-03 9.99970040e-01 6.99794537e-04 -6.10906658e+00] [ 8.67910947e-03 -6.32879167e-04 9.99962136e-01 -3.10005179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.551346184 meters 0.09727306341992144 Centerline is valid? [True, True] Translation: X:76.08, Y:-6.13, Z:-3.11 [[ 9.99940730e-01 6.74525248e-03 -8.54627168e-03 7.60846142e+01] [-6.73961079e-03 9.99977051e-01 6.88762657e-04 -6.12729734e+00] [ 8.55072144e-03 -6.31123289e-04 9.99963243e-01 -3.10792998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.581346184 meters 0.09497190650787471 Centerline is valid? [True, True] Translation: X:76.11, Y:-6.13, Z:-3.11 [[ 9.99947593e-01 5.89210633e-03 -8.37226616e-03 7.61139613e+01] [-5.88666157e-03 9.99982446e-01 6.74826980e-04 -6.12755790e+00] [ 8.37609535e-03 -6.25506917e-04 9.99964724e-01 -3.10647894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.611346184 meters 0.09470679446553068 Centerline is valid? [True, True] Translation: X:76.14, Y:-6.13, Z:-3.11 [[ 9.99955025e-01 4.62964378e-03 -8.27737186e-03 7.61429750e+01] [-4.62427784e-03 9.99989085e-01 6.67287791e-04 -6.12968959e+00] [ 8.28037082e-03 -6.28980912e-04 9.99965519e-01 -3.10576545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641346184 meters 0.09220987117938938 Centerline is valid? [True, True] Translation: X:76.17, Y:-6.13, Z:-3.10 [[ 9.99962308e-01 3.17390015e-03 -8.08143266e-03 7.61725506e+01] [-3.16874230e-03 9.99994768e-01 6.50959111e-04 -6.12652474e+00] [ 8.08345646e-03 -6.25326598e-04 9.99967133e-01 -3.10234045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.671346184 meters 0.09522012904947827 Centerline is valid? [True, True] Translation: X:76.20, Y:-6.13, Z:-3.10 [[ 9.99979349e-01 -1.06396226e-04 -6.42568784e-03 7.62013453e+01] [ 1.09729870e-04 9.99999860e-01 5.18449352e-04 -6.13193661e+00] [ 6.42563178e-03 -5.19143736e-04 9.99979221e-01 -3.10264289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701346184 meters 0.1004129543576626 Centerline is valid? [True, False] Translation: X:76.20, Y:-6.13, Z:-3.10 [[ 9.99980569e-01 7.91165094e-05 -6.23347110e-03 7.62012136e+01] [-7.25931647e-05 9.99999450e-01 1.04672206e-03 -6.13336499e+00] [ 6.23355048e-03 -1.04624922e-03 9.99980024e-01 -3.10320588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73134618399999 meters 0.10291109909112005 Centerline is valid? [False, False] Translation: X:76.20, Y:-6.14, Z:-3.10 [[ 9.99981288e-01 4.55276284e-04 -6.10057300e-03 7.62015315e+01] [-4.44331024e-04 9.99998290e-01 1.79537155e-03 -6.13509083e+00] [ 6.10137995e-03 -1.79262728e-03 9.99979780e-01 -3.10427741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76134618399999 meters 0.0925903482120357 Centerline is valid? [False, True] Translation: X:76.20, Y:-6.14, Z:-3.11 [[ 9.99979790e-01 1.05564315e-03 -6.26931569e-03 7.62028680e+01] [-1.03949743e-03 9.99996137e-01 2.57805747e-03 -6.13651955e+00] [ 6.27201298e-03 -2.57148843e-03 9.99977024e-01 -3.10587040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79134618399999 meters 0.0921223036139734 Centerline is valid? [True, True] Translation: X:76.23, Y:-6.14, Z:-3.11 [[ 9.99977903e-01 3.63407026e-03 -5.56655941e-03 7.62321586e+01] [-3.63163300e-03 9.99993305e-01 4.47884817e-04 -6.13555837e+00] [ 5.56814979e-03 -4.27659219e-04 9.99984406e-01 -3.10593233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82134618399999 meters 0.0949887044907762 Centerline is valid? [True, True] Translation: X:76.26, Y:-6.14, Z:-3.11 [[ 9.99977104e-01 5.49342047e-03 -3.95150102e-03 7.62605075e+01] [-5.49220952e-03 9.99984867e-01 3.17238713e-04 -6.14072061e+00] [ 3.95318395e-03 -2.95528978e-04 9.99992142e-01 -3.10761824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.851346184 meters 0.09118083557348061 Centerline is valid? [True, True] Translation: X:76.29, Y:-6.13, Z:-3.10 [[ 9.99969494e-01 7.36712420e-03 -2.59529395e-03 7.62916288e+01] [-7.36660775e-03 9.99972844e-01 2.08495493e-04 -6.13280694e+00] [ 2.59675949e-03 -1.89370620e-04 9.99996610e-01 -3.10291624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.881346184 meters 0.09930213205823127 Centerline is valid? [True, True] Translation: X:76.32, Y:-6.15, Z:-3.11 [[ 9.99970182e-01 7.40936362e-03 -2.17631024e-03 7.63176545e+01] [-7.40900585e-03 9.99972538e-01 1.72405960e-04 -6.14799091e+00] [ 2.17752789e-03 -1.56276524e-04 9.99997617e-01 -3.10932178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.911346184 meters 0.09062546900932489 Centerline is valid? [True, True] Translation: X:76.35, Y:-6.14, Z:-3.10 [[ 9.99973329e-01 6.69215238e-03 -2.92521943e-03 7.63472031e+01] [-6.69150115e-03 9.99977585e-01 2.32356503e-04 -6.13608963e+00] [ 2.92670882e-03 -2.12776197e-04 9.99995695e-01 -3.10440073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.941346184 meters 0.09532945263603042 Centerline is valid? [True, True] Translation: X:76.37, Y:-6.15, Z:-3.11 [[ 9.99989001e-01 3.91487751e-03 -2.58300796e-03 7.63749547e+01] [-3.91435729e-03 9.99992318e-01 2.06423789e-04 -6.15175942e+00] [ 2.58379624e-03 -1.96310702e-04 9.99996643e-01 -3.10995948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.971346184 meters 0.09525067312943293 Centerline is valid? [True, True] Translation: X:76.40, Y:-6.16, Z:-3.11 [[ 9.99996966e-01 1.97839400e-03 -1.46768314e-03 7.64045404e+01] [-1.97822471e-03 9.99998036e-01 1.16789704e-04 -6.15614170e+00] [ 1.46791132e-03 -1.13885943e-04 9.99998916e-01 -3.10891711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001346184 meters 0.09525067312943293 Centerline is valid? [True, True] Translation: X:76.43, Y:-6.16, Z:-3.11 [[ 9.99997096e-01 1.91133497e-03 -1.46777649e-03 7.64328385e+01] [-1.91116730e-03 9.99998167e-01 1.15626336e-04 -6.15832420e+00] [ 1.46799480e-03 -1.12820834e-04 9.99998916e-01 -3.10982326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.031346184 meters 0.0974504185147714 Centerline is valid? [True, True] Translation: X:76.46, Y:-6.17, Z:-3.11 [[ 9.99999835e-01 -4.86582593e-04 3.03782374e-04 7.64609837e+01] [ 4.86590500e-04 9.99999881e-01 -2.59571659e-05 -6.16555853e+00] [-3.03769708e-04 2.61049793e-05 9.99999954e-01 -3.11025960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061346184 meters 0.1006638767764259 Centerline is valid? [True, False] Translation: X:76.46, Y:-6.17, Z:-3.11 [[ 9.99999652e-01 -5.51349767e-04 6.26754255e-04 7.64601293e+01] [ 5.51170745e-04 9.99999807e-01 2.85769809e-04 -6.16714356e+00] [-6.26911693e-04 -2.85424261e-04 9.99999763e-01 -3.11008413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.091346184 meters 0.10338494236667509 Centerline is valid? [False, False] Translation: X:76.46, Y:-6.17, Z:-3.11 [[ 9.99999199e-01 -3.70045304e-04 1.21070167e-03 7.64592391e+01] [ 3.68280288e-04 9.99998870e-01 1.45774342e-03 -6.17088814e+00] [-1.21123974e-03 -1.45729637e-03 9.99998205e-01 -3.11083819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12134618399999 meters 0.10612490501183382 Centerline is valid? [False, False] Translation: X:76.46, Y:-6.17, Z:-3.11 [[ 9.99999079e-01 -1.41679993e-04 1.34986757e-03 7.64591046e+01] [ 1.38770482e-04 9.99997668e-01 2.15525444e-03 -6.17306648e+00] [-1.35016978e-03 -2.15506513e-03 9.99996766e-01 -3.11124312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15134618399999 meters 0.10433717971736294 Centerline is valid? [False, False] Translation: X:76.46, Y:-6.18, Z:-3.11 [[ 9.99998795e-01 2.14891647e-04 1.53752512e-03 7.64590788e+01] [-2.19691188e-04 9.99995102e-01 3.12211397e-03 -6.17590693e+00] [-1.53684667e-03 -3.12244799e-03 9.99993944e-01 -3.11203132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18134618399999 meters 0.10841956033545845 Centerline is valid? [False, False] Translation: X:76.46, Y:-6.18, Z:-3.11 [[ 9.99992274e-01 -3.65503460e-03 1.44672422e-03 7.64594882e+01] [ 3.65548221e-03 9.99993272e-01 -3.06872053e-04 -6.17868141e+00] [-1.44559286e-03 3.12158157e-04 9.99998906e-01 -3.11244855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21134618399999 meters 0.11070329556781579 Centerline is valid? [False, False] Translation: X:76.46, Y:-6.18, Z:-3.11 [[ 9.99993718e-01 -3.25895602e-03 1.39423882e-03 7.64600432e+01] [ 3.25834401e-03 9.99994594e-01 4.41004079e-04 -6.18031884e+00] [-1.39566850e-03 -4.36458399e-04 9.99998931e-01 -3.11319746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.241346184 meters 0.11304365317868681 Centerline is valid? [False, False] Translation: X:76.46, Y:-6.18, Z:-3.11 [[ 9.99994008e-01 -3.19673599e-03 1.32857347e-03 7.64599001e+01] [ 3.19583387e-03 9.99994662e-01 6.80581516e-04 -6.18145128e+00] [-1.33074202e-03 -6.76331538e-04 9.99998886e-01 -3.11275098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.271346184 meters 0.11117194755423268 Centerline is valid? [False, False] Translation: X:76.46, Y:-6.18, Z:-3.11 [[ 9.99995364e-01 -2.74851679e-03 1.31086587e-03 7.64602682e+01] [ 2.74652277e-03 9.99995072e-01 1.52053507e-03 -6.18374158e+00] [-1.31503863e-03 -1.51692770e-03 9.99997985e-01 -3.11333456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.301346184 meters 0.10056279828666935 Centerline is valid? [False, False] Translation: X:76.46, Y:-6.19, Z:-3.11 [[ 9.99995672e-01 -2.58753511e-03 1.40003108e-03 7.64599573e+01] [ 2.58476298e-03 9.99994703e-01 1.97824566e-03 -6.18566162e+00] [-1.40514245e-03 -1.97461835e-03 9.99997063e-01 -3.11324401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.331346184 meters 0.11115680501588944 Centerline is valid? [False, False] Translation: X:76.46, Y:-6.19, Z:-3.11 [[ 9.99979959e-01 -6.29433803e-03 6.81051418e-04 7.64620088e+01] [ 6.29563888e-03 9.99978329e-01 -1.92508423e-03 -6.18558684e+00] [-6.68919528e-04 1.92933331e-03 9.99997915e-01 -3.11400481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.361346184 meters 0.1011112631075368 Centerline is valid? [False, False] Translation: X:76.46, Y:-6.19, Z:-3.12 [[ 9.99984073e-01 -5.61569213e-03 5.63273293e-04 7.64629264e+01] [ 5.61614258e-03 9.99983908e-01 -8.01333055e-04 -6.18840078e+00] [-5.58764189e-04 8.04483716e-04 9.99999520e-01 -3.11517656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.391346184 meters 0.10061934410813254 Centerline is valid? [False, False] Translation: X:76.46, Y:-6.19, Z:-3.12 [[ 9.99986587e-01 -5.16814618e-03 3.41082418e-04 7.64639807e+01] [ 5.16820490e-03 9.99986630e-01 -1.71502298e-04 -6.18939264e+00] [-3.40191509e-04 1.73262781e-04 9.99999927e-01 -3.11612210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421346184 meters 0.11236763040664285 Centerline is valid? [False, False] Translation: X:76.47, Y:-6.19, Z:-3.12 [[ 9.99988588e-01 -4.77310700e-03 -2.00964360e-04 7.64656298e+01] [ 4.77310582e-03 9.99988609e-01 -6.35818814e-06 -6.18861699e+00] [ 2.00992419e-04 5.39889143e-06 9.99999980e-01 -3.11685724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.451346184 meters 0.09559205988128695 Centerline is valid? [False, True] Translation: X:76.47, Y:-6.19, Z:-3.12 [[ 9.99990032e-01 -4.43009674e-03 -5.56689846e-04 7.64669108e+01] [ 4.43024068e-03 9.99990153e-01 2.57597042e-04 -6.18833011e+00] [ 5.55543185e-04 -2.60060744e-04 9.99999812e-01 -3.11764863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48134618399999 meters 0.09790540290042393 Centerline is valid? [True, True] Translation: X:76.50, Y:-6.19, Z:-3.12 [[ 9.99998306e-01 -1.83884995e-03 -7.63402471e-05 7.64959111e+01] [ 1.83885042e-03 9.99998309e-01 6.13168503e-06 -6.19440528e+00] [ 7.63288427e-05 -6.27205294e-06 9.99999997e-01 -3.12026751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51134618399999 meters 0.09800451887416747 Centerline is valid? [True, True] Translation: X:76.53, Y:-6.20, Z:-3.12 [[ 9.99999932e-01 1.69622090e-06 3.67929372e-04 7.65257082e+01] [-1.68487547e-06 1.00000000e+00 -3.08362040e-05 -6.19731643e+00] [-3.67929424e-04 3.08355820e-05 9.99999932e-01 -3.12106582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54134618399999 meters 0.09615811104401892 Centerline is valid? [True, True] Translation: X:76.56, Y:-6.20, Z:-3.12 [[ 9.99991492e-01 3.85607557e-03 1.46541043e-03 7.65568055e+01] [-3.85589958e-03 9.99992558e-01 -1.22898782e-04 -6.19656232e+00] [-1.46587343e-03 1.17247261e-04 9.99998919e-01 -3.12039796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57134618399999 meters 0.09102851508813037 Centerline is valid? [True, True] Translation: X:76.59, Y:-6.19, Z:-3.12 [[ 9.99984525e-01 4.94206338e-03 2.55443247e-03 7.65877795e+01] [-4.94152980e-03 9.99987767e-01 -2.15153513e-04 -6.19079721e+00] [-2.55546452e-03 2.02527379e-04 9.99996714e-01 -3.11866219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.601346184 meters 0.08838765426725671 Centerline is valid? [True, True] Translation: X:76.62, Y:-6.19, Z:-3.12 [[ 9.99969847e-01 6.78260889e-03 3.78175046e-03 7.66176699e+01] [-6.78145465e-03 9.99976955e-01 -3.17952458e-04 -6.18827164e+00] [-3.78381986e-03 2.92297101e-04 9.99992799e-01 -3.11714238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.631346184 meters 0.09136672478718906 Centerline is valid? [True, True] Translation: X:76.65, Y:-6.19, Z:-3.12 [[ 9.99970705e-01 6.70563377e-03 3.69098699e-03 7.66459718e+01] [-6.70453207e-03 9.99977476e-01 -3.10776372e-04 -6.19380801e+00] [-3.69298781e-03 2.86020927e-04 9.99993140e-01 -3.11862571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.661346184 meters 0.09075822707396299 Centerline is valid? [True, True] Translation: X:76.68, Y:-6.19, Z:-3.12 [[ 9.99968536e-01 6.53665560e-03 4.49427370e-03 7.66758722e+01] [-6.53502599e-03 9.99978575e-01 -3.77187858e-04 -6.19332902e+00] [-4.49664295e-03 3.47805794e-04 9.99989830e-01 -3.11770074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.691346184 meters 0.09040549319401661 Centerline is valid? [True, True] Translation: X:76.71, Y:-6.19, Z:-3.12 [[ 9.99969452e-01 6.87138294e-03 3.72557530e-03 7.67057516e+01] [-6.87026510e-03 9.99976351e-01 -3.12758358e-04 -6.19345186e+00] [-3.72763628e-03 2.87153114e-04 9.99993011e-01 -3.11993806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.721346184 meters 0.09078172510097662 Centerline is valid? [True, True] Translation: X:76.74, Y:-6.20, Z:-3.12 [[ 9.99972602e-01 6.78734134e-03 2.95416687e-03 7.67352066e+01] [-6.78663770e-03 9.99976940e-01 -2.48145975e-04 -6.19822509e+00] [-2.95578299e-03 2.28090316e-04 9.99995606e-01 -3.12395236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.751346184 meters 0.09170848830164026 Centerline is valid? [True, True] Translation: X:76.76, Y:-6.20, Z:-3.13 [[ 9.99976148e-01 6.29094139e-03 2.85091927e-03 7.67633116e+01] [-6.29028105e-03 9.99980187e-01 -2.40532095e-04 -6.20436771e+00] [-2.85237596e-03 2.22593275e-04 9.99995907e-01 -3.12820749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781346184 meters 0.09003502201915987 Centerline is valid? [True, True] Translation: X:76.79, Y:-6.20, Z:-3.13 [[ 9.99980232e-01 5.68386021e-03 2.68882910e-03 7.67932120e+01] [-5.68327373e-03 9.99983825e-01 -2.25706374e-04 -6.20372101e+00] [-2.69006849e-03 2.10420561e-04 9.99996360e-01 -3.12852039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.811346184 meters 0.09206897802978972 Centerline is valid? [True, True] Translation: X:76.82, Y:-6.21, Z:-3.13 [[ 9.99984345e-01 5.07637557e-03 2.35370469e-03 7.68217881e+01] [-5.07592349e-03 9.99987098e-01 -1.98002150e-04 -6.20608834e+00] [-2.35467945e-03 1.86051825e-04 9.99997210e-01 -3.12960369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.841346184 meters 0.09521140509000899 Centerline is valid? [True, True] Translation: X:76.85, Y:-6.21, Z:-3.13 [[ 9.99991693e-01 3.15569339e-03 2.57976294e-03 7.68512386e+01] [-3.15514712e-03 9.99994999e-01 -2.15795852e-04 -6.20775073e+00] [-2.58043102e-03 2.07654527e-04 9.99996649e-01 -3.12968676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87134618399999 meters 0.0918923755860405 Centerline is valid? [True, True] Translation: X:76.88, Y:-6.20, Z:-3.13 [[ 9.99989855e-01 2.88005373e-03 3.46335919e-03 7.68818537e+01] [-2.87907035e-03 9.99995814e-01 -2.88890832e-04 -6.20426982e+00] [-3.46417671e-03 2.78916646e-04 9.99993961e-01 -3.12774693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90134618399999 meters 0.09518250804329756 Centerline is valid? [True, True] Translation: X:76.91, Y:-6.21, Z:-3.13 [[ 9.99981979e-01 3.19740371e-03 5.08125767e-03 7.69118654e+01] [-3.19529371e-03 9.99994805e-01 -4.23313671e-04 -6.21211605e+00] [-5.08258478e-03 4.07069931e-04 9.99987001e-01 -3.13015105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93134618399999 meters 0.09127022134771674 Centerline is valid? [True, True] Translation: X:76.94, Y:-6.21, Z:-3.13 [[ 9.99974289e-01 4.03811094e-03 5.92580534e-03 7.69436851e+01] [-4.03525782e-03 9.99991737e-01 -4.93350891e-04 -6.20741473e+00] [-5.92774858e-03 4.69426054e-04 9.99982321e-01 -3.12722583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96134618399999 meters 0.0907921163506664 Centerline is valid? [True, True] Translation: X:76.97, Y:-6.21, Z:-3.13 [[ 9.99939580e-01 5.32918061e-03 9.61432761e-03 7.69741904e+01] [-5.32170972e-03 9.99985518e-01 -8.02473166e-04 -6.20973592e+00] [-9.61846489e-03 7.51260020e-04 9.99953459e-01 -3.12650655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.991346184 meters 0.09176871829906166 Centerline is valid? [True, True] Translation: X:77.01, Y:-6.21, Z:-3.13 [[ 9.99926968e-01 6.15056679e-03 1.04033715e-02 7.70058093e+01] [-6.14192670e-03 9.99980766e-01 -8.62254193e-04 -6.21284990e+00] [-1.04084748e-02 7.98294476e-04 9.99945512e-01 -3.12687964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.021346184 meters 0.08950559492889577 Centerline is valid? [True, True] Translation: X:77.04, Y:-6.21, Z:-3.13 [[ 9.99914629e-01 6.75865504e-03 1.11827764e-02 7.70390736e+01] [-6.74867319e-03 9.99976795e-01 -9.30104385e-04 -6.20806218e+00] [-1.11888032e-02 8.54556078e-04 9.99937038e-01 -3.12516766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.051346184 meters 0.09141014298256615 Centerline is valid? [True, True] Translation: X:77.07, Y:-6.21, Z:-3.13 [[ 9.99907112e-01 7.45168599e-03 1.14122348e-02 7.70702078e+01] [-7.44129566e-03 9.99971859e-01 -9.52647382e-04 -6.21070389e+00] [-1.14190125e-02 8.67637080e-04 9.99934425e-01 -3.12612179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.081346184 meters 0.09365647618309264 Centerline is valid? [True, True] Translation: X:77.10, Y:-6.22, Z:-3.13 [[ 9.99884983e-01 8.60237807e-03 1.24908203e-02 7.71003373e+01] [-8.58991932e-03 9.99962554e-01 -1.05074044e-03 -6.21993267e+00] [-1.24993914e-02 9.43324448e-04 9.99921435e-01 -3.13243658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.111346184 meters 0.0893911752041386 Centerline is valid? [True, True] Translation: X:77.13, Y:-6.22, Z:-3.14 [[ 9.99881961e-01 9.11207695e-03 1.23706967e-02 7.71326771e+01] [-9.09995095e-03 9.99958058e-01 -1.03615619e-03 -6.21896875e+00] [-1.23796193e-02 9.23461146e-04 9.99922943e-01 -3.13506956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141346184 meters 0.08983394529124034 Centerline is valid? [True, True] Translation: X:77.16, Y:-6.22, Z:-3.14 [[ 9.99928146e-01 8.97616507e-03 7.94557730e-03 7.71640736e+01] [-8.97112169e-03 9.99959534e-01 -6.70155740e-04 -6.21996795e+00] [-7.95127121e-03 5.98826846e-04 9.99968209e-01 -3.13833447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.171346184 meters 0.09024511897042531 Centerline is valid? [True, True] Translation: X:77.20, Y:-6.22, Z:-3.14 [[ 9.99935040e-01 8.41208498e-03 7.69102025e-03 7.71950607e+01] [-8.40733373e-03 9.99964447e-01 -6.49888155e-04 -6.21767608e+00] [-7.69621373e-03 5.85184965e-04 9.99970212e-01 -3.13643745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201346184 meters 0.09328352655217377 Centerline is valid? [True, True] Translation: X:77.22, Y:-6.22, Z:-3.14 [[ 9.99934989e-01 8.27427272e-03 7.84564762e-03 7.72244764e+01] [-8.26932052e-03 9.99965589e-01 -6.63433740e-04 -6.22139086e+00] [-7.85086707e-03 5.98512435e-04 9.99969002e-01 -3.13729658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23134618399999 meters 0.09122516032740222 Centerline is valid? [True, True] Translation: X:77.26, Y:-6.22, Z:-3.14 [[ 9.99935113e-01 8.15355197e-03 7.95549522e-03 7.72550263e+01] [-8.14846129e-03 9.99966575e-01 -6.72097929e-04 -6.21984873e+00] [-7.96070930e-03 6.07229273e-04 9.99968129e-01 -3.13640370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26134618399999 meters 0.08907301530141842 Centerline is valid? [True, True] Translation: X:77.29, Y:-6.22, Z:-3.14 [[ 9.99922605e-01 7.63234460e-03 9.82506429e-03 7.72855011e+01] [-7.62455500e-03 9.99970588e-01 -8.30043281e-04 -6.22395796e+00] [-9.83111050e-03 7.55067297e-04 9.99951388e-01 -3.13735631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29134618399999 meters 0.08878135652827125 Centerline is valid? [True, True] Translation: X:77.32, Y:-6.23, Z:-3.14 [[ 9.99908742e-01 7.30969258e-03 1.13611590e-02 7.73171977e+01] [-7.29932471e-03 9.99972905e-01 -9.53770360e-04 -6.22952518e+00] [-1.13678229e-02 8.70754532e-04 9.99935005e-01 -3.13910801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32134618399999 meters 0.09043099410443185 Centerline is valid? [True, True] Translation: X:77.35, Y:-6.24, Z:-3.14 [[ 9.99899319e-01 7.17721471e-03 1.22409277e-02 7.73490868e+01] [-7.16512756e-03 9.99973799e-01 -1.03100755e-03 -6.23739876e+00] [-1.22480068e-02 9.43195936e-04 9.99924546e-01 -3.14119157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.351346184 meters 0.09372771418771489 Centerline is valid? [True, True] Translation: X:77.38, Y:-6.24, Z:-3.14 [[ 9.99872088e-01 5.57111009e-03 1.49923658e-02 7.73798379e+01] [-5.55269381e-03 9.99983778e-01 -1.26972416e-03 -6.24390943e+00] [-1.49991964e-02 1.18631373e-03 9.99886802e-01 -3.13993623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.381346184 meters 0.09201480375490426 Centerline is valid? [True, True] Translation: X:77.41, Y:-6.24, Z:-3.14 [[ 9.99883152e-01 5.43581882e-03 1.42875327e-02 7.74121162e+01] [-5.41903907e-03 9.99984581e-01 -1.21288502e-03 -6.24076833e+00] [-1.42939054e-02 1.13531860e-03 9.99897192e-01 -3.13924436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.411346184 meters 0.095102428068264 Centerline is valid? [True, True] Translation: X:77.44, Y:-6.25, Z:-3.14 [[ 9.99891543e-01 6.08536952e-03 1.34116083e-02 7.74431572e+01] [-6.07058213e-03 9.99980921e-01 -1.14301590e-03 -6.24764868e+00] [-1.34183081e-02 1.06147566e-03 9.99909407e-01 -3.14238223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.441346184 meters 0.09501755190183547 Centerline is valid? [True, True] Translation: X:77.47, Y:-6.26, Z:-3.15 [[ 9.99918759e-01 7.76387720e-03 1.01092948e-02 7.74746131e+01] [-7.75558352e-03 9.99969556e-01 -8.59346761e-04 -6.25515557e+00] [-1.01156588e-02 7.80873467e-04 9.99948531e-01 -3.15127972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.471346184 meters 0.09306170313524331 Centerline is valid? [True, True] Translation: X:77.51, Y:-6.26, Z:-3.15 [[ 9.99920472e-01 8.66315773e-03 9.16514642e-03 7.75069051e+01] [-8.65636701e-03 9.99962228e-01 -7.80339500e-04 -6.25868646e+00] [-9.17156045e-03 7.00940570e-04 9.99957695e-01 -3.15490950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501346184 meters 0.08980705696685175 Centerline is valid? [True, True] Translation: X:77.54, Y:-6.26, Z:-3.16 [[ 9.99928355e-01 8.98509537e-03 7.90905521e-03 7.75385684e+01] [-8.97999835e-03 9.99959448e-01 -6.79730243e-04 -6.25839716e+00] [-7.91484192e-03 6.08658241e-04 9.99968492e-01 -3.15599162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.531346184 meters 0.09030062641000537 Centerline is valid? [True, True] Translation: X:77.57, Y:-6.26, Z:-3.16 [[ 9.99932126e-01 9.22401364e-03 7.11764182e-03 7.75685851e+01] [-9.21988362e-03 9.99957308e-01 -6.12845208e-04 -6.26245482e+00] [-7.12299085e-03 5.47179783e-04 9.99974481e-01 -3.15707995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561346184 meters 0.09521496893768332 Centerline is valid? [True, True] Translation: X:77.60, Y:-6.27, Z:-3.16 [[ 9.99935842e-01 8.77994055e-03 7.15708211e-03 7.75974898e+01] [-8.77574975e-03 9.99961302e-01 -6.16740642e-04 -6.26975023e+00] [-7.16222009e-03 5.53892312e-04 9.99974198e-01 -3.15604791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.591346184 meters 0.09275968407694161 Centerline is valid? [True, True] Translation: X:77.63, Y:-6.27, Z:-3.15 [[ 9.99928164e-01 7.49897913e-03 9.35049091e-03 7.76282153e+01] [-7.49177791e-03 9.99971612e-01 -8.04933456e-04 -6.26698070e+00] [-9.35626165e-03 7.34823832e-04 9.99955959e-01 -3.15192875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62134618399999 meters 0.09702284960589717 Centerline is valid? [True, True] Translation: X:77.66, Y:-6.28, Z:-3.15 [[ 9.99931091e-01 6.32776403e-03 9.88797443e-03 7.76584271e+01] [-6.31971024e-03 9.99979673e-01 -8.45537266e-04 -6.27794297e+00] [-9.89312380e-03 7.82989868e-04 9.99950755e-01 -3.15483142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65134618399999 meters 0.09952110735775234 Centerline is valid? [True, True] Translation: X:77.69, Y:-6.29, Z:-3.16 [[ 9.99949874e-01 4.58129239e-03 8.90291925e-03 7.76871196e+01] [-4.57463160e-03 9.99989241e-01 -7.68378199e-04 -6.29301455e+00] [-8.90634363e-03 7.27612107e-04 9.99960073e-01 -3.16377245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68134618399999 meters 0.09808524233668774 Centerline is valid? [True, True] Translation: X:77.72, Y:-6.30, Z:-3.17 [[ 9.99961409e-01 4.18786220e-03 7.72285614e-03 7.77186449e+01] [-4.18286429e-03 9.99991032e-01 -6.63197171e-04 -6.29769089e+00] [-7.72556426e-03 6.30867919e-04 9.99969958e-01 -3.16708916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71134618399999 meters 0.0944435459811561 Centerline is valid? [True, True] Translation: X:77.75, Y:-6.30, Z:-3.17 [[ 9.99967200e-01 4.47146011e-03 6.75310978e-03 7.77507616e+01] [-4.46766376e-03 9.99989853e-01 -5.77144490e-04 -6.29594971e+00] [-6.75562194e-03 5.46954936e-04 9.99977031e-01 -3.16767382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.741346184 meters 0.09480942066705081 Centerline is valid? [True, True] Translation: X:77.78, Y:-6.29, Z:-3.17 [[ 9.99966924e-01 6.34080719e-03 5.09360312e-03 7.77829237e+01] [-6.33867816e-03 9.99979816e-01 -4.34015263e-04 -6.29388607e+00] [-5.09625232e-03 4.01714197e-04 9.99986933e-01 -3.16902789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.771346184 meters 0.09420837554294365 Centerline is valid? [True, True] Translation: X:77.81, Y:-6.29, Z:-3.17 [[ 9.99964673e-01 7.67746592e-03 3.42186320e-03 7.78137194e+01] [-7.67649308e-03 9.99970491e-01 -2.97346265e-04 -6.29095866e+00] [-3.42404509e-03 2.71067852e-04 9.99994101e-01 -3.16995601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.801346184 meters 0.09033616978293382 Centerline is valid? [True, True] Translation: X:77.84, Y:-6.28, Z:-3.17 [[ 9.99929184e-01 1.16280319e-02 2.53279709e-03 7.78445385e+01] [-1.16275113e-02 9.99932374e-01 -2.20190978e-04 -6.28484167e+00] [-2.53518620e-03 1.90725258e-04 9.99996768e-01 -3.17040047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.831346184 meters 0.08837432834419713 Centerline is valid? [True, True] Translation: X:77.87, Y:-6.29, Z:-3.17 [[ 9.99907505e-01 1.33507812e-02 2.59585547e-03 7.78739460e+01] [-1.33502373e-02 9.99910856e-01 -2.26727153e-04 -6.28514890e+00] [-2.59865105e-03 1.92050895e-04 9.99996605e-01 -3.17202258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.861346184 meters 0.09183452950018337 Centerline is valid? [True, True] Translation: X:77.90, Y:-6.30, Z:-3.18 [[ 9.99886670e-01 1.46389077e-02 3.51424698e-03 7.79013922e+01] [-1.46379189e-02 9.99892813e-01 -3.06923945e-04 -6.29531402e+00] [-3.51836333e-03 2.55447899e-04 9.99993778e-01 -3.17657059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.891346184 meters 0.08973183131864161 Centerline is valid? [True, True] Translation: X:77.93, Y:-6.30, Z:-3.18 [[ 9.99863370e-01 1.57083279e-02 5.14685312e-03 7.79315828e+01] [-1.57062325e-02 9.99876549e-01 -4.47290688e-04 -6.29527400e+00] [-5.15324392e-03 3.66391902e-04 9.99986655e-01 -3.17506323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921346184 meters 0.08973183131864161 Centerline is valid? [True, True] Translation: X:77.96, Y:-6.30, Z:-3.18 [[ 9.99864439e-01 1.56401632e-02 5.14672622e-03 7.79598446e+01] [-1.56380594e-02 9.99877617e-01 -4.48753698e-04 -6.29763675e+00] [-5.15311493e-03 3.68208054e-04 9.99986655e-01 -3.17607337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.951346184 meters 0.09187625598641981 Centerline is valid? [True, True] Translation: X:77.99, Y:-6.30, Z:-3.18 [[ 9.99872348e-01 1.49001596e-02 5.76824265e-03 7.79872680e+01] [-1.48975060e-02 9.99888900e-01 -5.02745601e-04 -6.30331849e+00] [-5.77509278e-03 4.16748995e-04 9.99983237e-01 -3.17726042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98134618399999 meters 0.08946550904241349 Centerline is valid? [True, True] Translation: X:78.02, Y:-6.30, Z:-3.17 [[ 9.99890370e-01 1.36922057e-02 5.63669755e-03 7.80173462e+01] [-1.36896634e-02 9.99906172e-01 -4.89366350e-04 -6.30003166e+00] [-5.64286917e-03 4.12148209e-04 9.99983994e-01 -3.17433513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01134618399999 meters 0.0932266949436012 Centerline is valid? [True, True] Translation: X:78.05, Y:-6.31, Z:-3.18 [[ 9.99907391e-01 1.20508968e-02 6.32340982e-03 7.80453183e+01] [-1.20476639e-02 9.99927273e-01 -5.49106145e-04 -6.30655117e+00] [-6.32956717e-03 4.72872976e-04 9.99979856e-01 -3.17581827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04134618399999 meters 0.09012150929014111 Centerline is valid? [True, True] Translation: X:78.08, Y:-6.30, Z:-3.17 [[ 9.99938991e-01 9.71719829e-03 5.25262719e-03 7.80760602e+01] [-9.71494077e-03 9.99952705e-01 -4.55132122e-04 -6.30215187e+00] [-5.25680137e-03 4.04075393e-04 9.99986101e-01 -3.17365584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07134618399999 meters 0.098774044879528 Centerline is valid? [True, True] Translation: X:78.10, Y:-6.32, Z:-3.18 [[ 9.99969499e-01 5.64430691e-03 5.39835107e-03 7.81032746e+01] [-5.64186693e-03 9.99983975e-01 -4.67107569e-04 -6.32306973e+00] [-5.40090106e-03 4.36636544e-04 9.99985320e-01 -3.18269855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.101346184 meters 0.09244016904518383 Centerline is valid? [True, True] Translation: X:78.13, Y:-6.32, Z:-3.18 [[ 9.99973533e-01 4.55418848e-03 5.67392361e-03 7.81349769e+01] [-4.55147855e-03 9.99989522e-01 -4.90431364e-04 -6.31682490e+00] [-5.67609767e-03 4.64593642e-04 9.99983783e-01 -3.17998816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.131346184 meters 0.09378376967732473 Centerline is valid? [True, True] Translation: X:78.17, Y:-6.32, Z:-3.18 [[ 9.99977555e-01 3.71384935e-03 5.57651233e-03 7.81658037e+01] [-3.71122112e-03 9.99992997e-01 -4.81578676e-04 -6.32094608e+00] [-5.57826179e-03 4.60872196e-04 9.99984335e-01 -3.18160907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.161346184 meters 0.09433054198449502 Centerline is valid? [True, True] Translation: X:78.20, Y:-6.32, Z:-3.18 [[ 9.99976756e-01 3.92642378e-03 5.57404458e-03 7.81970994e+01] [-3.92383211e-03 9.99992189e-01 -4.75812072e-04 -6.32432012e+00] [-5.57586928e-03 4.53929398e-04 9.99984352e-01 -3.18344229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.191346184 meters 0.09791144194238974 Centerline is valid? [True, True] Translation: X:78.23, Y:-6.33, Z:-3.19 [[ 9.99977452e-01 3.65173740e-03 5.63556212e-03 7.82278316e+01] [-3.64907570e-03 9.99993226e-01 -4.82515879e-04 -6.33242924e+00] [-5.63728597e-03 4.61940407e-04 9.99984004e-01 -3.18693581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.221346184 meters 0.09502207592106954 Centerline is valid? [True, True] Translation: X:78.26, Y:-6.33, Z:-3.19 [[ 9.99978234e-01 4.07821057e-03 5.18656593e-03 7.82591875e+01] [-4.07592918e-03 9.99991592e-01 -4.50359080e-04 -6.32982488e+00] [-5.18835898e-03 4.29209201e-04 9.99986448e-01 -3.18650326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.251346184 meters 0.09783952807522345 Centerline is valid? [True, True] Translation: X:78.29, Y:-6.34, Z:-3.19 [[ 9.99968699e-01 4.00538760e-03 6.82339019e-03 7.82886403e+01] [-4.00142961e-03 9.99991818e-01 -5.93615021e-04 -6.33641096e+00] [-6.82571202e-03 5.66293125e-04 9.99976544e-01 -3.18723186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281346184 meters 0.09913730816412311 Centerline is valid? [True, True] Translation: X:78.32, Y:-6.34, Z:-3.19 [[ 9.99976376e-01 3.83119753e-03 5.70688329e-03 7.83188597e+01] [-3.82842885e-03 9.99992549e-01 -4.95993301e-04 -6.34156216e+00] [-5.70874102e-03 4.74133187e-04 9.99983593e-01 -3.19006378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.311346184 meters 0.09828235928558701 Centerline is valid? [True, True] Translation: X:78.35, Y:-6.34, Z:-3.19 [[ 9.99976377e-01 3.78118112e-03 5.74002211e-03 7.83504574e+01] [-3.77837820e-03 9.99992737e-01 -4.99078292e-04 -6.34428268e+00] [-5.74186753e-03 4.77378528e-04 9.99983401e-01 -3.19097198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.341346184 meters 0.09838689863599377 Centerline is valid? [True, True] Translation: X:78.38, Y:-6.35, Z:-3.19 [[ 9.99979849e-01 3.78109224e-03 5.09958249e-03 7.83811898e+01] [-3.77887971e-03 9.99992762e-01 -4.43430341e-04 -6.34844439e+00] [-5.10122223e-03 4.24150696e-04 9.99986899e-01 -3.19276744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37134618399999 meters 0.10137261575512575 Centerline is valid? [True, False] Translation: X:78.38, Y:-6.35, Z:-3.19 [[ 9.99978921e-01 3.93256689e-03 5.16642461e-03 7.83810523e+01] [-3.93264751e-03 9.99992267e-01 5.44505147e-06 -6.34994604e+00] [-5.16636324e-03 -2.57626635e-05 9.99986654e-01 -3.19280189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40134618399999 meters 0.10240859466107169 Centerline is valid? [False, False] Translation: X:78.38, Y:-6.35, Z:-3.19 [[ 9.99978602e-01 4.04218516e-03 5.14354936e-03 7.83811717e+01] [-4.04347635e-03 9.99991796e-01 2.40655991e-04 -6.35052677e+00] [-5.14253439e-03 -2.61448662e-04 9.99986743e-01 -3.19290275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43134618399999 meters 0.10356285518412647 Centerline is valid? [False, False] Translation: X:78.38, Y:-6.35, Z:-3.19 [[ 9.99978633e-01 4.02602847e-03 5.15018544e-03 7.83810304e+01] [-4.02757581e-03 9.99991847e-01 2.90107300e-04 -6.35094832e+00] [-5.14897547e-03 -3.10843864e-04 9.99986696e-01 -3.19272934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46134618399999 meters 0.10191073493358753 Centerline is valid? [False, False] Translation: X:78.38, Y:-6.35, Z:-3.19 [[ 9.99988818e-01 4.30313195e-04 4.70934716e-03 7.83826473e+01] [-4.15423121e-04 9.99994914e-01 -3.16233433e-03 -6.35238002e+00] [-4.71068400e-03 3.16034260e-03 9.99983911e-01 -3.19380201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.491346184 meters 0.10552522621237297 Centerline is valid? [False, False] Translation: X:78.38, Y:-6.36, Z:-3.19 [[ 9.99988189e-01 8.24127793e-04 4.78983645e-03 7.83826805e+01] [-8.12976584e-04 9.99996956e-01 -2.32957887e-03 -6.35503797e+00] [-4.79174174e-03 2.32565733e-03 9.99985815e-01 -3.19424080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.521346184 meters 0.10419038094220388 Centerline is valid? [False, False] Translation: X:78.38, Y:-6.36, Z:-3.19 [[ 9.99987930e-01 1.00653905e-03 4.80900852e-03 7.83826551e+01] [-9.97240988e-04 9.99997630e-01 -1.93547454e-03 -6.35640998e+00] [-4.81094525e-03 1.93065544e-03 9.99986564e-01 -3.19431702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.551346184 meters 0.10330604748637381 Centerline is valid? [False, False] Translation: X:78.38, Y:-6.36, Z:-3.19 [[ 9.99988033e-01 1.28974967e-03 4.71920691e-03 7.83830571e+01] [-1.28287673e-03 9.99998113e-01 -1.45911320e-03 -6.35758982e+00] [-4.72107990e-03 1.45304157e-03 9.99987800e-01 -3.19467877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.581346184 meters 0.09673972465859808 Centerline is valid? [False, True] Translation: X:78.38, Y:-6.36, Z:-3.20 [[ 9.99987765e-01 1.78626149e-03 4.61293126e-03 7.83839135e+01] [-1.78325004e-03 9.99998194e-01 -6.56858101e-04 -6.35915908e+00] [-4.61409625e-03 6.48624055e-04 9.99989145e-01 -3.19570843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.611346184 meters 0.09627970323764909 Centerline is valid? [True, True] Translation: X:78.42, Y:-6.36, Z:-3.20 [[ 9.99991664e-01 2.14140166e-03 3.47657499e-03 7.84162654e+01] [-2.14034827e-03 9.99997662e-01 -3.06688785e-04 -6.36120897e+00] [-3.47722361e-03 2.99245147e-04 9.99993910e-01 -3.19714190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641346184 meters 0.0961111888533613 Centerline is valid? [True, True] Translation: X:78.45, Y:-6.36, Z:-3.20 [[ 9.99997219e-01 1.94099619e-03 1.33949058e-03 7.84474027e+01] [-1.94083678e-03 9.99998109e-01 -1.20296909e-04 -6.36355244e+00] [-1.33972155e-03 1.17696842e-04 9.99999096e-01 -3.19984166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.671346184 meters 0.09690274586099983 Centerline is valid? [True, True] Translation: X:78.48, Y:-6.37, Z:-3.20 [[ 9.99998896e-01 1.44291280e-03 -3.55490734e-04 7.84769901e+01] [-1.44290165e-03 9.99998959e-01 3.16317865e-05 -6.36862619e+00] [ 3.55536006e-04 -3.11188134e-05 9.99999936e-01 -3.20349798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701346184 meters 0.10182299136825035 Centerline is valid? [True, False] Translation: X:78.48, Y:-6.37, Z:-3.20 [[ 9.99998746e-01 1.56437961e-03 2.45640067e-04 7.84758299e+01] [-1.56460692e-03 9.99998345e-01 9.27929554e-04 -6.37254164e+00] [-2.44188026e-04 -9.28312721e-04 9.99999539e-01 -3.20389010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73134618399999 meters 0.10081160277584948 Centerline is valid? [False, False] Translation: X:78.48, Y:-6.37, Z:-3.20 [[ 9.99998577e-01 1.63420486e-03 4.18074485e-04 7.84754288e+01] [-1.63474721e-03 9.99997819e-01 1.30022220e-03 -6.37408890e+00] [-4.15948743e-04 -1.30090380e-03 9.99999067e-01 -3.20395260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76134618399999 meters 0.10124241571301358 Centerline is valid? [False, False] Translation: X:78.48, Y:-6.38, Z:-3.20 [[ 9.99998268e-01 1.77750049e-03 5.52222500e-04 7.84751269e+01] [-1.77846259e-03 9.99996893e-01 1.74665411e-03 -6.37580250e+00] [-5.49116106e-04 -1.74763319e-03 9.99998322e-01 -3.20401840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79134618399999 meters 0.10132952701336888 Centerline is valid? [False, False] Translation: X:78.47, Y:-6.38, Z:-3.20 [[ 9.99997887e-01 1.93608122e-03 6.90747244e-04 7.84745652e+01] [-1.93767834e-03 9.99995434e-01 2.31903182e-03 -6.37825347e+00] [-6.86254256e-04 -2.32036536e-03 9.99997072e-01 -3.20373630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82134618399999 meters 0.10079444758023191 Centerline is valid? [False, False] Translation: X:78.47, Y:-6.38, Z:-3.20 [[ 9.99998198e-01 1.80953863e-03 5.74600338e-04 7.84745627e+01] [-1.81071858e-03 9.99996240e-01 2.05967733e-03 -6.37768873e+00] [-5.70871112e-04 -2.06071406e-03 9.99997714e-01 -3.20332557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.851346184 meters 0.09989078897781883 Centerline is valid? [False, True] Translation: X:78.48, Y:-6.37, Z:-3.20 [[ 9.99998785e-01 1.54589010e-03 -1.99438089e-04 7.84756962e+01] [-1.54572352e-03 9.99998459e-01 8.32698949e-04 -6.37322881e+00] [ 2.00725042e-04 -8.32389662e-04 9.99999633e-01 -3.20238109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.881346184 meters 0.09483653644107636 Centerline is valid? [True, True] Translation: X:78.51, Y:-6.37, Z:-3.20 [[ 9.99994044e-01 3.42722105e-03 -4.07310052e-04 7.85063429e+01] [-3.42720700e-03 9.99994126e-01 3.51896715e-05 -6.36637603e+00] [ 4.07428262e-04 -3.37935261e-05 9.99999916e-01 -3.19992183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.911346184 meters 0.09976071445696902 Centerline is valid? [True, True] Translation: X:78.53, Y:-6.38, Z:-3.21 [[ 9.99986368e-01 5.13944930e-03 -9.21717518e-04 7.85338656e+01] [-5.13937637e-03 9.99986790e-01 8.14740654e-05 -6.37884017e+00] [ 9.22124074e-04 -7.67359016e-05 9.99999572e-01 -3.20675266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.941346184 meters 0.09781365498892888 Centerline is valid? [True, True] Translation: X:78.56, Y:-6.38, Z:-3.21 [[ 9.99975659e-01 6.81436386e-03 -1.49871490e-03 7.85637240e+01] [-6.81416918e-03 9.99976774e-01 1.34970082e-04 -6.38031842e+00] [ 1.49959983e-03 -1.24754299e-04 9.99998868e-01 -3.20872913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.971346184 meters 0.09276626799671288 Centerline is valid? [True, True] Translation: X:78.59, Y:-6.38, Z:-3.21 [[ 9.99962055e-01 8.53450572e-03 -1.74646495e-03 7.85941813e+01] [-8.53424389e-03 9.99963570e-01 1.57320827e-04 -6.37662513e+00] [ 1.74774398e-03 -1.42410099e-04 9.99998463e-01 -3.20765796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001346184 meters 0.09443330894445191 Centerline is valid? [True, True] Translation: X:78.62, Y:-6.38, Z:-3.21 [[ 9.99964486e-01 8.05872413e-03 -2.46642706e-03 7.86217437e+01] [-8.05820668e-03 9.99967508e-01 2.19663445e-04 -6.38229938e+00] [ 2.46811713e-03 -1.99780665e-04 9.99996934e-01 -3.21017646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.031346184 meters 0.0950210112624527 Centerline is valid? [True, True] Translation: X:78.65, Y:-6.39, Z:-3.21 [[ 9.99968089e-01 7.50594892e-03 -2.73527827e-03 7.86506373e+01] [-7.50530820e-03 9.99971805e-01 2.44431983e-04 -6.38582897e+00] [ 2.73703585e-03 -2.23895077e-04 9.99996229e-01 -3.21141377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061346184 meters 0.09531602294319413 Centerline is valid? [True, True] Translation: X:78.68, Y:-6.39, Z:-3.21 [[ 9.99982880e-01 5.33243044e-03 -2.40948818e-03 7.86809195e+01] [-5.33192326e-03 9.99985762e-01 2.16867005e-04 -6.38738183e+00] [ 2.41061030e-03 -2.04016086e-04 9.99997074e-01 -3.21152341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.091346184 meters 0.09643413480175222 Centerline is valid? [True, True] Translation: X:78.71, Y:-6.39, Z:-3.21 [[ 9.99986947e-01 4.43100166e-03 -2.54417649e-03 7.87087370e+01] [-4.43043848e-03 9.99990160e-01 2.26951649e-04 -6.39239739e+00] [ 2.54515707e-03 -2.15676869e-04 9.99996738e-01 -3.21352155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12134618399999 meters 0.09732920411349102 Centerline is valid? [True, True] Translation: X:78.74, Y:-6.40, Z:-3.22 [[ 9.99991203e-01 3.65850050e-03 -2.05172648e-03 7.87365701e+01] [-3.65813527e-03 9.99993292e-01 1.81734526e-04 -6.39824847e+00] [ 2.05237760e-03 -1.74227434e-04 9.99997879e-01 -3.21581816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15134618399999 meters 0.09906034046742312 Centerline is valid? [True, True] Translation: X:78.76, Y:-6.41, Z:-3.22 [[ 9.99994148e-01 2.22901156e-03 -2.59533990e-03 7.87642710e+01] [-2.22841726e-03 9.99997490e-01 2.31859102e-04 -6.40698733e+00] [ 2.59585020e-03 -2.26074245e-04 9.99996605e-01 -3.21934372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18134618399999 meters 0.09984211408849121 Centerline is valid? [True, True] Translation: X:78.79, Y:-6.41, Z:-3.22 [[ 9.99992774e-01 2.11885924e-03 -3.15625432e-03 7.87914218e+01] [-2.11798314e-03 9.99997718e-01 2.80893736e-04 -6.40999045e+00] [ 3.15684229e-03 -2.74206813e-04 9.99994980e-01 -3.22079316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21134618399999 meters 0.10178130613175877 Centerline is valid? [True, False] Translation: X:78.79, Y:-6.41, Z:-3.22 [[ 9.99992640e-01 1.99751512e-03 -3.27566319e-03 7.87918128e+01] [-1.99773325e-03 9.99998003e-01 -6.33211778e-05 -6.40842015e+00] [ 3.27553017e-03 6.98646130e-05 9.99994633e-01 -3.22091389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.241346184 meters 0.09939617580633185 Centerline is valid? [False, True] Translation: X:78.79, Y:-6.40, Z:-3.22 [[ 9.99993297e-01 1.22923907e-03 -3.44889160e-03 7.87914586e+01] [-1.23486193e-03 9.99997911e-01 -1.62868132e-03 -6.40405143e+00] [ 3.44688236e-03 1.63292931e-03 9.99992726e-01 -3.21957407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.271346184 meters 0.1021048655532749 Centerline is valid? [True, False] Translation: X:78.79, Y:-6.40, Z:-3.22 [[ 9.99992584e-01 1.26029186e-03 -3.63905890e-03 7.87920786e+01] [-1.26675018e-03 9.99997626e-01 -1.77296314e-03 -6.40296644e+00] [ 3.63681581e-03 1.77755977e-03 9.99991807e-01 -3.21982895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.301346184 meters 0.09909289487547994 Centerline is valid? [False, True] Translation: X:78.79, Y:-6.40, Z:-3.22 [[ 9.99993005e-01 1.05321181e-03 -3.58900732e-03 7.87917015e+01] [-1.06070170e-03 9.99997263e-01 -2.08563141e-03 -6.40245830e+00] [ 3.58680089e-03 2.08942369e-03 9.99991385e-01 -3.21938794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.331346184 meters 0.10061912775407693 Centerline is valid? [True, False] Translation: X:78.79, Y:-6.40, Z:-3.22 [[ 9.99992639e-01 1.40404692e-03 -3.57092449e-03 7.87923257e+01] [-1.40947768e-03 9.99997853e-01 -1.51876665e-03 -6.40336653e+00] [ 3.56878440e-03 1.52378861e-03 9.99992471e-01 -3.22050851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.361346184 meters 0.10074041381334181 Centerline is valid? [False, False] Translation: X:78.79, Y:-6.40, Z:-3.22 [[ 9.99991491e-01 1.68015877e-03 -3.76770712e-03 7.87932519e+01] [-1.68484630e-03 9.99997810e-01 -1.24130380e-03 -6.40333858e+00] [ 3.76561328e-03 1.24764124e-03 9.99992132e-01 -3.22128429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.391346184 meters 0.09633978152048726 Centerline is valid? [False, True] Translation: X:78.79, Y:-6.40, Z:-3.22 [[ 9.99991343e-01 1.64163426e-03 -3.82349359e-03 7.87935552e+01] [-1.64713326e-03 9.99997613e-01 -1.43550937e-03 -6.40232843e+00] [ 3.82112788e-03 1.44179474e-03 9.99991660e-01 -3.22153494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421346184 meters 0.10119549523642138 Centerline is valid? [True, False] Translation: X:78.79, Y:-6.40, Z:-3.22 [[ 9.99990601e-01 1.39521623e-03 -4.10495517e-03 7.87940543e+01] [-1.40454650e-03 9.99996435e-01 -2.27092284e-03 -6.39929117e+00] [ 4.10177211e-03 2.27666709e-03 9.99988996e-01 -3.22119630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.451346184 meters 0.09723577207860423 Centerline is valid? [False, True] Translation: X:78.79, Y:-6.40, Z:-3.22 [[ 9.99990074e-01 1.19680445e-03 -4.29174411e-03 7.87944831e+01] [-1.20928263e-03 9.99995046e-01 -2.90606880e-03 -6.39689411e+00] [ 4.28824486e-03 2.91122989e-03 9.99986568e-01 -3.22109944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48134618399999 meters 0.09527033382493852 Centerline is valid? [True, True] Translation: X:78.82, Y:-6.39, Z:-3.22 [[ 9.99991447e-01 1.31826449e-03 -3.92014286e-03 7.88237216e+01] [-1.31702542e-03 9.99999082e-01 3.18641972e-04 -6.39465969e+00] [ 3.92055932e-03 -3.13476319e-04 9.99992265e-01 -3.22141828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51134618399999 meters 0.10076432544149255 Centerline is valid? [True, False] Translation: X:78.82, Y:-6.39, Z:-3.22 [[ 9.99989958e-01 1.36738099e-03 -4.26777562e-03 7.88245897e+01] [-1.36751127e-03 9.99999065e-01 -2.76063865e-05 -6.39290433e+00] [ 4.26773388e-03 3.34423405e-05 9.99990893e-01 -3.22149824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54134618399999 meters 0.09724071195112585 Centerline is valid? [False, True] Translation: X:78.82, Y:-6.39, Z:-3.22 [[ 9.99989573e-01 1.58696706e-03 -4.28200993e-03 7.88249559e+01] [-1.58561771e-03 9.99998692e-01 3.18497647e-04 -6.39358327e+00] [ 4.28250978e-03 -3.11704696e-04 9.99990781e-01 -3.22207728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57134618399999 meters 0.09631557313711368 Centerline is valid? [True, True] Translation: X:78.85, Y:-6.39, Z:-3.22 [[ 9.99988170e-01 2.60277368e-03 -4.10922084e-03 7.88542801e+01] [-2.60144589e-03 9.99996562e-01 3.28438696e-04 -6.39432120e+00] [ 4.11006157e-03 -3.17744895e-04 9.99991503e-01 -3.22254296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.601346184 meters 0.09578770102202323 Centerline is valid? [True, True] Translation: X:78.88, Y:-6.39, Z:-3.22 [[ 9.99980331e-01 5.65694140e-03 -2.70870616e-03 7.88845048e+01] [-5.65636970e-03 9.99983979e-01 2.18676725e-04 -6.39170271e+00] [ 2.70989980e-03 -2.03350980e-04 9.99996308e-01 -3.22261067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.631346184 meters 0.09113586061459618 Centerline is valid? [True, True] Translation: X:78.91, Y:-6.38, Z:-3.22 [[ 9.99977702e-01 5.85679746e-03 -3.20824438e-03 7.89140241e+01] [-5.85600377e-03 9.99982821e-01 2.56730454e-04 -6.38278248e+00] [ 3.20969288e-03 -2.37937239e-04 9.99994821e-01 -3.21923246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.661346184 meters 0.09151055770832126 Centerline is valid? [True, True] Translation: X:78.94, Y:-6.38, Z:-3.22 [[ 9.99979254e-01 5.95373036e-03 -2.45857475e-03 7.89424226e+01] [-5.95326618e-03 9.99982260e-01 1.96074544e-04 -6.38358392e+00] [ 2.45969851e-03 -1.81433927e-04 9.99996958e-01 -3.21966862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.691346184 meters 0.09111587179233016 Centerline is valid? [True, True] Translation: X:78.97, Y:-6.38, Z:-3.22 [[ 9.99974947e-01 6.87511445e-03 -1.68480984e-03 7.89717575e+01] [-6.87489815e-03 9.99976359e-01 1.34142942e-04 -6.38439194e+00] [ 1.68569225e-03 -1.22556686e-04 9.99998572e-01 -3.21995406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.721346184 meters 0.08850770338248277 Centerline is valid? [True, True] Translation: X:79.00, Y:-6.38, Z:-3.22 [[ 9.99969403e-01 7.67290996e-03 -1.52289027e-03 7.90007358e+01] [-7.67273544e-03 9.99970557e-01 1.20402505e-04 -6.38213907e+00] [ 1.52376927e-03 -1.08714087e-04 9.99998833e-01 -3.21876771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.751346184 meters 0.08987434859510773 Centerline is valid? [True, True] Translation: X:79.03, Y:-6.39, Z:-3.22 [[ 9.99968888e-01 7.41546808e-03 -2.68944115e-03 7.90273862e+01] [-7.41492201e-03 9.99972486e-01 2.12955208e-04 -6.38899715e+00] [ 2.69094632e-03 -1.93006587e-04 9.99996361e-01 -3.22299117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781346184 meters 0.09930902442568076 Centerline is valid? [True, True] Translation: X:79.05, Y:-6.41, Z:-3.23 [[ 9.99977586e-01 6.25278499e-03 -2.39365078e-03 7.90538767e+01] [-6.25234908e-03 9.99980436e-01 1.89550872e-04 -6.40752141e+00] [ 2.39478917e-03 -1.74580683e-04 9.99997117e-01 -3.23099192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.811346184 meters 0.09930902442568076 Centerline is valid? [True, True] Translation: X:79.08, Y:-6.41, Z:-3.23 [[ 9.99977977e-01 6.18996032e-03 -2.39360475e-03 7.90821704e+01] [-6.18952287e-03 9.99980827e-01 1.90123223e-04 -6.40970007e+00] [ 2.39473571e-03 -1.75303765e-04 9.99997117e-01 -3.23187527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.841346184 meters 0.10109164273263936 Centerline is valid? [True, False] Translation: X:79.08, Y:-6.41, Z:-3.23 [[ 9.99980752e-01 5.76106714e-03 -2.30346179e-03 7.90817129e+01] [-5.76210167e-03 9.99983301e-01 -4.42739054e-04 -6.40769772e+00] [ 2.30087267e-03 4.56003313e-04 9.99997249e-01 -3.23141239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87134618399999 meters 0.0968718980245614 Centerline is valid? [False, True] Translation: X:79.08, Y:-6.41, Z:-3.23 [[ 9.99981239e-01 5.67665945e-03 -2.30148715e-03 7.90818325e+01] [-5.67800907e-03 9.99983712e-01 -5.80301372e-04 -6.40694217e+00] [ 2.29815549e-03 5.93358350e-04 9.99997183e-01 -3.23159963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90134618399999 meters 0.09677746152639305 Centerline is valid? [True, True] Translation: X:79.11, Y:-6.41, Z:-3.23 [[ 9.99987413e-01 4.10480775e-03 -2.88533818e-03 7.91115168e+01] [-4.10412845e-03 9.99991549e-01 2.41313697e-04 -6.40919179e+00] [ 2.88630434e-03 -2.29468860e-04 9.99995808e-01 -3.23380551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93134618399999 meters 0.09414285940400108 Centerline is valid? [True, True] Translation: X:79.14, Y:-6.41, Z:-3.23 [[ 9.99992187e-01 2.80241083e-03 -2.78774149e-03 7.91409317e+01] [-2.80177460e-03 9.99996048e-01 2.32102054e-04 -6.40774881e+00] [ 2.78838092e-03 -2.24289617e-04 9.99996087e-01 -3.23291393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96134618399999 meters 0.09940906967460862 Centerline is valid? [True, True] Translation: X:79.17, Y:-6.42, Z:-3.24 [[ 9.99996542e-01 1.35002985e-03 -2.25699769e-03 7.91688590e+01] [-1.34960998e-03 9.99999072e-01 1.87542887e-04 -6.41993408e+00] [ 2.25724878e-03 -1.84496172e-04 9.99997435e-01 -3.23669185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.991346184 meters 0.09818477083280355 Centerline is valid? [True, True] Translation: X:79.20, Y:-6.42, Z:-3.24 [[ 9.99998622e-01 8.92098542e-04 -1.39992165e-03 7.91977572e+01] [-8.91938268e-04 9.99999596e-01 1.15108618e-04 -6.42039530e+00] [ 1.40002377e-03 -1.13859816e-04 9.99999013e-01 -3.23642032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.021346184 meters 0.0933566641797412 Centerline is valid? [True, True] Translation: X:79.23, Y:-6.41, Z:-3.23 [[ 9.99996559e-01 2.61019851e-03 -2.62532017e-04 7.92281968e+01] [-2.61019314e-03 9.99996593e-01 2.08183901e-05 -6.41291766e+00] [ 2.62585462e-04 -2.01330592e-05 9.99999965e-01 -3.23270448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.051346184 meters 0.09317209904579675 Centerline is valid? [True, True] Translation: X:79.26, Y:-6.41, Z:-3.23 [[ 9.99991104e-01 4.14656422e-03 7.72765984e-04 7.92582602e+01] [-4.14651431e-03 9.99991401e-01 -6.61817295e-05 -6.41463671e+00] [-7.73033766e-04 6.29768556e-05 9.99999699e-01 -3.23403124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.081346184 meters 0.09139291128459706 Centerline is valid? [True, True] Translation: X:79.29, Y:-6.41, Z:-3.23 [[ 9.99984145e-01 5.62472600e-03 2.68814705e-04 7.92878188e+01] [-5.62471968e-03 9.99984181e-01 -2.42868935e-05 -6.41356287e+00] [-2.68947059e-04 2.27745011e-05 9.99999964e-01 -3.23487609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.111346184 meters 0.09212000239475698 Centerline is valid? [True, True] Translation: X:79.32, Y:-6.42, Z:-3.24 [[ 9.99969862e-01 7.73755439e-03 6.37214534e-04 7.93168337e+01] [-7.73752122e-03 9.99970063e-01 -5.45020694e-05 -6.41641461e+00] [-6.37617171e-04 4.95699658e-05 9.99999795e-01 -3.23694359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141346184 meters 0.09207813597676935 Centerline is valid? [True, True] Translation: X:79.35, Y:-6.42, Z:-3.24 [[ 9.99951109e-01 9.88225897e-03 3.48195052e-04 7.93458243e+01] [-9.88224902e-03 9.99951169e-01 -3.02780544e-05 -6.41654670e+00] [-3.48477265e-04 2.68356239e-05 9.99999939e-01 -3.23821096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.171346184 meters 0.09049925956526571 Centerline is valid? [True, True] Translation: X:79.38, Y:-6.41, Z:-3.24 [[ 9.99917053e-01 1.28612592e-02 -6.89837642e-04 7.93767254e+01] [-1.28612229e-02 9.99917289e-01 5.71143589e-05 -6.41258446e+00] [ 6.90515148e-04 -4.82374658e-05 9.99999760e-01 -3.23806444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201346184 meters 0.0881394742891554 Centerline is valid? [True, True] Translation: X:79.41, Y:-6.41, Z:-3.24 [[ 9.99898758e-01 1.42165602e-02 6.02148265e-04 7.94070729e+01] [-1.42165321e-02 9.99898939e-01 -5.09335552e-05 -6.41156499e+00] [-6.02811512e-04 4.23679384e-05 9.99999817e-01 -3.23692948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23134618399999 meters 0.08827641779093737 Centerline is valid? [True, True] Translation: X:79.44, Y:-6.42, Z:-3.24 [[ 9.99887049e-01 1.49242972e-02 1.77587858e-03 7.94359474e+01] [-1.49240530e-02 9.99888619e-01 -1.50691323e-04 -6.41501418e+00] [-1.77792974e-03 1.24170996e-04 9.99998412e-01 -3.23754964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26134618399999 meters 0.09045964159224301 Centerline is valid? [True, True] Translation: X:79.46, Y:-6.42, Z:-3.24 [[ 9.99862976e-01 1.61599043e-02 3.58978912e-03 7.94646221e+01] [-1.61589275e-02 9.99869391e-01 -3.00929857e-04 -6.41904459e+00] [-3.59418326e-03 2.42881481e-04 9.99993511e-01 -3.23708054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29134618399999 meters 0.08734289036960989 Centerline is valid? [True, True] Translation: X:79.49, Y:-6.41, Z:-3.23 [[ 9.99870961e-01 1.55671562e-02 3.96551848e-03 7.94942429e+01] [-1.55659566e-02 9.99878788e-01 -3.33201571e-04 -6.41324994e+00] [-3.97022481e-03 2.71431486e-04 9.99992082e-01 -3.23372040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32134618399999 meters 0.09057960065349831 Centerline is valid? [True, True] Translation: X:79.52, Y:-6.42, Z:-3.24 [[ 9.99858183e-01 1.59088698e-02 5.52467364e-03 7.95215180e+01] [-1.59065511e-02 9.99873375e-01 -4.63376124e-04 -6.42015333e+00] [-5.53134588e-03 3.75431906e-04 9.99984632e-01 -3.23651247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.351346184 meters 0.08820507743316867 Centerline is valid? [True, True] Translation: X:79.55, Y:-6.42, Z:-3.24 [[ 9.99864978e-01 1.48230085e-02 7.09256218e-03 7.95503856e+01] [-1.48191732e-02 9.99890014e-01 -5.92998170e-04 -6.41876724e+00] [-7.10057211e-03 4.87812195e-04 9.99974672e-01 -3.23533637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.381346184 meters 0.09356955556499073 Centerline is valid? [True, True] Translation: X:79.58, Y:-6.43, Z:-3.24 [[ 9.99866266e-01 1.40190113e-02 8.42119528e-03 7.95769477e+01] [-1.40135811e-02 9.99901557e-01 -7.03486182e-04 -6.43278229e+00] [-8.43022846e-03 5.85380999e-04 9.99964294e-01 -3.24028763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.411346184 meters 0.0909521165770491 Centerline is valid? [True, True] Translation: X:79.61, Y:-6.43, Z:-3.24 [[ 9.99872955e-01 1.30325163e-02 9.17756041e-03 7.96059468e+01] [-1.30260392e-02 9.99914865e-01 -7.65176491e-04 -6.43188292e+00] [-9.18675125e-03 6.45532017e-04 9.99957593e-01 -3.23965501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.441346184 meters 0.09092842258295257 Centerline is valid? [True, True] Translation: X:79.64, Y:-6.43, Z:-3.24 [[ 9.99908279e-01 1.15231214e-02 7.11697491e-03 7.96362739e+01] [-1.15191976e-02 9.99933477e-01 -5.92074449e-04 -6.43169906e+00] [-7.12332401e-03 5.10038303e-04 9.99974499e-01 -3.23994407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.471346184 meters 0.09211598719718965 Centerline is valid? [True, True] Translation: X:79.67, Y:-6.43, Z:-3.24 [[ 9.99919901e-01 1.08760522e-02 6.47325949e-03 7.96650434e+01] [-1.08727881e-02 9.99940744e-01 -5.39228195e-04 -6.43412988e+00] [-6.47874058e-03 4.68802625e-04 9.99978903e-01 -3.24111461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501346184 meters 0.0897063094544134 Centerline is valid? [True, True] Translation: X:79.69, Y:-6.43, Z:-3.24 [[ 9.99927003e-01 1.01677547e-02 6.52728499e-03 7.96947109e+01] [-1.01644247e-02 9.99948193e-01 -5.43144135e-04 -6.43202728e+00] [-6.53246939e-03 4.76758391e-04 9.99978550e-01 -3.24036123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.531346184 meters 0.0939916119030222 Centerline is valid? [True, True] Translation: X:79.72, Y:-6.45, Z:-3.25 [[ 9.99929363e-01 9.03044795e-03 7.72789166e-03 7.97217350e+01] [-9.02574671e-03 9.99959060e-01 -6.43006106e-04 -6.44644310e+00] [-7.73338191e-03 5.73210693e-04 9.99969933e-01 -3.24563684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561346184 meters 0.08934120973928253 Centerline is valid? [True, True] Translation: X:79.75, Y:-6.44, Z:-3.24 [[ 9.99929399e-01 8.64547564e-03 8.15183621e-03 7.97528631e+01] [-8.64024672e-03 9.99962444e-01 -6.76441123e-04 -6.44142452e+00] [-8.15737821e-03 6.05959489e-04 9.99966544e-01 -3.24334791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59134618399999 meters 0.091802683802263 Centerline is valid? [True, True] Translation: X:79.78, Y:-6.45, Z:-3.25 [[ 9.99939501e-01 8.56257821e-03 6.90484540e-03 7.97829901e+01] [-8.55882796e-03 9.99963209e-01 -5.72500376e-04 -6.44802971e+00] [-6.90949344e-03 5.13368356e-04 9.99975997e-01 -3.24519716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62134618399999 meters 0.09265082215102786 Centerline is valid? [True, True] Translation: X:79.81, Y:-6.45, Z:-3.25 [[ 9.99948358e-01 8.14306166e-03 6.08050026e-03 7.98127657e+01] [-8.14013973e-03 9.99966741e-01 -5.05135731e-04 -6.45156969e+00] [-6.08441138e-03 4.55613523e-04 9.99981386e-01 -3.24645919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65134618399999 meters 0.095504299701722 Centerline is valid? [True, True] Translation: X:79.84, Y:-6.46, Z:-3.25 [[ 9.99979596e-01 5.59887737e-03 3.07583428e-03 7.98416466e+01] [-5.59812028e-03 9.99984298e-01 -2.54695231e-04 -6.46039673e+00] [-3.07721199e-03 2.37471144e-04 9.99995237e-01 -3.25119346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68134618399999 meters 0.0959920559157457 Centerline is valid? [True, True] Translation: X:79.87, Y:-6.47, Z:-3.25 [[ 9.99985880e-01 4.57676859e-03 2.70060541e-03 7.98712469e+01] [-4.57617844e-03 9.99989504e-01 -2.24663633e-04 -6.46579524e+00] [-2.70160530e-03 2.12302009e-04 9.99996328e-01 -3.25363568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71134618399999 meters 0.09408472670483368 Centerline is valid? [True, True] Translation: X:79.90, Y:-6.47, Z:-3.25 [[ 9.99994407e-01 3.20391847e-03 9.59184632e-04 7.99015645e+01] [-3.20384305e-03 9.99994864e-01 -8.01607025e-05 -6.46682538e+00] [-9.59436535e-04 7.70871772e-05 9.99999537e-01 -3.25462707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.741346184 meters 0.09842598281721598 Centerline is valid? [True, True] Translation: X:79.93, Y:-6.48, Z:-3.26 [[ 9.99994306e-01 3.32882463e-03 -5.54487103e-04 7.99290786e+01] [-3.32880044e-03 9.99994459e-01 4.45402606e-05 -6.47905654e+00] [ 5.54632297e-04 -4.26942300e-05 9.99999845e-01 -3.26087689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.771346184 meters 0.09529530333024255 Centerline is valid? [True, True] Translation: X:79.96, Y:-6.48, Z:-3.26 [[ 9.99994813e-01 3.17245775e-03 -5.55957633e-04 7.99585315e+01] [-3.17243390e-03 9.99994967e-01 4.37761273e-05 -6.47647480e+00] [ 5.56093713e-04 -4.20121614e-05 9.99999844e-01 -3.25916578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.801346184 meters 0.09175515230945182 Centerline is valid? [True, True] Translation: X:79.99, Y:-6.47, Z:-3.26 [[ 9.99980362e-01 6.24145269e-03 5.65119456e-04 7.99893527e+01] [-6.24142716e-03 9.99980521e-01 -4.69236905e-05 -6.47209961e+00] [-5.65401320e-04 4.33956171e-05 9.99999839e-01 -3.25736624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.831346184 meters 0.08878697121868236 Centerline is valid? [True, True] Translation: X:80.02, Y:-6.47, Z:-3.26 [[ 9.99969935e-01 7.75421763e-03 2.59554995e-05 8.00187858e+01] [-7.75421751e-03 9.99969936e-01 -4.55310069e-06 -6.46835864e+00] [-2.59900249e-05 4.35169921e-06 1.00000000e+00 -3.25641193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.861346184 meters 0.09008981413158129 Centerline is valid? [True, True] Translation: X:80.05, Y:-6.47, Z:-3.26 [[ 9.99951914e-01 9.80570356e-03 -1.35504946e-04 8.00476827e+01] [-9.80570229e-03 9.99951923e-01 1.00207016e-05 -6.47264226e+00] [ 1.35596691e-04 -8.69149857e-06 9.99999991e-01 -3.25923874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.891346184 meters 0.08865346748813341 Centerline is valid? [True, True] Translation: X:80.08, Y:-6.47, Z:-3.26 [[ 9.99914956e-01 1.29999272e-02 1.04057037e-03 8.00778730e+01] [-1.29998444e-02 9.99915495e-01 -8.62094295e-05 -6.47397829e+00] [-1.04160316e-03 7.26748449e-05 9.99999455e-01 -3.26190578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921346184 meters 0.08692425647779714 Centerline is valid? [True, True] Translation: X:80.11, Y:-6.47, Z:-3.26 [[ 9.99900900e-01 1.39664250e-02 1.76901183e-03 8.01064677e+01] [-1.39661838e-02 9.99902457e-01 -1.48616012e-04 -6.47463528e+00] [-1.77091491e-03 1.23894939e-04 9.99998424e-01 -3.26259199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.951346184 meters 0.08674817943838295 Centerline is valid? [True, True] Translation: X:80.14, Y:-6.48, Z:-3.26 [[ 9.99887527e-01 1.48598226e-02 2.02969164e-03 8.01353927e+01] [-1.48595079e-02 9.99889577e-01 -1.70015551e-04 -6.47784383e+00] [-2.03199391e-03 1.39836210e-04 9.99997926e-01 -3.26330326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98134618399999 meters 0.09053129717947213 Centerline is valid? [True, True] Translation: X:80.16, Y:-6.49, Z:-3.27 [[ 9.99873389e-01 1.56327813e-02 2.97006726e-03 8.01621597e+01] [-1.56321133e-02 9.99877780e-01 -2.47997869e-04 -6.48684125e+00] [-2.97358115e-03 2.01538042e-04 9.99995559e-01 -3.26676525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01134618399999 meters 0.0871344133969872 Centerline is valid? [True, True] Translation: X:80.19, Y:-6.48, Z:-3.26 [[ 9.99874084e-01 1.51197153e-02 4.81769888e-03 8.01916884e+01] [-1.51179650e-02 9.99885637e-01 -3.99514426e-04 -6.47975279e+00] [-4.82318846e-03 3.26630317e-04 9.99988315e-01 -3.25921073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04134618399999 meters 0.08930250308325446 Centerline is valid? [True, True] Translation: X:80.22, Y:-6.49, Z:-3.26 [[ 9.99886318e-01 1.41863042e-02 5.10879600e-03 8.02193883e+01] [-1.41843239e-02 9.99899308e-01 -4.23633642e-04 -6.48512090e+00] [-5.11429138e-03 3.51120665e-04 9.99986860e-01 -3.26054950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07134618399999 meters 0.08775458740449908 Centerline is valid? [True, True] Translation: X:80.25, Y:-6.49, Z:-3.26 [[ 9.99895449e-01 1.37894114e-02 4.35244959e-03 8.02477813e+01] [-1.37879701e-02 9.99904876e-01 -3.60989903e-04 -6.48560217e+00] [-4.35701341e-03 3.00940716e-04 9.99990463e-01 -3.26149319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.101346184 meters 0.08874861404722587 Centerline is valid? [True, True] Translation: X:80.28, Y:-6.49, Z:-3.26 [[ 9.99908777e-01 1.28785804e-02 4.07171518e-03 8.02756244e+01] [-1.28773123e-02 9.99917027e-01 -3.37516566e-04 -6.49120017e+00] [-4.07572408e-03 2.85053029e-04 9.99991654e-01 -3.26385423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.131346184 meters 0.09142557579910067 Centerline is valid? [True, True] Translation: X:80.30, Y:-6.50, Z:-3.27 [[ 9.99950518e-01 9.71867302e-03 2.12356703e-03 8.03040586e+01] [-9.71832430e-03 9.99952761e-01 -1.74470137e-04 -6.50102792e+00] [-2.12516234e-03 1.53823990e-04 9.99997730e-01 -3.26962050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.161346184 meters 0.0945846560511795 Centerline is valid? [True, True] Translation: X:80.33, Y:-6.51, Z:-3.27 [[ 9.99974765e-01 7.02162001e-03 1.07973477e-03 8.03321629e+01] [-7.02152716e-03 9.99975345e-01 -8.97651666e-05 -6.50832392e+00] [-1.08033845e-03 8.21815143e-05 9.99999413e-01 -3.27282761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.191346184 meters 0.09703452937722822 Centerline is valid? [True, True] Translation: X:80.36, Y:-6.51, Z:-3.27 [[ 9.99992634e-01 2.22173809e-03 3.12968047e-03 8.03625546e+01] [-2.22094424e-03 9.99997501e-01 -2.57106862e-04 -6.51325977e+00] [-3.13024388e-03 2.50154122e-04 9.99995069e-01 -3.27117520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.221346184 meters 0.09963133647643418 Centerline is valid? [True, True] Translation: X:80.39, Y:-6.52, Z:-3.27 [[ 9.99993007e-01 3.56716935e-04 3.72275049e-03 8.03923980e+01] [-3.55586185e-04 9.99999890e-01 -3.04397790e-04 -6.52002344e+00] [-3.72285867e-03 3.03071903e-04 9.99993024e-01 -3.27169017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.251346184 meters 0.10098878984192605 Centerline is valid? [True, False] Translation: X:80.39, Y:-6.52, Z:-3.27 [[ 9.99992568e-01 7.61352109e-04 3.77958513e-03 8.03928135e+01] [-7.63168317e-04 9.99999594e-01 4.79112079e-04 -6.52181610e+00] [-3.77921883e-03 -4.81992978e-04 9.99992743e-01 -3.27258502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281346184 meters 0.10171998653516634 Centerline is valid? [False, False] Translation: X:80.39, Y:-6.52, Z:-3.27 [[ 9.99991943e-01 9.77542171e-04 3.89339781e-03 8.03927143e+01] [-9.81557188e-04 9.99998988e-01 1.02945990e-03 -6.52381583e+00] [-3.89238754e-03 -1.03327320e-03 9.99991891e-01 -3.27288715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.311346184 meters 0.10452322598323002 Centerline is valid? [False, False] Translation: X:80.39, Y:-6.53, Z:-3.27 [[ 9.99990262e-01 1.03173544e-03 4.29094710e-03 8.03918885e+01] [-1.03851601e-03 9.99998215e-01 1.57827629e-03 -6.52649936e+00] [-4.28931107e-03 -1.58271714e-03 9.99989548e-01 -3.27306373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34134618399999 meters 0.10349406109794931 Centerline is valid? [False, False] Translation: X:80.39, Y:-6.53, Z:-3.27 [[ 9.99990749e-01 1.06986206e-03 4.16628858e-03 8.03922491e+01] [-1.07631406e-03 9.99998225e-01 1.54668491e-03 -6.52618063e+00] [-4.16462644e-03 -1.55115483e-03 9.99990125e-01 -3.27317897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37134618399999 meters 0.09478080001748176 Centerline is valid? [False, True] Translation: X:80.39, Y:-6.53, Z:-3.27 [[ 9.99991636e-01 1.20407673e-03 3.90878664e-03 8.03931384e+01] [-1.21019573e-03 9.99998046e-01 1.56346032e-03 -6.52537103e+00] [-3.90689648e-03 -1.56817764e-03 9.99991138e-01 -3.27364964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40134618399999 meters 0.09846131949244888 Centerline is valid? [True, True] Translation: X:80.42, Y:-6.53, Z:-3.28 [[ 9.99987521e-01 2.25402141e-03 4.45836062e-03 8.04230018e+01] [-2.25231257e-03 9.99997388e-01 -3.88271752e-04 -6.53172663e+00] [-4.45922415e-03 3.78225285e-04 9.99989986e-01 -3.27511158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43134618399999 meters 0.09649481031692285 Centerline is valid? [True, True] Translation: X:80.45, Y:-6.53, Z:-3.27 [[ 9.99984115e-01 2.87817110e-03 4.84613942e-03 8.04545266e+01] [-2.87616110e-03 9.99995775e-01 -4.21681243e-04 -6.53220342e+00] [-4.84733261e-03 4.07736267e-04 9.99988168e-01 -3.27463244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46134618399999 meters 0.09776941520302602 Centerline is valid? [True, True] Translation: X:80.48, Y:-6.54, Z:-3.28 [[ 9.99981095e-01 3.75982098e-03 4.86550752e-03 8.04847831e+01] [-3.75780439e-03 9.99992850e-01 -4.23542812e-04 -6.53832721e+00] [-4.86706518e-03 4.05251179e-04 9.99988074e-01 -3.27690011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.491346184 meters 0.0943236851825481 Centerline is valid? [True, True] Translation: X:80.52, Y:-6.54, Z:-3.28 [[ 9.99980554e-01 4.06966469e-03 4.72548662e-03 8.05166610e+01] [-4.06776544e-03 9.99991642e-01 -4.11456860e-04 -6.53678428e+00] [-4.72712161e-03 3.92226688e-04 9.99988750e-01 -3.27618986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.521346184 meters 0.09394358091766855 Centerline is valid? [True, True] Translation: X:80.55, Y:-6.54, Z:-3.28 [[ 9.99979230e-01 3.55709595e-03 5.37464354e-03 8.05472119e+01] [-3.55462983e-03 9.99993573e-01 -4.68326806e-04 -6.54343537e+00] [-5.37627488e-03 4.49212210e-04 9.99985447e-01 -3.27789952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.551346184 meters 0.09835126149282458 Centerline is valid? [True, True] Translation: X:80.58, Y:-6.56, Z:-3.28 [[ 9.99976649e-01 3.36034878e-03 5.95064628e-03 8.05776051e+01] [-3.35735383e-03 9.99994232e-01 -5.13215343e-04 -6.55641607e+00] [-5.95233654e-03 4.93224934e-04 9.99982163e-01 -3.28147059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.581346184 meters 0.09527512879569636 Centerline is valid? [True, True] Translation: X:80.61, Y:-6.56, Z:-3.28 [[ 9.99970959e-01 2.73194675e-03 7.11464049e-03 8.06098724e+01] [-2.72762989e-03 9.99996090e-01 -6.16389844e-04 -6.55574530e+00] [-7.11629662e-03 5.96965837e-04 9.99974501e-01 -3.27777066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.611346184 meters 0.09567940908054398 Centerline is valid? [True, True] Translation: X:80.64, Y:-6.56, Z:-3.28 [[ 9.99969680e-01 3.33114876e-03 7.03868832e-03 8.06419031e+01] [-3.32692649e-03 9.99994279e-01 -6.11490515e-04 -6.55842035e+00] [-7.04068501e-03 5.88054776e-04 9.99975041e-01 -3.27732388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641346184 meters 0.09790171632077793 Centerline is valid? [True, True] Translation: X:80.67, Y:-6.56, Z:-3.28 [[ 9.99962607e-01 4.26368812e-03 7.52368425e-03 8.06717631e+01] [-4.25882520e-03 9.99990712e-01 -6.62251405e-04 -6.56475455e+00] [-7.52643800e-03 6.30184585e-04 9.99971477e-01 -3.27842454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.671346184 meters 0.09693075709144025 Centerline is valid? [True, True] Translation: X:80.70, Y:-6.57, Z:-3.28 [[ 9.99939734e-01 6.90125426e-03 8.53821611e-03 8.07011864e+01] [-6.89507820e-03 9.99975945e-01 -7.52568919e-04 -6.57080076e+00] [-8.54320440e-03 6.93651896e-04 9.99963266e-01 -3.28097432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701346184 meters 0.09272737040194505 Centerline is valid? [True, True] Translation: X:80.73, Y:-6.57, Z:-3.28 [[ 9.99925059e-01 8.69243514e-03 8.62074577e-03 8.07334311e+01] [-8.68622098e-03 9.99961987e-01 -7.58018020e-04 -6.56971347e+00] [-8.62700709e-03 6.83079510e-04 9.99962553e-01 -3.28192456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73134618399999 meters 0.09272737040194505 Centerline is valid? [True, True] Translation: X:80.76, Y:-6.57, Z:-3.28 [[ 9.99924759e-01 8.72697921e-03 8.62066592e-03 8.07642491e+01] [-8.72075857e-03 9.99961685e-01 -7.58924183e-04 -6.57247294e+00] [-8.62695874e-03 6.83688335e-04 9.99962553e-01 -3.28301399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76134618399999 meters 0.09472370769643566 Centerline is valid? [True, True] Translation: X:80.79, Y:-6.58, Z:-3.29 [[ 9.99924748e-01 9.15663984e-03 8.16422348e-03 8.07935422e+01] [-9.15106910e-03 9.99957869e-01 -7.19431927e-04 -6.58076313e+00] [-8.17046710e-03 6.44666415e-04 9.99966413e-01 -3.28657067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79134618399999 meters 0.09929115462516301 Centerline is valid? [True, True] Translation: X:80.82, Y:-6.59, Z:-3.29 [[ 9.99936410e-01 8.98748474e-03 6.81188968e-03 8.08227306e+01] [-8.98360258e-03 9.99959466e-01 -6.00294765e-04 -6.59146457e+00] [-6.81700871e-03 5.39061283e-04 9.99976619e-01 -3.29011094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82134618399999 meters 0.09665715736501854 Centerline is valid? [True, True] Translation: X:80.85, Y:-6.59, Z:-3.29 [[ 9.99919550e-01 9.91577763e-03 7.91012001e-03 8.08539215e+01] [-9.91056618e-03 9.99950646e-01 -6.97760040e-04 -6.58701472e+00] [-7.91664845e-03 6.19310138e-04 9.99968471e-01 -3.28573471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.851346184 meters 0.09605000238316569 Centerline is valid? [True, True] Translation: X:80.88, Y:-6.59, Z:-3.29 [[ 9.99906162e-01 1.12943582e-02 7.75277822e-03 8.08844817e+01] [-1.12893933e-02 9.99936039e-01 -6.83880755e-04 -6.58772141e+00] [-7.76000634e-03 5.96292419e-04 9.99969713e-01 -3.28571989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.881346184 meters 0.08984865835488795 Centerline is valid? [True, True] Translation: X:80.91, Y:-6.58, Z:-3.28 [[ 9.99911403e-01 1.11866396e-02 7.21417930e-03 8.09145288e+01] [-1.11823271e-02 9.99937272e-01 -6.37842683e-04 -6.57998156e+00] [-7.22086209e-03 5.57114859e-04 9.99973774e-01 -3.28340392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.911346184 meters 0.09034980275118355 Centerline is valid? [True, True] Translation: X:80.94, Y:-6.59, Z:-3.29 [[ 9.99895146e-01 1.22207829e-02 7.76843464e-03 8.09428271e+01] [-1.22158214e-02 9.99925149e-01 -6.85804318e-04 -6.58936872e+00] [-7.77623423e-03 5.90834600e-04 9.99969590e-01 -3.28843513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.941346184 meters 0.09011464097413335 Centerline is valid? [True, True] Translation: X:80.97, Y:-6.60, Z:-3.29 [[ 9.99894661e-01 1.28031306e-02 6.83714681e-03 8.09721509e+01] [-1.27993016e-02 9.99917903e-01 -6.03494432e-04 -6.59541069e+00] [-6.84431212e-03 5.15920157e-04 9.99976444e-01 -3.29114766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.971346184 meters 0.09035095875177629 Centerline is valid? [True, True] Translation: X:81.00, Y:-6.60, Z:-3.29 [[ 9.99896247e-01 1.28820980e-02 6.44571487e-03 8.10006470e+01] [-1.28786911e-02 9.99916904e-01 -5.69776060e-04 -6.60004819e+00] [-6.45251916e-03 4.86704573e-04 9.99979064e-01 -3.29353397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001346184 meters 0.08993265288468992 Centerline is valid? [True, True] Translation: X:81.03, Y:-6.60, Z:-3.29 [[ 9.99903701e-01 1.24845842e-02 6.05997397e-03 8.10297413e+01] [-1.24815672e-02 9.99921959e-01 -5.35414190e-04 -6.59772440e+00] [-6.06618547e-03 4.59724658e-04 9.99981495e-01 -3.29009945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.031346184 meters 0.09567294512065469 Centerline is valid? [True, True] Translation: X:81.06, Y:-6.61, Z:-3.29 [[ 9.99912430e-01 1.19749798e-02 5.63311259e-03 8.10570858e+01] [-1.19723661e-02 9.99928205e-01 -4.97465280e-04 -6.60677489e+00] [-5.63866529e-03 4.29980030e-04 9.99984010e-01 -3.29350289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061346184 meters 0.09349894189334511 Centerline is valid? [True, True] Translation: X:81.09, Y:-6.60, Z:-3.29 [[ 9.99929487e-01 1.05012341e-02 5.54489989e-03 8.10871079e+01] [-1.04986869e-02 9.99944768e-01 -4.88285661e-04 -6.60438669e+00] [-5.54972124e-03 4.30037062e-04 9.99984508e-01 -3.29182622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09134618399999 meters 0.09518216676871191 Centerline is valid? [True, True] Translation: X:81.12, Y:-6.61, Z:-3.29 [[ 9.99934634e-01 9.48665709e-03 6.38213228e-03 8.11165241e+01] [-9.48326463e-03 9.99954875e-01 -5.61608570e-04 -6.61151575e+00] [-6.38717207e-03 5.01048411e-04 9.99979476e-01 -3.29357202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12134618399999 meters 0.09803560374512728 Centerline is valid? [True, True] Translation: X:81.14, Y:-6.63, Z:-3.30 [[ 9.99957012e-01 5.64469591e-03 7.35610730e-03 8.11449410e+01] [-5.64009860e-03 9.99983886e-01 -6.45561096e-04 -6.62652794e+00] [-7.35963276e-03 6.04044174e-04 9.99972735e-01 -3.29721761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15134618399999 meters 0.1003046277438366 Centerline is valid? [True, False] Translation: X:81.15, Y:-6.63, Z:-3.30 [[ 9.99973866e-01 1.87289348e-03 6.98274000e-03 8.11461147e+01] [-1.84326645e-03 9.99989283e-01 -4.24691888e-03 -6.62794675e+00] [-6.99061919e-03 4.23393684e-03 9.99966602e-01 -3.29788786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18134618399999 meters 0.09734098912048357 Centerline is valid? [False, True] Translation: X:81.15, Y:-6.63, Z:-3.30 [[ 9.99971987e-01 2.36306343e-03 7.10214259e-03 8.11464578e+01] [-2.34078064e-03 9.99992318e-01 -3.14415076e-03 -6.63065259e+00] [-7.10951785e-03 3.12743812e-03 9.99969836e-01 -3.29898190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21134618399999 meters 0.09564957245171013 Centerline is valid? [True, True] Translation: X:81.18, Y:-6.63, Z:-3.30 [[ 9.99986817e-01 -5.28554902e-04 5.10746615e-03 8.11772742e+01] [ 5.30887479e-04 9.99999755e-01 -4.55354354e-04 -6.63042528e+00] [-5.10722422e-03 4.58059840e-04 9.99986853e-01 -3.29956624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.241346184 meters 0.09779233083097286 Centerline is valid? [True, True] Translation: X:81.21, Y:-6.63, Z:-3.30 [[ 9.99984411e-01 -1.04161814e-03 5.48564426e-03 8.12079560e+01] [ 1.04428066e-03 9.99999338e-01 -4.82520344e-04 -6.63477292e+00] [-5.48513802e-03 4.88241375e-04 9.99984837e-01 -3.30026594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.271346184 meters 0.10347236845598472 Centerline is valid? [True, False] Translation: X:81.21, Y:-6.64, Z:-3.30 [[ 9.99985971e-01 -7.17834552e-04 5.24814796e-03 8.12088400e+01] [ 7.18457758e-04 9.99999735e-01 -1.16863470e-04 -6.63508937e+00] [-5.24806268e-03 1.20632403e-04 9.99986222e-01 -3.30083222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.301346184 meters 0.09818826226859483 Centerline is valid? [False, True] Translation: X:81.21, Y:-6.64, Z:-3.30 [[ 9.99986161e-01 -6.03896637e-04 5.22626698e-03 8.12089164e+01] [ 6.03361462e-04 9.99999813e-01 1.03977181e-04 -6.63600263e+00] [-5.22632879e-03 -1.00822414e-04 9.99986338e-01 -3.30093560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.331346184 meters 0.09726717139404324 Centerline is valid? [True, True] Translation: X:81.24, Y:-6.64, Z:-3.30 [[ 9.99991835e-01 2.90360068e-04 4.03053967e-03 8.12412839e+01] [-2.88923747e-04 9.99999895e-01 -3.56937087e-04 -6.63789032e+00] [-4.03064288e-03 3.55769654e-04 9.99991814e-01 -3.30275425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.361346184 meters 0.09706414370533087 Centerline is valid? [True, True] Translation: X:81.27, Y:-6.64, Z:-3.30 [[ 9.99996043e-01 3.96743117e-04 2.78520698e-03 8.12732177e+01] [-3.96059247e-04 9.99999891e-01 -2.46083791e-04 -6.64012148e+00] [-2.78530431e-03 2.44979710e-04 9.99996091e-01 -3.30455427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.391346184 meters 0.09982747329598653 Centerline is valid? [True, True] Translation: X:81.30, Y:-6.65, Z:-3.31 [[ 9.99997915e-01 -3.28213301e-04 2.01557275e-03 8.13034174e+01] [ 3.28574158e-04 9.99999930e-01 -1.78705926e-04 -6.64647414e+00] [-2.01551396e-03 1.79367818e-04 9.99997953e-01 -3.30774522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421346184 meters 0.10300418455703261 Centerline is valid? [True, False] Translation: X:81.30, Y:-6.65, Z:-3.31 [[ 9.99998351e-01 3.76943429e-06 1.81603713e-03 8.13043978e+01] [-4.17431874e-06 9.99999975e-01 2.22945694e-04 -6.64673374e+00] [-1.81603625e-03 -2.22952907e-04 9.99998326e-01 -3.30861897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.451346184 meters 0.10134874608591105 Centerline is valid? [False, False] Translation: X:81.30, Y:-6.65, Z:-3.31 [[ 9.99998413e-01 -8.02480453e-05 1.77950162e-03 8.13043151e+01] [ 8.01133878e-05 9.99999994e-01 7.57426357e-05 -6.64660471e+00] [-1.77950768e-03 -7.55999537e-05 9.99998414e-01 -3.30838191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48134618399999 meters 0.1017824250775617 Centerline is valid? [False, False] Translation: X:81.31, Y:-6.65, Z:-3.31 [[ 9.99998758e-01 7.18436083e-04 1.40260745e-03 8.13063809e+01] [-7.19885538e-04 9.99999207e-01 1.03316909e-03 -6.64759318e+00] [-1.40186408e-03 -1.03417752e-03 9.99998483e-01 -3.31044801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51134618399999 meters 0.09922056398868113 Centerline is valid? [False, True] Translation: X:81.31, Y:-6.65, Z:-3.31 [[ 9.99999118e-01 5.57051373e-04 1.20581960e-03 8.13067805e+01] [-5.57701260e-04 9.99999699e-01 5.38689596e-04 -6.64597295e+00] [-1.20551916e-03 -5.39361608e-04 9.99999128e-01 -3.31039766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54134618399999 meters 0.10116518255969759 Centerline is valid? [True, False] Translation: X:81.31, Y:-6.64, Z:-3.31 [[ 9.99999474e-01 5.06387443e-04 8.92444282e-04 8.13076738e+01] [-5.06477295e-04 9.99999867e-01 1.00457375e-04 -6.64371692e+00] [-8.92393293e-04 -1.00909325e-04 9.99999597e-01 -3.31064545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57134618399999 meters 0.10134451202165644 Centerline is valid? [False, False] Translation: X:81.31, Y:-6.64, Z:-3.31 [[ 9.99999801e-01 2.06232340e-04 5.95811016e-04 8.13081331e+01] [-2.05787769e-04 9.99999700e-01 -7.46124986e-04 -6.64062379e+00] [-5.95964712e-04 7.46002227e-04 9.99999544e-01 -3.31024142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.601346184 meters 0.0987311563987769 Centerline is valid? [False, True] Translation: X:81.31, Y:-6.64, Z:-3.31 [[ 9.99999977e-01 -1.20324946e-04 1.75570237e-04 8.13087429e+01] [ 1.20639479e-04 9.99998386e-01 -1.79258410e-03 -6.63678808e+00] [-1.75354261e-04 1.79260524e-03 9.99998378e-01 -3.30962910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.631346184 meters 0.09192967382710641 Centerline is valid? [True, True] Translation: X:81.34, Y:-6.63, Z:-3.31 [[ 9.99999303e-01 4.85128115e-04 1.07618508e-03 8.13398705e+01] [-4.85033535e-04 9.99999878e-01 -8.81432311e-05 -6.62898736e+00] [-1.07622771e-03 8.76211838e-05 9.99999417e-01 -3.30718157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.661346184 meters 0.09166855757683101 Centerline is valid? [True, True] Translation: X:81.37, Y:-6.63, Z:-3.31 [[ 9.99997179e-01 7.73137510e-04 2.24593951e-03 8.13706163e+01] [-7.72727597e-04 9.99999685e-01 -1.83374626e-04 -6.63270066e+00] [-2.24608057e-03 1.81638610e-04 9.99997461e-01 -3.30810989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.691346184 meters 0.10086982647512492 Centerline is valid? [True, False] Translation: X:81.37, Y:-6.64, Z:-3.31 [[ 9.99996491e-01 1.36227035e-03 2.27215227e-03 8.13710703e+01] [-1.36425364e-03 9.99998690e-01 8.71546444e-04 -6.63566794e+00] [-2.27096201e-03 -8.74643178e-04 9.99997039e-01 -3.30896157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.721346184 meters 0.10318297178804307 Centerline is valid? [False, False] Translation: X:81.37, Y:-6.64, Z:-3.31 [[ 9.99996511e-01 1.48802974e-03 2.18267405e-03 8.13713291e+01] [-1.49031288e-03 9.99998344e-01 1.04477437e-03 -6.63619734e+00] [-2.18111578e-03 -1.04802359e-03 9.99997072e-01 -3.30908186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.751346184 meters 0.10331713055230507 Centerline is valid? [False, False] Translation: X:81.37, Y:-6.64, Z:-3.31 [[ 9.99996560e-01 1.65042336e-03 2.03853325e-03 8.13719091e+01] [-1.65289938e-03 9.99997898e-01 1.21352365e-03 -6.63618976e+00] [-2.03652613e-03 -1.21688897e-03 9.99997186e-01 -3.30949311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781346184 meters 0.0931314018073047 Centerline is valid? [False, True] Translation: X:81.37, Y:-6.63, Z:-3.31 [[ 9.99997197e-01 1.46703819e-03 1.85869223e-03 8.13722551e+01] [-1.46841356e-03 9.99998649e-01 7.38814693e-04 -6.63465338e+00] [-1.85760585e-03 -7.41541950e-04 9.99998000e-01 -3.30941884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.811346184 meters 0.09147544797507716 Centerline is valid? [True, True] Translation: X:81.40, Y:-6.63, Z:-3.31 [[ 9.99986892e-01 4.72657851e-03 -1.96854197e-03 8.14037935e+01] [-4.72626306e-03 9.99988818e-01 1.64870334e-04 -6.62824027e+00] [ 1.96929923e-03 -1.55564325e-04 9.99998049e-01 -3.31331111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84134618399999 meters 0.09133477598888735 Centerline is valid? [True, True] Translation: X:81.43, Y:-6.63, Z:-3.32 [[ 9.99967441e-01 7.12914860e-03 -3.78048560e-03 8.14339006e+01] [-7.12800901e-03 9.99974546e-01 3.14828226e-04 -6.62823808e+00] [ 3.78263383e-03 -2.87870640e-04 9.99992804e-01 -3.31663151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87134618399999 meters 0.0937194455902887 Centerline is valid? [True, True] Translation: X:81.46, Y:-6.63, Z:-3.32 [[ 9.99945025e-01 9.55692223e-03 -4.31409957e-03 8.14618529e+01] [-9.55546639e-03 9.99954281e-01 3.57947176e-04 -6.63407016e+00] [ 4.31732321e-03 -3.16704265e-04 9.99990630e-01 -3.32225274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90134618399999 meters 0.09016164324749493 Centerline is valid? [True, True] Translation: X:81.49, Y:-6.63, Z:-3.32 [[ 9.99908725e-01 1.27553907e-02 -4.45436393e-03 8.14923603e+01] [-1.27538630e-02 9.99918597e-01 3.71193741e-04 -6.63005249e+00] [ 4.45873606e-03 -3.14349513e-04 9.99990010e-01 -3.32269459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93134618399999 meters 0.0898708980336035 Centerline is valid? [True, True] Translation: X:81.52, Y:-6.63, Z:-3.32 [[ 9.99892620e-01 1.39680645e-02 -4.43188066e-03 8.15216646e+01] [-1.39665720e-02 9.99902395e-01 3.67546214e-04 -6.63063464e+00] [ 4.43658200e-03 -3.05608567e-04 9.99990112e-01 -3.32391797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96134618399999 meters 0.09140536161126032 Centerline is valid? [True, True] Translation: X:81.55, Y:-6.63, Z:-3.32 [[ 9.99898700e-01 1.36115172e-02 -4.16138219e-03 8.15481022e+01] [-1.36102161e-02 9.99907319e-01 3.40818580e-04 -6.63209229e+00] [ 4.16563556e-03 -2.84146744e-04 9.99991283e-01 -3.32468611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.991346184 meters 0.08738729103755481 Centerline is valid? [True, True] Translation: X:81.58, Y:-6.62, Z:-3.32 [[ 9.99911768e-01 1.27956333e-02 -3.56762422e-03 8.15779851e+01] [-1.27946653e-02 9.99918102e-01 2.94038851e-04 -6.62469374e+00] [ 3.57109445e-03 -2.48366350e-04 9.99993593e-01 -3.32007677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.021346184 meters 0.08859181768893223 Centerline is valid? [True, True] Translation: X:81.61, Y:-6.63, Z:-3.32 [[ 9.99928296e-01 1.13581930e-02 -3.79405027e-03 8.16059490e+01] [-1.13570882e-02 9.99935457e-01 3.12596221e-04 -6.62636493e+00] [ 3.79735592e-03 -2.69484443e-04 9.99992754e-01 -3.32005347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.051346184 meters 0.09323070356376127 Centerline is valid? [True, True] Translation: X:81.63, Y:-6.63, Z:-3.32 [[ 9.99951526e-01 9.19398529e-03 -3.52363152e-03 8.16340724e+01] [-9.19301806e-03 9.99957701e-01 2.90595238e-04 -6.63446812e+00] [ 3.52615420e-03 -2.58188343e-04 9.99993750e-01 -3.32424403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.081346184 meters 0.09621506627961664 Centerline is valid? [True, True] Translation: X:81.66, Y:-6.64, Z:-3.33 [[ 9.99955995e-01 8.17716658e-03 -4.59814706e-03 8.16622396e+01] [-8.17551034e-03 9.99966508e-01 3.78876914e-04 -6.64214565e+00] [ 4.60109120e-03 -3.41268042e-04 9.99989357e-01 -3.33053759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.111346184 meters 0.09131231843960771 Centerline is valid? [True, True] Translation: X:81.69, Y:-6.64, Z:-3.33 [[ 9.99955312e-01 7.35884092e-03 -5.93483438e-03 8.16920495e+01] [-7.35606201e-03 9.99972824e-01 4.89929612e-04 -6.63682522e+00] [ 5.93827841e-03 -4.46250708e-04 9.99982269e-01 -3.32953028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141346184 meters 0.09200061263763434 Centerline is valid? [True, True] Translation: X:81.72, Y:-6.64, Z:-3.33 [[ 9.99956675e-01 7.08393418e-03 -6.03877097e-03 8.17202479e+01] [-7.08105812e-03 9.99974805e-01 4.97514085e-04 -6.64118532e+00] [ 6.04214318e-03 -4.54731642e-04 9.99981643e-01 -3.33241393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.171346184 meters 0.09301786864691527 Centerline is valid? [True, True] Translation: X:81.75, Y:-6.64, Z:-3.33 [[ 9.99966271e-01 6.27788440e-03 -5.29566400e-03 8.17476525e+01] [-6.27566855e-03 9.99980213e-01 4.34941768e-04 -6.64211336e+00] [ 5.29828973e-03 -4.01693266e-04 9.99985883e-01 -3.33279579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201346184 meters 0.09275664216816303 Centerline is valid? [True, True] Translation: X:81.78, Y:-6.64, Z:-3.33 [[ 9.99970230e-01 5.86794302e-03 -5.01059859e-03 8.17767455e+01] [-5.86595359e-03 9.99982710e-01 4.11648678e-04 -6.63947805e+00] [ 5.01292749e-03 -3.82244484e-04 9.99987362e-01 -3.33060355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23134618399999 meters 0.10039563493622916 Centerline is valid? [True, False] Translation: X:81.78, Y:-6.64, Z:-3.33 [[ 9.99972929e-01 5.14929140e-03 -5.25611927e-03 8.17764423e+01] [-5.15494619e-03 9.99986148e-01 -1.06286904e-03 -6.63520324e+00] [ 5.25057344e-03 1.08993528e-03 9.99985622e-01 -3.32910606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26134618399999 meters 0.10313005876185417 Centerline is valid? [False, False] Translation: X:81.78, Y:-6.63, Z:-3.33 [[ 9.99973311e-01 4.78669696e-03 -5.51948294e-03 8.17763878e+01] [-4.79732552e-03 9.99986661e-01 -1.91401510e-03 -6.63279344e+00] [ 5.51024750e-03 1.94044278e-03 9.99982936e-01 -3.32794158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29134618399999 meters 0.09480245075414714 Centerline is valid? [False, True] Translation: X:81.78, Y:-6.63, Z:-3.33 [[ 9.99973217e-01 4.97226453e-03 -5.37044193e-03 8.17762551e+01] [-4.98000573e-03 9.99986579e-01 -1.42903637e-03 -6.63431652e+00] [ 5.36326430e-03 1.45574292e-03 9.99984558e-01 -3.32835252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32134618399999 meters 0.10286942372348662 Centerline is valid? [True, False] Translation: X:81.78, Y:-6.64, Z:-3.33 [[ 9.99973715e-01 5.10107799e-03 -5.15245479e-03 8.17758082e+01] [-5.10617226e-03 9.99986487e-01 -9.76037345e-04 -6.63618690e+00] [ 5.14740632e-03 1.00232101e-03 9.99986250e-01 -3.32849965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.351346184 meters 0.0965077654686973 Centerline is valid? [False, True] Translation: X:81.78, Y:-6.64, Z:-3.33 [[ 9.99974454e-01 5.13379753e-03 -4.97353811e-03 8.17754764e+01] [-5.13751395e-03 9.99986533e-01 -7.34750970e-04 -6.63716215e+00] [ 4.96969906e-03 7.60283822e-04 9.99987362e-01 -3.32869350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.381346184 meters 0.09726348391334202 Centerline is valid? [True, True] Translation: X:81.80, Y:-6.64, Z:-3.33 [[ 9.99980700e-01 4.23997014e-03 -4.54115123e-03 8.18037655e+01] [-4.23832638e-03 9.99990949e-01 3.71532336e-04 -6.64032933e+00] [ 4.54268541e-03 -3.52278285e-04 9.99989620e-01 -3.33152814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.411346184 meters 0.09808091025001672 Centerline is valid? [True, True] Translation: X:81.83, Y:-6.64, Z:-3.33 [[ 9.99975996e-01 4.21445499e-03 -5.49964470e-03 8.18328799e+01] [-4.21204330e-03 9.99991028e-01 4.50026949e-04 -6.64121746e+00] [ 5.50149197e-03 -4.26851405e-04 9.99984776e-01 -3.33243732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.441346184 meters 0.0987822458268294 Centerline is valid? [True, True] Translation: X:81.86, Y:-6.64, Z:-3.33 [[ 9.99971789e-01 3.77995818e-03 -6.49099912e-03 8.18616127e+01] [-3.77658992e-03 9.99992728e-01 5.31090914e-04 -6.64135839e+00] [ 6.49295942e-03 -5.06562089e-04 9.99978792e-01 -3.33395611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.471346184 meters 0.09985493586201427 Centerline is valid? [True, True] Translation: X:81.89, Y:-6.65, Z:-3.34 [[ 9.99952947e-01 4.42883772e-03 -8.63068027e-03 8.18890710e+01] [-4.42291131e-03 9.99989970e-01 7.05633691e-04 -6.64633032e+00] [ 8.63371884e-03 -6.67427756e-04 9.99962506e-01 -3.33987774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501346184 meters 0.09725989934305264 Centerline is valid? [True, True] Translation: X:81.92, Y:-6.65, Z:-3.34 [[ 9.99958079e-01 4.28560451e-03 -8.09160763e-03 8.19176664e+01] [-4.28039278e-03 9.99990620e-01 6.61298454e-04 -6.64805812e+00] [ 8.09436580e-03 -6.26635472e-04 9.99967044e-01 -3.34029693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.531346184 meters 0.10018182621106642 Centerline is valid? [True, False] Translation: X:81.92, Y:-6.65, Z:-3.34 [[ 9.99958791e-01 4.29815948e-03 -7.99641369e-03 8.19173192e+01] [-4.29191826e-03 9.99990472e-01 7.97499137e-04 -6.64900080e+00] [ 7.99976527e-03 -7.63146319e-04 9.99967710e-01 -3.34013056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561346184 meters 0.0952268742263471 Centerline is valid? [False, True] Translation: X:81.92, Y:-6.64, Z:-3.34 [[ 9.99960628e-01 3.41490181e-03 -8.19027818e-03 8.19164973e+01] [-3.42098553e-03 9.99993883e-01 -7.28903421e-04 -6.64484229e+00] [ 8.18773895e-03 7.56893546e-04 9.99966193e-01 -3.33812652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59134618399999 meters 0.09475235066154122 Centerline is valid? [True, True] Translation: X:81.95, Y:-6.65, Z:-3.34 [[ 9.99963189e-01 2.64280877e-03 -8.16310266e-03 8.19451538e+01] [-2.63746012e-03 9.99996300e-01 6.65917660e-04 -6.64506153e+00] [ 8.16483235e-03 -6.44363289e-04 9.99966460e-01 -3.33583590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62134618399999 meters 0.09475235066154122 Centerline is valid? [True, True] Translation: X:81.97, Y:-6.65, Z:-3.34 [[ 9.99963454e-01 2.54009799e-03 -8.16325050e-03 8.19726074e+01] [-2.53476062e-03 9.99996567e-01 6.64108293e-04 -6.64717367e+00] [ 8.16490938e-03 -6.43392137e-04 9.99966460e-01 -3.33661934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65134618399999 meters 0.09946141544429336 Centerline is valid? [True, True] Translation: X:82.00, Y:-6.66, Z:-3.34 [[ 9.99977961e-01 1.95840103e-03 -6.34369113e-03 8.19994159e+01] [-1.95517063e-03 9.99997956e-01 5.15391470e-04 -6.65772043e+00] [ 6.34468751e-03 -5.02977113e-04 9.99979746e-01 -3.33987614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68134618399999 meters 0.10021889266038067 Centerline is valid? [True, False] Translation: X:82.00, Y:-6.66, Z:-3.34 [[ 9.99978388e-01 2.03231786e-03 -6.25245447e-03 8.19989794e+01] [-2.02728011e-03 9.99997615e-01 8.11956433e-04 -6.65933910e+00] [ 6.25408972e-03 -7.99263408e-04 9.99980124e-01 -3.33955921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71134618399999 meters 0.0989473396038344 Centerline is valid? [False, True] Translation: X:82.00, Y:-6.66, Z:-3.34 [[ 9.99978286e-01 -1.44646486e-03 -6.42922198e-03 8.20001123e+01] [ 1.43333298e-03 9.99996878e-01 -2.04666911e-03 -6.66336133e+00] [ 6.43216234e-03 2.03740945e-03 9.99977238e-01 -3.34090861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.741346184 meters 0.09972030901862873 Centerline is valid? [True, True] Translation: X:82.03, Y:-6.67, Z:-3.35 [[ 9.99971461e-01 -2.27095033e-03 -7.20554416e-03 8.20290393e+01] [ 2.27512129e-03 9.99997249e-01 5.70711105e-04 -6.67135342e+00] [ 7.20422828e-03 -5.87088304e-04 9.99973877e-01 -3.34572656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.771346184 meters 0.10723886608754785 Centerline is valid? [True, False] Translation: X:82.03, Y:-6.67, Z:-3.35 [[ 9.99972076e-01 -1.95728292e-03 -7.21221734e-03 8.20296614e+01] [ 1.96566827e-03 9.99997400e-01 1.15575367e-03 -6.67231731e+00] [ 7.20993646e-03 -1.16989822e-03 9.99973324e-01 -3.34677804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.801346184 meters 0.10028903485757264 Centerline is valid? [False, False] Translation: X:82.03, Y:-6.67, Z:-3.35 [[ 9.99970882e-01 -2.14378502e-03 -7.32395469e-03 8.20299583e+01] [ 2.14932996e-03 9.99997409e-01 7.49309961e-04 -6.67060256e+00] [ 7.32232936e-03 -7.65029738e-04 9.99972899e-01 -3.34680943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.831346184 meters 0.09472219924370895 Centerline is valid? [False, True] Translation: X:82.03, Y:-6.67, Z:-3.35 [[ 9.99972984e-01 1.67956659e-03 -7.15613497e-03 8.20293731e+01] [-1.64862504e-03 9.99989277e-01 4.32748696e-03 -6.66818869e+00] [ 7.16332654e-03 -4.31557227e-03 9.99965031e-01 -3.34642401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.861346184 meters 0.09339645021005648 Centerline is valid? [True, True] Translation: X:82.06, Y:-6.67, Z:-3.34 [[ 9.99968219e-01 2.19154451e-03 -7.66540645e-03 8.20585895e+01] [-2.18679301e-03 9.99997412e-01 6.28189240e-04 -6.66572917e+00] [ 7.66676331e-03 -6.11406618e-04 9.99970423e-01 -3.34445951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.891346184 meters 0.09786152835910378 Centerline is valid? [True, True] Translation: X:82.09, Y:-6.68, Z:-3.35 [[ 9.99967927e-01 3.15212994e-03 -7.36271941e-03 8.20854361e+01] [-3.14778153e-03 9.99994864e-01 6.02112091e-04 -6.67734116e+00] [ 7.36457954e-03 -5.78916547e-04 9.99972714e-01 -3.34992759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921346184 meters 0.09254119342007892 Centerline is valid? [True, True] Translation: X:82.11, Y:-6.68, Z:-3.35 [[ 9.99960580e-01 4.14205040e-03 -7.85377122e-03 8.21147975e+01] [-4.13712596e-03 9.99991235e-01 6.43158034e-04 -6.67651159e+00] [ 7.85636638e-03 -6.10640640e-04 9.99968952e-01 -3.35075911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.951346184 meters 0.0925716292732609 Centerline is valid? [True, True] Translation: X:82.14, Y:-6.68, Z:-3.35 [[ 9.99957712e-01 4.29030813e-03 -8.13429015e-03 8.21429595e+01] [-4.28503921e-03 9.99990598e-01 6.65060140e-04 -6.68007153e+00] [ 8.13706698e-03 -6.30176264e-04 9.99966695e-01 -3.35267151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98134618399999 meters 0.09919542762622419 Centerline is valid? [True, True] Translation: X:82.17, Y:-6.69, Z:-3.36 [[ 9.99950197e-01 4.21415759e-03 -9.04682935e-03 8.21695371e+01] [-4.20764680e-03 9.99990875e-01 7.38589206e-04 -6.69217327e+00] [ 9.04985933e-03 -7.00486559e-04 9.99958804e-01 -3.35847621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01134618399999 meters 0.09149715412321494 Centerline is valid? [True, True] Translation: X:82.20, Y:-6.68, Z:-3.35 [[ 9.99952393e-01 4.43877286e-03 -8.68956032e-03 8.21996794e+01] [-4.43277653e-03 9.99989924e-01 7.09199508e-04 -6.67887302e+00] [ 8.69262074e-03 -6.70646866e-04 9.99961994e-01 -3.35096004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04134618399999 meters 0.09236231813351149 Centerline is valid? [True, True] Translation: X:82.23, Y:-6.68, Z:-3.35 [[ 9.99946523e-01 4.74914040e-03 -9.18674808e-03 8.22277576e+01] [-4.74247669e-03 9.99988475e-01 7.47010216e-04 -6.67805606e+00] [ 9.19018986e-03 -7.03402329e-04 9.99957522e-01 -3.35179882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07134618399999 meters 0.09265964210444382 Centerline is valid? [True, True] Translation: X:82.26, Y:-6.68, Z:-3.35 [[ 9.99939349e-01 5.36264616e-03 -9.61973817e-03 8.22551799e+01] [-5.35536236e-03 9.99985354e-01 7.82771892e-04 -6.68016531e+00] [ 9.62379500e-03 -7.31207233e-04 9.99953423e-01 -3.35407839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.101346184 meters 0.09279402138285023 Centerline is valid? [True, True] Translation: X:82.28, Y:-6.68, Z:-3.36 [[ 9.99924804e-01 5.98902425e-03 -1.07013144e-02 8.22832895e+01] [-5.98004439e-03 9.99981740e-01 8.70937852e-04 -6.68365324e+00] [ 1.07063351e-02 -8.06878025e-04 9.99942360e-01 -3.35648801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.131346184 meters 0.09286867839037033 Centerline is valid? [True, True] Translation: X:82.31, Y:-6.69, Z:-3.36 [[ 9.99928306e-01 5.92950812e-03 -1.04030851e-02 8.23112464e+01] [-5.92102686e-03 9.99982113e-01 8.45874148e-04 -6.68873333e+00] [ 1.04079146e-02 -7.84216558e-04 9.99945529e-01 -3.35892449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.161346184 meters 0.09277678384892857 Centerline is valid? [True, True] Translation: X:82.34, Y:-6.69, Z:-3.36 [[ 9.99950552e-01 6.14867388e-03 -7.81589118e-03 8.23409970e+01] [-6.14389579e-03 9.99980924e-01 6.35194562e-04 -6.69395913e+00] [ 7.81964769e-03 -5.87143131e-04 9.99969254e-01 -3.35856078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.191346184 meters 0.09334016348724553 Centerline is valid? [True, True] Translation: X:82.37, Y:-6.70, Z:-3.36 [[ 9.99949106e-01 7.06726991e-03 -7.19998251e-03 8.23687228e+01] [-7.06325260e-03 9.99974885e-01 5.83235525e-04 -6.69550644e+00] [ 7.20392356e-03 -5.32350547e-04 9.99973910e-01 -3.35784144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.221346184 meters 0.09334342598047703 Centerline is valid? [True, True] Translation: X:82.40, Y:-6.69, Z:-3.36 [[ 9.99942420e-01 9.32355035e-03 -5.31305016e-03 8.23987086e+01] [-9.32138785e-03 9.99956462e-01 4.31636167e-04 -6.69498689e+00] [ 5.31684323e-03 -3.82086312e-04 9.99985792e-01 -3.35671755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.251346184 meters 0.0929310282813093 Centerline is valid? [True, True] Translation: X:82.43, Y:-6.70, Z:-3.36 [[ 9.99938616e-01 9.78245896e-03 -5.20267605e-03 8.24279283e+01] [-9.78039793e-03 9.99952082e-01 4.21442815e-04 -6.69690855e+00] [ 5.20654950e-03 -3.70532703e-04 9.99986377e-01 -3.35823667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281346184 meters 0.09267403680418397 Centerline is valid? [True, True] Translation: X:82.46, Y:-6.70, Z:-3.36 [[ 9.99931964e-01 1.05104915e-02 -5.05941406e-03 8.24564055e+01] [-1.05085564e-02 9.99944700e-01 4.08917257e-04 -6.69954258e+00] [ 5.06343219e-03 -3.55722298e-04 9.99987117e-01 -3.35941335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.311346184 meters 0.0925755965734798 Centerline is valid? [True, True] Translation: X:82.48, Y:-6.70, Z:-3.36 [[ 9.99932581e-01 9.92875972e-03 -6.02113321e-03 8.24849578e+01] [-9.92600849e-03 9.99950618e-01 4.86640285e-04 -6.70126296e+00] [ 6.02566760e-03 -4.26841657e-04 9.99981754e-01 -3.36062080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34134618399999 meters 0.09464283715150971 Centerline is valid? [True, True] Translation: X:82.51, Y:-6.71, Z:-3.36 [[ 9.99943218e-01 8.89239264e-03 -5.87249544e-03 8.25119894e+01] [-8.88976787e-03 9.99960373e-01 4.72912365e-04 -6.70614429e+00] [ 5.87646805e-03 -4.20680391e-04 9.99982645e-01 -3.36218410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37134618399999 meters 0.08958682256766712 Centerline is valid? [True, True] Translation: X:82.54, Y:-6.70, Z:-3.36 [[ 9.99954467e-01 7.93771551e-03 -5.29684651e-03 8.25419959e+01] [-7.93556541e-03 9.99968422e-01 4.26815056e-04 -6.69953684e+00] [ 5.30006718e-03 -3.84762150e-04 9.99985881e-01 -3.35686191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40134618399999 meters 0.09684629345005805 Centerline is valid? [True, True] Translation: X:82.57, Y:-6.71, Z:-3.36 [[ 9.99962360e-01 6.99817006e-03 -5.12868177e-03 8.25683776e+01] [-6.99614751e-03 9.99975442e-01 4.12195254e-04 -6.71497360e+00] [ 5.13144043e-03 -3.76298725e-04 9.99986763e-01 -3.36356798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43134618399999 meters 0.09601875045930934 Centerline is valid? [True, True] Translation: X:82.60, Y:-6.72, Z:-3.36 [[ 9.99968558e-01 6.24994404e-03 -4.88069126e-03 8.25966251e+01] [-6.24810843e-03 9.99980404e-01 3.91253555e-04 -6.71637810e+00] [ 4.88304093e-03 -3.60746165e-04 9.99988013e-01 -3.36354963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46134618399999 meters 0.09707190264874187 Centerline is valid? [True, True] Translation: X:82.62, Y:-6.72, Z:-3.37 [[ 9.99970358e-01 6.50336136e-03 -4.12193682e-03 8.26238184e+01] [-6.50205538e-03 9.99978807e-01 3.30158405e-04 -6.72123728e+00] [ 4.12399660e-03 -3.03347557e-04 9.99991450e-01 -3.36645779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.491346184 meters 0.09469502945167088 Centerline is valid? [True, True] Translation: X:82.65, Y:-6.72, Z:-3.37 [[ 9.99966922e-01 6.59246121e-03 -4.76380599e-03 8.26531073e+01] [-6.59071504e-03 9.99978208e-01 3.82155698e-04 -6.71813067e+00] [ 4.76622152e-03 -3.50746169e-04 9.99988580e-01 -3.36573720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.521346184 meters 0.09296728609320454 Centerline is valid? [True, True] Translation: X:82.68, Y:-6.72, Z:-3.37 [[ 9.99960275e-01 7.14203019e-03 -5.33290437e-03 8.26822076e+01] [-7.13985045e-03 9.99974419e-01 4.27660516e-04 -6.71622179e+00] [ 5.33582232e-03 -3.89567387e-04 9.99985689e-01 -3.36573554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.551346184 meters 0.09811705630762164 Centerline is valid? [True, True] Translation: X:82.71, Y:-6.73, Z:-3.37 [[ 9.99955227e-01 8.00928512e-03 -5.03945477e-03 8.27096007e+01] [-8.00735190e-03 9.99967859e-01 4.03677515e-04 -6.72639289e+00] [ 5.04252596e-03 -3.63306753e-04 9.99987220e-01 -3.37244734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.581346184 meters 0.09470796110495508 Centerline is valid? [True, True] Translation: X:82.74, Y:-6.72, Z:-3.37 [[ 9.99944675e-01 9.68039475e-03 -4.11542283e-03 8.27395614e+01] [-9.67911712e-03 9.99953102e-01 3.30254229e-04 -6.72401612e+00] [ 4.11842681e-03 -2.90402298e-04 9.99991477e-01 -3.37171814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.611346184 meters 0.09841638034656593 Centerline is valid? [True, True] Translation: X:82.77, Y:-6.73, Z:-3.38 [[ 9.99939436e-01 1.03930396e-02 -3.62065631e-03 8.27666127e+01] [-1.03920625e-02 9.99945959e-01 2.88558929e-04 -6.73174964e+00] [ 3.62345965e-03 -2.50915366e-04 9.99993404e-01 -3.37514491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641346184 meters 0.08776981646560143 Centerline is valid? [True, True] Translation: X:82.80, Y:-6.71, Z:-3.36 [[ 9.99932119e-01 1.10705175e-02 -3.63318888e-03 8.27971965e+01] [-1.10695378e-02 9.99938689e-01 2.89641857e-04 -6.71310288e+00] [ 3.63617261e-03 -2.49404474e-04 9.99993358e-01 -3.36491383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.671346184 meters 0.09289383834700561 Centerline is valid? [True, True] Translation: X:82.82, Y:-6.72, Z:-3.37 [[ 9.99927991e-01 1.09071451e-02 -5.00463453e-03 8.28242653e+01] [-1.09052849e-02 9.99940456e-01 3.98847393e-04 -6.72229372e+00] [ 5.00868682e-03 -3.44241707e-04 9.99987397e-01 -3.37094737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701346184 meters 0.08942255233782158 Centerline is valid? [True, True] Translation: X:82.85, Y:-6.72, Z:-3.37 [[ 9.99936847e-01 1.00189691e-02 -5.09147942e-03 8.28532117e+01] [-1.00170309e-02 9.99949746e-01 4.06043858e-04 -6.71996842e+00] [ 5.09529169e-03 -3.55016709e-04 9.99986956e-01 -3.36988549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73134618399999 meters 0.08937387489667387 Centerline is valid? [True, True] Translation: X:82.88, Y:-6.72, Z:-3.37 [[ 9.99950569e-01 9.27286182e-03 -3.58796592e-03 8.28821515e+01] [-9.27189783e-03 9.99956974e-01 2.85214698e-04 -6.72425573e+00] [ 3.59045630e-03 -2.51933346e-04 9.99993523e-01 -3.37093025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76134618399999 meters 0.08960600711109754 Centerline is valid? [True, True] Translation: X:82.91, Y:-6.73, Z:-3.37 [[ 9.99962014e-01 8.19893617e-03 -2.95776265e-03 8.29108832e+01] [-8.19827820e-03 9.99966366e-01 2.34510172e-04 -6.72774093e+00] [ 2.95958590e-03 -2.10252703e-04 9.99995598e-01 -3.37041090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79134618399999 meters 0.09243172226077939 Centerline is valid? [True, True] Translation: X:82.94, Y:-6.74, Z:-3.37 [[ 9.99983361e-01 5.73858678e-03 -5.88978422e-04 8.29384445e+01] [-5.73856135e-03 9.99983533e-01 4.48548450e-05 -6.73535475e+00] [ 5.89226127e-04 -4.14742098e-05 9.99999826e-01 -3.37024986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82134618399999 meters 0.09182809008732322 Centerline is valid? [True, True] Translation: X:82.97, Y:-6.74, Z:-3.37 [[ 9.99987538e-01 4.99221982e-03 -4.07861218e-05 8.29671496e+01] [-4.99221979e-03 9.99987539e-01 1.01571298e-06 -6.73702715e+00] [ 4.07906842e-05 -8.12087037e-07 9.99999999e-01 -3.37022075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.851346184 meters 0.09016774322194686 Centerline is valid? [True, True] Translation: X:83.00, Y:-6.74, Z:-3.37 [[ 9.99988285e-01 4.75865185e-03 -8.85847528e-04 8.29961820e+01] [-4.75859309e-03 9.99988675e-01 6.84300968e-05 -6.73587007e+00] [ 8.86163131e-04 -6.42139072e-05 9.99999605e-01 -3.37035815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.881346184 meters 0.0937606666097127 Centerline is valid? [True, True] Translation: X:83.02, Y:-6.74, Z:-3.38 [[ 9.99971726e-01 6.51178124e-03 -3.76071585e-03 8.30229231e+01] [-6.51070982e-03 9.99978761e-01 2.97070160e-04 -6.74362688e+00] [ 3.76257043e-03 -2.72576831e-04 9.99992884e-01 -3.37762366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.911346184 meters 0.09331579071393642 Centerline is valid? [True, True] Translation: X:83.05, Y:-6.75, Z:-3.38 [[ 9.99960528e-01 8.23273816e-03 -3.34125640e-03 8.30524052e+01] [-8.23189746e-03 9.99966082e-01 2.65287931e-04 -6.74551523e+00] [ 3.34332711e-03 -2.37772579e-04 9.99994383e-01 -3.37918871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.941346184 meters 0.08865132161211563 Centerline is valid? [True, True] Translation: X:83.08, Y:-6.74, Z:-3.38 [[ 9.99945607e-01 9.74814773e-03 -3.70890236e-03 8.30823372e+01] [-9.74712481e-03 9.99952452e-01 2.93776242e-04 -6.73839122e+00] [ 3.71158979e-03 -2.57609128e-04 9.99993079e-01 -3.37667830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.971346184 meters 0.09224969427308809 Centerline is valid? [True, True] Translation: X:83.11, Y:-6.75, Z:-3.38 [[ 9.99917921e-01 1.23508645e-02 -3.40689172e-03 8.31109266e+01] [-1.23500153e-02 9.99923699e-01 2.70172751e-04 -6.74525901e+00] [ 3.40996864e-03 -2.28075410e-04 9.99994160e-01 -3.38118096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001346184 meters 0.08736294191719989 Centerline is valid? [True, True] Translation: X:83.14, Y:-6.73, Z:-3.38 [[ 9.99861770e-01 1.64659062e-02 -2.30519689e-03 8.31422891e+01] [-1.64655268e-02 9.99864417e-01 1.83460371e-04 -6.73396672e+00] [ 2.30790519e-03 -1.45478730e-04 9.99997326e-01 -3.37647435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.031346184 meters 0.089062599603364 Centerline is valid? [True, True] Translation: X:83.17, Y:-6.74, Z:-3.38 [[ 9.99849666e-01 1.73056419e-02 -1.07697963e-03 8.31703284e+01] [-1.73055620e-02 9.99850244e-01 8.34972808e-05 -6.73960813e+00] [ 1.07826332e-03 -6.48469906e-05 9.99999417e-01 -3.37835321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061346184 meters 0.08483145220773404 Centerline is valid? [True, True] Translation: X:83.20, Y:-6.74, Z:-3.38 [[ 9.99837532e-01 1.80149193e-02 6.09934550e-04 8.31997455e+01] [-1.80148917e-02 9.99837717e-01 -5.07490218e-05 -6.73504122e+00] [-6.10749807e-04 3.97528719e-05 9.99999813e-01 -3.37565588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09134618399999 meters 0.08751195555273251 Centerline is valid? [True, True] Translation: X:83.23, Y:-6.74, Z:-3.38 [[ 9.99839725e-01 1.78035867e-02 1.88613995e-03 8.32264237e+01] [-1.78033305e-02 9.99841497e-01 -1.52572370e-04 -6.74477405e+00] [-1.88855733e-03 1.18968344e-04 9.99998210e-01 -3.37938862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12134618399999 meters 0.08414924245482291 Centerline is valid? [True, True] Translation: X:83.26, Y:-6.74, Z:-3.38 [[ 9.99841505e-01 1.76025312e-02 2.66771932e-03 8.32562123e+01] [-1.76020228e-02 9.99845050e-01 -2.13917740e-04 -6.73921879e+00] [-2.67107145e-03 1.66926579e-04 9.99996419e-01 -3.37626735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15134618399999 meters 0.08478904110353779 Centerline is valid? [True, True] Translation: X:83.29, Y:-6.74, Z:-3.38 [[ 9.99863941e-01 1.64690115e-02 9.33736853e-04 8.32856836e+01] [-1.64689484e-02 9.99864375e-01 -7.51765871e-05 -6.74097027e+00] [-9.34848299e-04 5.97886945e-05 9.99999561e-01 -3.37722475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18134618399999 meters 0.08544143697477881 Centerline is valid? [True, True] Translation: X:83.32, Y:-6.74, Z:-3.38 [[ 9.99889083e-01 1.48928161e-02 1.60814847e-04 8.33153779e+01] [-1.48928141e-02 9.99889096e-01 -1.38834404e-05 -6.74429290e+00] [-1.61003776e-04 1.14869148e-05 9.99999987e-01 -3.38008325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21134618399999 meters 0.08604020444277855 Centerline is valid? [True, True] Translation: X:83.34, Y:-6.75, Z:-3.38 [[ 9.99904276e-01 1.38346246e-02 -2.05014512e-04 8.33436979e+01] [-1.38346221e-02 9.99904297e-01 1.39672753e-05 -6.74957876e+00] [ 2.05188124e-04 -1.11296400e-05 9.99999979e-01 -3.38255873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.241346184 meters 0.08693062591494105 Centerline is valid? [True, True] Translation: X:83.37, Y:-6.76, Z:-3.39 [[ 9.99922460e-01 1.24515788e-02 1.79648852e-04 8.33716852e+01] [-1.24515761e-02 9.99922476e-01 -1.64729825e-05 -6.75639935e+00] [-1.79840039e-04 1.42347938e-05 9.99999984e-01 -3.38525704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.271346184 meters 0.09074438974932582 Centerline is valid? [True, True] Translation: X:83.40, Y:-6.77, Z:-3.39 [[ 9.99964203e-01 8.44946789e-03 -4.46820308e-04 8.34003898e+01] [-8.44945293e-03 9.99964302e-01 3.53528906e-05 -6.76858242e+00] [ 4.47103070e-04 -3.15762379e-05 9.99999900e-01 -3.38893875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.301346184 meters 0.09257064637737938 Centerline is valid? [True, True] Translation: X:83.43, Y:-6.77, Z:-3.39 [[ 9.99979514e-01 6.27084995e-03 -1.28413034e-03 8.34291294e+01] [-6.27072607e-03 9.99980334e-01 1.00476636e-04 -6.77286110e+00] [ 1.28473516e-03 -9.24221480e-05 9.99999170e-01 -3.38988889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.331346184 meters 0.09547461976956347 Centerline is valid? [True, True] Translation: X:83.46, Y:-6.78, Z:-3.39 [[ 9.99991639e-01 3.36354568e-03 -2.32578053e-03 8.34578844e+01] [-3.36312854e-03 9.99994328e-01 1.83240300e-04 -6.77800494e+00] [ 2.32638367e-03 -1.75416869e-04 9.99997279e-01 -3.39194920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.361346184 meters 0.09592301857624759 Centerline is valid? [True, True] Translation: X:83.49, Y:-6.78, Z:-3.39 [[ 9.99992941e-01 7.97663493e-04 -3.67162771e-03 8.34882971e+01] [-7.96603635e-04 9.99999641e-01 2.90115040e-04 -6.78028356e+00] [ 3.67185780e-03 -2.87188161e-04 9.99993217e-01 -3.39313534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.391346184 meters 0.09961581241328868 Centerline is valid? [True, True] Translation: X:83.52, Y:-6.79, Z:-3.40 [[ 9.99985601e-01 -2.91037213e-03 -4.50861698e-03 8.35170352e+01] [ 2.91200610e-03 9.99995697e-01 3.55887421e-04 -6.79284502e+00] [ 4.50756181e-03 -3.69011417e-04 9.99989773e-01 -3.40004109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421346184 meters 0.10270976533108658 Centerline is valid? [True, False] Translation: X:83.52, Y:-6.80, Z:-3.40 [[ 9.99987909e-01 -2.48065368e-03 -4.24586397e-03 8.35172393e+01] [ 2.48648066e-03 9.99995973e-01 1.36766246e-03 -6.79523288e+00] [ 4.24245417e-03 -1.37820319e-03 9.99990051e-01 -3.40141949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.451346184 meters 0.09675217846812811 Centerline is valid? [False, True] Translation: X:83.52, Y:-6.80, Z:-3.40 [[ 9.99988817e-01 -2.31847985e-03 -4.12183753e-03 8.35176552e+01] [ 2.32543004e-03 9.99995881e-01 1.68219698e-03 -6.79522878e+00] [ 4.11792041e-03 -1.69176322e-03 9.99990090e-01 -3.40255617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48134618399999 meters 0.09953476214962735 Centerline is valid? [True, True] Translation: X:83.55, Y:-6.80, Z:-3.40 [[ 9.99990352e-01 -2.57923930e-03 -3.55563544e-03 8.35460112e+01] [ 2.58030908e-03 9.99996627e-01 2.96315853e-04 -6.79939061e+00] [ 3.55485918e-03 -3.05487633e-04 9.99993635e-01 -3.40341557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51134618399999 meters 0.09697436537056733 Centerline is valid? [True, True] Translation: X:83.58, Y:-6.80, Z:-3.40 [[ 9.99996607e-01 -2.36429948e-03 -1.09373262e-03 8.35758917e+01] [ 2.36439997e-03 9.99997201e-01 9.05954387e-05 -6.79599519e+00] [ 1.09351536e-03 -9.31811527e-05 9.99999398e-01 -3.39931427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54134618399999 meters 0.09697436537056733 Centerline is valid? [True, True] Translation: X:83.61, Y:-6.80, Z:-3.40 [[ 9.99996688e-01 -2.33002172e-03 -1.09353758e-03 8.36067481e+01] [ 2.33012472e-03 9.99997281e-01 9.29203348e-05 -6.79862857e+00] [ 1.09331810e-03 -9.54681060e-05 9.99999398e-01 -3.40035060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57134618399999 meters 0.09593081902103358 Centerline is valid? [True, True] Translation: X:83.64, Y:-6.80, Z:-3.40 [[ 9.99998283e-01 -1.48774327e-03 1.10502189e-03 8.36378978e+01] [ 1.48784638e-03 9.99998889e-01 -9.24969418e-05 -6.79822974e+00] [-1.10488305e-03 9.41408858e-05 9.99999385e-01 -3.39853214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.601346184 meters 0.09513389291301635 Centerline is valid? [True, True] Translation: X:83.67, Y:-6.80, Z:-3.40 [[ 9.99998751e-01 7.18636978e-04 1.40737354e-03 8.36685391e+01] [-7.18471451e-04 9.99999735e-01 -1.18115754e-04 -6.79870537e+00] [-1.40745805e-03 1.17104449e-04 9.99999003e-01 -3.39871424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.631346184 meters 0.09738464867173958 Centerline is valid? [True, True] Translation: X:83.70, Y:-6.80, Z:-3.40 [[ 9.99997476e-01 2.08397851e-03 8.39320768e-04 8.36980804e+01] [-2.08392011e-03 9.99997826e-01 -7.04411464e-05 -6.80433876e+00] [-8.39465741e-04 6.86918912e-05 9.99999645e-01 -3.40225917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.661346184 meters 0.09588141978144014 Centerline is valid? [True, True] Translation: X:83.73, Y:-6.80, Z:-3.40 [[ 9.99994500e-01 3.31435577e-03 1.19320792e-04 8.37282611e+01] [-3.31435453e-03 9.99994507e-01 -1.05731786e-05 -6.80340803e+00] [-1.19355180e-04 1.01776491e-05 9.99999993e-01 -3.40346594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.691346184 meters 0.09598558192383531 Centerline is valid? [True, True] Translation: X:83.76, Y:-6.80, Z:-3.40 [[ 9.99989549e-01 4.56965890e-03 1.41574558e-04 8.37578249e+01] [-4.56965710e-03 9.99989559e-01 -1.29902507e-05 -6.80486042e+00] [-1.41632441e-04 1.23431677e-05 9.99999990e-01 -3.40492507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.721346184 meters 0.09271181231805152 Centerline is valid? [True, True] Translation: X:83.79, Y:-6.80, Z:-3.40 [[ 9.99978730e-01 6.47055930e-03 8.19524569e-04 8.37882777e+01] [-6.47050407e-03 9.99979064e-01 -7.00258481e-05 -6.79971297e+00] [-8.19960517e-04 6.47216216e-05 9.99999662e-01 -3.40282758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.751346184 meters 0.09514818427214344 Centerline is valid? [True, True] Translation: X:83.82, Y:-6.81, Z:-3.41 [[ 9.99965970e-01 8.06138414e-03 1.75290301e-03 8.38163281e+01] [-8.06113792e-03 9.99967498e-01 -1.47489413e-04 -6.80613882e+00] [-1.75403500e-03 1.33354001e-04 9.99998453e-01 -3.40578705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781346184 meters 0.09332171692971195 Centerline is valid? [True, True] Translation: X:83.85, Y:-6.80, Z:-3.40 [[ 9.99920452e-01 1.18702708e-02 4.26448628e-03 8.38468307e+01] [-1.18688524e-02 9.99929499e-01 -3.57744929e-04 -6.80387108e+00] [-4.26843216e-03 3.07101913e-04 9.99990843e-01 -3.40374582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.811346184 meters 0.09287479011822139 Centerline is valid? [True, True] Translation: X:83.88, Y:-6.80, Z:-3.40 [[ 9.99896457e-01 1.34985384e-02 4.98654895e-03 8.38769288e+01] [-1.34966155e-02 9.99908829e-01 -4.19076598e-04 -6.80419984e+00] [-4.99175124e-03 3.51731672e-04 9.99987479e-01 -3.40380904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84134618399999 meters 0.09264691405554683 Centerline is valid? [True, True] Translation: X:83.91, Y:-6.80, Z:-3.40 [[ 9.99883418e-01 1.43446060e-02 5.23288375e-03 8.39059173e+01] [-1.43424979e-02 9.99897044e-01 -4.40170710e-04 -6.80483063e+00] [-5.23865907e-03 3.65066770e-04 9.99986211e-01 -3.40466129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87134618399999 meters 0.08569243910058288 Centerline is valid? [True, True] Translation: X:83.94, Y:-6.80, Z:-3.40 [[ 9.99836840e-01 1.71475121e-02 5.67938548e-03 8.39367462e+01] [-1.71450844e-02 9.99852899e-01 -4.75870002e-04 -6.79643947e+00] [-5.68671003e-03 3.78418816e-04 9.99983759e-01 -3.40364089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90134618399999 meters 0.08602185638944626 Centerline is valid? [True, True] Translation: X:83.96, Y:-6.80, Z:-3.41 [[ 9.99812366e-01 1.86287329e-02 5.31059606e-03 8.39642548e+01] [-1.86266224e-02 9.99826410e-01 -4.46586277e-04 -6.79937973e+00] [-5.31799353e-03 3.47584015e-04 9.99985799e-01 -3.40601230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93134618399999 meters 0.09150172650736557 Centerline is valid? [True, True] Translation: X:83.99, Y:-6.81, Z:-3.41 [[ 9.99791489e-01 1.98805416e-02 4.66283445e-03 8.39911463e+01] [-1.98789272e-02 9.99802318e-01 -3.92326891e-04 -6.81010124e+00] [-4.66971236e-03 2.99552940e-04 9.99989052e-01 -3.41207255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96134618399999 meters 0.08466800027738486 Centerline is valid? [True, True] Translation: X:84.02, Y:-6.80, Z:-3.41 [[ 9.99757863e-01 2.17682617e-02 3.21846756e-03 8.40209152e+01] [-2.17675019e-02 9.99763023e-01 -2.70913524e-04 -6.79723861e+00] [-3.22360217e-03 2.00789927e-04 9.99994784e-01 -3.40784424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.991346184 meters 0.083247687691639 Centerline is valid? [True, True] Translation: X:84.05, Y:-6.80, Z:-3.41 [[ 9.99680339e-01 2.51193924e-02 2.86967442e-03 8.40515002e+01] [-2.51188066e-02 9.99684444e-01 -2.40011824e-04 -6.79543760e+00] [-2.87479783e-03 1.67852305e-04 9.99995854e-01 -3.40903415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.021346184 meters 0.083004152637664 Centerline is valid? [True, True] Translation: X:84.08, Y:-6.80, Z:-3.41 [[ 9.99635570e-01 2.66908661e-02 4.04046524e-03 8.40805005e+01] [-2.66897168e-02 9.99643709e-01 -3.38127007e-04 -6.79764081e+00] [-4.04805056e-03 2.30164911e-04 9.99991780e-01 -3.41017457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.051346184 meters 0.08256427056909364 Centerline is valid? [True, True] Translation: X:84.11, Y:-6.80, Z:-3.41 [[ 9.99601297e-01 2.78840346e-02 4.44150715e-03 8.41095149e+01] [-2.78826543e-02 9.99611134e-01 -3.72406834e-04 -6.79979072e+00] [-4.45016420e-03 2.48417346e-04 9.99990067e-01 -3.41085188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.081346184 meters 0.08064861732869702 Centerline is valid? [True, True] Translation: X:84.14, Y:-6.80, Z:-3.41 [[ 9.99585140e-01 2.84873195e-02 4.24511188e-03 8.41385219e+01] [-2.84860644e-02 9.99594126e-01 -3.55824885e-04 -6.80044829e+00] [-4.25352540e-03 2.34750737e-04 9.99990926e-01 -3.41022503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.111346184 meters 0.08812553663703641 Centerline is valid? [True, True] Translation: X:84.16, Y:-6.82, Z:-3.42 [[ 9.99590936e-01 2.80390823e-02 5.63654105e-03 8.41642375e+01] [-2.80368665e-02 9.99606778e-01 -4.71754674e-04 -6.81828082e+00] [-5.64755221e-03 3.13530747e-04 9.99984003e-01 -3.41854594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141346184 meters 0.08415736431515641 Centerline is valid? [True, True] Translation: X:84.19, Y:-6.81, Z:-3.42 [[ 9.99595299e-01 2.79842464e-02 5.11079458e-03 8.41936723e+01] [-2.79824282e-02 9.99608324e-01 -4.26946983e-04 -6.81318316e+00] [-5.12074059e-03 2.83761755e-04 9.99986849e-01 -3.41562887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.171346184 meters 0.08561569473044081 Centerline is valid? [True, True] Translation: X:84.22, Y:-6.82, Z:-3.42 [[ 9.99633873e-01 2.66258666e-02 4.81493469e-03 8.42217096e+01] [-2.66242403e-02 9.99645431e-01 -4.01554258e-04 -6.81997352e+00] [-4.82391919e-03 2.73213260e-04 9.99988328e-01 -3.41932329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201346184 meters 0.08653852699401285 Centerline is valid? [True, True] Translation: X:84.25, Y:-6.82, Z:-3.42 [[ 9.99671668e-01 2.54041170e-02 3.34455615e-03 8.42504385e+01] [-2.54033244e-02 9.99677244e-01 -2.79254163e-04 -6.82374301e+00] [-3.35057088e-03 1.94199631e-04 9.99994368e-01 -3.42199049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23134618399999 meters 0.08309388969143686 Centerline is valid? [True, True] Translation: X:84.28, Y:-6.82, Z:-3.42 [[ 9.99693542e-01 2.45800765e-02 2.93988206e-03 8.42795770e+01] [-2.45794585e-02 9.99697849e-01 -2.46165654e-04 -6.81850556e+00] [-2.94504454e-03 1.73829505e-04 9.99995648e-01 -3.41885486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26134618399999 meters 0.08337211678201582 Centerline is valid? [True, True] Translation: X:84.31, Y:-6.82, Z:-3.42 [[ 9.99724444e-01 2.33992721e-02 1.87363282e-03 8.43092852e+01] [-2.33990197e-02 9.99726193e-01 -1.56504334e-04 -6.82022675e+00] [-1.87678189e-03 1.12620037e-04 9.99998233e-01 -3.42056299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29134618399999 meters 0.08520582267893478 Centerline is valid? [True, True] Translation: X:84.34, Y:-6.83, Z:-3.42 [[ 9.99788846e-01 2.05257828e-02 9.77628958e-04 8.43392521e+01] [-2.05257133e-02 9.99789322e-01 -8.10457394e-05 -6.82658765e+00] [-9.79086520e-04 6.09620946e-05 9.99999519e-01 -3.42334570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32134618399999 meters 0.08622909686116993 Centerline is valid? [True, True] Translation: X:84.37, Y:-6.83, Z:-3.43 [[ 9.99815198e-01 1.92191165e-02 4.41826126e-04 8.43668989e+01] [-1.92191012e-02 9.99815295e-01 -3.89336644e-05 -6.83234271e+00] [-4.42492790e-04 3.04349683e-05 9.99999902e-01 -3.42551941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.351346184 meters 0.0862502291178803 Centerline is valid? [True, True] Translation: X:84.40, Y:-6.84, Z:-3.43 [[ 9.99854393e-01 1.70516060e-02 6.60329960e-04 8.43958126e+01] [-1.70515720e-02 9.99854610e-01 -5.71550473e-05 -6.83639252e+00] [-6.61208540e-04 4.58870612e-05 9.99999780e-01 -3.42615685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.381346184 meters 0.08795162494425902 Centerline is valid? [True, True] Translation: X:84.43, Y:-6.84, Z:-3.43 [[ 9.99891972e-01 1.46932234e-02 3.91522195e-04 8.44259699e+01] [-1.46932118e-02 9.99892048e-01 -3.24003138e-05 -6.84358655e+00] [-3.91955995e-04 2.66440952e-05 9.99999923e-01 -3.42744468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.411346184 meters 0.09072657533746727 Centerline is valid? [True, True] Translation: X:84.45, Y:-6.85, Z:-3.43 [[ 9.99901242e-01 1.40388370e-02 6.45402614e-04 8.44533452e+01] [-1.40388031e-02 9.99901450e-01 -5.70269912e-05 -6.84945704e+00] [-6.46139601e-04 4.79606791e-05 9.99999790e-01 -3.43002958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.441346184 meters 0.08930984326711978 Centerline is valid? [True, True] Translation: X:84.48, Y:-6.85, Z:-3.43 [[ 9.99900509e-01 1.40908835e-02 6.47592811e-04 8.44827451e+01] [-1.40908504e-02 9.99900717e-01 -5.57694138e-05 -6.84744388e+00] [-6.48314356e-04 4.66387319e-05 9.99999789e-01 -3.42851041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.471346184 meters 0.08869028028377225 Centerline is valid? [True, True] Translation: X:84.51, Y:-6.85, Z:-3.43 [[ 9.99888034e-01 1.49083072e-02 1.28945821e-03 8.45118503e+01] [-1.49081793e-02 9.99888861e-01 -1.08692011e-04 -6.84763623e+00] [-1.29093531e-03 8.94563672e-05 9.99999163e-01 -3.42870048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501346184 meters 0.08698304014791955 Centerline is valid? [True, True] Translation: X:84.54, Y:-6.85, Z:-3.43 [[ 9.99857072e-01 1.67362251e-02 2.39485378e-03 8.45413640e+01] [-1.67357971e-02 9.99859927e-01 -1.98669971e-04 -6.85015697e+00] [-2.39784332e-03 1.58561789e-04 9.99997113e-01 -3.43024993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.531346184 meters 0.09238236715681565 Centerline is valid? [True, True] Translation: X:84.57, Y:-6.86, Z:-3.44 [[ 9.99846262e-01 1.73850948e-02 2.28286627e-03 8.45681507e+01] [-1.73847040e-02 9.99848856e-01 -1.90958946e-04 -6.86426940e+00] [-2.28584107e-03 1.51242634e-04 9.99997376e-01 -3.43709860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561346184 meters 0.08794056259118818 Centerline is valid? [True, True] Translation: X:84.60, Y:-6.86, Z:-3.43 [[ 9.99845745e-01 1.73695317e-02 2.60486533e-03 8.45976829e+01] [-1.73690258e-02 9.99849124e-01 -2.16706404e-04 -6.85949298e+00] [-2.60823641e-03 1.71429003e-04 9.99996584e-01 -3.43432158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59134618399999 meters 0.08566827721121169 Centerline is valid? [True, True] Translation: X:84.63, Y:-6.86, Z:-3.43 [[ 9.99852242e-01 1.70237489e-02 2.38455909e-03 8.46271526e+01] [-1.70233237e-02 9.99855073e-01 -1.98484219e-04 -6.85793365e+00] [-2.38759245e-03 1.57861770e-04 9.99997137e-01 -3.43222345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62134618399999 meters 0.08653456290619953 Centerline is valid? [True, True] Translation: X:84.65, Y:-6.86, Z:-3.43 [[ 9.99860176e-01 1.66937970e-02 9.71948443e-04 8.46544866e+01] [-1.66937244e-02 9.99860647e-01 -8.27938424e-05 -6.86252821e+00] [-9.73195142e-04 6.65568265e-05 9.99999524e-01 -3.43444271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65134618399999 meters 0.08665998242353994 Centerline is valid? [True, True] Translation: X:84.68, Y:-6.87, Z:-3.44 [[ 9.99857459e-01 1.68819637e-02 2.46414276e-04 8.46828814e+01] [-1.68819587e-02 9.99857489e-01 -2.25599073e-05 -6.86615581e+00] [-2.46760015e-04 1.83967359e-05 9.99999969e-01 -3.43642840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68134618399999 meters 0.08710031256348198 Centerline is valid? [True, True] Translation: X:84.71, Y:-6.87, Z:-3.44 [[ 9.99870822e-01 1.60643074e-02 -5.27504384e-04 8.47111413e+01] [-1.60642881e-02 9.99870960e-01 4.09361692e-05 -6.87004354e+00] [ 5.28093926e-04 -3.24568987e-05 9.99999860e-01 -3.43775643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71134618399999 meters 0.09004178549431004 Centerline is valid? [True, True] Translation: X:84.74, Y:-6.88, Z:-3.44 [[ 9.99876655e-01 1.56924636e-02 6.48750609e-04 8.47381240e+01] [-1.56924306e-02 9.99876865e-01 -5.60421212e-05 -6.87838063e+00] [-6.49550164e-04 4.58547348e-05 9.99999788e-01 -3.43895608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.741346184 meters 0.08869036196417104 Centerline is valid? [True, True] Translation: X:84.77, Y:-6.88, Z:-3.44 [[ 9.99879359e-01 1.54930314e-02 1.11047151e-03 8.47673132e+01] [-1.54929375e-02 9.99879973e-01 -9.31852896e-05 -6.87818884e+00] [-1.11178195e-03 7.59695820e-05 9.99999379e-01 -3.43754935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.771346184 meters 0.08731144783715789 Centerline is valid? [True, True] Translation: X:84.80, Y:-6.88, Z:-3.44 [[ 9.99892110e-01 1.46441543e-02 1.14740436e-03 8.47957567e+01] [-1.46440528e-02 9.99892765e-01 -9.67491280e-05 -6.87858552e+00] [-1.14869813e-03 7.99360396e-05 9.99999337e-01 -3.43720275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.801346184 meters 0.08923668577972693 Centerline is valid? [True, True] Translation: X:84.82, Y:-6.89, Z:-3.44 [[ 9.99908548e-01 1.34090189e-02 1.75912223e-03 8.48224557e+01] [-1.34087817e-02 9.99910088e-01 -1.46587864e-04 -6.89006380e+00] [-1.76092966e-03 1.22986773e-04 9.99998442e-01 -3.44232529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.831346184 meters 0.08941374910209403 Centerline is valid? [True, True] Translation: X:84.85, Y:-6.90, Z:-3.45 [[ 9.99919647e-01 1.26766721e-02 -4.81319575e-05 8.48514872e+01] [-1.26766720e-02 9.99919648e-01 2.77953327e-06 -6.89550451e+00] [ 4.81633252e-05 -2.16915689e-06 9.99999999e-01 -3.44592074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.861346184 meters 0.0890786836850599 Centerline is valid? [True, True] Translation: X:84.88, Y:-6.90, Z:-3.45 [[ 9.99912967e-01 1.30599728e-02 -1.86954023e-03 8.48798119e+01] [-1.30597146e-02 9.99914707e-01 1.50213374e-04 -6.89828859e+00] [ 1.87134255e-03 -1.25784638e-04 9.99998241e-01 -3.44778815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.891346184 meters 0.09072473208388211 Centerline is valid? [True, True] Translation: X:84.91, Y:-6.90, Z:-3.45 [[ 9.99915732e-01 1.26269091e-02 -3.01497571e-03 8.49070636e+01] [-1.26262339e-02 9.99920256e-01 2.42849706e-04 -6.90271777e+00] [ 3.01780173e-03 -2.04761453e-04 9.99995425e-01 -3.45145851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921346184 meters 0.09064386396405988 Centerline is valid? [True, True] Translation: X:84.94, Y:-6.90, Z:-3.45 [[ 9.99898600e-01 1.35727734e-02 -4.30916271e-03 8.49353961e+01] [-1.35713964e-02 9.99907844e-01 3.48640208e-04 -6.90278700e+00] [ 4.31349761e-03 -2.90123501e-04 9.99990655e-01 -3.45202057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.951346184 meters 0.09111175681799494 Centerline is valid? [True, True] Translation: X:84.96, Y:-6.91, Z:-3.45 [[ 9.99894560e-01 1.36176299e-02 -5.04270550e-03 8.49641395e+01] [-1.36157444e-02 9.99907218e-01 4.08048774e-04 -6.90544821e+00] [ 5.04779429e-03 -3.39345560e-04 9.99987202e-01 -3.45235700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98134618399999 meters 0.09168593711501252 Centerline is valid? [True, True] Translation: X:84.99, Y:-6.91, Z:-3.45 [[ 9.99896025e-01 1.36547107e-02 -4.63561515e-03 8.49918501e+01] [-1.36531229e-02 9.99906722e-01 3.73989158e-04 -6.90912193e+00] [ 4.64028946e-03 -3.10659649e-04 9.99989186e-01 -3.45410258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01134618399999 meters 0.09103724171603443 Centerline is valid? [True, True] Translation: X:85.02, Y:-6.92, Z:-3.46 [[ 9.99892976e-01 1.37678257e-02 -4.94799507e-03 8.50196821e+01] [-1.37660225e-02 9.99905164e-01 3.98305869e-04 -6.91502884e+00] [ 4.95300963e-03 -3.30149029e-04 9.99987679e-01 -3.45521153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04134618399999 meters 0.09296392019972449 Centerline is valid? [True, True] Translation: X:85.05, Y:-6.92, Z:-3.46 [[ 9.99903320e-01 1.29128940e-02 -5.15818968e-03 8.50470388e+01] [-1.29109214e-02 9.99916564e-01 4.15523227e-04 -6.92188680e+00] [ 5.16312491e-03 -3.48886073e-04 9.99986610e-01 -3.45797325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07134618399999 meters 0.0945063406363968 Centerline is valid? [True, True] Translation: X:85.08, Y:-6.93, Z:-3.46 [[ 9.99923384e-01 1.08933284e-02 -5.87890978e-03 8.50761763e+01] [-1.08907166e-02 9.99940581e-01 4.76099581e-04 -6.92573485e+00] [ 5.88374677e-03 -4.12037564e-04 9.99982606e-01 -3.45924841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.101346184 meters 0.09561975882750755 Centerline is valid? [True, True] Translation: X:85.10, Y:-6.93, Z:-3.46 [[ 9.99936844e-01 9.67101722e-03 -5.72531152e-03 8.51038696e+01] [-9.66853519e-03 9.99953152e-01 4.61038915e-04 -6.92846027e+00] [ 5.72950201e-03 -4.05654422e-04 9.99983504e-01 -3.45861862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.131346184 meters 0.0969458384605173 Centerline is valid? [True, True] Translation: X:85.13, Y:-6.94, Z:-3.46 [[ 9.99966410e-01 6.63926152e-03 -4.80619646e-03 8.51332748e+01] [-6.63746973e-03 9.99977896e-01 3.88664608e-04 -6.93648049e+00] [ 4.80867067e-03 -3.56750569e-04 9.99988375e-01 -3.45963910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.161346184 meters 0.09951975535367362 Centerline is valid? [True, True] Translation: X:85.16, Y:-6.95, Z:-3.46 [[ 9.99967549e-01 5.88658652e-03 -5.49991292e-03 8.51610202e+01] [-5.88423576e-03 9.99982589e-01 4.43502999e-04 -6.94708131e+00] [ 5.50242788e-03 -4.11125822e-04 9.99984777e-01 -3.46460298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.191346184 meters 0.09898772166743301 Centerline is valid? [True, True] Translation: X:85.19, Y:-6.95, Z:-3.47 [[ 9.99964781e-01 5.07491305e-03 -6.68450280e-03 8.51898444e+01] [-5.07142236e-03 9.99986995e-01 5.39053671e-04 -6.95202284e+00] [ 6.68715152e-03 -5.05134749e-04 9.99977513e-01 -3.46822871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.221346184 meters 0.09658576909307102 Centerline is valid? [True, True] Translation: X:85.22, Y:-6.95, Z:-3.47 [[ 9.99946544e-01 3.57416710e-03 -9.70230442e-03 8.52202485e+01] [-3.56672262e-03 9.99993332e-01 7.84484429e-04 -6.95193215e+00] [ 9.70504360e-03 -7.49837065e-04 9.99952624e-01 -3.46931971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.251346184 meters 0.09220599400811384 Centerline is valid? [True, True] Translation: X:85.25, Y:-6.94, Z:-3.47 [[ 9.99923019e-01 3.71748659e-03 -1.18379333e-02 8.52493567e+01] [-3.70645810e-03 9.99992677e-01 9.53425442e-04 -6.94402582e+00] [ 1.18413910e-02 -9.09475242e-04 9.99929475e-01 -3.46562015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281346184 meters 0.10151395378064952 Centerline is valid? [True, False] Translation: X:85.25, Y:-6.94, Z:-3.47 [[ 9.99913515e-01 3.90442866e-03 -1.25585877e-02 8.52516393e+01] [-3.89885558e-03 9.99992290e-01 4.68218307e-04 -6.94002377e+00] [ 1.25603190e-02 -4.19213694e-04 9.99921028e-01 -3.46644698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.311346184 meters 0.09025260765738942 Centerline is valid? [False, True] Translation: X:85.25, Y:-6.94, Z:-3.47 [[ 9.99910848e-01 3.99456899e-03 -1.27412668e-02 8.52520826e+01] [-3.98907988e-03 9.99991940e-01 4.56197917e-04 -6.93994297e+00] [ 1.27429864e-02 -4.05331315e-04 9.99918723e-01 -3.46650860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34134618399999 meters 0.09027778151483955 Centerline is valid? [True, True] Translation: X:85.28, Y:-6.94, Z:-3.47 [[ 9.99897194e-01 6.17408087e-03 -1.29415241e-02 8.52807050e+01] [-6.16175366e-03 9.99980524e-01 9.92188559e-04 -6.94387981e+00] [ 1.29473979e-02 -9.12344073e-04 9.99915763e-01 -3.46978230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37134618399999 meters 0.089994307204061 Centerline is valid? [True, True] Translation: X:85.31, Y:-6.95, Z:-3.47 [[ 9.99884841e-01 7.35038721e-03 -1.32769350e-02 8.53091787e+01] [-7.33754345e-03 9.99972564e-01 1.01582730e-03 -6.94634604e+00] [ 1.32840374e-02 -9.18290231e-04 9.99911342e-01 -3.47147336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40134618399999 meters 0.08810054320508683 Centerline is valid? [True, True] Translation: X:85.34, Y:-6.94, Z:-3.47 [[ 9.99866512e-01 8.67092042e-03 -1.38482096e-02 8.53387729e+01] [-8.65719226e-03 9.99961974e-01 1.05097070e-03 -6.94226470e+00] [ 1.38567959e-02 -9.30943790e-04 9.99903557e-01 -3.46904300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43134618399999 meters 0.08810054320508683 Centerline is valid? [True, True] Translation: X:85.37, Y:-6.94, Z:-3.47 [[ 9.99867427e-01 8.56507675e-03 -1.38479998e-02 8.53662221e+01] [-8.55130069e-03 9.99962882e-01 1.05371220e-03 -6.94423282e+00] [ 1.38565109e-02 -9.35154093e-04 9.99903557e-01 -3.46998873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46134618399999 meters 0.0881020192772749 Centerline is valid? [True, True] Translation: X:85.40, Y:-6.94, Z:-3.47 [[ 9.99872743e-01 9.58189501e-03 -1.27547700e-02 8.53959490e+01] [-9.57026917e-03 9.99953731e-01 9.72215133e-04 -6.94489770e+00] [ 1.27634955e-02 -8.50024831e-04 9.99918182e-01 -3.47046460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.491346184 meters 0.08864895213077575 Centerline is valid? [True, True] Translation: X:85.42, Y:-6.95, Z:-3.47 [[ 9.99867583e-01 1.03014144e-02 -1.25975451e-02 8.54238650e+01] [-1.02901668e-02 9.99946597e-01 9.57340669e-04 -6.94720182e+00] [ 1.26067343e-02 -8.27583060e-04 9.99920189e-01 -3.47236077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.521346184 meters 0.08731738004606424 Centerline is valid? [True, True] Translation: X:85.45, Y:-6.94, Z:-3.47 [[ 9.99840121e-01 1.20281242e-02 -1.32308955e-02 8.54534634e+01] [-1.20159678e-02 9.99927308e-01 9.97898207e-04 -6.94453516e+00] [ 1.32419366e-02 -8.38756649e-04 9.99911970e-01 -3.47279795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.551346184 meters 0.08788042861173569 Centerline is valid? [True, True] Translation: X:85.48, Y:-6.95, Z:-3.48 [[ 9.99819053e-01 1.33818296e-02 -1.35198774e-02 8.54817298e+01] [-1.33691976e-02 9.99910104e-01 1.02428118e-03 -6.94579285e+00] [ 1.35323687e-02 -8.43345924e-04 9.99908078e-01 -3.47528723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.581346184 meters 0.08717860271927051 Centerline is valid? [True, True] Translation: X:85.51, Y:-6.94, Z:-3.48 [[ 9.99799690e-01 1.40601364e-02 -1.42440525e-02 8.55109307e+01] [-1.40461955e-02 9.99900766e-01 1.07828780e-03 -6.94496741e+00] [ 1.42577999e-02 -8.77997060e-04 9.99897967e-01 -3.47660880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.611346184 meters 0.0895655189872153 Centerline is valid? [True, True] Translation: X:85.54, Y:-6.95, Z:-3.48 [[ 9.99797636e-01 1.38907562e-02 -1.45511141e-02 8.55385576e+01] [-1.38762156e-02 9.99903116e-01 1.09976858e-03 -6.94905343e+00] [ 1.45649809e-02 -8.97631626e-04 9.99893522e-01 -3.48094103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641346184 meters 0.0861637079380878 Centerline is valid? [True, True] Translation: X:85.57, Y:-6.94, Z:-3.48 [[ 9.99813218e-01 1.33034597e-02 -1.40195475e-02 8.55676664e+01] [-1.32899129e-02 9.99911124e-01 1.05900561e-03 -6.94260392e+00] [ 1.40323899e-02 -8.72489244e-04 9.99901161e-01 -3.47536004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.671346184 meters 0.08697801404554671 Centerline is valid? [True, True] Translation: X:85.60, Y:-6.94, Z:-3.48 [[ 9.99817206e-01 1.23297558e-02 -1.46127175e-02 8.55975381e+01] [-1.23149229e-02 9.99923558e-01 1.10461376e-03 -6.94446507e+00] [ 1.46252201e-02 -9.24457352e-04 9.99892618e-01 -3.47585158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701346184 meters 0.09146917194676213 Centerline is valid? [True, True] Translation: X:85.62, Y:-6.95, Z:-3.48 [[ 9.99826086e-01 1.15085689e-02 -1.46748553e-02 8.56247365e+01] [-1.14935662e-02 9.99933335e-01 1.10627252e-03 -6.95450021e+00] [ 1.46866086e-02 -9.37413701e-04 9.99891707e-01 -3.48265456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73134618399999 meters 0.08836036327417303 Centerline is valid? [True, True] Translation: X:85.65, Y:-6.95, Z:-3.48 [[ 9.99876434e-01 9.58118576e-03 -1.24626184e-02 8.56536153e+01] [-9.57022587e-03 9.99953764e-01 9.38763192e-04 -6.95161456e+00] [ 1.24710366e-02 -8.19377120e-04 9.99921898e-01 -3.47709848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76134618399999 meters 0.09347760330174903 Centerline is valid? [True, True] Translation: X:85.68, Y:-6.96, Z:-3.48 [[ 9.99898051e-01 8.41547274e-03 -1.15354959e-02 8.56810350e+01] [-8.40604862e-03 9.99964294e-01 8.65209778e-04 -6.96052181e+00] [ 1.15423652e-02 -7.68153631e-04 9.99933090e-01 -3.48138570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79134618399999 meters 0.08808092418899052 Centerline is valid? [True, True] Translation: X:85.71, Y:-6.95, Z:-3.47 [[ 9.99905183e-01 7.11606767e-03 -1.17892579e-02 8.57113604e+01] [-7.10611964e-03 9.99974359e-01 8.85497235e-04 -6.95083258e+00] [ 1.17952568e-02 -8.01637398e-04 9.99930112e-01 -3.47412380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82134618399999 meters 0.09274538840439114 Centerline is valid? [True, True] Translation: X:85.74, Y:-6.96, Z:-3.48 [[ 9.99905611e-01 7.49069921e-03 -1.15177751e-02 8.57380402e+01] [-7.48124756e-03 9.99971642e-01 8.63480552e-04 -6.96015209e+00] [ 1.15239165e-02 -7.77231722e-04 9.99933295e-01 -3.48148821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.851346184 meters 0.08947894604454934 Centerline is valid? [True, True] Translation: X:85.77, Y:-6.96, Z:-3.48 [[ 9.99891278e-01 7.68486952e-03 -1.25846903e-02 8.57669844e+01] [-7.67360071e-03 9.99970112e-01 9.43481263e-04 -6.95798773e+00] [ 1.25915647e-02 -8.46808798e-04 9.99920365e-01 -3.48087259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.881346184 meters 0.08969567674486997 Centerline is valid? [True, True] Translation: X:85.79, Y:-6.96, Z:-3.48 [[ 9.99884005e-01 8.78403070e-03 -1.24425856e-02 8.57944086e+01] [-8.77312033e-03 9.99961082e-01 9.31169751e-04 -6.96161669e+00] [ 1.24502808e-02 -8.21901439e-04 9.99922154e-01 -3.48462287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.911346184 meters 0.08705485692571781 Centerline is valid? [True, True] Translation: X:85.82, Y:-6.96, Z:-3.48 [[ 9.99864096e-01 9.73932518e-03 -1.33016675e-02 8.58237465e+01] [-9.72694327e-03 9.99952197e-01 9.95233695e-04 -6.95812079e+00] [ 1.33107246e-02 -8.65713874e-04 9.99911034e-01 -3.48405776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.941346184 meters 0.08684841850870555 Centerline is valid? [True, True] Translation: X:85.85, Y:-6.95, Z:-3.48 [[ 9.99803051e-01 1.24947104e-02 -1.54188500e-02 8.58519821e+01] [-1.24784481e-02 9.99921479e-01 1.15046416e-03 -6.95173516e+00] [ 1.54320140e-02 -9.57834256e-04 9.99880461e-01 -3.48415663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.971346184 meters 0.08430630571765034 Centerline is valid? [True, True] Translation: X:85.88, Y:-6.95, Z:-3.48 [[ 9.99795754e-01 1.44811063e-02 -1.40978165e-02 8.58828459e+01] [-1.44676672e-02 9.99894781e-01 1.05479726e-03 -6.94636782e+00] [ 1.41116078e-02 -8.50619300e-04 9.99900064e-01 -3.48101645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001346184 meters 0.08774504189722732 Centerline is valid? [True, True] Translation: X:85.91, Y:-6.95, Z:-3.49 [[ 9.99784039e-01 1.60379915e-02 -1.32158000e-02 8.59107753e+01] [-1.60263429e-02 9.99871083e-01 9.86854271e-04 -6.95362620e+00] [ 1.32299234e-02 -7.74840207e-04 9.99912181e-01 -3.48646363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.031346184 meters 0.08372330393580867 Centerline is valid? [True, True] Translation: X:85.94, Y:-6.95, Z:-3.48 [[ 9.99791087e-01 1.79002134e-02 -9.86737536e-03 8.59415226e+01] [-1.78937985e-02 9.99839621e-01 7.38017689e-04 -6.95086680e+00] [ 9.87900351e-03 -5.61298681e-04 9.99951044e-01 -3.48150145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061346184 meters 0.08459048884661877 Centerline is valid? [True, True] Translation: X:85.97, Y:-6.95, Z:-3.48 [[ 9.99798681e-01 1.77255137e-02 -9.40230710e-03 8.59693008e+01] [-1.77197337e-02 9.99842750e-01 6.97690808e-04 -6.95483975e+00] [ 9.41319552e-03 -5.30943971e-04 9.99955554e-01 -3.48225235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09134618399999 meters 0.08335950673552443 Centerline is valid? [True, True] Translation: X:86.00, Y:-6.95, Z:-3.48 [[ 9.99808002e-01 1.79055176e-02 -7.95936991e-03 8.59980186e+01] [-1.79013748e-02 9.99839583e-01 5.91438850e-04 -6.95369668e+00] [ 7.96868310e-03 -4.48841631e-04 9.99968149e-01 -3.47996058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12134618399999 meters 0.08261477275949958 Centerline is valid? [True, True] Translation: X:86.03, Y:-6.95, Z:-3.48 [[ 9.99836134e-01 1.71183233e-02 -5.88792132e-03 8.60273096e+01] [-1.71160490e-02 9.99853414e-01 4.36445913e-04 -6.95139143e+00] [ 5.89452946e-03 -3.35596444e-04 9.99982571e-01 -3.47702143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15134618399999 meters 0.08577086887571156 Centerline is valid? [True, True] Translation: X:86.06, Y:-6.95, Z:-3.48 [[ 9.99817884e-01 1.79844236e-02 -6.38430090e-03 8.60555418e+01] [-1.79817687e-02 9.99838203e-01 4.73015028e-04 -6.95164453e+00] [ 6.39177484e-03 -3.58127862e-04 9.99979508e-01 -3.47980153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18134618399999 meters 0.08236437195261823 Centerline is valid? [True, True] Translation: X:86.08, Y:-6.94, Z:-3.48 [[ 9.99809905e-01 1.77483004e-02 -8.07164646e-03 8.60845365e+01] [-1.77440548e-02 9.99842383e-01 5.97301226e-04 -6.94491709e+00] [ 8.08097532e-03 -4.53963945e-04 9.99967245e-01 -3.47836732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21134618399999 meters 0.08303424525475381 Centerline is valid? [True, True] Translation: X:86.11, Y:-6.95, Z:-3.48 [[ 9.99792748e-01 1.83737150e-02 -8.76744203e-03 8.61116390e+01] [-1.83687509e-02 9.99831071e-01 6.46390156e-04 -6.94861243e+00] [ 8.77783755e-03 -4.85209231e-04 9.99961356e-01 -3.48402210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.241346184 meters 0.08356129825792266 Centerline is valid? [True, True] Translation: X:86.14, Y:-6.95, Z:-3.49 [[ 9.99785890e-01 1.81092284e-02 -1.00114677e-02 8.61396942e+01] [-1.81027991e-02 9.99835863e-01 7.32446086e-04 -6.95267803e+00] [ 1.00230884e-02 -5.51053674e-04 9.99949616e-01 -3.49009705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.271346184 meters 0.08380345973686226 Centerline is valid? [True, True] Translation: X:86.17, Y:-6.95, Z:-3.49 [[ 9.99779787e-01 1.80141203e-02 -1.07642439e-02 8.61686234e+01] [-1.80067035e-02 9.99837558e-01 7.85545614e-04 -6.95243304e+00] [ 1.07766462e-02 -5.91544079e-04 9.99941755e-01 -3.49055385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.301346184 meters 0.08362390474090793 Centerline is valid? [True, True] Translation: X:86.20, Y:-6.95, Z:-3.49 [[ 9.99799667e-01 1.72428285e-02 -1.01641966e-02 8.61967900e+01] [-1.72362221e-02 9.99851174e-01 7.37209030e-04 -6.94944666e+00] [ 1.01753954e-02 -5.61868993e-04 9.99948071e-01 -3.48835440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.331346184 meters 0.08368352847556713 Centerline is valid? [True, True] Translation: X:86.23, Y:-6.94, Z:-3.48 [[ 9.99815787e-01 1.70558970e-02 -8.80278497e-03 8.62262036e+01] [-1.70508880e-02 9.99854416e-01 6.43765873e-04 -6.94444585e+00] [ 8.81248343e-03 -4.93551982e-04 9.99961048e-01 -3.48498188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.361346184 meters 0.08518188258304696 Centerline is valid? [True, True] Translation: X:86.25, Y:-6.95, Z:-3.49 [[ 9.99814268e-01 1.71928544e-02 -8.70836551e-03 8.62537601e+01] [-1.71879851e-02 9.99852075e-01 6.33689254e-04 -6.94786744e+00] [ 8.71797225e-03 -4.83892301e-04 9.99961881e-01 -3.48816240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.391346184 meters 0.08304928690379244 Centerline is valid? [True, True] Translation: X:86.28, Y:-6.95, Z:-3.49 [[ 9.99810718e-01 1.72654333e-02 -8.96840767e-03 8.62816417e+01] [-1.72602719e-02 9.99850817e-01 6.52594758e-04 -6.94576501e+00] [ 8.97833707e-03 -4.97674079e-04 9.99959570e-01 -3.48766455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421346184 meters 0.0854782676640378 Centerline is valid? [True, True] Translation: X:86.31, Y:-6.95, Z:-3.49 [[ 9.99805013e-01 1.78188327e-02 -8.51032020e-03 8.63085251e+01] [-1.78142077e-02 9.99841123e-01 6.18959808e-04 -6.95377755e+00] [ 8.51999724e-03 -4.67234507e-04 9.99963595e-01 -3.49468103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.451346184 meters 0.08362545160570906 Centerline is valid? [True, True] Translation: X:86.34, Y:-6.95, Z:-3.49 [[ 9.99827598e-01 1.67078148e-02 -8.10084606e-03 8.63374509e+01] [-1.67036486e-02 9.99860315e-01 5.81689164e-04 -6.95178696e+00] [ 8.10943325e-03 -4.46275194e-04 9.99967018e-01 -3.49231356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48134618399999 meters 0.08435896851970758 Centerline is valid? [True, True] Translation: X:86.37, Y:-6.95, Z:-3.49 [[ 9.99832542e-01 1.70909492e-02 -6.54127890e-03 8.63659889e+01] [-1.70882152e-02 9.99853874e-01 4.73633262e-04 -6.94837789e+00] [ 6.54841788e-03 -3.61775167e-04 9.99978493e-01 -3.49007495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51134618399999 meters 0.0835102743045977 Centerline is valid? [True, True] Translation: X:86.40, Y:-6.95, Z:-3.49 [[ 9.99819731e-01 1.80850199e-02 -5.78255505e-03 8.63952494e+01] [-1.80829037e-02 9.99836404e-01 4.18040451e-04 -6.94574856e+00] [ 5.78916932e-03 -3.13399705e-04 9.99983194e-01 -3.48827708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54134618399999 meters 0.08136786507533406 Centerline is valid? [True, True] Translation: X:86.42, Y:-6.94, Z:-3.49 [[ 9.99817666e-01 1.84840145e-02 -4.79335737e-03 8.64244706e+01] [-1.84825689e-02 9.99829123e-01 3.45710844e-04 -6.94263808e+00] [ 4.79892841e-03 -2.57054251e-04 9.99988452e-01 -3.48560709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57134618399999 meters 0.08202932131588926 Centerline is valid? [True, True] Translation: X:86.45, Y:-6.95, Z:-3.49 [[ 9.99808938e-01 1.91486942e-02 -3.92610535e-03 8.64518772e+01] [-1.91477348e-02 9.99816626e-01 2.81807265e-04 -6.94701457e+00] [ 3.93078165e-03 -2.06577399e-04 9.99992253e-01 -3.48818723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.601346184 meters 0.08065841562705177 Centerline is valid? [True, True] Translation: X:86.48, Y:-6.95, Z:-3.49 [[ 9.99795903e-01 1.99712126e-02 -3.05009208e-03 8.64807781e+01] [-1.99706384e-02 9.99800543e-01 2.18613278e-04 -6.94745102e+00] [ 3.05384969e-03 -1.57656374e-04 9.99995325e-01 -3.48836963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.631346184 meters 0.08035879821752252 Centerline is valid? [True, True] Translation: X:86.51, Y:-6.95, Z:-3.49 [[ 9.99772675e-01 2.09000877e-02 -4.21720084e-03 8.65095091e+01] [-2.08989954e-02 9.99781546e-01 3.02900469e-04 -6.94723751e+00] [ 4.22261022e-03 -2.14696351e-04 9.99991062e-01 -3.49014994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.661346184 meters 0.08027715478542077 Centerline is valid? [True, True] Translation: X:86.54, Y:-6.95, Z:-3.49 [[ 9.99752478e-01 2.19688738e-02 -3.51439609e-03 8.65378374e+01] [-2.19681241e-02 9.99758640e-01 2.51783300e-04 -6.94686996e+00] [ 3.51907925e-03 -1.74516289e-04 9.99993793e-01 -3.49156287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.691346184 meters 0.07974878738819632 Centerline is valid? [True, True] Translation: X:86.57, Y:-6.95, Z:-3.49 [[ 9.99729353e-01 2.30797667e-02 -2.92318401e-03 8.65670284e+01] [-2.30792716e-02 9.99733618e-01 2.03012075e-04 -6.94620590e+00] [ 2.92709079e-03 -1.35492173e-04 9.99995707e-01 -3.49105120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.721346184 meters 0.07856212737972902 Centerline is valid? [True, True] Translation: X:86.60, Y:-6.95, Z:-3.49 [[ 9.99707475e-01 2.41347740e-02 -1.57383813e-03 8.65961470e+01] [-2.41346292e-02 9.99708711e-01 1.10935576e-04 -6.94585112e+00] [ 1.57605709e-03 -7.29191246e-05 9.99998755e-01 -3.48966079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.751346184 meters 0.07943298851044923 Centerline is valid? [True, True] Translation: X:86.62, Y:-6.95, Z:-3.49 [[ 9.99695588e-01 2.46682742e-02 -4.56368777e-04 8.66242221e+01] [-2.46682629e-02 9.99695692e-01 3.04332724e-05 -6.94978208e+00] [ 4.56980636e-04 -1.91661832e-05 9.99999895e-01 -3.49161277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781346184 meters 0.08010890699501416 Centerline is valid? [True, True] Translation: X:86.65, Y:-6.95, Z:-3.49 [[ 9.99677327e-01 2.53878681e-02 -8.35686161e-04 8.66522486e+01] [-2.53878287e-02 9.99677675e-01 5.77590645e-05 -6.95411910e+00] [ 8.36883178e-04 -3.65241701e-05 9.99999649e-01 -3.49297638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.811346184 meters 0.08002717300616403 Centerline is valid? [True, True] Translation: X:86.68, Y:-6.96, Z:-3.49 [[ 9.99676975e-01 2.54140353e-02 -2.68635451e-04 8.66808451e+01] [-2.54140316e-02 9.99677011e-01 1.70074139e-05 -6.95719614e+00] [ 2.68980911e-04 -1.01748103e-05 9.99999964e-01 -3.49365049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84134618399999 meters 0.0792546407483931 Centerline is valid? [True, True] Translation: X:86.71, Y:-6.96, Z:-3.49 [[ 9.99689905e-01 2.48720467e-02 -1.21451945e-03 8.67099834e+01] [-2.48719619e-02 9.99690641e-01 8.48098341e-05 -6.95752811e+00] [ 1.21625312e-03 -5.45760534e-05 9.99999259e-01 -3.49321915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87134618399999 meters 0.07855020181269459 Centerline is valid? [True, True] Translation: X:86.74, Y:-6.96, Z:-3.49 [[ 9.99693418e-01 2.47403635e-02 9.92128733e-04 8.67393641e+01] [-2.47403028e-02 9.99693909e-01 -7.34824440e-05 -6.95582510e+00] [-9.93643034e-04 4.89143504e-05 9.99999505e-01 -3.48905789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90134618399999 meters 0.07959035501590696 Centerline is valid? [True, True] Translation: X:86.77, Y:-6.96, Z:-3.49 [[ 9.99704914e-01 2.42683494e-02 1.06360516e-03 8.67672710e+01] [-2.42682789e-02 9.99705479e-01 -7.90763928e-05 -6.95954251e+00] [-1.06521095e-03 5.32411919e-05 9.99999431e-01 -3.49117412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93134618399999 meters 0.0800370829468978 Centerline is valid? [True, True] Translation: X:86.80, Y:-6.96, Z:-3.49 [[ 9.99707733e-01 2.39754959e-02 3.10222027e-03 8.67961216e+01] [-2.39749170e-02 9.99712535e-01 -2.23678580e-04 -6.96492296e+00] [-3.10669129e-03 1.49237733e-04 9.99995163e-01 -3.49256571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96134618399999 meters 0.07903944345665506 Centerline is valid? [True, True] Translation: X:86.82, Y:-6.97, Z:-3.49 [[ 9.99715942e-01 2.35066978e-02 3.93315840e-03 8.68246887e+01] [-2.35057640e-02 9.99723661e-01 -2.83485811e-04 -6.96710380e+00] [-3.93873533e-03 1.90953391e-04 9.99992225e-01 -3.49208667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.991346184 meters 0.077091593810499 Centerline is valid? [True, True] Translation: X:86.85, Y:-6.97, Z:-3.49 [[ 9.99696230e-01 2.41041773e-02 5.14165380e-03 8.68537956e+01] [-2.41025946e-02 9.99709422e-01 -3.69584011e-04 -6.96524007e+00] [-5.14906826e-03 2.45544546e-04 9.99986713e-01 -3.48936994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.021346184 meters 0.07714121470905014 Centerline is valid? [True, True] Translation: X:86.88, Y:-6.97, Z:-3.49 [[ 9.99700487e-01 2.40070814e-02 4.75350229e-03 8.68824871e+01] [-2.40057282e-02 9.99711763e-01 -3.41522970e-04 -6.96634841e+00] [-4.76033112e-03 2.27309396e-04 9.99988644e-01 -3.48934372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.051346184 meters 0.0786234738416939 Centerline is valid? [True, True] Translation: X:86.91, Y:-6.97, Z:-3.49 [[ 9.99683005e-01 2.46305557e-02 5.21782719e-03 8.69098351e+01] [-2.46289343e-02 9.99696592e-01 -3.74774172e-04 -6.97122139e+00] [-5.22547495e-03 2.46145847e-04 9.99986317e-01 -3.49221491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.081346184 meters 0.07736630026216045 Centerline is valid? [True, True] Translation: X:86.94, Y:-6.97, Z:-3.49 [[ 9.99662790e-01 2.56677774e-02 3.93327349e-03 8.69384067e+01] [-2.56668647e-02 9.99670512e-01 -2.82341669e-04 -6.96938594e+00] [-3.93922460e-03 1.81291662e-04 9.99992225e-01 -3.49308361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.111346184 meters 0.07967688356188427 Centerline is valid? [True, True] Translation: X:86.97, Y:-6.98, Z:-3.50 [[ 9.99642300e-01 2.65111354e-02 3.52590226e-03 8.69659092e+01] [-2.65104055e-02 9.99648505e-01 -2.53609091e-04 -6.97536175e+00] [-3.53138639e-03 1.60045277e-04 9.99993752e-01 -3.49903054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141346184 meters 0.07795193049534616 Centerline is valid? [True, True] Translation: X:86.99, Y:-6.97, Z:-3.50 [[ 9.99640133e-01 2.66212086e-02 3.30376694e-03 8.69938044e+01] [-2.66205671e-02 9.99645582e-01 -2.38013107e-04 -6.97306456e+00] [-3.30893222e-03 1.49979305e-04 9.99994514e-01 -3.49818240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.171346184 meters 0.07712318782550173 Centerline is valid? [True, True] Translation: X:87.02, Y:-6.97, Z:-3.50 [[ 9.99615022e-01 2.72376979e-02 5.28344611e-03 8.70229764e+01] [-2.72360846e-02 9.99628958e-01 -3.77067781e-04 -6.97297112e+00] [-5.29175619e-03 2.33022233e-04 9.99985971e-01 -3.49655105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201346184 meters 0.07647012897730651 Centerline is valid? [True, True] Translation: X:87.05, Y:-6.97, Z:-3.49 [[ 9.99606615e-01 2.72073330e-02 6.80999568e-03 8.70513959e+01] [-2.72046598e-02 9.99629767e-01 -4.84890223e-04 -6.97428845e+00] [-6.82066696e-03 2.99435859e-04 9.99976694e-01 -3.49499623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23134618399999 meters 0.07594993129378222 Centerline is valid? [True, True] Translation: X:87.08, Y:-6.98, Z:-3.49 [[ 9.99604730e-01 2.70323039e-02 7.72252308e-03 8.70804179e+01] [-2.70288674e-02 9.99634503e-01 -5.49029536e-04 -6.97579581e+00] [-7.73454205e-03 3.40081469e-04 9.99970030e-01 -3.49414627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26134618399999 meters 0.07674996830409928 Centerline is valid? [True, True] Translation: X:87.11, Y:-6.98, Z:-3.49 [[ 9.99601697e-01 2.67848159e-02 8.88933514e-03 8.71083482e+01] [-2.67802578e-02 9.99641145e-01 -6.31420642e-04 -6.97963873e+00] [-8.90305765e-03 3.93110459e-04 9.99960290e-01 -3.49483375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29134618399999 meters 0.0763081316078574 Centerline is valid? [True, True] Translation: X:87.14, Y:-6.98, Z:-3.49 [[ 9.99607513e-01 2.64411555e-02 9.25658277e-03 8.71359150e+01] [-2.64362030e-02 9.99650287e-01 -6.56999421e-04 -6.98009673e+00] [-9.27071744e-03 4.12032656e-04 9.99956941e-01 -3.49288277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32134618399999 meters 0.07783138826534915 Centerline is valid? [True, True] Translation: X:87.16, Y:-6.99, Z:-3.50 [[ 9.99606282e-01 2.63612879e-02 9.61056267e-03 8.71633582e+01] [-2.63559608e-02 9.99652390e-01 -6.80539704e-04 -6.98611491e+00] [-9.62516185e-03 4.26976150e-04 9.99953586e-01 -3.49510679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.351346184 meters 0.07783138826534915 Centerline is valid? [True, True] Translation: X:87.19, Y:-6.99, Z:-3.50 [[ 9.99608904e-01 2.62616598e-02 9.61059657e-03 8.71907537e+01] [-2.62563327e-02 9.99655012e-01 -6.80060730e-04 -6.98790875e+00] [-9.62514055e-03 4.27455740e-04 9.99953586e-01 -3.49604802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.381346184 meters 0.07731438034517403 Centerline is valid? [True, True] Translation: X:87.22, Y:-6.99, Z:-3.50 [[ 9.99609283e-01 2.63035905e-02 9.45533456e-03 8.72181742e+01] [-2.62984441e-02 9.99653913e-01 -6.68225546e-04 -6.99038250e+00] [-9.46963892e-03 4.19303871e-04 9.99955074e-01 -3.49736115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.411346184 meters 0.07689502041346699 Centerline is valid? [True, True] Translation: X:87.25, Y:-7.00, Z:-3.50 [[ 9.99557816e-01 2.80004668e-02 1.00072908e-02 8.72454664e+01] [-2.79948034e-02 9.99607820e-01 -7.05593885e-04 -6.99651400e+00] [-1.00231231e-02 4.25129744e-04 9.99949677e-01 -3.50131656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.441346184 meters 0.07527747008678536 Centerline is valid? [True, True] Translation: X:87.27, Y:-7.00, Z:-3.50 [[ 9.99544838e-01 2.86648615e-02 9.40435118e-03 8.72743348e+01] [-2.86598986e-02 9.99589001e-01 -6.62102204e-04 -6.99626686e+00] [-9.41946507e-03 3.92273090e-04 9.99955559e-01 -3.50080305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.471346184 meters 0.0751859941730277 Centerline is valid? [True, True] Translation: X:87.30, Y:-7.00, Z:-3.50 [[ 9.99548610e-01 2.87984360e-02 8.55721515e-03 8.73030486e+01] [-2.87943351e-02 9.99585176e-01 -6.02073387e-04 -6.99832572e+00] [-8.57100418e-03 3.55402296e-04 9.99963205e-01 -3.50133889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501346184 meters 0.07388104849575687 Centerline is valid? [True, True] Translation: X:87.33, Y:-7.00, Z:-3.50 [[ 9.99519758e-01 2.96731627e-02 8.93068745e-03 8.73322965e+01] [-2.96687370e-02 9.99559589e-01 -6.27663387e-04 -6.99666590e+00] [-8.94537903e-03 3.62399739e-04 9.99959924e-01 -3.49764591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.531346184 meters 0.07361942295286474 Centerline is valid? [True, True] Translation: X:87.36, Y:-7.00, Z:-3.50 [[ 9.99496117e-01 3.02893513e-02 9.49038338e-03 8.73609676e+01] [-3.02843892e-02 9.99541101e-01 -6.66159911e-04 -6.99993193e+00] [-9.50620580e-03 3.78413780e-04 9.99954743e-01 -3.49832122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561346184 meters 0.07332682642547941 Centerline is valid? [True, True] Translation: X:87.39, Y:-7.00, Z:-3.50 [[ 9.99471277e-01 3.07940564e-02 1.04351582e-02 8.73894978e+01] [-3.07880948e-02 9.99525667e-01 -7.31501569e-04 -7.00439924e+00] [-1.04527343e-02 4.09836168e-04 9.99945285e-01 -3.49955778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59134618399999 meters 0.0733139734157554 Centerline is valid? [True, True] Translation: X:87.42, Y:-7.01, Z:-3.50 [[ 9.99460690e-01 3.10550445e-02 1.06729994e-02 8.74173094e+01] [-3.10488274e-02 9.99517589e-01 -7.47752059e-04 -7.01091200e+00] [-1.06910721e-02 4.15964672e-04 9.99942762e-01 -3.50069186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62134618399999 meters 0.07360087044577109 Centerline is valid? [True, True] Translation: X:87.44, Y:-7.01, Z:-3.50 [[ 9.99454195e-01 3.11560538e-02 1.09823478e-02 8.74447033e+01] [-3.11494892e-02 9.99514442e-01 -7.68328674e-04 -7.01467235e+00] [-1.10009533e-02 4.25814791e-04 9.99939397e-01 -3.50111617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65134618399999 meters 0.07347873036864672 Centerline is valid? [True, True] Translation: X:87.47, Y:-7.02, Z:-3.50 [[ 9.99463983e-01 3.07562623e-02 1.12160439e-02 8.74734125e+01] [-3.07494066e-02 9.99526818e-01 -7.83212837e-04 -7.01769441e+00] [-1.12348253e-02 4.37906328e-04 9.99936791e-01 -3.50208456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68134618399999 meters 0.07429611868254121 Centerline is valid? [True, True] Translation: X:87.50, Y:-7.03, Z:-3.50 [[ 9.99482570e-01 3.00266702e-02 1.15322118e-02 8.75002983e+01] [-3.00193800e-02 9.99548993e-01 -8.04782938e-04 -7.02518878e+00] [-1.15511756e-02 4.58176673e-04 9.99933178e-01 -3.50328877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71134618399999 meters 0.07443646597913742 Centerline is valid? [True, True] Translation: X:87.53, Y:-7.03, Z:-3.51 [[ 9.99493602e-01 2.98232153e-02 1.10957540e-02 8.75291435e+01] [-2.98164681e-02 9.99555091e-01 -7.73052477e-04 -7.02938299e+00] [-1.11138723e-02 4.41824808e-04 9.99938141e-01 -3.50571199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.741346184 meters 0.07348140744507908 Centerline is valid? [True, True] Translation: X:87.56, Y:-7.03, Z:-3.51 [[ 9.99544139e-01 2.88668295e-02 8.84421320e-03 8.75582092e+01] [-2.88625100e-02 9.99583201e-01 -6.15673119e-04 -7.03078940e+00] [-8.85829947e-03 3.60126266e-04 9.99960700e-01 -3.50613333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.771346184 meters 0.07430772041753791 Centerline is valid? [True, True] Translation: X:87.59, Y:-7.04, Z:-3.51 [[ 9.99580475e-01 2.77950449e-02 8.14300615e-03 8.75850159e+01] [-2.77913388e-02 9.99613585e-01 -5.67953640e-04 -7.03645319e+00] [-8.15564587e-03 3.41410327e-04 9.99966684e-01 -3.50939541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.801346184 meters 0.07480274866812459 Centerline is valid? [True, True] Translation: X:87.61, Y:-7.04, Z:-3.51 [[ 9.99636697e-01 2.55805449e-02 8.49168733e-03 8.76138772e+01] [-2.55764519e-02 9.99672695e-01 -5.90265438e-04 -7.04006392e+00] [-8.50400727e-03 3.72863760e-04 9.99963771e-01 -3.50838768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.831346184 meters 0.07442129950287052 Centerline is valid? [True, True] Translation: X:87.64, Y:-7.04, Z:-3.51 [[ 9.99644818e-01 2.50039029e-02 9.22190996e-03 8.76421203e+01] [-2.49990505e-02 9.99687269e-01 -6.41093611e-04 -7.04034485e+00] [-9.23505582e-03 4.10326913e-04 9.99957272e-01 -3.50735043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.861346184 meters 0.07512473252914496 Centerline is valid? [True, True] Translation: X:87.67, Y:-7.05, Z:-3.51 [[ 9.99653921e-01 2.40468940e-02 1.06670087e-02 8.76696482e+01] [-2.40403706e-02 9.99710715e-01 -7.39373536e-04 -7.04589529e+00] [-1.06817025e-02 4.82678812e-04 9.99942832e-01 -3.50839802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.891346184 meters 0.07487873506710614 Centerline is valid? [True, True] Translation: X:87.70, Y:-7.05, Z:-3.51 [[ 9.99650007e-01 2.37382541e-02 1.16773109e-02 8.76981600e+01] [-2.37304359e-02 9.99718067e-01 -8.07642380e-04 -7.04935722e+00] [-1.16931907e-02 5.30252033e-04 9.99931492e-01 -3.50877075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921346184 meters 0.07562221448769468 Centerline is valid? [True, True] Translation: X:87.73, Y:-7.05, Z:-3.51 [[ 9.99640685e-01 2.36858572e-02 1.25491620e-02 8.77256726e+01] [-2.36768294e-02 9.99719288e-01 -8.67497806e-04 -7.05441450e+00] [-1.25661867e-02 5.70061734e-04 9.99920880e-01 -3.51054697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.951346184 meters 0.07589320553333445 Centerline is valid? [True, True] Translation: X:87.75, Y:-7.06, Z:-3.51 [[ 9.99652261e-01 2.26451664e-02 1.35112695e-02 8.77542074e+01] [-2.26346368e-02 9.99743370e-01 -9.31750277e-04 -7.05820555e+00] [-1.35289017e-02 6.25603594e-04 9.99908285e-01 -3.51117968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98134618399999 meters 0.07716534523104211 Centerline is valid? [True, True] Translation: X:87.78, Y:-7.06, Z:-3.51 [[ 9.99683637e-01 2.16192663e-02 1.28542953e-02 8.77811426e+01] [-2.16096568e-02 9.99766092e-01 -8.86010025e-04 -7.06280697e+00] [-1.28704434e-02 6.07952815e-04 9.99916988e-01 -3.51258210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01134618399999 meters 0.07639069764813135 Centerline is valid? [True, True] Translation: X:87.81, Y:-7.06, Z:-3.51 [[ 9.99698203e-01 2.13022230e-02 1.22359789e-02 8.78098042e+01] [-2.12935076e-02 9.99772913e-01 -8.42124758e-04 -7.06227881e+00] [-1.22511394e-02 5.81323697e-04 9.99924783e-01 -3.51301382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04134618399999 meters 0.07552013902585479 Centerline is valid? [True, True] Translation: X:87.84, Y:-7.06, Z:-3.52 [[ 9.99709963e-01 2.19266541e-02 9.96047035e-03 8.78387873e+01] [-2.19209121e-02 9.99759473e-01 -6.85301378e-04 -7.06158839e+00] [-9.97310095e-03 4.66760021e-04 9.99950158e-01 -3.51558404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07134618399999 meters 0.0754579081226647 Centerline is valid? [True, True] Translation: X:87.87, Y:-7.06, Z:-3.52 [[ 9.99718047e-01 2.19688515e-02 9.01087174e-03 8.78674792e+01] [-2.19641576e-02 9.99758567e-01 -6.19558958e-04 -7.06410118e+00] [-9.02230722e-03 4.21468064e-04 9.99959209e-01 -3.51718250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.101346184 meters 0.07573426552710359 Centerline is valid? [True, True] Translation: X:87.89, Y:-7.07, Z:-3.52 [[ 9.99718410e-01 2.18744390e-02 9.19836554e-03 8.78948244e+01] [-2.18695463e-02 9.99760633e-01 -6.32171073e-04 -7.06792422e+00] [-9.20999214e-03 4.30828978e-04 9.99957494e-01 -3.51871122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.131346184 meters 0.07601217221376948 Centerline is valid? [True, True] Translation: X:87.92, Y:-7.07, Z:-3.52 [[ 9.99723149e-01 2.14408062e-02 9.69112329e-03 8.79237527e+01] [-2.14353693e-02 9.99770015e-01 -6.64561247e-04 -7.07199120e+00] [-9.70314321e-03 4.56644456e-04 9.99952819e-01 -3.51982726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.161346184 meters 0.07628818400526256 Centerline is valid? [True, True] Translation: X:87.95, Y:-7.08, Z:-3.52 [[ 9.99729113e-01 2.01189977e-02 1.17015657e-02 8.79524672e+01] [-2.01109960e-02 9.99797433e-01 -8.01090676e-04 -7.07818477e+00] [-1.17153125e-02 5.65543529e-04 9.99931213e-01 -3.52004208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.191346184 meters 0.07671626542894978 Centerline is valid? [True, True] Translation: X:87.98, Y:-7.08, Z:-3.52 [[ 9.99743360e-01 1.91519314e-02 1.21002932e-02 8.79807793e+01] [-1.91433160e-02 9.99816408e-01 -8.27430981e-04 -7.08215769e+00] [-1.21139185e-02 5.95578893e-04 9.99926446e-01 -3.52026723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.221346184 meters 0.0764903663348642 Centerline is valid? [True, True] Translation: X:88.01, Y:-7.08, Z:-3.52 [[ 9.99741986e-01 1.92753852e-02 1.20175541e-02 8.80094363e+01] [-1.92669060e-02 9.99814039e-01 -8.20950436e-04 -7.08486326e+00] [-1.20311435e-02 5.89197534e-04 9.99927450e-01 -3.52062269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.251346184 meters 0.07595401512290816 Centerline is valid? [True, True] Translation: X:88.04, Y:-7.09, Z:-3.52 [[ 9.99725748e-01 2.04892629e-02 1.13409918e-02 8.80383148e+01] [-2.04817891e-02 9.99789926e-01 -7.74772669e-04 -7.08887337e+00] [-1.13544839e-02 5.42276384e-04 9.99935389e-01 -3.52417740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281346184 meters 0.07491956918540096 Centerline is valid? [True, True] Translation: X:88.07, Y:-7.09, Z:-3.53 [[ 9.99716616e-01 2.12441241e-02 1.07412575e-02 8.80673910e+01] [-2.12374805e-02 9.99774191e-01 -7.32212825e-04 -7.08819866e+00] [-1.07543872e-02 5.03888082e-04 9.99942043e-01 -3.52564759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.311346184 meters 0.07427095179686449 Centerline is valid? [True, True] Translation: X:88.10, Y:-7.09, Z:-3.53 [[ 9.99704569e-01 2.22440082e-02 9.79686039e-03 8.80968120e+01] [-2.22385383e-02 9.99752471e-01 -6.66924625e-04 -7.08761681e+00] [-9.80927046e-03 4.48859739e-04 9.99951787e-01 -3.52584800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34134618399999 meters 0.074547206735557 Centerline is valid? [True, True] Translation: X:88.12, Y:-7.09, Z:-3.53 [[ 9.99681015e-01 2.37897486e-02 8.48038836e-03 8.81242449e+01] [-2.37856989e-02 9.99716913e-01 -5.78098806e-04 -7.09042223e+00] [-8.49174050e-03 3.76202437e-04 9.99963874e-01 -3.52879101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37134618399999 meters 0.07425503564777053 Centerline is valid? [True, True] Translation: X:88.15, Y:-7.09, Z:-3.53 [[ 9.99655279e-01 2.48631457e-02 8.43485404e-03 8.81525710e+01] [-2.48591889e-02 9.99690798e-01 -5.73635538e-04 -7.09315012e+00] [-8.44650835e-03 3.63754164e-04 9.99964261e-01 -3.53096224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40134618399999 meters 0.07401262172966183 Centerline is valid? [True, True] Translation: X:88.18, Y:-7.10, Z:-3.53 [[ 9.99645279e-01 2.54031134e-02 7.99983179e-03 8.81816991e+01] [-2.53995615e-02 9.99677230e-01 -5.45292722e-04 -7.09501259e+00] [-8.01110182e-03 3.41907076e-04 9.99967852e-01 -3.53263673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43134618399999 meters 0.07349820415439925 Centerline is valid? [True, True] Translation: X:88.21, Y:-7.10, Z:-3.53 [[ 9.99626574e-01 2.63519719e-02 7.23097958e-03 8.82107350e+01] [-2.63491111e-02 9.99652681e-01 -4.90635431e-04 -7.09536536e+00] [-7.24139734e-03 2.99922331e-04 9.99973736e-01 -3.53408977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46134618399999 meters 0.07294773839340911 Centerline is valid? [True, True] Translation: X:88.24, Y:-7.10, Z:-3.54 [[ 9.99602604e-01 2.75749602e-02 5.85284679e-03 8.82396101e+01] [-2.75731065e-02 9.99619711e-01 -3.97186074e-04 -7.09509165e+00] [-5.86157341e-03 2.35647066e-04 9.99982793e-01 -3.53677518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.491346184 meters 0.07400518077861216 Centerline is valid? [True, True] Translation: X:88.27, Y:-7.10, Z:-3.54 [[ 9.99578385e-01 2.83005931e-02 6.49065105e-03 8.82668033e+01] [-2.82983235e-02 9.99599425e-01 -4.41261276e-04 -7.09910842e+00] [-6.50053901e-03 2.57400690e-04 9.99978838e-01 -3.54005197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.521346184 meters 0.07290576473952859 Centerline is valid? [True, True] Translation: X:88.30, Y:-7.10, Z:-3.54 [[ 9.99586306e-01 2.82217629e-02 5.54522851e-03 8.82955160e+01] [-2.82201144e-02 9.99601663e-01 -3.75324170e-04 -7.09630080e+00] [-5.55361195e-03 2.18681918e-04 9.99984555e-01 -3.53865826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.551346184 meters 0.07313366153232442 Centerline is valid? [True, True] Translation: X:88.32, Y:-7.10, Z:-3.54 [[ 9.99567997e-01 2.90003351e-02 4.77484542e-03 8.83230212e+01] [-2.89991135e-02 9.99579384e-01 -3.24889629e-04 -7.09680574e+00] [-4.78225896e-03 1.86282991e-04 9.99988548e-01 -3.54129058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.581346184 meters 0.07272411690393592 Centerline is valid? [True, True] Translation: X:88.35, Y:-7.10, Z:-3.54 [[ 9.99559665e-01 2.93878635e-02 4.10236390e-03 8.83512783e+01] [-2.93869674e-02 9.99568071e-01 -2.78549462e-04 -7.09561473e+00] [-4.10877794e-03 1.57870773e-04 9.99991546e-01 -3.54212250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.611346184 meters 0.07273952595734949 Centerline is valid? [True, True] Translation: X:88.38, Y:-7.10, Z:-3.54 [[ 9.99540046e-01 2.98398315e-02 5.41116033e-03 8.83796574e+01] [-2.98382940e-02 9.99554672e-01 -3.64651477e-04 -7.09953400e+00] [-5.41963173e-03 2.03023961e-04 9.99985293e-01 -3.54352058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641346184 meters 0.07222836529154528 Centerline is valid? [True, True] Translation: X:88.41, Y:-7.10, Z:-3.54 [[ 9.99534009e-01 2.97357389e-02 6.89566672e-03 8.84078908e+01] [-2.97332474e-02 9.99557762e-01 -4.63566446e-04 -7.10259206e+00] [-6.90640169e-03 2.58319864e-04 9.99976117e-01 -3.54454800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.671346184 meters 0.07314551652086661 Centerline is valid? [True, True] Translation: X:88.44, Y:-7.11, Z:-3.54 [[ 9.99578251e-01 2.81378881e-02 7.18181758e-03 8.84356349e+01] [-2.81351456e-02 9.99604012e-01 -4.82635058e-04 -7.10583767e+00] [-7.19255400e-03 2.80370025e-04 9.99974094e-01 -3.54478710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701346184 meters 0.07328468900940899 Centerline is valid? [True, True] Translation: X:88.46, Y:-7.10, Z:-3.54 [[ 9.99626048e-01 2.66308622e-02 6.20970813e-03 8.84642549e+01] [-2.66287839e-02 9.99645304e-01 -4.17133387e-04 -7.10447497e+00] [-6.21861420e-03 2.51620423e-04 9.99980633e-01 -3.54308595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73134618399999 meters 0.07369843802467976 Centerline is valid? [True, True] Translation: X:88.49, Y:-7.11, Z:-3.54 [[ 9.99655786e-01 2.54219993e-02 6.48324283e-03 8.84934671e+01] [-2.54197161e-02 9.99676772e-01 -4.34341336e-04 -7.10522065e+00] [-6.49218909e-03 2.69389637e-04 9.99978889e-01 -3.54295404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76134618399999 meters 0.07365674829188888 Centerline is valid? [True, True] Translation: X:88.52, Y:-7.11, Z:-3.54 [[ 9.99684658e-01 2.37554221e-02 8.14034005e-03 8.85221122e+01] [-2.37517769e-02 9.99717739e-01 -5.44199255e-04 -7.11122436e+00] [-8.15097003e-03 3.50680106e-04 9.99966719e-01 -3.54411013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79134618399999 meters 0.07393885949570213 Centerline is valid? [True, True] Translation: X:88.55, Y:-7.12, Z:-3.55 [[ 9.99706032e-01 2.26265567e-02 8.71140430e-03 8.85504232e+01] [-2.26223463e-02 9.99743913e-01 -5.81565291e-04 -7.11658097e+00] [-8.72233224e-03 3.84321925e-04 9.99961886e-01 -3.54599545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82134618399999 meters 0.07446125961040499 Centerline is valid? [True, True] Translation: X:88.58, Y:-7.12, Z:-3.55 [[ 9.99715361e-01 2.23124954e-02 8.44684578e-03 8.85776878e+01] [-2.23085231e-02 9.99750975e-01 -5.64216780e-04 -7.12121334e+00] [-8.45733139e-03 3.75619528e-04 9.99964166e-01 -3.54771198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.851346184 meters 0.07481482882108229 Centerline is valid? [True, True] Translation: X:88.61, Y:-7.12, Z:-3.55 [[ 9.99740587e-01 2.14418774e-02 7.68144516e-03 8.86062158e+01] [-2.14385773e-02 9.99770036e-01 -5.11712033e-04 -7.12388577e+00] [-7.69065077e-03 3.46900032e-04 9.99970366e-01 -3.54874107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.881346184 meters 0.07580981740093237 Centerline is valid? [True, True] Translation: X:88.63, Y:-7.13, Z:-3.55 [[ 9.99771982e-01 2.06146773e-02 5.56947501e-03 8.86343249e+01] [-2.06129283e-02 9.99787462e-01 -3.71270126e-04 -7.12571272e+00] [-5.57594490e-03 2.56382281e-04 9.99984421e-01 -3.55099328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.911346184 meters 0.07617139115340617 Centerline is valid? [True, True] Translation: X:88.66, Y:-7.13, Z:-3.55 [[ 9.99776769e-01 2.06685544e-02 4.38439584e-03 8.86616311e+01] [-2.06674680e-02 9.99786362e-01 -2.92966074e-04 -7.12708452e+00] [-4.38951435e-03 2.02286314e-04 9.99990346e-01 -3.55342154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.941346184 meters 0.0762198653338354 Centerline is valid? [True, True] Translation: X:88.69, Y:-7.13, Z:-3.56 [[ 9.99769987e-01 2.11515479e-02 3.54741148e-03 8.86892423e+01] [-2.11508369e-02 9.99776268e-01 -2.37810541e-04 -7.12935151e+00] [-3.55164787e-03 1.62725120e-04 9.99993680e-01 -3.55589621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.971346184 meters 0.076013024905211 Centerline is valid? [True, True] Translation: X:88.72, Y:-7.13, Z:-3.56 [[ 9.99738951e-01 2.25159743e-02 3.88089182e-03 8.87165042e+01] [-2.25151387e-02 9.99746469e-01 -2.58892904e-04 -7.13274093e+00] [-3.88573712e-03 1.71446503e-04 9.99992436e-01 -3.55917875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001346184 meters 0.07496280024923538 Centerline is valid? [True, True] Translation: X:88.75, Y:-7.13, Z:-3.56 [[ 9.99651533e-01 2.61581673e-02 3.54444502e-03 8.87458323e+01] [-2.61574989e-02 9.99657807e-01 -2.34815058e-04 -7.13339271e+00] [-3.54937446e-03 1.42019416e-04 9.99993691e-01 -3.56068998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.031346184 meters 0.07460088998904224 Centerline is valid? [True, True] Translation: X:88.77, Y:-7.13, Z:-3.56 [[ 9.99616342e-01 2.73688934e-02 4.25582445e-03 8.87744914e+01] [-2.73679380e-02 9.99625388e-01 -2.82562741e-04 -7.13285316e+00] [-4.26196360e-03 1.65981193e-04 9.99990904e-01 -3.55996480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061346184 meters 0.07415038251365998 Centerline is valid? [True, True] Translation: X:88.80, Y:-7.13, Z:-3.56 [[ 9.99587743e-01 2.83733332e-02 4.39284148e-03 8.88032881e+01] [-2.83723267e-02 9.99597382e-01 -2.91287277e-04 -7.13247885e+00] [-4.39933763e-03 1.66532059e-04 9.99990309e-01 -3.56008263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09134618399999 meters 0.07409813351550616 Centerline is valid? [True, True] Translation: X:88.83, Y:-7.13, Z:-3.56 [[ 9.99558684e-01 2.94933521e-02 3.54676915e-03 8.88312569e+01] [-2.94927005e-02 9.99564968e-01 -2.35882357e-04 -7.13364822e+00] [-3.55218315e-03 1.31174458e-04 9.99993682e-01 -3.56238487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12134618399999 meters 0.07192175467503246 Centerline is valid? [True, True] Translation: X:88.86, Y:-7.13, Z:-3.56 [[ 9.99527738e-01 3.04510067e-02 4.12755748e-03 8.88602404e+01] [-3.04501373e-02 9.99536250e-01 -2.73343261e-04 -7.13161384e+00] [-4.13396690e-03 1.47529479e-04 9.99991444e-01 -3.55932333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15134618399999 meters 0.07133527699786073 Centerline is valid? [True, True] Translation: X:88.89, Y:-7.13, Z:-3.56 [[ 9.99519745e-01 3.07005028e-02 4.21398009e-03 8.88889950e+01] [-3.06996001e-02 9.99528617e-01 -2.78748380e-04 -7.13366035e+00] [-4.22055141e-03 1.49247006e-04 9.99991082e-01 -3.56062599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18134618399999 meters 0.07400198628336259 Centerline is valid? [True, True] Translation: X:88.92, Y:-7.14, Z:-3.57 [[ 9.99517700e-01 3.05658680e-02 5.48598022e-03 8.89161344e+01] [-3.05643396e-02 9.99532736e-01 -3.62231633e-04 -7.14148277e+00] [-5.49448875e-03 1.94381566e-04 9.99984886e-01 -3.56550701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21134618399999 meters 0.0741325564490569 Centerline is valid? [True, True] Translation: X:88.95, Y:-7.14, Z:-3.56 [[ 9.99508012e-01 3.06591261e-02 6.61447393e-03 8.89453325e+01] [-3.06569192e-02 9.99529872e-01 -4.34811057e-04 -7.14225130e+00] [-6.62469521e-03 2.31817743e-04 9.99978030e-01 -3.56489864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.241346184 meters 0.0741325564490569 Centerline is valid? [True, True] Translation: X:88.97, Y:-7.14, Z:-3.57 [[ 9.99510984e-01 3.05620889e-02 6.61444349e-03 8.89727350e+01] [-3.05598767e-02 9.99532843e-01 -4.35278591e-04 -7.14390017e+00] [-6.62465653e-03 2.32929156e-04 9.99978030e-01 -3.56583927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.271346184 meters 0.07161975043302654 Centerline is valid? [True, True] Translation: X:89.00, Y:-7.14, Z:-3.56 [[ 9.99512841e-01 3.00578891e-02 8.40260300e-03 8.90016513e+01] [-3.00543215e-02 9.99548115e-01 -5.50560838e-04 -7.13965941e+00] [-8.41535469e-03 2.97758096e-04 9.99964546e-01 -3.56128592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.301346184 meters 0.07150191329363313 Centerline is valid? [True, True] Translation: X:89.03, Y:-7.14, Z:-3.56 [[ 9.99544670e-01 2.88176951e-02 8.94389162e-03 8.90302629e+01] [-2.88136104e-02 9.99584630e-01 -5.85248979e-04 -7.14211240e+00] [-8.95704213e-03 3.27276689e-04 9.99959831e-01 -3.56082482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.331346184 meters 0.07272513137657699 Centerline is valid? [True, True] Translation: X:89.06, Y:-7.15, Z:-3.56 [[ 9.99586211e-01 2.76390304e-02 7.96812103e-03 8.90576999e+01] [-2.76357498e-02 9.99617924e-01 -5.21536283e-04 -7.14586242e+00] [-7.97949135e-03 3.01115478e-04 9.99968118e-01 -3.56354846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.361346184 meters 0.07324914202959337 Centerline is valid? [True, True] Translation: X:89.09, Y:-7.15, Z:-3.57 [[ 9.99626852e-01 2.66249185e-02 6.10491616e-03 8.90874065e+01] [-2.66229822e-02 9.99645466e-01 -3.98234838e-04 -7.14835965e+00] [-6.11335473e-03 2.35555164e-04 9.99981286e-01 -3.56601656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.391346184 meters 0.0729863036396648 Centerline is valid? [True, True] Translation: X:89.12, Y:-7.15, Z:-3.57 [[ 9.99685921e-01 2.44485375e-02 5.50706750e-03 8.91170462e+01] [-2.44469291e-02 9.99701065e-01 -3.59202719e-04 -7.15070622e+00] [-5.51420322e-03 2.24459012e-04 9.99984771e-01 -3.56784682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421346184 meters 0.07371705553398475 Centerline is valid? [True, True] Translation: X:89.15, Y:-7.15, Z:-3.57 [[ 9.99731350e-01 2.26132474e-02 5.08621187e-03 8.91462772e+01] [-2.26118522e-02 9.99744264e-01 -3.31653738e-04 -7.15486151e+00] [-5.09241091e-03 2.16555969e-04 9.99987010e-01 -3.57026566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.451346184 meters 0.07419159248986461 Centerline is valid? [True, True] Translation: X:89.18, Y:-7.16, Z:-3.57 [[ 9.99779156e-01 2.05765256e-02 4.27145148e-03 8.91752361e+01] [-2.05755179e-02 9.99788262e-01 -2.79741597e-04 -7.15776156e+00] [-4.27630317e-03 1.91792491e-04 9.99990838e-01 -3.57162015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48134618399999 meters 0.07552356876876021 Centerline is valid? [True, True] Translation: X:89.20, Y:-7.16, Z:-3.57 [[ 9.99816216e-01 1.86261582e-02 4.53880024e-03 8.92025375e+01] [-1.86250007e-02 9.99826495e-01 -2.97164995e-04 -7.16147654e+00] [-4.54354778e-03 2.12575223e-04 9.99989655e-01 -3.57267541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51134618399999 meters 0.079554996708351 Centerline is valid? [True, True] Translation: X:89.23, Y:-7.17, Z:-3.58 [[ 9.99870569e-01 1.56098915e-02 3.89574662e-03 8.92303431e+01] [-1.56090179e-02 9.99878139e-01 -2.54552583e-04 -7.16904849e+00] [-3.89924542e-03 1.93710857e-04 9.99992379e-01 -3.57687154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54134618399999 meters 0.07771457757129796 Centerline is valid? [True, True] Translation: X:89.26, Y:-7.17, Z:-3.58 [[ 9.99890387e-01 1.43103359e-02 3.79857673e-03 8.92597178e+01] [-1.43094967e-02 9.99897583e-01 -2.48015592e-04 -7.16678838e+00] [-3.80173688e-03 1.93632685e-04 9.99992755e-01 -3.57557606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57134618399999 meters 0.07904501696413234 Centerline is valid? [True, True] Translation: X:89.29, Y:-7.17, Z:-3.58 [[ 9.99904965e-01 1.34995995e-02 2.79679388e-03 8.92867416e+01] [-1.34991387e-02 9.99908866e-01 -1.83574221e-04 -7.17381278e+00] [-2.79901718e-03 1.45802466e-04 9.99996072e-01 -3.58125111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.601346184 meters 0.07842802308267914 Centerline is valid? [True, True] Translation: X:89.32, Y:-7.17, Z:-3.58 [[ 9.99908693e-01 1.33041731e-02 2.36735711e-03 8.93150502e+01] [-1.33038418e-02 9.99911488e-01 -1.55631517e-04 -7.17426533e+00] [-2.36921812e-03 1.24122362e-04 9.99997186e-01 -3.58155031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.631346184 meters 0.079348234685662 Centerline is valid? [True, True] Translation: X:89.34, Y:-7.18, Z:-3.58 [[ 9.99900629e-01 1.37719641e-02 3.01071734e-03 8.93426897e+01] [-1.37714336e-02 9.99905150e-01 -1.96837478e-04 -7.17632733e+00] [-3.01314261e-03 1.55356024e-04 9.99995448e-01 -3.58410086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.661346184 meters 0.0790015758809008 Centerline is valid? [True, True] Translation: X:89.37, Y:-7.18, Z:-3.58 [[ 9.99886102e-01 1.48748300e-02 2.55397414e-03 8.93713487e+01] [-1.48744528e-02 9.99889355e-01 -1.66611545e-04 -7.17518759e+00] [-2.55616987e-03 1.28603600e-04 9.99996725e-01 -3.58460989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.691346184 meters 0.0776533627762058 Centerline is valid? [True, True] Translation: X:89.40, Y:-7.17, Z:-3.59 [[ 9.99814207e-01 1.90239935e-02 3.10458652e-03 8.94008796e+01] [-1.90234617e-02 9.99819017e-01 -2.00750688e-04 -7.16936649e+00] [-3.10784373e-03 1.41653407e-04 9.99995161e-01 -3.58527171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.721346184 meters 0.07684505285335108 Centerline is valid? [True, True] Translation: X:89.43, Y:-7.17, Z:-3.59 [[ 9.99763962e-01 2.15650744e-02 2.63951042e-03 8.94298812e+01] [-2.15646958e-02 9.99767440e-01 -1.71816723e-04 -7.16753023e+00] [-2.64260182e-03 1.14855928e-04 9.99996502e-01 -3.58629416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.751346184 meters 0.07384903637490661 Centerline is valid? [True, True] Translation: X:89.46, Y:-7.16, Z:-3.58 [[ 9.99724820e-01 2.33723733e-02 2.00390019e-03 8.94592179e+01] [-2.33721575e-02 9.99726825e-01 -1.31015936e-04 -7.16091876e+00] [-2.00641492e-03 8.41444123e-05 9.99997984e-01 -3.58419006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781346184 meters 0.07363687161135644 Centerline is valid? [True, True] Translation: X:89.49, Y:-7.16, Z:-3.59 [[ 9.99706035e-01 2.42177413e-02 1.15931597e-03 8.94878155e+01] [-2.42176686e-02 9.99706706e-01 -7.67484216e-05 -7.16145783e+00] [-1.16083462e-03 4.86499304e-05 9.99999325e-01 -3.58696940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.811346184 meters 0.07414445780221392 Centerline is valid? [True, True] Translation: X:89.52, Y:-7.16, Z:-3.59 [[ 9.99695702e-01 2.46411309e-02 1.14823761e-03 8.95155232e+01] [-2.46410592e-02 9.99696360e-01 -7.65306718e-05 -7.16337348e+00] [-1.14977476e-03 4.82135928e-05 9.99999338e-01 -3.59008458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84134618399999 meters 0.07464932582174809 Centerline is valid? [True, True] Translation: X:89.54, Y:-7.16, Z:-3.59 [[ 9.99718308e-01 2.37268342e-02 5.85475504e-04 8.95437621e+01] [-2.37268146e-02 9.99718479e-01 -4.04095826e-05 -7.16426758e+00] [-5.86269471e-04 2.65067308e-05 9.99999828e-01 -3.59104515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87134618399999 meters 0.07424027619489468 Centerline is valid? [True, True] Translation: X:89.57, Y:-7.16, Z:-3.59 [[ 9.99742191e-01 2.27037897e-02 3.00354953e-04 8.95731096e+01] [-2.27037842e-02 9.99742236e-01 -2.16282421e-05 -7.16216813e+00] [-3.00768576e-04 1.48034721e-05 9.99999955e-01 -3.59007696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90134618399999 meters 0.07575535467982965 Centerline is valid? [True, True] Translation: X:89.60, Y:-7.16, Z:-3.59 [[ 9.99773429e-01 2.12859251e-02 -3.52457177e-06 8.96009282e+01] [-2.12859252e-02 9.99773429e-01 -2.80992242e-06 -7.16373483e+00] [ 3.46396140e-06 2.88430954e-06 1.00000000e+00 -3.59256432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93134618399999 meters 0.07554617436794311 Centerline is valid? [True, True] Translation: X:89.63, Y:-7.16, Z:-3.59 [[ 9.99788369e-01 2.05674720e-02 -4.43541321e-04 8.96300135e+01] [-2.05674626e-02 9.99788467e-01 2.58197480e-05 -7.16490748e+00] [ 4.43978544e-04 -1.66917642e-05 9.99999901e-01 -3.59492391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96134618399999 meters 0.0761044301911895 Centerline is valid? [True, True] Translation: X:89.66, Y:-7.17, Z:-3.60 [[ 9.99800852e-01 1.99057346e-02 -1.42026461e-03 8.96581322e+01] [-1.99056329e-02 9.99801860e-01 8.57552534e-05 -7.16809568e+00] [ 1.42169022e-03 -5.74669095e-05 9.99998988e-01 -3.59834402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.991346184 meters 0.07625767802513479 Centerline is valid? [True, True] Translation: X:89.69, Y:-7.17, Z:-3.60 [[ 9.99821666e-01 1.88198475e-02 -1.56538702e-03 8.96865096e+01] [-1.88197188e-02 9.99822889e-01 9.69311859e-05 -7.16911777e+00] [ 1.56693400e-03 -6.74537564e-05 9.99998770e-01 -3.60010428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.021346184 meters 0.0774640641423041 Centerline is valid? [True, True] Translation: X:89.71, Y:-7.17, Z:-3.60 [[ 9.99823579e-01 1.87814958e-02 2.56395538e-04 8.97145435e+01] [-1.87814915e-02 9.99823612e-01 -1.92702746e-05 -7.16897768e+00] [-2.56712238e-04 1.44513843e-05 9.99999967e-01 -3.60164082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.051346184 meters 0.07625302276720711 Centerline is valid? [True, True] Translation: X:89.74, Y:-7.16, Z:-3.60 [[ 9.99820302e-01 1.89467638e-02 6.19313661e-04 8.97436559e+01] [-1.89467416e-02 9.99820494e-01 -4.16353925e-05 -7.16483361e+00] [-6.19991346e-04 2.98939348e-05 9.99999807e-01 -3.59954214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.081346184 meters 0.07666619332019393 Centerline is valid? [True, True] Translation: X:89.77, Y:-7.16, Z:-3.60 [[ 9.99818488e-01 1.90497050e-02 3.16508559e-04 8.97705588e+01] [-1.90496983e-02 9.99818538e-01 -2.42022210e-05 -7.16448791e+00] [-3.16912170e-04 1.81684355e-05 9.99999950e-01 -3.60091911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.111346184 meters 0.0775386652419989 Centerline is valid? [True, True] Translation: X:89.80, Y:-7.17, Z:-3.60 [[ 9.99820201e-01 1.89409099e-02 8.98343165e-04 8.97986126e+01] [-1.89408639e-02 9.99820604e-01 -5.96505329e-05 -7.16533597e+00] [-8.99311841e-04 4.26244122e-05 9.99999595e-01 -3.60256517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141346184 meters 0.07640944152881482 Centerline is valid? [True, True] Translation: X:89.83, Y:-7.16, Z:-3.60 [[ 9.99832056e-01 1.82863551e-02 1.21170994e-03 8.98278445e+01] [-1.82862730e-02 9.99832789e-01 -7.87965617e-05 -7.16329905e+00] [-1.21294823e-03 5.66256696e-05 9.99999263e-01 -3.60151202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.171346184 meters 0.07687912267098254 Centerline is valid? [True, True] Translation: X:89.86, Y:-7.16, Z:-3.60 [[ 9.99841296e-01 1.77810249e-02 1.10318792e-03 8.98560877e+01] [-1.77809558e-02 9.99841904e-01 -7.24418178e-05 -7.16339686e+00] [-1.10430160e-03 5.28145854e-05 9.99999389e-01 -3.60270747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201346184 meters 0.07714770189494671 Centerline is valid? [True, True] Translation: X:89.88, Y:-7.16, Z:-3.60 [[ 9.99858233e-01 1.67952504e-02 1.19751849e-03 8.98849156e+01] [-1.67951694e-02 9.99858948e-01 -7.77015073e-05 -7.15823410e+00] [-1.19865459e-03 5.75779660e-05 9.99999280e-01 -3.60116328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23134618399999 meters 0.07762594374065722 Centerline is valid? [True, True] Translation: X:89.91, Y:-7.16, Z:-3.60 [[ 9.99860468e-01 1.66105441e-02 1.77067940e-03 8.99127807e+01] [-1.66103661e-02 9.99862032e-01 -1.15187810e-04 -7.15872949e+00] [-1.77234844e-03 8.57601040e-05 9.99998426e-01 -3.60309933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26134618399999 meters 0.07788673468280849 Centerline is valid? [True, True] Translation: X:89.94, Y:-7.16, Z:-3.61 [[ 9.99859629e-01 1.64798968e-02 3.02250185e-03 8.99416962e+01] [-1.64793920e-02 9.99864187e-01 -1.91845597e-04 -7.15977617e+00] [-3.02525295e-03 1.42009674e-04 9.99995414e-01 -3.60558093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29134618399999 meters 0.07824898478806572 Centerline is valid? [True, True] Translation: X:89.97, Y:-7.16, Z:-3.61 [[ 9.99856516e-01 1.66292161e-02 3.22748378e-03 8.99697121e+01] [-1.66286408e-02 9.99861714e-01 -2.04984609e-04 -7.16109971e+00] [-3.23044620e-03 1.51286528e-04 9.99994771e-01 -3.60906527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32134618399999 meters 0.07873049807088067 Centerline is valid? [True, True] Translation: X:90.00, Y:-7.16, Z:-3.61 [[ 9.99861293e-01 1.64511771e-02 2.59884819e-03 8.99983393e+01] [-1.64508041e-02 9.99864663e-01 -1.64844146e-04 -7.16158288e+00] [-2.60120835e-03 1.22068138e-04 9.99996609e-01 -3.61087548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.351346184 meters 0.07865886364075675 Centerline is valid? [True, True] Translation: X:90.03, Y:-7.16, Z:-3.61 [[ 9.99864236e-01 1.62357616e-02 2.81250203e-03 9.00264443e+01] [-1.62353219e-02 9.99868182e-01 -1.79077699e-04 -7.16034839e+00] [-2.81503875e-03 1.33391511e-04 9.99996029e-01 -3.61177778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.381346184 meters 0.07917081214027522 Centerline is valid? [True, True] Translation: X:90.05, Y:-7.16, Z:-3.61 [[ 9.99867420e-01 1.58988125e-02 3.51724798e-03 9.00541367e+01] [-1.58981291e-02 9.99873592e-01 -2.22171646e-04 -7.15706261e+00] [-3.52033563e-03 1.66224528e-04 9.99993790e-01 -3.61077500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.411346184 meters 0.07954213050089377 Centerline is valid? [True, True] Translation: X:90.08, Y:-7.16, Z:-3.61 [[ 9.99871313e-01 1.57327537e-02 3.13648617e-03 9.00815637e+01] [-1.57322094e-02 9.99876222e-01 -1.98149353e-04 -7.15694756e+00] [-3.13921538e-03 1.48779997e-04 9.99995062e-01 -3.61100070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.441346184 meters 0.07938049754457639 Centerline is valid? [True, True] Translation: X:90.11, Y:-7.16, Z:-3.61 [[ 9.99859130e-01 1.61876597e-02 4.43626234e-03 9.01109123e+01] [-1.61865866e-02 9.99868950e-01 -2.77694715e-04 -7.15735412e+00] [-4.44017619e-03 2.05847651e-04 9.99990121e-01 -3.61135884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.471346184 meters 0.07892986336889767 Centerline is valid? [True, True] Translation: X:90.14, Y:-7.16, Z:-3.61 [[ 9.99827019e-01 1.73435151e-02 6.71817787e-03 9.01402446e+01] [-1.73410913e-02 9.99849544e-01 -4.18862309e-04 -7.15893298e+00] [-6.72443163e-03 3.02289319e-04 9.99977345e-01 -3.61288039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501346184 meters 0.07823749395200791 Centerline is valid? [True, True] Translation: X:90.17, Y:-7.16, Z:-3.61 [[ 9.99812616e-01 1.81328034e-02 6.77755503e-03 9.01689997e+01] [-1.81303500e-02 9.99835542e-01 -4.23254143e-04 -7.15839573e+00] [-6.78411520e-03 3.00295387e-04 9.99976943e-01 -3.61312760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.531346184 meters 0.07742654650925329 Centerline is valid? [True, True] Translation: X:90.20, Y:-7.16, Z:-3.61 [[ 9.99804863e-01 1.85556651e-02 6.77661639e-03 9.01976089e+01] [-1.85532250e-02 9.99827785e-01 -4.22776408e-04 -7.15622529e+00] [-6.78329425e-03 2.96965821e-04 9.99976949e-01 -3.61239015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561346184 meters 0.07647524102024805 Centerline is valid? [True, True] Translation: X:90.23, Y:-7.15, Z:-3.61 [[ 9.99805365e-01 1.87754560e-02 6.05918981e-03 9.02263781e+01] [-1.87735099e-02 9.99823691e-01 -3.77891399e-04 -7.15360342e+00] [-6.06521660e-03 2.64065588e-04 9.99981572e-01 -3.61184053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59134618399999 meters 0.0767756169566166 Centerline is valid? [True, True] Translation: X:90.25, Y:-7.15, Z:-3.62 [[ 9.99776007e-01 2.07344862e-02 4.24466281e-03 9.02543620e+01] [-2.07335449e-02 9.99785002e-01 -2.65638653e-04 -7.15236114e+00] [-4.24925810e-03 1.77572245e-04 9.99990956e-01 -3.61545292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62134618399999 meters 0.07648420575647485 Centerline is valid? [True, True] Translation: X:90.28, Y:-7.15, Z:-3.62 [[ 9.99749716e-01 2.21761841e-02 2.95323976e-03 9.02830376e+01] [-2.21757345e-02 9.99754071e-01 -1.84903114e-04 -7.15372356e+00] [-2.95661392e-03 1.19366575e-04 9.99995622e-01 -3.61964290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65134618399999 meters 0.07664305249473162 Centerline is valid? [True, True] Translation: X:90.31, Y:-7.16, Z:-3.62 [[ 9.99742089e-01 2.26365239e-02 1.82848134e-03 9.03103304e+01] [-2.26363499e-02 9.99743758e-01 -1.15778861e-04 -7.15681298e+00] [-1.83063364e-03 7.43588566e-05 9.99998322e-01 -3.62397003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68134618399999 meters 0.0776703325462642 Centerline is valid? [True, True] Translation: X:90.34, Y:-7.16, Z:-3.63 [[ 9.99702820e-01 2.41884058e-02 3.03202565e-03 9.03382510e+01] [-2.41879428e-02 9.99707411e-01 -1.89277903e-04 -7.16169381e+00] [-3.03571684e-03 1.15883190e-04 9.99995385e-01 -3.62790306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71134618399999 meters 0.07462568735554227 Centerline is valid? [True, True] Translation: X:90.37, Y:-7.15, Z:-3.62 [[ 9.99604710e-01 2.78457471e-02 3.87794609e-03 9.03693549e+01] [-2.78450267e-02 9.99612223e-01 -2.39654121e-04 -7.15177246e+00] [-3.88311566e-03 1.31577876e-04 9.99992452e-01 -3.62156720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.741346184 meters 0.07452290153897215 Centerline is valid? [True, True] Translation: X:90.40, Y:-7.15, Z:-3.62 [[ 9.99560434e-01 2.94508524e-02 3.40387996e-03 9.03973208e+01] [-2.94502996e-02 9.99566223e-01 -2.12427013e-04 -7.14908691e+00] [-3.40865959e-03 1.12088353e-04 9.99994184e-01 -3.62182569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.771346184 meters 0.07381760172244106 Centerline is valid? [True, True] Translation: X:90.43, Y:-7.14, Z:-3.62 [[ 9.99477034e-01 3.21054606e-02 3.85981806e-03 9.04251418e+01] [-3.21047724e-02 9.99484480e-01 -2.40149479e-04 -7.14443304e+00] [-3.86553836e-03 1.16105309e-04 9.99992522e-01 -3.62222150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.801346184 meters 0.07346216939747574 Centerline is valid? [True, True] Translation: X:90.45, Y:-7.15, Z:-3.62 [[ 9.99438936e-01 3.31357161e-02 4.88236101e-03 9.04541587e+01] [-3.31346352e-02 9.99450852e-01 -3.02126752e-04 -7.14652355e+00] [-4.88969106e-03 1.40181988e-04 9.99988036e-01 -3.62409128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.831346184 meters 0.07328384196674531 Centerline is valid? [True, True] Translation: X:90.48, Y:-7.15, Z:-3.63 [[ 9.99405330e-01 3.39419705e-02 6.07691237e-03 9.04832252e+01] [-3.39403080e-02 9.99423791e-01 -3.76522185e-04 -7.15033144e+00] [-6.08619071e-03 1.70046001e-04 9.99981465e-01 -3.62673278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.861346184 meters 0.07313998018790537 Centerline is valid? [True, True] Translation: X:90.51, Y:-7.15, Z:-3.63 [[ 9.99396291e-01 3.41089895e-02 6.60529605e-03 9.05117402e+01] [-3.41070457e-02 9.99418103e-01 -4.06732021e-04 -7.15256472e+00] [-6.61532567e-03 1.81199340e-04 9.99978102e-01 -3.62812243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.891346184 meters 0.07237629989710145 Centerline is valid? [True, True] Translation: X:90.54, Y:-7.15, Z:-3.63 [[ 9.99411096e-01 3.36083944e-02 6.92371912e-03 9.05403118e+01] [-3.36062502e-02 9.99435060e-01 -4.25834366e-04 -7.15128585e+00] [-6.93411924e-03 1.92903354e-04 9.99975940e-01 -3.62595832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921346184 meters 0.07343691013888073 Centerline is valid? [True, True] Translation: X:90.57, Y:-7.15, Z:-3.63 [[ 9.99493861e-01 3.11512349e-02 6.45159263e-03 9.05675185e+01] [-3.11493092e-02 9.99514663e-01 -3.98769914e-04 -7.15134363e+00] [-6.46088361e-03 1.97605427e-04 9.99979109e-01 -3.62609184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.951346184 meters 0.0736494768470251 Centerline is valid? [True, True] Translation: X:90.60, Y:-7.15, Z:-3.63 [[ 9.99518030e-01 3.03112085e-02 6.70358639e-03 9.05966129e+01] [-3.03091339e-02 9.99540488e-01 -4.10877548e-04 -7.15321385e+00] [-6.71296020e-03 2.07499620e-04 9.99977446e-01 -3.62636244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98134618399999 meters 0.07416309385898912 Centerline is valid? [True, True] Translation: X:90.62, Y:-7.16, Z:-3.63 [[ 9.99540856e-01 2.95990836e-02 6.47847490e-03 9.06242476e+01] [-2.95971305e-02 9.99561830e-01 -3.97163483e-04 -7.15686828e+00] [-6.48739190e-03 2.05236861e-04 9.99978936e-01 -3.62835073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01134618399999 meters 0.07464700453943408 Centerline is valid? [True, True] Translation: X:90.65, Y:-7.16, Z:-3.63 [[ 9.99575709e-01 2.84412508e-02 6.28472067e-03 9.06530004e+01] [-2.84393956e-02 9.99595445e-01 -3.84379997e-04 -7.16207983e+00] [-6.29311040e-03 2.05483250e-04 9.99980177e-01 -3.63091258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04134618399999 meters 0.07517748009054562 Centerline is valid? [True, True] Translation: X:90.68, Y:-7.17, Z:-3.63 [[ 9.99614091e-01 2.69367506e-02 6.78823019e-03 9.06819328e+01] [-2.69345559e-02 9.99637113e-01 -4.14537494e-04 -7.16528558e+00] [-6.79693312e-03 2.31539555e-04 9.99976874e-01 -3.63132188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07134618399999 meters 0.07588942033271726 Centerline is valid? [True, True] Translation: X:90.71, Y:-7.17, Z:-3.63 [[ 9.99657490e-01 2.52806279e-02 6.76708842e-03 9.07099773e+01] [-2.52784089e-02 9.99680365e-01 -4.13245739e-04 -7.16797619e+00] [-6.77537253e-03 2.42042970e-04 9.99977018e-01 -3.63166177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.101346184 meters 0.07633712742450842 Centerline is valid? [True, True] Translation: X:90.74, Y:-7.17, Z:-3.63 [[ 9.99681187e-01 2.44418223e-02 6.33409154e-03 9.07390412e+01] [-2.44398667e-02 9.99701227e-01 -3.85971612e-04 -7.16867468e+00] [-6.34163294e-03 2.31044206e-04 9.99979865e-01 -3.63111493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.131346184 meters 0.07599273380572782 Centerline is valid? [True, True] Translation: X:90.77, Y:-7.17, Z:-3.63 [[ 9.99665997e-01 2.51157270e-02 6.09048003e-03 9.07683043e+01] [-2.51139362e-02 9.99684527e-01 -3.70348221e-04 -7.16930154e+00] [-6.09786021e-03 2.17268597e-04 9.99981384e-01 -3.63285101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.161346184 meters 0.07599273380572782 Centerline is valid? [True, True] Translation: X:90.80, Y:-7.17, Z:-3.63 [[ 9.99668493e-01 2.50162249e-02 6.09041384e-03 9.07957056e+01] [-2.50144256e-02 9.99687021e-01 -3.71444003e-04 -7.17081927e+00] [-6.09779980e-03 2.18972663e-04 9.99981384e-01 -3.63379120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.191346184 meters 0.07575174847227706 Centerline is valid? [True, True] Translation: X:90.82, Y:-7.17, Z:-3.64 [[ 9.99635426e-01 2.62388425e-02 6.36704135e-03 9.08233531e+01] [-2.62369089e-02 9.99655678e-01 -3.87044803e-04 -7.17227737e+00] [-6.37500465e-03 2.19852213e-04 9.99979655e-01 -3.63551947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.221346184 meters 0.07580956470760214 Centerline is valid? [True, True] Translation: X:90.85, Y:-7.17, Z:-3.64 [[ 9.99633430e-01 2.64140359e-02 5.94176583e-03 9.08521904e+01] [-2.64123597e-02 9.99651068e-01 -3.60414262e-04 -7.17359271e+00] [-5.94921255e-03 2.03346089e-04 9.99982283e-01 -3.63728741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.251346184 meters 0.07512347385166797 Centerline is valid? [True, True] Translation: X:90.88, Y:-7.17, Z:-3.64 [[ 9.99579127e-01 2.79287578e-02 7.84560795e-03 9.08812124e+01] [-2.79258918e-02 9.99609884e-01 -4.74643455e-04 -7.17201142e+00] [-7.85580345e-03 2.55348092e-04 9.99969110e-01 -3.63710056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281346184 meters 0.07502545810647752 Centerline is valid? [True, True] Translation: X:90.91, Y:-7.17, Z:-3.64 [[ 9.99561582e-01 2.85759644e-02 7.74974234e-03 9.09099157e+01] [-2.85731912e-02 9.99591593e-01 -4.68357922e-04 -7.17255551e+00] [-7.75996107e-03 2.46717716e-04 9.99969861e-01 -3.63768878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.311346184 meters 0.07507051249711236 Centerline is valid? [True, True] Translation: X:90.94, Y:-7.17, Z:-3.64 [[ 9.99557066e-01 2.87727757e-02 7.60251390e-03 9.09391265e+01] [-2.87701192e-02 9.99585949e-01 -4.58572153e-04 -7.17417946e+00] [-7.61256046e-03 2.39643805e-04 9.99970995e-01 -3.63920766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34134618399999 meters 0.07469072587403332 Centerline is valid? [True, True] Translation: X:90.97, Y:-7.18, Z:-3.64 [[ 9.99512254e-01 3.02883973e-02 7.60710000e-03 9.09682798e+01] [-3.02857843e-02 9.99541175e-01 -4.58472455e-04 -7.17565254e+00] [-7.61749607e-03 2.27861847e-04 9.99970960e-01 -3.64184062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37134618399999 meters 0.07335217716363193 Centerline is valid? [True, True] Translation: X:91.00, Y:-7.17, Z:-3.64 [[ 9.99485114e-01 3.11832828e-02 7.55711948e-03 9.09967688e+01] [-3.11807284e-02 9.99513659e-01 -4.55621949e-04 -7.17462390e+00] [-7.56765193e-03 2.19750866e-04 9.99971341e-01 -3.64134172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40134618399999 meters 0.07448087846891363 Centerline is valid? [True, True] Translation: X:91.02, Y:-7.18, Z:-3.65 [[ 9.99458009e-01 3.17766266e-02 8.59853207e-03 9.10247619e+01] [-3.17733494e-02 9.99494966e-01 -5.17499264e-04 -7.17953383e+00] [-8.61063390e-03 2.44014620e-04 9.99962898e-01 -3.64534576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43134618399999 meters 0.07260647595482105 Centerline is valid? [True, True] Translation: X:91.05, Y:-7.18, Z:-3.64 [[ 9.99464991e-01 3.16028748e-02 8.42555266e-03 9.10537873e+01] [-3.15997260e-02 9.99500476e-01 -5.06613885e-04 -7.17563583e+00] [-8.43735434e-03 2.40097687e-04 9.99964376e-01 -3.64058713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46134618399999 meters 0.07207867072324588 Centerline is valid? [True, True] Translation: X:91.08, Y:-7.18, Z:-3.64 [[ 9.99452325e-01 3.18701649e-02 8.90746542e-03 9.10830766e+01] [-3.18666271e-02 9.99491985e-01 -5.38859502e-04 -7.17640024e+00] [-8.92011383e-03 2.54713504e-04 9.99960183e-01 -3.63851107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.491346184 meters 0.07262606574145317 Centerline is valid? [True, True] Translation: X:91.11, Y:-7.18, Z:-3.64 [[ 9.99485933e-01 3.07418520e-02 9.09987887e-03 9.11101820e+01] [-3.07381655e-02 9.99527323e-01 -5.44730585e-04 -7.18061484e+00] [-9.11232359e-03 2.64736974e-04 9.99958447e-01 -3.63960880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.521346184 meters 0.07303238592996569 Centerline is valid? [True, True] Translation: X:91.14, Y:-7.18, Z:-3.64 [[ 9.99488998e-01 3.05185235e-02 9.50594259e-03 9.11377637e+01] [-3.05145001e-02 9.99534163e-01 -5.68037459e-04 -7.18466200e+00] [-9.51885003e-03 2.77678104e-04 9.99954656e-01 -3.64118727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.551346184 meters 0.07344730861938403 Centerline is valid? [True, True] Translation: X:91.17, Y:-7.19, Z:-3.64 [[ 9.99520538e-01 2.96367929e-02 8.96410681e-03 9.11666582e+01] [-2.96331891e-02 9.99560698e-01 -5.34610278e-04 -7.18877954e+00] [-8.97601299e-03 2.68718880e-04 9.99959679e-01 -3.64229290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.581346184 meters 0.07450323428149959 Centerline is valid? [True, True] Translation: X:91.19, Y:-7.20, Z:-3.65 [[ 9.99572471e-01 2.84244206e-02 6.85030349e-03 9.11946064e+01] [-2.84222871e-02 9.99595922e-01 -4.08614532e-04 -7.19840363e+00] [-6.85915006e-03 2.13738545e-04 9.99976453e-01 -3.64897939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.611346184 meters 0.07406574226962691 Centerline is valid? [True, True] Translation: X:91.22, Y:-7.20, Z:-3.65 [[ 9.99585420e-01 2.79441561e-02 6.93627679e-03 9.12227782e+01] [-2.79419605e-02 9.99609462e-01 -4.13273640e-04 -7.20227578e+00] [-6.94511649e-03 2.19289133e-04 9.99975858e-01 -3.65057593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641346184 meters 0.07418000464816725 Centerline is valid? [True, True] Translation: X:91.25, Y:-7.21, Z:-3.65 [[ 9.99607175e-01 2.70684054e-02 7.26614927e-03 9.12516000e+01] [-2.70659772e-02 9.99633556e-01 -4.32324048e-04 -7.20578708e+00] [-7.27518895e-03 2.35488790e-04 9.99973508e-01 -3.65110348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.671346184 meters 0.07443964259200367 Centerline is valid? [True, True] Translation: X:91.28, Y:-7.21, Z:-3.65 [[ 9.99625333e-01 2.64027417e-02 7.21732653e-03 9.12800215e+01] [-2.64003321e-02 9.99651358e-01 -4.28942566e-04 -7.20812349e+00] [-7.22613553e-03 2.38242038e-04 9.99973863e-01 -3.65059841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701346184 meters 0.07498915817990376 Centerline is valid? [True, True] Translation: X:91.31, Y:-7.21, Z:-3.65 [[ 9.99651389e-01 2.54143022e-02 7.15632258e-03 9.13072961e+01] [-2.54119048e-02 9.99676975e-01 -4.25744588e-04 -7.21138051e+00] [-7.16483090e-03 2.43740381e-04 9.99974303e-01 -3.64855587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73134618399999 meters 0.07534595090274991 Centerline is valid? [True, True] Translation: X:91.34, Y:-7.22, Z:-3.65 [[ 9.99677602e-01 2.44080773e-02 6.99557463e-03 9.13354268e+01] [-2.44057694e-02 9.99702049e-01 -4.15093104e-04 -7.21533228e+00] [-7.00362191e-03 2.44226898e-04 9.99975445e-01 -3.64864740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76134618399999 meters 0.07481312238059572 Centerline is valid? [True, True] Translation: X:91.36, Y:-7.22, Z:-3.65 [[ 9.99710462e-01 2.26769492e-02 8.04658541e-03 9.13646231e+01] [-2.26738515e-02 9.99742802e-01 -4.75997108e-04 -7.21728690e+00] [-8.05531001e-03 2.93412206e-04 9.99967512e-01 -3.64648159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79134618399999 meters 0.07637356505888893 Centerline is valid? [True, True] Translation: X:91.39, Y:-7.23, Z:-3.65 [[ 9.99788936e-01 1.87962465e-02 8.29365833e-03 9.13925384e+01] [-1.87928316e-02 9.99823279e-01 -4.89506453e-04 -7.22803596e+00] [-8.30139355e-03 3.33541812e-04 9.99965487e-01 -3.64770736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82134618399999 meters 0.07789088589605443 Centerline is valid? [True, True] Translation: X:91.42, Y:-7.24, Z:-3.65 [[ 9.99814278e-01 1.69934896e-02 9.09019489e-03 9.14195646e+01] [-1.69893109e-02 9.99855527e-01 -5.36721133e-04 -7.23534334e+00] [-9.09800237e-03 3.82185305e-04 9.99958539e-01 -3.65014227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.851346184 meters 0.07674473237376725 Centerline is valid? [True, True] Translation: X:91.45, Y:-7.24, Z:-3.65 [[ 9.99847536e-01 1.48034365e-02 9.26080329e-03 9.14485675e+01] [-1.47990210e-02 9.99890340e-01 -5.45145632e-04 -7.23858669e+00] [-9.26785778e-03 4.08011695e-04 9.99956969e-01 -3.64993325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.881346184 meters 0.07653358671132961 Centerline is valid? [True, True] Translation: X:91.48, Y:-7.24, Z:-3.65 [[ 9.99857699e-01 1.43098105e-02 8.93365501e-03 9.14774916e+01] [-1.43056814e-02 9.99897530e-01 -5.25938642e-04 -7.24213497e+00] [-8.94026566e-03 3.98061779e-04 9.99959956e-01 -3.65120696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.911346184 meters 0.07679393614049981 Centerline is valid? [True, True] Translation: X:91.51, Y:-7.25, Z:-3.65 [[ 9.99874555e-01 1.38643417e-02 7.65857645e-03 9.15062424e+01] [-1.38612957e-02 9.99903826e-01 -4.50669259e-04 -7.24542931e+00] [-7.66408813e-03 3.44454933e-04 9.99970571e-01 -3.65304194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.941346184 meters 0.07875702033096613 Centerline is valid? [True, True] Translation: X:91.53, Y:-7.25, Z:-3.66 [[ 9.99903281e-01 1.26918680e-02 5.68728015e-03 9.15346585e+01] [-1.26901708e-02 9.99919421e-01 -3.34410864e-04 -7.25093489e+00] [-5.69106617e-03 2.62205964e-04 9.99983771e-01 -3.65538598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.971346184 meters 0.07879255395961549 Centerline is valid? [True, True] Translation: X:91.56, Y:-7.25, Z:-3.66 [[ 9.99919231e-01 1.18569672e-02 4.57654086e-03 9.15634927e+01] [-1.18558571e-02 9.99929681e-01 -2.69630453e-04 -7.25179036e+00] [-4.57941604e-03 2.15349861e-04 9.99989491e-01 -3.65601623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001346184 meters 0.07906963666296293 Centerline is valid? [True, True] Translation: X:91.59, Y:-7.25, Z:-3.66 [[ 9.99928499e-01 1.12121363e-02 4.15751972e-03 9.15918232e+01] [-1.12112148e-02 9.99937122e-01 -2.44881506e-04 -7.25455902e+00] [-4.16000395e-03 1.98253150e-04 9.99991327e-01 -3.65760507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.031346184 meters 0.07982966736687691 Centerline is valid? [True, True] Translation: X:91.62, Y:-7.26, Z:-3.66 [[ 9.99930895e-01 1.06677982e-02 4.93987849e-03 9.16188255e+01] [-1.06664909e-02 9.99943069e-01 -2.90914761e-04 -7.26371908e+00] [-4.94270067e-03 2.38203489e-04 9.99987756e-01 -3.66195857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061346184 meters 0.08014385676902695 Centerline is valid? [True, True] Translation: X:91.65, Y:-7.27, Z:-3.66 [[ 9.99929589e-01 1.03724391e-02 5.76443703e-03 9.16468129e+01] [-1.03706645e-02 9.99946166e-01 -3.37653057e-04 -7.26957796e+00] [-5.76762900e-03 2.77848240e-04 9.99983328e-01 -3.66332113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09134618399999 meters 0.07844806387852912 Centerline is valid? [True, True] Translation: X:91.68, Y:-7.27, Z:-3.66 [[ 9.99929448e-01 1.03287298e-02 5.86648580e-03 9.16752931e+01] [-1.03268933e-02 9.99946617e-01 -3.43267758e-04 -7.26856003e+00] [-5.86971815e-03 2.82660967e-04 9.99982733e-01 -3.66168665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12134618399999 meters 0.07822311376601315 Centerline is valid? [True, True] Translation: X:91.70, Y:-7.27, Z:-3.66 [[ 9.99934205e-01 9.93264159e-03 5.73827081e-03 9.17041562e+01] [-9.93087991e-03 9.99950631e-01 -3.35417514e-04 -7.26853826e+00] [-5.74131910e-03 2.78409367e-04 9.99983480e-01 -3.66060177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15134618399999 meters 0.07727040944122307 Centerline is valid? [True, True] Translation: X:91.73, Y:-7.27, Z:-3.66 [[ 9.99916784e-01 1.17602731e-02 5.30295903e-03 9.17329193e+01] [-1.17587952e-02 9.99930815e-01 -3.09789389e-04 -7.26592605e+00] [-5.30623535e-03 2.47407200e-04 9.99985891e-01 -3.65836136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18134618399999 meters 0.08174844553069179 Centerline is valid? [True, True] Translation: X:91.76, Y:-7.28, Z:-3.67 [[ 9.99908491e-01 1.26524815e-02 4.78803475e-03 9.17600848e+01] [-1.26512850e-02 9.99919930e-01 -2.80106624e-04 -7.27827779e+00] [-4.79119542e-03 2.19506200e-04 9.99988498e-01 -3.66631602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21134618399999 meters 0.07914158387547378 Centerline is valid? [True, True] Translation: X:91.79, Y:-7.28, Z:-3.66 [[ 9.99887584e-01 1.41062159e-02 5.08280109e-03 9.17888195e+01] [-1.41048927e-02 9.99900477e-01 -2.96077814e-04 -7.27600441e+00] [-5.08647177e-03 2.24352166e-04 9.99987039e-01 -3.66411890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.241346184 meters 0.07772590386426487 Centerline is valid? [True, True] Translation: X:91.82, Y:-7.28, Z:-3.66 [[ 9.99865984e-01 1.54639246e-02 5.37402925e-03 9.18175252e+01] [-1.54624674e-02 9.99880400e-01 -3.12596902e-04 -7.27586927e+00] [-5.37822049e-03 2.29459257e-04 9.99985511e-01 -3.66398442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.271346184 meters 0.075518270884955 Centerline is valid? [True, True] Translation: X:91.85, Y:-7.27, Z:-3.66 [[ 9.99850966e-01 1.64719326e-02 5.16927138e-03 9.18464548e+01] [-1.64705986e-02 9.99864305e-01 -3.00533942e-04 -7.27372081e+00] [-5.17352031e-03 2.15348158e-04 9.99986594e-01 -3.66224949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.301346184 meters 0.07572755102396642 Centerline is valid? [True, True] Translation: X:91.87, Y:-7.28, Z:-3.66 [[ 9.99841864e-01 1.66031465e-02 6.37043750e-03 9.18744205e+01] [-1.66011256e-02 9.99862123e-01 -3.69985288e-04 -7.27606649e+00] [-6.37570209e-03 2.64170347e-04 9.99979640e-01 -3.66266036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.331346184 meters 0.07561598994006465 Centerline is valid? [True, True] Translation: X:91.90, Y:-7.28, Z:-3.66 [[ 9.99844882e-01 1.62238864e-02 6.85549857e-03 9.19033731e+01] [-1.62215476e-02 9.99868343e-01 -3.96623813e-04 -7.27700390e+00] [-6.86103077e-03 2.85355493e-04 9.99976422e-01 -3.66214828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.361346184 meters 0.07594388211974439 Centerline is valid? [True, True] Translation: X:91.93, Y:-7.28, Z:-3.66 [[ 9.99865026e-01 1.52458610e-02 6.12315653e-03 9.19321651e+01] [-1.52439779e-02 9.99883741e-01 -3.54104765e-04 -7.28027504e+00] [-6.12784329e-03 2.60715707e-04 9.99981191e-01 -3.66346884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.391346184 meters 0.07761402976379211 Centerline is valid? [True, True] Translation: X:91.96, Y:-7.29, Z:-3.67 [[ 9.99880126e-01 1.43698824e-02 5.76539137e-03 9.19596462e+01] [-1.43681970e-02 9.99896716e-01 -3.33643423e-04 -7.28821729e+00] [-5.76959032e-03 2.50765149e-04 9.99983324e-01 -3.66798548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421346184 meters 0.07631397659764194 Centerline is valid? [True, True] Translation: X:91.99, Y:-7.29, Z:-3.67 [[ 9.99898294e-01 1.32000242e-02 5.40003403e-03 9.19882961e+01] [-1.31985329e-02 9.99912847e-01 -3.11699599e-04 -7.28847080e+00] [-5.40367785e-03 2.40395371e-04 9.99985371e-01 -3.66741185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.451346184 meters 0.07804103827974881 Centerline is valid? [True, True] Translation: X:92.02, Y:-7.29, Z:-3.67 [[ 9.99935565e-01 1.04199995e-02 4.50439832e-03 9.20160548e+01] [-1.04189363e-02 9.99945688e-01 -2.59453028e-04 -7.29204122e+00] [-4.50685717e-03 2.12505271e-04 9.99989821e-01 -3.66740280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48134618399999 meters 0.07850318171221063 Centerline is valid? [True, True] Translation: X:92.05, Y:-7.29, Z:-3.67 [[ 9.99951462e-01 9.02388788e-03 3.95512497e-03 9.20457450e+01] [-9.02305900e-03 9.99959266e-01 -2.27365051e-04 -7.29266634e+00] [-3.95701557e-03 1.91666689e-04 9.99992153e-01 -3.66720506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51134618399999 meters 0.0800823451207708 Centerline is valid? [True, True] Translation: X:92.07, Y:-7.30, Z:-3.67 [[ 9.99961518e-01 8.08538164e-03 3.40434505e-03 9.20735493e+01] [-8.08476434e-03 9.99967299e-01 -1.95052202e-04 -7.29724352e+00] [-3.40581080e-03 1.67521368e-04 9.99994186e-01 -3.67017658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54134618399999 meters 0.07850317443286627 Centerline is valid? [True, True] Translation: X:92.10, Y:-7.30, Z:-3.67 [[ 9.99966611e-01 7.01034430e-03 4.19895863e-03 9.21019604e+01] [-7.00938670e-03 9.99975404e-01 -2.42729313e-04 -7.29712514e+00] [-4.20055697e-03 2.13289084e-04 9.99991155e-01 -3.66963014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57134618399999 meters 0.0805065955299864 Centerline is valid? [True, True] Translation: X:92.13, Y:-7.30, Z:-3.67 [[ 9.99971561e-01 6.27803105e-03 4.17882496e-03 9.21296930e+01] [-6.27708226e-03 9.99980270e-01 -2.40124611e-04 -7.30461236e+00] [-4.18025002e-03 2.13886954e-04 9.99991240e-01 -3.67341688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.601346184 meters 0.08015174651378557 Centerline is valid? [True, True] Translation: X:92.16, Y:-7.30, Z:-3.67 [[ 9.99966441e-01 6.62390847e-03 4.82088340e-03 9.21595810e+01] [-6.62265495e-03 9.99978032e-01 -2.75935307e-04 -7.30333156e+00] [-4.82260527e-03 2.43999000e-04 9.99988341e-01 -3.67276408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.631346184 meters 0.08048634705069778 Centerline is valid? [True, True] Translation: X:92.19, Y:-7.30, Z:-3.67 [[ 9.99956670e-01 7.76474440e-03 5.13478051e-03 9.21878688e+01] [-7.76333615e-03 9.99969822e-01 -2.94133348e-04 -7.30366864e+00] [-5.13690942e-03 2.54257576e-04 9.99986774e-01 -3.67434796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.661346184 meters 0.07800895118786302 Centerline is valid? [True, True] Translation: X:92.22, Y:-7.30, Z:-3.67 [[ 9.99950569e-01 9.00828292e-03 4.20826811e-03 9.22168368e+01] [-9.00734510e-03 9.99959404e-01 -2.41751337e-04 -7.29821590e+00] [-4.21027503e-03 2.03834064e-04 9.99991116e-01 -3.67473780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.691346184 meters 0.0778412082957292 Centerline is valid? [True, True] Translation: X:92.24, Y:-7.30, Z:-3.68 [[ 9.99934926e-01 1.05780628e-02 4.27171539e-03 9.22446613e+01] [-1.05771101e-02 9.99944031e-01 -2.45565533e-04 -7.29846805e+00] [-4.27407391e-03 2.00367149e-04 9.99990846e-01 -3.67659673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.721346184 meters 0.07595132208930301 Centerline is valid? [True, True] Translation: X:92.27, Y:-7.29, Z:-3.68 [[ 9.99923818e-01 1.18460454e-02 3.46831099e-03 9.22739744e+01] [-1.18454256e-02 9.99929821e-01 -1.99186966e-04 -7.29342021e+00] [-3.47042716e-03 1.58088172e-04 9.99993966e-01 -3.67532002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.751346184 meters 0.07945231083202343 Centerline is valid? [True, True] Translation: X:92.30, Y:-7.30, Z:-3.68 [[ 9.99912279e-01 1.30456420e-02 2.29044625e-03 9.23011255e+01] [-1.30453720e-02 9.99914897e-01 -1.32777125e-04 -7.30036271e+00] [-2.29198349e-03 1.02885754e-04 9.99997368e-01 -3.68285110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781346184 meters 0.07581711090250433 Centerline is valid? [True, True] Translation: X:92.33, Y:-7.29, Z:-3.68 [[ 9.99863267e-01 1.63581942e-02 2.41997096e-03 9.23314120e+01] [-1.63579077e-02 9.99866191e-01 -1.38143208e-04 -7.29012937e+00] [-2.42190692e-03 9.85386577e-05 9.99997062e-01 -3.67899870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.811346184 meters 0.07616876008045922 Centerline is valid? [True, True] Translation: X:92.36, Y:-7.29, Z:-3.68 [[ 9.99844693e-01 1.73051924e-02 3.33465632e-03 9.23590046e+01] [-1.73046473e-02 9.99850245e-01 -1.92237901e-04 -7.28977755e+00] [-3.33748365e-03 1.34502993e-04 9.99994422e-01 -3.67981161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84134618399999 meters 0.07632698290251032 Centerline is valid? [True, True] Translation: X:92.39, Y:-7.29, Z:-3.68 [[ 9.99832637e-01 1.79015017e-02 3.77279077e-03 9.23869626e+01] [-1.79008134e-02 9.99839744e-01 -2.16123937e-04 -7.28959780e+00] [-3.77605510e-03 1.48551742e-04 9.99992860e-01 -3.68137824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87134618399999 meters 0.07651934219475243 Centerline is valid? [True, True] Translation: X:92.41, Y:-7.29, Z:-3.68 [[ 9.99819233e-01 1.86004792e-02 3.94010409e-03 9.24146389e+01] [-1.85997367e-02 9.99826985e-01 -2.25030832e-04 -7.29059955e+00] [-3.94360807e-03 1.51705255e-04 9.99992212e-01 -3.68349829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90134618399999 meters 0.07493268757017689 Centerline is valid? [True, True] Translation: X:92.44, Y:-7.29, Z:-3.68 [[ 9.99756577e-01 2.14271665e-02 5.25954140e-03 9.24444767e+01] [-2.14259004e-02 9.99770395e-01 -2.96959236e-04 -7.28678550e+00] [-5.26469678e-03 1.84196539e-04 9.99986124e-01 -3.68265032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93134618399999 meters 0.07448557361818747 Centerline is valid? [True, True] Translation: X:92.47, Y:-7.29, Z:-3.68 [[ 9.99694335e-01 2.39317478e-02 6.20548346e-03 9.24730179e+01] [-2.39300332e-02 9.99713574e-01 -3.50412066e-04 -7.28570369e+00] [-6.21209202e-03 2.01807532e-04 9.99980684e-01 -3.68327255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96134618399999 meters 0.0738669509337985 Centerline is valid? [True, True] Translation: X:92.50, Y:-7.28, Z:-3.68 [[ 9.99630148e-01 2.62278598e-02 7.18797857e-03 9.25015396e+01] [-2.62256202e-02 9.99655967e-01 -4.05665568e-04 -7.28308141e+00] [-7.19614541e-03 2.17006336e-04 9.99974084e-01 -3.68432763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.991346184 meters 0.07160435910239726 Centerline is valid? [True, True] Translation: X:92.53, Y:-7.27, Z:-3.68 [[ 9.99502741e-01 3.08244775e-02 6.64247487e-03 9.25313894e+01] [-3.08226708e-02 9.99524799e-01 -3.74224050e-04 -7.27383967e+00] [-6.65085362e-03 1.69299148e-04 9.99977868e-01 -3.68326814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.021346184 meters 0.07122158793885774 Centerline is valid? [True, True] Translation: X:92.56, Y:-7.27, Z:-3.69 [[ 9.99453715e-01 3.25034728e-02 5.98303665e-03 9.25589810e+01] [-3.25020320e-02 9.99471612e-01 -3.37920540e-04 -7.27193567e+00] [-5.99085887e-03 1.43275090e-04 9.99982044e-01 -3.68603482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.051346184 meters 0.07122158793885774 Centerline is valid? [True, True] Translation: X:92.59, Y:-7.27, Z:-3.69 [[ 9.99457053e-01 3.24006547e-02 5.98303886e-03 9.25863775e+01] [-3.23992123e-02 9.99474951e-01 -3.37883674e-04 -7.27333198e+00] [-5.99084512e-03 1.43854475e-04 9.99982044e-01 -3.68697541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.081346184 meters 0.07216602076263468 Centerline is valid? [True, True] Translation: X:92.61, Y:-7.28, Z:-3.69 [[ 9.99422116e-01 3.36324431e-02 4.92872731e-03 9.26128016e+01] [-3.36314763e-02 9.99434263e-01 -2.78931496e-04 -7.27536630e+00] [-4.93532009e-03 1.13009930e-04 9.99987815e-01 -3.69311340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.111346184 meters 0.07137338983813085 Centerline is valid? [True, True] Translation: X:92.64, Y:-7.27, Z:-3.69 [[ 9.99422051e-01 3.37137606e-02 4.35278138e-03 9.26414299e+01] [-3.37130142e-02 9.99431525e-01 -2.44757097e-04 -7.27306118e+00] [-4.35855862e-03 9.78702593e-05 9.99990497e-01 -3.69125965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141346184 meters 0.07174518607032115 Centerline is valid? [True, True] Translation: X:92.67, Y:-7.27, Z:-3.69 [[ 9.99457588e-01 3.26427296e-02 4.35693915e-03 9.26702686e+01] [-3.26419510e-02 9.99467078e-01 -2.49714249e-04 -7.27373912e+00] [-4.36276859e-03 1.07359806e-04 9.99990477e-01 -3.69240411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.171346184 meters 0.07169669594177215 Centerline is valid? [True, True] Translation: X:92.70, Y:-7.28, Z:-3.69 [[ 9.99464507e-01 3.23756988e-02 4.74485362e-03 9.26994616e+01] [-3.23748048e-02 9.99475763e-01 -2.65131757e-04 -7.27556445e+00] [-4.75095002e-03 1.11376071e-04 9.99988708e-01 -3.69211944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20134618399999 meters 0.07235862702908408 Centerline is valid? [True, True] Translation: X:92.73, Y:-7.28, Z:-3.69 [[ 9.99503928e-01 3.10726185e-02 5.13705968e-03 9.27273534e+01] [-3.10715537e-02 9.99517122e-01 -2.86975725e-04 -7.27847881e+00] [-5.14349619e-03 1.27216939e-04 9.99986764e-01 -3.69276728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23134618399999 meters 0.07243558038921767 Centerline is valid? [True, True] Translation: X:92.76, Y:-7.28, Z:-3.69 [[ 9.99529152e-01 3.02626829e-02 5.06398174e-03 9.27557207e+01] [-3.02616423e-02 9.99541972e-01 -2.82016447e-04 -7.27962465e+00] [-5.07019687e-03 1.28639256e-04 9.99987138e-01 -3.69380335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26134618399999 meters 0.07279588564348974 Centerline is valid? [True, True] Translation: X:92.78, Y:-7.28, Z:-3.70 [[ 9.99555951e-01 2.94534695e-02 4.51589016e-03 9.27832932e+01] [-2.94526318e-02 9.99566145e-01 -2.51908010e-04 -7.28154888e+00] [-4.52135048e-03 1.18791300e-04 9.99989772e-01 -3.69562327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29134618399999 meters 0.07390941278963459 Centerline is valid? [True, True] Translation: X:92.81, Y:-7.29, Z:-3.70 [[ 9.99588565e-01 2.86147589e-02 1.97372832e-03 9.28116250e+01] [-2.86145965e-02 9.99590512e-01 -1.10446135e-04 -7.28587284e+00] [-1.97608049e-03 5.39232542e-05 9.99998046e-01 -3.70180147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32134618399999 meters 0.07427479589232933 Centerline is valid? [True, True] Translation: X:92.84, Y:-7.29, Z:-3.71 [[ 9.99595825e-01 2.84274135e-02 2.63882695e-04 9.28404367e+01] [-2.84274101e-02 9.99595859e-01 -1.67283659e-05 -7.28816417e+00] [-2.64251594e-04 9.22010315e-06 9.99999965e-01 -3.70638664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.351346184 meters 0.07443050172543637 Centerline is valid? [True, True] Translation: X:92.87, Y:-7.29, Z:-3.71 [[ 9.99594558e-01 2.84723098e-02 -2.17215075e-04 9.28676106e+01] [-2.84723085e-02 9.99594582e-01 9.19971949e-06 -7.28983059e+00] [ 2.17388950e-04 -3.01137490e-06 9.99999976e-01 -3.70978840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.381346184 meters 0.0742530887729993 Centerline is valid? [True, True] Translation: X:92.90, Y:-7.29, Z:-3.71 [[ 9.99594852e-01 2.84229293e-02 1.50616290e-03 9.28971475e+01] [-2.84228267e-02 9.99595986e-01 -8.95301311e-05 -7.28777640e+00] [-1.50809910e-03 4.66844510e-05 9.99998862e-01 -3.70767069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.411346184 meters 0.07269062349244948 Centerline is valid? [True, True] Translation: X:92.93, Y:-7.28, Z:-3.70 [[ 9.99598283e-01 2.83125554e-02 1.29291175e-03 9.29268073e+01] [-2.83124846e-02 9.99599119e-01 -7.30447864e-05 -7.28430254e+00] [-1.29446153e-03 3.64098991e-05 9.99999162e-01 -3.70331161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.441346184 meters 0.07336200087255354 Centerline is valid? [True, True] Translation: X:92.95, Y:-7.29, Z:-3.71 [[ 9.99597684e-01 2.83367429e-02 1.22460123e-03 9.29539472e+01] [-2.83366746e-02 9.99598433e-01 -7.31002201e-05 -7.28709450e+00] [-1.22618089e-03 3.83696841e-05 9.99999248e-01 -3.70587955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.471346184 meters 0.07319390801566382 Centerline is valid? [True, True] Translation: X:92.98, Y:-7.29, Z:-3.71 [[ 9.99607489e-01 2.79030673e-02 2.50738240e-03 9.29830571e+01] [-2.79028069e-02 9.99610631e-01 -1.38767388e-04 -7.28818869e+00] [-2.51027814e-03 6.87499135e-05 9.99996847e-01 -3.70508756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501346184 meters 0.07274223517424544 Centerline is valid? [True, True] Translation: X:93.01, Y:-7.29, Z:-3.70 [[ 9.99620305e-01 2.71182629e-02 4.88329765e-03 9.30114942e+01] [-2.71172779e-02 9.99632223e-01 -2.67817722e-04 -7.28993782e+00] [-4.88876444e-03 1.35294294e-04 9.99988041e-01 -3.70291112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.531346184 meters 0.07251552497912092 Centerline is valid? [True, True] Translation: X:93.04, Y:-7.29, Z:-3.70 [[ 9.99632565e-01 2.66767948e-02 4.80463574e-03 9.30403793e+01] [-2.66758374e-02 9.99644102e-01 -2.63240292e-04 -7.29062931e+00] [-4.80994818e-03 1.34975886e-04 9.99988423e-01 -3.70258501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561346184 meters 0.07382950050776908 Centerline is valid? [True, True] Translation: X:93.07, Y:-7.29, Z:-3.71 [[ 9.99619353e-01 2.73146184e-02 3.88068804e-03 9.30675473e+01] [-2.73139960e-02 9.99626880e-01 -2.13297187e-04 -7.29420580e+00] [-3.88506621e-03 1.07218899e-04 9.99992447e-01 -3.70734988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59134618399999 meters 0.07351333627157021 Centerline is valid? [True, True] Translation: X:93.10, Y:-7.29, Z:-3.71 [[ 9.99577233e-01 2.87925624e-02 4.04263829e-03 9.30954524e+01] [-2.87919017e-02 9.99585403e-01 -2.21562149e-04 -7.29432074e+00] [-4.04734156e-03 1.05073236e-04 9.99991804e-01 -3.70999233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62134618399999 meters 0.07360677094347189 Centerline is valid? [True, True] Translation: X:93.12, Y:-7.30, Z:-3.71 [[ 9.99577126e-01 2.88303388e-02 3.79229268e-03 9.31223408e+01] [-2.88297474e-02 9.99584314e-01 -2.10517788e-04 -7.29666852e+00] [-3.79678558e-03 1.01097925e-04 9.99992787e-01 -3.71222443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65134618399999 meters 0.0733780113341857 Centerline is valid? [True, True] Translation: X:93.15, Y:-7.30, Z:-3.71 [[ 9.99566499e-01 2.91095108e-02 4.41020414e-03 9.31508289e+01] [-2.91087356e-02 9.99576222e-01 -2.39869313e-04 -7.29804122e+00] [-4.41531767e-03 1.11389864e-04 9.99990246e-01 -3.71271223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68134618399999 meters 0.07362598159659409 Centerline is valid? [True, True] Translation: X:93.18, Y:-7.30, Z:-3.71 [[ 9.99574913e-01 2.87311915e-02 4.95096515e-03 9.31789972e+01] [-2.87302106e-02 9.99587166e-01 -2.69154193e-04 -7.29915260e+00] [-4.95665434e-03 1.26797508e-04 9.99987708e-01 -3.71093192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71134618399999 meters 0.07379720716846462 Centerline is valid? [True, True] Translation: X:93.21, Y:-7.30, Z:-3.71 [[ 9.99594978e-01 2.80419335e-02 4.85085628e-03 9.32080186e+01] [-2.80409875e-02 9.99606740e-01 -2.62918366e-04 -7.30127601e+00] [-4.85632137e-03 1.26789078e-04 9.99988200e-01 -3.71144815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.741346184 meters 0.07182020833492123 Centerline is valid? [True, True] Translation: X:93.24, Y:-7.30, Z:-3.71 [[ 9.99590816e-01 2.79476571e-02 6.09336284e-03 9.32376698e+01] [-2.79461700e-02 9.99609375e-01 -3.29066074e-04 -7.29857402e+00] [-6.10017925e-03 1.58645272e-04 9.99981381e-01 -3.70634969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.771346184 meters 0.07137771525493507 Centerline is valid? [True, True] Translation: X:93.27, Y:-7.30, Z:-3.71 [[ 9.99595313e-01 2.77701612e-02 6.16667906e-03 9.32653921e+01] [-2.77686277e-02 9.99614321e-01 -3.34176596e-04 -7.30042931e+00] [-6.17358084e-03 1.62801145e-04 9.99980930e-01 -3.70583858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.801346184 meters 0.07143249184690635 Centerline is valid? [True, True] Translation: X:93.29, Y:-7.30, Z:-3.71 [[ 9.99591308e-01 2.79687218e-02 5.91330936e-03 9.32929971e+01] [-2.79673181e-02 9.99608787e-01 -3.19958361e-04 -7.30340143e+00] [-5.91994482e-03 1.54448193e-04 9.99982465e-01 -3.70705621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.831346184 meters 0.07081240288060953 Centerline is valid? [True, True] Translation: X:93.32, Y:-7.31, Z:-3.71 [[ 9.99578290e-01 2.85047783e-02 5.54256165e-03 9.33216107e+01] [-2.85035605e-02 9.99593646e-01 -2.98611162e-04 -7.30575550e+00] [-5.54882126e-03 1.40502494e-04 9.99984595e-01 -3.70787341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.861346184 meters 0.07083432903248585 Centerline is valid? [True, True] Translation: X:93.35, Y:-7.31, Z:-3.71 [[ 9.99563691e-01 2.90834148e-02 5.15580818e-03 9.33506940e+01] [-2.90823697e-02 9.99576980e-01 -2.77571450e-04 -7.30722776e+00] [-5.16169990e-03 1.27507223e-04 9.99986670e-01 -3.70962295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.891346184 meters 0.0708938845658984 Centerline is valid? [True, True] Translation: X:93.38, Y:-7.31, Z:-3.71 [[ 9.99536842e-01 3.00854591e-02 4.57892639e-03 9.33780104e+01] [-3.00846433e-02 9.99547324e-01 -2.46954656e-04 -7.30877741e+00] [-4.58428337e-03 1.09084910e-04 9.99989486e-01 -3.71228547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921346184 meters 0.07100116387561628 Centerline is valid? [True, True] Translation: X:93.40, Y:-7.31, Z:-3.71 [[ 9.99523227e-01 3.05933000e-02 4.16762811e-03 9.34041920e+01] [-3.05926164e-02 9.99531910e-01 -2.27698425e-04 -7.31209836e+00] [-4.17264333e-03 1.00091217e-04 9.99991289e-01 -3.71464385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95134618399999 meters 0.07014087587131654 Centerline is valid? [True, True] Translation: X:93.43, Y:-7.31, Z:-3.71 [[ 9.99501838e-01 3.13722400e-02 3.44346129e-03 9.34327334e+01] [-3.13717886e-02 9.99507767e-01 -1.85025820e-04 -7.31286435e+00] [-3.44757098e-03 7.69061077e-05 9.99994054e-01 -3.71337863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98134618399999 meters 0.07008911625773223 Centerline is valid? [True, True] Translation: X:93.46, Y:-7.32, Z:-3.71 [[ 9.99499466e-01 3.14711906e-02 3.22208428e-03 9.34600909e+01] [-3.14707926e-02 9.99504657e-01 -1.74155632e-04 -7.31517733e+00] [-3.22596913e-03 7.26669146e-05 9.99994794e-01 -3.71365012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01134618399999 meters 0.06963115675739763 Centerline is valid? [True, True] Translation: X:93.49, Y:-7.31, Z:-3.71 [[ 9.99420977e-01 3.37535646e-02 4.29046499e-03 9.34886862e+01] [-3.37528918e-02 9.99430183e-01 -2.29157642e-04 -7.31422987e+00] [-4.29575510e-03 8.42093537e-05 9.99990770e-01 -3.71265063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04134618399999 meters 0.06970239055486822 Centerline is valid? [True, True] Translation: X:93.52, Y:-7.31, Z:-3.71 [[ 9.99386321e-01 3.48062880e-02 3.93739902e-03 9.35169278e+01] [-3.48057278e-02 9.99394075e-01 -2.10736922e-04 -7.31373512e+00] [-3.94234822e-03 7.35635583e-05 9.99992226e-01 -3.71339213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07134618399999 meters 0.06952225878878002 Centerline is valid? [True, True] Translation: X:93.55, Y:-7.31, Z:-3.71 [[ 9.99331457e-01 3.63020138e-02 4.33629643e-03 9.35456627e+01] [-3.63013317e-02 9.99340862e-01 -2.35930243e-04 -7.31345709e+00] [-4.34200295e-03 7.83591788e-05 9.99990570e-01 -3.71431800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.101346184 meters 0.06885461140826558 Centerline is valid? [True, True] Translation: X:93.57, Y:-7.32, Z:-3.72 [[ 9.99213063e-01 3.93235323e-02 5.18786813e-03 9.35747023e+01] [-3.93226292e-02 9.99226528e-01 -2.76008486e-04 -7.31554493e+00] [-5.19470909e-03 7.17906700e-05 9.99986505e-01 -3.71714428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.131346184 meters 0.0688011299198041 Centerline is valid? [True, True] Translation: X:93.60, Y:-7.32, Z:-3.72 [[ 9.99183750e-01 4.01276303e-02 4.64835251e-03 9.36026983e+01] [-4.01269195e-02 9.99194561e-01 -2.46110121e-04 -7.31848602e+00] [-4.65448436e-03 5.93851668e-05 9.99989166e-01 -3.72048683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.161346184 meters 0.06872298010313413 Centerline is valid? [True, True] Translation: X:93.63, Y:-7.32, Z:-3.72 [[ 9.99177681e-01 4.04032736e-02 3.39668025e-03 9.36312654e+01] [-4.04028776e-02 9.99183453e-01 -1.85146775e-04 -7.32034199e+00] [-3.40138724e-03 4.77588684e-05 9.99994214e-01 -3.72316731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.191346184 meters 0.06885812663893003 Centerline is valid? [True, True] Translation: X:93.66, Y:-7.32, Z:-3.72 [[ 9.99236798e-01 3.89543567e-02 2.89480994e-03 9.36589229e+01] [-3.89540757e-02 9.99240990e-01 -1.53413085e-04 -7.32255534e+00] [-2.89858885e-03 4.05313544e-05 9.99995798e-01 -3.72389238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.221346184 meters 0.06905005941706811 Centerline is valid? [True, True] Translation: X:93.69, Y:-7.32, Z:-3.72 [[ 9.99273540e-01 3.80087876e-02 2.77920252e-03 9.36868034e+01] [-3.80085254e-02 9.99277404e-01 -1.47114084e-04 -7.32397817e+00] [-2.78278591e-03 4.13738219e-05 9.99996127e-01 -3.72360952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.251346184 meters 0.06910920939777891 Centerline is valid? [True, True] Translation: X:93.72, Y:-7.33, Z:-3.72 [[ 9.99310164e-01 3.70564252e-02 2.45290569e-03 9.37155567e+01] [-3.70562058e-02 9.99313174e-01 -1.34836608e-04 -7.32536378e+00] [-2.45621753e-03 4.38482153e-05 9.99996983e-01 -3.72354167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281346184 meters 0.0687229717593033 Centerline is valid? [True, True] Translation: X:93.74, Y:-7.33, Z:-3.72 [[ 9.99299690e-01 3.72874140e-02 3.12692706e-03 9.37438578e+01] [-3.72870671e-02 9.99304581e-01 -1.69193804e-04 -7.32919810e+00] [-3.13106134e-03 5.24813770e-05 9.99995097e-01 -3.72359380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.311346184 meters 0.0688751913615541 Centerline is valid? [True, True] Translation: X:93.77, Y:-7.33, Z:-3.73 [[ 9.99310302e-01 3.70341000e-02 2.71942929e-03 9.37725607e+01] [-3.70338357e-02 9.99314001e-01 -1.47523071e-04 -7.33400792e+00] [-2.72302715e-03 4.67104273e-05 9.99996291e-01 -3.72665947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34134618399999 meters 0.0691055332143344 Centerline is valid? [True, True] Translation: X:93.80, Y:-7.34, Z:-3.73 [[ 9.99368868e-01 3.54506573e-02 2.26190865e-03 9.38007012e+01] [-3.54504685e-02 9.99371427e-01 -1.23512532e-04 -7.33846456e+00] [-2.26486548e-03 4.32488579e-05 9.99997434e-01 -3.72949622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37134618399999 meters 0.06941254384471639 Centerline is valid? [True, True] Translation: X:93.83, Y:-7.34, Z:-3.73 [[ 9.99405689e-01 3.43703980e-02 2.63542344e-03 9.38285286e+01] [-3.43701564e-02 9.99409162e-01 -1.36926027e-04 -7.34103576e+00] [-2.63857253e-03 4.62647344e-05 9.99996518e-01 -3.73039839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40134618399999 meters 0.06945176537332386 Centerline is valid? [True, True] Translation: X:93.86, Y:-7.34, Z:-3.73 [[ 9.99413188e-01 3.41493162e-02 2.66529930e-03 9.38560889e+01] [-3.41490533e-02 9.99416741e-01 -1.44102615e-04 -7.34160325e+00] [-2.66866575e-03 5.30006061e-05 9.99996438e-01 -3.73134903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43134618399999 meters 0.06951179566100735 Centerline is valid? [True, True] Translation: X:93.88, Y:-7.34, Z:-3.73 [[ 9.99397063e-01 3.46677333e-02 1.91288350e-03 9.38842584e+01] [-3.46676064e-02 9.99398893e-01 -9.94505509e-05 -7.34196080e+00] [-1.91518138e-03 3.30754962e-05 9.99998165e-01 -3.73297272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46134618399999 meters 0.06911363518539061 Centerline is valid? [True, True] Translation: X:93.91, Y:-7.34, Z:-3.73 [[ 9.99378654e-01 3.52448527e-02 3.27437490e-04 9.39134237e+01] [-3.52448464e-02 9.99378707e-01 -2.48059623e-05 -7.34094081e+00] [-3.28108338e-04 1.32500651e-05 9.99999946e-01 -3.73159354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.491346184 meters 0.06887625947259284 Centerline is valid? [True, True] Translation: X:93.94, Y:-7.34, Z:-3.73 [[ 9.99322201e-01 3.67818974e-02 1.49338692e-03 9.39411604e+01] [-3.67818201e-02 9.99323317e-01 -7.91612356e-05 -7.34216491e+00] [-1.49528807e-03 2.41780910e-05 9.99998882e-01 -3.73344222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.521346184 meters 0.06891533231430783 Centerline is valid? [True, True] Translation: X:93.97, Y:-7.34, Z:-3.74 [[ 9.99310103e-01 3.70846162e-02 2.01211200e-03 9.39683452e+01] [-3.70844828e-02 9.99312129e-01 -1.03583960e-04 -7.34452407e+00] [-2.01456930e-03 2.88943652e-05 9.99997970e-01 -3.73585729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.551346184 meters 0.06902421737642932 Centerline is valid? [True, True] Translation: X:93.99, Y:-7.35, Z:-3.74 [[ 9.99326962e-01 3.66206886e-02 2.13245616e-03 9.39947404e+01] [-3.66205363e-02 9.99329237e-01 -1.10442179e-04 -7.34692329e+00] [-2.13507026e-03 3.22761593e-05 9.99997720e-01 -3.73842395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.581346184 meters 0.06867062975118488 Centerline is valid? [True, True] Translation: X:94.02, Y:-7.35, Z:-3.74 [[ 9.99329775e-01 3.65790369e-02 1.40533487e-03 9.40231196e+01] [-3.65789684e-02 9.99330763e-01 -7.43852013e-05 -7.34645313e+00] [-1.40711531e-03 2.29296465e-05 9.99999010e-01 -3.73626632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.611346184 meters 0.06906580701138819 Centerline is valid? [True, True] Translation: X:94.05, Y:-7.35, Z:-3.74 [[ 9.99334867e-01 3.64368596e-02 1.47624987e-03 9.40502194e+01] [-3.64367849e-02 9.99335957e-01 -7.74243187e-05 -7.34601465e+00] [-1.47809067e-03 2.35830223e-05 9.99998907e-01 -3.73850671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641346184 meters 0.06843434751430656 Centerline is valid? [True, True] Translation: X:94.08, Y:-7.35, Z:-3.74 [[ 9.99310445e-01 3.70284615e-02 2.74354195e-03 9.40795231e+01] [-3.70282071e-02 9.99314210e-01 -1.43461518e-04 -7.34503764e+00] [-2.74697262e-03 4.17741537e-05 9.99996226e-01 -3.73577282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.671346184 meters 0.06861597350551896 Centerline is valid? [True, True] Translation: X:94.11, Y:-7.35, Z:-3.74 [[ 9.99309076e-01 3.69463252e-02 4.04230738e-03 9.41067206e+01] [-3.69458085e-02 9.99317250e-01 -2.02426712e-04 -7.34883702e+00] [-4.04702642e-03 5.29405357e-05 9.99991809e-01 -3.73965352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70134618399999 meters 0.0683163150634271 Centerline is valid? [True, True] Translation: X:94.13, Y:-7.35, Z:-3.74 [[ 9.99327594e-01 3.61690822e-02 6.01309332e-03 9.41348514e+01] [-3.61679113e-02 9.99345681e-01 -3.03378305e-04 -7.35401775e+00] [-6.02013176e-03 8.56932854e-05 9.99981875e-01 -3.74127578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73134618399999 meters 0.06861218567214114 Centerline is valid? [True, True] Translation: X:94.16, Y:-7.36, Z:-3.74 [[ 9.99376033e-01 3.49388957e-02 5.17862349e-03 9.41632793e+01] [-3.49380115e-02 9.99389447e-01 -2.61134256e-04 -7.35712805e+00] [-5.18458541e-03 8.00405101e-05 9.99986557e-01 -3.74307567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76134618399999 meters 0.06838548370677605 Centerline is valid? [True, True] Translation: X:94.19, Y:-7.36, Z:-3.74 [[ 9.99423741e-01 3.34956119e-02 5.49810332e-03 9.41919338e+01] [-3.34946297e-02 9.99438861e-01 -2.70652734e-04 -7.35729981e+00] [-5.50408379e-03 8.63398334e-05 9.99984849e-01 -3.74136381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79134618399999 meters 0.0684145739812168 Centerline is valid? [True, True] Translation: X:94.22, Y:-7.36, Z:-3.74 [[ 9.99447936e-01 3.27668805e-02 5.49124931e-03 9.42208883e+01] [-3.27658918e-02 9.99463018e-01 -2.69939420e-04 -7.35787233e+00] [-5.49714568e-03 8.98647148e-05 9.99984887e-01 -3.74178362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82134618399999 meters 0.0687117163079025 Centerline is valid? [True, True] Translation: X:94.25, Y:-7.36, Z:-3.74 [[ 9.99460536e-01 3.25416198e-02 4.43621051e-03 9.42484971e+01] [-3.25409694e-02 9.99470378e-01 -2.18730315e-04 -7.35820726e+00] [-4.44097883e-03 7.42537277e-05 9.99990136e-01 -3.74326924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.851346184 meters 0.06889900059078499 Centerline is valid? [True, True] Translation: X:94.28, Y:-7.36, Z:-3.74 [[ 9.99470312e-01 3.23094584e-02 3.89802102e-03 9.42763024e+01] [-3.23089496e-02 9.99477911e-01 -1.93457702e-04 -7.36002053e+00] [-3.90223642e-03 6.74142655e-05 9.99992384e-01 -3.74498996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.881346184 meters 0.0686626847651723 Centerline is valid? [True, True] Translation: X:94.31, Y:-7.36, Z:-3.75 [[ 9.99464353e-01 3.23068150e-02 5.22272163e-03 9.43051599e+01] [-3.23059218e-02 9.99477995e-01 -2.55318525e-04 -7.36297605e+00] [-5.22824387e-03 8.64569276e-05 9.99986329e-01 -3.74629153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.911346184 meters 0.06833195869935936 Centerline is valid? [True, True] Translation: X:94.33, Y:-7.36, Z:-3.75 [[ 9.99460966e-01 3.21970462e-02 6.41305940e-03 9.43339124e+01] [-3.21957031e-02 9.99481535e-01 -3.12581361e-04 -7.36443341e+00] [-6.41979865e-03 1.05939913e-04 9.99979387e-01 -3.74589809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.941346184 meters 0.06840792167130101 Centerline is valid? [True, True] Translation: X:94.36, Y:-7.37, Z:-3.75 [[ 9.99468426e-01 3.20906537e-02 5.74944361e-03 9.43629504e+01] [-3.20895734e-02 9.99484958e-01 -2.80069015e-04 -7.36656222e+00] [-5.75547000e-03 9.54229446e-05 9.99983433e-01 -3.74710398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.971346184 meters 0.06840792167130101 Centerline is valid? [True, True] Translation: X:94.39, Y:-7.37, Z:-3.75 [[ 9.99471831e-01 3.19844198e-02 5.74941499e-03 9.43903516e+01] [-3.19833344e-02 9.99488363e-01 -2.80665013e-04 -7.36774965e+00] [-5.75545029e-03 9.66313121e-05 9.99983433e-01 -3.74804405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001346184 meters 0.06848920839451637 Centerline is valid? [True, True] Translation: X:94.42, Y:-7.37, Z:-3.75 [[ 9.99458919e-01 3.25178114e-02 4.94583913e-03 9.44195234e+01] [-3.25170200e-02 9.99471153e-01 -2.40377767e-04 -7.36812988e+00] [-4.95104010e-03 7.94237530e-05 9.99987740e-01 -3.74911945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.031346184 meters 0.06890063592077321 Centerline is valid? [True, True] Translation: X:94.45, Y:-7.37, Z:-3.75 [[ 9.99464639e-01 3.25037258e-02 3.73412007e-03 9.44471605e+01] [-3.25032714e-02 9.99471612e-01 -1.82332996e-04 -7.36908981e+00] [-3.73807350e-03 6.08642643e-05 9.99993012e-01 -3.75202289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061346184 meters 0.06887219157275733 Centerline is valid? [True, True] Translation: X:94.48, Y:-7.37, Z:-3.75 [[ 9.99455215e-01 3.28583171e-02 3.09890867e-03 9.44761665e+01] [-3.28580068e-02 9.99460019e-01 -1.50992535e-04 -7.36944392e+00] [-3.10219668e-03 4.90863146e-05 9.99995187e-01 -3.75380140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09134618399999 meters 0.0686123725182393 Centerline is valid? [True, True] Translation: X:94.51, Y:-7.37, Z:-3.76 [[ 9.99374431e-01 3.51847231e-02 3.57507044e-03 9.45052800e+01] [-3.51843273e-02 9.99380825e-01 -1.73570315e-04 -7.37028643e+00] [-3.57896386e-03 4.76752862e-05 9.99993594e-01 -3.75576342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12134618399999 meters 0.06812557362025261 Centerline is valid? [True, True] Translation: X:94.53, Y:-7.37, Z:-3.75 [[ 9.99354716e-01 3.55795114e-02 4.92436920e-03 9.45344887e+01] [-3.55787481e-02 9.99366846e-01 -2.42549561e-04 -7.37070653e+00] [-4.92988111e-03 6.71901569e-05 9.99987846e-01 -3.75378594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15134618399999 meters 0.06783651410098385 Centerline is valid? [True, True] Translation: X:94.56, Y:-7.37, Z:-3.75 [[ 9.99362956e-01 3.50745025e-02 6.59253606e-03 9.45636778e+01] [-3.50731511e-02 9.99384696e-01 -3.20526557e-04 -7.37145635e+00] [-6.59972196e-03 8.91013534e-05 9.99978218e-01 -3.75276426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18134618399999 meters 0.06801179737162254 Centerline is valid? [True, True] Translation: X:94.59, Y:-7.37, Z:-3.75 [[ 9.99363096e-01 3.46989580e-02 8.32974858e-03 9.45910394e+01] [-3.46968426e-02 9.99397804e-01 -3.98371051e-04 -7.37344919e+00] [-8.33855550e-03 1.09101352e-04 9.99965228e-01 -3.75370114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21134618399999 meters 0.06855854807998568 Centerline is valid? [True, True] Translation: X:94.62, Y:-7.38, Z:-3.75 [[ 9.99476664e-01 3.11578010e-02 8.69425064e-03 9.46187795e+01] [-3.11553838e-02 9.99514468e-01 -4.13353402e-04 -7.37893829e+00] [-8.70290848e-03 1.42264363e-04 9.99962119e-01 -3.75360400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.241346184 meters 0.0690264050745888 Centerline is valid? [True, True] Translation: X:94.65, Y:-7.38, Z:-3.75 [[ 9.99544733e-01 2.87833587e-02 9.04686079e-03 9.46469125e+01] [-2.87806524e-02 9.99585659e-01 -4.29210039e-04 -7.38349169e+00] [-9.05546641e-03 1.68640078e-04 9.99958984e-01 -3.75442746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.271346184 meters 0.06974932907865677 Centerline is valid? [True, True] Translation: X:94.67, Y:-7.39, Z:-3.76 [[ 9.99622738e-01 2.61677126e-02 8.34458992e-03 9.46742715e+01] [-2.61653146e-02 9.99657551e-01 -3.96435202e-04 -7.38883144e+00] [-8.35210612e-03 1.77946822e-04 9.99965105e-01 -3.75676893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.301346184 meters 0.07054456176595367 Centerline is valid? [True, True] Translation: X:94.70, Y:-7.40, Z:-3.76 [[ 9.99723284e-01 2.19568544e-02 8.44107766e-03 9.47037024e+01] [-2.19542795e-02 9.99758897e-01 -3.97600210e-04 -7.39592037e+00] [-8.44777254e-03 2.12172409e-04 9.99964294e-01 -3.75783083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.331346184 meters 0.07084318706305644 Centerline is valid? [True, True] Translation: X:94.73, Y:-7.40, Z:-3.76 [[ 9.99763777e-01 1.97312256e-02 9.11422841e-03 9.47321167e+01] [-1.97281268e-02 9.99805289e-01 -4.29780135e-04 -7.40009121e+00] [-9.12093386e-03 2.49871957e-04 9.99958372e-01 -3.75887152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.361346184 meters 0.07116530269378864 Centerline is valid? [True, True] Translation: X:94.76, Y:-7.40, Z:-3.76 [[ 9.99792985e-01 1.79554262e-02 9.57026558e-03 9.47608417e+01] [-1.79519357e-02 9.99838750e-01 -4.50501134e-04 -7.40435766e+00] [-9.57681131e-03 2.78603080e-04 9.99954102e-01 -3.76039015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.391346184 meters 0.07292224814154866 Centerline is valid? [True, True] Translation: X:94.79, Y:-7.42, Z:-3.76 [[ 9.99839732e-01 1.44194348e-02 1.06108891e-02 9.47889757e+01] [-1.44149601e-02 9.99895975e-01 -4.98069236e-04 -7.41523421e+00] [-1.06169672e-02 3.45033868e-04 9.99943579e-01 -3.76286237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421346184 meters 0.0723287178095784 Centerline is valid? [True, True] Translation: X:94.82, Y:-7.42, Z:-3.76 [[ 9.99861614e-01 1.22487469e-02 1.12570045e-02 9.48187395e+01] [-1.22435852e-02 9.99924905e-01 -5.27336247e-04 -7.41662414e+00] [-1.12626184e-02 3.89437177e-04 9.99936499e-01 -3.76006661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45134618399999 meters 0.07354715602094346 Centerline is valid? [True, True] Translation: X:94.85, Y:-7.42, Z:-3.76 [[ 9.99883575e-01 1.01492513e-02 1.13942405e-02 9.48477516e+01] [-1.01438361e-02 9.99948408e-01 -5.32951923e-04 -7.42110963e+00] [-1.13990617e-02 4.17308566e-04 9.99934942e-01 -3.76071330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48134618399999 meters 0.07376694523791413 Centerline is valid? [True, True] Translation: X:94.88, Y:-7.42, Z:-3.76 [[ 9.99899503e-01 8.50057422e-03 1.13456498e-02 9.48787438e+01] [-8.49511027e-03 9.99963776e-01 -5.29696942e-04 -7.42253179e+00] [-1.13497416e-02 4.33261163e-04 9.99935496e-01 -3.75920272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51134618399999 meters 0.07451457601502401 Centerline is valid? [True, True] Translation: X:94.91, Y:-7.43, Z:-3.76 [[ 9.99909482e-01 6.72994269e-03 1.16505579e-02 9.49103054e+01] [-6.72408686e-03 9.99977246e-01 -5.41720694e-04 -7.42624487e+00] [-1.16539386e-02 4.63332295e-04 9.99931983e-01 -3.75927985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54134618399999 meters 0.07606370833882051 Centerline is valid? [True, True] Translation: X:94.94, Y:-7.44, Z:-3.76 [[ 9.99912972e-01 3.95853300e-03 1.25848361e-02 9.49411243e+01] [-3.95148323e-03 9.99992022e-01 -5.84996100e-04 -7.43551772e+00] [-1.25870514e-02 5.35216420e-04 9.99920637e-01 -3.75970294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57134618399999 meters 0.07522848904222494 Centerline is valid? [True, True] Translation: X:94.97, Y:-7.44, Z:-3.76 [[ 9.99920335e-01 3.61781611e-03 1.20927638e-02 9.49731724e+01] [-3.61125931e-03 9.99993320e-01 -5.64000545e-04 -7.43895080e+00] [-1.20947235e-02 5.20285508e-04 9.99926721e-01 -3.76203647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.601346184 meters 0.07704161278422555 Centerline is valid? [True, True] Translation: X:95.00, Y:-7.45, Z:-3.77 [[ 9.99923245e-01 3.37941510e-03 1.19198531e-02 9.50039569e+01] [-3.37298917e-03 9.99994155e-01 -5.59157041e-04 -7.44845198e+00] [-1.19216730e-02 5.18908588e-04 9.99928800e-01 -3.76793061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.631346184 meters 0.0755972908760156 Centerline is valid? [True, True] Translation: X:95.04, Y:-7.45, Z:-3.77 [[ 9.99958487e-01 2.81454412e-03 8.66615340e-03 9.50360405e+01] [-2.81109336e-03 9.99995965e-01 -4.10342746e-04 -7.44829154e+00] [-8.66727336e-03 3.85964346e-04 9.99962364e-01 -3.77030895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.661346184 meters 0.07533222037018467 Centerline is valid? [True, True] Translation: X:95.07, Y:-7.45, Z:-3.77 [[ 9.99959337e-01 3.84237772e-03 8.15842788e-03 9.50687176e+01] [-3.83935369e-03 9.99992555e-01 -3.86292365e-04 -7.44849306e+00] [-8.15985142e-03 3.54953567e-04 9.99966645e-01 -3.77152638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.691346184 meters 0.07566280287983054 Centerline is valid? [True, True] Translation: X:95.10, Y:-7.45, Z:-3.77 [[ 9.99962514e-01 4.70192573e-03 7.27069488e-03 9.50995730e+01] [-4.69955414e-03 9.99988898e-01 -3.43235222e-04 -7.45009876e+00] [-7.27222803e-03 3.09053332e-04 9.99973509e-01 -3.77303536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721346184 meters 0.07386138479067464 Centerline is valid? [True, True] Translation: X:95.13, Y:-7.45, Z:-3.77 [[ 9.99940867e-01 8.17330817e-03 7.17358076e-03 9.51313776e+01] [-8.17106564e-03 9.99966558e-01 -3.41861800e-04 -7.44757213e+00] [-7.17613500e-03 2.83225785e-04 9.99974211e-01 -3.77182084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.751346184 meters 0.07394265449482958 Centerline is valid? [True, True] Translation: X:95.16, Y:-7.45, Z:-3.77 [[ 9.99909814e-01 1.03848436e-02 8.51583350e-03 9.51606006e+01] [-1.03817376e-02 9.99946025e-01 -4.08858335e-04 -7.44978651e+00] [-8.51961978e-03 3.20412313e-04 9.99963656e-01 -3.77313764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781346184 meters 0.07212826841031589 Centerline is valid? [True, True] Translation: X:95.19, Y:-7.45, Z:-3.77 [[ 9.99882735e-01 1.27271654e-02 8.51678562e-03 9.51908175e+01] [-1.27241498e-02 9.99918961e-01 -4.08170733e-04 -7.44798589e+00] [-8.52129029e-03 2.99754013e-04 9.99963648e-01 -3.77132902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.811346184 meters 0.07250406895282063 Centerline is valid? [True, True] Translation: X:95.22, Y:-7.45, Z:-3.77 [[ 9.99868744e-01 1.37188974e-02 8.61901216e-03 9.52181288e+01] [-1.37158315e-02 9.99905848e-01 -4.14723625e-04 -7.45111674e+00] [-8.62389021e-03 2.96452272e-04 9.99962770e-01 -3.77390342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84134618399999 meters 0.07121112792871162 Centerline is valid? [True, True] Translation: X:95.25, Y:-7.45, Z:-3.77 [[ 9.99839342e-01 1.56791895e-02 8.68640022e-03 9.52478054e+01] [-1.56761643e-02 9.99877035e-01 -4.16253661e-04 -7.44722941e+00] [-8.69185862e-03 2.80017350e-04 9.99962186e-01 -3.77224781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87134618399999 meters 0.07097606021649619 Centerline is valid? [True, True] Translation: X:95.28, Y:-7.45, Z:-3.77 [[ 9.99820016e-01 1.71726992e-02 8.06437227e-03 9.52764087e+01] [-1.71701389e-02 9.99852508e-01 -3.86614242e-04 -7.44662208e+00] [-8.06982205e-03 2.48078265e-04 9.99967408e-01 -3.77348252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90134618399999 meters 0.07066071905470396 Centerline is valid? [True, True] Translation: X:95.31, Y:-7.45, Z:-3.78 [[ 9.99805349e-01 1.81906417e-02 7.63966784e-03 9.53054900e+01] [-1.81883768e-02 9.99834511e-01 -3.65845344e-04 -7.44612309e+00] [-7.64505852e-03 2.26820975e-04 9.99970750e-01 -3.77636072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93134618399999 meters 0.06991952638877874 Centerline is valid? [True, True] Translation: X:95.33, Y:-7.45, Z:-3.78 [[ 9.99718891e-01 2.30436060e-02 5.57959046e-03 9.53344588e+01] [-2.30424720e-02 9.99734451e-01 -2.67437124e-04 -7.44616056e+00] [-5.58427153e-03 1.38794388e-04 9.99984398e-01 -3.78199743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96134618399999 meters 0.06989143293553864 Centerline is valid? [True, True] Translation: X:95.36, Y:-7.45, Z:-3.79 [[ 9.99686804e-01 2.47565811e-02 3.66131806e-03 9.53621991e+01] [-2.47561003e-02 9.99693505e-01 -1.76585022e-04 -7.44629059e+00] [-3.66456753e-03 8.58897590e-05 9.99993282e-01 -3.78533555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.991346184 meters 0.06945179748580813 Centerline is valid? [True, True] Translation: X:95.39, Y:-7.44, Z:-3.79 [[ 9.99615573e-01 2.74862884e-02 3.63465913e-03 9.53910099e+01] [-2.74858357e-02 9.99622178e-01 -1.74450414e-04 -7.44451643e+00] [-3.63808087e-03 7.44817068e-05 9.99993379e-01 -3.78730049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.021346184 meters 0.06902370610348019 Centerline is valid? [True, True] Translation: X:95.42, Y:-7.44, Z:-3.79 [[ 9.99567235e-01 2.92347971e-02 3.26639799e-03 9.54196379e+01] [-2.92344408e-02 9.99572570e-01 -1.56787731e-04 -7.44211913e+00] [-3.26958549e-03 6.12285600e-05 9.99994653e-01 -3.78749149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.051346184 meters 0.06817510701643885 Centerline is valid? [True, True] Translation: X:95.45, Y:-7.44, Z:-3.78 [[ 9.99406974e-01 3.39074235e-02 5.99889015e-03 9.54495579e+01] [-3.39063261e-02 9.99424975e-01 -2.84563987e-04 -7.43528672e+00] [-6.00508947e-03 8.09949072e-05 9.99981966e-01 -3.78283107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.081346184 meters 0.0679142134111985 Centerline is valid? [True, True] Translation: X:95.48, Y:-7.43, Z:-3.78 [[ 9.99350075e-01 3.52280976e-02 7.64249886e-03 9.54772220e+01] [-3.52263494e-02 9.99379294e-01 -3.63286595e-04 -7.43472008e+00] [-7.65055300e-03 9.38331517e-05 9.99970730e-01 -3.78153433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.111346184 meters 0.06773738059527813 Centerline is valid? [True, True] Translation: X:95.51, Y:-7.44, Z:-3.78 [[ 9.99332344e-01 3.56375392e-02 8.05178948e-03 9.55052721e+01] [-3.56356189e-02 9.99364777e-01 -3.81883227e-04 -7.43565766e+00] [-8.06028417e-03 9.46977589e-05 9.99967511e-01 -3.78161245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141346184 meters 0.06808174853227493 Centerline is valid? [True, True] Translation: X:95.53, Y:-7.44, Z:-3.78 [[ 9.99364648e-01 3.50649814e-02 6.38331236e-03 9.55336289e+01] [-3.50637653e-02 9.99385031e-01 -3.02361348e-04 -7.44044795e+00] [-6.38998912e-03 7.83462755e-05 9.99979581e-01 -3.78377186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.171346184 meters 0.0682909739059022 Centerline is valid? [True, True] Translation: X:95.56, Y:-7.44, Z:-3.79 [[ 9.99401749e-01 3.42062755e-02 5.10626475e-03 9.55625721e+01] [-3.42054856e-02 9.99414792e-01 -2.41972906e-04 -7.44345870e+00] [-5.11155351e-03 6.71658803e-05 9.99986934e-01 -3.78630006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20134618399999 meters 0.06853557917190294 Centerline is valid? [True, True] Translation: X:95.59, Y:-7.45, Z:-3.79 [[ 9.99436171e-01 3.32300315e-02 4.80677516e-03 9.55913356e+01] [-3.32293212e-02 9.99447728e-01 -2.27580977e-04 -7.44587296e+00] [-4.81168303e-03 6.77267847e-05 9.99988421e-01 -3.78820204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23134618399999 meters 0.06828855781793784 Centerline is valid? [True, True] Translation: X:95.62, Y:-7.45, Z:-3.79 [[ 9.99467165e-01 3.24227059e-02 3.76214829e-03 9.56205368e+01] [-3.24222637e-02 9.99474244e-01 -1.78471295e-04 -7.44587341e+00] [-3.76595685e-03 5.63988354e-05 9.99992907e-01 -3.78689695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26134618399999 meters 0.06851865846900583 Centerline is valid? [True, True] Translation: X:95.65, Y:-7.45, Z:-3.79 [[ 9.99439720e-01 3.34076807e-02 2.04261088e-03 9.56492031e+01] [-3.34075505e-02 9.99441807e-01 -9.78534430e-05 -7.44874090e+00] [-2.04473977e-03 2.95599914e-05 9.99997909e-01 -3.79143110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29134618399999 meters 0.06866347815894742 Centerline is valid? [True, True] Translation: X:95.68, Y:-7.45, Z:-3.79 [[ 9.99406340e-01 3.44454602e-02 6.91375024e-04 9.56776064e+01] [-3.44454404e-02 9.99406579e-01 -4.05469035e-05 -7.45071672e+00] [-6.92361405e-04 1.67081152e-05 9.99999760e-01 -3.79489662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32134618399999 meters 0.06873419562292223 Centerline is valid? [True, True] Translation: X:95.70, Y:-7.45, Z:-3.80 [[ 9.99389288e-01 3.49140101e-02 -1.43646049e-03 9.57049255e+01] [-3.49139569e-02 9.99390320e-01 6.20972120e-05 -7.45178491e+00] [ 1.43775277e-03 -1.19067688e-05 9.99998966e-01 -3.79709701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.351346184 meters 0.06845962946077475 Centerline is valid? [True, True] Translation: X:95.73, Y:-7.45, Z:-3.80 [[ 9.99358920e-01 3.57266057e-02 -2.31490598e-03 9.57334714e+01] [-3.57264737e-02 9.99361601e-01 9.83464533e-05 -7.45092787e+00] [ 2.31694173e-03 -1.55799778e-05 9.99997316e-01 -3.79597385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.381346184 meters 0.06827531650908518 Centerline is valid? [True, True] Translation: X:95.76, Y:-7.45, Z:-3.79 [[ 9.99337049e-01 3.63885138e-02 -1.15688201e-03 9.57625528e+01] [-3.63884864e-02 9.99337719e-01 4.47345815e-05 -7.45021761e+00] [ 1.15774365e-03 -2.60773961e-06 9.99999330e-01 -3.79261528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.411346184 meters 0.06802145551640389 Centerline is valid? [True, True] Translation: X:95.79, Y:-7.45, Z:-3.79 [[ 9.99341452e-01 3.62818532e-02 -5.38379218e-04 9.57910338e+01] [-3.62818498e-02 9.99341597e-01 1.61710948e-05 -7.45253889e+00] [ 5.38611464e-04 3.37294849e-06 9.99999855e-01 -3.79166247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.441346184 meters 0.0679459399840006 Centerline is valid? [True, True] Translation: X:95.82, Y:-7.46, Z:-3.79 [[ 9.99409146e-01 3.43653212e-02 -6.19691602e-04 9.58195884e+01] [-3.43653156e-02 9.99409338e-01 1.96936198e-05 -7.45761657e+00] [ 6.20002352e-04 1.61391376e-06 9.99999808e-01 -3.79103640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.471346184 meters 0.06799113269111691 Centerline is valid? [True, True] Translation: X:95.85, Y:-7.46, Z:-3.79 [[ 9.99452321e-01 3.30868416e-02 -5.65043655e-04 9.58478949e+01] [-3.30868372e-02 9.99452481e-01 1.70846851e-05 -7.46135380e+00] [ 5.65299561e-04 1.62017927e-06 9.99999840e-01 -3.79216747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501346184 meters 0.06823259459971731 Centerline is valid? [True, True] Translation: X:95.88, Y:-7.47, Z:-3.79 [[ 9.99505378e-01 3.14360426e-02 -8.80660834e-04 9.58766584e+01] [-3.14360273e-02 9.99505765e-01 3.11664362e-05 -7.46623195e+00] [ 8.81205330e-04 -3.46654257e-06 9.99999612e-01 -3.79400291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.531346184 meters 0.06869617914843268 Centerline is valid? [True, True] Translation: X:95.91, Y:-7.47, Z:-3.80 [[ 9.99597051e-01 2.82587685e-02 -2.67917606e-03 9.59053537e+01] [-2.82585551e-02 9.99600640e-01 1.17499833e-04 -7.47430207e+00] [ 2.68142651e-03 -4.17428418e-05 9.99996404e-01 -3.79712788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561346184 meters 0.06871848936514433 Centerline is valid? [True, True] Translation: X:95.93, Y:-7.48, Z:-3.80 [[ 9.99627943e-01 2.71064311e-02 -3.03603447e-03 9.59343271e+01] [-2.71061510e-02 9.99632552e-01 1.33377324e-04 -7.47779620e+00] [ 3.03853427e-03 -5.10324909e-05 9.99995382e-01 -3.79815241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59134618399999 meters 0.06882174312198933 Centerline is valid? [True, True] Translation: X:95.96, Y:-7.48, Z:-3.80 [[ 9.99636752e-01 2.66663514e-02 -3.90763207e-03 9.59633075e+01] [-2.66658824e-02 9.99644387e-01 1.72096971e-04 -7.48178946e+00] [ 3.91083167e-03 -6.78339999e-05 9.99992350e-01 -3.80057751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62134618399999 meters 0.06942636685155641 Centerline is valid? [True, True] Translation: X:95.99, Y:-7.49, Z:-3.80 [[ 9.99650333e-01 2.57604283e-02 -5.96761201e-03 9.59914720e+01] [-2.57593087e-02 9.99668139e-01 2.64402199e-04 -7.48598299e+00] [ 5.97244271e-03 -1.10588186e-04 9.99982159e-01 -3.80484663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65134618399999 meters 0.06930399709458873 Centerline is valid? [True, True] Translation: X:96.02, Y:-7.49, Z:-3.80 [[ 9.99655428e-01 2.52645890e-02 -7.12220507e-03 9.60202593e+01] [-2.52630388e-02 9.99680791e-01 3.07553707e-04 -7.48808226e+00] [ 7.12770182e-03 -1.27519190e-04 9.99974589e-01 -3.80448203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68134618399999 meters 0.06910310522471401 Centerline is valid? [True, True] Translation: X:96.05, Y:-7.49, Z:-3.80 [[ 9.99673269e-01 2.44000245e-02 -7.61538558e-03 9.60489202e+01] [-2.43982385e-02 9.99702265e-01 3.27360004e-04 -7.48980074e+00] [ 7.62110581e-03 -1.41451052e-04 9.99970949e-01 -3.80352631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71134618399999 meters 0.06983623653073255 Centerline is valid? [True, True] Translation: X:96.08, Y:-7.50, Z:-3.81 [[ 9.99727440e-01 2.15713522e-02 -8.92872150e-03 9.60765162e+01] [-2.15687262e-02 9.99767292e-01 3.90299936e-04 -7.49719071e+00] [ 8.93506301e-03 -1.97612406e-04 9.99960062e-01 -3.80641718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.741346184 meters 0.07055397431069976 Centerline is valid? [True, True] Translation: X:96.10, Y:-7.50, Z:-3.81 [[ 9.99772051e-01 1.94355489e-02 -8.83773543e-03 9.61038982e+01] [-1.94329183e-02 9.99811089e-01 3.83441326e-04 -7.50341942e+00] [ 8.84351828e-03 -2.11610930e-04 9.99960873e-01 -3.80950853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.771346184 meters 0.07007195127500845 Centerline is valid? [True, True] Translation: X:96.13, Y:-7.51, Z:-3.81 [[ 9.99802396e-01 1.77994074e-02 -8.85158733e-03 9.61328350e+01] [-1.77966921e-02 9.99841552e-01 3.85438308e-04 -7.50647487e+00] [ 8.85704539e-03 -2.27833170e-04 9.99960750e-01 -3.80684003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.801346184 meters 0.07055214356527527 Centerline is valid? [True, True] Translation: X:96.16, Y:-7.51, Z:-3.81 [[ 9.99848210e-01 1.57457958e-02 -7.45832984e-03 9.61605759e+01] [-1.57438233e-02 9.99876006e-01 3.23120123e-04 -7.51156896e+00] [ 7.46249284e-03 -2.05648449e-04 9.99972134e-01 -3.80666028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.831346184 meters 0.0706751976641354 Centerline is valid? [True, True] Translation: X:96.19, Y:-7.51, Z:-3.81 [[ 9.99879170e-01 1.44203380e-02 -5.80504366e-03 9.61895517e+01] [-1.44191234e-02 9.99896008e-01 2.51031981e-04 -7.51499252e+00] [ 5.80805995e-03 -1.67298007e-04 9.99983119e-01 -3.80525361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.861346184 meters 0.0706751976641354 Centerline is valid? [True, True] Translation: X:96.22, Y:-7.52, Z:-3.81 [[ 9.99880701e-01 1.43137722e-02 -5.80512335e-03 9.62169841e+01] [-1.43125664e-02 9.99897539e-01 2.49201655e-04 -7.51605360e+00] [ 5.80809557e-03 -1.66085712e-04 9.99983119e-01 -3.80619440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.891346184 meters 0.07055045745433275 Centerline is valid? [True, True] Translation: X:96.25, Y:-7.52, Z:-3.81 [[ 9.99878681e-01 1.40358675e-02 -6.75405391e-03 9.62460792e+01] [-1.40342202e-02 9.99901473e-01 2.91241882e-04 -7.51755345e+00] [ 6.75747629e-03 -1.96418669e-04 9.99977149e-01 -3.80699554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921346184 meters 0.07196840933202335 Centerline is valid? [True, True] Translation: X:96.27, Y:-7.52, Z:-3.81 [[ 9.99879964e-01 1.37692539e-02 -7.10392452e-03 9.62731477e+01] [-1.37674325e-02 9.99905178e-01 3.05232817e-04 -7.52279950e+00] [ 7.10745373e-03 -2.07393377e-04 9.99974720e-01 -3.81392541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95134618399999 meters 0.0708533478762467 Centerline is valid? [True, True] Translation: X:96.30, Y:-7.52, Z:-3.81 [[ 9.99832671e-01 1.59527522e-02 -8.95204111e-03 9.63017134e+01] [-1.59499399e-02 9.99872717e-01 3.85469034e-04 -7.52198164e+00] [ 8.95705096e-03 -2.42620016e-04 9.99959855e-01 -3.81329434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98134618399999 meters 0.07014120369964602 Centerline is valid? [True, True] Translation: X:96.33, Y:-7.52, Z:-3.81 [[ 9.99799170e-01 1.74705656e-02 -9.81826820e-03 9.63304533e+01] [-1.74672608e-02 9.99847347e-01 4.22255670e-04 -7.52072021e+00] [ 9.82414646e-03 -2.50672618e-04 9.99951710e-01 -3.81295080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01134618399999 meters 0.06939928941962364 Centerline is valid? [True, True] Translation: X:96.36, Y:-7.52, Z:-3.81 [[ 9.99789627e-01 1.82861461e-02 -9.29083213e-03 9.63597918e+01] [-1.82832957e-02 9.99832770e-01 3.91648102e-04 -7.51973327e+00] [ 9.29644016e-03 -2.21698679e-04 9.99956763e-01 -3.81177794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04134618399999 meters 0.06921021507495435 Centerline is valid? [True, True] Translation: X:96.39, Y:-7.52, Z:-3.81 [[ 9.99780131e-01 1.91616385e-02 -8.51596110e-03 9.63888314e+01] [-1.91592390e-02 9.99816379e-01 3.63267270e-04 -7.52092001e+00] [ 8.52135818e-03 -2.00028065e-04 9.99963673e-01 -3.81200058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07134618399999 meters 0.0683927490358633 Centerline is valid? [True, True] Translation: X:96.42, Y:-7.52, Z:-3.81 [[ 9.99724209e-01 2.19586093e-02 -8.32624062e-03 9.64175303e+01] [-2.19564181e-02 9.99758866e-01 3.54501120e-04 -7.51999432e+00] [ 8.33201723e-03 -1.71588931e-04 9.99965273e-01 -3.81218837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.101346184 meters 0.06862819082609739 Centerline is valid? [True, True] Translation: X:96.45, Y:-7.52, Z:-3.82 [[ 9.99688808e-01 2.34287829e-02 -8.56620804e-03 9.64450485e+01] [-2.34265448e-02 9.99725495e-01 3.61527516e-04 -7.52010083e+00] [ 8.57232673e-03 -1.60738355e-04 9.99963244e-01 -3.81533539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.131346184 meters 0.06857400786576884 Centerline is valid? [True, True] Translation: X:96.47, Y:-7.52, Z:-3.82 [[ 9.99670620e-01 2.42026095e-02 -8.53725590e-03 9.64732180e+01] [-2.42004078e-02 9.99707062e-01 3.61126997e-04 -7.52005410e+00] [ 8.54349523e-03 -1.54402975e-04 9.99963492e-01 -3.81724885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.161346184 meters 0.06845464224433123 Centerline is valid? [True, True] Translation: X:96.50, Y:-7.52, Z:-3.82 [[ 9.99655753e-01 2.47802276e-02 -8.62067268e-03 9.65024472e+01] [-2.47780037e-02 9.99692912e-01 3.64705491e-04 -7.52021027e+00] [ 8.62706285e-03 -1.50976883e-04 9.99962775e-01 -3.81827695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.191346184 meters 0.06787633929545579 Centerline is valid? [True, True] Translation: X:96.53, Y:-7.52, Z:-3.82 [[ 9.99585445e-01 2.77007332e-02 -7.84900715e-03 9.65309680e+01] [-2.76989857e-02 9.99616255e-01 3.31277102e-04 -7.51879075e+00] [ 7.85517175e-03 -1.13730233e-04 9.99969141e-01 -3.81852424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.221346184 meters 0.06774626047862989 Centerline is valid? [True, True] Translation: X:96.56, Y:-7.52, Z:-3.82 [[ 9.99532806e-01 2.92006294e-02 -9.02731989e-03 9.65593548e+01] [-2.91984499e-02 9.99573565e-01 3.73160984e-04 -7.51891546e+00] [ 9.03436686e-03 -1.09402899e-04 9.99959183e-01 -3.82051031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.251346184 meters 0.06717311305865431 Centerline is valid? [True, True] Translation: X:96.59, Y:-7.52, Z:-3.82 [[ 9.99487742e-01 3.03750085e-02 -1.00802646e-02 9.65885582e+01] [-3.03723708e-02 9.99538567e-01 4.14694573e-04 -7.51759821e+00] [ 1.00882096e-02 -1.08320607e-04 9.99949107e-01 -3.81884349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281346184 meters 0.06741349190995108 Centerline is valid? [True, True] Translation: X:96.62, Y:-7.52, Z:-3.82 [[ 9.99406429e-01 3.28794477e-02 -1.02826257e-02 9.66161072e+01] [-3.28768056e-02 9.99459321e-01 4.25927393e-04 -7.51567378e+00] [ 1.02910703e-02 -8.76146902e-05 9.99947042e-01 -3.82362277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.311346184 meters 0.06711377871468434 Centerline is valid? [True, True] Translation: X:96.64, Y:-7.51, Z:-3.82 [[ 9.99353330e-01 3.43518989e-02 -1.06239880e-02 9.66438878e+01] [-3.43492436e-02 9.99409797e-01 4.32358231e-04 -7.51293829e+00] [ 1.06325701e-02 -6.71526855e-05 9.99943470e-01 -3.82205082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34134618399999 meters 0.06669605171606623 Centerline is valid? [True, True] Translation: X:96.67, Y:-7.51, Z:-3.82 [[ 9.99356967e-01 3.46410425e-02 -9.25474069e-03 9.66727996e+01] [-3.46390626e-02 9.99399818e-01 3.74180987e-04 -7.51038696e+00] [ 9.26214818e-03 -5.33648338e-05 9.99957104e-01 -3.81979215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37134618399999 meters 0.06674461334747311 Centerline is valid? [True, True] Translation: X:96.70, Y:-7.51, Z:-3.82 [[ 9.99327064e-01 3.59502165e-02 -7.28024121e-03 9.67009509e+01] [-3.59489988e-02 9.99353581e-01 2.98100424e-04 -7.51201594e+00] [ 7.28625190e-03 -3.61824393e-05 9.99973454e-01 -3.82190681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40134618399999 meters 0.06674473230608682 Centerline is valid? [True, True] Translation: X:96.73, Y:-7.52, Z:-3.82 [[ 9.99359813e-01 3.49045332e-02 -7.85096657e-03 9.67292588e+01] [-3.49031460e-02 9.99390650e-01 3.13674944e-04 -7.51739437e+00] [ 7.85713127e-03 -3.94507011e-05 9.99969131e-01 -3.82380783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43134618399999 meters 0.06692375191861062 Centerline is valid? [True, True] Translation: X:96.76, Y:-7.52, Z:-3.83 [[ 9.99419535e-01 3.28614379e-02 -8.98432690e-03 9.67574961e+01] [-3.28595494e-02 9.99459915e-01 3.57770088e-04 -7.52274433e+00] [ 8.99123144e-03 -6.23414811e-05 9.99959576e-01 -3.82688095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46134618399999 meters 0.06727807875575698 Centerline is valid? [True, True] Translation: X:96.79, Y:-7.53, Z:-3.83 [[ 9.99486894e-01 3.02919234e-02 -1.04090139e-02 9.67863572e+01] [-3.02891703e-02 9.99541089e-01 4.22065598e-04 -7.52720449e+00] [ 1.04170223e-02 -1.06568640e-04 9.99945736e-01 -3.82997293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.491346184 meters 0.06884308744815315 Centerline is valid? [True, True] Translation: X:96.81, Y:-7.53, Z:-3.83 [[ 9.99686187e-01 2.23029843e-02 -1.14063248e-02 9.68148073e+01] [-2.22991630e-02 9.99751236e-01 4.62109189e-04 -7.53481450e+00] [ 1.14137937e-02 -2.07612679e-04 9.99934839e-01 -3.83412571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.521346184 meters 0.06943458538455446 Centerline is valid? [True, True] Translation: X:96.84, Y:-7.54, Z:-3.83 [[ 9.99787719e-01 1.75795681e-02 -1.07459734e-02 9.68429364e+01] [-1.75759279e-02 9.99845438e-01 4.33099392e-04 -7.53946622e+00] [ 1.07519262e-02 -2.44137000e-04 9.99942167e-01 -3.83333828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.551346184 meters 0.07033606970705397 Centerline is valid? [True, True] Translation: X:96.87, Y:-7.54, Z:-3.83 [[ 9.99859396e-01 1.33719269e-02 -1.01183008e-02 9.68699143e+01] [-1.33685245e-02 9.99910556e-01 4.03825052e-04 -7.54486166e+00] [ 1.01227956e-02 -2.68501521e-04 9.99948727e-01 -3.83357946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.581346184 meters 0.07234288168787145 Centerline is valid? [True, True] Translation: X:96.90, Y:-7.55, Z:-3.83 [[ 9.99949304e-01 6.51142353e-03 -7.68058535e-03 9.68981376e+01] [-6.50924698e-03 9.99978767e-01 3.08347609e-04 -7.55467121e+00] [ 7.68243005e-03 -2.58337150e-04 9.99970456e-01 -3.83349200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.611346184 meters 0.07351088110884171 Centerline is valid? [True, True] Translation: X:96.93, Y:-7.56, Z:-3.83 [[ 9.99970447e-01 3.59379245e-03 -6.79631695e-03 9.69252379e+01] [-3.59203881e-03 9.99993512e-01 2.70217275e-04 -7.56043777e+00] [ 6.79724396e-03 -2.45796655e-04 9.99976868e-01 -3.83443594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641346184 meters 0.0731376946878035 Centerline is valid? [True, True] Translation: X:96.95, Y:-7.56, Z:-3.83 [[ 9.99993616e-01 -1.19593681e-03 -3.36706075e-03 9.69538745e+01] [ 1.19639124e-03 9.99999275e-01 1.32952298e-04 -7.56227120e+00] [ 3.36689931e-03 -1.36979772e-04 9.99994323e-01 -3.82818567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.671346184 meters 0.07384903823964427 Centerline is valid? [True, True] Translation: X:96.98, Y:-7.56, Z:-3.83 [[ 9.99991679e-01 -3.38276228e-03 -2.28023832e-03 9.69834658e+01] [ 3.38297717e-03 9.99994274e-01 9.03905278e-05 -7.56382785e+00] [ 2.27991949e-03 -9.81037698e-05 9.99997396e-01 -3.82721275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70134618399999 meters 0.07445678657251785 Centerline is valid? [True, True] Translation: X:97.01, Y:-7.57, Z:-3.83 [[ 9.99984924e-01 -5.26005766e-03 -1.57594478e-03 9.70140650e+01] [ 5.26016395e-03 9.99986163e-01 6.33035938e-05 -7.56532356e+00] [ 1.57558999e-03 -7.15923673e-05 9.99998756e-01 -3.82756457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73134618399999 meters 0.07572399682963132 Centerline is valid? [True, True] Translation: X:97.04, Y:-7.57, Z:-3.83 [[ 9.99978120e-01 -6.23502981e-03 -2.21009363e-03 9.70449156e+01] [ 6.23524545e-03 9.99980557e-01 9.06950324e-05 -7.56913546e+00] [ 2.20948517e-03 -1.04473524e-04 9.99997554e-01 -3.83170205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76134618399999 meters 0.0755831986021654 Centerline is valid? [True, True] Translation: X:97.08, Y:-7.57, Z:-3.84 [[ 9.99979839e-01 -6.08814049e-03 -1.80430689e-03 9.70773045e+01] [ 6.08828586e-03 9.99981463e-01 7.50897172e-05 -7.57159859e+00] [ 1.80381629e-03 -8.60733395e-05 9.99998369e-01 -3.83569419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79134618399999 meters 0.07609689997416717 Centerline is valid? [True, True] Translation: X:97.11, Y:-7.57, Z:-3.84 [[ 9.99983077e-01 -5.55541602e-03 -1.72727762e-03 9.71086517e+01] [ 5.55554773e-03 9.99984565e-01 7.14608669e-05 -7.57409755e+00] [ 1.72685397e-03 -8.10556308e-05 9.99998506e-01 -3.83852275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82134618399999 meters 0.07546825478311321 Centerline is valid? [True, True] Translation: X:97.14, Y:-7.57, Z:-3.84 [[ 9.99985340e-01 -5.39560712e-03 -4.54865477e-04 9.71403581e+01] [ 5.39561656e-03 9.99985443e-01 1.95396902e-05 -7.57289967e+00] [ 4.54753428e-04 -2.19936834e-05 9.99999896e-01 -3.83720561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.851346184 meters 0.07263304223792917 Centerline is valid? [True, True] Translation: X:97.17, Y:-7.56, Z:-3.83 [[ 9.99987516e-01 -4.27595332e-03 2.58541048e-03 9.71722353e+01] [ 4.27623450e-03 9.99990852e-01 -1.03240600e-04 -7.56474266e+00] [-2.58494537e-03 1.14295132e-04 9.99996652e-01 -3.82960048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.881346184 meters 0.07374128763379072 Centerline is valid? [True, True] Translation: X:97.20, Y:-7.57, Z:-3.83 [[ 9.99987450e-01 -4.09854338e-03 2.88139599e-03 9.72036552e+01] [ 4.09889102e-03 9.99991593e-01 -1.14752610e-04 -7.56729965e+00] [-2.88090144e-03 1.26561698e-04 9.99995842e-01 -3.83103139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.911346184 meters 0.07246040242954396 Centerline is valid? [True, True] Translation: X:97.24, Y:-7.57, Z:-3.83 [[ 9.99985769e-01 -3.62697977e-03 3.91229632e-03 9.72361253e+01] [ 3.62761836e-03 9.99993408e-01 -1.56142807e-04 -7.56536080e+00] [-3.91170420e-03 1.70332903e-04 9.99992335e-01 -3.82927315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.941346184 meters 0.07266966359148488 Centerline is valid? [True, True] Translation: X:97.27, Y:-7.57, Z:-3.83 [[ 9.99985644e-01 -3.38625373e-03 4.15263592e-03 9.72684038e+01] [ 3.38697303e-03 9.99994250e-01 -1.66196013e-04 -7.56712729e+00] [-4.15204926e-03 1.80258493e-04 9.99991364e-01 -3.83060029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.971346184 meters 0.07338042168870004 Centerline is valid? [True, True] Translation: X:97.30, Y:-7.57, Z:-3.83 [[ 9.99990177e-01 -3.22965498e-03 3.03563043e-03 9.72994348e+01] [ 3.23003319e-03 9.99994776e-01 -1.19697078e-04 -7.57100669e+00] [-3.03522799e-03 1.29501089e-04 9.99995385e-01 -3.83475512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001346184 meters 0.07473357723326966 Centerline is valid? [True, True] Translation: X:97.33, Y:-7.58, Z:-3.84 [[ 9.99994376e-01 -2.55166955e-03 2.17649516e-03 9.73302147e+01] [ 2.55186484e-03 9.99996740e-01 -8.69529830e-05 -7.57569842e+00] [-2.17626619e-03 9.25066154e-05 9.99997628e-01 -3.83950699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.031346184 meters 0.07376351211348871 Centerline is valid? [True, True] Translation: X:97.36, Y:-7.57, Z:-3.84 [[ 9.99996798e-01 -2.44244477e-03 6.62751226e-04 9.73621125e+01] [ 2.44246164e-03 9.99997017e-01 -2.46429193e-05 -7.57458095e+00] [-6.62689060e-04 2.62615849e-05 9.99999780e-01 -3.84092826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061346184 meters 0.07326047603916498 Centerline is valid? [True, True] Translation: X:97.39, Y:-7.57, Z:-3.85 [[ 9.99999278e-01 5.27002713e-05 -1.20019388e-03 9.73944070e+01] [-5.26384296e-05 9.99999997e-01 5.15579021e-05 -7.57355732e+00] [ 1.20019659e-03 -5.14946886e-05 9.99999278e-01 -3.84517487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09134618399999 meters 0.07378202922531961 Centerline is valid? [True, True] Translation: X:97.42, Y:-7.57, Z:-3.85 [[ 9.99995396e-01 1.02273850e-03 -2.85692742e-03 9.74236649e+01] [-1.02241051e-03 9.99999471e-01 1.16263207e-04 -7.57298267e+00] [ 2.85704482e-03 -1.13341719e-04 9.99995912e-01 -3.84840474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12134618399999 meters 0.07227970073369759 Centerline is valid? [True, True] Translation: X:97.45, Y:-7.57, Z:-3.85 [[ 9.99991541e-01 2.81185694e-03 -3.00177242e-03 9.74521688e+01] [-2.81152902e-03 9.99996041e-01 1.13454687e-04 -7.56912688e+00] [ 3.00207955e-03 -1.05014157e-04 9.99995488e-01 -3.84797096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15134618399999 meters 0.07294680012646093 Centerline is valid? [True, True] Translation: X:97.48, Y:-7.57, Z:-3.85 [[ 9.99977059e-01 6.14292994e-03 -2.85411020e-03 9.74810814e+01] [-6.14262749e-03 9.99981127e-01 1.14723225e-04 -7.56889654e+00] [ 2.85476108e-03 -9.71888578e-05 9.99995920e-01 -3.85064366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18134618399999 meters 0.07081426853089794 Centerline is valid? [True, True] Translation: X:97.51, Y:-7.56, Z:-3.85 [[ 9.99976591e-01 6.64176461e-03 -1.64477400e-03 9.75107451e+01] [-6.64167068e-03 9.99977942e-01 6.25659128e-05 -7.56401502e+00] [ 1.64515327e-03 -5.16404009e-05 9.99998645e-01 -3.84513177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21134618399999 meters 0.07174684831305432 Centerline is valid? [True, True] Translation: X:97.54, Y:-7.56, Z:-3.85 [[ 9.99973794e-01 6.84469422e-03 -2.35828720e-03 9.75384563e+01] [-6.84449572e-03 9.99976572e-01 9.22335575e-05 -7.56460692e+00] [ 2.35886326e-03 -7.60898538e-05 9.99997215e-01 -3.84654176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.241346184 meters 0.07100613990600735 Centerline is valid? [True, True] Translation: X:97.57, Y:-7.56, Z:-3.84 [[ 9.99978449e-01 6.53068545e-03 -6.72555528e-04 9.75678871e+01] [-6.53066991e-03 9.99978675e-01 2.52937891e-05 -7.56197493e+00] [ 6.72706371e-04 -2.09010058e-05 9.99999774e-01 -3.84486668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.271346184 meters 0.07230133132475378 Centerline is valid? [True, True] Translation: X:97.60, Y:-7.57, Z:-3.85 [[ 9.99980270e-01 6.28128070e-03 7.02409400e-05 9.75955050e+01] [-6.28128029e-03 9.99980273e-01 -6.02396801e-06 -7.56763214e+00] [-7.02773926e-05 5.58264613e-06 9.99999998e-01 -3.84965749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.301346184 meters 0.07153994732880915 Centerline is valid? [True, True] Translation: X:97.63, Y:-7.56, Z:-3.85 [[ 9.99992462e-01 3.87632697e-03 -2.22802116e-04 9.76250040e+01] [-3.87632549e-03 9.99992487e-01 7.10839606e-06 -7.56448932e+00] [ 2.22827997e-04 -6.24468895e-06 9.99999975e-01 -3.84808186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.331346184 meters 0.0732427524444565 Centerline is valid? [True, True] Translation: X:97.65, Y:-7.57, Z:-3.85 [[ 9.99995500e-01 2.61827985e-03 -1.46459048e-03 9.76528436e+01] [-2.61819741e-03 9.99996571e-01 5.82036244e-05 -7.56698179e+00] [ 1.46473785e-03 -5.43687754e-05 9.99998926e-01 -3.85204602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.361346184 meters 0.07260224797417593 Centerline is valid? [True, True] Translation: X:97.68, Y:-7.57, Z:-3.85 [[ 9.99997852e-01 2.05011711e-03 -3.05987237e-04 9.76819083e+01] [-2.05011420e-03 9.99997898e-01 9.84133124e-06 -7.56689938e+00] [ 3.06006770e-04 -9.21400132e-06 9.99999953e-01 -3.85169399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.391346184 meters 0.07329165748002414 Centerline is valid? [True, True] Translation: X:97.71, Y:-7.57, Z:-3.85 [[ 9.99999998e-01 6.46761363e-05 -1.88832298e-05 9.77115393e+01] [-6.46761450e-05 9.99999998e-01 -4.60259958e-07 -7.56933719e+00] [ 1.88832000e-05 4.61481253e-07 1.00000000e+00 -3.85248767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421346184 meters 0.07348078699209877 Centerline is valid? [True, True] Translation: X:97.74, Y:-7.57, Z:-3.85 [[ 9.99995705e-01 -1.51597628e-03 2.50824889e-03 9.77417509e+01] [ 1.51623321e-03 9.99998845e-01 -1.00537536e-04 -7.57237019e+00] [-2.50809358e-03 1.04340195e-04 9.99996849e-01 -3.85143255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45134618399999 meters 0.07379669279314141 Centerline is valid? [True, True] Translation: X:97.77, Y:-7.57, Z:-3.85 [[ 9.99991100e-01 -2.34962310e-03 3.50415069e-03 9.77739690e+01] [ 2.35010301e-03 9.99997230e-01 -1.32843027e-04 -7.57436834e+00] [-3.50382885e-03 1.41076960e-04 9.99993852e-01 -3.85093316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48134618399999 meters 0.07402037402400008 Centerline is valid? [True, True] Translation: X:97.81, Y:-7.57, Z:-3.85 [[ 9.99984242e-01 -4.03347125e-03 3.90476668e-03 9.78067375e+01] [ 4.03408710e-03 9.99991852e-01 -1.49852959e-04 -7.57410034e+00] [-3.90413044e-03 1.65602767e-04 9.99992365e-01 -3.84926183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51134618399999 meters 0.07576829211924302 Centerline is valid? [True, True] Translation: X:97.84, Y:-7.58, Z:-3.85 [[ 9.99968817e-01 -6.27459399e-03 4.79525616e-03 9.78374776e+01] [ 6.27559413e-03 9.99980290e-01 -1.93550313e-04 -7.57697611e+00] [-4.79394719e-03 2.23637359e-04 9.99988484e-01 -3.84926141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54134618399999 meters 0.0770284955222688 Centerline is valid? [True, True] Translation: X:97.87, Y:-7.58, Z:-3.85 [[ 9.99928058e-01 -9.66724282e-03 7.10099271e-03 9.78691954e+01] [ 9.66949091e-03 9.99953210e-01 -2.82323413e-04 -7.58100201e+00] [-7.09793116e-03 3.50966087e-04 9.99974748e-01 -3.84754411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57134618399999 meters 0.07771909150484989 Centerline is valid? [True, True] Translation: X:97.90, Y:-7.59, Z:-3.85 [[ 9.99910251e-01 -1.08139826e-02 7.90876854e-03 9.79014181e+01] [ 1.08168606e-02 9.99941444e-01 -3.21212435e-04 -7.58724257e+00] [-7.90483185e-03 4.06731654e-04 9.99968674e-01 -3.85011388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.601346184 meters 0.07931019502861056 Centerline is valid? [True, True] Translation: X:97.93, Y:-7.59, Z:-3.85 [[ 9.99894893e-01 -1.19024505e-02 8.27852456e-03 9.79320175e+01] [ 1.19056506e-02 9.99929068e-01 -3.37371412e-04 -7.59376685e+00] [-8.27392181e-03 4.35897172e-04 9.99965676e-01 -3.85362513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.631346184 meters 0.07995059595726753 Centerline is valid? [True, True] Translation: X:97.96, Y:-7.60, Z:-3.86 [[ 9.99895263e-01 -1.16911485e-02 8.53115663e-03 9.79643117e+01] [ 1.16944996e-02 9.99931558e-01 -3.43018939e-04 -7.59691627e+00] [-8.52656245e-03 4.42750620e-04 9.99963550e-01 -3.85641408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.661346184 meters 0.08022688199597915 Centerline is valid? [True, True] Translation: X:98.00, Y:-7.60, Z:-3.86 [[ 9.99908977e-01 -1.08015652e-02 8.08475371e-03 9.79954499e+01] [ 1.08045661e-02 9.99941575e-01 -3.27595259e-04 -7.59684743e+00] [-8.08074282e-03 4.14917696e-04 9.99967264e-01 -3.85739427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.691346184 meters 0.07741716037896335 Centerline is valid? [True, True] Translation: X:98.03, Y:-7.59, Z:-3.86 [[ 9.99918545e-01 -1.00095515e-02 7.91916133e-03 9.80276580e+01] [ 1.00124489e-02 9.99949821e-01 -3.26308527e-04 -7.58993995e+00] [-7.91549775e-03 4.05572145e-04 9.99968590e-01 -3.85550690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.721346184 meters 0.07660238572156498 Centerline is valid? [True, True] Translation: X:98.06, Y:-7.59, Z:-3.86 [[ 9.99931748e-01 -8.67239015e-03 7.82876114e-03 9.80596279e+01] [ 8.67518483e-03 9.99962318e-01 -3.23087227e-04 -7.58922991e+00] [-7.82566420e-03 3.90981126e-04 9.99969303e-01 -3.85634033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.751346184 meters 0.07556409571976365 Centerline is valid? [True, True] Translation: X:98.09, Y:-7.59, Z:-3.86 [[ 9.99941431e-01 -7.09050428e-03 8.17672488e-03 9.80923359e+01] [ 7.09350192e-03 9.99974784e-01 -3.37662906e-04 -7.58817364e+00] [-8.17412449e-03 3.95644743e-04 9.99966513e-01 -3.85733525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781346184 meters 0.07556409571976365 Centerline is valid? [True, True] Translation: X:98.12, Y:-7.59, Z:-3.86 [[ 9.99942183e-01 -6.98363819e-03 8.17671528e-03 9.81248997e+01] [ 6.98663418e-03 9.99975536e-01 -3.37896776e-04 -7.58966235e+00] [-8.17415550e-03 3.95004958e-04 9.99966513e-01 -3.85844905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.811346184 meters 0.07576947506737652 Centerline is valid? [True, True] Translation: X:98.16, Y:-7.59, Z:-3.86 [[ 9.99956564e-01 -6.24631914e-03 6.91760342e-03 9.81568101e+01] [ 6.24845055e-03 9.99980437e-01 -2.86543353e-04 -7.59262328e+00] [-6.91567825e-03 3.29755210e-04 9.99976032e-01 -3.86146595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84134618399999 meters 0.07463271068808826 Centerline is valid? [True, True] Translation: X:98.19, Y:-7.59, Z:-3.86 [[ 9.99969873e-01 -5.52305796e-03 5.45421283e-03 9.81894546e+01] [ 5.52437388e-03 9.99984715e-01 -2.26230360e-04 -7.59186645e+00] [-5.45287998e-03 2.56354655e-04 9.99985100e-01 -3.86196582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87134618399999 meters 0.07535101045376438 Centerline is valid? [True, True] Translation: X:98.22, Y:-7.59, Z:-3.86 [[ 9.99967466e-01 -4.82244422e-03 6.46609565e-03 9.82206074e+01] [ 4.82427229e-03 9.99988327e-01 -2.67148916e-04 -7.59252476e+00] [-6.46473187e-03 2.98334431e-04 9.99979059e-01 -3.86289943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90134618399999 meters 0.0746732212407937 Centerline is valid? [True, True] Translation: X:98.25, Y:-7.59, Z:-3.86 [[ 9.99970744e-01 -3.49442902e-03 6.80446933e-03 9.82532136e+01] [ 3.49644475e-03 9.99993847e-01 -2.84362623e-04 -7.58885619e+00] [-6.80343378e-03 3.08145754e-04 9.99976809e-01 -3.86201914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93134618399999 meters 0.07454916673495335 Centerline is valid? [True, True] Translation: X:98.28, Y:-7.59, Z:-3.86 [[ 9.99974654e-01 -2.45351062e-03 6.68364299e-03 9.82843686e+01] [ 2.45542221e-03 9.99996947e-01 -2.77818927e-04 -7.58879265e+00] [-6.68294095e-03 2.94223051e-04 9.99977626e-01 -3.86313392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96134618399999 meters 0.07353791286863871 Centerline is valid? [True, True] Translation: X:98.32, Y:-7.59, Z:-3.87 [[ 9.99975290e-01 3.74134439e-04 7.01986797e-03 9.83157586e+01] [-3.72066343e-04 9.99999887e-01 -2.95909702e-04 -7.58922974e+00] [-7.01997788e-03 2.93290534e-04 9.99975317e-01 -3.86705681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.991346184 meters 0.0734089580889477 Centerline is valid? [True, True] Translation: X:98.35, Y:-7.59, Z:-3.87 [[ 9.99973276e-01 1.73715353e-03 7.10143934e-03 9.83477478e+01] [-1.73507620e-03 9.99998450e-01 -2.98673069e-04 -7.59134244e+00] [-7.10194717e-03 2.86343549e-04 9.99974740e-01 -3.86985163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.021346184 meters 0.07693674453258138 Centerline is valid? [True, True] Translation: X:98.38, Y:-7.60, Z:-3.88 [[ 9.99975079e-01 2.56044092e-03 6.57918302e-03 9.83778768e+01] [-2.55867058e-03 9.99996688e-01 -2.77484666e-04 -7.60120354e+00] [-6.57987172e-03 2.60643789e-04 9.99978318e-01 -3.87885720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.051346184 meters 0.07168178800979517 Centerline is valid? [True, True] Translation: X:98.41, Y:-7.58, Z:-3.87 [[ 9.99975159e-01 3.90818642e-03 5.86572502e-03 9.84109956e+01] [-3.90680509e-03 9.99992338e-01 -2.46931194e-04 -7.58384771e+00] [-5.86664513e-03 2.24008816e-04 9.99982766e-01 -3.86850485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.081346184 meters 0.07205719553551497 Centerline is valid? [True, True] Translation: X:98.44, Y:-7.58, Z:-3.87 [[ 9.99974034e-01 3.99441118e-03 5.99795715e-03 9.84413172e+01] [-3.99296749e-03 9.99991996e-01 -2.52652818e-04 -7.58323267e+00] [-5.99891834e-03 2.28696610e-04 9.99981980e-01 -3.86868097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.111346184 meters 0.07172571021036961 Centerline is valid? [True, True] Translation: X:98.47, Y:-7.58, Z:-3.87 [[ 9.99960999e-01 4.65420789e-03 7.50595894e-03 9.84726357e+01] [-4.65194558e-03 9.99989129e-01 -3.18832868e-04 -7.58304115e+00] [-7.50736125e-03 2.83903121e-04 9.99971779e-01 -3.86815148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141346184 meters 0.07246835270273504 Centerline is valid? [True, True] Translation: X:98.50, Y:-7.59, Z:-3.87 [[ 9.99957982e-01 3.67568162e-03 8.39779606e-03 9.85032838e+01] [-3.67283340e-03 9.99993192e-01 -3.54560668e-04 -7.58769845e+00] [-8.39904214e-03 3.23702064e-04 9.99964675e-01 -3.87008680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.171346184 meters 0.0726265252450492 Centerline is valid? [True, True] Translation: X:98.54, Y:-7.59, Z:-3.87 [[ 9.99951122e-01 3.24367439e-03 9.33983405e-03 9.85359635e+01] [-3.24014929e-03 9.99994674e-01 -3.92533076e-04 -7.59130240e+00] [-9.34105755e-03 3.62251433e-04 9.99956306e-01 -3.87086152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20134618399999 meters 0.07221842503253231 Centerline is valid? [True, True] Translation: X:98.57, Y:-7.59, Z:-3.87 [[ 9.99934820e-01 2.18641318e-03 1.12060152e-02 9.85691727e+01] [-2.18121699e-03 9.99997508e-01 -4.75897214e-04 -7.59260676e+00] [-1.12070278e-02 4.51423444e-04 9.99937097e-01 -3.86924528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23134618399999 meters 0.07370381525754827 Centerline is valid? [True, True] Translation: X:98.60, Y:-7.60, Z:-3.87 [[ 9.99919904e-01 5.78726325e-04 1.26432051e-02 9.86001358e+01] [-5.71905818e-04 9.99999689e-01 -5.43069169e-04 -7.59670557e+00] [-1.26435155e-02 5.35794948e-04 9.99919924e-01 -3.86952539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26134618399999 meters 0.07358620525313397 Centerline is valid? [True, True] Translation: X:98.63, Y:-7.60, Z:-3.87 [[ 9.99926645e-01 6.86429453e-04 1.20926966e-02 9.86320769e+01] [-6.80124895e-04 9.99999631e-01 -5.25457204e-04 -7.59780283e+00] [-1.20930529e-02 5.17194115e-04 9.99926743e-01 -3.87092204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29134618399999 meters 0.07370683555011104 Centerline is valid? [True, True] Translation: X:98.66, Y:-7.60, Z:-3.87 [[ 9.99950479e-01 5.01334397e-04 9.93927609e-03 9.86645400e+01] [-4.97105683e-04 9.99999785e-01 -4.27920829e-04 -7.59994822e+00] [-9.93948848e-03 4.22958767e-04 9.99950513e-01 -3.87399418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32134618399999 meters 0.07393377070596027 Centerline is valid? [True, True] Translation: X:98.70, Y:-7.60, Z:-3.88 [[ 9.99956577e-01 5.16673340e-04 9.30464283e-03 9.86964591e+01] [-5.12951719e-04 9.99999787e-01 -4.02356661e-04 -7.60227775e+00] [-9.30484874e-03 3.97566357e-04 9.99956630e-01 -3.87721855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.351346184 meters 0.07475261760888703 Centerline is valid? [True, True] Translation: X:98.73, Y:-7.61, Z:-3.88 [[ 9.99969614e-01 -2.28048583e-04 7.79224394e-03 9.87276525e+01] [ 2.30689564e-04 9.99999916e-01 -3.38027264e-04 -7.60627288e+00] [-7.79216620e-03 3.39814582e-04 9.99969583e-01 -3.88098461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.381346184 meters 0.07638481940179213 Centerline is valid? [True, True] Translation: X:98.76, Y:-7.61, Z:-3.88 [[ 9.99976085e-01 -1.52869148e-03 6.74475740e-03 9.87582519e+01] [ 1.53073817e-03 9.99998784e-01 -2.98297746e-04 -7.61074447e+00] [-6.74429319e-03 3.08615070e-04 9.99977209e-01 -3.88326512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.411346184 meters 0.07497393717814405 Centerline is valid? [True, True] Translation: X:98.79, Y:-7.61, Z:-3.88 [[ 9.99973480e-01 -1.96615135e-03 7.01232291e-03 9.87903811e+01] [ 1.96836960e-03 9.99998015e-01 -3.09449038e-04 -7.60905598e+00] [-7.01170057e-03 3.23243675e-04 9.99975365e-01 -3.88055630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.441346184 meters 0.07412546597251024 Centerline is valid? [True, True] Translation: X:98.82, Y:-7.61, Z:-3.88 [[ 9.99961818e-01 -2.14694730e-03 8.47074473e-03 9.88222768e+01] [ 2.15019967e-03 9.99997618e-01 -3.74865499e-04 -7.60929526e+00] [-8.46991973e-03 3.93064978e-04 9.99964052e-01 -3.87930775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.471346184 meters 0.07430067686527733 Centerline is valid? [True, True] Translation: X:98.85, Y:-7.61, Z:-3.88 [[ 9.99942410e-01 -1.93593376e-03 1.05560140e-02 9.88533112e+01] [ 1.94099190e-03 9.99998006e-01 -4.68947189e-04 -7.61316871e+00] [-1.05550851e-02 4.89409320e-04 9.99944174e-01 -3.87961074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501346184 meters 0.07549207196785011 Centerline is valid? [True, True] Translation: X:98.88, Y:-7.62, Z:-3.88 [[ 9.99949397e-01 -9.84783337e-04 1.00116455e-02 9.88846165e+01] [ 9.89290161e-04 9.99999412e-01 -4.45215792e-04 -7.61794839e+00] [-1.00112012e-02 4.55097685e-04 9.99949783e-01 -3.88243396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.531346184 meters 0.07321177732618248 Centerline is valid? [True, True] Translation: X:98.92, Y:-7.61, Z:-3.88 [[ 9.99962232e-01 7.59633777e-04 8.65780893e-03 9.89168768e+01] [-7.56330899e-04 9.99999640e-01 -3.84758970e-04 -7.61267009e+00] [-8.65809809e-03 3.78196270e-04 9.99962446e-01 -3.88154883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561346184 meters 0.07274596896011248 Centerline is valid? [True, True] Translation: X:98.95, Y:-7.61, Z:-3.88 [[ 9.99973200e-01 1.42004935e-03 7.18213279e-03 9.89487956e+01] [-1.41779290e-03 9.99998944e-01 -3.19257273e-04 -7.61119611e+00] [-7.18257857e-03 3.09065940e-04 9.99974157e-01 -3.88255568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59134618399999 meters 0.072705231985748 Centerline is valid? [True, True] Translation: X:98.98, Y:-7.61, Z:-3.88 [[ 9.99969042e-01 2.87578200e-03 7.32420468e-03 9.89799563e+01] [-2.87346658e-03 9.99995818e-01 -3.26636072e-04 -7.61034506e+00] [-7.32511338e-03 3.05580103e-04 9.99973124e-01 -3.88404862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62134618399999 meters 0.07275712316724538 Centerline is valid? [True, True] Translation: X:99.01, Y:-7.61, Z:-3.89 [[ 9.99962874e-01 5.03539384e-03 6.99252411e-03 9.90111472e+01] [-5.03333396e-03 9.99987284e-01 -3.12150450e-04 -7.61133492e+00] [-6.99400699e-03 2.76943152e-04 9.99975503e-01 -3.88634898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65134618399999 meters 0.07060929769185444 Centerline is valid? [True, True] Translation: X:99.04, Y:-7.61, Z:-3.89 [[ 9.99940116e-01 8.68443624e-03 6.65927187e-03 9.90426659e+01] [-8.68264405e-03 9.99962261e-01 -2.97991299e-04 -7.60995147e+00] [-6.66160844e-03 2.40153367e-04 9.99977782e-01 -3.88944159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68134618399999 meters 0.07025627703534026 Centerline is valid? [True, True] Translation: X:99.07, Y:-7.61, Z:-3.89 [[ 9.99924805e-01 9.77043368e-03 7.41096975e-03 9.90718801e+01] [-9.76822646e-03 9.99952234e-01 -3.33969934e-04 -7.61189351e+00] [-7.41387879e-03 2.61552790e-04 9.99972483e-01 -3.89110087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71134618399999 meters 0.07057901957072495 Centerline is valid? [True, True] Translation: X:99.10, Y:-7.61, Z:-3.89 [[ 9.99903366e-01 1.09648184e-02 8.54583938e-03 9.91008054e+01] [-1.09619312e-02 9.99939842e-01 -3.84611545e-04 -7.61402946e+00] [-8.54954248e-03 2.90895475e-04 9.99963410e-01 -3.89217895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.741346184 meters 0.07063683785621984 Centerline is valid? [True, True] Translation: X:99.13, Y:-7.61, Z:-3.89 [[ 9.99877479e-01 1.21710353e-02 9.84343507e-03 9.91299156e+01] [-1.21672687e-02 9.99925878e-01 -4.42443106e-04 -7.61449293e+00] [-9.84809045e-03 3.22621177e-04 9.99951454e-01 -3.89193671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.771346184 meters 0.06871171935304787 Centerline is valid? [True, True] Translation: X:99.16, Y:-7.61, Z:-3.89 [[ 9.99857185e-01 1.32946861e-02 1.04336486e-02 9.91591416e+01] [-1.32905106e-02 9.99911567e-01 -4.69427722e-04 -7.60892997e+00] [-1.04389668e-02 3.30692163e-04 9.99945458e-01 -3.88770036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.801346184 meters 0.06958048908914705 Centerline is valid? [True, True] Translation: X:99.19, Y:-7.61, Z:-3.89 [[ 9.99822760e-01 1.63476057e-02 9.33828385e-03 9.91867200e+01] [-1.63443939e-02 9.99866333e-01 -4.20157761e-04 -7.61059066e+00] [-9.34390420e-03 2.67454703e-04 9.99956309e-01 -3.89224325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.831346184 meters 0.06762759319538725 Centerline is valid? [True, True] Translation: X:99.22, Y:-7.61, Z:-3.89 [[ 9.99797413e-01 1.82787605e-02 8.42730545e-03 9.92156767e+01] [-1.82762209e-02 9.99832904e-01 -3.78273983e-04 -7.60568497e+00] [-8.43281166e-03 2.24178054e-04 9.99964418e-01 -3.89041065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.861346184 meters 0.06782513067951501 Centerline is valid? [True, True] Translation: X:99.24, Y:-7.61, Z:-3.90 [[ 9.99785071e-01 1.96750715e-02 6.53476921e-03 9.92435960e+01] [-1.96735706e-02 9.99806413e-01 -2.93879557e-04 -7.60688650e+00] [-6.53928627e-03 1.65254150e-04 9.99978605e-01 -3.89553092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.891346184 meters 0.06804532143590931 Centerline is valid? [True, True] Translation: X:99.27, Y:-7.61, Z:-3.90 [[ 9.99796880e-01 1.96258399e-02 4.58542590e-03 9.92723510e+01] [-1.96251006e-02 9.99807388e-01 -2.06168680e-04 -7.60889273e+00] [-4.58858893e-03 1.16137358e-04 9.99989466e-01 -3.89863405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921346184 meters 0.06808195846007034 Centerline is valid? [True, True] Translation: X:99.30, Y:-7.61, Z:-3.90 [[ 9.99801125e-01 1.95862850e-02 3.75337580e-03 9.93009648e+01] [-1.95857887e-02 9.99808166e-01 -1.68942138e-04 -7.61103160e+00] [-3.75596472e-03 9.53957140e-05 9.99992942e-01 -3.90071149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95134618399999 meters 0.06839845380184804 Centerline is valid? [True, True] Translation: X:99.33, Y:-7.61, Z:-3.90 [[ 9.99817942e-01 1.85738366e-02 4.36993842e-03 9.93298155e+01] [-1.85731573e-02 9.99827485e-01 -1.95977761e-04 -7.61445200e+00] [-4.37282460e-03 1.14778528e-04 9.99990433e-01 -3.90264891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98134618399999 meters 0.0691480698772771 Centerline is valid? [True, True] Translation: X:99.36, Y:-7.62, Z:-3.91 [[ 9.99835282e-01 1.70484603e-02 6.22571006e-03 9.93568641e+01] [-1.70470582e-02 9.99854650e-01 -2.78215708e-04 -7.61983428e+00] [-6.22954830e-03 1.72039839e-04 9.99980581e-01 -3.90512145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01134618399999 meters 0.06869171192438596 Centerline is valid? [True, True] Translation: X:99.39, Y:-7.62, Z:-3.90 [[ 9.99860611e-01 1.57523453e-02 5.53367548e-03 9.93856229e+01] [-1.57512212e-02 9.99875911e-01 -2.46662164e-04 -7.61956684e+00] [-5.53687432e-03 1.59465636e-04 9.99984659e-01 -3.90239664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04134618399999 meters 0.06811848434384087 Centerline is valid? [True, True] Translation: X:99.41, Y:-7.62, Z:-3.90 [[ 9.99863969e-01 1.55238529e-02 5.57256622e-03 9.94146820e+01] [-1.55227114e-02 9.99879485e-01 -2.48040354e-04 -7.62001616e+00] [-5.57574518e-03 1.61505276e-04 9.99984442e-01 -3.90145176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07134618399999 meters 0.06837560577968219 Centerline is valid? [True, True] Translation: X:99.44, Y:-7.63, Z:-3.90 [[ 9.99866772e-01 1.47127437e-02 7.06925253e-03 9.94430757e+01] [-1.47108947e-02 9.99891740e-01 -3.13479221e-04 -7.62527221e+00] [-7.07309935e-03 2.09442427e-04 9.99974963e-01 -3.90318057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.101346184 meters 0.06946665474905603 Centerline is valid? [True, True] Translation: X:99.47, Y:-7.63, Z:-3.91 [[ 9.99869238e-01 1.38854911e-02 8.28860617e-03 9.94710212e+01] [-1.38829294e-02 9.99903560e-01 -3.66517827e-04 -7.63095591e+00] [-8.29289610e-03 2.51399765e-04 9.99965582e-01 -3.90682840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.131346184 meters 0.06869699798931143 Centerline is valid? [True, True] Translation: X:99.50, Y:-7.63, Z:-3.90 [[ 9.99885441e-01 1.28477719e-02 8.00247263e-03 9.94998501e+01] [-1.28453548e-02 9.99917433e-01 -3.53378497e-04 -7.63007674e+00] [-8.00635201e-03 2.50543414e-04 9.99967917e-01 -3.90437209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.161346184 meters 0.06970953179169091 Centerline is valid? [True, True] Translation: X:99.53, Y:-7.63, Z:-3.90 [[ 9.99908329e-01 1.03356743e-02 8.74689542e-03 9.95280103e+01] [-1.03327019e-02 9.99946542e-01 -3.84947900e-04 -7.63411116e+00] [-8.75040653e-03 2.94533548e-04 9.99961671e-01 -3.90459362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.191346184 meters 0.07037661103548562 Centerline is valid? [True, True] Translation: X:99.56, Y:-7.64, Z:-3.91 [[ 9.99924693e-01 8.58993141e-03 8.76479178e-03 9.95569645e+01] [-8.58688408e-03 9.99963058e-01 -3.85251118e-04 -7.63895990e+00] [-8.76777727e-03 3.09959855e-04 9.99961514e-01 -3.90631197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.221346184 meters 0.07108253279768473 Centerline is valid? [True, True] Translation: X:99.59, Y:-7.64, Z:-3.91 [[ 9.99930295e-01 6.89457993e-03 9.58488172e-03 9.95870795e+01] [-6.89087650e-03 9.99976170e-01 -4.19353752e-04 -7.64431156e+00] [-9.58754457e-03 3.53276284e-04 9.99953976e-01 -3.90821416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.251346184 meters 0.07214540507817452 Centerline is valid? [True, True] Translation: X:99.62, Y:-7.65, Z:-3.91 [[ 9.99932781e-01 4.09895235e-03 1.08458627e-02 9.96183146e+01] [-4.09405484e-03 9.99991507e-01 -4.73719433e-04 -7.65304222e+00] [-1.08477123e-02 4.29284033e-04 9.99941070e-01 -3.90882375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281346184 meters 0.07305356765643094 Centerline is valid? [True, True] Translation: X:99.65, Y:-7.66, Z:-3.91 [[ 9.99941281e-01 3.36161355e-03 1.03021343e-02 9.96487595e+01] [-3.35715266e-03 9.99994263e-01 -4.50268831e-04 -7.65826700e+00] [-1.03035889e-02 4.15656554e-04 9.99946830e-01 -3.91101317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.311346184 meters 0.07295900727221888 Centerline is valid? [True, True] Translation: X:99.68, Y:-7.66, Z:-3.91 [[ 9.99945302e-01 3.13015014e-03 9.97976731e-03 9.96809284e+01] [-3.12599891e-03 9.99995021e-01 -4.31535862e-04 -7.65946552e+00] [-9.98106839e-03 4.00315516e-04 9.99950108e-01 -3.91209518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34134618399999 meters 0.07164635076395409 Centerline is valid? [True, True] Translation: X:99.71, Y:-7.66, Z:-3.91 [[ 9.99961904e-01 4.62987850e-03 7.39969761e-03 9.97136126e+01] [-4.62764096e-03 9.99989241e-01 -3.19475538e-04 -7.65550344e+00] [-7.40109713e-03 2.85220224e-04 9.99972571e-01 -3.91307822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37134618399999 meters 0.07297203802165757 Centerline is valid? [True, True] Translation: X:99.74, Y:-7.66, Z:-3.92 [[ 9.99957304e-01 5.96894724e-03 7.05420409e-03 9.97441649e+01] [-5.96689741e-03 9.99982149e-01 -3.11592418e-04 -7.66015436e+00] [-7.05593805e-03 2.69487402e-04 9.99975070e-01 -3.91726386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40134618399999 meters 0.07033807990617663 Centerline is valid? [True, True] Translation: X:99.78, Y:-7.66, Z:-3.92 [[ 9.99951272e-01 7.08570524e-03 6.87367150e-03 9.97761633e+01] [-7.08378417e-03 9.99974864e-01 -3.03787809e-04 -7.65588636e+00] [-6.87565127e-03 2.55081401e-04 9.99976330e-01 -3.91505565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43134618399999 meters 0.07107121680253975 Centerline is valid? [True, True] Translation: X:99.81, Y:-7.66, Z:-3.92 [[ 9.99928922e-01 8.82734308e-03 8.01429106e-03 9.98055563e+01] [-8.82477210e-03 9.99960998e-01 -3.56105867e-04 -7.65969921e+00] [-8.01712195e-03 2.85356263e-04 9.99967822e-01 -3.91748505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46134618399999 meters 0.06981719440438629 Centerline is valid? [True, True] Translation: X:99.84, Y:-7.66, Z:-3.92 [[ 9.99918123e-01 9.73317597e-03 8.30740825e-03 9.98353186e+01] [-9.73044235e-03 9.99952590e-01 -3.69413837e-04 -7.65628377e+00] [-8.31060996e-03 2.88548834e-04 9.99965425e-01 -3.91592958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.491346184 meters 0.06972613166406914 Centerline is valid? [True, True] Translation: X:99.86, Y:-7.66, Z:-3.92 [[ 9.99900627e-01 1.06981245e-02 9.18071798e-03 9.98644267e+01] [-1.06948348e-02 9.99942726e-01 -4.07347242e-04 -7.65630658e+00] [-9.18455001e-03 3.09120501e-04 9.99957773e-01 -3.91674584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.521346184 meters 0.06936700025865575 Centerline is valid? [True, True] Translation: X:99.89, Y:-7.66, Z:-3.92 [[ 9.99879033e-01 1.13704893e-02 1.06127863e-02 9.98944744e+01] [-1.13661296e-02 9.99935293e-01 -4.71022128e-04 -7.65665121e+00] [-1.06174553e-02 3.50338846e-04 9.99943572e-01 -3.91609453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.551346184 meters 0.06916938018998965 Centerline is valid? [True, True] Translation: X:99.92, Y:-7.66, Z:-3.92 [[ 9.99863910e-01 1.18105555e-02 1.15183836e-02 9.99243864e+01] [-1.18054549e-02 9.99930183e-01 -5.10711680e-04 -7.65885563e+00] [-1.15236112e-02 3.74662418e-04 9.99933531e-01 -3.91802297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.581346184 meters 0.0687835662556476 Centerline is valid? [True, True] Translation: X:99.95, Y:-7.66, Z:-3.92 [[ 9.99864790e-01 1.21406920e-02 1.10907921e-02 9.99541765e+01] [-1.21359963e-02 9.99926236e-01 -4.90590178e-04 -7.66394046e+00] [-1.10959301e-02 3.55926033e-04 9.99938375e-01 -3.92075866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.611346184 meters 0.06877121214283036 Centerline is valid? [True, True] Translation: X:99.98, Y:-7.67, Z:-3.92 [[ 9.99854927e-01 1.21772114e-02 1.19096423e-02 9.99832766e+01] [-1.21717898e-02 9.99925782e-01 -5.27610568e-04 -7.66600478e+00] [-1.19151832e-02 3.82572363e-04 9.99928938e-01 -3.92230680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641346184 meters 0.06887523114063715 Centerline is valid? [True, True] Translation: X:100.01, Y:-7.67, Z:-3.92 [[ 9.99866260e-01 1.19785050e-02 1.11345397e-02 1.00013993e+02] [-1.19737667e-02 9.99928191e-01 -4.92125262e-04 -7.66748580e+00] [-1.11396351e-02 3.58737065e-04 9.99937888e-01 -3.92270460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.671346184 meters 0.06887523114063715 Centerline is valid? [True, True] Translation: X:100.04, Y:-7.67, Z:-3.92 [[ 9.99866689e-01 1.19426724e-02 1.11345032e-02 1.00043117e+02] [-1.19379226e-02 9.99928619e-01 -4.92951276e-04 -7.66872792e+00] [-1.11395956e-02 3.59962722e-04 9.99937888e-01 -3.92370213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70134618399999 meters 0.06910414711177144 Centerline is valid? [True, True] Translation: X:100.07, Y:-7.67, Z:-3.92 [[ 9.99893755e-01 1.11384817e-02 9.40283638e-03 1.00073226e+02] [-1.11350645e-02 9.99937917e-01 -4.15694015e-04 -7.66952020e+00] [-9.40688283e-03 3.10948659e-04 9.99955706e-01 -3.92439407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73134618399999 meters 0.06963201027621672 Centerline is valid? [True, True] Translation: X:100.10, Y:-7.67, Z:-3.93 [[ 9.99904850e-01 1.08456800e-02 8.52417515e-03 1.00101688e+02] [-1.08428541e-02 9.99941143e-01 -3.77659670e-04 -7.67105563e+00] [-8.52776942e-03 2.85197348e-04 9.99963597e-01 -3.92560223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76134618399999 meters 0.0695273067229308 Centerline is valid? [True, True] Translation: X:100.13, Y:-7.67, Z:-3.93 [[ 9.99910569e-01 1.06061548e-02 8.14637497e-03 1.00131615e+02] [-1.06035726e-02 9.99943716e-01 -3.60099793e-04 -7.67234249e+00] [-8.14973573e-03 2.73686911e-04 9.99966753e-01 -3.92677394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79134618399999 meters 0.06983250877544211 Centerline is valid? [True, True] Translation: X:100.16, Y:-7.68, Z:-3.93 [[ 9.99913423e-01 1.00921539e-02 8.44367193e-03 1.00161149e+02] [-1.00893643e-02 9.99949032e-01 -3.72899370e-04 -7.68039431e+00] [-8.44700493e-03 2.87675803e-04 9.99964282e-01 -3.93087586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82134618399999 meters 0.0702257268099362 Centerline is valid? [True, True] Translation: X:100.19, Y:-7.69, Z:-3.93 [[ 9.99901862e-01 1.01991128e-02 9.60439378e-03 1.00190293e+02] [-1.01955176e-02 9.99947935e-01 -4.23216857e-04 -7.68537653e+00] [-9.60821016e-03 3.25253557e-04 9.99953787e-01 -3.93327951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.851346184 meters 0.07071820850645098 Centerline is valid? [True, True] Translation: X:100.22, Y:-7.69, Z:-3.93 [[ 9.99882825e-01 1.05643417e-02 1.10783930e-02 1.00219392e+02] [-1.05595839e-02 9.99944127e-01 -4.87873520e-04 -7.68909305e+00] [-1.10829281e-02 3.70833133e-04 9.99938514e-01 -3.93432852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.881346184 meters 0.06881023138273558 Centerline is valid? [True, True] Translation: X:100.25, Y:-7.68, Z:-3.93 [[ 9.99875127e-01 1.09635319e-02 1.13812274e-02 1.00250188e+02] [-1.09585431e-02 9.99939828e-01 -5.00608458e-04 -7.68351953e+00] [-1.13860310e-02 3.75824275e-04 9.99935106e-01 -3.93018993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.911346184 meters 0.06926522651859539 Centerline is valid? [True, True] Translation: X:100.28, Y:-7.68, Z:-3.93 [[ 9.99877871e-01 1.13958445e-02 1.06947389e-02 1.00280901e+02] [-1.13914849e-02 9.99935005e-01 -4.68472095e-04 -7.68489986e+00] [-1.06993824e-02 3.46585925e-04 9.99942700e-01 -3.93196497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.941346184 meters 0.06892022357054206 Centerline is valid? [True, True] Translation: X:100.31, Y:-7.68, Z:-3.93 [[ 9.99887902e-01 1.18420377e-02 9.16240609e-03 1.00311079e+02] [-1.18388345e-02 9.99929837e-01 -4.03770503e-04 -7.68448861e+00] [-9.16654469e-03 2.95253032e-04 9.99957943e-01 -3.93343930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.971346184 meters 0.06891899925083693 Centerline is valid? [True, True] Translation: X:100.34, Y:-7.69, Z:-3.94 [[ 9.99886123e-01 1.24105143e-02 8.58606499e-03 1.00339445e+02] [-1.24077066e-02 9.99922949e-01 -3.80197319e-04 -7.68667029e+00] [-8.59012187e-03 2.73620649e-04 9.99963067e-01 -3.93599084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001346184 meters 0.06921745018843059 Centerline is valid? [True, True] Translation: X:100.37, Y:-7.69, Z:-3.94 [[ 9.99878753e-01 1.34144890e-02 7.90758013e-03 1.00366879e+02] [-1.34121383e-02 9.99909992e-01 -3.50234191e-04 -7.69270219e+00] [-7.91156660e-03 2.44134168e-04 9.99968673e-01 -3.94089106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.031346184 meters 0.06914422368393418 Centerline is valid? [True, True] Translation: X:100.40, Y:-7.69, Z:-3.94 [[ 9.99880079e-01 1.35951721e-02 7.41613274e-03 1.00395418e+02] [-1.35931166e-02 9.99907556e-01 -3.27504274e-04 -7.69445153e+00] [-7.41989964e-03 2.26656642e-04 9.99972446e-01 -3.94266373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061346184 meters 0.06866295105162747 Centerline is valid? [True, True] Translation: X:100.42, Y:-7.69, Z:-3.94 [[ 9.99873978e-01 1.37014475e-02 8.01861877e-03 1.00424527e+02] [-1.36990537e-02 9.99906101e-01 -3.53384374e-04 -7.69365237e+00] [-8.02270771e-03 2.43492351e-04 9.99967788e-01 -3.94097574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09134618399999 meters 0.06783567142359177 Centerline is valid? [True, True] Translation: X:100.45, Y:-7.69, Z:-3.94 [[ 9.99863732e-01 1.37533966e-02 9.13027756e-03 1.00454079e+02] [-1.37503037e-02 9.99905380e-01 -4.01439455e-04 -7.68879114e+00] [-9.13493481e-03 2.75840662e-04 9.99958238e-01 -3.93512561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12134618399999 meters 0.06800869284047638 Centerline is valid? [True, True] Translation: X:100.48, Y:-7.69, Z:-3.94 [[ 9.99867556e-01 1.36356620e-02 8.88477279e-03 1.00482187e+02] [-1.36327299e-02 9.99906994e-01 -3.90500585e-04 -7.69070090e+00] [-8.88927118e-03 2.69325158e-04 9.99960453e-01 -3.93604836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15134618399999 meters 0.06809865206155091 Centerline is valid? [True, True] Translation: X:100.51, Y:-7.69, Z:-3.94 [[ 9.99857426e-01 1.40655093e-02 9.34282040e-03 1.00511038e+02] [-1.40622996e-02 9.99901037e-01 -4.09162538e-04 -7.69434106e+00] [-9.34765089e-03 2.77722663e-04 9.99956271e-01 -3.93905664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18134618399999 meters 0.06818767523710512 Centerline is valid? [True, True] Translation: X:100.54, Y:-7.70, Z:-3.95 [[ 9.99862833e-01 1.47749228e-02 7.48438105e-03 1.00539413e+02] [-1.47728833e-02 9.99890821e-01 -3.27713946e-04 -7.70056554e+00] [-7.48840586e-03 2.17103107e-04 9.99971938e-01 -3.94510348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21134618399999 meters 0.06816121440736377 Centerline is valid? [True, True] Translation: X:100.57, Y:-7.70, Z:-3.95 [[ 9.99855901e-01 1.59078555e-02 5.92595448e-03 1.00566656e+02] [-1.59065935e-02 9.99873448e-01 -2.60048941e-04 -7.70061446e+00] [-5.92934136e-03 1.65749719e-04 9.99982408e-01 -3.94809565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.241346184 meters 0.06804089943134663 Centerline is valid? [True, True] Translation: X:100.60, Y:-7.70, Z:-3.95 [[ 9.99844993e-01 1.68685694e-02 5.04388268e-03 1.00595411e+02] [-1.68676700e-02 9.99857706e-01 -2.20807656e-04 -7.69885582e+00] [-5.04688967e-03 1.35694881e-04 9.99987255e-01 -3.94917217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.271346184 meters 0.06778480781546839 Centerline is valid? [True, True] Translation: X:100.62, Y:-7.70, Z:-3.95 [[ 9.99822064e-01 1.81469466e-02 5.15059711e-03 1.00624444e+02] [-1.81460278e-02 9.99835322e-01 -2.25062187e-04 -7.69582457e+00] [-5.15383311e-03 1.31559262e-04 9.99986710e-01 -3.94890004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.301346184 meters 0.0668710909684765 Centerline is valid? [True, True] Translation: X:100.66, Y:-7.69, Z:-3.95 [[ 9.99744855e-01 2.15597327e-02 6.73816759e-03 1.00655035e+02] [-2.15582557e-02 9.99767551e-01 -2.91762237e-04 -7.69067704e+00] [-6.74289163e-03 1.46424655e-04 9.99977256e-01 -3.94746619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.331346184 meters 0.06638691138919178 Centerline is valid? [True, True] Translation: X:100.68, Y:-7.69, Z:-3.95 [[ 9.99705698e-01 2.30648399e-02 7.51873526e-03 1.00683494e+02] [-2.30630342e-02 9.99733959e-01 -3.26793481e-04 -7.69148630e+00] [-7.52427241e-03 1.53292457e-04 9.99971681e-01 -3.94811531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.361346184 meters 0.06654939791926924 Centerline is valid? [True, True] Translation: X:100.71, Y:-7.70, Z:-3.95 [[ 9.99664652e-01 2.44812711e-02 8.44105229e-03 1.00711188e+02] [-2.44790496e-02 9.99700276e-01 -3.66419700e-04 -7.69541181e+00] [-8.44749273e-03 1.59667884e-04 9.99964307e-01 -3.95243881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.391346184 meters 0.06613752276974272 Centerline is valid? [True, True] Translation: X:100.74, Y:-7.70, Z:-3.95 [[ 9.99670358e-01 2.41416618e-02 8.73816047e-03 1.00739285e+02] [-2.41392724e-02 9.99708534e-01 -3.78824600e-04 -7.69708690e+00] [-8.74475905e-03 1.67766888e-04 9.99961750e-01 -3.95039901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421346184 meters 0.06606605825745636 Centerline is valid? [True, True] Translation: X:100.77, Y:-7.70, Z:-3.95 [[ 9.99679546e-01 2.37457261e-02 8.77184958e-03 1.00768549e+02] [-2.37433187e-02 9.99718016e-01 -3.78499665e-04 -7.69651046e+00] [-8.77836381e-03 1.70105553e-04 9.99961455e-01 -3.94984006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45134618399999 meters 0.06634603776494634 Centerline is valid? [True, True] Translation: X:100.80, Y:-7.70, Z:-3.95 [[ 9.99694176e-01 2.31892245e-02 8.59154891e-03 1.00796700e+02] [-2.31868955e-02 9.99731079e-01 -3.70598420e-04 -7.69715709e+00] [-8.59783236e-03 1.71273735e-04 9.99963023e-01 -3.95046586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48134618399999 meters 0.06651815814301837 Centerline is valid? [True, True] Translation: X:100.83, Y:-7.70, Z:-3.95 [[ 9.99712682e-01 2.29518463e-02 6.91129175e-03 1.00825139e+02] [-2.29503369e-02 9.99736562e-01 -2.97633927e-04 -7.69787634e+00] [-6.91630231e-03 1.38931938e-04 9.99976072e-01 -3.95314709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51134618399999 meters 0.06684078828593082 Centerline is valid? [True, True] Translation: X:100.85, Y:-7.70, Z:-3.96 [[ 9.99700316e-01 2.33636853e-02 7.30870561e-03 1.00852696e+02] [-2.33620098e-02 9.99727022e-01 -3.14550036e-04 -7.70181242e+00] [-7.31405954e-03 1.43709718e-04 9.99973242e-01 -3.95708905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54134618399999 meters 0.06664481915349905 Centerline is valid? [True, True] Translation: X:100.88, Y:-7.71, Z:-3.96 [[ 9.99677802e-01 2.41689381e-02 7.75589521e-03 1.00881405e+02] [-2.41670859e-02 9.99707878e-01 -3.32461324e-04 -7.70531674e+00] [-7.76166478e-03 1.44916820e-04 9.99969867e-01 -3.95990235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57134618399999 meters 0.06638503535086247 Centerline is valid? [True, True] Translation: X:100.91, Y:-7.71, Z:-3.96 [[ 9.99678760e-01 2.41779070e-02 7.60299677e-03 1.00910560e+02] [-2.41761310e-02 9.99707662e-01 -3.25426548e-04 -7.70820225e+00] [-7.60864226e-03 1.41510962e-04 9.99971044e-01 -3.95968250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.601346184 meters 0.06639577634425017 Centerline is valid? [True, True] Translation: X:100.94, Y:-7.71, Z:-3.96 [[ 9.99699308e-01 2.36194726e-02 6.58892167e-03 1.00939047e+02] [-2.36181276e-02 9.99721013e-01 -2.81875678e-04 -7.70826297e+00] [-6.59374121e-03 1.26172927e-04 9.99978253e-01 -3.95873769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.631346184 meters 0.06635581601032653 Centerline is valid? [True, True] Translation: X:100.97, Y:-7.71, Z:-3.96 [[ 9.99688672e-01 2.37376307e-02 7.68662701e-03 1.00967363e+02] [-2.37358109e-02 9.99718212e-01 -3.27902706e-04 -7.70894287e+00] [-7.69224465e-03 1.45352296e-04 9.99970404e-01 -3.95780077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.661346184 meters 0.0658191368158565 Centerline is valid? [True, True] Translation: X:101.00, Y:-7.71, Z:-3.96 [[ 9.99687487e-01 2.36854333e-02 7.99559724e-03 1.00996705e+02] [-2.36834671e-02 9.99719449e-01 -3.40518706e-04 -7.70934406e+00] [-8.00141940e-03 1.51048825e-04 9.99967977e-01 -3.95599904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.691346184 meters 0.06637310001386797 Centerline is valid? [True, True] Translation: X:101.02, Y:-7.72, Z:-3.96 [[ 9.99658214e-01 2.49383047e-02 7.84444802e-03 1.01024284e+02] [-2.49364512e-02 9.99688983e-01 -3.34020634e-04 -7.71504382e+00] [-7.85033816e-03 1.38293775e-04 9.99969176e-01 -3.96070330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.721346184 meters 0.06560819893676142 Centerline is valid? [True, True] Translation: X:101.05, Y:-7.71, Z:-3.96 [[ 9.99638750e-01 2.58061505e-02 7.51074254e-03 1.01053118e+02] [-2.58044836e-02 9.99666958e-01 -3.18777128e-04 -7.71388885e+00] [-7.51646756e-03 1.24851137e-04 9.99971743e-01 -3.95934518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.751346184 meters 0.0651945394001034 Centerline is valid? [True, True] Translation: X:101.08, Y:-7.71, Z:-3.96 [[ 9.99593012e-01 2.75507145e-02 7.40056831e-03 1.01081830e+02] [-2.75491473e-02 9.99620401e-01 -3.13640645e-04 -7.71399098e+00] [-7.40640009e-03 1.09633650e-04 9.99972566e-01 -3.96059521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781346184 meters 0.06552968453383624 Centerline is valid? [True, True] Translation: X:101.11, Y:-7.72, Z:-3.97 [[ 9.99550256e-01 2.91576112e-02 7.00845608e-03 1.01109118e+02] [-2.91562445e-02 9.99574822e-01 -2.97114428e-04 -7.71749019e+00] [-7.01413939e-03 9.26405436e-05 9.99975396e-01 -3.96601404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.811346184 meters 0.06448359834353176 Centerline is valid? [True, True] Translation: X:101.14, Y:-7.72, Z:-3.96 [[ 9.99476184e-01 3.14813275e-02 7.50228214e-03 1.01138406e+02] [-3.14798367e-02 9.99504337e-01 -3.16746183e-04 -7.71796970e+00] [-7.50853512e-03 8.04096497e-05 9.99971807e-01 -3.96269345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84134618399999 meters 0.06454301689282174 Centerline is valid? [True, True] Translation: X:101.17, Y:-7.72, Z:-3.96 [[ 9.99488179e-01 3.12487628e-02 6.84792847e-03 1.01166513e+02] [-3.12475140e-02 9.99511635e-01 -2.89307870e-04 -7.71930397e+00] [-6.85362470e-03 7.51790555e-05 9.99976511e-01 -3.96397015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87134618399999 meters 0.06482206675284448 Centerline is valid? [True, True] Translation: X:101.19, Y:-7.72, Z:-3.97 [[ 9.99487187e-01 3.14728525e-02 5.90102464e-03 1.01194416e+02] [-3.14719232e-02 9.99504605e-01 -2.50300156e-04 -7.72110124e+00] [-5.90597896e-03 6.44552046e-05 9.99982557e-01 -3.96693940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90134618399999 meters 0.06472891320342021 Centerline is valid? [True, True] Translation: X:101.22, Y:-7.73, Z:-3.97 [[ 9.99502850e-01 3.10992437e-02 5.18555183e-03 1.01222746e+02] [-3.10985303e-02 9.99516300e-01 -2.18166169e-04 -7.72516594e+00] [-5.18982838e-03 5.67946673e-05 9.99986531e-01 -3.96748275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93134618399999 meters 0.06459352017890281 Centerline is valid? [True, True] Translation: X:101.25, Y:-7.73, Z:-3.97 [[ 9.99525853e-01 3.02819993e-02 5.57398230e-03 1.01250176e+02] [-3.02811600e-02 9.99541393e-01 -2.34931808e-04 -7.72911480e+00] [-5.57854023e-03 6.60337659e-05 9.99984438e-01 -3.96766008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96134618399999 meters 0.06436924778987076 Centerline is valid? [True, True] Translation: X:101.28, Y:-7.73, Z:-3.97 [[ 9.99559726e-01 2.88633333e-02 6.87475113e-03 1.01278835e+02] [-2.88620398e-02 9.99583363e-01 -2.87316219e-04 -7.73298389e+00] [-6.88017976e-03 8.87703806e-05 9.99976327e-01 -3.96649715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.991346184 meters 0.06445617055213872 Centerline is valid? [True, True] Translation: X:101.31, Y:-7.74, Z:-3.97 [[ 9.99615932e-01 2.67683139e-02 7.17258710e-03 1.01307127e+02] [-2.67668561e-02 9.99641659e-01 -2.99177903e-04 -7.73835199e+00] [-7.17802536e-03 1.07075392e-04 9.99974232e-01 -3.96647570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.021346184 meters 0.06516767687280878 Centerline is valid? [True, True] Translation: X:101.33, Y:-7.75, Z:-3.97 [[ 9.99712121e-01 2.27675944e-02 7.57051978e-03 1.01334683e+02] [-2.27658574e-02 9.99740774e-01 -3.15556092e-04 -7.75077956e+00] [-7.57574176e-03 1.43115876e-04 9.99971293e-01 -3.96854500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.051346184 meters 0.06491300955860539 Centerline is valid? [True, True] Translation: X:101.36, Y:-7.76, Z:-3.97 [[ 9.99761714e-01 2.04022419e-02 7.76295429e-03 1.01363725e+02] [-2.04003531e-02 9.99791839e-01 -3.22427952e-04 -7.75547191e+00] [-7.76791660e-03 1.63984114e-04 9.99969816e-01 -3.96649742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.081346184 meters 0.06568006212045893 Centerline is valid? [True, True] Translation: X:101.39, Y:-7.76, Z:-3.97 [[ 9.99826476e-01 1.74315911e-02 6.56949011e-03 1.01391398e+02] [-1.74301775e-02 9.99848046e-01 -2.72376855e-04 -7.76218804e+00] [-6.57323981e-03 1.57822213e-04 9.99978384e-01 -3.96936775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.111346184 meters 0.06619045860881835 Centerline is valid? [True, True] Translation: X:101.42, Y:-7.77, Z:-3.97 [[ 9.99881619e-01 1.40518114e-02 6.26854489e-03 1.01421041e+02] [-1.40504639e-02 9.99901254e-01 -2.58942794e-04 -7.76877490e+00] [-6.27156452e-03 1.70836177e-04 9.99980319e-01 -3.96881797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141346184 meters 0.06619481887244827 Centerline is valid? [True, True] Translation: X:101.45, Y:-7.77, Z:-3.97 [[ 9.99878940e-01 1.39103842e-02 6.97184223e-03 1.01449282e+02] [-1.39087100e-02 9.99903228e-01 -2.88576792e-04 -7.77025360e+00] [-6.97518176e-03 1.91572525e-04 9.99975655e-01 -3.96890190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.171346184 meters 0.06598817383123808 Centerline is valid? [True, True] Translation: X:101.48, Y:-7.77, Z:-3.97 [[ 9.99859612e-01 1.48387309e-02 7.78258106e-03 1.01477805e+02] [-1.48366795e-02 9.99889879e-01 -3.21268750e-04 -7.77178851e+00] [-7.78649125e-03 2.05755987e-04 9.99969664e-01 -3.96919272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20134618399999 meters 0.06588971277038913 Centerline is valid? [True, True] Translation: X:101.51, Y:-7.78, Z:-3.97 [[ 9.99839007e-01 1.61292346e-02 7.86182410e-03 1.01505317e+02] [-1.61271820e-02 9.99869896e-01 -3.24403583e-04 -7.77720493e+00] [-7.86603363e-03 1.97562288e-04 9.99969043e-01 -3.97310266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23134618399999 meters 0.06580131966966425 Centerline is valid? [True, True] Translation: X:101.53, Y:-7.78, Z:-3.98 [[ 9.99826717e-01 1.65828493e-02 8.45844780e-03 1.01533575e+02] [-1.65805019e-02 9.99862474e-01 -3.47574650e-04 -7.78083056e+00] [-8.46304832e-03 2.07269111e-04 9.99964166e-01 -3.97526522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26134618399999 meters 0.06487416744075376 Centerline is valid? [True, True] Translation: X:101.56, Y:-7.78, Z:-3.97 [[ 9.99813702e-01 1.68635657e-02 9.39054564e-03 1.01562236e+02] [-1.68606925e-02 9.99857774e-01 -3.85050577e-04 -7.78058681e+00] [-9.39570339e-03 2.26647740e-04 9.99955834e-01 -3.97225098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29134618399999 meters 0.06567561711264489 Centerline is valid? [True, True] Translation: X:101.59, Y:-7.78, Z:-3.97 [[ 9.99809877e-01 1.64887139e-02 1.04083151e-02 1.01590047e+02] [-1.64851704e-02 9.99864020e-01 -4.26151408e-04 -7.78448761e+00] [-1.04139265e-02 2.54487538e-04 9.99945741e-01 -3.97446662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32134618399999 meters 0.06573490301509453 Centerline is valid? [True, True] Translation: X:101.62, Y:-7.79, Z:-3.97 [[ 9.99809278e-01 1.61942228e-02 1.09158354e-02 1.01619128e+02] [-1.61903354e-02 9.99868829e-01 -4.44397126e-04 -7.78540953e+00] [-1.09216002e-02 2.67581333e-04 9.99940322e-01 -3.97268336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.351346184 meters 0.06493054674041313 Centerline is valid? [True, True] Translation: X:101.65, Y:-7.78, Z:-3.97 [[ 9.99809664e-01 1.61505642e-02 1.09450904e-02 1.01648313e+02] [-1.61466476e-02 9.99869535e-01 -4.46117573e-04 -7.78482031e+00] [-1.09508675e-02 2.69306142e-04 9.99940001e-01 -3.97116861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.381346184 meters 0.06517455762675642 Centerline is valid? [True, True] Translation: X:101.68, Y:-7.79, Z:-3.97 [[ 9.99814707e-01 1.57631659e-02 1.10487289e-02 1.01678160e+02] [-1.57591697e-02 9.99875716e-01 -4.48666011e-04 -7.78873847e+00] [-1.10544282e-02 2.74464082e-04 9.99938860e-01 -3.97282518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.411346184 meters 0.06586020195902492 Centerline is valid? [True, True] Translation: X:101.71, Y:-7.80, Z:-3.98 [[ 9.99880683e-01 1.28679385e-02 8.54605676e-03 1.01707057e+02] [-1.28654423e-02 9.99917177e-01 -3.47003372e-04 -7.79925663e+00] [-8.54981416e-03 2.37013168e-04 9.99963422e-01 -3.97822631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.441346184 meters 0.06697377014397685 Centerline is valid? [True, True] Translation: X:101.74, Y:-7.81, Z:-3.98 [[ 9.99920115e-01 1.04923934e-02 7.04791791e-03 1.01735746e+02] [-1.04906371e-02 9.99944931e-01 -2.86128320e-04 -7.80605483e+00] [-7.05053196e-03 2.12168313e-04 9.99975122e-01 -3.98190743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.471346184 meters 0.06762135743049721 Centerline is valid? [True, True] Translation: X:101.77, Y:-7.81, Z:-3.98 [[ 9.99953603e-01 8.02991201e-03 5.32101082e-03 1.01765692e+02] [-8.02888080e-03 9.99967745e-01 -2.15133642e-04 -7.80971601e+00] [-5.32256669e-03 1.72401899e-04 9.99985820e-01 -3.98364670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501346184 meters 0.06834533591828397 Centerline is valid? [True, True] Translation: X:101.80, Y:-7.81, Z:-3.98 [[ 9.99973388e-01 6.05968639e-03 4.06243686e-03 1.01795007e+02] [-6.05906489e-03 9.99981630e-01 -1.65279266e-04 -7.81287489e+00] [-4.06336378e-03 1.40660299e-04 9.99991735e-01 -3.98437621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.531346184 meters 0.06881810942175409 Centerline is valid? [True, True] Translation: X:101.82, Y:-7.82, Z:-3.98 [[ 9.99975646e-01 4.55562130e-03 5.28716085e-03 1.01823939e+02] [-4.55455323e-03 9.99989605e-01 -2.14035053e-04 -7.81755639e+00] [-5.28808095e-03 1.89949185e-04 9.99986000e-01 -3.98454312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561346184 meters 0.06885353806492013 Centerline is valid? [True, True] Translation: X:101.85, Y:-7.82, Z:-3.99 [[ 9.99973839e-01 4.56697291e-03 5.60931093e-03 1.01854994e+02] [-4.56578007e-03 9.99989551e-01 -2.25441915e-04 -7.82138403e+00] [-5.61028190e-03 1.99825137e-04 9.99984242e-01 -3.98595543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59134618399999 meters 0.06885353806492013 Centerline is valid? [True, True] Translation: X:101.89, Y:-7.82, Z:-3.99 [[ 9.99973679e-01 4.60180239e-03 5.60930308e-03 1.01885834e+02] [-4.60060900e-03 9.99989392e-01 -2.25636680e-04 -7.82267615e+00] [-5.61028191e-03 1.99824531e-04 9.99984242e-01 -3.98701112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62134618399999 meters 0.06777389643077852 Centerline is valid? [True, True] Translation: X:101.92, Y:-7.82, Z:-3.99 [[ 9.99971879e-01 4.74026423e-03 5.81133553e-03 1.01917160e+02] [-4.73898447e-03 9.99988744e-01 -2.33968527e-04 -7.82270077e+00] [-5.81237919e-03 2.06422118e-04 9.99983087e-01 -3.98599843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65134618399999 meters 0.06927955079314296 Centerline is valid? [True, True] Translation: X:101.95, Y:-7.83, Z:-3.99 [[ 9.99978573e-01 4.66744953e-03 4.59002894e-03 1.01947061e+02] [-4.66665619e-03 9.99989094e-01 -1.83534790e-04 -7.82988577e+00] [-4.59083552e-03 1.62110771e-04 9.99989449e-01 -3.99111811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68134618399999 meters 0.06991360626884749 Centerline is valid? [True, True] Translation: X:101.98, Y:-7.83, Z:-3.99 [[ 9.99985090e-01 3.92584292e-03 3.79567689e-03 1.01976901e+02] [-3.92528891e-03 9.99992284e-01 -1.53397809e-04 -7.83257856e+00] [-3.79624982e-03 1.38496393e-04 9.99992785e-01 -3.99376782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71134618399999 meters 0.07052450053157348 Centerline is valid? [True, True] Translation: X:102.01, Y:-7.83, Z:-4.00 [[ 9.99993992e-01 2.90629469e-03 1.88902686e-03 1.02007134e+02] [-2.90615510e-03 9.99995774e-01 -7.66323431e-05 -7.83488638e+00] [-1.88924159e-03 7.11420777e-05 9.99998213e-01 -3.99630110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.741346184 meters 0.0718126119289498 Centerline is valid? [True, True] Translation: X:102.04, Y:-7.84, Z:-4.00 [[ 9.99999285e-01 5.17847081e-04 1.07747569e-03 1.02036288e+02] [-5.17799686e-04 9.99999865e-01 -4.42658390e-05 -7.83937976e+00] [-1.07749847e-03 4.37078908e-05 9.99999419e-01 -3.99818349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.771346184 meters 0.06884469780199118 Centerline is valid? [True, True] Translation: X:102.07, Y:-7.83, Z:-3.99 [[ 9.99999017e-01 -3.75527163e-04 1.35121478e-03 1.02066883e+02] [ 3.75601541e-04 9.99999928e-01 -5.47921622e-05 -7.83423269e+00] [-1.35119411e-03 5.52996266e-05 9.99999086e-01 -3.99263920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.801346184 meters 0.06945375826443362 Centerline is valid? [True, True] Translation: X:102.10, Y:-7.84, Z:-4.00 [[ 9.99998026e-01 -1.16948766e-03 1.60662939e-03 1.02097263e+02] [ 1.16958974e-03 9.99999314e-01 -6.25984582e-05 -7.83855521e+00] [-1.60655508e-03 6.44774319e-05 9.99998707e-01 -3.99566190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.831346184 meters 0.07002548716741683 Centerline is valid? [True, True] Translation: X:102.13, Y:-7.84, Z:-4.00 [[ 9.99987505e-01 -3.56310153e-03 3.50633875e-03 1.02128786e+02] [ 3.56361896e-03 9.99993640e-01 -1.41333865e-04 -7.84300046e+00] [-3.50581286e-03 1.53827354e-04 9.99993843e-01 -3.99567006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.861346184 meters 0.07124370548256155 Centerline is valid? [True, True] Translation: X:102.16, Y:-7.85, Z:-4.00 [[ 9.99976546e-01 -5.63736197e-03 3.88954670e-03 1.02159272e+02] [ 5.63801542e-03 9.99984094e-01 -1.57058064e-04 -7.84623337e+00] [-3.88859944e-03 1.78983704e-04 9.99992423e-01 -3.99674947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.891346184 meters 0.0717920687982304 Centerline is valid? [True, True] Translation: X:102.19, Y:-7.85, Z:-4.00 [[ 9.99958183e-01 -8.09542871e-03 4.25402509e-03 1.02191000e+02] [ 8.09623147e-03 9.99967210e-01 -1.71519570e-04 -7.84827603e+00] [-4.25249708e-03 2.05953969e-04 9.99990937e-01 -3.99723776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921346184 meters 0.07427269635702992 Centerline is valid? [True, True] Translation: X:102.22, Y:-7.86, Z:-4.00 [[ 9.99912462e-01 -1.24948620e-02 4.35275738e-03 1.02220964e+02] [ 1.24957444e-02 9.99921910e-01 -1.75594161e-04 -7.85503296e+00] [-4.35022345e-03 2.29969734e-04 9.99990511e-01 -3.99918754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95134618399999 meters 0.07543838381650353 Centerline is valid? [True, True] Translation: X:102.25, Y:-7.86, Z:-4.00 [[ 9.99884934e-01 -1.48630918e-02 3.03421760e-03 1.02251704e+02] [ 1.48635342e-02 9.99889524e-01 -1.23298270e-04 -7.85774661e+00] [-3.03204980e-03 1.68383280e-04 9.99995389e-01 -4.00077824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98134618399999 meters 0.07607139398419378 Centerline is valid? [True, True] Translation: X:102.28, Y:-7.86, Z:-4.00 [[ 9.99861796e-01 -1.63401849e-02 3.06376064e-03 1.02283999e+02] [ 1.63406380e-02 9.99866475e-01 -1.22915125e-04 -7.86029150e+00] [-3.06134309e-03 1.72961941e-04 9.99995299e-01 -4.00144246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01134618399999 meters 0.07747764976099297 Centerline is valid? [True, True] Translation: X:102.31, Y:-7.86, Z:-4.00 [[ 9.99836482e-01 -1.76862251e-02 3.76914617e-03 1.02314735e+02] [ 1.76869172e-02 9.99843563e-01 -1.50374913e-04 -7.86401678e+00] [-3.76589698e-03 2.17014900e-04 9.99992885e-01 -4.00322090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04134618399999 meters 0.07790510327615204 Centerline is valid? [True, True] Translation: X:102.35, Y:-7.87, Z:-4.00 [[ 9.99785205e-01 -2.03201980e-02 4.07832999e-03 1.02345780e+02] [ 2.03210468e-02 9.99793492e-01 -1.66805892e-04 -7.86689200e+00] [-4.07409825e-03 2.49645998e-04 9.99991670e-01 -4.00447423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07134618399999 meters 0.07835310155345622 Centerline is valid? [True, True] Translation: X:102.38, Y:-7.87, Z:-4.01 [[ 9.99771209e-01 -2.10878471e-02 3.58229611e-03 1.02377844e+02] [ 2.10885011e-02 9.99777602e-01 -1.44882670e-04 -7.86844363e+00] [-3.57844415e-03 2.20394778e-04 9.99993573e-01 -4.00546642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.101346184 meters 0.08095054363861076 Centerline is valid? [True, True] Translation: X:102.41, Y:-7.87, Z:-4.01 [[ 9.99752674e-01 -2.18590562e-02 4.09530814e-03 1.02409014e+02] [ 2.18599221e-02 9.99761029e-01 -1.66807556e-04 -7.87372621e+00] [-4.09068323e-03 2.56289418e-04 9.99991600e-01 -4.00792142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.131346184 meters 0.08131437895640564 Centerline is valid? [True, True] Translation: X:102.44, Y:-7.87, Z:-4.01 [[ 9.99746410e-01 -2.18995981e-02 5.24619445e-03 1.02440305e+02] [ 2.19010242e-02 9.99760121e-01 -2.14523957e-04 -7.87147235e+00] [-5.24023801e-03 3.29366587e-04 9.99986216e-01 -4.00834493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.161346184 meters 0.08139871940541969 Centerline is valid? [True, True] Translation: X:102.47, Y:-7.87, Z:-4.01 [[ 9.99756176e-01 -2.11400934e-02 6.37851464e-03 1.02473069e+02] [ 2.11421847e-02 9.99776445e-01 -2.60600691e-04 -7.87068022e+00] [-6.37157957e-03 3.95392885e-04 9.99979623e-01 -4.00909958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.191346184 meters 0.08110147528407743 Centerline is valid? [True, True] Translation: X:102.51, Y:-7.87, Z:-4.01 [[ 9.99769816e-01 -2.04630457e-02 6.44819403e-03 1.02505218e+02] [ 2.04651756e-02 9.99790531e-01 -2.64484269e-04 -7.86999601e+00] [-6.44143118e-03 3.96386812e-04 9.99979175e-01 -4.01062871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.221346184 meters 0.07726156984065916 Centerline is valid? [True, True] Translation: X:102.54, Y:-7.86, Z:-4.01 [[ 9.99781785e-01 -1.99415863e-02 6.22211423e-03 1.02537499e+02] [ 1.99435608e-02 9.99801075e-01 -2.55437486e-04 -7.86400579e+00] [-6.21578267e-03 3.79472859e-04 9.99980610e-01 -4.00978253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.251346184 meters 0.08014732689398488 Centerline is valid? [True, True] Translation: X:102.57, Y:-7.87, Z:-4.01 [[ 9.99813142e-01 -1.82930839e-02 6.24845669e-03 1.02568105e+02] [ 1.82950522e-02 9.99832598e-01 -2.57978228e-04 -7.86922375e+00] [-6.24269147e-03 3.72245864e-04 9.99980445e-01 -4.01481452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281346184 meters 0.0753908741896769 Centerline is valid? [True, True] Translation: X:102.60, Y:-7.86, Z:-4.01 [[ 9.99831834e-01 -1.74399456e-02 5.67019255e-03 1.02601422e+02] [ 1.74415442e-02 9.99847858e-01 -2.32597983e-04 -7.85814135e+00] [-5.66527337e-03 3.31455782e-04 9.99983897e-01 -4.01083540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.311346184 meters 0.07709018612109168 Centerline is valid? [True, True] Translation: X:102.63, Y:-7.86, Z:-4.01 [[ 9.99848276e-01 -1.64271024e-02 5.79449663e-03 1.02632381e+02] [ 1.64287644e-02 9.99865010e-01 -2.39339519e-04 -7.85963163e+00] [-5.78978278e-03 3.34499625e-04 9.99983183e-01 -4.01236454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34134618399999 meters 0.08162646426320566 Centerline is valid? [True, True] Translation: X:102.66, Y:-7.86, Z:-4.02 [[ 9.99853394e-01 -1.55297656e-02 7.21229345e-03 1.02662239e+02] [ 1.55323306e-02 9.99879321e-01 -2.99769736e-04 -7.86485898e+00] [-7.20676773e-03 4.11749514e-04 9.99973946e-01 -4.01638973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37134618399999 meters 0.07749722171905281 Centerline is valid? [True, True] Translation: X:102.69, Y:-7.86, Z:-4.01 [[ 9.99860011e-01 -1.48833623e-02 7.64483267e-03 1.02694497e+02] [ 1.48862163e-02 9.99889144e-01 -3.16547829e-04 -7.85783566e+00] [-7.63927390e-03 4.30306148e-04 9.99970728e-01 -4.01388328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40134618399999 meters 0.07910856916453561 Centerline is valid? [True, True] Translation: X:102.73, Y:-7.86, Z:-4.02 [[ 9.99867770e-01 -1.44262112e-02 7.50508887e-03 1.02725215e+02] [ 1.44289220e-02 9.99895851e-01 -3.07176122e-04 -7.86237974e+00] [-7.49987583e-03 4.15425846e-04 9.99971789e-01 -4.01736560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43134618399999 meters 0.07470900516244514 Centerline is valid? [True, True] Translation: X:102.76, Y:-7.86, Z:-4.02 [[ 9.99873803e-01 -1.33514388e-02 8.60910670e-03 1.02757343e+02] [ 1.33550288e-02 9.99910753e-01 -3.59641498e-04 -7.85516865e+00] [-8.60353663e-03 4.74570980e-04 9.99962876e-01 -4.01538465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46134618399999 meters 0.07497595084120101 Centerline is valid? [True, True] Translation: X:102.79, Y:-7.85, Z:-4.02 [[ 9.99893967e-01 -1.06988194e-02 9.87878835e-03 1.02787477e+02] [ 1.07034383e-02 9.99942631e-01 -4.14808407e-04 -7.85434701e+00] [-9.87378365e-03 5.20501425e-04 9.99951118e-01 -4.01777850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.491346184 meters 0.08071789479048058 Centerline is valid? [True, True] Translation: X:102.82, Y:-7.86, Z:-4.03 [[ 9.99913885e-01 -8.95983589e-03 9.58869778e-03 1.02817834e+02] [ 8.96409571e-03 9.99959741e-01 -4.01367054e-04 -7.86483205e+00] [-9.58471557e-03 4.87286495e-04 9.99953947e-01 -4.02539156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.521346184 meters 0.0733996574465206 Centerline is valid? [True, True] Translation: X:102.85, Y:-7.85, Z:-4.02 [[ 9.99937296e-01 -6.95977801e-03 8.77296747e-03 1.02851438e+02] [ 6.96326141e-03 9.99975689e-01 -3.66577821e-04 -7.84863118e+00] [-8.77020289e-03 4.27643301e-04 9.99961450e-01 -4.02026131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.551346184 meters 0.07172105922406286 Centerline is valid? [True, True] Translation: X:102.88, Y:-7.84, Z:-4.02 [[ 9.99964665e-01 -1.37960357e-03 8.29249447e-03 1.02882839e+02] [ 1.38254593e-03 9.99998983e-01 -3.49100038e-04 -7.84049678e+00] [-8.29200442e-03 3.60552457e-04 9.99965556e-01 -4.02225292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.581346184 meters 0.07046596157100357 Centerline is valid? [True, True] Translation: X:102.91, Y:-7.84, Z:-4.02 [[ 9.99954048e-01 1.34928472e-03 9.49115154e-03 1.02914095e+02] [-1.34555753e-03 9.99999015e-01 -3.99076367e-04 -7.83748116e+00] [-9.49168066e-03 3.86287138e-04 9.99954878e-01 -4.02253848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.611346184 meters 0.0693535352175526 Centerline is valid? [True, True] Translation: X:102.95, Y:-7.83, Z:-4.02 [[ 9.99939792e-01 4.07030197e-03 1.01904759e-02 1.02945535e+02] [-4.06614182e-03 9.99991641e-01 -4.28924216e-04 -7.83488769e+00] [-1.01921366e-02 3.87462471e-04 9.99947984e-01 -4.02279638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641346184 meters 0.06877702724205573 Centerline is valid? [True, True] Translation: X:102.98, Y:-7.83, Z:-4.02 [[ 9.99890346e-01 8.20020869e-03 1.23309915e-02 1.02975622e+02] [-8.19441246e-03 9.99966290e-01 -5.20506059e-04 -7.83401137e+00] [-1.23348441e-02 4.19403753e-04 9.99923835e-01 -4.02320640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.671346184 meters 0.06787845195190585 Centerline is valid? [True, True] Translation: X:103.01, Y:-7.83, Z:-4.02 [[ 9.99869741e-01 9.80119713e-03 1.28233114e-02 1.03008300e+02] [-9.79512808e-03 9.99951883e-01 -5.36003432e-04 -7.83270891e+00] [-1.28279478e-02 4.10327635e-04 9.99917634e-01 -4.02336338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70134618399999 meters 0.06794685490042458 Centerline is valid? [True, True] Translation: X:103.04, Y:-7.83, Z:-4.03 [[ 9.99834571e-01 1.16390203e-02 1.39772544e-02 1.03039899e+02] [-1.16319293e-02 9.99932174e-01 -5.88512757e-04 -7.83471952e+00] [-1.39831561e-02 4.25832964e-04 9.99902140e-01 -4.02536782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73134618399999 meters 0.06826278602969296 Centerline is valid? [True, True] Translation: X:103.07, Y:-7.83, Z:-4.03 [[ 9.99881775e-01 1.02906474e-02 1.14253628e-02 1.03072096e+02] [-1.02857616e-02 9.99946982e-01 -4.86314056e-04 -7.83422488e+00] [-1.14297615e-02 3.68738004e-04 9.99934610e-01 -4.02831237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76134618399999 meters 0.06770039450181825 Centerline is valid? [True, True] Translation: X:103.10, Y:-7.83, Z:-4.03 [[ 9.99898078e-01 9.81746867e-03 1.03658282e-02 1.03103952e+02] [-9.81340808e-03 9.99951749e-01 -4.42520248e-04 -7.83220226e+00] [-1.03696725e-02 3.40751043e-04 9.99946175e-01 -4.02787906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79134618399999 meters 0.06780441118862819 Centerline is valid? [True, True] Translation: X:103.14, Y:-7.83, Z:-4.03 [[ 9.99918794e-01 8.16929681e-03 9.78097461e-03 1.03135493e+02] [-8.16560017e-03 9.99966574e-01 -4.17818116e-04 -7.83251660e+00] [-9.78406095e-03 3.37916659e-04 9.99952078e-01 -4.02882466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82134618399999 meters 0.06957320342079545 Centerline is valid? [True, True] Translation: X:103.17, Y:-7.84, Z:-4.03 [[ 9.99935236e-01 5.67777163e-03 9.86342766e-03 1.03165775e+02] [-5.67388764e-03 9.99983814e-01 -4.21715495e-04 -7.84137808e+00] [-9.86566242e-03 3.65724203e-04 9.99951266e-01 -4.03372550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.851346184 meters 0.06988252404627518 Centerline is valid? [True, True] Translation: X:103.20, Y:-7.85, Z:-4.04 [[ 9.99927801e-01 4.80002028e-03 1.10159700e-02 1.03197293e+02] [-4.79514184e-03 9.99988393e-01 -4.69221902e-04 -7.84592524e+00] [-1.10180944e-02 4.16364887e-04 9.99939212e-01 -4.03579821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.881346184 meters 0.06996550516140286 Centerline is valid? [True, True] Translation: X:103.23, Y:-7.85, Z:-4.04 [[ 9.99923305e-01 3.87996869e-03 1.17613877e-02 1.03229563e+02] [-3.87435115e-03 9.99992369e-01 -5.00372877e-04 -7.84951713e+00] [-1.17632394e-02 4.54766755e-04 9.99930707e-01 -4.03644716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.911346184 meters 0.07056777591415468 Centerline is valid? [True, True] Translation: X:103.26, Y:-7.85, Z:-4.04 [[ 9.99910897e-01 2.03312684e-03 1.31933809e-02 1.03261515e+02] [-2.02583928e-03 9.99997788e-01 -5.65705798e-04 -7.85351730e+00] [-1.31945018e-02 5.38927722e-04 9.99912804e-01 -4.03590945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.941346184 meters 0.07110373806101493 Centerline is valid? [True, True] Translation: X:103.29, Y:-7.85, Z:-4.04 [[ 9.99905935e-01 1.46387953e-03 1.36373692e-02 1.03293632e+02] [-1.45598939e-03 9.99998767e-01 -5.88477449e-04 -7.85419123e+00] [-1.36382138e-02 5.68566229e-04 9.99906834e-01 -4.03551322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.971346184 meters 0.07048647944121854 Centerline is valid? [True, True] Translation: X:103.33, Y:-7.85, Z:-4.03 [[ 9.99910952e-01 1.08756802e-03 1.33005384e-02 1.03326108e+02] [-1.07999025e-03 9.99999250e-01 -5.76903370e-04 -7.85116761e+00] [-1.33011559e-02 5.62487546e-04 9.99911378e-01 -4.03480692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001346184 meters 0.07092591447289259 Centerline is valid? [True, True] Translation: X:103.36, Y:-7.85, Z:-4.04 [[ 9.99915363e-01 1.32638169e-03 1.29424872e-02 1.03358779e+02] [-1.31919662e-03 9.99998971e-01 -5.63675268e-04 -7.85244291e+00] [-1.29432215e-02 5.46553875e-04 9.99916084e-01 -4.03716766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.031346184 meters 0.07586830907919512 Centerline is valid? [True, True] Translation: X:103.39, Y:-7.87, Z:-4.05 [[ 9.99920034e-01 5.15928524e-04 1.26356686e-02 1.03388784e+02] [-5.08957362e-04 9.99999717e-01 -5.54914457e-04 -7.87004850e+00] [-1.26359514e-02 5.48439066e-04 9.99920013e-01 -4.04834438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061346184 meters 0.07177815118142468 Centerline is valid? [True, True] Translation: X:103.42, Y:-7.86, Z:-4.05 [[ 9.99917621e-01 -2.42902172e-05 1.28354917e-02 1.03421190e+02] [ 3.15631203e-05 9.99999839e-01 -5.66422162e-04 -7.86424516e+00] [-1.28354758e-02 5.66780629e-04 9.99917461e-01 -4.04557913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09134618399999 meters 0.07197068347702508 Centerline is valid? [True, True] Translation: X:103.45, Y:-7.86, Z:-4.04 [[ 9.99893162e-01 -1.67478301e-04 1.46163421e-02 1.03453848e+02] [ 1.76996534e-04 9.99999773e-01 -6.49913681e-04 -7.86455633e+00] [-1.46162299e-02 6.52431287e-04 9.99892964e-01 -4.04319761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12134618399999 meters 0.07233886392811197 Centerline is valid? [True, True] Translation: X:103.49, Y:-7.87, Z:-4.04 [[ 9.99892866e-01 -5.42527442e-04 1.46274680e-02 1.03486046e+02] [ 5.52154394e-04 9.99999634e-01 -6.54111536e-04 -7.86512759e+00] [-1.46271078e-02 6.62118078e-04 9.99892799e-01 -4.04246504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15134618399999 meters 0.07261315724274235 Centerline is valid? [True, True] Translation: X:103.52, Y:-7.87, Z:-4.04 [[ 9.99876914e-01 -5.56300399e-04 1.56795312e-02 1.03517633e+02] [ 5.67440178e-04 9.99999590e-01 -7.06026415e-04 -7.86646882e+00] [-1.56791320e-02 7.14836709e-04 9.99876819e-01 -4.04185674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18134618399999 meters 0.07179299233181241 Centerline is valid? [True, True] Translation: X:103.55, Y:-7.87, Z:-4.04 [[ 9.99846796e-01 -4.08255866e-06 1.75038575e-02 1.03550027e+02] [ 1.80135180e-05 9.99999683e-01 -7.95721794e-04 -7.86666290e+00] [-1.75038487e-02 7.95915192e-04 9.99846479e-01 -4.04144360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21134618399999 meters 0.07286778362628343 Centerline is valid? [True, True] Translation: X:103.58, Y:-7.87, Z:-4.04 [[ 9.99829971e-01 2.85630915e-04 1.84376477e-02 1.03580926e+02] [-2.70216548e-04 9.99999612e-01 -8.38512689e-04 -7.87217300e+00] [-1.84378801e-02 8.33387960e-04 9.99829661e-01 -4.04396667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.241346184 meters 0.07038037413563673 Centerline is valid? [True, True] Translation: X:103.61, Y:-7.87, Z:-4.05 [[ 9.99850976e-01 2.35217785e-03 1.71024139e-02 1.03613354e+02] [-2.33916183e-03 9.99996959e-01 -7.81027774e-04 -7.86920474e+00] [-1.71041990e-02 7.40906069e-04 9.99853438e-01 -4.04518355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.271346184 meters 0.07166116960164781 Centerline is valid? [True, True] Translation: X:103.64, Y:-7.87, Z:-4.05 [[ 9.99860792e-01 3.38208214e-03 1.63388560e-02 1.03644044e+02] [-3.37036965e-03 9.99994043e-01 -7.44331603e-04 -7.87291344e+00] [-1.63412760e-02 6.89160002e-04 9.99866235e-01 -4.04886647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.301346184 meters 0.07122593271876242 Centerline is valid? [True, True] Translation: X:103.68, Y:-7.87, Z:-4.05 [[ 9.99875324e-01 4.45165928e-03 1.51498981e-02 1.03676392e+02] [-4.44166892e-03 9.99989896e-01 -6.93017563e-04 -7.87117060e+00] [-1.51528301e-02 6.25640328e-04 9.99884994e-01 -4.04988067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.331346184 meters 0.07004501119775017 Centerline is valid? [True, True] Translation: X:103.71, Y:-7.87, Z:-4.05 [[ 9.99868040e-01 5.74588447e-03 1.51949592e-02 1.03709186e+02] [-5.73592881e-03 9.99983305e-01 -6.98695179e-04 -7.86859828e+00] [-1.51987201e-02 6.11445775e-04 9.99884306e-01 -4.05047136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.361346184 meters 0.06990109055290601 Centerline is valid? [True, True] Translation: X:103.74, Y:-7.87, Z:-4.06 [[ 9.99854126e-01 9.24326516e-03 1.43627746e-02 1.03739039e+02] [-9.23461777e-03 9.99957137e-01 -6.68274808e-04 -7.87097712e+00] [-1.43683360e-02 5.35542590e-04 9.99896627e-01 -4.05541778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.391346184 meters 0.069173299622061 Centerline is valid? [True, True] Translation: X:103.77, Y:-7.87, Z:-4.06 [[ 9.99861413e-01 1.04209152e-02 1.29830348e-02 1.03771715e+02] [-1.04139662e-02 9.99945592e-01 -6.02730106e-04 -7.87169264e+00] [-1.29886094e-02 4.67441690e-04 9.99915535e-01 -4.05750079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421346184 meters 0.0691521694545179 Centerline is valid? [True, True] Translation: X:103.80, Y:-7.87, Z:-4.06 [[ 9.99838584e-01 1.21230708e-02 1.32603321e-02 1.03803501e+02] [-1.21159989e-02 9.99926410e-01 -6.13516229e-04 -7.87387115e+00] [-1.32667939e-02 4.52755028e-04 9.99911890e-01 -4.05773255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45134618399999 meters 0.06849829651096614 Centerline is valid? [True, True] Translation: X:103.83, Y:-7.87, Z:-4.06 [[ 9.99823091e-01 1.21805571e-02 1.43324987e-02 1.03834823e+02] [-1.21721787e-02 9.99925691e-01 -6.71665862e-04 -7.87167055e+00] [-1.43396149e-02 4.97089303e-04 9.99897059e-01 -4.05545565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48134618399999 meters 0.06849829651096614 Centerline is valid? [True, True] Translation: X:103.87, Y:-7.87, Z:-4.06 [[ 9.99819984e-01 1.24328019e-02 1.43326765e-02 1.03866604e+02] [-1.24245034e-02 9.99922590e-01 -6.67891193e-04 -7.87330823e+00] [-1.43398708e-02 4.89694574e-04 9.99897059e-01 -4.05654397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51134618399999 meters 0.06816921467667944 Centerline is valid? [True, True] Translation: X:103.90, Y:-7.87, Z:-4.06 [[ 9.99783133e-01 1.35404018e-02 1.58222550e-02 1.03897788e+02] [-1.35302865e-02 9.99908183e-01 -7.46184784e-04 -7.87259984e+00] [-1.58309059e-02 5.31943318e-04 9.99874542e-01 -4.05510390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54134618399999 meters 0.06798714210111394 Centerline is valid? [True, True] Translation: X:103.93, Y:-7.87, Z:-4.06 [[ 9.99759747e-01 1.43852606e-02 1.65382093e-02 1.03928963e+02] [-1.43743137e-02 9.99896380e-01 -7.80604481e-04 -7.87342522e+00] [-1.65477248e-02 5.42691530e-04 9.99862930e-01 -4.05532939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57134618399999 meters 0.06815068493906168 Centerline is valid? [True, True] Translation: X:103.96, Y:-7.88, Z:-4.06 [[ 9.99743739e-01 1.50263802e-02 1.69311402e-02 1.03959968e+02] [-1.50150453e-02 9.99886951e-01 -7.96397732e-04 -7.87669543e+00] [-1.69411931e-02 5.41971810e-04 9.99856341e-01 -4.05813322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.601346184 meters 0.06793903129047296 Centerline is valid? [True, True] Translation: X:103.99, Y:-7.88, Z:-4.06 [[ 9.99765529e-01 1.62724420e-02 1.42861377e-02 1.03991371e+02] [-1.62644135e-02 9.99867496e-01 -6.77984706e-04 -7.87884008e+00] [-1.42952772e-02 4.45470087e-04 9.99897718e-01 -4.06319028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.631346184 meters 0.06867952798868779 Centerline is valid? [True, True] Translation: X:104.02, Y:-7.88, Z:-4.07 [[ 9.99799056e-01 1.55181956e-02 1.26898629e-02 1.04020789e+02] [-1.55117819e-02 9.99879503e-01 -6.03695799e-04 -7.88167175e+00] [-1.26977021e-02 4.06732103e-04 9.99919298e-01 -4.06705937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.661346184 meters 0.06894420257302322 Centerline is valid? [True, True] Translation: X:104.05, Y:-7.88, Z:-4.07 [[ 9.99832199e-01 1.46076119e-02 1.10540674e-02 1.04050616e+02] [-1.46026864e-02 9.99893237e-01 -5.26165743e-04 -7.88295533e+00] [-1.10605732e-02 3.64658372e-04 9.99938763e-01 -4.06877460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.691346184 meters 0.07051413244913807 Centerline is valid? [True, True] Translation: X:104.08, Y:-7.89, Z:-4.07 [[ 9.99878336e-01 1.23654471e-02 9.50839448e-03 1.04079424e+02] [-1.23617192e-02 9.99923489e-01 -4.50740349e-04 -7.88658508e+00] [-9.51324059e-03 3.33145408e-04 9.99954693e-01 -4.07208205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.721346184 meters 0.0703309246011638 Centerline is valid? [True, True] Translation: X:104.11, Y:-7.89, Z:-4.07 [[ 9.99885457e-01 1.14158228e-02 9.93739546e-03 1.04109279e+02] [-1.14116839e-02 9.99934773e-01 -4.73099333e-04 -7.88732847e+00] [-9.94214809e-03 3.59642727e-04 9.99950511e-01 -4.07179951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.751346184 meters 0.07107793727210379 Centerline is valid? [True, True] Translation: X:104.14, Y:-7.89, Z:-4.07 [[ 9.99887942e-01 1.04979442e-02 1.06722377e-02 1.04138493e+02] [-1.04931277e-02 9.99944817e-01 -5.07208911e-04 -7.89090591e+00] [-1.06769735e-02 3.95166921e-04 9.99942921e-01 -4.07293649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781346184 meters 0.07148214039073247 Centerline is valid? [True, True] Translation: X:104.17, Y:-7.89, Z:-4.07 [[ 9.99878349e-01 9.19139865e-03 1.26018140e-02 1.04169178e+02] [-9.18458801e-03 9.99957642e-01 -5.98217558e-04 -7.89398172e+00] [-1.26067787e-02 4.82402315e-04 9.99920415e-01 -4.07262872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.811346184 meters 0.07179000031455435 Centerline is valid? [True, True] Translation: X:104.20, Y:-7.90, Z:-4.07 [[ 9.99882785e-01 8.62183213e-03 1.26522684e-02 1.04201627e+02] [-8.61498627e-03 9.99962713e-01 -5.95480648e-04 -7.89618300e+00] [-1.26569307e-02 4.86411730e-04 9.99919780e-01 -4.07337532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84134618399999 meters 0.07275694924520643 Centerline is valid? [True, True] Translation: X:104.23, Y:-7.90, Z:-4.07 [[ 9.99884826e-01 7.95597058e-03 1.29243265e-02 1.04233045e+02] [-7.94869926e-03 9.99968220e-01 -6.13879010e-04 -7.89898360e+00] [-1.29287997e-02 5.11076723e-04 9.99916289e-01 -4.07450568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87134618399999 meters 0.07269636420493926 Centerline is valid? [True, True] Translation: X:104.26, Y:-7.90, Z:-4.07 [[ 9.99887679e-01 7.69266166e-03 1.28628482e-02 1.04264815e+02] [-7.68544111e-03 9.99970280e-01 -6.10686473e-04 -7.90032047e+00] [-1.28671637e-02 5.11761218e-04 9.99917084e-01 -4.07477628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90134618399999 meters 0.07115285236362417 Centerline is valid? [True, True] Translation: X:104.30, Y:-7.90, Z:-4.07 [[ 9.99903478e-01 5.86209359e-03 1.25964122e-02 1.04297220e+02] [-5.85495183e-03 9.99982677e-01 -6.03770493e-04 -7.89794488e+00] [-1.25997334e-02 5.29960829e-04 9.99920480e-01 -4.07316293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93134618399999 meters 0.07182596369732326 Centerline is valid? [True, True] Translation: X:104.33, Y:-7.90, Z:-4.08 [[ 9.99910512e-01 5.24589054e-03 1.23064474e-02 1.04328040e+02] [-5.23906041e-03 9.99986104e-01 -5.87177845e-04 -7.90062852e+00] [-1.23093566e-02 5.22651079e-04 9.99924100e-01 -4.07579139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96134618399999 meters 0.07219419464675356 Centerline is valid? [True, True] Translation: X:104.36, Y:-7.90, Z:-4.08 [[ 9.99956656e-01 3.33082993e-03 8.69429667e-03 1.04359589e+02] [-3.32730761e-03 9.99994376e-01 -4.19562624e-04 -7.90044159e+00] [-8.69564527e-03 3.90615839e-04 9.99962116e-01 -4.07747339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.991346184 meters 0.073168953935447 Centerline is valid? [True, True] Translation: X:104.39, Y:-7.90, Z:-4.08 [[ 9.99958230e-01 2.86126592e-03 8.68052275e-03 1.04390835e+02] [-2.85775674e-03 9.99995830e-01 -4.16635714e-04 -7.90344576e+00] [-8.68167866e-03 3.91811489e-04 9.99962237e-01 -4.07952556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.021346184 meters 0.07324878990961729 Centerline is valid? [True, True] Translation: X:104.42, Y:-7.90, Z:-4.08 [[ 9.99948796e-01 3.44217790e-03 9.51616328e-03 1.04422884e+02] [-3.43799577e-03 9.99993986e-01 -4.55799918e-04 -7.90491341e+00] [-9.51767500e-03 4.23060050e-04 9.99954616e-01 -4.08068235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.051346184 meters 0.07282380491325843 Centerline is valid? [True, True] Translation: X:104.46, Y:-7.90, Z:-4.08 [[ 9.99924522e-01 4.38652472e-03 1.14764478e-02 1.04455036e+02] [-4.38045151e-03 9.99990252e-01 -5.54272641e-04 -7.90369272e+00] [-1.14787673e-02 5.03958782e-04 9.99933990e-01 -4.07998227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.081346184 meters 0.07216342931106766 Centerline is valid? [True, True] Translation: X:104.49, Y:-7.90, Z:-4.08 [[ 9.99930181e-01 4.82338804e-03 1.07874415e-02 1.04488142e+02] [-4.81803452e-03 9.99988257e-01 -5.22206265e-04 -7.90273442e+00] [-1.07898336e-02 4.70195539e-04 9.99941678e-01 -4.07998537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.111346184 meters 0.07275745137643218 Centerline is valid? [True, True] Translation: X:104.52, Y:-7.90, Z:-4.08 [[ 9.99934269e-01 4.49066483e-03 1.05495080e-02 1.04520675e+02] [-4.48548692e-03 9.99989808e-01 -5.14429512e-04 -7.90419029e+00] [-1.05517106e-02 4.67076018e-04 9.99944220e-01 -4.08217625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141346184 meters 0.07250538773694425 Centerline is valid? [True, True] Translation: X:104.55, Y:-7.90, Z:-4.08 [[ 9.99934022e-01 5.24733022e-03 1.02184616e-02 1.04553409e+02] [-5.24248905e-03 9.99986133e-01 -5.00495414e-04 -7.90436675e+00] [-1.02209461e-02 4.46892220e-04 9.99947665e-01 -4.08399649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.171346184 meters 0.07339974355863604 Centerline is valid? [True, True] Translation: X:104.58, Y:-7.90, Z:-4.09 [[ 9.99955088e-01 5.00281926e-03 8.04951557e-03 1.04584648e+02] [-4.99980165e-03 9.99987423e-01 -3.94960687e-04 -7.90498354e+00] [-8.05139025e-03 3.54696967e-04 9.99967524e-01 -4.08727110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20134618399999 meters 0.07337355444627867 Centerline is valid? [True, True] Translation: X:104.62, Y:-7.90, Z:-4.09 [[ 9.99959938e-01 5.62039886e-03 6.96659544e-03 1.04617350e+02] [-5.61815245e-03 9.99984160e-01 -3.41982523e-04 -7.90474398e+00] [-6.96840716e-03 3.02829428e-04 9.99975675e-01 -4.08824787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23134618399999 meters 0.0729318497547842 Centerline is valid? [True, True] Translation: X:104.65, Y:-7.90, Z:-4.09 [[ 9.99965705e-01 5.35564946e-03 6.31717499e-03 1.04648996e+02] [-5.35375494e-03 9.99985618e-01 -3.16771621e-04 -7.90334673e+00] [-6.31878066e-03 2.82940150e-04 9.99979996e-01 -4.08911453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26134618399999 meters 0.07357563253623665 Centerline is valid? [True, True] Translation: X:104.68, Y:-7.90, Z:-4.09 [[ 9.99966566e-01 6.62106089e-03 4.79876815e-03 1.04679123e+02] [-6.61998025e-03 9.99978059e-01 -2.41038764e-04 -7.90482135e+00] [-4.80025879e-03 2.09262954e-04 9.99988457e-01 -4.09382066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29134618399999 meters 0.07339848629029729 Centerline is valid? [True, True] Translation: X:104.71, Y:-7.90, Z:-4.09 [[ 9.99967420e-01 6.33010326e-03 5.00883497e-03 1.04709193e+02] [-6.32891400e-03 9.99979940e-01 -2.53248390e-04 -7.90489231e+00] [-5.01033758e-03 2.21539653e-04 9.99987424e-01 -4.09386134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32134618399999 meters 0.07278851247304181 Centerline is valid? [True, True] Translation: X:104.74, Y:-7.90, Z:-4.09 [[ 9.99947711e-01 7.49637125e-03 6.95559018e-03 1.04738935e+02] [-7.49411095e-03 9.99971857e-01 -3.50968648e-04 -7.90362768e+00] [-6.95802542e-03 2.98824331e-04 9.99975748e-01 -4.09345895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.351346184 meters 0.07183336033758483 Centerline is valid? [True, True] Translation: X:104.77, Y:-7.90, Z:-4.09 [[ 9.99921236e-01 9.77805249e-03 7.86839092e-03 1.04769891e+02] [-9.77524124e-03 9.99952143e-01 -3.95662803e-04 -7.89976149e+00] [-7.87188317e-03 3.18716220e-04 9.99968965e-01 -4.09284278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.381346184 meters 0.07131117897963235 Centerline is valid? [True, True] Translation: X:104.80, Y:-7.90, Z:-4.09 [[ 9.99910392e-01 1.07372532e-02 7.99501741e-03 1.04800009e+02] [-1.07343739e-02 9.99942304e-01 -4.02958960e-04 -7.89806426e+00] [-7.99888280e-03 3.17101345e-04 9.99967958e-01 -4.09331991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.411346184 meters 0.07115457965701394 Centerline is valid? [True, True] Translation: X:104.83, Y:-7.90, Z:-4.09 [[ 9.99901976e-01 1.17935845e-02 7.54653286e-03 1.04829863e+02] [-1.17910507e-02 9.99930411e-01 -3.80155953e-04 -7.89707788e+00] [-7.55049110e-03 2.91137137e-04 9.99971452e-01 -4.09447814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.441346184 meters 0.07130006911579037 Centerline is valid? [True, True] Translation: X:104.86, Y:-7.90, Z:-4.10 [[ 9.99905326e-01 1.18466983e-02 6.99966276e-03 1.04858953e+02] [-1.18445142e-02 9.99929789e-01 -3.53404806e-04 -7.89727706e+00] [-7.00335799e-03 2.70463743e-04 9.99975440e-01 -4.09558430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.471346184 meters 0.07199629928825893 Centerline is valid? [True, True] Translation: X:104.89, Y:-7.90, Z:-4.10 [[ 9.99926812e-01 1.09221814e-02 5.20344712e-03 1.04888132e+02] [-1.09209637e-02 9.99940330e-01 -2.62369920e-04 -7.89838096e+00] [-5.20600229e-03 2.05524061e-04 9.99986428e-01 -4.09935750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501346184 meters 0.07283623591674114 Centerline is valid? [True, True] Translation: X:104.92, Y:-7.90, Z:-4.10 [[ 9.99941369e-01 9.71341601e-03 4.78620590e-03 1.04916243e+02] [-9.71237213e-03 9.99952805e-01 -2.41296943e-04 -7.90160334e+00] [-4.78832383e-03 1.94797383e-04 9.99988517e-01 -4.10246825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.531346184 meters 0.07318094231420406 Centerline is valid? [True, True] Translation: X:104.94, Y:-7.90, Z:-4.10 [[ 9.99950569e-01 8.42412799e-03 5.28149293e-03 1.04944829e+02] [-8.42283871e-03 9.99964492e-01 -2.66308304e-04 -7.90439449e+00] [-5.28354881e-03 2.21809976e-04 9.99986017e-01 -4.10382613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561346184 meters 0.07429891027410676 Centerline is valid? [True, True] Translation: X:104.97, Y:-7.91, Z:-4.11 [[ 9.99968396e-01 6.53570494e-03 4.52684277e-03 1.04973570e+02] [-6.53474308e-03 9.99978623e-01 -2.27236523e-04 -7.90841077e+00] [-4.52823115e-03 1.97647587e-04 9.99989728e-01 -4.10614304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59134618399999 meters 0.07373375280694285 Centerline is valid? [True, True] Translation: X:105.00, Y:-7.91, Z:-4.10 [[ 9.99979160e-01 4.04499831e-03 5.03172925e-03 1.05003811e+02] [-4.04377983e-03 9.99991792e-01 -2.52310072e-04 -7.90636166e+00] [-5.03270854e-03 2.31957608e-04 9.99987309e-01 -4.10360421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62134618399999 meters 0.07423886785452695 Centerline is valid? [True, True] Translation: X:105.04, Y:-7.91, Z:-4.10 [[ 9.99976572e-01 3.36487543e-03 5.96090860e-03 1.05035134e+02] [-3.36316796e-03 9.99994301e-01 -2.96446132e-04 -7.90795469e+00] [-5.96187213e-03 2.76391650e-04 9.99982190e-01 -4.10377037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65134618399999 meters 0.0750106963347464 Centerline is valid? [True, True] Translation: X:105.07, Y:-7.91, Z:-4.11 [[ 9.99978753e-01 2.94282732e-03 5.81669892e-03 1.05066490e+02] [-2.94122523e-03 9.99995634e-01 -2.83963557e-04 -7.91114166e+00] [-5.81750918e-03 2.66849302e-04 9.99983043e-01 -4.10585388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68134618399999 meters 0.07559825769691363 Centerline is valid? [True, True] Translation: X:105.10, Y:-7.92, Z:-4.11 [[ 9.99981774e-01 3.45274330e-03 4.95273287e-03 1.05098035e+02] [-3.45159035e-03 9.99994014e-01 -2.41317809e-04 -7.91631780e+00] [-4.95353643e-03 2.24218605e-04 9.99987706e-01 -4.10913356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71134618399999 meters 0.07517222836573541 Centerline is valid? [True, True] Translation: X:105.13, Y:-7.92, Z:-4.11 [[ 9.99980358e-01 3.79193481e-03 4.99039444e-03 1.05129647e+02] [-3.79073163e-03 9.99992784e-01 -2.50536587e-04 -7.91623888e+00] [-4.99130845e-03 2.31614420e-04 9.99987517e-01 -4.10922903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.741346184 meters 0.07708417991908526 Centerline is valid? [True, True] Translation: X:105.16, Y:-7.92, Z:-4.11 [[ 9.99978251e-01 4.33978551e-03 4.96621486e-03 1.05160161e+02] [-4.33859728e-03 9.99990557e-01 -2.50009977e-04 -7.92016859e+00] [-4.96725295e-03 2.28458134e-04 9.99987637e-01 -4.11185783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.771346184 meters 0.07526710927870388 Centerline is valid? [True, True] Translation: X:105.19, Y:-7.92, Z:-4.11 [[ 9.99976627e-01 4.97505615e-03 4.68983009e-03 1.05191546e+02] [-4.97400324e-03 9.99987602e-01 -2.36146295e-04 -7.91530535e+00] [-4.69094679e-03 2.12813545e-04 9.99988975e-01 -4.11003765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.801346184 meters 0.07529834823290157 Centerline is valid? [True, True] Translation: X:105.22, Y:-7.92, Z:-4.11 [[ 9.99970989e-01 5.59142082e-03 5.17278367e-03 1.05222088e+02] [-5.59014474e-03 9.99984341e-01 -2.61116071e-04 -7.91818014e+00] [-5.17416268e-03 2.32191886e-04 9.99986587e-01 -4.11148060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.831346184 meters 0.07562713589671412 Centerline is valid? [True, True] Translation: X:105.25, Y:-7.92, Z:-4.11 [[ 9.99969615e-01 5.99446153e-03 4.98344882e-03 1.05251177e+02] [-5.99327968e-03 9.99982008e-01 -2.52056471e-04 -7.92175679e+00] [-4.98487010e-03 2.22181610e-04 9.99987551e-01 -4.11421239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.861346184 meters 0.07509028784697386 Centerline is valid? [True, True] Translation: X:105.28, Y:-7.92, Z:-4.11 [[ 9.99945220e-01 7.55582404e-03 7.24340080e-03 1.05281365e+02] [-7.55337419e-03 9.99971406e-01 -3.65514743e-04 -7.92150027e+00] [-7.24595545e-03 3.10782603e-04 9.99973699e-01 -4.11359108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.891346184 meters 0.07481454743703816 Centerline is valid? [True, True] Translation: X:105.31, Y:-7.92, Z:-4.12 [[ 9.99944656e-01 8.71957026e-03 5.88683686e-03 1.05311865e+02] [-8.71797226e-03 9.99961954e-01 -2.97060141e-04 -7.92083955e+00] [-5.88920313e-03 2.45722420e-04 9.99982628e-01 -4.11542069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921346184 meters 0.07312262317371303 Centerline is valid? [True, True] Translation: X:105.34, Y:-7.92, Z:-4.12 [[ 9.99927508e-01 1.10009554e-02 4.89465823e-03 1.05341248e+02] [-1.09998648e-02 9.99939468e-01 -2.49676725e-04 -7.91731133e+00] [-4.89710863e-03 1.95818047e-04 9.99987990e-01 -4.11618368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95134618399999 meters 0.07331538367033155 Centerline is valid? [True, True] Translation: X:105.37, Y:-7.92, Z:-4.12 [[ 9.99882634e-01 1.46455922e-02 4.49714544e-03 1.05369907e+02] [-1.46447145e-02 9.99892734e-01 -2.28045442e-04 -7.91826335e+00] [-4.50000291e-03 1.62159266e-04 9.99989862e-01 -4.12116780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98134618399999 meters 0.07201502698537295 Centerline is valid? [True, True] Translation: X:105.40, Y:-7.92, Z:-4.12 [[ 9.99875750e-01 1.52504500e-02 3.98862471e-03 1.05398470e+02] [-1.52497622e-02 9.99883695e-01 -2.02788243e-04 -7.91616023e+00] [-3.99125342e-03 1.41937468e-04 9.99992025e-01 -4.12077298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.011346184 meters 0.07218776296826558 Centerline is valid? [True, True] Translation: X:105.43, Y:-7.92, Z:-4.12 [[ 9.99857643e-01 1.62129044e-02 4.67283832e-03 1.05425766e+02] [-1.62119727e-02 9.99868549e-01 -2.37197292e-04 -7.91818012e+00] [-4.67606973e-03 1.61407599e-04 9.99989054e-01 -4.12284041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041346184 meters 0.07215779084227988 Centerline is valid? [True, True] Translation: X:105.45, Y:-7.92, Z:-4.12 [[ 9.99860977e-01 1.61782607e-02 4.03612884e-03 1.05454707e+02] [-1.61775668e-02 9.99869114e-01 -2.04519441e-04 -7.91928179e+00] [-4.03890934e-03 1.39196264e-04 9.99991834e-01 -4.12357195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.071346184 meters 0.07129862300638379 Centerline is valid? [True, True] Translation: X:105.48, Y:-7.92, Z:-4.12 [[ 9.99859520e-01 1.60060810e-02 4.97452762e-03 1.05484031e+02] [-1.60050287e-02 9.99871880e-01 -2.51282513e-04 -7.91696013e+00] [-4.97791233e-03 1.71629756e-04 9.99987595e-01 -4.12016292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101346184 meters 0.0716914408506507 Centerline is valid? [True, True] Translation: X:105.51, Y:-7.92, Z:-4.12 [[ 9.99863469e-01 1.55321031e-02 5.63890618e-03 1.05511468e+02] [-1.55307446e-02 9.99879350e-01 -2.84613172e-04 -7.92068193e+00] [-5.64264649e-03 1.96997901e-04 9.99984061e-01 -4.12153606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.131346184 meters 0.07154871923981761 Centerline is valid? [True, True] Translation: X:105.54, Y:-7.92, Z:-4.12 [[ 9.99863610e-01 1.48785978e-02 7.16852464e-03 1.05540579e+02] [-1.48764028e-02 9.99889276e-01 -3.59429957e-04 -7.92491756e+00] [-7.17307872e-03 2.52739075e-04 9.99974241e-01 -4.12200508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161346184 meters 0.07121475014881012 Centerline is valid? [True, True] Translation: X:105.57, Y:-7.93, Z:-4.12 [[ 9.99856619e-01 1.44253976e-02 8.86845729e-03 1.05568875e+02] [-1.44220242e-02 9.99895899e-01 -4.44216955e-04 -7.92879746e+00] [-8.87394208e-03 3.16252157e-04 9.99960576e-01 -4.12223075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.191346184 meters 0.07151712937124488 Centerline is valid? [True, True] Translation: X:105.60, Y:-7.93, Z:-4.12 [[ 9.99861955e-01 1.46812776e-02 7.78012321e-03 1.05596776e+02] [-1.46786858e-02 9.99892186e-01 -3.90135652e-04 -7.93033981e+00] [-7.78501210e-03 2.75879812e-04 9.99969658e-01 -4.12473070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221346184 meters 0.07147269065367527 Centerline is valid? [True, True] Translation: X:105.63, Y:-7.93, Z:-4.13 [[ 9.99863007e-01 1.53391831e-02 6.21898567e-03 1.05625305e+02] [-1.53375441e-02 9.99882325e-01 -3.11157759e-04 -7.93057006e+00] [-6.22302675e-03 2.15731166e-04 9.99980614e-01 -4.12599858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.251346184 meters 0.0712461061872569 Centerline is valid? [True, True] Translation: X:105.65, Y:-7.93, Z:-4.13 [[ 9.99848115e-01 1.62633407e-02 6.26504230e-03 1.05654449e+02] [-1.62616983e-02 9.99867721e-01 -3.13010261e-04 -7.93015285e+00] [-6.26930415e-03 2.11082492e-04 9.99980325e-01 -4.12697161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281346184 meters 0.06989707551244777 Centerline is valid? [True, True] Translation: X:105.68, Y:-7.93, Z:-4.13 [[ 9.99791237e-01 1.92558145e-02 6.83344588e-03 1.05683804e+02] [-1.92539381e-02 9.99814568e-01 -3.40273299e-04 -7.92784380e+00] [-6.83873098e-03 2.08631518e-04 9.99976594e-01 -4.12759202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.311346184 meters 0.06964568533333473 Centerline is valid? [True, True] Translation: X:105.71, Y:-7.93, Z:-4.13 [[ 9.99761570e-01 2.06108449e-02 7.21079647e-03 1.05712781e+02] [-2.06087907e-02 9.99787552e-01 -3.59072970e-04 -7.92974190e+00] [-7.21666534e-03 2.10381560e-04 9.99973937e-01 -4.12972974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341346184 meters 0.06946338792042306 Centerline is valid? [True, True] Translation: X:105.74, Y:-7.93, Z:-4.13 [[ 9.99739319e-01 2.17228958e-02 7.02925878e-03 1.05741510e+02] [-2.17209743e-02 9.99764011e-01 -3.49591363e-04 -7.93125604e+00] [-7.03519409e-03 1.96817882e-04 9.99975233e-01 -4.13137659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.371346184 meters 0.06888751581729975 Centerline is valid? [True, True] Translation: X:105.77, Y:-7.93, Z:-4.13 [[ 9.99712391e-01 2.22885225e-02 8.85199549e-03 1.05770307e+02] [-2.22855082e-02 9.99751551e-01 -4.39022698e-04 -7.93137992e+00] [-8.85958139e-03 2.41625213e-04 9.99960724e-01 -4.13047251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401346184 meters 0.06974880109108783 Centerline is valid? [True, True] Translation: X:105.80, Y:-7.94, Z:-4.13 [[ 9.99729064e-01 2.17376221e-02 8.32314121e-03 1.05797815e+02] [-2.17349382e-02 9.99763683e-01 -4.12780803e-04 -7.93592454e+00] [-8.33014718e-03 2.31766006e-04 9.99965277e-01 -4.13408867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.431346184 meters 0.06974880109108783 Centerline is valid? [True, True] Translation: X:105.83, Y:-7.94, Z:-4.14 [[ 9.99731250e-01 2.16368322e-02 8.32315889e-03 1.05825230e+02] [-2.16341478e-02 9.99765869e-01 -4.12424444e-04 -7.93713425e+00] [-8.33013374e-03 2.32249156e-04 9.99965277e-01 -4.13502939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461346184 meters 0.06991755671131408 Centerline is valid? [True, True] Translation: X:105.85, Y:-7.94, Z:-4.14 [[ 9.99729103e-01 2.13547541e-02 9.25718939e-03 1.05853794e+02] [-2.13514415e-02 9.99771928e-01 -4.56538159e-04 -7.94052062e+00] [-9.26482734e-03 2.58760146e-04 9.99957047e-01 -4.13670844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.491346184 meters 0.06995395967360647 Centerline is valid? [True, True] Translation: X:105.88, Y:-7.94, Z:-4.14 [[ 9.99745111e-01 2.10516475e-02 8.15722433e-03 1.05882501e+02] [-2.10490676e-02 9.99778363e-01 -4.02009260e-04 -7.94356777e+00] [-8.16387934e-03 2.30204826e-04 9.99966648e-01 -4.13823229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52134618399998 meters 0.07055387926337738 Centerline is valid? [True, True] Translation: X:105.91, Y:-7.95, Z:-4.14 [[ 9.99759799e-01 2.10032703e-02 6.26150976e-03 1.05909912e+02] [-2.10017458e-02 9.99779391e-01 -3.09136960e-04 -7.94546090e+00] [-6.26662131e-03 1.77560069e-04 9.99980349e-01 -4.14061660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55134618399998 meters 0.06985287985494612 Centerline is valid? [True, True] Translation: X:105.94, Y:-7.94, Z:-4.14 [[ 9.99756845e-01 2.11670609e-02 6.18110642e-03 1.05938974e+02] [-2.11655838e-02 9.99775938e-01 -3.04282617e-04 -7.94462028e+00] [-6.18616223e-03 1.73381904e-04 9.99980850e-01 -4.13964990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58134618399998 meters 0.0696503687597142 Centerline is valid? [True, True] Translation: X:105.97, Y:-7.95, Z:-4.14 [[ 9.99733936e-01 2.17982225e-02 7.54284245e-03 1.05967282e+02] [-2.17960488e-02 9.99762369e-01 -3.70275071e-04 -7.94812173e+00] [-7.54912138e-03 2.05772392e-04 9.99971484e-01 -4.14122311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61134618399998 meters 0.06987801470812388 Centerline is valid? [True, True] Translation: X:105.99, Y:-7.95, Z:-4.14 [[ 9.99732355e-01 2.21768618e-02 6.58820670e-03 1.05994526e+02] [-2.21752098e-02 9.99754047e-01 -3.23707816e-04 -7.95098953e+00] [-6.59376514e-03 1.77526311e-04 9.99978245e-01 -4.14482213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64134618399999 meters 0.06878168289346262 Centerline is valid? [True, True] Translation: X:106.02, Y:-7.95, Z:-4.14 [[ 9.99728943e-01 2.28231339e-02 4.59833411e-03 1.06023855e+02] [-2.28223354e-02 9.99739511e-01 -2.26042027e-04 -7.94927072e+00] [-4.60229528e-03 1.21036034e-04 9.99989402e-01 -4.14414935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.671346184 meters 0.06920952867976568 Centerline is valid? [True, True] Translation: X:106.05, Y:-7.95, Z:-4.15 [[ 9.99710812e-01 2.38254030e-02 3.26224673e-03 1.06051387e+02] [-2.38250032e-02 9.99716131e-01 -1.61364488e-04 -7.95048474e+00] [-3.26516525e-03 8.35947843e-05 9.99994666e-01 -4.14748738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.701346184 meters 0.06971891850619066 Centerline is valid? [True, True] Translation: X:106.08, Y:-7.95, Z:-4.15 [[ 9.99682824e-01 2.50566496e-02 2.53285960e-03 1.06079113e+02] [-2.50564116e-02 9.99686031e-01 -1.25655366e-04 -7.95183564e+00] [-2.53521286e-03 6.21511380e-05 9.99996784e-01 -4.15176349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.731346184 meters 0.06939162437632836 Centerline is valid? [True, True] Translation: X:106.11, Y:-7.95, Z:-4.15 [[ 9.99643242e-01 2.66465759e-02 1.82970539e-03 1.06107022e+02] [-2.66464534e-02 9.99644916e-01 -9.12924788e-05 -7.94960974e+00] [-1.83148832e-03 4.25047501e-05 9.99998322e-01 -4.15433595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.761346184 meters 0.06949796758175589 Centerline is valid? [True, True] Translation: X:106.14, Y:-7.95, Z:-4.16 [[ 9.99628109e-01 2.71963541e-02 2.00044901e-03 1.06135898e+02] [-2.71962107e-02 9.99630110e-01 -9.88451757e-05 -7.94946977e+00] [-2.00239730e-03 4.44037832e-05 9.99997994e-01 -4.15564146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.791346184 meters 0.06801727535893513 Centerline is valid? [True, True] Translation: X:106.17, Y:-7.95, Z:-4.15 [[ 9.99619748e-01 2.75304972e-02 1.55940039e-03 1.06165252e+02] [-2.75304095e-02 9.99620963e-01 -7.76579260e-05 -7.94550257e+00] [-1.56094728e-03 3.46974652e-05 9.99998781e-01 -4.15041713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821346184 meters 0.06841166932790597 Centerline is valid? [True, True] Translation: X:106.19, Y:-7.95, Z:-4.16 [[ 9.99595510e-01 2.84038588e-02 1.42717066e-03 1.06192839e+02] [-2.84037853e-02 9.99596529e-01 -7.17370877e-05 -7.94819129e+00] [-1.42863245e-03 3.11710217e-05 9.99998979e-01 -4.15568889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.851346184 meters 0.06829835818904097 Centerline is valid? [True, True] Translation: X:106.22, Y:-7.95, Z:-4.16 [[ 9.99567485e-01 2.93533448e-02 1.79578832e-03 1.06220650e+02] [-2.93532320e-02 9.99569097e-01 -8.91781762e-05 -7.94968024e+00] [-1.79763218e-03 3.64274143e-05 9.99998384e-01 -4.15771782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881346184 meters 0.06753867489073129 Centerline is valid? [True, True] Translation: X:106.25, Y:-7.95, Z:-4.16 [[ 9.99537249e-01 3.04100493e-02 7.19119466e-04 1.06249823e+02] [-3.04100306e-02 9.99537507e-01 -3.69276809e-05 -7.94731462e+00] [-7.19909851e-04 1.50421476e-05 9.99999741e-01 -4.15528764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.911346184 meters 0.06693976440930091 Centerline is valid? [True, True] Translation: X:106.28, Y:-7.94, Z:-4.15 [[ 9.99466305e-01 3.26571350e-02 7.85668526e-04 1.06278985e+02] [-3.26571136e-02 9.99466613e-01 -4.01039678e-05 -7.94194570e+00] [-7.86559142e-04 1.44248982e-05 9.99999691e-01 -4.15387614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941346184 meters 0.06711974278524792 Centerline is valid? [True, True] Translation: X:106.31, Y:-7.94, Z:-4.16 [[ 9.99423363e-01 3.39404747e-02 9.92639598e-04 1.06307131e+02] [-3.39404412e-02 9.99423856e-01 -5.05227149e-05 -7.94155904e+00] [-9.93782460e-04 1.68029557e-05 9.99999506e-01 -4.15618296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.971346184 meters 0.06675168055837122 Centerline is valid? [True, True] Translation: X:106.34, Y:-7.94, Z:-4.16 [[ 9.99369240e-01 3.54455273e-02 2.17652016e-03 1.06336302e+02] [-3.54453689e-02 9.99371609e-01 -1.11315693e-04 -7.94083197e+00] [-2.17909810e-03 3.40979197e-05 9.99997625e-01 -4.15670885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001346184 meters 0.06667276321852783 Centerline is valid? [True, True] Translation: X:106.36, Y:-7.94, Z:-4.16 [[ 9.99315484e-01 3.69078596e-02 2.52456509e-03 1.06364050e+02] [-3.69076669e-02 9.99318672e-01 -1.22912124e-04 -7.94090539e+00] [-2.52738146e-03 2.96521809e-05 9.99996806e-01 -4.15811261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.031346184 meters 0.06663984926265769 Centerline is valid? [True, True] Translation: X:106.39, Y:-7.94, Z:-4.16 [[ 9.99269390e-01 3.81483184e-02 2.32197541e-03 1.06391993e+02] [-3.81481448e-02 9.99272088e-01 -1.19029388e-04 -7.93895970e+00] [-2.32482598e-03 3.03633702e-05 9.99997297e-01 -4.15786914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061346184 meters 0.06648960580253567 Centerline is valid? [True, True] Translation: X:106.42, Y:-7.94, Z:-4.16 [[ 9.99259860e-01 3.83254478e-02 3.30038742e-03 1.06419849e+02] [-3.83251290e-02 9.99265310e-01 -1.59806219e-04 -7.94019137e+00] [-3.30408730e-03 3.32001662e-05 9.99994541e-01 -4.15864294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.091346184 meters 0.0666672803031793 Centerline is valid? [True, True] Translation: X:106.45, Y:-7.94, Z:-4.16 [[ 9.99310438e-01 3.69391951e-02 3.76079409e-03 1.06446728e+02] [-3.69387763e-02 9.99317514e-01 -1.80791147e-04 -7.94233236e+00] [-3.76490568e-03 4.17473491e-05 9.99992912e-01 -4.15996264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121346184 meters 0.06601919925469774 Centerline is valid? [True, True] Translation: X:106.48, Y:-7.94, Z:-4.16 [[ 9.99324631e-01 3.63719206e-02 5.23118653e-03 1.06475812e+02] [-3.63711209e-02 9.99338321e-01 -2.47968189e-04 -7.94285550e+00] [-5.23674424e-03 5.75366018e-05 9.99986287e-01 -4.15604770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.151346184 meters 0.0659106949494845 Centerline is valid? [True, True] Translation: X:106.50, Y:-7.94, Z:-4.16 [[ 9.99342792e-01 3.58376430e-02 5.44490409e-03 1.06503695e+02] [-3.58367657e-02 9.99357623e-01 -2.58631882e-04 -7.94433999e+00] [-5.45067517e-03 6.33341550e-05 9.99985143e-01 -4.15589180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181346184 meters 0.065926732418255 Centerline is valid? [True, True] Translation: X:106.53, Y:-7.95, Z:-4.16 [[ 9.99347253e-01 3.57618551e-02 5.11439583e-03 1.06532594e+02] [-3.57610868e-02 9.99360339e-01 -2.41604974e-04 -7.94637708e+00] [-5.11976459e-03 5.85509135e-05 9.99986892e-01 -4.15617387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.211346184 meters 0.06611083623599479 Centerline is valid? [True, True] Translation: X:106.56, Y:-7.95, Z:-4.16 [[ 9.99362067e-01 3.52871057e-02 5.50273844e-03 1.06560721e+02] [-3.52862125e-02 9.99377214e-01 -2.59352483e-04 -7.94906350e+00] [-5.50846321e-03 6.50162352e-05 9.99984826e-01 -4.15869976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241346184 meters 0.06619748434207856 Centerline is valid? [True, True] Translation: X:106.59, Y:-7.95, Z:-4.16 [[ 9.99368296e-01 3.51631552e-02 5.15386766e-03 1.06588600e+02] [-3.51623687e-02 9.99381583e-01 -2.43160396e-04 -7.95148516e+00] [-5.15923071e-03 6.17845951e-05 9.99986689e-01 -4.16142165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27134618399998 meters 0.0662057000737747 Centerline is valid? [True, True] Translation: X:106.62, Y:-7.95, Z:-4.16 [[ 9.99356336e-01 3.57061226e-02 3.46229816e-03 1.06617695e+02] [-3.57057702e-02 9.99362332e-01 -1.63552067e-04 -7.95121158e+00] [-3.46593018e-03 3.98227719e-05 9.99993993e-01 -4.16097974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30134618399998 meters 0.06720494412801876 Centerline is valid? [True, True] Translation: X:106.64, Y:-7.95, Z:-4.17 [[ 9.99363642e-01 3.56278872e-02 1.72206312e-03 1.06644743e+02] [-3.56277971e-02 9.99365125e-01 -8.30118090e-05 -7.95399932e+00] [-1.72392736e-03 2.16056684e-05 9.99998514e-01 -4.16903083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33134618399998 meters 0.0668420164138836 Centerline is valid? [True, True] Translation: X:106.67, Y:-7.96, Z:-4.17 [[ 9.99325781e-01 3.66894855e-02 1.36573042e-03 1.06673138e+02] [-3.66894253e-02 9.99326714e-01 -6.90608299e-05 -7.95545652e+00] [-1.36734470e-03 1.89064034e-05 9.99999065e-01 -4.16826623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36134618399998 meters 0.06640164501135935 Centerline is valid? [True, True] Translation: X:106.70, Y:-7.96, Z:-4.17 [[ 9.99320041e-01 3.68067554e-02 2.17241937e-03 1.06701516e+02] [-3.68066069e-02 9.99322401e-01 -1.08347264e-04 -7.95789271e+00] [-2.17493525e-03 2.83142068e-05 9.99997634e-01 -4.16853435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39134618399999 meters 0.06647409344130117 Centerline is valid? [True, True] Translation: X:106.73, Y:-7.96, Z:-4.17 [[ 9.99352616e-01 3.59347115e-02 1.74531224e-03 1.06729686e+02] [-3.59346186e-02 9.99354139e-01 -8.46112391e-05 -7.96015977e+00] [-1.74722549e-03 2.18393334e-05 9.99998473e-01 -4.16925045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.421346184 meters 0.06611553891695082 Centerline is valid? [True, True] Translation: X:106.76, Y:-7.96, Z:-4.17 [[ 9.99344122e-01 3.61461000e-02 2.18734037e-03 1.06758933e+02] [-3.61459619e-02 9.99346516e-01 -1.02663830e-04 -7.96102510e+00] [-2.18962188e-03 2.35329730e-05 9.99997602e-01 -4.16685898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.451346184 meters 0.06592374453027557 Centerline is valid? [True, True] Translation: X:106.79, Y:-7.96, Z:-4.17 [[ 9.99351470e-01 3.58542838e-02 3.33327506e-03 1.06788133e+02] [-3.58539497e-02 9.99357028e-01 -1.59946701e-04 -7.96268028e+00] [-3.33686663e-03 4.03318946e-05 9.99994432e-01 -4.16553759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.481346184 meters 0.06599860221648833 Centerline is valid? [True, True] Translation: X:106.82, Y:-7.97, Z:-4.17 [[ 9.99372493e-01 3.51620054e-02 4.27244509e-03 1.06815384e+02] [-3.51614827e-02 9.99381624e-01 -1.97434150e-04 -7.96572588e+00] [-4.27674530e-03 4.70847550e-05 9.99990854e-01 -4.16688488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.511346184 meters 0.06682378340318347 Centerline is valid? [True, True] Translation: X:106.84, Y:-7.97, Z:-4.17 [[ 9.99390011e-01 3.47831298e-02 3.12080024e-03 1.06842434e+02] [-3.47828474e-02 9.99394883e-01 -1.44727758e-04 -7.97401062e+00] [-3.12394588e-03 3.60891569e-05 9.99995120e-01 -4.17448906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.541346184 meters 0.06659127792291071 Centerline is valid? [True, True] Translation: X:106.87, Y:-7.98, Z:-4.18 [[ 9.99423863e-01 3.39012533e-02 1.62703847e-03 1.06870938e+02] [-3.39011743e-02 9.99425187e-01 -7.61550641e-05 -7.97713522e+00] [-1.62868498e-03 2.09526737e-05 9.99998673e-01 -4.17516949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.571346184 meters 0.06679574676927323 Centerline is valid? [True, True] Translation: X:106.90, Y:-7.98, Z:-4.18 [[ 9.99445490e-01 3.32855218e-02 8.87122644e-04 1.06898514e+02] [-3.32854966e-02 9.99445883e-01 -4.31028178e-05 -7.98079351e+00] [-8.88065775e-04 1.35505991e-05 9.99999606e-01 -4.17759501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601346184 meters 0.066714947952849 Centerline is valid? [True, True] Translation: X:106.93, Y:-7.98, Z:-4.18 [[ 9.99454680e-01 3.30172798e-02 -4.50065470e-04 1.06926804e+02] [-3.30172754e-02 9.99454781e-01 1.72702676e-05 -7.98260962e+00] [ 4.50390303e-04 -2.40091424e-06 9.99999899e-01 -4.17637969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.631346184 meters 0.06656010134536725 Centerline is valid? [True, True] Translation: X:106.96, Y:-7.99, Z:-4.18 [[ 9.99492204e-01 3.18516149e-02 8.99387877e-04 1.06955830e+02] [-3.18515842e-02 9.99492608e-01 -4.84351440e-05 -7.98620759e+00] [-9.00474273e-04 1.97636201e-05 9.99999594e-01 -4.17564886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661346184 meters 0.06657293147770608 Centerline is valid? [True, True] Translation: X:106.98, Y:-7.99, Z:-4.18 [[ 9.99496621e-01 3.16769149e-02 1.75409587e-03 1.06983393e+02] [-3.16768203e-02 9.99498160e-01 -8.17151195e-05 -7.98945321e+00] [-1.75580408e-03 2.61098062e-05 9.99998458e-01 -4.17729018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.691346184 meters 0.06646492395348579 Centerline is valid? [True, True] Translation: X:107.01, Y:-7.99, Z:-4.18 [[ 9.99508146e-01 3.11880819e-02 3.28169825e-03 1.07012422e+02] [-3.11877597e-02 9.99513532e-01 -1.49329346e-04 -7.99234720e+00] [-3.28475911e-03 4.69070816e-05 9.99994604e-01 -4.17554137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721346184 meters 0.0661609023354382 Centerline is valid? [True, True] Translation: X:107.04, Y:-8.00, Z:-4.18 [[ 9.99542866e-01 2.96160577e-02 6.07845193e-03 1.07041284e+02] [-2.96149384e-02 9.99561344e-01 -2.74094997e-04 -7.99977013e+00] [-6.08390320e-03 9.39567193e-05 9.99981488e-01 -4.17536161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.751346184 meters 0.0665246373549289 Centerline is valid? [True, True] Translation: X:107.07, Y:-8.00, Z:-4.18 [[ 9.99558910e-01 2.90287284e-02 6.27040604e-03 1.07067892e+02] [-2.90275095e-02 9.99578572e-01 -2.85323523e-04 -8.00449863e+00] [-6.27604610e-03 1.03183399e-04 9.99980300e-01 -4.17673421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781346184 meters 0.06608519906340354 Centerline is valid? [True, True] Translation: X:107.10, Y:-8.01, Z:-4.18 [[ 9.99568232e-01 2.83432635e-02 7.74652166e-03 1.07097215e+02] [-2.83414309e-02 9.99598241e-01 -3.46272262e-04 -8.00669820e+00] [-7.75322391e-03 1.26575245e-04 9.99969935e-01 -4.17525916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.811346184 meters 0.0664344023209587 Centerline is valid? [True, True] Translation: X:107.13, Y:-8.01, Z:-4.18 [[ 9.99595036e-01 2.76957871e-02 6.53508930e-03 1.07125694e+02] [-2.76944663e-02 9.99616392e-01 -2.92539370e-04 -8.01122315e+00] [-6.54068450e-03 1.11435091e-04 9.99978603e-01 -4.17597845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841346184 meters 0.06608699425583917 Centerline is valid? [True, True] Translation: X:107.15, Y:-8.01, Z:-4.18 [[ 9.99567234e-01 2.85384373e-02 7.13451857e-03 1.07154488e+02] [-2.85368897e-02 9.99592689e-01 -3.18653020e-04 -8.01273879e+00] [-7.14070646e-03 1.14918149e-04 9.99974498e-01 -4.17668899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.871346184 meters 0.06617734974795429 Centerline is valid? [True, True] Translation: X:107.18, Y:-8.02, Z:-4.18 [[ 9.99530439e-01 2.98184579e-02 7.05416738e-03 1.07181692e+02] [-2.98169768e-02 9.99555325e-01 -3.15054390e-04 -8.01628000e+00] [-7.06042501e-03 1.04572508e-04 9.99975069e-01 -4.17909664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901346184 meters 0.06605329399634732 Centerline is valid? [True, True] Translation: X:107.21, Y:-8.02, Z:-4.18 [[ 9.99508125e-01 3.04870040e-02 7.35194177e-03 1.07210763e+02] [-3.04854227e-02 9.99535158e-01 -3.27084334e-04 -8.01905175e+00] [-7.35849610e-03 1.02796397e-04 9.99972921e-01 -4.17992566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.931346184 meters 0.06590925578574948 Centerline is valid? [True, True] Translation: X:107.24, Y:-8.02, Z:-4.18 [[ 9.99466461e-01 3.17296496e-02 7.74738012e-03 1.07238480e+02] [-3.17279327e-02 9.99496483e-01 -3.44448532e-04 -8.02156078e+00] [-7.75440842e-03 9.84563998e-05 9.99969929e-01 -4.18002678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961346184 meters 0.06591813768291835 Centerline is valid? [True, True] Translation: X:107.27, Y:-8.02, Z:-4.18 [[ 9.99456738e-01 3.20596229e-02 7.64258379e-03 1.07265029e+02] [-3.20579479e-02 9.99485954e-01 -3.41601942e-04 -8.02311516e+00] [-7.64960678e-03 9.64108096e-05 9.99970737e-01 -4.18045237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.991346184 meters 0.06560344810380439 Centerline is valid? [True, True] Translation: X:107.29, Y:-8.03, Z:-4.18 [[ 9.99471286e-01 3.16390585e-02 7.49126957e-03 1.07293732e+02] [-3.16374680e-02 9.99499355e-01 -3.30741353e-04 -8.02527802e+00] [-7.49798345e-03 9.35616835e-05 9.99971885e-01 -4.17905577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02134618399998 meters 0.06574343022643404 Centerline is valid? [True, True] Translation: X:107.32, Y:-8.03, Z:-4.18 [[ 9.99492446e-01 3.09754581e-02 7.44118314e-03 1.07322475e+02] [-3.09738744e-02 9.99520141e-01 -3.28004511e-04 -8.03262044e+00] [-7.44777251e-03 9.73557592e-05 9.99972260e-01 -4.18046992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05134618399998 meters 0.06593359322300109 Centerline is valid? [True, True] Translation: X:107.35, Y:-8.04, Z:-4.18 [[ 9.99547590e-01 2.90451269e-02 7.81001036e-03 1.07350952e+02] [-2.90433284e-02 9.99578094e-01 -3.43628625e-04 -8.03727551e+00] [-7.81669601e-03 1.16644468e-04 9.99969442e-01 -4.18023360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08134618399998 meters 0.06623797022009316 Centerline is valid? [True, True] Translation: X:107.38, Y:-8.04, Z:-4.18 [[ 9.99584202e-01 2.73826380e-02 9.03407718e-03 1.07378429e+02] [-2.73801690e-02 9.99625014e-01 -3.96885501e-04 -8.04307668e+00] [-9.04155730e-03 1.49365916e-04 9.99959113e-01 -4.18192990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11134618399998 meters 0.06662871653044285 Centerline is valid? [True, True] Translation: X:107.41, Y:-8.05, Z:-4.18 [[ 9.99633263e-01 2.59091111e-02 7.87771894e-03 1.07406640e+02] [-2.59071946e-02 9.99664293e-01 -3.45239338e-04 -8.04768382e+00] [-7.88401918e-03 1.41023128e-04 9.99968911e-01 -4.18378941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14134618399999 meters 0.06612665983389528 Centerline is valid? [True, True] Translation: X:107.44, Y:-8.05, Z:-4.18 [[ 9.99651919e-01 2.46973711e-02 9.27792626e-03 1.07435359e+02] [-2.46946694e-02 9.99694958e-01 -4.05659794e-04 -8.05334328e+00] [-9.28511483e-03 1.76403269e-04 9.99956877e-01 -4.18164498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.171346184 meters 0.06586696218580776 Centerline is valid? [True, True] Translation: X:107.46, Y:-8.06, Z:-4.18 [[ 9.99626892e-01 2.51564140e-02 1.06410723e-02 1.07463849e+02] [-2.51528982e-02 9.99683508e-01 -4.64126907e-04 -8.05634471e+00] [-1.06493803e-02 1.96299930e-04 9.99943274e-01 -4.18202462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.201346184 meters 0.0662148613980452 Centerline is valid? [True, True] Translation: X:107.49, Y:-8.06, Z:-4.18 [[ 9.99632711e-01 2.54141436e-02 9.41082882e-03 1.07491306e+02] [-2.54114048e-02 9.99676994e-01 -4.10504661e-04 -8.05989055e+00] [-9.41822169e-03 1.71211506e-04 9.99955633e-01 -4.18496722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.231346184 meters 0.06626002547062419 Centerline is valid? [True, True] Translation: X:107.52, Y:-8.06, Z:-4.19 [[ 9.99628593e-01 2.56840639e-02 9.11073902e-03 1.07518971e+02] [-2.56815117e-02 9.99670097e-01 -3.97035890e-04 -8.06115540e+00] [-9.11793086e-03 1.62910878e-04 9.99958418e-01 -4.18621071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.261346184 meters 0.06612891516774906 Centerline is valid? [True, True] Translation: X:107.55, Y:-8.06, Z:-4.19 [[ 9.99615238e-01 2.65828216e-02 7.92016914e-03 1.07548144e+02] [-2.65809312e-02 9.99646605e-01 -3.43875045e-04 -8.06164267e+00] [-7.92651136e-03 1.33217264e-04 9.99968576e-01 -4.18577945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.291346184 meters 0.06612891516774906 Centerline is valid? [True, True] Translation: X:107.58, Y:-8.06, Z:-4.19 [[ 9.99618136e-01 2.64736265e-02 7.92015298e-03 1.07575561e+02] [-2.64717296e-02 9.99649503e-01 -3.44253581e-04 -8.06269090e+00] [-7.92649063e-03 1.34461975e-04 9.99968576e-01 -4.18671960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321346184 meters 0.06624256685456242 Centerline is valid? [True, True] Translation: X:107.60, Y:-8.06, Z:-4.19 [[ 9.99605067e-01 2.71619303e-02 7.20690286e-03 1.07604594e+02] [-2.71603879e-02 9.99631040e-01 -3.11818668e-04 -8.06409225e+00] [-7.21271339e-03 1.15953243e-04 9.99973981e-01 -4.18789066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.351346184 meters 0.06620857063768 Centerline is valid? [True, True] Translation: X:107.63, Y:-8.07, Z:-4.19 [[ 9.99575385e-01 2.80655842e-02 7.83405648e-03 1.07631964e+02] [-2.80637920e-02 9.99606077e-01 -3.38624982e-04 -8.06581303e+00] [-7.84047417e-03 1.18627866e-04 9.99969256e-01 -4.18838137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381346184 meters 0.06630565047124967 Centerline is valid? [True, True] Translation: X:107.66, Y:-8.07, Z:-4.19 [[ 9.99558190e-01 2.87078255e-02 7.69965287e-03 1.07659260e+02] [-2.87061185e-02 9.99587839e-01 -3.32146926e-04 -8.06772807e+00] [-7.70601459e-03 1.10973033e-04 9.99970302e-01 -4.18937619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.411346184 meters 0.0663729751763501 Centerline is valid? [True, True] Translation: X:107.69, Y:-8.07, Z:-4.19 [[ 9.99554793e-01 2.85410965e-02 8.69603204e-03 1.07687089e+02] [-2.85389158e-02 9.99592612e-01 -3.74775717e-04 -8.07058628e+00] [-8.70318590e-03 1.26433537e-04 9.99962119e-01 -4.18994621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441346184 meters 0.06653846783472142 Centerline is valid? [True, True] Translation: X:107.72, Y:-8.07, Z:-4.19 [[ 9.99583064e-01 2.75383003e-02 8.67992025e-03 1.07716156e+02] [-2.75361103e-02 9.99620740e-01 -3.71729708e-04 -8.07394178e+00] [-8.68686511e-03 1.32563479e-04 9.99962260e-01 -4.19143093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.471346184 meters 0.06707178757189775 Centerline is valid? [True, True] Translation: X:107.74, Y:-8.08, Z:-4.19 [[ 9.99660692e-01 2.48685540e-02 7.74958143e-03 1.07744272e+02] [-2.48667305e-02 9.99690720e-01 -3.31584431e-04 -8.08094400e+00] [-7.75543066e-03 1.38765168e-04 9.99969917e-01 -4.19366339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501346184 meters 0.06761887940089548 Centerline is valid? [True, True] Translation: X:107.77, Y:-8.08, Z:-4.19 [[ 9.99712876e-01 2.28880855e-02 7.09237888e-03 1.07771702e+02] [-2.28865072e-02 9.99738023e-01 -3.03626848e-04 -8.08498207e+00] [-7.09747028e-03 1.41219889e-04 9.99974803e-01 -4.19490598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.531346184 meters 0.06743529999759992 Centerline is valid? [True, True] Translation: X:107.80, Y:-8.09, Z:-4.19 [[ 9.99748636e-01 2.12551572e-02 7.13326724e-03 1.07800069e+02] [-2.12535263e-02 9.99774072e-01 -3.04367653e-04 -8.08687105e+00] [-7.13812501e-03 1.52684063e-04 9.99974512e-01 -4.19377383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561346184 meters 0.06777545687779306 Centerline is valid? [True, True] Translation: X:107.83, Y:-8.09, Z:-4.20 [[ 9.99778130e-01 2.00246013e-02 6.53503203e-03 1.07828666e+02] [-2.00232081e-02 9.99799477e-01 -2.78556889e-04 -8.09113379e+00] [-6.53929960e-03 1.47642779e-04 9.99978608e-01 -4.19612045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.591346184 meters 0.06817795964999775 Centerline is valid? [True, True] Translation: X:107.86, Y:-8.10, Z:-4.20 [[ 9.99814113e-01 1.90333839e-02 3.07734256e-03 1.07858343e+02] [-1.90330704e-02 9.99818846e-01 -1.31128936e-04 -8.09529288e+00] [-3.07928091e-03 7.25332834e-05 9.99995256e-01 -4.19896414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621346184 meters 0.06955466143173769 Centerline is valid? [True, True] Translation: X:107.89, Y:-8.10, Z:-4.20 [[ 9.99814156e-01 1.90978905e-02 2.63138682e-03 1.07885363e+02] [-1.90976568e-02 9.99817617e-01 -1.13917775e-04 -8.09963503e+00] [-2.63308249e-03 6.36432817e-05 9.99996531e-01 -4.20494544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.651346184 meters 0.06869900917191123 Centerline is valid? [True, True] Translation: X:107.91, Y:-8.10, Z:-4.20 [[ 9.99816299e-01 1.89123910e-02 3.11284724e-03 1.07914777e+02] [-1.89120675e-02 9.99821142e-01 -1.33323630e-04 -8.09923945e+00] [-3.11481196e-03 7.44287607e-05 9.99995146e-01 -4.20202873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681346184 meters 0.06884667421846008 Centerline is valid? [True, True] Translation: X:107.94, Y:-8.11, Z:-4.20 [[ 9.99838124e-01 1.77159115e-02 3.14208804e-03 1.07942949e+02] [-1.77155768e-02 9.99843058e-01 -1.34327424e-04 -8.10606606e+00] [-3.14397465e-03 7.86417776e-05 9.99995055e-01 -4.20419229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.711346184 meters 0.06903797598081407 Centerline is valid? [True, True] Translation: X:107.97, Y:-8.11, Z:-4.21 [[ 9.99840069e-01 1.74286978e-02 4.00958046e-03 1.07970562e+02] [-1.74281522e-02 9.99848104e-01 -1.70968107e-04 -8.11077907e+00] [-4.01195117e-03 1.01061185e-04 9.99991947e-01 -4.20615445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741346184 meters 0.06814476602975392 Centerline is valid? [True, True] Translation: X:108.00, Y:-8.11, Z:-4.20 [[ 9.99841387e-01 1.73383761e-02 4.07198008e-03 1.07999698e+02] [-1.73378160e-02 9.99849674e-01 -1.72796595e-04 -8.11088775e+00] [-4.07436397e-03 1.02169945e-04 9.99991695e-01 -4.20369703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77134618399998 meters 0.06795233069709852 Centerline is valid? [True, True] Translation: X:108.03, Y:-8.11, Z:-4.20 [[ 9.99829098e-01 1.78675417e-02 4.74615236e-03 1.08027889e+02] [-1.78667880e-02 9.99840356e-01 -2.01153466e-04 -8.11027154e+00] [-4.74898878e-03 1.16320591e-04 9.99988717e-01 -4.20296337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80134618399998 meters 0.06785004931998902 Centerline is valid? [True, True] Translation: X:108.06, Y:-8.11, Z:-4.20 [[ 9.99808034e-01 1.90924932e-02 4.40127734e-03 1.08056660e+02] [-1.90918602e-02 9.99817717e-01 -1.85788931e-04 -8.10902824e+00] [-4.40402223e-03 1.01724694e-04 9.99990297e-01 -4.20319168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83134618399998 meters 0.06800594385798277 Centerline is valid? [True, True] Translation: X:108.09, Y:-8.11, Z:-4.20 [[ 9.99818014e-01 1.87355757e-02 3.59410213e-03 1.08085806e+02] [-1.87351506e-02 9.99824470e-01 -1.51897182e-04 -8.10969318e+00] [-3.59631714e-03 8.45334939e-05 9.99993530e-01 -4.20464623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86134618399998 meters 0.06834615574264538 Centerline is valid? [True, True] Translation: X:108.11, Y:-8.11, Z:-4.21 [[ 9.99808523e-01 1.95229331e-02 1.33121906e-03 1.08114484e+02] [-1.95228736e-02 9.99809409e-01 -5.77308923e-05 -8.11440336e+00] [-1.33209241e-03 3.17306169e-05 9.99999112e-01 -4.21026026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89134618399999 meters 0.06838269197458038 Centerline is valid? [True, True] Translation: X:108.14, Y:-8.12, Z:-4.21 [[ 9.99801062e-01 1.99406877e-02 4.52207017e-04 1.08143063e+02] [-1.99406801e-02 9.99801165e-01 -2.12449437e-05 -8.11928304e+00] [-4.52540741e-04 1.22234018e-05 9.99999898e-01 -4.21340629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.921346184 meters 0.06879958054587469 Centerline is valid? [True, True] Translation: X:108.17, Y:-8.12, Z:-4.22 [[ 9.99803524e-01 1.98216222e-02 -1.30748477e-04 1.08170498e+02] [-1.98216221e-02 9.99803532e-01 2.28401717e-06 -8.12430462e+00] [ 1.30768062e-04 3.08078488e-07 9.99999991e-01 -4.21830051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.951346184 meters 0.06832580975277733 Centerline is valid? [True, True] Translation: X:108.20, Y:-8.12, Z:-4.22 [[ 9.99802018e-01 1.98616134e-02 1.20036460e-03 1.08199632e+02] [-1.98615653e-02 9.99802738e-01 -5.19705635e-05 -8.12354862e+00] [-1.20116004e-03 2.81191543e-05 9.99999278e-01 -4.21580407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.981346184 meters 0.06794155310483799 Centerline is valid? [True, True] Translation: X:108.23, Y:-8.12, Z:-4.21 [[ 9.99790603e-01 2.03089319e-02 2.50960125e-03 1.08228913e+02] [-2.03087302e-02 9.99793751e-01 -1.05822105e-04 -8.12152997e+00] [-2.51123278e-03 5.48331310e-05 9.99996845e-01 -4.21353639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.011346184 meters 0.06789192696642966 Centerline is valid? [True, True] Translation: X:108.26, Y:-8.12, Z:-4.21 [[ 9.99766776e-01 2.13868615e-02 2.99924558e-03 1.08256603e+02] [-2.13865788e-02 9.99771273e-01 -1.26309479e-04 -8.12079715e+00] [-3.00126094e-03 6.21364189e-05 9.99995494e-01 -4.21382796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.041346184 meters 0.06796759099372823 Centerline is valid? [True, True] Translation: X:108.28, Y:-8.12, Z:-4.22 [[ 9.99768456e-01 2.13228965e-02 2.89268192e-03 1.08284715e+02] [-2.13226353e-02 9.99772639e-01 -1.21099114e-04 -8.12446835e+00] [-2.89460642e-03 5.93914731e-05 9.99995809e-01 -4.21662128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.071346184 meters 0.06784031097018056 Centerline is valid? [True, True] Translation: X:108.31, Y:-8.13, Z:-4.22 [[ 9.99760905e-01 2.16621539e-02 2.98074799e-03 1.08313683e+02] [-2.16618790e-02 9.99765346e-01 -1.24512379e-04 -8.12820136e+00] [-2.98274575e-03 5.99140065e-05 9.99995550e-01 -4.21816862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101346184 meters 0.06763685008004422 Centerline is valid? [True, True] Translation: X:108.34, Y:-8.13, Z:-4.22 [[ 9.99776574e-01 2.10145470e-02 2.27853402e-03 1.08342206e+02] [-2.10143836e-02 9.99779169e-01 -9.56554420e-05 -8.13187723e+00] [-2.28004100e-03 4.77520821e-05 9.99997400e-01 -4.21818831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.131346184 meters 0.06816172869897276 Centerline is valid? [True, True] Translation: X:108.37, Y:-8.14, Z:-4.22 [[ 9.99812942e-01 1.92404817e-02 1.97105949e-03 1.08369601e+02] [-1.92403532e-02 9.99814884e-01 -8.41123768e-05 -8.13682274e+00] [-1.97231298e-03 4.61727621e-05 9.99998054e-01 -4.22116723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161346184 meters 0.06869099101964331 Centerline is valid? [True, True] Translation: X:108.40, Y:-8.14, Z:-4.22 [[ 9.99839842e-01 1.78852438e-02 6.38888302e-04 1.08397434e+02] [-1.78852289e-02 9.99840046e-01 -2.90271800e-05 -8.14044218e+00] [-6.39305268e-04 1.75958676e-05 9.99999795e-01 -4.22379094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.191346184 meters 0.06962946555383327 Centerline is valid? [True, True] Translation: X:108.43, Y:-8.14, Z:-4.23 [[ 9.99867904e-01 1.60090357e-02 -2.80808460e-03 1.08427140e+02] [-1.60087798e-02 9.99871845e-01 1.13587552e-04 -8.14497871e+00] [ 2.80954315e-03 -6.86185394e-05 9.99996051e-01 -4.22705462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221346184 meters 0.06956942457953615 Centerline is valid? [True, True] Translation: X:108.46, Y:-8.15, Z:-4.23 [[ 9.99867761e-01 1.59367354e-02 -3.23734792e-03 1.08456318e+02] [-1.59364013e-02 9.99872999e-01 1.28978421e-04 -8.14683785e+00] [ 3.23899227e-03 -7.73696890e-05 9.99994751e-01 -4.22780305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.251346184 meters 0.06950623819061669 Centerline is valid? [True, True] Translation: X:108.49, Y:-8.15, Z:-4.23 [[ 9.99867036e-01 1.60804636e-02 -2.70720376e-03 1.08485198e+02] [-1.60802321e-02 9.99870699e-01 1.07282543e-04 -8.15042301e+00] [ 2.70857887e-03 -6.37358131e-05 9.99996330e-01 -4.22812984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281346184 meters 0.06946404836600588 Centerline is valid? [True, True] Translation: X:108.51, Y:-8.15, Z:-4.23 [[ 9.99857635e-01 1.67854028e-02 -1.72020845e-03 1.08513515e+02] [-1.67853121e-02 9.99859114e-01 6.71834256e-05 -8.15201946e+00] [ 1.72109380e-03 -3.82996253e-05 9.99998518e-01 -4.22907709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.311346184 meters 0.06910047435998137 Centerline is valid? [True, True] Translation: X:108.54, Y:-8.15, Z:-4.23 [[ 9.99832022e-01 1.83246288e-02 3.68132616e-04 1.08542694e+02] [-1.83246240e-02 9.99832090e-01 -1.66320143e-05 -8.15226628e+00] [-3.68375578e-04 9.88332871e-06 9.99999932e-01 -4.22817050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341346184 meters 0.06788189845021268 Centerline is valid? [True, True] Translation: X:108.57, Y:-8.15, Z:-4.22 [[ 9.99798591e-01 2.00458194e-02 9.70593374e-04 1.08572167e+02] [-2.00457884e-02 9.99799062e-01 -4.16485709e-05 -8.14929092e+00] [-9.71233225e-04 2.21838731e-05 9.99999528e-01 -4.22377546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.371346184 meters 0.06762384751667982 Centerline is valid? [True, True] Translation: X:108.60, Y:-8.15, Z:-4.22 [[ 9.99740347e-01 2.27723156e-02 8.12854079e-04 1.08600394e+02] [-2.27722940e-02 9.99740677e-01 -3.58147738e-05 -8.14655162e+00] [-8.13458872e-04 1.72949224e-05 9.99999669e-01 -4.22375199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401346184 meters 0.06815270471576461 Centerline is valid? [True, True] Translation: X:108.63, Y:-8.15, Z:-4.23 [[ 9.99731459e-01 2.31614934e-02 7.44510455e-04 1.08627663e+02] [-2.31614753e-02 9.99731737e-01 -3.29637576e-05 -8.14871560e+00] [-7.45074220e-04 1.57109450e-05 9.99999722e-01 -4.22782179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.431346184 meters 0.06758955949177284 Centerline is valid? [True, True] Translation: X:108.66, Y:-8.15, Z:-4.23 [[ 9.99723280e-01 2.35217695e-02 2.98807564e-04 1.08656886e+02] [-2.35217662e-02 9.99723325e-01 -1.44924797e-05 -8.14909524e+00] [-2.99065780e-04 7.45998767e-06 9.99999955e-01 -4.22597534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461346184 meters 0.0681125244328339 Centerline is valid? [True, True] Translation: X:108.68, Y:-8.15, Z:-4.23 [[ 9.99742475e-01 2.26612521e-02 -1.20460322e-03 1.08684688e+02] [-2.26612142e-02 9.99743201e-01 4.50400977e-05 -8.15407329e+00] [ 1.20531455e-03 -1.77307270e-05 9.99999273e-01 -4.23031360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.491346184 meters 0.06975932482480421 Centerline is valid? [True, True] Translation: X:108.71, Y:-8.17, Z:-4.24 [[ 9.99824056e-01 1.86381486e-02 -2.11598928e-03 1.08712953e+02] [-1.86380155e-02 9.99826294e-01 8.26383308e-05 -8.16575718e+00] [ 2.11716195e-03 -4.31859500e-05 9.99997758e-01 -4.23746788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52134618399998 meters 0.06917386768748288 Centerline is valid? [True, True] Translation: X:108.74, Y:-8.17, Z:-4.23 [[ 9.99862147e-01 1.64179205e-02 -2.47751976e-03 1.08742027e+02] [-1.64177323e-02 9.99865215e-01 9.62797439e-05 -8.16657034e+00] [ 2.47876654e-03 -5.55912154e-05 9.99996926e-01 -4.23368861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55134618399998 meters 0.06941544893023506 Centerline is valid? [True, True] Translation: X:108.77, Y:-8.17, Z:-4.23 [[ 9.99879505e-01 1.53597992e-02 -2.24761909e-03 1.08770696e+02] [-1.53596425e-02 9.99882030e-01 8.69686944e-05 -8.16821017e+00] [ 2.24868976e-03 -5.24355894e-05 9.99997470e-01 -4.23370449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58134618399998 meters 0.06993954546302815 Centerline is valid? [True, True] Translation: X:108.80, Y:-8.17, Z:-4.23 [[ 9.99898831e-01 1.39539568e-02 -2.75967730e-03 1.08797862e+02] [-1.39537168e-02 9.99902637e-01 1.06201761e-04 -8.17104243e+00] [ 2.76089054e-03 -6.76832610e-05 9.99996186e-01 -4.23362732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61134618399998 meters 0.07023411385725452 Centerline is valid? [True, True] Translation: X:108.83, Y:-8.17, Z:-4.24 [[ 9.99899262e-01 1.38630030e-02 -3.04684468e-03 1.08826878e+02] [-1.38627069e-02 9.99903901e-01 1.18294955e-04 -8.17431994e+00] [ 3.04819180e-03 -7.60455234e-05 9.99995351e-01 -4.23568015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64134618399999 meters 0.069849004503974 Centerline is valid? [True, True] Translation: X:108.86, Y:-8.18, Z:-4.24 [[ 9.99902723e-01 1.37946021e-02 -2.06263284e-03 1.08855411e+02] [-1.37944682e-02 9.99904849e-01 7.91219677e-05 -8.17801803e+00] [ 2.06352804e-03 -5.06613478e-05 9.99997870e-01 -4.23592866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.671346184 meters 0.0697835448963332 Centerline is valid? [True, True] Translation: X:108.88, Y:-8.18, Z:-4.24 [[ 9.99930706e-01 1.16066800e-02 -1.96682461e-03 1.08883529e+02] [-1.16065560e-02 9.99932639e-01 7.44801777e-05 -8.18438685e+00] [ 1.96755659e-03 -5.16469568e-05 9.99998063e-01 -4.23575543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.701346184 meters 0.07064015991360102 Centerline is valid? [True, True] Translation: X:108.91, Y:-8.19, Z:-4.24 [[ 9.99944753e-01 1.04525577e-02 -1.11158980e-03 1.08911416e+02] [-1.04525189e-02 9.99945370e-01 4.06615972e-05 -8.18853781e+00] [ 1.11195409e-03 -2.90404373e-05 9.99999381e-01 -4.23804123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.731346184 meters 0.06998144365620738 Centerline is valid? [True, True] Translation: X:108.94, Y:-8.19, Z:-4.24 [[ 9.99951849e-01 9.67040468e-03 -1.66796028e-03 1.08940584e+02] [-9.67031295e-03 9.99953239e-01 6.30515505e-05 -8.18754965e+00] [ 1.66849202e-03 -4.69188167e-05 9.99998607e-01 -4.23512443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761346184 meters 0.06997227430669592 Centerline is valid? [True, True] Translation: X:108.97, Y:-8.19, Z:-4.23 [[ 9.99970995e-01 7.61541141e-03 1.17482854e-04 1.08969111e+02] [-7.61541062e-03 9.99971002e-01 -7.12590945e-06 -8.18821854e+00] [-1.17533714e-04 6.23102260e-06 9.99999993e-01 -4.23216015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.791346184 meters 0.0707498426786819 Centerline is valid? [True, True] Translation: X:109.00, Y:-8.19, Z:-4.23 [[ 9.99980575e-01 5.92346154e-03 1.93946398e-03 1.08996860e+02] [-5.92331944e-03 9.99982454e-01 -7.90030105e-05 -8.19330024e+00] [-1.93989792e-03 6.75134112e-05 9.99998116e-01 -4.23453107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821346184 meters 0.07184148051755916 Centerline is valid? [True, True] Translation: X:109.03, Y:-8.20, Z:-4.24 [[ 9.99986548e-01 4.71186887e-03 2.16835606e-03 1.09025466e+02] [-4.71169350e-03 9.99988896e-01 -8.59795655e-05 -8.20036724e+00] [-2.16873711e-03 7.57617798e-05 9.99997645e-01 -4.23862666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.851346184 meters 0.07257381826409208 Centerline is valid? [True, True] Translation: X:109.06, Y:-8.21, Z:-4.24 [[ 9.99999362e-01 6.65072661e-04 9.13428320e-04 1.09055698e+02] [-6.65040325e-04 9.99999778e-01 -3.57038491e-05 -8.20756464e+00] [-9.13451863e-04 3.50963596e-05 9.99999582e-01 -4.24146687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881346184 meters 0.07355358047687094 Centerline is valid? [True, True] Translation: X:109.09, Y:-8.21, Z:-4.24 [[ 9.99998443e-01 -1.71054149e-03 -4.32745282e-04 1.09086327e+02] [ 1.71054924e-03 9.99998537e-01 1.75301401e-05 -8.21092394e+00] [ 4.32714663e-04 -1.82703449e-05 9.99999906e-01 -4.24339105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.911346184 meters 0.0741213731266408 Centerline is valid? [True, True] Translation: X:109.12, Y:-8.21, Z:-4.24 [[ 9.99993467e-01 -3.60961900e-03 1.89225779e-04 1.09117242e+02] [ 3.60962035e-03 9.99993485e-01 -6.79464311e-06 -8.21226358e+00] [-1.89200020e-04 7.47763195e-06 9.99999982e-01 -4.24403529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941346184 meters 0.07525178034689106 Centerline is valid? [True, True] Translation: X:109.15, Y:-8.21, Z:-4.24 [[ 9.99983716e-01 -5.67486384e-03 6.02320775e-04 1.09148539e+02] [ 5.67487799e-03 9.99983898e-01 -2.17794720e-05 -8.21288527e+00] [-6.02187481e-04 2.51972143e-05 9.99999818e-01 -4.24300885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.971346184 meters 0.07375098558885157 Centerline is valid? [True, True] Translation: X:109.18, Y:-8.21, Z:-4.24 [[ 9.99979063e-01 -6.41267392e-03 8.67014527e-04 1.09180749e+02] [ 6.41270364e-03 9.99979438e-01 -3.14961811e-05 -8.21040502e+00] [-8.66794725e-04 3.70554288e-05 9.99999624e-01 -4.24077783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001346184 meters 0.07613131077992552 Centerline is valid? [True, True] Translation: X:109.21, Y:-8.22, Z:-4.25 [[ 9.99974817e-01 -7.05111302e-03 8.04548247e-04 1.09211566e+02] [ 7.05113923e-03 9.99975140e-01 -2.97357177e-05 -8.21804370e+00] [-8.04318576e-04 3.54079505e-05 9.99999676e-01 -4.24632625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.031346184 meters 0.07499902684868529 Centerline is valid? [True, True] Translation: X:109.24, Y:-8.22, Z:-4.25 [[ 9.99967976e-01 -7.97831331e-03 6.27471352e-04 1.09243939e+02] [ 7.97832881e-03 9.99968172e-01 -2.22140843e-05 -8.21832079e+00] [-6.27274150e-04 2.72195456e-05 9.99999803e-01 -4.24657873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061346184 meters 0.07646622620647354 Centerline is valid? [True, True] Translation: X:109.27, Y:-8.22, Z:-4.25 [[ 9.99946219e-01 -1.03691556e-02 2.01155315e-04 1.09273555e+02] [ 1.03691575e-02 9.99946239e-01 -7.92131429e-06 -8.22391803e+00] [-2.01062363e-04 1.00066994e-05 9.99999980e-01 -4.24951461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.091346184 meters 0.07712431789538274 Centerline is valid? [True, True] Translation: X:109.31, Y:-8.22, Z:-4.25 [[ 9.99933814e-01 -1.14981994e-02 3.99256415e-04 1.09306111e+02] [ 1.14982056e-02 9.99933893e-01 -1.33002093e-05 -8.22482124e+00] [-3.99077093e-04 1.78900613e-05 9.99999920e-01 -4.24971878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121346184 meters 0.07749769442862266 Centerline is valid? [True, True] Translation: X:109.34, Y:-8.22, Z:-4.25 [[ 9.99930132e-01 -1.17628314e-02 1.16950381e-03 1.09338837e+02] [ 1.17628907e-02 9.99930814e-01 -4.37882822e-05 -8.22408403e+00] [-1.16890782e-03 5.75419683e-05 9.99999315e-01 -4.24967778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.151346184 meters 0.07811330402240292 Centerline is valid? [True, True] Translation: X:109.37, Y:-8.22, Z:-4.25 [[ 9.99930287e-01 -1.17186750e-02 1.44694063e-03 1.09369844e+02] [ 1.17187675e-02 9.99931331e-01 -5.54557212e-05 -8.22250201e+00] [-1.44619141e-03 7.24082161e-05 9.99998952e-01 -4.25141599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.181346184 meters 0.07837329300039658 Centerline is valid? [True, True] Translation: X:109.40, Y:-8.22, Z:-4.25 [[ 9.99934739e-01 -1.14242267e-02 -7.34860286e-05 1.09401874e+02] [ 1.14242272e-02 9.99934741e-01 5.30180245e-06 -8.22410438e+00] [ 7.34206639e-05 -6.14097753e-06 9.99999997e-01 -4.25412462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.211346184 meters 0.07827569639084284 Centerline is valid? [True, True] Translation: X:109.43, Y:-8.23, Z:-4.26 [[ 9.99943053e-01 -1.06671619e-02 3.20397810e-04 1.09434098e+02] [ 1.06671657e-02 9.99943104e-01 -1.03507668e-05 -8.22522062e+00] [-3.20269168e-04 1.37679139e-05 9.99999949e-01 -4.25587835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.241346184 meters 0.07827569639084284 Centerline is valid? [True, True] Translation: X:109.47, Y:-8.23, Z:-4.26 [[ 9.99943789e-01 -1.05979803e-02 3.20396734e-04 1.09465809e+02] [ 1.05979842e-02 9.99943840e-01 -1.03799035e-05 -8.22657280e+00] [-3.20268735e-04 1.37748796e-05 9.99999949e-01 -4.25696350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27134618399998 meters 0.07803508471214361 Centerline is valid? [True, True] Translation: X:109.50, Y:-8.22, Z:-4.26 [[ 9.99940226e-01 -1.03228457e-02 3.60332102e-03 1.09496582e+02] [ 1.03234254e-02 9.99946702e-01 -1.42299463e-04 -8.22452202e+00] [-3.60166004e-03 1.79489573e-04 9.99993498e-01 -4.25612805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30134618399998 meters 0.07837174778973106 Centerline is valid? [True, True] Translation: X:109.53, Y:-8.22, Z:-4.26 [[ 9.99943782e-01 -9.96533549e-03 3.62279685e-03 1.09529005e+02] [ 9.96591584e-03 9.99950329e-01 -1.42176851e-04 -8.22438896e+00] [-3.62120007e-03 1.78273347e-04 9.99993428e-01 -4.25759748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33134618399998 meters 0.07886183914170945 Centerline is valid? [True, True] Translation: X:109.56, Y:-8.22, Z:-4.26 [[ 9.99945035e-01 -9.95676961e-03 3.28465594e-03 1.09559814e+02] [ 9.95724839e-03 9.99950417e-01 -1.29443300e-04 -8.22484496e+00] [-3.28320424e-03 1.62142320e-04 9.99994597e-01 -4.25973740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36134618399998 meters 0.07914416992329944 Centerline is valid? [True, True] Translation: X:109.59, Y:-8.23, Z:-4.26 [[ 9.99944473e-01 -9.97428357e-03 3.40055370e-03 1.09593001e+02] [ 9.97479235e-03 9.99950242e-01 -1.32690403e-04 -8.22555317e+00] [-3.39906100e-03 1.66602853e-04 9.99994209e-01 -4.26131624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39134618399999 meters 0.07983272502857137 Centerline is valid? [True, True] Translation: X:109.62, Y:-8.23, Z:-4.26 [[ 9.99941819e-01 -9.86442430e-03 4.36492413e-03 1.09623760e+02] [ 9.86527439e-03 9.99951322e-01 -1.73267673e-04 -8.22584869e+00] [-4.36300247e-03 2.16318767e-04 9.99990459e-01 -4.26270076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.421346184 meters 0.07980390550734082 Centerline is valid? [True, True] Translation: X:109.66, Y:-8.23, Z:-4.26 [[ 9.99947383e-01 -9.31065917e-03 4.30611349e-03 1.09656127e+02] [ 9.31148019e-03 9.99956633e-01 -1.70654062e-04 -8.22597283e+00] [-4.30433784e-03 2.10741373e-04 9.99990714e-01 -4.26447297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.451346184 meters 0.07973779494800178 Centerline is valid? [True, True] Translation: X:109.69, Y:-8.23, Z:-4.27 [[ 9.99952787e-01 -8.87019210e-03 3.96781234e-03 1.09688687e+02] [ 8.87088611e-03 9.99960641e-01 -1.57344511e-04 -8.22593741e+00] [-3.96626049e-03 1.92535094e-04 9.99992116e-01 -4.26637908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.481346184 meters 0.07580140625194731 Centerline is valid? [True, True] Translation: X:109.72, Y:-8.22, Z:-4.26 [[ 9.99959281e-01 -8.31780869e-03 3.50005332e-03 1.09721096e+02] [ 8.31834455e-03 9.99965392e-01 -1.38570477e-04 -8.21713320e+00] [-3.49877959e-03 1.67679484e-04 9.99993865e-01 -4.26231783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.511346184 meters 0.07998788465921937 Centerline is valid? [True, True] Translation: X:109.75, Y:-8.22, Z:-4.27 [[ 9.99963335e-01 -7.67125780e-03 3.80530853e-03 1.09752347e+02] [ 7.67188841e-03 9.99970559e-01 -1.51148356e-04 -8.22295244e+00] [-3.80403700e-03 1.80336717e-04 9.99992748e-01 -4.26926025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.541346184 meters 0.07505955771178269 Centerline is valid? [True, True] Translation: X:109.78, Y:-8.21, Z:-4.26 [[ 9.99963911e-01 -7.74633848e-03 3.48869985e-03 1.09784913e+02] [ 7.74686904e-03 9.99969983e-01 -1.38591550e-04 -8.21175917e+00] [-3.48752155e-03 1.65613049e-04 9.99993905e-01 -4.26334256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.571346184 meters 0.08058384154685728 Centerline is valid? [True, True] Translation: X:109.82, Y:-8.22, Z:-4.27 [[ 9.99960112e-01 -7.69356923e-03 4.53691053e-03 1.09815907e+02] [ 7.69447091e-03 9.99970381e-01 -1.81321772e-04 -8.22350964e+00] [-4.53538114e-03 2.16223665e-04 9.99989692e-01 -4.27172399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601346184 meters 0.0814591930884656 Centerline is valid? [True, True] Translation: X:109.85, Y:-8.23, Z:-4.28 [[ 9.99962548e-01 -7.70885872e-03 3.93389197e-03 1.09847257e+02] [ 7.70953948e-03 9.99970269e-01 -1.57913362e-04 -8.22512388e+00] [-3.93255767e-03 1.88235944e-04 9.99992250e-01 -4.27559205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.631346184 meters 0.0814240123401281 Centerline is valid? [True, True] Translation: X:109.88, Y:-8.23, Z:-4.28 [[ 9.99963613e-01 -7.74356712e-03 3.57896118e-03 1.09879684e+02] [ 7.74412921e-03 9.99970004e-01 -1.43223162e-04 -8.22590797e+00] [-3.57774477e-03 1.70933889e-04 9.99993585e-01 -4.27702490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661346184 meters 0.0759670657092811 Centerline is valid? [True, True] Translation: X:109.91, Y:-8.21, Z:-4.27 [[ 9.99957544e-01 -8.31863696e-03 3.96360320e-03 1.09912942e+02] [ 8.31933181e-03 9.99965381e-01 -1.58853867e-04 -8.21380617e+00] [-3.96214454e-03 1.91821653e-04 9.99992132e-01 -4.27047811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.691346184 meters 0.07722212159844459 Centerline is valid? [True, True] Translation: X:109.94, Y:-8.21, Z:-4.27 [[ 9.99958515e-01 -8.34232368e-03 3.65712679e-03 1.09944382e+02] [ 8.34291027e-03 9.99965187e-01 -1.45171744e-04 -8.21449216e+00] [-3.65578840e-03 1.75676802e-04 9.99993302e-01 -4.27252531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721346184 meters 0.07597860652308358 Centerline is valid? [True, True] Translation: X:109.98, Y:-8.21, Z:-4.27 [[ 9.99968196e-01 -7.32802520e-03 3.14767887e-03 1.09976985e+02] [ 7.32845891e-03 9.99973139e-01 -1.26274327e-04 -8.20882261e+00] [-3.14666898e-03 1.49337947e-04 9.99995038e-01 -4.27328084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.751346184 meters 0.07480527849554183 Centerline is valid? [True, True] Translation: X:110.01, Y:-8.21, Z:-4.27 [[ 9.99975365e-01 -6.11528273e-03 3.44569678e-03 1.10009440e+02] [ 6.11579671e-03 9.99981289e-01 -1.38649541e-04 -8.20581532e+00] [-3.44478443e-03 1.59719306e-04 9.99994054e-01 -4.27369895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781346184 meters 0.07646804293175553 Centerline is valid? [True, True] Translation: X:110.04, Y:-8.21, Z:-4.28 [[ 9.99980984e-01 -4.05120253e-03 4.64973897e-03 1.10039586e+02] [ 4.05212915e-03 9.99991772e-01 -1.89882176e-04 -8.20902934e+00] [-4.64893146e-03 2.08719908e-04 9.99989172e-01 -4.27765005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.811346184 meters 0.07322804090922665 Centerline is valid? [True, True] Translation: X:110.07, Y:-8.20, Z:-4.28 [[ 9.99987031e-01 -2.09271784e-03 4.64319298e-03 1.10072497e+02] [ 2.09361390e-03 9.99997791e-01 -1.88131222e-04 -8.19898411e+00] [-4.64278901e-03 1.97849835e-04 9.99989203e-01 -4.27536966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841346184 meters 0.07361195621223092 Centerline is valid? [True, True] Translation: X:110.10, Y:-8.20, Z:-4.28 [[ 9.99983983e-01 -2.98094127e-03 4.81110590e-03 1.10104827e+02] [ 2.98191554e-03 9.99995535e-01 -1.95343324e-04 -8.19908564e+00] [-4.81050211e-03 2.09686506e-04 9.99988407e-01 -4.27603263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.871346184 meters 0.07349021726887243 Centerline is valid? [True, True] Translation: X:110.14, Y:-8.20, Z:-4.28 [[ 9.99982910e-01 -3.84539802e-03 4.40370702e-03 1.10136734e+02] [ 3.84621600e-03 9.99992588e-01 -1.77295629e-04 -8.19764223e+00] [-4.40299260e-03 1.94230208e-04 9.99990288e-01 -4.27616697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901346184 meters 0.07778344082061586 Centerline is valid? [True, True] Translation: X:110.17, Y:-8.20, Z:-4.28 [[ 9.99983994e-01 -4.72455386e-03 3.11281366e-03 1.10166896e+02] [ 4.72496416e-03 9.99988830e-01 -1.24471149e-04 -8.20494672e+00] [-3.11219082e-03 1.39177089e-04 9.99995147e-01 -4.28318170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.931346184 meters 0.07500850202633995 Centerline is valid? [True, True] Translation: X:110.20, Y:-8.20, Z:-4.28 [[ 9.99972755e-01 -6.79051220e-03 2.89448881e-03 1.10199288e+02] [ 6.79088061e-03 9.99976935e-01 -1.17468884e-04 -8.19786521e+00] [-2.89362437e-03 1.37121811e-04 9.99995804e-01 -4.28114801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961346184 meters 0.07579677443571847 Centerline is valid? [True, True] Translation: X:110.23, Y:-8.20, Z:-4.28 [[ 9.99970520e-01 -7.31073900e-03 2.34801723e-03 1.10230443e+02] [ 7.31097970e-03 9.99973270e-01 -9.39447325e-05 -8.20111275e+00] [-2.34726767e-03 1.11108269e-04 9.99997239e-01 -4.28486325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.991346184 meters 0.07531709557311365 Centerline is valid? [True, True] Translation: X:110.26, Y:-8.20, Z:-4.29 [[ 9.99971309e-01 -7.14657390e-03 2.51158323e-03 1.10262836e+02] [ 7.14685275e-03 9.99974456e-01 -1.02070512e-04 -8.20067509e+00] [-2.51078962e-03 1.20017499e-04 9.99996841e-01 -4.28631386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02134618399998 meters 0.07569881832689447 Centerline is valid? [True, True] Translation: X:110.29, Y:-8.20, Z:-4.29 [[ 9.99982725e-01 -5.07315950e-03 2.96873762e-03 1.10293756e+02] [ 5.07354527e-03 9.99987122e-01 -1.22428368e-04 -8.19700143e+00] [-2.96807829e-03 1.37488277e-04 9.99995586e-01 -4.28669763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05134618399998 meters 0.07462794739000778 Centerline is valid? [True, True] Translation: X:110.33, Y:-8.19, Z:-4.28 [[ 9.99981890e-01 -4.20178606e-03 4.30871676e-03 1.10325961e+02] [ 4.20258915e-03 9.99991153e-01 -1.77351376e-04 -8.19238962e+00] [-4.30793345e-03 1.95455931e-04 9.99990702e-01 -4.28476565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08134618399998 meters 0.07497120258217067 Centerline is valid? [True, True] Translation: X:110.36, Y:-8.19, Z:-4.29 [[ 9.99985694e-01 -2.54681491e-03 4.70379136e-03 1.10356629e+02] [ 2.54776373e-03 9.99996735e-01 -1.95732005e-04 -8.19102545e+00] [-4.70327751e-03 2.07713354e-04 9.99988918e-01 -4.28655608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11134618399998 meters 0.07368267940382416 Centerline is valid? [True, True] Translation: X:110.39, Y:-8.19, Z:-4.29 [[ 9.99989223e-01 -1.03860929e-03 4.52487030e-03 1.10389351e+02] [ 1.03946509e-03 9.99999442e-01 -1.86786281e-04 -8.18706799e+00] [-4.52467377e-03 1.91487713e-04 9.99989745e-01 -4.28662941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14134618399999 meters 0.07135408879845234 Centerline is valid? [True, True] Translation: X:110.42, Y:-8.18, Z:-4.29 [[ 9.99989075e-01 8.88106402e-04 4.58917613e-03 1.10421319e+02] [-8.87240287e-04 9.99999588e-01 -1.90762260e-04 -8.17864523e+00] [-4.58934366e-03 1.86688474e-04 9.99989451e-01 -4.28537981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.171346184 meters 0.07458565070913807 Centerline is valid? [True, True] Translation: X:110.45, Y:-8.19, Z:-4.29 [[ 9.99992085e-01 1.37941762e-03 3.73186021e-03 1.10452520e+02] [-1.37885074e-03 9.99999037e-01 -1.54469782e-04 -8.18518745e+00] [-3.73206970e-03 1.49322881e-04 9.99993025e-01 -4.29186058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.201346184 meters 0.07475221785918533 Centerline is valid? [True, True] Translation: X:110.48, Y:-8.18, Z:-4.29 [[ 9.99990151e-01 1.88473894e-03 4.01814901e-03 1.10484249e+02] [-1.88410400e-03 9.99998212e-01 -1.61797731e-04 -8.18472646e+00] [-4.01844677e-03 1.54225527e-04 9.99991914e-01 -4.29355024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.231346184 meters 0.07183890388021541 Centerline is valid? [True, True] Translation: X:110.52, Y:-8.18, Z:-4.29 [[ 9.99979810e-01 2.39671538e-03 5.88515658e-03 1.10516833e+02] [-2.39531036e-03 9.99997101e-01 -2.45776009e-04 -8.17571900e+00] [-5.88572857e-03 2.31674270e-04 9.99982652e-01 -4.28843603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.261346184 meters 0.07168162067019569 Centerline is valid? [True, True] Translation: X:110.55, Y:-8.17, Z:-4.29 [[ 9.99974944e-01 2.67888706e-03 6.55245838e-03 1.10549412e+02] [-2.67717889e-03 9.99996380e-01 -2.69448004e-04 -8.17451258e+00] [-6.55315648e-03 2.51899150e-04 9.99978496e-01 -4.28789725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.291346184 meters 0.07216051428227141 Centerline is valid? [True, True] Translation: X:110.58, Y:-8.17, Z:-4.29 [[ 9.99972058e-01 3.17636600e-03 6.76719152e-03 1.10581015e+02] [-3.17453822e-03 9.99994922e-01 -2.80818687e-04 -8.17431262e+00] [-6.76804913e-03 2.59328132e-04 9.99977063e-01 -4.28891292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321346184 meters 0.07227270131571419 Centerline is valid? [True, True] Translation: X:110.61, Y:-8.17, Z:-4.29 [[ 9.99965308e-01 3.58851725e-03 7.51701158e-03 1.10613126e+02] [-3.58625719e-03 9.99993520e-01 -3.14117975e-04 -8.17336820e+00] [-7.51809009e-03 2.87149141e-04 9.99971698e-01 -4.29059546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.351346184 meters 0.07206952310799437 Centerline is valid? [True, True] Translation: X:110.65, Y:-8.17, Z:-4.29 [[ 9.99959632e-01 4.38811966e-03 7.84082540e-03 1.10645721e+02] [-4.38566652e-03 9.99990328e-01 -3.30034027e-04 -8.17394658e+00] [-7.84219780e-03 2.95633459e-04 9.99969206e-01 -4.29187760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381346184 meters 0.07173697616103047 Centerline is valid? [True, True] Translation: X:110.68, Y:-8.17, Z:-4.29 [[ 9.99954292e-01 5.24766725e-03 7.99221666e-03 1.10678272e+02] [-5.24512854e-03 9.99986187e-01 -3.38574086e-04 -8.17283545e+00] [-7.99388299e-03 2.96638406e-04 9.99968004e-01 -4.29277150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.411346184 meters 0.071574184656385 Centerline is valid? [True, True] Translation: X:110.71, Y:-8.17, Z:-4.29 [[ 9.99949137e-01 6.67313220e-03 7.56258361e-03 1.10710235e+02] [-6.67084906e-03 9.99977696e-01 -3.27084378e-04 -8.17072413e+00] [-7.56459761e-03 2.76618887e-04 9.99971350e-01 -4.29396637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441346184 meters 0.07113893890319081 Centerline is valid? [True, True] Translation: X:110.74, Y:-8.16, Z:-4.29 [[ 9.99935483e-01 8.77728071e-03 7.21040747e-03 1.10741530e+02] [-8.77525082e-03 9.99961448e-01 -3.13112138e-04 -8.16431057e+00] [-7.21287777e-03 2.49818803e-04 9.99973956e-01 -4.29404754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.471346184 meters 0.0712971791740908 Centerline is valid? [True, True] Translation: X:110.77, Y:-8.16, Z:-4.30 [[ 9.99921816e-01 9.82583617e-03 7.73395952e-03 1.10770929e+02] [-9.82352351e-03 9.99951691e-01 -3.36957722e-04 -8.16355736e+00] [-7.73689680e-03 2.60956644e-04 9.99970036e-01 -4.29502129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501346184 meters 0.06968998206696966 Centerline is valid? [True, True] Translation: X:110.80, Y:-8.16, Z:-4.29 [[ 9.99914914e-01 1.06545844e-02 7.52631755e-03 1.10800923e+02] [-1.06524146e-02 9.99943208e-01 -3.28315658e-04 -8.15808279e+00] [-7.52938818e-03 2.48114268e-04 9.99971623e-01 -4.29283959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.531346184 meters 0.07032763293505635 Centerline is valid? [True, True] Translation: X:110.83, Y:-8.16, Z:-4.30 [[ 9.99893064e-01 1.22003690e-02 8.06297591e-03 1.10829137e+02] [-1.21979245e-02 9.99925540e-01 -3.52287919e-04 -8.15890042e+00] [-8.06667358e-03 2.53898676e-04 9.99967432e-01 -4.29583096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561346184 meters 0.06961187008394401 Centerline is valid? [True, True] Translation: X:110.86, Y:-8.16, Z:-4.30 [[ 9.99874541e-01 1.29329661e-02 9.14554713e-03 1.10859218e+02] [-1.29298694e-02 9.99916327e-01 -3.97651013e-04 -8.15792463e+00] [-9.14992470e-03 2.79350395e-04 9.99958100e-01 -4.29565910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.591346184 meters 0.06946507543848343 Centerline is valid? [True, True] Translation: X:110.89, Y:-8.16, Z:-4.30 [[ 9.99855443e-01 1.35783516e-02 1.02333111e-02 1.10889112e+02] [-1.35745135e-02 9.99907763e-01 -4.44419871e-04 -8.15850119e+00] [-1.02384017e-02 3.05443407e-04 9.99947540e-01 -4.29677639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621346184 meters 0.06970676667366525 Centerline is valid? [True, True] Translation: X:110.92, Y:-8.16, Z:-4.30 [[ 9.99867455e-01 1.34089956e-02 9.23427384e-03 1.10918795e+02] [-1.34058652e-02 9.99910057e-01 -4.00815503e-04 -8.15730906e+00] [-9.23881781e-03 2.76968947e-04 9.99957283e-01 -4.29660878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.651346184 meters 0.06998279676960406 Centerline is valid? [True, True] Translation: X:110.95, Y:-8.16, Z:-4.30 [[ 9.99875426e-01 1.31726221e-02 8.69562943e-03 1.10946922e+02] [-1.31698276e-02 9.99913202e-01 -3.78553007e-04 -8.15690870e+00] [-8.69986121e-03 2.63985909e-04 9.99962121e-01 -4.29724199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681346184 meters 0.07028067885937828 Centerline is valid? [True, True] Translation: X:110.98, Y:-8.16, Z:-4.30 [[ 9.99889481e-01 1.24827988e-02 8.07498544e-03 1.10976031e+02] [-1.24803745e-02 9.99922056e-01 -3.50551688e-04 -8.15689557e+00] [-8.07873191e-03 2.49734103e-04 9.99967335e-01 -4.29797886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.711346184 meters 0.07042098034747965 Centerline is valid? [True, True] Translation: X:111.00, Y:-8.16, Z:-4.30 [[ 9.99890256e-01 1.25342609e-02 7.89741852e-03 1.11004637e+02] [-1.25319477e-02 9.99921413e-01 -3.42324325e-04 -8.15780131e+00] [-7.90108868e-03 2.43316721e-04 9.99968756e-01 -4.29933363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741346184 meters 0.07022096819657817 Centerline is valid? [True, True] Translation: X:111.03, Y:-8.16, Z:-4.30 [[ 9.99867431e-01 1.49339099e-02 6.48838045e-03 1.11031940e+02] [-1.49323958e-02 9.99888466e-01 -2.81735491e-04 -8.15964374e+00] [-6.49186419e-03 1.84811077e-04 9.99978911e-01 -4.30353545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77134618399998 meters 0.07021693648098082 Centerline is valid? [True, True] Translation: X:111.06, Y:-8.16, Z:-4.31 [[ 9.99851750e-01 1.59574864e-02 6.46818909e-03 1.11059139e+02] [-1.59560072e-02 9.99872656e-01 -2.80225946e-04 -8.16148771e+00] [-6.47183711e-03 1.76977931e-04 9.99979042e-01 -4.30690356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80134618399998 meters 0.06949815204875207 Centerline is valid? [True, True] Translation: X:111.09, Y:-8.16, Z:-4.31 [[ 9.99827648e-01 1.72222263e-02 6.93318844e-03 1.11088578e+02] [-1.72205693e-02 9.99851670e-01 -2.98622879e-04 -8.16066361e+00] [-6.93730299e-03 1.79177959e-04 9.99975921e-01 -4.30714190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83134618399998 meters 0.0690054529017956 Centerline is valid? [True, True] Translation: X:111.12, Y:-8.16, Z:-4.31 [[ 9.99753293e-01 2.05467554e-02 8.43710595e-03 1.11117361e+02] [-2.05444270e-02 9.99788875e-01 -3.62556739e-04 -8.15636264e+00] [-8.44277403e-03 1.89131787e-04 9.99964341e-01 -4.30696244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86134618399998 meters 0.06862506258655439 Centerline is valid? [True, True] Translation: X:111.15, Y:-8.15, Z:-4.31 [[ 9.99723833e-01 2.19612561e-02 8.36427770e-03 1.11146461e+02] [-2.19590175e-02 9.99758807e-01 -3.59392067e-04 -8.15400454e+00] [-8.37015300e-03 1.75621494e-04 9.99964954e-01 -4.30708068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89134618399999 meters 0.06835891033047072 Centerline is valid? [True, True] Translation: X:111.18, Y:-8.15, Z:-4.31 [[ 9.99697232e-01 2.30622554e-02 8.57772428e-03 1.11175587e+02] [-2.30599471e-02 9.99734016e-01 -3.67919231e-04 -8.15254777e+00] [-8.58392780e-03 1.70005968e-04 9.99963143e-01 -4.30727684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.921346184 meters 0.06798926010772403 Centerline is valid? [True, True] Translation: X:111.20, Y:-8.15, Z:-4.31 [[ 9.99672333e-01 2.43604401e-02 7.86104581e-03 1.11204236e+02] [-2.43585442e-02 9.99703230e-01 -3.36845073e-04 -8.15258117e+00] [-7.86691858e-03 1.45251069e-04 9.99969045e-01 -4.30958815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.951346184 meters 0.06739981626686518 Centerline is valid? [True, True] Translation: X:111.23, Y:-8.15, Z:-4.31 [[ 9.99655994e-01 2.51127914e-02 7.56574146e-03 1.11233214e+02] [-2.51110593e-02 9.99684615e-01 -3.23865776e-04 -8.15442463e+00] [-7.57148852e-03 1.33770582e-04 9.99971327e-01 -4.31024391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.981346184 meters 0.06747142373920055 Centerline is valid? [True, True] Translation: X:111.26, Y:-8.16, Z:-4.31 [[ 9.99677333e-01 2.44279323e-02 6.96459613e-03 1.11262382e+02] [-2.44264498e-02 9.99701585e-01 -2.97846294e-04 -8.15637524e+00] [-6.96979356e-03 1.27629831e-04 9.99975703e-01 -4.31091381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.011346184 meters 0.06780279873273565 Centerline is valid? [True, True] Translation: X:111.29, Y:-8.16, Z:-4.31 [[ 9.99704340e-01 2.35913788e-02 5.88892952e-03 1.11289566e+02] [-2.35902989e-02 9.99721678e-01 -2.52779459e-04 -8.15824248e+00] [-5.89325392e-03 1.13783115e-04 9.99982628e-01 -4.31264688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.041346184 meters 0.06818806079039158 Centerline is valid? [True, True] Translation: X:111.32, Y:-8.16, Z:-4.31 [[ 9.99782750e-01 2.01264990e-02 5.42010782e-03 1.11317789e+02] [-2.01255322e-02 9.99797434e-01 -2.32864763e-04 -8.16148337e+00] [-5.42369664e-03 1.23731619e-04 9.99985284e-01 -4.31182798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.071346184 meters 0.0688419766332475 Centerline is valid? [True, True] Translation: X:111.35, Y:-8.17, Z:-4.31 [[ 9.99813768e-01 1.81528596e-02 6.55009713e-03 1.11345008e+02] [-1.81514223e-02 9.99835210e-01 -2.78809262e-04 -8.16655007e+00] [-6.55407893e-03 1.59863759e-04 9.99978509e-01 -4.31443365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101346184 meters 0.0688419766332475 Centerline is valid? [True, True] Translation: X:111.37, Y:-8.17, Z:-4.32 [[ 9.99815653e-01 1.80487230e-02 6.55010356e-03 1.11372428e+02] [-1.80472845e-02 9.99837096e-01 -2.78659992e-04 -8.16756656e+00] [-6.55406598e-03 1.60397040e-04 9.99978509e-01 -4.31537429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.131346184 meters 0.06895945792491878 Centerline is valid? [True, True] Translation: X:111.40, Y:-8.17, Z:-4.31 [[ 9.99843301e-01 1.60087483e-02 7.55600994e-03 1.11400814e+02] [-1.60067926e-02 9.99871832e-01 -3.19246643e-04 -8.17077375e+00] [-7.56015224e-03 1.98249134e-04 9.99971402e-01 -4.31489339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161346184 meters 0.06977013136861308 Centerline is valid? [True, True] Translation: X:111.43, Y:-8.18, Z:-4.32 [[ 9.99888481e-01 1.21066930e-02 8.74372759e-03 1.11429159e+02] [-1.21039339e-02 9.99926677e-01 -3.68399835e-04 -8.17920608e+00] [-8.74754657e-03 2.62525251e-04 9.99961705e-01 -4.31596034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.191346184 meters 0.06988959661108186 Centerline is valid? [True, True] Translation: X:111.46, Y:-8.18, Z:-4.32 [[ 9.99906282e-01 1.08427063e-02 8.35843243e-03 1.11458295e+02] [-1.08401485e-02 9.99941182e-01 -3.51248811e-04 -8.18086767e+00] [-8.36174929e-03 2.60609243e-04 9.99965006e-01 -4.31606993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221346184 meters 0.07021359622090292 Centerline is valid? [True, True] Translation: X:111.49, Y:-8.18, Z:-4.32 [[ 9.99913966e-01 1.05086051e-02 7.85041002e-03 1.11487314e+02] [-1.05063411e-02 9.99944753e-01 -3.29575931e-04 -8.18238268e+00] [-7.85343969e-03 2.47068491e-04 9.99969131e-01 -4.31802292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.251346184 meters 0.07047600860145066 Centerline is valid? [True, True] Translation: X:111.52, Y:-8.18, Z:-4.32 [[ 9.99914446e-01 1.04854385e-02 7.82019376e-03 1.11516743e+02] [-1.04831982e-02 9.99944996e-01 -3.27420019e-04 -8.18289417e+00] [-7.82319677e-03 2.45411366e-04 9.99969368e-01 -4.31957681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281346184 meters 0.06995099748394244 Centerline is valid? [True, True] Translation: X:111.55, Y:-8.18, Z:-4.32 [[ 9.99895623e-01 1.23071567e-02 7.56817300e-03 1.11546674e+02] [-1.23051123e-02 9.99924239e-01 -3.16631226e-04 -8.18304843e+00] [-7.57149645e-03 2.23470958e-04 9.99971311e-01 -4.32095191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.311346184 meters 0.06984533791970063 Centerline is valid? [True, True] Translation: X:111.58, Y:-8.18, Z:-4.32 [[ 9.99882924e-01 1.32912360e-02 7.58160278e-03 1.11575103e+02] [-1.32892075e-02 9.99911644e-01 -3.17876015e-04 -8.18304462e+00] [-7.58515786e-03 2.17085308e-04 9.99971209e-01 -4.32182515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341346184 meters 0.06967279815273814 Centerline is valid? [True, True] Translation: X:111.60, Y:-8.18, Z:-4.32 [[ 9.99872458e-01 1.40736746e-02 7.54985704e-03 1.11603875e+02] [-1.40716894e-02 9.99900939e-01 -3.16009782e-04 -8.18300275e+00] [-7.55355656e-03 2.09730234e-04 9.99971449e-01 -4.32334286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.371346184 meters 0.06950028460455379 Centerline is valid? [True, True] Translation: X:111.63, Y:-8.18, Z:-4.32 [[ 9.99858671e-01 1.45275808e-02 8.46094873e-03 1.11633173e+02] [-1.45251152e-02 9.99894443e-01 -3.52787206e-04 -8.18284385e+00] [-8.46518076e-03 2.29841092e-04 9.99964143e-01 -4.32415092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401346184 meters 0.06924020387797039 Centerline is valid? [True, True] Translation: X:111.66, Y:-8.18, Z:-4.32 [[ 9.99851598e-01 1.47101887e-02 8.96622688e-03 1.11661535e+02] [-1.47074283e-02 9.99891770e-01 -3.73726657e-04 -8.18281036e+00] [-8.97075405e-03 2.41801057e-04 9.99959733e-01 -4.32447086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.431346184 meters 0.06950233499427161 Centerline is valid? [True, True] Translation: X:111.69, Y:-8.18, Z:-4.33 [[ 9.99855886e-01 1.45989264e-02 8.66476780e-03 1.11690229e+02] [-1.45963490e-02 9.99893403e-01 -3.60614034e-04 -8.18366565e+00] [-8.66910874e-03 2.34088089e-04 9.99962395e-01 -4.32529530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461346184 meters 0.06973930888907952 Centerline is valid? [True, True] Translation: X:111.72, Y:-8.18, Z:-4.33 [[ 9.99859002e-01 1.42976825e-02 8.80640240e-03 1.11717782e+02] [-1.42950106e-02 9.99897754e-01 -3.66281164e-04 -8.18482556e+00] [-8.81073895e-03 2.40341904e-04 9.99961156e-01 -4.32704617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.491346184 meters 0.06992670225238684 Centerline is valid? [True, True] Translation: X:111.75, Y:-8.19, Z:-4.33 [[ 9.99845123e-01 1.46604514e-02 9.73663754e-03 1.11745140e+02] [-1.46572140e-02 9.99892496e-01 -4.03774777e-04 -8.18781223e+00] [-9.74151033e-03 2.61000261e-04 9.99952516e-01 -4.32942196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52134618399998 meters 0.069706455949925 Centerline is valid? [True, True] Translation: X:111.77, Y:-8.19, Z:-4.33 [[ 9.99835579e-01 1.45529519e-02 1.08178580e-02 1.11774488e+02] [-1.45489715e-02 9.99894058e-01 -4.46550419e-04 -8.18824050e+00] [-1.08232106e-02 2.89088288e-04 9.99941386e-01 -4.32891730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55134618399998 meters 0.06923820334395173 Centerline is valid? [True, True] Translation: X:111.80, Y:-8.19, Z:-4.33 [[ 9.99839466e-01 1.44968122e-02 1.05301652e-02 1.11803173e+02] [-1.44930381e-02 9.99894876e-01 -4.34631928e-04 -8.18747729e+00] [-1.05353590e-02 2.81948070e-04 9.99944462e-01 -4.32767790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58134618399998 meters 0.06889945474340743 Centerline is valid? [True, True] Translation: X:111.83, Y:-8.19, Z:-4.33 [[ 9.99809383e-01 1.56222679e-02 1.17107521e-02 1.11832589e+02] [-1.56176950e-02 9.99877920e-01 -4.81843424e-04 -8.18617058e+00] [-1.17168500e-02 2.98856622e-04 9.99931311e-01 -4.32802681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61134618399998 meters 0.06887041586671165 Centerline is valid? [True, True] Translation: X:111.86, Y:-8.19, Z:-4.33 [[ 9.99783399e-01 1.63660825e-02 1.28571439e-02 1.11862504e+02] [-1.63606482e-02 9.99866016e-01 -5.27742574e-04 -8.18806726e+00] [-1.28640583e-02 3.17277058e-04 9.99917204e-01 -4.32960524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64134618399999 meters 0.06932795242087235 Centerline is valid? [True, True] Translation: X:111.89, Y:-8.19, Z:-4.33 [[ 9.99818571e-01 1.54524824e-02 1.11376174e-02 1.11891784e+02] [-1.54483506e-02 9.99880563e-01 -4.56922649e-04 -8.19206888e+00] [-1.11433477e-02 2.84781932e-04 9.99937870e-01 -4.33331049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.671346184 meters 0.06932161397099074 Centerline is valid? [True, True] Translation: X:111.92, Y:-8.19, Z:-4.34 [[ 9.99838499e-01 1.48575458e-02 1.01108497e-02 1.11921532e+02] [-1.48541127e-02 9.99889586e-01 -4.14562106e-04 -8.19433558e+00] [-1.01158927e-02 2.64307453e-04 9.99948798e-01 -4.33628369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701346184 meters 0.06988026695213327 Centerline is valid? [True, True] Translation: X:111.95, Y:-8.20, Z:-4.34 [[ 9.99860086e-01 1.45169146e-02 8.31069048e-03 1.11949855e+02] [-1.45145803e-02 9.99894600e-01 -3.41124813e-04 -8.19651881e+00] [-8.31476661e-03 2.20450901e-04 9.99965407e-01 -4.33811927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.731346184 meters 0.06936302761004585 Centerline is valid? [True, True] Translation: X:111.98, Y:-8.20, Z:-4.34 [[ 9.99864000e-01 1.39768385e-02 8.75380628e-03 1.11978675e+02] [-1.39742288e-02 9.99902291e-01 -3.59219511e-04 -8.19530331e+00] [-8.75797171e-03 2.36842966e-04 9.99961620e-01 -4.33670484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761346184 meters 0.06961339258428897 Centerline is valid? [True, True] Translation: X:112.01, Y:-8.20, Z:-4.34 [[ 9.99862063e-01 1.37092797e-02 9.37604899e-03 1.12006736e+02] [-1.37062780e-02 9.99905991e-01 -3.84331796e-04 -8.19535536e+00] [-9.38043646e-03 2.55768048e-04 9.99955970e-01 -4.33684777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.791346184 meters 0.06964358127687337 Centerline is valid? [True, True] Translation: X:112.04, Y:-8.20, Z:-4.34 [[ 9.99856247e-01 1.37168989e-02 9.96650584e-03 1.12035288e+02] [-1.37135228e-02 9.99905882e-01 -4.07010722e-04 -8.19698997e+00] [-9.97115074e-03 2.70276308e-04 9.99950250e-01 -4.33823438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821346184 meters 0.06984686999952808 Centerline is valid? [True, True] Translation: X:112.06, Y:-8.20, Z:-4.34 [[ 9.99829417e-01 1.47252579e-02 1.11491394e-02 1.12063659e+02] [-1.47211124e-02 9.99891536e-01 -4.53800635e-04 -8.20412041e+00] [-1.11546124e-02 2.89595491e-04 9.99937743e-01 -4.34363456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.851346184 meters 0.06988753969550314 Centerline is valid? [True, True] Translation: X:112.09, Y:-8.21, Z:-4.35 [[ 9.99835562e-01 1.47707508e-02 1.05201817e-02 1.12092737e+02] [-1.47670629e-02 9.99890869e-01 -4.28152772e-04 -8.20554039e+00] [-1.05253578e-02 2.72730183e-04 9.99944570e-01 -4.34564214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881346184 meters 0.0691342802608104 Centerline is valid? [True, True] Translation: X:112.12, Y:-8.20, Z:-4.34 [[ 9.99835600e-01 1.52587638e-02 9.79502170e-03 1.12121511e+02] [-1.52555949e-02 9.99883547e-01 -3.98161948e-04 -8.20068863e+00] [-9.79995650e-03 2.48667607e-04 9.99951948e-01 -4.34246061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.911346184 meters 0.06894555096464396 Centerline is valid? [True, True] Translation: X:112.15, Y:-8.20, Z:-4.34 [[ 9.99824676e-01 1.54218338e-02 1.06200365e-02 1.12150026e+02] [-1.54181280e-02 9.99881041e-01 -4.30728311e-04 -8.19930363e+00] [-1.06254158e-02 2.66911711e-04 9.99943513e-01 -4.34213603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941346184 meters 0.06904665469978055 Centerline is valid? [True, True] Translation: X:112.18, Y:-8.20, Z:-4.34 [[ 9.99826848e-01 1.56542353e-02 1.00607941e-02 1.12177535e+02] [-1.56509212e-02 9.99877434e-01 -4.08059862e-04 -8.19998848e+00] [-1.00659488e-02 2.50528510e-04 9.99949306e-01 -4.34326627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.971346184 meters 0.06935043822466735 Centerline is valid? [True, True] Translation: X:112.21, Y:-8.20, Z:-4.35 [[ 9.99838576e-01 1.51188699e-02 9.70786480e-03 1.12206339e+02] [-1.51157734e-02 9.99885673e-01 -3.92270197e-04 -8.20342627e+00] [-9.71268561e-03 2.45464991e-04 9.99952801e-01 -4.34595261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001346184 meters 0.07045680126381695 Centerline is valid? [True, True] Translation: X:112.23, Y:-8.21, Z:-4.35 [[ 9.99864468e-01 1.30003461e-02 1.01013032e-02 1.12234773e+02] [-1.29969004e-02 9.99915454e-01 -4.06679009e-04 -8.21349511e+00] [-1.01057361e-02 2.75338259e-04 9.99948898e-01 -4.35138189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.031346184 meters 0.07008394456921377 Centerline is valid? [True, True] Translation: X:112.26, Y:-8.21, Z:-4.35 [[ 9.99876894e-01 1.08955564e-02 1.12908511e-02 1.12264258e+02] [-1.08911266e-02 9.99940587e-01 -4.53751964e-04 -8.21497934e+00] [-1.12951242e-02 3.30726016e-04 9.99936153e-01 -4.34917961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061346184 meters 0.06996151504513037 Centerline is valid? [True, True] Translation: X:112.29, Y:-8.22, Z:-4.35 [[ 9.99885097e-01 9.50084628e-03 1.18121668e-02 1.12294416e+02] [-9.49591560e-03 9.99954801e-01 -4.73441016e-04 -8.21642610e+00] [-1.18161310e-02 3.61219277e-04 9.99930122e-01 -4.34770286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.091346184 meters 0.06980709397066931 Centerline is valid? [True, True] Translation: X:112.33, Y:-8.22, Z:-4.35 [[ 9.99866673e-01 8.77956011e-03 1.37679447e-02 1.12326070e+02] [-8.77280312e-03 9.99961366e-01 -5.51095718e-04 -8.21651620e+00] [-1.37722512e-02 4.30238773e-04 9.99905065e-01 -4.34560138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121346184 meters 0.06967245677697118 Centerline is valid? [True, True] Translation: X:112.36, Y:-8.22, Z:-4.35 [[ 9.99874392e-01 9.86183455e-03 1.24074327e-02 1.12359376e+02] [-9.85649512e-03 9.99951303e-01 -4.91418385e-04 -8.21708719e+00] [-1.24116748e-02 3.69062858e-04 9.99922904e-01 -4.34741400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.151346184 meters 0.07136496176496843 Centerline is valid? [True, True] Translation: X:112.39, Y:-8.22, Z:-4.36 [[ 9.99856666e-01 1.19375462e-02 1.20059753e-02 1.12390406e+02] [-1.19326432e-02 9.99928688e-01 -4.79930056e-04 -8.22387261e+00] [-1.20108483e-02 3.36598246e-04 9.99927811e-01 -4.35517882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181346184 meters 0.06902561526658182 Centerline is valid? [True, True] Translation: X:112.42, Y:-8.22, Z:-4.35 [[ 9.99825037e-01 1.48974242e-02 1.13120239e-02 1.12421500e+02] [-1.48931754e-02 9.99888985e-01 -4.59748595e-04 -8.21778233e+00] [-1.13176172e-02 2.91196200e-04 9.99935911e-01 -4.35353776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.211346184 meters 0.06888904580652162 Centerline is valid? [True, True] Translation: X:112.45, Y:-8.22, Z:-4.35 [[ 9.99832589e-01 1.51854645e-02 1.02075809e-02 1.12450012e+02] [-1.51820023e-02 9.99884660e-01 -4.16579981e-04 -8.21734414e+00] [-1.02127295e-02 2.61538723e-04 9.99947815e-01 -4.35478114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241346184 meters 0.06867206867116031 Centerline is valid? [True, True] Translation: X:112.48, Y:-8.22, Z:-4.36 [[ 9.99808593e-01 1.60079001e-02 1.12483214e-02 1.12478397e+02] [-1.60037600e-02 9.99871827e-01 -4.57985956e-04 -8.21712910e+00] [-1.12542111e-02 2.77882858e-04 9.99936631e-01 -4.35530594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27134618399998 meters 0.06787604210498692 Centerline is valid? [True, True] Translation: X:112.51, Y:-8.22, Z:-4.35 [[ 9.99787615e-01 1.61805537e-02 1.27637738e-02 1.12507078e+02] [-1.61752519e-02 9.99869038e-01 -5.18513216e-04 -8.21510176e+00] [-1.27704921e-02 3.11945835e-04 9.99918405e-01 -4.35257901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30134618399998 meters 0.06935027147464913 Centerline is valid? [True, True] Translation: X:112.54, Y:-8.22, Z:-4.36 [[ 9.99804900e-01 1.51436936e-02 1.26818677e-02 1.12535169e+02] [-1.51383932e-02 9.99885276e-01 -5.13852867e-04 -8.22145433e+00] [-1.26881944e-02 3.21769516e-04 9.99919450e-01 -4.35735463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33134618399998 meters 0.0691284630506318 Centerline is valid? [True, True] Translation: X:112.56, Y:-8.22, Z:-4.36 [[ 9.99826467e-01 1.38350867e-02 1.24750098e-02 1.12564361e+02] [-1.38298697e-02 9.99904236e-01 -5.04372274e-04 -8.22311098e+00] [-1.24807932e-02 3.31756989e-04 9.99922057e-01 -4.35778284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36134618399998 meters 0.06880551803776803 Centerline is valid? [True, True] Translation: X:112.59, Y:-8.22, Z:-4.36 [[ 9.99846273e-01 1.27473005e-02 1.20389345e-02 1.12593870e+02] [-1.27423671e-02 9.99918694e-01 -4.86402284e-04 -8.22470437e+00] [-1.20441560e-02 3.32922989e-04 9.99927411e-01 -4.35854549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39134618399999 meters 0.06918621391527231 Centerline is valid? [True, True] Translation: X:112.62, Y:-8.23, Z:-4.36 [[ 9.99858418e-01 1.06973775e-02 1.29888090e-02 1.12623629e+02] [-1.06914745e-02 9.99942707e-01 -5.23817030e-04 -8.23066651e+00] [-1.29936684e-02 3.84873346e-04 9.99915505e-01 -4.36132750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.421346184 meters 0.06926129530876465 Centerline is valid? [True, True] Translation: X:112.66, Y:-8.23, Z:-4.36 [[ 9.99878898e-01 9.92474476e-03 1.19870235e-02 1.12655191e+02] [-9.91967849e-03 9.99950683e-01 -4.82029779e-04 -8.23201003e+00] [-1.19912163e-02 3.63063985e-04 9.99928037e-01 -4.36250312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.451346184 meters 0.06983440399304043 Centerline is valid? [True, True] Translation: X:112.69, Y:-8.23, Z:-4.36 [[ 9.99895703e-01 9.64413972e-03 1.07505460e-02 1.12686024e+02] [-9.64009638e-03 9.99953442e-01 -4.27862688e-04 -8.23424067e+00] [-1.07541718e-02 3.24181764e-04 9.99942120e-01 -4.36479353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.481346184 meters 0.0699923046744931 Centerline is valid? [True, True] Translation: X:112.72, Y:-8.23, Z:-4.37 [[ 9.99904758e-01 9.92899929e-03 9.58589745e-03 1.12716975e+02] [-9.92573653e-03 9.99950663e-01 -3.87887278e-04 -8.23452500e+00] [-9.58927585e-03 2.92703243e-04 9.99953979e-01 -4.36682336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.511346184 meters 0.07037070208308178 Centerline is valid? [True, True] Translation: X:112.75, Y:-8.24, Z:-4.37 [[ 9.99914815e-01 1.05912056e-02 7.62822487e-03 1.12747143e+02] [-1.05891549e-02 9.99943886e-01 -3.09167190e-04 -8.23547988e+00] [-7.63107127e-03 2.28364399e-04 9.99970857e-01 -4.37016572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.541346184 meters 0.06996112862335843 Centerline is valid? [True, True] Translation: X:112.78, Y:-8.24, Z:-4.37 [[ 9.99897461e-01 1.17524830e-02 8.18207721e-03 1.12777174e+02] [-1.17501499e-02 9.99930909e-01 -3.33167087e-04 -8.23594002e+00] [-8.18542744e-03 2.36992291e-04 9.99966471e-01 -4.37046009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.571346184 meters 0.06926011231860561 Centerline is valid? [True, True] Translation: X:112.81, Y:-8.23, Z:-4.37 [[ 9.99880745e-01 1.23471685e-02 9.27595933e-03 1.12806045e+02] [-1.23441913e-02 9.99923736e-01 -3.78152133e-04 -8.23437607e+00] [-9.27992102e-03 2.63602820e-04 9.99956906e-01 -4.36996524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601346184 meters 0.06897332856676136 Centerline is valid? [True, True] Translation: X:112.83, Y:-8.23, Z:-4.37 [[ 9.99860897e-01 1.35824901e-02 9.68005921e-03 1.12834438e+02] [-1.35793135e-02 9.99907719e-01 -3.93813885e-04 -8.23464825e+00] [-9.68451490e-03 2.62310546e-04 9.99953070e-01 -4.37049734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.631346184 meters 0.06879493923886004 Centerline is valid? [True, True] Translation: X:112.86, Y:-8.24, Z:-4.37 [[ 9.99852949e-01 1.43366201e-02 9.40968605e-03 1.12863411e+02] [-1.43336577e-02 9.99897195e-01 -3.82196957e-04 -8.23521451e+00] [-9.41419810e-03 2.47265536e-04 9.99955655e-01 -4.37191036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661346184 meters 0.06890010909687529 Centerline is valid? [True, True] Translation: X:112.89, Y:-8.24, Z:-4.37 [[ 9.99836846e-01 1.50069842e-02 1.00534757e-02 1.12891879e+02] [-1.50036548e-02 9.99887356e-01 -4.06513011e-04 -8.23669451e+00] [-1.00584438e-02 2.55607808e-04 9.99949380e-01 -4.37280530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.691346184 meters 0.06865639198301442 Centerline is valid? [True, True] Translation: X:112.92, Y:-8.24, Z:-4.37 [[ 9.99845551e-01 1.48790113e-02 9.35360959e-03 1.12921160e+02] [-1.48761166e-02 9.99889273e-01 -3.78977331e-04 -8.23610936e+00] [-9.35821270e-03 2.39773412e-04 9.99956182e-01 -4.37270220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721346184 meters 0.06928021965076017 Centerline is valid? [True, True] Translation: X:112.95, Y:-8.24, Z:-4.38 [[ 9.99850126e-01 1.51493939e-02 8.37980416e-03 1.12949085e+02] [-1.51470772e-02 9.99885219e-01 -3.39855107e-04 -8.23769815e+00] [-8.38399092e-03 2.12874630e-04 9.99964831e-01 -4.37599145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.751346184 meters 0.06933065600762134 Centerline is valid? [True, True] Translation: X:112.98, Y:-8.24, Z:-4.38 [[ 9.99848399e-01 1.65822446e-02 5.31118560e-03 1.12978140e+02] [-1.65813349e-02 9.99862497e-01 -2.15269897e-04 -8.23756067e+00] [-5.31402495e-03 1.27170714e-04 9.99985872e-01 -4.38069557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781346184 meters 0.06954095527840985 Centerline is valid? [True, True] Translation: X:113.01, Y:-8.24, Z:-4.38 [[ 9.99839610e-01 1.68269445e-02 6.13261322e-03 1.13005439e+02] [-1.68257382e-02 9.99858406e-01 -2.48240435e-04 -8.23862674e+00] [-6.13592201e-03 1.45014875e-04 9.99981165e-01 -4.38301871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.811346184 meters 0.06845524076305926 Centerline is valid? [True, True] Translation: X:113.03, Y:-8.24, Z:-4.38 [[ 9.99812026e-01 1.78021269e-02 7.68094122e-03 1.13034687e+02] [-1.78002771e-02 9.99841515e-01 -3.09135750e-04 -8.23612145e+00] [-7.68522718e-03 1.72354758e-04 9.99970453e-01 -4.37941682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841346184 meters 0.06831049800052655 Centerline is valid? [True, True] Translation: X:113.06, Y:-8.24, Z:-4.38 [[ 9.99784125e-01 1.84170165e-02 9.61859996e-03 1.13062331e+02] [-1.84141525e-02 9.99830371e-01 -3.86242319e-04 -8.23507076e+00] [-9.62408180e-03 2.09040572e-04 9.99953666e-01 -4.37819309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.871346184 meters 0.06858424356227062 Centerline is valid? [True, True] Translation: X:113.09, Y:-8.24, Z:-4.38 [[ 9.99788769e-01 1.80958272e-02 9.74461778e-03 1.13090484e+02] [-1.80928814e-02 9.99836234e-01 -3.90384412e-04 -8.23690200e+00] [-9.75008627e-03 2.13993737e-04 9.99952444e-01 -4.37983184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901346184 meters 0.0683845561134249 Centerline is valid? [True, True] Translation: X:113.12, Y:-8.24, Z:-4.38 [[ 9.99807866e-01 1.69914067e-02 9.77355129e-03 1.13118988e+02] [-1.69884028e-02 9.99855610e-01 -3.90294483e-04 -8.23850755e+00] [-9.77877175e-03 2.24182468e-04 9.99952162e-01 -4.37956083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.931346184 meters 0.06885791815635679 Centerline is valid? [True, True] Translation: X:113.15, Y:-8.24, Z:-4.38 [[ 9.99828898e-01 1.55536885e-02 1.00128444e-02 1.13146479e+02] [-1.55504673e-02 9.99879004e-01 -3.99489121e-04 -8.24225641e+00] [-1.00178464e-02 2.43716358e-04 9.99949790e-01 -4.38110409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961346184 meters 0.0695509931132625 Centerline is valid? [True, True] Translation: X:113.18, Y:-8.25, Z:-4.38 [[ 9.99883394e-01 1.22724290e-02 9.08762848e-03 1.13175369e+02] [-1.22696532e-02 9.99924660e-01 -3.61149394e-04 -8.24557904e+00] [-9.09137600e-03 2.49605233e-04 9.99958641e-01 -4.38160541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.991346184 meters 0.06951845739312801 Centerline is valid? [True, True] Translation: X:113.20, Y:-8.25, Z:-4.38 [[ 9.99903856e-01 1.08539970e-02 8.62961943e-03 1.13204493e+02] [-1.08514439e-02 9.99941063e-01 -3.42618759e-04 -8.24578889e+00] [-8.63282961e-03 2.48941986e-04 9.99962705e-01 -4.38174360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02134618399998 meters 0.06951845739312801 Centerline is valid? [True, True] Translation: X:113.23, Y:-8.25, Z:-4.38 [[ 9.99904249e-01 1.08177033e-02 8.62965627e-03 1.13233621e+02] [-1.08151569e-02 9.99941456e-01 -3.41686133e-04 -8.24689513e+00] [-8.63284732e-03 2.48322330e-04 9.99962705e-01 -4.38274211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05134618399998 meters 0.06969179781079173 Centerline is valid? [True, True] Translation: X:113.26, Y:-8.25, Z:-4.38 [[ 9.99916690e-01 9.78389713e-03 8.41955729e-03 1.13262915e+02] [-9.78143891e-03 9.99952105e-01 -3.33096011e-04 -8.24869939e+00] [-8.42241301e-03 2.50712876e-04 9.99964499e-01 -4.38364391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08134618399998 meters 0.07040512271837115 Centerline is valid? [True, True] Translation: X:113.29, Y:-8.25, Z:-4.39 [[ 9.99919019e-01 8.96167575e-03 9.03574569e-03 1.13292066e+02] [-8.95881899e-03 9.99959805e-01 -3.56589381e-04 -8.25445301e+00] [-9.03857814e-03 2.75610894e-04 9.99959113e-01 -4.38720618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11134618399998 meters 0.07029433074464633 Centerline is valid? [True, True] Translation: X:113.32, Y:-8.26, Z:-4.39 [[ 9.99910868e-01 9.41943743e-03 9.46208259e-03 1.13322923e+02] [-9.41633130e-03 9.99955596e-01 -3.72768464e-04 -8.25612746e+00] [-9.46517371e-03 2.83637134e-04 9.99955164e-01 -4.38878846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14134618399999 meters 0.07062393456543838 Centerline is valid? [True, True] Translation: X:113.35, Y:-8.26, Z:-4.39 [[ 9.99902718e-01 9.47082740e-03 1.02400387e-02 1.13353526e+02] [-9.46721504e-03 9.99955104e-01 -4.01185171e-04 -8.25829578e+00] [-1.02433785e-02 3.04201494e-04 9.99947489e-01 -4.38996660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.171346184 meters 0.0704788039294692 Centerline is valid? [True, True] Translation: X:113.38, Y:-8.26, Z:-4.39 [[ 9.99890557e-01 9.54561026e-03 1.13029108e-02 1.13384638e+02] [-9.54118301e-03 9.99954383e-01 -4.45550843e-04 -8.25840073e+00] [-1.13066482e-02 3.37658940e-04 9.99936021e-01 -4.38909820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.201346184 meters 0.06982402123389185 Centerline is valid? [True, True] Translation: X:113.42, Y:-8.26, Z:-4.39 [[ 9.99891367e-01 8.68229521e-03 1.19110277e-02 1.13416347e+02] [-8.67731228e-03 9.99962241e-01 -4.69962990e-04 -8.25625179e+00] [-1.19146583e-02 3.66556230e-04 9.99928951e-01 -4.38587502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.231346184 meters 0.07005411895418062 Centerline is valid? [True, True] Translation: X:113.45, Y:-8.26, Z:-4.39 [[ 9.99891195e-01 8.45110866e-03 1.20903925e-02 1.13447224e+02] [-8.44600488e-03 9.99964220e-01 -4.73133218e-04 -8.25934440e+00] [-1.20939585e-02 3.70966224e-04 9.99926797e-01 -4.38766347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.261346184 meters 0.07036593852168792 Centerline is valid? [True, True] Translation: X:113.48, Y:-8.26, Z:-4.39 [[ 9.99893222e-01 8.10905830e-03 1.21568088e-02 1.13479587e+02] [-8.10384213e-03 9.99967049e-01 -4.78273589e-04 -8.26299970e+00] [-1.21602866e-02 3.79705660e-04 9.99925989e-01 -4.38971084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.291346184 meters 0.07063705650799389 Centerline is valid? [True, True] Translation: X:113.51, Y:-8.27, Z:-4.39 [[ 9.99897412e-01 8.10045401e-03 1.18130154e-02 1.13510384e+02] [-8.09549084e-03 9.99967122e-01 -4.67901526e-04 -8.26710784e+00] [-1.18164172e-02 3.72221368e-04 9.99930114e-01 -4.39163825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321346184 meters 0.07114117345147837 Centerline is valid? [True, True] Translation: X:113.54, Y:-8.27, Z:-4.39 [[ 9.99912533e-01 7.04157419e-03 1.11956884e-02 1.13542822e+02] [-7.03702966e-03 9.99975141e-01 -4.45260627e-04 -8.27288283e+00] [-1.11985454e-02 3.66437290e-04 9.99937227e-01 -4.39395719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.351346184 meters 0.07151015857341764 Centerline is valid? [True, True] Translation: X:113.58, Y:-8.28, Z:-4.39 [[ 9.99917458e-01 6.66500144e-03 1.09843435e-02 1.13575011e+02] [-6.66057591e-03 9.99977722e-01 -4.39427580e-04 -8.27578383e+00] [-1.09870276e-02 3.66229254e-04 9.99939574e-01 -4.39490659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381346184 meters 0.07148645893781223 Centerline is valid? [True, True] Translation: X:113.61, Y:-8.28, Z:-4.39 [[ 9.99917259e-01 5.77024604e-03 1.14969184e-02 1.13606873e+02] [-5.76529852e-03 9.99983273e-01 -4.63430856e-04 -8.27674956e+00] [-1.14994002e-02 3.97109345e-04 9.99933801e-01 -4.39444183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.411346184 meters 0.07227485976297744 Centerline is valid? [True, True] Translation: X:113.64, Y:-8.28, Z:-4.40 [[ 9.99918986e-01 5.73513713e-03 1.13635546e-02 1.13638225e+02] [-5.73024823e-03 9.99983475e-01 -4.62739262e-04 -8.27967167e+00] [-1.13660207e-02 3.97585785e-04 9.99935326e-01 -4.39540839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441346184 meters 0.07182625764222153 Centerline is valid? [True, True] Translation: X:113.67, Y:-8.28, Z:-4.40 [[ 9.99926352e-01 5.79444674e-03 1.06637240e-02 1.13670341e+02] [-5.79015995e-03 9.99983143e-01 -4.32826788e-04 -8.27886903e+00] [-1.06660523e-02 3.71050243e-04 9.99943047e-01 -4.39531558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.471346184 meters 0.07253997744179017 Centerline is valid? [True, True] Translation: X:113.70, Y:-8.28, Z:-4.40 [[ 9.99926010e-01 6.56165914e-03 1.02429969e-02 1.13701768e+02] [-6.55771729e-03 9.99978410e-01 -4.18372080e-04 -8.28344081e+00] [-1.02455209e-02 3.51170447e-04 9.99947452e-01 -4.39936719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501346184 meters 0.07190639614091607 Centerline is valid? [True, True] Translation: X:113.73, Y:-8.28, Z:-4.40 [[ 9.99935791e-01 7.14877790e-03 8.79253441e-03 1.13733819e+02] [-7.14589243e-03 9.99974403e-01 -3.59545208e-04 -8.28411662e+00] [-8.79487966e-03 2.96691617e-04 9.99961280e-01 -4.40192426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.531346184 meters 0.0719089334452154 Centerline is valid? [True, True] Translation: X:113.76, Y:-8.29, Z:-4.40 [[ 9.99922364e-01 8.04412579e-03 9.51618528e-03 1.13764863e+02] [-8.04075299e-03 9.99967596e-01 -3.92634585e-04 -8.28554317e+00] [-9.51903532e-03 3.16086807e-04 9.99954643e-01 -4.40489462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561346184 meters 0.07171575124987269 Centerline is valid? [True, True] Translation: X:113.80, Y:-8.28, Z:-4.41 [[ 9.99911403e-01 9.40072632e-03 9.42400935e-03 1.13795140e+02] [-9.39742792e-03 9.99955765e-01 -3.94221283e-04 -8.28456018e+00] [-9.42729845e-03 3.05624908e-04 9.99955515e-01 -4.40502393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.591346184 meters 0.07159855465396207 Centerline is valid? [True, True] Translation: X:113.83, Y:-8.28, Z:-4.41 [[ 9.99907114e-01 9.40077319e-03 9.86853510e-03 1.13825803e+02] [-9.39712288e-03 9.99955759e-01 -4.16198647e-04 -8.28465859e+00] [-9.87201110e-03 3.23424152e-04 9.99951218e-01 -4.40542852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621346184 meters 0.07160764495999135 Centerline is valid? [True, True] Translation: X:113.86, Y:-8.29, Z:-4.41 [[ 9.99928207e-01 8.69814500e-03 8.24157076e-03 1.13857328e+02] [-8.69558283e-03 9.99962133e-01 -3.46666551e-04 -8.28571914e+00] [-8.24427403e-03 2.74976401e-04 9.99965978e-01 -4.40700039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.651346184 meters 0.0718986340624997 Centerline is valid? [True, True] Translation: X:113.89, Y:-8.29, Z:-4.41 [[ 9.99933606e-01 8.19966474e-03 8.09621758e-03 1.13887342e+02] [-8.19716622e-03 9.99966344e-01 -3.41738532e-04 -8.28790337e+00] [-8.09874724e-03 2.75349802e-04 9.99967167e-01 -4.40798818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681346184 meters 0.07236181070921997 Centerline is valid? [True, True] Translation: X:113.92, Y:-8.29, Z:-4.41 [[ 9.99943613e-01 7.02345368e-03 7.96510640e-03 1.13917639e+02] [-7.02099816e-03 9.99975296e-01 -3.36204375e-04 -8.29101470e+00] [-7.96727095e-03 2.80262420e-04 9.99968222e-01 -4.40996165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.711346184 meters 0.0729986483645898 Centerline is valid? [True, True] Translation: X:113.95, Y:-8.29, Z:-4.41 [[ 9.99951634e-01 6.22381583e-03 7.61530266e-03 1.13948195e+02] [-6.22156283e-03 9.99980595e-01 -3.19506045e-04 -8.29496134e+00] [-7.61714344e-03 2.72111508e-04 9.99970952e-01 -4.41141233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741346184 meters 0.07364447350061967 Centerline is valid? [True, True] Translation: X:113.98, Y:-8.30, Z:-4.41 [[ 9.99958051e-01 5.08213919e-03 7.62029766e-03 1.13978593e+02] [-5.07983463e-03 9.99987046e-01 -3.21748915e-04 -8.29813972e+00] [-7.62183412e-03 2.83025566e-04 9.99970913e-01 -4.41213987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77134618399998 meters 0.0736066902483858 Centerline is valid? [True, True] Translation: X:114.01, Y:-8.30, Z:-4.41 [[ 9.99956211e-01 4.92184985e-03 7.95937587e-03 1.14010848e+02] [-4.91937578e-03 9.99987845e-01 -3.30385301e-04 -8.29916404e+00] [-7.96090523e-03 2.91215673e-04 9.99968269e-01 -4.41263232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80134618399998 meters 0.07364807471599799 Centerline is valid? [True, True] Translation: X:114.04, Y:-8.30, Z:-4.41 [[ 9.99950810e-01 4.99769714e-03 8.56746636e-03 1.14042790e+02] [-4.99481029e-03 9.99987462e-01 -3.58319462e-04 -8.30179600e+00] [-8.56914971e-03 3.15508967e-04 9.99963234e-01 -4.41345700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83134618399998 meters 0.0744607026519255 Centerline is valid? [True, True] Translation: X:114.07, Y:-8.31, Z:-4.42 [[ 9.99954826e-01 4.43496517e-03 8.40694073e-03 1.14074095e+02] [-4.43214592e-03 9.99990115e-01 -3.53948470e-04 -8.30606413e+00] [-8.40842738e-03 3.16671693e-04 9.99964598e-01 -4.41578677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86134618399998 meters 0.07511129854663928 Centerline is valid? [True, True] Translation: X:114.11, Y:-8.31, Z:-4.42 [[ 9.99958130e-01 4.36830509e-03 8.04094696e-03 1.14105465e+02] [-4.36571135e-03 9.99990412e-01 -3.40090834e-04 -8.30982814e+00] [-8.04235549e-03 3.04972141e-04 9.99967613e-01 -4.41868088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89134618399999 meters 0.07489097627579663 Centerline is valid? [True, True] Translation: X:114.14, Y:-8.31, Z:-4.42 [[ 9.99960336e-01 4.78822439e-03 7.50997891e-03 1.14138119e+02] [-4.78596841e-03 9.99988497e-01 -3.18340203e-04 -8.31155639e+00] [-7.51141680e-03 2.82385055e-04 9.99971749e-01 -4.42033066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.921346184 meters 0.07505484586349341 Centerline is valid? [True, True] Translation: X:114.17, Y:-8.31, Z:-4.42 [[ 9.99965369e-01 5.72027115e-03 6.04469937e-03 1.14169989e+02] [-5.71882731e-03 9.99983615e-01 -2.56118597e-04 -8.31406013e+00] [-6.04606540e-03 2.21541136e-04 9.99981698e-01 -4.42281879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.951346184 meters 0.07398296819078982 Centerline is valid? [True, True] Translation: X:114.20, Y:-8.31, Z:-4.42 [[ 9.99934060e-01 8.94176561e-03 7.20555774e-03 1.14200130e+02] [-8.93972921e-03 9.99959990e-01 -3.14775100e-04 -8.31187075e+00] [-7.20808409e-03 2.50338609e-04 9.99973990e-01 -4.42280153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.981346184 meters 0.07324440528086976 Centerline is valid? [True, True] Translation: X:114.23, Y:-8.31, Z:-4.42 [[ 9.99906656e-01 1.13087819e-02 7.66745046e-03 1.14229349e+02] [-1.13065389e-02 9.99936023e-01 -3.35818488e-04 -8.30968220e+00] [-7.67075762e-03 2.49094815e-04 9.99970548e-01 -4.42263001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.011346184 meters 0.07263856554895294 Centerline is valid? [True, True] Translation: X:114.26, Y:-8.31, Z:-4.42 [[ 9.99877629e-01 1.34911477e-02 7.91930095e-03 1.14258923e+02] [-1.34888257e-02 9.99908962e-01 -3.46547946e-04 -8.30730441e+00] [-7.92325532e-03 2.39683469e-04 9.99968582e-01 -4.42273750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.041346184 meters 0.07188607256892139 Centerline is valid? [True, True] Translation: X:114.29, Y:-8.31, Z:-4.42 [[ 9.99835758e-01 1.59053880e-02 8.68769807e-03 1.14287563e+02] [-1.59026808e-02 9.99873472e-01 -3.80610059e-04 -8.30533257e+00] [-8.69265259e-03 2.42389858e-04 9.99962189e-01 -4.42328777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.071346184 meters 0.07145897153045792 Centerline is valid? [True, True] Translation: X:114.32, Y:-8.31, Z:-4.43 [[ 9.99812281e-01 1.74711105e-02 8.37635941e-03 1.14316828e+02] [-1.74686561e-02 9.99847344e-01 -3.66087886e-04 -8.30511275e+00] [-8.38147667e-03 2.19695422e-04 9.99964851e-01 -4.42516621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101346184 meters 0.07198423636794238 Centerline is valid? [True, True] Translation: X:114.34, Y:-8.31, Z:-4.43 [[ 9.99822715e-01 1.71127792e-02 7.85439357e-03 1.14344324e+02] [-1.71106039e-02 9.99853544e-01 -3.44071626e-04 -8.30844395e+00] [-7.85913127e-03 2.09617210e-04 9.99969095e-01 -4.42880983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.131346184 meters 0.07249406675470779 Centerline is valid? [True, True] Translation: X:114.37, Y:-8.31, Z:-4.43 [[ 9.99848597e-01 1.61568329e-02 6.46070347e-03 1.14373258e+02] [-1.61553461e-02 9.99869454e-01 -2.82259648e-04 -8.31060182e+00] [-6.46442047e-03 1.77842012e-04 9.99979090e-01 -4.43162802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161346184 meters 0.0733676214520615 Centerline is valid? [True, True] Translation: X:114.40, Y:-8.31, Z:-4.43 [[ 9.99880115e-01 1.42477170e-02 6.06292874e-03 1.14401406e+02] [-1.42463803e-02 9.99898480e-01 -2.63612501e-04 -8.31310267e+00] [-6.06606911e-03 1.77206110e-04 9.99981586e-01 -4.43250883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.191346184 meters 0.07155651335186564 Centerline is valid? [True, True] Translation: X:114.43, Y:-8.31, Z:-4.43 [[ 9.99914787e-01 1.16973832e-02 5.79572828e-03 1.14431540e+02] [-1.16961181e-02 9.99931566e-01 -2.52120443e-04 -8.30933651e+00] [-5.79828081e-03 1.84311436e-04 9.99983173e-01 -4.42705850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221346184 meters 0.07563220380669623 Centerline is valid? [True, True] Translation: X:114.46, Y:-8.32, Z:-4.44 [[ 9.99929783e-01 1.01891599e-02 6.05059598e-03 1.14459215e+02] [-1.01877522e-02 9.99948069e-01 -2.63430576e-04 -8.32363191e+00] [-6.05296591e-03 2.01770107e-04 9.99981660e-01 -4.43710554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.251346184 meters 0.07629022659496905 Centerline is valid? [True, True] Translation: X:114.49, Y:-8.33, Z:-4.44 [[ 9.99943342e-01 8.56229348e-03 6.32453823e-03 1.14489001e+02] [-8.56072955e-03 9.99963319e-01 -2.74311026e-04 -8.32904294e+00] [-6.32665497e-03 2.20152822e-04 9.99979962e-01 -4.43951584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281346184 meters 0.07383096457188147 Centerline is valid? [True, True] Translation: X:114.52, Y:-8.32, Z:-4.43 [[ 9.99975586e-01 5.91428706e-03 3.72142341e-03 1.14519277e+02] [-5.91372875e-03 9.99982501e-01 -1.61012468e-04 -8.32415561e+00] [-3.72231056e-03 1.39001048e-04 9.99993063e-01 -4.43479369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.311346184 meters 0.07387477312940981 Centerline is valid? [True, True] Translation: X:114.55, Y:-8.32, Z:-4.43 [[ 9.99975355e-01 5.83752316e-03 3.90037222e-03 1.14548648e+02] [-5.83690622e-03 9.99982951e-01 -1.69539126e-04 -8.32358379e+00] [-3.90129541e-03 1.46768840e-04 9.99992379e-01 -4.43452944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341346184 meters 0.07856994010928751 Centerline is valid? [True, True] Translation: X:114.58, Y:-8.33, Z:-4.44 [[ 9.99972556e-01 5.97239264e-03 4.38375647e-03 1.14577149e+02] [-5.97161594e-03 9.99982152e-01 -1.90243960e-04 -8.33330179e+00] [-4.38481443e-03 1.64060629e-04 9.99990373e-01 -4.44254498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.371346184 meters 0.07259847241880694 Centerline is valid? [True, True] Translation: X:114.61, Y:-8.32, Z:-4.43 [[ 9.99954903e-01 6.96897739e-03 6.45184567e-03 1.14607915e+02] [-6.96732048e-03 9.99975689e-01 -2.79253556e-04 -8.32004633e+00] [-6.45363493e-03 2.34288886e-04 9.99979148e-01 -4.43198174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401346184 meters 0.07185577274944834 Centerline is valid? [True, True] Translation: X:114.64, Y:-8.32, Z:-4.43 [[ 9.99945106e-01 7.89160269e-03 6.89253788e-03 1.14637958e+02] [-7.88974254e-03 9.99968831e-01 -2.97027083e-04 -8.32113487e+00] [-6.89466707e-03 2.42630429e-04 9.99976202e-01 -4.43318069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.431346184 meters 0.07208521622323746 Centerline is valid? [True, True] Translation: X:114.67, Y:-8.32, Z:-4.44 [[ 9.99942019e-01 8.04251003e-03 7.16082920e-03 1.14668135e+02] [-8.04050612e-03 9.99967627e-01 -3.08588831e-04 -8.32421055e+00] [-7.16307921e-03 2.50994248e-04 9.99974313e-01 -4.43566547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461346184 meters 0.07194710684747228 Centerline is valid? [True, True] Translation: X:114.70, Y:-8.33, Z:-4.44 [[ 9.99939136e-01 8.65764993e-03 6.83874506e-03 1.14698413e+02] [-8.65583660e-03 9.99962494e-01 -2.94708935e-04 -8.32543189e+00] [-6.84104005e-03 2.35495938e-04 9.99976572e-01 -4.43687219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.491346184 meters 0.07296607223201226 Centerline is valid? [True, True] Translation: X:114.73, Y:-8.33, Z:-4.44 [[ 9.99934355e-01 8.49176914e-03 7.69251465e-03 1.14727586e+02] [-8.48946626e-03 9.99963909e-01 -3.31969636e-04 -8.32529433e+00] [-7.69505602e-03 2.66642501e-04 9.99970357e-01 -4.43784272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52134618399998 meters 0.0715193109077431 Centerline is valid? [True, True] Translation: X:114.76, Y:-8.32, Z:-4.44 [[ 9.99934620e-01 8.37373414e-03 7.78691550e-03 1.14758569e+02] [-8.37137559e-03 9.99964903e-01 -3.35431590e-04 -8.32064830e+00] [-7.78945102e-03 2.70222465e-04 9.99969625e-01 -4.43526457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55134618399998 meters 0.07127564388454544 Centerline is valid? [True, True] Translation: X:114.79, Y:-8.32, Z:-4.44 [[ 9.99939839e-01 8.51096329e-03 6.91974177e-03 1.14789047e+02] [-8.50910409e-03 9.99963752e-01 -2.98076945e-04 -8.32176968e+00] [-6.92202786e-03 2.39178209e-04 9.99976014e-01 -4.43722316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58134618399998 meters 0.0711873612693813 Centerline is valid? [True, True] Translation: X:114.82, Y:-8.33, Z:-4.44 [[ 9.99931990e-01 9.70041978e-03 6.47430837e-03 1.14818448e+02] [-9.69881387e-03 9.99952926e-01 -2.79395376e-04 -8.32557761e+00] [-6.47671385e-03 2.16583263e-04 9.99979002e-01 -4.44060447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61134618399998 meters 0.07179510837846735 Centerline is valid? [True, True] Translation: X:114.85, Y:-8.33, Z:-4.44 [[ 9.99931935e-01 9.85220670e-03 6.24968575e-03 1.14847360e+02] [-9.85070755e-03 9.99951444e-01 -2.70614840e-04 -8.32889529e+00] [-6.25204844e-03 2.09032594e-04 9.99980434e-01 -4.44294545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64134618399999 meters 0.07166699251915974 Centerline is valid? [True, True] Translation: X:114.88, Y:-8.33, Z:-4.44 [[ 9.99920484e-01 1.07327063e-02 6.62075545e-03 1.14875934e+02] [-1.07310433e-02 9.99942380e-01 -2.86653109e-04 -8.32960408e+00] [-6.62345052e-03 2.15582703e-04 9.99978041e-01 -4.44387735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.671346184 meters 0.07098956293729747 Centerline is valid? [True, True] Translation: X:114.90, Y:-8.33, Z:-4.44 [[ 9.99922518e-01 1.08242340e-02 6.14769516e-03 1.14904798e+02] [-1.08228032e-02 9.99941396e-01 -2.65948572e-04 -8.32792122e+00] [-6.15021358e-03 1.99392671e-04 9.99981067e-01 -4.44307732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.701346184 meters 0.07047559871566951 Centerline is valid? [True, True] Translation: X:114.93, Y:-8.33, Z:-4.44 [[ 9.99914663e-01 1.13728965e-02 6.42840756e-03 1.14933354e+02] [-1.13713469e-02 9.99935306e-01 -2.77551759e-04 -8.32803869e+00] [-6.43114825e-03 2.04428421e-04 9.99979299e-01 -4.44220311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.731346184 meters 0.07082627306769475 Centerline is valid? [True, True] Translation: X:114.96, Y:-8.33, Z:-4.44 [[ 9.99924949e-01 1.06823650e-02 5.99857421e-03 1.14961334e+02] [-1.06810050e-02 9.99942923e-01 -2.58707791e-04 -8.33126174e+00] [-6.00099544e-03 1.94617573e-04 9.99981975e-01 -4.44364215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.761346184 meters 0.07117457920257189 Centerline is valid? [True, True] Translation: X:114.99, Y:-8.33, Z:-4.45 [[ 9.99932220e-01 9.96036867e-03 6.02881004e-03 1.14990199e+02] [-9.95898470e-03 9.99950374e-01 -2.59537877e-04 -8.33476930e+00] [-6.03109595e-03 1.99479459e-04 9.99981793e-01 -4.44554621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.791346184 meters 0.07121672513634184 Centerline is valid? [True, True] Translation: X:115.02, Y:-8.34, Z:-4.45 [[ 9.99945361e-01 8.96896588e-03 5.36952613e-03 1.15019814e+02] [-8.96785983e-03 9.99959761e-01 -2.30028523e-04 -8.33830976e+00] [-5.37137319e-03 1.81862797e-04 9.99985558e-01 -4.44691025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821346184 meters 0.07140529011076492 Centerline is valid? [True, True] Translation: X:115.05, Y:-8.34, Z:-4.45 [[ 9.99945947e-01 8.73538494e-03 5.63880626e-03 1.15048764e+02] [-8.73416195e-03 9.99961827e-01 -2.41477304e-04 -8.34161068e+00] [-5.64070041e-03 1.92214004e-04 9.99984073e-01 -4.44903547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.851346184 meters 0.07140635779218896 Centerline is valid? [True, True] Translation: X:115.08, Y:-8.34, Z:-4.45 [[ 9.99949894e-01 8.72669050e-03 4.90447526e-03 1.15077756e+02] [-8.72576368e-03 9.99961908e-01 -2.10340962e-04 -8.34417386e+00] [-4.90612401e-03 1.67535131e-04 9.99987951e-01 -4.45059342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881346184 meters 0.07149516485004591 Centerline is valid? [True, True] Translation: X:115.11, Y:-8.35, Z:-4.45 [[ 9.99956939e-01 8.55587103e-03 3.59393289e-03 1.15106762e+02] [-8.55537120e-03 9.99963390e-01 -1.54426238e-04 -8.34655799e+00] [-3.59512257e-03 1.23672159e-04 9.99993530e-01 -4.45188342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.911346184 meters 0.07149516485004591 Centerline is valid? [True, True] Translation: X:115.14, Y:-8.35, Z:-4.45 [[ 9.99957550e-01 8.48420539e-03 3.59391757e-03 1.15135044e+02] [-8.48370380e-03 9.99964001e-01 -1.54788898e-04 -8.34766827e+00] [-3.59510146e-03 1.24292595e-04 9.99993530e-01 -4.45285298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941346184 meters 0.07161155245887076 Centerline is valid? [True, True] Translation: X:115.16, Y:-8.35, Z:-4.45 [[ 9.99953650e-01 9.29670247e-03 2.50370450e-03 1.15162584e+02] [-9.29645880e-03 9.99956781e-01 -1.08944427e-04 -8.34738660e+00] [-2.50460912e-03 8.56637914e-05 9.99996860e-01 -4.45450539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.971346184 meters 0.07151249313575471 Centerline is valid? [True, True] Translation: X:115.19, Y:-8.35, Z:-4.46 [[ 9.99954608e-01 9.43140182e-03 1.35302202e-03 1.15191506e+02] [-9.43132984e-03 9.99955522e-01 -5.95653521e-05 -8.34721157e+00] [-1.35352362e-03 4.68018514e-05 9.99999083e-01 -4.45600785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001346184 meters 0.0717324115724311 Centerline is valid? [True, True] Translation: X:115.22, Y:-8.35, Z:-4.46 [[ 9.99956838e-01 9.24906351e-03 8.81951525e-04 1.15219348e+02] [-9.24903166e-03 9.99957226e-01 -4.01794227e-05 -8.34991877e+00] [-8.82285422e-04 3.20204909e-05 9.99999610e-01 -4.45824074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.031346184 meters 0.07211201327848782 Centerline is valid? [True, True] Translation: X:115.25, Y:-8.35, Z:-4.46 [[ 9.99956206e-01 9.12106590e-03 2.09558045e-03 1.15246852e+02] [-9.12089497e-03 9.99958400e-01 -9.11124782e-05 -8.35451911e+00] [-2.09632432e-03 7.19949189e-05 9.99997800e-01 -4.45975473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061346184 meters 0.07123669258778463 Centerline is valid? [True, True] Translation: X:115.28, Y:-8.36, Z:-4.46 [[ 9.99952785e-01 8.62074263e-03 4.48443759e-03 1.15275546e+02] [-8.61997405e-03 9.99962829e-01 -1.90688684e-04 -8.35547161e+00] [-4.48591478e-03 1.52023945e-04 9.99989927e-01 -4.45736845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.091346184 meters 0.07088000010272306 Centerline is valid? [True, True] Translation: X:115.30, Y:-8.36, Z:-4.46 [[ 9.99954616e-01 7.86566711e-03 5.37561549e-03 1.15304322e+02] [-7.86455631e-03 9.99969048e-01 -2.27744625e-04 -8.35649895e+00] [-5.37724047e-03 1.85457458e-04 9.99985525e-01 -4.45648470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121346184 meters 0.07125148500528247 Centerline is valid? [True, True] Translation: X:115.33, Y:-8.36, Z:-4.45 [[ 9.99964131e-01 5.69782049e-03 6.26667066e-03 1.15333765e+02] [-5.69628010e-03 9.99983741e-01 -2.63627327e-04 -8.35666100e+00] [-6.26807087e-03 2.27921160e-04 9.99980329e-01 -4.45355454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.151346184 meters 0.07200436914398795 Centerline is valid? [True, True] Translation: X:115.37, Y:-8.36, Z:-4.46 [[ 9.99975699e-01 4.27978914e-03 5.50319384e-03 1.15365213e+02] [-4.27859140e-03 9.99990820e-01 -2.29400181e-04 -8.36003436e+00] [-5.50412511e-03 2.05848688e-04 9.99984831e-01 -4.45574355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.181346184 meters 0.07240598218450682 Centerline is valid? [True, True] Translation: X:115.40, Y:-8.36, Z:-4.46 [[ 9.99982146e-01 2.75081700e-03 5.30474630e-03 1.15396589e+02] [-2.74968184e-03 9.99996195e-01 -2.21270097e-04 -8.36414888e+00] [-5.30533479e-03 2.06679782e-04 9.99985905e-01 -4.45782694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.211346184 meters 0.07342399178767967 Centerline is valid? [True, True] Translation: X:115.43, Y:-8.37, Z:-4.46 [[ 9.99987660e-01 1.36353293e-03 4.77711310e-03 1.15427694e+02] [-1.36262390e-03 9.99999053e-01 -1.93538864e-04 -8.37310064e+00] [-4.77737248e-03 1.87027067e-04 9.99988571e-01 -4.46310360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241346184 meters 0.0727400997110605 Centerline is valid? [True, True] Translation: X:115.46, Y:-8.37, Z:-4.46 [[ 9.99990443e-01 1.45152036e-03 4.12396437e-03 1.15460002e+02] [-1.45084712e-03 9.99998934e-01 -1.66237717e-04 -8.37476049e+00] [-4.12420127e-03 1.60252887e-04 9.99991483e-01 -4.46470543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27134618399998 meters 0.07328293654399128 Centerline is valid? [True, True] Translation: X:115.49, Y:-8.38, Z:-4.47 [[ 9.99992945e-01 1.22056538e-03 3.55251943e-03 1.15491104e+02] [-1.22006323e-03 9.99999245e-01 -1.43515392e-04 -8.37869981e+00] [-3.55269192e-03 1.39180082e-04 9.99993679e-01 -4.46656900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30134618399998 meters 0.07373438679186929 Centerline is valid? [True, True] Translation: X:115.52, Y:-8.38, Z:-4.46 [[ 9.99987618e-01 1.10653863e-03 4.85165771e-03 1.15522495e+02] [-1.10558067e-03 9.99999369e-01 -2.00128999e-04 -8.37943944e+00] [-4.85187610e-03 1.94762622e-04 9.99988211e-01 -4.46330049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33134618399998 meters 0.07311333135446585 Centerline is valid? [True, True] Translation: X:115.56, Y:-8.38, Z:-4.46 [[ 9.99978812e-01 2.11916318e-03 6.15506539e-03 1.15555108e+02] [-2.11759006e-03 9.99997724e-01 -2.62087537e-04 -8.37776345e+00] [-6.15560678e-03 2.49048079e-04 9.99981023e-01 -4.46131756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36134618399998 meters 0.07297262745919025 Centerline is valid? [True, True] Translation: X:115.59, Y:-8.38, Z:-4.46 [[ 9.99980971e-01 2.82073787e-03 5.48640418e-03 1.15587408e+02] [-2.81952592e-03 9.99995999e-01 -2.28622592e-04 -8.37834273e+00] [-5.48702712e-03 2.13149183e-04 9.99984923e-01 -4.46116259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39134618399999 meters 0.07325962842967523 Centerline is valid? [True, True] Translation: X:115.62, Y:-8.38, Z:-4.46 [[ 9.99976927e-01 3.52452326e-03 5.80708895e-03 1.15618716e+02] [-3.52316286e-03 9.99993764e-01 -2.44478994e-04 -8.38228700e+00] [-5.80791440e-03 2.24014033e-04 9.99983109e-01 -4.46449578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.421346184 meters 0.0728861019085127 Centerline is valid? [True, True] Translation: X:115.65, Y:-8.39, Z:-4.47 [[ 9.99971981e-01 5.51424697e-03 5.06265986e-03 1.15649411e+02] [-5.51320892e-03 9.99984778e-01 -2.18973576e-04 -8.38685314e+00] [-5.06379027e-03 1.91055939e-04 9.99987161e-01 -4.46933423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.451346184 meters 0.07169954643885183 Centerline is valid? [True, True] Translation: X:115.68, Y:-8.38, Z:-4.47 [[ 9.99966643e-01 6.50141358e-03 4.94403883e-03 1.15679617e+02] [-6.50042989e-03 9.99978849e-01 -2.15007377e-04 -8.38473677e+00] [-4.94533211e-03 1.82861828e-04 9.99987755e-01 -4.46939391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.481346184 meters 0.0726025152774882 Centerline is valid? [True, True] Translation: X:115.71, Y:-8.39, Z:-4.47 [[ 9.99964002e-01 7.37098168e-03 4.20269681e-03 1.15708930e+02] [-7.37028135e-03 9.99972823e-01 -1.82102041e-04 -8.38681150e+00] [-4.20392486e-03 1.51120428e-04 9.99991152e-01 -4.47293101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.511346184 meters 0.07183796676262376 Centerline is valid? [True, True] Translation: X:115.74, Y:-8.38, Z:-4.47 [[ 9.99966430e-01 7.16121773e-03 3.98197470e-03 1.15739024e+02] [-7.16058018e-03 9.99974348e-01 -1.74343294e-04 -8.38241558e+00] [-3.98312107e-03 1.45824192e-04 9.99992057e-01 -4.47153719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.541346184 meters 0.07343369212990002 Centerline is valid? [True, True] Translation: X:115.77, Y:-8.39, Z:-4.48 [[ 9.99974791e-01 6.53384583e-03 2.77948898e-03 1.15767598e+02] [-6.53353050e-03 9.99978649e-01 -1.22512988e-04 -8.38763250e+00] [-2.78023012e-03 1.04350024e-04 9.99996130e-01 -4.47658412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.571346184 meters 0.07377612512950488 Centerline is valid? [True, True] Translation: X:115.80, Y:-8.39, Z:-4.48 [[ 9.99977712e-01 6.11013245e-03 2.69091685e-03 1.15795774e+02] [-6.10983434e-03 9.99981328e-01 -1.18989379e-04 -8.39129587e+00] [-2.69159365e-03 1.02545671e-04 9.99996372e-01 -4.47859171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601346184 meters 0.07415798832935719 Centerline is valid? [True, True] Translation: X:115.82, Y:-8.40, Z:-4.48 [[ 9.99979531e-01 5.94573987e-03 2.36360079e-03 1.15824475e+02] [-5.94551043e-03 9.99982320e-01 -1.04083761e-04 -8.39535842e+00] [-2.36417785e-03 9.00288170e-05 9.99997201e-01 -4.48127510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.631346184 meters 0.07462560294156749 Centerline is valid? [True, True] Translation: X:115.85, Y:-8.40, Z:-4.48 [[ 9.99985219e-01 4.40226769e-03 3.19086666e-03 1.15853169e+02] [-4.40184419e-03 9.99990302e-01 -1.39733045e-04 -8.39835797e+00] [-3.19145086e-03 1.25685282e-04 9.99994899e-01 -4.48117456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661346184 meters 0.07239464601513633 Centerline is valid? [True, True] Translation: X:115.88, Y:-8.39, Z:-4.48 [[ 9.99981832e-01 4.70920934e-03 3.76280785e-03 1.15884048e+02] [-4.70863023e-03 9.99988901e-01 -1.62747055e-04 -8.39314098e+00] [-3.76353249e-03 1.45026428e-04 9.99992907e-01 -4.47650900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.691346184 meters 0.07444103821520558 Centerline is valid? [True, True] Translation: X:115.91, Y:-8.40, Z:-4.48 [[ 9.99977130e-01 4.93157928e-03 4.62804470e-03 1.15913248e+02] [-4.93070317e-03 9.99987824e-01 -2.00695921e-04 -8.39844967e+00] [-4.62897809e-03 1.77871816e-04 9.99989270e-01 -4.48036080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721346184 meters 0.07192183154476321 Centerline is valid? [True, True] Translation: X:115.94, Y:-8.39, Z:-4.48 [[ 9.99977136e-01 4.75430273e-03 4.80873806e-03 1.15944023e+02] [-4.75335787e-03 9.99988681e-01 -2.07899416e-04 -8.39239300e+00] [-4.80967205e-03 1.85037010e-04 9.99988416e-01 -4.47536736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.751346184 meters 0.07118040948116772 Centerline is valid? [True, True] Translation: X:115.97, Y:-8.39, Z:-4.48 [[ 9.99965822e-01 6.11906857e-03 5.55978433e-03 1.15974911e+02] [-6.11782657e-03 9.99981257e-01 -2.40369906e-04 -8.39186868e+00] [-5.56115096e-03 2.06347894e-04 9.99984515e-01 -4.47607384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781346184 meters 0.07241150284440587 Centerline is valid? [True, True] Translation: X:116.00, Y:-8.40, Z:-4.48 [[ 9.99964143e-01 6.56005962e-03 5.35517321e-03 1.16004342e+02] [-6.55891086e-03 9.99978463e-01 -2.32046897e-04 -8.39748924e+00] [-5.35658012e-03 1.96914473e-04 9.99985634e-01 -4.48096449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.811346184 meters 0.07111826819810156 Centerline is valid? [True, True] Translation: X:116.03, Y:-8.40, Z:-4.48 [[ 9.99948016e-01 8.26374911e-03 5.97292325e-03 1.16034577e+02] [-8.26235148e-03 9.99965833e-01 -2.58632287e-04 -8.39556703e+00] [-5.97485645e-03 2.09268451e-04 9.99982128e-01 -4.48015797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841346184 meters 0.07086893144986757 Centerline is valid? [True, True] Translation: X:116.06, Y:-8.40, Z:-4.48 [[ 9.99941041e-01 8.73286659e-03 6.45383665e-03 1.16063810e+02] [-8.73124243e-03 9.99961843e-01 -2.79790816e-04 -8.39563926e+00] [-6.45603377e-03 2.23424308e-04 9.99979135e-01 -4.48022458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.871346184 meters 0.07004385763271823 Centerline is valid? [True, True] Translation: X:116.09, Y:-8.39, Z:-4.48 [[ 9.99941236e-01 8.90681869e-03 6.18012960e-03 1.16093581e+02] [-8.90533354e-03 9.99960311e-01 -2.67788964e-04 -8.39317581e+00] [-6.18226946e-03 2.12737112e-04 9.99980867e-01 -4.47897618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901346184 meters 0.07096156451985546 Centerline is valid? [True, True] Translation: X:116.12, Y:-8.40, Z:-4.48 [[ 9.99931042e-01 9.72556547e-03 6.58210355e-03 1.16122395e+02] [-9.72389738e-03 9.99952681e-01 -2.85382222e-04 -8.39562588e+00] [-6.58456760e-03 2.21358843e-04 9.99978297e-01 -4.48178505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.931346184 meters 0.07114983145083958 Centerline is valid? [True, True] Translation: X:116.15, Y:-8.40, Z:-4.48 [[ 9.99931568e-01 1.00555496e-02 5.97881423e-03 1.16151675e+02] [-1.00541835e-02 9.99949422e-01 -2.58489201e-04 -8.39641254e+00] [-5.98111108e-03 1.98359416e-04 9.99982093e-01 -4.48341616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961346184 meters 0.07148826397651445 Centerline is valid? [True, True] Translation: X:116.18, Y:-8.40, Z:-4.49 [[ 9.99935718e-01 1.03557134e-02 4.61715515e-03 1.16180017e+02] [-1.03548991e-02 9.99946367e-01 -2.00239599e-04 -8.40081537e+00] [-4.61898114e-03 1.52416551e-04 9.99989321e-01 -4.48896618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99134618399998 meters 0.07073046013484946 Centerline is valid? [True, True] Translation: X:116.21, Y:-8.40, Z:-4.49 [[ 9.99939911e-01 9.60910595e-03 5.27630552e-03 1.16209040e+02] [-9.60803192e-03 9.99953816e-01 -2.28867139e-04 -8.40020557e+00] [-5.27826105e-03 1.78158475e-04 9.99986054e-01 -4.48779265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02134618399998 meters 0.07071913000253921 Centerline is valid? [True, True] Translation: X:116.24, Y:-8.40, Z:-4.49 [[ 9.99942811e-01 9.66809885e-03 4.57195277e-03 1.16238236e+02] [-9.66729310e-03 9.99953251e-01 -1.98305073e-04 -8.40042495e+00] [-4.57365627e-03 1.54095325e-04 9.99989529e-01 -4.48863224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05134618399998 meters 0.07215468127842344 Centerline is valid? [True, True] Translation: X:116.27, Y:-8.40, Z:-4.49 [[ 9.99944426e-01 8.27526510e-03 6.53178020e-03 1.16266207e+02] [-8.27359762e-03 9.99965733e-01 -2.82267921e-04 -8.40406559e+00] [-6.53389222e-03 2.28210913e-04 9.99978628e-01 -4.49081913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08134618399998 meters 0.07260208239553444 Centerline is valid? [True, True] Translation: X:116.30, Y:-8.41, Z:-4.49 [[ 9.99946075e-01 7.10751891e-03 7.57168778e-03 1.16296123e+02] [-7.10527400e-03 9.99974705e-01 -3.23345229e-04 -8.40684130e+00] [-7.57379443e-03 2.69528876e-04 9.99971282e-01 -4.49135936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11134618399998 meters 0.07289039984196632 Centerline is valid? [True, True] Translation: X:116.33, Y:-8.41, Z:-4.49 [[ 9.99938941e-01 5.67354041e-03 9.48287986e-03 1.16327201e+02] [-5.66995777e-03 9.99983844e-01 -4.04642898e-04 -8.40925814e+00] [-9.48502241e-03 3.50850663e-04 9.99954955e-01 -4.49165271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14134618399999 meters 0.07218840454537516 Centerline is valid? [True, True] Translation: X:116.36, Y:-8.41, Z:-4.49 [[ 9.99947596e-01 2.66944745e-03 9.88330677e-03 1.16359603e+02] [-2.66541474e-03 9.99996359e-01 -4.21182645e-04 -8.40947755e+00] [-9.88439511e-03 3.94817462e-04 9.99951070e-01 -4.48974076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.171346184 meters 0.07216342765580937 Centerline is valid? [True, True] Translation: X:116.39, Y:-8.41, Z:-4.49 [[ 9.99958839e-01 6.76789208e-04 9.04773058e-03 1.16391566e+02] [-6.73324584e-04 9.99999699e-01 -3.85968009e-04 -8.41141456e+00] [-9.04798907e-03 3.79860063e-04 9.99958994e-01 -4.49055262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.201346184 meters 0.07362454679305828 Centerline is valid? [True, True] Translation: X:116.42, Y:-8.42, Z:-4.49 [[ 9.99965481e-01 -1.11873568e-03 8.23320757e-03 1.16422823e+02] [ 1.12163375e-03 9.99999311e-01 -3.47388577e-04 -8.41631834e+00] [-8.23281326e-03 3.56611229e-04 9.99966046e-01 -4.49294991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.231346184 meters 0.07425275796663135 Centerline is valid? [True, True] Translation: X:116.45, Y:-8.42, Z:-4.49 [[ 9.99961383e-01 -2.17585466e-03 8.51460305e-03 1.16454436e+02] [ 2.17903477e-03 9.99997560e-01 -3.64229067e-04 -8.41840667e+00] [-8.51378977e-03 3.82768618e-04 9.99963684e-01 -4.49383009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.261346184 meters 0.07487943804812003 Centerline is valid? [True, True] Translation: X:116.49, Y:-8.42, Z:-4.49 [[ 9.99946407e-01 -2.83984635e-03 9.95577475e-03 1.16486870e+02] [ 2.84425802e-03 9.99995863e-01 -4.28995790e-04 -8.41995571e+00] [-9.95451528e-03 4.57289592e-04 9.99950348e-01 -4.49454966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.291346184 meters 0.07329089962434267 Centerline is valid? [True, True] Translation: X:116.52, Y:-8.42, Z:-4.49 [[ 9.99945859e-01 -3.15893555e-03 9.91466343e-03 1.16518809e+02] [ 3.16333870e-03 9.99994905e-01 -4.28454452e-04 -8.41729570e+00] [-9.91325945e-03 4.59794693e-04 9.99950757e-01 -4.49418461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321346184 meters 0.07368733495735923 Centerline is valid? [True, True] Translation: X:116.55, Y:-8.42, Z:-4.50 [[ 9.99941084e-01 -2.24114054e-03 1.06210468e-02 1.16550338e+02] [ 2.24613378e-03 9.99997372e-01 -4.58222122e-04 -8.41921897e+00] [-1.06199920e-02 4.82051418e-04 9.99943490e-01 -4.49608134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.351346184 meters 0.07395862222718548 Centerline is valid? [True, True] Translation: X:116.58, Y:-8.42, Z:-4.50 [[ 9.99947536e-01 -2.82968961e-04 1.02393527e-02 1.16581472e+02] [ 2.87543748e-04 9.99999860e-01 -4.45315377e-04 -8.41733517e+00] [-1.02392253e-02 4.48236276e-04 9.99947477e-01 -4.49775076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381346184 meters 0.0736505870412558 Centerline is valid? [True, True] Translation: X:116.61, Y:-8.42, Z:-4.50 [[ 9.99934091e-01 7.59914226e-04 1.14558022e-02 1.16613712e+02] [-7.54250825e-04 9.99999591e-01 -4.98682008e-04 -8.41608135e+00] [-1.14561764e-02 4.90008592e-04 9.99934256e-01 -4.49730007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.411346184 meters 0.07316250074599998 Centerline is valid? [True, True] Translation: X:116.65, Y:-8.42, Z:-4.50 [[ 9.99926570e-01 2.23003186e-03 1.19113668e-02 1.16646036e+02] [-2.22400188e-03 9.99997392e-01 -5.19459543e-04 -8.41537934e+00] [-1.19124941e-02 4.92930497e-04 9.99928922e-01 -4.49809623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441346184 meters 0.07241622389281477 Centerline is valid? [True, True] Translation: X:116.68, Y:-8.41, Z:-4.50 [[ 9.99915932e-01 3.88796160e-03 1.23698534e-02 1.16677972e+02] [-3.88157331e-03 9.99992321e-01 -5.40406692e-04 -8.41421206e+00] [-1.23718595e-02 4.92346768e-04 9.99923344e-01 -4.49859286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.471346184 meters 0.07107130917141145 Centerline is valid? [True, True] Translation: X:116.71, Y:-8.41, Z:-4.50 [[ 9.99900050e-01 5.94399399e-03 1.28280823e-02 1.16709358e+02] [-5.93727066e-03 9.99982216e-01 -5.62130745e-04 -8.41109548e+00] [-1.28311955e-02 4.85910763e-04 9.99917559e-01 -4.49966997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501346184 meters 0.07085605062334592 Centerline is valid? [True, True] Translation: X:116.74, Y:-8.41, Z:-4.50 [[ 9.99893964e-01 7.39906261e-03 1.25425083e-02 1.16742060e+02] [-7.39275874e-03 9.99972523e-01 -5.48890696e-04 -8.41149020e+00] [-1.25462250e-02 4.56108756e-04 9.99921189e-01 -4.50220714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.531346184 meters 0.07097810841483422 Centerline is valid? [True, True] Translation: X:116.77, Y:-8.41, Z:-4.50 [[ 9.99905532e-01 8.23090126e-03 1.10081861e-02 1.16774495e+02] [-8.22612962e-03 9.99966050e-01 -4.78672414e-04 -8.41238718e+00] [-1.10117522e-02 3.88072430e-04 9.99939294e-01 -4.50400755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561346184 meters 0.07045805570019383 Centerline is valid? [True, True] Translation: X:116.81, Y:-8.41, Z:-4.50 [[ 9.99914621e-01 8.90416325e-03 9.56382604e-03 1.16807336e+02] [-8.90058145e-03 9.99960302e-01 -4.17014179e-04 -8.40949840e+00] [-9.56715954e-03 3.31854962e-04 9.99954179e-01 -4.50495754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.591346184 meters 0.07115667461805064 Centerline is valid? [True, True] Translation: X:116.84, Y:-8.41, Z:-4.51 [[ 9.99913646e-01 8.78307799e-03 9.77537618e-03 1.16837251e+02] [-8.77924806e-03 9.99961367e-01 -4.34636118e-04 -8.41219357e+00] [-9.77881597e-03 3.48778133e-04 9.99952125e-01 -4.50737347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621346184 meters 0.07138050789571514 Centerline is valid? [True, True] Translation: X:116.87, Y:-8.42, Z:-4.51 [[ 9.99904918e-01 8.79843662e-03 1.06180257e-02 1.16867096e+02] [-8.79391610e-03 9.99961221e-01 -4.72354421e-04 -8.41500372e+00] [-1.06217699e-02 3.78935482e-04 9.99943516e-01 -4.50912934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.651346184 meters 0.07049655545931363 Centerline is valid? [True, True] Translation: X:116.90, Y:-8.41, Z:-4.51 [[ 9.99910029e-01 7.67825283e-03 1.09990545e-02 1.16898268e+02] [-7.67333683e-03 9.99970440e-01 -4.89079633e-04 -8.41315633e+00] [-1.10024846e-02 4.04636180e-04 9.99939389e-01 -4.50725872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681346184 meters 0.07109884004217108 Centerline is valid? [True, True] Translation: X:116.93, Y:-8.42, Z:-4.51 [[ 9.99917480e-01 7.59233408e-03 1.03628620e-02 1.16929198e+02] [-7.58801138e-03 9.99971106e-01 -4.56389106e-04 -8.41601089e+00] [-1.03660277e-02 3.77717930e-04 9.99946200e-01 -4.50962173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.711346184 meters 0.07150255576567885 Centerline is valid? [True, True] Translation: X:116.96, Y:-8.42, Z:-4.51 [[ 9.99928904e-01 6.89810414e-03 9.72637072e-03 1.16961026e+02] [-6.89424949e-03 9.99976142e-01 -4.29782439e-04 -8.41892693e+00] [-9.72910335e-03 3.62695857e-04 9.99952605e-01 -4.51181510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74134618399998 meters 0.07192257120137413 Centerline is valid? [True, True] Translation: X:116.99, Y:-8.42, Z:-4.51 [[ 9.99940864e-01 6.09812722e-03 9.00447349e-03 1.16992690e+02] [-6.09477243e-03 9.99981347e-01 -3.99962840e-04 -8.42106947e+00] [-9.00674456e-03 3.45058972e-04 9.99959379e-01 -4.51456036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77134618399998 meters 0.07243579922256453 Centerline is valid? [True, True] Translation: X:117.02, Y:-8.42, Z:-4.52 [[ 9.99948633e-01 5.74097886e-03 8.35294471e-03 1.17024201e+02] [-5.73804719e-03 9.99983467e-01 -3.74897814e-04 -8.42242473e+00] [-8.35495889e-03 3.26948966e-04 9.99965043e-01 -4.51683150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80134618399998 meters 0.07375659014492705 Centerline is valid? [True, True] Translation: X:117.05, Y:-8.43, Z:-4.52 [[ 9.99957297e-01 5.62649988e-03 7.33120785e-03 1.17054836e+02] [-5.62425396e-03 9.99984130e-01 -3.26931607e-04 -8.42613103e+00] [-7.33293099e-03 2.85685071e-04 9.99973073e-01 -4.52121540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83134618399998 meters 0.07375659014492705 Centerline is valid? [True, True] Translation: X:117.09, Y:-8.43, Z:-4.52 [[ 9.99957106e-01 5.66080124e-03 7.33089639e-03 1.17085674e+02] [-5.65850629e-03 9.99983935e-01 -3.33754534e-04 -8.42758067e+00] [-7.33266794e-03 2.92258295e-04 9.99973073e-01 -4.52226765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86134618399998 meters 0.07358252786461468 Centerline is valid? [True, True] Translation: X:117.12, Y:-8.43, Z:-4.52 [[ 9.99971492e-01 4.92063267e-03 5.72734113e-03 1.17116888e+02] [-4.91922025e-03 9.99987867e-01 -2.60670505e-04 -8.42800881e+00] [-5.72855430e-03 2.32489021e-04 9.99983565e-01 -4.52445181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89134618399999 meters 0.0732515075403579 Centerline is valid? [True, True] Translation: X:117.15, Y:-8.43, Z:-4.52 [[ 9.99968051e-01 5.69890499e-03 5.60534939e-03 1.17148638e+02] [-5.69756339e-03 9.99983736e-01 -2.55281089e-04 -8.42777720e+00] [-5.60671305e-03 2.23336100e-04 9.99984257e-01 -4.52492135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.921346184 meters 0.07258391699880655 Centerline is valid? [True, True] Translation: X:117.18, Y:-8.43, Z:-4.52 [[ 9.99962700e-01 6.12316639e-03 6.09149187e-03 1.17179276e+02] [-6.12158193e-03 9.99981224e-01 -2.78722900e-04 -8.42644306e+00] [-6.09308416e-03 2.41422937e-04 9.99981408e-01 -4.52438373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.951346184 meters 0.07265972624889731 Centerline is valid? [True, True] Translation: X:117.21, Y:-8.43, Z:-4.52 [[ 9.99957067e-01 6.18315577e-03 6.90169973e-03 1.17209396e+02] [-6.18112319e-03 9.99980847e-01 -3.15794850e-04 -8.42683814e+00] [-6.90352015e-03 2.73121036e-04 9.99976133e-01 -4.52458176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.981346184 meters 0.07291585532454975 Centerline is valid? [True, True] Translation: X:117.24, Y:-8.43, Z:-4.52 [[ 9.99943150e-01 6.12712535e-03 8.72674192e-03 1.17241157e+02] [-6.12388129e-03 9.99981169e-01 -3.98410275e-04 -8.42766665e+00] [-8.72901870e-03 3.44946094e-04 9.99961842e-01 -4.52476236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.011346184 meters 0.07251020490352862 Centerline is valid? [True, True] Translation: X:117.27, Y:-8.43, Z:-4.52 [[ 9.99946630e-01 6.34303443e-03 8.15488441e-03 1.17273840e+02] [-6.34025269e-03 9.99979833e-01 -3.66920421e-04 -8.42684466e+00] [-8.15704734e-03 3.15196811e-04 9.99966681e-01 -4.52456741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.041346184 meters 0.07274276244996516 Centerline is valid? [True, True] Translation: X:117.31, Y:-8.43, Z:-4.53 [[ 9.99951503e-01 5.87018966e-03 7.90773550e-03 1.17305345e+02] [-5.86750108e-03 9.99982720e-01 -3.63151286e-04 -8.42752145e+00] [-7.90973062e-03 3.16735028e-04 9.99968667e-01 -4.52659974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.071346184 meters 0.07283609660721398 Centerline is valid? [True, True] Translation: X:117.34, Y:-8.43, Z:-4.53 [[ 9.99948510e-01 6.61986203e-03 7.69126413e-03 1.17337027e+02] [-6.61733891e-03 9.99978043e-01 -3.53453491e-04 -8.42912670e+00] [-7.69343506e-03 3.02539590e-04 9.99970359e-01 -4.52953464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101346184 meters 0.07269296685482929 Centerline is valid? [True, True] Translation: X:117.37, Y:-8.43, Z:-4.53 [[ 9.99945234e-01 7.66643658e-03 7.12421632e-03 1.17368657e+02] [-7.66429717e-03 9.99970575e-01 -3.27554404e-04 -8.43046541e+00] [-7.12651787e-03 2.72934354e-04 9.99974569e-01 -4.53175715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.131346184 meters 0.07257523441796854 Centerline is valid? [True, True] Translation: X:117.40, Y:-8.43, Z:-4.53 [[ 9.99946311e-01 8.26726529e-03 6.24715680e-03 1.17399480e+02] [-8.26562530e-03 9.99965798e-01 -2.88290095e-04 -8.43083794e+00] [-6.24932650e-03 2.36637960e-04 9.99980445e-01 -4.53326415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161346184 meters 0.07235364637984219 Centerline is valid? [True, True] Translation: X:117.43, Y:-8.43, Z:-4.53 [[ 9.99922923e-01 1.01319486e-02 7.17572423e-03 1.17429118e+02] [-1.01298418e-02 9.99948637e-01 -3.29879882e-04 -8.43032098e+00] [-7.17869800e-03 2.57165505e-04 9.99974200e-01 -4.53452373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.191346184 meters 0.07161700448347803 Centerline is valid? [True, True] Translation: X:117.46, Y:-8.42, Z:-4.53 [[ 9.99896881e-01 1.28046340e-02 6.50148258e-03 1.17458635e+02] [-1.28029422e-02 9.99917993e-01 -3.01779852e-04 -8.42378835e+00] [-6.50481359e-03 2.18510627e-04 9.99978820e-01 -4.53374074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221346184 meters 0.07148774921148364 Centerline is valid? [True, True] Translation: X:117.49, Y:-8.42, Z:-4.54 [[ 9.99876436e-01 1.43653068e-02 6.38370291e-03 1.17486055e+02] [-1.43637033e-02 9.99896793e-01 -2.96964208e-04 -8.42240658e+00] [-6.38731005e-03 2.05233899e-04 9.99979580e-01 -4.53508731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.251346184 meters 0.07169325299174335 Centerline is valid? [True, True] Translation: X:117.51, Y:-8.42, Z:-4.54 [[ 9.99864109e-01 1.51199360e-02 6.56891241e-03 1.17513673e+02] [-1.51182588e-02 9.99885666e-01 -3.04898125e-04 -8.42274219e+00] [-6.57277140e-03 2.05546174e-04 9.99978378e-01 -4.53774656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281346184 meters 0.07153348379574494 Centerline is valid? [True, True] Translation: X:117.54, Y:-8.42, Z:-4.54 [[ 9.99868778e-01 1.54563433e-02 4.85066685e-03 1.17542715e+02] [-1.54554335e-02 9.99880532e-01 -2.25000312e-04 -8.42378039e+00] [-4.85356503e-03 1.50001628e-04 9.99988210e-01 -4.53969280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.311346184 meters 0.07184971421273753 Centerline is valid? [True, True] Translation: X:117.57, Y:-8.42, Z:-4.54 [[ 9.99878660e-01 1.52559958e-02 3.14953931e-03 1.17571418e+02] [-1.52556093e-02 9.99883616e-01 -1.46694490e-04 -8.42411974e+00] [-3.15141072e-03 9.86285487e-05 9.99995029e-01 -4.54416722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341346184 meters 0.07216231566580507 Centerline is valid? [True, True] Translation: X:117.60, Y:-8.42, Z:-4.55 [[ 9.99880295e-01 1.52835875e-02 2.41002254e-03 1.17599366e+02] [-1.52833591e-02 9.99883196e-01 -1.13155983e-04 -8.42433014e+00] [-2.41147047e-03 7.63091981e-05 9.99997089e-01 -4.54550199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.371346184 meters 0.07234056323044452 Centerline is valid? [True, True] Translation: X:117.63, Y:-8.42, Z:-4.55 [[ 9.99887479e-01 1.46258092e-02 3.33390514e-03 1.17627431e+02] [-1.46253732e-02 9.99893031e-01 -1.55120026e-04 -8.42374314e+00] [-3.33581727e-03 1.06342965e-04 9.99994430e-01 -4.54554205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401346184 meters 0.07261765821952638 Centerline is valid? [True, True] Translation: X:117.66, Y:-8.42, Z:-4.55 [[ 9.99886458e-01 1.43258477e-02 4.67336646e-03 1.17655547e+02] [-1.43249950e-02 9.99897369e-01 -2.15864746e-04 -8.42164162e+00] [-4.67597927e-03 1.48894285e-04 9.99989056e-01 -4.54613048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.431346184 meters 0.07109598598563226 Centerline is valid? [True, True] Translation: X:117.68, Y:-8.42, Z:-4.54 [[ 9.99893413e-01 1.37693398e-02 4.85469201e-03 1.17684550e+02] [-1.37684174e-02 9.99905186e-01 -2.23373846e-04 -8.41842895e+00] [-4.85730743e-03 1.56508611e-04 9.99988191e-01 -4.54346200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461346184 meters 0.07295343307037838 Centerline is valid? [True, True] Translation: X:117.71, Y:-8.42, Z:-4.55 [[ 9.99906879e-01 1.28235764e-02 4.66797607e-03 1.17711947e+02] [-1.28227102e-02 9.99917762e-01 -2.15437754e-04 -8.42484433e+00] [-4.67035487e-03 1.55561587e-04 9.99989082e-01 -4.54966714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49134618399998 meters 0.07173874525546277 Centerline is valid? [True, True] Translation: X:117.74, Y:-8.42, Z:-4.55 [[ 9.99921495e-01 1.17754583e-02 4.28269798e-03 1.17740609e+02] [-1.17747243e-02 9.99930656e-01 -1.96580306e-04 -8.42216031e+00] [-4.28471582e-03 1.46137286e-04 9.99990810e-01 -4.54769442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52134618399998 meters 0.07304158941376257 Centerline is valid? [True, True] Translation: X:117.77, Y:-8.42, Z:-4.55 [[ 9.99953682e-01 8.75136326e-03 4.00603535e-03 1.17768904e+02] [-8.75069943e-03 9.99961695e-01 -1.83204012e-04 -8.42376242e+00] [-4.00748519e-03 1.48139915e-04 9.99991959e-01 -4.55006453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55134618399998 meters 0.0730858576024843 Centerline is valid? [True, True] Translation: X:117.80, Y:-8.42, Z:-4.55 [[ 9.99956615e-01 7.73806462e-03 5.18558532e-03 1.17797488e+02] [-7.73694025e-03 9.99970041e-01 -2.36851730e-04 -8.42433941e+00] [-5.18726274e-03 1.96720890e-04 9.99986527e-01 -4.54934936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58134618399998 meters 0.0738326781270813 Centerline is valid? [True, True] Translation: X:117.83, Y:-8.43, Z:-4.55 [[ 9.99965959e-01 5.79761891e-03 5.87098545e-03 1.17827144e+02] [-5.79615451e-03 9.99983167e-01 -2.66413624e-04 -8.42656271e+00] [-5.87243119e-03 2.32375417e-04 9.99982730e-01 -4.54979747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61134618399998 meters 0.07870393498077456 Centerline is valid? [True, True] Translation: X:117.86, Y:-8.44, Z:-4.56 [[ 9.99973517e-01 3.38466696e-03 6.44280092e-03 1.17856895e+02] [-3.38286501e-03 9.99994236e-01 -2.90561854e-04 -8.43712289e+00] [-6.44374724e-03 2.68759033e-04 9.99979203e-01 -4.55525948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64134618399999 meters 0.07459596697222269 Centerline is valid? [True, True] Translation: X:117.89, Y:-8.43, Z:-4.55 [[ 9.99976947e-01 2.78562915e-03 6.19236449e-03 1.17889580e+02] [-2.78399213e-03 9.99996087e-01 -2.72966125e-04 -8.42792947e+00] [-6.19310065e-03 2.55720338e-04 9.99980790e-01 -4.54960236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.671346184 meters 0.07564092056347005 Centerline is valid? [True, True] Translation: X:117.92, Y:-8.43, Z:-4.55 [[ 9.99976511e-01 2.27878633e-03 6.46402572e-03 1.17920397e+02] [-2.27697577e-03 9.99997366e-01 -2.87444042e-04 -8.42978952e+00] [-6.46466372e-03 2.72718860e-04 9.99979067e-01 -4.55233423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.701346184 meters 0.07509718608356925 Centerline is valid? [True, True] Translation: X:117.95, Y:-8.43, Z:-4.55 [[ 9.99977998e-01 1.43469335e-03 6.47650235e-03 1.17953140e+02] [-1.43285247e-03 9.99998932e-01 -2.88869874e-04 -8.42735077e+00] [-6.47690987e-03 2.79583646e-04 9.99978986e-01 -4.55210565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.731346184 meters 0.07493735042209027 Centerline is valid? [True, True] Translation: X:117.98, Y:-8.43, Z:-4.55 [[ 9.99962551e-01 2.26808047e-03 8.35175658e-03 1.17984911e+02] [-2.26497245e-03 9.99997362e-01 -3.81578456e-04 -8.42748164e+00] [-8.35260000e-03 3.62647668e-04 9.99965051e-01 -4.55360151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.761346184 meters 0.07463706950041417 Centerline is valid? [True, True] Translation: X:118.02, Y:-8.43, Z:-4.55 [[ 9.99960152e-01 2.66203644e-03 8.52103714e-03 1.18017169e+02] [-2.65884836e-03 9.99996391e-01 -3.85449483e-04 -8.42696498e+00] [-8.52203247e-03 3.62777978e-04 9.99963621e-01 -4.55462255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.791346184 meters 0.0739706689650862 Centerline is valid? [True, True] Translation: X:118.05, Y:-8.43, Z:-4.56 [[ 9.99957554e-01 3.68982871e-03 8.44253201e-03 1.18049481e+02] [-3.68671935e-03 9.99993130e-01 -3.83830154e-04 -8.42632290e+00] [-8.44389028e-03 3.52688616e-04 9.99964288e-01 -4.55539729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821346184 meters 0.07374237606331215 Centerline is valid? [True, True] Translation: X:118.08, Y:-8.43, Z:-4.56 [[ 9.99931546e-01 5.30724688e-03 1.04276410e-02 1.18079918e+02] [-5.30248464e-03 9.99985824e-01 -4.84288150e-04 -8.42531197e+00] [-1.04300634e-02 4.28962593e-04 9.99945513e-01 -4.55537878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.851346184 meters 0.07596206273155569 Centerline is valid? [True, True] Translation: X:118.11, Y:-8.43, Z:-4.56 [[ 9.99923074e-01 6.10373884e-03 1.07976695e-02 1.18110721e+02] [-6.09872979e-03 9.99981279e-01 -4.96767616e-04 -8.43110696e+00] [-1.08004995e-02 4.30877333e-04 9.99941580e-01 -4.55879763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881346184 meters 0.07236170306233178 Centerline is valid? [True, True] Translation: X:118.14, Y:-8.42, Z:-4.56 [[ 9.99921079e-01 7.13943201e-03 1.03375224e-02 1.18143541e+02] [-7.13488198e-03 9.99974433e-01 -4.76959723e-04 -8.42232086e+00] [-1.03406633e-02 4.03165079e-04 9.99946453e-01 -4.55551671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.911346184 meters 0.07376362265900449 Centerline is valid? [True, True] Translation: X:118.17, Y:-8.42, Z:-4.56 [[ 9.99928337e-01 9.02774754e-03 7.86262590e-03 1.18174406e+02] [-9.02517023e-03 9.99959206e-01 -3.63213665e-04 -8.42453484e+00] [-7.86558415e-03 2.92226099e-04 9.99969023e-01 -4.56080488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941346184 meters 0.07343839930548977 Centerline is valid? [True, True] Translation: X:118.20, Y:-8.42, Z:-4.56 [[ 9.99915335e-01 1.00445558e-02 8.27216853e-03 1.18204093e+02] [-1.00416599e-02 9.99949505e-01 -3.91538599e-04 -8.42362477e+00] [-8.27568366e-03 3.08439146e-04 9.99965708e-01 -4.56124258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.971346184 meters 0.07240053159647213 Centerline is valid? [True, True] Translation: X:118.23, Y:-8.42, Z:-4.56 [[ 9.99906646e-01 1.14688714e-02 7.42725527e-03 1.18234212e+02] [-1.14665770e-02 9.99934195e-01 -3.51432726e-04 -8.42096099e+00] [-7.43079706e-03 2.66234724e-04 9.99972356e-01 -4.56133770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001346184 meters 0.07290542009475594 Centerline is valid? [True, True] Translation: X:118.26, Y:-8.42, Z:-4.56 [[ 9.99880990e-01 1.31898966e-02 8.00207679e-03 1.18262397e+02] [-1.31872841e-02 9.99912972e-01 -3.79156717e-04 -8.42305743e+00] [-8.00638143e-03 2.73585933e-04 9.99967911e-01 -4.56492240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.031346184 meters 0.0721208300881104 Centerline is valid? [True, True] Translation: X:118.29, Y:-8.42, Z:-4.57 [[ 9.99851472e-01 1.51073113e-02 8.29476906e-03 1.18291351e+02] [-1.51045760e-02 9.99885842e-01 -3.92312322e-04 -8.42077606e+00] [-8.29974894e-03 2.66965083e-04 9.99965521e-01 -4.56687253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061346184 meters 0.07101142398991259 Centerline is valid? [True, True] Translation: X:118.32, Y:-8.42, Z:-4.57 [[ 9.99850731e-01 1.56286468e-02 7.36620563e-03 1.18320679e+02] [-1.56265049e-02 9.99877838e-01 -3.48234747e-04 -8.41695225e+00] [-7.37074820e-03 2.33074717e-04 9.99972809e-01 -4.56551963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.091346184 meters 0.07160731064355545 Centerline is valid? [True, True] Translation: X:118.35, Y:-8.42, Z:-4.57 [[ 9.99815942e-01 1.70050296e-02 8.88321149e-03 1.18348692e+02] [-1.70019790e-02 9.99855368e-01 -4.18814221e-04 -8.41811017e+00] [-8.88904864e-03 2.67704959e-04 9.99960456e-01 -4.56865843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121346184 meters 0.07148595036596288 Centerline is valid? [True, True] Translation: X:118.38, Y:-8.42, Z:-4.57 [[ 9.99813827e-01 1.72783612e-02 8.58892549e-03 1.18377927e+02] [-1.72755246e-02 9.99850685e-01 -4.04347706e-04 -8.41823955e+00] [-8.59462950e-03 2.55894234e-04 9.99963033e-01 -4.57061442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.151346184 meters 0.0709023751244197 Centerline is valid? [True, True] Translation: X:118.41, Y:-8.42, Z:-4.57 [[ 9.99821025e-01 1.71477686e-02 7.99194885e-03 1.18407207e+02] [-1.71453109e-02 9.99852938e-01 -3.75937796e-04 -8.41772921e+00] [-7.99722003e-03 2.38846065e-04 9.99967993e-01 -4.57119841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181346184 meters 0.07123411167337212 Centerline is valid? [True, True] Translation: X:118.44, Y:-8.42, Z:-4.57 [[ 9.99846870e-01 1.58380700e-02 7.44264268e-03 1.18435446e+02] [-1.58359015e-02 9.99874543e-01 -3.50209266e-04 -8.41920277e+00] [-7.44725559e-03 2.32294682e-04 9.99972242e-01 -4.57229362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.211346184 meters 0.07178751034789337 Centerline is valid? [True, True] Translation: X:118.46, Y:-8.42, Z:-4.57 [[ 9.99863293e-01 1.51946337e-02 6.52056913e-03 1.18463563e+02] [-1.51929570e-02 9.99884533e-01 -3.06595277e-04 -8.42075931e+00] [-6.52447483e-03 2.07486637e-04 9.99978694e-01 -4.57388500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24134618399998 meters 0.07195038752505767 Centerline is valid? [True, True] Translation: X:118.49, Y:-8.42, Z:-4.57 [[ 9.99862844e-01 1.50044253e-02 7.01147516e-03 1.18492864e+02] [-1.50024912e-02 9.99887402e-01 -3.28366616e-04 -8.42055736e+00] [-7.01561264e-03 2.23131983e-04 9.99975365e-01 -4.57397257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27134618399998 meters 0.07187698051346465 Centerline is valid? [True, True] Translation: X:118.52, Y:-8.42, Z:-4.57 [[ 9.99858153e-01 1.50344938e-02 7.59189966e-03 1.18521062e+02] [-1.50322291e-02 9.99886947e-01 -3.55275930e-04 -8.42074582e+00] [-7.59638277e-03 2.41102360e-04 9.99971118e-01 -4.57392929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30134618399998 meters 0.07222744226385877 Centerline is valid? [True, True] Translation: X:118.55, Y:-8.42, Z:-4.57 [[ 9.99863574e-01 1.45897496e-02 7.74418739e-03 1.18549633e+02] [-1.45873890e-02 9.99893533e-01 -3.61221482e-04 -8.42165727e+00] [-7.74863302e-03 2.48204728e-04 9.99969948e-01 -4.57436153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33134618399998 meters 0.07221758319032502 Centerline is valid? [True, True] Translation: X:118.58, Y:-8.42, Z:-4.58 [[ 9.99875751e-01 1.36987136e-02 7.79922974e-03 1.18578790e+02] [-1.36962962e-02 9.99906135e-01 -3.63286858e-04 -8.42277838e+00] [-7.80347423e-03 2.56421159e-04 9.99969520e-01 -4.57623174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36134618399998 meters 0.07255915528614232 Centerline is valid? [True, True] Translation: X:118.61, Y:-8.43, Z:-4.58 [[ 9.99890059e-01 1.24865557e-02 7.99722354e-03 1.18607001e+02] [-1.24839802e-02 9.99922003e-01 -3.71888040e-04 -8.42595246e+00] [-8.00124338e-03 2.72009974e-04 9.99967953e-01 -4.57795324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39134618399999 meters 0.07285803777098862 Centerline is valid? [True, True] Translation: X:118.64, Y:-8.43, Z:-4.58 [[ 9.99905379e-01 1.17710490e-02 7.11871338e-03 1.18635132e+02] [-1.17689885e-02 9.99930688e-01 -3.31265582e-04 -8.42794693e+00] [-7.12211931e-03 2.47454181e-04 9.99974607e-01 -4.57940923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.421346184 meters 0.07345594208068983 Centerline is valid? [True, True] Translation: X:118.66, Y:-8.43, Z:-4.58 [[ 9.99921999e-01 1.08507529e-02 6.18527605e-03 1.18664543e+02] [-1.08491896e-02 9.99941105e-01 -2.86235377e-04 -8.42965428e+00] [-6.18801763e-03 2.19107817e-04 9.99980830e-01 -4.58175290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.451346184 meters 0.07336721711209945 Centerline is valid? [True, True] Translation: X:118.69, Y:-8.43, Z:-4.58 [[ 9.99914541e-01 1.13421731e-02 6.50121675e-03 1.18692282e+02] [-1.13404491e-02 9.99935649e-01 -3.01984228e-04 -8.42945659e+00] [-6.50422355e-03 2.28231703e-04 9.99978821e-01 -4.58267097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.481346184 meters 0.07323009033221692 Centerline is valid? [True, True] Translation: X:118.72, Y:-8.43, Z:-4.58 [[ 9.99890026e-01 1.24831803e-02 8.00668874e-03 1.18721450e+02] [-1.24806165e-02 9.99922046e-01 -3.70089286e-04 -8.42833360e+00] [-8.01068447e-03 2.70120174e-04 9.99967877e-01 -4.58297339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.511346184 meters 0.07166680775864001 Centerline is valid? [True, True] Translation: X:118.75, Y:-8.42, Z:-4.58 [[ 9.99866807e-01 1.36353662e-02 8.96916825e-03 1.18750485e+02] [-1.36322025e-02 9.99906992e-01 -4.13777800e-04 -8.42355717e+00] [-8.97397605e-03 2.91453170e-04 9.99959691e-01 -4.58050551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.541346184 meters 0.07208912719217202 Centerline is valid? [True, True] Translation: X:118.78, Y:-8.43, Z:-4.58 [[ 9.99836201e-01 1.56466520e-02 9.09694647e-03 1.18777942e+02] [-1.56434830e-02 9.99877545e-01 -4.19418104e-04 -8.42519714e+00] [-9.10239499e-03 2.77041476e-04 9.99958534e-01 -4.58382766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.571346184 meters 0.0719544515107914 Centerline is valid? [True, True] Translation: X:118.81, Y:-8.43, Z:-4.58 [[ 9.99817769e-01 1.62104333e-02 1.00822257e-02 1.18806998e+02] [-1.62065863e-02 9.99868557e-01 -4.63157932e-04 -8.42642748e+00] [-1.00884084e-02 2.99675070e-04 9.99949066e-01 -4.58497127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601346184 meters 0.07111061976083632 Centerline is valid? [True, True] Translation: X:118.84, Y:-8.42, Z:-4.58 [[ 9.99814120e-01 1.66067709e-02 9.79491182e-03 1.18836118e+02] [-1.66031643e-02 9.99862057e-01 -4.49421404e-04 -8.42455314e+00] [-9.80102411e-03 2.86711336e-04 9.99951928e-01 -4.58478995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.631346184 meters 0.07163859723091268 Centerline is valid? [True, True] Translation: X:118.86, Y:-8.42, Z:-4.59 [[ 9.99820889e-01 1.57444144e-02 1.05025577e-02 1.18863596e+02] [-1.57402255e-02 9.99875999e-01 -4.81389617e-04 -8.42486779e+00] [-1.05088345e-02 3.15990768e-04 9.99944731e-01 -4.58574828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661346184 meters 0.07185734225876565 Centerline is valid? [True, True] Translation: X:118.89, Y:-8.43, Z:-4.59 [[ 9.99838886e-01 1.54414840e-02 9.15222126e-03 1.18891489e+02] [-1.54382943e-02 9.99880735e-01 -4.19069123e-04 -8.42611612e+00] [-9.15760077e-03 2.77706920e-04 9.99958030e-01 -4.58744018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.691346184 meters 0.07223283040250475 Centerline is valid? [True, True] Translation: X:118.92, Y:-8.43, Z:-4.59 [[ 9.99853806e-01 1.47987787e-02 8.56521381e-03 1.18920007e+02] [-1.47959699e-02 9.99890457e-01 -3.91203544e-04 -8.42743374e+00] [-8.57006489e-03 2.64415706e-04 9.99963241e-01 -4.58972689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721346184 meters 0.07223283040250475 Centerline is valid? [True, True] Translation: X:118.95, Y:-8.43, Z:-4.59 [[ 9.99854796e-01 1.47317205e-02 8.56523992e-03 1.18948276e+02] [-1.47289142e-02 9.99891447e-01 -3.90629797e-04 -8.42862517e+00] [-8.57006479e-03 2.64416392e-04 9.99963241e-01 -4.59069654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.751346184 meters 0.07192395375261565 Centerline is valid? [True, True] Translation: X:118.98, Y:-8.43, Z:-4.59 [[ 9.99849697e-01 1.42556741e-02 9.86711527e-03 1.18976676e+02] [-1.42519363e-02 9.99898335e-01 -4.49028899e-04 -8.42889287e+00] [-9.87251334e-03 3.08335910e-04 9.99951218e-01 -4.59149981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781346184 meters 0.07194135231473772 Centerline is valid? [True, True] Translation: X:119.01, Y:-8.43, Z:-4.59 [[ 9.99856130e-01 1.38967744e-02 9.72619793e-03 1.19005146e+02] [-1.38931319e-02 9.99903388e-01 -4.41973179e-04 -8.43074978e+00] [-9.73140026e-03 3.06782242e-04 9.99952602e-01 -4.59236592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.811346184 meters 0.07167293951757457 Centerline is valid? [True, True] Translation: X:119.03, Y:-8.43, Z:-4.59 [[ 9.99858407e-01 1.35640141e-02 9.95904607e-03 1.19034284e+02] [-1.35601855e-02 9.99907954e-01 -4.51856704e-04 -8.43124076e+00] [-9.96425837e-03 3.16746211e-04 9.99950305e-01 -4.59272671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841346184 meters 0.07280930951802717 Centerline is valid? [True, True] Translation: X:119.06, Y:-8.43, Z:-4.60 [[ 9.99870604e-01 1.27775127e-02 9.77296603e-03 1.19062338e+02] [-1.27737989e-02 9.99918314e-01 -4.42340838e-04 -8.43454547e+00] [-9.77781973e-03 3.17445698e-04 9.99952146e-01 -4.59539869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.871346184 meters 0.07298277047477429 Centerline is valid? [True, True] Translation: X:119.09, Y:-8.44, Z:-4.60 [[ 9.99874634e-01 1.24996909e-02 9.71980532e-03 1.19090789e+02] [-1.24960057e-02 9.99921825e-01 -4.39790494e-04 -8.43520595e+00] [-9.72454272e-03 3.18276617e-04 9.99952665e-01 -4.59642999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901346184 meters 0.07201200372643592 Centerline is valid? [True, True] Translation: X:119.12, Y:-8.43, Z:-4.59 [[ 9.99862676e-01 1.23760581e-02 1.10210048e-02 1.19120097e+02] [-1.23713233e-02 9.99923348e-01 -4.97689299e-04 -8.43272207e+00] [-1.10263194e-02 3.61276541e-04 9.99939143e-01 -4.59437900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.931346184 meters 0.07200025211594073 Centerline is valid? [True, True] Translation: X:119.15, Y:-8.43, Z:-4.59 [[ 9.99862158e-01 1.19472892e-02 1.15293812e-02 1.19150032e+02] [-1.19420985e-02 9.99928556e-01 -5.18952751e-04 -8.43391247e+00] [-1.15347576e-02 3.81196211e-04 9.99933400e-01 -4.59481127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961346184 meters 0.07409413789891514 Centerline is valid? [True, True] Translation: X:119.18, Y:-8.44, Z:-4.60 [[ 9.99887476e-01 1.09276220e-02 1.02773230e-02 1.19178949e+02] [-1.09234505e-02 9.99940231e-01 -4.61945501e-04 -8.44159201e+00] [-1.02817567e-02 3.49629692e-04 9.99947080e-01 -4.59977402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99134618399998 meters 0.0732497389825882 Centerline is valid? [True, True] Translation: X:119.21, Y:-8.44, Z:-4.60 [[ 9.99891580e-01 1.08548412e-02 9.94986912e-03 1.19208254e+02] [-1.08509253e-02 9.99941027e-01 -4.47464475e-04 -8.44045053e+00] [-9.95413950e-03 3.39450675e-04 9.99950399e-01 -4.59987932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02134618399998 meters 0.07338734802981357 Centerline is valid? [True, True] Translation: X:119.24, Y:-8.44, Z:-4.60 [[ 9.99885529e-01 1.13331630e-02 1.00243576e-02 1.19237236e+02] [-1.13292117e-02 9.99935721e-01 -4.50868154e-04 -8.44005363e+00] [-1.00288230e-02 3.37248473e-04 9.99949653e-01 -4.60104404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05134618399998 meters 0.07269416287364763 Centerline is valid? [True, True] Translation: X:119.27, Y:-8.44, Z:-4.60 [[ 9.99884296e-01 1.18366413e-02 9.55455437e-03 1.19267404e+02] [-1.18330823e-02 9.99929895e-01 -4.28941058e-04 -8.43785416e+00] [-9.55896177e-03 3.15831600e-04 9.99954262e-01 -4.60149987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08134618399998 meters 0.07351479401729441 Centerline is valid? [True, True] Translation: X:119.30, Y:-8.44, Z:-4.61 [[ 9.99848787e-01 1.39920713e-02 1.03259679e-02 1.19295563e+02] [-1.39880297e-02 9.99902055e-01 -4.63528045e-04 -8.43973600e+00] [-1.03314422e-02 3.19018007e-04 9.99946578e-01 -4.60612508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11134618399998 meters 0.07165240407574254 Centerline is valid? [True, True] Translation: X:119.32, Y:-8.44, Z:-4.61 [[ 9.99813615e-01 1.58725366e-02 1.09908105e-02 1.19324756e+02] [-1.58680743e-02 9.99873973e-01 -4.93090329e-04 -8.43533880e+00] [-1.09972520e-02 3.18595426e-04 9.99939478e-01 -4.60532170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14134618399999 meters 0.07112999907881185 Centerline is valid? [True, True] Translation: X:119.35, Y:-8.43, Z:-4.61 [[ 9.99789154e-01 1.74299320e-02 1.08556855e-02 1.19353762e+02] [-1.74256782e-02 9.99848043e-01 -4.86322024e-04 -8.43374782e+00] [-1.08625125e-02 2.97051803e-04 9.99940957e-01 -4.60704029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.171346184 meters 0.0696801874163379 Centerline is valid? [True, True] Translation: X:119.38, Y:-8.43, Z:-4.60 [[ 9.99731587e-01 1.97423491e-02 1.21240623e-02 1.19383575e+02] [-1.97372301e-02 9.99805055e-01 -5.41744865e-04 -8.42695005e+00] [-1.21323940e-02 3.02304048e-04 9.99926354e-01 -4.60433974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.201346184 meters 0.07036147447870876 Centerline is valid? [True, True] Translation: X:119.41, Y:-8.43, Z:-4.61 [[ 9.99708539e-01 2.05355990e-02 1.26935444e-02 1.19411785e+02] [-2.05300566e-02 9.99789076e-01 -5.66798142e-04 -8.42900935e+00] [-1.27025066e-02 3.06033757e-04 9.99919273e-01 -4.60660225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.231346184 meters 0.0694874864773632 Centerline is valid? [True, True] Translation: X:119.44, Y:-8.43, Z:-4.60 [[ 9.99684895e-01 2.12726061e-02 1.33261561e-02 1.19440890e+02] [-2.12665769e-02 9.99773664e-01 -5.93988792e-04 -8.42592210e+00] [-1.33357756e-02 3.10399899e-04 9.99911026e-01 -4.60455204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261346184 meters 0.06989429427760213 Centerline is valid? [True, True] Translation: X:119.47, Y:-8.43, Z:-4.61 [[ 9.99717574e-01 2.01987018e-02 1.25213914e-02 1.19468238e+02] [-2.01932958e-02 9.99795939e-01 -5.58027822e-04 -8.42700118e+00] [-1.25301077e-02 3.05022060e-04 9.99921449e-01 -4.60504207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.291346184 meters 0.07013692961422986 Centerline is valid? [True, True] Translation: X:119.50, Y:-8.43, Z:-4.61 [[ 9.99723972e-01 1.97761512e-02 1.26839714e-02 1.19496949e+02] [-1.97705950e-02 9.99804384e-01 -5.63300630e-04 -8.42874403e+00] [-1.26926301e-02 3.12375482e-04 9.99919397e-01 -4.60616494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321346184 meters 0.07056742086062961 Centerline is valid? [True, True] Translation: X:119.52, Y:-8.43, Z:-4.61 [[ 9.99757200e-01 1.87129888e-02 1.16346573e-02 1.19524097e+02] [-1.87082402e-02 9.99824852e-01 -5.16854595e-04 -8.43169664e+00] [-1.16422914e-02 2.99065139e-04 9.99932182e-01 -4.60876780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.351346184 meters 0.07120817069666298 Centerline is valid? [True, True] Translation: X:119.55, Y:-8.44, Z:-4.61 [[ 9.99767280e-01 1.75035857e-02 1.26099532e-02 1.19551815e+02] [-1.74979366e-02 9.99846744e-01 -5.58185779e-04 -8.43537938e+00] [-1.26177909e-02 3.37407716e-04 9.99920336e-01 -4.61129933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381346184 meters 0.07179460695543739 Centerline is valid? [True, True] Translation: X:119.58, Y:-8.44, Z:-4.61 [[ 9.99816120e-01 1.56760149e-02 1.10448411e-02 1.19580622e+02] [-1.56715847e-02 9.99877074e-01 -4.87550081e-04 -8.43882936e+00] [-1.10511263e-02 3.14370267e-04 9.99938885e-01 -4.61493127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.411346184 meters 0.0720475260008197 Centerline is valid? [True, True] Translation: X:119.61, Y:-8.44, Z:-4.62 [[ 9.99825348e-01 1.50914483e-02 1.10236622e-02 1.19608854e+02] [-1.50870015e-02 9.99886066e-01 -4.86440393e-04 -8.44186957e+00] [-1.10297473e-02 3.20041428e-04 9.99939119e-01 -4.61683304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441346184 meters 0.07127025276280903 Centerline is valid? [True, True] Translation: X:119.64, Y:-8.44, Z:-4.62 [[ 9.99824627e-01 1.50823763e-02 1.11012021e-02 1.19637912e+02] [-1.50778740e-02 9.99886203e-01 -4.89157172e-04 -8.44150730e+00] [-1.11073165e-02 3.21688861e-04 9.99938260e-01 -4.61654096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.471346184 meters 0.07165477170518716 Centerline is valid? [True, True] Translation: X:119.67, Y:-8.44, Z:-4.62 [[ 9.99812992e-01 1.55073327e-02 1.15543431e-02 1.19665975e+02] [-1.55024899e-02 9.99879700e-01 -5.08590470e-04 -8.44397746e+00] [-1.15608400e-02 3.29374273e-04 9.99933117e-01 -4.61869327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501346184 meters 0.0713319789984066 Centerline is valid? [True, True] Translation: X:119.69, Y:-8.44, Z:-4.62 [[ 9.99823269e-01 1.52940055e-02 1.09327052e-02 1.19694534e+02] [-1.52896700e-02 9.99882991e-01 -4.80030756e-04 -8.44249791e+00] [-1.09387676e-02 3.12788464e-04 9.99940121e-01 -4.61827294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.531346184 meters 0.07075509788227198 Centerline is valid? [True, True] Translation: X:119.72, Y:-8.44, Z:-4.62 [[ 9.99831199e-01 1.53670704e-02 1.00710524e-02 1.19723383e+02] [-1.53633996e-02 9.99881878e-01 -4.41766056e-04 -8.43988169e+00] [-1.00766514e-02 2.86965885e-04 9.99949188e-01 -4.61690808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561346184 meters 0.07176953046598981 Centerline is valid? [True, True] Translation: X:119.75, Y:-8.44, Z:-4.62 [[ 9.99848280e-01 1.51837355e-02 8.53651089e-03 1.19750460e+02] [-1.51810858e-02 9.99884690e-01 -3.75109139e-04 -8.44291981e+00] [-8.54122211e-03 2.45458723e-04 9.99963493e-01 -4.62100683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.591346184 meters 0.07155891973575537 Centerline is valid? [True, True] Translation: X:119.78, Y:-8.45, Z:-4.62 [[ 9.99849299e-01 1.45658886e-02 9.44534813e-03 1.19779297e+02] [-1.45626389e-02 9.99893874e-01 -4.12738132e-04 -8.44584564e+00] [-9.45035763e-03 2.75126738e-04 9.99955307e-01 -4.62281093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621346184 meters 0.07232512668858064 Centerline is valid? [True, True] Translation: X:119.81, Y:-8.45, Z:-4.63 [[ 9.99850649e-01 1.45121388e-02 9.38491027e-03 1.19807059e+02] [-1.45089304e-02 9.99894656e-01 -4.09870097e-04 -8.45035469e+00] [-9.38986972e-03 2.73643872e-04 9.99955877e-01 -4.62657412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.651346184 meters 0.07204556517003997 Centerline is valid? [True, True] Translation: X:119.84, Y:-8.45, Z:-4.63 [[ 9.99853019e-01 1.48445294e-02 8.57795459e-03 1.19835373e+02] [-1.48418697e-02 9.99889784e-01 -3.73643000e-04 -8.45022162e+00] [-8.58255572e-03 2.46275197e-04 9.99963139e-01 -4.62806616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681346184 meters 0.07152107895897303 Centerline is valid? [True, True] Translation: X:119.86, Y:-8.45, Z:-4.63 [[ 9.99844150e-01 1.56414308e-02 8.18660676e-03 1.19864714e+02] [-1.56390421e-02 9.99877639e-01 -3.55720321e-04 -8.44954880e+00] [-8.19116902e-03 2.27634195e-04 9.99966426e-01 -4.62818593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.711346184 meters 0.07181706559565516 Centerline is valid? [True, True] Translation: X:119.89, Y:-8.45, Z:-4.63 [[ 9.99806345e-01 1.73240109e-02 9.33545546e-03 1.19892384e+02] [-1.73209769e-02 9.99849898e-01 -4.05750749e-04 -8.45093983e+00] [-9.34108342e-03 2.43972964e-04 9.99956341e-01 -4.63173285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74134618399998 meters 0.07089424875102225 Centerline is valid? [True, True] Translation: X:119.92, Y:-8.45, Z:-4.63 [[ 9.99794098e-01 1.77800499e-02 9.77917332e-03 1.19921028e+02] [-1.77767559e-02 9.99841891e-01 -4.23662003e-04 -8.44909908e+00] [-9.78515988e-03 2.49732793e-04 9.99952093e-01 -4.63036724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77134618399998 meters 0.07074655852923796 Centerline is valid? [True, True] Translation: X:119.95, Y:-8.45, Z:-4.63 [[ 9.99765395e-01 1.96962062e-02 9.01185855e-03 1.19948553e+02] [-1.96934868e-02 9.99805988e-01 -3.90404814e-04 -8.44857967e+00] [-9.01779964e-03 2.12838306e-04 9.99959316e-01 -4.63130539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80134618399998 meters 0.07099603967726129 Centerline is valid? [True, True] Translation: X:119.97, Y:-8.45, Z:-4.63 [[ 9.99763161e-01 1.98914703e-02 8.82898110e-03 1.19974996e+02] [-1.98888669e-02 9.99802124e-01 -3.82572443e-04 -8.44911513e+00] [-8.83484398e-03 2.06883405e-04 9.99960951e-01 -4.63235137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83134618399998 meters 0.0705617529650327 Centerline is valid? [True, True] Translation: X:120.00, Y:-8.45, Z:-4.63 [[ 9.99756747e-01 2.00489066e-02 9.19174899e-03 1.20003774e+02] [-2.00461146e-02 9.99798978e-01 -3.95788833e-04 -8.44891904e+00] [-9.19783638e-03 2.11433703e-04 9.99957677e-01 -4.63190534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86134618399998 meters 0.07095767438735046 Centerline is valid? [True, True] Translation: X:120.03, Y:-8.45, Z:-4.63 [[ 9.99771981e-01 1.95715402e-02 8.54054314e-03 1.20031442e+02] [-1.95691125e-02 9.99808439e-01 -3.67745414e-04 -8.45120080e+00] [-8.54610445e-03 2.00530711e-04 9.99963461e-01 -4.63427254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89134618399999 meters 0.07122033735310947 Centerline is valid? [True, True] Translation: X:120.06, Y:-8.45, Z:-4.64 [[ 9.99784727e-01 1.90372267e-02 8.25128373e-03 1.20060272e+02] [-1.90349510e-02 9.99818756e-01 -3.54260084e-04 -8.45350318e+00] [-8.25653236e-03 1.97121040e-04 9.99965895e-01 -4.63555337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.921346184 meters 0.07251753892410709 Centerline is valid? [True, True] Translation: X:120.09, Y:-8.46, Z:-4.64 [[ 9.99844064e-01 1.65043823e-02 6.28120410e-03 1.20088242e+02] [-1.65030129e-02 9.99863780e-01 -2.69794378e-04 -8.45917987e+00] [-6.28480126e-03 1.66093515e-04 9.99980237e-01 -4.63889285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.951346184 meters 0.07274609618762876 Centerline is valid? [True, True] Translation: X:120.12, Y:-8.46, Z:-4.64 [[ 9.99857340e-01 1.52459639e-02 7.27057292e-03 1.20116776e+02] [-1.52441023e-02 9.99883753e-01 -3.11404887e-04 -8.46178701e+00] [-7.27447540e-03 2.00527105e-04 9.99973521e-01 -4.64012167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.981346184 meters 0.07188147130230281 Centerline is valid? [True, True] Translation: X:120.15, Y:-8.46, Z:-4.64 [[ 9.99867561e-01 1.46537316e-02 7.08010717e-03 1.20145956e+02] [-1.46519535e-02 9.99892608e-01 -3.02949952e-04 -8.46150713e+00] [-7.08378617e-03 1.99172429e-04 9.99974890e-01 -4.63901870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.011346184 meters 0.07417667393357649 Centerline is valid? [True, True] Translation: X:120.17, Y:-8.47, Z:-4.65 [[ 9.99901851e-01 1.25372656e-02 6.25344090e-03 1.20173981e+02] [-1.25358412e-02 9.99921388e-01 -2.66917834e-04 -8.47075933e+00] [-6.25629572e-03 1.88499494e-04 9.99980411e-01 -4.64508386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041346184 meters 0.07285254340474254 Centerline is valid? [True, True] Translation: X:120.20, Y:-8.47, Z:-4.64 [[ 9.99914851e-01 1.15451531e-02 6.08276136e-03 1.20202916e+02] [-1.15437859e-02 9.99933335e-01 -2.59827466e-04 -8.46843957e+00] [-6.08535560e-03 1.89587247e-04 9.99981466e-01 -4.64243004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071346184 meters 0.07363377846849987 Centerline is valid? [True, True] Translation: X:120.23, Y:-8.47, Z:-4.64 [[ 9.99930692e-01 1.04270191e-02 5.46708898e-03 1.20230777e+02] [-1.04258939e-02 9.99945621e-01 -2.34266396e-04 -8.47201323e+00] [-5.46923439e-03 1.77250870e-04 9.99985028e-01 -4.64493323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101346184 meters 0.07412291696773492 Centerline is valid? [True, True] Translation: X:120.26, Y:-8.47, Z:-4.65 [[ 9.99944066e-01 9.51807962e-03 4.61206870e-03 1.20259172e+02] [-9.51727325e-03 9.99954690e-01 -1.96756627e-04 -8.47441949e+00] [-4.61373247e-03 1.52851304e-04 9.99989345e-01 -4.64689658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.131346184 meters 0.07431057175407074 Centerline is valid? [True, True] Translation: X:120.29, Y:-8.48, Z:-4.65 [[ 9.99943790e-01 9.43356255e-03 4.83996071e-03 1.20287097e+02] [-9.43267334e-03 9.99955490e-01 -2.06518365e-04 -8.47626099e+00] [-4.84169349e-03 1.60852988e-04 9.99988266e-01 -4.64835202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161346184 meters 0.07469806390518328 Centerline is valid? [True, True] Translation: X:120.32, Y:-8.48, Z:-4.65 [[ 9.99949773e-01 9.41131749e-03 3.44646925e-03 1.20315804e+02] [-9.41086647e-03 9.99955706e-01 -1.47058233e-04 -8.47775631e+00] [-3.44770060e-03 1.14616585e-04 9.99994050e-01 -4.65023773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.191346184 meters 0.0743003226417772 Centerline is valid? [True, True] Translation: X:120.35, Y:-8.48, Z:-4.65 [[ 9.99941436e-01 1.00355236e-02 4.05132083e-03 1.20345107e+02] [-1.00349103e-02 9.99949634e-01 -1.71699749e-04 -8.47811723e+00] [-4.05283988e-03 1.31035052e-04 9.99991779e-01 -4.65132424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221346184 meters 0.07380781518899258 Centerline is valid? [True, True] Translation: X:120.37, Y:-8.48, Z:-4.65 [[ 9.99934352e-01 1.06157342e-02 4.31259075e-03 1.20374058e+02] [-1.06150437e-02 9.99943642e-01 -1.82966427e-04 -8.47671306e+00] [-4.31429002e-03 1.37176076e-04 9.99990684e-01 -4.65092611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.251346184 meters 0.07435852484171286 Centerline is valid? [True, True] Translation: X:120.40, Y:-8.48, Z:-4.65 [[ 9.99928921e-01 1.10478534e-02 4.48308749e-03 1.20401707e+02] [-1.10471112e-02 9.99938961e-01 -1.90290457e-04 -8.47821039e+00] [-4.48491615e-03 1.40751765e-04 9.99989933e-01 -4.65361473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281346184 meters 0.07429020142741559 Centerline is valid? [True, True] Translation: X:120.43, Y:-8.48, Z:-4.65 [[ 9.99927793e-01 1.15256990e-02 3.40115100e-03 1.20430148e+02] [-1.15252751e-02 9.99933571e-01 -1.44207262e-04 -8.47846542e+00] [-3.40258716e-03 1.04997648e-04 9.99994206e-01 -4.65403697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.311346184 meters 0.07404433910319358 Centerline is valid? [True, True] Translation: X:120.46, Y:-8.48, Z:-4.65 [[ 9.99922935e-01 1.20383319e-02 3.03347298e-03 1.20459252e+02] [-1.20379970e-02 9.99927532e-01 -1.28661975e-04 -8.47852120e+00] [-3.03480203e-03 9.21351215e-05 9.99995391e-01 -4.65490694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341346184 meters 0.07305645818551584 Centerline is valid? [True, True] Translation: X:120.49, Y:-8.47, Z:-4.65 [[ 9.99914306e-01 1.27898664e-02 2.79289261e-03 1.20488429e+02] [-1.27895851e-02 9.99918203e-01 -1.18545200e-04 -8.47404693e+00] [-2.79418034e-03 8.28151033e-05 9.99996093e-01 -4.65433365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.371346184 meters 0.07340393221974054 Centerline is valid? [True, True] Translation: X:120.52, Y:-8.48, Z:-4.66 [[ 9.99916093e-01 1.28116065e-02 1.91583213e-03 1.20516233e+02] [-1.28114720e-02 9.99917926e-01 -8.24579782e-05 -8.47519021e+00] [-1.91673131e-03 5.79064297e-05 9.99998161e-01 -4.65709180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401346184 meters 0.07349356951305114 Centerline is valid? [True, True] Translation: X:120.54, Y:-8.48, Z:-4.66 [[ 9.99904650e-01 1.37018380e-02 1.71788989e-03 1.20543490e+02] [-1.37017309e-02 9.99906124e-01 -7.40539311e-05 -8.47622498e+00] [-1.71874329e-03 5.05088050e-05 9.99998522e-01 -4.65951256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.431346184 meters 0.0734050725823865 Centerline is valid? [True, True] Translation: X:120.57, Y:-8.48, Z:-4.66 [[ 9.99899507e-01 1.41097797e-02 1.37474897e-03 1.20571698e+02] [-1.41097102e-02 9.99900451e-01 -6.02758781e-05 -8.47592880e+00] [-1.37546259e-03 4.08725113e-05 9.99999053e-01 -4.66174800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461346184 meters 0.073460479911753 Centerline is valid? [True, True] Translation: X:120.60, Y:-8.48, Z:-4.66 [[ 9.99894973e-01 1.44715399e-02 7.85236260e-04 1.20600179e+02] [-1.44715171e-02 9.99895282e-01 -3.46977242e-05 -8.47500655e+00] [-7.85656161e-04 2.33305201e-05 9.99999691e-01 -4.66351140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49134618399998 meters 0.07328573154464336 Centerline is valid? [True, True] Translation: X:120.63, Y:-8.47, Z:-4.66 [[ 9.99896515e-01 1.43681764e-02 7.17106438e-04 1.20629087e+02] [-1.43681572e-02 9.99896772e-01 -3.18610726e-05 -8.47369164e+00] [-7.17490198e-04 2.15542775e-05 9.99999742e-01 -4.66375991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52134618399998 meters 0.07413431097024432 Centerline is valid? [True, True] Translation: X:120.66, Y:-8.48, Z:-4.67 [[ 9.99896902e-01 1.43409597e-02 7.22726141e-04 1.20656192e+02] [-1.43409391e-02 9.99897163e-01 -3.37144898e-05 -8.47526954e+00] [-7.23135316e-04 2.33464423e-05 9.99999738e-01 -4.66686265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55134618399998 meters 0.07391390924421178 Centerline is valid? [True, True] Translation: X:120.68, Y:-8.47, Z:-4.67 [[ 9.99899151e-01 1.41972668e-02 3.52935429e-04 1.20684599e+02] [-1.41972617e-02 9.99899214e-01 -1.67314602e-05 -8.47475347e+00] [-3.53137399e-04 1.17190562e-05 9.99999938e-01 -4.66682301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58134618399998 meters 0.07317852792371489 Centerline is valid? [True, True] Translation: X:120.71, Y:-8.47, Z:-4.66 [[ 9.99916233e-01 1.29070087e-02 9.67079673e-04 1.20713948e+02] [-1.29069741e-02 9.99916701e-01 -4.19658892e-05 -8.47424372e+00] [-9.67540770e-04 2.94803015e-05 9.99999531e-01 -4.66418449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61134618399998 meters 0.07322792935568624 Centerline is valid? [True, True] Translation: X:120.74, Y:-8.47, Z:-4.66 [[ 9.99920523e-01 1.25719151e-02 9.45869107e-04 1.20742898e+02] [-1.25718819e-02 9.99920970e-01 -4.10409775e-05 -8.47493991e+00] [-9.46310318e-04 2.91463610e-05 9.99999552e-01 -4.66443228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64134618399999 meters 0.07322792935568624 Centerline is valid? [True, True] Translation: X:120.77, Y:-8.48, Z:-4.67 [[ 9.99921828e-01 1.24676538e-02 9.45824727e-04 1.20770317e+02] [-1.24676196e-02 9.99922275e-01 -4.21311093e-05 -8.47592295e+00] [-9.46276489e-04 3.03356329e-05 9.99999552e-01 -4.66537272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.671346184 meters 0.07351689223466633 Centerline is valid? [True, True] Translation: X:120.80, Y:-8.48, Z:-4.67 [[ 9.99936472e-01 1.12609911e-02 4.91077725e-04 1.20798973e+02] [-1.12609814e-02 9.99936593e-01 -2.23572741e-05 -8.47693541e+00] [-4.91298353e-04 1.68258366e-05 9.99999879e-01 -4.66682796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701346184 meters 0.07437518713667854 Centerline is valid? [True, True] Translation: X:120.83, Y:-8.48, Z:-4.67 [[ 9.99947568e-01 1.02389209e-02 -1.62578046e-04 1.20825981e+02] [-1.02389206e-02 9.99947581e-01 3.07584256e-06 -8.48024929e+00] [ 1.62601017e-04 -1.41105758e-06 9.99999987e-01 -4.66938773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.731346184 meters 0.07626094139838077 Centerline is valid? [True, True] Translation: X:120.85, Y:-8.49, Z:-4.68 [[ 9.99950640e-01 9.91789754e-03 -5.94867660e-04 1.20853362e+02] [-9.91788666e-03 9.99950816e-01 2.12380163e-05 -8.48596125e+00] [ 5.95049039e-04 -1.53371379e-05 9.99999823e-01 -4.67590104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761346184 meters 0.07470297079006775 Centerline is valid? [True, True] Translation: X:120.88, Y:-8.48, Z:-4.67 [[ 9.99952120e-01 9.77989052e-03 -3.34318462e-04 1.20882407e+02] [-9.77988731e-03 9.99952176e-01 1.12292340e-05 -8.48263433e+00] [ 3.34412294e-04 -7.95909944e-06 9.99999944e-01 -4.67237502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.791346184 meters 0.0748273563313857 Centerline is valid? [True, True] Translation: X:120.91, Y:-8.48, Z:-4.67 [[ 9.99945876e-01 1.03431421e-02 -1.12448344e-03 1.20910121e+02] [-1.03431008e-02 9.99946508e-01 4.25445131e-05 -8.48085559e+00] [ 1.12486333e-03 -3.09115649e-05 9.99999367e-01 -4.67358183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821346184 meters 0.0748273563313857 Centerline is valid? [True, True] Translation: X:120.94, Y:-8.48, Z:-4.67 [[ 9.99946896e-01 1.02440380e-02 -1.12450977e-03 1.20937548e+02] [-1.02439974e-02 9.99947528e-01 4.18879387e-05 -8.48182138e+00] [ 1.12487987e-03 -3.03662391e-05 9.99999367e-01 -4.67452280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.851346184 meters 0.07417292556890927 Centerline is valid? [True, True] Translation: X:120.97, Y:-8.48, Z:-4.67 [[ 9.99931854e-01 1.16729726e-02 1.70587807e-04 1.20966858e+02] [-1.16729713e-02 9.99931869e-01 -8.55699453e-06 -8.48092169e+00] [-1.70676070e-04 6.56514483e-06 9.99999985e-01 -4.67407649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881346184 meters 0.07294938456123157 Centerline is valid? [True, True] Translation: X:121.00, Y:-8.48, Z:-4.67 [[ 9.99929740e-01 1.18215178e-02 8.75770836e-04 1.20995940e+02] [-1.18214894e-02 9.99930123e-01 -3.75161490e-05 -8.47856596e+00] [-8.76153138e-04 2.71605974e-05 9.99999616e-01 -4.67080295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.911346184 meters 0.07338318851962197 Centerline is valid? [True, True] Translation: X:121.02, Y:-8.48, Z:-4.67 [[ 9.99930214e-01 1.16964494e-02 1.66148303e-03 1.21023872e+02] [-1.16963488e-02 9.99931593e-01 -7.02327119e-05 -8.47993621e+00] [-1.66219085e-03 5.07945256e-05 9.99998617e-01 -4.67197155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941346184 meters 0.07361567993348592 Centerline is valid? [True, True] Translation: X:121.05, Y:-8.48, Z:-4.67 [[ 9.99928176e-01 1.18447223e-02 1.82895861e-03 1.21052052e+02] [-1.18446032e-02 9.99929847e-01 -7.59185029e-05 -8.48145918e+00] [-1.82972954e-03 5.42497610e-05 9.99998325e-01 -4.67308553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.971346184 meters 0.073080033951668 Centerline is valid? [True, True] Translation: X:121.08, Y:-8.48, Z:-4.67 [[ 9.99934698e-01 1.13861218e-02 9.77970178e-04 1.21080515e+02] [-1.13860868e-02 9.99935176e-01 -4.13313220e-05 -8.48184619e+00] [-9.78377385e-04 3.01933697e-05 9.99999521e-01 -4.67322746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001346184 meters 0.07339078510758278 Centerline is valid? [True, True] Translation: X:121.11, Y:-8.48, Z:-4.68 [[ 9.99943609e-01 1.06173060e-02 2.27309013e-04 1.21109150e+02] [-1.06173037e-02 9.99943635e-01 -1.13690811e-05 -8.48471421e+00] [-2.27416909e-04 8.95503114e-06 9.99999974e-01 -4.67608004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.031346184 meters 0.07298396164875598 Centerline is valid? [True, True] Translation: X:121.14, Y:-8.49, Z:-4.68 [[ 9.99947835e-01 1.02027214e-02 4.81352630e-04 1.21136754e+02] [-1.02027116e-02 9.99947951e-01 -2.26709005e-05 -8.48536609e+00] [-4.81558881e-04 1.77586158e-05 9.99999884e-01 -4.67560544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061346184 meters 0.07270743702270877 Centerline is valid? [True, True] Translation: X:121.17, Y:-8.49, Z:-4.67 [[ 9.99954501e-01 9.52623364e-03 4.96972264e-04 1.21165879e+02] [-9.52622383e-03 9.99954624e-01 -2.21061885e-05 -8.48556510e+00] [-4.97160302e-04 1.73709136e-05 9.99999876e-01 -4.67383847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.091346184 meters 0.07335795668067638 Centerline is valid? [True, True] Translation: X:121.19, Y:-8.49, Z:-4.68 [[ 9.99948628e-01 1.01293026e-02 3.71159843e-04 1.21193263e+02] [-1.01292968e-02 9.99948697e-01 -1.76686686e-05 -8.48757534e+00] [-3.71319773e-04 1.39081727e-05 9.99999931e-01 -4.67611685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121346184 meters 0.07231174996775354 Centerline is valid? [True, True] Translation: X:121.22, Y:-8.48, Z:-4.67 [[ 9.99944286e-01 1.05557673e-02 -6.94859188e-06 1.21220982e+02] [-1.05557674e-02 9.99944286e-01 -3.30494850e-06 -8.48458561e+00] [ 6.91331843e-06 3.37811209e-06 1.00000000e+00 -4.67311968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.151346184 meters 0.07209634528083227 Centerline is valid? [True, True] Translation: X:121.25, Y:-8.49, Z:-4.67 [[ 9.99919277e-01 1.23290366e-02 3.07157836e-03 1.21249768e+02] [-1.23287191e-02 9.99923991e-01 -1.22257263e-04 -8.48672814e+00] [-3.07285220e-03 8.43787667e-05 9.99995275e-01 -4.67385670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181346184 meters 0.07187935843824622 Centerline is valid? [True, True] Translation: X:121.28, Y:-8.49, Z:-4.67 [[ 9.99925274e-01 1.20566033e-02 2.02115307e-03 1.21278505e+02] [-1.20564624e-02 9.99927315e-01 -8.18812340e-05 -8.48832212e+00] [-2.02199337e-03 5.75071594e-05 9.99997954e-01 -4.67454905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.211346184 meters 0.07208060480959698 Centerline is valid? [True, True] Translation: X:121.31, Y:-8.49, Z:-4.68 [[ 9.99923895e-01 1.22645045e-02 1.33634716e-03 1.21306072e+02] [-1.22644414e-02 9.99924787e-01 -5.53847990e-05 -8.49117590e+00] [-1.33692591e-03 3.89910325e-05 9.99999106e-01 -4.67766123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24134618399998 meters 0.07201198620521686 Centerline is valid? [True, True] Translation: X:121.33, Y:-8.49, Z:-4.68 [[ 9.99934485e-01 1.14313553e-02 5.92145111e-04 1.21334697e+02] [-1.14313422e-02 9.99934660e-01 -2.55643602e-05 -8.49222538e+00] [-5.92398655e-04 1.87936719e-05 9.99999824e-01 -4.67785053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27134618399998 meters 0.07199419440256427 Centerline is valid? [True, True] Translation: X:121.36, Y:-8.49, Z:-4.68 [[ 9.99933047e-01 1.15048467e-02 -1.24118654e-03 1.21363103e+02] [-1.15047982e-02 9.99933817e-01 4.61926275e-05 -8.49324277e+00] [ 1.24163583e-03 -3.19099341e-05 9.99999229e-01 -4.67909878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30134618399998 meters 0.07304390760389691 Centerline is valid? [True, True] Translation: X:121.39, Y:-8.50, Z:-4.68 [[ 9.99928941e-01 1.17576279e-02 -1.96749265e-03 1.21390398e+02] [-1.17575053e-02 9.99930875e-01 7.38736053e-05 -8.49572589e+00] [ 1.96822523e-03 -5.07355508e-05 9.99998062e-01 -4.68297078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33134618399998 meters 0.07267609804826433 Centerline is valid? [True, True] Translation: X:121.42, Y:-8.50, Z:-4.68 [[ 9.99923490e-01 1.22507359e-02 -1.71299725e-03 1.21419218e+02] [-1.22506434e-02 9.99924956e-01 6.44983268e-05 -8.49655653e+00] [ 1.71365885e-03 -4.35080735e-05 9.99998531e-01 -4.68232837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36134618399998 meters 0.07147324931192349 Centerline is valid? [True, True] Translation: X:121.45, Y:-8.50, Z:-4.68 [[ 9.99921032e-01 1.25205276e-02 1.08030315e-03 1.21448217e+02] [-1.25204870e-02 9.99921615e-01 -4.43805929e-05 -8.49777862e+00] [-1.08077413e-03 3.08511667e-05 9.99999415e-01 -4.67864488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39134618399999 meters 0.07173765818564681 Centerline is valid? [True, True] Translation: X:121.48, Y:-8.50, Z:-4.68 [[ 9.99920441e-01 1.25182314e-02 1.55086058e-03 1.21476123e+02] [-1.25181485e-02 9.99921643e-01 -6.31225655e-05 -8.50137376e+00] [-1.55152924e-03 4.37036405e-05 9.99998795e-01 -4.68113208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.421346184 meters 0.0714427143416405 Centerline is valid? [True, True] Translation: X:121.51, Y:-8.50, Z:-4.68 [[ 9.99926518e-01 1.21220091e-02 1.27785544e-04 1.21505149e+02] [-1.21220083e-02 9.99926526e-01 -7.31236384e-06 -8.50272025e+00] [-1.27864795e-04 5.76280909e-06 9.99999992e-01 -4.68133002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.451346184 meters 0.0722181925681361 Centerline is valid? [True, True] Translation: X:121.53, Y:-8.51, Z:-4.68 [[ 9.99927124e-01 1.20722842e-02 8.26911737e-05 1.21531370e+02] [-1.20722837e-02 9.99927127e-01 -7.29365772e-06 -8.50637768e+00] [-8.27731989e-05 6.29485489e-06 9.99999997e-01 -4.68431925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.481346184 meters 0.07217000575895668 Centerline is valid? [True, True] Translation: X:121.56, Y:-8.51, Z:-4.69 [[ 9.99941250e-01 1.08074292e-02 -8.34841700e-04 1.21559744e+02] [-1.08074080e-02 9.99941598e-01 2.98759804e-05 -8.51060110e+00] [ 8.35115826e-04 -2.08517503e-05 9.99999651e-01 -4.68563873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.511346184 meters 0.07278930910449863 Centerline is valid? [True, True] Translation: X:121.59, Y:-8.52, Z:-4.69 [[ 9.99940841e-01 1.08096085e-02 -1.21121501e-03 1.21587542e+02] [-1.08095635e-02 9.99941574e-01 4.37343354e-05 -8.51502494e+00] [ 1.21161699e-03 -3.06390425e-05 9.99999266e-01 -4.68929839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541346184 meters 0.07188277097622485 Centerline is valid? [True, True] Translation: X:121.62, Y:-8.51, Z:-4.69 [[ 9.99938178e-01 1.09927659e-02 -1.67337055e-03 1.21616631e+02] [-1.09926777e-02 9.99939577e-01 6.19346594e-05 -8.51490422e+00] [ 1.67395028e-03 -4.35360073e-05 9.99998598e-01 -4.68686464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.571346184 meters 0.07205459055545971 Centerline is valid? [True, True] Translation: X:121.64, Y:-8.52, Z:-4.69 [[ 9.99931405e-01 1.16810911e-02 -8.58624012e-04 1.21644319e+02] [-1.16810703e-02 9.99931774e-01 2.92788911e-05 -8.51778479e+00] [ 8.58907441e-04 -1.92472353e-05 9.99999631e-01 -4.68846590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601346184 meters 0.07091889711356504 Centerline is valid? [True, True] Translation: X:121.67, Y:-8.52, Z:-4.69 [[ 9.99902046e-01 1.39930099e-02 -3.06430718e-04 1.21673448e+02] [-1.39930076e-02 9.99902093e-01 9.40277277e-06 -8.51831257e+00] [ 3.06532290e-04 -5.11396435e-06 9.99999953e-01 -4.68610347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631346184 meters 0.0708070413714941 Centerline is valid? [True, True] Translation: X:121.70, Y:-8.52, Z:-4.69 [[ 9.99893065e-01 1.46238951e-02 -2.15389357e-05 1.21701137e+02] [-1.46238951e-02 9.99893065e-01 -3.11435691e-06 -8.52015164e+00] [ 2.14910883e-05 3.42900701e-06 1.00000000e+00 -4.68731127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661346184 meters 0.07041757202565556 Centerline is valid? [True, True] Translation: X:121.73, Y:-8.52, Z:-4.69 [[ 9.99887344e-01 1.49757434e-02 1.01307869e-03 1.21730475e+02] [-1.49757103e-02 9.99887857e-01 -4.02834687e-05 -8.52140105e+00] [-1.01356836e-03 2.51073575e-05 9.99999486e-01 -4.68696973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.691346184 meters 0.07058608112070786 Centerline is valid? [True, True] Translation: X:121.76, Y:-8.53, Z:-4.69 [[ 9.99886197e-01 1.50810232e-02 3.94003372e-04 1.21759300e+02] [-1.50810176e-02 9.99886275e-01 -1.72473719e-05 -8.52692721e+00] [-3.94218672e-04 1.13034373e-05 9.99999922e-01 -4.68903178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721346184 meters 0.07078997684627471 Centerline is valid? [True, True] Translation: X:121.79, Y:-8.53, Z:-4.69 [[ 9.99885253e-01 1.51473631e-02 1.96456205e-04 1.21787581e+02] [-1.51473614e-02 9.99885272e-01 -9.71143842e-06 -8.53106265e+00] [-1.96580768e-04 6.73453092e-06 9.99999981e-01 -4.69044072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.751346184 meters 0.07039314558970432 Centerline is valid? [True, True] Translation: X:121.82, Y:-8.53, Z:-4.69 [[ 9.99903987e-01 1.38556388e-02 -1.93020669e-04 1.21816002e+02] [-1.38556381e-02 9.99904006e-01 4.98962651e-06 -8.53326066e+00] [ 1.93071275e-04 -2.31472290e-06 9.99999981e-01 -4.68927663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781346184 meters 0.07056439316997645 Centerline is valid? [True, True] Translation: X:121.84, Y:-8.54, Z:-4.69 [[ 9.99914278e-01 1.30712174e-02 7.61074252e-04 1.21844373e+02] [-1.30711975e-02 9.99914568e-01 -3.10896517e-05 -8.53607992e+00] [-7.61415612e-04 2.11388348e-05 9.99999710e-01 -4.68852408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.811346184 meters 0.07098479647620419 Centerline is valid? [True, True] Translation: X:121.87, Y:-8.54, Z:-4.69 [[ 9.99937788e-01 1.10383004e-02 1.60494091e-03 1.21872723e+02] [-1.10382137e-02 9.99939075e-01 -6.28870646e-05 -8.54280383e+00] [-1.60553730e-03 4.51674715e-05 9.99998710e-01 -4.68881251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841346184 meters 0.07116218556954917 Centerline is valid? [True, True] Translation: X:121.90, Y:-8.55, Z:-4.69 [[ 9.99945336e-01 1.02790047e-02 1.91499878e-03 1.21901698e+02] [-1.02788810e-02 9.99947168e-01 -7.44437510e-05 -8.54746702e+00] [-1.91566281e-03 5.47556371e-05 9.99998164e-01 -4.68983640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.871346184 meters 0.07151268559330835 Centerline is valid? [True, True] Translation: X:121.93, Y:-8.55, Z:-4.69 [[ 9.99954627e-01 9.18548762e-03 2.52403928e-03 1.21930320e+02] [-9.18527153e-03 9.99957810e-01 -9.71910599e-05 -8.55280204e+00] [-2.52482554e-03 7.40026639e-05 9.99996810e-01 -4.69159898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901346184 meters 0.07063727142964293 Centerline is valid? [True, True] Translation: X:121.96, Y:-8.55, Z:-4.69 [[ 9.99956167e-01 8.89234229e-03 2.93076301e-03 1.21959146e+02] [-8.89205107e-03 9.99960459e-01 -1.12379956e-04 -8.55442375e+00] [-2.93164644e-03 8.63145363e-05 9.99995699e-01 -4.68963979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.931346184 meters 0.07102443820355757 Centerline is valid? [True, True] Translation: X:121.99, Y:-8.56, Z:-4.69 [[ 9.99959812e-01 7.92145025e-03 4.19819355e-03 1.21986726e+02] [-7.92084763e-03 9.99968617e-01 -1.60150179e-04 -8.55981127e+00] [-4.19933042e-03 1.26890491e-04 9.99991175e-01 -4.68928112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961346184 meters 0.07138297397532894 Centerline is valid? [True, True] Translation: X:122.01, Y:-8.56, Z:-4.69 [[ 9.99954544e-01 8.03081999e-03 5.13958789e-03 1.22014151e+02] [-8.02992427e-03 9.99967741e-01 -1.94889681e-04 -8.56346509e+00] [-5.14098722e-03 1.53610321e-04 9.99986773e-01 -4.68889812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99134618399998 meters 0.07079347773647289 Centerline is valid? [True, True] Translation: X:122.04, Y:-8.56, Z:-4.69 [[ 9.99954372e-01 7.80765606e-03 5.50396621e-03 1.22042945e+02] [-7.80663178e-03 9.99969506e-01 -2.07557750e-04 -8.56442616e+00] [-5.50541892e-03 1.64580842e-04 9.99984832e-01 -4.68710284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02134618399998 meters 0.07074107827091108 Centerline is valid? [True, True] Translation: X:122.07, Y:-8.57, Z:-4.69 [[ 9.99952010e-01 8.51169236e-03 4.85059957e-03 1.22071462e+02] [-8.51090539e-03 9.99963765e-01 -1.82859990e-04 -8.57153156e+00] [-4.85198026e-03 1.41568221e-04 9.99988219e-01 -4.69045705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05134618399998 meters 0.07074798048110563 Centerline is valid? [True, True] Translation: X:122.10, Y:-8.58, Z:-4.69 [[ 9.99944527e-01 9.26099560e-03 5.01764592e-03 1.22098790e+02] [-9.26016261e-03 9.99957106e-01 -1.89218553e-04 -8.57647496e+00] [-5.01918305e-03 1.42743840e-04 9.99987394e-01 -4.69310397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08134618399998 meters 0.07039704328980659 Centerline is valid? [True, True] Translation: X:122.13, Y:-8.58, Z:-4.69 [[ 9.99938666e-01 9.43812287e-03 5.79536978e-03 1.22127121e+02] [-9.43702284e-03 9.99955447e-01 -2.17129341e-04 -8.57951960e+00] [-5.79716087e-03 1.62424986e-04 9.99983183e-01 -4.69372239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11134618399998 meters 0.07117445282913826 Centerline is valid? [True, True] Translation: X:122.15, Y:-8.58, Z:-4.70 [[ 9.99928064e-01 1.05391670e-02 5.72658038e-03 1.22154234e+02] [-1.05381105e-02 9.99944450e-01 -2.14642739e-04 -8.58439264e+00] [-5.72852442e-03 1.54279961e-04 9.99983580e-01 -4.69730415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14134618399999 meters 0.06917384997263158 Centerline is valid? [True, True] Translation: X:122.18, Y:-8.58, Z:-4.69 [[ 9.99904791e-01 1.26025482e-02 5.62001991e-03 1.22182948e+02] [-1.26015679e-02 9.99920575e-01 -2.09814166e-04 -8.58315139e+00] [-5.62221773e-03 1.38973127e-04 9.99984186e-01 -4.69372593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.171346184 meters 0.06888918723588111 Centerline is valid? [True, True] Translation: X:122.21, Y:-8.58, Z:-4.69 [[ 9.99891054e-01 1.36243387e-02 5.67963329e-03 1.22211988e+02] [-1.36233562e-02 9.99907175e-01 -2.11628647e-04 -8.58446351e+00] [-5.68198938e-03 1.34229923e-04 9.99983848e-01 -4.69408737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.201346184 meters 0.06936700704053225 Centerline is valid? [True, True] Translation: X:122.24, Y:-8.59, Z:-4.70 [[ 9.99871322e-01 1.50108157e-02 5.65815713e-03 1.22239251e+02] [-1.50098623e-02 9.99887323e-01 -2.10926857e-04 -8.58842491e+00] [-5.66068577e-03 1.25971556e-04 9.99983970e-01 -4.69742230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.231346184 meters 0.06795167122821799 Centerline is valid? [True, True] Translation: X:122.27, Y:-8.59, Z:-4.69 [[ 9.99853566e-01 1.61105077e-02 5.77044866e-03 1.22268308e+02] [-1.61095401e-02 9.99870210e-01 -2.14133634e-04 -8.58735323e+00] [-5.77314952e-03 1.21143004e-04 9.99983328e-01 -4.69377818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.261346184 meters 0.06734366225529005 Centerline is valid? [True, True] Translation: X:122.30, Y:-8.59, Z:-4.70 [[ 9.99804805e-01 1.88143225e-02 6.03101713e-03 1.22295791e+02] [-1.88133150e-02 9.99822989e-01 -2.23746699e-04 -8.59057026e+00] [-6.03415921e-03 1.10239600e-04 9.99981788e-01 -4.69517049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.291346184 meters 0.06699110058042292 Centerline is valid? [True, True] Translation: X:122.32, Y:-8.59, Z:-4.70 [[ 9.99780881e-01 1.98374455e-02 6.68330019e-03 1.22324359e+02] [-1.98362404e-02 9.99803212e-01 -2.46560013e-04 -8.59162652e+00] [-6.68687612e-03 1.13934438e-04 9.99977636e-01 -4.69505981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321346184 meters 0.06671614961014298 Centerline is valid? [True, True] Translation: X:122.35, Y:-8.59, Z:-4.69 [[ 9.99760408e-01 2.06166631e-02 7.35396157e-03 1.22353294e+02] [-2.06152305e-02 9.99787447e-01 -2.70559992e-04 -8.59230290e+00] [-7.35797651e-03 1.18891555e-04 9.99972923e-01 -4.69431716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.351346184 meters 0.0664102971148605 Centerline is valid? [True, True] Translation: X:122.38, Y:-8.60, Z:-4.69 [[ 9.99721963e-01 2.16580614e-02 9.32334730e-03 1.22380902e+02] [-2.16558120e-02 9.99765427e-01 -3.42168734e-04 -8.59675485e+00] [-9.32857101e-03 1.40168942e-04 9.99956478e-01 -4.69442557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381346184 meters 0.06637264031086311 Centerline is valid? [True, True] Translation: X:122.41, Y:-8.60, Z:-4.70 [[ 9.99724841e-01 2.17829971e-02 8.70307531e-03 1.22409386e+02] [-2.17810504e-02 9.99762714e-01 -3.18406676e-04 -8.60071847e+00] [-8.70794604e-03 1.28756942e-04 9.99962077e-01 -4.69724471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.411346184 meters 0.06602836617838216 Centerline is valid? [True, True] Translation: X:122.44, Y:-8.60, Z:-4.70 [[ 9.99734667e-01 2.14749723e-02 8.33187902e-03 1.22438185e+02] [-2.14731805e-02 9.99769378e-01 -3.04469162e-04 -8.60337072e+00] [-8.33649597e-03 1.25476435e-04 9.99965243e-01 -4.69638524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441346184 meters 0.06672719629463078 Centerline is valid? [True, True] Translation: X:122.47, Y:-8.61, Z:-4.70 [[ 9.99786606e-01 1.91320574e-02 7.79145160e-03 1.22465544e+02] [-1.91304189e-02 9.99816956e-01 -2.84773365e-04 -8.61266824e+00] [-7.79547372e-03 1.35658864e-04 9.99969606e-01 -4.70033728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.471346184 meters 0.06620867377791478 Centerline is valid? [True, True] Translation: X:122.49, Y:-8.61, Z:-4.70 [[ 9.99805469e-01 1.82538492e-02 7.47132266e-03 1.22494521e+02] [-1.82523251e-02 9.99833375e-01 -2.72129399e-04 -8.61382344e+00] [-7.47504516e-03 1.35707452e-04 9.99972052e-01 -4.69782450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501346184 meters 0.06628050277392167 Centerline is valid? [True, True] Translation: X:122.52, Y:-8.62, Z:-4.70 [[ 9.99817187e-01 1.72291466e-02 8.29145342e-03 1.22522916e+02] [-1.72272415e-02 9.99851555e-01 -3.01138244e-04 -8.61718939e+00] [-8.29541094e-03 1.58244322e-04 9.99965580e-01 -4.69823689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.531346184 meters 0.06628050277392167 Centerline is valid? [True, True] Translation: X:122.55, Y:-8.62, Z:-4.70 [[ 9.99818407e-01 1.71582143e-02 8.29147467e-03 1.22551189e+02] [-1.71563117e-02 9.99852774e-01 -3.00550022e-04 -8.61811780e+00] [-8.29541086e-03 1.58244320e-04 9.99965580e-01 -4.69920627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561346184 meters 0.0662802339028142 Centerline is valid? [True, True] Translation: X:122.58, Y:-8.62, Z:-4.70 [[ 9.99824270e-01 1.65335583e-02 8.83570367e-03 1.22578950e+02] [-1.65313764e-02 9.99863296e-01 -3.19923179e-04 -8.62153162e+00] [-8.83978527e-03 1.73800616e-04 9.99960913e-01 -4.69982587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.591346184 meters 0.06662196614403437 Centerline is valid? [True, True] Translation: X:122.61, Y:-8.63, Z:-4.70 [[ 9.99832685e-01 1.47781544e-02 1.07799448e-02 1.22606196e+02] [-1.47748221e-02 9.99890771e-01 -3.88690633e-04 -8.62939191e+00] [-1.07845115e-02 2.29353832e-04 9.99941819e-01 -4.69987457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621346184 meters 0.06709591544584836 Centerline is valid? [True, True] Translation: X:122.63, Y:-8.63, Z:-4.70 [[ 9.99864347e-01 1.32458581e-02 9.78953171e-03 1.22634546e+02] [-1.32430508e-02 9.99912245e-01 -3.51534907e-04 -8.63490107e+00] [-9.79332902e-03 2.21843955e-04 9.99952020e-01 -4.70188421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.651346184 meters 0.06696090593816705 Centerline is valid? [True, True] Translation: X:122.66, Y:-8.64, Z:-4.70 [[ 9.99886775e-01 1.18834509e-02 9.23147038e-03 1.22664330e+02] [-1.18809037e-02 9.99929365e-01 -3.30716033e-04 -8.63912316e+00] [-9.23474836e-03 2.21000377e-04 9.99957334e-01 -4.70209957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681346184 meters 0.06738931378161381 Centerline is valid? [True, True] Translation: X:122.69, Y:-8.64, Z:-4.70 [[ 9.99913110e-01 9.19556706e-03 9.44534077e-03 1.22693658e+02] [-9.19278408e-03 9.99957688e-01 -3.38014179e-04 -8.64498759e+00] [-9.44804936e-03 2.51155830e-04 9.99955335e-01 -4.70371413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.711346184 meters 0.0689027906544975 Centerline is valid? [True, True] Translation: X:122.72, Y:-8.66, Z:-4.70 [[ 9.99951546e-01 3.75014723e-03 9.10177009e-03 1.22723513e+02] [-3.74735253e-03 9.99992926e-01 -3.24085220e-04 -8.65615520e+00] [-9.10292107e-03 2.89961976e-04 9.99958526e-01 -4.70494902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74134618399998 meters 0.07273983869953514 Centerline is valid? [True, True] Translation: X:122.75, Y:-8.67, Z:-4.71 [[ 9.99951330e-01 1.17433052e-03 9.79588917e-03 1.22754382e+02] [-1.17101764e-03 9.99999255e-01 -3.43919889e-04 -8.67120989e+00] [-9.79628575e-03 3.32431991e-04 9.99951960e-01 -4.71079094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77134618399998 meters 0.07046557355743563 Centerline is valid? [True, True] Translation: X:122.79, Y:-8.67, Z:-4.71 [[ 9.99947579e-01 -1.35525441e-03 1.01490008e-02 1.22786593e+02] [ 1.35900490e-03 9.99999011e-01 -3.62655773e-04 -8.67159329e+00] [-1.01484993e-02 3.76429304e-04 9.99948432e-01 -4.70611063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80134618399998 meters 0.07231785074085106 Centerline is valid? [True, True] Translation: X:122.82, Y:-8.68, Z:-4.71 [[ 9.99942699e-01 -3.26685373e-03 1.01944268e-02 1.22817784e+02] [ 3.27070609e-03 9.99994586e-01 -3.61239775e-04 -8.68283504e+00] [-1.01931915e-02 3.94562049e-04 9.99947970e-01 -4.70869141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83134618399998 meters 0.07103663275202061 Centerline is valid? [True, True] Translation: X:122.85, Y:-8.69, Z:-4.71 [[ 9.99943079e-01 -5.00770100e-03 9.42130662e-03 1.22849679e+02] [ 5.01111937e-03 9.99987387e-01 -3.39263025e-04 -8.68604847e+00] [-9.41948886e-03 3.86455006e-04 9.99955561e-01 -4.70732813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86134618399998 meters 0.0716303881938495 Centerline is valid? [True, True] Translation: X:122.88, Y:-8.69, Z:-4.71 [[ 9.99948807e-01 -4.85928982e-03 8.87524653e-03 1.22880846e+02] [ 4.86232616e-03 9.99988127e-01 -3.20568023e-04 -8.68961607e+00] [-8.87358342e-03 3.63705956e-04 9.99960563e-01 -4.70870658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89134618399999 meters 0.07108652928072995 Centerline is valid? [True, True] Translation: X:122.91, Y:-8.69, Z:-4.71 [[ 9.99957290e-01 -4.59398792e-03 8.01951952e-03 1.22913145e+02] [ 4.59645652e-03 9.99989394e-01 -2.89419325e-04 -8.69014682e+00] [-8.01810488e-03 3.26268337e-04 9.99967801e-01 -4.70901531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.921346184 meters 0.06994917030742671 Centerline is valid? [True, True] Translation: X:122.94, Y:-8.69, Z:-4.71 [[ 9.99956034e-01 -2.89481876e-03 8.91910987e-03 1.22944387e+02] [ 2.89782107e-03 9.99995749e-01 -3.23710518e-04 -8.69032937e+00] [-8.91813487e-03 3.49542270e-04 9.99960172e-01 -4.70831897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.951346184 meters 0.06958308881443358 Centerline is valid? [True, True] Translation: X:122.97, Y:-8.69, Z:-4.71 [[ 9.99944099e-01 1.35406265e-03 1.04864539e-02 1.22973534e+02] [-1.35012553e-03 9.99999015e-01 -3.82518177e-04 -8.69488007e+00] [-1.04869616e-02 3.68338765e-04 9.99944942e-01 -4.71072228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981346184 meters 0.06783538318146452 Centerline is valid? [True, True] Translation: X:123.01, Y:-8.69, Z:-4.71 [[ 9.99928676e-01 3.70693039e-03 1.13535137e-02 1.23005619e+02] [-3.70249392e-03 9.99993061e-01 -4.11751429e-04 -8.69286505e+00] [-1.13549613e-02 3.69685746e-04 9.99935462e-01 -4.70921761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.011346184 meters 0.06784984037635809 Centerline is valid? [True, True] Translation: X:123.04, Y:-8.70, Z:-4.71 [[ 9.99926675e-01 5.42416261e-03 1.08269686e-02 1.23036374e+02] [-5.42021628e-03 9.99985233e-01 -3.93800674e-04 -8.69607588e+00] [-1.08289448e-02 3.35087287e-04 9.99941309e-01 -4.71177071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.041346184 meters 0.06800530714986189 Centerline is valid? [True, True] Translation: X:123.07, Y:-8.70, Z:-4.71 [[ 9.99914031e-01 7.98758181e-03 1.03984915e-02 1.23067589e+02] [-7.98411962e-03 9.99968056e-01 -3.74421431e-04 -8.69935978e+00] [-1.04011501e-02 2.91366442e-04 9.99945864e-01 -4.71423594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.071346184 meters 0.0672001914992466 Centerline is valid? [True, True] Translation: X:123.10, Y:-8.70, Z:-4.71 [[ 9.99912292e-01 9.48220240e-03 9.24635917e-03 1.23099593e+02] [-9.47952144e-03 9.99955013e-01 -3.33731605e-04 -8.69813416e+00] [-9.24910771e-03 2.46051274e-04 9.99957196e-01 -4.71371371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101346184 meters 0.0667386707039604 Centerline is valid? [True, True] Translation: X:123.13, Y:-8.70, Z:-4.71 [[ 9.99888642e-01 1.22947109e-02 8.45831682e-03 1.23130346e+02] [-1.22924999e-02 9.99924395e-01 -3.13330018e-04 -8.69699141e+00] [-8.46152963e-03 2.09321268e-04 9.99964179e-01 -4.71398761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.131346184 meters 0.06628320277234458 Centerline is valid? [True, True] Translation: X:123.16, Y:-8.70, Z:-4.71 [[ 9.99859002e-01 1.36447927e-02 9.78754865e-03 1.23160085e+02] [-1.36418881e-02 9.99906879e-01 -3.63470230e-04 -8.69779038e+00] [-9.79159670e-03 2.29898337e-04 9.99952035e-01 -4.71373881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161346184 meters 0.06628174389136084 Centerline is valid? [True, True] Translation: X:123.19, Y:-8.70, Z:-4.72 [[ 9.99840723e-01 1.45662687e-02 1.03127496e-02 1.23188246e+02] [-1.45630985e-02 9.99893879e-01 -3.82431650e-04 -8.70093479e+00] [-1.03172258e-02 2.32185150e-04 9.99946749e-01 -4.71523443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.191346184 meters 0.06608471993699508 Centerline is valid? [True, True] Translation: X:123.22, Y:-8.70, Z:-4.72 [[ 9.99840009e-01 1.48756223e-02 9.93343002e-03 1.23216563e+02] [-1.48726895e-02 9.99889327e-01 -3.69050902e-04 -8.70309956e+00] [-9.93782052e-03 2.21255036e-04 9.99950594e-01 -4.71629420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221346184 meters 0.06654898444428467 Centerline is valid? [True, True] Translation: X:123.25, Y:-8.71, Z:-4.72 [[ 9.99867330e-01 1.36850699e-02 8.83406343e-03 1.23245637e+02] [-1.36827154e-02 9.99906334e-01 -3.26907809e-04 -8.71070158e+00] [-8.83770973e-03 2.05990462e-04 9.99960925e-01 -4.71972282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.251346184 meters 0.06677877040091676 Centerline is valid? [True, True] Translation: X:123.27, Y:-8.72, Z:-4.72 [[ 9.99888631e-01 1.24438941e-02 8.23865567e-03 1.23274607e+02] [-1.24418020e-02 9.99922551e-01 -3.05134293e-04 -8.71524647e+00] [-8.24181466e-03 2.02596588e-04 9.99966015e-01 -4.72241845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281346184 meters 0.06757316087285913 Centerline is valid? [True, True] Translation: X:123.30, Y:-8.72, Z:-4.72 [[ 9.99913098e-01 9.91565077e-03 8.68771958e-03 1.23302890e+02] [-9.91323422e-03 9.99950811e-01 -3.21177182e-04 -8.72134991e+00] [-8.69047692e-03 2.35025872e-04 9.99962209e-01 -4.72400051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.311346184 meters 0.06796545250930644 Centerline is valid? [True, True] Translation: X:123.33, Y:-8.72, Z:-4.72 [[ 9.99924341e-01 8.42067603e-03 8.96683004e-03 1.23333789e+02] [-8.41805881e-03 9.99964513e-01 -3.29581256e-04 -8.72366407e+00] [-8.96928713e-03 2.54073018e-04 9.99959743e-01 -4.72372260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341346184 meters 0.06825244952525981 Centerline is valid? [True, True] Translation: X:123.37, Y:-8.73, Z:-4.72 [[ 9.99937391e-01 6.60448853e-03 9.03294031e-03 1.23365104e+02] [-6.60176668e-03 9.99978153e-01 -3.31109423e-04 -8.72679953e+00] [-9.03492978e-03 2.71455328e-04 9.99959147e-01 -4.72388370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.371346184 meters 0.06875593425445002 Centerline is valid? [True, True] Translation: X:123.40, Y:-8.73, Z:-4.73 [[ 9.99943127e-01 4.86998039e-03 9.48820760e-03 1.23396603e+02] [-4.86691992e-03 9.99988097e-01 -3.45618603e-04 -8.73243197e+00] [-9.48977781e-03 2.99420600e-04 9.99954926e-01 -4.72606948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401346184 meters 0.07070386362915336 Centerline is valid? [True, True] Translation: X:123.43, Y:-8.74, Z:-4.73 [[ 9.99964679e-01 1.44307052e-03 8.27996233e-03 1.23426286e+02] [-1.44059817e-03 9.99998916e-01 -3.04550645e-04 -8.74494627e+00] [-8.28039285e-03 2.92611789e-04 9.99965674e-01 -4.73169905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.431346184 meters 0.0703202392659951 Centerline is valid? [True, True] Translation: X:123.46, Y:-8.75, Z:-4.73 [[ 9.99972517e-01 -1.05299976e-03 7.33868985e-03 1.23458104e+02] [ 1.05497306e-03 9.99999408e-01 -2.65024286e-04 -8.74669220e+00] [-7.33840644e-03 2.72759123e-04 9.99973036e-01 -4.73144400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461346184 meters 0.07184844610171641 Centerline is valid? [True, True] Translation: X:123.49, Y:-8.75, Z:-4.73 [[ 9.99965940e-01 -2.43473651e-03 7.88617317e-03 1.23488974e+02] [ 2.43707801e-03 9.99996989e-01 -2.87315903e-04 -8.75306192e+00] [-7.88544988e-03 3.06525337e-04 9.99968862e-01 -4.73375054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49134618399998 meters 0.07137063396316375 Centerline is valid? [True, True] Translation: X:123.52, Y:-8.75, Z:-4.73 [[ 9.99953484e-01 -4.28656823e-03 8.64029729e-03 1.23520878e+02] [ 4.28947187e-03 9.99990750e-01 -3.17553988e-04 -8.75252380e+00] [-8.63885615e-03 3.54601529e-04 9.99962622e-01 -4.73198822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52134618399998 meters 0.07199096780518192 Centerline is valid? [True, True] Translation: X:123.55, Y:-8.75, Z:-4.73 [[ 9.99929456e-01 -7.27862942e-03 9.38638224e-03 1.23553142e+02] [ 7.28225313e-03 9.99973422e-01 -3.51940339e-04 -8.75404694e+00] [-9.38357113e-03 4.20269524e-04 9.99955885e-01 -4.73182615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55134618399998 meters 0.07355125964757937 Centerline is valid? [True, True] Translation: X:123.58, Y:-8.76, Z:-4.74 [[ 9.99922142e-01 -8.56923136e-03 9.07076712e-03 1.23584059e+02] [ 8.57267809e-03 9.99963196e-01 -3.41168914e-04 -8.75971364e+00] [-9.06750972e-03 4.18903117e-04 9.99958802e-01 -4.73536198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58134618399998 meters 0.07418448069462585 Centerline is valid? [True, True] Translation: X:123.62, Y:-8.76, Z:-4.74 [[ 9.99902669e-01 -1.05619758e-02 9.11574373e-03 1.23615767e+02] [ 1.05655443e-02 9.99944124e-01 -3.43394921e-04 -8.76367036e+00] [-9.11160745e-03 4.39674293e-04 9.99958392e-01 -4.73716037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61134618399998 meters 0.07739086425758118 Centerline is valid? [True, True] Translation: X:123.65, Y:-8.77, Z:-4.74 [[ 9.99873815e-01 -1.17467056e-02 1.06943152e-02 1.23646730e+02] [ 1.17516943e-02 9.99930865e-01 -4.03761991e-04 -8.77344555e+00] [-1.06888330e-02 5.29387366e-04 9.99942733e-01 -4.74056908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64134618399999 meters 0.07650286924916563 Centerline is valid? [True, True] Translation: X:123.68, Y:-8.77, Z:-4.74 [[ 9.99813902e-01 -1.52361024e-02 1.18331423e-02 1.23677901e+02] [ 1.52424658e-02 9.99883727e-01 -4.47755878e-04 -8.77256120e+00] [-1.18249443e-02 6.28038818e-04 9.99929886e-01 -4.73753500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.671346184 meters 0.08106508355689064 Centerline is valid? [True, True] Translation: X:123.71, Y:-8.78, Z:-4.74 [[ 9.99781810e-01 -1.65399657e-02 1.27578498e-02 1.23708799e+02] [ 1.65474552e-02 9.99862965e-01 -4.81702809e-04 -8.78347002e+00] [-1.27481342e-02 6.92707654e-04 9.99918499e-01 -4.74069537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.701346184 meters 0.07611310583952959 Centerline is valid? [True, True] Translation: X:123.74, Y:-8.77, Z:-4.74 [[ 9.99773391e-01 -1.71259262e-02 1.26439307e-02 1.23741292e+02] [ 1.71333637e-02 9.99853098e-01 -4.80134844e-04 -8.77428287e+00] [-1.26338506e-02 6.96659105e-04 9.99919947e-01 -4.73722068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.731346184 meters 0.07620482201482998 Centerline is valid? [True, True] Translation: X:123.77, Y:-8.77, Z:-4.74 [[ 9.99758979e-01 -1.74326572e-02 1.33449034e-02 1.23773803e+02] [ 1.74409843e-02 9.99847765e-01 -5.07858377e-04 -8.77488746e+00] [-1.33340185e-02 7.40484223e-04 9.99910824e-01 -4.73768741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.761346184 meters 0.07659726931141407 Centerline is valid? [True, True] Translation: X:123.81, Y:-8.78, Z:-4.74 [[ 9.99770593e-01 -1.68297715e-02 1.32483679e-02 1.23805015e+02] [ 1.68378942e-02 9.99858107e-01 -5.01796318e-04 -8.77679532e+00] [-1.32380429e-02 7.24755819e-04 9.99912111e-01 -4.73914087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.791346184 meters 0.07611605669690949 Centerline is valid? [True, True] Translation: X:123.84, Y:-8.78, Z:-4.74 [[ 9.99790069e-01 -1.53174431e-02 1.36085729e-02 1.23837019e+02] [ 1.53259143e-02 9.99882417e-01 -5.18419439e-04 -8.77827781e+00] [-1.35990319e-02 7.26874429e-04 9.99907265e-01 -4.74074511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821346184 meters 0.07576019285112534 Centerline is valid? [True, True] Translation: X:123.87, Y:-8.78, Z:-4.74 [[ 9.99805442e-01 -1.37583116e-02 1.41346084e-02 1.23867081e+02] [ 1.37674147e-02 9.99905075e-01 -5.46925619e-04 -8.77837973e+00] [-1.41257419e-02 7.41416226e-04 9.99899952e-01 -4.74257489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.851346184 meters 0.0757424279358407 Centerline is valid? [True, True] Translation: X:123.90, Y:-8.78, Z:-4.74 [[ 9.99844455e-01 -1.18286888e-02 1.30823264e-02 1.23898156e+02] [ 1.18362667e-02 9.99929823e-01 -5.01964517e-04 -8.77838579e+00] [-1.30754707e-02 6.56732343e-04 9.99914297e-01 -4.74472976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881346184 meters 0.07433799385885234 Centerline is valid? [True, True] Translation: X:123.93, Y:-8.77, Z:-4.75 [[ 9.99886336e-01 -7.08411783e-03 1.33090281e-02 1.23928251e+02] [ 7.09164680e-03 9.99974719e-01 -5.18595025e-04 -8.77342736e+00] [-1.33050178e-02 6.12919006e-04 9.99911296e-01 -4.74676007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.911346184 meters 0.07363673081273649 Centerline is valid? [True, True] Translation: X:123.96, Y:-8.77, Z:-4.75 [[ 9.99892767e-01 -4.54978198e-03 1.39195399e-02 1.23959970e+02] [ 4.55775777e-03 9.99989467e-01 -5.41323351e-04 -8.77194076e+00] [-1.39169304e-02 6.04707195e-04 9.99902972e-01 -4.74780888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941346184 meters 0.07164559446055938 Centerline is valid? [True, True] Translation: X:123.99, Y:-8.77, Z:-4.75 [[ 9.99920454e-01 -2.38057479e-03 1.23862434e-02 1.23992194e+02] [ 2.38672393e-03 9.99997036e-01 -4.81691276e-04 -8.76673286e+00] [-1.23850600e-02 5.11215503e-04 9.99923172e-01 -4.74845766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.971346184 meters 0.07306455744865283 Centerline is valid? [True, True] Translation: X:124.02, Y:-8.77, Z:-4.75 [[ 9.99927206e-01 -1.14196783e-03 1.20116287e-02 1.24023289e+02] [ 1.14765189e-03 9.99999233e-01 -4.66331095e-04 -8.77055144e+00] [-1.20110870e-02 4.80082317e-04 9.99927749e-01 -4.75273796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001346184 meters 0.07075608344387832 Centerline is valid? [True, True] Translation: X:124.06, Y:-8.77, Z:-4.75 [[ 9.99932835e-01 -1.01572453e-06 1.15898729e-02 1.24055848e+02] [ 6.26653982e-06 9.99999897e-01 -4.53015709e-04 -8.76571582e+00] [-1.15898712e-02 4.53057911e-04 9.99932733e-01 -4.75277345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.031346184 meters 0.07147929865508117 Centerline is valid? [True, True] Translation: X:124.09, Y:-8.77, Z:-4.76 [[ 9.99936581e-01 2.27946801e-04 1.12597552e-02 1.24088214e+02] [-2.23048102e-04 9.99999880e-01 -4.36316484e-04 -8.76904738e+00] [-1.12598534e-02 4.33777346e-04 9.99936512e-01 -4.75597650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061346184 meters 0.07109291041196347 Centerline is valid? [True, True] Translation: X:124.12, Y:-8.77, Z:-4.76 [[ 9.99940583e-01 2.33965043e-04 1.08984502e-02 1.24120449e+02] [-2.29342427e-04 9.99999883e-01 -4.25401366e-04 -8.76841585e+00] [-1.08985484e-02 4.22876612e-04 9.99940520e-01 -4.75648771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.091346184 meters 0.07333748953283428 Centerline is valid? [True, True] Translation: X:124.15, Y:-8.77, Z:-4.76 [[ 9.99941916e-01 -4.35870225e-04 1.07691493e-02 1.24151194e+02] [ 4.40456109e-04 9.99999813e-01 -4.23467293e-04 -8.77395938e+00] [-1.07689627e-02 4.28186034e-04 9.99941921e-01 -4.76081719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121346184 meters 0.07218432487976804 Centerline is valid? [True, True] Translation: X:124.18, Y:-8.77, Z:-4.76 [[ 9.99950649e-01 -1.13505843e-03 9.86970812e-03 1.24183976e+02] [ 1.13895658e-03 9.99999276e-01 -3.89348930e-04 -8.77083026e+00] [-9.86925904e-03 4.00570884e-04 9.99951217e-01 -4.75997379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.151346184 meters 0.07165500514285461 Centerline is valid? [True, True] Translation: X:124.22, Y:-8.77, Z:-4.76 [[ 9.99948080e-01 -9.76173013e-04 1.01431570e-02 1.24215759e+02] [ 9.80352751e-04 9.99999437e-01 -4.07110751e-04 -8.77022904e+00] [-1.01427539e-02 4.17033486e-04 9.99948474e-01 -4.76074733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.181346184 meters 0.07194866361068467 Centerline is valid? [True, True] Translation: X:124.25, Y:-8.77, Z:-4.76 [[ 9.99949751e-01 -1.56075710e-03 9.90253949e-03 1.24248308e+02] [ 1.56477598e-03 9.99998696e-01 -3.98108033e-04 -8.77185111e+00] [-9.90190523e-03 4.13583284e-04 9.99950889e-01 -4.76276776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.211346184 meters 0.07281366942953883 Centerline is valid? [True, True] Translation: X:124.28, Y:-8.77, Z:-4.77 [[ 9.99972878e-01 -2.13283842e-03 7.04937150e-03 1.24278609e+02] [ 2.13489472e-03 9.99997681e-01 -2.84188658e-04 -8.77461886e+00] [-7.04874902e-03 2.99230617e-04 9.99975112e-01 -4.76784108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24134618399998 meters 0.07276412629359835 Centerline is valid? [True, True] Translation: X:124.31, Y:-8.78, Z:-4.77 [[ 9.99974323e-01 -2.18679496e-03 6.82424511e-03 1.24310929e+02] [ 2.18871811e-03 9.99997567e-01 -2.74355273e-04 -8.77606384e+00] [-6.82362855e-03 2.89284577e-04 9.99976677e-01 -4.76981689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27134618399998 meters 0.07365269042040005 Centerline is valid? [True, True] Translation: X:124.34, Y:-8.78, Z:-4.77 [[ 9.99971066e-01 -2.64422190e-03 7.13266741e-03 1.24341743e+02] [ 2.64634237e-03 9.99996457e-01 -2.87869653e-04 -8.77908657e+00] [-7.13188095e-03 3.06736804e-04 9.99974521e-01 -4.77174649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30134618399998 meters 0.07414841329948663 Centerline is valid? [True, True] Translation: X:124.37, Y:-8.78, Z:-4.77 [[ 9.99965997e-01 -4.00007473e-03 7.21133377e-03 1.24373848e+02] [ 4.00227704e-03 9.99991949e-01 -2.90991605e-04 -8.77922478e+00] [-7.21011172e-03 3.19843466e-04 9.99973956e-01 -4.77158825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33134618399998 meters 0.07416281570390539 Centerline is valid? [True, True] Translation: X:124.41, Y:-8.78, Z:-4.77 [[ 9.99956895e-01 -3.99611887e-03 8.38085614e-03 1.24405797e+02] [ 3.99910155e-03 9.99991946e-01 -3.39163757e-04 -8.77855980e+00] [-8.37943330e-03 3.72665032e-04 9.99964822e-01 -4.77139018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36134618399998 meters 0.07261184793013697 Centerline is valid? [True, True] Translation: X:124.44, Y:-8.77, Z:-4.77 [[ 9.99952718e-01 -4.26626375e-03 8.73842094e-03 1.24438634e+02] [ 4.26952218e-03 9.99990823e-01 -3.54263658e-04 -8.77407426e+00] [-8.73682937e-03 3.91555790e-04 9.99961757e-01 -4.76860918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39134618399999 meters 0.07369015376839454 Centerline is valid? [True, True] Translation: X:124.47, Y:-8.78, Z:-4.77 [[ 9.99944750e-01 -3.98500261e-03 9.72710116e-03 1.24469304e+02] [ 3.98904110e-03 9.99991965e-01 -3.95812531e-04 -8.77738961e+00] [-9.72544569e-03 4.34592469e-04 9.99952612e-01 -4.77087737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.421346184 meters 0.07343086264348817 Centerline is valid? [True, True] Translation: X:124.50, Y:-8.78, Z:-4.77 [[ 9.99934021e-01 -5.05863582e-03 1.03132736e-02 1.24501442e+02] [ 5.06323556e-03 9.99987094e-01 -4.19940164e-04 -8.77853353e+00] [-1.03110162e-02 4.72130991e-04 9.99946729e-01 -4.77148618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.451346184 meters 0.07343086264348817 Centerline is valid? [True, True] Translation: X:124.53, Y:-8.78, Z:-4.77 [[ 9.99934564e-01 -4.95007435e-03 1.03132793e-02 1.24533993e+02] [ 4.95466694e-03 9.99987637e-01 -4.19805351e-04 -8.78000086e+00] [-1.03110737e-02 4.70876745e-04 9.99946729e-01 -4.77260001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.481346184 meters 0.07436220218394365 Centerline is valid? [True, True] Translation: X:124.56, Y:-8.79, Z:-4.78 [[ 9.99934846e-01 -5.84998021e-03 9.80207180e-03 1.24564518e+02] [ 5.85417661e-03 9.99982784e-01 -3.99476380e-04 -8.78530597e+00] [-9.79956612e-03 4.56833412e-04 9.99951879e-01 -4.77643678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.511346184 meters 0.07434784410877222 Centerline is valid? [True, True] Translation: X:124.60, Y:-8.79, Z:-4.78 [[ 9.99938649e-01 -6.31193734e-03 9.10262072e-03 1.24596924e+02] [ 6.31559518e-03 9.99979987e-01 -3.73155059e-04 -8.78553115e+00] [-9.10008322e-03 4.30620633e-04 9.99958501e-01 -4.77736203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.541346184 meters 0.07472819112843523 Centerline is valid? [True, True] Translation: X:124.63, Y:-8.79, Z:-4.78 [[ 9.99938544e-01 -6.45775144e-03 9.01147216e-03 1.24629155e+02] [ 6.46134803e-03 9.99979057e-01 -3.70055773e-04 -8.78577186e+00] [-9.00889371e-03 4.28259288e-04 9.99959327e-01 -4.77912493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.571346184 meters 0.0742038812481699 Centerline is valid? [True, True] Translation: X:124.66, Y:-8.78, Z:-4.78 [[ 9.99942493e-01 -6.23969793e-03 8.72215808e-03 1.24662161e+02] [ 6.24305528e-03 9.99980448e-01 -3.57748180e-04 -8.78311544e+00] [-8.71975530e-03 4.12180522e-04 9.99961897e-01 -4.78080380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601346184 meters 0.073244740533736 Centerline is valid? [True, True] Translation: X:124.69, Y:-8.78, Z:-4.78 [[ 9.99947982e-01 -5.68580229e-03 8.46789731e-03 1.24694748e+02] [ 5.68896140e-03 9.99983757e-01 -3.49028139e-04 -8.78070852e+00] [-8.46577526e-03 3.97183524e-04 9.99964086e-01 -4.78005806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.631346184 meters 0.0739113191650167 Centerline is valid? [True, True] Translation: X:124.73, Y:-8.78, Z:-4.78 [[ 9.99953673e-01 -5.74262586e-03 7.72490543e-03 1.24726136e+02] [ 5.74526315e-03 9.99983445e-01 -3.19252614e-04 -8.78155896e+00] [-7.72294419e-03 3.63619438e-04 9.99970112e-01 -4.78195934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661346184 meters 0.07440751313659413 Centerline is valid? [True, True] Translation: X:124.76, Y:-8.78, Z:-4.78 [[ 9.99953424e-01 -4.89903991e-03 8.31562382e-03 1.24757720e+02] [ 4.90206826e-03 9.99987926e-01 -3.43832596e-04 -8.78293942e+00] [-8.31383896e-03 3.84580337e-04 9.99965365e-01 -4.78491245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.691346184 meters 0.07419709707023019 Centerline is valid? [True, True] Translation: X:124.79, Y:-8.78, Z:-4.79 [[ 9.99962904e-01 -4.31799085e-03 7.45290698e-03 1.24790573e+02] [ 4.32040222e-03 9.99990620e-01 -3.07476896e-04 -8.78413757e+00] [-7.45150939e-03 3.39665045e-04 9.99972179e-01 -4.78709438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721346184 meters 0.07340060326139289 Centerline is valid? [True, True] Translation: X:124.82, Y:-8.78, Z:-4.79 [[ 9.99961173e-01 -2.89965873e-03 8.32136691e-03 1.24822973e+02] [ 2.90263470e-03 9.99995728e-01 -3.45575137e-04 -8.78347717e+00] [-8.32032931e-03 3.69715608e-04 9.99965317e-01 -4.78720561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.751346184 meters 0.07283029421044401 Centerline is valid? [True, True] Translation: X:124.86, Y:-8.78, Z:-4.79 [[ 9.99972413e-01 -2.10683488e-03 7.12281428e-03 1.24855794e+02] [ 2.10898894e-03 9.99997733e-01 -2.94919576e-04 -8.78181266e+00] [-7.12217678e-03 3.09933377e-04 9.99974589e-01 -4.78752695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781346184 meters 0.07292929607163749 Centerline is valid? [True, True] Translation: X:124.89, Y:-8.78, Z:-4.79 [[ 9.99973162e-01 -7.16760353e-04 7.29117903e-03 1.24887439e+02] [ 7.18994406e-04 9.99999695e-01 -3.03788403e-04 -8.78142156e+00] [-7.29095907e-03 3.09022567e-04 9.99973373e-01 -4.78900450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.811346184 meters 0.07271987023505418 Centerline is valid? [True, True] Translation: X:124.92, Y:-8.78, Z:-4.79 [[ 9.99975800e-01 -1.57518816e-04 6.95511525e-03 1.24919776e+02] [ 1.59540878e-04 9.99999945e-01 -2.90176425e-04 -8.77794934e+00] [-6.95506916e-03 2.91279028e-04 9.99975771e-01 -4.78927351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841346184 meters 0.07338819708736795 Centerline is valid? [True, True] Translation: X:124.95, Y:-8.78, Z:-4.79 [[ 9.99979344e-01 1.82261555e-04 6.42485744e-03 1.24952003e+02] [-1.80544508e-04 9.99999948e-01 -2.67829508e-04 -8.77955890e+00] [-6.42490592e-03 2.66664003e-04 9.99979325e-01 -4.79184574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871346184 meters 0.07396710884409934 Centerline is valid? [True, True] Translation: X:124.98, Y:-8.78, Z:-4.80 [[ 9.99996692e-01 -5.65951490e-05 2.57146643e-03 1.24983179e+02] [ 5.68713188e-05 9.99999993e-01 -1.07324805e-04 -8.77874896e+00] [-2.57146034e-03 1.07470693e-04 9.99996688e-01 -4.79701034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901346184 meters 0.07438872295668217 Centerline is valid? [True, True] Translation: X:125.01, Y:-8.78, Z:-4.80 [[ 9.99999314e-01 9.62652310e-05 1.16773681e-03 1.25014455e+02] [-9.62090963e-05 9.99999994e-01 -4.81273622e-05 -8.78016086e+00] [-1.16774143e-03 4.80149823e-05 9.99999317e-01 -4.80167586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.931346184 meters 0.07328762981434209 Centerline is valid? [True, True] Translation: X:125.05, Y:-8.78, Z:-4.80 [[ 9.99999667e-01 4.20443446e-04 6.99421887e-04 1.25045664e+02] [-4.20423736e-04 9.99999911e-01 -2.83268696e-05 -8.77852240e+00] [-6.99433735e-04 2.80328067e-05 9.99999755e-01 -4.80233537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961346184 meters 0.07367085120875029 Centerline is valid? [True, True] Translation: X:125.08, Y:-8.78, Z:-4.80 [[ 9.99999585e-01 7.91226108e-04 4.50816173e-04 1.25075926e+02] [-7.91218540e-04 9.99999687e-01 -1.69669658e-05 -8.77936210e+00] [-4.50829457e-04 1.66102646e-05 9.99999898e-01 -4.80462775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99134618399998 meters 0.07457186655607947 Centerline is valid? [True, True] Translation: X:125.11, Y:-8.78, Z:-4.81 [[ 9.99994695e-01 2.76245996e-03 1.72618639e-03 1.25106120e+02] [-2.76233792e-03 9.99996182e-01 -7.30784360e-05 -8.77609629e+00] [-1.72638167e-03 6.83097381e-05 9.99998507e-01 -4.80697764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02134618399998 meters 0.07285918781471712 Centerline is valid? [True, True] Translation: X:125.14, Y:-8.77, Z:-4.80 [[ 9.99989636e-01 4.38070314e-03 1.23981829e-03 1.25136620e+02] [-4.38064143e-03 9.99990404e-01 -5.24879483e-05 -8.76937008e+00] [-1.24003633e-03 4.70562049e-05 9.99999230e-01 -4.80424956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05134618399998 meters 0.0720801539719203 Centerline is valid? [True, True] Translation: X:125.17, Y:-8.77, Z:-4.80 [[ 9.99980810e-01 5.57982317e-03 2.69178579e-03 1.25166248e+02] [-5.57953356e-03 9.99984428e-01 -1.15084932e-04 -8.76671616e+00] [-2.69238602e-03 1.00063814e-04 9.99996371e-01 -4.80421946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08134618399998 meters 0.07171419711146636 Centerline is valid? [True, True] Translation: X:125.20, Y:-8.77, Z:-4.80 [[ 9.99973310e-01 6.21732145e-03 3.83729936e-03 1.25195733e+02] [-6.21674014e-03 9.99980663e-01 -1.63397934e-04 -8.76553800e+00] [-3.83824106e-03 1.39538079e-04 9.99992624e-01 -4.80461417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11134618399998 meters 0.07155323299768565 Centerline is valid? [True, True] Translation: X:125.23, Y:-8.76, Z:-4.80 [[ 9.99958525e-01 7.00361243e-03 5.82214392e-03 1.25226066e+02] [-7.00229537e-03 9.99975453e-01 -2.46569196e-04 -8.76451268e+00] [-5.82372788e-03 2.05790598e-04 9.99983021e-01 -4.80449114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14134618399999 meters 0.07203937164205876 Centerline is valid? [True, True] Translation: X:125.26, Y:-8.76, Z:-4.80 [[ 9.99957486e-01 7.47056369e-03 5.40519986e-03 1.25255494e+02] [-7.46943563e-03 9.99972077e-01 -2.28855319e-04 -8.76225453e+00] [-5.40675861e-03 1.88471797e-04 9.99985366e-01 -4.80476818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.171346184 meters 0.07163312592304896 Centerline is valid? [True, True] Translation: X:125.29, Y:-8.76, Z:-4.81 [[ 9.99953260e-01 7.52449782e-03 6.07127064e-03 1.25285167e+02] [-7.52307365e-03 9.99971668e-01 -2.57378057e-04 -8.76103720e+00] [-6.07303527e-03 2.11691411e-04 9.99981537e-01 -4.80537526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.201346184 meters 0.07205388665710456 Centerline is valid? [True, True] Translation: X:125.31, Y:-8.76, Z:-4.81 [[ 9.99957316e-01 7.65554335e-03 5.17292072e-03 1.25314311e+02] [-7.65451394e-03 9.99970680e-01 -2.18768611e-04 -8.76217837e+00] [-5.17444384e-03 1.79163080e-04 9.99986596e-01 -4.80896405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.231346184 meters 0.07331897319717097 Centerline is valid? [True, True] Translation: X:125.34, Y:-8.76, Z:-4.82 [[ 9.99977897e-01 6.42455659e-03 1.71192770e-03 1.25343338e+02] [-6.42444047e-03 9.99979360e-01 -7.33229302e-05 -8.76239369e+00] [-1.71236343e-03 6.23231320e-05 9.99998532e-01 -4.81520053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.261346184 meters 0.07325907973114404 Centerline is valid? [True, True] Translation: X:125.37, Y:-8.76, Z:-4.82 [[ 9.99983206e-01 5.78536464e-03 3.41175628e-04 1.25372512e+02] [-5.78535926e-03 9.99983265e-01 -1.67479385e-05 -8.76060187e+00] [-3.41266811e-04 1.47738336e-05 9.99999942e-01 -4.81622716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.291346184 meters 0.07416262422394915 Centerline is valid? [True, True] Translation: X:125.40, Y:-8.76, Z:-4.82 [[ 9.99986516e-01 5.16304002e-03 5.57997200e-04 1.25400076e+02] [-5.16302609e-03 9.99986671e-01 -2.63989139e-05 -8.76154330e+00] [-5.58126061e-04 2.35176039e-05 9.99999844e-01 -4.81884199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321346184 meters 0.07479954614684556 Centerline is valid? [True, True] Translation: X:125.43, Y:-8.76, Z:-4.82 [[ 9.99986457e-01 5.12659847e-03 8.97101782e-04 1.25427411e+02] [-5.12656423e-03 9.99986858e-01 -4.04632678e-05 -8.76132237e+00] [-8.97297431e-04 3.58636699e-05 9.99999597e-01 -4.82059784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.351346184 meters 0.07288705993614858 Centerline is valid? [True, True] Translation: X:125.46, Y:-8.75, Z:-4.82 [[ 9.99975017e-01 6.71613838e-03 2.20450053e-03 1.25456832e+02] [-6.71594613e-03 9.99977443e-01 -9.45958219e-05 -8.75205190e+00] [-2.20508612e-03 7.97881518e-05 9.99997566e-01 -4.81779857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381346184 meters 0.07274769285892747 Centerline is valid? [True, True] Translation: X:125.49, Y:-8.75, Z:-4.82 [[ 9.99965349e-01 8.08141673e-03 1.99773238e-03 1.25485911e+02] [-8.08126144e-03 9.99967342e-01 -8.57924012e-05 -8.75170476e+00] [-1.99836047e-03 6.96452307e-05 9.99998001e-01 -4.82020792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.411346184 meters 0.07179649158620043 Centerline is valid? [True, True] Translation: X:125.52, Y:-8.75, Z:-4.82 [[ 9.99954347e-01 9.46300750e-03 1.32458117e-03 1.25515014e+02] [-9.46293942e-03 9.99955224e-01 -5.76515059e-05 -8.74947068e+00] [-1.32506741e-03 4.51144426e-05 9.99999121e-01 -4.82049259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441346184 meters 0.07237069635190103 Centerline is valid? [True, True] Translation: X:125.54, Y:-8.75, Z:-4.83 [[ 9.99941729e-01 1.06471925e-02 1.78192864e-03 1.25542941e+02] [-1.06470719e-02 9.99943315e-01 -7.71416415e-05 -8.74974913e+00] [-1.78264897e-03 5.81648240e-05 9.99998409e-01 -4.82515114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.471346184 meters 0.07160166720758683 Centerline is valid? [True, True] Translation: X:125.57, Y:-8.74, Z:-4.82 [[ 9.99931955e-01 1.16288157e-02 9.24677734e-04 1.25572312e+02] [-1.16287830e-02 9.99932383e-01 -4.08009285e-05 -8.74490748e+00] [-9.25089676e-04 3.00452756e-05 9.99999572e-01 -4.82463723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501346184 meters 0.07164175619807385 Centerline is valid? [True, True] Translation: X:125.60, Y:-8.74, Z:-4.83 [[ 9.99906647e-01 1.36542048e-02 -5.09141286e-04 1.25600347e+02] [-1.36541973e-02 9.99906777e-01 1.81177691e-05 -8.73664041e+00] [ 5.09341206e-04 -1.11641621e-05 9.99999870e-01 -4.82513846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.531346184 meters 0.07236496162217755 Centerline is valid? [True, True] Translation: X:125.63, Y:-8.74, Z:-4.83 [[ 9.99891532e-01 1.46709356e-02 -1.29944197e-03 1.25626762e+02] [-1.46708835e-02 9.99892376e-01 4.95842729e-05 -8.73567705e+00] [ 1.30002956e-03 -3.05149328e-05 9.99999154e-01 -4.82900380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561346184 meters 0.0712772327126148 Centerline is valid? [True, True] Translation: X:125.66, Y:-8.73, Z:-4.83 [[ 9.99881699e-01 1.52511519e-02 -1.99783793e-03 1.25656143e+02] [-1.52510225e-02 9.99883693e-01 7.99905611e-05 -8.73195923e+00] [ 1.99882552e-03 -4.95120269e-05 9.99998001e-01 -4.82710498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.591346184 meters 0.07183569545254415 Centerline is valid? [True, True] Translation: X:125.68, Y:-8.73, Z:-4.83 [[ 9.99879548e-01 1.51241854e-02 -3.48544218e-03 1.25684078e+02] [-1.51237876e-02 9.99885619e-01 1.40472797e-04 -8.73309448e+00] [ 3.48716805e-03 -8.77427901e-05 9.99993916e-01 -4.83234369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.621346184 meters 0.07216828238155494 Centerline is valid? [True, True] Translation: X:125.71, Y:-8.73, Z:-4.83 [[ 9.99890225e-01 1.42779220e-02 -3.95958645e-03 1.25712328e+02] [-1.42774076e-02 9.99898060e-01 1.58167401e-04 -8.73361659e+00] [ 3.96144111e-03 -1.01617408e-04 9.99992148e-01 -4.83436777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.651346184 meters 0.07221750711472766 Centerline is valid? [True, True] Translation: X:125.74, Y:-8.73, Z:-4.83 [[ 9.99888949e-01 1.42686518e-02 -4.30067615e-03 1.25740768e+02] [-1.42680361e-02 9.99898191e-01 1.73830562e-04 -8.73240880e+00] [ 4.30271863e-03 -1.12449056e-04 9.99990737e-01 -4.83483856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681346184 meters 0.07216597179441096 Centerline is valid? [True, True] Translation: X:125.77, Y:-8.73, Z:-4.83 [[ 9.99892004e-01 1.43365671e-02 -3.23171620e-03 1.25769674e+02] [-1.43362223e-02 9.99897223e-01 1.29834227e-04 -8.72957720e+00] [ 3.23324543e-03 -8.34896039e-05 9.99994770e-01 -4.83437086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.711346184 meters 0.07153971977940041 Centerline is valid? [True, True] Translation: X:125.80, Y:-8.72, Z:-4.83 [[ 9.99870737e-01 1.60748261e-02 3.30675070e-04 1.25799664e+02] [-1.60748221e-02 9.99870792e-01 -1.46772022e-05 -8.72365814e+00] [-3.30868278e-04 9.35976206e-06 9.99999945e-01 -4.83106579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74134618399998 meters 0.07115346174017415 Centerline is valid? [True, True] Translation: X:125.83, Y:-8.72, Z:-4.83 [[ 9.99853064e-01 1.70747542e-02 1.51788176e-03 1.25828812e+02] [-1.70746772e-02 9.99854215e-01 -6.36879037e-05 -8.72329133e+00] [-1.51874793e-03 3.77612046e-05 9.99998846e-01 -4.83291296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77134618399998 meters 0.07125480066114374 Centerline is valid? [True, True] Translation: X:125.86, Y:-8.72, Z:-4.84 [[ 9.99845057e-01 1.76021380e-02 1.63799785e-04 1.25857889e+02] [-1.76021368e-02 9.99845070e-01 -8.97652982e-06 -8.72398295e+00] [-1.63932413e-04 6.09191275e-06 9.99999987e-01 -4.83564743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80134618399998 meters 0.07155067372343654 Centerline is valid? [True, True] Translation: X:125.89, Y:-8.72, Z:-4.84 [[ 9.99848875e-01 1.73657973e-02 8.10296234e-04 1.25885789e+02] [-1.73657740e-02 9.99849203e-01 -3.58054304e-05 -8.72378295e+00] [-8.10795833e-04 2.17285981e-05 9.99999671e-01 -4.83854776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83134618399998 meters 0.07176732196520959 Centerline is valid? [True, True] Translation: X:125.91, Y:-8.72, Z:-4.84 [[ 9.99858406e-01 1.68147806e-02 6.56282115e-04 1.25914088e+02] [-1.68147649e-02 9.99858621e-01 -2.94525118e-05 -8.72286742e+00] [-6.56684568e-04 1.84131121e-05 9.99999784e-01 -4.83921875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86134618399998 meters 0.07111953516917738 Centerline is valid? [True, True] Translation: X:125.94, Y:-8.72, Z:-4.84 [[ 9.99871238e-01 1.60415856e-02 4.17470153e-04 1.25943022e+02] [-1.60415790e-02 9.99871325e-01 -1.92581519e-05 -8.71960703e+00] [-4.17725366e-04 1.25587918e-05 9.99999913e-01 -4.83649124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89134618399999 meters 0.07130529936174108 Centerline is valid? [True, True] Translation: X:125.97, Y:-8.72, Z:-4.84 [[ 9.99862597e-01 1.65530336e-02 8.86114388e-04 1.25970663e+02] [-1.65530057e-02 9.99862989e-01 -3.87393899e-05 -8.71925838e+00] [-8.86634234e-04 2.40662104e-05 9.99999607e-01 -4.83870956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.921346184 meters 0.07123627128180504 Centerline is valid? [True, True] Translation: X:126.00, Y:-8.72, Z:-4.84 [[ 9.99860816e-01 1.66711042e-02 6.49784217e-04 1.25999456e+02] [-1.66710892e-02 9.99861027e-01 -2.85389786e-05 -8.72041672e+00] [-6.50169691e-04 1.77023959e-05 9.99999788e-01 -4.84122810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.951346184 meters 0.07116229648525398 Centerline is valid? [True, True] Translation: X:126.03, Y:-8.72, Z:-4.84 [[ 9.99845293e-01 1.75283817e-02 1.46488877e-03 1.26026775e+02] [-1.75283098e-02 9.99846365e-01 -6.18704202e-05 -8.72118481e+00] [-1.46574820e-03 3.61838242e-05 9.99998925e-01 -4.84299500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.981346184 meters 0.07103708450577202 Centerline is valid? [True, True] Translation: X:126.06, Y:-8.72, Z:-4.84 [[ 9.99843684e-01 1.76163904e-02 1.50682659e-03 1.26055455e+02] [-1.76163157e-02 9.99844819e-01 -6.28787852e-05 -8.72071351e+00] [-1.50770045e-03 3.63242234e-05 9.99998863e-01 -4.84377108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.011346184 meters 0.07115670630164007 Centerline is valid? [True, True] Translation: X:126.08, Y:-8.72, Z:-4.85 [[ 9.99834608e-01 1.80954490e-02 1.81992000e-03 1.26083764e+02] [-1.80953419e-02 9.99836263e-01 -7.53297871e-05 -8.71958468e+00] [-1.82098514e-03 4.23852535e-05 9.99998341e-01 -4.84509891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.041346184 meters 0.07042087079003277 Centerline is valid? [True, True] Translation: X:126.11, Y:-8.72, Z:-4.84 [[ 9.99835258e-01 1.80197341e-02 2.17856958e-03 1.26113151e+02] [-1.80195816e-02 9.99837630e-01 -8.96398744e-05 -8.71612056e+00] [-2.17983113e-03 5.03681947e-05 9.99997623e-01 -4.84123742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.071346184 meters 0.07046932234813688 Centerline is valid? [True, True] Translation: X:126.14, Y:-8.72, Z:-4.84 [[ 9.99836599e-01 1.79394740e-02 2.22512774e-03 1.26141259e+02] [-1.79393127e-02 9.99839073e-01 -9.24392314e-05 -8.71672380e+00] [-2.22642796e-03 5.25068644e-05 9.99997520e-01 -4.84258568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101346184 meters 0.07040891303575299 Centerline is valid? [True, True] Translation: X:126.17, Y:-8.72, Z:-4.85 [[ 9.99822812e-01 1.86653689e-02 2.43912056e-03 1.26169362e+02] [-1.86651813e-02 9.99825785e-01 -9.96423484e-05 -8.71867399e+00] [-2.44055549e-03 5.40980655e-05 9.99997020e-01 -4.84531365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.131346184 meters 0.07082049186942882 Centerline is valid? [True, True] Translation: X:126.20, Y:-8.72, Z:-4.85 [[ 9.99825004e-01 1.86225632e-02 1.77814186e-03 1.26196879e+02] [-1.86224616e-02 9.99826584e-01 -7.36724007e-05 -8.72380144e+00] [-1.77920547e-03 4.05461299e-05 9.99998416e-01 -4.84961836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161346184 meters 0.07126052567415758 Centerline is valid? [True, True] Translation: X:126.22, Y:-8.73, Z:-4.85 [[ 9.99825729e-01 1.85071694e-02 2.44875353e-03 1.26224242e+02] [-1.85069797e-02 9.99828726e-01 -1.00132474e-04 -8.72691253e+00] [-2.45018729e-03 5.47959924e-05 9.99996997e-01 -4.85239837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.191346184 meters 0.07140054586436356 Centerline is valid? [True, True] Translation: X:126.25, Y:-8.73, Z:-4.85 [[ 9.99827879e-01 1.85124072e-02 1.22576351e-03 1.26252754e+02] [-1.85123589e-02 9.99828630e-01 -5.07979183e-05 -8.72623360e+00] [-1.22649385e-03 2.80974008e-05 9.99999247e-01 -4.85285838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221346184 meters 0.0709774223522198 Centerline is valid? [True, True] Translation: X:126.28, Y:-8.72, Z:-4.85 [[ 9.99809178e-01 1.94063125e-02 2.23665947e-03 1.26281996e+02] [-1.94061580e-02 9.99811679e-01 -9.07515099e-05 -8.72427161e+00] [-2.23799942e-03 4.73292252e-05 9.99997495e-01 -4.85259260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.251346184 meters 0.07077540254388251 Centerline is valid? [True, True] Translation: X:126.31, Y:-8.72, Z:-4.86 [[ 9.99748160e-01 2.23737445e-02 1.74103741e-03 1.26309928e+02] [-2.23736538e-02 9.99749676e-01 -7.15033628e-05 -8.72324216e+00] [-1.74220139e-03 3.25319870e-05 9.99998482e-01 -4.85582148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281346184 meters 0.06948044964161128 Centerline is valid? [True, True] Translation: X:126.34, Y:-8.72, Z:-4.85 [[ 9.99718362e-01 2.36601518e-02 1.84216502e-03 1.26338673e+02] [-2.36600538e-02 9.99720059e-01 -7.49876660e-05 -8.72277825e+00] [-1.84342354e-03 3.13808231e-05 9.99998300e-01 -4.85322764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.311346184 meters 0.07042898148774442 Centerline is valid? [True, True] Translation: X:126.37, Y:-8.73, Z:-4.86 [[ 9.99711219e-01 2.39892442e-02 1.41211983e-03 1.26365912e+02] [-2.39891855e-02 9.99712216e-01 -5.84499326e-05 -8.72669104e+00] [-1.41311561e-03 2.45574489e-05 9.99999001e-01 -4.86010724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341346184 meters 0.07042898148774442 Centerline is valid? [True, True] Translation: X:126.39, Y:-8.73, Z:-4.86 [[ 9.99713443e-01 2.38964086e-02 1.41211189e-03 1.26393336e+02] [-2.38963496e-02 9.99714440e-01 -5.86550545e-05 -8.72762367e+00] [-1.41311029e-03 2.48939270e-05 9.99999001e-01 -4.86104797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.371346184 meters 0.06817822949309658 Centerline is valid? [True, True] Translation: X:126.42, Y:-8.72, Z:-4.85 [[ 9.99681996e-01 2.50450641e-02 2.94134766e-03 1.26422863e+02] [-2.50448259e-02 9.99686322e-01 -1.17806130e-04 -8.72229398e+00] [-2.94337549e-03 4.41031270e-05 9.99995667e-01 -4.84957697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401346184 meters 0.068217208814767 Centerline is valid? [True, True] Translation: X:126.45, Y:-8.72, Z:-4.85 [[ 9.99675408e-01 2.50666275e-02 4.55433340e-03 1.26450614e+02] [-2.50660619e-02 9.99685780e-01 -1.81243076e-04 -8.72354918e+00] [-4.55744549e-03 6.70250427e-05 9.99989613e-01 -4.85051309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.431346184 meters 0.0684477313711658 Centerline is valid? [True, True] Translation: X:126.48, Y:-8.73, Z:-4.85 [[ 9.99669581e-01 2.50931534e-02 5.57344472e-03 1.26478529e+02] [-2.50923137e-02 9.99685114e-01 -2.20549138e-04 -8.72538933e+00] [-5.57722400e-03 8.06256413e-05 9.99984444e-01 -4.85136286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461346184 meters 0.06797471789578162 Centerline is valid? [True, True] Translation: X:126.51, Y:-8.73, Z:-4.85 [[ 9.99665361e-01 2.51565943e-02 6.02589002e-03 1.26507948e+02] [-2.51556242e-02 9.99683519e-01 -2.36736255e-04 -8.72558780e+00] [-6.02993842e-03 8.50720095e-05 9.99981816e-01 -4.84939216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49134618399998 meters 0.06846829731921261 Centerline is valid? [True, True] Translation: X:126.54, Y:-8.73, Z:-4.85 [[ 9.99668266e-01 2.47667482e-02 7.06870285e-03 1.26535321e+02] [-2.47654018e-02 9.99693252e-01 -2.77957368e-04 -8.73136431e+00] [-7.07341864e-03 1.02805894e-04 9.99974978e-01 -4.85497628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52134618399998 meters 0.06843249248944429 Centerline is valid? [True, True] Translation: X:126.56, Y:-8.73, Z:-4.86 [[ 9.99688010e-01 2.41731550e-02 6.28822304e-03 1.26563973e+02] [-2.41720824e-02 9.99707782e-01 -2.46524789e-04 -8.73374859e+00] [-6.29234479e-03 9.44484298e-05 9.99980199e-01 -4.85567896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55134618399998 meters 0.06869711020798916 Centerline is valid? [True, True] Translation: X:126.59, Y:-8.74, Z:-4.86 [[ 9.99702422e-01 2.36441563e-02 6.00181926e-03 1.26591573e+02] [-2.36431628e-02 9.99720433e-01 -2.36446412e-04 -8.73739076e+00] [-6.00573192e-03 9.44740607e-05 9.99981961e-01 -4.85881047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58134618399998 meters 0.068744761170049 Centerline is valid? [True, True] Translation: X:126.62, Y:-8.74, Z:-4.86 [[ 9.99728095e-01 2.27612898e-02 5.06564390e-03 1.26619774e+02] [-2.27605757e-02 9.99740925e-01 -1.98572797e-04 -8.73930169e+00] [-5.06885129e-03 8.32218326e-05 9.99987150e-01 -4.85935465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61134618399998 meters 0.06926746979025675 Centerline is valid? [True, True] Translation: X:126.65, Y:-8.74, Z:-4.86 [[ 9.99777434e-01 2.06456518e-02 4.34049558e-03 1.26647699e+02] [-2.06451075e-02 9.99786853e-01 -1.70174177e-04 -8.74268734e+00] [-4.34308377e-03 8.05263038e-05 9.99990566e-01 -4.86055711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64134618399999 meters 0.06882573958368214 Centerline is valid? [True, True] Translation: X:126.68, Y:-8.74, Z:-4.86 [[ 9.99796687e-01 1.93852548e-02 5.54945754e-03 1.26676136e+02] [-1.93843550e-02 9.99812082e-01 -2.15902557e-04 -8.74338378e+00] [-5.55260002e-03 1.08286006e-04 9.99984578e-01 -4.85854411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.671346184 meters 0.0699739556253078 Centerline is valid? [True, True] Translation: X:126.70, Y:-8.75, Z:-4.86 [[ 9.99818574e-01 1.81494985e-02 5.78054377e-03 1.26703696e+02] [-1.81485017e-02 9.99835277e-01 -2.24864096e-04 -8.75001682e+00] [-5.78367275e-03 1.19915091e-04 9.99983267e-01 -4.86314799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.701346184 meters 0.06933387720285963 Centerline is valid? [True, True] Translation: X:126.73, Y:-8.75, Z:-4.86 [[ 9.99838240e-01 1.70973689e-02 5.58328817e-03 1.26732166e+02] [-1.70964275e-02 9.99853822e-01 -2.16294844e-04 -8.75174762e+00] [-5.58617009e-03 1.20805574e-04 9.99984390e-01 -4.86140381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.731346184 meters 0.0695510333374893 Centerline is valid? [True, True] Translation: X:126.76, Y:-8.76, Z:-4.86 [[ 9.99851885e-01 1.55535902e-02 7.36839796e-03 1.26759851e+02] [-1.55519149e-02 9.99879021e-01 -2.84612606e-04 -8.75681100e+00] [-7.37193329e-03 1.69977753e-04 9.99972812e-01 -4.86113007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.761346184 meters 0.06972786919616143 Centerline is valid? [True, True] Translation: X:126.79, Y:-8.76, Z:-4.86 [[ 9.99845698e-01 1.53992885e-02 8.45238930e-03 1.26788068e+02] [-1.53970925e-02 9.99881405e-01 -3.24826591e-04 -8.75874866e+00] [-8.45638899e-03 1.94634250e-04 9.99964225e-01 -4.86180237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.791346184 meters 0.06936464931948282 Centerline is valid? [True, True] Translation: X:126.82, Y:-8.76, Z:-4.86 [[ 9.99849131e-01 1.53946380e-02 8.04486036e-03 1.26816600e+02] [-1.53926518e-02 9.99881478e-01 -3.08757776e-04 -8.75855684e+00] [-8.04866009e-03 1.84879460e-04 9.99967592e-01 -4.86196514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821346184 meters 0.06982605728120192 Centerline is valid? [True, True] Translation: X:126.84, Y:-8.76, Z:-4.87 [[ 9.99850020e-01 1.56847270e-02 7.34343505e-03 1.26844132e+02] [-1.56830787e-02 9.99876973e-01 -2.81986090e-04 -8.76183455e+00] [-7.34695448e-03 1.66776128e-04 9.99972997e-01 -4.86578731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.851346184 meters 0.06997523033728813 Centerline is valid? [True, True] Translation: X:126.87, Y:-8.77, Z:-4.87 [[ 9.99849451e-01 1.59977568e-02 6.71911155e-03 1.26872353e+02] [-1.59963899e-02 9.99872017e-01 -2.57127484e-04 -8.76508465e+00] [-6.72236508e-03 1.49607245e-04 9.99977393e-01 -4.86879561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881346184 meters 0.0697707211635374 Centerline is valid? [True, True] Translation: X:126.90, Y:-8.77, Z:-4.87 [[ 9.99852334e-01 1.60260182e-02 6.20301832e-03 1.26901238e+02] [-1.60248550e-02 9.99871566e-01 -2.37173829e-04 -8.76593897e+00] [-6.20602259e-03 1.37736337e-04 9.99980733e-01 -4.86964150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.911346184 meters 0.06985413366071591 Centerline is valid? [True, True] Translation: X:126.93, Y:-8.77, Z:-4.87 [[ 9.99857158e-01 1.55824398e-02 6.54609172e-03 1.26929092e+02] [-1.55811357e-02 9.99878575e-01 -2.50171140e-04 -8.76763619e+00] [-6.54919514e-03 1.48139862e-04 9.99978543e-01 -4.87096641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941346184 meters 0.06906318844788786 Centerline is valid? [True, True] Translation: X:126.96, Y:-8.77, Z:-4.87 [[ 9.99821928e-01 1.74546428e-02 7.17273055e-03 1.26958483e+02] [-1.74531379e-02 9.99847645e-01 -2.72348674e-04 -8.76784403e+00] [-7.17639149e-03 1.47113521e-04 9.99974239e-01 -4.87016779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.971346184 meters 0.06886019227645591 Centerline is valid? [True, True] Translation: X:126.99, Y:-8.77, Z:-4.87 [[ 9.99806841e-01 1.80553988e-02 7.76427547e-03 1.26987556e+02] [-1.80536542e-02 9.99836976e-01 -2.94718782e-04 -8.76979927e+00] [-7.76833097e-03 1.54488310e-04 9.99969814e-01 -4.87109852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001346184 meters 0.06816107659146602 Centerline is valid? [True, True] Translation: X:127.02, Y:-8.77, Z:-4.87 [[ 9.99777334e-01 1.93132545e-02 8.50174405e-03 1.27015994e+02] [-1.93112147e-02 9.99813469e-01 -3.21961572e-04 -8.76935938e+00] [-8.50637634e-03 1.57710877e-04 9.99963808e-01 -4.87060504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.031346184 meters 0.06770181711048238 Centerline is valid? [True, True] Translation: X:127.04, Y:-8.77, Z:-4.87 [[ 9.99748014e-01 2.05822663e-02 8.95980234e-03 1.27044533e+02] [-2.05800585e-02 9.99788151e-01 -3.38553200e-04 -8.76834840e+00] [-8.96487241e-03 1.54074633e-04 9.99959803e-01 -4.86902861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061346184 meters 0.06752601656441626 Centerline is valid? [True, True] Translation: X:127.07, Y:-8.77, Z:-4.87 [[ 9.99664113e-01 2.40027368e-02 9.77395052e-03 1.27072809e+02] [-2.40002821e-02 9.99711884e-01 -3.68374992e-04 -8.76742349e+00] [-9.77997649e-03 1.33673690e-04 9.99952166e-01 -4.87126322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.091346184 meters 0.06723267184317563 Centerline is valid? [True, True] Translation: X:127.10, Y:-8.77, Z:-4.87 [[ 9.99661954e-01 2.45268916e-02 8.62606481e-03 1.27101459e+02] [-2.45250023e-02 9.99699164e-01 -3.24747628e-04 -8.76793408e+00] [-8.63143483e-03 1.13083589e-04 9.99962742e-01 -4.87183828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121346184 meters 0.06711422293795884 Centerline is valid? [True, True] Translation: X:127.13, Y:-8.77, Z:-4.87 [[ 9.99643792e-01 2.52003298e-02 8.78824140e-03 1.27128746e+02] [-2.51983969e-02 9.99682415e-01 -3.30621845e-04 -8.76957119e+00] [-8.79378217e-03 1.09054481e-04 9.99961328e-01 -4.87315592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.151346184 meters 0.06714027542562205 Centerline is valid? [True, True] Translation: X:127.16, Y:-8.77, Z:-4.87 [[ 9.99627483e-01 2.57170600e-02 9.13935068e-03 1.27156001e+02] [-2.57149997e-02 9.99669256e-01 -3.42898145e-04 -8.77389054e+00] [-9.14514622e-03 1.07752010e-04 9.99958176e-01 -4.87487507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181346184 meters 0.06685939653192664 Centerline is valid? [True, True] Translation: X:127.18, Y:-8.78, Z:-4.87 [[ 9.99636148e-01 2.52170799e-02 9.57451331e-03 1.27184787e+02] [-2.52148082e-02 9.99681992e-01 -3.57913991e-04 -8.77613123e+00] [-9.58049408e-03 1.16364246e-04 9.99954099e-01 -4.87446671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.211346184 meters 0.0672894322452739 Centerline is valid? [True, True] Translation: X:127.21, Y:-8.78, Z:-4.88 [[ 9.99653752e-01 2.49692344e-02 8.30145758e-03 1.27212352e+02] [-2.49675167e-02 9.99688215e-01 -3.10499337e-04 -8.78049760e+00] [-8.30662224e-03 1.03125046e-04 9.99965494e-01 -4.87805498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24134618399998 meters 0.06723658655859512 Centerline is valid? [True, True] Translation: X:127.24, Y:-8.78, Z:-4.88 [[ 9.99652325e-01 2.48476319e-02 8.82182352e-03 1.27240717e+02] [-2.48457006e-02 9.99691244e-01 -3.28466099e-04 -8.78283547e+00] [-8.82726134e-03 1.09167514e-04 9.99961033e-01 -4.87916234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27134618399998 meters 0.06725032949912417 Centerline is valid? [True, True] Translation: X:127.27, Y:-8.79, Z:-4.88 [[ 9.99651346e-01 2.49832641e-02 8.54535562e-03 1.27268061e+02] [-2.49814577e-02 9.99687864e-01 -3.18084352e-04 -8.78539805e+00] [-8.55063509e-03 1.04498010e-04 9.99963437e-01 -4.88093174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30134618399998 meters 0.06719881635977754 Centerline is valid? [True, True] Translation: X:127.30, Y:-8.79, Z:-4.88 [[ 9.99643818e-01 2.52385983e-02 8.67463947e-03 1.27296936e+02] [-2.52367568e-02 9.99681451e-01 -3.21693274e-04 -8.78713840e+00] [-8.67999526e-03 1.02658926e-04 9.99962323e-01 -4.88205411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33134618399998 meters 0.06714127237020297 Centerline is valid? [True, True] Translation: X:127.33, Y:-8.79, Z:-4.88 [[ 9.99629110e-01 2.56724964e-02 9.08658413e-03 1.27325549e+02] [-2.56705003e-02 9.99670402e-01 -3.36256673e-04 -8.78812636e+00] [-9.09222176e-03 1.02874798e-04 9.99958660e-01 -4.88261188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36134618399998 meters 0.06675109445033038 Centerline is valid? [True, True] Translation: X:127.35, Y:-8.79, Z:-4.88 [[ 9.99627122e-01 2.60210872e-02 8.27768705e-03 1.27354026e+02] [-2.60194450e-02 9.99661390e-01 -3.06039713e-04 -8.78816462e+00] [-8.28284763e-03 9.05447745e-05 9.99965693e-01 -4.88123659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39134618399999 meters 0.06716348814591612 Centerline is valid? [True, True] Translation: X:127.38, Y:-8.79, Z:-4.89 [[ 9.99621607e-01 2.61526167e-02 8.52543270e-03 1.27381703e+02] [-2.61508815e-02 9.99657958e-01 -3.14969150e-04 -8.79118238e+00] [-8.53075391e-03 9.19023879e-05 9.99963608e-01 -4.88502004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.421346184 meters 0.0665076488267466 Centerline is valid? [True, True] Translation: X:127.41, Y:-8.79, Z:-4.88 [[ 9.99638440e-01 2.53336634e-02 9.01083170e-03 1.27410794e+02] [-2.53317027e-02 9.99679046e-01 -3.31674096e-04 -8.79106999e+00] [-9.01634216e-03 1.03294466e-04 9.99959347e-01 -4.88051133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.451346184 meters 0.06716389720154191 Centerline is valid? [True, True] Translation: X:127.44, Y:-8.80, Z:-4.89 [[ 9.99663478e-01 2.45448466e-02 8.39525844e-03 1.27438275e+02] [-2.45431168e-02 9.99698725e-01 -3.09024219e-04 -8.79592610e+00] [-8.40031411e-03 1.02874417e-04 9.99964711e-01 -4.88598267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.481346184 meters 0.06683092758262171 Centerline is valid? [True, True] Translation: X:127.47, Y:-8.80, Z:-4.88 [[ 9.99687398e-01 2.29199291e-02 9.98910104e-03 1.27467498e+02] [-2.29174225e-02 9.99737295e-01 -3.65339572e-04 -8.79988093e+00] [-9.99485041e-03 1.36300917e-04 9.99950041e-01 -4.88391567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.511346184 meters 0.0667941473568128 Centerline is valid? [True, True] Translation: X:127.50, Y:-8.80, Z:-4.88 [[ 9.99723807e-01 2.14400903e-02 9.62457955e-03 1.27496392e+02] [-2.14376944e-02 9.99770124e-01 -3.52051165e-04 -8.80143963e+00] [-9.62991511e-03 1.45625135e-04 9.99953621e-01 -4.88329493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.541346184 meters 0.06730803260993153 Centerline is valid? [True, True] Translation: X:127.52, Y:-8.80, Z:-4.89 [[ 9.99761707e-01 1.98490596e-02 9.08537157e-03 1.27523905e+02] [-1.98468596e-02 9.99802976e-01 -3.32245586e-04 -8.80419793e+00] [-9.09017630e-03 1.51850320e-04 9.99958672e-01 -4.88519447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.571346184 meters 0.0674155040050454 Centerline is valid? [True, True] Translation: X:127.55, Y:-8.81, Z:-4.89 [[ 9.99799851e-01 1.79827383e-02 8.76805529e-03 1.27552709e+02] [-1.79806279e-02 9.99838284e-01 -3.19468561e-04 -8.80597324e+00] [-8.77238228e-03 1.61749480e-04 9.99961509e-01 -4.88501315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601346184 meters 0.0676645174868793 Centerline is valid? [True, True] Translation: X:127.58, Y:-8.81, Z:-4.89 [[ 9.99830079e-01 1.55350641e-02 9.92348890e-03 1.27580921e+02] [-1.55322503e-02 9.99879302e-01 -3.60556766e-04 -8.81222289e+00] [-9.92789243e-03 2.06361386e-04 9.99950696e-01 -4.88552704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.631346184 meters 0.06805539649974642 Centerline is valid? [True, True] Translation: X:127.61, Y:-8.82, Z:-4.89 [[ 9.99842769e-01 1.48088552e-02 9.75367235e-03 1.27608896e+02] [-1.48061047e-02 9.99890321e-01 -3.54146333e-04 -8.81645406e+00] [-9.75784708e-03 2.09676756e-04 9.99952369e-01 -4.88845299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661346184 meters 0.06795705677197139 Centerline is valid? [True, True] Translation: X:127.64, Y:-8.82, Z:-4.89 [[ 9.99859928e-01 1.38888403e-02 9.33941173e-03 1.27637837e+02] [-1.38862892e-02 9.99903524e-01 -3.37945560e-04 -8.81848170e+00] [-9.34320437e-03 2.08208450e-04 9.99956330e-01 -4.88906094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.691346184 meters 0.06825917542074343 Centerline is valid? [True, True] Translation: X:127.67, Y:-8.82, Z:-4.89 [[ 9.99878390e-01 1.34293870e-02 7.92820998e-03 1.27666757e+02] [-1.34275397e-02 9.99909806e-01 -2.86187129e-04 -8.82052593e+00] [-7.93133821e-03 1.79695971e-04 9.99968530e-01 -4.89092301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721346184 meters 0.0684203244948833 Centerline is valid? [True, True] Translation: X:127.69, Y:-8.82, Z:-4.89 [[ 9.99883110e-01 1.31676188e-02 7.77049059e-03 1.27694970e+02] [-1.31658307e-02 9.99913287e-01 -2.81236192e-04 -8.81836828e+00] [-7.77352000e-03 1.78898355e-04 9.99969770e-01 -4.88943598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.751346184 meters 0.06824511715101002 Centerline is valid? [True, True] Translation: X:127.72, Y:-8.82, Z:-4.89 [[ 9.99876894e-01 1.29430086e-02 8.86995000e-03 1.27724113e+02] [-1.29406873e-02 9.99916215e-01 -3.19046306e-04 -8.81833634e+00] [-8.87333625e-03 2.04223780e-04 9.99960610e-01 -4.88926665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781346184 meters 0.06805709017387591 Centerline is valid? [True, True] Translation: X:127.75, Y:-8.82, Z:-4.89 [[ 9.99867994e-01 1.35055346e-02 9.03302226e-03 1.27753063e+02] [-1.35031564e-02 9.99908776e-01 -3.24220316e-04 -8.82047625e+00] [-9.03657699e-03 2.02203205e-04 9.99959149e-01 -4.89011853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.811346184 meters 0.06840685890642971 Centerline is valid? [True, True] Translation: X:127.78, Y:-8.83, Z:-4.89 [[ 9.99875164e-01 1.33784760e-02 8.40666650e-03 1.27780210e+02] [-1.33764116e-02 9.99910486e-01 -3.01750051e-04 -8.82656978e+00] [-8.40995094e-03 1.89261351e-04 9.99964618e-01 -4.89443884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841346184 meters 0.06836736647804785 Centerline is valid? [True, True] Translation: X:127.81, Y:-8.83, Z:-4.89 [[ 9.99858351e-01 1.35180429e-02 1.00270265e-02 1.27808662e+02] [-1.35151324e-02 9.99908602e-01 -3.57969435e-04 -8.82898220e+00] [-1.00309491e-02 2.22402138e-04 9.99949664e-01 -4.89469332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.871346184 meters 0.06818830885098183 Centerline is valid? [True, True] Translation: X:127.84, Y:-8.83, Z:-4.89 [[ 9.99858959e-01 1.31712344e-02 1.04202514e-02 1.27837571e+02] [-1.31680808e-02 9.99913228e-01 -3.71188322e-04 -8.83002295e+00] [-1.04242362e-02 2.33921257e-04 9.99945639e-01 -4.89401056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901346184 meters 0.06834334163815617 Centerline is valid? [True, True] Translation: X:127.87, Y:-8.83, Z:-4.89 [[ 9.99862601e-01 1.25923942e-02 1.07801164e-02 1.27867111e+02] [-1.25890035e-02 9.99920682e-01 -3.82337861e-04 -8.83121987e+00] [-1.07840759e-02 2.46574406e-04 9.99941820e-01 -4.89487151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.931346184 meters 0.06840108231085305 Centerline is valid? [True, True] Translation: X:127.90, Y:-8.83, Z:-4.90 [[ 9.99870133e-01 1.25499071e-02 1.01102594e-02 1.27896367e+02] [-1.25469296e-02 9.99921220e-01 -3.57874155e-04 -8.83353717e+00] [-1.01139542e-02 2.30974965e-04 9.99948826e-01 -4.89534949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961346184 meters 0.06795156150843809 Centerline is valid? [True, True] Translation: X:127.93, Y:-8.83, Z:-4.89 [[ 9.99874702e-01 1.25519496e-02 9.64512470e-03 1.27925645e+02] [-1.25492368e-02 9.99921197e-01 -3.41734487e-04 -8.83340923e+00] [-9.64865407e-03 2.20652715e-04 9.99953426e-01 -4.89468854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99134618399998 meters 0.067863698361943 Centerline is valid? [True, True] Translation: X:127.95, Y:-8.84, Z:-4.90 [[ 9.99861632e-01 1.35163020e-02 9.69671506e-03 1.27954062e+02] [-1.35136091e-02 9.99908628e-01 -3.43175436e-04 -8.83566745e+00] [-9.70046752e-03 2.12090334e-04 9.99952927e-01 -4.89611779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02134618399998 meters 0.06826137421951836 Centerline is valid? [True, True] Translation: X:127.98, Y:-8.84, Z:-4.90 [[ 9.99852857e-01 1.47671679e-02 8.72899541e-03 1.27982650e+02] [-1.47650310e-02 9.99890943e-01 -3.09202313e-04 -8.84037088e+00] [-8.73260950e-03 1.80272928e-04 9.99961854e-01 -4.90129577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05134618399998 meters 0.06725168099135495 Centerline is valid? [True, True] Translation: X:128.01, Y:-8.84, Z:-4.90 [[ 9.99831988e-01 1.61147746e-02 8.73559317e-03 1.28011716e+02] [-1.61126857e-02 9.99870134e-01 -3.09454204e-04 -8.83801873e+00] [-8.73944550e-03 1.68648345e-04 9.99961796e-01 -4.89812425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08134618399998 meters 0.06713625727401658 Centerline is valid? [True, True] Translation: X:128.04, Y:-8.84, Z:-4.90 [[ 9.99808813e-01 1.70804276e-02 9.51823603e-03 1.28040054e+02] [-1.70780002e-02 9.99854104e-01 -3.36248356e-04 -8.83810960e+00] [-9.52259062e-03 1.73631632e-04 9.99954644e-01 -4.89865372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11134618399998 meters 0.06687777679741978 Centerline is valid? [True, True] Translation: X:128.07, Y:-8.84, Z:-4.90 [[ 9.99786476e-01 1.81167591e-02 9.93908926e-03 1.28068566e+02] [-1.81141719e-02 9.99835864e-01 -3.50270184e-04 -8.83850636e+00] [-9.94380365e-03 1.70157021e-04 9.99950545e-01 -4.89803888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14134618399999 meters 0.0668804209203239 Centerline is valid? [True, True] Translation: X:128.10, Y:-8.84, Z:-4.90 [[ 9.99792217e-01 1.77065700e-02 1.00995462e-02 1.28096204e+02] [-1.77038812e-02 9.99843211e-01 -3.55578904e-04 -8.84233585e+00] [-1.01042588e-02 1.76703854e-04 9.99948935e-01 -4.90005691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.171346184 meters 0.06679768234863 Centerline is valid? [True, True] Translation: X:128.12, Y:-8.85, Z:-4.90 [[ 9.99806540e-01 1.72216918e-02 9.50241339e-03 1.28124681e+02] [-1.72192997e-02 9.99851681e-01 -3.33504691e-04 -8.84507640e+00] [-9.50674752e-03 1.69815268e-04 9.99954795e-01 -4.90125472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.201346184 meters 0.06693950140943074 Centerline is valid? [True, True] Translation: X:128.15, Y:-8.85, Z:-4.90 [[ 9.99814252e-01 1.69286309e-02 9.21319736e-03 1.28153103e+02] [-1.69263752e-02 9.99856687e-01 -3.22750720e-04 -8.84842417e+00] [-9.21734071e-03 1.66744734e-04 9.99957506e-01 -4.90383107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.231346184 meters 0.0668017009883357 Centerline is valid? [True, True] Translation: X:128.18, Y:-8.85, Z:-4.90 [[ 9.99817897e-01 1.68147345e-02 9.02431319e-03 1.28180493e+02] [-1.68125655e-02 9.99858609e-01 -3.16163205e-04 -8.85071067e+00] [-9.02835343e-03 1.64383773e-04 9.99959230e-01 -4.90437272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.261346184 meters 0.0668017009883357 Centerline is valid? [True, True] Translation: X:128.21, Y:-8.85, Z:-4.91 [[ 9.99819091e-01 1.67435493e-02 9.02436588e-03 1.28208767e+02] [-1.67413911e-02 9.99859804e-01 -3.14645075e-04 -8.85160149e+00] [-9.02836897e-03 1.63507714e-04 9.99959230e-01 -4.90534254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.291346184 meters 0.06713280903349211 Centerline is valid? [True, True] Translation: X:128.24, Y:-8.85, Z:-4.91 [[ 9.99827765e-01 1.64534317e-02 8.58632707e-03 1.28235986e+02] [-1.64514737e-02 9.99864621e-01 -2.98627684e-04 -8.85307275e+00] [-8.59007811e-03 1.57318516e-04 9.99963092e-01 -4.90759100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321346184 meters 0.06696533052887602 Centerline is valid? [True, True] Translation: X:128.26, Y:-8.85, Z:-4.91 [[ 9.99836168e-01 1.63200922e-02 7.82896569e-03 1.28264913e+02] [-1.63184605e-02 9.99866808e-01 -2.72260882e-04 -8.85378831e+00] [-7.83236625e-03 1.44459609e-04 9.99969316e-01 -4.90702648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.351346184 meters 0.0671411514978847 Centerline is valid? [True, True] Translation: X:128.29, Y:-8.86, Z:-4.91 [[ 9.99844816e-01 1.59518214e-02 7.47551663e-03 1.28293938e+02] [-1.59503267e-02 9.99872752e-01 -2.59531834e-04 -8.85615767e+00] [-7.47870539e-03 1.40254626e-04 9.99972024e-01 -4.90841241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381346184 meters 0.06719982031324119 Centerline is valid? [True, True] Translation: X:128.32, Y:-8.86, Z:-4.91 [[ 9.99860300e-01 1.48975994e-02 7.57906177e-03 1.28322928e+02] [-1.48960369e-02 9.99889013e-01 -2.62559335e-04 -8.86035653e+00] [-7.58213210e-03 1.49624671e-04 9.99971244e-01 -4.91029605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.411346184 meters 0.06738597963884461 Centerline is valid? [True, True] Translation: X:128.35, Y:-8.86, Z:-4.91 [[ 9.99867130e-01 1.45255273e-02 7.39804741e-03 1.28351480e+02] [-1.45240321e-02 9.99894488e-01 -2.55804468e-04 -8.86364828e+00] [-7.40098252e-03 1.48321002e-04 9.99972601e-01 -4.91162924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441346184 meters 0.06745493543331652 Centerline is valid? [True, True] Translation: X:128.38, Y:-8.87, Z:-4.91 [[ 9.99866873e-01 1.42976287e-02 7.86218123e-03 1.28379734e+02] [-1.42959386e-02 9.99897771e-01 -2.71133750e-04 -8.86633160e+00] [-7.86525406e-03 1.58700395e-04 9.99969056e-01 -4.91269812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.471346184 meters 0.06725074412793834 Centerline is valid? [True, True] Translation: X:128.41, Y:-8.87, Z:-4.91 [[ 9.99867148e-01 1.40506208e-02 8.26230743e-03 1.28408432e+02] [-1.40487513e-02 9.99901271e-01 -2.84261699e-04 -8.86722199e+00] [-8.26548576e-03 1.68148832e-04 9.99965826e-01 -4.91245692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501346184 meters 0.06684479956812824 Centerline is valid? [True, True] Translation: X:128.44, Y:-8.87, Z:-4.91 [[ 9.99856627e-01 1.44750215e-02 8.78627160e-03 1.28437265e+02] [-1.44729305e-02 9.99895216e-01 -3.01523463e-04 -8.86664724e+00] [-8.78971550e-03 1.74317134e-04 9.99961355e-01 -4.91127569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.531346184 meters 0.06684279248061054 Centerline is valid? [True, True] Translation: X:128.47, Y:-8.87, Z:-4.91 [[ 9.99846149e-01 1.48518006e-02 9.33289879e-03 1.28465712e+02] [-1.48494656e-02 9.99889690e-01 -3.19443037e-04 -8.86836338e+00] [-9.33661358e-03 1.80805331e-04 9.99956397e-01 -4.91237929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561346184 meters 0.0669286771873703 Centerline is valid? [True, True] Translation: X:128.49, Y:-8.87, Z:-4.92 [[ 9.99867561e-01 1.44425296e-02 7.50165213e-03 1.28494719e+02] [-1.44410134e-02 9.99895690e-01 -2.56246162e-04 -8.87349882e+00] [-7.50457048e-03 1.47880766e-04 9.99971829e-01 -4.91511246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.591346184 meters 0.06753349957839438 Centerline is valid? [True, True] Translation: X:128.52, Y:-8.88, Z:-4.92 [[ 9.99868584e-01 1.46308900e-02 6.98229824e-03 1.28521830e+02] [-1.46295760e-02 9.99892953e-01 -2.39234121e-04 -8.87783733e+00] [-6.98505102e-03 1.37054619e-04 9.99975595e-01 -4.91996130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621346184 meters 0.06752408505148252 Centerline is valid? [True, True] Translation: X:128.55, Y:-8.88, Z:-4.92 [[ 9.99883201e-01 1.43035598e-02 5.38451805e-03 1.28550799e+02] [-1.43027756e-02 9.99897693e-01 -1.84121089e-04 -8.87845219e+00] [-5.38660077e-03 1.07086030e-04 9.99985486e-01 -4.92036775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.651346184 meters 0.06756594383685123 Centerline is valid? [True, True] Translation: X:128.58, Y:-8.88, Z:-4.92 [[ 9.99881328e-01 1.46488999e-02 4.76859411e-03 1.28579110e+02] [-1.46482867e-02 9.99892695e-01 -1.63507036e-04 -8.87860056e+00] [-4.77047761e-03 9.36358984e-05 9.99988617e-01 -4.92089535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681346184 meters 0.06744528305419778 Centerline is valid? [True, True] Translation: X:128.61, Y:-8.88, Z:-4.92 [[ 9.99875120e-01 1.51472981e-02 4.50588577e-03 1.28607670e+02] [-1.51467590e-02 9.99885269e-01 -1.53742901e-04 -8.87797590e+00] [-4.50769759e-03 8.54741362e-05 9.99989837e-01 -4.92176301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.711346184 meters 0.06741576502125585 Centerline is valid? [True, True] Translation: X:128.63, Y:-8.88, Z:-4.92 [[ 9.99853629e-01 1.64230532e-02 4.79620868e-03 1.28634934e+02] [-1.64224570e-02 9.99865129e-01 -1.63652881e-04 -8.88049208e+00] [-4.79824949e-03 8.48633964e-05 9.99988485e-01 -4.92338292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74134618399998 meters 0.06730417368181806 Centerline is valid? [True, True] Translation: X:128.66, Y:-8.88, Z:-4.92 [[ 9.99851773e-01 1.62764111e-02 5.61338995e-03 1.28663408e+02] [-1.62756007e-02 9.99867526e-01 -1.90024593e-04 -8.88363297e+00] [-5.61573924e-03 9.86351328e-05 9.99984227e-01 -4.92427778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77134618399998 meters 0.06704188774387458 Centerline is valid? [True, True] Translation: X:128.69, Y:-8.89, Z:-4.93 [[ 9.99825802e-01 1.75307066e-02 6.40621085e-03 1.28692624e+02] [-1.75296850e-02 9.99846320e-01 -2.15588696e-04 -8.88608722e+00] [-6.40900576e-03 1.03252282e-04 9.99979457e-01 -4.92513391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80134618399998 meters 0.06694201249233996 Centerline is valid? [True, True] Translation: X:128.72, Y:-8.89, Z:-4.93 [[ 9.99809568e-01 1.80615381e-02 7.38978722e-03 1.28721005e+02] [-1.80601947e-02 9.99836871e-01 -2.48483900e-04 -8.88809980e+00] [-7.39306973e-03 1.14975584e-04 9.99972664e-01 -4.92580874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83134618399998 meters 0.06615086305601137 Centerline is valid? [True, True] Translation: X:128.75, Y:-8.89, Z:-4.92 [[ 9.99758666e-01 2.05183515e-02 7.84902583e-03 1.28750356e+02] [-2.05169202e-02 9.99789471e-01 -2.62834047e-04 -8.88725047e+00] [-7.85276631e-03 1.01732779e-04 9.99969161e-01 -4.92341438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86134618399998 meters 0.06596731727536738 Centerline is valid? [True, True] Translation: X:128.78, Y:-8.89, Z:-4.92 [[ 9.99727200e-01 2.16794789e-02 8.69057768e-03 1.28779528e+02] [-2.16777700e-02 9.99764967e-01 -2.90800678e-04 -8.88643128e+00] [-8.69483952e-03 1.02329003e-04 9.99962194e-01 -4.92290971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89134618399999 meters 0.06601957830052094 Centerline is valid? [True, True] Translation: X:128.81, Y:-8.89, Z:-4.92 [[ 9.99716868e-01 2.28446637e-02 6.65614502e-03 1.28808037e+02] [-2.28436865e-02 9.99739024e-01 -2.22807586e-04 -8.88769948e+00] [-6.65949789e-03 7.06936123e-05 9.99977823e-01 -4.92404538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.921346184 meters 0.06639108055154279 Centerline is valid? [True, True] Translation: X:128.84, Y:-8.89, Z:-4.93 [[ 9.99708235e-01 2.29326126e-02 7.58546842e-03 1.28835467e+02] [-2.29313469e-02 9.99737010e-01 -2.53793138e-04 -8.89204854e+00] [-7.58929366e-03 7.97740822e-05 9.99971198e-01 -4.92821481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.951346184 meters 0.06625322760233218 Centerline is valid? [True, True] Translation: X:128.86, Y:-8.90, Z:-4.93 [[ 9.99739304e-01 2.18138736e-02 6.74387805e-03 1.28863608e+02] [-2.18128487e-02 9.99762046e-01 -2.25501271e-04 -8.89634538e+00] [-6.74719237e-03 7.83392922e-05 9.99977234e-01 -4.92859660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.981346184 meters 0.06607615402931591 Centerline is valid? [True, True] Translation: X:128.89, Y:-8.90, Z:-4.93 [[ 9.99750035e-01 2.11577879e-02 7.22603269e-03 1.28892824e+02] [-2.11566078e-02 9.99776145e-01 -2.39718054e-04 -8.89949836e+00] [-7.22948702e-03 8.67797928e-05 9.99973863e-01 -4.92813782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.011346184 meters 0.06617057114424757 Centerline is valid? [True, True] Translation: X:128.92, Y:-8.90, Z:-4.93 [[ 9.99790521e-01 1.91005613e-02 7.35406699e-03 1.28920771e+02] [-1.90992843e-02 9.99817562e-01 -2.43852179e-04 -8.90313022e+00] [-7.35738304e-03 1.03343682e-04 9.99972929e-01 -4.92814250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.041346184 meters 0.06625099747101906 Centerline is valid? [True, True] Translation: X:128.95, Y:-8.91, Z:-4.93 [[ 9.99796062e-01 1.87981748e-02 7.37996212e-03 1.28948846e+02] [-1.87968857e-02 9.99823293e-01 -2.44003189e-04 -8.90511234e+00] [-7.38324484e-03 1.05233123e-04 9.99972738e-01 -4.92895082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.071346184 meters 0.0662588454325704 Centerline is valid? [True, True] Translation: X:128.98, Y:-8.91, Z:-4.93 [[ 9.99795232e-01 1.83342216e-02 8.56450942e-03 1.28977642e+02] [-1.83324830e-02 9.99831906e-01 -2.81469689e-04 -8.90806460e+00] [-8.56823031e-03 1.24403330e-04 9.99963284e-01 -4.93040844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101346184 meters 0.06647183914890563 Centerline is valid? [True, True] Translation: X:129.01, Y:-8.91, Z:-4.93 [[ 9.99804452e-01 1.78546533e-02 8.50115602e-03 1.29006690e+02] [-1.78529280e-02 9.99840585e-01 -2.78800492e-04 -8.91212149e+00] [-8.50477869e-03 1.26975447e-04 9.99963826e-01 -4.93286733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.131346184 meters 0.06682949979907628 Centerline is valid? [True, True] Translation: X:129.03, Y:-8.92, Z:-4.94 [[ 9.99838992e-01 1.63388085e-02 7.41849607e-03 1.29034087e+02] [-1.63374512e-02 9.99866505e-01 -2.43527270e-04 -8.91808413e+00] [-7.42148468e-03 1.22288743e-04 9.99972453e-01 -4.93581026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161346184 meters 0.06702412032459337 Centerline is valid? [True, True] Translation: X:129.06, Y:-8.92, Z:-4.94 [[ 9.99853353e-01 1.58811709e-02 6.40785368e-03 1.29061446e+02] [-1.58801500e-02 9.99873880e-01 -2.10173845e-04 -8.92027294e+00] [-6.41038334e-03 1.08385346e-04 9.99979447e-01 -4.93720651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.191346184 meters 0.06628646320355663 Centerline is valid? [True, True] Translation: X:129.09, Y:-8.92, Z:-4.93 [[ 9.99863633e-01 1.53202785e-02 6.16469646e-03 1.29090484e+02] [-1.53193274e-02 9.99882632e-01 -2.01471896e-04 -8.91922779e+00] [-6.16705953e-03 1.07005418e-04 9.99980978e-01 -4.93410369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221346184 meters 0.06722226922278397 Centerline is valid? [True, True] Translation: X:129.12, Y:-8.92, Z:-4.94 [[ 9.99850041e-01 1.64093088e-02 5.53452132e-03 1.29118056e+02] [-1.64085554e-02 9.99865354e-01 -1.81517978e-04 -8.92483961e+00] [-5.53675471e-03 9.06772582e-05 9.99984668e-01 -4.94142053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.251346184 meters 0.06635774661836298 Centerline is valid? [True, True] Translation: X:129.15, Y:-8.92, Z:-4.94 [[ 9.99830245e-01 1.75759990e-02 5.52860368e-03 1.29147432e+02] [-1.75752726e-02 9.99845527e-01 -1.79940038e-04 -8.92452025e+00] [-5.53091228e-03 8.27427757e-05 9.99984701e-01 -4.93809805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281346184 meters 0.06595248935375289 Centerline is valid? [True, True] Translation: X:129.18, Y:-8.93, Z:-4.94 [[ 9.99812714e-01 1.87468903e-02 4.80534857e-03 1.29176530e+02] [-1.87463548e-02 9.99824259e-01 -1.56457151e-04 -8.92549772e+00] [-4.80743716e-03 6.63450798e-05 9.99988442e-01 -4.93715170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.311346184 meters 0.06637945780611823 Centerline is valid? [True, True] Translation: X:129.20, Y:-8.93, Z:-4.94 [[ 9.99790716e-01 1.97726894e-02 5.25031218e-03 1.29204473e+02] [-1.97720649e-02 9.99804499e-01 -1.70831281e-04 -8.92902329e+00] [-5.25266353e-03 6.69860153e-05 9.99986202e-01 -4.94147677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341346184 meters 0.06640848147649232 Centerline is valid? [True, True] Translation: X:129.23, Y:-8.93, Z:-4.94 [[ 9.99772128e-01 2.08992139e-02 4.34910785e-03 1.29231897e+02] [-2.08987961e-02 9.99781586e-01 -1.41488638e-04 -8.93125087e+00] [-4.35111494e-03 5.05652791e-05 9.99990533e-01 -4.94384575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.371346184 meters 0.06627435057681304 Centerline is valid? [True, True] Translation: X:129.26, Y:-8.93, Z:-4.94 [[ 9.99764153e-01 2.13551427e-02 3.94912558e-03 1.29261181e+02] [-2.13548040e-02 9.99771952e-01 -1.27913509e-04 -8.93082636e+00] [-3.95095660e-03 4.35505385e-05 9.99992194e-01 -4.94214393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401346184 meters 0.0662640219680142 Centerline is valid? [True, True] Translation: X:129.29, Y:-8.93, Z:-4.94 [[ 9.99748033e-01 2.20129128e-02 4.39353266e-03 1.29289277e+02] [-2.20125003e-02 9.99757685e-01 -1.42227698e-04 -8.93127848e+00] [-4.39559889e-03 4.54792226e-05 9.99990338e-01 -4.94278899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.431346184 meters 0.06624629542723022 Centerline is valid? [True, True] Translation: X:129.32, Y:-8.93, Z:-4.94 [[ 9.99756758e-01 2.16371123e-02 4.27320354e-03 1.29317864e+02] [-2.16367221e-02 9.99765889e-01 -1.37522130e-04 -8.93254190e+00] [-4.27517872e-03 4.50305615e-05 9.99990860e-01 -4.94296020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461346184 meters 0.0665265817959189 Centerline is valid? [True, True] Translation: X:129.35, Y:-8.94, Z:-4.95 [[ 9.99778338e-01 2.06265721e-02 4.22135968e-03 1.29345638e+02] [-2.06261794e-02 9.99787248e-01 -1.36545569e-04 -8.94089289e+00] [-4.22327804e-03 4.94447796e-05 9.99991081e-01 -4.94770710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49134618399998 meters 0.06640716787656001 Centerline is valid? [True, True] Translation: X:129.37, Y:-8.95, Z:-4.95 [[ 9.99779434e-01 2.05811817e-02 4.18313225e-03 1.29373474e+02] [-2.05807971e-02 9.99788184e-01 -1.34971199e-04 -8.94524254e+00] [-4.18502406e-03 4.88492332e-05 9.99991242e-01 -4.94976236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52134618399998 meters 0.0659789104541975 Centerline is valid? [True, True] Translation: X:129.40, Y:-8.95, Z:-4.95 [[ 9.99799722e-01 1.94972160e-02 4.51374960e-03 1.29401360e+02] [-1.94967598e-02 9.99809910e-01 -1.45054919e-04 -8.94680458e+00] [-4.51571975e-03 5.70223761e-05 9.99989802e-01 -4.94764929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55134618399998 meters 0.0660718835805858 Centerline is valid? [True, True] Translation: X:129.43, Y:-8.95, Z:-4.95 [[ 9.99817969e-01 1.83983927e-02 5.05251051e-03 1.29427842e+02] [-1.83978096e-02 9.99830733e-01 -1.61866488e-04 -8.94923255e+00] [-5.05463337e-03 6.88818968e-05 9.99987223e-01 -4.94705226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58134618399998 meters 0.06619991639709638 Centerline is valid? [True, True] Translation: X:129.46, Y:-8.95, Z:-4.95 [[ 9.99820798e-01 1.81206994e-02 5.47826015e-03 1.29455613e+02] [-1.81200216e-02 9.99835804e-01 -1.73337300e-04 -8.95157227e+00] [-5.48050164e-03 7.40400457e-05 9.99984979e-01 -4.94827178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61134618399998 meters 0.0660248854936619 Centerline is valid? [True, True] Translation: X:129.48, Y:-8.95, Z:-4.95 [[ 9.99827776e-01 1.77385945e-02 5.45525067e-03 1.29484022e+02] [-1.77379220e-02 9.99842656e-01 -1.71634610e-04 -8.95271686e+00] [-5.45743688e-03 7.48402396e-05 9.99985105e-01 -4.94715438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64134618399999 meters 0.06631733815527821 Centerline is valid? [True, True] Translation: X:129.51, Y:-8.96, Z:-4.95 [[ 9.99831369e-01 1.79568790e-02 3.84503589e-03 1.29511016e+02] [-1.79565435e-02 9.99838761e-01 -1.21786537e-04 -8.95799308e+00] [-3.84660283e-03 5.27224464e-05 9.99992600e-01 -4.95108275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.671346184 meters 0.06615201775402757 Centerline is valid? [True, True] Translation: X:129.54, Y:-8.96, Z:-4.95 [[ 9.99834597e-01 1.77954003e-02 3.75525365e-03 1.29539495e+02] [-1.77950813e-02 9.99841648e-01 -1.18344472e-04 -8.96042776e+00] [-3.75676499e-03 5.14998536e-05 9.99992942e-01 -4.95123098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.701346184 meters 0.0662842879206782 Centerline is valid? [True, True] Translation: X:129.57, Y:-8.96, Z:-4.95 [[ 9.99813678e-01 1.89564560e-02 3.64173254e-03 1.29567249e+02] [-1.89561619e-02 9.99820309e-01 -1.15240127e-04 -8.96245255e+00] [-3.64326270e-03 4.61853839e-05 9.99993362e-01 -4.95289692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.731346184 meters 0.06629517201006416 Centerline is valid? [True, True] Translation: X:129.60, Y:-8.96, Z:-4.95 [[ 9.99805916e-01 1.94399083e-02 3.19688757e-03 1.29596105e+02] [-1.94396862e-02 9.99811026e-01 -1.00538662e-04 -8.96404994e+00] [-3.19823790e-03 3.83726575e-05 9.99994885e-01 -4.95444021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.761346184 meters 0.06629245824399292 Centerline is valid? [True, True] Translation: X:129.62, Y:-8.97, Z:-4.95 [[ 9.99801822e-01 1.96445721e-02 3.22616955e-03 1.29624648e+02] [-1.96443478e-02 9.99807026e-01 -1.01223893e-04 -8.96646790e+00] [-3.22753548e-03 3.78278357e-05 9.99994791e-01 -4.95486877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.791346184 meters 0.06643155415066579 Centerline is valid? [True, True] Translation: X:129.65, Y:-8.97, Z:-4.96 [[ 9.99807004e-01 1.93851921e-02 3.18875539e-03 1.29652079e+02] [-1.93849687e-02 9.99812089e-01 -1.00956352e-04 -8.96851750e+00] [-3.19011325e-03 3.91229447e-05 9.99994911e-01 -4.95706351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.821346184 meters 0.06622326951043254 Centerline is valid? [True, True] Translation: X:129.68, Y:-8.97, Z:-4.96 [[ 9.99818535e-01 1.89378434e-02 2.06291352e-03 1.29680658e+02] [-1.89377490e-02 9.99820663e-01 -6.52791196e-05 -8.97059078e+00] [-2.06377981e-03 2.62003351e-05 9.99997870e-01 -4.95659815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.851346184 meters 0.06634603296473698 Centerline is valid? [True, True] Translation: X:129.71, Y:-8.97, Z:-4.96 [[ 9.99834372e-01 1.81264652e-02 1.63065906e-03 1.29708580e+02] [-1.81264035e-02 9.99835702e-01 -5.25950779e-05 -8.97360893e+00] [-1.63134451e-03 2.30283827e-05 9.99998669e-01 -4.95882263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.881346184 meters 0.06618086530673764 Centerline is valid? [True, True] Translation: X:129.74, Y:-8.98, Z:-4.96 [[ 9.99847644e-01 1.73403661e-02 2.00011519e-03 1.29736012e+02] [-1.73402722e-02 9.99849644e-01 -6.42753853e-05 -8.97618454e+00] [-2.00092902e-03 2.95830508e-05 9.99997998e-01 -4.95846651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.911346184 meters 0.06655720349572378 Centerline is valid? [True, True] Translation: X:129.76, Y:-8.98, Z:-4.96 [[ 9.99848273e-01 1.73496831e-02 1.55538046e-03 1.29764002e+02] [-1.73496262e-02 9.99849483e-01 -5.00275519e-05 -8.97857924e+00] [-1.55601432e-03 2.30346916e-05 9.99998789e-01 -4.96207673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941346184 meters 0.06624183007765189 Centerline is valid? [True, True] Translation: X:129.79, Y:-8.98, Z:-4.96 [[ 9.99831379e-01 1.82780505e-02 1.76831816e-03 1.29792628e+02] [-1.82779807e-02 9.99832942e-01 -5.56486854e-05 -8.97957712e+00] [-1.76903990e-03 2.33180166e-05 9.99998435e-01 -4.96130135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.971346184 meters 0.06614400418593581 Centerline is valid? [True, True] Translation: X:129.82, Y:-8.98, Z:-4.96 [[ 9.99831864e-01 1.82754787e-02 1.50027066e-03 1.29821217e+02] [-1.82754280e-02 9.99832989e-01 -4.75080110e-05 -8.98225150e+00] [-1.50088833e-03 2.00819348e-05 9.99998873e-01 -4.96253073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001346184 meters 0.06605664573351162 Centerline is valid? [True, True] Translation: X:129.85, Y:-8.98, Z:-4.96 [[ 9.99853275e-01 1.70889647e-02 1.18106507e-03 1.29849602e+02] [-1.70889318e-02 9.99853973e-01 -3.79037861e-05 -8.98395354e+00] [-1.18154033e-03 1.77150843e-05 9.99999302e-01 -4.96263384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.031346184 meters 0.06645788982006005 Centerline is valid? [True, True] Translation: X:129.88, Y:-8.99, Z:-4.97 [[ 9.99869406e-01 1.61123140e-02 1.25042733e-03 1.29876772e+02] [-1.61122760e-02 9.99870188e-01 -4.04778482e-05 -8.98712725e+00] [-1.25091720e-03 2.03253319e-05 9.99999217e-01 -4.96547537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.061346184 meters 0.06645351848415411 Centerline is valid? [True, True] Translation: X:129.91, Y:-8.99, Z:-4.97 [[ 9.99892994e-01 1.46128727e-02 6.82144002e-04 1.29905124e+02] [-1.46128605e-02 9.99893226e-01 -2.28377513e-05 -8.99113086e+00] [-6.82404892e-04 1.28672324e-05 9.99999767e-01 -4.96549092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.091346184 meters 0.06711812356308 Centerline is valid? [True, True] Translation: X:129.93, Y:-8.99, Z:-4.97 [[ 9.99903771e-01 1.38435316e-02 -8.97112683e-04 1.29932949e+02] [-1.38435161e-02 9.99904174e-01 2.33940924e-05 -8.99473320e+00] [ 8.97350573e-04 -1.09726473e-05 9.99999597e-01 -4.97016085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.121346184 meters 0.06769083604446478 Centerline is valid? [True, True] Translation: X:129.96, Y:-9.00, Z:-4.97 [[ 9.99904318e-01 1.37588041e-02 -1.43187053e-03 1.29960630e+02] [-1.37587620e-02 9.99905343e-01 3.92573449e-05 -8.99806447e+00] [ 1.43227512e-03 -1.95528228e-05 9.99998974e-01 -4.97447355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.151346184 meters 0.06706407940722042 Centerline is valid? [True, True] Translation: X:129.99, Y:-9.00, Z:-4.97 [[ 9.99908843e-01 1.34799529e-02 -7.72864778e-04 1.29989344e+02] [-1.34799412e-02 9.99909141e-01 2.03256362e-05 -8.99916664e+00] [ 7.73068545e-04 -9.90561161e-06 9.99999701e-01 -4.97172816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.181346184 meters 0.06706407940722042 Centerline is valid? [True, True] Translation: X:130.02, Y:-9.00, Z:-4.97 [[ 9.99910283e-01 1.33727139e-02 -7.72903052e-04 1.30016787e+02] [-1.33727032e-02 9.99910581e-01 1.90197433e-05 -8.99983965e+00] [ 7.73088285e-04 -8.68223373e-06 9.99999701e-01 -4.97266862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.211346184 meters 0.0667548298750658 Centerline is valid? [True, True] Translation: X:130.05, Y:-9.00, Z:-4.97 [[ 9.99903225e-01 1.39108604e-02 -1.70026299e-04 1.30045609e+02] [-1.39108602e-02 9.99903239e-01 2.48395436e-06 -9.00060690e+00] [ 1.70044401e-04 -1.18501896e-07 9.99999986e-01 -4.97178978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24134618399998 meters 0.0667377505289681 Centerline is valid? [True, True] Translation: X:130.07, Y:-9.00, Z:-4.97 [[ 9.99889682e-01 1.48525971e-02 -1.53428381e-04 1.30074205e+02] [-1.48525970e-02 9.99889694e-01 1.95603510e-06 -9.00144467e+00] [ 1.53440509e-04 3.22990600e-07 9.99999988e-01 -4.97263691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27134618399998 meters 0.0667739177842456 Centerline is valid? [True, True] Translation: X:130.10, Y:-9.00, Z:-4.97 [[ 9.99875087e-01 1.57910336e-02 -6.74224243e-04 1.30102122e+02] [-1.57910260e-02 9.99875314e-01 1.65036635e-05 -9.00329631e+00] [ 6.74400787e-04 -5.85490940e-06 9.99999773e-01 -4.97405147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30134618399998 meters 0.0666766073030784 Centerline is valid? [True, True] Translation: X:130.13, Y:-9.00, Z:-4.97 [[ 9.99859647e-01 1.67233676e-02 -1.00804544e-03 1.30129643e+02] [-1.67233504e-02 9.99860155e-01 2.54714755e-05 -9.00351125e+00] [ 1.00833044e-03 -8.61000341e-06 9.99999492e-01 -4.97398451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33134618399998 meters 0.06695197826409226 Centerline is valid? [True, True] Translation: X:130.16, Y:-9.00, Z:-4.98 [[ 9.99844235e-01 1.75641040e-02 -1.73460498e-03 1.30156945e+02] [-1.75640488e-02 9.99845739e-01 4.70449923e-05 -9.00469208e+00] [ 1.73516370e-03 -1.65709778e-05 9.99998494e-01 -4.97577646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36134618399998 meters 0.06717256537074066 Centerline is valid? [True, True] Translation: X:130.19, Y:-9.01, Z:-4.98 [[ 9.99833817e-01 1.81021790e-02 -2.15632064e-03 1.30185522e+02] [-1.81020922e-02 9.99836142e-01 5.97596457e-05 -9.00629328e+00] [ 2.15704909e-03 -2.07157997e-05 9.99997673e-01 -4.97772370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39134618399999 meters 0.06715414418225386 Centerline is valid? [True, True] Translation: X:130.21, Y:-9.01, Z:-4.98 [[ 9.99828739e-01 1.84030010e-02 -1.95515411e-03 1.30213427e+02] [-1.84029321e-02 9.99830650e-01 5.31966421e-05 -9.00803087e+00] [ 1.95580198e-03 -1.72069632e-05 9.99998087e-01 -4.97796359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.421346184 meters 0.06657175964470476 Centerline is valid? [True, True] Translation: X:130.24, Y:-9.01, Z:-4.97 [[ 9.99840497e-01 1.78460568e-02 -7.05811910e-04 1.30242246e+02] [-1.78460488e-02 9.99840746e-01 1.76866752e-05 -9.00838717e+00] [ 7.06015144e-04 -5.08790039e-06 9.99999751e-01 -4.97461277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.451346184 meters 0.06663587193744923 Centerline is valid? [True, True] Translation: X:130.27, Y:-9.01, Z:-4.98 [[ 9.99857615e-01 1.68369570e-02 -1.12548687e-03 1.30271416e+02] [-1.68369343e-02 9.99858248e-01 2.96412551e-05 -9.01097311e+00] [ 1.12582640e-03 -1.06872862e-05 9.99999366e-01 -4.97524741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.481346184 meters 0.06775379657197368 Centerline is valid? [True, True] Translation: X:130.30, Y:-9.02, Z:-4.98 [[ 9.99871082e-01 1.59444566e-02 -1.89586394e-03 1.30298306e+02] [-1.59443905e-02 9.99872879e-01 4.99661344e-05 -9.01951097e+00] [ 1.89641962e-03 -1.97312978e-05 9.99998202e-01 -4.98427282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.511346184 meters 0.06688383005831681 Centerline is valid? [True, True] Translation: X:130.33, Y:-9.02, Z:-4.98 [[ 9.99875117e-01 1.57945626e-02 -5.31143304e-04 1.30327502e+02] [-1.57945581e-02 9.99875258e-01 1.25763353e-05 -9.02155897e+00] [ 5.31275685e-04 -4.18559090e-06 9.99999859e-01 -4.97976366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.541346184 meters 0.0668593467269203 Centerline is valid? [True, True] Translation: X:130.36, Y:-9.02, Z:-4.98 [[ 9.99861952e-01 1.66151113e-02 1.19919365e-04 1.30355154e+02] [-1.66151107e-02 9.99861960e-01 -6.51499413e-06 -9.02370676e+00] [-1.20011058e-04 4.52162124e-06 9.99999993e-01 -4.98043147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.571346184 meters 0.06683533186142399 Centerline is valid? [True, True] Translation: X:130.38, Y:-9.02, Z:-4.98 [[ 9.99841757e-01 1.77836502e-02 4.50032527e-04 1.30383179e+02] [-1.77836445e-02 9.99841858e-01 -1.65374147e-05 -9.02499748e+00] [-4.50255454e-04 8.53157929e-06 9.99999899e-01 -4.98006962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601346184 meters 0.06659376794035396 Centerline is valid? [True, True] Translation: X:130.41, Y:-9.03, Z:-4.98 [[ 9.99828606e-01 1.85135366e-02 8.72713091e-05 1.30412451e+02] [-1.85135363e-02 9.99828610e-01 -4.97008750e-06 -9.02524921e+00] [-8.73483656e-05 3.35353512e-06 9.99999996e-01 -4.97853413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.631346184 meters 0.0666740082490153 Centerline is valid? [True, True] Translation: X:130.44, Y:-9.03, Z:-4.98 [[ 9.99815401e-01 1.92126895e-02 -1.90045213e-04 1.30439864e+02] [-1.92126896e-02 9.99815419e-01 1.55786360e-06 -9.02696177e+00] [ 1.90040065e-04 2.09370367e-06 9.99999982e-01 -4.97940888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661346184 meters 0.06690429984776135 Centerline is valid? [True, True] Translation: X:130.47, Y:-9.03, Z:-4.98 [[ 9.99811989e-01 1.93233067e-02 -1.61133903e-03 1.30467437e+02] [-1.93232642e-02 9.99813287e-01 4.18940074e-05 -9.02964700e+00] [ 1.61184770e-03 -1.07498011e-05 9.99998701e-01 -4.98140109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.691346184 meters 0.06718864669998995 Centerline is valid? [True, True] Translation: X:130.49, Y:-9.04, Z:-4.98 [[ 9.99791986e-01 2.03797549e-02 -8.05878453e-04 1.30494934e+02] [-2.03797459e-02 9.99792311e-01 1.93511614e-05 -9.03562684e+00] [ 8.06105453e-04 -2.92353801e-06 9.99999675e-01 -4.98430674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721346184 meters 0.06719225238049065 Centerline is valid? [True, True] Translation: X:130.52, Y:-9.04, Z:-4.99 [[ 9.99803617e-01 1.97938754e-02 -9.64601944e-04 1.30523201e+02] [-1.97938611e-02 9.99804082e-01 2.43509855e-05 -9.04007346e+00] [ 9.64894961e-04 -5.25300649e-06 9.99999534e-01 -4.98537649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.751346184 meters 0.06730791794731544 Centerline is valid? [True, True] Translation: X:130.55, Y:-9.04, Z:-4.99 [[ 9.99813124e-01 1.93243022e-02 -5.36432586e-04 1.30550939e+02] [-1.93242986e-02 9.99813268e-01 1.18250800e-05 -9.04442264e+00] [ 5.36560928e-04 -1.45668672e-06 9.99999856e-01 -4.98707245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781346184 meters 0.06650638716658602 Centerline is valid? [True, True] Translation: X:130.58, Y:-9.05, Z:-4.98 [[ 9.99826924e-01 1.85979793e-02 4.87492365e-04 1.30579711e+02] [-1.85979737e-02 9.99827043e-01 -1.60240879e-05 -9.04827005e+00] [-4.87706066e-04 6.95494428e-06 9.99999881e-01 -4.97956202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.811346184 meters 0.06669041912172685 Centerline is valid? [True, True] Translation: X:130.61, Y:-9.05, Z:-4.98 [[ 9.99843007e-01 1.76990514e-02 8.39496308e-04 1.30607915e+02] [-1.76990361e-02 9.99843359e-01 -2.56559662e-05 -9.05171457e+00] [-8.39818895e-04 1.07936629e-05 9.99999647e-01 -4.98019293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841346184 meters 0.06709642026446057 Centerline is valid? [True, True] Translation: X:130.64, Y:-9.06, Z:-4.98 [[ 9.99846105e-01 1.75116206e-02 1.05287742e-03 1.30635057e+02] [-1.75115965e-02 9.99846660e-01 -3.20258885e-05 -9.05666441e+00] [-1.05327679e-03 1.35833954e-05 9.99999445e-01 -4.98310949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.871346184 meters 0.06690337796848406 Centerline is valid? [True, True] Translation: X:130.66, Y:-9.06, Z:-4.98 [[ 9.99850846e-01 1.72698070e-02 2.01247970e-04 1.30663873e+02] [-1.72698058e-02 9.99850866e-01 -8.01998005e-06 -9.06094161e+00] [-2.01356461e-04 4.54327048e-06 9.99999980e-01 -4.98309215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901346184 meters 0.06762889512077454 Centerline is valid? [True, True] Translation: X:130.69, Y:-9.07, Z:-4.99 [[ 9.99840665e-01 1.78500794e-02 -1.41517313e-04 1.30691620e+02] [-1.78500793e-02 9.99840675e-01 1.31157502e-06 -9.06861750e+00] [ 1.41518177e-04 1.21472923e-06 9.99999990e-01 -4.98783088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.931346184 meters 0.06791890968242457 Centerline is valid? [True, True] Translation: X:130.72, Y:-9.07, Z:-4.99 [[ 9.99833213e-01 1.82356951e-02 -1.00314037e-03 1.30719563e+02] [-1.82356801e-02 9.99833716e-01 2.41024912e-05 -9.07146281e+00] [ 1.00341309e-03 -5.80552433e-06 9.99999497e-01 -4.98977511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961346184 meters 0.06744501539043768 Centerline is valid? [True, True] Translation: X:130.75, Y:-9.07, Z:-4.99 [[ 9.99826071e-01 1.86501157e-02 -3.30862921e-05 1.30748153e+02] [-1.86501158e-02 9.99826071e-01 -1.68964074e-06 -9.07356588e+00] [ 3.30490254e-05 2.30641004e-06 9.99999999e-01 -4.98679995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99134618399998 meters 0.06730534080409065 Centerline is valid? [True, True] Translation: X:130.78, Y:-9.07, Z:-4.99 [[ 9.99825489e-01 1.86774027e-02 -3.82230941e-04 1.30777413e+02] [-1.86774011e-02 9.99825562e-01 7.67368430e-06 -9.07475285e+00] [ 3.82307589e-04 -5.33264550e-07 9.99999927e-01 -4.98544618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02134618399998 meters 0.06749090540809684 Centerline is valid? [True, True] Translation: X:130.81, Y:-9.08, Z:-4.99 [[ 9.99831241e-01 1.83384270e-02 1.09127511e-03 1.30805153e+02] [-1.83384018e-02 9.99831837e-01 -3.30761839e-05 -9.07923610e+00] [-1.09169816e-03 1.30583606e-05 9.99999404e-01 -4.98799035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05134618399998 meters 0.06793426571800268 Centerline is valid? [True, True] Translation: X:130.83, Y:-9.09, Z:-4.99 [[ 9.99849344e-01 1.73346832e-02 8.93889450e-04 1.30833051e+02] [-1.73346655e-02 9.99849743e-01 -2.75376719e-05 -9.08634497e+00] [-8.94232494e-04 1.20382486e-05 9.99999600e-01 -4.99235017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08134618399998 meters 0.06760556578013911 Centerline is valid? [True, True] Translation: X:130.86, Y:-9.09, Z:-4.99 [[ 9.99873570e-01 1.58739611e-02 9.27985259e-04 1.30861511e+02] [-1.58739424e-02 9.99874001e-01 -2.74554056e-05 -9.09309237e+00] [-9.28304160e-04 1.27211499e-05 9.99999569e-01 -4.99171863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11134618399998 meters 0.06768627667422143 Centerline is valid? [True, True] Translation: X:130.89, Y:-9.10, Z:-4.99 [[ 9.99913585e-01 1.28816350e-02 2.62400744e-03 1.30889865e+02] [-1.28814888e-02 9.99917028e-01 -7.26211338e-05 -9.10193830e+00] [-2.62472520e-03 3.88137357e-05 9.99996555e-01 -4.99187981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14134618399999 meters 0.06772060994770028 Centerline is valid? [True, True] Translation: X:130.92, Y:-9.10, Z:-4.99 [[ 9.99917219e-01 1.25056556e-02 3.02717725e-03 1.30917464e+02] [-1.25054595e-02 9.99921800e-01 -8.37049967e-05 -9.10456693e+00] [-3.02798731e-03 4.58418250e-05 9.99995415e-01 -4.99189451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.171346184 meters 0.0677150747452975 Centerline is valid? [True, True] Translation: X:130.95, Y:-9.11, Z:-4.99 [[ 9.99907614e-01 1.26203061e-02 5.04882698e-03 1.30945844e+02] [-1.26197782e-02 9.99920358e-01 -1.36407142e-04 -9.10652692e+00] [-5.05014638e-03 7.26794637e-05 9.99987245e-01 -4.99138679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.201346184 meters 0.06750264884134716 Centerline is valid? [True, True] Translation: X:130.98, Y:-9.11, Z:-4.99 [[ 9.99892220e-01 1.34877147e-02 5.79908780e-03 1.30975012e+02] [-1.34870375e-02 9.99909034e-01 -1.55875992e-04 -9.10958041e+00] [-5.80066269e-03 7.76466772e-05 9.99983173e-01 -4.99061329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.231346184 meters 0.06749688451500076 Centerline is valid? [True, True] Translation: X:131.00, Y:-9.11, Z:-4.99 [[ 9.99885426e-01 1.32668174e-02 7.28878899e-03 1.31004670e+02] [-1.32657577e-02 9.99911987e-01 -1.93721651e-04 -9.11296440e+00] [-7.29071755e-03 9.70081474e-05 9.99973418e-01 -4.99127226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.261346184 meters 0.06744504231286082 Centerline is valid? [True, True] Translation: X:131.03, Y:-9.12, Z:-4.99 [[ 9.99888585e-01 1.31116087e-02 7.13459546e-03 1.31034144e+02] [-1.31105910e-02 9.99914035e-01 -1.89399493e-04 -9.11692957e+00] [-7.13646546e-03 9.58396280e-05 9.99974531e-01 -4.99214553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.291346184 meters 0.06841405657326806 Centerline is valid? [True, True] Translation: X:131.06, Y:-9.12, Z:-5.00 [[ 9.99891838e-01 1.27083900e-02 7.40338395e-03 1.31063434e+02] [-1.27072893e-02 9.99919240e-01 -1.95702768e-04 -9.12441847e+00] [-7.40527312e-03 1.01604659e-04 9.99972575e-01 -4.99932585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.321346184 meters 0.06751587114397196 Centerline is valid? [True, True] Translation: X:131.09, Y:-9.13, Z:-5.00 [[ 9.99875745e-01 1.34252225e-02 8.26179067e-03 1.31093958e+02] [-1.34238820e-02 9.99909872e-01 -2.17683491e-04 -9.12651253e+00] [-8.26396850e-03 1.06751140e-04 9.99965847e-01 -4.99675600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.351346184 meters 0.06732928442806191 Centerline is valid? [True, True] Translation: X:131.12, Y:-9.13, Z:-5.00 [[ 9.99843156e-01 1.48528945e-02 9.64647793e-03 1.31123313e+02] [-1.48511292e-02 9.99889683e-01 -2.54618007e-04 -9.12631470e+00] [-9.64919558e-03 1.11316982e-04 9.99953439e-01 -4.99651440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.381346184 meters 0.06721137112711557 Centerline is valid? [True, True] Translation: X:131.15, Y:-9.13, Z:-5.00 [[ 9.99809630e-01 1.63176424e-02 1.06975911e-02 1.31152563e+02] [-1.63155626e-02 9.99866853e-01 -2.81666064e-04 -9.12678133e+00] [-1.07007629e-02 1.07075225e-04 9.99942739e-01 -4.99737246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.411346184 meters 0.0671595965635115 Centerline is valid? [True, True] Translation: X:131.18, Y:-9.13, Z:-5.00 [[ 9.99802171e-01 1.66702006e-02 1.08499955e-02 1.31183327e+02] [-1.66680819e-02 9.99861037e-01 -2.85678848e-04 -9.12989244e+00] [-1.08532500e-02 1.04773719e-04 9.99941096e-01 -4.99815428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.441346184 meters 0.06734992894667116 Centerline is valid? [True, True] Translation: X:131.21, Y:-9.13, Z:-5.00 [[ 9.99815407e-01 1.60407344e-02 1.05757791e-02 1.31213435e+02] [-1.60387070e-02 9.99871333e-01 -2.76495102e-04 -9.13324322e+00] [-1.05788535e-02 1.06822241e-04 9.99944037e-01 -5.00067170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.471346184 meters 0.06764251375965372 Centerline is valid? [True, True] Translation: X:131.24, Y:-9.14, Z:-5.00 [[ 9.99833978e-01 1.50492204e-02 1.02731194e-02 1.31244142e+02] [-1.50472310e-02 9.99886747e-01 -2.70918912e-04 -9.13679276e+00] [-1.02760330e-02 1.16291933e-04 9.99947193e-01 -5.00242430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.501346184 meters 0.06812074160489627 Centerline is valid? [True, True] Translation: X:131.27, Y:-9.15, Z:-5.00 [[ 9.99875771e-01 1.10107814e-02 1.12785612e-02 1.31274278e+02] [-1.10081237e-02 9.99939364e-01 -2.97697108e-04 -9.14543872e+00] [-1.12811551e-02 1.73504329e-04 9.99936351e-01 -5.00402242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.531346184 meters 0.06844992754209733 Centerline is valid? [True, True] Translation: X:131.31, Y:-9.15, Z:-5.01 [[ 9.99884936e-01 9.50928307e-03 1.18189391e-02 1.31305523e+02] [-9.50631231e-03 9.99954767e-01 -3.07510920e-04 -9.15101626e+00] [-1.18213287e-02 1.95121010e-04 9.99930107e-01 -5.00528048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.561346184 meters 0.06845242286358875 Centerline is valid? [True, True] Translation: X:131.34, Y:-9.16, Z:-5.01 [[ 9.99880755e-01 8.76441425e-03 1.27145781e-02 1.31338343e+02] [-8.76088772e-03 9.99961567e-01 -3.33033421e-04 -9.15518995e+00] [-1.27170083e-02 2.21602717e-04 9.99919111e-01 -5.00567803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.591346184 meters 0.06812954389480035 Centerline is valid? [True, True] Translation: X:131.37, Y:-9.16, Z:-5.01 [[ 9.99892019e-01 7.64612375e-03 1.25494277e-02 1.31370348e+02] [-7.64255100e-03 9.99970740e-01 -3.32626407e-04 -9.15893659e+00] [-1.25516038e-02 2.36680848e-04 9.99921198e-01 -5.00544381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621346184 meters 0.06832194184740367 Centerline is valid? [True, True] Translation: X:131.40, Y:-9.16, Z:-5.01 [[ 9.99901590e-01 7.22083189e-03 1.20279106e-02 1.31402907e+02] [-7.21748454e-03 9.99973902e-01 -3.21682754e-04 -9.16147698e+00] [-1.20299195e-02 2.34839838e-04 9.99927610e-01 -5.00718646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.651346184 meters 0.06843973375769785 Centerline is valid? [True, True] Translation: X:131.43, Y:-9.16, Z:-5.01 [[ 9.99912497e-01 7.41853965e-03 1.09528115e-02 1.31434272e+02] [-7.41574822e-03 9.99972459e-01 -2.95450525e-04 -9.16231608e+00] [-1.09547016e-02 2.14201380e-04 9.99939973e-01 -5.00844655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681346184 meters 0.06955952355958296 Centerline is valid? [True, True] Translation: X:131.47, Y:-9.17, Z:-5.01 [[ 9.99919906e-01 8.15845834e-03 9.67584264e-03 1.31465231e+02] [-8.15630044e-03 9.99966702e-01 -2.62459200e-04 -9.16528330e+00] [-9.67766172e-03 1.83519099e-04 9.99953153e-01 -5.01399794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.711346184 meters 0.06885890793094317 Centerline is valid? [True, True] Translation: X:131.50, Y:-9.16, Z:-5.01 [[ 9.99930862e-01 7.91987691e-03 8.69171889e-03 1.31497946e+02] [-7.91811961e-03 9.99968623e-01 -2.36574230e-04 -9.16488558e+00] [-8.69331981e-03 1.67735804e-04 9.99962198e-01 -5.01279492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74134618399998 meters 0.07037402844185874 Centerline is valid? [True, True] Translation: X:131.53, Y:-9.17, Z:-5.02 [[ 9.99937255e-01 8.13483472e-03 7.70138488e-03 1.31528646e+02] [-8.13344979e-03 9.99966901e-01 -2.11132858e-04 -9.17218887e+00] [-7.70284750e-03 1.48480783e-04 9.99970322e-01 -5.02080368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77134618399998 meters 0.06974084041882231 Centerline is valid? [True, True] Translation: X:131.56, Y:-9.17, Z:-5.02 [[ 9.99950646e-01 7.43420007e-03 6.59078344e-03 1.31560967e+02] [-7.43317066e-03 9.99972357e-01 -1.80672106e-04 -9.17431078e+00] [-6.59194441e-03 1.31672771e-04 9.99978264e-01 -5.01977479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80134618399998 meters 0.06980480675447617 Centerline is valid? [True, True] Translation: X:131.59, Y:-9.18, Z:-5.02 [[ 9.99953647e-01 6.81305363e-03 6.80338647e-03 1.31591785e+02] [-6.81188879e-03 9.99976780e-01 -1.94372122e-04 -9.17631571e+00] [-6.80455276e-03 1.48019200e-04 9.99976838e-01 -5.02034602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83134618399998 meters 0.06970123600552136 Centerline is valid? [True, True] Translation: X:131.62, Y:-9.18, Z:-5.02 [[ 9.99955883e-01 6.67336121e-03 6.61045241e-03 1.31624224e+02] [-6.67229619e-03 9.99977723e-01 -1.83151529e-04 -9.17636355e+00] [-6.61152739e-03 1.39036552e-04 9.99978134e-01 -5.02070184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86134618399998 meters 0.06948838776105895 Centerline is valid? [True, True] Translation: X:131.66, Y:-9.17, Z:-5.02 [[ 9.99956740e-01 7.11099437e-03 5.99601746e-03 1.31657063e+02] [-7.11012303e-03 9.99974709e-01 -1.66623427e-04 -9.17445909e+00] [-5.99705068e-03 1.23983797e-04 9.99982010e-01 -5.02045271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89134618399999 meters 0.06992626130067241 Centerline is valid? [True, True] Translation: X:131.69, Y:-9.17, Z:-5.02 [[ 9.99957571e-01 7.68420710e-03 5.08033739e-03 1.31687489e+02] [-7.68355652e-03 9.99970470e-01 -1.47563736e-04 -9.17467732e+00] [-5.08132128e-03 1.08522415e-04 9.99987084e-01 -5.02265842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.921346184 meters 0.06977165003041993 Centerline is valid? [True, True] Translation: X:131.72, Y:-9.17, Z:-5.03 [[ 9.99964367e-01 7.97854699e-03 2.75819607e-03 1.31718220e+02] [-7.97835611e-03 9.99968169e-01 -8.02009399e-05 -9.17455148e+00] [-2.75874816e-03 5.81922116e-05 9.99996193e-01 -5.02559498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.951346184 meters 0.07264116370751825 Centerline is valid? [True, True] Translation: X:131.75, Y:-9.18, Z:-5.04 [[ 9.99964757e-01 8.09126792e-03 2.23963803e-03 1.31746577e+02] [-8.09113985e-03 9.99967264e-01 -6.62345410e-05 -9.18296732e+00] [-2.24010064e-03 4.81109821e-05 9.99997490e-01 -5.03866856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.981346184 meters 0.07000760489180285 Centerline is valid? [True, True] Translation: X:131.78, Y:-9.17, Z:-5.03 [[ 9.99970912e-01 7.61661389e-03 -4.01797278e-04 1.31776530e+02] [-7.61661058e-03 9.99970993e-01 9.78323649e-06 -9.17463323e+00] [ 4.01860139e-04 -6.72261852e-06 9.99999919e-01 -5.02818496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.011346184 meters 0.0701502675004549 Centerline is valid? [True, True] Translation: X:131.80, Y:-9.17, Z:-5.03 [[ 9.99971247e-01 7.53765662e-03 -8.30313399e-04 1.31804785e+02] [-7.53764185e-03 9.99971591e-01 2.09140400e-05 -9.17440120e+00] [ 8.30447454e-04 -1.46548336e-05 9.99999655e-01 -5.02993172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.041346184 meters 0.0702455099952579 Centerline is valid? [True, True] Translation: X:131.83, Y:-9.17, Z:-5.03 [[ 9.99970459e-01 7.63899730e-03 -8.52416232e-04 1.31833651e+02] [-7.63898121e-03 9.99970822e-01 2.21302069e-05 -9.17491641e+00] [ 8.52560413e-04 -1.56179616e-05 9.99999636e-01 -5.03094937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.071346184 meters 0.0702455099952579 Centerline is valid? [True, True] Translation: X:131.86, Y:-9.18, Z:-5.03 [[ 9.99971050e-01 7.56120999e-03 -8.52418579e-04 1.31861954e+02] [-7.56119394e-03 9.99971414e-01 2.20458023e-05 -9.17564395e+00] [ 8.52560904e-04 -1.55998619e-05 9.99999636e-01 -5.03191906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.101346184 meters 0.07020065852965429 Centerline is valid? [True, True] Translation: X:131.89, Y:-9.18, Z:-5.03 [[ 9.99966826e-01 8.14176081e-03 -2.44000016e-04 1.31891274e+02] [-8.14175982e-03 9.99966855e-01 5.06477499e-06 -9.17585854e+00] [ 2.44033165e-04 -3.07801744e-06 9.99999970e-01 -5.03230372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.131346184 meters 0.06985412007295395 Centerline is valid? [True, True] Translation: X:131.92, Y:-9.17, Z:-5.03 [[ 9.99954855e-01 9.29061372e-03 1.99315537e-03 1.31918917e+02] [-9.29051111e-03 9.99956840e-01 -6.07344167e-05 -9.17469760e+00] [-1.99363361e-03 4.22142428e-05 9.99998012e-01 -5.03203657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.161346184 meters 0.07024061260661592 Centerline is valid? [True, True] Translation: X:131.95, Y:-9.18, Z:-5.04 [[ 9.99965154e-01 8.32971187e-03 5.54104776e-04 1.31946917e+02] [-8.32970288e-03 9.99965307e-01 -1.85170236e-05 -9.17510765e+00] [-5.54239794e-04 1.39008502e-05 9.99999846e-01 -5.03517764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.191346184 meters 0.07162982044554457 Centerline is valid? [True, True] Translation: X:131.97, Y:-9.18, Z:-5.04 [[ 9.99967984e-01 7.99740188e-03 -2.69509792e-04 1.31974914e+02] [-7.99740094e-03 9.99968020e-01 4.57825119e-06 -9.17698678e+00] [ 2.69537788e-04 -2.42272675e-06 9.99999964e-01 -5.04119541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.221346184 meters 0.07042153486215734 Centerline is valid? [True, True] Translation: X:132.00, Y:-9.17, Z:-5.04 [[ 9.99970721e-01 7.65111849e-03 -1.31517805e-04 1.32004164e+02] [-7.65111840e-03 9.99970730e-01 1.15861473e-06 -9.17324146e+00] [ 1.31522820e-04 -1.52322507e-07 9.99999991e-01 -5.03666068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.251346184 meters 0.07098924670576458 Centerline is valid? [True, True] Translation: X:132.03, Y:-9.18, Z:-5.04 [[ 9.99969310e-01 7.76633646e-03 1.03105661e-03 1.32031915e+02] [-7.76630696e-03 9.99969841e-01 -3.26093318e-05 -9.17573159e+00] [-1.03127877e-03 2.46008289e-05 9.99999468e-01 -5.04090542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.281346184 meters 0.07010319022971802 Centerline is valid? [True, True] Translation: X:132.06, Y:-9.17, Z:-5.04 [[ 9.99964656e-01 8.34120276e-03 1.05413546e-03 1.32060416e+02] [-8.34117309e-03 9.99965211e-01 -3.25425162e-05 -9.17358420e+00] [-1.05437024e-03 2.37486396e-05 9.99999444e-01 -5.03860912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.311346184 meters 0.06984898125509714 Centerline is valid? [True, True] Translation: X:132.09, Y:-9.17, Z:-5.04 [[ 9.99956895e-01 9.03108724e-03 2.15585675e-03 1.32089343e+02] [-9.03097091e-03 9.99959218e-01 -6.36912477e-05 -9.17129656e+00] [-2.15634403e-03 4.42190227e-05 9.99997674e-01 -5.03867151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.341346184 meters 0.06971472367825707 Centerline is valid? [True, True] Translation: X:132.12, Y:-9.17, Z:-5.04 [[ 9.99934553e-01 1.12902292e-02 1.84933788e-03 1.32117830e+02] [-1.12901471e-02 9.99936263e-01 -5.48488119e-05 -9.16554530e+00] [-1.84983927e-03 3.39659254e-05 9.99998288e-01 -5.03971107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.371346184 meters 0.06950315174099364 Centerline is valid? [True, True] Translation: X:132.15, Y:-9.16, Z:-5.04 [[ 9.99925458e-01 1.19985526e-02 2.26139615e-03 1.32146727e+02] [-1.19984333e-02 9.99928014e-01 -6.63094599e-05 -9.16347991e+00] [-2.26202898e-03 3.91713062e-05 9.99997441e-01 -5.04063096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.401346184 meters 0.06916224288063261 Centerline is valid? [True, True] Translation: X:132.17, Y:-9.16, Z:-5.04 [[ 9.99896481e-01 1.39785695e-02 3.40971287e-03 1.32174504e+02] [-1.39783135e-02 9.99902294e-01 -9.88976943e-05 -9.16137844e+00] [-3.41076217e-03 5.12254212e-05 9.99994182e-01 -5.04185591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.431346184 meters 0.06901617218227418 Centerline is valid? [True, True] Translation: X:132.20, Y:-9.16, Z:-5.04 [[ 9.99892303e-01 1.43829473e-02 2.91779669e-03 1.32203652e+02] [-1.43827623e-02 9.99896559e-01 -8.44038897e-05 -9.16039480e+00] [-2.91870884e-03 4.24288236e-05 9.99995740e-01 -5.04263780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.461346184 meters 0.06941675615311779 Centerline is valid? [True, True] Translation: X:132.23, Y:-9.16, Z:-5.05 [[ 9.99909435e-01 1.33318822e-02 1.83914065e-03 1.32232037e+02] [-1.33318054e-02 9.99911126e-01 -5.40092066e-05 -9.16189136e+00] [-1.83969725e-03 2.94852499e-05 9.99998307e-01 -5.04528084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49134618399998 meters 0.06969613401901335 Centerline is valid? [True, True] Translation: X:132.26, Y:-9.16, Z:-5.05 [[ 9.99929070e-01 1.18515290e-02 1.18133278e-03 1.32260833e+02] [-1.18514953e-02 9.99929768e-01 -3.55155646e-05 -9.16347104e+00] [-1.18167073e-03 2.15124855e-05 9.99999302e-01 -5.04679889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52134618399998 meters 0.0697700659611931 Centerline is valid? [True, True] Translation: X:132.29, Y:-9.16, Z:-5.05 [[ 9.99939451e-01 1.09367794e-02 1.21738773e-03 1.32289585e+02] [-1.09367431e-02 9.99940191e-01 -3.64399231e-05 -9.16363557e+00] [-1.21771346e-03 2.31234597e-05 9.99999258e-01 -5.04766961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55134618399998 meters 0.06990168738404648 Centerline is valid? [True, True] Translation: X:132.32, Y:-9.16, Z:-5.05 [[ 9.99949799e-01 9.86172174e-03 1.77343900e-03 1.32318659e+02] [-9.86164545e-03 9.99951371e-01 -5.17529890e-05 -9.16450037e+00] [-1.77386314e-03 3.42613643e-05 9.99998426e-01 -5.04904788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58134618399998 meters 0.06990282038247819 Centerline is valid? [True, True] Translation: X:132.35, Y:-9.17, Z:-5.05 [[ 9.99960894e-01 8.75555335e-03 1.24535503e-03 1.32347749e+02] [-8.75551481e-03 9.99961669e-01 -3.63955298e-05 -9.16686572e+00] [-1.24562596e-03 2.54903822e-05 9.99999224e-01 -5.05025914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61134618399998 meters 0.0701658776344976 Centerline is valid? [True, True] Translation: X:132.38, Y:-9.17, Z:-5.05 [[ 9.99954348e-01 9.30017850e-03 2.19270636e-03 1.32375159e+02] [-9.30006126e-03 9.99956751e-01 -6.36561874e-05 -9.16815998e+00] [-2.19320355e-03 4.32609778e-05 9.99997594e-01 -5.05244124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64134618399999 meters 0.06977221266922261 Centerline is valid? [True, True] Translation: X:132.40, Y:-9.17, Z:-5.05 [[ 9.99946669e-01 9.85684208e-03 3.08258357e-03 1.32404572e+02] [-9.85662164e-03 9.99951419e-01 -8.66927857e-05 -9.16571786e+00] [-3.08328833e-03 5.63043024e-05 9.99995245e-01 -5.05158290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.671346184 meters 0.06988271343542725 Centerline is valid? [True, True] Translation: X:132.43, Y:-9.17, Z:-5.05 [[ 9.99942324e-01 1.03237153e-02 2.96140875e-03 1.32433009e+02] [-1.03235142e-02 9.99946708e-01 -8.31744433e-05 -9.16620443e+00] [-2.96210960e-03 5.25975009e-05 9.99995612e-01 -5.05370814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.701346184 meters 0.07000145017296817 Centerline is valid? [True, True] Translation: X:132.46, Y:-9.17, Z:-5.06 [[ 9.99948862e-01 9.81755060e-03 2.42678199e-03 1.32462202e+02] [-9.81741224e-03 9.99951806e-01 -6.89209069e-05 -9.16755284e+00] [-2.42734167e-03 4.50926632e-05 9.99997053e-01 -5.05551641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.731346184 meters 0.06992313268301291 Centerline is valid? [True, True] Translation: X:132.49, Y:-9.17, Z:-5.06 [[ 9.99957544e-01 9.02212194e-03 1.87374632e-03 1.32491217e+02] [-9.02203710e-03 9.99959299e-01 -5.37247808e-05 -9.16776175e+00] [-1.87415477e-03 3.68174910e-05 9.99998243e-01 -5.05507218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.761346184 meters 0.07057014150027761 Centerline is valid? [True, True] Translation: X:132.52, Y:-9.17, Z:-5.06 [[ 9.99978583e-01 6.39456476e-03 1.39371895e-03 1.32520048e+02] [-6.39451538e-03 9.99979554e-01 -3.98823654e-05 -9.17137091e+00] [-1.39394549e-03 3.09693539e-05 9.99999028e-01 -5.05778884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.791346184 meters 0.07114551436951866 Centerline is valid? [True, True] Translation: X:132.55, Y:-9.17, Z:-5.06 [[ 9.99987978e-01 4.51042402e-03 1.92328594e-03 1.32548324e+02] [-4.51032817e-03 9.99989827e-01 -5.41711168e-05 -9.17436216e+00] [-1.92351071e-03 4.54958149e-05 9.99998149e-01 -5.05971388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.821346184 meters 0.0707598928076835 Centerline is valid? [True, True] Translation: X:132.58, Y:-9.18, Z:-5.06 [[ 9.99996966e-01 2.10635878e-03 1.27690288e-03 1.32578245e+02] [-2.10631535e-03 9.99997781e-01 -3.53521021e-05 -9.17565373e+00] [-1.27697451e-03 3.26624347e-05 9.99999184e-01 -5.05889598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.851346184 meters 0.07089043275858418 Centerline is valid? [True, True] Translation: X:132.61, Y:-9.18, Z:-5.06 [[ 9.99998053e-01 8.27270761e-04 1.79150619e-03 1.32608279e+02] [-8.27184864e-04 9.99999657e-01 -4.86874247e-05 -9.17761728e+00] [-1.79154585e-03 4.72054231e-05 9.99998394e-01 -5.05993600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.881346184 meters 0.07211091330890276 Centerline is valid? [True, True] Translation: X:132.64, Y:-9.18, Z:-5.06 [[ 9.99997309e-01 -2.30788297e-03 2.35148175e-04 1.32637799e+02] [ 2.30788379e-03 9.99997337e-01 -3.22065666e-06 -9.18081031e+00] [-2.35140116e-04 3.76334266e-06 9.99999972e-01 -5.06327280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.911346184 meters 0.07213430913467513 Centerline is valid? [True, True] Translation: X:132.67, Y:-9.18, Z:-5.06 [[ 9.99991027e-01 -4.23626116e-03 1.16756604e-05 1.32669196e+02] [ 4.23626115e-03 9.99991027e-01 9.65499968e-07 -9.18112470e+00] [-1.16796459e-05 -9.16030155e-07 1.00000000e+00 -5.06309031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.941346184 meters 0.07309736041191517 Centerline is valid? [True, True] Translation: X:132.70, Y:-9.18, Z:-5.07 [[ 9.99986340e-01 -5.19542761e-03 5.71899801e-04 1.32700092e+02] [ 5.19543631e-03 9.99986504e-01 -1.37326879e-05 -9.18440333e+00] [-5.71820736e-04 1.67037694e-05 9.99999836e-01 -5.06592798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.971346184 meters 0.07355530798194122 Centerline is valid? [True, True] Translation: X:132.73, Y:-9.19, Z:-5.07 [[ 9.99973131e-01 -7.28676891e-03 7.99677417e-04 1.32732298e+02] [ 7.28678679e-03 9.99973451e-01 -1.94423284e-05 -9.18678570e+00] [-7.99514514e-04 2.52688849e-05 9.99999680e-01 -5.06764623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.001346184 meters 0.07327697959194142 Centerline is valid? [True, True] Translation: X:132.76, Y:-9.19, Z:-5.07 [[ 9.99974164e-01 -7.18714917e-03 1.28624066e-04 1.32764730e+02] [ 7.18714936e-03 9.99974172e-01 -1.02122945e-06 -9.18526859e+00] [-1.28613405e-04 1.94564344e-06 9.99999992e-01 -5.06852773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.031346184 meters 0.07337150297687324 Centerline is valid? [True, True] Translation: X:132.80, Y:-9.18, Z:-5.07 [[ 9.99971799e-01 -7.46482609e-03 -8.23116499e-04 1.32796969e+02] [ 7.46484938e-03 9.99972137e-01 2.52260258e-05 -9.18409281e+00] [ 8.22905257e-04 -3.13697551e-05 9.99999661e-01 -5.06980309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061346184 meters 0.07390051724688734 Centerline is valid? [True, True] Translation: X:132.83, Y:-9.18, Z:-5.07 [[ 9.99971618e-01 -7.35806364e-03 -1.61945689e-03 1.32828010e+02] [ 7.35815243e-03 9.99972927e-01 4.88718590e-05 -9.18448155e+00] [ 1.61905345e-03 -6.07866826e-05 9.99998687e-01 -5.07283345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.091346184 meters 0.07326596223325559 Centerline is valid? [True, True] Translation: X:132.86, Y:-9.18, Z:-5.07 [[ 9.99967943e-01 -7.94672626e-03 -9.81109044e-04 1.32860711e+02] [ 7.94675931e-03 9.99968424e-01 2.97926501e-05 -9.18229620e+00] [ 9.80841310e-04 -3.75883324e-05 9.99999518e-01 -5.07305604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121346184 meters 0.0737685640087193 Centerline is valid? [True, True] Translation: X:132.89, Y:-9.18, Z:-5.07 [[ 9.99968465e-01 -7.92070609e-03 -5.75368399e-04 1.32892391e+02] [ 7.92071806e-03 9.99968630e-01 1.85315820e-05 -9.18243272e+00] [ 5.75203567e-04 -2.30883284e-05 9.99999834e-01 -5.07444253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.151346184 meters 0.07392153784067051 Centerline is valid? [True, True] Translation: X:132.92, Y:-9.18, Z:-5.07 [[ 9.99967851e-01 -7.97672322e-03 -8.17627747e-04 1.32923615e+02] [ 7.97674605e-03 9.99968185e-01 2.46605883e-05 -9.18059081e+00] [ 8.17405024e-04 -3.11818044e-05 9.99999665e-01 -5.07484386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181346184 meters 0.07376888445756107 Centerline is valid? [True, True] Translation: X:132.96, Y:-9.18, Z:-5.07 [[ 9.99963739e-01 -8.50798796e-03 3.65946869e-04 1.32955761e+02] [ 8.50799137e-03 9.99963806e-01 -7.74986406e-06 -9.17668380e+00] [-3.65867688e-04 1.08630558e-05 9.99999933e-01 -5.07376090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.211346184 meters 0.07349031794347294 Centerline is valid? [True, True] Translation: X:132.99, Y:-9.18, Z:-5.07 [[ 9.99961175e-01 -8.78717713e-03 6.58187129e-04 1.32988439e+02] [ 8.78718955e-03 9.99961392e-01 -1.59878616e-05 -9.17647795e+00] [-6.58021229e-04 2.17708559e-05 9.99999783e-01 -5.07392763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24134618399998 meters 0.07487703409946413 Centerline is valid? [True, True] Translation: X:133.02, Y:-9.18, Z:-5.08 [[ 9.99958581e-01 -9.00669511e-03 1.31010739e-03 1.33019628e+02] [ 9.00674869e-03 9.99959438e-01 -3.50046695e-05 -9.18033279e+00] [-1.30973897e-03 4.68030276e-05 9.99999141e-01 -5.07760245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27134618399998 meters 0.07444282086249551 Centerline is valid? [True, True] Translation: X:133.05, Y:-9.18, Z:-5.08 [[ 9.99956667e-01 -9.02111723e-03 2.29880918e-03 1.33052020e+02] [ 9.02128453e-03 9.99959305e-01 -6.24172668e-05 -9.17916441e+00] [-2.29815255e-03 8.31527737e-05 9.99997356e-01 -5.07785179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30134618399998 meters 0.07368486736880073 Centerline is valid? [True, True] Translation: X:133.08, Y:-9.18, Z:-5.08 [[ 9.99962313e-01 -8.41437169e-03 2.13781069e-03 1.33084570e+02] [ 8.41451487e-03 9.99964596e-01 -5.79874535e-05 -9.17620332e+00] [-2.13724708e-03 7.59739080e-05 9.99997713e-01 -5.07790721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33134618399998 meters 0.07324115865562654 Centerline is valid? [True, True] Translation: X:133.12, Y:-9.17, Z:-5.08 [[ 9.99966470e-01 -7.41612520e-03 3.47284301e-03 1.33116685e+02] [ 7.41650875e-03 9.99972493e-01 -9.75756525e-05 -9.16995181e+00] [-3.47202384e-03 1.23328751e-04 9.99993965e-01 -5.07710310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36134618399998 meters 0.073190795261589 Centerline is valid? [True, True] Translation: X:133.15, Y:-9.17, Z:-5.08 [[ 9.99975716e-01 -6.48378509e-03 2.55482287e-03 1.33148281e+02] [ 6.48398098e-03 9.99978976e-01 -6.84005450e-05 -9.16765631e+00] [-2.55432566e-03 8.49643069e-05 9.99996734e-01 -5.07819389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39134618399999 meters 0.07206448865779945 Centerline is valid? [True, True] Translation: X:133.18, Y:-9.16, Z:-5.08 [[ 9.99979382e-01 -5.65752639e-03 3.03768193e-03 1.33181245e+02] [ 5.65780578e-03 9.99983991e-01 -8.33878335e-05 -9.16265893e+00] [-3.03716153e-03 1.00572729e-04 9.99995383e-01 -5.07688323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.421346184 meters 0.070993063278025 Centerline is valid? [True, True] Translation: X:133.21, Y:-9.16, Z:-5.08 [[ 9.99985193e-01 -4.90259363e-03 2.36197185e-03 1.33213318e+02] [ 4.90276047e-03 9.99987979e-01 -6.48487936e-05 -9.15757365e+00] [-2.36162553e-03 7.64280156e-05 9.99997208e-01 -5.07547065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.451346184 meters 0.07127791493303487 Centerline is valid? [True, True] Translation: X:133.24, Y:-9.16, Z:-5.08 [[ 9.99985315e-01 -4.37015960e-03 3.20502615e-03 1.33244773e+02] [ 4.37046966e-03 9.99990445e-01 -8.97443978e-05 -9.15777716e+00] [-3.20460333e-03 1.03750549e-04 9.99994860e-01 -5.07763173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.481346184 meters 0.07119825395504131 Centerline is valid? [True, True] Translation: X:133.28, Y:-9.16, Z:-5.08 [[ 9.99983477e-01 -3.97941793e-03 4.14853064e-03 1.33277038e+02] [ 3.97993530e-03 9.99992073e-01 -1.16463664e-04 -9.15723009e+00] [-4.14803430e-03 1.32972623e-04 9.99991388e-01 -5.07832643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.511346184 meters 0.07066877960428561 Centerline is valid? [True, True] Translation: X:133.31, Y:-9.15, Z:-5.08 [[ 9.99983542e-01 -3.49165052e-03 4.55236156e-03 1.33309013e+02] [ 3.49227093e-03 9.99993894e-01 -1.28341150e-04 -9.15454234e+00] [-4.55188564e-03 1.44237118e-04 9.99989630e-01 -5.07722063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.541346184 meters 0.07078557569251062 Centerline is valid? [True, True] Translation: X:133.34, Y:-9.15, Z:-5.08 [[ 9.99979911e-01 -3.65215560e-03 5.18068527e-03 1.33341623e+02] [ 3.65296509e-03 9.99993317e-01 -1.46796610e-04 -9.15245485e+00] [-5.18011452e-03 1.65718523e-04 9.99986569e-01 -5.07717601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.571346184 meters 0.07041673198091435 Centerline is valid? [True, True] Translation: X:133.37, Y:-9.15, Z:-5.08 [[ 9.99984606e-01 -3.30063137e-03 4.46032270e-03 1.33373703e+02] [ 3.30122763e-03 9.99994543e-01 -1.26324030e-04 -9.14625308e+00] [-4.45988141e-03 1.41046626e-04 9.99990045e-01 -5.07640159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601346184 meters 0.07099151060228863 Centerline is valid? [True, True] Translation: X:133.40, Y:-9.15, Z:-5.08 [[ 9.99986401e-01 -2.95654442e-03 4.29622826e-03 1.33404570e+02] [ 2.95709784e-03 9.99995620e-01 -1.22467663e-04 -9.14811804e+00] [-4.29584736e-03 1.35170365e-04 9.99990764e-01 -5.07977110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.631346184 meters 0.07098271781153143 Centerline is valid? [True, True] Translation: X:133.44, Y:-9.15, Z:-5.08 [[ 9.99986382e-01 -2.47411899e-03 4.59500588e-03 1.33436584e+02] [ 2.47474657e-03 9.99996929e-01 -1.30897985e-04 -9.14892271e+00] [-4.59466791e-03 1.42267678e-04 9.99989434e-01 -5.08224621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661346184 meters 0.07034800574631697 Centerline is valid? [True, True] Translation: X:133.47, Y:-9.15, Z:-5.08 [[ 9.99984067e-01 -2.29509731e-03 5.15739863e-03 1.33469080e+02] [ 2.29588863e-03 9.99997354e-01 -1.47518307e-04 -9.14754798e+00] [-5.15704641e-03 1.59356769e-04 9.99986690e-01 -5.08271325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.691346184 meters 0.07125276312405208 Centerline is valid? [True, True] Translation: X:133.50, Y:-9.15, Z:-5.09 [[ 9.99993333e-01 -1.39310037e-03 3.37529311e-03 1.33500075e+02] [ 1.39343403e-03 9.99999025e-01 -9.65035990e-05 -9.14705492e+00] [-3.37515538e-03 1.01206204e-04 9.99994299e-01 -5.08797325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721346184 meters 0.07042875872305851 Centerline is valid? [True, True] Translation: X:133.53, Y:-9.14, Z:-5.09 [[ 9.99995242e-01 -4.66459567e-04 3.04918392e-03 1.33532416e+02] [ 4.66725855e-04 9.99999887e-01 -8.66200636e-05 -9.14254482e+00] [-3.04914318e-03 8.80427845e-05 9.99995347e-01 -5.08661085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.751346184 meters 0.07032064099548259 Centerline is valid? [True, True] Translation: X:133.56, Y:-9.14, Z:-5.09 [[ 9.99994340e-01 7.31074706e-04 3.28414349e-03 1.33564019e+02] [-7.30768966e-04 9.99999729e-01 -9.42946785e-05 -9.14001953e+00] [-3.28421154e-03 9.18941946e-05 9.99994603e-01 -5.08826079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781346184 meters 0.07019882472116103 Centerline is valid? [True, True] Translation: X:133.60, Y:-9.14, Z:-5.09 [[ 9.99991512e-01 2.28926704e-03 3.42567193e-03 1.33595761e+02] [-2.28894440e-03 9.99997376e-01 -9.81001120e-05 -9.13777751e+00] [-3.42588752e-03 9.02581067e-05 9.99994128e-01 -5.08954724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.811346184 meters 0.06946714915780967 Centerline is valid? [True, True] Translation: X:133.63, Y:-9.13, Z:-5.09 [[ 9.99983180e-01 5.18094771e-03 2.60729553e-03 1.33627091e+02] [-5.18076876e-03 9.99986577e-01 -7.53827771e-05 -9.13072953e+00] [-2.60765109e-03 6.18737139e-05 9.99996598e-01 -5.09053458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.841346184 meters 0.06932813674341358 Centerline is valid? [True, True] Translation: X:133.66, Y:-9.13, Z:-5.09 [[ 9.99981907e-01 5.80271250e-03 1.58574791e-03 1.33657034e+02] [-5.80264674e-03 9.99983163e-01 -4.60671194e-05 -9.13024166e+00] [-1.58598853e-03 3.68647509e-05 9.99998742e-01 -5.09322990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.871346184 meters 0.06906860753565655 Centerline is valid? [True, True] Translation: X:133.69, Y:-9.13, Z:-5.10 [[ 9.99972854e-01 7.13465924e-03 1.84042540e-03 1.33685654e+02] [-7.13456753e-03 9.99974547e-01 -5.63901674e-05 -9.12932833e+00] [-1.84078088e-03 4.32579973e-05 9.99998305e-01 -5.09524009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901346184 meters 0.06855582530566909 Centerline is valid? [True, True] Translation: X:133.71, Y:-9.12, Z:-5.10 [[ 9.99961242e-01 8.57895005e-03 1.97868503e-03 1.33714451e+02] [-8.57884745e-03 9.99963199e-01 -6.03363483e-05 -9.12444995e+00] [-1.97912984e-03 4.33591728e-05 9.99998041e-01 -5.09523879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.931346184 meters 0.06803971927331033 Centerline is valid? [True, True] Translation: X:133.74, Y:-9.12, Z:-5.09 [[ 9.99955595e-01 9.22087989e-03 1.94495856e-03 1.33743634e+02] [-9.22078206e-03 9.99957486e-01 -5.92583568e-05 -9.12090728e+00] [-1.94542228e-03 4.13216865e-05 9.99998107e-01 -5.09385241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961346184 meters 0.06805254622964235 Centerline is valid? [True, True] Translation: X:133.77, Y:-9.12, Z:-5.09 [[ 9.99950210e-01 9.81813686e-03 1.78386140e-03 1.33771457e+02] [-9.81805436e-03 9.99951800e-01 -5.49955029e-05 -9.11887333e+00] [-1.78431537e-03 3.74787165e-05 9.99998407e-01 -5.09473458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99134618399998 meters 0.06805254622964235 Centerline is valid? [True, True] Translation: X:133.80, Y:-9.12, Z:-5.10 [[ 9.99950919e-01 9.74563578e-03 1.78388355e-03 1.33799749e+02] [-9.74555452e-03 9.99952509e-01 -5.42368911e-05 -9.11960763e+00] [-1.78432741e-03 3.68492947e-05 9.99998407e-01 -5.09570442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02134618399998 meters 0.06838464771833842 Centerline is valid? [True, True] Translation: X:133.83, Y:-9.12, Z:-5.10 [[ 9.99945927e-01 1.02649433e-02 1.66569670e-03 1.33827319e+02] [-1.02648722e-02 9.99947313e-01 -5.12535778e-05 -9.11877430e+00] [-1.66613506e-03 3.41526426e-05 9.99998611e-01 -5.09867842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05134618399998 meters 0.0680347806421727 Centerline is valid? [True, True] Translation: X:133.86, Y:-9.12, Z:-5.10 [[ 9.99939806e-01 1.09162990e-02 1.10442292e-03 1.33856058e+02] [-1.09162677e-02 9.99940415e-01 -3.43182077e-05 -9.11614040e+00] [-1.10473174e-03 2.22599657e-05 9.99999390e-01 -5.09799032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08134618399998 meters 0.06804206832713292 Centerline is valid? [True, True] Translation: X:133.88, Y:-9.12, Z:-5.10 [[ 9.99937986e-01 1.11266821e-02 4.70431075e-04 1.33884914e+02] [-1.11266758e-02 9.99938096e-01 -1.59897897e-05 -9.11553194e+00] [-4.70579867e-04 1.07544641e-05 9.99999889e-01 -5.10004015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11134618399998 meters 0.06824314815566396 Centerline is valid? [True, True] Translation: X:133.91, Y:-9.12, Z:-5.10 [[ 9.99936741e-01 1.12209719e-02 -7.76661881e-04 1.33913900e+02] [-1.12209599e-02 9.99937043e-01 1.98583252e-05 -9.11631745e+00] [ 7.76835814e-04 -1.11421772e-05 9.99999698e-01 -5.10336272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14134618399999 meters 0.06857784576053641 Centerline is valid? [True, True] Translation: X:133.94, Y:-9.12, Z:-5.11 [[ 9.99942352e-01 1.06730385e-02 -1.17427039e-03 1.33941124e+02] [-1.06730089e-02 9.99943041e-01 3.14764028e-05 -9.11674866e+00] [ 1.17453946e-03 -1.89415900e-05 9.99999310e-01 -5.10676038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.171346184 meters 0.0685707567856252 Centerline is valid? [True, True] Translation: X:133.97, Y:-9.12, Z:-5.11 [[ 9.99941626e-01 1.07247065e-02 -1.31348146e-03 1.33969062e+02] [-1.07246712e-02 9.99942488e-01 3.39046205e-05 -9.11541347e+00] [ 1.31376954e-03 -1.98159845e-05 9.99999137e-01 -5.10664332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.201346184 meters 0.06858247886984187 Centerline is valid? [True, True] Translation: X:134.00, Y:-9.11, Z:-5.11 [[ 9.99942322e-01 1.06292296e-02 -1.54018963e-03 1.33997969e+02] [-1.06291783e-02 9.99943508e-01 4.14667915e-05 -9.11423788e+00] [ 1.54054338e-03 -2.50934495e-05 9.99998813e-01 -5.10743751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.231346184 meters 0.0677803991490108 Centerline is valid? [True, True] Translation: X:134.03, Y:-9.11, Z:-5.11 [[ 9.99931188e-01 1.16534007e-02 -1.34782921e-03 1.34026507e+02] [-1.16533630e-02 9.99932097e-01 3.57817384e-05 -9.11106799e+00] [ 1.34815467e-03 -2.00725332e-05 9.99999091e-01 -5.10524528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.261346184 meters 0.06759556950584518 Centerline is valid? [True, True] Translation: X:134.06, Y:-9.11, Z:-5.11 [[ 9.99929858e-01 1.18350774e-02 -4.58300010e-04 1.34055804e+02] [-1.18350736e-02 9.99929963e-01 1.11202162e-05 -9.11076619e+00] [ 4.58399520e-04 -5.69542183e-06 9.99999895e-01 -5.10622608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.291346184 meters 0.06777449818781679 Centerline is valid? [True, True] Translation: X:134.08, Y:-9.11, Z:-5.11 [[ 9.99924234e-01 1.23015494e-02 -4.45471400e-04 1.34083634e+02] [-1.23015465e-02 9.99924333e-01 9.25709124e-06 -9.11074114e+00] [ 4.45551569e-04 -3.77640270e-06 9.99999901e-01 -5.10776572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321346184 meters 0.06691344350280147 Centerline is valid? [True, True] Translation: X:134.11, Y:-9.10, Z:-5.10 [[ 9.99906311e-01 1.36863360e-02 -2.32312323e-04 1.34112920e+02] [-1.36863355e-02 9.99906338e-01 4.02346005e-06 -9.10446097e+00] [ 2.32345631e-04 -8.43578700e-07 9.99999973e-01 -5.10450623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.351346184 meters 0.06716405968625336 Centerline is valid? [True, True] Translation: X:134.14, Y:-9.10, Z:-5.11 [[ 9.99894882e-01 1.44809950e-02 -7.24509011e-04 1.34141015e+02] [-1.44809863e-02 9.99895145e-01 1.72181345e-05 -9.10326170e+00] [ 7.24682378e-04 -6.72471953e-06 9.99999737e-01 -5.10752467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381346184 meters 0.06693500655840473 Centerline is valid? [True, True] Translation: X:134.17, Y:-9.10, Z:-5.11 [[ 9.99893941e-01 1.45637708e-02 -5.56057939e-05 1.34170240e+02] [-1.45637709e-02 9.99893943e-01 -9.60469812e-07 -9.10240510e+00] [ 5.55859084e-05 1.77019799e-06 9.99999998e-01 -5.10746673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.411346184 meters 0.0668723128002139 Centerline is valid? [True, True] Translation: X:134.20, Y:-9.10, Z:-5.11 [[ 9.99875938e-01 1.57363249e-02 6.90065014e-04 1.34198966e+02] [-1.57363136e-02 9.99876176e-01 -2.17722868e-05 -9.10176708e+00] [-6.90322183e-04 1.09105062e-05 9.99999762e-01 -5.11040048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441346184 meters 0.06680726577692601 Centerline is valid? [True, True] Translation: X:134.23, Y:-9.10, Z:-5.11 [[ 9.99877055e-01 1.56571995e-02 8.52794775e-04 1.34226660e+02] [-1.56571823e-02 9.99877418e-01 -2.68378539e-05 -9.10124349e+00] [-8.53110444e-04 1.34821911e-05 9.99999636e-01 -5.11096791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.471346184 meters 0.06680617201642426 Centerline is valid? [True, True] Translation: X:134.26, Y:-9.10, Z:-5.11 [[ 9.99881194e-01 1.53014819e-02 1.86101843e-03 1.34255731e+02] [-1.53014076e-02 9.99882925e-01 -5.41316739e-05 -9.09999858e+00] [-1.86162885e-03 2.56490411e-05 9.99998267e-01 -5.11047079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501346184 meters 0.06670162713035004 Centerline is valid? [True, True] Translation: X:134.28, Y:-9.10, Z:-5.11 [[ 9.99890962e-01 1.46164029e-02 2.10365444e-03 1.34285000e+02] [-1.46163074e-02 9.99893174e-01 -6.07807618e-05 -9.09878293e+00] [-2.10431811e-03 3.00264745e-05 9.99997785e-01 -5.10803605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.531346184 meters 0.06725778860349167 Centerline is valid? [True, True] Translation: X:134.31, Y:-9.10, Z:-5.11 [[ 9.99917233e-01 1.26297252e-02 2.45305103e-03 1.34312890e+02] [-1.26295895e-02 9.99920241e-01 -7.08408714e-05 -9.10104486e+00] [-2.45375008e-03 3.98539807e-05 9.99996989e-01 -5.11272010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561346184 meters 0.06773377558156128 Centerline is valid? [True, True] Translation: X:134.34, Y:-9.10, Z:-5.12 [[ 9.99932039e-01 1.13912434e-02 2.48122080e-03 1.34340050e+02] [-1.13911016e-02 9.99935117e-01 -7.12627818e-05 -9.10490188e+00] [-2.48187158e-03 4.29941005e-05 9.99996919e-01 -5.11639566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.591346184 meters 0.0677783662301742 Centerline is valid? [True, True] Translation: X:134.37, Y:-9.11, Z:-5.12 [[ 9.99948664e-01 9.93207372e-03 2.00574210e-03 1.34368522e+02] [-9.93197847e-03 9.99950675e-01 -5.74464333e-05 -9.10652235e+00] [-2.00621373e-03 3.75224969e-05 9.99997987e-01 -5.11688082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621346184 meters 0.06724923251054811 Centerline is valid? [True, True] Translation: X:134.40, Y:-9.11, Z:-5.11 [[ 9.99974861e-01 6.61026572e-03 2.56533140e-03 1.34397289e+02] [-6.61010075e-03 9.99978150e-01 -7.27816862e-05 -9.10800770e+00] [-2.56575646e-03 5.58227575e-05 9.99996707e-01 -5.11387519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.651346184 meters 0.06731370196483856 Centerline is valid? [True, True] Translation: X:134.43, Y:-9.11, Z:-5.11 [[ 9.99974863e-01 5.68384547e-03 4.23879515e-03 1.34425446e+02] [-5.68339756e-03 9.99983842e-01 -1.17706613e-04 -9.10936365e+00] [-4.23939569e-03 9.36128961e-05 9.99991009e-01 -5.11469691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681346184 meters 0.06761784656813623 Centerline is valid? [True, True] Translation: X:134.46, Y:-9.11, Z:-5.12 [[ 9.99982592e-01 4.61827315e-03 3.67250602e-03 1.34455304e+02] [-4.61793375e-03 9.99989332e-01 -1.00891304e-04 -9.11020546e+00] [-3.67293278e-03 8.39301584e-05 9.99993251e-01 -5.11569735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.711346184 meters 0.06802219824873999 Centerline is valid? [True, True] Translation: X:134.49, Y:-9.11, Z:-5.12 [[ 9.99990467e-01 3.53065020e-03 2.56932050e-03 1.34486121e+02] [-3.53048162e-03 9.99993765e-01 -7.01465460e-05 -9.11098732e+00] [-2.56955214e-03 6.10749384e-05 9.99996697e-01 -5.11717204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74134618399998 meters 0.06822650217824508 Centerline is valid? [True, True] Translation: X:134.52, Y:-9.11, Z:-5.12 [[ 9.99990868e-01 2.77794618e-03 3.24756662e-03 1.34516533e+02] [-2.77767287e-03 9.99996138e-01 -8.86637464e-05 -9.11430084e+00] [-3.24780038e-03 7.96422590e-05 9.99994723e-01 -5.12064723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77134618399998 meters 0.06846634788138498 Centerline is valid? [True, True] Translation: X:134.55, Y:-9.12, Z:-5.12 [[ 9.99995690e-01 2.60660000e-03 1.35105517e-03 1.34547422e+02] [-2.60655413e-03 9.99996602e-01 -3.57075918e-05 -9.11636909e+00] [-1.35114365e-03 3.21858395e-05 9.99999087e-01 -5.12302214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80134618399998 meters 0.06855986806022692 Centerline is valid? [True, True] Translation: X:134.58, Y:-9.12, Z:-5.13 [[ 9.99994240e-01 3.05857443e-03 1.47162746e-03 1.34576442e+02] [-3.05851768e-03 9.99995322e-01 -4.08128672e-05 -9.11807016e+00] [-1.47174541e-03 3.63116335e-05 9.99998916e-01 -5.12543343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83134618399998 meters 0.06797502825548823 Centerline is valid? [True, True] Translation: X:134.61, Y:-9.12, Z:-5.12 [[ 9.99993990e-01 3.36653377e-03 8.28880554e-04 1.34605709e+02] [-3.36651514e-03 9.99994333e-01 -2.38657087e-05 -9.11719153e+00] [-8.28956201e-04 2.10751263e-05 9.99999656e-01 -5.12432519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86134618399998 meters 0.06737675769433239 Centerline is valid? [True, True] Translation: X:134.64, Y:-9.12, Z:-5.12 [[ 9.99987481e-01 4.46293556e-03 2.26261948e-03 1.34635782e+02] [-4.46280387e-03 9.99990040e-01 -6.32486560e-05 -9.11622427e+00] [-2.26287922e-03 5.31502372e-05 9.99997438e-01 -5.12379713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89134618399999 meters 0.06771258512033802 Centerline is valid? [True, True] Translation: X:134.66, Y:-9.12, Z:-5.12 [[ 9.99985739e-01 4.31632691e-03 3.14502945e-03 1.34664875e+02] [-4.31607707e-03 9.99990682e-01 -8.62227681e-05 -9.11644394e+00] [-3.14537231e-03 7.26473490e-05 9.99995051e-01 -5.12473014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.921346184 meters 0.06773107785664621 Centerline is valid? [True, True] Translation: X:134.70, Y:-9.12, Z:-5.12 [[ 9.99983075e-01 4.46148521e-03 3.73418332e-03 1.34695158e+02] [-4.46113677e-03 9.99990044e-01 -1.01634247e-04 -9.11618856e+00] [-3.73459958e-03 8.49738240e-05 9.99993023e-01 -5.12460249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.951346184 meters 0.0676920062568329 Centerline is valid? [True, True] Translation: X:134.73, Y:-9.12, Z:-5.13 [[ 9.99983073e-01 4.94343120e-03 3.06861616e-03 1.34725701e+02] [-4.94319817e-03 9.99987779e-01 -8.35193308e-05 -9.11814863e+00] [-3.06899153e-03 6.83491393e-05 9.99995288e-01 -5.12734982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.981346184 meters 0.06778877818119186 Centerline is valid? [True, True] Translation: X:134.76, Y:-9.12, Z:-5.13 [[ 9.99984881e-01 4.31343282e-03 3.41051762e-03 1.34755340e+02] [-4.31313944e-03 9.99990694e-01 -9.33726574e-05 -9.12065612e+00] [-3.41088864e-03 7.86612077e-05 9.99994180e-01 -5.12882865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.011346184 meters 0.06798778065829755 Centerline is valid? [True, True] Translation: X:134.79, Y:-9.12, Z:-5.13 [[ 9.99986078e-01 4.04147841e-03 3.39257698e-03 1.34785514e+02] [-4.04118859e-03 9.99991830e-01 -9.22762515e-05 -9.12211298e+00] [-3.39292220e-03 7.85649235e-05 9.99994241e-01 -5.13080707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.041346184 meters 0.0680294924331329 Centerline is valid? [True, True] Translation: X:134.82, Y:-9.12, Z:-5.13 [[ 9.99990779e-01 3.08443626e-03 2.98815867e-03 1.34816321e+02] [-3.08420715e-03 9.99995241e-01 -8.12762929e-05 -9.12398053e+00] [-2.98839514e-03 7.20594431e-05 9.99995532e-01 -5.13249046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.071346184 meters 0.0691481399272314 Centerline is valid? [True, True] Translation: X:134.85, Y:-9.13, Z:-5.14 [[ 9.99995219e-01 -2.16438875e-04 3.08455923e-03 1.34846730e+02] [ 2.16697002e-04 9.99999973e-01 -8.33494048e-05 -9.12955067e+00] [-3.08454111e-03 8.40174211e-05 9.99995239e-01 -5.13579443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101346184 meters 0.06967920782388518 Centerline is valid? [True, True] Translation: X:134.88, Y:-9.13, Z:-5.14 [[ 9.99994647e-01 -1.56394078e-03 2.87401091e-03 1.34878893e+02] [ 1.56415026e-03 9.99998774e-01 -7.06406359e-05 -9.13227021e+00] [-2.87389691e-03 7.51356427e-05 9.99995868e-01 -5.13680804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.131346184 meters 0.0701585073701238 Centerline is valid? [True, True] Translation: X:134.91, Y:-9.13, Z:-5.14 [[ 9.99992715e-01 -2.58865269e-03 2.80507495e-03 1.34909832e+02] [ 2.58885929e-03 9.99996646e-01 -7.00235443e-05 -9.13448644e+00] [-2.80488427e-03 7.72849785e-05 9.99996063e-01 -5.13840763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161346184 meters 0.07121732507204256 Centerline is valid? [True, True] Translation: X:134.94, Y:-9.14, Z:-5.14 [[ 9.99981701e-01 -5.41544982e-03 2.69640360e-03 1.34940733e+02] [ 5.41566055e-03 9.99985333e-01 -7.08567394e-05 -9.13849391e+00] [-2.69598033e-03 8.54582494e-05 9.99996362e-01 -5.14128921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.191346184 meters 0.0698086734004791 Centerline is valid? [True, True] Translation: X:134.97, Y:-9.14, Z:-5.14 [[ 9.99976683e-01 -6.33699362e-03 2.54483123e-03 1.34972667e+02] [ 6.33718976e-03 9.99979917e-01 -6.90167956e-05 -9.13569707e+00] [-2.54434276e-03 8.51422647e-05 9.99996760e-01 -5.13855107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221346184 meters 0.07012178637199491 Centerline is valid? [True, True] Translation: X:135.00, Y:-9.14, Z:-5.14 [[ 9.99970627e-01 -6.72696740e-03 3.67321477e-03 1.35003391e+02] [ 6.72738251e-03 9.99977366e-01 -1.00666541e-04 -9.13721499e+00] [-3.67245445e-03 1.25374704e-04 9.99993249e-01 -5.14042634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.251346184 meters 0.07025989624609624 Centerline is valid? [True, True] Translation: X:135.04, Y:-9.14, Z:-5.14 [[ 9.99970501e-01 -6.73520817e-03 3.69251194e-03 1.35035169e+02] [ 6.73562653e-03 9.99977310e-01 -1.00875232e-04 -9.13732137e+00] [-3.69174875e-03 1.25743637e-04 9.99993178e-01 -5.14158569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281346184 meters 0.07046708120842632 Centerline is valid? [True, True] Translation: X:135.07, Y:-9.14, Z:-5.14 [[ 9.99966617e-01 -7.28908735e-03 3.69253539e-03 1.35067414e+02] [ 7.28951047e-03 9.99973426e-01 -1.01142529e-04 -9.13666644e+00] [-3.69170003e-03 1.28055928e-04 9.99993177e-01 -5.14279366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.311346184 meters 0.07113430120924849 Centerline is valid? [True, True] Translation: X:135.10, Y:-9.14, Z:-5.15 [[ 9.99963035e-01 -7.82873212e-03 3.55522127e-03 1.35098115e+02] [ 7.82913034e-03 9.99969347e-01 -9.81052747e-05 -9.13725812e+00] [-3.55434425e-03 1.25935939e-04 9.99993675e-01 -5.14565287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341346184 meters 0.07133495018369625 Centerline is valid? [True, True] Translation: X:135.13, Y:-9.14, Z:-5.15 [[ 9.99961880e-01 -8.17805927e-03 3.05897311e-03 1.35130466e+02] [ 8.17835378e-03 9.99966553e-01 -8.37791678e-05 -9.13884600e+00] [-3.05818565e-03 1.08793338e-04 9.99995318e-01 -5.14705535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.371346184 meters 0.07146090441516999 Centerline is valid? [True, True] Translation: X:135.16, Y:-9.14, Z:-5.15 [[ 9.99964582e-01 -7.83637202e-03 3.07030845e-03 1.35162907e+02] [ 7.83666782e-03 9.99969289e-01 -8.43226471e-05 -9.13978475e+00] [-3.06955337e-03 1.08380648e-04 9.99995283e-01 -5.14866041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401346184 meters 0.07202199918596798 Centerline is valid? [True, True] Translation: X:135.20, Y:-9.14, Z:-5.15 [[ 9.99954446e-01 -8.93221719e-03 3.36475765e-03 1.35195149e+02] [ 8.93258028e-03 9.99960099e-01 -9.28976885e-05 -9.14113953e+00] [-3.36379362e-03 1.22949425e-04 9.99994335e-01 -5.15015823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.431346184 meters 0.0724045528719551 Centerline is valid? [True, True] Translation: X:135.23, Y:-9.14, Z:-5.15 [[ 9.99945353e-01 -1.02924917e-02 1.83198693e-03 1.35226738e+02] [ 1.02926008e-02 9.99947029e-01 -5.01591950e-05 -9.13836224e+00] [-1.83137363e-03 6.90123641e-05 9.99998321e-01 -5.15264281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461346184 meters 0.07259336322417861 Centerline is valid? [True, True] Translation: X:135.26, Y:-9.14, Z:-5.15 [[ 9.99939199e-01 -1.06531199e-02 2.84770127e-03 1.35259210e+02] [ 1.06533869e-02 9.99943248e-01 -7.85906033e-05 -9.13762619e+00] [-2.84670242e-03 1.08923488e-04 9.99995942e-01 -5.15383770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49134618399998 meters 0.07376171213779338 Centerline is valid? [True, True] Translation: X:135.29, Y:-9.14, Z:-5.16 [[ 9.99937958e-01 -1.06587784e-02 3.23589324e-03 1.35290328e+02] [ 1.06591268e-02 9.99943186e-01 -9.04144375e-05 -9.13917207e+00] [-3.23474569e-03 1.24900624e-04 9.99994760e-01 -5.15629123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52134618399998 meters 0.07212045635050572 Centerline is valid? [True, True] Translation: X:135.32, Y:-9.13, Z:-5.15 [[ 9.99921576e-01 -1.18899675e-02 3.93319181e-03 1.35322956e+02] [ 1.18904915e-02 9.99929300e-01 -1.09869749e-04 -9.13435848e+00] [-3.93160739e-03 1.56628716e-04 9.99992259e-01 -5.15349681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55134618399998 meters 0.07318107206951394 Centerline is valid? [True, True] Translation: X:135.35, Y:-9.14, Z:-5.16 [[ 9.99895901e-01 -1.35865342e-02 4.85738103e-03 1.35354130e+02] [ 1.35873606e-02 9.99907678e-01 -1.37181587e-04 -9.13707925e+00] [-4.85506877e-03 2.03166294e-04 9.99988193e-01 -5.15655434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58134618399998 meters 0.07352611811861838 Centerline is valid? [True, True] Translation: X:135.39, Y:-9.14, Z:-5.16 [[ 9.99895663e-01 -1.38157072e-02 4.21773082e-03 1.35386303e+02] [ 1.38163301e-02 9.99904543e-01 -1.18584559e-04 -9.13825218e+00] [-4.21568988e-03 1.76845748e-04 9.99991098e-01 -5.15948131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61134618399998 meters 0.07362840792662627 Centerline is valid? [True, True] Translation: X:135.42, Y:-9.14, Z:-5.16 [[ 9.99904483e-01 -1.33815560e-02 3.45815567e-03 1.35418194e+02] [ 1.33819715e-02 9.99910453e-01 -9.70468303e-05 -9.13733137e+00] [-3.45654736e-03 1.43314501e-04 9.99994016e-01 -5.16076398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64134618399999 meters 0.07435060685727798 Centerline is valid? [True, True] Translation: X:135.45, Y:-9.13, Z:-5.16 [[ 9.99908378e-01 -1.32201882e-02 2.90902110e-03 1.35449459e+02] [ 1.32204827e-02 9.99912602e-01 -8.20228594e-05 -9.13033227e+00] [-2.90768250e-03 1.20474007e-04 9.99995765e-01 -5.16154405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.671346184 meters 0.07358467250907529 Centerline is valid? [True, True] Translation: X:135.48, Y:-9.13, Z:-5.16 [[ 9.99917116e-01 -1.23844329e-02 3.51941885e-03 1.35482191e+02] [ 1.23848588e-02 9.99923300e-01 -9.92459203e-05 -9.12575777e+00] [-3.51791981e-03 1.42825200e-04 9.99993802e-01 -5.16113798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.701346184 meters 0.0733922763459586 Centerline is valid? [True, True] Translation: X:135.51, Y:-9.12, Z:-5.16 [[ 9.99929890e-01 -1.13254142e-02 3.45685549e-03 1.35514013e+02] [ 1.13258196e-02 9.99935856e-01 -9.76946778e-05 -9.12414590e+00] [-3.45552732e-03 1.36839550e-04 9.99994020e-01 -5.16250445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.731346184 meters 0.07257474557896626 Centerline is valid? [True, True] Translation: X:135.55, Y:-9.12, Z:-5.16 [[ 9.99940078e-01 -1.04719067e-02 3.19051350e-03 1.35546191e+02] [ 1.04722476e-02 9.99945160e-01 -9.01615810e-05 -9.12176785e+00] [-3.18939437e-03 1.23568026e-04 9.99994906e-01 -5.16309536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.761346184 meters 0.07222810106945962 Centerline is valid? [True, True] Translation: X:135.58, Y:-9.12, Z:-5.17 [[ 9.99962420e-01 -7.92055083e-03 3.52470878e-03 1.35576575e+02] [ 7.92095878e-03 9.99968624e-01 -1.01795076e-04 -9.11764519e+00] [-3.52379192e-03 1.29710323e-04 9.99993783e-01 -5.16533398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.791346184 meters 0.07237292955103278 Centerline is valid? [True, True] Translation: X:135.61, Y:-9.12, Z:-5.17 [[ 9.99969318e-01 -7.20306068e-03 3.07863316e-03 1.35608998e+02] [ 7.20336333e-03 9.99974052e-01 -8.72290644e-05 -9.11633006e+00] [-3.07792496e-03 1.09402901e-04 9.99995257e-01 -5.16760311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821346184 meters 0.07262121171583492 Centerline is valid? [True, True] Translation: X:135.64, Y:-9.12, Z:-5.17 [[ 9.99973845e-01 -5.99313530e-03 4.04859813e-03 1.35640304e+02] [ 5.99364535e-03 9.99982031e-01 -1.13859980e-04 -9.11651115e+00] [-4.04784301e-03 1.38122863e-04 9.99991798e-01 -5.17013902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.851346184 meters 0.0717815256252882 Centerline is valid? [True, True] Translation: X:135.67, Y:-9.11, Z:-5.17 [[ 9.99981321e-01 -4.44695920e-03 4.19312386e-03 1.35672892e+02] [ 4.44750390e-03 9.99990103e-01 -1.20587474e-04 -9.11144913e+00] [-4.19254611e-03 1.39234156e-04 9.99991202e-01 -5.17125464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881346184 meters 0.0717815256252882 Centerline is valid? [True, True] Translation: X:135.71, Y:-9.11, Z:-5.17 [[ 9.99981787e-01 -4.34093261e-03 4.19314649e-03 1.35705447e+02] [ 4.34147317e-03 9.99990569e-01 -1.19821686e-04 -9.11254174e+00] [-4.19258681e-03 1.38023936e-04 9.99991202e-01 -5.17236811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.911346184 meters 0.0718386591023619 Centerline is valid? [True, True] Translation: X:135.74, Y:-9.11, Z:-5.17 [[ 9.99986279e-01 -3.55462725e-03 3.84792895e-03 1.35737313e+02] [ 3.55508129e-03 9.99993675e-01 -1.11161957e-04 -9.11088334e+00] [-3.84750947e-03 1.24840132e-04 9.99992591e-01 -5.17320940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941346184 meters 0.0717737028091721 Centerline is valid? [True, True] Translation: X:135.77, Y:-9.11, Z:-5.17 [[ 9.99990307e-01 -2.63576238e-03 3.52690397e-03 1.35769344e+02] [ 2.63613832e-03 9.99996520e-01 -1.01945633e-04 -9.10889370e+00] [-3.52662299e-03 1.11242051e-04 9.99993775e-01 -5.17471985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.971346184 meters 0.07178697833055343 Centerline is valid? [True, True] Translation: X:135.80, Y:-9.11, Z:-5.18 [[ 9.99991787e-01 -1.44888203e-03 3.78502426e-03 1.35800579e+02] [ 1.44930159e-03 9.99998944e-01 -1.08108714e-04 -9.10736496e+00] [-3.78486363e-03 1.13593468e-04 9.99992831e-01 -5.17674421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001346184 meters 0.07179166927849404 Centerline is valid? [True, True] Translation: X:135.83, Y:-9.10, Z:-5.18 [[ 9.99994991e-01 1.85521560e-04 3.15956177e-03 1.35832298e+02] [-1.85232631e-04 9.99999979e-01 -9.17382990e-05 -9.10281275e+00] [-3.15957872e-03 9.11525856e-05 9.99995004e-01 -5.17996671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.031346184 meters 0.0717006450418909 Centerline is valid? [True, True] Translation: X:135.86, Y:-9.10, Z:-5.18 [[ 9.99995199e-01 1.41476599e-03 2.75676962e-03 1.35864116e+02] [-1.41454946e-03 9.99998996e-01 -8.04928626e-05 -9.10207218e+00] [-2.75688073e-03 7.65928892e-05 9.99996197e-01 -5.18266742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061346184 meters 0.07179949240659053 Centerline is valid? [True, True] Translation: X:135.89, Y:-9.10, Z:-5.19 [[ 9.99995810e-01 1.63360100e-03 2.39003668e-03 1.35894988e+02] [-1.63343784e-03 9.99998663e-01 -7.02160126e-05 -9.10217553e+00] [-2.39014819e-03 6.63117420e-05 9.99997141e-01 -5.18555160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.091346184 meters 0.07228845011920322 Centerline is valid? [True, True] Translation: X:135.93, Y:-9.10, Z:-5.19 [[ 9.99996581e-01 1.36455204e-03 2.23071304e-03 1.35925485e+02] [-1.36440803e-03 9.99999067e-01 -6.60749316e-05 -9.10223482e+00] [-2.23080113e-03 6.30311029e-05 9.99997510e-01 -5.18774934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121346184 meters 0.07314938057678991 Centerline is valid? [True, True] Translation: X:135.96, Y:-9.10, Z:-5.19 [[ 9.99999264e-01 -2.39597806e-04 1.18919691e-03 1.35956643e+02] [ 2.39638926e-04 9.99999971e-01 -3.44351892e-05 -9.10169896e+00] [-1.18918862e-03 3.47201417e-05 9.99999292e-01 -5.19051075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.151346184 meters 0.07342901618444904 Centerline is valid? [True, True] Translation: X:135.99, Y:-9.10, Z:-5.19 [[ 9.99999412e-01 -1.32830159e-04 1.07628896e-03 1.35986665e+02] [ 1.32864297e-04 9.99999991e-01 -3.16468582e-05 -9.10274762e+00] [-1.07628475e-03 3.17898399e-05 9.99999420e-01 -5.19243053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181346184 meters 0.07341032441475115 Centerline is valid? [True, True] Translation: X:136.02, Y:-9.10, Z:-5.19 [[ 9.99998563e-01 3.37590947e-05 1.69524431e-03 1.36017776e+02] [-3.36749393e-05 9.99999998e-01 -4.96705677e-05 -9.10220154e+00] [-1.69524599e-03 4.96134091e-05 9.99998562e-01 -5.19322202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.211346184 meters 0.07333441877022405 Centerline is valid? [True, True] Translation: X:136.05, Y:-9.10, Z:-5.19 [[ 9.99997715e-01 8.72122705e-04 1.95194636e-03 1.36048682e+02] [-8.72011239e-04 9.99999618e-01 -5.79557306e-05 -9.09728474e+00] [-1.95199616e-03 5.62534790e-05 9.99998093e-01 -5.19375547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24134618399998 meters 0.0732035920988381 Centerline is valid? [True, True] Translation: X:136.08, Y:-9.10, Z:-5.19 [[ 9.99996609e-01 1.80383734e-03 1.87822226e-03 1.36080427e+02] [-1.80373672e-03 9.99998372e-01 -5.52649672e-05 -9.09523779e+00] [-1.87831889e-03 5.18769614e-05 9.99998235e-01 -5.19415887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27134618399998 meters 0.07289272942006125 Centerline is valid? [True, True] Translation: X:136.11, Y:-9.09, Z:-5.19 [[ 9.99991943e-01 2.85159378e-03 2.82519402e-03 1.36111482e+02] [-2.85136706e-03 9.99995931e-01 -8.42764282e-05 -9.09399627e+00] [-2.82542285e-03 7.62200840e-05 9.99996006e-01 -5.19498318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30134618399998 meters 0.07269244546007993 Centerline is valid? [True, True] Translation: X:136.14, Y:-9.09, Z:-5.20 [[ 9.99988604e-01 3.85970813e-03 2.80970779e-03 1.36142513e+02] [-3.85948773e-03 9.99992549e-01 -8.38584270e-05 -9.09274210e+00] [-2.81001052e-03 7.30134386e-05 9.99996049e-01 -5.19676133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33134618399998 meters 0.07212705850949874 Centerline is valid? [True, True] Translation: X:136.17, Y:-9.09, Z:-5.20 [[ 9.99972926e-01 5.87788867e-03 4.42694944e-03 1.36171998e+02] [-5.87735543e-03 9.99982719e-01 -1.33452917e-04 -9.08898398e+00] [-4.42765736e-03 1.07430548e-04 9.99990192e-01 -5.19781252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36134618399998 meters 0.06952677176850576 Centerline is valid? [True, True] Translation: X:136.20, Y:-9.08, Z:-5.19 [[ 9.99965361e-01 6.51024788e-03 5.18588022e-03 1.36202621e+02] [-6.50952519e-03 9.99978801e-01 -1.56224245e-04 -9.08140475e+00] [-5.18678734e-03 1.22461216e-04 9.99986541e-01 -5.19075408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39134618399999 meters 0.07062079733537416 Centerline is valid? [True, True] Translation: X:136.23, Y:-9.08, Z:-5.20 [[ 9.99958614e-01 7.29986516e-03 5.42971137e-03 1.36232418e+02] [-7.29908807e-03 9.99973348e-01 -1.62921508e-04 -9.08385769e+00] [-5.43075596e-03 1.23282824e-04 9.99985246e-01 -5.19644128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.421346184 meters 0.07055221927426432 Centerline is valid? [True, True] Translation: X:136.26, Y:-9.08, Z:-5.20 [[ 9.99954886e-01 8.15006943e-03 4.87885939e-03 1.36261888e+02] [-8.14944738e-03 9.99966782e-01 -1.47366073e-04 -9.08264065e+00] [-4.87989836e-03 1.07599416e-04 9.99988087e-01 -5.19807697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.451346184 meters 0.06956630873585196 Centerline is valid? [True, True] Translation: X:136.29, Y:-9.08, Z:-5.20 [[ 9.99944309e-01 8.84867996e-03 5.75150064e-03 1.36290901e+02] [-8.84782315e-03 9.99960842e-01 -1.74399235e-04 -9.07758619e+00] [-5.75281862e-03 1.23501262e-04 9.99983445e-01 -5.19663656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.481346184 meters 0.07172231502888772 Centerline is valid? [True, True] Translation: X:136.32, Y:-9.08, Z:-5.21 [[ 9.99942801e-01 9.08798782e-03 5.63949304e-03 1.36319343e+02] [-9.08717277e-03 9.99958696e-01 -1.70133060e-04 -9.08467932e+00] [-5.64080628e-03 1.18876281e-04 9.99984083e-01 -5.20643718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.511346184 meters 0.06967891250124165 Centerline is valid? [True, True] Translation: X:136.35, Y:-9.08, Z:-5.20 [[ 9.99941647e-01 8.90096460e-03 6.12175304e-03 1.36348959e+02] [-8.90000070e-03 9.99960377e-01 -1.84679888e-04 -9.08001462e+00] [-6.12315431e-03 1.30185506e-04 9.99981245e-01 -5.20022281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.541346184 meters 0.06978719828653072 Centerline is valid? [True, True] Translation: X:136.38, Y:-9.08, Z:-5.20 [[ 9.99943670e-01 8.60922614e-03 6.20784657e-03 1.36378743e+02] [-8.60823826e-03 9.99962931e-01 -1.85836198e-04 -9.08107516e+00] [-6.20921636e-03 1.32387108e-04 9.99980714e-01 -5.20120363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.571346184 meters 0.06995767884109022 Centerline is valid? [True, True] Translation: X:136.41, Y:-9.08, Z:-5.20 [[ 9.99950166e-01 8.48367326e-03 5.26245548e-03 1.36408309e+02] [-8.48296167e-03 9.99964007e-01 -1.57526077e-04 -9.08172631e+00] [-5.26360247e-03 1.12877019e-04 9.99986141e-01 -5.20307226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601346184 meters 0.07027910409431004 Centerline is valid? [True, True] Translation: X:136.44, Y:-9.08, Z:-5.20 [[ 9.99961921e-01 7.42519921e-03 4.58500347e-03 1.36438060e+02] [-7.42464796e-03 9.99972428e-01 -1.37240303e-04 -9.08211751e+00] [-4.58589609e-03 1.03193041e-04 9.99989479e-01 -5.20462647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.631346184 meters 0.07024971393380339 Centerline is valid? [True, True] Translation: X:136.47, Y:-9.08, Z:-5.21 [[ 9.99976317e-01 6.16509678e-03 3.05896005e-03 1.36467361e+02] [-6.16484453e-03 9.99980993e-01 -9.18837697e-05 -9.08293601e+00] [-3.05946838e-03 7.30235804e-05 9.99995317e-01 -5.20515180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661346184 meters 0.07131698653772764 Centerline is valid? [True, True] Translation: X:136.50, Y:-9.09, Z:-5.21 [[ 9.99981739e-01 4.73694948e-03 3.75279392e-03 1.36495359e+02] [-4.73655932e-03 9.99988776e-01 -1.12845346e-04 -9.09008390e+00] [-3.75328634e-03 9.50679543e-05 9.99992952e-01 -5.20965105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.691346184 meters 0.07061458112673884 Centerline is valid? [True, True] Translation: X:136.53, Y:-9.09, Z:-5.21 [[ 9.99985354e-01 3.97690014e-03 3.67097991e-03 1.36525911e+02] [-3.97652820e-03 9.99992088e-01 -1.08612377e-04 -9.08933809e+00] [-3.67138280e-03 9.40130315e-05 9.99993256e-01 -5.20753961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721346184 meters 0.07051234672503065 Centerline is valid? [True, True] Translation: X:136.56, Y:-9.09, Z:-5.21 [[ 9.99985659e-01 3.10369307e-03 4.36440905e-03 1.36556700e+02] [-3.10315903e-03 9.99995177e-01 -1.29128694e-04 -9.09031828e+00] [-4.36478878e-03 1.15583387e-04 9.99990468e-01 -5.20800119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.751346184 meters 0.07084131079742244 Centerline is valid? [True, True] Translation: X:136.59, Y:-9.09, Z:-5.21 [[ 9.99988539e-01 2.53017723e-03 4.06444351e-03 1.36586764e+02] [-2.52971155e-03 9.99996793e-01 -1.19710528e-04 -9.09274861e+00] [-4.06473337e-03 1.09427286e-04 9.99991733e-01 -5.20989688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781346184 meters 0.07229303339661727 Centerline is valid? [True, True] Translation: X:136.62, Y:-9.10, Z:-5.22 [[ 9.99984018e-01 2.55617774e-03 5.04285339e-03 1.36617433e+02] [-2.55549133e-03 9.99996725e-01 -1.42555078e-04 -9.09953541e+00] [-5.04320127e-03 1.29665832e-04 9.99987275e-01 -5.21521528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.811346184 meters 0.07091897741715651 Centerline is valid? [True, True] Translation: X:136.65, Y:-9.10, Z:-5.21 [[ 9.99985129e-01 2.28413689e-03 4.95215082e-03 1.36650408e+02] [-2.28346941e-03 9.99997383e-01 -1.40435396e-04 -9.09615272e+00] [-4.95245863e-03 1.29125223e-04 9.99987728e-01 -5.21222640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841346184 meters 0.07120787082988558 Centerline is valid? [True, True] Translation: X:136.68, Y:-9.10, Z:-5.21 [[ 9.99983972e-01 2.96654604e-03 4.82244511e-03 1.36681268e+02] [-2.96591348e-03 9.99995592e-01 -1.38316276e-04 -9.09722993e+00] [-4.82283417e-03 1.24011104e-04 9.99988362e-01 -5.21338678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.871346184 meters 0.07059808666933638 Centerline is valid? [True, True] Translation: X:136.71, Y:-9.10, Z:-5.21 [[ 9.99978376e-01 3.54796718e-03 5.53713326e-03 1.36713116e+02] [-3.54709762e-03 9.99993695e-01 -1.66853834e-04 -9.09692618e+00] [-5.53769034e-03 1.47209473e-04 9.99984656e-01 -5.21253915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901346184 meters 0.07063372917464497 Centerline is valid? [True, True] Translation: X:136.74, Y:-9.10, Z:-5.21 [[ 9.99973135e-01 3.24096096e-03 6.57457211e-03 1.36744741e+02] [-3.23972540e-03 9.99994732e-01 -1.98572743e-04 -9.09843845e+00] [-6.57518104e-03 1.77267600e-04 9.99978368e-01 -5.21259249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.931346184 meters 0.07079290045424032 Centerline is valid? [True, True] Translation: X:136.78, Y:-9.10, Z:-5.21 [[ 9.99964665e-01 3.56991673e-03 7.61078476e-03 1.36775742e+02] [-3.56830637e-03 9.99993608e-01 -2.25157977e-04 -9.10149112e+00] [-7.61153991e-03 1.97992409e-04 9.99971012e-01 -5.21445211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961346184 meters 0.07062720795999308 Centerline is valid? [True, True] Translation: X:136.81, Y:-9.11, Z:-5.22 [[ 9.99957455e-01 3.39125306e-03 8.57833095e-03 1.36807627e+02] [-3.38917814e-03 9.99994224e-01 -2.56404463e-04 -9.10504851e+00] [-8.57915093e-03 2.27320063e-04 9.99963173e-01 -5.21635583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99134618399998 meters 0.07077075270019087 Centerline is valid? [True, True] Translation: X:136.84, Y:-9.11, Z:-5.22 [[ 9.99963210e-01 3.69929843e-03 7.73915394e-03 1.36839854e+02] [-3.69761007e-03 9.99993137e-01 -2.32456131e-04 -9.10710439e+00] [-7.73996075e-03 2.03831206e-04 9.99970025e-01 -5.21800147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02134618399998 meters 0.07049470983536218 Centerline is valid? [True, True] Translation: X:136.87, Y:-9.11, Z:-5.22 [[ 9.99961470e-01 3.69168347e-03 7.96427505e-03 1.36872901e+02] [-3.68988649e-03 9.99993163e-01 -2.40312853e-04 -9.10766808e+00] [-7.96510776e-03 2.10916323e-04 9.99968256e-01 -5.21888544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05134618399998 meters 0.07084086621921233 Centerline is valid? [True, True] Translation: X:136.91, Y:-9.11, Z:-5.22 [[ 9.99962776e-01 3.92079990e-03 7.68598647e-03 1.36905181e+02] [-3.91911485e-03 9.99992293e-01 -2.34286219e-04 -9.11044355e+00] [-7.68684582e-03 2.04155234e-04 9.99970435e-01 -5.22125297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08134618399998 meters 0.07063413624269547 Centerline is valid? [True, True] Translation: X:136.94, Y:-9.11, Z:-5.22 [[ 9.99958048e-01 4.92437262e-03 7.72349689e-03 1.36936841e+02] [-4.92265923e-03 9.99987855e-01 -2.40836336e-04 -9.11121064e+00] [-7.72458905e-03 2.02806089e-04 9.99970144e-01 -5.22228385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11134618399998 meters 0.06989282248497453 Centerline is valid? [True, True] Translation: X:136.97, Y:-9.11, Z:-5.22 [[ 9.99944081e-01 5.28605739e-03 9.15932215e-03 1.36969344e+02] [-5.28366804e-03 9.99986001e-01 -2.85044297e-04 -9.11128809e+00] [-9.16070068e-03 2.36633540e-04 9.99958012e-01 -5.22120715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14134618399999 meters 0.06967078270128411 Centerline is valid? [True, True] Translation: X:137.00, Y:-9.11, Z:-5.22 [[ 9.99932035e-01 6.62985670e-03 9.59015276e-03 1.37001980e+02] [-6.62723554e-03 9.99977993e-01 -3.05070655e-04 -9.11256011e+00] [-9.59196429e-03 2.41493719e-04 9.99953967e-01 -5.22314702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.171346184 meters 0.06922581148055686 Centerline is valid? [True, True] Translation: X:137.03, Y:-9.11, Z:-5.22 [[ 9.99916341e-01 8.17280121e-03 1.00257492e-02 1.37034034e+02] [-8.17004172e-03 9.99966575e-01 -3.16166915e-04 -9.11363770e+00] [-1.00279981e-02 2.34229676e-04 9.99949691e-01 -5.22413117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.201346184 meters 0.06871572020700512 Centerline is valid? [True, True] Translation: X:137.07, Y:-9.11, Z:-5.23 [[ 9.99887034e-01 1.12543231e-02 9.96287716e-03 1.37065315e+02] [-1.12517228e-02 9.99936647e-01 -3.17016486e-04 -9.11466256e+00] [-9.96581379e-03 2.04881142e-04 9.99950319e-01 -5.22541963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.231346184 meters 0.06849600437460254 Centerline is valid? [True, True] Translation: X:137.10, Y:-9.11, Z:-5.23 [[ 9.99878184e-01 1.24614932e-02 9.39829403e-03 1.37096060e+02] [-1.24591646e-02 9.99922335e-01 -3.06278440e-04 -9.11490731e+00] [-9.40138080e-03 1.89146238e-04 9.99955788e-01 -5.22648629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.261346184 meters 0.06843366619920462 Centerline is valid? [True, True] Translation: X:137.13, Y:-9.11, Z:-5.23 [[ 9.99876399e-01 1.31622237e-02 8.59897074e-03 1.37125438e+02] [-1.31602927e-02 9.99913360e-01 -2.81103194e-04 -9.11437979e+00] [-8.60192567e-03 1.67903477e-04 9.99962989e-01 -5.22875630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.291346184 meters 0.0690151967383962 Centerline is valid? [True, True] Translation: X:137.15, Y:-9.12, Z:-5.23 [[ 9.99867321e-01 1.45713198e-02 7.28122246e-03 1.37152616e+02] [-1.45699633e-02 9.99893824e-01 -2.39316099e-04 -9.11524810e+00] [-7.28393652e-03 1.33197203e-04 9.99973463e-01 -5.23269005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321346184 meters 0.06943895810251875 Centerline is valid? [True, True] Translation: X:137.18, Y:-9.12, Z:-5.24 [[ 9.99866446e-01 1.49714716e-02 6.55327042e-03 1.37180640e+02] [-1.49703837e-02 9.99887914e-01 -2.15033906e-04 -9.11845081e+00] [-6.55575526e-03 1.16900215e-04 9.99978504e-01 -5.23694005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.351346184 meters 0.06831928484822096 Centerline is valid? [True, True] Translation: X:137.21, Y:-9.12, Z:-5.23 [[ 9.99859781e-01 1.49806755e-02 7.48311586e-03 1.37209362e+02] [-1.49792671e-02 9.99887775e-01 -2.44221236e-04 -9.11695066e+00] [-7.48593466e-03 1.32095400e-04 9.99971971e-01 -5.23310393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381346184 meters 0.0681818684807986 Centerline is valid? [True, True] Translation: X:137.24, Y:-9.12, Z:-5.23 [[ 9.99852432e-01 1.55414849e-02 7.31954044e-03 1.37237979e+02] [-1.55401557e-02 9.99879216e-01 -2.38445878e-04 -9.11836985e+00] [-7.32236216e-03 1.24663893e-04 9.99973183e-01 -5.23372519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.411346184 meters 0.06846485380064134 Centerline is valid? [True, True] Translation: X:137.27, Y:-9.12, Z:-5.24 [[ 9.99855353e-01 1.56953229e-02 6.55211180e-03 1.37265800e+02] [-1.56942594e-02 9.99876815e-01 -2.13702994e-04 -9.11927197e+00] [-6.55465881e-03 1.10841540e-04 9.99978512e-01 -5.23639196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441346184 meters 0.06900310073851165 Centerline is valid? [True, True] Translation: X:137.29, Y:-9.12, Z:-5.24 [[ 9.99864114e-01 1.55249295e-02 5.54340977e-03 1.37293817e+02] [-1.55241660e-02 9.99879477e-01 -1.80728494e-04 -9.12195450e+00] [-5.54554745e-03 9.46471225e-05 9.99984619e-01 -5.24045640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.471346184 meters 0.06843728472609914 Centerline is valid? [True, True] Translation: X:137.32, Y:-9.12, Z:-5.24 [[ 9.99881719e-01 1.47601358e-02 4.32282089e-03 1.37322475e+02] [-1.47596649e-02 9.99891060e-01 -1.40805000e-04 -9.12109615e+00] [-4.32442827e-03 7.69849576e-05 9.99990647e-01 -5.23729179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501346184 meters 0.06871738499646765 Centerline is valid? [True, True] Translation: X:137.35, Y:-9.12, Z:-5.24 [[ 9.99902796e-01 1.34108984e-02 3.81391531e-03 1.37350864e+02] [-1.34105219e-02 9.99910067e-01 -1.24252655e-04 -9.12401961e+00] [-3.81523866e-03 7.30939822e-05 9.99992719e-01 -5.23952273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.531346184 meters 0.06936995853173626 Centerline is valid? [True, True] Translation: X:137.38, Y:-9.13, Z:-5.24 [[ 9.99936832e-01 1.11940450e-02 1.01227030e-03 1.37379782e+02] [-1.11940162e-02 9.99937344e-01 -3.41152544e-05 -9.12721723e+00] [-1.01258877e-03 2.27817292e-05 9.99999487e-01 -5.24174220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561346184 meters 0.06945327253314293 Centerline is valid? [True, True] Translation: X:137.41, Y:-9.13, Z:-5.24 [[ 9.99947899e-01 1.01476722e-02 1.10605605e-03 1.37408045e+02] [-1.01476361e-02 9.99948511e-01 -3.82347818e-05 -9.12860867e+00] [-1.10638709e-03 2.70089354e-05 9.99999388e-01 -5.24242711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.591346184 meters 0.06973559300915898 Centerline is valid? [True, True] Translation: X:137.44, Y:-9.13, Z:-5.24 [[ 9.99955655e-01 9.40159004e-03 -5.46733263e-04 1.37436482e+02] [-9.40158330e-03 9.99955804e-01 1.48919928e-05 -9.12913648e+00] [ 5.46849108e-04 -9.75117410e-06 9.99999850e-01 -5.24386215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621346184 meters 0.06994323072553524 Centerline is valid? [True, True] Translation: X:137.46, Y:-9.13, Z:-5.25 [[ 9.99957834e-01 9.17727985e-03 -3.28439783e-04 1.37464548e+02] [-9.17727793e-03 9.99957888e-01 7.35072741e-06 -9.13057144e+00] [ 3.28493412e-04 -4.33623428e-06 9.99999946e-01 -5.24593095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.651346184 meters 0.07008771528909705 Centerline is valid? [True, True] Translation: X:137.49, Y:-9.13, Z:-5.25 [[ 9.99963945e-01 8.49167604e-03 -3.23418633e-05 1.37493719e+02] [-8.49167609e-03 9.99963945e-01 -1.38042347e-06 -9.13222498e+00] [ 3.23289750e-05 1.65501033e-06 9.99999999e-01 -5.24736101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681346184 meters 0.0702047852941386 Centerline is valid? [True, True] Translation: X:137.52, Y:-9.13, Z:-5.25 [[ 9.99966799e-01 8.14729345e-03 -1.50431495e-04 1.37521601e+02] [-8.14729328e-03 9.99966810e-01 1.75495699e-06 -9.13300972e+00] [ 1.50440800e-04 -5.29289217e-07 9.99999989e-01 -5.24882225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.711346184 meters 0.0703170735733709 Centerline is valid? [True, True] Translation: X:137.55, Y:-9.13, Z:-5.25 [[ 9.99968593e-01 7.91889065e-03 3.22975266e-04 1.37550330e+02] [-7.91888702e-03 9.99968645e-01 -1.25008011e-05 -9.13337875e+00] [-3.23064132e-04 9.94280387e-06 9.99999948e-01 -5.24936497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74134618399998 meters 0.06953817421531262 Centerline is valid? [True, True] Translation: X:137.58, Y:-9.13, Z:-5.25 [[ 9.99976518e-01 6.85057564e-03 1.79090600e-04 1.37578867e+02] [-6.85057429e-03 9.99976535e-01 -8.13796515e-06 -9.13169619e+00] [-1.79142148e-04 6.91090059e-06 9.99999984e-01 -5.24644433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77134618399998 meters 0.06953817421531262 Centerline is valid? [True, True] Translation: X:137.61, Y:-9.13, Z:-5.25 [[ 9.99977022e-01 6.77669471e-03 1.79091142e-04 1.37607154e+02] [-6.77669337e-03 9.99977038e-01 -8.12363110e-06 -9.13249461e+00] [-1.79142081e-04 6.90979868e-06 9.99999984e-01 -5.24741405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80134618399998 meters 0.0697201134157581 Centerline is valid? [True, True] Translation: X:137.64, Y:-9.14, Z:-5.25 [[ 9.99985964e-01 5.28588481e-03 -3.62443090e-04 1.37635495e+02] [-5.28588198e-03 9.99986030e-01 8.75245620e-06 -9.13546254e+00] [ 3.62484291e-04 -6.83650195e-06 9.99999934e-01 -5.25007284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83134618399998 meters 0.07150463149901863 Centerline is valid? [True, True] Translation: X:137.66, Y:-9.14, Z:-5.26 [[ 9.99989084e-01 4.64602584e-03 -4.96545851e-04 1.37662383e+02] [-4.64602032e-03 9.99989207e-01 1.22756531e-05 -9.14192462e+00] [ 4.96597525e-04 -9.96855695e-06 9.99999877e-01 -5.25790284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86134618399998 meters 0.07032300874739289 Centerline is valid? [True, True] Translation: X:137.69, Y:-9.14, Z:-5.25 [[ 9.99991989e-01 3.89557300e-03 -9.20333663e-04 1.37691234e+02] [-3.89555067e-03 9.99992412e-01 2.60544559e-05 -9.13876246e+00] [ 9.20428177e-04 -2.24690407e-05 9.99999576e-01 -5.25387508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89134618399999 meters 0.07063609702873888 Centerline is valid? [True, True] Translation: X:137.72, Y:-9.14, Z:-5.26 [[ 9.99990767e-01 3.08443796e-03 -2.99200944e-03 1.37720956e+02] [-3.08417817e-03 9.99995240e-01 9.14377861e-05 -9.13953379e+00] [ 2.99227723e-03 -8.22090516e-05 9.99995520e-01 -5.25528307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.921346184 meters 0.07081076206409224 Centerline is valid? [True, True] Translation: X:137.75, Y:-9.14, Z:-5.26 [[ 9.99988919e-01 3.30212359e-03 -3.35516452e-03 1.37749488e+02] [-3.30180257e-03 9.99994544e-01 1.01213776e-04 -9.14092826e+00] [ 3.35548043e-03 -9.01345634e-05 9.99994366e-01 -5.25799891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.951346184 meters 0.07118950189295006 Centerline is valid? [True, True] Translation: X:137.78, Y:-9.14, Z:-5.26 [[ 9.99989152e-01 2.82107178e-03 -3.70631878e-03 1.37777353e+02] [-2.82067924e-03 9.99996016e-01 1.11135463e-04 -9.14362495e+00] [ 3.70661753e-03 -1.00679921e-04 9.99993125e-01 -5.26118962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.981346184 meters 0.0713878974343345 Centerline is valid? [True, True] Translation: X:137.80, Y:-9.15, Z:-5.26 [[ 9.99986020e-01 3.05969188e-03 -4.31257862e-03 1.37804534e+02] [-3.05916486e-03 9.99995312e-01 1.28795054e-04 -9.14540001e+00] [ 4.31295248e-03 -1.15600364e-04 9.99990692e-01 -5.26293036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.011346184 meters 0.07193002464210549 Centerline is valid? [True, True] Translation: X:137.83, Y:-9.15, Z:-5.26 [[ 9.99977497e-01 1.66705507e-03 -6.49816869e-03 1.37833584e+02] [-1.66580759e-03 9.99998593e-01 1.97381856e-04 -9.14600316e+00] [ 6.49848859e-03 -1.86552716e-04 9.99978867e-01 -5.26380152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.041346184 meters 0.07207116945824822 Centerline is valid? [True, True] Translation: X:137.86, Y:-9.15, Z:-5.27 [[ 9.99976854e-01 1.63224367e-03 -6.60505251e-03 1.37861677e+02] [-1.63097031e-03 9.99998650e-01 1.98167453e-04 -9.14697902e+00] [ 6.60536705e-03 -1.87390222e-04 9.99978167e-01 -5.26500090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.071346184 meters 0.07249087689375854 Centerline is valid? [True, True] Translation: X:137.89, Y:-9.15, Z:-5.27 [[ 9.99979480e-01 7.78530876e-04 -6.35875537e-03 1.37889016e+02] [-7.77333869e-04 9.99999680e-01 1.90714808e-04 -9.14885475e+00] [ 6.35890181e-03 -1.85768019e-04 9.99979765e-01 -5.26674917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101346184 meters 0.07262078531385638 Centerline is valid? [True, True] Translation: X:137.92, Y:-9.15, Z:-5.27 [[ 9.99976817e-01 -2.90900511e-04 -6.80295569e-03 1.37917683e+02] [ 2.92297613e-04 9.99999936e-01 2.04373483e-04 -9.15053124e+00] [ 6.80289580e-03 -2.06357233e-04 9.99976839e-01 -5.26726450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.131346184 meters 0.0723063330435072 Centerline is valid? [True, True] Translation: X:137.95, Y:-9.15, Z:-5.27 [[ 9.99978596e-01 -4.23753918e-05 -6.54256833e-03 1.37946922e+02] [ 4.36162695e-05 9.99999981e-01 1.89519599e-04 -9.15064989e+00] [ 6.54256017e-03 -1.89800905e-04 9.99978579e-01 -5.26765348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161346184 meters 0.07280505975182192 Centerline is valid? [True, True] Translation: X:137.97, Y:-9.15, Z:-5.27 [[ 9.99975042e-01 5.55218838e-05 -7.06491943e-03 1.37974068e+02] [-5.40482532e-05 9.99999977e-01 2.08774958e-04 -9.15258511e+00] [ 7.06493086e-03 -2.08387901e-04 9.99975021e-01 -5.27058787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.191346184 meters 0.07208418184933027 Centerline is valid? [True, True] Translation: X:138.00, Y:-9.15, Z:-5.27 [[ 9.99968645e-01 -5.46559078e-04 -7.90005423e-03 1.38002599e+02] [ 5.48428224e-04 9.99999822e-01 2.34434746e-04 -9.15206578e+00] [ 7.89992469e-03 -2.38760008e-04 9.99968767e-01 -5.26938144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221346184 meters 0.07298016685701204 Centerline is valid? [True, True] Translation: X:138.03, Y:-9.16, Z:-5.27 [[ 9.99961358e-01 -1.13021317e-03 -8.71804514e-03 1.38029929e+02] [ 1.13250191e-03 9.99999326e-01 2.57596571e-04 -9.15501685e+00] [ 8.71774812e-03 -2.67459820e-04 9.99961964e-01 -5.27397947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.251346184 meters 0.07382489831542804 Centerline is valid? [True, True] Translation: X:138.06, Y:-9.15, Z:-5.28 [[ 9.99946505e-01 -9.54865433e-04 -1.02992839e-02 1.38057111e+02] [ 9.58016466e-04 9.99999496e-01 3.01017599e-04 -9.15394021e+00] [ 1.02989913e-02 -3.10868380e-04 9.99946916e-01 -5.27701998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281346184 meters 0.07257216229873056 Centerline is valid? [True, True] Translation: X:138.09, Y:-9.15, Z:-5.27 [[ 9.99940569e-01 -6.44505816e-04 -1.08831392e-02 1.38086410e+02] [ 6.47945026e-04 9.99999741e-01 3.12489731e-04 -9.14949833e+00] [ 1.08829350e-02 -3.19522835e-04 9.99940728e-01 -5.27341919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.311346184 meters 0.07240455007481178 Centerline is valid? [True, True] Translation: X:138.11, Y:-9.15, Z:-5.27 [[ 9.99950135e-01 -5.95622898e-04 -9.96857768e-03 1.38114912e+02] [ 5.98474570e-04 9.99999781e-01 2.83085467e-04 -9.14932886e+00] [ 9.96840688e-03 -2.89037291e-04 9.99950272e-01 -5.27371347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341346184 meters 0.0718453599341384 Centerline is valid? [True, True] Translation: X:138.14, Y:-9.15, Z:-5.27 [[ 9.99948697e-01 3.21994077e-04 -1.01242099e-02 1.38143282e+02] [-3.19124389e-04 9.99999908e-01 2.85062276e-04 -9.14856706e+00] [ 1.01243007e-02 -2.81816770e-04 9.99948708e-01 -5.27437168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.371346184 meters 0.07105349993795389 Centerline is valid? [True, True] Translation: X:138.17, Y:-9.14, Z:-5.27 [[ 9.99946318e-01 2.05950738e-03 -1.01547892e-02 1.38172483e+02] [-2.05673602e-03 9.99997845e-01 2.83347275e-04 -9.14349973e+00] [ 1.01553508e-02 -2.62446344e-04 9.99948399e-01 -5.27350317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401346184 meters 0.07105523494418133 Centerline is valid? [True, True] Translation: X:138.20, Y:-9.14, Z:-5.27 [[ 9.99943848e-01 3.32758657e-03 -1.00611640e-02 1.38200903e+02] [-3.32487643e-03 9.99994432e-01 2.86080899e-04 -9.14107248e+00] [ 1.00620600e-02 -2.52612707e-04 9.99949344e-01 -5.27425736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.431346184 meters 0.07136126941470865 Centerline is valid? [True, True] Translation: X:138.23, Y:-9.14, Z:-5.28 [[ 9.99955425e-01 4.10854971e-03 -8.50110279e-03 1.38229086e+02] [-4.10665096e-03 9.99991539e-01 2.40797756e-04 -9.13976390e+00] [ 8.50202019e-03 -2.05875960e-04 9.99963836e-01 -5.27644986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461346184 meters 0.07063660215573711 Centerline is valid? [True, True] Translation: X:138.26, Y:-9.14, Z:-5.28 [[ 9.99954141e-01 5.11530826e-03 -8.09632010e-03 1.38257746e+02] [-5.11362438e-03 9.99986899e-01 2.28669228e-04 -9.13598408e+00] [ 8.09738375e-03 -1.87257202e-04 9.99967198e-01 -5.27570976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49134618399998 meters 0.07084866919900608 Centerline is valid? [True, True] Translation: X:138.28, Y:-9.14, Z:-5.28 [[ 9.99957564e-01 4.67815839e-03 -7.93631894e-03 1.38284478e+02] [-4.67656097e-03 9.99989041e-01 2.19824771e-04 -9.13633299e+00] [ 7.93726034e-03 -1.82700763e-04 9.99968483e-01 -5.27715254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52134618399998 meters 0.07115216617587743 Centerline is valid? [True, True] Translation: X:138.31, Y:-9.14, Z:-5.28 [[ 9.99963561e-01 4.17616696e-03 -7.44560357e-03 1.38311958e+02] [-4.17473583e-03 9.99991264e-01 2.07742407e-04 -9.13644536e+00] [ 7.44640609e-03 -1.76651409e-04 9.99972260e-01 -5.27942394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55134618399998 meters 0.07115735510862724 Centerline is valid? [True, True] Translation: X:138.34, Y:-9.14, Z:-5.28 [[ 9.99950955e-01 4.03705302e-03 -9.04381830e-03 1.38340686e+02] [-4.03493059e-03 9.99991828e-01 2.52917109e-04 -9.13559353e+00] [ 9.04476543e-03 -2.16413525e-04 9.99959072e-01 -5.27965212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58134618399998 meters 0.07203875873176126 Centerline is valid? [True, True] Translation: X:138.37, Y:-9.14, Z:-5.28 [[ 9.99948944e-01 2.19231261e-03 -9.86419639e-03 1.38367894e+02] [-2.18971671e-03 9.99997565e-01 2.73956038e-04 -9.13634567e+00] [ 9.86477297e-03 -2.52342255e-04 9.99951310e-01 -5.28273231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61134618399998 meters 0.07248366686524038 Centerline is valid? [True, True] Translation: X:138.40, Y:-9.14, Z:-5.28 [[ 9.99952985e-01 1.35611671e-03 -9.60145457e-03 1.38396607e+02] [-1.35361443e-03 9.99999048e-01 2.67108232e-04 -9.13737907e+00] [ 9.60180766e-03 -2.54099006e-04 9.99953869e-01 -5.28482532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64134618399999 meters 0.07224006342030849 Centerline is valid? [True, True] Translation: X:138.43, Y:-9.14, Z:-5.28 [[ 9.99965603e-01 6.98407479e-04 -8.26470945e-03 1.38425883e+02] [-6.96532486e-04 9.99999731e-01 2.29743584e-04 -9.13833194e+00] [ 8.26486768e-03 -2.23979043e-04 9.99965820e-01 -5.28442088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.671346184 meters 0.07092946467652297 Centerline is valid? [True, True] Translation: X:138.45, Y:-9.14, Z:-5.28 [[ 9.99973713e-01 -3.88022337e-04 -7.24039274e-03 1.38454850e+02] [ 3.89479424e-04 9.99999904e-01 1.99835303e-04 -9.13634835e+00] [ 7.24031450e-03 -2.02650034e-04 9.99973768e-01 -5.27927888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.701346184 meters 0.07093392089178249 Centerline is valid? [True, True] Translation: X:138.48, Y:-9.14, Z:-5.28 [[ 9.99977738e-01 -1.30254636e-04 -6.67138939e-03 1.38483080e+02] [ 1.31433673e-04 9.99999976e-01 1.76292268e-04 -9.13531422e+00] [ 6.67136626e-03 -1.77165188e-04 9.99977730e-01 -5.27981082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.731346184 meters 0.07062512707973953 Centerline is valid? [True, True] Translation: X:138.51, Y:-9.13, Z:-5.28 [[ 9.99974480e-01 4.94110179e-04 -7.12710507e-03 1.38510996e+02] [-4.92799607e-04 9.99999861e-01 1.85640579e-04 -9.13243062e+00] [ 7.12719581e-03 -1.82123607e-04 9.99974585e-01 -5.27940316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.761346184 meters 0.070683369992344 Centerline is valid? [True, True] Translation: X:138.54, Y:-9.13, Z:-5.28 [[ 9.99975151e-01 2.10629728e-03 -6.72757394e-03 1.38538938e+02] [-2.10513929e-03 9.99997768e-01 1.79202475e-04 -9.13246826e+00] [ 6.72793638e-03 -1.65035542e-04 9.99977354e-01 -5.28128612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.791346184 meters 0.0702354765827315 Centerline is valid? [True, True] Translation: X:138.57, Y:-9.13, Z:-5.28 [[ 9.99966839e-01 2.22451188e-03 -7.83402029e-03 1.38567478e+02] [-2.22292905e-03 9.99997507e-01 2.10747437e-04 -9.13343863e+00] [ 7.83446957e-03 -1.93325977e-04 9.99969291e-01 -5.28108989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821346184 meters 0.07006049020824094 Centerline is valid? [True, True] Translation: X:138.60, Y:-9.13, Z:-5.28 [[ 9.99968118e-01 1.86223201e-03 -7.76493527e-03 1.38596377e+02] [-1.86067074e-03 9.99998247e-01 2.08285062e-04 -9.13418879e+00] [ 7.76530953e-03 -1.93830433e-04 9.99969831e-01 -5.28129491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.851346184 meters 0.07021712308188165 Centerline is valid? [True, True] Translation: X:138.63, Y:-9.14, Z:-5.28 [[ 9.99964532e-01 1.37975172e-03 -8.30846139e-03 1.38625339e+02] [-1.37795112e-03 9.99999026e-01 2.22438969e-04 -9.13546991e+00] [ 8.30876021e-03 -2.10982426e-04 9.99965459e-01 -5.28230403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881346184 meters 0.07038961923259246 Centerline is valid? [True, True] Translation: X:138.65, Y:-9.14, Z:-5.28 [[ 9.99960917e-01 8.06679116e-04 -8.80415672e-03 1.38653390e+02] [-8.04645802e-04 9.99999649e-01 2.34489048e-04 -9.13862901e+00] [ 8.80434278e-03 -2.27395656e-04 9.99961215e-01 -5.28413169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.911346184 meters 0.0704322216008711 Centerline is valid? [True, True] Translation: X:138.68, Y:-9.14, Z:-5.29 [[ 9.99962321e-01 2.59137110e-04 -8.67693623e-03 1.38682022e+02] [-2.57141869e-04 9.99999940e-01 2.31062487e-04 -9.14129188e+00] [ 8.67699558e-03 -2.28822577e-04 9.99962328e-01 -5.28593077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941346184 meters 0.07053912906113415 Centerline is valid? [True, True] Translation: X:138.71, Y:-9.14, Z:-5.29 [[ 9.99956833e-01 -1.12151051e-04 -9.29079794e-03 1.38710797e+02] [ 1.14450027e-04 9.99999963e-01 2.46915249e-04 -9.14292851e+00] [ 9.29076991e-03 -2.47967923e-04 9.99956809e-01 -5.28688349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.971346184 meters 0.0705102202470423 Centerline is valid? [True, True] Translation: X:138.74, Y:-9.14, Z:-5.29 [[ 9.99938304e-01 -6.13058933e-04 -1.10910931e-02 1.38740587e+02] [ 6.16379972e-04 9.99999766e-01 2.96017182e-04 -9.14417696e+00] [ 1.10909090e-02 -3.02835247e-04 9.99938448e-01 -5.28722719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001346184 meters 0.07079165171885322 Centerline is valid? [True, True] Translation: X:138.77, Y:-9.15, Z:-5.29 [[ 9.99945073e-01 -5.98061211e-04 -1.04639052e-02 1.38768586e+02] [ 6.00986934e-04 9.99999781e-01 2.76459189e-04 -9.14678890e+00] [ 1.04637375e-02 -2.82732674e-04 9.99945214e-01 -5.28978252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.031346184 meters 0.07045995110864685 Centerline is valid? [True, True] Translation: X:138.80, Y:-9.15, Z:-5.29 [[ 9.99947256e-01 -1.11928964e-03 -1.02094569e-02 1.38796161e+02] [ 1.12208330e-03 9.99999335e-01 2.67910135e-04 -9.14841108e+00] [ 1.02091503e-02 -2.79351865e-04 9.99947846e-01 -5.28949066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061346184 meters 0.07129787576153712 Centerline is valid? [True, True] Translation: X:138.82, Y:-9.15, Z:-5.29 [[ 9.99941112e-01 -1.77141360e-03 -1.07067561e-02 1.38824162e+02] [ 1.77452194e-03 9.99998386e-01 2.80821942e-04 -9.15218095e+00] [ 1.07062414e-02 -2.99804778e-04 9.99942642e-01 -5.29308045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.091346184 meters 0.07049241204841247 Centerline is valid? [True, True] Translation: X:138.85, Y:-9.15, Z:-5.29 [[ 9.99954361e-01 -7.70491237e-04 -9.52271402e-03 1.38853034e+02] [ 7.72901227e-04 9.99999670e-01 2.49400447e-04 -9.15395224e+00] [ 9.52251871e-03 -2.56749182e-04 9.99954627e-01 -5.29195651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121346184 meters 0.0698985909883555 Centerline is valid? [True, True] Translation: X:138.88, Y:-9.15, Z:-5.29 [[ 9.99961491e-01 -8.63012847e-04 -8.73336376e-03 1.38882014e+02] [ 8.64968721e-04 9.99999602e-01 2.20179610e-04 -9.15442394e+00] [ 8.73317027e-03 -2.27725217e-04 9.99961839e-01 -5.29050676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.151346184 meters 0.07017565019949266 Centerline is valid? [True, True] Translation: X:138.91, Y:-9.16, Z:-5.29 [[ 9.99969620e-01 -8.53627170e-04 -7.74798889e-03 1.38909828e+02] [ 8.55196388e-04 9.99999614e-01 1.99221499e-04 -9.15623821e+00] [ 7.74781584e-03 -2.05841499e-04 9.99969964e-01 -5.29130053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181346184 meters 0.069737684243467 Centerline is valid? [True, True] Translation: X:138.94, Y:-9.16, Z:-5.29 [[ 9.99983114e-01 -1.25017058e-03 -5.67526173e-03 1.38939075e+02] [ 1.25101958e-03 9.99999207e-01 1.46049524e-04 -9.15658228e+00] [ 5.67507465e-03 -1.53146922e-04 9.99983885e-01 -5.28889045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.211346184 meters 0.07002551735973873 Centerline is valid? [True, True] Translation: X:138.97, Y:-9.16, Z:-5.29 [[ 9.99988525e-01 -1.23008678e-03 -4.63002062e-03 1.38966588e+02] [ 1.23063616e-03 9.99999236e-01 1.15810054e-04 -9.15923321e+00] [ 4.62987462e-03 -1.21506596e-04 9.99989275e-01 -5.29059840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24134618399998 meters 0.06913442626540678 Centerline is valid? [True, True] Translation: X:139.00, Y:-9.16, Z:-5.29 [[ 9.99993267e-01 -6.52714070e-04 -3.61103788e-03 1.38995485e+02] [ 6.53022931e-04 9.99999783e-01 8.43542292e-05 -9.15825396e+00] [ 3.61098203e-03 -8.67117518e-05 9.99993477e-01 -5.28968253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27134618399998 meters 0.0697687656347318 Centerline is valid? [True, True] Translation: X:139.02, Y:-9.16, Z:-5.29 [[ 9.99988495e-01 -7.97026329e-04 -4.73027994e-03 1.39024078e+02] [ 7.97600301e-04 9.99999675e-01 1.19454755e-04 -9.16064096e+00] [ 4.73018320e-03 -1.23226253e-04 9.99988805e-01 -5.29251226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30134618399998 meters 0.06914569897540217 Centerline is valid? [True, True] Translation: X:139.05, Y:-9.16, Z:-5.29 [[ 9.99995743e-01 -8.06002451e-04 -2.80447608e-03 1.39053313e+02] [ 8.06183889e-04 9.99999673e-01 6.35659806e-05 -9.16013754e+00] [ 2.80442393e-03 -6.58266334e-05 9.99996065e-01 -5.29070429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33134618399998 meters 0.06912227876735474 Centerline is valid? [True, True] Translation: X:139.08, Y:-9.16, Z:-5.29 [[ 9.99997998e-01 -1.34937732e-03 -1.47746264e-03 1.39082812e+02] [ 1.34943244e-03 9.99999089e-01 3.63123838e-05 -9.16197811e+00] [ 1.47741230e-03 -3.83060471e-05 9.99998908e-01 -5.29110159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36134618399998 meters 0.06923273032027677 Centerline is valid? [True, True] Translation: X:139.11, Y:-9.16, Z:-5.29 [[ 9.99998638e-01 -1.63165971e-03 -2.49224184e-04 1.39113166e+02] [ 1.63166133e-03 9.99998669e-01 6.32293868e-06 -9.16333300e+00] [ 2.49213535e-04 -6.72957953e-06 9.99999969e-01 -5.29159873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39134618399999 meters 0.06921583446670944 Centerline is valid? [True, True] Translation: X:139.14, Y:-9.16, Z:-5.29 [[ 9.99998303e-01 -1.81898029e-03 -2.92674553e-04 1.39144463e+02] [ 1.81898288e-03 9.99998346e-01 8.59221972e-06 -9.16432422e+00] [ 2.92658439e-04 -9.12457514e-06 9.99999957e-01 -5.29186436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.421346184 meters 0.06953036610400139 Centerline is valid? [True, True] Translation: X:139.17, Y:-9.17, Z:-5.29 [[ 9.99997026e-01 -2.38545691e-03 5.08005081e-04 1.39174856e+02] [ 2.38546349e-03 9.99997155e-01 -1.23400812e-05 -9.16630381e+00] [-5.07974199e-04 1.35518721e-05 9.99999871e-01 -5.29227098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.451346184 meters 0.06942393434720116 Centerline is valid? [True, True] Translation: X:139.21, Y:-9.17, Z:-5.29 [[ 9.99995504e-01 -2.38262400e-03 1.82093889e-03 1.39206809e+02] [ 2.38270830e-03 9.99997160e-01 -4.41261599e-05 -9.16924710e+00] [-1.82082859e-03 4.84647277e-05 9.99998341e-01 -5.29278102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.481346184 meters 0.06952825687918178 Centerline is valid? [True, True] Translation: X:139.24, Y:-9.17, Z:-5.29 [[ 9.99994128e-01 -2.24959125e-03 2.58501668e-03 1.39239168e+02] [ 2.24976367e-03 9.99997467e-01 -6.37907570e-05 -9.17186243e+00] [-2.58486663e-03 6.96060590e-05 9.99996657e-01 -5.29388174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.511346184 meters 0.07029304566311063 Centerline is valid? [True, True] Translation: X:139.27, Y:-9.18, Z:-5.29 [[ 9.99990292e-01 -3.85860454e-03 2.12771586e-03 1.39269864e+02] [ 3.85872670e-03 9.99992554e-01 -5.33142339e-05 -9.17584808e+00] [-2.12749429e-03 6.15239903e-05 9.99997735e-01 -5.29440412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.541346184 meters 0.07064156494840966 Centerline is valid? [True, True] Translation: X:139.30, Y:-9.18, Z:-5.30 [[ 9.99988264e-01 -4.65317798e-03 1.34906782e-03 1.39301851e+02] [ 4.65322590e-03 9.99989173e-01 -3.23823929e-05 -9.17823628e+00] [-1.34890254e-03 3.86595301e-05 9.99999089e-01 -5.29510639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.571346184 meters 0.06831567242150743 Centerline is valid? [True, True] Translation: X:139.33, Y:-9.17, Z:-5.29 [[ 9.99981018e-01 -5.91303288e-03 1.73224292e-03 1.39334881e+02] [ 5.91311461e-03 9.99982517e-01 -4.20621153e-05 -9.17355582e+00] [-1.73196392e-03 5.23042678e-05 9.99998499e-01 -5.28807795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601346184 meters 0.06924313120286847 Centerline is valid? [True, True] Translation: X:139.37, Y:-9.18, Z:-5.29 [[ 9.99964814e-01 -8.24847803e-03 1.52785064e-03 1.39365580e+02] [ 8.24854498e-03 9.99965979e-01 -3.75263781e-05 -9.18184708e+00] [-1.52748913e-03 5.01276025e-05 9.99998832e-01 -5.29098814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.631346184 meters 0.06949024974887406 Centerline is valid? [True, True] Translation: X:139.40, Y:-9.19, Z:-5.29 [[ 9.99959495e-01 -8.68983578e-03 2.34420841e-03 1.39397798e+02] [ 8.68999594e-03 9.99962240e-01 -5.81452057e-05 -9.18748256e+00] [-2.34361462e-03 7.85140121e-05 9.99997251e-01 -5.29352743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661346184 meters 0.06965386217868409 Centerline is valid? [True, True] Translation: X:139.43, Y:-9.19, Z:-5.30 [[ 9.99945074e-01 -1.03608658e-02 1.58130759e-03 1.39430075e+02] [ 1.03609396e-02 9.99946323e-01 -3.85004546e-05 -9.19083866e+00] [-1.58082381e-03 5.48821723e-05 9.99998749e-01 -5.29515481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.691346184 meters 0.06965386217868409 Centerline is valid? [True, True] Translation: X:139.46, Y:-9.19, Z:-5.30 [[ 9.99946205e-01 -1.02511415e-02 1.58133589e-03 1.39462645e+02] [ 1.02512135e-02 9.99947454e-01 -3.74165720e-05 -9.19181642e+00] [-1.58086923e-03 5.36251709e-05 9.99998749e-01 -5.29626853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721346184 meters 0.07001207413871828 Centerline is valid? [True, True] Translation: X:139.49, Y:-9.19, Z:-5.30 [[ 9.99940193e-01 -1.09307116e-02 3.60364997e-04 1.39493770e+02] [ 1.09307150e-02 9.99940258e-01 -7.54338368e-06 -9.19496802e+00] [-3.60261014e-04 1.14819796e-05 9.99999935e-01 -5.29783377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.751346184 meters 0.0702906251190434 Centerline is valid? [True, True] Translation: X:139.53, Y:-9.20, Z:-5.30 [[ 9.99943005e-01 -1.06727170e-02 -2.81848908e-04 1.39525864e+02] [ 1.06727202e-02 9.99943045e-01 9.80073289e-06 -9.19612020e+00] [ 2.81728255e-04 -1.28082688e-05 9.99999960e-01 -5.29888521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781346184 meters 0.06946828128080362 Centerline is valid? [True, True] Translation: X:139.56, Y:-9.19, Z:-5.30 [[ 9.99948577e-01 -1.01355195e-02 3.38800048e-04 1.39558012e+02] [ 1.01355222e-02 9.99948634e-01 -6.39277550e-06 -9.19473792e+00] [-3.38717851e-04 9.82636219e-06 9.99999943e-01 -5.29751025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.811346184 meters 0.06918107303849085 Centerline is valid? [True, True] Translation: X:139.59, Y:-9.20, Z:-5.30 [[ 9.99961266e-01 -8.77644713e-03 -6.63818809e-04 1.39590175e+02] [ 8.77646231e-03 9.99961486e-01 1.99602442e-05 -9.19781644e+00] [ 6.63618062e-04 -2.57854518e-05 9.99999779e-01 -5.29976366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841346184 meters 0.0694141213883148 Centerline is valid? [True, True] Translation: X:139.62, Y:-9.20, Z:-5.30 [[ 9.99963207e-01 -8.29641495e-03 -2.18047803e-03 1.39621490e+02] [ 8.29656406e-03 9.99965581e-01 5.93488617e-05 -9.20061724e+00] [ 2.17991060e-03 -7.74371538e-05 9.99997621e-01 -5.30267939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.871346184 meters 0.06979469665223595 Centerline is valid? [True, True] Translation: X:139.65, Y:-9.20, Z:-5.31 [[ 9.99960600e-01 -8.43616375e-03 -2.76233742e-03 1.39652979e+02] [ 8.43640259e-03 9.99964410e-01 7.48206697e-05 -9.20336865e+00] [ 2.76160791e-03 -9.81219122e-05 9.99996182e-01 -5.30521778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901346184 meters 0.06968772351459457 Centerline is valid? [True, True] Translation: X:139.68, Y:-9.20, Z:-5.31 [[ 9.99960312e-01 -8.66448466e-03 -2.07372434e-03 1.39684700e+02] [ 8.66462225e-03 9.99962460e-01 5.73727792e-05 -9.20452807e+00] [ 2.07314938e-03 -7.53385402e-05 9.99997848e-01 -5.30574601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.931346184 meters 0.06994378962507371 Centerline is valid? [True, True] Translation: X:139.72, Y:-9.21, Z:-5.31 [[ 9.99955456e-01 -9.41402065e-03 -6.80363181e-04 1.39715444e+02] [ 9.41403635e-03 9.99955687e-01 1.98793251e-05 -9.20592063e+00] [ 6.80145888e-04 -2.62834033e-05 9.99999768e-01 -5.30582225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961346184 meters 0.07028943462706387 Centerline is valid? [True, True] Translation: X:139.75, Y:-9.21, Z:-5.31 [[ 9.99947992e-01 -1.01612073e-02 -8.74068278e-04 1.39747154e+02] [ 1.01612330e-02 9.99948373e-01 2.50611129e-05 -9.20821073e+00] [ 8.73768501e-04 -3.39414210e-05 9.99999618e-01 -5.30632224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99134618399998 meters 0.07053749455381042 Centerline is valid? [True, True] Translation: X:139.78, Y:-9.21, Z:-5.31 [[ 9.99939678e-01 -1.09714018e-02 5.18952118e-04 1.39779191e+02] [ 1.09714092e-02 9.99939812e-01 -1.14379504e-05 -9.21109608e+00] [-5.18795393e-04 1.71308965e-05 9.99999865e-01 -5.30747528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02134618399998 meters 0.07055039081158239 Centerline is valid? [True, True] Translation: X:139.81, Y:-9.21, Z:-5.31 [[ 9.99941888e-01 -1.07711433e-02 4.50322205e-04 1.39812570e+02] [ 1.07711482e-02 9.99941989e-01 -8.45663636e-06 -9.21174348e+00] [-4.50204994e-04 1.33066322e-05 9.99999899e-01 -5.30911973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05134618399998 meters 0.07123790320804681 Centerline is valid? [True, True] Translation: X:139.84, Y:-9.21, Z:-5.31 [[ 9.99940670e-01 -1.08826801e-02 4.72907366e-04 1.39843217e+02] [ 1.08826865e-02 9.99940782e-01 -1.09034312e-05 -9.21453770e+00] [-4.72760703e-04 1.60492869e-05 9.99999888e-01 -5.31196638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08134618399998 meters 0.06981764728758212 Centerline is valid? [True, True] Translation: X:139.88, Y:-9.21, Z:-5.31 [[ 9.99944419e-01 -1.04979993e-02 9.75350770e-04 1.39875725e+02] [ 1.04980274e-02 9.99944894e-01 -2.37640636e-05 -9.21174041e+00] [-9.75047547e-04 3.40020019e-05 9.99999524e-01 -5.31076941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11134618399998 meters 0.0699779405438781 Centerline is valid? [True, True] Translation: X:139.91, Y:-9.21, Z:-5.31 [[ 9.99947636e-01 -1.01918136e-02 9.22636280e-04 1.39907077e+02] [ 1.01918372e-02 9.99948062e-01 -2.09229850e-05 -9.21078730e+00] [-9.22375116e-04 3.03252481e-05 9.99999574e-01 -5.31285408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14134618399999 meters 0.06955277101707623 Centerline is valid? [True, True] Translation: X:139.94, Y:-9.21, Z:-5.31 [[ 9.99947924e-01 -1.00233552e-02 1.91877006e-03 1.39938932e+02] [ 1.00234686e-02 9.99949763e-01 -4.95050964e-05 -9.20946325e+00] [-1.91817745e-03 6.87352499e-05 9.99998158e-01 -5.31338866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.171346184 meters 0.06987506478276931 Centerline is valid? [True, True] Translation: X:139.97, Y:-9.21, Z:-5.31 [[ 9.99946207e-01 -1.02229922e-02 1.75328909e-03 1.39969697e+02] [ 1.02230881e-02 9.99947742e-01 -4.57448879e-05 -9.20916470e+00] [-1.75272981e-03 6.36664560e-05 9.99998462e-01 -5.31453340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.201346184 meters 0.0708874986032428 Centerline is valid? [True, True] Translation: X:140.00, Y:-9.21, Z:-5.32 [[ 9.99953701e-01 -9.45869682e-03 1.76880422e-03 1.40000338e+02] [ 9.45879345e-03 9.99955264e-01 -4.62771853e-05 -9.21059299e+00] [-1.76828737e-03 6.30057965e-05 9.99998435e-01 -5.31805706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.231346184 meters 0.06954030951128896 Centerline is valid? [True, True] Translation: X:140.03, Y:-9.20, Z:-5.32 [[ 9.99961649e-01 -8.61076174e-03 1.59884479e-03 1.40033301e+02] [ 8.61083673e-03 9.99962925e-01 -4.00249242e-05 -9.20418617e+00] [-1.59844087e-03 5.37907807e-05 9.99998721e-01 -5.31664024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.261346184 meters 0.0695945673013712 Centerline is valid? [True, True] Translation: X:140.07, Y:-9.20, Z:-5.32 [[ 9.99960314e-01 -8.59950415e-03 2.32799213e-03 1.40065245e+02] [ 8.59967006e-03 9.99963020e-01 -6.12655300e-05 -9.20367813e+00] [-2.32737918e-03 8.12830627e-05 9.99997288e-01 -5.31824563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.291346184 meters 0.06988571925540557 Centerline is valid? [True, True] Translation: X:140.10, Y:-9.20, Z:-5.32 [[ 9.99966469e-01 -7.70639070e-03 2.77007709e-03 1.40096488e+02] [ 7.70662560e-03 9.99970301e-01 -7.41330450e-05 -9.20402215e+00] [-2.76942353e-03 9.54785062e-05 9.99996161e-01 -5.31988898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.321346184 meters 0.06859436725173197 Centerline is valid? [True, True] Translation: X:140.13, Y:-9.20, Z:-5.32 [[ 9.99972545e-01 -6.14538059e-03 4.14036491e-03 1.40128510e+02] [ 6.14589651e-03 9.99981108e-01 -1.11894656e-04 -9.19644825e+00] [-4.13959905e-03 1.37337838e-04 9.99991422e-01 -5.31728952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.351346184 meters 0.06850846636754691 Centerline is valid? [True, True] Translation: X:140.16, Y:-9.19, Z:-5.32 [[ 9.99979945e-01 -4.91266804e-03 3.99692232e-03 1.40160930e+02] [ 4.91313744e-03 9.99987925e-01 -1.07630686e-04 -9.19292809e+00] [-3.99634530e-03 1.27265956e-04 9.99992006e-01 -5.31849647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381346184 meters 0.06839659440117178 Centerline is valid? [True, True] Translation: X:140.19, Y:-9.19, Z:-5.32 [[ 9.99987167e-01 -3.29306409e-03 3.84990616e-03 1.40192766e+02] [ 3.29348838e-03 9.99994571e-01 -1.03874225e-04 -9.19000765e+00] [-3.84954319e-03 1.16552514e-04 9.99992584e-01 -5.32033961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.411346184 meters 0.06790873704644186 Centerline is valid? [True, True] Translation: X:140.22, Y:-9.18, Z:-5.32 [[ 9.99984794e-01 1.31903041e-03 5.35470294e-03 1.40222159e+02] [-1.31825465e-03 9.99999120e-01 -1.48400756e-04 -9.18348765e+00] [-5.35489398e-03 1.41339638e-04 9.99985652e-01 -5.32384225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441346184 meters 0.0672774744934882 Centerline is valid? [True, True] Translation: X:140.25, Y:-9.18, Z:-5.32 [[ 9.99979251e-01 3.62468499e-03 5.32527544e-03 1.40254787e+02] [-3.62396447e-03 9.99993423e-01 -1.44945584e-04 -9.17919780e+00] [-5.32576580e-03 1.25643967e-04 9.99985810e-01 -5.32471721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.471346184 meters 0.06704364625349932 Centerline is valid? [True, True] Translation: X:140.29, Y:-9.18, Z:-5.33 [[ 9.99971767e-01 5.40365946e-03 5.22168981e-03 1.40285839e+02] [-5.40298389e-03 9.99985393e-01 -1.43476323e-04 -9.17572501e+00] [-5.22238884e-03 1.15259566e-04 9.99986357e-01 -5.32587395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501346184 meters 0.06694687581973406 Centerline is valid? [True, True] Translation: X:140.32, Y:-9.17, Z:-5.33 [[ 9.99963770e-01 7.05214059e-03 4.76715501e-03 1.40315195e+02] [-7.05159439e-03 9.99975129e-01 -1.31373675e-04 -9.17190767e+00] [-4.76796291e-03 9.77528722e-05 9.99988628e-01 -5.32699396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.531346184 meters 0.06695293538170873 Centerline is valid? [True, True] Translation: X:140.34, Y:-9.17, Z:-5.33 [[ 9.99951485e-01 8.80070019e-03 4.42431399e-03 1.40344398e+02] [-8.80023668e-03 9.99961269e-01 -1.24222246e-04 -9.16505624e+00] [-4.42523588e-03 8.52812093e-05 9.99990205e-01 -5.32849160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561346184 meters 0.0670742423959943 Centerline is valid? [True, True] Translation: X:140.37, Y:-9.16, Z:-5.33 [[ 9.99951946e-01 8.77264153e-03 4.37568310e-03 1.40373210e+02] [-8.77218665e-03 9.99961516e-01 -1.23139042e-04 -9.16326876e+00] [-4.37659496e-03 8.47488156e-05 9.99990419e-01 -5.32957395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.591346184 meters 0.06713232726874138 Centerline is valid? [True, True] Translation: X:140.40, Y:-9.16, Z:-5.33 [[ 9.99951341e-01 8.55011551e-03 4.92057797e-03 1.40401760e+02] [-8.54954072e-03 9.99963443e-01 -1.37835829e-04 -9.16254896e+00] [-4.92157660e-03 9.57604406e-05 9.99987884e-01 -5.33080533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621346184 meters 0.06782458261913835 Centerline is valid? [True, True] Translation: X:140.43, Y:-9.16, Z:-5.33 [[ 9.99965742e-01 7.12217117e-03 4.21785097e-03 1.40430329e+02] [-7.12173813e-03 9.99974633e-01 -1.17677610e-04 -9.16157991e+00] [-4.21858209e-03 8.76351486e-05 9.99991098e-01 -5.33440972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.651346184 meters 0.06815850437153241 Centerline is valid? [True, True] Translation: X:140.46, Y:-9.16, Z:-5.34 [[ 9.99970297e-01 6.45621687e-03 4.20977197e-03 1.40458938e+02] [-6.45577845e-03 9.99979154e-01 -1.17723535e-04 -9.16172668e+00] [-4.21044427e-03 9.05426833e-05 9.99991132e-01 -5.33618285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681346184 meters 0.06875061991640294 Centerline is valid? [True, True] Translation: X:140.49, Y:-9.16, Z:-5.34 [[ 9.99980528e-01 5.18624928e-03 3.47088972e-03 1.40488521e+02] [-5.18594659e-03 9.99986548e-01 -9.62037523e-05 -9.16203598e+00] [-3.47134196e-03 7.82020303e-05 9.99993972e-01 -5.33899095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.711346184 meters 0.0692040910990479 Centerline is valid? [True, True] Translation: X:140.52, Y:-9.16, Z:-5.34 [[ 9.99983436e-01 4.95201131e-03 2.93363094e-03 1.40517986e+02] [-4.95179385e-03 9.99987736e-01 -8.13870441e-05 -9.15937425e+00] [-2.93399800e-03 6.68589603e-05 9.99995694e-01 -5.34134512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74134618399998 meters 0.06942379929504637 Centerline is valid? [True, True] Translation: X:140.55, Y:-9.16, Z:-5.34 [[ 9.99980584e-01 5.29428735e-03 3.28662622e-03 1.40546595e+02] [-5.29401542e-03 9.99985982e-01 -9.14306984e-05 -9.15889196e+00] [-3.28706421e-03 7.40294733e-05 9.99994595e-01 -5.34377510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77134618399998 meters 0.0692750471660547 Centerline is valid? [True, True] Translation: X:140.58, Y:-9.16, Z:-5.35 [[ 9.99973222e-01 6.02400349e-03 4.15531092e-03 1.40576387e+02] [-6.02357987e-03 9.99981852e-01 -1.14454230e-04 -9.15686327e+00] [-4.15592498e-03 8.94213175e-05 9.99991360e-01 -5.34561791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80134618399998 meters 0.06904526854235336 Centerline is valid? [True, True] Translation: X:140.61, Y:-9.15, Z:-5.35 [[ 9.99963072e-01 7.30664838e-03 4.52418762e-03 1.40606339e+02] [-7.30616047e-03 9.99973302e-01 -1.24364098e-04 -9.15389673e+00] [-4.52497552e-03 9.13050644e-05 9.99989758e-01 -5.34650532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83134618399998 meters 0.06895428829110123 Centerline is valid? [True, True] Translation: X:140.64, Y:-9.15, Z:-5.35 [[ 9.99953209e-01 7.86619624e-03 5.63055796e-03 1.40635595e+02] [-7.86545321e-03 9.99969055e-01 -1.54096248e-04 -9.14733850e+00] [-5.63159587e-03 1.09802148e-04 9.99984136e-01 -5.34536438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86134618399998 meters 0.06897120464449014 Centerline is valid? [True, True] Translation: X:140.67, Y:-9.15, Z:-5.34 [[ 9.99945526e-01 7.74927119e-03 6.99235413e-03 1.40665071e+02] [-7.74812353e-03 9.99969965e-01 -1.91205610e-04 -9.14529255e+00] [-6.99362582e-03 1.37017570e-04 9.99975535e-01 -5.34459250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89134618399999 meters 0.06901597086901658 Centerline is valid? [True, True] Translation: X:140.69, Y:-9.15, Z:-5.34 [[ 9.99941797e-01 6.96739511e-03 8.23755691e-03 1.40694237e+02] [-6.96577952e-03 9.99975713e-01 -2.24799439e-04 -9.14502411e+00] [-8.23892311e-03 1.67405350e-04 9.99966045e-01 -5.34421599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.921346184 meters 0.06978863996475321 Centerline is valid? [True, True] Translation: X:140.73, Y:-9.15, Z:-5.34 [[ 9.99942722e-01 4.11446938e-03 9.88043573e-03 1.40725539e+02] [-4.11202603e-03 9.99991510e-01 -2.67593554e-04 -9.14711479e+00] [-9.88145285e-03 2.26949618e-04 9.99951151e-01 -5.34385865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.951346184 meters 0.070277721735957 Centerline is valid? [True, True] Translation: X:140.76, Y:-9.15, Z:-5.34 [[ 9.99933980e-01 2.80216106e-03 1.11437283e-02 1.40759130e+02] [-2.79902209e-03 9.99996039e-01 -2.97265950e-04 -9.15000969e+00] [-1.11445171e-02 2.66054783e-04 9.99937863e-01 -5.34388580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.981346184 meters 0.07114837678696408 Centerline is valid? [True, True] Translation: X:140.79, Y:-9.15, Z:-5.35 [[ 9.99937958e-01 1.02353627e-03 1.10919895e-02 1.40790176e+02] [-1.02027440e-03 9.99999435e-01 -2.99728598e-04 -9.15276384e+00] [-1.10922900e-02 2.88393129e-04 9.99938437e-01 -5.34531129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.011346184 meters 0.072483212151918 Centerline is valid? [True, True] Translation: X:140.82, Y:-9.16, Z:-5.35 [[ 9.99945165e-01 -9.31136427e-04 1.04307595e-02 1.40820680e+02] [ 9.34187096e-04 9.99999522e-01 -2.87600030e-04 -9.15617978e+00] [-1.04304867e-02 2.97328540e-04 9.99945557e-01 -5.34807021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.041346184 meters 0.0702821159203374 Centerline is valid? [True, True] Translation: X:140.85, Y:-9.15, Z:-5.34 [[ 9.99948688e-01 -3.48229132e-03 9.51286135e-03 1.40853038e+02] [ 3.48492542e-03 9.99993894e-01 -2.60336836e-04 -9.14868016e+00] [-9.51189669e-03 2.93475090e-04 9.99954718e-01 -5.34357516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.071346184 meters 0.07116218515017532 Centerline is valid? [True, True] Translation: X:140.89, Y:-9.15, Z:-5.35 [[ 9.99952789e-01 -3.15198557e-03 9.19154117e-03 1.40885354e+02] [ 3.15444639e-03 9.99994993e-01 -2.53242192e-04 -9.15079464e+00] [-9.19069693e-03 2.82224460e-04 9.99957725e-01 -5.34745919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101346184 meters 0.0706207544483444 Centerline is valid? [True, True] Translation: X:140.92, Y:-9.15, Z:-5.35 [[ 9.99961279e-01 -1.90588294e-03 8.59117383e-03 1.40917355e+02] [ 1.90799581e-03 9.99998152e-01 -2.37746128e-04 -9.14867364e+00] [-8.59070484e-03 2.54128846e-04 9.99963067e-01 -5.34866967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.131346184 meters 0.07044078915572992 Centerline is valid? [True, True] Translation: X:140.95, Y:-9.15, Z:-5.35 [[ 9.99961302e-01 -4.75852528e-04 8.78456281e-03 1.40948813e+02] [ 4.78016175e-04 9.99999856e-01 -2.44203172e-04 -9.14826758e+00] [-8.78444534e-03 2.48392885e-04 9.99961385e-01 -5.35113616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161346184 meters 0.06943820853320369 Centerline is valid? [True, True] Translation: X:140.98, Y:-9.15, Z:-5.35 [[ 9.99949298e-01 2.52682214e-03 9.74765721e-03 1.40980052e+02] [-2.52428973e-03 9.99996777e-01 -2.72090939e-04 -9.14535688e+00] [-9.74831331e-03 2.47471232e-04 9.99952453e-01 -5.35080105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.191346184 meters 0.06821289512828897 Centerline is valid? [True, True] Translation: X:141.01, Y:-9.14, Z:-5.35 [[ 9.99915180e-01 6.89013890e-03 1.10525903e-02 1.41011544e+02] [-6.88714349e-03 9.99976236e-01 -3.09053415e-04 -9.13731103e+00] [-1.10544571e-02 2.32906425e-04 9.99938870e-01 -5.34816479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221346184 meters 0.06823375649977391 Centerline is valid? [True, True] Translation: X:141.04, Y:-9.14, Z:-5.35 [[ 9.99896123e-01 9.00392331e-03 1.12549330e-02 1.41042555e+02] [-9.00099514e-03 9.99959442e-01 -3.10796070e-04 -9.13531403e+00] [-1.12572749e-02 2.09458188e-04 9.99936613e-01 -5.34912506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.251346184 meters 0.06788480823997138 Centerline is valid? [True, True] Translation: X:141.07, Y:-9.13, Z:-5.35 [[ 9.99890031e-01 1.00961094e-02 1.08625322e-02 1.41074218e+02] [-1.00933747e-02 9.99949014e-01 -3.06551326e-04 -9.13282015e+00] [-1.08650734e-02 1.96878007e-04 9.99940954e-01 -5.34934575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281346184 meters 0.06761638002897347 Centerline is valid? [True, True] Translation: X:141.10, Y:-9.13, Z:-5.35 [[ 9.99855147e-01 1.19459375e-02 1.21235394e-02 1.41103531e+02] [-1.19426467e-02 9.99928625e-01 -3.43806569e-04 -9.13083461e+00] [-1.21267812e-02 1.98969619e-04 9.99926448e-01 -5.35058823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.311346184 meters 0.06777928585421725 Centerline is valid? [True, True] Translation: X:141.13, Y:-9.13, Z:-5.35 [[ 9.99861336e-01 1.19765730e-02 1.15702672e-02 1.41133179e+02] [-1.19735753e-02 9.99928260e-01 -3.28323120e-04 -9.13192411e+00] [-1.15733693e-02 1.89740128e-04 9.99933008e-01 -5.35329072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341346184 meters 0.06780642509678371 Centerline is valid? [True, True] Translation: X:141.16, Y:-9.13, Z:-5.36 [[ 9.99864989e-01 1.20388345e-02 1.11834564e-02 1.41162628e+02] [-1.20360415e-02 9.99927514e-01 -3.17015540e-04 -9.13374871e+00] [-1.11864623e-02 1.82368195e-04 9.99937413e-01 -5.35568453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.371346184 meters 0.06804671575156572 Centerline is valid? [True, True] Translation: X:141.19, Y:-9.14, Z:-5.36 [[ 9.99870123e-01 1.22676669e-02 1.04518479e-02 1.41190655e+02] [-1.22652387e-02 9.99924735e-01 -2.96389566e-04 -9.13597577e+00] [-1.04546973e-02 1.68156662e-04 9.99945334e-01 -5.35885092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401346184 meters 0.06801127427967897 Centerline is valid? [True, True] Translation: X:141.22, Y:-9.14, Z:-5.36 [[ 9.99861257e-01 1.34796864e-02 9.78599778e-03 1.41219591e+02] [-1.34776157e-02 9.99909134e-01 -2.77518481e-04 -9.13576123e+00] [-9.78884943e-03 1.45588061e-04 9.99952077e-01 -5.36123495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.431346184 meters 0.06777113970792181 Centerline is valid? [True, True] Translation: X:141.25, Y:-9.13, Z:-5.36 [[ 9.99845611e-01 1.49398505e-02 9.24964897e-03 1.41247231e+02] [-1.49380639e-02 9.99888387e-01 -2.62219705e-04 -9.13385908e+00] [-9.25253411e-03 1.24007374e-04 9.99957187e-01 -5.36262774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461346184 meters 0.06721415010583161 Centerline is valid? [True, True] Translation: X:141.28, Y:-9.13, Z:-5.36 [[ 9.99831192e-01 1.58501087e-02 9.29309792e-03 1.41276677e+02] [-1.58483546e-02 9.99874373e-01 -2.62370635e-04 -9.13052425e+00] [-9.29608905e-03 1.15046034e-04 9.99956784e-01 -5.36012211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49134618399998 meters 0.06710849501900383 Centerline is valid? [True, True] Translation: X:141.30, Y:-9.13, Z:-5.36 [[ 9.99791761e-01 1.77939870e-02 9.99042839e-03 1.41304661e+02] [-1.77920615e-02 9.99841669e-01 -2.81585905e-04 -9.12951952e+00] [-9.99385714e-03 1.03776952e-04 9.99950055e-01 -5.36222966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52134618399998 meters 0.06708709763118985 Centerline is valid? [True, True] Translation: X:141.33, Y:-9.13, Z:-5.36 [[ 9.99763721e-01 1.89584505e-02 1.06338729e-02 1.41332555e+02] [-1.89563477e-02 9.99820268e-01 -2.98514164e-04 -9.12869263e+00] [-1.06376210e-02 9.68642394e-05 9.99943414e-01 -5.36163271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55134618399998 meters 0.06692818122091383 Centerline is valid? [True, True] Translation: X:141.36, Y:-9.13, Z:-5.36 [[ 9.99762607e-01 1.90874138e-02 1.05071699e-02 1.41360903e+02] [-1.90853803e-02 9.99817814e-01 -2.93776884e-04 -9.12985718e+00] [-1.05108631e-02 9.31738087e-05 9.99944755e-01 -5.36154948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58134618399998 meters 0.06692818122091383 Centerline is valid? [True, True] Translation: X:141.39, Y:-9.13, Z:-5.36 [[ 9.99763908e-01 1.90191027e-02 1.05071899e-02 1.41389172e+02] [-1.90170730e-02 9.99819116e-01 -2.93058994e-04 -9.13054938e+00] [-1.05108630e-02 9.31738080e-05 9.99944755e-01 -5.36251866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61134618399998 meters 0.06688046076626822 Centerline is valid? [True, True] Translation: X:141.42, Y:-9.13, Z:-5.36 [[ 9.99760586e-01 1.86209264e-02 1.14905098e-02 1.41416567e+02] [-1.86184799e-02 9.99826610e-01 -3.19854397e-04 -9.13374492e+00] [-1.14944734e-02 1.05841993e-04 9.99933931e-01 -5.36412483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64134618399999 meters 0.06719466096223366 Centerline is valid? [True, True] Translation: X:141.45, Y:-9.14, Z:-5.37 [[ 9.99791788e-01 1.66756995e-02 1.17602167e-02 1.41445067e+02] [-1.66730194e-02 9.99860942e-01 -3.25903949e-04 -9.13844741e+00] [-1.17640160e-02 1.29757771e-04 9.99930793e-01 -5.36536568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.671346184 meters 0.06747809231456724 Centerline is valid? [True, True] Translation: X:141.47, Y:-9.14, Z:-5.37 [[ 9.99818576e-01 1.51402367e-02 1.15580001e-02 1.41473093e+02] [-1.51375498e-02 9.99885370e-01 -3.19928548e-04 -9.14055729e+00] [-1.15615190e-02 1.44910704e-04 9.99933153e-01 -5.36644770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.701346184 meters 0.06773429648237506 Centerline is valid? [True, True] Translation: X:141.50, Y:-9.14, Z:-5.37 [[ 9.99836713e-01 1.45132275e-02 1.07662815e-02 1.41501562e+02] [-1.45108716e-02 9.99894668e-01 -2.96911813e-04 -9.14263548e+00] [-1.07694567e-02 1.40635202e-04 9.99941998e-01 -5.36801230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.731346184 meters 0.06762169942131147 Centerline is valid? [True, True] Translation: X:141.53, Y:-9.15, Z:-5.37 [[ 9.99836351e-01 1.47562578e-02 1.04653378e-02 1.41530647e+02] [-1.47540511e-02 9.99891112e-01 -2.88035698e-04 -9.14566532e+00] [-1.04684486e-02 1.33582432e-04 9.99945195e-01 -5.36936658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.761346184 meters 0.06774117991614712 Centerline is valid? [True, True] Translation: X:141.56, Y:-9.15, Z:-5.37 [[ 9.99815610e-01 1.62250846e-02 1.02710075e-02 1.41557978e+02] [-1.62230394e-02 9.99868358e-01 -2.82419443e-04 -9.14643715e+00] [-1.02742377e-02 1.15740409e-04 9.99947212e-01 -5.37267217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.791346184 meters 0.0674130489359578 Centerline is valid? [True, True] Translation: X:141.59, Y:-9.14, Z:-5.37 [[ 9.99810940e-01 1.70672027e-02 9.31634067e-03 1.41587341e+02] [-1.70655654e-02 9.99854340e-01 -2.55223623e-04 -9.14470406e+00] [-9.31933961e-03 9.61867500e-05 9.99956569e-01 -5.37175020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821346184 meters 0.06738977528731811 Centerline is valid? [True, True] Translation: X:141.62, Y:-9.14, Z:-5.37 [[ 9.99759644e-01 1.96206260e-02 9.78188492e-03 1.41615040e+02] [-1.96189469e-02 9.99807494e-01 -2.67591455e-04 -9.14282171e+00] [-9.78525216e-03 7.56168565e-05 9.99952120e-01 -5.37259978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.851346184 meters 0.06698885846758963 Centerline is valid? [True, True] Translation: X:141.64, Y:-9.14, Z:-5.37 [[ 9.99737499e-01 2.02669983e-02 1.06855968e-02 1.41644038e+02] [-2.02650483e-02 9.99794601e-01 -2.90748869e-04 -9.14269143e+00] [-1.06892946e-02 7.41284118e-05 9.99942865e-01 -5.37141218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881346184 meters 0.06724551287544435 Centerline is valid? [True, True] Translation: X:141.67, Y:-9.14, Z:-5.37 [[ 9.99727475e-01 2.07974274e-02 1.06039391e-02 1.41671852e+02] [-2.07955403e-02 9.99783708e-01 -2.88206108e-04 -9.14497379e+00] [-1.06076395e-02 6.76129215e-05 9.99943735e-01 -5.37473251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.911346184 meters 0.06687835661364207 Centerline is valid? [True, True] Translation: X:141.70, Y:-9.15, Z:-5.37 [[ 9.99726867e-01 2.11439597e-02 9.95609387e-03 1.41700671e+02] [-2.11423233e-02 9.99776440e-01 -2.69592622e-04 -9.14759655e+00] [-9.95956834e-03 5.90240320e-05 9.99950401e-01 -5.37331802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941346184 meters 0.06699800430844614 Centerline is valid? [True, True] Translation: X:141.73, Y:-9.15, Z:-5.37 [[ 9.99728109e-01 2.13638423e-02 9.34316092e-03 1.41728980e+02] [-2.13624157e-02 9.99771766e-01 -2.52471272e-04 -9.14853427e+00] [-9.34642224e-03 5.28101395e-05 9.99956320e-01 -5.37484279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.971346184 meters 0.0673591451631461 Centerline is valid? [True, True] Translation: X:141.76, Y:-9.15, Z:-5.38 [[ 9.99719423e-01 2.21355154e-02 8.43177673e-03 1.41756425e+02] [-2.21343803e-02 9.99754979e-01 -2.27922065e-04 -9.14936999e+00] [-8.43475594e-03 4.12259621e-05 9.99964426e-01 -5.37824937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001346184 meters 0.06719629735482985 Centerline is valid? [True, True] Translation: X:141.79, Y:-9.15, Z:-5.38 [[ 9.99704041e-01 2.27505795e-02 8.61635365e-03 1.41785030e+02] [-2.27494283e-02 9.99741171e-01 -2.31611312e-04 -9.14983636e+00] [-8.61939279e-03 3.55256457e-05 9.99962852e-01 -5.37750718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.031346184 meters 0.06759651270564737 Centerline is valid? [True, True] Translation: X:141.81, Y:-9.15, Z:-5.38 [[ 9.99686330e-01 2.38608151e-02 7.60943893e-03 1.41812453e+02] [-2.38599418e-02 9.99715290e-01 -2.05538645e-04 -9.15309618e+00] [-7.61217676e-03 2.39134037e-05 9.99971027e-01 -5.38238368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061346184 meters 0.06750055557397787 Centerline is valid? [True, True] Translation: X:141.84, Y:-9.16, Z:-5.38 [[ 9.99684920e-01 2.42160921e-02 6.60618805e-03 1.41840966e+02] [-2.42154518e-02 9.99706747e-01 -1.76904867e-04 -9.15536002e+00] [-6.60853471e-03 1.68773001e-05 9.99978163e-01 -5.38236202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.091346184 meters 0.06767628037798386 Centerline is valid? [True, True] Translation: X:141.87, Y:-9.16, Z:-5.39 [[ 9.99660554e-01 2.52648966e-02 6.36091749e-03 1.41869060e+02] [-2.52643234e-02 9.99680792e-01 -1.70450282e-04 -9.15807055e+00] [-6.36319344e-03 9.68814656e-06 9.99979755e-01 -5.38549347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121346184 meters 0.06805972559237417 Centerline is valid? [True, True] Translation: X:141.90, Y:-9.16, Z:-5.39 [[ 9.99698634e-01 2.43094253e-02 3.41957908e-03 1.41898367e+02] [-2.43092560e-02 9.99704482e-01 -9.10936770e-05 -9.16279544e+00] [-3.42078297e-03 7.93880128e-06 9.99994149e-01 -5.38840367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.151346184 meters 0.06818203939759009 Centerline is valid? [True, True] Translation: X:141.93, Y:-9.16, Z:-5.39 [[ 9.99700679e-01 2.42351725e-02 3.34783663e-03 1.41925574e+02] [-2.42350010e-02 9.99706285e-01 -9.17658478e-05 -9.16422374e+00] [-3.34907728e-03 1.06035562e-05 9.99994392e-01 -5.38967782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181346184 meters 0.06818273450809519 Centerline is valid? [True, True] Translation: X:141.95, Y:-9.17, Z:-5.39 [[ 9.99695272e-01 2.44314353e-02 3.53101477e-03 1.41954366e+02] [-2.44312539e-02 9.99701508e-01 -9.45153750e-05 -9.16554991e+00] [-3.53226993e-03 8.21945533e-06 9.99993761e-01 -5.39013627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.211346184 meters 0.0679555507807896 Centerline is valid? [True, True] Translation: X:141.98, Y:-9.17, Z:-5.39 [[ 9.99666829e-01 2.54937031e-02 4.03758239e-03 1.41982843e+02] [-2.54934771e-02 9.99674983e-01 -1.07442121e-04 -9.16840955e+00] [-4.03900921e-03 4.47431000e-06 9.99991843e-01 -5.38997597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24134618399998 meters 0.06800237066170825 Centerline is valid? [True, True] Translation: X:142.01, Y:-9.17, Z:-5.39 [[ 9.99640403e-01 2.63694566e-02 4.87002020e-03 1.42012101e+02] [-2.63691447e-02 9.99652265e-01 -1.28257664e-04 -9.17038535e+00] [-4.87170881e-03 -2.06724292e-07 9.99988133e-01 -5.39160516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27134618399998 meters 0.06796962095625148 Centerline is valid? [True, True] Translation: X:142.04, Y:-9.17, Z:-5.39 [[ 9.99635651e-01 2.64416672e-02 5.42248555e-03 1.42039445e+02] [-2.64412728e-02 9.99650358e-01 -1.44414954e-04 -9.17232703e+00] [-5.42440819e-03 9.84917232e-07 9.99985288e-01 -5.39270383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30134618399998 meters 0.06794418375175752 Centerline is valid? [True, True] Translation: X:142.07, Y:-9.17, Z:-5.39 [[ 9.99630251e-01 2.65340642e-02 5.94182594e-03 1.42067822e+02] [-2.65336085e-02 9.99647910e-01 -1.55530230e-04 -9.17461686e+00] [-5.94386073e-03 -2.18536010e-06 9.99982335e-01 -5.39328104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33134618399998 meters 0.06803337583231528 Centerline is valid? [True, True] Translation: X:142.10, Y:-9.18, Z:-5.39 [[ 9.99647266e-01 2.60099409e-02 5.36897213e-03 1.42095900e+02] [-2.60095595e-02 9.99661684e-01 -1.40865191e-04 -9.17543617e+00] [-5.37081962e-03 1.17090317e-06 9.99985577e-01 -5.39343560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36134618399998 meters 0.06798704027559004 Centerline is valid? [True, True] Translation: X:142.12, Y:-9.18, Z:-5.39 [[ 9.99662444e-01 2.53265667e-02 5.79342661e-03 1.42124317e+02] [-2.53261180e-02 9.99679231e-01 -1.50817540e-04 -9.17671230e+00] [-5.79538795e-03 4.04162436e-06 9.99983207e-01 -5.39262489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39134618399999 meters 0.06814071587910375 Centerline is valid? [True, True] Translation: X:142.15, Y:-9.18, Z:-5.39 [[ 9.99680546e-01 2.46800154e-02 5.45007395e-03 1.42152258e+02] [-2.46796074e-02 9.99695402e-01 -1.42116300e-04 -9.18006491e+00] [-5.45192130e-03 7.56521537e-06 9.99985138e-01 -5.39487393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.421346184 meters 0.06815066945346838 Centerline is valid? [True, True] Translation: X:142.18, Y:-9.18, Z:-5.40 [[ 9.99706962e-01 2.35672544e-02 5.52939063e-03 1.42179973e+02] [-2.35668176e-02 9.99722254e-01 -1.44154705e-04 -9.18461413e+00] [-5.53125220e-03 1.38023218e-05 9.99984702e-01 -5.39682312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.451346184 meters 0.06793809045667751 Centerline is valid? [True, True] Translation: X:142.21, Y:-9.19, Z:-5.40 [[ 9.99777422e-01 2.06702372e-02 4.22466429e-03 1.42208784e+02] [-2.06699583e-02 9.99786348e-01 -1.09669875e-04 -9.19152730e+00] [-4.22602858e-03 2.23218299e-05 9.99991070e-01 -5.39544650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.481346184 meters 0.06845423862170336 Centerline is valid? [True, True] Translation: X:142.24, Y:-9.20, Z:-5.40 [[ 9.99816350e-01 1.89159212e-02 3.07487338e-03 1.42236453e+02] [-1.89157621e-02 9.99821078e-01 -8.08065746e-05 -9.19526596e+00] [-3.07585175e-03 2.26281610e-05 9.99995269e-01 -5.39830248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.511346184 meters 0.06829331674135847 Centerline is valid? [True, True] Translation: X:142.27, Y:-9.20, Z:-5.40 [[ 9.99837947e-01 1.77082408e-02 3.24005636e-03 1.42265683e+02] [-1.77080611e-02 9.99843196e-01 -8.41445732e-05 -9.19848757e+00] [-3.24103836e-03 2.67558215e-05 9.99994747e-01 -5.39752037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.541346184 meters 0.06832616419056002 Centerline is valid? [True, True] Translation: X:142.29, Y:-9.20, Z:-5.40 [[ 9.99856902e-01 1.65082050e-02 3.69509334e-03 1.42294331e+02] [-1.65079653e-02 9.99863730e-01 -9.53482120e-05 -9.20231412e+00] [-3.69616384e-03 3.43360952e-05 9.99993169e-01 -5.39840615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.571346184 meters 0.0683992686691064 Centerline is valid? [True, True] Translation: X:142.32, Y:-9.21, Z:-5.40 [[ 9.99868716e-01 1.52802380e-02 5.39114445e-03 1.42322091e+02] [-1.52797154e-02 9.99883249e-01 -1.38110212e-04 -9.20886358e+00] [-5.39262539e-03 5.57169279e-05 9.99985458e-01 -5.39902760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601346184 meters 0.06864015882734302 Centerline is valid? [True, True] Translation: X:142.35, Y:-9.21, Z:-5.40 [[ 9.99883707e-01 1.43978369e-02 5.02731804e-03 1.42349951e+02] [-1.43973715e-02 9.99896344e-01 -1.28746369e-04 -9.21290062e+00] [-5.02865060e-03 5.63512311e-05 9.99987355e-01 -5.40165679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.631346184 meters 0.06832618339208102 Centerline is valid? [True, True] Translation: X:142.38, Y:-9.21, Z:-5.40 [[ 9.99876097e-01 1.48705921e-02 5.16302009e-03 1.42378265e+02] [-1.48701144e-02 9.99889425e-01 -1.30898713e-04 -9.21495165e+00] [-5.16439573e-03 5.41077953e-05 9.99986663e-01 -5.40089678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661346184 meters 0.06819187329683905 Centerline is valid? [True, True] Translation: X:142.41, Y:-9.22, Z:-5.40 [[ 9.99871944e-01 1.55227229e-02 3.89113071e-03 1.42406816e+02] [-1.55224551e-02 9.99879515e-01 -9.89944378e-05 -9.21778045e+00] [-3.89219855e-03 3.85818590e-05 9.99992425e-01 -5.40133172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.691346184 meters 0.0680570022095593 Centerline is valid? [True, True] Translation: X:142.44, Y:-9.22, Z:-5.40 [[ 9.99855548e-01 1.65643518e-02 3.80854991e-03 1.42435885e+02] [-1.65641037e-02 9.99862801e-01 -9.66872962e-05 -9.21802291e+00] [-3.80962895e-03 3.35881138e-05 9.99992743e-01 -5.40158799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721346184 meters 0.06823497419323091 Centerline is valid? [True, True] Translation: X:142.46, Y:-9.22, Z:-5.40 [[ 9.99844783e-01 1.74383363e-02 2.51289142e-03 1.42464116e+02] [-1.74382261e-02 9.99847940e-01 -6.57732863e-05 -9.21756066e+00] [-2.51365629e-03 2.19427085e-05 9.99996841e-01 -5.40325457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.751346184 meters 0.06812776322050983 Centerline is valid? [True, True] Translation: X:142.49, Y:-9.22, Z:-5.40 [[ 9.99827932e-01 1.84440565e-02 1.98080958e-03 1.42492659e+02] [-1.84439915e-02 9.99829894e-01 -5.11024678e-05 -9.21809080e+00] [-1.98141517e-03 1.45596397e-05 9.99998037e-01 -5.40356823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781346184 meters 0.06822939050396062 Centerline is valid? [True, True] Translation: X:142.52, Y:-9.22, Z:-5.41 [[ 9.99813509e-01 1.91505069e-02 2.49090252e-03 1.42520621e+02] [-1.91504083e-02 9.99816612e-01 -6.34381888e-05 -9.22325714e+00] [-2.49166059e-03 1.57245580e-05 9.99996896e-01 -5.40917716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.811346184 meters 0.06770675630846473 Centerline is valid? [True, True] Translation: X:142.55, Y:-9.22, Z:-5.41 [[ 9.99817584e-01 1.88324783e-02 3.18376803e-03 1.42549268e+02] [-1.88323182e-02 9.99822653e-01 -8.02505574e-05 -9.22486628e+00] [-3.18471471e-03 2.02781859e-05 9.99994929e-01 -5.40653394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841346184 meters 0.06780188537546081 Centerline is valid? [True, True] Translation: X:142.58, Y:-9.23, Z:-5.41 [[ 9.99819287e-01 1.85761925e-02 4.03953892e-03 1.42576852e+02] [-1.85759309e-02 9.99827447e-01 -1.02271323e-04 -9.22689038e+00] [-4.04074170e-03 2.72146457e-05 9.99991836e-01 -5.40882388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.871346184 meters 0.06793766449270032 Centerline is valid? [True, True] Translation: X:142.60, Y:-9.23, Z:-5.41 [[ 9.99836710e-01 1.75745914e-02 4.20565837e-03 1.42603892e+02] [-1.75742980e-02 9.99845554e-01 -1.06716949e-04 -9.22911629e+00] [-4.20688433e-03 3.27880294e-05 9.99991150e-01 -5.41058203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901346184 meters 0.06763110679345029 Centerline is valid? [True, True] Translation: X:142.63, Y:-9.23, Z:-5.41 [[ 9.99858671e-01 1.60878357e-02 4.88045294e-03 1.42632889e+02] [-1.60874417e-02 9.99870582e-01 -1.19975335e-04 -9.23301529e+00] [-4.88175146e-03 4.14443764e-05 9.99988083e-01 -5.40943475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.931346184 meters 0.06766060309666425 Centerline is valid? [True, True] Translation: X:142.66, Y:-9.23, Z:-5.41 [[ 9.99861720e-01 1.58819917e-02 4.92986006e-03 1.42661173e+02] [-1.58815891e-02 9.99873872e-01 -1.20808708e-04 -9.23494627e+00] [-4.93115695e-03 4.24979910e-05 9.99987841e-01 -5.41132916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961346184 meters 0.06832473228170166 Centerline is valid? [True, True] Translation: X:142.69, Y:-9.24, Z:-5.42 [[ 9.99871482e-01 1.53818452e-02 4.51856981e-03 1.42689051e+02] [-1.53814983e-02 9.99881692e-01 -1.11498717e-04 -9.23869699e+00] [-4.51975028e-03 4.19820138e-05 9.99989785e-01 -5.41761993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99134618399998 meters 0.06812932077521602 Centerline is valid? [True, True] Translation: X:142.72, Y:-9.25, Z:-5.42 [[ 9.99885986e-01 1.41154832e-02 5.36361432e-03 1.42717485e+02] [-1.41149880e-02 9.99900370e-01 -1.30169549e-04 -9.24505226e+00] [-5.36491735e-03 5.44473557e-05 9.99985607e-01 -5.41738949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02134618399998 meters 0.06765476384761338 Centerline is valid? [True, True] Translation: X:142.75, Y:-9.25, Z:-5.42 [[ 9.99877420e-01 1.46818607e-02 5.43950535e-03 1.42746511e+02] [-1.46813614e-02 9.99892214e-01 -1.31714639e-04 -9.24545805e+00] [-5.44085287e-03 5.18391497e-05 9.99985197e-01 -5.41515776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05134618399998 meters 0.0674823253019702 Centerline is valid? [True, True] Translation: X:142.78, Y:-9.25, Z:-5.41 [[ 9.99875689e-01 1.45386220e-02 6.10209379e-03 1.42775170e+02] [-1.45379953e-02 9.99894307e-01 -1.47053620e-04 -9.24663475e+00] [-6.10358680e-03 5.83231286e-05 9.99981371e-01 -5.41475332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08134618399998 meters 0.06742604011024866 Centerline is valid? [True, True] Translation: X:142.80, Y:-9.25, Z:-5.41 [[ 9.99879245e-01 1.43606994e-02 5.93843380e-03 1.42803472e+02] [-1.43601048e-02 9.99896878e-01 -1.42751273e-04 -9.24830258e+00] [-5.93987143e-03 5.74575030e-05 9.99982357e-01 -5.41480273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11134618399998 meters 0.06715613193781664 Centerline is valid? [True, True] Translation: X:142.83, Y:-9.25, Z:-5.42 [[ 9.99869068e-01 1.43283649e-02 7.51959975e-03 1.42832002e+02] [-1.43274193e-02 9.99897341e-01 -1.79607423e-04 -9.25254575e+00] [-7.52140128e-03 7.18474485e-05 9.99971711e-01 -5.41545350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14134618399999 meters 0.0674350222047862 Centerline is valid? [True, True] Translation: X:142.86, Y:-9.26, Z:-5.42 [[ 9.99877309e-01 1.39101933e-02 7.20228559e-03 1.42859477e+02] [-1.39093147e-02 9.99903246e-01 -1.72079613e-04 -9.25588534e+00] [-7.20398240e-03 7.18796437e-05 9.99974048e-01 -5.41829906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.171346184 meters 0.06749102429766507 Centerline is valid? [True, True] Translation: X:142.89, Y:-9.26, Z:-5.42 [[ 9.99887761e-01 1.31560915e-02 7.16823039e-03 1.42887773e+02] [-1.31552095e-02 9.99913452e-01 -1.70176225e-04 -9.25952182e+00] [-7.16984884e-03 7.58575520e-05 9.99974293e-01 -5.42001371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.201346184 meters 0.06796310021415283 Centerline is valid? [True, True] Translation: X:142.92, Y:-9.27, Z:-5.42 [[ 9.99916688e-01 1.09328919e-02 6.86220213e-03 1.42915940e+02] [-1.09320372e-02 9.99940230e-01 -1.62052992e-04 -9.26676553e+00] [-6.86356369e-03 8.70216420e-05 9.99976442e-01 -5.42382607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.231346184 meters 0.06733117916534491 Centerline is valid? [True, True] Translation: X:142.94, Y:-9.27, Z:-5.42 [[ 9.99918636e-01 1.02919212e-02 7.53645611e-03 1.42944878e+02] [-1.02908721e-02 9.99947032e-01 -1.77975219e-04 -9.26802155e+00] [-7.53788862e-03 1.00404033e-04 9.99971585e-01 -5.42011047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.261346184 meters 0.06789116185851089 Centerline is valid? [True, True] Translation: X:142.97, Y:-9.27, Z:-5.42 [[ 9.99927331e-01 9.25560108e-03 7.72445221e-03 1.42973101e+02] [-9.25447665e-03 9.99957160e-01 -1.81299452e-04 -9.27147933e+00] [-7.72579933e-03 1.09800515e-04 9.99970150e-01 -5.42383809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.291346184 meters 0.06744590331841885 Centerline is valid? [True, True] Translation: X:143.00, Y:-9.27, Z:-5.42 [[ 9.99915107e-01 9.20101248e-03 9.22601403e-03 1.43003738e+02] [-9.19942645e-03 9.99957661e-01 -2.14332205e-04 -9.27371528e+00] [-9.22759548e-03 1.29439972e-04 9.99957416e-01 -5.42144875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321346184 meters 0.06749721757797192 Centerline is valid? [True, True] Translation: X:143.03, Y:-9.28, Z:-5.42 [[ 9.99919555e-01 9.34776708e-03 8.57342469e-03 1.43034417e+02] [-9.34640289e-03 9.99956302e-01 -1.99171713e-04 -9.27610665e+00] [-8.57491186e-03 1.19025009e-04 9.99963228e-01 -5.42321081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.351346184 meters 0.06734225495577209 Centerline is valid? [True, True] Translation: X:143.06, Y:-9.28, Z:-5.42 [[ 9.99899558e-01 1.04299470e-02 9.59636641e-03 1.43064659e+02] [-1.04282877e-02 9.99945599e-01 -2.22935968e-04 -9.27838669e+00] [-9.59816957e-03 1.22839907e-04 9.99953929e-01 -5.42450107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381346184 meters 0.06678844596106896 Centerline is valid? [True, True] Translation: X:143.09, Y:-9.28, Z:-5.42 [[ 9.99875288e-01 1.16648539e-02 1.06461212e-02 1.43094785e+02] [-1.16628816e-02 9.99931956e-01 -2.47323125e-04 -9.27997985e+00] [-1.06482817e-02 1.23127830e-04 9.99943298e-01 -5.42328946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.411346184 meters 0.06687875956698763 Centerline is valid? [True, True] Translation: X:143.12, Y:-9.28, Z:-5.42 [[ 9.99871216e-01 1.16957947e-02 1.09890943e-02 1.43124315e+02] [-1.16936905e-02 9.99931594e-01 -2.55711526e-04 -9.28192266e+00] [-1.09913333e-02 1.27175527e-04 9.99939585e-01 -5.42472646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441346184 meters 0.06686304174927413 Centerline is valid? [True, True] Translation: X:143.15, Y:-9.28, Z:-5.43 [[ 9.99866289e-01 1.20960663e-02 1.10040553e-02 1.43154819e+02] [-1.20939875e-02 9.99926832e-01 -2.55438794e-04 -9.28340691e+00] [-1.10063400e-02 1.22321731e-04 9.99939421e-01 -5.42586690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.471346184 meters 0.06684459558194779 Centerline is valid? [True, True] Translation: X:143.18, Y:-9.29, Z:-5.43 [[ 9.99831813e-01 1.37769890e-02 1.21053789e-02 1.43184854e+02] [-1.37745964e-02 9.99905086e-01 -2.81003983e-04 -9.28598768e+00] [-1.21081013e-02 1.14210013e-04 9.99926688e-01 -5.42644048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501346184 meters 0.06684459558194779 Centerline is valid? [True, True] Translation: X:143.21, Y:-9.29, Z:-5.43 [[ 9.99831813e-01 1.37769890e-02 1.21053789e-02 1.43214837e+02] [-1.37745964e-02 9.99905086e-01 -2.81003982e-04 -9.28668368e+00] [-1.21081013e-02 1.14210013e-04 9.99926688e-01 -5.42746678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.531346184 meters 0.06704448809968604 Centerline is valid? [True, True] Translation: X:143.24, Y:-9.29, Z:-5.43 [[ 9.99817068e-01 1.42564174e-02 1.27508792e-02 1.43244246e+02] [-1.42537969e-02 9.99898366e-01 -2.96377585e-04 -9.28970777e+00] [-1.27538086e-02 1.14574926e-04 9.99918660e-01 -5.43011824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561346184 meters 0.06686388585152117 Centerline is valid? [True, True] Translation: X:143.27, Y:-9.29, Z:-5.43 [[ 9.99812969e-01 1.39577781e-02 1.33868296e-02 1.43274833e+02] [-1.39548716e-02 9.99902578e-01 -3.10507201e-04 -9.29169817e+00] [-1.33898594e-02 1.23637639e-04 9.99910344e-01 -5.42974566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.591346184 meters 0.06716163038868322 Centerline is valid? [True, True] Translation: X:143.30, Y:-9.29, Z:-5.43 [[ 9.99815037e-01 1.39234330e-02 1.32676378e-02 1.43304792e+02] [-1.39205800e-02 9.99903057e-01 -3.07366864e-04 -9.29469417e+00] [-1.32706312e-02 1.22616799e-04 9.99911934e-01 -5.43202432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621346184 meters 0.06689619564554093 Centerline is valid? [True, True] Translation: X:143.34, Y:-9.30, Z:-5.43 [[ 9.99774609e-01 1.46195523e-02 1.53948104e-02 1.43335587e+02] [-1.46157826e-02 9.99893120e-01 -3.57358788e-04 -9.29707349e+00] [-1.53983894e-02 1.32271041e-04 9.99881429e-01 -5.43057769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.651346184 meters 0.0669404132929439 Centerline is valid? [True, True] Translation: X:143.37, Y:-9.30, Z:-5.43 [[ 9.99762779e-01 1.47177476e-02 1.60553101e-02 1.43366460e+02] [-1.47136704e-02 9.99891679e-01 -3.72046599e-04 -9.29896284e+00] [-1.60590467e-02 1.35725799e-04 9.99871036e-01 -5.43044488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681346184 meters 0.06686134501008734 Centerline is valid? [True, True] Translation: X:143.40, Y:-9.30, Z:-5.43 [[ 9.99757636e-01 1.44301469e-02 1.66265095e-02 1.43398548e+02] [-1.44257859e-02 9.99895870e-01 -3.82200302e-04 -9.30180686e+00] [-1.66302934e-02 1.42257204e-04 9.99861697e-01 -5.43063740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.711346184 meters 0.0668785232418184 Centerline is valid? [True, True] Translation: X:143.43, Y:-9.31, Z:-5.43 [[ 9.99757376e-01 1.39320232e-02 1.70613245e-02 1.43430120e+02] [-1.39272875e-02 9.99902932e-01 -3.96357488e-04 -9.30564154e+00] [-1.70651904e-02 1.58643350e-04 9.99854366e-01 -5.43208364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74134618399998 meters 0.06712253920576251 Centerline is valid? [True, True] Translation: X:143.46, Y:-9.31, Z:-5.43 [[ 9.99764626e-01 1.34872358e-02 1.69937342e-02 1.43461798e+02] [-1.34823719e-02 9.99909028e-01 -4.00758103e-04 -9.31188334e+00] [-1.69975934e-02 1.71547930e-04 9.99855516e-01 -5.43397505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77134618399998 meters 0.06713059376260089 Centerline is valid? [True, True] Translation: X:143.49, Y:-9.32, Z:-5.44 [[ 9.99759437e-01 1.37945035e-02 1.70522954e-02 1.43493865e+02] [-1.37896242e-02 9.99904837e-01 -4.03690795e-04 -9.31502801e+00] [-1.70562413e-02 1.68448937e-04 9.99854518e-01 -5.43536090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80134618399998 meters 0.06727651707873472 Centerline is valid? [True, True] Translation: X:143.53, Y:-9.32, Z:-5.44 [[ 9.99753593e-01 1.40876060e-02 1.71549633e-02 1.43526158e+02] [-1.40826332e-02 9.99900750e-01 -4.10646639e-04 -9.31955970e+00] [-1.71590457e-02 1.68958398e-04 9.99852758e-01 -5.43703189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83134618399998 meters 0.06727179150653338 Centerline is valid? [True, True] Translation: X:143.56, Y:-9.32, Z:-5.44 [[ 9.99747188e-01 1.36041571e-02 1.79021609e-02 1.43558135e+02] [-1.35985745e-02 9.99907441e-01 -4.33538851e-04 -9.32246834e+00] [-1.79064018e-02 1.89985378e-04 9.99839649e-01 -5.43709647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86134618399998 meters 0.06729887687353402 Centerline is valid? [True, True] Translation: X:143.59, Y:-9.33, Z:-5.44 [[ 9.99739576e-01 1.35820216e-02 1.83387525e-02 1.43591300e+02] [-1.35760750e-02 9.99907740e-01 -4.48726420e-04 -9.32525003e+00] [-1.83431552e-02 1.99641282e-04 9.99831730e-01 -5.43755079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89134618399999 meters 0.06715044507687908 Centerline is valid? [True, True] Translation: X:143.62, Y:-9.33, Z:-5.44 [[ 9.99740562e-01 1.29676834e-02 1.87256143e-02 1.43624467e+02] [-1.29612833e-02 9.99915892e-01 -4.63110987e-04 -9.32729381e+00] [-1.87300448e-02 2.20282847e-04 9.99824553e-01 -5.43726949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.921346184 meters 0.06742116542200774 Centerline is valid? [True, True] Translation: X:143.66, Y:-9.34, Z:-5.44 [[ 9.99778384e-01 1.07698887e-02 1.80884485e-02 1.43656689e+02] [-1.07634578e-02 9.99941970e-01 -4.52845318e-04 -9.33503925e+00] [-1.80922760e-02 2.58050708e-04 9.99836288e-01 -5.44028074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.951346184 meters 0.0677532779642803 Centerline is valid? [True, True] Translation: X:143.69, Y:-9.34, Z:-5.44 [[ 9.99792033e-01 1.07809725e-02 1.73107025e-02 1.43687587e+02] [-1.07750083e-02 9.99941852e-01 -4.37771603e-04 -9.33935531e+00] [-1.73144155e-02 2.51157599e-04 9.99850063e-01 -5.44328026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.981346184 meters 0.06786445617370811 Centerline is valid? [True, True] Translation: X:143.72, Y:-9.34, Z:-5.45 [[ 9.99778355e-01 1.05048204e-02 1.82452540e-02 1.43720342e+02] [-1.04980758e-02 9.99944785e-01 -4.65407533e-04 -9.34339878e+00] [-1.82491356e-02 2.73764319e-04 9.99833433e-01 -5.44504905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.011346184 meters 0.06837419003971276 Centerline is valid? [True, True] Translation: X:143.75, Y:-9.35, Z:-5.45 [[ 9.99809157e-01 7.47106195e-03 1.80508180e-02 1.43751247e+02] [-7.46385940e-03 9.99972036e-01 -4.66353266e-04 -9.35203256e+00] [-1.80537974e-02 3.31535498e-04 9.99836962e-01 -5.44711437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.041346184 meters 0.06895075490385982 Centerline is valid? [True, True] Translation: X:143.78, Y:-9.36, Z:-5.45 [[ 9.99839749e-01 5.33190176e-03 1.70893943e-02 1.43782870e+02] [-5.32507376e-03 9.99985723e-01 -4.45025680e-04 -9.35755219e+00] [-1.70915231e-02 3.53952079e-04 9.99853867e-01 -5.44919364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.071346184 meters 0.06946112307156355 Centerline is valid? [True, True] Translation: X:143.81, Y:-9.36, Z:-5.45 [[ 9.99851089e-01 4.06013536e-03 1.67724566e-02 1.43814654e+02] [-4.05332263e-03 9.99991688e-01 -4.40160059e-04 -9.36205851e+00] [-1.67741043e-02 3.72110336e-04 9.99859236e-01 -5.45123486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101346184 meters 0.07079031294168217 Centerline is valid? [True, True] Translation: X:143.84, Y:-9.37, Z:-5.45 [[ 9.99891894e-01 4.32866988e-04 1.46973535e-02 1.43844074e+02] [-4.27137585e-04 9.99999832e-01 -3.92962336e-04 -9.36918431e+00] [-1.46975211e-02 3.86642062e-04 9.99891911e-01 -5.45365149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.131346184 meters 0.07095466619198837 Centerline is valid? [True, True] Translation: X:143.88, Y:-9.37, Z:-5.45 [[ 9.99876339e-01 -1.49025041e-05 1.57260052e-02 1.43876848e+02] [ 2.14382107e-05 9.99999913e-01 -4.15430155e-04 -9.37281128e+00] [-1.57259976e-02 4.15715920e-04 9.99876252e-01 -5.45460312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161346184 meters 0.07120310362522193 Centerline is valid? [True, True] Translation: X:143.91, Y:-9.38, Z:-5.46 [[ 9.99870244e-01 -5.60895689e-04 1.60991102e-02 1.43908939e+02] [ 5.67900688e-04 9.99999746e-01 -4.30548803e-04 -9.37757075e+00] [-1.60988647e-02 4.39635632e-04 9.99870308e-01 -5.45682295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.191346184 meters 0.06979955021252231 Centerline is valid? [True, True] Translation: X:143.94, Y:-9.38, Z:-5.45 [[ 9.99857136e-01 -6.32845117e-04 1.68910123e-02 1.43941936e+02] [ 6.40622577e-04 9.99999691e-01 -4.55042833e-04 -9.37612370e+00] [-1.68907192e-02 4.65798587e-04 9.99857233e-01 -5.45452819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221346184 meters 0.06973121770066885 Centerline is valid? [True, True] Translation: X:143.97, Y:-9.38, Z:-5.46 [[ 9.99858415e-01 8.67900059e-04 1.68046398e-02 1.43973367e+02] [-8.60312897e-04 9.99999525e-01 -4.58715919e-04 -9.37825957e+00] [-1.68050299e-02 4.44193723e-04 9.99858687e-01 -5.45618159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.251346184 meters 0.0697052597776805 Centerline is valid? [True, True] Translation: X:144.01, Y:-9.38, Z:-5.46 [[ 9.99875290e-01 1.85142014e-03 1.56836318e-02 1.44006213e+02] [-1.84484396e-03 9.99998204e-01 -4.33759756e-04 -9.37761572e+00] [-1.56844067e-02 4.04771809e-04 9.99876910e-01 -5.45872222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281346184 meters 0.06999760929701053 Centerline is valid? [True, True] Translation: X:144.04, Y:-9.38, Z:-5.46 [[ 9.99893194e-01 3.14187938e-03 1.42733484e-02 1.44038222e+02] [-3.13659269e-03 9.99995004e-01 -3.92759908e-04 -9.37869250e+00] [-1.42745110e-02 3.47948279e-04 9.99898053e-01 -5.46156015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.311346184 meters 0.0695506595974887 Centerline is valid? [True, True] Translation: X:144.07, Y:-9.38, Z:-5.46 [[ 9.99885672e-01 3.72243895e-03 1.46556235e-02 1.44070979e+02] [-3.71681317e-03 9.99993008e-01 -4.11083695e-04 -9.37725173e+00] [-1.46570513e-02 3.56564482e-04 9.99892516e-01 -5.46225181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341346184 meters 0.06968705218419818 Centerline is valid? [True, True] Translation: X:144.10, Y:-9.38, Z:-5.46 [[ 9.99895687e-01 3.94621234e-03 1.38940007e-02 1.44103333e+02] [-3.94120856e-03 9.99992158e-01 -3.87502531e-04 -9.38011076e+00] [-1.38954210e-02 3.32702955e-04 9.99903399e-01 -5.46465935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.371346184 meters 0.06979747334294441 Centerline is valid? [True, True] Translation: X:144.14, Y:-9.38, Z:-5.47 [[ 9.99880001e-01 3.68002296e-03 1.50479899e-02 1.44135597e+02] [-3.67405387e-03 9.99993161e-01 -4.24295804e-04 -9.38237037e+00] [-1.50494484e-02 3.68957763e-04 9.99886683e-01 -5.46594468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401346184 meters 0.07002473869814313 Centerline is valid? [True, True] Translation: X:144.17, Y:-9.38, Z:-5.47 [[ 9.99881551e-01 3.62669180e-03 1.49576742e-02 1.44167779e+02] [-3.62073696e-03 9.99993355e-01 -4.25174463e-04 -9.38431882e+00] [-1.49591168e-02 3.70966297e-04 9.99888037e-01 -5.46709356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.431346184 meters 0.06985272287102191 Centerline is valid? [True, True] Translation: X:144.20, Y:-9.38, Z:-5.47 [[ 9.99880725e-01 4.31706603e-03 1.48290001e-02 1.44200732e+02] [-4.31123713e-03 9.99990616e-01 -4.25019493e-04 -9.38484520e+00] [-1.48306958e-02 3.61037463e-04 9.99889954e-01 -5.46804510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461346184 meters 0.07052743289986307 Centerline is valid? [True, True] Translation: X:144.23, Y:-9.39, Z:-5.47 [[ 9.99899613e-01 4.94942061e-03 1.32765404e-02 1.44231363e+02] [-4.94475046e-03 9.99987701e-01 -3.84562746e-04 -9.38821538e+00] [-1.32782804e-02 3.18874961e-04 9.99911789e-01 -5.47266607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49134618399998 meters 0.06997309282329334 Centerline is valid? [True, True] Translation: X:144.26, Y:-9.39, Z:-5.47 [[ 9.99917644e-01 5.46346760e-03 1.16127458e-02 1.44263984e+02] [-5.45991581e-03 9.99985038e-01 -3.37534036e-04 -9.38669995e+00] [-1.16144162e-02 2.74101623e-04 9.99932513e-01 -5.47268318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52134618399998 meters 0.0702486800808297 Centerline is valid? [True, True] Translation: X:144.30, Y:-9.39, Z:-5.48 [[ 9.99917918e-01 6.91225353e-03 1.07878829e-02 1.44295051e+02] [-6.90924398e-03 9.99976081e-01 -3.16219321e-04 -9.39093426e+00] [-1.07898107e-02 2.41657250e-04 9.99941759e-01 -5.47723469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55134618399998 meters 0.06965431499481613 Centerline is valid? [True, True] Translation: X:144.33, Y:-9.39, Z:-5.48 [[ 9.99912895e-01 7.36950944e-03 1.09495839e-02 1.44328362e+02] [-7.36642207e-03 9.99972816e-01 -3.22266775e-04 -9.39081462e+00] [-1.09516612e-02 2.41579448e-04 9.99940000e-01 -5.47680392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58134618399998 meters 0.0698099364852339 Centerline is valid? [True, True] Translation: X:144.36, Y:-9.39, Z:-5.48 [[ 9.99897127e-01 8.16479811e-03 1.17928780e-02 1.44359352e+02] [-8.16118037e-03 9.99966634e-01 -3.54864775e-04 -9.39324591e+00] [-1.17953819e-02 2.58584465e-04 9.99930399e-01 -5.47865388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61134618399998 meters 0.07000160960250641 Centerline is valid? [True, True] Translation: X:144.39, Y:-9.40, Z:-5.48 [[ 9.99909082e-01 7.89208053e-03 1.09335413e-02 1.44391505e+02] [-7.88896722e-03 9.99968828e-01 -3.27848627e-04 -9.39610228e+00] [-1.09357879e-02 2.41564470e-04 9.99940173e-01 -5.47982345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64134618399999 meters 0.07003382468386346 Centerline is valid? [True, True] Translation: X:144.42, Y:-9.40, Z:-5.48 [[ 9.99926011e-01 6.82394728e-03 1.00700945e-02 1.44423791e+02] [-6.82123472e-03 9.99976689e-01 -3.03690475e-04 -9.39768341e+00] [-1.00719321e-02 2.34977527e-04 9.99949249e-01 -5.48090008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.671346184 meters 0.07100419811087416 Centerline is valid? [True, True] Translation: X:144.45, Y:-9.40, Z:-5.49 [[ 9.99931268e-01 6.37123405e-03 9.84209679e-03 1.44454687e+02] [-6.36859275e-03 9.99979675e-01 -2.99685606e-04 -9.40288204e+00] [-9.84380612e-03 2.36984701e-04 9.99951520e-01 -5.48543262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.701346184 meters 0.07179036702816069 Centerline is valid? [True, True] Translation: X:144.49, Y:-9.41, Z:-5.49 [[ 9.99965413e-01 3.60847403e-03 7.49339432e-03 1.44485876e+02] [-3.60682558e-03 9.99993468e-01 -2.33490091e-04 -9.40902014e+00] [-7.49418792e-03 2.06454649e-04 9.99971897e-01 -5.48891368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.731346184 meters 0.0721565490026224 Centerline is valid? [True, True] Translation: X:144.52, Y:-9.41, Z:-5.49 [[ 9.99974821e-01 2.41518861e-03 6.67269171e-03 1.44517882e+02] [-2.41389336e-03 9.99997066e-01 -2.02158843e-04 -9.41348058e+00] [-6.67316039e-03 1.86046586e-04 9.99977717e-01 -5.49153818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.761346184 meters 0.07229744867704642 Centerline is valid? [True, True] Translation: X:144.55, Y:-9.42, Z:-5.49 [[ 9.99982351e-01 1.64069744e-03 5.71020723e-03 1.44550051e+02] [-1.63973563e-03 9.99998641e-01 -1.73114309e-04 -9.41611974e+00] [-5.71048349e-03 1.63748024e-04 9.99983682e-01 -5.49329211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.791346184 meters 0.0727307656905491 Centerline is valid? [True, True] Translation: X:144.58, Y:-9.42, Z:-5.50 [[ 9.99986639e-01 8.07396289e-04 5.10593444e-03 1.44582594e+02] [-8.06614551e-04 9.99999663e-01 -1.55161269e-04 -9.41929700e+00] [-5.10605799e-03 1.51040675e-04 9.99986953e-01 -5.49542675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821346184 meters 0.07350798333425948 Centerline is valid? [True, True] Translation: X:144.61, Y:-9.42, Z:-5.50 [[ 9.99992912e-01 -8.16441395e-04 3.67553293e-03 1.44613838e+02] [ 8.16854190e-04 9.99999660e-01 -1.10809107e-04 -9.42282286e+00] [-3.67544121e-03 1.13810696e-04 9.99993239e-01 -5.49775637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.851346184 meters 0.07392477169688985 Centerline is valid? [True, True] Translation: X:144.64, Y:-9.42, Z:-5.50 [[ 9.99992481e-01 -1.32642838e-03 3.64408211e-03 1.44644755e+02] [ 1.32686026e-03 9.99999113e-01 -1.16101276e-04 -9.42440568e+00] [-3.64392488e-03 1.20935591e-04 9.99993354e-01 -5.49993102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881346184 meters 0.07304380847413877 Centerline is valid? [True, True] Translation: X:144.68, Y:-9.42, Z:-5.50 [[ 9.99994627e-01 -9.45982273e-04 3.13876127e-03 1.44676700e+02] [ 9.46298589e-04 9.99999547e-01 -9.92935234e-05 -9.42160740e+00] [-3.13866592e-03 1.02263195e-04 9.99995069e-01 -5.49876349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.911346184 meters 0.07285669675508795 Centerline is valid? [True, True] Translation: X:144.71, Y:-9.42, Z:-5.50 [[ 9.99992508e-01 -1.10452746e-03 3.71011185e-03 1.44709410e+02] [ 1.10497107e-03 9.99999383e-01 -1.17519185e-04 -9.42179574e+00] [-3.70997976e-03 1.21617871e-04 9.99993111e-01 -5.50016729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941346184 meters 0.07290759739085825 Centerline is valid? [True, True] Translation: X:144.74, Y:-9.42, Z:-5.50 [[ 9.99991970e-01 -1.04319450e-03 3.86921829e-03 1.44741845e+02] [ 1.04368051e-03 9.99999448e-01 -1.23592854e-04 -9.42415350e+00] [-3.86908722e-03 1.27630089e-04 9.99992507e-01 -5.50182732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.971346184 meters 0.0732948748417726 Centerline is valid? [True, True] Translation: X:144.77, Y:-9.43, Z:-5.50 [[ 9.99990605e-01 -1.75692991e-03 3.96268101e-03 1.44773333e+02] [ 1.75744897e-03 9.99998448e-01 -1.27507185e-04 -9.42686397e+00] [-3.96245083e-03 1.34470197e-04 9.99992140e-01 -5.50338738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001346184 meters 0.07343376501256346 Centerline is valid? [True, True] Translation: X:144.81, Y:-9.43, Z:-5.50 [[ 9.99987706e-01 -2.03469500e-03 4.52186967e-03 1.44805866e+02] [ 2.03537369e-03 9.99997918e-01 -1.45494848e-04 -9.42784228e+00] [-4.52156422e-03 1.54696754e-04 9.99989766e-01 -5.50425453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.031346184 meters 0.07413109254975031 Centerline is valid? [True, True] Translation: X:144.84, Y:-9.43, Z:-5.51 [[ 9.99985568e-01 -3.65098831e-03 3.94137931e-03 1.44837876e+02] [ 3.65151636e-03 9.99993325e-01 -1.26788716e-04 -9.42944401e+00] [-3.94089009e-03 1.41178897e-04 9.99992225e-01 -5.50532600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061346184 meters 0.07439776873787293 Centerline is valid? [True, True] Translation: X:144.87, Y:-9.43, Z:-5.51 [[ 9.99986724e-01 -3.78745266e-03 3.49396949e-03 1.44870309e+02] [ 3.78786841e-03 9.99992820e-01 -1.12380779e-04 -9.43130626e+00] [-3.49351877e-03 1.25613984e-04 9.99993890e-01 -5.50686246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.091346184 meters 0.07418369618835745 Centerline is valid? [True, True] Translation: X:144.90, Y:-9.43, Z:-5.51 [[ 9.99987610e-01 -4.19089804e-03 2.68623200e-03 1.44902954e+02] [ 4.19114415e-03 9.99991213e-01 -8.59978905e-05 -9.43147215e+00] [-2.68584799e-03 9.72552106e-05 9.99996388e-01 -5.50758387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121346184 meters 0.07392408314463007 Centerline is valid? [True, True] Translation: X:144.94, Y:-9.43, Z:-5.51 [[ 9.99986542e-01 -4.35861194e-03 2.81383213e-03 1.44935241e+02] [ 4.35888350e-03 9.99990496e-01 -9.03805844e-05 -9.43152683e+00] [-2.81341146e-03 1.02644534e-04 9.99996037e-01 -5.50793108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.151346184 meters 0.07438390267710177 Centerline is valid? [True, True] Translation: X:144.97, Y:-9.43, Z:-5.51 [[ 9.99986600e-01 -3.70695501e-03 3.61368227e-03 1.44966047e+02] [ 3.70739549e-03 9.99993121e-01 -1.15198451e-04 -9.43458437e+00] [-3.61323037e-03 1.28594257e-04 9.99993464e-01 -5.51095715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181346184 meters 0.07443476158371123 Centerline is valid? [True, True] Translation: X:145.00, Y:-9.44, Z:-5.51 [[ 9.99986376e-01 -3.35994681e-03 3.99477791e-03 1.44996813e+02] [ 3.36048745e-03 9.99994345e-01 -1.28631408e-04 -9.43665029e+00] [-3.99432313e-03 1.42054057e-04 9.99992013e-01 -5.51149352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.211346184 meters 0.07418035652611259 Centerline is valid? [True, True] Translation: X:145.03, Y:-9.44, Z:-5.51 [[ 9.99981461e-01 -3.44606083e-03 5.02028049e-03 1.45028576e+02] [ 3.44693243e-03 9.99994046e-01 -1.64973514e-04 -9.43766344e+00] [-5.01968209e-03 1.82275023e-04 9.99987385e-01 -5.51096357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24134618399998 meters 0.0736302882526394 Centerline is valid? [True, True] Translation: X:145.06, Y:-9.44, Z:-5.51 [[ 9.99980981e-01 -3.47628904e-03 5.09447797e-03 1.45062174e+02] [ 3.47718314e-03 9.99993941e-01 -1.66656924e-04 -9.43733898e+00] [-5.09386776e-03 1.84368187e-04 9.99987009e-01 -5.51030026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27134618399998 meters 0.07370113725889534 Centerline is valid? [True, True] Translation: X:145.09, Y:-9.44, Z:-5.51 [[ 9.99976008e-01 -3.74904556e-03 5.82473161e-03 1.45094772e+02] [ 3.75023220e-03 9.99992949e-01 -1.92815719e-04 -9.43843804e+00] [-5.82396766e-03 2.14655189e-04 9.99983018e-01 -5.51107671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30134618399998 meters 0.0736306185663054 Centerline is valid? [True, True] Translation: X:145.13, Y:-9.44, Z:-5.51 [[ 9.99971393e-01 -2.80644944e-03 7.02403372e-03 1.45125572e+02] [ 2.80816277e-03 9.99996030e-01 -2.34072916e-04 -9.43910352e+00] [-7.02334891e-03 2.53790850e-04 9.99975304e-01 -5.51244711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33134618399998 meters 0.07364486799494384 Centerline is valid? [True, True] Translation: X:145.16, Y:-9.44, Z:-5.51 [[ 9.99961355e-01 -1.93614347e-03 8.57553616e-03 1.45157119e+02] [ 1.93865314e-03 9.99998080e-01 -2.84351357e-04 -9.43924845e+00] [-8.57496916e-03 3.00965358e-04 9.99963189e-01 -5.51368079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36134618399998 meters 0.07355523056908134 Centerline is valid? [True, True] Translation: X:145.19, Y:-9.44, Z:-5.51 [[ 9.99960047e-01 -1.74340211e-03 8.76722101e-03 1.45189338e+02] [ 1.74604645e-03 9.99998432e-01 -2.93970760e-04 -9.43907135e+00] [-8.76669475e-03 3.09266990e-04 9.99961524e-01 -5.51496244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39134618399999 meters 0.07355523056908134 Centerline is valid? [True, True] Translation: X:145.22, Y:-9.44, Z:-5.52 [[ 9.99960230e-01 -1.63518396e-03 8.76723114e-03 1.45221881e+02] [ 1.63782156e-03 9.99998616e-01 -2.93675483e-04 -9.44030842e+00] [-8.76673879e-03 3.08022963e-04 9.99961524e-01 -5.51607579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.421346184 meters 0.07358786357137068 Centerline is valid? [True, True] Translation: X:145.25, Y:-9.44, Z:-5.52 [[ 9.99962927e-01 -8.99707770e-04 8.56365157e-03 1.45252800e+02] [ 9.02216561e-04 9.99999551e-01 -2.89099414e-04 -9.44056751e+00] [-8.56338762e-03 2.96814965e-04 9.99963289e-01 -5.51787210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.451346184 meters 0.0733940753124659 Centerline is valid? [True, True] Translation: X:145.29, Y:-9.44, Z:-5.52 [[ 9.99962366e-01 -1.50041555e-04 8.67430881e-03 1.45285512e+02] [ 1.52577894e-04 9.99999946e-01 -2.91735582e-04 -9.44102291e+00] [-8.67426457e-03 2.93048111e-04 9.99962335e-01 -5.51934438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.481346184 meters 0.07377498306154288 Centerline is valid? [True, True] Translation: X:145.32, Y:-9.44, Z:-5.52 [[ 9.99964745e-01 -5.83111456e-04 8.37666360e-03 1.45316478e+02] [ 5.85474553e-04 9.99999790e-01 -2.79655379e-04 -9.44209512e+00] [-8.37649877e-03 2.84549843e-04 9.99964876e-01 -5.52100495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.511346184 meters 0.07333491583315961 Centerline is valid? [True, True] Translation: X:145.35, Y:-9.44, Z:-5.52 [[ 9.99970656e-01 -4.20359887e-04 7.64918451e-03 1.45348951e+02] [ 4.22365446e-04 9.99999877e-01 -2.60579063e-04 -9.44172885e+00] [-7.64907403e-03 2.63802168e-04 9.99970711e-01 -5.52197917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.541346184 meters 0.07292740002687353 Centerline is valid? [True, True] Translation: X:145.38, Y:-9.44, Z:-5.52 [[ 9.99974735e-01 -7.89463455e-04 7.06436719e-03 1.45381090e+02] [ 7.91185158e-04 9.99999658e-01 -2.40925277e-04 -9.44143331e+00] [-7.06417457e-03 2.46508413e-04 9.99975018e-01 -5.52235657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.571346184 meters 0.07293352355125868 Centerline is valid? [True, True] Translation: X:145.41, Y:-9.44, Z:-5.52 [[ 9.99979686e-01 -7.18700096e-04 6.33329621e-03 1.45413763e+02] [ 7.20083673e-04 9.99999717e-01 -2.16183277e-04 -9.44167269e+00] [-6.33313905e-03 2.20739388e-04 9.99979921e-01 -5.52281176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601346184 meters 0.07266487240240044 Centerline is valid? [True, True] Translation: X:145.45, Y:-9.44, Z:-5.52 [[ 9.99984462e-01 2.17540855e-04 5.57031504e-03 1.45446013e+02] [-2.16484498e-04 9.99999958e-01 -1.90242536e-04 -9.44162057e+00] [-5.57035619e-03 1.89033694e-04 9.99984468e-01 -5.52468748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.631346184 meters 0.07246776684510058 Centerline is valid? [True, True] Translation: X:145.48, Y:-9.44, Z:-5.53 [[ 9.99986851e-01 1.58914226e-03 4.87569852e-03 1.45478425e+02] [-1.58834903e-03 9.99998725e-01 -1.66559662e-04 -9.44187503e+00] [-4.87595699e-03 1.58813161e-04 9.99988100e-01 -5.52633068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.661346184 meters 0.07321999969592617 Centerline is valid? [True, True] Translation: X:145.51, Y:-9.44, Z:-5.53 [[ 9.99991954e-01 2.05815225e-03 3.44325281e-03 1.45509150e+02] [-2.05776813e-03 9.99997876e-01 -1.15097049e-04 -9.44433370e+00] [-3.44348238e-03 1.08010707e-04 9.99994065e-01 -5.53002186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.691346184 meters 0.07329658838615068 Centerline is valid? [True, True] Translation: X:145.54, Y:-9.45, Z:-5.53 [[ 9.99983827e-01 2.57656624e-03 5.07030249e-03 1.45540721e+02] [-2.57573827e-03 9.99996668e-01 -1.69820790e-04 -9.44507524e+00] [-5.07072315e-03 1.56758271e-04 9.99987132e-01 -5.53206064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.721346184 meters 0.07336657334896628 Centerline is valid? [True, True] Translation: X:145.57, Y:-9.45, Z:-5.53 [[ 9.99984348e-01 2.65638298e-03 4.92422799e-03 1.45572628e+02] [-2.65560064e-03 9.99996460e-01 -1.65407831e-04 -9.44629144e+00] [-4.92464995e-03 1.52328459e-04 9.99987862e-01 -5.53323249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.751346184 meters 0.07259682137151796 Centerline is valid? [True, True] Translation: X:145.61, Y:-9.44, Z:-5.53 [[ 9.99990393e-01 2.21992198e-03 3.77973061e-03 1.45605336e+02] [-2.21946327e-03 9.99997529e-01 -1.25550939e-04 -9.44387898e+00] [-3.77999999e-03 1.17160760e-04 9.99992849e-01 -5.53204142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781346184 meters 0.07267396152882766 Centerline is valid? [True, True] Translation: X:145.64, Y:-9.44, Z:-5.53 [[ 9.99990346e-01 1.60946024e-03 4.08877706e-03 1.45637147e+02] [-1.60890885e-03 9.99998696e-01 -1.38140719e-04 -9.44458376e+00] [-4.08899406e-03 1.31560916e-04 9.99991631e-01 -5.53291791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.811346184 meters 0.07421480139854002 Centerline is valid? [True, True] Translation: X:145.67, Y:-9.45, Z:-5.54 [[ 9.99993683e-01 3.44539758e-04 3.53758957e-03 1.45668236e+02] [-3.44119802e-04 9.99999934e-01 -1.19320583e-04 -9.45016862e+00] [-3.53763045e-03 1.18102474e-04 9.99993736e-01 -5.53908453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841346184 meters 0.07427517329505733 Centerline is valid? [True, True] Translation: X:145.70, Y:-9.45, Z:-5.54 [[ 9.99996243e-01 5.33297901e-04 2.68868150e-03 1.45699910e+02] [-5.33050341e-04 9.99999854e-01 -9.27906405e-05 -9.45205538e+00] [-2.68873059e-03 9.13570894e-05 9.99996381e-01 -5.54129299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.871346184 meters 0.07386036865300087 Centerline is valid? [True, True] Translation: X:145.73, Y:-9.45, Z:-5.54 [[ 9.99995719e-01 6.86938605e-04 2.84418955e-03 1.45731674e+02] [-6.86651823e-04 9.99999759e-01 -1.01806038e-04 -9.45156114e+00] [-2.84425879e-03 9.98526340e-05 9.99995950e-01 -5.54230928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901346184 meters 0.07364380180627762 Centerline is valid? [True, True] Translation: X:145.76, Y:-9.45, Z:-5.54 [[ 9.99993990e-01 1.47692570e-03 3.13681216e-03 1.45763412e+02] [-1.47658000e-03 9.99998904e-01 -1.12522570e-04 -9.45018317e+00] [-3.13697490e-03 1.07890139e-04 9.99995074e-01 -5.54226061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.931346184 meters 0.07307221497179828 Centerline is valid? [True, True] Translation: X:145.79, Y:-9.45, Z:-5.54 [[ 9.99990219e-01 3.06229372e-03 3.19121152e-03 1.45794676e+02] [-3.06194358e-03 9.99995306e-01 -1.14598577e-04 -9.44526134e+00] [-3.19154747e-03 1.04826147e-04 9.99994902e-01 -5.54178848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96134618399998 meters 0.07342316603082936 Centerline is valid? [True, True] Translation: X:145.83, Y:-9.45, Z:-5.54 [[ 9.99987174e-01 4.19127598e-03 2.84348979e-03 1.45825342e+02] [-4.19100101e-03 9.99991212e-01 -1.02654588e-04 -9.44638016e+00] [-2.84389506e-03 9.07362024e-05 9.99995952e-01 -5.54334767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99134618399998 meters 0.07271131784195053 Centerline is valid? [True, True] Translation: X:145.86, Y:-9.44, Z:-5.54 [[ 9.99984861e-01 4.64552307e-03 2.94900388e-03 1.45855586e+02] [-4.64522739e-03 9.99989205e-01 -1.07104454e-04 -9.44477300e+00] [-2.94946960e-03 9.34040391e-05 9.99995646e-01 -5.54230819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02134618399998 meters 0.0722467321672332 Centerline is valid? [True, True] Translation: X:145.89, Y:-9.44, Z:-5.54 [[ 9.99984452e-01 4.47602820e-03 3.32583388e-03 1.45886443e+02] [-4.47565120e-03 9.99989977e-01 -1.20790490e-04 -9.44392094e+00] [-3.32634121e-03 1.05903339e-04 9.99994462e-01 -5.54134024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05134618399998 meters 0.07357332438573544 Centerline is valid? [True, True] Translation: X:145.92, Y:-9.45, Z:-5.55 [[ 9.99981244e-01 4.94312711e-03 3.61633749e-03 1.45915219e+02] [-4.94268237e-03 9.99987776e-01 -1.31906210e-04 -9.44859408e+00] [-3.61694532e-03 1.14029328e-04 9.99993452e-01 -5.54661281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08134618399998 meters 0.0729791498127454 Centerline is valid? [True, True] Translation: X:145.95, Y:-9.45, Z:-5.55 [[ 9.99982238e-01 4.83348726e-03 3.48726069e-03 1.45946248e+02] [-4.83307517e-03 9.99988313e-01 -1.26588827e-04 -9.44764552e+00] [-3.48783180e-03 1.09732386e-04 9.99993911e-01 -5.54578557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11134618399998 meters 0.07287399242448865 Centerline is valid? [True, True] Translation: X:145.98, Y:-9.45, Z:-5.55 [[ 9.99978329e-01 5.68955208e-03 3.31228784e-03 1.45975462e+02] [-5.68918728e-03 9.99983809e-01 -1.19548003e-04 -9.44843721e+00] [-3.31291439e-03 1.00701186e-04 9.99994507e-01 -5.54753470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14134618399999 meters 0.07255770016153111 Centerline is valid? [True, True] Translation: X:146.01, Y:-9.45, Z:-5.55 [[ 9.99973022e-01 6.30190425e-03 3.77381125e-03 1.46005725e+02] [-6.30142972e-03 9.99980136e-01 -1.37618259e-04 -9.44538329e+00] [-3.77460355e-03 1.13834140e-04 9.99992870e-01 -5.54756577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.171346184 meters 0.07287820386246845 Centerline is valid? [True, True] Translation: X:146.03, Y:-9.45, Z:-5.55 [[ 9.99968106e-01 6.62895362e-03 4.45466689e-03 1.46034967e+02] [-6.62829653e-03 9.99978019e-01 -1.62253084e-04 -9.44596243e+00] [-4.45564454e-03 1.32721056e-04 9.99990065e-01 -5.54963477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.201346184 meters 0.07286773649084555 Centerline is valid? [True, True] Translation: X:146.07, Y:-9.45, Z:-5.55 [[ 9.99968757e-01 6.78215344e-03 4.06050156e-03 1.46065784e+02] [-6.78161100e-03 9.99976994e-01 -1.47343759e-04 -9.44581152e+00] [-4.06140745e-03 1.19802414e-04 9.99991745e-01 -5.55083681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.231346184 meters 0.07238841660716476 Centerline is valid? [True, True] Translation: X:146.10, Y:-9.44, Z:-5.55 [[ 9.99963966e-01 6.81210343e-03 5.06581019e-03 1.46095786e+02] [-6.81125431e-03 9.99976786e-01 -1.84852302e-04 -9.44420760e+00] [-5.06695182e-03 1.50341120e-04 9.99987152e-01 -5.55193484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.261346184 meters 0.07348784242051956 Centerline is valid? [True, True] Translation: X:146.13, Y:-9.45, Z:-5.56 [[ 9.99967177e-01 6.96050152e-03 4.14686124e-03 1.46125414e+02] [-6.95993934e-03 9.99975768e-01 -1.49984668e-04 -9.44734679e+00] [-4.14780472e-03 1.21117843e-04 9.99991390e-01 -5.55704961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.291346184 meters 0.07221188280311604 Centerline is valid? [True, True] Translation: X:146.16, Y:-9.44, Z:-5.56 [[ 9.99971947e-01 7.03702771e-03 2.56637086e-03 1.46155448e+02] [-7.03680909e-03 9.99975237e-01 -9.42062223e-05 -9.44400107e+00] [-2.56697024e-03 7.61445177e-05 9.99996702e-01 -5.55518107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321346184 meters 0.07264155342939438 Centerline is valid? [True, True] Translation: X:146.18, Y:-9.45, Z:-5.56 [[ 9.99973166e-01 6.99457740e-03 2.17786706e-03 1.46183842e+02] [-6.99441839e-03 9.99975536e-01 -8.06190840e-05 -9.44502168e+00] [-2.17837768e-03 6.53840072e-05 9.99997625e-01 -5.55805471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.351346184 meters 0.07220736704668455 Centerline is valid? [True, True] Translation: X:146.21, Y:-9.44, Z:-5.56 [[ 9.99974379e-01 6.54637202e-03 2.89584978e-03 1.46212714e+02] [-6.54608954e-03 9.99978568e-01 -1.07014194e-04 -9.44421743e+00] [-2.89648827e-03 8.80549603e-05 9.99995801e-01 -5.55702702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381346184 meters 0.07230615891802683 Centerline is valid? [True, True] Translation: X:146.24, Y:-9.44, Z:-5.56 [[ 9.99976172e-01 6.64287605e-03 1.87804243e-03 1.46241778e+02] [-6.64275716e-03 9.99977934e-01 -6.95364792e-05 -9.44426529e+00] [-1.87846291e-03 5.70594426e-05 9.99998234e-01 -5.55824770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.411346184 meters 0.07258753468058063 Centerline is valid? [True, True] Translation: X:146.27, Y:-9.44, Z:-5.56 [[ 9.99973909e-01 7.02733719e-03 1.67259913e-03 1.46269706e+02] [-7.02724133e-03 9.99975307e-01 -6.31788196e-05 -9.44448747e+00] [-1.67300180e-03 5.14234135e-05 9.99998599e-01 -5.56046536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441346184 meters 0.07270956394335928 Centerline is valid? [True, True] Translation: X:146.30, Y:-9.45, Z:-5.56 [[ 9.99973639e-01 7.16317923e-03 1.18751189e-03 1.46298228e+02] [-7.16313086e-03 9.99974343e-01 -4.49845339e-05 -9.44608111e+00] [-1.18780366e-03 3.64770450e-05 9.99999294e-01 -5.56255232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.471346184 meters 0.07223991628473096 Centerline is valid? [True, True] Translation: X:146.33, Y:-9.45, Z:-5.56 [[ 9.99977059e-01 6.68044542e-03 1.11970784e-03 1.46327463e+02] [-6.68040196e-03 9.99977685e-01 -4.25524212e-05 -9.44683915e+00] [-1.11996712e-03 3.50713465e-05 9.99999372e-01 -5.56145463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501346184 meters 0.07191515623692304 Centerline is valid? [True, True] Translation: X:146.36, Y:-9.45, Z:-5.56 [[ 9.99980092e-01 6.28905776e-03 5.12938718e-04 1.46355686e+02] [-6.28904759e-03 9.99980224e-01 -2.14489435e-05 -9.44841908e+00] [-5.13063467e-04 1.82226205e-05 9.99999868e-01 -5.56179286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.531346184 meters 0.07250445757658387 Centerline is valid? [True, True] Translation: X:146.38, Y:-9.45, Z:-5.56 [[ 9.99978768e-01 6.42386609e-03 1.09386205e-03 1.46383644e+02] [-6.42382390e-03 9.99979366e-01 -4.20791993e-05 -9.45097839e+00] [-1.09410979e-03 3.50515288e-05 9.99999401e-01 -5.56359189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561346184 meters 0.07170371916268856 Centerline is valid? [True, True] Translation: X:146.41, Y:-9.45, Z:-5.56 [[ 9.99972826e-01 7.16809144e-03 1.72216798e-03 1.46412738e+02] [-7.16799238e-03 9.99974308e-01 -6.36897476e-05 -9.45023338e+00] [-1.72258027e-03 5.13435299e-05 9.99998515e-01 -5.56234259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.591346184 meters 0.07123398164957617 Centerline is valid? [True, True] Translation: X:146.44, Y:-9.45, Z:-5.56 [[ 9.99960204e-01 8.71574195e-03 1.90446708e-03 1.46441154e+02] [-8.71562432e-03 9.99962016e-01 -7.00592554e-05 -9.45248373e+00] [-1.90500536e-03 5.34578478e-05 9.99998184e-01 -5.56272464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621346184 meters 0.07140823564070796 Centerline is valid? [True, True] Translation: X:146.47, Y:-9.46, Z:-5.56 [[ 9.99961996e-01 8.67343424e-03 8.82059292e-04 1.46470105e+02] [-8.67340789e-03 9.99962385e-01 -3.36930118e-05 -9.45517304e+00] [-8.82318347e-04 2.60412713e-05 9.99999610e-01 -5.56452684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.651346184 meters 0.07139838899807868 Centerline is valid? [True, True] Translation: X:146.50, Y:-9.46, Z:-5.57 [[ 9.99951325e-01 9.70914522e-03 1.75489737e-03 1.46497757e+02] [-9.70904602e-03 9.99952864e-01 -6.50406733e-05 -9.45755389e+00] [-1.75544614e-03 4.79991281e-05 9.99998458e-01 -5.56547966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681346184 meters 0.07137900017369138 Centerline is valid? [True, True] Translation: X:146.53, Y:-9.46, Z:-5.57 [[ 9.99945768e-01 1.02634081e-02 1.76711372e-03 1.46527002e+02] [-1.02633108e-02 9.99947329e-01 -6.41382865e-05 -9.45874448e+00] [-1.76767892e-03 4.59983709e-05 9.99998437e-01 -5.56641908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71134618399998 meters 0.07083166052205883 Centerline is valid? [True, True] Translation: X:146.56, Y:-9.46, Z:-5.57 [[ 9.99923528e-01 1.22012254e-02 2.01719514e-03 1.46555605e+02] [-1.22011020e-02 9.99925561e-01 -7.34433412e-05 -9.46022159e+00] [-2.01794108e-03 4.88257211e-05 9.99997963e-01 -5.56690958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74134618399998 meters 0.07153104755574091 Centerline is valid? [True, True] Translation: X:146.58, Y:-9.46, Z:-5.57 [[ 9.99934254e-01 1.14156711e-02 1.08187434e-03 1.46583081e+02] [-1.14156329e-02 9.99934839e-01 -4.14833867e-05 -9.46445013e+00] [-1.08227741e-03 2.91303790e-05 9.99999414e-01 -5.57102359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77134618399998 meters 0.07146808229308658 Centerline is valid? [True, True] Translation: X:146.61, Y:-9.47, Z:-5.57 [[ 9.99937985e-01 1.11357282e-02 1.50231295e-04 1.46611311e+02] [-1.11357271e-02 9.99937996e-01 -8.24684139e-06 -9.46670948e+00] [-1.50313814e-04 6.57339526e-06 9.99999989e-01 -5.57183084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80134618399998 meters 0.07194632830641784 Centerline is valid? [True, True] Translation: X:146.64, Y:-9.47, Z:-5.57 [[ 9.99942040e-01 1.07132181e-02 -1.06939086e-03 1.46640145e+02] [-1.07131868e-02 9.99942612e-01 3.50012435e-05 -9.46960748e+00] [ 1.06970446e-03 -2.35426308e-05 9.99999428e-01 -5.57380010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83134618399998 meters 0.07287976873011305 Centerline is valid? [True, True] Translation: X:146.67, Y:-9.48, Z:-5.58 [[ 9.99961040e-01 8.18472423e-03 -3.30573904e-03 1.46669031e+02] [-8.18439340e-03 9.99966501e-01 1.13591934e-04 -9.47646931e+00] [ 3.30655802e-03 -8.65320392e-05 9.99994530e-01 -5.57679731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86134618399998 meters 0.07343446919680975 Centerline is valid? [True, True] Translation: X:146.70, Y:-9.48, Z:-5.58 [[ 9.99972264e-01 6.57604460e-03 -3.49659290e-03 1.46696774e+02] [-6.57566937e-03 9.99978373e-01 1.18799049e-04 -9.48121967e+00] [ 3.49729851e-03 -9.58033147e-05 9.99993880e-01 -5.57834050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89134618399999 meters 0.07486202070727818 Centerline is valid? [True, True] Translation: X:146.72, Y:-9.49, Z:-5.58 [[ 9.99980832e-01 4.12689457e-03 -4.61559903e-03 1.46724913e+02] [-4.12620599e-03 9.99991475e-01 1.58698250e-04 -9.48922094e+00] [ 4.61621461e-03 -1.39650296e-04 9.99989335e-01 -5.58186548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.921346184 meters 0.07519053239160364 Centerline is valid? [True, True] Translation: X:146.75, Y:-9.49, Z:-5.58 [[ 9.99983147e-01 2.43001553e-03 -5.27261108e-03 1.46753722e+02] [-2.42909680e-03 9.99997033e-01 1.80641599e-04 -9.49352785e+00] [ 5.27303440e-03 -1.67830872e-04 9.99986083e-01 -5.58292105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.951346184 meters 0.07460759331146448 Centerline is valid? [True, True] Translation: X:146.78, Y:-9.50, Z:-5.58 [[ 9.99985394e-01 1.88305730e-03 -5.06608261e-03 1.46782056e+02] [-1.88220473e-03 9.99998214e-01 1.73051147e-04 -9.49585749e+00] [ 5.06639942e-03 -1.63513215e-04 9.99987152e-01 -5.58160255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.981346184 meters 0.07370502620830417 Centerline is valid? [True, True] Translation: X:146.81, Y:-9.50, Z:-5.58 [[ 9.99986118e-01 1.50649737e-03 -5.04913000e-03 1.46811073e+02] [-1.50564811e-03 9.99998852e-01 1.71996624e-04 -9.49611622e+00] [ 5.04938331e-03 -1.64392023e-04 9.99987238e-01 -5.57945707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.011346184 meters 0.07408328653082327 Centerline is valid? [True, True] Translation: X:146.84, Y:-9.50, Z:-5.58 [[ 9.99980964e-01 4.34206932e-04 -6.15489058e-03 1.46839621e+02] [-4.32924025e-04 9.99999884e-01 2.09767718e-04 -9.50026286e+00] [ 6.15498095e-03 -2.07099125e-04 9.99981036e-01 -5.58049272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.041346184 meters 0.07439053329022859 Centerline is valid? [True, True] Translation: X:146.87, Y:-9.50, Z:-5.58 [[ 9.99980895e-01 1.80274298e-04 -6.17880830e-03 1.46867353e+02] [-1.78983540e-04 9.99999962e-01 2.09453148e-04 -9.50234723e+00] [ 6.17884583e-03 -2.08343242e-04 9.99980889e-01 -5.58293351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.071346184 meters 0.07408856204979951 Centerline is valid? [True, True] Translation: X:146.90, Y:-9.50, Z:-5.58 [[ 9.99981004e-01 5.64426096e-04 -6.13783470e-03 1.46895972e+02] [-5.63203221e-04 9.99999821e-01 2.00962201e-04 -9.50335670e+00] [ 6.13794703e-03 -1.97501536e-04 9.99981143e-01 -5.58318840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101346184 meters 0.07462684842247486 Centerline is valid? [True, True] Translation: X:146.92, Y:-9.51, Z:-5.59 [[ 9.99977397e-01 9.13848895e-04 -6.66107514e-03 1.46922802e+02] [-9.12406466e-04 9.99999560e-01 2.19581632e-04 -9.50702869e+00] [ 6.66127287e-03 -2.13499061e-04 9.99977791e-01 -5.58622272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.131346184 meters 0.07388752200864612 Centerline is valid? [True, True] Translation: X:146.95, Y:-9.51, Z:-5.59 [[ 9.99979506e-01 1.23798071e-03 -6.28134692e-03 1.46952162e+02] [-1.23669980e-03 9.99999214e-01 2.07802764e-04 -9.50688428e+00] [ 6.28159924e-03 -2.00030365e-04 9.99980251e-01 -5.58532336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161346184 meters 0.07380068474352065 Centerline is valid? [True, True] Translation: X:146.98, Y:-9.51, Z:-5.59 [[ 9.99971984e-01 2.08035073e-03 -7.19045957e-03 1.46980979e+02] [-2.07867724e-03 9.99997811e-01 2.40202181e-04 -9.50755977e+00] [ 7.19094353e-03 -2.25248807e-04 9.99974119e-01 -5.58640952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.191346184 meters 0.07424773984812584 Centerline is valid? [True, True] Translation: X:147.01, Y:-9.51, Z:-5.59 [[ 9.99977809e-01 2.40401085e-03 -6.21306744e-03 1.47008402e+02] [-2.40277671e-03 9.99997092e-01 2.06092876e-04 -9.51083446e+00] [ 6.21354483e-03 -1.91159689e-04 9.99980677e-01 -5.58930137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.221346184 meters 0.07367507309728472 Centerline is valid? [True, True] Translation: X:147.04, Y:-9.51, Z:-5.59 [[ 9.99978972e-01 1.50143871e-03 -6.30878641e-03 1.47037581e+02] [-1.50014718e-03 9.99998853e-01 2.09445912e-04 -9.51267064e+00] [ 6.30909364e-03 -1.99977399e-04 9.99980077e-01 -5.58819316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.251346184 meters 0.07303434910222623 Centerline is valid? [True, True] Translation: X:147.07, Y:-9.51, Z:-5.59 [[ 9.99977366e-01 1.59387490e-03 -6.53664122e-03 1.47066019e+02] [-1.59249338e-03 9.99998709e-01 2.16548973e-04 -9.51269550e+00] [ 6.53697793e-03 -2.06134513e-04 9.99978612e-01 -5.58722182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.281346184 meters 0.07387349431473599 Centerline is valid? [True, True] Translation: X:147.09, Y:-9.52, Z:-5.59 [[ 9.99983831e-01 1.11685718e-03 -5.57586301e-03 1.47093276e+02] [-1.11585274e-03 9.99999361e-01 1.83249182e-04 -9.51668930e+00] [ 5.57606411e-03 -1.77024377e-04 9.99984438e-01 -5.59043101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.311346184 meters 0.07387349431473599 Centerline is valid? [True, True] Translation: X:147.12, Y:-9.52, Z:-5.59 [[ 9.99983943e-01 1.01125967e-03 -5.57589969e-03 1.47120734e+02] [-1.01025974e-03 9.99999473e-01 1.82144872e-04 -9.51746897e+00] [ 5.57608095e-03 -1.76508840e-04 9.99984438e-01 -5.59137234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341346184 meters 0.0733962546263959 Centerline is valid? [True, True] Translation: X:147.15, Y:-9.52, Z:-5.59 [[ 9.99982980e-01 -2.76232725e-05 -5.83435134e-03 1.47149916e+02] [ 2.87408934e-05 9.99999981e-01 1.91474953e-04 -9.51836997e+00] [ 5.83434594e-03 -1.91639378e-04 9.99982962e-01 -5.58944364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.371346184 meters 0.07374990442107061 Centerline is valid? [True, True] Translation: X:147.18, Y:-9.52, Z:-5.59 [[ 9.99988159e-01 -1.35999696e-03 -4.67260772e-03 1.47178525e+02] [ 1.36072449e-03 9.99999063e-01 1.52525383e-04 -9.52365041e+00] [ 4.67239591e-03 -1.58881708e-04 9.99989072e-01 -5.59075332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401346184 meters 0.07409021869144287 Centerline is valid? [True, True] Translation: X:147.21, Y:-9.53, Z:-5.59 [[ 9.99979774e-01 -1.56447316e-03 -6.16466881e-03 1.47206490e+02] [ 1.56574119e-03 9.99998754e-01 2.00872683e-04 -9.52743148e+00] [ 6.16434686e-03 -2.10520896e-04 9.99980978e-01 -5.59300481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.431346184 meters 0.0740867703505649 Centerline is valid? [True, True] Translation: X:147.24, Y:-9.53, Z:-5.60 [[ 9.99980589e-01 -1.14558271e-03 -6.12450333e-03 1.47235501e+02] [ 1.14678354e-03 9.99999324e-01 1.92562079e-04 -9.53009018e+00] [ 6.12427860e-03 -1.99581821e-04 9.99981227e-01 -5.59525562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46134618399998 meters 0.0735342928643706 Centerline is valid? [True, True] Translation: X:147.26, Y:-9.53, Z:-5.60 [[ 9.99988038e-01 1.11685982e-04 -4.88987432e-03 1.47264463e+02] [-1.10915929e-04 9.99999981e-01 1.57749879e-04 -9.53127386e+00] [ 4.88989184e-03 -1.57205627e-04 9.99988032e-01 -5.59583262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49134618399998 meters 0.07169051919286051 Centerline is valid? [True, True] Translation: X:147.29, Y:-9.53, Z:-5.59 [[ 9.99989222e-01 3.44188728e-03 -3.11605484e-03 1.47294994e+02] [-3.44158804e-03 9.99994073e-01 1.01390945e-04 -9.52900561e+00] [ 3.11638535e-03 -9.06656751e-05 9.99995140e-01 -5.59121710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52134618399998 meters 0.07198639671775733 Centerline is valid? [True, True] Translation: X:147.32, Y:-9.53, Z:-5.59 [[ 9.99984557e-01 5.20616165e-03 -1.94486193e-03 1.47322432e+02] [-5.20605408e-03 9.99986447e-01 6.03666468e-05 -9.53106629e+00] [ 1.94514985e-03 -5.02406581e-05 9.99998107e-01 -5.59342716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55134618399998 meters 0.07172629866877293 Centerline is valid? [True, True] Translation: X:147.35, Y:-9.53, Z:-5.59 [[ 9.99974352e-01 7.16142095e-03 -9.40846940e-05 1.47351145e+02] [-7.16142082e-03 9.99974357e-01 1.81002114e-06 -9.53124510e+00] [ 9.40952436e-05 -1.13619463e-06 9.99999996e-01 -5.59299509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58134618399998 meters 0.06962790740268548 Centerline is valid? [True, True] Translation: X:147.38, Y:-9.53, Z:-5.59 [[ 9.99929881e-01 1.16130302e-02 2.31726777e-03 1.47381936e+02] [-1.16128849e-02 9.99932565e-01 -7.61540660e-05 -9.52574533e+00] [-2.31799589e-03 4.92385622e-05 9.99997312e-01 -5.58555931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61134618399998 meters 0.06946472374970154 Centerline is valid? [True, True] Translation: X:147.41, Y:-9.53, Z:-5.59 [[ 9.99910796e-01 1.31961671e-02 2.06436513e-03 1.47410754e+02] [-1.31960514e-02 9.99912926e-01 -6.96273073e-05 -9.52708144e+00] [-2.06510420e-03 4.23796277e-05 9.99997867e-01 -5.58726914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64134618399999 meters 0.07006949359043046 Centerline is valid? [True, True] Translation: X:147.44, Y:-9.53, Z:-5.59 [[ 9.99896994e-01 1.42637825e-02 1.59589134e-03 1.47438457e+02] [-1.42637132e-02 9.99898267e-01 -5.48436556e-05 -9.53225309e+00] [-1.59651126e-03 3.20746700e-05 9.99998725e-01 -5.59327472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.671346184 meters 0.06963299741894828 Centerline is valid? [True, True] Translation: X:147.47, Y:-9.53, Z:-5.59 [[ 9.99904877e-01 1.37347945e-02 1.26185578e-03 1.47467337e+02] [-1.37347509e-02 9.99905673e-01 -4.32766914e-05 -9.53494454e+00] [-1.26233115e-03 2.59413001e-05 9.99999203e-01 -5.59264377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.701346184 meters 0.07079221379046138 Centerline is valid? [True, True] Translation: X:147.50, Y:-9.54, Z:-5.60 [[ 9.99940311e-01 1.07294663e-02 -2.06223858e-03 1.47496636e+02] [-1.07293528e-02 9.99942437e-01 6.60902625e-05 -9.54140993e+00] [ 2.06282898e-03 -4.39598323e-05 9.99997871e-01 -5.59531887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.731346184 meters 0.07092767209262527 Centerline is valid? [True, True] Translation: X:147.52, Y:-9.54, Z:-5.60 [[ 9.99951906e-01 9.36599943e-03 -2.90934483e-03 1.47524891e+02] [-9.36577485e-03 9.99956136e-01 9.08067432e-05 -9.54480065e+00] [ 2.91006771e-03 -6.35541072e-05 9.99995764e-01 -5.59647981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.761346184 meters 0.0714702455070475 Centerline is valid? [True, True] Translation: X:147.55, Y:-9.55, Z:-5.60 [[ 9.99960997e-01 8.13650061e-03 -3.43550719e-03 1.47552171e+02] [-8.13617928e-03 9.99966895e-01 1.07498016e-04 -9.54905351e+00] [ 3.43626812e-03 -7.95419205e-05 9.99994093e-01 -5.59747102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.791346184 meters 0.07157582757369736 Centerline is valid? [True, True] Translation: X:147.58, Y:-9.56, Z:-5.60 [[ 9.99963641e-01 7.97342725e-03 -3.02353814e-03 1.47579979e+02] [-7.97317941e-03 9.99968209e-01 9.40153989e-05 -9.55520899e+00] [ 3.02419165e-03 -6.99047685e-05 9.99995425e-01 -5.59782341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821346184 meters 0.07045872629129171 Centerline is valid? [True, True] Translation: X:147.61, Y:-9.56, Z:-5.59 [[ 9.99964571e-01 7.73505045e-03 -3.32045894e-03 1.47609299e+02] [-7.73474867e-03 9.99970081e-01 1.03718411e-04 -9.55618227e+00] [ 3.32116187e-03 -7.80318213e-05 9.99994482e-01 -5.59406169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.851346184 meters 0.07101385953789088 Centerline is valid? [True, True] Translation: X:147.64, Y:-9.56, Z:-5.60 [[ 9.99968644e-01 7.38801253e-03 -2.85117501e-03 1.47637213e+02] [-7.38779212e-03 9.99972706e-01 8.78273855e-05 -9.56180304e+00] [ 2.85174606e-03 -6.67607433e-05 9.99995932e-01 -5.59739867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881346184 meters 0.07080031803033231 Centerline is valid? [True, True] Translation: X:147.67, Y:-9.57, Z:-5.60 [[ 9.99972788e-01 6.39836649e-03 -3.67204784e-03 1.47666095e+02] [-6.39798964e-03 9.99979526e-01 1.14366555e-04 -9.56967871e+00] [ 3.67270442e-03 -9.08697184e-05 9.99993251e-01 -5.59672483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.911346184 meters 0.07101380273667164 Centerline is valid? [True, True] Translation: X:147.69, Y:-9.57, Z:-5.60 [[ 9.99977470e-01 5.55382023e-03 -3.77018995e-03 1.47694117e+02] [-5.55342179e-03 9.99984573e-01 1.16142323e-04 -9.57475372e+00] [ 3.77077682e-03 -9.52022517e-05 9.99992886e-01 -5.59830370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.941346184 meters 0.07194524369074473 Centerline is valid? [True, True] Translation: X:147.72, Y:-9.58, Z:-5.60 [[ 9.99975851e-01 4.84537097e-03 -4.98187736e-03 1.47721716e+02] [-4.84466459e-03 9.99988253e-01 1.53847361e-04 -9.58035513e+00] [ 4.98256429e-03 -1.29708121e-04 9.99987579e-01 -5.60217778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.971346184 meters 0.07199826931307945 Centerline is valid? [True, True] Translation: X:147.75, Y:-9.58, Z:-5.60 [[ 9.99964055e-01 5.25998953e-03 -6.64983760e-03 1.47750389e+02] [-5.25872661e-03 9.99986151e-01 2.07389005e-04 -9.58213537e+00] [ 6.65083637e-03 -1.72411872e-04 9.99977868e-01 -5.60265739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001346184 meters 0.07186318798741798 Centerline is valid? [True, True] Translation: X:147.78, Y:-9.59, Z:-5.60 [[ 9.99951783e-01 6.38403698e-03 -7.46164575e-03 1.47778551e+02] [-6.38248015e-03 9.99979605e-01 2.32437678e-04 -9.58749687e+00] [ 7.46297746e-03 -1.84802664e-04 9.99972135e-01 -5.60347765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.031346184 meters 0.0718917343556631 Centerline is valid? [True, True] Translation: X:147.81, Y:-9.59, Z:-5.60 [[ 9.99955246e-01 5.84627030e-03 -7.43826261e-03 1.47807311e+02] [-5.84470727e-03 9.99982893e-01 2.31854904e-04 -9.59415432e+00] [ 7.43949085e-03 -1.88370060e-04 9.99972309e-01 -5.60465108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061346184 meters 0.0743472727489512 Centerline is valid? [True, True] Translation: X:147.83, Y:-9.61, Z:-5.62 [[ 9.99965308e-01 5.10380612e-03 -6.58282876e-03 1.47834187e+02] [-5.10257967e-03 9.99986961e-01 2.03090965e-04 -9.60698022e+00] [ 6.58377947e-03 -1.69494511e-04 9.99978312e-01 -5.61516529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.091346184 meters 0.0726857214068065 Centerline is valid? [True, True] Translation: X:147.86, Y:-9.61, Z:-5.61 [[ 9.99979659e-01 2.38587588e-03 -5.91523469e-03 1.47863146e+02] [-2.38483879e-03 9.99997140e-01 1.82373861e-04 -9.61443634e+00] [ 5.91565289e-03 -1.68263271e-04 9.99982488e-01 -5.60818889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.121346184 meters 0.07326240141226505 Centerline is valid? [True, True] Translation: X:147.89, Y:-9.62, Z:-5.61 [[ 9.99972945e-01 1.34954198e-03 -7.23105804e-03 1.47891753e+02] [-1.34796472e-03 9.99999067e-01 2.22992009e-04 -9.62067950e+00] [ 7.23135223e-03 -2.13238764e-04 9.99973831e-01 -5.61075949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.151346184 meters 0.07437297486509671 Centerline is valid? [True, True] Translation: X:147.92, Y:-9.63, Z:-5.61 [[ 9.99968105e-01 2.13117404e-04 -7.98389638e-03 1.47919462e+02] [-2.11172924e-04 9.99999948e-01 2.44392395e-04 -9.62742962e+00] [ 7.98394805e-03 -2.42698617e-04 9.99968098e-01 -5.61470501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.181346184 meters 0.07484579490851469 Centerline is valid? [True, True] Translation: X:147.95, Y:-9.64, Z:-5.62 [[ 9.99964536e-01 -1.63313954e-04 -8.42020326e-03 1.47947184e+02] [ 1.65491395e-04 9.99999953e-01 2.57901143e-04 -9.63569150e+00] [ 8.42016075e-03 -2.59285468e-04 9.99964516e-01 -5.61595554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21134618399998 meters 0.07478807536915956 Centerline is valid? [True, True] Translation: X:147.98, Y:-9.64, Z:-5.62 [[ 9.99966869e-01 -1.27563305e-04 -8.13904241e-03 1.47976392e+02] [ 1.29602088e-04 9.99999960e-01 2.49967369e-04 -9.63903538e+00] [ 8.13901020e-03 -2.51013924e-04 9.99966846e-01 -5.61631860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24134618399998 meters 0.07439078569532266 Centerline is valid? [True, True] Translation: X:148.00, Y:-9.64, Z:-5.62 [[ 9.99965092e-01 1.49459899e-04 -8.35422500e-03 1.48004342e+02] [-1.47408452e-04 9.99999959e-01 2.46173350e-04 -9.64195924e+00] [ 8.35426145e-03 -2.44933273e-04 9.99965073e-01 -5.61679070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27134618399998 meters 0.07325726127010623 Centerline is valid? [True, True] Translation: X:148.03, Y:-9.65, Z:-5.61 [[ 9.99969051e-01 4.32719993e-04 -7.85549915e-03 1.48033056e+02] [-4.30929152e-04 9.99999881e-01 2.29664078e-04 -9.64688872e+00] [ 7.85559759e-03 -2.26271807e-04 9.99969119e-01 -5.61494569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30134618399998 meters 0.07329510800506062 Centerline is valid? [True, True] Translation: X:148.06, Y:-9.65, Z:-5.62 [[ 9.99962349e-01 2.89416423e-04 -8.67276947e-03 1.48061993e+02] [-2.87169937e-04 9.99999925e-01 2.60271721e-04 -9.64940458e+00] [ 8.67284414e-03 -2.57771363e-04 9.99962357e-01 -5.61552988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33134618399998 meters 0.07376002240561932 Centerline is valid? [True, True] Translation: X:148.09, Y:-9.65, Z:-5.62 [[ 9.99961561e-01 1.30810212e-03 -8.66974981e-03 1.48090052e+02] [-1.30590784e-03 9.99999114e-01 2.58752772e-04 -9.65205738e+00] [ 8.67008061e-03 -2.47420932e-04 9.99962384e-01 -5.61825250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36134618399998 meters 0.07267070405422722 Centerline is valid? [True, True] Translation: X:148.12, Y:-9.65, Z:-5.61 [[ 9.99961393e-01 1.20210641e-03 -8.70447383e-03 1.48118274e+02] [-1.19990573e-03 9.99999247e-01 2.58040567e-04 -9.65152413e+00] [ 8.70477747e-03 -2.47586057e-04 9.99962082e-01 -5.61489503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39134618399999 meters 0.0726872021510142 Centerline is valid? [True, True] Translation: X:148.15, Y:-9.66, Z:-5.62 [[ 9.99966989e-01 1.97329107e-03 -7.88204549e-03 1.48145647e+02] [-1.97151392e-03 9.99998029e-01 2.33230691e-04 -9.65620974e+00] [ 7.88249019e-03 -2.17683429e-04 9.99968909e-01 -5.61579876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.421346184 meters 0.07259436166128755 Centerline is valid? [True, True] Translation: X:148.17, Y:-9.66, Z:-5.62 [[ 9.99969048e-01 2.75511097e-03 -7.36975182e-03 1.48173444e+02] [-2.75358506e-03 9.99996185e-01 2.17188950e-04 -9.65857662e+00] [ 7.37032209e-03 -1.96888989e-04 9.99972819e-01 -5.61669295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.451346184 meters 0.07260359759298153 Centerline is valid? [True, True] Translation: X:148.20, Y:-9.66, Z:-5.62 [[ 9.99968197e-01 3.32272891e-03 -7.25018283e-03 1.48200713e+02] [-3.32127988e-03 9.99994462e-01 2.11892767e-04 -9.66019077e+00] [ 7.25084674e-03 -1.87806142e-04 9.99973695e-01 -5.61761297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.481346184 meters 0.07189355467458138 Centerline is valid? [True, True] Translation: X:148.23, Y:-9.66, Z:-5.62 [[ 9.99962594e-01 5.26049186e-03 -6.86564005e-03 1.48229305e+02] [-5.25923272e-03 9.99986150e-01 2.01439847e-04 -9.66109853e+00] [ 6.86660463e-03 -1.65324313e-04 9.99976411e-01 -5.61648961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.511346184 meters 0.07255366777468748 Centerline is valid? [True, True] Translation: X:148.26, Y:-9.66, Z:-5.62 [[ 9.99956688e-01 4.83630268e-03 -7.95184982e-03 1.48257354e+02] [-4.83460779e-03 9.99988286e-01 2.32352367e-04 -9.66398059e+00] [ 7.95288040e-03 -1.93898228e-04 9.99968357e-01 -5.61930318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.541346184 meters 0.07265730939772501 Centerline is valid? [True, True] Translation: X:148.28, Y:-9.67, Z:-5.62 [[ 9.99951883e-01 4.90573694e-03 -8.49502016e-03 1.48284561e+02] [-4.90380958e-03 9.99987946e-01 2.47695105e-04 -9.66644541e+00] [ 8.49613289e-03 -2.06025225e-04 9.99963886e-01 -5.62028800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.571346184 meters 0.07303351780977033 Centerline is valid? [True, True] Translation: X:148.31, Y:-9.67, Z:-5.62 [[ 9.99952892e-01 3.36096066e-03 -9.10592448e-03 1.48313011e+02] [-3.35868034e-03 9.99994324e-01 2.65702241e-04 -9.67084251e+00] [ 9.10676581e-03 -2.35105834e-04 9.99958505e-01 -5.62128294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.601346184 meters 0.07347364447388795 Centerline is valid? [True, True] Translation: X:148.34, Y:-9.67, Z:-5.62 [[ 9.99946324e-01 2.30995693e-03 -1.01001953e-02 1.48341628e+02] [-2.30710239e-03 9.99997295e-01 2.94265017e-04 -9.67370359e+00] [ 1.01008477e-02 -2.70947037e-04 9.99948948e-01 -5.62256629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.631346184 meters 0.07371577615799181 Centerline is valid? [True, True] Translation: X:148.37, Y:-9.68, Z:-5.62 [[ 9.99936495e-01 8.26833607e-04 -1.12393188e-02 1.48370727e+02] [-8.23212363e-04 9.99999608e-01 3.26816739e-04 -9.67632105e+00] [ 1.12395846e-02 -3.17543639e-04 9.99936783e-01 -5.62365815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.661346184 meters 0.07505354994777971 Centerline is valid? [True, True] Translation: X:148.40, Y:-9.68, Z:-5.63 [[ 9.99925424e-01 -6.62908359e-04 -1.21945501e-02 1.48398257e+02] [ 6.67240437e-04 9.99999716e-01 3.51181984e-04 -9.68212798e+00] [ 1.21943138e-02 -3.59292492e-04 9.99925582e-01 -5.62878066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.691346184 meters 0.07531115105261096 Centerline is valid? [True, True] Translation: X:148.43, Y:-9.69, Z:-5.63 [[ 9.99926395e-01 -2.23640575e-03 -1.19249297e-02 1.48426878e+02] [ 2.24067388e-03 9.99997430e-01 3.44568411e-04 -9.68579640e+00] [ 1.19241285e-02 -3.71262927e-04 9.99928836e-01 -5.62906389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.721346184 meters 0.07610088558565814 Centerline is valid? [True, True] Translation: X:148.46, Y:-9.69, Z:-5.63 [[ 9.99920720e-01 -4.83449963e-03 -1.16267234e-02 1.48455590e+02] [ 4.83872240e-03 9.99988237e-01 3.35092314e-04 -9.69099878e+00] [ 1.16249666e-02 -3.91324235e-04 9.99932351e-01 -5.63000546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.751346184 meters 0.07605595584892696 Centerline is valid? [True, True] Translation: X:148.48, Y:-9.69, Z:-5.63 [[ 9.99914625e-01 -6.00211209e-03 -1.16067533e-02 1.48484187e+02] [ 6.00629304e-03 9.99981909e-01 3.25391693e-04 -9.69195029e+00] [ 1.16045903e-02 -3.95077475e-04 9.99932586e-01 -5.62919843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.781346184 meters 0.0763682570049773 Centerline is valid? [True, True] Translation: X:148.51, Y:-9.69, Z:-5.63 [[ 9.99905548e-01 -6.15638192e-03 -1.22879404e-02 1.48511960e+02] [ 6.16114075e-03 9.99980959e-01 3.49458549e-04 -9.69301579e+00] [ 1.22855550e-02 -4.25133272e-04 9.99924439e-01 -5.63078122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.811346184 meters 0.0749186217406524 Centerline is valid? [True, True] Translation: X:148.54, Y:-9.69, Z:-5.63 [[ 9.99904358e-01 -6.20400697e-03 -1.23606019e-02 1.48540400e+02] [ 6.20869140e-03 9.99980668e-01 3.40643645e-04 -9.69040951e+00] [ 1.23582495e-02 -4.17354228e-04 9.99923547e-01 -5.62807490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.841346184 meters 0.07451967863922564 Centerline is valid? [True, True] Translation: X:148.57, Y:-9.69, Z:-5.63 [[ 9.99904540e-01 -6.31436906e-03 -1.22897797e-02 1.48568345e+02] [ 6.31895987e-03 9.99979979e-01 3.34750980e-04 -9.69140738e+00] [ 1.22874199e-02 -4.12377649e-04 9.99924422e-01 -5.62878844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.871346184 meters 0.07536468215905819 Centerline is valid? [True, True] Translation: X:148.60, Y:-9.70, Z:-5.63 [[ 9.99901034e-01 -6.79643190e-03 -1.23178687e-02 1.48595820e+02] [ 6.80115457e-03 9.99976814e-01 3.41550147e-04 -9.69647059e+00] [ 1.23152617e-02 -4.25292074e-04 9.99924074e-01 -5.63260794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.901346184 meters 0.07564005800914134 Centerline is valid? [True, True] Translation: X:148.62, Y:-9.70, Z:-5.63 [[ 9.99894285e-01 -8.57480640e-03 -1.17427315e-02 1.48624502e+02] [ 8.57911711e-03 9.99963149e-01 3.16771452e-04 -9.69925401e+00] [ 1.17395825e-02 -4.17480233e-04 9.99931002e-01 -5.63264032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.931346184 meters 0.07626165725602714 Centerline is valid? [True, True] Translation: X:148.65, Y:-9.70, Z:-5.63 [[ 9.99890137e-01 -9.58356860e-03 -1.13079510e-02 1.48651884e+02] [ 9.58767981e-03 9.99953989e-01 3.09412876e-04 -9.69955611e+00] [ 1.13044655e-02 -4.17795897e-04 9.99936015e-01 -5.63384351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96134618399998 meters 0.07666546565157939 Centerline is valid? [True, True] Translation: X:148.68, Y:-9.70, Z:-5.64 [[ 9.99866344e-01 -1.00880082e-02 -1.28657015e-02 1.48680620e+02] [ 1.00932644e-02 9.99949003e-01 3.43674697e-04 -9.69861832e+00] [ 1.28615784e-02 -4.73485689e-04 9.99917174e-01 -5.63521755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99134618399998 meters 0.0772245478217418 Centerline is valid? [True, True] Translation: X:148.71, Y:-9.70, Z:-5.64 [[ 9.99846484e-01 -1.10576749e-02 -1.35917838e-02 1.48709574e+02] [ 1.10635911e-02 9.99938732e-01 3.60161579e-04 -9.69978804e+00] [ 1.35869685e-02 -5.10480226e-04 9.99907563e-01 -5.63733725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02134618399998 meters 0.07685725683035631 Centerline is valid? [True, True] Translation: X:148.74, Y:-9.70, Z:-5.64 [[ 9.99849813e-01 -1.19624562e-02 -1.25400124e-02 1.48738065e+02] [ 1.19675135e-02 9.99928333e-01 3.28327103e-04 -9.70252978e+00] [ 1.25351861e-02 -4.78350560e-04 9.99921317e-01 -5.63765405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05134618399998 meters 0.07638894153334787 Centerline is valid? [True, True] Translation: X:148.77, Y:-9.70, Z:-5.64 [[ 9.99839322e-01 -1.25316752e-02 -1.28174407e-02 1.48766923e+02] [ 1.25369638e-02 9.99921354e-01 3.32340356e-04 -9.70434148e+00] [ 1.28122679e-02 -4.92978746e-04 9.99917798e-01 -5.63745376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08134618399998 meters 0.07811691938656674 Centerline is valid? [True, True] Translation: X:148.79, Y:-9.71, Z:-5.64 [[ 9.99847928e-01 -1.31904760e-02 -1.14075189e-02 1.48794163e+02] [ 1.31947499e-02 9.99912901e-01 2.99472561e-04 -9.71084542e+00] [ 1.14025752e-02 -4.49946380e-04 9.99934887e-01 -5.64203972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11134618399998 meters 0.07867710250439261 Centerline is valid? [True, True] Translation: X:148.82, Y:-9.71, Z:-5.64 [[ 9.99812155e-01 -1.56294923e-02 -1.14618196e-02 1.48824106e+02] [ 1.56339846e-02 9.99877736e-01 3.02432574e-04 -9.71188946e+00] [ 1.14556914e-02 -4.81569674e-04 9.99934265e-01 -5.64156058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14134618399999 meters 0.07894041726277728 Centerline is valid? [True, True] Translation: X:148.85, Y:-9.71, Z:-5.64 [[ 9.99788265e-01 -1.63481440e-02 -1.24965695e-02 1.48852613e+02] [ 1.63534129e-02 9.99866223e-01 3.19549084e-04 -9.71083176e+00] [ 1.24896737e-02 -5.23842985e-04 9.99921864e-01 -5.64233691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.171346184 meters 0.07776743112778428 Centerline is valid? [True, True] Translation: X:148.88, Y:-9.71, Z:-5.64 [[ 9.99799278e-01 -1.61909423e-02 -1.18006903e-02 1.48881742e+02] [ 1.61955865e-02 9.99868798e-01 2.98086672e-04 -9.70696705e+00] [ 1.17943157e-02 -4.89145940e-04 9.99930325e-01 -5.63998542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.201346184 meters 0.07776743112778428 Centerline is valid? [True, True] Translation: X:148.91, Y:-9.71, Z:-5.64 [[ 9.99794546e-01 -1.64804945e-02 -1.18008100e-02 1.48909177e+02] [ 1.64851036e-02 9.99864068e-01 2.93407901e-04 -9.70746053e+00] [ 1.17943704e-02 -4.87885195e-04 9.99930325e-01 -5.64092683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.231346184 meters 0.07795550321073436 Centerline is valid? [True, True] Translation: X:148.94, Y:-9.71, Z:-5.64 [[ 9.99783670e-01 -1.69408593e-02 -1.20673456e-02 1.48938283e+02] [ 1.69456934e-02 9.99856367e-01 2.98449959e-04 -9.70629930e+00] [ 1.20605564e-02 -5.02874935e-04 9.99927142e-01 -5.64121594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.261346184 meters 0.07754004229311591 Centerline is valid? [True, True] Translation: X:148.97, Y:-9.71, Z:-5.64 [[ 9.99838640e-01 -1.58501744e-02 -8.45375842e-03 1.48967567e+02] [ 1.58525461e-02 9.99874318e-01 2.13611505e-04 -9.70595511e+00] [ 8.44931016e-03 -3.47590632e-04 9.99964244e-01 -5.63945524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.291346184 meters 0.07581935084177144 Centerline is valid? [True, True] Translation: X:149.00, Y:-9.70, Z:-5.64 [[ 9.99844642e-01 -1.58180203e-02 -7.77697611e-03 1.48997856e+02] [ 1.58200092e-02 9.99874837e-01 1.94297228e-04 -9.70276262e+00] [ 7.77292932e-03 -3.17298876e-04 9.99969740e-01 -5.63699452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321346184 meters 0.07703171618689476 Centerline is valid? [True, True] Translation: X:149.03, Y:-9.71, Z:-5.64 [[ 9.99860084e-01 -1.52857061e-02 -6.79415050e-03 1.49027384e+02] [ 1.52872229e-02 9.99883129e-01 1.71367325e-04 -9.70516609e+00] [ 6.79073699e-03 -2.75207041e-04 9.99976905e-01 -5.64055040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.351346184 meters 0.07676668737456491 Centerline is valid? [True, True] Translation: X:149.06, Y:-9.70, Z:-5.64 [[ 9.99875975e-01 -1.42733918e-02 -6.65614681e-03 1.49058030e+02] [ 1.42748293e-02 9.99898095e-01 1.68500667e-04 -9.70042643e+00] [ 6.65306344e-03 -2.63495128e-04 9.99977833e-01 -5.64218346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381346184 meters 0.07760410655932137 Centerline is valid? [True, True] Translation: X:149.09, Y:-9.70, Z:-5.65 [[ 9.99883151e-01 -1.30653670e-02 -7.93599524e-03 1.49088504e+02] [ 1.30673782e-02 9.99914598e-01 2.01633154e-04 -9.70011310e+00] [ 7.93268308e-03 -3.05312244e-04 9.99968489e-01 -5.64644074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.411346184 meters 0.07480630302624344 Centerline is valid? [True, True] Translation: X:149.12, Y:-9.69, Z:-5.64 [[ 9.99887904e-01 -1.24033681e-02 -8.38661427e-03 1.49118165e+02] [ 1.24055727e-02 9.99923026e-01 2.10894856e-04 -9.69130394e+00] [ 8.38335290e-03 -3.14911968e-04 9.99964809e-01 -5.64111346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441346184 meters 0.07505150145306912 Centerline is valid? [True, True] Translation: X:149.15, Y:-9.69, Z:-5.64 [[ 9.99905706e-01 -1.09633073e-02 -8.26956503e-03 1.49146761e+02] [ 1.09653927e-02 9.99939857e-01 2.06871010e-04 -9.68784637e+00] [ 8.26679968e-03 -2.97530530e-04 9.99965785e-01 -5.64279521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.471346184 meters 0.0727114751949843 Centerline is valid? [True, True] Translation: X:149.18, Y:-9.67, Z:-5.64 [[ 9.99922185e-01 -8.42796665e-03 -9.19742152e-03 1.49176552e+02] [ 8.43036002e-03 9.99964439e-01 2.21482774e-04 -9.67160887e+00] [ 9.19522781e-03 -2.99003114e-04 9.99957678e-01 -5.63867096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501346184 meters 0.07445160636471093 Centerline is valid? [True, True] Translation: X:149.20, Y:-9.67, Z:-5.65 [[ 9.99932333e-01 -7.26547181e-03 -9.08528705e-03 1.49204290e+02] [ 7.26779787e-03 9.99973564e-01 2.23034693e-04 -9.67241538e+00] [ 9.08342642e-03 -2.89049631e-04 9.99958703e-01 -5.64656223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.531346184 meters 0.07237918683105826 Centerline is valid? [True, True] Translation: X:149.23, Y:-9.67, Z:-5.64 [[ 9.99935447e-01 -7.08323478e-03 -8.88422344e-03 1.49233146e+02] [ 7.08537858e-03 9.99974876e-01 2.09851502e-04 -9.66517206e+00] [ 8.88251381e-03 -2.72786042e-04 9.99960512e-01 -5.64176205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561346184 meters 0.07269284973336936 Centerline is valid? [True, True] Translation: X:149.26, Y:-9.66, Z:-5.64 [[ 9.99931181e-01 -7.84660414e-03 -8.72150846e-03 1.49261316e+02] [ 7.84874153e-03 9.99969176e-01 2.10870292e-04 -9.65692314e+00] [ 8.71958501e-03 -2.79308646e-04 9.99961945e-01 -5.64309351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.591346184 meters 0.07295567620203819 Centerline is valid? [True, True] Translation: X:149.29, Y:-9.65, Z:-5.64 [[ 9.99932449e-01 -8.39573438e-03 -8.03800703e-03 1.49289208e+02] [ 8.39756013e-03 9.99964721e-01 1.93415570e-04 -9.65321469e+00] [ 8.03609959e-03 -2.60902152e-04 9.99967676e-01 -5.64494648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621346184 meters 0.07332856849299352 Centerline is valid? [True, True] Translation: X:149.32, Y:-9.65, Z:-5.65 [[ 9.99913532e-01 -8.94158065e-03 -9.64239342e-03 1.49318306e+02] [ 8.94416219e-03 9.99959975e-01 2.24637303e-04 -9.64969643e+00] [ 9.63999887e-03 -3.10861010e-04 9.99953486e-01 -5.64712003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.651346184 meters 0.07264055398278667 Centerline is valid? [True, True] Translation: X:149.35, Y:-9.64, Z:-5.65 [[ 9.99914637e-01 -7.93748569e-03 -1.03785377e-02 1.49346051e+02] [ 7.94038583e-03 9.99968446e-01 2.38260140e-04 -9.64193299e+00] [ 1.03763191e-02 -3.20649395e-04 9.99946113e-01 -5.64896896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681346184 meters 0.07260005919132163 Centerline is valid? [True, True] Translation: X:149.37, Y:-9.64, Z:-5.65 [[ 9.99912217e-01 -7.01353886e-03 -1.12413816e-02 1.49374276e+02] [ 7.01695846e-03 9.99975346e-01 2.64784295e-04 -9.63804825e+00] [ 1.12392474e-02 -3.43641359e-04 9.99936779e-01 -5.65144282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71134618399998 meters 0.07261040713136305 Centerline is valid? [True, True] Translation: X:149.40, Y:-9.63, Z:-5.65 [[ 9.99905507e-01 -5.92475459e-03 -1.24046361e-02 1.49403047e+02] [ 5.92873441e-03 9.99982385e-01 2.84083917e-04 -9.63235524e+00] [ 1.24027344e-02 -3.57600866e-04 9.99923019e-01 -5.65348462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74134618399998 meters 0.07260814221463037 Centerline is valid? [True, True] Translation: X:149.43, Y:-9.63, Z:-5.66 [[ 9.99904342e-01 -4.28579457e-03 -1.31506459e-02 1.49430577e+02] [ 4.29018857e-03 9.99990750e-01 3.05935646e-04 -9.62650745e+00] [ 1.31492131e-02 -3.62325132e-04 9.99913480e-01 -5.65531180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77134618399998 meters 0.07227822007102194 Centerline is valid? [True, True] Translation: X:149.46, Y:-9.62, Z:-5.66 [[ 9.99914997e-01 -3.06223740e-03 -1.26736526e-02 1.49459419e+02] [ 3.06611287e-03 9.99995258e-01 2.86371092e-04 -9.62098345e+00] [ 1.26727156e-02 -3.25205599e-04 9.99919645e-01 -5.65612228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80134618399998 meters 0.07197388413857078 Centerline is valid? [True, True] Translation: X:149.49, Y:-9.61, Z:-5.66 [[ 9.99911507e-01 -6.14796970e-04 -1.32890847e-02 1.49488000e+02] [ 6.18805393e-04 9.99999764e-01 2.97522994e-04 -9.61091504e+00] [ 1.32888987e-02 -3.05720023e-04 9.99911652e-01 -5.65758801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83134618399998 meters 0.07171288914831184 Centerline is valid? [True, True] Translation: X:149.52, Y:-9.61, Z:-5.66 [[ 9.99917979e-01 2.04978865e-04 -1.28059517e-02 1.49516531e+02] [-2.01366691e-04 9.99999940e-01 2.83358672e-04 -9.60706469e+00] [ 1.28060090e-02 -2.80756739e-04 9.99917960e-01 -5.65902280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86134618399998 meters 0.07201244880090953 Centerline is valid? [True, True] Translation: X:149.55, Y:-9.60, Z:-5.66 [[ 9.99916141e-01 2.67071885e-04 -1.29475923e-02 1.49545060e+02] [-2.63318858e-04 9.99999923e-01 2.91566843e-04 -9.60443976e+00] [ 1.29476692e-02 -2.88133047e-04 9.99916134e-01 -5.66147914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89134618399999 meters 0.07200527046977896 Centerline is valid? [True, True] Translation: X:149.57, Y:-9.60, Z:-5.67 [[ 9.99935364e-01 1.08445532e-03 -1.13177509e-02 1.49572527e+02] [-1.08166065e-03 9.99999383e-01 2.53046605e-04 -9.60075515e+00] [ 1.13180184e-02 -2.40788283e-04 9.99935920e-01 -5.66600021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.921346184 meters 0.07209958735534266 Centerline is valid? [True, True] Translation: X:149.60, Y:-9.60, Z:-5.67 [[ 9.99932496e-01 8.70156765e-04 -1.15864772e-02 1.49601159e+02] [-8.67214447e-04 9.99999590e-01 2.58965872e-04 -9.60002362e+00] [ 1.15866978e-02 -2.48900431e-04 9.99932841e-01 -5.66920628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.951346184 meters 0.07205611949006431 Centerline is valid? [True, True] Translation: X:149.63, Y:-9.60, Z:-5.67 [[ 9.99941656e-01 1.26188312e-03 -1.07280824e-02 1.49630045e+02] [-1.25939251e-03 9.99999178e-01 2.38909650e-04 -9.59824966e+00] [ 1.07283750e-02 -2.25384844e-04 9.99942424e-01 -5.67052847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.981346184 meters 0.07153317656325664 Centerline is valid? [True, True] Translation: X:149.66, Y:-9.59, Z:-5.67 [[ 9.99964105e-01 2.05197743e-03 -8.22060229e-03 1.49660220e+02] [-2.05053319e-03 9.99997881e-01 1.84109231e-04 -9.59166438e+00] [ 8.22096266e-03 -1.67246005e-04 9.99966193e-01 -5.66870549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.011346184 meters 0.07090146725791824 Centerline is valid? [True, True] Translation: X:149.69, Y:-9.59, Z:-5.67 [[ 9.99965600e-01 2.07455202e-03 -8.03088203e-03 1.49688876e+02] [-2.07319308e-03 9.99997835e-01 1.77535562e-04 -9.58765577e+00] [ 8.03123295e-03 -1.60879886e-04 9.99967736e-01 -5.66604295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.041346184 meters 0.06995553091233302 Centerline is valid? [True, True] Translation: X:149.72, Y:-9.58, Z:-5.66 [[ 9.99970688e-01 2.56437029e-03 -7.21432330e-03 1.49717584e+02] [-2.56329257e-03 9.99996702e-01 1.58629516e-04 -9.58390667e+00] [ 7.21470629e-03 -1.40132445e-04 9.99973964e-01 -5.66343819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.071346184 meters 0.06994488971294231 Centerline is valid? [True, True] Translation: X:149.75, Y:-9.58, Z:-5.66 [[ 9.99970176e-01 2.31975065e-03 -7.36657862e-03 1.49745929e+02] [-2.31862387e-03 9.99997299e-01 1.61495029e-04 -9.58374443e+00] [ 7.36693336e-03 -1.44409887e-04 9.99972853e-01 -5.66485725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101346184 meters 0.0701675796605446 Centerline is valid? [True, True] Translation: X:149.77, Y:-9.59, Z:-5.67 [[ 9.99971451e-01 1.61713504e-03 -7.38120071e-03 1.49774685e+02] [-1.61598843e-03 9.99998681e-01 1.61302998e-04 -9.58527391e+00] [ 7.38145182e-03 -1.49370458e-04 9.99972746e-01 -5.66793170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.131346184 meters 0.07056462073908579 Centerline is valid? [True, True] Translation: X:149.80, Y:-9.59, Z:-5.67 [[ 9.99968515e-01 -6.59329713e-04 -7.90785616e-03 1.49803508e+02] [ 6.60713758e-04 9.99999767e-01 1.72410296e-04 -9.58786783e+00] [ 7.90774064e-03 -1.77629697e-04 9.99968718e-01 -5.67113707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161346184 meters 0.07051892040572891 Centerline is valid? [True, True] Translation: X:149.83, Y:-9.59, Z:-5.67 [[ 9.99969009e-01 -1.67813496e-03 -7.69187516e-03 1.49831920e+02] [ 1.67946966e-03 9.99998576e-01 1.67064430e-04 -9.58727541e+00] [ 7.69158385e-03 -1.79977524e-04 9.99970403e-01 -5.67149443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.191346184 meters 0.07025027082042574 Centerline is valid? [True, True] Translation: X:149.86, Y:-9.59, Z:-5.67 [[ 9.99991560e-01 -2.58489309e-03 -3.19359279e-03 1.49861467e+02] [ 2.58512676e-03 9.99996656e-01 6.90425487e-05 -9.58531068e+00] [ 3.19340364e-03 -7.72978081e-05 9.99994898e-01 -5.66959142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.221346184 meters 0.07078037831278564 Centerline is valid? [True, True] Translation: X:149.89, Y:-9.59, Z:-5.67 [[ 9.99991230e-01 -2.85765872e-03 -3.06168590e-03 1.49890658e+02] [ 2.85787633e-03 9.99995914e-01 6.67037825e-05 -9.58602145e+00] [ 3.06148277e-03 -7.54531171e-05 9.99995311e-01 -5.67214862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.251346184 meters 0.07040364657521898 Centerline is valid? [True, True] Translation: X:149.92, Y:-9.58, Z:-5.67 [[ 9.99993952e-01 -2.60246887e-03 -2.30731919e-03 1.49920301e+02] [ 2.60258986e-03 9.99996612e-01 4.94382747e-05 -9.58478267e+00] [ 2.30718271e-03 -5.54429812e-05 9.99997337e-01 -5.67163090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.281346184 meters 0.07054534166087022 Centerline is valid? [True, True] Translation: X:149.95, Y:-9.58, Z:-5.67 [[ 9.99991962e-01 -2.13589135e-03 -3.39329944e-03 1.49950257e+02] [ 2.13615413e-03 9.99997716e-01 7.38192154e-05 -9.58436750e+00] [ 3.39313401e-03 -8.10672326e-05 9.99994240e-01 -5.67403598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.311346184 meters 0.07075119250963587 Centerline is valid? [True, True] Translation: X:149.98, Y:-9.58, Z:-5.68 [[ 9.99991115e-01 -2.07498658e-04 -4.21044311e-03 1.49979055e+02] [ 2.07878770e-04 9.99999974e-01 8.98409752e-05 -9.58213048e+00] [ 4.21042436e-03 -9.07154387e-05 9.99991132e-01 -5.67856645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.341346184 meters 0.0707398384008984 Centerline is valid? [True, True] Translation: X:150.01, Y:-9.58, Z:-5.68 [[ 9.99987716e-01 9.61474659e-04 -4.86239838e-03 1.50007270e+02] [-9.61014874e-04 9.99999534e-01 9.68947829e-05 -9.58097323e+00] [ 4.86248928e-03 -9.22207555e-05 9.99988174e-01 -5.68084507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.371346184 meters 0.07050821962794361 Centerline is valid? [True, True] Translation: X:150.04, Y:-9.58, Z:-5.68 [[ 9.99990982e-01 1.89827759e-03 -3.79912495e-03 1.50035957e+02] [-1.89801392e-03 9.99998196e-01 7.30066295e-05 -9.57956781e+00] [ 3.79925669e-03 -6.57951790e-05 9.99992781e-01 -5.68142179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401346184 meters 0.07052575559033576 Centerline is valid? [True, True] Translation: X:150.07, Y:-9.58, Z:-5.68 [[ 9.99987070e-01 2.43898323e-03 -4.46222317e-03 1.50065161e+02] [-2.43859350e-03 9.99997022e-01 9.27804789e-05 -9.57850829e+00] [ 4.46243617e-03 -8.18977308e-05 9.99990040e-01 -5.68254216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.431346184 meters 0.07066735560239669 Centerline is valid? [True, True] Translation: X:150.09, Y:-9.58, Z:-5.68 [[ 9.99994820e-01 1.49681951e-03 -2.84964761e-03 1.50092809e+02] [-1.49666096e-03 9.99998878e-01 5.77696885e-05 -9.57844121e+00] [ 2.84973088e-03 -5.35044329e-05 9.99995938e-01 -5.68367011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46134618399998 meters 0.07077297678452354 Centerline is valid? [True, True] Translation: X:150.12, Y:-9.58, Z:-5.68 [[ 9.99996697e-01 4.97298390e-04 -2.52174277e-03 1.50121454e+02] [-4.97171167e-04 9.99999875e-01 5.10773670e-05 -9.57878560e+00] [ 2.52176786e-03 -4.98234605e-05 9.99996819e-01 -5.68403090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49134618399998 meters 0.07091980551710811 Centerline is valid? [True, True] Translation: X:150.15, Y:-9.58, Z:-5.69 [[ 9.99998018e-01 -1.92553182e-04 -1.98155261e-03 1.50149973e+02] [ 1.92631878e-04 9.99999981e-01 3.95236548e-05 -9.57977802e+00] [ 1.98154496e-03 -3.99052866e-05 9.99998036e-01 -5.68510851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52134618399998 meters 0.07114832027334551 Centerline is valid? [True, True] Translation: X:150.18, Y:-9.58, Z:-5.69 [[ 9.99999607e-01 -8.43747217e-04 -2.71436277e-04 1.50178941e+02] [ 8.43748336e-04 9.99999644e-01 4.00973982e-06 -9.58074659e+00] [ 2.71432797e-04 -4.23876215e-06 9.99999963e-01 -5.68678660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55134618399998 meters 0.06955413845855807 Centerline is valid? [True, True] Translation: X:150.21, Y:-9.58, Z:-5.68 [[ 9.99997862e-01 -1.50315537e-03 1.42016806e-03 1.50210008e+02] [ 1.50319934e-03 9.99998870e-01 -2.98965860e-05 -9.57664823e+00] [-1.42012151e-03 3.20313178e-05 9.99998991e-01 -5.68057509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58134618399998 meters 0.06949060838822406 Centerline is valid? [True, True] Translation: X:150.24, Y:-9.58, Z:-5.68 [[ 9.99995323e-01 -1.75590481e-03 2.50398796e-03 1.50241908e+02] [ 1.75603799e-03 9.99998457e-01 -5.09888514e-05 -9.57614579e+00] [-2.50389457e-03 5.53857110e-05 9.99996864e-01 -5.68065510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61134618399998 meters 0.0698472085152596 Centerline is valid? [True, True] Translation: X:150.27, Y:-9.58, Z:-5.68 [[ 9.99992928e-01 -2.53775847e-03 2.77564178e-03 1.50272581e+02] [ 2.53792612e-03 9.99996778e-01 -5.68780808e-05 -9.57689779e+00] [-2.77548849e-03 6.39220523e-05 9.99996146e-01 -5.68321222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64134618399999 meters 0.0704719538414585 Centerline is valid? [True, True] Translation: X:150.30, Y:-9.58, Z:-5.69 [[ 9.99992862e-01 -3.47031722e-03 1.49413280e-03 1.50303300e+02] [ 3.47036571e-03 9.99993978e-01 -2.98631820e-05 -9.57846460e+00] [-1.49402017e-03 3.50481561e-05 9.99998883e-01 -5.68738687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.671346184 meters 0.0707782384475529 Centerline is valid? [True, True] Translation: X:150.34, Y:-9.58, Z:-5.69 [[ 9.99989829e-01 -4.08092748e-03 1.92060511e-03 1.50335594e+02] [ 4.08100888e-03 9.99991672e-01 -3.84649754e-05 -9.57984635e+00] [-1.92043214e-03 4.63025906e-05 9.99998155e-01 -5.68987410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.701346184 meters 0.07014298810770653 Centerline is valid? [True, True] Translation: X:150.37, Y:-9.58, Z:-5.69 [[ 9.99991284e-01 -4.11693603e-03 6.94404475e-04 1.50368160e+02] [ 4.11694555e-03 9.99991525e-01 -1.22861338e-05 -9.57788992e+00] [-6.94348008e-04 1.51448521e-05 9.99999759e-01 -5.68857292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.731346184 meters 0.07140740143845978 Centerline is valid? [True, True] Translation: X:150.40, Y:-9.58, Z:-5.69 [[ 9.99987074e-01 -4.72147263e-03 1.88665673e-03 1.50399157e+02] [ 4.72154951e-03 9.99988853e-01 -3.62970541e-05 -9.58236085e+00] [-1.88646433e-03 4.52045281e-05 9.99998220e-01 -5.69314107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.761346184 meters 0.07086549682214126 Centerline is valid? [True, True] Translation: X:150.43, Y:-9.58, Z:-5.69 [[ 9.99986951e-01 -4.82248833e-03 1.68539001e-03 1.50431290e+02] [ 4.82255227e-03 9.99988371e-01 -3.38739731e-05 -9.58076079e+00] [-1.68520706e-03 4.20014125e-05 9.99998579e-01 -5.69186996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.791346184 meters 0.07042051719618615 Centerline is valid? [True, True] Translation: X:150.46, Y:-9.58, Z:-5.69 [[ 9.99983306e-01 -4.87111687e-03 3.10813664e-03 1.50463866e+02] [ 4.87134155e-03 9.99988133e-01 -6.47213760e-05 -9.57944105e+00] [-3.10778449e-03 7.98610907e-05 9.99995168e-01 -5.68976033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821346184 meters 0.07009614650801993 Centerline is valid? [True, True] Translation: X:150.50, Y:-9.58, Z:-5.69 [[ 9.99988043e-01 -3.90839647e-03 2.93904500e-03 1.50496343e+02] [ 3.90859341e-03 9.99992360e-01 -6.12655403e-05 -9.57808247e+00] [-2.93878309e-03 7.27523397e-05 9.99995679e-01 -5.68951592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.851346184 meters 0.0707303944378981 Centerline is valid? [True, True] Translation: X:150.53, Y:-9.58, Z:-5.69 [[ 9.99985568e-01 -3.84239912e-03 3.75505179e-03 1.50527073e+02] [ 3.84272593e-03 9.99992614e-01 -7.98232568e-05 -9.58242664e+00] [-3.75471734e-03 9.42517397e-05 9.99992947e-01 -5.69356571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881346184 meters 0.07033757255422488 Centerline is valid? [True, True] Translation: X:150.56, Y:-9.58, Z:-5.69 [[ 9.99986651e-01 -3.89674602e-03 3.39306651e-03 1.50559272e+02] [ 3.89701125e-03 9.99992404e-01 -7.15591818e-05 -9.58425793e+00] [-3.39276189e-03 8.47810449e-05 9.99994241e-01 -5.69380845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.911346184 meters 0.07101839576681397 Centerline is valid? [True, True] Translation: X:150.59, Y:-9.59, Z:-5.70 [[ 9.99985000e-01 -4.27112596e-03 3.42880290e-03 1.50590700e+02] [ 4.27140192e-03 9.99990875e-01 -7.31657466e-05 -9.58901658e+00] [-3.42845911e-03 8.78104444e-05 9.99994119e-01 -5.69821497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941346184 meters 0.07033758173404249 Centerline is valid? [True, True] Translation: X:150.62, Y:-9.59, Z:-5.70 [[ 9.99985985e-01 -3.91192172e-03 3.56739687e-03 1.50623476e+02] [ 3.91221709e-03 9.99992344e-01 -7.58220996e-05 -9.58670973e+00] [-3.56707295e-03 8.97774679e-05 9.99993634e-01 -5.69712345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.971346184 meters 0.07073850103769223 Centerline is valid? [True, True] Translation: X:150.65, Y:-9.59, Z:-5.70 [[ 9.99985216e-01 -3.36947160e-03 4.26785990e-03 1.50654962e+02] [ 3.36988557e-03 9.99994318e-01 -8.98094974e-05 -9.58778612e+00] [-4.26753304e-03 1.04190369e-04 9.99990889e-01 -5.69925815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001346184 meters 0.07125006793096714 Centerline is valid? [True, True] Translation: X:150.69, Y:-9.59, Z:-5.70 [[ 9.99991766e-01 -2.14214634e-03 3.44660489e-03 1.50685976e+02] [ 2.14241586e-03 9.99997702e-01 -7.45082055e-05 -9.58887470e+00] [-3.44643737e-03 8.18916530e-05 9.99994058e-01 -5.70315565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.031346184 meters 0.07008837704966175 Centerline is valid? [True, True] Translation: X:150.72, Y:-9.58, Z:-5.70 [[ 9.99992110e-01 -3.27235988e-04 3.95900364e-03 1.50718461e+02] [ 3.27576945e-04 9.99999943e-01 -8.54739966e-05 -9.58424193e+00] [-3.95897545e-03 8.67702005e-05 9.99992159e-01 -5.70125237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061346184 meters 0.0700623337451763 Centerline is valid? [True, True] Translation: X:150.75, Y:-9.58, Z:-5.70 [[ 9.99990974e-01 3.70152589e-04 4.23258601e-03 1.50750174e+02] [-3.69767029e-04 9.99999927e-01 -9.18755327e-05 -9.58442274e+00] [-4.23261971e-03 9.03096327e-05 9.99991038e-01 -5.70281492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.091346184 meters 0.06996702167403325 Centerline is valid? [True, True] Translation: X:150.78, Y:-9.59, Z:-5.70 [[ 9.99981348e-01 1.02067866e-03 6.02183522e-03 1.50781345e+02] [-1.01989809e-03 9.99999471e-01 -1.32692973e-04 -9.58572185e+00] [-6.02196747e-03 1.26548840e-04 9.99981860e-01 -5.70408994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121346184 meters 0.06996702167403325 Centerline is valid? [True, True] Translation: X:150.81, Y:-9.59, Z:-5.71 [[ 9.99981018e-01 1.30347992e-03 6.02197364e-03 1.50813978e+02] [-1.30274147e-03 9.99999143e-01 -1.26546820e-04 -9.58665061e+00] [-6.02213343e-03 1.18699343e-04 9.99981860e-01 -5.70520627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.151346184 meters 0.07019005995456246 Centerline is valid? [True, True] Translation: X:150.85, Y:-9.59, Z:-5.71 [[ 9.99981441e-01 1.02845279e-03 6.00502960e-03 1.50845434e+02] [-1.02767858e-03 9.99999463e-01 -1.32011883e-04 -9.59038471e+00] [-6.00516214e-03 1.25838192e-04 9.99981961e-01 -5.70776851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181346184 meters 0.06998800415728415 Centerline is valid? [True, True] Translation: X:150.88, Y:-9.59, Z:-5.71 [[ 9.99977740e-01 1.17460469e-03 6.56816115e-03 1.50877849e+02] [-1.17369284e-03 9.99999301e-01 -1.42682121e-04 -9.59117276e+00] [-6.56832415e-03 1.34969941e-04 9.99978419e-01 -5.70820741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21134618399998 meters 0.07019328291629384 Centerline is valid? [True, True] Translation: X:150.91, Y:-9.59, Z:-5.71 [[ 9.99971357e-01 1.56410969e-03 7.40529450e-03 1.50908769e+02] [-1.56293599e-03 9.99998765e-01 -1.64279876e-04 -9.59209281e+00] [-7.40554231e-03 1.52701170e-04 9.99972567e-01 -5.71001222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24134618399998 meters 0.07050396555664214 Centerline is valid? [True, True] Translation: X:150.94, Y:-9.59, Z:-5.71 [[ 9.99983237e-01 1.47597691e-03 5.59893567e-03 1.50940108e+02] [-1.47530742e-03 9.99998904e-01 -1.23703010e-04 -9.59277906e+00] [-5.59911211e-03 1.15440785e-04 9.99984318e-01 -5.71167883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27134618399998 meters 0.07049820170604681 Centerline is valid? [True, True] Translation: X:150.97, Y:-9.59, Z:-5.71 [[ 9.99981756e-01 2.39128179e-03 5.54708591e-03 1.50971887e+02] [-2.39060773e-03 9.99997134e-01 -1.28142602e-04 -9.59258048e+00] [-5.54737644e-03 1.14879358e-04 9.99984607e-01 -5.71254134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30134618399998 meters 0.06947186740768102 Centerline is valid? [True, True] Translation: X:151.00, Y:-9.59, Z:-5.71 [[ 9.99977939e-01 3.36115611e-03 5.72922625e-03 1.51004474e+02] [-3.36048103e-03 9.99994345e-01 -1.27452690e-04 -9.58898026e+00] [-5.72962224e-03 1.08196922e-04 9.99983580e-01 -5.70870233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33134618399998 meters 0.07044753333078997 Centerline is valid? [True, True] Translation: X:151.04, Y:-9.59, Z:-5.71 [[ 9.99971626e-01 5.07219459e-03 5.56962927e-03 1.51035983e+02] [-5.07154724e-03 9.99987131e-01 -1.30346215e-04 -9.59106123e+00] [-5.57021873e-03 1.02095879e-04 9.99984481e-01 -5.71327417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36134618399998 meters 0.06922988575343764 Centerline is valid? [True, True] Translation: X:151.07, Y:-9.59, Z:-5.71 [[ 9.99973334e-01 5.70862362e-03 4.55437809e-03 1.51068023e+02] [-5.70819311e-03 9.99983702e-01 -1.07519872e-04 -9.58765219e+00] [-4.55491766e-03 8.15197356e-05 9.99989623e-01 -5.70866543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39134618399999 meters 0.06943442657922355 Centerline is valid? [True, True] Translation: X:151.10, Y:-9.59, Z:-5.71 [[ 9.99971316e-01 6.38204649e-03 4.07878362e-03 1.51098179e+02] [-6.38170214e-03 9.99979632e-01 -9.74346195e-05 -9.58851006e+00] [-4.07932237e-03 7.14022426e-05 9.99991677e-01 -5.71135894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.421346184 meters 0.06970511163585948 Centerline is valid? [True, True] Translation: X:151.13, Y:-9.59, Z:-5.71 [[ 9.99965409e-01 7.15809591e-03 4.23579270e-03 1.51128068e+02] [-7.15773150e-03 9.99974378e-01 -1.01185277e-04 -9.59028595e+00] [-4.23640847e-03 7.08631102e-05 9.99991024e-01 -5.71485810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.451346184 meters 0.06956944532642949 Centerline is valid? [True, True] Translation: X:151.16, Y:-9.59, Z:-5.72 [[ 9.99965786e-01 7.36486722e-03 3.76640267e-03 1.51157646e+02] [-7.36457639e-03 9.99972877e-01 -9.10785604e-05 -9.59017237e+00] [-3.76697129e-03 6.33374841e-05 9.99992903e-01 -5.71536085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.481346184 meters 0.06946822319973867 Centerline is valid? [True, True] Translation: X:151.19, Y:-9.59, Z:-5.72 [[ 9.99961757e-01 7.48905371e-03 4.51658414e-03 1.51187300e+02] [-7.48863863e-03 9.99971954e-01 -1.08805956e-04 -9.58964221e+00] [-4.51727232e-03 7.49787287e-05 9.99989794e-01 -5.71595509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.511346184 meters 0.06963874940429164 Centerline is valid? [True, True] Translation: X:151.22, Y:-9.59, Z:-5.72 [[ 9.99959602e-01 7.66410473e-03 4.69637343e-03 1.51216534e+02] [-7.66366665e-03 9.99970627e-01 -1.11268752e-04 -9.58882613e+00] [-4.69708826e-03 7.52728169e-05 9.99988966e-01 -5.71742647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.541346184 meters 0.06932210114893352 Centerline is valid? [True, True] Translation: X:151.25, Y:-9.58, Z:-5.72 [[ 9.99953804e-01 7.61943373e-03 5.85952785e-03 1.51246311e+02] [-7.61874024e-03 9.99970967e-01 -1.40666233e-04 -9.58411891e+00] [-5.86042953e-03 9.60175146e-05 9.99982823e-01 -5.71559950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.571346184 meters 0.06951778968459321 Centerline is valid? [True, True] Translation: X:151.28, Y:-9.59, Z:-5.72 [[ 9.99958516e-01 6.93830791e-03 5.90139591e-03 1.51276217e+02] [-6.93759686e-03 9.99975925e-01 -1.40950312e-04 -9.58577775e+00] [-5.90223179e-03 1.00002959e-04 9.99982577e-01 -5.71733506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601346184 meters 0.06969537097438777 Centerline is valid? [True, True] Translation: X:151.31, Y:-9.59, Z:-5.72 [[ 9.99964835e-01 5.99114777e-03 5.86820004e-03 1.51306800e+02] [-5.99043192e-03 9.99982047e-01 -1.39557038e-04 -9.58891024e+00] [-5.86893079e-03 1.04399078e-04 9.99982772e-01 -5.72013580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.631346184 meters 0.07007303656678392 Centerline is valid? [True, True] Translation: X:151.34, Y:-9.59, Z:-5.72 [[ 9.99977982e-01 4.79149460e-03 4.59105224e-03 1.51338321e+02] [-4.79104857e-03 9.99988517e-01 -1.08144725e-04 -9.59191034e+00] [-4.59151769e-03 8.61463891e-05 9.99989455e-01 -5.72345160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661346184 meters 0.07064118526752089 Centerline is valid? [True, True] Translation: X:151.37, Y:-9.60, Z:-5.73 [[ 9.99995943e-01 1.75546014e-03 2.24333857e-03 1.51369766e+02] [-1.75534720e-03 9.99998458e-01 -5.23125078e-05 -9.59535341e+00] [-2.24342694e-03 4.83744575e-05 9.99997482e-01 -5.72600643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.691346184 meters 0.07103421491474643 Centerline is valid? [True, True] Translation: X:151.40, Y:-9.60, Z:-5.73 [[ 9.99997098e-01 9.64805176e-04 2.20744316e-03 1.51400159e+02] [-9.64696699e-04 9.99999533e-01 -5.02057734e-05 -9.59677205e+00] [-2.20749057e-03 4.80761146e-05 9.99997562e-01 -5.72763289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721346184 meters 0.07091368888746885 Centerline is valid? [True, True] Translation: X:151.43, Y:-9.60, Z:-5.73 [[ 9.99998581e-01 1.29531635e-03 1.07737154e-03 1.51431935e+02] [-1.29529057e-03 9.99999161e-01 -2.46209398e-05 -9.59617638e+00] [-1.07740252e-03 2.32253956e-05 9.99999419e-01 -5.72850354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.751346184 meters 0.07143502832378935 Centerline is valid? [True, True] Translation: X:151.46, Y:-9.60, Z:-5.73 [[ 9.99996633e-01 2.28801307e-03 1.22462216e-03 1.51461826e+02] [-2.28797955e-03 9.99997382e-01 -2.87738457e-05 -9.59721702e+00] [-1.22468479e-03 2.59718383e-05 9.99999250e-01 -5.73265078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781346184 meters 0.07143753245161666 Centerline is valid? [True, True] Translation: X:151.49, Y:-9.59, Z:-5.74 [[ 9.99987952e-01 4.86161573e-03 -6.77925789e-04 1.51491305e+02] [-4.86160622e-03 9.99988182e-01 1.56741251e-05 -9.59398481e+00] [ 6.77993979e-04 -1.23781281e-05 9.99999770e-01 -5.73639298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.811346184 meters 0.07052571285684928 Centerline is valid? [True, True] Translation: X:151.52, Y:-9.59, Z:-5.73 [[ 9.99986078e-01 5.16097680e-03 -1.09952386e-03 1.51520028e+02] [-5.16095372e-03 9.99986682e-01 2.38228726e-05 -9.59157799e+00] [ 1.09963217e-03 -1.81479492e-05 9.99999395e-01 -5.73328660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841346184 meters 0.07041481190379666 Centerline is valid? [True, True] Translation: X:151.55, Y:-9.59, Z:-5.73 [[ 9.99986152e-01 5.19118047e-03 -8.64500781e-04 1.51548978e+02] [-5.19116673e-03 9.99986526e-01 1.81456197e-05 -9.59195377e+00] [ 8.64583330e-04 -1.36576008e-05 9.99999626e-01 -5.73397566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.871346184 meters 0.07159965262534272 Centerline is valid? [True, True] Translation: X:151.58, Y:-9.60, Z:-5.74 [[ 9.99991414e-01 4.06926629e-03 7.83525277e-04 1.51576423e+02] [-4.06925059e-03 9.99991720e-01 -2.16285299e-05 -9.59670719e+00] [-7.83606802e-04 1.84399835e-05 9.99999693e-01 -5.73917764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901346184 meters 0.0703705507050523 Centerline is valid? [True, True] Translation: X:151.61, Y:-9.59, Z:-5.73 [[ 9.99994324e-01 3.16045078e-03 1.16804823e-03 1.51606147e+02] [-3.16041918e-03 9.99995005e-01 -2.88933304e-05 -9.59460564e+00] [-1.16813371e-03 2.52016444e-05 9.99999317e-01 -5.73339103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.931346184 meters 0.07077036936994222 Centerline is valid? [True, True] Translation: X:151.64, Y:-9.60, Z:-5.73 [[ 9.99998826e-01 1.47780431e-03 4.05947477e-04 1.51635750e+02] [-1.47780058e-03 9.99998908e-01 -9.47897883e-06 -9.59766282e+00] [-4.05961041e-04 8.87905829e-06 9.99999918e-01 -5.73438398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96134618399998 meters 0.0715709264642323 Centerline is valid? [True, True] Translation: X:151.67, Y:-9.60, Z:-5.74 [[ 9.99998508e-01 -1.69230179e-03 3.45301872e-04 1.51665278e+02] [ 1.69230492e-03 9.99998568e-01 -8.77570558e-06 -9.60330115e+00] [-3.45286526e-04 9.36004855e-06 9.99999940e-01 -5.73599075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99134618399998 meters 0.07177139593733801 Centerline is valid? [True, True] Translation: X:151.70, Y:-9.60, Z:-5.74 [[ 9.99996800e-01 -2.40923731e-03 7.71484167e-04 1.51696904e+02] [ 2.40925123e-03 9.99997098e-01 -1.71125436e-05 -9.60455163e+00] [-7.71440700e-04 1.89711880e-05 9.99999702e-01 -5.73673875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02134618399998 meters 0.0716494857111163 Centerline is valid? [True, True] Translation: X:151.73, Y:-9.60, Z:-5.74 [[ 9.99995643e-01 -2.83441514e-03 8.24684366e-04 1.51729475e+02] [ 2.83443030e-03 9.99995983e-01 -1.72176842e-05 -9.60413248e+00] [-8.24632251e-04 1.95551195e-05 9.99999660e-01 -5.73600965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05134618399998 meters 0.0717334732648694 Centerline is valid? [True, True] Translation: X:151.76, Y:-9.60, Z:-5.74 [[ 9.99993272e-01 -3.12120072e-03 1.92704153e-03 1.51761229e+02] [ 3.12129052e-03 9.99995128e-01 -4.35941415e-05 -9.60426277e+00] [-1.92689607e-03 4.96087047e-05 9.99998142e-01 -5.73621867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08134618399998 meters 0.07187964466978443 Centerline is valid? [True, True] Translation: X:151.79, Y:-9.60, Z:-5.74 [[ 9.99988728e-01 -2.63489340e-03 3.94974575e-03 1.51792157e+02] [ 2.63528202e-03 9.99996523e-01 -9.31894005e-05 -9.60484226e+00] [-3.94948648e-03 1.03597044e-04 9.99992195e-01 -5.73653140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11134618399998 meters 0.07080298655783489 Centerline is valid? [True, True] Translation: X:151.82, Y:-9.60, Z:-5.73 [[ 9.99983526e-01 -2.89508212e-03 4.95648140e-03 1.51824214e+02] [ 2.89569412e-03 9.99995801e-01 -1.16301914e-04 -9.60038833e+00] [-4.95612388e-03 1.30652452e-04 9.99987710e-01 -5.73311087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14134618399999 meters 0.07174858499084596 Centerline is valid? [True, True] Translation: X:151.86, Y:-9.60, Z:-5.74 [[ 9.99979742e-01 -2.15959653e-03 5.98763935e-03 1.51855493e+02] [ 2.16048530e-03 9.99997656e-01 -1.41969305e-04 -9.60314657e+00] [-5.98731872e-03 1.54902635e-04 9.99982064e-01 -5.73752415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.171346184 meters 0.07102845833535691 Centerline is valid? [True, True] Translation: X:151.89, Y:-9.60, Z:-5.74 [[ 9.99978120e-01 -2.50430418e-03 6.12271753e-03 1.51888347e+02] [ 2.50523947e-03 9.99996851e-01 -1.45093235e-04 -9.59954899e+00] [-6.12233490e-03 1.60428934e-04 9.99981245e-01 -5.73619859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.201346184 meters 0.07072650231562298 Centerline is valid? [True, True] Translation: X:151.92, Y:-9.60, Z:-5.74 [[ 9.99973168e-01 -2.91532664e-03 6.72049346e-03 1.51922014e+02] [ 2.91646032e-03 9.99995734e-01 -1.58895642e-04 -9.59504467e+00] [-6.72000156e-03 1.78491431e-04 9.99977405e-01 -5.73562413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.231346184 meters 0.07105061146790448 Centerline is valid? [True, True] Translation: X:151.95, Y:-9.59, Z:-5.74 [[ 9.99977581e-01 -3.35769518e-03 5.79337365e-03 1.51952825e+02] [ 3.35855480e-03 9.99994350e-01 -1.38658055e-04 -9.59458546e+00] [-5.79287535e-03 1.58112309e-04 9.99983209e-01 -5.73792544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.261346184 meters 0.07129757961911558 Centerline is valid? [True, True] Translation: X:151.99, Y:-9.59, Z:-5.74 [[ 9.99979716e-01 -3.36374254e-03 5.40863726e-03 1.51985059e+02] [ 3.36449009e-03 9.99994332e-01 -1.29120403e-04 -9.59421032e+00] [-5.40817227e-03 1.47315091e-04 9.99985365e-01 -5.74027009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.291346184 meters 0.07199419689166933 Centerline is valid? [True, True] Translation: X:152.02, Y:-9.59, Z:-5.74 [[ 9.99979685e-01 -4.69423995e-03 4.31195237e-03 1.52016327e+02] [ 4.69472897e-03 9.99988974e-01 -1.03295794e-04 -9.59389328e+00] [-4.31141993e-03 1.23537143e-04 9.99990698e-01 -5.74433133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321346184 meters 0.07239338522283725 Centerline is valid? [True, True] Translation: X:152.05, Y:-9.59, Z:-5.75 [[ 9.99977955e-01 -5.52281592e-03 3.68626546e-03 1.52048363e+02] [ 5.52317680e-03 9.99984743e-01 -8.77275048e-05 -9.59403951e+00] [-3.68572472e-03 1.08085467e-04 9.99993202e-01 -5.74681351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.351346184 meters 0.07215695057562146 Centerline is valid? [True, True] Translation: X:152.08, Y:-9.59, Z:-5.75 [[ 9.99966255e-01 -6.95743415e-03 4.36849433e-03 1.52080838e+02] [ 6.95795767e-03 9.99975788e-01 -1.04654093e-04 -9.59265322e+00] [-4.36766043e-03 1.35046361e-04 9.99990453e-01 -5.74626442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381346184 meters 0.07307791286655684 Centerline is valid? [True, True] Translation: X:152.11, Y:-9.59, Z:-5.75 [[ 9.99964406e-01 -7.54354312e-03 3.77901517e-03 1.52111744e+02] [ 7.54394095e-03 9.99971540e-01 -9.10294097e-05 -9.59486529e+00] [-3.77822093e-03 1.19534837e-04 9.99992855e-01 -5.74994122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.411346184 meters 0.07325704161872414 Centerline is valid? [True, True] Translation: X:152.14, Y:-9.59, Z:-5.75 [[ 9.99944821e-01 -9.78320184e-03 3.82661403e-03 1.52143977e+02] [ 9.78362499e-03 9.99952135e-01 -9.18771940e-05 -9.59295820e+00] [-3.82553202e-03 1.29310281e-04 9.99992674e-01 -5.75030463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441346184 meters 0.07445349327318042 Centerline is valid? [True, True] Translation: X:152.18, Y:-9.60, Z:-5.75 [[ 9.99944390e-01 -1.00474669e-02 3.20389897e-03 1.52175249e+02] [ 1.00477662e-02 9.99949517e-01 -7.73192756e-05 -9.59637814e+00] [-3.20296036e-03 1.09507004e-04 9.99994865e-01 -5.75433534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.471346184 meters 0.07447931335514289 Centerline is valid? [True, True] Translation: X:152.21, Y:-9.60, Z:-5.76 [[ 9.99942990e-01 -9.81348800e-03 4.20859721e-03 1.52207082e+02] [ 9.81400373e-03 9.99951836e-01 -1.01908559e-04 -9.59682963e+00] [-4.20739443e-03 1.43205937e-04 9.99991139e-01 -5.75574601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501346184 meters 0.07299871986853958 Centerline is valid? [True, True] Translation: X:152.24, Y:-9.59, Z:-5.75 [[ 9.99945621e-01 -9.65761390e-03 3.93514525e-03 1.52239170e+02] [ 9.65806354e-03 9.99953355e-01 -9.52761450e-05 -9.59239840e+00] [-3.93404156e-03 1.33276847e-04 9.99992253e-01 -5.75397515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.531346184 meters 0.07296823628555828 Centerline is valid? [True, True] Translation: X:152.27, Y:-9.59, Z:-5.76 [[ 9.99959188e-01 -8.27759966e-03 3.61998881e-03 1.52270578e+02] [ 8.27797338e-03 9.99965733e-01 -8.82671881e-05 -9.58886671e+00] [-3.61913412e-03 1.18229757e-04 9.99993444e-01 -5.75622925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561346184 meters 0.07286786039452672 Centerline is valid? [True, True] Translation: X:152.30, Y:-9.59, Z:-5.76 [[ 9.99967793e-01 -7.33214362e-03 3.26387393e-03 1.52302404e+02] [ 7.33244066e-03 9.99973114e-01 -7.90509679e-05 -9.58734304e+00] [-3.26320656e-03 1.02980584e-04 9.99994670e-01 -5.75794305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.591346184 meters 0.07186003515372864 Centerline is valid? [True, True] Translation: X:152.34, Y:-9.58, Z:-5.76 [[ 9.99985801e-01 -4.61797939e-03 2.65915532e-03 1.52335339e+02] [ 4.61816455e-03 9.99989334e-01 -6.34949229e-05 -9.58133003e+00] [-2.65883374e-03 7.57744382e-05 9.99996462e-01 -5.75956372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621346184 meters 0.07315658063554012 Centerline is valid? [True, True] Translation: X:152.37, Y:-9.58, Z:-5.77 [[ 9.99990924e-01 -4.04202020e-03 1.34676752e-03 1.52365948e+02] [ 4.04206689e-03 9.99991830e-01 -3.19496248e-05 -9.58384475e+00] [-1.34662737e-03 3.73930593e-05 9.99999093e-01 -5.76626730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.651346184 meters 0.07269200091914563 Centerline is valid? [True, True] Translation: X:152.40, Y:-9.58, Z:-5.77 [[ 9.99993706e-01 -3.50759263e-03 5.33675583e-04 1.52398095e+02] [ 3.50759902e-03 9.99993848e-01 -1.10498241e-05 -9.58144192e+00] [-5.33633541e-04 1.29216745e-05 9.99999858e-01 -5.76584786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681346184 meters 0.0727017006177591 Centerline is valid? [True, True] Translation: X:152.43, Y:-9.58, Z:-5.77 [[ 9.99992733e-01 -3.77335564e-03 5.44258348e-04 1.52430027e+02] [ 3.77336237e-03 9.99992881e-01 -1.13426326e-05 -9.58095384e+00] [-5.44211674e-04 1.33962341e-05 9.99999852e-01 -5.76642695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71134618399998 meters 0.07291361158456725 Centerline is valid? [True, True] Translation: X:152.46, Y:-9.58, Z:-5.77 [[ 9.99988480e-01 -4.79598993e-03 1.93539503e-04 1.52462530e+02] [ 4.79599051e-03 9.99988499e-01 -2.48874902e-06 -9.58266338e+00] [-1.93525341e-04 3.41693397e-06 9.99999981e-01 -5.76798920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74134618399998 meters 0.07265380370988178 Centerline is valid? [True, True] Translation: X:152.49, Y:-9.58, Z:-5.77 [[ 9.99986227e-01 -5.18143385e-03 8.35944701e-04 1.52494744e+02] [ 5.18145134e-03 9.99986576e-01 -1.87588000e-05 -9.58398983e+00] [-8.35836282e-04 2.30899484e-05 9.99999650e-01 -5.76815052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77134618399998 meters 0.07274411583865975 Centerline is valid? [True, True] Translation: X:152.53, Y:-9.59, Z:-5.77 [[ 9.99989117e-01 -4.66477785e-03 -7.11840944e-05 1.52526681e+02] [ 4.66477816e-03 9.99989120e-01 4.27308358e-06 -9.58520241e+00] [ 7.11633868e-05 -4.60509509e-06 9.99999997e-01 -5.76961730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80134618399998 meters 0.07238286528638979 Centerline is valid? [True, True] Translation: X:152.56, Y:-9.58, Z:-5.77 [[ 9.99990311e-01 -4.26511736e-03 -1.08951211e-03 1.52559057e+02] [ 4.26515294e-03 9.99990904e-01 3.03382721e-05 -9.58422792e+00] [ 1.08937281e-03 -3.49849139e-05 9.99999406e-01 -5.77000955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83134618399998 meters 0.07247965568054493 Centerline is valid? [True, True] Translation: X:152.59, Y:-9.58, Z:-5.77 [[ 9.99995546e-01 -2.95071018e-03 -4.48934588e-04 1.52589950e+02] [ 2.95071619e-03 9.99995647e-01 1.27235255e-05 -9.58276420e+00] [ 4.48895090e-04 -1.40481474e-05 9.99999899e-01 -5.77196933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86134618399998 meters 0.07172995162024588 Centerline is valid? [True, True] Translation: X:152.62, Y:-9.58, Z:-5.77 [[ 9.99998990e-01 -1.35482090e-03 4.29001418e-04 1.52621459e+02] [ 1.35482520e-03 9.99999082e-01 -9.73153632e-06 -9.58010615e+00] [-4.28987840e-04 1.03127484e-05 9.99999908e-01 -5.77058972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89134618399999 meters 0.07155594762126634 Centerline is valid? [True, True] Translation: X:152.65, Y:-9.58, Z:-5.77 [[ 9.99999694e-01 -1.85942732e-04 7.59708137e-04 1.52652979e+02] [ 1.85956632e-04 9.99999983e-01 -1.82260771e-05 -9.57928486e+00] [-7.59704735e-04 1.83673443e-05 9.99999711e-01 -5.77147197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.921346184 meters 0.0713356221157525 Centerline is valid? [True, True] Translation: X:152.68, Y:-9.58, Z:-5.77 [[ 9.99996824e-01 1.33114183e-03 2.13988948e-03 1.52682783e+02] [-1.33102745e-03 9.99999113e-01 -5.48738944e-05 -9.57949715e+00] [-2.13996063e-03 5.20254685e-05 9.99997709e-01 -5.77361814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.951346184 meters 0.07148181189126103 Centerline is valid? [True, True] Translation: X:152.71, Y:-9.58, Z:-5.78 [[ 9.99996583e-01 1.62575473e-03 2.04740178e-03 1.52713258e+02] [-1.62565182e-03 9.99998677e-01 -5.19264677e-05 -9.58078669e+00] [-2.04748349e-03 4.85979278e-05 9.99997903e-01 -5.77538114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.981346184 meters 0.07085168665192024 Centerline is valid? [True, True] Translation: X:152.74, Y:-9.58, Z:-5.77 [[ 9.99996580e-01 1.52383292e-03 2.12542096e-03 1.52743593e+02] [-1.52372044e-03 9.99998838e-01 -5.45409661e-05 -9.57942542e+00] [-2.12550160e-03 5.13022322e-05 9.99997740e-01 -5.77327711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.011346184 meters 0.07085168665192024 Centerline is valid? [True, True] Translation: X:152.77, Y:-9.58, Z:-5.77 [[ 9.99996522e-01 1.56124314e-03 2.12545179e-03 1.52774442e+02] [-1.56113330e-03 9.99998780e-01 -5.33407230e-05 -9.58026124e+00] [-2.12553247e-03 5.00224240e-05 9.99997740e-01 -5.77433318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.041346184 meters 0.07181281889320326 Centerline is valid? [True, True] Translation: X:152.80, Y:-9.58, Z:-5.78 [[ 9.99998485e-01 2.28441761e-04 1.72565184e-03 1.52804869e+02] [-2.28366614e-04 9.99999973e-01 -4.37438039e-05 -9.58476565e+00] [-1.72566179e-03 4.33496563e-05 9.99998510e-01 -5.77862508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.071346184 meters 0.07238898128016345 Centerline is valid? [True, True] Translation: X:152.84, Y:-9.59, Z:-5.78 [[ 9.99998712e-01 -9.21535370e-05 1.60264617e-03 1.52835478e+02] [ 9.22187852e-05 9.99999995e-01 -4.06388747e-05 -9.58749516e+00] [-1.60264242e-03 4.07866164e-05 9.99998715e-01 -5.78157098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101346184 meters 0.07211579922514733 Centerline is valid? [True, True] Translation: X:152.87, Y:-9.59, Z:-5.78 [[ 9.99998023e-01 -4.02712139e-04 1.94723482e-03 1.52866434e+02] [ 4.02808252e-04 9.99999918e-01 -4.89666973e-05 -9.58729994e+00] [-1.94721494e-03 4.97509627e-05 9.99998103e-01 -5.78174048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.131346184 meters 0.0716914577337333 Centerline is valid? [True, True] Translation: X:152.90, Y:-9.59, Z:-5.78 [[ 9.99999019e-01 -7.19256199e-04 1.20161846e-03 1.52897912e+02] [ 7.19292473e-04 9.99999741e-01 -2.97556894e-05 -9.58699446e+00] [-1.20159674e-03 3.06199753e-05 9.99999278e-01 -5.78145090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161346184 meters 0.07188718729100475 Centerline is valid? [True, True] Translation: X:152.93, Y:-9.59, Z:-5.78 [[ 9.99999448e-01 -9.85988515e-04 3.62337536e-04 1.52929164e+02] [ 9.85991518e-04 9.99999514e-01 -8.10931799e-06 -9.58781220e+00] [-3.62329364e-04 8.46657526e-06 9.99999934e-01 -5.78315630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.191346184 meters 0.07221047075511358 Centerline is valid? [True, True] Translation: X:152.96, Y:-9.59, Z:-5.79 [[ 9.99999861e-01 -2.74329871e-04 4.51239406e-04 1.52959742e+02] [ 2.74334226e-04 9.99999962e-01 -9.58933055e-06 -9.58917842e+00] [-4.51236759e-04 9.71311963e-06 9.99999898e-01 -5.78618003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221346184 meters 0.0723980268674992 Centerline is valid? [True, True] Translation: X:152.99, Y:-9.59, Z:-5.79 [[ 9.99999826e-01 -7.35383664e-05 -5.84682741e-04 1.52990258e+02] [ 7.35475951e-05 9.99999997e-01 1.57626798e-05 -9.59001849e+00] [ 5.84681580e-04 -1.58056791e-05 9.99999829e-01 -5.78910593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.251346184 meters 0.07226993542802923 Centerline is valid? [True, True] Translation: X:153.02, Y:-9.59, Z:-5.79 [[ 9.99999678e-01 6.68514971e-04 -4.43555730e-04 1.53020891e+02] [-6.68509937e-04 9.99999776e-01 1.14983993e-05 -9.58908472e+00] [ 4.43563317e-04 -1.12018742e-05 9.99999902e-01 -5.79159408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281346184 meters 0.07248877515809239 Centerline is valid? [True, True] Translation: X:153.05, Y:-9.59, Z:-5.79 [[ 9.99998970e-01 9.66180139e-04 -1.06097523e-03 1.53050080e+02] [-9.66152162e-04 9.99999533e-01 2.68814533e-05 -9.58944745e+00] [ 1.06100070e-03 -2.58563621e-05 9.99999437e-01 -5.79400492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.311346184 meters 0.07267531006204818 Centerline is valid? [True, True] Translation: X:153.08, Y:-9.59, Z:-5.80 [[ 9.99999049e-01 3.35707791e-04 -1.33786354e-03 1.53079808e+02] [-3.35663391e-04 9.99999943e-01 3.34112984e-05 -9.58912124e+00] [ 1.33787468e-03 -3.29621948e-05 9.99999105e-01 -5.79508292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341346184 meters 0.07253012683555442 Centerline is valid? [True, True] Translation: X:153.11, Y:-9.59, Z:-5.80 [[ 9.99999733e-01 -4.60684567e-05 -7.29414302e-04 1.53109874e+02] [ 4.60813273e-05 9.99999999e-01 1.76282873e-05 -9.59009915e+00] [ 7.29413489e-04 -1.76618949e-05 9.99999734e-01 -5.79589009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.371346184 meters 0.07206338089770437 Centerline is valid? [True, True] Translation: X:153.14, Y:-9.59, Z:-5.79 [[ 9.99998701e-01 -8.23017088e-04 -1.38610172e-03 1.53140584e+02] [ 8.23067514e-04 9.99999661e-01 3.58097422e-05 -9.59074492e+00] [ 1.38607177e-03 -3.69505510e-05 9.99999039e-01 -5.79479602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401346184 meters 0.07324160151362 Centerline is valid? [True, True] Translation: X:153.17, Y:-9.60, Z:-5.80 [[ 9.99998933e-01 -1.22222377e-03 -8.00445073e-04 1.53169950e+02] [ 1.22224087e-03 9.99999253e-01 2.08793365e-05 -9.59702087e+00] [ 8.00418956e-04 -2.18576509e-05 9.99999679e-01 -5.80081214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.431346184 meters 0.07270761792551975 Centerline is valid? [True, True] Translation: X:153.20, Y:-9.60, Z:-5.80 [[ 9.99988531e-01 -3.58535187e-03 -3.17536946e-03 1.53200404e+02] [ 3.58563048e-03 9.99993568e-01 8.20533790e-05 -9.59827829e+00] [ 3.17505485e-03 -9.34381395e-05 9.99994955e-01 -5.79904897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46134618399998 meters 0.07344464104749411 Centerline is valid? [True, True] Translation: X:153.23, Y:-9.60, Z:-5.80 [[ 9.99979686e-01 -4.36019685e-03 -4.64933654e-03 1.53230145e+02] [ 4.36081903e-03 9.99990484e-01 1.23691269e-04 -9.60194628e+00] [ 4.64875298e-03 -1.43963671e-04 9.99989184e-01 -5.80288071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49134618399998 meters 0.07370214369941487 Centerline is valid? [True, True] Translation: X:153.26, Y:-9.60, Z:-5.80 [[ 9.99964535e-01 -6.10895706e-03 -5.79740525e-03 1.53260147e+02] [ 6.10992697e-03 9.99981323e-01 1.49604469e-04 -9.60436135e+00] [ 5.79638305e-03 -1.85020886e-04 9.99983184e-01 -5.80463069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52134618399998 meters 0.07415835254597448 Centerline is valid? [True, True] Translation: X:153.29, Y:-9.61, Z:-5.81 [[ 9.99965052e-01 -6.14185487e-03 -5.67209720e-03 1.53289973e+02] [ 6.14278320e-03 9.99981122e-01 1.46258793e-04 -9.60739169e+00] [ 5.67109183e-03 -1.81096145e-04 9.99983903e-01 -5.80712606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55134618399998 meters 0.07425602951146518 Centerline is valid? [True, True] Translation: X:153.32, Y:-9.61, Z:-5.81 [[ 9.99961039e-01 -6.67166257e-03 -5.78009915e-03 1.53319624e+02] [ 6.67263083e-03 9.99977727e-01 1.48248182e-04 -9.60929076e+00] [ 5.77898135e-03 -1.86810874e-04 9.99983284e-01 -5.80741081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58134618399998 meters 0.07396148206638765 Centerline is valid? [True, True] Translation: X:153.35, Y:-9.61, Z:-5.81 [[ 9.99962095e-01 -5.72167774e-03 -6.56280720e-03 1.53349649e+02] [ 5.72291467e-03 9.99983610e-01 1.69711805e-04 -9.61074770e+00] [ 6.56172860e-03 -2.07263758e-04 9.99978450e-01 -5.80892243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61134618399998 meters 0.07405863400507964 Centerline is valid? [True, True] Translation: X:153.38, Y:-9.61, Z:-5.81 [[ 9.99976717e-01 -3.97968784e-03 -5.54322860e-03 1.53377771e+02] [ 3.98053175e-03 9.99992068e-01 1.41216272e-04 -9.61431654e+00] [ 5.54262263e-03 -1.63277981e-04 9.99984626e-01 -5.81180697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64134618399999 meters 0.07392909005128907 Centerline is valid? [True, True] Translation: X:153.41, Y:-9.62, Z:-5.81 [[ 9.99982682e-01 -3.11412197e-03 -4.99375723e-03 1.53406173e+02] [ 3.11479404e-03 9.99995141e-01 1.26809998e-04 -9.61754708e+00] [ 4.99333807e-03 -1.42362327e-04 9.99987523e-01 -5.81448063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.671346184 meters 0.07378501087694105 Centerline is valid? [True, True] Translation: X:153.44, Y:-9.62, Z:-5.81 [[ 9.99977222e-01 -3.57450659e-03 -5.72521943e-03 1.53435146e+02] [ 3.57535302e-03 9.99993599e-01 1.37614837e-04 -9.61824284e+00] [ 5.72469088e-03 -1.58081383e-04 9.99983601e-01 -5.81394775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.701346184 meters 0.07328617130971388 Centerline is valid? [True, True] Translation: X:153.46, Y:-9.62, Z:-5.81 [[ 9.99978014e-01 -4.10209712e-03 -5.20997455e-03 1.53463628e+02] [ 4.10279352e-03 9.99991576e-01 1.22986775e-04 -9.61773489e+00] [ 5.20942616e-03 -1.44359521e-04 9.99986420e-01 -5.81233790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.731346184 meters 0.07338775222829638 Centerline is valid? [True, True] Translation: X:153.49, Y:-9.62, Z:-5.81 [[ 9.99976367e-01 -4.81052237e-03 -4.91172011e-03 1.53492921e+02] [ 4.81118279e-03 9.99988419e-01 1.22651361e-04 -9.61923021e+00] [ 4.91107321e-03 -1.46279646e-04 9.99987930e-01 -5.81226051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.761346184 meters 0.07346304704343845 Centerline is valid? [True, True] Translation: X:153.52, Y:-9.62, Z:-5.81 [[ 9.99969053e-01 -5.33637843e-03 -5.78074164e-03 1.53522790e+02] [ 5.33730199e-03 9.99985746e-01 1.44348921e-04 -9.62203235e+00] [ 5.77988895e-03 -1.75198018e-04 9.99983281e-01 -5.81420122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.791346184 meters 0.07353967737116582 Centerline is valid? [True, True] Translation: X:153.55, Y:-9.63, Z:-5.82 [[ 9.99973427e-01 -4.89593744e-03 -5.40141105e-03 1.53551222e+02] [ 4.89673211e-03 9.99988002e-01 1.33908255e-04 -9.62503023e+00] [ 5.40069063e-03 -1.60353959e-04 9.99985403e-01 -5.81698897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821346184 meters 0.07403587013323919 Centerline is valid? [True, True] Translation: X:153.58, Y:-9.63, Z:-5.82 [[ 9.99967824e-01 -4.85399105e-03 -6.38669600e-03 1.53579381e+02] [ 4.85510133e-03 9.99988201e-01 1.58350196e-04 -9.62867344e+00] [ 6.38585202e-03 -1.89353157e-04 9.99979592e-01 -5.82067818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.851346184 meters 0.07378291477309754 Centerline is valid? [True, True] Translation: X:153.61, Y:-9.63, Z:-5.82 [[ 9.99965947e-01 -4.36121706e-03 -7.00599600e-03 1.53608300e+02] [ 4.36248313e-03 9.99990471e-01 1.65440565e-04 -9.63117801e+00] [ 7.00520771e-03 -1.95998471e-04 9.99975444e-01 -5.82141145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881346184 meters 0.0743574523267831 Centerline is valid? [True, True] Translation: X:153.64, Y:-9.63, Z:-5.82 [[ 9.99955771e-01 -5.36702831e-03 -7.72343284e-03 1.53636046e+02] [ 5.36864089e-03 9.99985571e-01 1.88073312e-04 -9.63312063e+00] [ 7.72231201e-03 -2.29529331e-04 9.99970156e-01 -5.82368229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.911346184 meters 0.07465709692350189 Centerline is valid? [True, True] Translation: X:153.66, Y:-9.63, Z:-5.83 [[ 9.99949862e-01 -5.69105565e-03 -8.23929187e-03 1.53664485e+02] [ 5.69284304e-03 9.99983777e-01 1.93498032e-04 -9.63465156e+00] [ 8.23805700e-03 -2.40393326e-04 9.99966038e-01 -5.82502950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941346184 meters 0.07510648597636894 Centerline is valid? [True, True] Translation: X:153.69, Y:-9.64, Z:-5.83 [[ 9.99942455e-01 -6.30606079e-03 -8.67874813e-03 1.53692182e+02] [ 6.30811114e-03 9.99980082e-01 2.08896797e-04 -9.63650967e+00] [ 8.67725795e-03 -2.63631284e-04 9.99962317e-01 -5.82674667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.971346184 meters 0.07512072187206455 Centerline is valid? [True, True] Translation: X:153.72, Y:-9.64, Z:-5.83 [[ 9.99936471e-01 -5.36039075e-03 -9.91560397e-03 1.53720741e+02] [ 5.36294945e-03 9.99985592e-01 2.31476329e-04 -9.63688679e+00] [ 9.91422031e-03 -2.84638506e-04 9.99950812e-01 -5.82891685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001346184 meters 0.07402366581348283 Centerline is valid? [True, True] Translation: X:153.75, Y:-9.64, Z:-5.83 [[ 9.99934978e-01 -4.95831058e-03 -1.02691471e-02 1.53749155e+02] [ 4.96098980e-03 9.99987666e-01 2.35443215e-04 -9.63537367e+00] [ 1.02678530e-02 -2.86373040e-04 9.99947243e-01 -5.82634686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.031346184 meters 0.07389889845901952 Centerline is valid? [True, True] Translation: X:153.78, Y:-9.64, Z:-5.83 [[ 9.99933533e-01 -4.27550141e-03 -1.07074975e-02 1.53777096e+02] [ 4.27834707e-03 9.99990818e-01 2.42871414e-04 -9.63606056e+00] [ 1.07063608e-02 -2.88665661e-04 9.99942644e-01 -5.82787488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061346184 meters 0.07378732478926191 Centerline is valid? [True, True] Translation: X:153.81, Y:-9.64, Z:-5.83 [[ 9.99934670e-01 -3.46557511e-03 -1.08924935e-02 1.53806003e+02] [ 3.46845763e-03 9.99993955e-01 2.45754165e-04 -9.63642960e+00] [ 1.08915759e-02 -2.83518261e-04 9.99940645e-01 -5.82932029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.091346184 meters 0.07282945439286996 Centerline is valid? [True, True] Translation: X:153.84, Y:-9.64, Z:-5.83 [[ 9.99931181e-01 -2.05839623e-03 -1.15497631e-02 1.53835058e+02] [ 2.06151139e-03 9.99997842e-01 2.57817621e-04 -9.63700972e+00] [ 1.15492075e-02 -2.81609847e-04 9.99933266e-01 -5.82865485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121346184 meters 0.0734770347295511 Centerline is valid? [True, True] Translation: X:153.86, Y:-9.64, Z:-5.83 [[ 9.99917232e-01 -1.40956198e-03 -1.27883529e-02 1.53862263e+02] [ 1.41339836e-03 9.99998959e-01 2.90957453e-04 -9.64007973e+00] [ 1.27879295e-02 -3.09008408e-04 9.99918183e-01 -5.83317186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.151346184 meters 0.07255155776686226 Centerline is valid? [True, True] Translation: X:153.89, Y:-9.64, Z:-5.83 [[ 9.99907965e-01 -1.28130721e-03 -1.35062905e-02 1.53890905e+02] [ 1.28545132e-03 9.99999129e-01 2.98151838e-04 -9.64016807e+00] [ 1.35058967e-02 -3.15486077e-04 9.99908741e-01 -5.83060755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.181346184 meters 0.07262460697986593 Centerline is valid? [True, True] Translation: X:153.92, Y:-9.64, Z:-5.83 [[ 9.99901560e-01 -1.56077899e-03 -1.39439399e-02 1.53919419e+02] [ 1.56517720e-03 9.99998729e-01 3.04513119e-04 -9.64125642e+00] [ 1.39434469e-02 -3.26307880e-04 9.99902732e-01 -5.83085507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21134618399998 meters 0.07281870221732241 Centerline is valid? [True, True] Translation: X:153.95, Y:-9.64, Z:-5.83 [[ 9.99903829e-01 -1.94118428e-03 -1.37318589e-02 1.53947420e+02] [ 1.94541120e-03 9.99998064e-01 2.94467413e-04 -9.64209850e+00] [ 1.37312607e-02 -3.21153206e-04 9.99905670e-01 -5.83208946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24134618399998 meters 0.07293680799728489 Centerline is valid? [True, True] Translation: X:153.98, Y:-9.64, Z:-5.83 [[ 9.99901134e-01 -1.98595710e-03 -1.39203884e-02 1.53975140e+02] [ 1.99038658e-03 9.99997973e-01 3.04353313e-04 -9.64387547e+00] [ 1.39197557e-02 -3.32030177e-04 9.99903060e-01 -5.83373547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27134618399998 meters 0.07333393221748727 Centerline is valid? [True, True] Translation: X:154.00, Y:-9.65, Z:-5.84 [[ 9.99879384e-01 -2.61486906e-03 -1.53094438e-02 1.54002624e+02] [ 2.62028435e-03 9.99996511e-01 3.33674099e-04 -9.64830807e+00] [ 1.53085178e-02 -3.73748949e-04 9.99882748e-01 -5.83651483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30134618399998 meters 0.07362041986306872 Centerline is valid? [True, True] Translation: X:154.03, Y:-9.65, Z:-5.84 [[ 9.99876143e-01 -3.07529954e-03 -1.54350327e-02 1.54031241e+02] [ 3.08071400e-03 9.99995201e-01 3.27025826e-04 -9.65238356e+00] [ 1.54339530e-02 -3.74536243e-04 9.99880819e-01 -5.83941177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33134618399998 meters 0.07363088677509647 Centerline is valid? [True, True] Translation: X:154.06, Y:-9.66, Z:-5.84 [[ 9.99877353e-01 -3.82256991e-03 -1.51877438e-02 1.54057483e+02] [ 3.82788029e-03 9.99992622e-01 3.20593778e-04 -9.65709908e+00] [ 1.51864063e-02 -3.78691323e-04 9.99884608e-01 -5.84163757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36134618399998 meters 0.07378066543303563 Centerline is valid? [True, True] Translation: X:154.09, Y:-9.66, Z:-5.84 [[ 9.99863905e-01 -4.76157043e-03 -1.57955658e-02 1.54086172e+02] [ 4.76734472e-03 9.99988582e-01 3.27930115e-04 -9.66157274e+00] [ 1.57938240e-02 -4.03188393e-04 9.99875188e-01 -5.84260469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39134618399999 meters 0.07457322124157036 Centerline is valid? [True, True] Translation: X:154.11, Y:-9.67, Z:-5.84 [[ 9.99831802e-01 -7.57317479e-03 -1.67037641e-02 1.54114750e+02] [ 7.58012976e-03 9.99971208e-01 3.53096940e-04 -9.66722478e+00] [ 1.67006091e-02 -4.79654249e-04 9.99860420e-01 -5.84358145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.421346184 meters 0.07455925436932861 Centerline is valid? [True, True] Translation: X:154.14, Y:-9.67, Z:-5.84 [[ 9.99844713e-01 -8.62298876e-03 -1.53685979e-02 1.54143485e+02] [ 8.62883829e-03 9.99962721e-01 3.14344612e-04 -9.66947977e+00] [ 1.53653144e-02 -4.46908944e-04 9.99881847e-01 -5.84230424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.451346184 meters 0.07454653733541831 Centerline is valid? [True, True] Translation: X:154.17, Y:-9.67, Z:-5.84 [[ 9.99835447e-01 -9.69122696e-03 -1.53349207e-02 1.54172196e+02] [ 9.69711910e-03 9.99952934e-01 3.09918830e-04 -9.67266364e+00] [ 1.53311954e-02 -4.58572384e-04 9.99882365e-01 -5.84165498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.481346184 meters 0.07363061159792872 Centerline is valid? [True, True] Translation: X:154.20, Y:-9.68, Z:-5.84 [[ 9.99875974e-01 -1.05116008e-02 -1.17278991e-02 1.54201855e+02] [ 1.05151590e-02 9.99944685e-01 2.41777244e-04 -9.67999630e+00] [ 1.17247089e-02 -3.65067982e-04 9.99931197e-01 -5.83694896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.511346184 meters 0.07443321885457078 Centerline is valid? [True, True] Translation: X:154.23, Y:-9.69, Z:-5.84 [[ 9.99866437e-01 -1.14787605e-02 -1.16338537e-02 1.54229730e+02] [ 1.14822941e-02 9.99934048e-01 2.36982508e-04 -9.68603177e+00] [ 1.16303662e-02 -3.70534186e-04 9.99932296e-01 -5.84018747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.541346184 meters 0.0738819661074303 Centerline is valid? [True, True] Translation: X:154.26, Y:-9.69, Z:-5.84 [[ 9.99867396e-01 -1.21426338e-02 -1.08510888e-02 1.54258350e+02] [ 1.21456564e-02 9.99926216e-01 2.12692730e-04 -9.68814793e+00] [ 1.08477055e-02 -3.44458122e-04 9.99941103e-01 -5.83832208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.571346184 meters 0.07243604533279495 Centerline is valid? [True, True] Translation: X:154.29, Y:-9.69, Z:-5.83 [[ 9.99858014e-01 -1.27286931e-02 -1.10423186e-02 1.54287562e+02] [ 1.27318229e-02 9.99918924e-01 2.13183497e-04 -9.68707546e+00] [ 1.10387098e-02 -3.53742072e-04 9.99939009e-01 -5.83378281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601346184 meters 0.07236472571360925 Centerline is valid? [True, True] Translation: X:154.32, Y:-9.69, Z:-5.83 [[ 9.99865425e-01 -1.26298794e-02 -1.04698458e-02 1.54317519e+02] [ 1.26327594e-02 9.99920182e-01 2.08989796e-04 -9.68987953e+00] [ 1.04663706e-02 -3.41224714e-04 9.99945168e-01 -5.83312391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.631346184 meters 0.0748280794552718 Centerline is valid? [True, True] Translation: X:154.35, Y:-9.70, Z:-5.84 [[ 9.99883523e-01 -1.17241426e-02 -9.77164780e-03 1.54345625e+02] [ 1.17265960e-02 9.99931222e-01 1.93804867e-04 -9.69759450e+00] [ 9.76870353e-03 -3.08370459e-04 9.99952238e-01 -5.84228134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.661346184 meters 0.07289581095106491 Centerline is valid? [True, True] Translation: X:154.38, Y:-9.69, Z:-5.84 [[ 9.99882570e-01 -1.10249192e-02 -1.06441536e-02 1.54375857e+02] [ 1.10277955e-02 9.99939170e-01 2.11565627e-04 -9.69489619e+00] [ 1.06411736e-02 -3.28922332e-04 9.99943327e-01 -5.83704400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.691346184 meters 0.07131629700663819 Centerline is valid? [True, True] Translation: X:154.40, Y:-9.69, Z:-5.83 [[ 9.99891325e-01 -8.55952116e-03 -1.20030125e-02 1.54404296e+02] [ 8.56287180e-03 9.99963312e-01 2.27784875e-04 -9.69326676e+00] [ 1.20006224e-02 -3.30540377e-04 9.99927935e-01 -5.83322804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.721346184 meters 0.07135027639836487 Centerline is valid? [True, True] Translation: X:154.43, Y:-9.70, Z:-5.84 [[ 9.99897412e-01 -7.25367321e-03 -1.23510619e-02 1.54431656e+02] [ 7.25715459e-03 9.99973638e-01 2.37072607e-04 -9.69531265e+00] [ 1.23490167e-02 -3.26681852e-04 9.99923695e-01 -5.83501147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.751346184 meters 0.07176390792190969 Centerline is valid? [True, True] Translation: X:154.46, Y:-9.70, Z:-5.84 [[ 9.99904662e-01 -6.22919051e-03 -1.23232847e-02 1.54459404e+02] [ 6.23258539e-03 9.99980549e-01 2.37099591e-04 -9.69826163e+00] [ 1.23215680e-02 -3.13882911e-04 9.99924037e-01 -5.83805861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.781346184 meters 0.07190634721923696 Centerline is valid? [True, True] Translation: X:154.49, Y:-9.70, Z:-5.84 [[ 9.99893512e-01 -4.92903766e-03 -1.37357070e-02 1.54486723e+02] [ 4.93312234e-03 9.99987797e-01 2.63510835e-04 -9.70163786e+00] [ 1.37342406e-02 -3.31242697e-04 9.99905626e-01 -5.84004069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.811346184 meters 0.07188821471540568 Centerline is valid? [True, True] Translation: X:154.51, Y:-9.70, Z:-5.84 [[ 9.99887105e-01 -3.96552704e-03 -1.44931963e-02 1.54514068e+02] [ 3.96992210e-03 9.99992082e-01 2.74492433e-04 -9.70258049e+00] [ 1.44919930e-02 -3.31998304e-04 9.99894930e-01 -5.84138155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.841346184 meters 0.07087109616963659 Centerline is valid? [True, True] Translation: X:154.54, Y:-9.70, Z:-5.84 [[ 9.99881446e-01 -2.52022791e-03 -1.51902069e-02 1.54541677e+02] [ 2.52474295e-03 9.99996774e-01 2.78063837e-04 -9.70050260e+00] [ 1.51894571e-02 -3.16382239e-04 9.99884583e-01 -5.83770774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.871346184 meters 0.0710730784303863 Centerline is valid? [True, True] Translation: X:154.57, Y:-9.70, Z:-5.84 [[ 9.99879757e-01 -3.31167024e-04 -1.55035767e-02 1.54569746e+02] [ 3.35696672e-04 9.99999902e-01 2.89566459e-04 -9.70146189e+00] [ 1.55034793e-02 -2.94736140e-04 9.99879770e-01 -5.84025251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901346184 meters 0.07082384569718714 Centerline is valid? [True, True] Translation: X:154.60, Y:-9.70, Z:-5.84 [[ 9.99863390e-01 4.25797712e-03 -1.59709128e-02 1.54599055e+02] [-4.25388912e-03 9.99990910e-01 2.89928044e-04 -9.70088883e+00] [ 1.59720021e-02 -2.21949945e-04 9.99872415e-01 -5.83890233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.931346184 meters 0.06973782225345722 Centerline is valid? [True, True] Translation: X:154.63, Y:-9.70, Z:-5.83 [[ 9.99863594e-01 6.41152105e-03 -1.52212575e-02 1.54627579e+02] [-6.40813902e-03 9.99979431e-01 2.70954200e-04 -9.70048259e+00] [ 1.52226816e-02 -1.73377306e-04 9.99884113e-01 -5.83434779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96134618399998 meters 0.06973782225345722 Centerline is valid? [True, True] Translation: X:154.66, Y:-9.70, Z:-5.84 [[ 9.99864304e-01 6.29984203e-03 -1.52211945e-02 1.54655043e+02] [-6.29639519e-03 9.99980140e-01 2.74362084e-04 -9.70085994e+00] [ 1.52226206e-02 -1.78486199e-04 9.99884113e-01 -5.83529148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99134618399998 meters 0.07008922091426298 Centerline is valid? [True, True] Translation: X:154.68, Y:-9.70, Z:-5.84 [[ 9.99869110e-01 7.95478763e-03 -1.40884600e-02 1.54682765e+02] [-7.95201201e-03 9.99968350e-01 2.53021997e-04 -9.70477500e+00] [ 1.40900268e-02 -1.40957276e-04 9.99900721e-01 -5.83869514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02134618399998 meters 0.06942053402640842 Centerline is valid? [True, True] Translation: X:154.71, Y:-9.71, Z:-5.84 [[ 9.99883009e-01 8.46640518e-03 -1.27392500e-02 1.54711420e+02] [-8.46418475e-03 9.99964152e-01 2.28205117e-04 -9.71149071e+00] [ 1.27407254e-02 -1.20351053e-04 9.99918826e-01 -5.83573667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05134618399998 meters 0.06942094553564951 Centerline is valid? [True, True] Translation: X:154.74, Y:-9.71, Z:-5.84 [[ 9.99896802e-01 7.85826830e-03 -1.20263186e-02 1.54739896e+02] [-7.85625757e-03 9.99969116e-01 2.14428998e-04 -9.71490110e+00] [ 1.20276323e-02 -1.19925013e-04 9.99927658e-01 -5.83609899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08134618399998 meters 0.06965405456830594 Centerline is valid? [True, True] Translation: X:154.77, Y:-9.72, Z:-5.84 [[ 9.99908636e-01 7.23804762e-03 -1.14162732e-02 1.54767845e+02] [-7.23621535e-03 9.99973798e-01 2.01795476e-04 -9.71911238e+00] [ 1.14174347e-02 -1.19166428e-04 9.99934812e-01 -5.83803201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11134618399998 meters 0.06973362514545148 Centerline is valid? [True, True] Translation: X:154.80, Y:-9.73, Z:-5.84 [[ 9.99926128e-01 5.76293235e-03 -1.07017794e-02 1.54795413e+02] [-5.76124910e-03 9.99983386e-01 1.88108927e-04 -9.72785389e+00] [ 1.07026856e-02 -1.26439415e-04 9.99942717e-01 -5.83890898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14134618399999 meters 0.06986748952864544 Centerline is valid? [True, True] Translation: X:154.82, Y:-9.73, Z:-5.84 [[ 9.99931737e-01 5.21088468e-03 -1.04579087e-02 1.54822724e+02] [-5.20925702e-03 9.99986415e-01 1.82872829e-04 -9.73255418e+00] [ 1.04587195e-02 -1.28382411e-04 9.99945298e-01 -5.84058994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.171346184 meters 0.070092603949611 Centerline is valid? [True, True] Translation: X:154.85, Y:-9.74, Z:-5.84 [[ 9.99943418e-01 5.69979516e-03 -8.98186080e-03 1.54851641e+02] [-5.69861186e-03 9.99983750e-01 1.57329512e-04 -9.73697109e+00] [ 8.98261160e-03 -1.06136471e-04 9.99959650e-01 -5.84348452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.201346184 meters 0.06952513935285107 Centerline is valid? [True, True] Translation: X:154.88, Y:-9.74, Z:-5.84 [[ 9.99938607e-01 8.55955734e-03 -7.03684220e-03 1.54880838e+02] [-8.55890740e-03 9.99963364e-01 1.22471687e-04 -9.74121214e+00] [ 7.03763271e-03 -6.22364870e-05 9.99975234e-01 -5.84187478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.231346184 meters 0.0693345246115439 Centerline is valid? [True, True] Translation: X:154.91, Y:-9.74, Z:-5.84 [[ 9.99937013e-01 9.39499058e-03 -6.14035659e-03 1.54909325e+02] [-9.39451938e-03 9.99955865e-01 1.05576670e-04 -9.74352824e+00] [ 6.14107747e-03 -4.78843213e-05 9.99981142e-01 -5.84207206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.261346184 meters 0.06951064568792767 Centerline is valid? [True, True] Translation: X:154.94, Y:-9.75, Z:-5.84 [[ 9.99928440e-01 9.93858916e-03 -6.65871782e-03 1.54937652e+02] [-9.93804877e-03 9.99950610e-01 1.14240116e-04 -9.74541814e+00] [ 6.65952433e-03 -4.80572781e-05 9.99977824e-01 -5.84297801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.291346184 meters 0.06885561882720115 Centerline is valid? [True, True] Translation: X:154.97, Y:-9.75, Z:-5.84 [[ 9.99916877e-01 1.06196618e-02 -7.31171135e-03 1.54966573e+02] [-1.06190318e-02 9.99943609e-01 1.24979488e-04 -9.74681319e+00] [ 7.31262627e-03 -4.73258042e-05 9.99973261e-01 -5.83907954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.321346184 meters 0.06808377515330923 Centerline is valid? [True, True] Translation: X:155.00, Y:-9.75, Z:-5.84 [[ 9.99935300e-01 1.03874499e-02 -4.63651238e-03 1.54995318e+02] [-1.03872005e-02 9.99946049e-01 7.78756297e-05 -9.75457679e+00] [ 4.63707116e-03 -2.97102076e-05 9.99989248e-01 -5.83642935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.351346184 meters 0.06821061079468178 Centerline is valid? [True, True] Translation: X:155.02, Y:-9.76, Z:-5.84 [[ 9.99942633e-01 9.94099384e-03 -3.98844023e-03 1.55022479e+02] [-9.94081123e-03 9.99950587e-01 6.56066348e-05 -9.76101622e+00] [ 3.98889535e-03 -2.59545397e-05 9.99992044e-01 -5.83851012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.381346184 meters 0.06827400923035741 Centerline is valid? [True, True] Translation: X:155.05, Y:-9.77, Z:-5.84 [[ 9.99948046e-01 9.46758389e-03 -3.77763431e-03 1.55050353e+02] [-9.46741852e-03 9.99955181e-01 6.16568169e-05 -9.76681582e+00] [ 3.77804874e-03 -2.58891686e-05 9.99992863e-01 -5.84088975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.411346184 meters 0.06785298795172191 Centerline is valid? [True, True] Translation: X:155.08, Y:-9.77, Z:-5.84 [[ 9.99955537e-01 8.70581420e-03 -3.62381301e-03 1.55077903e+02] [-8.70566159e-03 9.99962103e-01 5.78848154e-05 -9.77424247e+00] [ 3.62417961e-03 -2.63345519e-05 9.99993432e-01 -5.83876578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.441346184 meters 0.06781025150973029 Centerline is valid? [True, True] Translation: X:155.11, Y:-9.78, Z:-5.84 [[ 9.99956390e-01 8.94952749e-03 -2.66919465e-03 1.55107091e+02] [-8.94944535e-03 9.99959952e-01 4.27178149e-05 -9.77751275e+00] [ 2.66947006e-03 -1.88281403e-05 9.99996437e-01 -5.83872674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.471346184 meters 0.06752023808386094 Centerline is valid? [True, True] Translation: X:155.14, Y:-9.78, Z:-5.84 [[ 9.99959524e-01 8.92332387e-03 -1.15059825e-03 1.55136345e+02] [-8.92331167e-03 9.99960186e-01 1.57340429e-05 -9.78006272e+00] [ 1.15069284e-03 -5.46625927e-06 9.99999338e-01 -5.83758675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501346184 meters 0.06733534739985418 Centerline is valid? [True, True] Translation: X:155.17, Y:-9.78, Z:-5.84 [[ 9.99959433e-01 8.93327589e-03 -1.15304939e-03 1.55165356e+02] [-8.93326252e-03 9.99960097e-01 1.67443139e-05 -9.78226569e+00] [ 1.15315296e-03 -6.44314177e-06 9.99999335e-01 -5.83676303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.531346184 meters 0.0675791045784094 Centerline is valid? [True, True] Translation: X:155.19, Y:-9.79, Z:-5.84 [[ 9.99961556e-01 8.58167914e-03 -1.80042128e-03 1.55194268e+02] [-8.58164354e-03 9.99963177e-01 2.74972426e-05 -9.78788233e+00] [ 1.80059095e-03 -1.20456118e-05 9.99998379e-01 -5.83715374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561346184 meters 0.06757087462826294 Centerline is valid? [True, True] Translation: X:155.22, Y:-9.79, Z:-5.84 [[ 9.99969074e-01 7.79686611e-03 -1.02922911e-03 1.55223002e+02] [-7.79685528e-03 9.99969604e-01 1.45321905e-05 -9.79245475e+00] [ 1.02931114e-03 -6.50699065e-06 9.99999470e-01 -5.83840842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.591346184 meters 0.06782024904966714 Centerline is valid? [True, True] Translation: X:155.25, Y:-9.80, Z:-5.84 [[ 9.99965872e-01 8.15400052e-03 -1.32909191e-03 1.55250686e+02] [-8.15398275e-03 9.99966756e-01 1.87843168e-05 -9.79657678e+00] [ 1.32920089e-03 -7.94628330e-06 9.99999117e-01 -5.84127110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.621346184 meters 0.0676606649039527 Centerline is valid? [True, True] Translation: X:155.28, Y:-9.80, Z:-5.84 [[ 9.99963316e-01 8.51654450e-03 -9.14080628e-04 1.55279022e+02] [-8.51653661e-03 9.99963734e-01 1.25202194e-05 -9.80192131e+00] [ 9.14154106e-04 -4.73495895e-06 9.99999582e-01 -5.84165903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.651346184 meters 0.06741519126736381 Centerline is valid? [True, True] Translation: X:155.31, Y:-9.80, Z:-5.84 [[ 9.99958710e-01 9.05849956e-03 -7.22303475e-04 1.55308054e+02] [-9.05849524e-03 9.99958971e-01 9.26216940e-06 -9.80422729e+00] [ 7.22357741e-04 -2.71880438e-06 9.99999739e-01 -5.84144506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.681346184 meters 0.06692833684041943 Centerline is valid? [True, True] Translation: X:155.34, Y:-9.81, Z:-5.84 [[ 9.99960254e-01 8.91468797e-03 -1.34120773e-04 1.55337410e+02] [-8.91468803e-03 9.99960263e-01 1.68938003e-07 -9.80643209e+00] [ 1.34116950e-04 1.02671357e-06 9.99999991e-01 -5.83925706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71134618399998 meters 0.06752065009466444 Centerline is valid? [True, True] Translation: X:155.36, Y:-9.81, Z:-5.84 [[ 9.99967176e-01 8.02858295e-03 -1.08995304e-03 1.55364849e+02] [-8.02857206e-03 9.99967770e-01 1.43627351e-05 -9.81360117e+00] [ 1.09003322e-03 -5.61149713e-06 9.99999406e-01 -5.84413692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74134618399998 meters 0.0679268436754005 Centerline is valid? [True, True] Translation: X:155.39, Y:-9.82, Z:-5.85 [[ 9.99971236e-01 7.23076846e-03 -2.28983057e-03 1.55392390e+02] [-7.23070992e-03 9.99973858e-01 3.38419891e-05 -9.81717573e+00] [ 2.29001541e-03 -1.72839151e-05 9.99997378e-01 -5.84685051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77134618399998 meters 0.06755724733231194 Centerline is valid? [True, True] Translation: X:155.42, Y:-9.82, Z:-5.85 [[ 9.99977087e-01 6.18743952e-03 -2.74621628e-03 1.55421632e+02] [-6.18734875e-03 9.99980857e-01 4.15457521e-05 -9.81915227e+00] [ 2.74642077e-03 -2.45530023e-05 9.99996228e-01 -5.84511580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80134618399998 meters 0.06764199884121973 Centerline is valid? [True, True] Translation: X:155.45, Y:-9.82, Z:-5.85 [[ 9.99979832e-01 5.28658821e-03 -3.51967107e-03 1.55449967e+02] [-5.28643190e-03 9.99986025e-01 5.37133087e-05 -9.82216717e+00] [ 3.51990585e-03 -3.51057240e-05 9.99993804e-01 -5.84635670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83134618399998 meters 0.06744697361866574 Centerline is valid? [True, True] Translation: X:155.48, Y:-9.83, Z:-5.85 [[ 9.99985871e-01 4.54379134e-03 -2.75894271e-03 1.55478331e+02] [-4.54369463e-03 9.99989677e-01 4.13196249e-05 -9.82766279e+00] [ 2.75910198e-03 -2.87832479e-05 9.99996193e-01 -5.84631630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86134618399998 meters 0.06740960042245903 Centerline is valid? [True, True] Translation: X:155.51, Y:-9.83, Z:-5.85 [[ 9.99985899e-01 4.57639849e-03 -2.69427111e-03 1.55507447e+02] [-4.57630708e-03 9.99989528e-01 4.00918500e-05 -9.83048645e+00] [ 2.69442637e-03 -2.77614727e-05 9.99996370e-01 -5.84748915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89134618399999 meters 0.06740437146120097 Centerline is valid? [True, True] Translation: X:155.54, Y:-9.83, Z:-5.85 [[ 9.99984200e-01 4.73542455e-03 -3.02899057e-03 1.55535931e+02] [-4.73530952e-03 9.99988787e-01 4.51488828e-05 -9.83274274e+00] [ 3.02917040e-03 -3.08049616e-05 9.99995412e-01 -5.84875656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.921346184 meters 0.06758826888042832 Centerline is valid? [True, True] Translation: X:155.56, Y:-9.83, Z:-5.85 [[ 9.99974011e-01 6.23661895e-03 -3.61702621e-03 1.55563965e+02] [-6.23646636e-03 9.99980552e-01 5.34633884e-05 -9.83319786e+00] [ 3.61728929e-03 -3.09045366e-05 9.99993457e-01 -5.85034081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.951346184 meters 0.06762827663986459 Centerline is valid? [True, True] Translation: X:155.59, Y:-9.83, Z:-5.85 [[ 9.99966464e-01 6.96194408e-03 -4.31292661e-03 1.55592921e+02] [-6.96172968e-03 9.99975765e-01 6.47223460e-05 -9.83290084e+00] [ 4.31327268e-03 -3.46947463e-05 9.99990697e-01 -5.85171698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.981346184 meters 0.0678702103149652 Centerline is valid? [True, True] Translation: X:155.62, Y:-9.83, Z:-5.85 [[ 9.99956511e-01 7.86982776e-03 -5.00415662e-03 1.55621289e+02] [-7.86955024e-03 9.99969032e-01 7.51451548e-05 -9.83417264e+00] [ 5.00459303e-03 -3.57614249e-05 9.99987476e-01 -5.85405682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.011346184 meters 0.06778247255925425 Centerline is valid? [True, True] Translation: X:155.65, Y:-9.84, Z:-5.86 [[ 9.99956665e-01 7.97754213e-03 -4.79861382e-03 1.55649655e+02] [-7.97729035e-03 9.99968178e-01 7.16057759e-05 -9.83984032e+00] [ 4.79903236e-03 -3.33227371e-05 9.99988484e-01 -5.85630931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.041346184 meters 0.06748039402426367 Centerline is valid? [True, True] Translation: X:155.68, Y:-9.84, Z:-5.86 [[ 9.99956962e-01 7.70363973e-03 -5.16996135e-03 1.55678688e+02] [-7.70334528e-03 9.99970326e-01 7.68652604e-05 -9.84196037e+00] [ 5.17040007e-03 -3.70359549e-05 9.99986633e-01 -5.85544695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.071346184 meters 0.06810595511382214 Centerline is valid? [True, True] Translation: X:155.71, Y:-9.85, Z:-5.86 [[ 9.99967360e-01 6.12896075e-03 -5.26439304e-03 1.55706080e+02] [-6.12864127e-03 9.99981217e-01 7.68167047e-05 -9.84528730e+00] [ 5.26476496e-03 -4.45506210e-05 9.99986140e-01 -5.86009165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.101346184 meters 0.06766929193663106 Centerline is valid? [True, True] Translation: X:155.73, Y:-9.85, Z:-5.86 [[ 9.99961703e-01 5.56821817e-03 -6.75179153e-03 1.55734694e+02] [-5.56767017e-03 9.99984495e-01 9.99568602e-05 -9.84668199e+00] [ 6.75224343e-03 -6.23612839e-05 9.99977201e-01 -5.85760465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.131346184 meters 0.06822041224623306 Centerline is valid? [True, True] Translation: X:155.76, Y:-9.85, Z:-5.86 [[ 9.99958521e-01 5.25874919e-03 -7.43654281e-03 1.55761992e+02] [-5.25808399e-03 9.99986170e-01 1.08999297e-04 -9.84901403e+00] [ 7.43701316e-03 -6.98928089e-05 9.99972343e-01 -5.86192098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.161346184 meters 0.06769814876547518 Centerline is valid? [True, True] Translation: X:155.79, Y:-9.85, Z:-5.86 [[ 9.99960774e-01 5.68173850e-03 -6.79473244e-03 1.55791290e+02] [-5.68121002e-03 9.99983857e-01 9.70761513e-05 -9.85008671e+00] [ 6.79517432e-03 -5.84700413e-05 9.99976911e-01 -5.85991892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.191346184 meters 0.06678170046039776 Centerline is valid? [True, True] Translation: X:155.82, Y:-9.85, Z:-5.86 [[ 9.99954707e-01 7.21000389e-03 -6.21294686e-03 1.55819979e+02] [-7.20958581e-03 9.99974007e-01 8.96867386e-05 -9.85193846e+00] [ 6.21343201e-03 -4.48899029e-05 9.99980695e-01 -5.85676159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.221346184 meters 0.06708373189394369 Centerline is valid? [True, True] Translation: X:155.85, Y:-9.85, Z:-5.86 [[ 9.99955411e-01 7.33984151e-03 -5.94155655e-03 1.55847319e+02] [-7.33946968e-03 9.99973062e-01 8.43828932e-05 -9.85367573e+00] [ 5.94201585e-03 -4.07712565e-05 9.99982345e-01 -5.85986759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.251346184 meters 0.06736930491255998 Centerline is valid? [True, True] Translation: X:155.88, Y:-9.86, Z:-5.86 [[ 9.99956817e-01 7.18946382e-03 -5.88855903e-03 1.55875079e+02] [-7.18909859e-03 9.99974155e-01 8.31881307e-05 -9.85550557e+00] [ 5.88900492e-03 -4.08511070e-05 9.99982659e-01 -5.86258872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.281346184 meters 0.06703671773779582 Centerline is valid? [True, True] Translation: X:155.90, Y:-9.86, Z:-5.86 [[ 9.99961419e-01 6.55057753e-03 -5.85238162e-03 1.55902973e+02] [-6.55021390e-03 9.99978544e-01 8.12999707e-05 -9.85739326e+00] [ 5.85278861e-03 -4.29624826e-05 9.99982871e-01 -5.86175970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.311346184 meters 0.06777477085253447 Centerline is valid? [True, True] Translation: X:155.93, Y:-9.86, Z:-5.87 [[ 9.99961614e-01 5.09172925e-03 -7.13049263e-03 1.55930186e+02] [-5.09114631e-03 9.99987035e-01 9.99030767e-05 -9.86153015e+00] [ 7.13090886e-03 -6.35968607e-05 9.99974573e-01 -5.86689084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.341346184 meters 0.06803348230824033 Centerline is valid? [True, True] Translation: X:155.96, Y:-9.86, Z:-5.87 [[ 9.99963705e-01 4.06071170e-03 -7.48995131e-03 1.55958452e+02] [-4.06004221e-03 9.99991753e-01 1.04587408e-04 -9.86433012e+00] [ 7.49031424e-03 -7.41740936e-05 9.99971944e-01 -5.86865848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.371346184 meters 0.06812927111600678 Centerline is valid? [True, True] Translation: X:155.99, Y:-9.87, Z:-5.87 [[ 9.99969047e-01 2.38002086e-03 -7.49934458e-03 1.55987188e+02] [-2.37930167e-03 9.99997164e-01 1.04820264e-04 -9.86891079e+00] [ 7.49957278e-03 -8.69738162e-05 9.99971874e-01 -5.87042739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.401346184 meters 0.06851846995392938 Centerline is valid? [True, True] Translation: X:156.02, Y:-9.87, Z:-5.87 [[ 9.99973239e-01 1.36685016e-03 -7.18698021e-03 1.56015327e+02] [-1.36617792e-03 9.99999062e-01 9.84447585e-05 -9.87382198e+00] [ 7.18710803e-03 -8.86234303e-05 9.99974168e-01 -5.87325204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.431346184 meters 0.06883309844674333 Centerline is valid? [True, True] Translation: X:156.04, Y:-9.88, Z:-5.87 [[ 9.99963272e-01 -1.53091761e-03 -8.43271643e-03 1.56044517e+02] [ 1.53196274e-03 9.99998820e-01 1.17479443e-04 -9.88058668e+00] [ 8.43252662e-03 -1.30393736e-04 9.99964437e-01 -5.87486201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46134618399998 meters 0.06930797731308982 Centerline is valid? [True, True] Translation: X:156.07, Y:-9.88, Z:-5.88 [[ 9.99953824e-01 -3.03429376e-03 -9.11832207e-03 1.56072664e+02] [ 3.03556122e-03 9.99995385e-01 1.25164985e-04 -9.88458575e+00] [ 9.11790020e-03 -1.52838431e-04 9.99958419e-01 -5.87745740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49134618399998 meters 0.06975095567231598 Centerline is valid? [True, True] Translation: X:156.10, Y:-9.89, Z:-5.88 [[ 9.99948240e-01 -4.77529156e-03 -8.98407714e-03 1.56099831e+02] [ 4.77655913e-03 9.99988585e-01 1.19639557e-04 -9.88948171e+00] [ 8.98340328e-03 -1.62546340e-04 9.99959635e-01 -5.87936796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52134618399998 meters 0.06759162717354726 Centerline is valid? [True, True] Translation: X:156.13, Y:-9.89, Z:-5.87 [[ 9.99962072e-01 -5.05964897e-03 -7.08908948e-03 1.56129386e+02] [ 5.06040124e-03 9.99987192e-01 8.81837180e-05 -9.88668128e+00] [ 7.08855250e-03 -1.24054010e-04 9.99974868e-01 -5.87098041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55134618399998 meters 0.06931926687848321 Centerline is valid? [True, True] Translation: X:156.16, Y:-9.89, Z:-5.88 [[ 9.99964230e-01 -5.28164333e-03 -6.60625101e-03 1.56157265e+02] [ 5.28232868e-03 9.99986045e-01 8.62988893e-05 -9.89292141e+00] [ 6.60570302e-03 -1.21192192e-04 9.99978175e-01 -5.87946945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58134618399998 meters 0.06801616060809484 Centerline is valid? [True, True] Translation: X:156.19, Y:-9.89, Z:-5.88 [[ 9.99960801e-01 -5.64931859e-03 -6.81772470e-03 1.56186541e+02] [ 5.65000683e-03 9.99984035e-01 8.16931119e-05 -9.89316867e+00] [ 6.81715434e-03 -1.20210101e-04 9.99976756e-01 -5.87524794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61134618399998 meters 0.06969926106959476 Centerline is valid? [True, True] Translation: X:156.21, Y:-9.90, Z:-5.88 [[ 9.99963834e-01 -5.75879849e-03 -6.25836943e-03 1.56214326e+02] [ 5.75940844e-03 9.99983411e-01 7.94431397e-05 -9.90068848e+00] [ 6.25780811e-03 -1.15484772e-04 9.99980413e-01 -5.88426019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64134618399999 meters 0.06776689723667018 Centerline is valid? [True, True] Translation: X:156.24, Y:-9.90, Z:-5.88 [[ 9.99957115e-01 -6.76362149e-03 -6.32631485e-03 1.56243272e+02] [ 6.76421710e-03 9.99977120e-01 7.27559638e-05 -9.89733605e+00] [ 6.32567801e-03 -1.15545411e-04 9.99979986e-01 -5.87630991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.671346184 meters 0.06827324190751365 Centerline is valid? [True, True] Translation: X:156.27, Y:-9.90, Z:-5.88 [[ 9.99954915e-01 -7.41405972e-03 -5.93293821e-03 1.56270824e+02] [ 7.41461204e-03 9.99972509e-01 7.11023050e-05 -9.89995359e+00] [ 5.93224795e-03 -1.15089534e-04 9.99982397e-01 -5.87889615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.701346184 meters 0.06883082026238621 Centerline is valid? [True, True] Translation: X:156.30, Y:-9.90, Z:-5.88 [[ 9.99941326e-01 -8.77315687e-03 -6.35426892e-03 1.56298994e+02] [ 8.77383178e-03 9.99961506e-01 7.83456423e-05 -9.90347415e+00] [ 6.35333699e-03 -1.34092332e-04 9.99979808e-01 -5.88128120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.731346184 meters 0.06855903062796546 Centerline is valid? [True, True] Translation: X:156.33, Y:-9.91, Z:-5.88 [[ 9.99957997e-01 -8.02995697e-03 -4.41861413e-03 1.56327609e+02] [ 8.03027451e-03 9.99967755e-01 5.41259405e-05 -9.90599884e+00] [ 4.41803702e-03 -8.96063514e-05 9.99990236e-01 -5.88274852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.761346184 meters 0.06763196666335505 Centerline is valid? [True, True] Translation: X:156.36, Y:-9.90, Z:-5.88 [[ 9.99964099e-01 -7.19538228e-03 -4.47512144e-03 1.56357465e+02] [ 7.19570149e-03 9.99974109e-01 5.52323065e-05 -9.90435660e+00] [ 4.47460815e-03 -8.74319616e-05 9.99989985e-01 -5.88092063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.791346184 meters 0.06742291035288385 Centerline is valid? [True, True] Translation: X:156.39, Y:-9.90, Z:-5.88 [[ 9.99974456e-01 -5.88228294e-03 -4.06037680e-03 1.56387418e+02] [ 5.88253379e-03 9.99982697e-01 4.98395238e-05 -9.90376387e+00] [ 4.06001337e-03 -7.37235544e-05 9.99991755e-01 -5.88264236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.821346184 meters 0.06742291035288385 Centerline is valid? [True, True] Translation: X:156.42, Y:-9.90, Z:-5.88 [[ 9.99974232e-01 -5.92021782e-03 -4.06037877e-03 1.56416581e+02] [ 5.92046834e-03 9.99982473e-01 4.96811708e-05 -9.90408175e+00] [ 4.06001347e-03 -7.37192346e-05 9.99991755e-01 -5.88364069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.851346184 meters 0.06815207791288014 Centerline is valid? [True, True] Translation: X:156.45, Y:-9.90, Z:-5.89 [[ 9.99983402e-01 -4.00738890e-03 -4.13972864e-03 1.56445087e+02] [ 4.00762944e-03 9.99991968e-01 4.98111617e-05 -9.90348610e+00] [ 4.13949578e-03 -6.64008332e-05 9.99991430e-01 -5.88940028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.881346184 meters 0.06723291016589385 Centerline is valid? [True, True] Translation: X:156.47, Y:-9.90, Z:-5.89 [[ 9.99983972e-01 -4.12654243e-03 -3.87646658e-03 1.56474712e+02] [ 4.12675576e-03 9.99991484e-01 4.70361746e-05 -9.90193526e+00] [ 3.87623947e-03 -6.30326515e-05 9.99992485e-01 -5.88632691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.911346184 meters 0.06744350936325248 Centerline is valid? [True, True] Translation: X:156.50, Y:-9.90, Z:-5.89 [[ 9.99980705e-01 -4.52250132e-03 -4.25860946e-03 1.56503885e+02] [ 4.52276225e-03 9.99989771e-01 5.16421383e-05 -9.90319245e+00] [ 4.25833235e-03 -7.09018200e-05 9.99990931e-01 -5.88745780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.941346184 meters 0.06691451497049754 Centerline is valid? [True, True] Translation: X:156.53, Y:-9.90, Z:-5.89 [[ 9.99976242e-01 -5.27874107e-03 -4.43280119e-03 1.56533986e+02] [ 5.27903043e-03 9.99986064e-01 5.35783496e-05 -9.90386283e+00] [ 4.43245659e-03 -7.69779691e-05 9.99990174e-01 -5.88533215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.971346184 meters 0.06702866797512572 Centerline is valid? [True, True] Translation: X:156.56, Y:-9.91, Z:-5.89 [[ 9.99971252e-01 -7.11022271e-03 -2.63436560e-03 1.56562708e+02] [ 7.11032776e-03 9.99974721e-01 3.05134855e-05 -9.90915848e+00] [ 2.63408205e-03 -4.92438111e-05 9.99996530e-01 -5.88608856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001346184 meters 0.06766263873814433 Centerline is valid? [True, True] Translation: X:156.59, Y:-9.91, Z:-5.89 [[ 9.99969798e-01 -7.15781911e-03 -3.02803186e-03 1.56593332e+02] [ 7.15796709e-03 9.99974381e-01 3.80367468e-05 -9.91259193e+00] [ 3.02768203e-03 -5.97101505e-05 9.99995415e-01 -5.88994563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.031346184 meters 0.06713243626637415 Centerline is valid? [True, True] Translation: X:156.62, Y:-9.91, Z:-5.89 [[ 9.99971099e-01 -6.77194676e-03 -3.45575204e-03 1.56623483e+02] [ 6.77213464e-03 9.99977068e-01 4.26682829e-05 -9.91281287e+00] [ 3.45538384e-03 -6.60698679e-05 9.99994028e-01 -5.88892337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.061346184 meters 0.0671392858633168 Centerline is valid? [True, True] Translation: X:156.65, Y:-9.91, Z:-5.89 [[ 9.99976518e-01 -5.72230973e-03 -3.77071945e-03 1.56653383e+02] [ 5.72252325e-03 9.99983625e-01 4.58383544e-05 -9.91495990e+00] [ 3.77039540e-03 -6.74153077e-05 9.99992890e-01 -5.89086412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.091346184 meters 0.06698252555447838 Centerline is valid? [True, True] Translation: X:156.68, Y:-9.92, Z:-5.89 [[ 9.99985546e-01 -4.53942419e-03 -2.88135513e-03 1.56683177e+02] [ 4.53954689e-03 9.99989696e-01 3.60442806e-05 -9.91565060e+00] [ 2.88116182e-03 -4.91238064e-05 9.99995848e-01 -5.89219444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.121346184 meters 0.06693363321399733 Centerline is valid? [True, True] Translation: X:156.71, Y:-9.92, Z:-5.89 [[ 9.99990564e-01 -3.40538325e-03 -2.69724641e-03 1.56712352e+02] [ 3.40548360e-03 9.99994201e-01 3.26094255e-05 -9.91540800e+00] [ 2.69711972e-03 -4.17945462e-05 9.99996362e-01 -5.89298550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.151346184 meters 0.06664700536446891 Centerline is valid? [True, True] Translation: X:156.74, Y:-9.91, Z:-5.89 [[ 9.99998136e-01 -3.29104434e-04 -1.90276916e-03 1.56741644e+02] [ 3.29147145e-04 9.99999946e-01 2.21335915e-05 -9.91453541e+00] [ 1.90276177e-03 -2.27598413e-05 9.99998189e-01 -5.89381364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.181346184 meters 0.06640840989303319 Centerline is valid? [True, True] Translation: X:156.77, Y:-9.92, Z:-5.90 [[ 9.99998919e-01 9.37110175e-04 -1.13336960e-03 1.56771303e+02] [-9.37096453e-04 9.99999561e-01 1.26384077e-05 -9.91643044e+00] [ 1.13338095e-03 -1.15763174e-05 9.99999358e-01 -5.89523780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21134618399998 meters 0.06617839018794433 Centerline is valid? [True, True] Translation: X:156.80, Y:-9.92, Z:-5.90 [[ 9.99999143e-01 1.30164132e-03 -1.38459889e-04 1.56800461e+02] [-1.30164127e-03 9.99999153e-01 4.47939897e-07 -9.91839586e+00] [ 1.38460355e-04 -2.67714404e-07 9.99999990e-01 -5.89575493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24134618399998 meters 0.06558169876378932 Centerline is valid? [True, True] Translation: X:156.83, Y:-9.92, Z:-5.89 [[ 9.99999359e-01 1.13258687e-03 -1.47347128e-05 1.56831282e+02] [-1.13258687e-03 9.99999359e-01 1.79976046e-07 -9.92014533e+00] [ 1.47349071e-05 -1.63287585e-07 1.00000000e+00 -5.89298724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27134618399998 meters 0.06640434430568298 Centerline is valid? [True, True] Translation: X:156.86, Y:-9.92, Z:-5.90 [[ 9.99999746e-01 -1.15367959e-04 -7.03955027e-04 1.56860417e+02] [ 1.15374313e-04 9.99999993e-01 8.98519587e-06 -9.92371510e+00] [ 7.03953986e-04 -9.06641191e-06 9.99999752e-01 -5.89791091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30134618399998 meters 0.06690405664644382 Centerline is valid? [True, True] Translation: X:156.89, Y:-9.93, Z:-5.90 [[ 9.99998281e-01 -1.85386920e-03 4.53937246e-05 1.56890138e+02] [ 1.85386926e-03 9.99998282e-01 -1.16933148e-06 -9.92857764e+00] [-4.53914789e-05 1.25348350e-06 9.99999999e-01 -5.90022107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33134618399998 meters 0.06688605834762486 Centerline is valid? [True, True] Translation: X:156.92, Y:-9.94, Z:-5.90 [[ 9.99984225e-01 -5.61682848e-03 -7.46979669e-07 1.56920504e+02] [ 5.61682848e-03 9.99984225e-01 9.11878232e-09 -9.93906084e+00] [ 7.46916562e-07 -1.33142926e-08 1.00000000e+00 -5.89970704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36134618399998 meters 0.06731095171851546 Centerline is valid? [True, True] Translation: X:156.95, Y:-9.94, Z:-5.90 [[ 9.99976497e-01 -6.83786572e-03 -4.98441373e-04 1.56951630e+02] [ 6.83787025e-03 9.99976621e-01 7.38122883e-06 -9.94472765e+00] [ 4.98379248e-04 -1.07893328e-05 9.99999876e-01 -5.90176162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39134618399999 meters 0.06742620640676182 Centerline is valid? [True, True] Translation: X:156.98, Y:-9.95, Z:-5.90 [[ 9.99973676e-01 -7.24372740e-03 -4.19710010e-04 1.56982567e+02] [ 7.24373073e-03 9.99973764e-01 6.43088801e-06 -9.94855604e+00] [ 4.19652415e-04 -9.47098502e-06 9.99999912e-01 -5.90341813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.421346184 meters 0.06707602053835601 Centerline is valid? [True, True] Translation: X:157.01, Y:-9.95, Z:-5.90 [[ 9.99980308e-01 -6.14686444e-03 1.26453076e-03 1.57013916e+02] [ 6.14688745e-03 9.99981108e-01 -1.43047799e-05 -9.95198152e+00] [-1.26441894e-03 2.20774265e-05 9.99999200e-01 -5.90382804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.451346184 meters 0.06715929250381632 Centerline is valid? [True, True] Translation: X:157.05, Y:-9.95, Z:-5.91 [[ 9.99986653e-01 -4.84267705e-03 1.80044959e-03 1.57045170e+02] [ 4.84271703e-03 9.99988274e-01 -1.78455075e-05 -9.95352892e+00] [-1.80034206e-03 2.65643372e-05 9.99998379e-01 -5.90612175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.481346184 meters 0.06701872655567413 Centerline is valid? [True, True] Translation: X:157.08, Y:-9.95, Z:-5.91 [[ 9.99992613e-01 -3.69919510e-03 1.04412602e-03 1.57077310e+02] [ 3.69920815e-03 9.99993158e-01 -1.05642204e-05 -9.95449746e+00] [-1.04407979e-03 1.44265818e-05 9.99999455e-01 -5.90724130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.511346184 meters 0.06640599579938358 Centerline is valid? [True, True] Translation: X:157.11, Y:-9.95, Z:-5.91 [[ 9.99995110e-01 -2.75655676e-03 1.47682608e-03 1.57108745e+02] [ 2.75658525e-03 9.99996200e-01 -1.72537745e-05 -9.95444276e+00] [-1.47677291e-03 2.13246871e-05 9.99998909e-01 -5.90593293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.541346184 meters 0.06727431876512825 Centerline is valid? [True, True] Translation: X:157.14, Y:-9.96, Z:-5.91 [[ 9.99992158e-01 -3.35520688e-03 2.10394390e-03 1.57139456e+02] [ 3.35526609e-03 9.99994371e-01 -2.46143701e-05 -9.96248233e+00] [-2.10384947e-03 3.16734687e-05 9.99997786e-01 -5.91070099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.571346184 meters 0.0676668761034927 Centerline is valid? [True, True] Translation: X:157.17, Y:-9.97, Z:-5.91 [[ 9.99992431e-01 -3.82503149e-03 7.11800221e-04 1.57171237e+02] [ 3.82503714e-03 9.99992684e-01 -6.56661046e-06 -9.96712300e+00] [-7.11769896e-04 9.28922304e-06 9.99999747e-01 -5.91356998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.601346184 meters 0.06849339843126022 Centerline is valid? [True, True] Translation: X:157.20, Y:-9.97, Z:-5.92 [[ 9.99987575e-01 -4.98475018e-03 5.26876451e-05 1.57202083e+02] [ 4.98475013e-03 9.99987576e-01 1.17008444e-06 -9.97228761e+00] [-5.26928232e-05 -9.07435151e-07 9.99999999e-01 -5.91723328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.631346184 meters 0.06885538480653548 Centerline is valid? [True, True] Translation: X:157.23, Y:-9.98, Z:-5.92 [[ 9.99976947e-01 -6.78992053e-03 -5.27856694e-05 1.57233243e+02] [ 6.78992063e-03 9.99976948e-01 1.88466612e-06 -9.97627368e+00] [ 5.27716558e-05 -2.24303317e-06 9.99999999e-01 -5.91895686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.661346184 meters 0.06910895959360162 Centerline is valid? [True, True] Translation: X:157.26, Y:-9.98, Z:-5.92 [[ 9.99942538e-01 -1.07015360e-02 -6.30554124e-04 1.57264288e+02] [ 1.07015436e-02 9.99942737e-01 8.71026631e-06 -9.98032662e+00] [ 6.30424803e-04 -1.54576683e-05 9.99999801e-01 -5.91697842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.691346184 meters 0.07092110236276968 Centerline is valid? [True, True] Translation: X:157.29, Y:-9.99, Z:-5.92 [[ 9.99925399e-01 -1.21944601e-02 -7.01338118e-04 1.57294926e+02] [ 1.21944722e-02 9.99925645e-01 1.30128320e-05 -9.98718274e+00] [ 7.01127285e-04 -2.15643094e-05 9.99999754e-01 -5.92255666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721346184 meters 0.07011726957233923 Centerline is valid? [True, True] Translation: X:157.33, Y:-9.99, Z:-5.92 [[ 9.99906441e-01 -1.36762383e-02 2.63423199e-04 1.57327256e+02] [ 1.36762390e-02 9.99906476e-01 -9.02153301e-07 -9.98878885e+00] [-2.63386225e-04 4.50470753e-06 9.99999965e-01 -5.91974371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.751346184 meters 0.07177106299362346 Centerline is valid? [True, True] Translation: X:157.36, Y:-10.00, Z:-5.93 [[ 9.99902878e-01 -1.39237004e-02 6.04989599e-04 1.57358302e+02] [ 1.39237066e-02 9.99903060e-01 -6.01670074e-06 -9.99801299e+00] [-6.04847177e-04 1.44398140e-05 9.99999817e-01 -5.92503889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781346184 meters 0.06901845147700776 Centerline is valid? [True, True] Translation: X:157.39, Y:-9.99, Z:-5.92 [[ 9.99914528e-01 -1.29792239e-02 1.57359805e-03 1.57390359e+02] [ 1.29792693e-02 9.99915766e-01 -1.86536165e-05 -9.99209291e+00] [-1.57322338e-03 3.90761749e-05 9.99998762e-01 -5.91903112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.811346184 meters 0.06952414663993589 Centerline is valid? [True, True] Translation: X:157.42, Y:-9.99, Z:-5.92 [[ 9.99920148e-01 -1.26353546e-02 -2.14264669e-04 1.57421361e+02] [ 1.26353559e-02 9.99920171e-01 4.77624651e-06 -9.99174600e+00] [ 2.14187215e-04 -7.48317547e-06 9.99999977e-01 -5.92187772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841346184 meters 0.06949090401212366 Centerline is valid? [True, True] Translation: X:157.45, Y:-9.99, Z:-5.92 [[ 9.99922735e-01 -1.24301314e-02 -1.24769437e-04 1.57452668e+02] [ 1.24301318e-02 9.99922743e-01 2.92877489e-06 -9.99020267e+00] [ 1.24723392e-04 -4.47944915e-06 9.99999992e-01 -5.92304966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.871346184 meters 0.06898897321299009 Centerline is valid? [True, True] Translation: X:157.48, Y:-9.99, Z:-5.92 [[ 9.99918631e-01 -1.27141937e-02 -1.03931626e-03 1.57484219e+02] [ 1.27142162e-02 9.99919171e-01 1.50978240e-05 -9.99005878e+00] [ 1.03904030e-03 -2.83106872e-05 9.99999460e-01 -5.92247091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901346184 meters 0.07021608037341931 Centerline is valid? [True, True] Translation: X:157.51, Y:-9.99, Z:-5.93 [[ 9.99908023e-01 -1.34713574e-02 -1.57105282e-03 1.57514245e+02] [ 1.34714078e-02 9.99909256e-01 2.14950769e-05 -9.99475547e+00] [ 1.57062069e-03 -4.26573931e-05 9.99998766e-01 -5.92737798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.931346184 meters 0.07109149236748627 Centerline is valid? [True, True] Translation: X:157.54, Y:-10.00, Z:-5.93 [[ 9.99885373e-01 -1.50846372e-02 -1.30181849e-03 1.57544783e+02] [ 1.50846733e-02 9.99886220e-01 1.79149664e-05 -9.99879118e+00] [ 1.30140013e-03 -3.75504195e-05 9.99999152e-01 -5.92949934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96134618399998 meters 0.07245426783378103 Centerline is valid? [True, True] Translation: X:157.57, Y:-10.00, Z:-5.93 [[ 9.99828726e-01 -1.84148869e-02 -1.84654091e-03 1.57574378e+02] [ 1.84149635e-02 9.99830430e-01 2.45144864e-05 -1.00032374e+01] [ 1.84577636e-03 -5.85142713e-05 9.99998295e-01 -5.93204587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99134618399998 meters 0.07320021644690544 Centerline is valid? [True, True] Translation: X:157.61, Y:-10.00, Z:-5.93 [[ 9.99808380e-01 -1.94490836e-02 -2.22197567e-03 1.57605075e+02] [ 1.94491986e-02 9.99810846e-01 3.01498233e-05 -1.00044599e+01] [ 2.22096899e-03 -7.33596921e-05 9.99997531e-01 -5.93383831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02134618399998 meters 0.07245880447545108 Centerline is valid? [True, True] Translation: X:157.64, Y:-10.00, Z:-5.93 [[ 9.99789017e-01 -2.04711937e-02 -1.68841632e-03 1.57636212e+02] [ 2.04712630e-02 9.99790441e-01 2.37729985e-05 -1.00020193e+01] [ 1.68757584e-03 -5.83319974e-05 9.99998574e-01 -5.93175372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05134618399998 meters 0.07284244446113602 Centerline is valid? [True, True] Translation: X:157.67, Y:-10.00, Z:-5.93 [[ 9.99775634e-01 -2.08766195e-02 -3.58442253e-03 1.57667033e+02] [ 2.08769274e-02 9.99782052e-01 4.84826275e-05 -1.00010991e+01] [ 3.58262916e-03 -1.23303478e-04 9.99993575e-01 -5.93364349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08134618399998 meters 0.07250282866513504 Centerline is valid? [True, True] Translation: X:157.70, Y:-10.00, Z:-5.94 [[ 9.99802169e-01 -1.97425250e-02 -2.41986557e-03 1.57697420e+02] [ 1.97426609e-02 9.99805094e-01 3.23035762e-05 -1.00000425e+01] [ 2.41875617e-03 -8.00717710e-05 9.99997072e-01 -5.93507165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11134618399998 meters 0.07154634617814958 Centerline is valid? [True, True] Translation: X:157.73, Y:-10.00, Z:-5.94 [[ 9.99831155e-01 -1.81950607e-02 -2.56948384e-03 1.57728438e+02] [ 1.81952124e-02 9.99834453e-01 3.56792817e-05 -9.99737618e+00] [ 2.56840928e-03 -8.24255616e-05 9.99996698e-01 -5.93501355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14134618399999 meters 0.0719061655960523 Centerline is valid? [True, True] Translation: X:157.76, Y:-10.00, Z:-5.94 [[ 9.99862600e-01 -1.63235919e-02 -2.88469914e-03 1.57758529e+02] [ 1.63237788e-02 9.99866757e-01 4.12558803e-05 -9.99704049e+00] [ 2.88364133e-03 -8.83394023e-05 9.99995838e-01 -5.93899506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.171346184 meters 0.0720781818245682 Centerline is valid? [True, True] Translation: X:157.79, Y:-9.99, Z:-5.94 [[ 9.99866377e-01 -1.59660525e-02 -3.50905119e-03 1.57790202e+02] [ 1.59663213e-02 9.99872529e-01 4.85990950e-05 -9.99440983e+00] [ 3.50782795e-03 -1.04619240e-04 9.99993842e-01 -5.94177488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.201346184 meters 0.07188191383174683 Centerline is valid? [True, True] Translation: X:157.82, Y:-9.99, Z:-5.94 [[ 9.99856450e-01 -1.65584383e-02 -3.59144987e-03 1.57821152e+02] [ 1.65587191e-02 9.99862894e-01 4.84648793e-05 -9.99139687e+00] [ 3.59015495e-03 -1.07927732e-04 9.99993550e-01 -5.94127787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.231346184 meters 0.07018821142233664 Centerline is valid? [True, True] Translation: X:157.85, Y:-9.98, Z:-5.94 [[ 9.99845578e-01 -1.70714767e-02 -4.16949490e-03 1.57852238e+02] [ 1.70718629e-02 9.99854264e-01 5.70334451e-05 -9.98463252e+00] [ 4.16791361e-03 -1.28205683e-04 9.99991306e-01 -5.93674378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.261346184 meters 0.07106449156199676 Centerline is valid? [True, True] Translation: X:157.88, Y:-9.98, Z:-5.94 [[ 9.99830981e-01 -1.74488121e-02 -5.79214127e-03 1.57882096e+02] [ 1.74495810e-02 9.99847741e-01 8.22357927e-05 -9.98182215e+00] [ 5.78982444e-03 -1.83292332e-04 9.99983222e-01 -5.94087450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.291346184 meters 0.0713831221587893 Centerline is valid? [True, True] Translation: X:157.91, Y:-9.98, Z:-5.94 [[ 9.99825411e-01 -1.71266724e-02 -7.47163042e-03 1.57912598e+02] [ 1.71279103e-02 9.99853301e-01 1.01715681e-04 -9.98094672e+00] [ 7.46879229e-03 -2.29671338e-04 9.99972082e-01 -5.94383358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321346184 meters 0.07148827801934639 Centerline is valid? [True, True] Translation: X:157.94, Y:-9.98, Z:-5.95 [[ 9.99837097e-01 -1.67918520e-02 -6.61920816e-03 1.57940825e+02] [ 1.67928006e-02 9.99858987e-01 8.77495720e-05 -9.98005281e+00] [ 6.61680128e-03 -1.98890320e-04 9.99978089e-01 -5.94568049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.351346184 meters 0.07115733094672098 Centerline is valid? [True, True] Translation: X:157.97, Y:-9.97, Z:-5.95 [[ 9.99854878e-01 -1.62820601e-02 -5.01181750e-03 1.57970630e+02] [ 1.62825975e-02 9.99867428e-01 6.64314614e-05 -9.97495739e+00] [ 5.01007143e-03 -1.48027227e-04 9.99987439e-01 -5.94535113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381346184 meters 0.07141558938146655 Centerline is valid? [True, True] Translation: X:158.00, Y:-9.97, Z:-5.95 [[ 9.99845445e-01 -1.66403211e-02 -5.67325697e-03 1.58001572e+02] [ 1.66410238e-02 9.99861526e-01 7.66866659e-05 -9.97334085e+00] [ 5.67119528e-03 -1.71083618e-04 9.99983904e-01 -5.94676989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.411346184 meters 0.0710790402854623 Centerline is valid? [True, True] Translation: X:158.03, Y:-9.97, Z:-5.95 [[ 9.99852989e-01 -1.60346069e-02 -6.07390469e-03 1.58032261e+02] [ 1.60354013e-02 9.99871421e-01 8.21023094e-05 -9.96970628e+00] [ 6.07180723e-03 -1.79487738e-04 9.99981550e-01 -5.94757863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441346184 meters 0.07126256129396621 Centerline is valid? [True, True] Translation: X:158.06, Y:-9.96, Z:-5.95 [[ 9.99856127e-01 -1.48794449e-02 -8.14411401e-03 1.58062185e+02] [ 1.48808215e-02 9.99889269e-01 1.08462339e-04 -9.96192184e+00] [ 8.14159834e-03 -2.29637841e-04 9.99966830e-01 -5.95029812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.471346184 meters 0.0714403474309018 Centerline is valid? [True, True] Translation: X:158.09, Y:-9.96, Z:-5.95 [[ 9.99850849e-01 -1.46981031e-02 -9.06893158e-03 1.58091241e+02] [ 1.46997109e-02 9.99891947e-01 1.10648022e-04 -9.95843447e+00] [ 9.06632534e-03 -2.43942192e-04 9.99958870e-01 -5.95238420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501346184 meters 0.07176906249007003 Centerline is valid? [True, True] Translation: X:158.12, Y:-9.96, Z:-5.95 [[ 9.99837862e-01 -1.51786709e-02 -9.68805821e-03 1.58120202e+02] [ 1.51805095e-02 9.99884763e-01 1.16272997e-04 -9.95540418e+00] [ 9.68517692e-03 -2.63323805e-04 9.99953063e-01 -5.95429260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.531346184 meters 0.07204800406504412 Centerline is valid? [True, True] Translation: X:158.15, Y:-9.95, Z:-5.95 [[ 9.99809735e-01 -1.70439521e-02 -9.48664863e-03 1.58148837e+02] [ 1.70457729e-02 9.99854704e-01 1.11106378e-04 -9.95174011e+00] [ 9.48337657e-03 -2.72792496e-04 9.99954995e-01 -5.95461849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561346184 meters 0.07237697193642753 Centerline is valid? [True, True] Translation: X:158.18, Y:-9.95, Z:-5.96 [[ 9.99798688e-01 -1.78895665e-02 -9.08557069e-03 1.58176658e+02] [ 1.78913138e-02 9.99839931e-01 1.11069218e-04 -9.95184095e+00] [ 9.08212940e-03 -2.73599654e-04 9.99958719e-01 -5.95625003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.591346184 meters 0.07248955161230598 Centerline is valid? [True, True] Translation: X:158.21, Y:-9.95, Z:-5.96 [[ 9.99780237e-01 -1.90015964e-02 -8.85538537e-03 1.58205507e+02] [ 1.90032272e-02 9.99819417e-01 1.00043855e-04 -9.95132371e+00] [ 8.85188525e-03 -2.68302769e-04 9.99960785e-01 -5.95668954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.621346184 meters 0.07420508934874762 Centerline is valid? [True, True] Translation: X:158.23, Y:-9.95, Z:-5.96 [[ 9.99768374e-01 -1.97889524e-02 -8.46140681e-03 1.58234219e+02] [ 1.97905158e-02 9.99804143e-01 1.01070674e-04 -9.95376437e+00] [ 8.45774951e-03 -2.68502868e-04 9.99964197e-01 -5.96172024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.651346184 meters 0.07329588341288018 Centerline is valid? [True, True] Translation: X:158.26, Y:-9.95, Z:-5.96 [[ 9.99738427e-01 -2.14306130e-02 -7.98794879e-03 1.58263848e+02] [ 2.14320652e-02 9.99770302e-01 9.62353860e-05 -9.94648681e+00] [ 7.98405159e-03 -2.67408453e-04 9.99968091e-01 -5.95809263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681346184 meters 0.07341988659824698 Centerline is valid? [True, True] Translation: X:158.29, Y:-9.94, Z:-5.96 [[ 9.99752789e-01 -2.07203405e-02 -8.06403943e-03 1.58293806e+02] [ 2.07218077e-02 9.99785275e-01 9.84300274e-05 -9.94413970e+00] [ 8.06026838e-03 -2.65507169e-04 9.99967480e-01 -5.96017161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71134618399998 meters 0.07331596855673626 Centerline is valid? [True, True] Translation: X:158.32, Y:-9.94, Z:-5.96 [[ 9.99766005e-01 -2.00936435e-02 -8.01125330e-03 1.58324575e+02] [ 2.00950715e-02 9.99798069e-01 9.77857176e-05 -9.94178487e+00] [ 8.00767071e-03 -2.58749544e-04 9.99967905e-01 -5.96169604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74134618399998 meters 0.07331596855673626 Centerline is valid? [True, True] Translation: X:158.35, Y:-9.94, Z:-5.96 [[ 9.99765271e-01 -2.01301561e-02 -8.01127209e-03 1.58353754e+02] [ 2.01315730e-02 9.99797335e-01 9.62435637e-05 -9.94209139e+00] [ 8.00771109e-03 -2.57500481e-04 9.99967905e-01 -5.96269460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77134618399998 meters 0.07349961787948589 Centerline is valid? [True, True] Translation: X:158.38, Y:-9.94, Z:-5.97 [[ 9.99797298e-01 -1.79139480e-02 -9.18988418e-03 1.58383536e+02] [ 1.79157248e-02 9.99839494e-01 1.11049548e-04 -9.93629278e+00] [ 9.18641981e-03 -2.75670474e-04 9.99957766e-01 -5.96693845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80134618399998 meters 0.07219927534267893 Centerline is valid? [True, True] Translation: X:158.41, Y:-9.93, Z:-5.96 [[ 9.99816279e-01 -1.67733377e-02 -9.27708421e-03 1.58413025e+02] [ 1.67750901e-02 9.99859282e-01 1.11103349e-04 -9.93024480e+00] [ 9.27391519e-03 -2.66706860e-04 9.99956961e-01 -5.96484980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83134618399998 meters 0.07159202458323882 Centerline is valid? [True, True] Translation: X:158.44, Y:-9.93, Z:-5.96 [[ 9.99824680e-01 -1.59399539e-02 -9.82480496e-03 1.58441401e+02] [ 1.59417766e-02 9.99872916e-01 1.07232674e-04 -9.92510962e+00] [ 9.82184710e-03 -2.63838720e-04 9.99951730e-01 -5.96393829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86134618399998 meters 0.07290585699425282 Centerline is valid? [True, True] Translation: X:158.47, Y:-9.92, Z:-5.97 [[ 9.99842230e-01 -1.48656631e-02 -9.72255133e-03 1.58469526e+02] [ 1.48673718e-02 9.99889469e-01 1.03499266e-04 -9.92324911e+00] [ 9.71993811e-03 -2.48031723e-04 9.99952730e-01 -5.97027854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89134618399999 meters 0.07285996945658138 Centerline is valid? [True, True] Translation: X:158.50, Y:-9.91, Z:-5.97 [[ 9.99855197e-01 -1.30743310e-02 -1.08925432e-02 1.58497242e+02] [ 1.30764371e-02 9.99914492e-01 1.22152022e-04 -9.91216362e+00] [ 1.08900148e-02 -2.64569990e-04 9.99940667e-01 -5.97171365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.921346184 meters 0.0717640620164106 Centerline is valid? [True, True] Translation: X:158.53, Y:-9.91, Z:-5.97 [[ 9.99879148e-01 -1.23110966e-02 -9.49344812e-03 1.58526472e+02] [ 1.23126567e-02 9.99924191e-01 1.05904852e-04 -9.90592774e+00] [ 9.49142462e-03 -2.22781620e-04 9.99954931e-01 -5.96843480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.951346184 meters 0.07079701576689734 Centerline is valid? [True, True] Translation: X:158.55, Y:-9.90, Z:-5.97 [[ 9.99897958e-01 -1.11460561e-02 -8.93524143e-03 1.58554993e+02] [ 1.11473110e-02 9.99937863e-01 9.06528692e-05 -9.90054100e+00] [ 8.93367579e-03 -1.90247534e-04 9.99960076e-01 -5.96579829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.981346184 meters 0.0706060219032453 Centerline is valid? [True, True] Translation: X:158.58, Y:-9.90, Z:-5.97 [[ 9.99913899e-01 -1.02762537e-02 -8.16047031e-03 1.58583090e+02] [ 1.02773065e-02 9.99947183e-01 8.70820261e-05 -9.89797652e+00] [ 8.15914443e-03 -1.70942183e-04 9.99966699e-01 -5.96630204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.011346184 meters 0.07067691014804481 Centerline is valid? [True, True] Translation: X:158.61, Y:-9.89, Z:-5.97 [[ 9.99915366e-01 -1.10350730e-02 -6.89108753e-03 1.58611031e+02] [ 1.10358213e-02 9.99939101e-01 7.05809869e-05 -9.89446864e+00] [ 6.88988901e-03 -1.46623824e-04 9.99976254e-01 -5.96721262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.041346184 meters 0.0701742993294858 Centerline is valid? [True, True] Translation: X:158.64, Y:-9.89, Z:-5.97 [[ 9.99918520e-01 -1.09232166e-02 -6.60582733e-03 1.58640800e+02] [ 1.09239214e-02 9.99940330e-01 7.06265969e-05 -9.89088085e+00] [ 6.60466169e-03 -1.42782381e-04 9.99978179e-01 -5.96615683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.071346184 meters 0.07042986821705344 Centerline is valid? [True, True] Translation: X:158.67, Y:-9.89, Z:-5.97 [[ 9.99932876e-01 -1.00941391e-02 -5.68787523e-03 1.58670043e+02] [ 1.00946504e-02 9.99949046e-01 6.11763088e-05 -9.88838889e+00] [ 5.68696789e-03 -1.18589314e-04 9.99983822e-01 -5.96805231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101346184 meters 0.07000650316282409 Centerline is valid? [True, True] Translation: X:158.70, Y:-9.88, Z:-5.97 [[ 9.99950214e-01 -9.02792200e-03 -4.25035343e-03 1.58699714e+02] [ 9.02820302e-03 9.99959244e-01 4.69349370e-05 -9.88463088e+00] [ 4.24975648e-03 -8.53056539e-05 9.99990966e-01 -5.96806364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.131346184 meters 0.0696162330098659 Centerline is valid? [True, True] Translation: X:158.73, Y:-9.88, Z:-5.97 [[ 9.99971038e-01 -6.75771850e-03 -3.50094373e-03 1.58729700e+02] [ 6.75789335e-03 9.99977164e-01 3.81147978e-05 -9.87656257e+00] [ 3.50060621e-03 -6.17726982e-05 9.99993871e-01 -5.96780847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161346184 meters 0.06886143347139463 Centerline is valid? [True, True] Translation: X:158.76, Y:-9.87, Z:-5.96 [[ 9.99978148e-01 -6.27022264e-03 -2.09460202e-03 1.58760557e+02] [ 6.27028415e-03 9.99980341e-01 2.28039463e-05 -9.87234683e+00] [ 2.09441786e-03 -3.59371978e-05 9.99997806e-01 -5.96483806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.191346184 meters 0.06830265057204757 Centerline is valid? [True, True] Translation: X:158.79, Y:-9.87, Z:-5.96 [[ 9.99982160e-01 -5.96508629e-03 -3.11963711e-04 1.58791588e+02] [ 5.96508784e-03 9.99982209e-01 4.04842312e-06 -9.86946011e+00] [ 3.11934011e-04 -5.90924183e-06 9.99999951e-01 -5.96274727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221346184 meters 0.06937715241989084 Centerline is valid? [True, True] Translation: X:158.82, Y:-9.87, Z:-5.97 [[ 9.99979200e-01 -6.30976891e-03 -1.33658128e-03 1.58822471e+02] [ 6.30979671e-03 9.99980093e-01 1.65829814e-05 -9.87024623e+00] [ 1.33645004e-03 -2.50161927e-05 9.99999107e-01 -5.96852235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.251346184 meters 0.06850010717721526 Centerline is valid? [True, True] Translation: X:158.85, Y:-9.87, Z:-5.96 [[ 9.99968587e-01 -7.80942469e-03 -1.35590171e-03 1.58854058e+02] [ 7.80945386e-03 9.99969506e-01 1.62233481e-05 -9.86593720e+00] [ 1.35573366e-03 -2.68116903e-05 9.99999081e-01 -5.96479373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281346184 meters 0.06895354434475896 Centerline is valid? [True, True] Translation: X:158.89, Y:-9.87, Z:-5.97 [[ 9.99958945e-01 -8.95096330e-03 -1.40981495e-03 1.58885361e+02] [ 8.95099991e-03 9.99959939e-01 1.96648713e-05 -9.86660362e+00] [ 1.40958245e-03 -3.22833175e-05 9.99999006e-01 -5.96783641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.311346184 meters 0.06923775115531676 Centerline is valid? [True, True] Translation: X:158.92, Y:-9.87, Z:-5.97 [[ 9.99957355e-01 -9.16814591e-03 -1.11068133e-03 1.58916426e+02] [ 9.16817018e-03 9.99957971e-01 1.67604664e-05 -9.86592929e+00] [ 1.11048099e-03 -2.69426671e-05 9.99999383e-01 -5.97022565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341346184 meters 0.06932278313831573 Centerline is valid? [True, True] Translation: X:158.95, Y:-9.86, Z:-5.97 [[ 9.99951101e-01 -9.72508367e-03 -1.79418489e-03 1.58948777e+02] [ 9.72514026e-03 9.99952709e-01 2.28144130e-05 -9.86334063e+00] [ 1.79387817e-03 -4.02619971e-05 9.99998390e-01 -5.97091732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.371346184 meters 0.06938309657513667 Centerline is valid? [True, True] Translation: X:158.98, Y:-9.86, Z:-5.97 [[ 9.99947114e-01 -1.02445161e-02 -9.05494470e-04 1.58979847e+02] [ 1.02445313e-02 9.99947523e-01 1.21678205e-05 -9.86031652e+00] [ 9.05322299e-04 -2.14435434e-05 9.99999590e-01 -5.97198380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401346184 meters 0.06913217033298542 Centerline is valid? [True, True] Translation: X:159.01, Y:-9.86, Z:-5.97 [[ 9.99949686e-01 -1.00311381e-02 3.23794713e-05 1.59011761e+02] [ 1.00311381e-02 9.99949687e-01 1.18803536e-06 -9.85868067e+00] [-3.23897597e-05 -8.63172635e-07 9.99999999e-01 -5.97236687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.431346184 meters 0.06872118039207864 Centerline is valid? [True, True] Translation: X:159.04, Y:-9.86, Z:-5.97 [[ 9.99950644e-01 -9.89831780e-03 8.55718640e-04 1.59044179e+02] [ 9.89832768e-03 9.99951010e-01 -7.30521136e-06 -9.85606463e+00] [-8.55604409e-04 1.57750343e-05 9.99999634e-01 -5.97170473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46134618399998 meters 0.06887415211046971 Centerline is valid? [True, True] Translation: X:159.07, Y:-9.85, Z:-5.97 [[ 9.99955178e-01 -9.45823493e-03 -4.29174486e-04 1.59074920e+02] [ 9.45823846e-03 9.99955270e-01 6.20637514e-06 -9.84986449e+00] [ 4.29096587e-04 -1.02653316e-05 9.99999908e-01 -5.97333784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49134618399998 meters 0.06877259480072372 Centerline is valid? [True, True] Translation: X:159.11, Y:-9.85, Z:-5.97 [[ 9.99960604e-01 -8.68350708e-03 -1.84030826e-03 1.59107090e+02] [ 8.68356570e-03 9.99962297e-01 2.38678660e-05 -9.84590383e+00] [ 1.84003162e-03 -3.98473634e-05 9.99998306e-01 -5.97493775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52134618399998 meters 0.06873910322825227 Centerline is valid? [True, True] Translation: X:159.14, Y:-9.84, Z:-5.98 [[ 9.99963939e-01 -8.02473847e-03 -2.77934526e-03 1.59138869e+02] [ 8.02486670e-03 9.99967800e-01 3.49890911e-05 -9.84342189e+00] [ 2.77897499e-03 -5.72917046e-05 9.99996137e-01 -5.97662359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55134618399998 meters 0.06886517168275313 Centerline is valid? [True, True] Translation: X:159.17, Y:-9.84, Z:-5.98 [[ 9.99974364e-01 -6.50248566e-03 -2.99825238e-03 1.59169078e+02] [ 6.50262687e-03 9.99978857e-01 3.73501141e-05 -9.84186157e+00] [ 2.99794612e-03 -5.68456731e-05 9.99995505e-01 -5.98071542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58134618399998 meters 0.06873746819913315 Centerline is valid? [True, True] Translation: X:159.20, Y:-9.84, Z:-5.98 [[ 9.99978295e-01 -6.02042914e-03 -2.67648497e-03 1.59199910e+02] [ 6.02053479e-03 9.99981876e-01 3.14171769e-05 -9.84080981e+00] [ 2.67624731e-03 -4.75303658e-05 9.99996418e-01 -5.98160865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61134618399998 meters 0.06851867414679616 Centerline is valid? [True, True] Translation: X:159.23, Y:-9.84, Z:-5.98 [[ 9.99980834e-01 -5.71672711e-03 -2.37704045e-03 1.59230845e+02] [ 5.71680958e-03 9.99983659e-01 2.79022305e-05 -9.83946655e+00] [ 2.37684210e-03 -4.14907833e-05 9.99997174e-01 -5.98238450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64134618399999 meters 0.0687868628657888 Centerline is valid? [True, True] Translation: X:159.26, Y:-9.84, Z:-5.98 [[ 9.99981236e-01 -5.80985286e-03 -1.94227721e-03 1.59261184e+02] [ 5.80990935e-03 9.99983122e-01 2.34467454e-05 -9.83872988e+00] [ 1.94210821e-03 -3.47307600e-05 9.99998114e-01 -5.98414877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.671346184 meters 0.06768552386657681 Centerline is valid? [True, True] Translation: X:159.29, Y:-9.83, Z:-5.98 [[ 9.99979828e-01 -6.08918058e-03 -1.80716989e-03 1.59292665e+02] [ 6.08923142e-03 9.99981460e-01 2.26348359e-05 -9.83415791e+00] [ 1.80699856e-03 -3.36386550e-05 9.99998367e-01 -5.97895221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.701346184 meters 0.06789414135848665 Centerline is valid? [True, True] Translation: X:159.32, Y:-9.83, Z:-5.98 [[ 9.99981825e-01 -5.99169718e-03 -6.70841992e-04 1.59323528e+02] [ 5.99170473e-03 9.99982050e-01 9.23792126e-06 -9.83378474e+00] [ 6.70774600e-04 -1.32572405e-05 9.99999775e-01 -5.98034158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.731346184 meters 0.06863038827248709 Centerline is valid? [True, True] Translation: X:159.35, Y:-9.84, Z:-5.98 [[ 9.99977750e-01 -6.65549226e-03 -4.52613503e-04 1.59354223e+02] [ 6.65549625e-03 9.99977852e-01 7.29352364e-06 -9.83561886e+00] [ 4.52554936e-04 -1.03057288e-05 9.99999898e-01 -5.98472482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.761346184 meters 0.06838395401818932 Centerline is valid? [True, True] Translation: X:159.39, Y:-9.84, Z:-5.98 [[ 9.99971317e-01 -7.44156007e-03 1.41015015e-03 1.59385963e+02] [ 7.44158865e-03 9.99972311e-01 -1.50166767e-05 -9.83812740e+00] [-1.40999936e-03 2.55100033e-05 9.99999006e-01 -5.98491526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.791346184 meters 0.0684908427271954 Centerline is valid? [True, True] Translation: X:159.42, Y:-9.84, Z:-5.99 [[ 9.99969809e-01 -7.66377090e-03 1.28357922e-03 1.59417634e+02] [ 7.66379388e-03 9.99970633e-01 -1.29804226e-05 -9.84007253e+00] [-1.28344204e-03 2.28171173e-05 9.99999176e-01 -5.98668017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821346184 meters 0.06884705307619557 Centerline is valid? [True, True] Translation: X:159.45, Y:-9.84, Z:-5.99 [[ 9.99967272e-01 -7.81314876e-03 2.09968362e-03 1.59448343e+02] [ 7.81321536e-03 9.99969476e-01 -2.35162193e-05 -9.84204080e+00] [-2.09943579e-03 3.99207300e-05 9.99997795e-01 -5.98988058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.851346184 meters 0.06839333024100216 Centerline is valid? [True, True] Translation: X:159.48, Y:-9.84, Z:-5.99 [[ 9.99972959e-01 -7.24992899e-03 1.23303745e-03 1.59480958e+02] [ 7.24995001e-03 9.99973719e-01 -1.25747237e-05 -9.83717854e+00] [-1.23291387e-03 2.15138435e-05 9.99999240e-01 -5.98941263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881346184 meters 0.06875931565812812 Centerline is valid? [True, True] Translation: X:159.51, Y:-9.84, Z:-5.99 [[ 9.99981045e-01 -6.08625505e-03 9.30862348e-04 1.59512325e+02] [ 6.08626453e-03 9.99981478e-01 -7.34688572e-06 -9.83584314e+00] [-9.30800392e-04 1.30122210e-05 9.99999567e-01 -5.99188275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.911346184 meters 0.06818391043339563 Centerline is valid? [True, True] Translation: X:159.54, Y:-9.83, Z:-5.99 [[ 9.99987986e-01 -4.73643047e-03 1.26294251e-03 1.59544349e+02] [ 4.73645088e-03 9.99988783e-01 -1.31729824e-05 -9.83303477e+00] [-1.26286596e-03 1.91546893e-05 9.99999202e-01 -5.99110678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941346184 meters 0.06683351927679929 Centerline is valid? [True, True] Translation: X:159.58, Y:-9.83, Z:-5.99 [[ 9.99994646e-01 -2.85496082e-03 1.59892910e-03 1.59577128e+02] [ 2.85499199e-03 9.99995924e-01 -1.72093683e-05 -9.82856105e+00] [-1.59887345e-03 2.17742060e-05 9.99998722e-01 -5.98656149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.971346184 meters 0.06689289468346271 Centerline is valid? [True, True] Translation: X:159.61, Y:-9.83, Z:-5.99 [[ 9.99995376e-01 -8.55609037e-04 2.91831217e-03 1.59607859e+02] [ 8.55713082e-04 9.99999633e-01 -3.44041655e-05 -9.82741580e+00] [-2.91828167e-03 3.69012443e-05 9.99995741e-01 -5.98988892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001346184 meters 0.06707812389960745 Centerline is valid? [True, True] Translation: X:159.64, Y:-9.83, Z:-5.99 [[ 9.99998425e-01 -8.83863967e-04 1.53904073e-03 1.59639558e+02] [ 8.83889210e-04 9.99999609e-01 -1.57215540e-05 -9.82716587e+00] [-1.53902623e-03 1.70818707e-05 9.99998816e-01 -5.99174618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.031346184 meters 0.06709694393460272 Centerline is valid? [True, True] Translation: X:159.67, Y:-9.83, Z:-5.99 [[ 9.99999507e-01 -8.32597785e-04 5.41524000e-04 1.59670564e+02] [ 8.32600912e-04 9.99999653e-01 -5.54853536e-06 -9.82554216e+00] [-5.41519193e-04 5.99940600e-06 9.99999853e-01 -5.99274642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061346184 meters 0.06664293326329712 Centerline is valid? [True, True] Translation: X:159.70, Y:-9.82, Z:-5.99 [[ 9.99998606e-01 1.20541941e-03 1.15525763e-03 1.59701792e+02] [-1.20540310e-03 9.99999273e-01 -1.48133656e-05 -9.81717840e+00] [-1.15527465e-03 1.34207938e-05 9.99999333e-01 -5.99040711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.091346184 meters 0.06702656918883033 Centerline is valid? [True, True] Translation: X:159.73, Y:-9.81, Z:-5.99 [[ 9.99992819e-01 3.11456900e-03 2.15883508e-03 1.59732196e+02] [-3.11451887e-03 9.99995150e-01 -2.65797174e-05 -9.81470436e+00] [-2.15890739e-03 1.98557940e-05 9.99997669e-01 -5.99393519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121346184 meters 0.06636232371921919 Centerline is valid? [True, True] Translation: X:159.76, Y:-9.81, Z:-5.99 [[ 9.99987745e-01 4.02984549e-03 2.87594180e-03 1.59762951e+02] [-4.02975782e-03 9.99991880e-01 -3.62771471e-05 -9.81218718e+00] [-2.87606464e-03 2.46873535e-05 9.99995864e-01 -5.99143355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.151346184 meters 0.06663277585249817 Centerline is valid? [True, True] Translation: X:159.79, Y:-9.81, Z:-5.99 [[ 9.99979678e-01 5.20004510e-03 3.68823811e-03 1.59793042e+02] [-5.19992035e-03 9.99986479e-01 -4.34124776e-05 -9.81146758e+00] [-3.68841399e-03 2.42330510e-05 9.99993197e-01 -5.99498098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181346184 meters 0.06701963041290149 Centerline is valid? [True, True] Translation: X:159.82, Y:-9.81, Z:-6.00 [[ 9.99980680e-01 5.67120355e-03 2.54504249e-03 1.59823038e+02] [-5.67114101e-03 9.99983918e-01 -3.17898700e-05 -9.80890166e+00] [-2.54518185e-03 1.73559609e-05 9.99996761e-01 -5.99915128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21134618399998 meters 0.06664210449707471 Centerline is valid? [True, True] Translation: X:159.85, Y:-9.81, Z:-6.00 [[ 9.99979813e-01 6.21474583e-03 1.32293411e-03 1.59853108e+02] [-6.21472816e-03 9.99980688e-01 -1.74674370e-05 -9.80688991e+00] [-1.32301711e-03 9.24540853e-06 9.99999125e-01 -5.99781835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24134618399998 meters 0.06690586451418032 Centerline is valid? [True, True] Translation: X:159.88, Y:-9.81, Z:-6.00 [[ 9.99975890e-01 6.94383941e-03 4.16180500e-05 1.59881791e+02] [-6.94383929e-03 9.99975891e-01 -3.09731588e-06 -9.80521227e+00] [-4.16385540e-05 2.80825216e-06 9.99999999e-01 -6.00064247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27134618399998 meters 0.06704036000601905 Centerline is valid? [True, True] Translation: X:159.91, Y:-9.80, Z:-6.00 [[ 9.99962793e-01 8.59116399e-03 -7.77749190e-04 1.59910839e+02] [-8.59116099e-03 9.99963095e-01 7.19319938e-06 -9.80016042e+00] [ 7.77782285e-04 -5.11163236e-07 9.99999698e-01 -6.00230879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30134618399998 meters 0.06721492641536277 Centerline is valid? [True, True] Translation: X:159.94, Y:-9.80, Z:-6.00 [[ 9.99956220e-01 9.35436808e-03 -2.31366202e-04 1.59938545e+02] [-9.35436840e-03 9.99956247e-01 -3.04567692e-07 -9.79779868e+00] [ 2.31353230e-04 2.46883905e-06 9.99999973e-01 -6.00428392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33134618399998 meters 0.0666530869601572 Centerline is valid? [True, True] Translation: X:159.97, Y:-9.79, Z:-6.00 [[ 9.99952514e-01 9.73277660e-03 4.92769020e-04 1.59967709e+02] [-9.73277346e-03 9.99952635e-01 -8.76889410e-06 -9.79497163e+00] [-4.92831026e-04 3.97246846e-06 9.99999879e-01 -6.00051293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36134618399998 meters 0.06679433996525329 Centerline is valid? [True, True] Translation: X:160.00, Y:-9.79, Z:-6.00 [[ 9.99952405e-01 9.65910852e-03 1.37470213e-03 1.59995326e+02] [-9.65908988e-03 9.99953350e-01 -2.01980799e-05 -9.79354203e+00] [-1.37483309e-03 6.91874715e-06 9.99999055e-01 -6.00247580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39134618399999 meters 0.06716814056565987 Centerline is valid? [True, True] Translation: X:160.02, Y:-9.80, Z:-6.01 [[ 9.99963224e-01 8.56460810e-03 4.45254389e-04 1.60022713e+02] [-8.56460510e-03 9.99963323e-01 -8.64917690e-06 -9.79501941e+00] [-4.45312135e-04 4.83543081e-06 9.99999901e-01 -6.00790262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.421346184 meters 0.0670604612189883 Centerline is valid? [True, True] Translation: X:160.05, Y:-9.80, Z:-6.01 [[ 9.99963074e-01 8.56079810e-03 7.51085247e-04 1.60051094e+02] [-8.56079177e-03 9.99963356e-01 -1.16481228e-05 -9.79551277e+00] [-7.51157442e-04 5.21780828e-06 9.99999718e-01 -6.00925121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.451346184 meters 0.06700868275915024 Centerline is valid? [True, True] Translation: X:160.08, Y:-9.80, Z:-6.01 [[ 9.99972608e-01 7.38391100e-03 5.10362183e-04 1.60079756e+02] [-7.38390751e-03 9.99972739e-01 -8.73156851e-06 -9.79638041e+00] [-5.10412743e-04 4.96286219e-06 9.99999870e-01 -6.01044097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.481346184 meters 0.06696111936005884 Centerline is valid? [True, True] Translation: X:160.11, Y:-9.80, Z:-6.01 [[ 9.99987273e-01 5.04296590e-03 -1.50658360e-04 1.60108928e+02] [-5.04296597e-03 9.99987284e-01 -1.45585730e-07 -9.79699181e+00] [ 1.50655710e-04 9.05348861e-07 9.99999989e-01 -6.01138733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.511346184 meters 0.06703394999368245 Centerline is valid? [True, True] Translation: X:160.14, Y:-9.80, Z:-6.01 [[ 9.99990072e-01 4.35783189e-03 9.30526710e-04 1.60137226e+02] [-4.35782105e-03 9.99990505e-01 -1.36688667e-05 -9.79640373e+00] [-9.30577441e-04 9.61366213e-06 9.99999567e-01 -6.01336412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.541346184 meters 0.06669158835288504 Centerline is valid? [True, True] Translation: X:160.17, Y:-9.79, Z:-6.01 [[ 9.99991146e-01 3.90421233e-03 1.57002675e-03 1.60166591e+02] [-3.90418582e-03 9.99992378e-01 -1.99482150e-05 -9.79353422e+00] [-1.57009267e-03 1.38183622e-05 9.99998767e-01 -6.01124039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.571346184 meters 0.06658859464501792 Centerline is valid? [True, True] Translation: X:160.20, Y:-9.79, Z:-6.01 [[ 9.99985196e-01 5.22598026e-03 1.51576208e-03 1.60196714e+02] [-5.22595707e-03 9.99986344e-01 -1.92634761e-05 -9.78937755e+00] [-1.51584206e-03 1.13418834e-05 9.99998851e-01 -6.01078361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601346184 meters 0.06654590343575369 Centerline is valid? [True, True] Translation: X:160.23, Y:-9.79, Z:-6.01 [[ 9.99978455e-01 6.29903979e-03 1.84714834e-03 1.60226696e+02] [-6.29900783e-03 9.99980161e-01 -2.31190384e-05 -9.78909541e+00] [-1.84725732e-03 1.14833385e-05 9.99998294e-01 -6.01270559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.631346184 meters 0.06654590343575369 Centerline is valid? [True, True] Translation: X:160.26, Y:-9.79, Z:-6.01 [[ 9.99978696e-01 6.26060393e-03 1.84714917e-03 1.60255843e+02] [-6.26057203e-03 9.99980402e-01 -2.30505578e-05 -9.78939265e+00] [-1.84725728e-03 1.14858563e-05 9.99998294e-01 -6.01370356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661346184 meters 0.06684959230689261 Centerline is valid? [True, True] Translation: X:160.28, Y:-9.79, Z:-6.02 [[ 9.99971959e-01 7.14592327e-03 2.24000576e-03 1.60284140e+02] [-7.14587806e-03 9.99974467e-01 -2.81862992e-05 -9.78923936e+00] [-2.24014999e-03 1.21787008e-05 9.99997491e-01 -6.01747904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.691346184 meters 0.0672732467354228 Centerline is valid? [True, True] Translation: X:160.31, Y:-9.79, Z:-6.02 [[ 9.99964173e-01 8.24787198e-03 1.90389168e-03 1.60312236e+02] [-8.24784109e-03 9.99965986e-01 -2.40742219e-05 -9.78793430e+00] [-1.90402548e-03 8.37036340e-06 9.99998187e-01 -6.02161093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721346184 meters 0.06674583950282627 Centerline is valid? [True, True] Translation: X:160.34, Y:-9.78, Z:-6.02 [[ 9.99959936e-01 8.95132771e-03 1.01603190e-05 1.60341549e+02] [-8.95132769e-03 9.99959936e-01 -2.11722653e-06 -9.78474502e+00] [-1.01788640e-05 2.02619337e-06 1.00000000e+00 -6.01902553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.751346184 meters 0.06698240646550968 Centerline is valid? [True, True] Translation: X:160.37, Y:-9.78, Z:-6.02 [[ 9.99952428e-01 9.73886144e-03 -5.44739874e-04 1.60370540e+02] [-9.73886091e-03 9.99952576e-01 3.62237096e-06 -9.78353589e+00] [ 5.44749318e-04 1.68294724e-06 9.99999852e-01 -6.02049817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781346184 meters 0.06784685444761038 Centerline is valid? [True, True] Translation: X:160.40, Y:-9.78, Z:-6.03 [[ 9.99940337e-01 1.09078616e-02 -5.83983121e-04 1.60397880e+02] [-1.09078614e-02 9.99940508e-01 3.38744454e-06 -9.78158608e+00] [ 5.83985328e-04 2.98276453e-06 9.99999829e-01 -6.02632361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.811346184 meters 0.0670355765261237 Centerline is valid? [True, True] Translation: X:160.43, Y:-9.78, Z:-6.02 [[ 9.99928454e-01 1.19505334e-02 5.22136205e-04 1.60426911e+02] [-1.19505306e-02 9.99928590e-01 -8.59612950e-06 -9.78085631e+00] [-5.22201648e-04 2.35570980e-06 9.99999864e-01 -6.02253213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841346184 meters 0.06717663933779729 Centerline is valid? [True, True] Translation: X:160.46, Y:-9.78, Z:-6.03 [[ 9.99929680e-01 1.18545711e-02 -3.23851535e-04 1.60456046e+02] [-1.18545714e-02 9.99929732e-01 9.95095040e-07 -9.78357066e+00] [ 3.23840575e-04 2.84409609e-06 9.99999948e-01 -6.02508419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.871346184 meters 0.06697015720895366 Centerline is valid? [True, True] Translation: X:160.49, Y:-9.79, Z:-6.03 [[ 9.99937976e-01 1.11314708e-02 -3.66439793e-04 1.60485124e+02] [-1.11314710e-02 9.99938043e-01 1.45443048e-06 -9.78594617e+00] [ 3.66433280e-04 2.62467368e-06 9.99999933e-01 -6.02522643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901346184 meters 0.06733305080003049 Centerline is valid? [True, True] Translation: X:160.51, Y:-9.79, Z:-6.03 [[ 9.99947272e-01 1.02643172e-02 -3.12996220e-04 1.60513727e+02] [-1.02643172e-02 9.99947321e-01 1.54254961e-06 -9.78805038e+00] [ 3.12995564e-04 1.67022421e-06 9.99999951e-01 -6.02884080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.931346184 meters 0.06768014949350122 Centerline is valid? [True, True] Translation: X:160.54, Y:-9.79, Z:-6.03 [[ 9.99956407e-01 9.32484473e-03 -4.80170988e-04 1.60541886e+02] [-9.32484481e-03 9.99956523e-01 2.06136879e-06 -9.78987258e+00] [ 4.80169333e-04 2.41624102e-06 9.99999885e-01 -6.03074326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96134618399998 meters 0.06772988341947718 Centerline is valid? [True, True] Translation: X:160.57, Y:-9.79, Z:-6.03 [[ 9.99949536e-01 1.00316196e-02 -5.40581477e-04 1.60570567e+02] [-1.00316192e-02 9.99949682e-01 3.37362521e-06 -9.79090379e+00] [ 5.40588119e-04 2.04945257e-06 9.99999854e-01 -6.03180662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99134618399998 meters 0.06806339817442118 Centerline is valid? [True, True] Translation: X:160.60, Y:-9.79, Z:-6.03 [[ 9.99944705e-01 1.04836552e-02 -8.24691184e-04 1.60598526e+02] [-1.04836540e-02 9.99945045e-01 5.79929630e-06 -9.79218427e+00] [ 8.24706660e-04 2.84680142e-06 9.99999660e-01 -6.03466408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02134618399998 meters 0.06813900511440567 Centerline is valid? [True, True] Translation: X:160.63, Y:-9.79, Z:-6.04 [[ 9.99946192e-01 1.01670933e-02 -2.05998996e-03 1.60626850e+02] [-1.01670757e-02 9.99948314e-01 1.90375274e-05 -9.79424974e+00] [ 2.06007705e-03 1.90757079e-06 9.99997878e-01 -6.03584504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05134618399998 meters 0.06862508130015338 Centerline is valid? [True, True] Translation: X:160.66, Y:-9.80, Z:-6.04 [[ 9.99926507e-01 1.15088302e-02 -3.81157398e-03 1.60655114e+02] [-1.15087706e-02 9.99933771e-01 3.75790786e-05 -9.79550900e+00] [ 3.81175404e-03 6.29021380e-06 9.99992735e-01 -6.03921706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08134618399998 meters 0.06857190227207345 Centerline is valid? [True, True] Translation: X:160.68, Y:-9.80, Z:-6.04 [[ 9.99928071e-01 1.08226878e-02 -5.16940432e-03 1.60683514e+02] [-1.08225622e-02 9.99941433e-01 5.22671343e-05 -9.79764498e+00] [ 5.16966723e-03 3.68282481e-06 9.99986637e-01 -6.03962042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11134618399998 meters 0.06860359320995654 Centerline is valid? [True, True] Translation: X:160.71, Y:-9.80, Z:-6.04 [[ 9.99934874e-01 1.04652074e-02 -4.55275087e-03 1.60712314e+02] [-1.04651093e-02 9.99945238e-01 4.53796056e-05 -9.79941743e+00] [ 4.55297646e-03 2.26838523e-06 9.99989635e-01 -6.04141365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14134618399999 meters 0.06925718087045292 Centerline is valid? [True, True] Translation: X:160.74, Y:-9.80, Z:-6.05 [[ 9.99937393e-01 1.01031807e-02 -4.80990788e-03 1.60740262e+02] [-1.01030714e-02 9.99948962e-01 4.70201376e-05 -9.80028287e+00] [ 4.81013744e-03 1.57764905e-06 9.99988431e-01 -6.04594310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.171346184 meters 0.06931459661672029 Centerline is valid? [True, True] Translation: X:160.77, Y:-9.80, Z:-6.05 [[ 9.99930321e-01 1.06367563e-02 -5.11990774e-03 1.60769179e+02] [-1.06366365e-02 9.99943428e-01 5.06271272e-05 -9.80030515e+00] [ 5.12015661e-03 3.83499798e-06 9.99986892e-01 -6.04746894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.201346184 meters 0.06871856828146872 Centerline is valid? [True, True] Translation: X:160.80, Y:-9.80, Z:-6.05 [[ 9.99935996e-01 9.67662085e-03 -5.86240993e-03 1.60798304e+02] [-9.67644885e-03 9.99953180e-01 5.77042727e-05 -9.80144533e+00] [ 5.86269384e-03 -9.73269597e-07 9.99982814e-01 -6.04508572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.231346184 meters 0.06963973653805498 Centerline is valid? [True, True] Translation: X:160.83, Y:-9.80, Z:-6.05 [[ 9.99941848e-01 9.23068747e-03 -5.57625142e-03 1.60825918e+02] [-9.23053211e-03 9.99957396e-01 5.35974838e-05 -9.80203800e+00] [ 5.57650859e-03 -2.12259924e-06 9.99984451e-01 -6.05109453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.261346184 meters 0.06883882729561774 Centerline is valid? [True, True] Translation: X:160.85, Y:-9.80, Z:-6.05 [[ 9.99941357e-01 8.73563547e-03 -6.40095504e-03 1.60854893e+02] [-8.73541649e-03 9.99961844e-01 6.21689125e-05 -9.80339082e+00] [ 6.40125388e-03 -6.25025855e-06 9.99979512e-01 -6.04750801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.291346184 meters 0.06919892810281765 Centerline is valid? [True, True] Translation: X:160.88, Y:-9.81, Z:-6.05 [[ 9.99942793e-01 8.28930808e-03 -6.76000051e-03 1.60882783e+02] [-8.28906124e-03 9.99965643e-01 6.45323324e-05 -9.80671517e+00] [ 6.76030319e-03 -8.49458249e-06 9.99977149e-01 -6.05129356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.321346184 meters 0.06902886093536062 Centerline is valid? [True, True] Translation: X:160.91, Y:-9.81, Z:-6.05 [[ 9.99958320e-01 6.69048534e-03 -6.21249317e-03 1.60911795e+02] [-6.69024617e-03 9.99977618e-01 5.92784527e-05 -9.81357785e+00] [ 6.21275072e-03 -1.77128734e-05 9.99980701e-01 -6.05300418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.351346184 meters 0.06950598956316352 Centerline is valid? [True, True] Translation: X:160.94, Y:-9.82, Z:-6.06 [[ 9.99952276e-01 6.36803660e-03 -7.40905035e-03 1.60939693e+02] [-6.36769357e-03 9.99979724e-01 6.98874664e-05 -9.81509114e+00] [ 7.40934517e-03 -2.27055688e-05 9.99972550e-01 -6.05599204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.381346184 meters 0.06890302340775901 Centerline is valid? [True, True] Translation: X:160.97, Y:-9.81, Z:-6.05 [[ 9.99935388e-01 6.89070342e-03 -9.04091759e-03 1.60968828e+02] [-6.89020975e-03 9.99976259e-01 8.57501963e-05 -9.81481871e+00] [ 9.04129382e-03 -2.34508373e-05 9.99959126e-01 -6.05261780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.411346184 meters 0.0691444056457887 Centerline is valid? [True, True] Translation: X:161.00, Y:-9.82, Z:-6.06 [[ 9.99934104e-01 7.79480698e-03 -8.42784439e-03 1.60996809e+02] [-7.79442403e-03 9.99969620e-01 7.82830708e-05 -9.81803752e+00] [ 8.42819855e-03 -1.25877194e-05 9.99964482e-01 -6.05610136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.441346184 meters 0.06987806246635442 Centerline is valid? [True, True] Translation: X:161.02, Y:-9.82, Z:-6.06 [[ 9.99939000e-01 7.94794348e-03 -7.66979346e-03 1.61023984e+02] [-7.94763811e-03 9.99968415e-01 7.02930656e-05 -9.82020877e+00] [ 7.67010990e-03 -9.33203485e-06 9.99970584e-01 -6.06101320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.471346184 meters 0.06918717497357026 Centerline is valid? [True, True] Translation: X:161.05, Y:-9.82, Z:-6.06 [[ 9.99934355e-01 7.82473819e-03 -8.37019077e-03 1.61052715e+02] [-7.82436772e-03 9.99969386e-01 7.70063867e-05 -9.82224850e+00] [ 8.37053708e-03 -1.15098812e-05 9.99964966e-01 -6.05803158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.501346184 meters 0.06920084413470673 Centerline is valid? [True, True] Translation: X:161.08, Y:-9.82, Z:-6.06 [[ 9.99942507e-01 7.55101743e-03 -7.61349872e-03 1.61081925e+02] [-7.55070310e-03 9.99971491e-01 7.00286284e-05 -9.82472534e+00] [ 7.61381045e-03 -1.25373338e-05 9.99971014e-01 -6.05936237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.531346184 meters 0.0695532829577674 Centerline is valid? [True, True] Translation: X:161.11, Y:-9.83, Z:-6.06 [[ 9.99945413e-01 5.11008395e-03 -9.11367051e-03 1.61109756e+02] [-5.10956131e-03 9.99986943e-01 8.06295117e-05 -9.83112736e+00] [ 9.11396353e-03 -3.40582521e-05 9.99958466e-01 -6.06206803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.561346184 meters 0.06971240477578769 Centerline is valid? [True, True] Translation: X:161.14, Y:-9.83, Z:-6.06 [[ 9.99944712e-01 4.22525678e-03 -9.62913255e-03 1.61138887e+02] [-4.22461930e-03 9.99991073e-01 8.65427058e-05 -9.83412873e+00] [ 9.62941225e-03 -4.58585018e-05 9.99953635e-01 -6.06352170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.591346184 meters 0.06919318439988142 Centerline is valid? [True, True] Translation: X:161.17, Y:-9.84, Z:-6.06 [[ 9.99960876e-01 4.04452071e-03 -7.86693884e-03 1.61167504e+02] [-4.04409817e-03 9.99991820e-01 6.96176600e-05 -9.83711713e+00] [ 7.86715606e-03 -3.78002633e-05 9.99969053e-01 -6.06299703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.621346184 meters 0.06946182082588535 Centerline is valid? [True, True] Translation: X:161.20, Y:-9.84, Z:-6.06 [[ 9.99958225e-01 3.84046315e-03 -8.29452728e-03 1.61196213e+02] [-3.83999020e-03 9.99992625e-01 7.29448768e-05 -9.84037131e+00] [ 8.29474625e-03 -4.10909261e-05 9.99965597e-01 -6.06462713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.651346184 meters 0.06948234080507881 Centerline is valid? [True, True] Translation: X:161.22, Y:-9.85, Z:-6.07 [[ 9.99969156e-01 3.44075157e-03 -7.06037653e-03 1.61224888e+02] [-3.44040525e-03 9.99994080e-01 6.11961427e-05 -9.84767644e+00] [ 7.06054529e-03 -3.69036986e-05 9.99975073e-01 -6.06741183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681346184 meters 0.06981395677466967 Centerline is valid? [True, True] Translation: X:161.25, Y:-9.85, Z:-6.07 [[ 9.99960299e-01 3.04191964e-03 -8.37540392e-03 1.61252595e+02] [-3.04143315e-03 9.99995372e-01 7.08216285e-05 -9.85135278e+00] [ 8.37558060e-03 -4.53455857e-05 9.99964923e-01 -6.06980359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71134618399998 meters 0.07023945057339374 Centerline is valid? [True, True] Translation: X:161.28, Y:-9.86, Z:-6.07 [[ 9.99948993e-01 2.40263518e-03 -9.81017174e-03 1.61280126e+02] [-2.40193201e-03 9.99997112e-01 8.34586196e-05 -9.85528565e+00] [ 9.81034393e-03 -5.98909971e-05 9.99951876e-01 -6.07318373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74134618399998 meters 0.06990956683804156 Centerline is valid? [True, True] Translation: X:161.31, Y:-9.86, Z:-6.07 [[ 9.99942313e-01 1.74962547e-03 -1.05975709e-02 1.61309096e+02] [-1.74876833e-03 9.99998467e-01 9.01470077e-05 -9.85812439e+00] [ 1.05977123e-02 -7.16091111e-05 9.99943840e-01 -6.07238009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77134618399998 meters 0.0694070496570557 Centerline is valid? [True, True] Translation: X:161.34, Y:-9.86, Z:-6.07 [[ 9.99949386e-01 9.09064705e-05 -1.00606997e-02 1.61338212e+02] [-9.00601670e-05 9.99999992e-01 8.45727563e-05 -9.86335014e+00] [ 1.00607073e-02 -8.36624074e-05 9.99949386e-01 -6.06983066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80134618399998 meters 0.06939911006798472 Centerline is valid? [True, True] Translation: X:161.37, Y:-9.87, Z:-6.07 [[ 9.99963184e-01 -5.60737829e-04 -8.56252130e-03 1.61366111e+02] [ 5.61345502e-04 9.99999840e-01 6.85658492e-05 -9.86687645e+00] [ 8.56248148e-03 -7.33698577e-05 9.99963339e-01 -6.07084225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83134618399998 meters 0.06946949926637871 Centerline is valid? [True, True] Translation: X:161.39, Y:-9.87, Z:-6.07 [[ 9.99960617e-01 -1.68812958e-03 -8.71295261e-03 1.61394766e+02] [ 1.68881300e-03 9.99998571e-01 7.10798574e-05 -9.87074583e+00] [ 8.71282017e-03 -8.57916056e-05 9.99962039e-01 -6.07159753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86134618399998 meters 0.06998757135082292 Centerline is valid? [True, True] Translation: X:161.42, Y:-9.88, Z:-6.08 [[ 9.99939304e-01 -3.91289879e-03 -1.02994162e-02 1.61422980e+02] [ 3.91397750e-03 9.99992337e-01 8.45811320e-05 -9.87939129e+00] [ 1.02990063e-02 -1.24887681e-04 9.99946956e-01 -6.07582040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89134618399999 meters 0.07022220162339897 Centerline is valid? [True, True] Translation: X:161.45, Y:-9.88, Z:-6.08 [[ 9.99931783e-01 -4.96364081e-03 -1.05731254e-02 1.61451189e+02] [ 4.96481257e-03 9.99987672e-01 8.45799419e-05 -9.88291701e+00] [ 1.05725752e-02 -1.37067758e-04 9.99944099e-01 -6.07750492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.921346184 meters 0.07036406084839339 Centerline is valid? [True, True] Translation: X:161.48, Y:-9.89, Z:-6.08 [[ 9.99924600e-01 -5.45410890e-03 -1.10021136e-02 1.61478704e+02] [ 5.45539769e-03 9.99985115e-01 8.71315889e-05 -9.88514475e+00] [ 1.10014746e-02 -1.47145924e-04 9.99939471e-01 -6.07899628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.951346184 meters 0.07059502573072172 Centerline is valid? [True, True] Translation: X:161.51, Y:-9.89, Z:-6.08 [[ 9.99937683e-01 -6.11809075e-03 -9.33799534e-03 1.61506866e+02] [ 6.11896702e-03 9.99981277e-01 6.52725746e-05 -9.88797783e+00] [ 9.33742116e-03 -1.22407393e-04 9.99956398e-01 -6.08000928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.981346184 meters 0.06931332166711782 Centerline is valid? [True, True] Translation: X:161.54, Y:-9.89, Z:-6.07 [[ 9.99942519e-01 -6.74024603e-03 -8.33832581e-03 1.61536337e+02] [ 6.74094293e-03 9.99977278e-01 5.54762068e-05 -9.88740306e+00] [ 8.33776242e-03 -1.11681196e-04 9.99965234e-01 -6.07439910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.011346184 meters 0.0703559089432152 Centerline is valid? [True, True] Translation: X:161.56, Y:-9.89, Z:-6.08 [[ 9.99929879e-01 -8.00777251e-03 -8.72425101e-03 1.61564003e+02] [ 8.00862689e-03 9.99967928e-01 6.30002099e-05 -9.89134854e+00] [ 8.72346672e-03 -1.32865063e-04 9.99961941e-01 -6.07972855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.041346184 meters 0.06934828537898077 Centerline is valid? [True, True] Translation: X:161.59, Y:-9.89, Z:-6.08 [[ 9.99927721e-01 -8.51192577e-03 -8.49121249e-03 1.61591861e+02] [ 8.51266681e-03 9.99963765e-01 5.11329328e-05 -9.89197959e+00] [ 8.49046957e-03 -1.23412100e-04 9.99963948e-01 -6.07604602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.071346184 meters 0.07069929997632443 Centerline is valid? [True, True] Translation: X:161.62, Y:-9.90, Z:-6.08 [[ 9.99924890e-01 -8.70673072e-03 -8.62595619e-03 1.61619236e+02] [ 8.70756100e-03 9.99962087e-01 5.87012896e-05 -9.89655287e+00] [ 8.62511806e-03 -1.33807920e-04 9.99962794e-01 -6.08367233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.101346184 meters 0.06988186222497283 Centerline is valid? [True, True] Translation: X:161.65, Y:-9.89, Z:-6.08 [[ 9.99915823e-01 -8.68541833e-03 -9.63900249e-03 1.61647770e+02] [ 8.68637638e-03 9.99962271e-01 5.75322423e-05 -9.89495350e+00] [ 9.63813912e-03 -1.41255403e-04 9.99953542e-01 -6.08018769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.131346184 meters 0.06993306956911581 Centerline is valid? [True, True] Translation: X:161.68, Y:-9.90, Z:-6.08 [[ 9.99920166e-01 -8.19406467e-03 -9.61872200e-03 1.61676686e+02] [ 8.19497136e-03 9.99966419e-01 5.48526597e-05 -9.89522738e+00] [ 9.61794953e-03 -1.33673432e-04 9.99953738e-01 -6.08188616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.161346184 meters 0.07017693519691866 Centerline is valid? [True, True] Translation: X:161.70, Y:-9.90, Z:-6.08 [[ 9.99909907e-01 -8.66855503e-03 -1.02485715e-02 1.61704274e+02] [ 8.66966605e-03 9.99962416e-01 6.39844259e-05 -9.89742769e+00] [ 1.02476316e-02 -1.52830353e-04 9.99947480e-01 -6.08319535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.191346184 meters 0.07023150688220825 Centerline is valid? [True, True] Translation: X:161.73, Y:-9.90, Z:-6.08 [[ 9.99905731e-01 -8.91932074e-03 -1.04391273e-02 1.61732133e+02] [ 8.92038129e-03 9.99960211e-01 5.50353399e-05 -9.89825481e+00] [ 1.04382211e-02 -1.48151148e-04 9.99945509e-01 -6.08384628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.221346184 meters 0.07019460133540342 Centerline is valid? [True, True] Translation: X:161.76, Y:-9.90, Z:-6.08 [[ 9.99911829e-01 -9.49555972e-03 -9.28268245e-03 1.61761388e+02] [ 9.49641015e-03 9.99954907e-01 4.75403097e-05 -9.89966554e+00] [ 9.28181244e-03 -1.35688278e-04 9.99956914e-01 -6.08378203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.251346184 meters 0.07031225069757008 Centerline is valid? [True, True] Translation: X:161.79, Y:-9.90, Z:-6.09 [[ 9.99915864e-01 -9.72455863e-03 -8.58479287e-03 1.61788844e+02] [ 9.72532630e-03 9.99952707e-01 4.76799313e-05 -9.90173840e+00] [ 8.58392320e-03 -1.31165832e-04 9.99963149e-01 -6.08533056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.281346184 meters 0.07004664903614434 Centerline is valid? [True, True] Translation: X:161.82, Y:-9.91, Z:-6.09 [[ 9.99926561e-01 -9.67650900e-03 -7.29639191e-03 1.61817465e+02] [ 9.67700443e-03 9.99953176e-01 3.25988303e-05 -9.90612156e+00] [ 7.29573482e-03 -1.03203653e-04 9.99973380e-01 -6.08513383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.311346184 meters 0.06931028529280185 Centerline is valid? [True, True] Translation: X:161.85, Y:-9.91, Z:-6.08 [[ 9.99936779e-01 -8.72768013e-03 -7.08980527e-03 1.61846399e+02] [ 8.72810638e-03 9.99961909e-01 2.91819521e-05 -9.90633860e+00] [ 7.08928052e-03 -9.10606818e-05 9.99974867e-01 -6.08311718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.341346184 meters 0.06950059302082923 Centerline is valid? [True, True] Translation: X:161.87, Y:-9.91, Z:-6.09 [[ 9.99949557e-01 -7.98248980e-03 -6.09614419e-03 1.61874574e+02] [ 7.98277407e-03 9.99968137e-01 2.23001644e-05 -9.90752316e+00] [ 6.09577194e-03 -7.09631813e-05 9.99981418e-01 -6.08523735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.371346184 meters 0.06905525342983863 Centerline is valid? [True, True] Translation: X:161.90, Y:-9.91, Z:-6.08 [[ 9.99965107e-01 -6.45936194e-03 -5.29732554e-03 1.61903773e+02] [ 6.45954583e-03 9.99979137e-01 1.76046940e-05 -9.90692628e+00] [ 5.29710131e-03 -5.18223968e-05 9.99985969e-01 -6.08448095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.401346184 meters 0.0687126716037672 Centerline is valid? [True, True] Translation: X:161.93, Y:-9.91, Z:-6.08 [[ 9.99978963e-01 -4.73081347e-03 -4.43765044e-03 1.61933019e+02] [ 4.73091460e-03 9.99988809e-01 1.22936445e-05 -9.90588249e+00] [ 4.43754262e-03 -3.32875311e-05 9.99990154e-01 -6.08312443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.431346184 meters 0.06824168159628866 Centerline is valid? [True, True] Translation: X:161.96, Y:-9.91, Z:-6.08 [[ 9.99981851e-01 -4.05268803e-03 -4.45805000e-03 1.61963163e+02] [ 4.05281389e-03 9.99991787e-01 1.91989446e-05 -9.90580200e+00] [ 4.45793558e-03 -3.72662431e-05 9.99990063e-01 -6.08053679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46134618399998 meters 0.068386094262326 Centerline is valid? [True, True] Translation: X:161.99, Y:-9.91, Z:-6.08 [[ 9.99982741e-01 -3.82061646e-03 -4.46329781e-03 1.61991296e+02] [ 3.82073621e-03 9.99992701e-01 1.83042421e-05 -9.90766685e+00] [ 4.46319530e-03 -3.53570097e-05 9.99990039e-01 -6.08318625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49134618399998 meters 0.06907520964549477 Centerline is valid? [True, True] Translation: X:162.02, Y:-9.91, Z:-6.09 [[ 9.99988659e-01 -3.43709461e-03 -3.29679481e-03 1.62020094e+02] [ 3.43715564e-03 9.99994093e-01 1.28472800e-05 -9.91188750e+00] [ 3.29673118e-03 -2.41787312e-05 9.99994565e-01 -6.08864396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52134618399998 meters 0.06792120632623086 Centerline is valid? [True, True] Translation: X:162.05, Y:-9.91, Z:-6.08 [[ 9.99990670e-01 -3.34221195e-03 -2.73658358e-03 1.62050483e+02] [ 3.34225615e-03 9.99994415e-01 1.15760460e-05 -9.91149358e+00] [ 2.73652961e-03 -2.07223013e-05 9.99996255e-01 -6.08282914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55134618399998 meters 0.06792120632623086 Centerline is valid? [True, True] Translation: X:162.08, Y:-9.91, Z:-6.08 [[ 9.99990539e-01 -3.38115796e-03 -2.73658701e-03 1.62079640e+02] [ 3.38120019e-03 9.99994284e-01 1.08040611e-05 -9.91157563e+00] [ 2.73653484e-03 -2.00569074e-05 9.99996255e-01 -6.08382709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58134618399998 meters 0.06922567199017168 Centerline is valid? [True, True] Translation: X:162.11, Y:-9.92, Z:-6.09 [[ 9.99991945e-01 -3.60203844e-03 -1.77093730e-03 1.62108658e+02] [ 3.60205866e-03 9.99993513e-01 8.22736469e-06 -9.91509684e+00] [ 1.77089618e-03 -1.46063185e-05 9.99998432e-01 -6.09216313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61134618399998 meters 0.06912014978765439 Centerline is valid? [True, True] Translation: X:162.14, Y:-9.92, Z:-6.09 [[ 9.99991684e-01 -3.63842556e-03 -1.84236777e-03 1.62138770e+02] [ 3.63844682e-03 9.99993381e-01 8.18947934e-06 -9.91706800e+00] [ 1.84232578e-03 -1.48927684e-05 9.99998303e-01 -6.09279095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64134618399999 meters 0.06780970791678749 Centerline is valid? [True, True] Translation: X:162.17, Y:-9.92, Z:-6.09 [[ 9.99993593e-01 -3.52273014e-03 -6.36369014e-04 1.62169867e+02] [ 3.52273266e-03 9.99993795e-01 2.82871366e-06 -9.91809147e+00] [ 6.36355101e-04 -5.07045344e-06 9.99999798e-01 -6.08614922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.671346184 meters 0.06772807848084925 Centerline is valid? [True, True] Translation: X:162.20, Y:-9.92, Z:-6.09 [[ 9.99990915e-01 -4.24980517e-03 -3.31759508e-04 1.62201501e+02] [ 4.24980633e-03 9.99990970e-01 2.79503714e-06 -9.91882789e+00] [ 3.31744634e-04 -4.20492540e-06 9.99999945e-01 -6.08603757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.701346184 meters 0.06785852795443068 Centerline is valid? [True, True] Translation: X:162.23, Y:-9.92, Z:-6.09 [[ 9.99986564e-01 -5.17774065e-03 -2.49626956e-04 1.62232347e+02] [ 5.17774142e-03 9.99986595e-01 2.42915848e-06 -9.92016032e+00] [ 2.49611032e-04 -3.72162967e-06 9.99999969e-01 -6.08702441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.731346184 meters 0.06781496134814965 Centerline is valid? [True, True] Translation: X:162.26, Y:-9.92, Z:-6.09 [[ 9.99979342e-01 -6.41337905e-03 4.28298111e-04 1.62263280e+02] [ 6.41337990e-03 9.99979434e-01 -6.24869073e-07 -9.92278577e+00] [-4.28285295e-04 3.37169467e-06 9.99999908e-01 -6.08734836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.761346184 meters 0.06803699982249607 Centerline is valid? [True, True] Translation: X:162.29, Y:-9.93, Z:-6.09 [[ 9.99968729e-01 -7.38902473e-03 2.81823288e-03 1.62294798e+02] [ 7.38908346e-03 9.99972700e-01 -1.04293610e-05 -9.93093030e+00] [-2.81807888e-03 3.12531928e-05 9.99996029e-01 -6.09101974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.791346184 meters 0.06773989644165172 Centerline is valid? [True, True] Translation: X:162.33, Y:-9.93, Z:-6.09 [[ 9.99963839e-01 -7.42337832e-03 4.14908133e-03 1.62327187e+02] [ 7.42351279e-03 9.99972445e-01 -1.70100665e-05 -9.93281681e+00] [-4.14884073e-03 4.78102097e-05 9.99991392e-01 -6.09057315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821346184 meters 0.0673856720494782 Centerline is valid? [True, True] Translation: X:162.36, Y:-9.93, Z:-6.09 [[ 9.99966539e-01 -7.06183765e-03 4.12927725e-03 1.62359841e+02] [ 7.06196865e-03 9.99975064e-01 -1.71438079e-05 -9.93300787e+00] [-4.12905321e-03 4.63040607e-05 9.99991474e-01 -6.08941004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.851346184 meters 0.06749800861942777 Centerline is valid? [True, True] Translation: X:162.39, Y:-9.94, Z:-6.09 [[ 9.99969734e-01 -6.98511612e-03 3.42629906e-03 1.62391746e+02] [ 6.98520530e-03 9.99975603e-01 -1.40620625e-05 -9.93536959e+00] [-3.42611724e-03 3.79950392e-05 9.99994130e-01 -6.09106796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.881346184 meters 0.06775947042420687 Centerline is valid? [True, True] Translation: X:162.42, Y:-9.94, Z:-6.09 [[ 9.99975604e-01 -6.47882540e-03 2.61079171e-03 1.62423609e+02] [ 6.47887440e-03 9.99979012e-01 -1.03119819e-05 -9.93884141e+00] [-2.61067011e-03 2.72267219e-05 9.99996592e-01 -6.09354228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.911346184 meters 0.06776445060597988 Centerline is valid? [True, True] Translation: X:162.46, Y:-9.94, Z:-6.09 [[ 9.99972975e-01 -6.66784196e-03 3.09667045e-03 1.62456024e+02] [ 6.66791405e-03 9.99977769e-01 -1.29559900e-05 -9.94012664e+00] [-3.09651522e-03 3.36039723e-05 9.99995205e-01 -6.09449805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.941346184 meters 0.06787214826450505 Centerline is valid? [True, True] Translation: X:162.49, Y:-9.94, Z:-6.10 [[ 9.99970643e-01 -7.05844626e-03 2.98199558e-03 1.62488035e+02] [ 7.05851524e-03 9.99975088e-01 -1.26079414e-05 -9.94239454e+00] [-2.98183230e-03 3.36560325e-05 9.99995554e-01 -6.09601931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.971346184 meters 0.06804772620713427 Centerline is valid? [True, True] Translation: X:162.52, Y:-9.95, Z:-6.10 [[ 9.99949573e-01 -9.22676870e-03 3.96458947e-03 1.62519670e+02] [ 9.22691216e-03 9.99957431e-01 -1.78947619e-05 -9.95090632e+00] [-3.96425559e-03 5.44747783e-05 9.99992141e-01 -6.09727442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001346184 meters 0.06873979786543477 Centerline is valid? [True, True] Translation: X:162.55, Y:-9.96, Z:-6.10 [[ 9.99935399e-01 -1.00350787e-02 5.33809600e-03 1.62550452e+02] [ 1.00353602e-02 9.99949644e-01 -2.59602009e-05 -9.95798377e+00] [-5.33756668e-03 7.95282401e-05 9.99985752e-01 -6.10218585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.031346184 meters 0.0675415357946696 Centerline is valid? [True, True] Translation: X:162.58, Y:-9.96, Z:-6.10 [[ 9.99914083e-01 -1.14081859e-02 6.45597404e-03 1.62582685e+02] [ 1.14086275e-02 9.99934919e-01 -3.15762474e-05 -9.95890055e+00] [-6.45519365e-03 1.05227337e-04 9.99979159e-01 -6.09659200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061346184 meters 0.06789779548054059 Centerline is valid? [True, True] Translation: X:162.61, Y:-9.96, Z:-6.10 [[ 9.99879160e-01 -1.31704375e-02 8.25869075e-03 1.62613869e+02] [ 1.31712157e-02 9.99913255e-01 -3.98483407e-05 -9.96327595e+00] [-8.25744953e-03 1.48620523e-04 9.99965896e-01 -6.09686715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.091346184 meters 0.06826292822092642 Centerline is valid? [True, True] Translation: X:162.64, Y:-9.97, Z:-6.10 [[ 9.99881519e-01 -1.29554110e-02 8.31295567e-03 1.62644692e+02] [ 1.29562234e-02 9.99916064e-01 -4.38834045e-05 -9.96567970e+00] [-8.31168939e-03 1.51582716e-04 9.99965446e-01 -6.09881602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.121346184 meters 0.06820946880166039 Centerline is valid? [True, True] Translation: X:162.68, Y:-9.97, Z:-6.10 [[ 9.99867211e-01 -1.30956888e-02 9.69859427e-03 1.62676922e+02] [ 1.30968060e-02 9.99914232e-01 -5.16799332e-05 -9.96781943e+00] [-9.69708565e-03 1.78693678e-04 9.99952966e-01 -6.09963978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.151346184 meters 0.06809190861490541 Centerline is valid? [True, True] Translation: X:162.71, Y:-9.97, Z:-6.10 [[ 9.99858511e-01 -1.28551151e-02 1.08491719e-02 1.62709216e+02] [ 1.28565104e-02 9.99917350e-01 -5.88754108e-05 -9.96956896e+00] [-1.08475184e-02 1.98349572e-04 9.99941144e-01 -6.09979684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181346184 meters 0.06724735814642273 Centerline is valid? [True, True] Translation: X:162.74, Y:-9.97, Z:-6.10 [[ 9.99866392e-01 -1.25742002e-02 1.04444559e-02 1.62741079e+02] [ 1.25754831e-02 9.99920924e-01 -5.71648971e-05 -9.96969832e+00] [-1.04429112e-02 1.88501338e-04 9.99945454e-01 -6.09762525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21134618399998 meters 0.06789117918571529 Centerline is valid? [True, True] Translation: X:162.77, Y:-9.97, Z:-6.10 [[ 9.99872634e-01 -1.27186560e-02 9.64115827e-03 1.62772168e+02] [ 1.27197658e-02 9.99919099e-01 -5.38035299e-05 -9.97312992e+00] [-9.63969398e-03 1.76429953e-04 9.99953522e-01 -6.10141563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24134618399998 meters 0.06789909393615781 Centerline is valid? [True, True] Translation: X:162.80, Y:-9.97, Z:-6.10 [[ 9.99866388e-01 -1.32829256e-02 9.52730607e-03 1.62804225e+02] [ 1.32840360e-02 9.99911762e-01 -5.32692205e-05 -9.97481923e+00] [-9.52575783e-03 1.79823180e-04 9.99954613e-01 -6.10238474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27134618399998 meters 0.06848342068013508 Centerline is valid? [True, True] Translation: X:162.84, Y:-9.98, Z:-6.11 [[ 9.99872826e-01 -1.34150403e-02 8.62374364e-03 1.62835180e+02] [ 1.34159626e-02 9.99910001e-01 -4.91122907e-05 -9.97984851e+00] [-8.62230866e-03 1.64801867e-04 9.99962814e-01 -6.10719851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30134618399998 meters 0.06853931008001521 Centerline is valid? [True, True] Translation: X:162.87, Y:-9.98, Z:-6.11 [[ 9.99879141e-01 -1.31320560e-02 8.32182280e-03 1.62867696e+02] [ 1.31328970e-02 9.99913759e-01 -4.64196514e-05 -9.98190596e+00] [-8.32049553e-03 1.55703683e-04 9.99965372e-01 -6.10882072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33134618399998 meters 0.0688360550458103 Centerline is valid? [True, True] Translation: X:162.90, Y:-9.98, Z:-6.11 [[ 9.99878087e-01 -1.36290002e-02 7.61979597e-03 1.62900223e+02] [ 1.36297312e-02 9.99907110e-01 -4.40084388e-05 -9.98366982e+00] [-7.61848838e-03 1.47858844e-04 9.99970968e-01 -6.11080964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36134618399998 meters 0.06802750697210215 Centerline is valid? [True, True] Translation: X:162.93, Y:-9.98, Z:-6.11 [[ 9.99870122e-01 -1.37188634e-02 8.45770343e-03 1.62932635e+02] [ 1.37197736e-02 9.99905878e-01 -4.96140473e-05 -9.98262888e+00] [-8.45622673e-03 1.65645380e-04 9.99964232e-01 -6.10808482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39134618399999 meters 0.06826378495472674 Centerline is valid? [True, True] Translation: X:162.96, Y:-9.99, Z:-6.11 [[ 9.99843128e-01 -1.49252901e-02 9.53706373e-03 1.62964392e+02] [ 1.49265080e-02 9.99888592e-01 -5.65298274e-05 -9.98695667e+00] [-9.53515750e-03 1.98876017e-04 9.99954520e-01 -6.10822417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.421346184 meters 0.0682225938863659 Centerline is valid? [True, True] Translation: X:163.00, Y:-9.99, Z:-6.11 [[ 9.99825423e-01 -1.60860902e-02 9.50584217e-03 1.62996322e+02] [ 1.60873652e-02 9.99870588e-01 -5.76806744e-05 -9.98966369e+00] [-9.50368415e-03 2.10594559e-04 9.99954817e-01 -6.10875949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.451346184 meters 0.0684273505636919 Centerline is valid? [True, True] Translation: X:163.03, Y:-9.99, Z:-6.11 [[ 9.99811956e-01 -1.71837274e-02 8.98728976e-03 1.63028267e+02] [ 1.71849163e-02 9.99852327e-01 -5.50782194e-05 -9.99281506e+00] [-8.98501613e-03 2.09513684e-04 9.99959612e-01 -6.11005405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.481346184 meters 0.06914811970932384 Centerline is valid? [True, True] Translation: X:163.06, Y:-10.00, Z:-6.11 [[ 9.99790826e-01 -1.88279211e-02 7.98835797e-03 1.63059145e+02] [ 1.88289195e-02 9.99822719e-01 -4.97914960e-05 -9.99890344e+00] [-7.98600432e-03 2.00193230e-04 9.99968091e-01 -6.11282969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.511346184 meters 0.06983278321059802 Centerline is valid? [True, True] Translation: X:163.09, Y:-10.00, Z:-6.12 [[ 9.99774156e-01 -1.94928565e-02 8.46559904e-03 1.63090622e+02] [ 1.94940069e-02 9.99809972e-01 -5.33916765e-05 -1.00047953e+01] [-8.46294959e-03 2.18408064e-04 9.99964165e-01 -6.11558816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.541346184 meters 0.07029049694811525 Centerline is valid? [True, True] Translation: X:163.12, Y:-10.01, Z:-6.12 [[ 9.99752665e-01 -2.04397526e-02 8.76504897e-03 1.63122803e+02] [ 2.04410236e-02 9.99791059e-01 -5.54348037e-05 -1.00093243e+01] [-8.76208452e-03 2.34587665e-04 9.99961585e-01 -6.11737046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.571346184 meters 0.07001609914350486 Centerline is valid? [True, True] Translation: X:163.15, Y:-10.01, Z:-6.12 [[ 9.99748911e-01 -2.08935224e-02 8.09791814e-03 1.63154567e+02] [ 2.08946249e-02 9.99781682e-01 -5.15682776e-05 -1.00106355e+01] [-8.09507278e-03 2.20758292e-04 9.99967210e-01 -6.11801074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601346184 meters 0.07075842077918008 Centerline is valid? [True, True] Translation: X:163.19, Y:-10.01, Z:-6.12 [[ 9.99753751e-01 -2.10727804e-02 6.95524040e-03 1.63185962e+02] [ 2.10735886e-02 9.99777926e-01 -4.29177941e-05 -1.00135669e+01] [-6.95279143e-03 1.89479100e-04 9.99975811e-01 -6.12226144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.631346184 meters 0.07062791855827008 Centerline is valid? [True, True] Translation: X:163.22, Y:-10.01, Z:-6.12 [[ 9.99744273e-01 -2.16094541e-02 6.66488319e-03 1.63217711e+02] [ 2.16102231e-02 9.99766471e-01 -4.33728826e-05 -1.00147884e+01] [-6.66238948e-03 1.87391404e-04 9.99977788e-01 -6.12287893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661346184 meters 0.07016201298408285 Centerline is valid? [True, True] Translation: X:163.25, Y:-10.02, Z:-6.12 [[ 9.99730818e-01 -2.22196692e-02 6.67662659e-03 1.63249908e+02] [ 2.22204573e-02 9.99753094e-01 -4.38689147e-05 -1.00150333e+01] [-6.67400334e-03 1.92214802e-04 9.99977710e-01 -6.12270374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.691346184 meters 0.0701985634472427 Centerline is valid? [True, True] Translation: X:163.28, Y:-10.02, Z:-6.12 [[ 9.99711821e-01 -2.34309640e-02 5.22152416e-03 1.63282091e+02] [ 2.34314615e-02 9.99725445e-01 -3.41040232e-05 -1.00156066e+01] [-5.21929148e-03 1.56442137e-04 9.99986367e-01 -6.12339612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721346184 meters 0.07295959949496024 Centerline is valid? [True, True] Translation: X:163.31, Y:-10.02, Z:-6.13 [[ 9.99638934e-01 -2.66193423e-02 3.66231713e-03 1.63311869e+02] [ 2.66196152e-02 9.99645635e-01 -2.57811846e-05 -1.00211816e+01] [-3.66033306e-03 1.23261349e-04 9.99993293e-01 -6.12941166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.751346184 meters 0.07395014328769942 Centerline is valid? [True, True] Translation: X:163.34, Y:-10.03, Z:-6.13 [[ 9.99588722e-01 -2.84849696e-02 3.31549370e-03 1.63343151e+02] [ 2.84851980e-02 9.99594214e-01 -2.16826208e-05 -1.00251318e+01] [-3.31353070e-03 1.16116198e-04 9.99994504e-01 -6.13224433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781346184 meters 0.07303728383816525 Centerline is valid? [True, True] Translation: X:163.38, Y:-10.03, Z:-6.13 [[ 9.99579269e-01 -2.89571884e-02 1.66309923e-03 1.63375624e+02] [ 2.89572440e-02 9.99580651e-01 -9.36058180e-06 -1.00252964e+01] [-1.66213076e-03 5.75154138e-05 9.99998617e-01 -6.13237532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.811346184 meters 0.075306489690992 Centerline is valid? [True, True] Translation: X:163.41, Y:-10.03, Z:-6.14 [[ 9.99566268e-01 -2.94208563e-02 -1.29962998e-03 1.63406094e+02] [ 2.94208950e-02 9.99567112e-01 1.06289701e-05 -1.00309287e+01] [ 1.29875467e-03 -4.88606373e-05 9.99999155e-01 -6.14059639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841346184 meters 0.07287320090039665 Centerline is valid? [True, True] Translation: X:163.44, Y:-10.02, Z:-6.14 [[ 9.99574791e-01 -2.90938080e-02 -1.94638990e-03 1.63438365e+02] [ 2.90938957e-02 9.99576683e-01 1.67872963e-05 -1.00242183e+01] [ 1.94507756e-03 -7.34082231e-05 9.99998106e-01 -6.13669463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.871346184 meters 0.07390853595492114 Centerline is valid? [True, True] Translation: X:163.47, Y:-10.03, Z:-6.14 [[ 9.99603284e-01 -2.81574297e-02 -6.58567497e-04 1.63468358e+02] [ 2.81574409e-02 9.99603501e-01 7.75788942e-06 -1.00263387e+01] [ 6.58087933e-04 -2.62983871e-05 9.99999783e-01 -6.14054258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901346184 meters 0.07377532958243985 Centerline is valid? [True, True] Translation: X:163.50, Y:-10.03, Z:-6.14 [[ 9.99624356e-01 -2.73677725e-02 -1.46687368e-03 1.63500913e+02] [ 2.73678216e-02 9.99625431e-01 1.33843332e-05 -1.00251637e+01] [ 1.46595794e-03 -5.35244427e-05 9.99998924e-01 -6.14198436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.931346184 meters 0.07249487798336353 Centerline is valid? [True, True] Translation: X:163.53, Y:-10.02, Z:-6.14 [[ 9.99660940e-01 -2.57228917e-02 -4.04200990e-03 1.63532852e+02] [ 2.57232349e-02 9.99669102e-01 3.29372508e-05 -1.00191780e+01] [ 4.03982516e-03 -1.36899653e-04 9.99991831e-01 -6.14176316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96134618399998 meters 0.07253383573194 Centerline is valid? [True, True] Translation: X:163.56, Y:-10.02, Z:-6.14 [[ 9.99677577e-01 -2.50224015e-02 -4.31533673e-03 1.63564054e+02] [ 2.50227805e-02 9.99686881e-01 3.38586263e-05 -1.00169461e+01] [ 4.31313829e-03 -1.41829433e-04 9.99990688e-01 -6.14394956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99134618399998 meters 0.07275914115288445 Centerline is valid? [True, True] Translation: X:163.60, Y:-10.02, Z:-6.15 [[ 9.99686919e-01 -2.44894192e-02 -5.13150384e-03 1.63595267e+02] [ 2.44899517e-02 9.99700075e-01 4.09346137e-05 -1.00158414e+01] [ 5.12896231e-03 -1.66592079e-04 9.99986833e-01 -6.14604770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02134618399998 meters 0.07320316814772171 Centerline is valid? [True, True] Translation: X:163.63, Y:-10.02, Z:-6.15 [[ 9.99655198e-01 -2.59450683e-02 -4.04201116e-03 1.63625564e+02] [ 2.59454135e-02 9.99663361e-01 3.29707410e-05 -1.00164126e+01] [ 4.03979503e-03 -1.37831023e-04 9.99991830e-01 -6.14623612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05134618399998 meters 0.07391211765849466 Centerline is valid? [True, True] Translation: X:163.66, Y:-10.02, Z:-6.15 [[ 9.99605243e-01 -2.78301928e-02 -3.85199244e-03 1.63657096e+02] [ 2.78305183e-02 9.99612656e-01 3.09062428e-05 -1.00185507e+01] [ 3.84964027e-03 -1.38096988e-04 9.99992581e-01 -6.14757280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08134618399998 meters 0.07409255119940347 Centerline is valid? [True, True] Translation: X:163.69, Y:-10.02, Z:-6.15 [[ 9.99555424e-01 -2.96175616e-02 -3.42855886e-03 1.63687992e+02] [ 2.96178285e-02 9.99561296e-01 2.70927515e-05 -1.00198994e+01] [ 3.42625232e-03 -1.28627175e-04 9.99994122e-01 -6.14728361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11134618399998 meters 0.07334810369930624 Centerline is valid? [True, True] Translation: X:163.72, Y:-10.02, Z:-6.15 [[ 9.99517949e-01 -3.07942382e-02 -3.94771792e-03 1.63719205e+02] [ 3.07946042e-02 9.99525733e-01 3.19280558e-05 -1.00184765e+01] [ 3.94486244e-03 -1.53481075e-04 9.99992207e-01 -6.14590458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14134618399999 meters 0.07571176347392759 Centerline is valid? [True, True] Translation: X:163.75, Y:-10.02, Z:-6.15 [[ 9.99465814e-01 -3.22348769e-02 -5.38513297e-03 1.63748705e+02] [ 3.22355893e-02 9.99480297e-01 4.55233856e-05 -1.00229953e+01] [ 5.38086686e-03 -2.19092003e-04 9.99985499e-01 -6.15116834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.171346184 meters 0.07627088674118206 Centerline is valid? [True, True] Translation: X:163.78, Y:-10.02, Z:-6.15 [[ 9.99464254e-01 -3.21538066e-02 -6.11046145e-03 1.63779286e+02] [ 3.21547044e-02 9.99482903e-01 4.87057583e-05 -1.00244224e+01] [ 6.10573567e-03 -2.45159746e-04 9.99981330e-01 -6.15436029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.201346184 meters 0.07622468151132368 Centerline is valid? [True, True] Translation: X:163.81, Y:-10.02, Z:-6.16 [[ 9.99466573e-01 -3.20042249e-02 -6.50372228e-03 1.63811057e+02] [ 3.20052439e-02 9.99487700e-01 5.26403053e-05 -1.00244750e+01] [ 6.49870571e-03 -2.60765444e-04 9.99978849e-01 -6.15641757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.231346184 meters 0.07787559449936557 Centerline is valid? [True, True] Translation: X:163.84, Y:-10.03, Z:-6.16 [[ 9.99388892e-01 -3.39546075e-02 -8.30223172e-03 1.63841081e+02] [ 3.39563286e-02 9.99423315e-01 6.63906598e-05 -1.00274764e+01] [ 8.29518968e-03 -3.48263396e-04 9.99965534e-01 -6.16169139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.261346184 meters 0.07638519379603115 Centerline is valid? [True, True] Translation: X:163.87, Y:-10.02, Z:-6.16 [[ 9.99354827e-01 -3.47819381e-02 -8.95247178e-03 1.63871627e+02] [ 3.47839667e-02 9.99394852e-01 7.09384681e-05 -1.00243111e+01] [ 8.94458683e-03 -3.82295181e-04 9.99959923e-01 -6.15968050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.291346184 meters 0.07997015437434478 Centerline is valid? [True, True] Translation: X:163.90, Y:-10.03, Z:-6.17 [[ 9.99293688e-01 -3.60870688e-02 -1.04808411e-02 1.63900170e+02] [ 3.60899223e-02 9.99348543e-01 8.31861177e-05 -1.00304586e+01] [ 1.04710114e-02 -4.61380104e-04 9.99945071e-01 -6.16748013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.321346184 meters 0.07748935328008183 Centerline is valid? [True, True] Translation: X:163.93, Y:-10.03, Z:-6.16 [[ 9.99283697e-01 -3.70419550e-02 -7.74509493e-03 1.63930510e+02] [ 3.70435353e-02 9.99313651e-01 6.06290235e-05 -1.00250807e+01] [ 7.73753327e-03 -3.47491292e-04 9.99970004e-01 -6.16154175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.351346184 meters 0.07719643772396549 Centerline is valid? [True, True] Translation: X:163.96, Y:-10.02, Z:-6.16 [[ 9.99249675e-01 -3.79588676e-02 -7.69483889e-03 1.63962096e+02] [ 3.79604712e-02 9.99279240e-01 6.24012096e-05 -1.00234126e+01] [ 7.68692408e-03 -3.54454098e-04 9.99970392e-01 -6.16144267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381346184 meters 0.07585274104466067 Centerline is valid? [True, True] Translation: X:163.99, Y:-10.02, Z:-6.16 [[ 9.99202124e-01 -3.91048046e-02 -8.11974133e-03 1.63993390e+02] [ 3.91066305e-02 9.99235041e-01 6.61540149e-05 -1.00194192e+01] [ 8.11094312e-03 -3.83636956e-04 9.99967032e-01 -6.15906833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.411346184 meters 0.07667250057965619 Centerline is valid? [True, True] Translation: X:164.02, Y:-10.02, Z:-6.16 [[ 9.99171273e-01 -4.02678245e-02 -5.93873219e-03 1.64023954e+02] [ 4.02688205e-02 9.99188881e-01 4.81895232e-05 -1.00210655e+01] [ 5.93197468e-03 -2.87295328e-04 9.99982364e-01 -6.16059254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441346184 meters 0.07667250057965619 Centerline is valid? [True, True] Translation: X:164.06, Y:-10.02, Z:-6.16 [[ 9.99174358e-01 -4.01912060e-02 -5.93871270e-03 1.64055683e+02] [ 4.01922150e-02 9.99191965e-01 5.06095940e-05 -1.00214153e+01] [ 5.93187995e-03 -2.89257826e-04 9.99982364e-01 -6.16167821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.471346184 meters 0.07777503639089481 Centerline is valid? [True, True] Translation: X:164.09, Y:-10.02, Z:-6.16 [[ 9.99145169e-01 -4.08259330e-02 -6.49417250e-03 1.64087032e+02] [ 4.08271494e-02 9.99166223e-01 5.48001971e-05 -1.00234749e+01] [ 6.48652054e-03 -3.19891903e-04 9.99978911e-01 -6.16490532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501346184 meters 0.0780986282201134 Centerline is valid? [True, True] Translation: X:164.12, Y:-10.02, Z:-6.17 [[ 9.99100462e-01 -4.16423100e-02 -8.01155682e-03 1.64118230e+02] [ 4.16441809e-02 9.99132503e-01 6.67793629e-05 -1.00235179e+01] [ 8.00182596e-03 -4.00354014e-04 9.99967905e-01 -6.16688169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.531346184 meters 0.07869405111300373 Centerline is valid? [True, True] Translation: X:164.15, Y:-10.02, Z:-6.17 [[ 9.99047496e-01 -4.27121597e-02 -8.93156607e-03 1.64149816e+02] [ 4.27145294e-02 9.99087315e-01 7.46391831e-05 -1.00219564e+01] [ 8.92022637e-03 -4.56075730e-04 9.99960110e-01 -6.17035713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561346184 meters 0.07965628124851283 Centerline is valid? [True, True] Translation: X:164.18, Y:-10.02, Z:-6.17 [[ 9.99030167e-01 -4.28847088e-02 -9.98137318e-03 1.64180156e+02] [ 4.28876707e-02 9.99079897e-01 8.27945469e-05 -1.00219880e+01] [ 9.96863867e-03 -5.10792096e-04 9.99950181e-01 -6.17338449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.591346184 meters 0.07849924567966052 Centerline is valid? [True, True] Translation: X:164.21, Y:-10.02, Z:-6.17 [[ 9.99025516e-01 -4.28021260e-02 -1.07701557e-02 1.64211066e+02] [ 4.28055717e-02 9.99083417e-01 8.95090689e-05 -1.00179545e+01] [ 1.07564528e-02 -5.50444515e-04 9.99941996e-01 -6.17358656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621346184 meters 0.08005394841932441 Centerline is valid? [True, True] Translation: X:164.24, Y:-10.02, Z:-6.18 [[ 9.99054750e-01 -4.21450865e-02 -1.06488607e-02 1.64241260e+02] [ 4.21484444e-02 9.99111355e-01 9.10010141e-05 -1.00193636e+01] [ 1.06355624e-02 -5.39747908e-04 9.99943295e-01 -6.17801965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.651346184 meters 0.07968420660836924 Centerline is valid? [True, True] Translation: X:164.27, Y:-10.01, Z:-6.18 [[ 9.99056996e-01 -4.12879810e-02 -1.34321313e-02 1.64272031e+02] [ 4.12932178e-02 9.99147065e-01 1.12645222e-04 -1.00144904e+01] [ 1.34160237e-02 -6.67194921e-04 9.99909779e-01 -6.18115321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681346184 meters 0.0795241311358574 Centerline is valid? [True, True] Translation: X:164.30, Y:-10.01, Z:-6.18 [[ 9.99073502e-01 -4.09438454e-02 -1.32566975e-02 1.64300821e+02] [ 4.09487445e-02 9.99161244e-01 9.82224121e-05 -1.00111626e+01] [ 1.32415567e-02 -6.40976527e-04 9.99912121e-01 -6.18267069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71134618399998 meters 0.07730378242797768 Centerline is valid? [True, True] Translation: X:164.33, Y:-10.00, Z:-6.18 [[ 9.99195037e-01 -3.87084464e-02 -1.05325286e-02 1.64330595e+02] [ 3.87114714e-02 9.99250427e-01 8.34050994e-05 -1.00013097e+01] [ 1.05214052e-02 -4.91067640e-04 9.99944528e-01 -6.17826924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74134618399998 meters 0.07743269895431924 Centerline is valid? [True, True] Translation: X:164.36, Y:-10.00, Z:-6.18 [[ 9.99222146e-01 -3.83876757e-02 -9.02718840e-03 1.64360624e+02] [ 3.83898946e-02 9.99262834e-01 7.25907956e-05 -9.99991121e+00] [ 9.01774726e-03 -4.19087142e-04 9.99959251e-01 -6.17831158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77134618399998 meters 0.07890660769650147 Centerline is valid? [True, True] Translation: X:164.39, Y:-10.00, Z:-6.18 [[ 9.99267658e-01 -3.75266784e-02 -7.47630386e-03 1.64390564e+02] [ 3.75281821e-02 9.99295568e-01 6.08880018e-05 -1.00026159e+01] [ 7.46875238e-03 -3.41415503e-04 9.99972050e-01 -6.18243964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80134618399998 meters 0.07609610284131706 Centerline is valid? [True, True] Translation: X:164.42, Y:-10.00, Z:-6.18 [[ 9.99308447e-01 -3.65185432e-02 -7.00167445e-03 1.64422295e+02] [ 3.65198440e-02 9.99332926e-01 5.79874344e-05 -9.99629243e+00] [ 6.99488620e-03 -3.13647392e-04 9.99975486e-01 -6.17900839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83134618399998 meters 0.07568206974652715 Centerline is valid? [True, True] Translation: X:164.45, Y:-9.99, Z:-6.18 [[ 9.99370875e-01 -3.45611169e-02 -7.96131071e-03 1.64454687e+02] [ 3.45627504e-02 9.99402527e-01 6.76418940e-05 -9.99044554e+00] [ 7.95421626e-03 -3.42764134e-04 9.99968306e-01 -6.18073191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86134618399998 meters 0.07488802484491648 Centerline is valid? [True, True] Translation: X:164.49, Y:-9.99, Z:-6.18 [[ 9.99420094e-01 -3.30843015e-02 -8.05635731e-03 1.64486476e+02] [ 3.30859247e-02 9.99452509e-01 6.82525851e-05 -9.98656765e+00] [ 8.04968844e-03 -3.34765037e-04 9.99967545e-01 -6.18154395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89134618399999 meters 0.07494657893056145 Centerline is valid? [True, True] Translation: X:164.52, Y:-9.98, Z:-6.18 [[ 9.99462731e-01 -3.16402514e-02 -8.55238909e-03 1.64516700e+02] [ 3.16420362e-02 9.99499263e-01 7.34244227e-05 -9.98461282e+00] [ 8.54578342e-03 -3.43999979e-04 9.99963425e-01 -6.18422821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.921346184 meters 0.07458902302065648 Centerline is valid? [True, True] Translation: X:164.55, Y:-9.98, Z:-6.19 [[ 9.99535307e-01 -2.89042378e-02 -9.68064938e-03 1.64546696e+02] [ 2.89063778e-02 9.99582120e-01 8.11825996e-05 -9.97977225e+00] [ 9.67425751e-03 -3.60977383e-04 9.99953138e-01 -6.18802870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.951346184 meters 0.07435282070293554 Centerline is valid? [True, True] Translation: X:164.58, Y:-9.98, Z:-6.19 [[ 9.99559641e-01 -2.79060700e-02 -1.00883477e-02 1.64577429e+02] [ 2.79083365e-02 9.99610483e-01 8.39336270e-05 -9.97726710e+00] [ 1.00820759e-02 -3.65445669e-04 9.99949108e-01 -6.18932290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.981346184 meters 0.07653038483457378 Centerline is valid? [True, True] Translation: X:164.61, Y:-9.98, Z:-6.20 [[ 9.99567707e-01 -2.76043722e-02 -1.01192185e-02 1.64606348e+02] [ 2.76066288e-02 9.99618861e-01 8.33607959e-05 -9.97893189e+00] [ 1.01130605e-02 -3.62682268e-04 9.99948796e-01 -6.19651925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.011346184 meters 0.07516470705924669 Centerline is valid? [True, True] Translation: X:164.64, Y:-9.97, Z:-6.19 [[ 9.99567126e-01 -2.73937851e-02 -1.07303762e-02 1.64636520e+02] [ 2.73963088e-02 9.99624647e-01 8.82495875e-05 -9.97388483e+00] [ 1.07239310e-02 -3.82184086e-04 9.99942424e-01 -6.19414190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.041346184 meters 0.07575246475858916 Centerline is valid? [True, True] Translation: X:164.67, Y:-9.97, Z:-6.20 [[ 9.99548472e-01 -2.76587470e-02 -1.17407532e-02 1.64665409e+02] [ 2.76618115e-02 9.99617334e-01 9.86729254e-05 -9.97141537e+00] [ 1.17335312e-02 -4.23398873e-04 9.99931070e-01 -6.19709803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.071346184 meters 0.07658684388333709 Centerline is valid? [True, True] Translation: X:164.70, Y:-9.97, Z:-6.20 [[ 9.99517211e-01 -2.77935868e-02 -1.38874884e-02 1.64695108e+02] [ 2.77978581e-02 9.99613558e-01 1.14591666e-04 -9.97028624e+00] [ 1.38789367e-02 -5.00578774e-04 9.99903558e-01 -6.19987736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101346184 meters 0.07523612618355863 Centerline is valid? [True, True] Translation: X:164.72, Y:-9.96, Z:-6.20 [[ 9.99500503e-01 -2.81288111e-02 -1.44053530e-02 1.64723553e+02] [ 2.81332662e-02 9.99604176e-01 1.06673357e-04 -9.96490029e+00] [ 1.43966504e-02 -5.11889703e-04 9.99896232e-01 -6.19797750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.131346184 meters 0.0765703491522575 Centerline is valid? [True, True] Translation: X:164.75, Y:-9.96, Z:-6.20 [[ 9.99493186e-01 -2.78522549e-02 -1.54150098e-02 1.64751574e+02] [ 2.78574248e-02 9.99611899e-01 1.20720894e-04 -9.96430432e+00] [ 1.54056648e-02 -5.50082187e-04 9.99881174e-01 -6.20326689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161346184 meters 0.07619533910604276 Centerline is valid? [True, True] Translation: X:164.78, Y:-9.96, Z:-6.20 [[ 9.99541670e-01 -2.66965441e-02 -1.42739069e-02 1.64779202e+02] [ 2.67008252e-02 9.99643463e-01 1.09396875e-04 -9.96228843e+00] [ 1.42658972e-02 -4.90471827e-04 9.99898117e-01 -6.20435799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.191346184 meters 0.07468349057160865 Centerline is valid? [True, True] Translation: X:164.81, Y:-9.96, Z:-6.20 [[ 9.99554967e-01 -2.66549145e-02 -1.33934260e-02 1.64808285e+02] [ 2.66585511e-02 9.99644593e-01 9.30314006e-05 -9.95717394e+00] [ 1.33861861e-02 -4.50039330e-04 9.99910300e-01 -6.20106258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221346184 meters 0.07588375816726971 Centerline is valid? [True, True] Translation: X:164.84, Y:-9.96, Z:-6.21 [[ 9.99580200e-01 -2.57984538e-02 -1.31857274e-02 1.64836375e+02] [ 2.58018577e-02 9.99667073e-01 8.80688845e-05 -9.95690669e+00] [ 1.31790654e-02 -4.28248174e-04 9.99913061e-01 -6.20581866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.251346184 meters 0.07532537992587857 Centerline is valid? [True, True] Translation: X:164.87, Y:-9.95, Z:-6.20 [[ 9.99583661e-01 -2.62095901e-02 -1.20648967e-02 1.64865229e+02] [ 2.62124266e-02 9.99656392e-01 7.70031679e-05 -9.95138828e+00] [ 1.20587329e-02 -3.93221328e-04 9.99927214e-01 -6.20421528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281346184 meters 0.07471598868104366 Centerline is valid? [True, True] Translation: X:164.90, Y:-9.95, Z:-6.20 [[ 9.99564341e-01 -2.68040553e-02 -1.23560434e-02 1.64895219e+02] [ 2.68071641e-02 9.99640620e-01 8.60206496e-05 -9.94899111e+00] [ 1.23492971e-02 -4.17213656e-04 9.99923657e-01 -6.20339585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.311346184 meters 0.07418100336648191 Centerline is valid? [True, True] Translation: X:164.92, Y:-9.95, Z:-6.20 [[ 9.99573703e-01 -2.70653707e-02 -1.09488804e-02 1.64924799e+02] [ 2.70678212e-02 9.99633597e-01 7.56585337e-05 -9.94782168e+00] [ 1.09428209e-02 -3.71988617e-04 9.99940056e-01 -6.20287754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341346184 meters 0.0738363210231272 Centerline is valid? [True, True] Translation: X:164.96, Y:-9.95, Z:-6.20 [[ 9.99592337e-01 -2.73263571e-02 -8.27220011e-03 1.64955243e+02] [ 2.73277727e-02 9.99626525e-01 5.81284612e-05 -9.94573266e+00] [ 8.26752221e-03 -2.84165569e-04 9.99965783e-01 -6.20162068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.371346184 meters 0.07325466924792831 Centerline is valid? [True, True] Translation: X:164.99, Y:-9.94, Z:-6.20 [[ 9.99602720e-01 -2.69251689e-02 -8.33289819e-03 1.64987156e+02] [ 2.69266116e-02 9.99637411e-01 6.09719639e-05 -9.94442011e+00] [ 8.32823509e-03 -2.85324454e-04 9.99965279e-01 -6.20073175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401346184 meters 0.07540928214690083 Centerline is valid? [True, True] Translation: X:165.02, Y:-9.95, Z:-6.21 [[ 9.99625111e-01 -2.63659755e-02 -7.38058339e-03 1.65017260e+02] [ 2.63671038e-02 9.99652326e-01 5.56059537e-05 -9.94845950e+00] [ 7.37655125e-03 -2.50189716e-04 9.99972762e-01 -6.20752141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.431346184 meters 0.07341877580894109 Centerline is valid? [True, True] Translation: X:165.05, Y:-9.94, Z:-6.20 [[ 9.99664615e-01 -2.52916382e-02 -5.56685208e-03 1.65048745e+02] [ 2.52922601e-02 9.99680099e-01 4.13327243e-05 -9.94102685e+00] [ 5.56402586e-03 -1.82117132e-04 9.99984504e-01 -6.20272464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46134618399998 meters 0.0721317871014135 Centerline is valid? [True, True] Translation: X:165.08, Y:-9.94, Z:-6.20 [[ 9.99707476e-01 -2.35601369e-02 -5.46645102e-03 1.65081412e+02] [ 2.35607203e-02 9.99722407e-01 4.23374003e-05 -9.93610790e+00] [ 5.46393610e-03 -1.71118539e-04 9.99985058e-01 -6.20063196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49134618399998 meters 0.07264037538473966 Centerline is valid? [True, True] Translation: X:165.11, Y:-9.94, Z:-6.20 [[ 9.99749481e-01 -2.18678110e-02 -4.77220459e-03 1.65111726e+02] [ 2.18682291e-02 9.99760861e-01 3.54412924e-05 -9.93669368e+00] [ 4.77028834e-03 -1.39792077e-04 9.99988612e-01 -6.20405925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52134618399998 meters 0.07272319333003664 Centerline is valid? [True, True] Translation: X:165.14, Y:-9.94, Z:-6.21 [[ 9.99774982e-01 -2.06910490e-02 -4.67613181e-03 1.65142549e+02] [ 2.06914411e-02 9.99785909e-01 3.54840899e-05 -9.93609187e+00] [ 4.67439649e-03 -1.32232011e-04 9.99989066e-01 -6.20641843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55134618399998 meters 0.07395702528093241 Centerline is valid? [True, True] Translation: X:165.17, Y:-9.94, Z:-6.21 [[ 9.99787853e-01 -1.98534697e-02 -5.48536110e-03 1.65173258e+02] [ 1.98540004e-02 9.99802889e-01 4.23059029e-05 -9.93618041e+00] [ 5.48343995e-03 -1.51203289e-04 9.99984954e-01 -6.21279123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58134618399998 meters 0.07108527271899213 Centerline is valid? [True, True] Translation: X:165.20, Y:-9.93, Z:-6.20 [[ 9.99779913e-01 -2.01078236e-02 -5.98346145e-03 1.65204943e+02] [ 2.01084569e-02 9.99797803e-01 4.57062834e-05 -9.92795432e+00] [ 5.98133256e-03 -1.66014401e-04 9.99982098e-01 -6.20368321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61134618399998 meters 0.0729432980301346 Centerline is valid? [True, True] Translation: X:165.24, Y:-9.93, Z:-6.21 [[ 9.99790022e-01 -1.96413801e-02 -5.84190515e-03 1.65235944e+02] [ 1.96419818e-02 9.99807077e-01 4.56326618e-05 -9.93104722e+00] [ 5.83988182e-03 -1.60369674e-04 9.99982935e-01 -6.21026064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64134618399999 meters 0.07100105678351859 Centerline is valid? [True, True] Translation: X:165.27, Y:-9.93, Z:-6.21 [[ 9.99806349e-01 -1.89980353e-02 -5.13220597e-03 1.65267633e+02] [ 1.89984900e-02 9.99819512e-01 3.98560201e-05 -9.92607034e+00] [ 5.13052248e-03 -1.37352466e-04 9.99986829e-01 -6.20514301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.671346184 meters 0.07124580998626447 Centerline is valid? [True, True] Translation: X:165.30, Y:-9.93, Z:-6.21 [[ 9.99810357e-01 -1.87227750e-02 -5.35794250e-03 1.65298714e+02] [ 1.87232714e-02 9.99824703e-01 4.24941725e-05 -9.92649179e+00] [ 5.35620766e-03 -1.42804325e-04 9.99985645e-01 -6.20679795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.701346184 meters 0.0713763698626162 Centerline is valid? [True, True] Translation: X:165.33, Y:-9.93, Z:-6.21 [[ 9.99803818e-01 -1.88409111e-02 -6.11110245e-03 1.65330427e+02] [ 1.88415742e-02 9.99822480e-01 5.09470496e-05 -9.92551464e+00] [ 6.10905772e-03 -1.66079845e-04 9.99981326e-01 -6.20783025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.731346184 meters 0.07139650857113793 Centerline is valid? [True, True] Translation: X:165.36, Y:-9.93, Z:-6.21 [[ 9.99805096e-01 -1.89577182e-02 -5.51139816e-03 1.65361284e+02] [ 1.89582476e-02 9.99820275e-01 4.38258742e-05 -9.92507912e+00] [ 5.50957678e-03 -1.48303783e-04 9.99984811e-01 -6.20868044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.761346184 meters 0.07125444602371792 Centerline is valid? [True, True] Translation: X:165.39, Y:-9.93, Z:-6.21 [[ 9.99806490e-01 -1.90843042e-02 -4.77189781e-03 1.65392207e+02] [ 1.90847041e-02 9.99817870e-01 3.82756541e-05 -9.92557581e+00] [ 4.77029824e-03 -1.29338505e-04 9.99988614e-01 -6.20990442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.791346184 meters 0.07113545876432371 Centerline is valid? [True, True] Translation: X:165.42, Y:-9.92, Z:-6.21 [[ 9.99807573e-01 -1.91627675e-02 -4.19596003e-03 1.65424096e+02] [ 1.91630846e-02 9.99816371e-01 3.53678371e-05 -9.92463821e+00] [ 4.19451178e-03 -1.15768568e-04 9.99991196e-01 -6.21062165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821346184 meters 0.07142011672668475 Centerline is valid? [True, True] Translation: X:165.45, Y:-9.92, Z:-6.21 [[ 9.99801052e-01 -1.93259874e-02 -4.93592167e-03 1.65454814e+02] [ 1.93264207e-02 9.99813226e-01 4.00899893e-05 -9.92339947e+00] [ 4.93422499e-03 -1.35475712e-04 9.99987817e-01 -6.21199041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.851346184 meters 0.07100419958808145 Centerline is valid? [True, True] Translation: X:165.49, Y:-9.92, Z:-6.21 [[ 9.99760293e-01 -2.09029836e-02 -6.51317812e-03 1.65485750e+02] [ 2.09037658e-02 9.99781491e-01 5.20265391e-05 -9.91856729e+00] [ 6.51066743e-03 -1.88164018e-04 9.99978788e-01 -6.21012493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881346184 meters 0.0728069712964261 Centerline is valid? [True, True] Translation: X:165.52, Y:-9.92, Z:-6.22 [[ 9.99734378e-01 -2.20423077e-02 -6.73134934e-03 1.65516611e+02] [ 2.20431800e-02 9.99757018e-01 5.54069692e-05 -9.92213047e+00] [ 6.72849245e-03 -2.03772597e-04 9.99977343e-01 -6.21654430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.911346184 meters 0.07319647370327201 Centerline is valid? [True, True] Translation: X:165.55, Y:-9.92, Z:-6.22 [[ 9.99708501e-01 -2.32286179e-02 -6.58365856e-03 1.65547866e+02] [ 2.32294953e-02 9.99730157e-01 5.68274330e-05 -9.92308667e+00] [ 6.58056199e-03 -2.09745934e-04 9.99978326e-01 -6.21759435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941346184 meters 0.07313560116747944 Centerline is valid? [True, True] Translation: X:165.58, Y:-9.92, Z:-6.22 [[ 9.99687201e-01 -2.41182585e-02 -6.61896719e-03 1.65580405e+02] [ 2.41191590e-02 9.99709089e-01 5.62512912e-05 -9.92374411e+00] [ 6.61568497e-03 -2.15877618e-04 9.99978093e-01 -6.21887249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.971346184 meters 0.07163727675539529 Centerline is valid? [True, True] Translation: X:165.61, Y:-9.92, Z:-6.22 [[ 9.99662816e-01 -2.48833631e-02 -7.42108124e-03 1.65612229e+02] [ 2.48845137e-02 9.99690331e-01 6.27350827e-05 -9.92047402e+00] [ 7.41722210e-03 -2.47383927e-04 9.99972461e-01 -6.21599913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001346184 meters 0.07352829952523154 Centerline is valid? [True, True] Translation: X:165.64, Y:-9.92, Z:-6.22 [[ 9.99631344e-01 -2.53642555e-02 -9.68667083e-03 1.65642573e+02] [ 2.53662215e-02 9.99678222e-01 8.01338055e-05 -9.92419219e+00] [ 9.68152134e-03 -3.25818501e-04 9.99953080e-01 -6.22312880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.031346184 meters 0.07259652688802212 Centerline is valid? [True, True] Translation: X:165.67, Y:-9.92, Z:-6.22 [[ 9.99622398e-01 -2.52532017e-02 -1.08322720e-02 1.65674058e+02] [ 2.52556643e-02 9.99681021e-01 9.05799866e-05 -9.91970660e+00] [ 1.08265293e-02 -3.64122009e-04 9.99941325e-01 -6.22166907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061346184 meters 0.07461425502207979 Centerline is valid? [True, True] Translation: X:165.70, Y:-9.92, Z:-6.23 [[ 9.99655411e-01 -2.41882722e-02 -1.01974029e-02 1.65702917e+02] [ 2.41903783e-02 9.99707367e-01 8.32295358e-05 -9.92359906e+00] [ 1.01924056e-02 -3.29879889e-04 9.99948002e-01 -6.22894427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.091346184 meters 0.07321834313222153 Centerline is valid? [True, True] Translation: X:165.73, Y:-9.92, Z:-6.23 [[ 9.99691185e-01 -2.31928308e-02 -8.92345779e-03 1.65733253e+02] [ 2.31944089e-02 9.99730971e-01 7.33892858e-05 -9.92018610e+00] [ 8.91935502e-03 -2.80340951e-04 9.99960182e-01 -6.22575146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121346184 meters 0.07075687823533232 Centerline is valid? [True, True] Translation: X:165.77, Y:-9.91, Z:-6.22 [[ 9.99722798e-01 -2.17158096e-02 -9.09671092e-03 1.65765373e+02] [ 2.17174036e-02 9.99764146e-01 7.64767320e-05 -9.91170527e+00] [ 9.09290467e-03 -2.74012475e-04 9.99958621e-01 -6.21795564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.151346184 meters 0.0708404467569689 Centerline is valid? [True, True] Translation: X:165.80, Y:-9.91, Z:-6.22 [[ 9.99728795e-01 -2.14884405e-02 -8.97685087e-03 1.65796202e+02] [ 2.14899868e-02 9.99769061e-01 7.58264861e-05 -9.91111900e+00] [ 8.97314837e-03 -2.68718329e-04 9.99959704e-01 -6.21971150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181346184 meters 0.07110309508448232 Centerline is valid? [True, True] Translation: X:165.83, Y:-9.91, Z:-6.22 [[ 9.99723512e-01 -2.16581302e-02 -9.15561371e-03 1.65826420e+02] [ 2.16597412e-02 9.99765397e-01 7.68269203e-05 -9.91148803e+00] [ 9.15180185e-03 -2.75113902e-04 9.99958084e-01 -6.22168450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21134618399998 meters 0.07144781139182156 Centerline is valid? [True, True] Translation: X:165.86, Y:-9.91, Z:-6.23 [[ 9.99740591e-01 -2.05137441e-02 -9.89634192e-03 1.65856636e+02] [ 2.05155716e-02 9.99789530e-01 8.31699863e-05 -9.91380376e+00] [ 9.89255291e-03 -2.86177522e-04 9.99951027e-01 -6.22546021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24134618399998 meters 0.07046202513753934 Centerline is valid? [True, True] Translation: X:165.89, Y:-9.91, Z:-6.22 [[ 9.99766124e-01 -1.93532457e-02 -9.65133604e-03 1.65887284e+02] [ 1.93549237e-02 9.99812673e-01 8.04823037e-05 -9.91139047e+00] [ 9.64797049e-03 -2.67264353e-04 9.99953422e-01 -6.22395496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27134618399998 meters 0.07030779269588235 Centerline is valid? [True, True] Translation: X:165.92, Y:-9.91, Z:-6.22 [[ 9.99779542e-01 -1.86961029e-02 -9.55634796e-03 1.65917577e+02] [ 1.86977181e-02 9.99825179e-01 7.96902000e-05 -9.91019660e+00] [ 9.55318742e-03 -2.58354531e-04 9.99954334e-01 -6.22447128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30134618399998 meters 0.0701677385462059 Centerline is valid? [True, True] Translation: X:165.95, Y:-9.90, Z:-6.22 [[ 9.99786134e-01 -1.77927607e-02 -1.05405824e-02 1.65948102e+02] [ 1.77946755e-02 9.99841658e-01 8.78977120e-05 -9.90467284e+00] [ 1.05373495e-02 -2.75445158e-04 9.99944443e-01 -6.22377010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33134618399998 meters 0.07044576117364176 Centerline is valid? [True, True] Translation: X:165.98, Y:-9.90, Z:-6.23 [[ 9.99778609e-01 -1.77021015e-02 -1.13740249e-02 1.65978119e+02] [ 1.77043054e-02 9.99843262e-01 9.31007048e-05 -9.90363215e+00] [ 1.13705940e-02 -2.94449303e-04 9.99935309e-01 -6.22574188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36134618399998 meters 0.07044576117364176 Centerline is valid? [True, True] Translation: X:166.01, Y:-9.90, Z:-6.23 [[ 9.99777925e-01 -1.77407018e-02 -1.13740285e-02 1.66007293e+02] [ 1.77429031e-02 9.99842578e-01 9.26532688e-05 -9.90382740e+00] [ 1.13705943e-02 -2.94440979e-04 9.99935309e-01 -6.22674068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39134618399999 meters 0.070887656843589 Centerline is valid? [True, True] Translation: X:166.04, Y:-9.91, Z:-6.23 [[ 9.99772491e-01 -1.74391532e-02 -1.22817771e-02 1.66035863e+02] [ 1.74416820e-02 9.99847877e-01 9.88045113e-05 -9.90505238e+00] [ 1.22781857e-02 -3.12996883e-04 9.99924571e-01 -6.23032762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.421346184 meters 0.07043089636931942 Centerline is valid? [True, True] Translation: X:166.06, Y:-9.90, Z:-6.23 [[ 9.99771303e-01 -1.74171443e-02 -1.24090852e-02 1.66064484e+02] [ 1.74195917e-02 9.99848263e-01 8.91607882e-05 -9.90490684e+00] [ 1.24056494e-02 -3.05301595e-04 9.99923000e-01 -6.23026834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.451346184 meters 0.07174717136048227 Centerline is valid? [True, True] Translation: X:166.09, Y:-9.91, Z:-6.24 [[ 9.99774974e-01 -1.74129303e-02 -1.21157709e-02 1.66092064e+02] [ 1.74153189e-02 9.99848338e-01 9.16637678e-05 -9.90850911e+00] [ 1.21123372e-02 -3.02643155e-04 9.99926597e-01 -6.23712762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.481346184 meters 0.07043030270099655 Centerline is valid? [True, True] Translation: X:166.12, Y:-9.90, Z:-6.23 [[ 9.99781600e-01 -1.74259251e-02 -1.15363987e-02 1.66120796e+02] [ 1.74279876e-02 9.99848118e-01 7.82643481e-05 -9.90360396e+00] [ 1.15332827e-02 -2.79303468e-04 9.99933450e-01 -6.23247934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.511346184 meters 0.07022168093074087 Centerline is valid? [True, True] Translation: X:166.15, Y:-9.90, Z:-6.23 [[ 9.99770604e-01 -1.77154694e-02 -1.20375353e-02 1.66150282e+02] [ 1.77178285e-02 9.99843023e-01 8.93572242e-05 -9.90042944e+00] [ 1.20340627e-02 -3.02615713e-04 9.99927542e-01 -6.23202519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.541346184 meters 0.07040706758287288 Centerline is valid? [True, True] Translation: X:166.18, Y:-9.90, Z:-6.23 [[ 9.99763571e-01 -1.77757318e-02 -1.25230067e-02 1.66178596e+02] [ 1.77781501e-02 9.99841953e-01 8.18033907e-05 -9.89866489e+00] [ 1.25195733e-02 -3.04419943e-04 9.99921581e-01 -6.23345566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.571346184 meters 0.07084120365946496 Centerline is valid? [True, True] Translation: X:166.21, Y:-9.90, Z:-6.24 [[ 9.99735665e-01 -1.86768680e-02 -1.34080158e-02 1.66207289e+02] [ 1.86796815e-02 9.99825516e-01 8.46256290e-05 -9.89855612e+00] [ 1.34040958e-02 -3.35060725e-04 9.99910105e-01 -6.23580424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.601346184 meters 0.07071781070291089 Centerline is valid? [True, True] Translation: X:166.24, Y:-9.90, Z:-6.24 [[ 9.99714555e-01 -1.98103195e-02 -1.33551232e-02 1.66235642e+02] [ 1.98131608e-02 9.99803697e-01 8.04638298e-05 -9.89823493e+00] [ 1.33509076e-02 -3.45048067e-04 9.99910813e-01 -6.23592362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.631346184 meters 0.07144231324442625 Centerline is valid? [True, True] Translation: X:166.26, Y:-9.90, Z:-6.24 [[ 9.99673688e-01 -2.12813152e-02 -1.41288388e-02 1.66263987e+02] [ 2.12847421e-02 9.99773450e-01 9.21958400e-05 -9.89893276e+00] [ 1.41236759e-02 -3.92894445e-04 9.99900179e-01 -6.23861433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.661346184 meters 0.0711493929979202 Centerline is valid? [True, True] Translation: X:166.29, Y:-9.90, Z:-6.24 [[ 9.99691137e-01 -2.09681535e-02 -1.33404323e-02 1.66292662e+02] [ 2.09710366e-02 9.99780081e-01 7.62527356e-05 -9.89672190e+00] [ 1.33358996e-02 -3.55991879e-04 9.99911010e-01 -6.23958009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.691346184 meters 0.0712227794810615 Centerline is valid? [True, True] Translation: X:166.32, Y:-9.90, Z:-6.24 [[ 9.99700836e-01 -2.03014386e-02 -1.36414989e-02 1.66321971e+02] [ 2.03044937e-02 9.99793839e-01 8.54818730e-05 -9.89634393e+00] [ 1.36369511e-02 -3.62440029e-04 9.99906947e-01 -6.24224231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721346184 meters 0.07137476485628237 Centerline is valid? [True, True] Translation: X:166.35, Y:-9.89, Z:-6.24 [[ 9.99683253e-01 -2.01211923e-02 -1.51172738e-02 1.66350899e+02] [ 2.01247478e-02 9.99797473e-01 8.30954875e-05 -9.89491904e+00] [ 1.51125401e-02 -3.87300490e-04 9.99885724e-01 -6.24364742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.751346184 meters 0.07211821326340416 Centerline is valid? [True, True] Translation: X:166.38, Y:-9.89, Z:-6.25 [[ 9.99687762e-01 -1.99705090e-02 -1.50185665e-02 1.66378333e+02] [ 1.99740669e-02 9.99800495e-01 8.69194736e-05 -9.89395355e+00] [ 1.50138344e-02 -3.86874186e-04 9.99887211e-01 -6.24713440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781346184 meters 0.07150809541283877 Centerline is valid? [True, True] Translation: X:166.41, Y:-9.89, Z:-6.24 [[ 9.99686686e-01 -2.03832071e-02 -1.45277092e-02 1.66407430e+02] [ 2.03864417e-02 9.99792172e-01 7.45776006e-05 -9.88717910e+00] [ 1.45231698e-02 -3.70722531e-04 9.99894464e-01 -6.24402592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.811346184 meters 0.0718467717652469 Centerline is valid? [True, True] Translation: X:166.44, Y:-9.89, Z:-6.25 [[ 9.99688884e-01 -2.02396496e-02 -1.45770909e-02 1.66435114e+02] [ 2.02429553e-02 9.99795087e-01 7.92480807e-05 -9.88555229e+00] [ 1.45724999e-02 -3.74306825e-04 9.99893745e-01 -6.24560313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841346184 meters 0.0716263699233541 Centerline is valid? [True, True] Translation: X:166.46, Y:-9.88, Z:-6.25 [[ 9.99688709e-01 -2.04055942e-02 -1.43560699e-02 1.66463637e+02] [ 2.04086827e-02 9.99791719e-01 6.86472470e-05 -9.88374665e+00] [ 1.43516790e-02 -3.61614352e-04 9.99896944e-01 -6.24622699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.871346184 meters 0.07090851369872554 Centerline is valid? [True, True] Translation: X:166.49, Y:-9.88, Z:-6.24 [[ 9.99700799e-01 -2.06830290e-02 -1.30585515e-02 1.66492098e+02] [ 2.06855505e-02 9.99786029e-01 5.80372570e-05 -9.88066446e+00] [ 1.30545570e-02 -3.28143219e-04 9.99914732e-01 -6.24461207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901346184 meters 0.07120979461309405 Centerline is valid? [True, True] Translation: X:166.52, Y:-9.88, Z:-6.25 [[ 9.99704325e-01 -2.06758285e-02 -1.27973597e-02 1.66522005e+02] [ 2.06783657e-02 9.99786178e-01 6.59588890e-05 -9.88004401e+00] [ 1.27932596e-02 -3.30567871e-04 9.99918108e-01 -6.24704176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.931346184 meters 0.07107453915929612 Centerline is valid? [True, True] Translation: X:166.55, Y:-9.88, Z:-6.25 [[ 9.99702485e-01 -2.07434944e-02 -1.28315947e-02 1.66551519e+02] [ 2.07460258e-02 9.99784776e-01 6.41841176e-05 -9.87639034e+00] [ 1.28275016e-02 -3.30369616e-04 9.99917670e-01 -6.24547936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96134618399998 meters 0.07050365056307914 Centerline is valid? [True, True] Translation: X:166.58, Y:-9.87, Z:-6.24 [[ 9.99751089e-01 -1.84380518e-02 -1.25618002e-02 1.66582294e+02] [ 1.84403115e-02 9.99829961e-01 6.40712202e-05 -9.86912565e+00] [ 1.25584829e-02 -2.95698781e-04 9.99921095e-01 -6.24394593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99134618399998 meters 0.07095383423178066 Centerline is valid? [True, True] Translation: X:166.61, Y:-9.87, Z:-6.25 [[ 9.99782171e-01 -1.67845367e-02 -1.24052314e-02 1.66610556e+02] [ 1.67865812e-02 9.99859094e-01 6.06995905e-05 -9.86687934e+00] [ 1.24024647e-02 -2.68927794e-04 9.99923050e-01 -6.24691852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02134618399998 meters 0.07018006670037215 Centerline is valid? [True, True] Translation: X:166.64, Y:-9.86, Z:-6.25 [[ 9.99832707e-01 -1.38851005e-02 -1.19063552e-02 1.66640513e+02] [ 1.38867797e-02 9.99903572e-01 5.83693428e-05 -9.86226616e+00] [ 1.19043967e-02 -2.23700510e-04 9.99929115e-01 -6.24697472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05134618399998 meters 0.07073468341146852 Centerline is valid? [True, True] Translation: X:166.67, Y:-9.86, Z:-6.25 [[ 9.99817916e-01 -1.37904600e-02 -1.31893123e-02 1.66668508e+02] [ 1.37924394e-02 9.99904878e-01 5.91203609e-05 -9.86092667e+00] [ 1.31872424e-02 -2.41022387e-04 9.99913015e-01 -6.24965380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08134618399998 meters 0.0697449277689324 Centerline is valid? [True, True] Translation: X:166.70, Y:-9.86, Z:-6.25 [[ 9.99819321e-01 -1.39357855e-02 -1.29274526e-02 1.66697906e+02] [ 1.39376115e-02 9.99902865e-01 5.11656559e-05 -9.85696080e+00] [ 1.29254839e-02 -2.31334224e-04 9.99916436e-01 -6.24505038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11134618399998 meters 0.06987229511335599 Centerline is valid? [True, True] Translation: X:166.73, Y:-9.86, Z:-6.25 [[ 9.99828697e-01 -1.35740602e-02 -1.25826064e-02 1.66725797e+02] [ 1.35758097e-02 9.99907843e-01 5.36348877e-05 -9.85594461e+00] [ 1.25807188e-02 -2.24444769e-04 9.99920834e-01 -6.24649713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14134618399999 meters 0.07023165083349261 Centerline is valid? [True, True] Translation: X:166.75, Y:-9.86, Z:-6.25 [[ 9.99813661e-01 -1.41884003e-02 -1.30893920e-02 1.66754334e+02] [ 1.41902273e-02 9.99899313e-01 4.67120274e-05 -9.85551529e+00] [ 1.30874113e-02 -2.32444772e-04 9.99914329e-01 -6.24712519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.171346184 meters 0.0702701579282528 Centerline is valid? [True, True] Translation: X:166.78, Y:-9.86, Z:-6.25 [[ 9.99815600e-01 -1.48275915e-02 -1.22028350e-02 1.66782847e+02] [ 1.48291817e-02 9.99890041e-01 3.98326903e-05 -9.85531245e+00] [ 1.22009025e-02 -2.20783402e-04 9.99925542e-01 -6.24799363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.201346184 meters 0.07047847112888425 Centerline is valid? [True, True] Translation: X:166.81, Y:-9.86, Z:-6.25 [[ 9.99800354e-01 -1.60997281e-02 -1.18343410e-02 1.66811463e+02] [ 1.61012736e-02 9.99870365e-01 3.53228431e-05 -9.85613640e+00] [ 1.18322381e-02 -2.25863753e-04 9.99929971e-01 -6.24899010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.231346184 meters 0.07118030881866438 Centerline is valid? [True, True] Translation: X:166.84, Y:-9.86, Z:-6.25 [[ 9.99749877e-01 -1.91203307e-02 -1.16015662e-02 1.66839937e+02] [ 1.91220810e-02 9.99817155e-01 3.99521023e-05 -9.86146999e+00] [ 1.15986810e-02 -2.61788198e-04 9.99932699e-01 -6.25232393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.261346184 meters 0.0715951098057518 Centerline is valid? [True, True] Translation: X:166.87, Y:-9.86, Z:-6.25 [[ 9.99712854e-01 -2.09945380e-02 -1.15515479e-02 1.66869792e+02] [ 2.09964273e-02 9.99779550e-01 4.22919660e-05 -9.86472937e+00] [ 1.15481134e-02 -2.84821057e-04 9.99933278e-01 -6.25342785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.291346184 meters 0.07145648154499452 Centerline is valid? [True, True] Translation: X:166.90, Y:-9.87, Z:-6.25 [[ 9.99719494e-01 -2.15585627e-02 -9.80624532e-03 1.66900553e+02] [ 2.15599513e-02 9.99767557e-01 3.59021491e-05 -9.86535115e+00] [ 9.80319192e-03 -2.47314250e-04 9.99951917e-01 -6.25312042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321346184 meters 0.07162312035952646 Centerline is valid? [True, True] Translation: X:166.93, Y:-9.86, Z:-6.25 [[ 9.99714660e-01 -2.19060368e-02 -9.52494918e-03 1.66932001e+02] [ 2.19073776e-02 9.99760004e-01 3.64386211e-05 -9.86434913e+00] [ 9.52186500e-03 -2.45094882e-04 9.99954636e-01 -6.25356869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.351346184 meters 0.07176494829725187 Centerline is valid? [True, True] Translation: X:166.96, Y:-9.86, Z:-6.26 [[ 9.99744115e-01 -1.97671843e-02 -1.09983551e-02 1.66963597e+02] [ 1.97688539e-02 9.99804576e-01 4.30966405e-05 -9.86009774e+00] [ 1.09953538e-02 -2.60510487e-04 9.99939515e-01 -6.25566238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381346184 meters 0.07214635608557778 Centerline is valid? [True, True] Translation: X:166.99, Y:-9.86, Z:-6.26 [[ 9.99766394e-01 -1.80830531e-02 -1.18389707e-02 1.66993082e+02] [ 1.80848366e-02 9.99836455e-01 4.35956428e-05 -9.85838718e+00] [ 1.18362461e-02 -2.57691308e-04 9.99929916e-01 -6.25918673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.411346184 meters 0.07210272551974574 Centerline is valid? [True, True] Translation: X:167.02, Y:-9.86, Z:-6.26 [[ 9.99793160e-01 -1.56960979e-02 -1.29332491e-02 1.67024002e+02] [ 1.56980352e-02 9.99876777e-01 4.82835865e-05 -9.85558452e+00] [ 1.29308976e-02 -2.51300200e-04 9.99916361e-01 -6.26174103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441346184 meters 0.07056129317111634 Centerline is valid? [True, True] Translation: X:167.05, Y:-9.85, Z:-6.26 [[ 9.99800326e-01 -1.36052016e-02 -1.46357941e-02 1.67053381e+02] [ 1.36074180e-02 9.99907413e-01 5.18559824e-05 -9.84928439e+00] [ 1.46337335e-02 -2.51000996e-04 9.99892890e-01 -6.25580107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.471346184 meters 0.0721695951971753 Centerline is valid? [True, True] Translation: X:167.08, Y:-9.85, Z:-6.26 [[ 9.99828994e-01 -1.27667827e-02 -1.33787971e-02 1.67081130e+02] [ 1.27685234e-02 9.99918478e-01 4.46939414e-05 -9.85176894e+00] [ 1.33771358e-02 -2.15513782e-04 9.99910499e-01 -6.26471718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501346184 meters 0.0703181546472096 Centerline is valid? [True, True] Translation: X:167.11, Y:-9.85, Z:-6.26 [[ 9.99856496e-01 -1.21204423e-02 -1.18356298e-02 1.67110152e+02] [ 1.21217523e-02 9.99926528e-01 3.89539878e-05 -9.84788996e+00] [ 1.18342881e-02 -1.82416972e-04 9.99929956e-01 -6.25677110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.531346184 meters 0.06967923824976395 Centerline is valid? [True, True] Translation: X:167.14, Y:-9.84, Z:-6.25 [[ 9.99868936e-01 -1.23627425e-02 -1.04534077e-02 1.67139311e+02] [ 1.23636760e-02 9.99923567e-01 2.46799790e-05 -9.84469380e+00] [ 1.04523036e-02 -1.53919290e-04 9.99945361e-01 -6.25197388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561346184 meters 0.07032306267492348 Centerline is valid? [True, True] Translation: X:167.17, Y:-9.85, Z:-6.26 [[ 9.99881987e-01 -1.18867431e-02 -9.73226096e-03 1.67168053e+02] [ 1.18875885e-02 9.99929340e-01 2.90211010e-05 -9.84546123e+00] [ 9.73122831e-03 -1.44710790e-04 9.99952640e-01 -6.25600764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.591346184 meters 0.07000616282772479 Centerline is valid? [True, True] Translation: X:167.20, Y:-9.84, Z:-6.25 [[ 9.99885742e-01 -1.17788592e-02 -9.47424130e-03 1.67197608e+02] [ 1.17796581e-02 9.99930617e-01 2.85277408e-05 -9.84492842e+00] [ 9.47324792e-03 -1.40127805e-04 9.99955118e-01 -6.25499437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621346184 meters 0.07066755391230231 Centerline is valid? [True, True] Translation: X:167.23, Y:-9.85, Z:-6.26 [[ 9.99892775e-01 -1.07665329e-02 -9.92574797e-03 1.67226009e+02] [ 1.07673489e-02 9.99942030e-01 2.87764699e-05 -9.84669133e+00] [ 9.92486276e-03 -1.35647376e-04 9.99950738e-01 -6.25976251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.651346184 meters 0.06985127540145071 Centerline is valid? [True, True] Translation: X:167.25, Y:-9.85, Z:-6.26 [[ 9.99905499e-01 -9.93260686e-03 -9.50451920e-03 1.67254723e+02] [ 9.93322460e-03 9.99950664e-01 1.77893584e-05 -9.84619043e+00] [ 9.50387359e-03 -1.12198201e-04 9.99954831e-01 -6.25732911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681346184 meters 0.06971891953482383 Centerline is valid? [True, True] Translation: X:167.28, Y:-9.84, Z:-6.26 [[ 9.99944853e-01 -6.39952611e-03 -8.32692355e-03 1.67283467e+02] [ 6.39992396e-03 9.99979520e-01 2.11329979e-05 -9.84442230e+00] [ 8.32661778e-03 -7.44235100e-05 9.99965330e-01 -6.25777679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71134618399998 meters 0.06928017276028992 Centerline is valid? [True, True] Translation: X:167.31, Y:-9.84, Z:-6.26 [[ 9.99966262e-01 -4.36915319e-03 -6.95600305e-03 1.67312748e+02] [ 4.36932293e-03 9.99990454e-01 9.20443803e-06 -9.84167231e+00] [ 6.95589643e-03 -3.95971511e-05 9.99975807e-01 -6.25566362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74134618399998 meters 0.06987252850252 Centerline is valid? [True, True] Translation: X:167.34, Y:-9.84, Z:-6.26 [[ 9.99966979e-01 -2.50462458e-03 -7.73101250e-03 1.67340831e+02] [ 2.50482604e-03 9.99996863e-01 1.63762387e-05 -9.84013192e+00] [ 7.73094723e-03 -3.57405394e-05 9.99970115e-01 -6.25786971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77134618399998 meters 0.07017511288242846 Centerline is valid? [True, True] Translation: X:167.37, Y:-9.84, Z:-6.26 [[ 9.99964449e-01 -8.21924553e-04 -8.39200901e-03 1.67368281e+02] [ 8.22074331e-04 9.99999662e-01 1.43981959e-05 -9.83856532e+00] [ 8.39199434e-03 -2.12965392e-05 9.99964786e-01 -6.25948941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80134618399998 meters 0.07061148205484981 Centerline is valid? [True, True] Translation: X:167.40, Y:-9.84, Z:-6.26 [[ 9.99952556e-01 2.64817015e-04 -9.73737340e-03 1.67396499e+02] [-2.64669974e-04 9.99999965e-01 1.63892942e-05 -9.83821435e+00] [ 9.73737740e-03 -1.38113263e-05 9.99952591e-01 -6.26030859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83134618399998 meters 0.07073989059246932 Centerline is valid? [True, True] Translation: X:167.42, Y:-9.84, Z:-6.26 [[ 9.99952333e-01 4.60728018e-04 -9.75294928e-03 1.67424114e+02] [-4.60590820e-04 9.99999894e-01 1.63134675e-05 -9.83924577e+00] [ 9.75295576e-03 -1.18205710e-05 9.99952439e-01 -6.26049229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86134618399998 meters 0.07013082828601143 Centerline is valid? [True, True] Translation: X:167.45, Y:-9.84, Z:-6.26 [[ 9.99969709e-01 1.17309100e-03 -7.69447322e-03 1.67453057e+02] [-1.17302788e-03 9.99999312e-01 1.27163835e-05 -9.84054213e+00] [ 7.69448285e-03 -3.69016670e-06 9.99970397e-01 -6.25853930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89134618399999 meters 0.0692294578637024 Centerline is valid? [True, True] Translation: X:167.48, Y:-9.84, Z:-6.25 [[ 9.99976375e-01 6.65122285e-04 -6.84158918e-03 1.67481844e+02] [-6.65067040e-04 9.99999779e-01 1.03500649e-05 -9.84200950e+00] [ 6.84159455e-03 -5.79970495e-06 9.99976596e-01 -6.25351281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.921346184 meters 0.06927353326043971 Centerline is valid? [True, True] Translation: X:167.51, Y:-9.84, Z:-6.25 [[ 9.99991335e-01 1.41173345e-03 -3.91614670e-03 1.67509735e+02] [-1.41172957e-03 9.99999004e-01 3.75482040e-06 -9.84185920e+00] [ 3.91614809e-03 1.77375221e-06 9.99992332e-01 -6.25255661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.951346184 meters 0.06929153456375108 Centerline is valid? [True, True] Translation: X:167.54, Y:-9.84, Z:-6.25 [[ 9.99989504e-01 1.53890693e-03 -4.31540282e-03 1.67538270e+02] [-1.53890023e-03 9.99998816e-01 4.87350484e-06 -9.84176333e+00] [ 4.31540520e-03 1.76752069e-06 9.99990689e-01 -6.25241855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.981346184 meters 0.06937502458282362 Centerline is valid? [True, True] Translation: X:167.57, Y:-9.84, Z:-6.25 [[ 9.99986914e-01 2.09052771e-03 -4.66914831e-03 1.67566812e+02] [-2.09052658e-03 9.99997815e-01 5.12252560e-06 -9.84279874e+00] [ 4.66914881e-03 4.63852008e-06 9.99989099e-01 -6.25378961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.011346184 meters 0.06997838590675155 Centerline is valid? [True, True] Translation: X:167.59, Y:-9.85, Z:-6.26 [[ 9.99967128e-01 2.69268998e-03 -7.64807518e-03 1.67594649e+02] [-2.69269614e-03 9.99996375e-01 9.49245222e-06 -9.84518669e+00] [ 7.64807301e-03 1.11018023e-05 9.99970753e-01 -6.25812680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.041346184 meters 0.07072712265261008 Centerline is valid? [True, True] Translation: X:167.62, Y:-9.84, Z:-6.26 [[ 9.99949134e-01 2.99510591e-03 -9.63111377e-03 1.67621700e+02] [-2.99514579e-03 9.99995514e-01 1.02830427e-05 -9.84498200e+00] [ 9.63110137e-03 1.85640703e-05 9.99953620e-01 -6.26221404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.071346184 meters 0.07123065845212087 Centerline is valid? [True, True] Translation: X:167.65, Y:-9.84, Z:-6.27 [[ 9.99937117e-01 3.21431123e-03 -1.07438023e-02 1.67649548e+02] [-3.21437143e-03 9.99994834e-01 1.16644769e-05 -9.84497251e+00] [ 1.07437843e-02 2.28708277e-05 9.99942284e-01 -6.26535661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101346184 meters 0.07087979134374411 Centerline is valid? [True, True] Translation: X:167.68, Y:-9.85, Z:-6.26 [[ 9.99907994e-01 3.97002742e-03 -1.29708634e-02 1.67678737e+02] [-3.97016541e-03 9.99992119e-01 1.51110131e-05 -9.84672857e+00] [ 1.29708212e-02 3.63868504e-05 9.99915875e-01 -6.26297910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.131346184 meters 0.07207179942920736 Centerline is valid? [True, True] Translation: X:167.71, Y:-9.85, Z:-6.27 [[ 9.99907079e-01 3.58136892e-03 -1.31532314e-02 1.67706547e+02] [-3.58151045e-03 9.99993586e-01 1.27950295e-05 -9.84691326e+00] [ 1.31531928e-02 3.43145951e-05 9.99913492e-01 -6.27000371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161346184 meters 0.07123687140026427 Centerline is valid? [True, True] Translation: X:167.74, Y:-9.85, Z:-6.27 [[ 9.99899937e-01 4.07151917e-03 -1.35476541e-02 1.67735527e+02] [-4.07171768e-03 9.99991710e-01 1.29299643e-05 -9.84621135e+00] [ 1.35475944e-02 4.22335520e-05 9.99908226e-01 -6.26526733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.191346184 meters 0.07173952450957224 Centerline is valid? [True, True] Translation: X:167.76, Y:-9.85, Z:-6.27 [[ 9.99894655e-01 3.82579814e-03 -1.40014899e-02 1.67763187e+02] [-3.82601215e-03 9.99992681e-01 1.15014950e-05 -9.84592616e+00] [ 1.40014314e-02 4.20695871e-05 9.99901974e-01 -6.26661444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221346184 meters 0.07202416259276516 Centerline is valid? [True, True] Translation: X:167.79, Y:-9.85, Z:-6.27 [[ 9.99899456e-01 3.26743404e-03 -1.37986463e-02 1.67791215e+02] [-3.26760657e-03 9.99994661e-01 1.00423276e-05 -9.84875318e+00] [ 1.37986055e-02 3.50472295e-05 9.99904794e-01 -6.27011151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.251346184 meters 0.07202416259276516 Centerline is valid? [True, True] Translation: X:167.82, Y:-9.85, Z:-6.27 [[ 9.99899809e-01 3.15756677e-03 -1.37986481e-02 1.67818683e+02] [-3.15775765e-03 9.99995014e-01 7.95423321e-06 -9.84863013e+00] [ 1.37986044e-02 3.56193502e-05 9.99904794e-01 -6.27105270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.281346184 meters 0.07162767404235587 Centerline is valid? [True, True] Translation: X:167.85, Y:-9.85, Z:-6.27 [[ 9.99905125e-01 2.56107003e-03 -1.35344416e-02 1.67847361e+02] [-2.56119705e-03 9.99996720e-01 7.94849559e-06 -9.85167578e+00] [ 1.35344176e-02 2.67166304e-05 9.99908405e-01 -6.27147775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.311346184 meters 0.07149006924583236 Centerline is valid? [True, True] Translation: X:167.88, Y:-9.86, Z:-6.27 [[ 9.99915301e-01 -1.22743197e-03 -1.29569803e-02 1.67875263e+02] [ 1.22760895e-03 9.99999246e-01 5.70596112e-06 -9.85831046e+00] [ 1.29569636e-02 -2.16115829e-05 9.99916055e-01 -6.27291758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341346184 meters 0.07156754935258665 Centerline is valid? [True, True] Translation: X:167.90, Y:-9.86, Z:-6.27 [[ 9.99911709e-01 -3.34644042e-03 -1.28598684e-02 1.67902711e+02] [ 3.34676426e-03 9.99994400e-01 3.66182702e-06 -9.86242759e+00] [ 1.28597841e-02 -4.67004516e-05 9.99917308e-01 -6.27450744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.371346184 meters 0.07148991796279988 Centerline is valid? [True, True] Translation: X:167.93, Y:-9.87, Z:-6.28 [[ 9.99904228e-01 -6.02268096e-03 -1.24604346e-02 1.67931612e+02] [ 6.02319575e-03 9.99981860e-01 3.78682352e-06 -9.86726425e+00] [ 1.24601857e-02 -7.88380974e-05 9.99922366e-01 -6.27591218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401346184 meters 0.07163573391683137 Centerline is valid? [True, True] Translation: X:167.96, Y:-9.87, Z:-6.28 [[ 9.99860640e-01 -9.03752119e-03 -1.40365473e-02 1.67960714e+02] [ 9.03847319e-03 9.99959152e-01 4.38526183e-06 -9.87423868e+00] [ 1.40359343e-02 -1.31253607e-04 9.99901483e-01 -6.27753206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.431346184 meters 0.0727030483065371 Centerline is valid? [True, True] Translation: X:167.99, Y:-9.88, Z:-6.28 [[ 9.99821250e-01 -9.87226384e-03 -1.61247303e-02 1.67988964e+02] [ 9.87361916e-03 9.99951255e-01 4.44242458e-06 -9.87729670e+00] [ 1.61239005e-02 -1.63651077e-04 9.99869988e-01 -6.28348034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46134618399998 meters 0.07310401094220816 Centerline is valid? [True, True] Translation: X:168.02, Y:-9.88, Z:-6.29 [[ 9.99815400e-01 -9.33791873e-03 -1.67919523e-02 1.68016622e+02] [ 9.33927042e-03 9.99956388e-01 2.07889767e-06 -9.87818370e+00] [ 1.67912006e-02 -1.58903098e-04 9.99859005e-01 -6.28680002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49134618399998 meters 0.07284661199870544 Centerline is valid? [True, True] Translation: X:168.05, Y:-9.88, Z:-6.29 [[ 9.99806193e-01 -8.93353164e-03 -1.75433185e-02 1.68045335e+02] [ 8.93477391e-03 9.99960084e-01 -7.56752381e-06 -9.87717729e+00] [ 1.75426859e-02 -1.49179528e-04 9.99846104e-01 -6.28622276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52134618399998 meters 0.073045969135066 Centerline is valid? [True, True] Translation: X:168.07, Y:-9.87, Z:-6.29 [[ 9.99840254e-01 -5.18887778e-03 -1.71038848e-02 1.68073255e+02] [ 5.18957527e-03 9.99986534e-01 -3.60486901e-06 -9.87380734e+00] [ 1.71036732e-02 -8.51576045e-05 9.99853718e-01 -6.28839658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55134618399998 meters 0.07292494383840131 Centerline is valid? [True, True] Translation: X:168.10, Y:-9.87, Z:-6.29 [[ 9.99856897e-01 -3.67829857e-03 -1.65122847e-02 1.68101609e+02] [ 3.67858887e-03 9.99993234e-01 -1.27925858e-05 -9.87205152e+00] [ 1.65122200e-02 -4.79511514e-05 9.99863663e-01 -6.28887321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58134618399998 meters 0.07294006004572202 Centerline is valid? [True, True] Translation: X:168.13, Y:-9.87, Z:-6.29 [[ 9.99866418e-01 -2.61106547e-03 -1.61346713e-02 1.68129879e+02] [ 2.61113927e-03 9.99996591e-01 -1.64920498e-05 -9.87109655e+00] [ 1.61346593e-02 -2.56400270e-05 9.99869828e-01 -6.28969787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61134618399998 meters 0.07105499948082764 Centerline is valid? [True, True] Translation: X:168.16, Y:-9.87, Z:-6.28 [[ 9.99867982e-01 -2.01977580e-03 -1.61226029e-02 1.68158253e+02] [ 2.01965648e-03 9.99997960e-01 -2.36830689e-05 -9.87332785e+00] [ 1.61226179e-02 -8.88217709e-06 9.99870022e-01 -6.28165676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64134618399999 meters 0.07122652115635725 Centerline is valid? [True, True] Translation: X:168.19, Y:-9.87, Z:-6.28 [[ 9.99860525e-01 -2.36772277e-03 -1.65325259e-02 1.68186471e+02] [ 2.36759918e-03 9.99997197e-01 -2.70479121e-05 -9.87452333e+00] [ 1.65325436e-02 -1.20982551e-05 9.99863328e-01 -6.28364637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.671346184 meters 0.07065113466880517 Centerline is valid? [True, True] Translation: X:168.22, Y:-9.88, Z:-6.28 [[ 9.99871595e-01 -3.22671932e-03 -1.56965269e-02 1.68215618e+02] [ 3.22663641e-03 9.99994794e-01 -3.06072025e-05 -9.87504281e+00] [ 1.56965439e-02 -2.00437128e-05 9.99876801e-01 -6.28192589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.701346184 meters 0.07321775916831473 Centerline is valid? [True, True] Translation: X:168.24, Y:-9.88, Z:-6.30 [[ 9.99881552e-01 -4.69184530e-03 -1.46583635e-02 1.68242586e+02] [ 4.69198842e-03 9.99988992e-01 -2.46266940e-05 -9.87832201e+00] [ 1.46583177e-02 -4.41530946e-05 9.99892560e-01 -6.29571769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.731346184 meters 0.07121835814373678 Centerline is valid? [True, True] Translation: X:168.27, Y:-9.88, Z:-6.29 [[ 9.99862262e-01 -5.90474920e-03 -1.55110050e-02 1.68271423e+02] [ 5.90490905e-03 9.99982565e-01 -3.54930978e-05 -9.88049991e+00] [ 1.55109441e-02 -5.61028645e-05 9.99879696e-01 -6.28623836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.761346184 meters 0.07143898885702445 Centerline is valid? [True, True] Translation: X:168.30, Y:-9.88, Z:-6.29 [[ 9.99842443e-01 -7.43462786e-03 -1.61187873e-02 1.68300157e+02] [ 7.43493828e-03 9.99972360e-01 -4.06676924e-05 -9.88452545e+00] [ 1.61186441e-02 -7.91809037e-05 9.99870083e-01 -6.28869144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.791346184 meters 0.07077275470498753 Centerline is valid? [True, True] Translation: X:168.33, Y:-9.89, Z:-6.29 [[ 9.99804536e-01 -1.19804648e-02 -1.57276336e-02 1.68329484e+02] [ 1.19813978e-02 9.99928220e-01 -3.49043501e-05 -9.89264704e+00] [ 1.57269229e-02 -1.53541508e-04 9.99876313e-01 -6.28641507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821346184 meters 0.07190274899915809 Centerline is valid? [True, True] Translation: X:168.36, Y:-9.90, Z:-6.29 [[ 9.99778735e-01 -1.37689529e-02 -1.59027457e-02 1.68357147e+02] [ 1.37700598e-02 9.99905187e-01 -3.98976452e-05 -9.89724116e+00] [ 1.59017872e-02 -1.79092941e-04 9.99873543e-01 -6.29323843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.851346184 meters 0.07224210938189003 Centerline is valid? [True, True] Translation: X:168.38, Y:-9.90, Z:-6.30 [[ 9.99764350e-01 -1.51469267e-02 -1.55504108e-02 1.68384144e+02] [ 1.51481305e-02 9.99885260e-01 -4.03809654e-05 -9.89996800e+00] [ 1.55492382e-02 -1.95188202e-04 9.99879084e-01 -6.29524551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881346184 meters 0.0727451068371619 Centerline is valid? [True, True] Translation: X:168.41, Y:-9.90, Z:-6.30 [[ 9.99738342e-01 -1.63809564e-02 -1.59659356e-02 1.68411692e+02] [ 1.63823820e-02 9.99865799e-01 -4.14988623e-05 -9.90425107e+00] [ 1.59644728e-02 -2.20072053e-04 9.99872535e-01 -6.29844828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.911346184 meters 0.07288208212908301 Centerline is valid? [True, True] Translation: X:168.44, Y:-9.90, Z:-6.30 [[ 9.99724538e-01 -1.63340832e-02 -1.68536604e-02 1.68440750e+02] [ 1.63355078e-02 9.99866565e-01 -5.31441096e-05 -9.90498533e+00] [ 1.68522796e-02 -2.22183629e-04 9.99857966e-01 -6.29997522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941346184 meters 0.07251539329544741 Centerline is valid? [True, True] Translation: X:168.47, Y:-9.90, Z:-6.30 [[ 9.99777750e-01 -1.48045969e-02 -1.50091784e-02 1.68469674e+02] [ 1.48056154e-02 9.99890390e-01 -4.32601204e-05 -9.90291154e+00] [ 1.50081737e-02 -1.78969618e-04 9.99887355e-01 -6.29994610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.971346184 meters 0.07087225422879345 Centerline is valid? [True, True] Translation: X:168.50, Y:-9.90, Z:-6.29 [[ 9.99844593e-01 -1.13902884e-02 -1.34555345e-02 1.68499001e+02] [ 1.13906721e-02 9.99935123e-01 -4.81300594e-05 -9.89585518e+00] [ 1.34552097e-02 -1.05145001e-04 9.99909469e-01 -6.29310987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001346184 meters 0.07117305468616902 Centerline is valid? [True, True] Translation: X:168.53, Y:-9.90, Z:-6.30 [[ 9.99834553e-01 -1.04430981e-02 -1.48932645e-02 1.68526812e+02] [ 1.04434979e-02 9.99945464e-01 -5.09294916e-05 -9.89521590e+00] [ 1.48929841e-02 -1.04616712e-04 9.99889088e-01 -6.29588165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.031346184 meters 0.07081861562775041 Centerline is valid? [True, True] Translation: X:168.56, Y:-9.89, Z:-6.30 [[ 9.99841214e-01 -9.55518330e-03 -1.50414415e-02 1.68555129e+02] [ 9.55534040e-03 9.99954345e-01 -6.14240386e-05 -9.89406419e+00] [ 1.50413417e-02 -8.23118083e-05 9.99886869e-01 -6.29568613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061346184 meters 0.07145243883067176 Centerline is valid? [True, True] Translation: X:168.58, Y:-9.89, Z:-6.30 [[ 9.99816193e-01 -8.87977495e-03 -1.69920369e-02 1.68583185e+02] [ 8.88000989e-03 9.99960570e-01 -6.16252133e-05 -9.89426136e+00] [ 1.69919141e-02 -8.92755694e-05 9.99855623e-01 -6.29858441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.091346184 meters 0.07151335709412168 Centerline is valid? [True, True] Translation: X:168.61, Y:-9.90, Z:-6.30 [[ 9.99799881e-01 -9.72889650e-03 -1.74798887e-02 1.68611677e+02] [ 9.72908795e-03 9.99952669e-01 -7.40874630e-05 -9.89511444e+00] [ 1.74797822e-02 -9.59907381e-05 9.99847212e-01 -6.30068101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121346184 meters 0.07154316434892685 Centerline is valid? [True, True] Translation: X:168.64, Y:-9.90, Z:-6.30 [[ 9.99780396e-01 -1.09823833e-02 -1.78478885e-02 1.68640431e+02] [ 1.09827055e-02 9.99939685e-01 -7.99634210e-05 -9.89618234e+00] [ 1.78476902e-02 -1.16072243e-04 9.99840711e-01 -6.30196298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.151346184 meters 0.0714151531652947 Centerline is valid? [True, True] Translation: X:168.67, Y:-9.90, Z:-6.30 [[ 9.99810250e-01 -1.10783737e-02 -1.60229408e-02 1.68668167e+02] [ 1.10786986e-02 9.99938627e-01 -6.84917146e-05 -9.89612914e+00] [ 1.60227162e-02 -1.09034612e-04 9.99871622e-01 -6.30220355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181346184 meters 0.07141271602226541 Centerline is valid? [True, True] Translation: X:168.70, Y:-9.90, Z:-6.30 [[ 9.99828302e-01 -1.05675536e-02 -1.52214964e-02 1.68695974e+02] [ 1.05677330e-02 9.99944158e-01 -6.86494710e-05 -9.89588528e+00] [ 1.52213718e-02 -9.22190254e-05 9.99884144e-01 -6.30299183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21134618399998 meters 0.07159378815327513 Centerline is valid? [True, True] Translation: X:168.72, Y:-9.90, Z:-6.31 [[ 9.99822886e-01 -1.11312048e-02 -1.51754364e-02 1.68724115e+02] [ 1.11313030e-02 9.99938042e-01 -7.79932466e-05 -9.89732059e+00] [ 1.51753643e-02 -9.09429480e-05 9.99884843e-01 -6.30567570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24134618399998 meters 0.07167724504999122 Centerline is valid? [True, True] Translation: X:168.75, Y:-9.90, Z:-6.31 [[ 9.99833611e-01 -1.14122454e-02 -1.42306225e-02 1.68752266e+02] [ 1.14124294e-02 9.99934874e-01 -6.82795002e-05 -9.89870439e+00] [ 1.42304749e-02 -9.41378348e-05 9.99898737e-01 -6.30706217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27134618399998 meters 0.07178416492771435 Centerline is valid? [True, True] Translation: X:168.78, Y:-9.90, Z:-6.31 [[ 9.99810568e-01 -1.27637665e-02 -1.46940190e-02 1.68781086e+02] [ 1.27639778e-02 9.99918534e-01 -7.94010214e-05 -9.90069069e+00] [ 1.46938354e-02 -1.08168152e-04 9.99892034e-01 -6.30765799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30134618399998 meters 0.07187857375104484 Centerline is valid? [True, True] Translation: X:168.81, Y:-9.90, Z:-6.31 [[ 9.99822676e-01 -1.27673087e-02 -1.38424284e-02 1.68808610e+02] [ 1.27675484e-02 9.99918489e-01 -7.10591346e-05 -9.90194268e+00] [ 1.38422073e-02 -1.05687341e-04 9.99904186e-01 -6.30890982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33134618399998 meters 0.07188316451540278 Centerline is valid? [True, True] Translation: X:168.84, Y:-9.90, Z:-6.31 [[ 9.99805036e-01 -1.40562381e-02 -1.38676966e-02 1.68836848e+02] [ 1.40565587e-02 9.99901199e-01 -7.43596399e-05 -9.90498518e+00] [ 1.38673717e-02 -1.20586950e-04 9.99903836e-01 -6.30965903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36134618399998 meters 0.07200730324531616 Centerline is valid? [True, True] Translation: X:168.87, Y:-9.91, Z:-6.31 [[ 9.99805715e-01 -1.37146883e-02 -1.41576373e-02 1.68866005e+02] [ 1.37148882e-02 9.99905943e-01 -8.29740141e-05 -9.90635916e+00] [ 1.41574437e-02 -1.11212520e-04 9.99899772e-01 -6.31158520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39134618399999 meters 0.07230949043000459 Centerline is valid? [True, True] Translation: X:168.89, Y:-9.91, Z:-6.31 [[ 9.99806350e-01 -1.38168357e-02 -1.40127519e-02 1.68893403e+02] [ 1.38170975e-02 9.99904536e-01 -7.81341444e-05 -9.90834017e+00] [ 1.40124938e-02 -1.15496545e-04 9.99901814e-01 -6.31447908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.421346184 meters 0.07276566862482194 Centerline is valid? [True, True] Translation: X:168.92, Y:-9.91, Z:-6.32 [[ 9.99780422e-01 -1.38236820e-02 -1.57484689e-02 1.68922605e+02] [ 1.38240249e-02 9.99904440e-01 -8.70917370e-05 -9.90973484e+00] [ 1.57481679e-02 -1.30634613e-04 9.99875981e-01 -6.31751550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.451346184 meters 0.07134035858517668 Centerline is valid? [True, True] Translation: X:168.95, Y:-9.91, Z:-6.31 [[ 9.99790117e-01 -1.35891653e-02 -1.53315337e-02 1.68951688e+02] [ 1.35892947e-02 9.99907657e-01 -9.57423439e-05 -9.90808158e+00] [ 1.53314190e-02 -1.12622482e-04 9.99882461e-01 -6.31077407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.481346184 meters 0.0704658112496114 Centerline is valid? [True, True] Translation: X:168.98, Y:-9.91, Z:-6.31 [[ 9.99784816e-01 -1.41165294e-02 -1.52001813e-02 1.68980014e+02] [ 1.41166164e-02 9.99900350e-01 -1.01580277e-04 -9.90819880e+00] [ 1.52001006e-02 -1.13016709e-04 9.99884465e-01 -6.30631541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.511346184 meters 0.07041802439027789 Centerline is valid? [True, True] Translation: X:169.01, Y:-9.91, Z:-6.31 [[ 9.99796706e-01 -1.45693489e-02 -1.39384658e-02 1.69008103e+02] [ 1.45695107e-02 9.99893855e-01 -8.99397864e-05 -9.91066813e+00] [ 1.39382967e-02 -1.13155125e-04 9.99902851e-01 -6.30823714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.541346184 meters 0.07025951449610829 Centerline is valid? [True, True] Translation: X:169.04, Y:-9.91, Z:-6.31 [[ 9.99798781e-01 -1.52841642e-02 -1.29919796e-02 1.69037093e+02] [ 1.52842576e-02 9.99883185e-01 -9.21111745e-05 -9.91337588e+00] [ 1.29918697e-02 -1.06480122e-04 9.99915596e-01 -6.30883600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.571346184 meters 0.07037647535084902 Centerline is valid? [True, True] Translation: X:169.06, Y:-9.91, Z:-6.31 [[ 9.99795037e-01 -1.58289979e-02 -1.26224711e-02 1.69064588e+02] [ 1.58291856e-02 9.99874707e-01 -8.50349856e-05 -9.91483774e+00] [ 1.26222357e-02 -1.14785882e-04 9.99920330e-01 -6.31014167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.601346184 meters 0.07029442609350428 Centerline is valid? [True, True] Translation: X:169.09, Y:-9.92, Z:-6.31 [[ 9.99760050e-01 -1.80839206e-02 -1.23618127e-02 1.69092821e+02] [ 1.80841354e-02 9.99836464e-01 -9.44164539e-05 -9.91753440e+00] [ 1.23614985e-02 -1.29158896e-04 9.99923585e-01 -6.30948273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.631346184 meters 0.07144085680703917 Centerline is valid? [True, True] Translation: X:169.12, Y:-9.93, Z:-6.32 [[ 9.99653884e-01 -2.19029786e-02 -1.45729660e-02 1.69121381e+02] [ 2.19038225e-02 9.99760077e-01 -1.01717739e-04 -9.92808552e+00] [ 1.45716976e-02 -2.17521129e-04 9.99893804e-01 -6.31616641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.661346184 meters 0.07102358549353355 Centerline is valid? [True, True] Translation: X:169.15, Y:-9.93, Z:-6.31 [[ 9.99618154e-01 -2.28165656e-02 -1.55868898e-02 1.69149680e+02] [ 2.28175982e-02 9.99739638e-01 -1.11605092e-04 -9.93020108e+00] [ 1.55853781e-02 -2.44092914e-04 9.99878511e-01 -6.31467152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.691346184 meters 0.07214965697769242 Centerline is valid? [True, True] Translation: X:169.18, Y:-9.93, Z:-6.32 [[ 9.99580570e-01 -2.41821028e-02 -1.59345384e-02 1.69177047e+02] [ 2.41833322e-02 9.99707534e-01 -1.15554639e-04 -9.93355159e+00] [ 1.59326724e-02 -2.69844064e-04 9.99873031e-01 -6.32054627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.721346184 meters 0.07304031048754822 Centerline is valid? [True, True] Translation: X:169.20, Y:-9.94, Z:-6.32 [[ 9.99544954e-01 -2.53101600e-02 -1.64097476e-02 1.69204338e+02] [ 2.53115948e-02 9.99679603e-01 -1.20282219e-04 -9.93760735e+00] [ 1.64075343e-02 -2.95129397e-04 9.99865344e-01 -6.32470563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.751346184 meters 0.07314045377766101 Centerline is valid? [True, True] Translation: X:169.23, Y:-9.94, Z:-6.33 [[ 9.99524383e-01 -2.62154733e-02 -1.62405721e-02 1.69231889e+02] [ 2.62168146e-02 9.99656272e-01 -1.30344733e-04 -9.93859124e+00] [ 1.62384068e-02 -2.95493330e-04 9.99868105e-01 -6.32561472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.781346184 meters 0.07192244528432189 Centerline is valid? [True, True] Translation: X:169.26, Y:-9.94, Z:-6.32 [[ 9.99507283e-01 -2.72262080e-02 -1.56180649e-02 1.69260373e+02] [ 2.72275097e-02 9.99629254e-01 -1.29317394e-04 -9.93754961e+00] [ 1.56157954e-02 -2.95987336e-04 9.99878022e-01 -6.32033727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.811346184 meters 0.07177893715044771 Centerline is valid? [True, True] Translation: X:169.29, Y:-9.94, Z:-6.32 [[ 9.99523582e-01 -2.80036312e-02 -1.29771565e-02 1.69289365e+02] [ 2.80046476e-02 9.99607788e-01 -1.03423145e-04 -9.94190999e+00] [ 1.29749629e-02 -2.60046822e-04 9.99915788e-01 -6.32039995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841346184 meters 0.07158111784566683 Centerline is valid? [True, True] Translation: X:169.32, Y:-9.95, Z:-6.32 [[ 9.99532758e-01 -2.83338330e-02 -1.14655952e-02 1.69318798e+02] [ 2.83346647e-02 9.99598489e-01 -8.99306701e-05 -9.94504953e+00] [ 1.14635397e-02 -2.34985144e-04 9.99934264e-01 -6.32088376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.871346184 meters 0.07122574649887276 Centerline is valid? [True, True] Translation: X:169.35, Y:-9.95, Z:-6.32 [[ 9.99553368e-01 -2.85238767e-02 -8.91366409e-03 1.69349818e+02] [ 2.85243926e-02 9.99593094e-01 -6.92738902e-05 -9.94613018e+00] [ 8.91201303e-03 -1.85013904e-04 9.99960270e-01 -6.31968196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901346184 meters 0.0718374170759769 Centerline is valid? [True, True] Translation: X:169.38, Y:-9.95, Z:-6.32 [[ 9.99581195e-01 -2.80061849e-02 -7.28613380e-03 1.69379970e+02] [ 2.80065402e-02 9.99607739e-01 -5.32755005e-05 -9.94763243e+00] [ 7.28476778e-03 -1.50806211e-04 9.99973454e-01 -6.32342098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.931346184 meters 0.07040569178342611 Centerline is valid? [True, True] Translation: X:169.41, Y:-9.94, Z:-6.32 [[ 9.99645475e-01 -2.58861498e-02 -6.23154458e-03 1.69411800e+02] [ 2.58863667e-02 9.99664891e-01 -4.58624694e-05 -9.94187607e+00] [ 6.23064353e-03 -1.15465838e-04 9.99980583e-01 -6.31895634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96134618399998 meters 0.07044858657227732 Centerline is valid? [True, True] Translation: X:169.44, Y:-9.94, Z:-6.32 [[ 9.99667117e-01 -2.49111604e-02 -6.71483737e-03 1.69443580e+02] [ 2.49113978e-02 9.99689662e-01 -4.83054245e-05 -9.94173626e+00] [ 6.71395685e-03 -1.18986640e-04 9.99977454e-01 -6.32141717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99134618399998 meters 0.07091839912339436 Centerline is valid? [True, True] Translation: X:169.47, Y:-9.94, Z:-6.32 [[ 9.99668457e-01 -2.48566224e-02 -6.71743664e-03 1.69474869e+02] [ 2.48568569e-02 9.99691019e-01 -4.85962600e-05 -9.94296508e+00] [ 6.71656903e-03 -1.18394213e-04 9.99977437e-01 -6.32496825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02134618399998 meters 0.07130431650826596 Centerline is valid? [True, True] Translation: X:169.51, Y:-9.94, Z:-6.33 [[ 9.99603150e-01 -2.71195710e-02 -7.62040512e-03 1.69506557e+02] [ 2.71199335e-02 9.99632185e-01 -5.57741516e-05 -9.94481325e+00] [ 7.61911480e-03 -1.50912863e-04 9.99970963e-01 -6.32619469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05134618399998 meters 0.07163117184643433 Centerline is valid? [True, True] Translation: X:169.54, Y:-9.95, Z:-6.33 [[ 9.99562441e-01 -2.89977900e-02 -5.83561991e-03 1.69537614e+02] [ 2.89980375e-02 9.99579468e-01 -4.22120661e-05 -9.94769518e+00] [ 5.83438990e-03 -1.27027929e-04 9.99982972e-01 -6.32678335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08134618399998 meters 0.07229538031348937 Centerline is valid? [True, True] Translation: X:169.57, Y:-9.95, Z:-6.33 [[ 9.99487692e-01 -3.15708173e-02 -5.25711307e-03 1.69569125e+02] [ 3.15710591e-02 9.99501509e-01 -3.70042197e-05 -9.95186121e+00] [ 5.25566070e-03 -1.28987366e-04 9.99986181e-01 -6.32914379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11134618399998 meters 0.07405036507919048 Centerline is valid? [True, True] Translation: X:169.60, Y:-9.96, Z:-6.33 [[ 9.99280139e-01 -3.74522829e-02 -6.04403133e-03 1.69600152e+02] [ 3.74527064e-02 9.99298400e-01 -4.31396371e-05 -9.95740680e+00] [ 6.04140651e-03 -1.83256749e-04 9.99981734e-01 -6.33132882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14134618399999 meters 0.07525751839631485 Centerline is valid? [True, True] Translation: X:169.63, Y:-9.96, Z:-6.33 [[ 9.99177133e-01 -4.01506446e-02 -5.74301225e-03 1.69631041e+02] [ 4.01510766e-02 9.99193620e-01 -4.01063703e-05 -9.96032601e+00] [ 5.73999150e-03 -1.90514757e-04 9.99983508e-01 -6.33308655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.171346184 meters 0.07525751839631485 Centerline is valid? [True, True] Translation: X:169.66, Y:-9.96, Z:-6.33 [[ 9.99179937e-01 -4.00807965e-02 -5.74301927e-03 1.69662754e+02] [ 4.00812329e-02 9.99196424e-01 -3.91325706e-05 -9.96019438e+00] [ 5.73997278e-03 -1.91086813e-04 9.99983508e-01 -6.33417130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.201346184 meters 0.0760938375017651 Centerline is valid? [True, True] Translation: X:169.70, Y:-9.96, Z:-6.33 [[ 9.99101423e-01 -4.21499638e-02 -4.44152903e-03 1.69695200e+02] [ 4.21502489e-02 9.99111283e-01 -2.94255967e-05 -9.96244983e+00] [ 4.43882205e-03 -1.57812398e-04 9.99990136e-01 -6.33456734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.231346184 meters 0.07530752410258013 Centerline is valid? [True, True] Translation: X:169.73, Y:-9.96, Z:-6.33 [[ 9.99001926e-01 -4.46637542e-02 -5.47944458e-04 1.69727177e+02] [ 4.46637601e-02 9.99002076e-01 -1.40682895e-06 -9.96239937e+00] [ 5.47460485e-04 -2.30678350e-05 9.99999850e-01 -6.33054233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.261346184 meters 0.07588933536077443 Centerline is valid? [True, True] Translation: X:169.76, Y:-9.96, Z:-6.33 [[ 9.98945528e-01 -4.58983115e-02 -1.08455171e-03 1.69759562e+02] [ 4.58983329e-02 9.98946116e-01 -5.16209648e-06 -9.96325346e+00] [ 1.08364565e-03 -4.46224622e-05 9.99999412e-01 -6.33225567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.291346184 meters 0.07581295768121 Centerline is valid? [True, True] Translation: X:169.79, Y:-9.96, Z:-6.33 [[ 9.98946410e-01 -4.58904845e-02 -3.65732150e-04 1.69791469e+02] [ 4.58904875e-02 9.98946477e-01 -9.33903965e-08 -9.96163666e+00] [ 3.65351128e-04 -1.66903347e-05 9.99999933e-01 -6.33294095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321346184 meters 0.07655792535068066 Centerline is valid? [True, True] Translation: X:169.82, Y:-9.96, Z:-6.34 [[ 9.98923243e-01 -4.63871913e-02 -7.64103303e-04 1.69822564e+02] [ 4.63872023e-02 9.98923534e-01 -3.44574504e-06 -9.96096092e+00] [ 7.63440611e-04 -3.20025797e-05 9.99999708e-01 -6.33552191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.351346184 meters 0.0772111937100784 Centerline is valid? [True, True] Translation: X:169.85, Y:-9.96, Z:-6.34 [[ 9.98901194e-01 -4.68658014e-02 2.71293464e-05 1.69853261e+02] [ 4.68658013e-02 9.98901195e-01 1.98133663e-06 -9.95925562e+00] [-2.71923936e-05 -7.07720966e-07 1.00000000e+00 -6.33785496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381346184 meters 0.07726344081895453 Centerline is valid? [True, True] Translation: X:169.89, Y:-9.96, Z:-6.34 [[ 9.98904767e-01 -4.67867674e-02 -5.13918526e-04 1.69885093e+02] [ 4.67867730e-02 9.98904899e-01 -1.09767927e-06 -9.95677968e+00] [ 5.13407090e-04 -2.29481123e-05 9.99999868e-01 -6.33953947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.411346184 meters 0.07791672096553924 Centerline is valid? [True, True] Translation: X:169.92, Y:-9.95, Z:-6.34 [[ 9.98905240e-01 -4.67541255e-02 -1.54061382e-03 1.69916084e+02] [ 4.67541707e-02 9.98906426e-01 -6.65857362e-06 -9.95462682e+00] [ 1.53924036e-03 -6.53788375e-05 9.99998813e-01 -6.34198141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441346184 meters 0.07529479788922826 Centerline is valid? [True, True] Translation: X:169.95, Y:-9.94, Z:-6.34 [[ 9.98894332e-01 -4.69204114e-02 -2.93075757e-03 1.69947886e+02] [ 4.69205619e-02 9.98898624e-01 -1.74348051e-05 -9.94249959e+00] [ 2.92834775e-03 -1.20097264e-04 9.99995705e-01 -6.33827064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.471346184 meters 0.07466840629329928 Centerline is valid? [True, True] Translation: X:169.98, Y:-9.94, Z:-6.34 [[ 9.98915420e-01 -4.64819475e-02 -2.72267419e-03 1.69980113e+02] [ 4.64820785e-02 9.98919124e-01 -1.51670388e-05 -9.94008842e+00] [ 2.72043631e-03 -1.11404966e-04 9.99996293e-01 -6.33925199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501346184 meters 0.07908989253820978 Centerline is valid? [True, True] Translation: X:170.01, Y:-9.95, Z:-6.35 [[ 9.98893853e-01 -4.69623351e-02 -2.36843388e-03 1.70010517e+02] [ 4.69624335e-02 9.98896656e-01 -1.40729846e-05 -9.94878951e+00] [ 2.36648158e-03 -9.71700008e-05 9.99997195e-01 -6.34971585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.531346184 meters 0.07972982953507474 Centerline is valid? [True, True] Translation: X:170.04, Y:-9.95, Z:-6.35 [[ 9.98896126e-01 -4.69211947e-02 -2.22060900e-03 1.70041884e+02] [ 4.69212825e-02 9.98898590e-01 -1.25947131e-05 -9.94787128e+00] [ 2.21875416e-03 -9.16130122e-05 9.99997534e-01 -6.35183418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561346184 meters 0.07508709961593456 Centerline is valid? [True, True] Translation: X:170.07, Y:-9.93, Z:-6.34 [[ 9.98950749e-01 -4.57790949e-02 -1.29434817e-03 1.70074069e+02] [ 4.57791259e-02 9.98951586e-01 -5.69880269e-06 -9.93255490e+00] [ 1.29325205e-03 -5.35613047e-05 9.99999162e-01 -6.34357625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.591346184 meters 0.07393251782822859 Centerline is valid? [True, True] Translation: X:170.11, Y:-9.93, Z:-6.34 [[ 9.99003765e-01 -4.46018461e-02 -1.46714804e-03 1.70106550e+02] [ 4.46018844e-02 9.99004841e-01 -6.60845232e-06 -9.92713848e+00] [ 1.46598274e-03 -5.88356983e-05 9.99998924e-01 -6.34338491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621346184 meters 0.07405513558215071 Centerline is valid? [True, True] Translation: X:170.14, Y:-9.92, Z:-6.35 [[ 9.99086997e-01 -4.26255967e-02 -2.86881852e-03 1.70138128e+02] [ 4.26257284e-02 9.99091110e-01 -1.52263757e-05 -9.92363905e+00] [ 2.86686012e-03 -1.07073005e-04 9.99995885e-01 -6.34643060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.651346184 meters 0.07364779694375227 Centerline is valid? [True, True] Translation: X:170.17, Y:-9.91, Z:-6.35 [[ 9.99195008e-01 -3.99036217e-02 -4.12747344e-03 1.70170102e+02] [ 3.99038676e-02 9.99203523e-01 -2.27986983e-05 -9.91450346e+00] [ 4.12509576e-03 -1.41921808e-04 9.99991482e-01 -6.34810061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681346184 meters 0.07371778051454243 Centerline is valid? [True, True] Translation: X:170.20, Y:-9.91, Z:-6.35 [[ 9.99242445e-01 -3.87914881e-02 -3.12363401e-03 1.70201365e+02] [ 3.87916240e-02 9.99247322e-01 -1.71078836e-05 -9.91203165e+00] [ 3.12194656e-03 -1.04075913e-04 9.99995121e-01 -6.35036538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71134618399998 meters 0.07272100016470585 Centerline is valid? [True, True] Translation: X:170.23, Y:-9.91, Z:-6.35 [[ 9.99270757e-01 -3.79944684e-02 -3.79140066e-03 1.70234431e+02] [ 3.79946705e-02 9.99277942e-01 -1.87272948e-05 -9.90685054e+00] [ 3.78937458e-03 -1.25339381e-04 9.99992812e-01 -6.34950357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74134618399998 meters 0.07296133359743875 Centerline is valid? [True, True] Translation: X:170.27, Y:-9.90, Z:-6.35 [[ 9.99304040e-01 -3.70187132e-02 -4.58800514e-03 1.70266740e+02] [ 3.70189941e-02 9.99314562e-01 -2.37165395e-05 -9.90082641e+00] [ 4.58573830e-03 -1.46143302e-04 9.99989475e-01 -6.35193463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77134618399998 meters 0.07302033754891 Centerline is valid? [True, True] Translation: X:170.30, Y:-9.90, Z:-6.35 [[ 9.99303462e-01 -3.69584842e-02 -5.16343179e-03 1.70298646e+02] [ 3.69588356e-02 9.99316788e-01 -2.73741571e-05 -9.89773778e+00] [ 5.16091578e-03 -1.63479337e-04 9.99986669e-01 -6.35328064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80134618399998 meters 0.0726582807593742 Centerline is valid? [True, True] Translation: X:170.33, Y:-9.89, Z:-6.35 [[ 9.99314868e-01 -3.66826588e-02 -4.91711977e-03 1.70330424e+02] [ 3.66829768e-02 9.99326953e-01 -2.55283543e-05 -9.89494829e+00] [ 4.91474677e-03 -1.54863726e-04 9.99987911e-01 -6.35397564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83134618399998 meters 0.07259592488090877 Centerline is valid? [True, True] Translation: X:170.36, Y:-9.89, Z:-6.36 [[ 9.99302883e-01 -3.69271565e-02 -5.48931435e-03 1.70362338e+02] [ 3.69275574e-02 9.99317945e-01 -2.83371885e-05 -9.89227949e+00] [ 5.48661675e-03 -1.74389536e-04 9.99984933e-01 -6.35509777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86134618399998 meters 0.07360270325854727 Centerline is valid? [True, True] Translation: X:170.39, Y:-9.89, Z:-6.36 [[ 9.99300165e-01 -3.71073838e-02 -4.71408667e-03 1.70393962e+02] [ 3.71076848e-02 9.99311272e-01 -2.36243533e-05 -9.89003068e+00] [ 4.71171659e-03 -1.51321022e-04 9.99988888e-01 -6.35827295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89134618399999 meters 0.07238080741935256 Centerline is valid? [True, True] Translation: X:170.43, Y:-9.88, Z:-6.35 [[ 9.99305766e-01 -3.71172274e-02 -3.20885776e-03 1.70426117e+02] [ 3.71173704e-02 9.99310913e-01 -1.50041007e-05 -9.88463489e+00] [ 3.20720349e-03 -1.04110678e-04 9.99994851e-01 -6.35453383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.921346184 meters 0.07319871097396066 Centerline is valid? [True, True] Translation: X:170.46, Y:-9.88, Z:-6.36 [[ 9.99336172e-01 -3.63398544e-02 -2.57506833e-03 1.70457715e+02] [ 3.63399457e-02 9.99339486e-01 -1.13450306e-05 -9.88433797e+00] [ 2.57377974e-03 -8.22403440e-05 9.99996684e-01 -6.35849861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.951346184 meters 0.0724095259491558 Centerline is valid? [True, True] Translation: X:170.49, Y:-9.88, Z:-6.36 [[ 9.99375549e-01 -3.51467094e-02 -3.63603391e-03 1.70489942e+02] [ 3.51468805e-02 9.99382157e-01 -1.68557637e-05 -9.87679047e+00] [ 3.63437984e-03 -1.10950011e-04 9.99993389e-01 -6.35900528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.981346184 meters 0.07211344402411646 Centerline is valid? [True, True] Translation: X:170.52, Y:-9.87, Z:-6.36 [[ 9.99365945e-01 -3.52763117e-02 -4.82588003e-03 1.70521985e+02] [ 3.52766127e-02 9.99377586e-01 -2.27656562e-05 -9.87372101e+00] [ 4.82367943e-03 -1.47489479e-04 9.99988355e-01 -6.35877414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.011346184 meters 0.07257614928146636 Centerline is valid? [True, True] Translation: X:170.55, Y:-9.87, Z:-6.36 [[ 9.99339882e-01 -3.58371728e-02 -5.95787774e-03 1.70553274e+02] [ 3.58376524e-02 9.99357625e-01 -2.62860576e-05 -9.87342045e+00] [ 5.95499257e-03 -1.87247646e-04 9.99982251e-01 -6.36158465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.041346184 meters 0.07376458642207429 Centerline is valid? [True, True] Translation: X:170.58, Y:-9.88, Z:-6.36 [[ 9.99249740e-01 -3.85338962e-02 -3.88529822e-03 1.70584009e+02] [ 3.85341178e-02 9.99257285e-01 -1.78100890e-05 -9.87658549e+00] [ 3.88309885e-03 -1.31919813e-04 9.99992452e-01 -6.36480381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.071346184 meters 0.07327555426999462 Centerline is valid? [True, True] Translation: X:170.62, Y:-9.87, Z:-6.36 [[ 9.99217559e-01 -3.93875699e-02 -3.59015739e-03 1.70615836e+02] [ 3.93877685e-02 9.99224001e-01 -1.53988146e-05 -9.87390721e+00] [ 3.58797795e-03 -1.26021522e-04 9.99993555e-01 -6.36344862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101346184 meters 0.0757763535695458 Centerline is valid? [True, True] Translation: X:170.65, Y:-9.88, Z:-6.37 [[ 9.99202642e-01 -3.98537874e-02 -2.39906545e-03 1.70646451e+02] [ 3.98538782e-02 9.99205519e-01 -9.96362770e-06 -9.87848894e+00] [ 2.39755653e-03 -8.56563793e-05 9.99997122e-01 -6.37019775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.131346184 meters 0.07346707963835179 Centerline is valid? [True, True] Translation: X:170.68, Y:-9.87, Z:-6.36 [[ 9.99207834e-01 -3.97404414e-02 -2.09791855e-03 1.70679140e+02] [ 3.97405128e-02 9.99210034e-01 -7.69342365e-06 -9.87023013e+00] [ 2.09656700e-03 -7.56850297e-05 9.99997799e-01 -6.36447222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161346184 meters 0.07245192275829347 Centerline is valid? [True, True] Translation: X:170.71, Y:-9.86, Z:-6.36 [[ 9.99304554e-01 -3.72542644e-02 -1.59026280e-03 1.70710291e+02] [ 3.72543014e-02 9.99305818e-01 -6.39281615e-06 -9.86224162e+00] [ 1.58939702e-03 -5.28557591e-05 9.99998736e-01 -6.36367934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.191346184 meters 0.07202676486983672 Centerline is valid? [True, True] Translation: X:170.74, Y:-9.86, Z:-6.36 [[ 9.99394801e-01 -3.47748263e-02 -8.62481715e-04 1.70740665e+02] [ 3.47748390e-02 9.99395172e-01 -2.79104167e-07 -9.85937498e+00] [ 8.61969768e-04 -2.97137275e-05 9.99999628e-01 -6.36497264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221346184 meters 0.07086048180717541 Centerline is valid? [True, True] Translation: X:170.77, Y:-9.85, Z:-6.36 [[ 9.99474303e-01 -3.24209354e-02 -1.18419296e-05 1.70772260e+02] [ 3.24209354e-02 9.99474303e-01 1.26851745e-06 -9.85353011e+00] [ 1.17945777e-05 -1.65177703e-06 1.00000000e+00 -6.36330781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.251346184 meters 0.06948704215688409 Centerline is valid? [True, True] Translation: X:170.80, Y:-9.84, Z:-6.36 [[ 9.99613678e-01 -2.76631956e-02 2.69099953e-03 1.70802825e+02] [ 2.76632618e-02 9.99617299e-01 1.26148467e-05 -9.84326148e+00] [-2.69031865e-03 6.18318513e-05 9.99996379e-01 -6.36015085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.281346184 meters 0.0691238655987131 Centerline is valid? [True, True] Translation: X:170.83, Y:-9.84, Z:-6.36 [[ 9.99664245e-01 -2.56016221e-02 3.99424874e-03 1.70834813e+02] [ 2.56017423e-02 9.99672221e-01 2.10493765e-05 -9.83922956e+00] [-3.99347841e-03 8.12174178e-05 9.99992023e-01 -6.36059773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.311346184 meters 0.06912859241015269 Centerline is valid? [True, True] Translation: X:170.87, Y:-9.84, Z:-6.36 [[ 9.99701641e-01 -2.41252476e-02 3.82113337e-03 1.70866711e+02] [ 2.41253476e-02 9.99708941e-01 1.99374573e-05 -9.83694964e+00] [-3.82050219e-03 7.22546621e-05 9.99992699e-01 -6.36223753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.341346184 meters 0.06934819998044753 Centerline is valid? [True, True] Translation: X:170.90, Y:-9.84, Z:-6.37 [[ 9.99720277e-01 -2.35697479e-02 1.95819319e-03 1.70899243e+02] [ 2.35697709e-02 9.99722194e-01 1.13437404e-05 -9.83598893e+00] [-1.95791657e-03 3.48135976e-05 9.99998083e-01 -6.36510782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.371346184 meters 0.06973938566281163 Centerline is valid? [True, True] Translation: X:170.93, Y:-9.84, Z:-6.37 [[ 9.99709985e-01 -2.40817091e-02 -1.32260150e-04 1.70930961e+02] [ 2.40817095e-02 9.99709994e-01 1.37694958e-06 -9.83831024e+00] [ 1.32188634e-04 -4.56160075e-06 9.99999991e-01 -6.36988147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.401346184 meters 0.06995974419828296 Centerline is valid? [True, True] Translation: X:170.96, Y:-9.84, Z:-6.37 [[ 9.99696574e-01 -2.46321018e-02 -1.41647624e-04 1.70962304e+02] [ 2.46321023e-02 9.99696584e-01 1.32951354e-06 -9.84079935e+00] [ 1.41571897e-04 -4.81818888e-06 9.99999990e-01 -6.37225765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.431346184 meters 0.06980254611751986 Centerline is valid? [True, True] Translation: X:170.99, Y:-9.84, Z:-6.37 [[ 9.99683850e-01 -2.51284499e-02 8.72514885e-04 1.70994289e+02] [ 2.51284539e-02 9.99684231e-01 6.28062893e-06 -9.84187653e+00] [-8.72397194e-04 1.56463068e-05 9.99999619e-01 -6.37239659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46134618399998 meters 0.06957659616434508 Centerline is valid? [True, True] Translation: X:171.03, Y:-9.84, Z:-6.37 [[ 9.99681541e-01 -2.52243225e-02 7.41523049e-04 1.71026103e+02] [ 2.52243252e-02 9.99681816e-01 5.71839602e-06 -9.84229704e+00] [-7.41431351e-04 1.29878436e-05 9.99999725e-01 -6.37121306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49134618399998 meters 0.06938034135168848 Centerline is valid? [True, True] Translation: X:171.06, Y:-9.84, Z:-6.37 [[ 9.99695033e-01 -2.46289652e-02 1.80395963e-03 1.71058409e+02] [ 2.46289871e-02 9.99696660e-01 1.00651045e-05 -9.84322100e+00] [-1.80366031e-03 3.43676636e-05 9.99998373e-01 -6.37175803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52134618399998 meters 0.06925292098232365 Centerline is valid? [True, True] Translation: X:171.09, Y:-9.84, Z:-6.37 [[ 9.99731444e-01 -2.30841966e-02 2.03952054e-03 1.71089834e+02] [ 2.30842236e-02 9.99733524e-01 1.02580592e-05 -9.84435616e+00] [-2.03921386e-03 3.68254439e-05 9.99997920e-01 -6.37371557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55134618399998 meters 0.06873598482175075 Centerline is valid? [True, True] Translation: X:171.12, Y:-9.84, Z:-6.38 [[ 9.99823622e-01 -1.84214512e-02 3.65723303e-03 1.71120598e+02] [ 1.84215158e-02 9.99830309e-01 1.60081721e-05 -9.84434106e+00] [-3.65690732e-03 5.13664275e-05 9.99993312e-01 -6.37520260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58134618399998 meters 0.06832267771805002 Centerline is valid? [True, True] Translation: X:171.15, Y:-9.84, Z:-6.37 [[ 9.99865331e-01 -1.59223059e-02 3.97483443e-03 1.71152862e+02] [ 1.59223589e-02 9.99873231e-01 1.83011173e-05 -9.84331248e+00] [-3.97462194e-03 4.49900876e-05 9.99992100e-01 -6.37411844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61134618399998 meters 0.06819049889533038 Centerline is valid? [True, True] Translation: X:171.18, Y:-9.84, Z:-6.38 [[ 9.99892569e-01 -1.39600183e-02 4.46849207e-03 1.71183968e+02] [ 1.39600714e-02 9.99902553e-01 1.93135638e-05 -9.84290305e+00] [-4.46832624e-03 4.30689792e-05 9.99990016e-01 -6.37564023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64134618399999 meters 0.06824459924450266 Centerline is valid? [True, True] Translation: X:171.22, Y:-9.84, Z:-6.38 [[ 9.99915136e-01 -1.25427551e-02 3.52148014e-03 1.71216263e+02] [ 1.25427766e-02 9.99921336e-01 1.59882131e-05 -9.84241347e+00] [-3.52140367e-03 2.81822824e-05 9.99993799e-01 -6.37680068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.671346184 meters 0.06817249584737711 Centerline is valid? [True, True] Translation: X:171.25, Y:-9.84, Z:-6.38 [[ 9.99941380e-01 -1.07125202e-02 1.57437284e-03 1.71248241e+02] [ 1.07125199e-02 9.99942619e-01 8.58500634e-06 -9.84106158e+00] [-1.57437447e-03 8.28099731e-06 9.99998761e-01 -6.37552812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.701346184 meters 0.06854303799595389 Centerline is valid? [True, True] Translation: X:171.28, Y:-9.84, Z:-6.38 [[ 9.99943312e-01 -1.06406828e-02 3.85498398e-04 1.71278883e+02] [ 1.06406813e-02 9.99943386e-01 6.10369387e-06 -9.84253361e+00] [-3.85541521e-04 -2.00138228e-06 9.99999926e-01 -6.37890512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.731346184 meters 0.06870949791928796 Centerline is valid? [True, True] Translation: X:171.31, Y:-9.84, Z:-6.38 [[ 9.99945600e-01 -1.04275418e-02 2.50951330e-04 1.71310023e+02] [ 1.04275414e-02 9.99945632e-01 2.85372272e-06 -9.84453441e+00] [-2.50967444e-04 -2.36762076e-07 9.99999969e-01 -6.38172706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.761346184 meters 0.06872840604129313 Centerline is valid? [True, True] Translation: X:171.34, Y:-9.85, Z:-6.39 [[ 9.99929670e-01 -1.18478863e-02 -5.32184744e-04 1.71342130e+02] [ 1.18478885e-02 9.99929811e-01 8.04192779e-07 -9.85129725e+00] [ 5.32137863e-04 -7.10940171e-06 9.99999858e-01 -6.38532484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.791346184 meters 0.06939858119349085 Centerline is valid? [True, True] Translation: X:171.37, Y:-9.86, Z:-6.39 [[ 9.99920302e-01 -1.26203942e-02 -3.40201764e-04 1.71372735e+02] [ 1.26203953e-02 9.99920360e-01 8.14809669e-07 -9.85522356e+00] [ 3.40164387e-04 -5.10822546e-06 9.99999942e-01 -6.39195035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.821346184 meters 0.06871819205176438 Centerline is valid? [True, True] Translation: X:171.41, Y:-9.86, Z:-6.39 [[ 9.99911221e-01 -1.33096257e-02 6.36144167e-04 1.71405280e+02] [ 1.33096254e-02 9.99911423e-01 4.69147166e-06 -9.85505319e+00] [-6.36150262e-04 3.77578540e-06 9.99999798e-01 -6.38919707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.851346184 meters 0.06888040924959023 Centerline is valid? [True, True] Translation: X:171.44, Y:-9.85, Z:-6.39 [[ 9.99917373e-01 -1.28511480e-02 3.09611547e-04 1.71436693e+02] [ 1.28511477e-02 9.99917421e-01 2.92804428e-06 -9.85359878e+00] [-3.09623609e-04 1.05106140e-06 9.99999952e-01 -6.38986129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.881346184 meters 0.06831755313468105 Centerline is valid? [True, True] Translation: X:171.47, Y:-9.85, Z:-6.39 [[ 9.99913416e-01 -1.28895343e-02 2.64957024e-03 1.71469148e+02] [ 1.28895503e-02 9.99916926e-01 1.10462820e-05 -9.85284276e+00] [-2.64949251e-03 2.31064432e-05 9.99996490e-01 -6.38737225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.911346184 meters 0.06798040292054594 Centerline is valid? [True, True] Translation: X:171.50, Y:-9.85, Z:-6.39 [[ 9.99915000e-01 -1.24727907e-02 3.79777084e-03 1.71501810e+02] [ 1.24728256e-02 9.99922211e-01 1.44919964e-05 -9.85324563e+00] [-3.79765617e-03 3.28781689e-05 9.99992788e-01 -6.38582294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.941346184 meters 0.06793376199847725 Centerline is valid? [True, True] Translation: X:171.53, Y:-9.85, Z:-6.39 [[ 9.99928594e-01 -1.13747521e-02 3.66371463e-03 1.71534210e+02] [ 1.13747778e-02 9.99935305e-01 1.38212247e-05 -9.85483601e+00] [-3.66363481e-03 2.78537020e-05 9.99993288e-01 -6.38769654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.971346184 meters 0.06836603513905046 Centerline is valid? [True, True] Translation: X:171.57, Y:-9.86, Z:-6.39 [[ 9.99944658e-01 -1.02882258e-02 2.19863273e-03 1.71565193e+02] [ 1.02882319e-02 9.99947075e-01 8.55548198e-06 -9.85509897e+00] [-2.19860439e-03 1.40650348e-05 9.99997583e-01 -6.39186314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.001346184 meters 0.06906105440888591 Centerline is valid? [True, True] Translation: X:171.60, Y:-9.86, Z:-6.40 [[ 9.99950365e-01 -9.89399762e-03 -1.17276855e-03 1.71595749e+02] [ 9.89400588e-03 9.99951053e-01 1.24702347e-06 -9.85571206e+00] [ 1.17269881e-03 -1.28503405e-05 9.99999312e-01 -6.39779652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.031346184 meters 0.06916657361194511 Centerline is valid? [True, True] Translation: X:171.63, Y:-9.85, Z:-6.40 [[ 9.99957469e-01 -8.94320596e-03 -2.25389873e-03 1.71628230e+02] [ 8.94322051e-03 9.99960009e-01 -3.62186617e-06 -9.85455919e+00] [ 2.25384098e-03 -1.65354012e-05 9.99997460e-01 -6.39828515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.061346184 meters 0.06916657361194511 Centerline is valid? [True, True] Translation: X:171.66, Y:-9.85, Z:-6.40 [[ 9.99958148e-01 -8.86694211e-03 -2.25389908e-03 1.71659932e+02] [ 8.86695685e-03 9.99960688e-01 -3.45610666e-06 -9.85456709e+00] [ 2.25384112e-03 -1.65292639e-05 9.99997460e-01 -6.39936903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.091346184 meters 0.06913880625599612 Centerline is valid? [True, True] Translation: X:171.69, Y:-9.85, Z:-6.40 [[ 9.99965197e-01 -8.24807757e-03 -1.25459516e-03 1.71690076e+02] [ 8.24808067e-03 9.99965984e-01 -2.70683719e-06 -9.85381041e+00] [ 1.25457481e-03 -7.64125909e-06 9.99999213e-01 -6.39989077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.121346184 meters 0.06901536265541555 Centerline is valid? [True, True] Translation: X:171.72, Y:-9.85, Z:-6.40 [[ 9.99968659e-01 -7.86185151e-03 -9.33498049e-04 1.71722661e+02] [ 7.86185513e-03 9.99969095e-01 2.04146721e-07 -9.85374830e+00] [ 9.33467595e-04 -7.54316675e-06 9.99999564e-01 -6.39874920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.151346184 meters 0.06912869024297769 Centerline is valid? [True, True] Translation: X:171.75, Y:-9.86, Z:-6.40 [[ 9.99969366e-01 -7.81868647e-03 -3.66857013e-04 1.71753715e+02] [ 7.81868737e-03 9.99969434e-01 1.02715330e-06 -9.85583464e+00] [ 3.66837768e-04 -3.89546212e-06 9.99999933e-01 -6.40136513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.181346184 meters 0.06877970544403128 Centerline is valid? [True, True] Translation: X:171.79, Y:-9.86, Z:-6.40 [[ 9.99953431e-01 -9.55947636e-03 1.32377303e-03 1.71785845e+02] [ 9.55947697e-03 9.99954307e-01 5.86789536e-06 -9.86278093e+00] [-1.32376863e-03 6.78695566e-06 9.99999124e-01 -6.40126605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21134618399998 meters 0.06848529724249362 Centerline is valid? [True, True] Translation: X:171.82, Y:-9.87, Z:-6.40 [[ 9.99940013e-01 -1.09362647e-02 6.07736954e-04 1.71818182e+02] [ 1.09362641e-02 9.99940197e-01 4.18348069e-06 -9.86508256e+00] [-6.07746361e-04 2.46314212e-06 9.99999815e-01 -6.39988150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24134618399998 meters 0.06986942127045255 Centerline is valid? [True, True] Translation: X:171.85, Y:-9.87, Z:-6.41 [[ 9.99933471e-01 -1.15305042e-02 3.17673113e-04 1.71848996e+02] [ 1.15305039e-02 9.99933522e-01 2.77137853e-06 -9.86953946e+00] [-3.17683950e-04 8.91736920e-07 9.99999950e-01 -6.40963543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27134618399998 meters 0.06848720613891095 Centerline is valid? [True, True] Translation: X:171.88, Y:-9.87, Z:-6.40 [[ 9.99923175e-01 -1.20650089e-02 2.84246366e-03 1.71881391e+02] [ 1.20650319e-02 9.99927215e-01 9.05660072e-06 -9.87257388e+00] [-2.84236604e-03 2.52385098e-05 9.99995960e-01 -6.40076793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30134618399998 meters 0.06851653006392705 Centerline is valid? [True, True] Translation: X:171.91, Y:-9.88, Z:-6.40 [[ 9.99915985e-01 -1.23870180e-02 3.81898964e-03 1.71912932e+02] [ 1.23870688e-02 9.99923277e-01 1.03422452e-05 -9.87624826e+00] [-3.81882474e-03 3.69647110e-05 9.99992708e-01 -6.40279747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33134618399998 meters 0.06868037186121888 Centerline is valid? [True, True] Translation: X:171.95, Y:-9.88, Z:-6.40 [[ 9.99914485e-01 -1.26994742e-02 3.12186816e-03 1.71945534e+02] [ 1.26995072e-02 9.99919358e-01 9.24950169e-06 -9.87820070e+00] [-3.12173387e-03 3.03974764e-05 9.99995127e-01 -6.40380658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36134618399998 meters 0.06863464214643 Centerline is valid? [True, True] Translation: X:171.98, Y:-9.88, Z:-6.40 [[ 9.99923029e-01 -1.18502427e-02 3.67542962e-03 1.71976464e+02] [ 1.18502776e-02 9.99929783e-01 1.23018108e-05 -9.88010505e+00] [-3.67531732e-03 3.12539973e-05 9.99993246e-01 -6.40474030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39134618399999 meters 0.06852672169843019 Centerline is valid? [True, True] Translation: X:172.01, Y:-9.88, Z:-6.41 [[ 9.99929279e-01 -1.14090707e-02 3.35722129e-03 1.72008828e+02] [ 1.14091048e-02 9.99934914e-01 8.99076061e-06 -9.88218859e+00] [-3.35710536e-03 2.93127649e-05 9.99994364e-01 -6.40513754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.421346184 meters 0.06852186643886828 Centerline is valid? [True, True] Translation: X:172.04, Y:-9.89, Z:-6.41 [[ 9.99942578e-01 -9.88786406e-03 4.13175188e-03 1.72039997e+02] [ 9.88789994e-03 9.99951113e-01 1.17428004e-05 -9.88935791e+00] [-4.13166601e-03 2.91122231e-05 9.99991464e-01 -6.40834050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.451346184 meters 0.0687768760915413 Centerline is valid? [True, True] Translation: X:172.07, Y:-9.89, Z:-6.41 [[ 9.99949915e-01 -9.39111646e-03 3.46051996e-03 1.72070895e+02] [ 9.39113892e-03 9.99955902e-01 9.75772479e-06 -9.89289595e+00] [-3.46045899e-03 2.27409876e-05 9.99994012e-01 -6.41151939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.481346184 meters 0.0691191670569572 Centerline is valid? [True, True] Translation: X:172.10, Y:-9.90, Z:-6.41 [[ 9.99942759e-01 -1.06142028e-02 1.34786208e-03 1.72102461e+02] [ 1.06142069e-02 9.99943668e-01 4.08230450e-06 -9.90220020e+00] [-1.34782948e-03 1.02244162e-05 9.99999092e-01 -6.41470431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.511346184 meters 0.06906473285026479 Centerline is valid? [True, True] Translation: X:172.13, Y:-9.91, Z:-6.42 [[ 9.99934434e-01 -1.13638672e-02 1.41088014e-03 1.72134758e+02] [ 1.13638718e-02 9.99935429e-01 4.71953595e-06 -9.90638985e+00] [-1.41084267e-03 1.13138346e-05 9.99999005e-01 -6.41517590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.541346184 meters 0.06937338706316505 Centerline is valid? [True, True] Translation: X:172.17, Y:-9.91, Z:-6.42 [[ 9.99933064e-01 -1.15369833e-02 8.75166660e-04 1.72165819e+02] [ 1.15369849e-02 9.99933447e-01 3.19775756e-06 -9.90991600e+00] [-8.75145307e-04 6.89924107e-06 9.99999617e-01 -6.41802002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.571346184 meters 0.06874588372590246 Centerline is valid? [True, True] Translation: X:172.20, Y:-9.91, Z:-6.41 [[ 9.99931858e-01 -1.15131512e-02 1.93055467e-03 1.72198207e+02] [ 1.15131624e-02 9.99933721e-01 5.28643230e-06 -9.91134111e+00] [-1.93048757e-03 1.69407174e-05 9.99998136e-01 -6.41420214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.601346184 meters 0.06881726153514255 Centerline is valid? [True, True] Translation: X:172.23, Y:-9.92, Z:-6.42 [[ 9.99939188e-01 -1.09660501e-02 1.16916589e-03 1.72229386e+02] [ 1.09660535e-02 9.99939871e-01 3.50363152e-06 -9.91823206e+00] [-1.16913401e-03 9.31771726e-06 9.99999317e-01 -6.41605302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.631346184 meters 0.06877441186313525 Centerline is valid? [True, True] Translation: X:172.26, Y:-9.92, Z:-6.42 [[ 9.99951006e-01 -9.75446693e-03 1.68431572e-03 1.72260523e+02] [ 9.75447395e-03 9.99952424e-01 4.04780750e-06 -9.92070929e+00] [-1.68427507e-03 1.23820046e-05 9.99998582e-01 -6.41742825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.661346184 meters 0.06865298063079878 Centerline is valid? [True, True] Translation: X:172.29, Y:-9.92, Z:-6.42 [[ 9.99957957e-01 -9.04239310e-03 1.52265084e-03 1.72293181e+02] [ 9.04239693e-03 9.99959117e-01 4.36972837e-06 -9.92233759e+00] [-1.52262810e-03 9.39886864e-06 9.99998841e-01 -6.41797974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.691346184 meters 0.06862122508798928 Centerline is valid? [True, True] Translation: X:172.32, Y:-9.92, Z:-6.42 [[ 9.99963301e-01 -8.40948501e-03 1.63643809e-03 1.72324893e+02] [ 8.40948913e-03 9.99964640e-01 4.36334719e-06 -9.92344796e+00] [-1.63641692e-03 9.39842129e-06 9.99998661e-01 -6.41926992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.721346184 meters 0.06876790621245925 Centerline is valid? [True, True] Translation: X:172.36, Y:-9.93, Z:-6.42 [[ 9.99971435e-01 -7.45107491e-03 1.26894325e-03 1.72355514e+02] [ 7.45107758e-03 9.99972240e-01 2.62079358e-06 -9.92628720e+00] [-1.26892755e-03 6.83427589e-06 9.99999195e-01 -6.42152137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.751346184 meters 0.06894100174146406 Centerline is valid? [True, True] Translation: X:172.39, Y:-9.93, Z:-6.42 [[ 9.99971010e-01 -7.57345008e-03 7.88924764e-04 1.72386636e+02] [ 7.57345031e-03 9.99971321e-01 2.69023470e-06 -9.92875842e+00] [-7.88922513e-04 3.28472578e-06 9.99999689e-01 -6.42389031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.781346184 meters 0.0685830375028725 Centerline is valid? [True, True] Translation: X:172.42, Y:-9.93, Z:-6.42 [[ 9.99972859e-01 -7.29424629e-03 1.03715689e-03 1.72419060e+02] [ 7.29424650e-03 9.99973397e-01 3.57934850e-06 -9.93017469e+00] [-1.03715541e-03 3.98602669e-06 9.99999462e-01 -6.42239593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.811346184 meters 0.06816045985521153 Centerline is valid? [True, True] Translation: X:172.45, Y:-9.93, Z:-6.42 [[ 9.99965596e-01 -7.97310232e-03 2.28837233e-03 1.72451612e+02] [ 7.97311258e-03 9.99968214e-01 4.63793868e-06 -9.93463234e+00] [-2.28833657e-03 1.36076711e-05 9.99997382e-01 -6.42139275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.841346184 meters 0.06801076032847506 Centerline is valid? [True, True] Translation: X:172.48, Y:-9.94, Z:-6.42 [[ 9.99959977e-01 -8.43593620e-03 2.97988154e-03 1.72483835e+02] [ 8.43595883e-03 9.99964417e-01 4.97594074e-06 -9.93613967e+00] [-2.97981748e-03 2.01624164e-05 9.99995560e-01 -6.42157909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.871346184 meters 0.06845368724732652 Centerline is valid? [True, True] Translation: X:172.51, Y:-9.94, Z:-6.43 [[ 9.99959159e-01 -8.86492906e-03 1.75878171e-03 1.72514553e+02] [ 8.86493352e-03 9.99960706e-01 5.26363232e-06 -9.93872005e+00] [-1.75875927e-03 1.03280656e-05 9.99998453e-01 -6.42609681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.901346184 meters 0.06856372354258841 Centerline is valid? [True, True] Translation: X:172.55, Y:-9.94, Z:-6.43 [[ 9.99950833e-01 -9.54143290e-03 2.70056617e-03 1.72545860e+02] [ 9.54145834e-03 9.99954479e-01 3.46142442e-06 -9.94239127e+00] [-2.70047626e-03 2.23060854e-05 9.99996353e-01 -6.42881747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.931346184 meters 0.06861653145643179 Centerline is valid? [True, True] Translation: X:172.58, Y:-9.94, Z:-6.43 [[ 9.99953555e-01 -9.37645891e-03 2.22951714e-03 1.72578203e+02] [ 9.37647414e-03 9.99956040e-01 3.62302337e-06 -9.94328372e+00] [-2.22945311e-03 1.72821548e-05 9.99997515e-01 -6.43072714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96134618399998 meters 0.06883194685004308 Centerline is valid? [True, True] Translation: X:172.61, Y:-9.94, Z:-6.43 [[ 9.99954672e-01 -9.49821330e-03 6.61513793e-04 1.72609984e+02] [ 9.49821354e-03 9.99954891e-01 2.76771036e-06 -9.94273615e+00] [-6.61510241e-04 3.51561436e-06 9.99999781e-01 -6.43296034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99134618399998 meters 0.06847650652455074 Centerline is valid? [True, True] Translation: X:172.64, Y:-9.94, Z:-6.43 [[ 9.99940826e-01 -1.07637782e-02 1.57641118e-03 1.72642662e+02] [ 1.07637865e-02 9.99942069e-01 3.20418910e-06 -9.94224247e+00] [-1.57635435e-03 1.37641539e-05 9.99998757e-01 -6.43079548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02134618399998 meters 0.06896711979134439 Centerline is valid? [True, True] Translation: X:172.67, Y:-9.95, Z:-6.43 [[ 9.99927276e-01 -1.17404687e-02 2.75741639e-03 1.72673612e+02] [ 1.17404989e-02 9.99931078e-01 5.22233298e-06 -9.94505175e+00] [-2.75728765e-03 2.71514910e-05 9.99996198e-01 -6.43480709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05134618399998 meters 0.06946032778811417 Centerline is valid? [True, True] Translation: X:172.70, Y:-9.95, Z:-6.44 [[ 9.99896611e-01 -1.41586709e-02 2.50980428e-03 1.72704376e+02] [ 1.41587059e-02 9.99899760e-01 3.80795406e-06 -9.94895012e+00] [-2.50960662e-03 3.17280204e-05 9.99996850e-01 -6.43744133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08134618399998 meters 0.07001013328092119 Centerline is valid? [True, True] Translation: X:172.74, Y:-9.96, Z:-6.44 [[ 9.99822702e-01 -1.83940725e-02 4.02784903e-03 1.72736878e+02] [ 1.83942113e-02 9.99830812e-01 2.58444953e-06 -9.95791249e+00] [-4.02721510e-03 7.15051150e-05 9.99991888e-01 -6.43900854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11134618399998 meters 0.07041491925428751 Centerline is valid? [True, True] Translation: X:172.77, Y:-9.96, Z:-6.44 [[ 9.99774371e-01 -2.08338130e-02 4.14236186e-03 1.72769087e+02] [ 2.08339821e-02 9.99782949e-01 2.33349397e-06 -9.96214662e+00] [-4.14151137e-03 8.39689255e-05 9.99991420e-01 -6.43965360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14134618399999 meters 0.07121514299659296 Centerline is valid? [True, True] Translation: X:172.80, Y:-9.97, Z:-6.44 [[ 9.99739165e-01 -2.24782844e-02 4.04097846e-03 1.72799804e+02] [ 2.24784618e-02 9.99747327e-01 1.50789122e-06 -9.96778862e+00] [-4.03999131e-03 8.93274821e-05 9.99991835e-01 -6.44293751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.171346184 meters 0.07172659835598533 Centerline is valid? [True, True] Translation: X:172.83, Y:-9.97, Z:-6.45 [[ 9.99738037e-01 -2.26761033e-02 3.10676374e-03 1.72831490e+02] [ 2.26762070e-02 9.99742862e-01 1.87185398e-06 -9.97185843e+00] [-3.10600732e-03 6.85782540e-05 9.99995174e-01 -6.44653037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.201346184 meters 0.07159740197312142 Centerline is valid? [True, True] Translation: X:172.86, Y:-9.97, Z:-6.45 [[ 9.99764856e-01 -2.15866829e-02 2.06080630e-03 1.72863874e+02] [ 2.15867249e-02 9.99766980e-01 1.87991788e-06 -9.97193653e+00] [-2.06036668e-03 4.26065829e-05 9.99997877e-01 -6.44919178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.231346184 meters 0.07039909720750381 Centerline is valid? [True, True] Translation: X:172.90, Y:-9.97, Z:-6.45 [[ 9.99795146e-01 -2.01674722e-02 1.71425067e-03 1.72896178e+02] [ 2.01674983e-02 9.99796615e-01 2.01976612e-06 -9.96862808e+00] [-1.71394275e-03 3.25527951e-05 9.99998531e-01 -6.44602965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.261346184 meters 0.06920553808715345 Centerline is valid? [True, True] Translation: X:172.93, Y:-9.96, Z:-6.44 [[ 9.99865559e-01 -1.63970746e-02 -1.73444876e-05 1.72928360e+02] [ 1.63970747e-02 9.99865559e-01 2.69395195e-06 -9.96465433e+00] [ 1.72979827e-05 -2.97798863e-06 1.00000000e+00 -6.44331586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.291346184 meters 0.0687465849429153 Centerline is valid? [True, True] Translation: X:172.96, Y:-9.96, Z:-6.44 [[ 9.99895275e-01 -1.43829295e-02 1.60347399e-03 1.72960523e+02] [ 1.43829448e-02 9.99896560e-01 2.01160874e-06 -9.96375156e+00] [-1.60333706e-03 2.10512798e-05 9.99998714e-01 -6.44262331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321346184 meters 0.06889834158833232 Centerline is valid? [True, True] Translation: X:172.99, Y:-9.97, Z:-6.45 [[ 9.99911332e-01 -1.31321687e-02 2.20772987e-03 1.72991717e+02] [ 1.31321933e-02 9.99913769e-01 3.36544036e-06 -9.96502412e+00] [-2.20758370e-03 2.56271935e-05 9.99997563e-01 -6.44608606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.351346184 meters 0.0695323728689641 Centerline is valid? [True, True] Translation: X:173.02, Y:-9.97, Z:-6.45 [[ 9.99926002e-01 -1.20302237e-02 1.80654660e-03 1.73022328e+02] [ 1.20302382e-02 9.99927634e-01 2.86641640e-06 -9.96689689e+00] [-1.80645035e-03 1.88669816e-05 9.99998368e-01 -6.45131096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381346184 meters 0.06884570233025376 Centerline is valid? [True, True] Translation: X:173.05, Y:-9.97, Z:-6.45 [[ 9.99936291e-01 -1.12695457e-02 6.41967251e-04 1.73054591e+02] [ 1.12695466e-02 9.99936497e-01 2.18471432e-06 -9.96626616e+00] [-6.41951105e-04 5.05010471e-06 9.99999794e-01 -6.44842173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.411346184 meters 0.0691454837345397 Centerline is valid? [True, True] Translation: X:173.09, Y:-9.97, Z:-6.45 [[ 9.99935162e-01 -1.13254902e-02 -1.18515716e-03 1.73086888e+02] [ 1.13255025e-02 9.99935864e-01 3.69571876e-06 -9.96860287e+00] [ 1.18503929e-03 -1.71179795e-05 9.99999298e-01 -6.45083303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441346184 meters 0.06944458608693306 Centerline is valid? [True, True] Translation: X:173.12, Y:-9.97, Z:-6.45 [[ 9.99927596e-01 -1.17687926e-02 -2.50959052e-03 1.73118082e+02] [ 1.17688405e-02 9.99930745e-01 4.28135537e-06 -9.97148122e+00] [ 2.50936633e-03 -3.38160158e-05 9.99996851e-01 -6.45452459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.471346184 meters 0.06977508175396968 Centerline is valid? [True, True] Translation: X:173.15, Y:-9.97, Z:-6.46 [[ 9.99915029e-01 -1.24250007e-02 -3.94382214e-03 1.73149447e+02] [ 1.24251173e-02 9.99922805e-01 5.06076988e-06 -9.97361041e+00] [ 3.94345482e-03 -5.40627925e-05 9.99992223e-01 -6.45751659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501346184 meters 0.06981483545019644 Centerline is valid? [True, True] Translation: X:173.18, Y:-9.97, Z:-6.46 [[ 9.99909845e-01 -1.26498428e-02 -4.50363686e-03 1.73181000e+02] [ 1.26499971e-02 9.99919986e-01 5.76939694e-06 -9.97324923e+00] [ 4.50320352e-03 -6.27398700e-05 9.99989859e-01 -6.45797862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.531346184 meters 0.06980267201079872 Centerline is valid? [True, True] Translation: X:173.21, Y:-9.97, Z:-6.46 [[ 9.99904926e-01 -1.31177924e-02 -4.25010801e-03 1.73211060e+02] [ 1.31179287e-02 9.99913956e-01 4.19077434e-06 -9.97301722e+00] [ 4.24968734e-03 -5.99429897e-05 9.99990968e-01 -6.45819810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561346184 meters 0.06916043094041743 Centerline is valid? [True, True] Translation: X:173.24, Y:-9.97, Z:-6.46 [[ 9.99909017e-01 -1.28230871e-02 -4.18645374e-03 1.73242755e+02] [ 1.28232232e-02 9.99917779e-01 5.67213404e-06 -9.97049501e+00] [ 4.18603679e-03 -5.93554488e-05 9.99991237e-01 -6.45520571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.591346184 meters 0.06950170809028859 Centerline is valid? [True, True] Translation: X:173.27, Y:-9.97, Z:-6.46 [[ 9.99923505e-01 -1.19320020e-02 -3.25743583e-03 1.73272913e+02] [ 1.19320786e-02 9.99928810e-01 4.08832351e-06 -9.96941079e+00] [ 3.25715515e-03 -4.29559911e-05 9.99994695e-01 -6.45901417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621346184 meters 0.06954613877312021 Centerline is valid? [True, True] Translation: X:173.30, Y:-9.97, Z:-6.46 [[ 9.99925638e-01 -1.15345094e-02 -3.95890645e-03 1.73303849e+02] [ 1.15346220e-02 9.99933474e-01 5.60336206e-06 -9.97009975e+00] [ 3.95857845e-03 -5.12674348e-05 9.99992163e-01 -6.46079578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.651346184 meters 0.06938635592004502 Centerline is valid? [True, True] Translation: X:173.33, Y:-9.97, Z:-6.46 [[ 9.99921848e-01 -1.16789151e-02 -4.46106476e-03 1.73333902e+02] [ 1.16790529e-02 9.99931798e-01 4.83814692e-06 -9.97110726e+00] [ 4.46070400e-03 -5.69387804e-05 9.99990049e-01 -6.46177292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.681346184 meters 0.06954216424413845 Centerline is valid? [True, True] Translation: X:173.36, Y:-9.97, Z:-6.46 [[ 9.99911849e-01 -1.23194193e-02 -4.95236240e-03 1.73364402e+02] [ 1.23196007e-02 9.99924111e-01 6.13666653e-06 -9.97162630e+00] [ 4.95191097e-03 -6.71472531e-05 9.99987737e-01 -6.46469375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71134618399998 meters 0.07049943704256732 Centerline is valid? [True, True] Translation: X:173.39, Y:-9.97, Z:-6.47 [[ 9.99891159e-01 -1.34767531e-02 -6.00394782e-03 1.73394904e+02] [ 1.34770405e-02 9.99909181e-01 7.40440216e-06 -9.96933301e+00] [ 6.00330276e-03 -8.83190440e-05 9.99981976e-01 -6.46955407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74134618399998 meters 0.06937396218335876 Centerline is valid? [True, True] Translation: X:173.43, Y:-9.97, Z:-6.46 [[ 9.99891457e-01 -1.37479751e-02 -5.29783814e-03 1.73425832e+02] [ 1.37481996e-02 9.99905489e-01 5.95158522e-06 -9.96556757e+00] [ 5.29725562e-03 -7.87866752e-05 9.99985966e-01 -6.46420538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77134618399998 meters 0.06987452806878969 Centerline is valid? [True, True] Translation: X:173.46, Y:-9.97, Z:-6.47 [[ 9.99887715e-01 -1.40836898e-02 -5.11934305e-03 1.73456176e+02] [ 1.40839077e-02 9.99900817e-01 6.51737800e-06 -9.96603574e+00] [ 5.11874351e-03 -7.86170010e-05 9.99986896e-01 -6.46793772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80134618399998 meters 0.06926043678352016 Centerline is valid? [True, True] Translation: X:173.49, Y:-9.96, Z:-6.46 [[ 9.99871639e-01 -1.50227936e-02 -5.56967525e-03 1.73486730e+02] [ 1.50230621e-02 9.99887147e-01 6.36559035e-06 -9.96284276e+00] [ 5.56895106e-03 -9.00383503e-05 9.99984489e-01 -6.46465722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83134618399998 meters 0.07086338483260825 Centerline is valid? [True, True] Translation: X:173.52, Y:-9.97, Z:-6.47 [[ 9.99870834e-01 -1.49701571e-02 -5.84896732e-03 1.73516762e+02] [ 1.49704569e-02 9.99887936e-01 7.47637808e-06 -9.96524199e+00] [ 5.84819994e-03 -9.50371252e-05 9.99982895e-01 -6.47447224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86134618399998 meters 0.07066306706518577 Centerline is valid? [True, True] Translation: X:173.55, Y:-9.96, Z:-6.48 [[ 9.99885541e-01 -1.39880944e-02 -5.76518524e-03 1.73547250e+02] [ 1.39883655e-02 9.99902158e-01 6.70306889e-06 -9.96300412e+00] [ 5.76452740e-03 -8.73478198e-05 9.99983381e-01 -6.47507922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89134618399999 meters 0.06916133693598789 Centerline is valid? [True, True] Translation: X:173.58, Y:-9.96, Z:-6.47 [[ 9.99929457e-01 -1.06162463e-02 -5.32694961e-03 1.73578015e+02] [ 1.06164299e-02 9.99943644e-01 6.19354081e-06 -9.95539315e+00] [ 5.32658365e-03 -6.27462909e-05 9.99985812e-01 -6.47022412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.921346184 meters 0.0690354723483665 Centerline is valid? [True, True] Translation: X:173.61, Y:-9.95, Z:-6.47 [[ 9.99952243e-01 -8.88567568e-03 -4.06884569e-03 1.73607926e+02] [ 8.88576848e-03 9.99960521e-01 4.73076784e-06 -9.95393583e+00] [ 4.06864302e-03 -4.08853627e-05 9.99991722e-01 -6.47122596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.951346184 meters 0.068507375300166 Centerline is valid? [True, True] Translation: X:173.64, Y:-9.95, Z:-6.47 [[ 9.99970630e-01 -6.91782563e-03 -3.29883995e-03 1.73638552e+02] [ 6.91787593e-03 9.99976071e-01 3.83549710e-06 -9.95151792e+00] [ 3.29873448e-03 -2.66563500e-05 9.99994559e-01 -6.46970027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.981346184 meters 0.068507375300166 Centerline is valid? [True, True] Translation: X:173.67, Y:-9.95, Z:-6.47 [[ 9.99970630e-01 -6.91782563e-03 -3.29883995e-03 1.73668557e+02] [ 6.91787593e-03 9.99976071e-01 3.83549714e-06 -9.95155281e+00] [ 3.29873448e-03 -2.66563500e-05 9.99994559e-01 -6.47072702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.011346184 meters 0.06869446588808614 Centerline is valid? [True, True] Translation: X:173.70, Y:-9.95, Z:-6.47 [[ 9.99989016e-01 -3.68961380e-03 -2.89051205e-03 1.73698294e+02] [ 3.68963688e-03 9.99993193e-01 2.65207206e-06 -9.94683976e+00] [ 2.89048259e-03 -1.33169828e-05 9.99995822e-01 -6.47357476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.041346184 meters 0.06826463355420054 Centerline is valid? [True, True] Translation: X:173.73, Y:-9.95, Z:-6.47 [[ 9.99990636e-01 -3.66015831e-03 -2.30878652e-03 1.73727834e+02] [ 3.66017086e-03 9.99993302e-01 1.21402136e-06 -9.94557872e+00] [ 2.30876661e-03 -9.66456315e-06 9.99997335e-01 -6.47120873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.071346184 meters 0.06839325074253563 Centerline is valid? [True, True] Translation: X:173.76, Y:-9.95, Z:-6.47 [[ 9.99992077e-01 -3.22029453e-03 -2.33992701e-03 1.73758434e+02] [ 3.22030939e-03 9.99994815e-01 2.58438428e-06 -9.94647097e+00] [ 2.33990656e-03 -1.01196527e-05 9.99997262e-01 -6.47359224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.101346184 meters 0.06851959756019503 Centerline is valid? [True, True] Translation: X:173.79, Y:-9.95, Z:-6.48 [[ 9.99986537e-01 -4.05109990e-03 -3.24248964e-03 1.73788376e+02] [ 4.05113044e-03 9.99991794e-01 2.85133927e-06 -9.95153099e+00] [ 3.24245148e-03 -1.59870493e-05 9.99994743e-01 -6.47621266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.131346184 meters 0.06943833354432127 Centerline is valid? [True, True] Translation: X:173.82, Y:-9.96, Z:-6.48 [[ 9.99981723e-01 -4.47154353e-03 -4.06928704e-03 1.73817691e+02] [ 4.47159764e-03 9.99990002e-01 4.19803000e-06 -9.95513948e+00] [ 4.06922759e-03 -2.23941676e-05 9.99991720e-01 -6.48392487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161346184 meters 0.06871633751655898 Centerline is valid? [True, True] Translation: X:173.85, Y:-9.96, Z:-6.48 [[ 9.99969879e-01 -5.49890458e-03 -5.47743556e-03 1.73847512e+02] [ 5.49901103e-03 9.99984880e-01 4.37401315e-06 -9.95701348e+00] [ 5.47732869e-03 -3.44943600e-05 9.99984999e-01 -6.47947936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.191346184 meters 0.06826321377245541 Centerline is valid? [True, True] Translation: X:173.88, Y:-9.96, Z:-6.48 [[ 9.99970118e-01 -7.31614078e-03 -2.49748178e-03 1.73876333e+02] [ 7.31616305e-03 9.99973237e-01 -2.19480175e-07 -9.96202278e+00] [ 2.49741655e-03 -1.80525103e-05 9.99996881e-01 -6.47783859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.221346184 meters 0.0679827879917836 Centerline is valid? [True, True] Translation: X:173.91, Y:-9.96, Z:-6.48 [[ 9.99966869e-01 -8.03066574e-03 -1.32988262e-03 1.73906847e+02] [ 8.03067455e-03 9.99967754e-01 1.28156371e-06 -9.96386261e+00] [ 1.32982945e-03 -1.19613758e-05 9.99999116e-01 -6.47684394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.251346184 meters 0.06783318913163981 Centerline is valid? [True, True] Translation: X:173.94, Y:-9.97, Z:-6.48 [[ 9.99964656e-01 -8.40556042e-03 1.83393471e-04 1.73938751e+02] [ 8.40556024e-03 9.99964673e-01 1.76777885e-06 -9.96532172e+00] [-1.83401851e-04 -2.26191494e-07 9.99999983e-01 -6.47686053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.281346184 meters 0.06778250187807108 Centerline is valid? [True, True] Translation: X:173.97, Y:-9.97, Z:-6.48 [[ 9.99966100e-01 -8.23400801e-03 2.11240317e-06 1.73971078e+02] [ 8.23400800e-03 9.99966100e-01 2.61707620e-06 -9.96654137e+00] [-2.13388072e-06 -2.59959393e-06 1.00000000e+00 -6.47741197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.311346184 meters 0.06786451667028122 Centerline is valid? [True, True] Translation: X:174.00, Y:-9.97, Z:-6.48 [[ 9.99974382e-01 -7.14342240e-03 -4.53870483e-04 1.74003354e+02] [ 7.14342456e-03 9.99974485e-01 3.13799662e-06 -9.96999859e+00] [ 4.53836487e-04 -6.38010579e-06 9.99999897e-01 -6.47914541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.341346184 meters 0.06789453236378547 Centerline is valid? [True, True] Translation: X:174.03, Y:-9.97, Z:-6.48 [[ 9.99978771e-01 -6.50176644e-03 -4.29693763e-04 1.74034043e+02] [ 6.50176810e-03 9.99978863e-01 2.47069447e-06 -9.97183942e+00] [ 4.29668617e-04 -5.26441121e-06 9.99999908e-01 -6.48183591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.371346184 meters 0.06779831192530848 Centerline is valid? [True, True] Translation: X:174.07, Y:-9.97, Z:-6.48 [[ 9.99980439e-01 -6.18819138e-03 -9.09861446e-04 1.74065134e+02] [ 6.18819616e-03 9.99980853e-01 2.44270903e-06 -9.97364307e+00] [ 9.09828909e-04 -8.07306236e-06 9.99999586e-01 -6.48300957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401346184 meters 0.06760696388043698 Centerline is valid? [True, True] Translation: X:174.10, Y:-9.98, Z:-6.48 [[ 9.99980221e-01 -6.04201671e-03 -1.74704815e-03 1.74096516e+02] [ 6.04203231e-03 9.99981747e-01 3.65139595e-06 -9.97561149e+00] [ 1.74699420e-03 -1.42070451e-05 9.99998474e-01 -6.48281544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.431346184 meters 0.06787598023509127 Centerline is valid? [True, True] Translation: X:174.13, Y:-9.98, Z:-6.49 [[ 9.99980373e-01 -5.82529462e-03 -2.30656378e-03 1.74126892e+02] [ 5.82532244e-03 9.99983033e-01 5.34292542e-06 -9.97633492e+00] [ 2.30649352e-03 -1.87792983e-05 9.99997340e-01 -6.48639221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46134618399998 meters 0.06743776684905314 Centerline is valid? [True, True] Translation: X:174.16, Y:-9.98, Z:-6.48 [[ 9.99979569e-01 -6.34155142e-03 -8.04498120e-04 1.74157638e+02] [ 6.34155436e-03 9.99979892e-01 1.10373176e-06 -9.97673400e+00] [ 8.04474944e-04 -6.20547777e-06 9.99999676e-01 -6.48448200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49134618399998 meters 0.06728647352991875 Centerline is valid? [True, True] Translation: X:174.19, Y:-9.98, Z:-6.48 [[ 9.99978739e-01 -6.51844791e-03 -1.77101985e-04 1.74188626e+02] [ 6.51844842e-03 9.99978755e-01 2.28565639e-06 -9.97848004e+00] [ 1.77083323e-04 -3.44003795e-06 9.99999984e-01 -6.48497968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52134618399998 meters 0.06720087569824082 Centerline is valid? [True, True] Translation: X:174.22, Y:-9.98, Z:-6.49 [[ 9.99976279e-01 -6.86179550e-03 5.98069146e-04 1.74219773e+02] [ 6.86179646e-03 9.99976458e-01 4.43167087e-07 -9.97924984e+00] [-5.98058107e-04 3.66067218e-06 9.99999821e-01 -6.48625076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55134618399998 meters 0.06723131809723605 Centerline is valid? [True, True] Translation: X:174.25, Y:-9.98, Z:-6.49 [[ 9.99975145e-01 -7.05052540e-03 4.76782455e-06 1.74251693e+02] [ 7.05052539e-03 9.99975145e-01 2.62624819e-06 -9.98044063e+00] [-4.78622260e-06 -2.59256724e-06 1.00000000e+00 -6.48803700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58134618399998 meters 0.06775418693746106 Centerline is valid? [True, True] Translation: X:174.28, Y:-9.98, Z:-6.49 [[ 9.99955826e-01 -9.01706954e-03 -2.65301696e-03 1.74283089e+02] [ 9.01711589e-03 9.99959345e-01 5.50810939e-06 -9.98310582e+00] [ 2.65285943e-03 -2.94304274e-05 9.99996481e-01 -6.49135278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61134618399998 meters 0.06795760023197786 Centerline is valid? [True, True] Translation: X:174.31, Y:-9.98, Z:-6.49 [[ 9.99947350e-01 -9.89473028e-03 -2.71881407e-03 1.74313496e+02] [ 9.89478047e-03 9.99951045e-01 5.00813638e-06 -9.98469029e+00] [ 2.71863141e-03 -3.19099410e-05 9.99996304e-01 -6.49372419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64134618399999 meters 0.06793727332424779 Centerline is valid? [True, True] Translation: X:174.34, Y:-9.99, Z:-6.49 [[ 9.99944886e-01 -1.02039669e-02 -2.47059069e-03 1.74344242e+02] [ 1.02040095e-02 9.99947938e-01 4.64975355e-06 -9.98589493e+00] [ 2.47041462e-03 -2.98594281e-05 9.99996948e-01 -6.49486404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.671346184 meters 0.06851609901325295 Centerline is valid? [True, True] Translation: X:174.37, Y:-9.99, Z:-6.50 [[ 9.99952648e-01 -9.65005293e-03 -1.25615593e-03 1.74374194e+02] [ 9.65006393e-03 9.99953437e-01 2.69546016e-06 -9.98913101e+00] [ 1.25607143e-03 -1.48173175e-05 9.99999211e-01 -6.50042984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.701346184 meters 0.06775145222367086 Centerline is valid? [True, True] Translation: X:174.41, Y:-9.99, Z:-6.50 [[ 9.99959550e-01 -8.89790747e-03 -1.31390342e-03 1.74405290e+02] [ 8.89791969e-03 9.99960413e-01 3.45211503e-06 -9.98787729e+00] [ 1.31382069e-03 -1.51429825e-05 9.99999137e-01 -6.49731722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.731346184 meters 0.06723674849483999 Centerline is valid? [True, True] Translation: X:174.44, Y:-9.99, Z:-6.50 [[ 9.99966486e-01 -8.13274351e-03 -9.40527723e-04 1.74436948e+02] [ 8.13274984e-03 9.99966929e-01 2.90681268e-06 -9.98733070e+00] [ 9.40472978e-04 -1.05557919e-05 9.99999558e-01 -6.49553525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.761346184 meters 0.06705107330874478 Centerline is valid? [True, True] Translation: X:174.47, Y:-9.99, Z:-6.50 [[ 9.99970061e-01 -7.71640792e-03 -5.78882464e-04 1.74468453e+02] [ 7.71641054e-03 9.99970228e-01 2.30371751e-06 -9.98676847e+00] [ 5.78847453e-04 -6.77054329e-06 9.99999832e-01 -6.49597433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.791346184 meters 0.06695821070411678 Centerline is valid? [True, True] Translation: X:174.50, Y:-9.99, Z:-6.50 [[ 9.99971288e-01 -7.57640891e-03 1.42935549e-04 1.74500317e+02] [ 7.57640882e-03 9.99971299e-01 1.19122906e-06 -9.98695866e+00] [-1.42940472e-04 -1.08256706e-07 9.99999990e-01 -6.49643474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.821346184 meters 0.06733739186058722 Centerline is valid? [True, True] Translation: X:174.53, Y:-9.99, Z:-6.50 [[ 9.99974404e-01 -7.15316240e-03 -1.56898726e-04 1.74530911e+02] [ 7.15316283e-03 9.99974416e-01 2.21585855e-06 -9.98876344e+00] [ 1.56878861e-04 -3.33812396e-06 9.99999988e-01 -6.50032181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.851346184 meters 0.06731819464958376 Centerline is valid? [True, True] Translation: X:174.56, Y:-9.99, Z:-6.50 [[ 9.99985331e-01 -5.34680167e-03 -8.65176949e-04 1.74563392e+02] [ 5.34680728e-03 9.99985706e-01 4.16549787e-06 -9.99298885e+00] [ 8.65142309e-04 -8.79137117e-06 9.99999626e-01 -6.50353073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.881346184 meters 0.06710093525884858 Centerline is valid? [True, True] Translation: X:174.59, Y:-9.99, Z:-6.50 [[ 9.99988288e-01 -4.83391081e-03 2.38113321e-04 1.74594675e+02] [ 4.83391076e-03 9.99988317e-01 7.89497755e-07 -9.99479027e+00] [-2.38114356e-04 3.61530040e-07 9.99999972e-01 -6.50385718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.911346184 meters 0.06687054433055535 Centerline is valid? [True, True] Translation: X:174.63, Y:-10.00, Z:-6.50 [[ 9.99990283e-01 -4.32696280e-03 8.43015980e-04 1.74626075e+02] [ 4.32696470e-03 9.99990639e-01 -4.30455687e-07 -9.99610524e+00] [-8.43006225e-04 4.07815189e-06 9.99999645e-01 -6.50464227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.941346184 meters 0.06706549831751982 Centerline is valid? [True, True] Translation: X:174.66, Y:-10.00, Z:-6.51 [[ 9.99988032e-01 -4.87152772e-03 -4.52789525e-04 1.74656761e+02] [ 4.87152921e-03 9.99988134e-01 2.18030545e-06 -9.99803450e+00] [ 4.52773530e-04 -4.38605674e-06 9.99999897e-01 -6.50656380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.971346184 meters 0.06723076236696292 Centerline is valid? [True, True] Translation: X:174.69, Y:-10.00, Z:-6.51 [[ 9.99980750e-01 -6.20053365e-03 -2.30657733e-04 1.74687388e+02] [ 6.20053407e-03 9.99980777e-01 1.08955322e-06 -1.00018589e+01] [ 2.30646543e-04 -2.51973338e-06 9.99999973e-01 -6.50828280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.001346184 meters 0.06660249321746636 Centerline is valid? [True, True] Translation: X:174.72, Y:-10.00, Z:-6.50 [[ 9.99977615e-01 -6.69060001e-03 -6.89628407e-05 1.74718658e+02] [ 6.69060013e-03 9.99977618e-01 1.46604416e-06 -1.00028906e+01] [ 6.89514883e-05 -1.92741413e-06 9.99999998e-01 -6.50479419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.031346184 meters 0.06765597567006715 Centerline is valid? [True, True] Translation: X:174.75, Y:-10.01, Z:-6.51 [[ 9.99970866e-01 -7.62568558e-03 -3.40283651e-04 1.74749153e+02] [ 7.62568694e-03 9.99970924e-01 2.71082902e-06 -1.00079061e+01] [ 3.40253085e-04 -5.30564663e-06 9.99999942e-01 -6.51249663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.061346184 meters 0.06702516094795391 Centerline is valid? [True, True] Translation: X:174.78, Y:-10.01, Z:-6.51 [[ 9.99960875e-01 -8.81548337e-03 -7.32427015e-04 1.74780201e+02] [ 8.81548787e-03 9.99961143e-01 2.91486989e-06 -1.00112562e+01] [ 7.32372858e-04 -9.37145730e-06 9.99999732e-01 -6.50968124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.091346184 meters 0.06711545732352235 Centerline is valid? [True, True] Translation: X:174.81, Y:-10.02, Z:-6.51 [[ 9.99944335e-01 -1.05324418e-02 -6.27495221e-04 1.74811809e+02] [ 1.05324455e-02 9.99944532e-01 2.71277375e-06 -1.00205327e+01] [ 6.27431843e-04 -9.32168198e-06 9.99999803e-01 -6.51118869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.121346184 meters 0.06734712988243642 Centerline is valid? [True, True] Translation: X:174.84, Y:-10.02, Z:-6.51 [[ 9.99937755e-01 -1.11491536e-02 -4.27619286e-04 1.74843361e+02] [ 1.11491559e-02 9.99937846e-01 2.93867901e-06 -1.00232239e+01] [ 4.27559944e-04 -7.70609018e-06 9.99999909e-01 -6.51405477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.151346184 meters 0.06760723950210609 Centerline is valid? [True, True] Translation: X:174.88, Y:-10.02, Z:-6.51 [[ 9.99914497e-01 -1.29988233e-02 -1.42434164e-03 1.74875749e+02] [ 1.29988450e-02 9.99915511e-01 5.97675186e-06 -1.00241649e+01] [ 1.42414360e-03 -2.44910369e-05 9.99998986e-01 -6.51484934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.181346184 meters 0.06758367049311652 Centerline is valid? [True, True] Translation: X:174.91, Y:-10.03, Z:-6.51 [[ 9.99894936e-01 -1.43797534e-02 -1.82761287e-03 1.74907463e+02] [ 1.43797892e-02 9.99896605e-01 6.42149283e-06 -1.00254494e+01] [ 1.82733156e-03 -3.27015059e-05 9.99998330e-01 -6.51445894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21134618399998 meters 0.06771246128584132 Centerline is valid? [True, True] Translation: X:174.94, Y:-10.03, Z:-6.52 [[ 9.99887742e-01 -1.47989103e-02 -2.34417515e-03 1.74939155e+02] [ 1.47989675e-02 9.99890489e-01 7.08793585e-06 -1.00277403e+01] [ 2.34381354e-03 -4.17785121e-05 9.99997252e-01 -6.51645959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24134618399998 meters 0.0677055240891455 Centerline is valid? [True, True] Translation: X:174.97, Y:-10.03, Z:-6.52 [[ 9.99875784e-01 -1.54510943e-02 -3.11139641e-03 1.74970071e+02] [ 1.54511999e-02 9.99880623e-01 9.91422434e-06 -1.00289747e+01] [ 3.11087179e-03 -5.79878007e-05 9.99995160e-01 -6.51717134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27134618399998 meters 0.06775756553151606 Centerline is valid? [True, True] Translation: X:175.00, Y:-10.03, Z:-6.52 [[ 9.99868530e-01 -1.58795019e-02 -3.28078633e-03 1.74999984e+02] [ 1.58796169e-02 9.99873911e-01 9.00102523e-06 -1.00301527e+01] [ 3.28022973e-03 -6.10974718e-05 9.99994618e-01 -6.51828288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30134618399998 meters 0.06826847415238008 Centerline is valid? [True, True] Translation: X:175.03, Y:-10.03, Z:-6.52 [[ 9.99837770e-01 -1.78831458e-02 -2.15079137e-03 1.75030398e+02] [ 1.78832043e-02 9.99840083e-01 7.94799238e-06 -1.00336246e+01] [ 2.15030529e-03 -4.64097444e-05 9.99997687e-01 -6.51974417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33134618399998 meters 0.0680946584870184 Centerline is valid? [True, True] Translation: X:175.06, Y:-10.03, Z:-6.52 [[ 9.99811830e-01 -1.93533620e-02 -1.32330942e-03 1.75061562e+02] [ 1.93533853e-02 9.99812706e-01 4.83998022e-06 -1.00347455e+01] [ 1.32296790e-03 -3.04495866e-05 9.99999124e-01 -6.51900138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36134618399998 meters 0.06845640221793549 Centerline is valid? [True, True] Translation: X:175.09, Y:-10.04, Z:-6.52 [[ 9.99797612e-01 -2.00748852e-02 -1.31713707e-03 1.75092335e+02] [ 2.00749099e-02 9.99798479e-01 5.55803233e-06 -1.00368470e+01] [ 1.31676006e-03 -3.19983154e-05 9.99999133e-01 -6.52146805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39134618399999 meters 0.0690317725659008 Centerline is valid? [True, True] Translation: X:175.12, Y:-10.04, Z:-6.53 [[ 9.99799658e-01 -1.99553309e-02 -1.55858287e-03 1.75123570e+02] [ 1.99553686e-02 9.99800872e-01 8.66999880e-06 -1.00378299e+01] [ 1.55809950e-03 -3.97703575e-05 9.99998785e-01 -6.52523414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.421346184 meters 0.06875838081538672 Centerline is valid? [True, True] Translation: X:175.16, Y:-10.04, Z:-6.53 [[ 9.99798660e-01 -1.98483276e-02 -2.94682671e-03 1.75155493e+02] [ 1.98484468e-02 9.99803000e-01 1.11825171e-05 -1.00359151e+01] [ 2.94602423e-03 -6.96701987e-05 9.99995658e-01 -6.52527761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.451346184 meters 0.06885811146632459 Centerline is valid? [True, True] Translation: X:175.19, Y:-10.03, Z:-6.53 [[ 9.99823210e-01 -1.84129388e-02 -3.80956405e-03 1.75186207e+02] [ 1.84131173e-02 9.99830464e-01 1.17922684e-05 -1.00324826e+01] [ 3.80870106e-03 -8.19361333e-05 9.99992744e-01 -6.52787628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.481346184 meters 0.06811417317740387 Centerline is valid? [True, True] Translation: X:175.22, Y:-10.03, Z:-6.53 [[ 9.99847700e-01 -1.70540035e-02 -3.70631879e-03 1.75217955e+02] [ 1.70541663e-02 9.99854567e-01 1.23268871e-05 -1.00293515e+01] [ 3.70556955e-03 -7.55331868e-05 9.99993132e-01 -6.52633632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.511346184 meters 0.06792811714070814 Centerline is valid? [True, True] Translation: X:175.25, Y:-10.03, Z:-6.53 [[ 9.99869928e-01 -1.58804734e-02 -2.81752257e-03 1.75249016e+02] [ 1.58805641e-02 9.99873896e-01 9.79655645e-06 -1.00279462e+01] [ 2.81701170e-03 -5.45391300e-05 9.99996031e-01 -6.52714916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.541346184 meters 0.0674110003041905 Centerline is valid? [True, True] Translation: X:175.28, Y:-10.02, Z:-6.53 [[ 9.99907780e-01 -1.34334420e-02 -1.99363435e-03 1.75280451e+02] [ 1.34334835e-02 9.99909767e-01 7.39222665e-06 -1.00241704e+01] [ 1.99335515e-03 -3.41729990e-05 9.99998013e-01 -6.52635714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.571346184 meters 0.06779472001052238 Centerline is valid? [True, True] Translation: X:175.31, Y:-10.02, Z:-6.53 [[ 9.99917756e-01 -1.26465716e-02 -2.13190021e-03 1.75310942e+02] [ 1.26466156e-02 9.99920028e-01 7.18563022e-06 -1.00225866e+01] [ 2.13163885e-03 -3.41463619e-05 9.99997727e-01 -6.53023724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.601346184 meters 0.06745078114387831 Centerline is valid? [True, True] Translation: X:175.34, Y:-10.02, Z:-6.53 [[ 9.99923953e-01 -1.21184726e-02 -2.28699278e-03 1.75342022e+02] [ 1.21185236e-02 9.99926568e-01 8.40857329e-06 -1.00200113e+01] [ 2.28672294e-03 -3.61229097e-05 9.99997385e-01 -6.52974141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.631346184 meters 0.06733695479050449 Centerline is valid? [True, True] Translation: X:175.37, Y:-10.02, Z:-6.53 [[ 9.99935724e-01 -1.11860225e-02 -1.84977430e-03 1.75372436e+02] [ 1.11860535e-02 9.99937434e-01 6.42524492e-06 -1.00195968e+01] [ 1.84958669e-03 -2.71165062e-05 9.99998289e-01 -6.53080171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.661346184 meters 0.0673413766484929 Centerline is valid? [True, True] Translation: X:175.40, Y:-10.02, Z:-6.53 [[ 9.99942187e-01 -1.06020091e-02 -1.79419085e-03 1.75404115e+02] [ 1.06020386e-02 9.99943797e-01 6.96779094e-06 -1.00181720e+01] [ 1.79401614e-03 -2.59894689e-05 9.99998390e-01 -6.53162991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.691346184 meters 0.06697363071021305 Centerline is valid? [True, True] Translation: X:175.44, Y:-10.02, Z:-6.53 [[ 9.99945300e-01 -1.03937112e-02 -1.16982551e-03 1.75435309e+02] [ 1.03937243e-02 9.99945984e-01 5.05839304e-06 -1.00155392e+01] [ 1.16970974e-03 -1.72169601e-05 9.99999316e-01 -6.53055358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.721346184 meters 0.06676936298847994 Centerline is valid? [True, True] Translation: X:175.47, Y:-10.01, Z:-6.53 [[ 9.99951047e-01 -9.89388834e-03 -1.21006041e-04 1.75467161e+02] [ 9.89388866e-03 9.99951054e-01 2.10821887e-06 -1.00134845e+01] [ 1.20979260e-04 -3.30533596e-06 9.99999993e-01 -6.53040196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.751346184 meters 0.06729293110185793 Centerline is valid? [True, True] Translation: X:175.50, Y:-10.02, Z:-6.53 [[ 9.99921518e-01 -1.24253153e-02 -1.60318114e-03 1.75499530e+02] [ 1.24253441e-02 9.99922802e-01 8.01610683e-06 -1.00178393e+01] [ 1.60295777e-03 -2.79355551e-05 9.99998715e-01 -6.53285403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.781346184 meters 0.06846767663688368 Centerline is valid? [True, True] Translation: X:175.53, Y:-10.02, Z:-6.54 [[ 9.99897651e-01 -1.41119954e-02 -2.35355763e-03 1.75530016e+02] [ 1.41120546e-02 9.99900420e-01 8.53448437e-06 -1.00232252e+01] [ 2.35320283e-03 -4.17471447e-05 9.99997230e-01 -6.53955295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.811346184 meters 0.06822433259771239 Centerline is valid? [True, True] Translation: X:175.56, Y:-10.03, Z:-6.54 [[ 9.99868854e-01 -1.59384606e-02 -2.87063134e-03 1.75561596e+02] [ 1.59385579e-02 9.99872973e-01 1.10106786e-05 -1.00253446e+01] [ 2.87009120e-03 -5.67629584e-05 9.99995880e-01 -6.53827069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.841346184 meters 0.06858722643956108 Centerline is valid? [True, True] Translation: X:175.59, Y:-10.03, Z:-6.54 [[ 9.99835834e-01 -1.78758169e-02 -2.95976778e-03 1.75592381e+02] [ 1.78759302e-02 9.99840213e-01 1.18409978e-05 -1.00290838e+01] [ 2.95908318e-03 -6.47476563e-05 9.99995620e-01 -6.53971653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.871346184 meters 0.06858722643956108 Centerline is valid? [True, True] Translation: X:175.62, Y:-10.03, Z:-6.54 [[ 9.99836511e-01 -1.78379262e-02 -2.95976871e-03 1.75623234e+02] [ 1.78380385e-02 9.99840889e-01 1.15632261e-05 -1.00292384e+01] [ 2.95909152e-03 -6.43578039e-05 9.99995620e-01 -6.54077198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.901346184 meters 0.06942305126456988 Centerline is valid? [True, True] Translation: X:175.65, Y:-10.04, Z:-6.54 [[ 9.99791080e-01 -2.01385700e-02 -3.49773636e-03 1.75653545e+02] [ 2.01387424e-02 9.99797195e-01 1.40581914e-05 -1.00352457e+01] [ 3.49674389e-03 -8.44952659e-05 9.99993883e-01 -6.54438216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.931346184 meters 0.07047055402240197 Centerline is valid? [True, True] Translation: X:175.68, Y:-10.04, Z:-6.55 [[ 9.99781917e-01 -2.03476619e-02 -4.70015383e-03 1.75683791e+02] [ 2.03479740e-02 9.99792958e-01 1.85777079e-05 -1.00367561e+01] [ 4.69880269e-03 -1.14212264e-04 9.99988954e-01 -6.54919540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96134618399998 meters 0.06919006303896329 Centerline is valid? [True, True] Translation: X:175.72, Y:-10.03, Z:-6.55 [[ 9.99788851e-01 -1.96846549e-02 -5.89637332e-03 1.75715580e+02] [ 1.96851303e-02 9.99806229e-01 2.26075557e-05 -1.00314325e+01] [ 5.89478575e-03 -1.38673660e-04 9.99982616e-01 -6.54588247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99134618399998 meters 0.06933427397175462 Centerline is valid? [True, True] Translation: X:175.75, Y:-10.03, Z:-6.55 [[ 9.99807097e-01 -1.83255705e-02 -7.06693296e-03 1.75745637e+02] [ 1.83262085e-02 9.99832061e-01 2.55197081e-05 -1.00300168e+01] [ 7.06527848e-03 -1.55024872e-04 9.99975029e-01 -6.54813883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02134618399998 meters 0.06880056870285324 Centerline is valid? [True, True] Translation: X:175.78, Y:-10.03, Z:-6.55 [[ 9.99842572e-01 -1.61487149e-02 -7.35188777e-03 1.75775482e+02] [ 1.61493346e-02 9.99869591e-01 2.49280396e-05 -1.00308340e+01] [ 7.35052645e-03 -1.43652211e-04 9.99972974e-01 -6.54888630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05134618399998 meters 0.06899924039116968 Centerline is valid? [True, True] Translation: X:175.80, Y:-10.03, Z:-6.55 [[ 9.99861451e-01 -1.54137835e-02 -6.28440710e-03 1.75804422e+02] [ 1.54142142e-02 9.99881194e-01 2.01042265e-05 -1.00337594e+01] [ 6.28335059e-03 -1.16970638e-04 9.99980253e-01 -6.55155515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08134618399998 meters 0.06890105402917861 Centerline is valid? [True, True] Translation: X:175.83, Y:-10.04, Z:-6.55 [[ 9.99868649e-01 -1.45601992e-02 -7.11938604e-03 1.75834352e+02] [ 1.45607408e-02 9.99893987e-01 2.42361179e-05 -1.00359674e+01] [ 7.11827840e-03 -1.27896469e-04 9.99974657e-01 -6.55344893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11134618399998 meters 0.0698324261554821 Centerline is valid? [True, True] Translation: X:175.86, Y:-10.04, Z:-6.56 [[ 9.99870072e-01 -1.49235017e-02 -6.09324428e-03 1.75862436e+02] [ 1.49238946e-02 9.99888632e-01 1.90274573e-05 -1.00382238e+01] [ 6.09228173e-03 -1.09959921e-04 9.99981436e-01 -6.55804780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14134618399999 meters 0.06840378773188678 Centerline is valid? [True, True] Translation: X:175.89, Y:-10.03, Z:-6.55 [[ 9.99869443e-01 -1.48614783e-02 -6.34301749e-03 1.75892450e+02] [ 1.48619057e-02 9.99889556e-01 2.02521963e-05 -1.00344033e+01] [ 6.34201596e-03 -1.14518880e-04 9.99979883e-01 -6.55224074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.171346184 meters 0.06805197893385889 Centerline is valid? [True, True] Translation: X:175.92, Y:-10.03, Z:-6.55 [[ 9.99859600e-01 -1.53647027e-02 -6.68628158e-03 1.75922017e+02] [ 1.53651873e-02 9.99881948e-01 2.11018458e-05 -1.00344155e+01] [ 6.68516803e-03 -1.23834852e-04 9.99977646e-01 -6.55075704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.201346184 meters 0.06860493493002373 Centerline is valid? [True, True] Translation: X:175.95, Y:-10.04, Z:-6.55 [[ 9.99869277e-01 -1.52064441e-02 -5.49472327e-03 1.75950341e+02] [ 1.52067621e-02 9.99884370e-01 1.60958644e-05 -1.00380833e+01] [ 5.49384316e-03 -9.96507101e-05 9.99984904e-01 -6.55459446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.231346184 meters 0.06886088358411144 Centerline is valid? [True, True] Translation: X:175.98, Y:-10.04, Z:-6.56 [[ 9.99857427e-01 -1.58923950e-02 -5.70587231e-03 1.75979883e+02] [ 1.58927569e-02 9.99873702e-01 1.80812195e-05 -1.00407148e+01] [ 5.70486432e-03 -1.08760683e-04 9.99983721e-01 -6.55595672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.261346184 meters 0.06854098234059877 Centerline is valid? [True, True] Translation: X:176.01, Y:-10.04, Z:-6.55 [[ 9.99834040e-01 -1.68801029e-02 -6.85235350e-03 1.76009584e+02] [ 1.68806424e-02 9.99857512e-01 2.08978561e-05 -1.00402835e+01] [ 6.85102437e-03 -1.36566517e-04 9.99976522e-01 -6.55463500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.291346184 meters 0.06822245526536536 Centerline is valid? [True, True] Translation: X:176.04, Y:-10.04, Z:-6.55 [[ 9.99832209e-01 -1.71396824e-02 -6.46406598e-03 1.76039043e+02] [ 1.71401657e-02 9.99853096e-01 1.93658807e-05 -1.00403259e+01] [ 6.46278446e-03 -1.30157793e-04 9.99979108e-01 -6.55362088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.321346184 meters 0.06836238751381848 Centerline is valid? [True, True] Translation: X:176.07, Y:-10.04, Z:-6.56 [[ 9.99829374e-01 -1.72852173e-02 -6.51495486e-03 1.76068751e+02] [ 1.72857098e-02 9.99850591e-01 1.92847467e-05 -1.00416302e+01] [ 6.51364813e-03 -1.31897075e-04 9.99978777e-01 -6.55522285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.351346184 meters 0.06862160219363309 Centerline is valid? [True, True] Translation: X:176.10, Y:-10.04, Z:-6.56 [[ 9.99836402e-01 -1.67561100e-02 -6.81194900e-03 1.76098044e+02] [ 1.67566402e-02 9.99859597e-01 2.07662495e-05 -1.00441377e+01] [ 6.81064463e-03 -1.34908231e-04 9.99976798e-01 -6.55855787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.381346184 meters 0.06878549174938108 Centerline is valid? [True, True] Translation: X:176.13, Y:-10.04, Z:-6.56 [[ 9.99829783e-01 -1.66843518e-02 -7.87640191e-03 1.76127435e+02] [ 1.66850519e-02 9.99860795e-01 2.31721656e-05 -1.00446325e+01] [ 7.87491886e-03 -1.54586396e-04 9.99968980e-01 -6.56070275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.411346184 meters 0.068898048147846 Centerline is valid? [True, True] Translation: X:176.16, Y:-10.04, Z:-6.56 [[ 9.99821961e-01 -1.68373485e-02 -8.51767295e-03 1.76156551e+02] [ 1.68380875e-02 9.99858229e-01 1.50526730e-05 -1.00446364e+01] [ 8.51621195e-03 -1.58471316e-04 9.99963724e-01 -6.56197701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.441346184 meters 0.06864411865848571 Centerline is valid? [True, True] Translation: X:176.19, Y:-10.04, Z:-6.56 [[ 9.99826595e-01 -1.67814967e-02 -8.07225329e-03 1.76185412e+02] [ 1.67821362e-02 9.99859170e-01 1.14957373e-05 -1.00446002e+01] [ 8.07092356e-03 -1.46963398e-04 9.99967419e-01 -6.56190241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.471346184 meters 0.06982131804729394 Centerline is valid? [True, True] Translation: X:176.21, Y:-10.05, Z:-6.57 [[ 9.99815742e-01 -1.71376060e-02 -8.64776748e-03 1.76214227e+02] [ 1.71384177e-02 9.99853126e-01 1.97599019e-05 -1.00470408e+01] [ 8.64615871e-03 -1.67965312e-04 9.99962607e-01 -6.56784744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.501346184 meters 0.06861292397328436 Centerline is valid? [True, True] Translation: X:176.24, Y:-10.04, Z:-6.56 [[ 9.99806446e-01 -1.72932198e-02 -9.38166931e-03 1.76243614e+02] [ 1.72940904e-02 9.99850446e-01 1.16782843e-05 -1.00439182e+01] [ 9.38006429e-03 -1.73923462e-04 9.99955991e-01 -6.56300883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.531346184 meters 0.07025837466303705 Centerline is valid? [True, True] Translation: X:176.27, Y:-10.05, Z:-6.57 [[ 9.99805589e-01 -1.76776374e-02 -8.73419249e-03 1.76271223e+02] [ 1.76784300e-02 9.99843724e-01 1.35487504e-05 -1.00473801e+01] [ 8.73258804e-03 -1.67952927e-04 9.99961856e-01 -6.57089389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.561346184 meters 0.06860446283640399 Centerline is valid? [True, True] Translation: X:176.30, Y:-10.05, Z:-6.56 [[ 9.99804306e-01 -1.86837161e-02 -6.50135997e-03 1.76300813e+02] [ 1.86841340e-02 9.99825436e-01 3.53813860e-06 -1.00470272e+01] [ 6.50015897e-03 -1.25009727e-04 9.99978866e-01 -6.56379236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.591346184 meters 0.06803801731752056 Centerline is valid? [True, True] Translation: X:176.33, Y:-10.05, Z:-6.56 [[ 9.99808625e-01 -1.88776116e-02 -5.13315868e-03 1.76331100e+02] [ 1.88778928e-02 9.99821797e-01 6.32461798e-06 -1.00460392e+01] [ 5.13212454e-03 -1.03226627e-04 9.99986825e-01 -6.56196685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621346184 meters 0.06826440230875687 Centerline is valid? [True, True] Translation: X:176.36, Y:-10.05, Z:-6.56 [[ 9.99807051e-01 -1.90697462e-02 -4.71224882e-03 1.76361344e+02] [ 1.90700008e-02 9.99818151e-01 9.09559071e-06 -1.00451810e+01] [ 4.71121845e-03 -9.89564243e-05 9.99988897e-01 -6.56374274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.651346184 meters 0.06854425341576348 Centerline is valid? [True, True] Translation: X:176.39, Y:-10.04, Z:-6.57 [[ 9.99804652e-01 -1.88531587e-02 -5.93440138e-03 1.76391477e+02] [ 1.88535582e-02 9.99822256e-01 1.13750732e-05 -1.00440038e+01] [ 5.93313212e-03 -1.23257433e-04 9.99982391e-01 -6.56629548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681346184 meters 0.06907653628237681 Centerline is valid? [True, True] Translation: X:176.42, Y:-10.04, Z:-6.57 [[ 9.99773084e-01 -1.87247933e-02 -1.01568617e-02 1.76421173e+02] [ 1.87259371e-02 9.99824654e-01 1.75164294e-05 -1.00434560e+01] [ 1.01547528e-02 -2.07709209e-04 9.99948418e-01 -6.57061554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71134618399998 meters 0.0692494930316103 Centerline is valid? [True, True] Translation: X:176.45, Y:-10.04, Z:-6.57 [[ 9.99764435e-01 -1.88138439e-02 -1.08219324e-02 1.76450040e+02] [ 1.88150244e-02 9.99822982e-01 7.28004977e-06 -1.00436808e+01] [ 1.08198797e-02 -2.10893257e-04 9.99941441e-01 -6.57308848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74134618399998 meters 0.06841698759678282 Centerline is valid? [True, True] Translation: X:176.48, Y:-10.04, Z:-6.57 [[ 9.99749243e-01 -1.93379045e-02 -1.12914275e-02 1.76479129e+02] [ 1.93391856e-02 9.99812980e-01 4.27641410e-06 -1.00413056e+01] [ 1.12892331e-02 -2.22642354e-04 9.99936250e-01 -6.57034171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77134618399998 meters 0.06828144949564686 Centerline is valid? [True, True] Translation: X:176.51, Y:-10.04, Z:-6.57 [[ 9.99739540e-01 -2.03184358e-02 -1.03929013e-02 1.76508475e+02] [ 2.03195450e-02 9.99793537e-01 1.13024441e-06 -1.00399965e+01] [ 1.03907326e-02 -2.12308975e-04 9.99945992e-01 -6.56939752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80134618399998 meters 0.06887517216184676 Centerline is valid? [True, True] Translation: X:176.54, Y:-10.04, Z:-6.57 [[ 9.99726681e-01 -2.12816708e-02 -9.67745261e-03 1.76536662e+02] [ 2.12826972e-02 9.99773498e-01 3.07795738e-06 -1.00417525e+01] [ 9.67519514e-03 -2.09039410e-04 9.99953172e-01 -6.57188519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83134618399998 meters 0.06901446427850301 Centerline is valid? [True, True] Translation: X:176.57, Y:-10.04, Z:-6.57 [[ 9.99721316e-01 -2.18935851e-02 -8.82951974e-03 1.76565147e+02] [ 2.18944812e-02 9.99760287e-01 4.82670403e-06 -1.00426913e+01] [ 8.82729752e-03 -1.98143112e-04 9.99961019e-01 -6.57305944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86134618399998 meters 0.068660629081967 Centerline is valid? [True, True] Translation: X:176.59, Y:-10.04, Z:-6.57 [[ 9.99720563e-01 -2.13044145e-02 -1.02429663e-02 1.76594907e+02] [ 2.13055952e-02 9.99773010e-01 6.15200231e-06 -1.00405004e+01] [ 1.02405102e-02 -2.24382776e-04 9.99947539e-01 -6.57312987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89134618399999 meters 0.06924044663354487 Centerline is valid? [True, True] Translation: X:176.62, Y:-10.04, Z:-6.58 [[ 9.99748152e-01 -2.06285344e-02 -8.83720453e-03 1.76622991e+02] [ 2.06292944e-02 9.99787193e-01 -5.15148141e-06 -1.00410998e+01] [ 8.83543019e-03 -1.77155110e-04 9.99960951e-01 -6.57724064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.921346184 meters 0.06901961232434102 Centerline is valid? [True, True] Translation: X:176.65, Y:-10.04, Z:-6.58 [[ 9.99759844e-01 -1.99595923e-02 -9.04813961e-03 1.76651616e+02] [ 1.99603433e-02 9.99800772e-01 -7.29860312e-06 -1.00396196e+01] [ 9.04648265e-03 -1.73307123e-04 9.99959065e-01 -6.57823030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.951346184 meters 0.06866642452121816 Centerline is valid? [True, True] Translation: X:176.68, Y:-10.04, Z:-6.58 [[ 9.99764851e-01 -1.96946611e-02 -9.07539430e-03 1.76680671e+02] [ 1.96953820e-02 9.99806027e-01 -9.93484141e-06 -1.00365310e+01] [ 9.07382958e-03 -1.68810852e-04 9.99958818e-01 -6.57734287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.981346184 meters 0.06899536814657813 Centerline is valid? [True, True] Translation: X:176.71, Y:-10.04, Z:-6.58 [[ 9.99765447e-01 -1.98721131e-02 -8.61104680e-03 1.76709567e+02] [ 1.98728231e-02 9.99802516e-01 -3.11234895e-06 -1.00369845e+01] [ 8.60940810e-03 -1.68014191e-04 9.99962924e-01 -6.57960794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.011346184 meters 0.0690211370768144 Centerline is valid? [True, True] Translation: X:176.74, Y:-10.04, Z:-6.58 [[ 9.99756487e-01 -2.05132515e-02 -8.13472992e-03 1.76737948e+02] [ 2.05138312e-02 9.99789569e-01 -1.21795376e-05 -1.00379905e+01] [ 8.13326796e-03 -1.54697904e-04 9.99966912e-01 -6.58069845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.041346184 meters 0.06889531283537148 Centerline is valid? [True, True] Translation: X:176.77, Y:-10.04, Z:-6.58 [[ 9.99719995e-01 -2.23697221e-02 -7.71541268e-03 1.76767330e+02] [ 2.23703520e-02 9.99749752e-01 -4.66210279e-06 -1.00401278e+01] [ 7.71358620e-03 -1.67935700e-04 9.99970236e-01 -6.57964913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.071346184 meters 0.06880403768450358 Centerline is valid? [True, True] Translation: X:176.80, Y:-10.04, Z:-6.58 [[ 9.99699920e-01 -2.31840278e-02 -7.91013128e-03 1.76796740e+02] [ 2.31847130e-02 9.99731198e-01 -5.06742963e-06 -1.00406086e+01] [ 7.90812251e-03 -1.78328215e-04 9.99968714e-01 -6.57953208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101346184 meters 0.07000524756546264 Centerline is valid? [True, True] Translation: X:176.83, Y:-10.04, Z:-6.59 [[ 9.99691912e-01 -2.36243671e-02 -7.61376701e-03 1.76826442e+02] [ 2.36250184e-02 9.99720890e-01 -4.39863518e-06 -1.00449336e+01] [ 7.61174585e-03 -1.75478106e-04 9.99971015e-01 -6.58514103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.131346184 meters 0.06934694042503299 Centerline is valid? [True, True] Translation: X:176.86, Y:-10.05, Z:-6.58 [[ 9.99661356e-01 -2.48507090e-02 -7.72110175e-03 1.76856087e+02] [ 2.48514082e-02 9.99691156e-01 -5.39289377e-06 -1.00471940e+01] [ 7.71885115e-03 -1.86489184e-04 9.99970192e-01 -6.58263218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161346184 meters 0.07062196784870531 Centerline is valid? [True, True] Translation: X:176.89, Y:-10.05, Z:-6.59 [[ 9.99648702e-01 -2.52601043e-02 -8.02490991e-03 1.76885530e+02] [ 2.52608772e-02 9.99680893e-01 -5.04779243e-06 -1.00492111e+01] [ 8.02247661e-03 -1.97670245e-04 9.99967800e-01 -6.58779919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.191346184 meters 0.06929083816139872 Centerline is valid? [True, True] Translation: X:176.92, Y:-10.04, Z:-6.58 [[ 9.99654896e-01 -2.50939073e-02 -7.77073355e-03 1.76916003e+02] [ 2.50946319e-02 9.99685080e-01 -4.26325496e-06 -1.00440631e+01] [ 7.76839337e-03 -1.90741914e-04 9.99969807e-01 -6.58307808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221346184 meters 0.07067671528721144 Centerline is valid? [True, True] Translation: X:176.95, Y:-10.05, Z:-6.59 [[ 9.99671810e-01 -2.44874247e-02 -7.52587565e-03 1.76945212e+02] [ 2.44880812e-02 9.99700122e-01 -4.91575315e-06 -1.00454838e+01] [ 7.52373918e-03 -1.79380114e-04 9.99971680e-01 -6.58922023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.251346184 meters 0.06848022343796888 Centerline is valid? [True, True] Translation: X:176.98, Y:-10.04, Z:-6.58 [[ 9.99669082e-01 -2.47016497e-02 -7.18019592e-03 1.76975549e+02] [ 2.47022572e-02 9.99694853e-01 -4.07476441e-06 -1.00405001e+01] [ 7.17810556e-03 -1.73293631e-04 9.99974222e-01 -6.58066788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281346184 meters 0.06876088388833136 Centerline is valid? [True, True] Translation: X:177.00, Y:-10.04, Z:-6.58 [[ 9.99666481e-01 -2.48252432e-02 -7.11578793e-03 1.77004679e+02] [ 2.48258372e-02 9.99691791e-01 -4.85412722e-06 -1.00417694e+01] [ 7.11371529e-03 -1.71802884e-04 9.99974682e-01 -6.58283428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.311346184 meters 0.06953984168663543 Centerline is valid? [True, True] Translation: X:177.04, Y:-10.04, Z:-6.59 [[ 9.99640438e-01 -2.60948905e-02 -6.16858358e-03 1.77035386e+02] [ 2.60953694e-02 9.99659458e-01 -2.84164557e-06 -1.00440690e+01] [ 6.16655707e-03 -1.58130844e-04 9.99980974e-01 -6.58614761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341346184 meters 0.06879223059023727 Centerline is valid? [True, True] Translation: X:177.07, Y:-10.04, Z:-6.58 [[ 9.99579326e-01 -2.84374701e-02 -5.69919046e-03 1.77066972e+02] [ 2.84379225e-02 9.99595560e-01 -1.64948607e-06 -1.00415771e+01] [ 5.69693239e-03 -1.60424345e-04 9.99983759e-01 -6.58132475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.371346184 meters 0.06974540283523835 Centerline is valid? [True, True] Translation: X:177.10, Y:-10.04, Z:-6.59 [[ 9.99564794e-01 -2.90784714e-02 -4.96643744e-03 1.77097128e+02] [ 2.90788209e-02 9.99577122e-01 -1.84987251e-06 -1.00430755e+01] [ 4.96439103e-03 -1.42569077e-04 9.99987667e-01 -6.58504441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401346184 meters 0.06875067426731801 Centerline is valid? [True, True] Translation: X:177.13, Y:-10.04, Z:-6.58 [[ 9.99596446e-01 -2.81097943e-02 -4.09696412e-03 1.77128994e+02] [ 2.81100297e-02 9.99604835e-01 -1.30044496e-07 -1.00400656e+01] [ 4.09534880e-03 -1.15035791e-04 9.99991607e-01 -6.58262219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43134618399998 meters 0.06841271295760218 Centerline is valid? [True, True] Translation: X:177.16, Y:-10.04, Z:-6.58 [[ 9.99666644e-01 -2.54625151e-02 -4.27323481e-03 1.77160862e+02] [ 2.54627488e-02 9.99675772e-01 2.92043072e-07 -1.00369869e+01] [ 4.27184187e-03 -1.09100250e-04 9.99990870e-01 -6.58449951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46134618399998 meters 0.06861654044582248 Centerline is valid? [True, True] Translation: X:177.19, Y:-10.03, Z:-6.59 [[ 9.99680206e-01 -2.46753010e-02 -5.53315935e-03 1.77191773e+02] [ 2.46756750e-02 9.99695509e-01 -6.69653424e-07 -1.00349187e+01] [ 5.53149108e-03 -1.35865003e-04 9.99984692e-01 -6.58680404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49134618399998 meters 0.06852141431896853 Centerline is valid? [True, True] Translation: X:177.22, Y:-10.03, Z:-6.59 [[ 9.99701548e-01 -2.36746867e-02 -6.02690318e-03 1.77222104e+02] [ 2.36751082e-02 9.99719705e-01 -1.40125260e-06 -1.00323354e+01] [ 6.02524705e-03 -1.41286751e-04 9.99981838e-01 -6.58802572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52134618399998 meters 0.06817991922868924 Centerline is valid? [True, True] Translation: X:177.25, Y:-10.03, Z:-6.59 [[ 9.99762386e-01 -2.12314885e-02 -4.93922141e-03 1.77252431e+02] [ 2.12317429e-02 9.99774581e-01 -9.43724275e-07 -1.00281102e+01] [ 4.93812806e-03 -1.03924779e-04 9.99987802e-01 -6.58905884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55134618399998 meters 0.06786090483109967 Centerline is valid? [True, True] Translation: X:177.28, Y:-10.03, Z:-6.59 [[ 9.99801523e-01 -1.93244767e-02 -4.84553214e-03 1.77283367e+02] [ 1.93246996e-02 9.99813261e-01 -8.15177261e-07 -1.00255692e+01] [ 4.84464304e-03 -9.28234374e-05 9.99988260e-01 -6.58956646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58134618399998 meters 0.06795282523165937 Centerline is valid? [True, True] Translation: X:177.31, Y:-10.02, Z:-6.59 [[ 9.99828872e-01 -1.78221872e-02 -4.95947191e-03 1.77313523e+02] [ 1.78224027e-02 9.99841168e-01 -7.58995024e-07 -1.00238358e+01] [ 4.95869771e-03 -8.76308401e-05 9.99987702e-01 -6.59195852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61134618399998 meters 0.06764869825413346 Centerline is valid? [True, True] Translation: X:177.35, Y:-10.02, Z:-6.59 [[ 9.99830466e-01 -1.67658958e-02 -7.61212502e-03 1.77345269e+02] [ 1.67663777e-02 9.99859434e-01 -5.01911759e-07 -1.00191177e+01] [ 7.61106343e-03 -1.27125936e-04 9.99971027e-01 -6.59147550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64134618399999 meters 0.0687531486998871 Centerline is valid? [True, True] Translation: X:177.37, Y:-10.02, Z:-6.60 [[ 9.99818489e-01 -1.69215875e-02 -8.75491979e-03 1.77373843e+02] [ 1.69221866e-02 9.99856810e-01 -5.65113862e-06 -1.00216909e+01] [ 8.75376179e-03 -1.42502274e-04 9.99961675e-01 -6.59788688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.671346184 meters 0.06902074282370597 Centerline is valid? [True, True] Translation: X:177.40, Y:-10.02, Z:-6.60 [[ 9.99812189e-01 -1.69182293e-02 -9.45300872e-03 1.77402573e+02] [ 1.69188477e-02 9.99856866e-01 -1.45512715e-05 -1.00231664e+01] [ 9.45190185e-03 -1.45385476e-04 9.99955319e-01 -6.60074270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.701346184 meters 0.06964128213715882 Centerline is valid? [True, True] Translation: X:177.43, Y:-10.02, Z:-6.60 [[ 9.99776422e-01 -1.79952119e-02 -1.11030807e-02 1.77430804e+02] [ 1.79962111e-02 9.99838055e-01 -9.91771107e-06 -1.00248488e+01] [ 1.11014611e-02 -1.89897890e-04 9.99938359e-01 -6.60385100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.731346184 meters 0.06883061406603756 Centerline is valid? [True, True] Translation: X:177.46, Y:-10.02, Z:-6.60 [[ 9.99774136e-01 -1.86273508e-02 -1.02322250e-02 1.77459605e+02] [ 1.86281338e-02 9.99826481e-01 -1.87847976e-05 -1.00230677e+01] [ 1.02307994e-02 -1.71826700e-04 9.99947649e-01 -6.60000337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.761346184 meters 0.06884673032561968 Centerline is valid? [True, True] Translation: X:177.49, Y:-10.02, Z:-6.60 [[ 9.99771831e-01 -1.90815850e-02 -9.60097740e-03 1.77487152e+02] [ 1.90823382e-02 9.99817916e-01 -1.31573724e-05 -1.00240481e+01] [ 9.59948028e-03 -1.70054727e-04 9.99953909e-01 -6.60092234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.791346184 meters 0.06884673032561968 Centerline is valid? [True, True] Translation: X:177.52, Y:-10.02, Z:-6.60 [[ 9.99766706e-01 -1.93482765e-02 -9.60096719e-03 1.77515430e+02] [ 1.93489613e-02 9.99812791e-01 -2.15683380e-05 -1.00238345e+01] [ 9.59958711e-03 -1.64205436e-04 9.99953909e-01 -6.60189071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821346184 meters 0.06831562501196631 Centerline is valid? [True, True] Translation: X:177.54, Y:-10.02, Z:-6.60 [[ 9.99759312e-01 -1.97334800e-02 -9.58683680e-03 1.77544687e+02] [ 1.97342426e-02 9.99805261e-01 -1.50499148e-05 -1.00240792e+01] [ 9.58526686e-03 -1.74142671e-04 9.99954045e-01 -6.59908968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.851346184 meters 0.06884858903986772 Centerline is valid? [True, True] Translation: X:177.57, Y:-10.03, Z:-6.60 [[ 9.99746769e-01 -1.96878998e-02 -1.08988270e-02 1.77573229e+02] [ 1.96888789e-02 9.99806155e-01 -1.74617134e-05 -1.00278505e+01] [ 1.08970581e-02 -1.97128394e-04 9.99940606e-01 -6.60275273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881346184 meters 0.06889015862230852 Centerline is valid? [True, True] Translation: X:177.60, Y:-10.03, Z:-6.60 [[ 9.99739934e-01 -2.03343675e-02 -1.03236456e-02 1.77602048e+02] [ 2.03351743e-02 9.99793219e-01 -2.68183821e-05 -1.00286676e+01] [ 1.03220562e-02 -1.83121725e-04 9.99946709e-01 -6.60408691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.911346184 meters 0.06910739553219995 Centerline is valid? [True, True] Translation: X:177.63, Y:-10.03, Z:-6.61 [[ 9.99728430e-01 -2.07331060e-02 -1.06397310e-02 1.77630320e+02] [ 2.07340419e-02 9.99785026e-01 -2.23458288e-05 -1.00286537e+01] [ 1.06379070e-02 -1.98264868e-04 9.99943396e-01 -6.60528224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941346184 meters 0.0693975146199134 Centerline is valid? [True, True] Translation: X:177.66, Y:-10.03, Z:-6.61 [[ 9.99697756e-01 -2.16033102e-02 -1.17342826e-02 1.77657717e+02] [ 2.16044996e-02 9.99766595e-01 -2.54034270e-05 -1.00301442e+01] [ 1.17320925e-02 -2.28117555e-04 9.99931151e-01 -6.60701108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.971346184 meters 0.06982569196732351 Centerline is valid? [True, True] Translation: X:177.69, Y:-10.03, Z:-6.61 [[ 9.99660723e-01 -2.29318109e-02 -1.23519738e-02 1.77686437e+02] [ 2.29331183e-02 9.99737001e-01 -3.58030827e-05 -1.00323530e+01] [ 1.23495462e-02 -2.47478340e-04 9.99923711e-01 -6.60886725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.001346184 meters 0.06994640519214536 Centerline is valid? [True, True] Translation: X:177.72, Y:-10.04, Z:-6.61 [[ 9.99629313e-01 -2.48262773e-02 -1.11754941e-02 1.77715069e+02] [ 2.48274229e-02 9.99691751e-01 -3.62275040e-05 -1.00352493e+01] [ 1.11729487e-02 -2.41244644e-04 9.99937552e-01 -6.60960405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.031346184 meters 0.07049869312579778 Centerline is valid? [True, True] Translation: X:177.74, Y:-10.04, Z:-6.61 [[ 9.99582105e-01 -2.65473989e-02 -1.14389759e-02 1.77742669e+02] [ 2.65487699e-02 9.99647519e-01 -3.20098928e-05 -1.00390162e+01] [ 1.14357936e-02 -2.71694222e-04 9.99934572e-01 -6.61206541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.061346184 meters 0.07127849271693992 Centerline is valid? [True, True] Translation: X:177.77, Y:-10.04, Z:-6.61 [[ 9.99511837e-01 -2.84833531e-02 -1.28368997e-02 1.77770609e+02] [ 2.84852403e-02 9.99594213e-01 -3.58365102e-05 -1.00432497e+01] [ 1.28327113e-02 -3.29843156e-04 9.99917603e-01 -6.61471461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.091346184 meters 0.07147038394164545 Centerline is valid? [True, True] Translation: X:177.80, Y:-10.04, Z:-6.62 [[ 9.99492034e-01 -2.91899022e-02 -1.27915249e-02 1.77799790e+02] [ 2.91917100e-02 9.99573830e-01 -4.53964292e-05 -1.00435442e+01] [ 1.27873987e-02 -3.28033117e-04 9.99918184e-01 -6.61587586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.121346184 meters 0.07145580391622944 Centerline is valid? [True, True] Translation: X:177.83, Y:-10.04, Z:-6.62 [[ 9.99498269e-01 -2.93922997e-02 -1.18026901e-02 1.77827947e+02] [ 2.93938999e-02 9.99567905e-01 -3.79093707e-05 -1.00431310e+01] [ 1.17987044e-02 -3.09036740e-04 9.99930345e-01 -6.61602633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.151346184 meters 0.07132784137217948 Centerline is valid? [True, True] Translation: X:177.86, Y:-10.04, Z:-6.62 [[ 9.99554251e-01 -2.74657976e-02 -1.17017168e-02 1.77856273e+02] [ 2.74671378e-02 9.99622706e-01 -4.62044636e-05 -1.00397289e+01] [ 1.16985708e-02 -2.75228798e-04 9.99931532e-01 -6.61667290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18134618399998 meters 0.0710941412430904 Centerline is valid? [True, True] Translation: X:177.88, Y:-10.04, Z:-6.62 [[ 9.99602501e-01 -2.60570592e-02 -1.07642658e-02 1.77883896e+02] [ 2.60581545e-02 9.99660428e-01 -3.85023243e-05 -1.00382665e+01] [ 1.07616138e-02 -2.42009881e-04 9.99942063e-01 -6.61717855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21134618399998 meters 0.07087885895958726 Centerline is valid? [True, True] Translation: X:177.91, Y:-10.04, Z:-6.62 [[ 9.99652219e-01 -2.40338255e-02 -1.08543562e-02 1.77913174e+02] [ 2.40347885e-02 9.99711122e-01 -4.17355124e-05 -1.00363720e+01] [ 1.08522236e-02 -2.19161157e-04 9.99941089e-01 -6.61880213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24134618399998 meters 0.070308940725683 Centerline is valid? [True, True] Translation: X:177.94, Y:-10.03, Z:-6.62 [[ 9.99753834e-01 -1.92958537e-02 -1.09518222e-02 1.77941188e+02] [ 1.92965562e-02 9.99813803e-01 -4.15234314e-05 -1.00319401e+01] [ 1.09505842e-02 -1.69819243e-04 9.99940026e-01 -6.62075924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27134618399998 meters 0.0701565283018177 Centerline is valid? [True, True] Translation: X:177.97, Y:-10.03, Z:-6.62 [[ 9.99787639e-01 -1.75564697e-02 -1.07910366e-02 1.77970253e+02] [ 1.75569625e-02 9.99845863e-01 -4.90685987e-05 -1.00299220e+01] [ 1.07902348e-02 -1.40399646e-04 9.99941774e-01 -6.62201151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30134618399998 meters 0.07013194022977226 Centerline is valid? [True, True] Translation: X:178.00, Y:-10.03, Z:-6.62 [[ 9.99813407e-01 -1.61730944e-02 -1.05632807e-02 1.77997640e+02] [ 1.61735354e-02 9.99869199e-01 -4.36809058e-05 -1.00277067e+01] [ 1.05626055e-02 -1.27172840e-04 9.99944206e-01 -6.62307431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33134618399998 meters 0.06951529016048731 Centerline is valid? [True, True] Translation: X:178.03, Y:-10.02, Z:-6.62 [[ 9.99863512e-01 -1.41647899e-02 -8.50385472e-03 1.78025514e+02] [ 1.41649925e-02 9.99899671e-01 -3.64087235e-05 -1.00223695e+01] [ 8.50351725e-03 -8.40532837e-05 9.99963841e-01 -6.62035733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36134618399998 meters 0.06873383998331244 Centerline is valid? [True, True] Translation: X:178.05, Y:-10.02, Z:-6.62 [[ 9.99881666e-01 -1.35157393e-02 -7.34706118e-03 1.78054819e+02] [ 1.35158511e-02 9.99908656e-01 -3.44265316e-05 -1.00203733e+01] [ 7.34685537e-03 -6.48793274e-05 9.99973009e-01 -6.61750269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39134618399999 meters 0.06843685621448875 Centerline is valid? [True, True] Translation: X:178.08, Y:-10.02, Z:-6.62 [[ 9.99892608e-01 -1.22314565e-02 -8.07241517e-03 1.78083480e+02] [ 1.22315026e-02 9.99925191e-01 -4.36650891e-05 -1.00188547e+01] [ 8.07234537e-03 -5.50773670e-05 9.99967417e-01 -6.61652907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.421346184 meters 0.0679618093966219 Centerline is valid? [True, True] Translation: X:178.11, Y:-10.02, Z:-6.62 [[ 9.99895238e-01 -1.19351381e-02 -8.18932554e-03 1.78112502e+02] [ 1.19351555e-02 9.99928772e-01 -4.67462093e-05 -1.00184513e+01] [ 8.18930016e-03 -5.09995619e-05 9.99966466e-01 -6.61507614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.451346184 meters 0.06961049403150475 Centerline is valid? [True, True] Translation: X:178.14, Y:-10.02, Z:-6.63 [[ 9.99903606e-01 -1.17334074e-02 -7.42335397e-03 1.78139594e+02] [ 1.17334484e-02 9.99931160e-01 -3.80310556e-05 -1.00203505e+01] [ 7.42328918e-03 -4.90741510e-05 9.99972446e-01 -6.62563588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.481346184 meters 0.06943320434348353 Centerline is valid? [True, True] Translation: X:178.17, Y:-10.02, Z:-6.63 [[ 9.99900612e-01 -1.18897228e-02 -7.57630461e-03 1.78168130e+02] [ 1.18897204e-02 9.99929314e-01 -4.53629862e-05 -1.00201339e+01] [ 7.57630843e-03 -4.47216659e-05 9.99971298e-01 -6.62613429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.511346184 meters 0.06953617030198543 Centerline is valid? [True, True] Translation: X:178.20, Y:-10.02, Z:-6.63 [[ 9.99892741e-01 -1.31457619e-02 -6.45714004e-03 1.78195493e+02] [ 1.31458089e-02 9.99913590e-01 -3.51691928e-05 -1.00223857e+01] [ 6.45704440e-03 -4.97189085e-05 9.99979152e-01 -6.62771280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.541346184 meters 0.06831634536071511 Centerline is valid? [True, True] Translation: X:178.22, Y:-10.02, Z:-6.62 [[ 9.99867757e-01 -1.42855397e-02 -7.77116115e-03 1.78224950e+02] [ 1.42856509e-02 9.99897954e-01 -4.12120240e-05 -1.00226642e+01] [ 7.77095687e-03 -6.98095209e-05 9.99969803e-01 -6.62124443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.571346184 meters 0.06838177154201443 Centerline is valid? [True, True] Translation: X:178.25, Y:-10.03, Z:-6.62 [[ 9.99850999e-01 -1.55405938e-02 -7.51457937e-03 1.78254188e+02] [ 1.55406658e-02 9.99879235e-01 -4.88127985e-05 -1.00252012e+01] [ 7.51443045e-03 -6.79760410e-05 9.99971764e-01 -6.62229018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601346184 meters 0.06884229198187371 Centerline is valid? [True, True] Translation: X:178.28, Y:-10.03, Z:-6.63 [[ 9.99787034e-01 -1.79013440e-02 -1.02678339e-02 1.78283966e+02] [ 1.79017099e-02 9.99839750e-01 -5.62825592e-05 -1.00312544e+01] [ 1.02671960e-02 -1.27541211e-04 9.99947283e-01 -6.62500648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.631346184 meters 0.06941477360130774 Centerline is valid? [True, True] Translation: X:178.31, Y:-10.03, Z:-6.63 [[ 9.99745327e-01 -1.95424035e-02 -1.12861077e-02 1.78311248e+02] [ 1.95428826e-02 9.99809017e-01 -6.78458118e-05 -1.00344236e+01] [ 1.12852781e-02 -1.52734544e-04 9.99936308e-01 -6.62793221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661346184 meters 0.06992021266952253 Centerline is valid? [True, True] Translation: X:178.34, Y:-10.04, Z:-6.63 [[ 9.99692216e-01 -2.10120531e-02 -1.31896518e-02 1.78341033e+02] [ 2.10128980e-02 9.99779202e-01 -7.45431912e-05 -1.00364734e+01] [ 1.31883058e-02 -2.02632558e-04 9.99913010e-01 -6.63061205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.691346184 meters 0.07021058348957324 Centerline is valid? [True, True] Translation: X:178.37, Y:-10.04, Z:-6.63 [[ 9.99672082e-01 -2.13767716e-02 -1.40983221e-02 1.78369784e+02] [ 2.13776165e-02 9.99771469e-01 -9.07865593e-05 -1.00372862e+01] [ 1.40970409e-02 -2.10631733e-04 9.99900610e-01 -6.63252117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721346184 meters 0.07082007116502308 Centerline is valid? [True, True] Translation: X:178.40, Y:-10.04, Z:-6.64 [[ 9.99698763e-01 -2.10215355e-02 -1.26680213e-02 1.78397522e+02] [ 2.10222091e-02 9.99779006e-01 -7.99979764e-05 -1.00396685e+01] [ 1.26669035e-02 -1.86335916e-04 9.99919754e-01 -6.63666394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.751346184 meters 0.07090936082325361 Centerline is valid? [True, True] Translation: X:178.43, Y:-10.04, Z:-6.64 [[ 9.99702347e-01 -2.09691885e-02 -1.24703749e-02 1.78425155e+02] [ 2.09698434e-02 9.99780106e-01 -7.82519393e-05 -1.00420289e+01] [ 1.24692736e-02 -1.83273161e-04 9.99922239e-01 -6.63826053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781346184 meters 0.06895008801218447 Centerline is valid? [True, True] Translation: X:178.45, Y:-10.04, Z:-6.63 [[ 9.99734274e-01 -1.98872516e-02 -1.16567298e-02 1.78454764e+02] [ 1.98876498e-02 9.99802218e-01 -8.17590172e-05 -1.00409874e+01] [ 1.16560502e-02 -1.50087668e-04 9.99932055e-01 -6.63105888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.811346184 meters 0.06869638420214332 Centerline is valid? [True, True] Translation: X:178.48, Y:-10.04, Z:-6.63 [[ 9.99755458e-01 -1.91638172e-02 -1.10350491e-02 1.78483350e+02] [ 1.91640856e-02 9.99816349e-01 -8.14311353e-05 -1.00390509e+01] [ 1.10345830e-02 -1.30065403e-04 9.99939109e-01 -6.63178857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841346184 meters 0.06907729472642778 Centerline is valid? [True, True] Translation: X:178.51, Y:-10.04, Z:-6.63 [[ 9.99780164e-01 -1.82460960e-02 -1.03297000e-02 1.78511467e+02] [ 1.82463270e-02 9.99833519e-01 -7.18871052e-05 -1.00379851e+01] [ 1.03292920e-02 -1.16607782e-04 9.99946645e-01 -6.63435817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.871346184 meters 0.06910662675772247 Centerline is valid? [True, True] Translation: X:178.54, Y:-10.04, Z:-6.64 [[ 9.99813493e-01 -1.68490461e-02 -9.43869610e-03 1.78538940e+02] [ 1.68491672e-02 9.99858040e-01 -6.67019131e-05 -1.00370147e+01] [ 9.43848005e-03 -9.23446957e-05 9.99955452e-01 -6.63601661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901346184 meters 0.07014728119334912 Centerline is valid? [True, True] Translation: X:178.57, Y:-10.04, Z:-6.64 [[ 9.99809148e-01 -1.67687261e-02 -1.00238123e-02 1.78566303e+02] [ 1.67688518e-02 9.99859390e-01 -7.15079617e-05 -1.00381260e+01] [ 1.00236020e-02 -9.65935089e-05 9.99949758e-01 -6.64200417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93134618399998 meters 0.06953338664517182 Centerline is valid? [True, True] Translation: X:178.59, Y:-10.04, Z:-6.64 [[ 9.99796243e-01 -1.72103395e-02 -1.05487483e-02 1.78594802e+02] [ 1.72104194e-02 9.99851886e-01 -8.32126696e-05 -1.00378440e+01] [ 1.05486180e-02 -9.83526671e-05 9.99944357e-01 -6.64028976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96134618399998 meters 0.06999701372067213 Centerline is valid? [True, True] Translation: X:178.62, Y:-10.04, Z:-6.64 [[ 9.99787331e-01 -1.70741585e-02 -1.15657005e-02 1.78623864e+02] [ 1.70742225e-02 9.99854220e-01 -9.32115867e-05 -1.00382680e+01] [ 1.15656060e-02 -1.04283581e-04 9.99933111e-01 -6.64318020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99134618399998 meters 0.06787288530989942 Centerline is valid? [True, True] Translation: X:178.65, Y:-10.04, Z:-6.63 [[ 9.99761116e-01 -1.89015196e-02 -1.09746351e-02 1.78651821e+02] [ 1.89016143e-02 9.99821344e-01 -9.51011540e-05 -1.00399336e+01] [ 1.09744720e-02 -1.12359885e-04 9.99939772e-01 -6.63274054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02134618399998 meters 0.07070016548951154 Centerline is valid? [True, True] Translation: X:178.68, Y:-10.05, Z:-6.65 [[ 9.99756378e-01 -1.97885440e-02 -9.77743448e-03 1.78679679e+02] [ 1.97886373e-02 9.99804182e-01 -8.72134503e-05 -1.00462910e+01] [ 9.77724571e-03 -1.06289902e-04 9.99952196e-01 -6.64808034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05134618399998 meters 0.0680520649938064 Centerline is valid? [True, True] Translation: X:178.71, Y:-10.04, Z:-6.63 [[ 9.99729386e-01 -2.16844364e-02 -8.42261951e-03 1.78708587e+02] [ 2.16845460e-02 9.99764860e-01 -7.83253952e-05 -1.00442953e+01] [ 8.42233745e-03 -1.04336481e-04 9.99964526e-01 -6.63486760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08134618399998 meters 0.0677786331731738 Centerline is valid? [True, True] Translation: X:178.74, Y:-10.04, Z:-6.63 [[ 9.99730525e-01 -2.15764482e-02 -8.56351866e-03 1.78738609e+02] [ 2.15766234e-02 9.99767195e-01 -7.19367838e-05 -1.00426169e+01] [ 8.56307717e-03 -1.12854419e-04 9.99963330e-01 -6.63437438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11134618399998 meters 0.06785216778643785 Centerline is valid? [True, True] Translation: X:178.77, Y:-10.04, Z:-6.64 [[ 9.99731645e-01 -2.15140706e-02 -8.58971222e-03 1.78767900e+02] [ 2.15142417e-02 9.99768539e-01 -7.24865590e-05 -1.00418085e+01] [ 8.58928352e-03 -1.12334038e-04 9.99963105e-01 -6.63522831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14134618399999 meters 0.06786597324523189 Centerline is valid? [True, True] Translation: X:178.80, Y:-10.04, Z:-6.64 [[ 9.99783535e-01 -1.91947146e-02 -8.02783987e-03 1.78796583e+02] [ 1.91947760e-02 9.99815761e-01 -6.94052542e-05 -1.00422495e+01] [ 8.02769304e-03 -8.47023575e-05 9.99967774e-01 -6.63734078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.171346184 meters 0.06720230965631639 Centerline is valid? [True, True] Translation: X:178.83, Y:-10.04, Z:-6.64 [[ 9.99814040e-01 -1.82059444e-02 -6.35832155e-03 1.78825867e+02] [ 1.82059087e-02 9.99834257e-01 -6.34960032e-05 -1.00418817e+01] [ 6.35842371e-03 -5.22748261e-05 9.99979784e-01 -6.63553152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.201346184 meters 0.06700590841818645 Centerline is valid? [True, True] Translation: X:178.86, Y:-10.04, Z:-6.64 [[ 9.99850713e-01 -1.64588160e-02 -5.25928591e-03 1.78855513e+02] [ 1.64587975e-02 9.99864544e-01 -4.68130047e-05 -1.00409934e+01] [ 5.25934400e-03 -3.97555057e-05 9.99986169e-01 -6.63575035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.231346184 meters 0.06663811872621782 Centerline is valid? [True, True] Translation: X:178.88, Y:-10.04, Z:-6.63 [[ 9.99904864e-01 -1.35426221e-02 -2.61923221e-03 1.78884991e+02] [ 1.35426074e-02 9.99908294e-01 -2.33614067e-05 -1.00374191e+01] [ 2.61930839e-03 -1.21120494e-05 9.99996570e-01 -6.63485943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.261346184 meters 0.06643685645830816 Centerline is valid? [True, True] Translation: X:178.92, Y:-10.04, Z:-6.63 [[ 9.99927024e-01 -1.19899232e-02 -1.47922888e-03 1.78916072e+02] [ 1.19899194e-02 9.99928118e-01 -1.14535610e-05 -1.00355523e+01] [ 1.47925988e-03 -6.28310999e-06 9.99998906e-01 -6.63471841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.291346184 meters 0.06654117789373684 Centerline is valid? [True, True] Translation: X:178.95, Y:-10.04, Z:-6.64 [[ 9.99945304e-01 -1.04230377e-02 -8.65362523e-04 1.78946051e+02] [ 1.04230357e-02 9.99945679e-01 -6.79962583e-06 -1.00350714e+01] [ 8.65386388e-04 -2.22045057e-06 9.99999626e-01 -6.63622580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321346184 meters 0.06637366175142467 Centerline is valid? [True, True] Translation: X:178.98, Y:-10.04, Z:-6.64 [[ 9.99956477e-01 -9.27071506e-03 -1.04795469e-03 1.78977639e+02] [ 9.27071214e-03 9.99957026e-01 -7.64361931e-06 -1.00351507e+01] [ 1.04798052e-03 -2.07199965e-06 9.99999451e-01 -6.63572786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.351346184 meters 0.0663671311496256 Centerline is valid? [True, True] Translation: X:179.01, Y:-10.04, Z:-6.64 [[ 9.99966661e-01 -8.12714907e-03 -7.91602285e-04 1.79008477e+02] [ 8.12714733e-03 9.99966974e-01 -5.41552738e-06 -1.00369683e+01] [ 7.91620154e-04 -1.01812156e-06 9.99999687e-01 -6.63779532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381346184 meters 0.0662841977866792 Centerline is valid? [True, True] Translation: X:179.04, Y:-10.04, Z:-6.64 [[ 9.99962988e-01 -8.59742361e-03 3.28069932e-04 1.79039239e+02] [ 8.59742273e-03 9.99963041e-01 4.11759831e-06 -1.00391395e+01] [-3.28093208e-04 -1.29689002e-06 9.99999946e-01 -6.63954629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.411346184 meters 0.06614822181332138 Centerline is valid? [True, True] Translation: X:179.07, Y:-10.04, Z:-6.64 [[ 9.99950923e-01 -9.85421699e-03 1.02309954e-03 1.79070997e+02] [ 9.85421063e-03 9.99951446e-01 1.12593626e-05 -1.00420812e+01] [-1.02316081e-03 -1.17697167e-06 9.99999477e-01 -6.64051686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441346184 meters 0.06601049455218577 Centerline is valid? [True, True] Translation: X:179.10, Y:-10.05, Z:-6.64 [[ 9.99936179e-01 -1.11657928e-02 1.72139759e-03 1.79103105e+02] [ 1.11657800e-02 9.99937661e-01 1.70345022e-05 -1.00467033e+01] [-1.72148049e-03 2.18733179e-06 9.99998518e-01 -6.64097613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.471346184 meters 0.06600093471234915 Centerline is valid? [True, True] Translation: X:179.14, Y:-10.05, Z:-6.64 [[ 9.99923448e-01 -1.22821056e-02 1.49905438e-03 1.79135585e+02] [ 1.22820967e-02 9.99924572e-01 1.51020648e-05 -1.00485582e+01] [-1.49912679e-03 3.31062215e-06 9.99998876e-01 -6.64135336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501346184 meters 0.06634550580363291 Centerline is valid? [True, True] Translation: X:179.17, Y:-10.05, Z:-6.64 [[ 9.99909401e-01 -1.34484627e-02 5.72637731e-04 1.79166646e+02] [ 1.34484611e-02 9.99909565e-01 6.71969608e-06 -1.00520087e+01] [-5.72676315e-04 9.82008969e-07 9.99999836e-01 -6.64436054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.531346184 meters 0.06670040084485873 Centerline is valid? [True, True] Translation: X:179.20, Y:-10.06, Z:-6.65 [[ 9.99875118e-01 -1.57820390e-02 8.21933423e-04 1.79198131e+02] [ 1.57820372e-02 9.99875456e-01 8.66696349e-06 -1.00625303e+01] [-8.21967838e-04 4.30590271e-06 9.99999662e-01 -6.64816694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561346184 meters 0.06629519491831808 Centerline is valid? [True, True] Translation: X:179.23, Y:-10.07, Z:-6.65 [[ 9.99857441e-01 -1.68066368e-02 1.62307949e-03 1.79230626e+02] [ 1.68066335e-02 9.99858758e-01 1.57226762e-05 -1.00656886e+01] [-1.62311449e-03 1.15580673e-05 9.99998683e-01 -6.64691081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.591346184 meters 0.06624523940228828 Centerline is valid? [True, True] Translation: X:179.26, Y:-10.07, Z:-6.65 [[ 9.99853312e-01 -1.69666050e-02 2.34297221e-03 1.79262630e+02] [ 1.69666016e-02 9.99856057e-01 2.13344674e-05 -1.00676133e+01] [-2.34299692e-03 1.84209380e-05 9.99997255e-01 -6.64763132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621346184 meters 0.06639342768235706 Centerline is valid? [True, True] Translation: X:179.29, Y:-10.07, Z:-6.65 [[ 9.99842133e-01 -1.76062947e-02 2.39329386e-03 1.79293831e+02] [ 1.76062951e-02 9.99844997e-01 2.09324118e-05 -1.00696851e+01] [-2.39329143e-03 2.12079306e-05 9.99997136e-01 -6.64894650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.651346184 meters 0.06616947074674012 Centerline is valid? [True, True] Translation: X:179.33, Y:-10.07, Z:-6.65 [[ 9.99833623e-01 -1.77114426e-02 4.36245691e-03 1.79326067e+02] [ 1.77114504e-02 9.99843139e-01 3.68418998e-05 -1.00737852e+01] [-4.36242514e-03 4.04296691e-05 9.99990484e-01 -6.64883764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68134618399998 meters 0.06616947074674012 Centerline is valid? [True, True] Translation: X:179.36, Y:-10.07, Z:-6.65 [[ 9.99834954e-01 -1.76361404e-02 4.36245968e-03 1.79357745e+02] [ 1.76361490e-02 9.99844470e-01 3.64999030e-05 -1.00736383e+01] [-4.36242491e-03 4.04431100e-05 9.99990484e-01 -6.64992131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71134618399998 meters 0.06600991561509933 Centerline is valid? [True, True] Translation: X:179.39, Y:-10.07, Z:-6.65 [[ 9.99846199e-01 -1.68842057e-02 4.74370887e-03 1.79390356e+02] [ 1.68842103e-02 9.99857451e-01 3.90948023e-05 -1.00736791e+01] [-4.74369275e-03 4.10049886e-05 9.99988748e-01 -6.65081149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74134618399998 meters 0.06603616482726295 Centerline is valid? [True, True] Translation: X:179.42, Y:-10.07, Z:-6.65 [[ 9.99850412e-01 -1.64344343e-02 5.39094546e-03 1.79423013e+02] [ 1.64344348e-02 9.99864945e-01 4.42008384e-05 -1.00746172e+01] [-5.39094380e-03 4.44029154e-05 9.99985468e-01 -6.65136729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77134618399998 meters 0.06539468989720659 Centerline is valid? [True, True] Translation: X:179.46, Y:-10.08, Z:-6.65 [[ 9.99868706e-01 -1.45085979e-02 7.21607925e-03 1.79455373e+02] [ 1.45085646e-02 9.99894744e-01 5.69724369e-05 -1.00777091e+01] [-7.21614630e-03 4.77299949e-05 9.99973962e-01 -6.64933030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80134618399998 meters 0.06533277063275265 Centerline is valid? [True, True] Translation: X:179.49, Y:-10.08, Z:-6.65 [[ 9.99870600e-01 -1.37380101e-02 8.36965689e-03 1.79487837e+02] [ 1.37379472e-02 9.99905628e-01 6.50050979e-05 -1.00797212e+01] [-8.36976007e-03 4.99852186e-05 9.99964972e-01 -6.65004326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83134618399998 meters 0.06544394858184747 Centerline is valid? [True, True] Translation: X:179.52, Y:-10.08, Z:-6.65 [[ 9.99872575e-01 -1.39876510e-02 7.69286757e-03 1.79519823e+02] [ 1.39876081e-02 9.99902167e-01 5.93802372e-05 -1.00809842e+01] [-7.69294554e-03 4.82321463e-05 9.99970408e-01 -6.65214497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86134618399998 meters 0.066293113338472 Centerline is valid? [True, True] Translation: X:179.55, Y:-10.08, Z:-6.66 [[ 9.99873532e-01 -1.46776097e-02 6.12267626e-03 1.79550305e+02] [ 1.46776017e-02 9.99892277e-01 4.62489780e-05 -1.00843025e+01] [-6.12269553e-03 4.36230744e-05 9.99981255e-01 -6.65843127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89134618399999 meters 0.06628758361173742 Centerline is valid? [True, True] Translation: X:179.58, Y:-10.09, Z:-6.66 [[ 9.99886097e-01 -1.42395357e-02 5.00282050e-03 1.79582202e+02] [ 1.42395193e-02 9.99898612e-01 3.89092010e-05 -1.00851390e+01] [-5.00286732e-03 3.23329898e-05 9.99987485e-01 -6.65877185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.921346184 meters 0.06617494024897717 Centerline is valid? [True, True] Translation: X:179.61, Y:-10.09, Z:-6.66 [[ 9.99878631e-01 -1.47937262e-02 4.88562643e-03 1.79614346e+02] [ 1.47937183e-02 9.99890566e-01 3.77412837e-05 -1.00875908e+01] [-4.88565011e-03 3.45398781e-05 9.99988065e-01 -6.65826336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.951346184 meters 0.06625447418629976 Centerline is valid? [True, True] Translation: X:179.64, Y:-10.09, Z:-6.66 [[ 9.99856333e-01 -1.46297820e-02 8.56053143e-03 1.79644612e+02] [ 1.46297671e-02 9.99892977e-01 6.43596601e-05 -1.00926255e+01] [-8.56055682e-03 6.08881676e-05 9.99963356e-01 -6.66033396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.981346184 meters 0.06545229016271145 Centerline is valid? [True, True] Translation: X:179.68, Y:-10.09, Z:-6.66 [[ 9.99848260e-01 -1.42977440e-02 9.95150326e-03 1.79677010e+02] [ 1.42977327e-02 9.99897780e-01 7.22800310e-05 -1.00922173e+01] [-9.95151945e-03 7.00148702e-05 9.99950480e-01 -6.65638691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.011346184 meters 0.06540273470122115 Centerline is valid? [True, True] Translation: X:179.71, Y:-10.09, Z:-6.66 [[ 9.99847490e-01 -1.37956142e-02 1.07088126e-02 1.79708798e+02] [ 1.37955831e-02 9.99904833e-01 7.67741226e-05 -1.00926853e+01] [-1.07088526e-02 7.09719007e-05 9.99942656e-01 -6.65693477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.041346184 meters 0.06542180981491971 Centerline is valid? [True, True] Translation: X:179.74, Y:-10.09, Z:-6.66 [[ 9.99845695e-01 -1.33681705e-02 1.13963721e-02 1.79740658e+02] [ 1.33681192e-02 9.99910639e-01 8.06811073e-05 -1.00928687e+01] [-1.13964323e-02 7.16794034e-05 9.99935056e-01 -6.65819024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.071346184 meters 0.06568137725059965 Centerline is valid? [True, True] Translation: X:179.77, Y:-10.09, Z:-6.66 [[ 9.99859402e-01 -1.40058424e-02 9.22022805e-03 1.79771319e+02] [ 1.40058253e-02 9.99901911e-01 6.64270542e-05 -1.00945127e+01] [-9.22025402e-03 6.27191889e-05 9.99957491e-01 -6.66175760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101346184 meters 0.0659067363118305 Centerline is valid? [True, True] Translation: X:179.80, Y:-10.10, Z:-6.66 [[ 9.99841123e-01 -1.52431097e-02 9.23994069e-03 1.79803034e+02] [ 1.52431692e-02 9.99883814e-01 6.39907065e-05 -1.00972854e+01] [-9.23984256e-03 7.68654395e-05 9.99957309e-01 -6.66326681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.131346184 meters 0.066265663050444 Centerline is valid? [True, True] Translation: X:179.83, Y:-10.10, Z:-6.67 [[ 9.99821495e-01 -1.69030345e-02 8.44188958e-03 1.79834014e+02] [ 1.69031507e-02 9.99857130e-01 5.75825019e-05 -1.01013362e+01] [-8.44165681e-03 8.51223088e-05 9.99964365e-01 -6.66578879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161346184 meters 0.06677906245737805 Centerline is valid? [True, True] Translation: X:179.87, Y:-10.11, Z:-6.67 [[ 9.99788822e-01 -1.94757567e-02 6.55787241e-03 1.79865911e+02] [ 1.94758786e-02 9.99810326e-01 4.52780747e-05 -1.01093764e+01] [-6.55751038e-03 8.24518137e-05 9.99978496e-01 -6.66858807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.191346184 meters 0.06712363302473062 Centerline is valid? [True, True] Translation: X:179.90, Y:-10.11, Z:-6.67 [[ 9.99766864e-01 -2.05914071e-02 6.49704460e-03 1.79897835e+02] [ 2.05915533e-02 9.99787971e-01 4.43974782e-05 -1.01122940e+01] [-6.49658124e-03 8.93971123e-05 9.99978893e-01 -6.66983942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221346184 meters 0.06726986600349333 Centerline is valid? [True, True] Translation: X:179.93, Y:-10.12, Z:-6.67 [[ 9.99739618e-01 -2.14856115e-02 7.68537035e-03 1.79929224e+02] [ 2.14858395e-02 9.99769151e-01 5.29077655e-05 -1.01155759e+01] [-7.68473295e-03 1.12232645e-04 9.99970466e-01 -6.67071868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.251346184 meters 0.0662948008697659 Centerline is valid? [True, True] Translation: X:179.96, Y:-10.12, Z:-6.67 [[ 9.99734502e-01 -2.15417071e-02 8.17807115e-03 1.79961938e+02] [ 2.15419876e-02 9.99767943e-01 5.37912075e-05 -1.01159638e+01] [-8.17733213e-03 1.22394982e-04 9.99966558e-01 -6.66694852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281346184 meters 0.06608329059149291 Centerline is valid? [True, True] Translation: X:179.99, Y:-10.11, Z:-6.67 [[ 9.99756622e-01 -2.07548222e-02 7.47889280e-03 1.79994042e+02] [ 2.07550374e-02 9.99784590e-01 4.88545624e-05 -1.01146845e+01] [-7.47829574e-03 1.06382027e-04 9.99972031e-01 -6.66737791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.311346184 meters 0.06617418580691095 Centerline is valid? [True, True] Translation: X:180.03, Y:-10.11, Z:-6.67 [[ 9.99796599e-01 -1.91518297e-02 6.32208523e-03 1.80025783e+02] [ 1.91519519e-02 9.99816584e-01 4.12199435e-05 -1.01125599e+01] [-6.32171510e-03 7.98687130e-05 9.99980015e-01 -6.66936451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341346184 meters 0.06615045561377601 Centerline is valid? [True, True] Translation: X:180.06, Y:-10.11, Z:-6.67 [[ 9.99820848e-01 -1.80172263e-02 5.80098441e-03 1.80057281e+02] [ 1.80173145e-02 9.99837674e-01 3.70457445e-05 -1.01118239e+01] [-5.80071022e-03 6.74790530e-05 9.99983173e-01 -6.67174618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.371346184 meters 0.06580790030320474 Centerline is valid? [True, True] Translation: X:180.09, Y:-10.11, Z:-6.67 [[ 9.99847800e-01 -1.65663752e-02 5.47096007e-03 1.80089350e+02] [ 1.65664296e-02 9.99862767e-01 3.53718779e-05 -1.01140829e+01] [-5.47079525e-03 5.52677807e-05 9.99985034e-01 -6.67268256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401346184 meters 0.06611782212935763 Centerline is valid? [True, True] Translation: X:180.12, Y:-10.12, Z:-6.68 [[ 9.99839778e-01 -1.72444317e-02 4.80089280e-03 1.80120498e+02] [ 1.72444845e-02 9.99851302e-01 3.04002684e-05 -1.01170000e+01] [-4.80070315e-03 5.23935237e-05 9.99988475e-01 -6.67530632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43134618399998 meters 0.06701603354392636 Centerline is valid? [True, True] Translation: X:180.15, Y:-10.12, Z:-6.68 [[ 9.99823235e-01 -1.84473034e-02 3.63265636e-03 1.80151380e+02] [ 1.84473406e-02 9.99829833e-01 2.32592308e-05 -1.01205116e+01] [-3.63246728e-03 4.37577300e-05 9.99993402e-01 -6.67993115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46134618399998 meters 0.06682779499265636 Centerline is valid? [True, True] Translation: X:180.18, Y:-10.12, Z:-6.68 [[ 9.99776952e-01 -2.06343651e-02 4.50205841e-03 1.80183414e+02] [ 2.06344453e-02 9.99787087e-01 2.86405223e-05 -1.01223966e+01] [-4.50169084e-03 6.42633438e-05 9.99989865e-01 -6.67813000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49134618399998 meters 0.06741461444246416 Centerline is valid? [True, True] Translation: X:180.21, Y:-10.12, Z:-6.68 [[ 9.99771394e-01 -2.11992628e-02 2.78408133e-03 1.80214522e+02] [ 2.11992952e-02 9.99775270e-01 1.78786067e-05 -1.01246039e+01] [-2.78383468e-03 4.11460425e-05 9.99996124e-01 -6.68140442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52134618399998 meters 0.06764240593152898 Centerline is valid? [True, True] Translation: X:180.25, Y:-10.13, Z:-6.68 [[ 9.99766304e-01 -2.13641425e-02 3.30312094e-03 1.80246150e+02] [ 2.13641891e-02 9.99771759e-01 2.11643879e-05 -1.01260527e+01] [-3.30281920e-03 4.94090587e-05 9.99994544e-01 -6.68323620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55134618399998 meters 0.0680112966489513 Centerline is valid? [True, True] Translation: X:180.28, Y:-10.13, Z:-6.69 [[ 9.99772538e-01 -2.11370356e-02 2.84562279e-03 1.80276736e+02] [ 2.11370722e-02 9.99776587e-01 1.71970399e-05 -1.01280199e+01] [-2.84535053e-03 4.29550061e-05 9.99995951e-01 -6.68645456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58134618399998 meters 0.06818837049390654 Centerline is valid? [True, True] Translation: X:180.31, Y:-10.13, Z:-6.69 [[ 9.99740483e-01 -2.27781325e-02 3.50670637e-04 1.80307552e+02] [ 2.27781330e-02 9.99740545e-01 2.59555677e-06 -1.01319878e+01] [-3.50638775e-04 5.39273922e-06 9.99999939e-01 -6.68759990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61134618399998 meters 0.06782248388430082 Centerline is valid? [True, True] Translation: X:180.34, Y:-10.13, Z:-6.69 [[ 9.99707981e-01 -2.41106358e-02 -1.62156878e-03 1.80338454e+02] [ 2.41106557e-02 9.99709296e-01 -7.27941454e-06 -1.01327526e+01] [ 1.62127290e-03 -3.18197978e-05 9.99998685e-01 -6.68625022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64134618399999 meters 0.06907324830759656 Centerline is valid? [True, True] Translation: X:180.37, Y:-10.14, Z:-6.69 [[ 9.99698587e-01 -2.45280236e-02 -1.05367803e-03 1.80367725e+02] [ 2.45280303e-02 9.99699143e-01 -6.53436874e-06 -1.01366993e+01] [ 1.05352130e-03 -1.93122474e-05 9.99999445e-01 -6.69208896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.671346184 meters 0.06864291254307836 Centerline is valid? [True, True] Translation: X:180.40, Y:-10.14, Z:-6.69 [[ 9.99684836e-01 -2.50419355e-02 -1.76922252e-03 1.80398429e+02] [ 2.50419573e-02 9.99686401e-01 -9.84054082e-06 -1.01356464e+01] [ 1.76891412e-03 -3.44673554e-05 9.99998435e-01 -6.69098959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.701346184 meters 0.06854485073494639 Centerline is valid? [True, True] Translation: X:180.43, Y:-10.14, Z:-6.69 [[ 9.99669935e-01 -2.55964976e-02 -2.20029247e-03 1.80429307e+02] [ 2.55965326e-02 9.99672355e-01 -1.22381824e-05 -1.01351196e+01] [ 2.19988481e-03 -4.40857150e-05 9.99997579e-01 -6.69074730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.731346184 meters 0.06885848438727929 Centerline is valid? [True, True] Translation: X:180.46, Y:-10.14, Z:-6.69 [[ 9.99657585e-01 -2.61251323e-02 -1.48001534e-03 1.80459291e+02] [ 2.61251487e-02 9.99658680e-01 -8.23194998e-06 -1.01374465e+01] [ 1.47972524e-03 -3.04364895e-05 9.99998905e-01 -6.69229841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.761346184 meters 0.06870147097953787 Centerline is valid? [True, True] Translation: X:180.49, Y:-10.14, Z:-6.69 [[ 9.99637440e-01 -2.69168773e-02 -6.85401612e-04 1.80490189e+02] [ 2.69168810e-02 9.99637675e-01 -3.81225226e-06 -1.01389846e+01] [ 6.85255888e-04 -1.46380035e-05 9.99999765e-01 -6.69171984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.791346184 meters 0.06927536077145913 Centerline is valid? [True, True] Translation: X:180.52, Y:-10.14, Z:-6.69 [[ 9.99592309e-01 -2.84849645e-02 -1.95533783e-03 1.80520459e+02] [ 2.84849977e-02 9.99594220e-01 -1.08757274e-05 -1.01414952e+01] [ 1.95485419e-03 -4.48265002e-05 9.99998088e-01 -6.69361286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821346184 meters 0.06944756414283697 Centerline is valid? [True, True] Translation: X:180.55, Y:-10.14, Z:-6.69 [[ 9.99551233e-01 -2.98702489e-02 -2.25870071e-03 1.80550562e+02] [ 2.98702968e-02 9.99553783e-01 -1.25630531e-05 -1.01414759e+01] [ 2.25806810e-03 -5.49106451e-05 9.99997449e-01 -6.69481539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.851346184 meters 0.07003661511394173 Centerline is valid? [True, True] Translation: X:180.58, Y:-10.14, Z:-6.70 [[ 9.99512845e-01 -3.11546626e-02 -1.86007946e-03 1.80580241e+02] [ 3.11546959e-02 9.99514575e-01 -1.10348976e-05 -1.01421302e+01] [ 1.85952032e-03 -4.69206881e-05 9.99998270e-01 -6.69668779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.881346184 meters 0.06940711422615418 Centerline is valid? [True, True] Translation: X:180.61, Y:-10.14, Z:-6.69 [[ 9.99464159e-01 -3.27177708e-02 -9.70911296e-04 1.80610953e+02] [ 3.27177810e-02 9.99464630e-01 -5.41884042e-06 -1.01392285e+01] [ 9.70568791e-04 -2.63501264e-05 9.99999529e-01 -6.69435557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.911346184 meters 0.06921051228423337 Centerline is valid? [True, True] Translation: X:180.64, Y:-10.14, Z:-6.69 [[ 9.99467110e-01 -3.26382979e-02 -4.87975821e-04 1.80641125e+02] [ 3.26383004e-02 9.99467229e-01 -2.72348577e-06 -1.01360673e+01] [ 4.87804731e-04 -1.32046670e-05 9.99999881e-01 -6.69473986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.941346184 meters 0.07121519578394539 Centerline is valid? [True, True] Translation: X:180.67, Y:-10.14, Z:-6.70 [[ 9.99459765e-01 -3.28378189e-02 -1.36220565e-03 1.80671241e+02] [ 3.28378400e-02 9.99460693e-01 -6.90082359e-06 -1.01403333e+01] [ 1.36169761e-03 -3.78347957e-05 9.99999072e-01 -6.70149349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.971346184 meters 0.06896830501627935 Centerline is valid? [True, True] Translation: X:180.70, Y:-10.14, Z:-6.70 [[ 9.99456778e-01 -3.29342397e-02 -1.21869613e-03 1.80702269e+02] [ 3.29342559e-02 9.99457520e-01 -6.77770571e-06 -1.01358136e+01] [ 1.21825823e-03 -3.33628262e-05 9.99999257e-01 -6.69645797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.001346184 meters 0.06983408741429074 Centerline is valid? [True, True] Translation: X:180.73, Y:-10.14, Z:-6.70 [[ 9.99426148e-01 -3.37821311e-02 -2.47829267e-03 1.80732707e+02] [ 3.37822058e-02 9.99429218e-01 -1.17347968e-05 -1.01363268e+01] [ 2.47727453e-03 -7.19941303e-05 9.99996929e-01 -6.69967617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.031346184 meters 0.07037111294008341 Centerline is valid? [True, True] Translation: X:180.76, Y:-10.13, Z:-6.70 [[ 9.99390166e-01 -3.48082927e-02 -2.77113622e-03 1.80762579e+02] [ 3.48083821e-02 9.99394005e-01 -1.59756667e-05 -1.01316327e+01] [ 2.77001301e-03 -8.04928440e-05 9.99996160e-01 -6.70166724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.061346184 meters 0.07094116547689626 Centerline is valid? [True, True] Translation: X:180.79, Y:-10.13, Z:-6.70 [[ 9.99362779e-01 -3.55618226e-02 -3.06483015e-03 1.80792388e+02] [ 3.55619355e-02 9.99367474e-01 -1.76536074e-05 -1.01309983e+01] [ 3.06351936e-03 -9.13489342e-05 9.99995303e-01 -6.70369160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.091346184 meters 0.07130160818258402 Centerline is valid? [True, True] Translation: X:180.82, Y:-10.13, Z:-6.71 [[ 9.99334593e-01 -3.62816021e-02 -3.74400638e-03 1.80822417e+02] [ 3.62817760e-02 9.99341599e-01 -2.14884587e-05 -1.01317302e+01] [ 3.74232096e-03 -1.14365041e-04 9.99992991e-01 -6.70579262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.121346184 meters 0.0722126493731156 Centerline is valid? [True, True] Translation: X:180.85, Y:-10.13, Z:-6.71 [[ 9.99299743e-01 -3.73073886e-02 -2.86054593e-03 1.80851103e+02] [ 3.73074897e-02 9.99303833e-01 -1.80341001e-05 -1.01338947e+01] [ 2.85922731e-03 -8.86983159e-05 9.99995908e-01 -6.70754173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.151346184 meters 0.0707343108198481 Centerline is valid? [True, True] Translation: X:180.88, Y:-10.13, Z:-6.70 [[ 9.99298494e-01 -3.74378359e-02 -9.63558904e-04 1.80881456e+02] [ 3.74378474e-02 9.99298958e-01 -6.10164997e-06 -1.01285799e+01] [ 9.63111841e-04 -2.99762016e-05 9.99999536e-01 -6.70407062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18134618399998 meters 0.07120635028808539 Centerline is valid? [True, True] Translation: X:180.91, Y:-10.13, Z:-6.71 [[ 9.99298873e-01 -3.74047523e-02 -1.62717234e-03 1.80911896e+02] [ 3.74047880e-02 9.99300196e-01 -8.48539390e-06 -1.01257808e+01] [ 1.62635103e-03 -5.23845919e-05 9.99998676e-01 -6.70546146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21134618399998 meters 0.07128901054730323 Centerline is valid? [True, True] Translation: X:180.94, Y:-10.12, Z:-6.71 [[ 9.99328507e-01 -3.66223396e-02 -1.15709468e-03 1.80941886e+02] [ 3.66223574e-02 9.99329176e-01 -5.83742530e-06 -1.01233379e+01] [ 1.15653226e-03 -3.65420295e-05 9.99999331e-01 -6.70687736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24134618399998 meters 0.07111030594684191 Centerline is valid? [True, True] Translation: X:180.97, Y:-10.12, Z:-6.71 [[ 9.99375862e-01 -3.52681145e-02 -2.01146171e-03 1.80972659e+02] [ 3.52681659e-02 9.99377885e-01 -9.90722942e-06 -1.01208853e+01] [ 2.01055976e-03 -6.10395194e-05 9.99997977e-01 -6.71021043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27134618399998 meters 0.07141298335324187 Centerline is valid? [True, True] Translation: X:181.00, Y:-10.12, Z:-6.71 [[ 9.99373314e-01 -3.53074902e-02 -2.52185813e-03 1.81003556e+02] [ 3.53075671e-02 9.99376493e-01 -1.40329639e-05 -1.01199195e+01] [ 2.52078120e-03 -7.50165055e-05 9.99996820e-01 -6.71238227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30134618399998 meters 0.07130846675026678 Centerline is valid? [True, True] Translation: X:181.03, Y:-10.12, Z:-6.71 [[ 9.99378097e-01 -3.51862687e-02 -2.31192534e-03 1.81033807e+02] [ 3.51863330e-02 9.99380769e-01 -1.28647859e-05 -1.01170222e+01] [ 2.31094639e-03 -6.84913896e-05 9.99997327e-01 -6.71301425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33134618399998 meters 0.0711188922390213 Centerline is valid? [True, True] Translation: X:181.06, Y:-10.11, Z:-6.71 [[ 9.99390252e-01 -3.48825851e-02 -1.52628894e-03 1.81064443e+02] [ 3.48826128e-02 9.99391416e-01 -8.49308587e-06 -1.01107768e+01] [ 1.52565633e-03 -4.47530389e-05 9.99998835e-01 -6.71252938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36134618399998 meters 0.07075980446771729 Centerline is valid? [True, True] Translation: X:181.09, Y:-10.11, Z:-6.71 [[ 9.99441847e-01 -3.34058376e-02 2.09652070e-04 1.81093691e+02] [ 3.34058382e-02 9.99441869e-01 5.45255442e-07 -1.01092126e+01] [-2.09553272e-04 6.45865203e-06 9.99999978e-01 -6.71329178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39134618399999 meters 0.06939467399569475 Centerline is valid? [True, True] Translation: X:181.13, Y:-10.11, Z:-6.71 [[ 9.99468170e-01 -3.26044535e-02 5.71036466e-04 1.81125346e+02] [ 3.26044562e-02 9.99468333e-01 4.48315573e-06 -1.01064320e+01] [-5.70879036e-04 1.41375620e-05 9.99999837e-01 -6.71150769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.421346184 meters 0.0687699631775437 Centerline is valid? [True, True] Translation: X:181.16, Y:-10.10, Z:-6.71 [[ 9.99485932e-01 -3.20564682e-02 -5.05409370e-04 1.81157105e+02] [ 3.20564715e-02 9.99486059e-01 -1.42486917e-06 -1.01034560e+01] [ 5.05195295e-04 -1.47775044e-05 9.99999872e-01 -6.71260936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.451346184 meters 0.0711696203953147 Centerline is valid? [True, True] Translation: X:181.19, Y:-10.11, Z:-6.72 [[ 9.99463024e-01 -3.27520625e-02 -9.82971222e-04 1.81187462e+02] [ 3.27520737e-02 9.99463507e-01 -4.71641962e-06 -1.01063201e+01] [ 9.82598337e-04 -2.74804589e-05 9.99999517e-01 -6.72087836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.481346184 meters 0.07203179968799095 Centerline is valid? [True, True] Translation: X:181.22, Y:-10.11, Z:-6.72 [[ 9.99422610e-01 -3.38365494e-02 -3.08782577e-03 1.81218143e+02] [ 3.38366632e-02 9.99427376e-01 -1.53880732e-05 -1.01053393e+01] [ 3.08657828e-03 -8.91025322e-05 9.99995233e-01 -6.72398842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.511346184 meters 0.07272627556478074 Centerline is valid? [True, True] Translation: X:181.25, Y:-10.11, Z:-6.73 [[ 9.99392208e-01 -3.47458293e-02 -2.81801844e-03 1.81247258e+02] [ 3.47459222e-02 9.99396178e-01 -1.59936655e-05 -1.01053952e+01] [ 2.81687257e-03 -8.19307047e-05 9.99996029e-01 -6.72635914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.541346184 meters 0.07116301181616835 Centerline is valid? [True, True] Translation: X:181.28, Y:-10.10, Z:-6.72 [[ 9.99328450e-01 -3.65389888e-02 -2.74813440e-03 1.81278269e+02] [ 3.65390875e-02 9.99332224e-01 -1.43034010e-05 -1.01009283e+01] [ 2.74682189e-03 -8.61205277e-05 9.99996224e-01 -6.72143002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.571346184 meters 0.0737804784909441 Centerline is valid? [True, True] Translation: X:181.31, Y:-10.11, Z:-6.73 [[ 9.99311755e-01 -3.70532334e-02 -1.75340919e-03 1.81308843e+02] [ 3.70532749e-02 9.99313292e-01 -8.86500370e-06 -1.01055129e+01] [ 1.75253359e-03 -5.61106504e-05 9.99998463e-01 -6.72719630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601346184 meters 0.0737804784909441 Centerline is valid? [True, True] Translation: X:181.34, Y:-10.11, Z:-6.73 [[ 9.99313040e-01 -3.70185701e-02 -1.75341244e-03 1.81339699e+02] [ 3.70186126e-02 9.99314576e-01 -8.26184075e-06 -1.01053987e+01] [ 1.75251645e-03 -5.66527307e-05 9.99998463e-01 -6.72825212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.631346184 meters 0.07097091360415325 Centerline is valid? [True, True] Translation: X:181.37, Y:-10.10, Z:-6.72 [[ 9.99278568e-01 -3.79782105e-02 4.64617841e-07 1.81371418e+02] [ 3.79782105e-02 9.99278568e-01 1.31324323e-06 -1.00992600e+01] [-5.14157424e-07 -1.29465045e-06 1.00000000e+00 -6.72101205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661346184 meters 0.07126295239226188 Centerline is valid? [True, True] Translation: X:181.40, Y:-10.10, Z:-6.72 [[ 9.99303605e-01 -3.73046700e-02 8.16383702e-04 1.81401496e+02] [ 3.73046784e-02 9.99303938e-01 4.99926307e-06 -1.00969555e+01] [-8.16001944e-04 2.54591498e-05 9.99999667e-01 -6.72314850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.691346184 meters 0.07029493395741024 Centerline is valid? [True, True] Translation: X:181.43, Y:-10.09, Z:-6.72 [[ 9.99324351e-01 -3.67515361e-02 4.08011997e-04 1.81433939e+02] [ 3.67515372e-02 9.99324434e-01 4.80415421e-06 -1.00920052e+01] [-4.07912918e-04 1.01941598e-05 9.99999917e-01 -6.72334141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721346184 meters 0.07035149143537288 Centerline is valid? [True, True] Translation: X:181.47, Y:-10.09, Z:-6.73 [[ 9.99338779e-01 -3.63593944e-02 6.39567353e-06 1.81466368e+02] [ 3.63593943e-02 9.99338779e-01 2.68113919e-06 -1.00886143e+01] [-6.48892932e-06 -2.44682355e-06 1.00000000e+00 -6.72545604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.751346184 meters 0.07041578660043135 Centerline is valid? [True, True] Translation: X:181.50, Y:-10.09, Z:-6.73 [[ 9.99351700e-01 -3.59993504e-02 -4.76042542e-04 1.81498304e+02] [ 3.59993545e-02 9.99351813e-01 1.94677194e-07 -1.00858209e+01] [ 4.75726969e-04 -1.73317752e-05 9.99999887e-01 -6.72672921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781346184 meters 0.07036764353769426 Centerline is valid? [True, True] Translation: X:181.53, Y:-10.08, Z:-6.73 [[ 9.99341902e-01 -3.62728921e-02 -1.98318632e-04 1.81530098e+02] [ 3.62728929e-02 9.99341922e-01 3.07712726e-07 -1.00809746e+01] [ 1.98176961e-04 -7.50110070e-06 9.99999980e-01 -6.72783992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.811346184 meters 0.0710184879115766 Centerline is valid? [True, True] Translation: X:181.56, Y:-10.08, Z:-6.73 [[ 9.99337254e-01 -3.63955831e-02 -6.44390162e-04 1.81560919e+02] [ 3.63955898e-02 9.99337461e-01 -1.27210377e-06 -1.00807875e+01] [ 6.44009527e-04 -2.21816993e-05 9.99999792e-01 -6.73139921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841346184 meters 0.07063697544815006 Centerline is valid? [True, True] Translation: X:181.59, Y:-10.08, Z:-6.73 [[ 9.99315417e-01 -3.69958055e-02 -8.29090924e-05 1.81592079e+02] [ 3.69958057e-02 9.99315421e-01 8.97761404e-07 -1.00786639e+01] [ 8.28191210e-05 -3.96443548e-06 9.99999997e-01 -6.73132964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.871346184 meters 0.0708905929737692 Centerline is valid? [True, True] Translation: X:181.62, Y:-10.08, Z:-6.73 [[ 9.99232637e-01 -3.91139918e-02 2.05756341e-03 1.81624668e+02] [ 3.91140485e-02 9.99234753e-01 1.26868533e-05 -1.00771640e+01] [-2.05648510e-03 6.78025174e-05 9.99997883e-01 -6.73029097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901346184 meters 0.0714284148765854 Centerline is valid? [True, True] Translation: X:181.66, Y:-10.08, Z:-6.73 [[ 9.99211180e-01 -3.95895695e-02 3.11196258e-03 1.81655653e+02] [ 3.95897084e-02 9.99216020e-01 1.69923690e-05 -1.00768402e+01] [-3.11019559e-03 1.06222726e-04 9.99995158e-01 -6.73089031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93134618399998 meters 0.07140605232575623 Centerline is valid? [True, True] Translation: X:181.69, Y:-10.08, Z:-6.73 [[ 9.99198692e-01 -3.99220624e-02 2.86423141e-03 1.81687711e+02] [ 3.99221798e-02 9.99202792e-01 1.62210504e-05 -1.00752395e+01] [-2.86259560e-03 9.81383088e-05 9.99995898e-01 -6.73164179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96134618399998 meters 0.07170329429014181 Centerline is valid? [True, True] Translation: X:181.72, Y:-10.07, Z:-6.73 [[ 9.99184283e-01 -4.02963586e-02 2.64031659e-03 1.81719418e+02] [ 4.02964596e-02 9.99187768e-01 1.49369936e-05 -1.00749700e+01] [-2.63877394e-03 9.14706014e-05 9.99996514e-01 -6.73361408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99134618399998 meters 0.07233987873012684 Centerline is valid? [True, True] Translation: X:181.75, Y:-10.07, Z:-6.74 [[ 9.99173884e-01 -4.06173258e-02 1.33533057e-03 1.81750484e+02] [ 4.06173488e-02 9.99174775e-01 9.95851923e-06 -1.00730909e+01] [-1.33463312e-03 4.42872953e-05 9.99999108e-01 -6.73719126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02134618399998 meters 0.07219514683387254 Centerline is valid? [True, True] Translation: X:181.78, Y:-10.07, Z:-6.74 [[ 9.99198062e-01 -3.99758207e-02 2.27306225e-03 1.81782853e+02] [ 3.99758950e-02 9.99200644e-01 1.27513334e-05 -1.00705006e+01] [-2.27175501e-03 7.81265904e-05 9.99997417e-01 -6.73794704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05134618399998 meters 0.07156894825194171 Centerline is valid? [True, True] Translation: X:181.82, Y:-10.07, Z:-6.74 [[ 9.99228893e-01 -3.91726488e-02 2.66897811e-03 1.81815426e+02] [ 3.91727500e-02 9.99232453e-01 1.43652162e-05 -1.00670790e+01] [-2.66749227e-03 9.01970731e-05 9.99996438e-01 -6.73811157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08134618399998 meters 0.07203141841792984 Centerline is valid? [True, True] Translation: X:181.85, Y:-10.07, Z:-6.74 [[ 9.99263387e-01 -3.82499173e-02 3.10271360e-03 1.81846734e+02] [ 3.82500535e-02 9.99268199e-01 1.54553666e-05 -1.00662551e+01] [-3.10103420e-03 1.03234979e-04 9.99995186e-01 -6.74067080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11134618399998 meters 0.07174965351766162 Centerline is valid? [True, True] Translation: X:181.88, Y:-10.06, Z:-6.74 [[ 9.99282000e-01 -3.76011431e-02 4.65178377e-03 1.81878046e+02] [ 3.76014481e-02 9.99292815e-01 2.18985190e-05 -1.00625395e+01] [-4.64931751e-03 1.53031010e-04 9.99989180e-01 -6.74059578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14134618399999 meters 0.07166550234341666 Centerline is valid? [True, True] Translation: X:181.91, Y:-10.06, Z:-6.74 [[ 9.99297761e-01 -3.71245544e-02 5.07467242e-03 1.81909850e+02] [ 3.71249110e-02 9.99310633e-01 2.39500820e-05 -1.00607949e+01] [-5.07206325e-03 1.64463499e-04 9.99987123e-01 -6.74107458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.171346184 meters 0.06969907554366472 Centerline is valid? [True, True] Translation: X:181.94, Y:-10.06, Z:-6.74 [[ 9.99278498e-01 -3.73857029e-02 6.69277933e-03 1.81941939e+02] [ 3.73863365e-02 9.99300886e-01 3.04622222e-05 -1.00561184e+01] [-6.68923917e-03 2.19778257e-04 9.99977603e-01 -6.73721327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.201346184 meters 0.07007891339301522 Centerline is valid? [True, True] Translation: X:181.97, Y:-10.06, Z:-6.74 [[ 9.99235620e-01 -3.82575269e-02 8.03348206e-03 1.81974268e+02] [ 3.82584774e-02 9.99267876e-01 3.53853094e-05 -1.00576704e+01] [-8.02895431e-03 2.71990530e-04 9.99967730e-01 -6.73777586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.231346184 meters 0.07024998332867419 Centerline is valid? [True, True] Translation: X:182.01, Y:-10.06, Z:-6.74 [[ 9.99232866e-01 -3.82199200e-02 8.53915533e-03 1.82006773e+02] [ 3.82209997e-02 9.99269310e-01 3.67784267e-05 -1.00567707e+01] [-8.53432152e-03 2.89624841e-04 9.99963540e-01 -6.73940543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.261346184 meters 0.0698395608232494 Centerline is valid? [True, True] Translation: X:182.04, Y:-10.05, Z:-6.74 [[ 9.99239378e-01 -3.82576365e-02 7.55103290e-03 1.82039107e+02] [ 3.82584835e-02 9.99267876e-01 3.23003234e-05 -1.00527751e+01] [-7.54674034e-03 2.56615313e-04 9.99971490e-01 -6.73990204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.291346184 meters 0.07112702030983468 Centerline is valid? [True, True] Translation: X:182.07, Y:-10.05, Z:-6.75 [[ 9.99276963e-01 -3.74585010e-02 6.51239058e-03 1.82070177e+02] [ 3.74591038e-02 9.99298161e-01 2.94260788e-05 -1.00530273e+01] [-6.50892219e-03 2.14543512e-04 9.99978794e-01 -6.74527559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321346184 meters 0.070018493410132 Centerline is valid? [True, True] Translation: X:182.10, Y:-10.05, Z:-6.75 [[ 9.99338055e-01 -3.61489806e-02 4.08686421e-03 1.82101777e+02] [ 3.61492121e-02 9.99346403e-01 1.72333719e-05 -1.00475681e+01] [-4.08481602e-03 1.30514957e-04 9.99991649e-01 -6.74673366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.351346184 meters 0.070836185816004 Centerline is valid? [True, True] Translation: X:182.13, Y:-10.05, Z:-6.75 [[ 9.99345674e-01 -3.59244498e-02 4.20201992e-03 1.82132634e+02] [ 3.59246848e-02 9.99354500e-01 1.95735718e-05 -1.00493678e+01] [-4.20001069e-03 1.31395477e-04 9.99991171e-01 -6.74995294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381346184 meters 0.07296453077478612 Centerline is valid? [True, True] Translation: X:182.16, Y:-10.05, Z:-6.76 [[ 9.99368565e-01 -3.52222388e-02 4.67610271e-03 1.82163457e+02] [ 3.52225377e-02 9.99379494e-01 1.84574511e-05 -1.00531639e+01] [-4.67385128e-03 1.46258408e-04 9.99989067e-01 -6.75586101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.411346184 meters 0.07121024011817773 Centerline is valid? [True, True] Translation: X:182.20, Y:-10.05, Z:-6.75 [[ 9.99393727e-01 -3.45049792e-02 4.64590678e-03 1.82195401e+02] [ 3.45052653e-02 9.99404516e-01 1.85807976e-05 -1.00475146e+01] [-4.64378135e-03 1.41738714e-04 9.99989208e-01 -6.75364045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441346184 meters 0.07057278003904445 Centerline is valid? [True, True] Translation: X:182.23, Y:-10.04, Z:-6.75 [[ 9.99453262e-01 -3.25609644e-02 5.74111855e-03 1.82226541e+02] [ 3.25613809e-02 9.99469737e-01 2.09500987e-05 -1.00431245e+01] [-5.73875640e-03 1.66000103e-04 9.99983519e-01 -6.75447109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.471346184 meters 0.06865042874619426 Centerline is valid? [True, True] Translation: X:182.26, Y:-10.04, Z:-6.75 [[ 9.99474560e-01 -3.20375043e-02 4.91961042e-03 1.82258593e+02] [ 3.20377976e-02 9.99486658e-01 1.91960507e-05 -1.00371901e+01] [-4.91769997e-03 1.38427518e-04 9.99987898e-01 -6.75129291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501346184 meters 0.0689980002175407 Centerline is valid? [True, True] Translation: X:182.29, Y:-10.03, Z:-6.75 [[ 9.99477314e-01 -3.21681239e-02 3.21114760e-03 1.82290649e+02] [ 3.21682474e-02 9.99482468e-01 1.32041492e-05 -1.00344114e+01] [-3.20991048e-03 9.00997427e-05 9.99994844e-01 -6.75460234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.531346184 meters 0.06887046405424678 Centerline is valid? [True, True] Translation: X:182.32, Y:-10.03, Z:-6.75 [[ 9.99469255e-01 -3.23702284e-02 3.65745822e-03 1.82322658e+02] [ 3.23703923e-02 9.99475941e-01 1.44070289e-05 -1.00328383e+01] [-3.65600785e-03 1.03993975e-04 9.99993311e-01 -6.75470034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561346184 meters 0.06925349405223079 Centerline is valid? [True, True] Translation: X:182.35, Y:-10.03, Z:-6.76 [[ 9.99447664e-01 -3.29869592e-02 4.02832197e-03 1.82354063e+02] [ 3.29871678e-02 9.99455775e-01 1.46654719e-05 -1.00332615e+01] [-4.02661343e-03 1.18225561e-04 9.99991886e-01 -6.75603825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.591346184 meters 0.06963101007917641 Centerline is valid? [True, True] Translation: X:182.39, Y:-10.03, Z:-6.76 [[ 9.99422262e-01 -3.37340015e-02 4.14248969e-03 1.82385252e+02] [ 3.37342298e-02 9.99430839e-01 1.47696063e-05 -1.00333640e+01] [-4.14063018e-03 1.24982626e-04 9.99991420e-01 -6.75690888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621346184 meters 0.06954934959994506 Centerline is valid? [True, True] Translation: X:182.42, Y:-10.03, Z:-6.76 [[ 9.99406362e-01 -3.39942687e-02 5.59585849e-03 1.82417638e+02] [ 3.39946920e-02 9.99422013e-01 1.94754217e-05 -1.00326087e+01] [-5.59328621e-03 1.70765625e-04 9.99984343e-01 -6.75728679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.651346184 meters 0.06870769880538384 Centerline is valid? [True, True] Translation: X:182.45, Y:-10.03, Z:-6.76 [[ 9.99465273e-01 -3.19842949e-02 6.79500708e-03 1.82448835e+02] [ 3.19848873e-02 9.99488352e-01 2.14985308e-05 -1.00277818e+01] [-6.79221804e-03 1.95850500e-04 9.99976913e-01 -6.75702516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68134618399998 meters 0.06886930546345005 Centerline is valid? [True, True] Translation: X:182.48, Y:-10.03, Z:-6.76 [[ 9.99507996e-01 -3.04778127e-02 7.40733200e-03 1.82480134e+02] [ 3.04784556e-02 9.99535424e-01 2.61052935e-05 -1.00263014e+01] [-7.40468636e-03 1.99671589e-04 9.99972565e-01 -6.75903194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71134618399998 meters 0.06842363889219406 Centerline is valid? [True, True] Translation: X:182.51, Y:-10.02, Z:-6.76 [[ 9.99550151e-01 -2.90424246e-02 7.48555588e-03 1.82511976e+02] [ 2.90430656e-02 9.99578161e-01 2.30732156e-05 -1.00223018e+01] [-7.48306828e-03 1.94340654e-04 9.99971983e-01 -6.76030707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74134618399998 meters 0.06856097771778569 Centerline is valid? [True, True] Translation: X:182.54, Y:-10.02, Z:-6.76 [[ 9.99583690e-01 -2.83859671e-02 5.16556365e-03 1.82543882e+02] [ 2.83862614e-02 9.99597029e-01 1.63460791e-05 -1.00175154e+01] [-5.16394607e-03 1.30291766e-04 9.99986658e-01 -6.76275093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77134618399998 meters 0.06879820833214256 Centerline is valid? [True, True] Translation: X:182.58, Y:-10.02, Z:-6.76 [[ 9.99573033e-01 -2.87764004e-02 5.06670278e-03 1.82575091e+02] [ 2.87766931e-02 9.99585865e-01 1.51403601e-05 -1.00172798e+01] [-5.06504017e-03 1.30669055e-04 9.99987164e-01 -6.76440807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80134618399998 meters 0.06901477109017494 Centerline is valid? [True, True] Translation: X:182.61, Y:-10.02, Z:-6.77 [[ 9.99600782e-01 -2.78654258e-02 4.66848254e-03 1.82606038e+02] [ 2.78656650e-02 9.99611677e-01 1.38115687e-05 -1.00165057e+01] [-4.66705453e-03 1.16284316e-04 9.99989102e-01 -6.76735834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83134618399998 meters 0.06849853238454433 Centerline is valid? [True, True] Translation: X:182.64, Y:-10.01, Z:-6.77 [[ 9.99636821e-01 -2.65526059e-02 4.60284982e-03 1.82638019e+02] [ 2.65528229e-02 9.99647412e-01 1.39540582e-05 -1.00137551e+01] [-4.60159743e-03 1.08269666e-04 9.99989407e-01 -6.76774501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86134618399998 meters 0.06778847267111672 Centerline is valid? [True, True] Translation: X:182.67, Y:-10.01, Z:-6.77 [[ 9.99679616e-01 -2.49403613e-02 4.31776515e-03 1.82670036e+02] [ 2.49405377e-02 9.99688936e-01 1.29964883e-05 -1.00101131e+01] [-4.31674619e-03 9.46950602e-05 9.99990678e-01 -6.76765185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89134618399999 meters 0.06791346915639374 Centerline is valid? [True, True] Translation: X:182.70, Y:-10.01, Z:-6.77 [[ 9.99762230e-01 -2.14045137e-02 4.16303790e-03 1.82701673e+02] [ 2.14046481e-02 9.99770894e-01 1.22768509e-05 -1.00079538e+01] [-4.16234690e-03 7.68344293e-05 9.99991334e-01 -6.77206124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.921346184 meters 0.06794461861278783 Centerline is valid? [True, True] Translation: X:182.73, Y:-10.01, Z:-6.77 [[ 9.99781682e-01 -2.05028077e-02 4.02779226e-03 1.82734229e+02] [ 2.05029276e-02 9.99789793e-01 1.15371789e-05 -1.00066932e+01] [-4.02718213e-03 7.10468729e-05 9.99991888e-01 -6.77389132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.951346184 meters 0.06806470605116736 Centerline is valid? [True, True] Translation: X:182.77, Y:-10.01, Z:-6.78 [[ 9.99795866e-01 -1.98843428e-02 3.58326824e-03 1.82766262e+02] [ 1.98844317e-02 9.99802285e-01 1.08322944e-05 -1.00056004e+01] [-3.58277517e-03 6.04211693e-05 9.99993580e-01 -6.77568184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.981346184 meters 0.06803225597710874 Centerline is valid? [True, True] Translation: X:182.80, Y:-10.01, Z:-6.78 [[ 9.99783661e-01 -2.01924255e-02 4.98973984e-03 1.82797626e+02] [ 2.01926045e-02 9.99796108e-01 1.45197907e-05 -1.00060418e+01] [-4.98901566e-03 8.62391935e-05 9.99987551e-01 -6.77546444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.011346184 meters 0.06801321457205375 Centerline is valid? [True, True] Translation: X:182.83, Y:-10.01, Z:-6.77 [[ 9.99757693e-01 -2.08891243e-02 6.94259166e-03 1.82830248e+02] [ 2.08895168e-02 9.99781790e-01 1.59829939e-05 -1.00080146e+01] [-6.94141059e-03 1.29048264e-04 9.99975900e-01 -6.77494436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.041346184 meters 0.06691358944706624 Centerline is valid? [True, True] Translation: X:182.86, Y:-10.01, Z:-6.77 [[ 9.99719254e-01 -2.25102333e-02 7.39614711e-03 1.82862650e+02] [ 2.25107265e-02 9.99746601e-01 1.65653569e-05 -1.00065659e+01] [-7.39464583e-03 1.49931939e-04 9.99972648e-01 -6.76999981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.071346184 meters 0.06697570785286368 Centerline is valid? [True, True] Translation: X:182.90, Y:-10.01, Z:-6.77 [[ 9.99703471e-01 -2.28094735e-02 8.52634671e-03 1.82895348e+02] [ 2.28101450e-02 9.99739815e-01 1.84962205e-05 -1.00083457e+01] [-8.52455017e-03 1.75996469e-04 9.99963650e-01 -6.77092517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101346184 meters 0.06750041004030075 Centerline is valid? [True, True] Translation: X:182.93, Y:-10.01, Z:-6.77 [[ 9.99666898e-01 -2.45561214e-02 7.94294069e-03 1.82927631e+02] [ 2.45567675e-02 9.99698437e-01 1.61901434e-05 -1.00110241e+01] [-7.94094296e-03 1.78868198e-04 9.99968454e-01 -6.77281304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.131346184 meters 0.06800832738691091 Centerline is valid? [True, True] Translation: X:182.96, Y:-10.01, Z:-6.78 [[ 9.99660452e-01 -2.47491683e-02 8.15226315e-03 1.82959124e+02] [ 2.47498570e-02 9.99693675e-01 1.64036983e-05 -1.00131541e+01] [-8.15017188e-03 1.85369219e-04 9.99966770e-01 -6.77617050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.161346184 meters 0.06766869418327713 Centerline is valid? [True, True] Translation: X:182.99, Y:-10.01, Z:-6.78 [[ 9.99690674e-01 -2.38932575e-02 6.90426679e-03 1.82991600e+02] [ 2.38937360e-02 9.99714504e-01 1.31838046e-05 -1.00115895e+01] [-6.90261066e-03 1.51789001e-04 9.99976165e-01 -6.77783125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.191346184 meters 0.06762912750422617 Centerline is valid? [True, True] Translation: X:183.02, Y:-10.01, Z:-6.78 [[ 9.99755985e-01 -2.18360958e-02 3.33984096e-03 1.83023627e+02] [ 2.18361924e-02 9.99761562e-01 7.52569263e-06 -1.00105292e+01] [-3.33920894e-03 6.54055536e-05 9.99994423e-01 -6.78213074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.221346184 meters 0.0680610805048078 Centerline is valid? [True, True] Translation: X:183.05, Y:-10.01, Z:-6.79 [[ 9.99782755e-01 -2.05568298e-02 3.44378432e-03 1.83054924e+02] [ 2.05569283e-02 9.99788684e-01 6.79936602e-06 -1.00119288e+01] [-3.44319637e-03 6.39957387e-05 9.99994070e-01 -6.78618088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.251346184 meters 0.06699694955424466 Centerline is valid? [True, True] Translation: X:183.09, Y:-10.01, Z:-6.78 [[ 9.99811144e-01 -1.86839435e-02 5.34672938e-03 1.83086311e+02] [ 1.86841648e-02 9.99825436e-01 8.55919360e-06 -1.00067542e+01] [-5.34595595e-03 9.13415958e-05 9.99985706e-01 -6.78204295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281346184 meters 0.06658494472108904 Centerline is valid? [True, True] Translation: X:183.12, Y:-10.00, Z:-6.78 [[ 9.99833722e-01 -1.69146542e-02 6.81336296e-03 1.83117582e+02] [ 1.69149732e-02 9.99856932e-01 1.07980130e-05 -1.00031000e+01] [-6.81257083e-03 1.04451634e-04 9.99976789e-01 -6.78106229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.311346184 meters 0.06602936221511288 Centerline is valid? [True, True] Translation: X:183.15, Y:-10.00, Z:-6.78 [[ 9.99845215e-01 -1.51217191e-02 8.99329053e-03 1.83150163e+02] [ 1.51222042e-02 9.99885653e-01 1.40616871e-05 -1.00003452e+01] [-8.99247481e-03 1.21938866e-04 9.99959559e-01 -6.78025463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.341346184 meters 0.06622062089512286 Centerline is valid? [True, True] Translation: X:183.18, Y:-10.00, Z:-6.78 [[ 9.99855981e-01 -1.44614257e-02 8.88171741e-03 1.83181716e+02] [ 1.44618887e-02 9.99895421e-01 1.20951771e-05 -1.00027102e+01] [-8.88096349e-03 1.16352973e-04 9.99960557e-01 -6.78209487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.371346184 meters 0.06627504354407299 Centerline is valid? [True, True] Translation: X:183.21, Y:-10.01, Z:-6.78 [[ 9.99847090e-01 -1.49660514e-02 9.04507061e-03 1.83214214e+02] [ 1.49665444e-02 9.99887995e-01 1.31844429e-05 -1.00052662e+01] [-9.04425483e-03 1.22191024e-04 9.99959092e-01 -6.78398908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.401346184 meters 0.066729079349009 Centerline is valid? [True, True] Translation: X:183.25, Y:-10.01, Z:-6.79 [[ 9.99831773e-01 -1.62807945e-02 8.44755641e-03 1.83245158e+02] [ 1.62812720e-02 9.99867451e-01 1.22507855e-05 -1.00087575e+01] [-8.44663615e-03 1.25288239e-04 9.99964319e-01 -6.78666498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43134618399998 meters 0.06688325534376777 Centerline is valid? [True, True] Translation: X:183.28, Y:-10.01, Z:-6.79 [[ 9.99812206e-01 -1.80710359e-02 6.99927776e-03 1.83277200e+02] [ 1.80714202e-02 9.99836699e-01 8.33266242e-06 -1.00105009e+01] [-6.99828534e-03 1.18155792e-04 9.99975505e-01 -6.78817004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46134618399998 meters 0.06763198527050307 Centerline is valid? [True, True] Translation: X:183.31, Y:-10.01, Z:-6.79 [[ 9.99782692e-01 -2.01522925e-02 5.33427344e-03 1.83308581e+02] [ 2.01525472e-02 9.99796917e-01 5.98879399e-06 -1.00123541e+01] [-5.33331082e-03 1.01511705e-04 9.99985773e-01 -6.79186767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49134618399998 meters 0.06763198527050307 Centerline is valid? [True, True] Translation: X:183.34, Y:-10.01, Z:-6.79 [[ 9.99784951e-01 -2.00398746e-02 5.33427262e-03 1.83341111e+02] [ 2.00401207e-02 9.99799177e-01 7.30191407e-06 -1.00124797e+01] [-5.33334770e-03 9.95991236e-05 9.99985773e-01 -6.79298044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52134618399998 meters 0.06780838557795661 Centerline is valid? [True, True] Translation: X:183.37, Y:-10.01, Z:-6.79 [[ 9.99776591e-01 -2.05428092e-02 4.97613181e-03 1.83373442e+02] [ 2.05430367e-02 9.99788970e-01 5.39128244e-06 -1.00127509e+01] [-4.97519245e-03 9.68347804e-05 9.99987619e-01 -6.79388211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55134618399998 meters 0.06809981942599402 Centerline is valid? [True, True] Translation: X:183.40, Y:-10.01, Z:-6.80 [[ 9.99773095e-01 -2.04219973e-02 6.05811415e-03 1.83404344e+02] [ 2.04223416e-02 9.99791442e-01 5.02759770e-06 -1.00146000e+01] [-6.05695335e-03 1.18694419e-04 9.99981649e-01 -6.79638749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58134618399998 meters 0.06731361052587143 Centerline is valid? [True, True] Translation: X:183.44, Y:-10.01, Z:-6.79 [[ 9.99780504e-01 -2.01050742e-02 5.89320844e-03 1.83437156e+02] [ 2.01053864e-02 9.99797866e-01 6.28006204e-06 -1.00145031e+01] [-5.89214349e-03 1.12206549e-04 9.99982635e-01 -6.79473235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61134618399998 meters 0.06760967699031366 Centerline is valid? [True, True] Translation: X:183.47, Y:-10.02, Z:-6.80 [[ 9.99797396e-01 -1.91764242e-02 6.11818420e-03 1.83468047e+02] [ 1.91767583e-02 9.99816109e-01 4.06026631e-06 -1.00161662e+01] [-6.11713699e-03 1.13267496e-04 9.99981284e-01 -6.79797700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64134618399999 meters 0.06772902464296797 Centerline is valid? [True, True] Translation: X:183.50, Y:-10.02, Z:-6.80 [[ 9.99806153e-01 -1.87928857e-02 5.87235979e-03 1.83500936e+02] [ 1.87931799e-02 9.99823393e-01 5.09365335e-06 -1.00170274e+01] [-5.87141842e-03 1.05267648e-04 9.99982758e-01 -6.79940033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.671346184 meters 0.06657691135752712 Centerline is valid? [True, True] Translation: X:183.53, Y:-10.02, Z:-6.80 [[ 9.99800158e-01 -1.84485370e-02 7.70032364e-03 1.83533814e+02] [ 1.84490501e-02 9.99829802e-01 4.39748332e-06 -1.00151861e+01] [-7.69909418e-03 1.37667052e-04 9.99970352e-01 -6.79566297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.701346184 meters 0.0674092263091326 Centerline is valid? [True, True] Translation: X:183.57, Y:-10.02, Z:-6.80 [[ 9.99813440e-01 -1.78571058e-02 7.36260945e-03 1.83566003e+02] [ 1.78575631e-02 9.99840541e-01 3.63683704e-06 -1.00174635e+01] [-7.36150036e-03 1.27842104e-04 9.99972896e-01 -6.80050876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.731346184 meters 0.0675940791010531 Centerline is valid? [True, True] Translation: X:183.60, Y:-10.02, Z:-6.80 [[ 9.99853939e-01 -1.62504937e-02 5.29366114e-03 1.83596518e+02] [ 1.62507146e-02 9.99867948e-01 1.27852003e-06 -1.00173710e+01] [-5.29298288e-03 8.47474431e-05 9.99985988e-01 -6.80443273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.761346184 meters 0.06685330056056184 Centerline is valid? [True, True] Translation: X:183.63, Y:-10.02, Z:-6.80 [[ 9.99867713e-01 -1.55586574e-02 4.74170014e-03 1.83628980e+02] [ 1.55588214e-02 9.99878954e-01 2.31097536e-06 -1.00161147e+01] [-4.74116214e-03 7.14645960e-05 9.99988758e-01 -6.80227167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.791346184 meters 0.06696708359374275 Centerline is valid? [True, True] Translation: X:183.66, Y:-10.02, Z:-6.80 [[ 9.99871977e-01 -1.54802210e-02 4.04882380e-03 1.83661508e+02] [ 1.54803397e-02 9.99880172e-01 2.03657074e-06 -1.00178180e+01] [-4.04837017e-03 6.06408577e-05 9.99991803e-01 -6.80428728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821346184 meters 0.0675864789795321 Centerline is valid? [True, True] Translation: X:183.69, Y:-10.02, Z:-6.81 [[ 9.99869367e-01 -1.58699457e-02 3.06499588e-03 1.83692684e+02] [ 1.58700162e-02 9.99874063e-01 1.33720415e-06 -1.00206920e+01] [-3.06463110e-03 4.73045046e-05 9.99995303e-01 -6.80853989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.851346184 meters 0.06872424822052507 Centerline is valid? [True, True] Translation: X:183.72, Y:-10.03, Z:-6.81 [[ 9.99865111e-01 -1.61593197e-02 2.93887329e-03 1.83723219e+02] [ 1.61593862e-02 9.99869429e-01 1.11541402e-06 -1.00288252e+01] [-2.93850759e-03 4.63751251e-05 9.99995682e-01 -6.81465756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.881346184 meters 0.06741386638342245 Centerline is valid? [True, True] Translation: X:183.76, Y:-10.03, Z:-6.81 [[ 9.99871304e-01 -1.57703487e-02 2.94477890e-03 1.83755316e+02] [ 1.57704124e-02 9.99875639e-01 1.59458866e-06 -1.00278989e+01] [-2.94443784e-03 4.48459942e-05 9.99995664e-01 -6.81021040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.911346184 meters 0.06694543715469921 Centerline is valid? [True, True] Translation: X:183.79, Y:-10.03, Z:-6.81 [[ 9.99868694e-01 -1.60274408e-02 2.39085313e-03 1.83787352e+02] [ 1.60274826e-02 9.99871552e-01 1.68523562e-06 -1.00275498e+01] [-2.39057304e-03 3.66343425e-05 9.99997142e-01 -6.80911926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.941346184 meters 0.06734462096897564 Centerline is valid? [True, True] Translation: X:183.82, Y:-10.03, Z:-6.81 [[ 9.99873937e-01 -1.56056692e-02 2.92801977e-03 1.83818033e+02] [ 1.56057342e-02 9.99878223e-01 6.24073266e-07 -1.00292807e+01] [-2.92767295e-03 4.50699038e-05 9.99995713e-01 -6.81202808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.971346184 meters 0.06713198320469882 Centerline is valid? [True, True] Translation: X:183.85, Y:-10.03, Z:-6.81 [[ 9.99876226e-01 -1.49648706e-02 4.85643775e-03 1.83849252e+02] [ 1.49650502e-02 9.99888017e-01 -6.36059789e-07 -1.00329399e+01] [-4.85588440e-03 7.33128156e-05 9.99988207e-01 -6.81143320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.001346184 meters 0.0669434360289244 Centerline is valid? [True, True] Translation: X:183.88, Y:-10.04, Z:-6.81 [[ 9.99874176e-01 -1.46845635e-02 5.99972629e-03 1.83880652e+02] [ 1.46848373e-02 9.99892172e-01 -1.56942684e-06 -1.00353948e+01] [-5.99905630e-03 8.96742334e-05 9.99982001e-01 -6.81210528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.031346184 meters 0.06745939133168181 Centerline is valid? [True, True] Translation: X:183.91, Y:-10.04, Z:-6.82 [[ 9.99867866e-01 -1.56178502e-02 4.50932077e-03 1.83912692e+02] [ 1.56180110e-02 9.99878031e-01 -4.41560890e-07 -1.00381955e+01] [-4.50876388e-03 7.08681239e-05 9.99989833e-01 -6.81529987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.061346184 meters 0.06797378832145713 Centerline is valid? [True, True] Translation: X:183.94, Y:-10.04, Z:-6.82 [[ 9.99866664e-01 -1.60366557e-02 3.07883158e-03 1.83944025e+02] [ 1.60367276e-02 9.99871403e-01 1.30968220e-06 -1.00415018e+01] [-3.07845665e-03 4.80648759e-05 9.99995260e-01 -6.81920598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.091346184 meters 0.06823821408158692 Centerline is valid? [True, True] Translation: X:183.98, Y:-10.04, Z:-6.82 [[ 9.99862090e-01 -1.64634661e-02 2.18075179e-03 1.83975774e+02] [ 1.64635038e-02 9.99864467e-01 6.35106115e-07 -1.00447307e+01] [-2.18046668e-03 3.52677969e-05 9.99997622e-01 -6.82148675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.121346184 meters 0.0671647066284874 Centerline is valid? [True, True] Translation: X:184.01, Y:-10.04, Z:-6.82 [[ 9.99846262e-01 -1.74284072e-02 1.92454843e-03 1.84008166e+02] [ 1.74284377e-02 9.99848113e-01 9.29078058e-07 -1.00448650e+01] [-1.92427231e-03 3.26129371e-05 9.99998148e-01 -6.81765533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.151346184 meters 0.06812618022982596 Centerline is valid? [True, True] Translation: X:184.04, Y:-10.05, Z:-6.82 [[ 9.99786716e-01 -2.04710565e-02 2.73084042e-03 1.84039379e+02] [ 2.04711294e-02 9.99790444e-01 1.26983474e-06 -1.00487500e+01] [-2.73029415e-03 5.46338237e-05 9.99996271e-01 -6.82000703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18134618399998 meters 0.06806220984585312 Centerline is valid? [True, True] Translation: X:184.07, Y:-10.05, Z:-6.82 [[ 9.99767482e-01 -2.13281116e-02 3.17703717e-03 1.84071964e+02] [ 2.13282221e-02 9.99772528e-01 -8.75783434e-07 -1.00494536e+01] [-3.17629580e-03 6.86361339e-05 9.99994953e-01 -6.81997104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21134618399998 meters 0.06773941619341475 Centerline is valid? [True, True] Translation: X:184.10, Y:-10.05, Z:-6.82 [[ 9.99743908e-01 -2.24483004e-02 2.86223796e-03 1.84104215e+02] [ 2.24483942e-02 9.99748003e-01 -6.40005153e-07 -1.00502208e+01] [-2.86150232e-03 6.48924873e-05 9.99995904e-01 -6.81892640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24134618399998 meters 0.06883948379810487 Centerline is valid? [True, True] Translation: X:184.13, Y:-10.05, Z:-6.82 [[ 9.99737485e-01 -2.27384658e-02 2.81495114e-03 1.84134905e+02] [ 2.27385600e-02 9.99741446e-01 -1.44031225e-06 -1.00540277e+01] [-2.81419057e-03 6.54478695e-05 9.99996038e-01 -6.82346318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27134618399998 meters 0.06787323034720635 Centerline is valid? [True, True] Translation: X:184.17, Y:-10.05, Z:-6.82 [[ 9.99738164e-01 -2.26330989e-02 3.36838720e-03 1.84167438e+02] [ 2.26332332e-02 9.99743836e-01 -1.73305732e-06 -1.00523653e+01] [-3.36748512e-03 7.79700965e-05 9.99994327e-01 -6.82131683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30134618399998 meters 0.06908310585008015 Centerline is valid? [True, True] Translation: X:184.20, Y:-10.06, Z:-6.83 [[ 9.99748552e-01 -2.19851654e-02 4.41422663e-03 1.84198731e+02] [ 2.19853975e-02 9.99758292e-01 -4.04598669e-06 -1.00557719e+01] [-4.41307072e-03 1.01093496e-04 9.99990257e-01 -6.82636585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33134618399998 meters 0.0680648397300753 Centerline is valid? [True, True] Translation: X:184.23, Y:-10.05, Z:-6.82 [[ 9.99731709e-01 -2.27647311e-02 4.27517360e-03 1.84230808e+02] [ 2.27649541e-02 9.99740845e-01 -3.50957684e-06 -1.00547180e+01] [-4.27398577e-03 1.00832766e-04 9.99990861e-01 -6.82444174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36134618399998 meters 0.06873450593381855 Centerline is valid? [True, True] Translation: X:184.26, Y:-10.06, Z:-6.83 [[ 9.99698350e-01 -2.44074319e-02 2.73628436e-03 1.84262818e+02] [ 2.44075274e-02 9.99702092e-01 -1.51718639e-06 -1.00576799e+01] [-2.73543217e-03 6.83026644e-05 9.99996256e-01 -6.82767294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39134618399999 meters 0.06934737012710143 Centerline is valid? [True, True] Translation: X:184.30, Y:-10.06, Z:-6.83 [[ 9.99673925e-01 -2.55333609e-02 3.02714063e-04 1.84295128e+02] [ 2.55333614e-02 9.99673971e-01 2.14360335e-06 -1.00601909e+01] [-3.02670103e-04 5.58640320e-06 9.99999954e-01 -6.83081401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.421346184 meters 0.07040212516598744 Centerline is valid? [True, True] Translation: X:184.33, Y:-10.06, Z:-6.83 [[ 9.99629306e-01 -2.72246207e-02 2.64785762e-04 1.84326540e+02] [ 2.72246207e-02 9.99629341e-01 3.51080699e-06 -1.00634550e+01] [-2.64783197e-04 3.69918639e-06 9.99999965e-01 -6.83304794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.451346184 meters 0.06962632842193492 Centerline is valid? [True, True] Translation: X:184.36, Y:-10.06, Z:-6.83 [[ 9.99650844e-01 -2.63454934e-02 2.02629878e-03 1.84357886e+02] [ 2.63455520e-02 9.99652896e-01 -2.23119603e-06 -1.00626242e+01] [-2.02553666e-03 5.56143767e-05 9.99997947e-01 -6.83149086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.481346184 meters 0.06973596132194883 Centerline is valid? [True, True] Translation: X:184.39, Y:-10.06, Z:-6.83 [[ 9.99663550e-01 -2.57139997e-02 3.40256484e-03 1.84388807e+02] [ 2.57141629e-02 9.99669336e-01 -4.19821906e-06 -1.00643553e+01] [-3.40133178e-03 9.16909130e-05 9.99994211e-01 -6.83221641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.511346184 meters 0.0688095278331743 Centerline is valid? [True, True] Translation: X:184.42, Y:-10.06, Z:-6.83 [[ 9.99736771e-01 -2.25534422e-02 4.21079470e-03 1.84419379e+02] [ 2.25536719e-02 9.99745634e-01 -7.04696965e-06 -1.00639779e+01] [-4.20956468e-03 1.02013997e-04 9.99991135e-01 -6.83264656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.541346184 meters 0.06851908553860793 Centerline is valid? [True, True] Translation: X:184.45, Y:-10.06, Z:-6.83 [[ 9.99759069e-01 -2.16798383e-02 3.43356968e-03 1.84451373e+02] [ 2.16799797e-02 9.99764962e-01 -3.95922737e-06 -1.00616127e+01] [-3.43267683e-03 7.83979946e-05 9.99994105e-01 -6.83381797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.571346184 meters 0.06858464525308663 Centerline is valid? [True, True] Translation: X:184.48, Y:-10.06, Z:-6.84 [[ 9.99774990e-01 -2.10886815e-02 2.28852383e-03 1.84483010e+02] [ 2.10887426e-02 9.99777608e-01 -2.55042224e-06 -1.00600907e+01] [-2.28796110e-03 5.08119383e-05 9.99997381e-01 -6.83547747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601346184 meters 0.06904311424425641 Centerline is valid? [True, True] Translation: X:184.51, Y:-10.06, Z:-6.84 [[ 9.99783453e-01 -2.06020987e-02 2.93256127e-03 1.84513712e+02] [ 2.06021990e-02 9.99787752e-01 -3.99160303e-06 -1.00606811e+01] [-2.93185660e-03 6.44079495e-05 9.99995700e-01 -6.83805625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.631346184 meters 0.0690778154224036 Centerline is valid? [True, True] Translation: X:184.54, Y:-10.06, Z:-6.84 [[ 9.99805762e-01 -1.94585560e-02 3.13089108e-03 1.84544399e+02] [ 1.94586659e-02 9.99810662e-01 -4.62846730e-06 -1.00635977e+01] [-3.13020822e-03 6.55505316e-05 9.99995099e-01 -6.84080713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661346184 meters 0.06873561830839922 Centerline is valid? [True, True] Translation: X:184.58, Y:-10.06, Z:-6.84 [[ 9.99813130e-01 -1.91607321e-02 2.56340212e-03 1.84576953e+02] [ 1.91608028e-02 9.99816415e-01 -2.99659460e-06 -1.00649511e+01] [-2.56287410e-03 5.21128771e-05 9.99996714e-01 -6.84172334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.691346184 meters 0.06758013799954005 Centerline is valid? [True, True] Translation: X:184.61, Y:-10.06, Z:-6.84 [[ 9.99824751e-01 -1.85294356e-02 2.66962166e-03 1.84609691e+02] [ 1.85295103e-02 9.99828314e-01 -3.24746524e-06 -1.00632188e+01] [-2.66910315e-03 5.27136782e-05 9.99996437e-01 -6.83858560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.721346184 meters 0.0688895832764476 Centerline is valid? [True, True] Translation: X:184.64, Y:-10.07, Z:-6.84 [[ 9.99828890e-01 -1.81833152e-02 3.39959345e-03 1.84641120e+02] [ 1.81834398e-02 9.99834668e-01 -5.73982737e-06 -1.00670203e+01] [-3.39892702e-03 6.75551479e-05 9.99994221e-01 -6.84434120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.751346184 meters 0.06716566779539729 Centerline is valid? [True, True] Translation: X:184.67, Y:-10.06, Z:-6.84 [[ 9.99861304e-01 -1.64015893e-02 2.89138608e-03 1.84673080e+02] [ 1.64016699e-02 9.99865484e-01 -4.18133957e-06 -1.00601143e+01] [-2.89092856e-03 5.16043198e-05 9.99995820e-01 -6.83955964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781346184 meters 0.06748572749266989 Centerline is valid? [True, True] Translation: X:184.70, Y:-10.06, Z:-6.84 [[ 9.99883625e-01 -1.51906804e-02 1.40725144e-03 1.84704791e+02] [ 1.51906966e-02 9.99884615e-01 -8.14941423e-07 -1.00599302e+01] [-1.40707669e-03 2.21919763e-05 9.99999010e-01 -6.84308363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.811346184 meters 0.067755928580905 Centerline is valid? [True, True] Translation: X:184.74, Y:-10.06, Z:-6.85 [[ 9.99890624e-01 -1.47819030e-02 4.84309596e-04 1.84736315e+02] [ 1.47819035e-02 9.99890742e-01 2.53675068e-06 -1.00623165e+01] [-4.84294179e-04 4.62254447e-06 9.99999883e-01 -6.84652019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841346184 meters 0.06801729678974017 Centerline is valid? [True, True] Translation: X:184.77, Y:-10.06, Z:-6.85 [[ 9.99880086e-01 -1.54735504e-02 6.18737284e-04 1.84767350e+02] [ 1.54735532e-02 9.99880277e-01 3.11327855e-07 -1.00642061e+01] [-6.18668024e-04 9.26277376e-06 9.99999809e-01 -6.84796327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.871346184 meters 0.06778033382405822 Centerline is valid? [True, True] Translation: X:184.80, Y:-10.06, Z:-6.85 [[ 9.99860327e-01 -1.66865618e-02 9.40412926e-04 1.84798533e+02] [ 1.66865703e-02 9.99860769e-01 -1.17036218e-06 -1.00649843e+01] [-9.40262463e-04 1.68624651e-05 9.99999558e-01 -6.84653429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901346184 meters 0.0681582614738778 Centerline is valid? [True, True] Translation: X:184.83, Y:-10.07, Z:-6.85 [[ 9.99813058e-01 -1.93269190e-02 5.65532475e-04 1.84830476e+02] [ 1.93269214e-02 9.99813218e-01 1.11418155e-06 -1.00691616e+01] [-5.65448377e-04 9.81602845e-06 9.99999840e-01 -6.84754182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93134618399998 meters 0.06849037701379518 Centerline is valid? [True, True] Translation: X:184.86, Y:-10.07, Z:-6.85 [[ 9.99797703e-01 -2.01015919e-02 6.91667327e-04 1.84861195e+02] [ 2.01015967e-02 9.99797942e-01 6.17737130e-08 -1.00705979e+01] [-6.91528812e-04 1.38418564e-05 9.99999761e-01 -6.84935872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96134618399998 meters 0.06862541464140667 Centerline is valid? [True, True] Translation: X:184.89, Y:-10.07, Z:-6.85 [[ 9.99787727e-01 -2.05886885e-02 7.79256935e-04 1.84892987e+02] [ 2.05886944e-02 9.99788030e-01 3.86186506e-07 -1.00702458e+01] [-7.79099707e-04 1.56577784e-05 9.99999696e-01 -6.85043797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99134618399998 meters 0.06881406865334347 Centerline is valid? [True, True] Translation: X:184.92, Y:-10.07, Z:-6.85 [[ 9.99779920e-01 -2.09539897e-02 1.02027496e-03 1.84924931e+02] [ 2.09540010e-02 9.99780441e-01 -3.88916859e-07 -1.00696328e+01] [-1.02004280e-03 2.17676738e-05 9.99999480e-01 -6.85121271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02134618399998 meters 0.06887018746953968 Centerline is valid? [True, True] Translation: X:184.96, Y:-10.07, Z:-6.85 [[ 9.99778889e-01 -2.09354512e-02 1.96964038e-03 1.84955812e+02] [ 2.09355007e-02 9.99780828e-01 -4.53793878e-06 -1.00690876e+01] [-1.96911368e-03 4.57723430e-05 9.99998060e-01 -6.85149851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05134618399998 meters 0.06863118898165939 Centerline is valid? [True, True] Translation: X:184.99, Y:-10.07, Z:-6.85 [[ 9.99788595e-01 -2.04383149e-02 2.24502968e-03 1.84987733e+02] [ 2.04383760e-02 9.99791115e-01 -4.24369334e-06 -1.00690138e+01] [-2.24447399e-03 5.01275568e-05 9.99997480e-01 -6.85231799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08134618399998 meters 0.0683898927117252 Centerline is valid? [True, True] Translation: X:185.02, Y:-10.07, Z:-6.85 [[ 9.99810535e-01 -1.92556363e-02 2.84864796e-03 1.85020088e+02] [ 1.92557324e-02 9.99814591e-01 -6.29696612e-06 -1.00682831e+01] [-2.84799854e-03 6.11485757e-05 9.99995943e-01 -6.85311673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11134618399998 meters 0.06956378204735776 Centerline is valid? [True, True] Translation: X:185.05, Y:-10.07, Z:-6.86 [[ 9.99831508e-01 -1.81227651e-02 2.91894197e-03 1.85051333e+02] [ 1.81228637e-02 9.99835767e-01 -7.31895832e-06 -1.00692384e+01] [-2.91832994e-03 6.02173125e-05 9.99995740e-01 -6.85980612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14134618399999 meters 0.06811087510163347 Centerline is valid? [True, True] Translation: X:185.08, Y:-10.06, Z:-6.86 [[ 9.99867068e-01 -1.61673739e-02 2.11264200e-03 1.85083523e+02] [ 1.61674191e-02 9.99869299e-01 -4.33402923e-06 -1.00640578e+01] [-2.11229580e-03 3.84894217e-05 9.99997768e-01 -6.85808238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.171346184 meters 0.06713623322854599 Centerline is valid? [True, True] Translation: X:185.12, Y:-10.06, Z:-6.86 [[ 9.99882336e-01 -1.52128325e-02 1.97067450e-03 1.85115859e+02] [ 1.52128697e-02 9.99884278e-01 -3.88829338e-06 -1.00602562e+01] [-1.97038730e-03 3.38674504e-05 9.99998058e-01 -6.85641260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.201346184 meters 0.06703241465344645 Centerline is valid? [True, True] Translation: X:185.15, Y:-10.06, Z:-6.86 [[ 9.99895203e-01 -1.42008346e-02 2.81397777e-03 1.85148408e+02] [ 1.42009103e-02 9.99899162e-01 -6.91141463e-06 -1.00588396e+01] [-2.81359587e-03 4.68717363e-05 9.99996041e-01 -6.85785503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.231346184 meters 0.06760659633595618 Centerline is valid? [True, True] Translation: X:185.18, Y:-10.06, Z:-6.86 [[ 9.99903866e-01 -1.34374892e-02 3.41932963e-03 1.85179394e+02] [ 1.34376013e-02 9.99909711e-01 -9.81706714e-06 -1.00597789e+01] [-3.41888899e-03 5.57637118e-05 9.99994154e-01 -6.86183642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.261346184 meters 0.06666200128233621 Centerline is valid? [True, True] Translation: X:185.21, Y:-10.06, Z:-6.86 [[ 9.99904862e-01 -1.30067160e-02 4.59271662e-03 1.85211731e+02] [ 1.30069155e-02 9.99915406e-01 -1.35785213e-05 -1.00576914e+01] [-4.59215149e-03 7.33143067e-05 9.99989453e-01 -6.85879573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.291346184 meters 0.0673115978217704 Centerline is valid? [True, True] Translation: X:185.24, Y:-10.06, Z:-6.86 [[ 9.99901089e-01 -1.31174392e-02 5.07393337e-03 1.85242719e+02] [ 1.31176902e-02 9.99913959e-01 -1.61956298e-05 -1.00590547e+01] [-5.07328436e-03 8.27523138e-05 9.99987127e-01 -6.86251313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321346184 meters 0.06801767798002428 Centerline is valid? [True, True] Translation: X:185.27, Y:-10.06, Z:-6.87 [[ 9.99908235e-01 -1.30657980e-02 3.57865343e-03 1.85273994e+02] [ 1.30659216e-02 9.99914637e-01 -1.11605786e-05 -1.00606964e+01] [-3.57820212e-03 5.79179594e-05 9.99993597e-01 -6.86717730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.351346184 meters 0.06681905163356576 Centerline is valid? [True, True] Translation: X:185.31, Y:-10.06, Z:-6.86 [[ 9.99916872e-01 -1.28089868e-02 1.47607740e-03 1.85306463e+02] [ 1.28090049e-02 9.99917961e-01 -2.78390040e-06 -1.00586072e+01] [-1.47592065e-03 2.16907516e-05 9.99998911e-01 -6.86364926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381346184 meters 0.06778079182697308 Centerline is valid? [True, True] Translation: X:185.34, Y:-10.06, Z:-6.87 [[ 9.99912622e-01 -1.32102832e-02 4.87111473e-04 1.85337568e+02] [ 1.32102837e-02 9.99912740e-01 2.16861885e-06 -1.00621617e+01] [-4.87097617e-04 4.26645142e-06 9.99999881e-01 -6.86953161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.411346184 meters 0.06778079182697308 Centerline is valid? [True, True] Translation: X:185.37, Y:-10.06, Z:-6.87 [[ 9.99913108e-01 -1.31734051e-02 4.87100852e-04 1.85368412e+02] [ 1.31734070e-02 9.99913227e-01 -6.19938071e-07 -1.00623286e+01] [-4.87050418e-04 7.03666197e-06 9.99999881e-01 -6.87058650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441346184 meters 0.067207135069546 Centerline is valid? [True, True] Translation: X:185.40, Y:-10.07, Z:-6.87 [[ 9.99897222e-01 -1.41879697e-02 2.06081080e-03 1.85400106e+02] [ 1.41880137e-02 9.99899345e-01 -6.71719762e-06 -1.00651388e+01] [-2.06050807e-03 3.59553191e-05 9.99997877e-01 -6.86900841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.471346184 meters 0.06726441316320884 Centerline is valid? [True, True] Translation: X:185.43, Y:-10.07, Z:-6.87 [[ 9.99893196e-01 -1.42777889e-02 3.12112710e-03 1.85432472e+02] [ 1.42778890e-02 9.99898066e-01 -9.78596977e-06 -1.00665974e+01] [-3.12066922e-03 5.43480309e-05 9.99995129e-01 -6.86972271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501346184 meters 0.06713614733425563 Centerline is valid? [True, True] Translation: X:185.46, Y:-10.07, Z:-6.87 [[ 9.99897570e-01 -1.40059617e-02 2.94675697e-03 1.85464619e+02] [ 1.40060500e-02 9.99901910e-01 -9.32974572e-06 -1.00660210e+01] [-2.94633725e-03 5.06012156e-05 9.99995658e-01 -6.87092732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.531346184 meters 0.06764847564179405 Centerline is valid? [True, True] Translation: X:185.50, Y:-10.07, Z:-6.87 [[ 9.99912907e-01 -1.31919342e-02 3.89213528e-04 1.85495714e+02] [ 1.31919351e-02 9.99912983e-01 3.26695576e-07 -1.00662180e+01] [-3.89183970e-04 4.80781249e-06 9.99999924e-01 -6.87437481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.561346184 meters 0.06745276825817743 Centerline is valid? [True, True] Translation: X:185.53, Y:-10.07, Z:-6.87 [[ 9.99913076e-01 -1.31376000e-02 1.11554490e-03 1.85526807e+02] [ 1.31376119e-02 9.99913698e-01 -3.32172463e-06 -1.00681354e+01] [-1.11540498e-03 1.79770318e-05 9.99999378e-01 -6.87437501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.591346184 meters 0.06696718226429609 Centerline is valid? [True, True] Translation: X:185.56, Y:-10.07, Z:-6.87 [[ 9.99902861e-01 -1.38346584e-02 1.69405985e-03 1.85559110e+02] [ 1.38346858e-02 9.99904296e-01 -4.45954777e-06 -1.00703503e+01] [-1.69383603e-03 2.78959005e-05 9.99998565e-01 -6.87288339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.621346184 meters 0.06750019612584633 Centerline is valid? [True, True] Translation: X:185.59, Y:-10.07, Z:-6.88 [[ 9.99891462e-01 -1.45126129e-02 2.53947802e-03 1.85589781e+02] [ 1.45126765e-02 9.99894686e-01 -6.63556051e-06 -1.00738754e+01] [-2.53911428e-03 4.34894634e-05 9.99996775e-01 -6.87519117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.651346184 meters 0.06696014593413725 Centerline is valid? [True, True] Translation: X:185.62, Y:-10.07, Z:-6.87 [[ 9.99878341e-01 -1.53144715e-02 2.96155311e-03 1.85621587e+02] [ 1.53145694e-02 9.99882725e-01 -1.04013438e-05 -1.00728540e+01] [-2.96104650e-03 5.57549891e-05 9.99995615e-01 -6.87354100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68134618399998 meters 0.06876596213233112 Centerline is valid? [True, True] Translation: X:185.65, Y:-10.08, Z:-6.88 [[ 9.99874942e-01 -1.57657096e-02 1.24214140e-03 1.85652300e+02] [ 1.57657262e-02 9.99875713e-01 -3.56261985e-06 -1.00781571e+01] [-1.24193085e-03 2.31454355e-05 9.99999229e-01 -6.88231425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71134618399998 meters 0.0702798480743518 Centerline is valid? [True, True] Translation: X:185.68, Y:-10.08, Z:-6.89 [[ 9.99876987e-01 -1.56651869e-02 7.82513165e-04 1.85683104e+02] [ 1.56651931e-02 9.99877293e-01 -1.72486718e-06 -1.00833311e+01] [-7.82390125e-04 1.39828748e-05 9.99999694e-01 -6.88916769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74134618399998 meters 0.06816381228707766 Centerline is valid? [True, True] Translation: X:185.72, Y:-10.08, Z:-6.88 [[ 9.99879983e-01 -1.54437369e-02 -1.22935383e-03 1.85715609e+02] [ 1.54437588e-02 9.99880738e-01 8.27846546e-06 -1.00790674e+01] [ 1.22907937e-03 -2.72633159e-05 9.99999244e-01 -6.88395911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77134618399998 meters 0.06877636062002541 Centerline is valid? [True, True] Translation: X:185.75, Y:-10.08, Z:-6.89 [[ 9.99874606e-01 -1.57386582e-02 -1.75110388e-03 1.85746193e+02] [ 1.57386976e-02 9.99876139e-01 8.75380506e-06 -1.00789275e+01] [ 1.75074921e-03 -3.63128019e-05 9.99998467e-01 -6.88703320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80134618399998 meters 0.06852970448068678 Centerline is valid? [True, True] Translation: X:185.78, Y:-10.08, Z:-6.89 [[ 9.99875971e-01 -1.56954251e-02 -1.30270511e-03 1.85777124e+02] [ 1.56954480e-02 9.99876819e-01 7.35672644e-06 -1.00774753e+01] [ 1.30242918e-03 -2.78023543e-05 9.99999151e-01 -6.88726714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83134618399998 meters 0.06850173594440574 Centerline is valid? [True, True] Translation: X:185.81, Y:-10.08, Z:-6.89 [[ 9.99879277e-01 -1.54625409e-02 -1.53005052e-03 1.85808169e+02] [ 1.54625720e-02 9.99880447e-01 8.47506856e-06 -1.00758844e+01] [ 1.52973655e-03 -3.21325617e-05 9.99998829e-01 -6.88797821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86134618399998 meters 0.06873393004792411 Centerline is valid? [True, True] Translation: X:185.84, Y:-10.07, Z:-6.89 [[ 9.99879000e-01 -1.53972523e-02 -2.21589220e-03 1.85838525e+02] [ 1.53973147e-02 9.99881454e-01 1.11011825e-05 -1.00744200e+01] [ 2.21545859e-03 -4.52186288e-05 9.99997545e-01 -6.89019700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89134618399999 meters 0.06879711145858548 Centerline is valid? [True, True] Translation: X:185.87, Y:-10.08, Z:-6.89 [[ 9.99883736e-01 -1.51734304e-02 -1.51062495e-03 1.85870034e+02] [ 1.51734605e-02 9.99884876e-01 8.44556551e-06 -1.00756777e+01] [ 1.51032289e-03 -3.13659916e-05 9.99998859e-01 -6.89200615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.921346184 meters 0.06880152312907196 Centerline is valid? [True, True] Translation: X:185.90, Y:-10.08, Z:-6.89 [[ 9.99879364e-01 -1.54776381e-02 -1.30407574e-03 1.85900863e+02] [ 1.54776610e-02 9.99880214e-01 7.50340317e-06 -1.00780051e+01] [ 1.30380339e-03 -2.76865402e-05 9.99999150e-01 -6.89291312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.951346184 meters 0.06875135916310023 Centerline is valid? [True, True] Translation: X:185.93, Y:-10.08, Z:-6.89 [[ 9.99868306e-01 -1.62051261e-02 -8.73923874e-04 1.85932144e+02] [ 1.62051371e-02 9.99868688e-01 5.47996170e-06 -1.00795568e+01] [ 8.73720314e-04 -1.96412962e-05 9.99999618e-01 -6.89352591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.981346184 meters 0.0697105159073358 Centerline is valid? [True, True] Translation: X:185.96, Y:-10.08, Z:-6.90 [[ 9.99834142e-01 -1.81853084e-02 -9.91669577e-04 1.85962065e+02] [ 1.81853239e-02 9.99834633e-01 6.66102942e-06 -1.00826993e+01] [ 9.91384455e-04 -2.46937571e-05 9.99999508e-01 -6.89648902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.011346184 meters 0.0702967200142397 Centerline is valid? [True, True] Translation: X:185.99, Y:-10.08, Z:-6.90 [[ 9.99821779e-01 -1.87441408e-02 -2.25128850e-03 1.85993735e+02] [ 1.87442160e-02 9.99824312e-01 1.23031573e-05 -1.00836088e+01] [ 2.25066236e-03 -5.44996024e-05 9.99997466e-01 -6.89917383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.041346184 meters 0.07055838943009761 Centerline is valid? [True, True] Translation: X:186.02, Y:-10.08, Z:-6.90 [[ 9.99824067e-01 -1.84596546e-02 -3.32798188e-03 1.86024826e+02] [ 1.84598158e-02 9.99829603e-01 1.77130475e-05 -1.00844970e+01] [ 3.32708782e-03 -7.91438635e-05 9.99994462e-01 -6.90157057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.071346184 meters 0.07045633038514404 Centerline is valid? [True, True] Translation: X:186.05, Y:-10.08, Z:-6.90 [[ 9.99851409e-01 -1.68821164e-02 -3.48634206e-03 1.86054698e+02] [ 1.68822770e-02 9.99857484e-01 1.66275615e-05 -1.00845309e+01] [ 3.48556449e-03 -7.54824830e-05 9.99993923e-01 -6.90338676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101346184 meters 0.0699667696126811 Centerline is valid? [True, True] Translation: X:186.08, Y:-10.08, Z:-6.90 [[ 9.99876148e-01 -1.55377760e-02 -2.50321800e-03 1.86084913e+02] [ 1.55378557e-02 9.99879280e-01 1.23686929e-05 -1.00840597e+01] [ 2.50272363e-03 -5.12618010e-05 9.99996867e-01 -6.90377559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.131346184 meters 0.06821744472499888 Centerline is valid? [True, True] Translation: X:186.12, Y:-10.08, Z:-6.90 [[ 9.99894332e-01 -1.44364445e-02 -1.70712857e-03 1.86115203e+02] [ 1.44364799e-02 9.99895789e-01 8.43512193e-06 -1.00813761e+01] [ 1.70682890e-03 -3.30791580e-05 9.99998543e-01 -6.89852663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161346184 meters 0.06793761631500683 Centerline is valid? [True, True] Translation: X:186.15, Y:-10.08, Z:-6.90 [[ 9.99920248e-01 -1.26252227e-02 -3.18483259e-04 1.86145649e+02] [ 1.26252241e-02 9.99920299e-01 2.21621914e-06 -1.00817297e+01] [ 3.18429895e-04 -6.23696490e-06 9.99999949e-01 -6.89968280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.191346184 meters 0.06693948257913099 Centerline is valid? [True, True] Translation: X:186.18, Y:-10.08, Z:-6.90 [[ 9.99942196e-01 -1.04678830e-02 2.45519867e-03 1.86176805e+02] [ 1.04679430e-02 9.99945210e-01 -1.15955186e-05 -1.00780302e+01] [-2.45494277e-03 3.72957281e-05 9.99996986e-01 -6.89776963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221346184 meters 0.06707150292563506 Centerline is valid? [True, True] Translation: X:186.21, Y:-10.08, Z:-6.90 [[ 9.99948440e-01 -9.86984115e-03 2.38836890e-03 1.86207997e+02] [ 9.86989352e-03 9.99951291e-01 -1.01419366e-05 -1.00764711e+01] [-2.38815246e-03 3.37143604e-05 9.99997148e-01 -6.89928756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.251346184 meters 0.06608870330030175 Centerline is valid? [True, True] Translation: X:186.24, Y:-10.07, Z:-6.90 [[ 9.99948128e-01 -9.95728256e-03 2.14324761e-03 1.86240459e+02] [ 9.95732310e-03 9.99950425e-01 -8.24354054e-06 -1.00739761e+01] [-2.14305928e-03 2.95841219e-05 9.99997703e-01 -6.89516273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281346184 meters 0.06678559014224034 Centerline is valid? [True, True] Translation: X:186.27, Y:-10.08, Z:-6.90 [[ 9.99945226e-01 -9.99846681e-03 3.09450424e-03 1.86271284e+02] [ 9.99855797e-03 9.99950013e-01 -1.39897297e-05 -1.00786227e+01] [-3.09420968e-03 4.49295435e-05 9.99995212e-01 -6.90012200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.311346184 meters 0.06681075335509883 Centerline is valid? [True, True] Translation: X:186.30, Y:-10.08, Z:-6.90 [[ 9.99939453e-01 -1.04552619e-02 3.43185828e-03 1.86303915e+02] [ 1.04553765e-02 9.99945341e-01 -1.54662434e-05 -1.00810053e+01] [-3.43150900e-03 5.13466774e-05 9.99994111e-01 -6.90149635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341346184 meters 0.06711241456883074 Centerline is valid? [True, True] Translation: X:186.34, Y:-10.09, Z:-6.90 [[ 9.99924515e-01 -1.19202806e-02 2.97831667e-03 1.86336454e+02] [ 1.19203732e-02 9.99928950e-01 -1.33156818e-05 -1.00856574e+01] [-2.97794633e-03 4.88173228e-05 9.99995565e-01 -6.90368253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.371346184 meters 0.06681331664063848 Centerline is valid? [True, True] Translation: X:186.37, Y:-10.08, Z:-6.90 [[ 9.99923285e-01 -1.21229930e-02 2.54092250e-03 1.86368972e+02] [ 1.21230603e-02 9.99926513e-01 -1.10970470e-05 -1.00846299e+01] [-2.54060124e-03 4.18999524e-05 9.99996772e-01 -6.90344772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401346184 meters 0.0668905056092136 Centerline is valid? [True, True] Translation: X:186.40, Y:-10.08, Z:-6.91 [[ 9.99924562e-01 -1.21060092e-02 2.07700484e-03 1.86400548e+02] [ 1.21060548e-02 9.99926719e-01 -9.37602896e-06 -1.00827550e+01] [-2.07673913e-03 3.45196561e-05 9.99997843e-01 -6.90552472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43134618399998 meters 0.06717133907453696 Centerline is valid? [True, True] Translation: X:186.43, Y:-10.08, Z:-6.91 [[ 9.99930717e-01 -1.17595824e-02 5.22707481e-04 1.86432128e+02] [ 1.17595835e-02 9.99930854e-01 9.08207396e-07 -1.00804418e+01] [-5.22682018e-04 5.23867782e-06 9.99999863e-01 -6.90784475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46134618399998 meters 0.06748746932953592 Centerline is valid? [True, True] Translation: X:186.46, Y:-10.08, Z:-6.91 [[ 9.99936440e-01 -1.11727163e-02 -1.51177694e-03 1.86463645e+02] [ 1.11727439e-02 9.99937583e-01 9.75865489e-06 -1.00813127e+01] [ 1.51157355e-03 -2.66487312e-05 9.99998857e-01 -6.91103048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49134618399998 meters 0.06673921632272195 Centerline is valid? [True, True] Translation: X:186.49, Y:-10.08, Z:-6.91 [[ 9.99945791e-01 -1.03936368e-02 -6.22624630e-04 1.86494616e+02] [ 1.03936418e-02 9.99945985e-01 4.85349641e-06 -1.00815973e+01] [ 6.22540553e-04 -1.13245707e-05 9.99999806e-01 -6.90982593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52134618399998 meters 0.06700557591745171 Centerline is valid? [True, True] Translation: X:186.52, Y:-10.08, Z:-6.91 [[ 9.99947812e-01 -1.02102551e-02 -3.52855615e-04 1.86524968e+02] [ 1.02102567e-02 9.99947874e-01 2.66083106e-06 -1.00839780e+01] [ 3.52810054e-04 -6.26343858e-06 9.99999938e-01 -6.91243005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55134618399998 meters 0.06661258610608356 Centerline is valid? [True, True] Translation: X:186.56, Y:-10.08, Z:-6.91 [[ 9.99932777e-01 -1.15751744e-02 6.76615185e-04 1.86556527e+02] [ 1.15751788e-02 9.99933005e-01 -2.53597200e-06 -1.00847097e+01] [-6.76540501e-04 1.03677432e-05 9.99999771e-01 -6.91062319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58134618399998 meters 0.06683804494722015 Centerline is valid? [True, True] Translation: X:186.59, Y:-10.09, Z:-6.91 [[ 9.99917484e-01 -1.27201839e-02 1.79503944e-03 1.86587446e+02] [ 1.27202194e-02 9.99919095e-01 -8.36386544e-06 -1.00858761e+01] [-1.79478782e-03 3.11964709e-05 9.99998389e-01 -6.91204868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61134618399998 meters 0.06743206200803288 Centerline is valid? [True, True] Translation: X:186.62, Y:-10.09, Z:-6.91 [[ 9.99903274e-01 -1.39081728e-02 6.79076690e-05 1.86619138e+02] [ 1.39081728e-02 9.99903277e-01 1.54998761e-06 -1.00872484e+01] [-6.79226584e-05 -6.05366092e-07 9.99999998e-01 -6.91376019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64134618399999 meters 0.06821309512465916 Centerline is valid? [True, True] Translation: X:186.65, Y:-10.09, Z:-6.92 [[ 9.99859417e-01 -1.67661797e-02 2.05129493e-04 1.86649468e+02] [ 1.67661802e-02 9.99859438e-01 -5.55932387e-07 -1.00906518e+01] [-2.05091339e-04 3.99509228e-06 9.99999979e-01 -6.91577869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.671346184 meters 0.0685366430623476 Centerline is valid? [True, True] Translation: X:186.68, Y:-10.09, Z:-6.92 [[ 9.99837712e-01 -1.80050712e-02 6.05989680e-04 1.86680377e+02] [ 1.80050759e-02 9.99837895e-01 -2.29136542e-06 -1.00929091e+01] [-6.05850191e-04 1.32018838e-05 9.99999816e-01 -6.91700022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.701346184 meters 0.06875814823291863 Centerline is valid? [True, True] Translation: X:186.71, Y:-10.10, Z:-6.92 [[ 9.99835321e-01 -1.81452489e-02 2.84464544e-04 1.86711600e+02] [ 1.81452498e-02 9.99835361e-01 -4.21104866e-07 -1.00954615e+01] [-2.84410069e-04 5.58271572e-06 9.99999960e-01 -6.91894904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.731346184 meters 0.06860717483937177 Centerline is valid? [True, True] Translation: X:186.74, Y:-10.10, Z:-6.92 [[ 9.99843838e-01 -1.76586038e-02 6.88682116e-04 1.86743176e+02] [ 1.76586099e-02 9.99844075e-01 -2.83633786e-06 -1.00974243e+01] [-6.88524647e-04 1.49970638e-05 9.99999763e-01 -6.92008356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.761346184 meters 0.06797170421170518 Centerline is valid? [True, True] Translation: X:186.77, Y:-10.09, Z:-6.92 [[ 9.99894343e-01 -1.44974525e-02 1.06184063e-03 1.86773726e+02] [ 1.44974668e-02 9.99894906e-01 -5.70708105e-06 -1.00945631e+01] [-1.06164630e-03 2.11004773e-05 9.99999436e-01 -6.92219811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.791346184 meters 0.06769993855290916 Centerline is valid? [True, True] Translation: X:186.80, Y:-10.09, Z:-6.92 [[ 9.99918195e-01 -1.27789687e-02 5.49342362e-04 1.86804701e+02] [ 1.27789701e-02 9.99918346e-01 9.15610984e-07 -1.00906520e+01] [-5.49309206e-04 6.10449355e-06 9.99999849e-01 -6.92375313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.821346184 meters 0.06765611361138736 Centerline is valid? [True, True] Translation: X:186.84, Y:-10.09, Z:-6.92 [[ 9.99929003e-01 -1.18983598e-02 6.47245282e-04 1.86835617e+02] [ 1.18983641e-02 9.99929212e-01 -2.73733422e-06 -1.00884155e+01] [-6.47166895e-04 1.04382999e-05 9.99999791e-01 -6.92495850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.851346184 meters 0.06761188225491327 Centerline is valid? [True, True] Translation: X:186.87, Y:-10.09, Z:-6.93 [[ 9.99935693e-01 -1.12062613e-02 1.74036772e-03 1.86865852e+02] [ 1.12062958e-02 9.99937207e-01 -1.00780413e-05 -1.00884589e+01] [-1.74014550e-03 2.95804687e-05 9.99998486e-01 -6.92617495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.881346184 meters 0.0675531913516822 Centerline is valid? [True, True] Translation: X:186.90, Y:-10.09, Z:-6.93 [[ 9.99929091e-01 -1.16596437e-02 2.42183820e-03 1.86896708e+02] [ 1.16597047e-02 9.99932023e-01 -1.11011430e-05 -1.00917979e+01] [-2.42154414e-03 3.93382741e-05 9.99997067e-01 -6.92632040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.911346184 meters 0.06820005509516491 Centerline is valid? [True, True] Translation: X:186.93, Y:-10.10, Z:-6.93 [[ 9.99910911e-01 -1.31894558e-02 2.05139437e-03 1.86928351e+02] [ 1.31895028e-02 9.99913015e-01 -9.39166031e-06 -1.00955477e+01] [-2.05109205e-03 3.64476953e-05 9.99997896e-01 -6.92831479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.941346184 meters 0.06893277516959136 Centerline is valid? [True, True] Translation: X:186.96, Y:-10.10, Z:-6.93 [[ 9.99893678e-01 -1.45210735e-02 1.33074697e-03 1.86960769e+02] [ 1.45210946e-02 9.99894563e-01 -6.18168852e-06 -1.00994634e+01] [-1.33051689e-03 2.55049339e-05 9.99999115e-01 -6.93152498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.971346184 meters 0.0705557261166392 Centerline is valid? [True, True] Translation: X:186.99, Y:-10.10, Z:-6.94 [[ 9.99844656e-01 -1.75697718e-02 -1.40240700e-03 1.86990625e+02] [ 1.75698052e-02 9.99845639e-01 1.14555947e-05 -1.01045582e+01] [ 1.40198925e-03 -3.60938330e-05 9.99999017e-01 -6.93597324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.001346184 meters 0.07151080032466584 Centerline is valid? [True, True] Translation: X:187.02, Y:-10.11, Z:-6.94 [[ 9.99814413e-01 -1.90926687e-02 -2.57090010e-03 1.87022139e+02] [ 1.90927780e-02 9.99817716e-01 1.79764707e-05 -1.01072257e+01] [ 2.57008825e-03 -6.70587593e-05 9.99996695e-01 -6.93915162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.031346184 meters 0.0722700735145677 Centerline is valid? [True, True] Translation: X:187.05, Y:-10.11, Z:-6.94 [[ 9.99780062e-01 -2.06797354e-02 -3.48949069e-03 1.87052584e+02] [ 2.06799409e-02 9.99786147e-01 2.28147537e-05 -1.01099785e+01] [ 3.48827265e-03 -9.49721969e-05 9.99993911e-01 -6.94096454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.061346184 meters 0.07311614439384628 Centerline is valid? [True, True] Translation: X:187.08, Y:-10.12, Z:-6.94 [[ 9.99741766e-01 -2.25960439e-02 -2.41229661e-03 1.87081696e+02] [ 2.25961462e-02 9.99744674e-01 1.51560421e-05 -1.01150722e+01] [ 2.41133822e-03 -6.96607351e-05 9.99997090e-01 -6.94111186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.091346184 meters 0.07281268552684843 Centerline is valid? [True, True] Translation: X:187.11, Y:-10.12, Z:-6.94 [[ 9.99754984e-01 -2.21322452e-02 -3.67442222e-04 1.87111743e+02] [ 2.21322473e-02 9.99755052e-01 1.82126611e-06 -1.01163949e+01] [ 3.67311909e-04 -9.95314200e-06 9.99999932e-01 -6.94103985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121346184 meters 0.07229457334915562 Centerline is valid? [True, True] Translation: X:187.14, Y:-10.12, Z:-6.94 [[ 9.99778739e-01 -2.10226247e-02 7.22702083e-04 1.87142824e+02] [ 2.10226328e-02 9.99779000e-01 -3.59216078e-06 -1.01162905e+01] [-7.22466850e-04 1.87844665e-05 9.99999739e-01 -6.94128642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.151346184 meters 0.07134197312139262 Centerline is valid? [True, True] Translation: X:187.17, Y:-10.11, Z:-6.94 [[ 9.99837759e-01 -1.79768635e-02 1.13508538e-03 1.87173356e+02] [ 1.79768829e-02 9.99838403e-01 -6.87712948e-06 -1.01117444e+01] [-1.13477833e-03 2.72813107e-05 9.99999356e-01 -6.94235778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18134618399998 meters 0.0711841527049276 Centerline is valid? [True, True] Translation: X:187.20, Y:-10.11, Z:-6.94 [[ 9.99854610e-01 -1.70196236e-02 1.04509418e-03 1.87204254e+02] [ 1.70196389e-02 9.99855155e-01 -5.76627080e-06 -1.01105362e+01] [-1.04484467e-03 2.35525581e-05 9.99999454e-01 -6.94408420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21134618399998 meters 0.07086399291144325 Centerline is valid? [True, True] Translation: X:187.24, Y:-10.11, Z:-6.95 [[ 9.99871865e-01 -1.59890340e-02 7.77171159e-04 1.87235637e+02] [ 1.59890420e-02 9.99872167e-01 -4.03367324e-06 -1.01094039e+01] [-7.77007317e-04 1.64593787e-05 9.99999698e-01 -6.94521220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24134618399998 meters 0.06781006053865174 Centerline is valid? [True, True] Translation: X:187.27, Y:-10.10, Z:-6.94 [[ 9.99887258e-01 -1.49436247e-02 1.46981330e-03 1.87267788e+02] [ 1.49436525e-02 9.99888337e-01 -7.89568371e-06 -1.01016495e+01] [-1.46953119e-03 2.98591727e-05 9.99998920e-01 -6.93676262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27134618399998 meters 0.06824375017886716 Centerline is valid? [True, True] Translation: X:187.30, Y:-10.10, Z:-6.94 [[ 9.99887150e-01 -1.49979948e-02 8.65100969e-04 1.87298645e+02] [ 1.49980038e-02 9.99887524e-01 -3.91436707e-06 -1.01032505e+01] [-8.64944958e-04 1.68887129e-05 9.99999626e-01 -6.93929846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30134618399998 meters 0.06824375017886716 Centerline is valid? [True, True] Translation: X:187.33, Y:-10.10, Z:-6.94 [[ 9.99887700e-01 -1.49612258e-02 8.65096384e-04 1.87329490e+02] [ 1.49612354e-02 9.99888074e-01 -4.59886975e-06 -1.01035087e+01] [-8.64930753e-04 1.75412639e-05 9.99999626e-01 -6.94035378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33134618399998 meters 0.0688550285710585 Centerline is valid? [True, True] Translation: X:187.36, Y:-10.11, Z:-6.94 [[ 9.99879638e-01 -1.55127302e-02 -2.55485535e-04 1.87360860e+02] [ 1.55127316e-02 9.99879670e-01 3.62165958e-06 -1.01061980e+01] [ 2.55398611e-04 -7.58450220e-06 9.99999967e-01 -6.94343920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36134618399998 meters 0.06849197374447255 Centerline is valid? [True, True] Translation: X:187.39, Y:-10.11, Z:-6.94 [[ 9.99868133e-01 -1.62208307e-02 -7.75734098e-04 1.87391834e+02] [ 1.62208407e-02 9.99868433e-01 6.61212765e-06 -1.01063766e+01] [ 7.75524783e-04 -1.91943149e-05 9.99999699e-01 -6.94337338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39134618399999 meters 0.0698697999088467 Centerline is valid? [True, True] Translation: X:187.42, Y:-10.11, Z:-6.95 [[ 9.99818576e-01 -1.89614417e-02 -1.81079704e-03 1.87422357e+02] [ 1.89614965e-02 9.99820215e-01 1.30966708e-05 -1.01089924e+01] [ 1.81022315e-03 -4.74297165e-05 9.99998360e-01 -6.94660217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.421346184 meters 0.07076372599391285 Centerline is valid? [True, True] Translation: X:187.45, Y:-10.11, Z:-6.95 [[ 9.99807019e-01 -1.95850043e-02 -1.53349912e-03 1.87452330e+02] [ 1.95850445e-02 9.99808195e-01 1.12006645e-05 -1.01110315e+01] [ 1.53298562e-03 -4.12321514e-05 9.99998824e-01 -6.94923001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.451346184 meters 0.06979494226641286 Centerline is valid? [True, True] Translation: X:187.48, Y:-10.11, Z:-6.95 [[ 9.99812796e-01 -1.93430774e-02 -4.66953810e-04 1.87483228e+02] [ 1.93430810e-02 9.99812905e-01 3.22092932e-06 -1.01078465e+01] [ 4.66804143e-04 -1.22526517e-05 9.99999891e-01 -6.94709303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.481346184 meters 0.06977494975111903 Centerline is valid? [True, True] Translation: X:187.51, Y:-10.11, Z:-6.95 [[ 9.99824191e-01 -1.87498456e-02 1.75007711e-04 1.87513294e+02] [ 1.87498460e-02 9.99824206e-01 -5.91030961e-07 -1.01073658e+01] [-1.74965864e-04 3.87229468e-06 9.99999985e-01 -6.94828494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.511346184 meters 0.0694883511029467 Centerline is valid? [True, True] Translation: X:187.54, Y:-10.11, Z:-6.95 [[ 9.99831092e-01 -1.83254386e-02 1.40187619e-03 1.87544826e+02] [ 1.83254685e-02 9.99832074e-01 -8.49772610e-06 -1.01061209e+01] [-1.40148505e-03 3.41863288e-05 9.99999017e-01 -6.94846729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.541346184 meters 0.06992918674578527 Centerline is valid? [True, True] Translation: X:187.58, Y:-10.11, Z:-6.95 [[ 9.99822236e-01 -1.88545892e-02 3.99777654e-05 1.87575028e+02] [ 1.88545891e-02 9.99822236e-01 1.45775804e-06 -1.01061777e+01] [-3.99981444e-05 -7.03734557e-07 9.99999999e-01 -6.95082041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.571346184 meters 0.07071167452152978 Centerline is valid? [True, True] Translation: X:187.61, Y:-10.11, Z:-6.95 [[ 9.99785215e-01 -2.07208510e-02 -4.11860921e-04 1.87606009e+02] [ 2.07208545e-02 9.99785300e-01 4.12602944e-06 -1.01067114e+01] [ 4.11687000e-04 -1.26592534e-05 9.99999915e-01 -6.95275965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601346184 meters 0.06988284371228115 Centerline is valid? [True, True] Translation: X:187.64, Y:-10.10, Z:-6.95 [[ 9.99745213e-01 -2.25692223e-02 -3.72512660e-04 1.87637706e+02] [ 2.25692254e-02 9.99745283e-01 3.95305304e-06 -1.01048611e+01] [ 3.72328557e-04 -1.23593680e-05 9.99999931e-01 -6.95014204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.631346184 meters 0.06986368988691076 Centerline is valid? [True, True] Translation: X:187.67, Y:-10.10, Z:-6.95 [[ 9.99683475e-01 -2.51181704e-02 -1.42377473e-03 1.87668672e+02] [ 2.51182126e-02 9.99684488e-01 1.17479374e-05 -1.01041771e+01] [ 1.42303043e-03 -4.75068953e-05 9.99998986e-01 -6.94984708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661346184 meters 0.07175385650066458 Centerline is valid? [True, True] Translation: X:187.70, Y:-10.11, Z:-6.95 [[ 9.99615116e-01 -2.76571349e-02 -2.16877999e-03 1.87698791e+02] [ 2.76572371e-02 9.99617465e-01 1.71282106e-05 -1.01073300e+01] [ 2.16747664e-03 -7.71040805e-05 9.99997648e-01 -6.95366713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.691346184 meters 0.07364979982396894 Centerline is valid? [True, True] Translation: X:187.73, Y:-10.11, Z:-6.95 [[ 9.99486924e-01 -3.19868320e-02 -1.65283018e-03 1.87729147e+02] [ 3.19868964e-02 9.99488288e-01 1.25338456e-05 -1.01094513e+01] [ 1.65158349e-03 -6.53963224e-05 9.99998634e-01 -6.95482581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721346184 meters 0.073558075807897 Centerline is valid? [True, True] Translation: X:187.76, Y:-10.11, Z:-6.95 [[ 9.99402868e-01 -3.45142959e-02 -1.63421329e-03 1.87760082e+02] [ 3.45143623e-02 9.99404202e-01 1.24398122e-05 -1.01101849e+01] [ 1.63281027e-03 -6.88362134e-05 9.99998665e-01 -6.95376021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.751346184 meters 0.07392063397722984 Centerline is valid? [True, True] Translation: X:187.79, Y:-10.11, Z:-6.95 [[ 9.99336236e-01 -3.64290974e-02 -9.37178219e-05 1.87791091e+02] [ 3.64290978e-02 9.99336240e-01 2.00479948e-06 -1.01120950e+01] [ 9.35825826e-05 -5.41752445e-06 9.99999996e-01 -6.95352387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781346184 meters 0.07532260086118045 Centerline is valid? [True, True] Translation: X:187.82, Y:-10.11, Z:-6.96 [[ 9.99239366e-01 -3.89512703e-02 -1.86775287e-03 1.87821335e+02] [ 3.89513659e-02 9.99241107e-01 1.48380665e-05 -1.01130629e+01] [ 1.86575749e-03 -8.75783057e-05 9.99998256e-01 -6.95605104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.811346184 meters 0.07573290849649025 Centerline is valid? [True, True] Translation: X:187.85, Y:-10.11, Z:-6.96 [[ 9.99230582e-01 -3.91690732e-02 -2.00690167e-03 1.87852285e+02] [ 3.91691841e-02 9.99232593e-01 1.59817602e-05 -1.01112648e+01] [ 2.00473557e-03 -9.45781645e-05 9.99997986e-01 -6.95798124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841346184 meters 0.07581345526702418 Centerline is valid? [True, True] Translation: X:187.88, Y:-10.11, Z:-6.96 [[ 9.99241665e-01 -3.88740628e-02 -2.21427811e-03 1.87883188e+02] [ 3.88741970e-02 9.99244113e-01 1.75770302e-05 -1.01076398e+01] [ 2.21192107e-03 -1.03641984e-04 9.99997548e-01 -6.95931791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.871346184 meters 0.07627532173973595 Centerline is valid? [True, True] Translation: X:187.91, Y:-10.11, Z:-6.96 [[ 9.99250367e-01 -3.86214058e-02 -2.66288782e-03 1.87913809e+02] [ 3.86215967e-02 9.99253908e-01 2.02806167e-05 -1.01054004e+01] [ 2.66011779e-03 -1.23110393e-04 9.99996454e-01 -6.96140939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.901346184 meters 0.07746117621356319 Centerline is valid? [True, True] Translation: X:187.94, Y:-10.10, Z:-6.96 [[ 9.99210376e-01 -3.95990141e-02 -3.24696708e-03 1.87943939e+02] [ 3.95993065e-02 9.99215640e-01 2.58041068e-05 -1.01039463e+01] [ 3.24339847e-03 -1.54361376e-04 9.99994728e-01 -6.96432377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93134618399998 meters 0.07795845617937472 Centerline is valid? [True, True] Translation: X:187.97, Y:-10.10, Z:-6.96 [[ 9.99161580e-01 -4.08711953e-02 -2.38379755e-03 1.87974835e+02] [ 4.08713552e-02 9.99164417e-01 1.83745106e-05 -1.01043958e+01] [ 2.38105470e-03 -1.15788141e-04 9.99997159e-01 -6.96464584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96134618399998 meters 0.07924204256008809 Centerline is valid? [True, True] Translation: X:188.01, Y:-10.11, Z:-6.97 [[ 9.99080544e-01 -4.28116924e-02 -2.28617036e-03 1.88006432e+02] [ 4.28118462e-02 9.99083152e-01 1.83406219e-05 -1.01063459e+01] [ 2.28328910e-03 -1.16198933e-04 9.99997387e-01 -6.96594722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99134618399998 meters 0.07910607215842233 Centerline is valid? [True, True] Translation: X:188.04, Y:-10.10, Z:-6.96 [[ 9.98973857e-01 -4.52621619e-02 -1.60279739e-03 1.88038090e+02] [ 4.52622414e-02 9.98975139e-01 1.33107409e-05 -1.01035977e+01] [ 1.60055227e-03 -8.58432846e-05 9.99998715e-01 -6.96458603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02134618399998 meters 0.078754578643357 Centerline is valid? [True, True] Translation: X:188.07, Y:-10.10, Z:-6.96 [[ 9.98914509e-01 -4.65570907e-02 -1.49674433e-03 1.88069742e+02] [ 4.65571617e-02 9.98915627e-01 1.25848713e-05 -1.01010279e+01] [ 1.49453538e-03 -8.22553781e-05 9.99998880e-01 -6.96422272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05134618399998 meters 0.07977815383791416 Centerline is valid? [True, True] Translation: X:188.10, Y:-10.10, Z:-6.96 [[ 9.98880227e-01 -4.73075782e-02 -5.33547483e-04 1.88101096e+02] [ 4.73075881e-02 9.98880369e-01 5.96369404e-06 -1.01014670e+01] [ 5.32667979e-04 -3.11978606e-05 9.99999858e-01 -6.96496320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08134618399998 meters 0.08038321119084237 Centerline is valid? [True, True] Translation: X:188.13, Y:-10.10, Z:-6.97 [[ 9.98850652e-01 -4.79281945e-02 5.13903019e-04 1.88132991e+02] [ 4.79282015e-02 9.98850783e-01 -1.44785788e-06 -1.00992872e+01] [-5.13243040e-04 2.60766412e-05 9.99999868e-01 -6.96523866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11134618399998 meters 0.08069076258625553 Centerline is valid? [True, True] Translation: X:188.16, Y:-10.10, Z:-6.97 [[ 9.98858926e-01 -4.77483349e-02 9.70963056e-04 1.88164795e+02] [ 4.77483623e-02 9.98859396e-01 -5.03928714e-06 -1.00981237e+01] [-9.69614955e-04 5.13954327e-05 9.99999529e-01 -6.96659498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14134618399999 meters 0.08075555618758658 Centerline is valid? [True, True] Translation: X:188.20, Y:-10.10, Z:-6.97 [[ 9.98853954e-01 -4.78616819e-02 1.92714626e-04 1.88196514e+02] [ 4.78616827e-02 9.98853973e-01 3.66115653e-07 -1.00975190e+01] [-1.92511293e-04 8.85795022e-06 9.99999981e-01 -6.96818646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.171346184 meters 0.08083759701908039 Centerline is valid? [True, True] Translation: X:188.23, Y:-10.10, Z:-6.97 [[ 9.98896081e-01 -4.69715961e-02 5.37432408e-04 1.88227295e+02] [ 4.69716041e-02 9.98896225e-01 -2.37007072e-06 -1.00955792e+01] [-5.36727878e-04 2.76115167e-05 9.99999856e-01 -6.97027673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.201346184 meters 0.08140674292730474 Centerline is valid? [True, True] Translation: X:188.26, Y:-10.09, Z:-6.97 [[ 9.98933343e-01 -4.61724496e-02 -5.30848612e-04 1.88258851e+02] [ 4.61724593e-02 9.98933483e-01 6.03779062e-06 -1.00937910e+01] [ 5.30003673e-04 -3.05419363e-05 9.99999859e-01 -6.97359574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.231346184 meters 0.08051195827282902 Centerline is valid? [True, True] Translation: X:188.29, Y:-10.09, Z:-6.98 [[ 9.98947363e-01 -4.57937893e-02 -2.66358816e-03 1.88290628e+02] [ 4.57940132e-02 9.98950904e-01 2.31007122e-05 -1.00896117e+01] [ 2.65973593e-03 -1.45052787e-04 9.99996452e-01 -6.97504617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.261346184 meters 0.08108966825480074 Centerline is valid? [True, True] Translation: X:188.32, Y:-10.09, Z:-6.98 [[ 9.98943770e-01 -4.56257755e-02 -5.44365644e-03 1.88321607e+02] [ 4.56266953e-02 9.98958559e-01 4.48304739e-05 -1.00874883e+01] [ 5.43594177e-03 -2.93159176e-04 9.99985182e-01 -6.97861729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.291346184 meters 0.08179393110409576 Centerline is valid? [True, True] Translation: X:188.35, Y:-10.09, Z:-6.98 [[ 9.98937822e-01 -4.58153930e-02 -4.91703907e-03 1.88352050e+02] [ 4.58161437e-02 9.98949888e-01 4.00854578e-05 -1.00880271e+01] [ 4.91003910e-03 -2.65322649e-04 9.99987910e-01 -6.98013392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321346184 meters 0.08188836617526629 Centerline is valid? [True, True] Translation: X:188.38, Y:-10.09, Z:-6.98 [[ 9.98917266e-01 -4.62340056e-02 -5.16842624e-03 1.88383554e+02] [ 4.62348446e-02 9.98930597e-01 4.28896871e-05 -1.00870774e+01] [ 5.16091615e-03 -2.81804633e-04 9.99986643e-01 -6.98075028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.351346184 meters 0.08301667539222579 Centerline is valid? [True, True] Translation: X:188.41, Y:-10.09, Z:-6.98 [[ 9.98852476e-01 -4.73809745e-02 -6.98389226e-03 1.88414956e+02] [ 4.73825329e-02 9.98876815e-01 5.77652395e-05 -1.00861242e+01] [ 6.97331108e-03 -3.88613457e-04 9.99975611e-01 -6.98311155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381346184 meters 0.08490567882811323 Centerline is valid? [True, True] Translation: X:188.44, Y:-10.09, Z:-6.99 [[ 9.98824624e-01 -4.78356975e-02 -7.81768310e-03 1.88444105e+02] [ 4.78376480e-02 9.98855122e-01 6.25845169e-05 -1.00878387e+01] [ 7.80573904e-03 -4.36490529e-04 9.99969439e-01 -6.98656177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.411346184 meters 0.08136950495377104 Centerline is valid? [True, True] Translation: X:188.48, Y:-10.08, Z:-6.98 [[ 9.98809186e-01 -4.81095719e-02 -8.10423310e-03 1.88476100e+02] [ 4.81116944e-02 9.98841960e-01 6.70283599e-05 -1.00795321e+01] [ 8.09162337e-03 -4.56856928e-04 9.99967158e-01 -6.98272195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441346184 meters 0.08310390357669689 Centerline is valid? [True, True] Translation: X:188.51, Y:-10.08, Z:-6.99 [[ 9.98758898e-01 -4.91221255e-02 -8.22681250e-03 1.88505713e+02] [ 4.91243303e-02 9.98792669e-01 6.60220725e-05 -1.00776238e+01] [ 8.21363687e-03 -4.70076787e-04 9.99966157e-01 -6.98526148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.471346184 meters 0.08181495691004381 Centerline is valid? [True, True] Translation: X:188.54, Y:-10.07, Z:-6.99 [[ 9.98756953e-01 -4.91986339e-02 -8.00270934e-03 1.88537535e+02] [ 4.92007396e-02 9.98788908e-01 6.63547635e-05 -1.00734835e+01] [ 7.98975276e-03 -4.60011500e-04 9.99967976e-01 -6.98507894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501346184 meters 0.08279600537423713 Centerline is valid? [True, True] Translation: X:188.57, Y:-10.07, Z:-6.99 [[ 9.98719381e-01 -4.99240238e-02 -8.19693135e-03 1.88568208e+02] [ 4.99262532e-02 9.98752905e-01 6.74572785e-05 -1.00735326e+01] [ 8.18334126e-03 -4.76612961e-04 9.99966402e-01 -6.98701931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.531346184 meters 0.08269012074911604 Centerline is valid? [True, True] Translation: X:188.60, Y:-10.07, Z:-6.99 [[ 9.98711827e-01 -4.99848540e-02 -8.72930756e-03 1.88599026e+02] [ 4.99873858e-02 9.98749847e-01 7.19503943e-05 -1.00706556e+01] [ 8.71479816e-03 -5.08212974e-04 9.99961896e-01 -6.98800707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561346184 meters 0.0836876732995492 Centerline is valid? [True, True] Translation: X:188.63, Y:-10.07, Z:-6.99 [[ 9.98686899e-01 -5.04561011e-02 -8.86900224e-03 1.88629151e+02] [ 5.04587343e-02 9.98726144e-01 7.32439563e-05 -1.00687076e+01] [ 8.85400880e-03 -5.20666407e-04 9.99960667e-01 -6.98995298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.591346184 meters 0.0884992517351449 Centerline is valid? [True, True] Translation: X:188.66, Y:-10.07, Z:-6.99 [[ 9.98691380e-01 -5.05303406e-02 -7.88741985e-03 1.88659034e+02] [ 5.05324212e-02 9.98722419e-01 6.45980318e-05 -1.00680457e+01] [ 7.87407887e-03 -4.63083919e-04 9.99968892e-01 -6.99471693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621346184 meters 0.08409762622342469 Centerline is valid? [True, True] Translation: X:188.69, Y:-10.06, Z:-6.99 [[ 9.98707534e-01 -5.02546354e-02 -7.59827333e-03 1.88691027e+02] [ 5.02565694e-02 9.98736338e-01 6.36834210e-05 -1.00566165e+01] [ 7.58547129e-03 -4.45464263e-04 9.99971131e-01 -6.99040242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.651346184 meters 0.08385546643672386 Centerline is valid? [True, True] Translation: X:188.72, Y:-10.05, Z:-6.99 [[ 9.98734523e-01 -4.92836708e-02 -1.00236137e-02 1.88722084e+02] [ 4.92869875e-02 9.98784654e-01 8.39843295e-05 -1.00525697e+01] [ 1.00072925e-02 -5.77911774e-04 9.99949759e-01 -6.99334173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68134618399998 meters 0.08344622700651465 Centerline is valid? [True, True] Translation: X:188.75, Y:-10.04, Z:-7.00 [[ 9.98838173e-01 -4.68205260e-02 -1.14079936e-02 1.88752432e+02] [ 4.68246556e-02 9.98903120e-01 9.50156115e-05 -1.00443817e+01] [ 1.13910317e-02 -6.29080589e-04 9.99934922e-01 -6.99713796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71134618399998 meters 0.08309668216336533 Centerline is valid? [True, True] Translation: X:188.78, Y:-10.04, Z:-7.00 [[ 9.98875881e-01 -4.59975008e-02 -1.14544679e-02 1.88782560e+02] [ 4.60016033e-02 9.98941361e-01 9.48088281e-05 -1.00391427e+01] [ 1.14379808e-02 -6.21626139e-04 9.99934391e-01 -6.99765180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74134618399998 meters 0.082221359395642 Centerline is valid? [True, True] Translation: X:188.81, Y:-10.03, Z:-7.00 [[ 9.98987438e-01 -4.41055636e-02 -8.87678131e-03 1.88812088e+02] [ 4.41079489e-02 9.99026768e-01 7.30253358e-05 -1.00332021e+01] [ 8.86492132e-03 -4.64488010e-04 9.99960598e-01 -6.99701373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77134618399998 meters 0.08087887760785133 Centerline is valid? [True, True] Translation: X:188.84, Y:-10.02, Z:-7.00 [[ 9.99129709e-01 -4.10803589e-02 -7.22688834e-03 1.88842466e+02] [ 4.10818630e-02 9.99155782e-01 5.97418724e-05 -1.00228596e+01] [ 7.21833305e-03 -3.56583916e-04 9.99973884e-01 -6.99666212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80134618399998 meters 0.08031777137831549 Centerline is valid? [True, True] Translation: X:188.87, Y:-10.02, Z:-7.00 [[ 9.99193418e-01 -3.95711166e-02 -6.82929228e-03 1.88874116e+02] [ 3.95724340e-02 9.99216703e-01 5.78327505e-05 -1.00183149e+01] [ 6.82165441e-03 -3.28037822e-04 9.99976678e-01 -6.99768692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83134618399998 meters 0.0772821219620338 Centerline is valid? [True, True] Translation: X:188.91, Y:-10.01, Z:-6.99 [[ 9.99255930e-01 -3.80195688e-02 -6.48837191e-03 1.88906238e+02] [ 3.80207322e-02 9.99276949e-01 5.60067966e-05 -1.00088480e+01] [ 6.48155114e-03 -3.02657775e-04 9.99978949e-01 -6.99499628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86134618399998 meters 0.07909593573756185 Centerline is valid? [True, True] Translation: X:188.94, Y:-10.01, Z:-7.00 [[ 9.99329437e-01 -3.60648051e-02 -6.32509286e-03 1.88936138e+02] [ 3.60658649e-02 9.99349414e-01 5.35439093e-05 -1.00086402e+01] [ 6.31904679e-03 -2.81627949e-04 9.99979995e-01 -6.99985043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89134618399999 meters 0.07853674818475614 Centerline is valid? [True, True] Translation: X:188.97, Y:-10.00, Z:-7.00 [[ 9.99394118e-01 -3.44362820e-02 -5.05364319e-03 1.88966940e+02] [ 3.44369420e-02 9.99406872e-01 4.36004186e-05 -1.00005755e+01] [ 5.04914429e-03 -2.17606019e-04 9.99987229e-01 -6.99987554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.921346184 meters 0.07321425281942788 Centerline is valid? [True, True] Translation: X:189.00, Y:-9.99, Z:-6.99 [[ 9.99415609e-01 -3.38831181e-02 -4.51384128e-03 1.88999998e+02] [ 3.38836505e-02 9.99425783e-01 4.15070519e-05 -9.98770187e+00] [ 4.50984297e-03 -1.94428216e-04 9.99989812e-01 -6.99082999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.951346184 meters 0.07798228762676711 Centerline is valid? [True, True] Translation: X:189.03, Y:-9.99, Z:-7.00 [[ 9.99430236e-01 -3.35730408e-02 -3.47188715e-03 1.89030878e+02] [ 3.35733527e-02 9.99436256e-01 3.15765524e-05 -9.99484268e+00] [ 3.46886977e-03 -1.48121453e-04 9.99993972e-01 -6.99997224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.981346184 meters 0.07239274421008449 Centerline is valid? [True, True] Translation: X:189.06, Y:-9.98, Z:-6.99 [[ 9.99448971e-01 -3.31135488e-02 -2.29050620e-03 1.89063630e+02] [ 3.31136867e-02 9.99451591e-01 2.23023079e-05 -9.97852547e+00] [ 2.28851155e-03 -9.81371233e-05 9.99997377e-01 -6.98983427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.011346184 meters 0.07182392244694223 Centerline is valid? [True, True] Translation: X:189.10, Y:-9.98, Z:-6.99 [[ 9.99460825e-01 -3.27436168e-02 -2.43200191e-03 1.89095536e+02] [ 3.27437713e-02 9.99463779e-01 2.37419847e-05 -9.97604601e+00] [ 2.42992042e-03 -1.03362098e-04 9.99997042e-01 -6.98975147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.041346184 meters 0.07118014671010595 Centerline is valid? [True, True] Translation: X:189.13, Y:-9.97, Z:-6.99 [[ 9.99496993e-01 -3.15987416e-02 -2.69826008e-03 1.89127638e+02] [ 3.15989275e-02 9.99500629e-01 2.62851923e-05 -9.97354291e+00] [ 2.69608207e-03 -1.11534095e-04 9.99996359e-01 -6.99062163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.071346184 meters 0.07099071935883985 Centerline is valid? [True, True] Translation: X:189.16, Y:-9.97, Z:-6.99 [[ 9.99560545e-01 -2.93713158e-02 -4.00540859e-03 1.89159181e+02] [ 2.93717008e-02 9.99568558e-01 3.73160033e-05 -9.96654136e+00] [ 4.00258447e-03 -1.54945267e-04 9.99991978e-01 -6.99325231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101346184 meters 0.0708354556240529 Centerline is valid? [True, True] Translation: X:189.19, Y:-9.96, Z:-6.99 [[ 9.99589380e-01 -2.83180315e-02 -4.37724422e-03 1.89190203e+02] [ 2.83184814e-02 9.99598951e-01 4.08308088e-05 -9.96324354e+00] [ 4.37433248e-03 -1.64770952e-04 9.99990419e-01 -6.99496064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.131346184 meters 0.07136851439443304 Centerline is valid? [True, True] Translation: X:189.22, Y:-9.96, Z:-7.00 [[ 9.99587856e-01 -2.82602242e-02 -5.04748117e-03 1.89221585e+02] [ 2.82608215e-02 9.99600582e-01 4.70463055e-05 -9.96083446e+00] [ 5.04413558e-03 -1.89672880e-04 9.99987260e-01 -6.99843733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161346184 meters 0.07181914032142091 Centerline is valid? [True, True] Translation: X:189.25, Y:-9.96, Z:-7.00 [[ 9.99572334e-01 -2.86179373e-02 -6.01358486e-03 1.89252804e+02] [ 2.86187913e-02 9.99590397e-01 5.60033897e-05 -9.96063431e+00] [ 6.00951898e-03 -2.28080969e-04 9.99981917e-01 -7.00175986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.191346184 meters 0.07201889222774524 Centerline is valid? [True, True] Translation: X:189.28, Y:-9.96, Z:-7.00 [[ 9.99568536e-01 -2.86202283e-02 -6.60482965e-03 1.89284497e+02] [ 2.86212597e-02 9.99590326e-01 6.16711169e-05 -9.95871355e+00] [ 6.60035878e-03 -2.50683053e-04 9.99978186e-01 -7.00339211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221346184 meters 0.07201889222774524 Centerline is valid? [True, True] Translation: X:189.32, Y:-9.96, Z:-7.00 [[ 9.99570610e-01 -2.85477100e-02 -6.60481963e-03 1.89316217e+02] [ 2.85487470e-02 9.99592399e-01 6.27660405e-05 -9.95909753e+00] [ 6.60033568e-03 -2.51298414e-04 9.99978186e-01 -7.00447711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.251346184 meters 0.07246714847098719 Centerline is valid? [True, True] Translation: X:189.35, Y:-9.96, Z:-7.01 [[ 9.99554442e-01 -2.89448069e-02 -7.28810572e-03 1.89348044e+02] [ 2.89460820e-02 9.99580972e-01 6.95150908e-05 -9.95678482e+00] [ 7.28303970e-03 -2.80446224e-04 9.99973439e-01 -7.00629167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281346184 meters 0.07276673425613381 Centerline is valid? [True, True] Translation: X:189.38, Y:-9.95, Z:-7.01 [[ 9.99561737e-01 -2.87113778e-02 -7.21041859e-03 1.89379246e+02] [ 2.87126183e-02 9.99587705e-01 6.85599394e-05 -9.95214662e+00] [ 7.20547732e-03 -2.75559889e-04 9.99974002e-01 -7.00774683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.311346184 meters 0.07260790908268479 Centerline is valid? [True, True] Translation: X:189.41, Y:-9.95, Z:-7.01 [[ 9.99581914e-01 -2.81512764e-02 -6.59559730e-03 1.89411192e+02] [ 2.81523102e-02 9.99603643e-01 6.39308104e-05 -9.94972378e+00] [ 6.59118336e-03 -2.49585383e-04 9.99978247e-01 -7.00858405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341346184 meters 0.0723782384613401 Centerline is valid? [True, True] Translation: X:189.44, Y:-9.95, Z:-7.01 [[ 9.99607425e-01 -2.73929861e-02 -5.88384488e-03 1.89442635e+02] [ 2.73937954e-02 9.99624718e-01 5.69835780e-05 -9.94676936e+00] [ 5.88007583e-03 -2.18142051e-04 9.99982688e-01 -7.00952402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.371346184 meters 0.07233890536236247 Centerline is valid? [True, True] Translation: X:189.47, Y:-9.94, Z:-7.01 [[ 9.99647042e-01 -2.57126536e-02 -6.68213536e-03 1.89474048e+02] [ 2.57136605e-02 9.99669347e-01 6.47988676e-05 -9.94027967e+00] [ 6.67825974e-03 -2.36598156e-04 9.99977672e-01 -7.01229932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401346184 meters 0.0717031230204232 Centerline is valid? [True, True] Translation: X:189.51, Y:-9.94, Z:-7.01 [[ 9.99698350e-01 -2.37370525e-02 -6.30560263e-03 1.89505784e+02] [ 2.37379125e-02 9.99718214e-01 6.15745285e-05 -9.93636167e+00] [ 6.30236420e-03 -2.11237798e-04 9.99980118e-01 -7.01296407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43134618399998 meters 0.07091466163606013 Centerline is valid? [True, True] Translation: X:189.54, Y:-9.93, Z:-7.01 [[ 9.99726563e-01 -2.27591030e-02 -5.36868398e-03 1.89537486e+02] [ 2.27597116e-02 9.99740963e-01 5.22939362e-05 -9.93239763e+00] [ 5.36610313e-03 -1.74469336e-04 9.99985587e-01 -7.01234776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46134618399998 meters 0.07098506076351495 Centerline is valid? [True, True] Translation: X:189.57, Y:-9.93, Z:-7.01 [[ 9.99784296e-01 -2.05398233e-02 -3.07836856e-03 1.89568347e+02] [ 2.05400148e-02 9.99789031e-01 3.05884425e-05 -9.92776492e+00] [ 3.07709084e-03 -9.38115801e-05 9.99995261e-01 -7.01409908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49134618399998 meters 0.07062862144276096 Centerline is valid? [True, True] Translation: X:189.60, Y:-9.92, Z:-7.02 [[ 9.99813340e-01 -1.90420742e-02 -3.26874212e-03 1.89600927e+02] [ 1.90422861e-02 9.99818679e-01 3.37164156e-05 -9.92336259e+00] [ 3.26750740e-03 -9.59544448e-05 9.99994657e-01 -7.01577791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52134618399998 meters 0.07000359466357707 Centerline is valid? [True, True] Translation: X:189.63, Y:-9.92, Z:-7.02 [[ 9.99837175e-01 -1.77349943e-02 -3.33081141e-03 1.89633677e+02] [ 1.77352100e-02 9.99842718e-01 3.52080965e-05 -9.91879081e+00] [ 3.32966312e-03 -9.42750034e-05 9.99994452e-01 -7.01621295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55134618399998 meters 0.0692771888374661 Centerline is valid? [True, True] Translation: X:189.66, Y:-9.91, Z:-7.02 [[ 9.99894525e-01 -1.41205614e-02 -3.39831636e-03 1.89664191e+02] [ 1.41207571e-02 9.99900297e-01 3.36042914e-05 -9.91138898e+00] [ 3.39750303e-03 -8.15875468e-05 9.99994225e-01 -7.01816315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58134618399998 meters 0.06764916564751963 Centerline is valid? [True, True] Translation: X:189.70, Y:-9.91, Z:-7.01 [[ 9.99914464e-01 -1.26011249e-02 -3.50368009e-03 1.89696720e+02] [ 1.26013311e-02 9.99920599e-01 3.67755006e-05 -9.90581212e+00] [ 3.50293848e-03 -8.09233879e-05 9.99993861e-01 -7.01468551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61134618399998 meters 0.06753196969752512 Centerline is valid? [True, True] Translation: X:189.73, Y:-9.91, Z:-7.02 [[ 9.99929477e-01 -1.14679600e-02 -3.08649940e-03 1.89727958e+02] [ 1.14681141e-02 9.99934239e-01 3.22298482e-05 -9.90514126e+00] [ 3.08592682e-03 -6.76239025e-05 9.99995236e-01 -7.01740114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64134618399999 meters 0.06710446474300613 Centerline is valid? [True, True] Translation: X:189.76, Y:-9.90, Z:-7.02 [[ 9.99944836e-01 -1.03140445e-02 -1.98612698e-03 1.89758982e+02] [ 1.03141063e-02 9.99946808e-01 2.08432966e-05 -9.90350726e+00] [ 1.98580636e-03 -4.13272716e-05 9.99998027e-01 -7.01852626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.671346184 meters 0.06851657475597417 Centerline is valid? [True, True] Translation: X:189.79, Y:-9.91, Z:-7.03 [[ 9.99954211e-01 -9.40618945e-03 -1.76045735e-03 1.89789996e+02] [ 9.40623801e-03 9.99955760e-01 1.93027389e-05 -9.90539822e+00] [ 1.76019791e-03 -3.58611359e-05 9.99998450e-01 -7.02549484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.701346184 meters 0.06575374714721324 Centerline is valid? [True, True] Translation: X:189.82, Y:-9.90, Z:-7.01 [[ 9.99956234e-01 -9.17658298e-03 -1.82202893e-03 1.89823142e+02] [ 9.17663625e-03 9.99957894e-01 2.08746349e-05 -9.89779922e+00] [ 1.82176065e-03 -3.75938180e-05 9.99998340e-01 -7.01427159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.731346184 meters 0.0658818672194928 Centerline is valid? [True, True] Translation: X:189.85, Y:-9.90, Z:-7.02 [[ 9.99967778e-01 -7.82591600e-03 -1.78841867e-03 1.89854350e+02] [ 7.82596299e-03 9.99969376e-01 1.92767708e-05 -9.89736596e+00] [ 1.78821304e-03 -3.32722480e-05 9.99998401e-01 -7.01726184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.761346184 meters 0.06563340218353883 Centerline is valid? [True, True] Translation: X:189.89, Y:-9.90, Z:-7.02 [[ 9.99971553e-01 -7.35668176e-03 -1.66526722e-03 1.89886178e+02] [ 7.35672445e-03 9.99972939e-01 1.95137248e-05 -9.89805720e+00] [ 1.66507860e-03 -3.17640818e-05 9.99998613e-01 -7.01811246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.791346184 meters 0.06571394813891565 Centerline is valid? [True, True] Translation: X:189.92, Y:-9.90, Z:-7.02 [[ 9.99975360e-01 -6.79866965e-03 -1.74865662e-03 1.89917554e+02] [ 6.79871464e-03 9.99976888e-01 1.97852137e-05 -9.89927723e+00] [ 1.74848169e-03 -3.16733435e-05 9.99998471e-01 -7.02018199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821346184 meters 0.06608213167461542 Centerline is valid? [True, True] Translation: X:189.95, Y:-9.90, Z:-7.02 [[ 9.99975243e-01 -6.43185115e-03 -2.85406394e-03 1.89949146e+02] [ 6.43196430e-03 9.99979314e-01 3.04689671e-05 -9.90145297e+00] [ 2.85380893e-03 -4.88254501e-05 9.99995927e-01 -7.02333550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.851346184 meters 0.06673402583752194 Centerline is valid? [True, True] Translation: X:189.98, Y:-9.90, Z:-7.03 [[ 9.99975070e-01 -5.96222950e-03 -3.78305641e-03 1.89979410e+02] [ 5.96242668e-03 9.99982224e-01 4.08463108e-05 -9.90319926e+00] [ 3.78274563e-03 -6.34014890e-05 9.99992843e-01 -7.02770691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881346184 meters 0.06633620489385339 Centerline is valid? [True, True] Translation: X:190.01, Y:-9.90, Z:-7.03 [[ 9.99975616e-01 -5.61926613e-03 -4.14628692e-03 1.90009600e+02] [ 5.61949116e-03 9.99984210e-01 4.26241618e-05 -9.90225732e+00] [ 4.14598193e-03 -6.59231451e-05 9.99991403e-01 -7.02665966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.911346184 meters 0.06685020350884792 Centerline is valid? [True, True] Translation: X:190.04, Y:-9.90, Z:-7.03 [[ 9.99974157e-01 -5.03887447e-03 -5.12782443e-03 1.90039287e+02] [ 5.03920724e-03 9.99987302e-01 5.19770092e-05 -9.90322631e+00] [ 5.12749741e-03 -7.78158360e-05 9.99986851e-01 -7.03050855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941346184 meters 0.06707677050811404 Centerline is valid? [True, True] Translation: X:190.07, Y:-9.91, Z:-7.03 [[ 9.99971486e-01 -4.12832702e-03 -6.32332836e-03 1.90068319e+02] [ 4.12880578e-03 9.99991474e-01 6.26615452e-05 -9.90581767e+00] [ 6.32301576e-03 -8.87675531e-05 9.99980006e-01 -7.03430292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.971346184 meters 0.06648446495005154 Centerline is valid? [True, True] Translation: X:190.10, Y:-9.91, Z:-7.03 [[ 9.99970532e-01 -3.88998458e-03 -6.61834898e-03 1.90097264e+02] [ 3.89044424e-03 9.99992431e-01 5.65805482e-05 -9.90626913e+00] [ 6.61807878e-03 -8.23271986e-05 9.99978097e-01 -7.03229938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001346184 meters 0.06679642612927318 Centerline is valid? [True, True] Translation: X:190.12, Y:-9.91, Z:-7.04 [[ 9.99976314e-01 -4.04239655e-03 -5.57044975e-03 1.90124558e+02] [ 4.04274649e-03 9.99991827e-01 5.15621604e-05 -9.90802664e+00] [ 5.57019579e-03 -7.40808553e-05 9.99984484e-01 -7.03514761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.031346184 meters 0.06603001034060976 Centerline is valid? [True, True] Translation: X:190.15, Y:-9.91, Z:-7.03 [[ 9.99984489e-01 -3.97210011e-03 -3.90444227e-03 1.90153534e+02] [ 3.97224077e-03 9.99992110e-01 2.82694863e-05 -9.90639544e+00] [ 3.90429918e-03 -4.37784325e-05 9.99992377e-01 -7.03206355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061346184 meters 0.06554159315091126 Centerline is valid? [True, True] Translation: X:190.18, Y:-9.90, Z:-7.03 [[ 9.99991034e-01 -2.92831622e-03 -3.05891384e-03 1.90183749e+02] [ 2.92840990e-03 9.99995712e-01 2.61463117e-05 -9.90261010e+00] [ 3.05882415e-03 -3.51038308e-05 9.99995321e-01 -7.02980311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.091346184 meters 0.0656532720734297 Centerline is valid? [True, True] Translation: X:190.21, Y:-9.90, Z:-7.03 [[ 9.99990497e-01 -1.51452607e-03 -4.08797000e-03 1.90213352e+02] [ 1.51469684e-03 9.99998852e-01 3.86788905e-05 -9.90106855e+00] [ 4.08790673e-03 -4.48705582e-05 9.99991643e-01 -7.03144897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121346184 meters 0.06583075089441229 Centerline is valid? [True, True] Translation: X:190.24, Y:-9.90, Z:-7.03 [[ 9.99993592e-01 -3.27696567e-04 -3.56483462e-03 1.90242292e+02] [ 3.27811569e-04 9.99999946e-01 3.16760921e-05 -9.90040597e+00] [ 3.56482405e-03 -3.28444832e-05 9.99993645e-01 -7.03402251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.151346184 meters 0.06546954511006471 Centerline is valid? [True, True] Translation: X:190.27, Y:-9.90, Z:-7.03 [[ 9.99993555e-01 1.24535435e-03 -3.36730323e-03 1.90271457e+02] [-1.24528868e-03 9.99999224e-01 2.15986805e-05 -9.89878542e+00] [ 3.36732751e-03 -1.74052767e-05 9.99994330e-01 -7.03416229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18134618399998 meters 0.06602644979164646 Centerline is valid? [True, True] Translation: X:190.30, Y:-9.90, Z:-7.04 [[ 9.99994359e-01 1.49703774e-03 -3.00696714e-03 1.90298717e+02] [-1.49697262e-03 9.99998879e-01 2.39081041e-05 -9.90004251e+00] [ 3.00699956e-03 -1.94066217e-05 9.99995479e-01 -7.03946265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21134618399998 meters 0.06607739530971336 Centerline is valid? [True, True] Translation: X:190.33, Y:-9.90, Z:-7.04 [[ 9.99992738e-01 1.24230915e-03 -3.60280114e-03 1.90327570e+02] [-1.24220942e-03 9.99999228e-01 2.99193475e-05 -9.90062368e+00] [ 3.60283553e-03 -2.54436968e-05 9.99993509e-01 -7.04122225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24134618399998 meters 0.06559823156100976 Centerline is valid? [True, True] Translation: X:190.36, Y:-9.90, Z:-7.04 [[ 9.99989202e-01 1.27170772e-03 -4.46980422e-03 1.90356859e+02] [-1.27155386e-03 9.99999191e-01 3.72633839e-05 -9.89961183e+00] [ 4.46984799e-03 -3.15793847e-05 9.99990010e-01 -7.03906803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27134618399998 meters 0.06587431737861388 Centerline is valid? [True, True] Translation: X:190.39, Y:-9.90, Z:-7.04 [[ 9.99984934e-01 5.90802305e-04 -5.45734103e-03 1.90385517e+02] [-5.90561862e-04 9.99999825e-01 4.56700023e-05 -9.89734889e+00] [ 5.45736705e-03 -4.24464168e-05 9.99985108e-01 -7.03935973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30134618399998 meters 0.06599083710547901 Centerline is valid? [True, True] Translation: X:190.41, Y:-9.90, Z:-7.04 [[ 9.99983529e-01 1.03945330e-04 -5.73855312e-03 1.90414533e+02] [-1.03673186e-04 9.99999993e-01 4.77212890e-05 -9.89838632e+00] [ 5.73855804e-03 -4.71255689e-05 9.99983533e-01 -7.04052699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33134618399998 meters 0.06585269884167644 Centerline is valid? [True, True] Translation: X:190.44, Y:-9.90, Z:-7.04 [[ 9.99984172e-01 2.35610682e-04 -5.62143795e-03 1.90443504e+02] [-2.35354423e-04 9.99999971e-01 4.62473851e-05 -9.90091580e+00] [ 5.62144869e-03 -4.49236228e-05 9.99984199e-01 -7.04195579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36134618399998 meters 0.06601865667022982 Centerline is valid? [True, True] Translation: X:190.47, Y:-9.90, Z:-7.04 [[ 9.99985861e-01 3.75660501e-04 -5.30434245e-03 1.90471410e+02] [-3.75440974e-04 9.99999929e-01 4.23819474e-05 -9.90463188e+00] [ 5.30435799e-03 -4.03898807e-05 9.99985931e-01 -7.04498692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39134618399999 meters 0.06607786638628753 Centerline is valid? [True, True] Translation: X:190.50, Y:-9.90, Z:-7.05 [[ 9.99987140e-01 6.67061180e-04 -5.02737438e-03 1.90500414e+02] [-6.66903862e-04 9.99999777e-01 3.29686747e-05 -9.90439262e+00] [ 5.02739525e-03 -2.96154753e-05 9.99987362e-01 -7.04628479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.421346184 meters 0.06639337477013535 Centerline is valid? [True, True] Translation: X:190.53, Y:-9.90, Z:-7.05 [[ 9.99977718e-01 9.78491254e-04 -6.60352930e-03 1.90529094e+02] [-9.78169052e-04 9.99999520e-01 5.20218574e-05 -9.90483848e+00] [ 6.60357703e-03 -4.55613303e-05 9.99978195e-01 -7.04852229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.451346184 meters 0.06648952488993445 Centerline is valid? [True, True] Translation: X:190.56, Y:-9.91, Z:-7.05 [[ 9.99974198e-01 1.84502181e-03 -6.94253928e-03 1.90557217e+02] [-1.84469428e-03 9.99998297e-01 5.35798403e-05 -9.90794822e+00] [ 6.94262632e-03 -4.07715953e-05 9.99975899e-01 -7.05054294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.481346184 meters 0.06630950769172532 Centerline is valid? [True, True] Translation: X:190.59, Y:-9.91, Z:-7.05 [[ 9.99985172e-01 1.95759290e-03 -5.08177557e-03 1.90585677e+02] [-1.95742164e-03 9.99998084e-01 3.86741313e-05 -9.90985197e+00] [ 5.08184154e-03 -2.87263803e-05 9.99987087e-01 -7.05091957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.511346184 meters 0.065798109112035 Centerline is valid? [True, True] Translation: X:190.61, Y:-9.91, Z:-7.05 [[ 9.99996266e-01 1.79745604e-03 -2.05831510e-03 1.90614121e+02] [-1.79743089e-03 9.99998385e-01 1.40718498e-05 -9.91203175e+00] [ 2.05833707e-03 -1.03721182e-05 9.99997882e-01 -7.04962351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.541346184 meters 0.06575075425849362 Centerline is valid? [True, True] Translation: X:190.64, Y:-9.91, Z:-7.05 [[ 9.99996594e-01 1.93810849e-03 -1.74825918e-03 1.90642556e+02] [-1.93809140e-03 9.99998122e-01 1.14693117e-05 -9.91324315e+00] [ 1.74827812e-03 -8.08098657e-06 9.99998472e-01 -7.05006527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.571346184 meters 0.06583703813728195 Centerline is valid? [True, True] Translation: X:190.67, Y:-9.91, Z:-7.05 [[ 9.99997250e-01 1.94601124e-03 -1.30863449e-03 1.90671715e+02] [-1.94600257e-03 9.99998107e-01 7.90120865e-06 -9.91472263e+00] [ 1.30864738e-03 -5.35458085e-06 9.99999144e-01 -7.05118222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601346184 meters 0.06619653369164274 Centerline is valid? [True, True] Translation: X:190.70, Y:-9.92, Z:-7.05 [[ 9.99993524e-01 2.52955710e-03 -2.55980659e-03 1.90701256e+02] [-2.52951704e-03 9.99996801e-01 1.88853456e-05 -9.91629387e+00] [ 2.55984617e-03 -1.24101489e-05 9.99996724e-01 -7.05393252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.631346184 meters 0.06703416423665466 Centerline is valid? [True, True] Translation: X:190.73, Y:-9.92, Z:-7.06 [[ 9.99984855e-01 2.81974514e-03 -4.72637459e-03 1.90729969e+02] [-2.81961098e-03 9.99996024e-01 3.50482987e-05 -9.92346261e+00] [ 4.72645463e-03 -2.17212302e-05 9.99988830e-01 -7.05892998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661346184 meters 0.06673998230122978 Centerline is valid? [True, True] Translation: X:190.76, Y:-9.93, Z:-7.06 [[ 9.99989849e-01 2.81514289e-03 -3.51819244e-03 1.90759143e+02] [-2.81507067e-03 9.99996037e-01 2.54784652e-05 -9.92755144e+00] [ 3.51825022e-03 -1.55742462e-05 9.99993811e-01 -7.05989569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.691346184 meters 0.06674875716367284 Centerline is valid? [True, True] Translation: X:190.79, Y:-9.93, Z:-7.06 [[ 9.99995086e-01 1.93009423e-03 -2.47040211e-03 1.90788054e+02] [-1.93005905e-03 9.99998137e-01 1.66227501e-05 -9.93040898e+00] [ 2.47042959e-03 -1.18546465e-05 9.99996948e-01 -7.06036854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721346184 meters 0.06686869226557919 Centerline is valid? [True, True] Translation: X:190.82, Y:-9.94, Z:-7.06 [[ 9.99997034e-01 5.07707430e-04 -2.38192884e-03 1.90815601e+02] [-5.07672757e-04 9.99999871e-01 1.51609698e-05 -9.93525512e+00] [ 2.38193623e-03 -1.39516845e-05 9.99997163e-01 -7.06033769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.751346184 meters 0.06662200597676739 Centerline is valid? [True, True] Translation: X:190.84, Y:-9.94, Z:-7.06 [[ 9.99998711e-01 4.54766527e-04 -1.54003784e-03 1.90844477e+02] [-4.54752786e-04 9.99999897e-01 9.27276832e-06 -9.93809353e+00] [ 1.54004190e-03 -8.57241986e-06 9.99998814e-01 -7.06018774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781346184 meters 0.0667991737493689 Centerline is valid? [True, True] Translation: X:190.87, Y:-9.94, Z:-7.06 [[ 9.99998974e-01 4.70033011e-04 -1.35295632e-03 1.90873472e+02] [-4.70021338e-04 9.99999890e-01 8.94585195e-06 -9.94105466e+00] [ 1.35296037e-03 -8.30992443e-06 9.99999085e-01 -7.06229194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.811346184 meters 0.06662666288048845 Centerline is valid? [True, True] Translation: X:190.90, Y:-9.94, Z:-7.06 [[ 9.99999471e-01 9.80061536e-04 -3.13531021e-04 1.90903548e+02] [-9.80061030e-04 9.99999520e-01 1.76798206e-06 -9.94257251e+00] [ 3.13532603e-04 -1.46070159e-06 9.99999951e-01 -7.06284841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841346184 meters 0.067343992610934 Centerline is valid? [True, True] Translation: X:190.93, Y:-9.95, Z:-7.07 [[ 9.99996190e-01 1.54699865e-03 -2.28602447e-03 1.90932848e+02] [-1.54696504e-03 9.99998803e-01 1.64722523e-05 -9.94532976e+00] [ 2.28604722e-03 -1.29357896e-05 9.99997387e-01 -7.06666048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.871346184 meters 0.06741974301698309 Centerline is valid? [True, True] Translation: X:190.96, Y:-9.95, Z:-7.07 [[ 9.99995119e-01 1.05083265e-03 -2.94254669e-03 1.90961990e+02] [-1.05077986e-03 9.99999448e-01 1.94874487e-05 -9.94750455e+00] [ 2.94256554e-03 -1.63953847e-05 9.99995671e-01 -7.06824676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901346184 meters 0.06783598933790157 Centerline is valid? [True, True] Translation: X:190.99, Y:-9.95, Z:-7.07 [[ 9.99994376e-01 4.37714770e-04 -3.32521073e-03 1.90990964e+02] [-4.37643653e-04 9.99999904e-01 2.21146911e-05 -9.95066818e+00] [ 3.32522009e-03 -2.06593093e-05 9.99994471e-01 -7.07087644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93134618399998 meters 0.06806076352227546 Centerline is valid? [True, True] Translation: X:191.02, Y:-9.95, Z:-7.07 [[ 9.99992920e-01 -5.94944853e-04 -3.71554985e-03 1.91019648e+02] [ 5.95040878e-04 9.99999823e-01 2.47385987e-05 -9.95449430e+00] [ 3.71553447e-03 -2.69493276e-05 9.99993097e-01 -7.07271769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96134618399998 meters 0.0682024607081902 Centerline is valid? [True, True] Translation: X:191.05, Y:-9.96, Z:-7.07 [[ 9.99990725e-01 -2.95210469e-03 -3.13618046e-03 1.91046888e+02] [ 2.95218115e-03 9.99995642e-01 1.97501280e-05 -9.96093735e+00] [ 3.13610849e-03 -2.90085177e-05 9.99995082e-01 -7.07425822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99134618399998 meters 0.06816124286633822 Centerline is valid? [True, True] Translation: X:191.08, Y:-9.96, Z:-7.07 [[ 9.99992098e-01 -3.33860244e-03 -2.15798955e-03 1.91076571e+02] [ 3.33864113e-03 9.99994427e-01 1.43266283e-05 -9.96249749e+00] [ 2.15792969e-03 -2.15312677e-05 9.99997671e-01 -7.07473722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02134618399998 meters 0.0680651495418906 Centerline is valid? [True, True] Translation: X:191.11, Y:-9.96, Z:-7.08 [[ 9.99991871e-01 -3.73405351e-03 -1.52117378e-03 1.91106248e+02] [ 3.73407350e-03 9.99993028e-01 1.03021449e-05 -9.96487354e+00] [ 1.52112470e-03 -1.59822358e-05 9.99998843e-01 -7.07511211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05134618399998 meters 0.06821230749659346 Centerline is valid? [True, True] Translation: X:191.14, Y:-9.97, Z:-7.08 [[ 9.99992732e-01 -3.49866633e-03 -1.51500299e-03 1.91136664e+02] [ 3.49868670e-03 9.99993880e-01 1.08002677e-05 -9.96578855e+00] [ 1.51495593e-03 -1.61007100e-05 9.99998852e-01 -7.07679539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08134618399998 meters 0.06818770920065412 Centerline is valid? [True, True] Translation: X:191.17, Y:-9.97, Z:-7.08 [[ 9.99994087e-01 -3.23406916e-03 -1.16917459e-03 1.91167579e+02] [ 3.23408111e-03 9.99994770e-01 8.33490003e-06 -9.96626375e+00] [ 1.16914152e-03 -1.21160562e-05 9.99999316e-01 -7.07813904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11134618399998 meters 0.06818770920065412 Centerline is valid? [True, True] Translation: X:191.20, Y:-9.97, Z:-7.08 [[ 9.99994087e-01 -3.23406916e-03 -1.16917459e-03 1.91197581e+02] [ 3.23408111e-03 9.99994770e-01 8.33490002e-06 -9.96647763e+00] [ 1.16914152e-03 -1.21160562e-05 9.99999316e-01 -7.07916573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14134618399999 meters 0.06865154890335241 Centerline is valid? [True, True] Translation: X:191.23, Y:-9.97, Z:-7.08 [[ 9.99989701e-01 -3.86263606e-03 -2.38276541e-03 1.91228366e+02] [ 3.86268749e-03 9.99992540e-01 1.69864378e-05 -9.96740683e+00] [ 2.38268202e-03 -2.61901410e-05 9.99997161e-01 -7.08166598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.171346184 meters 0.06925909948825769 Centerline is valid? [True, True] Translation: X:191.26, Y:-9.97, Z:-7.08 [[ 9.99985975e-01 -4.19952651e-03 -3.22696809e-03 1.91258138e+02] [ 4.19962075e-03 9.99991181e-01 2.24288225e-05 -9.96997428e+00] [ 3.22684544e-03 -3.59805501e-05 9.99994793e-01 -7.08482608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.201346184 meters 0.0692406798915521 Centerline is valid? [True, True] Translation: X:191.29, Y:-9.97, Z:-7.09 [[ 9.99986378e-01 -4.11892403e-03 -3.20611291e-03 1.91287551e+02] [ 4.11901467e-03 9.99991517e-01 2.16673255e-05 -9.97154713e+00] [ 3.20599647e-03 -3.48730565e-05 9.99994860e-01 -7.08600556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.231346184 meters 0.06917768755214578 Centerline is valid? [True, True] Translation: X:191.32, Y:-9.97, Z:-7.09 [[ 9.99987257e-01 -4.32479916e-03 -2.60440603e-03 1.91316999e+02] [ 4.32485897e-03 9.99990648e-01 1.73346950e-05 -9.97296962e+00] [ 2.60430671e-03 -2.85981629e-05 9.99996608e-01 -7.08726746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.261346184 meters 0.06627238684560294 Centerline is valid? [True, True] Translation: X:191.35, Y:-9.97, Z:-7.07 [[ 9.99989064e-01 -4.29230993e-03 -1.85665789e-03 1.91348057e+02] [ 4.29234164e-03 9.99990788e-01 1.30945617e-05 -9.96892735e+00] [ 1.85658458e-03 -2.10638284e-05 9.99998276e-01 -7.07353477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.291346184 meters 0.0660624947130018 Centerline is valid? [True, True] Translation: X:191.38, Y:-9.97, Z:-7.07 [[ 9.99990098e-01 -3.83458043e-03 -2.25812298e-03 1.91378805e+02] [ 3.83462617e-03 9.99992648e-01 1.59259984e-05 -9.96875624e+00] [ 2.25804531e-03 -2.45848982e-05 9.99997450e-01 -7.07373966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.321346184 meters 0.06930940387964288 Centerline is valid? [True, True] Translation: X:191.41, Y:-9.97, Z:-7.09 [[ 9.99990763e-01 -3.91589323e-03 -1.77185368e-03 1.91407845e+02] [ 3.91592034e-03 9.99992333e-01 1.18270952e-05 -9.97412573e+00] [ 1.77179379e-03 -1.87654239e-05 9.99998430e-01 -7.09084562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.351346184 meters 0.06614465020964697 Centerline is valid? [True, True] Translation: X:191.44, Y:-9.97, Z:-7.08 [[ 9.99992934e-01 -3.75915651e-03 -1.54068614e-06 1.91438468e+02] [ 3.75915651e-03 9.99992934e-01 1.08374481e-08 -9.97013580e+00] [ 1.54063435e-06 -1.66290488e-08 1.00000000e+00 -7.07692698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.381346184 meters 0.06566791972285613 Centerline is valid? [True, True] Translation: X:191.47, Y:-9.97, Z:-7.07 [[ 9.99989460e-01 -4.47398839e-03 1.03150538e-03 1.91470142e+02] [ 4.47399697e-03 9.99989992e-01 -6.01822634e-06 -9.97085323e+00] [-1.03146813e-03 1.06331149e-05 9.99999468e-01 -7.07451241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.411346184 meters 0.06577178979042995 Centerline is valid? [True, True] Translation: X:191.50, Y:-9.97, Z:-7.08 [[ 9.99984251e-01 -5.46999543e-03 1.25536419e-03 1.91501465e+02] [ 5.47000859e-03 9.99985039e-01 -7.04960339e-06 -9.97353266e+00] [-1.25530685e-03 1.39163453e-05 9.99999212e-01 -7.07598844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441346184 meters 0.0650811028477382 Centerline is valid? [True, True] Translation: X:191.53, Y:-9.97, Z:-7.07 [[ 9.99980546e-01 -5.86437902e-03 2.12530727e-03 1.91533987e+02] [ 5.86441908e-03 9.99982804e-01 -1.26173963e-05 -9.97385150e+00] [-2.12519673e-03 2.50808433e-05 9.99997741e-01 -7.07268714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.471346184 meters 0.06525641081813757 Centerline is valid? [True, True] Translation: X:191.57, Y:-9.98, Z:-7.07 [[ 9.99976572e-01 -6.23315326e-03 2.82908645e-03 1.91565440e+02] [ 6.23323067e-03 9.99980573e-01 -1.85471844e-05 -9.97574043e+00] [-2.82891588e-03 3.61810983e-05 9.99995998e-01 -7.07439442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501346184 meters 0.06530309284125081 Centerline is valid? [True, True] Translation: X:191.60, Y:-9.98, Z:-7.07 [[ 9.99971775e-01 -7.25863208e-03 1.93929049e-03 1.91598000e+02] [ 7.25866817e-03 9.99973655e-01 -1.15729163e-05 -9.97793961e+00] [-1.93915539e-03 2.56492558e-05 9.99998120e-01 -7.07447080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.531346184 meters 0.06566316193646059 Centerline is valid? [True, True] Translation: X:191.63, Y:-9.98, Z:-7.08 [[ 9.99972910e-01 -7.16338728e-03 1.69293075e-03 1.91628986e+02] [ 7.16341539e-03 9.99974342e-01 -1.05418702e-05 -9.98169981e+00] [-1.69281179e-03 2.26687508e-05 9.99998567e-01 -7.07802978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561346184 meters 0.06638647081708383 Centerline is valid? [True, True] Translation: X:191.66, Y:-9.99, Z:-7.08 [[ 9.99969105e-01 -7.78919589e-03 1.05713442e-03 1.91659911e+02] [ 7.78920651e-03 9.99969664e-01 -5.92695038e-06 -9.98701011e+00] [-1.05705618e-03 1.41610056e-05 9.99999441e-01 -7.08272496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.591346184 meters 0.06568829030028063 Centerline is valid? [True, True] Translation: X:191.69, Y:-9.99, Z:-7.08 [[ 9.99971378e-01 -7.37117259e-03 1.70581722e-03 1.91691837e+02] [ 7.37120069e-03 9.99972832e-01 -1.01862303e-05 -9.99091387e+00] [-1.70569580e-03 2.27598598e-05 9.99998545e-01 -7.08068191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621346184 meters 0.06567888209931662 Centerline is valid? [True, True] Translation: X:191.72, Y:-9.99, Z:-7.08 [[ 9.99973441e-01 -7.01797004e-03 1.96615518e-03 1.91722629e+02] [ 7.01800422e-03 9.99975373e-01 -1.04840690e-05 -9.99229396e+00] [-1.96603319e-03 2.42822760e-05 9.99998067e-01 -7.08221052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.651346184 meters 0.06547023984698387 Centerline is valid? [True, True] Translation: X:191.75, Y:-9.99, Z:-7.08 [[ 9.99982535e-01 -5.54611260e-03 2.04230236e-03 1.91754886e+02] [ 5.54615100e-03 9.99984620e-01 -1.31407627e-05 -9.99138404e+00] [-2.04219807e-03 2.44674505e-05 9.99997914e-01 -7.08142271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68134618399998 meters 0.06533312012044001 Centerline is valid? [True, True] Translation: X:191.79, Y:-9.99, Z:-7.08 [[ 9.99993888e-01 -2.30758868e-03 2.62669492e-03 1.91786109e+02] [ 2.30764526e-03 9.99997337e-01 -1.85108935e-05 -9.99062869e+00] [-2.62664521e-03 2.45722604e-05 9.99996550e-01 -7.08190485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71134618399998 meters 0.06530691711734796 Centerline is valid? [True, True] Translation: X:191.82, Y:-9.99, Z:-7.08 [[ 9.99993840e-01 -8.60838517e-04 3.40266482e-03 1.91817792e+02] [ 8.60925826e-04 9.99999629e-01 -2.41945537e-05 -9.99193260e+00] [-3.40264273e-03 2.71238467e-05 9.99994211e-01 -7.08335371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74134618399998 meters 0.06497180297742138 Centerline is valid? [True, True] Translation: X:191.85, Y:-9.99, Z:-7.08 [[ 9.99990926e-01 4.31709911e-04 4.23802500e-03 1.91849722e+02] [-4.31582111e-04 9.99999906e-01 -3.10698410e-05 -9.99340051e+00] [-4.23803801e-03 2.92405033e-05 9.99991019e-01 -7.08252328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77134618399998 meters 0.06527502395778237 Centerline is valid? [True, True] Translation: X:191.88, Y:-10.00, Z:-7.09 [[ 9.99988559e-01 1.07477955e-03 4.66127849e-03 1.91880772e+02] [-1.07462622e-03 9.99999422e-01 -3.53992447e-05 -9.99661262e+00] [-4.66131385e-03 3.03897076e-05 9.99989136e-01 -7.08633879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80134618399998 meters 0.06527242506215221 Centerline is valid? [True, True] Translation: X:191.91, Y:-10.00, Z:-7.09 [[ 9.99986147e-01 1.65636023e-03 4.99629144e-03 1.91912438e+02] [-1.65619144e-03 9.99998628e-01 -3.79206202e-05 -1.00008332e+01] [-4.99634740e-03 2.96452798e-05 9.99987518e-01 -7.08774872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83134618399998 meters 0.06502547380031677 Centerline is valid? [True, True] Translation: X:191.94, Y:-10.00, Z:-7.09 [[ 9.99983252e-01 1.78049286e-03 5.50679643e-03 1.91944763e+02] [-1.78031642e-03 9.99998415e-01 -3.69423680e-05 -1.00023884e+01] [-5.50685348e-03 2.71379092e-05 9.99984837e-01 -7.08688376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86134618399998 meters 0.06517844271466815 Centerline is valid? [True, True] Translation: X:191.98, Y:-10.01, Z:-7.09 [[ 9.99986132e-01 1.31488100e-03 5.09974664e-03 1.91976726e+02] [-1.31472023e-03 9.99999135e-01 -3.48779251e-05 -1.00051194e+01] [-5.09978809e-03 2.81727013e-05 9.99986996e-01 -7.08845228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89134618399999 meters 0.0653934088646859 Centerline is valid? [True, True] Translation: X:192.01, Y:-10.01, Z:-7.09 [[ 9.99987862e-01 -1.12915831e-03 4.79587840e-03 1.92008176e+02] [ 1.12933494e-03 9.99999362e-01 -3.41221026e-05 -1.00106778e+01] [-4.79583681e-03 3.95378415e-05 9.99988499e-01 -7.09018393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.921346184 meters 0.06537906373275718 Centerline is valid? [True, True] Translation: X:192.04, Y:-10.01, Z:-7.09 [[ 9.99986646e-01 -2.12714663e-03 4.70982154e-03 1.92040887e+02] [ 2.12733009e-03 9.99997737e-01 -3.39412713e-05 -1.00130966e+01] [-4.70973868e-03 4.39601631e-05 9.99988908e-01 -7.09046342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.951346184 meters 0.06541597859192254 Centerline is valid? [True, True] Translation: X:192.07, Y:-10.02, Z:-7.09 [[ 9.99982725e-01 -3.08262308e-03 5.00479469e-03 1.92073651e+02] [ 3.08287382e-03 9.99995247e-01 -4.23865391e-05 -1.00161869e+01] [-5.00464024e-03 5.78149574e-05 9.99987475e-01 -7.09137515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.981346184 meters 0.06570023146396782 Centerline is valid? [True, True] Translation: X:192.10, Y:-10.02, Z:-7.09 [[ 9.99970263e-01 -4.59660187e-03 6.19230990e-03 1.92104624e+02] [ 4.59703507e-03 9.99989432e-01 -5.57270685e-05 -1.00239213e+01] [-6.19198831e-03 8.41916771e-05 9.99980826e-01 -7.09366074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.011346184 meters 0.0658857974571118 Centerline is valid? [True, True] Translation: X:192.14, Y:-10.03, Z:-7.10 [[ 9.99971112e-01 -5.59558089e-03 5.14432634e-03 1.92136531e+02] [ 5.59589027e-03 9.99984342e-01 -4.57487808e-05 -1.00278024e+01] [-5.14398980e-03 7.45345450e-05 9.99986767e-01 -7.09591075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.041346184 meters 0.06612666948663709 Centerline is valid? [True, True] Translation: X:192.17, Y:-10.03, Z:-7.10 [[ 9.99976064e-01 -6.29036426e-03 2.88130172e-03 1.92168881e+02] [ 6.29046149e-03 9.99980215e-01 -2.46850231e-05 -1.00297545e+01] [-2.88108943e-03 4.28091497e-05 9.99995849e-01 -7.09790495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.071346184 meters 0.06673670638361956 Centerline is valid? [True, True] Translation: X:192.20, Y:-10.03, Z:-7.10 [[ 9.99975049e-01 -7.03782289e-03 6.08863908e-04 1.92199803e+02] [ 7.03782655e-03 9.99975234e-01 -3.87656681e-06 -1.00315934e+01] [-6.08821547e-04 8.16154866e-06 9.99999815e-01 -7.10154930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101346184 meters 0.06679164492118642 Centerline is valid? [True, True] Translation: X:192.23, Y:-10.03, Z:-7.10 [[ 9.99958487e-01 -9.08619912e-03 6.81891364e-04 1.92231994e+02] [ 9.08620394e-03 9.99958720e-01 -3.96977280e-06 -1.00342032e+01] [-6.81827145e-04 1.01654120e-05 9.99999768e-01 -7.10066943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.131346184 meters 0.06723803451312 Centerline is valid? [True, True] Translation: X:192.26, Y:-10.04, Z:-7.10 [[ 9.99942737e-01 -1.05458256e-02 1.81896067e-03 1.92263321e+02] [ 1.05458715e-02 9.99944391e-01 -1.56376527e-05 -1.00386133e+01] [-1.81869460e-03 3.48192827e-05 9.99998346e-01 -7.10172532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161346184 meters 0.06748839945122177 Centerline is valid? [True, True] Translation: X:192.29, Y:-10.04, Z:-7.10 [[ 9.99929776e-01 -1.15179194e-02 2.78930153e-03 1.92294684e+02] [ 1.15180284e-02 9.99933665e-01 -2.30479192e-05 -1.00426085e+01] [-2.78885104e-03 5.51735551e-05 9.99996110e-01 -7.10286039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.191346184 meters 0.06777485372273048 Centerline is valid? [True, True] Translation: X:192.33, Y:-10.05, Z:-7.10 [[ 9.99913605e-01 -1.28999467e-02 2.52465608e-03 1.92326522e+02] [ 1.29000443e-02 9.99916791e-01 -2.23946035e-05 -1.00472827e+01] [-2.52415712e-03 5.49608441e-05 9.99996813e-01 -7.10351333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221346184 meters 0.06792637662262264 Centerline is valid? [True, True] Translation: X:192.36, Y:-10.05, Z:-7.11 [[ 9.99916617e-01 -1.25966490e-02 2.84312659e-03 1.92357727e+02] [ 1.25967690e-02 9.99920657e-01 -2.43018028e-05 -1.00487869e+01] [-2.84259489e-03 6.01139853e-05 9.99995958e-01 -7.10515073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.251346184 meters 0.06772112765609672 Centerline is valid? [True, True] Translation: X:192.39, Y:-10.05, Z:-7.11 [[ 9.99926359e-01 -1.17875575e-02 2.88604001e-03 1.92389745e+02] [ 1.17876832e-02 9.99930522e-01 -2.65430988e-05 -1.00492337e+01] [-2.88552662e-03 6.05608694e-05 9.99995835e-01 -7.10611949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281346184 meters 0.06737670316726403 Centerline is valid? [True, True] Translation: X:192.42, Y:-10.05, Z:-7.11 [[ 9.99940903e-01 -1.03446865e-02 3.34344814e-03 1.92421688e+02] [ 1.03448492e-02 9.99946490e-01 -3.13740867e-05 -1.00490201e+01] [-3.34294467e-03 6.59596993e-05 9.99994410e-01 -7.10697483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.311346184 meters 0.06687176297532141 Centerline is valid? [True, True] Translation: X:192.45, Y:-10.05, Z:-7.11 [[ 9.99968846e-01 -7.11941366e-03 3.40882494e-03 1.92454208e+02] [ 7.11956509e-03 9.99974655e-01 -3.22903362e-05 -1.00476952e+01] [-3.40850865e-03 5.65586813e-05 9.99994189e-01 -7.10822458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341346184 meters 0.06679946630845275 Centerline is valid? [True, True] Translation: X:192.49, Y:-10.05, Z:-7.11 [[ 9.99974477e-01 -6.17791489e-03 3.58878598e-03 1.92486672e+02] [ 6.17807804e-03 9.99980915e-01 -3.43776763e-05 -1.00478701e+01] [-3.58850511e-03 5.65485987e-05 9.99993560e-01 -7.10957920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.371346184 meters 0.06600730804150247 Centerline is valid? [True, True] Translation: X:192.52, Y:-10.05, Z:-7.11 [[ 9.99981998e-01 -5.80073420e-03 1.53486435e-03 1.92518738e+02] [ 5.80076137e-03 9.99983175e-01 -1.32506387e-05 -1.00459151e+01] [-1.53476166e-03 2.21537820e-05 9.99998822e-01 -7.10728409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401346184 meters 0.06640072066438293 Centerline is valid? [True, True] Translation: X:192.55, Y:-10.05, Z:-7.11 [[ 9.99981247e-01 -6.11237133e-03 3.81122064e-04 1.92550219e+02] [ 6.11237255e-03 9.99981319e-01 -2.02010730e-06 -1.00488899e+01] [-3.81102597e-04 4.34962946e-06 9.99999927e-01 -7.11041495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43134618399998 meters 0.06684286654850441 Centerline is valid? [True, True] Translation: X:192.58, Y:-10.05, Z:-7.11 [[ 9.99978074e-01 -6.62136652e-03 -9.99660505e-05 1.92580955e+02] [ 6.62136685e-03 9.99978079e-01 2.94666070e-06 -1.00521543e+01] [ 9.99443480e-05 -3.60850798e-06 9.99999995e-01 -7.11322322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46134618399998 meters 0.06691631121389531 Centerline is valid? [True, True] Translation: X:192.61, Y:-10.06, Z:-7.11 [[ 9.99971113e-01 -7.54340932e-03 9.33333885e-04 1.92612361e+02] [ 7.54342054e-03 9.99971548e-01 -8.50974643e-06 -1.00558789e+01] [-9.33243137e-04 1.55500306e-05 9.99999564e-01 -7.11474287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49134618399998 meters 0.06724969167366475 Centerline is valid? [True, True] Translation: X:192.64, Y:-10.06, Z:-7.12 [[ 9.99965490e-01 -8.30547535e-03 -1.95525049e-04 1.92644704e+02] [ 8.30547640e-03 9.99965509e-01 4.57617063e-06 -1.00594594e+01] [ 1.95480298e-04 -6.19994139e-06 9.99999981e-01 -7.11668828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52134618399998 meters 0.06823939019379313 Centerline is valid? [True, True] Translation: X:192.68, Y:-10.06, Z:-7.12 [[ 9.99939546e-01 -1.09140637e-02 -1.33706108e-03 1.92675092e+02] [ 1.09140949e-02 9.99940439e-01 1.60302170e-05 -1.00649327e+01] [ 1.33680649e-03 -3.06220594e-05 9.99999106e-01 -7.11999942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55134618399998 meters 0.06875083343101471 Centerline is valid? [True, True] Translation: X:192.71, Y:-10.07, Z:-7.12 [[ 9.99927267e-01 -1.16975525e-02 -2.93739550e-03 1.92706239e+02] [ 1.16976983e-02 9.99931579e-01 3.24656805e-05 -1.00676270e+01] [ 2.93681475e-03 -6.68240856e-05 9.99995685e-01 -7.12310174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58134618399998 meters 0.06937645952778072 Centerline is valid? [True, True] Translation: X:192.74, Y:-10.07, Z:-7.13 [[ 9.99915051e-01 -1.22358421e-02 -4.49167843e-03 1.92736027e+02] [ 1.22361801e-02 9.99925134e-01 4.77718509e-05 -1.00711210e+01] [ 4.49075763e-03 -1.02728779e-04 9.99989911e-01 -7.12665777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61134618399998 meters 0.0701069003044395 Centerline is valid? [True, True] Translation: X:192.77, Y:-10.08, Z:-7.13 [[ 9.99901690e-01 -1.24920123e-02 -6.36874275e-03 1.92765623e+02] [ 1.24926924e-02 9.99921961e-01 6.70204040e-05 -1.00753636e+01] [ 6.36740852e-03 -1.46576559e-04 9.99979717e-01 -7.13100333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64134618399999 meters 0.07010870926566928 Centerline is valid? [True, True] Translation: X:192.80, Y:-10.08, Z:-7.13 [[ 9.99899340e-01 -1.29711291e-02 -5.74978650e-03 1.92795246e+02] [ 1.29716865e-02 9.99915862e-01 5.96534007e-05 -1.00774029e+01] [ 5.74852896e-03 -1.34231824e-04 9.99983468e-01 -7.13136638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.671346184 meters 0.07033569109910706 Centerline is valid? [True, True] Translation: X:192.82, Y:-10.08, Z:-7.13 [[ 9.99899673e-01 -1.33139708e-02 -4.83555780e-03 1.92824891e+02] [ 1.33143706e-02 9.99911359e-01 5.04988573e-05 -1.00796448e+01] [ 4.83445683e-03 -1.14876199e-04 9.99988307e-01 -7.13226185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.701346184 meters 0.07031603850971108 Centerline is valid? [True, True] Translation: X:192.85, Y:-10.08, Z:-7.13 [[ 9.99904574e-01 -1.32090595e-02 -4.04525948e-03 1.92854976e+02] [ 1.32093405e-02 9.99912752e-01 4.27408117e-05 -1.00813567e+01] [ 4.04434197e-03 -9.61719428e-05 9.99991817e-01 -7.13270125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.731346184 meters 0.06775433707317971 Centerline is valid? [True, True] Translation: X:192.89, Y:-10.08, Z:-7.12 [[ 9.99929519e-01 -1.13122847e-02 -3.60417727e-03 1.92885882e+02] [ 1.13124954e-02 9.99936011e-01 3.80804897e-05 -1.00764013e+01] [ 3.60351587e-03 -7.88500445e-05 9.99993504e-01 -7.12493361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.761346184 meters 0.06971873430636576 Centerline is valid? [True, True] Translation: X:192.92, Y:-10.08, Z:-7.13 [[ 9.99942230e-01 -9.83254868e-03 -4.34259316e-03 1.92916057e+02] [ 9.83284378e-03 9.99951655e-01 4.66090893e-05 -1.00799026e+01] [ 4.34192493e-03 -8.93064368e-05 9.99990570e-01 -7.13493148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.791346184 meters 0.06960524121832551 Centerline is valid? [True, True] Translation: X:192.95, Y:-10.08, Z:-7.14 [[ 9.99954553e-01 -8.49522222e-03 -4.32702313e-03 1.92946093e+02] [ 8.49549429e-03 9.99963912e-01 4.45004663e-05 -1.00791952e+01] [ 4.32648894e-03 -8.12586442e-05 9.99990637e-01 -7.13723826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821346184 meters 0.06953794178910212 Centerline is valid? [True, True] Translation: X:192.98, Y:-10.08, Z:-7.14 [[ 9.99961106e-01 -7.11025963e-03 -5.21826049e-03 1.92976060e+02] [ 7.11064026e-03 9.99974718e-01 5.43919526e-05 -1.00781831e+01] [ 5.21774182e-03 -9.14950102e-05 9.99986383e-01 -7.13934292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.851346184 meters 0.06763872844626595 Centerline is valid? [True, True] Translation: X:193.01, Y:-10.07, Z:-7.13 [[ 9.99971559e-01 -5.68499664e-03 -4.95601136e-03 1.93005133e+02] [ 5.68527427e-03 9.99983838e-01 4.19323056e-05 -1.00728644e+01] [ 4.95569288e-03 -7.01073968e-05 9.99987718e-01 -7.13268479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881346184 meters 0.0668351355523592 Centerline is valid? [True, True] Translation: X:193.03, Y:-10.07, Z:-7.13 [[ 9.99970200e-01 -6.25665006e-03 -4.52259944e-03 1.93034435e+02] [ 6.25687609e-03 9.99980425e-01 3.58289215e-05 -1.00711780e+01] [ 4.52228674e-03 -6.41251980e-05 9.99989772e-01 -7.12962324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.911346184 meters 0.06686438403678796 Centerline is valid? [True, True] Translation: X:193.06, Y:-10.07, Z:-7.13 [[ 9.99972584e-01 -5.98479700e-03 -4.36047400e-03 1.93064512e+02] [ 5.98503747e-03 9.99982089e-01 4.21005123e-05 -1.00705711e+01] [ 4.36014394e-03 -6.81969583e-05 9.99990492e-01 -7.13061002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941346184 meters 0.06717602353068776 Centerline is valid? [True, True] Translation: X:193.09, Y:-10.07, Z:-7.13 [[ 9.99967991e-01 -5.80518829e-03 -5.50609386e-03 1.93093563e+02] [ 5.80556558e-03 9.99983146e-01 5.25409072e-05 -1.00700101e+01] [ 5.50569605e-03 -8.45052144e-05 9.99984840e-01 -7.13290830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.971346184 meters 0.06748581290924767 Centerline is valid? [True, True] Translation: X:193.12, Y:-10.07, Z:-7.14 [[ 9.99964886e-01 -5.17997131e-03 -6.58745489e-03 1.93121968e+02] [ 5.18049791e-03 9.99986579e-01 6.28794922e-05 -1.00693553e+01] [ 6.58704076e-03 -9.70035805e-05 9.99978301e-01 -7.13567272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001346184 meters 0.0676802408069753 Centerline is valid? [True, True] Translation: X:193.15, Y:-10.07, Z:-7.14 [[ 9.99959911e-01 -5.32880903e-03 -7.19582197e-03 1.93150305e+02] [ 5.32937681e-03 9.99985797e-01 5.97317902e-05 -1.00687662e+01] [ 7.19540147e-03 -9.80786424e-05 9.99974108e-01 -7.13737074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.031346184 meters 0.0676802408069753 Centerline is valid? [True, True] Translation: X:193.18, Y:-10.07, Z:-7.14 [[ 9.99958239e-01 -5.63380577e-03 -7.19585311e-03 1.93177735e+02] [ 5.63435661e-03 9.99984125e-01 5.62792550e-05 -1.00687957e+01] [ 7.19542181e-03 -9.68209073e-05 9.99974108e-01 -7.13831131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061346184 meters 0.0678114027860561 Centerline is valid? [True, True] Translation: X:193.21, Y:-10.07, Z:-7.14 [[ 9.99957243e-01 -5.63840789e-03 -7.32940382e-03 1.93205583e+02] [ 5.63902861e-03 9.99984099e-01 6.40256242e-05 -1.00699309e+01] [ 7.32892627e-03 -1.05353604e-04 9.99973138e-01 -7.13971722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.091346184 meters 0.06777790293693157 Centerline is valid? [True, True] Translation: X:193.23, Y:-10.07, Z:-7.14 [[ 9.99959428e-01 -5.55324849e-03 -7.09257004e-03 1.93234482e+02] [ 5.55377348e-03 9.99984576e-01 5.43272851e-05 -1.00706683e+01] [ 7.09215895e-03 -9.37156083e-05 9.99974846e-01 -7.14102227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121346184 meters 0.0676589418563151 Centerline is valid? [True, True] Translation: X:193.26, Y:-10.07, Z:-7.14 [[ 9.99962548e-01 -5.68760743e-03 -6.52335154e-03 1.93262842e+02] [ 5.68803840e-03 9.99983822e-01 4.75154629e-05 -1.00711472e+01] [ 6.52297575e-03 -8.46187574e-05 9.99978722e-01 -7.14145642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.151346184 meters 0.06812074551249327 Centerline is valid? [True, True] Translation: X:193.29, Y:-10.07, Z:-7.14 [[ 9.99963643e-01 -6.06800234e-03 -5.99094832e-03 1.93290134e+02] [ 6.06839961e-03 9.99981586e-01 4.81358164e-05 -1.00722594e+01] [ 5.99054592e-03 -8.44895348e-05 9.99982053e-01 -7.14433072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18134618399998 meters 0.06799878049591236 Centerline is valid? [True, True] Translation: X:193.32, Y:-10.07, Z:-7.14 [[ 9.99962600e-01 -6.62557266e-03 -5.55872846e-03 1.93319024e+02] [ 6.62588324e-03 9.99978048e-01 3.74568409e-05 -1.00727419e+01] [ 5.55835826e-03 -7.42869258e-05 9.99984549e-01 -7.14471463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21134618399998 meters 0.06807196469363966 Centerline is valid? [True, True] Translation: X:193.35, Y:-10.07, Z:-7.15 [[ 9.99958677e-01 -7.45357124e-03 -5.20473322e-03 1.93347938e+02] [ 7.45384546e-03 9.99972219e-01 3.32905712e-05 -1.00737793e+01] [ 5.20434050e-03 -7.20844726e-05 9.99986455e-01 -7.14565917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24134618399998 meters 0.06793675754826979 Centerline is valid? [True, True] Translation: X:193.38, Y:-10.07, Z:-7.15 [[ 9.99955841e-01 -8.65677720e-03 -3.65731770e-03 1.93377222e+02] [ 8.65691076e-03 9.99962528e-01 2.06901571e-05 -1.00749529e+01] [ 3.65700154e-03 -5.23503164e-05 9.99993312e-01 -7.14575810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27134618399998 meters 0.06826207433903274 Centerline is valid? [True, True] Translation: X:193.41, Y:-10.08, Z:-7.15 [[ 9.99953373e-01 -8.56390663e-03 -4.46230554e-03 1.93407081e+02] [ 8.56414459e-03 9.99963326e-01 3.42220560e-05 -1.00766374e+01] [ 4.46184881e-03 -7.24362901e-05 9.99990043e-01 -7.14799786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30134618399998 meters 0.068124453227264 Centerline is valid? [True, True] Translation: X:193.44, Y:-10.08, Z:-7.15 [[ 9.99955413e-01 -8.71560721e-03 -3.63445387e-03 1.93436665e+02] [ 8.71576304e-03 9.99962017e-01 2.70393810e-05 -1.00779666e+01] [ 3.63408016e-03 -5.87152141e-05 9.99993395e-01 -7.14897428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33134618399998 meters 0.06831702768371645 Centerline is valid? [True, True] Translation: X:193.47, Y:-10.08, Z:-7.15 [[ 9.99955180e-01 -8.56775147e-03 -4.02872702e-03 1.93467466e+02] [ 8.56794709e-03 9.99963294e-01 3.13002250e-05 -1.00791216e+01] [ 4.02831097e-03 -6.58167421e-05 9.99991884e-01 -7.15116844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36134618399998 meters 0.06817441060715879 Centerline is valid? [True, True] Translation: X:193.50, Y:-10.08, Z:-7.15 [[ 9.99970315e-01 -7.03165028e-03 -3.15039419e-03 1.93497158e+02] [ 7.03176026e-03 9.99975277e-01 2.38324779e-05 -1.00776514e+01] [ 3.15014872e-03 -4.59845871e-05 9.99995037e-01 -7.15220243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39134618399999 meters 0.06633530363173674 Centerline is valid? [True, True] Translation: X:193.53, Y:-10.07, Z:-7.14 [[ 9.99971519e-01 -7.04930465e-03 -2.69610559e-03 1.93527606e+02] [ 7.04938662e-03 9.99975153e-01 2.09002435e-05 -1.00745279e+01] [ 2.69589126e-03 -3.99055389e-05 9.99996365e-01 -7.14456527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.421346184 meters 0.06642201130345565 Centerline is valid? [True, True] Translation: X:193.56, Y:-10.08, Z:-7.15 [[ 9.99971982e-01 -7.27666134e-03 -1.75673725e-03 1.93557528e+02] [ 7.27669649e-03 9.99973524e-01 1.36182487e-05 -1.00756016e+01] [ 1.75659164e-03 -2.64011109e-05 9.99998457e-01 -7.14578651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.451346184 meters 0.06666836556527006 Centerline is valid? [True, True] Translation: X:193.59, Y:-10.08, Z:-7.15 [[ 9.99966119e-01 -7.86413735e-03 -2.43224843e-03 1.93587583e+02] [ 7.86420647e-03 9.99969076e-01 1.88548196e-05 -1.00778513e+01] [ 2.43202494e-03 -3.79818847e-05 9.99997042e-01 -7.14756878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.481346184 meters 0.06740580124156607 Centerline is valid? [True, True] Translation: X:193.62, Y:-10.08, Z:-7.15 [[ 9.99935817e-01 -1.09766993e-02 -2.80598283e-03 1.93617471e+02] [ 1.09768089e-02 9.99939753e-01 2.36609405e-05 -1.00845478e+01] [ 2.80555406e-03 -5.44601592e-05 9.99996063e-01 -7.15083815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.511346184 meters 0.06751168047424959 Centerline is valid? [True, True] Translation: X:193.65, Y:-10.09, Z:-7.15 [[ 9.99914082e-01 -1.28020508e-02 -2.81705888e-03 1.93648368e+02] [ 1.28021635e-02 9.99918049e-01 2.19832880e-05 -1.00867126e+01] [ 2.81654659e-03 -5.80458477e-05 9.99996032e-01 -7.15051067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.541346184 meters 0.06824389982201172 Centerline is valid? [True, True] Translation: X:193.68, Y:-10.09, Z:-7.15 [[ 9.99877755e-01 -1.54453498e-02 -2.43231155e-03 1.93678448e+02] [ 1.54454465e-02 9.99880712e-01 2.09684271e-05 -1.00910699e+01] [ 2.43169754e-03 -5.85340017e-05 9.99997042e-01 -7.15257781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.571346184 meters 0.06827122855799828 Centerline is valid? [True, True] Translation: X:193.71, Y:-10.10, Z:-7.15 [[ 9.99789380e-01 -2.05198003e-02 -3.66347001e-04 1.93710167e+02] [ 2.05198035e-02 9.99789447e-01 4.91422307e-06 -1.00963394e+01] [ 3.66169026e-04 -1.24305565e-05 9.99999933e-01 -7.14877629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601346184 meters 0.07012065107367506 Centerline is valid? [True, True] Translation: X:193.74, Y:-10.10, Z:-7.15 [[ 9.99738776e-01 -2.28503087e-02 -4.92676413e-04 1.93741407e+02] [ 2.28503144e-02 9.99738897e-01 5.92700296e-06 -1.01037000e+01] [ 4.92412340e-04 -1.71832656e-05 9.99999879e-01 -7.15333274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.631346184 meters 0.07021075858266132 Centerline is valid? [True, True] Translation: X:193.77, Y:-10.11, Z:-7.15 [[ 9.99714426e-01 -2.38806125e-02 8.84997007e-04 1.93773665e+02] [ 2.38806259e-02 9.99714817e-01 -4.59187342e-06 -1.01059132e+01] [-8.84634964e-04 2.57248446e-05 9.99999608e-01 -7.15359977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661346184 meters 0.06905882943840232 Centerline is valid? [True, True] Translation: X:193.81, Y:-10.10, Z:-7.15 [[ 9.99727556e-01 -2.33411857e-02 4.80168212e-05 1.93805888e+02] [ 2.33411856e-02 9.99727557e-01 2.24587509e-06 -1.01019645e+01] [-4.80561609e-05 -1.12449368e-06 9.99999999e-01 -7.15231043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.691346184 meters 0.07042926442560579 Centerline is valid? [True, True] Translation: X:193.84, Y:-10.10, Z:-7.16 [[ 9.99755652e-01 -2.20930232e-02 7.30707227e-04 1.93837457e+02] [ 2.20930316e-02 9.99755919e-01 -3.38347385e-06 -1.01028516e+01] [-7.30454125e-04 1.95261850e-05 9.99999733e-01 -7.15741527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721346184 meters 0.06807169655880974 Centerline is valid? [True, True] Translation: X:193.87, Y:-10.10, Z:-7.15 [[ 9.99793622e-01 -2.02655825e-02 1.42081547e-03 1.93868771e+02] [ 2.02656177e-02 9.99794631e-01 -1.03788796e-05 -1.00951240e+01] [-1.42031335e-03 3.91704409e-05 9.99998991e-01 -7.15252843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.751346184 meters 0.06695123747528384 Centerline is valid? [True, True] Translation: X:193.90, Y:-10.09, Z:-7.15 [[ 9.99870987e-01 -1.58146618e-02 2.81160903e-03 1.93900728e+02] [ 1.58147844e-02 9.99874938e-01 -2.13531468e-05 -1.00892020e+01] [-2.81091972e-03 6.58153826e-05 9.99996047e-01 -7.15342974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.781346184 meters 0.06644745434618349 Centerline is valid? [True, True] Translation: X:193.93, Y:-10.09, Z:-7.15 [[ 9.99897060e-01 -1.40884574e-02 2.71735828e-03 1.93933186e+02] [ 1.40885640e-02 9.99900751e-01 -2.00817883e-05 -1.00863692e+01] [-2.71680566e-03 5.83633972e-05 9.99996308e-01 -7.15391099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.811346184 meters 0.06670319183519492 Centerline is valid? [True, True] Translation: X:193.96, Y:-10.09, Z:-7.16 [[ 9.99910243e-01 -1.30587389e-02 2.99576713e-03 1.93964240e+02] [ 1.30588672e-02 9.99914729e-01 -2.32667278e-05 -1.00855108e+01] [-2.99520784e-03 6.23859644e-05 9.99995512e-01 -7.15660174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841346184 meters 0.06680377341204004 Centerline is valid? [True, True] Translation: X:194.00, Y:-10.08, Z:-7.16 [[ 9.99907815e-01 -1.32433803e-02 2.99567863e-03 1.93996795e+02] [ 1.32435083e-02 9.99912301e-01 -2.29077772e-05 -1.00842176e+01] [-2.99511254e-03 6.25789602e-05 9.99995513e-01 -7.15839093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.871346184 meters 0.06715707461284949 Centerline is valid? [True, True] Translation: X:194.03, Y:-10.08, Z:-7.16 [[ 9.99863202e-01 -1.61334948e-02 3.64517317e-03 1.94029331e+02] [ 1.61337065e-02 9.99869843e-01 -2.86760661e-05 -1.00830822e+01] [-3.64423608e-03 8.74822973e-05 9.99993356e-01 -7.15901711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.901346184 meters 0.06791171650890467 Centerline is valid? [True, True] Translation: X:194.06, Y:-10.09, Z:-7.16 [[ 9.99808769e-01 -1.92541626e-02 3.42096066e-03 1.94061137e+02] [ 1.92543697e-02 9.99814617e-01 -2.76088116e-05 -1.00856260e+01] [-3.41979489e-03 9.34719730e-05 9.99994148e-01 -7.16024061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93134618399998 meters 0.06833504625993016 Centerline is valid? [True, True] Translation: X:194.09, Y:-10.09, Z:-7.16 [[ 9.99749773e-01 -2.20091558e-02 3.99858516e-03 1.94092871e+02] [ 2.20094630e-02 9.99757762e-01 -3.28222563e-05 -1.00879622e+01] [-3.99689416e-03 1.20820755e-04 9.99992005e-01 -7.16097908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96134618399998 meters 0.06916839388829459 Centerline is valid? [True, True] Translation: X:194.12, Y:-10.09, Z:-7.16 [[ 9.99650171e-01 -2.61109422e-02 4.21359908e-03 1.94124561e+02] [ 2.61113211e-02 9.99659041e-01 -3.49390578e-05 -1.00892469e+01] [-4.21125012e-03 1.44949474e-04 9.99991122e-01 -7.16207014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99134618399998 meters 0.0706951833638431 Centerline is valid? [True, True] Translation: X:194.16, Y:-10.09, Z:-7.17 [[ 9.99643092e-01 -2.65244027e-02 3.18514480e-03 1.94155366e+02] [ 2.65246204e-02 9.99648160e-01 -2.60969733e-05 -1.00914660e+01] [-3.18333193e-03 1.10572416e-04 9.99994927e-01 -7.16669718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02134618399998 meters 0.07016448524965233 Centerline is valid? [True, True] Translation: X:194.19, Y:-10.09, Z:-7.17 [[ 9.99649286e-01 -2.64238986e-02 1.75571757e-03 1.94187041e+02] [ 2.64239600e-02 9.99650826e-01 -1.17798325e-05 -1.00886844e+01] [-1.75479325e-03 5.81687121e-05 9.99998459e-01 -7.16756908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05134618399998 meters 0.0697973265377729 Centerline is valid? [True, True] Translation: X:194.22, Y:-10.09, Z:-7.17 [[ 9.99684046e-01 -2.50494197e-02 2.08186630e-03 1.94219737e+02] [ 2.50495063e-02 9.99686212e-01 -1.55421887e-05 -1.00855891e+01] [-2.08082371e-03 6.76870011e-05 9.99997833e-01 -7.16931405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08134618399998 meters 0.068425916858354 Centerline is valid? [True, True] Translation: X:194.25, Y:-10.07, Z:-7.17 [[ 9.99797343e-01 -1.99552677e-02 2.65710491e-03 1.94250428e+02] [ 1.99554019e-02 9.99800871e-01 -2.40018608e-05 -1.00729782e+01] [-2.65609683e-03 7.70205929e-05 9.99996470e-01 -7.16974788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11134618399998 meters 0.0671666272489496 Centerline is valid? [True, True] Translation: X:194.28, Y:-10.06, Z:-7.17 [[ 9.99849555e-01 -1.73264105e-02 8.13956663e-04 1.94282447e+02] [ 1.73264201e-02 9.99849886e-01 -4.67103742e-06 -1.00644892e+01] [-8.13753545e-04 1.87732898e-05 9.99999669e-01 -7.16879738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14134618399999 meters 0.06761430332618493 Centerline is valid? [True, True] Translation: X:194.31, Y:-10.06, Z:-7.17 [[ 9.99885884e-01 -1.51067672e-02 7.30833377e-05 1.94313813e+02] [ 1.51067672e-02 9.99885886e-01 1.37300425e-06 -1.00616079e+01] [-7.30957397e-05 -2.68794599e-07 9.99999997e-01 -7.17322848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.171346184 meters 0.06739589486501547 Centerline is valid? [True, True] Translation: X:194.35, Y:-10.06, Z:-7.17 [[ 9.99909425e-01 -1.34588366e-02 4.97068272e-05 1.94345775e+02] [ 1.34588365e-02 9.99909426e-01 2.17749192e-06 -1.00574344e+01] [-4.97316317e-05 -1.50829863e-06 9.99999999e-01 -7.17480836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.201346184 meters 0.06742281378573116 Centerline is valid? [True, True] Translation: X:194.38, Y:-10.05, Z:-7.18 [[ 9.99928221e-01 -1.19560920e-02 -7.77669869e-04 1.94378203e+02] [ 1.19561033e-02 9.99928523e-01 9.87038896e-06 -1.00536238e+01] [ 7.77496272e-04 -1.91675818e-05 9.99999698e-01 -7.17758260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.231346184 meters 0.0678087959271849 Centerline is valid? [True, True] Translation: X:194.41, Y:-10.05, Z:-7.18 [[ 9.99922422e-01 -1.20785266e-02 -3.04303548e-03 1.94410128e+02] [ 1.20786776e-02 9.99927050e-01 3.12431373e-05 -1.00487236e+01] [ 3.04243612e-03 -6.79965578e-05 9.99995369e-01 -7.18118266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.261346184 meters 0.06769924647337867 Centerline is valid? [True, True] Translation: X:194.44, Y:-10.05, Z:-7.18 [[ 9.99913061e-01 -1.28900764e-02 -2.77777993e-03 1.94441739e+02] [ 1.28902027e-02 9.99916918e-01 2.75543403e-05 -1.00469802e+01] [ 2.77719397e-03 -6.33580911e-05 9.99996142e-01 -7.18165158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.291346184 meters 0.06815767489724402 Centerline is valid? [True, True] Translation: X:194.47, Y:-10.05, Z:-7.18 [[ 9.99905276e-01 -1.36375387e-02 -1.85900896e-03 1.94473062e+02] [ 1.36375988e-02 9.99907003e-01 1.96272739e-05 -1.00465438e+01] [ 1.85856841e-03 -4.49778330e-05 9.99998272e-01 -7.18369982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321346184 meters 0.0680273973421276 Centerline is valid? [True, True] Translation: X:194.50, Y:-10.04, Z:-7.18 [[ 9.99900277e-01 -1.41189008e-02 -3.03057843e-04 1.94504254e+02] [ 1.41189027e-02 9.99900323e-01 4.16388082e-06 -1.00415860e+01] [ 3.02968845e-04 -8.44230977e-06 9.99999954e-01 -7.18275635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.351346184 meters 0.0678085405487698 Centerline is valid? [True, True] Translation: X:194.54, Y:-10.04, Z:-7.18 [[ 9.99897229e-01 -1.43255237e-02 -5.57378730e-04 1.94536895e+02] [ 1.43255303e-02 9.99897384e-01 7.94880035e-06 -1.00376313e+01] [ 5.57207664e-04 -1.59327293e-05 9.99999845e-01 -7.18220227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381346184 meters 0.06744902343093052 Centerline is valid? [True, True] Translation: X:194.57, Y:-10.03, Z:-7.18 [[ 9.99895726e-01 -1.43991677e-02 -1.09609835e-03 1.94569510e+02] [ 1.43991909e-02 9.99896326e-01 1.32941077e-05 -1.00326715e+01] [ 1.09579329e-03 -2.90756509e-05 9.99999399e-01 -7.18119931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.411346184 meters 0.06839029302854331 Centerline is valid? [True, True] Translation: X:194.60, Y:-10.03, Z:-7.19 [[ 9.99901560e-01 -1.38898826e-02 -1.98540075e-03 1.94600842e+02] [ 1.38899524e-02 9.99903530e-01 2.13496870e-05 -1.00316846e+01] [ 1.98491267e-03 -4.89247072e-05 9.99998029e-01 -7.18638961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441346184 meters 0.06800825193053672 Centerline is valid? [True, True] Translation: X:194.63, Y:-10.03, Z:-7.19 [[ 9.99918380e-01 -1.22977449e-02 -3.46395798e-03 1.94632546e+02] [ 1.22979503e-02 9.99924377e-01 3.80001262e-05 -1.00265131e+01] [ 3.46322871e-03 -8.05966078e-05 9.99994000e-01 -7.18898052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.471346184 meters 0.06871717105231939 Centerline is valid? [True, True] Translation: X:194.66, Y:-10.03, Z:-7.19 [[ 9.99922254e-01 -1.17829156e-02 -4.08030572e-03 1.94663103e+02] [ 1.17831808e-02 9.99930575e-01 4.09534969e-05 -1.00260856e+01] [ 4.07953989e-03 -8.90292929e-05 9.99991675e-01 -7.19386339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501346184 meters 0.06868043711985776 Centerline is valid? [True, True] Translation: X:194.69, Y:-10.02, Z:-7.20 [[ 9.99933211e-01 -1.04994299e-02 -4.83066491e-03 1.94694357e+02] [ 1.04997898e-02 9.99944874e-01 4.91439703e-05 -1.00221953e+01] [ 4.82988263e-03 -9.98616541e-05 9.99988331e-01 -7.19626215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.531346184 meters 0.06873155867881019 Centerline is valid? [True, True] Translation: X:194.72, Y:-10.02, Z:-7.20 [[ 9.99939662e-01 -9.76203498e-03 -5.03736544e-03 1.94724581e+02] [ 9.76241046e-03 9.99952345e-01 4.99550788e-05 -1.00177226e+01] [ 5.03663772e-03 -9.91288936e-05 9.99987311e-01 -7.19809523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561346184 meters 0.06796336254020226 Centerline is valid? [True, True] Translation: X:194.76, Y:-10.01, Z:-7.19 [[ 9.99936114e-01 -9.53709952e-03 -6.06732562e-03 1.94755769e+02] [ 9.53764011e-03 9.99954514e-01 6.01690970e-05 -1.00069361e+01] [ 6.06647580e-03 -1.18033221e-04 9.99981592e-01 -7.19419497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.591346184 meters 0.06850816889738728 Centerline is valid? [True, True] Translation: X:194.78, Y:-10.01, Z:-7.20 [[ 9.99930831e-01 -1.03771844e-02 -5.53592435e-03 1.94784858e+02] [ 1.03776431e-02 9.99946149e-01 5.41411267e-05 -1.00063923e+01] [ 5.53506440e-03 -1.11587229e-04 9.99984675e-01 -7.19685418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.621346184 meters 0.0680099438038012 Centerline is valid? [True, True] Translation: X:194.82, Y:-10.00, Z:-7.20 [[ 9.99924590e-01 -1.11347458e-02 -5.17984501e-03 1.94815906e+02] [ 1.11351607e-02 9.99938001e-01 5.12691380e-05 -1.00042180e+01] [ 5.17895299e-03 -1.08943678e-04 9.99986583e-01 -7.19563683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.651346184 meters 0.06814058735938913 Centerline is valid? [True, True] Translation: X:194.85, Y:-10.00, Z:-7.20 [[ 9.99903487e-01 -1.31583377e-02 -4.45807903e-03 1.94846603e+02] [ 1.31586652e-02 9.99913420e-01 4.41252332e-05 -9.99948983e+00] [ 4.45711243e-03 -1.02783344e-04 9.99990062e-01 -7.19603448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68134618399998 meters 0.0684092985278853 Centerline is valid? [True, True] Translation: X:194.88, Y:-10.00, Z:-7.20 [[ 9.99883590e-01 -1.43748970e-02 -5.11551122e-03 1.94878048e+02] [ 1.43753518e-02 9.99896668e-01 5.21355603e-05 -9.99616034e+00] [ 5.11423318e-03 -1.25666765e-04 9.99986914e-01 -7.19652138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71134618399998 meters 0.06956022662162167 Centerline is valid? [True, True] Translation: X:194.91, Y:-10.00, Z:-7.20 [[ 9.99869436e-01 -1.54676471e-02 -4.67579248e-03 1.94909323e+02] [ 1.54680437e-02 9.99880361e-01 4.86728381e-05 -9.99642572e+00] [ 4.67448022e-03 -1.20991846e-04 9.99989067e-01 -7.20105343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74134618399998 meters 0.06967688764892199 Centerline is valid? [True, True] Translation: X:194.94, Y:-9.99, Z:-7.20 [[ 9.99850669e-01 -1.65546352e-02 -4.95820783e-03 1.94941011e+02] [ 1.65550914e-02 9.99862954e-01 5.09844848e-05 -9.99479819e+00] [ 4.95668429e-03 -1.33060455e-04 9.99987707e-01 -7.20343458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77134618399998 meters 0.06887365078944727 Centerline is valid? [True, True] Translation: X:194.97, Y:-9.99, Z:-7.20 [[ 9.99850680e-01 -1.67136522e-02 -4.38984869e-03 1.94972734e+02] [ 1.67140129e-02 9.99860310e-01 4.54939804e-05 -9.99077997e+00] [ 4.38847510e-03 -1.18859175e-04 9.99990364e-01 -7.20171318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80134618399998 meters 0.06923243614035153 Centerline is valid? [True, True] Translation: X:195.00, Y:-9.99, Z:-7.20 [[ 9.99855052e-01 -1.67870889e-02 -2.84063573e-03 1.95002840e+02] [ 1.67872398e-02 9.99859084e-01 2.92942159e-05 -9.98797842e+00] [ 2.83974367e-03 -7.69764031e-05 9.99995965e-01 -7.20294499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83134618399998 meters 0.06902977556555048 Centerline is valid? [True, True] Translation: X:195.03, Y:-9.98, Z:-7.20 [[ 9.99860485e-01 -1.66914209e-02 -6.37574361e-04 1.95034779e+02] [ 1.66914296e-02 9.99860688e-01 8.34562558e-06 -9.98237969e+00] [ 6.37346239e-04 -1.89864888e-05 9.99999797e-01 -7.20126973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86134618399998 meters 0.06752791758072128 Centerline is valid? [True, True] Translation: X:195.07, Y:-9.97, Z:-7.20 [[ 9.99892484e-01 -1.46061917e-02 1.29575540e-03 1.95066770e+02] [ 1.46062179e-02 9.99893323e-01 -1.07677205e-05 -9.97070943e+00] [-1.29545989e-03 2.96926485e-05 9.99999160e-01 -7.19673196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89134618399999 meters 0.06801209046068608 Centerline is valid? [True, True] Translation: X:195.10, Y:-9.97, Z:-7.20 [[ 9.99900697e-01 -1.40037806e-02 1.57794585e-03 1.95097593e+02] [ 1.40038205e-02 9.99901942e-01 -1.42444096e-05 -9.97008863e+00] [-1.57759164e-03 3.63402655e-05 9.99998755e-01 -7.20060774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.921346184 meters 0.06801209046068608 Centerline is valid? [True, True] Translation: X:195.13, Y:-9.97, Z:-7.20 [[ 9.99901723e-01 -1.39303530e-02 1.57795037e-03 1.95129294e+02] [ 1.39303921e-02 9.99902967e-01 -1.38123883e-05 -9.97051011e+00] [-1.57760485e-03 3.57924983e-05 9.99998755e-01 -7.20169196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.951346184 meters 0.06782437758729577 Centerline is valid? [True, True] Translation: X:195.16, Y:-9.97, Z:-7.20 [[ 9.99913566e-01 -1.28104851e-02 2.95828275e-03 1.95160314e+02] [ 1.28106267e-02 9.99917940e-01 -2.88931324e-05 -9.96723118e+00] [-2.95766986e-03 6.67880909e-05 9.99995624e-01 -7.20316273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.981346184 meters 0.0670711924603445 Centerline is valid? [True, True] Translation: X:195.19, Y:-9.96, Z:-7.20 [[ 9.99935631e-01 -1.09379680e-02 3.01567147e-03 1.95192287e+02] [ 1.09381053e-02 9.99940177e-01 -2.90203001e-05 -9.95894364e+00] [-3.01517364e-03 6.20041640e-05 9.99995452e-01 -7.20369372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.011346184 meters 0.06774453358624738 Centerline is valid? [True, True] Translation: X:195.22, Y:-9.96, Z:-7.21 [[ 9.99936012e-01 -1.09629150e-02 2.79048503e-03 1.95222860e+02] [ 1.09630343e-02 9.99939904e-01 -2.74672667e-05 -9.95906354e+00] [-2.79001621e-03 5.80576923e-05 9.99996106e-01 -7.20829268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.041346184 meters 0.06733429066606368 Centerline is valid? [True, True] Translation: X:195.26, Y:-9.96, Z:-7.21 [[ 9.99930524e-01 -1.15263312e-02 2.46785114e-03 1.95255419e+02] [ 1.15264247e-02 9.99933568e-01 -2.36407397e-05 -9.95508599e+00] [-2.46741470e-03 5.20845975e-05 9.99996955e-01 -7.20735629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.071346184 meters 0.06759169346224753 Centerline is valid? [True, True] Translation: X:195.29, Y:-9.95, Z:-7.21 [[ 9.99919740e-01 -1.24755146e-02 2.20780139e-03 1.95287983e+02] [ 1.24755914e-02 9.99922177e-01 -2.10500476e-05 -9.95189654e+00] [-2.20736696e-03 4.85919862e-05 9.99997563e-01 -7.20803139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101346184 meters 0.06861229399217872 Centerline is valid? [True, True] Translation: X:195.32, Y:-9.95, Z:-7.21 [[ 9.99877818e-01 -1.55803873e-02 1.26524847e-03 1.95319093e+02] [ 1.55804145e-02 9.99878618e-01 -1.17000975e-05 -9.94803415e+00] [-1.26491260e-03 3.14117637e-05 9.99999200e-01 -7.20945999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.131346184 meters 0.06936796989339085 Centerline is valid? [True, True] Translation: X:195.35, Y:-9.95, Z:-7.21 [[ 9.99847772e-01 -1.74467717e-02 2.07536725e-04 1.95350713e+02] [ 1.74467721e-02 9.99847793e-01 -3.92813699e-07 -9.94963940e+00] [-2.07498284e-04 4.01359985e-06 9.99999978e-01 -7.21264779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161346184 meters 0.06983906461881231 Centerline is valid? [True, True] Translation: X:195.38, Y:-9.95, Z:-7.22 [[ 9.99825512e-01 -1.86778727e-02 2.85974909e-04 1.95382254e+02] [ 1.86778738e-02 9.99825553e-01 -1.27033750e-06 -9.95134243e+00] [-2.85901295e-04 6.61151912e-06 9.99999959e-01 -7.21588634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.191346184 meters 0.06867482844887088 Centerline is valid? [True, True] Translation: X:195.41, Y:-9.95, Z:-7.21 [[ 9.99806526e-01 -1.96596159e-02 6.40206728e-04 1.95414782e+02] [ 1.96596227e-02 9.99806731e-01 -4.40338815e-06 -9.94700149e+00] [-6.39996427e-04 1.69887589e-05 9.99999795e-01 -7.21334144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221346184 meters 0.06899103756975553 Centerline is valid? [True, True] Translation: X:195.45, Y:-9.94, Z:-7.21 [[ 9.99800271e-01 -1.99482651e-02 1.21874775e-03 1.95446438e+02] [ 1.99482939e-02 9.99801013e-01 -1.14505682e-05 -9.94221715e+00] [-1.21827682e-03 3.57602195e-05 9.99999257e-01 -7.21472284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.251346184 meters 0.06877990528664614 Centerline is valid? [True, True] Translation: X:195.48, Y:-9.94, Z:-7.21 [[ 9.99809136e-01 -1.94739701e-02 1.56743591e-03 1.95478472e+02] [ 1.94740171e-02 9.99810363e-01 -1.47478637e-05 -9.93886286e+00] [-1.56685147e-03 4.52693226e-05 9.99998771e-01 -7.21499053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281346184 meters 0.06864214672989455 Centerline is valid? [True, True] Translation: X:195.51, Y:-9.94, Z:-7.22 [[ 9.99810902e-01 -1.93112442e-02 2.28816437e-03 1.95511010e+02] [ 1.93113472e-02 9.99813518e-01 -2.29050446e-05 -9.93568030e+00] [-2.28729534e-03 6.70882499e-05 9.99997382e-01 -7.21531620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.311346184 meters 0.06828742340894658 Centerline is valid? [True, True] Translation: X:195.54, Y:-9.93, Z:-7.21 [[ 9.99791582e-01 -2.03664969e-02 1.41361548e-03 1.95543605e+02] [ 2.03665360e-02 9.99792581e-01 -1.32288679e-05 -9.92796557e+00] [-1.41305284e-03 4.20165614e-05 9.99999001e-01 -7.21431236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341346184 meters 0.069020737652285 Centerline is valid? [True, True] Translation: X:195.57, Y:-9.93, Z:-7.22 [[ 9.99771070e-01 -2.13957050e-02 1.75207153e-04 1.95574841e+02] [ 2.13957054e-02 9.99771086e-01 -7.09746988e-08 -9.92814316e+00] [-1.75165527e-04 3.81963908e-06 9.99999985e-01 -7.21796009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.371346184 meters 0.06964511021746563 Centerline is valid? [True, True] Translation: X:195.61, Y:-9.93, Z:-7.22 [[ 9.99752552e-01 -2.22327926e-02 -7.33482193e-04 1.95605398e+02] [ 2.22328056e-02 9.99752821e-01 9.52569729e-06 -9.92855576e+00] [ 7.33089108e-04 -2.58307072e-05 9.99999731e-01 -7.22216199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401346184 meters 0.06850959379363629 Centerline is valid? [True, True] Translation: X:195.64, Y:-9.92, Z:-7.22 [[ 9.99759027e-01 -2.19503063e-02 -2.68173229e-04 1.95637698e+02] [ 2.19503086e-02 9.99759063e-01 5.64645338e-06 -9.92004897e+00] [ 2.67984674e-04 -1.15315779e-05 9.99999964e-01 -7.22043145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43134618399998 meters 0.0680882010684871 Centerline is valid? [True, True] Translation: X:195.67, Y:-9.91, Z:-7.22 [[ 9.99775588e-01 -2.11521366e-02 1.16610799e-03 1.95669854e+02] [ 2.11521636e-02 9.99776268e-01 -1.07524559e-05 -9.91467828e+00] [-1.16561965e-03 3.54157498e-05 9.99999320e-01 -7.22077852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46134618399998 meters 0.07007319946976948 Centerline is valid? [True, True] Translation: X:195.70, Y:-9.91, Z:-7.23 [[ 9.99786110e-01 -2.06318322e-02 1.43581544e-03 1.95700435e+02] [ 2.06318744e-02 9.99787140e-01 -1.45900857e-05 -9.91472980e+00] [-1.43520879e-03 4.42105287e-05 9.99998969e-01 -7.22759034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49134618399998 meters 0.0679062081776909 Centerline is valid? [True, True] Translation: X:195.73, Y:-9.90, Z:-7.22 [[ 9.99785103e-01 -2.04948300e-02 3.11602623e-03 1.95732607e+02] [ 2.04950339e-02 9.99789954e-01 -3.35170365e-05 -9.90405574e+00] [-3.11468480e-03 9.73728970e-05 9.99995145e-01 -7.22243628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52134618399998 meters 0.06783834431839049 Centerline is valid? [True, True] Translation: X:195.77, Y:-9.90, Z:-7.22 [[ 9.99762035e-01 -2.13156644e-02 4.63843073e-03 1.95765341e+02] [ 2.13161298e-02 9.99772784e-01 -5.09133172e-05 -9.89664801e+00] [-4.63629155e-03 1.49774593e-04 9.99989241e-01 -7.22473592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55134618399998 meters 0.06857624923356172 Centerline is valid? [True, True] Translation: X:195.80, Y:-9.90, Z:-7.23 [[ 9.99722142e-01 -2.33041260e-02 3.54365522e-03 1.95797680e+02] [ 2.33044107e-02 9.99728415e-01 -3.90587000e-05 -9.89676215e+00] [-3.54178259e-03 1.21630644e-04 9.99993720e-01 -7.22816118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58134618399998 meters 0.06937019086676113 Centerline is valid? [True, True] Translation: X:195.83, Y:-9.90, Z:-7.23 [[ 9.99657229e-01 -2.57320405e-02 4.82561888e-03 1.95830179e+02] [ 2.57326029e-02 9.99668860e-01 -5.44811009e-05 -9.89735222e+00] [-4.82261901e-03 1.78638161e-04 9.99988355e-01 -7.23107940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61134618399998 meters 0.0702361249812426 Centerline is valid? [True, True] Translation: X:195.86, Y:-9.90, Z:-7.23 [[ 9.99590841e-01 -2.81696199e-02 4.96209945e-03 1.95860825e+02] [ 2.81702522e-02 9.99603138e-01 -5.75503525e-05 -9.89710825e+00] [-4.95850901e-03 1.97310398e-04 9.99987687e-01 -7.23301333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64134618399999 meters 0.07085809723097561 Centerline is valid? [True, True] Translation: X:195.89, Y:-9.89, Z:-7.23 [[ 9.99454961e-01 -3.24367701e-02 6.13486145e-03 1.95892212e+02] [ 3.24378200e-02 9.99473753e-01 -7.16785030e-05 -9.89091292e+00] [-6.12930798e-03 2.70640967e-04 9.99981179e-01 -7.23255497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.671346184 meters 0.07246879989984646 Centerline is valid? [True, True] Translation: X:195.92, Y:-9.89, Z:-7.24 [[ 9.99415531e-01 -3.36879037e-02 5.80701710e-03 1.95922865e+02] [ 3.36888512e-02 9.99432367e-01 -6.53991831e-05 -9.89025361e+00] [-5.80151768e-03 2.60992694e-04 9.99983137e-01 -7.23562078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.701346184 meters 0.07198451102605426 Centerline is valid? [True, True] Translation: X:195.96, Y:-9.88, Z:-7.24 [[ 9.99397466e-01 -3.41306440e-02 6.30900146e-03 1.95955175e+02] [ 3.41317884e-02 9.99417338e-01 -7.37796908e-05 -9.88450811e+00] [-6.30280730e-03 2.89072739e-04 9.99980095e-01 -7.23604140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.731346184 meters 0.07218120739522965 Centerline is valid? [True, True] Translation: X:195.99, Y:-9.88, Z:-7.24 [[ 9.99382070e-01 -3.45359522e-02 6.53802409e-03 1.95987437e+02] [ 3.45371936e-02 9.99403410e-01 -7.70294931e-05 -9.87912301e+00] [-6.53146329e-03 3.02786898e-04 9.99978624e-01 -7.23676127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.761346184 meters 0.0726922427628372 Centerline is valid? [True, True] Translation: X:196.02, Y:-9.87, Z:-7.24 [[ 9.99422580e-01 -3.34233293e-02 6.11459350e-03 1.96018692e+02] [ 3.34243684e-02 9.99441247e-01 -6.77914801e-05 -9.86812626e+00] [-6.10891113e-03 2.72128761e-04 9.99981303e-01 -7.23918551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.791346184 meters 0.07427473306346076 Centerline is valid? [True, True] Translation: X:196.05, Y:-9.87, Z:-7.24 [[ 9.99448542e-01 -3.29370782e-02 4.21442272e-03 1.96049737e+02] [ 3.29375617e-02 9.99457410e-01 -4.53553059e-05 -9.86649025e+00] [-4.21064214e-03 1.84143103e-04 9.99991118e-01 -7.24490048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821346184 meters 0.07305165207277683 Centerline is valid? [True, True] Translation: X:196.08, Y:-9.86, Z:-7.25 [[ 9.99456003e-01 -3.27091481e-02 4.22004263e-03 1.96081593e+02] [ 3.27096551e-02 9.99464895e-01 -5.11701483e-05 -9.85920484e+00] [-4.21611073e-03 1.89178451e-04 9.99991094e-01 -7.24559150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.851346184 meters 0.0736550919553173 Centerline is valid? [True, True] Translation: X:196.11, Y:-9.85, Z:-7.25 [[ 9.99468692e-01 -3.24408210e-02 3.15058902e-03 1.96113122e+02] [ 3.24410856e-02 9.99473649e-01 -3.29169561e-05 -9.84951798e+00] [-3.14786285e-03 1.35107995e-04 9.99995036e-01 -7.24864222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881346184 meters 0.0730886817269179 Centerline is valid? [True, True] Translation: X:196.15, Y:-9.84, Z:-7.25 [[ 9.99479554e-01 -3.21496093e-02 2.65011154e-03 1.96145789e+02] [ 3.21498070e-02 9.99483061e-01 -3.20207878e-05 -9.84124337e+00] [-2.64771214e-03 1.17204697e-04 9.99996488e-01 -7.24999634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.911346184 meters 0.07410247853300736 Centerline is valid? [True, True] Translation: X:196.18, Y:-9.84, Z:-7.25 [[ 9.99486693e-01 -3.19913039e-02 1.70507978e-03 1.96177393e+02] [ 3.19913807e-02 9.99488145e-01 -1.78189034e-05 -9.83644001e+00] [-1.70363697e-03 7.23576132e-05 9.99998546e-01 -7.25303593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.941346184 meters 0.07307906735178703 Centerline is valid? [True, True] Translation: X:196.21, Y:-9.83, Z:-7.25 [[ 9.99524497e-01 -3.07696000e-02 2.00276399e-03 1.96209746e+02] [ 3.07697098e-02 9.99526500e-01 -2.40330560e-05 -9.82765523e+00] [-2.00107619e-03 8.56460950e-05 9.99997994e-01 -7.25305241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.971346184 meters 0.07131809062060115 Centerline is valid? [True, True] Translation: X:196.24, Y:-9.81, Z:-7.25 [[ 9.99579641e-01 -2.88313815e-02 3.04855220e-03 1.96241584e+02] [ 2.88316347e-02 9.99584281e-01 -3.91201668e-05 -9.80967159e+00] [-3.04615698e-03 1.26998466e-04 9.99995352e-01 -7.25104658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.001346184 meters 0.07352532832948838 Centerline is valid? [True, True] Translation: X:196.27, Y:-9.81, Z:-7.26 [[ 9.99603842e-01 -2.78738544e-02 3.89973432e-03 1.96272529e+02] [ 2.78742400e-02 9.99611437e-01 -4.45563114e-05 -9.80802599e+00] [-3.89697707e-03 1.53240790e-04 9.99992395e-01 -7.25545462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.031346184 meters 0.07054307461426512 Centerline is valid? [True, True] Translation: X:196.30, Y:-9.79, Z:-7.25 [[ 9.99623765e-01 -2.69945335e-02 4.86038680e-03 1.96304763e+02] [ 2.69951601e-02 9.99635562e-01 -6.33338484e-05 -9.79454132e+00] [-4.85690583e-03 1.94516940e-04 9.99988186e-01 -7.25126863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061346184 meters 0.07064833874963361 Centerline is valid? [True, True] Translation: X:196.34, Y:-9.78, Z:-7.25 [[ 9.99673856e-01 -2.49155797e-02 5.60315797e-03 1.96335843e+02] [ 2.49163901e-02 9.99689536e-01 -7.48657338e-05 -9.78344869e+00] [-5.59955307e-03 2.14451787e-04 9.99984299e-01 -7.25396540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.091346184 meters 0.07055255500119306 Centerline is valid? [True, True] Translation: X:196.37, Y:-9.78, Z:-7.26 [[ 9.99682072e-01 -2.46051843e-02 5.50813375e-03 1.96367907e+02] [ 2.46059581e-02 9.99697225e-01 -7.27490470e-05 -9.77841760e+00] [-5.50467602e-03 2.08258827e-04 9.99984827e-01 -7.25577415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121346184 meters 0.07111351584904745 Centerline is valid? [True, True] Translation: X:196.40, Y:-9.77, Z:-7.26 [[ 9.99679145e-01 -2.47524268e-02 5.37809228e-03 1.96399195e+02] [ 2.47531436e-02 9.99693592e-01 -6.67552856e-05 -9.77495291e+00] [-5.37479204e-03 1.99858557e-04 9.99985536e-01 -7.25780423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.151346184 meters 0.07114814057918593 Centerline is valid? [True, True] Translation: X:196.43, Y:-9.77, Z:-7.26 [[ 9.99658866e-01 -2.52671108e-02 6.61240969e-03 1.96431768e+02] [ 2.52682571e-02 9.99680703e-01 -8.98571719e-05 -9.76927886e+00] [-6.60802793e-03 2.56910587e-04 9.99978134e-01 -7.25746354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18134618399998 meters 0.07212845157039251 Centerline is valid? [True, True] Translation: X:196.46, Y:-9.76, Z:-7.26 [[ 9.99640805e-01 -2.55608677e-02 8.05626637e-03 1.96463179e+02] [ 2.55625540e-02 9.99673219e-01 -1.06396562e-04 -9.75616705e+00] [-8.05091415e-03 3.12297090e-04 9.99967542e-01 -7.25710750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21134618399998 meters 0.07189171597774746 Centerline is valid? [True, True] Translation: X:196.50, Y:-9.75, Z:-7.26 [[ 9.99646991e-01 -2.53847947e-02 7.84252651e-03 1.96496359e+02] [ 2.53863885e-02 9.99677708e-01 -1.03732465e-04 -9.74924747e+00] [-7.83736570e-03 3.02789272e-04 9.99969242e-01 -7.25668400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24134618399998 meters 0.07280080037562393 Centerline is valid? [True, True] Translation: X:196.53, Y:-9.75, Z:-7.26 [[ 9.99653494e-01 -2.51524890e-02 7.76172264e-03 1.96528367e+02] [ 2.51540636e-02 9.99683581e-01 -1.05306091e-04 -9.74716666e+00] [-7.75661797e-03 3.00508466e-04 9.99969872e-01 -7.26070716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27134618399998 meters 0.07444038706494728 Centerline is valid? [True, True] Translation: X:196.56, Y:-9.74, Z:-7.27 [[ 9.99642313e-01 -2.59100196e-02 6.62695960e-03 1.96559947e+02] [ 2.59111947e-02 9.99664244e-01 -9.15117196e-05 -9.74221031e+00] [-6.62236350e-03 2.63191428e-04 9.99978037e-01 -7.26683424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30134618399998 meters 0.07843758100420117 Centerline is valid? [True, True] Translation: X:196.59, Y:-9.75, Z:-7.27 [[ 9.99644492e-01 -2.59689862e-02 6.04159345e-03 1.96590734e+02] [ 2.59699690e-02 9.99662720e-01 -8.42665300e-05 -9.74639839e+00] [-6.03736742e-03 2.41136567e-04 9.99981746e-01 -7.27430746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33134618399998 meters 0.07428681342116569 Centerline is valid? [True, True] Translation: X:196.62, Y:-9.73, Z:-7.27 [[ 9.99651487e-01 -2.59105094e-02 5.05479433e-03 1.96623719e+02] [ 2.59111927e-02 9.99664246e-01 -6.97158539e-05 -9.73138474e+00] [-5.05129079e-03 2.00667307e-04 9.99987222e-01 -7.26886717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36134618399998 meters 0.07727718654937268 Centerline is valid? [True, True] Translation: X:196.66, Y:-9.73, Z:-7.27 [[ 9.99599031e-01 -2.75774841e-02 6.42328629e-03 1.96655094e+02] [ 2.75786498e-02 9.99619632e-01 -9.29516257e-05 -9.73119363e+00] [-6.41827971e-03 2.70059918e-04 9.99979366e-01 -7.27238355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39134618399999 meters 0.07699682518461734 Centerline is valid? [True, True] Translation: X:196.69, Y:-9.73, Z:-7.27 [[ 9.99539194e-01 -2.94772373e-02 7.24514139e-03 1.96687456e+02] [ 2.94787876e-02 9.99565400e-01 -1.07249263e-04 -9.73109337e+00] [-7.23883124e-03 3.20777826e-04 9.99973748e-01 -7.27132751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.421346184 meters 0.07795553080332811 Centerline is valid? [True, True] Translation: X:196.72, Y:-9.73, Z:-7.27 [[ 9.99436391e-01 -3.29903795e-02 6.20759540e-03 1.96718737e+02] [ 3.29916217e-02 9.99455623e-01 -9.77818659e-05 -9.73295719e+00] [-6.20099027e-03 3.02525394e-04 9.99980728e-01 -7.27341708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.451346184 meters 0.08075715945960206 Centerline is valid? [True, True] Translation: X:196.75, Y:-9.74, Z:-7.28 [[ 9.99321202e-01 -3.67168925e-02 3.00100297e-03 1.96748123e+02] [ 3.67172025e-02 9.99325695e-01 -4.82543981e-05 -9.74145083e+00] [-2.99720762e-03 1.58410077e-04 9.99995496e-01 -7.28085460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.481346184 meters 0.08232791290003193 Centerline is valid? [True, True] Translation: X:196.78, Y:-9.75, Z:-7.29 [[ 9.99300051e-01 -3.73718838e-02 1.65858373e-03 1.96779380e+02] [ 3.73719670e-02 9.99301424e-01 -1.92027880e-05 -9.74593393e+00] [-1.65670744e-03 8.11738834e-05 9.99998624e-01 -7.28507148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.511346184 meters 0.08374232613650685 Centerline is valid? [True, True] Translation: X:196.81, Y:-9.75, Z:-7.29 [[ 9.99234777e-01 -3.90795327e-02 1.62794179e-03 1.96810428e+02] [ 3.90796214e-02 9.99236100e-01 -2.27090742e-05 -9.74888819e+00] [-1.62581074e-03 8.63110454e-05 9.99998675e-01 -7.28768477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.541346184 meters 0.08419619679435274 Centerline is valid? [True, True] Translation: X:196.84, Y:-9.75, Z:-7.29 [[ 9.99193389e-01 -4.01465659e-02 9.07804858e-04 1.96842370e+02] [ 4.01465938e-02 9.99193800e-01 -1.25406554e-05 -9.74925108e+00] [-9.06569522e-04 4.89758128e-05 9.99999588e-01 -7.28810831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.571346184 meters 0.0844302653910493 Centerline is valid? [True, True] Translation: X:196.87, Y:-9.75, Z:-7.29 [[ 9.99136791e-01 -4.15235987e-02 1.20944995e-03 1.96874357e+02] [ 4.15236502e-02 9.99137521e-01 -1.75279184e-05 -9.74947649e+00] [-1.20767901e-03 6.77335650e-05 9.99999268e-01 -7.28795740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601346184 meters 0.0825675039103729 Centerline is valid? [True, True] Translation: X:196.91, Y:-9.75, Z:-7.29 [[ 9.99156851e-01 -4.10544398e-02 3.46895456e-04 1.96907094e+02] [ 4.10544414e-02 9.99156911e-01 2.51245748e-06 -9.74599060e+00] [-3.46706140e-04 1.17312601e-05 9.99999940e-01 -7.28704457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.631346184 meters 0.0835354855279547 Centerline is valid? [True, True] Translation: X:196.94, Y:-9.75, Z:-7.29 [[ 9.99196526e-01 -4.00786761e-02 -5.54694092e-05 1.96938581e+02] [ 4.00786765e-02 9.99196527e-01 5.65680377e-06 -9.74905117e+00] [ 5.51981236e-05 -7.87539918e-06 9.99999998e-01 -7.29033662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661346184 meters 0.08297410534372636 Centerline is valid? [True, True] Translation: X:196.97, Y:-9.75, Z:-7.30 [[ 9.99313595e-01 -3.70116727e-02 -1.57308248e-03 1.96968779e+02] [ 3.70117610e-02 9.99314830e-01 2.69998650e-05 -9.74853565e+00] [ 1.57100534e-03 -8.52038849e-05 9.99998762e-01 -7.29570843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.691346184 meters 0.08261308395805353 Centerline is valid? [True, True] Translation: X:197.00, Y:-9.75, Z:-7.30 [[ 9.99372619e-01 -3.52906542e-02 -2.98979908e-03 1.97001401e+02] [ 3.52909877e-02 9.99377077e-01 5.88414782e-05 -9.74799732e+00] [ 2.98586011e-03 -1.64317525e-04 9.99995529e-01 -7.29846728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721346184 meters 0.08239649916821791 Centerline is valid? [True, True] Translation: X:197.03, Y:-9.75, Z:-7.30 [[ 9.99422329e-01 -3.38390387e-02 -3.15074809e-03 1.97033495e+02] [ 3.38393834e-02 9.99427282e-01 5.61184526e-05 -9.74679950e+00] [ 3.14704460e-03 -1.62705407e-04 9.99995035e-01 -7.29975341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.751346184 meters 0.08040202001388798 Centerline is valid? [True, True] Translation: X:197.07, Y:-9.74, Z:-7.30 [[ 9.99509325e-01 -3.11940591e-02 -2.83531742e-03 1.97065197e+02] [ 3.11943271e-02 9.99513337e-01 5.03312811e-05 -9.74279744e+00] [ 2.83236754e-03 -1.38752404e-04 9.99995979e-01 -7.29893336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781346184 meters 0.08039700612194167 Centerline is valid? [True, True] Translation: X:197.10, Y:-9.74, Z:-7.30 [[ 9.99538926e-01 -3.00933275e-02 -4.04060358e-03 1.97098290e+02] [ 3.00938684e-02 9.99547074e-01 7.31171498e-05 -9.74085244e+00] [ 4.03657315e-03 -1.94680830e-04 9.99991834e-01 -7.30083151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.811346184 meters 0.08154321655106758 Centerline is valid? [True, True] Translation: X:197.13, Y:-9.74, Z:-7.30 [[ 9.99565465e-01 -2.92246983e-02 -3.84686023e-03 1.97129038e+02] [ 2.92252010e-02 9.99572850e-01 7.45163706e-05 -9.74374804e+00] [ 3.84303933e-03 -1.86909254e-04 9.99992598e-01 -7.30390848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841346184 meters 0.08154321655106758 Centerline is valid? [True, True] Translation: X:197.16, Y:-9.74, Z:-7.31 [[ 9.99568314e-01 -2.91270783e-02 -3.84692369e-03 1.97161635e+02] [ 2.91275663e-02 9.99575700e-01 7.08713407e-05 -9.74445548e+00] [ 3.84322716e-03 -1.82892271e-04 9.99992598e-01 -7.30501984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.871346184 meters 0.0798814039899735 Centerline is valid? [True, True] Translation: X:197.19, Y:-9.74, Z:-7.31 [[ 9.99638757e-01 -2.64518730e-02 -4.75964756e-03 1.97193601e+02] [ 2.64525792e-02 9.99650066e-01 8.54822212e-05 -9.73965836e+00] [ 4.75572083e-03 -2.11356296e-04 9.99988669e-01 -7.30597832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901346184 meters 0.07949632525481645 Centerline is valid? [True, True] Translation: X:197.23, Y:-9.74, Z:-7.31 [[ 9.99676582e-01 -2.49778663e-02 -4.77883050e-03 1.97225695e+02] [ 2.49785657e-02 9.99687983e-01 8.66979431e-05 -9.73864847e+00] [ 4.77517390e-03 -2.06038235e-04 9.99988578e-01 -7.30777115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93134618399998 meters 0.07767565796639161 Centerline is valid? [True, True] Translation: X:197.26, Y:-9.74, Z:-7.31 [[ 9.99692613e-01 -2.42108141e-02 -5.34001142e-03 1.97258243e+02] [ 2.42116774e-02 9.99706850e-01 9.70677995e-05 -9.73657368e+00] [ 5.33609590e-03 -2.26328596e-04 9.99985737e-01 -7.30723939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96134618399998 meters 0.07919633013102784 Centerline is valid? [True, True] Translation: X:197.29, Y:-9.74, Z:-7.31 [[ 9.99720377e-01 -2.28474459e-02 -6.09601777e-03 1.97289683e+02] [ 2.28485460e-02 9.99738932e-01 1.10880695e-04 -9.74126928e+00] [ 6.09189295e-03 -2.50134833e-04 9.99981413e-01 -7.31339955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99134618399998 meters 0.07902197337002365 Centerline is valid? [True, True] Translation: X:197.32, Y:-9.74, Z:-7.32 [[ 9.99764097e-01 -2.12558356e-02 -4.46537498e-03 1.97320044e+02] [ 2.12564053e-02 9.99774054e-01 8.01500788e-05 -9.74100041e+00] [ 4.46266239e-03 -1.75048991e-04 9.99990027e-01 -7.31533534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02134618399998 meters 0.07690825062941184 Centerline is valid? [True, True] Translation: X:197.35, Y:-9.74, Z:-7.31 [[ 9.99756091e-01 -2.16632227e-02 -4.29696054e-03 1.97352762e+02] [ 2.16637630e-02 9.99765310e-01 7.92116308e-05 -9.73703237e+00] [ 4.29423610e-03 -1.72280645e-04 9.99990765e-01 -7.31169026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05134618399998 meters 0.0802272189535214 Centerline is valid? [True, True] Translation: X:197.38, Y:-9.74, Z:-7.32 [[ 9.99727439e-01 -2.29696990e-02 -4.17618631e-03 1.97383436e+02] [ 2.29702193e-02 9.99736147e-01 7.66702220e-05 -9.74499525e+00] [ 4.17332332e-03 -1.72577240e-04 9.99991277e-01 -7.31847977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08134618399998 meters 0.0824072353547176 Centerline is valid? [True, True] Translation: X:197.41, Y:-9.75, Z:-7.32 [[ 9.99653445e-01 -2.57158268e-02 -5.62912872e-03 1.97413244e+02] [ 2.57168025e-02 9.99669263e-01 1.01004524e-04 -9.75122910e+00] [ 5.62466954e-03 -2.45732712e-04 9.99984151e-01 -7.32182300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11134618399998 meters 0.08063952114662444 Centerline is valid? [True, True] Translation: X:197.45, Y:-9.75, Z:-7.32 [[ 9.99615536e-01 -2.68830602e-02 -6.78833952e-03 1.97445457e+02] [ 2.68845244e-02 9.99638538e-01 1.24503338e-04 -9.74922554e+00] [ 6.78253876e-03 -3.06956750e-04 9.99976951e-01 -7.31939368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14134618399999 meters 0.08075748657663441 Centerline is valid? [True, True] Translation: X:197.48, Y:-9.75, Z:-7.32 [[ 9.99564930e-01 -2.85458316e-02 -7.42207392e-03 1.97477776e+02] [ 2.85476299e-02 9.99592424e-01 1.36449573e-04 -9.75142668e+00] [ 7.41515379e-03 -3.48272828e-04 9.99972447e-01 -7.32014161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.171346184 meters 0.08172726727867616 Centerline is valid? [True, True] Translation: X:197.51, Y:-9.76, Z:-7.32 [[ 9.99555706e-01 -2.90649172e-02 -6.60456932e-03 1.97509641e+02] [ 2.90663839e-02 9.99577475e-01 1.26174066e-04 -9.75619939e+00] [ 6.59811149e-03 -3.18088955e-04 9.99978182e-01 -7.32377672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.201346184 meters 0.08097953972310598 Centerline is valid? [True, True] Translation: X:197.54, Y:-9.76, Z:-7.32 [[ 9.99533803e-01 -2.96040793e-02 -7.46827888e-03 1.97541327e+02] [ 2.96059374e-02 9.99561639e-01 1.38346023e-04 -9.75871588e+00] [ 7.46090946e-03 -3.59386924e-04 9.99972102e-01 -7.32404925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.231346184 meters 0.08038127327025792 Centerline is valid? [True, True] Translation: X:197.57, Y:-9.76, Z:-7.32 [[ 9.99549364e-01 -2.92922110e-02 -6.56010085e-03 1.97574151e+02] [ 2.92936507e-02 9.99570841e-01 1.23456517e-04 -9.75880315e+00] [ 6.55366921e-03 -3.15570186e-04 9.99978475e-01 -7.32411459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.261346184 meters 0.07915688784110228 Centerline is valid? [True, True] Translation: X:197.61, Y:-9.76, Z:-7.32 [[ 9.99585813e-01 -2.82482726e-02 -5.49891020e-03 1.97605922e+02] [ 2.82492626e-02 9.99600905e-01 1.02427315e-04 -9.75668368e+00] [ 5.49382221e-03 -2.57725049e-04 9.99984876e-01 -7.32254034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.291346184 meters 0.07809776082727157 Centerline is valid? [True, True] Translation: X:197.64, Y:-9.76, Z:-7.32 [[ 9.99641898e-01 -2.63669675e-02 -4.56706216e-03 1.97638017e+02] [ 2.63676394e-02 9.99652310e-01 8.69507528e-05 -9.75549873e+00] [ 4.56318161e-03 -2.07342264e-04 9.99989567e-01 -7.32245466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.321346184 meters 0.07726701050907406 Centerline is valid? [True, True] Translation: X:197.67, Y:-9.75, Z:-7.32 [[ 9.99736684e-01 -2.27036701e-02 -3.33265276e-03 1.97668279e+02] [ 2.27040014e-02 9.99742229e-01 6.16082604e-05 -9.75393414e+00] [ 3.33039496e-03 -1.37256591e-04 9.99994445e-01 -7.32458572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.351346184 meters 0.07657737348444685 Centerline is valid? [True, True] Translation: X:197.70, Y:-9.75, Z:-7.33 [[ 9.99777154e-01 -2.09584402e-02 -2.52718135e-03 1.97699844e+02] [ 2.09586283e-02 9.99780343e-01 4.79595361e-05 -9.75174595e+00] [ 2.52562108e-03 -1.00915103e-04 9.99996806e-01 -7.32506600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381346184 meters 0.07603761006778888 Centerline is valid? [True, True] Translation: X:197.73, Y:-9.75, Z:-7.33 [[ 9.99801876e-01 -1.97968335e-02 -2.07238992e-03 1.97732073e+02] [ 1.97969606e-02 9.99804020e-01 4.08297616e-05 -9.74983861e+00] [ 2.07117547e-03 -8.18486938e-05 9.99997852e-01 -7.32525007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.411346184 meters 0.07694259558199801 Centerline is valid? [True, True] Translation: X:197.76, Y:-9.75, Z:-7.33 [[ 9.99780997e-01 -2.08635780e-02 -1.63363185e-03 1.97763042e+02] [ 2.08636584e-02 9.99782330e-01 3.21683710e-05 -9.75239579e+00] [ 1.63260511e-03 -6.62448628e-05 9.99998665e-01 -7.32687405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441346184 meters 0.07640834696054295 Centerline is valid? [True, True] Translation: X:197.79, Y:-9.75, Z:-7.33 [[ 9.99758393e-01 -2.19186389e-02 -1.65202286e-03 1.97794892e+02] [ 2.19187227e-02 9.99759755e-01 3.26280123e-05 -9.75133678e+00] [ 1.65091081e-03 -6.88303600e-05 9.99998635e-01 -7.32619956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.471346184 meters 0.07809611688360169 Centerline is valid? [True, True] Translation: X:197.83, Y:-9.76, Z:-7.33 [[ 9.99744683e-01 -2.24816332e-02 -2.26805719e-03 1.97826038e+02] [ 2.24817913e-02 9.99747252e-01 4.42423083e-05 -9.75571796e+00] [ 2.26648930e-03 -9.52210009e-05 9.99997427e-01 -7.33034701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501346184 meters 0.08046605235393751 Centerline is valid? [True, True] Translation: X:197.86, Y:-9.76, Z:-7.34 [[ 9.99719228e-01 -2.35526166e-02 -2.59611129e-03 1.97856874e+02] [ 2.35528269e-02 9.99722592e-01 5.04626491e-05 -9.76202841e+00] [ 2.59420258e-03 -1.11594240e-04 9.99996629e-01 -7.33583233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.531346184 meters 0.07897993858761523 Centerline is valid? [True, True] Translation: X:197.89, Y:-9.76, Z:-7.33 [[ 9.99713731e-01 -2.37144455e-02 -3.17521727e-03 1.97888849e+02] [ 2.37147621e-02 9.99718764e-01 6.21011263e-05 -9.75944503e+00] [ 3.17285159e-03 -1.37382871e-04 9.99994957e-01 -7.33437573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561346184 meters 0.07753073306162463 Centerline is valid? [True, True] Translation: X:197.92, Y:-9.76, Z:-7.33 [[ 9.99733603e-01 -2.29432023e-02 -2.51648079e-03 1.97920810e+02] [ 2.29434005e-02 9.99736764e-01 4.99151314e-05 -9.75513419e+00] [ 2.51467315e-03 -1.07638461e-04 9.99996832e-01 -7.33343561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.591346184 meters 0.07738874484039555 Centerline is valid? [True, True] Translation: X:197.95, Y:-9.75, Z:-7.33 [[ 9.99748882e-01 -2.23441614e-02 -1.70630811e-03 1.97953302e+02] [ 2.23442531e-02 9.99750335e-01 3.46853934e-05 -9.75457580e+00] [ 1.70510709e-03 -7.28028636e-05 9.99998544e-01 -7.33403442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621346184 meters 0.07710828511277218 Centerline is valid? [True, True] Translation: X:197.99, Y:-9.75, Z:-7.33 [[ 9.99774879e-01 -2.11705947e-02 -1.41294710e-03 1.97985987e+02] [ 2.11706579e-02 9.99775876e-01 2.97773427e-05 -9.75277936e+00] [ 1.41200002e-03 -5.96836588e-05 9.99999001e-01 -7.33417738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.651346184 meters 0.07719865407637061 Centerline is valid? [True, True] Translation: X:198.02, Y:-9.75, Z:-7.34 [[ 9.99787525e-01 -2.04486327e-02 -2.59974811e-03 1.98018480e+02] [ 2.04488370e-02 9.99790899e-01 5.20098478e-05 -9.75108172e+00] [ 2.59814098e-03 -1.05160622e-04 9.99996619e-01 -7.33626545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68134618399998 meters 0.07703218238221313 Centerline is valid? [True, True] Translation: X:198.05, Y:-9.75, Z:-7.34 [[ 9.99801167e-01 -1.98009294e-02 -2.35598064e-03 1.98051283e+02] [ 1.98010977e-02 9.99803938e-01 4.80881318e-05 -9.74937721e+00] [ 2.35456654e-03 -9.47295730e-05 9.99997224e-01 -7.33687192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71134618399998 meters 0.07583421952838768 Centerline is valid? [True, True] Translation: X:198.08, Y:-9.75, Z:-7.34 [[ 9.99796871e-01 -1.99429564e-02 -2.91472723e-03 1.98083476e+02] [ 1.99432117e-02 9.99801113e-01 5.85460628e-05 -9.74612019e+00] [ 2.91297995e-03 -1.16663193e-04 9.99995750e-01 -7.33610982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74134618399998 meters 0.0790471117615871 Centerline is valid? [True, True] Translation: X:198.11, Y:-9.75, Z:-7.34 [[ 9.99795987e-01 -2.00835049e-02 -2.15337699e-03 1.98114382e+02] [ 2.00836448e-02 9.99798302e-01 4.33776207e-05 -9.75363160e+00] [ 2.15207149e-03 -8.66164298e-05 9.99997681e-01 -7.34293521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77134618399998 meters 0.0764187411603699 Centerline is valid? [True, True] Translation: X:198.15, Y:-9.75, Z:-7.34 [[ 9.99762119e-01 -2.17986727e-02 -7.23285243e-04 1.98146487e+02] [ 2.17986903e-02 9.99762380e-01 1.63770967e-05 -9.74776660e+00] [ 7.22756377e-04 -3.21398719e-05 9.99999738e-01 -7.33760611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80134618399998 meters 0.07728231206698664 Centerline is valid? [True, True] Translation: X:198.18, Y:-9.75, Z:-7.34 [[ 9.99752020e-01 -2.22618345e-02 -5.55607046e-04 1.98177488e+02] [ 2.22618464e-02 9.99752174e-01 1.52866415e-05 -9.74871453e+00] [ 5.55129043e-04 -2.76516894e-05 9.99999846e-01 -7.33877364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83134618399998 meters 0.07739072020603296 Centerline is valid? [True, True] Translation: X:198.21, Y:-9.75, Z:-7.34 [[ 9.99737898e-01 -2.28936763e-02 1.23235758e-04 1.98209551e+02] [ 2.28936764e-02 9.99737905e-01 -1.30332687e-07 -9.74787042e+00] [-1.23200475e-04 2.95161811e-06 9.99999992e-01 -7.33863416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86134618399998 meters 0.07861316386454169 Centerline is valid? [True, True] Translation: X:198.24, Y:-9.75, Z:-7.34 [[ 9.99756811e-01 -2.18609318e-02 2.90153880e-03 1.98240315e+02] [ 2.18611857e-02 9.99761014e-01 -5.58388389e-05 -9.74942948e+00] [-2.89962469e-03 1.19256338e-04 9.99995789e-01 -7.34104884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89134618399999 meters 0.07925328767155744 Centerline is valid? [True, True] Translation: X:198.27, Y:-9.75, Z:-7.34 [[ 9.99776728e-01 -2.08497500e-02 3.43247036e-03 1.98271399e+02] [ 2.08500824e-02 9.99782612e-01 -6.11000795e-05 -9.75150877e+00] [-3.43045026e-03 1.32653728e-04 9.99994107e-01 -7.34362887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.921346184 meters 0.07637169127923547 Centerline is valid? [True, True] Translation: X:198.30, Y:-9.75, Z:-7.34 [[ 9.99781456e-01 -2.02912303e-02 5.03059099e-03 1.98303655e+02] [ 2.02919793e-02 9.99794092e-01 -9.78920325e-05 -9.74627349e+00] [-5.02756880e-03 1.99951287e-04 9.99987342e-01 -7.33989420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.951346184 meters 0.07634018303601496 Centerline is valid? [True, True] Translation: X:198.34, Y:-9.75, Z:-7.34 [[ 9.99800847e-01 -1.92187651e-02 5.37645117e-03 1.98335224e+02] [ 1.92195978e-02 9.99815281e-01 -1.03251520e-04 -9.74600574e+00] [-5.37347367e-03 2.06564187e-04 9.99985541e-01 -7.34167252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.981346184 meters 0.07509750278135888 Centerline is valid? [True, True] Translation: X:198.37, Y:-9.74, Z:-7.34 [[ 9.99833809e-01 -1.69696278e-02 6.66229188e-03 1.98367401e+02] [ 1.69708847e-02 9.99855975e-01 -1.32169911e-04 -9.73909518e+00] [-6.65908947e-03 2.45212933e-04 9.99977798e-01 -7.33981356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.011346184 meters 0.07236231362783488 Centerline is valid? [True, True] Translation: X:198.40, Y:-9.73, Z:-7.34 [[ 9.99858440e-01 -1.51486271e-02 7.32253067e-03 1.98398772e+02] [ 1.51501033e-02 9.99885220e-01 -1.46159631e-04 -9.72932077e+00] [-7.31947607e-03 2.57076036e-04 9.99973179e-01 -7.33518865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.041346184 meters 0.07530239042670751 Centerline is valid? [True, True] Translation: X:198.43, Y:-9.73, Z:-7.34 [[ 9.99859561e-01 -1.40121339e-02 9.19340898e-03 1.98428621e+02] [ 1.40144034e-02 9.99901777e-01 -1.82483786e-04 -9.73383300e+00] [-9.18994898e-03 3.11298300e-04 9.99957723e-01 -7.33962360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.071346184 meters 0.07202872306994097 Centerline is valid? [True, True] Translation: X:198.46, Y:-9.72, Z:-7.33 [[ 9.99852323e-01 -1.36108715e-02 1.04917114e-02 1.98461383e+02] [ 1.36138296e-02 9.99907305e-01 -2.10573815e-04 -9.72478821e+00] [-1.04878727e-02 3.53375089e-04 9.99944938e-01 -7.33460014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101346184 meters 0.07275037221468979 Centerline is valid? [True, True] Translation: X:198.49, Y:-9.73, Z:-7.34 [[ 9.99840268e-01 -1.30635502e-02 1.21976376e-02 1.98492674e+02] [ 1.30674820e-02 9.99914587e-01 -2.42694620e-04 -9.72797420e+00] [-1.21934253e-02 4.02048264e-04 9.99925577e-01 -7.33659989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.131346184 meters 0.0717924719765499 Centerline is valid? [True, True] Translation: X:198.53, Y:-9.73, Z:-7.34 [[ 9.99824789e-01 -1.38306474e-02 1.26136876e-02 1.98525403e+02] [ 1.38349451e-02 9.99904260e-01 -2.53519279e-04 -9.72751519e+00] [-1.26089736e-02 4.27984535e-04 9.99920412e-01 -7.33663899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161346184 meters 0.07292721765627692 Centerline is valid? [True, True] Translation: X:198.56, Y:-9.73, Z:-7.34 [[ 9.99802715e-01 -1.48806236e-02 1.31567013e-02 1.98555922e+02] [ 1.48854701e-02 9.99889169e-01 -2.70508371e-04 -9.73283301e+00] [-1.31512178e-02 4.66298686e-04 9.99913410e-01 -7.33965696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.191346184 meters 0.07385976711945225 Centerline is valid? [True, True] Translation: X:198.59, Y:-9.74, Z:-7.34 [[ 9.99792376e-01 -1.67631380e-02 1.15845350e-02 1.98588211e+02] [ 1.67670459e-02 9.99859394e-01 -2.40286477e-04 -9.73500734e+00] [-1.15788781e-02 4.34475017e-04 9.99932868e-01 -7.34222236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221346184 meters 0.07406078791437787 Centerline is valid? [True, True] Translation: X:198.62, Y:-9.74, Z:-7.34 [[ 9.99799937e-01 -1.66846710e-02 1.10320795e-02 1.98620681e+02] [ 1.66881747e-02 9.99860717e-01 -2.25601347e-04 -9.73519890e+00] [-1.10267788e-02 4.09661482e-04 9.99939119e-01 -7.34397770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.251346184 meters 0.0734596974994599 Centerline is valid? [True, True] Translation: X:198.65, Y:-9.74, Z:-7.34 [[ 9.99787837e-01 -1.72414807e-02 1.12700023e-02 1.98652747e+02] [ 1.72452023e-02 9.99851263e-01 -2.33121924e-04 -9.73585852e+00] [-1.12643067e-02 4.27425935e-04 9.99936464e-01 -7.34378220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281346184 meters 0.07490874928095642 Centerline is valid? [True, True] Translation: X:198.68, Y:-9.74, Z:-7.34 [[ 9.99759521e-01 -1.80548712e-02 1.24467220e-02 1.98683737e+02] [ 1.80595262e-02 9.99836879e-01 -2.61694875e-04 -9.74162203e+00] [-1.24399668e-02 4.86413846e-04 9.99922502e-01 -7.34479704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.311346184 meters 0.07391258037837946 Centerline is valid? [True, True] Translation: X:198.72, Y:-9.74, Z:-7.34 [[ 9.99756934e-01 -1.75261909e-02 1.33755819e-02 1.98716547e+02] [ 1.75316043e-02 9.99846268e-01 -2.87564758e-04 -9.74016059e+00] [-1.33684857e-02 5.21990269e-04 9.99910502e-01 -7.34426987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341346184 meters 0.07374634033059496 Centerline is valid? [True, True] Translation: X:198.75, Y:-9.74, Z:-7.35 [[ 9.99768723e-01 -1.67111339e-02 1.35365341e-02 1.98748430e+02] [ 1.67165779e-02 9.99860226e-01 -2.89114664e-04 -9.74158243e+00] [-1.35298106e-02 5.15332325e-04 9.99908335e-01 -7.34563565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.371346184 meters 0.07347569602476961 Centerline is valid? [True, True] Translation: X:198.78, Y:-9.74, Z:-7.35 [[ 9.99788902e-01 -1.56002618e-02 1.33710150e-02 1.98781184e+02] [ 1.56055150e-02 9.99878185e-01 -2.88628042e-04 -9.74224210e+00] [-1.33648836e-02 4.97228689e-04 9.99910562e-01 -7.34608533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401346184 meters 0.07353714299441025 Centerline is valid? [True, True] Translation: X:198.81, Y:-9.74, Z:-7.35 [[ 9.99799908e-01 -1.47613198e-02 1.34999310e-02 1.98813260e+02] [ 1.47666421e-02 9.99890924e-01 -2.94647238e-04 -9.74128624e+00] [-1.34941091e-02 4.93936932e-04 9.99908828e-01 -7.34672786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43134618399998 meters 0.07346569594674912 Centerline is valid? [True, True] Translation: X:198.85, Y:-9.74, Z:-7.35 [[ 9.99793723e-01 -1.51835797e-02 1.34896636e-02 1.98845994e+02] [ 1.51889738e-02 9.99884597e-01 -2.97503328e-04 -9.74139280e+00] [-1.34835897e-02 5.02336107e-04 9.99908966e-01 -7.34665778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46134618399998 meters 0.07379968279111494 Centerline is valid? [True, True] Translation: X:198.88, Y:-9.74, Z:-7.35 [[ 9.99784301e-01 -1.65318634e-02 1.25717847e-02 1.98878111e+02] [ 1.65367296e-02 9.99863219e-01 -2.83217515e-04 -9.74369206e+00] [-1.25653830e-02 4.91052630e-04 9.99920932e-01 -7.34864954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49134618399998 meters 0.07756721397214762 Centerline is valid? [True, True] Translation: X:198.91, Y:-9.75, Z:-7.35 [[ 9.99734009e-01 -1.88174871e-02 1.33346494e-02 1.98908334e+02] [ 1.88231881e-02 9.99822782e-01 -3.02143855e-04 -9.75423303e+00] [-1.33266007e-02 5.53064102e-04 9.99911044e-01 -7.35357482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52134618399998 meters 0.07798726948711818 Centerline is valid? [True, True] Translation: X:198.94, Y:-9.76, Z:-7.35 [[ 9.99703250e-01 -2.10689462e-02 1.22274774e-02 1.98939330e+02] [ 2.10739163e-02 9.99777882e-01 -2.77757918e-04 -9.75740291e+00] [-1.22189094e-02 5.35356330e-04 9.99925203e-01 -7.35433724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55134618399998 meters 0.08026301437522988 Centerline is valid? [True, True] Translation: X:198.97, Y:-9.76, Z:-7.36 [[ 9.99596442e-01 -2.56635332e-02 1.21793481e-02 1.98969550e+02] [ 2.56688091e-02 9.99670463e-01 -2.77038539e-04 -9.76478527e+00] [-1.21682248e-02 5.89556100e-04 9.99925791e-01 -7.35603358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58134618399998 meters 0.07958518355414504 Centerline is valid? [True, True] Translation: X:199.00, Y:-9.76, Z:-7.36 [[ 9.99546353e-01 -2.77573591e-02 1.16883400e-02 1.99000896e+02] [ 2.77623551e-02 9.99614516e-01 -2.65372906e-04 -9.76465647e+00] [-1.16764683e-02 5.89748367e-04 9.99931654e-01 -7.35526847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61134618399998 meters 0.08095202719519597 Centerline is valid? [True, True] Translation: X:199.03, Y:-9.77, Z:-7.36 [[ 9.99477766e-01 -2.99157044e-02 1.22166489e-02 1.99033233e+02] [ 2.99213199e-02 9.99552219e-01 -2.77096541e-04 -9.76969301e+00] [-1.22028889e-02 6.42490090e-04 9.99925336e-01 -7.35662333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64134618399999 meters 0.08178943028952906 Centerline is valid? [True, True] Translation: X:199.06, Y:-9.77, Z:-7.36 [[ 9.99446619e-01 -3.07890930e-02 1.25891920e-02 1.99064988e+02] [ 3.07950967e-02 9.99525678e-01 -2.83277767e-04 -9.77408342e+00] [-1.25744988e-02 6.70806392e-04 9.99920713e-01 -7.35753861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.671346184 meters 0.08446271331934063 Centerline is valid? [True, True] Translation: X:199.09, Y:-9.78, Z:-7.36 [[ 9.99385756e-01 -3.30218489e-02 1.17332117e-02 1.99094895e+02] [ 3.30272969e-02 9.99454413e-01 -2.70807007e-04 -9.78237982e+00] [-1.17178677e-02 6.58156932e-04 9.99931127e-01 -7.36025099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.701346184 meters 0.0892097969081347 Centerline is valid? [True, True] Translation: X:199.12, Y:-9.79, Z:-7.36 [[ 9.99339310e-01 -3.50315537e-02 9.68157128e-03 1.99124275e+02] [ 3.50353569e-02 9.99386048e-01 -2.23454363e-04 -9.79159340e+00] [-9.66779931e-03 5.62504035e-04 9.99953108e-01 -7.36492577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.731346184 meters 0.0892097969081347 Centerline is valid? [True, True] Translation: X:199.16, Y:-9.79, Z:-7.37 [[ 9.99347845e-01 -3.47871904e-02 9.68171043e-03 1.99156970e+02] [ 3.47909243e-02 9.99394589e-01 -2.17457117e-04 -9.79256909e+00] [-9.66828430e-03 5.54150956e-04 9.99953107e-01 -7.36604503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.761346184 meters 0.08620435659804952 Centerline is valid? [True, True] Translation: X:199.19, Y:-9.79, Z:-7.36 [[ 9.99296201e-01 -3.61166981e-02 1.01334071e-02 1.99189496e+02] [ 3.61209295e-02 9.99347399e-01 -2.34806059e-04 -9.78998353e+00] [-1.01183136e-02 6.00668886e-04 9.99948628e-01 -7.36369155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.791346184 meters 0.08711244026176196 Centerline is valid? [True, True] Translation: X:199.22, Y:-9.80, Z:-7.37 [[ 9.99219278e-01 -3.84425754e-02 9.11058582e-03 1.99220622e+02] [ 3.84461028e-02 9.99260653e-01 -2.12282744e-04 -9.79602337e+00] [-9.09568924e-03 5.62383528e-04 9.99958475e-01 -7.36553357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821346184 meters 0.08460031454477626 Centerline is valid? [True, True] Translation: X:199.25, Y:-9.79, Z:-7.36 [[ 9.99164207e-01 -3.99323867e-02 8.73447198e-03 1.99252622e+02] [ 3.99356699e-02 9.99202233e-01 -2.01731503e-04 -9.79478615e+00] [-8.71944829e-03 5.50379888e-04 9.99961833e-01 -7.36462511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.851346184 meters 0.09149009342290512 Centerline is valid? [True, True] Translation: X:199.28, Y:-9.81, Z:-7.37 [[ 9.99188129e-01 -3.94108289e-02 8.35882374e-03 1.99283024e+02] [ 3.94138189e-02 9.99222955e-01 -1.93208469e-04 -9.80900256e+00] [-8.34471405e-03 5.22504773e-04 9.99965046e-01 -7.37060845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881346184 meters 0.08586197113866736 Centerline is valid? [True, True] Translation: X:199.32, Y:-9.80, Z:-7.37 [[ 9.99256451e-01 -3.79733178e-02 6.67631530e-03 1.99315528e+02] [ 3.79751753e-02 9.99278671e-01 -1.51624474e-04 -9.79955463e+00] [-6.66574180e-03 4.05045977e-04 9.99977702e-01 -7.36905817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.911346184 meters 0.08473450498320402 Centerline is valid? [True, True] Translation: X:199.35, Y:-9.80, Z:-7.37 [[ 9.99384988e-01 -3.47286762e-02 4.85426424e-03 1.99347377e+02] [ 3.47296378e-02 9.99396738e-01 -1.13908295e-04 -9.79830659e+00] [-4.84737996e-03 2.82425078e-04 9.99988212e-01 -7.37097555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.941346184 meters 0.08450683272379167 Centerline is valid? [True, True] Translation: X:199.38, Y:-9.80, Z:-7.37 [[ 9.99439440e-01 -3.29993082e-02 5.64375274e-03 1.99378242e+02] [ 3.30005914e-02 9.99455323e-01 -1.34371711e-04 -9.79782689e+00] [-5.63624454e-03 3.20543566e-04 9.99984065e-01 -7.37192023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.971346184 meters 0.08347247938241299 Centerline is valid? [True, True] Translation: X:199.41, Y:-9.80, Z:-7.37 [[ 9.99464568e-01 -3.20575746e-02 6.54895802e-03 1.99410913e+02] [ 3.20592488e-02 9.99485959e-01 -1.50803054e-04 -9.79843978e+00] [-6.54075721e-03 3.60676984e-04 9.99978544e-01 -7.37165421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.001346184 meters 0.08193376768180717 Centerline is valid? [True, True] Translation: X:199.44, Y:-9.80, Z:-7.37 [[ 9.99550845e-01 -2.92810644e-02 6.38180253e-03 1.99442800e+02] [ 2.92826384e-02 9.99571160e-01 -1.53311521e-04 -9.79681601e+00] [-6.37457663e-03 3.40118676e-04 9.99979624e-01 -7.37225347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.031346184 meters 0.0809168983008984 Centerline is valid? [True, True] Translation: X:199.47, Y:-9.80, Z:-7.38 [[ 9.99720689e-01 -2.31807322e-02 4.60411863e-03 1.99472474e+02] [ 2.31814945e-02 9.99731267e-01 -1.12254752e-04 -9.79525755e+00] [-4.60027920e-03 2.18953749e-04 9.99989395e-01 -7.37700451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.061346184 meters 0.07924123905519899 Centerline is valid? [True, True] Translation: X:199.50, Y:-9.79, Z:-7.38 [[ 9.99799069e-01 -1.96563923e-02 3.93040768e-03 1.99504606e+02] [ 1.96569132e-02 9.99806780e-01 -9.39505336e-05 -9.79132868e+00] [-3.92780152e-03 1.71191339e-04 9.99992272e-01 -7.37829496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.091346184 meters 0.07559164907762313 Centerline is valid? [True, True] Translation: X:199.54, Y:-9.78, Z:-7.38 [[ 9.99884299e-01 -1.40496076e-02 5.83066370e-03 1.99535594e+02] [ 1.40506732e-02 9.99901274e-01 -1.41825916e-04 -9.78038574e+00] [-5.82809547e-03 2.23734257e-04 9.99982991e-01 -7.37529424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.121346184 meters 0.07623827902591052 Centerline is valid? [True, True] Translation: X:199.57, Y:-9.78, Z:-7.38 [[ 9.99898283e-01 -1.27811471e-02 6.32977763e-03 1.99567267e+02] [ 1.27823658e-02 9.99918291e-01 -1.52125579e-04 -9.78165318e+00] [-6.32731609e-03 2.33019639e-04 9.99979955e-01 -7.37801913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.151346184 meters 0.07575357771815595 Centerline is valid? [True, True] Translation: X:199.60, Y:-9.78, Z:-7.38 [[ 9.99930371e-01 -1.06785762e-02 5.02215716e-03 1.99599940e+02] [ 1.06793142e-02 9.99942967e-01 -1.20163544e-04 -9.77946378e+00] [-5.02058756e-03 1.73788372e-04 9.99987382e-01 -7.37982537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18134618399998 meters 0.0747447469754967 Centerline is valid? [True, True] Translation: X:199.63, Y:-9.78, Z:-7.38 [[ 9.99946180e-01 -9.24811222e-03 4.70215615e-03 1.99632215e+02] [ 9.24874634e-03 9.99957223e-01 -1.13129362e-04 -9.77549017e+00] [-4.70090877e-03 1.56612323e-04 9.99988938e-01 -7.38087794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21134618399998 meters 0.07461837738384018 Centerline is valid? [True, True] Translation: X:199.66, Y:-9.78, Z:-7.39 [[ 9.99965015e-01 -6.90332056e-03 4.72357681e-03 1.99663553e+02] [ 6.90393828e-03 9.99976161e-01 -1.14480379e-04 -9.77509738e+00] [-4.72267391e-03 1.47087657e-04 9.99988837e-01 -7.38550533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24134618399998 meters 0.07567917536514167 Centerline is valid? [True, True] Translation: X:199.69, Y:-9.78, Z:-7.39 [[ 9.99958718e-01 -6.99805077e-03 5.79561703e-03 1.99694668e+02] [ 6.99898621e-03 9.99975497e-01 -1.41138153e-04 -9.77971689e+00] [-5.79448732e-03 1.81695770e-04 9.99983195e-01 -7.38835690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27134618399998 meters 0.07507320191429244 Centerline is valid? [True, True] Translation: X:199.73, Y:-9.78, Z:-7.39 [[ 9.99964869e-01 -6.76419459e-03 4.95031715e-03 1.99727389e+02] [ 6.76487186e-03 9.99977111e-01 -1.20080521e-04 -9.77791551e+00] [-4.94939159e-03 1.53564564e-04 9.99987740e-01 -7.38930913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30134618399998 meters 0.07461301315728476 Centerline is valid? [True, True] Translation: X:199.76, Y:-9.78, Z:-7.39 [[ 9.99937033e-01 -9.02584465e-03 6.66818640e-03 1.99759894e+02] [ 9.02713113e-03 9.99959241e-01 -1.62854962e-04 -9.77776613e+00] [-6.66644471e-03 2.23039300e-04 9.99977754e-01 -7.38732550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33134618399998 meters 0.07519728610535328 Centerline is valid? [True, True] Translation: X:199.79, Y:-9.78, Z:-7.39 [[ 9.99913094e-01 -1.03540104e-02 8.16081957e-03 1.99792130e+02] [ 1.03559904e-02 9.99946355e-01 -2.00400551e-04 -9.77874981e+00] [-8.15830684e-03 2.84896504e-04 9.99966680e-01 -7.38820153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36134618399998 meters 0.07823089522121461 Centerline is valid? [True, True] Translation: X:199.82, Y:-9.79, Z:-7.39 [[ 9.99887869e-01 -1.17322010e-02 9.30616251e-03 1.99823406e+02] [ 1.17348485e-02 9.99931118e-01 -2.29934894e-04 -9.78565080e+00] [-9.30282384e-03 3.39115518e-04 9.99956670e-01 -7.39152073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39134618399999 meters 0.07691891386221095 Centerline is valid? [True, True] Translation: X:199.86, Y:-9.78, Z:-7.39 [[ 9.99870143e-01 -1.29884732e-02 9.53922474e-03 1.99855855e+02] [ 1.29913135e-02 9.99915582e-01 -2.35845065e-04 -9.77893223e+00] [-9.53535619e-03 3.59741497e-04 9.99954473e-01 -7.38820182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.421346184 meters 0.07668419716699303 Centerline is valid? [True, True] Translation: X:199.89, Y:-9.78, Z:-7.39 [[ 9.99890715e-01 -1.16156806e-02 9.14517309e-03 1.99888049e+02] [ 1.16182385e-02 9.99932480e-01 -2.26615085e-04 -9.77558668e+00] [-9.14192333e-03 3.32841121e-04 9.99958156e-01 -7.38966263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.451346184 meters 0.07563278357917952 Centerline is valid? [True, True] Translation: X:199.92, Y:-9.77, Z:-7.39 [[ 9.99890952e-01 -1.12786524e-02 9.53285621e-03 1.99920837e+02] [ 1.12814228e-02 9.99936335e-01 -2.36895825e-04 -9.77204657e+00] [-9.52957743e-03 3.44414174e-04 9.99954533e-01 -7.38929166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.481346184 meters 0.07688290271176325 Centerline is valid? [True, True] Translation: X:199.95, Y:-9.77, Z:-7.39 [[ 9.99885158e-01 -1.15035735e-02 9.86604325e-03 1.99953098e+02] [ 1.15065139e-02 9.99933769e-01 -2.41321715e-04 -9.77490648e+00] [-9.86261375e-03 3.54817765e-04 9.99951300e-01 -7.39220577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.511346184 meters 0.07686349750114813 Centerline is valid? [True, True] Translation: X:199.99, Y:-9.77, Z:-7.39 [[ 9.99876345e-01 -1.16756288e-02 1.05344318e-02 1.99985383e+02] [ 1.16790738e-02 9.99931762e-01 -2.65562322e-04 -9.76995521e+00] [-1.05306123e-02 3.88561890e-04 9.99944476e-01 -7.39257155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.541346184 meters 0.0775455633354006 Centerline is valid? [True, True] Translation: X:200.02, Y:-9.77, Z:-7.39 [[ 9.99859920e-01 -1.28789766e-02 1.06898458e-02 2.00017510e+02] [ 1.28826008e-02 9.99916979e-01 -2.70233004e-04 -9.77044313e+00] [-1.06854780e-02 4.07908165e-04 9.99942825e-01 -7.39471012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.571346184 meters 0.07754132046988886 Centerline is valid? [True, True] Translation: X:200.05, Y:-9.77, Z:-7.40 [[ 9.99879405e-01 -1.20241980e-02 9.82821165e-03 2.00049524e+02] [ 1.20272009e-02 9.99927640e-01 -2.46493793e-04 -9.76962686e+00] [-9.82453659e-03 3.64669943e-04 9.99951672e-01 -7.39765140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601346184 meters 0.07742773911658243 Centerline is valid? [True, True] Translation: X:200.08, Y:-9.76, Z:-7.40 [[ 9.99926678e-01 -9.58222051e-03 7.40399409e-03 2.00080751e+02] [ 9.58384720e-03 9.99954057e-01 -1.84255862e-04 -9.76354279e+00] [-7.40188834e-03 2.55201100e-04 9.99972573e-01 -7.40265326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.631346184 meters 0.0783545285732539 Centerline is valid? [True, True] Translation: X:200.11, Y:-9.76, Z:-7.41 [[ 9.99938916e-01 -8.70913521e-03 6.80559593e-03 2.00111537e+02] [ 8.71052612e-03 9.99962047e-01 -1.74762247e-04 -9.76309528e+00] [-6.80381562e-03 2.34031893e-04 9.99976826e-01 -7.40650720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.661346184 meters 0.07602733348711596 Centerline is valid? [True, True] Translation: X:200.14, Y:-9.75, Z:-7.41 [[ 9.99967390e-01 -6.03975952e-03 5.36100261e-03 2.00144190e+02] [ 6.04058099e-03 9.99981746e-01 -1.37053287e-04 -9.75400901e+00] [-5.36007698e-03 1.69432388e-04 9.99985620e-01 -7.40519430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.691346184 meters 0.07511838382977815 Centerline is valid? [True, True] Translation: X:200.18, Y:-9.75, Z:-7.40 [[ 9.99966938e-01 -4.46363553e-03 6.79691840e-03 2.00176059e+02] [ 4.46492679e-03 9.99990017e-01 -1.74815267e-04 -9.74978819e+00] [-6.79607023e-03 2.05157231e-04 9.99976885e-01 -7.40390346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.721346184 meters 0.07513675156147805 Centerline is valid? [True, True] Translation: X:200.21, Y:-9.75, Z:-7.41 [[ 9.99975271e-01 -3.24971558e-03 6.23677402e-03 2.00206889e+02] [ 3.25076921e-03 9.99994704e-01 -1.58809239e-04 -9.74866659e+00] [-6.23622491e-03 1.79079625e-04 9.99980539e-01 -7.40561068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.751346184 meters 0.07541091323509887 Centerline is valid? [True, True] Translation: X:200.24, Y:-9.75, Z:-7.41 [[ 9.99981194e-01 -2.96471465e-03 5.36860131e-03 2.00239094e+02] [ 2.96550201e-03 9.99995593e-01 -1.38706761e-04 -9.74820072e+00] [-5.36816643e-03 1.54624751e-04 9.99985579e-01 -7.40794802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.781346184 meters 0.07553033917299834 Centerline is valid? [True, True] Translation: X:200.27, Y:-9.75, Z:-7.41 [[ 9.99985856e-01 -2.56257487e-03 4.66056968e-03 2.00270217e+02] [ 2.56316626e-03 9.99996708e-01 -1.20924477e-04 -9.74943797e+00] [-4.66024446e-03 1.32868582e-04 9.99989132e-01 -7.41099955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.811346184 meters 0.07608388681248487 Centerline is valid? [True, True] Translation: X:200.30, Y:-9.75, Z:-7.42 [[ 9.99986150e-01 -2.83393482e-03 4.43499050e-03 2.00302423e+02] [ 2.83447152e-03 9.99995976e-01 -1.14733351e-04 -9.75152760e+00] [-4.43464751e-03 1.27302616e-04 9.99990159e-01 -7.41531468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.841346184 meters 0.07698477217767968 Centerline is valid? [True, True] Translation: X:200.33, Y:-9.75, Z:-7.42 [[ 9.99988565e-01 -3.65540779e-03 3.08347854e-03 2.00333165e+02] [ 3.65566500e-03 9.99993315e-01 -7.77835719e-05 -9.75418343e+00] [-3.08317360e-03 8.90548471e-05 9.99995243e-01 -7.41896854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.871346184 meters 0.07640867396188046 Centerline is valid? [True, True] Translation: X:200.37, Y:-9.75, Z:-7.42 [[ 9.99995215e-01 -1.93726002e-03 2.41192701e-03 2.00365578e+02] [ 1.93741477e-03 9.99998121e-01 -6.18218672e-05 -9.75333355e+00] [-2.41180272e-03 6.64944744e-05 9.99997089e-01 -7.42149741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.901346184 meters 0.07549831255210755 Centerline is valid? [True, True] Translation: X:200.40, Y:-9.75, Z:-7.42 [[ 9.99995214e-01 1.55531921e-03 2.67432968e-03 2.00397034e+02] [-1.55513758e-03 9.99998788e-01 -6.99933475e-05 -9.74950338e+00] [-2.67443530e-03 6.58340619e-05 9.99996422e-01 -7.42331253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93134618399998 meters 0.07477653500802985 Centerline is valid? [True, True] Translation: X:200.43, Y:-9.75, Z:-7.42 [[ 9.99984199e-01 4.27414519e-03 3.65158870e-03 2.00427576e+02] [-4.27382091e-03 9.99990863e-01 -9.66036896e-05 -9.74634497e+00] [-3.65196823e-03 8.09959270e-05 9.99993328e-01 -7.42463150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96134618399998 meters 0.07393084640784722 Centerline is valid? [True, True] Translation: X:200.46, Y:-9.74, Z:-7.42 [[ 9.99967230e-01 6.78843508e-03 4.41080109e-03 2.00457296e+02] [-6.78797925e-03 9.99976954e-01 -1.18306948e-04 -9.74210535e+00] [-4.41150256e-03 8.83626445e-05 9.99990265e-01 -7.42433030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99134618399998 meters 0.0718006974265771 Centerline is valid? [True, True] Translation: X:200.49, Y:-9.73, Z:-7.42 [[ 9.99892478e-01 1.31148992e-02 6.55988499e-03 2.00487367e+02] [-1.31140317e-02 9.99913992e-01 -1.75234641e-04 -9.73131447e+00] [-6.56161897e-03 8.91892601e-05 9.99978468e-01 -7.42118405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02134618399998 meters 0.07084311741855438 Centerline is valid? [True, True] Translation: X:200.52, Y:-9.73, Z:-7.42 [[ 9.99849139e-01 1.60533348e-02 6.63242032e-03 2.00516126e+02] [-1.60525078e-02 9.99871134e-01 -1.77910483e-04 -9.72578054e+00] [-6.63442168e-03 7.14166649e-05 9.99977989e-01 -7.41873674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05134618399998 meters 0.07082675854651492 Centerline is valid? [True, True] Translation: X:200.54, Y:-9.73, Z:-7.42 [[ 9.99826123e-01 1.65504357e-02 8.59103786e-03 2.00544425e+02] [-1.65490775e-02 9.99863028e-01 -2.29160310e-04 -9.72658488e+00] [-8.59365383e-03 8.69467125e-05 9.99963070e-01 -7.42084025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08134618399998 meters 0.07068163503254507 Centerline is valid? [True, True] Translation: X:200.57, Y:-9.73, Z:-7.42 [[ 9.99805560e-01 1.83908524e-02 7.11470717e-03 2.00573614e+02] [-1.83899682e-02 9.99830872e-01 -1.89686958e-04 -9.72544100e+00] [-7.11699238e-03 5.88108366e-05 9.99974672e-01 -7.42245495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11134618399998 meters 0.07065765052572939 Centerline is valid? [True, True] Translation: X:200.60, Y:-9.72, Z:-7.42 [[ 9.99787402e-01 1.96849947e-02 6.13611004e-03 2.00602699e+02] [-1.96843620e-02 9.99806231e-01 -1.63493654e-04 -9.72464947e+00] [-6.13813943e-03 4.26734846e-05 9.99981161e-01 -7.42492725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14134618399999 meters 0.07051889986727713 Centerline is valid? [True, True] Translation: X:200.63, Y:-9.72, Z:-7.43 [[ 9.99770064e-01 2.05312557e-02 6.18766487e-03 2.00631078e+02] [-2.05306312e-02 9.99789211e-01 -1.64442160e-04 -9.72418932e+00] [-6.18973678e-03 3.73676835e-05 9.99980843e-01 -7.42614778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.171346184 meters 0.07063419843577502 Centerline is valid? [True, True] Translation: X:200.66, Y:-9.72, Z:-7.43 [[ 9.99734718e-01 2.19489812e-02 6.98105225e-03 2.00658579e+02] [-2.19482230e-02 9.99759092e-01 -1.85203260e-04 -9.72303313e+00] [-6.98343548e-03 3.19324369e-05 9.99975615e-01 -7.42850163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.201346184 meters 0.0704141650242661 Centerline is valid? [True, True] Translation: X:200.69, Y:-9.72, Z:-7.43 [[ 9.99692075e-01 2.38336050e-02 6.90750702e-03 2.00687534e+02] [-2.38329148e-02 9.99715939e-01 -1.82227070e-04 -9.72285290e+00] [-6.90988799e-03 1.75449317e-05 9.99976126e-01 -7.43015301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.231346184 meters 0.07027282382413483 Centerline is valid? [True, True] Translation: X:200.72, Y:-9.72, Z:-7.43 [[ 9.99639596e-01 2.58710415e-02 7.16705887e-03 2.00716323e+02] [-2.58703548e-02 9.99665289e-01 -1.88525410e-04 -9.72094981e+00] [-7.16953733e-03 3.04310918e-06 9.99974299e-01 -7.43015664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.261346184 meters 0.06994000762576784 Centerline is valid? [True, True] Translation: X:200.74, Y:-9.71, Z:-7.43 [[ 9.99510855e-01 3.01568931e-02 8.28321289e-03 2.00744242e+02] [-3.01561186e-02 9.99545177e-01 -2.18420517e-04 -9.71452318e+00] [-8.28603237e-03 -3.14758721e-05 9.99965670e-01 -7.42994827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.291346184 meters 0.06969373565661087 Centerline is valid? [True, True] Translation: X:200.77, Y:-9.71, Z:-7.43 [[ 9.99458158e-01 3.15754969e-02 9.29397173e-03 2.00773522e+02] [-3.15745760e-02 9.99501369e-01 -2.45828068e-04 -9.71308370e+00] [-9.29709961e-03 -4.77583496e-05 9.99956780e-01 -7.42832657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321346184 meters 0.06989539427503687 Centerline is valid? [True, True] Translation: X:200.80, Y:-9.71, Z:-7.43 [[ 9.99369559e-01 3.40906028e-02 9.91539578e-03 2.00802113e+02] [-3.40897411e-02 9.99418743e-01 -2.55952460e-04 -9.71269132e+00] [-9.91835796e-03 -8.22221777e-05 9.99950808e-01 -7.42976949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.351346184 meters 0.06991535562246037 Centerline is valid? [True, True] Translation: X:200.83, Y:-9.71, Z:-7.43 [[ 9.99334258e-01 3.49540996e-02 1.04523955e-02 2.00830106e+02] [-3.49531938e-02 9.99388914e-01 -2.69374883e-04 -9.71389074e+00] [-1.04554239e-02 -9.61490561e-05 9.99945336e-01 -7.43135892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381346184 meters 0.07002614263736795 Centerline is valid? [True, True] Translation: X:200.86, Y:-9.71, Z:-7.43 [[ 9.99184622e-01 3.88166460e-02 1.11066952e-02 2.00858551e+02] [-3.88158349e-02 9.99246340e-01 -2.88659417e-04 -9.71097964e+00] [-1.11095293e-02 -1.42691596e-04 9.99938277e-01 -7.43084564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.411346184 meters 0.07041809220030801 Centerline is valid? [True, True] Translation: X:200.89, Y:-9.71, Z:-7.43 [[ 9.99097744e-01 4.08827435e-02 1.15021661e-02 2.00885989e+02] [-4.08820844e-02 9.99163935e-01 -2.92515720e-04 -9.70797168e+00] [-1.15045084e-02 -1.77980730e-04 9.99933805e-01 -7.43197164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441346184 meters 0.07180627708146535 Centerline is valid? [True, True] Translation: X:200.92, Y:-9.70, Z:-7.43 [[ 9.98788698e-01 4.78896247e-02 1.13013194e-02 2.00915605e+02] [-4.78894596e-02 9.98852601e-01 -2.85379497e-04 -9.70263246e+00] [-1.13020190e-02 -2.56180261e-04 9.99936097e-01 -7.43438245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.471346184 meters 0.07292131991186648 Centerline is valid? [True, True] Translation: X:200.94, Y:-9.70, Z:-7.44 [[ 9.98658349e-01 5.08609814e-02 9.72943656e-03 2.00944000e+02] [-5.08609913e-02 9.98705712e-01 -2.46579458e-04 -9.69905880e+00] [-9.72938514e-03 -2.48600154e-04 9.99952638e-01 -7.43643069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501346184 meters 0.07386383486557985 Centerline is valid? [True, True] Translation: X:200.97, Y:-9.69, Z:-7.44 [[ 9.98483741e-01 5.41945752e-02 9.65233902e-03 2.00973700e+02] [-5.41947577e-02 9.98530355e-01 -2.42836241e-04 -9.69448699e+00] [-9.65131392e-03 -2.80638137e-04 9.99953386e-01 -7.43799203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.531346184 meters 0.07480899310785112 Centerline is valid? [True, True] Translation: X:201.00, Y:-9.69, Z:-7.44 [[ 9.98336831e-01 5.70908510e-02 8.01288289e-03 2.01003468e+02] [-5.70910706e-02 9.98368954e-01 -2.01512578e-04 -9.68879078e+00] [-8.01131804e-03 -2.56286634e-04 9.99967876e-01 -7.43898432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561346184 meters 0.07608051988035183 Centerline is valid? [True, True] Translation: X:201.03, Y:-9.68, Z:-7.44 [[ 9.98188047e-01 5.96068053e-02 8.22505641e-03 2.01032153e+02] [-5.96071172e-02 9.98221893e-01 -2.07428577e-04 -9.68271351e+00] [-8.22279554e-03 -2.83219175e-04 9.99966152e-01 -7.44044812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.591346184 meters 0.0754175406423375 Centerline is valid? [True, True] Translation: X:201.06, Y:-9.68, Z:-7.44 [[ 9.98071418e-01 6.14478239e-02 8.80959993e-03 2.01060463e+02] [-6.14482563e-02 9.98110246e-01 -2.21837077e-04 -9.68225262e+00] [-8.80658336e-03 -3.19925308e-04 9.99961170e-01 -7.43828133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621346184 meters 0.07523655166464806 Centerline is valid? [True, True] Translation: X:201.09, Y:-9.68, Z:-7.44 [[ 9.98044823e-01 6.17655465e-02 9.56810485e-03 2.01088578e+02] [-6.17660376e-02 9.98090626e-01 -2.44445878e-04 -9.68187643e+00] [-9.56493409e-03 -3.47015981e-04 9.99954195e-01 -7.43852866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.651346184 meters 0.0758919281282034 Centerline is valid? [True, True] Translation: X:201.12, Y:-9.68, Z:-7.44 [[ 9.98100492e-01 6.07689481e-02 1.01263676e-02 2.01116401e+02] [-6.07695246e-02 9.98151793e-01 -2.51033237e-04 -9.68090415e+00] [-1.01229070e-02 -3.64818147e-04 9.99948696e-01 -7.44136386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68134618399998 meters 0.0758919281282034 Centerline is valid? [True, True] Translation: X:201.14, Y:-9.68, Z:-7.44 [[ 9.98116185e-01 6.05106498e-02 1.01262850e-02 2.01143697e+02] [-6.05111786e-02 9.98167487e-01 -2.54436800e-04 -9.68135952e+00] [-1.01231245e-02 -3.58795949e-04 9.99948695e-01 -7.44230015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71134618399998 meters 0.07589843045931256 Centerline is valid? [True, True] Translation: X:201.17, Y:-9.68, Z:-7.44 [[ 9.98214012e-01 5.87243781e-02 1.09651527e-02 2.01171690e+02] [-5.87249752e-02 9.98274164e-01 -2.67786905e-04 -9.68143447e+00] [-1.09619543e-02 -3.76619682e-04 9.99939845e-01 -7.44427155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74134618399998 meters 0.07368894095264324 Centerline is valid? [True, True] Translation: X:201.20, Y:-9.69, Z:-7.44 [[ 9.98424729e-01 5.50769900e-02 1.07044588e-02 2.01200945e+02] [-5.50773700e-02 9.98482056e-01 -2.59517689e-04 -9.68808793e+00] [-1.07025035e-02 -3.30464558e-04 9.99942672e-01 -7.44326206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77134618399998 meters 0.07305368911140885 Centerline is valid? [True, True] Translation: X:201.23, Y:-9.69, Z:-7.44 [[ 9.98537837e-01 5.29988888e-02 1.06445584e-02 2.01229726e+02] [-5.29991006e-02 9.98594526e-01 -2.62381785e-04 -9.69022786e+00] [-1.06435037e-02 -3.02153881e-04 9.99943311e-01 -7.44404601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80134618399998 meters 0.07241148619352572 Centerline is valid? [True, True] Translation: X:201.26, Y:-9.69, Z:-7.44 [[ 9.98608106e-01 5.07681711e-02 1.42983977e-02 2.01258832e+02] [-5.07684674e-02 9.98710391e-01 -3.42486953e-04 -9.69287148e+00] [-1.42973458e-02 -3.83897489e-04 9.99897714e-01 -7.44347240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83134618399998 meters 0.07259506226432647 Centerline is valid? [True, True] Translation: X:201.29, Y:-9.69, Z:-7.44 [[ 9.98639223e-01 4.97787778e-02 1.55491605e-02 2.01286502e+02] [-4.97790038e-02 9.98760187e-01 -3.72739183e-04 -9.69158617e+00] [-1.55484370e-02 -4.01789753e-04 9.99879035e-01 -7.44362030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86134618399998 meters 0.0713302863983401 Centerline is valid? [True, True] Translation: X:201.31, Y:-9.69, Z:-7.44 [[ 9.98651954e-01 4.96014958e-02 1.52959644e-02 2.01314105e+02] [-4.96016575e-02 9.98769012e-01 -3.69041114e-04 -9.69357720e+00] [-1.52954403e-02 -3.90161559e-04 9.99882942e-01 -7.43975427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89134618399999 meters 0.07219162873826204 Centerline is valid? [True, True] Translation: X:201.34, Y:-9.69, Z:-7.44 [[ 9.98654026e-01 4.92398091e-02 1.62965289e-02 2.01341962e+02] [-4.92400803e-02 9.98786897e-01 -3.84851402e-04 -9.68924168e+00] [-1.62957095e-02 -4.18108990e-04 9.99867129e-01 -7.44188694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.921346184 meters 0.07042632956833725 Centerline is valid? [True, True] Translation: X:201.37, Y:-9.70, Z:-7.44 [[ 9.98856698e-01 4.44281497e-02 1.76475435e-02 2.01371528e+02] [-4.44277622e-02 9.99012514e-01 -4.14203530e-04 -9.69797061e+00] [-1.76485191e-02 -3.70310896e-04 9.99844184e-01 -7.44205039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.951346184 meters 0.06998290325851975 Centerline is valid? [True, True] Translation: X:201.40, Y:-9.70, Z:-7.44 [[ 9.98908906e-01 4.32789054e-02 1.75480701e-02 2.01399881e+02] [-4.32783451e-02 9.99062969e-01 -4.11859945e-04 -9.69964516e+00] [-1.75494518e-02 -3.48040866e-04 9.99845936e-01 -7.44196472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.981346184 meters 0.06949868412824226 Centerline is valid? [True, True] Translation: X:201.43, Y:-9.70, Z:-7.44 [[ 9.99024233e-01 4.01809272e-02 1.83323235e-02 2.01427410e+02] [-4.01798137e-02 9.99192373e-01 -4.29208073e-04 -9.70123408e+00] [-1.83347638e-02 -3.07800076e-04 9.99831857e-01 -7.44266353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.011346184 meters 0.06838702234122936 Centerline is valid? [True, True] Translation: X:201.46, Y:-9.71, Z:-7.44 [[ 9.99229098e-01 3.40225568e-02 1.95876576e-02 2.01455938e+02] [-3.40201425e-02 9.99421043e-01 -4.56558638e-04 -9.70890247e+00] [-1.95918505e-02 -2.10168228e-04 9.99808039e-01 -7.44227069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.041346184 meters 0.06833886365048754 Centerline is valid? [True, True] Translation: X:201.48, Y:-9.71, Z:-7.44 [[ 9.99248212e-01 3.34284629e-02 1.96353777e-02 2.01484617e+02] [-3.34259473e-02 9.99441093e-01 -4.56387831e-04 -9.71027288e+00] [-1.96396597e-02 -2.00286376e-04 9.99807103e-01 -7.44467447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.071346184 meters 0.06796800674733394 Centerline is valid? [True, True] Translation: X:201.51, Y:-9.72, Z:-7.44 [[ 9.99373293e-01 2.91463439e-02 2.00875840e-02 2.01512907e+02] [-2.91428732e-02 9.99575148e-01 -4.65552555e-04 -9.71670065e+00] [-2.00926189e-02 -1.20149123e-04 9.99798116e-01 -7.44498294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101346184 meters 0.06774203653628634 Centerline is valid? [True, True] Translation: X:201.54, Y:-9.72, Z:-7.45 [[ 9.99408041e-01 2.76446571e-02 2.04777892e-02 2.01540428e+02] [-2.76407588e-02 9.99617809e-01 -4.73437215e-04 -9.71834856e+00] [-2.04830508e-02 -9.28646736e-05 9.99790196e-01 -7.44616546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.131346184 meters 0.06760968708817437 Centerline is valid? [True, True] Translation: X:201.57, Y:-9.72, Z:-7.45 [[ 9.99427620e-01 2.67872615e-02 2.06609320e-02 2.01569713e+02] [-2.67831487e-02 9.99641154e-01 -4.75797089e-04 -9.71959942e+00] [-2.06662632e-02 -7.78400608e-05 9.99786427e-01 -7.44518782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161346184 meters 0.06766707187986443 Centerline is valid? [True, True] Translation: X:201.60, Y:-9.72, Z:-7.45 [[ 9.99426093e-01 2.71425556e-02 2.02673606e-02 2.01597341e+02] [-2.71386933e-02 9.99631569e-01 -4.65636128e-04 -9.71867342e+00] [-2.02725321e-02 -8.46607894e-05 9.99794488e-01 -7.44750946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.191346184 meters 0.0678372793784794 Centerline is valid? [True, True] Translation: X:201.63, Y:-9.72, Z:-7.45 [[ 9.99451690e-01 2.76257913e-02 1.82519877e-02 2.01625676e+02] [-2.76227673e-02 9.99618331e-01 -4.17818547e-04 -9.71893999e+00] [-1.82565641e-02 -8.65809556e-05 9.99833331e-01 -7.45043517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221346184 meters 0.0678031443123647 Centerline is valid? [True, True] Translation: X:201.65, Y:-9.72, Z:-7.45 [[ 9.99469572e-01 2.71773868e-02 1.79433505e-02 2.01653337e+02] [-2.71744007e-02 9.99630624e-01 -4.10264878e-04 -9.71917573e+00] [-1.79478725e-02 -7.75525325e-05 9.99838921e-01 -7.45264369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.251346184 meters 0.0678165377705486 Centerline is valid? [True, True] Translation: X:201.68, Y:-9.72, Z:-7.45 [[ 9.99461369e-01 2.73939918e-02 1.80704666e-02 2.01681631e+02] [-2.73910365e-02 9.99624711e-01 -4.11076630e-04 -9.71940991e+00] [-1.80749460e-02 -8.41135982e-05 9.99836631e-01 -7.45284858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281346184 meters 0.06796626092034301 Centerline is valid? [True, True] Translation: X:201.71, Y:-9.72, Z:-7.46 [[ 9.99516507e-01 2.59349785e-02 1.71501731e-02 2.01709608e+02] [-2.59321331e-02 9.99663630e-01 -3.88317483e-04 -9.72178833e+00] [-1.71544753e-02 -5.66108379e-05 9.99852850e-01 -7.45608484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.311346184 meters 0.06803647445999422 Centerline is valid? [True, True] Translation: X:201.74, Y:-9.73, Z:-7.46 [[ 9.99567616e-01 2.42288633e-02 1.66596245e-02 2.01737949e+02] [-2.42259677e-02 9.99706438e-01 -3.75626824e-04 -9.72546954e+00] [-1.66638349e-02 -2.81311159e-05 9.99861148e-01 -7.45823335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341346184 meters 0.06825152906569891 Centerline is valid? [True, True] Translation: X:201.77, Y:-9.73, Z:-7.46 [[ 9.99626679e-01 2.26410074e-02 1.52933909e-02 2.01765500e+02] [-2.26383894e-02 9.99743660e-01 -3.44301252e-04 -9.72849544e+00] [-1.52972659e-02 -2.04502223e-06 9.99882990e-01 -7.46271497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.371346184 meters 0.06894388418136856 Centerline is valid? [True, True] Translation: X:201.79, Y:-9.74, Z:-7.47 [[ 9.99719112e-01 1.91356958e-02 1.39829309e-02 2.01792890e+02] [-1.91331777e-02 9.99816895e-01 -3.13844876e-04 -9.73646017e+00] [-1.39863762e-02 4.62188183e-05 9.99902185e-01 -7.46838273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401346184 meters 0.06913581510120537 Centerline is valid? [True, True] Translation: X:201.82, Y:-9.74, Z:-7.47 [[ 9.99773691e-01 1.71742472e-02 1.25543928e-02 2.01821052e+02] [-1.71720711e-02 9.99852510e-01 -2.81117429e-04 -9.73951650e+00] [-1.25573691e-02 6.54688846e-05 9.99921151e-01 -7.47026465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43134618399998 meters 0.06934642407305375 Centerline is valid? [True, True] Translation: X:201.85, Y:-9.74, Z:-7.47 [[ 9.99813857e-01 1.49509826e-02 1.21950527e-02 2.01849824e+02] [-1.49487795e-02 9.99888224e-01 -2.71794076e-04 -9.74304271e+00] [-1.21977532e-02 8.94423296e-05 9.99925601e-01 -7.47175997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46134618399998 meters 0.0699706959148266 Centerline is valid? [True, True] Translation: X:201.88, Y:-9.75, Z:-7.47 [[ 9.99880958e-01 1.04050247e-02 1.13931696e-02 2.01879753e+02] [-1.04028222e-02 9.99945857e-01 -2.52563479e-04 -9.74839827e+00] [-1.13951806e-02 1.34012295e-04 9.99935064e-01 -7.47139263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49134618399998 meters 0.0701821873633419 Centerline is valid? [True, True] Translation: X:201.91, Y:-9.75, Z:-7.47 [[ 9.99887138e-01 9.14993915e-03 1.19159163e-02 2.01909671e+02] [-9.14745047e-03 9.99958127e-01 -2.63339454e-04 -9.74992870e+00] [-1.19178269e-02 1.54309478e-04 9.99928968e-01 -7.47218463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52134618399998 meters 0.07044698457892816 Centerline is valid? [True, True] Translation: X:201.94, Y:-9.75, Z:-7.47 [[ 9.99891874e-01 7.61567954e-03 1.25794128e-02 2.01940463e+02] [-7.61284046e-03 9.99970984e-01 -2.73562848e-04 -9.75309318e+00] [-1.25811311e-02 1.77768207e-04 9.99920839e-01 -7.47177988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55134618399998 meters 0.07097482512719488 Centerline is valid? [True, True] Translation: X:201.97, Y:-9.75, Z:-7.47 [[ 9.99900864e-01 5.76275634e-03 1.28473070e-02 2.01971423e+02] [-5.75959549e-03 9.99983373e-01 -2.83018073e-04 -9.75441055e+00] [-1.28487244e-02 2.08994725e-04 9.99917430e-01 -7.47030047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58134618399998 meters 0.07095783013977482 Centerline is valid? [True, True] Translation: X:202.00, Y:-9.75, Z:-7.47 [[ 9.99912895e-01 6.19207330e-03 1.16558977e-02 2.02004160e+02] [-6.18951502e-03 9.99980812e-01 -2.55544701e-04 -9.75337458e+00] [-1.16572564e-02 1.83378089e-04 9.99932035e-01 -7.47126827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61134618399998 meters 0.07084820950284863 Centerline is valid? [True, True] Translation: X:202.04, Y:-9.75, Z:-7.47 [[ 9.99898646e-01 6.17034038e-03 1.28305892e-02 2.02036254e+02] [-6.16719267e-03 9.99980942e-01 -2.84880408e-04 -9.75370270e+00] [-1.28321025e-02 2.05722818e-04 9.99917644e-01 -7.47149711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64134618399999 meters 0.0702696728578264 Centerline is valid? [True, True] Translation: X:202.07, Y:-9.75, Z:-7.47 [[ 9.99880292e-01 8.49438205e-03 1.29323767e-02 2.02068380e+02] [-8.49134230e-03 9.99963906e-01 -2.89941185e-04 -9.75009048e+00] [-1.29343728e-02 1.80093239e-04 9.99916331e-01 -7.47089904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.671346184 meters 0.0703424564847759 Centerline is valid? [True, True] Translation: X:202.10, Y:-9.75, Z:-7.47 [[ 9.99866713e-01 1.03529969e-02 1.26242582e-02 2.02099228e+02] [-1.03502092e-02 9.99946394e-01 -2.86136012e-04 -9.74919676e+00] [-1.26265438e-02 1.55434160e-04 9.99920270e-01 -7.47305997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.701346184 meters 0.07002597433171881 Centerline is valid? [True, True] Translation: X:202.13, Y:-9.75, Z:-7.47 [[ 9.99836829e-01 1.14799616e-02 1.39472179e-02 2.02129657e+02] [-1.14765565e-02 9.99934090e-01 -3.24156042e-04 -9.74748645e+00] [-1.39500199e-02 1.64037115e-04 9.99902680e-01 -7.47220730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.731346184 meters 0.06954497777677722 Centerline is valid? [True, True] Translation: X:202.16, Y:-9.74, Z:-7.47 [[ 9.99824597e-01 1.28728816e-02 1.36038618e-02 2.02160590e+02] [-1.28697710e-02 9.99917131e-01 -3.16175887e-04 -9.74373751e+00] [-1.36068045e-02 1.41041843e-04 9.99907413e-01 -7.47014563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.761346184 meters 0.06956628825781391 Centerline is valid? [True, True] Translation: X:202.19, Y:-9.74, Z:-7.47 [[ 9.99790163e-01 1.45352840e-02 1.44345064e-02 2.02189523e+02] [-1.45319412e-02 9.99894349e-01 -3.36447398e-04 -9.74183769e+00] [-1.44378718e-02 1.26615401e-04 9.99895760e-01 -7.47068016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.791346184 meters 0.0695472360593196 Centerline is valid? [True, True] Translation: X:202.22, Y:-9.74, Z:-7.47 [[ 9.99790637e-01 1.50265416e-02 1.38883217e-02 2.02217987e+02] [-1.50234980e-02 9.99887089e-01 -3.23461724e-04 -9.74177462e+00] [-1.38916140e-02 1.14742830e-04 9.99903500e-01 -7.47071391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821346184 meters 0.06972261902899042 Centerline is valid? [True, True] Translation: X:202.25, Y:-9.74, Z:-7.47 [[ 9.99780756e-01 1.56097785e-02 1.39561654e-02 2.02247647e+02] [-1.56067844e-02 9.99878154e-01 -3.23423311e-04 -9.74295030e+00] [-1.39595135e-02 1.05541538e-04 9.99902556e-01 -7.47253572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.851346184 meters 0.07022131575753439 Centerline is valid? [True, True] Translation: X:202.28, Y:-9.75, Z:-7.48 [[ 9.99796826e-01 1.47685612e-02 1.37184314e-02 2.02276267e+02] [-1.47655906e-02 9.99890932e-01 -3.17809768e-04 -9.74795239e+00] [-1.37216288e-02 1.15184456e-04 9.99905847e-01 -7.47563008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.881346184 meters 0.07054521603498914 Centerline is valid? [True, True] Translation: X:202.31, Y:-9.75, Z:-7.48 [[ 9.99811184e-01 1.40463469e-02 1.34274523e-02 2.02306247e+02] [-1.40434490e-02 9.99901338e-01 -3.10089814e-04 -9.75060144e+00] [-1.34304831e-02 1.21463523e-04 9.99909800e-01 -7.47750748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.911346184 meters 0.0710601556245025 Centerline is valid? [True, True] Translation: X:202.33, Y:-9.75, Z:-7.48 [[ 9.99844720e-01 1.35625521e-02 1.12513837e-02 2.02334942e+02] [-1.35604847e-02 9.99908019e-01 -2.60016403e-04 -9.75286325e+00] [-1.12538753e-02 1.07401810e-04 9.99936667e-01 -7.48172158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.941346184 meters 0.07115302196647948 Centerline is valid? [True, True] Translation: X:202.36, Y:-9.75, Z:-7.48 [[ 9.99853298e-01 1.36367314e-02 1.03645036e-02 2.02363495e+02] [-1.36349809e-02 9.99907011e-01 -2.39542110e-04 -9.75407921e+00] [-1.03668064e-02 9.81871602e-05 9.99946258e-01 -7.48096719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.971346184 meters 0.07108068528681039 Centerline is valid? [True, True] Translation: X:202.39, Y:-9.75, Z:-7.48 [[ 9.99848568e-01 1.40351857e-02 1.02886007e-02 2.02392224e+02] [-1.40334885e-02 9.99901498e-01 -2.37138822e-04 -9.75411539e+00] [-1.02909155e-02 9.27179524e-05 9.99947043e-01 -7.48088555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.001346184 meters 0.07130175202930925 Centerline is valid? [True, True] Translation: X:202.42, Y:-9.75, Z:-7.48 [[ 9.99836445e-01 1.47872220e-02 1.04125280e-02 2.02419724e+02] [-1.47855280e-02 9.99890659e-01 -2.39658769e-04 -9.75389865e+00] [-1.04149334e-02 8.56648465e-05 9.99945759e-01 -7.48322312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.031346184 meters 0.07101902087158851 Centerline is valid? [True, True] Translation: X:202.45, Y:-9.75, Z:-7.48 [[ 9.99819420e-01 1.53966067e-02 1.11387832e-02 2.02448951e+02] [-1.53947224e-02 9.99881462e-01 -2.54890987e-04 -9.75253992e+00] [-1.11413873e-02 8.33664838e-05 9.99937929e-01 -7.48111277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061346184 meters 0.07110373863541669 Centerline is valid? [True, True] Translation: X:202.48, Y:-9.75, Z:-7.48 [[ 9.99802295e-01 1.73112347e-02 9.78219437e-03 2.02478084e+02] [-1.73098766e-02 9.99850148e-01 -2.23487957e-04 -9.75155006e+00] [-9.78459734e-03 5.41151943e-05 9.99952128e-01 -7.48288677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.091346184 meters 0.07145248202729221 Centerline is valid? [True, True] Translation: X:202.51, Y:-9.75, Z:-7.49 [[ 9.99810632e-01 1.70996642e-02 9.28982914e-03 2.02505855e+02] [-1.70984311e-02 9.99853789e-01 -2.12139277e-04 -9.75420160e+00] [-9.29209837e-03 5.32576009e-05 9.99956826e-01 -7.48582485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.121346184 meters 0.07137536190883223 Centerline is valid? [True, True] Translation: X:202.54, Y:-9.76, Z:-7.49 [[ 9.99811406e-01 1.69553061e-02 9.46939657e-03 2.02535001e+02] [-1.69540296e-02 9.99856247e-01 -2.15067270e-04 -9.75598282e+00] [-9.47168185e-03 5.44822807e-05 9.99955141e-01 -7.48561457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.151346184 meters 0.07199727082468144 Centerline is valid? [True, True] Translation: X:202.56, Y:-9.76, Z:-7.49 [[ 9.99850400e-01 1.38925741e-02 1.03040937e-02 2.02562771e+02] [-1.38909051e-02 9.99903489e-01 -2.33529707e-04 -9.76301106e+00] [-1.03063436e-02 9.03615840e-05 9.99946884e-01 -7.48775297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18134618399998 meters 0.07253383283619426 Centerline is valid? [True, True] Translation: X:202.59, Y:-9.77, Z:-7.49 [[ 9.99885225e-01 1.15373509e-02 9.81973113e-03 2.02591676e+02] [-1.15357326e-02 9.99933437e-01 -2.21430214e-04 -9.76743746e+00] [-9.82163221e-03 1.08127007e-04 9.99951761e-01 -7.48873281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21134618399998 meters 0.07262732984317816 Centerline is valid? [True, True] Translation: X:202.62, Y:-9.77, Z:-7.49 [[ 9.99896037e-01 9.55817650e-03 1.07961402e-02 2.02621149e+02] [-9.55612224e-03 9.99954310e-01 -2.41848842e-04 -9.77021460e+00] [-1.07979586e-02 1.38654463e-04 9.99941691e-01 -7.48716262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24134618399998 meters 0.07259898207891345 Centerline is valid? [True, True] Translation: X:202.65, Y:-9.77, Z:-7.49 [[ 9.99892422e-01 9.08910922e-03 1.15122614e-02 2.02652037e+02] [-9.08675575e-03 9.99958682e-01 -2.56722926e-04 -9.77202709e+00] [-1.15141191e-02 1.52086200e-04 9.99933699e-01 -7.48642672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27134618399998 meters 0.07214652659948077 Centerline is valid? [True, True] Translation: X:202.68, Y:-9.77, Z:-7.48 [[ 9.99883034e-01 9.27685631e-03 1.21596870e-02 2.02683724e+02] [-9.27425352e-03 9.99956957e-01 -2.70422841e-04 -9.77054047e+00] [-1.21616722e-02 1.57619191e-04 9.99926032e-01 -7.48368493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30134618399998 meters 0.07177675059952733 Centerline is valid? [True, True] Translation: X:202.71, Y:-9.77, Z:-7.48 [[ 9.99867442e-01 1.07919295e-02 1.21914811e-02 2.02714982e+02] [-1.07894209e-02 9.99941756e-01 -2.71521553e-04 -9.76794472e+00] [-1.21937013e-02 1.39946539e-04 9.99925644e-01 -7.48197855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33134618399998 meters 0.07083241882325075 Centerline is valid? [True, True] Translation: X:202.75, Y:-9.76, Z:-7.48 [[ 9.99771241e-01 1.70437595e-02 1.29219338e-02 2.02745591e+02] [-1.70414473e-02 9.99854742e-01 -2.89035751e-04 -9.75910202e+00] [-1.29249831e-02 6.87611774e-05 9.99916467e-01 -7.48060995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36134618399998 meters 0.07055298276818198 Centerline is valid? [True, True] Translation: X:202.77, Y:-9.76, Z:-7.48 [[ 9.99740798e-01 1.87505973e-02 1.29132839e-02 2.02773593e+02] [-1.87484065e-02 9.99824191e-01 -2.90696140e-04 -9.75607933e+00] [-1.29164643e-02 4.85172954e-05 9.99916578e-01 -7.48086169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39134618399999 meters 0.07080931509962389 Centerline is valid? [True, True] Translation: X:202.80, Y:-9.75, Z:-7.49 [[ 9.99705470e-01 2.09234730e-02 1.22955567e-02 2.02801140e+02] [-2.09216605e-02 9.99781080e-01 -2.76035223e-04 -9.75283178e+00] [-1.22986405e-02 1.87104600e-05 9.99924369e-01 -7.48723313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.421346184 meters 0.07050750842286248 Centerline is valid? [True, True] Translation: X:202.83, Y:-9.75, Z:-7.49 [[ 9.99594575e-01 2.57589157e-02 1.21311439e-02 2.02830471e+02] [-2.57575282e-02 9.99668183e-01 -2.70631390e-04 -9.74742417e+00] [-1.21340898e-02 -4.19466123e-05 9.99926378e-01 -7.48573044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.451346184 meters 0.07051747588684407 Centerline is valid? [True, True] Translation: X:202.86, Y:-9.75, Z:-7.49 [[ 9.99543783e-01 2.78997753e-02 1.15684371e-02 2.02858893e+02] [-2.78986644e-02 9.99610723e-01 -2.57427436e-04 -9.74624267e+00] [-1.15711160e-02 -6.54339525e-05 9.99933050e-01 -7.48748712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.481346184 meters 0.07066158990446808 Centerline is valid? [True, True] Translation: X:202.89, Y:-9.74, Z:-7.49 [[ 9.99475759e-01 3.03007585e-02 1.14049140e-02 2.02887115e+02] [-3.02998394e-02 9.99540822e-01 -2.53412720e-04 -9.74394893e+00] [-1.14073557e-02 -9.22871906e-05 9.99934930e-01 -7.48937537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.511346184 meters 0.07078207213165942 Centerline is valid? [True, True] Translation: X:202.92, Y:-9.74, Z:-7.49 [[ 9.99349325e-01 3.39664087e-02 1.21329727e-02 2.02915547e+02] [-3.39656579e-02 9.99422965e-01 -2.67989810e-04 -9.74162034e+00] [-1.21350742e-02 -1.44288964e-04 9.99926357e-01 -7.49029436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.541346184 meters 0.07078207213165942 Centerline is valid? [True, True] Translation: X:202.94, Y:-9.74, Z:-7.49 [[ 9.99352808e-01 3.38638017e-02 1.21329744e-02 2.02942956e+02] [-3.38630443e-02 9.99426447e-01 -2.67914990e-04 -9.74208266e+00] [-1.21350881e-02 -1.43117853e-04 9.99926357e-01 -7.49123412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.571346184 meters 0.0713941885009273 Centerline is valid? [True, True] Translation: X:202.97, Y:-9.74, Z:-7.49 [[ 9.99103391e-01 4.05130311e-02 1.22925934e-02 2.02971419e+02] [-4.05127809e-02 9.99178984e-01 -2.69463710e-04 -9.73604652e+00] [-1.22934178e-02 -2.28785037e-04 9.99924407e-01 -7.49334064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601346184 meters 0.07187110174880854 Centerline is valid? [True, True] Translation: X:203.00, Y:-9.73, Z:-7.49 [[ 9.98942687e-01 4.41192112e-02 1.29230004e-02 2.02999981e+02] [-4.41192053e-02 9.99026233e-01 -2.85687469e-04 -9.73090477e+00] [-1.29230208e-02 -2.84767102e-04 9.99916454e-01 -7.49283414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.631346184 meters 0.07210443177639433 Centerline is valid? [True, True] Translation: X:203.03, Y:-9.73, Z:-7.49 [[ 9.98813679e-01 4.72145397e-02 1.19172547e-02 2.03029263e+02] [-4.72148298e-02 9.98884725e-01 -2.57159017e-04 -9.72598094e+00] [-1.19161053e-02 -3.05817210e-04 9.99928954e-01 -7.49270533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661346184 meters 0.07333405316108958 Centerline is valid? [True, True] Translation: X:203.06, Y:-9.72, Z:-7.49 [[ 9.98533421e-01 5.26204552e-02 1.27316088e-02 2.03057514e+02] [-5.26212304e-02 9.98614506e-01 -2.74321183e-04 -9.71661711e+00] [-1.27284042e-02 -3.96034053e-04 9.99918912e-01 -7.49223961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.691346184 meters 0.0729823804386435 Centerline is valid? [True, True] Translation: X:203.09, Y:-9.72, Z:-7.49 [[ 9.98460535e-01 5.39063503e-02 1.30638786e-02 2.03086462e+02] [-5.39072412e-02 9.98545907e-01 -2.84185294e-04 -9.71629179e+00] [-1.30602019e-02 -4.20489855e-04 9.99914624e-01 -7.49142012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721346184 meters 0.07387550266734115 Centerline is valid? [True, True] Translation: X:203.11, Y:-9.71, Z:-7.49 [[ 9.98389127e-01 5.53901632e-02 1.22914661e-02 2.03113956e+02] [-5.53911358e-02 9.98464698e-01 -2.61548125e-04 -9.71339823e+00] [-1.22870822e-02 -4.19711463e-04 9.99924423e-01 -7.49364591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.751346184 meters 0.07364025255525079 Centerline is valid? [True, True] Translation: X:203.14, Y:-9.71, Z:-7.50 [[ 9.98390259e-01 5.56415467e-02 1.09958324e-02 2.03142729e+02] [-5.56423078e-02 9.98450739e-01 -2.36936168e-04 -9.71480365e+00] [-1.09919805e-02 -3.75278727e-04 9.99939516e-01 -7.49513867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781346184 meters 0.07510845206361495 Centerline is valid? [True, True] Translation: X:203.17, Y:-9.71, Z:-7.50 [[ 9.98400725e-01 5.55594142e-02 1.04471959e-02 2.03170342e+02] [-5.55601568e-02 9.98455317e-01 -2.19358000e-04 -9.71104704e+00] [-1.04432457e-02 -3.61440654e-04 9.99945403e-01 -7.49951574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.811346184 meters 0.07495707455398296 Centerline is valid? [True, True] Translation: X:203.20, Y:-9.71, Z:-7.50 [[ 9.98381313e-01 5.61929166e-02 8.78123560e-03 2.03198974e+02] [-5.61934356e-02 9.98419883e-01 -1.87816131e-04 -9.71319932e+00] [-8.77791415e-03 -3.05935681e-04 9.99961427e-01 -7.50212928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841346184 meters 0.07550533555820495 Centerline is valid? [True, True] Translation: X:203.23, Y:-9.71, Z:-7.51 [[ 9.98379355e-01 5.63492838e-02 7.96382671e-03 2.03226737e+02] [-5.63497556e-02 9.98411077e-01 -1.65316868e-04 -9.71311893e+00] [-7.96048828e-03 -2.83710740e-04 9.99968275e-01 -7.50527086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.871346184 meters 0.07654115409178616 Centerline is valid? [True, True] Translation: X:203.25, Y:-9.71, Z:-7.51 [[ 9.98353001e-01 5.68293399e-02 7.85570780e-03 2.03254178e+02] [-5.68298187e-02 9.98383867e-01 -1.62435899e-04 -9.71056385e+00] [-7.85224305e-03 -2.84270082e-04 9.99969130e-01 -7.50770828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901346184 meters 0.07575270364860924 Centerline is valid? [True, True] Translation: X:203.28, Y:-9.71, Z:-7.51 [[ 9.98245893e-01 5.86357571e-02 8.18449878e-03 2.03282466e+02] [-5.86363436e-02 9.98279395e-01 -1.68494295e-04 -9.71169201e+00] [-8.18029628e-03 -3.11710345e-04 9.99966492e-01 -7.50579801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93134618399998 meters 0.07579085485627939 Centerline is valid? [True, True] Translation: X:203.31, Y:-9.71, Z:-7.50 [[ 9.98012702e-01 6.17612701e-02 1.24977016e-02 2.03311189e+02] [-6.17628726e-02 9.98090818e-01 -2.58069335e-04 -9.70743106e+00] [-1.24897799e-02 -5.14337477e-04 9.99921867e-01 -7.49906048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96134618399998 meters 0.07593199127305109 Centerline is valid? [True, True] Translation: X:203.34, Y:-9.71, Z:-7.50 [[ 9.97933029e-01 6.27451894e-02 1.38820311e-02 2.03340068e+02] [-6.27473187e-02 9.98029405e-01 -2.82543480e-04 -9.70632475e+00] [-1.38724035e-02 -5.89100761e-04 9.99903600e-01 -7.49758001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99134618399998 meters 0.07716598904558904 Centerline is valid? [True, True] Translation: X:203.37, Y:-9.70, Z:-7.50 [[ 9.97882085e-01 6.32077108e-02 1.53665290e-02 2.03366761e+02] [-6.32104770e-02 9.98000171e-01 -3.06096442e-04 -9.70285144e+00] [-1.53551463e-02 -6.65877474e-04 9.99881881e-01 -7.49913728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02134618399998 meters 0.07793410120347835 Centerline is valid? [True, True] Translation: X:203.39, Y:-9.70, Z:-7.50 [[ 9.97738610e-01 6.50353705e-02 1.69725066e-02 2.03394299e+02] [-6.50390601e-02 9.97882663e-01 -3.35090645e-04 -9.70065596e+00] [-1.69583628e-02 -7.69542999e-04 9.99855900e-01 -7.49856807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05134618399998 meters 0.0770333607215544 Centerline is valid? [True, True] Translation: X:203.42, Y:-9.70, Z:-7.50 [[ 9.97721252e-01 6.52612257e-02 1.71253043e-02 2.03422934e+02] [-6.52649953e-02 9.97867910e-01 -3.39265185e-04 -9.70299357e+00] [-1.71109325e-02 -7.79190822e-04 9.99853294e-01 -7.49836960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08134618399998 meters 0.07711745971057805 Centerline is valid? [True, True] Translation: X:203.45, Y:-9.70, Z:-7.50 [[ 9.97693781e-01 6.54156375e-02 1.81084100e-02 2.03450533e+02] [-6.54199516e-02 9.97857757e-01 -3.54669044e-04 -9.70423541e+00] [-1.80928183e-02 -8.30800205e-04 9.99835966e-01 -7.49919373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11134618399998 meters 0.07581982586342068 Centerline is valid? [True, True] Translation: X:203.48, Y:-9.71, Z:-7.50 [[ 9.97781741e-01 6.39262633e-02 1.85749924e-02 2.03479445e+02] [-6.39306474e-02 9.97954279e-01 -3.58297128e-04 -9.70857412e+00] [-1.85598977e-02 -8.30008957e-04 9.99827406e-01 -7.49933996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14134618399999 meters 0.0760095885479617 Centerline is valid? [True, True] Translation: X:203.51, Y:-9.71, Z:-7.50 [[ 9.97827195e-01 6.36473539e-02 1.70265188e-02 2.03508381e+02] [-6.36510536e-02 9.97972163e-01 -3.25087488e-04 -9.70655146e+00] [-1.70126828e-02 -7.59374727e-04 9.99854985e-01 -7.49996279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.171346184 meters 0.07633593558845282 Centerline is valid? [True, True] Translation: X:203.54, Y:-9.71, Z:-7.50 [[ 9.97767990e-01 6.44055338e-02 1.76342189e-02 2.03537126e+02] [-6.44096978e-02 9.97923484e-01 -3.32310415e-04 -9.70542170e+00] [-1.76190038e-02 -8.04246012e-04 9.99844450e-01 -7.50028899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.201346184 meters 0.07615643500293325 Centerline is valid? [True, True] Translation: X:203.57, Y:-9.71, Z:-7.50 [[ 9.97861283e-01 6.30199712e-02 1.73592606e-02 2.03565310e+02] [-6.30238652e-02 9.98011968e-01 -3.23199513e-04 -9.70632958e+00] [-1.73451179e-02 -7.71539422e-04 9.99849264e-01 -7.50176018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.231346184 meters 0.07568598030429219 Centerline is valid? [True, True] Translation: X:203.59, Y:-9.71, Z:-7.50 [[ 9.97810358e-01 6.34806650e-02 1.85659413e-02 2.03593982e+02] [-6.34852874e-02 9.97982716e-01 -3.40901533e-04 -9.70905686e+00] [-1.85501292e-02 -8.38509041e-04 9.99827580e-01 -7.50127147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.261346184 meters 0.07615592823750443 Centerline is valid? [True, True] Translation: X:203.62, Y:-9.71, Z:-7.50 [[ 9.97832111e-01 6.29753949e-02 1.91096061e-02 2.03621440e+02] [-6.29803338e-02 9.98014709e-01 -3.43855062e-04 -9.70742037e+00] [-1.90933224e-02 -8.60419748e-04 9.99817336e-01 -7.50234103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.291346184 meters 0.07587743140191268 Centerline is valid? [True, True] Translation: X:203.65, Y:-9.71, Z:-7.50 [[ 9.97857984e-01 6.22821657e-02 2.00093986e-02 2.03650668e+02] [-6.22874407e-02 9.98058187e-01 -3.60102497e-04 -9.70806179e+00] [-1.99929720e-02 -8.87003074e-04 9.99799727e-01 -7.50211638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321346184 meters 0.07524469471508588 Centerline is valid? [True, True] Translation: X:203.68, Y:-9.71, Z:-7.50 [[ 9.97954566e-01 6.06230302e-02 2.02862720e-02 2.03679679e+02] [-6.06282422e-02 9.98160352e-01 -3.58567048e-04 -9.70930384e+00] [-2.02706898e-02 -8.72087387e-04 9.99794148e-01 -7.50221463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.351346184 meters 0.07526555977309092 Centerline is valid? [True, True] Translation: X:203.71, Y:-9.71, Z:-7.50 [[ 9.97992247e-01 6.00135383e-02 2.02447745e-02 2.03708782e+02] [-6.00185845e-02 9.98197195e-01 -3.58792006e-04 -9.70918689e+00] [-2.02298095e-02 -8.56991066e-04 9.99794989e-01 -7.50254890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381346184 meters 0.07467044075457786 Centerline is valid? [True, True] Translation: X:203.74, Y:-9.71, Z:-7.50 [[ 9.98060907e-01 5.88548995e-02 2.02614517e-02 2.03737316e+02] [-5.88598092e-02 9.98266196e-01 -3.54466495e-04 -9.71096981e+00] [-2.02471844e-02 -8.38806029e-04 9.99794653e-01 -7.50331917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.411346184 meters 0.07416263278644844 Centerline is valid? [True, True] Translation: X:203.76, Y:-9.71, Z:-7.51 [[ 9.98264151e-01 5.57606508e-02 1.89587872e-02 2.03764868e+02] [-5.57645081e-02 9.98443896e-01 -3.25552300e-04 -9.71166512e+00] [-1.89474384e-02 -7.32240253e-04 9.99820213e-01 -7.50609773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441346184 meters 0.07399701191585753 Centerline is valid? [True, True] Translation: X:203.79, Y:-9.71, Z:-7.51 [[ 9.98350451e-01 5.42759358e-02 1.87216386e-02 2.03793134e+02] [-5.42794234e-02 9.98525733e-01 -3.22179738e-04 -9.71364428e+00] [-1.87115245e-02 -6.94551460e-04 9.99824683e-01 -7.50772840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.471346184 meters 0.07347209135768845 Centerline is valid? [True, True] Translation: X:203.82, Y:-9.72, Z:-7.51 [[ 9.98388958e-01 5.33998978e-02 1.91817455e-02 2.03821931e+02] [-5.34034827e-02 9.98572963e-01 -3.25658950e-04 -9.71577837e+00] [-1.91717626e-02 -6.99237714e-04 9.99815960e-01 -7.50840666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501346184 meters 0.07351505542930308 Centerline is valid? [True, True] Translation: X:203.85, Y:-9.72, Z:-7.51 [[ 9.98367639e-01 5.39696751e-02 1.86903926e-02 2.03850752e+02] [-5.39732530e-02 9.98542333e-01 -3.13316388e-04 -9.71613032e+00] [-1.86800578e-02 -6.95976346e-04 9.99825270e-01 -7.51122918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.531346184 meters 0.07365091534569516 Centerline is valid? [True, True] Translation: X:203.88, Y:-9.72, Z:-7.51 [[ 9.98478776e-01 5.22284637e-02 1.76726437e-02 2.03878271e+02] [-5.22314958e-02 9.98634962e-01 -2.90272683e-04 -9.71678321e+00] [-1.76636804e-02 -6.33237503e-04 9.99843785e-01 -7.51395360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561346184 meters 0.07321664987690961 Centerline is valid? [True, True] Translation: X:203.91, Y:-9.72, Z:-7.52 [[ 9.98530024e-01 5.16189848e-02 1.65309480e-02 2.03905656e+02] [-5.16215221e-02 9.98666683e-01 -2.73467281e-04 -9.71770498e+00] [-1.65230231e-02 -5.80287407e-04 9.99863317e-01 -7.51536036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.591346184 meters 0.07269565666150349 Centerline is valid? [True, True] Translation: X:203.93, Y:-9.72, Z:-7.52 [[ 9.98552542e-01 5.12972713e-02 1.61682002e-02 2.03933076e+02] [-5.12997189e-02 9.98683268e-01 -2.63594064e-04 -9.71877519e+00] [-1.61604327e-02 -5.66211603e-04 9.99869251e-01 -7.51589688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621346184 meters 0.07230675687433574 Centerline is valid? [True, True] Translation: X:203.96, Y:-9.72, Z:-7.51 [[ 9.98623381e-01 4.95248235e-02 1.72810761e-02 2.03961386e+02] [-4.95274993e-02 9.98772723e-01 -2.73367241e-04 -9.71837037e+00] [-1.72734059e-02 -5.82897565e-04 9.99850634e-01 -7.51458800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.651346184 meters 0.07038603884096568 Centerline is valid? [True, True] Translation: X:203.99, Y:-9.72, Z:-7.51 [[ 9.98712911e-01 4.74362662e-02 1.79533450e-02 2.03990507e+02] [-4.74388256e-02 9.98874105e-01 -2.83531484e-04 -9.72247240e+00] [-1.79465811e-02 -5.68519047e-04 9.99838786e-01 -7.51222204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68134618399998 meters 0.06981917413037454 Centerline is valid? [True, True] Translation: X:204.02, Y:-9.73, Z:-7.51 [[ 9.98888210e-01 4.40775402e-02 1.67186724e-02 2.04017951e+02] [-4.40793154e-02 9.99028000e-01 -2.62485685e-04 -9.72523144e+00] [-1.67139916e-02 -4.74753777e-04 9.99860199e-01 -7.51388700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71134618399998 meters 0.06965054779032546 Centerline is valid? [True, True] Translation: X:204.05, Y:-9.73, Z:-7.52 [[ 9.98946066e-01 4.27566963e-02 1.66919749e-02 2.04045596e+02] [-4.27583227e-02 9.99085411e-01 -2.59602295e-04 -9.72638445e+00] [-1.66878083e-02 -4.54392157e-04 9.99860646e-01 -7.51649927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74134618399998 meters 0.06965831471510847 Centerline is valid? [True, True] Translation: X:204.07, Y:-9.73, Z:-7.52 [[ 9.98976047e-01 4.18567958e-02 1.71716775e-02 2.04074451e+02] [-4.18584143e-02 9.99123517e-01 -2.65306133e-04 -9.72843942e+00] [-1.71677317e-02 -4.53744721e-04 9.99852521e-01 -7.51881672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77134618399998 meters 0.06830479698844925 Centerline is valid? [True, True] Translation: X:204.10, Y:-9.74, Z:-7.52 [[ 9.99114656e-01 3.81468740e-02 1.77403396e-02 2.04103519e+02] [-3.81479945e-02 9.99272062e-01 -2.75363182e-04 -9.73525715e+00] [-1.77379300e-02 -4.01638987e-04 9.99842590e-01 -7.51923362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80134618399998 meters 0.0680829844046444 Centerline is valid? [True, True] Translation: X:204.13, Y:-9.74, Z:-7.52 [[ 9.99182263e-01 3.56755507e-02 1.90278771e-02 2.04131793e+02] [-3.56765236e-02 9.99363349e-01 -2.88428525e-04 -9.73784939e+00] [-1.90260528e-02 -3.90655840e-04 9.99818912e-01 -7.52105932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83134618399998 meters 0.06782465845758434 Centerline is valid? [True, True] Translation: X:204.16, Y:-9.74, Z:-7.52 [[ 9.99188039e-01 3.52496575e-02 1.95121591e-02 2.04160575e+02] [-3.52506264e-02 9.99378460e-01 -2.94389896e-04 -9.73858502e+00] [-1.95104086e-02 -3.93664968e-04 9.99809576e-01 -7.52161877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86134618399998 meters 0.06792748981485604 Centerline is valid? [True, True] Translation: X:204.19, Y:-9.74, Z:-7.52 [[ 9.99176107e-01 3.46844351e-02 2.10736075e-02 2.04188065e+02] [-3.46854673e-02 9.99398228e-01 -3.16637968e-04 -9.73891502e+00] [-2.10719084e-02 -4.14570834e-04 9.99777877e-01 -7.52108919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89134618399999 meters 0.06796306319491369 Centerline is valid? [True, True] Translation: X:204.22, Y:-9.74, Z:-7.52 [[ 9.99077898e-01 3.64629091e-02 2.26673728e-02 2.04216664e+02] [-3.64646103e-02 9.99334888e-01 -3.38417112e-04 -9.73651890e+00] [-2.26646361e-02 -4.88451859e-04 9.99743005e-01 -7.52089236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.921346184 meters 0.0681139082280182 Centerline is valid? [True, True] Translation: X:204.24, Y:-9.73, Z:-7.52 [[ 9.98967464e-01 3.78046584e-02 2.51954968e-02 2.04244376e+02] [-3.78072296e-02 9.99284981e-01 -3.74472265e-04 -9.73200263e+00] [-2.51916384e-02 -5.78486325e-04 9.99682473e-01 -7.51692895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.951346184 meters 0.06782235895171376 Centerline is valid? [True, True] Translation: X:204.27, Y:-9.73, Z:-7.52 [[ 9.98953766e-01 3.76163745e-02 2.60073228e-02 2.04273398e+02] [-3.76191091e-02 9.99292077e-01 -3.84287338e-04 -9.73012531e+00] [-2.60033671e-02 -5.94487030e-04 9.99661679e-01 -7.51534678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.981346184 meters 0.0683789637722111 Centerline is valid? [True, True] Translation: X:204.30, Y:-9.73, Z:-7.51 [[ 9.98911433e-01 3.75938074e-02 2.76161919e-02 2.04301503e+02] [-3.75969306e-02 9.99292903e-01 -4.06325181e-04 -9.72741666e+00] [-2.76119399e-02 -6.32401180e-04 9.99618518e-01 -7.51495030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.011346184 meters 0.06698911267112892 Centerline is valid? [True, True] Translation: X:204.33, Y:-9.73, Z:-7.52 [[ 9.98946172e-01 3.62550495e-02 2.81445557e-02 2.04330157e+02] [-3.62578264e-02 9.99342384e-01 -4.11828438e-04 -9.73446258e+00] [-2.81409782e-02 -6.09065971e-04 9.99603779e-01 -7.51649224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.041346184 meters 0.06624671447387911 Centerline is valid? [True, True] Translation: X:204.36, Y:-9.74, Z:-7.52 [[ 9.99021991e-01 3.40624842e-02 2.81923626e-02 2.04359010e+02] [-3.40644495e-02 9.99419554e-01 -4.10701575e-04 -9.73901813e+00] [-2.81899880e-02 -5.50057408e-04 9.99602432e-01 -7.51745295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.071346184 meters 0.06591709660244842 Centerline is valid? [True, True] Translation: X:204.39, Y:-9.74, Z:-7.52 [[ 9.99056370e-01 3.31579655e-02 2.80520695e-02 2.04387345e+02] [-3.31596073e-02 9.99449986e-01 -4.06786598e-04 -9.73988653e+00] [-2.80501287e-02 -5.23792867e-04 9.99606380e-01 -7.51841723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101346184 meters 0.06604518059422736 Centerline is valid? [True, True] Translation: X:204.42, Y:-9.74, Z:-7.52 [[ 9.99084471e-01 3.21113668e-02 2.82679873e-02 2.04415378e+02] [-3.21126663e-02 9.99484172e-01 -4.08116335e-04 -9.73943591e+00] [-2.82665111e-02 -5.00017751e-04 9.99600297e-01 -7.52019358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.131346184 meters 0.06578008912755005 Centerline is valid? [True, True] Translation: X:204.44, Y:-9.74, Z:-7.52 [[ 9.99152753e-01 2.95258189e-02 2.86705761e-02 2.04443592e+02] [-2.95261636e-02 9.99563923e-01 -4.11420263e-04 -9.74287361e+00] [-2.86702211e-02 -4.35460433e-04 9.99588830e-01 -7.52246244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161346184 meters 0.06509445732487149 Centerline is valid? [True, True] Translation: X:204.47, Y:-9.75, Z:-7.52 [[ 9.99231955e-01 2.72469391e-02 2.81620977e-02 2.04471952e+02] [-2.72464159e-02 9.99628667e-01 -4.02381669e-04 -9.74721311e+00] [-2.81626039e-02 -3.65243607e-04 9.99603288e-01 -7.52404527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.191346184 meters 0.06500038276288228 Centerline is valid? [True, True] Translation: X:204.50, Y:-9.75, Z:-7.52 [[ 9.99230293e-01 2.69242991e-02 2.85289885e-02 2.04500576e+02] [-2.69236848e-02 9.99637410e-01 -4.05734424e-04 -9.74672389e+00] [-2.85295683e-02 -3.62683365e-04 9.99592883e-01 -7.52491027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221346184 meters 0.06473186997542694 Centerline is valid? [True, True] Translation: X:204.53, Y:-9.75, Z:-7.53 [[ 9.99265743e-01 2.52764811e-02 2.87936354e-02 2.04528465e+02] [-2.52752233e-02 9.99680447e-01 -4.07696613e-04 -9.74705640e+00] [-2.87947395e-02 -3.20368307e-04 9.99585294e-01 -7.52509853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.251346184 meters 0.06485979931287882 Centerline is valid? [True, True] Translation: X:204.56, Y:-9.75, Z:-7.53 [[ 9.99192958e-01 2.64631387e-02 3.02181242e-02 2.04556853e+02] [-2.64623754e-02 9.99649720e-01 -4.25241525e-04 -9.74569633e+00] [-3.02187926e-02 -3.74745008e-04 9.99543238e-01 -7.52543294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281346184 meters 0.06476258277185039 Centerline is valid? [True, True] Translation: X:204.59, Y:-9.75, Z:-7.53 [[ 9.99227877e-01 2.45105230e-02 3.07064026e-02 2.04585743e+02] [-2.45088764e-02 9.99699520e-01 -4.30056800e-04 -9.74579677e+00] [-3.07077169e-02 -3.22854685e-04 9.99528355e-01 -7.52536878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.311346184 meters 0.06457195478285797 Centerline is valid? [True, True] Translation: X:204.62, Y:-9.75, Z:-7.53 [[ 9.99248114e-01 2.38644863e-02 3.05564037e-02 2.04615184e+02] [-2.38625998e-02 9.99715157e-01 -4.26450327e-04 -9.74609924e+00] [-3.05578770e-02 -3.03025550e-04 9.99532953e-01 -7.52674699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341346184 meters 0.06447178508860582 Centerline is valid? [True, True] Translation: X:204.65, Y:-9.75, Z:-7.53 [[ 9.99264496e-01 2.17987426e-02 3.15480789e-02 2.04645207e+02] [-2.17957376e-02 9.99762348e-01 -4.39180030e-04 -9.74949186e+00] [-3.15501551e-02 -2.48756640e-04 9.99502139e-01 -7.52706578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.371346184 meters 0.06434238000867377 Centerline is valid? [True, True] Translation: X:204.68, Y:-9.75, Z:-7.53 [[ 9.99299058e-01 2.00988193e-02 3.15821319e-02 2.04677489e+02] [-2.00949779e-02 9.99797979e-01 -4.39058629e-04 -9.75204797e+00] [-3.15845762e-02 -1.95891368e-04 9.99501064e-01 -7.52854858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401346184 meters 0.06433337850336124 Centerline is valid? [True, True] Translation: X:204.71, Y:-9.76, Z:-7.53 [[ 9.99338479e-01 1.59178465e-02 3.26990396e-02 2.04710064e+02] [-1.59112383e-02 9.99873301e-01 -4.62309381e-04 -9.75877143e+00] [-3.27022557e-02 -5.82786591e-05 9.99465137e-01 -7.52967437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43134618399998 meters 0.06453853426132528 Centerline is valid? [True, True] Translation: X:204.74, Y:-9.76, Z:-7.53 [[ 9.99379446e-01 1.45186478e-02 3.20925506e-02 2.04743581e+02] [-1.45113332e-02 9.99894599e-01 -4.60835078e-04 -9.76187476e+00] [-3.20958587e-02 -5.15659100e-06 9.99484795e-01 -7.53219464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46134618399998 meters 0.06453853426132528 Centerline is valid? [True, True] Translation: X:204.78, Y:-9.76, Z:-7.53 [[ 9.99375590e-01 1.47819309e-02 3.20924269e-02 2.04776267e+02] [-1.47744807e-02 9.99890741e-01 -4.69285377e-04 -9.76256322e+00] [-3.20958575e-02 -5.15659081e-06 9.99484795e-01 -7.53330676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49134618399998 meters 0.06471819861068005 Centerline is valid? [True, True] Translation: X:204.81, Y:-9.77, Z:-7.53 [[ 9.99407540e-01 1.21287060e-02 3.22096845e-02 2.04809159e+02] [-1.21195490e-02 9.99926441e-01 -4.79517419e-04 -9.76657918e+00] [-3.22131311e-02 8.88664731e-05 9.99481018e-01 -7.53444750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52134618399998 meters 0.06538972022173657 Centerline is valid? [True, True] Translation: X:204.84, Y:-9.77, Z:-7.54 [[ 9.99460603e-01 6.85610497e-03 3.21169147e-02 2.04841474e+02] [-6.84400720e-03 9.99976461e-01 -4.86597807e-04 -9.77297178e+00] [-3.21194949e-02 2.66526942e-04 9.99484000e-01 -7.53564834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55134618399998 meters 0.0656398017523953 Centerline is valid? [True, True] Translation: X:204.87, Y:-9.78, Z:-7.54 [[ 9.99495140e-01 5.67923704e-03 3.12603870e-02 2.04872940e+02] [-5.66697338e-03 9.99983827e-01 -4.80891173e-04 -9.77561744e+00] [-3.12626125e-02 3.03496609e-04 9.99511159e-01 -7.53638140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58134618399998 meters 0.06543167998299228 Centerline is valid? [True, True] Translation: X:204.91, Y:-9.77, Z:-7.54 [[ 9.99483085e-01 7.45689698e-03 3.12723228e-02 2.04905675e+02] [-7.44528106e-03 9.99972165e-01 -4.87873242e-04 -9.77426478e+00] [-3.12750903e-02 2.54789820e-04 9.99510782e-01 -7.53742857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61134618399998 meters 0.06532059248243055 Centerline is valid? [True, True] Translation: X:204.94, Y:-9.77, Z:-7.54 [[ 9.99457612e-01 1.22865457e-02 3.05536133e-02 2.04937471e+02] [-1.22775001e-02 9.99924512e-01 -4.83649417e-04 -9.77198945e+00] [-3.05572492e-02 1.08265100e-04 9.99533012e-01 -7.54194615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64134618399999 meters 0.06533148637264288 Centerline is valid? [True, True] Translation: X:204.97, Y:-9.77, Z:-7.54 [[ 9.99428043e-01 1.38899991e-02 3.08326934e-02 2.04970071e+02] [-1.38813278e-02 9.99903527e-01 -4.95279843e-04 -9.77267456e+00] [-3.08365983e-02 6.69978415e-05 9.99524437e-01 -7.54470467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.671346184 meters 0.06547348557830718 Centerline is valid? [True, True] Translation: X:205.00, Y:-9.78, Z:-7.55 [[ 9.99424189e-01 1.44941151e-02 3.06791698e-02 2.05002868e+02] [-1.44855842e-02 9.99894953e-01 -5.00315032e-04 -9.77610601e+00] [-3.06831987e-02 5.56212469e-05 9.99529158e-01 -7.54814020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.701346184 meters 0.06589748109306155 Centerline is valid? [True, True] Translation: X:205.04, Y:-9.78, Z:-7.55 [[ 9.99437512e-01 1.49315375e-02 3.00284737e-02 2.05035024e+02] [-1.49233177e-02 9.99888517e-01 -4.97840396e-04 -9.78154188e+00] [-3.00325596e-02 4.94359133e-05 9.99548920e-01 -7.55274486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.731346184 meters 0.0660297076485065 Centerline is valid? [True, True] Translation: X:205.07, Y:-9.78, Z:-7.55 [[ 9.99433944e-01 1.56059414e-02 2.98034541e-02 2.05068062e+02] [-1.55980123e-02 9.99878219e-01 -4.98530345e-04 -9.78278467e+00] [-2.98076046e-02 3.33735060e-05 9.99555654e-01 -7.55445229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.761346184 meters 0.06608317861582116 Centerline is valid? [True, True] Translation: X:205.10, Y:-9.78, Z:-7.56 [[ 9.99404356e-01 1.79514842e-02 2.94733295e-02 2.05101226e+02] [-1.79445269e-02 9.99838859e-01 -5.00560128e-04 -9.78144906e+00] [-2.94775659e-02 -2.86229799e-05 9.99565442e-01 -7.55643869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.791346184 meters 0.06631220761448636 Centerline is valid? [True, True] Translation: X:205.13, Y:-9.78, Z:-7.56 [[ 9.99397683e-01 1.83603127e-02 2.94477517e-02 2.05133331e+02] [-1.83533071e-02 9.99831435e-01 -5.08195538e-04 -9.78426118e+00] [-2.94521184e-02 -3.25741860e-05 9.99566192e-01 -7.55889158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821346184 meters 0.06654060384607766 Centerline is valid? [True, True] Translation: X:205.17, Y:-9.79, Z:-7.56 [[ 9.99409828e-01 1.82636418e-02 2.90935701e-02 2.05166536e+02] [-1.82566427e-02 9.99833205e-01 -5.06210357e-04 -9.78706153e+00] [-2.90979627e-02 -2.52393062e-05 9.99576564e-01 -7.56089619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.851346184 meters 0.06685753126770949 Centerline is valid? [True, True] Translation: X:205.20, Y:-9.79, Z:-7.56 [[ 9.99356471e-01 1.87127257e-02 3.06019299e-02 2.05198381e+02] [-1.87049380e-02 9.99824901e-01 -5.40760394e-04 -9.78995574e+00] [-3.06066906e-02 -3.19948004e-05 9.99531505e-01 -7.56271454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881346184 meters 0.06697631994217251 Centerline is valid? [True, True] Translation: X:205.23, Y:-9.79, Z:-7.56 [[ 9.99342168e-01 1.72232548e-02 3.19153737e-02 2.05231851e+02] [-1.72137728e-02 9.99851669e-01 -5.71856750e-04 -9.79409016e+00] [-3.19204889e-02 2.20965743e-05 9.99490411e-01 -7.56223376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.911346184 meters 0.06737478433845512 Centerline is valid? [True, True] Translation: X:205.27, Y:-9.80, Z:-7.56 [[ 9.99359795e-01 1.53517443e-02 3.23160116e-02 2.05265004e+02] [-1.53407794e-02 9.99882151e-01 -5.87229314e-04 -9.79872874e+00] [-3.23212182e-02 9.11005608e-05 9.99477529e-01 -7.56266037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941346184 meters 0.06825895268394658 Centerline is valid? [True, True] Translation: X:205.30, Y:-9.81, Z:-7.56 [[ 9.99351369e-01 1.07026246e-02 3.43845112e-02 2.05296196e+02] [-1.06871286e-02 9.99942690e-01 -6.34430521e-04 -9.80711402e+00] [-3.43893306e-02 2.66547316e-04 9.99408476e-01 -7.56201694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.971346184 meters 0.06877166492030677 Centerline is valid? [True, True] Translation: X:205.33, Y:-9.81, Z:-7.56 [[ 9.99310364e-01 9.04162650e-03 3.60145253e-02 2.05328512e+02] [-9.02337157e-03 9.99959065e-01 -6.69386819e-04 -9.81035745e+00] [-3.60191033e-02 3.43952742e-04 9.99351042e-01 -7.56228193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001346184 meters 0.06920511904102311 Centerline is valid? [True, True] Translation: X:205.36, Y:-9.81, Z:-7.56 [[ 9.99321247e-01 7.79500018e-03 3.60039214e-02 2.05361112e+02] [-7.77564640e-03 9.99969540e-01 -6.77539574e-04 -9.81404336e+00] [-3.60081061e-02 3.97125931e-04 9.99351419e-01 -7.56266184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.031346184 meters 0.06973093225600674 Centerline is valid? [True, True] Translation: X:205.39, Y:-9.82, Z:-7.56 [[ 9.99271190e-01 5.84688732e-03 3.77213776e-02 2.05392789e+02] [-5.82391390e-03 9.99982782e-01 -7.18883525e-04 -9.81920272e+00] [-3.77249314e-02 4.98673541e-04 9.99288037e-01 -7.56379887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061346184 meters 0.07082034000611546 Centerline is valid? [True, True] Translation: X:205.42, Y:-9.83, Z:-7.56 [[ 9.99253321e-01 4.73791314e-03 3.83451712e-02 2.05424232e+02] [-4.71303658e-03 9.99988620e-01 -7.39122281e-04 -9.82530114e+00] [-3.83482368e-02 5.57848200e-04 9.99264280e-01 -7.56336320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.091346184 meters 0.07109966692704177 Centerline is valid? [True, True] Translation: X:205.46, Y:-9.83, Z:-7.56 [[ 9.99208414e-01 2.33757450e-03 3.97124783e-02 2.05456465e+02] [-2.30864793e-03 9.99997035e-01 -7.74243594e-04 -9.82717420e+00] [-3.97141704e-02 6.81948583e-04 9.99210848e-01 -7.56359351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121346184 meters 0.07212338666480292 Centerline is valid? [True, True] Translation: X:205.49, Y:-9.83, Z:-7.56 [[ 9.99172720e-01 -7.72190626e-04 4.06605486e-02 2.05487936e+02] [ 8.05438485e-04 9.99999355e-01 -8.01318114e-04 -9.83248839e+00] [-4.06599035e-02 8.33404770e-04 9.99172697e-01 -7.56212120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.151346184 meters 0.07386125618862802 Centerline is valid? [True, True] Translation: X:205.52, Y:-9.84, Z:-7.56 [[ 9.99202306e-01 -2.22074859e-03 3.98725508e-02 2.05518617e+02] [ 2.25404700e-03 9.99997147e-01 -7.90185501e-04 -9.83816806e+00] [-3.98706822e-02 8.79429778e-04 9.99204461e-01 -7.56322859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18134618399998 meters 0.07164595705995634 Centerline is valid? [True, True] Translation: X:205.55, Y:-9.83, Z:-7.57 [[ 9.99147429e-01 -3.28116767e-04 4.12832516e-02 2.05551169e+02] [ 3.62429172e-04 9.99999595e-01 -8.23664310e-04 -9.83050624e+00] [-4.12829646e-02 8.37924333e-04 9.99147144e-01 -7.56588678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21134618399998 meters 0.07264537364015602 Centerline is valid? [True, True] Translation: X:205.58, Y:-9.83, Z:-7.56 [[ 9.99150291e-01 2.04130345e-03 4.11646511e-02 2.05583033e+02] [-2.00880154e-03 9.99997637e-01 -8.30906729e-04 -9.83385086e+00] [-4.11662499e-02 7.47509086e-04 9.99152031e-01 -7.56490361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24134618399998 meters 0.07080018351129524 Centerline is valid? [True, True] Translation: X:205.61, Y:-9.82, Z:-7.57 [[ 9.99126059e-01 8.87208767e-03 4.08460982e-02 2.05614029e+02] [-8.84546123e-03 9.99960532e-01 -8.32556309e-04 -9.82432379e+00] [-4.08518726e-02 4.70526126e-04 9.99165103e-01 -7.56831120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27134618399998 meters 0.06997757424384293 Centerline is valid? [True, True] Translation: X:205.65, Y:-9.82, Z:-7.57 [[ 9.99101676e-01 1.22424990e-02 4.05704489e-02 2.05645579e+02] [-1.22189391e-02 9.99925003e-01 -8.28639326e-04 -9.82053632e+00] [-4.05775509e-02 3.32167095e-04 9.99176337e-01 -7.57098595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30134618399998 meters 0.06903435662644902 Centerline is valid? [True, True] Translation: X:205.68, Y:-9.81, Z:-7.58 [[ 9.99054713e-01 1.55066903e-02 4.06106311e-02 2.05678254e+02] [-1.54855988e-02 9.99879743e-01 -8.33896064e-04 -9.81391816e+00] [-4.06186783e-02 2.04227853e-04 9.99174700e-01 -7.57611317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33134618399998 meters 0.06838878333932707 Centerline is valid? [True, True] Translation: X:205.71, Y:-9.81, Z:-7.58 [[ 9.98942303e-01 2.29106106e-02 3.98670261e-02 2.05709821e+02] [-2.28960328e-02 9.99737513e-01 -8.22261766e-04 -9.80520445e+00] [-3.98754001e-02 -9.14046752e-05 9.99204656e-01 -7.57761691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36134618399998 meters 0.06842168448214124 Centerline is valid? [True, True] Translation: X:205.74, Y:-9.80, Z:-7.58 [[ 9.98869028e-01 2.66933308e-02 3.93462936e-02 2.05742099e+02] [-2.66818340e-02 9.99643642e-01 -8.17379218e-04 -9.80104925e+00] [-3.93540908e-02 -2.33376489e-04 9.99225300e-01 -7.58044830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39134618399999 meters 0.06870024948846333 Centerline is valid? [True, True] Translation: X:205.77, Y:-9.80, Z:-7.58 [[ 9.98738141e-01 3.01347595e-02 4.01749022e-02 2.05773653e+02] [-3.01251498e-02 9.99545778e-01 -8.44694505e-04 -9.79512574e+00] [-4.01821085e-02 -3.66646326e-04 9.99192306e-01 -7.57958082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.421346184 meters 0.06866240605304999 Centerline is valid? [True, True] Translation: X:205.80, Y:-9.80, Z:-7.58 [[ 9.98614511e-01 3.33225404e-02 4.07267228e-02 2.05804733e+02] [-3.33149999e-02 9.99444528e-01 -8.64011236e-04 -9.79641264e+00] [-4.07328913e-02 -4.93996607e-04 9.99169949e-01 -7.58396763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.451346184 meters 0.06916921018186131 Centerline is valid? [True, True] Translation: X:205.83, Y:-9.79, Z:-7.59 [[ 9.98364136e-01 4.00837149e-02 4.07718966e-02 2.05834236e+02] [-4.00817530e-02 9.99196028e-01 -8.65889864e-04 -9.79011920e+00] [-4.07738252e-02 -7.69735702e-04 9.99168105e-01 -7.58654649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.481346184 meters 0.06976790156446329 Centerline is valid? [True, True] Translation: X:205.86, Y:-9.78, Z:-7.59 [[ 9.98194067e-01 4.33171389e-02 4.16200619e-02 2.05862179e+02] [-4.33179776e-02 9.99060946e-01 -8.82112912e-04 -9.78498010e+00] [-4.16191890e-02 -9.22377032e-04 9.99133120e-01 -7.58649692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.511346184 meters 0.0707435013371219 Centerline is valid? [True, True] Translation: X:205.89, Y:-9.78, Z:-7.59 [[ 9.97973214e-01 4.75434953e-02 4.22975142e-02 2.05891509e+02] [-4.75482990e-02 9.98868541e-01 -8.93031128e-04 -9.77980021e+00] [-4.22921141e-02 -1.11995371e-03 9.99104661e-01 -7.58723633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.541346184 meters 0.07220527576086871 Centerline is valid? [True, True] Translation: X:205.92, Y:-9.77, Z:-7.59 [[ 9.97688190e-01 5.41221284e-02 4.10983022e-02 2.05921848e+02] [-5.41323317e-02 9.98533395e-01 -8.65354875e-04 -9.77315355e+00] [-4.10848620e-02 -1.36139258e-03 9.99154733e-01 -7.58987446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.571346184 meters 0.07353241814217588 Centerline is valid? [True, True] Translation: X:205.95, Y:-9.77, Z:-7.59 [[ 9.97488806e-01 5.64420169e-02 4.27829569e-02 2.05950028e+02] [-5.64552553e-02 9.98404725e-01 -8.99686375e-04 -9.77006041e+00] [-4.27654864e-02 -1.51789566e-03 9.99083985e-01 -7.58972912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601346184 meters 0.07366455043583553 Centerline is valid? [True, True] Translation: X:205.98, Y:-9.77, Z:-7.59 [[ 9.97347056e-01 5.83758127e-02 4.34869365e-02 2.05979366e+02] [-5.83914380e-02 9.98293348e-01 -9.11922307e-04 -9.77014619e+00] [-4.34659536e-02 -1.62976173e-03 9.99053580e-01 -7.59005804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.631346184 meters 0.07488978862644387 Centerline is valid? [True, True] Translation: X:206.01, Y:-9.77, Z:-7.59 [[ 9.97106335e-01 6.08598457e-02 4.55525631e-02 2.06008148e+02] [-6.08796596e-02 9.98144658e-01 -9.53528469e-04 -9.76818166e+00] [-4.55260791e-02 -1.82245526e-03 9.98961488e-01 -7.58958100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661346184 meters 0.07499528580291967 Centerline is valid? [True, True] Translation: X:206.04, Y:-9.77, Z:-7.59 [[ 9.97026073e-01 6.22836782e-02 4.53845066e-02 2.06036655e+02] [-6.23049252e-02 9.98056711e-01 -9.47639084e-04 -9.77008821e+00] [-4.53553339e-02 -1.88285742e-03 9.98969143e-01 -7.59203288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.691346184 meters 0.07608972642305556 Centerline is valid? [True, True] Translation: X:206.06, Y:-9.77, Z:-7.59 [[ 9.97002534e-01 6.29960980e-02 4.49159193e-02 2.06063990e+02] [-6.30177662e-02 9.98011968e-01 -9.34793750e-04 -9.76987197e+00] [-4.48855133e-02 -1.89850916e-03 9.98990333e-01 -7.59413655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721346184 meters 0.07644958682904295 Centerline is valid? [True, True] Translation: X:206.09, Y:-9.77, Z:-7.60 [[ 9.97092510e-01 6.29068984e-02 4.30028930e-02 2.06091444e+02] [-6.29268166e-02 9.98017746e-01 -8.91646598e-04 -9.77249161e+00] [-4.29737411e-02 -1.81698102e-03 9.99074550e-01 -7.59757760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.751346184 meters 0.07734043660085564 Centerline is valid? [True, True] Translation: X:206.12, Y:-9.77, Z:-7.60 [[ 9.97052972e-01 6.40267346e-02 4.22604736e-02 2.06119405e+02] [-6.40471115e-02 9.97946494e-01 -8.72977397e-04 -9.77220639e+00] [-4.22295854e-02 -1.83625656e-03 9.99106246e-01 -7.59925008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781346184 meters 0.07679129278202111 Centerline is valid? [True, True] Translation: X:206.15, Y:-9.78, Z:-7.60 [[ 9.96995902e-01 6.47809096e-02 4.24570931e-02 2.06148145e+02] [-6.48023511e-02 9.97897737e-01 -8.72518773e-04 -9.77581143e+00] [-4.24243597e-02 -1.88142181e-03 9.99097910e-01 -7.60175623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.811346184 meters 0.0778825579161118 Centerline is valid? [True, True] Translation: X:206.18, Y:-9.78, Z:-7.60 [[ 9.96981384e-01 6.56404077e-02 4.14663313e-02 2.06175386e+02] [-6.56619380e-02 9.97841569e-01 -8.44001484e-04 -9.77559511e+00] [-4.14322297e-02 -1.88130591e-03 9.99139545e-01 -7.60356702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841346184 meters 0.07718641528066365 Centerline is valid? [True, True] Translation: X:206.20, Y:-9.78, Z:-7.61 [[ 9.96932621e-01 6.70525103e-02 4.03647211e-02 2.06203704e+02] [-6.70742484e-02 9.97747652e-01 -8.17012168e-04 -9.78205192e+00] [-4.03285885e-02 -1.89292725e-03 9.99184679e-01 -7.60702864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.871346184 meters 0.07858992582661442 Centerline is valid? [True, True] Translation: X:206.23, Y:-9.78, Z:-7.61 [[ 9.96907857e-01 6.79027999e-02 3.95466023e-02 2.06231517e+02] [-6.79246582e-02 9.97690139e-01 -7.92189983e-04 -9.78125705e+00] [-3.95090471e-02 -1.89644903e-03 9.99217413e-01 -7.60948891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901346184 meters 0.08154224540929987 Centerline is valid? [True, True] Translation: X:206.26, Y:-9.78, Z:-7.62 [[ 9.96643257e-01 7.31691210e-02 3.67218885e-02 2.06261187e+02] [-7.31916690e-02 9.97317625e-01 -7.31729405e-04 -9.78160053e+00] [-3.66769266e-02 -1.95846313e-03 9.99325256e-01 -7.61542938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93134618399998 meters 0.08344654085748963 Centerline is valid? [True, True] Translation: X:206.29, Y:-9.78, Z:-7.62 [[ 9.96412874e-01 7.68317648e-02 3.54720192e-02 2.06291471e+02] [-7.68551368e-02 9.97042020e-01 -7.06195140e-04 -9.78120827e+00] [-3.54213519e-02 -2.02254496e-03 9.99370420e-01 -7.61835630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96134618399998 meters 0.08398735904554988 Centerline is valid? [True, True] Translation: X:206.32, Y:-9.78, Z:-7.62 [[ 9.96186426e-01 8.01937952e-02 3.43738150e-02 2.06321756e+02] [-8.02177521e-02 9.96777129e-01 -6.83808974e-04 -9.78323927e+00] [-3.43178699e-02 -2.07618895e-03 9.99408812e-01 -7.62012853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99134618399998 meters 0.0837021078247984 Centerline is valid? [True, True] Translation: X:206.35, Y:-9.79, Z:-7.62 [[ 9.95791170e-01 8.54640496e-02 3.31034900e-02 2.06351696e+02] [-8.54891883e-02 9.96338881e-01 -6.57836221e-04 -9.78711562e+00] [-3.30385155e-02 -2.17492299e-03 9.99451713e-01 -7.62186092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02134618399998 meters 0.09165569704016062 Centerline is valid? [True, True] Translation: X:206.38, Y:-9.77, Z:-7.63 [[ 9.95374093e-01 9.11125820e-02 3.04780501e-02 2.06380903e+02] [-9.11365295e-02 9.95838223e-01 -6.05396968e-04 -9.77367021e+00] [-3.04063665e-02 -2.17506725e-03 9.99535253e-01 -7.62527075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05134618399998 meters 0.093338224138054 Centerline is valid? [True, True] Translation: X:206.41, Y:-9.78, Z:-7.63 [[ 9.94262727e-01 1.02783354e-01 2.96177470e-02 2.06411085e+02] [-1.02811102e-01 9.94700724e-01 -5.88490383e-04 -9.77521340e+00] [-2.95212814e-02 -2.45991916e-03 9.99561125e-01 -7.62663554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08134618399998 meters 0.09726697545152353 Centerline is valid? [True, True] Translation: X:206.44, Y:-9.77, Z:-7.63 [[ 9.93630672e-01 1.08830209e-01 2.92245441e-02 2.06441814e+02] [-1.08859832e-01 9.94056940e-01 -5.80208327e-04 -9.77156277e+00] [-2.91140051e-02 -2.60486617e-03 9.99572703e-01 -7.62867591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11134618399998 meters 0.10024313048109479 Centerline is valid? [True, False] Translation: X:206.45, Y:-9.77, Z:-7.62 [[ 9.93857223e-01 1.10098098e-01 1.12352071e-02 2.06449217e+02] [-1.10074275e-01 9.93919645e-01 -2.71908330e-03 -9.77217660e+00] [-1.14662590e-02 1.46567330e-03 9.99933186e-01 -7.62269589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14134618399999 meters 0.10903475439474092 Centerline is valid? [False, False] Translation: X:206.45, Y:-9.78, Z:-7.62 [[ 9.93150589e-01 1.16738955e-01 -4.89113797e-03 2.06453824e+02] [-1.16744011e-01 9.93161748e-01 -7.60464333e-04 -9.77628955e+00] [ 4.76891533e-03 1.32626667e-03 9.99987749e-01 -7.61732013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.171346184 meters 0.11344582731086507 Centerline is valid? [False, False] Translation: X:206.46, Y:-9.78, Z:-7.61 [[ 9.93676925e-01 1.11616541e-01 -1.21621230e-02 2.06464720e+02] [-1.11546029e-01 9.93739098e-01 6.33162651e-03 -9.77878751e+00] [ 1.27926914e-02 -4.93495463e-03 9.99905992e-01 -7.61492348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.201346184 meters 0.12163277680094804 Centerline is valid? [False, False] Translation: X:206.48, Y:-9.78, Z:-7.61 [[ 9.94088591e-01 1.06828194e-01 -1.93806566e-02 2.06475494e+02] [-1.06561019e-01 9.94202840e-01 1.43339201e-02 -9.78203312e+00] [ 2.07995706e-02 -1.21839639e-02 9.99709422e-01 -7.61406157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.231346184 meters 0.12695553545681584 Centerline is valid? [False, False] Translation: X:206.47, Y:-9.78, Z:-7.62 [[ 9.94434026e-01 1.05353038e-01 -1.30581879e-03 2.06468086e+02] [-1.05326164e-01 9.94346927e-01 1.34382903e-02 -9.78122934e+00] [ 2.71420161e-03 -1.32259562e-02 9.99908849e-01 -7.62147375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.261346184 meters 0.131571964575512 Centerline is valid? [False, False] Translation: X:206.48, Y:-9.78, Z:-7.62 [[ 9.95090328e-01 9.84351845e-02 -1.02836897e-02 2.06481150e+02] [-9.82760618e-02 9.95046475e-01 1.49775873e-02 -9.78013651e+00] [ 1.17070707e-02 -1.38934117e-02 9.99834945e-01 -7.61813699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.291346184 meters 0.12124268178136757 Centerline is valid? [False, False] Translation: X:206.49, Y:-9.78, Z:-7.61 [[ 9.95303700e-01 9.48865433e-02 -1.91595798e-02 2.06494043e+02] [-9.45258421e-02 9.95342423e-01 1.89295158e-02 -9.77888584e+00] [ 2.08664989e-02 -1.70295417e-02 9.99637226e-01 -7.61381574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.321346184 meters 0.14339197475980633 Centerline is valid? [False, False] Translation: X:206.49, Y:-9.78, Z:-7.62 [[ 9.95802447e-01 9.15160775e-02 -1.51479293e-03 2.06486856e+02] [-9.14736851e-02 9.95641821e-01 1.81639412e-02 -9.77749593e+00] [ 3.17048384e-03 -1.79491334e-02 9.99833875e-01 -7.62000627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.351346184 meters 0.14339197475980633 Centerline is valid? [False, False] Translation: X:206.49, Y:-9.78, Z:-7.62 [[ 9.95802447e-01 9.15160775e-02 -1.51479293e-03 2.06486856e+02] [-9.14736851e-02 9.95641821e-01 1.81639412e-02 -9.77749593e+00] [ 3.17048384e-03 -1.79491334e-02 9.99833875e-01 -7.62000627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.381346184 meters 0.13120385656639286 Centerline is valid? [False, False] Translation: X:206.50, Y:-9.77, Z:-7.62 [[ 9.96328030e-01 8.49522644e-02 -1.06569250e-02 2.06500244e+02] [-8.47542597e-02 9.96242365e-01 1.78288027e-02 -9.77371331e+00] [ 1.21314774e-02 -1.68601161e-02 9.99784259e-01 -7.61624999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.411346184 meters 0.14088313493764684 Centerline is valid? [False, False] Translation: X:206.51, Y:-9.77, Z:-7.61 [[ 9.96938384e-01 7.57114318e-02 -1.95355455e-02 2.06514048e+02] [-7.53422678e-02 9.96976920e-01 1.89885344e-02 -9.77189616e+00] [ 2.09141371e-02 -1.74585465e-02 9.99628830e-01 -7.61401696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.441346184 meters 0.16280803530668417 Centerline is valid? [False, False] Translation: X:206.51, Y:-9.77, Z:-7.62 [[ 9.97499615e-01 7.06319381e-02 -2.37652487e-03 2.06508411e+02] [-7.05787727e-02 9.97347490e-01 1.77938615e-02 -9.77080742e+00] [ 3.62703604e-03 -1.75816378e-02 9.99838852e-01 -7.62047081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.471346184 meters 0.13157621426371874 Centerline is valid? [False, False] Translation: X:206.52, Y:-9.77, Z:-7.62 [[ 9.97965999e-01 6.27942763e-02 -1.09883676e-02 2.06519988e+02] [-6.25998101e-02 9.97890017e-01 1.72272537e-02 -9.76794317e+00] [ 1.20469553e-02 -1.65043437e-02 9.99791217e-01 -7.61582138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.501346184 meters 0.13859160408064952 Centerline is valid? [False, False] Translation: X:206.52, Y:-9.77, Z:-7.62 [[ 9.98500983e-01 5.46903324e-02 2.18062152e-03 2.06518875e+02] [-5.47207632e-02 9.98339911e-01 1.79738667e-02 -9.76612826e+00] [-1.19400475e-03 -1.80662489e-02 9.99836079e-01 -7.61871759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.531346184 meters 0.16954390036571576 Centerline is valid? [False, False] Translation: X:206.52, Y:-9.77, Z:-7.62 [[ 9.98921815e-01 4.64134478e-02 9.99688784e-04 2.06519316e+02] [-4.64204679e-02 9.98883133e-01 8.81060393e-03 -9.76508219e+00] [-5.89641759e-04 -8.84751049e-03 9.99960686e-01 -7.61623113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561346184 meters 0.1734142979523345 Centerline is valid? [False, False] Translation: X:206.53, Y:-9.76, Z:-7.61 [[ 9.99130138e-01 4.13824277e-02 -5.14419747e-03 2.06527490e+02] [-4.13554962e-02 9.99130776e-01 5.23588328e-03 -9.76412478e+00] [ 5.35639957e-03 -5.01858794e-03 9.99973061e-01 -7.61198393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.591346184 meters 0.17639239635726692 Centerline is valid? [False, False] Translation: X:206.54, Y:-9.76, Z:-7.61 [[ 9.99296568e-01 3.54970808e-02 -1.20965266e-02 2.06536089e+02] [-3.54490501e-02 9.99362817e-01 4.16223058e-03 -9.76482154e+00] [ 1.22365660e-02 -3.73049235e-03 9.99918172e-01 -7.60769540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621346184 meters 0.18723428711402143 Centerline is valid? [False, False] Translation: X:206.55, Y:-9.76, Z:-7.61 [[ 9.99582575e-01 2.83130111e-02 -5.74883951e-03 2.06547551e+02] [-2.82791509e-02 9.99582722e-01 5.88818497e-03 -9.76483346e+00] [ 5.91315289e-03 -5.72315479e-03 9.99966139e-01 -7.60875787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.651346184 meters 0.17142900057729174 Centerline is valid? [False, False] Translation: X:206.55, Y:-9.77, Z:-7.61 [[ 9.99668928e-01 2.48744601e-02 -6.58000777e-03 2.06549428e+02] [-2.48554580e-02 9.99686691e-01 2.95404149e-03 -9.76868897e+00] [ 6.65142638e-03 -2.78951438e-03 9.99973988e-01 -7.60940088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68134618399998 meters 0.1716744383562136 Centerline is valid? [False, False] Translation: X:206.56, Y:-9.77, Z:-7.61 [[ 9.99820225e-01 1.89607281e-02 -9.68411797e-05 2.06560574e+02] [-1.89597786e-02 9.99801460e-01 6.12921664e-03 -9.76828297e+00] [ 2.13036363e-04 -6.12627867e-03 9.99981211e-01 -7.61058762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71134618399998 meters 0.17755474106570224 Centerline is valid? [False, False] Translation: X:206.56, Y:-9.77, Z:-7.61 [[ 9.99883279e-01 1.52520060e-02 -8.96974186e-04 2.06562533e+02] [-1.52500179e-02 9.99881329e-01 2.18301262e-03 -9.76800394e+00] [ 9.30163063e-04 -2.16907894e-03 9.99997215e-01 -7.61110038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74134618399998 meters 0.17830200705655513 Centerline is valid? [False, False] Translation: X:206.56, Y:-9.77, Z:-7.61 [[ 9.99932956e-01 1.14930479e-02 -1.41197752e-03 2.06562985e+02] [-1.14942858e-02 9.99933558e-01 -8.71776923e-04 -9.77365122e+00] [ 1.40186433e-03 8.87948149e-04 9.99998623e-01 -7.61041890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77134618399998 meters 0.19354207374192112 Centerline is valid? [False, False] Translation: X:206.56, Y:-9.78, Z:-7.61 [[ 9.99968810e-01 7.66501125e-03 -1.90453246e-03 2.06564184e+02] [-7.67345515e-03 9.99960583e-01 -4.46655032e-03 -9.77570555e+00] [ 1.87022123e-03 4.48102535e-03 9.99988211e-01 -7.61087939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80134618399998 meters 0.19130156566619064 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.78, Z:-7.61 [[ 9.99962375e-01 8.40663303e-03 -2.13924350e-03 2.06565323e+02] [-8.41272758e-03 9.99960534e-01 -2.85605967e-03 -9.78043810e+00] [ 2.11514922e-03 2.87394909e-03 9.99993633e-01 -7.61220786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83134618399998 meters 0.17793232240845777 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.79, Z:-7.61 [[ 9.99952496e-01 9.39729759e-03 -2.58793605e-03 2.06566821e+02] [-9.39964693e-03 9.99955420e-01 -8.97143213e-04 -9.78853794e+00] [ 2.57938996e-03 9.21426280e-04 9.99996249e-01 -7.61294441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86134618399998 meters 0.18078698221523237 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.79, Z:-7.61 [[ 9.99981395e-01 5.38822249e-03 -2.85952412e-03 2.06567453e+02] [-5.40325103e-03 9.99971494e-01 -5.27416998e-03 -9.78781316e+00] [ 2.83102420e-03 5.28952258e-03 9.99982003e-01 -7.61301233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89134618399999 meters 0.18987140699368465 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.79, Z:-7.61 [[ 9.99978201e-01 5.85428137e-03 -3.05369016e-03 2.06568273e+02] [-5.86773078e-03 9.99973042e-01 -4.41410963e-03 -9.79006780e+00] [ 3.02776640e-03 4.43193163e-03 9.99985595e-01 -7.61379069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.921346184 meters 0.1896192034283672 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.80, Z:-7.61 [[ 9.99969520e-01 6.98873891e-03 -3.48096885e-03 2.06569764e+02] [-6.99756334e-03 9.99972318e-01 -2.52935400e-03 -9.79688261e+00] [ 3.46319550e-03 2.55363521e-03 9.99990743e-01 -7.61442680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.951346184 meters 0.19434599534357577 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.80, Z:-7.62 [[ 9.99965098e-01 7.54987249e-03 -3.57788659e-03 2.06570319e+02] [-7.55457610e-03 9.99970615e-01 -1.30294692e-03 -9.80071481e+00] [ 3.56794437e-03 1.32993086e-03 9.99992751e-01 -7.61510674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.981346184 meters 0.1885466900273605 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.80, Z:-7.62 [[ 9.99960709e-01 8.05512812e-03 -3.70065271e-03 2.06570946e+02] [-8.05599572e-03 9.99967526e-01 -2.19596543e-04 -9.80394919e+00] [ 3.69876366e-03 2.49400357e-04 9.99993128e-01 -7.61583860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.011346184 meters 0.19584305030237156 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.81, Z:-7.62 [[ 9.99958094e-01 8.53095230e-03 -3.32162925e-03 2.06570735e+02] [-8.52624955e-03 9.99962632e-01 1.42739350e-03 -9.81206562e+00] [ 3.33368215e-03 -1.39901264e-03 9.99993465e-01 -7.61642955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.041346184 meters 0.1933009256408842 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.82, Z:-7.62 [[ 9.99983031e-01 4.75171821e-03 -3.37043708e-03 2.06571369e+02] [-4.75788832e-03 9.99987016e-01 -1.82500590e-03 -9.81500354e+00] [ 3.36172141e-03 1.84101110e-03 9.99992655e-01 -7.61739058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.071346184 meters 0.18976605962192541 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.82, Z:-7.62 [[ 9.99982993e-01 4.94386344e-03 -3.09387185e-03 2.06570686e+02] [-4.94558491e-03 9.99987620e-01 -5.49008897e-04 -9.82053167e+00] [ 3.09111932e-03 5.64300566e-04 9.99995063e-01 -7.61752962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.101346184 meters 0.19584606597400941 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.83, Z:-7.62 [[ 9.99994273e-01 1.31579017e-03 -3.11821471e-03 2.06570846e+02] [-1.32564667e-03 9.99994125e-01 -3.16098868e-03 -9.82623151e+00] [ 3.11403720e-03 3.16510423e-03 9.99990142e-01 -7.61773823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.131346184 meters 0.1904974187434829 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.83, Z:-7.62 [[ 9.99995240e-01 1.39510306e-03 -2.75196905e-03 2.06569876e+02] [-1.40054832e-03 9.99997063e-01 -1.97774505e-03 -9.83167383e+00] [ 2.74920181e-03 1.98158990e-03 9.99994258e-01 -7.61768455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161346184 meters 0.19309793943601022 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.84, Z:-7.62 [[ 9.99996066e-01 1.63647670e-03 -2.27823501e-03 2.06568930e+02] [-1.63767449e-03 9.99998522e-01 -5.23987538e-04 -9.83837740e+00] [ 2.27737414e-03 5.27716484e-04 9.99997268e-01 -7.61793468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.191346184 meters 0.1950088200509106 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.84, Z:-7.62 [[ 9.99999766e-01 -3.25058870e-04 -6.01608382e-04 2.06565313e+02] [ 3.24010747e-04 9.99998431e-01 -1.74147998e-03 -9.84470431e+00] [ 6.02173521e-04 1.74128465e-03 9.99998303e-01 -7.61663598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221346184 meters 0.18831645234068684 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.85, Z:-7.62 [[ 9.99994799e-01 -3.18776357e-03 -4.90011192e-04 2.06566007e+02] [ 3.18611171e-03 9.99989361e-01 -3.33567219e-03 -9.85465274e+00] [ 5.00639313e-04 3.33409362e-03 9.99994317e-01 -7.61766951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.251346184 meters 0.1976882684321049 Centerline is valid? [False, False] Translation: X:206.56, Y:-9.86, Z:-7.62 [[ 9.99995157e-01 -3.11160544e-03 5.76448826e-05 2.06564452e+02] [ 3.11171772e-03 9.99993032e-01 -2.06242716e-03 -9.86151063e+00] [-5.12270214e-05 2.06259655e-03 9.99997872e-01 -7.61716078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.281346184 meters 0.19154714020300417 Centerline is valid? [False, False] Translation: X:206.56, Y:-9.87, Z:-7.62 [[ 9.99995464e-01 -2.97314083e-03 4.82721747e-04 2.06563090e+02] [ 2.97349728e-03 9.99995306e-01 -7.39392110e-04 -9.86822024e+00] [-4.80521164e-04 7.40824127e-04 9.99999610e-01 -7.61658012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.311346184 meters 0.19265429363606093 Centerline is valid? [False, False] Translation: X:206.56, Y:-9.88, Z:-7.62 [[ 9.99997249e-01 -2.14355465e-03 9.52452413e-04 2.06561629e+02] [ 2.14201943e-03 9.99996410e-01 1.60997032e-03 -9.87979745e+00] [-9.55900053e-04 -1.60792572e-03 9.99998250e-01 -7.61546457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341346184 meters 0.19960845549782189 Centerline is valid? [False, False] Translation: X:206.56, Y:-9.88, Z:-7.62 [[ 9.99998796e-01 -1.32084674e-03 8.13930694e-04 2.06562474e+02] [ 1.31806183e-03 9.99993308e-01 3.41263677e-03 -9.88468029e+00] [-8.18432817e-04 -3.41155985e-03 9.99993846e-01 -7.61640774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.371346184 meters 0.18966006596190244 Centerline is valid? [False, False] Translation: X:206.56, Y:-9.89, Z:-7.62 [[ 9.99998799e-01 -1.06243914e-03 1.12830793e-03 2.06561659e+02] [ 1.05700928e-03 9.99987911e-01 4.80213552e-03 -9.89057431e+00] [-1.13339627e-03 -4.80093712e-03 9.99987833e-01 -7.61624334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40134618399998 meters 0.19413107075604982 Centerline is valid? [False, False] Translation: X:206.56, Y:-9.90, Z:-7.62 [[ 9.99994854e-01 -3.17825647e-03 4.35743223e-04 2.06564942e+02] [ 3.17652405e-03 9.99987270e-01 3.92044128e-03 -9.89918281e+00] [-4.48197844e-04 -3.91903696e-03 9.99992220e-01 -7.61897566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43134618399998 meters 0.19069838598015787 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.90, Z:-7.62 [[ 9.99978086e-01 -6.61624756e-03 2.30650283e-04 2.06566483e+02] [ 6.61604242e-03 9.99977727e-01 8.79101428e-04 -9.90141803e+00] [-2.36461499e-04 -8.77556171e-04 9.99999587e-01 -7.62057153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46134618399998 meters 0.1921602269061628 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.91, Z:-7.62 [[ 9.99986414e-01 -5.21269991e-03 1.76438417e-05 2.06568505e+02] [ 5.21260844e-03 9.99980504e-01 3.43807945e-03 -9.90755446e+00] [-3.55651741e-05 -3.43794077e-03 9.99994090e-01 -7.62304599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49134618399998 meters 0.19167926189962323 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.92, Z:-7.63 [[ 9.99975761e-01 -6.96074168e-03 1.57593396e-04 2.06570772e+02] [ 6.96015195e-03 9.99969737e-01 3.47591270e-03 -9.92011384e+00] [-1.81783557e-04 -3.47473158e-03 9.99993947e-01 -7.62668594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52134618399998 meters 0.19334510738628322 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.92, Z:-7.63 [[ 9.99982846e-01 -5.85727739e-03 -1.95311125e-05 2.06572226e+02] [ 5.85729700e-03 9.99968061e-01 5.43769319e-03 -9.92497788e+00] [-1.23195886e-05 -5.43771431e-03 9.99985215e-01 -7.62839577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55134618399998 meters 0.19363264598902807 Centerline is valid? [False, False] Translation: X:206.57, Y:-9.93, Z:-7.63 [[ 9.99987151e-01 -5.06720226e-03 -1.46986401e-04 2.06573241e+02] [ 5.06808963e-03 9.99963735e-01 6.84424121e-03 -9.92840359e+00] [ 1.12299916e-04 -6.84489820e-03 9.99976567e-01 -7.62956378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58134618399998 meters 0.19773903085604264 Centerline is valid? [False, False] Translation: X:206.58, Y:-9.94, Z:-7.63 [[ 9.99994267e-01 -3.35601796e-03 -4.49891347e-04 2.06575240e+02] [ 3.36015465e-03 9.99948913e-01 9.53313608e-03 -9.93515222e+00] [ 4.17874988e-04 -9.53459314e-03 9.99954457e-01 -7.63150461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61134618399998 meters 0.21034673136961032 Centerline is valid? [False, False] Translation: X:206.58, Y:-9.94, Z:-7.63 [[ 9.99980208e-01 -6.23365920e-03 -8.52095961e-04 2.06577864e+02] [ 6.23920560e-03 9.99958296e-01 6.66929277e-03 -9.93642585e+00] [ 8.10486326e-04 -6.67447717e-03 9.99977397e-01 -7.63399112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64134618399999 meters 0.20225160701558523 Centerline is valid? [False, False] Translation: X:206.58, Y:-9.94, Z:-7.64 [[ 9.99985132e-01 -5.39872519e-03 -7.68429855e-04 2.06578567e+02] [ 5.40488486e-03 9.99951334e-01 8.25324370e-03 -9.94084532e+00] [ 7.23835464e-04 -8.25727426e-03 9.99965646e-01 -7.63534071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.671346184 meters 0.20317841190578648 Centerline is valid? [False, False] Translation: X:206.58, Y:-9.94, Z:-7.64 [[ 9.99959555e-01 -8.97663742e-03 -5.54539296e-04 2.06579005e+02] [ 8.97942689e-03 9.99945896e-01 5.25115480e-03 -9.94424278e+00] [ 5.07371581e-04 -5.25592187e-03 9.99986059e-01 -7.63651844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.701346184 meters 0.20604551206800492 Centerline is valid? [False, False] Translation: X:206.59, Y:-9.95, Z:-7.64 [[ 9.99976614e-01 -5.64567969e-03 -3.85987469e-03 2.06592307e+02] [ 5.66419456e-03 9.99972425e-01 4.80276912e-03 -9.95176424e+00] [ 3.83265335e-03 -4.82451988e-03 9.99981017e-01 -7.63898644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.731346184 meters 0.20205328208375184 Centerline is valid? [False, False] Translation: X:206.59, Y:-9.95, Z:-7.64 [[ 9.99978917e-01 -5.23860434e-03 -3.83700308e-03 2.06592487e+02] [ 5.26044334e-03 9.99969896e-01 5.70387624e-03 -9.95434384e+00] [ 3.80700722e-03 -5.72394032e-03 9.99976371e-01 -7.63932679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.761346184 meters 0.20980891562648601 Centerline is valid? [False, False] Translation: X:206.59, Y:-9.96, Z:-7.64 [[ 9.99982620e-01 -4.95104207e-03 -3.20117203e-03 2.06590754e+02] [ 4.97359353e-03 9.99962599e-01 7.07559386e-03 -9.96088384e+00] [ 3.16602074e-03 -7.09139221e-03 9.99969844e-01 -7.63856948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.791346184 meters 0.21393685761153014 Centerline is valid? [False, False] Translation: X:206.59, Y:-9.96, Z:-7.64 [[ 9.99956736e-01 -8.76047489e-03 -3.12737730e-03 2.06591095e+02] [ 8.77174991e-03 9.99955011e-01 3.60993798e-03 -9.96290980e+00] [ 3.09561183e-03 -3.63721437e-03 9.99988594e-01 -7.63916740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.821346184 meters 0.20542045907900497 Centerline is valid? [False, False] Translation: X:206.59, Y:-9.97, Z:-7.64 [[ 9.99953916e-01 -9.31224193e-03 -2.33405878e-03 2.06588940e+02] [ 9.32119981e-03 9.99949119e-01 3.85686175e-03 -9.96852650e+00] [ 2.29802399e-03 -3.87844024e-03 9.99989838e-01 -7.63806343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.851346184 meters 0.20572411340770483 Centerline is valid? [False, False] Translation: X:206.59, Y:-9.97, Z:-7.64 [[ 9.99959458e-01 -8.66576902e-03 -2.44679914e-03 2.06590164e+02] [ 8.67996400e-03 9.99945206e-01 5.85168568e-03 -9.97420294e+00] [ 2.39595572e-03 -5.87268657e-03 9.99979885e-01 -7.63943839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881346184 meters 0.20686999983571938 Centerline is valid? [False, False] Translation: X:206.60, Y:-9.98, Z:-7.64 [[ 9.99760051e-01 -2.13786145e-02 -4.77445990e-03 2.06598796e+02] [ 2.14157770e-02 9.99739656e-01 7.87306913e-03 -9.98339147e+00] [ 4.60490159e-03 -7.97342876e-03 9.99957609e-01 -7.63730285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.911346184 meters 0.21106994543784816 Centerline is valid? [False, False] Translation: X:206.60, Y:-9.99, Z:-7.64 [[ 9.99669549e-01 -2.52127948e-02 -5.01078883e-03 2.06599625e+02] [ 2.52402470e-02 9.99666323e-01 5.49302641e-03 -9.98861447e+00] [ 4.87062230e-03 -5.61768479e-03 9.99972359e-01 -7.63725427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.941346184 meters 0.22019002231881435 Centerline is valid? [False, False] Translation: X:206.60, Y:-9.99, Z:-7.64 [[ 9.99554942e-01 -2.93661438e-02 -5.24848358e-03 2.06600188e+02] [ 2.93831008e-02 9.99563154e-01 3.18345231e-03 -9.99472682e+00] [ 5.15270509e-03 -3.33625222e-03 9.99981159e-01 -7.63669623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.971346184 meters 0.237393738726558 Centerline is valid? [False, False] Translation: X:206.62, Y:-10.00, Z:-7.64 [[ 9.98621686e-01 -5.05786230e-02 -1.40189611e-02 2.06623048e+02] [ 5.06776895e-02 9.98691886e-01 6.80359920e-03 -1.00027695e+01] [ 1.36565060e-02 -7.50467026e-03 9.99878583e-01 -7.63514273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001346184 meters 0.24306496543150216 Centerline is valid? [False, False] Translation: X:206.64, Y:-10.01, Z:-7.63 [[ 9.97943900e-01 -6.06572456e-02 -2.07043627e-02 2.06637295e+02] [ 6.08625689e-02 9.98101566e-01 9.43460978e-03 -1.00059809e+01] [ 2.00927794e-02 -1.06753320e-02 9.99741125e-01 -7.63402238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.031346184 meters 0.2533348647945303 Centerline is valid? [False, False] Translation: X:206.64, Y:-10.01, Z:-7.63 [[ 9.97627987e-01 -6.54372798e-02 -2.13626131e-02 2.06639451e+02] [ 6.55858566e-02 9.97826856e-01 6.32932717e-03 -1.00108012e+01] [ 2.09020151e-02 -7.71539920e-03 9.99751758e-01 -7.63444016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061346184 meters 0.2590136047398407 Centerline is valid? [False, False] Translation: X:206.66, Y:-10.02, Z:-7.64 [[ 9.96450928e-01 -7.82859050e-02 -3.09332457e-02 2.06656902e+02] [ 7.83612394e-02 9.96924273e-01 1.22879958e-03 -1.00197426e+01] [ 3.07419058e-02 -3.64840596e-03 9.99520697e-01 -7.63549543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.091346184 meters 0.2633637171624185 Centerline is valid? [False, False] Translation: X:206.66, Y:-10.02, Z:-7.64 [[ 9.96182342e-01 -8.14136181e-02 -3.15049952e-02 2.06658882e+02] [ 8.14244800e-02 9.96679071e-01 -9.40173171e-04 -1.00232895e+01] [ 3.14769123e-02 -1.62869394e-03 9.99503152e-01 -7.63582860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.121346184 meters 0.26578705791184093 Centerline is valid? [False, False] Translation: X:206.67, Y:-10.02, Z:-7.63 [[ 9.95716656e-01 -8.32713839e-02 -4.01773178e-02 2.06673302e+02] [ 8.33411401e-02 9.96521074e-01 6.15401393e-05 -1.00237928e+01] [ 4.00324194e-02 -3.40970002e-03 9.99192564e-01 -7.63252212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15134618399998 meters 0.2636596499726887 Centerline is valid? [False, False] Translation: X:206.67, Y:-10.03, Z:-7.63 [[ 9.95926563e-01 -7.99858682e-02 -4.16238075e-02 2.06674756e+02] [ 8.02551067e-02 9.96762628e-01 4.83541426e-03 -1.00273704e+01] [ 4.11022909e-02 -8.15624061e-03 9.99121653e-01 -7.63133641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18134618399998 meters 0.26399302810088504 Centerline is valid? [False, False] Translation: X:206.69, Y:-10.02, Z:-7.63 [[ 9.95835117e-01 -7.65640055e-02 -4.95012495e-02 2.06693164e+02] [ 7.67614034e-02 9.97047287e-01 2.09625294e-03 -1.00241624e+01] [ 4.91945890e-02 -5.88730767e-03 9.98771862e-01 -7.62546390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21134618399998 meters 0.26189170784519855 Centerline is valid? [False, False] Translation: X:206.72, Y:-10.02, Z:-7.62 [[ 9.96630085e-01 -6.80068833e-02 -4.58643379e-02 2.06716334e+02] [ 6.80111974e-02 9.97683478e-01 -1.46820799e-03 -1.00188222e+01] [ 4.58579404e-02 -1.65602829e-03 9.98946599e-01 -7.62484486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24134618399998 meters 0.25598913667793843 Centerline is valid? [False, False] Translation: X:206.72, Y:-10.02, Z:-7.63 [[ 9.96673412e-01 -6.69459443e-02 -4.64795625e-02 2.06719529e+02] [ 6.69744706e-02 9.97754242e-01 -9.45054992e-04 -1.00170244e+01] [ 4.64384483e-02 -2.17103291e-03 9.98918794e-01 -7.62751809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27134618399998 meters 0.25598913667793843 Centerline is valid? [False, False] Translation: X:206.72, Y:-10.02, Z:-7.63 [[ 9.96673412e-01 -6.69459443e-02 -4.64795625e-02 2.06719529e+02] [ 6.69744706e-02 9.97754242e-01 -9.45054992e-04 -1.00170244e+01] [ 4.64384483e-02 -2.17103291e-03 9.98918794e-01 -7.62751809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30134618399998 meters 0.24833964599951208 Centerline is valid? [False, False] Translation: X:206.72, Y:-10.01, Z:-7.63 [[ 9.96680457e-01 -6.61713222e-02 -4.74280767e-02 2.06722702e+02] [ 6.62142828e-02 9.97805204e-01 -6.66439518e-04 -1.00143250e+01] [ 4.73680809e-02 -2.47618884e-03 9.98874433e-01 -7.62926396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33134618399998 meters 0.25902306824624494 Centerline is valid? [False, False] Translation: X:206.73, Y:-10.01, Z:-7.63 [[ 9.96501584e-01 -6.46225572e-02 -5.29954499e-02 2.06734056e+02] [ 6.45847991e-02 9.97909272e-01 -2.42651891e-03 -1.00089611e+01] [ 5.30414587e-02 -1.00467055e-03 9.98591806e-01 -7.62594785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36134618399998 meters 0.24614530612860075 Centerline is valid? [False, False] Translation: X:206.75, Y:-10.00, Z:-7.63 [[ 9.97004720e-01 -6.36766247e-02 -4.38961959e-02 2.06745748e+02] [ 6.35526858e-02 9.97969585e-01 -4.21464944e-03 -1.00000613e+01] [ 4.40754431e-02 1.41230423e-03 9.99027207e-01 -7.62975094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3659.45 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%| | 0/7713 [00:00