+ python -m lidar_slam --no-model /working/d5aa3c33-48d8-4611-9c96-4486a3c9bf0a Lidar SLAM 0.0.12 ===================================================== The recording path: /working/d5aa3c33-48d8-4611-9c96-4486a3c9bf0a 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 0.00719347 Adjusted end_distance from 9.223372036854776e+18 to 204.37719347 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00719347 meters 0.20941828810557955 Centerline is valid? [0, False] SLAMing on 0.03719347 meters 0.20941828810557955 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 1.00000000e+00 -1.09732843e-16 -2.24104891e-16 1.99729122e-13] [-6.26132204e-17 1.00000000e+00 4.43008775e-16 2.93933714e-14] [-3.56300491e-16 -1.11581565e-16 1.00000000e+00 1.49547065e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06719347 meters 0.20941828810557955 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 1.00000000e+00 1.68135482e-17 2.59084902e-16 1.65645113e-13] [-2.11398098e-16 1.00000000e+00 7.41028540e-16 -1.60427064e-13] [ 3.90188297e-17 -3.71481741e-16 1.00000000e+00 8.87067892e-14] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09719347 meters 0.20941828810557955 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 1.00000000e+00 4.38103948e-16 2.28483438e-16 2.23793369e-13] [-2.01621256e-16 1.00000000e+00 3.18870302e-16 -1.26856913e-13] [ 1.06698934e-16 -8.65756807e-16 1.00000000e+00 1.08024483e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12719347 meters 0.20941828810557955 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 1.00000000e+00 2.46628584e-16 9.81448805e-17 3.21631556e-13] [-2.26731312e-16 1.00000000e+00 1.10997159e-15 -1.42198807e-13] [ 1.22202775e-16 -7.21365794e-16 1.00000000e+00 5.56332707e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15719347 meters 0.20941828810557955 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 1.00000000e+00 5.07295105e-16 1.22550113e-16 3.16691226e-13] [-2.77852151e-16 1.00000000e+00 1.09536079e-15 -1.00183642e-13] [-4.62231542e-16 -8.96262067e-16 1.00000000e+00 4.02900176e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18719347 meters 0.20149549508445855 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:0.01 [[ 0.99999473 -0.00118976 0.00302164 -0.01426387] [ 0.00116399 0.99996307 0.00851506 -0.07191562] [-0.00303166 -0.0085115 0.99995918 0.00811522] [ 0. 0. 0. 1. ]] SLAMing on 0.21719347 meters 0.20755937992156 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.01 [[ 0.99856156 0.04514504 -0.02892642 0.00133766] [-0.04453514 0.99877873 0.02139302 -0.18717352] [ 0.02985688 -0.020074 0.99935259 -0.00677017] [ 0. 0. 0. 1. ]] SLAMing on 0.24719347 meters 0.20141289395406567 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.23, Z:-0.02 [[ 0.99534357 0.07798515 -0.05665246 0.03716948] [-0.07678233 0.99678002 0.02310989 -0.234628 ] [ 0.05827227 -0.01865237 0.99812646 -0.0183344 ] [ 0. 0. 0. 1. ]] SLAMing on 0.27719347 meters 0.19591547177326762 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.25, Z:-0.04 [[ 0.99857482 0.02558846 -0.04683535 0.03671978] [-0.02459218 0.99946146 0.02172596 -0.24560725] [ 0.04736606 -0.02054321 0.99866633 -0.03625541] [ 0. 0. 0. 1. ]] SLAMing on 0.30719346999999997 meters 0.18813275808591817 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.05 [[ 0.9982844 0.02446635 -0.05319453 0.05062275] [-0.02380892 0.99963255 0.01295793 -0.2368864 ] [ 0.05349201 -0.0116692 0.99850009 -0.05277983] [ 0. 0. 0. 1. ]] SLAMing on 0.33719346999999994 meters 0.17209061848927665 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.26, Z:-0.07 [[ 0.99689255 0.05542832 -0.05597264 0.04152171] [-0.05454577 0.99836354 0.01717533 -0.25885587] [ 0.05683305 -0.01406889 0.99828456 -0.06601654] [ 0. 0. 0. 1. ]] SLAMing on 0.36719346999999997 meters 0.14733225444240083 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.25, Z:-0.07 [[ 0.99602016 0.07991817 -0.03945803 0.02511307] [-0.07971306 0.99679502 0.00674705 -0.25094878] [ 0.03987078 -0.00357487 0.99919845 -0.07409235] [ 0. 0. 0. 1. ]] SLAMing on 0.39719347 meters 0.14000371414390084 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.27, Z:-0.08 [[ 0.99809603 0.05606234 -0.02571641 0.01445954] [-0.05586707 0.99840413 0.00825033 -0.26511829] [ 0.0261379 -0.00679792 0.99963523 -0.07524464] [ 0. 0. 0. 1. ]] SLAMing on 0.42719346999999996 meters 0.1380739223392286 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:-0.08 [[ 0.99820597 0.05131093 -0.03085512 0.02696797] [-0.05085722 0.99858851 0.01531439 -0.27557863] [ 0.03159736 -0.01371771 0.99940654 -0.07602052] [ 0. 0. 0. 1. ]] SLAMing on 0.45719346999999994 meters 0.13510570207554978 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:-0.08 [[ 0.99895984 0.04227403 -0.01709223 0.02789699] [-0.04203741 0.99901832 0.01397362 -0.28466827] [ 0.01766617 -0.01324058 0.99975627 -0.08286945] [ 0. 0. 0. 1. ]] SLAMing on 0.48719346999999996 meters 0.1306846504947956 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.27, Z:-0.09 [[ 0.99843518 0.05586288 -0.00255427 0.02849917] [-0.0558078 0.99827771 0.01808578 -0.27142074] [ 0.0035602 -0.01791493 0.99983318 -0.09034914] [ 0. 0. 0. 1. ]] SLAMing on 0.51719347 meters 0.12490133068938979 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.27, Z:-0.09 [[ 0.99908335 0.04275275 -0.00215863 0.0239723 ] [-0.04274616 0.99908142 0.00301381 -0.26651729] [ 0.00228549 -0.00291877 0.99999313 -0.08524622] [ 0. 0. 0. 1. ]] SLAMing on 0.5471934700000001 meters 0.12555726770148182 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.26, Z:-0.09 [[ 0.99973756 0.02213244 -0.00591343 0.03488888] [-0.02208731 0.99972723 0.00759068 -0.26206644] [ 0.00607982 -0.00745808 0.99995371 -0.08680869] [ 0. 0. 0. 1. ]] SLAMing on 0.57719347 meters 0.12646709333853734 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.26, Z:-0.09 [[ 0.99989965 0.00705271 -0.01228622 0.03974992] [-0.00694243 0.99993544 0.00899521 -0.25504677] [ 0.01234886 -0.00890901 0.99988406 -0.08981311] [ 0. 0. 0. 1. ]] SLAMing on 0.60719347 meters 0.12374934276648165 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.25, Z:-0.09 [[ 9.99998085e-01 4.14179332e-04 1.91273339e-03 3.95365164e-02] [-4.15387637e-04 9.99999714e-01 6.31362089e-04 -2.49884597e-01] [-1.91247134e-03 -6.32155405e-04 9.99997971e-01 -9.06958593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.63719347 meters 0.11577094425628426 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.24, Z:-0.09 [[ 9.99995779e-01 3.10188777e-04 2.88880942e-03 3.46435395e-02] [-3.08024156e-04 9.99999672e-01 -7.49727180e-04 -2.44857327e-01] [-2.88904103e-03 7.48834193e-04 9.99995546e-01 -8.52445638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.66719347 meters 0.11534045120750619 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.24, Z:-0.09 [[ 9.99995626e-01 1.03524863e-04 2.95581677e-03 3.45914583e-02] [-1.00307863e-04 9.99999403e-01 -1.08849016e-03 -2.44048776e-01] [-2.95592769e-03 1.08818891e-03 9.99995039e-01 -8.52855740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.69719347 meters 0.10694746606122818 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.25, Z:-0.09 [[ 0.99999497 0.00106121 0.0029881 0.03446377] [-0.00106523 0.99999853 0.00134412 -0.25019287] [-0.00298667 -0.0013473 0.99999463 -0.08512025] [ 0. 0. 0. 1. ]] SLAMing on 0.72719347 meters 0.10506998716641092 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.25, Z:-0.09 [[ 0.99999559 0.00210479 0.00209692 0.03877943] [-0.00211023 0.99999441 0.00259382 -0.25309682] [-0.00209145 -0.00259823 0.99999444 -0.08957237] [ 0. 0. 0. 1. ]] SLAMing on 0.75719347 meters 0.10576263176410407 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.26, Z:-0.10 [[ 9.99983375e-01 5.67361226e-03 1.02976428e-03 4.52357927e-02] [-5.68062250e-03 9.99959801e-01 6.93738885e-03 -2.64254893e-01] [-9.90362831e-04 -6.94312322e-03 9.99975406e-01 -9.59674765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7871934700000001 meters 0.10565023854096212 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:-0.10 [[ 9.99992403e-01 3.81122027e-03 8.17875223e-04 4.74744245e-02] [-3.81643789e-03 9.99971750e-01 6.47567220e-03 -2.72132599e-01] [-7.93171905e-04 -6.47874438e-03 9.99978698e-01 -9.84637682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.81719347 meters 0.10315483365117087 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.29, Z:-0.10 [[ 0.99999393 0.0032996 0.00111727 0.04649027] [-0.00330806 0.99996521 0.00765738 -0.28527945] [-0.00109196 -0.00766103 0.99997006 -0.0979351 ] [ 0. 0. 0. 1. ]] SLAMing on 0.84719347 meters 0.10209009904229244 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.32, Z:-0.10 [[ 9.99937819e-01 -1.11279549e-02 -7.25749024e-04 5.06484624e-02] [ 1.11346717e-02 9.99887788e-01 1.00214911e-02 -3.17477835e-01] [ 6.14148885e-04 -1.00289489e-02 9.99949520e-01 -1.02657196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.87719347 meters 0.10100265171571772 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.34, Z:-0.10 [[ 9.99762459e-01 -2.17794331e-02 8.26201521e-04 4.87619701e-02] [ 2.17692112e-02 9.99704298e-01 1.08360012e-02 -3.38925068e-01] [-1.06195918e-03 -1.08154415e-02 9.99940947e-01 -1.01604933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.90719347 meters 0.09663820172562086 Centerline is valid? [False, True] Translation: X:0.05, Y:-0.36, Z:-0.10 [[ 0.9999522 -0.00506897 -0.00836083 0.04965207] [ 0.0051231 0.99996598 0.0064652 -0.36189929] [ 0.00832777 -0.00650773 0.99994415 -0.0985329 ] [ 0. 0. 0. 1. ]] SLAMing on 0.93719347 meters 0.09663820172562086 Centerline is valid? [True, True] Translation: X:0.08, Y:-0.36, Z:-0.10 [[ 9.99952483e-01 -4.94037540e-03 -8.40385294e-03 7.71503939e-02] [ 4.94084053e-03 9.99987793e-01 3.45876134e-05 -3.59180313e-01] [ 8.40357948e-03 -7.61080671e-05 9.99964686e-01 -1.01552419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.96719347 meters 0.09633810921903864 Centerline is valid? [True, True] Translation: X:0.11, Y:-0.35, Z:-0.11 [[ 9.99738166e-01 1.87036296e-02 -1.31823297e-02 1.05913389e-01] [-1.87040758e-02 9.99825059e-01 8.94523590e-05 -3.47335132e-01] [ 1.31816966e-02 1.57134355e-04 9.99913105e-01 -1.05990559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.99719347 meters 0.09420949960019831 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.35, Z:-0.10 [[ 9.99647803e-01 2.57394086e-02 -6.46162569e-03 1.34892725e-01] [-2.57396927e-02 9.99668678e-01 3.91963739e-05 -3.46850386e-01] [ 6.46049371e-03 1.27137691e-04 9.99979123e-01 -1.04161048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02719347 meters 0.0919238623171858 Centerline is valid? [True, True] Translation: X:0.17, Y:-0.36, Z:-0.11 [[ 9.99657824e-01 2.52087863e-02 -6.98228133e-03 1.66174703e-01] [-2.52089559e-02 9.99682202e-01 6.37305131e-05 -3.63338000e-01] [ 6.98166894e-03 1.12307316e-04 9.99975622e-01 -1.08294549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.05719347 meters 0.09164856963025153 Centerline is valid? [True, True] Translation: X:0.20, Y:-0.36, Z:-0.10 [[ 9.99374964e-01 3.52322871e-02 2.89259680e-03 1.97299671e-01] [-3.52323771e-02 9.99379147e-01 -1.98295356e-05 -3.57217698e-01] [-2.89149957e-03 -8.20959200e-05 9.99995816e-01 -1.00012018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.08719347 meters 0.09216926649544989 Centerline is valid? [True, True] Translation: X:0.23, Y:-0.35, Z:-0.10 [[ 9.99077772e-01 4.20395807e-02 8.73381788e-03 2.29300325e-01] [-4.20406926e-02 9.99115898e-01 -5.63218350e-05 -3.52880641e-01] [-8.72846404e-03 -3.10905859e-04 9.99961858e-01 -9.53085110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.11719347 meters 0.08480014701122951 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.40, Z:-0.10 [[ 9.99871615e-01 1.33488591e-02 8.86351345e-03 2.59516348e-01] [-1.33488434e-02 9.99910898e-01 -6.09287201e-05 -3.95605202e-01] [-8.86353702e-03 -5.73967554e-05 9.99960716e-01 -9.92810931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.14719347 meters 0.08506943594999487 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.42, Z:-0.10 [[ 9.99928836e-01 -5.43341495e-03 1.06207807e-02 2.89994103e-01] [ 5.43435372e-03 9.99985232e-01 -5.95323331e-05 -4.24645345e-01] [-1.06203004e-02 1.17245176e-04 9.99943596e-01 -1.04787231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.17719347 meters 0.08862574018818574 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.39, Z:-0.13 [[ 9.99698362e-01 1.96229208e-02 -1.47691067e-02 3.18153758e-01] [-1.96235070e-02 9.99807435e-01 1.05239977e-04 -3.93333812e-01] [ 1.47683278e-02 1.84613436e-04 9.99890925e-01 -1.32493995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.20719347 meters 0.09655772284590511 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.33, Z:-0.11 [[ 9.97885076e-01 6.43625308e-02 -9.10159509e-03 3.50196940e-01] [-6.43646197e-02 9.97926446e-01 6.35247070e-05 -3.34088049e-01] [ 9.08681105e-03 5.22430350e-04 9.99958578e-01 -1.09998143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.23719347 meters 0.10382975688437579 Centerline is valid? [True, False] Translation: X:0.35, Y:-0.33, Z:-0.11 [[ 9.97828279e-01 6.57223142e-02 4.39362465e-03 3.49850078e-01] [-6.57209779e-02 9.97837939e-01 -4.47977970e-04 -3.26951124e-01] [-4.41356751e-03 1.58251778e-04 9.99990248e-01 -1.08097986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.26719347 meters 0.09927875123095578 Centerline is valid? [False, True] Translation: X:0.33, Y:-0.32, Z:-0.12 [[ 0.99813293 0.06093309 0.00422064 0.33383047] [-0.06096072 0.99811727 0.00676106 -0.32139373] [-0.00380072 -0.00700573 0.99996824 -0.12107122] [ 0. 0. 0. 1. ]] SLAMing on 1.29719347 meters 0.10455668360722957 Centerline is valid? [True, False] Translation: X:0.32, Y:-0.32, Z:-0.11 [[ 0.99765423 0.06508753 0.02120519 0.32370424] [-0.06526365 0.99783818 0.00772136 -0.31704821] [-0.02065679 -0.00908717 0.99974533 -0.11351381] [ 0. 0. 0. 1. ]] SLAMing on 1.3271934699999999 meters 0.1144375248840234 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.31, Z:-0.11 [[ 0.99701026 0.07475055 0.019568 0.32674807] [-0.07485844 0.99718243 0.00483921 -0.31096599] [-0.01915113 -0.00628957 0.99979682 -0.10527648] [ 0. 0. 0. 1. ]] SLAMing on 1.35719347 meters 0.12801097664059222 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.30, Z:-0.10 [[ 0.99606652 0.0879458 0.01081797 0.32341062] [-0.08798509 0.99611662 0.00321089 -0.30274836] [-0.01049358 -0.00415008 0.99993633 -0.10135349] [ 0. 0. 0. 1. ]] SLAMing on 1.38719347 meters 0.12711565408916506 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.29, Z:-0.10 [[ 0.99657515 0.08097515 0.01676268 0.31035383] [-0.08103006 0.99670821 0.00262178 -0.29272287] [-0.0164952 -0.00397108 0.99985606 -0.09923657] [ 0. 0. 0. 1. ]] SLAMing on 1.41719347 meters 0.11857442536185965 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.28, Z:-0.10 [[ 0.99753352 0.06579771 0.02444456 0.30274974] [-0.06612338 0.99772984 0.01276164 -0.28462563] [-0.02354938 -0.01434652 0.99961973 -0.10215502] [ 0. 0. 0. 1. ]] SLAMing on 1.44719347 meters 0.10831258337376218 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.28, Z:-0.11 [[ 0.99860378 0.04609401 0.02580393 0.29432039] [-0.04644818 0.99883217 0.01329859 -0.27754837] [-0.02516081 -0.01447857 0.99957856 -0.11283454] [ 0. 0. 0. 1. ]] SLAMing on 1.47719347 meters 0.10781132115989911 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.26, Z:-0.11 [[ 0.9990266 0.04319977 0.00892343 0.30449533] [-0.04331834 0.99896941 0.01355146 -0.25554892] [-0.00832881 -0.01392482 0.99986836 -0.11366236] [ 0. 0. 0. 1. ]] SLAMing on 1.50719347 meters 0.11119371503439147 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.12 [[ 0.99922618 0.03912632 -0.00402168 0.30813924] [-0.03909997 0.99921459 0.00643442 -0.23834006] [ 0.00427027 -0.00627219 0.99997121 -0.11957121] [ 0. 0. 0. 1. ]] SLAMing on 1.53719347 meters 0.11732431730186015 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:-0.10 [[ 0.99879006 0.0422471 0.02517129 0.28364005] [-0.0420095 0.99906821 -0.00989485 -0.20621755] [-0.02556587 0.00882544 0.99963418 -0.10491648] [ 0. 0. 0. 1. ]] SLAMing on 1.56719347 meters 0.11592255809448732 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.17, Z:-0.10 [[ 0.99899356 0.03859963 0.02284579 0.2856118 ] [-0.03836896 0.99920899 -0.01045082 -0.170883 ] [-0.02323112 0.00956373 0.99968438 -0.09840863] [ 0. 0. 0. 1. ]] SLAMing on 1.59719347 meters 0.11091344913779816 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.15, Z:-0.11 [[ 0.99929107 0.02998718 0.02276223 0.28312918] [-0.02994347 0.99954904 -0.00225876 -0.15167783] [-0.0228197 0.00157558 0.99973836 -0.10894892] [ 0. 0. 0. 1. ]] SLAMing on 1.62719347 meters 0.11541554187779376 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.13, Z:-0.11 [[ 0.9995223 0.02876482 0.01130254 0.283617 ] [-0.02868732 0.99956421 -0.0069596 -0.13271805] [-0.0114978 0.00663203 0.9999119 -0.11310802] [ 0. 0. 0. 1. ]] SLAMing on 1.65719347 meters 0.11418830285730246 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.12, Z:-0.12 [[ 0.99961189 0.02783806 0.0010553 0.28509458] [-0.02783288 0.99960183 -0.00463738 -0.12257847] [-0.00118398 0.00460621 0.99998869 -0.12195669] [ 0. 0. 0. 1. ]] SLAMing on 1.68719347 meters 0.11790914392641066 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:-0.14 [[ 9.99770423e-01 2.14183698e-02 5.94936882e-04 2.80173708e-01] [-2.14215801e-02 9.99752227e-01 6.04988309e-03 -1.12436421e-01] [-4.65210839e-04 -6.06123867e-03 9.99981522e-01 -1.37063039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.71719347 meters 0.10981883720441853 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:-0.14 [[ 0.99998304 0.00483769 -0.00324232 0.28302259] [-0.00481323 0.99996022 0.00750928 -0.11091161] [ 0.00327852 -0.00749355 0.99996655 -0.13914248] [ 0. 0. 0. 1. ]] SLAMing on 1.74719347 meters 0.0841742027938474 Centerline is valid? [False, True] Translation: X:0.28, Y:0.14, Z:-0.15 [[ 9.99047709e-01 -4.36226931e-02 -8.57621114e-04 2.76534145e-01] [ 4.36028329e-02 9.98914767e-01 -1.63731750e-02 1.38874273e-01] [ 1.57093239e-03 1.63201883e-02 9.99865583e-01 -1.46678994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.77719347 meters 0.0636656204655482 Centerline is valid? [True, True] Translation: X:0.30, Y:0.25, Z:-0.12 [[ 9.96643835e-01 -7.88692200e-02 2.19251552e-02 2.96775815e-01] [ 7.88465980e-02 9.96884958e-01 1.89568894e-03 2.48229717e-01] [-2.20063689e-02 -1.60602798e-04 9.99757818e-01 -1.15180992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8071934699999999 meters 0.06196701653920269 Centerline is valid? [True, True] Translation: X:0.32, Y:0.30, Z:-0.13 [[ 9.94450519e-01 -1.01322927e-01 2.83166071e-02 3.22758574e-01] [ 1.01294279e-01 9.94853495e-01 2.44802596e-03 3.02938204e-01] [-2.84189167e-02 4.33869628e-04 9.99596007e-01 -1.26824816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8371934699999999 meters 0.060668480835878856 Centerline is valid? [True, True] Translation: X:0.36, Y:0.25, Z:-0.11 [[ 9.96896975e-01 -7.18862676e-02 3.20746912e-02 3.60511866e-01] [ 7.18343349e-02 9.97412731e-01 2.77001248e-03 2.45228331e-01] [-3.21908312e-02 -4.57352957e-04 9.99481636e-01 -1.14248333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.86719347 meters 0.06146794146234244 Centerline is valid? [True, True] Translation: X:0.39, Y:0.28, Z:-0.14 [[ 9.94795668e-01 -9.93598235e-02 2.25655646e-02 3.89086540e-01] [ 9.93412022e-02 9.95051523e-01 1.94748507e-03 2.78562675e-01] [-2.26474012e-02 3.04340605e-04 9.99743468e-01 -1.35282160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.89719347 meters 0.06556016927180736 Centerline is valid? [True, True] Translation: X:0.43, Y:0.20, Z:-0.12 [[ 0.99869601 -0.04455479 0.024923 0.42670338] [ 0.04451498 0.9990064 0.00215024 0.19681203] [-0.02499404 -0.00103799 0.99968706 -0.12443467] [ 0. 0. 0. 1. ]] SLAMing on 1.92719347 meters 0.06925036242069509 Centerline is valid? [True, True] Translation: X:0.46, Y:0.15, Z:-0.13 [[ 0.99927182 -0.03297264 0.01919993 0.46196205] [ 0.03294689 0.99945573 0.00165572 0.15315497] [-0.01924408 -0.00102194 0.99981429 -0.13206605] [ 0. 0. 0. 1. ]] SLAMing on 1.95719347 meters 0.06496932556624853 Centerline is valid? [True, True] Translation: X:0.49, Y:0.21, Z:-0.13 [[ 9.98517819e-01 -4.88002638e-02 2.40977059e-02 4.87392724e-01] [ 4.87643153e-02 9.98808152e-01 2.07752420e-03 2.09288255e-01] [-2.41703689e-02 -8.99336805e-04 9.99707449e-01 -1.30286808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.98719347 meters 0.06478985486230998 Centerline is valid? [True, True] Translation: X:0.52, Y:0.23, Z:-0.14 [[ 9.92553477e-01 -1.21537593e-01 8.13683481e-03 5.15899115e-01] [ 1.21535921e-01 9.92586786e-01 7.01508585e-04 2.34320130e-01] [-8.16177438e-03 2.92632924e-04 9.99966649e-01 -1.40930271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0171934699999996 meters 0.06100021465384812 Centerline is valid? [True, True] Translation: X:0.54, Y:0.29, Z:-0.15 [[ 9.94716971e-01 -1.02183025e-01 9.83754180e-03 5.41518516e-01] [ 1.02179637e-01 9.94765602e-01 8.47664234e-04 2.92862748e-01] [-9.87266508e-03 1.62010452e-04 9.99951251e-01 -1.45538503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04719347 meters 0.06106241044578378 Centerline is valid? [True, True] Translation: X:0.57, Y:0.29, Z:-0.15 [[ 9.95051853e-01 -9.91704123e-02 6.08594827e-03 5.72569227e-01] [ 9.91690558e-02 9.95070461e-01 5.25014638e-04 2.92492094e-01] [-6.10801327e-03 8.11209556e-05 9.99981343e-01 -1.48422050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0771934699999997 meters 0.0601792796018602 Centerline is valid? [True, True] Translation: X:0.60, Y:0.30, Z:-0.14 [[ 9.96546845e-01 -8.27251468e-02 7.13695342e-03 6.03215948e-01] [ 8.27228762e-02 9.96572401e-01 6.13266148e-04 2.98635903e-01] [-7.16322333e-03 -2.07591314e-05 9.99974344e-01 -1.44073479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.10719347 meters 0.06028061769030322 Centerline is valid? [True, True] Translation: X:0.64, Y:0.30, Z:-0.14 [[ 9.97412312e-01 -7.13496232e-02 8.82677650e-03 6.35531689e-01] [ 7.13457332e-02 9.97451360e-01 7.55210617e-04 2.98454973e-01] [-8.85816422e-03 -1.23503526e-04 9.99960758e-01 -1.39024825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1371934699999997 meters 0.061546580741881414 Centerline is valid? [True, True] Translation: X:0.67, Y:0.28, Z:-0.14 [[ 9.97823655e-01 -6.58455998e-02 3.50868536e-03 6.68761285e-01] [ 6.58449498e-02 9.97829821e-01 3.00564290e-04 2.81310426e-01] [-3.52086172e-03 -6.88809466e-05 9.99993799e-01 -1.44513809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.16719347 meters 0.061379452784670364 Centerline is valid? [True, True] Translation: X:0.70, Y:0.26, Z:-0.14 [[ 9.97706475e-01 -6.73493831e-02 6.77122173e-03 7.02946067e-01] [ 6.73470254e-02 9.97729446e-01 5.75865925e-04 2.56205648e-01] [-6.79463151e-03 -1.18523521e-04 9.99976909e-01 -1.44285575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1971934699999998 meters 0.061442836461615837 Centerline is valid? [True, True] Translation: X:0.74, Y:0.23, Z:-0.15 [[ 9.97563521e-01 -6.92913495e-02 8.10744901e-03 7.35947062e-01] [ 6.92880588e-02 9.97596458e-01 6.86412560e-04 2.34322637e-01] [-8.13552487e-03 -1.22990727e-04 9.99966899e-01 -1.46806521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2271934699999996 meters 0.06148599959735965 Centerline is valid? [True, True] Translation: X:0.77, Y:0.21, Z:-0.15 [[ 9.97545542e-01 -6.99091161e-02 3.95057150e-03 7.71044234e-01] [ 6.99083382e-02 9.97553363e-01 3.34838246e-04 2.09077870e-01] [-3.96431413e-03 -5.78385108e-05 9.99992140e-01 -1.50891211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.25719347 meters 0.06192699590616931 Centerline is valid? [True, True] Translation: X:0.80, Y:0.20, Z:-0.15 [[ 9.97522669e-01 -7.02489469e-02 3.68913339e-03 8.03890655e-01] [ 7.02482754e-02 9.97529490e-01 3.11438235e-04 1.97521278e-01] [-3.70189755e-03 -5.15114412e-05 9.99993147e-01 -1.52479849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2871934699999996 meters 0.061287839662907705 Centerline is valid? [True, True] Translation: X:0.84, Y:0.17, Z:-0.15 [[ 9.96709688e-01 -8.10312334e-02 1.93338891e-03 8.37741925e-01] [ 8.10310686e-02 9.96711563e-01 1.63565264e-04 1.70473513e-01] [-1.94028498e-03 -6.36251403e-06 9.99998118e-01 -1.54765102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.31719347 meters 0.06226365532725773 Centerline is valid? [True, True] Translation: X:0.87, Y:0.15, Z:-0.16 [[ 9.95437303e-01 -9.53947014e-02 -2.10416712e-03 8.71220813e-01] [ 9.53945451e-02 9.95439526e-01 -1.74783368e-04 1.48875361e-01] [ 2.11124453e-03 -2.67401811e-05 9.99997771e-01 -1.58026195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3471934699999997 meters 0.06266420319679748 Centerline is valid? [True, True] Translation: X:0.90, Y:0.15, Z:-0.16 [[ 9.94878293e-01 -1.01079921e-01 -1.77269622e-04 9.03611685e-01] [ 1.01079920e-01 9.94878309e-01 -1.40391461e-05 1.45228512e-01] [ 1.77780778e-04 -3.95115765e-06 9.99999984e-01 -1.55423721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.37719347 meters 0.06303857597758822 Centerline is valid? [True, True] Translation: X:0.93, Y:0.15, Z:-0.16 [[ 9.94801390e-01 -1.01822346e-01 -1.55084780e-03 9.34093100e-01] [ 1.01822273e-01 9.94802598e-01 -1.26352774e-04 1.52059864e-01] [ 1.55565295e-03 -3.22149322e-05 9.99998789e-01 -1.56085862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4071934699999997 meters 0.06306745747337851 Centerline is valid? [True, True] Translation: X:0.97, Y:0.17, Z:-0.16 [[ 9.95177503e-01 -9.77374361e-02 -8.31455992e-03 9.65228571e-01] [ 9.77350958e-02 9.95212227e-01 -6.88301522e-04 1.67490619e-01] [ 8.34202453e-03 -1.27642122e-04 9.99965197e-01 -1.60966102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4371934699999995 meters 0.061721710532500425 Centerline is valid? [True, True] Translation: X:0.99, Y:0.19, Z:-0.16 [[ 9.95882328e-01 -9.05641327e-02 -4.06528274e-03 9.94145212e-01] [ 9.05635142e-02 9.95890625e-01 -3.36349380e-04 1.90764491e-01] [ 4.07903816e-03 -3.32018879e-05 9.99991680e-01 -1.58461876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4671934699999998 meters 0.06095646880053476 Centerline is valid? [True, True] Translation: X:1.03, Y:0.21, Z:-0.15 [[ 9.96482531e-01 -8.37823276e-02 -1.75694524e-03 1.02510943e+00] [ 8.37822041e-02 9.96484080e-01 -1.43862483e-04 2.12948258e-01] [ 1.76282109e-03 -3.84429385e-06 9.99998446e-01 -1.53995781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4971934699999996 meters 0.06143860840788286 Centerline is valid? [True, True] Translation: X:1.06, Y:0.23, Z:-0.15 [[ 9.97162692e-01 -7.52701235e-02 9.86531815e-04 1.05647258e+00] [ 7.52700787e-02 9.97163180e-01 8.25565484e-05 2.34378612e-01] [-9.89947244e-04 -8.06598277e-06 9.99999510e-01 -1.50446949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52719347 meters 0.061257561794476355 Centerline is valid? [True, True] Translation: X:1.09, Y:0.25, Z:-0.15 [[ 9.97716993e-01 -6.72907609e-02 5.72321304e-03 1.08647165e+00] [ 6.72891543e-02 9.97733404e-01 4.73025536e-04 2.53533115e-01] [-5.74207108e-03 -8.68354496e-05 9.99983510e-01 -1.45627682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5571934699999996 meters 0.06343028145938769 Centerline is valid? [True, True] Translation: X:1.12, Y:0.27, Z:-0.15 [[ 9.98261617e-01 -5.88136288e-02 3.83420787e-03 1.11737750e+00] [ 5.88128465e-02 9.98268976e-01 3.16549992e-04 2.66717343e-01] [-3.84618822e-03 -9.04990279e-05 9.99992599e-01 -1.48956087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58719347 meters 0.06386065800177038 Centerline is valid? [True, True] Translation: X:1.15, Y:0.27, Z:-0.15 [[ 9.98398182e-01 -5.65191491e-02 2.57999788e-03 1.14909521e+00] [ 5.65187902e-02 9.98401513e-01 2.11884111e-04 2.72899424e-01] [-2.58784930e-03 -6.57263520e-05 9.99996649e-01 -1.50258701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6171934699999997 meters 0.06362890334837167 Centerline is valid? [True, True] Translation: X:1.18, Y:0.28, Z:-0.15 [[ 9.98529456e-01 -5.42030552e-02 9.77018331e-04 1.18062506e+00] [ 5.42030007e-02 9.98529933e-01 8.21696347e-05 2.78106223e-01] [-9.80035894e-04 -2.90914754e-05 9.99999519e-01 -1.51506229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6471934699999995 meters 0.06382653332638945 Centerline is valid? [True, True] Translation: X:1.21, Y:0.28, Z:-0.15 [[ 9.98658152e-01 -5.17870110e-02 3.55231893e-05 1.21197170e+00] [ 5.17870109e-02 9.98658152e-01 5.38897497e-06 2.82413234e-01] [-3.57546015e-05 -3.54210399e-06 9.99999999e-01 -1.53015935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6771934699999997 meters 0.06395600850414833 Centerline is valid? [True, True] Translation: X:1.24, Y:0.28, Z:-0.16 [[ 9.98698864e-01 -5.09881708e-02 -8.86420079e-04 1.24452576e+00] [ 5.09881277e-02 9.98699257e-01 -7.11342042e-05 2.82710346e-01] [ 8.88894077e-04 2.58447487e-05 9.99999605e-01 -1.55024800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7071934699999995 meters 0.06452845955635092 Centerline is valid? [True, True] Translation: X:1.28, Y:0.28, Z:-0.16 [[ 9.98678771e-01 -5.13389773e-02 2.24094859e-03 1.27621124e+00] [ 5.13386944e-02 9.98681283e-01 1.83631454e-04 2.78773829e-01] [-2.24742086e-03 -6.83414599e-05 9.99997472e-01 -1.56521648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.73719347 meters 0.06300281637607638 Centerline is valid? [True, True] Translation: X:1.31, Y:0.26, Z:-0.16 [[ 9.98369977e-01 -5.69614436e-02 3.57531690e-03 1.30909488e+00] [ 5.69607730e-02 9.98376375e-01 2.89198802e-04 2.61365945e-01] [-3.58598511e-03 -8.50745870e-05 9.99993567e-01 -1.56418601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7671934699999996 meters 0.06316077223839923 Centerline is valid? [True, True] Translation: X:1.34, Y:0.26, Z:-0.16 [[ 9.98191965e-01 -6.00761704e-02 1.91192680e-03 1.34115624e+00] [ 6.00759811e-02 9.98193795e-01 1.56335110e-04 2.55557524e-01] [-1.91786548e-03 -4.11915724e-05 9.99998160e-01 -1.59435145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.79719347 meters 0.0630014172435357 Centerline is valid? [True, True] Translation: X:1.37, Y:0.24, Z:-0.16 [[ 9.97955520e-01 -6.38937033e-02 -1.54106004e-03 1.37440634e+00] [ 6.38935893e-02 9.97956710e-01 -1.23151906e-04 2.41724569e-01] [ 1.54577984e-03 2.44362673e-05 9.99998805e-01 -1.61533280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8271934699999997 meters 0.0630014172435357 Centerline is valid? [True, True] Translation: X:1.41, Y:0.24, Z:-0.16 [[ 9.97964091e-01 -6.37596953e-02 -1.54110676e-03 1.40686738e+00] [ 6.37595820e-02 9.97965280e-01 -1.22569647e-04 2.44186391e-01] [ 1.54578604e-03 2.40597839e-05 9.99998805e-01 -1.61801695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85719347 meters 0.06391564970679205 Centerline is valid? [True, True] Translation: X:1.44, Y:0.23, Z:-0.17 [[ 9.98007958e-01 -6.27480950e-02 -6.54164853e-03 1.43930391e+00] [ 6.27460078e-02 9.98029390e-01 -5.24013086e-04 2.33456692e-01] [ 6.56163831e-03 1.12506900e-04 9.99978466e-01 -1.67389244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8871934699999997 meters 0.06396230002347572 Centerline is valid? [True, True] Translation: X:1.47, Y:0.23, Z:-0.17 [[ 9.98069972e-01 -6.12176792e-02 -1.04272379e-02 1.47164637e+00] [ 6.12123004e-02 9.98124420e-01 -8.34505615e-04 2.28632891e-01] [ 1.04587672e-02 1.94619778e-04 9.99945287e-01 -1.70912362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9171934699999995 meters 0.06474285958077822 Centerline is valid? [True, True] Translation: X:1.50, Y:0.22, Z:-0.18 [[ 9.98182473e-01 -5.82805280e-02 -1.53339586e-02 1.50342654e+00] [ 5.82685411e-02 9.98300190e-01 -1.22771322e-03 2.15851010e-01] [ 1.53794456e-02 3.31994424e-04 9.99881674e-01 -1.75851281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9471934699999998 meters 0.06459314422090813 Centerline is valid? [True, True] Translation: X:1.54, Y:0.20, Z:-0.18 [[ 9.97997441e-01 -6.16657432e-02 -1.40870336e-02 1.53598236e+00] [ 6.16559832e-02 9.98096824e-01 -1.12650167e-03 2.02823810e-01] [ 1.41296901e-02 2.55695873e-04 9.99900138e-01 -1.76100332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9771934699999996 meters 0.063878585636018 Centerline is valid? [True, True] Translation: X:1.57, Y:0.20, Z:-0.17 [[ 9.97763241e-01 -6.55343209e-02 -1.31821010e-02 1.56852452e+00] [ 6.55261303e-02 9.97850298e-01 -1.05275398e-03 1.95696069e-01] [ 1.32227549e-02 1.86627152e-04 9.99912558e-01 -1.73918449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.00719347 meters 0.06240972725990856 Centerline is valid? [True, True] Translation: X:1.60, Y:0.18, Z:-0.17 [[ 9.97070581e-01 -7.58854707e-02 -9.57352398e-03 1.60190676e+00] [ 7.58816339e-02 9.97116540e-01 -7.63896084e-04 1.78640490e-01] [ 9.60388772e-03 3.52036703e-05 9.99953881e-01 -1.70166012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0371934699999996 meters 0.0628279413591119 Centerline is valid? [True, True] Translation: X:1.64, Y:0.17, Z:-0.17 [[ 9.96587663e-01 -8.21818898e-02 -7.69199282e-03 1.63562307e+00] [ 8.21796080e-02 9.96617347e-01 -6.12776767e-04 1.65326003e-01] [ 7.71633263e-03 -2.14391884e-05 9.99970228e-01 -1.69475714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06719347 meters 0.061847725409721874 Centerline is valid? [True, True] Translation: X:1.67, Y:0.17, Z:-0.17 [[ 9.96882733e-01 -7.86457834e-02 -6.29736721e-03 1.66767732e+00] [ 7.86441880e-02 9.96902623e-01 -5.00953581e-04 1.66294276e-01] [ 6.31725978e-03 4.14064424e-06 9.99980046e-01 -1.66727042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0971934699999997 meters 0.06315634333134072 Centerline is valid? [True, True] Translation: X:1.70, Y:0.18, Z:-0.17 [[ 9.97375708e-01 -7.18593852e-02 -8.82752991e-03 1.69847562e+00] [ 7.18559853e-02 9.97414770e-01 -7.02116791e-04 1.75475738e-01] [ 8.85516240e-03 6.59633731e-05 9.99960790e-01 -1.70071348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12719347 meters 0.06422784998266444 Centerline is valid? [True, True] Translation: X:1.73, Y:0.20, Z:-0.17 [[ 9.98122662e-01 -5.98922333e-02 -1.28090871e-02 1.72678457e+00] [ 5.98840782e-02 9.98204817e-01 -1.01961380e-03 1.95388151e-01] [ 1.28471594e-02 2.50639269e-04 9.99917440e-01 -1.72382089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1571934699999997 meters 0.06589696374632986 Centerline is valid? [True, True] Translation: X:1.76, Y:0.20, Z:-0.17 [[ 9.98424023e-01 -5.39922837e-02 -1.53069488e-02 1.75764463e+00] [ 5.39799612e-02 9.98541277e-01 -1.21734537e-03 2.04279768e-01] [ 1.53503475e-02 3.89158364e-04 9.99882101e-01 -1.74658815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1871934699999995 meters 0.0658637763640125 Centerline is valid? [True, True] Translation: X:1.79, Y:0.22, Z:-0.17 [[ 9.98681996e-01 -5.05263894e-02 -9.01972380e-03 1.78760404e+00] [ 5.05219786e-02 9.98722693e-01 -7.16347054e-04 2.16114976e-01] [ 9.04439727e-03 2.59708613e-04 9.99959065e-01 -1.71402288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2171934699999998 meters 0.06366510191199792 Centerline is valid? [True, True] Translation: X:1.82, Y:0.21, Z:-0.17 [[ 9.98464778e-01 -5.52977223e-02 -3.20143470e-03 1.81825010e+00] [ 5.52971905e-02 9.98469907e-01 -2.54462752e-04 2.14670049e-01] [ 3.21060741e-03 7.70417508e-05 9.99994843e-01 -1.66179454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2471934699999996 meters 0.06342021850001146 Centerline is valid? [True, True] Translation: X:1.85, Y:0.22, Z:-0.17 [[ 9.98366290e-01 -5.70744414e-02 -2.69446172e-03 1.85056922e+00] [ 5.70740738e-02 9.98369924e-01 -2.13155297e-04 2.16046580e-01] [ 2.70223526e-03 5.90231557e-05 9.99996347e-01 -1.65980941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.27719347 meters 0.0627828469074052 Centerline is valid? [True, True] Translation: X:1.88, Y:0.22, Z:-0.16 [[ 9.98332582e-01 -5.76986942e-02 -1.70754523e-03 1.88242240e+00] [ 5.76985483e-02 9.98334042e-01 -1.34639011e-04 2.19231981e-01] [ 1.71246903e-03 3.58916311e-05 9.99998533e-01 -1.64726500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3071934699999996 meters 0.0647700452974616 Centerline is valid? [True, True] Translation: X:1.91, Y:0.23, Z:-0.17 [[ 9.98615815e-01 -5.23831861e-02 -4.73875395e-03 1.91226604e+00] [ 5.23819937e-02 9.98627050e-01 -3.75478544e-04 2.28748302e-01] [ 4.75191664e-03 1.26733433e-04 9.99988702e-01 -1.67792587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.33719347 meters 0.06523268214471298 Centerline is valid? [True, True] Translation: X:1.94, Y:0.24, Z:-0.17 [[ 9.98898439e-01 -4.67732459e-02 -3.76461758e-03 1.94411396e+00] [ 4.67724572e-02 9.98905525e-01 -2.97334715e-04 2.37001463e-01] [ 3.77440461e-03 1.20926768e-04 9.99992870e-01 -1.68118410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3671934699999997 meters 0.06538546506480465 Centerline is valid? [True, True] Translation: X:1.98, Y:0.24, Z:-0.17 [[ 9.98964377e-01 -4.51847172e-02 -5.33986839e-03 1.97593186e+00] [ 4.51831087e-02 9.98978633e-01 -4.21542172e-04 2.40299281e-01] [ 5.35346169e-03 1.79833760e-04 9.99985654e-01 -1.69778794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3971934699999995 meters 0.06466196732767493 Centerline is valid? [True, True] Translation: X:2.01, Y:0.24, Z:-0.17 [[ 9.98859634e-01 -4.73692746e-02 -5.96511075e-03 2.00783066e+00] [ 4.73673091e-02 9.98877428e-01 -4.70424306e-04 2.40786821e-01] [ 5.98069815e-03 1.87336606e-04 9.99982098e-01 -1.71695208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4271934699999997 meters 0.06441507886997673 Centerline is valid? [True, True] Translation: X:2.04, Y:0.23, Z:-0.18 [[ 9.98417722e-01 -5.48389036e-02 -1.24397006e-02 2.04064829e+00] [ 5.48309385e-02 9.98495171e-01 -9.80707361e-04 2.34826960e-01] [ 1.24747619e-02 2.97075149e-04 9.99922143e-01 -1.77857109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4571934699999995 meters 0.06294527003199075 Centerline is valid? [True, True] Translation: X:2.07, Y:0.22, Z:-0.18 [[ 9.97624216e-01 -6.77433514e-02 -1.25204861e-02 2.07088987e+00] [ 6.77362817e-02 9.97702771e-01 -9.88338860e-04 2.23784414e-01] [ 1.25586770e-02 1.37899610e-04 9.99921127e-01 -1.78244740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.48719347 meters 0.06203768738432125 Centerline is valid? [True, True] Translation: X:2.10, Y:0.22, Z:-0.18 [[ 9.97179060e-01 -7.42700248e-02 -1.08575546e-02 2.10225103e+00] [ 7.42651111e-02 9.97238167e-01 -8.55607015e-04 2.19333520e-01] [ 1.08911138e-02 4.68559014e-05 9.99940689e-01 -1.78014317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5171934699999996 meters 0.06291559318942516 Centerline is valid? [True, True] Translation: X:2.13, Y:0.21, Z:-0.18 [[ 9.96407407e-01 -8.36198812e-02 -1.34162129e-02 2.13479390e+00] [ 8.36132426e-02 9.96497722e-01 -1.05595544e-03 2.11423837e-01] [ 1.34575244e-02 -6.96112356e-05 9.99909441e-01 -1.79605828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.54719347 meters 0.06279670217524243 Centerline is valid? [True, True] Translation: X:2.17, Y:0.21, Z:-0.18 [[ 9.96033869e-01 -8.79005719e-02 -1.37848538e-02 2.16748736e+00] [ 8.78939903e-02 9.96129245e-01 -1.08372816e-03 2.10368238e-01] [ 1.38267563e-02 -1.32175856e-04 9.99904397e-01 -1.80149154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5771934699999997 meters 0.06380872158991861 Centerline is valid? [True, True] Translation: X:2.20, Y:0.21, Z:-0.18 [[ 9.95533772e-01 -9.30405007e-02 -1.59992012e-02 2.19949043e+00] [ 9.30323194e-02 9.95662297e-01 -1.25648402e-03 2.11659767e-01] [ 1.60467053e-02 -2.37570524e-04 9.99871215e-01 -1.82040573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6071934699999995 meters 0.06397260022767133 Centerline is valid? [True, True] Translation: X:2.23, Y:0.22, Z:-0.18 [[ 9.95259371e-01 -9.65102698e-02 -1.20230161e-02 2.23006016e+00] [ 9.65059124e-02 9.95331964e-01 -9.43413370e-04 2.15777390e-01] [ 1.20579413e-02 -2.21351137e-04 9.99927276e-01 -1.79905569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6371934699999997 meters 0.06338063812714519 Centerline is valid? [True, True] Translation: X:2.26, Y:0.22, Z:-0.18 [[ 9.95261080e-01 -9.66490621e-02 -1.06930440e-02 2.26130150e+00] [ 9.66456313e-02 9.95318501e-01 -8.38330766e-04 2.21609136e-01] [ 1.07240084e-02 -1.99078000e-04 9.99942476e-01 -1.78072583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6671934699999995 meters 0.06342038881129156 Centerline is valid? [True, True] Translation: X:2.29, Y:0.24, Z:-0.18 [[ 9.95248173e-01 -9.66003542e-02 -1.22248161e-02 2.29293091e+00] [ 9.65958813e-02 9.95323224e-01 -9.57196668e-04 2.35962997e-01] [ 1.22601089e-02 -2.28218648e-04 9.99924816e-01 -1.77965599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6971934699999998 meters 0.0631829268799168 Centerline is valid? [True, True] Translation: X:2.32, Y:0.25, Z:-0.18 [[ 9.95398757e-01 -9.52091276e-02 -1.07951694e-02 2.32286967e+00] [ 9.52055646e-02 9.95457275e-01 -8.44639692e-04 2.52326956e-01] [ 1.08265473e-02 -1.87006896e-04 9.99941374e-01 -1.77711926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7271934699999996 meters 0.0628237074644597 Centerline is valid? [True, True] Translation: X:2.35, Y:0.27, Z:-0.18 [[ 9.95594022e-01 -9.33178495e-02 -9.18276934e-03 2.35423130e+00] [ 9.33152010e-02 9.95636359e-01 -7.17393039e-04 2.65335416e-01] [ 9.20964460e-03 -1.42659745e-04 9.99957580e-01 -1.75356873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.75719347 meters 0.062447247935849964 Centerline is valid? [True, True] Translation: X:2.38, Y:0.29, Z:-0.18 [[ 9.96046412e-01 -8.83969906e-02 -8.80437549e-03 2.38360245e+00] [ 8.83944005e-02 9.96085319e-01 -6.83649562e-04 2.87882194e-01] [ 8.83034173e-03 -9.73107996e-05 9.99961007e-01 -1.75685421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7871934699999996 meters 0.062245063957466255 Centerline is valid? [True, True] Translation: X:2.41, Y:0.30, Z:-0.17 [[ 9.95802527e-01 -9.12957875e-02 -6.51200585e-03 2.41475372e+00] [ 9.12944517e-02 9.95823815e-01 -5.02716007e-04 3.03588475e-01] [ 6.53070637e-03 -9.39041338e-05 9.99978670e-01 -1.74353239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.81719347 meters 0.06317322279218753 Centerline is valid? [True, True] Translation: X:2.45, Y:0.31, Z:-0.17 [[ 9.95390169e-01 -9.57098570e-02 -6.16715908e-03 2.44676235e+00] [ 9.57087360e-02 9.95409268e-01 -4.77308416e-04 3.11858748e-01] [ 6.18453043e-03 -1.15142895e-04 9.99980869e-01 -1.73224799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8471934699999997 meters 0.06497889606962763 Centerline is valid? [True, True] Translation: X:2.48, Y:0.32, Z:-0.17 [[ 9.94008535e-01 -1.09294495e-01 -1.32152606e-03 2.47691362e+00] [ 1.09294456e-01 9.94009412e-01 -1.02305914e-04 3.18238733e-01] [ 1.32479081e-03 -4.27425191e-05 9.99999122e-01 -1.70549501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8771934699999995 meters 0.06613476237248803 Centerline is valid? [True, True] Translation: X:2.51, Y:0.33, Z:-0.17 [[ 9.93189955e-01 -1.16487061e-01 2.11624223e-03 2.50736427e+00] [ 1.16486976e-01 9.93192206e-01 1.64142934e-04 3.29718541e-01] [-2.12095582e-03 8.34895446e-05 9.99997747e-01 -1.68005843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9071934699999997 meters 0.06674232640296068 Centerline is valid? [True, True] Translation: X:2.54, Y:0.35, Z:-0.17 [[ 9.93355584e-01 -1.14996515e-01 4.52606374e-03 2.53728439e+00] [ 1.14996104e-01 9.93365880e-01 3.51725243e-04 3.46618090e-01] [-4.53648447e-03 1.71091463e-04 9.99989695e-01 -1.67320476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9371934699999995 meters 0.06568882244465608 Centerline is valid? [True, True] Translation: X:2.57, Y:0.36, Z:-0.17 [[ 9.93786141e-01 -1.11266519e-01 2.97785665e-03 2.56792131e+00] [ 1.11266328e-01 9.93790597e-01 2.30185995e-04 3.60957852e-01] [-2.98497793e-03 1.02579522e-04 9.99995540e-01 -1.68864212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9671934699999998 meters 0.06348262997642738 Centerline is valid? [True, True] Translation: X:2.60, Y:0.39, Z:-0.17 [[ 9.94611458e-01 -1.03659082e-01 1.68617098e-03 2.59642412e+00] [ 1.03659010e-01 9.94612886e-01 1.30221893e-04 3.90245606e-01] [-1.69058607e-03 4.52666285e-05 9.99998570e-01 -1.68712838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9971934699999996 meters 0.06220662674264354 Centerline is valid? [True, True] Translation: X:2.63, Y:0.42, Z:-0.16 [[ 9.94966807e-01 -1.00093213e-01 4.73295496e-03 2.62672888e+00] [ 1.00092604e-01 9.94978058e-01 3.65953421e-04 4.15294405e-01] [-4.74581579e-03 1.09622281e-04 9.99988733e-01 -1.64759614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.027193469999999 meters 0.06270218267291511 Centerline is valid? [True, True] Translation: X:2.66, Y:0.43, Z:-0.17 [[ 9.95041620e-01 -9.93586200e-02 4.47648396e-03 2.65957274e+00] [ 9.93580727e-02 9.95051684e-01 3.45021572e-04 4.25176138e-01] [-4.48861377e-03 1.01463995e-04 9.99989921e-01 -1.66796291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.05719347 meters 0.0630373729425792 Centerline is valid? [True, True] Translation: X:2.69, Y:0.44, Z:-0.17 [[ 9.94762197e-01 -1.02087044e-01 5.13882882e-03 2.69073820e+00] [ 1.02086371e-01 9.94775461e-01 3.93863410e-04 4.36836426e-01] [-5.15218916e-03 1.32803955e-04 9.99986719e-01 -1.72463536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08719347 meters 0.06332683635448595 Centerline is valid? [True, True] Translation: X:2.72, Y:0.45, Z:-0.18 [[ 9.94589752e-01 -1.03812884e-01 3.75627006e-03 2.72195126e+00] [ 1.03812538e-01 9.94596840e-01 2.87454262e-04 4.48607584e-01] [-3.76581579e-03 1.04048867e-04 9.99992904e-01 -1.76721657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.117193469999999 meters 0.06414475837793772 Centerline is valid? [True, True] Translation: X:2.75, Y:0.45, Z:-0.18 [[ 9.94557575e-01 -1.04180747e-01 1.26547220e-03 2.75267284e+00] [ 1.04180707e-01 9.94558380e-01 9.78871253e-05 4.54105936e-01] [-1.26878394e-03 3.44834064e-05 9.99999194e-01 -1.78953477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1471934699999995 meters 0.064784567236619 Centerline is valid? [True, True] Translation: X:2.78, Y:0.47, Z:-0.18 [[ 9.94568503e-01 -1.04014027e-01 -3.81775970e-03 2.78414768e+00] [ 1.04013697e-01 9.94575824e-01 -2.85388946e-04 4.66603935e-01] [ 3.82673595e-03 -1.13260445e-04 9.99992672e-01 -1.83554658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.17719347 meters 0.06475164845551681 Centerline is valid? [True, True] Translation: X:2.82, Y:0.48, Z:-0.19 [[ 9.94808095e-01 -1.01236146e-01 -1.03969352e-02 2.81513737e+00] [ 1.01233532e-01 9.94862385e-01 -7.78661840e-04 4.77531723e-01] [ 1.04223485e-02 -2.77899378e-04 9.99945647e-01 -1.91736405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.20719347 meters 0.06519019509372384 Centerline is valid? [True, True] Translation: X:2.85, Y:0.48, Z:-0.20 [[ 9.94828174e-01 -1.00719869e-01 -1.31306098e-02 2.84608239e+00] [ 1.00715662e-01 9.94914765e-01 -9.82941983e-04 4.82801702e-01] [ 1.31628393e-02 -3.44599679e-04 9.99913307e-01 -1.96830970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.237193469999999 meters 0.06585091458342977 Centerline is valid? [True, True] Translation: X:2.88, Y:0.49, Z:-0.20 [[ 9.94462776e-01 -1.03882586e-01 -1.58806520e-02 2.87662611e+00] [ 1.03876820e-01 9.94589458e-01 -1.18979501e-03 4.87203561e-01] [ 1.59183280e-02 -4.66424769e-04 9.99873187e-01 -2.00021232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.26719347 meters 0.06730946480694984 Centerline is valid? [True, True] Translation: X:2.91, Y:0.49, Z:-0.20 [[ 9.93901236e-01 -1.09263330e-01 -1.48948609e-02 2.90755593e+00] [ 1.09258865e-01 9.94012704e-01 -1.11564186e-03 4.89861996e-01] [ 1.49275797e-02 -5.18557769e-04 9.99888443e-01 -1.98400858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.29719347 meters 0.06822097400503566 Centerline is valid? [True, True] Translation: X:2.94, Y:0.49, Z:-0.20 [[ 9.93292175e-01 -1.14974726e-01 -1.23071853e-02 2.93887991e+00] [ 1.14972123e-01 9.93368291e-01 -9.21134689e-04 4.93651881e-01] [ 1.23314748e-02 -5.00027346e-04 9.99923839e-01 -1.95448095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32719347 meters 0.06890064883980386 Centerline is valid? [True, True] Translation: X:2.97, Y:0.50, Z:-0.20 [[ 9.93205678e-01 -1.15755132e-01 -1.19678842e-02 2.97107866e+00] [ 1.15752791e-01 9.93277654e-01 -8.90466031e-04 4.95990261e-01] [ 1.19905080e-02 -5.00900080e-04 9.99927986e-01 -1.96613621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3571934699999995 meters 0.06942706567262266 Centerline is valid? [True, True] Translation: X:3.00, Y:0.50, Z:-0.20 [[ 9.93103838e-01 -1.16962014e-01 -8.04078215e-03 3.00335819e+00] [ 1.16961023e-01 9.93136328e-01 -5.95003382e-04 5.00150115e-01] [ 8.05518565e-03 -3.49557963e-04 9.99967495e-01 -1.95214857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38719347 meters 0.06780701726392516 Centerline is valid? [True, True] Translation: X:3.04, Y:0.51, Z:-0.19 [[ 9.93175852e-01 -1.16610810e-01 -1.90963924e-03 3.03539705e+00] [ 1.16610754e-01 9.93177684e-01 -1.40851872e-04 5.11464296e-01] [ 1.91303593e-03 -8.27937938e-05 9.99998167e-01 -1.88073278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.41719347 meters 0.06795198253195449 Centerline is valid? [True, True] Translation: X:3.07, Y:0.52, Z:-0.19 [[ 9.93375289e-01 -1.14908567e-01 -1.24735576e-03 3.06639583e+00] [ 1.14908544e-01 9.93376071e-01 -9.00622173e-05 5.16678128e-01] [ 1.24944228e-03 -5.38662533e-05 9.99999218e-01 -1.86946820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.447193469999999 meters 0.06647232584928346 Centerline is valid? [True, True] Translation: X:3.10, Y:0.53, Z:-0.19 [[ 9.93916001e-01 -1.10121611e-01 -2.05257343e-03 3.09759233e+00] [ 1.10121533e-01 9.93918118e-01 -1.51134254e-04 5.28521301e-01] [ 2.05673307e-03 -7.58177796e-05 9.99997882e-01 -1.86133352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.47719347 meters 0.06377113532275526 Centerline is valid? [True, True] Translation: X:3.13, Y:0.54, Z:-0.19 [[ 9.95178140e-01 -9.80251635e-02 -3.39670270e-03 3.12757513e+00] [ 9.80248780e-02 9.95183933e-01 -2.50850082e-04 5.43388496e-01] [ 3.40493357e-03 -8.33208494e-05 9.99994200e-01 -1.87697061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.50719347 meters 0.06221888560633932 Centerline is valid? [True, True] Translation: X:3.16, Y:0.55, Z:-0.19 [[ 9.96173738e-01 -8.73628558e-02 -2.36961584e-03 3.15693184e+00] [ 8.73626865e-02 9.96176556e-01 -1.75038306e-04 5.53077745e-01] [ 2.37584759e-03 -3.26474423e-05 9.99997177e-01 -1.88541614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.53719347 meters 0.0622146249272318 Centerline is valid? [True, True] Translation: X:3.19, Y:0.56, Z:-0.19 [[ 9.96549026e-01 -8.29073817e-02 -4.05030304e-03 3.18852566e+00] [ 8.29068646e-02 9.96557256e-01 -2.95676257e-04 5.58958526e-01] [ 4.06087262e-03 -4.11420400e-05 9.99991754e-01 -1.90477924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.567193469999999 meters 0.06178634026272747 Centerline is valid? [True, True] Translation: X:3.22, Y:0.56, Z:-0.19 [[ 9.96928769e-01 -7.79056259e-02 -7.98389800e-03 3.21926099e+00] [ 7.79034535e-02 9.96960737e-01 -5.83206748e-04 5.61461411e-01] [ 8.00506792e-03 -4.05576410e-05 9.99967958e-01 -1.93095379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.59719347 meters 0.06203681401804848 Centerline is valid? [True, True] Translation: X:3.25, Y:0.55, Z:-0.19 [[ 9.96831273e-01 -7.90597219e-02 -8.77349983e-03 3.25163971e+00] [ 7.90571628e-02 9.96869880e-01 -6.38662924e-04 5.54600049e-01] [ 8.79653023e-03 -5.69688283e-05 9.99961308e-01 -1.94382670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62719347 meters 0.062274959152600146 Centerline is valid? [True, True] Translation: X:3.28, Y:0.55, Z:-0.19 [[ 9.96508552e-01 -8.30871961e-02 -8.19896667e-03 3.28424315e+00] [ 8.30851196e-02 9.96542277e-01 -5.94140453e-04 5.46296821e-01] [ 8.21998238e-03 -8.91460840e-05 9.99966211e-01 -1.93467455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.657193469999999 meters 0.06338749591197897 Centerline is valid? [True, True] Translation: X:3.32, Y:0.52, Z:-0.19 [[ 9.95303411e-01 -9.66361829e-02 -5.70684360e-03 3.31587069e+00] [ 9.66353897e-02 9.95319762e-01 -4.15214762e-04 5.22882959e-01] [ 5.72025898e-03 -1.38218386e-04 9.99983630e-01 -1.91394350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6871934699999995 meters 0.06607396849727445 Centerline is valid? [True, True] Translation: X:3.35, Y:0.50, Z:-0.19 [[ 9.94305208e-01 -1.06254977e-01 -8.18739723e-03 3.34772996e+00] [ 1.06253674e-01 9.94338877e-01 -5.95257185e-04 5.00204935e-01] [ 8.20429641e-03 -2.78073716e-04 9.99966306e-01 -1.93313917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.71719347 meters 0.06566952177418858 Centerline is valid? [True, True] Translation: X:3.38, Y:0.50, Z:-0.19 [[ 9.94128811e-01 -1.07808631e-01 -9.23075467e-03 3.38054474e+00] [ 1.07807085e-01 9.94171609e-01 -6.66374085e-04 4.95520259e-01] [ 9.24879510e-03 -3.32679076e-04 9.99957174e-01 -1.92526879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74719347 meters 0.06531048205812334 Centerline is valid? [True, True] Translation: X:3.41, Y:0.49, Z:-0.20 [[ 9.94326888e-01 -1.05559400e-01 -1.30863872e-02 3.41426043e+00] [ 1.05556145e-01 9.94412899e-01 -9.41127950e-04 4.86466422e-01] [ 1.31126171e-02 -4.45559759e-04 9.99913927e-01 -1.95137337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.777193469999999 meters 0.06531048205812334 Centerline is valid? [True, True] Translation: X:3.45, Y:0.49, Z:-0.20 [[ 9.94360908e-01 -1.05238408e-01 -1.30866906e-02 3.44686348e+00] [ 1.05235181e-01 9.94446921e-01 -9.36904521e-04 4.88646454e-01] [ 1.31126176e-02 -4.45559022e-04 9.99913927e-01 -1.95405896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.80719347 meters 0.0637317248456671 Centerline is valid? [True, True] Translation: X:3.48, Y:0.49, Z:-0.19 [[ 9.94992398e-01 -9.84190690e-02 -1.74302964e-02 3.47906693e+00] [ 9.84122640e-02 9.95144946e-01 -1.24981813e-03 4.86043073e-01] [ 1.74686773e-02 -4.71795391e-04 9.99847300e-01 -1.94774839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.83719347 meters 0.06268732145755064 Centerline is valid? [True, True] Translation: X:3.51, Y:0.49, Z:-0.19 [[ 9.95337362e-01 -9.50362381e-02 -1.64817777e-02 3.51076568e+00] [ 9.50296990e-02 9.95473737e-01 -1.18124977e-03 4.86006823e-01] [ 1.65194384e-02 -3.90516343e-04 9.99863469e-01 -1.92120974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.867193469999999 meters 0.06197723254005113 Centerline is valid? [True, True] Translation: X:3.54, Y:0.48, Z:-0.19 [[ 9.95947392e-01 -8.86132987e-02 -1.53777687e-02 3.54301003e+00] [ 8.86068673e-02 9.96066068e-01 -1.10039459e-03 4.84477909e-01] [ 1.54147832e-02 -2.66640785e-04 9.99881150e-01 -1.90509497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8971934699999995 meters 0.06207923048623475 Centerline is valid? [True, True] Translation: X:3.57, Y:0.48, Z:-0.19 [[ 9.96305543e-01 -8.48800487e-02 -1.30630171e-02 3.57407378e+00] [ 8.48750912e-02 9.96391161e-01 -9.34433912e-04 4.80138216e-01] [ 1.30951896e-02 -1.77743084e-04 9.99914239e-01 -1.89832553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92719347 meters 0.06163833729249094 Centerline is valid? [True, True] Translation: X:3.61, Y:0.48, Z:-0.19 [[ 9.96282190e-01 -8.56365829e-02 -9.39004064e-03 3.60704043e+00] [ 8.56340706e-02 9.96326431e-01 -6.70027835e-04 4.77291882e-01] [ 9.41292457e-03 -1.36570603e-04 9.99955688e-01 -1.87527236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.95719347 meters 0.06186934945999143 Centerline is valid? [True, True] Translation: X:3.64, Y:0.47, Z:-0.19 [[ 9.95974903e-01 -8.92690837e-02 -8.06367398e-03 3.63992027e+00] [ 8.92673838e-02 9.96007534e-01 -5.71193894e-04 4.66610730e-01] [ 8.08247000e-03 -1.50928298e-04 9.99967325e-01 -1.88576208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.987193469999999 meters 0.06323420031723521 Centerline is valid? [True, True] Translation: X:3.67, Y:0.46, Z:-0.19 [[ 9.95441291e-01 -9.47428968e-02 -1.09735636e-02 3.67105612e+00] [ 9.47400559e-02 9.95501740e-01 -7.79600177e-04 4.59047190e-01] [ 1.09980633e-02 -2.63589825e-04 9.99939485e-01 -1.92915608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.01719347 meters 0.06338070296102676 Centerline is valid? [True, True] Translation: X:3.70, Y:0.46, Z:-0.19 [[ 9.95228913e-01 -9.69407913e-02 -1.10405363e-02 3.70267795e+00] [ 9.69381036e-02 9.95290107e-01 -7.79583676e-04 4.56923567e-01] [ 1.10641100e-02 -2.94384434e-04 9.99938748e-01 -1.93484343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04719347 meters 0.06345411204338947 Centerline is valid? [True, True] Translation: X:3.73, Y:0.45, Z:-0.19 [[ 9.94993596e-01 -9.95236134e-02 -9.09913892e-03 3.73489697e+00] [ 9.95219274e-02 9.95035164e-01 -6.39022810e-04 4.54585043e-01] [ 9.11756104e-03 -2.69740239e-04 9.99958398e-01 -1.92072752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.077193469999999 meters 0.06420252658593076 Centerline is valid? [True, True] Translation: X:3.77, Y:0.45, Z:-0.19 [[ 9.94846663e-01 -1.01136652e-01 -7.17592103e-03 3.76610900e+00] [ 1.01135649e-01 9.94872518e-01 -5.03371374e-04 4.49677027e-01] [ 7.19003592e-03 -2.24964100e-04 9.99974126e-01 -1.93045631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1071934699999995 meters 0.06418147434623986 Centerline is valid? [True, True] Translation: X:3.80, Y:0.46, Z:-0.20 [[ 9.94783971e-01 -1.01302201e-01 -1.19463266e-02 3.79754039e+00] [ 1.01299475e-01 9.94855628e-01 -8.34627497e-04 4.55739277e-01] [ 1.19694199e-02 -3.79882555e-04 9.99928292e-01 -1.95565677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.13719347 meters 0.06563248191625956 Centerline is valid? [True, True] Translation: X:3.83, Y:0.46, Z:-0.20 [[ 9.94849661e-01 -1.00488234e-01 -1.32765736e-02 3.82938035e+00] [ 1.00484853e-01 9.94938160e-01 -9.23207978e-04 4.55948987e-01] [ 1.33021413e-02 -4.15641403e-04 9.99911436e-01 -1.99278239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16719347 meters 0.0635885687071145 Centerline is valid? [True, True] Translation: X:3.86, Y:0.47, Z:-0.20 [[ 9.95529624e-01 -9.37853959e-02 -1.11833155e-02 3.85885242e+00] [ 9.37825489e-02 9.95592399e-01 -7.79882968e-04 4.70746334e-01] [ 1.12071655e-02 -2.72403231e-04 9.99937161e-01 -1.95596102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.197193469999999 meters 0.06138839350726951 Centerline is valid? [True, True] Translation: X:3.89, Y:0.49, Z:-0.19 [[ 9.96698852e-01 -8.04657292e-02 -1.08011384e-02 3.88844727e+00] [ 8.04622965e-02 9.96757369e-01 -7.52695140e-04 4.90785003e-01] [ 1.08266804e-02 -1.18874018e-04 9.99941383e-01 -1.93426944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.22719347 meters 0.06141341677651862 Centerline is valid? [True, True] Translation: X:3.92, Y:0.50, Z:-0.20 [[ 9.97293109e-01 -7.24382824e-02 -1.26154487e-02 3.91922329e+00] [ 7.24330297e-02 9.97372896e-01 -8.73380784e-04 5.02506841e-01] [ 1.26455728e-02 -4.27585327e-05 9.99920041e-01 -1.95617145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.25719347 meters 0.06203444049583338 Centerline is valid? [True, True] Translation: X:3.95, Y:0.52, Z:-0.20 [[ 9.97954714e-01 -6.15062891e-02 -1.74173885e-02 3.94864790e+00] [ 6.14945721e-02 9.98106687e-01 -1.20800857e-03 5.21432329e-01] [ 1.74587121e-02 1.34462996e-04 9.99847576e-01 -1.99542984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.287193469999999 meters 0.06267289983931236 Centerline is valid? [True, True] Translation: X:3.98, Y:0.53, Z:-0.20 [[ 9.97956609e-01 -6.05112009e-02 -2.05183192e-02 3.98034269e+00] [ 6.04947723e-02 9.98167503e-01 -1.42099769e-03 5.29922957e-01] [ 2.05667058e-02 1.76842988e-04 9.99788467e-01 -2.03819482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.317193469999999 meters 0.06223749751165504 Centerline is valid? [True, True] Translation: X:4.01, Y:0.53, Z:-0.20 [[ 9.97818117e-01 -6.28279734e-02 -2.02892064e-02 4.01217375e+00] [ 6.28124267e-02 9.98024363e-01 -1.40324942e-03 5.31014748e-01] [ 2.03372857e-02 1.25773399e-04 9.99793168e-01 -2.03411394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.34719347 meters 0.06187506956094058 Centerline is valid? [True, True] Translation: X:4.04, Y:0.52, Z:-0.20 [[ 9.97454296e-01 -6.93157050e-02 -1.67409967e-02 4.04306331e+00] [ 6.93060333e-02 9.97594774e-01 -1.15790540e-03 5.24455115e-01] [ 1.67809919e-02 -5.29435758e-06 9.99859189e-01 -2.03935905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.37719347 meters 0.06103969381813422 Centerline is valid? [True, True] Translation: X:4.08, Y:0.51, Z:-0.20 [[ 9.97012529e-01 -7.66247300e-02 -9.72972458e-03 4.07591130e+00] [ 7.66218213e-02 9.97060001e-01 -6.71908644e-04 5.13176495e-01] [ 9.75260401e-03 -7.56078817e-05 9.99952439e-01 -2.00625679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.407193469999999 meters 0.06145322897821386 Centerline is valid? [True, True] Translation: X:4.11, Y:0.51, Z:-0.20 [[ 9.96800446e-01 -7.94203689e-02 -9.01527725e-03 4.10808140e+00] [ 7.94179949e-02 9.96841209e-01 -6.21585007e-04 5.09816215e-01] [ 9.03616639e-03 -9.63790302e-05 9.99959168e-01 -2.00234324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4371934699999995 meters 0.061024446243696934 Centerline is valid? [True, True] Translation: X:4.14, Y:0.50, Z:-0.20 [[ 9.96365071e-01 -8.49129965e-02 -6.81385488e-03 4.14126816e+00] [ 8.49117965e-02 9.96388363e-01 -4.65733047e-04 5.03386197e-01] [ 6.82879250e-03 -1.14536519e-04 9.99976677e-01 -1.96258417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46719347 meters 0.06228187618186334 Centerline is valid? [True, True] Translation: X:4.17, Y:0.50, Z:-0.20 [[ 9.95831721e-01 -9.10410802e-02 -5.54118691e-03 4.17376365e+00] [ 9.10403918e-02 9.95847129e-01 -3.76885780e-04 4.95764532e-01] [ 5.55248717e-03 -1.29157012e-04 9.99984576e-01 -1.97573838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.49719347 meters 0.0628950554539877 Centerline is valid? [True, True] Translation: X:4.21, Y:0.49, Z:-0.20 [[ 9.95360251e-01 -9.60972912e-02 -4.82500819e-03 4.20570562e+00] [ 9.60968279e-02 9.95371936e-01 -3.28311846e-04 4.92003948e-01] [ 4.83422762e-03 -1.36879420e-04 9.99988306e-01 -1.96144642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.527193469999999 meters 0.06471299696449402 Centerline is valid? [True, True] Translation: X:4.24, Y:0.48, Z:-0.19 [[ 9.94664497e-01 -1.03103213e-01 -3.50219407e-03 4.23640256e+00] [ 1.03103009e-01 9.94670655e-01 -2.39170228e-04 4.84053464e-01] [ 3.50818888e-03 -1.23192611e-04 9.99993839e-01 -1.94926670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.55719347 meters 0.06519377071263116 Centerline is valid? [True, True] Translation: X:4.27, Y:0.48, Z:-0.20 [[ 9.94661199e-01 -1.03149410e-01 -3.04930389e-03 4.26868337e+00] [ 1.03149267e-01 9.94665867e-01 -2.04706579e-04 4.82596083e-01] [ 3.05415386e-03 -1.10919769e-04 9.99995330e-01 -1.97014288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58719347 meters 0.06348923527325374 Centerline is valid? [True, True] Translation: X:4.30, Y:0.49, Z:-0.20 [[ 9.95338345e-01 -9.63305226e-02 -4.69137776e-03 4.29907164e+00] [ 9.63300899e-02 9.95349392e-01 -3.18640679e-04 4.92684973e-01] [ 4.70025482e-03 -1.34765555e-04 9.99988945e-01 -1.98401082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.617193469999999 meters 0.0626244058151425 Centerline is valid? [True, True] Translation: X:4.33, Y:0.50, Z:-0.20 [[ 9.95679251e-01 -9.26071845e-02 -6.83652448e-03 4.33066037e+00] [ 9.26061873e-02 9.95702707e-01 -4.62948094e-04 5.00992832e-01] [ 6.85001825e-03 -1.72156655e-04 9.99976524e-01 -1.99297346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6471934699999995 meters 0.06243049810770342 Centerline is valid? [True, True] Translation: X:4.36, Y:0.51, Z:-0.20 [[ 9.96106856e-01 -8.75660142e-02 -1.01648445e-02 4.36151534e+00] [ 8.75635868e-02 9.96158697e-01 -6.84457213e-04 5.09453766e-01] [ 1.01857335e-02 -2.08277724e-04 9.99948102e-01 -2.02529150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.67719347 meters 0.06286989413337615 Centerline is valid? [True, True] Translation: X:4.39, Y:0.51, Z:-0.21 [[ 9.95882166e-01 -8.96091245e-02 -1.37446990e-02 4.39316402e+00] [ 8.96049221e-02 9.95976961e-01 -9.22509978e-04 5.10667765e-01] [ 1.37720688e-02 -3.12881446e-04 9.99905112e-01 -2.05470389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.70719347 meters 0.06277831735598205 Centerline is valid? [True, True] Translation: X:4.43, Y:0.51, Z:-0.21 [[ 9.95750598e-01 -9.07017796e-02 -1.59352864e-02 4.42559629e+00] [ 9.06963455e-02 9.95878024e-01 -1.06485426e-03 5.11775875e-01] [ 1.59661857e-02 -3.84942975e-04 9.99872458e-01 -2.06750964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.737193469999999 meters 0.06332268637952264 Centerline is valid? [True, True] Translation: X:4.46, Y:0.51, Z:-0.21 [[ 9.95721966e-01 -9.03894314e-02 -1.91707564e-02 4.45695070e+00] [ 9.03815988e-02 9.95906390e-01 -1.27637721e-03 5.13053054e-01] [ 1.92076498e-02 -4.61766792e-04 9.99815409e-01 -2.09490299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.76719347 meters 0.06231528670499431 Centerline is valid? [True, True] Translation: X:4.49, Y:0.52, Z:-0.20 [[ 9.95837366e-01 -9.00629319e-02 -1.40216942e-02 4.48784930e+00] [ 9.00586991e-02 9.95936021e-01 -9.34287771e-04 5.15505793e-01] [ 1.40488551e-02 -3.32376868e-04 9.99901255e-01 -2.04627013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.79719347 meters 0.06266095345172688 Centerline is valid? [True, True] Translation: X:4.52, Y:0.52, Z:-0.20 [[ 9.95998808e-01 -8.80655658e-02 -1.51931258e-02 4.51857449e+00] [ 8.80604555e-02 9.96114624e-01 -1.00632622e-03 5.19565892e-01] [ 1.52227175e-02 -3.35613866e-04 9.99884071e-01 -2.04722700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.827193469999999 meters 0.06260803653827315 Centerline is valid? [True, True] Translation: X:4.55, Y:0.52, Z:-0.20 [[ 9.96254199e-01 -8.53054362e-02 -1.41616969e-02 4.55094375e+00] [ 8.53007212e-02 9.96354810e-01 -9.37744692e-04 5.24990617e-01] [ 1.41900695e-02 -2.73770869e-04 9.99899278e-01 -2.04144253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8571934699999995 meters 0.06201019062517427 Centerline is valid? [True, True] Translation: X:4.58, Y:0.53, Z:-0.20 [[ 9.96366073e-01 -8.45666688e-02 -1.01551057e-02 4.58319119e+00] [ 8.45642560e-02 9.96417804e-01 -6.67521536e-04 5.27388449e-01] [ 1.01751782e-02 -1.93663144e-04 9.99948213e-01 -2.01932513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88719347 meters 0.062167110046804294 Centerline is valid? [True, True] Translation: X:4.62, Y:0.52, Z:-0.20 [[ 9.95834283e-01 -9.09968513e-02 -5.80127061e-03 4.61628773e+00] [ 9.09961891e-02 9.95851169e-01 -3.78539144e-04 5.22587108e-01] [ 5.81164799e-03 -1.50931261e-04 9.99983101e-01 -1.99344771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.91719347 meters 0.06320538719178839 Centerline is valid? [True, True] Translation: X:4.65, Y:0.52, Z:-0.20 [[ 9.95423880e-01 -9.54020961e-02 -5.45337613e-03 4.64868499e+00] [ 9.54015707e-02 9.95438804e-01 -3.56985104e-04 5.19788855e-01] [ 5.46255934e-03 -1.64909151e-04 9.99985067e-01 -1.99893887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.947193469999999 meters 0.06605756154264533 Centerline is valid? [True, True] Translation: X:4.68, Y:0.51, Z:-0.20 [[ 9.94347472e-01 -1.06003584e-01 -6.02871389e-03 4.67897481e+00] [ 1.06003130e-01 9.94365717e-01 -3.95613943e-04 5.11991278e-01] [ 6.03668291e-03 -2.45684821e-04 9.99981749e-01 -2.00736588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.97719347 meters 0.07005060399870687 Centerline is valid? [True, True] Translation: X:4.71, Y:0.50, Z:-0.21 [[ 9.93361435e-01 -1.14668388e-01 -9.17713343e-03 4.70941992e+00] [ 1.14667722e-01 9.93403721e-01 -6.00396790e-04 5.00264920e-01] [ 9.18544502e-03 -4.55909971e-04 9.99957709e-01 -2.07067026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.00719347 meters 0.0713919931876883 Centerline is valid? [True, True] Translation: X:4.74, Y:0.50, Z:-0.21 [[ 9.93055464e-01 -1.17156527e-01 -1.07328474e-02 4.74110136e+00] [ 1.17155760e-01 9.93113304e-01 -7.02347705e-04 4.97780565e-01] [ 1.07412182e-02 -5.59944672e-04 9.99942155e-01 -2.09202716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.037193469999999 meters 0.06906075887580228 Centerline is valid? [True, True] Translation: X:4.77, Y:0.51, Z:-0.21 [[ 9.93091637e-01 -1.16668295e-01 -1.25502905e-02 4.77288733e+00] [ 1.16667281e-01 9.93170721e-01 -8.15443711e-04 5.08476614e-01] [ 1.25597175e-02 -6.54397936e-04 9.99920910e-01 -2.07846360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.067193469999999 meters 0.06663994169813212 Centerline is valid? [True, True] Translation: X:4.80, Y:0.52, Z:-0.21 [[ 9.93983964e-01 -1.08875042e-01 -1.19207287e-02 4.80253106e+00] [ 1.08873540e-01 9.94055305e-01 -7.76865457e-04 5.23037170e-01] [ 1.19344449e-02 -5.25660123e-04 9.99928644e-01 -2.05445004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.09719347 meters 0.06385450913724677 Centerline is valid? [True, True] Translation: X:4.83, Y:0.54, Z:-0.20 [[ 9.95131256e-01 -9.78793480e-02 -1.15505974e-02 4.83205448e+00] [ 9.78771965e-02 9.95198215e-01 -7.52774855e-04 5.41873086e-01] [ 1.15688150e-02 -3.81430302e-04 9.99933006e-01 -2.04372196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12719347 meters 0.06313825446413734 Centerline is valid? [True, True] Translation: X:4.86, Y:0.55, Z:-0.20 [[ 9.95492017e-01 -9.41655687e-02 -1.13352934e-02 4.86308089e+00] [ 9.41632658e-02 9.95556495e-01 -7.37881073e-04 5.52258617e-01] [ 1.13544080e-02 -3.32813529e-04 9.99935481e-01 -2.04607696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.157193469999999 meters 0.06269965503664077 Centerline is valid? [True, True] Translation: X:4.89, Y:0.57, Z:-0.21 [[ 9.95725413e-01 -9.17030035e-02 -1.10209138e-02 4.89418193e+00] [ 9.17007360e-02 9.95786357e-01 -7.11966408e-04 5.65622911e-01] [ 1.10397650e-02 -3.01702859e-04 9.99939014e-01 -2.05486709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1871934699999995 meters 0.06306174885478161 Centerline is valid? [True, True] Translation: X:4.93, Y:0.57, Z:-0.21 [[ 9.95516773e-01 -9.35910064e-02 -1.36776210e-02 4.92627341e+00] [ 9.35876757e-02 9.95610649e-01 -8.84776481e-04 5.72069713e-01] [ 1.37003923e-02 -3.99246934e-04 9.99906066e-01 -2.07564568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.21719347 meters 0.06538353060986483 Centerline is valid? [True, True] Translation: X:4.96, Y:0.57, Z:-0.21 [[ 9.94717679e-01 -1.01568151e-01 -1.48542724e-02 4.95566299e+00] [ 1.01565095e-01 9.94828431e-01 -9.61957215e-04 5.73368334e-01] [ 1.48751567e-02 -5.51799734e-04 9.99889206e-01 -2.11331406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24719347 meters 0.06789696442943019 Centerline is valid? [True, True] Translation: X:4.99, Y:0.57, Z:-0.21 [[ 9.93630094e-01 -1.12023202e-01 -1.22490387e-02 4.98693465e+00] [ 1.12021922e-01 9.93705419e-01 -7.92742251e-04 5.72938018e-01] [ 1.22607416e-02 -5.84468293e-04 9.99924663e-01 -2.11496056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.277193469999999 meters 0.07137296175325027 Centerline is valid? [True, True] Translation: X:5.02, Y:0.57, Z:-0.21 [[ 9.93046847e-01 -1.17144394e-01 -1.16254536e-02 5.01686546e+00] [ 1.17143588e-01 9.93114703e-01 -7.52542898e-04 5.69436865e-01] [ 1.16335651e-02 -6.14537003e-04 9.99932139e-01 -2.14028113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.30719347 meters 0.07385349990907412 Centerline is valid? [True, True] Translation: X:5.05, Y:0.57, Z:-0.21 [[ 9.91855625e-01 -1.27016614e-01 -9.44454732e-03 5.04790798e+00] [ 1.27016533e-01 9.91900412e-01 -6.10868454e-04 5.71648360e-01] [ 9.44564082e-03 -5.93720344e-04 9.99955213e-01 -2.11660619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.33719347 meters 0.0768044517891325 Centerline is valid? [True, True] Translation: X:5.08, Y:0.57, Z:-0.21 [[ 9.91043000e-01 -1.33284457e-01 -8.30817730e-03 5.07843088e+00] [ 1.33284613e-01 9.91077658e-01 -5.37420388e-04 5.74705854e-01] [ 8.30567868e-03 -5.74745479e-04 9.99965342e-01 -2.12994062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.367193469999999 meters 0.07748240399166062 Centerline is valid? [True, True] Translation: X:5.11, Y:0.59, Z:-0.21 [[ 9.91056402e-01 -1.33361503e-01 -4.68172151e-03 5.10951455e+00] [ 1.33361568e-01 9.91067406e-01 -2.99532888e-04 5.85171280e-01] [ 4.67984775e-03 -3.27507737e-04 9.99988996e-01 -2.10730645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3971934699999995 meters 0.07667372558468916 Centerline is valid? [True, True] Translation: X:5.14, Y:0.60, Z:-0.21 [[ 9.91366184e-01 -1.31053886e-01 -4.23879809e-03 5.14016384e+00] [ 1.31053913e-01 9.91375205e-01 -2.72628464e-04 5.96041890e-01] [ 4.23796834e-03 -2.85236435e-04 9.99990979e-01 -2.11254764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42719347 meters 0.07322164240045131 Centerline is valid? [True, True] Translation: X:5.17, Y:0.62, Z:-0.21 [[ 9.92087647e-01 -1.25489967e-01 -3.79060725e-03 5.16925811e+00] [ 1.25489947e-01 9.92094861e-01 -2.44041781e-04 6.20537903e-01] [ 3.79126677e-03 -2.33572268e-04 9.99992786e-01 -2.11916354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.45719347 meters 0.07453689299423898 Centerline is valid? [True, True] Translation: X:5.20, Y:0.63, Z:-0.21 [[ 9.92478602e-01 -1.22354472e-01 -3.95076314e-03 5.19874662e+00] [ 1.22354425e-01 9.92486438e-01 -2.54392447e-04 6.28088726e-01] [ 3.95220489e-03 -2.30914293e-04 9.99992163e-01 -2.14105591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.487193469999999 meters 0.07215766441118412 Centerline is valid? [True, True] Translation: X:5.23, Y:0.65, Z:-0.22 [[ 9.93507636e-01 -1.13541616e-01 -7.13290679e-03 5.22663892e+00] [ 1.13541235e-01 9.93533178e-01 -4.59604729e-04 6.54534438e-01] [ 7.13896382e-03 -3.53258241e-04 9.99974455e-01 -2.21216876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.51719347 meters 0.06719263444530982 Centerline is valid? [True, True] Translation: X:5.26, Y:0.69, Z:-0.22 [[ 9.94809623e-01 -1.01452553e-01 -7.82267923e-03 5.25521767e+00] [ 1.01451726e-01 9.94840336e-01 -5.03541892e-04 6.89063761e-01] [ 7.83340244e-03 -2.92695990e-04 9.99969276e-01 -2.21761005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54719347 meters 0.0651901379349699 Centerline is valid? [True, True] Translation: X:5.28, Y:0.72, Z:-0.22 [[ 9.95538757e-01 -9.40350153e-02 -7.74589794e-03 5.28452947e+00] [ 9.40339808e-02 9.95568864e-01 -4.98450346e-04 7.15327600e-01] [ 7.75844659e-03 -2.32150980e-04 9.99969876e-01 -2.22397637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.577193469999999 meters 0.06489859434739781 Centerline is valid? [True, True] Translation: X:5.32, Y:0.73, Z:-0.22 [[ 9.95757016e-01 -9.16495610e-02 -8.26581812e-03 5.31666386e+00] [ 9.16483128e-02 9.95791296e-01 -5.30465467e-04 7.25799179e-01] [ 8.27964667e-03 -2.29333574e-04 9.99965697e-01 -2.23131149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6071934699999995 meters 0.06524664947075727 Centerline is valid? [True, True] Translation: X:5.35, Y:0.73, Z:-0.23 [[ 9.95718700e-01 -9.20413005e-02 -8.52466367e-03 5.34751128e+00] [ 9.20400161e-02 9.95755161e-01 -5.43692394e-04 7.34779418e-01] [ 8.53852000e-03 -2.43245498e-04 9.99963517e-01 -2.25420138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.63719347 meters 0.06524664947075727 Centerline is valid? [True, True] Translation: X:5.38, Y:0.74, Z:-0.23 [[ 9.95747064e-01 -9.17339189e-02 -8.52486201e-03 5.38015480e+00] [ 9.17326499e-02 9.95783525e-01 -5.40581908e-04 7.36688416e-01] [ 8.53850684e-03 -2.43725335e-04 9.99963517e-01 -2.25688880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66719347 meters 0.06619909202287412 Centerline is valid? [True, True] Translation: X:5.41, Y:0.74, Z:-0.22 [[ 9.95134154e-01 -9.81779751e-02 -8.31265942e-03 5.41088927e+00] [ 9.81769749e-02 9.95168831e-01 -5.29293131e-04 7.37600214e-01] [ 8.32446448e-03 -2.89394083e-04 9.99965309e-01 -2.24593794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.697193469999999 meters 0.06707904681295787 Centerline is valid? [True, True] Translation: X:5.44, Y:0.74, Z:-0.22 [[ 9.94807235e-01 -1.01498560e-01 -7.52377280e-03 5.44311544e+00] [ 1.01497844e-01 9.94835644e-01 -4.77972237e-04 7.37471692e-01] [ 7.53343085e-03 -2.88156477e-04 9.99971582e-01 -2.24599720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.72719347 meters 0.06856337625133098 Centerline is valid? [True, True] Translation: X:5.47, Y:0.74, Z:-0.22 [[ 9.94294491e-01 -1.06494304e-01 -6.11783137e-03 5.47438628e+00] [ 1.06493924e-01 9.94313277e-01 -3.88898798e-04 7.35529109e-01] [ 6.12445647e-03 -2.64831935e-04 9.99981210e-01 -2.23495454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.75719347 meters 0.06852652143465644 Centerline is valid? [True, True] Translation: X:5.51, Y:0.74, Z:-0.22 [[ 9.94137472e-01 -1.08101423e-01 -2.18395091e-03 5.50697516e+00] [ 1.08101384e-01 9.94139866e-01 -1.36023568e-04 7.35800349e-01] [ 2.18585700e-03 -1.00861990e-04 9.99997606e-01 -2.19217067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.787193469999999 meters 0.06881811688151156 Centerline is valid? [True, True] Translation: X:5.54, Y:0.74, Z:-0.22 [[ 9.94175242e-01 -1.07769641e-01 -1.13728743e-03 5.53965997e+00] [ 1.07769632e-01 9.94175891e-01 -6.94469208e-05 7.36978018e-01] [ 1.13814801e-03 -5.35226387e-05 9.99999351e-01 -2.19708698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.817193469999999 meters 0.07014309590919637 Centerline is valid? [True, True] Translation: X:5.57, Y:0.73, Z:-0.22 [[ 9.93766546e-01 -1.11473202e-01 1.33299598e-03 5.56994780e+00] [ 1.11473189e-01 9.93767438e-01 8.40398638e-05 7.31786791e-01] [-1.33405619e-03 6.50773079e-05 9.99999108e-01 -2.18131452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84719347 meters 0.07346897165408454 Centerline is valid? [True, True] Translation: X:5.60, Y:0.72, Z:-0.22 [[ 9.92927814e-01 -1.18719161e-01 -3.41159243e-04 5.60201509e+00] [ 1.18719161e-01 9.92927873e-01 -2.12150886e-05 7.19732270e-01] [ 3.41265159e-04 -1.94370875e-05 9.99999942e-01 -2.21804576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87719347 meters 0.0765667403148135 Centerline is valid? [True, True] Translation: X:5.63, Y:0.71, Z:-0.22 [[ 9.91867192e-01 -1.27239978e-01 -3.07605580e-03 5.63342679e+00] [ 1.27239986e-01 9.91871942e-01 -1.93708207e-04 7.07263960e-01] [ 3.07570087e-03 -1.99264482e-04 9.99995250e-01 -2.23023407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.907193469999999 meters 0.077295490928129 Centerline is valid? [True, True] Translation: X:5.67, Y:0.71, Z:-0.22 [[ 9.91538515e-01 -1.29752711e-01 -3.95065644e-03 5.66513730e+00] [ 1.29752747e-01 9.91546349e-01 -2.48418664e-04 7.05051961e-01] [ 3.94949196e-03 -2.66291851e-04 9.99992165e-01 -2.22045387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9371934699999995 meters 0.07768409922030889 Centerline is valid? [True, True] Translation: X:5.70, Y:0.70, Z:-0.22 [[ 9.91918278e-01 -1.26808835e-01 -4.20106052e-03 5.69547794e+00] [ 1.26808847e-01 9.91927138e-01 -2.64506956e-04 7.01936187e-01] [ 4.20068776e-03 -2.70362358e-04 9.99991141e-01 -2.20004534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96719347 meters 0.071275859180453 Centerline is valid? [True, True] Translation: X:5.73, Y:0.72, Z:-0.22 [[ 9.93445074e-01 -1.14094355e-01 -7.02582328e-03 5.72551504e+00] [ 1.14094074e-01 9.93469852e-01 -4.42138560e-04 7.15622096e-01] [ 7.03038912e-03 -3.62364424e-04 9.99975221e-01 -2.22143324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.997193469999999 meters 0.06843961675489732 Centerline is valid? [True, True] Translation: X:5.76, Y:0.73, Z:-0.23 [[ 9.94304721e-01 -1.05967856e-01 -1.13549452e-02 5.75585193e+00] [ 1.05966594e-01 9.94369434e-01 -7.14453287e-04 7.26821009e-01] [ 1.13667195e-02 -4.92860592e-04 9.99935275e-01 -2.26952797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.027193469999999 meters 0.06518736907607689 Centerline is valid? [True, True] Translation: X:5.78, Y:0.74, Z:-0.23 [[ 9.95664216e-01 -9.17276209e-02 -1.54535461e-02 5.78421747e+00] [ 9.17235576e-02 9.95784034e-01 -9.72995525e-04 7.43758892e-01] [ 1.54776450e-02 -4.48677400e-04 9.99880113e-01 -2.32944494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.05719347 meters 0.0642699485329632 Centerline is valid? [True, True] Translation: X:5.82, Y:0.75, Z:-0.24 [[ 9.96047797e-01 -8.67249169e-02 -1.91722379e-02 5.81613583e+00] [ 8.67178825e-02 9.96232187e-01 -1.19953193e-03 7.52134720e-01] [ 1.92040298e-02 -4.67784735e-04 9.99815476e-01 -2.36016888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.08719347 meters 0.0646053079095692 Centerline is valid? [True, True] Translation: X:5.85, Y:0.75, Z:-0.24 [[ 9.95849514e-01 -8.84164819e-02 -2.15933240e-02 5.84844426e+00] [ 8.84079522e-02 9.96083434e-01 -1.35119375e-03 7.52916669e-01] [ 2.16282202e-02 -5.63435916e-04 9.99765924e-01 -2.37857547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.117193469999999 meters 0.06596703333110736 Centerline is valid? [True, True] Translation: X:5.88, Y:0.75, Z:-0.24 [[ 9.95165690e-01 -9.57712319e-02 -2.17513305e-02 5.87960161e+00] [ 9.57643432e-02 9.95403104e-01 -1.36050304e-03 7.47462565e-01] [ 2.17816389e-02 -7.29075934e-04 9.99762486e-01 -2.36944681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1471934699999995 meters 0.06846362087277624 Centerline is valid? [True, True] Translation: X:5.91, Y:0.74, Z:-0.23 [[ 9.94406223e-01 -1.04245630e-01 -1.70032878e-02 5.91085522e+00] [ 1.04242672e-01 9.94551324e-01 -1.06258214e-03 7.36967932e-01] [ 1.70214119e-02 -7.15829852e-04 9.99854869e-01 -2.33275725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.17719347 meters 0.06951948132054711 Centerline is valid? [True, True] Translation: X:5.94, Y:0.73, Z:-0.23 [[ 9.94090756e-01 -1.07514765e-01 -1.49714516e-02 5.94353863e+00] [ 1.07512863e-01 9.94203255e-01 -9.34168252e-04 7.34125867e-01] [ 1.49851028e-02 -6.80975601e-04 9.99887485e-01 -2.31737635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.207193469999999 meters 0.06982083428490989 Centerline is valid? [True, True] Translation: X:5.98, Y:0.73, Z:-0.23 [[ 9.94066765e-01 -1.08330372e-01 -9.78763622e-03 5.97621497e+00] [ 1.08329641e-01 9.94114843e-01 -6.06331015e-04 7.32885488e-01] [ 9.79571851e-03 -4.57557610e-04 9.99951916e-01 -2.27701515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.237193469999999 meters 0.0679304882073046 Centerline is valid? [True, True] Translation: X:6.01, Y:0.74, Z:-0.22 [[ 9.94569121e-01 -1.03893845e-01 -6.19130598e-03 6.00632780e+00] [ 1.03893458e-01 9.94588358e-01 -3.84938091e-04 7.39146578e-01] [ 6.19779355e-03 -2.60388647e-04 9.99980760e-01 -2.24691656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.26719347 meters 0.0666379075382952 Centerline is valid? [True, True] Translation: X:6.04, Y:0.75, Z:-0.22 [[ 9.94964608e-01 -1.00201922e-01 -2.23673473e-03 6.03674259e+00] [ 1.00201862e-01 9.94967119e-01 -1.38865802e-04 7.46283497e-01] [ 2.23939213e-03 -8.59584279e-05 9.99997489e-01 -2.21021663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.29719347 meters 0.06656096933607498 Centerline is valid? [True, True] Translation: X:6.07, Y:0.75, Z:-0.22 [[ 9.94733622e-01 -1.02486993e-01 1.19902117e-03 6.06924243e+00] [ 1.02486975e-01 9.94734343e-01 7.64656459e-05 7.49090528e-01] [-1.20054427e-03 4.68211044e-05 9.99999278e-01 -2.19594843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.327193469999999 meters 0.06831312197514221 Centerline is valid? [True, True] Translation: X:6.10, Y:0.74, Z:-0.22 [[ 9.94293225e-01 -1.06652363e-01 2.50136085e-03 6.09935587e+00] [ 1.06652309e-01 9.94296365e-01 1.55300322e-04 7.44571047e-01] [-2.50365715e-03 1.12361852e-04 9.99996860e-01 -2.20031161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3571934699999995 meters 0.07371051593394176 Centerline is valid? [True, True] Translation: X:6.13, Y:0.73, Z:-0.22 [[ 9.92801828e-01 -1.19748075e-01 2.22010594e-03 6.13070678e+00] [ 1.19748066e-01 9.92804302e-01 1.37358855e-04 7.31038926e-01] [-2.22057919e-03 1.29483272e-04 9.99997526e-01 -2.21159893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38719347 meters 0.07616445077336031 Centerline is valid? [True, True] Translation: X:6.16, Y:0.73, Z:-0.22 [[ 9.91871175e-01 -1.27245563e-01 -3.73057839e-04 6.16195338e+00] [ 1.27245563e-01 9.91871245e-01 -2.29364181e-05 7.26035393e-01] [ 3.72943901e-04 -2.47199829e-05 9.99999930e-01 -2.23930676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.41719347 meters 0.09009511344795042 Centerline is valid? [True, True] Translation: X:6.19, Y:0.70, Z:-0.23 [[ 9.90180269e-01 -1.39540749e-01 -8.45065967e-03 6.19343778e+00] [ 1.39541350e-01 9.90216108e-01 -5.21323524e-04 6.96689206e-01] [ 8.44072520e-03 -6.63012194e-04 9.99964157e-01 -2.34531171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.447193469999999 meters 0.08708460883573445 Centerline is valid? [True, True] Translation: X:6.22, Y:0.70, Z:-0.23 [[ 9.89238487e-01 -1.45984145e-01 -9.79001230e-03 6.22405455e+00] [ 1.45985264e-01 9.89286580e-01 -6.04033164e-04 6.99667887e-01] [ 9.77330705e-03 -8.31664680e-04 9.99951894e-01 -2.33403566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.47719347 meters 0.08358367573363616 Centerline is valid? [True, True] Translation: X:6.25, Y:0.71, Z:-0.23 [[ 9.90062939e-01 -1.40144482e-01 -1.16147240e-02 6.25412804e+00] [ 1.40145657e-01 9.90130638e-01 -7.16733492e-04 7.09121058e-01] [ 1.16005403e-02 -9.18141852e-04 9.99932290e-01 -2.33154872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.50719347 meters 0.08038338847814601 Centerline is valid? [True, True] Translation: X:6.28, Y:0.72, Z:-0.23 [[ 9.91037431e-01 -1.32865148e-01 -1.38442593e-02 6.28453660e+00] [ 1.32866117e-01 9.91133627e-01 -8.53863610e-04 7.20055682e-01] [ 1.38349596e-02 -9.93222180e-04 9.99903799e-01 -2.34110272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.537193469999999 meters 0.07110670870999997 Centerline is valid? [True, True] Translation: X:6.31, Y:0.75, Z:-0.23 [[ 9.93433704e-01 -1.13349251e-01 -1.55378056e-02 6.31290522e+00] [ 1.13348090e-01 9.93554876e-01 -9.58218957e-04 7.52245404e-01] [ 1.55462759e-02 -8.09253577e-04 9.99878822e-01 -2.34253051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.567193469999999 meters 0.06810603320754159 Centerline is valid? [True, True] Translation: X:6.34, Y:0.77, Z:-0.24 [[ 9.94660162e-01 -1.02074702e-01 -1.52288112e-02 6.34162107e+00] [ 1.02072270e-01 9.94776543e-01 -9.38896176e-04 7.68507310e-01] [ 1.52451017e-02 -6.20556698e-04 9.99883594e-01 -2.36088407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.59719347 meters 0.06321722882255137 Centerline is valid? [True, True] Translation: X:6.37, Y:0.80, Z:-0.24 [[ 9.96262580e-01 -8.54865768e-02 -1.23659920e-02 6.37072804e+00] [ 8.54836954e-02 9.96339278e-01 -7.62356859e-04 7.98716858e-01] [ 1.23858948e-02 -2.97583082e-04 9.99923248e-01 -2.35852584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62719347 meters 0.06284916087308262 Centerline is valid? [True, True] Translation: X:6.40, Y:0.81, Z:-0.24 [[ 9.96371787e-01 -8.45219599e-02 -9.96499521e-03 6.40245279e+00] [ 8.45200895e-02 9.96421589e-01 -6.09434570e-04 8.10967317e-01] [ 9.98084697e-03 -2.35018876e-04 9.99950162e-01 -2.35574673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.657193469999999 meters 0.06397081801336743 Centerline is valid? [True, True] Translation: X:6.43, Y:0.81, Z:-0.24 [[ 9.95988886e-01 -8.90909950e-02 -8.30266251e-03 6.43417937e+00] [ 8.90898740e-02 9.96023463e-01 -5.05498179e-04 8.09976984e-01] [ 8.31468200e-03 -2.36212589e-04 9.99965405e-01 -2.35532643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6871934699999995 meters 0.07031016477205884 Centerline is valid? [True, True] Translation: X:6.46, Y:0.79, Z:-0.23 [[ 9.94201887e-01 -1.07380925e-01 -5.65194416e-03 6.46489538e+00] [ 1.07380691e-01 9.94217918e-01 -3.45600960e-04 7.93827209e-01] [ 5.65637510e-03 -2.63312544e-04 9.99983968e-01 -2.34824819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.71719347 meters 0.07794210374160435 Centerline is valid? [True, True] Translation: X:6.50, Y:0.78, Z:-0.23 [[ 9.91973303e-01 -1.26447282e-01 2.27826091e-04 6.49632990e+00] [ 1.26447282e-01 9.91973329e-01 1.41243621e-05 7.78752459e-01] [-2.27783393e-04 1.47969997e-05 9.99999974e-01 -2.26497642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.747193469999999 meters 0.08251863001045154 Centerline is valid? [True, True] Translation: X:6.53, Y:0.77, Z:-0.22 [[ 9.90958428e-01 -1.34152386e-01 2.12845783e-03 6.52629272e+00] [ 1.34152414e-01 9.90960702e-01 1.30346109e-04 7.71831297e-01] [-2.12670431e-03 1.56370181e-04 9.99997726e-01 -2.23761745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.777193469999999 meters 0.0837809199179698 Centerline is valid? [True, True] Translation: X:6.56, Y:0.77, Z:-0.22 [[ 9.90022941e-01 -1.40796080e-01 5.57143083e-03 6.55698050e+00] [ 1.40796380e-01 9.90038516e-01 3.40279787e-04 7.71321996e-01] [-5.56384117e-03 4.47552498e-04 9.99984422e-01 -2.21216632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.80719347 meters 0.08478677634838006 Centerline is valid? [True, True] Translation: X:6.59, Y:0.77, Z:-0.22 [[ 9.91101021e-01 -1.32993434e-01 5.61365068e-03 6.58716382e+00] [ 1.32993615e-01 9.91116835e-01 3.42809501e-04 7.73440317e-01] [-5.60937511e-03 4.06820850e-04 9.99984185e-01 -2.23775982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.83719347 meters 0.07489331449622699 Centerline is valid? [True, True] Translation: X:6.62, Y:0.80, Z:-0.23 [[ 9.93240530e-01 -1.16059303e-01 1.86770013e-03 6.61634410e+00] [ 1.16059293e-01 9.93242280e-01 1.14134819e-04 8.03698966e-01] [-1.86832515e-03 1.03400629e-04 9.99998249e-01 -2.27812352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.867193469999999 meters 0.06931900691351071 Centerline is valid? [True, True] Translation: X:6.65, Y:0.82, Z:-0.23 [[ 9.94214390e-01 -1.07408691e-01 -1.05848929e-03 6.64546027e+00] [ 1.07408683e-01 9.94214952e-01 -6.44511808e-05 8.24743075e-01] [ 1.05928850e-03 -4.96126494e-05 9.99999438e-01 -2.30378461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8971934699999995 meters 0.06494196701880373 Centerline is valid? [True, True] Translation: X:6.67, Y:0.85, Z:-0.24 [[ 9.95733259e-01 -9.20070974e-02 -7.06897499e-03 6.67434567e+00] [ 9.20063521e-02 9.95758327e-01 -4.31251455e-04 8.49509607e-01] [ 7.07866890e-03 -2.20979185e-04 9.99974921e-01 -2.35510859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92719347 meters 0.06345783223405345 Centerline is valid? [True, True] Translation: X:6.70, Y:0.86, Z:-0.24 [[ 9.96417484e-01 -8.41686718e-02 -8.23605858e-03 6.70296447e+00] [ 8.41673899e-02 9.96451503e-01 -5.02748363e-04 8.63686058e-01] [ 8.24914861e-03 -1.92260294e-04 9.99965957e-01 -2.37023415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.957193469999999 meters 0.06333834598729798 Centerline is valid? [True, True] Translation: X:6.74, Y:0.87, Z:-0.24 [[ 9.96521199e-01 -8.29181806e-02 -8.37111268e-03 6.73549178e+00] [ 8.29168509e-02 9.96556340e-01 -5.06377118e-04 8.67836299e-01] [ 8.38427329e-03 -1.89490769e-04 9.99964833e-01 -2.37023691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.987193469999999 meters 0.06347509813670368 Centerline is valid? [True, True] Translation: X:6.77, Y:0.87, Z:-0.24 [[ 9.96535505e-01 -8.26851601e-02 -8.95269777e-03 6.76861694e+00] [ 8.26836559e-02 9.96575699e-01 -5.38655409e-04 8.70059547e-01] [ 8.96657984e-03 -2.03452542e-04 9.99959779e-01 -2.39568899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01719347 meters 0.06425841276873644 Centerline is valid? [True, True] Translation: X:6.80, Y:0.87, Z:-0.24 [[ 9.96338373e-01 -8.49612379e-02 -9.56216212e-03 6.79962674e+00] [ 8.49596234e-02 9.96384229e-01 -5.75653609e-04 8.65816606e-01] [ 9.57649578e-03 -2.38851913e-04 9.99954116e-01 -2.42559930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.04719347 meters 0.06489672135534198 Centerline is valid? [True, True] Translation: X:6.83, Y:0.86, Z:-0.24 [[ 9.96274713e-01 -8.55922700e-02 -1.05194896e-02 6.83102825e+00] [ 8.55903864e-02 9.96330211e-01 -6.29942952e-04 8.62386547e-01] [ 1.05348036e-02 -2.72770948e-04 9.99944470e-01 -2.44965980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.077193470000001 meters 0.06477887707066934 Centerline is valid? [True, True] Translation: X:6.86, Y:0.86, Z:-0.24 [[ 9.96190990e-01 -8.65541261e-02 -1.05780692e-02 6.86367571e+00] [ 8.65523067e-02 9.96247108e-01 -6.30535289e-04 8.60329528e-01] [ 1.05929463e-02 -2.87422720e-04 9.99943852e-01 -2.42947487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10719347 meters 0.06481876064349452 Centerline is valid? [True, True] Translation: X:6.90, Y:0.86, Z:-0.24 [[ 9.95944492e-01 -8.95872137e-02 -8.28850800e-03 6.89582830e+00] [ 8.95862222e-02 9.95978949e-01 -4.91564954e-04 8.55131754e-01] [ 8.29921742e-03 -2.52964711e-04 9.99965529e-01 -2.40293896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.13719347 meters 0.06576508564741114 Centerline is valid? [True, True] Translation: X:6.93, Y:0.85, Z:-0.24 [[ 9.95762038e-01 -9.17341662e-02 -6.54266847e-03 6.92714642e+00] [ 9.17335970e-02 9.95783509e-01 -3.87669381e-04 8.47976801e-01] [ 6.55064389e-03 -2.14156060e-04 9.99978521e-01 -2.40453619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16719347 meters 0.06963907104799881 Centerline is valid? [True, True] Translation: X:6.96, Y:0.83, Z:-0.24 [[ 9.94925881e-01 -1.00333736e-01 -7.45867617e-03 6.95782668e+00] [ 1.00333232e-01 9.94953791e-01 -4.42753583e-04 8.27101954e-01] [ 7.46546125e-03 -3.07846086e-04 9.99972086e-01 -2.43637740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19719347 meters 0.07119038291664655 Centerline is valid? [True, True] Translation: X:6.99, Y:0.82, Z:-0.25 [[ 9.94503154e-01 -1.04281432e-01 -9.42653397e-03 6.98985586e+00] [ 1.04280807e-01 9.94547737e-01 -5.59228763e-04 8.19315837e-01] [ 9.43345520e-03 -4.26851796e-04 9.99955413e-01 -2.45772888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.22719347 meters 0.07514028447178042 Centerline is valid? [True, True] Translation: X:7.02, Y:0.80, Z:-0.24 [[ 9.92973190e-01 -1.17988226e-01 -9.11166011e-03 7.02191540e+00] [ 1.17988217e-01 9.93014848e-01 -5.40455178e-04 7.99798372e-01] [ 9.11178113e-03 -5.38411028e-04 9.99958342e-01 -2.40540944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25719347 meters 0.07669109906456717 Centerline is valid? [True, True] Translation: X:7.05, Y:0.80, Z:-0.24 [[ 9.92566037e-01 -1.21281473e-01 -1.01718076e-02 7.05349102e+00] [ 1.21281635e-01 9.92617953e-01 -6.03188683e-04 7.95126714e-01] [ 1.01698745e-02 -6.34948862e-04 9.99948084e-01 -2.40582931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28719347 meters 0.07776303041476754 Centerline is valid? [True, True] Translation: X:7.08, Y:0.79, Z:-0.24 [[ 9.92362133e-01 -1.22800271e-01 -1.17255951e-02 7.08489794e+00] [ 1.22800599e-01 9.92431121e-01 -6.94748439e-04 7.91022678e-01] [ 1.17221608e-02 -7.50468062e-04 9.99931011e-01 -2.42807552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.317193470000001 meters 0.07733948111465018 Centerline is valid? [True, True] Translation: X:7.12, Y:0.79, Z:-0.25 [[ 9.92399275e-01 -1.22126151e-01 -1.51288647e-02 7.11746614e+00] [ 1.22126708e-01 9.92514118e-01 -8.90510022e-04 7.88243827e-01] [ 1.51243664e-02 -9.63896943e-04 9.99885156e-01 -2.48005630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34719347 meters 0.0777384074857586 Centerline is valid? [True, True] Translation: X:7.15, Y:0.79, Z:-0.25 [[ 9.92569014e-01 -1.20984491e-01 -1.30193947e-02 7.14780560e+00] [ 1.20984786e-01 9.92654065e-01 -7.67839754e-04 7.87992300e-01] [ 1.30166518e-02 -8.13014744e-04 9.99914949e-01 -2.47338613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.37719347 meters 0.07779813387456903 Centerline is valid? [True, True] Translation: X:7.18, Y:0.79, Z:-0.25 [[ 9.92455918e-01 -1.21622268e-01 -1.54684736e-02 7.17953146e+00] [ 1.21622850e-01 9.92575972e-01 -9.06624381e-04 7.91234634e-01] [ 1.54639009e-02 -9.81535108e-04 9.99879945e-01 -2.48012859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.407193470000001 meters 0.07932917983299378 Centerline is valid? [True, True] Translation: X:7.21, Y:0.79, Z:-0.25 [[ 9.92231066e-01 -1.23099036e-01 -1.80038565e-02 7.20943434e+00] [ 1.23100024e-01 9.92393705e-01 -1.05758876e-03 7.91727727e-01] [ 1.79971020e-02 -1.16690273e-03 9.99837358e-01 -2.49622264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.43719347 meters 0.08023548743700479 Centerline is valid? [True, True] Translation: X:7.24, Y:0.79, Z:-0.25 [[ 9.91804852e-01 -1.26956082e-01 -1.43279115e-02 7.24048551e+00] [ 1.26957114e-01 9.91907850e-01 -8.41226335e-04 7.94003553e-01] [ 1.43187667e-02 -9.84697936e-04 9.99896996e-01 -2.45645888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.46719347 meters 0.08131083164835563 Centerline is valid? [True, True] Translation: X:7.27, Y:0.79, Z:-0.24 [[ 9.91359416e-01 -1.30837086e-01 -9.38962380e-03 7.27190025e+00] [ 1.30837704e-01 9.91403647e-01 -5.51052528e-04 7.91569998e-01] [ 9.38100539e-03 -6.82225706e-04 9.99955765e-01 -2.42221273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.497193470000001 meters 0.08294940737094326 Centerline is valid? [True, True] Translation: X:7.30, Y:0.79, Z:-0.24 [[ 9.91171044e-01 -1.32230517e-01 -9.74950466e-03 7.30284640e+00] [ 1.32231272e-01 9.91218728e-01 -5.69946660e-04 7.90061657e-01] [ 9.73925595e-03 -7.24274780e-04 9.99952310e-01 -2.42513464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52719347 meters 0.0823341303706568 Centerline is valid? [True, True] Translation: X:7.33, Y:0.80, Z:-0.24 [[ 9.91300107e-01 -1.31260388e-01 -9.73699190e-03 7.33480392e+00] [ 1.31261131e-01 9.91347666e-01 -5.65574119e-04 7.95506382e-01] [ 9.72698168e-03 -7.17434881e-04 9.99952434e-01 -2.42082703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.55719347 meters 0.0823341303706568 Centerline is valid? [True, True] Translation: X:7.37, Y:0.80, Z:-0.24 [[ 9.91339513e-01 -1.30962430e-01 -9.73718000e-03 7.36751242e+00] [ 1.30963190e-01 9.91387072e-01 -5.62334157e-04 7.97222676e-01] [ 9.72695902e-03 -7.17748084e-04 9.99952434e-01 -2.42351965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58719347 meters 0.08344937373770629 Centerline is valid? [True, True] Translation: X:7.40, Y:0.80, Z:-0.24 [[ 9.91442178e-01 -1.30214058e-01 -9.31170048e-03 7.39913172e+00] [ 1.30214737e-01 9.91485671e-01 -5.35879010e-04 7.98456911e-01] [ 9.30219657e-03 -6.81227575e-04 9.99956502e-01 -2.43287409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61719347 meters 0.07830090375318641 Centerline is valid? [True, True] Translation: X:7.43, Y:0.81, Z:-0.24 [[ 9.92236345e-01 -1.24244198e-01 -5.51504128e-03 7.42912492e+00] [ 1.24244339e-01 9.92251603e-01 -3.18329977e-04 8.14710928e-01] [ 5.51185920e-03 -3.69354087e-04 9.99984741e-01 -2.40714042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.647193470000001 meters 0.07449355659992854 Centerline is valid? [True, True] Translation: X:7.46, Y:0.83, Z:-0.24 [[ 9.93189267e-01 -1.16510296e-01 6.56122416e-04 7.45893766e+00] [ 1.16510297e-01 9.93189483e-01 3.80403217e-05 8.32467927e-01] [-6.56085973e-04 3.86637780e-05 9.99999784e-01 -2.36521452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67719347 meters 0.07334593642940455 Centerline is valid? [True, True] Translation: X:7.49, Y:0.84, Z:-0.24 [[ 9.93502066e-01 -1.13803468e-01 1.55434213e-03 7.49027683e+00] [ 1.13803466e-01 9.93503278e-01 9.01100296e-05 8.41397194e-01] [-1.55449884e-03 8.73650216e-05 9.99998788e-01 -2.36440375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.70719347 meters 0.07365168136812704 Centerline is valid? [True, True] Translation: X:7.52, Y:0.85, Z:-0.24 [[ 9.93580291e-01 -1.13112777e-01 1.92465944e-03 7.52247773e+00] [ 1.13112771e-01 9.93582150e-01 1.12656132e-04 8.50599935e-01] [-1.92505011e-03 1.05770649e-04 9.99998141e-01 -2.38405281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.737193470000001 meters 0.0755322726412876 Centerline is valid? [True, True] Translation: X:7.55, Y:0.85, Z:-0.24 [[ 9.93058700e-01 -1.17601973e-01 2.04810143e-03 7.55360172e+00] [ 1.17601980e-01 9.93060804e-01 1.17763198e-04 8.53973550e-01] [-2.04773844e-03 1.23915015e-04 9.99997896e-01 -2.38651582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76719347 meters 0.08221568228112607 Centerline is valid? [True, True] Translation: X:7.58, Y:0.85, Z:-0.24 [[ 9.92215141e-01 -1.24495447e-01 3.16194140e-03 7.58389058e+00] [ 1.24495497e-01 9.92220156e-01 1.81804695e-04 8.46577915e-01] [-3.15997584e-03 2.13258094e-04 9.99994985e-01 -2.38723792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.79719347 meters 0.08143749991564277 Centerline is valid? [True, True] Translation: X:7.61, Y:0.85, Z:-0.24 [[ 9.91887300e-01 -1.27113132e-01 1.35485800e-03 7.61438002e+00] [ 1.27113144e-01 9.91888221e-01 7.77565864e-05 8.52769407e-01] [-1.35375157e-03 9.50944895e-05 9.99999079e-01 -2.39214685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.827193470000001 meters 0.08141173936464131 Centerline is valid? [True, True] Translation: X:7.65, Y:0.86, Z:-0.25 [[ 9.91855030e-01 -1.27176793e-01 -7.04718543e-03 7.64622142e+00] [ 1.27177127e-01 9.91879940e-01 -4.02535220e-04 8.60601743e-01] [ 7.04115501e-03 -4.96984216e-04 9.99975087e-01 -2.46830138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.85719347 meters 0.08053836884374359 Centerline is valid? [True, True] Translation: X:7.68, Y:0.87, Z:-0.25 [[ 9.92582766e-01 -1.21167993e-01 -9.88791580e-03 7.67542696e+00] [ 1.21168342e-01 9.92631811e-01 -5.65923890e-04 8.67469240e-01] [ 9.88363164e-03 -6.36376069e-04 9.99950953e-01 -2.53760590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.88719347 meters 0.07814481182776949 Centerline is valid? [True, True] Translation: X:7.71, Y:0.88, Z:-0.25 [[ 9.93255919e-01 -1.15526960e-01 -9.80821548e-03 7.70554993e+00] [ 1.15527031e-01 9.93304178e-01 -5.61180173e-04 8.76409261e-01] [ 9.80737286e-03 -5.75718487e-04 9.99951741e-01 -2.54733295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91719347 meters 0.07184294968939785 Centerline is valid? [True, True] Translation: X:7.73, Y:0.90, Z:-0.26 [[ 9.94721819e-01 -1.02075855e-01 -1.04414234e-02 7.73479190e+00] [ 1.02075196e-01 9.94776506e-01 -5.97446187e-04 8.99025669e-01] [ 1.04478676e-02 -4.71517583e-04 9.99945308e-01 -2.55698888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94719347 meters 0.06650246212789339 Centerline is valid? [True, True] Translation: X:7.76, Y:0.93, Z:-0.26 [[ 9.96060842e-01 -8.76334041e-02 -1.35346357e-02 7.76444746e+00] [ 8.76309691e-02 9.96152706e-01 -7.74004691e-04 9.25748436e-01] [ 1.35503926e-02 -4.15097475e-04 9.99908103e-01 -2.56368956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.97719347 meters 0.0648664848378978 Centerline is valid? [True, True] Translation: X:7.79, Y:0.94, Z:-0.26 [[ 9.96625195e-01 -8.10769696e-02 -1.28353386e-02 7.79460065e+00] [ 8.10742390e-02 9.96707795e-01 -7.33783613e-04 9.36515119e-01] [ 1.28525750e-02 -3.09308074e-04 9.99917354e-01 -2.56531755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00719347 meters 0.06296978719191608 Centerline is valid? [True, True] Translation: X:7.83, Y:0.95, Z:-0.26 [[ 9.97511594e-01 -6.95589854e-02 -1.14963903e-02 7.82508227e+00] [ 6.95560339e-02 9.97577830e-01 -6.56857990e-04 9.51533390e-01] [ 1.15142345e-02 -1.44419854e-04 9.99933699e-01 -2.55907039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.03719347 meters 0.0621098824094199 Centerline is valid? [True, True] Translation: X:7.86, Y:0.96, Z:-0.25 [[ 9.97974965e-01 -6.30649860e-02 -8.29312733e-03 7.85670595e+00] [ 6.30632324e-02 9.98009421e-01 -4.73047623e-04 9.59802607e-01] [ 8.30645195e-03 -5.09017307e-05 9.99965500e-01 -2.51499199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.067193470000001 meters 0.061734241573997026 Centerline is valid? [True, True] Translation: X:7.89, Y:0.96, Z:-0.25 [[ 9.98144077e-01 -6.06301403e-02 -5.69104988e-03 7.88773271e+00] [ 6.06292925e-02 9.98160301e-01 -3.21546895e-04 9.62048111e-01] [ 5.70007549e-03 -2.40941987e-05 9.99983754e-01 -2.48295890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09719347 meters 0.061560135940765516 Centerline is valid? [True, True] Translation: X:7.92, Y:0.96, Z:-0.24 [[ 9.98173117e-01 -6.03684908e-02 -2.46456835e-03 7.92045297e+00] [ 6.03683357e-02 9.98176159e-01 -1.37325110e-04 9.56146756e-01] [ 2.46836348e-03 -1.17076564e-05 9.99996954e-01 -2.43427164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12719347 meters 0.06203764321431551 Centerline is valid? [True, True] Translation: X:7.95, Y:0.94, Z:-0.25 [[ 9.97910232e-01 -6.44813901e-02 -4.16157604e-03 7.95347371e+00] [ 6.44809826e-02 9.97918909e-01 -2.32162318e-04 9.40159820e-01] [ 4.16788557e-03 -3.66653593e-05 9.99991314e-01 -2.46407084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.157193470000001 meters 0.062415776480726694 Centerline is valid? [True, True] Translation: X:7.99, Y:0.93, Z:-0.25 [[ 9.97785183e-01 -6.62206037e-02 -6.28975182e-03 7.98523650e+00] [ 6.62197089e-02 9.97805005e-01 -3.50634500e-04 9.31182661e-01] [ 6.29916507e-03 -6.66476259e-05 9.99980158e-01 -2.48866965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18719347 meters 0.06249270544695563 Centerline is valid? [True, True] Translation: X:8.02, Y:0.92, Z:-0.25 [[ 9.97710097e-01 -6.70519890e-02 -8.86528630e-03 8.01841635e+00] [ 6.70502590e-02 9.97749478e-01 -4.92545457e-04 9.18910820e-01] [ 8.87836093e-03 -1.03002167e-04 9.99960581e-01 -2.49883307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.21719347 meters 0.0627759734060689 Centerline is valid? [True, True] Translation: X:8.05, Y:0.91, Z:-0.26 [[ 9.97858333e-01 -6.41352954e-02 -1.28612372e-02 8.04982974e+00] [ 6.41314279e-02 9.97941206e-01 -7.13332257e-04 9.07061280e-01] [ 1.28805084e-02 -1.13004971e-04 9.99917036e-01 -2.55423580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.247193470000001 meters 0.06270159216130038 Centerline is valid? [True, True] Translation: X:8.08, Y:0.90, Z:-0.26 [[ 9.97859809e-01 -6.34642832e-02 -1.57507495e-02 8.08218180e+00] [ 6.34584669e-02 9.97984102e-01 -8.69291199e-04 9.00641294e-01] [ 1.57741665e-02 -1.32087663e-04 9.99875571e-01 -2.56814171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.27719347 meters 0.06283754758125197 Centerline is valid? [True, True] Translation: X:8.12, Y:0.88, Z:-0.26 [[ 9.97647688e-01 -6.59196176e-02 -1.88067591e-02 8.11540291e+00] [ 6.59117514e-02 9.97824916e-01 -1.03848168e-03 8.81391603e-01] [ 1.88343091e-02 -2.03547584e-04 9.99822598e-01 -2.60471886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.30719347 meters 0.06344922751467003 Centerline is valid? [True, True] Translation: X:8.15, Y:0.86, Z:-0.26 [[ 9.96914535e-01 -7.50883604e-02 -2.28724292e-02 8.14759987e+00] [ 7.50791319e-02 9.97176779e-01 -1.26315504e-03 8.62944413e-01] [ 2.29027035e-02 -4.57984509e-04 9.99737594e-01 -2.57874201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.33719347 meters 0.06535077885493326 Centerline is valid? [True, True] Translation: X:8.18, Y:0.84, Z:-0.26 [[ 9.96171063e-01 -8.43068933e-02 -2.31421994e-02 8.17872652e+00] [ 8.42999792e-02 9.96439605e-01 -1.27591866e-03 8.37646321e-01] [ 2.31673728e-02 -6.79853678e-04 9.99731369e-01 -2.59930814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36719347 meters 0.06533320336937919 Centerline is valid? [True, True] Translation: X:8.21, Y:0.83, Z:-0.26 [[ 9.95883986e-01 -8.80903937e-02 -2.13346928e-02 8.21129263e+00] [ 8.80855347e-02 9.96112228e-01 -1.16922135e-03 8.27030172e-01] [ 2.13547455e-02 -7.14869003e-04 9.99771706e-01 -2.57350802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.39719347 meters 0.06785960399138555 Centerline is valid? [True, True] Translation: X:8.24, Y:0.80, Z:-0.26 [[ 9.95139309e-01 -9.61683421e-02 -2.11992000e-02 8.24274159e+00] [ 9.61653197e-02 9.95364695e-01 -1.16432297e-03 8.00808811e-01] [ 2.12129063e-02 -8.79964294e-04 9.99774594e-01 -2.60014703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42719347 meters 0.06885238510888876 Centerline is valid? [True, True] Translation: X:8.28, Y:0.79, Z:-0.26 [[ 9.94810625e-01 -9.97901013e-02 -1.98432953e-02 8.27564986e+00] [ 9.97883098e-02 9.95008101e-01 -1.08289910e-03 7.86068218e-01] [ 1.98523022e-02 -9.02849372e-04 9.99802516e-01 -2.57025001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.45719347 meters 0.06593404734587519 Centerline is valid? [True, True] Translation: X:8.31, Y:0.79, Z:-0.25 [[ 9.95084732e-01 -9.72041050e-02 -1.89139458e-02 8.30696121e+00] [ 9.72019955e-02 9.95264138e-01 -1.03300441e-03 7.85000144e-01] [ 1.89247842e-02 -8.10546358e-04 9.99820582e-01 -2.51008217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.487193470000001 meters 0.06517565176566703 Centerline is valid? [True, True] Translation: X:8.34, Y:0.78, Z:-0.25 [[ 9.95445941e-01 -9.33950352e-02 -1.90983217e-02 8.33837626e+00] [ 9.33921988e-02 9.95628852e-01 -1.04231310e-03 7.84417703e-01] [ 1.91121870e-02 -7.46067916e-04 9.99817067e-01 -2.50910674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.51719347 meters 0.06353223595931713 Centerline is valid? [True, True] Translation: X:8.37, Y:0.78, Z:-0.25 [[ 9.96172815e-01 -8.49324317e-02 -2.06447383e-02 8.36941245e+00] [ 8.49273058e-02 9.96386513e-01 -1.12649700e-03 7.84386283e-01] [ 2.06658150e-02 -6.31116316e-04 9.99786240e-01 -2.50641550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.54719347 meters 0.06280570363565657 Centerline is valid? [True, True] Translation: X:8.40, Y:0.78, Z:-0.25 [[ 9.96641780e-01 -7.92727903e-02 -2.05179506e-02 8.40019558e+00] [ 7.92665482e-02 9.96852829e-01 -1.11860995e-03 7.83915928e-01] [ 2.05420524e-02 -5.11533708e-04 9.99788859e-01 -2.49440104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.577193470000001 meters 0.06292346216667688 Centerline is valid? [True, True] Translation: X:8.43, Y:0.78, Z:-0.25 [[ 9.96670427e-01 -7.88430382e-02 -2.07806431e-02 8.43356539e+00] [ 7.88366202e-02 9.96886910e-01 -1.12916819e-03 7.81331664e-01] [ 2.08049782e-02 -5.12867126e-04 9.99783421e-01 -2.51397476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.60719347 meters 0.0626233322752719 Centerline is valid? [True, True] Translation: X:8.47, Y:0.77, Z:-0.25 [[ 9.96568392e-01 -8.02292502e-02 -2.03643468e-02 8.46636567e+00] [ 8.02234019e-02 9.96776296e-01 -1.10527486e-03 7.74607337e-01] [ 2.03873736e-02 -5.32215190e-04 9.99792014e-01 -2.50429522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.63719347 meters 0.06278220677185696 Centerline is valid? [True, True] Translation: X:8.50, Y:0.77, Z:-0.24 [[ 9.96363573e-01 -8.35305598e-02 -1.68010990e-02 8.50011553e+00] [ 8.35270917e-02 9.96505092e-01 -9.09267041e-04 7.68808084e-01] [ 1.68183323e-02 -4.97386381e-04 9.99858438e-01 -2.44420009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66719347 meters 0.06317197035747069 Centerline is valid? [True, True] Translation: X:8.53, Y:0.77, Z:-0.24 [[ 9.96369151e-01 -8.40290236e-02 -1.36981228e-02 8.53189984e+00] [ 8.40267785e-02 9.96463222e-01 -7.40366990e-04 7.66995403e-01] [ 1.37118879e-02 -4.13330300e-04 9.99905902e-01 -2.42269803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69719347 meters 0.06227201267341286 Centerline is valid? [True, True] Translation: X:8.56, Y:0.77, Z:-0.24 [[ 9.96792691e-01 -7.92466277e-02 -1.11491484e-02 8.56367342e+00] [ 7.92448481e-02 9.96855000e-01 -6.01991517e-04 7.67812010e-01] [ 1.11617902e-02 -2.83451830e-04 9.99937665e-01 -2.41124698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.72719347 meters 0.06106210443845308 Centerline is valid? [True, True] Translation: X:8.59, Y:0.77, Z:-0.25 [[ 9.97495460e-01 -6.93597185e-02 -1.38577576e-02 8.59342582e+00] [ 6.93560435e-02 9.97591691e-01 -7.46177844e-04 7.74344642e-01] [ 1.38761386e-02 -2.16810230e-04 9.99903698e-01 -2.45479371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75719347 meters 0.06064735284094222 Centerline is valid? [True, True] Translation: X:8.63, Y:0.78, Z:-0.25 [[ 9.97795090e-01 -6.46472514e-02 -1.50230498e-02 8.62571337e+00] [ 6.46424101e-02 9.97908165e-01 -8.08133429e-04 7.79701035e-01] [ 1.50438677e-02 -1.64774580e-04 9.99886821e-01 -2.46349813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78719347 meters 0.06062321986675895 Centerline is valid? [True, True] Translation: X:8.66, Y:0.78, Z:-0.25 [[ 9.98192338e-01 -5.78848567e-02 -1.61678747e-02 8.65793893e+00] [ 5.78783821e-02 9.98323264e-01 -8.68476717e-04 7.84818201e-01] [ 1.61910371e-02 -6.88636251e-05 9.99868914e-01 -2.49083953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.817193470000001 meters 0.06154087786103703 Centerline is valid? [True, True] Translation: X:8.69, Y:0.79, Z:-0.25 [[ 9.98179840e-01 -5.57688114e-02 -2.29531328e-02 8.68807257e+00] [ 5.57551947e-02 9.98443708e-01 -1.23327196e-03 7.86033424e-01] [ 2.29861891e-02 -4.87291774e-05 9.99735781e-01 -2.54451112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84719347 meters 0.06192141720733148 Centerline is valid? [True, True] Translation: X:8.72, Y:0.78, Z:-0.26 [[ 9.98040882e-01 -5.75062815e-02 -2.46459914e-02 8.72014102e+00] [ 5.74911725e-02 9.98345140e-01 -1.32176066e-03 7.83164765e-01] [ 2.46812153e-02 -9.77557641e-05 9.99695368e-01 -2.56537861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.87719347 meters 0.0620870460786881 Centerline is valid? [True, True] Translation: X:8.75, Y:0.77, Z:-0.26 [[ 9.97590722e-01 -6.56402252e-02 -2.24524519e-02 8.75383405e+00] [ 6.56298142e-02 9.97843317e-01 -1.20104273e-03 7.67329386e-01] [ 2.24828658e-02 -2.75401159e-04 9.99747190e-01 -2.57972510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.907193470000001 meters 0.06194562655540431 Centerline is valid? [True, True] Translation: X:8.79, Y:0.75, Z:-0.25 [[ 9.97025217e-01 -7.47877141e-02 -1.86417527e-02 8.78663913e+00] [ 7.47821621e-02 9.97199397e-01 -9.95723252e-04 7.52025338e-01] [ 1.86640124e-02 -4.01309379e-04 9.99825732e-01 -2.53151587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.93719347 meters 0.062266447727383704 Centerline is valid? [True, True] Translation: X:8.82, Y:0.74, Z:-0.25 [[ 9.96734771e-01 -7.92184906e-02 -1.56277423e-02 8.81908245e+00] [ 7.92151555e-02 9.96857194e-01 -8.33286079e-04 7.44041648e-01] [ 1.56446390e-02 -4.07388829e-04 9.99877532e-01 -2.50208831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.96719347 meters 0.061966328944127236 Centerline is valid? [True, True] Translation: X:8.85, Y:0.74, Z:-0.25 [[ 9.96785641e-01 -7.87861657e-02 -1.45301904e-02 8.85186467e+00] [ 7.87832626e-02 9.96891469e-01 -7.72976937e-04 7.43453324e-01] [ 1.45459228e-02 -3.74243498e-04 9.99894132e-01 -2.49153327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.997193470000001 meters 0.06183051165847823 Centerline is valid? [True, True] Translation: X:8.88, Y:0.74, Z:-0.25 [[ 9.97006270e-01 -7.60252172e-02 -1.40948171e-02 8.88297835e+00] [ 7.60222177e-02 9.97105842e-01 -7.49249290e-04 7.39497185e-01] [ 1.41109863e-02 -3.24513015e-04 9.99900382e-01 -2.51488447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02719347 meters 0.06161723584873607 Centerline is valid? [True, True] Translation: X:8.92, Y:0.74, Z:-0.26 [[ 9.97255157e-01 -7.14391356e-02 -1.94577108e-02 8.91515025e+00] [ 7.14325780e-02 9.97444896e-01 -1.03272057e-03 7.38489438e-01] [ 1.94817710e-02 -3.60028527e-04 9.99810147e-01 -2.58801350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.05719347 meters 0.06172456415062727 Centerline is valid? [True, True] Translation: X:8.95, Y:0.74, Z:-0.26 [[ 9.97345193e-01 -6.94826246e-02 -2.17883228e-02 8.94604284e+00] [ 6.94739597e-02 9.97583096e-01 -1.15530288e-03 7.39018272e-01] [ 2.18159360e-02 -3.61485280e-04 9.99761939e-01 -2.61917967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08719347 meters 0.061571061245211695 Centerline is valid? [True, True] Translation: X:8.98, Y:0.74, Z:-0.26 [[ 9.97530468e-01 -6.61442256e-02 -2.36200524e-02 8.97826832e+00] [ 6.61331563e-02 9.97810023e-01 -1.25033023e-03 7.40849727e-01] [ 2.36510272e-02 -3.14826117e-04 9.99720226e-01 -2.61378743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11719347 meters 0.06147440215125306 Centerline is valid? [True, True] Translation: X:9.01, Y:0.74, Z:-0.26 [[ 9.97538492e-01 -6.59946792e-02 -2.36993710e-02 9.01105335e+00] [ 6.59835428e-02 9.97819925e-01 -1.25244123e-03 7.36546736e-01] [ 2.37303590e-02 -3.14410122e-04 9.99718346e-01 -2.59029989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.14719347 meters 0.06174371089044534 Centerline is valid? [True, True] Translation: X:9.04, Y:0.73, Z:-0.26 [[ 9.97480441e-01 -6.66242312e-02 -2.43717275e-02 9.04207680e+00] [ 6.66126583e-02 9.97778080e-01 -1.28729662e-03 7.31484528e-01] [ 2.44033407e-02 -3.39412354e-04 9.99702137e-01 -2.61488768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17719347 meters 0.061886285050060635 Centerline is valid? [True, True] Translation: X:9.07, Y:0.72, Z:-0.26 [[ 9.97407682e-01 -6.75013979e-02 -2.49294377e-02 9.07351056e+00] [ 6.74896061e-02 9.97719111e-01 -1.31503748e-03 7.21784651e-01] [ 2.49613433e-02 -3.70849445e-04 9.99688348e-01 -2.62717303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.20719347 meters 0.06164335829771158 Centerline is valid? [True, True] Translation: X:9.11, Y:0.71, Z:-0.26 [[ 9.97423746e-01 -6.77218632e-02 -2.36562731e-02 9.10636302e+00] [ 6.77113587e-02 9.97704175e-01 -1.24569417e-03 7.13395332e-01] [ 2.36863231e-02 -3.59313443e-04 9.99719375e-01 -2.60138246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.237193470000001 meters 0.06187063948231384 Centerline is valid? [True, True] Translation: X:9.14, Y:0.71, Z:-0.26 [[ 9.97512852e-01 -6.65340323e-02 -2.32665606e-02 9.13740635e+00] [ 6.65235782e-02 9.97784103e-01 -1.22387820e-03 7.10243960e-01] [ 2.32964338e-02 -3.26940624e-04 9.99728548e-01 -2.61609413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26719347 meters 0.06116486184834098 Centerline is valid? [True, True] Translation: X:9.17, Y:0.71, Z:-0.26 [[ 9.97835025e-01 -6.13945160e-02 -2.35791334e-02 9.17032745e+00] [ 6.13824124e-02 9.98113555e-01 -1.23743141e-03 7.07604294e-01] [ 2.36106241e-02 -2.12591689e-04 9.99721208e-01 -2.58592108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.29719347 meters 0.06105098408990077 Centerline is valid? [True, True] Translation: X:9.20, Y:0.71, Z:-0.26 [[ 9.98093540e-01 -5.66779949e-02 -2.44313285e-02 9.20264718e+00] [ 5.66636346e-02 9.98392505e-01 -1.28022636e-03 7.07655317e-01] [ 2.44646159e-02 -1.06582209e-04 9.99700691e-01 -2.56990474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.327193470000001 meters 0.061410539995077756 Centerline is valid? [True, True] Translation: X:9.23, Y:0.71, Z:-0.26 [[ 9.98189206e-01 -5.51626674e-02 -2.39872880e-02 9.23429377e+00] [ 5.51484370e-02 9.98477378e-01 -1.25487299e-03 7.09231361e-01] [ 2.40199865e-02 -7.02607690e-05 9.99711476e-01 -2.58775647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.35719347 meters 0.06141805880044257 Centerline is valid? [True, True] Translation: X:9.27, Y:0.70, Z:-0.26 [[ 9.98052992e-01 -5.75192827e-02 -2.41196370e-02 9.26679298e+00] [ 5.75056328e-02 9.98344387e-01 -1.25972962e-03 7.02758970e-01] [ 2.41521630e-02 -1.29738068e-04 9.99708286e-01 -2.56501085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.38719347 meters 0.06140672738370519 Centerline is valid? [True, True] Translation: X:9.30, Y:0.69, Z:-0.26 [[ 9.97507487e-01 -6.73342300e-02 -2.10929812e-02 9.29957864e+00] [ 6.73260249e-02 9.97730423e-01 -1.09969821e-03 6.85942203e-01] [ 2.11191564e-02 -3.23149382e-04 9.99776914e-01 -2.56485421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41719347 meters 0.06327254998543236 Centerline is valid? [True, True] Translation: X:9.33, Y:0.67, Z:-0.25 [[ 9.96579586e-01 -8.08652571e-02 -1.70276036e-02 9.33064090e+00] [ 8.08618813e-02 9.96724921e-01 -8.87784073e-04 6.72155681e-01] [ 1.70436277e-02 -4.92136576e-04 9.99854626e-01 -2.53637521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44719347 meters 0.06327254998543236 Centerline is valid? [True, True] Translation: X:9.36, Y:0.67, Z:-0.25 [[ 9.96586415e-01 -8.07810329e-02 -1.70277056e-02 9.36231691e+00] [ 8.07776782e-02 9.96731750e-01 -8.85826590e-04 6.73710978e-01] [ 1.70436128e-02 -4.92655777e-04 9.99854626e-01 -2.53899192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.47719347 meters 0.06469547907039547 Centerline is valid? [True, True] Translation: X:9.39, Y:0.67, Z:-0.25 [[ 9.96042162e-01 -8.74288865e-02 -1.60062963e-02 9.39355258e+00] [ 8.74267768e-02 9.96170600e-01 -8.32830472e-04 6.70069679e-01] [ 1.60178152e-02 -5.69844627e-04 9.99871544e-01 -2.51997714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50719347 meters 0.06718762200762854 Centerline is valid? [True, True] Translation: X:9.42, Y:0.66, Z:-0.25 [[ 9.95421562e-01 -9.46511866e-02 -1.33066325e-02 9.42415402e+00] [ 9.46503704e-02 9.95510335e-01 -6.92508837e-04 6.62300748e-01] [ 1.33124370e-02 -5.70139466e-04 9.99911223e-01 -2.50872270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.53719347 meters 0.06720259181884757 Centerline is valid? [True, True] Translation: X:9.46, Y:0.66, Z:-0.25 [[ 9.95246268e-01 -9.66733085e-02 -1.17956699e-02 9.45617139e+00] [ 9.66728288e-02 9.95316025e-01 -6.12175438e-04 6.64478975e-01] [ 1.17996003e-02 -5.31055456e-04 9.99930241e-01 -2.50410126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.56719347 meters 0.0673434420420218 Centerline is valid? [True, True] Translation: X:9.49, Y:0.67, Z:-0.25 [[ 9.95451009e-01 -9.45615236e-02 -1.16364719e-02 9.48745590e+00] [ 9.45609193e-02 9.95518894e-01 -6.03358339e-04 6.68607140e-01] [ 1.16413821e-02 -4.99741811e-04 9.99932112e-01 -2.52279728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.59719347 meters 0.06380887587093334 Centerline is valid? [True, True] Translation: X:9.52, Y:0.69, Z:-0.25 [[ 9.96446627e-01 -8.36781225e-02 -9.59646842e-03 9.51757842e+00] [ 8.36772062e-02 9.96492788e-01 -4.97656582e-04 6.88576077e-01] [ 9.60445455e-03 -3.07117445e-04 9.99953829e-01 -2.50168617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.62719347 meters 0.06125374408684859 Centerline is valid? [True, True] Translation: X:9.55, Y:0.71, Z:-0.25 [[ 9.97576636e-01 -6.92445418e-02 -6.78585578e-03 9.54579715e+00] [ 6.92437466e-02 9.97599709e-01 -3.52344356e-04 7.14109328e-01] [ 6.79396568e-03 -1.18387581e-04 9.99976914e-01 -2.46122881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.657193470000001 meters 0.060649007715369664 Centerline is valid? [True, True] Translation: X:9.58, Y:0.73, Z:-0.24 [[ 9.97958049e-01 -6.35506373e-02 -6.40690654e-03 9.57722982e+00] [ 6.35498200e-02 9.97978612e-01 -3.31269229e-04 7.27799553e-01] [ 6.41500807e-03 -7.65649634e-05 9.99979421e-01 -2.44857925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68719347 meters 0.06083959680976903 Centerline is valid? [True, True] Translation: X:9.61, Y:0.75, Z:-0.25 [[ 9.98273269e-01 -5.79470315e-02 -9.62406596e-03 9.60911165e+00] [ 5.79449387e-02 9.98319657e-01 -4.96389293e-04 7.45000913e-01] [ 9.63665851e-03 -6.21337502e-05 9.99953564e-01 -2.45988113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.71719347 meters 0.06104361923106808 Centerline is valid? [True, True] Translation: X:9.64, Y:0.75, Z:-0.25 [[ 9.98160970e-01 -5.96669643e-02 -1.07018885e-02 9.64151399e+00] [ 5.96644800e-02 9.98218336e-01 -5.51545966e-04 7.48588656e-01] [ 1.07157304e-02 -8.79909564e-05 9.99942581e-01 -2.49540525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.747193470000001 meters 0.061409703632359564 Centerline is valid? [True, True] Translation: X:9.67, Y:0.75, Z:-0.25 [[ 9.97995852e-01 -6.17310073e-02 -1.39126566e-02 9.67377885e+00] [ 6.17270224e-02 9.98092812e-01 -7.16068353e-04 7.48475423e-01] [ 1.39303262e-02 -1.44153619e-04 9.99902958e-01 -2.54288802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.77719347 meters 0.06256360445287944 Centerline is valid? [True, True] Translation: X:9.70, Y:0.75, Z:-0.26 [[ 9.97538094e-01 -6.71704502e-02 -2.01464882e-02 9.70394434e+00] [ 6.71631824e-02 9.97741464e-01 -1.03791508e-03 7.45182208e-01] [ 2.01707039e-02 -3.17742437e-04 9.99796500e-01 -2.62882166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.80719347 meters 0.06373491736387682 Centerline is valid? [True, True] Translation: X:9.74, Y:0.74, Z:-0.26 [[ 9.96897710e-01 -7.50804250e-02 -2.36196080e-02 9.73513003e+00] [ 7.50726687e-02 9.97177324e-01 -1.21618067e-03 7.39692365e-01] [ 2.36442489e-02 -5.60779286e-04 9.99720278e-01 -2.63509848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83719347 meters 0.0654476775317429 Centerline is valid? [True, True] Translation: X:9.77, Y:0.73, Z:-0.27 [[ 9.96487165e-01 -7.95139891e-02 -2.62841308e-02 9.76553224e+00] [ 7.95059199e-02 9.96833475e-01 -1.35356880e-03 7.34238310e-01] [ 2.63085291e-02 -7.40930058e-04 9.99653596e-01 -2.68088776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86719347 meters 0.06744470316140058 Centerline is valid? [True, True] Translation: X:9.80, Y:0.73, Z:-0.27 [[ 9.95900530e-01 -8.47696487e-02 -3.15632966e-02 9.79660204e+00] [ 8.47606510e-02 9.96400015e-01 -1.62536963e-03 7.26699588e-01] [ 3.15874512e-02 -1.05661909e-03 9.99500433e-01 -2.73272117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.89719347 meters 0.0650794436507099 Centerline is valid? [True, True] Translation: X:9.83, Y:0.73, Z:-0.27 [[ 9.96329288e-01 -8.02836897e-02 -2.97065495e-02 9.82671035e+00] [ 8.02737262e-02 9.96771683e-01 -1.52976774e-03 7.32510727e-01] [ 2.97334628e-02 -8.60503017e-04 9.99557492e-01 -2.65995778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92719347 meters 0.0638069822693847 Centerline is valid? [True, True] Translation: X:9.86, Y:0.74, Z:-0.26 [[ 9.96846620e-01 -7.53679479e-02 -2.48291824e-02 9.85729838e+00] [ 7.53594698e-02 9.97155613e-01 -1.27831379e-03 7.39209494e-01] [ 2.48549024e-02 -5.96831234e-04 9.99690891e-01 -2.61157571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.95719347 meters 0.061972837428860124 Centerline is valid? [True, True] Translation: X:9.89, Y:0.75, Z:-0.25 [[ 9.97711270e-01 -6.41677127e-02 -2.13243180e-02 9.88698380e+00] [ 6.41589037e-02 9.97939091e-01 -1.09769625e-03 7.54866952e-01] [ 2.13508072e-02 -2.72960949e-04 9.99772008e-01 -2.53974743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.987193470000001 meters 0.061506790789273534 Centerline is valid? [True, True] Translation: X:9.92, Y:0.76, Z:-0.25 [[ 9.98297070e-01 -5.56355832e-02 -1.75397182e-02 9.91748629e+00] [ 5.56283252e-02 9.98451139e-01 -9.01799925e-04 7.64936915e-01] [ 1.75627238e-02 -7.54409247e-05 9.99845761e-01 -2.54130410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.01719347 meters 0.061191031762567724 Centerline is valid? [True, True] Translation: X:9.95, Y:0.77, Z:-0.25 [[ 9.98407268e-01 -5.44851397e-02 -1.46388512e-02 9.94952684e+00] [ 5.44799853e-02 9.98514580e-01 -7.50956363e-04 7.71008292e-01] [ 1.46580223e-02 -4.77641079e-05 9.99892564e-01 -2.50725225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04719347 meters 0.06135323970799287 Centerline is valid? [True, True] Translation: X:9.98, Y:0.77, Z:-0.25 [[ 9.98307378e-01 -5.62216969e-02 -1.48828872e-02 9.98032666e+00] [ 5.62165736e-02 9.98418307e-01 -7.62700948e-04 7.70489391e-01] [ 1.49022274e-02 -7.52549389e-05 9.99888953e-01 -2.52942381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.077193470000001 meters 0.061915515137449674 Centerline is valid? [True, True] Translation: X:10.01, Y:0.76, Z:-0.26 [[ 9.97838394e-01 -6.37068682e-02 -1.61237327e-02 1.00124380e+01] [ 6.37018474e-02 9.97968634e-01 -8.25317651e-04 7.60867036e-01] [ 1.61435578e-02 -2.03577917e-04 9.99869664e-01 -2.58099950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.10719347 meters 0.06279523008876275 Centerline is valid? [True, True] Translation: X:10.04, Y:0.75, Z:-0.26 [[ 9.97281981e-01 -7.11037520e-02 -1.93108022e-02 1.00436622e+01] [ 7.10979347e-02 9.97468850e-01 -9.88491420e-04 7.52223826e-01] [ 1.93322091e-02 -3.87153471e-04 9.99813040e-01 -2.59970322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.13719347 meters 0.06296540927170946 Centerline is valid? [True, True] Translation: X:10.08, Y:0.75, Z:-0.26 [[ 9.97190543e-01 -7.19444229e-02 -2.08571538e-02 1.00760322e+01] [ 7.19378684e-02 9.97408546e-01 -1.06534967e-03 7.50417915e-01] [ 2.08797494e-02 -4.38062565e-04 9.99781898e-01 -2.60903765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16719347 meters 0.062100354816537785 Centerline is valid? [True, True] Translation: X:10.11, Y:0.75, Z:-0.26 [[ 9.97617102e-01 -6.63086230e-02 -1.90600447e-02 1.01079681e+01] [ 6.63021423e-02 9.97799118e-01 -9.72430548e-04 7.53363931e-01] [ 1.90825763e-02 -2.93608449e-04 9.99817868e-01 -2.59370652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.19719347 meters 0.06137130238147771 Centerline is valid? [True, True] Translation: X:10.14, Y:0.76, Z:-0.26 [[ 9.98366278e-01 -5.45060713e-02 -1.71424571e-02 1.01378035e+01] [ 5.44990894e-02 9.98513437e-01 -8.74526535e-04 7.62946404e-01] [ 1.71646408e-02 -6.11505003e-05 9.99852675e-01 -2.57661735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.22719347 meters 0.061340864617719405 Centerline is valid? [True, True] Translation: X:10.17, Y:0.77, Z:-0.26 [[ 9.98745227e-01 -4.74065871e-02 -1.61427377e-02 1.01698924e+01] [ 4.73994993e-02 9.98875674e-01 -8.21605528e-04 7.69513815e-01] [ 1.61635375e-02 5.54169155e-05 9.99869360e-01 -2.56772654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25719347 meters 0.06196298626981228 Centerline is valid? [True, True] Translation: X:10.20, Y:0.78, Z:-0.25 [[ 9.99238695e-01 -3.70287837e-02 -1.22841225e-02 1.02012441e+01] [ 3.70239101e-02 9.99314185e-01 -6.23993697e-04 7.78215903e-01] [ 1.22988036e-02 1.68712400e-04 9.99924353e-01 -2.54364342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28719347 meters 0.0627803176236228 Centerline is valid? [True, True] Translation: X:10.23, Y:0.78, Z:-0.26 [[ 9.99431001e-01 -3.13522947e-02 -1.24381689e-02 1.02325940e+01] [ 3.13468666e-02 9.99508367e-01 -6.31172522e-04 7.83528665e-01] [ 1.24518426e-02 2.40915763e-04 9.99922444e-01 -2.55815752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.31719347 meters 0.06302930676398656 Centerline is valid? [True, True] Translation: X:10.26, Y:0.78, Z:-0.26 [[ 9.99421414e-01 -3.09014202e-02 -1.42105447e-02 1.02646895e+01] [ 3.08943085e-02 9.99522398e-01 -7.19757925e-04 7.84377457e-01] [ 1.42259992e-02 2.80316532e-04 9.99898766e-01 -2.58393121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.34719347 meters 0.06317601505222786 Centerline is valid? [True, True] Translation: X:10.30, Y:0.78, Z:-0.27 [[ 9.99275511e-01 -3.33337601e-02 -1.83661107e-02 1.02964050e+01] [ 3.33223390e-02 9.99444226e-01 -9.27620992e-04 7.77814250e-01] [ 1.83868243e-02 3.14947175e-04 9.99830898e-01 -2.65963111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.37719347 meters 0.062356579260325215 Centerline is valid? [True, True] Translation: X:10.33, Y:0.76, Z:-0.27 [[ 9.99004100e-01 -3.99085039e-02 -1.99529290e-02 1.03284379e+01] [ 3.98963346e-02 9.99203316e-01 -1.00775232e-03 7.64834722e-01] [ 1.99772507e-02 2.10699970e-04 9.99800413e-01 -2.70466694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.407193470000001 meters 0.061936920654422196 Centerline is valid? [True, True] Translation: X:10.36, Y:0.76, Z:-0.27 [[ 9.98795242e-01 -4.48991141e-02 -1.98023932e-02 1.03603778e+01] [ 4.48881248e-02 9.98991520e-01 -9.99312226e-04 7.57569764e-01] [ 1.98272911e-02 1.09216001e-04 9.99803414e-01 -2.70738534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.43719347 meters 0.061449088266751654 Centerline is valid? [True, True] Translation: X:10.39, Y:0.74, Z:-0.27 [[ 9.98343778e-01 -5.42205940e-02 -1.92309108e-02 1.03929953e+01] [ 5.42119745e-02 9.98528979e-01 -9.69636839e-04 7.40090907e-01] [ 1.92551960e-02 -7.45147406e-05 9.99814599e-01 -2.67725852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.46719347 meters 0.06151084927390215 Centerline is valid? [True, True] Translation: X:10.43, Y:0.73, Z:-0.26 [[ 9.98061419e-01 -5.96363822e-02 -1.78018229e-02 1.04257306e+01] [ 5.96298917e-02 9.98220153e-01 -8.95655041e-04 7.25140898e-01] [ 1.78235520e-02 -1.67602028e-04 9.99841134e-01 -2.64396346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.497193470000001 meters 0.061663966726466686 Centerline is valid? [True, True] Translation: X:10.46, Y:0.71, Z:-0.27 [[ 9.98020778e-01 -6.01981400e-02 -1.81854698e-02 1.04572645e+01] [ 6.01915138e-02 9.98186430e-01 -9.11997688e-04 7.12932571e-01] [ 1.82073898e-02 -1.84418317e-04 9.99834215e-01 -2.66843232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52719347 meters 0.06146327225253431 Centerline is valid? [True, True] Translation: X:10.49, Y:0.71, Z:-0.27 [[ 9.98157523e-01 -5.79566319e-02 -1.79607144e-02 1.04884942e+01] [ 5.79498050e-02 9.98319092e-01 -9.00755815e-04 7.10542292e-01] [ 1.79827289e-02 -1.41723706e-04 9.99838288e-01 -2.67183124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.55719347 meters 0.06134684664091598 Centerline is valid? [True, True] Translation: X:10.52, Y:0.71, Z:-0.27 [[ 9.98252095e-01 -5.62652302e-02 -1.80825306e-02 1.05202499e+01] [ 5.62580566e-02 9.98415851e-01 -9.05554433e-04 7.08497839e-01] [ 1.81048364e-02 -1.13316420e-04 9.99836088e-01 -2.67744376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58719347 meters 0.06137099568478345 Centerline is valid? [True, True] Translation: X:10.55, Y:0.70, Z:-0.27 [[ 9.98367951e-01 -5.34687692e-02 -2.00630323e-02 1.05520753e+01] [ 5.34593859e-02 9.98569520e-01 -1.00411935e-03 7.00806059e-01] [ 2.00880216e-02 -7.00768136e-05 9.99798213e-01 -2.69754260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61719347 meters 0.061370231224082174 Centerline is valid? [True, True] Translation: X:10.58, Y:0.70, Z:-0.27 [[ 9.98379621e-01 -5.33098974e-02 -1.99044345e-02 1.05825192e+01] [ 5.33006234e-02 9.98578014e-01 -9.96526434e-04 6.97889614e-01] [ 1.99292554e-02 -6.60070843e-05 9.99801390e-01 -2.71020630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.64719347 meters 0.061383561111850546 Centerline is valid? [True, True] Translation: X:10.61, Y:0.69, Z:-0.27 [[ 9.98153421e-01 -5.76097716e-02 -1.92577852e-02 1.06128983e+01] [ 5.76019015e-02 9.98339167e-01 -9.63578151e-04 6.90357260e-01] [ 1.92813127e-02 -1.47486215e-04 9.99814087e-01 -2.70960510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.67719347 meters 0.062265987578407136 Centerline is valid? [True, True] Translation: X:10.64, Y:0.68, Z:-0.27 [[ 9.97864897e-01 -6.21796592e-02 -1.99834190e-02 1.06431305e+01] [ 6.21720855e-02 9.98064943e-01 -1.00064721e-03 6.82689558e-01] [ 2.00069699e-02 -2.43900113e-04 9.99799811e-01 -2.73938160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.70719347 meters 0.0620863792138922 Centerline is valid? [True, True] Translation: X:10.67, Y:0.68, Z:-0.27 [[ 9.97676988e-01 -6.44110549e-02 -2.21775406e-02 1.06740254e+01] [ 6.44022819e-02 9.97923400e-01 -1.11032646e-03 6.79885961e-01] [ 2.22030040e-02 -3.20537060e-04 9.99753432e-01 -2.72172197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.737193470000001 meters 0.0637958819257959 Centerline is valid? [True, True] Translation: X:10.70, Y:0.67, Z:-0.28 [[ 9.97310414e-01 -6.96467767e-02 -2.28312327e-02 1.07035672e+01] [ 6.96388031e-02 9.97571614e-01 -1.14509535e-03 6.65110846e-01] [ 2.28555418e-02 -4.47924200e-04 9.99738678e-01 -2.81136202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76719347 meters 0.0645187716712101 Centerline is valid? [True, True] Translation: X:10.73, Y:0.66, Z:-0.28 [[ 9.96891435e-01 -7.52762313e-02 -2.32584378e-02 1.07333226e+01] [ 7.52694701e-02 9.97162547e-01 -1.16725291e-03 6.63626954e-01] [ 2.32803094e-02 -5.87025857e-04 9.99728805e-01 -2.77853037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.79719347 meters 0.06439106870863961 Centerline is valid? [True, True] Translation: X:10.76, Y:0.67, Z:-0.27 [[ 9.96704377e-01 -7.74147246e-02 -2.42352190e-02 1.07629851e+01] [ 7.74079901e-02 9.96998757e-01 -1.21730230e-03 6.66150026e-01] [ 2.42567204e-02 -6.62709070e-04 9.99705543e-01 -2.74743257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.827193470000001 meters 0.06597539562108239 Centerline is valid? [True, True] Translation: X:10.79, Y:0.66, Z:-0.28 [[ 9.96613600e-01 -7.94377559e-02 -2.12361982e-02 1.07919887e+01] [ 7.94330105e-02 9.96839634e-01 -1.06822350e-03 6.60522322e-01] [ 2.12539413e-02 -6.22249082e-04 9.99773916e-01 -2.77719292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.85719347 meters 0.06445542355212718 Centerline is valid? [True, True] Translation: X:10.82, Y:0.67, Z:-0.27 [[ 9.96603904e-01 -7.93816992e-02 -2.18907183e-02 1.08226043e+01] [ 7.93766551e-02 9.96844088e-01 -1.10061006e-03 6.66057917e-01] [ 2.19090014e-02 -6.40739714e-04 9.99759764e-01 -2.74348520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.88719347 meters 0.0644244351411458 Centerline is valid? [True, True] Translation: X:10.85, Y:0.67, Z:-0.28 [[ 9.96703719e-01 -7.70506874e-02 -2.53946587e-02 1.08512890e+01] [ 7.70431880e-02 9.97026941e-01 -1.27503820e-03 6.71854813e-01] [ 2.54174014e-02 -6.85650151e-04 9.99676691e-01 -2.79242767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91719347 meters 0.0636642534378443 Centerline is valid? [True, True] Translation: X:10.88, Y:0.68, Z:-0.28 [[ 9.97073816e-01 -7.21547750e-02 -2.52486262e-02 1.08809926e+01] [ 7.21457638e-02 9.97393292e-01 -1.26884493e-03 6.79893105e-01] [ 2.52743636e-02 -5.56449361e-04 9.99680397e-01 -2.80751524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94719347 meters 0.06277167902487549 Centerline is valid? [True, True] Translation: X:10.91, Y:0.69, Z:-0.28 [[ 9.97335445e-01 -6.89380250e-02 -2.38654491e-02 1.09103903e+01] [ 6.89290246e-02 9.97620844e-01 -1.20053165e-03 6.86450686e-01] [ 2.38914317e-02 -4.47689355e-04 9.99714459e-01 -2.79518269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.97719347 meters 0.06153641731605984 Centerline is valid? [True, True] Translation: X:10.94, Y:0.70, Z:-0.27 [[ 9.97829971e-01 -6.27806162e-02 -1.98479825e-02 1.09397838e+01] [ 6.27731666e-02 9.98027320e-01 -9.98744753e-04 6.99323496e-01] [ 1.98715306e-02 -2.49343267e-04 9.99802511e-01 -2.74658111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.00719347 meters 0.06102284606560688 Centerline is valid? [True, True] Translation: X:10.97, Y:0.71, Z:-0.27 [[ 9.98090071e-01 -5.93114784e-02 -1.72730902e-02 1.09701171e+01] [ 5.93053195e-02 9.98239512e-01 -8.69023927e-04 7.07691979e-01] [ 1.72942243e-02 -1.57021983e-04 9.99850431e-01 -2.73141795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.03719347 meters 0.060784911122595126 Centerline is valid? [True, True] Translation: X:11.00, Y:0.71, Z:-0.27 [[ 9.98193422e-01 -5.78569742e-02 -1.62006755e-02 1.10014236e+01] [ 5.78513817e-02 9.98324874e-01 -8.14028090e-04 7.11173679e-01] [ 1.62206345e-02 -1.24673978e-04 9.99868429e-01 -2.73697652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.06719347 meters 0.0606236915494949 Centerline is valid? [True, True] Translation: X:11.03, Y:0.71, Z:-0.27 [[ 9.98183223e-01 -5.81711097e-02 -1.56963733e-02 1.10322172e+01] [ 5.81659096e-02 9.98306619e-01 -7.87997974e-04 7.13323799e-01] [ 1.57156321e-02 -1.26427475e-04 9.99876494e-01 -2.73606973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.09719347 meters 0.06098111496028577 Centerline is valid? [True, True] Translation: X:11.06, Y:0.71, Z:-0.28 [[ 9.98043739e-01 -6.04228271e-02 -1.60554345e-02 1.10634770e+01] [ 6.04176888e-02 9.98172858e-01 -8.05334116e-04 7.14376551e-01] [ 1.60747595e-02 -1.66273573e-04 9.99870779e-01 -2.75191380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12719347 meters 0.061709329439956495 Centerline is valid? [True, True] Translation: X:11.09, Y:0.71, Z:-0.28 [[ 9.97820334e-01 -6.25591957e-02 -2.09982862e-02 1.10947793e+01] [ 6.25508963e-02 9.98041220e-01 -1.05245647e-03 7.14279907e-01] [ 2.10229960e-02 -2.63299150e-04 9.99778958e-01 -2.80549432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.157193470000001 meters 0.06259045812120517 Centerline is valid? [True, True] Translation: X:11.13, Y:0.71, Z:-0.29 [[ 9.97576624e-01 -6.49480905e-02 -2.49524407e-02 1.11250024e+01] [ 6.49371072e-02 9.97888574e-01 -1.25107016e-03 7.10075306e-01] [ 2.49810101e-02 -3.72300971e-04 9.99687857e-01 -2.85799794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18719347 meters 0.06243016498929178 Centerline is valid? [True, True] Translation: X:11.16, Y:0.71, Z:-0.28 [[ 9.97527502e-01 -6.60948858e-02 -2.38819792e-02 1.11553026e+01] [ 6.60851532e-02 9.97813268e-01 -1.19739916e-03 7.09830594e-01] [ 2.39088977e-02 -3.83805664e-04 9.99714068e-01 -2.84540870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.21719347 meters 0.06260893709760154 Centerline is valid? [True, True] Translation: X:11.19, Y:0.71, Z:-0.28 [[ 9.97404822e-01 -6.85430339e-02 -2.20334580e-02 1.11852541e+01] [ 6.85353323e-02 9.97648077e-01 -1.10536663e-03 7.08042627e-01] [ 2.20574022e-02 -4.07572361e-04 9.99756623e-01 -2.82519513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.247193470000001 meters 0.06366652753108522 Centerline is valid? [True, True] Translation: X:11.22, Y:0.71, Z:-0.28 [[ 9.96899947e-01 -7.57230185e-02 -2.13663345e-02 1.12160051e+01] [ 7.57174271e-02 9.97128739e-01 -1.07172736e-03 7.05867053e-01] [ 2.13861406e-02 -5.49398934e-04 9.99771139e-01 -2.79712928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.27719347 meters 0.06429275283762996 Centerline is valid? [True, True] Translation: X:11.25, Y:0.70, Z:-0.28 [[ 9.96647463e-01 -7.92720922e-02 -2.02427635e-02 1.12469582e+01] [ 7.92678045e-02 9.96852840e-01 -1.01536945e-03 7.03945474e-01] [ 2.02595467e-02 -5.92634030e-04 9.99794579e-01 -2.79144144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.30719347 meters 0.06772572016823043 Centerline is valid? [True, True] Translation: X:11.28, Y:0.69, Z:-0.28 [[ 9.96102317e-01 -8.65297872e-02 -1.71105468e-02 1.12767628e+01] [ 8.65277737e-02 9.96249068e-01 -8.59354497e-04 6.93172610e-01] [ 1.71207261e-02 -6.24532516e-04 9.99853235e-01 -2.81368716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.33719347 meters 0.06607490380305374 Centerline is valid? [True, True] Translation: X:11.31, Y:0.70, Z:-0.27 [[ 9.95917775e-01 -8.92799983e-02 -1.32991184e-02 1.13072100e+01] [ 8.92790427e-02 9.96006430e-01 -6.66715376e-04 7.03770002e-01] [ 1.33055318e-02 -5.23338867e-04 9.99911341e-01 -2.73901564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36719347 meters 0.06607490380305374 Centerline is valid? [True, True] Translation: X:11.34, Y:0.71, Z:-0.27 [[ 9.95925532e-01 -8.91934149e-02 -1.32991943e-02 1.13388922e+01] [ 8.91924719e-02 9.96014187e-01 -6.65201000e-04 7.05262995e-01] [ 1.33055177e-02 -5.23697352e-04 9.99911341e-01 -2.74163240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.39719347 meters 0.06597397590118757 Centerline is valid? [True, True] Translation: X:11.37, Y:0.71, Z:-0.27 [[ 9.96062272e-01 -8.78512008e-02 -1.19212823e-02 1.13701944e+01] [ 8.78503601e-02 9.96133505e-01 -5.95184365e-04 7.12528226e-01] [ 1.19274764e-02 -4.54448253e-04 9.99928762e-01 -2.72572407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42719347 meters 0.0648332294003859 Centerline is valid? [True, True] Translation: X:11.40, Y:0.73, Z:-0.27 [[ 9.96517602e-01 -8.25414079e-02 -1.18145975e-02 1.13998555e+01] [ 8.25402109e-02 9.96587561e-01 -5.89721035e-04 7.32081636e-01] [ 1.18229573e-02 -3.87511974e-04 9.99930031e-01 -2.72556725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.45719347 meters 0.06439148307484817 Centerline is valid? [True, True] Translation: X:11.43, Y:0.75, Z:-0.28 [[ 9.96770777e-01 -7.84704877e-02 -1.70411443e-02 1.14303982e+01] [ 7.84674215e-02 9.96916316e-01 -8.49520809e-04 7.48640057e-01] [ 1.70552571e-02 -4.90397135e-04 9.99854428e-01 -2.80534316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.487193470000001 meters 0.06449081614669014 Centerline is valid? [True, True] Translation: X:11.46, Y:0.76, Z:-0.28 [[ 9.96784018e-01 -7.78981485e-02 -1.88016061e-02 1.14610315e+01] [ 7.78943353e-02 9.96961181e-01 -9.36175911e-04 7.55944423e-01] [ 1.88173978e-02 -5.31373423e-04 9.99822796e-01 -2.84224309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.51719347 meters 0.06495591609820109 Centerline is valid? [True, True] Translation: X:11.49, Y:0.77, Z:-0.28 [[ 9.96454209e-01 -8.20007446e-02 -1.88384777e-02 1.14919198e+01] [ 8.19976712e-02 9.96632081e-01 -9.36812596e-04 7.71369875e-01] [ 1.88518506e-02 -6.11220450e-04 9.99822101e-01 -2.83771312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.54719347 meters 0.06777391634812512 Centerline is valid? [True, True] Translation: X:11.52, Y:0.78, Z:-0.28 [[ 9.95727904e-01 -9.02779677e-02 -1.93863491e-02 1.15208616e+01] [ 9.02762588e-02 9.95916295e-01 -9.65068378e-04 7.79124496e-01] [ 1.93943053e-02 -7.89181551e-04 9.99811601e-01 -2.84113432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.577193470000001 meters 0.06814893111775074 Centerline is valid? [True, True] Translation: X:11.55, Y:0.78, Z:-0.28 [[ 9.95364494e-01 -9.42271989e-02 -1.92551250e-02 1.15514093e+01] [ 9.42262829e-02 9.95550346e-01 -9.56842497e-04 7.84515964e-01] [ 1.92596070e-02 -8.61931809e-04 9.99814145e-01 -2.82807962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.60719347 meters 0.07110884136174148 Centerline is valid? [True, True] Translation: X:11.58, Y:0.79, Z:-0.28 [[ 9.94599902e-01 -1.02311158e-01 -1.74201445e-02 1.15811523e+01] [ 1.02311629e-01 9.94752019e-01 -8.66514319e-04 7.89146934e-01] [ 1.74173780e-02 -9.20448300e-04 9.99847882e-01 -2.81905163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.63719347 meters 0.07098697642387072 Centerline is valid? [True, True] Translation: X:11.61, Y:0.80, Z:-0.28 [[ 9.93999141e-01 -1.08432257e-01 -1.44275437e-02 1.16116554e+01] [ 1.08433231e-01 9.94103476e-01 -7.17065422e-04 8.04451127e-01] [ 1.44202244e-02 -8.51662766e-04 9.99895660e-01 -2.75851395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66719347 meters 0.07184293060948771 Centerline is valid? [True, True] Translation: X:11.64, Y:0.81, Z:-0.27 [[ 9.93880386e-01 -1.09779119e-01 -1.22606143e-02 1.16426621e+01] [ 1.09779938e-01 9.93955731e-01 -6.08202088e-04 8.11666589e-01] [ 1.22532757e-02 -7.41489352e-04 9.99924651e-01 -2.74697007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69719347 meters 0.07138895068526248 Centerline is valid? [True, True] Translation: X:11.67, Y:0.83, Z:-0.27 [[ 9.94106686e-01 -1.07597426e-01 -1.32170651e-02 1.16726312e+01] [ 1.07598191e-01 9.94194247e-01 -6.55311571e-04 8.29840501e-01] [ 1.32108399e-02 -7.70682677e-04 9.99912436e-01 -2.74333761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.72719347 meters 0.06886442768580361 Centerline is valid? [True, True] Translation: X:11.70, Y:0.85, Z:-0.28 [[ 9.94751871e-01 -1.00929885e-01 -1.67890923e-02 1.17023061e+01] [ 1.00930173e-01 9.94893164e-01 -8.32350319e-04 8.54108580e-01] [ 1.67873622e-02 -8.66543947e-04 9.99858707e-01 -2.77639766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.75719347 meters 0.06771263846787656 Centerline is valid? [True, True] Translation: X:11.73, Y:0.88, Z:-0.28 [[ 9.95735345e-01 -9.07168606e-02 -1.67801380e-02 1.17311962e+01] [ 9.07157016e-02 9.95876483e-01 -8.31790871e-04 8.76776377e-01] [ 1.67864023e-02 -6.93978423e-04 9.99858858e-01 -2.81846117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78719347 meters 0.06465964066987084 Centerline is valid? [True, True] Translation: X:11.76, Y:0.90, Z:-0.28 [[ 9.96184751e-01 -8.57524816e-02 -1.62004448e-02 1.17608091e+01] [ 8.57507441e-02 9.96316298e-01 -8.03145174e-04 8.97397234e-01] [ 1.62096389e-02 -5.89119223e-04 9.99868442e-01 -2.77867368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.81719347 meters 0.0623878275799206 Centerline is valid? [True, True] Translation: X:11.79, Y:0.93, Z:-0.27 [[ 9.97072914e-01 -7.49961894e-02 -1.48720020e-02 1.17902172e+01] [ 7.49935292e-02 9.97183748e-01 -7.37261006e-04 9.29725178e-01] [ 1.48854104e-02 -3.80200934e-04 9.99889134e-01 -2.73774987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84719347 meters 0.0609431769751102 Centerline is valid? [True, True] Translation: X:11.82, Y:0.96, Z:-0.27 [[ 9.97636905e-01 -6.62968659e-02 -1.80369365e-02 1.18213114e+01] [ 6.62916717e-02 9.97799894e-01 -8.86382487e-04 9.56385906e-01] [ 1.80560177e-02 -3.11410792e-04 9.99836928e-01 -2.74291726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.87719347 meters 0.06081320452525508 Centerline is valid? [True, True] Translation: X:11.85, Y:0.97, Z:-0.28 [[ 9.97884641e-01 -6.25210138e-02 -1.78147616e-02 1.18518016e+01] [ 6.25154240e-02 9.98043618e-01 -8.71041346e-04 9.65794878e-01] [ 1.78343675e-02 -2.44498591e-04 9.99840925e-01 -2.77362888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.907193470000001 meters 0.0599767254577725 Centerline is valid? [True, True] Translation: X:11.88, Y:0.99, Z:-0.28 [[ 9.98272136e-01 -5.68182343e-02 -1.49810274e-02 1.18827568e+01] [ 5.68136329e-02 9.98384532e-01 -7.32899286e-04 9.85000050e-01] [ 1.49984681e-02 -1.19493658e-04 9.99887510e-01 -2.78692569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.93719347 meters 0.0598192240073854 Centerline is valid? [True, True] Translation: X:11.91, Y:1.00, Z:-0.28 [[ 9.98709768e-01 -4.80113066e-02 -1.65442745e-02 1.19139185e+01] [ 4.80045589e-02 9.98846792e-01 -8.04975427e-04 1.00476571e+00] [ 1.65638434e-02 9.73622330e-06 9.99862810e-01 -2.79803634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.96719347 meters 0.060029088665989605 Centerline is valid? [True, True] Translation: X:11.95, Y:1.01, Z:-0.28 [[ 9.98958018e-01 -4.24674925e-02 -1.67149627e-02 1.19457240e+01] [ 4.24598349e-02 9.99097844e-01 -8.12904528e-04 1.01484481e+00] [ 1.67344052e-02 1.02342943e-04 9.99859965e-01 -2.80256163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.997193470000001 meters 0.06003258188839063 Centerline is valid? [True, True] Translation: X:11.98, Y:1.02, Z:-0.28 [[ 9.99072723e-01 -3.97030487e-02 -1.66541639e-02 1.19777712e+01] [ 3.96950851e-02 9.99211512e-01 -8.08602264e-04 1.01900496e+00] [ 1.66731363e-02 1.46764011e-04 9.99860983e-01 -2.81778333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02719347 meters 0.060527539870435625 Centerline is valid? [True, True] Translation: X:12.01, Y:1.03, Z:-0.28 [[ 9.99186038e-01 -3.65867119e-02 -1.69904279e-02 1.20088664e+01] [ 3.65780255e-02 9.99330462e-01 -8.21837510e-04 1.02522027e+00] [ 1.70091205e-02 1.99692259e-04 9.99855315e-01 -2.84834728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.05719347 meters 0.060548943893785845 Centerline is valid? [True, True] Translation: X:12.04, Y:1.03, Z:-0.29 [[ 9.99226261e-01 -3.60357231e-02 -1.57577149e-02 1.20414918e+01] [ 3.60282124e-02 9.99350484e-01 -7.60343980e-04 1.02724396e+00] [ 1.57748795e-02 1.92033373e-04 9.99875550e-01 -2.85093321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08719347 meters 0.06037834770554137 Centerline is valid? [True, True] Translation: X:12.07, Y:1.02, Z:-0.28 [[ 9.99173408e-01 -3.79139747e-02 -1.46639404e-02 1.20729446e+01] [ 3.79076799e-02 9.99280995e-01 -7.07086550e-04 1.02319199e+00] [ 1.46802054e-02 1.50626119e-04 9.99892229e-01 -2.83932835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11719347 meters 0.06017320421043674 Centerline is valid? [True, True] Translation: X:12.11, Y:1.01, Z:-0.29 [[ 9.98896958e-01 -4.41553222e-02 -1.59742209e-02 1.21054777e+01] [ 4.41486731e-02 9.99024676e-01 -7.68812959e-04 1.00701151e+00] [ 1.59925880e-02 6.27242697e-05 9.99872108e-01 -2.86227288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.14719347 meters 0.06019302580989025 Centerline is valid? [True, True] Translation: X:12.14, Y:1.00, Z:-0.29 [[ 9.98637045e-01 -4.91981282e-02 -1.74240323e-02 1.21383315e+01] [ 4.91910098e-02 9.98789039e-01 -8.37147134e-04 9.97890771e-01] [ 1.74441186e-02 -2.10996042e-05 9.99847840e-01 -2.86798105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.17719347 meters 0.0609262236292084 Centerline is valid? [True, True] Translation: X:12.17, Y:0.98, Z:-0.28 [[ 9.98100036e-01 -5.80810737e-02 -2.05647061e-02 1.21709019e+01] [ 5.80730631e-02 9.98311848e-01 -9.87014335e-04 9.82243382e-01] [ 2.05873166e-02 -2.09116434e-04 9.99788037e-01 -2.84979917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.20719347 meters 0.06164199109346959 Centerline is valid? [True, True] Translation: X:12.20, Y:0.97, Z:-0.28 [[ 9.97772905e-01 -6.35727595e-02 -2.01924159e-02 1.22024570e+01] [ 6.35661865e-02 9.97977156e-01 -9.67843361e-04 9.68866614e-01] [ 2.02130983e-02 -3.17866995e-04 9.99795644e-01 -2.83727178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.23719347 meters 0.06193038026319016 Centerline is valid? [True, True] Translation: X:12.23, Y:0.96, Z:-0.29 [[ 9.97601763e-01 -6.59330137e-02 -2.10608825e-02 1.22341244e+01] [ 6.59264700e-02 9.97823977e-01 -1.00562086e-03 9.56057089e-01] [ 2.10813572e-02 -3.85260497e-04 9.99777689e-01 -2.86541452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26719347 meters 0.0626826668670262 Centerline is valid? [True, True] Translation: X:12.27, Y:0.95, Z:-0.29 [[ 9.97490178e-01 -6.70061203e-02 -2.28806476e-02 1.22654841e+01] [ 6.69986922e-02 9.97752466e-01 -1.09194163e-03 9.50180045e-01] [ 2.29023893e-02 -4.43772419e-04 9.99737607e-01 -2.90597618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29719347 meters 0.06351215779564807 Centerline is valid? [True, True] Translation: X:12.30, Y:0.94, Z:-0.29 [[ 9.97141041e-01 -7.06992326e-02 -2.66713952e-02 1.22966196e+01] [ 7.06904626e-02 9.97497488e-01 -1.27273125e-03 9.38516027e-01] [ 2.66946309e-02 -6.16320700e-04 9.99643445e-01 -2.93932576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.327193470000001 meters 0.06373538575678815 Centerline is valid? [True, True] Translation: X:12.33, Y:0.93, Z:-0.29 [[ 9.96988638e-01 -7.24547581e-02 -2.76398791e-02 1.23284516e+01] [ 7.24460711e-02 9.97371462e-01 -1.31687404e-03 9.34449591e-01] [ 2.76626404e-02 -6.89492193e-04 9.99617078e-01 -2.93131550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.35719347 meters 0.06381324517245125 Centerline is valid? [True, True] Translation: X:12.36, Y:0.93, Z:-0.29 [[ 9.96880830e-01 -7.40445171e-02 -2.73133860e-02 1.23614303e+01] [ 7.40366985e-02 9.97254672e-01 -1.29882189e-03 9.25029095e-01] [ 2.73345724e-02 -7.27422279e-04 9.99626076e-01 -2.90299499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.38719347 meters 0.06368518646864861 Centerline is valid? [True, True] Translation: X:12.39, Y:0.92, Z:-0.29 [[ 9.96951105e-01 -7.34008941e-02 -2.64727016e-02 1.23943886e+01] [ 7.33933833e-02 9.97302277e-01 -1.25655360e-03 9.18022389e-01] [ 2.64935178e-02 -6.90198640e-04 9.99648747e-01 -2.88269599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.41719347 meters 0.0641433736842311 Centerline is valid? [True, True] Translation: X:12.43, Y:0.91, Z:-0.29 [[ 9.97073190e-01 -7.19905928e-02 -2.57373106e-02 1.24255958e+01] [ 7.19830618e-02 9.97405108e-01 -1.22017477e-03 9.13725076e-01] [ 2.57583662e-02 -6.36046872e-04 9.99667996e-01 -2.91045540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44719347 meters 0.06265539967097478 Centerline is valid? [True, True] Translation: X:12.46, Y:0.91, Z:-0.29 [[ 9.97432835e-01 -6.80461794e-02 -2.23037275e-02 1.24568366e+01] [ 6.80395418e-02 9.97682065e-01 -1.05720568e-03 9.12898265e-01] [ 2.23239677e-02 -4.63043745e-04 9.99750682e-01 -2.87099081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.47719347 meters 0.062123376223978954 Centerline is valid? [True, True] Translation: X:12.49, Y:0.91, Z:-0.29 [[ 9.97695731e-01 -6.50422410e-02 -1.93063766e-02 1.24872852e+01] [ 6.50367137e-02 9.97882453e-01 -9.14694180e-04 9.09625630e-01] [ 1.93249882e-02 -3.43036811e-04 9.99813196e-01 -2.85019580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.50719347 meters 0.06203193610281875 Centerline is valid? [True, True] Translation: X:12.52, Y:0.91, Z:-0.29 [[ 9.97765319e-01 -6.40204992e-02 -1.91244551e-02 1.25192078e+01] [ 6.40149269e-02 9.97948532e-01 -9.04035662e-04 9.08062177e-01] [ 1.91430987e-02 -3.22235163e-04 9.99816702e-01 -2.85455193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.53719347 meters 0.06208800243191115 Centerline is valid? [True, True] Translation: X:12.55, Y:0.90, Z:-0.29 [[ 9.97630835e-01 -6.52092361e-02 -2.19196774e-02 1.25513907e+01] [ 6.52022413e-02 9.97871534e-01 -1.03441395e-03 9.03942928e-01] [ 2.19404754e-02 -3.97248839e-04 9.99759200e-01 -2.85439034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.56719347 meters 0.06332984920342646 Centerline is valid? [True, True] Translation: X:12.58, Y:0.90, Z:-0.29 [[ 9.97427867e-01 -6.69425947e-02 -2.56191263e-02 1.25820959e+01] [ 6.69336083e-02 9.97756699e-01 -1.20910004e-03 8.96478901e-01] [ 2.56425951e-02 -5.08790491e-04 9.99671045e-01 -2.91497232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.59719347 meters 0.06353425774994871 Centerline is valid? [True, True] Translation: X:12.61, Y:0.89, Z:-0.29 [[ 9.97264175e-01 -6.82891967e-02 -2.82975480e-02 1.26144790e+01] [ 6.82788525e-02 9.97665386e-01 -1.33277411e-03 8.89227596e-01] [ 2.83224982e-02 -6.02996232e-04 9.99598656e-01 -2.94423099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62719347 meters 0.06360321338255238 Centerline is valid? [True, True] Translation: X:12.65, Y:0.89, Z:-0.30 [[ 9.97258898e-01 -6.84689314e-02 -2.80480830e-02 1.26467437e+01] [ 6.84589046e-02 9.97653066e-01 -1.31871646e-03 8.86764542e-01] [ 2.80725471e-02 -6.05039314e-04 9.99605705e-01 -2.95396489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.657193470000001 meters 0.06291485376306807 Centerline is valid? [True, True] Translation: X:12.68, Y:0.88, Z:-0.29 [[ 9.97395130e-01 -6.75607458e-02 -2.52685615e-02 1.26780641e+01] [ 6.75523359e-02 9.97715026e-01 -1.18726035e-03 8.84259909e-01] [ 2.52910357e-02 -5.22782663e-04 9.99679994e-01 -2.90744120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68719347 meters 0.062383290291094684 Centerline is valid? [True, True] Translation: X:12.71, Y:0.88, Z:-0.29 [[ 9.97460585e-01 -6.70535130e-02 -2.40043369e-02 1.27108523e+01] [ 6.70458520e-02 9.97749261e-01 -1.12472626e-03 8.83154373e-01] [ 2.40257263e-02 -4.87521110e-04 9.99711222e-01 -2.86231138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.71719347 meters 0.06264433792300572 Centerline is valid? [True, True] Translation: X:12.74, Y:0.88, Z:-0.29 [[ 9.97383681e-01 -6.79670371e-02 -2.46226584e-02 1.27423852e+01] [ 6.79592840e-02 9.97687430e-01 -1.15250357e-03 8.81657333e-01] [ 2.46440490e-02 -5.23849981e-04 9.99696152e-01 -2.86870109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.747193470000001 meters 0.06321283910751781 Centerline is valid? [True, True] Translation: X:12.77, Y:0.88, Z:-0.29 [[ 9.97214982e-01 -7.01510233e-02 -2.53202299e-02 1.27748450e+01] [ 7.01435872e-02 9.97536204e-01 -1.18282750e-03 8.77755061e-01] [ 2.53408225e-02 -5.96518450e-04 9.99678692e-01 -2.88345238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.77719347 meters 0.06437115175945063 Centerline is valid? [True, True] Translation: X:12.81, Y:0.87, Z:-0.30 [[ 9.97216586e-01 -7.00478762e-02 -2.55416610e-02 1.28062296e+01] [ 7.00403126e-02 9.97543450e-01 -1.19172920e-03 8.73762476e-01] [ 2.55623947e-02 -6.00533798e-04 9.99673048e-01 -2.95851274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.80719347 meters 0.06274026641442633 Centerline is valid? [True, True] Translation: X:12.84, Y:0.88, Z:-0.29 [[ 9.97485643e-01 -6.54713626e-02 -2.71273361e-02 1.28376524e+01] [ 6.54612052e-02 9.97854315e-01 -1.26327511e-03 8.82997611e-01] [ 2.71518378e-02 -5.15689333e-04 9.99631188e-01 -2.92642112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.83719347 meters 0.06188141096986273 Centerline is valid? [True, True] Translation: X:12.87, Y:0.89, Z:-0.29 [[ 9.97871151e-01 -5.86903954e-02 -2.84359695e-02 1.28699310e+01] [ 5.86765727e-02 9.98276172e-01 -1.32100434e-03 8.93097497e-01] [ 2.84644811e-02 -3.50333117e-04 9.99594743e-01 -2.91237905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86719347 meters 0.062002685011837845 Centerline is valid? [True, True] Translation: X:12.90, Y:0.90, Z:-0.29 [[ 9.98006365e-01 -5.57630070e-02 -2.95597980e-02 1.29021755e+01] [ 5.57468546e-02 9.98443994e-01 -1.37090603e-03 8.97755406e-01] [ 2.95902486e-02 -2.79692823e-04 9.99562074e-01 -2.92913993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.89719347 meters 0.062208008115036864 Centerline is valid? [True, True] Translation: X:12.93, Y:0.90, Z:-0.29 [[ 9.97910167e-01 -5.65434528e-02 -3.12751651e-02 1.29329303e+01] [ 5.65257576e-02 9.98400088e-01 -1.45035497e-03 9.00780881e-01] [ 3.13071357e-02 -3.20528431e-04 9.99509760e-01 -2.93695468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92719347 meters 0.0628864945917714 Centerline is valid? [True, True] Translation: X:12.96, Y:0.90, Z:-0.30 [[ 9.97561501e-01 -6.21508003e-02 -3.17542132e-02 1.29631661e+01] [ 6.21353917e-02 9.98066643e-01 -1.47275012e-03 8.95244872e-01] [ 3.17843535e-02 -5.03901649e-04 9.99494623e-01 -2.96132818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.95719347 meters 0.06335103792535493 Centerline is valid? [True, True] Translation: X:12.99, Y:0.89, Z:-0.30 [[ 9.97337496e-01 -6.55330734e-02 -3.19896192e-02 1.29945731e+01] [ 6.55192284e-02 9.97850206e-01 -1.48196970e-03 8.90814500e-01] [ 3.20179662e-02 -6.17911212e-04 9.99487102e-01 -2.97522059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.98719347 meters 0.06391263128083118 Centerline is valid? [True, True] Translation: X:13.03, Y:0.88, Z:-0.30 [[ 9.96998442e-01 -7.13417788e-02 -3.00741994e-02 1.30259274e+01] [ 7.13322212e-02 9.97451641e-01 -1.39192493e-03 8.83031451e-01] [ 3.00968620e-02 -7.57512460e-04 9.99546700e-01 -2.96786935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.01719347 meters 0.06389731229454701 Centerline is valid? [True, True] Translation: X:13.06, Y:0.88, Z:-0.29 [[ 9.96875499e-01 -7.38716356e-02 -2.79681998e-02 1.30579516e+01] [ 7.38644428e-02 9.97267454e-01 -1.29163480e-03 8.82055562e-01] [ 2.79871906e-02 -7.78256411e-04 9.99607979e-01 -2.91306692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.04719347 meters 0.06441707171540124 Centerline is valid? [True, True] Translation: X:13.09, Y:0.88, Z:-0.29 [[ 9.97081581e-01 -7.09805916e-02 -2.81083155e-02 1.30887952e+01] [ 7.09722243e-02 9.97477450e-01 -1.29647985e-03 8.82080049e-01] [ 2.81294358e-02 -7.02213496e-04 9.99604042e-01 -2.92936386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.077193470000001 meters 0.0642360612872756 Centerline is valid? [True, True] Translation: X:13.12, Y:0.88, Z:-0.29 [[ 9.97217481e-01 -6.88582045e-02 -2.85629774e-02 1.31202033e+01] [ 6.88487428e-02 9.97626242e-01 -1.31575690e-03 8.83695079e-01] [ 2.85857764e-02 -6.54429299e-04 9.99591129e-01 -2.94613379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.10719347 meters 0.06274919515175048 Centerline is valid? [True, True] Translation: X:13.15, Y:0.89, Z:-0.29 [[ 9.97575553e-01 -6.38097463e-02 -2.77728572e-02 1.31519329e+01] [ 6.37988970e-02 9.97961958e-01 -1.27748201e-03 8.89299404e-01] [ 2.77977707e-02 -4.97492828e-04 9.99613444e-01 -2.91047451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.13719347 meters 0.06245199165812217 Centerline is valid? [True, True] Translation: X:13.18, Y:0.89, Z:-0.29 [[ 9.97872320e-01 -5.91618942e-02 -2.73989626e-02 1.31819527e+01] [ 5.91495898e-02 9.98248335e-01 -1.26004625e-03 8.92265170e-01] [ 2.74255155e-02 -3.63272121e-04 9.99623784e-01 -2.93225406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16719347 meters 0.062479059278686376 Centerline is valid? [True, True] Translation: X:13.21, Y:0.89, Z:-0.29 [[ 9.97880791e-01 -5.81124335e-02 -2.92723846e-02 1.32127315e+01] [ 5.80979557e-02 9.98309980e-01 -1.34557929e-03 8.94544470e-01] [ 2.93011086e-02 -3.57937977e-04 9.99570566e-01 -2.93518748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19719347 meters 0.0629291534966983 Centerline is valid? [True, True] Translation: X:13.24, Y:0.89, Z:-0.29 [[ 9.97747283e-01 -5.98088890e-02 -3.03851267e-02 1.32428170e+01] [ 5.97940955e-02 9.98209756e-01 -1.39608546e-03 8.93636063e-01] [ 3.04142283e-02 -4.23910690e-04 9.99537290e-01 -2.94259194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.22719347 meters 0.06351855659262666 Centerline is valid? [True, True] Translation: X:13.27, Y:0.89, Z:-0.30 [[ 9.97527002e-01 -6.31984833e-02 -3.07543658e-02 1.32733034e+01] [ 6.31849577e-02 9.98000835e-01 -1.41240414e-03 8.90243278e-01] [ 3.07821446e-02 -5.34302041e-04 9.99525975e-01 -2.95376510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.25719347 meters 0.06375487108435335 Centerline is valid? [True, True] Translation: X:13.30, Y:0.89, Z:-0.30 [[ 9.97471656e-01 -6.35444067e-02 -3.18183034e-02 1.33042616e+01] [ 6.35301264e-02 9.97978852e-01 -1.46059628e-03 8.89790662e-01] [ 3.18468066e-02 -5.64517446e-04 9.99492602e-01 -2.96972832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28719347 meters 0.06375487108435335 Centerline is valid? [True, True] Translation: X:13.33, Y:0.89, Z:-0.30 [[ 9.97471656e-01 -6.35444052e-02 -3.18182954e-02 1.33342578e+01] [ 6.35301194e-02 9.97978853e-01 -1.46077070e-03 8.91167850e-01] [ 3.18468097e-02 -5.64342740e-04 9.99492602e-01 -2.97220584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.31719347 meters 0.0633659160023834 Centerline is valid? [True, True] Translation: X:13.36, Y:0.89, Z:-0.30 [[ 9.97663622e-01 -6.07260061e-02 -3.12993634e-02 1.33641690e+01] [ 6.07108219e-02 9.98154364e-01 -1.43611494e-03 8.92519288e-01] [ 3.13288057e-02 -4.67450451e-04 9.99509023e-01 -2.98343492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34719347 meters 0.06253128170946311 Centerline is valid? [True, True] Translation: X:13.39, Y:0.90, Z:-0.29 [[ 9.97899411e-01 -5.79123795e-02 -2.90331006e-02 1.33946569e+01] [ 5.78981194e-02 9.98321608e-01 -1.33229228e-03 8.98049681e-01] [ 2.90615279e-02 -3.51468245e-04 9.99577563e-01 -2.93716483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.37719347 meters 0.06162605194339761 Centerline is valid? [True, True] Translation: X:13.42, Y:0.91, Z:-0.29 [[ 9.98444672e-01 -5.08450392e-02 -2.28696075e-02 1.34244402e+01] [ 5.08343370e-02 9.98706548e-01 -1.04945737e-03 9.07621314e-01] [ 2.28933865e-02 -1.14736212e-04 9.99737905e-01 -2.87903210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.40719347 meters 0.06179513130540088 Centerline is valid? [True, True] Translation: X:13.46, Y:0.91, Z:-0.29 [[ 9.98403557e-01 -5.06799264e-02 -2.49375571e-02 1.34551538e+01] [ 5.06671671e-02 9.98714939e-01 -1.14364668e-03 9.10030315e-01] [ 2.49634707e-02 -1.21694455e-04 9.99688357e-01 -2.89742104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.43719347 meters 0.06207044488465126 Centerline is valid? [True, True] Translation: X:13.49, Y:0.90, Z:-0.29 [[ 9.97994413e-01 -5.84793872e-02 -2.42345519e-02 1.34871373e+01] [ 5.84696652e-02 9.98288568e-01 -1.11017203e-03 9.03900869e-01] [ 2.42579983e-02 -3.09040649e-04 9.99705684e-01 -2.90668682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.46719347 meters 0.06265932399848846 Centerline is valid? [True, True] Translation: X:13.52, Y:0.90, Z:-0.29 [[ 9.97637641e-01 -6.46466547e-02 -2.32367849e-02 1.35191249e+01] [ 6.46394283e-02 9.97908119e-01 -1.06274652e-03 8.98770505e-01] [ 2.32568794e-02 -4.41776568e-04 9.99729425e-01 -2.91184864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.497193470000001 meters 0.06554654520707118 Centerline is valid? [True, True] Translation: X:13.55, Y:0.88, Z:-0.29 [[ 9.96632740e-01 -7.88883812e-02 -2.23562949e-02 1.35489928e+01] [ 7.88853041e-02 9.96883176e-01 -1.02088144e-03 8.82244017e-01] [ 2.23671500e-02 -7.46139264e-04 9.99749546e-01 -2.92944791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52719347 meters 0.06679053897002035 Centerline is valid? [True, True] Translation: X:13.58, Y:0.88, Z:-0.29 [[ 9.96014625e-01 -8.59981803e-02 -2.36469946e-02 1.35798519e+01] [ 8.59967268e-02 9.96294834e-01 -1.08027025e-03 8.78402190e-01] [ 2.36522798e-02 -9.57599167e-04 9.99719787e-01 -2.92024642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.55719347 meters 0.0719772329665216 Centerline is valid? [True, True] Translation: X:13.61, Y:0.87, Z:-0.29 [[ 9.94812522e-01 -9.87169096e-02 -2.45564098e-02 1.36098502e+01] [ 9.87192221e-02 9.95114696e-01 -1.12105435e-03 8.66816986e-01] [ 2.45471113e-02 -1.30895077e-03 9.99697817e-01 -2.94011683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58719347 meters 0.07185183736629679 Centerline is valid? [True, True] Translation: X:13.64, Y:0.87, Z:-0.29 [[ 9.94741000e-01 -9.96052768e-02 -2.38564825e-02 1.36417779e+01] [ 9.96077735e-02 9.95026186e-01 -1.08659899e-03 8.67492122e-01] [ 2.38460557e-02 -1.29540654e-03 9.99714803e-01 -2.94238719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.61719347 meters 0.07028567019082621 Centerline is valid? [True, True] Translation: X:13.67, Y:0.87, Z:-0.30 [[ 9.95119168e-01 -9.56885447e-02 -2.41152170e-02 1.36725041e+01] [ 9.56899508e-02 9.95410582e-01 -1.09830347e-03 8.72482659e-01] [ 2.41096373e-02 -1.21464109e-03 9.99708583e-01 -2.95365237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.64719347 meters 0.07013568998589274 Centerline is valid? [True, True] Translation: X:13.70, Y:0.88, Z:-0.30 [[ 9.95386928e-01 -9.27707117e-02 -2.44634169e-02 1.37030423e+01] [ 9.27713083e-02 9.95686821e-01 -1.11298463e-03 8.76593156e-01] [ 2.44611542e-02 -1.16165284e-03 9.99700106e-01 -2.98252899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.67719347 meters 0.06794099883524943 Centerline is valid? [True, True] Translation: X:13.73, Y:0.89, Z:-0.30 [[ 9.95860010e-01 -8.60573615e-02 -2.92740590e-02 1.37337081e+01] [ 8.60553572e-02 9.96289468e-01 -1.33066873e-03 8.91255981e-01] [ 2.92799505e-02 -1.19402982e-03 9.99570537e-01 -2.99849211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.70719347 meters 0.06608665805274401 Centerline is valid? [True, True] Translation: X:13.76, Y:0.91, Z:-0.30 [[ 9.96591642e-01 -7.68177586e-02 -3.00687681e-02 1.37628267e+01] [ 7.68114152e-02 9.97044701e-01 -1.36768852e-03 9.07294004e-01] [ 3.00849686e-02 -9.46597680e-04 9.99546897e-01 -3.00765527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.73719347 meters 0.06481602063423585 Centerline is valid? [True, True] Translation: X:13.79, Y:0.92, Z:-0.30 [[ 9.97095994e-01 -7.03909868e-02 -2.90635085e-02 1.37927758e+01] [ 7.03823348e-02 9.97519213e-01 -1.32185256e-03 9.18054368e-01] [ 2.90844547e-02 -7.27543696e-04 9.99576693e-01 -3.00514635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76719347 meters 0.0628423001317635 Centerline is valid? [True, True] Translation: X:13.82, Y:0.94, Z:-0.30 [[ 9.97913465e-01 -5.83833654e-02 -2.75698814e-02 1.38226015e+01] [ 5.83710165e-02 9.98294172e-01 -1.25318437e-03 9.38636506e-01] [ 2.75960170e-02 -3.58712444e-04 9.99619093e-01 -2.97394933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.79719347 meters 0.06188531199600921 Centerline is valid? [True, True] Translation: X:13.85, Y:0.96, Z:-0.29 [[ 9.98581331e-01 -4.87660217e-02 -2.13822508e-02 1.38512145e+01] [ 4.87563718e-02 9.98810227e-01 -9.72701561e-04 9.58247792e-01] [ 2.14042456e-02 -7.11993510e-05 9.99770900e-01 -2.92220835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.827193470000001 meters 0.06163819025273229 Centerline is valid? [True, True] Translation: X:13.88, Y:0.97, Z:-0.29 [[ 9.98738176e-01 -4.62956422e-02 -1.94619915e-02 1.38826863e+01] [ 4.62872296e-02 9.98927782e-01 -8.82743600e-04 9.66880111e-01] [ 1.94819911e-02 -1.92119339e-05 9.99810208e-01 -2.87869105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.85719347 meters 0.06230523610334919 Centerline is valid? [True, True] Translation: X:13.91, Y:0.98, Z:-0.30 [[ 9.98728707e-01 -4.46562035e-02 -2.33836008e-02 1.39130354e+01] [ 4.46437020e-02 9.99002414e-01 -1.05665066e-03 9.76073880e-01] [ 2.34074597e-02 1.13768423e-05 9.99726008e-01 -2.95033320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.88719347 meters 0.06316869160087862 Centerline is valid? [True, True] Translation: X:13.94, Y:0.98, Z:-0.30 [[ 9.98689108e-01 -4.29147871e-02 -2.78995652e-02 1.39425166e+01] [ 4.28963594e-02 9.99078734e-01 -1.25895277e-03 9.82543247e-01] [ 2.79278899e-02 6.05126456e-05 9.99609939e-01 -3.02460908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.91719347 meters 0.06338931994765244 Centerline is valid? [True, True] Translation: X:13.97, Y:0.99, Z:-0.30 [[ 9.98712928e-01 -4.17325871e-02 -2.88249741e-02 1.39739898e+01] [ 4.17124450e-02 9.99128811e-01 -1.29998840e-03 9.85588623e-01] [ 2.88541140e-02 9.59550757e-05 9.99583629e-01 -3.04396720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94719347 meters 0.06278998943357132 Centerline is valid? [True, True] Translation: X:14.01, Y:0.98, Z:-0.30 [[ 9.98672001e-01 -4.34444144e-02 -2.76914761e-02 1.40057196e+01] [ 4.34265169e-02 9.99055845e-01 -1.24766112e-03 9.83555638e-01] [ 2.77195349e-02 4.34598667e-05 9.99615739e-01 -3.01309787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.97719347 meters 0.06227266104047482 Centerline is valid? [True, True] Translation: X:14.04, Y:0.98, Z:-0.30 [[ 9.98434764e-01 -5.10285335e-02 -2.28934761e-02 1.40366223e+01] [ 5.10183666e-02 9.98697186e-01 -1.02832722e-03 9.75195930e-01] [ 2.29161242e-02 -1.41270112e-04 9.99737381e-01 -2.98041457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.00719347 meters 0.062151303837743865 Centerline is valid? [True, True] Translation: X:14.07, Y:0.97, Z:-0.29 [[ 9.98117487e-01 -5.84656082e-02 -1.85271604e-02 1.40687659e+01] [ 5.84602598e-02 9.98289391e-01 -8.30610360e-04 9.71239776e-01] [ 1.85440299e-02 -2.54055888e-04 9.99828012e-01 -2.88214626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.03719347 meters 0.06258088087618952 Centerline is valid? [True, True] Translation: X:14.10, Y:0.97, Z:-0.29 [[ 9.97984297e-01 -6.07187740e-02 -1.84546123e-02 1.41005376e+01] [ 6.07139073e-02 9.98154869e-01 -8.24390189e-04 9.67656811e-01] [ 1.84706171e-02 -2.97723158e-04 9.99829359e-01 -2.90895997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.06719347 meters 0.06270865855867587 Centerline is valid? [True, True] Translation: X:14.13, Y:0.96, Z:-0.30 [[ 9.97939944e-01 -6.07608347e-02 -2.05909944e-02 1.41329962e+01] [ 6.07548090e-02 9.98152298e-01 -9.18657361e-04 9.62526294e-01] [ 2.06087667e-02 -3.34237054e-04 9.99787561e-01 -2.96207947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.09719347 meters 0.06275549392598952 Centerline is valid? [True, True] Translation: X:14.16, Y:0.96, Z:-0.30 [[ 9.97955667e-01 -6.02407263e-02 -2.13434074e-02 1.41637664e+01] [ 6.02341576e-02 9.98183822e-01 -9.51087847e-04 9.62122891e-01] [ 2.13619382e-02 -3.36458658e-04 9.99771751e-01 -2.98589618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12719347 meters 0.06286092530644871 Centerline is valid? [True, True] Translation: X:14.20, Y:0.96, Z:-0.30 [[ 9.97869914e-01 -6.01369485e-02 -2.52820327e-02 1.41957835e+01] [ 6.01277562e-02 9.98190056e-01 -1.12431983e-03 9.62877454e-01] [ 2.53038868e-02 -3.98226961e-04 9.99679726e-01 -3.00662509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.15719347 meters 0.06300697822106006 Centerline is valid? [True, True] Translation: X:14.23, Y:0.96, Z:-0.30 [[ 9.97909537e-01 -5.91997709e-02 -2.59218707e-02 1.42270932e+01] [ 5.91898983e-02 9.98246080e-01 -1.14865504e-03 9.64480863e-01] [ 2.59444060e-02 -3.88059073e-04 9.99663312e-01 -3.03309287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18719347 meters 0.06248731864131273 Centerline is valid? [True, True] Translation: X:14.26, Y:0.97, Z:-0.30 [[ 9.98001261e-01 -5.83796495e-02 -2.41929797e-02 1.42589293e+01] [ 5.83708507e-02 9.98294395e-01 -1.07032288e-03 9.67294783e-01] [ 2.42142011e-02 -3.43981222e-04 9.99706734e-01 -2.98935475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.21719347 meters 0.06178882181304084 Centerline is valid? [True, True] Translation: X:14.29, Y:0.97, Z:-0.29 [[ 9.98172426e-01 -5.71937367e-02 -1.95111408e-02 1.42903085e+01] [ 5.71878004e-02 9.98363066e-01 -8.62522933e-04 9.71835832e-01] [ 1.95285333e-02 -2.54852618e-04 9.99809268e-01 -2.92465720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.247193470000001 meters 0.06219633113246041 Centerline is valid? [True, True] Translation: X:14.32, Y:0.97, Z:-0.30 [[ 9.98194993e-01 -5.65925033e-02 -2.01008780e-02 1.43209824e+01] [ 5.65860985e-02 9.98397328e-01 -8.87720252e-04 9.72209984e-01] [ 2.01189012e-02 -2.51312350e-04 9.99797563e-01 -2.96514442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.27719347 meters 0.06233174321118411 Centerline is valid? [True, True] Translation: X:14.35, Y:0.97, Z:-0.30 [[ 9.98257072e-01 -5.42885362e-02 -2.31424423e-02 1.43533155e+01] [ 5.42794779e-02 9.98525262e-01 -1.01986463e-03 9.73720985e-01] [ 2.31636803e-02 -2.38072610e-04 9.99731658e-01 -3.00102240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.30719347 meters 0.062097689799692546 Centerline is valid? [True, True] Translation: X:14.39, Y:0.97, Z:-0.30 [[ 9.98305594e-01 -5.25780637e-02 -2.49296810e-02 1.43857849e+01] [ 5.25670719e-02 9.98616794e-01 -1.09650479e-03 9.74232775e-01] [ 2.49528502e-02 -2.15833468e-04 9.99688606e-01 -3.00490107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.33719347 meters 0.06224844452059328 Centerline is valid? [True, True] Translation: X:14.42, Y:0.97, Z:-0.30 [[ 9.98384682e-01 -5.09041268e-02 -2.52348151e-02 1.44167915e+01] [ 5.08923658e-02 9.98703529e-01 -1.10849413e-03 9.74999444e-01] [ 2.52585258e-02 -1.77555882e-04 9.99680937e-01 -3.02260827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36719347 meters 0.062182718628364976 Centerline is valid? [True, True] Translation: X:14.45, Y:0.98, Z:-0.30 [[ 9.98533320e-01 -4.73609712e-02 -2.62325748e-02 1.44489295e+01] [ 4.73471029e-02 9.98877835e-01 -1.14988542e-03 9.76773005e-01] [ 2.62575972e-02 -9.38375106e-05 9.99655205e-01 -3.01931623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.39719347 meters 0.062349501231059264 Centerline is valid? [True, True] Translation: X:14.48, Y:0.98, Z:-0.30 [[ 9.98719777e-01 -4.33283806e-02 -2.61047524e-02 1.44805449e+01] [ 4.33133284e-02 9.99060885e-01 -1.14203564e-03 9.79710078e-01] [ 2.61297195e-02 9.88986550e-06 9.99658561e-01 -2.99975847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42719347 meters 0.0625392097006684 Centerline is valid? [True, True] Translation: X:14.51, Y:0.98, Z:-0.30 [[ 9.98842420e-01 -4.08972650e-02 -2.53226114e-02 1.45115379e+01] [ 4.08823389e-02 9.99163354e-01 -1.10708298e-03 9.80840195e-01] [ 2.53467020e-02 7.05538585e-05 9.99678718e-01 -3.00818746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.45719347 meters 0.06279741909888399 Centerline is valid? [True, True] Translation: X:14.54, Y:0.98, Z:-0.30 [[ 9.99057798e-01 -3.52218135e-02 -2.53562534e-02 1.45431992e+01] [ 3.52050476e-02 9.99379497e-01 -1.10745544e-03 9.76655007e-01] [ 2.53795264e-02 2.13743880e-04 9.99677865e-01 -3.02581142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.48719347 meters 0.06250933956043803 Centerline is valid? [True, True] Translation: X:14.57, Y:0.97, Z:-0.30 [[ 9.99170343e-01 -3.43242228e-02 -2.19196849e-02 1.45736369e+01] [ 3.43114573e-02 9.99410729e-01 -9.58313840e-04 9.69888774e-01] [ 2.19396617e-02 2.05422434e-04 9.99759276e-01 -3.01544877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.51719347 meters 0.06185521046371547 Centerline is valid? [True, True] Translation: X:14.60, Y:0.96, Z:-0.30 [[ 9.99124956e-01 -3.78603974e-02 -1.77739039e-02 1.46049963e+01] [ 3.78525666e-02 9.99283033e-01 -7.76917127e-04 9.60692193e-01] [ 1.77905750e-02 1.03449411e-04 9.99841730e-01 -2.96262119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54719347 meters 0.061680501895247444 Centerline is valid? [True, True] Translation: X:14.64, Y:0.96, Z:-0.30 [[ 9.99105163e-01 -3.89388612e-02 -1.65117860e-02 1.46363198e+01] [ 3.89322766e-02 9.99241592e-01 -7.20156839e-04 9.55642512e-01] [ 1.65273054e-02 7.66709959e-05 9.99863412e-01 -2.95281272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.577193470000001 meters 0.06150435895141804 Centerline is valid? [True, True] Translation: X:14.67, Y:0.95, Z:-0.30 [[ 9.99189275e-01 -3.74084934e-02 -1.48794101e-02 1.46686831e+01] [ 3.74029994e-02 9.99300053e-01 -6.47441784e-04 9.45368609e-01] [ 1.48932151e-02 9.03823198e-05 9.99889086e-01 -2.96167444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.60719347 meters 0.06216911900060198 Centerline is valid? [True, True] Translation: X:14.70, Y:0.94, Z:-0.30 [[ 9.99325187e-01 -3.17752391e-02 -1.84256806e-02 1.47001799e+01] [ 3.17658611e-02 9.99495016e-01 -8.01492355e-04 9.40835180e-01] [ 1.84418435e-02 2.15643889e-04 9.99829911e-01 -3.00814329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.63719347 meters 0.06292734574579559 Centerline is valid? [True, True] Translation: X:14.73, Y:0.94, Z:-0.30 [[ 9.99363171e-01 -2.89324685e-02 -2.08845474e-02 1.47303087e+01] [ 2.89197782e-02 9.99581322e-01 -9.09471563e-04 9.40757594e-01] [ 2.09021168e-02 3.04915906e-04 9.99781480e-01 -3.03711755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66719347 meters 0.06331504290952183 Centerline is valid? [True, True] Translation: X:14.76, Y:0.94, Z:-0.30 [[ 9.99391226e-01 -2.68985213e-02 -2.22181636e-02 1.47596793e+01] [ 2.68836307e-02 9.99638101e-01 -9.68669261e-04 9.40942247e-01] [ 2.22361786e-02 3.70774656e-04 9.99752677e-01 -3.04680400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.69719347 meters 0.06379871239212909 Centerline is valid? [True, True] Translation: X:14.79, Y:0.94, Z:-0.31 [[ 9.99374259e-01 -2.64117315e-02 -2.35267968e-02 1.47877940e+01] [ 2.63947865e-02 9.99651066e-01 -1.03054186e-03 9.36477540e-01] [ 2.35458059e-02 4.08912234e-04 9.99722675e-01 -3.05301434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.72719347 meters 0.06308402814409542 Centerline is valid? [True, True] Translation: X:14.82, Y:0.92, Z:-0.31 [[ 9.99214154e-01 -3.18856597e-02 -2.35452652e-02 1.48162688e+01] [ 3.18701599e-02 9.99491483e-01 -1.03334766e-03 9.18513853e-01] [ 2.35662410e-02 2.82144240e-04 9.99722238e-01 -3.06893916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.75719347 meters 0.06257671545337198 Centerline is valid? [True, True] Translation: X:14.85, Y:0.90, Z:-0.31 [[ 9.99046444e-01 -3.64264958e-02 -2.40689314e-02 1.48454031e+01] [ 3.64114117e-02 9.99336317e-01 -1.06480472e-03 9.01846811e-01] [ 2.40917444e-02 1.87405597e-04 9.99709734e-01 -3.08256578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78719347 meters 0.06274330930076784 Centerline is valid? [True, True] Translation: X:14.87, Y:0.90, Z:-0.31 [[ 9.99034854e-01 -3.65195244e-02 -2.44066627e-02 1.48743024e+01] [ 3.65038698e-02 9.99332921e-01 -1.08678655e-03 8.97742272e-01] [ 2.44300704e-02 1.94800003e-04 9.99701522e-01 -3.08639305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.81719347 meters 0.06290585880890562 Centerline is valid? [True, True] Translation: X:14.90, Y:0.89, Z:-0.31 [[ 9.99097605e-01 -3.52646332e-02 -2.36723696e-02 1.49022312e+01] [ 3.52493604e-02 9.99377984e-01 -1.06227396e-03 8.94773052e-01] [ 2.36951057e-02 2.26879484e-04 9.99719206e-01 -3.08147115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84719347 meters 0.06443354091551083 Centerline is valid? [True, True] Translation: X:14.93, Y:0.89, Z:-0.31 [[ 9.99376620e-01 -2.68755613e-02 -2.28926925e-02 1.49303154e+01] [ 2.68590260e-02 9.99638701e-01 -1.02952325e-03 8.91231550e-01] [ 2.29120904e-02 4.14006048e-04 9.99737398e-01 -3.07983221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.87719347 meters 0.065811272056371 Centerline is valid? [True, True] Translation: X:14.96, Y:0.88, Z:-0.31 [[ 9.99443413e-01 -2.04554737e-02 -2.63521946e-02 1.49610170e+01] [ 2.04313508e-02 9.99790557e-01 -1.18435804e-03 8.80830571e-01] [ 2.63709019e-02 6.45287912e-04 9.99652019e-01 -3.10420361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.90719347 meters 0.0660489553279227 Centerline is valid? [True, True] Translation: X:14.99, Y:0.87, Z:-0.31 [[ 9.99543057e-01 -2.02677530e-02 -2.24253136e-02 1.49899366e+01] [ 2.02501831e-02 9.99794434e-01 -1.01032002e-03 8.66177951e-01] [ 2.24411807e-02 5.55741651e-04 9.99748011e-01 -3.10521551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.93719347 meters 0.06433964526015751 Centerline is valid? [True, True] Translation: X:15.02, Y:0.85, Z:-0.31 [[ 9.99530929e-01 -2.24617501e-02 -2.08180721e-02 1.50191167e+01] [ 2.24469076e-02 9.99747588e-01 -9.46392255e-04 8.54305341e-01] [ 2.08340750e-02 4.78646989e-04 9.99782833e-01 -3.05364972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.96719347 meters 0.06339509546521599 Centerline is valid? [True, True] Translation: X:15.05, Y:0.83, Z:-0.30 [[ 9.99456349e-01 -2.73367031e-02 -1.84312386e-02 1.50493821e+01] [ 2.73259182e-02 9.99626227e-01 -8.36783669e-04 8.34181286e-01] [ 1.84472244e-02 3.32678231e-04 9.99829780e-01 -3.03511279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.997193470000001 meters 0.06303643915225024 Centerline is valid? [True, True] Translation: X:15.08, Y:0.81, Z:-0.31 [[ 9.99267649e-01 -3.29649159e-02 -1.94288656e-02 1.50781984e+01] [ 3.29539434e-02 9.99456480e-01 -8.84728364e-04 8.11608522e-01] [ 1.94474706e-02 2.43822694e-04 9.99810850e-01 -3.07427801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02719347 meters 0.06284211320456153 Centerline is valid? [True, True] Translation: X:15.11, Y:0.80, Z:-0.31 [[ 9.99126640e-01 -3.57010251e-02 -2.17116307e-02 1.51076283e+01] [ 3.56877876e-02 9.99362491e-01 -9.96980302e-04 8.01109244e-01] [ 2.17333825e-02 2.21269515e-04 9.99763778e-01 -3.08452905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05719347 meters 0.06349665036489897 Centerline is valid? [True, True] Translation: X:15.14, Y:0.79, Z:-0.31 [[ 9.99102264e-01 -3.41262720e-02 -2.51010827e-02 1.51378811e+01] [ 3.41081185e-02 9.99417486e-01 -1.15112621e-03 7.88573341e-01] [ 2.51257446e-02 2.93942096e-04 9.99684255e-01 -3.12627462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.08719347 meters 0.06416328476378731 Centerline is valid? [True, True] Translation: X:15.17, Y:0.79, Z:-0.31 [[ 9.99163150e-01 -3.13794989e-02 -2.62359873e-02 1.51651879e+01] [ 3.13586107e-02 9.99507469e-01 -1.20732050e-03 7.87128053e-01] [ 2.62609503e-02 3.83586045e-04 9.99655048e-01 -3.14882867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.11719347 meters 0.06592080343194323 Centerline is valid? [True, True] Translation: X:15.19, Y:0.79, Z:-0.32 [[ 9.99380039e-01 -2.28550063e-02 -2.67803477e-02 1.51945848e+01] [ 2.28301504e-02 9.99738597e-01 -1.23356812e-03 7.86677593e-01] [ 2.68015404e-02 6.21403990e-04 9.99640581e-01 -3.16783364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14719347 meters 0.06653641788568589 Centerline is valid? [True, True] Translation: X:15.22, Y:0.78, Z:-0.31 [[ 9.99579457e-01 -1.81146723e-02 -2.26443592e-02 1.52224412e+01] [ 1.80954473e-02 9.99835709e-01 -1.05363311e-03 7.83744047e-01] [ 2.26597251e-02 6.43430203e-04 9.99743028e-01 -3.13454756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.17719347 meters 0.06653641788568589 Centerline is valid? [True, True] Translation: X:15.25, Y:0.79, Z:-0.31 [[ 9.99572939e-01 -1.84713203e-02 -2.26439824e-02 1.52498766e+01] [ 1.84520038e-02 9.99829184e-01 -1.06171140e-03 7.85286612e-01] [ 2.26597256e-02 6.43431136e-04 9.99743028e-01 -3.13681752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.20719347 meters 0.06658732821407332 Centerline is valid? [True, True] Translation: X:15.28, Y:0.78, Z:-0.31 [[ 9.99610984e-01 -1.88904598e-02 -2.05190530e-02 1.52775618e+01] [ 1.88746771e-02 9.99821394e-01 -9.62584145e-04 7.81204759e-01] [ 2.05335719e-02 5.74919184e-04 9.99788999e-01 -3.12674727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.23719347 meters 0.0637899335006386 Centerline is valid? [True, True] Translation: X:15.31, Y:0.76, Z:-0.31 [[ 9.99523748e-01 -2.68838194e-02 -1.51505181e-02 1.53087325e+01] [ 2.68761420e-02 9.99638519e-01 -7.10155837e-04 7.57200101e-01] [ 1.51641331e-02 3.02630149e-04 9.99884972e-01 -3.08496867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.26719347 meters 0.06222556606802332 Centerline is valid? [True, True] Translation: X:15.34, Y:0.73, Z:-0.31 [[ 9.99132460e-01 -3.86144604e-02 -1.55965252e-02 1.53382660e+01] [ 3.86077289e-02 9.99254175e-01 -7.32574188e-04 7.34208763e-01] [ 1.56131809e-02 1.29792234e-04 9.99878098e-01 -3.11196583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.29719347 meters 0.06217066739737912 Centerline is valid? [True, True] Translation: X:15.37, Y:0.71, Z:-0.31 [[ 9.98762295e-01 -4.70018774e-02 -1.62696627e-02 1.53685838e+01] [ 4.69955618e-02 9.98894801e-01 -7.70500402e-04 7.12734950e-01] [ 1.62878965e-02 4.94480853e-06 9.99867343e-01 -3.12815122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32719347 meters 0.06239643802562219 Centerline is valid? [True, True] Translation: X:15.40, Y:0.70, Z:-0.31 [[ 9.98606531e-01 -4.97846912e-02 -1.75066161e-02 1.53963954e+01] [ 4.97777918e-02 9.98759973e-01 -8.29904173e-04 7.02523639e-01] [ 1.75262240e-02 -4.26929653e-05 9.99846403e-01 -3.14837283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.35719347 meters 0.06269940580743673 Centerline is valid? [True, True] Translation: X:15.43, Y:0.69, Z:-0.32 [[ 9.98468749e-01 -5.18349565e-02 -1.93208350e-02 1.54255313e+01] [ 5.18268710e-02 9.98655662e-01 -9.19302066e-04 6.86674765e-01] [ 1.93425132e-02 -8.34440383e-05 9.99812913e-01 -3.17403735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38719347 meters 0.0625540470226467 Centerline is valid? [True, True] Translation: X:15.45, Y:0.68, Z:-0.32 [[ 9.98500571e-01 -5.17697855e-02 -1.77904173e-02 1.54541124e+01] [ 5.17628052e-02 9.98659043e-01 -8.52921559e-04 6.81489644e-01] [ 1.78107167e-02 -6.92392430e-05 9.99841374e-01 -3.17504230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.41719347 meters 0.06219323382711207 Centerline is valid? [True, True] Translation: X:15.48, Y:0.68, Z:-0.31 [[ 9.98533422e-01 -5.10536068e-02 -1.80148402e-02 1.54823379e+01] [ 5.10462036e-02 9.98695913e-01 -8.70841408e-04 6.81931006e-01] [ 1.80358069e-02 -5.00249487e-05 9.99837340e-01 -3.12408993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.44719347 meters 0.06270637474759308 Centerline is valid? [True, True] Translation: X:15.51, Y:0.68, Z:-0.32 [[ 9.98513358e-01 -4.98672038e-02 -2.20076459e-02 1.55114246e+01] [ 4.98558857e-02 9.98755856e-01 -1.06299722e-03 6.76957762e-01] [ 2.20332739e-02 -3.57937520e-05 9.99757237e-01 -3.17988172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.47719347 meters 0.06300255926125453 Centerline is valid? [True, True] Translation: X:15.54, Y:0.67, Z:-0.32 [[ 9.98376581e-01 -5.16813830e-02 -2.39423565e-02 1.55403339e+01] [ 5.16682976e-02 9.98663622e-01 -1.16524868e-03 6.74140957e-01] [ 2.39705821e-02 -7.37038090e-05 9.99712662e-01 -3.19825014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50719347 meters 0.06351148276979036 Centerline is valid? [True, True] Translation: X:15.57, Y:0.66, Z:-0.32 [[ 9.97936913e-01 -5.95970258e-02 -2.38770417e-02 1.55700431e+01] [ 5.95861019e-02 9.98222485e-01 -1.16935021e-03 6.64386177e-01] [ 2.39042896e-02 -2.55802102e-04 9.99714219e-01 -3.20740941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.537193470000002 meters 0.0648575548026451 Centerline is valid? [True, True] Translation: X:15.60, Y:0.66, Z:-0.32 [[ 9.97300212e-01 -6.96072710e-02 -2.33905008e-02 1.56000631e+01] [ 6.95995624e-02 9.97574354e-01 -1.14448166e-03 6.57379009e-01] [ 2.34134279e-02 -4.86576817e-04 9.99725750e-01 -3.19566289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56719347 meters 0.0660047991122125 Centerline is valid? [True, True] Translation: X:15.63, Y:0.66, Z:-0.32 [[ 9.96947926e-01 -7.51457759e-02 -2.11647290e-02 1.56274734e+01] [ 7.51406365e-02 9.97172405e-01 -1.03910467e-03 6.57257888e-01] [ 2.11829680e-02 -5.54397961e-04 9.99775462e-01 -3.17837146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59719347 meters 0.06627763259628029 Centerline is valid? [True, True] Translation: X:15.66, Y:0.66, Z:-0.32 [[ 9.96965990e-01 -7.55137879e-02 -1.88807632e-02 1.56554269e+01] [ 7.55097273e-02 9.97144633e-01 -9.28894058e-04 6.59272603e-01] [ 1.88969960e-02 -4.99605498e-04 9.99821311e-01 -3.16007316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62719347 meters 0.06422495141252442 Centerline is valid? [True, True] Translation: X:15.69, Y:0.67, Z:-0.31 [[ 9.97406031e-01 -6.99047833e-02 -1.71618872e-02 1.56850073e+01] [ 6.99006026e-02 9.97553604e-01 -8.44071929e-04 6.73066094e-01] [ 1.71789071e-02 -3.57743823e-04 9.99852368e-01 -3.11743586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65719347 meters 0.06290766536027664 Centerline is valid? [True, True] Translation: X:15.71, Y:0.69, Z:-0.31 [[ 9.97743683e-01 -6.48596346e-02 -1.73427688e-02 1.57133118e+01] [ 6.48544720e-02 9.97894362e-01 -8.60530663e-04 6.86216182e-01] [ 1.73620649e-02 -2.66167081e-04 9.99849233e-01 -3.11627227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68719347 meters 0.06189897898162284 Centerline is valid? [True, True] Translation: X:15.74, Y:0.72, Z:-0.32 [[ 9.98467303e-01 -5.20013484e-02 -1.89447843e-02 1.57404401e+01] [ 5.19927642e-02 9.98647014e-01 -9.45706882e-04 7.16604782e-01] [ 1.89683303e-02 -4.07343018e-05 9.99820084e-01 -3.15683612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71719347 meters 0.06265793441888177 Centerline is valid? [True, True] Translation: X:15.77, Y:0.75, Z:-0.32 [[ 9.99024381e-01 -3.94058249e-02 -1.99365821e-02 1.57674011e+01] [ 3.93938010e-02 9.99223267e-01 -9.95625441e-04 7.46021146e-01] [ 1.99603301e-02 2.09276342e-04 9.99800751e-01 -3.18821363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74719347 meters 0.06440669078243191 Centerline is valid? [True, True] Translation: X:15.80, Y:0.77, Z:-0.32 [[ 9.99355521e-01 -2.90212837e-02 -2.11259950e-02 1.57958983e+01] [ 2.90054556e-02 9.99578696e-01 -1.05532627e-03 7.73004329e-01] [ 2.11477214e-02 4.41877024e-04 9.99776264e-01 -3.19170999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77719347 meters 0.0656515885273859 Centerline is valid? [True, True] Translation: X:15.82, Y:0.78, Z:-0.32 [[ 9.99453651e-01 -2.45292548e-02 -2.21520737e-02 1.58243755e+01] [ 2.45107127e-02 9.99698953e-01 -1.10820721e-03 7.84851682e-01] [ 2.21725884e-02 5.64638630e-04 9.99753998e-01 -3.19998452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80719347 meters 0.06809025267089261 Centerline is valid? [True, True] Translation: X:15.85, Y:0.80, Z:-0.32 [[ 9.99491046e-01 -1.91115473e-02 -2.55420802e-02 1.58530631e+01] [ 1.90851051e-02 9.99817045e-01 -1.27864146e-03 7.99475117e-01] [ 2.55618440e-02 7.90517407e-04 9.99672930e-01 -3.24985899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.83719347 meters 0.06860840168030276 Centerline is valid? [True, True] Translation: X:15.88, Y:0.81, Z:-0.33 [[ 9.99444473e-01 -1.76265224e-02 -2.82851801e-02 1.58826946e+01] [ 1.75934666e-02 9.99844219e-01 -1.41712075e-03 8.05239825e-01] [ 2.83057527e-02 9.18699131e-04 9.99598890e-01 -3.27733453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86719347 meters 0.06864469242778566 Centerline is valid? [True, True] Translation: X:15.91, Y:0.81, Z:-0.33 [[ 9.99432770e-01 -1.84733720e-02 -2.81579998e-02 1.59113282e+01] [ 1.84406539e-02 9.99828947e-01 -1.42120654e-03 8.07989520e-01] [ 2.81794377e-02 9.01148458e-04 9.99602475e-01 -3.28603162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89719347 meters 0.06713675518732629 Centerline is valid? [True, True] Translation: X:15.94, Y:0.80, Z:-0.33 [[ 9.99400858e-01 -2.09835292e-02 -2.75248477e-02 1.59404421e+01] [ 2.09529790e-02 9.99779485e-01 -1.39789429e-03 8.04847709e-01] [ 2.75481108e-02 8.20329194e-04 9.99620142e-01 -3.25654061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.92719347 meters 0.06592730493258668 Centerline is valid? [True, True] Translation: X:15.97, Y:0.80, Z:-0.32 [[ 9.99475860e-01 -2.46101008e-02 -2.10320816e-02 1.59706277e+01] [ 2.45930926e-02 9.99696975e-01 -1.06698603e-03 7.96812777e-01] [ 2.10519670e-02 5.49182846e-04 9.99778232e-01 -3.23012497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.95719347 meters 0.06521996259487015 Centerline is valid? [True, True] Translation: X:16.00, Y:0.79, Z:-0.32 [[ 9.99493781e-01 -2.55751790e-02 -1.89233151e-02 1.59999970e+01] [ 2.55614310e-02 9.99672785e-01 -9.68069714e-04 7.92378636e-01] [ 1.89418817e-02 4.83872645e-04 9.99820469e-01 -3.20649971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98719347 meters 0.06482048639391083 Centerline is valid? [True, True] Translation: X:16.03, Y:0.79, Z:-0.32 [[ 9.99551322e-01 -2.57426585e-02 -1.53123890e-02 1.60293989e+01] [ 2.57335983e-02 9.99668525e-01 -7.88458106e-04 7.86430482e-01] [ 1.53276103e-02 3.94061474e-04 9.99882448e-01 -3.17690646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.01719347 meters 0.06498475744013299 Centerline is valid? [True, True] Translation: X:16.06, Y:0.78, Z:-0.32 [[ 9.99584251e-01 -2.50004607e-02 -1.43632089e-02 1.60577080e+01] [ 2.49923329e-02 9.99687365e-01 -7.45119761e-04 7.84772129e-01] [ 1.43773468e-02 3.85839881e-04 9.99896566e-01 -3.17196249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04719347 meters 0.06530700621640413 Centerline is valid? [True, True] Translation: X:16.09, Y:0.78, Z:-0.32 [[ 9.99651914e-01 -2.35089729e-02 -1.19740770e-02 1.60856181e+01] [ 2.35031620e-02 9.99723567e-01 -6.25798794e-04 7.78590248e-01] [ 1.19854788e-02 3.44152291e-04 9.99928112e-01 -3.16995760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07719347 meters 0.06576908792688335 Centerline is valid? [True, True] Translation: X:16.11, Y:0.77, Z:-0.32 [[ 9.99674908e-01 -2.22847613e-02 -1.23881787e-02 1.61143468e+01] [ 2.22784566e-02 9.99751595e-01 -6.46712572e-04 7.72941094e-01] [ 1.23995133e-02 3.70512830e-04 9.99923054e-01 -3.17929776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.10719347 meters 0.06540101834214106 Centerline is valid? [True, True] Translation: X:16.14, Y:0.76, Z:-0.32 [[ 9.99574407e-01 -2.41930404e-02 -1.63003444e-02 1.61438864e+01] [ 2.41822724e-02 9.99707198e-01 -8.57402623e-04 7.61426645e-01] [ 1.63163148e-02 4.62858349e-04 9.99866773e-01 -3.21066807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.13719347 meters 0.06632749999155037 Centerline is valid? [True, True] Translation: X:16.17, Y:0.76, Z:-0.33 [[ 9.99531329e-01 -2.49680301e-02 -1.77121571e-02 1.61720122e+01] [ 2.49554363e-02 9.99688130e-01 -9.31727985e-04 7.59055796e-01] [ 1.77298966e-02 4.89276703e-04 9.99842693e-01 -3.25827092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16719347 meters 0.06589145401309746 Centerline is valid? [True, True] Translation: X:16.20, Y:0.74, Z:-0.33 [[ 9.99403384e-01 -2.61393595e-02 -2.25745255e-02 1.62018726e+01] [ 2.61191792e-02 9.99658130e-01 -1.18837935e-03 7.44261346e-01] [ 2.25978714e-02 5.98042265e-04 9.99744457e-01 -3.28768486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.19719347 meters 0.06504498536142976 Centerline is valid? [True, True] Translation: X:16.23, Y:0.73, Z:-0.33 [[ 9.99211656e-01 -3.13579767e-02 -2.43463257e-02 1.62310794e+01] [ 3.13358243e-02 9.99508079e-01 -1.29095830e-03 7.28103101e-01] [ 2.43748310e-02 5.27028399e-04 9.99702751e-01 -3.30780912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22719347 meters 0.06445464798261152 Centerline is valid? [True, True] Translation: X:16.26, Y:0.72, Z:-0.33 [[ 9.99145212e-01 -3.42754162e-02 -2.31093361e-02 1.62603234e+01] [ 3.42562302e-02 9.99412331e-01 -1.22570491e-03 7.20634538e-01] [ 2.31377670e-02 4.33018450e-04 9.99732192e-01 -3.30636729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25719347 meters 0.06296404969906466 Centerline is valid? [True, True] Translation: X:16.29, Y:0.70, Z:-0.33 [[ 9.98867391e-01 -4.23055649e-02 -2.17755224e-02 1.62906466e+01] [ 4.22902638e-02 9.99104690e-01 -1.16290659e-03 7.04437289e-01] [ 2.18052240e-02 2.40696882e-04 9.99762209e-01 -3.27649873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287193470000002 meters 0.06269169646185518 Centerline is valid? [True, True] Translation: X:16.32, Y:0.70, Z:-0.33 [[ 9.98693570e-01 -4.64555403e-02 -2.12846388e-02 1.63190671e+01] [ 4.64418110e-02 9.98920347e-01 -1.13914864e-03 6.95973997e-01] [ 2.13145785e-02 1.49163247e-04 9.99772807e-01 -3.27339543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31719347 meters 0.06219971298158426 Centerline is valid? [True, True] Translation: X:16.35, Y:0.68, Z:-0.33 [[ 9.98351539e-01 -5.36840455e-02 -2.03033946e-02 1.63490337e+01] [ 5.36729001e-02 9.98557972e-01 -1.09386392e-03 6.75657791e-01] [ 2.03328396e-02 2.31865978e-06 9.99793266e-01 -3.25473830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34719347 meters 0.06161385673983764 Centerline is valid? [True, True] Translation: X:16.38, Y:0.66, Z:-0.32 [[ 9.98309232e-01 -5.59413015e-02 -1.57876156e-02 1.63785896e+01] [ 5.59348417e-02 9.98434059e-01 -8.50783269e-04 6.61940158e-01] [ 1.58104870e-02 -3.37329876e-05 9.99875006e-01 -3.21140196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.37719347 meters 0.06145241403795291 Centerline is valid? [True, True] Translation: X:16.41, Y:0.66, Z:-0.32 [[ 9.98320117e-01 -5.60700607e-02 -1.45976482e-02 1.64077073e+01] [ 5.60644590e-02 9.98426836e-01 -7.93006749e-04 6.59809170e-01] [ 1.46191477e-02 -2.67346594e-05 9.99893134e-01 -3.20023502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40719347 meters 0.061788789152698975 Centerline is valid? [True, True] Translation: X:16.44, Y:0.66, Z:-0.32 [[ 9.98303006e-01 -5.51647738e-02 -1.86535811e-02 1.64364753e+01] [ 5.51553736e-02 9.98477264e-01 -1.01841833e-03 6.56983944e-01] [ 1.86813574e-02 -1.21551508e-05 9.99825488e-01 -3.24220823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43719347 meters 0.062449386823791954 Centerline is valid? [True, True] Translation: X:16.47, Y:0.65, Z:-0.33 [[ 9.98147391e-01 -5.57030896e-02 -2.44734808e-02 1.64660211e+01] [ 5.56870983e-02 9.98447377e-01 -1.33498925e-03 6.51075567e-01] [ 2.45098458e-02 -3.03410928e-05 9.99699588e-01 -3.29842552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46719347 meters 0.062650006327719 Centerline is valid? [True, True] Translation: X:16.49, Y:0.65, Z:-0.33 [[ 9.98013973e-01 -5.72319100e-02 -2.63176573e-02 1.64948361e+01] [ 5.72136809e-02 9.98360909e-01 -1.44574781e-03 6.47944137e-01] [ 2.63572632e-02 -6.28535297e-05 9.99652585e-01 -3.31261311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.49719347 meters 0.06380643410646059 Centerline is valid? [True, True] Translation: X:16.52, Y:0.64, Z:-0.34 [[ 9.97440121e-01 -6.45910104e-02 -3.06791035e-02 1.65245617e+01] [ 6.45697957e-02 9.97911775e-01 -1.68274233e-03 6.37086610e-01] [ 3.07237287e-02 -3.02508735e-04 9.99527869e-01 -3.36085584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52719347 meters 0.06483217865812886 Centerline is valid? [True, True] Translation: X:16.56, Y:0.63, Z:-0.33 [[ 9.96811171e-01 -7.36926546e-02 -3.06085195e-02 1.65550481e+01] [ 7.36757738e-02 9.97280831e-01 -1.68049534e-03 6.28403280e-01] [ 3.06491299e-02 -5.79969829e-04 9.99530037e-01 -3.34312027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.55719347 meters 0.06603501517535858 Centerline is valid? [True, True] Translation: X:16.58, Y:0.63, Z:-0.34 [[ 9.96530903e-01 -7.72813925e-02 -3.08827819e-02 1.65834144e+01] [ 7.72658092e-02 9.97009081e-01 -1.69944170e-03 6.25466772e-01] [ 3.09217492e-02 -6.92636959e-04 9.99521568e-01 -3.36420311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.58719347 meters 0.06708829301427664 Centerline is valid? [True, True] Translation: X:16.61, Y:0.62, Z:-0.34 [[ 9.96209463e-01 -8.05257529e-02 -3.28984603e-02 1.66130841e+01] [ 8.05098097e-02 9.96752171e-01 -1.81116992e-03 6.24053182e-01] [ 3.29374575e-02 -8.44344159e-04 9.99457058e-01 -3.37010628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.61719347 meters 0.0657416821531661 Centerline is valid? [True, True] Translation: X:16.64, Y:0.63, Z:-0.33 [[ 9.96533517e-01 -7.79902518e-02 -2.89563527e-02 1.66423725e+01] [ 7.79767931e-02 9.96953898e-01 -1.59542607e-03 6.32335719e-01] [ 2.89925764e-02 -6.68027973e-04 9.99579404e-01 -3.33795593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64719347 meters 0.06315520897788235 Centerline is valid? [True, True] Translation: X:16.67, Y:0.65, Z:-0.33 [[ 9.97217446e-01 -6.96370075e-02 -2.66092465e-02 1.66710114e+01] [ 6.96226358e-02 9.97572321e-01 -1.46731681e-03 6.52008870e-01] [ 2.66468274e-02 -3.89371960e-04 9.99644834e-01 -3.28852778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.67719347 meters 0.06216225949424923 Centerline is valid? [True, True] Translation: X:16.70, Y:0.66, Z:-0.33 [[ 9.97632107e-01 -6.35445472e-02 -2.63110223e-02 1.66991725e+01] [ 6.35280950e-02 9.97978980e-01 -1.46155900e-03 6.64958125e-01] [ 2.63507213e-02 -2.13390937e-04 9.99652737e-01 -3.27335978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.70719347 meters 0.06286668377412233 Centerline is valid? [True, True] Translation: X:16.72, Y:0.69, Z:-0.34 [[ 9.98429807e-01 -4.93040486e-02 -2.65900496e-02 1.67246620e+01] [ 4.92821168e-02 9.98783802e-01 -1.47990344e-03 6.90480657e-01] [ 2.66306761e-02 1.67165775e-04 9.99645327e-01 -3.35488815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.73719347 meters 0.06433534796422657 Centerline is valid? [True, True] Translation: X:16.75, Y:0.72, Z:-0.33 [[ 9.99035936e-01 -3.51674621e-02 -2.62763917e-02 1.67530965e+01] [ 3.51411492e-02 9.99381289e-01 -1.46263407e-03 7.15184637e-01] [ 2.63115713e-02 5.37841392e-04 9.99653646e-01 -3.32738105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.76719347 meters 0.06576619998654666 Centerline is valid? [True, True] Translation: X:16.78, Y:0.73, Z:-0.33 [[ 9.99249098e-01 -2.87843360e-02 -2.59364898e-02 1.67815624e+01] [ 2.87565031e-02 9.99585401e-01 -1.44553983e-03 7.27432390e-01] [ 2.59673454e-02 6.98611625e-04 9.99662548e-01 -3.32307304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.79719347 meters 0.06773685040565852 Centerline is valid? [True, True] Translation: X:16.81, Y:0.74, Z:-0.33 [[ 9.99589097e-01 -1.99771788e-02 -2.05560061e-02 1.68108736e+01] [ 1.99578205e-02 9.99800166e-01 -1.14647054e-03 7.41154662e-01] [ 2.05748016e-02 7.35746372e-04 9.99788046e-01 -3.28183773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82719347 meters 0.06716704920500853 Centerline is valid? [True, True] Translation: X:16.84, Y:0.74, Z:-0.32 [[ 9.99671171e-01 -1.74253091e-02 -1.88124496e-02 1.68395524e+01] [ 1.74084937e-02 9.99847902e-01 -1.05724975e-03 7.42442247e-01] [ 1.88280112e-02 7.29405684e-04 9.99822471e-01 -3.24668504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.85719347 meters 0.06848942715865608 Centerline is valid? [True, True] Translation: X:16.87, Y:0.75, Z:-0.33 [[ 9.99677435e-01 -1.44550238e-02 -2.08824762e-02 1.68686740e+01] [ 1.44336754e-02 9.99895141e-01 -1.17267588e-03 7.46533367e-01] [ 2.08972376e-02 8.70886728e-04 9.99781250e-01 -3.27215196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88719347 meters 0.06910725334348446 Centerline is valid? [True, True] Translation: X:16.90, Y:0.74, Z:-0.33 [[ 9.99611473e-01 -1.35904791e-02 -2.43351934e-02 1.68983346e+01] [ 1.35612103e-02 9.99907108e-01 -1.36737318e-03 7.43919717e-01] [ 2.43515161e-02 1.03682724e-03 9.99702920e-01 -3.31460009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91719347 meters 0.06988540406429485 Centerline is valid? [True, True] Translation: X:16.93, Y:0.74, Z:-0.33 [[ 9.99613963e-01 -1.32857204e-02 -2.44011167e-02 1.69260782e+01] [ 1.32561240e-02 9.99911189e-01 -1.37427609e-03 7.42403266e-01] [ 2.44172078e-02 1.05028134e-03 9.99701304e-01 -3.33069195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.94719347 meters 0.07031444239242868 Centerline is valid? [True, True] Translation: X:16.95, Y:0.74, Z:-0.33 [[ 9.99589651e-01 -1.30691218e-02 -2.54897407e-02 1.69544595e+01] [ 1.30366862e-02 9.99913984e-01 -1.43826417e-03 7.35025821e-01] [ 2.55063451e-02 1.10537223e-03 9.99674049e-01 -3.33876357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.97719347 meters 0.06892414023608355 Centerline is valid? [True, True] Translation: X:16.98, Y:0.73, Z:-0.33 [[ 9.99584534e-01 -1.45315663e-02 -2.48916175e-02 1.69840301e+01] [ 1.45008569e-02 9.99893858e-01 -1.41379066e-03 7.29334295e-01] [ 2.49095201e-02 1.05225350e-03 9.99689156e-01 -3.31778175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00719347 meters 0.06915195492256695 Centerline is valid? [True, True] Translation: X:17.01, Y:0.72, Z:-0.34 [[ 9.99438103e-01 -1.97715376e-02 -2.70659480e-02 1.70124051e+01] [ 1.97371160e-02 9.99804021e-01 -1.53835744e-03 7.18379714e-01] [ 2.70910593e-02 1.00328929e-03 9.99632466e-01 -3.37737436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.03719347 meters 0.06765328149277926 Centerline is valid? [True, True] Translation: X:17.04, Y:0.71, Z:-0.34 [[ 9.99414340e-01 -2.18287761e-02 -2.63530309e-02 1.70416883e+01] [ 2.17966070e-02 9.99761289e-01 -1.50736976e-03 7.12814569e-01] [ 2.63796442e-02 9.32080299e-04 9.99651562e-01 -3.35913373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06719347 meters 0.06765328149277926 Centerline is valid? [True, True] Translation: X:17.07, Y:0.71, Z:-0.34 [[ 9.99406820e-01 -2.21710345e-02 -2.63524936e-02 1.70691773e+01] [ 2.21387374e-02 9.99753758e-01 -1.51674297e-03 7.14629263e-01] [ 2.63796323e-02 9.32432332e-04 9.99651562e-01 -3.36140481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09719347 meters 0.0677162594034814 Centerline is valid? [True, True] Translation: X:17.10, Y:0.70, Z:-0.34 [[ 9.99231844e-01 -2.60490694e-02 -2.92774318e-02 1.70975026e+01] [ 2.60107814e-02 9.99660237e-01 -1.68791445e-03 7.04237233e-01] [ 2.93114530e-02 9.25088990e-04 9.99569899e-01 -3.39462944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12719347 meters 0.06696974084224956 Centerline is valid? [True, True] Translation: X:17.13, Y:0.70, Z:-0.34 [[ 9.99123618e-01 -2.89704497e-02 -3.02110871e-02 1.71270227e+01] [ 2.89307099e-02 9.99579884e-01 -1.75177844e-03 6.96125345e-01] [ 3.02491448e-02 8.76215014e-04 9.99542006e-01 -3.40119600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15719347 meters 0.06498384452541503 Centerline is valid? [True, True] Translation: X:17.16, Y:0.67, Z:-0.35 [[ 9.98497091e-01 -4.26791372e-02 -3.43809664e-02 1.71568002e+01] [ 4.26357535e-02 9.99088692e-01 -1.99434360e-03 6.73892871e-01] [ 3.44347516e-02 5.25487871e-04 9.99406810e-01 -3.46590678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18719347 meters 0.06440984573158011 Centerline is valid? [True, True] Translation: X:17.19, Y:0.67, Z:-0.35 [[ 9.98246443e-01 -4.81459011e-02 -3.44385104e-02 1.71859312e+01] [ 4.81052253e-02 9.98840253e-01 -2.00920170e-03 6.67430890e-01] [ 3.44953053e-02 3.49006151e-04 9.99404799e-01 -3.46185072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.21719347 meters 0.06400083360240515 Centerline is valid? [True, True] Translation: X:17.21, Y:0.66, Z:-0.34 [[ 9.97897898e-01 -5.43080166e-02 -3.53613425e-02 1.72140398e+01] [ 5.42685653e-02 9.98524219e-01 -2.07522234e-03 6.59461731e-01] [ 3.54218581e-02 1.51850684e-04 9.99372438e-01 -3.44891244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24719347 meters 0.06368301052743724 Centerline is valid? [True, True] Translation: X:17.24, Y:0.64, Z:-0.34 [[ 9.97374503e-01 -6.39705132e-02 -3.39392704e-02 1.72436837e+01] [ 6.39394306e-02 9.97951774e-01 -2.00149748e-03 6.44649199e-01] [ 3.39977920e-02 -1.73815074e-04 9.99421893e-01 -3.41064740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.27719347 meters 0.06428902597981262 Centerline is valid? [True, True] Translation: X:17.27, Y:0.64, Z:-0.34 [[ 9.97047211e-01 -6.83553101e-02 -3.49915880e-02 1.72730446e+01] [ 6.83246117e-02 9.97660988e-01 -2.07372067e-03 6.36591385e-01] [ 3.50514920e-02 -3.23189247e-04 9.99385455e-01 -3.41208981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30719347 meters 0.0639602353895245 Centerline is valid? [True, True] Translation: X:17.30, Y:0.64, Z:-0.34 [[ 9.96853847e-01 -7.03515550e-02 -3.65111708e-02 1.73017989e+01] [ 7.03190489e-02 9.97522180e-01 -2.17528151e-03 6.36645599e-01] [ 3.65737371e-02 -3.98993064e-04 9.99330877e-01 -3.38357853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.33719347 meters 0.0652807854670207 Centerline is valid? [True, True] Translation: X:17.33, Y:0.63, Z:-0.34 [[ 9.96460217e-01 -7.33242802e-02 -4.11167379e-02 1.73307961e+01] [ 7.32856625e-02 9.97307987e-01 -2.44774146e-03 6.34704292e-01] [ 4.11855300e-02 -5.74190392e-04 9.99151351e-01 -3.43235489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36719347 meters 0.06676345838501915 Centerline is valid? [True, True] Translation: X:17.36, Y:0.63, Z:-0.34 [[ 9.95980179e-01 -7.94040820e-02 -4.14544832e-02 1.73604413e+01] [ 7.93700041e-02 9.96842165e-01 -2.46984511e-03 6.31547461e-01] [ 4.15196925e-02 -8.30325724e-04 9.99137341e-01 -3.44574433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39719347 meters 0.06760288211093628 Centerline is valid? [True, True] Translation: X:17.39, Y:0.63, Z:-0.34 [[ 9.95674562e-01 -8.31789544e-02 -4.13935750e-02 1.73881809e+01] [ 8.31480269e-02 9.96534143e-01 -2.47122481e-03 6.30374183e-01] [ 4.14556647e-02 -9.81258405e-04 9.99139863e-01 -3.44303272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.42719347 meters 0.06896362407809777 Centerline is valid? [True, True] Translation: X:17.42, Y:0.63, Z:-0.34 [[ 9.95361374e-01 -8.88438572e-02 -3.69121260e-02 1.74157599e+01] [ 8.88229208e-02 9.96044981e-01 -2.20994277e-03 6.31356995e-01] [ 3.69624777e-02 -1.07895118e-03 9.99316072e-01 -3.41016682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.45719347 meters 0.06707250937682413 Centerline is valid? [True, True] Translation: X:17.44, Y:0.64, Z:-0.33 [[ 9.95333890e-01 -9.02482037e-02 -3.41424755e-02 1.74439691e+01] [ 9.02306902e-02 9.95918768e-01 -2.05655971e-03 6.43146304e-01] [ 3.41887330e-02 -1.03373555e-03 9.99414860e-01 -3.30937492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48719347 meters 0.06628012269063352 Centerline is valid? [True, True] Translation: X:17.47, Y:0.65, Z:-0.33 [[ 9.95603442e-01 -8.85251338e-02 -3.06118689e-02 1.74734058e+01] [ 8.85102585e-02 9.96073560e-01 -1.84330891e-03 6.50342957e-01] [ 3.06548524e-02 -8.74259734e-04 9.99529647e-01 -3.28429034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.51719347 meters 0.06526085357121021 Centerline is valid? [True, True] Translation: X:17.50, Y:0.67, Z:-0.33 [[ 9.96105903e-01 -8.27400112e-02 -3.04486465e-02 1.75016409e+01] [ 8.27225503e-02 9.96570927e-01 -1.83486149e-03 6.69537356e-01] [ 3.04960524e-02 -6.91073331e-04 9.99534648e-01 -3.29022651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54719347 meters 0.06447299565598502 Centerline is valid? [True, True] Translation: X:17.53, Y:0.70, Z:-0.33 [[ 9.96711240e-01 -7.29581538e-02 -3.52677078e-02 1.75275332e+01] [ 7.29284493e-02 9.97334902e-01 -2.12965211e-03 6.96645500e-01] [ 3.53290914e-02 -4.49371048e-04 9.99375632e-01 -3.34703202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57719347 meters 0.06273908372902623 Centerline is valid? [True, True] Translation: X:17.56, Y:0.73, Z:-0.33 [[ 9.97819301e-01 -5.93007511e-02 -2.89838478e-02 1.75555406e+01] [ 5.92749353e-02 9.98240162e-01 -1.74983106e-03 7.29683883e-01] [ 2.90366072e-02 2.79995047e-05 9.99578348e-01 -3.30693553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.60719347 meters 0.06321706374748946 Centerline is valid? [True, True] Translation: X:17.58, Y:0.75, Z:-0.33 [[ 9.98255581e-01 -5.25319207e-02 -2.69479404e-02 1.75824415e+01] [ 5.25069903e-02 9.98619222e-01 -1.63239389e-03 7.49798481e-01] [ 2.69964841e-02 2.14591062e-04 9.99635505e-01 -3.33324234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.63719347 meters 0.06341133422017121 Centerline is valid? [True, True] Translation: X:17.61, Y:0.78, Z:-0.32 [[ 9.98868571e-01 -4.06913402e-02 -2.46128461e-02 1.76095729e+01] [ 4.06667215e-02 9.99171641e-01 -1.50015968e-03 7.78673120e-01] [ 2.46535013e-02 4.97538600e-04 9.99695932e-01 -3.23798298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66719347 meters 0.06467957362698884 Centerline is valid? [True, True] Translation: X:17.64, Y:0.79, Z:-0.33 [[ 9.99050349e-01 -3.65477308e-02 -2.37205372e-02 1.76362395e+01] [ 3.65236722e-02 9.99331741e-01 -1.44684596e-03 7.93145516e-01] [ 2.37575647e-02 5.79110836e-04 9.99717581e-01 -3.26078803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.69719347 meters 0.06610538467712186 Centerline is valid? [True, True] Translation: X:17.66, Y:0.81, Z:-0.33 [[ 9.99223207e-01 -3.20215869e-02 -2.29695466e-02 1.76638080e+01] [ 3.19977929e-02 9.99486955e-01 -1.40277478e-03 8.06458891e-01] [ 2.30026813e-02 6.66710321e-04 9.99735181e-01 -3.27675923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72719347 meters 0.06679547404648578 Centerline is valid? [True, True] Translation: X:17.69, Y:0.82, Z:-0.33 [[ 9.99331289e-01 -2.70913370e-02 -2.45567504e-02 1.76933894e+01] [ 2.70626537e-02 9.99632614e-01 -1.49968779e-03 8.19929425e-01] [ 2.45883572e-02 8.34114100e-04 9.99697313e-01 -3.29253879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75719347 meters 0.06783214376363397 Centerline is valid? [True, True] Translation: X:17.72, Y:0.83, Z:-0.34 [[ 9.99246616e-01 -2.76505726e-02 -2.72331731e-02 1.77207961e+01] [ 2.76154012e-02 9.99617232e-01 -1.66681489e-03 8.26103251e-01] [ 2.72688375e-02 9.13504138e-04 9.99627719e-01 -3.35335600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.78719347 meters 0.0686657521140944 Centerline is valid? [True, True] Translation: X:17.75, Y:0.83, Z:-0.34 [[ 9.99124984e-01 -2.86159010e-02 -3.05023997e-02 1.77481244e+01] [ 2.85721304e-02 9.99589984e-01 -1.86997383e-03 8.29861227e-01] [ 3.05434043e-02 9.96819033e-04 9.99532944e-01 -3.40360646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.81719347 meters 0.06861555068548043 Centerline is valid? [True, True] Translation: X:17.78, Y:0.83, Z:-0.34 [[ 9.99019032e-01 -3.08433633e-02 -3.17751541e-02 1.77757575e+01] [ 3.07968841e-02 9.99523759e-01 -1.95124216e-03 8.31218281e-01] [ 3.18202043e-02 9.70752318e-04 9.99493138e-01 -3.44431126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84719347 meters 0.06663770327413975 Centerline is valid? [True, True] Translation: X:17.81, Y:0.83, Z:-0.34 [[ 9.99000868e-01 -3.22376346e-02 -3.09515960e-02 1.78054776e+01] [ 3.21940310e-02 9.99479820e-01 -1.90621357e-03 8.27794201e-01] [ 3.09969474e-02 9.07852370e-04 9.99519067e-01 -3.39586529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87719347 meters 0.06639802547596263 Centerline is valid? [True, True] Translation: X:17.84, Y:0.82, Z:-0.34 [[ 9.99058308e-01 -3.22454729e-02 -2.90297613e-02 1.78351733e+01] [ 3.22068423e-02 9.99479609e-01 -1.79743832e-03 8.24189743e-01] [ 2.90726137e-02 8.60788744e-04 9.99576932e-01 -3.36324815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90719347 meters 0.06651020720205209 Centerline is valid? [True, True] Translation: X:17.86, Y:0.82, Z:-0.33 [[ 9.99179035e-01 -3.10442197e-02 -2.60290675e-02 1.78632601e+01] [ 3.10127150e-02 9.99517688e-01 -1.61327752e-03 8.23757903e-01] [ 2.60665963e-02 8.04721026e-04 9.99659885e-01 -3.34435068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93719347 meters 0.06648670708442277 Centerline is valid? [True, True] Translation: X:17.89, Y:0.82, Z:-0.33 [[ 9.99248843e-01 -3.02737433e-02 -2.41919314e-02 1.78919362e+01] [ 3.02460840e-02 9.99541344e-01 -1.50850284e-03 8.23414324e-01] [ 2.42265037e-02 7.75658527e-04 9.99706194e-01 -3.32379128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96719347 meters 0.06620773096133023 Centerline is valid? [True, True] Translation: X:17.92, Y:0.82, Z:-0.33 [[ 9.99324867e-01 -2.89627923e-02 -2.26045856e-02 1.79200872e+01] [ 2.89381089e-02 9.99580199e-01 -1.41837702e-03 8.22866402e-01] [ 2.26361763e-02 7.63285469e-04 9.99743478e-01 -3.29413322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.99719347 meters 0.06664317564466157 Centerline is valid? [True, True] Translation: X:17.95, Y:0.82, Z:-0.33 [[ 9.99463808e-01 -2.67938419e-02 -1.88198583e-02 1.79482981e+01] [ 2.67763108e-02 9.99640750e-01 -1.18293845e-03 8.22489217e-01] [ 1.88447927e-02 6.78377798e-04 9.99822191e-01 -3.28799295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02719347 meters 0.06773424345254114 Centerline is valid? [True, True] Translation: X:17.98, Y:0.82, Z:-0.33 [[ 9.99468369e-01 -2.64066462e-02 -1.91224610e-02 1.79759462e+01] [ 2.63884455e-02 9.99651040e-01 -1.20354538e-03 8.23373769e-01] [ 1.91475696e-02 6.98293518e-04 9.99816425e-01 -3.31615088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.05719347 meters 0.06631561610198952 Centerline is valid? [True, True] Translation: X:18.00, Y:0.81, Z:-0.33 [[ 9.99347654e-01 -2.88789605e-02 -2.16857441e-02 1.80048047e+01] [ 2.88559206e-02 9.99582636e-01 -1.37467694e-03 8.10575360e-01] [ 2.17163925e-02 7.48018062e-04 9.99763892e-01 -3.32653024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08719347 meters 0.06642040435846822 Centerline is valid? [True, True] Translation: X:18.03, Y:0.81, Z:-0.34 [[ 9.99225125e-01 -3.14177957e-02 -2.37080403e-02 1.80325891e+01] [ 3.13909206e-02 9.99506051e-01 -1.50498893e-03 8.06016534e-01] [ 2.37436132e-02 7.59605539e-04 9.99717792e-01 -3.36196178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.11719347 meters 0.06574329286894362 Centerline is valid? [True, True] Translation: X:18.06, Y:0.79, Z:-0.34 [[ 9.98936046e-01 -3.80968994e-02 -2.59885087e-02 1.80616386e+01] [ 3.80668226e-02 9.99273832e-01 -1.65124308e-03 7.93298713e-01] [ 2.60325439e-02 6.60186277e-04 9.99660878e-01 -3.41684703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14719347 meters 0.06492388403442466 Centerline is valid? [True, True] Translation: X:18.09, Y:0.79, Z:-0.34 [[ 9.98791428e-01 -4.16644625e-02 -2.60721223e-02 1.80905723e+01] [ 4.16351596e-02 9.99131492e-01 -1.66599558e-03 7.87882729e-01] [ 2.61188912e-02 5.78465136e-04 9.99658676e-01 -3.42860416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.17719347 meters 0.06398015826726203 Centerline is valid? [True, True] Translation: X:18.12, Y:0.78, Z:-0.34 [[ 9.98724986e-01 -4.35061733e-02 -2.56049699e-02 1.81201430e+01] [ 4.34783053e-02 9.99053018e-01 -1.64436384e-03 7.82758330e-01] [ 2.56522624e-02 5.29006559e-04 9.99670787e-01 -3.39597792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.20719347 meters 0.06421646245905464 Centerline is valid? [True, True] Translation: X:18.15, Y:0.78, Z:-0.34 [[ 9.98687601e-01 -4.53215387e-02 -2.38544481e-02 1.81486381e+01] [ 4.52978418e-02 9.98972350e-01 -1.53309060e-03 7.78161996e-01] [ 2.38994160e-02 4.50523555e-04 9.99714267e-01 -3.42603474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23719347 meters 0.06416208867687712 Centerline is valid? [True, True] Translation: X:18.18, Y:0.78, Z:-0.34 [[ 9.98748208e-01 -4.38106070e-02 -2.41381025e-02 1.81773335e+01] [ 4.37856888e-02 9.99039729e-01 -1.56013588e-03 7.76169177e-01] [ 2.41832739e-02 5.01279466e-04 9.99707416e-01 -3.40942411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.26719347 meters 0.06560284410926907 Centerline is valid? [True, True] Translation: X:18.21, Y:0.78, Z:-0.34 [[ 9.98893364e-01 -4.02116345e-02 -2.43940818e-02 1.82053382e+01] [ 4.01850448e-02 9.99191007e-01 -1.57943879e-03 7.78903985e-01] [ 2.44378590e-02 5.97413660e-04 9.99701172e-01 -3.43542998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.29719347 meters 0.06534404594551223 Centerline is valid? [True, True] Translation: X:18.24, Y:0.78, Z:-0.34 [[ 9.99071808e-01 -3.52655786e-02 -2.47358418e-02 1.82350602e+01] [ 3.52367208e-02 9.99377710e-01 -1.60167716e-03 7.78157775e-01] [ 2.47769330e-02 7.28580543e-04 9.99692739e-01 -3.39539502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32719347 meters 0.06811134373985493 Centerline is valid? [True, True] Translation: X:18.27, Y:0.78, Z:-0.34 [[ 9.99410954e-01 -2.39422252e-02 -2.45868866e-02 1.82652743e+01] [ 2.39102952e-02 9.99712841e-01 -1.59186736e-03 7.82618667e-01] [ 2.46179391e-02 1.00304996e-03 9.99696429e-01 -3.39705751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.35719347 meters 0.07208112030613473 Centerline is valid? [True, True] Translation: X:18.29, Y:0.79, Z:-0.34 [[ 9.99600630e-01 -1.55640941e-02 -2.35868360e-02 1.82942514e+01] [ 1.55323847e-02 9.99878199e-01 -1.52698712e-03 7.90200869e-01] [ 2.36077292e-02 1.16001747e-03 9.99720626e-01 -3.42217733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38719347 meters 0.07171291496030835 Centerline is valid? [True, True] Translation: X:18.32, Y:0.79, Z:-0.34 [[ 9.99624575e-01 -1.38547051e-02 -2.36380397e-02 1.83230497e+01] [ 1.38221549e-02 9.99903284e-01 -1.53986770e-03 7.87942975e-01] [ 2.36570879e-02 1.21256095e-03 9.99719397e-01 -3.40877047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41719347 meters 0.07260106451711366 Centerline is valid? [True, True] Translation: X:18.35, Y:0.79, Z:-0.34 [[ 9.99640383e-01 -1.41069910e-02 -2.28056483e-02 1.83509176e+01] [ 1.40767384e-02 9.99899813e-01 -1.48653856e-03 7.87185381e-01] [ 2.28243340e-02 1.16497483e-03 9.99738812e-01 -3.42495510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.44719347 meters 0.07066274638182822 Centerline is valid? [True, True] Translation: X:18.38, Y:0.78, Z:-0.34 [[ 9.99604326e-01 -1.60893235e-02 -2.30721722e-02 1.83802219e+01] [ 1.60586881e-02 9.99869907e-01 -1.51248402e-03 7.78877332e-01] [ 2.30935055e-02 1.14137675e-03 9.99732658e-01 -3.40345745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.47719347 meters 0.06858973473585363 Centerline is valid? [True, True] Translation: X:18.41, Y:0.76, Z:-0.34 [[ 9.99544577e-01 -2.21779696e-02 -2.04640035e-02 1.84111476e+01] [ 2.21551738e-02 9.99753646e-01 -1.34001827e-03 7.59970666e-01] [ 2.04886810e-02 8.86024445e-04 9.99789692e-01 -3.39443874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50719347 meters 0.06702888819560847 Centerline is valid? [True, True] Translation: X:18.44, Y:0.75, Z:-0.34 [[ 9.99478673e-01 -2.57701804e-02 -1.94493975e-02 1.84418119e+01] [ 2.57502416e-02 9.99667595e-01 -1.27494321e-03 7.49691678e-01] [ 1.94757879e-02 7.73451867e-04 9.99810030e-01 -3.37342835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.53719347 meters 0.06461469829669624 Centerline is valid? [True, True] Translation: X:18.47, Y:0.73, Z:-0.34 [[ 9.99339275e-01 -3.17361862e-02 -1.77151852e-02 1.84736700e+01] [ 3.17205686e-02 9.99496101e-01 -1.16195899e-03 7.29268622e-01] [ 1.77431346e-02 5.99255512e-04 9.99842399e-01 -3.36285401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56719347 meters 0.06436141282116854 Centerline is valid? [True, True] Translation: X:18.50, Y:0.72, Z:-0.34 [[ 9.99288453e-01 -3.28493471e-02 -1.85339815e-02 1.85019189e+01] [ 3.28322787e-02 9.99460125e-01 -1.22454143e-03 7.23706482e-01] [ 1.85642008e-02 6.15157262e-04 9.99827481e-01 -3.36407926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59719347 meters 0.06501040646302157 Centerline is valid? [True, True] Translation: X:18.53, Y:0.72, Z:-0.34 [[ 9.99275671e-01 -3.18827116e-02 -2.07756319e-02 1.85305265e+01] [ 3.18610569e-02 9.99491365e-01 -1.37256432e-03 7.19655872e-01] [ 2.08088258e-02 7.09636542e-04 9.99783221e-01 -3.39260891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62719347 meters 0.0661285093466349 Centerline is valid? [True, True] Translation: X:18.56, Y:0.71, Z:-0.34 [[ 9.99349863e-01 -2.76362130e-02 -2.31536557e-02 1.85617280e+01] [ 2.76082008e-02 9.99617652e-01 -1.52868911e-03 7.11268242e-01] [ 2.31870502e-02 8.88464475e-04 9.99730749e-01 -3.41443006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65719347 meters 0.06926899785885317 Centerline is valid? [True, True] Translation: X:18.59, Y:0.72, Z:-0.35 [[ 9.99476131e-01 -2.40436230e-02 -2.16648968e-02 1.85903810e+01] [ 2.40182143e-02 9.99710495e-01 -1.43228806e-03 7.16183386e-01] [ 2.16930621e-02 9.11185592e-04 9.99764263e-01 -3.45128571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68719347 meters 0.06809139864515958 Centerline is valid? [True, True] Translation: X:18.62, Y:0.71, Z:-0.34 [[ 9.99606872e-01 -1.98917794e-02 -1.97590287e-02 1.86200778e+01] [ 1.98698097e-02 9.99801721e-01 -1.30760298e-03 7.11114895e-01] [ 1.97811215e-02 9.14480783e-04 9.99803916e-01 -3.40003474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71719347 meters 0.07079287587091997 Centerline is valid? [True, True] Translation: X:18.65, Y:0.71, Z:-0.34 [[ 9.99771993e-01 -1.16684917e-02 -1.78832028e-02 1.86506524e+01] [ 1.16491918e-02 9.99931446e-01 -1.18301282e-03 7.06042246e-01] [ 1.78957809e-02 9.74418225e-04 9.99839383e-01 -3.36938466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74719347 meters 0.07172072974915121 Centerline is valid? [True, True] Translation: X:18.68, Y:0.70, Z:-0.34 [[ 9.99798295e-01 -8.84209499e-03 -1.80329315e-02 1.86805301e+01] [ 8.82199237e-03 9.99960373e-01 -1.19401968e-03 7.01745961e-01] [ 1.80427746e-02 1.03469245e-03 9.99836681e-01 -3.36083343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.77719347 meters 0.07121725982040342 Centerline is valid? [True, True] Translation: X:18.71, Y:0.69, Z:-0.33 [[ 9.99811051e-01 -8.13072158e-03 -1.76565310e-02 1.87094514e+01] [ 8.11129623e-03 9.99966417e-01 -1.17151598e-03 6.94193966e-01] [ 1.76654633e-02 1.02807727e-03 9.99843425e-01 -3.34783550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80719347 meters 0.07109645688490862 Centerline is valid? [True, True] Translation: X:18.74, Y:0.69, Z:-0.34 [[ 9.99822481e-01 -9.27233156e-03 -1.64021345e-02 1.87377806e+01] [ 9.25569245e-03 9.99956571e-01 -1.09007025e-03 6.88312369e-01] [ 1.64115297e-02 9.38063627e-04 9.99864882e-01 -3.35459477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.83719347 meters 0.06906042684835442 Centerline is valid? [True, True] Translation: X:18.77, Y:0.67, Z:-0.34 [[ 9.99823342e-01 -1.34970570e-02 -1.30810553e-02 1.87697158e+01] [ 1.34868426e-02 9.99908671e-01 -8.68757396e-04 6.70378986e-01] [ 1.30915863e-02 6.92181788e-04 9.99914062e-01 -3.35480712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86719347 meters 0.0690837233583902 Centerline is valid? [True, True] Translation: X:18.80, Y:0.66, Z:-0.34 [[ 9.99802894e-01 -1.58261151e-02 -1.19878214e-02 1.87981472e+01] [ 1.58176789e-02 9.99874574e-01 -7.98220369e-04 6.62808205e-01] [ 1.19989505e-02 6.08443525e-04 9.99927825e-01 -3.36033067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.89719347 meters 0.06778614599052211 Centerline is valid? [True, True] Translation: X:18.83, Y:0.65, Z:-0.34 [[ 9.99779448e-01 -1.77393418e-02 -1.12414672e-02 1.88275915e+01] [ 1.77320347e-02 9.99842494e-01 -7.49361985e-04 6.50677093e-01] [ 1.12529898e-02 5.49862625e-04 9.99936532e-01 -3.35561944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.92719347 meters 0.06643627554062417 Centerline is valid? [True, True] Translation: X:18.86, Y:0.63, Z:-0.34 [[ 9.99715686e-01 -2.03515816e-02 -1.24241438e-02 1.88582183e+01] [ 2.03427899e-02 9.99792717e-01 -8.33615193e-04 6.28591189e-01] [ 1.24385339e-02 5.80636439e-04 9.99922470e-01 -3.35688852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.95719347 meters 0.06641724452360949 Centerline is valid? [True, True] Translation: X:18.89, Y:0.62, Z:-0.34 [[ 9.99675536e-01 -2.12765904e-02 -1.40046232e-02 1.88869802e+01] [ 2.12654430e-02 9.99773419e-01 -9.44436013e-04 6.21818462e-01] [ 1.40215444e-02 6.46315062e-04 9.99901484e-01 -3.37854426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98719347 meters 0.06641724452360949 Centerline is valid? [True, True] Translation: X:18.91, Y:0.62, Z:-0.34 [[ 9.99668278e-01 -2.16151302e-02 -1.40043028e-02 1.89145256e+01] [ 2.16039495e-02 9.99766157e-01 -9.49181880e-04 6.23878242e-01] [ 1.40215447e-02 6.46318765e-04 9.99901484e-01 -3.38081516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.01719347 meters 0.06675086401528003 Centerline is valid? [True, True] Translation: X:18.94, Y:0.62, Z:-0.34 [[ 9.99636094e-01 -2.17716080e-02 -1.59272360e-02 1.89441152e+01] [ 2.17571024e-02 9.99762699e-01 -1.08346796e-03 6.19033973e-01] [ 1.59470453e-02 7.36543172e-04 9.99872567e-01 -3.40627185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04719347 meters 0.06729820944865199 Centerline is valid? [True, True] Translation: X:18.97, Y:0.61, Z:-0.34 [[ 9.99613964e-01 -2.15285307e-02 -1.75626016e-02 1.89730765e+01] [ 2.15107700e-02 9.99767897e-01 -1.19958462e-03 6.14692658e-01] [ 1.75843506e-02 8.21336450e-04 9.99845046e-01 -3.43159423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07719347 meters 0.06743829320469281 Centerline is valid? [True, True] Translation: X:19.00, Y:0.60, Z:-0.34 [[ 9.99641872e-01 -2.03306457e-02 -1.74009563e-02 1.90029718e+01] [ 2.03129390e-02 9.99792958e-01 -1.19373050e-03 6.02853955e-01] [ 1.74216229e-02 8.39838431e-04 9.99847879e-01 -3.42757942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.10719347 meters 0.0681022652669982 Centerline is valid? [True, True] Translation: X:19.03, Y:0.60, Z:-0.34 [[ 9.99621329e-01 -2.08518690e-02 -1.79554594e-02 1.90316130e+01] [ 2.08330954e-02 9.99782208e-01 -1.23199640e-03 5.99253099e-01] [ 1.79772383e-02 8.57462076e-04 9.99838029e-01 -3.43412692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.13719347 meters 0.0668449529072496 Centerline is valid? [True, True] Translation: X:19.06, Y:0.59, Z:-0.34 [[ 9.99606638e-01 -2.19704501e-02 -1.74318037e-02 1.90611624e+01] [ 2.19528078e-02 9.99758285e-01 -1.20280689e-03 5.90684294e-01] [ 1.74540164e-02 8.19656719e-04 9.99847331e-01 -3.41518517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16719347 meters 0.06616256619443756 Centerline is valid? [True, True] Translation: X:19.09, Y:0.58, Z:-0.34 [[ 9.99500699e-01 -2.46254362e-02 -1.97975130e-02 1.90915093e+01] [ 2.46030910e-02 9.99696357e-01 -1.37150012e-03 5.76458101e-01] [ 1.98252754e-02 8.83735311e-04 9.99803069e-01 -3.42146341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.19719347 meters 0.06697501240907314 Centerline is valid? [True, True] Translation: X:19.12, Y:0.57, Z:-0.35 [[ 9.99388408e-01 -2.73301937e-02 -2.18144327e-02 1.91192120e+01] [ 2.73036960e-02 9.99626042e-01 -1.51166139e-03 5.73001627e-01] [ 2.18475890e-02 9.15122235e-04 9.99760894e-01 -3.46678885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22719347 meters 0.06382934037844878 Centerline is valid? [True, True] Translation: X:19.15, Y:0.56, Z:-0.34 [[ 9.99274253e-01 -3.05967973e-02 -2.26892788e-02 1.91491200e+01] [ 3.05689333e-02 9.99531422e-01 -1.57397155e-03 5.59512725e-01] [ 2.27268056e-02 8.79242198e-04 9.99741326e-01 -3.43813934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.25719347 meters 0.06254204161820989 Centerline is valid? [True, True] Translation: X:19.18, Y:0.54, Z:-0.35 [[ 9.99147303e-01 -3.69200385e-02 -1.84818191e-02 1.91797108e+01] [ 3.69026298e-02 9.99318043e-01 -1.28221324e-03 5.42237902e-01] [ 1.85165547e-02 5.99092178e-04 9.99828374e-01 -3.47196665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.28719347 meters 0.06161090773245951 Centerline is valid? [True, True] Translation: X:19.21, Y:0.53, Z:-0.35 [[ 9.98983909e-01 -4.16185710e-02 -1.72929181e-02 1.92105825e+01] [ 4.16040151e-02 9.99133457e-01 -1.20078577e-03 5.32896793e-01] [ 1.73279081e-02 4.80110838e-04 9.99849745e-01 -3.48198272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.31719347 meters 0.06055262790409745 Centerline is valid? [True, True] Translation: X:19.24, Y:0.52, Z:-0.35 [[ 9.98720753e-01 -4.75440030e-02 -1.72170016e-02 1.92414819e+01] [ 4.75304528e-02 9.98869074e-01 -1.19559940e-03 5.23045301e-01] [ 1.72543740e-02 3.75738048e-04 9.99851062e-01 -3.49706250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34719347 meters 0.05998811931215006 Centerline is valid? [True, True] Translation: X:19.27, Y:0.52, Z:-0.35 [[ 9.98429384e-01 -5.28844127e-02 -1.84933412e-02 1.92710991e+01] [ 5.28695653e-02 9.98600592e-01 -1.29118061e-03 5.15013726e-01] [ 1.85357448e-02 3.11417748e-04 9.99828150e-01 -3.51471196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.37719347 meters 0.05911126612765412 Centerline is valid? [True, True] Translation: X:19.30, Y:0.50, Z:-0.35 [[ 9.98115163e-01 -5.86213195e-02 -1.81566067e-02 1.93013554e+01] [ 5.86078611e-02 9.98280270e-01 -1.27291910e-03 5.00556300e-01] [ 1.82000025e-02 2.06399967e-04 9.99834345e-01 -3.48412993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40719347 meters 0.05905232778713386 Centerline is valid? [True, True] Translation: X:19.33, Y:0.50, Z:-0.35 [[ 9.98124988e-01 -5.87616035e-02 -1.71342508e-02 1.93293468e+01] [ 5.87496331e-02 9.98272025e-01 -1.20157663e-03 4.99114899e-01] [ 1.71752498e-02 1.92692712e-04 9.99852476e-01 -3.47959675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.43719347 meters 0.05913248424853576 Centerline is valid? [True, True] Translation: X:19.36, Y:0.50, Z:-0.35 [[ 9.98258833e-01 -5.65536522e-02 -1.67626858e-02 1.93568425e+01] [ 5.65418572e-02 9.98399536e-01 -1.17712352e-03 5.00622592e-01] [ 1.68024284e-02 2.27280562e-04 9.99858803e-01 -3.49295256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46719347 meters 0.05901538179326059 Centerline is valid? [True, True] Translation: X:19.39, Y:0.50, Z:-0.35 [[ 9.98324161e-01 -5.53764146e-02 -1.68024453e-02 1.93860618e+01] [ 5.53642904e-02 9.98465517e-01 -1.18623668e-03 5.02543285e-01] [ 1.68423518e-02 2.53993277e-04 9.99858125e-01 -3.46780978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.49719347 meters 0.058869307402608435 Centerline is valid? [True, True] Translation: X:19.42, Y:0.51, Z:-0.35 [[ 9.98399788e-01 -5.41267733e-02 -1.63754328e-02 1.94150837e+01] [ 5.41150099e-02 9.98534034e-01 -1.16094262e-03 5.05976169e-01] [ 1.64142651e-02 2.72928155e-04 9.99865240e-01 -3.46080484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52719347 meters 0.059177225778896274 Centerline is valid? [True, True] Translation: X:19.44, Y:0.51, Z:-0.35 [[ 9.98587516e-01 -5.05065879e-02 -1.64941793e-02 1.94434587e+01] [ 5.04940815e-02 9.98723670e-01 -1.17407838e-03 5.11804252e-01] [ 1.65324260e-02 3.39561580e-04 9.99863272e-01 -3.45376721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.55719347 meters 0.059460115092626234 Centerline is valid? [True, True] Translation: X:19.47, Y:0.52, Z:-0.35 [[ 9.98596027e-01 -4.94460131e-02 -1.90017544e-02 1.94706736e+01] [ 4.94292111e-02 9.98776713e-01 -1.35317158e-03 5.17196595e-01] [ 1.90454188e-02 4.12030034e-04 9.99818535e-01 -3.47633682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.58719347 meters 0.05925839735935515 Centerline is valid? [True, True] Translation: X:19.50, Y:0.52, Z:-0.35 [[ 9.98527662e-01 -5.04961837e-02 -1.98152411e-02 1.94982443e+01] [ 5.04779581e-02 9.98724167e-01 -1.41918375e-03 5.21768442e-01] [ 1.98616235e-02 4.16861321e-04 9.99802652e-01 -3.48672392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.61719347 meters 0.059473743720829274 Centerline is valid? [True, True] Translation: X:19.53, Y:0.53, Z:-0.35 [[ 9.98429914e-01 -5.16051868e-02 -2.17855687e-02 1.95257138e+01] [ 5.15834181e-02 9.98667470e-01 -1.56037366e-03 5.28072922e-01] [ 2.18370622e-02 4.34149637e-04 9.99761449e-01 -3.52846874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64719347 meters 0.05937979548594027 Centerline is valid? [True, True] Translation: X:19.55, Y:0.53, Z:-0.36 [[ 9.98205620e-01 -5.58815637e-02 -2.15125855e-02 1.95544953e+01] [ 5.58611756e-02 9.98437345e-01 -1.54796526e-03 5.34316182e-01] [ 2.15654715e-02 3.43469303e-04 9.99767379e-01 -3.56737040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.67719347 meters 0.05881902461672039 Centerline is valid? [True, True] Translation: X:19.58, Y:0.53, Z:-0.36 [[ 9.97983352e-01 -5.98629413e-02 -2.11106029e-02 1.95830949e+01] [ 5.98440644e-02 9.98206572e-01 -1.52536873e-03 5.34883340e-01] [ 2.11640556e-02 2.58948324e-04 9.99775983e-01 -3.55449594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.70719347 meters 0.05822872518458829 Centerline is valid? [True, True] Translation: X:19.61, Y:0.54, Z:-0.35 [[ 9.97694482e-01 -6.50060165e-02 -1.94920318e-02 1.96115936e+01] [ 6.49909032e-02 9.97884862e-01 -1.40848762e-03 5.35858624e-01] [ 1.95423637e-02 1.38435567e-04 9.99809020e-01 -3.54399550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73719347 meters 0.058752954885020865 Centerline is valid? [True, True] Translation: X:19.64, Y:0.54, Z:-0.36 [[ 9.96970399e-01 -7.42329344e-02 -2.32270178e-02 1.96398198e+01] [ 7.42137855e-02 9.97240929e-01 -1.68653120e-03 5.38140680e-01] [ 2.32881290e-02 -4.23432317e-05 9.99728794e-01 -3.57756058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.76719347 meters 0.05969351244047131 Centerline is valid? [True, True] Translation: X:19.67, Y:0.54, Z:-0.36 [[ 9.96576605e-01 -7.85584745e-02 -2.57611589e-02 1.96686676e+01] [ 7.85361754e-02 9.96909496e-01 -1.87779414e-03 5.41517714e-01] [ 2.58290606e-02 -1.51817191e-04 9.99666363e-01 -3.59918509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.79719347 meters 0.0598071283850029 Centerline is valid? [True, True] Translation: X:19.70, Y:0.55, Z:-0.36 [[ 9.96351718e-01 -8.03748614e-02 -2.86903355e-02 1.96980984e+01] [ 8.03479840e-02 9.96764682e-01 -2.09029705e-03 5.47599704e-01] [ 2.87655205e-02 -2.22539563e-04 9.99586162e-01 -3.57041391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82719347 meters 0.06029612865622097 Centerline is valid? [True, True] Translation: X:19.73, Y:0.55, Z:-0.36 [[ 9.96318159e-01 -8.06415373e-02 -2.91044360e-02 1.97252987e+01] [ 8.06138828e-02 9.96743141e-01 -2.12420959e-03 5.54346384e-01] [ 2.91809465e-02 -2.29833006e-04 9.99574119e-01 -3.56328836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.85719347 meters 0.06016852623354325 Centerline is valid? [True, True] Translation: X:19.75, Y:0.56, Z:-0.35 [[ 9.96425082e-01 -7.88286670e-02 -3.03825162e-02 1.97538206e+01] [ 7.87973545e-02 9.96888164e-01 -2.22840841e-03 5.64427257e-01] [ 3.04636333e-02 -1.73619875e-04 9.99535861e-01 -3.54814376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88719347 meters 0.05991708396086775 Centerline is valid? [True, True] Translation: X:19.78, Y:0.59, Z:-0.36 [[ 9.97000851e-01 -7.04707485e-02 -3.19871333e-02 1.97796568e+01] [ 7.04316826e-02 9.97513842e-01 -2.34780685e-03 5.89576197e-01] [ 3.20730600e-02 8.78578066e-05 9.99485523e-01 -3.57207691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.91719347 meters 0.05943507870912608 Centerline is valid? [True, True] Translation: X:19.81, Y:0.60, Z:-0.36 [[ 9.97335406e-01 -6.62366193e-02 -3.05744838e-02 1.98076398e+01] [ 6.61986075e-02 9.97803918e-01 -2.25492713e-03 6.04988092e-01] [ 3.06566985e-02 2.24930413e-04 9.99529948e-01 -3.55118565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.94719347 meters 0.05913725793607047 Centerline is valid? [True, True] Translation: X:19.83, Y:0.62, Z:-0.35 [[ 9.97725185e-01 -6.09014885e-02 -2.89043933e-02 1.98349549e+01] [ 6.08649650e-02 9.98143710e-01 -2.14255540e-03 6.20021823e-01] [ 2.89812232e-02 3.78416590e-04 9.99579885e-01 -3.52690775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.97719347 meters 0.05977378322313611 Centerline is valid? [True, True] Translation: X:19.86, Y:0.65, Z:-0.35 [[ 9.98377869e-01 -5.13470571e-02 -2.45989984e-02 1.98610379e+01] [ 5.13176351e-02 9.98680712e-01 -1.82626828e-03 6.46235059e-01] [ 2.46603188e-02 5.60943407e-04 9.99695731e-01 -3.49703621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00719347 meters 0.060289909900290206 Centerline is valid? [True, True] Translation: X:19.89, Y:0.66, Z:-0.35 [[ 9.98555102e-01 -4.83987726e-02 -2.33509352e-02 1.98875819e+01] [ 4.83713900e-02 9.98827910e-01 -1.73639931e-03 6.58841782e-01] [ 2.34076054e-02 6.04373201e-04 9.99725822e-01 -3.49725143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.03719347 meters 0.06123722370123757 Centerline is valid? [True, True] Translation: X:19.91, Y:0.67, Z:-0.35 [[ 9.98675223e-01 -4.60597310e-02 -2.29412165e-02 1.99144747e+01] [ 4.60326333e-02 9.98938476e-01 -1.70815801e-03 6.71879285e-01] [ 2.29955412e-02 6.49850472e-04 9.99735356e-01 -3.51958930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06719347 meters 0.061249270724850154 Centerline is valid? [True, True] Translation: X:19.94, Y:0.69, Z:-0.35 [[ 9.98684116e-01 -4.46406715e-02 -2.52437361e-02 1.99427493e+01] [ 4.46073948e-02 9.99002826e-01 -1.88008286e-03 6.87709423e-01] [ 2.53024919e-02 7.51551585e-04 9.99679558e-01 -3.54828230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.09719347 meters 0.06148803615091022 Centerline is valid? [True, True] Translation: X:19.97, Y:0.69, Z:-0.36 [[ 9.98624844e-01 -4.52912851e-02 -2.64030229e-02 1.99708499e+01] [ 4.52548422e-02 9.98973520e-01 -1.97646678e-03 6.94840827e-01] [ 2.64654374e-02 7.78884195e-04 9.99649426e-01 -3.57058588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.127193469999998 meters 0.061482878241834696 Centerline is valid? [True, True] Translation: X:20.00, Y:0.70, Z:-0.36 [[ 9.98552568e-01 -4.65943205e-02 -2.68651709e-02 1.99982352e+01] [ 4.65568050e-02 9.98913600e-01 -2.02057945e-03 7.01611263e-01] [ 2.69301321e-02 7.66898273e-04 9.99637024e-01 -3.59123917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.15719347 meters 0.06133248548986029 Centerline is valid? [True, True] Translation: X:20.03, Y:0.71, Z:-0.36 [[ 9.98563714e-01 -4.78178827e-02 -2.41652520e-02 2.00250033e+01] [ 4.77878666e-02 9.98855852e-01 -1.81841292e-03 7.13143060e-01] [ 2.42245560e-02 6.60995320e-04 9.99706324e-01 -3.59421880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18719347 meters 0.061455336798581 Centerline is valid? [True, True] Translation: X:20.05, Y:0.72, Z:-0.36 [[ 9.98620278e-01 -4.69214729e-02 -2.35778841e-02 2.00539096e+01] [ 4.68924475e-02 9.98898353e-01 -1.78273467e-03 7.20108728e-01] [ 2.36355581e-02 6.74650295e-04 9.99720414e-01 -3.58276103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.21719347 meters 0.06247471096703839 Centerline is valid? [True, True] Translation: X:20.08, Y:0.73, Z:-0.36 [[ 9.98851148e-01 -4.21957247e-02 -2.27135266e-02 2.00828510e+01] [ 4.21675916e-02 9.99109077e-01 -1.71634827e-03 7.32815299e-01] [ 2.27657132e-02 7.56601724e-04 9.99740541e-01 -3.56438792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24719347 meters 0.06333079115621056 Centerline is valid? [True, True] Translation: X:20.11, Y:0.74, Z:-0.36 [[ 9.98968267e-01 -3.97452826e-02 -2.19707600e-02 2.01111461e+01] [ 3.97181798e-02 9.99209528e-01 -1.66875655e-03 7.40034035e-01] [ 2.20197179e-02 7.94396239e-04 9.99757221e-01 -3.55697280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.27719347 meters 0.06343623766290347 Centerline is valid? [True, True] Translation: X:20.14, Y:0.75, Z:-0.35 [[ 9.99045271e-01 -3.91419247e-02 -1.94024556e-02 2.01394303e+01] [ 3.91205598e-02 9.99233402e-01 -1.47962045e-03 7.46356350e-01] [ 1.94454970e-02 7.19172891e-04 9.99810660e-01 -3.54491498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30719347 meters 0.06234854604301778 Centerline is valid? [True, True] Translation: X:20.17, Y:0.75, Z:-0.35 [[ 9.98929025e-01 -4.32039632e-02 -1.65595835e-02 2.01684103e+01] [ 4.31889756e-02 9.99066124e-01 -1.26179208e-03 7.52229847e-01] [ 1.65986334e-02 5.45249287e-04 9.99862085e-01 -3.54214114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.33719347 meters 0.06068939913778276 Centerline is valid? [True, True] Translation: X:20.20, Y:0.75, Z:-0.35 [[ 9.98723521e-01 -4.78903116e-02 -1.60576136e-02 2.01984621e+01] [ 4.78768125e-02 9.98852498e-01 -1.22425307e-03 7.50022581e-01] [ 1.60978173e-02 4.53902983e-04 9.99870319e-01 -3.53419898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36719347 meters 0.059885497899266914 Centerline is valid? [True, True] Translation: X:20.23, Y:0.75, Z:-0.36 [[ 9.98371947e-01 -5.44903409e-02 -1.68599743e-02 2.02278203e+01] [ 5.44763872e-02 9.98514231e-01 -1.28612520e-03 7.48036989e-01] [ 1.69050057e-02 3.65560827e-04 9.99857033e-01 -3.56105085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.39719347 meters 0.05904287354172443 Centerline is valid? [True, True] Translation: X:20.26, Y:0.74, Z:-0.36 [[ 9.97854490e-01 -6.25892939e-02 -1.92092762e-02 2.02575360e+01] [ 6.25725301e-02 9.98039332e-01 -1.47308421e-03 7.42163153e-01] [ 1.92638125e-02 2.67950679e-04 9.99814400e-01 -3.57414696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.42719347 meters 0.05939161355968538 Centerline is valid? [True, True] Translation: X:20.29, Y:0.73, Z:-0.36 [[ 9.96690273e-01 -7.81902307e-02 -2.22438403e-02 2.02852454e+01] [ 7.81714653e-02 9.96938457e-01 -1.71323232e-03 7.29060101e-01] [ 2.23096978e-02 -3.12715961e-05 9.99751107e-01 -3.60745313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.45719347 meters 0.0595384809576549 Centerline is valid? [True, True] Translation: X:20.31, Y:0.73, Z:-0.36 [[ 9.96125729e-01 -8.45578204e-02 -2.41558983e-02 2.03143029e+01] [ 8.45373875e-02 9.96418558e-01 -1.86764933e-03 7.27647745e-01] [ 2.42273097e-02 -1.81662984e-04 9.99706459e-01 -3.58235208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48719347 meters 0.06021081990881018 Centerline is valid? [True, True] Translation: X:20.34, Y:0.73, Z:-0.36 [[ 9.95795066e-01 -8.79107448e-02 -2.57660291e-02 2.03424126e+01] [ 8.78885428e-02 9.96128317e-01 -1.99506999e-03 7.28040369e-01] [ 2.58416592e-02 -2.77857890e-04 9.99666010e-01 -3.60705062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.51719347 meters 0.061511653364882575 Centerline is valid? [True, True] Translation: X:20.37, Y:0.73, Z:-0.37 [[ 9.95645716e-01 -8.94469021e-02 -2.62461491e-02 2.03700298e+01] [ 8.94243373e-02 9.95991540e-01 -2.03456522e-03 7.29839121e-01] [ 2.63229281e-02 -3.21338352e-04 9.99653440e-01 -3.66459205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54719347 meters 0.06002107981134499 Centerline is valid? [True, True] Translation: X:20.40, Y:0.75, Z:-0.36 [[ 9.96081265e-01 -8.38591456e-02 -2.81026022e-02 2.03974275e+01] [ 8.38307657e-02 9.96477603e-01 -2.18859601e-03 7.46204871e-01] [ 2.81871474e-02 -1.75843170e-04 9.99602648e-01 -3.62603458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.57719347 meters 0.059671395605101214 Centerline is valid? [True, True] Translation: X:20.43, Y:0.76, Z:-0.36 [[ 9.96475631e-01 -7.86442245e-02 -2.91787906e-02 2.04259767e+01] [ 7.86111325e-02 9.96902746e-01 -2.28129785e-03 7.57903010e-01] [ 2.92678274e-02 -2.05200559e-05 9.99571605e-01 -3.62623093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.60719347 meters 0.05961958843607514 Centerline is valid? [True, True] Translation: X:20.45, Y:0.77, Z:-0.36 [[ 9.96949341e-01 -7.25372070e-02 -2.88160672e-02 2.04526644e+01] [ 7.25020777e-02 9.97365693e-01 -2.26343104e-03 7.71002111e-01] [ 2.89043398e-02 1.67301344e-04 9.99582168e-01 -3.62494581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.63719347 meters 0.060183442883774585 Centerline is valid? [True, True] Translation: X:20.48, Y:0.80, Z:-0.36 [[ 9.97851529e-01 -5.98369502e-02 -2.66807902e-02 2.04789707e+01] [ 5.98022631e-02 9.98208041e-01 -2.09683147e-03 7.97544014e-01] [ 2.67584473e-02 4.96754854e-04 9.99641805e-01 -3.60869965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66719347 meters 0.06101108170640794 Centerline is valid? [True, True] Translation: X:20.51, Y:0.81, Z:-0.36 [[ 9.98108436e-01 -5.51114442e-02 -2.72447911e-02 2.05076827e+01] [ 5.50734983e-02 9.98480006e-01 -2.14176315e-03 8.12086767e-01] [ 2.73214149e-02 6.37245913e-04 9.99626497e-01 -3.62761916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.69719347 meters 0.06315615496286851 Centerline is valid? [True, True] Translation: X:20.53, Y:0.83, Z:-0.37 [[ 9.98226761e-01 -5.17027088e-02 -2.94985283e-02 2.05346545e+01] [ 5.16566520e-02 9.98662205e-01 -2.32176742e-03 8.27165371e-01] [ 2.95791070e-02 7.93855164e-04 9.99562127e-01 -3.69743933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72719347 meters 0.06337006615692053 Centerline is valid? [True, True] Translation: X:20.56, Y:0.84, Z:-0.37 [[ 9.98223152e-01 -4.95096254e-02 -3.31562313e-02 2.05646463e+01] [ 4.94502514e-02 9.98773181e-01 -2.60886998e-03 8.36169353e-01] [ 3.32447188e-02 9.64650444e-04 9.99446776e-01 -3.69862958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75719347 meters 0.062464124451160924 Centerline is valid? [True, True] Translation: X:20.59, Y:0.84, Z:-0.37 [[ 9.98210121e-01 -5.07935234e-02 -3.15685465e-02 2.05933177e+01] [ 5.07399722e-02 9.98708780e-01 -2.49564861e-03 8.38510679e-01] [ 3.16545474e-02 8.89394526e-04 9.99498474e-01 -3.66878827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.78719347 meters 0.06181938568437691 Centerline is valid? [True, True] Translation: X:20.62, Y:0.84, Z:-0.37 [[ 9.98168612e-01 -5.32403131e-02 -2.87209097e-02 2.06220295e+01] [ 5.31969972e-02 9.98581456e-01 -2.27069830e-03 8.41375863e-01] [ 2.88010605e-02 7.38673622e-04 9.99584890e-01 -3.65656205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.81719347 meters 0.05998051483422543 Centerline is valid? [True, True] Translation: X:20.65, Y:0.84, Z:-0.36 [[ 9.97834135e-01 -6.08769808e-02 -2.49205253e-02 2.06523171e+01] [ 6.08467557e-02 9.98145175e-01 -1.97005813e-03 8.40315510e-01] [ 2.49942333e-02 4.49458131e-04 9.99687494e-01 -3.62789429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84719347 meters 0.0591184712013187 Centerline is valid? [True, True] Translation: X:20.68, Y:0.84, Z:-0.36 [[ 9.97539736e-01 -6.61276537e-02 -2.32725036e-02 2.06820087e+01] [ 6.61025147e-02 9.97811124e-01 -1.84868302e-03 8.38533628e-01] [ 2.33438121e-02 3.05763754e-04 9.99727449e-01 -3.60905884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.877193469999998 meters 0.0591184712013187 Centerline is valid? [True, True] Translation: X:20.71, Y:0.84, Z:-0.36 [[ 9.97516466e-01 -6.64779831e-02 -2.32718090e-02 2.07094823e+01] [ 6.64527358e-02 9.97787845e-01 -1.85741334e-03 8.40949007e-01] [ 2.33438053e-02 3.06325016e-04 9.99727449e-01 -3.61132939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.90719347 meters 0.05876554299348891 Centerline is valid? [True, True] Translation: X:20.74, Y:0.84, Z:-0.36 [[ 9.97079215e-01 -7.28592880e-02 -2.29033638e-02 2.07387277e+01] [ 7.28363631e-02 9.97342217e-01 -1.83467121e-03 8.38181069e-01] [ 2.29761645e-02 1.61114809e-04 9.99736000e-01 -3.61017142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.93719347 meters 0.05871735264499617 Centerline is valid? [True, True] Translation: X:20.77, Y:0.83, Z:-0.36 [[ 9.96546658e-01 -8.02187933e-02 -2.14406884e-02 2.07671160e+01] [ 8.02003873e-02 9.96777280e-01 -1.71835157e-03 8.33153535e-01] [ 2.15094351e-02 -7.13399387e-06 9.99768645e-01 -3.60740893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96719347 meters 0.05850479525555205 Centerline is valid? [True, True] Translation: X:20.80, Y:0.84, Z:-0.36 [[ 9.96562881e-01 -8.00962202e-02 -2.11428271e-02 2.07954428e+01] [ 8.00781003e-02 9.96787136e-01 -1.70363686e-03 8.36452735e-01] [ 2.12113529e-02 4.70383485e-06 9.99775014e-01 -3.59315182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.99719347 meters 0.0583384633752387 Centerline is valid? [True, True] Translation: X:20.82, Y:0.84, Z:-0.36 [[ 9.96748461e-01 -7.79003028e-02 -2.05924392e-02 2.08231701e+01] [ 7.78824923e-02 9.96961152e-01 -1.66669611e-03 8.43039052e-01] [ 2.06596981e-02 5.74862899e-05 9.99786564e-01 -3.58114459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02719347 meters 0.05829483449820506 Centerline is valid? [True, True] Translation: X:20.85, Y:0.85, Z:-0.36 [[ 9.97127864e-01 -7.31449897e-02 -1.96426621e-02 2.08499221e+01] [ 7.31278324e-02 9.97321306e-01 -1.59130302e-03 8.51892229e-01] [ 1.97064413e-02 1.50307280e-04 9.99805798e-01 -3.58140697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.05719347 meters 0.059425512461612026 Centerline is valid? [True, True] Translation: X:20.88, Y:0.87, Z:-0.36 [[ 9.98018202e-01 -6.07646858e-02 -1.63499769e-02 2.08755163e+01] [ 6.07511018e-02 9.98152064e-01 -1.32667969e-03 8.73845655e-01] [ 1.64003785e-02 3.30771365e-04 9.99865450e-01 -3.57423349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.08719347 meters 0.060429461394948286 Centerline is valid? [True, True] Translation: X:20.90, Y:0.89, Z:-0.36 [[ 9.98390398e-01 -5.43083569e-02 -1.63467046e-02 2.09043071e+01] [ 5.42939133e-02 9.98524117e-01 -1.32640888e-03 8.85643761e-01] [ 1.63946138e-02 4.36747330e-04 9.99865504e-01 -3.57032528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.11719347 meters 0.062093022170909576 Centerline is valid? [True, True] Translation: X:20.93, Y:0.90, Z:-0.36 [[ 9.98614776e-01 -4.97521582e-02 -1.71246128e-02 2.09324569e+01] [ 4.97356162e-02 9.98761450e-01 -1.39077020e-03 8.95902021e-01] [ 1.71725969e-02 5.37140506e-04 9.99852396e-01 -3.59079758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14719347 meters 0.06230160851816438 Centerline is valid? [True, True] Translation: X:20.96, Y:0.90, Z:-0.36 [[ 9.98652409e-01 -4.82200352e-02 -1.91883652e-02 2.09615926e+01] [ 4.81989481e-02 9.98836537e-01 -1.56018099e-03 8.99462706e-01] [ 1.92412722e-02 6.33219494e-04 9.99814669e-01 -3.59253349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.17719347 meters 0.06240270907364296 Centerline is valid? [True, True] Translation: X:20.99, Y:0.90, Z:-0.36 [[ 9.98575672e-01 -4.95705383e-02 -1.97329499e-02 2.09893346e+01] [ 4.95484567e-02 9.98770429e-01 -1.60666989e-03 9.01968925e-01] [ 1.97883303e-02 6.26644250e-04 9.99803995e-01 -3.61319074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.20719347 meters 0.06172784867274463 Centerline is valid? [True, True] Translation: X:21.02, Y:0.90, Z:-0.36 [[ 9.98427430e-01 -5.18650476e-02 -2.12763562e-02 2.10185287e+01] [ 5.18397286e-02 9.98653901e-01 -1.74019799e-03 9.02793100e-01] [ 2.13379716e-02 6.34500877e-04 9.99772118e-01 -3.61995340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.23719347 meters 0.061691513758618734 Centerline is valid? [True, True] Translation: X:21.05, Y:0.90, Z:-0.37 [[ 9.98263532e-01 -5.28094500e-02 -2.60975552e-02 2.10482862e+01] [ 5.27717146e-02 9.98604324e-01 -2.13302885e-03 9.03415417e-01] [ 2.61737756e-02 7.52112181e-04 9.99657125e-01 -3.65223866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.26719347 meters 0.06249542097378002 Centerline is valid? [True, True] Translation: X:21.08, Y:0.91, Z:-0.37 [[ 9.98286989e-01 -5.07487171e-02 -2.91145195e-02 2.10773814e+01] [ 5.07008143e-02 9.98711047e-01 -2.38166954e-03 9.08296822e-01] [ 2.91978589e-02 9.01459870e-04 9.99573245e-01 -3.67871320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.29719347 meters 0.06510463712732181 Centerline is valid? [True, True] Translation: X:21.10, Y:0.92, Z:-0.37 [[ 9.98416680e-01 -4.74505185e-02 -3.02089612e-02 2.11048324e+01] [ 4.73973356e-02 9.98873050e-01 -2.47455195e-03 9.18109632e-01] [ 3.02923360e-02 1.03880967e-03 9.99540542e-01 -3.73894896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32719347 meters 0.06646971044275551 Centerline is valid? [True, True] Translation: X:21.13, Y:0.92, Z:-0.38 [[ 9.98511256e-01 -4.47777365e-02 -3.11484567e-02 2.11325190e+01] [ 4.47198213e-02 9.98996304e-01 -2.55384719e-03 9.24226852e-01] [ 3.12315486e-02 1.15709175e-03 9.99511506e-01 -3.75557458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.35719347 meters 0.06605802363948167 Centerline is valid? [True, True] Translation: X:21.16, Y:0.92, Z:-0.37 [[ 9.98664759e-01 -4.18410113e-02 -3.02989954e-02 2.11616135e+01] [ 4.17845354e-02 9.99123530e-01 -2.49499867e-03 9.21391950e-01] [ 3.03768325e-02 1.22563780e-03 9.99537766e-01 -3.69510082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38719347 meters 0.06505692518507464 Centerline is valid? [True, True] Translation: X:21.19, Y:0.92, Z:-0.37 [[ 9.98657925e-01 -4.33763728e-02 -2.82990858e-02 2.11909234e+01] [ 4.33276998e-02 9.99058195e-01 -2.33116518e-03 9.19518991e-01] [ 2.83735510e-02 1.10190229e-03 9.99596782e-01 -3.67347704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41719347 meters 0.06321534767967082 Centerline is valid? [True, True] Translation: X:21.22, Y:0.92, Z:-0.37 [[ 9.98522063e-01 -4.67761033e-02 -2.76710452e-02 2.12208430e+01] [ 4.67308457e-02 9.98904914e-01 -2.28032731e-03 9.16080892e-01] [ 2.77474079e-02 9.83865787e-04 9.99614482e-01 -3.65172784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.44719347 meters 0.061307653846362074 Centerline is valid? [True, True] Translation: X:21.25, Y:0.91, Z:-0.37 [[ 9.98136890e-01 -5.62055803e-02 -2.37419924e-02 2.12509600e+01] [ 5.61749120e-02 9.98419024e-01 -1.95723882e-03 9.08638004e-01] [ 2.38144647e-02 6.19887934e-04 9.99716203e-01 -3.65675890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.47719347 meters 0.0602666790283556 Centerline is valid? [True, True] Translation: X:21.28, Y:0.90, Z:-0.36 [[ 9.97873092e-01 -6.13270554e-02 -2.20971578e-02 2.12819160e+01] [ 6.13017354e-02 9.98117617e-01 -1.82205288e-03 9.02760074e-01] [ 2.21673036e-02 4.63583425e-04 9.99754168e-01 -3.64416448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50719347 meters 0.059536813518019926 Centerline is valid? [True, True] Translation: X:21.31, Y:0.90, Z:-0.36 [[ 9.97604357e-01 -6.61044395e-02 -2.03899309e-02 2.13101421e+01] [ 6.60838197e-02 9.97812654e-01 -1.68415410e-03 8.97022743e-01] [ 2.04566612e-02 3.32674951e-04 9.99790685e-01 -3.63505615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.53719347 meters 0.058927327909482324 Centerline is valid? [True, True] Translation: X:21.34, Y:0.89, Z:-0.36 [[ 9.97223220e-01 -7.15267477e-02 -2.07309666e-02 2.13394908e+01] [ 7.15064406e-02 9.97438655e-01 -1.72013745e-03 8.90025402e-01] [ 2.08009032e-02 2.32963380e-04 9.99783611e-01 -3.62377985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56719347 meters 0.058614073104796376 Centerline is valid? [True, True] Translation: X:21.37, Y:0.88, Z:-0.36 [[ 9.96403346e-01 -8.21223271e-02 -2.08876951e-02 2.13691531e+01] [ 8.21039076e-02 9.96622257e-01 -1.73933791e-03 8.76512221e-01] [ 2.09599803e-02 1.81207219e-05 9.99780315e-01 -3.63104898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.59719347 meters 0.05906516516392003 Centerline is valid? [True, True] Translation: X:21.40, Y:0.87, Z:-0.36 [[ 9.95839342e-01 -8.82113327e-02 -2.28640895e-02 2.13982982e+01] [ 8.81907092e-02 9.96101776e-01 -1.91074318e-03 8.72168936e-01] [ 2.29435094e-02 -1.13607036e-04 9.99736757e-01 -3.64542427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.627193469999998 meters 0.059967651156532964 Centerline is valid? [True, True] Translation: X:21.43, Y:0.87, Z:-0.37 [[ 9.95246001e-01 -9.43131519e-02 -2.42987143e-02 2.14260253e+01] [ 9.42916378e-02 9.95542544e-01 -2.03219695e-03 8.67637677e-01] [ 2.43820667e-02 -2.68629676e-04 9.99702677e-01 -3.67239057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65719347 meters 0.06261634185933207 Centerline is valid? [True, True] Translation: X:21.46, Y:0.86, Z:-0.37 [[ 9.93955581e-01 -1.05915498e-01 -2.88827014e-02 2.14573378e+01] [ 1.05890018e-01 9.94374916e-01 -2.41457812e-03 8.58625075e-01] [ 2.89759750e-02 -6.58406372e-04 9.99579891e-01 -3.70305533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68719347 meters 0.06408115373395522 Centerline is valid? [True, True] Translation: X:21.49, Y:0.86, Z:-0.37 [[ 9.93423955e-01 -1.10424268e-01 -3.02543625e-02 2.14874058e+01] [ 1.10398349e-01 9.93884198e-01 -2.53086648e-03 8.56595264e-01] [ 3.03488019e-02 -8.25808297e-04 9.99539028e-01 -3.71516471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71719347 meters 0.06506498990328147 Centerline is valid? [True, True] Translation: X:21.52, Y:0.86, Z:-0.37 [[ 9.93113778e-01 -1.13218332e-01 -3.01103357e-02 2.15164522e+01] [ 1.13193598e-01 9.93569729e-01 -2.53022847e-03 8.57061381e-01] [ 3.02031863e-02 -8.95492473e-04 9.99543379e-01 -3.71656978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.74719347 meters 0.06405188858965144 Centerline is valid? [True, True] Translation: X:21.54, Y:0.87, Z:-0.37 [[ 9.93019071e-01 -1.14215601e-01 -2.94604962e-02 2.15434569e+01] [ 1.14192025e-01 9.93455583e-01 -2.48698982e-03 8.67658814e-01] [ 2.95517475e-02 -8.94525404e-04 9.99562851e-01 -3.68637635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.77719347 meters 0.06401044099230165 Centerline is valid? [True, True] Translation: X:21.57, Y:0.87, Z:-0.37 [[ 9.93227545e-01 -1.12908835e-01 -2.73977692e-02 2.15707984e+01] [ 1.12887915e-01 9.93605034e-01 -2.31407175e-03 8.73989202e-01] [ 2.74838405e-02 -7.94477245e-04 9.99621932e-01 -3.68279356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80719347 meters 0.06305659851249736 Centerline is valid? [True, True] Translation: X:21.60, Y:0.88, Z:-0.37 [[ 9.93518898e-01 -1.10868479e-01 -2.50675020e-02 2.15996216e+01] [ 1.10850095e-01 9.93834864e-01 -2.12608746e-03 8.83852102e-01] [ 2.51486735e-02 -6.66426905e-04 9.99683500e-01 -3.66182816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.83719347 meters 0.061222806742311765 Centerline is valid? [True, True] Translation: X:21.63, Y:0.91, Z:-0.37 [[ 9.94475454e-01 -1.01807127e-01 -2.55710882e-02 2.16270864e+01] [ 1.01785024e-01 9.94804056e-01 -2.16788194e-03 9.09293645e-01] [ 2.56589281e-02 -4.46848454e-04 9.99670656e-01 -3.65772469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86719347 meters 0.060683100672045596 Centerline is valid? [True, True] Translation: X:21.65, Y:0.92, Z:-0.37 [[ 9.95086920e-01 -9.59342122e-02 -2.44672885e-02 2.16537759e+01] [ 9.59121203e-02 9.95387638e-01 -2.07756607e-03 9.24199152e-01] [ 2.45537462e-02 -2.79350696e-04 9.99698472e-01 -3.68846129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89719347 meters 0.0604834667794558 Centerline is valid? [True, True] Translation: X:21.68, Y:0.94, Z:-0.37 [[ 9.95531875e-01 -9.10760598e-02 -2.49286282e-02 2.16808492e+01] [ 9.10515367e-02 9.95843926e-01 -2.11940655e-03 9.38149479e-01] [ 2.50180502e-02 -1.59853125e-04 9.99686987e-01 -3.71443875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.92719347 meters 0.06017936703415105 Centerline is valid? [True, True] Translation: X:21.71, Y:0.96, Z:-0.37 [[ 9.95855684e-01 -8.79451073e-02 -2.31757443e-02 2.17080255e+01] [ 8.79228626e-02 9.96125320e-01 -1.97904357e-03 9.57233655e-01] [ 2.32599929e-02 -6.68359914e-05 9.99729448e-01 -3.71509063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.95719347 meters 0.06022605007921164 Centerline is valid? [True, True] Translation: X:21.74, Y:0.96, Z:-0.37 [[ 9.95555862e-01 -9.14088226e-02 -2.26484591e-02 2.17351470e+01] [ 9.13882817e-02 9.95813441e-01 -1.94249686e-03 9.63854011e-01] [ 2.27312014e-02 -1.35939627e-04 9.99741604e-01 -3.70204540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98719347 meters 0.0606136209242028 Centerline is valid? [True, True] Translation: X:21.76, Y:0.97, Z:-0.37 [[ 9.95111016e-01 -9.67220089e-02 -1.99729319e-02 2.17628581e+01] [ 9.67070938e-02 9.95311409e-01 -1.71355031e-03 9.67268908e-01] [ 2.00450250e-02 -2.26351407e-04 9.99799053e-01 -3.69118134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.01719347 meters 0.062488571367618984 Centerline is valid? [True, True] Translation: X:21.79, Y:0.97, Z:-0.37 [[ 9.93922776e-01 -1.08928091e-01 -1.58803730e-02 2.17920354e+01] [ 1.08920112e-01 9.94049564e-01 -1.36905015e-03 9.67169698e-01] [ 1.59350059e-02 -3.68961880e-04 9.99872962e-01 -3.66267308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04719347 meters 0.06420962562936097 Centerline is valid? [True, True] Translation: X:21.82, Y:0.97, Z:-0.37 [[ 9.93172966e-01 -1.15594436e-01 -1.56648134e-02 2.18210440e+01] [ 1.15587504e-01 9.93296384e-01 -1.35025884e-03 9.69543474e-01] [ 1.57158849e-02 -4.69616098e-04 9.99876388e-01 -3.67276637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.07719347 meters 0.06609685129058987 Centerline is valid? [True, True] Translation: X:21.85, Y:0.97, Z:-0.37 [[ 9.92610142e-01 -1.20050211e-01 -1.76932965e-02 2.18494224e+01] [ 1.20042060e-01 9.92767634e-01 -1.52590842e-03 9.73642399e-01] [ 1.77485178e-02 -6.09307580e-04 9.99842297e-01 -3.70692471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.10719347 meters 0.06686490802339222 Centerline is valid? [True, True] Translation: X:21.88, Y:0.98, Z:-0.37 [[ 9.92081950e-01 -1.23963376e-01 -2.01615075e-02 2.18795285e+01] [ 1.23953611e-01 9.92286491e-01 -1.73816569e-03 9.80933765e-01] [ 2.02214604e-02 -7.74688839e-04 9.99795225e-01 -3.72062102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.13719347 meters 0.06932293910833194 Centerline is valid? [True, True] Translation: X:21.91, Y:0.99, Z:-0.37 [[ 9.91509223e-01 -1.28278128e-01 -2.13115523e-02 2.19085901e+01] [ 1.28268195e-01 9.91737814e-01 -1.83802228e-03 9.87690680e-01] [ 2.13712504e-02 -9.11178315e-04 9.99771194e-01 -3.74257207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16719347 meters 0.06967856129407893 Centerline is valid? [True, True] Translation: X:21.94, Y:1.00, Z:-0.37 [[ 9.91317932e-01 -1.29870712e-01 -2.05513110e-02 2.19365347e+01] [ 1.29861634e-01 9.91530525e-01 -1.78130234e-03 9.95666737e-01] [ 2.06085912e-02 -9.02989894e-04 9.99787213e-01 -3.74476441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.19719347 meters 0.0696201954166054 Centerline is valid? [True, True] Translation: X:21.97, Y:1.01, Z:-0.37 [[ 9.91363582e-01 -1.29500196e-01 -2.06868943e-02 2.19650564e+01] [ 1.29490870e-01 9.91578989e-01 -1.79538497e-03 1.00632005e+00] [ 2.07451925e-02 -8.98884667e-04 9.99784391e-01 -3.74569223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22719347 meters 0.06853560705703513 Centerline is valid? [True, True] Translation: X:21.99, Y:1.02, Z:-0.37 [[ 9.91604792e-01 -1.27542693e-01 -2.12790553e-02 2.19928503e+01] [ 1.27532208e-01 9.91832696e-01 -1.85462396e-03 1.02259368e+00] [ 2.13418065e-02 -8.74710911e-04 9.99771855e-01 -3.74572559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.25719347 meters 0.06504591892427934 Centerline is valid? [True, True] Translation: X:22.02, Y:1.06, Z:-0.38 [[ 9.93022792e-01 -1.15905426e-01 -2.17178776e-02 2.20193139e+01] [ 1.15891751e-01 9.93260049e-01 -1.89145238e-03 1.05827471e+00] [ 2.17907297e-02 -6.38667548e-04 9.99762350e-01 -3.76541649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.28719347 meters 0.06336400690502597 Centerline is valid? [True, True] Translation: X:22.05, Y:1.08, Z:-0.38 [[ 9.93919687e-01 -1.08062669e-01 -2.11214477e-02 2.20463336e+01] [ 1.08047947e-01 9.94143981e-01 -1.84033536e-03 1.07777642e+00] [ 2.11966317e-02 -4.52983510e-04 9.99775224e-01 -3.76982588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.31719347 meters 0.0610572511126582 Centerline is valid? [True, True] Translation: X:22.07, Y:1.11, Z:-0.38 [[ 9.95269823e-01 -9.53194202e-02 -1.87666641e-02 2.20737543e+01] [ 9.53055245e-02 9.95446725e-01 -1.63546102e-03 1.11019587e+00] [ 1.88371055e-02 -1.60841771e-04 9.99822553e-01 -3.75723440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34719347 meters 0.06052958709287457 Centerline is valid? [True, True] Translation: X:22.10, Y:1.13, Z:-0.38 [[ 9.95757715e-01 -9.01198569e-02 -1.85737638e-02 2.21016440e+01] [ 9.01051890e-02 9.95930926e-01 -1.62677771e-03 1.12711361e+00] [ 1.86447908e-02 -5.37160437e-05 9.99826169e-01 -3.76184010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.377193469999998 meters 0.06039278986156186 Centerline is valid? [True, True] Translation: X:22.13, Y:1.14, Z:-0.38 [[ 9.96107077e-01 -8.61044777e-02 -1.88867539e-02 2.21286791e+01] [ 8.60884583e-02 9.96286113e-01 -1.66110051e-03 1.14491136e+00] [ 1.89596388e-02 2.87024515e-05 9.99820249e-01 -3.77539040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.40719347 meters 0.0610913307433928 Centerline is valid? [True, True] Translation: X:22.16, Y:1.18, Z:-0.38 [[ 9.96714148e-01 -7.79979538e-02 -2.18454925e-02 2.21553491e+01] [ 7.79746164e-02 9.96953497e-01 -1.91936116e-03 1.17690610e+00] [ 2.19286464e-02 2.09660522e-04 9.99759516e-01 -3.80426915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.43719347 meters 0.06195382892167927 Centerline is valid? [True, True] Translation: X:22.18, Y:1.19, Z:-0.38 [[ 9.96901316e-01 -7.54601014e-02 -2.22157353e-02 2.21816274e+01] [ 7.54352287e-02 9.97148784e-01 -1.95670134e-03 1.19150342e+00] [ 2.23000463e-02 2.74789066e-04 9.99751285e-01 -3.84722955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46719347 meters 0.06187870233998534 Centerline is valid? [True, True] Translation: X:22.21, Y:1.20, Z:-0.38 [[ 9.96972593e-01 -7.43940073e-02 -2.26092906e-02 2.22096413e+01] [ 7.43677839e-02 9.97228878e-01 -1.99962199e-03 1.20097029e+00] [ 2.26953974e-02 3.12165490e-04 9.99742378e-01 -3.83377381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.49719347 meters 0.061195032042648846 Centerline is valid? [True, True] Translation: X:22.24, Y:1.21, Z:-0.38 [[ 9.96961427e-01 -7.53849990e-02 -1.96217972e-02 2.22379098e+01] [ 7.53654339e-02 9.97154471e-01 -1.73573293e-03 1.21169575e+00] [ 1.96968110e-02 2.51653522e-04 9.99805967e-01 -3.78834226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52719347 meters 0.06112158776219323 Centerline is valid? [True, True] Translation: X:22.27, Y:1.22, Z:-0.38 [[ 9.96827496e-01 -7.76135468e-02 -1.76374502e-02 2.22654817e+01] [ 7.75980226e-02 9.96983501e-01 -1.56388579e-03 1.21792057e+00] [ 1.77056256e-02 1.90293093e-04 9.99843225e-01 -3.80754124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.55719347 meters 0.06036179785567037 Centerline is valid? [True, True] Translation: X:22.29, Y:1.22, Z:-0.38 [[ 9.96548457e-01 -8.12456744e-02 -1.70385664e-02 2.22938912e+01] [ 8.12316040e-02 9.96694097e-01 -1.51740848e-03 1.22116415e+00] [ 1.71055214e-02 1.28101008e-04 9.99853682e-01 -3.78247979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.58719347 meters 0.060252790592313116 Centerline is valid? [True, True] Translation: X:22.32, Y:1.22, Z:-0.38 [[ 9.95754182e-01 -9.07221495e-02 -1.55917053e-02 2.23220156e+01] [ 9.07114490e-02 9.95876243e-01 -1.39360692e-03 1.22449358e+00] [ 1.56538399e-02 -2.66562584e-05 9.99877471e-01 -3.79808912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.61719347 meters 0.060174666562161944 Centerline is valid? [True, True] Translation: X:22.35, Y:1.22, Z:-0.38 [[ 9.95216095e-01 -9.67138905e-02 -1.38328753e-02 2.23505764e+01] [ 9.67059846e-02 9.95312219e-01 -1.24085913e-03 1.22460469e+00] [ 1.38880381e-02 -1.02798840e-04 9.99903551e-01 -3.77277396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64719347 meters 0.06062283712434338 Centerline is valid? [True, True] Translation: X:22.38, Y:1.22, Z:-0.38 [[ 9.94661269e-01 -1.02104310e-01 -1.49556235e-02 2.23791495e+01] [ 1.02095660e-01 9.94773679e-01 -1.34274791e-03 1.22442846e+00] [ 1.50145610e-02 -1.91324918e-04 9.99887257e-01 -3.77277292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.67719347 meters 0.06157424924015365 Centerline is valid? [True, True] Translation: X:22.41, Y:1.22, Z:-0.38 [[ 9.94168305e-01 -1.06546595e-01 -1.66494655e-02 2.24081717e+01] [ 1.06536495e-01 9.94307669e-01 -1.49492795e-03 1.22359866e+00] [ 1.67139707e-02 -2.87565720e-04 9.99860270e-01 -3.79960539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.70719347 meters 0.06239852443068721 Centerline is valid? [True, True] Translation: X:22.44, Y:1.23, Z:-0.38 [[ 9.93746560e-01 -1.10243997e-01 -1.77210261e-02 2.24367905e+01] [ 1.10233014e-01 9.93904486e-01 -1.59834570e-03 1.22538778e+00] [ 1.77892153e-02 -3.65091574e-04 9.99841693e-01 -3.81608480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.73719347 meters 0.06285657208652179 Centerline is valid? [True, True] Translation: X:22.46, Y:1.23, Z:-0.38 [[ 9.93349788e-01 -1.13548131e-01 -1.90531260e-02 2.24647895e+01] [ 1.13535933e-01 9.93532395e-01 -1.72418926e-03 1.23461861e+00] [ 1.91256764e-02 -4.50491408e-04 9.99816986e-01 -3.82204929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.76719347 meters 0.06268247841800927 Centerline is valid? [True, True] Translation: X:22.49, Y:1.24, Z:-0.38 [[ 9.93455461e-01 -1.12462695e-01 -1.99596818e-02 2.24909227e+01] [ 1.12449057e-01 9.93655846e-01 -1.80785255e-03 1.24304510e+00] [ 2.00363704e-02 -4.48426403e-04 9.99799151e-01 -3.82918169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.79719347 meters 0.06268247841800927 Centerline is valid? [True, True] Translation: X:22.52, Y:1.25, Z:-0.38 [[ 9.93416859e-01 -1.12803302e-01 -1.99589174e-02 2.25182837e+01] [ 1.12789564e-01 9.93617238e-01 -1.81627895e-03 1.24577747e+00] [ 2.00364066e-02 -4.46835460e-04 9.99799151e-01 -3.83145091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82719347 meters 0.06220883405130764 Centerline is valid? [True, True] Translation: X:22.54, Y:1.26, Z:-0.39 [[ 9.93787748e-01 -1.09004756e-01 -2.24471710e-02 2.25449587e+01] [ 1.08986243e-01 9.94041144e-01 -2.05009317e-03 1.26153686e+00] [ 2.25368815e-02 -4.09075368e-04 9.99745929e-01 -3.85151049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.85719347 meters 0.06200771572833333 Centerline is valid? [True, True] Translation: X:22.57, Y:1.27, Z:-0.39 [[ 9.93968955e-01 -1.07221483e-01 -2.30058605e-02 2.25729886e+01] [ 1.07201410e-01 9.94235091e-01 -2.10758676e-03 1.27042007e+00] [ 2.30992124e-02 -3.71384887e-04 9.99733109e-01 -3.86015879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88719347 meters 0.06171065509659623 Centerline is valid? [True, True] Translation: X:22.60, Y:1.28, Z:-0.39 [[ 9.94042408e-01 -1.06576136e-01 -2.28301961e-02 2.26016429e+01] [ 1.06556056e-01 9.94304484e-01 -2.09772347e-03 1.27876347e+00] [ 2.29237336e-02 -3.47469551e-04 9.99737156e-01 -3.85461897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91719347 meters 0.06161629193215542 Centerline is valid? [True, True] Translation: X:22.63, Y:1.29, Z:-0.38 [[ 9.93909019e-01 -1.08046098e-01 -2.17003063e-02 2.26302271e+01] [ 1.08028154e-01 9.94145822e-01 -2.00089523e-03 1.28555489e+00] [ 2.17894577e-02 -3.55536206e-04 9.99762518e-01 -3.84179316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.94719347 meters 0.0638362304223833 Centerline is valid? [True, True] Translation: X:22.66, Y:1.28, Z:-0.39 [[ 9.92746810e-01 -1.18202713e-01 -2.19519781e-02 2.26594143e+01] [ 1.18186878e-01 9.92989312e-01 -2.02192990e-03 1.28479740e+00] [ 2.20370772e-02 -5.87171283e-04 9.99756982e-01 -3.85975957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.97719347 meters 0.06634233316873916 Centerline is valid? [True, True] Translation: X:22.69, Y:1.28, Z:-0.39 [[ 9.91758977e-01 -1.25971235e-01 -2.33533785e-02 2.26885117e+01] [ 1.25955434e-01 9.92033566e-01 -2.15222725e-03 1.28223845e+00] [ 2.34384541e-02 -8.06994223e-04 9.99724956e-01 -3.87690716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.00719347 meters 0.06951537795023977 Centerline is valid? [True, True] Translation: X:22.72, Y:1.28, Z:-0.39 [[ 9.90584066e-01 -1.34973054e-01 -2.29234092e-02 2.27191623e+01] [ 1.34960239e-01 9.90848763e-01 -2.11233015e-03 1.27999692e+00] [ 2.29987393e-02 -1.00130818e-03 9.99734993e-01 -3.87753603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.03719347 meters 0.07265835270185439 Centerline is valid? [True, True] Translation: X:22.75, Y:1.28, Z:-0.39 [[ 9.89462261e-01 -1.43063485e-01 -2.22996193e-02 2.27497633e+01] [ 1.43053404e-01 9.89712838e-01 -2.05484097e-03 1.27969906e+00] [ 2.23641922e-02 -1.15684887e-03 9.99749221e-01 -3.87030330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.06719347 meters 0.0800763339503512 Centerline is valid? [True, True] Translation: X:22.78, Y:1.27, Z:-0.39 [[ 9.87884576e-01 -1.53407082e-01 -2.34591358e-02 2.27798363e+01] [ 1.53398810e-01 9.88161995e-01 -2.16249199e-03 1.27327881e+00] [ 2.35131680e-02 -1.46231102e-03 9.99722458e-01 -3.90553266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.09719347 meters 0.07655051323752986 Centerline is valid? [True, True] Translation: X:22.81, Y:1.28, Z:-0.39 [[ 9.87690892e-01 -1.54834570e-01 -2.22026567e-02 2.28078135e+01] [ 1.54827322e-01 9.87939409e-01 -2.05550937e-03 1.28489327e+00] [ 2.22531434e-02 -1.40736999e-03 9.99751378e-01 -3.86103792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.127193469999998 meters 0.07336319961916733 Centerline is valid? [True, True] Translation: X:22.84, Y:1.30, Z:-0.38 [[ 9.87853067e-01 -1.54094246e-01 -2.00320243e-02 2.28358214e+01] [ 1.54088188e-01 9.88055358e-01 -1.85485902e-03 1.29838598e+00] [ 2.00785720e-02 -1.25437014e-03 9.99797618e-01 -3.81720806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.15719347 meters 0.07260737044570548 Centerline is valid? [True, True] Translation: X:22.86, Y:1.32, Z:-0.38 [[ 9.89072080e-01 -1.46475886e-01 -1.67700926e-02 2.28636798e+01] [ 1.46470546e-01 9.89213813e-01 -1.55291104e-03 1.31750617e+00] [ 1.68166713e-02 -9.20383666e-04 9.99858166e-01 -3.80018211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18719347 meters 0.06906923943242146 Centerline is valid? [True, True] Translation: X:22.89, Y:1.34, Z:-0.38 [[ 9.89980941e-01 -1.39852132e-01 -1.94709213e-02 2.28922810e+01] [ 1.39843649e-01 9.90171956e-01 -1.80331822e-03 1.33669308e+00] [ 1.95317581e-02 -9.37634010e-04 9.99808797e-01 -3.80892837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21719347 meters 0.0667539681788692 Centerline is valid? [True, True] Translation: X:22.92, Y:1.35, Z:-0.38 [[ 9.90968009e-01 -1.31955909e-01 -2.38755778e-02 2.29209155e+01] [ 1.31940853e-01 9.91255123e-01 -2.21175028e-03 1.35303488e+00] [ 2.39586423e-02 -9.58390313e-04 9.99712491e-01 -3.84162229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24719347 meters 0.06348188259476056 Centerline is valid? [True, True] Translation: X:22.95, Y:1.38, Z:-0.39 [[ 9.93016374e-01 -1.14468759e-01 -2.85549198e-02 2.29481761e+01] [ 1.14439992e-01 9.93426641e-01 -2.64503678e-03 1.38268610e+00] [ 2.86699922e-02 -6.41259980e-04 9.99588726e-01 -3.91694626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.27719347 meters 0.06204603429183348 Centerline is valid? [True, True] Translation: X:22.98, Y:1.40, Z:-0.39 [[ 9.93968378e-01 -1.06057400e-01 -2.79050546e-02 2.29754791e+01] [ 1.06026568e-01 9.94359934e-01 -2.58638097e-03 1.40074630e+00] [ 2.80219730e-02 -3.87896271e-04 9.99607232e-01 -3.91253224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.30719347 meters 0.06064394541186208 Centerline is valid? [True, True] Translation: X:23.00, Y:1.43, Z:-0.39 [[ 9.95375952e-01 -9.34050431e-02 -2.24100943e-02 2.30031168e+01] [ 9.33819507e-02 9.95628192e-01 -2.07701673e-03 1.43125512e+00] [ 2.25061255e-02 -2.52858217e-05 9.99746705e-01 -3.85339953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.33719347 meters 0.0604649924504645 Centerline is valid? [True, True] Translation: X:23.03, Y:1.44, Z:-0.38 [[ 9.95763880e-01 -8.96756662e-02 -2.03118306e-02 2.30315263e+01] [ 8.96558963e-02 9.95971020e-01 -1.88370457e-03 1.44376386e+00] [ 2.03989171e-02 5.46495943e-05 9.99791919e-01 -3.82458164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36719347 meters 0.06077971531180172 Centerline is valid? [True, True] Translation: X:23.06, Y:1.45, Z:-0.38 [[ 9.95979692e-01 -8.70729556e-02 -2.10417153e-02 2.30607036e+01] [ 8.70511529e-02 9.96201931e-01 -1.95164811e-03 1.45256095e+00] [ 2.11317332e-02 1.12096303e-04 9.99776694e-01 -3.83272779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39719347 meters 0.06081097245583321 Centerline is valid? [True, True] Translation: X:23.09, Y:1.46, Z:-0.38 [[ 9.95911329e-01 -8.78754973e-02 -2.09409113e-02 2.30902742e+01] [ 8.78540713e-02 9.96131461e-01 -1.94273357e-03 1.45684975e+00] [ 2.10306192e-02 9.50460638e-05 9.99778828e-01 -3.84344725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.42719347 meters 0.05969636259113614 Centerline is valid? [True, True] Translation: X:23.12, Y:1.45, Z:-0.38 [[ 9.95375529e-01 -9.45849878e-02 -1.67700954e-02 2.31214571e+01] [ 9.45722012e-02 9.95516790e-01 -1.55566095e-03 1.45370860e+00] [ 1.68420537e-02 -3.75179954e-05 9.99858162e-01 -3.78044387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.45719347 meters 0.05999523135654208 Centerline is valid? [True, True] Translation: X:23.15, Y:1.45, Z:-0.38 [[ 9.94942139e-01 -9.93631864e-02 -1.47341923e-02 2.31518264e+01] [ 9.93538474e-02 9.95051228e-01 -1.36628734e-03 1.45082813e+00] [ 1.47970348e-02 -1.04521854e-04 9.99890512e-01 -3.80803387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48719347 meters 0.060370900007560756 Centerline is valid? [True, True] Translation: X:23.18, Y:1.45, Z:-0.38 [[ 9.94542582e-01 -1.03439031e-01 -1.36168714e-02 2.31815312e+01] [ 1.03431429e-01 9.94635784e-01 -1.26329238e-03 1.44868609e+00] [ 1.36745013e-02 -1.52014393e-04 9.99906488e-01 -3.81709474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.51719347 meters 0.06038317035511381 Centerline is valid? [True, True] Translation: X:23.21, Y:1.45, Z:-0.38 [[ 9.94423571e-01 -1.04109563e-01 -1.68214373e-02 2.32127161e+01] [ 1.04098078e-01 9.94565814e-01 -1.55932552e-03 1.45100920e+00] [ 1.68923672e-02 -2.00449243e-04 9.99857294e-01 -3.81622510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54719347 meters 0.06037973104800034 Centerline is valid? [True, True] Translation: X:23.24, Y:1.46, Z:-0.38 [[ 9.94759836e-01 -1.00567360e-01 -1.84139692e-02 2.32429833e+01] [ 1.00552983e-01 9.94930240e-01 -1.70733247e-03 1.45753399e+00] [ 1.84923167e-02 -1.53193770e-04 9.99828991e-01 -3.83351043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.57719347 meters 0.06018294361604191 Centerline is valid? [True, True] Translation: X:23.27, Y:1.47, Z:-0.38 [[ 9.95132270e-01 -9.64180768e-02 -2.03793817e-02 2.32734066e+01] [ 9.63996218e-02 9.95340920e-01 -1.88831657e-03 1.46553286e+00] [ 2.04665003e-02 -8.54399256e-05 9.99790536e-01 -3.82928217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.60719347 meters 0.06028956021470364 Centerline is valid? [True, True] Translation: X:23.30, Y:1.47, Z:-0.38 [[ 9.95609497e-01 -9.13750131e-02 -2.03060805e-02 2.33037426e+01] [ 9.13556342e-02 9.95816553e-01 -1.88188176e-03 1.47341572e+00] [ 2.03930881e-02 1.85444946e-05 9.99792039e-01 -3.83551225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.63719347 meters 0.06059495444676137 Centerline is valid? [True, True] Translation: X:23.33, Y:1.48, Z:-0.39 [[ 9.95857709e-01 -8.83699966e-02 -2.14048451e-02 2.33337076e+01] [ 8.83477692e-02 9.96087715e-01 -1.98371062e-03 1.47876870e+00] [ 2.14964037e-02 8.44232035e-05 9.99768922e-01 -3.85358752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66719347 meters 0.061325778171785944 Centerline is valid? [True, True] Translation: X:23.36, Y:1.48, Z:-0.39 [[ 9.95983868e-01 -8.62440014e-02 -2.40438625e-02 2.33624455e+01] [ 8.62153010e-02 9.96274034e-01 -2.22968738e-03 1.48343021e+00] [ 2.41465730e-02 1.47783827e-04 9.99708418e-01 -3.89929719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.69719347 meters 0.06227824768379991 Centerline is valid? [True, True] Translation: X:23.39, Y:1.48, Z:-0.40 [[ 9.95441416e-01 -9.01849199e-02 -3.10333189e-02 2.33915741e+01] [ 9.01390065e-02 9.95925035e-01 -2.87817216e-03 1.47963414e+00] [ 3.11664269e-02 6.77392405e-05 9.99514207e-01 -3.97500304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72719347 meters 0.061938122445923366 Centerline is valid? [True, True] Translation: X:23.42, Y:1.48, Z:-0.40 [[ 9.94963638e-01 -9.57056429e-02 -2.97957918e-02 2.34212395e+01] [ 9.56654548e-02 9.95409675e-01 -2.77468731e-03 1.47533403e+00] [ 2.99245727e-02 -8.97149924e-05 9.99552156e-01 -3.95382147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.75719347 meters 0.0620665634360429 Centerline is valid? [True, True] Translation: X:23.45, Y:1.47, Z:-0.39 [[ 9.94260239e-01 -1.03162745e-01 -2.83553191e-02 2.34501764e+01] [ 1.03129091e-01 9.94664448e-01 -2.65065619e-03 1.46993750e+00] [ 2.84774768e-02 -2.88816231e-04 9.99594393e-01 -3.94746560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.78719347 meters 0.06310024319661314 Centerline is valid? [True, True] Translation: X:23.48, Y:1.46, Z:-0.40 [[ 9.93437711e-01 -1.11085986e-01 -2.72289842e-02 2.34781990e+01] [ 1.11057876e-01 9.93810676e-01 -2.54715200e-03 1.46325504e+00] [ 2.73434081e-02 -4.93556298e-04 9.99625977e-01 -3.95055445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.81719347 meters 0.06607637840228239 Centerline is valid? [True, True] Translation: X:23.51, Y:1.45, Z:-0.40 [[ 9.91762373e-01 -1.24234276e-01 -3.11967839e-02 2.35099272e+01] [ 1.24203878e-01 9.92252429e-01 -2.91790374e-03 1.44788898e+00] [ 3.13175882e-02 -9.80894406e-04 9.99509003e-01 -3.96204563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84719347 meters 0.06811074972303363 Centerline is valid? [True, True] Translation: X:23.54, Y:1.44, Z:-0.40 [[ 9.91053822e-01 -1.28947795e-01 -3.44207451e-02 2.35398537e+01] [ 1.28913625e-01 9.91650600e-01 -3.21949028e-03 1.44071254e+00] [ 3.45484987e-02 -1.24661489e-03 9.99402245e-01 -3.99776273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.877193469999998 meters 0.06953789762725715 Centerline is valid? [True, True] Translation: X:23.57, Y:1.44, Z:-0.40 [[ 9.90626557e-01 -1.32147621e-01 -3.45836863e-02 2.35685498e+01] [ 1.32114951e-01 9.91229113e-01 -3.23824722e-03 1.43618605e+00] [ 3.47082834e-02 -1.36112832e-03 9.99396559e-01 -4.02055958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.90719347 meters 0.07072394972023763 Centerline is valid? [True, True] Translation: X:23.60, Y:1.44, Z:-0.40 [[ 9.90374398e-01 -1.34039309e-01 -3.45255681e-02 2.35962566e+01] [ 1.34007690e-01 9.90975000e-01 -3.23872255e-03 1.43647921e+00] [ 3.46480910e-02 -1.41914373e-03 9.99398567e-01 -4.02496219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.93719347 meters 0.07022336131018365 Centerline is valid? [True, True] Translation: X:23.63, Y:1.44, Z:-0.40 [[ 9.90405102e-01 -1.33970682e-01 -3.39056038e-02 2.36250340e+01] [ 1.33939807e-01 9.90984333e-01 -3.19058287e-03 1.44346073e+00] [ 3.40273667e-02 -1.38134048e-03 9.99419947e-01 -4.00997461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96719347 meters 0.0676019859421216 Centerline is valid? [True, True] Translation: X:23.65, Y:1.45, Z:-0.39 [[ 9.90426030e-01 -1.33756044e-01 -3.41408946e-02 2.36518071e+01] [ 1.33724167e-01 9.91013341e-01 -3.22571198e-03 1.45442004e+00] [ 3.42655405e-02 -1.37063357e-03 9.99411824e-01 -3.93728349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.99719347 meters 0.0680848706916385 Centerline is valid? [True, True] Translation: X:23.68, Y:1.45, Z:-0.39 [[ 9.90503127e-01 -1.34052842e-01 -3.05514642e-02 2.36799089e+01] [ 1.34027404e-01 9.90973417e-01 -2.88821724e-03 1.45383751e+00] [ 3.06628626e-02 -1.23394524e-03 9.99529022e-01 -3.93267088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.02719347 meters 0.07005637661542874 Centerline is valid? [True, True] Translation: X:23.71, Y:1.45, Z:-0.40 [[ 9.90585088e-01 -1.34053158e-01 -2.77657230e-02 2.37086114e+01] [ 1.34032085e-01 9.90973511e-01 -2.62710995e-03 1.45105590e+00] [ 2.78672683e-02 -1.11912180e-03 9.99611006e-01 -3.96795266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.05719347 meters 0.06732896898798789 Centerline is valid? [True, True] Translation: X:23.74, Y:1.47, Z:-0.39 [[ 9.91133624e-01 -1.30290272e-01 -2.60496676e-02 2.37369864e+01] [ 1.30270404e-01 9.91475437e-01 -2.46553166e-03 1.46522312e+00] [ 2.61488404e-02 -9.49829401e-04 9.99657609e-01 -3.92116624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08719347 meters 0.06615001885032318 Centerline is valid? [True, True] Translation: X:23.77, Y:1.48, Z:-0.39 [[ 9.91772392e-01 -1.25138964e-01 -2.69770578e-02 2.37654768e+01] [ 1.25115722e-01 9.92138867e-01 -2.55442570e-03 1.47731447e+00] [ 2.70846457e-02 -8.41845189e-04 9.99632789e-01 -3.92927404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.11719347 meters 0.06472422504505185 Centerline is valid? [True, True] Translation: X:23.79, Y:1.49, Z:-0.39 [[ 9.92591313e-01 -1.18153070e-01 -2.83255722e-02 2.37936865e+01] [ 1.18124568e-01 9.92995159e-01 -2.68329342e-03 1.49169488e+00] [ 2.84441954e-02 -6.82532250e-04 9.99595149e-01 -3.93985452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14719347 meters 0.0632228563212848 Centerline is valid? [True, True] Translation: X:23.82, Y:1.52, Z:-0.40 [[ 9.94612442e-01 -1.00503472e-01 -2.53996496e-02 2.38207274e+01] [ 1.00474778e-01 9.94936695e-01 -2.40663805e-03 1.51823266e+00] [ 2.55129189e-02 -1.58352013e-04 9.99674480e-01 -3.97903582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.17719347 meters 0.062476705248261946 Centerline is valid? [True, True] Translation: X:23.85, Y:1.53, Z:-0.39 [[ 9.95328923e-01 -9.36090695e-02 -2.36151856e-02 2.38489298e+01] [ 9.35822164e-02 9.95609031e-01 -2.24212620e-03 1.53219904e+00] [ 2.37213754e-02 2.16916458e-05 9.99718608e-01 -3.92477006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.20719347 meters 0.06297653661836908 Centerline is valid? [True, True] Translation: X:23.88, Y:1.54, Z:-0.39 [[ 9.95863759e-01 -8.77043659e-02 -2.37342992e-02 2.38781106e+01] [ 8.76755930e-02 9.96146534e-01 -2.25220217e-03 1.54325025e+00] [ 2.38403679e-02 1.61967759e-04 9.99715765e-01 -3.93090796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.23719347 meters 0.06317550514477498 Centerline is valid? [True, True] Translation: X:23.91, Y:1.55, Z:-0.39 [[ 9.96189257e-01 -8.37568899e-02 -2.43258601e-02 2.39077084e+01] [ 8.37254876e-02 9.96486184e-01 -2.30833674e-03 1.55135093e+00] [ 2.44337226e-02 2.62845763e-04 9.99701417e-01 -3.92069044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.26719347 meters 0.06378100934666352 Centerline is valid? [True, True] Translation: X:23.94, Y:1.56, Z:-0.39 [[ 9.96378795e-01 -8.12304757e-02 -2.51178551e-02 2.39362516e+01] [ 8.11962332e-02 9.96695289e-01 -2.38186851e-03 1.55812264e+00] [ 2.52283281e-02 3.33768052e-04 9.99681659e-01 -3.94571158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.29719347 meters 0.06452959688127534 Centerline is valid? [True, True] Translation: X:23.96, Y:1.56, Z:-0.40 [[ 9.96290180e-01 -8.19777453e-02 -2.61825482e-02 2.39648466e+01] [ 8.19407062e-02 9.96634105e-01 -2.48622900e-03 1.56239968e+00] [ 2.62982360e-02 3.31589041e-04 9.99654087e-01 -4.00876994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32719347 meters 0.06386999344967371 Centerline is valid? [True, True] Translation: X:23.99, Y:1.56, Z:-0.40 [[ 9.96190558e-01 -8.30804691e-02 -2.64954241e-02 2.39945130e+01] [ 8.30429088e-02 9.96542795e-01 -2.51670836e-03 1.56240696e+00] [ 2.66129133e-02 3.06864014e-04 9.99645767e-01 -3.98582688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.35719347 meters 0.06385922479465288 Centerline is valid? [True, True] Translation: X:24.02, Y:1.56, Z:-0.40 [[ 9.96139761e-01 -8.43434060e-02 -2.43262329e-02 2.40238966e+01] [ 8.43120957e-02 9.96436715e-01 -2.31172468e-03 1.56085881e+00] [ 2.44345304e-02 2.51805190e-04 9.99701401e-01 -3.99472935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38719347 meters 0.06386408444392833 Centerline is valid? [True, True] Translation: X:24.05, Y:1.56, Z:-0.40 [[ 9.96179673e-01 -8.39710603e-02 -2.39774959e-02 2.40534616e+01] [ 8.39405097e-02 9.96468160e-01 -2.27957378e-03 1.56067653e+00] [ 2.40842295e-02 2.58181829e-04 9.99709900e-01 -3.99773614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.41719347 meters 0.0636816282980004 Centerline is valid? [True, True] Translation: X:24.08, Y:1.56, Z:-0.40 [[ 9.96148581e-01 -8.41660669e-02 -2.45779786e-02 2.40832425e+01] [ 8.41340001e-02 9.96451707e-01 -2.33771209e-03 1.55870111e+00] [ 2.46875248e-02 2.60864926e-04 9.99695183e-01 -3.99274728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.44719347 meters 0.06328888359763403 Centerline is valid? [True, True] Translation: X:24.11, Y:1.56, Z:-0.40 [[ 9.96099117e-01 -8.46211686e-02 -2.50161360e-02 2.41136198e+01] [ 8.45880637e-02 9.96413164e-01 -2.38049327e-03 1.55622688e+00] [ 2.51278474e-02 2.55140733e-04 9.99684213e-01 -3.98512069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.47719347 meters 0.06282238612156389 Centerline is valid? [True, True] Translation: X:24.14, Y:1.55, Z:-0.40 [[ 9.96023657e-01 -8.56890550e-02 -2.43774526e-02 2.41431938e+01] [ 8.56576911e-02 9.96321902e-01 -2.32983534e-03 1.54902941e+00] [ 2.44874313e-02 2.32454811e-04 9.99700111e-01 -3.95795443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.50719347 meters 0.06287024619495288 Centerline is valid? [True, True] Translation: X:24.17, Y:1.55, Z:-0.40 [[ 9.95920486e-01 -8.68133297e-02 -2.46136553e-02 2.41725788e+01] [ 8.67815054e-02 9.96224573e-01 -2.36020536e-03 1.54703065e+00] [ 2.47256255e-02 2.14566813e-04 9.99694252e-01 -3.96902542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.53719347 meters 0.06273959057603501 Centerline is valid? [True, True] Translation: X:24.20, Y:1.55, Z:-0.40 [[ 9.95852282e-01 -8.76556195e-02 -2.43869660e-02 2.42011040e+01] [ 8.76246048e-02 9.96150819e-01 -2.33955018e-03 1.54510287e+00] [ 2.44981709e-02 1.92948135e-04 9.99699856e-01 -3.96619671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56719347 meters 0.06315853970504152 Centerline is valid? [True, True] Translation: X:24.23, Y:1.54, Z:-0.40 [[ 9.95725479e-01 -8.93857283e-02 -2.32585989e-02 2.42296911e+01] [ 8.93577809e-02 9.95997072e-01 -2.24022660e-03 1.54296263e+00] [ 2.33657407e-02 1.52313919e-04 9.99726972e-01 -4.01574639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.59719347 meters 0.06250017179144897 Centerline is valid? [True, True] Translation: X:24.26, Y:1.54, Z:-0.40 [[ 9.95478928e-01 -9.18840793e-02 -2.40628516e-02 2.42590336e+01] [ 9.18547146e-02 9.95769705e-01 -2.32514814e-03 1.53693069e+00] [ 2.41747028e-02 1.04349608e-04 9.99707744e-01 -3.98360306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.627193469999998 meters 0.06250513520419355 Centerline is valid? [True, True] Translation: X:24.29, Y:1.52, Z:-0.40 [[ 9.95008415e-01 -9.66867926e-02 -2.46965312e-02 2.42885140e+01] [ 9.66573141e-02 9.95314857e-01 -2.38738787e-03 1.52040769e+00] [ 2.48116533e-02 -1.16293576e-05 9.99692143e-01 -4.01883512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65719347 meters 0.06262707664805205 Centerline is valid? [True, True] Translation: X:24.32, Y:1.51, Z:-0.40 [[ 9.94619664e-01 -1.00224936e-01 -2.62047105e-02 2.43178089e+01] [ 1.00192716e-01 9.94964800e-01 -2.54296845e-03 1.51350468e+00] [ 2.63276334e-02 -9.62346883e-05 9.99653363e-01 -4.03123355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68719347 meters 0.06262707664805205 Centerline is valid? [True, True] Translation: X:24.35, Y:1.52, Z:-0.40 [[ 9.94584127e-01 -1.00577218e-01 -2.62037734e-02 2.43451175e+01] [ 1.00544866e-01 9.94929251e-01 -2.55261240e-03 1.51640099e+00] [ 2.63276352e-02 -9.58671222e-05 9.99653363e-01 -4.03350246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.717193469999998 meters 0.06317163638235385 Centerline is valid? [True, True] Translation: X:24.38, Y:1.50, Z:-0.41 [[ 9.93711784e-01 -1.08037713e-01 -2.94065069e-02 2.43759461e+01] [ 1.08000254e-01 9.94146741e-01 -2.86384613e-03 1.50241460e+00] [ 2.95437864e-02 -3.30072560e-04 9.99563433e-01 -4.05646530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.74719347 meters 0.06425807879138269 Centerline is valid? [True, True] Translation: X:24.40, Y:1.50, Z:-0.41 [[ 9.93355883e-01 -1.11538360e-01 -2.83422780e-02 2.44039459e+01] [ 1.11504841e-01 9.93760043e-01 -2.76533280e-03 1.49572751e+00] [ 2.84738641e-02 -4.13341592e-04 9.99594452e-01 -4.09878534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.77719347 meters 0.06359598876246766 Centerline is valid? [True, True] Translation: X:24.43, Y:1.49, Z:-0.40 [[ 9.93051837e-01 -1.14549542e-01 -2.69527765e-02 2.44324367e+01] [ 1.14520034e-01 9.93417428e-01 -2.64097225e-03 1.49398807e+00] [ 2.70778801e-02 -4.64010543e-04 9.99633219e-01 -4.02810408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80719347 meters 0.06371310195266718 Centerline is valid? [True, True] Translation: X:24.46, Y:1.49, Z:-0.40 [[ 9.92930838e-01 -1.15332682e-01 -2.80486056e-02 2.44619779e+01] [ 1.15300808e-01 9.93326797e-01 -2.75648391e-03 1.49098656e+00] [ 2.81793442e-02 -4.97029019e-04 9.99602760e-01 -4.02852462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.83719347 meters 0.06415795415314288 Centerline is valid? [True, True] Translation: X:24.49, Y:1.49, Z:-0.40 [[ 9.92797753e-01 -1.16273595e-01 -2.88630069e-02 2.44903702e+01] [ 1.16240199e-01 9.93217077e-01 -2.83795406e-03 1.48648769e+00] [ 2.89972105e-02 -5.37527263e-04 9.99579348e-01 -4.04897417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86719347 meters 0.06445692489511137 Centerline is valid? [True, True] Translation: X:24.52, Y:1.48, Z:-0.41 [[ 9.92566463e-01 -1.17910500e-01 -3.01484674e-02 2.45203098e+01] [ 1.17874489e-01 9.93024045e-01 -2.97515661e-03 1.47800092e+00] [ 3.02889553e-02 -6.00694523e-04 9.99541004e-01 -4.07869164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89719347 meters 0.06426953283175636 Centerline is valid? [True, True] Translation: X:24.55, Y:1.48, Z:-0.41 [[ 9.92534560e-01 -1.18137960e-01 -3.03079193e-02 2.45485002e+01] [ 1.18101339e-01 9.92997010e-01 -3.00187868e-03 1.48018035e+00] [ 3.04503090e-02 -5.99937520e-04 9.99536102e-01 -4.07320175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.92719347 meters 0.06401353344626166 Centerline is valid? [True, True] Translation: X:24.58, Y:1.48, Z:-0.41 [[ 9.92754204e-01 -1.16719648e-01 -2.85589453e-02 2.45762151e+01] [ 1.16686509e-01 9.93164765e-01 -2.82990662e-03 1.48425967e+00] [ 2.86940439e-02 -5.23041929e-04 9.99588104e-01 -4.06874805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.95719347 meters 0.06316451451832591 Centerline is valid? [True, True] Translation: X:24.60, Y:1.49, Z:-0.40 [[ 9.93066285e-01 -1.14201699e-01 -2.78805693e-02 2.46042676e+01] [ 1.14168836e-01 9.93457492e-01 -2.77296314e-03 1.49076425e+00] [ 2.80148375e-02 -4.29355944e-04 9.99607415e-01 -4.04368462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98719347 meters 0.06209405783507939 Centerline is valid? [True, True] Translation: X:24.63, Y:1.50, Z:-0.40 [[ 9.93902308e-01 -1.07312465e-01 -2.53423801e-02 2.46336136e+01] [ 1.07283094e-01 9.94225321e-01 -2.51967796e-03 1.49704754e+00] [ 2.54664289e-02 -2.14495225e-04 9.99675655e-01 -4.01878818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.01719347 meters 0.0616805002907451 Centerline is valid? [True, True] Translation: X:24.66, Y:1.50, Z:-0.40 [[ 9.94220973e-01 -1.04425640e-01 -2.48986321e-02 2.46620175e+01] [ 1.04396139e-01 9.94532689e-01 -2.48532731e-03 1.50026068e+00] [ 2.50220355e-02 -1.28356535e-04 9.99686892e-01 -4.00670502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04719347 meters 0.06166227480899004 Centerline is valid? [True, True] Translation: X:24.69, Y:1.50, Z:-0.40 [[ 9.94349380e-01 -1.03213232e-01 -2.48261768e-02 2.46895757e+01] [ 1.03183302e-01 9.94659249e-01 -2.48703005e-03 1.50050080e+00] [ 2.49502808e-02 -8.86701156e-05 9.99688689e-01 -4.03661084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07719347 meters 0.06174157426165468 Centerline is valid? [True, True] Translation: X:24.72, Y:1.50, Z:-0.41 [[ 9.94317554e-01 -1.03175089e-01 -2.62202905e-02 2.47185811e+01] [ 1.03141494e-01 9.94663206e-01 -2.63408260e-03 1.50225722e+00] [ 2.63521300e-02 -8.52853825e-05 9.99652719e-01 -4.05839193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.10719347 meters 0.061922410370287555 Centerline is valid? [True, True] Translation: X:24.75, Y:1.51, Z:-0.41 [[ 9.94375929e-01 -1.02197729e-01 -2.77873365e-02 2.47468585e+01] [ 1.02159383e-01 9.94764103e-01 -2.79988127e-03 1.50516929e+00] [ 2.79279864e-02 -5.46026020e-05 9.99609936e-01 -4.07232891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.13719347 meters 0.06203717413955106 Centerline is valid? [True, True] Translation: X:24.78, Y:1.51, Z:-0.41 [[ 9.94529924e-01 -1.00201349e-01 -2.94944183e-02 2.47751869e+01] [ 1.00157005e-01 9.94967180e-01 -2.98074229e-03 1.50886617e+00] [ 2.96446526e-02 1.03647948e-05 9.99560501e-01 -4.08039084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16719347 meters 0.061744561021058436 Centerline is valid? [True, True] Translation: X:24.80, Y:1.51, Z:-0.41 [[ 9.95234000e-01 -9.40452138e-02 -2.57833945e-02 2.48036076e+01] [ 9.40092413e-02 9.95567913e-01 -2.60648207e-03 1.51260326e+00] [ 2.59142474e-02 1.70182217e-04 9.99664155e-01 -4.05446815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.19719347 meters 0.061762843965815585 Centerline is valid? [True, True] Translation: X:24.83, Y:1.52, Z:-0.40 [[ 9.95572801e-01 -9.05617545e-02 -2.51667877e-02 2.48319771e+01] [ 9.05261240e-02 9.95890807e-01 -2.55383984e-03 1.51581200e+00] [ 2.52946527e-02 2.64281736e-04 9.99680004e-01 -4.04027550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22719347 meters 0.06260841648657293 Centerline is valid? [True, True] Translation: X:24.86, Y:1.52, Z:-0.41 [[ 9.95946500e-01 -8.65140077e-02 -2.46149416e-02 2.48597281e+01] [ 8.64786591e-02 9.96250569e-01 -2.49895172e-03 1.52153858e+00] [ 2.47388439e-02 3.60155077e-04 9.99693883e-01 -4.06379639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.25719347 meters 0.06354023294980392 Centerline is valid? [True, True] Translation: X:24.89, Y:1.53, Z:-0.41 [[ 9.96356547e-01 -8.14610292e-02 -2.52533371e-02 2.48882306e+01] [ 8.14221491e-02 9.96676402e-01 -2.56576367e-03 1.52810651e+00] [ 2.53784149e-02 5.00234452e-04 9.99677791e-01 -4.06260556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.28719347 meters 0.0645232239289303 Centerline is valid? [True, True] Translation: X:24.92, Y:1.53, Z:-0.40 [[ 9.96808306e-01 -7.63502699e-02 -2.33203335e-02 2.49165579e+01] [ 7.63155083e-02 9.97080883e-01 -2.37826617e-03 1.53314751e+00] [ 2.34338400e-02 5.90972364e-04 9.99725215e-01 -4.04659090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.31719347 meters 0.06427245889079676 Centerline is valid? [True, True] Translation: X:24.95, Y:1.53, Z:-0.40 [[ 9.96858081e-01 -7.62084230e-02 -2.15926359e-02 2.49451272e+01] [ 7.61784419e-02 9.97091754e-01 -2.20884394e-03 1.53266616e+00] [ 2.16981717e-02 5.57010576e-04 9.99764412e-01 -4.02951716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34719347 meters 0.0633483279466504 Centerline is valid? [True, True] Translation: X:24.97, Y:1.53, Z:-0.40 [[ 9.96714454e-01 -7.83553072e-02 -2.05120005e-02 2.49746960e+01] [ 7.83285730e-02 9.96925376e-01 -2.10477469e-03 1.52958638e+00] [ 2.06138541e-02 4.91183628e-04 9.99787391e-01 -4.01617173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.377193469999998 meters 0.06244844760124261 Centerline is valid? [True, True] Translation: X:25.00, Y:1.53, Z:-0.40 [[ 9.96441586e-01 -8.19808127e-02 -1.95783338e-02 2.50041955e+01] [ 8.19571560e-02 9.96633829e-01 -2.00898898e-03 1.52643198e+00] [ 1.96771283e-02 3.97255610e-04 9.99806308e-01 -4.01972543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.40719347 meters 0.06086214301675134 Centerline is valid? [True, True] Translation: X:25.03, Y:1.51, Z:-0.40 [[ 9.95468527e-01 -9.30165848e-02 -1.97567005e-02 2.50347749e+01] [ 9.29946560e-02 9.95664543e-01 -2.02777963e-03 1.51209795e+00] [ 1.98596634e-02 1.81323231e-04 9.99802761e-01 -4.04140220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.43719347 meters 0.060448470645495134 Centerline is valid? [True, True] Translation: X:25.06, Y:1.50, Z:-0.41 [[ 9.94723394e-01 -1.00441535e-01 -2.09013878e-02 2.50634873e+01] [ 1.00418428e-01 9.94942961e-01 -2.15479295e-03 1.50317768e+00] [ 2.10121194e-02 4.45384337e-05 9.99779220e-01 -4.05869905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.467193469999998 meters 0.06057120471472228 Centerline is valid? [True, True] Translation: X:25.09, Y:1.50, Z:-0.41 [[ 9.94018648e-01 -1.06951816e-01 -2.20960742e-02 2.50936449e+01] [ 1.06927457e-01 9.94264201e-01 -2.28435064e-03 1.49538112e+00] [ 2.22136510e-02 -9.19899049e-05 9.99753242e-01 -4.06283062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.49719347 meters 0.06132073484455165 Centerline is valid? [True, True] Translation: X:25.12, Y:1.49, Z:-0.41 [[ 9.93377759e-01 -1.12336058e-01 -2.41088638e-02 2.51233139e+01] [ 1.12308659e-01 9.93670245e-01 -2.49178653e-03 1.48885773e+00] [ 2.42361781e-02 -2.32348837e-04 9.99706234e-01 -4.11194443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52719347 meters 0.0625453342689718 Centerline is valid? [True, True] Translation: X:25.15, Y:1.48, Z:-0.41 [[ 9.92436161e-01 -1.19712855e-01 -2.71900589e-02 2.51547548e+01] [ 1.19680763e-01 9.92808449e-01 -2.81047173e-03 1.47924984e+00] [ 2.73309698e-02 -4.64913205e-04 9.99626331e-01 -4.13318532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.55719347 meters 0.06274814696345674 Centerline is valid? [True, True] Translation: X:25.18, Y:1.48, Z:-0.41 [[ 9.92241597e-01 -1.21290991e-01 -2.72966908e-02 2.51837772e+01] [ 1.21258956e-01 9.92616867e-01 -2.83198519e-03 1.47916868e+00] [ 2.74386500e-02 -4.99954722e-04 9.99623364e-01 -4.13205152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.58719347 meters 0.06266050138286171 Centerline is valid? [True, True] Translation: X:25.21, Y:1.48, Z:-0.41 [[ 9.92306854e-01 -1.20643604e-01 -2.77889975e-02 2.52118649e+01] [ 1.20610113e-01 9.92695765e-01 -2.88436891e-03 1.48161689e+00] [ 2.79340008e-02 -4.89455084e-04 9.99609650e-01 -4.13178503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.61719347 meters 0.061131939664968805 Centerline is valid? [True, True] Translation: X:25.24, Y:1.49, Z:-0.41 [[ 9.93346971e-01 -1.12040707e-01 -2.66209645e-02 2.52408719e+01] [ 1.12006883e-01 9.93703590e-01 -2.76303699e-03 1.49212850e+00] [ 2.67629206e-02 -2.37076830e-04 9.99641781e-01 -4.10973357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64719347 meters 0.0604494585220141 Centerline is valid? [True, True] Translation: X:25.27, Y:1.50, Z:-0.41 [[ 9.93962297e-01 -1.06787011e-01 -2.52088645e-02 2.52685755e+01] [ 1.06754736e-01 9.94281916e-01 -2.62651165e-03 1.50111875e+00] [ 2.53451954e-02 -8.05121039e-05 9.99678756e-01 -4.09244217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.67719347 meters 0.06041085264132986 Centerline is valid? [True, True] Translation: X:25.30, Y:1.51, Z:-0.41 [[ 9.95023317e-01 -9.67798714e-02 -2.37119288e-02 2.52952894e+01] [ 9.67484462e-02 9.95305797e-01 -2.47163349e-03 1.51490487e+00] [ 2.38398245e-02 1.65240685e-04 9.99715777e-01 -4.10477822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.70719347 meters 0.0603856011959971 Centerline is valid? [True, True] Translation: X:25.32, Y:1.52, Z:-0.41 [[ 9.95186171e-01 -9.48674540e-02 -2.45896698e-02 2.53237824e+01] [ 9.48328518e-02 9.95489887e-01 -2.57215207e-03 1.52071570e+00] [ 2.47227811e-02 2.27861658e-04 9.99694319e-01 -4.09495662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.73719347 meters 0.06051410631692102 Centerline is valid? [True, True] Translation: X:25.35, Y:1.52, Z:-0.41 [[ 9.95208434e-01 -9.45115742e-02 -2.50546515e-02 2.53519184e+01] [ 9.44753500e-02 9.95523732e-01 -2.62825185e-03 1.52431304e+00] [ 2.51909004e-02 2.48611435e-04 9.99682628e-01 -4.10812407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.76719347 meters 0.059539720890814364 Centerline is valid? [True, True] Translation: X:25.38, Y:1.52, Z:-0.41 [[ 9.94754596e-01 -9.94176396e-02 -2.40712761e-02 2.53812343e+01] [ 9.93854451e-02 9.95045786e-01 -2.53310670e-03 1.51951358e+00] [ 2.42038573e-02 1.27485050e-04 9.99707036e-01 -4.07147979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.79719347 meters 0.059787410263460135 Centerline is valid? [True, True] Translation: X:25.41, Y:1.52, Z:-0.41 [[ 9.94391998e-01 -1.03313951e-01 -2.26004677e-02 2.54094665e+01] [ 1.03286553e-01 9.94648796e-01 -2.37935904e-03 1.51601953e+00] [ 2.27253490e-02 3.16911783e-05 9.99741745e-01 -4.12277769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82719347 meters 0.059059368068273325 Centerline is valid? [True, True] Translation: X:25.44, Y:1.51, Z:-0.41 [[ 9.93937523e-01 -1.07821056e-01 -2.15132608e-02 2.54385898e+01] [ 1.07797108e-01 9.94170316e-01 -2.27314519e-03 1.51101163e+00] [ 2.16329382e-02 -5.97029983e-05 9.99765979e-01 -4.06520916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.85719347 meters 0.05950309660806732 Centerline is valid? [True, True] Translation: X:25.47, Y:1.51, Z:-0.41 [[ 9.93581102e-01 -1.11376383e-01 -1.97963620e-02 2.54673648e+01] [ 1.11356767e-01 9.93778288e-01 -2.09392470e-03 1.50614354e+00] [ 1.99064085e-02 -1.23974850e-04 9.99801840e-01 -4.09570749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88719347 meters 0.0590886608957229 Centerline is valid? [True, True] Translation: X:25.50, Y:1.50, Z:-0.41 [[ 9.93122404e-01 -1.15655362e-01 -1.82134011e-02 2.54955734e+01] [ 1.15639332e-01 9.93289385e-01 -1.93444317e-03 1.50293048e+00] [ 1.83149067e-02 -1.85046679e-04 9.99832251e-01 -4.05255720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.91719347 meters 0.05986708841612824 Centerline is valid? [True, True] Translation: X:25.52, Y:1.50, Z:-0.41 [[ 9.92994469e-01 -1.16670016e-01 -1.87107503e-02 2.55234992e+01] [ 1.16653279e-01 9.93170712e-01 -1.98722188e-03 1.50342684e+00] [ 1.88148184e-02 -2.09370039e-04 9.99822964e-01 -4.10461558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.94719347 meters 0.05898604956298036 Centerline is valid? [True, True] Translation: X:25.55, Y:1.51, Z:-0.41 [[ 9.92935555e-01 -1.16883972e-01 -2.04235340e-02 2.55514891e+01] [ 1.16863907e-01 9.93145552e-01 -2.17732017e-03 1.50937981e+00] [ 2.05380357e-02 -2.24835356e-04 9.99789047e-01 -4.05138000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.97719347 meters 0.05985965995733731 Centerline is valid? [True, True] Translation: X:25.58, Y:1.51, Z:-0.41 [[ 9.93254667e-01 -1.14024880e-01 -2.10593020e-02 2.55797851e+01] [ 1.14002891e-01 9.93477880e-01 -2.24569733e-03 1.51006646e+00] [ 2.11780161e-02 -1.70271950e-04 9.99775706e-01 -4.13705035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.00719347 meters 0.05888996819151461 Centerline is valid? [True, True] Translation: X:25.61, Y:1.52, Z:-0.41 [[ 9.93523064e-01 -1.11615759e-01 -2.13036044e-02 2.56077099e+01] [ 1.11592503e-01 9.93751433e-01 -2.28105027e-03 1.51698333e+00] [ 2.14250886e-02 -1.11046493e-04 9.99770450e-01 -4.08875684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.03719347 meters 0.058689741158407305 Centerline is valid? [True, True] Translation: X:25.64, Y:1.52, Z:-0.41 [[ 9.93713742e-01 -1.09869027e-01 -2.14894521e-02 2.56353426e+01] [ 1.09844793e-01 9.93946071e-01 -2.30844947e-03 1.52272985e+00] [ 2.16129835e-02 -6.65664499e-05 9.99766410e-01 -4.09346039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06719347 meters 0.05884816133829871 Centerline is valid? [True, True] Translation: X:25.66, Y:1.53, Z:-0.41 [[ 9.93738847e-01 -1.09544445e-01 -2.19799744e-02 2.56630840e+01] [ 1.09519005e-01 9.93981897e-01 -2.36148228e-03 1.52744952e+00] [ 2.21063839e-02 -6.05282512e-05 9.99755622e-01 -4.11796555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.09719347 meters 0.05874709017009471 Centerline is valid? [True, True] Translation: X:25.69, Y:1.53, Z:-0.41 [[ 9.93469141e-01 -1.11964505e-01 -2.19776056e-02 2.56905678e+01] [ 1.11939453e-01 9.93712201e-01 -2.37072704e-03 1.53156314e+00] [ 2.21048521e-02 -1.04916982e-04 9.99755652e-01 -4.12194797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.127193469999998 meters 0.05898360635589474 Centerline is valid? [True, True] Translation: X:25.72, Y:1.53, Z:-0.41 [[ 9.93226823e-01 -1.14233937e-01 -2.12387623e-02 2.57182759e+01] [ 1.14210904e-01 9.93453868e-01 -2.29832597e-03 1.53415895e+00] [ 2.13622774e-02 -1.42939241e-04 9.99771790e-01 -4.13049502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15719347 meters 0.059416869824560854 Centerline is valid? [True, True] Translation: X:25.75, Y:1.54, Z:-0.41 [[ 9.92967702e-01 -1.16438832e-01 -2.13808514e-02 2.57458469e+01] [ 1.16415993e-01 9.93197846e-01 -2.31401235e-03 1.53580272e+00] [ 2.15048565e-02 -1.91333532e-04 9.99768726e-01 -4.14004672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18719347 meters 0.059847089845863816 Centerline is valid? [True, True] Translation: X:25.77, Y:1.54, Z:-0.41 [[ 9.92450082e-01 -1.20688391e-01 -2.18436925e-02 2.57744313e+01] [ 1.20665403e-01 9.92690401e-01 -2.37219713e-03 1.53669785e+00] [ 2.19703205e-02 -2.81490731e-04 9.99758584e-01 -4.13169351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.217193469999998 meters 0.06009356205987849 Centerline is valid? [True, True] Translation: X:25.80, Y:1.54, Z:-0.41 [[ 9.92256206e-01 -1.22281851e-01 -2.17892478e-02 2.58030905e+01] [ 1.22259222e-01 9.92495367e-01 -2.37269897e-03 1.54089676e+00] [ 2.19158655e-02 -3.09611201e-04 9.99759771e-01 -4.13404699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.24719347 meters 0.06008936982102212 Centerline is valid? [True, True] Translation: X:25.83, Y:1.55, Z:-0.41 [[ 9.92232132e-01 -1.22344593e-01 -2.25210155e-02 2.58309010e+01] [ 1.22320283e-01 9.92487633e-01 -2.45905238e-03 1.55104919e+00] [ 2.26526811e-02 -3.14826194e-04 9.99743346e-01 -4.13854817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.27719347 meters 0.06016820291149215 Centerline is valid? [True, True] Translation: X:25.86, Y:1.56, Z:-0.42 [[ 9.92304301e-01 -1.21305474e-01 -2.48426404e-02 2.58589801e+01] [ 1.21275391e-01 9.92615174e-01 -2.71958100e-03 1.55846496e+00] [ 2.49890819e-02 -3.14149020e-04 9.99687675e-01 -4.16563516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30719347 meters 0.05978602329309743 Centerline is valid? [True, True] Translation: X:25.89, Y:1.57, Z:-0.42 [[ 9.92543159e-01 -1.19385245e-01 -2.46016591e-02 2.58867858e+01] [ 1.19354970e-01 9.92847973e-01 -2.70062167e-03 1.56612330e+00] [ 2.47481218e-02 -2.55846732e-04 9.99693686e-01 -4.15808008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.33719347 meters 0.05931297498512701 Centerline is valid? [True, True] Translation: X:25.91, Y:1.57, Z:-0.41 [[ 9.92877781e-01 -1.16794980e-01 -2.35083949e-02 2.59136575e+01] [ 1.16766586e-01 9.93156030e-01 -2.58163149e-03 1.57426240e+00] [ 2.36490257e-02 -1.81750458e-04 9.99720306e-01 -4.14939397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36719347 meters 0.05897225582762171 Centerline is valid? [True, True] Translation: X:25.94, Y:1.59, Z:-0.41 [[ 9.93759082e-01 -1.09069057e-01 -2.33843603e-02 2.59401452e+01] [ 1.09038764e-01 9.94034175e-01 -2.57044912e-03 1.58832539e+00] [ 2.35252098e-02 4.60541051e-06 9.99723244e-01 -4.14673621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.39719347 meters 0.05841068950903333 Centerline is valid? [True, True] Translation: X:25.97, Y:1.60, Z:-0.41 [[ 9.94139164e-01 -1.05770777e-01 -2.23576669e-02 2.59684493e+01] [ 1.05742049e-01 9.94390534e-01 -2.46657757e-03 1.59565967e+00] [ 2.24931441e-02 8.79758594e-05 9.99746993e-01 -4.09569617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.42719347 meters 0.05881789569377022 Centerline is valid? [True, True] Translation: X:26.00, Y:1.60, Z:-0.41 [[ 9.94462135e-01 -1.02660697e-01 -2.24909419e-02 2.59953828e+01] [ 1.02630812e-01 9.94716420e-01 -2.48209971e-03 1.60292113e+00] [ 2.26269233e-02 1.60090560e-04 9.99743966e-01 -4.11898324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.45719347 meters 0.058807077635199025 Centerline is valid? [True, True] Translation: X:26.02, Y:1.61, Z:-0.41 [[ 9.94755899e-01 -9.96488043e-02 -2.30394831e-02 2.60230822e+01] [ 9.96165315e-02 9.95022642e-01 -2.54711524e-03 1.60980152e+00] [ 2.31786244e-02 2.38644513e-04 9.99731311e-01 -4.09795562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48719347 meters 0.06006184127131547 Centerline is valid? [True, True] Translation: X:26.05, Y:1.62, Z:-0.42 [[ 9.94899146e-01 -9.82201354e-02 -2.29889949e-02 2.60497754e+01] [ 9.81875728e-02 9.95164675e-01 -2.54368647e-03 1.61711124e+00] [ 2.31276768e-02 2.73477893e-04 9.99732482e-01 -4.16762068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.51719347 meters 0.06000861109850282 Centerline is valid? [True, True] Translation: X:26.08, Y:1.62, Z:-0.41 [[ 9.95074430e-01 -9.63953487e-02 -2.31260853e-02 2.60784813e+01] [ 9.63617036e-02 9.95343072e-01 -2.56745344e-03 1.62069471e+00] [ 2.32658793e-02 3.26338289e-04 9.99729260e-01 -4.14047431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54719347 meters 0.060526853076548606 Centerline is valid? [True, True] Translation: X:26.11, Y:1.62, Z:-0.42 [[ 9.95236605e-01 -9.45555876e-02 -2.37348040e-02 2.61054949e+01] [ 9.45195869e-02 9.95519511e-01 -2.63661120e-03 1.62464293e+00] [ 2.38777668e-02 3.80648108e-04 9.99714813e-01 -4.15788471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.57719347 meters 0.06011212695412842 Centerline is valid? [True, True] Translation: X:26.13, Y:1.63, Z:-0.41 [[ 9.95455787e-01 -9.26297996e-02 -2.20793378e-02 2.61349689e+01] [ 9.25980772e-02 9.95700537e-01 -2.45701964e-03 1.62505496e+00] [ 2.22120018e-02 4.01350188e-04 9.99753202e-01 -4.12275161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.60719347 meters 0.06011212695412842 Centerline is valid? [True, True] Translation: X:26.16, Y:1.63, Z:-0.41 [[ 9.95422584e-01 -9.29861691e-02 -2.20782882e-02 2.61622650e+01] [ 9.29543255e-02 9.95667319e-01 -2.46643973e-03 1.62834684e+00] [ 2.22119748e-02 4.02877425e-04 9.99753202e-01 -4.12502067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.63719347 meters 0.05941070553406526 Centerline is valid? [True, True] Translation: X:26.19, Y:1.62, Z:-0.41 [[ 9.95528888e-01 -9.31800541e-02 -1.54825635e-02 2.61924597e+01] [ 9.31644349e-02 9.95649235e-01 -1.72860680e-03 1.62435336e+00] [ 1.55762742e-02 2.78453725e-04 9.99878644e-01 -4.06988803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66719347 meters 0.059274954566585825 Centerline is valid? [True, True] Translation: X:26.22, Y:1.63, Z:-0.41 [[ 9.95393230e-01 -9.48532927e-02 -1.39703196e-02 2.62199330e+01] [ 9.48407100e-02 9.95491236e-01 -1.56194039e-03 1.62550160e+00] [ 1.40554859e-02 2.29789864e-04 9.99901190e-01 -4.06597860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.69719347 meters 0.0588750319068626 Centerline is valid? [True, True] Translation: X:26.25, Y:1.62, Z:-0.41 [[ 9.95062492e-01 -9.81923273e-02 -1.44534793e-02 2.62492214e+01] [ 9.81791244e-02 9.95167438e-01 -1.62193418e-03 1.62480167e+00] [ 1.45428935e-02 1.94895925e-04 9.99894228e-01 -4.07146927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72719347 meters 0.05856237442306559 Centerline is valid? [True, True] Translation: X:26.28, Y:1.62, Z:-0.41 [[ 9.94667154e-01 -1.01901208e-01 -1.59184066e-02 2.62779487e+01] [ 1.01885573e-01 9.94794510e-01 -1.79225898e-03 1.62239050e+00] [ 1.60181769e-02 1.60845161e-04 9.99871688e-01 -4.08319374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.75719347 meters 0.0583878767403252 Centerline is valid? [True, True] Translation: X:26.31, Y:1.61, Z:-0.41 [[ 9.93979721e-01 -1.08431331e-01 -1.57149892e-02 2.63069703e+01] [ 1.08416892e-01 9.94103940e-01 -1.77039856e-03 1.61341144e+00] [ 1.58142994e-02 5.59699815e-05 9.99874945e-01 -4.10860818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.78719347 meters 0.058368030432690475 Centerline is valid? [True, True] Translation: X:26.34, Y:1.61, Z:-0.41 [[ 9.93589584e-01 -1.11954879e-01 -1.56793794e-02 2.63358064e+01] [ 1.11940834e-01 9.93713291e-01 -1.77334319e-03 1.61071472e+00] [ 1.57793421e-02 6.81252392e-06 9.99875498e-01 -4.11497780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.81719347 meters 0.0584013726072052 Centerline is valid? [True, True] Translation: X:26.37, Y:1.61, Z:-0.41 [[ 9.93320104e-01 -1.14205193e-01 -1.65028877e-02 2.63651712e+01] [ 1.14189864e-01 9.93457182e-01 -1.87124382e-03 1.60985529e+00] [ 1.66086181e-02 -2.57184061e-05 9.99862067e-01 -4.11849229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84719347 meters 0.059341775535119594 Centerline is valid? [True, True] Translation: X:26.39, Y:1.61, Z:-0.42 [[ 9.92847504e-01 -1.17221229e-01 -2.26498782e-02 2.63942434e+01] [ 1.17193172e-01 9.93105821e-01 -2.56675842e-03 1.60631583e+00] [ 2.27946044e-02 -1.06011376e-04 9.99740164e-01 -4.19218615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.877193469999998 meters 0.0601064662268056 Centerline is valid? [True, True] Translation: X:26.42, Y:1.61, Z:-0.42 [[ 9.92549214e-01 -1.19007823e-01 -2.61380087e-02 2.64228094e+01] [ 1.18971011e-01 9.92893302e-01 -2.96454517e-03 1.60599758e+00] [ 2.63050578e-02 -1.67208333e-04 9.99653948e-01 -4.24354853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.90719347 meters 0.06098142903454204 Centerline is valid? [True, True] Translation: X:26.45, Y:1.60, Z:-0.43 [[ 9.91838857e-01 -1.24197483e-01 -2.88212914e-02 2.64531934e+01] [ 1.24154889e-01 9.92257463e-01 -3.26964895e-03 1.60110528e+00] [ 2.90042237e-02 -3.35339366e-04 9.99579233e-01 -4.25887347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.93719347 meters 0.06088122499251461 Centerline is valid? [True, True] Translation: X:26.48, Y:1.60, Z:-0.42 [[ 9.91397233e-01 -1.27895697e-01 -2.78247637e-02 2.64812198e+01] [ 1.27857094e-01 9.91787537e-01 -3.16946522e-03 1.60168413e+00] [ 2.80016148e-02 -4.15394368e-04 9.99607792e-01 -4.21463186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.967193469999998 meters 0.06148744837766277 Centerline is valid? [True, True] Translation: X:26.51, Y:1.60, Z:-0.42 [[ 9.91210756e-01 -1.29330912e-01 -2.78343932e-02 2.65096218e+01] [ 1.29292817e-01 9.91601386e-01 -3.17162745e-03 1.60175308e+00] [ 2.80108124e-02 -4.55035872e-04 9.99607517e-01 -4.23833393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.99719347 meters 0.06131636679110432 Centerline is valid? [True, True] Translation: X:26.54, Y:1.60, Z:-0.42 [[ 9.91127190e-01 -1.30209407e-01 -2.66908818e-02 2.65380224e+01] [ 1.30174433e-01 9.91486413e-01 -3.05115573e-03 1.60476192e+00] [ 2.68609359e-02 -4.50386995e-04 9.99639079e-01 -4.22550353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02719347 meters 0.06142915925228257 Centerline is valid? [True, True] Translation: X:26.57, Y:1.61, Z:-0.42 [[ 9.91330983e-01 -1.28165255e-01 -2.89231527e-02 2.65658764e+01] [ 1.28123277e-01 9.91752734e-01 -3.30763708e-03 1.60815737e+00] [ 2.91085400e-02 -4.26765997e-04 9.99576166e-01 -4.24650391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05719347 meters 0.06126562535882731 Centerline is valid? [True, True] Translation: X:26.59, Y:1.61, Z:-0.42 [[ 9.91428918e-01 -1.27316219e-01 -2.93135031e-02 2.65938169e+01] [ 1.27272372e-01 9.91862099e-01 -3.36438468e-03 1.61293831e+00] [ 2.95032934e-02 -3.95250812e-04 9.99564605e-01 -4.24834757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08719347 meters 0.06130179778807505 Centerline is valid? [True, True] Translation: X:26.62, Y:1.62, Z:-0.43 [[ 9.91569470e-01 -1.26362168e-01 -2.86808134e-02 2.66214203e+01] [ 1.26319761e-01 9.91984110e-01 -3.29292637e-03 1.61750393e+00] [ 2.88670124e-02 -3.57788230e-04 9.99583197e-01 -4.26484830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.11719347 meters 0.06036142625259287 Centerline is valid? [True, True] Translation: X:26.65, Y:1.62, Z:-0.42 [[ 9.91919149e-01 -1.24142609e-01 -2.61727822e-02 2.66500508e+01] [ 1.24106414e-01 9.92264352e-01 -3.00909609e-03 1.62420996e+00] [ 2.63438758e-02 -2.63430122e-04 9.99652905e-01 -4.23547045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14719347 meters 0.06003527161910763 Centerline is valid? [True, True] Translation: X:26.68, Y:1.63, Z:-0.42 [[ 9.92049013e-01 -1.23271974e-01 -2.53530285e-02 2.66783467e+01] [ 1.23237490e-01 9.92372899e-01 -2.92413610e-03 1.62954163e+00] [ 2.55201225e-02 -2.23557257e-04 9.99674284e-01 -4.22093232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.17719347 meters 0.05992877715829844 Centerline is valid? [True, True] Translation: X:26.71, Y:1.63, Z:-0.42 [[ 9.92211325e-01 -1.22211060e-01 -2.41069043e-02 2.67059056e+01] [ 1.22179542e-01 9.92504117e-01 -2.78153736e-03 1.63356222e+00] [ 2.42661364e-02 -1.85497667e-04 9.99705517e-01 -4.22509398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.20719347 meters 0.059887362369975695 Centerline is valid? [True, True] Translation: X:26.73, Y:1.64, Z:-0.42 [[ 9.92304571e-01 -1.21823574e-01 -2.21507447e-02 2.67330945e+01] [ 1.21796813e-01 9.92551758e-01 -2.55828001e-03 1.63706728e+00] [ 2.22974194e-02 -1.59297167e-04 9.99751369e-01 -4.23401067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.23719347 meters 0.05958570401294794 Centerline is valid? [True, True] Translation: X:26.76, Y:1.64, Z:-0.42 [[ 9.92457104e-01 -1.21013704e-01 -1.96107288e-02 2.67601916e+01] [ 1.20992530e-01 9.92650829e-01 -2.26701788e-03 1.64312181e+00] [ 1.97409465e-02 -1.22833695e-04 9.99805121e-01 -4.22585916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.26719347 meters 0.059773989256595654 Centerline is valid? [True, True] Translation: X:26.79, Y:1.65, Z:-0.42 [[ 9.92264695e-01 -1.22649989e-01 -1.91769436e-02 2.67884663e+01] [ 1.22629886e-01 9.92449978e-01 -2.22517460e-03 1.64619918e+00] [ 1.93050749e-02 -1.43704213e-04 9.99813629e-01 -4.22782854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.29719347 meters 0.059952835848821044 Centerline is valid? [True, True] Translation: X:26.82, Y:1.65, Z:-0.42 [[ 9.91822934e-01 -1.26198012e-01 -1.90086461e-02 2.68176648e+01] [ 1.26178802e-01 9.92005050e-01 -2.21134440e-03 1.64833380e+00] [ 1.91357402e-02 -2.05226110e-04 9.99816874e-01 -4.21645243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.32719347 meters 0.06135891192371244 Centerline is valid? [True, True] Translation: X:26.85, Y:1.64, Z:-0.43 [[ 9.91186819e-01 -1.31119223e-01 -1.88795824e-02 2.68456724e+01] [ 1.31101157e-01 9.91366562e-01 -2.19675997e-03 1.64498651e+00] [ 1.90046241e-02 -2.97735570e-04 9.99819351e-01 -4.25737673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.35719347 meters 0.06532925171673319 Centerline is valid? [True, True] Translation: X:26.88, Y:1.64, Z:-0.43 [[ 9.89568250e-01 -1.42812554e-01 -1.89539585e-02 2.68760883e+01] [ 1.42796482e-01 9.89749615e-01 -2.20560656e-03 1.63565743e+00] [ 1.90746614e-02 -5.23960369e-04 9.99817925e-01 -4.27389620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38719347 meters 0.06638290382522685 Centerline is valid? [True, True] Translation: X:26.91, Y:1.64, Z:-0.42 [[ 9.88772728e-01 -1.48297162e-01 -1.83424368e-02 2.69061349e+01] [ 1.48283038e-01 9.88942658e-01 -2.13522829e-03 1.63648878e+00] [ 1.84562665e-02 -6.08616765e-04 9.99829483e-01 -4.24911819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.41719347 meters 0.06554740638246105 Centerline is valid? [True, True] Translation: X:26.94, Y:1.64, Z:-0.42 [[ 9.88037694e-01 -1.53310437e-01 -1.66560804e-02 2.69351224e+01] [ 1.53299488e-01 9.88177871e-01 -1.93975096e-03 1.64356191e+00] [ 1.67565541e-02 -6.36821534e-04 9.99859396e-01 -4.19982377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.44719347 meters 0.06702680624820291 Centerline is valid? [True, True] Translation: X:26.96, Y:1.65, Z:-0.42 [[ 9.87436638e-01 -1.57165239e-01 -1.63698894e-02 2.69639187e+01] [ 1.57155170e-01 9.87572080e-01 -1.90771405e-03 1.64683990e+00] [ 1.64662721e-02 -6.88866005e-04 9.99864184e-01 -4.20326104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.47719347 meters 0.06900577597998264 Centerline is valid? [True, True] Translation: X:26.99, Y:1.66, Z:-0.42 [[ 9.86822258e-01 -1.61117295e-01 -1.49347690e-02 2.69915321e+01] [ 1.61109338e-01 9.86935026e-01 -1.74234537e-03 1.65505010e+00] [ 1.50203686e-02 -6.86745544e-04 9.99886952e-01 -4.21650069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.50719347 meters 0.07252038218444602 Centerline is valid? [True, True] Translation: X:27.02, Y:1.66, Z:-0.42 [[ 9.86924021e-01 -1.60703313e-01 -1.24668275e-02 2.70200199e+01] [ 1.60697666e-01 9.87002598e-01 -1.45998359e-03 1.65577988e+00] [ 1.25394154e-02 -5.62497213e-04 9.99921220e-01 -4.24079024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.53719347 meters 0.06700970593329342 Centerline is valid? [True, True] Translation: X:27.05, Y:1.68, Z:-0.42 [[ 9.87242250e-01 -1.58952449e-01 -9.31983732e-03 2.70471027e+01] [ 1.58949185e-01 9.87286158e-01 -1.09468802e-03 1.67568846e+00] [ 9.37534973e-03 -4.00658279e-04 9.99955970e-01 -4.18129127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56719347 meters 0.06469328965773354 Centerline is valid? [True, True] Translation: X:27.07, Y:1.70, Z:-0.42 [[ 9.88606450e-01 -1.50354269e-01 -7.13309852e-03 2.70740146e+01] [ 1.50352143e-01 9.88632153e-01 -8.36462902e-04 1.69532477e+00] [ 7.17777631e-03 -2.45544027e-04 9.99974209e-01 -4.18229892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.59719347 meters 0.06311642588770902 Centerline is valid? [True, True] Translation: X:27.10, Y:1.71, Z:-0.42 [[ 9.89547807e-01 -1.44017386e-01 -7.35729745e-03 2.71010781e+01] [ 1.44014943e-01 9.89575136e-01 -8.63509796e-04 1.70995376e+00] [ 7.40495905e-03 -2.05076546e-04 9.99972562e-01 -4.20575257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.627193469999998 meters 0.061182482044369366 Centerline is valid? [True, True] Translation: X:27.13, Y:1.73, Z:-0.42 [[ 9.90565548e-01 -1.36883929e-01 -6.53339804e-03 2.71294001e+01] [ 1.36881848e-01 9.90587084e-01 -7.66659076e-04 1.72837964e+00] [ 6.57684302e-03 -1.34877532e-04 9.99978363e-01 -4.20804836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65719347 meters 0.05941863129027982 Centerline is valid? [True, True] Translation: X:27.16, Y:1.76, Z:-0.42 [[ 9.92430214e-01 -1.22601517e-01 -7.15116878e-03 2.71555104e+01] [ 1.22598650e-01 9.92455977e-01 -8.39617833e-04 1.76156018e+00] [ 7.20015862e-03 -4.34615323e-05 9.99974078e-01 -4.24104380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68719347 meters 0.059462149776002025 Centerline is valid? [True, True] Translation: X:27.18, Y:1.78, Z:-0.43 [[ 9.93140887e-01 -1.16580523e-01 -8.95319310e-03 2.71828080e+01] [ 1.16575738e-01 9.93181243e-01 -1.05617357e-03 1.77813255e+00] [ 9.01527272e-03 5.20406557e-06 9.99959362e-01 -4.26811101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.717193469999998 meters 0.0601779703480836 Centerline is valid? [True, True] Translation: X:27.21, Y:1.79, Z:-0.43 [[ 9.93707579e-01 -1.11412261e-01 -1.15132545e-02 2.72090342e+01] [ 1.11404016e-01 9.93774272e-01 -1.35703981e-03 1.79189005e+00] [ 1.15927670e-02 6.58779551e-05 9.99932799e-01 -4.32374771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.74719347 meters 0.060666225492267814 Centerline is valid? [True, True] Translation: X:27.24, Y:1.80, Z:-0.44 [[ 9.94079933e-01 -1.07687887e-01 -1.44362584e-02 2.72369731e+01] [ 1.07674446e-01 9.94184741e-01 -1.70740741e-03 1.80213222e+00] [ 1.45361750e-02 1.42883316e-04 9.99894334e-01 -4.35295909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.77719347 meters 0.06192000488927222 Centerline is valid? [True, True] Translation: X:27.26, Y:1.81, Z:-0.44 [[ 9.94314090e-01 -1.04856051e-01 -1.85660525e-02 2.72646953e+01] [ 1.04833352e-01 9.94487382e-01 -2.19435314e-03 1.81376199e+00] [ 1.86937962e-02 2.35534719e-04 9.99825228e-01 -4.42763873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.807193469999998 meters 0.0616855891313309 Centerline is valid? [True, True] Translation: X:27.29, Y:1.82, Z:-0.44 [[ 9.94171988e-01 -1.06010562e-01 -1.95912918e-02 2.72929160e+01] [ 1.05985354e-01 9.94364976e-01 -2.32346889e-03 1.81813612e+00] [ 1.97272067e-02 2.33537693e-04 9.99805372e-01 -4.42747200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.83719347 meters 0.06158659389579583 Centerline is valid? [True, True] Translation: X:27.32, Y:1.82, Z:-0.44 [[ 9.93972740e-01 -1.07876806e-01 -1.95137841e-02 2.73211777e+01] [ 1.07852038e-01 9.94164249e-01 -2.32027309e-03 1.82206867e+00] [ 1.96502101e-02 2.01686808e-04 9.99806896e-01 -4.43008616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86719347 meters 0.06139171235439298 Centerline is valid? [True, True] Translation: X:27.35, Y:1.83, Z:-0.44 [[ 9.93714518e-01 -1.10247115e-01 -1.94172591e-02 2.73498042e+01] [ 1.10222929e-01 9.93904195e-01 -2.31471185e-03 1.82590188e+00] [ 1.95540856e-02 1.59935602e-04 9.99808788e-01 -4.42857307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89719347 meters 0.06137195049774921 Centerline is valid? [True, True] Translation: X:27.38, Y:1.83, Z:-0.44 [[ 9.93554179e-01 -1.11774192e-01 -1.88844672e-02 2.73773746e+01] [ 1.11751582e-01 9.93733623e-01 -2.25167013e-03 1.82932378e+00] [ 1.90178087e-02 1.26787179e-04 9.99819137e-01 -4.43106657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.92719347 meters 0.06117199562363956 Centerline is valid? [True, True] Translation: X:27.41, Y:1.83, Z:-0.44 [[ 9.93300655e-01 -1.14066640e-01 -1.85097561e-02 2.74055504e+01] [ 1.14045183e-01 9.93473097e-01 -2.21412710e-03 1.83249761e+00] [ 1.86415028e-02 8.83453690e-05 9.99826228e-01 -4.42319242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.95719347 meters 0.06119446538321086 Centerline is valid? [True, True] Translation: X:27.43, Y:1.84, Z:-0.44 [[ 9.93198875e-01 -1.14946786e-01 -1.85264989e-02 2.74335816e+01] [ 1.14925320e-01 9.93371648e-01 -2.22275136e-03 1.83588704e+00] [ 1.86591969e-02 7.84703326e-05 9.99825899e-01 -4.41905938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98719347 meters 0.06107573121752734 Centerline is valid? [True, True] Translation: X:27.46, Y:1.84, Z:-0.44 [[ 9.93089979e-01 -1.16069414e-01 -1.73258694e-02 2.74621624e+01] [ 1.16050724e-01 9.93241103e-01 -2.08364786e-03 1.83859764e+00] [ 1.74506134e-02 5.85701236e-05 9.99847725e-01 -4.41405692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.01719347 meters 0.06080638776726666 Centerline is valid? [True, True] Translation: X:27.49, Y:1.84, Z:-0.44 [[ 9.92909323e-01 -1.17783538e-01 -1.60659658e-02 2.74910464e+01] [ 1.17767608e-01 9.93039293e-01 -1.93731946e-03 1.84026046e+00] [ 1.61823196e-02 3.15321848e-05 9.99869057e-01 -4.40114180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.04719347 meters 0.06093023686798694 Centerline is valid? [True, True] Translation: X:27.52, Y:1.84, Z:-0.44 [[ 9.92646895e-01 -1.19889598e-01 -1.66920737e-02 2.75193922e+01] [ 1.19872616e-01 9.92787230e-01 -2.01780765e-03 1.84218782e+00] [ 1.68135917e-02 2.04796349e-06 9.99858642e-01 -4.42141208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.07719347 meters 0.061289839156051754 Centerline is valid? [True, True] Translation: X:27.55, Y:1.84, Z:-0.45 [[ 9.92390129e-01 -1.21834173e-01 -1.78400356e-02 2.75470171e+01] [ 1.21815087e-01 9.92550469e-01 -2.15670486e-03 1.84333311e+00] [ 1.79698960e-02 -3.28928780e-05 9.99838528e-01 -4.46072281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.10719347 meters 0.06166252410231629 Centerline is valid? [True, True] Translation: X:27.57, Y:1.84, Z:-0.45 [[ 9.91814817e-01 -1.26407154e-01 -1.80166813e-02 2.75746190e+01] [ 1.26388401e-01 9.91978436e-01 -2.18034700e-03 1.84282735e+00] [ 1.81477708e-02 -1.14599075e-04 9.99835309e-01 -4.47065535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.13719347 meters 0.061375429263341 Centerline is valid? [True, True] Translation: X:27.60, Y:1.85, Z:-0.44 [[ 9.91709972e-01 -1.27323390e-01 -1.73229966e-02 2.76031359e+01] [ 1.27306078e-01 9.91861250e-01 -2.10298937e-03 1.84623673e+00] [ 1.74497688e-02 -1.19767233e-04 9.99847734e-01 -4.43678976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16719347 meters 0.06102161649719289 Centerline is valid? [True, True] Translation: X:27.63, Y:1.85, Z:-0.44 [[ 9.91720872e-01 -1.27651822e-01 -1.39543878e-02 2.76318088e+01] [ 1.27640557e-01 9.91819037e-01 -1.69863282e-03 1.85004906e+00] [ 1.40570610e-02 -9.65762097e-05 9.99901190e-01 -4.40717632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.19719347 meters 0.06078369141058715 Centerline is valid? [True, True] Translation: X:27.66, Y:1.85, Z:-0.44 [[ 9.91718128e-01 -1.27773875e-01 -1.29996808e-02 2.76600828e+01] [ 1.27764055e-01 9.91803322e-01 -1.58649042e-03 1.85344775e+00] [ 1.30958386e-02 -8.75406261e-05 9.99914242e-01 -4.40249288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22719347 meters 0.06098668314781951 Centerline is valid? [True, True] Translation: X:27.69, Y:1.86, Z:-0.44 [[ 9.91593242e-01 -1.28690485e-01 -1.34759242e-02 2.76885860e+01] [ 1.28679964e-01 9.91684803e-01 -1.64856896e-03 1.85609373e+00] [ 1.35760244e-02 -9.93716000e-05 9.99907837e-01 -4.41697130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.25719347 meters 0.06112961582176625 Centerline is valid? [True, True] Translation: X:27.72, Y:1.86, Z:-0.44 [[ 9.91705551e-01 -1.27889117e-01 -1.28247664e-02 2.77164064e+01] [ 1.27879522e-01 9.91788469e-01 -1.56880210e-03 1.85896686e+00] [ 1.29200882e-02 -8.42352459e-05 9.99916529e-01 -4.44649288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.28719347 meters 0.06086214743924263 Centerline is valid? [True, True] Translation: X:27.74, Y:1.87, Z:-0.44 [[ 9.91801992e-01 -1.27119700e-01 -1.30150375e-02 2.77434020e+01] [ 1.27109669e-01 9.91887381e-01 -1.59836085e-03 1.86715042e+00] [ 1.31126346e-02 -6.90796382e-05 9.99914023e-01 -4.42517916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.31719347 meters 0.06076082442577808 Centerline is valid? [True, True] Translation: X:27.77, Y:1.87, Z:-0.44 [[ 9.91889952e-01 -1.26404356e-01 -1.32763369e-02 2.77705573e+01] [ 1.26393791e-01 9.91978798e-01 -1.63518394e-03 1.87338576e+00] [ 1.33765391e-02 -5.61240331e-05 9.99910529e-01 -4.41410945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34719347 meters 0.061056240135961976 Centerline is valid? [True, True] Translation: X:27.80, Y:1.88, Z:-0.45 [[ 9.92011358e-01 -1.25301876e-01 -1.45912558e-02 2.77979953e+01] [ 1.25289006e-01 9.92118661e-01 -1.79644128e-03 1.87717426e+00] [ 1.47013546e-02 -4.60337824e-05 9.99891928e-01 -4.45171798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.377193469999998 meters 0.06088225775226663 Centerline is valid? [True, True] Translation: X:27.83, Y:1.88, Z:-0.44 [[ 9.92082133e-01 -1.24582920e-01 -1.58788560e-02 2.78262931e+01] [ 1.24567480e-01 9.92209199e-01 -1.96164445e-03 1.88101139e+00] [ 1.59995344e-02 -3.18766614e-05 9.99871999e-01 -4.44266471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.40719347 meters 0.06157711548398849 Centerline is valid? [True, True] Translation: X:27.85, Y:1.88, Z:-0.45 [[ 9.91833508e-01 -1.26236612e-01 -1.81826814e-02 2.78538993e+01] [ 1.26216644e-01 9.92000158e-01 -2.24623456e-03 1.88158663e+00] [ 1.83207798e-02 -6.70663148e-05 9.99832158e-01 -4.51692035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.43719347 meters 0.061546384700152126 Centerline is valid? [True, True] Translation: X:27.88, Y:1.88, Z:-0.45 [[ 9.91550021e-01 -1.28366324e-01 -1.87254332e-02 2.78821769e+01] [ 1.28345392e-01 9.91726815e-01 -2.32033263e-03 1.88466498e+00] [ 1.88683668e-02 -1.02597205e-04 9.99821971e-01 -4.50338379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.467193469999998 meters 0.061590837045876076 Centerline is valid? [True, True] Translation: X:27.91, Y:1.89, Z:-0.45 [[ 9.91248634e-01 -1.30605525e-01 -1.91922448e-02 2.79112532e+01] [ 1.30583838e-01 9.91434403e-01 -2.38426976e-03 1.88729335e+00] [ 1.93392506e-02 -1.42792854e-04 9.99812969e-01 -4.49265171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.49719347 meters 0.061590837045876076 Centerline is valid? [True, True] Translation: X:27.94, Y:1.89, Z:-0.45 [[ 9.91202450e-01 -1.30955697e-01 -1.91913568e-02 2.79384847e+01] [ 1.30933937e-01 9.91388211e-01 -2.39141179e-03 1.89092482e+00] [ 1.93392539e-02 -1.42426688e-04 9.99812969e-01 -4.49492037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52719347 meters 0.062090509170777054 Centerline is valid? [True, True] Translation: X:27.97, Y:1.89, Z:-0.45 [[ 9.90877955e-01 -1.33303457e-01 -1.97753945e-02 2.79663029e+01] [ 1.33280818e-01 9.91075250e-01 -2.46425950e-03 1.89157178e+00] [ 1.99273983e-02 -1.93900348e-04 9.99801411e-01 -4.52310490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.557193469999998 meters 0.06268424486775391 Centerline is valid? [True, True] Translation: X:28.00, Y:1.89, Z:-0.45 [[ 9.90112214e-01 -1.38700663e-01 -2.09744935e-02 2.79953387e+01] [ 1.38676241e-01 9.90334301e-01 -2.62147277e-03 1.89144873e+00] [ 2.11353604e-02 -3.13111715e-04 9.99776574e-01 -4.51861703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58719347 meters 0.06289383773189493 Centerline is valid? [True, True] Translation: X:28.02, Y:1.90, Z:-0.45 [[ 9.89874055e-01 -1.40242928e-01 -2.19380274e-02 2.80234843e+01] [ 1.40216444e-01 9.90117061e-01 -2.74846208e-03 1.89634551e+00] [ 2.21066676e-02 -3.55440899e-04 9.99755555e-01 -4.51763158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.61719347 meters 0.06345099052495562 Centerline is valid? [True, True] Translation: X:28.05, Y:1.90, Z:-0.45 [[ 9.89828248e-01 -1.40305336e-01 -2.35467914e-02 2.80507415e+01] [ 1.40274825e-01 9.90108210e-01 -2.95074391e-03 1.90218798e+00] [ 2.37278766e-02 -3.82292370e-04 9.99718381e-01 -4.54951929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64719347 meters 0.06317894804361876 Centerline is valid? [True, True] Translation: X:28.08, Y:1.91, Z:-0.45 [[ 9.89854761e-01 -1.40065122e-01 -2.38602977e-02 2.80774812e+01] [ 1.40033481e-01 9.90142224e-01 -3.00013590e-03 1.91317447e+00] [ 2.40453027e-02 -3.71541740e-04 9.99710801e-01 -4.53171286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.67719347 meters 0.0628098381715258 Centerline is valid? [True, True] Translation: X:28.11, Y:1.92, Z:-0.45 [[ 9.89886450e-01 -1.40205777e-01 -2.16138099e-02 2.81055437e+01] [ 1.40179706e-01 9.90122330e-01 -2.72413397e-03 1.91978409e+00] [ 2.17822552e-02 -3.33234217e-04 9.99762683e-01 -4.50883694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.70719347 meters 0.06274661998926222 Centerline is valid? [True, True] Translation: X:28.13, Y:1.93, Z:-0.45 [[ 9.89882471e-01 -1.40515764e-01 -1.96980442e-02 2.81328351e+01] [ 1.40494129e-01 9.90078394e-01 -2.48484029e-03 1.92537685e+00] [ 1.98517672e-02 -3.07759719e-04 9.99802887e-01 -4.49775117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.73719347 meters 0.06224771213067809 Centerline is valid? [True, True] Translation: X:28.16, Y:1.93, Z:-0.44 [[ 9.89633271e-01 -1.42608614e-01 -1.69932714e-02 2.81606138e+01] [ 1.42592707e-01 9.89779115e-01 -2.15030971e-03 1.93331639e+00] [ 1.71262378e-02 -2.95098536e-04 9.99853292e-01 -4.44934389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.76719347 meters 0.06301892669991806 Centerline is valid? [True, True] Translation: X:28.19, Y:1.94, Z:-0.45 [[ 9.89116777e-01 -1.46028753e-01 -1.79890205e-02 2.81872388e+01] [ 1.46011459e-01 9.89280276e-01 -2.27810788e-03 1.94360008e+00] [ 1.81288524e-02 -3.73288400e-04 9.99835589e-01 -4.45818324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.79719347 meters 0.06367361836980423 Centerline is valid? [True, True] Translation: X:28.21, Y:1.95, Z:-0.45 [[ 9.88861068e-01 -1.47469333e-01 -2.01639282e-02 2.82147717e+01] [ 1.47447840e-01 9.89066529e-01 -2.55671757e-03 1.95026753e+00] [ 2.03205039e-02 -4.44889181e-04 9.99793418e-01 -4.49082581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82719347 meters 0.0643341388559982 Centerline is valid? [True, True] Translation: X:28.24, Y:1.96, Z:-0.45 [[ 9.88505917e-01 -1.49481742e-01 -2.26110612e-02 2.82435958e+01] [ 1.49455245e-01 9.88764336e-01 -2.86679430e-03 1.95993884e+00] [ 2.27855443e-02 -5.45498565e-04 9.99740227e-01 -4.52419956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.85719347 meters 0.06470747892074993 Centerline is valid? [True, True] Translation: X:28.27, Y:1.97, Z:-0.45 [[ 9.88505913e-01 -1.49478054e-01 -2.26356067e-02 2.82698730e+01] [ 1.49451400e-01 9.88764895e-01 -2.87419353e-03 1.96554590e+00] [ 2.28109221e-02 -5.41765814e-04 9.99739650e-01 -4.53867415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88719347 meters 0.06438177374603764 Centerline is valid? [True, True] Translation: X:28.30, Y:1.97, Z:-0.45 [[ 9.88546279e-01 -1.49257474e-01 -2.23262381e-02 2.82979076e+01] [ 1.49231308e-01 9.88798227e-01 -2.84287555e-03 1.97316744e+00] [ 2.25004651e-02 -5.21459677e-04 9.99746696e-01 -4.53041951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.91719347 meters 0.06452926044151786 Centerline is valid? [True, True] Translation: X:28.32, Y:1.98, Z:-0.45 [[ 9.88601425e-01 -1.48736318e-01 -2.33394466e-02 2.83247660e+01] [ 1.48707520e-01 9.88876750e-01 -2.97436635e-03 1.98016857e+00] [ 2.35222324e-02 -5.30288420e-04 9.99723173e-01 -4.54137814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.94719347 meters 0.06434304231242109 Centerline is valid? [True, True] Translation: X:28.35, Y:1.99, Z:-0.45 [[ 9.88779735e-01 -1.47443363e-01 -2.39810218e-02 2.83521986e+01] [ 1.47412387e-01 9.89070371e-01 -3.06413277e-03 1.99478968e+00] [ 2.41707042e-02 -5.05347272e-04 9.99707718e-01 -4.54592922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.97719347 meters 0.064250521020291 Centerline is valid? [True, True] Translation: X:28.38, Y:2.00, Z:-0.45 [[ 9.88755607e-01 -1.47528821e-01 -2.44457839e-02 2.83800837e+01] [ 1.47496482e-01 9.89057626e-01 -3.13066608e-03 2.00400816e+00] [ 2.46401525e-02 -5.10203493e-04 9.99696255e-01 -4.54461518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.00719347 meters 0.06438564184161781 Centerline is valid? [True, True] Translation: X:28.41, Y:2.01, Z:-0.46 [[ 9.88667338e-01 -1.47760822e-01 -2.65260908e-02 2.84076197e+01] [ 1.47722745e-01 9.89022967e-01 -3.40017455e-03 2.01121818e+00] [ 2.67373256e-02 -5.56865437e-04 9.99642339e-01 -4.55477943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.03719347 meters 0.06466835377516426 Centerline is valid? [True, True] Translation: X:28.43, Y:2.02, Z:-0.46 [[ 9.88690508e-01 -1.47501467e-01 -2.70997581e-02 2.84343787e+01] [ 1.47461546e-01 9.89061679e-01 -3.47672570e-03 2.01727154e+00] [ 2.73161544e-02 -5.58766512e-04 9.99626688e-01 -4.56860621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06719347 meters 0.06506007734129286 Centerline is valid? [True, True] Translation: X:28.46, Y:2.02, Z:-0.46 [[ 9.88621094e-01 -1.47997513e-01 -2.69270918e-02 2.84609002e+01] [ 1.47958173e-01 9.88987572e-01 -3.45859251e-03 2.02251198e+00] [ 2.71424222e-02 -5.64845800e-04 9.99631417e-01 -4.59545681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.09719347 meters 0.06533280701398253 Centerline is valid? [True, True] Translation: X:28.49, Y:2.03, Z:-0.46 [[ 9.88269911e-01 -1.50379838e-01 -2.66174371e-02 2.84885412e+01] [ 1.50342028e-01 9.88628103e-01 -3.42750415e-03 2.03018796e+00] [ 2.68301739e-02 -6.14420261e-04 9.99639817e-01 -4.59672446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.127193469999998 meters 0.06571076664616234 Centerline is valid? [True, True] Translation: X:28.52, Y:2.04, Z:-0.46 [[ 9.87970254e-01 -1.52406443e-01 -2.62116907e-02 2.85166733e+01] [ 1.52370291e-01 9.88317687e-01 -3.38274653e-03 2.03637430e+00] [ 2.64210299e-02 -6.51829992e-04 9.99650691e-01 -4.58666285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15719347 meters 0.0663420823981084 Centerline is valid? [True, True] Translation: X:28.54, Y:2.04, Z:-0.46 [[ 9.87682647e-01 -1.54228765e-01 -2.63908340e-02 2.85440998e+01] [ 1.54192738e-01 9.88034914e-01 -3.40699239e-03 2.04450576e+00] [ 2.66005217e-02 -7.04247688e-04 9.99645895e-01 -4.57819959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18719347 meters 0.06551954842720564 Centerline is valid? [True, True] Translation: X:28.57, Y:2.05, Z:-0.46 [[ 9.87650776e-01 -1.54256272e-01 -2.74034088e-02 2.85723200e+01] [ 1.54217171e-01 9.88030607e-01 -3.54736185e-03 2.05313428e+00] [ 2.76226094e-02 -7.22521490e-04 9.99618162e-01 -4.55595986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.217193469999998 meters 0.06628184379328705 Centerline is valid? [True, True] Translation: X:28.60, Y:2.06, Z:-0.46 [[ 9.87658541e-01 -1.54103837e-01 -2.79752231e-02 2.86001261e+01] [ 1.54062989e-01 9.88054387e-01 -3.62269001e-03 2.05694062e+00] [ 2.81993123e-02 -7.31965755e-04 9.99602052e-01 -4.58769308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24719347 meters 0.06487884178846061 Centerline is valid? [True, True] Translation: X:28.63, Y:2.07, Z:-0.45 [[ 9.87604638e-01 -1.54490374e-01 -2.77453233e-02 2.86270746e+01] [ 1.54450020e-01 9.87994027e-01 -3.60461124e-03 2.06749892e+00] [ 2.79690915e-02 -7.25334958e-04 9.99608525e-01 -4.53827560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.27719347 meters 0.06565475520776803 Centerline is valid? [True, True] Translation: X:28.65, Y:2.08, Z:-0.46 [[ 9.87794503e-01 -1.53762280e-01 -2.48833634e-02 2.86543162e+01] [ 1.53729584e-01 9.88107667e-01 -3.23306915e-03 2.07752752e+00] [ 2.50845662e-02 -6.31701179e-04 9.99685133e-01 -4.56205930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.307193469999998 meters 0.06459723326289307 Centerline is valid? [True, True] Translation: X:28.68, Y:2.09, Z:-0.45 [[ 9.87924997e-01 -1.52747857e-01 -2.59286185e-02 2.86806041e+01] [ 1.52711723e-01 9.88264998e-01 -3.37975982e-03 2.08883539e+00] [ 2.61405972e-02 -6.20654779e-04 9.99658084e-01 -4.53542507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.33719347 meters 0.06420103870379607 Centerline is valid? [True, True] Translation: X:28.71, Y:2.10, Z:-0.45 [[ 9.88163125e-01 -1.51157907e-01 -2.61710687e-02 2.87079917e+01] [ 1.51120338e-01 9.88509461e-01 -3.41887106e-03 2.09785027e+00] [ 2.63871384e-02 -5.76578432e-04 9.99651633e-01 -4.53946162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36719347 meters 0.06374811268650046 Centerline is valid? [True, True] Translation: X:28.74, Y:2.11, Z:-0.45 [[ 9.88596255e-01 -1.48295563e-01 -2.61891415e-02 2.87360743e+01] [ 1.48256733e-01 9.88942962e-01 -3.42900789e-03 2.10609511e+00] [ 2.64080738e-02 -4.92812200e-04 9.99651125e-01 -4.54284818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.39719347 meters 0.06325782665558621 Centerline is valid? [True, True] Translation: X:28.76, Y:2.12, Z:-0.46 [[ 9.89621384e-01 -1.41676761e-01 -2.40252221e-02 2.87636002e+01] [ 1.41642153e-01 9.89912931e-01 -3.14480238e-03 2.12128442e+00] [ 2.42284234e-02 -2.90820490e-04 9.99706406e-01 -4.57936955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.42719347 meters 0.061973802944092535 Centerline is valid? [True, True] Translation: X:28.79, Y:2.14, Z:-0.45 [[ 9.90142359e-01 -1.38117640e-01 -2.32728688e-02 2.87922129e+01] [ 1.38084190e-01 9.90415811e-01 -3.04598893e-03 2.13698791e+00] [ 2.34705220e-02 -1.97652564e-04 9.99724510e-01 -4.50232871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.45719347 meters 0.06191346632855457 Centerline is valid? [True, True] Translation: X:28.82, Y:2.15, Z:-0.45 [[ 9.90647516e-01 -1.34255921e-01 -2.43484286e-02 2.88215439e+01] [ 1.34218174e-01 9.90946686e-01 -3.18537794e-03 2.15113376e+00] [ 2.45556505e-02 -1.12414882e-04 9.99698458e-01 -4.49887504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48719347 meters 0.06259133697004626 Centerline is valid? [True, True] Translation: X:28.85, Y:2.17, Z:-0.45 [[ 9.91994909e-01 -1.23685889e-01 -2.54539044e-02 2.88506470e+01] [ 1.23641251e-01 9.92321408e-01 -3.32615619e-03 2.17222970e+00] [ 2.56698528e-02 1.52377433e-04 9.99670463e-01 -4.51650635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.51719347 meters 0.06319372324547876 Centerline is valid? [True, True] Translation: X:28.88, Y:2.18, Z:-0.45 [[ 9.92720284e-01 -1.17633231e-01 -2.58623437e-02 2.88807895e+01] [ 1.17585105e-01 9.93057060e-01 -3.37911043e-03 2.18283285e+00] [ 2.60802787e-02 3.13485065e-04 9.99659803e-01 -4.52080095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54719347 meters 0.06393925857595226 Centerline is valid? [True, True] Translation: X:28.91, Y:2.19, Z:-0.45 [[ 9.93408918e-01 -1.11799166e-01 -2.52916601e-02 2.89116604e+01] [ 1.11751315e-01 9.93730718e-01 -3.30198408e-03 2.19244902e+00] [ 2.55022586e-02 4.53844161e-04 9.99674661e-01 -4.52484060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.57719347 meters 0.06567714267469138 Centerline is valid? [True, True] Translation: X:28.94, Y:2.20, Z:-0.46 [[ 9.93924035e-01 -1.07135910e-01 -2.52370513e-02 2.89418973e+01] [ 1.07086850e-01 9.94244222e-01 -3.29138259e-03 2.20329967e+00] [ 2.54444177e-02 5.68827927e-04 9.99676077e-01 -4.57266054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.60719347 meters 0.06740890740687258 Centerline is valid? [True, True] Translation: X:28.97, Y:2.21, Z:-0.46 [[ 9.94639967e-01 -9.95109207e-02 -2.80876026e-02 2.89713412e+01] [ 9.94470826e-02 9.95036106e-01 -3.66411264e-03 2.21467896e+00] [ 2.83127979e-02 8.51242738e-04 9.99598750e-01 -4.56193693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.63719347 meters 0.06780014452391092 Centerline is valid? [True, True] Translation: X:29.00, Y:2.22, Z:-0.46 [[ 9.94853392e-01 -9.68436504e-02 -2.97999306e-02 2.90022810e+01] [ 9.67706429e-02 9.95299122e-01 -3.88584661e-03 2.21899715e+00] [ 3.00361643e-02 9.82089242e-04 9.99548330e-01 -4.55817705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66719347 meters 0.0682455813659959 Centerline is valid? [True, True] Translation: X:29.03, Y:2.22, Z:-0.46 [[ 9.94970448e-01 -9.50779520e-02 -3.15276090e-02 2.90339128e+01] [ 9.49953902e-02 9.95469229e-01 -4.10971762e-03 2.22137906e+00] [ 3.17755082e-02 1.09407006e-03 9.99494432e-01 -4.56772364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.69719347 meters 0.068943273415371 Centerline is valid? [True, True] Translation: X:29.06, Y:2.22, Z:-0.46 [[ 9.95069395e-01 -9.46037424e-02 -2.97830625e-02 2.90644715e+01] [ 9.45298705e-02 9.95514458e-01 -3.88181073e-03 2.22264794e+00] [ 3.00167031e-02 1.04728202e-03 9.99548849e-01 -4.57808590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72719347 meters 0.06770378714397393 Centerline is valid? [True, True] Translation: X:29.10, Y:2.21, Z:-0.46 [[ 9.94849035e-01 -9.75130231e-02 -2.76876859e-02 2.90968398e+01] [ 9.74503029e-02 9.95233849e-01 -3.60887754e-03 2.21139992e+00] [ 2.79076348e-02 8.92114960e-04 9.99610108e-01 -4.56592147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.75719347 meters 0.06856361200665062 Centerline is valid? [True, True] Translation: X:29.13, Y:2.21, Z:-0.46 [[ 9.94621379e-01 -9.98828036e-02 -2.74178306e-02 2.91271242e+01] [ 9.98221783e-02 9.94998872e-01 -3.57447480e-03 2.20893031e+00] [ 2.76377391e-02 8.18341486e-04 9.99617670e-01 -4.60637054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.78719347 meters 0.06688844029612018 Centerline is valid? [True, True] Translation: X:29.16, Y:2.20, Z:-0.46 [[ 9.94329427e-01 -1.02325802e-01 -2.89555092e-02 2.91584639e+01] [ 1.02259224e-01 9.94750623e-01 -3.77475563e-03 2.20160550e+00] [ 2.91897657e-02 7.92382697e-04 9.99573574e-01 -4.58601066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.81719347 meters 0.06606744224730561 Centerline is valid? [True, True] Translation: X:29.19, Y:2.19, Z:-0.46 [[ 9.93737671e-01 -1.07403432e-01 -3.08211681e-02 2.91896901e+01] [ 1.07330382e-01 9.94215284e-01 -4.01963836e-03 2.19013837e+00] [ 3.10745994e-02 6.86418308e-04 9.99516832e-01 -4.60349969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84719347 meters 0.06590731802219327 Centerline is valid? [True, True] Translation: X:29.22, Y:2.19, Z:-0.46 [[ 9.93476582e-01 -1.09667283e-01 -3.12628807e-02 2.92195235e+01] [ 1.09592881e-01 9.93968150e-01 -4.08871724e-03 2.18602291e+00] [ 3.15227062e-02 6.35855669e-04 9.99502834e-01 -4.61973342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.877193469999998 meters 0.0660681033369772 Centerline is valid? [True, True] Translation: X:29.25, Y:2.18, Z:-0.46 [[ 9.93129146e-01 -1.12421738e-01 -3.24938691e-02 2.92471561e+01] [ 1.12342719e-01 9.93660417e-01 -4.25318315e-03 2.18067413e+00] [ 3.27660217e-02 5.73510550e-04 9.99462885e-01 -4.64904011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.90719347 meters 0.06471628763719298 Centerline is valid? [True, True] Translation: X:29.28, Y:2.16, Z:-0.46 [[ 9.92371086e-01 -1.18341849e-01 -3.45663767e-02 2.92778122e+01] [ 1.18255527e-01 9.92972826e-01 -4.53836289e-03 2.16281661e+00] [ 3.48605510e-02 4.16075017e-04 9.99392100e-01 -4.63151724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.93719347 meters 0.06453604262003193 Centerline is valid? [True, True] Translation: X:29.31, Y:2.16, Z:-0.46 [[ 9.92036310e-01 -1.21088337e-01 -3.46637286e-02 2.93058379e+01] [ 1.21003140e-01 9.92641683e-01 -4.55293931e-03 2.15963715e+00] [ 3.49599697e-02 3.22261113e-04 9.99388661e-01 -4.62606077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.967193469999998 meters 0.06459796641517576 Centerline is valid? [True, True] Translation: X:29.34, Y:2.15, Z:-0.46 [[ 9.91282105e-01 -1.26963234e-01 -3.52154285e-02 2.93354123e+01] [ 1.26878502e-01 9.91907415e-01 -4.63956280e-03 2.15234776e+00] [ 3.55194985e-02 1.31034757e-04 9.99368975e-01 -4.63354007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.99719347 meters 0.06491540823019007 Centerline is valid? [True, True] Translation: X:29.37, Y:2.15, Z:-0.46 [[ 9.90845573e-01 -1.29667271e-01 -3.75692652e-02 2.93652982e+01] [ 1.29572774e-01 9.91557561e-01 -4.94963228e-03 2.14950012e+00] [ 3.78938943e-02 3.63673288e-05 9.99281768e-01 -4.64954903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02719347 meters 0.06526116377391585 Centerline is valid? [True, True] Translation: X:29.39, Y:2.15, Z:-0.47 [[ 9.90336309e-01 -1.33182634e-01 -3.86830879e-02 2.93942156e+01] [ 1.33084851e-01 9.91091508e-01 -5.10345591e-03 2.14559692e+00] [ 3.90181716e-02 -9.39953171e-05 9.99238497e-01 -4.66898188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.057193469999998 meters 0.06534086967136646 Centerline is valid? [True, True] Translation: X:29.42, Y:2.14, Z:-0.47 [[ 9.89895295e-01 -1.36212815e-01 -3.94128695e-02 2.94234971e+01] [ 1.36113194e-01 9.90679578e-01 -5.21261232e-03 2.14157950e+00] [ 3.97555496e-02 -2.04671145e-04 9.99209415e-01 -4.66850752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08719347 meters 0.06519636166845033 Centerline is valid? [True, True] Translation: X:29.45, Y:2.13, Z:-0.46 [[ 9.89252534e-01 -1.41321087e-01 -3.75203125e-02 2.94539693e+01] [ 1.41234040e-01 9.89963740e-01 -4.97382380e-03 2.13366144e+00] [ 3.78466551e-02 -3.78777526e-04 9.99283487e-01 -4.62539460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.11719347 meters 0.06540837795646391 Centerline is valid? [True, True] Translation: X:29.48, Y:2.13, Z:-0.46 [[ 9.88986211e-01 -1.43316509e-01 -3.69682725e-02 2.94810557e+01] [ 1.43233239e-01 9.89676806e-01 -4.90492787e-03 2.13233527e+00] [ 3.72895990e-02 -4.44179369e-04 9.99304402e-01 -4.63472908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14719347 meters 0.06452000007425006 Centerline is valid? [True, True] Translation: X:29.51, Y:2.13, Z:-0.46 [[ 9.88797949e-01 -1.44601181e-01 -3.70015522e-02 2.95098154e+01] [ 1.44518165e-01 9.89489903e-01 -4.92257798e-03 2.13453283e+00] [ 3.73244729e-02 -4.79961440e-04 9.99303084e-01 -4.55820852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.17719347 meters 0.06501579857078033 Centerline is valid? [True, True] Translation: X:29.54, Y:2.13, Z:-0.46 [[ 9.88487938e-01 -1.46845530e-01 -3.64415589e-02 2.95379198e+01] [ 1.46766443e-01 9.89159281e-01 -4.85053372e-03 2.13075536e+00] [ 3.67587854e-02 -5.53703895e-04 9.99324014e-01 -4.57812424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.20719347 meters 0.06454361669038079 Centerline is valid? [True, True] Translation: X:29.57, Y:2.13, Z:-0.45 [[ 9.88349477e-01 -1.47885577e-01 -3.59884220e-02 2.95662164e+01] [ 1.47808585e-01 9.89004313e-01 -4.80532391e-03 2.13279858e+00] [ 3.63033427e-02 -5.70058349e-04 9.99340654e-01 -4.54915712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.23719347 meters 0.06475077609178335 Centerline is valid? [True, True] Translation: X:29.59, Y:2.13, Z:-0.46 [[ 9.88259287e-01 -1.48815376e-01 -3.46058686e-02 2.95945393e+01] [ 1.48744690e-01 9.88864828e-01 -4.62262970e-03 2.13306359e+00] [ 3.49084447e-02 -5.79082464e-04 9.99390347e-01 -4.55313687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.26719347 meters 0.06516906496717569 Centerline is valid? [True, True] Translation: X:29.62, Y:2.13, Z:-0.46 [[ 9.87812010e-01 -1.51511447e-01 -3.56610936e-02 2.96222621e+01] [ 1.51437964e-01 9.88455262e-01 -4.76841170e-03 2.13216990e+00] [ 3.59718646e-02 -6.90149075e-04 9.99352565e-01 -4.56272562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.29719347 meters 0.06598093452671375 Centerline is valid? [True, True] Translation: X:29.65, Y:2.13, Z:-0.46 [[ 9.87282375e-01 -1.54719514e-01 -3.65429129e-02 2.96521795e+01] [ 1.54644516e-01 9.87958091e-01 -4.88715385e-03 2.13062227e+00] [ 3.68590045e-02 -8.26160195e-04 9.99320135e-01 -4.57508581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32719347 meters 0.0670988019838727 Centerline is valid? [True, True] Translation: X:29.68, Y:2.13, Z:-0.46 [[ 9.86641210e-01 -1.58171154e-01 -3.90001213e-02 2.96833795e+01] [ 1.58088436e-01 9.87411184e-01 -5.21539793e-03 2.12896337e+00] [ 3.93340814e-02 -1.01974163e-03 9.99225595e-01 -4.60094895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.35719347 meters 0.0699706468454043 Centerline is valid? [True, True] Translation: X:29.71, Y:2.12, Z:-0.47 [[ 9.85344191e-01 -1.64854645e-01 -4.38151892e-02 2.97140673e+01] [ 1.64756781e-01 9.86316815e-01 -5.86033737e-03 2.12232656e+00] [ 4.41817617e-02 -1.44440015e-03 9.99022465e-01 -4.66674044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38719347 meters 0.07077686515169786 Centerline is valid? [True, True] Translation: X:29.74, Y:2.12, Z:-0.47 [[ 9.84756724e-01 -1.67948007e-01 -4.52510924e-02 2.97437207e+01] [ 1.67846732e-01 9.85794504e-01 -6.05564009e-03 2.12180611e+00] [ 4.56253109e-02 -1.63191567e-03 9.98957290e-01 -4.66631174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.41719347 meters 0.07077686515169786 Centerline is valid? [True, True] Translation: X:29.77, Y:2.13, Z:-0.47 [[ 9.84700363e-01 -1.68278774e-01 -4.52487595e-02 2.97709657e+01] [ 1.68177048e-01 9.85738098e-01 -6.07305168e-03 2.12571066e+00] [ 4.56253918e-02 -1.62966662e-03 9.98957290e-01 -4.66858322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.44719347 meters 0.07048171630770723 Centerline is valid? [True, True] Translation: X:29.80, Y:2.13, Z:-0.46 [[ 9.84235102e-01 -1.71046249e-01 -4.49938233e-02 2.97999772e+01] [ 1.70947931e-01 9.85261474e-01 -6.05249378e-03 2.12809422e+00] [ 4.53659370e-02 -1.73452417e-03 9.98968930e-01 -4.63540427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.47719347 meters 0.07256971437406042 Centerline is valid? [True, True] Translation: X:29.83, Y:2.13, Z:-0.46 [[ 9.83781216e-01 -1.74352223e-01 -4.21405043e-02 2.98287334e+01] [ 1.74268872e-01 9.84681771e-01 -5.67180037e-03 2.12500715e+00] [ 4.24838775e-02 -1.76396749e-03 9.99095595e-01 -4.64590272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.50719347 meters 0.07182593990834885 Centerline is valid? [True, True] Translation: X:29.86, Y:2.13, Z:-0.46 [[ 9.83625364e-01 -1.75475369e-01 -4.11039861e-02 2.98567495e+01] [ 1.75396470e-01 9.84482259e-01 -5.54621345e-03 2.13205758e+00] [ 4.14393690e-02 -1.75409784e-03 9.99139481e-01 -4.61111794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.53719347 meters 0.06976391175157487 Centerline is valid? [True, True] Translation: X:29.88, Y:2.15, Z:-0.46 [[ 9.84148811e-01 -1.72416266e-01 -4.15180541e-02 2.98833107e+01] [ 1.72332973e-01 9.85022813e-01 -5.60394229e-03 2.14923104e+00] [ 4.18624412e-02 -1.63981657e-03 9.99122038e-01 -4.57251371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56719347 meters 0.06919220564292591 Centerline is valid? [True, True] Translation: X:29.91, Y:2.16, Z:-0.46 [[ 9.84788975e-01 -1.69201850e-01 -3.95146746e-02 2.99117510e+01] [ 1.69123763e-01 9.85580383e-01 -5.33490666e-03 2.15841232e+00] [ 3.98475642e-02 -1.42911319e-03 9.99204748e-01 -4.57457556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.59719347 meters 0.06860562580507959 Centerline is valid? [True, True] Translation: X:29.94, Y:2.17, Z:-0.46 [[ 9.85292262e-01 -1.66644246e-01 -3.78001851e-02 2.99399975e+01] [ 1.66570847e-01 9.86016273e-01 -5.10504176e-03 2.16689528e+00] [ 3.81223234e-02 -1.26645071e-03 9.99272277e-01 -4.58072852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.627193469999998 meters 0.06696251248355825 Centerline is valid? [True, True] Translation: X:29.97, Y:2.18, Z:-0.46 [[ 9.85791929e-01 -1.63761505e-01 -3.73689944e-02 2.99676631e+01] [ 1.63687565e-01 9.86499303e-01 -5.05043931e-03 2.17710872e+00] [ 3.76915545e-02 -1.13815738e-03 9.99288773e-01 -4.56235379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65719347 meters 0.06668606802983823 Centerline is valid? [True, True] Translation: X:29.99, Y:2.19, Z:-0.46 [[ 9.85998084e-01 -1.62148932e-01 -3.89294615e-02 2.99935620e+01] [ 1.62067260e-01 9.86765664e-01 -5.26569528e-03 2.19137571e+00] [ 3.92680828e-02 -1.11722570e-03 9.99228087e-01 -4.58800662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68719347 meters 0.06669069274787259 Centerline is valid? [True, True] Translation: X:30.02, Y:2.20, Z:-0.46 [[ 9.85985194e-01 -1.61980052e-01 -3.99457038e-02 3.00207703e+01] [ 1.61893368e-01 9.86793390e-01 -5.41688504e-03 2.20326998e+00] [ 4.02955838e-02 -1.12597607e-03 9.99187169e-01 -4.59861949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.717193469999998 meters 0.06647594744531587 Centerline is valid? [True, True] Translation: X:30.05, Y:2.21, Z:-0.46 [[ 9.85814428e-01 -1.62955559e-01 -4.01920297e-02 3.00486938e+01] [ 1.62868106e-01 9.86632727e-01 -5.46276253e-03 2.21459539e+00] [ 4.05449594e-02 -1.16072962e-03 9.99177041e-01 -4.59015995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74719347 meters 0.06879122934997645 Centerline is valid? [True, True] Translation: X:30.08, Y:2.22, Z:-0.47 [[ 9.85317415e-01 -1.65681163e-01 -4.12231055e-02 3.00766602e+01] [ 1.65591461e-01 9.86178510e-01 -5.60491348e-03 2.21958269e+00] [ 4.15819693e-02 -1.30357542e-03 9.99134245e-01 -4.66736437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.77719347 meters 0.06849584702547691 Centerline is valid? [True, True] Translation: X:30.11, Y:2.23, Z:-0.46 [[ 9.84851418e-01 -1.68235236e-01 -4.20070143e-02 3.01056084e+01] [ 1.68144349e-01 9.85745830e-01 -5.71287919e-03 2.22503816e+00] [ 4.23693468e-02 -1.43690493e-03 9.99100983e-01 -4.64029624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.807193469999998 meters 0.06990699300883146 Centerline is valid? [True, True] Translation: X:30.13, Y:2.23, Z:-0.47 [[ 9.84294625e-01 -1.71259362e-01 -4.28289979e-02 3.01337414e+01] [ 1.71167536e-01 9.85224692e-01 -5.82937115e-03 2.22694642e+00] [ 4.31945207e-02 -1.59311537e-03 9.99065411e-01 -4.67262606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.83719347 meters 0.07127463148862488 Centerline is valid? [True, True] Translation: X:30.16, Y:2.24, Z:-0.47 [[ 9.83309432e-01 -1.76344598e-01 -4.47788382e-02 3.01636007e+01] [ 1.76249495e-01 9.84326660e-01 -6.09436993e-03 2.23543344e+00] [ 4.51517135e-02 -1.89959617e-03 9.98978335e-01 -4.67050835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86719347 meters 0.07139600011422256 Centerline is valid? [True, True] Translation: X:30.19, Y:2.24, Z:-0.47 [[ 9.83234160e-01 -1.76871938e-01 -4.43497867e-02 3.01915162e+01] [ 1.76778490e-01 9.84232059e-01 -6.05147680e-03 2.24475771e+00] [ 4.47208183e-02 -1.89006961e-03 9.98997736e-01 -4.66844396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.89719347 meters 0.07036543042479208 Centerline is valid? [True, True] Translation: X:30.22, Y:2.26, Z:-0.46 [[ 9.83341737e-01 -1.76135594e-01 -4.48918836e-02 3.02191021e+01] [ 1.76038463e-01 9.84364146e-01 -6.13909794e-03 2.25605414e+00] [ 4.52712743e-02 -1.86586696e-03 9.98972988e-01 -4.64581886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.92719347 meters 0.0697686350917696 Centerline is valid? [True, True] Translation: X:30.25, Y:2.27, Z:-0.46 [[ 9.83681543e-01 -1.74525641e-01 -4.37198171e-02 3.02471437e+01] [ 1.74431837e-01 9.84651087e-01 -5.98089818e-03 2.26503090e+00] [ 4.40925855e-02 -1.74282885e-03 9.99025929e-01 -4.64203708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.95719347 meters 0.06911698567353726 Centerline is valid? [True, True] Translation: X:30.27, Y:2.27, Z:-0.47 [[ 9.84217920e-01 -1.72174639e-01 -4.08776270e-02 3.02747077e+01] [ 1.72090508e-01 9.85065256e-01 -5.59457372e-03 2.27469912e+00] [ 4.12303738e-02 -1.52837190e-03 9.99148498e-01 -4.65155301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98719347 meters 0.06779878785536388 Centerline is valid? [True, True] Translation: X:30.30, Y:2.29, Z:-0.46 [[ 9.84149136e-01 -1.72554752e-01 -4.09308709e-02 3.03015736e+01] [ 1.72470031e-01 9.84998740e-01 -5.61878031e-03 2.28653186e+00] [ 4.12864035e-02 -1.52963078e-03 9.99146182e-01 -4.61493094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.017193469999995 meters 0.06829427338833283 Centerline is valid? [True, True] Translation: X:30.33, Y:2.30, Z:-0.46 [[ 9.84093477e-01 -1.73357689e-01 -3.88219078e-02 3.03280682e+01] [ 1.73282004e-01 9.84857817e-01 -5.33166557e-03 2.29603739e+00] [ 3.91583446e-02 -1.48028069e-03 9.99231921e-01 -4.60967354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.047193469999996 meters 0.06918727425990194 Centerline is valid? [True, True] Translation: X:30.35, Y:2.31, Z:-0.46 [[ 9.83606690e-01 -1.76340033e-01 -3.77103623e-02 3.03542082e+01] [ 1.76270653e-01 9.84328092e-01 -5.18303054e-03 2.31162354e+00] [ 3.80333447e-02 -1.54916668e-03 9.99275270e-01 -4.59087672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07719347 meters 0.06961585598354819 Centerline is valid? [True, True] Translation: X:30.38, Y:2.32, Z:-0.46 [[ 9.83290947e-01 -1.78327006e-01 -3.65840383e-02 3.03824577e+01] [ 1.78262618e-01 9.83970035e-01 -5.04079231e-03 2.31927036e+00] [ 3.68965069e-02 -1.56500100e-03 9.99317867e-01 -4.58910684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10719347 meters 0.06947413788303171 Centerline is valid? [True, True] Translation: X:30.41, Y:2.33, Z:-0.46 [[ 9.83007629e-01 -1.79751273e-01 -3.72220452e-02 3.04100131e+01] [ 1.79685548e-01 9.83710718e-01 -5.13109794e-03 2.32587776e+00] [ 3.75380462e-02 -1.64435515e-03 9.99293846e-01 -4.59452302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13719346999999 meters 0.0720446302506456 Centerline is valid? [True, True] Translation: X:30.44, Y:2.33, Z:-0.47 [[ 9.82860662e-01 -1.80664550e-01 -3.66775111e-02 3.04375040e+01] [ 1.80601223e-01 9.83543388e-01 -5.05992922e-03 2.32643487e+00] [ 3.69880733e-02 -1.65079799e-03 9.99314344e-01 -4.65984939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.167193469999994 meters 0.06992392579704021 Centerline is valid? [True, True] Translation: X:30.46, Y:2.34, Z:-0.46 [[ 9.82594707e-01 -1.82072678e-01 -3.68399429e-02 3.04640756e+01] [ 1.82009309e-01 9.83283608e-01 -5.09491359e-03 2.34442003e+00] [ 3.71517565e-02 -1.69897741e-03 9.99308191e-01 -4.61820883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.197193469999995 meters 0.06995061589691029 Centerline is valid? [True, True] Translation: X:30.49, Y:2.36, Z:-0.46 [[ 9.82667689e-01 -1.81441807e-01 -3.79879400e-02 3.04912540e+01] [ 1.81373530e-01 9.83400185e-01 -5.26482371e-03 2.35631773e+00] [ 3.83126064e-02 -1.71643462e-03 9.99264328e-01 -4.63017521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.227193469999996 meters 0.06911198627569946 Centerline is valid? [True, True] Translation: X:30.52, Y:2.37, Z:-0.46 [[ 9.83048107e-01 -1.79162007e-01 -3.89537381e-02 3.05180290e+01] [ 1.79087976e-01 9.83818188e-01 -5.41014382e-03 2.37050536e+00] [ 3.92926882e-02 -1.65771447e-03 9.99226369e-01 -4.63086463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25719347 meters 0.06790610427307973 Centerline is valid? [True, True] Translation: X:30.54, Y:2.39, Z:-0.47 [[ 9.84211636e-01 -1.72361640e-01 -4.02358010e-02 3.05442944e+01] [ 1.72276996e-01 9.85032697e-01 -5.58773888e-03 2.39404278e+00] [ 4.05966914e-02 -1.43218530e-03 9.99174588e-01 -4.65907008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28719347 meters 0.06699926863515572 Centerline is valid? [True, True] Translation: X:30.57, Y:2.41, Z:-0.47 [[ 9.84756336e-01 -1.69311994e-01 -3.98548357e-02 3.05712392e+01] [ 1.69226304e-01 9.85561659e-01 -5.53846982e-03 2.40717797e+00] [ 4.02171274e-02 -1.29044330e-03 9.99190131e-01 -4.65542589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31719347 meters 0.06626206091486718 Centerline is valid? [True, True] Translation: X:30.60, Y:2.42, Z:-0.47 [[ 9.85302716e-01 -1.66539128e-01 -3.79904852e-02 3.05990567e+01] [ 1.66459162e-01 9.86034210e-01 -5.28062866e-03 2.41868420e+00] [ 3.83393493e-02 -1.12084656e-03 9.99264148e-01 -4.65481866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34719346999999 meters 0.06556420450267693 Centerline is valid? [True, True] Translation: X:30.63, Y:2.43, Z:-0.47 [[ 9.85835956e-01 -1.63663592e-01 -3.66291743e-02 3.06279743e+01] [ 1.63587249e-01 9.86515729e-01 -5.09199422e-03 2.42931462e+00] [ 3.69686306e-02 -9.72194866e-04 9.99315954e-01 -4.66626441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.377193469999995 meters 0.06371084597158615 Centerline is valid? [True, True] Translation: X:30.66, Y:2.45, Z:-0.46 [[ 9.86564217e-01 -1.59531816e-01 -3.52227898e-02 3.06569909e+01] [ 1.59458630e-01 9.87192474e-01 -4.89540726e-03 2.44656363e+00] [ 3.55526462e-02 -7.86944167e-04 9.99367495e-01 -4.63260385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.407193469999996 meters 0.06378744878937047 Centerline is valid? [True, True] Translation: X:30.69, Y:2.45, Z:-0.46 [[ 9.86919924e-01 -1.57824605e-01 -3.28703097e-02 3.06869492e+01] [ 1.57759976e-01 9.87466928e-01 -4.56687387e-03 2.45475202e+00] [ 3.31791088e-02 -6.78480463e-04 9.99449192e-01 -4.64969269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43719347 meters 0.06334231704777658 Centerline is valid? [True, True] Translation: X:30.72, Y:2.46, Z:-0.46 [[ 9.87250192e-01 -1.56085886e-01 -3.12130371e-02 3.07161325e+01] [ 1.56026757e-01 9.87743311e-01 -4.33615808e-03 2.46412011e+00] [ 3.15072817e-02 -5.89196055e-04 9.99503349e-01 -4.63890196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46719347 meters 0.06307474733467232 Centerline is valid? [True, True] Translation: X:30.75, Y:2.48, Z:-0.46 [[ 9.87765914e-01 -1.52964400e-01 -3.03379489e-02 3.07457382e+01] [ 1.52907110e-01 9.88231584e-01 -4.21320797e-03 2.47938952e+00] [ 3.06253902e-02 -4.77224867e-04 9.99530819e-01 -4.63498762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49719347 meters 0.06314061537330175 Centerline is valid? [True, True] Translation: X:30.78, Y:2.49, Z:-0.47 [[ 9.88162057e-01 -1.49905846e-01 -3.26188021e-02 3.07769918e+01] [ 1.49838044e-01 9.88700190e-01 -4.52708960e-03 2.48791756e+00] [ 3.29288530e-02 -4.14039337e-04 9.99457613e-01 -4.66559275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52719346999999 meters 0.06341151673087264 Centerline is valid? [True, True] Translation: X:30.81, Y:2.50, Z:-0.47 [[ 9.88716237e-01 -1.45822208e-01 -3.42941175e-02 3.08070597e+01] [ 1.45744867e-01 9.89310769e-01 -4.75778197e-03 2.49553781e+00] [ 3.46213300e-02 -2.94095310e-04 9.99400459e-01 -4.71350403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.557193469999994 meters 0.06263348869335883 Centerline is valid? [True, True] Translation: X:30.84, Y:2.50, Z:-0.47 [[ 9.89353653e-01 -1.41353650e-01 -3.46192905e-02 3.08383695e+01] [ 1.41272211e-01 9.89959153e-01 -4.79967098e-03 2.50424396e+00] [ 3.49501345e-02 -1.42171697e-04 9.99389047e-01 -4.67126614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.587193469999995 meters 0.06292439632038767 Centerline is valid? [True, True] Translation: X:30.87, Y:2.52, Z:-0.47 [[ 9.90536977e-01 -1.33368219e-01 -3.23946892e-02 3.08686820e+01] [ 1.33292732e-01 9.91066548e-01 -4.48842787e-03 2.51515499e+00] [ 3.27039064e-02 1.27977160e-04 9.99465076e-01 -4.68387286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61719347 meters 0.06405860502404995 Centerline is valid? [True, True] Translation: X:30.90, Y:2.52, Z:-0.47 [[ 9.91108833e-01 -1.29354084e-01 -3.11577077e-02 3.08987337e+01] [ 1.29282433e-01 9.91598437e-01 -4.31183087e-03 2.52360156e+00] [ 3.14536872e-02 2.45349403e-04 9.99505180e-01 -4.73220875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64719347 meters 0.06314794372753683 Centerline is valid? [True, True] Translation: X:30.93, Y:2.53, Z:-0.47 [[ 9.91480752e-01 -1.27062135e-01 -2.86554220e-02 3.09303761e+01] [ 1.27000632e-01 9.91894717e-01 -3.96359287e-03 2.52812210e+00] [ 2.89267843e-02 2.90569344e-04 9.99581491e-01 -4.65249101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67719347 meters 0.06255179884249137 Centerline is valid? [True, True] Translation: X:30.96, Y:2.53, Z:-0.46 [[ 9.91642047e-01 -1.26166659e-01 -2.69819325e-02 3.09625439e+01] [ 1.26111867e-01 9.92009015e-01 -3.72964533e-03 2.53010316e+00] [ 2.72368772e-02 2.95731234e-04 9.99628964e-01 -4.60408571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70719346999999 meters 0.06224928226836359 Centerline is valid? [True, True] Translation: X:30.99, Y:2.53, Z:-0.46 [[ 9.91554795e-01 -1.27471653e-01 -2.38760622e-02 3.09939862e+01] [ 1.27429131e-01 9.91842187e-01 -3.30025657e-03 2.52574929e+00] [ 2.41019749e-02 2.29879373e-04 9.99709479e-01 -4.59988505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.737193469999994 meters 0.062300100354207424 Centerline is valid? [True, True] Translation: X:31.03, Y:2.52, Z:-0.46 [[ 9.91251817e-01 -1.29797583e-01 -2.39253621e-02 3.10253832e+01] [ 1.29755689e-01 9.91540498e-01 -3.30184669e-03 2.52344871e+00] [ 2.41515372e-02 1.68509683e-04 9.99708295e-01 -4.63342510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.767193469999995 meters 0.06200383499256463 Centerline is valid? [True, True] Translation: X:31.06, Y:2.52, Z:-0.46 [[ 9.90966354e-01 -1.31881520e-01 -2.43505800e-02 3.10595183e+01] [ 1.31838823e-01 9.91265480e-01 -3.35765524e-03 2.52059680e+00] [ 2.45807020e-02 1.16971568e-04 9.99697842e-01 -4.62740944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.797193469999996 meters 0.06242930029308769 Centerline is valid? [True, True] Translation: X:31.09, Y:2.52, Z:-0.47 [[ 9.90938070e-01 -1.31709039e-01 -2.63528168e-02 3.10912726e+01] [ 1.31659054e-01 9.91288410e-01 -3.63054356e-03 2.51644789e+00] [ 2.66014173e-02 1.28056905e-04 9.99646111e-01 -4.66913190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82719347 meters 0.062329600925211136 Centerline is valid? [True, True] Translation: X:31.12, Y:2.52, Z:-0.47 [[ 9.91232528e-01 -1.29348940e-01 -2.69615786e-02 3.11233749e+01] [ 1.29295803e-01 9.91599120e-01 -3.71227238e-03 2.51787664e+00] [ 2.72152561e-02 1.93706178e-04 9.99629578e-01 -4.65025008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85719347 meters 0.06314074889935864 Centerline is valid? [True, True] Translation: X:31.15, Y:2.52, Z:-0.47 [[ 9.91509908e-01 -1.26986247e-01 -2.79748935e-02 3.11545587e+01] [ 1.26928148e-01 9.91904442e-01 -3.85011218e-03 2.52064865e+00] [ 2.82373324e-02 2.66622959e-04 9.99601211e-01 -4.68830888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88719346999999 meters 0.06398677758885428 Centerline is valid? [True, True] Translation: X:31.19, Y:2.52, Z:-0.47 [[ 9.91658551e-01 -1.25600253e-01 -2.89464095e-02 3.11860230e+01] [ 1.25537510e-01 9.92080882e-01 -3.98200104e-03 2.52189581e+00] [ 2.92173198e-02 3.14925203e-04 9.99573033e-01 -4.72893991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.917193469999994 meters 0.06369650765738881 Centerline is valid? [True, True] Translation: X:31.22, Y:2.52, Z:-0.47 [[ 9.91581574e-01 -1.25696276e-01 -3.10874330e-02 3.12189174e+01] [ 1.25624016e-01 9.92068715e-01 -4.27450285e-03 2.51584065e+00] [ 3.13781588e-02 3.33190086e-04 9.99507529e-01 -4.71480575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.947193469999995 meters 0.0633640836266955 Centerline is valid? [True, True] Translation: X:31.25, Y:2.52, Z:-0.47 [[ 9.91527483e-01 -1.25811564e-01 -3.23218477e-02 3.12509913e+01] [ 1.25733583e-01 9.92054099e-01 -4.44201068e-03 2.51587956e+00] [ 3.26238778e-02 3.40433933e-04 9.99467642e-01 -4.69272536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.977193469999996 meters 0.06364692057090626 Centerline is valid? [True, True] Translation: X:31.28, Y:2.52, Z:-0.47 [[ 9.91405091e-01 -1.26802112e-01 -3.22051324e-02 3.12828512e+01] [ 1.26725287e-01 9.91927987e-01 -4.42379149e-03 2.51613384e+00] [ 3.25061183e-02 3.04564754e-04 9.99471490e-01 -4.70812994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00719347 meters 0.06336289517111723 Centerline is valid? [True, True] Translation: X:31.31, Y:2.51, Z:-0.47 [[ 9.91394558e-01 -1.27369660e-01 -3.02291387e-02 3.13145891e+01] [ 1.27302275e-01 9.91855281e-01 -4.15119329e-03 2.51439627e+00] [ 3.05116669e-02 2.67232312e-04 9.99534375e-01 -4.69824913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03719347 meters 0.06389418257306531 Centerline is valid? [True, True] Translation: X:31.35, Y:2.51, Z:-0.48 [[ 9.91383863e-01 -1.27665839e-01 -2.93167238e-02 3.13454961e+01] [ 1.27602557e-01 9.91817206e-01 -4.02706215e-03 2.50500709e+00] [ 2.95909494e-02 2.51475516e-04 9.99562060e-01 -4.76359248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06719347 meters 0.06427943659610094 Centerline is valid? [True, True] Translation: X:31.38, Y:2.50, Z:-0.48 [[ 9.91324289e-01 -1.27805540e-01 -3.06903546e-02 3.13753235e+01] [ 1.27736212e-01 9.91799212e-01 -4.21712381e-03 2.50339913e+00] [ 3.09776413e-02 2.60267629e-04 9.99520044e-01 -4.79745288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09719346999999 meters 0.063696791129909 Centerline is valid? [True, True] Translation: X:31.40, Y:2.50, Z:-0.48 [[ 9.91289255e-01 -1.27846197e-01 -3.16380058e-02 3.14049354e+01] [ 1.27772467e-01 9.91793969e-01 -4.34961764e-03 2.50259667e+00] [ 3.19344654e-02 2.69263170e-04 9.99489929e-01 -4.76308057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.127193469999995 meters 0.06433807772844567 Centerline is valid? [True, True] Translation: X:31.43, Y:2.50, Z:-0.48 [[ 9.91493675e-01 -1.25596158e-01 -3.41452494e-02 3.14340490e+01] [ 1.25508865e-01 9.92081381e-01 -4.69652495e-03 2.50369770e+00] [ 3.44647317e-02 3.71043276e-04 9.99405846e-01 -4.77555465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.157193469999996 meters 0.06457351340195092 Centerline is valid? [True, True] Translation: X:31.46, Y:2.51, Z:-0.48 [[ 9.91800341e-01 -1.23423234e-01 -3.31479750e-02 3.14631629e+01] [ 1.23339339e-01 9.92354023e-01 -4.57175352e-03 2.50592788e+00] [ 3.34587870e-02 4.45817378e-04 9.99439999e-01 -4.76468677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18719347 meters 0.06460481903658044 Centerline is valid? [True, True] Translation: X:31.49, Y:2.51, Z:-0.48 [[ 9.92026288e-01 -1.21947598e-01 -3.18217941e-02 3.14923791e+01] [ 1.21869196e-01 9.92536421e-01 -4.39905852e-03 2.50593642e+00] [ 3.21207442e-02 4.85885231e-04 9.99483878e-01 -4.75329418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21719347 meters 0.0650032171849948 Centerline is valid? [True, True] Translation: X:31.52, Y:2.51, Z:-0.48 [[ 9.92219369e-01 -1.20413753e-01 -3.16425719e-02 3.15209025e+01] [ 1.20335452e-01 9.92723650e-01 -4.37431238e-03 2.50526972e+00] [ 3.19390568e-02 5.32554276e-04 9.99489676e-01 -4.77292633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24719347 meters 0.06386782968417926 Centerline is valid? [True, True] Translation: X:31.55, Y:2.49, Z:-0.48 [[ 9.91724379e-01 -1.24794914e-01 -3.01493809e-02 3.15511744e+01] [ 1.24725765e-01 9.92182487e-01 -4.17079388e-03 2.49461764e+00] [ 3.04341816e-02 3.75873376e-04 9.99536702e-01 -4.75800076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27719346999999 meters 0.06328374465702298 Centerline is valid? [True, True] Translation: X:31.58, Y:2.49, Z:-0.48 [[ 9.90917692e-01 -1.31012810e-01 -3.02947355e-02 3.15805100e+01] [ 1.30945787e-01 9.91380657e-01 -4.19441178e-03 2.48800595e+00] [ 3.05831365e-02 1.89348854e-04 9.99532209e-01 -4.76061211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.307193469999994 meters 0.06328374465702298 Centerline is valid? [True, True] Translation: X:31.61, Y:2.49, Z:-0.48 [[ 9.90872843e-01 -1.31351977e-01 -3.02930340e-02 3.16076646e+01] [ 1.31284737e-01 9.91335776e-01 -4.20668749e-03 2.49201512e+00] [ 3.05831251e-02 1.91279390e-04 9.99532209e-01 -4.76287864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.337193469999995 meters 0.06273085173051272 Centerline is valid? [True, True] Translation: X:31.64, Y:2.48, Z:-0.47 [[ 9.89754971e-01 -1.39729821e-01 -2.93372421e-02 3.16377248e+01] [ 1.39670170e-01 9.90189666e-01 -4.08286388e-03 2.48305901e+00] [ 2.96199318e-02 -5.65027681e-05 9.99561232e-01 -4.74525853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36719347 meters 0.06389322163897829 Centerline is valid? [True, True] Translation: X:31.67, Y:2.46, Z:-0.47 [[ 9.87134068e-01 -1.57761790e-01 -2.60297620e-02 3.16695545e+01] [ 1.57721043e-01 9.87477057e-01 -3.62405244e-03 2.45734855e+00] [ 2.62755298e-02 -5.28015601e-04 9.99654599e-01 -4.72179647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39719347 meters 0.06560539746948589 Centerline is valid? [True, True] Translation: X:31.70, Y:2.45, Z:-0.47 [[ 9.85922490e-01 -1.65583850e-01 -2.32127761e-02 3.16990478e+01] [ 1.65553550e-01 9.86195498e-01 -3.23438396e-03 2.44882966e+00] [ 2.34278971e-02 -6.54105614e-04 9.99725315e-01 -4.70602378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42719347 meters 0.0673653685913048 Centerline is valid? [True, True] Translation: X:31.73, Y:2.44, Z:-0.47 [[ 9.84783450e-01 -1.72573791e-01 -2.04900794e-02 3.17301251e+01] [ 1.72551683e-01 9.84996326e-01 -2.85542822e-03 2.44301969e+00] [ 2.06754250e-02 -7.23619240e-04 9.99785979e-01 -4.67984695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45719346999999 meters 0.06992136800080932 Centerline is valid? [True, True] Translation: X:31.76, Y:2.43, Z:-0.46 [[ 9.82810113e-01 -1.83696083e-01 -1.84399097e-02 3.17624242e+01] [ 1.83680134e-01 9.82982709e-01 -2.56940597e-03 2.43392324e+00] [ 1.85981022e-02 -8.61806909e-04 9.99826669e-01 -4.64167427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.487193469999994 meters 0.07151522230715678 Centerline is valid? [True, True] Translation: X:31.79, Y:2.43, Z:-0.46 [[ 9.82200244e-01 -1.86955142e-01 -1.81784477e-02 3.17913592e+01] [ 1.86940168e-01 9.82368031e-01 -2.53465000e-03 2.43251778e+00] [ 1.83317918e-02 -9.08748224e-04 9.99831546e-01 -4.64348773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.517193469999995 meters 0.07041044882541193 Centerline is valid? [True, True] Translation: X:31.82, Y:2.44, Z:-0.46 [[ 9.82071277e-01 -1.87603645e-01 -1.84629252e-02 3.18195023e+01] [ 1.87588171e-01 9.82244375e-01 -2.58198529e-03 2.43910849e+00] [ 1.86194942e-02 -9.27732764e-04 9.99826212e-01 -4.63435100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.547193469999996 meters 0.07103212983083039 Centerline is valid? [True, True] Translation: X:31.85, Y:2.44, Z:-0.47 [[ 9.82224753e-01 -1.86673326e-01 -1.96876578e-02 3.18471642e+01] [ 1.86655537e-01 9.82421563e-01 -2.75359347e-03 2.44324989e+00] [ 1.98556020e-02 -9.70162689e-04 9.99802387e-01 -4.66125573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57719347 meters 0.06966671866833467 Centerline is valid? [True, True] Translation: X:31.87, Y:2.46, Z:-0.47 [[ 9.83108854e-01 -1.81523691e-01 -2.33694288e-02 3.18741697e+01] [ 1.81497136e-01 9.83386036e-01 -3.27015235e-03 2.45779638e+00] [ 2.35747801e-02 -1.02656867e-03 9.99721549e-01 -4.68292326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60719347 meters 0.06867577497581202 Centerline is valid? [True, True] Translation: X:31.90, Y:2.47, Z:-0.47 [[ 9.83648845e-01 -1.78186949e-01 -2.61602899e-02 3.19020158e+01] [ 1.78152260e-01 9.83996091e-01 -3.66953909e-03 2.47013429e+00] [ 2.63954869e-02 -1.05097688e-03 9.99651026e-01 -4.68514528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63719346999999 meters 0.0671045389315757 Centerline is valid? [True, True] Translation: X:31.93, Y:2.48, Z:-0.47 [[ 9.84359771e-01 -1.73927471e-01 -2.80192034e-02 3.19291075e+01] [ 1.73885932e-01 9.84757955e-01 -3.93102425e-03 2.48421693e+00] [ 2.82758465e-02 -1.00260316e-03 9.99599656e-01 -4.68404502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.667193469999994 meters 0.06563199724463888 Centerline is valid? [True, True] Translation: X:31.96, Y:2.51, Z:-0.47 [[ 9.85898485e-01 -1.64570143e-01 -3.03454466e-02 3.19554672e+01] [ 1.64516958e-01 9.86365063e-01 -4.25829764e-03 2.50637359e+00] [ 3.06324770e-02 -7.94091359e-04 9.99530400e-01 -4.70790706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.697193469999995 meters 0.06468288338658035 Centerline is valid? [True, True] Translation: X:31.98, Y:2.52, Z:-0.47 [[ 9.86640510e-01 -1.60000594e-01 -3.06645497e-02 3.19833518e+01] [ 1.59943914e-01 9.87116701e-01 -4.30837527e-03 2.51875585e+00] [ 3.09588318e-02 -6.53790518e-04 9.99520447e-01 -4.71361427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.727193469999996 meters 0.06373985845508247 Centerline is valid? [True, True] Translation: X:32.01, Y:2.53, Z:-0.47 [[ 9.87253891e-01 -1.55825910e-01 -3.23734623e-02 3.20112874e+01] [ 1.55760150e-01 9.87784385e-01 -4.55889406e-03 2.53023532e+00] [ 3.26883944e-02 -5.41709432e-04 9.99465445e-01 -4.71813451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75719347 meters 0.0638215535892812 Centerline is valid? [True, True] Translation: X:32.04, Y:2.54, Z:-0.48 [[ 9.87810284e-01 -1.51982200e-01 -3.36489923e-02 3.20371946e+01] [ 1.51908787e-01 9.88383139e-01 -4.74253477e-03 2.53926263e+00] [ 3.39788775e-02 -4.26852987e-04 9.99422460e-01 -4.75726011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78719347 meters 0.06357814378772815 Centerline is valid? [True, True] Translation: X:32.06, Y:2.56, Z:-0.48 [[ 9.88787104e-01 -1.45041054e-01 -3.55408951e-02 3.20630607e+01] [ 1.44954233e-01 9.89425620e-01 -5.02122103e-03 2.55939326e+00] [ 3.58933554e-02 -1.86884600e-04 9.99355608e-01 -4.75930688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81719347 meters 0.06337959933019256 Centerline is valid? [True, True] Translation: X:32.09, Y:2.57, Z:-0.48 [[ 9.89227757e-01 -1.42131938e-01 -3.50279362e-02 3.20903534e+01] [ 1.42045404e-01 9.89847719e-01 -4.95940753e-03 2.57225849e+00] [ 3.53772130e-02 -6.95737711e-05 9.99374028e-01 -4.75684491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84719346999999 meters 0.06362435976638127 Centerline is valid? [True, True] Translation: X:32.12, Y:2.58, Z:-0.48 [[ 9.89594009e-01 -1.39442209e-01 -3.54903834e-02 3.21175543e+01] [ 1.39351260e-01 9.90230210e-01 -5.03562382e-03 2.58334834e+00] [ 3.58458283e-02 3.75935275e-05 9.99357331e-01 -4.75367548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.877193469999995 meters 0.06412673374201044 Centerline is valid? [True, True] Translation: X:32.15, Y:2.59, Z:-0.48 [[ 9.89992245e-01 -1.35986337e-01 -3.77236021e-02 3.21456232e+01] [ 1.35880998e-01 9.90710697e-01 -5.35431839e-03 2.59262240e+00] [ 3.81012903e-02 1.74812978e-04 9.99273867e-01 -4.76507316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.907193469999996 meters 0.06500198720771283 Centerline is valid? [True, True] Translation: X:32.17, Y:2.60, Z:-0.48 [[ 9.91107518e-01 -1.27848989e-01 -3.68852716e-02 3.21718763e+01] [ 1.27742400e-01 9.91793528e-01 -5.24183009e-03 2.60288279e+00] [ 3.72527363e-02 4.83404090e-04 9.99305759e-01 -4.77892085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93719347 meters 0.06581436821547881 Centerline is valid? [True, True] Translation: X:32.20, Y:2.61, Z:-0.48 [[ 9.91570109e-01 -1.24129071e-01 -3.71576742e-02 3.21996463e+01] [ 1.24017826e-01 9.92265874e-01 -5.29287858e-03 2.61031991e+00] [ 3.75272922e-02 6.40046210e-04 9.99295398e-01 -4.79123126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96719347 meters 0.06770546115656575 Centerline is valid? [True, True] Translation: X:32.23, Y:2.62, Z:-0.48 [[ 9.92491010e-01 -1.16777066e-01 -3.63965821e-02 3.22267707e+01] [ 1.16665374e-01 9.93157745e-01 -5.18490695e-03 2.62237178e+00] [ 3.67530257e-02 8.99752686e-04 9.99323974e-01 -4.80633544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99719347 meters 0.0683440633867874 Centerline is valid? [True, True] Translation: X:32.25, Y:2.63, Z:-0.48 [[ 9.92832343e-01 -1.13823947e-01 -3.64423837e-02 3.22545239e+01] [ 1.13709830e-01 9.93500418e-01 -5.19565091e-03 2.62904746e+00] [ 3.67969130e-02 1.01455301e-03 9.99322249e-01 -4.78913358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02719346999999 meters 0.06836967801557128 Centerline is valid? [True, True] Translation: X:32.28, Y:2.63, Z:-0.48 [[ 9.92950679e-01 -1.13167102e-01 -3.52442293e-02 3.22832960e+01] [ 1.13059526e-01 9.93575449e-01 -5.03689147e-03 2.63255161e+00] [ 3.55878114e-02 1.01668894e-03 9.99366036e-01 -4.77847777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.057193469999994 meters 0.0693003377284287 Centerline is valid? [True, True] Translation: X:32.31, Y:2.63, Z:-0.48 [[ 9.93030311e-01 -1.12602409e-01 -3.48065881e-02 3.23115239e+01] [ 1.12497068e-01 9.93639595e-01 -4.97646681e-03 2.63492274e+00] [ 3.51455663e-02 1.02614328e-03 9.99381677e-01 -4.78877732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.087193469999995 meters 0.06736145631802527 Centerline is valid? [True, True] Translation: X:32.34, Y:2.63, Z:-0.47 [[ 9.92835806e-01 -1.13748014e-01 -3.65848420e-02 3.23408359e+01] [ 1.13632159e-01 9.93509085e-01 -5.23738938e-03 2.63014398e+00] [ 3.69431155e-02 1.04265312e-03 9.99316826e-01 -4.74035444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11719347 meters 0.06644790887707204 Centerline is valid? [True, True] Translation: X:32.37, Y:2.62, Z:-0.47 [[ 9.92505065e-01 -1.16650416e-01 -3.64194446e-02 3.23712535e+01] [ 1.16537095e-01 9.93172589e-01 -5.22628797e-03 2.61965050e+00] [ 3.67804427e-02 9.42901013e-04 9.99322926e-01 -4.73722683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14719347 meters 0.06591835045392827 Centerline is valid? [True, True] Translation: X:32.40, Y:2.61, Z:-0.47 [[ 9.92220952e-01 -1.19225408e-01 -3.58173863e-02 3.24011226e+01] [ 1.19117074e-01 9.92866853e-01 -5.15112131e-03 2.61473254e+00] [ 3.61760402e-02 8.44588237e-04 9.99345076e-01 -4.73143460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17719347 meters 0.065252951864595 Centerline is valid? [True, True] Translation: X:32.43, Y:2.61, Z:-0.47 [[ 9.91908062e-01 -1.21696144e-01 -3.61724332e-02 3.24306503e+01] [ 1.21586883e-01 9.92567101e-01 -5.21334318e-03 2.60939431e+00] [ 3.65380109e-02 7.73063714e-04 9.99331965e-01 -4.74264688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20719346999999 meters 0.06456424084464109 Centerline is valid? [True, True] Translation: X:32.46, Y:2.60, Z:-0.47 [[ 9.91637862e-01 -1.23969585e-01 -3.58593432e-02 3.24617351e+01] [ 1.23863284e-01 9.92285775e-01 -5.17948185e-03 2.59728396e+00] [ 3.62248143e-02 6.94514281e-04 9.99343425e-01 -4.73624635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.237193469999994 meters 0.06464844198773659 Centerline is valid? [True, True] Translation: X:32.49, Y:2.60, Z:-0.48 [[ 9.91524416e-01 -1.24949146e-01 -3.55955509e-02 3.24903544e+01] [ 1.24844952e-01 9.92162930e-01 -5.14368347e-03 2.59540903e+00] [ 3.59592850e-02 6.56162889e-04 9.99353040e-01 -4.75363139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.267193469999995 meters 0.0637094091584847 Centerline is valid? [True, True] Translation: X:32.52, Y:2.59, Z:-0.47 [[ 9.91371213e-01 -1.26048833e-01 -3.59834739e-02 3.25194947e+01] [ 1.25942511e-01 9.92023832e-01 -5.21534316e-03 2.59163495e+00] [ 3.63538516e-02 6.38491996e-04 9.99338776e-01 -4.71437403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.297193469999996 meters 0.06421898726960198 Centerline is valid? [True, True] Translation: X:32.55, Y:2.58, Z:-0.48 [[ 9.91054389e-01 -1.28708337e-01 -3.52896964e-02 3.25489342e+01] [ 1.28607690e-01 9.91682349e-01 -5.11679175e-03 2.58170736e+00] [ 3.56547428e-02 5.32492566e-04 9.99364026e-01 -4.77468527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32719347 meters 0.06388985964911165 Centerline is valid? [True, True] Translation: X:32.58, Y:2.58, Z:-0.48 [[ 9.90793252e-01 -1.30817377e-01 -3.48646848e-02 3.25784708e+01] [ 1.30720024e-01 9.91406375e-01 -5.06712371e-03 2.57597535e+00] [ 3.52279386e-02 4.62959556e-04 9.99379196e-01 -4.78625151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35719347 meters 0.06288991531433563 Centerline is valid? [True, True] Translation: X:32.61, Y:2.57, Z:-0.48 [[ 9.90503165e-01 -1.33080219e-01 -3.45417843e-02 3.26086728e+01] [ 1.32985649e-01 9.91105193e-01 -5.03130847e-03 2.56973205e+00] [ 3.49041095e-02 3.89965367e-04 9.99390590e-01 -4.75695096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38719346999999 meters 0.06256672102671615 Centerline is valid? [True, True] Translation: X:32.64, Y:2.56, Z:-0.48 [[ 9.90027100e-01 -1.36317271e-01 -3.55519788e-02 3.26382662e+01] [ 1.36218765e-01 9.90665188e-01 -5.18977257e-03 2.56436761e+00] [ 3.59275634e-02 2.95168852e-04 9.99354353e-01 -4.76346739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.417193469999994 meters 0.062491070875534856 Centerline is valid? [True, True] Translation: X:32.67, Y:2.56, Z:-0.48 [[ 9.89430245e-01 -1.40238765e-01 -3.68901033e-02 3.26667266e+01] [ 1.40135298e-01 9.90117701e-01 -5.38846937e-03 2.55858880e+00] [ 3.72812165e-02 1.61908946e-04 9.99304801e-01 -4.78757252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.447193469999995 meters 0.06248039320690037 Centerline is valid? [True, True] Translation: X:32.70, Y:2.54, Z:-0.48 [[ 9.87628402e-01 -1.52407354e-01 -3.69071469e-02 3.26978556e+01] [ 1.52312122e-01 9.88317718e-01 -5.39491033e-03 2.54171991e+00] [ 3.72982113e-02 -2.93239189e-04 9.99304137e-01 -4.77997488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.477193469999996 meters 0.06291695828332891 Centerline is valid? [True, True] Translation: X:32.73, Y:2.54, Z:-0.48 [[ 9.86677041e-01 -1.58169360e-01 -3.80902956e-02 3.27284101e+01] [ 1.58072167e-01 9.87411858e-01 -5.56897417e-03 2.53639431e+00] [ 3.84916506e-02 -5.26236613e-04 9.99258783e-01 -4.78353752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50719347 meters 0.0638624590581257 Centerline is valid? [True, True] Translation: X:32.76, Y:2.53, Z:-0.48 [[ 9.85985830e-01 -1.62506851e-01 -3.77288482e-02 3.27568030e+01] [ 1.62414342e-01 9.86707181e-01 -5.52458989e-03 2.53092300e+00] [ 3.81251091e-02 -6.80538710e-04 9.99272742e-01 -4.80569532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53719347 meters 0.06447305500640005 Centerline is valid? [True, True] Translation: X:32.79, Y:2.52, Z:-0.48 [[ 9.84975939e-01 -1.68906872e-01 -3.59564647e-02 3.27878516e+01] [ 1.68826666e-01 9.85631629e-01 -5.27724936e-03 2.51951186e+00] [ 3.63311926e-02 -8.72446422e-04 9.99339423e-01 -4.78795499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56719347 meters 0.06475869816663622 Centerline is valid? [True, True] Translation: X:32.82, Y:2.52, Z:-0.48 [[ 9.84398794e-01 -1.72303689e-01 -3.56434061e-02 3.28172567e+01] [ 1.72226693e-01 9.85043391e-01 -5.24250546e-03 2.51750733e+00] [ 3.60136047e-02 -9.78029912e-04 9.99350821e-01 -4.77766733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59719346999999 meters 0.06570305498387222 Centerline is valid? [True, True] Translation: X:32.85, Y:2.51, Z:-0.48 [[ 9.84001616e-01 -1.75174977e-01 -3.24737757e-02 3.28458251e+01] [ 1.75112559e-01 9.84536824e-01 -4.77847393e-03 2.51436535e+00] [ 3.28086970e-02 -9.84539876e-04 9.99461165e-01 -4.78002177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.627193469999995 meters 0.06674087644649748 Centerline is valid? [True, True] Translation: X:32.88, Y:2.51, Z:-0.47 [[ 9.82619281e-01 -1.83487733e-01 -2.81353768e-02 3.28763128e+01] [ 1.83444254e-01 9.83021393e-01 -4.14091164e-03 2.51144670e+00] [ 2.84174838e-02 -1.09233360e-03 9.99595545e-01 -4.71334246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.657193469999996 meters 0.06665240453520749 Centerline is valid? [True, True] Translation: X:32.91, Y:2.52, Z:-0.47 [[ 9.82046166e-01 -1.86879577e-01 -2.57167420e-02 3.29051592e+01] [ 1.86844141e-01 9.82382238e-01 -3.79537262e-03 2.51638900e+00] [ 2.59729482e-02 -1.07779143e-03 9.99662065e-01 -4.67711848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68719347 meters 0.06786092325863999 Centerline is valid? [True, True] Translation: X:32.93, Y:2.52, Z:-0.47 [[ 9.81550822e-01 -1.89393466e-01 -2.62316433e-02 3.29349876e+01] [ 1.89357522e-01 9.81900581e-01 -3.87026281e-03 2.51940841e+00] [ 2.64898682e-02 -1.16829932e-03 9.99648399e-01 -4.68175234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71719347 meters 0.06902097609298204 Centerline is valid? [True, True] Translation: X:32.96, Y:2.52, Z:-0.47 [[ 9.81223514e-01 -1.90972634e-01 -2.70160917e-02 3.29625654e+01] [ 1.90934953e-01 9.81594576e-01 -3.99153170e-03 2.52243658e+00] [ 2.72811224e-02 -1.24173145e-03 9.99627030e-01 -4.69900734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74719347 meters 0.07044690742052334 Centerline is valid? [True, True] Translation: X:32.99, Y:2.52, Z:-0.47 [[ 9.80943088e-01 -1.92221325e-01 -2.83128958e-02 3.29898918e+01] [ 1.92180364e-01 9.81350692e-01 -4.18643671e-03 2.52461696e+00] [ 2.85896023e-02 -1.33452647e-03 9.99590343e-01 -4.73292342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77719346999999 meters 0.07027399732534993 Centerline is valid? [True, True] Translation: X:33.02, Y:2.53, Z:-0.47 [[ 9.81023880e-01 -1.91962315e-01 -2.72509887e-02 3.30181989e+01] [ 1.91924006e-01 9.81401479e-01 -4.03898476e-03 2.53145352e+00] [ 2.75194935e-02 -1.26777842e-03 9.99620463e-01 -4.73562296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.807193469999994 meters 0.06776812348320309 Centerline is valid? [True, True] Translation: X:33.05, Y:2.55, Z:-0.47 [[ 9.81396692e-01 -1.90206928e-01 -2.61123957e-02 3.30451145e+01] [ 1.90171114e-01 9.81743328e-01 -3.87096683e-03 2.54606617e+00] [ 2.63719550e-02 -1.16686934e-03 9.99651518e-01 -4.70370187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.837193469999995 meters 0.06579780454894704 Centerline is valid? [True, True] Translation: X:33.07, Y:2.57, Z:-0.47 [[ 9.82644309e-01 -1.83142703e-01 -2.94773179e-02 3.30718069e+01] [ 1.83093887e-01 9.83085720e-01 -4.36980736e-03 2.57140464e+00] [ 2.97790286e-02 -1.10315037e-03 9.99555898e-01 -4.73065410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86719347 meters 0.06460392644499992 Centerline is valid? [True, True] Translation: X:33.10, Y:2.59, Z:-0.47 [[ 9.83570577e-01 -1.77691821e-01 -3.18518040e-02 3.30984064e+01] [ 1.77631858e-01 9.84085665e-01 -4.72517469e-03 2.58701398e+00] [ 3.21845286e-02 -1.01035233e-03 9.99481433e-01 -4.74183814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89719347 meters 0.06353516952519953 Centerline is valid? [True, True] Translation: X:33.13, Y:2.60, Z:-0.48 [[ 9.84596391e-01 -1.71914285e-01 -3.18657362e-02 3.31252929e+01] [ 1.71851210e-01 9.85111570e-01 -4.72828144e-03 2.60246702e+00] [ 3.22041645e-02 -8.20716473e-04 9.99480974e-01 -4.75567870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92719347 meters 0.0618061980303501 Centerline is valid? [True, True] Translation: X:33.15, Y:2.62, Z:-0.47 [[ 9.85447133e-01 -1.67002480e-01 -3.16878633e-02 3.31526012e+01] [ 1.66937193e-01 9.85956265e-01 -4.71356828e-03 2.61902694e+00] [ 3.20300249e-02 -6.44910612e-04 9.99486699e-01 -4.72639980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95719346999999 meters 0.06071658401686542 Centerline is valid? [True, True] Translation: X:33.18, Y:2.64, Z:-0.47 [[ 9.87040961e-01 -1.58200077e-01 -2.68863719e-02 3.31796410e+01] [ 1.58149837e-01 9.87407030e-01 -3.99832640e-03 2.63969110e+00] [ 2.71803282e-02 -3.05563410e-04 9.99630500e-01 -4.72746695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.987193469999994 meters 0.06023232321177043 Centerline is valid? [True, True] Translation: X:33.21, Y:2.65, Z:-0.47 [[ 9.87727516e-01 -1.54069496e-01 -2.56309349e-02 3.32071175e+01] [ 1.54022186e-01 9.88059998e-01 -3.82172271e-03 2.65225733e+00] [ 2.59137124e-02 -1.72911958e-04 9.99664168e-01 -4.72136989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.017193469999995 meters 0.06000238145320615 Centerline is valid? [True, True] Translation: X:33.23, Y:2.67, Z:-0.47 [[ 9.88353057e-01 -1.49757247e-01 -2.70370361e-02 3.32340475e+01] [ 1.49702754e-01 9.88722794e-01 -4.04000234e-03 2.66558251e+00] [ 2.73371535e-02 -5.45700939e-05 9.99626269e-01 -4.71053196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.047193469999996 meters 0.06115533104620812 Centerline is valid? [True, True] Translation: X:33.26, Y:2.69, Z:-0.48 [[ 9.89743295e-01 -1.39324764e-01 -3.15724523e-02 3.32598972e+01] [ 1.39245175e-01 9.90246705e-01 -4.71646104e-03 2.68930113e+00] [ 3.19216367e-02 2.71774047e-04 9.99490338e-01 -4.76068123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07719347 meters 0.06180622869094596 Centerline is valid? [True, True] Translation: X:33.29, Y:2.70, Z:-0.48 [[ 9.90330710e-01 -1.35014480e-01 -3.18775107e-02 3.32869244e+01] [ 1.34930716e-01 9.90843534e-01 -4.77430590e-03 2.70220371e+00] [ 3.22302257e-02 4.26886417e-04 9.99480380e-01 -4.76299742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10719347 meters 0.06216298641344495 Centerline is valid? [True, True] Translation: X:33.31, Y:2.71, Z:-0.47 [[ 9.90824841e-01 -1.31650756e-01 -3.05648810e-02 3.33132961e+01] [ 1.31571785e-01 9.91296021e-01 -4.58951040e-03 2.71248624e+00] [ 3.09030574e-02 5.25924975e-04 9.99522248e-01 -4.74822361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13719346999999 meters 0.0635765090561675 Centerline is valid? [True, True] Translation: X:33.34, Y:2.72, Z:-0.48 [[ 9.91459636e-01 -1.27017258e-01 -2.95703682e-02 3.33400186e+01] [ 1.26941241e-01 9.91900294e-01 -4.44156450e-03 2.72203616e+00] [ 2.98950123e-02 6.49932675e-04 9.99552833e-01 -4.77346508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.167193469999994 meters 0.06361091352506885 Centerline is valid? [True, True] Translation: X:33.37, Y:2.73, Z:-0.48 [[ 9.91577333e-01 -1.25841767e-01 -3.06307436e-02 3.33684796e+01] [ 1.25759285e-01 9.92050064e-01 -4.61225936e-03 2.72604074e+00] [ 3.09676461e-02 7.21311426e-04 9.99520127e-01 -4.76481565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.197193469999995 meters 0.0649520138322175 Centerline is valid? [True, True] Translation: X:33.40, Y:2.73, Z:-0.48 [[ 9.91769757e-01 -1.24304159e-01 -3.06794089e-02 3.33956690e+01] [ 1.24220624e-01 9.92243861e-01 -4.62133977e-03 2.73291807e+00] [ 3.10159069e-02 7.72289686e-04 9.99518593e-01 -4.79500301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.227193469999996 meters 0.0649520138322175 Centerline is valid? [True, True] Translation: X:33.42, Y:2.74, Z:-0.48 [[ 9.91727391e-01 -1.24642167e-01 -3.06775491e-02 3.34227876e+01] [ 1.24558413e-01 9.92201457e-01 -4.63367362e-03 2.73727881e+00] [ 3.10158600e-02 7.74194215e-04 9.99518593e-01 -4.79727079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25719347 meters 0.06499112235653512 Centerline is valid? [True, True] Translation: X:33.45, Y:2.74, Z:-0.48 [[ 9.91782296e-01 -1.24206019e-01 -3.06715075e-02 3.34511435e+01] [ 1.24121808e-01 9.92256131e-01 -4.64183357e-03 2.74098880e+00] [ 3.10105350e-02 7.96685385e-04 9.99518740e-01 -4.79389158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28719347 meters 0.06656398693074514 Centerline is valid? [True, True] Translation: X:33.48, Y:2.74, Z:-0.49 [[ 9.91616665e-01 -1.25127954e-01 -3.22394867e-02 3.34790972e+01] [ 1.25035339e-01 9.92140283e-01 -4.88087735e-03 2.73983053e+00] [ 3.25968277e-02 8.08884153e-04 9.99468255e-01 -4.86657856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31719346999999 meters 0.06387269297236381 Centerline is valid? [True, True] Translation: X:33.51, Y:2.73, Z:-0.48 [[ 9.91304620e-01 -1.27247520e-01 -3.35144483e-02 3.35096709e+01] [ 1.27148223e-01 9.91870687e-01 -5.08627171e-03 2.73353461e+00] [ 3.38892143e-02 7.80742090e-04 9.99425291e-01 -4.80851393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34719346999999 meters 0.06369682941808642 Centerline is valid? [True, True] Translation: X:33.54, Y:2.72, Z:-0.49 [[ 9.90431447e-01 -1.33405633e-01 -3.53339172e-02 3.35394695e+01] [ 1.33299093e-01 9.91061337e-01 -5.36457435e-03 2.72470463e+00] [ 3.57337436e-02 6.03264007e-04 9.99361164e-01 -4.88437548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.377193469999995 meters 0.06292830701000239 Centerline is valid? [True, True] Translation: X:33.57, Y:2.72, Z:-0.49 [[ 9.89794815e-01 -1.37726457e-01 -3.65738582e-02 3.35680892e+01] [ 1.37614705e-01 9.90470189e-01 -5.56760725e-03 2.71965183e+00] [ 3.69921230e-02 4.77688087e-04 9.99315443e-01 -4.89244736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.407193469999996 meters 0.06218222276119005 Centerline is valid? [True, True] Translation: X:33.60, Y:2.72, Z:-0.49 [[ 9.89267566e-01 -1.41706574e-01 -3.56220458e-02 3.35975668e+01] [ 1.41602756e-01 9.89908651e-01 -5.43342328e-03 2.71510192e+00] [ 3.60325231e-02 3.30929544e-04 9.99350563e-01 -4.88561449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43719347 meters 0.06193207241347913 Centerline is valid? [True, True] Translation: X:33.63, Y:2.71, Z:-0.49 [[ 9.88895352e-01 -1.44426561e-01 -3.50278535e-02 3.36258919e+01] [ 1.44327725e-01 9.89515495e-01 -5.34728432e-03 2.71206407e+00] [ 3.54328937e-02 2.32414206e-04 9.99372031e-01 -4.89539739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46719347 meters 0.06097615128915783 Centerline is valid? [True, True] Translation: X:33.66, Y:2.71, Z:-0.48 [[ 9.88306419e-01 -1.48672929e-01 -3.38641619e-02 3.36562130e+01] [ 1.48582633e-01 9.88886420e-01 -5.18158531e-03 2.70541494e+00] [ 3.42581713e-02 8.93676741e-05 9.99413013e-01 -4.84917722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49719347 meters 0.06118493368463754 Centerline is valid? [True, True] Translation: X:33.68, Y:2.71, Z:-0.49 [[ 9.88372388e-01 -1.48181856e-01 -3.40904648e-02 3.36846763e+01] [ 1.48089984e-01 9.88960123e-01 -5.21832984e-03 2.70636584e+00] [ 3.44873720e-02 1.09196741e-04 9.99405128e-01 -4.85478556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52719346999999 meters 0.06142858539795137 Centerline is valid? [True, True] Translation: X:33.71, Y:2.71, Z:-0.48 [[ 9.89309442e-01 -1.42578100e-01 -3.06319063e-02 3.37129726e+01] [ 1.42501161e-01 9.89783516e-01 -4.69150208e-03 2.70800803e+00] [ 3.09878614e-02 2.76265104e-04 9.99519723e-01 -4.84972924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.557193469999994 meters 0.06165647867672438 Centerline is valid? [True, True] Translation: X:33.74, Y:2.71, Z:-0.48 [[ 9.89813330e-01 -1.39363335e-01 -2.91106803e-02 3.37414353e+01] [ 1.39292149e-01 9.90241246e-01 -4.46904745e-03 2.71329871e+00] [ 2.94494176e-02 3.68633535e-04 9.99566204e-01 -4.83078896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.587193469999995 meters 0.06216029638324668 Centerline is valid? [True, True] Translation: X:33.77, Y:2.72, Z:-0.48 [[ 9.90312550e-01 -1.36124888e-01 -2.74056161e-02 3.37693265e+01] [ 1.36060327e-01 9.90691585e-01 -4.21564075e-03 2.71873397e+00] [ 2.77243669e-02 4.45984847e-04 9.99615506e-01 -4.82250727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61719347 meters 0.06233489031502514 Centerline is valid? [True, True] Translation: X:33.80, Y:2.72, Z:-0.48 [[ 9.90650396e-01 -1.33462520e-01 -2.82762761e-02 3.37982731e+01] [ 1.33392450e-01 9.91053711e-01 -4.35849596e-03 2.72096387e+00] [ 2.86050042e-02 5.45904015e-04 9.99590644e-01 -4.80801478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64719347 meters 0.06252176026574617 Centerline is valid? [True, True] Translation: X:33.83, Y:2.72, Z:-0.48 [[ 9.90815973e-01 -1.31810523e-01 -3.01611360e-02 3.38277422e+01] [ 1.31729735e-01 9.91274721e-01 -4.65878343e-03 2.72092370e+00] [ 3.05120483e-02 6.42878589e-04 9.99534192e-01 -4.80430057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67719347 meters 0.0627951463315399 Centerline is valid? [True, True] Translation: X:33.86, Y:2.71, Z:-0.48 [[ 9.90690346e-01 -1.32745054e-01 -3.01892281e-02 3.38568306e+01] [ 1.32664426e-01 9.91150023e-01 -4.66710786e-03 2.71445300e+00] [ 3.05415896e-02 6.18622070e-04 9.99533305e-01 -4.83685687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70719346999999 meters 0.06189333187231245 Centerline is valid? [True, True] Translation: X:33.89, Y:2.71, Z:-0.48 [[ 9.90430335e-01 -1.34866508e-01 -2.93048869e-02 3.38861303e+01] [ 1.34791147e-01 9.90863626e-01 -4.54106901e-03 2.71212248e+00] [ 2.96495847e-02 5.47573164e-04 9.99560204e-01 -4.82043008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.737193469999994 meters 0.06197319827515589 Centerline is valid? [True, True] Translation: X:33.91, Y:2.71, Z:-0.48 [[ 9.90208860e-01 -1.36893480e-01 -2.73237736e-02 3.39148381e+01] [ 1.36828716e-01 9.90585669e-01 -4.23486321e-03 2.71236587e+00] [ 2.76462637e-02 4.54722211e-04 9.99617666e-01 -4.83936870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.767193469999995 meters 0.06066618666630753 Centerline is valid? [True, True] Translation: X:33.95, Y:2.70, Z:-0.48 [[ 9.89803018e-01 -1.40373536e-01 -2.41920577e-02 3.39472031e+01] [ 1.40323773e-01 9.90098565e-01 -3.75090761e-03 2.70202185e+00] [ 2.44790498e-02 3.17938850e-04 9.99700293e-01 -4.79675277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.797193469999996 meters 0.06030120356909046 Centerline is valid? [True, True] Translation: X:33.98, Y:2.70, Z:-0.48 [[ 9.89514345e-01 -1.42463181e-01 -2.37824032e-02 3.39764081e+01] [ 1.42415468e-01 9.89800065e-01 -3.69675115e-03 2.69889990e+00] [ 2.40664751e-02 2.71006224e-04 9.99710324e-01 -4.79501122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82719347 meters 0.0601328580652122 Centerline is valid? [True, True] Translation: X:34.01, Y:2.70, Z:-0.48 [[ 9.89205713e-01 -1.44615230e-01 -2.36324281e-02 3.40057042e+01] [ 1.44568557e-01 9.89487941e-01 -3.68069661e-03 2.69642424e+00] [ 2.39162874e-02 2.24460093e-04 9.99713939e-01 -4.80296854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85719347 meters 0.059888656765498795 Centerline is valid? [True, True] Translation: X:34.04, Y:2.69, Z:-0.48 [[ 9.88082708e-01 -1.51589126e-01 -2.67076712e-02 3.40356454e+01] [ 1.51532031e-01 9.88443591e-01 -4.16063275e-03 2.68860955e+00] [ 2.70297331e-02 6.39816350e-05 9.99634628e-01 -4.83918485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88719346999999 meters 0.05986416319218455 Centerline is valid? [True, True] Translation: X:34.06, Y:2.68, Z:-0.48 [[ 9.87287836e-01 -1.56692712e-01 -2.66481483e-02 3.40641257e+01] [ 1.56637418e-01 9.87647402e-01 -4.16284969e-03 2.68492864e+00] [ 2.69712626e-02 -6.41662829e-05 9.99636207e-01 -4.83823963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.917193469999994 meters 0.05998869247431888 Centerline is valid? [True, True] Translation: X:34.09, Y:2.68, Z:-0.48 [[ 9.86481322e-01 -1.62073033e-01 -2.42267263e-02 3.40939283e+01] [ 1.62028772e-01 9.86778748e-01 -3.79198017e-03 2.68117100e+00] [ 2.45209964e-02 -1.84709105e-04 9.99699298e-01 -4.81969709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.947193469999995 meters 0.059985286235963546 Centerline is valid? [True, True] Translation: X:34.12, Y:2.68, Z:-0.48 [[ 9.85687028e-01 -1.67128584e-01 -2.21160335e-02 3.41232792e+01] [ 1.67092811e-01 9.85935069e-01 -3.46879454e-03 2.67931255e+00] [ 2.23847077e-02 -2.76284416e-04 9.99749393e-01 -4.78899124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.977193469999996 meters 0.06160431860341521 Centerline is valid? [True, True] Translation: X:34.15, Y:2.67, Z:-0.48 [[ 9.84340901e-01 -1.74901464e-01 -2.19651595e-02 3.41529611e+01] [ 1.74868121e-01 9.84585839e-01 -3.44459539e-03 2.67338184e+00] [ 2.22290498e-02 -4.50350044e-04 9.99752803e-01 -4.79791880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00719347 meters 0.06174893254928731 Centerline is valid? [True, True] Translation: X:34.18, Y:2.68, Z:-0.48 [[ 9.83851309e-01 -1.77662357e-01 -2.17414056e-02 3.41815860e+01] [ 1.77630169e-01 9.84091377e-01 -3.41831304e-03 2.67545779e+00] [ 2.20028354e-02 -4.98817806e-04 9.99757784e-01 -4.77209762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03719347 meters 0.06247499243216451 Centerline is valid? [True, True] Translation: X:34.21, Y:2.68, Z:-0.48 [[ 9.83535441e-01 -1.79689982e-01 -1.92235952e-02 3.42098027e+01] [ 1.79665190e-01 9.83723172e-01 -3.02322967e-03 2.67512175e+00] [ 1.94539401e-02 -4.80357351e-04 9.99810639e-01 -4.77437191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06719346999999 meters 0.061924734268619074 Centerline is valid? [True, True] Translation: X:34.24, Y:2.68, Z:-0.47 [[ 9.83234322e-01 -1.81521872e-01 -1.73227704e-02 3.42373196e+01] [ 1.81501879e-01 9.83386801e-01 -2.73263161e-03 2.68017758e+00] [ 1.75310161e-02 -4.57298178e-04 9.99846215e-01 -4.73507201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09719346999999 meters 0.06274431706968772 Centerline is valid? [True, True] Translation: X:34.27, Y:2.69, Z:-0.47 [[ 9.82635175e-01 -1.85027863e-01 -1.38853543e-02 3.42650125e+01] [ 1.85015365e-01 9.82733187e-01 -2.19048591e-03 2.68618572e+00] [ 1.40508994e-02 -4.16555386e-04 9.99901194e-01 -4.72538836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.127193469999995 meters 0.0631682910191746 Centerline is valid? [True, True] Translation: X:34.29, Y:2.69, Z:-0.47 [[ 9.82240769e-01 -1.87134914e-01 -1.35497796e-02 3.42928689e+01] [ 1.87123193e-01 9.82334126e-01 -2.13904225e-03 2.69188085e+00] [ 1.37107004e-02 -4.34423518e-04 9.99905910e-01 -4.72480697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.157193469999996 meters 0.06373506834568833 Centerline is valid? [True, True] Translation: X:34.32, Y:2.70, Z:-0.47 [[ 9.81933392e-01 -1.88756537e-01 -1.33335427e-02 3.43213571e+01] [ 1.88745259e-01 9.82023815e-01 -2.11059473e-03 2.69717092e+00] [ 1.34922451e-02 -4.44179535e-04 9.99908877e-01 -4.73257841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18719347 meters 0.0652787093285442 Centerline is valid? [True, True] Translation: X:34.35, Y:2.70, Z:-0.48 [[ 9.81450310e-01 -1.90860539e-01 -1.80981544e-02 3.43499601e+01] [ 1.90840149e-01 9.81616952e-01 -2.86310063e-03 2.69996462e+00] [ 1.83119081e-02 -6.43863479e-04 9.99832116e-01 -4.79093588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21719347 meters 0.06669029227247554 Centerline is valid? [True, True] Translation: X:34.38, Y:2.70, Z:-0.48 [[ 9.80958433e-01 -1.93006124e-01 -2.16607669e-02 3.43793115e+01] [ 1.92977410e-01 9.81197212e-01 -3.42797601e-03 2.70263086e+00] [ 2.19151044e-02 -8.17336730e-04 9.99759501e-01 -4.83199488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24719347 meters 0.06651990368908657 Centerline is valid? [True, True] Translation: X:34.41, Y:2.71, Z:-0.48 [[ 9.80476953e-01 -1.95286563e-01 -2.29804812e-02 3.44082694e+01] [ 1.95254850e-01 9.80745793e-01 -3.63765638e-03 2.70937179e+00] [ 2.32483957e-02 -9.20412158e-04 9.99729296e-01 -4.82981500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27719346999999 meters 0.06736918709534667 Centerline is valid? [True, True] Translation: X:34.44, Y:2.72, Z:-0.49 [[ 9.80020657e-01 -1.97304211e-01 -2.51109769e-02 3.44368824e+01] [ 1.97266978e-01 9.80341742e-01 -3.97597254e-03 2.71792782e+00] [ 2.54018149e-02 -1.05703130e-03 9.99676763e-01 -4.85439687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.307193469999994 meters 0.06821106010635866 Centerline is valid? [True, True] Translation: X:34.47, Y:2.72, Z:-0.49 [[ 9.79740394e-01 -1.98280229e-01 -2.81728934e-02 3.44657692e+01] [ 1.98233731e-01 9.80144621e-01 -4.46196805e-03 2.72499208e+00] [ 2.84982300e-02 -1.21324743e-03 9.99593107e-01 -4.89154580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.337193469999995 meters 0.0680695483037198 Centerline is valid? [True, True] Translation: X:34.49, Y:2.73, Z:-0.49 [[ 9.79544628e-01 -1.98932156e-01 -3.03037668e-02 3.44938214e+01] [ 1.98878313e-01 9.80012383e-01 -4.81103286e-03 2.73421170e+00] [ 3.06551358e-02 -1.31414063e-03 9.99529157e-01 -4.90169352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36719347 meters 0.06839411950394406 Centerline is valid? [True, True] Translation: X:34.52, Y:2.74, Z:-0.49 [[ 9.79365997e-01 -1.99875110e-01 -2.98694611e-02 3.45212762e+01] [ 1.99822902e-01 9.79820501e-01 -4.75317474e-03 2.74208283e+00] [ 3.02167517e-02 -1.31350470e-03 9.99542507e-01 -4.90520363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39719347 meters 0.06943035704435063 Centerline is valid? [True, True] Translation: X:34.55, Y:2.75, Z:-0.49 [[ 9.79118528e-01 -2.01255691e-01 -2.86889429e-02 3.45478805e+01] [ 2.01208083e-01 9.79537878e-01 -4.56659239e-03 2.75056418e+00] [ 2.90209589e-02 -1.30121198e-03 9.99577956e-01 -4.89950645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42719347 meters 0.06939316379234754 Centerline is valid? [True, True] Translation: X:34.58, Y:2.76, Z:-0.49 [[ 9.78900969e-01 -2.02354531e-01 -2.83819891e-02 3.45757531e+01] [ 2.02308099e-01 9.79311457e-01 -4.52809879e-03 2.75820970e+00] [ 2.87110884e-02 -1.30934597e-03 9.99586894e-01 -4.89191515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45719346999999 meters 0.06893851473025056 Centerline is valid? [True, True] Translation: X:34.60, Y:2.77, Z:-0.49 [[ 9.79204465e-01 -2.01167623e-01 -2.62717035e-02 3.46026983e+01] [ 2.01127395e-01 9.79556123e-01 -4.19210183e-03 2.77083298e+00] [ 2.65779232e-02 -1.17903447e-03 9.99646049e-01 -4.88061427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.487193469999994 meters 0.06868321633112355 Centerline is valid? [True, True] Translation: X:34.63, Y:2.78, Z:-0.49 [[ 9.79392927e-01 -2.00375527e-01 -2.52812633e-02 3.46299152e+01] [ 2.00337769e-01 9.79718545e-01 -4.04354515e-03 2.78083875e+00] [ 2.55787500e-02 -1.10457236e-03 9.99672200e-01 -4.88448750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.517193469999995 meters 0.06893195608533677 Centerline is valid? [True, True] Translation: X:34.66, Y:2.79, Z:-0.49 [[ 9.79457048e-01 -2.00060477e-01 -2.52922433e-02 3.46565961e+01] [ 2.00022508e-01 9.79782940e-01 -4.04818329e-03 2.79059333e+00] [ 2.55907900e-02 -1.09399628e-03 9.99671903e-01 -4.89649515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.547193469999996 meters 0.0682530711367979 Centerline is valid? [True, True] Translation: X:34.68, Y:2.81, Z:-0.49 [[ 9.79982818e-01 -1.97378125e-01 -2.59913936e-02 3.46818358e+01] [ 1.97337026e-01 9.80326871e-01 -4.16234538e-03 2.80918980e+00] [ 2.63016174e-02 -1.05003734e-03 9.99653501e-01 -4.90371439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57719347 meters 0.06669849653909485 Centerline is valid? [True, True] Translation: X:34.71, Y:2.82, Z:-0.49 [[ 9.80442660e-01 -1.95184556e-01 -2.52027594e-02 3.47089488e+01] [ 1.95145137e-01 9.80766063e-01 -4.03809361e-03 2.82355611e+00] [ 2.55061846e-02 -9.59076684e-04 9.99674204e-01 -4.88313192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60719347 meters 0.06621399673307693 Centerline is valid? [True, True] Translation: X:34.74, Y:2.84, Z:-0.49 [[ 9.80965497e-01 -1.92429423e-01 -2.60309790e-02 3.47351881e+01] [ 1.92386324e-01 9.81310390e-01 -4.17370654e-03 2.83509719e+00] [ 2.63476141e-02 -9.13742258e-04 9.99652424e-01 -4.90087249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63719346999999 meters 0.06462091459154304 Centerline is valid? [True, True] Translation: X:34.76, Y:2.85, Z:-0.49 [[ 9.81756582e-01 -1.88265948e-01 -2.66448211e-02 3.47624391e+01] [ 1.88219202e-01 9.82117744e-01 -4.27429132e-03 2.84891621e+00] [ 2.69730551e-02 -8.18753321e-04 9.99635826e-01 -4.89639977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.667193469999994 meters 0.06312357235451081 Centerline is valid? [True, True] Translation: X:34.79, Y:2.87, Z:-0.49 [[ 9.83393559e-01 -1.79389342e-01 -2.75058642e-02 3.47891216e+01] [ 1.79336028e-01 9.83777979e-01 -4.41323393e-03 2.86683972e+00] [ 2.78513506e-02 -5.92846607e-04 9.99611900e-01 -4.93198960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.697193469999995 meters 0.06174862760984064 Centerline is valid? [True, True] Translation: X:34.82, Y:2.88, Z:-0.49 [[ 9.84188632e-01 -1.75198679e-01 -2.60415106e-02 3.48157361e+01] [ 1.75149351e-01 9.84532998e-01 -4.18104049e-03 2.88142550e+00] [ 2.63712392e-02 -4.46221159e-04 9.99652119e-01 -4.89968999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.727193469999996 meters 0.06122047952576014 Centerline is valid? [True, True] Translation: X:34.84, Y:2.89, Z:-0.49 [[ 9.84763448e-01 -1.72098489e-01 -2.49612175e-02 3.48423661e+01] [ 1.72051927e-01 9.85079690e-01 -4.01732478e-03 2.89392695e+00] [ 2.52801639e-02 -3.38510960e-04 9.99680348e-01 -4.89032045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75719347 meters 0.06090007070302086 Centerline is valid? [True, True] Translation: X:34.87, Y:2.91, Z:-0.49 [[ 9.85145636e-01 -1.69987331e-01 -2.43389220e-02 3.48692833e+01] [ 1.69942225e-01 9.85446211e-01 -3.92497689e-03 2.90845336e+00] [ 2.46518948e-02 -2.69536704e-04 9.99696060e-01 -4.86645337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78719347 meters 0.06120522239982366 Centerline is valid? [True, True] Translation: X:34.90, Y:2.91, Z:-0.49 [[ 9.84868443e-01 -1.71900213e-01 -2.20106048e-02 3.48973367e+01] [ 1.71863779e-01 9.85114326e-01 -3.55054171e-03 2.91125550e+00] [ 2.22933010e-02 -2.86009247e-04 9.99751433e-01 -4.86995725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81719346999999 meters 0.061470491444299176 Centerline is valid? [True, True] Translation: X:34.93, Y:2.91, Z:-0.49 [[ 9.84542038e-01 -1.74069794e-01 -1.94083087e-02 3.49251307e+01] [ 1.74041845e-01 9.84733274e-01 -3.13293320e-03 2.91137614e+00] [ 1.96573564e-02 -2.93353425e-04 9.99806732e-01 -4.87274079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84719346999999 meters 0.06137369774077452 Centerline is valid? [True, True] Translation: X:34.95, Y:2.91, Z:-0.48 [[ 9.84056266e-01 -1.77125099e-01 -1.61234013e-02 3.49538851e+01] [ 1.77106110e-01 9.84188303e-01 -2.60946517e-03 2.91310814e+00] [ 1.63306648e-02 -2.87692326e-04 9.99866604e-01 -4.83996426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.877193469999995 meters 0.06221007301784598 Centerline is valid? [True, True] Translation: X:34.98, Y:2.92, Z:-0.49 [[ 9.83284024e-01 -1.81251985e-01 -1.73275881e-02 3.49833356e+01] [ 1.81230721e-01 9.83436612e-01 -2.80276691e-03 2.91578942e+00] [ 1.75485916e-02 -3.84375361e-04 9.99845938e-01 -4.86142267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.907193469999996 meters 0.06268419899128985 Centerline is valid? [True, True] Translation: X:35.01, Y:2.92, Z:-0.49 [[ 9.83229724e-01 -1.81519896e-01 -1.76021754e-02 3.50103693e+01] [ 1.81497952e-01 9.83387194e-01 -2.84961610e-03 2.92212941e+00] [ 1.78270159e-02 -3.92931528e-04 9.99841009e-01 -4.88000039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93719347 meters 0.062062116894356784 Centerline is valid? [True, True] Translation: X:35.04, Y:2.94, Z:-0.49 [[ 9.83441770e-01 -1.80357544e-01 -1.77043070e-02 3.50368435e+01] [ 1.80335026e-01 9.83601048e-01 -2.87340365e-03 2.93663976e+00] [ 1.79322150e-02 -3.66881497e-04 9.99839138e-01 -4.86368852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96719347 meters 0.06238243001572978 Centerline is valid? [True, True] Translation: X:35.06, Y:2.94, Z:-0.49 [[ 9.83534605e-01 -1.79856714e-01 -1.76420811e-02 3.50644657e+01] [ 1.79834175e-01 9.83692757e-01 -2.86882313e-03 2.94297902e+00] [ 1.78703645e-02 -3.51062279e-04 9.99840251e-01 -4.88211864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99719347 meters 0.062299763554528896 Centerline is valid? [True, True] Translation: X:35.09, Y:2.95, Z:-0.49 [[ 9.83537614e-01 -1.79901069e-01 -1.70107881e-02 3.50928069e+01] [ 1.79880030e-01 9.83684652e-01 -2.77144476e-03 2.94933329e+00] [ 1.72318370e-02 -3.34080898e-04 9.99851465e-01 -4.88074404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02719346999999 meters 0.06198428351187329 Centerline is valid? [True, True] Translation: X:35.12, Y:2.96, Z:-0.49 [[ 9.83481174e-01 -1.80169843e-01 -1.74243317e-02 3.51198708e+01] [ 1.80147688e-01 9.83635457e-01 -2.84582588e-03 2.95802194e+00] [ 1.76519224e-02 -3.40136883e-04 9.99844135e-01 -4.86911907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.057193469999994 meters 0.06238329225341838 Centerline is valid? [True, True] Translation: X:35.15, Y:2.97, Z:-0.49 [[ 9.83652661e-01 -1.79132821e-01 -1.84085802e-02 3.51459929e+01] [ 1.79107890e-01 9.83824841e-01 -3.00762963e-03 2.96528685e+00] [ 1.86495836e-02 -3.38659062e-04 9.99826024e-01 -4.89195893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.087193469999995 meters 0.06333661290675358 Centerline is valid? [True, True] Translation: X:35.17, Y:2.97, Z:-0.50 [[ 9.83810989e-01 -1.77995723e-01 -2.08196978e-02 3.51729087e+01] [ 1.77963544e-01 9.84031196e-01 -3.40323519e-03 2.97123152e+00] [ 2.10929934e-02 -3.57007025e-04 9.99777454e-01 -4.96206309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11719347 meters 0.06333661290675358 Centerline is valid? [True, True] Translation: X:35.20, Y:2.98, Z:-0.50 [[ 9.83754643e-01 -1.78307039e-01 -2.08183401e-02 3.51999777e+01] [ 1.78274753e-01 9.83974834e-01 -3.41153421e-03 2.97592102e+00] [ 2.10930233e-02 -3.55271826e-04 9.99777454e-01 -4.96433081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14719347 meters 0.06253139685268284 Centerline is valid? [True, True] Translation: X:35.23, Y:2.99, Z:-0.49 [[ 9.83875588e-01 -1.77551695e-01 -2.15458546e-02 3.52272501e+01] [ 1.77516765e-01 9.84111415e-01 -3.53843959e-03 2.98517947e+00] [ 2.18317774e-02 -3.43366080e-04 9.99761599e-01 -4.94379374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17719347 meters 0.062370885669547356 Centerline is valid? [True, True] Translation: X:35.25, Y:3.00, Z:-0.50 [[ 9.84765430e-01 -1.72098182e-01 -2.48850240e-02 3.52549227e+01] [ 1.72049668e-01 9.85079770e-01 -4.09369588e-03 2.99618785e+00] [ 2.52182514e-02 -2.50129950e-04 9.99681938e-01 -4.98563425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20719346999999 meters 0.062415128946334886 Centerline is valid? [True, True] Translation: X:35.28, Y:3.01, Z:-0.50 [[ 9.85273093e-01 -1.68826142e-01 -2.71047251e-02 3.52821286e+01] [ 1.68767317e-01 9.85645830e-01 -4.45998071e-03 3.00542562e+00] [ 2.74686206e-02 -1.80092743e-04 9.99622650e-01 -5.00740009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.237193469999994 meters 0.062295229158046576 Centerline is valid? [True, True] Translation: X:35.31, Y:3.02, Z:-0.50 [[ 9.85914688e-01 -1.64642486e-01 -2.94122416e-02 3.53091876e+01] [ 1.64571256e-01 9.86353308e-01 -4.84294989e-03 3.01542610e+00] [ 2.98082171e-02 -6.56741074e-05 9.99555634e-01 -5.00214022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.267193469999995 meters 0.06284358997696168 Centerline is valid? [True, True] Translation: X:35.33, Y:3.03, Z:-0.50 [[ 9.87385332e-01 -1.55708404e-01 -2.87245492e-02 3.53339688e+01] [ 1.55636539e-01 9.87803043e-01 -4.73462232e-03 3.03003931e+00] [ 2.91114176e-02 2.04307216e-04 9.99576152e-01 -5.01892341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.297193469999996 meters 0.0629278187272323 Centerline is valid? [True, True] Translation: X:35.36, Y:3.04, Z:-0.50 [[ 9.88162485e-01 -1.50698715e-01 -2.87193552e-02 3.53616564e+01] [ 1.50624457e-01 9.88579671e-01 -4.74413781e-03 3.03866988e+00] [ 2.91063062e-02 3.62141725e-04 9.99576256e-01 -4.99780919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32719347 meters 0.06384641660351684 Centerline is valid? [True, True] Translation: X:35.39, Y:3.05, Z:-0.50 [[ 9.88844162e-01 -1.46294292e-01 -2.80214882e-02 3.53893030e+01] [ 1.46221581e-01 9.89240993e-01 -4.63765406e-03 3.04797301e+00] [ 2.83984672e-02 4.88570822e-04 9.99596563e-01 -5.01241965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35719347 meters 0.06581421536613466 Centerline is valid? [True, True] Translation: X:35.42, Y:3.06, Z:-0.50 [[ 9.89948102e-01 -1.38507191e-01 -2.86096802e-02 3.54169238e+01] [ 1.38428112e-01 9.90361160e-01 -4.73599808e-03 3.05939810e+00] [ 2.89898859e-02 7.28008298e-04 9.99579440e-01 -5.01987444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38719346999999 meters 0.06664372505672396 Centerline is valid? [True, True] Translation: X:35.44, Y:3.06, Z:-0.50 [[ 9.90132492e-01 -1.36892058e-01 -2.99702049e-02 3.54441695e+01] [ 1.36804435e-01 9.90585635e-01 -4.96459553e-03 3.06322945e+00] [ 3.03676681e-02 8.15550403e-04 9.99538463e-01 -5.03899216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.417193469999994 meters 0.06668899183367999 Centerline is valid? [True, True] Translation: X:35.47, Y:3.06, Z:-0.50 [[ 9.90102727e-01 -1.36723528e-01 -3.16743784e-02 3.54731833e+01] [ 1.36625194e-01 9.90608855e-01 -5.25850485e-03 3.06395634e+00] [ 3.20958810e-02 8.78941898e-04 9.99484408e-01 -5.04163894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.447193469999995 meters 0.06595924933865475 Centerline is valid? [True, True] Translation: X:35.50, Y:3.06, Z:-0.50 [[ 9.89940083e-01 -1.37589574e-01 -3.29809082e-02 3.55025561e+01] [ 1.37483076e-01 9.90488922e-01 -5.48623425e-03 3.06082917e+00] [ 3.34220729e-02 8.96726471e-04 9.99440924e-01 -5.03531009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.477193469999996 meters 0.06562445601547806 Centerline is valid? [True, True] Translation: X:35.53, Y:3.05, Z:-0.51 [[ 9.89249460e-01 -1.42480881e-01 -3.29348525e-02 3.55321313e+01] [ 1.42377317e-01 9.89797283e-01 -5.48066885e-03 3.05367304e+00] [ 3.33797181e-02 7.32572764e-04 9.99442473e-01 -5.06892939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50719347 meters 0.06530132044895762 Centerline is valid? [True, True] Translation: X:35.56, Y:3.05, Z:-0.51 [[ 9.88728077e-01 -1.45752111e-01 -3.42507158e-02 3.55611244e+01] [ 1.45641573e-01 9.89320921e-01 -5.71375163e-03 3.05236680e+00] [ 3.47177411e-02 6.61018522e-04 9.99396939e-01 -5.07852834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53719347 meters 0.06460854452712997 Centerline is valid? [True, True] Translation: X:35.59, Y:3.05, Z:-0.51 [[ 9.88271737e-01 -1.48775523e-01 -3.44211881e-02 3.55908483e+01] [ 1.48665341e-01 9.88870831e-01 -5.75287176e-03 3.05026464e+00] [ 3.48939954e-02 5.68162892e-04 9.99390858e-01 -5.06639065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56719346999999 meters 0.06445790336740925 Centerline is valid? [True, True] Translation: X:35.62, Y:3.04, Z:-0.51 [[ 9.87865760e-01 -1.51530226e-01 -3.40562888e-02 3.56199443e+01] [ 1.51423927e-01 9.88452514e-01 -5.69408513e-03 3.04339639e+00] [ 3.45258503e-02 4.68054736e-04 9.99403696e-01 -5.08320362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59719346999999 meters 0.06435259171681051 Centerline is valid? [True, True] Translation: X:35.65, Y:3.04, Z:-0.51 [[ 9.87706507e-01 -1.52244493e-01 -3.54608407e-02 3.56488009e+01] [ 1.52129240e-01 9.88342749e-01 -5.94177613e-03 3.04340067e+00] [ 3.59520675e-02 4.74100193e-04 9.99353403e-01 -5.08059675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.627193469999995 meters 0.06479168673780954 Centerline is valid? [True, True] Translation: X:35.68, Y:3.05, Z:-0.51 [[ 9.87692427e-01 -1.52191327e-01 -3.60758764e-02 3.56770739e+01] [ 1.52071919e-01 9.88350931e-01 -6.04716391e-03 3.04562957e+00] [ 3.65759519e-02 4.86610242e-04 9.99330758e-01 -5.09980866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.657193469999996 meters 0.06554674824632141 Centerline is valid? [True, True] Translation: X:35.70, Y:3.05, Z:-0.51 [[ 9.87887674e-01 -1.51061660e-01 -3.54727753e-02 3.57044123e+01] [ 1.50945344e-01 9.88524203e-01 -5.94999658e-03 3.04981674e+00] [ 3.59645133e-02 5.23478026e-04 9.99352931e-01 -5.14138020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68719347 meters 0.06434265647315218 Centerline is valid? [True, True] Translation: X:35.73, Y:3.04, Z:-0.51 [[ 9.87462082e-01 -1.54228309e-01 -3.36491541e-02 3.57345859e+01] [ 1.54125390e-01 9.88035160e-01 -5.64690486e-03 3.04480774e+00] [ 3.41174600e-02 3.89915446e-04 9.99417754e-01 -5.09821735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71719347 meters 0.06396781046362511 Centerline is valid? [True, True] Translation: X:35.76, Y:3.04, Z:-0.51 [[ 9.87175964e-01 -1.56434517e-01 -3.18097143e-02 3.57645421e+01] [ 1.56343350e-01 9.87688285e-01 -5.34876268e-03 3.04375271e+00] [ 3.22548133e-02 3.06932651e-04 9.99479631e-01 -5.09113644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74719347 meters 0.06354667976082348 Centerline is valid? [True, True] Translation: X:35.79, Y:3.04, Z:-0.51 [[ 9.86719761e-01 -1.59586816e-01 -3.02681539e-02 3.57937785e+01] [ 1.59505468e-01 9.87183877e-01 -5.09889055e-03 3.04252468e+00] [ 3.06939492e-02 2.03240007e-04 9.99528809e-01 -5.08214609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77719346999999 meters 0.0632285267085618 Centerline is valid? [True, True] Translation: X:35.82, Y:3.04, Z:-0.51 [[ 9.86259876e-01 -1.62691320e-01 -2.86878092e-02 3.58235977e+01] [ 1.62619305e-01 9.86677010e-01 -4.84141673e-03 3.04031409e+00] [ 2.90932583e-02 1.09703475e-04 9.99576696e-01 -5.07324129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.807193469999994 meters 0.06266532509192048 Centerline is valid? [True, True] Translation: X:35.85, Y:3.03, Z:-0.50 [[ 9.85645883e-01 -1.67028993e-01 -2.45664254e-02 3.58541636e+01] [ 1.66977544e-01 9.85951984e-01 -4.14543827e-03 3.03030525e+00] [ 2.49137243e-02 -1.61072101e-05 9.99689605e-01 -5.04279914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.837193469999995 meters 0.06237033451129316 Centerline is valid? [True, True] Translation: X:35.88, Y:3.03, Z:-0.50 [[ 9.85367598e-01 -1.68859782e-01 -2.31747746e-02 3.58833067e+01] [ 1.68814287e-01 9.85640082e-01 -3.91977714e-03 3.02868148e+00] [ 2.35038795e-02 -4.98116761e-05 9.99723744e-01 -5.01187952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86719347 meters 0.06226520071970835 Centerline is valid? [True, True] Translation: X:35.91, Y:3.03, Z:-0.50 [[ 9.85125648e-01 -1.70151259e-01 -2.40001497e-02 3.59121030e+01] [ 1.70102661e-01 9.85417954e-01 -4.06713904e-03 3.02904508e+00] [ 2.43422073e-02 -7.58463424e-05 9.99703682e-01 -4.99686196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89719347 meters 0.06265223984105474 Centerline is valid? [True, True] Translation: X:35.94, Y:3.03, Z:-0.50 [[ 9.85037465e-01 -1.70659381e-01 -2.40118401e-02 3.59395812e+01] [ 1.70610825e-01 9.85330081e-01 -4.07161942e-03 3.02771315e+00] [ 2.43544484e-02 -8.59821699e-05 9.99703383e-01 -5.03799953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92719347 meters 0.06328670419821604 Centerline is valid? [True, True] Translation: X:35.97, Y:3.03, Z:-0.51 [[ 9.84950661e-01 -1.71028030e-01 -2.49320793e-02 3.59676232e+01] [ 1.70975743e-01 9.85266159e-01 -4.22984791e-03 3.02914455e+00] [ 2.52881566e-02 -9.65892825e-05 9.99680199e-01 -5.08850485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95719346999999 meters 0.06334556872004095 Centerline is valid? [True, True] Translation: X:36.00, Y:3.03, Z:-0.51 [[ 9.84882319e-01 -1.70899221e-01 -2.82891005e-02 3.59976529e+01] [ 1.70831832e-01 9.85288509e-01 -4.79999755e-03 3.03087068e+00] [ 2.86932415e-02 -1.05246146e-04 9.99588259e-01 -5.06613812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.987193469999994 meters 0.06444788006094299 Centerline is valid? [True, True] Translation: X:36.03, Y:3.03, Z:-0.51 [[ 9.84497146e-01 -1.71702609e-01 -3.58271461e-02 3.60288036e+01] [ 1.71595035e-01 9.85148815e-01 -6.07918121e-03 3.02517187e+00] [ 3.63388818e-02 -1.62823843e-04 9.99339511e-01 -5.13323237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.017193469999995 meters 0.06530615196105474 Centerline is valid? [True, True] Translation: X:36.06, Y:3.03, Z:-0.52 [[ 9.84477636e-01 -1.71056129e-01 -3.92884978e-02 3.60573952e+01] [ 1.70926120e-01 9.85261274e-01 -6.66954588e-03 3.02774832e+00] [ 3.98503022e-02 -1.49411748e-04 9.99205650e-01 -5.18878656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.047193469999996 meters 0.06540935283051612 Centerline is valid? [True, True] Translation: X:36.09, Y:3.03, Z:-0.52 [[ 9.84505971e-01 -1.70411952e-01 -4.13250525e-02 3.60853984e+01] [ 1.70266930e-01 9.85372901e-01 -7.02988165e-03 3.03371051e+00] [ 4.19185627e-02 -1.15329369e-04 9.99121024e-01 -5.20024691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07719347 meters 0.06618796542783235 Centerline is valid? [True, True] Translation: X:36.11, Y:3.04, Z:-0.52 [[ 9.84338891e-01 -1.71812722e-01 -3.94631065e-02 3.61134102e+01] [ 1.71681127e-01 9.85129618e-01 -6.72504308e-03 3.03771431e+00] [ 4.00317230e-02 -1.55349162e-04 9.99198397e-01 -5.23628680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10719347 meters 0.06532576824229568 Centerline is valid? [True, True] Translation: X:36.14, Y:3.04, Z:-0.52 [[ 9.83908730e-01 -1.74470112e-01 -3.85200174e-02 3.61428470e+01] [ 1.74346306e-01 9.84662440e-01 -6.57616124e-03 3.03867526e+00] [ 3.90765579e-02 -2.45480264e-04 9.99236189e-01 -5.16877765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13719346999999 meters 0.06554001739969623 Centerline is valid? [True, True] Translation: X:36.17, Y:3.04, Z:-0.51 [[ 9.83156822e-01 -1.78796668e-01 -3.78736786e-02 3.61715293e+01] [ 1.78679657e-01 9.83885966e-01 -6.47966061e-03 3.03646650e+00] [ 3.84219226e-02 -3.96733366e-04 9.99261527e-01 -5.14704392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.167193469999994 meters 0.06711430491278525 Centerline is valid? [True, True] Translation: X:36.20, Y:3.03, Z:-0.51 [[ 9.80875826e-01 -1.91698237e-01 -3.36808552e-02 3.62021562e+01] [ 1.91612936e-01 9.81453595e-01 -5.77263673e-03 3.02626397e+00] [ 3.41628007e-02 -7.91447714e-04 9.99415968e-01 -5.11547998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.197193469999995 meters 0.06882979893804249 Centerline is valid? [True, True] Translation: X:36.23, Y:3.03, Z:-0.51 [[ 9.79726875e-01 -1.97782783e-01 -3.18939130e-02 3.62302686e+01] [ 1.97709448e-01 9.80245414e-01 -5.46832756e-03 3.02517589e+00] [ 3.23454030e-02 -9.48260446e-04 9.99476301e-01 -5.11443259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.227193469999996 meters 0.0699661726546864 Centerline is valid? [True, True] Translation: X:36.26, Y:3.03, Z:-0.51 [[ 9.78909836e-01 -2.02047454e-01 -3.02052949e-02 3.62589990e+01] [ 2.01983381e-01 9.79375201e-01 -5.18941085e-03 3.02736517e+00] [ 3.06308240e-02 -1.02100226e-03 9.99530245e-01 -5.09895224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25719347 meters 0.0701921273159865 Centerline is valid? [True, True] Translation: X:36.29, Y:3.03, Z:-0.51 [[ 9.78853139e-01 -2.02561532e-01 -2.85544886e-02 3.62859712e+01] [ 2.02504445e-01 9.79269048e-01 -4.90737054e-03 3.03465648e+00] [ 2.89565714e-02 -9.78815813e-04 9.99580191e-01 -5.09583395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28719347 meters 0.06752499935273912 Centerline is valid? [True, True] Translation: X:36.31, Y:3.05, Z:-0.51 [[ 9.79163407e-01 -2.00733621e-01 -3.07414482e-02 3.63127249e+01] [ 2.00666190e-01 9.79645367e-01 -5.29486907e-03 3.04861413e+00] [ 3.11785756e-02 -9.84227246e-04 9.99513345e-01 -5.06279578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31719346999999 meters 0.06781944508476875 Centerline is valid? [True, True] Translation: X:36.34, Y:3.06, Z:-0.51 [[ 9.79738527e-01 -1.97724557e-01 -3.18970106e-02 3.63395234e+01] [ 1.97650307e-01 9.80257187e-01 -5.49573768e-03 3.05626749e+00] [ 3.23539162e-02 -9.20067987e-04 9.99476052e-01 -5.10827304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34719346999999 meters 0.0679663507941212 Centerline is valid? [True, True] Translation: X:36.37, Y:3.06, Z:-0.52 [[ 9.80282141e-01 -1.94762938e-01 -3.33814557e-02 3.63661286e+01] [ 1.94679778e-01 9.80849970e-01 -5.75506101e-03 3.06474844e+00] [ 3.38630724e-02 -8.57110858e-04 9.99426114e-01 -5.15008983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.377193469999995 meters 0.0659154056471724 Centerline is valid? [True, True] Translation: X:36.39, Y:3.09, Z:-0.52 [[ 9.81818243e-01 -1.86206171e-01 -3.68808806e-02 3.63915890e+01] [ 1.86098133e-01 9.82510505e-01 -6.37123860e-03 3.08544009e+00] [ 3.74222165e-02 -6.08064735e-04 9.99299359e-01 -5.16316920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.407193469999996 meters 0.06570165051458592 Centerline is valid? [True, True] Translation: X:36.42, Y:3.10, Z:-0.52 [[ 9.82547013e-01 -1.81847373e-01 -3.91522797e-02 3.64177895e+01] [ 1.81722052e-01 9.83326657e-01 -6.76612961e-03 3.09729541e+00] [ 3.97298832e-02 -4.66792188e-04 9.99210347e-01 -5.18331798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43719347 meters 0.06557505589662813 Centerline is valid? [True, True] Translation: X:36.44, Y:3.11, Z:-0.52 [[ 9.83129550e-01 -1.78531741e-01 -3.97832192e-02 3.64444865e+01] [ 1.78398991e-01 9.83934100e-01 -6.89103674e-03 3.10783492e+00] [ 4.03743348e-02 -3.22504325e-04 9.99184572e-01 -5.19555567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46719347 meters 0.06532306269413338 Centerline is valid? [True, True] Translation: X:36.47, Y:3.12, Z:-0.52 [[ 9.83861319e-01 -1.74100365e-01 -4.13033746e-02 3.64720940e+01] [ 1.73952833e-01 9.84727904e-01 -7.16705422e-03 3.11928030e+00] [ 4.19203723e-02 -1.33451622e-04 9.99120946e-01 -5.18816424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49719347 meters 0.06559600807104622 Centerline is valid? [True, True] Translation: X:36.50, Y:3.12, Z:-0.52 [[ 9.84084486e-01 -1.73143306e-01 -3.99890041e-02 3.65000657e+01] [ 1.73003718e-01 9.84896639e-01 -6.95154316e-03 3.12406677e+00] [ 4.05886489e-02 -7.73406109e-05 9.99175938e-01 -5.21434934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52719346999999 meters 0.06484532295334507 Centerline is valid? [True, True] Translation: X:36.53, Y:3.13, Z:-0.52 [[ 9.84325075e-01 -1.72309951e-01 -3.75955786e-02 3.65284068e+01] [ 1.72185907e-01 9.85042780e-01 -6.53714305e-03 3.12858172e+00] [ 3.81596681e-02 -3.87549779e-05 9.99271654e-01 -5.17077704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.557193469999994 meters 0.063994275518148 Centerline is valid? [True, True] Translation: X:36.56, Y:3.14, Z:-0.51 [[ 9.85123088e-01 -1.68735708e-01 -3.25693492e-02 3.65575204e+01] [ 1.68640618e-01 9.85661328e-01 -5.66470154e-03 3.13831391e+00] [ 3.30581854e-02 8.79131115e-05 9.99453425e-01 -5.13016416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.587193469999995 meters 0.0639067003918555 Centerline is valid? [True, True] Translation: X:36.58, Y:3.15, Z:-0.51 [[ 9.85838798e-01 -1.65059480e-01 -2.96181088e-02 3.65848627e+01] [ 1.64979098e-01 9.86283595e-01 -5.15436246e-03 3.14794460e+00] [ 3.00626312e-02 1.95001626e-04 9.99547998e-01 -5.11703286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61719347 meters 0.06417674083277429 Centerline is valid? [True, True] Translation: X:36.61, Y:3.16, Z:-0.51 [[ 9.86773620e-01 -1.59914636e-01 -2.65543368e-02 3.66127109e+01] [ 1.59847909e-01 9.87130794e-01 -4.63056667e-03 3.15933005e+00] [ 2.69530989e-02 3.24665826e-04 9.99636647e-01 -5.09667312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64719347 meters 0.06643463496792905 Centerline is valid? [True, True] Translation: X:36.64, Y:3.17, Z:-0.51 [[ 9.88832532e-01 -1.46717406e-01 -2.61577115e-02 3.66403643e+01] [ 1.46648069e-01 9.89178219e-01 -4.56006490e-03 3.17429217e+00] [ 2.65436794e-02 6.73162625e-04 9.99647428e-01 -5.07885644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67719347 meters 0.06712253783434793 Centerline is valid? [True, True] Translation: X:36.67, Y:3.18, Z:-0.51 [[ 9.89565345e-01 -1.41661847e-01 -2.63125130e-02 3.66693433e+01] [ 1.41589816e-01 9.89914771e-01 -4.59023032e-03 3.17930498e+00] [ 2.66974058e-02 8.16748988e-04 9.99643227e-01 -5.07204479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70719346999999 meters 0.06842818609709415 Centerline is valid? [True, True] Translation: X:36.70, Y:3.19, Z:-0.51 [[ 9.90185033e-01 -1.37478220e-01 -2.51662490e-02 3.66978334e+01] [ 1.37410725e-01 9.90504382e-01 -4.40017941e-03 3.18523189e+00] [ 2.55322087e-02 8.98879278e-04 9.99673596e-01 -5.07941261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.737193469999994 meters 0.06970198617474284 Centerline is valid? [True, True] Translation: X:36.73, Y:3.19, Z:-0.51 [[ 9.90849242e-01 -1.33002902e-01 -2.29784079e-02 3.67259177e+01] [ 1.32945404e-01 9.91115214e-01 -4.01884828e-03 3.18974834e+00] [ 2.33087681e-02 9.27199043e-04 9.99727884e-01 -5.07983693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.767193469999995 meters 0.07117397740662768 Centerline is valid? [True, True] Translation: X:36.75, Y:3.20, Z:-0.51 [[ 9.90981483e-01 -1.31707062e-01 -2.46768989e-02 3.67532704e+01] [ 1.31640297e-01 9.91288146e-01 -4.31789185e-03 3.19593345e+00] [ 2.50306142e-02 1.03047656e-03 9.99686154e-01 -5.11632015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.797193469999996 meters 0.07154281177800463 Centerline is valid? [True, True] Translation: X:36.78, Y:3.20, Z:-0.51 [[ 9.91137787e-01 -1.30144772e-01 -2.66124938e-02 3.67824765e+01] [ 1.30066516e-01 9.91494328e-01 -4.65811994e-03 3.19749371e+00] [ 2.69923666e-02 1.15544433e-03 9.99634972e-01 -5.13735218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82719347 meters 0.07245478533857114 Centerline is valid? [True, True] Translation: X:36.81, Y:3.20, Z:-0.52 [[ 9.91283073e-01 -1.28072681e-01 -3.09072464e-02 3.68128233e+01] [ 1.27966106e-01 9.91763786e-01 -5.41010666e-03 3.19740845e+00] [ 3.13455746e-02 1.40786718e-03 9.99507615e-01 -5.16233966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85719347 meters 0.07864329974604792 Centerline is valid? [True, True] Translation: X:36.84, Y:3.20, Z:-0.53 [[ 9.91685877e-01 -1.24727107e-01 -3.16586443e-02 3.68413243e+01] [ 1.24613474e-01 9.92189868e-01 -5.54505149e-03 3.19688599e+00] [ 3.21030044e-02 1.55385559e-03 9.99483358e-01 -5.25301785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88719346999999 meters 0.07446274036389855 Centerline is valid? [True, True] Translation: X:36.87, Y:3.19, Z:-0.52 [[ 9.91829386e-01 -1.23896721e-01 -3.03985400e-02 3.68711852e+01] [ 1.23791163e-01 9.92293938e-01 -5.33748727e-03 3.18618131e+00] [ 3.08255842e-02 1.53080609e-03 9.99523607e-01 -5.17493263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.917193469999994 meters 0.07548005713037413 Centerline is valid? [True, True] Translation: X:36.90, Y:3.19, Z:-0.52 [[ 9.92038616e-01 -1.22362741e-01 -2.97782307e-02 3.68990540e+01] [ 1.22260719e-01 9.92484239e-01 -5.22990117e-03 3.18615525e+00] [ 3.01943696e-02 1.54755602e-03 9.99542848e-01 -5.18180359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.947193469999995 meters 0.07568383461943065 Centerline is valid? [True, True] Translation: X:36.93, Y:3.18, Z:-0.52 [[ 9.92554613e-01 -1.18177857e-01 -2.94844658e-02 3.69311965e+01] [ 1.18076024e-01 9.92991061e-01 -5.17741847e-03 3.18006115e+00] [ 2.98896672e-02 1.65746209e-03 9.99551830e-01 -5.16262377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.977193469999996 meters 0.07809861274548306 Centerline is valid? [True, True] Translation: X:36.96, Y:3.18, Z:-0.52 [[ 9.92705655e-01 -1.16639659e-01 -3.05069303e-02 3.69594789e+01] [ 1.16529807e-01 9.93172729e-01 -5.36039965e-03 3.18177954e+00] [ 3.09238864e-02 1.76633233e-03 9.99520182e-01 -5.19552410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00719347 meters 0.07810702613063501 Centerline is valid? [True, True] Translation: X:36.99, Y:3.18, Z:-0.52 [[ 9.92581370e-01 -1.17627810e-01 -3.07558620e-02 3.69899842e+01] [ 1.17516316e-01 9.93056193e-01 -5.41424236e-03 3.17728073e+00] [ 3.11791647e-02 1.75976050e-03 9.99512263e-01 -5.20483524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03719347 meters 0.07810702613063501 Centerline is valid? [True, True] Translation: X:37.02, Y:3.18, Z:-0.52 [[ 9.92542049e-01 -1.17959630e-01 -3.07539601e-02 3.70170801e+01] [ 1.17847961e-01 9.93016831e-01 -5.42503810e-03 3.18230201e+00] [ 3.11791355e-02 1.76028695e-03 9.99512263e-01 -5.20710869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06719346999999 meters 0.07284246041058542 Centerline is valid? [True, True] Translation: X:37.05, Y:3.15, Z:-0.52 [[ 9.91350806e-01 -1.27760649e-01 -3.00132476e-02 3.70531257e+01] [ 1.27658841e-01 9.91804020e-01 -5.29203035e-03 3.15324296e+00] [ 3.04433729e-02 1.41480216e-03 9.99535492e-01 -5.18694233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09719346999999 meters 0.07064593509274372 Centerline is valid? [True, True] Translation: X:37.09, Y:3.14, Z:-0.52 [[ 9.90571591e-01 -1.34381607e-01 -2.66365728e-02 3.70852678e+01] [ 1.34303777e-01 9.90929072e-01 -4.69787621e-03 3.14249684e+00] [ 2.70262626e-02 1.07619039e-03 9.99634145e-01 -5.17259045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.127193469999995 meters 0.06881072069319884 Centerline is valid? [True, True] Translation: X:37.12, Y:3.13, Z:-0.52 [[ 9.89927679e-01 -1.39465755e-01 -2.43411924e-02 3.71173313e+01] [ 1.39402287e-01 9.90226524e-01 -4.29343935e-03 3.13293100e+00] [ 2.47020821e-02 8.56976562e-04 9.99694490e-01 -5.15308781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.157193469999996 meters 0.06680516054465332 Centerline is valid? [True, True] Translation: X:37.15, Y:3.12, Z:-0.51 [[ 9.89264075e-01 -1.44280420e-01 -2.32325383e-02 3.71501103e+01] [ 1.44223916e-01 9.89536591e-01 -4.09842697e-03 3.12192623e+00] [ 2.35807695e-02 7.03738927e-04 9.99721687e-01 -5.13806115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18719347 meters 0.06575814814561143 Centerline is valid? [True, True] Translation: X:37.18, Y:3.10, Z:-0.52 [[ 9.88259897e-01 -1.50855596e-01 -2.41860527e-02 3.71824381e+01] [ 1.50796275e-01 9.88555645e-01 -4.26858629e-03 3.10282827e+00] [ 2.45531991e-02 5.71306000e-04 9.99698362e-01 -5.16342563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21719347 meters 0.06564048739110288 Centerline is valid? [True, True] Translation: X:37.21, Y:3.10, Z:-0.52 [[ 9.87988753e-01 -1.52586080e-01 -2.44072207e-02 3.72112877e+01] [ 1.52526124e-01 9.88290039e-01 -4.31053072e-03 3.09818458e+00] [ 2.47791401e-02 5.36017099e-04 9.99692806e-01 -5.17512870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24719347 meters 0.06556511203280836 Centerline is valid? [True, True] Translation: X:37.24, Y:3.10, Z:-0.52 [[ 9.87830566e-01 -1.53442599e-01 -2.54193197e-02 3.72405998e+01] [ 1.53377781e-01 9.88157416e-01 -4.49189879e-03 3.09519852e+00] [ 2.58075379e-02 5.38476055e-04 9.99666785e-01 -5.19173391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27719346999999 meters 0.06655870683033 Centerline is valid? [True, True] Translation: X:37.27, Y:3.09, Z:-0.52 [[ 9.88029120e-01 -1.51109121e-01 -3.10562777e-02 3.72723750e+01] [ 1.51011204e-01 9.88516817e-01 -5.48812669e-03 3.08827953e+00] [ 3.15289588e-02 7.32583099e-04 9.99502570e-01 -5.24826008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.307193469999994 meters 0.06653370332730199 Centerline is valid? [True, True] Translation: X:37.30, Y:3.09, Z:-0.53 [[ 9.88048402e-01 -1.50555452e-01 -3.30667553e-02 3.73017667e+01] [ 1.50443714e-01 9.88601233e-01 -5.85587348e-03 3.08649508e+00] [ 3.35714687e-02 8.11200974e-04 9.99435990e-01 -5.25358205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.337193469999995 meters 0.06702841443215744 Centerline is valid? [True, True] Translation: X:37.33, Y:3.09, Z:-0.53 [[ 9.88310012e-01 -1.48728316e-01 -3.35143028e-02 3.73312359e+01] [ 1.48612127e-01 9.88877690e-01 -5.94552382e-03 3.08621742e+00] [ 3.40258141e-02 8.95388882e-04 9.99420553e-01 -5.26316290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36719347 meters 0.06737610377847768 Centerline is valid? [True, True] Translation: X:37.36, Y:3.08, Z:-0.53 [[ 9.88570340e-01 -1.47308743e-01 -3.20751806e-02 3.73604038e+01] [ 1.47201510e-01 9.89090144e-01 -5.69222014e-03 3.08225057e+00] [ 3.25637588e-02 9.05644971e-04 9.99469250e-01 -5.27188041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39719347 meters 0.06862573675285963 Centerline is valid? [True, True] Translation: X:37.39, Y:3.09, Z:-0.53 [[ 9.88677065e-01 -1.46942416e-01 -3.04234869e-02 3.73877463e+01] [ 1.46845671e-01 9.89144662e-01 -5.40237329e-03 3.08590187e+00] [ 3.08870674e-02 8.73645213e-04 9.99522499e-01 -5.30414923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42719347 meters 0.06728839082683757 Centerline is valid? [True, True] Translation: X:37.42, Y:3.08, Z:-0.52 [[ 9.89058504e-01 -1.45500909e-01 -2.43466720e-02 3.74198157e+01] [ 1.45438523e-01 9.89357845e-01 -4.32328801e-03 3.07777390e+00] [ 2.47166133e-02 7.35040761e-04 9.99694228e-01 -5.21042155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45719346999999 meters 0.06732961407939918 Centerline is valid? [True, True] Translation: X:37.45, Y:3.08, Z:-0.52 [[ 9.89231627e-01 -1.44807157e-01 -2.12526672e-02 3.74488076e+01] [ 1.44759280e-01 9.89459673e-01 -3.78230534e-03 3.07785050e+00] [ 2.15763620e-02 6.65055259e-04 9.99766982e-01 -5.18273901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.487193469999994 meters 0.06694031351225217 Centerline is valid? [True, True] Translation: X:37.48, Y:3.08, Z:-0.52 [[ 9.89397981e-01 -1.43840280e-01 -2.00401843e-02 3.74772114e+01] [ 1.43797362e-01 9.89600700e-01 -3.57389949e-03 3.07749466e+00] [ 2.03458512e-02 6.54283296e-04 9.99792788e-01 -5.15685800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.517193469999995 meters 0.06637772676605562 Centerline is valid? [True, True] Translation: X:37.51, Y:3.07, Z:-0.51 [[ 9.89494889e-01 -1.43527623e-01 -1.73114279e-02 3.75074386e+01] [ 1.43495456e-01 9.89646144e-01 -3.09264822e-03 3.07210121e+00] [ 1.75760684e-02 5.76048363e-04 9.99845363e-01 -5.13254569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.547193469999996 meters 0.06584035743550733 Centerline is valid? [True, True] Translation: X:37.54, Y:3.07, Z:-0.51 [[ 9.89380857e-01 -1.44430234e-01 -1.62919277e-02 3.75368482e+01] [ 1.44401780e-01 9.89514843e-01 -2.91575435e-03 3.07011638e+00] [ 1.65422274e-02 5.32208180e-04 9.99863026e-01 -5.11904653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57719347 meters 0.06538261175382455 Centerline is valid? [True, True] Translation: X:37.57, Y:3.07, Z:-0.51 [[ 9.89122670e-01 -1.46238872e-01 -1.58283315e-02 3.75669019e+01] [ 1.46212166e-01 9.89249185e-01 -2.83775095e-03 3.06800642e+00] [ 1.60731535e-02 4.92589164e-04 9.99870697e-01 -5.11765823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60719347 meters 0.06491564077220377 Centerline is valid? [True, True] Translation: X:37.60, Y:3.07, Z:-0.51 [[ 9.88629128e-01 -1.49500070e-01 -1.61918585e-02 3.75968050e+01] [ 1.49472479e-01 9.88761610e-01 -2.90784420e-03 3.06533023e+00] [ 1.64446110e-02 4.54542242e-04 9.99864675e-01 -5.13833193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63719346999999 meters 0.06416961772177987 Centerline is valid? [True, True] Translation: X:37.63, Y:3.06, Z:-0.52 [[ 9.87542207e-01 -1.56094311e-01 -1.98734874e-02 3.76274860e+01] [ 1.56053966e-01 9.87742063e-01 -3.57451763e-03 3.05628806e+00] [ 2.01878413e-02 4.28650489e-04 9.99796113e-01 -5.18632416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.667193469999994 meters 0.0639903513728421 Centerline is valid? [True, True] Translation: X:37.66, Y:3.05, Z:-0.52 [[ 9.87128821e-01 -1.58592556e-01 -2.06177598e-02 3.76566021e+01] [ 1.58549548e-01 9.87344035e-01 -3.71451267e-03 3.05480422e+00] [ 2.09459162e-02 3.97766011e-04 9.99780531e-01 -5.19354528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.697193469999995 meters 0.06388199412697379 Centerline is valid? [True, True] Translation: X:37.69, Y:3.05, Z:-0.52 [[ 9.86820056e-01 -1.60409084e-01 -2.13331466e-02 3.76858093e+01] [ 1.60363299e-01 9.87050547e-01 -3.85103939e-03 3.05320077e+00] [ 2.16746357e-02 3.79229140e-04 9.99765006e-01 -5.18743004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.727193469999996 meters 0.06382076604533753 Centerline is valid? [True, True] Translation: X:37.72, Y:3.05, Z:-0.52 [[ 9.86609182e-01 -1.61592245e-01 -2.21420085e-02 3.77155808e+01] [ 1.61543080e-01 9.86857542e-01 -4.00322311e-03 3.05146253e+00] [ 2.24978979e-02 3.72728416e-04 9.99746821e-01 -5.18121178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75719347 meters 0.06356776599433436 Centerline is valid? [True, True] Translation: X:37.75, Y:3.05, Z:-0.52 [[ 9.86141304e-01 -1.64391081e-01 -2.23807973e-02 3.77450720e+01] [ 1.64341553e-01 9.86395192e-01 -4.04717161e-03 3.04617257e+00] [ 2.27416297e-02 3.12988123e-04 9.99741327e-01 -5.18770178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78719347 meters 0.06300037539079388 Centerline is valid? [True, True] Translation: X:37.77, Y:3.05, Z:-0.52 [[ 9.85736893e-01 -1.66762134e-01 -2.26532328e-02 3.77742238e+01] [ 1.66711819e-01 9.85997118e-01 -4.10509435e-03 3.04683432e+00] [ 2.30205965e-02 2.69981307e-04 9.99734954e-01 -5.17537077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81719346999999 meters 0.06328675903149893 Centerline is valid? [True, True] Translation: X:37.80, Y:3.05, Z:-0.52 [[ 9.85197945e-01 -1.69885460e-01 -2.28897417e-02 3.78024261e+01] [ 1.69834911e-01 9.85463795e-01 -4.14880995e-03 3.04874490e+00] [ 2.32618342e-02 1.99921803e-04 9.99729387e-01 -5.22309620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84719346999999 meters 0.06320043045772579 Centerline is valid? [True, True] Translation: X:37.83, Y:3.04, Z:-0.52 [[ 9.83073208e-01 -1.81554229e-01 -2.45993767e-02 3.78330050e+01] [ 1.81499264e-01 9.83380932e-01 -4.46772664e-03 3.03993423e+00] [ 2.50016927e-02 -7.26664138e-05 9.99687406e-01 -5.21625994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.877193469999995 meters 0.06361051371224945 Centerline is valid? [True, True] Translation: X:37.86, Y:3.04, Z:-0.52 [[ 9.81866946e-01 -1.88179373e-01 -2.29308371e-02 3.78614586e+01] [ 1.88133352e-01 9.82134652e-01 -4.16745365e-03 3.03680720e+00] [ 2.33053985e-02 -2.22170257e-04 9.99728368e-01 -5.19643029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.907193469999996 meters 0.06421564497953682 Centerline is valid? [True, True] Translation: X:37.89, Y:3.03, Z:-0.52 [[ 9.80416220e-01 -1.95756640e-01 -2.15261216e-02 3.78916317e+01] [ 1.95717732e-01 9.80652437e-01 -3.92021201e-03 3.03404281e+00] [ 2.18770512e-02 -3.69604270e-04 9.99760600e-01 -5.15326521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93719347 meters 0.06657762258031333 Centerline is valid? [True, True] Translation: X:37.92, Y:3.03, Z:-0.51 [[ 9.77940622e-01 -2.07977381e-01 -1.94306181e-02 3.79235847e+01] [ 2.07948110e-01 9.78133463e-01 -3.53727166e-03 3.02501882e+00] [ 1.97414102e-02 -5.81318653e-04 9.99804950e-01 -5.09128019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96719347 meters 0.06779320495031363 Centerline is valid? [True, True] Translation: X:37.95, Y:3.03, Z:-0.51 [[ 9.77053108e-01 -2.12031192e-01 -2.02484086e-02 3.79530397e+01] [ 2.12000254e-01 9.77262655e-01 -3.68711631e-03 3.02846668e+00] [ 2.05697972e-02 -6.90159321e-04 9.99788181e-01 -5.09541955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99719347 meters 0.0681979936368981 Centerline is valid? [True, True] Translation: X:37.98, Y:3.04, Z:-0.51 [[ 9.76441271e-01 -2.14757151e-01 -2.10192640e-02 3.79812066e+01] [ 2.14724409e-01 9.76667173e-01 -3.82909841e-03 3.03667639e+00] [ 2.13511514e-02 -7.74459303e-04 9.99771738e-01 -5.10964416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02719346999999 meters 0.0694195225242197 Centerline is valid? [True, True] Translation: X:38.01, Y:3.04, Z:-0.51 [[ 9.75970252e-01 -2.16945963e-01 -2.04087537e-02 3.80078594e+01] [ 2.16915517e-01 9.76183290e-01 -3.72056818e-03 3.04475472e+00] [ 2.07298466e-02 -7.95811500e-04 9.99784797e-01 -5.14624992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.057193469999994 meters 0.07016851912814122 Centerline is valid? [True, True] Translation: X:38.03, Y:3.06, Z:-0.52 [[ 9.75525083e-01 -2.18484423e-01 -2.48066182e-02 3.80348613e+01] [ 2.18439936e-01 9.75839916e-01 -4.52237396e-03 3.06221076e+00] [ 2.51953565e-02 -1.00706686e-03 9.99682039e-01 -5.22041125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.087193469999995 meters 0.07095923624218824 Centerline is valid? [True, True] Translation: X:38.06, Y:3.07, Z:-0.52 [[ 9.75356831e-01 -2.19227020e-01 -2.48709906e-02 3.80614634e+01] [ 2.19182410e-01 9.75673340e-01 -4.53932129e-03 3.07023883e+00] [ 2.52611043e-02 -1.02382563e-03 9.99680363e-01 -5.23551077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11719347 meters 0.07208616818001604 Centerline is valid? [True, True] Translation: X:38.09, Y:3.08, Z:-0.53 [[ 9.75451634e-01 -2.18644225e-01 -2.62452405e-02 3.80868282e+01] [ 2.18594226e-01 9.75804068e-01 -4.79438425e-03 3.08398436e+00] [ 2.66584769e-02 -1.06036808e-03 9.99644037e-01 -5.26478765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14719347 meters 0.07062209431944332 Centerline is valid? [True, True] Translation: X:38.11, Y:3.10, Z:-0.53 [[ 9.75726408e-01 -2.17130083e-01 -2.85044620e-02 3.81124936e+01] [ 2.17070125e-01 9.76142063e-01 -5.21863880e-03 3.09962348e+00] [ 2.89575278e-02 -1.09550342e-03 9.99580043e-01 -5.25209313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17719347 meters 0.06932725505625191 Centerline is valid? [True, True] Translation: X:38.14, Y:3.12, Z:-0.52 [[ 9.76264675e-01 -2.14735116e-01 -2.82155078e-02 3.81386184e+01] [ 2.14675356e-01 9.76671799e-01 -5.16617044e-03 3.11551675e+00] [ 2.86666490e-02 -1.01362446e-03 9.99588513e-01 -5.24496913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20719346999999 meters 0.06777310726935537 Centerline is valid? [True, True] Translation: X:38.16, Y:3.13, Z:-0.52 [[ 9.76995615e-01 -2.11355144e-01 -2.84353776e-02 3.81645431e+01] [ 2.11292941e-01 9.77408900e-01 -5.20908639e-03 3.13273873e+00] [ 2.88939583e-02 -9.18939995e-04 9.99582060e-01 -5.23646318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.237193469999994 meters 0.066308714987792 Centerline is valid? [True, True] Translation: X:38.19, Y:3.16, Z:-0.53 [[ 9.78625154e-01 -2.03504270e-01 -2.96449111e-02 3.81888405e+01] [ 2.03433028e-01 9.79073797e-01 -5.43161012e-03 3.16070214e+00] [ 3.01299115e-02 -7.15243738e-04 9.99545735e-01 -5.27263860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.267193469999995 meters 0.06582533142207865 Centerline is valid? [True, True] Translation: X:38.21, Y:3.18, Z:-0.53 [[ 9.79229657e-01 -2.00297976e-01 -3.14642498e-02 3.82141932e+01] [ 2.00215622e-01 9.79734816e-01 -5.77881382e-03 3.17775503e+00] [ 3.19841057e-02 -6.40848474e-04 9.99488172e-01 -5.30456862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.297193469999996 meters 0.06435086747903328 Centerline is valid? [True, True] Translation: X:38.24, Y:3.21, Z:-0.53 [[ 9.80725035e-01 -1.92557682e-01 -3.31654178e-02 3.82385901e+01] [ 1.92461397e-01 9.81285575e-01 -6.10167920e-03 3.20704384e+00] [ 3.37196713e-02 -3.98993111e-04 9.99431251e-01 -5.30468545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32719347 meters 0.06455564718752241 Centerline is valid? [True, True] Translation: X:38.26, Y:3.22, Z:-0.54 [[ 9.81623289e-01 -1.87851364e-01 -3.35795222e-02 3.82636358e+01] [ 1.87749752e-01 9.82197439e-01 -6.18233412e-03 3.22284117e+00] [ 3.41430806e-02 -2.35823814e-04 9.99416927e-01 -5.35795958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35719347 meters 0.06419981880216839 Centerline is valid? [True, True] Translation: X:38.29, Y:3.24, Z:-0.53 [[ 9.81928268e-01 -1.85802512e-01 -3.59764158e-02 3.82903472e+01] [ 1.85684037e-01 9.82587095e-01 -6.63616499e-03 3.23726916e+00] [ 3.65829780e-02 -1.64008133e-04 9.99330605e-01 -5.33895764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38719346999999 meters 0.06416977406633115 Centerline is valid? [True, True] Translation: X:38.32, Y:3.25, Z:-0.53 [[ 9.82195925e-01 -1.84594900e-01 -3.48695752e-02 3.83167378e+01] [ 1.84482763e-01 9.82814687e-01 -6.43431308e-03 3.24779953e+00] [ 3.54580720e-02 -1.13079465e-04 9.99371158e-01 -5.34747916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.417193469999994 meters 0.0635711126142785 Centerline is valid? [True, True] Translation: X:38.34, Y:3.26, Z:-0.53 [[ 9.82482008e-01 -1.83466679e-01 -3.26968016e-02 3.83431866e+01] [ 1.83367366e-01 9.83025927e-01 -6.03619102e-03 3.26305808e+00] [ 3.32492436e-02 -6.50773236e-05 9.99447089e-01 -5.31978404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.447193469999995 meters 0.06339870533121936 Centerline is valid? [True, True] Translation: X:38.37, Y:3.27, Z:-0.53 [[ 9.82608620e-01 -1.82739991e-01 -3.29605014e-02 3.83702343e+01] [ 1.82638245e-01 9.83161276e-01 -6.09727048e-03 3.27469157e+00] [ 3.35197038e-02 -2.86175910e-05 9.99438056e-01 -5.31456837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.477193469999996 meters 0.06354351317719159 Centerline is valid? [True, True] Translation: X:38.40, Y:3.29, Z:-0.53 [[ 9.82934003e-01 -1.81033501e-01 -3.26744095e-02 3.83966607e+01] [ 1.80932502e-01 9.83476929e-01 -6.04640588e-03 3.28560745e+00] [ 3.32291299e-02 3.13552771e-05 9.99447759e-01 -5.32237882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50719347 meters 0.06330785755114995 Centerline is valid? [True, True] Translation: X:38.42, Y:3.30, Z:-0.53 [[ 9.83254460e-01 -1.79206861e-01 -3.30993724e-02 3.84241268e+01] [ 1.79101767e-01 9.83811410e-01 -6.13737988e-03 3.29527610e+00] [ 3.36634008e-02 1.06450050e-04 9.99433221e-01 -5.29572240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53719347 meters 0.06297725382237501 Centerline is valid? [True, True] Translation: X:38.45, Y:3.31, Z:-0.53 [[ 9.83682658e-01 -1.77524888e-01 -2.92120328e-02 3.84512570e+01] [ 1.77442287e-01 9.84116301e-01 -5.41682229e-03 3.30631473e+00] [ 2.97096584e-02 1.44984258e-04 9.99558560e-01 -5.27761315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56719346999999 meters 0.06252661380968515 Centerline is valid? [True, True] Translation: X:38.48, Y:3.32, Z:-0.53 [[ 9.83696229e-01 -1.77830687e-01 -2.67950775e-02 3.84789645e+01] [ 1.77761017e-01 9.84061090e-01 -4.97920545e-03 3.31541778e+00] [ 2.72534487e-02 1.34905396e-04 9.99628547e-01 -5.25383122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59719346999999 meters 0.062318296008382 Centerline is valid? [True, True] Translation: X:38.51, Y:3.33, Z:-0.53 [[ 9.83491203e-01 -1.79088620e-01 -2.59291388e-02 3.85052781e+01] [ 1.79023603e-01 9.83832941e-01 -4.82643965e-03 3.33030743e+00] [ 2.63743013e-02 1.04833081e-04 9.99652132e-01 -5.27677702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.627193469999995 meters 0.062456317250791156 Centerline is valid? [True, True] Translation: X:38.53, Y:3.34, Z:-0.53 [[ 9.83073999e-01 -1.81001544e-01 -2.83540791e-02 3.85330625e+01] [ 1.80924339e-01 9.83482810e-01 -5.28649468e-03 3.33805088e+00] [ 2.88426131e-02 6.70724471e-05 9.99583963e-01 -5.28415034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.657193469999996 meters 0.06258876671958011 Centerline is valid? [True, True] Translation: X:38.56, Y:3.34, Z:-0.53 [[ 9.82848962e-01 -1.82268930e-01 -2.80349037e-02 3.85611261e+01] [ 1.82193721e-01 9.83248715e-01 -5.23569420e-03 3.34300085e+00] [ 2.85195874e-02 3.81131924e-05 9.99593233e-01 -5.28768630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68719347 meters 0.06257893735743837 Centerline is valid? [True, True] Translation: X:38.59, Y:3.35, Z:-0.53 [[ 9.82293040e-01 -1.85223085e-01 -2.81565646e-02 3.85892022e+01] [ 1.85148129e-01 9.82696498e-01 -5.26906295e-03 3.34660520e+00] [ 2.86453095e-02 -3.73713734e-05 9.99589638e-01 -5.26499274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71719347 meters 0.06265211815861059 Centerline is valid? [True, True] Translation: X:38.62, Y:3.35, Z:-0.53 [[ 9.82015951e-01 -1.86676268e-01 -2.82248717e-02 3.86162356e+01] [ 1.86601514e-01 9.82421480e-01 -5.28298718e-03 3.35308270e+00] [ 2.87149285e-02 -7.88261143e-05 9.99587638e-01 -5.27651800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74719347 meters 0.06370789501850915 Centerline is valid? [True, True] Translation: X:38.64, Y:3.36, Z:-0.54 [[ 9.81790539e-01 -1.87328939e-01 -3.15468935e-02 3.86435395e+01] [ 1.87235787e-01 9.82297235e-01 -5.90785798e-03 3.36051900e+00] [ 3.20951390e-02 -1.06428372e-04 9.99484813e-01 -5.35724277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77719346999999 meters 0.06386993484411724 Centerline is valid? [True, True] Translation: X:38.67, Y:3.37, Z:-0.54 [[ 9.81436867e-01 -1.88388523e-01 -3.59366300e-02 3.86716802e+01] [ 1.88268224e-01 9.82094568e-01 -6.73322157e-03 3.36997134e+00] [ 3.65616308e-02 -1.57493620e-04 9.99331388e-01 -5.37826841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.807193469999994 meters 0.063784751938393 Centerline is valid? [True, True] Translation: X:38.70, Y:3.38, Z:-0.54 [[ 9.81486490e-01 -1.88226901e-01 -3.54246130e-02 3.87000732e+01] [ 1.88109441e-01 9.82125560e-01 -6.65003937e-03 3.37529204e+00] [ 3.60431342e-02 -1.36780351e-04 9.99350226e-01 -5.37132118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.837193469999995 meters 0.06364823660140105 Centerline is valid? [True, True] Translation: X:38.73, Y:3.38, Z:-0.54 [[ 9.81719082e-01 -1.87180841e-01 -3.45105233e-02 3.87276489e+01] [ 1.87068643e-01 9.82325467e-01 -6.48065488e-03 3.37969319e+00] [ 3.51136204e-02 -9.36541914e-05 9.99383322e-01 -5.36862367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86719347 meters 0.06356128004988812 Centerline is valid? [True, True] Translation: X:38.76, Y:3.39, Z:-0.54 [[ 9.82176520e-01 -1.84478688e-01 -3.60124511e-02 3.87559072e+01] [ 1.84354234e-01 9.82836514e-01 -6.77517436e-03 3.38702020e+00] [ 3.66442271e-02 1.53693680e-05 9.99328375e-01 -5.36907965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89719347 meters 0.06456068203760365 Centerline is valid? [True, True] Translation: X:38.78, Y:3.41, Z:-0.54 [[ 9.84401057e-01 -1.71887604e-01 -3.75394462e-02 3.87816172e+01] [ 1.71743181e-01 9.85116438e-01 -7.06282914e-03 3.40636166e+00] [ 3.81947383e-02 5.05512561e-04 9.99270187e-01 -5.38955509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92719347 meters 0.06456068203760365 Centerline is valid? [True, True] Translation: X:38.81, Y:3.41, Z:-0.54 [[ 9.84344689e-01 -1.72210705e-01 -3.75367222e-02 3.88086498e+01] [ 1.72065966e-01 9.85060006e-01 -7.07729518e-03 3.41171504e+00] [ 3.81947097e-02 5.07705557e-04 9.99270187e-01 -5.39182842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95719346999999 meters 0.06577734608101887 Centerline is valid? [True, True] Translation: X:38.84, Y:3.43, Z:-0.54 [[ 9.85529277e-01 -1.64881062e-01 -3.93227730e-02 3.88363822e+01] [ 1.64716452e-01 9.86313110e-01 -7.41216187e-03 3.42724089e+00] [ 4.00066916e-02 8.27794875e-04 9.99199069e-01 -5.41326640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.987193469999994 meters 0.06748838527543044 Centerline is valid? [True, True] Translation: X:38.86, Y:3.44, Z:-0.54 [[ 9.86611786e-01 -1.58478729e-01 -3.84925448e-02 3.88637195e+01] [ 1.58316019e-01 9.87361815e-01 -7.25841951e-03 3.44017564e+00] [ 3.91563740e-02 1.06725578e-03 9.99232525e-01 -5.42210335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.017193469999995 meters 0.06746734277780733 Centerline is valid? [True, True] Translation: X:38.89, Y:3.44, Z:-0.54 [[ 9.87221844e-01 -1.53883772e-01 -4.13861824e-02 3.88943625e+01] [ 1.53691587e-01 9.88088041e-01 -7.80508897e-03 3.44122515e+00] [ 4.20942685e-02 1.34464627e-03 9.99112739e-01 -5.38485543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.047193469999996 meters 0.06696367807408175 Centerline is valid? [True, True] Translation: X:38.92, Y:3.44, Z:-0.54 [[ 9.86895491e-01 -1.55973125e-01 -4.13481982e-02 3.89235573e+01] [ 1.55782486e-01 9.87760484e-01 -7.81308506e-03 3.44225946e+00] [ 4.20607475e-02 1.26937332e-03 9.99114249e-01 -5.39534484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07719347 meters 0.0661482070277388 Centerline is valid? [True, True] Translation: X:38.95, Y:3.44, Z:-0.54 [[ 9.86395168e-01 -1.59442568e-01 -4.00329953e-02 3.89539640e+01] [ 1.59266778e-01 9.87206610e-01 -7.56317830e-03 3.44235154e+00] [ 4.07267302e-02 1.08435633e-03 9.99169734e-01 -5.40095633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10719347 meters 0.06489318112617261 Centerline is valid? [True, True] Translation: X:38.98, Y:3.44, Z:-0.54 [[ 9.85625086e-01 -1.64362605e-01 -3.90912343e-02 3.89845015e+01] [ 1.64198779e-01 9.86399610e-01 -7.38718344e-03 3.44061632e+00] [ 3.97737550e-02 8.62260385e-04 9.99208339e-01 -5.38427974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13719346999999 meters 0.06365858309267193 Centerline is valid? [True, True] Translation: X:39.02, Y:3.43, Z:-0.54 [[ 9.84306861e-01 -1.72496838e-01 -3.72134924e-02 3.90159410e+01] [ 1.72354117e-01 9.85009940e-01 -7.03400638e-03 3.43215374e+00] [ 3.78690038e-02 5.09722116e-04 9.99282582e-01 -5.36951114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.167193469999994 meters 0.06320678571748 Centerline is valid? [True, True] Translation: X:39.05, Y:3.43, Z:-0.54 [[ 9.83737051e-01 -1.75946608e-01 -3.61137823e-02 3.90454638e+01] [ 1.75814046e-01 9.84399638e-01 -6.83912611e-03 3.43198109e+00] [ 3.67537153e-02 3.78591583e-04 9.99324282e-01 -5.36525439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.197193469999995 meters 0.06262841090384169 Centerline is valid? [True, True] Translation: X:39.07, Y:3.43, Z:-0.53 [[ 9.83246767e-01 -1.78766297e-01 -3.56146952e-02 3.90741976e+01] [ 1.78638815e-01 9.83891525e-01 -6.75584183e-03 3.43340214e+00] [ 3.62487136e-02 2.80492681e-04 9.99342760e-01 -5.34968292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.227193469999996 meters 0.063048047815234 Centerline is valid? [True, True] Translation: X:39.10, Y:3.43, Z:-0.54 [[ 9.82204084e-01 -1.83880223e-01 -3.82517992e-02 3.91036164e+01] [ 1.83736562e-01 9.82948651e-01 -7.26805603e-03 3.43339497e+00] [ 3.89360062e-02 1.10460260e-04 9.99241700e-01 -5.37643710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25719347 meters 0.06436325082452232 Centerline is valid? [True, True] Translation: X:39.13, Y:3.44, Z:-0.54 [[ 9.81340638e-01 -1.87876064e-01 -4.09040038e-02 3.91320209e+01] [ 1.87715179e-01 9.82192742e-01 -7.77364339e-03 3.43508511e+00] [ 4.16360971e-02 -4.97102087e-05 9.99132840e-01 -5.43762454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28719347 meters 0.06481575132490773 Centerline is valid? [True, True] Translation: X:39.16, Y:3.44, Z:-0.55 [[ 9.80542000e-01 -1.91689072e-01 -4.23401319e-02 3.91605625e+01] [ 1.91520037e-01 9.81455681e-01 -8.05120185e-03 3.43673945e+00] [ 4.30982904e-02 -2.14442057e-04 9.99070814e-01 -5.45843942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31719346999999 meters 0.06509214073766485 Centerline is valid? [True, True] Translation: X:39.19, Y:3.44, Z:-0.54 [[ 9.78683941e-01 -2.00914050e-01 -4.25592302e-02 3.91898806e+01] [ 2.00751308e-01 9.79608684e-01 -8.10792068e-03 3.43740560e+00] [ 4.33203866e-02 -6.08729339e-04 9.99061046e-01 -5.40325224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34719346999999 meters 0.06597197282177668 Centerline is valid? [True, True] Translation: X:39.22, Y:3.44, Z:-0.54 [[ 9.77826910e-01 -2.05281038e-01 -4.14032652e-02 3.92173246e+01] [ 2.05130286e-01 9.78702769e-01 -7.90290002e-03 3.44068481e+00] [ 4.21438058e-02 -7.65395341e-04 9.99111262e-01 -5.39566155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.377193469999995 meters 0.06637887288597652 Centerline is valid? [True, True] Translation: X:39.25, Y:3.44, Z:-0.54 [[ 9.76995739e-01 -2.09975972e-01 -3.72748967e-02 3.92459381e+01] [ 2.09857148e-01 9.77706160e-01 -7.11635627e-03 3.44351710e+00] [ 3.79381599e-02 -8.69753786e-04 9.99279710e-01 -5.35707317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.407193469999996 meters 0.06724555706813062 Centerline is valid? [True, True] Translation: X:39.27, Y:3.45, Z:-0.53 [[ 9.76142211e-01 -2.14731574e-01 -3.21983790e-02 3.92740442e+01] [ 2.14645375e-01 9.76672682e-01 -6.15099480e-03 3.44567008e+00] [ 3.27680900e-02 -9.06987470e-04 9.99462570e-01 -5.32355642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43719347 meters 0.06835711958213114 Centerline is valid? [True, True] Translation: X:39.30, Y:3.45, Z:-0.53 [[ 9.75213222e-01 -2.19256611e-01 -2.97608818e-02 3.93028886e+01] [ 2.19184746e-01 9.75666747e-01 -5.69614583e-03 3.44963808e+00] [ 3.02856204e-02 -9.68174595e-04 9.99540816e-01 -5.30346739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46719347 meters 0.07165621100512304 Centerline is valid? [True, True] Translation: X:39.33, Y:3.46, Z:-0.53 [[ 9.73276512e-01 -2.27478494e-01 -3.14064601e-02 3.93321100e+01] [ 2.27402777e-01 9.73782246e-01 -6.00950482e-03 3.45588858e+00] [ 3.19500864e-02 -1.29300635e-03 9.99488629e-01 -5.33381582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49719347 meters 0.07144861440104068 Centerline is valid? [True, True] Translation: X:39.36, Y:3.47, Z:-0.53 [[ 9.72393008e-01 -2.31153144e-01 -3.19384010e-02 3.93603659e+01] [ 2.31076762e-01 9.72916318e-01 -6.11295438e-03 3.46553908e+00] [ 3.24864202e-02 -1.43602820e-03 9.99471145e-01 -5.32286611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52719346999999 meters 0.07456421387979069 Centerline is valid? [True, True] Translation: X:39.39, Y:3.47, Z:-0.54 [[ 9.70342411e-01 -2.39103833e-01 -3.55663069e-02 3.93890212e+01] [ 2.39014388e-01 9.70992157e-01 -6.80839743e-03 3.47334062e+00] [ 3.61625190e-02 -1.89438229e-03 9.99344127e-01 -5.35193298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.557193469999994 meters 0.07548727449828505 Centerline is valid? [True, True] Translation: X:39.42, Y:3.48, Z:-0.54 [[ 9.69519957e-01 -2.42503367e-01 -3.49738484e-02 3.94178132e+01] [ 2.42419016e-01 9.70148532e-01 -6.69676365e-03 3.48190003e+00] [ 3.55538155e-02 -1.98567991e-03 9.99365791e-01 -5.36088876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.587193469999995 meters 0.08017829959489575 Centerline is valid? [True, True] Translation: X:39.45, Y:3.48, Z:-0.54 [[ 9.68855288e-01 -2.45179826e-01 -3.47315910e-02 3.94463866e+01] [ 2.45098259e-01 9.69475415e-01 -6.65301495e-03 3.48454805e+00] [ 3.53026087e-02 -2.06684377e-03 9.99374531e-01 -5.41393306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61719347 meters 0.07738265542365508 Centerline is valid? [True, True] Translation: X:39.47, Y:3.51, Z:-0.54 [[ 9.68182716e-01 -2.46867311e-01 -4.09726655e-02 3.94725690e+01] [ 2.46755268e-01 9.69046040e-01 -7.84924651e-03 3.50691557e+00] [ 4.16421216e-02 -2.51071626e-03 9.99129436e-01 -5.40099622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64719347 meters 0.07958678934853837 Centerline is valid? [True, True] Translation: X:39.50, Y:3.52, Z:-0.54 [[ 9.68163493e-01 -2.46476268e-01 -4.36909518e-02 3.95002882e+01] [ 2.46348315e-01 9.69145187e-01 -8.37342914e-03 3.51508156e+00] [ 4.44067273e-02 -2.65634398e-03 9.99010003e-01 -5.44854044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67719347 meters 0.07965814408543556 Centerline is valid? [True, True] Translation: X:39.53, Y:3.53, Z:-0.55 [[ 9.68164096e-01 -2.46360027e-01 -4.43285602e-02 3.95263470e+01] [ 2.46227355e-01 9.69174700e-01 -8.51415911e-03 3.52805890e+00] [ 4.50596675e-02 -2.67180098e-03 9.98980724e-01 -5.46147283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70719346999999 meters 0.07946309035676594 Centerline is valid? [True, True] Translation: X:39.55, Y:3.55, Z:-0.55 [[ 9.69237976e-01 -2.42540043e-01 -4.18577795e-02 3.95504829e+01] [ 2.42418206e-01 9.70138537e-01 -8.03939645e-03 3.55349842e+00] [ 4.25577205e-02 -2.35499949e-03 9.99091234e-01 -5.49188540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.737193469999994 meters 0.0779837002429517 Centerline is valid? [True, True] Translation: X:39.58, Y:3.57, Z:-0.55 [[ 9.69870097e-01 -2.40318158e-01 -3.99897253e-02 3.95776235e+01] [ 2.40205044e-01 9.70691782e-01 -7.68126412e-03 3.57201918e+00] [ 4.06636449e-02 -2.15590535e-03 9.99170566e-01 -5.47302777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.767193469999995 meters 0.07470436877993654 Centerline is valid? [True, True] Translation: X:39.60, Y:3.59, Z:-0.54 [[ 9.70503092e-01 -2.38041487e-01 -3.82099373e-02 3.96045642e+01] [ 2.37936424e-01 9.71252994e-01 -7.34028386e-03 3.59298553e+00] [ 3.88588081e-02 -1.96776765e-03 9.99242774e-01 -5.41720494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.797193469999996 meters 0.07308607573183322 Centerline is valid? [True, True] Translation: X:39.63, Y:3.62, Z:-0.54 [[ 9.71738371e-01 -2.33633036e-01 -3.37659907e-02 3.96285618e+01] [ 2.33548260e-01 9.72323560e-01 -6.48877830e-03 3.61936156e+00] [ 3.43474612e-02 -1.58059351e-03 9.99408702e-01 -5.39461130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82719347 meters 0.07191710444643236 Centerline is valid? [True, True] Translation: X:39.65, Y:3.64, Z:-0.54 [[ 9.72370143e-01 -2.31322793e-01 -3.14017655e-02 3.96545629e+01] [ 2.31248230e-01 9.72876059e-01 -6.03575452e-03 3.63697179e+00] [ 3.19462335e-02 -1.39261521e-03 9.99488619e-01 -5.38299687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85719347 meters 0.06863347201475996 Centerline is valid? [True, True] Translation: X:39.68, Y:3.66, Z:-0.53 [[ 9.73010759e-01 -2.28794972e-01 -3.00486941e-02 3.96803698e+01] [ 2.28725449e-01 9.73473828e-01 -5.77711589e-03 3.66048161e+00] [ 3.05733924e-02 -1.25170514e-03 9.99531741e-01 -5.33315633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88719346999999 meters 0.06835924383732303 Centerline is valid? [True, True] Translation: X:39.71, Y:3.68, Z:-0.54 [[ 9.73990593e-01 -2.24914368e-01 -2.74927518e-02 3.97063501e+01] [ 2.24854589e-01 9.74377987e-01 -5.28701153e-03 3.67874388e+00] [ 2.79774570e-02 -1.03237193e-03 9.99608021e-01 -5.35116952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.917193469999994 meters 0.06511344854026227 Centerline is valid? [True, True] Translation: X:39.73, Y:3.72, Z:-0.54 [[ 9.76475409e-01 -2.13638314e-01 -2.92309265e-02 3.97286175e+01] [ 2.13565648e-01 9.76912537e-01 -5.62226153e-03 3.71765883e+00] [ 2.97571891e-02 -7.52721648e-04 9.99556873e-01 -5.36325925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.947193469999995 meters 0.0637330233049229 Centerline is valid? [True, True] Translation: X:39.75, Y:3.74, Z:-0.54 [[ 9.77485187e-01 -2.08292870e-01 -3.37163057e-02 3.97539108e+01] [ 2.08192561e-01 9.78066273e-01 -6.49794314e-03 3.74055801e+00] [ 3.43302566e-02 -6.67840858e-04 9.99410320e-01 -5.36706957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.977193469999996 meters 0.06293196946301179 Centerline is valid? [True, True] Translation: X:39.78, Y:3.76, Z:-0.54 [[ 9.78483869e-01 -2.03198285e-01 -3.57739553e-02 3.97787657e+01] [ 2.03081443e-01 9.79137478e-01 -6.90839334e-03 3.75918054e+00] [ 3.64313941e-02 -5.05275018e-04 9.99336029e-01 -5.37169823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00719347 meters 0.06307066817820683 Centerline is valid? [True, True] Translation: X:39.80, Y:3.78, Z:-0.54 [[ 9.79562281e-01 -1.97304924e-01 -3.90960878e-02 3.98030681e+01] [ 1.97160582e-01 9.80342119e-01 -7.55210209e-03 3.78095210e+00] [ 3.98176085e-02 -3.10453077e-04 9.99206916e-01 -5.40916550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03719347 meters 0.06278526518633079 Centerline is valid? [True, True] Translation: X:39.83, Y:3.79, Z:-0.54 [[ 9.79894935e-01 -1.95799023e-01 -3.83230818e-02 3.98303349e+01] [ 1.95658665e-01 9.80644018e-01 -7.41603916e-03 3.79412099e+00] [ 3.90333542e-02 -2.31303818e-04 9.99237881e-01 -5.39351893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06719346999999 meters 0.06260746105464118 Centerline is valid? [True, True] Translation: X:39.86, Y:3.81, Z:-0.54 [[ 9.80382627e-01 -1.93503489e-01 -3.75007301e-02 3.98568211e+01] [ 1.93366935e-01 9.81099579e-01 -7.26940160e-03 3.80769541e+00] [ 3.81986051e-02 -1.24606210e-04 9.99270159e-01 -5.38946842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09719346999999 meters 0.06240677315147361 Centerline is valid? [True, True] Translation: X:39.88, Y:3.82, Z:-0.54 [[ 9.81124603e-01 -1.89944230e-01 -3.62726302e-02 3.98838371e+01] [ 1.89813633e-01 9.81794881e-01 -7.04242486e-03 3.82217971e+00] [ 3.69499506e-02 2.44565792e-05 9.99317117e-01 -5.36433268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.127193469999995 meters 0.06344768434496957 Centerline is valid? [True, True] Translation: X:39.91, Y:3.84, Z:-0.54 [[ 9.82740216e-01 -1.81184833e-01 -3.73326074e-02 3.99084673e+01] [ 1.81040056e-01 9.83448993e-01 -7.25096612e-03 3.84259245e+00] [ 3.80284802e-02 3.67118692e-04 9.99276588e-01 -5.37727990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.157193469999996 meters 0.06421489797438798 Centerline is valid? [True, True] Translation: X:39.94, Y:3.85, Z:-0.54 [[ 9.83330651e-01 -1.77739839e-01 -3.83324919e-02 3.99359989e+01] [ 1.77584036e-01 9.84077371e-01 -7.45914104e-03 3.85251365e+00] [ 3.90479244e-02 5.27563383e-04 9.99237200e-01 -5.39131394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18719347 meters 0.06434198496342813 Centerline is valid? [True, True] Translation: X:39.96, Y:3.86, Z:-0.54 [[ 9.83798852e-01 -1.75121441e-01 -3.83705673e-02 3.99638931e+01] [ 1.74962838e-01 9.84546629e-01 -7.47931971e-03 3.86000453e+00] [ 3.90874019e-02 6.44722801e-04 9.99235588e-01 -5.38136446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21719347 meters 0.06569942841103199 Centerline is valid? [True, True] Translation: X:39.99, Y:3.87, Z:-0.54 [[ 9.84906644e-01 -1.69320838e-01 -3.59076193e-02 3.99889680e+01] [ 1.69177923e-01 9.85560640e-01 -7.00390600e-03 3.87032507e+00] [ 3.65750435e-02 8.23417088e-04 9.99330570e-01 -5.39736625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24719346999999 meters 0.06560579534592936 Centerline is valid? [True, True] Translation: X:40.02, Y:3.88, Z:-0.54 [[ 9.85139391e-01 -1.67822695e-01 -3.65502822e-02 4.00176433e+01] [ 1.67673079e-01 9.85816777e-01 -7.14285293e-03 3.87579369e+00] [ 3.72306142e-02 9.08207431e-04 9.99306288e-01 -5.38617170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27719346999999 meters 0.06627478743846311 Centerline is valid? [True, True] Translation: X:40.05, Y:3.88, Z:-0.54 [[ 9.85224115e-01 -1.66958354e-01 -3.81883547e-02 4.00458963e+01] [ 1.66793884e-01 9.85963446e-01 -7.47552380e-03 3.88157237e+00] [ 3.89004229e-02 9.95482332e-04 9.99242596e-01 -5.41398862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.307193469999994 meters 0.06725542220117144 Centerline is valid? [True, True] Translation: X:40.07, Y:3.89, Z:-0.55 [[ 9.85023732e-01 -1.67732921e-01 -3.99238654e-02 4.00731110e+01] [ 1.67553559e-01 9.85831952e-01 -7.82092404e-03 3.88598663e+00] [ 4.06700486e-02 1.01441005e-03 9.99172116e-01 -5.45943617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.337193469999995 meters 0.06646230432485578 Centerline is valid? [True, True] Translation: X:40.10, Y:3.88, Z:-0.55 [[ 9.83438596e-01 -1.75974466e-01 -4.33764394e-02 4.01029038e+01] [ 1.75770527e-01 9.84394456e-01 -8.50157526e-03 3.87854435e+00] [ 4.41955867e-02 7.36477618e-04 9.99022626e-01 -5.51546883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36719347 meters 0.06545034637657988 Centerline is valid? [True, True] Translation: X:40.13, Y:3.87, Z:-0.55 [[ 9.82346867e-01 -1.81920559e-01 -4.35837408e-02 4.01333152e+01] [ 1.81719822e-01 9.83313111e-01 -8.55762235e-03 3.87411809e+00] [ 4.44132712e-02 4.86523877e-04 9.99013125e-01 -5.51312178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39719347 meters 0.06400796668145194 Centerline is valid? [True, True] Translation: X:40.17, Y:3.86, Z:-0.55 [[ 9.79759484e-01 -1.95514235e-01 -4.29597232e-02 4.01654947e+01] [ 1.95331630e-01 9.80700857e-01 -8.44886237e-03 3.85991799e+00] [ 4.37825102e-02 -1.13539728e-04 9.99041080e-01 -5.48329311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42719347 meters 0.06357170721784641 Centerline is valid? [True, True] Translation: X:40.20, Y:3.86, Z:-0.55 [[ 9.78738309e-01 -2.01012145e-01 -4.08098001e-02 4.01954035e+01] [ 2.00851627e-01 9.79588694e-01 -8.03834096e-03 3.85921918e+00] [ 4.15926229e-02 -3.29282510e-04 9.99134598e-01 -5.45015802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45719346999999 meters 0.06431832864297139 Centerline is valid? [True, True] Translation: X:40.22, Y:3.86, Z:-0.55 [[ 9.77788010e-01 -2.05453739e-01 -4.14652626e-02 4.02237469e+01] [ 2.05291874e-01 9.78666689e-01 -8.17063067e-03 3.85888267e+00] [ 4.22593578e-02 -5.23336757e-04 9.99106537e-01 -5.47343247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.487193469999994 meters 0.06445402535010866 Centerline is valid? [True, True] Translation: X:40.25, Y:3.86, Z:-0.55 [[ 9.76978552e-01 -2.09345277e-01 -4.10787444e-02 4.02524940e+01] [ 2.09189240e-01 9.77841554e-01 -8.10907414e-03 3.86035551e+00] [ 4.18660997e-02 -6.70839804e-04 9.99123005e-01 -5.46116975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.517193469999995 meters 0.06501754946795106 Centerline is valid? [True, True] Translation: X:40.28, Y:3.86, Z:-0.55 [[ 9.75835038e-01 -2.14721028e-01 -4.05075228e-02 4.02821813e+01] [ 2.14573391e-01 9.76675029e-01 -8.00921533e-03 3.86029912e+00] [ 4.12824329e-02 -8.76163560e-04 9.99147133e-01 -5.45244620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.547193469999996 meters 0.0649227417596515 Centerline is valid? [True, True] Translation: X:40.31, Y:3.86, Z:-0.54 [[ 9.75362997e-01 -2.17110555e-01 -3.91156080e-02 4.03111400e+01] [ 2.16974307e-01 9.76146577e-01 -7.74664409e-03 3.86467422e+00] [ 3.98644451e-02 -9.31291935e-04 9.99204663e-01 -5.43526781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57719347 meters 0.06539064596410825 Centerline is valid? [True, True] Translation: X:40.34, Y:3.87, Z:-0.54 [[ 9.74707035e-01 -2.20227822e-01 -3.80250101e-02 4.03393198e+01] [ 2.20101331e-01 9.75447924e-01 -7.53336019e-03 3.86815974e+00] [ 3.87504727e-02 -1.02653616e-03 9.99248391e-01 -5.43060301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60719347 meters 0.06889452212252414 Centerline is valid? [True, True] Translation: X:40.37, Y:3.86, Z:-0.55 [[ 9.73088399e-01 -2.27670823e-01 -3.55663282e-02 4.03687772e+01] [ 2.27565005e-01 9.73737374e-01 -7.04944400e-03 3.86360899e+00] [ 3.62372157e-02 -1.23391945e-03 9.99342455e-01 -5.46711071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63719346999999 meters 0.07015348351819906 Centerline is valid? [True, True] Translation: X:40.40, Y:3.87, Z:-0.55 [[ 9.72271191e-01 -2.31091594e-01 -3.58525554e-02 4.03979405e+01] [ 2.30986271e-01 9.72931036e-01 -7.10931013e-03 3.86585267e+00] [ 3.65249657e-02 -1.36927065e-03 9.99331803e-01 -5.46817703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.667193469999994 meters 0.07146127125732957 Centerline is valid? [True, True] Translation: X:40.43, Y:3.87, Z:-0.55 [[ 9.71607117e-01 -2.34030228e-01 -3.47773425e-02 4.04269137e+01] [ 2.33932593e-01 9.72228278e-01 -6.90776538e-03 3.86845784e+00] [ 3.54281417e-02 -1.42391989e-03 9.99371212e-01 -5.47629682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.697193469999995 meters 0.07141166778061268 Centerline is valid? [True, True] Translation: X:40.46, Y:3.88, Z:-0.54 [[ 9.70421178e-01 -2.38852735e-01 -3.51013897e-02 4.04559446e+01] [ 2.38756466e-01 9.71054457e-01 -6.97071649e-03 3.87522492e+00] [ 3.57503356e-02 -1.61615283e-03 9.99359446e-01 -5.44631534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.727193469999996 meters 0.07227214908179276 Centerline is valid? [True, True] Translation: X:40.48, Y:3.88, Z:-0.54 [[ 9.69779944e-01 -2.41564866e-01 -3.42531123e-02 4.04843677e+01] [ 2.41474438e-01 9.70383250e-01 -6.81492229e-03 3.88002318e+00] [ 3.48848923e-02 -1.66227611e-03 9.99389954e-01 -5.43970034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75719347 meters 0.07039442921464402 Centerline is valid? [True, True] Translation: X:40.51, Y:3.89, Z:-0.54 [[ 9.69141590e-01 -2.44231001e-01 -3.34035274e-02 4.05112809e+01] [ 2.44146500e-01 9.69715570e-01 -6.64831996e-03 3.89053010e+00] [ 3.40156464e-02 -1.71219092e-03 9.99419834e-01 -5.38596233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78719347 meters 0.07495219527577598 Centerline is valid? [True, True] Translation: X:40.54, Y:3.89, Z:-0.55 [[ 9.68727137e-01 -2.46054352e-01 -3.20154519e-02 4.05392716e+01] [ 2.45977600e-01 9.69254544e-01 -6.37574331e-03 3.89318852e+00] [ 3.25999016e-02 -1.69872846e-03 9.99467038e-01 -5.45314542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81719346999999 meters 0.07271327052503394 Centerline is valid? [True, True] Translation: X:40.56, Y:3.91, Z:-0.54 [[ 9.68619249e-01 -2.46478382e-01 -3.20180768e-02 4.05649002e+01] [ 2.46401410e-01 9.69146798e-01 -6.38968064e-03 3.90795402e+00] [ 3.26051348e-02 -1.70013161e-03 9.99466865e-01 -5.42470934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84719346999999 meters 0.07271327052503394 Centerline is valid? [True, True] Translation: X:40.59, Y:3.91, Z:-0.54 [[ 9.68534245e-01 -2.46812479e-01 -3.20158712e-02 4.05918570e+01] [ 2.46735326e-01 9.69061768e-01 -6.40072520e-03 3.91357984e+00] [ 3.26051356e-02 -1.70012487e-03 9.99466865e-01 -5.42698224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.877193469999995 meters 0.07260916395872381 Centerline is valid? [True, True] Translation: X:40.62, Y:3.92, Z:-0.54 [[ 9.68894520e-01 -2.45586219e-01 -3.05093209e-02 4.06184297e+01] [ 2.45515529e-01 9.69373464e-01 -6.10018316e-03 3.92450532e+00] [ 3.10730470e-02 -1.58007804e-03 9.99515867e-01 -5.42268898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.907193469999996 meters 0.07027207859915864 Centerline is valid? [True, True] Translation: X:40.65, Y:3.94, Z:-0.54 [[ 9.69756269e-01 -2.42265105e-01 -2.96714954e-02 4.06456739e+01] [ 2.42196689e-01 9.70209032e-01 -5.93280924e-03 3.94139477e+00] [ 3.02248654e-02 -1.43295898e-03 9.99542097e-01 -5.40346240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93719347 meters 0.06742174100060469 Centerline is valid? [True, True] Translation: X:40.67, Y:3.97, Z:-0.54 [[ 9.72170898e-01 -2.32372149e-01 -2.97813612e-02 4.06693080e+01] [ 2.32298524e-01 9.72626297e-01 -5.95668150e-03 3.96931174e+00] [ 3.03503020e-02 -1.12725386e-03 9.99538688e-01 -5.41831486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96719347 meters 0.06494930824885754 Centerline is valid? [True, True] Translation: X:40.70, Y:3.99, Z:-0.54 [[ 9.73755997e-01 -2.25793138e-01 -2.85782660e-02 4.06958938e+01] [ 2.25722497e-01 9.74174870e-01 -5.71642184e-03 3.98976736e+00] [ 2.91309574e-02 -8.84357522e-04 9.99575212e-01 -5.40171235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99719346999999 meters 0.06411209333477282 Centerline is valid? [True, True] Translation: X:40.72, Y:4.01, Z:-0.54 [[ 9.75061522e-01 -2.20128314e-01 -2.82587075e-02 4.07221479e+01] [ 2.20056823e-01 9.75470670e-01 -5.65395369e-03 4.00687875e+00] [ 2.88101356e-02 -7.05568695e-04 9.99584653e-01 -5.42743547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02719346999999 meters 0.06202391638522676 Centerline is valid? [True, True] Translation: X:40.75, Y:4.04, Z:-0.54 [[ 9.77814807e-01 -2.07877149e-01 -2.57932793e-02 4.07477746e+01] [ 2.07813314e-01 9.78154892e-01 -5.16080374e-03 4.03557003e+00] [ 2.63026355e-02 -3.13876536e-04 9.99653977e-01 -5.42531685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.057193469999994 meters 0.06149732594183096 Centerline is valid? [True, True] Translation: X:40.77, Y:4.05, Z:-0.54 [[ 9.78781279e-01 -2.03467580e-01 -2.42518284e-02 4.07745307e+01] [ 2.03409557e-01 9.79081668e-01 -4.86195360e-03 4.05030283e+00] [ 2.47337705e-02 -1.74264502e-04 9.99694058e-01 -5.41717369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.087193469999995 meters 0.061300774860770624 Centerline is valid? [True, True] Translation: X:40.80, Y:4.06, Z:-0.54 [[ 9.79717634e-01 -1.98955549e-01 -2.38756581e-02 4.08007896e+01] [ 1.98897777e-01 9.80008514e-01 -4.79451995e-03 4.06428432e+00] [ 2.43522446e-02 -5.15396027e-05 9.99703439e-01 -5.42013134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11719347 meters 0.06143958314174725 Centerline is valid? [True, True] Translation: X:40.83, Y:4.08, Z:-0.54 [[ 9.80516502e-01 -1.94975317e-01 -2.39168505e-02 4.08264777e+01] [ 1.94915935e-01 9.80808148e-01 -4.81203860e-03 4.07755737e+00] [ 2.43960705e-02 5.65080003e-05 9.99702370e-01 -5.43515872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14719347 meters 0.06250814094042118 Centerline is valid? [True, True] Translation: X:40.85, Y:4.10, Z:-0.55 [[ 9.82032731e-01 -1.86847758e-01 -2.64505154e-02 4.08514615e+01] [ 1.86772178e-01 9.82388840e-01 -5.32165989e-03 4.09533869e+00] [ 2.69790314e-02 2.85823818e-04 9.99635959e-01 -5.46533469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.17719347 meters 0.06322452864458082 Centerline is valid? [True, True] Translation: X:40.88, Y:4.11, Z:-0.55 [[ 9.82689360e-01 -1.83338087e-01 -2.66226898e-02 4.08784057e+01] [ 1.83260145e-01 9.83049844e-01 -5.35946655e-03 4.10528287e+00] [ 2.71540254e-02 3.87812755e-04 9.99631186e-01 -5.48619362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20719346999999 meters 0.06358476071012682 Centerline is valid? [True, True] Translation: X:40.91, Y:4.11, Z:-0.55 [[ 9.83167597e-01 -1.80791811e-01 -2.63779749e-02 4.09063691e+01] [ 1.80714102e-01 9.83521279e-01 -5.32046852e-03 4.11260565e+00] [ 2.69051967e-02 4.64040191e-04 9.99637882e-01 -5.48454352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.237193469999994 meters 0.06453289574117546 Centerline is valid? [True, True] Translation: X:40.93, Y:4.12, Z:-0.55 [[ 9.83645948e-01 -1.78278980e-01 -2.56369776e-02 4.09327273e+01] [ 1.78204669e-01 9.83979845e-01 -5.17309668e-03 4.12001141e+00] [ 2.61485236e-02 5.19866478e-04 9.99657934e-01 -5.50434313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.267193469999995 meters 0.06529085793986043 Centerline is valid? [True, True] Translation: X:40.96, Y:4.13, Z:-0.55 [[ 9.84705526e-01 -1.72926114e-01 -2.12505760e-02 4.09609670e+01] [ 1.72873632e-01 9.84934642e-01 -4.29633874e-03 4.12577865e+00] [ 2.16733776e-02 5.56964230e-04 9.99764950e-01 -5.47871089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.297193469999996 meters 0.06581810290394688 Centerline is valid? [True, True] Translation: X:40.99, Y:4.13, Z:-0.55 [[ 9.85274640e-01 -1.69780363e-01 -2.02117025e-02 4.09889172e+01] [ 1.69732088e-01 9.85481743e-01 -4.09299815e-03 4.13101521e+00] [ 2.06131745e-02 6.02152813e-04 9.99787345e-01 -5.46535456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32719347 meters 0.06733278701119125 Centerline is valid? [True, True] Translation: X:41.02, Y:4.14, Z:-0.55 [[ 9.86250155e-01 -1.64071202e-01 -1.97805899e-02 4.10182435e+01] [ 1.64023842e-01 9.86448247e-01 -4.00444137e-03 4.13538138e+00] [ 2.01695417e-02 7.04892580e-04 9.99796326e-01 -5.46957338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.35719347 meters 0.06824313873144854 Centerline is valid? [True, True] Translation: X:41.05, Y:4.14, Z:-0.55 [[ 9.86574492e-01 -1.62200174e-01 -1.90230223e-02 4.10456853e+01] [ 1.62155940e-01 9.86757613e-01 -3.85548580e-03 4.13853733e+00] [ 1.93964726e-02 7.19027887e-04 9.99811612e-01 -5.47565650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38719346999999 meters 0.06806880520981491 Centerline is valid? [True, True] Translation: X:41.08, Y:4.14, Z:-0.55 [[ 9.86588777e-01 -1.62238791e-01 -1.79209203e-02 4.10752568e+01] [ 1.62199408e-01 9.86751289e-01 -3.63932119e-03 4.13901760e+00] [ 1.82739302e-02 6.83750780e-04 9.99832784e-01 -5.47680593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.417193469999994 meters 0.06859430664179937 Centerline is valid? [True, True] Translation: X:41.10, Y:4.13, Z:-0.55 [[ 9.86668245e-01 -1.61814052e-01 -1.73777791e-02 4.11048488e+01] [ 1.61776948e-01 9.86821039e-01 -3.52939860e-03 4.13296311e+00] [ 1.77198643e-02 6.71021450e-04 9.99842766e-01 -5.48983714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.447193469999995 meters 0.06881521765894323 Centerline is valid? [True, True] Translation: X:41.13, Y:4.13, Z:-0.55 [[ 9.86665965e-01 -1.61918470e-01 -1.65131177e-02 4.11347895e+01] [ 1.61884866e-01 9.86803930e-01 -3.36064562e-03 4.13173177e+00] [ 1.68393600e-02 6.42610805e-04 9.99858001e-01 -5.49275058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.477193469999996 meters 0.06783229733598777 Centerline is valid? [True, True] Translation: X:41.16, Y:4.13, Z:-0.55 [[ 9.86495510e-01 -1.63028587e-01 -1.57572011e-02 4.11646093e+01] [ 1.62998045e-01 9.86621163e-01 -3.21212219e-03 4.12803137e+00] [ 1.60700558e-02 6.00351143e-04 9.99870688e-01 -5.47745517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50719347 meters 0.0669734360668416 Centerline is valid? [True, True] Translation: X:41.20, Y:4.12, Z:-0.55 [[ 9.86265192e-01 -1.64544553e-01 -1.43548189e-02 4.11961632e+01] [ 1.64519295e-01 9.86369510e-01 -2.93112518e-03 4.11771469e+00] [ 1.46414564e-02 5.29222054e-04 9.99892668e-01 -5.46765806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53719347 meters 0.06769708252490426 Centerline is valid? [True, True] Translation: X:41.22, Y:4.12, Z:-0.55 [[ 9.86203461e-01 -1.64901770e-01 -1.44962335e-02 4.12246509e+01] [ 1.64876052e-01 9.86309853e-01 -2.95992727e-03 4.11778444e+00] [ 1.47858752e-02 5.29008780e-04 9.99890543e-01 -5.48956958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56719346999999 meters 0.06882126984347127 Centerline is valid? [True, True] Translation: X:41.25, Y:4.12, Z:-0.55 [[ 9.86468584e-01 -1.63225436e-01 -1.54009444e-02 4.12530388e+01] [ 1.63196178e-01 9.86588622e-01 -3.14624233e-03 4.11917329e+00] [ 1.57079433e-02 5.90293955e-04 9.99876448e-01 -5.50133578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59719346999999 meters 0.06902165634590875 Centerline is valid? [True, True] Translation: X:41.28, Y:4.12, Z:-0.55 [[ 9.86913002e-01 -1.60398645e-01 -1.65831775e-02 4.12830540e+01] [ 1.60364312e-01 9.87052079e-01 -3.38847114e-03 4.11837867e+00] [ 1.69119660e-02 6.84776382e-04 9.99856748e-01 -5.50461008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.627193469999995 meters 0.07109260536097536 Centerline is valid? [True, True] Translation: X:41.32, Y:4.11, Z:-0.55 [[ 9.87749494e-01 -1.54895569e-01 -1.89288205e-02 4.13152018e+01] [ 1.54849828e-01 9.87930449e-01 -3.86759401e-03 4.11118850e+00] [ 1.92994313e-02 8.89089429e-04 9.99813353e-01 -5.54487691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.657193469999996 meters 0.0727612787395388 Centerline is valid? [True, True] Translation: X:41.34, Y:4.11, Z:-0.56 [[ 9.87903050e-01 -1.53805286e-01 -1.97862951e-02 4.13439155e+01] [ 1.53754997e-01 9.88100713e-01 -4.04735133e-03 4.11038817e+00] [ 2.01733563e-02 9.56148989e-04 9.99796040e-01 -5.57786566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68719347 meters 0.07140332809401095 Centerline is valid? [True, True] Translation: X:41.37, Y:4.10, Z:-0.56 [[ 9.87819867e-01 -1.54202292e-01 -2.08222075e-02 4.13746082e+01] [ 1.54146524e-01 9.88038786e-01 -4.26694025e-03 4.10459724e+00] [ 2.12311206e-02 1.00529743e-03 9.99774089e-01 -5.58004998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71719347 meters 0.06987160411915147 Centerline is valid? [True, True] Translation: X:41.41, Y:4.09, Z:-0.56 [[ 9.87400470e-01 -1.56695443e-01 -2.20646811e-02 4.14065892e+01] [ 1.56633283e-01 9.87646448e-01 -4.52854082e-03 4.09274585e+00] [ 2.25017056e-02 1.01541990e-03 9.99746289e-01 -5.58602173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74719346999999 meters 0.07087619643051717 Centerline is valid? [True, True] Translation: X:41.44, Y:4.09, Z:-0.56 [[ 9.87156712e-01 -1.58233360e-01 -2.19961183e-02 4.14353530e+01] [ 1.58171810e-01 9.87401253e-01 -4.52143006e-03 4.09313716e+00] [ 2.24344359e-02 9.84194179e-04 9.99747832e-01 -5.60461229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77719346999999 meters 0.07083126008952362 Centerline is valid? [True, True] Translation: X:41.46, Y:4.09, Z:-0.56 [[ 9.86890010e-01 -1.59736363e-01 -2.30738649e-02 4.14649377e+01] [ 1.59669026e-01 9.87159207e-01 -4.74368436e-03 4.08941581e+00] [ 2.35353171e-02 9.97313167e-04 9.99722509e-01 -5.61573439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.807193469999994 meters 0.06856627485238273 Centerline is valid? [True, True] Translation: X:41.50, Y:4.08, Z:-0.56 [[ 9.86642151e-01 -1.61237105e-01 -2.32349235e-02 4.14969364e+01] [ 1.61169133e-01 9.86915219e-01 -4.78127738e-03 4.07953164e+00] [ 2.37018189e-02 9.72657341e-04 9.99718599e-01 -5.59278950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.837193469999995 meters 0.0697304506103564 Centerline is valid? [True, True] Translation: X:41.53, Y:4.07, Z:-0.56 [[ 9.86287674e-01 -1.63426489e-01 -2.29871104e-02 4.15277960e+01] [ 1.63360501e-01 9.86555092e-01 -4.73246124e-03 4.06580177e+00] [ 2.34514603e-02 9.12382312e-04 9.99724560e-01 -5.62261156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86719347 meters 0.0667176827436611 Centerline is valid? [True, True] Translation: X:41.56, Y:4.06, Z:-0.56 [[ 9.85819705e-01 -1.66161406e-01 -2.34498903e-02 4.15589741e+01] [ 1.66093282e-01 9.86098182e-01 -4.83711236e-03 4.05648421e+00] [ 2.39276356e-02 8.73651429e-04 9.99713311e-01 -5.58211867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89719347 meters 0.06687130713863229 Centerline is valid? [True, True] Translation: X:41.59, Y:4.06, Z:-0.56 [[ 9.85280816e-01 -1.69288329e-01 -2.37313209e-02 4.15878315e+01] [ 1.69219281e-01 9.85566232e-01 -4.90274787e-03 4.05597660e+00] [ 2.42187665e-02 8.14786364e-04 9.99706351e-01 -5.60598667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92719347 meters 0.06628276412475186 Centerline is valid? [True, True] Translation: X:41.62, Y:4.05, Z:-0.56 [[ 9.84181829e-01 -1.75407590e-01 -2.48657553e-02 4.16196863e+01] [ 1.75333763e-01 9.84495655e-01 -5.13584641e-03 4.04508265e+00] [ 2.53810945e-02 6.94800268e-04 9.99677607e-01 -5.64079509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95719346999999 meters 0.06613059129512007 Centerline is valid? [True, True] Translation: X:41.65, Y:4.04, Z:-0.57 [[ 9.83622114e-01 -1.78610269e-01 -2.42055399e-02 4.16485748e+01] [ 1.78541205e-01 9.83919719e-01 -5.00253253e-03 4.04158122e+00] [ 2.47098117e-02 5.98915374e-04 9.99694487e-01 -5.66696335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.987193469999994 meters 0.06412114603328674 Centerline is valid? [True, True] Translation: X:41.68, Y:4.03, Z:-0.56 [[ 9.83056071e-01 -1.81704536e-01 -2.41707236e-02 4.16797981e+01] [ 1.81636374e-01 9.83353030e-01 -5.00465618e-03 4.03351133e+00] [ 2.46777230e-02 5.29575059e-04 9.99695318e-01 -5.61542395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.017193469999995 meters 0.06387575648427973 Centerline is valid? [True, True] Translation: X:41.71, Y:4.03, Z:-0.56 [[ 9.82674860e-01 -1.83751497e-01 -2.41972325e-02 4.17096001e+01] [ 1.83683619e-01 9.82972609e-01 -5.01770619e-03 4.03072297e+00] [ 2.47072278e-02 4.86138492e-04 9.99694612e-01 -5.60832337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.047193469999996 meters 0.06346358979849305 Centerline is valid? [True, True] Translation: X:41.74, Y:4.03, Z:-0.56 [[ 9.82282650e-01 -1.85880219e-01 -2.38608413e-02 4.17390230e+01] [ 1.85814817e-01 9.82572319e-01 -4.94897622e-03 4.02589701e+00] [ 2.43649190e-02 4.27595613e-04 9.99703040e-01 -5.60133048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07719347 meters 0.0632512690350132 Centerline is valid? [True, True] Translation: X:41.77, Y:4.03, Z:-0.56 [[ 9.82201152e-01 -1.86342639e-01 -2.36075745e-02 4.17670989e+01] [ 1.86278501e-01 9.82484729e-01 -4.90684212e-03 4.02813335e+00] [ 2.41084353e-02 4.21922395e-04 9.99709260e-01 -5.59633748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10719347 meters 0.06340493177286219 Centerline is valid? [True, True] Translation: X:41.80, Y:4.03, Z:-0.56 [[ 9.82001944e-01 -1.86716959e-01 -2.84422216e-02 4.17964599e+01] [ 1.86624040e-01 9.82413625e-01 -5.91075343e-03 4.03069132e+00] [ 2.90456639e-02 4.96369069e-04 9.99577962e-01 -5.61816092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13719346999999 meters 0.06386056986653667 Centerline is valid? [True, True] Translation: X:41.82, Y:4.04, Z:-0.56 [[ 9.82114632e-01 -1.86010092e-01 -2.91735319e-02 4.18249561e+01] [ 1.85911685e-01 9.82547684e-01 -6.07396491e-03 4.03579529e+00] [ 2.97942050e-02 5.41629329e-04 9.99555907e-01 -5.63359228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.167193469999994 meters 0.06373900650985034 Centerline is valid? [True, True] Translation: X:41.85, Y:4.04, Z:-0.56 [[ 9.82016024e-01 -1.86317008e-01 -3.05041222e-02 4.18537611e+01] [ 1.86209263e-01 9.82489517e-01 -6.36071017e-03 4.03799332e+00] [ 3.11550888e-02 5.66169205e-04 9.99514402e-01 -5.62710347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.197193469999995 meters 0.06345353786821493 Centerline is valid? [True, True] Translation: X:41.88, Y:4.04, Z:-0.56 [[ 9.82105324e-01 -1.86179457e-01 -2.83961685e-02 4.18826244e+01] [ 1.86085984e-01 9.82515611e-01 -5.92288626e-03 4.03572457e+00] [ 2.90023986e-02 5.32769173e-04 9.99579200e-01 -5.59923130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.227193469999996 meters 0.06325750499990808 Centerline is valid? [True, True] Translation: X:41.91, Y:4.04, Z:-0.56 [[ 9.82159104e-01 -1.86207301e-01 -2.62742236e-02 4.19111156e+01] [ 1.86127021e-01 9.82510351e-01 -5.49028643e-03 4.03915211e+00] [ 2.68370280e-02 5.01991854e-04 9.99639696e-01 -5.57877941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25719347 meters 0.06284223623221692 Centerline is valid? [True, True] Translation: X:41.94, Y:4.04, Z:-0.56 [[ 9.82232577e-01 -1.85906581e-01 -2.56497177e-02 4.19389544e+01] [ 1.85829705e-01 9.82567293e-01 -5.36988486e-03 4.04318069e+00] [ 2.62008706e-02 5.07996381e-04 9.99656569e-01 -5.55561460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28719347 meters 0.06372910831786058 Centerline is valid? [True, True] Translation: X:41.97, Y:4.05, Z:-0.56 [[ 9.82635764e-01 -1.83908902e-01 -2.45860076e-02 4.19661037e+01] [ 1.83837624e-01 9.82943144e-01 -5.14806905e-03 4.05131536e+00] [ 2.51134233e-02 5.38843533e-04 9.99684463e-01 -5.58315697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31719346999999 meters 0.06382005365496106 Centerline is valid? [True, True] Translation: X:41.99, Y:4.06, Z:-0.56 [[ 9.82781782e-01 -1.83031152e-01 -2.52896301e-02 4.19943210e+01] [ 1.82955198e-01 9.83106939e-01 -5.30496845e-03 4.05658653e+00] [ 2.58333853e-02 5.86757089e-04 9.99666090e-01 -5.58361907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34719346999999 meters 0.06390092746046803 Centerline is valid? [True, True] Translation: X:42.02, Y:4.06, Z:-0.56 [[ 9.83097467e-01 -1.81300733e-01 -2.54836110e-02 4.20231857e+01] [ 1.81222815e-01 9.83427490e-01 -5.35381330e-03 4.06125279e+00] [ 2.60319338e-02 6.45108573e-04 9.99660904e-01 -5.57481717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.377193469999995 meters 0.06461983968857955 Centerline is valid? [True, True] Translation: X:42.05, Y:4.06, Z:-0.56 [[ 9.83711623e-01 -1.77967724e-01 -2.52771219e-02 4.20522473e+01] [ 1.77889757e-01 9.84036051e-01 -5.31843859e-03 4.06393363e+00] [ 2.58201096e-02 7.35268795e-04 9.99666335e-01 -5.56857647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.407193469999996 meters 0.06574602050147646 Centerline is valid? [True, True] Translation: X:42.08, Y:4.07, Z:-0.56 [[ 9.83870531e-01 -1.77001746e-01 -2.58681372e-02 4.20797389e+01] [ 1.76919725e-01 9.84210229e-01 -5.44394397e-03 4.06924179e+00] [ 2.64232728e-02 7.79552319e-04 9.99650540e-01 -5.59841503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43719347 meters 0.06500299261270832 Centerline is valid? [True, True] Translation: X:42.11, Y:4.07, Z:-0.56 [[ 9.83822225e-01 -1.76940061e-01 -2.80364750e-02 4.21092676e+01] [ 1.76843383e-01 9.84221256e-01 -5.91083384e-03 4.07067725e+00] [ 2.86399580e-02 8.57144625e-04 9.99589425e-01 -5.58736733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46719347 meters 0.06545795673172602 Centerline is valid? [True, True] Translation: X:42.14, Y:4.08, Z:-0.56 [[ 9.83663137e-01 -1.77450518e-01 -3.03009235e-02 4.21376571e+01] [ 1.77337541e-01 9.84129294e-01 -6.39752171e-03 4.07636202e+00] [ 3.09552700e-02 9.19515004e-04 9.99520348e-01 -5.62178276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49719346999999 meters 0.06535380556733211 Centerline is valid? [True, True] Translation: X:42.17, Y:4.08, Z:-0.56 [[ 9.83264796e-01 -1.79756246e-01 -2.96316269e-02 4.21669169e+01] [ 1.79648966e-01 9.83710827e-01 -6.26565065e-03 4.07817740e+00] [ 3.02752420e-02 8.37502572e-04 9.99541249e-01 -5.63450753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52719346999999 meters 0.0648488234466575 Centerline is valid? [True, True] Translation: X:42.20, Y:4.08, Z:-0.56 [[ 9.82879760e-01 -1.81796799e-01 -2.99549980e-02 4.21963769e+01] [ 1.81687819e-01 9.83335800e-01 -6.34354363e-03 4.07980882e+00] [ 3.06090579e-02 7.92482375e-04 9.99531119e-01 -5.63363098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.557193469999994 meters 0.06440091410756561 Centerline is valid? [True, True] Translation: X:42.23, Y:4.08, Z:-0.56 [[ 9.82215839e-01 -1.85111371e-01 -3.13978624e-02 4.22263201e+01] [ 1.84993039e-01 9.82717276e-01 -6.65808396e-03 4.08003661e+00] [ 3.20877089e-02 7.31289542e-04 9.99484789e-01 -5.64089204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.587193469999995 meters 0.06417526038471805 Centerline is valid? [True, True] Translation: X:42.26, Y:4.08, Z:-0.57 [[ 9.81458116e-01 -1.88718561e-01 -3.35450688e-02 4.22557876e+01] [ 1.88585224e-01 9.82030988e-01 -7.12405982e-03 4.07946962e+00] [ 3.42867394e-02 6.65862031e-04 9.99411815e-01 -5.65403454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61719347 meters 0.0639619864958061 Centerline is valid? [True, True] Translation: X:42.29, Y:4.07, Z:-0.57 [[ 9.79453965e-01 -1.98242187e-01 -3.70130590e-02 4.22855884e+01] [ 1.98086541e-01 9.80152998e-01 -7.86278672e-03 4.07345041e+00] [ 3.78371968e-02 3.69448782e-04 9.99283849e-01 -5.70356003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64719347 meters 0.06466267722264618 Centerline is valid? [True, True] Translation: X:42.31, Y:4.07, Z:-0.58 [[ 9.78392558e-01 -2.03286991e-01 -3.77147297e-02 4.23128895e+01] [ 2.03128891e-01 9.79119178e-01 -8.01799639e-03 4.07471439e+00] [ 3.85571695e-02 1.83796802e-04 9.99256379e-01 -5.75979403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67719347 meters 0.06393184384311715 Centerline is valid? [True, True] Translation: X:42.34, Y:4.08, Z:-0.57 [[ 9.77428952e-01 -2.07993347e-01 -3.70325656e-02 4.23420330e+01] [ 2.07843808e-01 9.78130241e-01 -7.88567935e-03 4.07549557e+00] [ 3.78628411e-02 1.07018591e-05 9.99282945e-01 -5.71332537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70719346999999 meters 0.06417622030130687 Centerline is valid? [True, True] Translation: X:42.37, Y:4.07, Z:-0.57 [[ 9.75991525e-01 -2.14921711e-01 -3.53440418e-02 4.23712757e+01] [ 2.14789641e-01 9.76631252e-01 -7.53707469e-03 4.07401460e+00] [ 3.61379768e-02 -2.35413038e-04 9.99346782e-01 -5.69128429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.737193469999994 meters 0.06417622030130687 Centerline is valid? [True, True] Translation: X:42.40, Y:4.08, Z:-0.57 [[ 9.75919440e-01 -2.15249224e-01 -3.53414408e-02 4.23981900e+01] [ 2.15116927e-01 9.76559121e-01 -7.54926373e-03 4.08001777e+00] [ 3.61379796e-02 -2.35068901e-04 9.99346782e-01 -5.69355513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.767193469999995 meters 0.06438526008966905 Centerline is valid? [True, True] Translation: X:42.43, Y:4.08, Z:-0.57 [[ 9.75436710e-01 -2.17313138e-01 -3.60308914e-02 4.24265782e+01] [ 2.17176962e-01 9.76101890e-01 -7.69850047e-03 4.08314010e+00] [ 3.68428065e-02 -3.15679570e-04 9.99321023e-01 -5.69175325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.797193469999996 meters 0.06439978686895827 Centerline is valid? [True, True] Translation: X:42.46, Y:4.09, Z:-0.57 [[ 9.74981281e-01 -2.19231584e-01 -3.67289417e-02 4.24550135e+01] [ 2.19090945e-01 9.75672776e-01 -7.86077692e-03 4.08784744e+00] [ 3.75587591e-02 -3.82868184e-04 9.99294348e-01 -5.67396377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82719347 meters 0.0644587268550611 Centerline is valid? [True, True] Translation: X:42.48, Y:4.09, Z:-0.57 [[ 9.74780739e-01 -2.20326493e-01 -3.54788363e-02 4.24837141e+01] [ 2.20195626e-01 9.75426100e-01 -7.60331336e-03 4.09391757e+00] [ 3.62821943e-02 -4.00721148e-04 9.99341504e-01 -5.67156751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85719347 meters 0.06367077090278855 Centerline is valid? [True, True] Translation: X:42.51, Y:4.11, Z:-0.56 [[ 9.74914704e-01 -2.20159450e-01 -3.27282218e-02 4.25106190e+01] [ 2.20047946e-01 9.75463831e-01 -7.01541611e-03 4.10546258e+00] [ 3.34697068e-02 -3.62345680e-04 9.99439667e-01 -5.62801649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88719346999999 meters 0.06388950841958559 Centerline is valid? [True, True] Translation: X:42.54, Y:4.11, Z:-0.56 [[ 9.74784298e-01 -2.20745588e-01 -3.26643353e-02 4.25368882e+01] [ 2.20634658e-01 9.75331351e-01 -7.00740833e-03 4.11383833e+00] [ 3.34054047e-02 -3.76172825e-04 9.99441813e-01 -5.64074362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.917193469999994 meters 0.06386747951734187 Centerline is valid? [True, True] Translation: X:42.56, Y:4.12, Z:-0.56 [[ 9.74683938e-01 -2.21135440e-01 -3.30202723e-02 4.25648165e+01] [ 2.21021907e-01 9.75243032e-01 -7.09546950e-03 4.12190224e+00] [ 3.37718502e-02 -3.82363393e-04 9.99429495e-01 -5.64110978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.947193469999995 meters 0.06357238330296584 Centerline is valid? [True, True] Translation: X:42.59, Y:4.13, Z:-0.56 [[ 9.74432004e-01 -2.22152959e-01 -3.36204056e-02 4.25930238e+01] [ 2.22035477e-01 9.75011739e-01 -7.23571331e-03 4.12953846e+00] [ 3.43877252e-02 -4.14212174e-04 9.99408481e-01 -5.61257103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.977193469999996 meters 0.0634851253904038 Centerline is valid? [True, True] Translation: X:42.62, Y:4.14, Z:-0.56 [[ 9.74147903e-01 -2.23699290e-01 -3.15355474e-02 4.26217554e+01] [ 2.23596427e-01 9.74658116e-01 -6.79669187e-03 4.13609831e+00] [ 3.22567923e-02 -4.30252595e-04 9.99479522e-01 -5.58284872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00719347 meters 0.0633518215078045 Centerline is valid? [True, True] Translation: X:42.65, Y:4.14, Z:-0.56 [[ 9.74124779e-01 -2.23871162e-01 -3.10260827e-02 4.26493225e+01] [ 2.23771352e-01 9.74618658e-01 -6.69735132e-03 4.14345284e+00] [ 3.17379429e-02 -4.18692585e-04 9.99496137e-01 -5.57532320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03719347 meters 0.0632954564536584 Centerline is valid? [True, True] Translation: X:42.68, Y:4.15, Z:-0.56 [[ 9.74236279e-01 -2.23178949e-01 -3.24781237e-02 4.26763051e+01] [ 2.23069125e-01 9.74777404e-01 -7.01278211e-03 4.15308944e+00] [ 3.32240464e-02 -4.12759882e-04 9.99447844e-01 -5.58879016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06719346999999 meters 0.06298741405530718 Centerline is valid? [True, True] Translation: X:42.70, Y:4.17, Z:-0.56 [[ 9.75663151e-01 -2.16720375e-01 -3.33720631e-02 4.27006706e+01] [ 2.16600506e-01 9.76233702e-01 -7.20967116e-03 4.17297014e+00] [ 3.41414154e-02 -1.94195272e-04 9.99416993e-01 -5.62158092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09719346999999 meters 0.0623843512979917 Centerline is valid? [True, True] Translation: X:42.73, Y:4.19, Z:-0.56 [[ 9.76689649e-01 -2.12134797e-01 -3.28048359e-02 4.27278332e+01] [ 2.12015985e-01 9.77240414e-01 -7.09892416e-03 4.18650621e+00] [ 3.35641403e-02 -2.17038558e-05 9.99436565e-01 -5.60045066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.127193469999995 meters 0.06280670880651051 Centerline is valid? [True, True] Translation: X:42.75, Y:4.20, Z:-0.56 [[ 9.77945440e-01 -2.06165793e-01 -3.34422203e-02 4.27535858e+01] [ 2.06038661e-01 9.78517056e-01 -7.24161570e-03 4.19985656e+00] [ 3.42167564e-02 1.91514763e-04 9.99414417e-01 -5.62904623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.157193469999996 meters 0.06522489227467819 Centerline is valid? [True, True] Translation: X:42.78, Y:4.22, Z:-0.57 [[ 9.80897035e-01 -1.91148845e-01 -3.60988220e-02 4.27782332e+01] [ 1.90990498e-01 9.81560758e-01 -7.81720803e-03 4.22268144e+00] [ 3.69274374e-02 7.73344196e-04 9.99317650e-01 -5.67437596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18719347 meters 0.06663441018338548 Centerline is valid? [True, True] Translation: X:42.81, Y:4.24, Z:-0.57 [[ 9.82177537e-01 -1.83937078e-01 -3.86579534e-02 4.28060740e+01] [ 1.83749864e-01 9.82937383e-01 -8.37191049e-03 4.23579069e+00] [ 3.95382523e-02 1.11930874e-03 9.99217431e-01 -5.67814102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21719347 meters 0.06768100641141754 Centerline is valid? [True, True] Translation: X:42.83, Y:4.25, Z:-0.57 [[ 9.83329430e-01 -1.77008128e-01 -4.16095447e-02 4.28344997e+01] [ 1.76784991e-01 9.84208238e-01 -9.01170040e-03 4.24658628e+00] [ 4.25476008e-02 1.50552723e-03 9.99093306e-01 -5.66275233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24719346999999 meters 0.07001655802337656 Centerline is valid? [True, True] Translation: X:42.86, Y:4.26, Z:-0.57 [[ 9.84354440e-01 -1.70912065e-01 -4.28415998e-02 4.28619873e+01] [ 1.70669699e-01 9.85284601e-01 -9.27953029e-03 4.25895979e+00] [ 4.37971522e-02 1.82258389e-03 9.99038782e-01 -5.69453714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27719346999999 meters 0.07224219554601968 Centerline is valid? [True, True] Translation: X:42.89, Y:4.27, Z:-0.57 [[ 9.85500624e-01 -1.63988183e-01 -4.35476267e-02 4.28909826e+01] [ 1.63730984e-01 9.86459925e-01 -9.43298420e-03 4.26915645e+00] [ 4.45048866e-02 2.16611605e-03 9.99006818e-01 -5.69813418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.307193469999994 meters 0.0721401460398794 Centerline is valid? [True, True] Translation: X:42.92, Y:4.27, Z:-0.57 [[ 9.85622579e-01 -1.63213415e-01 -4.36979712e-02 4.29193336e+01] [ 1.62953418e-01 9.86588302e-01 -9.47134922e-03 4.27213182e+00] [ 4.46577585e-02 2.21444190e-03 9.98999890e-01 -5.68855847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.337193469999995 meters 0.0730471066595831 Centerline is valid? [True, True] Translation: X:42.95, Y:4.27, Z:-0.57 [[ 9.85778690e-01 -1.62345053e-01 -4.34103355e-02 4.29474768e+01] [ 1.62087285e-01 9.86731492e-01 -9.41677352e-03 4.27490942e+00] [ 4.43631117e-02 2.24659126e-03 9.99012946e-01 -5.69546158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36719347 meters 0.07323878855308173 Centerline is valid? [True, True] Translation: X:42.98, Y:4.27, Z:-0.57 [[ 9.85622127e-01 -1.63048244e-01 -4.43203458e-02 4.29769430e+01] [ 1.62780058e-01 9.86615496e-01 -9.61853193e-03 4.26851563e+00] [ 4.52954247e-02 2.26576942e-03 9.98971066e-01 -5.70719788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39719347 meters 0.07289343346332963 Centerline is valid? [True, True] Translation: X:43.01, Y:4.27, Z:-0.57 [[ 9.85381492e-01 -1.64115548e-01 -4.57099704e-02 4.30060419e+01] [ 1.63831180e-01 9.86438461e-01 -9.92511210e-03 4.26806482e+00] [ 4.67189380e-02 2.29130340e-03 9.98905446e-01 -5.70602578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42719347 meters 0.07187254668264281 Centerline is valid? [True, True] Translation: X:43.04, Y:4.26, Z:-0.57 [[ 9.84710233e-01 -1.67767252e-01 -4.69031506e-02 4.30358586e+01] [ 1.67471715e-01 9.85824225e-01 -1.01892915e-02 4.26171516e+00] [ 4.79476915e-02 2.17854861e-03 9.98847472e-01 -5.71561520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45719346999999 meters 0.0713980228912917 Centerline is valid? [True, True] Translation: X:43.07, Y:4.26, Z:-0.57 [[ 9.84430766e-01 -1.69447271e-01 -4.67299692e-02 4.30659797e+01] [ 1.69155100e-01 9.85537010e-01 -1.01663097e-02 4.26176804e+00] [ 4.77767675e-02 2.10341545e-03 9.98855823e-01 -5.70958606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.487193469999994 meters 0.07046221968770633 Centerline is valid? [True, True] Translation: X:43.10, Y:4.26, Z:-0.57 [[ 9.84028902e-01 -1.72496771e-01 -4.39543348e-02 4.30960366e+01] [ 1.72241339e-01 9.85008367e-01 -9.56235348e-03 4.26093387e+00] [ 4.49448626e-02 1.83887874e-03 9.98987777e-01 -5.70561551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.517193469999995 meters 0.0701268910245807 Centerline is valid? [True, True] Translation: X:43.13, Y:4.26, Z:-0.57 [[ 9.83573165e-01 -1.75538383e-01 -4.20726256e-02 4.31254379e+01] [ 1.75307103e-01 9.84471242e-01 -9.15389581e-03 4.25970540e+00] [ 4.30261500e-02 1.62789617e-03 9.99072620e-01 -5.70638897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.547193469999996 meters 0.06685692293460387 Centerline is valid? [True, True] Translation: X:43.16, Y:4.25, Z:-0.56 [[ 9.82584995e-01 -1.82213615e-01 -3.63995322e-02 4.31591427e+01] [ 1.82045074e-01 9.83258289e-01 -7.92013374e-03 4.24648489e+00] [ 3.72332979e-02 1.15584906e-03 9.99305932e-01 -5.64397714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57719347 meters 0.06583340067492893 Centerline is valid? [True, True] Translation: X:43.19, Y:4.24, Z:-0.56 [[ 9.82050274e-01 -1.85472349e-01 -3.43113298e-02 4.31891192e+01] [ 1.85324496e-01 9.82648999e-01 -7.46828471e-03 4.24353665e+00] [ 3.51011542e-02 9.75501166e-04 9.99383289e-01 -5.62617305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60719347 meters 0.06470815107123049 Centerline is valid? [True, True] Translation: X:43.22, Y:4.23, Z:-0.56 [[ 9.81496721e-01 -1.88890093e-01 -3.13802532e-02 4.32220194e+01] [ 1.88768161e-01 9.81997924e-01 -6.83065334e-03 4.23452788e+00] [ 3.21055862e-02 7.80671157e-04 9.99484178e-01 -5.59477600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63719346999999 meters 0.06478593544192554 Centerline is valid? [True, True] Translation: X:43.25, Y:4.23, Z:-0.56 [[ 9.81332115e-01 -1.89777952e-01 -3.11706342e-02 4.32509562e+01] [ 1.89657969e-01 9.81826749e-01 -6.78887923e-03 4.23442369e+00] [ 3.18925421e-02 7.50386033e-04 9.99491022e-01 -5.59972648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.667193469999994 meters 0.06448352411612762 Centerline is valid? [True, True] Translation: X:43.28, Y:4.23, Z:-0.56 [[ 9.81139818e-01 -1.90806098e-01 -3.09465751e-02 4.32807407e+01] [ 1.90688017e-01 9.81627481e-01 -6.75043668e-03 4.23420704e+00] [ 3.16660330e-02 7.21981176e-04 9.99498245e-01 -5.59852012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.697193469999995 meters 0.06472376397920544 Centerline is valid? [True, True] Translation: X:43.31, Y:4.24, Z:-0.56 [[ 9.81001601e-01 -1.91375388e-01 -3.18012471e-02 4.33090010e+01] [ 1.91250937e-01 9.81516651e-01 -6.93854393e-03 4.23527222e+00] [ 3.25413201e-02 7.24704390e-04 9.99470128e-01 -5.62784497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.727193469999996 meters 0.06442758389469086 Centerline is valid? [True, True] Translation: X:43.34, Y:4.24, Z:-0.56 [[ 9.80718470e-01 -1.92585196e-01 -3.31997850e-02 4.33387932e+01] [ 1.92449873e-01 9.81279988e-01 -7.25468536e-03 4.23535373e+00] [ 3.39754296e-02 7.25509516e-04 9.99422405e-01 -5.62690566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75719347 meters 0.06521881856499723 Centerline is valid? [True, True] Translation: X:43.37, Y:4.23, Z:-0.57 [[ 9.80170155e-01 -1.94681634e-01 -3.69530677e-02 4.33684914e+01] [ 1.94515409e-01 9.80866215e-01 -8.07618074e-03 4.23441921e+00] [ 3.78182997e-02 7.28090271e-04 9.99284367e-01 -5.69859318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78719347 meters 0.06326820253635493 Centerline is valid? [True, True] Translation: X:43.40, Y:4.23, Z:-0.56 [[ 9.79688298e-01 -1.96922599e-01 -3.78461285e-02 4.33972911e+01] [ 1.96749296e-01 9.80418807e-01 -8.28715194e-03 4.23230193e+00] [ 3.87369836e-02 6.72626643e-04 9.99249215e-01 -5.61953243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81719346999999 meters 0.06332966705641954 Centerline is valid? [True, True] Translation: X:43.43, Y:4.23, Z:-0.56 [[ 9.79343548e-01 -1.98677760e-01 -3.75947183e-02 4.34252948e+01] [ 1.98507960e-01 9.80064685e-01 -8.23429198e-03 4.23368468e+00] [ 3.84812264e-02 6.01349870e-04 9.99259142e-01 -5.62118281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84719346999999 meters 0.06262669168289621 Centerline is valid? [True, True] Translation: X:43.46, Y:4.23, Z:-0.56 [[ 9.78251749e-01 -2.04057316e-01 -3.72038680e-02 4.34565752e+01] [ 2.03894399e-01 9.78958862e-01 -8.16219726e-03 4.22689289e+00] [ 3.80866124e-02 3.99023427e-04 9.99274362e-01 -5.57133290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.877193469999995 meters 0.06252639253568541 Centerline is valid? [True, True] Translation: X:43.49, Y:4.23, Z:-0.56 [[ 9.77732293e-01 -2.06746889e-01 -3.59901060e-02 4.34851140e+01] [ 2.06596162e-01 9.78394420e-01 -7.89838030e-03 4.22776826e+00] [ 3.68454845e-02 2.87083714e-04 9.99320933e-01 -5.56601588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.907193469999996 meters 0.06229667716192019 Centerline is valid? [True, True] Translation: X:43.51, Y:4.23, Z:-0.55 [[ 9.77530590e-01 -2.07700288e-01 -3.59796726e-02 4.35127671e+01] [ 2.07549745e-01 9.78192476e-01 -7.91098689e-03 4.23066921e+00] [ 3.68381593e-02 2.65659811e-04 9.99321209e-01 -5.54527169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93719347 meters 0.062385220639165684 Centerline is valid? [True, True] Translation: X:43.54, Y:4.24, Z:-0.56 [[ 9.77871947e-01 -2.06451115e-01 -3.38288796e-02 4.35397848e+01] [ 2.06316935e-01 9.78456869e-01 -7.44833344e-03 4.24022532e+00] [ 3.46378164e-02 3.04045537e-04 9.99399885e-01 -5.57287154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96719347 meters 0.062351781708196906 Centerline is valid? [True, True] Translation: X:43.57, Y:4.25, Z:-0.56 [[ 9.78132388e-01 -2.05067970e-01 -3.47009831e-02 4.35677386e+01] [ 2.04925525e-01 9.78747663e-01 -7.65118558e-03 4.24887873e+00] [ 3.55325192e-02 3.72755253e-04 9.99368451e-01 -5.57517323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99719346999999 meters 0.06302478941762044 Centerline is valid? [True, True] Translation: X:43.59, Y:4.26, Z:-0.56 [[ 9.78408124e-01 -2.03549058e-01 -3.58514079e-02 4.35940355e+01] [ 2.03395816e-01 9.79064646e-01 -7.90954922e-03 4.25742610e+00] [ 3.67108273e-02 4.46740868e-04 9.99325831e-01 -5.62395777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02719346999999 meters 0.06384425443393725 Centerline is valid? [True, True] Translation: X:43.62, Y:4.26, Z:-0.57 [[ 9.78558335e-01 -2.02362934e-01 -3.83774498e-02 4.36216766e+01] [ 2.02186315e-01 9.79310453e-01 -8.46937621e-03 4.26204370e+00] [ 3.92973255e-02 5.28383537e-04 9.99227422e-01 -5.66840776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.057193469999994 meters 0.06386238973941573 Centerline is valid? [True, True] Translation: X:43.65, Y:4.26, Z:-0.57 [[ 9.78186589e-01 -2.03513461e-01 -4.16325394e-02 4.36510610e+01] [ 2.03306530e-01 9.79072007e-01 -9.19022403e-03 4.26456529e+00] [ 4.26315882e-02 5.25586791e-04 9.99090722e-01 -5.67472125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.087193469999995 meters 0.06524227174122954 Centerline is valid? [True, True] Translation: X:43.68, Y:4.27, Z:-0.58 [[ 9.77624181e-01 -2.05990011e-01 -4.26506193e-02 4.36782085e+01] [ 2.05774921e-01 9.78553998e-01 -9.42098883e-03 4.26825926e+00] [ 4.36765636e-02 4.33758709e-04 9.99045629e-01 -5.76622234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11719347 meters 0.06475096186161332 Centerline is valid? [True, True] Translation: X:43.71, Y:4.27, Z:-0.57 [[ 9.76985797e-01 -2.08925085e-01 -4.30007116e-02 4.37062353e+01] [ 2.08708584e-01 9.77931596e-01 -9.51426052e-03 4.26991306e+00] [ 4.40395222e-02 3.20679777e-04 9.99029738e-01 -5.73936973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14719347 meters 0.0637741991180181 Centerline is valid? [True, True] Translation: X:43.74, Y:4.27, Z:-0.57 [[ 9.76226458e-01 -2.13122073e-01 -3.95080324e-02 4.37363091e+01] [ 2.12942778e-01 9.77025572e-01 -8.74103602e-03 4.27116509e+00] [ 4.04632657e-02 1.20280459e-04 9.99181019e-01 -5.68790838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17719347 meters 0.06347243737564505 Centerline is valid? [True, True] Translation: X:43.76, Y:4.28, Z:-0.57 [[ 9.76066673e-01 -2.14365098e-01 -3.66258840e-02 4.37649719e+01] [ 2.14211833e-01 9.76753603e-01 -8.10493155e-03 4.27580471e+00] [ 3.75118786e-02 6.52558143e-05 9.99296180e-01 -5.66655745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20719346999999 meters 0.06254711912158283 Centerline is valid? [True, True] Translation: X:43.79, Y:4.28, Z:-0.56 [[ 9.76125191e-01 -2.14329555e-01 -3.52484626e-02 4.37932668e+01] [ 2.14187101e-01 9.76761402e-01 -7.81345553e-03 4.28139381e+00] [ 3.61039922e-02 7.71447457e-05 9.99348035e-01 -5.59216973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.237193469999994 meters 0.062302303355062566 Centerline is valid? [True, True] Translation: X:43.82, Y:4.29, Z:-0.56 [[ 9.76411676e-01 -2.13269418e-01 -3.37104351e-02 4.38217561e+01] [ 2.13138340e-01 9.76993420e-01 -7.47702659e-03 4.28873059e+00] [ 3.45294944e-02 1.15669876e-04 9.99403673e-01 -5.56638350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.267193469999995 meters 0.06260248357951669 Centerline is valid? [True, True] Translation: X:43.85, Y:4.30, Z:-0.56 [[ 9.76642654e-01 -2.12027788e-01 -3.48330671e-02 4.38482034e+01] [ 2.11886885e-01 9.77263623e-01 -7.73044361e-03 4.29595394e+00] [ 3.56801583e-02 1.69210880e-04 9.99363246e-01 -5.58728838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.297193469999996 meters 0.0627740981691096 Centerline is valid? [True, True] Translation: X:43.88, Y:4.30, Z:-0.56 [[ 9.76957997e-01 -2.10689428e-01 -3.41033355e-02 4.38756761e+01] [ 2.10553138e-01 9.77553024e-01 -7.58035680e-03 4.30305062e+00] [ 3.49349197e-02 2.25125909e-04 9.99389564e-01 -5.59313371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32719347 meters 0.06257906051121918 Centerline is valid? [True, True] Translation: X:43.90, Y:4.31, Z:-0.56 [[ 9.77417137e-01 -2.08553510e-01 -3.40759925e-02 4.39035381e+01] [ 2.08415767e-01 9.78010908e-01 -7.58498451e-03 4.31095084e+00] [ 3.49085675e-02 3.11719749e-04 9.99390462e-01 -5.57301130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.35719347 meters 0.06258564960962425 Centerline is valid? [True, True] Translation: X:43.93, Y:4.32, Z:-0.56 [[ 9.77340923e-01 -2.09040260e-01 -3.32699700e-02 4.39309181e+01] [ 2.08909168e-01 9.77906993e-01 -7.40767713e-03 4.31709854e+00] [ 3.40834391e-02 2.89424257e-04 9.99418949e-01 -5.58116836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38719346999999 meters 0.06241496902460625 Centerline is valid? [True, True] Translation: X:43.96, Y:4.32, Z:-0.56 [[ 9.76903626e-01 -2.11012693e-01 -3.36592928e-02 4.39585833e+01] [ 2.10879200e-01 9.77483293e-01 -7.50838683e-03 4.32136077e+00] [ 3.44857613e-02 2.36925583e-04 9.99405161e-01 -5.57816990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.417193469999994 meters 0.06260835668570805 Centerline is valid? [True, True] Translation: X:43.99, Y:4.32, Z:-0.56 [[ 9.75905031e-01 -2.15588524e-01 -3.36297342e-02 4.39869723e+01] [ 2.15457918e-01 9.76484297e-01 -7.50351940e-03 4.32308331e+00] [ 3.44565800e-02 7.69298017e-05 9.99406193e-01 -5.60110661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.447193469999995 meters 0.06260300664597492 Centerline is valid? [True, True] Translation: X:44.02, Y:4.33, Z:-0.56 [[ 9.75010744e-01 -2.19554632e-01 -3.39088912e-02 4.40154835e+01] [ 2.19423821e-01 9.75600206e-01 -7.57799395e-03 4.32721782e+00] [ 3.47453049e-02 -5.17929263e-05 9.99396198e-01 -5.60680892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.477193469999996 meters 0.06298626998746591 Centerline is valid? [True, True] Translation: X:44.04, Y:4.33, Z:-0.56 [[ 9.74214782e-01 -2.22941610e-01 -3.46784906e-02 4.40442996e+01] [ 2.22806554e-01 9.74831786e-01 -7.76069086e-03 4.33158821e+00] [ 3.55358758e-02 -1.66015222e-04 9.99368388e-01 -5.61529754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50719347 meters 0.06336885115626882 Centerline is valid? [True, True] Translation: X:44.07, Y:4.33, Z:-0.56 [[ 9.72474821e-01 -2.30641849e-01 -3.31219075e-02 4.40732167e+01] [ 2.30522677e-01 9.73038625e-01 -7.42495239e-03 4.33184354e+00] [ 3.39414000e-02 -4.14771533e-04 9.99423739e-01 -5.58783585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53719347 meters 0.0638395747363758 Centerline is valid? [True, True] Translation: X:44.10, Y:4.34, Z:-0.56 [[ 9.71951653e-01 -2.32845943e-01 -3.30567792e-02 4.41009629e+01] [ 2.32728455e-01 9.72513510e-01 -7.41206129e-03 4.33553381e+00] [ 3.38740328e-02 -4.89087921e-04 9.99425991e-01 -5.58364430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56719346999999 meters 0.06427423322290378 Centerline is valid? [True, True] Translation: X:44.13, Y:4.34, Z:-0.56 [[ 9.71722903e-01 -2.34002072e-01 -3.15852991e-02 4.41287599e+01] [ 2.33895239e-01 9.72235969e-01 -7.08781808e-03 4.34079123e+00] [ 3.23669280e-02 -5.00255923e-04 9.99475929e-01 -5.59897848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59719346999999 meters 0.06426300786842679 Centerline is valid? [True, True] Translation: X:44.16, Y:4.35, Z:-0.56 [[ 9.71774907e-01 -2.33759268e-01 -3.17826087e-02 4.41557310e+01] [ 2.33650568e-01 9.72294385e-01 -7.14429381e-03 4.34982252e+00] [ 3.25720968e-02 -4.83379111e-04 9.99469272e-01 -5.60170146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.627193469999995 meters 0.06292697332005454 Centerline is valid? [True, True] Translation: X:44.18, Y:4.37, Z:-0.56 [[ 9.72460592e-01 -2.30934006e-01 -3.14623778e-02 4.41816504e+01] [ 2.30825693e-01 9.72969344e-01 -7.08205034e-03 4.36676190e+00] [ 3.22474153e-02 -3.75310285e-04 9.99479846e-01 -5.56447343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.657193469999996 meters 0.06292697332005454 Centerline is valid? [True, True] Translation: X:44.21, Y:4.37, Z:-0.56 [[ 9.72381435e-01 -2.31267426e-01 -3.14598718e-02 4.42085343e+01] [ 2.31158927e-01 9.72890147e-01 -7.09317638e-03 4.37305896e+00] [ 3.22474199e-02 -3.74957195e-04 9.99479846e-01 -5.56674443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68719347 meters 0.06367583895882156 Centerline is valid? [True, True] Translation: X:44.23, Y:4.38, Z:-0.56 [[ 9.72603774e-01 -2.30263424e-01 -3.19476821e-02 4.42349335e+01] [ 2.30150943e-01 9.73128273e-01 -7.20466794e-03 4.38337315e+00] [ 3.27481642e-02 -3.45501956e-04 9.99463575e-01 -5.64262787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71719347 meters 0.0637708843845839 Centerline is valid? [True, True] Translation: X:44.26, Y:4.40, Z:-0.57 [[ 9.72648372e-01 -2.29958381e-01 -3.27763321e-02 4.42613491e+01] [ 2.29839448e-01 9.73200407e-01 -7.40242555e-03 4.39558202e+00] [ 3.36001895e-02 -3.33336935e-04 9.99435299e-01 -5.66712645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74719346999999 meters 0.06398636034101852 Centerline is valid? [True, True] Translation: X:44.29, Y:4.41, Z:-0.57 [[ 9.73047072e-01 -2.27864214e-01 -3.54583573e-02 4.42880285e+01] [ 2.27723651e-01 9.73692877e-01 -8.00743489e-03 4.41161362e+00] [ 3.63501578e-02 -2.83095523e-04 9.99339075e-01 -5.70274550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77719346999999 meters 0.06344558753165011 Centerline is valid? [True, True] Translation: X:44.32, Y:4.42, Z:-0.57 [[ 9.73141814e-01 -2.27489022e-01 -3.52669137e-02 4.43150951e+01] [ 2.27349265e-01 9.73780612e-01 -7.97696552e-03 4.42118265e+00] [ 3.61569089e-02 -2.55188217e-04 9.99346093e-01 -5.67203453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.807193469999994 meters 0.06322048558967652 Centerline is valid? [True, True] Translation: X:44.34, Y:4.43, Z:-0.57 [[ 9.73136194e-01 -2.27583363e-01 -3.48103572e-02 4.43431446e+01] [ 2.27446921e-01 9.73758570e-01 -7.88326250e-03 4.43046508e+00] [ 3.56909831e-02 -2.46020492e-04 9.99362844e-01 -5.65965640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.837193469999995 meters 0.06275398183363468 Centerline is valid? [True, True] Translation: X:44.37, Y:4.44, Z:-0.56 [[ 9.73419184e-01 -2.26675143e-01 -3.27638809e-02 4.43704308e+01] [ 2.26553716e-01 9.73970400e-01 -7.42117818e-03 4.44116435e+00] [ 3.35932468e-02 -1.98861755e-04 9.99435568e-01 -5.64281842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86719347 meters 0.0632489191781829 Centerline is valid? [True, True] Translation: X:44.39, Y:4.46, Z:-0.57 [[ 9.74219444e-01 -2.23097018e-01 -3.35290208e-02 4.43944351e+01] [ 2.22967605e-01 9.74796243e-01 -7.59816443e-03 4.45947977e+00] [ 3.43790914e-02 -7.36059479e-05 9.99408862e-01 -5.71598239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89719347 meters 0.06263333380136071 Centerline is valid? [True, True] Translation: X:44.42, Y:4.47, Z:-0.57 [[ 9.74610811e-01 -2.21264703e-01 -3.42884725e-02 4.44207439e+01] [ 2.21127814e-01 9.75213787e-01 -7.78192796e-03 4.47286658e+00] [ 3.51604571e-02 2.21614787e-06 9.99381680e-01 -5.68385036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92719347 meters 0.06268046147250787 Centerline is valid? [True, True] Translation: X:44.45, Y:4.48, Z:-0.57 [[ 9.74995654e-01 -2.19613487e-01 -3.39616025e-02 4.44464232e+01] [ 2.19478045e-01 9.75586958e-01 -7.71202978e-03 4.48425732e+00] [ 3.48261622e-02 6.53693909e-05 9.99393383e-01 -5.69077044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95719346999999 meters 0.06169087006794493 Centerline is valid? [True, True] Translation: X:44.47, Y:4.50, Z:-0.56 [[ 9.75456210e-01 -2.17841937e-01 -3.20947399e-02 4.44739762e+01] [ 2.17719641e-01 9.75984054e-01 -7.29966871e-03 4.49514466e+00] [ 3.29141283e-02 1.32851925e-04 9.99458174e-01 -5.60897811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.987193469999994 meters 0.061341018690140435 Centerline is valid? [True, True] Translation: X:44.50, Y:4.50, Z:-0.56 [[ 9.75575257e-01 -2.17763652e-01 -2.88428426e-02 4.45014300e+01] [ 2.17664824e-01 9.76001525e-01 -6.56106708e-03 4.50249247e+00] [ 2.95794203e-02 1.22742443e-04 9.99562426e-01 -5.59239740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.017193469999995 meters 0.06105265936032689 Centerline is valid? [True, True] Translation: X:44.53, Y:4.51, Z:-0.56 [[ 9.75866745e-01 -2.16422161e-01 -2.90782543e-02 4.45286493e+01] [ 2.16320789e-01 9.76299860e-01 -6.62560790e-03 4.51379482e+00] [ 2.98230240e-02 1.75479492e-04 9.99555179e-01 -5.58605267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.047193469999996 meters 0.06133986369197143 Centerline is valid? [True, True] Translation: X:44.55, Y:4.52, Z:-0.56 [[ 9.76357141e-01 -2.14166483e-01 -2.93163744e-02 4.45546216e+01] [ 2.14062317e-01 9.76797141e-01 -6.68352116e-03 4.52488242e+00] [ 3.00675369e-02 2.49972582e-04 9.99547838e-01 -5.60885903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07719347 meters 0.06176847087844641 Centerline is valid? [True, True] Translation: X:44.58, Y:4.54, Z:-0.56 [[ 9.76811809e-01 -2.11956088e-01 -3.02209719e-02 4.45806940e+01] [ 2.11844183e-01 9.77279134e-01 -6.89463712e-03 4.53565351e+00] [ 3.09956856e-02 3.32625871e-04 9.99519463e-01 -5.64399321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10719347 meters 0.06188917709415016 Centerline is valid? [True, True] Translation: X:44.61, Y:4.55, Z:-0.56 [[ 9.77247147e-01 -2.09801360e-01 -3.11673256e-02 4.46079627e+01] [ 2.09680891e-01 9.77743939e-01 -7.12139532e-03 4.54520750e+00] [ 3.19677421e-02 4.24170653e-04 9.99488811e-01 -5.63806362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13719346999999 meters 0.06197313889506426 Centerline is valid? [True, True] Translation: X:44.64, Y:4.55, Z:-0.56 [[ 9.77683021e-01 -2.07952156e-01 -2.98632167e-02 4.46357157e+01] [ 2.07840414e-01 9.78138884e-01 -6.83266726e-03 4.55420132e+00] [ 3.06312413e-02 4.73399432e-04 9.99530641e-01 -5.64167795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.167193469999994 meters 0.06177337997449521 Centerline is valid? [True, True] Translation: X:44.66, Y:4.56, Z:-0.56 [[ 9.77504299e-01 -2.09020165e-01 -2.82119767e-02 4.46632412e+01] [ 2.08920787e-01 9.77911241e-01 -6.45829687e-03 4.55942244e+00] [ 2.89387235e-02 4.18944575e-04 9.99581100e-01 -5.64279159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.197193469999995 meters 0.06135060718971187 Centerline is valid? [True, True] Translation: X:44.69, Y:4.56, Z:-0.56 [[ 9.77041325e-01 -2.11256509e-01 -2.75850714e-02 4.46920306e+01] [ 2.11162122e-01 9.77430592e-01 -6.32425891e-03 4.56403816e+00] [ 2.82985335e-02 3.54140109e-04 9.99599454e-01 -5.64349754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.227193469999996 meters 0.06116960236486538 Centerline is valid? [True, True] Translation: X:44.72, Y:4.57, Z:-0.57 [[ 9.76344413e-01 -2.14276604e-01 -2.89330895e-02 4.47208094e+01] [ 2.14173836e-01 9.76772980e-01 -6.64183116e-03 4.56846264e+00] [ 2.96842491e-02 2.88003974e-04 9.99559284e-01 -5.65917972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25719347 meters 0.06059405295762633 Centerline is valid? [True, True] Translation: X:44.75, Y:4.57, Z:-0.56 [[ 9.75992435e-01 -2.15794541e-01 -2.95208784e-02 4.47494836e+01] [ 2.15687959e-01 9.76438759e-01 -6.78631170e-03 4.57380253e+00] [ 3.02897789e-02 2.56090893e-04 9.99541127e-01 -5.63406033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28719347 meters 0.061116845066907656 Centerline is valid? [True, True] Translation: X:44.78, Y:4.58, Z:-0.57 [[ 9.75913407e-01 -2.16118965e-01 -2.97592738e-02 4.47767862e+01] [ 2.16010753e-01 9.76367006e-01 -6.84280840e-03 4.58108992e+00] [ 3.05348337e-02 2.49665339e-04 9.99533672e-01 -5.68965194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31719346999999 meters 0.06049741232104852 Centerline is valid? [True, True] Translation: X:44.81, Y:4.59, Z:-0.56 [[ 9.75377831e-01 -2.18292355e-01 -3.14091643e-02 4.48054254e+01] [ 2.18172565e-01 9.75883398e-01 -7.23361921e-03 4.58558303e+00] [ 3.22307258e-02 2.02893880e-04 9.99480435e-01 -5.64953153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34719346999999 meters 0.0602475411498171 Centerline is valid? [True, True] Translation: X:44.83, Y:4.59, Z:-0.56 [[ 9.74792791e-01 -2.20693744e-01 -3.27610503e-02 4.48337726e+01] [ 2.20564414e-01 9.75343146e-01 -7.55560317e-03 4.59134530e+00] [ 3.36207402e-02 1.39225649e-04 9.99434653e-01 -5.64491104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.377193469999995 meters 0.06035829139608264 Centerline is valid? [True, True] Translation: X:44.86, Y:4.60, Z:-0.57 [[ 9.74173913e-01 -2.23165260e-01 -3.43868265e-02 4.48621058e+01] [ 2.23023918e-01 9.74780623e-01 -7.94166044e-03 4.59791540e+00] [ 3.52919149e-02 6.74736645e-05 9.99377044e-01 -5.65666781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.407193469999996 meters 0.06079392350538665 Centerline is valid? [True, True] Translation: X:44.89, Y:4.60, Z:-0.57 [[ 9.73586683e-01 -2.25359172e-01 -3.66362407e-02 4.48888825e+01] [ 2.25200154e-01 9.74275753e-01 -8.46448211e-03 4.60372789e+00] [ 3.76013496e-02 -9.57996106e-06 9.99292819e-01 -5.68751786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43719347 meters 0.06104456670135223 Centerline is valid? [True, True] Translation: X:44.92, Y:4.61, Z:-0.57 [[ 9.71988154e-01 -2.32008179e-01 -3.75663781e-02 4.49181360e+01] [ 2.31845417e-01 9.72713800e-01 -8.69282782e-03 4.60520238e+00] [ 3.85581415e-02 -2.60266922e-04 9.99256324e-01 -5.68509275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46719347 meters 0.06175107390175228 Centerline is valid? [True, True] Translation: X:44.95, Y:4.61, Z:-0.57 [[ 9.71121412e-01 -2.35661471e-01 -3.72407488e-02 4.49459895e+01] [ 2.35504104e-01 9.71835126e-01 -8.62004707e-03 4.60751770e+00] [ 3.82232807e-02 -3.99236889e-04 9.99269144e-01 -5.70601005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49719346999999 meters 0.06187012349280695 Centerline is valid? [True, True] Translation: X:44.97, Y:4.61, Z:-0.57 [[ 9.70089137e-01 -2.40077139e-01 -3.59170469e-02 4.49738124e+01] [ 2.39933232e-01 9.70753665e-01 -8.32864158e-03 4.61130776e+00] [ 3.68661213e-02 -5.38168424e-04 9.99320069e-01 -5.68453885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52719346999999 meters 0.06160324228531226 Centerline is valid? [True, True] Translation: X:45.00, Y:4.62, Z:-0.56 [[ 9.68659509e-01 -2.46159883e-01 -3.32275020e-02 4.50018756e+01] [ 2.46039925e-01 9.69228982e-01 -7.71589676e-03 4.61743412e+00] [ 3.41044022e-02 -7.01215339e-04 9.99418030e-01 -5.63200636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.557193469999994 meters 0.061879124225018595 Centerline is valid? [True, True] Translation: X:45.03, Y:4.62, Z:-0.56 [[ 9.68396931e-01 -2.47344400e-01 -3.20644967e-02 4.50293281e+01] [ 2.47233197e-01 9.68927366e-01 -7.45024359e-03 4.62422888e+00] [ 3.29109444e-02 -7.12615019e-04 9.99458034e-01 -5.63541955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.587193469999995 meters 0.061781068984505694 Centerline is valid? [True, True] Translation: X:45.06, Y:4.63, Z:-0.56 [[ 9.68740631e-01 -2.46183485e-01 -3.05823878e-02 4.50557502e+01] [ 2.46081653e-01 9.69223031e-01 -7.10892260e-03 4.63204753e+00] [ 3.13912539e-02 -6.39062377e-04 9.99506969e-01 -5.63958236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61719347 meters 0.06034914985782762 Centerline is valid? [True, True] Translation: X:45.08, Y:4.65, Z:-0.56 [[ 9.70181476e-01 -2.40465499e-01 -3.04014480e-02 4.50811376e+01] [ 2.40361976e-01 9.70657583e-01 -7.06951316e-03 4.64940194e+00] [ 3.12093700e-02 -4.48641384e-04 9.99512768e-01 -5.63082666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64719347 meters 0.06019883427696702 Centerline is valid? [True, True] Translation: X:45.11, Y:4.66, Z:-0.57 [[ 9.71095693e-01 -2.36743693e-01 -3.04233379e-02 4.51062493e+01] [ 2.36638080e-01 9.71572086e-01 -7.07824415e-03 4.66308103e+00] [ 3.12341955e-02 -3.25667847e-04 9.99512040e-01 -5.66049991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67719347 meters 0.05953262950916384 Centerline is valid? [True, True] Translation: X:45.13, Y:4.68, Z:-0.56 [[ 9.72040986e-01 -2.32931780e-01 -2.96497519e-02 4.51321763e+01] [ 2.32829357e-01 9.72493060e-01 -6.90937520e-03 4.67757939e+00] [ 3.04435910e-02 -1.87136791e-04 9.99536469e-01 -5.64303221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70719346999999 meters 0.058977923229094585 Centerline is valid? [True, True] Translation: X:45.16, Y:4.70, Z:-0.56 [[ 9.73513724e-01 -2.26795302e-01 -2.88949945e-02 4.51574617e+01] [ 2.26695035e-01 9.73942447e-01 -6.74316531e-03 4.69558474e+00] [ 2.96713799e-02 1.42121754e-05 9.99559708e-01 -5.60713000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.737193469999994 meters 0.05922584806450604 Centerline is valid? [True, True] Translation: X:45.18, Y:4.71, Z:-0.56 [[ 9.73862486e-01 -2.25292153e-01 -2.89016349e-02 4.51831448e+01] [ 2.25191078e-01 9.74291251e-01 -6.74806548e-03 4.70608725e+00] [ 2.96788962e-02 6.32975012e-05 9.99559483e-01 -5.63191334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.767193469999995 meters 0.059527350653796406 Centerline is valid? [True, True] Translation: X:45.21, Y:4.72, Z:-0.57 [[ 9.73995110e-01 -2.24525676e-01 -3.03602843e-02 4.52089167e+01] [ 2.24413674e-01 9.74468169e-01 -7.09160528e-03 4.71675836e+00] [ 3.11773781e-02 9.39259183e-05 9.99513863e-01 -5.66424548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.797193469999996 meters 0.05946074449670202 Centerline is valid? [True, True] Translation: X:45.24, Y:4.73, Z:-0.56 [[ 9.74236532e-01 -2.23182699e-01 -3.24447669e-02 4.52351601e+01] [ 2.23053627e-01 9.74776619e-01 -7.59091389e-03 4.73117213e+00] [ 3.33205608e-02 1.58422705e-04 9.99444703e-01 -5.64965583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82719347 meters 0.059775433521715604 Centerline is valid? [True, True] Translation: X:45.26, Y:4.74, Z:-0.57 [[ 9.74484114e-01 -2.22139027e-01 -3.21708544e-02 4.52616888e+01] [ 2.22011490e-01 9.75014982e-01 -7.52881271e-03 4.74082207e+00] [ 3.30395081e-02 1.94409058e-04 9.99454028e-01 -5.67380797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85719347 meters 0.0599356201752596 Centerline is valid? [True, True] Translation: X:45.29, Y:4.75, Z:-0.57 [[ 9.74563517e-01 -2.21742820e-01 -3.24972899e-02 4.52894658e+01] [ 2.21612054e-01 9.75105160e-01 -7.61742576e-03 4.75036567e+00] [ 3.33773845e-02 2.21874081e-04 9.99442795e-01 -5.67810337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88719346999999 meters 0.0600591504833608 Centerline is valid? [True, True] Translation: X:45.32, Y:4.76, Z:-0.57 [[ 9.74326837e-01 -2.22540856e-01 -3.40995893e-02 4.53173317e+01] [ 2.22396982e-01 9.74923341e-01 -8.00383209e-03 4.75946373e+00] [ 3.50256651e-02 2.14702674e-04 9.99386390e-01 -5.70286019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.917193469999994 meters 0.060412341405313964 Centerline is valid? [True, True] Translation: X:45.34, Y:4.77, Z:-0.57 [[ 9.74012739e-01 -2.23635558e-01 -3.58653190e-02 4.53439157e+01] [ 2.23476955e-01 9.74672818e-01 -8.42311812e-03 4.76714666e+00] [ 3.68406602e-02 1.89152067e-04 9.99321135e-01 -5.72478719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.947193469999995 meters 0.06042290152817985 Centerline is valid? [True, True] Translation: X:45.37, Y:4.77, Z:-0.57 [[ 9.73703658e-01 -2.25043602e-01 -3.54480362e-02 4.53725787e+01] [ 2.24889191e-01 9.74348683e-01 -8.33640518e-03 4.77361908e+00] [ 3.64148020e-02 1.45308044e-04 9.99336751e-01 -5.73393754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.977193469999996 meters 0.06025839029966797 Centerline is valid? [True, True] Translation: X:45.40, Y:4.78, Z:-0.57 [[ 9.73368175e-01 -2.26602668e-01 -3.47221302e-02 4.54008379e+01] [ 2.26455112e-01 9.73987280e-01 -8.17683845e-03 4.77996549e+00] [ 3.56718065e-02 9.60704560e-05 9.99363554e-01 -5.73133338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00719347 meters 0.06006450613379835 Centerline is valid? [True, True] Translation: X:45.43, Y:4.79, Z:-0.57 [[ 9.72850170e-01 -2.28906995e-01 -3.41194291e-02 4.54287458e+01] [ 2.28765550e-01 9.73448297e-01 -8.04584907e-03 4.78601964e+00] [ 3.50552513e-02 2.20556575e-05 9.99385376e-01 -5.71707933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03719347 meters 0.06022607615307551 Centerline is valid? [True, True] Translation: X:45.46, Y:4.79, Z:-0.57 [[ 9.71630130e-01 -2.34252116e-01 -3.25704911e-02 4.54566009e+01] [ 2.34126153e-01 9.72175869e-01 -7.68271271e-03 4.78902644e+00] [ 3.34639372e-02 -1.60848639e-04 9.99439913e-01 -5.71099446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06719346999999 meters 0.060565398515905956 Centerline is valid? [True, True] Translation: X:45.48, Y:4.79, Z:-0.57 [[ 9.71106936e-01 -2.36454355e-01 -3.22592053e-02 4.54833792e+01] [ 2.36331825e-01 9.71642571e-01 -7.61465781e-03 4.79245458e+00] [ 3.31449362e-02 -2.29229854e-04 9.99450529e-01 -5.72711964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09719346999999 meters 0.06024788964813012 Centerline is valid? [True, True] Translation: X:45.51, Y:4.80, Z:-0.57 [[ 9.70575464e-01 -2.38653823e-01 -3.20565400e-02 4.55108312e+01] [ 2.38533577e-01 9.71104664e-01 -7.58045079e-03 4.79839813e+00] [ 3.29393591e-02 -2.89161610e-04 9.99457310e-01 -5.69037466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.127193469999995 meters 0.06060942551052248 Centerline is valid? [True, True] Translation: X:45.54, Y:4.80, Z:-0.57 [[ 9.70355747e-01 -2.39551317e-01 -3.20139166e-02 4.55380988e+01] [ 2.39431826e-01 9.70883652e-01 -7.57198904e-03 4.80490033e+00] [ 3.28956682e-02 -3.17627422e-04 9.99458741e-01 -5.70292785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.157193469999996 meters 0.060163966397742484 Centerline is valid? [True, True] Translation: X:45.57, Y:4.81, Z:-0.57 [[ 9.70219460e-01 -2.39926452e-01 -3.33091308e-02 4.55650514e+01] [ 2.39797179e-01 9.70791009e-01 -7.88230312e-03 4.81432473e+00] [ 3.42273777e-02 -3.39871719e-04 9.99414014e-01 -5.68291879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18719347 meters 0.06065200992549797 Centerline is valid? [True, True] Translation: X:45.59, Y:4.82, Z:-0.57 [[ 9.70434633e-01 -2.38841196e-01 -3.48067034e-02 4.55914692e+01] [ 2.38699103e-01 9.71058591e-01 -8.24321718e-03 4.82309435e+00] [ 3.57681682e-02 -3.08825434e-04 9.99360067e-01 -5.72125300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21719347 meters 0.060510879074820945 Centerline is valid? [True, True] Translation: X:45.62, Y:4.84, Z:-0.57 [[ 9.71179182e-01 -2.36074145e-01 -3.28632787e-02 4.56173759e+01] [ 2.35945783e-01 9.71735026e-01 -7.78628362e-03 4.83514226e+00] [ 3.37725392e-02 -1.92075481e-04 9.99429527e-01 -5.71944025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24719346999999 meters 0.06010519333104331 Centerline is valid? [True, True] Translation: X:45.64, Y:4.84, Z:-0.57 [[ 9.71688778e-01 -2.33994058e-01 -3.26756597e-02 4.56446983e+01] [ 2.33865564e-01 9.72238021e-01 -7.75426554e-03 4.84422180e+00] [ 3.35829708e-02 -1.06978766e-04 9.99435927e-01 -5.67472035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27719346999999 meters 0.05999628438282253 Centerline is valid? [True, True] Translation: X:45.67, Y:4.85, Z:-0.57 [[ 9.72224241e-01 -2.31805056e-01 -3.23487537e-02 4.56714025e+01] [ 2.31677841e-01 9.72762260e-01 -7.67872447e-03 4.85256054e+00] [ 3.32476140e-02 -2.90473744e-05 9.99447145e-01 -5.66825385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.307193469999994 meters 0.06015669913613198 Centerline is valid? [True, True] Translation: X:45.70, Y:4.86, Z:-0.57 [[ 9.72669714e-01 -2.30054830e-01 -3.14388646e-02 4.56982379e+01] [ 2.29933380e-01 9.73177668e-01 -7.47447112e-03 4.86242423e+00] [ 3.23151391e-02 4.13472978e-05 9.99477729e-01 -5.67491374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.337193469999995 meters 0.05968035488703863 Centerline is valid? [True, True] Translation: X:45.72, Y:4.88, Z:-0.56 [[ 9.73852811e-01 -2.25197577e-01 -2.99458353e-02 4.57246310e+01] [ 2.25084785e-01 9.74313097e-01 -7.12946012e-03 4.87739810e+00] [ 3.07821566e-02 2.02692896e-04 9.99526097e-01 -5.63292503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36719347 meters 0.059990945187314335 Centerline is valid? [True, True] Translation: X:45.75, Y:4.89, Z:-0.56 [[ 9.74326950e-01 -2.23012550e-01 -3.08609422e-02 4.57515056e+01] [ 2.22891603e-01 9.74815533e-01 -7.34916514e-03 4.88668871e+00] [ 3.17226819e-02 2.81844772e-04 9.99496669e-01 -5.64221559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39719347 meters 0.060950607604484945 Centerline is valid? [True, True] Translation: X:45.78, Y:4.90, Z:-0.57 [[ 9.74932789e-01 -2.20266444e-01 -3.14444031e-02 4.57775044e+01] [ 2.20139223e-01 9.75439668e-01 -7.49513237e-03 4.89561310e+00] [ 3.23230443e-02 3.85103831e-04 9.99477400e-01 -5.68902243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42719347 meters 0.06275541524672003 Centerline is valid? [True, True] Translation: X:45.81, Y:4.90, Z:-0.58 [[ 9.75815017e-01 -2.15585908e-01 -3.61630826e-02 4.58060992e+01] [ 2.15414422e-01 9.76484680e-01 -8.61951256e-03 4.90323009e+00] [ 3.71709416e-02 6.21000259e-04 9.99308729e-01 -5.75043096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45719346999999 meters 0.06266990845978344 Centerline is valid? [True, True] Translation: X:45.84, Y:4.91, Z:-0.57 [[ 9.76043025e-01 -2.13794849e-01 -4.03952535e-02 4.58354551e+01] [ 2.13579289e-01 9.76878277e-01 -9.62906672e-03 4.90833303e+00] [ 4.15198905e-02 7.70793877e-04 9.99137380e-01 -5.73976527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.487193469999994 meters 0.0632446076640439 Centerline is valid? [True, True] Translation: X:45.86, Y:4.91, Z:-0.58 [[ 9.76404627e-01 -2.11652965e-01 -4.28605561e-02 4.58642754e+01] [ 2.11408117e-01 9.77344454e-01 -1.02188963e-02 4.91497251e+00] [ 4.40523865e-02 9.16708176e-04 9.99028802e-01 -5.75526734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.517193469999995 meters 0.06460091504002233 Centerline is valid? [True, True] Translation: X:45.89, Y:4.92, Z:-0.58 [[ 9.76884507e-01 -2.09072415e-01 -4.45576675e-02 4.58919595e+01] [ 2.08804950e-01 9.77899568e-01 -1.06267630e-02 4.92258173e+00] [ 4.57946868e-02 1.07725860e-03 9.98950292e-01 -5.79649519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.547193469999996 meters 0.06460091504002233 Centerline is valid? [True, True] Translation: X:45.92, Y:4.93, Z:-0.58 [[ 9.76813133e-01 -2.09406516e-01 -4.45535053e-02 4.59187325e+01] [ 2.09138603e-01 9.77828076e-01 -1.06442025e-02 4.92922627e+00] [ 4.57946337e-02 1.07953890e-03 9.98950292e-01 -5.79877062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57719347 meters 0.06575275341802096 Centerline is valid? [True, True] Translation: X:45.95, Y:4.94, Z:-0.58 [[ 9.77607423e-01 -2.05221749e-01 -4.65592178e-02 4.59485221e+01] [ 2.04924545e-01 9.78714598e-01 -1.11205843e-02 4.93518445e+00] [ 4.78503718e-02 1.33043923e-03 9.98853629e-01 -5.79939500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60719347 meters 0.06581475574620813 Centerline is valid? [True, True] Translation: X:45.98, Y:4.94, Z:-0.58 [[ 9.77679629e-01 -2.04997159e-01 -4.60294240e-02 4.59773659e+01] [ 2.04705634e-01 9.78761647e-01 -1.10109690e-02 4.93955607e+00] [ 4.73090522e-02 1.34271772e-03 9.98879397e-01 -5.79430293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63719346999999 meters 0.06571929608130798 Centerline is valid? [True, True] Translation: X:46.01, Y:4.94, Z:-0.58 [[ 9.77589454e-01 -2.05872764e-01 -4.39916429e-02 4.60056596e+01] [ 2.05607285e-01 9.78577976e-01 -1.05256228e-02 4.94323105e+00] [ 4.52161920e-02 1.24473556e-03 9.98976449e-01 -5.79374329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.667193469999994 meters 0.06312673279642822 Centerline is valid? [True, True] Translation: X:46.04, Y:4.94, Z:-0.57 [[ 9.76727937e-01 -2.10864981e-01 -3.92236852e-02 4.60382867e+01] [ 2.10657941e-01 9.77514778e-01 -9.38564709e-03 4.93639793e+00] [ 4.03208362e-02 9.04442959e-04 9.99186375e-01 -5.71322682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.697193469999995 meters 0.06285886166525449 Centerline is valid? [True, True] Translation: X:46.07, Y:4.94, Z:-0.57 [[ 9.76147275e-01 -2.14158229e-01 -3.56756266e-02 4.60678427e+01] [ 2.13989097e-01 9.76798732e-01 -8.53838236e-03 4.93804172e+00] [ 3.66764716e-02 7.00523567e-04 9.99326946e-01 -5.72235661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.727193469999996 meters 0.06165957858090264 Centerline is valid? [True, True] Translation: X:46.10, Y:4.93, Z:-0.57 [[ 9.74379808e-01 -2.21872965e-01 -3.68290183e-02 4.60992138e+01] [ 2.21697706e-01 9.75075482e-01 -8.82783100e-03 4.93107450e+00] [ 3.78697298e-02 4.36751414e-04 9.99282589e-01 -5.70771660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75719347 meters 0.06141716264869987 Centerline is valid? [True, True] Translation: X:46.13, Y:4.93, Z:-0.57 [[ 9.73525679e-01 -2.25659199e-01 -3.64098553e-02 4.61286507e+01] [ 2.25490135e-01 9.74206260e-01 -8.73848514e-03 4.93285436e+00] [ 3.74426285e-02 2.97076493e-04 9.99298735e-01 -5.71727793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78719347 meters 0.06159222049228557 Centerline is valid? [True, True] Translation: X:46.16, Y:4.93, Z:-0.57 [[ 9.72855911e-01 -2.28493573e-01 -3.66341872e-02 4.61567305e+01] [ 2.28324337e-01 9.73545402e-01 -8.79468962e-03 4.93438944e+00] [ 3.76745745e-02 1.91489282e-04 9.99290043e-01 -5.74201766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81719346999999 meters 0.0616701050482018 Centerline is valid? [True, True] Translation: X:46.19, Y:4.93, Z:-0.57 [[ 9.71304501e-01 -2.34319182e-01 -4.07686999e-02 4.61877655e+01] [ 2.34114593e-01 9.72159719e-01 -9.78966035e-03 4.93059087e+00] [ 4.19275930e-02 -3.58064062e-05 9.99120651e-01 -5.73336008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84719346999999 meters 0.06278863118679395 Centerline is valid? [True, True] Translation: X:46.22, Y:4.93, Z:-0.58 [[ 9.70677595e-01 -2.36625364e-01 -4.23490718e-02 4.62160595e+01] [ 2.36406566e-01 9.71600956e-01 -1.01743269e-02 4.93327040e+00] [ 4.35539025e-02 -1.35607457e-04 9.99051069e-01 -5.80217443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.877193469999995 meters 0.06304162660375137 Centerline is valid? [True, True] Translation: X:46.25, Y:4.94, Z:-0.58 [[ 9.70142621e-01 -2.38493880e-01 -4.40904164e-02 4.62450420e+01] [ 2.38258466e-01 9.71143974e-01 -1.05964414e-02 4.93795842e+00] [ 4.53453287e-02 -2.24855564e-04 9.98971346e-01 -5.80753466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.907193469999996 meters 0.06277848300357838 Centerline is valid? [True, True] Translation: X:46.27, Y:4.94, Z:-0.58 [[ 9.69731696e-01 -2.40357065e-01 -4.29990589e-02 4.62738543e+01] [ 2.40134368e-01 9.70684499e-01 -1.03483553e-02 4.94353996e+00] [ 4.42258203e-02 -2.90423671e-04 9.99021518e-01 -5.78256535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93719347 meters 0.06287017209930242 Centerline is valid? [True, True] Translation: X:46.30, Y:4.95, Z:-0.58 [[ 9.68902562e-01 -2.44323624e-01 -3.91636569e-02 4.63032965e+01] [ 2.44142134e-01 9.69693654e-01 -9.42527323e-03 4.94667142e+00] [ 4.02795665e-02 -4.29327396e-04 9.99188357e-01 -5.76280210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96719347 meters 0.06359355624238879 Centerline is valid? [True, True] Translation: X:46.33, Y:4.95, Z:-0.58 [[ 9.68311458e-01 -2.46616105e-01 -3.94134242e-02 4.63305497e+01] [ 2.46433994e-01 9.69113112e-01 -9.49018483e-03 4.95060973e+00] [ 4.05364986e-02 -5.23352833e-04 9.99177921e-01 -5.77505642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99719346999999 meters 0.0627835801306947 Centerline is valid? [True, True] Translation: X:46.36, Y:4.96, Z:-0.57 [[ 9.67579050e-01 -2.49304159e-01 -4.04749007e-02 4.63586984e+01] [ 2.49113800e-01 9.68425025e-01 -9.76140394e-03 4.95643217e+00] [ 4.16304654e-02 -6.37926375e-04 9.99132873e-01 -5.69512759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02719346999999 meters 0.06364158916888657 Centerline is valid? [True, True] Translation: X:46.39, Y:4.96, Z:-0.57 [[ 9.66354168e-01 -2.54036317e-01 -4.03134148e-02 4.63879581e+01] [ 2.53851017e-01 9.67194328e-01 -9.73614906e-03 4.95971687e+00] [ 4.14642416e-02 -8.25033110e-04 9.99139648e-01 -5.69456139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.057193469999994 meters 0.06417823880365611 Centerline is valid? [True, True] Translation: X:46.42, Y:4.97, Z:-0.57 [[ 9.65643748e-01 -2.56394268e-01 -4.23571889e-02 4.64164623e+01] [ 2.56191978e-01 9.66571793e-01 -1.02293315e-02 4.96758161e+00] [ 4.35640060e-02 -9.73682009e-04 9.99050164e-01 -5.71175719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.087193469999995 meters 0.06525220542045422 Centerline is valid? [True, True] Translation: X:46.44, Y:4.98, Z:-0.58 [[ 9.65085562e-01 -2.58438132e-01 -4.26566499e-02 4.64431573e+01] [ 2.58234714e-01 9.66027221e-01 -1.03073423e-02 4.97569448e+00] [ 4.38712952e-02 -1.06796050e-03 9.99036620e-01 -5.75305609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11719347 meters 0.06616449215673703 Centerline is valid? [True, True] Translation: X:46.47, Y:4.98, Z:-0.58 [[ 9.64471955e-01 -2.60673502e-01 -4.29321957e-02 4.64713323e+01] [ 2.60469018e-01 9.65426316e-01 -1.03883858e-02 4.98377619e+00] [ 4.41558484e-02 -1.16320009e-03 9.99023978e-01 -5.77429797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14719347 meters 0.06762893401648047 Centerline is valid? [True, True] Translation: X:46.50, Y:4.99, Z:-0.58 [[ 9.63208301e-01 -2.64793333e-01 -4.59810753e-02 4.65001843e+01] [ 2.64563468e-01 9.64304097e-01 -1.11256101e-02 4.99166098e+00] [ 4.72857267e-02 -1.44863271e-03 9.98880354e-01 -5.79356363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17719347 meters 0.06781829141159829 Centerline is valid? [True, True] Translation: X:46.53, Y:5.00, Z:-0.58 [[ 9.62784650e-01 -2.66071264e-01 -4.74531390e-02 4.65288367e+01] [ 2.65827872e-01 9.63952103e-01 -1.14841740e-02 4.99998998e+00] [ 4.87981618e-02 -1.55758055e-03 9.98807446e-01 -5.79161278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20719346999999 meters 0.0684118106059919 Centerline is valid? [True, True] Translation: X:46.56, Y:5.01, Z:-0.58 [[ 9.62604077e-01 -2.67059434e-01 -4.55263696e-02 4.65555036e+01] [ 2.66836231e-01 9.63678836e-01 -1.10239547e-02 5.00767005e+00] [ 4.68168499e-02 -1.53638113e-03 9.98902309e-01 -5.80484725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.237193469999994 meters 0.06741057415106923 Centerline is valid? [True, True] Translation: X:46.58, Y:5.02, Z:-0.58 [[ 9.62936165e-01 -2.65931888e-01 -4.51018084e-02 4.65820190e+01] [ 2.65710801e-01 9.63990729e-01 -1.09382531e-02 5.01993741e+00] [ 4.63865555e-02 -1.45119816e-03 9.98922510e-01 -5.78019494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.267193469999995 meters 0.06608500817897822 Centerline is valid? [True, True] Translation: X:46.61, Y:5.04, Z:-0.58 [[ 9.64523667e-01 -2.60726728e-01 -4.14206437e-02 4.66064342e+01] [ 2.60535452e-01 9.65412015e-01 -1.00458566e-02 5.04153992e+00] [ 4.26072104e-02 -1.10207973e-03 9.99091293e-01 -5.78072560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.297193469999996 meters 0.06463753613029197 Centerline is valid? [True, True] Translation: X:46.63, Y:5.06, Z:-0.58 [[ 9.65349042e-01 -2.57869534e-01 -4.00565873e-02 4.66317488e+01] [ 2.57688023e-01 9.66179290e-01 -9.71917135e-03 5.05908472e+00] [ 4.12081232e-02 -9.39710034e-04 9.99150143e-01 -5.75681037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32719347 meters 0.06422707132291952 Centerline is valid? [True, True] Translation: X:46.66, Y:5.07, Z:-0.58 [[ 9.66309378e-01 -2.54205580e-01 -4.03200913e-02 4.66567351e+01] [ 2.54018168e-01 9.67149891e-01 -9.79070722e-03 5.07458352e+00] [ 4.14844243e-02 -7.81183505e-04 9.99138845e-01 -5.77672573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35719347 meters 0.06336875220297702 Centerline is valid? [True, True] Translation: X:46.68, Y:5.10, Z:-0.58 [[ 9.67715849e-01 -2.48944872e-01 -3.94016081e-02 4.66815101e+01] [ 2.48761414e-01 9.68517506e-01 -9.57078106e-03 5.09573638e+00] [ 4.05437440e-02 -5.39803219e-04 9.99177619e-01 -5.77483845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38719346999999 meters 0.06312228647591762 Centerline is valid? [True, True] Translation: X:46.71, Y:5.11, Z:-0.58 [[ 9.68224453e-01 -2.47116179e-01 -3.84057613e-02 4.67073470e+01] [ 2.46940257e-01 9.68985756e-01 -9.33354931e-03 5.10815310e+00] [ 3.95211067e-02 -4.46957875e-04 9.99218636e-01 -5.77294113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.417193469999994 meters 0.06268023070184459 Centerline is valid? [True, True] Translation: X:46.73, Y:5.12, Z:-0.58 [[ 9.68463491e-01 -2.46347487e-01 -3.73012267e-02 4.67335769e+01] [ 2.46180440e-01 9.69181492e-01 -9.07894961e-03 5.12130570e+00] [ 3.83882349e-02 -3.90201166e-04 9.99262824e-01 -5.75530239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.447193469999995 meters 0.0628051400687067 Centerline is valid? [True, True] Translation: X:46.76, Y:5.13, Z:-0.58 [[ 9.68705049e-01 -2.45708764e-01 -3.51814003e-02 4.67591394e+01] [ 2.45559658e-01 9.69343637e-01 -8.56551835e-03 5.13287492e+00] [ 3.62074894e-02 -3.41671738e-04 9.99344235e-01 -5.77231042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.477193469999996 meters 0.061672494335286314 Centerline is valid? [True, True] Translation: X:46.78, Y:5.15, Z:-0.57 [[ 9.69061547e-01 -2.44354629e-01 -3.47927314e-02 4.67838191e+01] [ 2.44207432e-01 9.69685898e-01 -8.48471693e-03 5.15203196e+00] [ 3.58113009e-02 -2.74430668e-04 9.99358532e-01 -5.70329619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50719347 meters 0.06183925758659586 Centerline is valid? [True, True] Translation: X:46.81, Y:5.16, Z:-0.57 [[ 9.69259823e-01 -2.43672381e-01 -3.40465322e-02 4.68099883e+01] [ 2.43530926e-01 9.69857573e-01 -8.30516141e-03 5.16224920e+00] [ 3.50440256e-02 -2.41524250e-04 9.99385740e-01 -5.72358046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53719347 meters 0.061552825874449886 Centerline is valid? [True, True] Translation: X:46.84, Y:5.17, Z:-0.57 [[ 9.69254251e-01 -2.43537203e-01 -3.51543518e-02 4.68372898e+01] [ 2.43385807e-01 9.69891529e-01 -8.58906029e-03 5.17322472e+00] [ 3.61876638e-02 -2.31087079e-04 9.99344985e-01 -5.70822053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56719346999999 meters 0.061900670893075056 Centerline is valid? [True, True] Translation: X:46.86, Y:5.18, Z:-0.57 [[ 9.69208311e-01 -2.43807408e-01 -3.45427044e-02 4.68633127e+01] [ 2.43661232e-01 9.69823641e-01 -8.44453443e-03 5.18397737e+00] [ 3.55591714e-02 -2.32204981e-04 9.99367546e-01 -5.73705458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59719346999999 meters 0.06200231802715223 Centerline is valid? [True, True] Translation: X:46.89, Y:5.19, Z:-0.57 [[ 9.68728492e-01 -2.45566142e-01 -3.55299793e-02 4.68912866e+01] [ 2.45412188e-01 9.69379794e-01 -8.69906614e-03 5.19154735e+00] [ 3.65782401e-02 -2.92456737e-04 9.99330749e-01 -5.73564976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.627193469999995 meters 0.06226898202573341 Centerline is valid? [True, True] Translation: X:46.92, Y:5.20, Z:-0.57 [[ 9.68467066e-01 -2.46639154e-01 -3.52231296e-02 4.69183292e+01] [ 2.46488468e-01 9.69107332e-01 -8.62639384e-03 5.19914315e+00] [ 3.62625996e-02 -3.27716933e-04 9.99342242e-01 -5.74781622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.657193469999996 meters 0.06277468569763457 Centerline is valid? [True, True] Translation: X:46.94, Y:5.21, Z:-0.58 [[ 9.68185826e-01 -2.47324845e-01 -3.80345643e-02 4.69448701e+01] [ 2.47149508e-01 9.68932546e-01 -9.31892655e-03 5.20877341e+00] [ 3.91577292e-02 -3.77771262e-04 9.99232971e-01 -5.79016337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68719347 meters 0.0629800484946137 Centerline is valid? [True, True] Translation: X:46.97, Y:5.22, Z:-0.58 [[ 9.68457743e-01 -2.45866897e-01 -4.04854068e-02 4.69723163e+01] [ 2.45666849e-01 9.69303541e-01 -9.92188920e-03 5.21901146e+00] [ 4.16821123e-02 -3.36991908e-04 9.99130866e-01 -5.80886906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71719347 meters 0.06307468322918576 Centerline is valid? [True, True] Translation: X:47.00, Y:5.23, Z:-0.58 [[ 9.68912145e-01 -2.44024862e-01 -4.07568735e-02 4.69973906e+01] [ 2.43820183e-01 9.69768943e-01 -9.99576807e-03 5.23033988e+00] [ 4.19639660e-02 -2.52327282e-04 9.99119093e-01 -5.83134344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74719346999999 meters 0.06278343443766916 Centerline is valid? [True, True] Translation: X:47.02, Y:5.24, Z:-0.58 [[ 9.69412334e-01 -2.41978214e-01 -4.10642349e-02 4.70235058e+01] [ 2.41767870e-01 9.70281671e-01 -1.00883718e-02 5.24246226e+00] [ 4.22850407e-02 -1.48220586e-04 9.99105577e-01 -5.81492978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77719346999999 meters 0.06288208066724962 Centerline is valid? [True, True] Translation: X:47.05, Y:5.25, Z:-0.58 [[ 9.69807806e-01 -2.40448077e-01 -4.07129120e-02 4.70494962e+01] [ 2.40239858e-01 9.70661999e-01 -1.00047141e-02 5.25237481e+00] [ 4.19240908e-02 -7.82143805e-05 9.99120796e-01 -5.82491626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.807193469999994 meters 0.06287956033617059 Centerline is valid? [True, True] Translation: X:47.08, Y:5.26, Z:-0.58 [[ 9.69848885e-01 -2.40412241e-01 -3.99386343e-02 4.70759484e+01] [ 2.40211651e-01 9.70670876e-01 -9.81905113e-03 5.25950510e+00] [ 4.11278892e-02 -7.07294783e-05 9.99153888e-01 -5.82995339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.837193469999995 meters 0.06249716318723596 Centerline is valid? [True, True] Translation: X:47.10, Y:5.27, Z:-0.58 [[ 9.69690986e-01 -2.41368077e-01 -3.79584397e-02 4.71040138e+01] [ 2.41187490e-01 9.70433635e-01 -9.33561018e-03 5.26585005e+00] [ 3.90894650e-02 -1.02443783e-04 9.99235710e-01 -5.80251129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86719347 meters 0.06184910441667819 Centerline is valid? [True, True] Translation: X:47.13, Y:5.27, Z:-0.58 [[ 9.68735605e-01 -2.45920708e-01 -3.27770263e-02 4.71336494e+01] [ 2.45788628e-01 9.69289918e-01 -8.06257065e-03 5.26950474e+00] [ 3.37531943e-02 -2.45721087e-04 9.99430168e-01 -5.75843490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89719347 meters 0.06177554389539609 Centerline is valid? [True, True] Translation: X:47.16, Y:5.27, Z:-0.57 [[ 9.68227521e-01 -2.48014739e-01 -3.20024547e-02 4.71623026e+01] [ 2.47889541e-01 9.68756213e-01 -7.88511320e-03 5.27456990e+00] [ 3.29582011e-02 -2.98490215e-04 9.99456686e-01 -5.74624024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92719347 meters 0.06185681221456691 Centerline is valid? [True, True] Translation: X:47.19, Y:5.28, Z:-0.57 [[ 9.67467093e-01 -2.51135653e-01 -3.06318223e-02 4.71909533e+01] [ 2.51022187e-01 9.67951828e-01 -7.55779764e-03 5.27949015e+00] [ 3.15481608e-02 -3.77346523e-04 9.99502162e-01 -5.74385595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95719346999999 meters 0.06234887375788841 Centerline is valid? [True, True] Translation: X:47.22, Y:5.28, Z:-0.58 [[ 9.66810783e-01 -2.53783140e-01 -2.95131899e-02 4.72188710e+01] [ 2.53678987e-01 9.67261040e-01 -7.28365010e-03 5.28318363e+00] [ 3.03954263e-02 -4.44964669e-04 9.99537853e-01 -5.75721269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.987193469999994 meters 0.06277567993667015 Centerline is valid? [True, True] Translation: X:47.25, Y:5.28, Z:-0.57 [[ 9.65840797e-01 -2.57563386e-01 -2.85071470e-02 4.72485868e+01] [ 2.57467534e-01 9.66261257e-01 -7.04639390e-03 5.28401058e+00] [ 2.93602448e-02 -5.33970164e-04 9.99568752e-01 -5.74531274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.017193469999995 meters 0.06295645592994226 Centerline is valid? [True, True] Translation: X:47.28, Y:5.29, Z:-0.57 [[ 9.65293443e-01 -2.59687027e-01 -2.77707749e-02 4.72767256e+01] [ 2.59596627e-01 9.65692663e-01 -6.87539145e-03 5.28843411e+00] [ 2.86034836e-02 -5.72429212e-04 9.99590673e-01 -5.74761732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.047193469999996 meters 0.06382621428017003 Centerline is valid? [True, True] Translation: X:47.31, Y:5.29, Z:-0.58 [[ 9.64070752e-01 -2.64028125e-01 -2.92700164e-02 4.73061121e+01] [ 2.63929738e-01 9.64514697e-01 -7.24515107e-03 5.29384936e+00] [ 3.01442847e-02 -7.40389530e-04 9.99545284e-01 -5.75852149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07719347 meters 0.06473398606803957 Centerline is valid? [True, True] Translation: X:47.33, Y:5.30, Z:-0.58 [[ 9.63599436e-01 -2.65616214e-01 -3.03998910e-02 4.73336729e+01] [ 2.65510742e-01 9.64078503e-01 -7.52898915e-03 5.29966173e+00] [ 3.13077030e-02 -8.16567930e-04 9.99509460e-01 -5.78663948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10719347 meters 0.06533666294176771 Centerline is valid? [True, True] Translation: X:47.36, Y:5.31, Z:-0.58 [[ 9.63101381e-01 -2.67277177e-01 -3.16012816e-02 4.73616274e+01] [ 2.67163704e-01 9.63619278e-01 -7.83853687e-03 5.30660756e+00] [ 3.25466662e-02 -8.93409763e-04 9.99469818e-01 -5.79497487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13719346999999 meters 0.06609745699106274 Centerline is valid? [True, True] Translation: X:47.39, Y:5.31, Z:-0.58 [[ 9.62013940e-01 -2.71128297e-01 -3.19159347e-02 4.73903176e+01] [ 2.71014692e-01 9.62542662e-01 -7.91581723e-03 5.31407381e+00] [ 3.28666508e-02 -1.03456070e-03 9.99459210e-01 -5.79253200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.167193469999994 meters 0.06626563397168544 Centerline is valid? [True, True] Translation: X:47.42, Y:5.32, Z:-0.58 [[ 9.61112723e-01 -2.74301828e-01 -3.19506043e-02 4.74174941e+01] [ 2.74189579e-01 9.61642973e-01 -7.92888455e-03 5.32201695e+00] [ 3.28999817e-02 -1.13997093e-03 9.99457999e-01 -5.76786669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.197193469999995 meters 0.06863325702851082 Centerline is valid? [True, True] Translation: X:47.45, Y:5.33, Z:-0.58 [[ 9.60213112e-01 -2.77613664e-01 -3.03551143e-02 4.74452630e+01] [ 2.77513809e-01 9.60692068e-01 -7.53898118e-03 5.32511565e+00] [ 3.12548417e-02 -1.18493481e-03 9.99510746e-01 -5.79593170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.227193469999996 meters 0.06997435449271816 Centerline is valid? [True, True] Translation: X:47.47, Y:5.33, Z:-0.58 [[ 9.59142073e-01 -2.81294382e-01 -3.03307608e-02 4.74744141e+01] [ 2.81196512e-01 9.59620640e-01 -7.53324597e-03 5.33136284e+00] [ 3.12250839e-02 -1.30345101e-03 9.99511528e-01 -5.79350442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25719347 meters 0.07127178631432952 Centerline is valid? [True, True] Translation: X:47.50, Y:5.34, Z:-0.58 [[ 9.57403370e-01 -2.86954758e-01 -3.21831377e-02 4.75027807e+01] [ 2.86847724e-01 9.57942836e-01 -7.99418412e-03 5.34168352e+00] [ 3.31235754e-02 -1.57800097e-03 9.99450018e-01 -5.79367295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28719347 meters 0.07179266358941137 Centerline is valid? [True, True] Translation: X:47.53, Y:5.35, Z:-0.58 [[ 9.56601321e-01 -2.89613482e-01 -3.22171265e-02 4.75309676e+01] [ 2.89507669e-01 9.57142226e-01 -8.00428313e-03 5.35109990e+00] [ 3.31545205e-02 -1.67019736e-03 9.99448842e-01 -5.79390808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31719346999999 meters 0.07072370889545529 Centerline is valid? [True, True] Translation: X:47.56, Y:5.37, Z:-0.58 [[ 9.56334946e-01 -2.90583186e-01 -3.13828532e-02 4.75556518e+01] [ 2.90482819e-01 9.56848319e-01 -7.81198510e-03 5.36859385e+00] [ 3.22986618e-02 -1.64530531e-03 9.99476908e-01 -5.76605935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34719346999999 meters 0.07503384634547085 Centerline is valid? [True, True] Translation: X:47.58, Y:5.37, Z:-0.58 [[ 9.56521595e-01 -2.90034471e-01 -3.07643101e-02 4.75838225e+01] [ 2.89937423e-01 9.57014886e-01 -7.66797569e-03 5.37274342e+00] [ 3.16658800e-02 -1.58514046e-03 9.99497253e-01 -5.83212876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.377193469999995 meters 0.07214463332016965 Centerline is valid? [True, True] Translation: X:47.61, Y:5.39, Z:-0.58 [[ 9.56910330e-01 -2.88639267e-01 -3.17804100e-02 4.76084730e+01] [ 2.88534609e-01 9.57436617e-01 -7.93116862e-03 5.39146051e+00] [ 3.27169749e-02 -1.58033099e-03 9.99463407e-01 -5.81675114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.407193469999996 meters 0.07153858036335783 Centerline is valid? [True, True] Translation: X:47.63, Y:5.41, Z:-0.58 [[ 9.57416083e-01 -2.86764253e-01 -3.34769624e-02 4.76347341e+01] [ 2.86646612e-01 9.57999867e-01 -8.36512117e-03 5.40685353e+00] [ 3.44697433e-02 -1.58715633e-03 9.99404482e-01 -5.84110848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43719347 meters 0.07173228824602212 Centerline is valid? [True, True] Translation: X:47.66, Y:5.42, Z:-0.59 [[ 9.57875097e-01 -2.85024124e-01 -3.51645672e-02 4.76597474e+01] [ 2.84892983e-01 9.58519013e-01 -8.79147067e-03 5.41951914e+00] [ 3.62116875e-02 -1.59700762e-03 9.99342866e-01 -5.87893563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46719347 meters 0.07173228824602212 Centerline is valid? [True, True] Translation: X:47.69, Y:5.43, Z:-0.59 [[ 9.57778589e-01 -2.85348668e-01 -3.51612312e-02 4.76864285e+01] [ 2.85217257e-01 9.58422450e-01 -8.80480549e-03 5.42647096e+00] [ 3.62117529e-02 -1.59553574e-03 9.99342866e-01 -5.88120945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49719346999999 meters 0.06900256522423387 Centerline is valid? [True, True] Translation: X:47.71, Y:5.45, Z:-0.59 [[ 9.58533639e-01 -2.82871746e-01 -3.45953446e-02 4.77103788e+01] [ 2.82742880e-01 9.59156606e-01 -8.66424998e-03 5.44935770e+00] [ 3.56332249e-02 -1.47661230e-03 9.99363844e-01 -5.85591814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52719346999999 meters 0.06776664634102189 Centerline is valid? [True, True] Translation: X:47.74, Y:5.46, Z:-0.58 [[ 9.59118863e-01 -2.81115636e-01 -3.26344280e-02 4.77371269e+01] [ 2.80999911e-01 9.59672981e-01 -8.17435779e-03 5.46449533e+00] [ 3.36163186e-02 -1.33009061e-03 9.99433927e-01 -5.83405476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.557193469999994 meters 0.06822349108042343 Centerline is valid? [True, True] Translation: X:47.76, Y:5.48, Z:-0.58 [[ 9.59653103e-01 -2.79537028e-01 -3.04133637e-02 4.77640746e+01] [ 2.79435657e-01 9.60134180e-01 -7.62035334e-03 5.47567471e+00] [ 3.13310809e-02 -1.18568252e-03 9.99508358e-01 -5.84990086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.587193469999995 meters 0.06573755603744581 Centerline is valid? [True, True] Translation: X:47.79, Y:5.50, Z:-0.58 [[ 9.60440545e-01 -2.77152342e-01 -2.72128428e-02 4.77899179e+01] [ 2.77070187e-01 9.60825478e-01 -6.81995411e-03 5.49761545e+00] [ 2.80369589e-02 -9.89706984e-04 9.99606397e-01 -5.78914886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61719347 meters 0.06539793102954113 Centerline is valid? [True, True] Translation: X:47.82, Y:5.51, Z:-0.58 [[ 9.60666166e-01 -2.76394640e-01 -2.69540398e-02 4.78164735e+01] [ 2.76313436e-01 9.61043758e-01 -6.76610629e-03 5.50993433e+00] [ 2.77741272e-02 -9.47793961e-04 9.99613775e-01 -5.78227697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64719347 meters 0.06584498144012771 Centerline is valid? [True, True] Translation: X:47.84, Y:5.52, Z:-0.58 [[ 9.61011885e-01 -2.75128013e-01 -2.75814082e-02 4.78426141e+01] [ 2.75042365e-01 9.61407153e-01 -6.92704610e-03 5.52018881e+00] [ 2.84227876e-02 -9.29082124e-04 9.99595559e-01 -5.80590307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67719346999999 meters 0.06561360195728265 Centerline is valid? [True, True] Translation: X:47.87, Y:5.54, Z:-0.58 [[ 9.61379657e-01 -2.73576771e-01 -3.00816470e-02 4.78680897e+01] [ 2.73473808e-01 9.61849698e-01 -7.56536134e-03 5.53705584e+00] [ 3.10037302e-02 -9.53358086e-04 9.99518814e-01 -5.83859965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70719346999999 meters 0.06577693933807245 Centerline is valid? [True, True] Translation: X:47.89, Y:5.55, Z:-0.59 [[ 9.61407937e-01 -2.73354652e-01 -3.11771182e-02 4.78949235e+01] [ 2.73243628e-01 9.61912829e-01 -7.85043209e-03 5.54837277e+00] [ 3.21356221e-02 -9.71481164e-04 9.99483045e-01 -5.86200722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.737193469999994 meters 0.06406363276299341 Centerline is valid? [True, True] Translation: X:47.92, Y:5.56, Z:-0.58 [[ 9.61259964e-01 -2.73799461e-01 -3.18297989e-02 4.79205597e+01] [ 2.73683620e-01 9.61786287e-01 -8.02581649e-03 5.56359903e+00] [ 3.28109283e-02 -9.96398510e-04 9.99461080e-01 -5.81906744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.767193469999995 meters 0.06443862424350628 Centerline is valid? [True, True] Translation: X:47.95, Y:5.57, Z:-0.58 [[ 9.61102100e-01 -2.74386513e-01 -3.15403684e-02 4.79456237e+01] [ 2.74272834e-01 9.61618969e-01 -7.96058994e-03 5.57261794e+00] [ 3.25140951e-02 -9.99726516e-04 9.99470777e-01 -5.83279035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.797193469999996 meters 0.06561418060100617 Centerline is valid? [True, True] Translation: X:47.97, Y:5.58, Z:-0.58 [[ 9.60110579e-01 -2.78093663e-01 -2.91820249e-02 4.79720140e+01] [ 2.77997985e-01 9.60553401e-01 -7.36779220e-03 5.58161262e+00] [ 3.00798295e-02 -1.03864887e-03 9.99546960e-01 -5.82913977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82719347 meters 0.06622056236227333 Centerline is valid? [True, True] Translation: X:48.00, Y:5.59, Z:-0.58 [[ 9.59154728e-01 -2.81438688e-01 -2.85389488e-02 4.79997897e+01] [ 2.81348334e-01 9.59578573e-01 -7.21646306e-03 5.58972594e+00] [ 2.94163557e-02 -1.10768103e-03 9.99566632e-01 -5.81542775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85719347 meters 0.06728830351160997 Centerline is valid? [True, True] Translation: X:48.03, Y:5.60, Z:-0.58 [[ 9.57958562e-01 -2.85415977e-01 -2.92081101e-02 4.80289543e+01] [ 2.85323206e-01 9.58402908e-01 -7.38474575e-03 5.59651134e+00] [ 3.01008621e-02 -1.25947121e-03 9.99546073e-01 -5.80645245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88719346999999 meters 0.07007477608723307 Centerline is valid? [True, True] Translation: X:48.06, Y:5.60, Z:-0.58 [[ 9.55365125e-01 -2.94131925e-01 -2.76385412e-02 4.80586844e+01] [ 2.94052450e-01 9.55763730e-01 -6.98916166e-03 5.59987612e+00] [ 2.84716508e-02 -1.44997945e-03 9.99593549e-01 -5.80043814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.917193469999994 meters 0.07185246875475522 Centerline is valid? [True, True] Translation: X:48.09, Y:5.61, Z:-0.58 [[ 9.54321360e-01 -2.97549938e-01 -2.71067497e-02 4.80878355e+01] [ 2.97474829e-01 9.54705044e-01 -6.85596872e-03 5.60545280e+00] [ 2.79189437e-02 -1.52077833e-03 9.99609033e-01 -5.81332600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.947193469999995 meters 0.07292910485308526 Centerline is valid? [True, True] Translation: X:48.12, Y:5.61, Z:-0.58 [[ 9.53589874e-01 -2.99746372e-01 -2.86088116e-02 4.81159669e+01] [ 2.99663653e-01 9.54017462e-01 -7.23718887e-03 5.61480459e+00] [ 2.94626269e-02 -1.67171096e-03 9.99564485e-01 -5.82297567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.977193469999996 meters 0.07294372985396345 Centerline is valid? [True, True] Translation: X:48.14, Y:5.63, Z:-0.59 [[ 9.53664079e-01 -2.99244588e-01 -3.12650067e-02 4.81410299e+01] [ 2.99145392e-01 9.54174729e-01 -7.91327696e-03 5.63086684e+00] [ 3.22002846e-02 -1.80617470e-03 9.99479804e-01 -5.85237905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00719347 meters 0.0737023108238828 Centerline is valid? [True, True] Translation: X:48.17, Y:5.64, Z:-0.59 [[ 9.54312990e-01 -2.97080865e-01 -3.20885866e-02 4.81671798e+01] [ 2.96975032e-01 9.54850673e-01 -8.12539418e-03 5.64003591e+00] [ 3.30537076e-02 -1.77533982e-03 9.99452000e-01 -5.88687563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.03719347 meters 0.0727719467258479 Centerline is valid? [True, True] Translation: X:48.19, Y:5.65, Z:-0.59 [[ 9.54958946e-01 -2.95008184e-01 -3.19934799e-02 4.81938441e+01] [ 2.94901730e-01 9.55493221e-01 -8.10398624e-03 5.65289009e+00] [ 3.29602954e-02 -1.69595841e-03 9.99455223e-01 -5.88646637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06719346999999 meters 0.07110500670783398 Centerline is valid? [True, True] Translation: X:48.22, Y:5.67, Z:-0.59 [[ 9.55828591e-01 -2.92326417e-01 -3.06099653e-02 4.82210888e+01] [ 2.92227552e-01 9.56317373e-01 -7.75503778e-03 5.66902327e+00] [ 3.15398440e-02 -1.53258838e-03 9.99501320e-01 -5.86672691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09719346999999 meters 0.06802488705166587 Centerline is valid? [True, True] Translation: X:48.25, Y:5.70, Z:-0.58 [[ 9.58207308e-01 -2.84569361e-01 -2.93092654e-02 4.82455260e+01] [ 2.84475092e-01 9.58654674e-01 -7.42546959e-03 5.69624411e+00] [ 3.02105254e-02 -1.22261677e-03 9.99542810e-01 -5.83801836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.127193469999995 meters 0.06655592263418922 Centerline is valid? [True, True] Translation: X:48.27, Y:5.71, Z:-0.58 [[ 9.59873191e-01 -2.78972822e-01 -2.85940750e-02 4.82708667e+01] [ 2.78880595e-01 9.60298456e-01 -7.24499561e-03 5.71223531e+00] [ 2.94800029e-02 -1.02005559e-03 9.99564850e-01 -5.84395943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.157193469999996 meters 0.06483002309788106 Centerline is valid? [True, True] Translation: X:48.30, Y:5.73, Z:-0.59 [[ 9.61834291e-01 -2.72015226e-01 -2.97071402e-02 4.82973745e+01] [ 2.71912336e-01 9.62292583e-01 -7.52768206e-03 5.72932892e+00] [ 3.06346048e-02 -8.37355145e-04 9.99530300e-01 -5.85599864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18719347 meters 0.06198009008109485 Centerline is valid? [True, True] Translation: X:48.32, Y:5.76, Z:-0.59 [[ 9.65930311e-01 -2.57419864e-01 -2.67141896e-02 4.83203638e+01] [ 2.57331015e-01 9.66299592e-01 -6.77103954e-03 5.75743237e+00] [ 2.75569106e-02 -3.34037189e-04 9.99620180e-01 -5.85687220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21719347 meters 0.060826091024233246 Centerline is valid? [True, True] Translation: X:48.35, Y:5.78, Z:-0.58 [[ 9.67602723e-01 -2.51167615e-01 -2.56865836e-02 4.83457009e+01] [ 2.51082974e-01 9.67943599e-01 -6.52152228e-03 5.77530957e+00] [ 2.65011593e-02 -1.39221075e-04 9.99648773e-01 -5.79639038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24719346999999 meters 0.06072692498421264 Centerline is valid? [True, True] Translation: X:48.37, Y:5.79, Z:-0.58 [[ 9.68889761e-01 -2.46292244e-01 -2.43466838e-02 4.83702939e+01] [ 2.46214630e-01 9.69195610e-01 -6.18263998e-03 5.78993703e+00] [ 2.51194353e-02 -4.21317722e-06 9.99684457e-01 -5.80238103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27719346999999 meters 0.061354550072602876 Centerline is valid? [True, True] Translation: X:48.39, Y:5.81, Z:-0.58 [[ 9.71527552e-01 -2.36073553e-01 -2.00871411e-02 4.83938654e+01] [ 2.36018482e-01 9.71735165e-01 -5.10347966e-03 5.81152614e+00] [ 2.07241780e-02 2.17234532e-04 9.99785208e-01 -5.76591751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.307193469999994 meters 0.06168445003933916 Centerline is valid? [True, True] Translation: X:48.42, Y:5.82, Z:-0.57 [[ 9.72456215e-01 -2.32298603e-01 -1.91381257e-02 4.84208311e+01] [ 2.32247720e-01 9.72644475e-01 -4.87058585e-03 5.82338914e+00] [ 1.97460225e-02 2.91645419e-04 9.99804986e-01 -5.74146914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.337193469999995 meters 0.06251786838374444 Centerline is valid? [True, True] Translation: X:48.45, Y:5.83, Z:-0.58 [[ 9.73169032e-01 -2.29273937e-01 -1.93777265e-02 4.84468851e+01] [ 2.29221161e-01 9.73361872e-01 -4.93209838e-03 5.83335288e+00] [ 1.99923418e-02 3.57980438e-04 9.99800069e-01 -5.75135601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36719347 meters 0.06425344965586309 Centerline is valid? [True, True] Translation: X:48.48, Y:5.84, Z:-0.58 [[ 9.74325424e-01 -2.23951345e-01 -2.31465547e-02 4.84771380e+01] [ 2.23874564e-01 9.74600167e-01 -5.89022065e-03 5.83840785e+00] [ 2.38777589e-02 5.57066879e-04 9.99714730e-01 -5.80069704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39719347 meters 0.06468651543180085 Centerline is valid? [True, True] Translation: X:48.51, Y:5.84, Z:-0.58 [[ 9.74615913e-01 -2.22389413e-01 -2.58219169e-02 4.85070663e+01] [ 2.22293263e-01 9.74957694e-01 -6.57264813e-03 5.84168836e+00] [ 2.66369639e-02 6.65769309e-04 9.99644951e-01 -5.82474504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42719346999999 meters 0.06513792924731776 Centerline is valid? [True, True] Translation: X:48.54, Y:5.85, Z:-0.58 [[ 9.74879635e-01 -2.20940977e-01 -2.81918651e-02 4.85370926e+01] [ 2.20825718e-01 9.75286876e-01 -7.17722928e-03 5.84510500e+00] [ 2.90809001e-02 7.71445809e-04 9.99576763e-01 -5.84620482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45719346999999 meters 0.06522425370452845 Centerline is valid? [True, True] Translation: X:48.57, Y:5.85, Z:-0.59 [[ 9.74702819e-01 -2.21555440e-01 -2.94550832e-02 4.85660134e+01] [ 2.21429522e-01 9.75147450e-01 -7.51122449e-03 5.84761236e+00] [ 3.03872019e-02 7.98986709e-04 9.99537883e-01 -5.86536135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.487193469999994 meters 0.06512309063317545 Centerline is valid? [True, True] Translation: X:48.60, Y:5.84, Z:-0.59 [[ 9.74020854e-01 -2.24461311e-01 -3.00082782e-02 4.85959130e+01] [ 2.24331870e-01 9.74482731e-01 -7.65627999e-03 5.84327362e+00] [ 3.09610875e-02 7.25563217e-04 9.99520327e-01 -5.89042568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.517193469999995 meters 0.06467568266596885 Centerline is valid? [True, True] Translation: X:48.63, Y:5.84, Z:-0.59 [[ 9.73537560e-01 -2.26659376e-01 -2.91572732e-02 4.86256001e+01] [ 2.26537826e-01 9.73973874e-01 -7.45020848e-03 5.84440091e+00] [ 3.00870819e-02 6.47832503e-04 9.99547071e-01 -5.88462372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.547193469999996 meters 0.0640758370879565 Centerline is valid? [True, True] Translation: X:48.65, Y:5.84, Z:-0.59 [[ 9.73165609e-01 -2.28418487e-01 -2.78153385e-02 4.86548582e+01] [ 2.28308315e-01 9.73562871e-01 -7.11682953e-03 5.84484247e+00] [ 2.87055963e-02 5.75380656e-04 9.99587744e-01 -5.87253634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57719347 meters 0.06378470183411966 Centerline is valid? [True, True] Translation: X:48.69, Y:5.84, Z:-0.59 [[ 9.72793393e-01 -2.30182294e-01 -2.62512155e-02 4.86856648e+01] [ 2.30084767e-01 9.73147402e-01 -6.71815321e-03 5.83520796e+00] [ 2.70927021e-02 4.95370239e-04 9.99632803e-01 -5.87350429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60719347 meters 0.06367089277300182 Centerline is valid? [True, True] Translation: X:48.71, Y:5.83, Z:-0.59 [[ 9.72545528e-01 -2.31379343e-01 -2.48756197e-02 4.87147330e+01] [ 2.31292089e-01 9.72863508e-01 -6.36900183e-03 5.83282904e+00] [ 2.56742381e-02 4.40610209e-04 9.99670265e-01 -5.88081165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63719346999999 meters 0.06278594484556595 Centerline is valid? [True, True] Translation: X:48.75, Y:5.83, Z:-0.59 [[ 9.71893976e-01 -2.34087543e-01 -2.50024190e-02 4.87451108e+01] [ 2.34000032e-01 9.72215448e-01 -6.41152576e-03 5.83046584e+00] [ 2.58085963e-02 3.80756408e-04 9.99666830e-01 -5.86659929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.667193469999994 meters 0.06275877995996394 Centerline is valid? [True, True] Translation: X:48.77, Y:5.83, Z:-0.59 [[ 9.71167934e-01 -2.37060117e-01 -2.52060560e-02 4.87735672e+01] [ 2.36972143e-01 9.71494934e-01 -6.46495943e-03 5.83124790e+00] [ 2.60201398e-02 3.05428169e-04 9.99661372e-01 -5.89967823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.697193469999995 meters 0.061976687853538846 Centerline is valid? [True, True] Translation: X:48.81, Y:5.82, Z:-0.59 [[ 9.69279402e-01 -2.44584437e-01 -2.59979569e-02 4.88054648e+01] [ 2.44493260e-01 9.69627990e-01 -6.67880956e-03 5.82244727e+00] [ 2.68418796e-02 1.17307297e-04 9.99639685e-01 -5.87557967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.727193469999996 meters 0.06203552327407137 Centerline is valid? [True, True] Translation: X:48.83, Y:5.82, Z:-0.59 [[ 9.68736290e-01 -2.46787099e-01 -2.54190683e-02 4.88347322e+01] [ 2.46700659e-01 9.69069721e-01 -6.53146890e-03 5.82101826e+00] [ 2.62447316e-02 5.63700436e-05 9.99655546e-01 -5.88177955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75719347 meters 0.06183726765695601 Centerline is valid? [True, True] Translation: X:48.86, Y:5.82, Z:-0.59 [[ 9.68388251e-01 -2.48302631e-01 -2.38746363e-02 4.88633070e+01] [ 2.48226769e-01 9.68682509e-01 -6.13744567e-03 5.82045763e+00] [ 2.46508865e-02 1.71064423e-05 9.99696121e-01 -5.88346496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78719347 meters 0.06159091696685034 Centerline is valid? [True, True] Translation: X:48.89, Y:5.82, Z:-0.59 [[ 9.68291855e-01 -2.48846971e-01 -2.20469519e-02 4.88925017e+01] [ 2.48782216e-01 9.68542815e-01 -5.67663400e-03 5.82308381e+00] [ 2.27660300e-02 1.17489365e-05 9.99740820e-01 -5.85138619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81719346999999 meters 0.060978707051816926 Centerline is valid? [True, True] Translation: X:48.92, Y:5.82, Z:-0.58 [[ 9.68060209e-01 -2.50046534e-01 -1.83347472e-02 4.89227882e+01] [ 2.50001852e-01 9.68233820e-01 -4.72686739e-03 5.82320717e+00] [ 1.89342592e-02 -7.82853108e-06 9.99820731e-01 -5.81050851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84719346999999 meters 0.06083291401259601 Centerline is valid? [True, True] Translation: X:48.95, Y:5.83, Z:-0.58 [[ 9.67614004e-01 -2.51815464e-01 -1.76666721e-02 4.89517868e+01] [ 2.51774157e-01 9.67775269e-01 -4.56103366e-03 5.82682326e+00] [ 1.82459071e-02 -3.46914265e-05 9.99833529e-01 -5.79459272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.877193469999995 meters 0.06086208980967552 Centerline is valid? [True, True] Translation: X:48.98, Y:5.82, Z:-0.58 [[ 9.66263857e-01 -2.57057342e-01 -1.59900390e-02 4.89826921e+01] [ 2.57024127e-01 9.66396145e-01 -4.13380903e-03 5.82380559e+00] [ 1.65153380e-02 -1.15475559e-04 9.99863606e-01 -5.79363202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.907193469999996 meters 0.060932228784758465 Centerline is valid? [True, True] Translation: X:49.01, Y:5.83, Z:-0.58 [[ 9.65762767e-01 -2.58943802e-01 -1.58235580e-02 4.90105061e+01] [ 2.58911421e-01 9.65892379e-01 -4.09737619e-03 5.82701735e+00] [ 1.63448443e-02 -1.39806526e-04 9.99866404e-01 -5.78819811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93719347 meters 0.06097128330969675 Centerline is valid? [True, True] Translation: X:49.04, Y:5.83, Z:-0.58 [[ 9.65205901e-01 -2.61132801e-01 -1.36831665e-02 4.90387813e+01] [ 2.61108742e-01 9.65302874e-01 -3.54775882e-03 5.83074634e+00] [ 1.41348361e-02 -1.48476631e-04 9.99900087e-01 -5.78094840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96719347 meters 0.0610483882267346 Centerline is valid? [True, True] Translation: X:49.07, Y:5.84, Z:-0.58 [[ 9.64663207e-01 -2.63106519e-01 -1.41371059e-02 4.90668963e+01] [ 2.63080981e-01 9.64766774e-01 -3.67008190e-03 5.83601136e+00] [ 1.46046326e-02 -1.78810719e-04 9.99893331e-01 -5.77896502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99719346999999 meters 0.06126663791261907 Centerline is valid? [True, True] Translation: X:49.09, Y:5.84, Z:-0.58 [[ 9.64811002e-01 -2.62438969e-01 -1.62947339e-02 4.90932770e+01] [ 2.62404950e-01 9.64948573e-01 -4.23000046e-03 5.84381771e+00] [ 1.68336972e-02 -1.94667844e-04 9.99858284e-01 -5.81292434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02719346999999 meters 0.06126224356878704 Centerline is valid? [True, True] Translation: X:49.12, Y:5.85, Z:-0.58 [[ 9.65111716e-01 -2.61158955e-01 -1.88513839e-02 4.91198868e+01] [ 2.61113027e-01 9.65295790e-01 -4.90141244e-03 5.85456603e+00] [ 1.94772093e-02 -1.91931342e-04 9.99810283e-01 -5.83780316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.057193469999994 meters 0.061483667082504835 Centerline is valid? [True, True] Translation: X:49.15, Y:5.86, Z:-0.59 [[ 9.65437066e-01 -2.59803385e-01 -2.08200169e-02 4.91457170e+01] [ 2.59747038e-01 9.65661518e-01 -5.41369213e-03 5.86489969e+00] [ 2.15115847e-02 -1.81358683e-04 9.99768583e-01 -5.86778562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.087193469999995 meters 0.06173534538621571 Centerline is valid? [True, True] Translation: X:49.17, Y:5.88, Z:-0.59 [[ 9.66382349e-01 -2.56004524e-01 -2.38083702e-02 4.91699779e+01] [ 2.55929554e-01 9.66675578e-01 -6.19605228e-03 5.87970105e+00] [ 2.46011875e-02 -1.05510012e-04 9.99697339e-01 -5.92829978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11719347 meters 0.061690706540500406 Centerline is valid? [True, True] Translation: X:49.20, Y:5.89, Z:-0.59 [[ 9.66793067e-01 -2.54418823e-01 -2.41293945e-02 4.91953159e+01] [ 2.54341073e-01 9.67094131e-01 -6.28961928e-03 5.89191809e+00] [ 2.49355934e-02 -5.63357891e-05 9.99689058e-01 -5.93683670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14719347 meters 0.06159612918003771 Centerline is valid? [True, True] Translation: X:49.22, Y:5.90, Z:-0.59 [[ 9.67217156e-01 -2.52801673e-01 -2.41306077e-02 4.92208343e+01] [ 2.52723191e-01 9.67518121e-01 -6.29878180e-03 5.90419979e+00] [ 2.49391428e-02 -6.07435576e-06 9.99688971e-01 -5.94182952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17719346999999 meters 0.0615490248456029 Centerline is valid? [True, True] Translation: X:49.25, Y:5.92, Z:-0.59 [[ 9.67710282e-01 -2.50936660e-01 -2.38244016e-02 4.92465341e+01] [ 2.50859375e-01 9.68003507e-01 -6.22766000e-03 5.91648221e+00] [ 2.46248525e-02 4.99961139e-05 9.99696761e-01 -5.93994366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20719346999999 meters 0.061451830795623476 Centerline is valid? [True, True] Translation: X:49.27, Y:5.92, Z:-0.60 [[ 9.67584246e-01 -2.51450976e-01 -2.35187901e-02 4.92732215e+01] [ 2.51375797e-01 9.67870035e-01 -6.14845559e-03 5.92295786e+00] [ 2.43091673e-02 3.70941724e-05 9.99704488e-01 -5.95705056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.237193469999994 meters 0.061126729521582046 Centerline is valid? [True, True] Translation: X:49.30, Y:5.93, Z:-0.59 [[ 9.67376608e-01 -2.52333875e-01 -2.25856895e-02 4.93018501e+01] [ 2.52264595e-01 9.67640230e-01 -5.91265882e-03 5.92948681e+00] [ 2.33467859e-02 2.21980440e-05 9.99727426e-01 -5.94460432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.267193469999995 meters 0.06089982556213179 Centerline is valid? [True, True] Translation: X:49.33, Y:5.94, Z:-0.60 [[ 9.66841940e-01 -2.54357116e-01 -2.27842247e-02 4.93291676e+01] [ 2.54287148e-01 9.67110364e-01 -5.96570725e-03 5.93688191e+00] [ 2.35522799e-02 -2.58395391e-05 9.99722606e-01 -5.95148972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.297193469999996 meters 0.06088426283035742 Centerline is valid? [True, True] Translation: X:49.36, Y:5.95, Z:-0.60 [[ 9.66568265e-01 -2.55272702e-01 -2.41171587e-02 4.93562811e+01] [ 2.55194366e-01 9.66869094e-01 -6.32372428e-03 5.94584750e+00] [ 2.49324095e-02 -4.22518183e-05 9.99689138e-01 -5.96184411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32719347 meters 0.0604384366542906 Centerline is valid? [True, True] Translation: X:49.38, Y:5.96, Z:-0.59 [[ 9.66469377e-01 -2.55633689e-01 -2.42561345e-02 4.93829747e+01] [ 2.55554311e-01 9.66773715e-01 -6.37016050e-03 5.95519875e+00] [ 2.50786209e-02 -4.21946760e-05 9.99685481e-01 -5.91555649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35719347 meters 0.0604384366542906 Centerline is valid? [True, True] Translation: X:49.41, Y:5.96, Z:-0.59 [[ 9.66376737e-01 -2.55983896e-01 -2.42538260e-02 4.94095113e+01] [ 2.55904408e-01 9.66681045e-01 -6.37894634e-03 5.96243506e+00] [ 2.50786214e-02 -4.21956243e-05 9.99685481e-01 -5.91782567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38719346999999 meters 0.06083234941671157 Centerline is valid? [True, True] Translation: X:49.44, Y:5.97, Z:-0.60 [[ 9.66353205e-01 -2.56015185e-01 -2.48537451e-02 4.94364277e+01] [ 2.55931705e-01 9.66672759e-01 -6.53748845e-03 5.97005732e+00] [ 2.56991347e-02 -4.33384505e-05 9.99669722e-01 -5.97310000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.417193469999994 meters 0.06027317729071633 Centerline is valid? [True, True] Translation: X:49.47, Y:5.97, Z:-0.59 [[ 9.65718286e-01 -2.58371186e-01 -2.51500050e-02 4.94650591e+01] [ 2.58286244e-01 9.66045713e-01 -6.62538409e-03 5.97489092e+00] [ 2.60078628e-02 -9.76457484e-05 9.99661734e-01 -5.92337814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.447193469999995 meters 0.060304940723791486 Centerline is valid? [True, True] Translation: X:49.49, Y:5.98, Z:-0.59 [[ 9.64995830e-01 -2.61107014e-01 -2.46206294e-02 4.94924728e+01] [ 2.61026252e-01 9.65309848e-01 -6.49564701e-03 5.97996325e+00] [ 2.54625950e-02 -1.58358342e-04 9.99675763e-01 -5.92687785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.477193469999996 meters 0.06048284795464816 Centerline is valid? [True, True] Translation: X:49.52, Y:5.99, Z:-0.59 [[ 9.64085622e-01 -2.64425643e-01 -2.48594604e-02 4.95206519e+01] [ 2.64344210e-01 9.64406046e-01 -6.56636375e-03 5.98515758e+00] [ 2.57109288e-02 -2.40917544e-04 9.99669390e-01 -5.92994520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50719347 meters 0.060658930798931546 Centerline is valid? [True, True] Translation: X:49.55, Y:5.99, Z:-0.59 [[ 9.63175581e-01 -2.67766319e-01 -2.43721062e-02 4.95481055e+01] [ 2.67689087e-01 9.63483832e-01 -6.43880696e-03 5.98930644e+00] [ 2.52062259e-02 -3.22445227e-04 9.99682221e-01 -5.91656931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53719347 meters 0.06173422552151726 Centerline is valid? [True, True] Translation: X:49.58, Y:5.99, Z:-0.59 [[ 9.61021788e-01 -2.75542291e-01 -2.26620590e-02 4.95762095e+01] [ 2.75477613e-01 9.61288827e-01 -5.98964910e-03 5.99110161e+00] [ 2.34351858e-02 -4.86706635e-04 9.99725240e-01 -5.91470209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56719346999999 meters 0.062447093707674824 Centerline is valid? [True, True] Translation: X:49.60, Y:6.00, Z:-0.59 [[ 9.59872142e-01 -2.79545485e-01 -2.23560370e-02 4.96040331e+01] [ 2.79483425e-01 9.60132282e-01 -5.91743546e-03 5.99787550e+00] [ 2.31189451e-02 -5.68160330e-04 9.99732560e-01 -5.90964175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59719346999999 meters 0.06353174959620873 Centerline is valid? [True, True] Translation: X:49.63, Y:6.00, Z:-0.59 [[ 9.58822383e-01 -2.82996401e-01 -2.39306242e-02 4.96329268e+01] [ 2.82926394e-01 9.59120717e-01 -6.33294132e-03 6.00476771e+00] [ 2.47445571e-02 -6.98439346e-04 9.99693563e-01 -5.92077112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.627193469999995 meters 0.06598612989649598 Centerline is valid? [True, True] Translation: X:49.66, Y:6.01, Z:-0.59 [[ 9.57150460e-01 -2.88391014e-01 -2.63366539e-02 4.96612123e+01] [ 2.88308241e-01 9.57512284e-01 -6.97025470e-03 6.01134211e+00] [ 2.72278284e-02 -9.21491857e-04 9.99628829e-01 -5.94299126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.657193469999996 meters 0.06671162004652467 Centerline is valid? [True, True] Translation: X:49.69, Y:6.02, Z:-0.60 [[ 9.56742359e-01 -2.89518124e-01 -2.86934450e-02 4.96894842e+01] [ 2.89420338e-01 9.57171969e-01 -7.59533270e-03 6.02008257e+00] [ 2.96635477e-02 -1.03769002e-03 9.99559402e-01 -5.97023546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68719347 meters 0.06692002444379447 Centerline is valid? [True, True] Translation: X:49.72, Y:6.03, Z:-0.60 [[ 9.56617888e-01 -2.89904189e-01 -2.89443837e-02 4.97161959e+01] [ 2.89804538e-01 9.57055099e-01 -7.67254007e-03 6.03034937e+00] [ 2.99256715e-02 -1.04852467e-03 9.99551577e-01 -5.98183656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71719347 meters 0.06612291563730831 Centerline is valid? [True, True] Translation: X:49.74, Y:6.04, Z:-0.60 [[ 9.56559004e-01 -2.90062836e-01 -2.92988436e-02 4.97417730e+01] [ 2.89960475e-01 9.57007020e-01 -7.77735052e-03 6.04281674e+00] [ 3.02951194e-02 -1.05601193e-03 9.99540440e-01 -5.96346662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74719346999999 meters 0.06484712990255234 Centerline is valid? [True, True] Translation: X:49.77, Y:6.06, Z:-0.59 [[ 9.56910701e-01 -2.88998899e-01 -2.83116056e-02 4.97665424e+01] [ 2.88902598e-01 9.57328928e-01 -7.52408208e-03 6.06128744e+00] [ 2.92779705e-02 -9.79421758e-04 9.99570828e-01 -5.92478180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77719346999999 meters 0.06439989825321736 Centerline is valid? [True, True] Translation: X:49.79, Y:6.07, Z:-0.59 [[ 9.57073013e-01 -2.88647334e-01 -2.63432209e-02 4.97934392e+01] [ 2.88563618e-01 9.57435072e-01 -7.00861453e-03 6.07459890e+00] [ 2.72449415e-02 -8.93939307e-04 9.99628388e-01 -5.91245060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.807193469999994 meters 0.0644800703877233 Centerline is valid? [True, True] Translation: X:49.82, Y:6.09, Z:-0.59 [[ 9.56898032e-01 -2.89349621e-01 -2.49590278e-02 4.98196294e+01] [ 2.89274505e-01 9.57223099e-01 -6.64835756e-03 6.08647232e+00] [ 2.58150577e-02 -8.58210146e-04 9.99666367e-01 -5.89861735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.837193469999995 meters 0.06308675781770749 Centerline is valid? [True, True] Translation: X:49.84, Y:6.10, Z:-0.58 [[ 9.56806241e-01 -2.89794546e-01 -2.32580659e-02 4.98448126e+01] [ 2.89729259e-01 9.57088541e-01 -6.20329689e-03 6.10312707e+00] [ 2.40577100e-02 -8.03189023e-04 9.99710249e-01 -5.84848134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86719347 meters 0.06329364784223068 Centerline is valid? [True, True] Translation: X:49.87, Y:6.11, Z:-0.59 [[ 9.57178274e-01 -2.88542342e-01 -2.35174253e-02 4.98714576e+01] [ 2.88475144e-01 9.57466821e-01 -6.27526997e-03 6.11042047e+00] [ 2.43278356e-02 -7.77640584e-04 9.99703732e-01 -5.87345710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89719347 meters 0.06296773277277805 Centerline is valid? [True, True] Translation: X:49.90, Y:6.12, Z:-0.59 [[ 9.57761560e-01 -2.86570379e-01 -2.38791144e-02 4.98978183e+01] [ 2.86500431e-01 9.58058910e-01 -6.37399600e-03 6.11848135e+00] [ 2.47041968e-02 -7.36608212e-04 9.99694533e-01 -5.89810128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92719346999999 meters 0.06345489549163975 Centerline is valid? [True, True] Translation: X:49.92, Y:6.13, Z:-0.60 [[ 9.58686195e-01 -2.83313796e-01 -2.55748509e-02 4.99239431e+01] [ 2.83232280e-01 9.59027012e-01 -6.83117668e-03 6.12675781e+00] [ 2.64623394e-02 -6.94668565e-04 9.99649570e-01 -5.96150392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95719346999999 meters 0.05967251890047544 Centerline is valid? [True, True] Translation: X:49.95, Y:6.16, Z:-0.59 [[ 9.60809087e-01 -2.75815447e-01 -2.77801686e-02 4.99465933e+01] [ 2.75715849e-01 9.61210470e-01 -7.42985924e-03 6.15591234e+00] [ 2.87518589e-02 -5.20756500e-04 9.99586444e-01 -5.91969799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.987193469999994 meters 0.05955430196915372 Centerline is valid? [True, True] Translation: X:49.97, Y:6.17, Z:-0.60 [[ 9.61989873e-01 -2.71460000e-01 -2.97481490e-02 4.99698359e+01] [ 2.71343594e-01 9.62449633e-01 -7.95977452e-03 6.17145759e+00] [ 3.07918555e-02 -4.14747171e-04 9.99525732e-01 -5.95143961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.017193469999995 meters 0.05967915269404699 Centerline is valid? [True, True] Translation: X:49.99, Y:6.19, Z:-0.60 [[ 9.63134232e-01 -2.67052423e-01 -3.24877694e-02 4.99949519e+01] [ 2.66910964e-01 9.63681958e-01 -8.69607377e-03 6.18538637e+00] [ 3.36301848e-02 -2.95855502e-04 9.99434302e-01 -5.99336747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.047193469999996 meters 0.05854224199001592 Centerline is valid? [True, True] Translation: X:50.02, Y:6.20, Z:-0.60 [[ 9.64837829e-01 -2.60963424e-01 -3.14015003e-02 5.00220297e+01] [ 2.60827666e-01 9.65348686e-01 -8.41678192e-03 6.19767682e+00] [ 3.25098693e-02 -6.95504410e-05 9.99471412e-01 -5.95484070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07719347 meters 0.05838925592999532 Centerline is valid? [True, True] Translation: X:50.05, Y:6.21, Z:-0.60 [[ 9.65042108e-01 -2.60402510e-01 -2.97365467e-02 5.00496087e+01] [ 2.60280186e-01 9.65500146e-01 -7.98082640e-03 6.20561967e+00] [ 3.07888674e-02 -3.80003677e-05 9.99525910e-01 -5.95041136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10719347 meters 0.05817724567396114 Centerline is valid? [True, True] Translation: X:50.08, Y:6.22, Z:-0.60 [[ 9.65064389e-01 -2.60525260e-01 -2.78803459e-02 5.00757664e+01] [ 2.60417734e-01 9.65467031e-01 -7.48439138e-03 6.21505005e+00] [ 2.88674278e-02 -3.76169284e-05 9.99583248e-01 -5.96076686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13719346999999 meters 0.058116591463792 Centerline is valid? [True, True] Translation: X:50.10, Y:6.23, Z:-0.59 [[ 9.64718296e-01 -2.61857531e-01 -2.73722908e-02 5.01027813e+01] [ 2.61754123e-01 9.65106538e-01 -7.35868698e-03 6.22609651e+00] [ 2.83441044e-02 -6.57500120e-05 9.99598223e-01 -5.94829221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.167193469999994 meters 0.05787484865531957 Centerline is valid? [True, True] Translation: X:50.13, Y:6.24, Z:-0.59 [[ 9.64190874e-01 -2.63774760e-01 -2.75469688e-02 5.01289757e+01] [ 2.63670542e-01 9.64584296e-01 -7.41498205e-03 6.23847723e+00] [ 2.85272586e-02 -1.13866176e-04 9.99593008e-01 -5.93721136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.197193469999995 meters 0.05829019384360397 Centerline is valid? [True, True] Translation: X:50.16, Y:6.25, Z:-0.60 [[ 9.64066673e-01 -2.64105870e-01 -2.86973809e-02 5.01552842e+01] [ 2.63992864e-01 9.64493687e-01 -7.72621270e-03 6.24613489e+00] [ 2.97189809e-02 -1.27319624e-04 9.99558285e-01 -5.96726696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.227193469999996 meters 0.058198475729542246 Centerline is valid? [True, True] Translation: X:50.18, Y:6.25, Z:-0.60 [[ 9.63728505e-01 -2.65333320e-01 -2.87332254e-02 5.01820980e+01] [ 2.65220199e-01 9.64156733e-01 -7.74856690e-03 6.25287603e+00] [ 2.97592858e-02 -1.53116988e-04 9.99557083e-01 -5.97800656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25719347 meters 0.058454791025635035 Centerline is valid? [True, True] Translation: X:50.21, Y:6.26, Z:-0.60 [[ 9.63197895e-01 -2.67267626e-01 -2.85977631e-02 5.02094167e+01] [ 2.67156384e-01 9.63622318e-01 -7.71327711e-03 6.25827245e+00] [ 2.96189520e-02 -2.10662704e-04 9.99561240e-01 -5.99340306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28719347 meters 0.059097909639811756 Centerline is valid? [True, True] Translation: X:50.24, Y:6.26, Z:-0.60 [[ 9.61332096e-01 -2.73955436e-01 -2.80895045e-02 5.02388718e+01] [ 2.73850870e-01 9.61742301e-01 -7.57935382e-03 6.25736826e+00] [ 2.90912699e-02 -4.06059156e-04 9.99576677e-01 -5.98864753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31719346999999 meters 0.05951048836995465 Centerline is valid? [True, True] Translation: X:50.27, Y:6.26, Z:-0.60 [[ 9.60078338e-01 -2.78425261e-01 -2.69992249e-02 5.02677062e+01] [ 2.78330134e-01 9.60457762e-01 -7.29539536e-03 6.26075898e+00] [ 2.79628375e-02 -5.10546829e-04 9.99608833e-01 -5.98375847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34719346999999 meters 0.06039811155302115 Centerline is valid? [True, True] Translation: X:50.30, Y:6.26, Z:-0.60 [[ 9.58748780e-01 -2.82882355e-01 -2.78989336e-02 5.02972438e+01] [ 2.82782694e-01 9.59154385e-01 -7.53750817e-03 6.26491468e+00] [ 2.88916125e-02 -6.62758828e-04 9.99582331e-01 -5.98203957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.377193469999995 meters 0.06273193630432143 Centerline is valid? [True, True] Translation: X:50.33, Y:6.27, Z:-0.60 [[ 9.56918034e-01 -2.88996603e-01 -2.80862894e-02 5.03265248e+01] [ 2.88898166e-01 9.57329744e-01 -7.59016727e-03 6.26706249e+00] [ 2.90813729e-02 -8.50909556e-04 9.99576685e-01 -6.00775377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.407193469999996 meters 0.06314627018900311 Centerline is valid? [True, True] Translation: X:50.36, Y:6.27, Z:-0.60 [[ 9.56189792e-01 -2.91366437e-01 -2.84021261e-02 5.03551300e+01] [ 2.91266498e-01 9.56611074e-01 -7.68634266e-03 6.27229934e+00] [ 2.94093306e-02 -9.22985408e-04 9.99567026e-01 -5.99567167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43719347 meters 0.0631131853492817 Centerline is valid? [True, True] Translation: X:50.38, Y:6.28, Z:-0.60 [[ 9.55972731e-01 -2.92237044e-01 -2.67141759e-02 5.03835094e+01] [ 2.92148738e-01 9.56345506e-01 -7.23795744e-03 6.27762464e+00] [ 2.76631813e-02 -8.85222828e-04 9.99616909e-01 -5.98594967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46719347 meters 0.06207642564801726 Centerline is valid? [True, True] Translation: X:50.41, Y:6.29, Z:-0.59 [[ 9.56100014e-01 -2.92093782e-01 -2.35368924e-02 5.04115092e+01] [ 2.92025017e-01 9.56389372e-01 -6.38424142e-03 6.28623680e+00] [ 2.43752310e-02 -7.69388101e-04 9.99702584e-01 -5.94346176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49719346999999 meters 0.06172548893686616 Centerline is valid? [True, True] Translation: X:50.44, Y:6.30, Z:-0.59 [[ 9.56570745e-01 -2.90495952e-01 -2.41766786e-02 5.04370822e+01] [ 2.90422814e-01 9.56875930e-01 -6.56072037e-03 6.29736324e+00] [ 2.50399445e-02 -7.45665864e-04 9.99686173e-01 -5.94061147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52719346999999 meters 0.061783737179519974 Centerline is valid? [True, True] Translation: X:50.46, Y:6.31, Z:-0.60 [[ 9.56943076e-01 -2.89065114e-01 -2.64822473e-02 5.04630432e+01] [ 2.88976696e-01 9.57309127e-01 -7.19062070e-03 6.30797421e+00] [ 2.74302547e-02 -7.71737655e-04 9.99623422e-01 -5.97091734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.557193469999994 meters 0.061837733300467775 Centerline is valid? [True, True] Translation: X:50.49, Y:6.32, Z:-0.60 [[ 9.57339136e-01 -2.87483345e-01 -2.92421893e-02 5.04898930e+01] [ 2.87374492e-01 9.57785309e-01 -7.95002849e-03 6.31909134e+00] [ 3.02932401e-02 -7.92585910e-04 9.99540740e-01 -6.00397681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.587193469999995 meters 0.0616601421724823 Centerline is valid? [True, True] Translation: X:50.52, Y:6.33, Z:-0.60 [[ 9.57794112e-01 -2.85743124e-01 -3.13258050e-02 5.05167413e+01] [ 2.85616967e-01 9.58305931e-01 -8.52589886e-03 6.32943983e+00] [ 3.24559217e-02 -7.81125683e-04 9.99472863e-01 -6.03490719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61719347 meters 0.061512352315749794 Centerline is valid? [True, True] Translation: X:50.54, Y:6.34, Z:-0.61 [[ 9.59362006e-01 -2.80153838e-01 -3.37397054e-02 5.05417675e+01] [ 2.80003959e-01 9.59954907e-01 -9.18476900e-03 6.34192581e+00] [ 3.49617440e-02 -6.35732662e-04 9.99388449e-01 -6.10501685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64719347 meters 0.05945654612368816 Centerline is valid? [True, True] Translation: X:50.57, Y:6.36, Z:-0.60 [[ 9.60513265e-01 -2.76143351e-01 -3.40458235e-02 5.05672950e+01] [ 2.75987776e-01 9.61116339e-01 -9.28064036e-03 6.35881957e+00] [ 3.52847844e-02 -4.82052956e-04 9.99377182e-01 -6.04223549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67719346999999 meters 0.0588610434343047 Centerline is valid? [True, True] Translation: X:50.59, Y:6.37, Z:-0.60 [[ 9.61619215e-01 -2.72010443e-01 -3.60389218e-02 5.05925649e+01] [ 2.71832776e-01 9.62294240e-01 -9.83551650e-03 6.37419127e+00] [ 3.73554101e-02 -3.38538517e-04 9.99301986e-01 -6.04005351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70719346999999 meters 0.05844782187182433 Centerline is valid? [True, True] Translation: X:50.62, Y:6.39, Z:-0.60 [[ 9.62758146e-01 -2.67638936e-01 -3.82903664e-02 5.06181989e+01] [ 2.67434404e-01 9.63519264e-01 -1.04626947e-02 6.38950190e+00] [ 3.96937302e-02 -1.67116739e-04 9.99211879e-01 -6.02302520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.737193469999994 meters 0.05836705567974936 Centerline is valid? [True, True] Translation: X:50.64, Y:6.41, Z:-0.60 [[ 9.64956536e-01 -2.59875084e-01 -3.63844095e-02 5.06418094e+01] [ 2.59684688e-01 9.65642231e-01 -9.94709722e-03 6.40759526e+00] [ 3.77193251e-02 1.50042443e-04 9.99288362e-01 -6.01065365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.767193469999995 meters 0.057913722346453235 Centerline is valid? [True, True] Translation: X:50.67, Y:6.42, Z:-0.60 [[ 9.65926276e-01 -2.56713559e-01 -3.29329309e-02 5.06686942e+01] [ 2.56555655e-01 9.66487499e-01 -9.00609510e-03 6.41865505e+00] [ 3.41412527e-02 2.50094257e-04 9.99416986e-01 -5.98199014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.797193469999996 meters 0.05750199962537601 Centerline is valid? [True, True] Translation: X:50.70, Y:6.43, Z:-0.59 [[ 9.66262249e-01 -2.55903426e-01 -2.91667965e-02 5.06957484e+01] [ 2.55779153e-01 9.66702319e-01 -7.97812653e-03 6.42758512e+00] [ 3.02372397e-02 2.48703992e-04 9.99542719e-01 -5.94656797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82719347 meters 0.056700753879200066 Centerline is valid? [True, True] Translation: X:50.72, Y:6.43, Z:-0.59 [[ 9.66717815e-01 -2.54868087e-01 -2.23366225e-02 5.07241231e+01] [ 2.54794911e-01 9.66975807e-01 -6.11080879e-03 6.43394225e+00] [ 2.31564237e-02 2.16169984e-04 9.99731831e-01 -5.88422751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85719347 meters 0.0563918394703977 Centerline is valid? [True, True] Translation: X:50.75, Y:6.44, Z:-0.59 [[ 9.66638572e-01 -2.55308741e-01 -2.06716868e-02 5.07526186e+01] [ 2.55245977e-01 9.66859559e-01 -5.66427868e-03 6.43811477e+00] [ 2.14327578e-02 1.98945366e-04 9.99770272e-01 -5.86334930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88719346999999 meters 0.05601600830784732 Centerline is valid? [True, True] Translation: X:50.78, Y:6.44, Z:-0.59 [[ 9.66542878e-01 -2.55716714e-01 -2.00954601e-02 5.07813474e+01] [ 2.55657344e-01 9.66751740e-01 -5.51331444e-03 6.44177259e+00] [ 2.08371677e-02 1.91302845e-04 9.99782864e-01 -5.85421487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.917193469999994 meters 0.05660831952947506 Centerline is valid? [True, True] Translation: X:50.81, Y:6.45, Z:-0.59 [[ 9.66482734e-01 -2.55697034e-01 -2.30250301e-02 5.08083982e+01] [ 2.55619003e-01 9.66756938e-01 -6.32045643e-03 6.44602611e+00] [ 2.38757296e-02 2.22976769e-04 9.99714909e-01 -5.89512532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.947193469999995 meters 0.05681156095660672 Centerline is valid? [True, True] Translation: X:50.84, Y:6.45, Z:-0.59 [[ 9.66088459e-01 -2.56980233e-01 -2.51842961e-02 5.08370750e+01] [ 2.56887075e-01 9.66416635e-01 -6.92229643e-03 6.45016795e+00] [ 2.61174160e-02 2.18030540e-04 9.99658858e-01 -5.91383435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.977193469999996 meters 0.05709963566474817 Centerline is valid? [True, True] Translation: X:50.87, Y:6.45, Z:-0.59 [[ 9.65748303e-01 -2.58015236e-01 -2.75382314e-02 5.08657201e+01] [ 2.57904230e-01 9.66140825e-01 -7.57058444e-03 6.45173225e+00] [ 2.85591357e-02 2.09052713e-04 9.99592083e-01 -5.94278017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00719347 meters 0.05686763327628328 Centerline is valid? [True, True] Translation: X:50.90, Y:6.45, Z:-0.59 [[ 9.65237454e-01 -2.59976795e-01 -2.69948614e-02 5.08953311e+01] [ 2.59870600e-01 9.65614851e-01 -7.43171927e-03 6.45105905e+00] [ 2.79987136e-02 1.58202967e-04 9.99607947e-01 -5.93803232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03719347 meters 0.05672153085623789 Centerline is valid? [True, True] Translation: X:50.93, Y:6.44, Z:-0.59 [[ 9.64190573e-01 -2.63828061e-01 -2.70424488e-02 5.09264493e+01] [ 2.63722707e-01 9.64569723e-01 -7.45539450e-03 6.44259284e+00] [ 2.80512697e-02 5.67132858e-05 9.99606484e-01 -5.93491099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06719346999999 meters 0.05665927717749164 Centerline is valid? [True, True] Translation: X:50.96, Y:6.45, Z:-0.59 [[ 9.63596232e-01 -2.65791181e-01 -2.89369803e-02 5.09553614e+01] [ 2.65671152e-01 9.64030626e-01 -7.98694142e-03 6.44564535e+00] [ 3.00189938e-02 8.46579446e-06 9.99549328e-01 -5.93481028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09719346999999 meters 0.05698708650269564 Centerline is valid? [True, True] Translation: X:50.98, Y:6.45, Z:-0.60 [[ 9.63220191e-01 -2.66894823e-01 -3.12092629e-02 5.09836732e+01] [ 2.66755444e-01 9.63725663e-01 -8.62437324e-03 6.45063960e+00] [ 3.23789681e-02 -1.80703385e-05 9.99475664e-01 -5.95276943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.127193469999995 meters 0.05768361245787448 Centerline is valid? [True, True] Translation: X:51.01, Y:6.45, Z:-0.60 [[ 9.63434311e-01 -2.65788823e-01 -3.39209473e-02 5.10124482e+01] [ 2.65623475e-01 9.64031276e-01 -9.37380208e-03 6.45323292e+00] [ 3.51923059e-02 2.08426595e-05 9.99380559e-01 -5.97851905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.157193469999996 meters 0.05770198249598272 Centerline is valid? [True, True] Translation: X:51.04, Y:6.46, Z:-0.60 [[ 9.64051219e-01 -2.63555885e-01 -3.38163183e-02 5.10385879e+01] [ 2.63389824e-01 9.64644122e-01 -9.35509337e-03 6.45869929e+00] [ 3.50863026e-02 1.11915043e-04 9.99384280e-01 -5.98683447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18719347 meters 0.058032423018556836 Centerline is valid? [True, True] Translation: X:51.07, Y:6.47, Z:-0.60 [[ 9.64461288e-01 -2.61806136e-01 -3.56646960e-02 5.10666119e+01] [ 2.61619775e-01 9.65120463e-01 -9.87851128e-03 6.46503761e+00] [ 3.70069828e-02 1.96851983e-04 9.99314988e-01 -6.00306943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21719347 meters 0.058251055981370155 Centerline is valid? [True, True] Translation: X:51.09, Y:6.47, Z:-0.60 [[ 9.64832593e-01 -2.60437648e-01 -3.56412645e-02 5.10945405e+01] [ 2.60250170e-01 9.65490634e-01 -9.88358154e-03 6.47186391e+00] [ 3.69853638e-02 2.60356455e-04 9.99315773e-01 -6.01803178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24719346999999 meters 0.05871732971207674 Centerline is valid? [True, True] Translation: X:51.12, Y:6.47, Z:-0.60 [[ 9.64319458e-01 -2.62097168e-01 -3.73236791e-02 5.11221901e+01] [ 2.61892558e-01 9.65041465e-01 -1.03565711e-02 6.47467538e+00] [ 3.87333259e-02 2.12249235e-04 9.99249561e-01 -6.04088470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27719346999999 meters 0.05871732971207674 Centerline is valid? [True, True] Translation: X:51.15, Y:6.48, Z:-0.60 [[ 9.64230198e-01 -2.62425907e-01 -3.73198114e-02 5.11486205e+01] [ 2.62221004e-01 9.64952122e-01 -1.03705015e-02 6.48229987e+00] [ 3.87333195e-02 2.13512331e-04 9.99249561e-01 -6.04315490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.307193469999994 meters 0.05790321307364987 Centerline is valid? [True, True] Translation: X:51.18, Y:6.49, Z:-0.60 [[ 9.63329048e-01 -2.65658007e-01 -3.77222509e-02 5.11769678e+01] [ 2.65450539e-01 9.64067328e-01 -1.04975149e-02 6.48541373e+00] [ 3.91555385e-02 9.91692309e-05 9.99233123e-01 -5.98884486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.337193469999995 meters 0.0588546115235562 Centerline is valid? [True, True] Translation: X:51.21, Y:6.49, Z:-0.61 [[ 9.62365856e-01 -2.68990059e-01 -3.86821372e-02 5.12053670e+01] [ 2.68774370e-01 9.63142953e-01 -1.07699062e-02 6.48823536e+00] [ 4.01534255e-02 -3.21770277e-05 9.99193525e-01 -6.05243817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36719347 meters 0.0584653084481833 Centerline is valid? [True, True] Translation: X:51.24, Y:6.48, Z:-0.60 [[ 9.60488834e-01 -2.75607912e-01 -3.87489228e-02 5.12360759e+01] [ 2.75396677e-01 9.61270090e-01 -1.07928056e-02 6.48365670e+00] [ 4.02227631e-02 -3.04955323e-04 9.99190691e-01 -5.99025942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39719347 meters 0.05946976663986343 Centerline is valid? [True, True] Translation: X:51.26, Y:6.48, Z:-0.60 [[ 9.59587417e-01 -2.78549064e-01 -4.00300863e-02 5.12648573e+01] [ 2.78325979e-01 9.60421901e-01 -1.11544752e-02 6.48335927e+00] [ 4.15528401e-02 -4.37718915e-04 9.99136212e-01 -6.03796313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42719346999999 meters 0.060310308181616014 Centerline is valid? [True, True] Translation: X:51.29, Y:6.48, Z:-0.61 [[ 9.58689560e-01 -2.81414601e-01 -4.14746832e-02 5.12941212e+01] [ 2.81177636e-01 9.59586102e-01 -1.15606741e-02 6.48345836e+00] [ 4.30518721e-02 -5.78655846e-04 9.99072671e-01 -6.06161927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45719346999999 meters 0.060327010173103594 Centerline is valid? [True, True] Translation: X:51.33, Y:6.48, Z:-0.60 [[ 9.57462246e-01 -2.85411946e-01 -4.24978695e-02 5.13250680e+01] [ 2.85166993e-01 9.58404622e-01 -1.18476096e-02 6.48285783e+00] [ 4.41116038e-02 -7.75350812e-04 9.99026309e-01 -6.03008438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.487193469999994 meters 0.06111688753019565 Centerline is valid? [True, True] Translation: X:51.35, Y:6.49, Z:-0.61 [[ 9.57548403e-01 -2.85260809e-01 -4.15611263e-02 5.13523772e+01] [ 2.85026153e-01 9.58449641e-01 -1.15921393e-02 6.48755261e+00] [ 4.31410296e-02 -7.45973486e-04 9.99068714e-01 -6.06702529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.517193469999995 meters 0.06005606261974389 Centerline is valid? [True, True] Translation: X:51.38, Y:6.50, Z:-0.60 [[ 9.57839593e-01 -2.84460234e-01 -4.03198536e-02 5.13800145e+01] [ 2.84238035e-01 9.58687604e-01 -1.12613418e-02 6.49616911e+00] [ 4.18575477e-02 -6.73876981e-04 9.99123362e-01 -6.02073562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.547193469999996 meters 0.05951732447238505 Centerline is valid? [True, True] Translation: X:51.41, Y:6.50, Z:-0.60 [[ 9.58672604e-01 -2.82134206e-01 -3.67032444e-02 5.14076425e+01] [ 2.81948405e-01 9.59374806e-01 -1.02507892e-02 6.50385197e+00] [ 3.81042663e-02 -5.21270460e-04 9.99273633e-01 -6.00265375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57719347 meters 0.05830508544731437 Centerline is valid? [True, True] Translation: X:51.44, Y:6.52, Z:-0.60 [[ 9.60932160e-01 -2.74586122e-01 -3.48115725e-02 5.14358506e+01] [ 2.74413999e-01 9.61562488e-01 -9.72315481e-03 6.51576872e+00] [ 3.61433456e-02 -2.09490648e-04 9.99346594e-01 -5.97774507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60719347 meters 0.05969004136671601 Centerline is valid? [True, True] Translation: X:51.46, Y:6.53, Z:-0.61 [[ 9.62069589e-01 -2.70384610e-01 -3.62528398e-02 5.14616459e+01] [ 2.70194756e-01 9.62752388e-01 -1.01307984e-02 6.52529659e+00] [ 3.76417200e-02 -4.87941359e-05 9.99291298e-01 -6.09466664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63719346999999 meters 0.058366528994661944 Centerline is valid? [True, True] Translation: X:51.49, Y:6.54, Z:-0.60 [[ 9.62884779e-01 -2.67282805e-01 -3.75872924e-02 5.14889040e+01] [ 2.67075788e-01 9.63618127e-01 -1.05180559e-02 6.53527940e+00] [ 3.90310917e-02 8.90202056e-05 9.99237993e-01 -6.00025432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.667193469999994 meters 0.05897364897406886 Centerline is valid? [True, True] Translation: X:51.52, Y:6.54, Z:-0.60 [[ 9.63312645e-01 -2.65290317e-01 -4.06176719e-02 5.15159340e+01] [ 2.65046714e-01 9.64168561e-01 -1.13677758e-02 6.54385193e+00] [ 4.21780431e-02 1.85141681e-04 9.99110093e-01 -6.03912626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.697193469999995 meters 0.05917260132683732 Centerline is valid? [True, True] Translation: X:51.54, Y:6.55, Z:-0.61 [[ 9.63050994e-01 -2.66312181e-01 -4.01323407e-02 5.15428169e+01] [ 2.66075047e-01 9.63886820e-01 -1.12368810e-02 6.55014944e+00] [ 4.16755525e-02 1.43474949e-04 9.99131186e-01 -6.05830782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.727193469999996 meters 0.05853461282327933 Centerline is valid? [True, True] Translation: X:51.57, Y:6.56, Z:-0.60 [[ 9.62527918e-01 -2.68193807e-01 -4.01508276e-02 5.15702424e+01] [ 2.67957343e-01 9.63364975e-01 -1.12599653e-02 6.55566755e+00] [ 4.16997540e-02 7.93219173e-05 9.99130184e-01 -6.02767533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75719347 meters 0.05922348587432379 Centerline is valid? [True, True] Translation: X:51.60, Y:6.56, Z:-0.61 [[ 9.61577842e-01 -2.71687934e-01 -3.94172499e-02 5.15983814e+01] [ 2.71462432e-01 9.62385402e-01 -1.10672960e-02 6.55994582e+00] [ 4.09414367e-02 -5.82359484e-05 9.99161546e-01 -6.07083071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78719347 meters 0.0599421775871879 Centerline is valid? [True, True] Translation: X:51.63, Y:6.56, Z:-0.61 [[ 9.59237470e-01 -2.79971058e-01 -3.84666590e-02 5.16277737e+01] [ 2.79762756e-01 9.60008359e-01 -1.08051477e-02 6.55642142e+00] [ 3.99534428e-02 -3.96836012e-04 9.99201464e-01 -6.06845316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81719346999999 meters 0.0600739770684101 Centerline is valid? [True, True] Translation: X:51.66, Y:6.56, Z:-0.60 [[ 9.58007598e-01 -2.84294037e-01 -3.73944260e-02 5.16564475e+01] [ 2.84099876e-01 9.58736983e-01 -1.05194129e-02 6.55848128e+00] [ 3.88420255e-02 -5.46074283e-04 9.99245215e-01 -6.04394656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84719346999999 meters 0.05983234777311044 Centerline is valid? [True, True] Translation: X:51.69, Y:6.56, Z:-0.60 [[ 9.57108729e-01 -2.87625343e-01 -3.48503057e-02 5.16857704e+01] [ 2.87458746e-01 9.57742797e-01 -9.80838178e-03 6.56274092e+00] [ 3.61987685e-02 -6.30337380e-04 9.99344411e-01 -5.99298036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.877193469999995 meters 0.059994885186515856 Centerline is valid? [True, True] Translation: X:51.71, Y:6.57, Z:-0.59 [[ 9.56051866e-01 -2.92002206e-01 -2.64488334e-02 5.17144624e+01] [ 2.91907896e-01 9.56417455e-01 -7.44523621e-03 6.56665611e+00] [ 2.74701514e-02 -6.02591345e-04 9.99622443e-01 -5.94392958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.907193469999996 meters 0.05994957202453076 Centerline is valid? [True, True] Translation: X:51.74, Y:6.58, Z:-0.59 [[ 9.55696841e-01 -2.93321790e-01 -2.46145511e-02 5.17417050e+01] [ 2.93240288e-01 9.56013590e-01 -6.93903947e-03 6.57545819e+00] [ 2.55672169e-02 -5.86359952e-04 9.99672933e-01 -5.92729721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93719347 meters 0.06164292706942226 Centerline is valid? [True, True] Translation: X:51.77, Y:6.58, Z:-0.60 [[ 9.55338911e-01 -2.94569612e-01 -2.35862127e-02 5.17692607e+01] [ 2.94495129e-01 9.55629841e-01 -6.65030671e-03 6.58062138e+00] [ 2.44986669e-02 -5.92727983e-04 9.99699687e-01 -5.96785389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96719347 meters 0.06157136911950315 Centerline is valid? [True, True] Translation: X:51.80, Y:6.59, Z:-0.60 [[ 9.55067049e-01 -2.95194283e-01 -2.65944943e-02 5.17967966e+01] [ 2.95099793e-01 9.55437002e-01 -7.49978183e-03 6.59048256e+00] [ 2.76232567e-02 -6.85235272e-04 9.99618170e-01 -5.98009161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99719346999999 meters 0.06145652609617781 Centerline is valid? [True, True] Translation: X:51.82, Y:6.60, Z:-0.60 [[ 9.54762058e-01 -2.96094947e-01 -2.75171947e-02 5.18246198e+01] [ 2.95993846e-01 9.55158236e-01 -7.77090622e-03 6.59941378e+00] [ 2.85842013e-02 -7.25553895e-04 9.99591125e-01 -5.98779116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02719346999999 meters 0.06137413224051131 Centerline is valid? [True, True] Translation: X:51.85, Y:6.61, Z:-0.60 [[ 9.54667996e-01 -2.96316342e-01 -2.83838633e-02 5.18523866e+01] [ 2.96208595e-01 9.55089560e-01 -8.02495118e-03 6.60836581e+00] [ 2.94870557e-02 -7.46380209e-04 9.99564884e-01 -5.99682416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.057193469999994 meters 0.061637009103183385 Centerline is valid? [True, True] Translation: X:51.88, Y:6.62, Z:-0.60 [[ 9.54764060e-01 -2.95951283e-01 -2.89556031e-02 5.18788199e+01] [ 2.95838869e-01 9.55202743e-01 -8.19039020e-03 6.61625666e+00] [ 3.00824280e-02 -7.46302672e-04 9.99547143e-01 -6.01473394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.087193469999995 meters 0.06082706409151687 Centerline is valid? [True, True] Translation: X:51.91, Y:6.63, Z:-0.60 [[ 9.55165503e-01 -2.94753543e-01 -2.79143432e-02 5.19060455e+01] [ 2.94648281e-01 9.55573071e-01 -7.90541769e-03 6.62758140e+00] [ 2.90043445e-02 -6.73930966e-04 9.99579058e-01 -5.99766863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11719347 meters 0.05865625587988354 Centerline is valid? [True, True] Translation: X:51.93, Y:6.65, Z:-0.60 [[ 9.56969684e-01 -2.88861557e-01 -2.77132767e-02 5.19305211e+01] [ 2.88755068e-01 9.57370758e-01 -7.85766195e-03 6.64835508e+00] [ 2.88016572e-02 -4.82804836e-04 9.99585030e-01 -5.96854529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14719347 meters 0.059140644493332034 Centerline is valid? [True, True] Translation: X:51.96, Y:6.66, Z:-0.60 [[ 9.58202398e-01 -2.84619286e-01 -2.89832044e-02 5.19559244e+01] [ 2.84500813e-01 9.58640561e-01 -8.21959689e-03 6.66091326e+00] [ 3.01239312e-02 -3.69707778e-04 9.99546103e-01 -6.02319127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17719346999999 meters 0.05829707480714391 Centerline is valid? [True, True] Translation: X:51.98, Y:6.68, Z:-0.60 [[ 9.59536004e-01 -2.80067497e-01 -2.92036777e-02 5.19812237e+01] [ 2.79944760e-01 9.59980286e-01 -8.29344066e-03 6.67587694e+00] [ 3.03576781e-02 -2.17561651e-04 9.99539076e-01 -6.01264191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20719346999999 meters 0.05847324735898081 Centerline is valid? [True, True] Translation: X:52.01, Y:6.69, Z:-0.61 [[ 9.60928563e-01 -2.75106172e-01 -3.05432647e-02 5.20064877e+01] [ 2.74969350e-01 9.61413850e-01 -8.67561274e-03 6.68917305e+00] [ 3.17514323e-02 -6.18175400e-05 9.99495794e-01 -6.05198029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.237193469999994 meters 0.05868884155381882 Centerline is valid? [True, True] Translation: X:52.03, Y:6.71, Z:-0.61 [[ 9.64063809e-01 -2.63714989e-01 -3.21772816e-02 5.20308784e+01] [ 2.63556703e-01 9.64600588e-01 -9.14166384e-03 6.71026709e+00] [ 3.34490185e-02 3.32609003e-04 9.99440370e-01 -6.05154610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.267193469999995 meters 0.059860698312355506 Centerline is valid? [True, True] Translation: X:52.06, Y:6.73, Z:-0.61 [[ 9.65747918e-01 -2.57572714e-01 -3.14206440e-02 5.20554640e+01] [ 2.57418397e-01 9.66258769e-01 -8.93083783e-03 6.72667348e+00] [ 3.26608130e-02 5.36686227e-04 9.99466349e-01 -6.08584076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.297193469999996 meters 0.060778004979162865 Centerline is valid? [True, True] Translation: X:52.08, Y:6.74, Z:-0.61 [[ 9.67116878e-01 -2.52401760e-01 -3.12777328e-02 5.20817055e+01] [ 2.52245749e-01 9.67622258e-01 -8.90214584e-03 6.74041951e+00] [ 3.25119477e-02 7.19740336e-04 9.99471088e-01 -6.07898925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32719347 meters 0.06255550117195455 Centerline is valid? [True, True] Translation: X:52.11, Y:6.76, Z:-0.61 [[ 9.69613605e-01 -2.43014800e-01 -2.81649488e-02 5.21080479e+01] [ 2.42884332e-01 9.70022133e-01 -8.01643390e-03 6.75527237e+00] [ 2.92687358e-02 9.32018613e-04 9.99571144e-01 -6.05047011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35719347 meters 0.06394645970981977 Centerline is valid? [True, True] Translation: X:52.13, Y:6.77, Z:-0.61 [[ 9.70171950e-01 -2.41027939e-01 -2.59214281e-02 5.21337788e+01] [ 2.40916631e-01 9.70517745e-01 -7.38134507e-03 6.76556517e+00] [ 2.69363163e-02 9.16270826e-04 9.99636732e-01 -6.05132831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38719346999999 meters 0.06346286846006306 Centerline is valid? [True, True] Translation: X:52.16, Y:6.77, Z:-0.60 [[ 9.70499333e-01 -2.39874931e-01 -2.43117579e-02 5.21613396e+01] [ 2.39776378e-01 9.70803382e-01 -6.93407911e-03 6.77056758e+00] [ 2.52652486e-02 9.00133902e-04 9.99680377e-01 -6.01622072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.417193469999994 meters 0.06400831421503482 Centerline is valid? [True, True] Translation: X:52.19, Y:6.78, Z:-0.60 [[ 9.70738526e-01 -2.39023001e-01 -2.31240064e-02 5.21875312e+01] [ 2.38933550e-01 9.71013508e-01 -6.59749573e-03 6.77622060e+00] [ 2.40306758e-02 8.79342348e-04 9.99710835e-01 -6.01660619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.447193469999995 meters 0.06428811703332225 Centerline is valid? [True, True] Translation: X:52.22, Y:6.78, Z:-0.60 [[ 9.70843599e-01 -2.38597777e-01 -2.31042739e-02 5.22175159e+01] [ 2.38508151e-01 9.71118064e-01 -6.60052984e-03 6.77676669e+00] [ 2.40118495e-02 8.97524508e-04 9.99711271e-01 -6.02085000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.477193469999996 meters 0.06354372949271808 Centerline is valid? [True, True] Translation: X:52.25, Y:6.78, Z:-0.60 [[ 9.70735093e-01 -2.39068076e-01 -2.27998555e-02 5.22471798e+01] [ 2.38980745e-01 9.71002409e-01 -6.52118268e-03 6.77846129e+00] [ 2.36977212e-02 8.81614416e-04 9.99718781e-01 -6.00712582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50719347 meters 0.06300242849361784 Centerline is valid? [True, True] Translation: X:52.28, Y:6.78, Z:-0.60 [[ 9.70417735e-01 -2.40375351e-01 -2.25634606e-02 5.22769985e+01] [ 2.40289998e-01 9.70679644e-01 -6.46109739e-03 6.78042105e+00] [ 2.34549805e-02 8.48189601e-04 9.99724534e-01 -6.00743886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53719347 meters 0.062286243966738014 Centerline is valid? [True, True] Translation: X:52.31, Y:6.78, Z:-0.60 [[ 9.70343368e-01 -2.40873727e-01 -2.03370598e-02 5.23082532e+01] [ 2.40804345e-01 9.70556165e-01 -5.83077224e-03 6.77551130e+00] [ 2.11427386e-02 7.60598806e-04 9.99776178e-01 -5.97833665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56719346999999 meters 0.06335299843912609 Centerline is valid? [True, True] Translation: X:52.34, Y:6.78, Z:-0.60 [[ 9.70531677e-01 -2.40181260e-01 -1.95249961e-02 5.23362309e+01] [ 2.40117156e-01 9.70727772e-01 -5.59863916e-03 6.78034312e+00] [ 2.02981441e-02 7.45370137e-04 9.99793694e-01 -5.98732124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59719346999999 meters 0.06357206165039825 Centerline is valid? [True, True] Translation: X:52.36, Y:6.78, Z:-0.60 [[ 9.70586646e-01 -2.40006529e-01 -1.89322219e-02 5.23646587e+01] [ 2.39946051e-01 9.70770996e-01 -5.43753935e-03 6.78275214e+00] [ 1.96838968e-02 7.34891213e-04 9.99805983e-01 -5.98221537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.627193469999995 meters 0.06437143892822658 Centerline is valid? [True, True] Translation: X:52.39, Y:6.78, Z:-0.60 [[ 9.70812617e-01 -2.39131677e-01 -1.84093242e-02 5.23939883e+01] [ 2.39074305e-01 9.70986871e-01 -5.28895757e-03 6.78254430e+00] [ 1.91399694e-02 7.33390332e-04 9.99816545e-01 -5.99320749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.657193469999996 meters 0.06460198510156762 Centerline is valid? [True, True] Translation: X:52.42, Y:6.79, Z:-0.60 [[ 9.70753326e-01 -2.39359588e-01 -1.85733012e-02 5.24222723e+01] [ 2.39301076e-01 9.70930706e-01 -5.34413524e-03 6.78633471e+00] [ 1.93125585e-02 7.43226093e-04 9.99813219e-01 -6.00284304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68719347 meters 0.06487524928719172 Centerline is valid? [True, True] Translation: X:52.45, Y:6.79, Z:-0.60 [[ 9.70668377e-01 -2.39642352e-01 -1.93505980e-02 5.24512555e+01] [ 2.39578785e-01 9.70860929e-01 -5.57328909e-03 6.78940775e+00] [ 2.01223356e-02 7.73822720e-04 9.99797226e-01 -6.02051301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71719347 meters 0.06434194950497653 Centerline is valid? [True, True] Translation: X:52.48, Y:6.79, Z:-0.60 [[ 9.70530112e-01 -2.40115588e-01 -2.03913302e-02 5.24813714e+01] [ 2.40044967e-01 9.70743965e-01 -5.87940766e-03 6.78984915e+00] [ 2.12064982e-02 8.11305975e-04 9.99774788e-01 -6.02953893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74719346999999 meters 0.06626056721217502 Centerline is valid? [True, True] Translation: X:52.51, Y:6.79, Z:-0.61 [[ 9.69778603e-01 -2.42775173e-01 -2.42832665e-02 5.25108429e+01] [ 2.42675832e-01 9.70082167e-01 -7.00218131e-03 6.78747766e+00] [ 2.52567196e-02 8.97603695e-04 9.99680595e-01 -6.11817302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77719346999999 meters 0.06329353252510025 Centerline is valid? [True, True] Translation: X:52.54, Y:6.78, Z:-0.61 [[ 9.68970381e-01 -2.45842271e-01 -2.56510811e-02 5.25428878e+01] [ 2.45732236e-01 9.69309453e-01 -7.40624723e-03 6.78192537e+00] [ 2.66846041e-02 8.73136680e-04 9.99643521e-01 -6.08450168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.807193469999994 meters 0.061265503698626066 Centerline is valid? [True, True] Translation: X:52.57, Y:6.78, Z:-0.61 [[ 9.68037592e-01 -2.49479095e-01 -2.57565991e-02 5.25744493e+01] [ 2.49369419e-01 9.68379873e-01 -7.43740227e-03 6.77759746e+00] [ 2.67976486e-02 7.76776824e-04 9.99640577e-01 -6.05901765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.837193469999995 meters 0.05924779234518814 Centerline is valid? [True, True] Translation: X:52.61, Y:6.77, Z:-0.60 [[ 9.65701122e-01 -2.58593134e-01 -2.34719912e-02 5.26080198e+01] [ 2.58504721e-01 9.65986212e-01 -6.77841326e-03 6.76630284e+00] [ 2.44264710e-02 4.78300756e-04 9.99701515e-01 -6.04252391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86719347 meters 0.058483098528221596 Centerline is valid? [True, True] Translation: X:52.64, Y:6.76, Z:-0.60 [[ 9.64250001e-01 -2.64034313e-01 -2.25348187e-02 5.26379575e+01] [ 2.63954245e-01 9.64513231e-01 -6.51023986e-03 6.76472545e+00] [ 2.34540575e-02 3.29337718e-04 9.99724862e-01 -6.04372371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89719347 meters 0.05814962650587678 Centerline is valid? [True, True] Translation: X:52.67, Y:6.76, Z:-0.60 [[ 9.62950083e-01 -2.68769235e-01 -2.21412546e-02 5.26680299e+01] [ 2.68692989e-01 9.63204574e-01 -6.40525301e-03 6.76308471e+00] [ 2.30480926e-02 2.18739056e-04 9.99734334e-01 -6.04429334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92719346999999 meters 0.05775306946304937 Centerline is valid? [True, True] Translation: X:52.70, Y:6.76, Z:-0.60 [[ 9.61542335e-01 -2.73883288e-01 -2.05981157e-02 5.26988574e+01] [ 2.73818327e-01 9.61762931e-01 -5.96559736e-03 6.76138908e+00] [ 2.14443815e-02 9.60328404e-05 9.99770038e-01 -6.02376448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95719346999999 meters 0.057312903150865055 Centerline is valid? [True, True] Translation: X:52.73, Y:6.75, Z:-0.60 [[ 9.59092890e-01 -2.82632472e-01 -1.61156677e-02 5.27318370e+01] [ 2.82593936e-01 9.59228273e-01 -4.66773575e-03 6.75162146e+00] [ 1.67778578e-02 -7.73978024e-05 9.99859239e-01 -5.96197711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.987193469999994 meters 0.057543084936292996 Centerline is valid? [True, True] Translation: X:52.76, Y:6.75, Z:-0.60 [[ 9.57982608e-01 -2.86381030e-01 -1.59758693e-02 5.27617759e+01] [ 2.86343558e-01 9.58115801e-01 -4.63455375e-03 6.75364572e+00] [ 1.66339811e-02 -1.34765393e-04 9.99861637e-01 -5.95997747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.017193469999995 meters 0.05785652863112953 Centerline is valid? [True, True] Translation: X:52.79, Y:6.76, Z:-0.60 [[ 9.57340949e-01 -2.88548084e-01 -1.54372849e-02 5.27896446e+01] [ 2.88513375e-01 9.57465391e-01 -4.47851846e-03 6.75655108e+00] [ 1.60729339e-02 -1.66394034e-04 9.99870808e-01 -5.96112618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.047193469999996 meters 0.05819991971852167 Centerline is valid? [True, True] Translation: X:52.82, Y:6.76, Z:-0.60 [[ 9.57121565e-01 -2.89161783e-01 -1.74291200e-02 5.28175117e+01] [ 2.89117605e-01 9.57280223e-01 -5.05829013e-03 6.76018635e+00] [ 1.81472161e-02 -1.97666864e-04 9.99835306e-01 -5.97476435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07719347 meters 0.05786490760706288 Centerline is valid? [True, True] Translation: X:52.84, Y:6.77, Z:-0.60 [[ 9.57549639e-01 -2.87725459e-01 -1.76846874e-02 5.28441308e+01] [ 2.87679571e-01 9.57712918e-01 -5.14112330e-03 6.76861677e+00] [ 1.84160857e-02 -1.64642544e-04 9.99830396e-01 -5.96850030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10719347 meters 0.05751197333390243 Centerline is valid? [True, True] Translation: X:52.87, Y:6.78, Z:-0.59 [[ 9.58077118e-01 -2.86003551e-01 -1.70354064e-02 5.28716272e+01] [ 2.85960600e-01 9.58228550e-01 -4.95797262e-03 6.77836471e+00] [ 1.77418106e-02 -1.21334926e-04 9.99842594e-01 -5.94904188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13719346999999 meters 0.05728756218837928 Centerline is valid? [True, True] Translation: X:52.90, Y:6.79, Z:-0.60 [[ 9.58998997e-01 -2.82899337e-01 -1.69967158e-02 5.28982538e+01] [ 2.82856087e-01 9.59149603e-01 -4.94701047e-03 6.78800630e+00] [ 1.77018992e-02 -6.34464290e-05 9.99843307e-01 -5.96692128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.167193469999994 meters 0.05728756218837928 Centerline is valid? [True, True] Translation: X:52.92, Y:6.80, Z:-0.60 [[ 9.58904551e-01 -2.83219433e-01 -1.69945484e-02 5.29246340e+01] [ 2.83176101e-01 9.59055133e-01 -4.95445339e-03 6.79595192e+00] [ 1.77019063e-02 -6.16020467e-05 9.99843307e-01 -5.96919312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.197193469999995 meters 0.05728116693935627 Centerline is valid? [True, True] Translation: X:52.95, Y:6.81, Z:-0.60 [[ 9.60646113e-01 -2.77267157e-01 -1.67919220e-02 5.29493780e+01] [ 2.77223943e-01 9.60792861e-01 -4.89531110e-03 6.80974207e+00] [ 1.74908677e-02 4.75387726e-05 9.99847022e-01 -5.99090786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.227193469999996 meters 0.057673114436224714 Centerline is valid? [True, True] Translation: X:52.98, Y:6.82, Z:-0.60 [[ 9.61502395e-01 -2.74101424e-01 -1.95334223e-02 5.29755044e+01] [ 2.74042140e-01 9.61700781e-01 -5.70198644e-03 6.82204210e+00] [ 2.03482301e-02 1.29492752e-04 9.99792945e-01 -6.02881698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25719347 meters 0.05788589573892806 Centerline is valid? [True, True] Translation: X:53.00, Y:6.83, Z:-0.60 [[ 9.62326811e-01 -2.70949675e-01 -2.26579299e-02 5.30027968e+01] [ 2.70869047e-01 9.62593487e-01 -6.61341542e-03 6.83317055e+00] [ 2.36022785e-02 2.26935101e-04 9.99721402e-01 -6.02128600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28719347 meters 0.058802761828533334 Centerline is valid? [True, True] Translation: X:53.03, Y:6.85, Z:-0.61 [[ 9.63640882e-01 -2.66142348e-01 -2.37592202e-02 5.30274156e+01] [ 2.66052149e-01 9.63933669e-01 -6.93801546e-03 6.84840624e+00] [ 2.47488120e-02 3.64563743e-04 9.99693635e-01 -6.05807755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31719346999999 meters 0.05903168973342279 Centerline is valid? [True, True] Translation: X:53.05, Y:6.86, Z:-0.61 [[ 9.64091675e-01 -2.64523609e-01 -2.35478807e-02 5.30543096e+01] [ 2.64434295e-01 9.64379122e-01 -6.88569012e-03 6.85914637e+00] [ 2.45305121e-02 4.11569304e-04 9.99698997e-01 -6.06340319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34719346999999 meters 0.0597723855060698 Centerline is valid? [True, True] Translation: X:53.08, Y:6.87, Z:-0.61 [[ 9.64526295e-01 -2.63053477e-01 -2.21786896e-02 5.30796325e+01] [ 2.62973836e-01 9.64781161e-01 -6.48635100e-03 6.87041508e+00] [ 2.31038391e-02 4.23841020e-04 9.99732981e-01 -6.09671074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.377193469999995 meters 0.05913122806437624 Centerline is valid? [True, True] Translation: X:53.11, Y:6.88, Z:-0.61 [[ 9.64415344e-01 -2.63434590e-01 -2.24780113e-02 5.31066822e+01] [ 2.63352642e-01 9.64677164e-01 -6.58440634e-03 6.87662987e+00] [ 2.34185845e-02 4.30458861e-04 9.99725655e-01 -6.06385084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.407193469999996 meters 0.05876171907398556 Centerline is valid? [True, True] Translation: X:53.13, Y:6.88, Z:-0.61 [[ 9.63775472e-01 -2.65676132e-01 -2.35166305e-02 5.31340601e+01] [ 2.65586881e-01 9.64062255e-01 -6.89764387e-03 6.88230567e+00] [ 2.45040351e-02 4.02071455e-04 9.99699650e-01 -6.06499022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43719347 meters 0.058863990102702 Centerline is valid? [True, True] Translation: X:53.16, Y:6.89, Z:-0.61 [[ 9.63219261e-01 -2.67676958e-01 -2.36157102e-02 5.31611212e+01] [ 2.67587537e-01 9.63508651e-01 -6.92740053e-03 6.89010202e+00] [ 2.46082466e-02 3.53335904e-04 9.99697109e-01 -6.09693598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46719347 meters 0.058191183505362086 Centerline is valid? [True, True] Translation: X:53.19, Y:6.90, Z:-0.61 [[ 9.62840507e-01 -2.69207022e-01 -2.15809514e-02 5.31896158e+01] [ 2.69132527e-01 9.63082287e-01 -6.33966803e-03 6.89638185e+00] [ 2.24909151e-02 2.95953200e-04 9.99747004e-01 -6.05605411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49719346999999 meters 0.05792222738731191 Centerline is valid? [True, True] Translation: X:53.22, Y:6.90, Z:-0.61 [[ 9.62481914e-01 -2.70622268e-01 -1.98028422e-02 5.32167474e+01] [ 2.70559826e-01 9.62685582e-01 -5.81817162e-03 6.90343856e+00] [ 2.06384374e-02 2.42031440e-04 9.99786975e-01 -6.05053956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52719346999999 meters 0.05766031785852392 Centerline is valid? [True, True] Translation: X:53.24, Y:6.91, Z:-0.60 [[ 9.61822127e-01 -2.73070565e-01 -1.81841165e-02 5.32436846e+01] [ 2.73018311e-01 9.61993989e-01 -5.34478339e-03 6.90973043e+00] [ 1.89525138e-02 1.76134150e-04 9.99820369e-01 -6.04524032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.557193469999994 meters 0.05753541966199809 Centerline is valid? [True, True] Translation: X:53.27, Y:6.91, Z:-0.61 [[ 9.60535288e-01 -2.77567916e-01 -1.81111166e-02 5.32727757e+01] [ 2.77516839e-01 9.60706013e-01 -5.32540361e-03 6.91062912e+00] [ 1.88776198e-02 8.90982577e-05 9.99821798e-01 -6.06121052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.587193469999995 meters 0.057162388589703836 Centerline is valid? [True, True] Translation: X:53.30, Y:6.91, Z:-0.60 [[ 9.59528023e-01 -2.81033728e-01 -1.80559389e-02 5.33009906e+01] [ 2.80983402e-01 9.59697891e-01 -5.31838557e-03 6.91337771e+00] [ 1.88228922e-02 2.97208563e-05 9.99822833e-01 -6.02813641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61719347 meters 0.05706803683698486 Centerline is valid? [True, True] Translation: X:53.33, Y:6.92, Z:-0.60 [[ 9.58300510e-01 -2.85242926e-01 -1.72222723e-02 5.33295806e+01] [ 2.85197716e-01 9.58455253e-01 -5.07855544e-03 6.91723306e+00] [ 1.79553993e-02 -4.49704491e-05 9.99838788e-01 -6.01354211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64719347 meters 0.057351206754461814 Centerline is valid? [True, True] Translation: X:53.36, Y:6.92, Z:-0.60 [[ 9.57021403e-01 -2.89600922e-01 -1.55351347e-02 5.33575281e+01] [ 2.89564680e-01 9.57147477e-01 -4.58286542e-03 6.92180124e+00] [ 1.61966170e-02 -1.12526023e-04 9.99868820e-01 -6.02023267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67719346999999 meters 0.05779573640038819 Centerline is valid? [True, True] Translation: X:53.38, Y:6.93, Z:-0.60 [[ 9.56120645e-01 -2.92544609e-01 -1.58418701e-02 5.33845232e+01] [ 2.92507303e-01 9.56251863e-01 -4.67468361e-03 6.92716992e+00] [ 1.65163712e-02 -1.64301185e-04 9.99863582e-01 -6.03780692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70719346999999 meters 0.05813987990960545 Centerline is valid? [True, True] Translation: X:53.41, Y:6.93, Z:-0.61 [[ 9.55469921e-01 -2.94489004e-01 -1.88004236e-02 5.34127264e+01] [ 2.94436822e-01 9.55654839e-01 -5.54852628e-03 6.93443499e+00] [ 1.96006957e-02 -2.34086987e-04 9.99807861e-01 -6.05066623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.737193469999994 meters 0.05810550175645071 Centerline is valid? [True, True] Translation: X:53.44, Y:6.94, Z:-0.61 [[ 9.55899482e-01 -2.92998299e-01 -2.02033958e-02 5.34395302e+01] [ 2.92937646e-01 9.56112938e-01 -5.96532241e-03 6.94362291e+00] [ 2.10645575e-02 -2.16086619e-04 9.99778094e-01 -6.06218198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.767193469999995 meters 0.058365635629404444 Centerline is valid? [True, True] Translation: X:53.46, Y:6.96, Z:-0.62 [[ 9.57442691e-01 -2.87829060e-01 -2.13992001e-02 5.34631030e+01] [ 2.87759576e-01 9.57681796e-01 -6.32493108e-03 6.95887409e+00] [ 2.23141233e-02 -1.02065694e-04 9.99751004e-01 -6.15154437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.797193469999996 meters 0.05745803415229178 Centerline is valid? [True, True] Translation: X:53.49, Y:6.97, Z:-0.61 [[ 9.58652453e-01 -2.83675490e-01 -2.26647318e-02 5.34887316e+01] [ 2.83596190e-01 9.58920339e-01 -6.70705145e-03 6.97471851e+00] [ 2.36362984e-02 2.09972110e-06 9.99720624e-01 -6.08787406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82719347 meters 0.057308116925099406 Centerline is valid? [True, True] Translation: X:53.51, Y:6.99, Z:-0.61 [[ 9.60006304e-01 -2.79052060e-01 -2.27561645e-02 5.35141187e+01] [ 2.78970634e-01 9.60275967e-01 -6.74186767e-03 6.98994302e+00] [ 2.37335299e-02 1.23933824e-04 9.99718312e-01 -6.07989899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85719347 meters 0.05754475214404987 Centerline is valid? [True, True] Translation: X:53.54, Y:7.01, Z:-0.61 [[ 9.61547532e-01 -2.73775786e-01 -2.17523235e-02 5.35394305e+01] [ 2.73699862e-01 9.61793510e-01 -6.45205532e-03 7.00569677e+00] [ 2.26876601e-02 2.50349925e-04 9.99742571e-01 -6.06359963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88719346999999 meters 0.05842434398489173 Centerline is valid? [True, True] Translation: X:53.56, Y:7.03, Z:-0.60 [[ 9.64311933e-01 -2.64027663e-01 -1.97962081e-02 5.35620717e+01] [ 2.63962670e-01 9.64515008e-01 -5.87439568e-03 7.02642124e+00] [ 2.06447427e-02 4.39289901e-04 9.99786778e-01 -6.03231160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.917193469999994 meters 0.05900068696842827 Centerline is valid? [True, True] Translation: X:53.59, Y:7.04, Z:-0.60 [[ 9.65050498e-01 -2.61367587e-01 -1.90924461e-02 5.35886760e+01] [ 2.61306462e-01 9.65239218e-01 -5.67315010e-03 7.03797925e+00] [ 1.99115553e-02 4.85896790e-04 9.99801627e-01 -6.03459967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.947193469999995 meters 0.060090525348370526 Centerline is valid? [True, True] Translation: X:53.61, Y:7.05, Z:-0.61 [[ 9.65718105e-01 -2.58882356e-01 -1.91954818e-02 5.36146645e+01] [ 2.58820068e-01 9.65908709e-01 -5.70431118e-03 7.04957465e+00] [ 2.00178286e-02 5.40580682e-04 9.99799477e-01 -6.05724159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.977193469999996 meters 0.06006238798077018 Centerline is valid? [True, True] Translation: X:53.64, Y:7.06, Z:-0.61 [[ 9.66047387e-01 -2.57632784e-01 -1.94369365e-02 5.36421299e+01] [ 2.57568500e-01 9.66242729e-01 -5.78420643e-03 7.05769891e+00] [ 2.02709997e-02 5.81474924e-04 9.99794353e-01 -6.05153945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00719347 meters 0.05917156950243331 Centerline is valid? [True, True] Translation: X:53.67, Y:7.07, Z:-0.61 [[ 9.65967896e-01 -2.57919617e-01 -1.95830526e-02 5.36693822e+01] [ 2.57854248e-01 9.66166200e-01 -5.83618425e-03 7.06510855e+00] [ 2.04257499e-02 5.87993311e-04 9.99791200e-01 -6.05008223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.03719347 meters 0.06033562906936865 Centerline is valid? [True, True] Translation: X:53.70, Y:7.08, Z:-0.61 [[ 9.66140783e-01 -2.57279028e-01 -1.94804567e-02 5.36954851e+01] [ 2.57214208e-01 9.66336972e-01 -5.80584611e-03 7.07613549e+00] [ 2.03184080e-02 5.98614458e-04 9.99793381e-01 -6.08632482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06719346999999 meters 0.05997326692479246 Centerline is valid? [True, True] Translation: X:53.72, Y:7.08, Z:-0.61 [[ 9.66470213e-01 -2.56024679e-01 -1.96644547e-02 5.37238636e+01] [ 2.55958193e-01 9.66670034e-01 -5.86927475e-03 7.08153801e+00] [ 2.05117182e-02 6.39200949e-04 9.99789408e-01 -6.07085956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09719346999999 meters 0.06040881870858264 Centerline is valid? [True, True] Translation: X:53.75, Y:7.09, Z:-0.61 [[ 9.66692845e-01 -2.55235776e-01 -1.89642138e-02 5.37521265e+01] [ 2.55173777e-01 9.66878636e-01 -5.66091757e-03 7.08558915e+00] [ 1.97809619e-02 6.33198456e-04 9.99804137e-01 -6.06875779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.127193469999995 meters 0.05992305859275602 Centerline is valid? [True, True] Translation: X:53.78, Y:7.09, Z:-0.61 [[ 9.66256929e-01 -2.56920829e-01 -1.84183180e-02 5.37807293e+01] [ 2.56862500e-01 9.66432274e-01 -5.50594490e-03 7.09015936e+00] [ 1.92146489e-02 5.89182207e-04 9.99815208e-01 -6.07135401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.157193469999996 meters 0.059614128008085875 Centerline is valid? [True, True] Translation: X:53.81, Y:7.09, Z:-0.61 [[ 9.65473334e-01 -2.59843056e-01 -1.85155918e-02 5.38080189e+01] [ 2.59784637e-01 9.65650714e-01 -5.53547659e-03 7.09499868e+00] [ 1.93179496e-02 5.34288741e-04 9.99813248e-01 -6.08885862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18719347 meters 0.05911069691605273 Centerline is valid? [True, True] Translation: X:53.84, Y:7.10, Z:-0.61 [[ 9.64555337e-01 -2.63210703e-01 -1.87916865e-02 5.38364881e+01] [ 2.63151012e-01 9.64738252e-01 -5.62590848e-03 7.09876476e+00] [ 1.96098581e-02 4.81448738e-04 9.99807592e-01 -6.09659839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21719347 meters 0.05787313042241097 Centerline is valid? [True, True] Translation: X:53.87, Y:7.09, Z:-0.61 [[ 9.62684579e-01 -2.70045000e-01 -1.77228398e-02 5.38686180e+01] [ 2.69993086e-01 9.62847649e-01 -5.30463789e-03 7.09390885e+00] [ 1.84968855e-02 3.21648899e-04 9.99828866e-01 -6.08216434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24719346999999 meters 0.05732596408402526 Centerline is valid? [True, True] Translation: X:53.90, Y:7.09, Z:-0.61 [[ 9.61405824e-01 -2.74581936e-01 -1.74241584e-02 5.38987551e+01] [ 2.74532357e-01 9.61563677e-01 -5.22310702e-03 7.09387254e+00] [ 1.81886086e-02 2.38030236e-04 9.99834545e-01 -6.08095500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27719346999999 meters 0.05708394782880055 Centerline is valid? [True, True] Translation: X:53.93, Y:7.09, Z:-0.61 [[ 9.60287410e-01 -2.78375549e-01 -1.88452581e-02 5.39276467e+01] [ 2.78318142e-01 9.60472290e-01 -5.65624108e-03 7.09365717e+00] [ 1.96749074e-02 1.86639885e-04 9.99806413e-01 -6.08820294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.307193469999994 meters 0.05690823319780249 Centerline is valid? [True, True] Translation: X:53.96, Y:7.09, Z:-0.61 [[ 9.59196780e-01 -2.81964799e-01 -2.09138427e-02 5.39579087e+01] [ 2.81894806e-01 9.59424741e-01 -6.28359842e-03 7.09425161e+00] [ 2.18370117e-02 1.31703724e-04 9.99761535e-01 -6.08741234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.337193469999995 meters 0.05704670153395584 Centerline is valid? [True, True] Translation: X:53.99, Y:7.09, Z:-0.61 [[ 9.57474330e-01 -2.87620762e-01 -2.27421328e-02 5.39884706e+01] [ 2.87539406e-01 9.57744380e-01 -6.84053716e-03 7.09363479e+00] [ 2.37486303e-02 1.03793804e-05 9.99717961e-01 -6.10827219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36719347 meters 0.05727913285519693 Centerline is valid? [True, True] Translation: X:54.02, Y:7.10, Z:-0.61 [[ 9.57389324e-01 -2.87802713e-01 -2.39849967e-02 5.40155345e+01] [ 2.87712251e-01 9.57689719e-01 -7.21540046e-03 7.10035629e+00] [ 2.50467965e-02 7.16998557e-06 9.99686280e-01 -6.13742313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39719347 meters 0.05760361847093065 Centerline is valid? [True, True] Translation: X:54.04, Y:7.11, Z:-0.62 [[ 9.57557348e-01 -2.87192461e-01 -2.45848646e-02 5.40423921e+01] [ 2.87097142e-01 9.57872898e-01 -7.39874141e-03 7.10692391e+00] [ 2.56740383e-02 2.64748305e-05 9.99670367e-01 -6.16240749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42719346999999 meters 0.057774400913817206 Centerline is valid? [True, True] Translation: X:54.07, Y:7.11, Z:-0.62 [[ 9.57407645e-01 -2.87753417e-01 -2.38447512e-02 5.40708576e+01] [ 2.87663856e-01 9.57704532e-01 -7.17882208e-03 7.10822350e+00] [ 2.49019569e-02 1.37860788e-05 9.99689898e-01 -6.18312040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45719346999999 meters 0.05747505096150612 Centerline is valid? [True, True] Translation: X:54.10, Y:7.11, Z:-0.62 [[ 9.57191933e-01 -2.88500930e-01 -2.34694773e-02 5.40995262e+01] [ 2.88414163e-01 9.57479615e-01 -7.07509331e-03 7.11286531e+00] [ 2.45127171e-02 3.29259444e-06 9.99699518e-01 -6.15478391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.487193469999994 meters 0.05757948404156302 Centerline is valid? [True, True] Translation: X:54.13, Y:7.12, Z:-0.62 [[ 9.57131747e-01 -2.88801056e-01 -2.21983845e-02 5.41271833e+01] [ 2.88723453e-01 9.57389132e-01 -6.69462123e-03 7.11820996e+00] [ 2.31859058e-02 -1.55970554e-06 9.99731171e-01 -6.16628606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.517193469999995 meters 0.05742539924792468 Centerline is valid? [True, True] Translation: X:54.16, Y:7.13, Z:-0.62 [[ 9.57189395e-01 -2.88664013e-01 -2.14836945e-02 5.41550015e+01] [ 2.88591114e-01 9.57430461e-01 -6.48700889e-03 7.12507690e+00] [ 2.24417096e-02 9.29279206e-06 9.99748153e-01 -6.15640336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.547193469999996 meters 0.05725020494024264 Centerline is valid? [True, True] Translation: X:54.18, Y:7.13, Z:-0.61 [[ 9.57618105e-01 -2.87188734e-01 -2.21403649e-02 5.41823967e+01] [ 2.87110894e-01 9.57874015e-01 -6.68622021e-03 7.13254777e+00] [ 2.31278873e-02 4.61055743e-05 9.99732514e-01 -6.14148540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57719347 meters 0.057296202479025726 Centerline is valid? [True, True] Translation: X:54.21, Y:7.14, Z:-0.62 [[ 9.57885889e-01 -2.86333696e-01 -2.16249406e-02 5.42095944e+01] [ 2.86259027e-01 9.58129954e-01 -6.53914899e-03 7.14210321e+00] [ 2.25918821e-02 7.34240922e-05 9.99744768e-01 -6.15432950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60719346999999 meters 0.05737820833239745 Centerline is valid? [True, True] Translation: X:54.24, Y:7.15, Z:-0.62 [[ 9.58238933e-01 -2.85180521e-01 -2.12183362e-02 5.42364276e+01] [ 2.85108170e-01 9.58473818e-01 -6.42433783e-03 7.15109910e+00] [ 2.21693157e-02 1.06529625e-04 9.99754225e-01 -6.15900940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63719346999999 meters 0.05740557078272174 Centerline is valid? [True, True] Translation: X:54.26, Y:7.16, Z:-0.62 [[ 9.58241066e-01 -2.85273070e-01 -1.98326908e-02 5.42639071e+01] [ 2.85209755e-01 9.58446276e-01 -6.01089100e-03 7.15909677e+00] [ 2.07233139e-02 1.03405722e-04 9.99785244e-01 -6.15164513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.667193469999994 meters 0.0572844192024721 Centerline is valid? [True, True] Translation: X:54.29, Y:7.17, Z:-0.61 [[ 9.58058240e-01 -2.85894206e-01 -1.97208703e-02 5.42913423e+01] [ 2.85831577e-01 9.58261183e-01 -5.98460533e-03 7.16668980e+00] [ 2.06087085e-02 9.67529747e-05 9.99787613e-01 -6.14553786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.697193469999995 meters 0.05709085671154303 Centerline is valid? [True, True] Translation: X:54.32, Y:7.17, Z:-0.61 [[ 9.57960730e-01 -2.86288913e-01 -1.87055830e-02 5.43190080e+01] [ 2.86232528e-01 9.58143335e-01 -5.68239610e-03 7.17419708e+00] [ 1.95494366e-02 8.93660117e-05 9.99808888e-01 -6.13037522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.727193469999996 meters 0.057068438578295 Centerline is valid? [True, True] Translation: X:54.35, Y:7.18, Z:-0.61 [[ 9.57705013e-01 -2.87191548e-01 -1.79477851e-02 5.43460780e+01] [ 2.87139788e-01 9.57873170e-01 -5.45269381e-03 7.18147249e+00] [ 1.87576694e-02 6.85489954e-05 9.99824057e-01 -6.14051948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75719347 meters 0.05723806329476324 Centerline is valid? [True, True] Translation: X:54.37, Y:7.19, Z:-0.62 [[ 9.57091030e-01 -2.89205306e-01 -1.83589438e-02 5.43723582e+01] [ 2.89151480e-01 9.57267094e-01 -5.57957842e-03 7.18936328e+00] [ 1.91880565e-02 3.16486841e-05 9.99815892e-01 -6.16452224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78719347 meters 0.057505787191602604 Centerline is valid? [True, True] Translation: X:54.40, Y:7.20, Z:-0.62 [[ 9.56922985e-01 -2.89669722e-01 -1.97446734e-02 5.43982883e+01] [ 2.89607519e-01 9.57126664e-01 -6.00280412e-03 7.19935827e+00] [ 2.06369840e-02 2.60153605e-05 9.99787034e-01 -6.19339441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81719346999999 meters 0.05774871002753738 Centerline is valid? [True, True] Translation: X:54.42, Y:7.21, Z:-0.62 [[ 9.56935978e-01 -2.89556276e-01 -2.07532333e-02 5.44248511e+01] [ 2.89487480e-01 9.57160991e-01 -6.31163506e-03 7.20860141e+00] [ 2.16917589e-02 3.20294384e-05 9.99764706e-01 -6.20734545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84719346999999 meters 0.05795457969501696 Centerline is valid? [True, True] Translation: X:54.45, Y:7.22, Z:-0.62 [[ 9.57116192e-01 -2.88853709e-01 -2.21839832e-02 5.44520265e+01] [ 2.88774856e-01 9.57373246e-01 -6.74909722e-03 7.21663278e+00] [ 2.31878537e-02 5.34936864e-05 9.99731124e-01 -6.21819412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.877193469999995 meters 0.057896873083820355 Centerline is valid? [True, True] Translation: X:54.48, Y:7.22, Z:-0.62 [[ 9.57622685e-01 -2.86812318e-01 -2.64099963e-02 5.44807982e+01] [ 2.86699762e-01 9.57986784e-01 -8.03539350e-03 7.22452536e+00] [ 2.76050773e-02 1.23135441e-04 9.99618900e-01 -6.19923599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.907193469999996 meters 0.05871295047454396 Centerline is valid? [True, True] Translation: X:54.51, Y:7.23, Z:-0.63 [[ 9.57672770e-01 -2.86508599e-01 -2.78511747e-02 5.45071682e+01] [ 2.86383121e-01 9.58077660e-01 -8.47975894e-03 7.23439909e+00] [ 2.91131121e-02 1.44727904e-04 9.99576113e-01 -6.27222709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93719347 meters 0.0582726463211271 Centerline is valid? [True, True] Translation: X:54.53, Y:7.24, Z:-0.62 [[ 9.57496855e-01 -2.87053092e-01 -2.82894923e-02 5.45345034e+01] [ 2.86923562e-01 9.57914664e-01 -8.62361097e-03 7.24317384e+00] [ 2.95743537e-02 1.40158500e-04 9.99562573e-01 -6.23792394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96719347 meters 0.05820891703262848 Centerline is valid? [True, True] Translation: X:54.56, Y:7.25, Z:-0.62 [[ 9.56867485e-01 -2.89195264e-01 -2.77617603e-02 5.45625207e+01] [ 2.89071328e-01 9.57270126e-01 -8.46600651e-03 7.25195235e+00] [ 2.90238328e-02 7.57174213e-05 9.99578717e-01 -6.24315139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99719346999999 meters 0.05782212179829419 Centerline is valid? [True, True] Translation: X:54.59, Y:7.26, Z:-0.62 [[ 9.56034240e-01 -2.92315913e-01 -2.34507954e-02 5.45919946e+01] [ 2.92228414e-01 9.56321811e-01 -7.15174626e-03 7.25704060e+00] [ 2.45170764e-02 -1.56744400e-05 9.99699411e-01 -6.20165270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02719346999999 meters 0.05775762716708263 Centerline is valid? [True, True] Translation: X:54.62, Y:7.26, Z:-0.62 [[ 9.55136205e-01 -2.95355017e-01 -2.19144876e-02 5.46208306e+01] [ 2.95279194e-01 9.55387569e-01 -6.69251408e-03 7.26153078e+00] [ 2.29134967e-02 -7.86297462e-05 9.99737448e-01 -6.17688070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.057193469999994 meters 0.05773218551540376 Centerline is valid? [True, True] Translation: X:54.65, Y:7.27, Z:-0.62 [[ 9.54378743e-01 -2.97970988e-01 -1.93521572e-02 5.46499385e+01] [ 2.97912267e-01 9.54574919e-01 -5.91651036e-03 7.26634495e+00] [ 2.02360324e-02 -1.18653303e-04 9.99795223e-01 -6.15413051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.087193469999995 meters 0.05773218551540376 Centerline is valid? [True, True] Translation: X:54.68, Y:7.27, Z:-0.62 [[ 9.54278563e-01 -2.98291801e-01 -1.93500671e-02 5.46762308e+01] [ 2.98233007e-01 9.54474718e-01 -5.92334423e-03 7.27464492e+00] [ 2.02360349e-02 -1.18308280e-04 9.99795223e-01 -6.15640014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11719347 meters 0.05787515991957522 Centerline is valid? [True, True] Translation: X:54.70, Y:7.28, Z:-0.61 [[ 9.53214830e-01 -3.01747539e-01 -1.81634177e-02 5.47037614e+01] [ 3.01696233e-01 9.53387850e-01 -5.56693286e-03 7.28017861e+00] [ 1.89965900e-02 -1.73351712e-04 9.99819533e-01 -6.13841374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14719347 meters 0.05838883968305245 Centerline is valid? [True, True] Translation: X:54.73, Y:7.29, Z:-0.61 [[ 9.51460624e-01 -3.07131292e-01 -1.98254900e-02 5.47318430e+01] [ 3.07071369e-01 9.51667103e-01 -6.07453737e-03 7.29076207e+00] [ 2.07329471e-02 -3.08157229e-04 9.99785002e-01 -6.14994504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17719346999999 meters 0.059554233992219464 Centerline is valid? [True, True] Translation: X:54.76, Y:7.30, Z:-0.62 [[ 9.50540744e-01 -3.09930782e-01 -2.03765825e-02 5.47581903e+01] [ 3.09868058e-01 9.50759049e-01 -6.24642382e-03 7.29890561e+00] [ 2.13091792e-02 -3.76571715e-04 9.99772863e-01 -6.19401675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20719346999999 meters 0.05945453848899876 Centerline is valid? [True, True] Translation: X:54.79, Y:7.31, Z:-0.62 [[ 9.49714932e-01 -3.12428454e-01 -2.07366626e-02 5.47852866e+01] [ 3.12363892e-01 9.49941195e-01 -6.36588499e-03 7.30935742e+00] [ 2.16874937e-02 -4.31608600e-04 9.99764705e-01 -6.17536084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.237193469999994 meters 0.061820816878417374 Centerline is valid? [True, True] Translation: X:54.81, Y:7.31, Z:-0.62 [[ 9.47523648e-01 -3.18801039e-01 -2.37662199e-02 5.48141947e+01] [ 3.18718273e-01 9.47821427e-01 -7.29417075e-03 7.31463296e+00] [ 2.48515216e-02 -6.63329277e-04 9.99690933e-01 -6.19341929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.267193469999995 meters 0.06298675736194213 Centerline is valid? [True, True] Translation: X:54.84, Y:7.32, Z:-0.62 [[ 9.46414770e-01 -3.22032686e-01 -2.43727600e-02 5.48429557e+01] [ 3.21946680e-01 9.46728241e-01 -7.48152594e-03 7.32286539e+00] [ 2.54836761e-02 -7.66102490e-04 9.99674945e-01 -6.19324267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.297193469999996 meters 0.06426617561230204 Centerline is valid? [True, True] Translation: X:54.87, Y:7.33, Z:-0.62 [[ 9.45185569e-01 -3.25537573e-01 -2.54858594e-02 5.48711919e+01] [ 3.25444769e-01 9.45528678e-01 -7.82441974e-03 7.33260198e+00] [ 2.66447536e-02 -8.98711001e-04 9.99644562e-01 -6.19420961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32719347 meters 0.06584453427098604 Centerline is valid? [True, True] Translation: X:54.90, Y:7.34, Z:-0.62 [[ 9.44212887e-01 -3.28304096e-01 -2.60469519e-02 5.48978886e+01] [ 3.28208130e-01 9.44571559e-01 -7.99961783e-03 7.34223309e+00] [ 2.72295173e-02 -9.95479143e-04 9.99628712e-01 -6.21001540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35719346999999 meters 0.06647930109054165 Centerline is valid? [True, True] Translation: X:54.92, Y:7.35, Z:-0.62 [[ 9.43277355e-01 -3.30992353e-01 -2.59209280e-02 5.49238852e+01] [ 3.30898235e-01 9.43632836e-01 -7.96425173e-03 7.35438212e+00] [ 2.70959452e-02 -1.06469102e-03 9.99632270e-01 -6.19842368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38719346999999 meters 0.06839722197008924 Centerline is valid? [True, True] Translation: X:54.95, Y:7.37, Z:-0.62 [[ 9.41780103e-01 -3.35273856e-01 -2.53313807e-02 5.49505145e+01] [ 3.35185497e-01 9.42120000e-01 -7.78378580e-03 7.36919407e+00] [ 2.64749003e-02 -1.16009684e-03 9.99648805e-01 -6.19854111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.417193469999994 meters 0.07000659971030285 Centerline is valid? [True, True] Translation: X:54.98, Y:7.38, Z:-0.62 [[ 9.41152471e-01 -3.37157548e-01 -2.35969191e-02 5.49771042e+01] [ 3.37081381e-01 9.41447565e-01 -7.25424831e-03 7.37862879e+00] [ 2.46610866e-02 -1.12672835e-03 9.99695234e-01 -6.19821081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.447193469999995 meters 0.0707079493337248 Centerline is valid? [True, True] Translation: X:55.00, Y:7.39, Z:-0.62 [[ 9.40279801e-01 -3.39647378e-01 -2.26617361e-02 5.50030913e+01] [ 3.39577785e-01 9.40552154e-01 -6.96947038e-03 7.39052277e+00] [ 2.36817070e-02 -1.14216994e-03 9.99718897e-01 -6.18153837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.477193469999996 meters 0.07130932518561775 Centerline is valid? [True, True] Translation: X:55.03, Y:7.41, Z:-0.62 [[ 9.38564642e-01 -3.44343198e-01 -2.28948450e-02 5.50282048e+01] [ 3.44273540e-01 9.38842980e-01 -7.04185284e-03 7.40966288e+00] [ 2.39194787e-02 -1.27285527e-03 9.99713078e-01 -6.15914589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50719347 meters 0.07610612536765686 Centerline is valid? [True, True] Translation: X:55.06, Y:7.42, Z:-0.62 [[ 9.37815717e-01 -3.46334233e-01 -2.35431394e-02 5.50561338e+01] [ 3.46261152e-01 9.38110202e-01 -7.24314323e-03 7.41656504e+00] [ 2.45946077e-02 -1.35934101e-03 9.99696583e-01 -6.20714472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53719347 meters 0.07717659355609553 Centerline is valid? [True, True] Translation: X:55.08, Y:7.43, Z:-0.62 [[ 9.37022380e-01 -3.48497891e-01 -2.32008670e-02 5.50826238e+01] [ 3.48427390e-01 9.37308537e-01 -7.14567457e-03 7.43063748e+00] [ 2.42366232e-02 -1.38816055e-03 9.99705286e-01 -6.21061160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56719346999999 meters 0.07372908163139114 Centerline is valid? [True, True] Translation: X:55.11, Y:7.45, Z:-0.62 [[ 9.36764042e-01 -3.49106461e-01 -2.44501182e-02 5.51062673e+01] [ 3.49028144e-01 9.37081914e-01 -7.53927847e-03 7.45241181e+00] [ 2.55437744e-02 -1.47125438e-03 9.99672622e-01 -6.18491343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59719346999999 meters 0.07464873574945734 Centerline is valid? [True, True] Translation: X:55.13, Y:7.48, Z:-0.62 [[ 9.36968903e-01 -3.48256001e-01 -2.84083188e-02 5.51281447e+01] [ 3.48149777e-01 9.37397961e-01 -8.76328138e-03 7.47711453e+00] [ 2.96817654e-02 -1.67942772e-03 9.99557988e-01 -6.23686449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.627193469999995 meters 0.07844743174322641 Centerline is valid? [True, True] Translation: X:55.15, Y:7.49, Z:-0.63 [[ 9.37284069e-01 -3.47488125e-01 -2.73966700e-02 5.51535175e+01] [ 3.47388926e-01 9.37683030e-01 -8.45400941e-03 7.48835799e+00] [ 2.86270604e-02 -1.59349143e-03 9.99588892e-01 -6.28701803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.657193469999996 meters 0.07165350414715373 Centerline is valid? [True, True] Translation: X:55.17, Y:7.52, Z:-0.62 [[ 9.37575392e-01 -3.46571871e-01 -2.89883221e-02 5.51742813e+01] [ 3.46459960e-01 9.38021981e-01 -8.95878212e-03 7.51693526e+00] [ 3.02965452e-02 -1.64375928e-03 9.99539603e-01 -6.22259360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68719347 meters 0.07354179243334166 Centerline is valid? [True, True] Translation: X:55.20, Y:7.54, Z:-0.63 [[ 9.38312154e-01 -3.44579355e-01 -2.89027684e-02 5.51971632e+01] [ 3.44467146e-01 9.38755873e-01 -8.93282791e-03 7.53877055e+00] [ 3.02107117e-02 -1.57427313e-03 9.99542313e-01 -6.26324876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71719347 meters 0.07625427775583506 Centerline is valid? [True, True] Translation: X:55.22, Y:7.55, Z:-0.63 [[ 9.38144660e-01 -3.45043432e-01 -2.88032484e-02 5.52226537e+01] [ 3.44932045e-01 9.38585392e-01 -8.90764438e-03 7.55091657e+00] [ 3.01078324e-02 -1.57850436e-03 9.99545410e-01 -6.30155887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74719346999999 meters 0.07700211706151373 Centerline is valid? [True, True] Translation: X:55.25, Y:7.57, Z:-0.63 [[ 9.37843415e-01 -3.45848050e-01 -2.89630023e-02 5.52478084e+01] [ 3.45735508e-01 9.38289163e-01 -8.96687019e-03 7.56640087e+00] [ 3.02768458e-02 -1.60401816e-03 9.99540264e-01 -6.31665447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77719346999999 meters 0.07758918448029511 Centerline is valid? [True, True] Translation: X:55.27, Y:7.58, Z:-0.63 [[ 9.37405940e-01 -3.47074705e-01 -2.84473815e-02 5.52730638e+01] [ 3.46966439e-01 9.37836110e-01 -8.81592615e-03 7.58163355e+00] [ 2.97387665e-02 -1.60618512e-03 9.99556415e-01 -6.31980944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.807193469999994 meters 0.07623854335081992 Centerline is valid? [True, True] Translation: X:55.30, Y:7.61, Z:-0.63 [[ 9.36780816e-01 -3.48672700e-01 -2.94796836e-02 5.52963790e+01] [ 3.48557246e-01 9.37242977e-01 -9.13504340e-03 7.60621944e+00] [ 3.08147666e-02 -1.71782391e-03 9.99523636e-01 -6.30177566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.837193469999995 meters 0.07647194928028939 Centerline is valid? [True, True] Translation: X:55.32, Y:7.62, Z:-0.63 [[ 9.36438635e-01 -3.49569397e-01 -2.97307693e-02 5.53221736e+01] [ 3.49452060e-01 9.36908837e-01 -9.22434840e-03 7.62105612e+00] [ 3.10795704e-02 -1.75144235e-03 9.99515379e-01 -6.30882898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86719347 meters 0.08056197725669552 Centerline is valid? [True, True] Translation: X:55.35, Y:7.63, Z:-0.64 [[ 9.36275564e-01 -3.49802435e-01 -3.20362929e-02 5.53490527e+01] [ 3.49666298e-01 9.36821576e-01 -9.94054710e-03 7.62953916e+00] [ 3.34895180e-02 -1.89492061e-03 9.99437272e-01 -6.38064302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89719347 meters 0.07851908837271634 Centerline is valid? [True, True] Translation: X:55.37, Y:7.65, Z:-0.64 [[ 9.36217615e-01 -3.49966293e-01 -3.19401246e-02 5.53711938e+01] [ 3.49830629e-01 9.36760401e-01 -9.92381945e-03 7.65182278e+00] [ 3.33932462e-02 -1.88277931e-03 9.99440517e-01 -6.36540658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92719346999999 meters 0.07404210692613147 Centerline is valid? [True, True] Translation: X:55.39, Y:7.67, Z:-0.63 [[ 9.36070682e-01 -3.50263235e-01 -3.29749139e-02 5.53947664e+01] [ 3.50118449e-01 9.36649286e-01 -1.02560685e-02 7.67293231e+00] [ 3.44782533e-02 -1.94472073e-03 9.99403556e-01 -6.30523653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95719346999999 meters 0.07928163385302797 Centerline is valid? [True, True] Translation: X:55.42, Y:7.68, Z:-0.64 [[ 9.36134109e-01 -3.50071158e-01 -3.32131608e-02 5.54224945e+01] [ 3.49924076e-01 9.36721081e-01 -1.03323607e-02 7.67721444e+00] [ 3.47285294e-02 -1.94960928e-03 9.99394881e-01 -6.36847767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.987193469999994 meters 0.07246657405226703 Centerline is valid? [True, True] Translation: X:55.44, Y:7.70, Z:-0.63 [[ 9.35836897e-01 -3.50962006e-01 -3.21709834e-02 5.54440386e+01] [ 3.50824040e-01 9.36387759e-01 -1.00228568e-02 7.70142060e+00] [ 3.36421570e-02 -1.90659515e-03 9.99432124e-01 -6.26520745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.017193469999995 meters 0.0769245669660791 Centerline is valid? [True, True] Translation: X:55.47, Y:7.71, Z:-0.63 [[ 9.36576345e-01 -3.49472429e-01 -2.63395606e-02 5.54708701e+01] [ 3.49379379e-01 9.36945419e-01 -8.20549834e-03 7.71374198e+00] [ 2.75463261e-02 -1.51742371e-03 9.99619376e-01 -6.26135736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.047193469999996 meters 0.07134348377692563 Centerline is valid? [True, True] Translation: X:55.50, Y:7.74, Z:-0.62 [[ 9.37180414e-01 -3.47977316e-01 -2.45898238e-02 5.54951402e+01] [ 3.47895659e-01 9.37501947e-01 -7.66225598e-03 7.73771233e+00] [ 2.57192990e-02 -1.37377673e-03 9.99668260e-01 -6.18945881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07719347 meters 0.07038319610784495 Centerline is valid? [True, True] Translation: X:55.52, Y:7.75, Z:-0.62 [[ 9.38106812e-01 -3.45562982e-01 -2.32773513e-02 5.55220097e+01] [ 3.45489063e-01 9.38394743e-01 -7.25349449e-03 7.75339722e+00] [ 2.43498833e-02 -1.23751770e-03 9.99702732e-01 -6.17959741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10719346999999 meters 0.07026537370602991 Centerline is valid? [True, True] Translation: X:55.55, Y:7.77, Z:-0.62 [[ 9.39466096e-01 -3.41957426e-01 -2.16465356e-02 5.55481683e+01] [ 3.41892520e-01 9.39714845e-01 -6.74650860e-03 7.76721689e+00] [ 2.26485895e-02 -1.06267249e-03 9.99742923e-01 -6.19430817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13719346999999 meters 0.06461706184461385 Centerline is valid? [True, True] Translation: X:55.57, Y:7.80, Z:-0.62 [[ 9.43170714e-01 -3.31536295e-01 -2.26426409e-02 5.55691318e+01] [ 3.31462250e-01 9.43442084e-01 -7.05773651e-03 7.79977226e+00] [ 2.37019161e-02 -8.48530323e-04 9.99718710e-01 -6.19399864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.167193469999994 meters 0.06346658023040663 Centerline is valid? [True, True] Translation: X:55.59, Y:7.82, Z:-0.62 [[ 9.44843375e-01 -3.26686197e-01 -2.33907085e-02 5.55934528e+01] [ 3.26605646e-01 9.45132566e-01 -7.29273963e-03 7.81872642e+00] [ 2.44897577e-02 -7.49040749e-04 9.99699800e-01 -6.21917715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.197193469999995 meters 0.061945448947451846 Centerline is valid? [True, True] Translation: X:55.62, Y:7.84, Z:-0.62 [[ 9.46634309e-01 -3.21359030e-01 -2.47357855e-02 5.56171585e+01] [ 3.21267066e-01 9.46957211e-01 -7.71446749e-03 7.83848846e+00] [ 2.59028442e-02 -6.44013645e-04 9.99664258e-01 -6.24234622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.227193469999996 meters 0.060085908024956586 Centerline is valid? [True, True] Translation: X:55.64, Y:7.87, Z:-0.63 [[ 9.49647483e-01 -3.12147420e-01 -2.70858937e-02 5.56378247e+01] [ 3.12033303e-01 9.50033582e-01 -8.45053622e-03 7.86586149e+00] [ 2.83703217e-02 -4.26670415e-04 9.99597390e-01 -6.28475145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25719347 meters 0.059023990303249486 Centerline is valid? [True, True] Translation: X:55.66, Y:7.88, Z:-0.63 [[ 9.50803089e-01 -3.08489278e-01 -2.84227327e-02 5.56618294e+01] [ 3.08361593e-01 9.51227766e-01 -8.88062642e-03 7.88426817e+00] [ 2.97760706e-02 -3.20752099e-04 9.99556543e-01 -6.25857978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28719347 meters 0.05836969305532411 Centerline is valid? [True, True] Translation: X:55.69, Y:7.90, Z:-0.62 [[ 9.52069273e-01 -3.04495126e-01 -2.91001198e-02 5.56857860e+01] [ 3.04359056e-01 9.52513875e-01 -9.10398950e-03 7.90140587e+00] [ 3.04903883e-02 -1.89256306e-04 9.99535042e-01 -6.24573658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31719346999999 meters 0.058786026920979575 Centerline is valid? [True, True] Translation: X:55.71, Y:7.92, Z:-0.63 [[ 9.53191788e-01 -3.00989658e-01 -2.88208583e-02 5.57105145e+01] [ 3.00854540e-01 9.53627401e-01 -9.01807151e-03 7.91680724e+00] [ 3.01987065e-02 -7.49343802e-05 9.99543912e-01 -6.29395252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34719346999999 meters 0.05879304831204154 Centerline is valid? [True, True] Translation: X:55.74, Y:7.94, Z:-0.63 [[ 9.54502239e-01 -2.96485559e-01 -3.19654202e-02 5.57355362e+01] [ 2.96316750e-01 9.55037333e-01 -1.00038078e-02 7.93513527e+00] [ 3.34941542e-02 7.67675637e-05 9.99438910e-01 -6.28543136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.377193469999995 meters 0.059392956332362745 Centerline is valid? [True, True] Translation: X:55.76, Y:7.94, Z:-0.63 [[ 9.54877775e-01 -2.95120931e-01 -3.33477385e-02 5.57618681e+01] [ 2.94936217e-01 9.55459899e-01 -1.04407554e-02 7.94466648e+00] [ 3.49437123e-02 1.34189445e-04 9.99389273e-01 -6.33283290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.407193469999996 meters 0.06058447094048741 Centerline is valid? [True, True] Translation: X:55.79, Y:7.95, Z:-0.64 [[ 9.54971193e-01 -2.94664707e-01 -3.46804173e-02 5.57880799e+01] [ 2.94464486e-01 9.55600693e-01 -1.08619356e-02 7.95262669e+00] [ 3.63412599e-02 1.60684334e-04 9.99339425e-01 -6.42069342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43719347 meters 0.05902654645604713 Centerline is valid? [True, True] Translation: X:55.82, Y:7.96, Z:-0.63 [[ 9.54691992e-01 -2.95789900e-01 -3.27343171e-02 5.58170206e+01] [ 2.95611754e-01 9.55253014e-01 -1.02650247e-02 7.95731494e+00] [ 3.43058457e-02 1.23287966e-04 9.99411374e-01 -6.32926458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46719347 meters 0.058962966541562044 Centerline is valid? [True, True] Translation: X:55.84, Y:7.96, Z:-0.63 [[ 9.54250708e-01 -2.97386422e-01 -3.10950684e-02 5.58443973e+01] [ 2.97226454e-01 9.54757201e-01 -9.75309920e-03 7.96301773e+00] [ 3.25886797e-02 6.46248910e-05 9.99468846e-01 -6.32582145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49719346999999 meters 0.05867847418259211 Centerline is valid? [True, True] Translation: X:55.87, Y:7.97, Z:-0.63 [[ 9.53755294e-01 -2.99104701e-01 -2.97861972e-02 5.58735272e+01] [ 2.98958583e-01 9.54220298e-01 -9.34816161e-03 7.96824342e+00] [ 3.12186731e-02 1.10192988e-05 9.99512578e-01 -6.30209127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52719346999999 meters 0.05826696451891231 Centerline is valid? [True, True] Translation: X:55.90, Y:7.97, Z:-0.63 [[ 9.52990862e-01 -3.01703103e-01 -2.79938167e-02 5.59025607e+01] [ 3.01574846e-01 9.53401927e-01 -8.79647630e-03 7.97228915e+00] [ 2.93432829e-02 -5.92694200e-05 9.99569391e-01 -6.27617416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.557193469999994 meters 0.057966537992962516 Centerline is valid? [True, True] Translation: X:55.93, Y:7.97, Z:-0.62 [[ 9.51042138e-01 -3.07927915e-01 -2.64433434e-02 5.59335646e+01] [ 3.07815609e-01 9.51409663e-01 -8.31890309e-03 7.96981898e+00] [ 2.77200750e-02 -2.28046474e-04 9.99615699e-01 -6.23075460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.587193469999995 meters 0.058264004797386845 Centerline is valid? [True, True] Translation: X:55.96, Y:7.97, Z:-0.62 [[ 9.50075391e-01 -3.10990244e-01 -2.53341714e-02 5.59620957e+01] [ 3.10888155e-01 9.50413056e-01 -7.97354508e-03 7.97189183e+00] [ 2.65576220e-02 -3.00624842e-04 9.99647239e-01 -6.24046674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61719347 meters 0.058721324422676704 Centerline is valid? [True, True] Translation: X:55.99, Y:7.97, Z:-0.62 [[ 9.48579053e-01 -3.15629206e-01 -2.39996847e-02 5.59911021e+01] [ 3.15538831e-01 9.48882525e-01 -7.56313264e-03 7.97471353e+00] [ 2.51600270e-02 -3.98603258e-04 9.99683357e-01 -6.22617983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64719347 meters 0.059243326962419976 Centerline is valid? [True, True] Translation: X:56.02, Y:7.98, Z:-0.62 [[ 9.47122327e-01 -3.20021208e-01 -2.33607488e-02 5.60204527e+01] [ 3.19936715e-01 9.47410250e-01 -7.36992242e-03 7.97803814e+00] [ 2.44907443e-02 -4.93743158e-04 9.99699935e-01 -6.21389084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67719346999999 meters 0.06091127010234194 Centerline is valid? [True, True] Translation: X:56.05, Y:7.98, Z:-0.62 [[ 9.44604899e-01 -3.27388509e-01 -2.32023374e-02 5.60521245e+01] [ 3.27307401e-01 9.44889570e-01 -7.31878367e-03 7.97700037e+00] [ 2.43197323e-02 -6.80937853e-04 9.99704000e-01 -6.21394922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70719346999999 meters 0.06270062033924227 Centerline is valid? [True, True] Translation: X:56.08, Y:7.98, Z:-0.62 [[ 9.43353751e-01 -3.30937106e-01 -2.37556851e-02 5.60810582e+01] [ 3.30853139e-01 9.43652484e-01 -7.49601683e-03 7.97909199e+00] [ 2.48978213e-02 -7.88247376e-04 9.99689690e-01 -6.24082354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.737193469999994 meters 0.06354529231338651 Centerline is valid? [True, True] Translation: X:56.11, Y:7.98, Z:-0.63 [[ 9.42642502e-01 -3.32821732e-01 -2.55892095e-02 5.61103097e+01] [ 3.32724973e-01 9.42989332e-01 -8.07533166e-03 7.98421838e+00] [ 2.68179975e-02 -9.02018212e-04 9.99639926e-01 -6.25532919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.767193469999995 meters 0.06286654701578176 Centerline is valid? [True, True] Translation: X:56.14, Y:7.99, Z:-0.62 [[ 9.42393376e-01 -3.33521915e-01 -2.56487333e-02 5.61377972e+01] [ 3.33424663e-01 9.42741904e-01 -8.10531379e-03 7.99388555e+00] [ 2.68834355e-02 -9.13526245e-04 9.99638158e-01 -6.24108855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.797193469999996 meters 0.06239946844415305 Centerline is valid? [True, True] Translation: X:56.16, Y:8.01, Z:-0.62 [[ 9.42544134e-01 -3.33235044e-01 -2.37689100e-02 5.61646312e+01] [ 3.33151227e-01 9.42843420e-01 -7.51964260e-03 8.00538253e+00] [ 2.49161688e-02 -8.31046508e-04 9.99689199e-01 -6.21896705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82719347 meters 0.06317676514214676 Centerline is valid? [True, True] Translation: X:56.19, Y:8.01, Z:-0.62 [[ 9.43018417e-01 -3.31918920e-01 -2.33686911e-02 5.61913246e+01] [ 3.31837471e-01 9.43307595e-01 -7.39415272e-03 8.01398295e+00] [ 2.44981230e-02 -7.81785167e-04 9.99699570e-01 -6.24284436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85719346999999 meters 0.06220893793267949 Centerline is valid? [True, True] Translation: X:56.22, Y:8.03, Z:-0.62 [[ 9.43545324e-01 -3.30351278e-01 -2.42951646e-02 5.62176438e+01] [ 3.30262477e-01 9.43857751e-01 -7.69692872e-03 8.02675037e+00] [ 2.54738696e-02 -7.61380141e-04 9.99675198e-01 -6.24460982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88719346999999 meters 0.06229215714393943 Centerline is valid? [True, True] Translation: X:56.24, Y:8.04, Z:-0.63 [[ 9.43831660e-01 -3.29371630e-01 -2.63842068e-02 5.62446145e+01] [ 3.29266285e-01 9.44200034e-01 -8.36712215e-03 8.03810961e+00] [ 2.76678617e-02 -7.90274983e-04 9.99616859e-01 -6.28865701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.917193469999994 meters 0.06260397606170591 Centerline is valid? [True, True] Translation: X:56.27, Y:8.05, Z:-0.63 [[ 9.43558615e-01 -3.29909761e-01 -2.92692558e-02 5.62722699e+01] [ 3.29780379e-01 9.44012049e-01 -9.28181093e-03 8.04691342e+00] [ 3.06926901e-02 -8.94493591e-04 9.99528468e-01 -6.30578163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.947193469999995 meters 0.0632722039548366 Centerline is valid? [True, True] Translation: X:56.30, Y:8.05, Z:-0.63 [[ 9.43055918e-01 -3.31292982e-01 -2.98411803e-02 5.62987066e+01] [ 3.31158963e-01 9.43527453e-01 -9.47027822e-03 8.05418175e+00] [ 3.12934096e-02 -9.51172399e-04 9.99509789e-01 -6.32216743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.977193469999996 meters 0.0632722039548366 Centerline is valid? [True, True] Translation: X:56.32, Y:8.06, Z:-0.63 [[ 9.42943891e-01 -3.31612027e-01 -2.98375934e-02 5.63248475e+01] [ 3.31477810e-01 9.43415370e-01 -9.48157534e-03 8.06274714e+00] [ 3.12934486e-02 -9.49906564e-04 9.99509789e-01 -6.32443777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00719347 meters 0.06233917454436447 Centerline is valid? [True, True] Translation: X:56.35, Y:8.07, Z:-0.63 [[ 9.42384323e-01 -3.33107785e-01 -3.08381490e-02 5.63508332e+01] [ 3.32965155e-01 9.42888191e-01 -9.80131658e-03 8.07462380e+00] [ 3.23418213e-02 -1.03142195e-03 9.99476334e-01 -6.29131569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03719347 meters 0.06397973159208695 Centerline is valid? [True, True] Translation: X:56.38, Y:8.08, Z:-0.63 [[ 9.42494817e-01 -3.32958158e-01 -2.90238703e-02 5.63770360e+01] [ 3.32831638e-01 9.42941111e-01 -9.22832112e-03 8.08325493e+00] [ 3.04404453e-02 -9.62417466e-04 9.99536119e-01 -6.32035535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06719346999999 meters 0.062141319992231096 Centerline is valid? [True, True] Translation: X:56.40, Y:8.10, Z:-0.63 [[ 9.43183829e-01 -3.31154906e-01 -2.72156684e-02 5.64023469e+01] [ 3.31042843e-01 9.43576024e-01 -8.65582703e-03 8.09831320e+00] [ 2.85464718e-02 -8.45516144e-04 9.99592109e-01 -6.26954168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09719346999999 meters 0.060461497788640295 Centerline is valid? [True, True] Translation: X:56.43, Y:8.11, Z:-0.62 [[ 9.44298426e-01 -3.28090982e-01 -2.56279211e-02 5.64286227e+01] [ 3.27990460e-01 9.44645863e-01 -8.15179562e-03 8.11327538e+00] [ 2.68838402e-02 -7.07985861e-04 9.99638314e-01 -6.23483411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.127193469999995 meters 0.05839333787890796 Centerline is valid? [True, True] Translation: X:56.45, Y:8.13, Z:-0.62 [[ 9.47356307e-01 -3.19390190e-01 -2.24929678e-02 5.64525682e+01] [ 3.19310277e-01 9.47623208e-01 -7.15564535e-03 8.13348122e+00] [ 2.36003012e-02 -4.03290009e-04 9.99721393e-01 -6.21748848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.157193469999996 meters 0.057403523208727054 Centerline is valid? [True, True] Translation: X:56.48, Y:8.15, Z:-0.62 [[ 9.48945012e-01 -3.14811937e-01 -1.99200526e-02 5.64788615e+01] [ 3.14748245e-01 9.49154033e-01 -6.33747708e-03 8.15020435e+00] [ 2.09023117e-02 -2.55884322e-04 9.99781490e-01 -6.20755527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18719347 meters 0.05684825772955737 Centerline is valid? [True, True] Translation: X:56.50, Y:8.17, Z:-0.62 [[ 9.50578137e-01 -3.09828962e-01 -2.01796762e-02 5.65039727e+01] [ 3.09762274e-01 9.50792299e-01 -6.42951461e-03 8.16762255e+00] [ 2.11787305e-02 -1.39146359e-04 9.99775696e-01 -6.20143268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21719347 meters 0.05693483203356588 Centerline is valid? [True, True] Translation: X:56.53, Y:8.18, Z:-0.62 [[ 9.51792666e-01 -3.06005197e-01 -2.12494733e-02 5.65286616e+01] [ 3.05930242e-01 9.52029840e-01 -6.77281148e-03 8.18205110e+00] [ 2.23026482e-02 -5.45442140e-05 9.99751264e-01 -6.23425006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24719346999999 meters 0.05716920410561193 Centerline is valid? [True, True] Translation: X:56.55, Y:8.20, Z:-0.63 [[ 9.52960108e-01 -3.02220444e-01 -2.30181780e-02 5.65537150e+01] [ 3.02131332e-01 9.53238062e-01 -7.33867871e-03 8.19559832e+00] [ 2.41597022e-02 3.89552536e-05 9.99708111e-01 -6.26231013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27719346999999 meters 0.05770261982286797 Centerline is valid? [True, True] Translation: X:56.58, Y:8.21, Z:-0.63 [[ 9.54185876e-01 -2.98251787e-01 -2.39830260e-02 5.65784657e+01] [ 2.98153722e-01 9.54487218e-01 -7.64907858e-03 8.21062774e+00] [ 2.51728431e-02 1.48014272e-04 9.99683103e-01 -6.29545112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.307193469999994 meters 0.057841815347932445 Centerline is valid? [True, True] Translation: X:56.61, Y:8.22, Z:-0.63 [[ 9.54198513e-01 -2.98013190e-01 -2.63312846e-02 5.66057673e+01] [ 2.97894602e-01 9.54561735e-01 -8.40831260e-03 8.22045905e+00] [ 2.76406248e-02 1.79251847e-04 9.99617909e-01 -6.30765230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.337193469999995 meters 0.05814392339244555 Centerline is valid? [True, True] Translation: X:56.63, Y:8.23, Z:-0.63 [[ 9.53763339e-01 -2.99201441e-01 -2.85305350e-02 5.66335618e+01] [ 2.99062464e-01 9.54189955e-01 -9.11989389e-03 8.22769360e+00] [ 2.99522353e-02 1.65808363e-04 9.99551317e-01 -6.32892457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36719347 meters 0.05841761791078053 Centerline is valid? [True, True] Translation: X:56.66, Y:8.23, Z:-0.64 [[ 9.53335308e-01 -3.00356687e-01 -3.06210800e-02 5.66616182e+01] [ 3.00197131e-01 9.53826945e-01 -9.78988670e-03 8.23302915e+00] [ 3.21476692e-02 1.40684294e-04 9.99483120e-01 -6.35555942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39719347 meters 0.05792241962342361 Centerline is valid? [True, True] Translation: X:56.69, Y:8.23, Z:-0.63 [[ 9.52411985e-01 -3.03338548e-01 -2.99522322e-02 5.66914924e+01] [ 3.03186987e-01 9.52882848e-01 -9.58793177e-03 8.23401328e+00] [ 3.14493576e-02 5.05341115e-05 9.99505345e-01 -6.33587473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42719346999999 meters 0.05778047771977114 Centerline is valid? [True, True] Translation: X:56.72, Y:8.24, Z:-0.63 [[ 9.52310855e-01 -3.03797812e-01 -2.84767477e-02 5.67184307e+01] [ 3.03660909e-01 9.52736526e-01 -9.11945967e-03 8.24018269e+00] [ 2.99013095e-02 3.72853471e-05 9.99552855e-01 -6.32493246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45719346999999 meters 0.057467299925840036 Centerline is valid? [True, True] Translation: X:56.75, Y:8.25, Z:-0.63 [[ 9.52654259e-01 -3.02869000e-01 -2.68371334e-02 5.67461668e+01] [ 3.02746749e-01 9.53032194e-01 -8.60477697e-03 8.24861077e+00] [ 2.81827723e-02 7.25225303e-05 9.99602784e-01 -6.29505133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.487193469999994 meters 0.05784661575207264 Centerline is valid? [True, True] Translation: X:56.77, Y:8.26, Z:-0.63 [[ 9.54614888e-01 -2.96823936e-01 -2.46163807e-02 5.67716947e+01] [ 2.96719032e-01 9.54932195e-01 -7.89419044e-03 8.25971773e+00] [ 2.58501592e-02 2.31763057e-04 9.99665802e-01 -6.27850626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.517193469999995 meters 0.05861675817112287 Centerline is valid? [True, True] Translation: X:56.80, Y:8.27, Z:-0.63 [[ 9.56060368e-01 -2.92185775e-01 -2.40009443e-02 5.67981682e+01] [ 2.92084348e-01 9.56361514e-01 -7.70638578e-03 8.27031253e+00] [ 2.52052757e-02 3.57469862e-04 9.99682233e-01 -6.27045676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.547193469999996 meters 0.05967373719260754 Centerline is valid? [True, True] Translation: X:56.83, Y:8.28, Z:-0.63 [[ 9.57701626e-01 -2.86830877e-01 -2.31439879e-02 5.68252273e+01] [ 2.86734813e-01 9.57981111e-01 -7.43892100e-03 8.28082300e+00] [ 2.43052154e-02 4.88079703e-04 9.99704465e-01 -6.27666268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57719347 meters 0.06083745028379613 Centerline is valid? [True, True] Translation: X:56.85, Y:8.29, Z:-0.63 [[ 9.59069777e-01 -2.82276064e-01 -2.24807850e-02 5.68525828e+01] [ 2.82183998e-01 9.59333035e-01 -7.23321554e-03 8.29090858e+00] [ 2.36083233e-02 5.93440623e-04 9.99721109e-01 -6.28305066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60719346999999 meters 0.06372077338849605 Centerline is valid? [True, True] Translation: X:56.88, Y:8.30, Z:-0.63 [[ 9.61180719e-01 -2.75023520e-01 -2.22191195e-02 5.68789273e+01] [ 2.74931673e-01 9.61437197e-01 -7.14786634e-03 8.30278123e+00] [ 2.33281193e-02 7.61651619e-04 9.99727572e-01 -6.30756433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63719346999999 meters 0.06341752104556346 Centerline is valid? [True, True] Translation: X:56.91, Y:8.31, Z:-0.63 [[ 9.61974381e-01 -2.72200793e-01 -2.26278232e-02 5.69084396e+01] [ 2.72104727e-01 9.62240101e-01 -7.28048504e-03 8.30873648e+00] [ 2.37551527e-02 8.46502418e-04 9.99717448e-01 -6.28553520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.667193469999994 meters 0.06646768151070827 Centerline is valid? [True, True] Translation: X:56.93, Y:8.32, Z:-0.63 [[ 9.62531028e-01 -2.70144670e-01 -2.35770559e-02 5.69344386e+01] [ 2.70039691e-01 9.62819287e-01 -7.58857749e-03 8.31983612e+00] [ 2.47504579e-02 9.37500394e-04 9.99693221e-01 -6.33770359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.697193469999995 meters 0.06559834741530376 Centerline is valid? [True, True] Translation: X:56.96, Y:8.32, Z:-0.63 [[ 9.62614985e-01 -2.69753666e-01 -2.46038605e-02 5.69638463e+01] [ 2.69638955e-01 9.62928846e-01 -7.92914289e-03 8.32135658e+00] [ 2.58306824e-02 9.98552525e-04 9.99665834e-01 -6.33349412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.727193469999996 meters 0.0674589481777541 Centerline is valid? [True, True] Translation: X:56.99, Y:8.32, Z:-0.64 [[ 9.62490162e-01 -2.70178929e-01 -2.48200587e-02 5.69925763e+01] [ 2.70062181e-01 9.62809609e-01 -8.00466064e-03 8.32072766e+00] [ 2.60596816e-02 1.00144793e-03 9.99659887e-01 -6.38009487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75719347 meters 0.06463919235530251 Centerline is valid? [True, True] Translation: X:57.02, Y:8.32, Z:-0.63 [[ 9.62042781e-01 -2.71842057e-01 -2.39913207e-02 5.70239139e+01] [ 2.71733275e-01 9.62341429e-01 -7.74606593e-03 8.31818514e+00] [ 2.51935484e-02 9.32806668e-04 9.99682157e-01 -6.33791194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78719347 meters 0.06417022690730687 Centerline is valid? [True, True] Translation: X:57.05, Y:8.31, Z:-0.63 [[ 9.61363683e-01 -2.74328472e-01 -2.28857872e-02 5.70548345e+01] [ 2.74230162e-01 9.61635691e-01 -7.39024105e-03 8.31362220e+00] [ 2.40351433e-02 8.28736225e-04 9.99710771e-01 -6.33997596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81719346999999 meters 0.06341395496130346 Centerline is valid? [True, True] Translation: X:57.08, Y:8.31, Z:-0.63 [[ 9.61195080e-01 -2.74893460e-01 -2.31862676e-02 5.70842208e+01] [ 2.74792448e-01 9.61474330e-01 -7.49825181e-03 8.31426226e+00] [ 2.43542215e-02 8.35871524e-04 9.99703043e-01 -6.32891413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84719346999999 meters 0.06329888596656812 Centerline is valid? [True, True] Translation: X:57.11, Y:8.32, Z:-0.63 [[ 9.60996697e-01 -2.75624433e-01 -2.27271028e-02 5.71147355e+01] [ 2.75527430e-01 9.61265062e-01 -7.35629640e-03 8.31518854e+00] [ 2.38743450e-02 8.07436305e-04 9.99714641e-01 -6.33779846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.877193469999995 meters 0.06282447518033704 Centerline is valid? [True, True] Translation: X:57.14, Y:8.31, Z:-0.64 [[ 9.60424702e-01 -2.77565131e-01 -2.32806698e-02 5.71446909e+01] [ 2.77463722e-01 9.60706501e-01 -7.54331038e-03 8.31475441e+00] [ 2.44596507e-02 7.85240330e-04 9.99700510e-01 -6.35236524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.907193469999996 meters 0.06188739149638637 Centerline is valid? [True, True] Translation: X:57.18, Y:8.31, Z:-0.64 [[ 9.59064884e-01 -2.82044013e-01 -2.54110774e-02 5.71761427e+01] [ 2.81924731e-01 9.59401186e-01 -8.23465153e-03 8.30722569e+00] [ 2.67019520e-02 7.33553943e-04 9.99643170e-01 -6.38561014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93719347 meters 0.06195553633060712 Centerline is valid? [True, True] Translation: X:57.21, Y:8.31, Z:-0.64 [[ 9.58405966e-01 -2.84105434e-01 -2.72416284e-02 5.72056511e+01] [ 2.83968878e-01 9.58792763e-01 -8.83821042e-03 8.30880048e+00] [ 2.86300598e-02 7.34818934e-04 9.99589806e-01 -6.41772280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96719347 meters 0.06164657117297168 Centerline is valid? [True, True] Translation: X:57.24, Y:8.31, Z:-0.64 [[ 9.57421612e-01 -2.87155121e-01 -2.97622778e-02 5.72359896e+01] [ 2.86993295e-01 9.57883829e-01 -9.66537491e-03 8.30837059e+00] [ 3.12842666e-02 7.12264652e-04 9.99510274e-01 -6.44531981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99719346999999 meters 0.060580318833037175 Centerline is valid? [True, True] Translation: X:57.27, Y:8.30, Z:-0.64 [[ 9.56425326e-01 -2.90297173e-01 -3.12753458e-02 5.72671916e+01] [ 2.90119733e-01 9.56936323e-01 -1.01693099e-02 8.30419575e+00] [ 3.28806363e-02 6.52590610e-04 9.99459073e-01 -6.43946318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02719346999999 meters 0.0592753197904808 Centerline is valid? [True, True] Translation: X:57.30, Y:8.29, Z:-0.64 [[ 9.53666955e-01 -2.99239260e-01 -3.12282723e-02 5.73027228e+01] [ 2.99066826e-01 9.54178045e-01 -1.01633127e-02 8.28990291e+00] [ 3.28385939e-02 3.53075199e-04 9.99460606e-01 -6.43014476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.057193469999994 meters 0.05900132821179648 Centerline is valid? [True, True] Translation: X:57.33, Y:8.29, Z:-0.64 [[ 9.52206120e-01 -3.03976459e-01 -3.00302692e-02 5.73322391e+01] [ 3.03819287e-01 9.52679525e-01 -9.77561360e-03 8.28794652e+00] [ 3.15807790e-02 1.84624110e-04 9.99501186e-01 -6.42981600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.087193469999995 meters 0.05883131933041175 Centerline is valid? [True, True] Translation: X:57.36, Y:8.29, Z:-0.64 [[ 9.50822152e-01 -3.08360470e-01 -2.91728698e-02 5.73623876e+01] [ 3.08213861e-01 9.51269582e-01 -9.50779205e-03 8.28776241e+00] [ 3.06830909e-02 4.87364574e-05 9.99529162e-01 -6.41591889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11719347 meters 0.05907485196170141 Centerline is valid? [True, True] Translation: X:57.39, Y:8.28, Z:-0.64 [[ 9.48976062e-01 -3.14333424e-01 -2.52770868e-02 5.73945886e+01] [ 3.14225477e-01 9.49312637e-01 -8.23814435e-03 8.28181066e+00] [ 2.65853821e-02 -1.24902878e-04 9.99646538e-01 -6.40791885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14719347 meters 0.058356143189979254 Centerline is valid? [True, True] Translation: X:57.42, Y:8.29, Z:-0.63 [[ 9.48433189e-01 -3.16159531e-01 -2.27516427e-02 5.74235263e+01] [ 3.16072376e-01 9.48706028e-01 -7.42459425e-03 8.28557637e+00] [ 2.39319768e-02 -1.49434170e-04 9.99713578e-01 -6.32823237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17719346999999 meters 0.05806074783416733 Centerline is valid? [True, True] Translation: X:57.45, Y:8.29, Z:-0.63 [[ 9.48176805e-01 -3.17092336e-01 -2.03272594e-02 5.74526742e+01] [ 3.17022832e-01 9.48394659e-01 -6.64039667e-03 8.28919859e+00] [ 2.13838831e-02 -1.47935256e-04 9.99771328e-01 -6.29259700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20719346999999 meters 0.05763087087541159 Centerline is valid? [True, True] Translation: X:57.48, Y:8.30, Z:-0.63 [[ 9.48061526e-01 -3.17523357e-01 -1.89277798e-02 5.74813765e+01] [ 3.17463048e-01 9.48250441e-01 -6.18992079e-03 8.29532385e+00] [ 1.99137199e-02 -1.40444913e-04 9.99801692e-01 -6.26398837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.237193469999994 meters 0.05771097764007115 Centerline is valid? [True, True] Translation: X:57.51, Y:8.30, Z:-0.63 [[ 9.47969664e-01 -3.17817053e-01 -1.85967042e-02 5.75075372e+01] [ 3.17758806e-01 9.48152046e-01 -6.08602115e-03 8.30281599e+00] [ 1.95667444e-02 -1.39903089e-04 9.99808543e-01 -6.27396156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.267193469999995 meters 0.057668512066030936 Centerline is valid? [True, True] Translation: X:57.53, Y:8.32, Z:-0.63 [[ 9.47947072e-01 -3.17827506e-01 -1.95454329e-02 5.75336711e+01] [ 3.17763013e-01 9.48148541e-01 -6.40400856e-03 8.31541449e+00] [ 2.05673437e-02 -1.40154464e-04 9.99788460e-01 -6.27350493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.297193469999996 meters 0.05785466653963645 Centerline is valid? [True, True] Translation: X:57.56, Y:8.33, Z:-0.63 [[ 9.48095210e-01 -3.17294471e-01 -2.09688034e-02 5.75611165e+01] [ 3.17219953e-01 9.48327054e-01 -6.87747116e-03 8.32548251e+00] [ 2.20674671e-02 -1.31225370e-04 9.99756475e-01 -6.30867708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32719347 meters 0.05814560235133669 Centerline is valid? [True, True] Translation: X:57.59, Y:8.33, Z:-0.63 [[ 9.48515894e-01 -3.15916922e-01 -2.26737181e-02 5.75878790e+01] [ 3.15829334e-01 9.48786850e-01 -7.43936992e-03 8.33414149e+00] [ 2.38627485e-02 -1.04664703e-04 9.99715239e-01 -6.34082618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35719346999999 meters 0.0580713779833018 Centerline is valid? [True, True] Translation: X:57.61, Y:8.34, Z:-0.63 [[ 9.48860666e-01 -3.14742655e-01 -2.45050375e-02 5.76145787e+01] [ 3.14639891e-01 9.49177041e-01 -8.04264777e-03 8.34347677e+00] [ 2.57909833e-02 -7.89102147e-05 9.99667354e-01 -6.34258207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38719346999999 meters 0.05820093333350505 Centerline is valid? [True, True] Translation: X:57.64, Y:8.35, Z:-0.64 [[ 9.49660494e-01 -3.12244317e-01 -2.54643270e-02 5.76407088e+01] [ 3.12132367e-01 9.50001835e-01 -8.36055961e-03 8.35358880e+00] [ 2.68016946e-02 -8.54747772e-06 9.99640770e-01 -6.36679731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.417193469999994 meters 0.05839026901892095 Centerline is valid? [True, True] Translation: X:57.67, Y:8.36, Z:-0.64 [[ 9.50067451e-01 -3.10908432e-01 -2.66042297e-02 5.76662157e+01] [ 3.10785565e-01 9.50439869e-01 -8.73995663e-03 8.36427861e+00] [ 2.80030468e-02 3.53377359e-05 9.99607837e-01 -6.40041370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.447193469999995 meters 0.05829168177346954 Centerline is valid? [True, True] Translation: X:57.69, Y:8.38, Z:-0.64 [[ 9.50675475e-01 -3.08989669e-01 -2.72309719e-02 5.76921370e+01] [ 3.08859853e-01 9.51065389e-01 -8.95643498e-03 8.37675174e+00] [ 2.86658808e-02 1.04109080e-04 9.99589044e-01 -6.38670283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.477193469999996 meters 0.05861909012614696 Centerline is valid? [True, True] Translation: X:57.72, Y:8.39, Z:-0.64 [[ 9.51672376e-01 -3.05958718e-01 -2.66261531e-02 5.77172159e+01] [ 3.05833375e-01 9.52044760e-01 -8.75904057e-03 8.39030212e+00] [ 2.80291943e-02 1.92570680e-04 9.99607086e-01 -6.41112359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50719347 meters 0.05908992982485438 Centerline is valid? [True, True] Translation: X:57.74, Y:8.41, Z:-0.64 [[ 9.53904505e-01 -2.99048396e-01 -2.52240353e-02 5.77427980e+01] [ 2.98933212e-01 9.54237868e-01 -8.30816979e-03 8.40571322e+00] [ 2.65542745e-02 3.84898705e-04 9.99647299e-01 -6.38310227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53719347 meters 0.05973796081202928 Centerline is valid? [True, True] Translation: X:57.77, Y:8.42, Z:-0.64 [[ 9.55152182e-01 -2.95142231e-01 -2.39869302e-02 5.77688384e+01] [ 2.95036805e-01 9.55453213e-01 -7.90196756e-03 8.41662735e+00] [ 2.52505938e-02 4.70554302e-04 9.99681042e-01 -6.38423054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56719346999999 meters 0.06043648350932411 Centerline is valid? [True, True] Translation: X:57.80, Y:8.43, Z:-0.64 [[ 9.56282635e-01 -2.91435896e-01 -2.42619144e-02 5.77955723e+01] [ 2.91326592e-01 9.56590182e-01 -8.00248505e-03 8.42688736e+00] [ 2.55409206e-02 5.84496638e-04 9.99673607e-01 -6.38374045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59719346999999 meters 0.06133457311658119 Centerline is valid? [True, True] Translation: X:57.82, Y:8.44, Z:-0.64 [[ 9.57083860e-01 -2.88643820e-01 -2.59851716e-02 5.78232079e+01] [ 2.88517439e-01 9.57436290e-01 -8.56964473e-03 8.43777226e+00] [ 2.73527213e-02 7.04693481e-04 9.99625596e-01 -6.40910217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.627193469999995 meters 0.062449931063855185 Centerline is valid? [True, True] Translation: X:57.85, Y:8.45, Z:-0.64 [[ 9.57840715e-01 -2.86137539e-01 -2.58161344e-02 5.78485416e+01] [ 2.86011708e-01 9.58188240e-01 -8.52049703e-03 8.44841571e+00] [ 2.71747505e-02 7.77562280e-04 9.99630396e-01 -6.42594255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.657193469999996 meters 0.06174095010456769 Centerline is valid? [True, True] Translation: X:57.88, Y:8.46, Z:-0.64 [[ 9.58044290e-01 -2.85621164e-01 -2.39100386e-02 5.78764929e+01] [ 2.85512833e-01 9.58342318e-01 -7.90082313e-03 8.45560439e+00] [ 2.51706441e-02 7.42715633e-04 9.99682893e-01 -6.39495276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68719347 meters 0.0616961325821766 Centerline is valid? [True, True] Translation: X:57.90, Y:8.46, Z:-0.64 [[ 9.57889721e-01 -2.86222916e-01 -2.28850190e-02 5.79045388e+01] [ 2.86123658e-01 9.58162798e-01 -7.56998467e-03 8.46372572e+00] [ 2.40942769e-02 7.03265156e-04 9.99709443e-01 -6.39106541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71719347 meters 0.0618184382363374 Centerline is valid? [True, True] Translation: X:57.93, Y:8.47, Z:-0.64 [[ 9.57773608e-01 -2.86941822e-01 -1.82785771e-02 5.79335084e+01] [ 2.86878653e-01 9.57947855e-01 -6.04537757e-03 8.46857542e+00] [ 1.92445953e-02 5.46369527e-04 9.99814656e-01 -6.37739572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74719346999999 meters 0.060854466464934545 Centerline is valid? [True, True] Translation: X:57.96, Y:8.47, Z:-0.63 [[ 9.57461344e-01 -2.88090795e-01 -1.64763115e-02 5.79626602e+01] [ 2.88039501e-01 9.57602978e-01 -5.45727276e-03 8.47261990e+00] [ 1.73499550e-02 4.79299177e-04 9.99849363e-01 -6.34710776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77719346999999 meters 0.06025812169112752 Centerline is valid? [True, True] Translation: X:57.99, Y:8.48, Z:-0.63 [[ 9.57498860e-01 -2.87982991e-01 -1.61780781e-02 5.79903439e+01] [ 2.87933400e-01 9.57635404e-01 -5.36568565e-03 8.47827832e+00] [ 1.70379265e-02 4.79428880e-04 9.99854729e-01 -6.33222880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.807193469999994 meters 0.06092603390086171 Centerline is valid? [True, True] Translation: X:58.02, Y:8.49, Z:-0.64 [[ 9.57747522e-01 -2.87111519e-01 -1.69310089e-02 5.80163645e+01] [ 2.87057071e-01 9.57897024e-01 -5.61518275e-03 8.48776830e+00] [ 1.78303467e-02 5.17761555e-04 9.99840893e-01 -6.35548235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.837193469999995 meters 0.06139668695646002 Centerline is valid? [True, True] Translation: X:58.04, Y:8.50, Z:-0.64 [[ 9.57965519e-01 -2.86304007e-01 -1.82230704e-02 5.80435774e+01] [ 2.86240631e-01 9.58138653e-01 -6.05171530e-03 8.49644721e+00] [ 1.91928585e-02 5.81151409e-04 9.99815631e-01 -6.37893200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86719347 meters 0.06148944273434806 Centerline is valid? [True, True] Translation: X:58.07, Y:8.50, Z:-0.64 [[ 9.58117477e-01 -2.85808047e-01 -1.80183286e-02 5.80708489e+01] [ 2.85745880e-01 9.58286706e-01 -5.99003005e-03 8.50448637e+00] [ 1.89787236e-02 5.90489315e-04 9.99819713e-01 -6.38110329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89719347 meters 0.06148944273434806 Centerline is valid? [True, True] Translation: X:58.10, Y:8.51, Z:-0.64 [[ 9.58016150e-01 -2.86147647e-01 -1.80160995e-02 5.80969126e+01] [ 2.86085414e-01 9.58185355e-01 -5.99673294e-03 8.51339030e+00] [ 1.89787137e-02 5.90823727e-04 9.99819713e-01 -6.38337345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92719346999999 meters 0.062047512845009686 Centerline is valid? [True, True] Translation: X:58.12, Y:8.52, Z:-0.64 [[ 9.58052557e-01 -2.85913021e-01 -1.97241768e-02 5.81235488e+01] [ 2.85838377e-01 9.58255352e-01 -6.56524921e-03 8.52158365e+00] [ 2.07778882e-02 6.51927100e-04 9.99783904e-01 -6.40918314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95719346999999 meters 0.062269374380796355 Centerline is valid? [True, True] Translation: X:58.15, Y:8.53, Z:-0.64 [[ 9.57885485e-01 -2.86351204e-01 -2.14099171e-02 5.81513047e+01] [ 2.86263308e-01 9.58124469e-01 -7.12884443e-03 8.52798814e+00] [ 2.25547186e-02 6.99742926e-04 9.99745365e-01 -6.43793864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.987193469999994 meters 0.061343881864580306 Centerline is valid? [True, True] Translation: X:58.18, Y:8.53, Z:-0.65 [[ 9.56701022e-01 -2.90121258e-01 -2.35119293e-02 5.81818706e+01] [ 2.90016146e-01 9.56989651e-01 -7.83852017e-03 8.52680777e+00] [ 2.47747944e-02 6.80281140e-04 9.99692826e-01 -6.45932996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.017193469999995 meters 0.061063299212768894 Centerline is valid? [True, True] Translation: X:58.21, Y:8.53, Z:-0.65 [[ 9.55605835e-01 -2.93681332e-01 -2.38487492e-02 5.82105779e+01] [ 2.93574088e-01 9.55903191e-01 -7.95891254e-03 8.53029129e+00] [ 2.51344795e-02 6.04208460e-04 9.99683896e-01 -6.48648574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.047193469999996 meters 0.06064470362302219 Centerline is valid? [True, True] Translation: X:58.24, Y:8.53, Z:-0.65 [[ 9.54805837e-01 -2.96247683e-01 -2.41479793e-02 5.82401049e+01] [ 2.96138347e-01 9.55110992e-01 -8.06675341e-03 8.53334995e+00] [ 2.54537574e-02 5.51040570e-04 9.99675849e-01 -6.49276646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07719347 meters 0.05940336023915459 Centerline is valid? [True, True] Translation: X:58.27, Y:8.53, Z:-0.65 [[ 9.53227968e-01 -3.01325171e-01 -2.36554965e-02 5.82712959e+01] [ 3.01221798e-01 9.53521355e-01 -7.90271678e-03 8.53091943e+00] [ 2.49373086e-02 4.07539448e-04 9.99688934e-01 -6.48041724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10719346999999 meters 0.05937298180184716 Centerline is valid? [True, True] Translation: X:58.30, Y:8.54, Z:-0.65 [[ 9.52448688e-01 -3.03842507e-01 -2.28304123e-02 5.82991732e+01] [ 3.03746714e-01 9.52722214e-01 -7.63657771e-03 8.53689461e+00] [ 2.40713579e-02 3.38785695e-04 9.99710185e-01 -6.50418423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13719346999999 meters 0.05861669078708625 Centerline is valid? [True, True] Translation: X:58.33, Y:8.54, Z:-0.65 [[ 9.51691188e-01 -3.06270932e-01 -2.19544860e-02 5.83280576e+01] [ 3.06182819e-01 9.51944348e-01 -7.35120842e-03 8.54075145e+00] [ 2.31509103e-02 2.73993869e-04 9.99731944e-01 -6.46897934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.167193469999994 meters 0.058773625615936444 Centerline is valid? [True, True] Translation: X:58.36, Y:8.55, Z:-0.65 [[ 9.50958716e-01 -3.08538015e-01 -2.19502402e-02 5.83561994e+01] [ 3.08450370e-01 9.51211986e-01 -7.35709927e-03 8.54604201e+00] [ 2.31492764e-02 2.25737951e-04 9.99731994e-01 -6.48941716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.197193469999995 meters 0.057882055441977665 Centerline is valid? [True, True] Translation: X:58.39, Y:8.54, Z:-0.64 [[ 9.49341844e-01 -3.13572675e-01 -2.05484843e-02 5.83875143e+01] [ 3.13496885e-01 9.49564199e-01 -6.89464076e-03 8.54277011e+00] [ 2.16740759e-02 1.03485171e-04 9.99765084e-01 -6.43893185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.227193469999996 meters 0.057612273906746406 Centerline is valid? [True, True] Translation: X:58.42, Y:8.55, Z:-0.64 [[ 9.48548885e-01 -3.16034935e-01 -1.94147654e-02 5.84151928e+01] [ 3.15967778e-01 9.48747552e-01 -6.51501228e-03 8.54896302e+00] [ 2.04786826e-02 4.53673643e-05 9.99790289e-01 -6.43319285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25719347 meters 0.05747719382107863 Centerline is valid? [True, True] Translation: X:58.44, Y:8.56, Z:-0.64 [[ 9.47914551e-01 -3.18001798e-01 -1.82444477e-02 5.84420088e+01] [ 3.17942816e-01 9.48090110e-01 -6.12448024e-03 8.55640382e+00] [ 1.92449761e-02 4.79286484e-06 9.99814798e-01 -6.44002386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28719347 meters 0.057411645882099405 Centerline is valid? [True, True] Translation: X:58.47, Y:8.56, Z:-0.64 [[ 9.46857468e-01 -3.21207609e-01 -1.69294689e-02 5.84705767e+01] [ 3.21157206e-01 9.47008801e-01 -5.69033883e-03 8.56311787e+00] [ 1.78601361e-02 -4.90810920e-05 9.99840494e-01 -6.42667117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31719346999999 meters 0.05748471969815781 Centerline is valid? [True, True] Translation: X:58.50, Y:8.57, Z:-0.64 [[ 9.45470839e-01 -3.25233989e-01 -1.75426623e-02 5.85003228e+01] [ 3.25180444e-01 9.45633564e-01 -5.90266656e-03 8.56608824e+00] [ 1.85086781e-02 -1.23731621e-04 9.99828692e-01 -6.39974772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34719346999999 meters 0.05761467250443185 Centerline is valid? [True, True] Translation: X:58.53, Y:8.57, Z:-0.64 [[ 9.45184762e-01 -3.25976958e-01 -1.90994120e-02 5.85267850e+01] [ 3.25913633e-01 9.45377702e-01 -6.42682921e-03 8.57365031e+00] [ 2.01511565e-02 -1.50217697e-04 9.99796934e-01 -6.41653575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.377193469999995 meters 0.05809771912853222 Centerline is valid? [True, True] Translation: X:58.55, Y:8.59, Z:-0.65 [[ 9.44711227e-01 -3.27208438e-01 -2.13385948e-02 5.85533471e+01] [ 3.27129505e-01 9.44952169e-01 -7.18922131e-03 8.58569919e+00] [ 2.25163253e-02 -1.88745848e-04 9.99746458e-01 -6.47247078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.407193469999996 meters 0.05825751508544098 Centerline is valid? [True, True] Translation: X:58.58, Y:8.60, Z:-0.65 [[ 9.44648249e-01 -3.27316714e-01 -2.24377819e-02 5.85795503e+01] [ 3.27229448e-01 9.44914667e-01 -7.56043885e-03 8.59653850e+00] [ 2.36764472e-02 -2.00347659e-04 9.99719654e-01 -6.48699637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43719347 meters 0.05816574445586571 Centerline is valid? [True, True] Translation: X:58.61, Y:8.61, Z:-0.65 [[ 9.44654576e-01 -3.27206320e-01 -2.37435309e-02 5.86066949e+01] [ 3.27108305e-01 9.44952901e-01 -8.01078000e-03 8.60757263e+00] [ 2.50576962e-02 -1.99286147e-04 9.99685987e-01 -6.47380549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46719347 meters 0.05841768396456236 Centerline is valid? [True, True] Translation: X:58.63, Y:8.62, Z:-0.65 [[ 9.44727155e-01 -3.27031966e-01 -2.32528729e-02 5.86328665e+01] [ 3.26937879e-01 9.45013258e-01 -7.84643417e-03 8.61719863e+00] [ 2.45403079e-02 -1.89505497e-04 9.99698823e-01 -6.49107936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49719346999999 meters 0.05803607229070729 Centerline is valid? [True, True] Translation: X:58.66, Y:8.63, Z:-0.65 [[ 9.44863235e-01 -3.26763944e-01 -2.14194201e-02 5.86598597e+01] [ 3.26683851e-01 9.45105972e-01 -7.23619722e-03 8.62921003e+00] [ 2.26081502e-02 -1.60161940e-04 9.99744390e-01 -6.46265617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52719346999999 meters 0.0579808505974689 Centerline is valid? [True, True] Translation: X:58.69, Y:8.64, Z:-0.65 [[ 9.44822773e-01 -3.26897636e-01 -2.11627829e-02 5.86854105e+01] [ 3.26819281e-01 9.45059740e-01 -7.15858430e-03 8.64031559e+00] [ 2.23402183e-02 -1.52812015e-04 9.99750414e-01 -6.45017565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.557193469999994 meters 0.05801606847589012 Centerline is valid? [True, True] Translation: X:58.71, Y:8.65, Z:-0.64 [[ 9.44732628e-01 -3.27200488e-01 -2.04963789e-02 5.87118978e+01] [ 3.27126915e-01 9.44954930e-01 -6.93994957e-03 8.65058369e+00] [ 2.16389091e-02 -1.48520377e-04 9.99765840e-01 -6.44844860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.587193469999995 meters 0.058267589343421924 Centerline is valid? [True, True] Translation: X:58.74, Y:8.66, Z:-0.65 [[ 9.45427691e-01 -3.24940535e-01 -2.40858661e-02 5.87386292e+01] [ 3.24838218e-01 9.45734442e-01 -8.15453882e-03 8.66306576e+00] [ 2.54285733e-02 -1.14483013e-04 9.99676635e-01 -6.47467370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61719347 meters 0.05856894341204114 Centerline is valid? [True, True] Translation: X:58.76, Y:8.68, Z:-0.65 [[ 9.46233530e-01 -3.22481475e-01 -2.54520147e-02 5.87636476e+01] [ 3.22366236e-01 9.46575774e-01 -8.62056921e-03 8.67574617e+00] [ 2.68722344e-02 -4.77985227e-05 9.99638875e-01 -6.50176965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64719347 meters 0.05850639732561237 Centerline is valid? [True, True] Translation: X:58.79, Y:8.69, Z:-0.65 [[ 9.47491109e-01 -3.18602141e-01 -2.74458335e-02 5.87890753e+01] [ 3.18466181e-01 9.47888532e-01 -9.30710537e-03 8.69137618e+00] [ 2.89808546e-02 7.78297999e-05 9.99579964e-01 -6.50590695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67719346999999 meters 0.059613428361535256 Centerline is valid? [True, True] Translation: X:58.81, Y:8.71, Z:-0.65 [[ 9.50441088e-01 -3.09611926e-01 -2.83230036e-02 5.88115324e+01] [ 3.09463135e-01 9.50862936e-01 -9.60442167e-03 8.71383599e+00] [ 2.99049378e-02 3.63511495e-04 9.99552681e-01 -6.54097699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70719346999999 meters 0.06061605894932932 Centerline is valid? [True, True] Translation: X:58.84, Y:8.73, Z:-0.66 [[ 9.52144175e-01 -3.04271366e-01 -2.89897361e-02 5.88363541e+01] [ 3.04112945e-01 9.52585239e-01 -9.83254090e-03 8.73003273e+00] [ 3.06069554e-02 5.45842504e-04 9.99531348e-01 -6.56058422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.737193469999994 meters 0.06128452721781269 Centerline is valid? [True, True] Translation: X:58.86, Y:8.74, Z:-0.65 [[ 9.53677534e-01 -2.99276643e-01 -3.05393689e-02 5.88624299e+01] [ 2.99098193e-01 9.54166094e-01 -1.03603540e-02 8.74429233e+00] [ 3.22402422e-02 7.46166798e-04 9.99479870e-01 -6.54519370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.767193469999995 meters 0.06431573794472675 Centerline is valid? [True, True] Translation: X:58.89, Y:8.76, Z:-0.66 [[ 9.56467558e-01 -2.90286495e-01 -3.00593146e-02 5.88858851e+01] [ 2.90109113e-01 9.56939225e-01 -1.01991127e-02 8.76496323e+00] [ 3.17256019e-02 1.03463934e-03 9.99496081e-01 -6.55280198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.797193469999996 meters 0.06379926713632725 Centerline is valid? [True, True] Translation: X:58.91, Y:8.77, Z:-0.65 [[ 9.57267895e-01 -2.87651729e-01 -2.99108710e-02 5.89134371e+01] [ 2.87474413e-01 9.57734415e-01 -1.01613233e-02 8.77472649e+00] [ 3.15695927e-02 1.12849845e-03 9.99500919e-01 -6.51315077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82719347 meters 0.06555958828374091 Centerline is valid? [True, True] Translation: X:58.94, Y:8.79, Z:-0.65 [[ 9.57802463e-01 -2.85964337e-01 -2.89627218e-02 5.89383933e+01] [ 2.85797261e-01 9.58239573e-01 -9.84108047e-03 8.78903028e+00] [ 3.05674242e-02 1.14834457e-03 9.99532047e-01 -6.54703784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85719346999999 meters 0.06407383895546835 Centerline is valid? [True, True] Translation: X:58.97, Y:8.80, Z:-0.65 [[ 9.57797991e-01 -2.85935466e-01 -2.93924859e-02 5.89665458e+01] [ 2.85763011e-01 9.58248153e-01 -9.99897407e-03 8.79621923e+00] [ 3.10243566e-02 1.17771200e-03 9.99517935e-01 -6.50637253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88719346999999 meters 0.06410536088655759 Centerline is valid? [True, True] Translation: X:58.99, Y:8.80, Z:-0.65 [[ 9.58005242e-01 -2.85391872e-01 -2.78825518e-02 5.89939470e+01] [ 2.85236167e-01 9.58410232e-01 -9.49506324e-03 8.80443589e+00] [ 2.94327368e-02 1.14320812e-03 9.99566109e-01 -6.48790023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.917193469999994 meters 0.06454350715582759 Centerline is valid? [True, True] Translation: X:59.02, Y:8.81, Z:-0.65 [[ 9.58087129e-01 -2.85142351e-01 -2.76205206e-02 5.90221758e+01] [ 2.84989181e-01 9.58484491e-01 -9.41526009e-03 8.81202558e+00] [ 2.91585300e-02 1.14908994e-03 9.99574139e-01 -6.49817762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.947193469999995 meters 0.06459400797460198 Centerline is valid? [True, True] Translation: X:59.05, Y:8.82, Z:-0.65 [[ 9.57947594e-01 -2.85448991e-01 -2.92451786e-02 5.90504407e+01] [ 2.85277108e-01 9.58393131e-01 -9.97884932e-03 8.81794959e+00] [ 3.08768307e-02 1.21623474e-03 9.99522457e-01 -6.50003859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.977193469999996 meters 0.06415690916216243 Centerline is valid? [True, True] Translation: X:59.08, Y:8.82, Z:-0.65 [[ 9.57546656e-01 -2.87023966e-01 -2.68634458e-02 5.90801934e+01] [ 2.86879562e-01 9.57922803e-01 -9.16623141e-03 8.81937262e+00] [ 2.83640354e-02 1.07052066e-03 9.99597087e-01 -6.49301604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00719347 meters 0.06208050693806549 Centerline is valid? [True, True] Translation: X:59.11, Y:8.82, Z:-0.65 [[ 9.56881010e-01 -2.89216216e-01 -2.70686743e-02 5.91096520e+01] [ 2.89070141e-01 9.57263251e-01 -9.24786016e-03 8.82152772e+00] [ 2.85864783e-02 1.02435629e-03 9.99590798e-01 -6.45143278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03719347 meters 0.06174376277480776 Centerline is valid? [True, True] Translation: X:59.14, Y:8.83, Z:-0.65 [[ 9.55987148e-01 -2.92229739e-01 -2.62745646e-02 5.91379471e+01] [ 2.92093226e-01 9.56347717e-01 -8.97727731e-03 8.82677223e+00] [ 2.77510473e-02 9.07539409e-04 9.99614454e-01 -6.46651491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06719346999999 meters 0.060837448453435375 Centerline is valid? [True, True] Translation: X:59.17, Y:8.83, Z:-0.65 [[ 9.55050694e-01 -2.95281523e-01 -2.62105676e-02 5.91670555e+01] [ 2.95146524e-01 9.55409932e-01 -8.96612180e-03 8.82998615e+00] [ 2.76893667e-02 8.27142939e-04 9.99616234e-01 -6.46319503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09719346999999 meters 0.059457387314392506 Centerline is valid? [True, True] Translation: X:59.20, Y:8.82, Z:-0.65 [[ 9.52835102e-01 -3.02165088e-01 -2.83112775e-02 5.91981742e+01] [ 3.02010509e-01 9.53255368e-01 -9.68792587e-03 8.82417521e+00] [ 2.99152303e-02 6.80692485e-04 9.99552208e-01 -6.48625455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.127193469999995 meters 0.058832225070026334 Centerline is valid? [True, True] Translation: X:59.23, Y:8.83, Z:-0.65 [[ 9.51543775e-01 -3.06070799e-01 -2.97508140e-02 5.92286648e+01] [ 3.05901647e-01 9.52008566e-01 -1.01918195e-02 8.82521710e+00] [ 3.14424481e-02 5.97139401e-04 9.99505386e-01 -6.49620721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.157193469999996 meters 0.05829241348524136 Centerline is valid? [True, True] Translation: X:59.26, Y:8.83, Z:-0.65 [[ 9.50039290e-01 -3.10563193e-01 -3.12386154e-02 5.92577201e+01] [ 3.10378709e-01 9.50552613e-01 -1.07138508e-02 8.82581742e+00] [ 3.30212752e-02 4.82778036e-04 9.99454532e-01 -6.51026855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18719347 meters 0.05810970254195333 Centerline is valid? [True, True] Translation: X:59.29, Y:8.82, Z:-0.65 [[ 9.47129319e-01 -3.19018917e-01 -3.42488407e-02 5.92898533e+01] [ 3.18802267e-01 9.47748323e-01 -1.17571657e-02 8.82055061e+00] [ 3.62100396e-02 2.16948223e-04 9.99344178e-01 -6.54711386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21719347 meters 0.058308384358598586 Centerline is valid? [True, True] Translation: X:59.32, Y:8.82, Z:-0.66 [[ 9.45829111e-01 -3.22816481e-01 -3.45949762e-02 5.93171802e+01] [ 3.22597801e-01 9.46461576e-01 -1.18804332e-02 8.82352029e+00] [ 3.65780153e-02 7.65963523e-05 9.99330798e-01 -6.57979491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24719346999999 meters 0.05772813752737484 Centerline is valid? [True, True] Translation: X:59.35, Y:8.83, Z:-0.65 [[ 9.44656128e-01 -3.26305721e-01 -3.39024576e-02 5.93458191e+01] [ 3.26097491e-01 9.45264288e-01 -1.16555692e-02 8.82815332e+00] [ 3.58500614e-02 -4.50015038e-05 9.99357179e-01 -6.53665464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27719346999999 meters 0.057375141127837495 Centerline is valid? [True, True] Translation: X:59.38, Y:8.83, Z:-0.65 [[ 9.43157335e-01 -3.30786822e-01 -3.21608548e-02 5.93756792e+01] [ 3.30601654e-01 9.43705484e-01 -1.10682222e-02 8.83041866e+00] [ 3.40115971e-02 -1.93356884e-04 9.99421420e-01 -6.49428106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.307193469999994 meters 0.05738893420617102 Centerline is valid? [True, True] Translation: X:59.40, Y:8.84, Z:-0.65 [[ 9.42320152e-01 -3.33309071e-01 -3.06234407e-02 5.94039155e+01] [ 3.33142170e-01 9.42817583e-01 -1.05498449e-02 8.83565948e+00] [ 3.23886773e-02 -2.60628083e-04 9.99475315e-01 -6.47458954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.337193469999995 meters 0.05763462582040881 Centerline is valid? [True, True] Translation: X:59.43, Y:8.84, Z:-0.65 [[ 9.41186596e-01 -3.36630931e-01 -2.91102763e-02 5.94330107e+01] [ 3.36481421e-01 9.41636605e-01 -1.00378426e-02 8.84132227e+00] [ 3.07903500e-02 -3.47584229e-04 9.99525804e-01 -6.46794951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36719347 meters 0.05815082581998698 Centerline is valid? [True, True] Translation: X:59.46, Y:8.85, Z:-0.65 [[ 9.39732800e-01 -3.40550019e-01 -3.04622406e-02 5.94616468e+01] [ 3.40388006e-01 9.40226274e-01 -1.05147097e-02 8.84789367e+00] [ 3.22221835e-02 -4.87963744e-04 9.99480612e-01 -6.47275940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39719347 meters 0.05893459453587158 Centerline is valid? [True, True] Translation: X:59.49, Y:8.86, Z:-0.65 [[ 9.38685091e-01 -3.43289365e-01 -3.19798737e-02 5.94903086e+01] [ 3.43112418e-01 9.39229492e-01 -1.10377038e-02 8.85532294e+00] [ 3.38255668e-02 -6.11763793e-04 9.99427565e-01 -6.49048379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42719346999999 meters 0.059032729068956964 Centerline is valid? [True, True] Translation: X:59.52, Y:8.87, Z:-0.65 [[ 9.38724585e-01 -3.43343968e-01 -3.01839923e-02 5.95169303e+01] [ 3.43185957e-01 9.39209560e-01 -1.04307562e-02 8.86532989e+00] [ 3.19304313e-02 -5.67115040e-04 9.99489933e-01 -6.49802930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45719346999999 meters 0.05845132405278507 Centerline is valid? [True, True] Translation: X:59.54, Y:8.88, Z:-0.65 [[ 9.39138371e-01 -3.42346797e-01 -2.85970477e-02 5.95430996e+01] [ 3.42204206e-01 9.39573534e-01 -9.89224616e-03 8.87739500e+00] [ 3.02556080e-02 -4.95842067e-04 9.99542071e-01 -6.48725889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.487193469999994 meters 0.05823141601940223 Centerline is valid? [True, True] Translation: X:59.57, Y:8.89, Z:-0.65 [[ 9.39693178e-01 -3.40938515e-01 -2.71599081e-02 5.95679571e+01] [ 3.40809262e-01 9.40085500e-01 -9.39678179e-03 8.88963969e+00] [ 2.87363606e-02 -4.26256511e-04 9.99586935e-01 -6.48507744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.517193469999995 meters 0.05708266851024488 Centerline is valid? [True, True] Translation: X:59.59, Y:8.91, Z:-0.65 [[ 9.40671468e-01 -3.38343562e-01 -2.57064944e-02 5.95926569e+01] [ 3.38226534e-01 9.41022599e-01 -8.90390209e-03 8.90813772e+00] [ 2.72029701e-02 -3.18971852e-04 9.99629880e-01 -6.45261521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.547193469999996 meters 0.05723601118937035 Centerline is valid? [True, True] Translation: X:59.62, Y:8.92, Z:-0.65 [[ 9.41163917e-01 -3.36851422e-01 -2.72323512e-02 5.96176672e+01] [ 3.36719390e-01 9.41557771e-01 -9.43486489e-03 8.91956829e+00] [ 2.88189795e-02 -2.89906270e-04 9.99584605e-01 -6.47486631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57719347 meters 0.05709345468759594 Centerline is valid? [True, True] Translation: X:59.64, Y:8.93, Z:-0.65 [[ 9.41955046e-01 -3.34699434e-01 -2.64003587e-02 5.96439760e+01] [ 3.34574209e-01 9.42324915e-01 -9.15713347e-03 8.93197372e+00] [ 2.79426032e-02 -2.07271055e-04 9.99609508e-01 -6.47686299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60719346999999 meters 0.05667434090087871 Centerline is valid? [True, True] Translation: X:59.67, Y:8.95, Z:-0.65 [[ 9.43776247e-01 -3.29479628e-01 -2.70105583e-02 5.96670976e+01] [ 3.29346315e-01 9.44162683e-01 -9.37192079e-03 8.94891303e+00] [ 2.85902182e-02 -5.08316098e-05 9.99591215e-01 -6.48069165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63719346999999 meters 0.056873126865476055 Centerline is valid? [True, True] Translation: X:59.69, Y:8.96, Z:-0.65 [[ 9.44882134e-01 -3.26178568e-01 -2.83777032e-02 5.96915041e+01] [ 3.26029838e-01 9.45308171e-01 -9.84917547e-03 8.96432891e+00] [ 3.00382647e-02 5.43319730e-05 9.99548748e-01 -6.50073316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.667193469999994 meters 0.05710539021645455 Centerline is valid? [True, True] Translation: X:59.72, Y:8.98, Z:-0.65 [[ 9.45701557e-01 -3.23736699e-01 -2.90364251e-02 5.97163203e+01] [ 3.23579488e-01 9.46147202e-01 -1.00889331e-02 8.98050879e+00] [ 3.07388903e-02 1.45528183e-04 9.99527438e-01 -6.51870146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.697193469999995 meters 0.057576666976849544 Centerline is valid? [True, True] Translation: X:59.74, Y:9.00, Z:-0.65 [[ 9.46791735e-01 -3.20362476e-01 -3.08754742e-02 5.97414432e+01] [ 3.20182593e-01 9.47294994e-01 -1.07378758e-02 8.99679341e+00] [ 3.26881947e-02 2.80742670e-04 9.99465559e-01 -6.53826721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.727193469999996 meters 0.058985927199076166 Centerline is valid? [True, True] Translation: X:59.77, Y:9.02, Z:-0.66 [[ 9.49016462e-01 -3.13257419e-01 -3.51787476e-02 5.97658602e+01] [ 3.13019025e-01 9.49668064e-01 -1.22334751e-02 9.01613609e+00] [ 3.72403600e-02 5.98151984e-04 9.99306158e-01 -6.56702962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75719347 meters 0.059946708112524255 Centerline is valid? [True, True] Translation: X:59.79, Y:9.03, Z:-0.66 [[ 9.49390452e-01 -3.11973676e-01 -3.64718389e-02 5.97912941e+01] [ 3.11716294e-01 9.50090505e-01 -1.26879658e-02 9.02693333e+00] [ 3.86098591e-02 6.76967170e-04 9.99254132e-01 -6.59557838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78719347 meters 0.059946708112524255 Centerline is valid? [True, True] Translation: X:59.82, Y:9.04, Z:-0.66 [[ 9.49289235e-01 -3.12282080e-01 -3.64671212e-02 5.98172491e+01] [ 3.12024406e-01 9.49989180e-01 -1.27015205e-02 9.03624057e+00] [ 3.86098278e-02 6.78784855e-04 9.99254132e-01 -6.59785217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81719346999999 meters 0.060207422557023785 Centerline is valid? [True, True] Translation: X:59.84, Y:9.05, Z:-0.66 [[ 9.49585419e-01 -3.11316000e-01 -3.70118981e-02 5.98445383e+01] [ 3.11049388e-01 9.50306162e-01 -1.29025847e-02 9.04631800e+00] [ 3.91894159e-02 7.39578028e-04 9.99231526e-01 -6.59342724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84719346999999 meters 0.05985898113628466 Centerline is valid? [True, True] Translation: X:59.87, Y:9.06, Z:-0.66 [[ 9.49349821e-01 -3.12061321e-01 -3.67783746e-02 5.98722023e+01] [ 3.11798169e-01 9.50061693e-01 -1.28328449e-02 9.05528602e+00] [ 3.89463593e-02 7.15429182e-04 9.99241047e-01 -6.59009632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.877193469999995 meters 0.05836114484571749 Centerline is valid? [True, True] Translation: X:59.90, Y:9.06, Z:-0.65 [[ 9.48360405e-01 -3.15155300e-01 -3.59121047e-02 5.99002270e+01] [ 3.14906547e-01 9.49039938e-01 -1.25324396e-02 9.06335138e+00] [ 3.80316864e-02 5.76312615e-04 9.99276368e-01 -6.53552367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.907193469999996 meters 0.05820136000322219 Centerline is valid? [True, True] Translation: X:59.93, Y:9.07, Z:-0.65 [[ 9.47961448e-01 -3.16401503e-01 -3.54849518e-02 5.99278970e+01] [ 3.16158980e-01 9.48625218e-01 -1.23973659e-02 9.07298458e+00] [ 3.75844654e-02 5.33338772e-04 9.99293312e-01 -6.53731265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93719347 meters 0.057767952887926965 Centerline is valid? [True, True] Translation: X:59.96, Y:9.08, Z:-0.65 [[ 9.47616898e-01 -3.17621293e-01 -3.37480283e-02 5.99567685e+01] [ 3.17402330e-01 9.48217534e-01 -1.18012180e-02 9.07901714e+00] [ 3.57487904e-02 4.71330795e-04 9.99360697e-01 -6.51197405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96719347 meters 0.05757680785883123 Centerline is valid? [True, True] Translation: X:59.98, Y:9.09, Z:-0.65 [[ 9.47452951e-01 -3.18230548e-01 -3.25917777e-02 5.99839488e+01] [ 3.18026611e-01 9.48013253e-01 -1.13993919e-02 9.08670262e+00] [ 3.45250720e-02 4.35334824e-04 9.99403737e-01 -6.49978943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99719346999999 meters 0.05769997168016954 Centerline is valid? [True, True] Translation: X:60.01, Y:9.10, Z:-0.65 [[ 9.47722540e-01 -3.17672442e-01 -3.01032540e-02 6.00104179e+01] [ 3.17498098e-01 9.48200422e-01 -1.05317465e-02 9.09635173e+00] [ 3.18895638e-02 4.23447639e-04 9.99491309e-01 -6.50309839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02719347 meters 0.05742193608161145 Centerline is valid? [True, True] Translation: X:60.04, Y:9.10, Z:-0.65 [[ 9.47501581e-01 -3.18335469e-01 -3.00546574e-02 6.00376830e+01] [ 3.18161603e-01 9.47978037e-01 -1.05278512e-02 9.10492417e+00] [ 3.18425435e-02 4.12917692e-04 9.99492812e-01 -6.48388637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05719347 meters 0.05773390500986442 Centerline is valid? [True, True] Translation: X:60.07, Y:9.11, Z:-0.65 [[ 9.46636842e-01 -3.20842620e-01 -3.06382610e-02 6.00651727e+01] [ 3.20663129e-01 9.47132461e-01 -1.07358672e-02 9.10926605e+00] [ 3.24630153e-02 3.38406816e-04 9.99472880e-01 -6.52091806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08719347 meters 0.057075603743818266 Centerline is valid? [True, True] Translation: X:60.09, Y:9.11, Z:-0.65 [[ 9.45790533e-01 -3.23364626e-01 -3.02586463e-02 6.00947547e+01] [ 3.23190657e-01 9.46274407e-01 -1.06087483e-02 9.11384971e+00] [ 3.20634765e-02 2.54341937e-04 9.99485802e-01 -6.47904319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11719347 meters 0.05703103661864963 Centerline is valid? [True, True] Translation: X:60.12, Y:9.12, Z:-0.65 [[ 9.44685999e-01 -3.26543943e-01 -3.06172679e-02 6.01221431e+01] [ 3.26367323e-01 9.45182009e-01 -1.07396728e-02 9.11864265e+00] [ 3.24458659e-02 1.53142786e-04 9.99473483e-01 -6.48681682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14719347 meters 0.05698662123571731 Centerline is valid? [True, True] Translation: X:60.15, Y:9.12, Z:-0.65 [[ 9.43031740e-01 -3.31279362e-01 -3.07428323e-02 6.01502128e+01] [ 3.31103349e-01 9.43532715e-01 -1.07976004e-02 9.12321219e+00] [ 3.25838902e-02 3.42516926e-06 9.99469004e-01 -6.48708847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17719347 meters 0.05697057917256177 Centerline is valid? [True, True] Translation: X:60.18, Y:9.13, Z:-0.65 [[ 9.41075421e-01 -3.36836824e-01 -3.02986038e-02 6.01792042e+01] [ 3.36668336e-01 9.41563021e-01 -1.06540349e-02 9.12643138e+00] [ 3.21167163e-02 -1.74330102e-04 9.99484110e-01 -6.46487643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20719347 meters 0.05851951777711661 Centerline is valid? [True, True] Translation: X:60.21, Y:9.12, Z:-0.65 [[ 9.37598408e-01 -3.46375867e-01 -3.05448001e-02 6.02103834e+01] [ 3.46209679e-01 9.38095680e-01 -1.07403255e-02 9.12472970e+00] [ 3.23741345e-02 -5.04793313e-04 9.99475693e-01 -6.46757023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23719347000001 meters 0.058760154220993274 Centerline is valid? [True, True] Translation: X:60.24, Y:9.13, Z:-0.64 [[ 9.36137728e-01 -3.50355243e-01 -2.99559298e-02 6.02381975e+01] [ 3.50197299e-01 9.36616683e-01 -1.05375439e-02 9.13107968e+00] [ 3.17491074e-02 -6.25893351e-04 9.99495674e-01 -6.43739485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26719347 meters 0.059525034364215815 Centerline is valid? [True, True] Translation: X:60.27, Y:9.14, Z:-0.64 [[ 9.34822446e-01 -3.53963463e-01 -2.85807852e-02 6.02653736e+01] [ 3.53821261e-01 9.35258981e-01 -1.00575092e-02 9.13820124e+00] [ 3.02904268e-02 -7.10504135e-04 9.99540887e-01 -6.42210609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29719347 meters 0.06017649003245227 Centerline is valid? [True, True] Translation: X:60.29, Y:9.15, Z:-0.64 [[ 9.34610500e-01 -3.54567477e-01 -2.80199655e-02 6.02913126e+01] [ 3.54430968e-01 9.35030158e-01 -9.86367548e-03 9.14797040e+00] [ 2.96968513e-02 -7.12448842e-04 9.99558697e-01 -6.44753420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32719347 meters 0.05978514399263786 Centerline is valid? [True, True] Translation: X:60.32, Y:9.16, Z:-0.64 [[ 9.34552390e-01 -3.54679032e-01 -2.85414577e-02 6.03168646e+01] [ 3.54537083e-01 9.34987844e-01 -1.00592266e-02 9.16139644e+00] [ 3.02537127e-02 -7.18130884e-04 9.99541994e-01 -6.43999109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35719347 meters 0.06141226076051787 Centerline is valid? [True, True] Translation: X:60.34, Y:9.17, Z:-0.65 [[ 9.34035331e-01 -3.55724542e-01 -3.22188050e-02 6.03417972e+01] [ 3.55544240e-01 9.34590462e-01 -1.13561581e-02 9.17487164e+00] [ 3.41510519e-02 -8.48157652e-04 9.99416323e-01 -6.51072177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38719347 meters 0.06158927389762636 Centerline is valid? [True, True] Translation: X:60.37, Y:9.19, Z:-0.65 [[ 9.33489138e-01 -3.57089700e-01 -3.29389655e-02 6.03680184e+01] [ 3.56901624e-01 9.34069658e-01 -1.16234408e-02 9.18713204e+00] [ 3.49178992e-02 -9.05614516e-04 9.99389774e-01 -6.51278240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41719347 meters 0.06253223569653266 Centerline is valid? [True, True] Translation: X:60.39, Y:9.20, Z:-0.65 [[ 9.32579588e-01 -3.59368457e-01 -3.39061177e-02 6.03946084e+01] [ 3.59170664e-01 9.33195195e-01 -1.19650257e-02 9.19735818e+00] [ 3.59408789e-02 -1.01974409e-03 9.99353398e-01 -6.52906445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44719347 meters 0.06370631074581004 Centerline is valid? [True, True] Translation: X:60.42, Y:9.21, Z:-0.65 [[ 9.30917700e-01 -3.63633868e-01 -3.40976061e-02 6.04211590e+01] [ 3.63436602e-01 9.31541194e-01 -1.20349272e-02 9.21115038e+00] [ 3.61396319e-02 -1.18879134e-03 9.99346043e-01 -6.52052917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47719347 meters 0.0639743368777444 Centerline is valid? [True, True] Translation: X:60.45, Y:9.22, Z:-0.65 [[ 9.30038377e-01 -3.66036391e-01 -3.23415698e-02 6.04463021e+01] [ 3.65859826e-01 9.30599762e-01 -1.14310767e-02 9.22359617e+00] [ 3.42812473e-02 -1.20114109e-03 9.99411504e-01 -6.51028492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50719347 meters 0.06588427558266383 Centerline is valid? [True, True] Translation: X:60.47, Y:9.23, Z:-0.65 [[ 9.29478596e-01 -3.67587898e-01 -3.08006076e-02 6.04728374e+01] [ 3.67428550e-01 9.29988014e-01 -1.08882865e-02 9.23276107e+00] [ 3.26465983e-02 -1.19659338e-03 9.99466241e-01 -6.53351672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53719347 meters 0.06458956074575906 Centerline is valid? [True, True] Translation: X:60.50, Y:9.25, Z:-0.65 [[ 9.28924165e-01 -3.69044230e-01 -3.01040250e-02 6.04978395e+01] [ 3.68892375e-01 9.29411049e-01 -1.06544907e-02 9.24807925e+00] [ 3.19109917e-02 -1.20793140e-03 9.99489985e-01 -6.47882946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56719347 meters 0.06612321574882989 Centerline is valid? [True, True] Translation: X:60.52, Y:9.26, Z:-0.65 [[ 9.29243414e-01 -3.68369650e-01 -2.84688973e-02 6.05222358e+01] [ 3.68233499e-01 9.29678734e-01 -1.00768030e-02 9.26418329e+00] [ 3.01789168e-02 -1.11939884e-03 9.99543886e-01 -6.50648756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59719347000001 meters 0.06393438241637527 Centerline is valid? [True, True] Translation: X:60.55, Y:9.28, Z:-0.65 [[ 9.29322689e-01 -3.68251538e-01 -2.73887719e-02 6.05452111e+01] [ 3.68125132e-01 9.29725592e-01 -9.70623031e-03 9.28475185e+00] [ 2.90383764e-02 -1.06227523e-03 9.99577733e-01 -6.46875166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62719347000001 meters 0.0634627639063634 Centerline is valid? [True, True] Translation: X:60.57, Y:9.30, Z:-0.65 [[ 9.29836350e-01 -3.66967889e-01 -2.71832615e-02 6.05694028e+01] [ 3.66842544e-01 9.30233066e-01 -9.64316166e-03 9.30227545e+00] [ 2.88254993e-02 -1.00541455e-03 9.99583953e-01 -6.46360421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65719347 meters 0.0634502297859589 Centerline is valid? [True, True] Translation: X:60.59, Y:9.32, Z:-0.65 [[ 9.31126205e-01 -3.63538556e-01 -2.90466605e-02 6.05915404e+01] [ 3.63393644e-01 9.31578661e-01 -1.03081133e-02 9.32336470e+00] [ 3.08066457e-02 -9.57217432e-04 9.99524904e-01 -6.49256328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68719347 meters 0.0627107819317465 Centerline is valid? [True, True] Translation: X:60.62, Y:9.34, Z:-0.65 [[ 9.31668742e-01 -3.62200739e-01 -2.83545363e-02 6.06164722e+01] [ 3.62061701e-01 9.32099699e-01 -1.00735438e-02 9.33986587e+00] [ 3.00778998e-02 -8.80885729e-04 9.99547169e-01 -6.48677960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71719347 meters 0.061568626149474816 Centerline is valid? [True, True] Translation: X:60.64, Y:9.36, Z:-0.65 [[ 9.32708494e-01 -3.59620983e-01 -2.69743142e-02 6.06408788e+01] [ 3.59494049e-01 9.33098159e-01 -9.58408750e-03 9.35798676e+00] [ 2.86163219e-02 -7.57945621e-04 9.99590182e-01 -6.47152426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74719347 meters 0.06068377830322229 Centerline is valid? [True, True] Translation: X:60.66, Y:9.38, Z:-0.65 [[ 9.33446669e-01 -3.57693034e-01 -2.70741430e-02 6.06649496e+01] [ 3.57564020e-01 9.33838967e-01 -9.63097559e-03 9.37728915e+00] [ 2.87278226e-02 -6.90737304e-04 9.99587032e-01 -6.47085239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77719347 meters 0.05950431241374446 Centerline is valid? [True, True] Translation: X:60.69, Y:9.40, Z:-0.65 [[ 9.35709337e-01 -3.51699940e-01 -2.74806956e-02 6.06857360e+01] [ 3.51564411e-01 9.36112648e-01 -9.77631536e-03 9.40456784e+00] [ 2.91633562e-02 -5.13444984e-04 9.99574527e-01 -6.48731377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80719347 meters 0.05896632837537705 Centerline is valid? [True, True] Translation: X:60.71, Y:9.42, Z:-0.65 [[ 9.37078074e-01 -3.47995789e-01 -2.79931076e-02 6.07099552e+01] [ 3.47853163e-01 9.37496013e-01 -9.97007679e-03 9.42245946e+00] [ 2.97129715e-02 -3.94750647e-04 9.99558394e-01 -6.49972039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83719347 meters 0.05854455160506719 Centerline is valid? [True, True] Translation: X:60.73, Y:9.44, Z:-0.65 [[ 9.38619711e-01 -3.43870370e-01 -2.73167819e-02 6.07343548e+01] [ 3.43732556e-01 9.39017096e-01 -9.73774370e-03 9.44123654e+00] [ 2.89994468e-02 -2.49629094e-04 9.99579396e-01 -6.50258015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86719347 meters 0.05853113599408185 Centerline is valid? [True, True] Translation: X:60.75, Y:9.47, Z:-0.65 [[ 9.42714420e-01 -3.32297982e-01 -2.94545989e-02 6.07531715e+01] [ 3.32132018e-01 9.43174447e-01 -1.05016690e-02 9.47205137e+00] [ 3.12705085e-02 1.17259436e-04 9.99510951e-01 -6.53404189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89719347 meters 0.05897124500783666 Centerline is valid? [True, True] Translation: X:60.78, Y:9.49, Z:-0.65 [[ 9.44975676e-01 -3.25890588e-01 -2.85709036e-02 6.07763035e+01] [ 3.25731160e-01 9.45407434e-01 -1.01978311e-02 9.49263358e+00] [ 3.03345218e-02 3.30268749e-04 9.99539748e-01 -6.52527802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92719347 meters 0.05937432032238701 Centerline is valid? [True, True] Translation: X:60.80, Y:9.51, Z:-0.65 [[ 9.46868364e-01 -3.20345655e-01 -2.86175246e-02 6.08001814e+01] [ 3.20183110e-01 9.47300586e-01 -1.02164316e-02 9.51022682e+00] [ 3.03821873e-02 5.10767835e-04 9.99538224e-01 -6.49205894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95719347 meters 0.061587530849194425 Centerline is valid? [True, True] Translation: X:60.82, Y:9.53, Z:-0.65 [[ 9.49526624e-01 -3.12526403e-01 -2.69524949e-02 6.08224649e+01] [ 3.12379022e-01 9.49908801e-01 -9.62370554e-03 9.53388669e+00] [ 2.86100742e-02 7.18570650e-04 9.99590390e-01 -6.50947922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98719347000001 meters 0.061742670379056265 Centerline is valid? [True, True] Translation: X:60.85, Y:9.55, Z:-0.65 [[ 9.50124513e-01 -3.10794545e-01 -2.58874612e-02 6.08486494e+01] [ 3.10657638e-01 9.50476821e-01 -9.25443961e-03 9.54522256e+00] [ 2.74816612e-02 7.50732367e-04 9.99622026e-01 -6.49376252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01719347 meters 0.06164300834143548 Centerline is valid? [True, True] Translation: X:60.88, Y:9.55, Z:-0.65 [[ 9.50004554e-01 -3.11308486e-01 -2.40494178e-02 6.08761116e+01] [ 3.11190283e-01 9.50308660e-01 -8.60579074e-03 9.55487228e+00] [ 2.55334257e-02 6.91595258e-04 9.99673730e-01 -6.48811391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04719347 meters 0.06120820584244689 Centerline is valid? [True, True] Translation: X:60.90, Y:9.56, Z:-0.65 [[ 9.49431799e-01 -3.13240068e-01 -2.14457327e-02 6.09036906e+01] [ 3.13146543e-01 9.49673804e-01 -7.67522602e-03 9.56051517e+00] [ 2.27706389e-02 5.71446580e-04 9.99740552e-01 -6.48930677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07719347 meters 0.06094406170643058 Centerline is valid? [True, True] Translation: X:60.93, Y:9.57, Z:-0.65 [[ 9.49091333e-01 -3.14101074e-01 -2.37940570e-02 6.09320684e+01] [ 3.13985967e-01 9.49389346e-01 -8.52537405e-03 9.56770854e+00] [ 2.52676533e-02 6.20358633e-04 9.99680529e-01 -6.49966417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10719347 meters 0.06050301975101455 Centerline is valid? [True, True] Translation: X:60.96, Y:9.57, Z:-0.65 [[ 9.48689236e-01 -3.15155419e-01 -2.58029995e-02 6.09605323e+01] [ 3.15020190e-01 9.49039851e-01 -9.25427976e-03 9.57338801e+00] [ 2.74046112e-02 6.50969799e-04 9.99624211e-01 -6.50871094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13719347 meters 0.061356845542218826 Centerline is valid? [True, True] Translation: X:60.99, Y:9.58, Z:-0.66 [[ 9.48239891e-01 -3.16274706e-01 -2.84854363e-02 6.09872895e+01] [ 3.16110350e-01 9.48667403e-01 -1.02178518e-02 9.58088070e+00] [ 3.02548530e-02 6.84433439e-04 9.99541983e-01 -6.56636068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16719347 meters 0.06147567060388295 Centerline is valid? [True, True] Translation: X:61.02, Y:9.58, Z:-0.66 [[ 9.47982111e-01 -3.16840855e-01 -3.06886004e-02 6.10170196e+01] [ 3.16649991e-01 9.48478434e-01 -1.10201090e-02 9.58404558e+00] [ 3.25990964e-02 7.29321170e-04 9.99468242e-01 -6.60104824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19719347 meters 0.06041036752773135 Centerline is valid? [True, True] Translation: X:61.05, Y:9.59, Z:-0.66 [[ 9.47394194e-01 -3.18482231e-01 -3.18325326e-02 6.10455793e+01] [ 3.18277393e-01 9.47928566e-01 -1.14427145e-02 9.58934692e+00] [ 3.38192682e-02 7.09185753e-04 9.99427713e-01 -6.56446691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22719347 meters 0.06093922606968243 Centerline is valid? [True, True] Translation: X:61.07, Y:9.60, Z:-0.66 [[ 9.47023436e-01 -3.19402432e-01 -3.35961023e-02 6.10717018e+01] [ 3.19174659e-01 9.47618895e-01 -1.20816815e-02 9.59789463e+00] [ 3.56952198e-02 7.18611056e-04 9.99362464e-01 -6.60380544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25719347 meters 0.06046253268958473 Centerline is valid? [True, True] Translation: X:61.10, Y:9.60, Z:-0.66 [[ 9.45329813e-01 -3.24496985e-01 -3.24538203e-02 6.11011941e+01] [ 3.24287245e-01 9.45886591e-01 -1.16764878e-02 9.59860259e+00] [ 3.44866185e-02 5.13772063e-04 9.99405028e-01 -6.62997373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28719347 meters 0.0600940866238355 Centerline is valid? [True, True] Translation: X:61.13, Y:9.60, Z:-0.66 [[ 9.43893562e-01 -3.28611709e-01 -3.28525209e-02 6.11306901e+01] [ 3.28398846e-01 9.44465034e-01 -1.18320369e-02 9.60071619e+00] [ 3.49162032e-02 3.79453531e-04 9.99390171e-01 -6.63511927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31719347 meters 0.05902145066516898 Centerline is valid? [True, True] Translation: X:61.16, Y:9.60, Z:-0.66 [[ 9.42342512e-01 -3.33048927e-01 -3.26956160e-02 6.11613959e+01] [ 3.32840346e-01 9.42909519e-01 -1.17873950e-02 9.60166743e+00] [ 3.47547869e-02 2.25343261e-04 9.99395845e-01 -6.58444217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34719347000001 meters 0.058908031674190696 Centerline is valid? [True, True] Translation: X:61.19, Y:9.60, Z:-0.66 [[ 9.40634792e-01 -3.38075921e-01 -3.01804545e-02 6.11904638e+01] [ 3.37900715e-01 9.41118839e-01 -1.08828590e-02 9.60359553e+00] [ 3.20826269e-02 3.87986546e-05 9.99485219e-01 -6.60759205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37719347000001 meters 0.0588226454301822 Centerline is valid? [True, True] Translation: X:61.22, Y:9.60, Z:-0.66 [[ 9.37442523e-01 -3.46959836e-01 -2.86424001e-02 6.12212335e+01] [ 3.46805801e-01 9.37879957e-01 -1.03403008e-02 9.60341833e+00] [ 3.04508020e-02 -2.39912873e-04 9.99536238e-01 -6.58445181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40719347 meters 0.05918578873549467 Centerline is valid? [True, True] Translation: X:61.25, Y:9.61, Z:-0.66 [[ 9.35786603e-01 -3.51431567e-01 -2.82716855e-02 6.12500236e+01] [ 3.51283224e-01 9.36213499e-01 -1.02166519e-02 9.60900174e+00] [ 3.00587876e-02 -3.70762878e-04 9.99548064e-01 -6.58301130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43719347 meters 0.06097951956221133 Centerline is valid? [True, True] Translation: X:61.28, Y:9.61, Z:-0.66 [[ 9.34425815e-01 -3.54917619e-01 -2.96964605e-02 6.12795617e+01] [ 3.54755705e-01 9.34897441e-01 -1.07314501e-02 9.61234264e+00] [ 3.15719257e-02 -5.07244721e-04 9.99501354e-01 -6.63978824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46719347 meters 0.061738187774419355 Centerline is valid? [True, True] Translation: X:61.31, Y:9.62, Z:-0.66 [[ 9.31516444e-01 -3.62575158e-01 -2.85721858e-02 6.13099149e+01] [ 3.62428823e-01 9.31954244e-01 -1.03264410e-02 9.61614175e+00] [ 3.03720808e-02 -7.36134117e-04 9.99538391e-01 -6.58233528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49719347 meters 0.061854152345656783 Centerline is valid? [True, True] Translation: X:61.34, Y:9.62, Z:-0.66 [[ 9.30333872e-01 -3.65634478e-01 -2.81125360e-02 6.13369208e+01] [ 3.65494079e-01 9.30758163e-01 -1.01646304e-02 9.62494329e+00] [ 2.98825117e-02 -8.18465474e-04 9.99553083e-01 -6.55475548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52719347 meters 0.06340970628897837 Centerline is valid? [True, True] Translation: X:61.36, Y:9.63, Z:-0.66 [[ 9.29206360e-01 -3.68747534e-01 -2.45111476e-02 6.13644496e+01] [ 3.68641803e-01 9.29529246e-01 -8.86575295e-03 9.63045960e+00] [ 2.60530531e-02 -7.97719606e-04 9.99660243e-01 -6.56509293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55719347 meters 0.06435134449454719 Centerline is valid? [True, True] Translation: X:61.39, Y:9.64, Z:-0.65 [[ 9.27674097e-01 -3.72681548e-01 -2.30050688e-02 6.13915292e+01] [ 3.72589377e-01 9.27958918e-01 -8.33085668e-03 9.64117812e+00] [ 2.44525153e-02 -8.43124306e-04 9.99700637e-01 -6.54477535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58719347 meters 0.06387926089178146 Centerline is valid? [True, True] Translation: X:61.42, Y:9.66, Z:-0.65 [[ 9.27129664e-01 -3.73940096e-01 -2.44824758e-02 6.14168454e+01] [ 3.73835911e-01 9.27452398e-01 -8.87475338e-03 9.65605298e+00] [ 2.60249570e-02 -9.24381536e-04 9.99660866e-01 -6.54241945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61719347 meters 0.06401614564782555 Centerline is valid? [True, True] Translation: X:61.44, Y:9.67, Z:-0.66 [[ 9.26783421e-01 -3.74861823e-01 -2.34755890e-02 6.14415024e+01] [ 3.74766069e-01 9.27080256e-01 -8.52016018e-03 9.67011733e+00] [ 2.49576378e-02 -9.01510999e-04 9.99688103e-01 -6.55096613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64719347 meters 0.0649677366960789 Centerline is valid? [True, True] Translation: X:61.47, Y:9.69, Z:-0.66 [[ 9.26393520e-01 -3.75797673e-01 -2.38988591e-02 6.14652424e+01] [ 3.75698673e-01 9.26701259e-01 -8.67659245e-03 9.68611183e+00] [ 2.54077460e-02 -9.40830602e-04 9.99676728e-01 -6.57770488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67719347 meters 0.06538083136008216 Centerline is valid? [True, True] Translation: X:61.49, Y:9.70, Z:-0.66 [[ 9.26633199e-01 -3.75222006e-01 -2.36507981e-02 6.14898563e+01] [ 3.75124802e-01 9.26934524e-01 -8.58897039e-03 9.69858898e+00] [ 2.51455120e-02 -9.13175843e-04 9.99683385e-01 -6.59323581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70719347 meters 0.06553921478849131 Centerline is valid? [True, True] Translation: X:61.51, Y:9.71, Z:-0.66 [[ 9.26326215e-01 -3.75997734e-01 -2.33548004e-02 6.15143403e+01] [ 3.75902911e-01 9.26620134e-01 -8.49289893e-03 9.71186773e+00] [ 2.48343390e-02 -9.11942507e-04 9.99691164e-01 -6.59851680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73719347000001 meters 0.06553921478849131 Centerline is valid? [True, True] Translation: X:61.54, Y:9.72, Z:-0.66 [[ 9.26194456e-01 -3.76322364e-01 -2.33518271e-02 6.15401461e+01] [ 3.76227438e-01 9.26488342e-01 -8.50107211e-03 9.72153512e+00] [ 2.48343391e-02 -9.11952224e-04 9.99691164e-01 -6.60078747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76719347 meters 0.06745189590372797 Centerline is valid? [True, True] Translation: X:61.56, Y:9.74, Z:-0.66 [[ 9.25846896e-01 -3.77216759e-01 -2.26945266e-02 6.15628472e+01] [ 3.77127245e-01 9.26124559e-01 -8.26698341e-03 9.73902879e+00] [ 2.41364031e-02 -9.04763346e-04 9.99708265e-01 -6.63995944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79719347 meters 0.06570650095692286 Centerline is valid? [True, True] Translation: X:61.59, Y:9.76, Z:-0.66 [[ 9.26221215e-01 -3.76316525e-01 -2.23636941e-02 6.15857397e+01] [ 3.76229144e-01 9.26490762e-01 -8.15470032e-03 9.75968285e+00] [ 2.37885045e-02 -8.60817056e-04 9.99716643e-01 -6.61688480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82719347 meters 0.0648824289967851 Centerline is valid? [True, True] Translation: X:61.61, Y:9.78, Z:-0.66 [[ 9.27152690e-01 -3.73904512e-01 -2.41517097e-02 6.16095822e+01] [ 3.73801573e-01 9.27466810e-01 -8.81472042e-03 9.77898447e+00] [ 2.56957729e-02 -8.55355352e-04 9.99669443e-01 -6.63334370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85719347 meters 0.06434730683063393 Centerline is valid? [True, True] Translation: X:61.63, Y:9.80, Z:-0.66 [[ 9.28310120e-01 -3.71025839e-01 -2.40862515e-02 6.16332148e+01] [ 3.70922478e-01 9.28622221e-01 -8.79125602e-03 9.79720579e+00] [ 2.56288115e-02 -7.73120171e-04 9.99671229e-01 -6.64941904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88719347 meters 0.06231929913156105 Centerline is valid? [True, True] Translation: X:61.66, Y:9.82, Z:-0.66 [[ 9.29938156e-01 -3.67036443e-01 -2.23444690e-02 6.16551208e+01] [ 3.66946321e-01 9.30206360e-01 -8.15633137e-03 9.82378679e+00] [ 2.37786380e-02 -6.14336934e-04 9.99717059e-01 -6.63058650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91719347 meters 0.061262023600679914 Centerline is valid? [True, True] Translation: X:61.68, Y:9.84, Z:-0.66 [[ 9.30449658e-01 -3.65856570e-01 -2.03077090e-02 6.16792866e+01] [ 3.65781795e-01 9.30671097e-01 -7.41539578e-03 9.84114895e+00] [ 2.16127691e-02 -5.28537769e-04 9.99766277e-01 -6.60708798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94719347 meters 0.06061330876168767 Centerline is valid? [True, True] Translation: X:61.70, Y:9.86, Z:-0.66 [[ 9.30791200e-01 -3.65166277e-01 -1.67729453e-02 6.17006934e+01] [ 3.65115124e-01 9.30942218e-01 -6.12650720e-03 9.86482161e+00] [ 1.78518368e-02 -4.21557020e-04 9.99840554e-01 -6.57611280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97719347 meters 0.06035844448401635 Centerline is valid? [True, True] Translation: X:61.73, Y:9.88, Z:-0.66 [[ 9.31017977e-01 -3.64626257e-01 -1.59128810e-02 6.17253495e+01] [ 3.64580007e-01 9.31153879e-01 -5.82000716e-03 9.88259418e+00] [ 1.69394683e-02 -3.82986976e-04 9.99856444e-01 -6.56722715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00719347 meters 0.059808420770985256 Centerline is valid? [True, True] Translation: X:61.75, Y:9.91, Z:-0.66 [[ 9.31919854e-01 -3.62303588e-01 -1.61708020e-02 6.17479370e+01] [ 3.62255378e-01 9.32060080e-01 -5.92006894e-03 9.90583896e+00] [ 1.72170212e-02 -3.40930215e-04 9.99851718e-01 -6.56868480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03719347 meters 0.059990305603890896 Centerline is valid? [True, True] Translation: X:61.77, Y:9.92, Z:-0.66 [[ 9.32348816e-01 -3.61187190e-01 -1.64164121e-02 6.17723923e+01] [ 3.61137327e-01 9.32493275e-01 -6.01021535e-03 9.92054613e+00] [ 1.74790067e-02 -3.24962034e-04 9.99847178e-01 -6.59437706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06719347 meters 0.05983163076939137 Centerline is valid? [True, True] Translation: X:61.80, Y:9.94, Z:-0.66 [[ 9.32770664e-01 -3.60061896e-01 -1.71557256e-02 6.17957872e+01] [ 3.60007192e-01 9.32928364e-01 -6.28411814e-03 9.93620801e+00] [ 1.82677345e-02 -3.14543553e-04 9.99833082e-01 -6.60575501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09719347000001 meters 0.059699615106173026 Centerline is valid? [True, True] Translation: X:61.82, Y:9.95, Z:-0.66 [[ 9.33333302e-01 -3.58550824e-01 -1.81728746e-02 6.18195538e+01] [ 3.58488984e-01 9.33510161e-01 -6.66538667e-03 9.95354642e+00] [ 1.93544430e-02 -2.93748009e-04 9.99812642e-01 -6.61118907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12719347000001 meters 0.059112860557357615 Centerline is valid? [True, True] Translation: X:61.84, Y:9.98, Z:-0.66 [[ 9.36053070e-01 -3.51106338e-01 -2.29997569e-02 6.18398204e+01] [ 3.51004853e-01 9.36335576e-01 -8.44289669e-03 9.98080959e+00] [ 2.44998452e-02 -1.70026935e-04 9.99699819e-01 -6.62536701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15719347 meters 0.0599002150892345 Centerline is valid? [True, True] Translation: X:61.86, Y:10.00, Z:-0.67 [[ 9.37892542e-01 -3.45883401e-01 -2.68747586e-02 6.18641518e+01] [ 3.45742701e-01 9.38277502e-01 -9.86475473e-03 9.99832480e+00] [ 2.86280363e-02 -3.96717351e-05 9.99590133e-01 -6.69807367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18719347 meters 0.060037492898196036 Centerline is valid? [True, True] Translation: X:61.89, Y:10.02, Z:-0.67 [[ 9.39715962e-01 -3.40606050e-01 -3.03550558e-02 6.18887970e+01] [ 3.40423707e-01 9.40206094e-01 -1.11445116e-02 1.00161632e+01] [ 3.23358965e-02 1.39094784e-04 9.99477048e-01 -6.68529772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21719347 meters 0.06092190125963262 Centerline is valid? [True, True] Translation: X:61.91, Y:10.03, Z:-0.67 [[ 9.41673856e-01 -3.34939193e-01 -3.26509708e-02 6.19131215e+01] [ 3.34724717e-01 9.42239676e-01 -1.19898867e-02 1.00348743e+01] [ 3.47809231e-02 3.61475870e-04 9.99394895e-01 -6.71286398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24719347 meters 0.06315410681382966 Centerline is valid? [True, True] Translation: X:61.93, Y:10.06, Z:-0.67 [[ 9.45101993e-01 -3.25102594e-01 -3.30231293e-02 6.19328988e+01] [ 3.24877052e-01 9.45678467e-01 -1.21300791e-02 1.00627321e+01] [ 3.51727825e-02 7.35704979e-04 9.99380975e-01 -6.71587056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27719347 meters 0.06426068183242094 Centerline is valid? [True, True] Translation: X:61.96, Y:10.08, Z:-0.67 [[ 9.46625813e-01 -3.20770656e-01 -3.17136613e-02 6.19564512e+01] [ 3.20560077e-01 9.47156501e-01 -1.16532924e-02 1.00798900e+01] [ 3.37758347e-02 8.65173721e-04 9.99429059e-01 -6.70728696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30719347 meters 0.06571971630363878 Centerline is valid? [True, True] Translation: X:61.98, Y:10.09, Z:-0.67 [[ 9.47658529e-01 -3.17920170e-01 -2.94970980e-02 6.19812534e+01] [ 3.17736508e-01 9.48117055e-01 -1.08425472e-02 1.00942230e+01] [ 3.14137661e-02 9.02727395e-04 9.99506058e-01 -6.71952623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33719347 meters 0.06591341771325708 Centerline is valid? [True, True] Translation: X:62.01, Y:10.10, Z:-0.67 [[ 9.48256647e-01 -3.16212347e-01 -2.86196106e-02 6.20082510e+01] [ 3.16038320e-01 9.48687970e-01 -1.05316833e-02 1.01030263e+01] [ 3.04813285e-02 9.41845100e-04 9.99534893e-01 -6.71083284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36719347 meters 0.0651652990141101 Centerline is valid? [True, True] Translation: X:62.04, Y:10.11, Z:-0.67 [[ 9.47549240e-01 -3.18270398e-01 -2.92299720e-02 6.20359006e+01] [ 3.18089527e-01 9.47999545e-01 -1.07664371e-02 1.01101971e+01] [ 3.11366384e-02 9.03981301e-04 9.99514729e-01 -6.71295082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39719347 meters 0.06459940552187994 Centerline is valid? [True, True] Translation: X:62.06, Y:10.12, Z:-0.67 [[ 9.46468739e-01 -3.21404997e-01 -2.99291391e-02 6.20644804e+01] [ 3.21216599e-01 9.46941465e-01 -1.10343841e-02 1.01162947e+01] [ 3.18876490e-02 8.29963296e-04 9.99491115e-01 -6.72035671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42719347 meters 0.062158699721274115 Centerline is valid? [True, True] Translation: X:62.10, Y:10.11, Z:-0.67 [[ 9.42615459e-01 -3.32534839e-01 -2.99445629e-02 6.20975502e+01] [ 3.32351862e-01 9.43090863e-01 -1.10392315e-02 1.01120948e+01] [ 3.19113727e-02 4.53619077e-04 9.99490600e-01 -6.72324844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45719347 meters 0.061241905186154445 Centerline is valid? [True, True] Translation: X:62.13, Y:10.11, Z:-0.67 [[ 9.40182541e-01 -3.39459758e-01 -2.87029819e-02 6.21292709e+01] [ 3.39294517e-01 9.40620553e-01 -1.05927784e-02 1.01111599e+01] [ 3.05944367e-02 2.20380961e-04 9.99531856e-01 -6.72313926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48719347000001 meters 0.06061835919643247 Centerline is valid? [True, True] Translation: X:62.16, Y:10.11, Z:-0.67 [[ 9.37491470e-01 -3.46973436e-01 -2.68174931e-02 6.21613260e+01] [ 3.46832013e-01 9.37874957e-01 -9.90554048e-03 1.01091617e+01] [ 2.85884146e-02 -1.48054080e-05 9.99591268e-01 -6.70515821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51719347 meters 0.06091063174681361 Centerline is valid? [True, True] Translation: X:62.19, Y:10.11, Z:-0.67 [[ 9.34728580e-01 -3.54395504e-01 -2.61975002e-02 6.21928033e+01] [ 3.54263199e-01 9.35095597e-01 -9.68559034e-03 1.01071650e+01] [ 2.79296967e-02 -2.27412103e-04 9.99609864e-01 -6.69466178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54719347 meters 0.06305117129104161 Centerline is valid? [True, True] Translation: X:62.23, Y:10.10, Z:-0.67 [[ 9.30088422e-01 -3.66233535e-01 -2.84345803e-02 6.22258441e+01] [ 3.66083188e-01 9.30522755e-01 -1.05119606e-02 1.01004890e+01] [ 3.03088565e-02 -6.32368984e-04 9.99540381e-01 -6.70313847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57719347 meters 0.06378068167268577 Centerline is valid? [True, True] Translation: X:62.26, Y:10.11, Z:-0.67 [[ 9.28779963e-01 -3.69484261e-01 -2.91403618e-02 6.22552308e+01] [ 3.69327912e-01 9.29236682e-01 -1.07741702e-02 1.01075790e+01] [ 3.10591794e-02 -7.55515538e-04 9.99517262e-01 -6.70103924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60719347 meters 0.06417736603384132 Centerline is valid? [True, True] Translation: X:62.28, Y:10.12, Z:-0.67 [[ 9.27452403e-01 -3.72712274e-01 -3.02919403e-02 6.22831161e+01] [ 3.72544923e-01 9.27946529e-01 -1.12035394e-02 1.01160660e+01] [ 3.22849975e-02 -8.94359043e-04 9.99478303e-01 -6.67481630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63719347 meters 0.06653056353592265 Centerline is valid? [True, True] Translation: X:62.31, Y:10.12, Z:-0.67 [[ 9.26221544e-01 -3.75934634e-01 -2.80500139e-02 6.23103424e+01] [ 3.75792354e-01 9.26645724e-01 -1.03831247e-02 1.01195552e+01] [ 2.98958016e-02 -9.23906942e-04 9.99552594e-01 -6.70231357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66719347 meters 0.06604348242123599 Centerline is valid? [True, True] Translation: X:62.34, Y:10.13, Z:-0.67 [[ 9.25393156e-01 -3.77972465e-01 -2.80057385e-02 6.23373576e+01] [ 3.77831271e-01 9.25816319e-01 -1.03766096e-02 1.01302370e+01] [ 2.98502425e-02 -9.79000232e-04 9.99553903e-01 -6.68274065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69719347 meters 0.06671645914155833 Centerline is valid? [True, True] Translation: X:62.37, Y:10.14, Z:-0.67 [[ 9.24586032e-01 -3.79971087e-01 -2.76159741e-02 6.23654106e+01] [ 3.79834413e-01 9.24997801e-01 -1.02414247e-02 1.01385337e+01] [ 2.94361606e-02 -1.02041905e-03 9.99566141e-01 -6.69123326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72719347 meters 0.07033322273514313 Centerline is valid? [True, True] Translation: X:62.39, Y:10.14, Z:-0.68 [[ 9.22873515e-01 -3.84119968e-01 -2.75013617e-02 6.23929509e+01] [ 3.83986240e-01 9.23282478e-01 -1.01996738e-02 1.01445274e+01] [ 2.93094238e-02 -1.14713564e-03 9.99569728e-01 -6.75397596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75719347 meters 0.07021954104245892 Centerline is valid? [True, True] Translation: X:62.42, Y:10.16, Z:-0.67 [[ 9.21707764e-01 -3.86821009e-01 -2.87107109e-02 6.24190684e+01] [ 3.86676537e-01 9.22153920e-01 -1.06491162e-02 1.01592738e+01] [ 3.05949965e-02 -1.28638516e-03 9.99531036e-01 -6.74504566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78719347 meters 0.07040715472227445 Centerline is valid? [True, True] Translation: X:62.44, Y:10.18, Z:-0.67 [[ 9.19090291e-01 -3.92838631e-01 -3.08358068e-02 6.24448868e+01] [ 3.92675280e-01 9.19606039e-01 -1.14392859e-02 1.01756572e+01] [ 3.28505875e-02 -1.59472246e-03 9.99459002e-01 -6.72910405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81719347 meters 0.07358690066923437 Centerline is valid? [True, True] Translation: X:62.47, Y:10.18, Z:-0.68 [[ 9.17504650e-01 -3.96430875e-01 -3.20590047e-02 6.24737389e+01] [ 3.96256444e-01 9.18062828e-01 -1.18943071e-02 1.01817908e+01] [ 3.41474511e-02 -1.79050515e-03 9.99415202e-01 -6.76329011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84719347000001 meters 0.0744313792490939 Centerline is valid? [True, True] Translation: X:62.50, Y:10.19, Z:-0.68 [[ 9.16269139e-01 -3.99341845e-01 -3.12563004e-02 6.25011688e+01] [ 3.99177676e-01 9.16800234e-01 -1.15980376e-02 1.01927865e+01] [ 3.32873652e-02 -1.84989348e-03 9.99444110e-01 -6.75467088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87719347000001 meters 0.0750228279218093 Centerline is valid? [True, True] Translation: X:62.53, Y:10.20, Z:-0.67 [[ 9.15127792e-01 -4.02032592e-01 -3.01814363e-02 6.25284028e+01] [ 4.01880930e-01 9.15623429e-01 -1.12006723e-02 1.02049480e+01] [ 3.21378655e-02 -1.87929719e-03 9.99481679e-01 -6.73893590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90719347 meters 0.07789204293357767 Centerline is valid? [True, True] Translation: X:62.55, Y:10.22, Z:-0.67 [[ 9.14258410e-01 -4.04253991e-01 -2.66508934e-02 6.25530345e+01] [ 4.04136571e-01 9.14645142e-01 -9.89422701e-03 1.02186154e+01] [ 2.83758909e-02 -1.72472041e-03 9.99595835e-01 -6.73546875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93719347 meters 0.07265084292262705 Centerline is valid? [True, True] Translation: X:62.57, Y:10.24, Z:-0.67 [[ 9.14405227e-01 -4.03973520e-01 -2.58549254e-02 6.25749332e+01] [ 4.03862594e-01 9.14769183e-01 -9.60975550e-03 1.02431112e+01] [ 2.75333757e-02 -1.65462658e-03 9.99619515e-01 -6.66983883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96719347 meters 0.07050204210308343 Centerline is valid? [True, True] Translation: X:62.60, Y:10.27, Z:-0.66 [[ 9.16093059e-01 -4.00425453e-01 -2.08077686e-02 6.25987063e+01] [ 4.00352721e-01 9.16328491e-01 -7.73277477e-03 1.02656943e+01] [ 2.21631510e-02 -1.24650548e-03 9.99753590e-01 -6.64234065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99719347 meters 0.06937707384151921 Centerline is valid? [True, True] Translation: X:62.62, Y:10.28, Z:-0.66 [[ 9.17239466e-01 -3.97889937e-01 -1.88509771e-02 6.26248263e+01] [ 3.97829681e-01 9.17432531e-01 -7.00693584e-03 1.02822671e+01] [ 2.00824889e-02 -1.07244010e-03 9.99797751e-01 -6.63111769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02719347 meters 0.0682039751984362 Centerline is valid? [True, True] Translation: X:62.65, Y:10.30, Z:-0.66 [[ 9.18627514e-01 -3.94807579e-01 -1.58261205e-02 6.26498313e+01] [ 3.94764640e-01 9.18763443e-01 -5.88337652e-03 1.02998439e+01] [ 1.68632626e-02 -8.42961214e-04 9.99857450e-01 -6.61456984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05719347 meters 0.06626199961007605 Centerline is valid? [True, True] Translation: X:62.67, Y:10.32, Z:-0.66 [[ 9.20043080e-01 -3.91497452e-01 -1.58264159e-02 6.26740784e+01] [ 3.91454018e-01 9.20178860e-01 -5.88370289e-03 1.03209801e+01] [ 1.68665880e-02 -7.82053950e-04 9.99857443e-01 -6.61058377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08719347 meters 0.06501583312180753 Centerline is valid? [True, True] Translation: X:62.70, Y:10.35, Z:-0.67 [[ 9.23549749e-01 -3.83101300e-01 -1.70075201e-02 6.26950432e+01] [ 3.83049695e-01 9.23706089e-01 -6.32387856e-03 1.03472741e+01] [ 1.81326359e-02 -6.74308924e-04 9.99835363e-01 -6.65655569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11719347 meters 0.0632641731608268 Centerline is valid? [True, True] Translation: X:62.72, Y:10.37, Z:-0.67 [[ 9.25149912e-01 -3.79134534e-01 -1.88320341e-02 6.27188285e+01] [ 3.79070274e-01 9.25341331e-01 -7.01063014e-03 1.03670723e+01] [ 2.00840315e-02 -6.52780455e-04 9.99798082e-01 -6.66529766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14719347 meters 0.06259355910555199 Centerline is valid? [True, True] Translation: X:62.74, Y:10.38, Z:-0.67 [[ 9.26704974e-01 -3.75336154e-01 -1.84570283e-02 6.27431346e+01] [ 3.75273671e-01 9.26888590e-01 -6.87114677e-03 1.03828397e+01] [ 1.96865988e-02 -5.58910890e-04 9.99806044e-01 -6.69188276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17719347 meters 0.06123366774347396 Centerline is valid? [True, True] Translation: X:62.77, Y:10.40, Z:-0.67 [[ 9.29277290e-01 -3.69075565e-01 -1.50646983e-02 6.27657406e+01] [ 3.69033099e-01 9.29399326e-01 -5.60932733e-03 1.04040966e+01] [ 1.60713861e-02 -3.46751812e-04 9.99870787e-01 -6.69030670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20719347 meters 0.0602447759830478 Centerline is valid? [True, True] Translation: X:62.79, Y:10.42, Z:-0.67 [[ 9.29726569e-01 -3.68020779e-01 -1.30081679e-02 6.27903301e+01] [ 3.67988919e-01 9.29817525e-01 -4.85038287e-03 1.04206825e+01] [ 1.38802642e-02 -2.77331825e-04 9.99903626e-01 -6.65168196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23719347000001 meters 0.06004435923629649 Centerline is valid? [True, True] Translation: X:62.82, Y:10.44, Z:-0.66 [[ 9.30179913e-01 -3.66900651e-01 -1.22165034e-02 6.28154313e+01] [ 3.66872397e-01 9.30260101e-01 -4.55959881e-03 1.04351081e+01] [ 1.30374454e-02 -2.40650655e-04 9.99914980e-01 -6.64836883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26719347 meters 0.0592809938325804 Centerline is valid? [True, True] Translation: X:62.84, Y:10.45, Z:-0.66 [[ 9.32088361e-01 -3.62082263e-01 -1.03789485e-02 6.28385956e+01] [ 3.62061571e-01 9.32146133e-01 -3.87371113e-03 1.04527772e+01] [ 1.10772988e-02 -1.47177344e-04 9.99938634e-01 -6.63636318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29719347 meters 0.05896023928316378 Centerline is valid? [True, True] Translation: X:62.86, Y:10.47, Z:-0.66 [[ 9.33174140e-01 -3.59273987e-01 -1.04032460e-02 6.28639829e+01] [ 3.59252964e-01 9.33232120e-01 -3.88811149e-03 1.04665704e+01] [ 1.11055407e-02 -1.09111869e-04 9.99938326e-01 -6.63567596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32719347 meters 0.058807265084109446 Centerline is valid? [True, True] Translation: X:62.89, Y:10.48, Z:-0.66 [[ 9.34334603e-01 -3.56266454e-01 -9.64693362e-03 6.28903016e+01] [ 3.56248184e-01 9.34384401e-01 -3.60855973e-03 1.04799092e+01] [ 1.02995531e-02 -6.51003665e-05 9.99946956e-01 -6.64340546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35719347 meters 0.05882025284562353 Centerline is valid? [True, True] Translation: X:62.92, Y:10.49, Z:-0.67 [[ 9.35333280e-01 -3.53600138e-01 -1.08902516e-02 6.29167098e+01] [ 3.53576632e-01 9.35396676e-01 -4.07725856e-03 1.04926396e+01] [ 1.16284243e-02 -3.69428676e-05 9.99932387e-01 -6.66476769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38719347 meters 0.059071517798400724 Centerline is valid? [True, True] Translation: X:62.94, Y:10.50, Z:-0.67 [[ 9.36581638e-01 -3.50204435e-01 -1.31030068e-02 6.29421878e+01] [ 3.50170083e-01 9.36673291e-01 -4.90503382e-03 1.05034808e+01] [ 1.39910011e-02 5.68364621e-06 9.99902121e-01 -6.71005604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41719347 meters 0.0593080214986226 Centerline is valid? [True, True] Translation: X:62.97, Y:10.51, Z:-0.67 [[ 9.36789062e-01 -3.49637337e-01 -1.34158356e-02 6.29680665e+01] [ 3.49601164e-01 9.36885122e-01 -5.02933936e-03 1.05128799e+01] [ 1.43275416e-02 2.12383625e-05 9.99897355e-01 -6.72964732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44719347 meters 0.05941398353643368 Centerline is valid? [True, True] Translation: X:63.00, Y:10.52, Z:-0.67 [[ 9.36874234e-01 -3.49362184e-01 -1.45854020e-02 6.29952965e+01] [ 3.49319329e-01 9.36987760e-01 -5.47205345e-03 1.05218908e+01] [ 1.55780717e-02 3.16630397e-05 9.99878654e-01 -6.74103149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47719347 meters 0.059480275244419706 Centerline is valid? [True, True] Translation: X:63.02, Y:10.53, Z:-0.67 [[ 9.37262414e-01 -3.48342705e-01 -1.40188196e-02 6.30224633e+01] [ 3.48302910e-01 9.37367248e-01 -5.26554372e-03 1.05281648e+01] [ 1.49749961e-02 5.24005452e-05 9.99887867e-01 -6.74307817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50719347 meters 0.059466252251123355 Centerline is valid? [True, True] Translation: X:63.05, Y:10.54, Z:-0.68 [[ 9.37274564e-01 -3.48268970e-01 -1.50038579e-02 6.30491944e+01] [ 3.48223384e-01 9.37394645e-01 -5.63503533e-03 1.05356391e+01] [ 1.60270440e-02 5.68811217e-05 9.99871557e-01 -6.75536466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53719347 meters 0.05973218120638662 Centerline is valid? [True, True] Translation: X:63.08, Y:10.54, Z:-0.68 [[ 9.37711440e-01 -3.47085173e-01 -1.51373087e-02 6.30763028e+01] [ 3.47038507e-01 9.37833608e-01 -5.69198656e-03 1.05446559e+01] [ 1.61718809e-02 8.42119090e-05 9.99869223e-01 -6.76620537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56719347 meters 0.06007193638318711 Centerline is valid? [True, True] Translation: X:63.10, Y:10.55, Z:-0.68 [[ 9.38085441e-01 -3.46019139e-01 -1.63235938e-02 6.31022865e+01] [ 3.45964685e-01 9.38227447e-01 -6.13953336e-03 1.05536969e+01] [ 1.74396398e-02 1.12019877e-04 9.99847912e-01 -6.79173897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59719347000001 meters 0.06035028913340116 Centerline is valid? [True, True] Translation: X:63.13, Y:10.56, Z:-0.68 [[ 9.38747613e-01 -3.44209541e-01 -1.65139452e-02 6.31303843e+01] [ 3.44153412e-01 9.38892842e-01 -6.21777620e-03 1.05596801e+01] [ 1.76450428e-02 1.53591979e-04 9.99844302e-01 -6.79953434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62719347000001 meters 0.06035028913340116 Centerline is valid? [True, True] Translation: X:63.16, Y:10.57, Z:-0.68 [[ 9.38632632e-01 -3.44523068e-01 -1.65117431e-02 6.31559843e+01] [ 3.44466885e-01 9.38777839e-01 -6.22362302e-03 1.05696036e+01] [ 1.76450402e-02 1.53946935e-04 9.99844302e-01 -6.80180265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65719347 meters 0.060343315555122165 Centerline is valid? [True, True] Translation: X:63.18, Y:10.58, Z:-0.68 [[ 9.38817110e-01 -3.43991673e-01 -1.70928033e-02 6.31832575e+01] [ 3.43931379e-01 9.38972684e-01 -6.44251263e-03 1.05763276e+01] [ 1.82658460e-02 1.69589682e-04 9.99833151e-01 -6.80231759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68719347 meters 0.060092750345576276 Centerline is valid? [True, True] Translation: X:63.21, Y:10.58, Z:-0.68 [[ 9.38547325e-01 -3.44727699e-01 -1.70801568e-02 6.32106106e+01] [ 3.44667463e-01 9.38702715e-01 -6.44615062e-03 1.05816065e+01] [ 1.82553562e-02 1.63043109e-04 9.99833344e-01 -6.80564470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71719347 meters 0.05957224229488494 Centerline is valid? [True, True] Translation: X:63.24, Y:10.58, Z:-0.68 [[ 9.37258534e-01 -3.48173558e-01 -1.79335854e-02 6.32399604e+01] [ 3.48107760e-01 9.37430084e-01 -6.76935628e-03 1.05802741e+01] [ 1.91683933e-02 1.01816708e-04 9.99816264e-01 -6.81363101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74719347 meters 0.05883657202043641 Centerline is valid? [True, True] Translation: X:63.27, Y:10.58, Z:-0.68 [[ 9.36310122e-01 -3.50735086e-01 -1.75572088e-02 6.32694133e+01] [ 3.50672323e-01 9.36474717e-01 -6.63516314e-03 1.05845462e+01] [ 1.87690667e-02 5.57432070e-05 9.99823844e-01 -6.76636286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77719347 meters 0.05890613005003909 Centerline is valid? [True, True] Translation: X:63.30, Y:10.59, Z:-0.68 [[ 9.35676970e-01 -3.52441279e-01 -1.71391992e-02 6.32971898e+01] [ 3.52381748e-01 9.35833930e-01 -6.47763657e-03 1.05896263e+01] [ 1.83224307e-02 2.14343884e-05 9.99832130e-01 -6.79485357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80719347 meters 0.05839934332029252 Centerline is valid? [True, True] Translation: X:63.33, Y:10.59, Z:-0.68 [[ 9.33360279e-01 -3.58540419e-01 -1.69515871e-02 6.33283642e+01] [ 3.58483149e-01 9.33514198e-01 -6.40885877e-03 1.05873316e+01] [ 1.81223822e-02 -9.50841101e-05 9.99835772e-01 -6.76001383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83719347 meters 0.058823383194250185 Centerline is valid? [True, True] Translation: X:63.36, Y:10.59, Z:-0.68 [[ 9.31946877e-01 -3.62140968e-01 -1.81366281e-02 6.33564780e+01] [ 3.62076035e-01 9.32123323e-01 -6.85970519e-03 1.05900981e+01] [ 1.93897544e-02 -1.73957577e-04 9.99811986e-01 -6.77613046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86719347 meters 0.05974780603733187 Centerline is valid? [True, True] Translation: X:63.39, Y:10.59, Z:-0.68 [[ 9.28893420e-01 -3.69683801e-01 -2.21562929e-02 6.33899080e+01] [ 3.69589045e-01 9.29157534e-01 -8.37942548e-03 1.05868827e+01] [ 2.36844244e-02 -4.05129949e-04 9.99719403e-01 -6.80661843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89719347 meters 0.060793399741049074 Centerline is valid? [True, True] Translation: X:63.42, Y:10.59, Z:-0.68 [[ 9.27417178e-01 -3.73237861e-01 -2.43079636e-02 6.34193552e+01] [ 3.73124967e-01 9.27735525e-01 -9.19533629e-03 1.05896541e+01] [ 2.59834090e-02 -5.41995261e-04 9.99662227e-01 -6.83568644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92719347 meters 0.06112448148694013 Centerline is valid? [True, True] Translation: X:63.45, Y:10.59, Z:-0.68 [[ 9.25925549e-01 -3.76874894e-01 -2.50438136e-02 6.34484361e+01] [ 3.76756092e-01 9.26263941e-01 -9.48468402e-03 1.05946227e+01] [ 2.67717207e-02 -6.53298084e-04 9.99641360e-01 -6.82667207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95719347 meters 0.06199427820035627 Centerline is valid? [True, True] Translation: X:63.48, Y:10.59, Z:-0.68 [[ 9.23482230e-01 -3.82959173e-01 -2.28657746e-02 6.34793056e+01] [ 3.82861794e-01 9.23764965e-01 -8.66814620e-03 1.05941554e+01] [ 2.44421476e-02 -7.49552515e-04 9.99700965e-01 -6.78872835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98719347000001 meters 0.0617179629372977 Centerline is valid? [True, True] Translation: X:63.51, Y:10.60, Z:-0.68 [[ 9.22664847e-01 -3.85003990e-01 -2.14827244e-02 6.35067195e+01] [ 3.84918405e-01 9.22914605e-01 -8.15187180e-03 1.06025600e+01] [ 2.29652233e-02 -7.47650466e-04 9.99735985e-01 -6.75207935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01719347 meters 0.06226503121443905 Centerline is valid? [True, True] Translation: X:63.53, Y:10.61, Z:-0.67 [[ 9.22354298e-01 -3.85787479e-01 -2.07501663e-02 6.35331505e+01] [ 3.85707776e-01 9.22587381e-01 -7.87630947e-03 1.06097589e+01] [ 2.21824231e-02 -7.38752587e-04 9.99753667e-01 -6.74591534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04719347 meters 0.06100998532374553 Centerline is valid? [True, True] Translation: X:63.56, Y:10.62, Z:-0.67 [[ 9.23194290e-01 -3.83826064e-01 -1.97447447e-02 6.35593406e+01] [ 3.83753284e-01 9.23405181e-01 -7.50253962e-03 1.06231191e+01] [ 2.11120698e-02 -6.50808889e-04 9.99776904e-01 -6.72121195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07719347 meters 0.060885438595419686 Centerline is valid? [True, True] Translation: X:63.59, Y:10.63, Z:-0.67 [[ 9.24526302e-01 -3.80710994e-01 -1.76140828e-02 6.35856585e+01] [ 3.80652516e-01 9.24693934e-01 -6.69256837e-03 1.06340509e+01] [ 1.88355699e-02 -5.17389465e-04 9.99822461e-01 -6.73651550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10719347 meters 0.05982899332532982 Centerline is valid? [True, True] Translation: X:63.61, Y:10.65, Z:-0.67 [[ 9.26781496e-01 -3.75253938e-01 -1.61412670e-02 6.36105034e+01] [ 3.75203991e-01 9.26921973e-01 -6.13358225e-03 1.06504555e+01] [ 1.72633460e-02 -3.71777285e-04 9.99850908e-01 -6.74690523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13719347 meters 0.05886508928464193 Centerline is valid? [True, True] Translation: X:63.64, Y:10.67, Z:-0.67 [[ 9.27607750e-01 -3.73176811e-01 -1.68205255e-02 6.36358320e+01] [ 3.73122080e-01 9.27760180e-01 -6.40007093e-03 1.06658670e+01] [ 1.79937718e-02 -3.39354066e-04 9.99838041e-01 -6.73807268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16719347 meters 0.05858010407143125 Centerline is valid? [True, True] Translation: X:63.66, Y:10.68, Z:-0.68 [[ 9.28935575e-01 -3.69870500e-01 -1.65683573e-02 6.36608090e+01] [ 3.69816865e-01 9.29083279e-01 -6.30447110e-03 1.06785345e+01] [ 1.77252216e-02 -2.70810488e-04 9.99842859e-01 -6.75827998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19719347 meters 0.058004024364079046 Centerline is valid? [True, True] Translation: X:63.69, Y:10.69, Z:-0.67 [[ 9.29990686e-01 -3.67186213e-01 -1.70765494e-02 6.36865924e+01] [ 3.67128645e-01 9.30147428e-01 -6.50543772e-03 1.06932867e+01] [ 1.82724155e-02 -2.19293953e-04 9.99833021e-01 -6.74661821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22719347 meters 0.058306568867502774 Centerline is valid? [True, True] Translation: X:63.71, Y:10.71, Z:-0.68 [[ 9.31484727e-01 -3.63286817e-01 -1.89444446e-02 6.37113829e+01] [ 3.63215147e-01 9.31677339e-01 -7.21758923e-03 1.07057331e+01] [ 2.02721647e-02 -1.57835087e-04 9.99794486e-01 -6.80547794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25719347 meters 0.05837688939227598 Centerline is valid? [True, True] Translation: X:63.74, Y:10.72, Z:-0.68 [[ 9.31549185e-01 -3.63080311e-01 -1.97180854e-02 6.37379348e+01] [ 3.63002438e-01 9.31757836e-01 -7.52098254e-03 1.07161093e+01] [ 2.11032012e-02 -1.51547891e-04 9.99777291e-01 -6.81798780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28719347 meters 0.05865804350290805 Centerline is valid? [True, True] Translation: X:63.76, Y:10.72, Z:-0.68 [[ 9.31544755e-01 -3.63050236e-01 -2.04669574e-02 6.37648138e+01] [ 3.62966313e-01 9.31769554e-01 -7.80731539e-03 1.07245865e+01] [ 2.19049355e-02 -1.55952372e-04 9.99760046e-01 -6.84771472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31719347 meters 0.0585756268358795 Centerline is valid? [True, True] Translation: X:63.79, Y:10.73, Z:-0.68 [[ 9.31556274e-01 -3.62984688e-01 -2.10956095e-02 6.37918490e+01] [ 3.62895298e-01 9.31795092e-01 -8.05662345e-03 1.07347386e+01] [ 2.25812164e-02 -1.50299382e-04 9.99745001e-01 -6.83603331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34719347000001 meters 0.058816127930244724 Centerline is valid? [True, True] Translation: X:63.82, Y:10.74, Z:-0.69 [[ 9.31055054e-01 -3.64231474e-01 -2.17237215e-02 6.38194578e+01] [ 3.64136835e-01 9.31308435e-01 -8.30442901e-03 1.07421405e+01] [ 2.32562195e-02 -1.78526583e-04 9.99729522e-01 -6.85215432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37719347000001 meters 0.058567176724890105 Centerline is valid? [True, True] Translation: X:63.85, Y:10.75, Z:-0.68 [[ 9.30799559e-01 -3.64903656e-01 -2.13893080e-02 6.38466012e+01] [ 3.64811867e-01 9.31045266e-01 -8.18618315e-03 1.07507587e+01] [ 2.29015821e-02 -1.83377720e-04 9.99737708e-01 -6.84312816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40719347 meters 0.05882730488729829 Centerline is valid? [True, True] Translation: X:63.87, Y:10.76, Z:-0.69 [[ 9.30643851e-01 -3.65361681e-01 -2.03190669e-02 6.38741254e+01] [ 3.65278801e-01 9.30865624e-01 -7.78376095e-03 1.07579665e+01] [ 2.17582089e-02 -1.78215137e-04 9.99763246e-01 -6.87333889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43719347 meters 0.058717363532531645 Centerline is valid? [True, True] Translation: X:63.90, Y:10.77, Z:-0.69 [[ 9.30212256e-01 -3.66385876e-01 -2.15997327e-02 6.39010426e+01] [ 3.66292474e-01 9.30462973e-01 -8.27519805e-03 1.07668320e+01] [ 2.31296672e-02 -2.14128886e-04 9.99732451e-01 -6.85919233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46719347 meters 0.058968943136733655 Centerline is valid? [True, True] Translation: X:63.93, Y:10.77, Z:-0.69 [[ 9.29840338e-01 -3.67254881e-01 -2.28210091e-02 6.39281479e+01] [ 3.67150808e-01 9.30120310e-01 -8.74598107e-03 1.07742684e+01] [ 2.44382883e-02 -2.46385942e-04 9.99701310e-01 -6.87771665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49719347 meters 0.05923411070178591 Centerline is valid? [True, True] Translation: X:63.96, Y:10.78, Z:-0.69 [[ 9.29436614e-01 -3.68233372e-01 -2.34896495e-02 6.39562107e+01] [ 3.68123166e-01 9.29733354e-01 -9.01245726e-03 1.07822360e+01] [ 2.51577982e-02 -2.70576391e-04 9.99683456e-01 -6.89920685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52719347 meters 0.05936603082797423 Centerline is valid? [True, True] Translation: X:63.98, Y:10.79, Z:-0.69 [[ 9.28595807e-01 -3.70438870e-01 -2.20197860e-02 6.39848696e+01] [ 3.70342454e-01 9.28856799e-01 -8.45665225e-03 1.07887725e+01] [ 2.35859006e-02 -3.02049742e-04 9.99721768e-01 -6.90361604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55719347 meters 0.059498764940107494 Centerline is valid? [True, True] Translation: X:64.02, Y:10.79, Z:-0.69 [[ 9.26709366e-01 -3.75233194e-01 -2.02435612e-02 6.40155010e+01] [ 3.75152680e-01 9.26930366e-01 -7.78218089e-03 1.07899014e+01] [ 2.16845042e-02 -3.82606313e-04 9.99764790e-01 -6.87796181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58719347 meters 0.060249519566890564 Centerline is valid? [True, True] Translation: X:64.04, Y:10.79, Z:-0.69 [[ 9.25409026e-01 -3.78492967e-01 -1.90054740e-02 6.40433677e+01] [ 3.78422672e-01 9.25604067e-01 -7.30702597e-03 1.07943927e+01] [ 2.03572020e-02 -4.30114486e-04 9.99792678e-01 -6.88638831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61719347 meters 0.0613347397394994 Centerline is valid? [True, True] Translation: X:64.07, Y:10.80, Z:-0.69 [[ 9.22922586e-01 -3.84600420e-01 -1.72167635e-02 6.40724687e+01] [ 3.84543646e-01 9.23083021e-01 -6.62733337e-03 1.07988923e+01] [ 1.84413772e-02 -5.04081345e-04 9.99829816e-01 -6.87080933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64719347 meters 0.06221307242789029 Centerline is valid? [True, True] Translation: X:64.10, Y:10.80, Z:-0.69 [[ 9.21903654e-01 -3.87138966e-01 -1.47334181e-02 6.41003395e+01] [ 3.87097706e-01 9.22021256e-01 -5.67187780e-03 1.08038872e+01] [ 1.57803296e-02 -4.74347487e-04 9.99875370e-01 -6.86311648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67719347 meters 0.061816197710467306 Centerline is valid? [True, True] Translation: X:64.13, Y:10.81, Z:-0.68 [[ 9.21112271e-01 -3.89068792e-01 -1.33289276e-02 6.41272402e+01] [ 3.89035198e-01 9.21208590e-01 -5.13306709e-03 1.08129477e+01] [ 1.42758388e-02 -4.57290903e-04 9.99897990e-01 -6.83498014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70719347 meters 0.062478496898022304 Centerline is valid? [True, True] Translation: X:64.15, Y:10.82, Z:-0.68 [[ 9.20739644e-01 -3.89965390e-01 -1.28647607e-02 6.41543438e+01] [ 3.89934132e-01 9.20829404e-01 -4.95803680e-03 1.08185739e+01] [ 1.37797127e-02 -4.51348251e-04 9.99904953e-01 -6.84657927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73719347000001 meters 0.061836547338071604 Centerline is valid? [True, True] Translation: X:64.18, Y:10.83, Z:-0.68 [[ 9.21015887e-01 -3.89299270e-01 -1.32595153e-02 6.41801631e+01] [ 3.89265912e-01 9.21111218e-01 -5.11599764e-03 1.08311327e+01] [ 1.42051424e-02 -4.49562205e-04 9.99899001e-01 -6.84865614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76719347 meters 0.0612684703246157 Centerline is valid? [True, True] Translation: X:64.21, Y:10.85, Z:-0.69 [[ 9.21940786e-01 -3.87102595e-01 -1.32954319e-02 6.42053676e+01] [ 3.87068759e-01 9.22036556e-01 -5.13468464e-03 1.08456260e+01] [ 1.42465240e-02 -4.12371135e-04 9.99898428e-01 -6.85454666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79719347 meters 0.060733605062240646 Centerline is valid? [True, True] Translation: X:64.23, Y:10.86, Z:-0.69 [[ 9.23184079e-01 -3.84081198e-01 -1.45872924e-02 6.42301287e+01] [ 3.84040011e-01 9.23299234e-01 -5.63862991e-03 1.08608387e+01] [ 1.56341276e-02 -3.96610565e-04 9.99877701e-01 -6.86799673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82719347 meters 0.06026251484516847 Centerline is valid? [True, True] Translation: X:64.25, Y:10.88, Z:-0.69 [[ 9.24488939e-01 -3.80905198e-01 -1.52128769e-02 6.42549505e+01] [ 3.80859884e-01 9.24614031e-01 -5.88583840e-03 1.08755108e+01] [ 1.63079858e-02 -3.52582026e-04 9.99866954e-01 -6.87999011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85719347 meters 0.05932947936678779 Centerline is valid? [True, True] Translation: X:64.28, Y:10.89, Z:-0.69 [[ 9.26841890e-01 -3.75128627e-01 -1.55763722e-02 6.42791559e+01] [ 3.75080285e-01 9.26972733e-01 -6.02762672e-03 1.08938413e+01] [ 1.67000077e-02 -2.55733195e-04 9.99860512e-01 -6.88313065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88719347 meters 0.05938922439094045 Centerline is valid? [True, True] Translation: X:64.30, Y:10.91, Z:-0.69 [[ 9.27759646e-01 -3.72845311e-01 -1.57611271e-02 6.43041476e+01] [ 3.72795457e-01 9.27893490e-01 -6.10077272e-03 1.09072002e+01] [ 1.68992917e-02 -2.15625827e-04 9.99857174e-01 -6.91328928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91719347 meters 0.05927317648896035 Centerline is valid? [True, True] Translation: X:64.33, Y:10.92, Z:-0.69 [[ 9.28158510e-01 -3.71830312e-01 -1.62480544e-02 6.43290629e+01] [ 3.71777024e-01 9.28300695e-01 -6.29791423e-03 1.09209620e+01] [ 1.74248356e-02 -1.95190604e-04 9.99848157e-01 -6.91810100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94719347 meters 0.05945598770943056 Centerline is valid? [True, True] Translation: X:64.35, Y:10.93, Z:-0.69 [[ 9.28173025e-01 -3.71703050e-01 -1.82120569e-02 6.43548682e+01] [ 3.71635963e-01 9.28351656e-01 -7.06491190e-03 1.09342309e+01] [ 1.95332425e-02 -2.10794662e-04 9.99809186e-01 -6.94370945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97719347 meters 0.05936920526548118 Centerline is valid? [True, True] Translation: X:64.38, Y:10.95, Z:-0.69 [[ 9.27763300e-01 -3.72695455e-01 -1.87977991e-02 6.43814192e+01] [ 3.72624052e-01 9.27953686e-01 -7.29881159e-03 1.09456123e+01] [ 2.01637209e-02 -2.32942547e-04 9.99796664e-01 -6.94311763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00719347 meters 0.0595911784668178 Centerline is valid? [True, True] Translation: X:64.41, Y:10.96, Z:-0.69 [[ 9.27556260e-01 -3.73223566e-01 -1.85351986e-02 6.44064470e+01] [ 3.73154211e-01 9.27741404e-01 -7.19878950e-03 1.09555161e+01] [ 1.98826291e-02 -2.39205136e-04 9.99802292e-01 -6.94633899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03719347 meters 0.05970313432992526 Centerline is valid? [True, True] Translation: X:64.43, Y:10.97, Z:-0.70 [[ 9.27413488e-01 -3.73566880e-01 -1.87618716e-02 6.44325816e+01] [ 3.73495849e-01 9.27603215e-01 -7.28872656e-03 1.09654802e+01] [ 2.01263993e-02 -2.47817848e-04 9.99797413e-01 -6.95554034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06719347 meters 0.059381892222226305 Centerline is valid? [True, True] Translation: X:64.46, Y:10.98, Z:-0.69 [[ 9.27763719e-01 -3.72652536e-01 -1.96104400e-02 6.44583869e+01] [ 3.72574543e-01 9.27970923e-01 -7.62725339e-03 1.09781820e+01] [ 2.10402334e-02 -2.30061739e-04 9.99778603e-01 -6.93799465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09719347000001 meters 0.05918133326681831 Centerline is valid? [True, True] Translation: X:64.48, Y:10.99, Z:-0.69 [[ 9.28223224e-01 -3.71490224e-01 -1.99163433e-02 6.44839968e+01] [ 3.71409325e-01 9.28436844e-01 -7.75493414e-03 1.09902839e+01] [ 2.13719492e-02 -1.98805675e-04 9.99771574e-01 -6.93061688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12719347000001 meters 0.05890041572699192 Centerline is valid? [True, True] Translation: X:64.51, Y:11.00, Z:-0.69 [[ 9.28564696e-01 -3.70668326e-01 -1.93027727e-02 6.45097725e+01] [ 3.70592014e-01 9.28765290e-01 -7.52297055e-03 1.10026176e+01] [ 2.07162722e-02 -1.67888549e-04 9.99785381e-01 -6.91974856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15719347 meters 0.058901028577113206 Centerline is valid? [True, True] Translation: X:64.54, Y:11.01, Z:-0.69 [[ 9.29006745e-01 -3.69614684e-01 -1.82058393e-02 6.45352216e+01] [ 3.69546551e-01 9.29185109e-01 -7.09780911e-03 1.10137509e+01] [ 1.95400492e-02 -1.33992568e-04 9.99809066e-01 -6.92947684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18719347 meters 0.058767709787323506 Centerline is valid? [True, True] Translation: X:64.56, Y:11.02, Z:-0.69 [[ 9.29591050e-01 -3.68184059e-01 -1.73487524e-02 6.45605970e+01] [ 3.68121910e-01 9.29752918e-01 -6.76538254e-03 1.10246354e+01] [ 1.86209592e-02 -9.74168112e-05 9.99826610e-01 -6.91522479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21719347 meters 0.0585495197274356 Centerline is valid? [True, True] Translation: X:64.59, Y:11.03, Z:-0.69 [[ 9.29535501e-01 -3.68274794e-01 -1.83692334e-02 6.45871732e+01] [ 3.68204970e-01 9.29716982e-01 -7.17168768e-03 1.10346809e+01] [ 1.97193400e-02 -9.73047420e-05 9.99805550e-01 -6.90539161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24719347 meters 0.0585266667676708 Centerline is valid? [True, True] Translation: X:64.61, Y:11.04, Z:-0.69 [[ 9.29524587e-01 -3.68329640e-01 -1.78134247e-02 6.46132662e+01] [ 3.68263978e-01 9.29695255e-01 -6.95525536e-03 1.10439347e+01] [ 1.91228831e-02 -9.49617741e-05 9.99817136e-01 -6.90574228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27719347 meters 0.058725298389190744 Centerline is valid? [True, True] Translation: X:64.64, Y:11.05, Z:-0.69 [[ 9.28421711e-01 -3.71126285e-01 -1.72744583e-02 6.46405712e+01] [ 3.71064851e-01 9.28582393e-01 -6.75390533e-03 1.10509379e+01] [ 1.85473096e-02 -1.39471942e-04 9.99827974e-01 -6.90598873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30719347 meters 0.05873245304274371 Centerline is valid? [True, True] Translation: X:64.67, Y:11.06, Z:-0.69 [[ 9.27719347e-01 -3.72787716e-01 -1.91345785e-02 6.46680247e+01] [ 3.72712562e-01 9.27916637e-01 -7.48744834e-03 1.10591289e+01] [ 2.05465225e-02 -1.85447089e-04 9.99788881e-01 -6.91077358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33719347 meters 0.05932638108032694 Centerline is valid? [True, True] Translation: X:64.69, Y:11.07, Z:-0.70 [[ 9.27046934e-01 -3.74432263e-01 -1.96077174e-02 6.46949343e+01] [ 3.74353700e-01 9.27254242e-01 -7.67322353e-03 1.10657762e+01] [ 2.10544416e-02 -2.26783228e-04 9.99778305e-01 -6.95231221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36719347 meters 0.05981882310542746 Centerline is valid? [True, True] Translation: X:64.72, Y:11.07, Z:-0.70 [[ 9.25977373e-01 -3.76862656e-01 -2.32474484e-02 6.47238069e+01] [ 3.76752970e-01 9.26269090e-01 -9.09795858e-03 1.10739077e+01] [ 2.49620737e-02 -3.34041445e-04 9.99688343e-01 -6.96879347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39719347 meters 0.059905074010235475 Centerline is valid? [True, True] Translation: X:64.75, Y:11.08, Z:-0.70 [[ 9.25809017e-01 -3.77268358e-01 -2.33720075e-02 6.47494692e+01] [ 3.77157314e-01 9.26103922e-01 -9.15899223e-03 1.10842770e+01] [ 2.51003057e-02 -3.35445952e-04 9.99684881e-01 -6.96178666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42719347 meters 0.0604728511540351 Centerline is valid? [True, True] Translation: X:64.78, Y:11.09, Z:-0.70 [[ 9.26157731e-01 -3.76320341e-01 -2.47963305e-02 6.47752409e+01] [ 3.76194906e-01 9.26489555e-01 -9.72099734e-03 1.10931671e+01] [ 2.66317503e-02 -3.25076389e-04 9.99645259e-01 -7.00926387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45719347 meters 0.05975601231768998 Centerline is valid? [True, True] Translation: X:64.80, Y:11.11, Z:-0.70 [[ 9.26846034e-01 -3.74556584e-01 -2.57642147e-02 6.48010879e+01] [ 3.74420189e-01 9.27204017e-01 -1.01110222e-02 1.11057410e+01] [ 2.76758334e-02 -2.75281297e-04 9.99616913e-01 -6.97297726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48719347000001 meters 0.059377827296548336 Centerline is valid? [True, True] Translation: X:64.83, Y:11.12, Z:-0.70 [[ 9.29180608e-01 -3.68847135e-01 -2.39831053e-02 6.48254464e+01] [ 3.68727004e-01 9.29490065e-01 -9.41353002e-03 1.11189807e+01] [ 2.57642117e-02 -9.63490370e-05 9.99668043e-01 -6.96461452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51719347 meters 0.059377827296548336 Centerline is valid? [True, True] Translation: X:64.85, Y:11.13, Z:-0.70 [[ 9.29046576e-01 -3.69184874e-01 -2.39789285e-02 6.48509425e+01] [ 3.69064582e-01 9.29355970e-01 -9.42416642e-03 1.11292682e+01] [ 2.57642201e-02 -9.42836717e-05 9.99668043e-01 -6.96688333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54719347 meters 0.05917568013548353 Centerline is valid? [True, True] Translation: X:64.88, Y:11.14, Z:-0.70 [[ 9.30197510e-01 -3.66394892e-01 -2.20765729e-02 6.48776765e+01] [ 3.66291973e-01 9.30459447e-01 -8.68374777e-03 1.11413228e+01] [ 2.37230366e-02 -8.87089161e-06 9.99718569e-01 -6.95056463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57719347 meters 0.05920521893769002 Centerline is valid? [True, True] Translation: X:64.90, Y:11.15, Z:-0.70 [[ 9.31039829e-01 -3.64304409e-01 -2.11455280e-02 6.49046829e+01] [ 3.64209266e-01 9.31279923e-01 -8.32561125e-03 1.11518859e+01] [ 2.27254626e-02 5.00784577e-05 9.99741742e-01 -6.95197215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60719347 meters 0.05930155247344181 Centerline is valid? [True, True] Translation: X:64.93, Y:11.16, Z:-0.70 [[ 9.31225127e-01 -3.63819140e-01 -2.13400325e-02 6.49308098e+01] [ 3.63721896e-01 9.31469607e-01 -8.41153272e-03 1.11616594e+01] [ 2.29378683e-02 7.11935333e-05 9.99736890e-01 -6.96106858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63719347 meters 0.05986447098919995 Centerline is valid? [True, True] Translation: X:64.96, Y:11.17, Z:-0.70 [[ 9.32355417e-01 -3.60964927e-01 -2.04376529e-02 6.49560266e+01] [ 3.60875035e-01 9.32579382e-01 -8.05640227e-03 1.11729246e+01] [ 2.19678123e-02 1.35991593e-04 9.99758669e-01 -6.97385916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66719347 meters 0.06010097772008468 Centerline is valid? [True, True] Translation: X:64.98, Y:11.18, Z:-0.70 [[ 9.33089442e-01 -3.59096856e-01 -1.98378836e-02 6.49806998e+01] [ 3.59011659e-01 9.33300282e-01 -7.82384050e-03 1.11830058e+01] [ 2.13242189e-02 1.78311435e-04 9.99772597e-01 -6.97698706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69719347 meters 0.06065263006987465 Centerline is valid? [True, True] Translation: X:65.01, Y:11.19, Z:-0.70 [[ 9.33981905e-01 -3.56695816e-01 -2.11162630e-02 6.50067728e+01] [ 3.56598620e-01 9.34220548e-01 -8.33016569e-03 1.11921548e+01] [ 2.26985820e-02 2.50193768e-04 9.99742323e-01 -6.99014105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72719347 meters 0.0616701725432739 Centerline is valid? [True, True] Translation: X:65.04, Y:11.20, Z:-0.70 [[ 9.35647317e-01 -3.52137244e-01 -2.37373141e-02 6.50368533e+01] [ 3.52012936e-01 9.35948287e-01 -9.36463958e-03 1.11966701e+01] [ 2.55145369e-02 4.06158261e-04 9.99674369e-01 -7.02051435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75719347 meters 0.06166838849039999 Centerline is valid? [True, True] Translation: X:65.06, Y:11.20, Z:-0.70 [[ 9.36400356e-01 -3.50092212e-01 -2.42861175e-02 6.50646605e+01] [ 3.49961302e-01 9.36715120e-01 -9.58493192e-03 1.12034549e+01] [ 2.61047835e-02 4.76132354e-04 9.99659099e-01 -7.00711595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78719347 meters 0.06287143797513665 Centerline is valid? [True, True] Translation: X:65.09, Y:11.21, Z:-0.70 [[ 9.36947859e-01 -3.48684249e-01 -2.34094779e-02 6.50896699e+01] [ 3.48562065e-01 9.37240120e-01 -9.24357959e-03 1.12146832e+01] [ 2.51633925e-02 5.01096149e-04 9.99683226e-01 -7.04652175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81719347 meters 0.06319222509747822 Centerline is valid? [True, True] Translation: X:65.12, Y:11.22, Z:-0.70 [[ 9.37592037e-01 -3.47062988e-01 -2.16437953e-02 6.51166149e+01] [ 3.46957911e-01 9.37841682e-01 -8.55495637e-03 1.12247728e+01] [ 2.32675621e-02 5.11572963e-04 9.99729143e-01 -7.02486109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84719347000001 meters 0.06326523548989808 Centerline is valid? [True, True] Translation: X:65.15, Y:11.23, Z:-0.70 [[ 9.38244957e-01 -3.45328378e-01 -2.10882112e-02 6.51462310e+01] [ 3.45228018e-01 9.38481759e-01 -8.34289940e-03 1.12287089e+01] [ 2.26719415e-02 5.47441914e-04 9.99742809e-01 -6.99604635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87719347 meters 0.06310632869134854 Centerline is valid? [True, True] Translation: X:65.17, Y:11.23, Z:-0.70 [[ 9.38140562e-01 -3.45632349e-01 -2.07500665e-02 6.51745237e+01] [ 3.45535062e-01 9.38369857e-01 -8.21781502e-03 1.12332499e+01] [ 2.23115796e-02 5.39590091e-04 9.99750920e-01 -6.99234092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90719347 meters 0.06209189903072366 Centerline is valid? [True, True] Translation: X:65.21, Y:11.23, Z:-0.70 [[ 9.37751667e-01 -3.46602346e-01 -2.21048714e-02 6.52050121e+01] [ 3.46492019e-01 9.38011995e-01 -8.76233192e-03 1.12345288e+01] [ 2.37716793e-02 5.57729843e-04 9.99717258e-01 -6.97340697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93719347 meters 0.06271449427080063 Centerline is valid? [True, True] Translation: X:65.23, Y:11.24, Z:-0.70 [[ 9.37063723e-01 -3.48427713e-01 -2.25766975e-02 6.52326552e+01] [ 3.48313127e-01 9.37335508e-01 -8.95044088e-03 1.12401136e+01] [ 2.42805219e-02 5.23373343e-04 9.99705048e-01 -7.03208175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96719347 meters 0.06143484761697316 Centerline is valid? [True, True] Translation: X:65.26, Y:11.24, Z:-0.70 [[ 9.35346151e-01 -3.52752222e-01 -2.63334083e-02 6.52642256e+01] [ 3.52597942e-01 9.35716643e-01 -1.04429020e-02 1.12372649e+01] [ 2.83243653e-02 4.82622635e-04 9.99598668e-01 -7.03190425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99719347 meters 0.06118706759229391 Centerline is valid? [True, True] Translation: X:65.29, Y:11.24, Z:-0.71 [[ 9.34291490e-01 -3.55569628e-01 -2.58776359e-02 6.52929411e+01] [ 3.55421417e-01 9.34649709e-01 -1.02731176e-02 1.12433174e+01] [ 2.78393335e-02 4.00620317e-04 9.99612330e-01 -7.05151399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02719347 meters 0.06089693197463629 Centerline is valid? [True, True] Translation: X:65.32, Y:11.24, Z:-0.71 [[ 9.32167521e-01 -3.60919410e-01 -2.83000431e-02 6.53239283e+01] [ 3.60744558e-01 9.32596970e-01 -1.12363275e-02 1.12400025e+01] [ 3.04479432e-02 2.65053032e-04 9.99536319e-01 -7.09197480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05719347 meters 0.06087128791276431 Centerline is valid? [True, True] Translation: X:65.35, Y:11.24, Z:-0.71 [[ 9.30556191e-01 -3.64998338e-01 -2.90067168e-02 6.53530128e+01] [ 3.64816450e-01 9.31008160e-01 -1.15223242e-02 1.12399419e+01] [ 3.12111192e-02 1.40042695e-04 9.99512805e-01 -7.12808275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08719347 meters 0.060327909481555544 Centerline is valid? [True, True] Translation: X:65.38, Y:11.24, Z:-0.71 [[ 9.28605782e-01 -3.69947884e-01 -2.88073871e-02 6.53842930e+01] [ 3.69770511e-01 9.29052508e-01 -1.14545320e-02 1.12396036e+01] [ 3.10011551e-02 -1.53776350e-05 9.99519349e-01 -7.10556174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11719347 meters 0.06030307586514533 Centerline is valid? [True, True] Translation: X:65.41, Y:11.24, Z:-0.71 [[ 9.26429433e-01 -3.75410897e-01 -2.81986498e-02 6.54143188e+01] [ 3.75243116e-01 9.26858471e-01 -1.12240399e-02 1.12404174e+01] [ 3.03497844e-02 -1.83068290e-04 9.99539322e-01 -7.10167116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14719347 meters 0.060207862764558626 Centerline is valid? [True, True] Translation: X:65.44, Y:11.24, Z:-0.71 [[ 9.23998185e-01 -3.81412455e-01 -2.74206740e-02 6.54441998e+01] [ 3.81256145e-01 9.24404895e-01 -1.09243971e-02 1.12433015e+01] [ 2.95145064e-02 -3.60177399e-04 9.99564287e-01 -7.05345065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17719347 meters 0.0613186601722316 Centerline is valid? [True, True] Translation: X:65.48, Y:11.24, Z:-0.70 [[ 9.20060457e-01 -3.91042345e-01 -2.39716388e-02 6.54759331e+01] [ 3.90926100e-01 9.20372503e-01 -9.55195972e-03 1.12401176e+01] [ 2.57980579e-02 -5.82758830e-04 9.99667005e-01 -7.01729218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20719347 meters 0.06220231339869843 Centerline is valid? [True, True] Translation: X:65.50, Y:11.25, Z:-0.70 [[ 9.18372976e-01 -3.95069601e-01 -2.26072303e-02 6.55047531e+01] [ 3.94967183e-01 9.18650963e-01 -9.01847435e-03 1.12459501e+01] [ 2.43310789e-02 -6.46790914e-04 9.99703746e-01 -7.00908806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23719347000001 meters 0.06354424768843477 Centerline is valid? [True, True] Translation: X:65.53, Y:11.25, Z:-0.70 [[ 9.16386089e-01 -3.99923697e-01 -1.72502855e-02 6.55338721e+01] [ 3.99864905e-01 9.16548246e-01 -6.88258482e-03 1.12491150e+01] [ 1.85632277e-02 -5.90678798e-04 9.99827514e-01 -6.98184016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26719347 meters 0.06364979319407411 Centerline is valid? [True, True] Translation: X:65.56, Y:11.26, Z:-0.69 [[ 9.15392279e-01 -4.02345150e-01 -1.32422187e-02 6.55610567e+01] [ 4.02310661e-01 9.15487928e-01 -5.29023675e-03 1.12577616e+01] [ 1.42515924e-02 -4.84843872e-04 9.99898323e-01 -6.94847916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29719347 meters 0.06391949014895885 Centerline is valid? [True, True] Translation: X:65.59, Y:11.27, Z:-0.69 [[ 9.14408680e-01 -4.04571649e-01 -1.33621421e-02 6.55881616e+01] [ 4.04536699e-01 9.14506157e-01 -5.34305546e-03 1.12683824e+01] [ 1.43814100e-02 -5.19740586e-04 9.99896447e-01 -6.94225724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32719347 meters 0.06548419710857503 Centerline is valid? [True, True] Translation: X:65.61, Y:11.28, Z:-0.70 [[ 9.12562824e-01 -4.08683253e-01 -1.43906582e-02 6.56142923e+01] [ 4.08643223e-01 9.12676067e-01 -5.75445648e-03 1.12825828e+01] [ 1.54857593e-02 -6.29341878e-04 9.99879890e-01 -6.97153644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35719347 meters 0.06679769579533508 Centerline is valid? [True, True] Translation: X:65.64, Y:11.29, Z:-0.70 [[ 9.11766822e-01 -4.10425770e-01 -1.52299202e-02 6.56392005e+01] [ 4.10381147e-01 9.11893746e-01 -6.09183253e-03 1.12948346e+01] [ 1.63883141e-02 -6.95741351e-04 9.99865461e-01 -6.99448764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38719347 meters 0.06752353855061538 Centerline is valid? [True, True] Translation: X:65.67, Y:11.31, Z:-0.70 [[ 9.10954443e-01 -4.12140788e-01 -1.73773811e-02 6.56651394e+01] [ 4.12082975e-01 9.11119798e-01 -6.95240738e-03 1.13089512e+01] [ 1.86982466e-02 -8.27596509e-04 9.99824830e-01 -7.01453728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41719347 meters 0.06856927159522334 Centerline is valid? [True, True] Translation: X:65.69, Y:11.32, Z:-0.70 [[ 9.10591142e-01 -4.12876569e-01 -1.88868097e-02 6.56900465e+01] [ 4.12808383e-01 9.10786531e-01 -7.55875218e-03 1.13212048e+01] [ 2.03226835e-02 -9.13700588e-04 9.99793055e-01 -7.04524657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44719347 meters 0.06864187679506446 Centerline is valid? [True, True] Translation: X:65.71, Y:11.34, Z:-0.71 [[ 9.09750276e-01 -4.14523082e-01 -2.29139731e-02 6.57137998e+01] [ 4.14423208e-01 9.10038069e-01 -9.17155940e-03 1.13414548e+01] [ 2.46544109e-02 -1.15225354e-03 9.99695370e-01 -7.08138742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47719347 meters 0.06843624220655777 Centerline is valid? [True, True] Translation: X:65.74, Y:11.36, Z:-0.71 [[ 9.09611217e-01 -4.14785878e-01 -2.36666449e-02 6.57381199e+01] [ 4.14679144e-01 9.09918274e-01 -9.48379599e-03 1.13574443e+01] [ 2.54684574e-02 -1.18749684e-03 9.99674921e-01 -7.09217562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50719347 meters 0.07066717834101498 Centerline is valid? [True, True] Translation: X:65.76, Y:11.37, Z:-0.71 [[ 9.09425515e-01 -4.15230729e-01 -2.29929248e-02 6.57631415e+01] [ 4.15130097e-01 9.09715387e-01 -9.21505725e-03 1.13689622e+01] [ 2.47433924e-02 -1.16464691e-03 9.99693157e-01 -7.12834107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53719347 meters 0.0682794836477188 Centerline is valid? [True, True] Translation: X:65.79, Y:11.39, Z:-0.71 [[ 9.09472250e-01 -4.15136045e-01 -2.28536756e-02 6.57854430e+01] [ 4.15036345e-01 9.09758623e-01 -9.16956586e-03 1.13899140e+01] [ 2.45979457e-02 -1.14564030e-03 9.99696768e-01 -7.09884423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56719347 meters 0.06814269629023774 Centerline is valid? [True, True] Translation: X:65.81, Y:11.41, Z:-0.71 [[ 9.09744677e-01 -4.14564808e-01 -2.23750492e-02 6.58091670e+01] [ 4.14469041e-01 9.10019119e-01 -8.97865862e-03 1.14061868e+01] [ 2.40839584e-02 -1.10547829e-03 9.99709328e-01 -7.09748634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59719347000001 meters 0.06756413728164751 Centerline is valid? [True, True] Translation: X:65.83, Y:11.43, Z:-0.71 [[ 9.09886465e-01 -4.14281274e-01 -2.18551189e-02 6.58310385e+01] [ 4.14189593e-01 9.10148282e-01 -8.77986678e-03 1.14287078e+01] [ 2.35287333e-02 -1.06348086e-03 9.99722595e-01 -7.09140422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62719347 meters 0.06775809884783625 Centerline is valid? [True, True] Translation: X:65.86, Y:11.44, Z:-0.71 [[ 9.10127413e-01 -4.13690676e-01 -2.29807818e-02 6.58550879e+01] [ 4.13589093e-01 9.10416834e-01 -9.23308624e-03 1.14438340e+01] [ 2.47417323e-02 -1.10131580e-03 9.99693270e-01 -7.11409680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65719347 meters 0.06737557917276618 Centerline is valid? [True, True] Translation: X:65.88, Y:11.46, Z:-0.71 [[ 9.10486981e-01 -4.12875649e-01 -2.33913829e-02 6.58795501e+01] [ 4.12769877e-01 9.10786755e-01 -9.40831474e-03 1.14602106e+01] [ 2.51890258e-02 -1.08911015e-03 9.99682113e-01 -7.12923150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68719347 meters 0.06740817373201108 Centerline is valid? [True, True] Translation: X:65.90, Y:11.48, Z:-0.72 [[ 9.11216696e-01 -4.11232111e-01 -2.39224566e-02 6.59025470e+01] [ 4.11120698e-01 9.11530048e-01 -9.63036705e-03 1.14788129e+01] [ 2.57663542e-02 -1.05966583e-03 9.99667431e-01 -7.16218687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71719347 meters 0.0662820767967933 Centerline is valid? [True, True] Translation: X:65.93, Y:11.50, Z:-0.71 [[ 9.11517481e-01 -4.10608960e-01 -2.31552244e-02 6.59271014e+01] [ 4.10504185e-01 9.11810989e-01 -9.32927747e-03 1.14963144e+01] [ 2.49438730e-02 -1.00151701e-03 9.99688352e-01 -7.14757231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74719347 meters 0.06543199943931646 Centerline is valid? [True, True] Translation: X:65.95, Y:11.52, Z:-0.72 [[ 9.13755813e-01 -4.05682334e-01 -2.17292205e-02 6.59492280e+01] [ 4.05588683e-01 9.14013776e-01 -8.75433134e-03 1.15192981e+01] [ 2.34122844e-02 -8.13804762e-04 9.99725564e-01 -7.15952917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77719347 meters 0.06441146589503302 Centerline is valid? [True, True] Translation: X:65.97, Y:11.54, Z:-0.72 [[ 9.14922999e-01 -4.03079823e-01 -2.10371514e-02 6.59733149e+01] [ 4.02991159e-01 9.15164545e-01 -8.48417129e-03 1.15384282e+01] [ 2.26722533e-02 -7.15422574e-04 9.99742695e-01 -7.15586759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80719347 meters 0.06337148912901944 Centerline is valid? [True, True] Translation: X:66.00, Y:11.56, Z:-0.72 [[ 9.16509431e-01 -3.99528234e-01 -1.96889274e-02 6.59975032e+01] [ 3.99449772e-01 9.16720701e-01 -7.93948073e-03 1.15565662e+01] [ 2.12212941e-02 -5.88128607e-04 9.99774630e-01 -7.15004590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83719347 meters 0.06149845765448011 Centerline is valid? [True, True] Translation: X:66.02, Y:11.58, Z:-0.71 [[ 9.19208129e-01 -3.93281879e-01 -1.96412548e-02 6.60187976e+01] [ 3.93202347e-01 9.19417842e-01 -7.92122663e-03 1.15824505e+01] [ 2.11737950e-02 -4.41731576e-04 9.99775712e-01 -7.14395365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86719347 meters 0.06084327043461773 Centerline is valid? [True, True] Translation: X:66.04, Y:11.60, Z:-0.71 [[ 9.20237111e-01 -3.90909618e-01 -1.87970521e-02 6.60431678e+01] [ 3.90836106e-01 9.20428997e-01 -7.58942701e-03 1.15991750e+01] [ 2.02681319e-02 -3.62494271e-04 9.99794515e-01 -7.13727202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89719347 meters 0.06026356657543338 Centerline is valid? [True, True] Translation: X:66.07, Y:11.62, Z:-0.71 [[ 9.20966023e-01 -3.89217505e-01 -1.82021693e-02 6.60679119e+01] [ 3.89148117e-01 9.21145829e-01 -7.35560759e-03 1.16156299e+01] [ 1.96297836e-02 -3.09075234e-04 9.99807269e-01 -7.13386754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92719347 meters 0.06003525871674989 Centerline is valid? [True, True] Translation: X:66.09, Y:11.64, Z:-0.71 [[ 9.21688396e-01 -3.87545004e-01 -1.73023249e-02 6.60898923e+01] [ 3.87482003e-01 9.21850749e-01 -6.99249592e-03 1.16357178e+01] [ 1.86600681e-02 -2.59437174e-04 9.99825852e-01 -7.14150137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95719347 meters 0.06014973965415507 Centerline is valid? [True, True] Translation: X:66.11, Y:11.65, Z:-0.72 [[ 9.21609832e-01 -3.87716849e-01 -1.76341239e-02 6.61141818e+01] [ 3.87651273e-01 9.21778486e-01 -7.13533714e-03 1.16496593e+01] [ 1.90212464e-02 -2.59893688e-04 9.99819046e-01 -7.15424468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98719347000001 meters 0.06031614549103275 Centerline is valid? [True, True] Translation: X:66.14, Y:11.66, Z:-0.72 [[ 9.21507370e-01 -3.87938817e-01 -1.81008566e-02 6.61391721e+01] [ 3.87869736e-01 9.21685088e-01 -7.32575941e-03 1.16609741e+01] [ 1.95252361e-02 -2.70033198e-04 9.99809328e-01 -7.17448307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01719347 meters 0.060205403309985764 Centerline is valid? [True, True] Translation: X:66.17, Y:11.67, Z:-0.72 [[ 9.21358438e-01 -3.88304891e-01 -1.78308870e-02 6.61652841e+01] [ 3.88237764e-01 9.21530922e-01 -7.22482714e-03 1.16722104e+01] [ 1.92371495e-02 -2.65968259e-04 9.99814914e-01 -7.17525599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04719347 meters 0.059217596077068786 Centerline is valid? [True, True] Translation: X:66.19, Y:11.69, Z:-0.71 [[ 9.21964391e-01 -3.86880056e-01 -1.74780802e-02 6.61895938e+01] [ 3.86815181e-01 9.22130019e-01 -7.08832169e-03 1.16884897e+01] [ 1.88593928e-02 -2.25606580e-04 9.99822120e-01 -7.14162697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07719347 meters 0.05969083875076135 Centerline is valid? [True, True] Translation: X:66.22, Y:11.70, Z:-0.72 [[ 9.22582574e-01 -3.85400364e-01 -1.75486115e-02 6.62150133e+01] [ 3.85334688e-01 9.22749436e-01 -7.11738546e-03 1.17002983e+01] [ 1.89360143e-02 -1.95712930e-04 9.99820678e-01 -7.20017094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10719347 meters 0.059273453978822235 Centerline is valid? [True, True] Translation: X:66.24, Y:11.72, Z:-0.72 [[ 9.22956771e-01 -3.84426670e-01 -1.91555002e-02 6.62403767e+01] [ 3.84348032e-01 9.23155513e-01 -7.77746433e-03 1.17156219e+01] [ 2.06733703e-02 -1.84115440e-04 9.99786266e-01 -7.17706140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13719347 meters 0.059045754834603746 Centerline is valid? [True, True] Translation: X:66.27, Y:11.73, Z:-0.72 [[ 9.23129910e-01 -3.83989960e-01 -1.95673280e-02 6.62650931e+01] [ 3.83907614e-01 9.23337253e-01 -7.95374377e-03 1.17291504e+01] [ 2.11214007e-02 -1.69707441e-04 9.99776904e-01 -7.15726454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16719347 meters 0.05906171117401491 Centerline is valid? [True, True] Translation: X:66.29, Y:11.74, Z:-0.72 [[ 9.23845881e-01 -3.82261168e-01 -1.96261861e-02 6.62913050e+01] [ 3.82177929e-01 9.24054318e-01 -7.97799801e-03 1.17394598e+01] [ 2.11853408e-02 -1.30254544e-04 9.99775557e-01 -7.17417822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19719347 meters 0.059163400784862444 Centerline is valid? [True, True] Translation: X:66.32, Y:11.75, Z:-0.72 [[ 9.23649117e-01 -3.82759624e-01 -1.91671138e-02 6.63182605e+01] [ 3.82680252e-01 9.23847959e-01 -7.79567809e-03 1.17481532e+01] [ 2.06913697e-02 -1.34404739e-04 9.99785902e-01 -7.18539447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22719347 meters 0.058960724012750945 Centerline is valid? [True, True] Translation: X:66.34, Y:11.76, Z:-0.72 [[ 9.23555135e-01 -3.82970963e-01 -1.94718732e-02 6.63443400e+01] [ 3.82888879e-01 9.23760372e-01 -7.92982156e-03 1.17575236e+01] [ 2.10242362e-02 -1.31936262e-04 9.99778958e-01 -7.17406207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25719347 meters 0.05893583207910288 Centerline is valid? [True, True] Translation: X:66.37, Y:11.77, Z:-0.72 [[ 9.23638414e-01 -3.82811934e-01 -1.86307337e-02 6.63703886e+01] [ 3.82736750e-01 9.23826287e-01 -7.58761039e-03 1.17663675e+01] [ 2.01161894e-02 -1.22458045e-04 9.99797641e-01 -7.19667721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28719347 meters 0.058887022996990834 Centerline is valid? [True, True] Translation: X:66.40, Y:11.78, Z:-0.72 [[ 9.23619641e-01 -3.82920609e-01 -1.72790413e-02 6.63973035e+01] [ 3.82855825e-01 9.23781249e-01 -7.04430824e-03 1.17778409e+01] [ 1.86594652e-02 -1.09120160e-04 9.99825891e-01 -7.18886883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31719347 meters 0.05903022966460497 Centerline is valid? [True, True] Translation: X:66.42, Y:11.79, Z:-0.72 [[ 9.23420001e-01 -3.83329787e-01 -1.88089439e-02 6.64245308e+01] [ 3.83252973e-01 9.23611531e-01 -7.67459842e-03 1.17885006e+01] [ 2.03140596e-02 -1.21705969e-04 9.99793641e-01 -7.20207620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34719347000001 meters 0.059189450153963215 Centerline is valid? [True, True] Translation: X:66.45, Y:11.80, Z:-0.72 [[ 9.23032591e-01 -3.84229717e-01 -1.94515084e-02 6.64521550e+01] [ 3.84147622e-01 9.23237513e-01 -7.94350456e-03 1.17974515e+01] [ 2.10104927e-02 -1.40137100e-04 9.99779245e-01 -7.21931960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37719347 meters 0.05934915989506868 Centerline is valid? [True, True] Translation: X:66.48, Y:11.81, Z:-0.72 [[ 9.22698380e-01 -3.85014032e-01 -1.97963351e-02 6.64787032e+01] [ 3.84929131e-01 9.22910705e-01 -8.08667158e-03 1.18050705e+01] [ 2.13837316e-02 -1.58627300e-04 9.99771329e-01 -7.24355243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40719347 meters 0.05934915989506868 Centerline is valid? [True, True] Translation: X:66.50, Y:11.82, Z:-0.72 [[ 9.22568970e-01 -3.85324189e-01 -1.97930622e-02 6.65040459e+01] [ 3.85239188e-01 9.22781255e-01 -8.09468061e-03 1.18157133e+01] [ 2.13837430e-02 -1.57162061e-04 9.99771329e-01 -7.24582090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43719347 meters 0.05914850638413337 Centerline is valid? [True, True] Translation: X:66.53, Y:11.82, Z:-0.72 [[ 9.21440876e-01 -3.87977714e-01 -2.04940624e-02 6.65311248e+01] [ 3.87887224e-01 9.21668727e-01 -8.38204707e-03 1.18242518e+01] [ 2.21407839e-02 -2.25824185e-04 9.99754837e-01 -7.21747905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46719347 meters 0.05978648967686666 Centerline is valid? [True, True] Translation: X:66.56, Y:11.83, Z:-0.72 [[ 9.18419091e-01 -3.95160026e-01 -1.88395225e-02 6.65596310e+01] [ 3.95084957e-01 9.18612227e-01 -7.71057408e-03 1.18269543e+01] [ 2.03531264e-02 -3.61673508e-04 9.99792788e-01 -7.21089131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49719347 meters 0.06017027423294458 Centerline is valid? [True, True] Translation: X:66.59, Y:11.83, Z:-0.72 [[ 9.16667479e-01 -3.99239795e-01 -1.81195888e-02 6.65874792e+01] [ 3.99171083e-01 9.16846443e-01 -7.41933417e-03 1.18339398e+01] [ 1.95749740e-02 -4.31753532e-04 9.99808299e-01 -7.19923538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52719347 meters 0.06145057980102364 Centerline is valid? [True, True] Translation: X:66.62, Y:11.84, Z:-0.72 [[ 9.14737410e-01 -4.03641609e-01 -1.81362151e-02 6.66157128e+01] [ 4.03573609e-01 9.14917032e-01 -7.42744092e-03 1.18397586e+01] [ 1.95911563e-02 -5.25139681e-04 9.99807937e-01 -7.21706272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55719347 meters 0.06388406590813893 Centerline is valid? [True, True] Translation: X:66.65, Y:11.84, Z:-0.73 [[ 9.11603669e-01 -4.10572758e-01 -2.02178534e-02 6.66455297e+01] [ 4.10489927e-01 9.11827531e-01 -8.28085342e-03 1.18440873e+01] [ 2.18350882e-02 -7.50368822e-04 9.99761304e-01 -7.25169850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58719347 meters 0.06553763684154666 Centerline is valid? [True, True] Translation: X:66.67, Y:11.85, Z:-0.73 [[ 9.10083457e-01 -4.13881558e-01 -2.12168946e-02 6.66732637e+01] [ 4.13791167e-01 9.10330326e-01 -8.69294691e-03 1.18511987e+01] [ 2.29122330e-02 -8.68056418e-04 9.99737103e-01 -7.27842483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61719347 meters 0.06629269852754506 Centerline is valid? [True, True] Translation: X:66.70, Y:11.86, Z:-0.73 [[ 9.09121715e-01 -4.15980215e-01 -2.14048552e-02 6.66999209e+01] [ 4.15888733e-01 9.09373192e-01 -8.77266205e-03 1.18607719e+01] [ 2.31142553e-02 -9.26620543e-04 9.99732400e-01 -7.28097545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64719347 meters 0.06668942726814843 Centerline is valid? [True, True] Translation: X:66.73, Y:11.87, Z:-0.73 [[ 9.08384809e-01 -4.17671822e-01 -1.96796251e-02 6.67263301e+01] [ 4.17594676e-01 9.08597529e-01 -8.07566205e-03 1.18711219e+01] [ 2.12538352e-02 -8.82297932e-04 9.99773722e-01 -7.27585509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67719347 meters 0.06708363471033923 Centerline is valid? [True, True] Translation: X:66.75, Y:11.88, Z:-0.73 [[ 9.07954262e-01 -4.18773855e-01 -1.57326732e-02 6.67513981e+01] [ 4.18724710e-01 9.08090266e-01 -6.45643513e-03 1.18830530e+01] [ 1.69904736e-02 -7.25511229e-04 9.99855388e-01 -7.25564579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70719347 meters 0.06733287883811251 Centerline is valid? [True, True] Translation: X:66.78, Y:11.90, Z:-0.73 [[ 9.07850486e-01 -4.19028824e-01 -1.49110637e-02 6.67772376e+01] [ 4.18984603e-01 9.07972672e-01 -6.12603695e-03 1.18969991e+01] [ 1.61058245e-02 -6.85980507e-04 9.99870057e-01 -7.25939701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73719347000001 meters 0.06731004427487894 Centerline is valid? [True, True] Translation: X:66.80, Y:11.91, Z:-0.73 [[ 9.07815289e-01 -4.19089567e-01 -1.53406242e-02 6.68012975e+01] [ 4.19042667e-01 9.07944625e-01 -6.30877512e-03 1.19110538e+01] [ 1.65723791e-02 -7.01173566e-04 9.99862423e-01 -7.27130778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76719347 meters 0.06428614189195317 Centerline is valid? [True, True] Translation: X:66.82, Y:11.93, Z:-0.72 [[ 9.08796035e-01 -4.17052770e-01 -1.25201065e-02 6.68245959e+01] [ 4.17021357e-01 9.08882111e-01 -5.14748072e-03 1.19329937e+01] [ 1.35260719e-02 -5.43141711e-04 9.99908371e-01 -7.22783255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79719347 meters 0.06341784986488071 Centerline is valid? [True, True] Translation: X:66.85, Y:11.95, Z:-0.72 [[ 9.09269791e-01 -4.16057503e-01 -1.11625066e-02 6.68499140e+01] [ 4.16032384e-01 9.09338187e-01 -4.59543767e-03 1.19485903e+01] [ 1.20624598e-02 -4.65471564e-04 9.99927138e-01 -7.20890361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82719347 meters 0.0632010459779192 Centerline is valid? [True, True] Translation: X:66.87, Y:11.96, Z:-0.72 [[ 9.09924736e-01 -4.14625029e-01 -1.10932419e-02 6.68737352e+01] [ 4.14600116e-01 9.09992246e-01 -4.56677242e-03 1.19632121e+01] [ 1.19882623e-02 -4.43840184e-04 9.99928040e-01 -7.20273602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85719347 meters 0.06178610595644654 Centerline is valid? [True, True] Translation: X:66.89, Y:11.99, Z:-0.72 [[ 9.11535644e-01 -4.10992444e-01 -1.37105876e-02 6.68946271e+01] [ 4.10953877e-01 9.11638622e-01 -5.65099594e-03 1.19882271e+01] [ 1.48216178e-02 -4.83334904e-04 9.99890037e-01 -7.20679868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88719347 meters 0.0615278759962955 Centerline is valid? [True, True] Translation: X:66.92, Y:12.00, Z:-0.72 [[ 9.12243242e-01 -4.09374438e-01 -1.49945436e-02 6.69189807e+01] [ 4.09328004e-01 9.12366332e-01 -6.18550275e-03 1.20046917e+01] [ 1.62127034e-02 -4.95003508e-04 9.99868443e-01 -7.22288990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91719347 meters 0.061379163852569536 Centerline is valid? [True, True] Translation: X:66.94, Y:12.02, Z:-0.72 [[ 9.12654238e-01 -4.08431722e-01 -1.56770885e-02 6.69434066e+01] [ 4.08380729e-01 9.12788740e-01 -6.47273355e-03 1.20199660e+01] [ 1.69535396e-02 -4.94853137e-04 9.99856156e-01 -7.23752355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94719347 meters 0.061542087754256604 Centerline is valid? [True, True] Translation: X:66.97, Y:12.03, Z:-0.72 [[ 9.12790367e-01 -4.08161127e-01 -1.47729484e-02 6.69679899e+01] [ 4.08115807e-01 9.12909788e-01 -6.09970845e-03 1.20333463e+01] [ 1.59760331e-02 -4.61318651e-04 9.99872269e-01 -7.24913198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97719347 meters 0.06152618370263559 Centerline is valid? [True, True] Translation: X:66.99, Y:12.05, Z:-0.72 [[ 9.12186352e-01 -4.09527395e-01 -1.42608628e-02 6.69921979e+01] [ 4.09485221e-01 9.12297703e-01 -5.89530575e-03 1.20503418e+01] [ 1.54244416e-02 -4.61995115e-04 9.99880929e-01 -7.24220604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00719347 meters 0.06159792922981991 Centerline is valid? [True, True] Translation: X:67.02, Y:12.06, Z:-0.72 [[ 9.11575762e-01 -4.10867628e-01 -1.47452452e-02 6.70174222e+01] [ 4.10822629e-01 9.11694876e-01 -6.10094186e-03 1.20646229e+01] [ 1.59498440e-02 -4.96209688e-04 9.99872670e-01 -7.24021648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03719347 meters 0.061815307755520896 Centerline is valid? [True, True] Translation: X:67.04, Y:12.08, Z:-0.72 [[ 9.10888955e-01 -4.12351984e-01 -1.57211115e-02 6.70425310e+01] [ 4.12300956e-01 9.11024444e-01 -6.51033196e-03 1.20783927e+01] [ 1.70068651e-02 -5.51639812e-04 9.99855221e-01 -7.24834224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06719347 meters 0.06254958681193769 Centerline is valid? [True, True] Translation: X:67.07, Y:12.09, Z:-0.72 [[ 9.10030832e-01 -4.14249615e-01 -1.55287236e-02 6.70678268e+01] [ 4.14200100e-01 9.10163128e-01 -6.43089347e-03 1.20910673e+01] [ 1.67976668e-02 -5.79687515e-04 9.99858741e-01 -7.24670798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09719347000001 meters 0.06345604417869771 Centerline is valid? [True, True] Translation: X:67.09, Y:12.11, Z:-0.73 [[ 9.08803408e-01 -4.16810837e-01 -1.85766146e-02 6.70925874e+01] [ 4.16740493e-01 9.08992940e-01 -7.69397512e-03 1.21076386e+01] [ 2.00929438e-02 -7.49316729e-04 9.99797836e-01 -7.27555688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12719347 meters 0.06434836489545549 Centerline is valid? [True, True] Translation: X:67.12, Y:12.12, Z:-0.73 [[ 9.08235877e-01 -4.17965526e-01 -2.03079029e-02 6.71181042e+01] [ 4.17881640e-01 9.08462497e-01 -8.41583099e-03 1.21188054e+01] [ 2.19664954e-02 -8.42740109e-04 9.99758352e-01 -7.30696521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15719347 meters 0.06530612290190277 Centerline is valid? [True, True] Translation: X:67.14, Y:12.13, Z:-0.73 [[ 9.07326582e-01 -4.19877506e-01 -2.14791338e-02 6.71446517e+01] [ 4.19784183e-01 9.07580298e-01 -8.90182444e-03 1.21297458e+01] [ 2.32317145e-02 -9.39738682e-04 9.99729666e-01 -7.32789815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18719347 meters 0.0672150399107909 Centerline is valid? [True, True] Translation: X:67.17, Y:12.14, Z:-0.73 [[ 9.04503758e-01 -4.25960165e-01 -2.07578751e-02 6.71716840e+01] [ 4.25874590e-01 9.04741298e-01 -8.60326859e-03 1.21428218e+01] [ 2.24451565e-02 -1.05856277e-03 9.99747515e-01 -7.31849770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21719347 meters 0.0678738392148276 Centerline is valid? [True, True] Translation: X:67.20, Y:12.16, Z:-0.73 [[ 9.03198286e-01 -4.28735636e-01 -2.04599672e-02 6.71987759e+01] [ 4.28653183e-01 9.03429312e-01 -8.48099467e-03 1.21557907e+01] [ 2.21202387e-02 -1.11021020e-03 9.99754701e-01 -7.30810880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24719347 meters 0.07120876475569304 Centerline is valid? [True, True] Translation: X:67.23, Y:12.16, Z:-0.73 [[ 9.01516873e-01 -4.32269355e-01 -2.02616141e-02 6.72267363e+01] [ 4.32189327e-01 9.01743758e-01 -8.40121112e-03 1.21616673e+01] [ 2.19023701e-02 -1.18301977e-03 9.99759414e-01 -7.32866987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27719347 meters 0.0740042535459449 Centerline is valid? [True, True] Translation: X:67.26, Y:12.17, Z:-0.73 [[ 8.98178620e-01 -4.39148439e-01 -2.05867929e-02 6.72557433e+01] [ 4.39067611e-01 8.98413472e-01 -8.53617364e-03 1.21704219e+01] [ 2.22440994e-02 -1.37198530e-03 9.99751628e-01 -7.33883703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30719347 meters 0.07499927743352572 Centerline is valid? [True, True] Translation: X:67.28, Y:12.18, Z:-0.73 [[ 8.96493911e-01 -4.42572323e-01 -2.06979787e-02 6.72832820e+01] [ 4.42491492e-01 8.96731619e-01 -8.58382998e-03 1.21821953e+01] [ 2.23594975e-02 -1.46332815e-03 9.99748924e-01 -7.33820677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33719347 meters 0.07642641084008898 Centerline is valid? [True, True] Translation: X:67.31, Y:12.19, Z:-0.74 [[ 8.94651021e-01 -4.46186351e-01 -2.27440220e-02 6.73103291e+01] [ 4.46089894e-01 8.94938449e-01 -9.43289093e-03 1.21938369e+01] [ 2.45633269e-02 -1.70673284e-03 9.99696819e-01 -7.35189991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36719347 meters 0.0782428794583384 Centerline is valid? [True, True] Translation: X:67.34, Y:12.21, Z:-0.74 [[ 8.93024200e-01 -4.49414543e-01 -2.31159450e-02 6.73374761e+01] [ 4.49315938e-01 8.93321467e-01 -9.58875147e-03 1.22071662e+01] [ 2.49592942e-02 -1.82337539e-03 9.99686805e-01 -7.35522344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39719347 meters 0.07998563579660531 Centerline is valid? [True, True] Translation: X:67.36, Y:12.22, Z:-0.74 [[ 8.93036021e-01 -4.49504305e-01 -2.07977251e-02 6.73633392e+01] [ 4.49424406e-01 8.93276662e-01 -8.63178346e-03 1.22180706e+01] [ 2.24581462e-02 -1.63851169e-03 9.99746441e-01 -7.35194714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42719347 meters 0.0801527281959737 Centerline is valid? [True, True] Translation: X:67.39, Y:12.23, Z:-0.73 [[ 8.93565961e-01 -4.48530172e-01 -1.89883881e-02 6.73887682e+01] [ 4.48463352e-01 8.93766476e-01 -7.88086437e-03 1.22330996e+01] [ 2.05059901e-02 -1.47352403e-03 9.99788644e-01 -7.33906533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45719347 meters 0.07312932390593711 Centerline is valid? [True, True] Translation: X:67.41, Y:12.27, Z:-0.73 [[ 8.96185513e-01 -4.43320559e-01 -1.78439872e-02 6.74070824e+01] [ 4.43260507e-01 8.96362240e-01 -7.40663272e-03 1.22665796e+01] [ 1.92781889e-02 -1.27181786e-03 9.99813350e-01 -7.27976152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48719347000001 meters 0.07212304394895738 Centerline is valid? [True, True] Translation: X:67.43, Y:12.28, Z:-0.73 [[ 8.98034842e-01 -4.39599876e-01 -1.68929319e-02 6.74304666e+01] [ 4.39545383e-01 8.98193007e-01 -7.01279113e-03 1.22849638e+01] [ 1.82559354e-02 -1.12747944e-03 9.99832711e-01 -7.27740329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51719347 meters 0.07023741805214269 Centerline is valid? [True, True] Translation: X:67.45, Y:12.31, Z:-0.73 [[ 8.99554077e-01 -4.36499010e-01 -1.64644193e-02 6.74542747e+01] [ 4.36446724e-01 8.99704139e-01 -6.83513692e-03 1.23055081e+01] [ 1.77966367e-02 -1.03726657e-03 9.99841089e-01 -7.26755887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54719347 meters 0.07042556930686271 Centerline is valid? [True, True] Translation: X:67.48, Y:12.32, Z:-0.73 [[ 9.00889148e-01 -4.33791003e-01 -1.49702736e-02 6.74784342e+01] [ 4.33747379e-01 9.01013079e-01 -6.21635934e-03 1.23222314e+01] [ 1.61850131e-02 -8.93066275e-04 9.99868615e-01 -7.28062657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57719347 meters 0.06862044603879176 Centerline is valid? [True, True] Translation: X:67.50, Y:12.34, Z:-0.73 [[ 9.01491335e-01 -4.32505279e-01 -1.58920235e-02 6.75008053e+01] [ 4.32455786e-01 9.01630935e-01 -6.60682025e-03 1.23443120e+01] [ 1.71862246e-02 -9.16606292e-04 9.99851886e-01 -7.27705586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60719347 meters 0.06862393354895212 Centerline is valid? [True, True] Translation: X:67.52, Y:12.36, Z:-0.73 [[ 9.01524631e-01 -4.32391718e-01 -1.70511467e-02 6.75237522e+01] [ 4.32334591e-01 9.01685340e-01 -7.09574669e-03 1.23628732e+01] [ 1.84429111e-02 -9.74810117e-04 9.99829440e-01 -7.27897681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63719347 meters 0.07066458490769588 Centerline is valid? [True, True] Translation: X:67.55, Y:12.38, Z:-0.73 [[ 9.00631389e-01 -4.34290858e-01 -1.59546784e-02 6.75470752e+01] [ 4.34241138e-01 9.00772197e-01 -6.63952028e-03 1.23800060e+01] [ 1.72550137e-02 -9.48417339e-04 9.99850671e-01 -7.29773190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66719347 meters 0.07096744525806556 Centerline is valid? [True, True] Translation: X:67.57, Y:12.39, Z:-0.73 [[ 8.99791915e-01 -4.36029024e-01 -1.59122541e-02 6.75718421e+01] [ 4.35979781e-01 8.99932074e-01 -6.62524010e-03 1.23942039e+01] [ 1.72087448e-02 -9.76083594e-04 9.99851442e-01 -7.30089806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69719347 meters 0.0713567466296715 Centerline is valid? [True, True] Translation: X:67.60, Y:12.41, Z:-0.73 [[ 8.98674090e-01 -4.38317322e-01 -1.62112784e-02 6.75969189e+01] [ 4.38266574e-01 8.98819696e-01 -6.75008420e-03 1.24093293e+01] [ 1.75296952e-02 -1.03873569e-03 9.99845804e-01 -7.30766126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72719347 meters 0.07349694952838184 Centerline is valid? [True, True] Translation: X:67.62, Y:12.43, Z:-0.73 [[ 8.96436123e-01 -4.42797652e-01 -1.82350477e-02 6.76213460e+01] [ 4.42734364e-01 8.96620674e-01 -7.59268351e-03 1.24281746e+01] [ 1.97119432e-02 -1.26692650e-03 9.99804898e-01 -7.32314169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75719347 meters 0.07405339991668332 Centerline is valid? [True, True] Translation: X:67.65, Y:12.44, Z:-0.73 [[ 8.95458092e-01 -4.44689925e-01 -2.01414203e-02 6.76470356e+01] [ 4.44613165e-01 8.95683417e-01 -8.38745957e-03 1.24435742e+01] [ 2.17701549e-02 -1.44452208e-03 9.99761959e-01 -7.33563759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78719347 meters 0.07478430313977692 Centerline is valid? [True, True] Translation: X:67.67, Y:12.46, Z:-0.74 [[ 8.94672500e-01 -4.46223125e-01 -2.11196593e-02 6.76733719e+01] [ 4.46139127e-01 8.94920394e-01 -8.79590937e-03 1.24582447e+01] [ 2.28253520e-02 -1.55284810e-03 9.99738262e-01 -7.35698934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81719347 meters 0.07629783369737403 Centerline is valid? [True, True] Translation: X:67.70, Y:12.48, Z:-0.74 [[ 8.94091531e-01 -4.47279363e-01 -2.32702589e-02 6.76965598e+01] [ 4.47177662e-01 8.94392616e-01 -9.69471786e-03 1.24760298e+01] [ 2.51489949e-02 -1.73797483e-03 9.99682203e-01 -7.37221180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84719347000001 meters 0.0756695431458555 Centerline is valid? [True, True] Translation: X:67.72, Y:12.49, Z:-0.74 [[ 8.94002399e-01 -4.47472957e-01 -2.29709239e-02 6.77207250e+01] [ 4.47373679e-01 8.94295824e-01 -9.57969503e-03 1.24934704e+01] [ 2.48294558e-02 -1.71231641e-03 9.99690235e-01 -7.37017639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87719347 meters 0.07649561897028379 Centerline is valid? [True, True] Translation: X:67.75, Y:12.51, Z:-0.74 [[ 8.94322436e-01 -4.46896530e-01 -2.16995868e-02 6.77451029e+01] [ 4.46807711e-01 8.94584223e-01 -9.05195088e-03 1.25069190e+01] [ 2.34573934e-02 -1.60017994e-03 9.99723557e-01 -7.37103602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90719347 meters 0.07474054928225672 Centerline is valid? [True, True] Translation: X:67.77, Y:12.53, Z:-0.74 [[ 8.96185639e-01 -4.43237381e-01 -1.97970827e-02 6.77678771e+01] [ 4.43162577e-01 8.96403224e-01 -8.25779060e-03 1.25311154e+01] [ 2.14063303e-02 -1.37281284e-03 9.99769916e-01 -7.35348503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93719347 meters 0.07244021243322891 Centerline is valid? [True, True] Translation: X:67.79, Y:12.55, Z:-0.73 [[ 8.97389591e-01 -4.40804502e-01 -1.95783784e-02 6.77921500e+01] [ 4.40730754e-01 8.97602195e-01 -8.16705901e-03 1.25515363e+01] [ 2.11736718e-02 -1.29975976e-03 9.99774968e-01 -7.34275278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96719347 meters 0.07255875649843113 Centerline is valid? [True, True] Translation: X:67.82, Y:12.57, Z:-0.74 [[ 8.98487927e-01 -4.38582235e-01 -1.91067721e-02 6.78168000e+01] [ 4.38511460e-01 8.98690239e-01 -7.97210236e-03 1.25665146e+01] [ 2.06674921e-02 -1.21570082e-03 9.99785665e-01 -7.35384105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99719347 meters 0.07033057328527458 Centerline is valid? [True, True] Translation: X:67.84, Y:12.59, Z:-0.73 [[ 9.00179471e-01 -4.35130937e-01 -1.83844663e-02 6.78392583e+01] [ 4.35064692e-01 9.00366521e-01 -7.67082434e-03 1.25903696e+01] [ 1.98905710e-02 -1.09331358e-03 9.99801565e-01 -7.34315158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02719347 meters 0.06849048168947568 Centerline is valid? [True, True] Translation: X:67.86, Y:12.61, Z:-0.73 [[ 9.01203843e-01 -4.33075266e-01 -1.66567739e-02 6.78635768e+01] [ 4.33020529e-01 9.01357262e-01 -6.95038444e-03 1.26103497e+01] [ 1.80237437e-02 -9.49011895e-04 9.99837109e-01 -7.32667597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05719347 meters 0.0704465509962272 Centerline is valid? [True, True] Translation: X:67.89, Y:12.62, Z:-0.73 [[ 9.02410702e-01 -4.30612923e-01 -1.50809909e-02 6.78894627e+01] [ 4.30567686e-01 9.02536342e-01 -6.29435315e-03 1.26227933e+01] [ 1.63215722e-02 -8.13295703e-04 9.99866463e-01 -7.34121377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08719347 meters 0.06653193521051892 Centerline is valid? [True, True] Translation: X:67.91, Y:12.65, Z:-0.73 [[ 9.04209206e-01 -4.26824266e-01 -1.50584944e-02 6.79113499e+01] [ 4.26778630e-01 9.04334282e-01 -6.28551606e-03 1.26476952e+01] [ 1.63007235e-02 -7.43222101e-04 9.99866858e-01 -7.30137372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11719347 meters 0.06361799616822746 Centerline is valid? [True, True] Translation: X:67.93, Y:12.67, Z:-0.73 [[ 9.09091467e-01 -4.16235368e-01 -1.73442460e-02 6.79317901e+01] [ 4.16172877e-01 9.09256682e-01 -7.24038672e-03 1.26744132e+01] [ 1.87840766e-02 -6.36030984e-04 9.99823361e-01 -7.32331162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14719347 meters 0.06168778646160938 Centerline is valid? [True, True] Translation: X:67.96, Y:12.70, Z:-0.73 [[ 9.11663824e-01 -4.10537564e-01 -1.81102114e-02 6.79554756e+01] [ 4.10468287e-01 9.11843526e-01 -7.56103981e-03 1.26950114e+01] [ 1.96177699e-02 -5.40540969e-04 9.99807407e-01 -7.31916958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17719347 meters 0.0603363698803734 Centerline is valid? [True, True] Translation: X:67.98, Y:12.72, Z:-0.73 [[ 9.14565455e-01 -4.04081527e-01 -1.69749398e-02 6.79794350e+01] [ 4.04019544e-01 9.14722897e-01 -7.08732059e-03 1.27151075e+01] [ 1.83912214e-02 -3.76388852e-04 9.99830796e-01 -7.31425151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20719347 meters 0.059601552569682886 Centerline is valid? [True, True] Translation: X:68.00, Y:12.73, Z:-0.73 [[ 9.16787158e-01 -3.99014672e-01 -1.69882043e-02 6.80031067e+01] [ 3.98951578e-01 9.16944502e-01 -7.10061513e-03 1.27339798e+01] [ 1.84104902e-02 -2.67718147e-04 9.99830477e-01 -7.30950875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23719347000001 meters 0.0591313884392065 Centerline is valid? [True, True] Translation: X:68.03, Y:12.76, Z:-0.73 [[ 9.19365814e-01 -3.93015116e-01 -1.74819742e-02 6.80277925e+01] [ 3.92947285e-01 9.19531997e-01 -7.30318504e-03 1.27564050e+01] [ 1.89454968e-02 -1.55195668e-04 9.99820506e-01 -7.28448003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26719347 meters 0.05917408861933587 Centerline is valid? [True, True] Translation: X:68.06, Y:12.77, Z:-0.73 [[ 9.19963431e-01 -3.91622055e-01 -1.73046884e-02 6.80575603e+01] [ 3.91555387e-01 9.20126160e-01 -7.22694958e-03 1.27697333e+01] [ 1.87527293e-02 -1.27214634e-04 9.99824144e-01 -7.29458330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29719347 meters 0.05933261928389603 Centerline is valid? [True, True] Translation: X:68.09, Y:12.78, Z:-0.73 [[ 9.20141219e-01 -3.91142702e-01 -1.86420069e-02 6.80860851e+01] [ 3.91065229e-01 9.20330034e-01 -7.78562951e-03 1.27790406e+01] [ 2.02020910e-02 -1.26362067e-04 9.99795909e-01 -7.34076580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32719347 meters 0.05933261928389603 Centerline is valid? [True, True] Translation: X:68.11, Y:12.79, Z:-0.73 [[ 9.20025441e-01 -3.91415110e-01 -1.86386913e-02 6.81120723e+01] [ 3.91337532e-01 9.20214212e-01 -7.79356506e-03 1.27900895e+01] [ 2.02021077e-02 -1.23741308e-04 9.99795909e-01 -7.34309543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35719347 meters 0.05958218233353011 Centerline is valid? [True, True] Translation: X:68.14, Y:12.79, Z:-0.74 [[ 9.19516689e-01 -3.92531625e-01 -2.01985582e-02 6.81409422e+01] [ 3.92440635e-01 9.19738495e-01 -8.45272334e-03 1.27944862e+01] [ 2.18953528e-02 -1.54314838e-04 9.99760256e-01 -7.38736869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38719347 meters 0.05961948519999959 Centerline is valid? [True, True] Translation: X:68.17, Y:12.80, Z:-0.74 [[ 9.19070799e-01 -3.93509380e-01 -2.14297481e-02 6.81681469e+01] [ 3.93407159e-01 9.19320582e-01 -8.97070827e-03 1.28028309e+01] [ 2.32308663e-02 -1.85900302e-04 9.99730110e-01 -7.38976305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41719347 meters 0.05984847393517808 Centerline is valid? [True, True] Translation: X:68.19, Y:12.81, Z:-0.74 [[ 9.18778018e-01 -3.94178415e-01 -2.16871106e-02 6.81947429e+01] [ 3.94073808e-01 9.19033915e-01 -9.08277918e-03 1.28107722e+01] [ 2.35114257e-02 -2.01264423e-04 9.99723548e-01 -7.39541904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44719347 meters 0.06006787830210415 Centerline is valid? [True, True] Translation: X:68.22, Y:12.81, Z:-0.74 [[ 9.18200907e-01 -3.95549739e-01 -2.11541724e-02 6.82221131e+01] [ 3.95450425e-01 9.18444529e-01 -8.86608231e-03 1.28140629e+01] [ 2.29359104e-02 -2.24581644e-04 9.99736912e-01 -7.39677068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47719347 meters 0.060078377372213713 Centerline is valid? [True, True] Translation: X:68.25, Y:12.82, Z:-0.74 [[ 9.17620873e-01 -3.96925368e-01 -2.05471575e-02 6.82504480e+01] [ 3.96831814e-01 9.17850855e-01 -8.62083455e-03 1.28196176e+01] [ 2.22810540e-02 -2.43108044e-04 9.99751717e-01 -7.39752530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50719347 meters 0.060324356582907336 Centerline is valid? [True, True] Translation: X:68.28, Y:12.82, Z:-0.74 [[ 9.16400896e-01 -3.99657529e-01 -2.19831221e-02 6.82792836e+01] [ 3.99551211e-01 9.16664470e-01 -9.22389198e-03 1.28242601e+01] [ 2.38375449e-02 -3.30600188e-04 9.99715791e-01 -7.38784463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53719347 meters 0.06093468834695921 Centerline is valid? [True, True] Translation: X:68.31, Y:12.83, Z:-0.74 [[ 9.15074597e-01 -4.02644173e-01 -2.27189936e-02 6.83084324e+01] [ 4.02531416e-01 9.15356486e-01 -9.53749582e-03 1.28273813e+01] [ 2.46361953e-02 -4.17588520e-04 9.99696396e-01 -7.41424125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56719347 meters 0.062249254721499794 Centerline is valid? [True, True] Translation: X:68.34, Y:12.82, Z:-0.74 [[ 9.12184219e-01 -4.09072974e-01 -2.40676820e-02 6.83415465e+01] [ 4.08948692e-01 9.12501457e-01 -1.01024037e-02 1.28242400e+01] [ 2.60944152e-02 -6.27193831e-04 9.99659286e-01 -7.43132168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59719347000001 meters 0.06307692208662571 Centerline is valid? [True, True] Translation: X:68.37, Y:12.83, Z:-0.74 [[ 9.10342864e-01 -4.13062396e-01 -2.55993542e-02 6.83711860e+01] [ 4.12923295e-01 9.10702388e-01 -1.07477379e-02 1.28288706e+01] [ 2.77528793e-02 -7.86443181e-04 9.99614505e-01 -7.43472550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62719347 meters 0.06373193413425518 Centerline is valid? [True, True] Translation: X:68.40, Y:12.83, Z:-0.74 [[ 9.08612343e-01 -4.16778568e-01 -2.68185475e-02 6.84005189e+01] [ 4.16627453e-01 9.09007558e-01 -1.12616619e-02 1.28339786e+01] [ 2.90718817e-02 -9.40858115e-04 9.99576881e-01 -7.43601879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65719347 meters 0.0658682006405762 Centerline is valid? [True, True] Translation: X:68.43, Y:12.83, Z:-0.74 [[ 9.05301433e-01 -4.23831127e-01 -2.82221576e-02 6.84341961e+01] [ 4.23667181e-01 9.05740398e-01 -1.18512229e-02 1.28318944e+01] [ 3.05848654e-02 -1.22787290e-03 9.99531419e-01 -7.44990239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68719347 meters 0.06708086892224707 Centerline is valid? [True, True] Translation: X:68.46, Y:12.84, Z:-0.74 [[ 9.03388258e-01 -4.27984763e-01 -2.68085411e-02 6.84647452e+01] [ 4.27838607e-01 9.03785017e-01 -1.12592001e-02 1.28361830e+01] [ 2.90479239e-02 -1.29829976e-03 9.99577177e-01 -7.44996664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71719347 meters 0.06667386864815276 Centerline is valid? [True, True] Translation: X:68.49, Y:12.84, Z:-0.74 [[ 9.02075344e-01 -4.30782399e-01 -2.62030116e-02 6.84934801e+01] [ 4.30643907e-01 9.02454812e-01 -1.10062965e-02 1.28445072e+01] [ 2.83883527e-02 -1.35565858e-03 9.99596050e-01 -7.43451167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74719347 meters 0.06884198094792852 Centerline is valid? [True, True] Translation: X:68.52, Y:12.85, Z:-0.75 [[ 9.00925116e-01 -4.33225767e-01 -2.54827400e-02 6.85224097e+01] [ 4.33095650e-01 9.01284363e-01 -1.07076708e-02 1.28476877e+01] [ 2.76060340e-02 -1.38965425e-03 9.99617915e-01 -7.45546147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77719347 meters 0.06905881184323143 Centerline is valid? [True, True] Translation: X:68.55, Y:12.85, Z:-0.75 [[ 8.99903236e-01 -4.35358833e-01 -2.52359252e-02 6.85516507e+01] [ 4.35232018e-01 9.00255860e-01 -1.06055106e-02 1.28533405e+01] [ 2.73359923e-02 -1.43954939e-03 9.99625265e-01 -7.45593043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80719347 meters 0.06984580510963882 Centerline is valid? [True, True] Translation: X:68.58, Y:12.86, Z:-0.75 [[ 8.99261318e-01 -4.36652369e-01 -2.57641390e-02 6.85795148e+01] [ 4.36520615e-01 8.99629056e-01 -1.08311504e-02 1.28604632e+01] [ 2.79076155e-02 -1.50654319e-03 9.99609371e-01 -7.46509054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83719347 meters 0.07012907469704761 Centerline is valid? [True, True] Translation: X:68.61, Y:12.87, Z:-0.75 [[ 8.99213283e-01 -4.36839083e-01 -2.42298927e-02 6.86063188e+01] [ 4.36722491e-01 8.99538551e-01 -1.01911840e-02 1.28685228e+01] [ 2.62476300e-02 -1.41769109e-03 9.99654466e-01 -7.46219225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86719347 meters 0.07055581996710557 Centerline is valid? [True, True] Translation: X:68.63, Y:12.88, Z:-0.75 [[ 8.98774182e-01 -4.37846460e-01 -2.22586344e-02 6.86346590e+01] [ 4.37748156e-01 8.99048793e-01 -9.37120382e-03 1.28761646e+01] [ 2.41147468e-02 -1.32108011e-03 9.99708324e-01 -7.45043338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89719347 meters 0.07100137395734707 Centerline is valid? [True, True] Translation: X:68.66, Y:12.89, Z:-0.75 [[ 8.98623079e-01 -4.38082302e-01 -2.36739909e-02 6.86612911e+01] [ 4.37970973e-01 8.98933770e-01 -9.97514712e-03 1.28864213e+01] [ 2.56512853e-02 -1.40462340e-03 9.99669965e-01 -7.45609811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92719347 meters 0.07194492246912941 Centerline is valid? [True, True] Translation: X:68.69, Y:12.90, Z:-0.75 [[ 8.98686963e-01 -4.37954810e-01 -2.36077632e-02 6.86877077e+01] [ 4.37844028e-01 8.98995904e-01 -9.94844933e-03 1.28950592e+01] [ 2.55802537e-02 -1.39597643e-03 9.99671797e-01 -7.47133483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95719347 meters 0.07154450953081493 Centerline is valid? [True, True] Translation: X:68.71, Y:12.91, Z:-0.75 [[ 8.98734273e-01 -4.37785552e-01 -2.49101690e-02 6.87141784e+01] [ 4.37661867e-01 8.99078240e-01 -1.05075366e-02 1.29066339e+01] [ 2.69962386e-02 -1.45874785e-03 9.99634471e-01 -7.48660823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98719347000001 meters 0.07087861934037051 Centerline is valid? [True, True] Translation: X:68.74, Y:12.92, Z:-0.75 [[ 8.98991291e-01 -4.37256845e-01 -2.49220727e-02 6.87407631e+01] [ 4.37132603e-01 8.99335527e-01 -1.05212954e-02 1.29169820e+01] [ 2.70138138e-02 -1.43569758e-03 9.99634029e-01 -7.49582597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01719347 meters 0.07176789836663658 Centerline is valid? [True, True] Translation: X:68.77, Y:12.93, Z:-0.75 [[ 8.99058047e-01 -4.37140364e-01 -2.45546595e-02 6.87676220e+01] [ 4.37019678e-01 8.99392192e-01 -1.03675442e-02 1.29254270e+01] [ 2.66163411e-02 -1.40984536e-03 9.99644728e-01 -7.51179413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04719347 meters 0.06903737705684722 Centerline is valid? [True, True] Translation: X:68.79, Y:12.94, Z:-0.75 [[ 8.99610864e-01 -4.35989564e-01 -2.47667982e-02 6.87912972e+01] [ 4.35866062e-01 8.99950666e-01 -1.04677978e-02 1.29426542e+01] [ 2.68527471e-02 -1.37806221e-03 9.99638450e-01 -7.48313299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07719347 meters 0.0685793659899874 Centerline is valid? [True, True] Translation: X:68.82, Y:12.96, Z:-0.75 [[ 9.00543138e-01 -4.34044225e-01 -2.50532874e-02 6.88168024e+01] [ 4.33917022e-01 9.00890579e-01 -1.05916731e-02 1.29573558e+01] [ 2.71675252e-02 -1.33278930e-03 9.99630006e-01 -7.48481500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10719347 meters 0.06768899394378736 Centerline is valid? [True, True] Translation: X:68.84, Y:12.98, Z:-0.75 [[ 9.03672287e-01 -4.27428821e-01 -2.60959872e-02 6.88398425e+01] [ 4.27288043e-01 9.04048234e-01 -1.10326334e-02 1.29768292e+01] [ 2.83076966e-02 -1.18061821e-03 9.99598560e-01 -7.51068454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13719347 meters 0.06648244509021818 Centerline is valid? [True, True] Translation: X:68.87, Y:12.99, Z:-0.75 [[ 9.05347190e-01 -4.23962621e-01 -2.45389855e-02 6.88651817e+01] [ 4.23836858e-01 9.05679127e-01 -1.03748388e-02 1.29934073e+01] [ 2.66229908e-02 -1.00769536e-03 9.99645037e-01 -7.50556510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16719347 meters 0.06429025716670429 Centerline is valid? [True, True] Translation: X:68.89, Y:13.01, Z:-0.75 [[ 9.07526805e-01 -4.19339931e-01 -2.34333300e-02 6.88900086e+01] [ 4.19223689e-01 9.07828910e-01 -9.90798487e-03 1.30123795e+01] [ 2.54282681e-02 -8.32045211e-04 9.99676303e-01 -7.48247192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19719347 meters 0.06239186554900309 Centerline is valid? [True, True] Translation: X:68.91, Y:13.03, Z:-0.75 [[ 9.10018139e-01 -4.13947476e-01 -2.26820075e-02 6.89130937e+01] [ 4.13836858e-01 9.10300529e-01 -9.59169773e-03 1.30338606e+01] [ 2.46179025e-02 -6.58031824e-04 9.99696717e-01 -7.46493128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22719347 meters 0.0624930999481731 Centerline is valid? [True, True] Translation: X:68.94, Y:13.05, Z:-0.75 [[ 9.10992546e-01 -4.11895374e-01 -2.08514485e-02 6.89372338e+01] [ 4.11801280e-01 9.11230979e-01 -8.82089232e-03 1.30474412e+01] [ 2.26337706e-02 -5.50886044e-04 9.99743672e-01 -7.47448882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25719347 meters 0.06197738054508139 Centerline is valid? [True, True] Translation: X:68.96, Y:13.06, Z:-0.75 [[ 9.11600473e-01 -4.10589161e-01 -2.00279455e-02 6.89616170e+01] [ 4.10501850e-01 9.11820323e-01 -8.48118159e-03 1.30638016e+01] [ 2.17441690e-02 -4.90059554e-04 9.99763447e-01 -7.45114714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28719347 meters 0.06161846479114424 Centerline is valid? [True, True] Translation: X:68.99, Y:13.08, Z:-0.74 [[ 9.12478748e-01 -4.08605345e-01 -2.05962625e-02 6.89855259e+01] [ 4.08512341e-01 9.12711055e-01 -8.72908602e-03 1.30805205e+01] [ 2.23651877e-02 -4.48721923e-04 9.99749767e-01 -7.43971717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31719347 meters 0.061738979930028796 Centerline is valid? [True, True] Translation: X:69.01, Y:13.10, Z:-0.75 [[ 9.13770889e-01 -4.05598462e-01 -2.26417746e-02 6.90080903e+01] [ 4.05485008e-01 9.14051269e-01 -9.60138200e-03 1.30955734e+01] [ 2.45900486e-02 -4.07436784e-04 9.99697536e-01 -7.48400822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34719347000001 meters 0.06182038220592326 Centerline is valid? [True, True] Translation: X:69.03, Y:13.11, Z:-0.75 [[ 9.14167074e-01 -4.04630658e-01 -2.39288814e-02 6.90348046e+01] [ 4.04503379e-01 9.14480112e-01 -1.01558868e-02 1.31072188e+01] [ 2.59918693e-02 -3.95136031e-04 9.99662076e-01 -7.51313684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37719347 meters 0.061831612079205706 Centerline is valid? [True, True] Translation: X:69.06, Y:13.12, Z:-0.75 [[ 9.14425305e-01 -4.04013058e-01 -2.44910496e-02 6.90607174e+01] [ 4.03879235e-01 9.14753140e-01 -1.04046468e-02 1.31187755e+01] [ 2.66068777e-02 -3.77154066e-04 9.99645903e-01 -7.52985475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40719347 meters 0.06189234081691197 Centerline is valid? [True, True] Translation: X:69.09, Y:13.13, Z:-0.75 [[ 9.13816675e-01 -4.05235994e-01 -2.68863034e-02 6.90882312e+01] [ 4.05075283e-01 9.14212001e-01 -1.14206889e-02 1.31307830e+01] [ 2.92078554e-02 -4.54561015e-04 9.99573256e-01 -7.51959099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43719347 meters 0.06213822246429103 Centerline is valid? [True, True] Translation: X:69.11, Y:13.14, Z:-0.75 [[ 9.13351833e-01 -4.06323362e-01 -2.62631919e-02 6.91148033e+01] [ 4.06170351e-01 9.13729227e-01 -1.11599904e-02 1.31398764e+01] [ 2.85320108e-02 -4.74332216e-04 9.99592767e-01 -7.52365009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46719347 meters 0.06241026316378376 Centerline is valid? [True, True] Translation: X:69.14, Y:13.15, Z:-0.75 [[ 9.13169723e-01 -4.06744749e-01 -2.60723263e-02 6.91415693e+01] [ 4.06593767e-01 9.13541726e-01 -1.10915560e-02 1.31490323e+01] [ 2.83295901e-02 -4.72372227e-04 9.99598525e-01 -7.53366702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49719347 meters 0.06318383285592308 Centerline is valid? [True, True] Translation: X:69.17, Y:13.16, Z:-0.76 [[ 9.13545277e-01 -4.05746481e-01 -2.83693400e-02 6.91686075e+01] [ 4.05567130e-01 9.13985539e-01 -1.20721827e-02 1.31572734e+01] [ 3.08274121e-02 -4.77186342e-04 9.99524608e-01 -7.58595229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52719347 meters 0.06308324784912664 Centerline is valid? [True, True] Translation: X:69.20, Y:13.17, Z:-0.76 [[ 9.14057348e-01 -4.04448646e-01 -3.03390399e-02 6.91951316e+01] [ 4.04242422e-01 9.14560598e-01 -1.29219491e-02 1.31690806e+01] [ 3.29731553e-02 -4.52924493e-04 9.99456135e-01 -7.59211002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55719347 meters 0.06344142425406715 Centerline is valid? [True, True] Translation: X:69.22, Y:13.18, Z:-0.76 [[ 9.14321367e-01 -4.03709924e-01 -3.21672861e-02 6.92217973e+01] [ 4.03477248e-01 9.14886934e-01 -1.37116197e-02 1.31785721e+01] [ 3.49649468e-02 -4.41941186e-04 9.99388442e-01 -7.62581987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58719347 meters 0.06328752081511903 Centerline is valid? [True, True] Translation: X:69.25, Y:13.19, Z:-0.76 [[ 9.14903277e-01 -4.02294309e-01 -3.33359086e-02 6.92487643e+01] [ 4.02043048e-01 9.15510315e-01 -1.42215205e-02 1.31896590e+01] [ 3.62406049e-02 -3.91154563e-04 9.99343017e-01 -7.62886868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61719347 meters 0.06329999612671615 Centerline is valid? [True, True] Translation: X:69.28, Y:13.20, Z:-0.76 [[ 9.15221592e-01 -4.01605261e-01 -3.29036789e-02 6.92752777e+01] [ 4.01359612e-01 9.15812805e-01 -1.40487935e-02 1.31998783e+01] [ 3.57756798e-02 -3.48448635e-04 9.99359785e-01 -7.62753990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64719347 meters 0.06315268534432898 Centerline is valid? [True, True] Translation: X:69.30, Y:13.21, Z:-0.76 [[ 9.14705846e-01 -4.02910120e-01 -3.12514235e-02 6.93030542e+01] [ 4.02688901e-01 9.15239477e-01 -1.33547447e-02 1.32077074e+01] [ 3.39832982e-02 -3.68938310e-04 9.99422333e-01 -7.59086968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67719347 meters 0.06327200730919506 Centerline is valid? [True, True] Translation: X:69.33, Y:13.21, Z:-0.76 [[ 9.13463838e-01 -4.05809635e-01 -3.00392370e-02 6.93316418e+01] [ 4.05606459e-01 9.13957515e-01 -1.28476099e-02 1.32148341e+01] [ 3.26682703e-02 -4.48281535e-04 9.99466149e-01 -7.58173425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70719347 meters 0.06340285259088915 Centerline is valid? [True, True] Translation: X:69.36, Y:13.22, Z:-0.76 [[ 9.12191059e-01 -4.08636832e-01 -3.03876773e-02 6.93601946e+01] [ 4.08430108e-01 9.12696906e-01 -1.30078909e-02 1.32211295e+01] [ 3.30502423e-02 -5.45560530e-04 9.99453543e-01 -7.57338978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73719347000001 meters 0.06479522653654807 Centerline is valid? [True, True] Translation: X:69.39, Y:13.22, Z:-0.76 [[ 9.09310440e-01 -4.15112530e-01 -2.89155967e-02 6.93919429e+01] [ 4.14928474e-01 9.09769774e-01 -1.23822136e-02 1.32184161e+01] [ 3.14465479e-02 -7.38628281e-04 9.99505162e-01 -7.60268179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76719347 meters 0.06441004012599717 Centerline is valid? [True, True] Translation: X:69.42, Y:13.23, Z:-0.76 [[ 9.07876847e-01 -4.18278503e-01 -2.83324140e-02 6.94189784e+01] [ 4.18102967e-01 9.08318458e-01 -1.21444488e-02 1.32283256e+01] [ 3.08146165e-02 -8.20202481e-04 9.99524780e-01 -7.55977742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79719347 meters 0.06585257500725847 Centerline is valid? [True, True] Translation: X:69.45, Y:13.23, Z:-0.76 [[ 9.07163548e-01 -4.19897791e-01 -2.72055445e-02 6.94459039e+01] [ 4.19736562e-01 9.07571013e-01 -1.16651016e-02 1.32338086e+01] [ 2.95891140e-02 -8.37006777e-04 9.99561796e-01 -7.59382004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82719347 meters 0.06560595607657216 Centerline is valid? [True, True] Translation: X:69.47, Y:13.24, Z:-0.76 [[ 9.06267600e-01 -4.21744376e-01 -2.84731242e-02 6.94743473e+01] [ 4.21568665e-01 9.06714288e-01 -1.22090187e-02 1.32426640e+01] [ 3.09660735e-02 -9.38738848e-04 9.99519995e-01 -7.57003845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85719347 meters 0.06718394821291535 Centerline is valid? [True, True] Translation: X:69.50, Y:13.25, Z:-0.76 [[ 9.05704784e-01 -4.23020360e-01 -2.74339148e-02 6.95015758e+01] [ 4.22857546e-01 9.06119692e-01 -1.17728486e-02 1.32473935e+01] [ 2.98385651e-02 -9.37912572e-04 9.99554291e-01 -7.60298754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88719347 meters 0.06652743612659494 Centerline is valid? [True, True] Translation: X:69.53, Y:13.26, Z:-0.76 [[ 9.05084510e-01 -4.24320210e-01 -2.78278616e-02 6.95279024e+01] [ 4.24152983e-01 9.05511672e-01 -1.19523287e-02 1.32594709e+01] [ 3.02700681e-02 -9.85402960e-04 9.99541271e-01 -7.57634472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91719347 meters 0.06686934599493634 Centerline is valid? [True, True] Translation: X:69.55, Y:13.27, Z:-0.76 [[ 9.04971306e-01 -4.24527584e-01 -2.83419334e-02 6.95540318e+01] [ 4.24354168e-01 9.05414442e-01 -1.21748912e-02 1.32695706e+01] [ 3.08297730e-02 -1.00909043e-03 9.99524140e-01 -7.58000419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94719347 meters 0.06669794224218942 Centerline is valid? [True, True] Translation: X:69.58, Y:13.28, Z:-0.76 [[ 9.05120077e-01 -4.24149935e-01 -2.92314697e-02 6.95796627e+01] [ 4.23964883e-01 9.05591408e-01 -1.25689663e-02 1.32817334e+01] [ 3.18028940e-02 -1.01669284e-03 9.99493643e-01 -7.57949073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97719347 meters 0.06534288436499572 Centerline is valid? [True, True] Translation: X:69.61, Y:13.30, Z:-0.76 [[ 9.06883804e-01 -4.20420959e-01 -2.84250375e-02 6.96056106e+01] [ 4.20244143e-01 9.07328758e-01 -1.22223063e-02 1.32975558e+01] [ 3.09293677e-02 -8.61243880e-04 9.99521202e-01 -7.55868284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00719347 meters 0.06489065306951067 Centerline is valid? [True, True] Translation: X:69.63, Y:13.31, Z:-0.76 [[ 9.08182282e-01 -4.17701666e-01 -2.70233270e-02 6.96301437e+01] [ 4.17540543e-01 9.08583947e-01 -1.16234686e-02 1.33109335e+01] [ 2.94081033e-02 -7.27106444e-04 9.99567224e-01 -7.55883621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03719347 meters 0.0641757407486111 Centerline is valid? [True, True] Translation: X:69.65, Y:13.33, Z:-0.76 [[ 9.10100383e-01 -4.13551993e-01 -2.63066986e-02 6.96545048e+01] [ 4.13397497e-01 9.10480323e-01 -1.13177386e-02 1.33267423e+01] [ 2.86322048e-02 -5.74845121e-04 9.99589849e-01 -7.55932784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06719347 meters 0.06356948685585542 Centerline is valid? [True, True] Translation: X:69.68, Y:13.35, Z:-0.76 [[ 9.13126959e-01 -4.06739825e-01 -2.76020043e-02 6.96764208e+01] [ 4.06566506e-01 9.13543964e-01 -1.18786519e-02 1.33453571e+01] [ 3.00471652e-02 -3.75333110e-04 9.99548412e-01 -7.58501842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09719347000001 meters 0.06354742542249978 Centerline is valid? [True, True] Translation: X:69.70, Y:13.36, Z:-0.76 [[ 9.14132978e-01 -4.04361088e-01 -2.92063315e-02 6.97011442e+01] [ 4.04165419e-01 9.14599376e-01 -1.25815652e-02 1.33597416e+01] [ 3.17995880e-02 -3.02965504e-04 9.99494219e-01 -7.58247697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12719347 meters 0.06390247700264413 Centerline is valid? [True, True] Translation: X:69.73, Y:13.37, Z:-0.76 [[ 9.14291100e-01 -4.03911653e-01 -3.04493087e-02 6.97269689e+01] [ 4.03698354e-01 9.14797952e-01 -1.31280616e-02 1.33717029e+01] [ 3.31575422e-02 -2.89465943e-04 9.99450096e-01 -7.60226197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15719347 meters 0.06422690285394038 Centerline is valid? [True, True] Translation: X:69.75, Y:13.38, Z:-0.76 [[ 9.13766220e-01 -4.05059043e-01 -3.09591156e-02 6.97541654e+01] [ 4.04838817e-01 9.14290471e-01 -1.33591474e-02 1.33813811e+01] [ 3.37168679e-02 -3.26314151e-04 9.99431372e-01 -7.62362300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18719347 meters 0.06479886484750882 Centerline is valid? [True, True] Translation: X:69.78, Y:13.39, Z:-0.77 [[ 9.12339375e-01 -4.08199356e-01 -3.17828791e-02 6.97820965e+01] [ 4.07969076e-01 9.12892700e-01 -1.37168489e-02 1.33875928e+01] [ 3.46135672e-02 -4.52010441e-04 9.99400669e-01 -7.65796574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21719347 meters 0.06479886484750882 Centerline is valid? [True, True] Translation: X:69.81, Y:13.40, Z:-0.77 [[ 9.12199459e-01 -4.08512353e-01 -3.17774093e-02 6.98071958e+01] [ 4.08281821e-01 9.12752680e-01 -1.37295174e-02 1.33986913e+01] [ 3.46135930e-02 -4.50080197e-04 9.99400669e-01 -7.66023206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24719347 meters 0.06544931063198126 Centerline is valid? [True, True] Translation: X:69.84, Y:13.40, Z:-0.76 [[ 9.08326974e-01 -4.17279688e-01 -2.86316207e-02 6.98380818e+01] [ 4.17096562e-01 9.08777848e-01 -1.23806731e-02 1.33992135e+01] [ 3.11859861e-02 -6.96451246e-04 9.99513356e-01 -7.62297158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27719347 meters 0.06636662297427279 Centerline is valid? [True, True] Translation: X:69.87, Y:13.41, Z:-0.76 [[ 9.06887593e-01 -4.20404297e-01 -2.85503058e-02 6.98662018e+01] [ 4.20223697e-01 9.07336535e-01 -1.23473622e-02 1.34050244e+01] [ 3.10956196e-02 -7.99845495e-04 9.99516094e-01 -7.63257257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30719347 meters 0.0667928307435713 Centerline is valid? [True, True] Translation: X:69.89, Y:13.41, Z:-0.76 [[ 9.06037885e-01 -4.22289230e-01 -2.76975900e-02 6.98935393e+01] [ 4.22120033e-01 9.06460759e-01 -1.19820416e-02 1.34131603e+01] [ 3.01666656e-02 -8.35523973e-04 9.99544533e-01 -7.62718648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33719347 meters 0.06665635764602876 Centerline is valid? [True, True] Translation: X:69.92, Y:13.42, Z:-0.76 [[ 9.05513170e-01 -4.23414373e-01 -2.76797334e-02 6.99199856e+01] [ 4.23245569e-01 9.05935718e-01 -1.19859360e-02 1.34239714e+01] [ 3.01510767e-02 -8.61901599e-04 9.99544981e-01 -7.61598784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36719347 meters 0.06735242353863835 Centerline is valid? [True, True] Translation: X:69.95, Y:13.43, Z:-0.76 [[ 9.04370184e-01 -4.25887917e-01 -2.70934007e-02 6.99468220e+01] [ 4.25727246e-01 9.04775459e-01 -1.17337666e-02 1.34325732e+01] [ 2.95107135e-02 -9.22730229e-04 9.99564038e-01 -7.61373062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39719347 meters 0.06725620836760356 Centerline is valid? [True, True] Translation: X:69.97, Y:13.44, Z:-0.76 [[ 9.03500449e-01 -4.27761754e-01 -2.65860855e-02 6.99729412e+01] [ 4.27607522e-01 9.03891017e-01 -1.15254947e-02 1.34442449e+01] [ 2.89610897e-02 -9.55120514e-04 9.99580083e-01 -7.60535696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42719347 meters 0.06758660855609427 Centerline is valid? [True, True] Translation: X:70.00, Y:13.45, Z:-0.76 [[ 9.03334538e-01 -4.28179818e-01 -2.54706972e-02 6.99985035e+01] [ 4.28038380e-01 9.03693081e-01 -1.10435677e-02 1.34545924e+01] [ 2.77463257e-02 -9.26399793e-04 9.99614567e-01 -7.61521170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45719347 meters 0.06789935096674045 Centerline is valid? [True, True] Translation: X:70.02, Y:13.47, Z:-0.76 [[ 9.03151682e-01 -4.28571753e-01 -2.53631989e-02 7.00235793e+01] [ 4.28431573e-01 9.03507269e-01 -1.10001283e-02 1.34668040e+01] [ 2.76301788e-02 -9.31610788e-04 9.99617780e-01 -7.63778354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48719347000001 meters 0.06660048783803839 Centerline is valid? [True, True] Translation: X:70.05, Y:13.48, Z:-0.76 [[ 9.03396814e-01 -4.28059397e-01 -2.52853714e-02 7.00477905e+01] [ 4.27919561e-01 9.03750152e-01 -1.09777874e-02 1.34829081e+01] [ 2.75508033e-02 -9.02806826e-04 9.99619997e-01 -7.60395423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51719347 meters 0.06735415926503759 Centerline is valid? [True, True] Translation: X:70.07, Y:13.49, Z:-0.77 [[ 9.03351986e-01 -4.28073096e-01 -2.66198126e-02 7.00734049e+01] [ 4.27918069e-01 9.03743616e-01 -1.15586855e-02 1.34930091e+01] [ 2.90054480e-02 -9.49537315e-04 9.99578802e-01 -7.65131991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54719347 meters 0.06729858216797241 Centerline is valid? [True, True] Translation: X:70.10, Y:13.51, Z:-0.77 [[ 9.02969968e-01 -4.28760916e-01 -2.84484387e-02 7.00990072e+01] [ 4.28583815e-01 9.03417412e-01 -1.23649699e-02 1.35057978e+01] [ 3.10024307e-02 -1.02734390e-03 9.99518781e-01 -7.65187058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57719347 meters 0.0686341792838339 Centerline is valid? [True, True] Translation: X:70.12, Y:13.52, Z:-0.77 [[ 9.02570699e-01 -4.29406242e-01 -3.12476133e-02 7.01245708e+01] [ 4.29192917e-01 9.03110709e-01 -1.35826053e-02 1.35173623e+01] [ 3.40525097e-02 -1.15199281e-03 9.99419381e-01 -7.70649993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60719347 meters 0.06798844236339749 Centerline is valid? [True, True] Translation: X:70.15, Y:13.53, Z:-0.77 [[ 9.02366488e-01 -4.29796314e-01 -3.17781319e-02 7.01490760e+01] [ 4.29575457e-01 9.02925107e-01 -1.38266656e-02 1.35324056e+01] [ 3.46359230e-02 -1.17438586e-03 9.99399306e-01 -7.68324603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63719347 meters 0.06811942054714633 Centerline is valid? [True, True] Translation: X:70.17, Y:13.54, Z:-0.77 [[ 9.02341542e-01 -4.29955604e-01 -3.02972121e-02 7.01744624e+01] [ 4.29754873e-01 9.02849332e-01 -1.31845505e-02 1.35440088e+01] [ 3.30225891e-02 -1.12340688e-03 9.99453974e-01 -7.67685069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66719347 meters 0.06804505785592732 Centerline is valid? [True, True] Translation: X:70.20, Y:13.56, Z:-0.77 [[ 9.01821552e-01 -4.31069510e-01 -2.99493736e-02 7.02009442e+01] [ 4.30873564e-01 9.02318003e-01 -1.30457971e-02 1.35556870e+01] [ 3.26475044e-02 -1.13941235e-03 9.99466279e-01 -7.66105235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69719347 meters 0.06837208795748605 Centerline is valid? [True, True] Translation: X:70.23, Y:13.56, Z:-0.76 [[ 9.00882588e-01 -4.33344201e-01 -2.49672919e-02 7.02287991e+01] [ 4.33208875e-01 9.01227922e-01 -1.08766933e-02 1.35632031e+01] [ 2.72145726e-02 -1.01742886e-03 9.99629097e-01 -7.63564469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72719347 meters 0.06828238779724959 Centerline is valid? [True, True] Translation: X:70.26, Y:13.57, Z:-0.76 [[ 9.00658682e-01 -4.33941159e-01 -2.25612435e-02 7.02553566e+01] [ 4.33830599e-01 9.00940738e-01 -9.83863037e-03 1.35741924e+01] [ 2.45957300e-02 -9.26509914e-04 9.99697050e-01 -7.62062669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75719347 meters 0.06756315631635537 Centerline is valid? [True, True] Translation: X:70.28, Y:13.59, Z:-0.76 [[ 9.01793329e-01 -4.31705657e-01 -1.99754284e-02 7.02812983e+01] [ 4.31618480e-01 9.02014211e-01 -8.70929465e-03 1.35901319e+01] [ 2.17779720e-02 -7.67780209e-04 9.99762537e-01 -7.60719644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78719347 meters 0.06712478002243007 Centerline is valid? [True, True] Translation: X:70.31, Y:13.60, Z:-0.76 [[ 9.03151631e-01 -4.28914785e-01 -1.86879497e-02 7.03061179e+01] [ 4.28837859e-01 9.03344718e-01 -8.14932802e-03 1.36043372e+01] [ 2.03770280e-02 -6.54021458e-04 9.99792153e-01 -7.60165165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81719347 meters 0.06599336293760769 Centerline is valid? [True, True] Translation: X:70.33, Y:13.62, Z:-0.76 [[ 9.05204662e-01 -4.24554829e-01 -1.89134102e-02 7.03305200e+01] [ 4.24475006e-01 9.05402057e-01 -8.25138369e-03 1.36219551e+01] [ 2.06274053e-02 -5.59078933e-04 9.99787076e-01 -7.60064438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84719347000001 meters 0.06490511788871854 Centerline is valid? [True, True] Translation: X:70.35, Y:13.64, Z:-0.76 [[ 9.07484410e-01 -4.19669760e-01 -1.86905963e-02 7.03545927e+01] [ 4.19590618e-01 9.07676761e-01 -8.16155559e-03 1.36401146e+01] [ 2.03901780e-02 -4.35914406e-04 9.99792004e-01 -7.59980517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87719347 meters 0.0642099137014386 Centerline is valid? [True, True] Translation: X:70.38, Y:13.66, Z:-0.76 [[ 9.10136608e-01 -4.13880521e-01 -1.88220074e-02 7.03781308e+01] [ 4.13799018e-01 9.10331159e-01 -8.21910150e-03 1.36582220e+01] [ 2.05359858e-02 -3.08023018e-04 9.99789067e-01 -7.60645450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90719347 meters 0.06396973417105214 Centerline is valid? [True, True] Translation: X:70.40, Y:13.68, Z:-0.76 [[ 9.15057509e-01 -4.02827810e-01 -1.99877592e-02 7.03981535e+01] [ 4.02733054e-01 9.15275779e-01 -8.73696054e-03 1.36828178e+01] [ 2.18138026e-02 -5.49099708e-05 9.99762049e-01 -7.64156258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93719347 meters 0.0643268819025617 Centerline is valid? [True, True] Translation: X:70.42, Y:13.70, Z:-0.77 [[ 9.17133987e-01 -3.97981784e-01 -2.18116598e-02 7.04206421e+01] [ 3.97867509e-01 9.17393315e-01 -9.53679520e-03 1.37001988e+01] [ 2.38053417e-02 6.83682398e-05 9.99716610e-01 -7.66605106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96719347 meters 0.06446858147478082 Centerline is valid? [True, True] Translation: X:70.45, Y:13.72, Z:-0.76 [[ 9.18386831e-01 -3.95146625e-01 -2.06100118e-02 7.04455426e+01] [ 3.95043684e-01 9.18618052e-01 -9.02017179e-03 1.37153803e+01] [ 2.24970193e-02 1.42152002e-04 9.99746900e-01 -7.64303985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99719347 meters 0.06472401787597125 Centerline is valid? [True, True] Translation: X:70.47, Y:13.73, Z:-0.76 [[ 9.19630701e-01 -3.92283636e-01 -1.98222710e-02 7.04708916e+01] [ 3.92187563e-01 9.19844282e-01 -8.68400747e-03 1.37262832e+01] [ 2.16399967e-02 2.12031730e-04 9.99765805e-01 -7.64476568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02719347 meters 0.06471537468702004 Centerline is valid? [True, True] Translation: X:70.50, Y:13.74, Z:-0.76 [[ 9.19729923e-01 -3.92048720e-01 -1.98662833e-02 7.04974273e+01] [ 3.91951987e-01 9.19944428e-01 -8.71146458e-03 1.37354038e+01] [ 2.16911952e-02 2.25565433e-04 9.99764693e-01 -7.64820823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05719347 meters 0.06501259760237575 Centerline is valid? [True, True] Translation: X:70.52, Y:13.74, Z:-0.77 [[ 9.19843067e-01 -3.91736963e-01 -2.07577433e-02 7.05232606e+01] [ 3.91631248e-01 9.20077221e-01 -9.10345960e-03 1.37443409e+01] [ 2.26648884e-02 2.44373265e-04 9.99743089e-01 -7.66359641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08719347 meters 0.06524764711050542 Centerline is valid? [True, True] Translation: X:70.55, Y:13.75, Z:-0.77 [[ 9.20176008e-01 -3.90808834e-01 -2.33359962e-02 7.05515704e+01] [ 3.90674667e-01 9.20471813e-01 -1.02443112e-02 1.37508836e+01] [ 2.54836940e-02 3.09786835e-04 9.99675190e-01 -7.67349328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11719347 meters 0.06563259379925444 Centerline is valid? [True, True] Translation: X:70.58, Y:13.76, Z:-0.77 [[ 9.20211181e-01 -3.90658722e-01 -2.44365532e-02 7.05779278e+01] [ 3.90511489e-01 9.20535525e-01 -1.07295702e-02 1.37587150e+01] [ 2.66863156e-02 3.30715693e-04 9.99643802e-01 -7.70640994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14719347 meters 0.06578147820641042 Centerline is valid? [True, True] Translation: X:70.61, Y:13.76, Z:-0.77 [[ 9.19990851e-01 -3.91029791e-01 -2.66933813e-02 7.06067469e+01] [ 3.90853926e-01 9.20377951e-01 -1.17318046e-02 1.37649666e+01] [ 2.91554847e-02 3.59940004e-04 9.99574824e-01 -7.72539576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17719347 meters 0.0658316135608907 Centerline is valid? [True, True] Translation: X:70.63, Y:13.77, Z:-0.77 [[ 9.19684600e-01 -3.91725664e-01 -2.70414779e-02 7.06346168e+01] [ 3.91545432e-01 9.20082000e-01 -1.18864758e-02 1.37697778e+01] [ 2.95366147e-02 3.43841550e-04 9.99563640e-01 -7.74722935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20719347 meters 0.06470074457132764 Centerline is valid? [True, True] Translation: X:70.67, Y:13.77, Z:-0.77 [[ 9.17430646e-01 -3.97119078e-01 -2.48485028e-02 7.06683835e+01] [ 3.96968589e-01 9.17767079e-01 -1.09329301e-02 1.37653728e+01] [ 2.71468130e-02 1.66130041e-04 9.99631444e-01 -7.71912347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23719347000001 meters 0.0644817103592573 Centerline is valid? [True, True] Translation: X:70.70, Y:13.77, Z:-0.77 [[ 9.15504494e-01 -4.01531427e-01 -2.49806876e-02 7.06982463e+01] [ 4.01380926e-01 9.15845244e-01 -1.09927385e-02 1.37673590e+01] [ 2.72923739e-02 3.71300073e-05 9.99627493e-01 -7.72774917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26719347 meters 0.06433825842241857 Centerline is valid? [True, True] Translation: X:70.73, Y:13.77, Z:-0.77 [[ 9.13307846e-01 -4.06521145e-01 -2.46847377e-02 7.07279731e+01] [ 4.06375665e-01 9.13641368e-01 -1.08752228e-02 1.37682788e+01] [ 2.69740055e-02 -9.88504134e-05 9.99636130e-01 -7.72132217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29719347 meters 0.06453977900909501 Centerline is valid? [True, True] Translation: X:70.76, Y:13.77, Z:-0.77 [[ 9.11161784e-01 -4.11299082e-01 -2.48448795e-02 7.07581521e+01] [ 4.11153451e-01 9.11500415e-01 -1.09467855e-02 1.37677078e+01] [ 2.71485209e-02 -2.40765351e-04 9.99631382e-01 -7.74221119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32719347 meters 0.06525871958935471 Centerline is valid? [True, True] Translation: X:70.79, Y:13.76, Z:-0.77 [[ 9.07532045e-01 -4.19278460e-01 -2.43138013e-02 7.07913807e+01] [ 4.19141702e-01 9.07857565e-01 -1.07180207e-02 1.37613218e+01] [ 2.65673037e-02 -4.63980772e-04 9.99646919e-01 -7.74994321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35719347 meters 0.06573713485487837 Centerline is valid? [True, True] Translation: X:70.82, Y:13.77, Z:-0.77 [[ 9.05924531e-01 -4.22791536e-01 -2.34107003e-02 7.08208155e+01] [ 4.22665678e-01 9.06226808e-01 -1.03293716e-02 1.37663917e+01] [ 2.55825751e-02 -5.37268374e-04 9.99672568e-01 -7.73010380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38719347 meters 0.06585332303740034 Centerline is valid? [True, True] Translation: X:70.85, Y:13.77, Z:-0.77 [[ 9.04435026e-01 -4.25996374e-01 -2.28992091e-02 7.08500790e+01] [ 4.25876768e-01 9.04724666e-01 -1.01122091e-02 1.37724178e+01] [ 2.50252437e-02 -6.06405077e-04 9.99686636e-01 -7.70660044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41719347 meters 0.06591174592957298 Centerline is valid? [True, True] Translation: X:70.88, Y:13.78, Z:-0.77 [[ 9.02931281e-01 -4.29206450e-01 -2.22917994e-02 7.08788431e+01] [ 4.29093875e-01 9.03206164e-01 -9.85247335e-03 1.37779647e+01] [ 2.43628357e-02 -6.69168169e-04 9.99702958e-01 -7.69745557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44719347 meters 0.06734565747503543 Centerline is valid? [True, True] Translation: X:70.91, Y:13.78, Z:-0.77 [[ 9.01631620e-01 -4.31968123e-01 -2.15397812e-02 7.09084538e+01] [ 4.31863776e-01 9.01888588e-01 -9.52121748e-03 1.37803675e+01] [ 2.35393453e-02 -7.17620515e-04 9.99722654e-01 -7.72169305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47719347 meters 0.0671555481662246 Centerline is valid? [True, True] Translation: X:70.94, Y:13.79, Z:-0.77 [[ 8.99303961e-01 -4.36990842e-01 -1.70701288e-02 7.09365112e+01] [ 4.36926056e-01 8.99465709e-01 -7.55379366e-03 1.37882798e+01] [ 1.86549341e-02 -6.65227482e-04 9.99825760e-01 -7.65493845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50719347 meters 0.06808210316468535 Centerline is valid? [True, True] Translation: X:70.96, Y:13.80, Z:-0.77 [[ 8.98439276e-01 -4.38796341e-01 -1.62677380e-02 7.09626214e+01] [ 4.38737749e-01 8.98586293e-01 -7.20147831e-03 1.37966373e+01] [ 1.77779487e-02 -6.67179783e-04 9.99841737e-01 -7.65760739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53719347 meters 0.06748357583998836 Centerline is valid? [True, True] Translation: X:70.99, Y:13.81, Z:-0.76 [[ 8.97448336e-01 -4.40839786e-01 -1.57088344e-02 7.09882477e+01] [ 4.40785342e-01 8.97585553e-01 -6.96114913e-03 1.38106210e+01] [ 1.71687743e-02 -6.76952268e-04 9.99852377e-01 -7.63019939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56719347 meters 0.06850372527620376 Centerline is valid? [True, True] Translation: X:71.01, Y:13.82, Z:-0.76 [[ 8.96868453e-01 -4.42029784e-01 -1.53833925e-02 7.10144184e+01] [ 4.41977743e-01 8.97000112e-01 -6.81717267e-03 1.38199882e+01] [ 1.68122982e-02 -6.85010001e-04 9.99858429e-01 -7.63923100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59719347000001 meters 0.06971070742311784 Centerline is valid? [True, True] Translation: X:71.04, Y:13.83, Z:-0.77 [[ 8.95987776e-01 -4.43741887e-01 -1.72928844e-02 7.10409047e+01] [ 4.43676427e-01 8.96154278e-01 -7.66414400e-03 1.38305744e+01] [ 1.88979940e-02 -8.05465811e-04 9.99821093e-01 -7.69018358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62719347 meters 0.06928931892817564 Centerline is valid? [True, True] Translation: X:71.07, Y:13.84, Z:-0.77 [[ 8.95581494e-01 -4.44501946e-01 -1.87565394e-02 7.10666589e+01] [ 4.44424916e-01 8.95777450e-01 -8.32186541e-03 1.38443652e+01] [ 2.05007704e-02 -8.82964784e-04 9.99789447e-01 -7.69837693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65719347 meters 0.07088447464315437 Centerline is valid? [True, True] Translation: X:71.09, Y:13.85, Z:-0.77 [[ 8.94775338e-01 -4.46073025e-01 -1.98985387e-02 7.10930716e+01] [ 4.45986714e-01 8.94996037e-01 -8.82863404e-03 1.38539659e+01] [ 2.17473287e-02 -9.74839864e-04 9.99763024e-01 -7.72699893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68719347 meters 0.07160037546562292 Centerline is valid? [True, True] Translation: X:71.12, Y:13.87, Z:-0.78 [[ 8.93391416e-01 -4.48650548e-01 -2.37584583e-02 7.11178079e+01] [ 4.48528404e-01 8.93706412e-01 -1.05413063e-02 1.38709907e+01] [ 2.59624494e-02 -1.23883081e-03 9.99662151e-01 -7.76096042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71719347 meters 0.07219548953622565 Centerline is valid? [True, True] Translation: X:71.15, Y:13.88, Z:-0.78 [[ 8.92886873e-01 -4.49569665e-01 -2.53011385e-02 7.11450611e+01] [ 4.49431472e-01 8.93244257e-01 -1.12271650e-02 1.38833748e+01] [ 2.76474895e-02 -1.34653973e-03 9.99616828e-01 -7.77441281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74719347 meters 0.07404107739606183 Centerline is valid? [True, True] Translation: X:71.17, Y:13.89, Z:-0.78 [[ 8.92190794e-01 -4.50970251e-01 -2.49283015e-02 7.11712828e+01] [ 4.50836489e-01 8.92537938e-01 -1.10674645e-02 1.38918541e+01] [ 2.72405521e-02 -1.36429800e-03 9.99627976e-01 -7.80272163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77719347 meters 0.07307682676406313 Centerline is valid? [True, True] Translation: X:71.20, Y:13.91, Z:-0.78 [[ 8.91503478e-01 -4.52326153e-01 -2.49519451e-02 7.11959885e+01] [ 4.52192535e-01 8.91851492e-01 -1.10827446e-02 1.39062055e+01] [ 2.72664447e-02 -1.40277791e-03 9.99627217e-01 -7.77464272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80719347 meters 0.07324348610734392 Centerline is valid? [True, True] Translation: X:71.22, Y:13.92, Z:-0.78 [[ 8.90499231e-01 -4.54354852e-01 -2.39330162e-02 7.12205376e+01] [ 4.54232397e-01 8.90819690e-01 -1.06400323e-02 1.39228657e+01] [ 2.61543524e-02 -1.39621074e-03 9.99656941e-01 -7.75319886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83719347 meters 0.07530141749371515 Centerline is valid? [True, True] Translation: X:71.25, Y:13.93, Z:-0.78 [[ 8.89844716e-01 -4.55621707e-01 -2.41917672e-02 7.12456524e+01] [ 4.55497022e-01 8.90172323e-01 -1.07563286e-02 1.39343666e+01] [ 2.64356584e-02 -1.44781579e-03 9.99649468e-01 -7.76498221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86719347 meters 0.0754674997980353 Centerline is valid? [True, True] Translation: X:71.27, Y:13.95, Z:-0.78 [[ 8.89276609e-01 -4.56745246e-01 -2.38933647e-02 7.12697499e+01] [ 4.56623897e-01 8.89596343e-01 -1.06284668e-02 1.39497645e+01] [ 2.61099515e-02 -1.45863435e-03 9.99658013e-01 -7.75536141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89719347 meters 0.07320881888158638 Centerline is valid? [True, True] Translation: X:71.29, Y:13.97, Z:-0.77 [[ 8.89138598e-01 -4.57065617e-01 -2.28817914e-02 7.12924042e+01] [ 4.56954193e-01 8.89431880e-01 -1.01880292e-02 1.39695125e+01] [ 2.50083926e-02 -1.39736055e-03 9.99686265e-01 -7.71688268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92719347 meters 0.07424197520708382 Centerline is valid? [True, True] Translation: X:71.32, Y:13.99, Z:-0.77 [[ 8.91158396e-01 -4.53246256e-01 -2.01132853e-02 7.13168381e+01] [ 4.53159211e-01 8.91384622e-01 -8.95461113e-03 1.39859771e+01] [ 2.19873172e-02 -1.13454361e-03 9.99757606e-01 -7.73947452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95719347 meters 0.07272870448260008 Centerline is valid? [True, True] Translation: X:71.34, Y:14.01, Z:-0.78 [[ 8.92833014e-01 -4.49927345e-01 -2.03615729e-02 7.13399680e+01] [ 4.49837257e-01 8.93064527e-01 -9.06601226e-03 1.40058876e+01] [ 2.22632453e-02 -1.06495903e-03 9.99751576e-01 -7.75280175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98719347000001 meters 0.0705368502261717 Centerline is valid? [True, True] Translation: X:71.36, Y:14.03, Z:-0.78 [[ 8.95248123e-01 -4.45090926e-01 -2.06122523e-02 7.13620534e+01] [ 4.44997313e-01 8.95484871e-01 -9.17808257e-03 1.40292450e+01] [ 2.25430414e-02 -9.55735702e-04 9.99745417e-01 -7.76191609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01719347 meters 0.06581148169600703 Centerline is valid? [True, True] Translation: X:71.38, Y:14.07, Z:-0.77 [[ 9.00610698e-01 -4.34030189e-01 -2.27632594e-02 7.13771103e+01] [ 4.33912447e-01 9.00898016e-01 -1.01367101e-02 1.40693939e+01] [ 2.49070134e-02 -7.48032069e-04 9.99689492e-01 -7.74925400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04719347 meters 0.06465853369363564 Centerline is valid? [True, True] Translation: X:71.40, Y:14.09, Z:-0.78 [[ 9.03163796e-01 -4.28660038e-01 -2.33608397e-02 7.13990471e+01] [ 4.28534202e-01 9.03465657e-01 -1.04040350e-02 1.40925967e+01] [ 2.55655104e-02 -6.14371074e-04 9.99672960e-01 -7.75991533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07719347 meters 0.06376251192002584 Centerline is valid? [True, True] Translation: X:71.42, Y:14.11, Z:-0.78 [[ 9.05673958e-01 -4.23319048e-01 -2.35725733e-02 7.14204196e+01] [ 4.23189039e-01 9.05980556e-01 -1.05009637e-02 1.41148234e+01] [ 2.58015510e-02 -4.65205302e-04 9.99666976e-01 -7.77472110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10719347 meters 0.06275571519554074 Centerline is valid? [True, True] Translation: X:71.44, Y:14.14, Z:-0.77 [[ 9.07545916e-01 -4.19296380e-01 -2.34724623e-02 7.14421854e+01] [ 4.19165857e-01 9.07849343e-01 -1.04668166e-02 1.41368138e+01] [ 2.56981578e-02 -3.39738110e-04 9.99669690e-01 -7.74115619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13719347 meters 0.06275571519554074 Centerline is valid? [True, True] Translation: X:71.47, Y:14.15, Z:-0.77 [[ 9.07401423e-01 -4.19609195e-01 -2.34687068e-02 7.14671418e+01] [ 4.19478559e-01 9.07704802e-01 -1.04752358e-02 1.41481982e+01] [ 2.56981631e-02 -3.39375453e-04 9.99669690e-01 -7.74342482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16719347 meters 0.06285499585556949 Centerline is valid? [True, True] Translation: X:71.49, Y:14.17, Z:-0.78 [[ 9.09257181e-01 -4.15669325e-01 -2.16884898e-02 7.14878723e+01] [ 4.15556579e-01 9.09515788e-01 -9.68300143e-03 1.41695133e+01] [ 2.37509506e-02 -2.08456061e-04 9.99717885e-01 -7.78996588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19719347 meters 0.06256054443298181 Centerline is valid? [True, True] Translation: X:71.51, Y:14.19, Z:-0.78 [[ 9.08949787e-01 -4.16297540e-01 -2.25087210e-02 7.15128079e+01] [ 4.16176068e-01 9.09228413e-01 -1.00584934e-02 1.41850979e+01] [ 2.46528948e-02 -2.24925581e-04 9.99696046e-01 -7.76089570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22719347 meters 0.06260703756347397 Centerline is valid? [True, True] Translation: X:71.54, Y:14.20, Z:-0.78 [[ 9.08129828e-01 -4.18038227e-01 -2.33292800e-02 7.15382628e+01] [ 4.17908094e-01 9.08429395e-01 -1.04335872e-02 1.41980396e+01] [ 2.55546420e-02 -2.74443194e-04 9.99673389e-01 -7.75791737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25719347 meters 0.0631502968816932 Centerline is valid? [True, True] Translation: X:71.56, Y:14.21, Z:-0.78 [[ 9.06971574e-01 -4.20541961e-01 -2.33885358e-02 7.15637776e+01] [ 4.20411965e-01 9.07273024e-01 -1.04613142e-02 1.42082719e+01] [ 2.56192092e-02 -3.44705690e-04 9.99671715e-01 -7.79106750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28719347 meters 0.06344434676104228 Centerline is valid? [True, True] Translation: X:71.59, Y:14.22, Z:-0.78 [[ 9.05780342e-01 -4.23074470e-01 -2.38739242e-02 7.15902411e+01] [ 4.22939633e-01 9.06094818e-01 -1.06886286e-02 1.42191643e+01] [ 2.61541249e-02 -4.15679120e-04 9.99657836e-01 -7.79770887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31719347 meters 0.06380195215652894 Centerline is valid? [True, True] Translation: X:71.62, Y:14.23, Z:-0.78 [[ 9.04595016e-01 -4.25585345e-01 -2.41861899e-02 7.16163582e+01] [ 4.25447819e-01 9.04918157e-01 -1.08296907e-02 1.42284002e+01] [ 2.64954801e-02 -4.93477545e-04 9.99648811e-01 -7.81309382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34719347000001 meters 0.06414189507556038 Centerline is valid? [True, True] Translation: X:71.64, Y:14.24, Z:-0.78 [[ 9.03079491e-01 -4.28822367e-01 -2.36391900e-02 7.16431699e+01] [ 4.28692023e-01 9.03388648e-01 -1.05877099e-02 1.42379355e+01] [ 2.58956227e-02 -5.72388533e-04 9.99664488e-01 -7.80673292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37719347 meters 0.06448782987425501 Centerline is valid? [True, True] Translation: X:71.67, Y:14.25, Z:-0.78 [[ 9.02433608e-01 -4.30158193e-01 -2.40314904e-02 7.16691770e+01] [ 4.30023695e-01 9.02753319e-01 -1.07734100e-02 1.42495346e+01] [ 2.63287783e-02 -6.11823022e-04 9.99653150e-01 -7.80794956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40719347 meters 0.06488603110975594 Centerline is valid? [True, True] Translation: X:71.70, Y:14.26, Z:-0.78 [[ 9.01675804e-01 -4.31732482e-01 -2.42447484e-02 7.16956735e+01] [ 4.31595935e-01 9.02001460e-01 -1.08773063e-02 1.42607576e+01] [ 2.65648849e-02 -6.56130920e-04 9.99646876e-01 -7.81858420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43719347 meters 0.06509565074876715 Centerline is valid? [True, True] Translation: X:71.72, Y:14.27, Z:-0.78 [[ 8.99615585e-01 -4.35828524e-01 -2.73001377e-02 7.17238526e+01] [ 4.35657325e-01 9.00029293e-01 -1.22460837e-02 1.42709892e+01] [ 2.99081163e-02 -8.76737190e-04 9.99552268e-01 -7.80601751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46719347 meters 0.06592933632019836 Centerline is valid? [True, True] Translation: X:71.75, Y:14.28, Z:-0.78 [[ 8.97894287e-01 -4.39407884e-01 -2.65811999e-02 7.17520899e+01] [ 4.39246793e-01 8.98287144e-01 -1.19357601e-02 1.42791674e+01] [ 2.91222173e-02 -9.58655994e-04 9.99575399e-01 -7.82634870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49719347 meters 0.06727279803317536 Centerline is valid? [True, True] Translation: X:71.78, Y:14.29, Z:-0.78 [[ 8.96032646e-01 -4.43133510e-01 -2.75352451e-02 7.17800424e+01] [ 4.42962375e-01 8.96454931e-01 -1.23649242e-02 1.42858235e+01] [ 3.01634185e-02 -1.11770184e-03 9.99544356e-01 -7.84868399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52719347 meters 0.0694599366050455 Centerline is valid? [True, True] Translation: X:71.81, Y:14.29, Z:-0.78 [[ 8.92186738e-01 -4.50838724e-01 -2.73362206e-02 7.18102636e+01] [ 4.50673646e-01 8.92604377e-01 -1.22756146e-02 1.42927086e+01] [ 2.99347526e-02 -1.36757362e-03 9.99550919e-01 -7.84737425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55719347 meters 0.07098477357120983 Centerline is valid? [True, True] Translation: X:71.84, Y:14.30, Z:-0.78 [[ 8.90484394e-01 -4.54269967e-01 -2.60065585e-02 7.18377151e+01] [ 4.54121919e-01 8.90862961e-01 -1.16818945e-02 1.43019332e+01] [ 2.84750136e-02 -1.40760348e-03 9.99593514e-01 -7.84330295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58719347 meters 0.07141280528582215 Centerline is valid? [True, True] Translation: X:71.86, Y:14.31, Z:-0.78 [[ 8.89779832e-01 -4.55732216e-01 -2.44948584e-02 7.18630886e+01] [ 4.55601113e-01 8.90115891e-01 -1.10147768e-02 1.43134286e+01] [ 2.68230514e-02 -1.35915849e-03 9.99639273e-01 -7.83174904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61719347 meters 0.0714378277029847 Centerline is valid? [True, True] Translation: X:71.89, Y:14.33, Z:-0.78 [[ 8.89548719e-01 -4.56153326e-01 -2.50443539e-02 7.18886877e+01] [ 4.56016216e-01 8.89900104e-01 -1.12700789e-02 1.43272045e+01] [ 2.74278571e-02 -1.39534730e-03 9.99622812e-01 -7.82152970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64719347 meters 0.07345224510881272 Centerline is valid? [True, True] Translation: X:71.91, Y:14.34, Z:-0.79 [[ 8.91245046e-01 -4.52680721e-01 -2.76121902e-02 7.19143635e+01] [ 4.52512367e-01 8.91671547e-01 -1.24261798e-02 1.43390815e+01] [ 3.02460963e-02 -1.42008635e-03 9.99541473e-01 -7.90445964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67719347 meters 0.06968295034970218 Centerline is valid? [True, True] Translation: X:71.94, Y:14.36, Z:-0.79 [[ 8.92722776e-01 -4.49676039e-01 -2.89396838e-02 7.19365780e+01] [ 4.49489441e-01 8.93190661e-01 -1.30263298e-02 1.43606665e+01] [ 3.17062837e-02 -1.37918094e-03 9.99496278e-01 -7.86638759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70719347 meters 0.06824827404637171 Centerline is valid? [True, True] Translation: X:71.96, Y:14.38, Z:-0.79 [[ 8.94870614e-01 -4.45425505e-01 -2.83320463e-02 7.19614542e+01] [ 4.45244526e-01 8.95318197e-01 -1.27529701e-02 1.43791524e+01] [ 3.10466948e-02 -1.20243031e-03 9.99517212e-01 -7.86687610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73719347000001 meters 0.0664172995986385 Centerline is valid? [True, True] Translation: X:71.98, Y:14.40, Z:-0.79 [[ 8.97618679e-01 -4.39922197e-01 -2.73709384e-02 7.19844860e+01] [ 4.39750687e-01 8.98035360e-01 -1.23217456e-02 1.43986456e+01] [ 3.00006799e-02 -9.76159906e-04 9.99549402e-01 -7.86111812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76719347 meters 0.06355304202124616 Centerline is valid? [True, True] Translation: X:72.00, Y:14.43, Z:-0.78 [[ 9.01679561e-01 -4.31542892e-01 -2.72892173e-02 7.20047902e+01] [ 4.31368538e-01 9.02092152e-01 -1.22854934e-02 1.44261253e+01] [ 2.99191061e-02 -6.94131463e-04 9.99552082e-01 -7.82343021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79719347 meters 0.06302850000944708 Centerline is valid? [True, True] Translation: X:72.03, Y:14.44, Z:-0.78 [[ 9.02948436e-01 -4.28922411e-01 -2.66399608e-02 7.20289073e+01] [ 4.28754995e-01 9.03341142e-01 -1.19973390e-02 1.44409291e+01] [ 2.92109002e-02 -5.89037817e-04 9.99573097e-01 -7.82278113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82719347 meters 0.06276712753004483 Centerline is valid? [True, True] Translation: X:72.05, Y:14.45, Z:-0.78 [[ 9.03429390e-01 -4.27956873e-01 -2.58505727e-02 7.20543908e+01] [ 4.27798530e-01 9.03799000e-01 -1.16527080e-02 1.44548006e+01] [ 2.83505782e-02 -5.31438156e-04 9.99597900e-01 -7.82283240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85719347 meters 0.06273169172179556 Centerline is valid? [True, True] Translation: X:72.08, Y:14.47, Z:-0.78 [[ 9.03944252e-01 -4.26885836e-01 -2.55592062e-02 7.20787486e+01] [ 4.26730572e-01 9.04305392e-01 -1.15228836e-02 1.44675769e+01] [ 2.80322838e-02 -4.90850318e-04 9.99606898e-01 -7.84068095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88719347 meters 0.06258119559117815 Centerline is valid? [True, True] Translation: X:72.10, Y:14.48, Z:-0.78 [[ 9.03472540e-01 -4.27901695e-01 -2.52489461e-02 7.21040116e+01] [ 4.27750229e-01 9.03825141e-01 -1.13954740e-02 1.44792185e+01] [ 2.76967748e-02 -5.04744658e-04 9.99616243e-01 -7.82334766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91719347 meters 0.06265194493196505 Centerline is valid? [True, True] Translation: X:72.13, Y:14.49, Z:-0.78 [[ 9.02820763e-01 -4.29324880e-01 -2.43888851e-02 7.21305808e+01] [ 4.29183810e-01 9.03149974e-01 -1.10173344e-02 1.44886702e+01] [ 2.67568367e-02 -5.20636421e-04 9.99641836e-01 -7.82413478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94719347 meters 0.06304233136096456 Centerline is valid? [True, True] Translation: X:72.16, Y:14.50, Z:-0.78 [[ 9.01775624e-01 -4.31546400e-01 -2.38417329e-02 7.21572276e+01] [ 4.31412261e-01 9.02090561e-01 -1.07740865e-02 1.44959906e+01] [ 2.61569204e-02 -5.69807330e-04 9.99657687e-01 -7.83857095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97719347 meters 0.06296508877464395 Centerline is valid? [True, True] Translation: X:72.19, Y:14.50, Z:-0.78 [[ 8.99996514e-01 -4.35302741e-01 -2.27551869e-02 7.21858603e+01] [ 4.35181510e-01 9.00283908e-01 -1.02926404e-02 1.45024187e+01] [ 2.49665432e-02 -6.39296095e-04 9.99688083e-01 -7.82001674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00719347 meters 0.0635199071042846 Centerline is valid? [True, True] Translation: X:72.21, Y:14.51, Z:-0.78 [[ 8.99355764e-01 -4.36669504e-01 -2.18850163e-02 7.22132108e+01] [ 4.36557745e-01 8.99621766e-01 -9.90019877e-03 1.45105189e+01] [ 2.40113519e-02 -6.50272550e-04 9.99711474e-01 -7.83345099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03719347 meters 0.06389536900565855 Centerline is valid? [True, True] Translation: X:72.24, Y:14.52, Z:-0.78 [[ 8.98471203e-01 -4.38546911e-01 -2.06422954e-02 7.22395323e+01] [ 4.38447743e-01 8.98708063e-01 -9.34845847e-03 1.45203988e+01] [ 2.26511349e-02 -6.51247086e-04 9.99743218e-01 -7.82644568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06719347 meters 0.0641254783438819 Centerline is valid? [True, True] Translation: X:72.27, Y:14.53, Z:-0.78 [[ 8.97753867e-01 -4.40016121e-01 -2.05865676e-02 7.22662142e+01] [ 4.39917717e-01 8.97989616e-01 -9.33016699e-03 1.45307356e+01] [ 2.25919478e-02 -6.80202288e-04 9.99744538e-01 -7.82309318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09719347000001 meters 0.0643053550235792 Centerline is valid? [True, True] Translation: X:72.29, Y:14.54, Z:-0.78 [[ 8.95948210e-01 -4.43716297e-01 -1.98154823e-02 7.22940792e+01] [ 4.43625865e-01 8.96167007e-01 -8.98820229e-03 1.45398129e+01] [ 2.17461933e-02 -7.37696752e-04 9.99763251e-01 -7.80886756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12719347 meters 0.06654614198414806 Centerline is valid? [True, True] Translation: X:72.32, Y:14.54, Z:-0.79 [[ 8.94068913e-01 -4.47459293e-01 -2.05173345e-02 7.23226254e+01] [ 4.47363310e-01 8.94303889e-01 -9.30712139e-03 1.45446886e+01] [ 2.25132900e-02 -8.57494776e-04 9.99746176e-01 -7.85027423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15719347 meters 0.0668634878842062 Centerline is valid? [True, True] Translation: X:72.35, Y:14.56, Z:-0.78 [[ 8.91966013e-01 -4.51629982e-01 -2.06637416e-02 7.23501712e+01] [ 4.51533729e-01 8.92204808e-01 -9.37400497e-03 1.45555534e+01] [ 2.26698713e-02 -9.69082461e-04 9.99742536e-01 -7.84132281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18719347 meters 0.06846775431402455 Centerline is valid? [True, True] Translation: X:72.38, Y:14.56, Z:-0.79 [[ 8.89948693e-01 -4.55528027e-01 -2.20349961e-02 7.23791071e+01] [ 4.55419753e-01 8.90220714e-01 -9.99642277e-03 1.45649825e+01] [ 2.41696607e-02 -1.13886910e-03 9.99707222e-01 -7.85517846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21719347 meters 0.071376408349228 Centerline is valid? [True, True] Translation: X:72.41, Y:14.58, Z:-0.79 [[ 8.85611702e-01 -4.63772344e-01 -2.46399187e-02 7.24071632e+01] [ 4.63640097e-01 8.85953097e-01 -1.11790019e-02 1.45754474e+01] [ 2.70143242e-02 -1.52379943e-03 9.99633885e-01 -7.86332589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24719347 meters 0.07332697859653058 Centerline is valid? [True, True] Translation: X:72.44, Y:14.59, Z:-0.79 [[ 8.83817952e-01 -4.67040074e-01 -2.71918619e-02 7.24352500e+01] [ 4.66880517e-01 8.84234336e-01 -1.23377893e-02 1.45856664e+01] [ 2.98062201e-02 -1.79099086e-03 9.99554091e-01 -7.89283755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27719347 meters 0.07434589560472495 Centerline is valid? [True, True] Translation: X:72.46, Y:14.60, Z:-0.79 [[ 8.82807356e-01 -4.68920854e-01 -2.76478791e-02 7.24634641e+01] [ 4.68756771e-01 8.83238180e-01 -1.25462041e-02 1.45958739e+01] [ 3.03028391e-02 -1.88424926e-03 9.99538988e-01 -7.91586585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30719347 meters 0.07914241961705137 Centerline is valid? [True, True] Translation: X:72.49, Y:14.60, Z:-0.80 [[ 8.81597256e-01 -4.71132482e-01 -2.86437117e-02 7.24935287e+01] [ 4.70957475e-01 8.82060126e-01 -1.29996894e-02 1.45991146e+01] [ 3.13900519e-02 -2.02947962e-03 9.99505150e-01 -7.97062768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33719347 meters 0.07595646042641996 Centerline is valid? [True, True] Translation: X:72.52, Y:14.62, Z:-0.79 [[ 8.81738023e-01 -4.70708292e-01 -3.11731086e-02 7.25157533e+01] [ 4.70500300e-01 8.82286205e-01 -1.41605560e-02 1.46206344e+01] [ 3.41690948e-02 -2.18105632e-03 9.99413686e-01 -7.94473840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36719347 meters 0.07267351556090042 Centerline is valid? [True, True] Translation: X:72.54, Y:14.64, Z:-0.79 [[ 8.82356712e-01 -4.69491091e-01 -3.20116905e-02 7.25373913e+01] [ 4.69270545e-01 8.82934515e-01 -1.45532415e-02 1.46420277e+01] [ 3.50968437e-02 -2.18099315e-03 9.99381536e-01 -7.90549002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39719347 meters 0.07199268362666635 Centerline is valid? [True, True] Translation: X:72.56, Y:14.66, Z:-0.79 [[ 8.84021851e-01 -4.66413588e-01 -3.10440280e-02 7.25631214e+01] [ 4.66204308e-01 8.84564512e-01 -1.41126509e-02 1.46588537e+01] [ 3.40427777e-02 -1.99696780e-03 9.99418382e-01 -7.91669603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42719347 meters 0.07117893392753348 Centerline is valid? [True, True] Translation: X:72.59, Y:14.68, Z:-0.79 [[ 8.85363108e-01 -4.63872227e-01 -3.08986066e-02 7.25881403e+01] [ 4.63663305e-01 8.85900101e-01 -1.40481295e-02 1.46753451e+01] [ 3.38896158e-02 -1.88885447e-03 9.99423797e-01 -7.92103452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45719347 meters 0.0698825828306309 Centerline is valid? [True, True] Translation: X:72.61, Y:14.69, Z:-0.79 [[ 8.88220877e-01 -4.58535114e-01 -2.84468332e-02 7.26126519e+01] [ 4.58355263e-01 8.88674939e-01 -1.29346758e-02 1.46924180e+01] [ 3.12109908e-02 -1.54990658e-03 9.99511617e-01 -7.93601581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48719347000001 meters 0.06888761695665921 Centerline is valid? [True, True] Translation: X:72.64, Y:14.71, Z:-0.79 [[ 8.89643988e-01 -4.55956427e-01 -2.52450006e-02 7.26387051e+01] [ 4.55813742e-01 8.90001157e-01 -1.14792129e-02 1.47077722e+01] [ 2.77021007e-02 -1.29460546e-03 9.99615385e-01 -7.92345905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51719347 meters 0.06816842338720006 Centerline is valid? [True, True] Translation: X:72.66, Y:14.72, Z:-0.79 [[ 8.90803853e-01 -4.53799593e-01 -2.31176259e-02 7.26647603e+01] [ 4.53679204e-01 8.91103062e-01 -1.05124806e-02 1.47237057e+01] [ 2.53707466e-02 -1.12342791e-03 9.99677480e-01 -7.91007902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54719347 meters 0.06786399919604626 Centerline is valid? [True, True] Translation: X:72.69, Y:14.74, Z:-0.79 [[ 8.91735762e-01 -4.52061970e-01 -2.11496223e-02 7.26898626e+01] [ 4.51960692e-01 8.91985993e-01 -9.61878886e-03 1.47385266e+01] [ 2.32134555e-02 -9.81379916e-04 9.99730050e-01 -7.89344362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57719347 meters 0.0668437225581459 Centerline is valid? [True, True] Translation: X:72.71, Y:14.76, Z:-0.79 [[ 8.93325852e-01 -4.49041778e-01 -1.81770102e-02 7.27129499e+01] [ 4.48966327e-01 8.93510426e-01 -8.26778445e-03 1.47587630e+01] [ 1.99539288e-02 -7.75039938e-04 9.99800600e-01 -7.86102769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60719347 meters 0.06587532073650398 Centerline is valid? [True, True] Translation: X:72.74, Y:14.78, Z:-0.79 [[ 8.94115882e-01 -4.47494550e-01 -1.74762063e-02 7.27371220e+01] [ 4.47424363e-01 8.94286381e-01 -7.95666793e-03 1.47758848e+01] [ 1.91892988e-02 -7.05097309e-04 9.99815620e-01 -7.85483204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63719347 meters 0.06468452053320659 Centerline is valid? [True, True] Translation: X:72.76, Y:14.79, Z:-0.78 [[ 8.94552919e-01 -4.46654741e-01 -1.65715722e-02 7.27611006e+01] [ 4.46591373e-01 8.94706167e-01 -7.55120607e-03 1.47933682e+01] [ 1.81994698e-02 -6.45767732e-04 9.99834167e-01 -7.84555217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66719347 meters 0.06416955162653745 Centerline is valid? [True, True] Translation: X:72.79, Y:14.81, Z:-0.78 [[ 8.94740525e-01 -4.46298843e-01 -1.60229371e-02 7.27854264e+01] [ 4.46239440e-01 8.94883773e-01 -7.30717346e-03 1.48085690e+01] [ 1.75998495e-02 -6.12042245e-04 9.99844923e-01 -7.84533650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69719347 meters 0.06438865811278466 Centerline is valid? [True, True] Translation: X:72.81, Y:14.83, Z:-0.79 [[ 8.94881492e-01 -4.46055397e-01 -1.48895103e-02 7.28083038e+01] [ 4.46004061e-01 8.95005176e-01 -6.79061454e-03 1.48256172e+01] [ 1.63551790e-02 -5.63986786e-04 9.99866086e-01 -7.86437336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72719347 meters 0.0642922542613048 Centerline is valid? [True, True] Translation: X:72.83, Y:14.84, Z:-0.79 [[ 8.94859993e-01 -4.46104939e-01 -1.46961548e-02 7.28321630e+01] [ 4.46054822e-01 8.94980491e-01 -6.70938939e-03 1.48416043e+01] [ 1.61458635e-02 -5.51326557e-04 9.99869495e-01 -7.86515611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75719347 meters 0.06425800362731052 Centerline is valid? [True, True] Translation: X:72.86, Y:14.86, Z:-0.79 [[ 8.94698273e-01 -4.46406206e-01 -1.53785553e-02 7.28566913e+01] [ 4.46351280e-01 8.94830244e-01 -7.02629627e-03 1.48578292e+01] [ 1.68977787e-02 -5.77822714e-04 9.99857055e-01 -7.86507889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78719347 meters 0.0646036067182163 Centerline is valid? [True, True] Translation: X:72.88, Y:14.87, Z:-0.79 [[ 8.94057891e-01 -4.47718971e-01 -1.44295106e-02 7.28805193e+01] [ 4.47670703e-01 8.94174149e-01 -6.59795355e-03 1.48747563e+01] [ 1.58565243e-02 -5.60716728e-04 9.99874120e-01 -7.87310334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81719347 meters 0.06487879224225097 Centerline is valid? [True, True] Translation: X:72.91, Y:14.89, Z:-0.79 [[ 8.93654112e-01 -4.48532228e-01 -1.41833799e-02 7.29062993e+01] [ 4.48485616e-01 8.93766483e-01 -6.49046497e-03 1.48879551e+01] [ 1.55878122e-02 -5.60811149e-04 9.99878345e-01 -7.88563946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84719347000001 meters 0.06492806191901465 Centerline is valid? [True, True] Translation: X:72.93, Y:14.90, Z:-0.79 [[ 8.93356561e-01 -4.49085809e-01 -1.53620089e-02 7.29311709e+01] [ 4.49031122e-01 8.93488422e-01 -7.03503329e-03 1.49016609e+01] [ 1.68851107e-02 -6.13226948e-04 9.99857248e-01 -7.90400008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87719347 meters 0.06478730896740624 Centerline is valid? [True, True] Translation: X:72.96, Y:14.92, Z:-0.79 [[ 8.93526170e-01 -4.48715279e-01 -1.62966522e-02 7.29550598e+01] [ 4.48653550e-01 8.93674545e-01 -7.46991045e-03 1.49161584e+01] [ 1.79157662e-02 -6.36990384e-04 9.99839297e-01 -7.91567049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90719347 meters 0.0641393699611102 Centerline is valid? [True, True] Translation: X:72.98, Y:14.93, Z:-0.79 [[ 8.94318490e-01 -4.47125531e-01 -1.65287034e-02 7.29789332e+01] [ 4.47061659e-01 8.94471011e-01 -7.58182837e-03 1.49329498e+01] [ 1.81744750e-02 -6.08780260e-04 9.99834645e-01 -7.91970834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93719347 meters 0.06256154256461792 Centerline is valid? [True, True] Translation: X:73.00, Y:14.96, Z:-0.79 [[ 8.97868382e-01 -4.39858842e-01 -1.88829922e-02 7.30010834e+01] [ 4.39773900e-01 8.98066768e-01 -8.66007101e-03 1.49554399e+01] [ 2.07673966e-02 -5.28643170e-04 9.99784195e-01 -7.92047356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96719347 meters 0.061853965773464865 Centerline is valid? [True, True] Translation: X:73.02, Y:14.97, Z:-0.79 [[ 9.00825370e-01 -4.33789629e-01 -1.84448161e-02 7.30245271e+01] [ 4.33707275e-01 9.01014104e-01 -8.46077929e-03 1.49725467e+01] [ 2.02892377e-02 -3.77966274e-04 9.99794081e-01 -7.92430297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99719347 meters 0.06117745718737546 Centerline is valid? [True, True] Translation: X:73.05, Y:14.99, Z:-0.79 [[ 9.04018503e-01 -4.27147972e-01 -1.71800834e-02 7.30493759e+01] [ 4.27075333e-01 9.04181710e-01 -7.88008449e-03 1.49914054e+01] [ 1.88998793e-02 -2.13447646e-04 9.99821359e-01 -7.91276499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02719347 meters 0.06117745718737546 Centerline is valid? [True, True] Translation: X:73.08, Y:15.00, Z:-0.79 [[ 9.04018503e-01 -4.27147972e-01 -1.71800834e-02 7.30766552e+01] [ 4.27075333e-01 9.04181710e-01 -7.88008449e-03 1.50039177e+01] [ 1.88998793e-02 -2.13447646e-04 9.99821359e-01 -7.91524155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05719347 meters 0.061041541025225375 Centerline is valid? [True, True] Translation: X:73.10, Y:15.02, Z:-0.79 [[ 9.07586310e-01 -4.19595925e-01 -1.50449326e-02 7.31005130e+01] [ 4.19539169e-01 9.07710999e-01 -6.90133166e-03 1.50223741e+01] [ 1.65522214e-02 -4.83843760e-05 9.99863001e-01 -7.90456044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08719347 meters 0.061987020727346104 Centerline is valid? [True, True] Translation: X:73.12, Y:15.04, Z:-0.79 [[ 9.13061485e-01 -4.07565282e-01 -1.44660481e-02 7.31243414e+01] [ 4.07511302e-01 9.13176059e-01 -6.63503554e-03 1.50426270e+01] [ 1.59142590e-02 1.63117281e-04 9.99873347e-01 -7.90667563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11719347 meters 0.06259469766107625 Centerline is valid? [True, True] Translation: X:73.15, Y:15.06, Z:-0.79 [[ 9.15033791e-01 -4.03112900e-01 -1.45997158e-02 7.31537711e+01] [ 4.03057386e-01 9.15150224e-01 -6.69418583e-03 1.50565189e+01] [ 1.60594458e-02 2.40882952e-04 9.99871010e-01 -7.90988267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14719347 meters 0.06310910521382648 Centerline is valid? [True, True] Translation: X:73.18, Y:15.07, Z:-0.79 [[ 9.16103345e-01 -4.00652503e-01 -1.52392060e-02 7.31841159e+01] [ 4.00591704e-01 9.16230039e-01 -6.98581296e-03 1.50677187e+01] [ 1.67615018e-02 2.95027097e-04 9.99859473e-01 -7.92283801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17719347 meters 0.06341434007542193 Centerline is valid? [True, True] Translation: X:73.21, Y:15.08, Z:-0.79 [[ 9.16339367e-01 -4.00147520e-01 -1.42872835e-02 7.32141055e+01] [ 4.00094034e-01 9.16450698e-01 -6.54845690e-03 1.50764071e+01] [ 1.57139397e-02 2.84351977e-04 9.99876488e-01 -7.94412233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20719347 meters 0.06321521460858648 Centerline is valid? [True, True] Translation: X:73.24, Y:15.08, Z:-0.79 [[ 9.15729175e-01 -4.01555258e-01 -1.39087586e-02 7.32431472e+01] [ 4.01504604e-01 9.15834760e-01 -6.38323260e-03 1.50819042e+01] [ 1.53013452e-02 2.60881692e-04 9.99882894e-01 -7.94879727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23719347000001 meters 0.062059108487589276 Centerline is valid? [True, True] Translation: X:73.28, Y:15.08, Z:-0.80 [[ 9.12828582e-01 -4.08081745e-01 -1.46037439e-02 7.32779223e+01] [ 4.08026658e-01 9.12945378e-01 -6.70695823e-03 1.50759995e+01] [ 1.60694077e-02 1.63586347e-04 9.99870865e-01 -7.95289565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26719347 meters 0.06191763053488416 Centerline is valid? [True, True] Translation: X:73.31, Y:15.08, Z:-0.80 [[ 9.11310550e-01 -4.11407609e-01 -1.60269060e-02 7.33071661e+01] [ 4.11341771e-01 9.11451461e-01 -7.36079700e-03 1.50780697e+01] [ 1.76360348e-02 1.15436041e-04 9.99844466e-01 -7.97187382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29719347 meters 0.061698932446137916 Centerline is valid? [True, True] Translation: X:73.34, Y:15.08, Z:-0.80 [[ 9.09515733e-01 -4.15324254e-01 -1.69379910e-02 7.33364896e+01] [ 4.15251221e-01 9.09673437e-01 -7.78857088e-03 1.50801640e+01] [ 1.86428229e-02 5.03063116e-05 9.99826206e-01 -7.97396531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32719347 meters 0.061760758499684425 Centerline is valid? [True, True] Translation: X:73.36, Y:15.08, Z:-0.80 [[ 9.08137042e-01 -4.18321270e-01 -1.71589155e-02 7.33646630e+01] [ 4.18246829e-01 9.08299133e-01 -7.89146771e-03 1.50825706e+01] [ 1.88865969e-02 -1.01278434e-05 9.99821632e-01 -7.99479923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35719347 meters 0.06152762740934863 Centerline is valid? [True, True] Translation: X:73.39, Y:15.09, Z:-0.80 [[ 9.06537162e-01 -4.21728576e-01 -1.83134432e-02 7.33944165e+01] [ 4.21644311e-01 9.06722119e-01 -8.43049355e-03 1.50862449e+01] [ 2.01605840e-02 -7.92034364e-05 9.99796752e-01 -7.98569377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38719347 meters 0.06127439380067663 Centerline is valid? [True, True] Translation: X:73.43, Y:15.08, Z:-0.80 [[ 9.04454650e-01 -4.26171938e-01 -1.84191716e-02 7.34279811e+01] [ 4.26087474e-01 9.04642167e-01 -8.48617596e-03 1.50825338e+01] [ 2.02793294e-02 -1.72816986e-04 9.99794338e-01 -7.96164488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41719347 meters 0.061512778191249964 Centerline is valid? [True, True] Translation: X:73.46, Y:15.09, Z:-0.80 [[ 9.03244275e-01 -4.28733830e-01 -1.83598279e-02 7.34570388e+01] [ 4.28650425e-01 9.03430822e-01 -8.45946293e-03 1.50850858e+01] [ 2.02136924e-02 -2.28986589e-04 9.99795656e-01 -7.99365723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44719347 meters 0.061628447288311926 Centerline is valid? [True, True] Translation: X:73.49, Y:15.09, Z:-0.80 [[ 9.01802554e-01 -4.31694683e-01 -1.97952893e-02 7.34856741e+01] [ 4.31598383e-01 9.02019734e-01 -9.12332063e-03 1.50905173e+01] [ 2.17942306e-02 -3.16181020e-04 9.99762428e-01 -7.98179444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47719347 meters 0.06289747498298835 Centerline is valid? [True, True] Translation: X:73.52, Y:15.09, Z:-0.80 [[ 8.98264121e-01 -4.38861676e-01 -2.28472582e-02 7.35184666e+01] [ 4.38735706e-01 8.98554455e-01 -1.05295364e-02 1.50888113e+01] [ 2.51505156e-02 -5.65603172e-04 9.99683516e-01 -7.99340925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50719347 meters 0.06346494529981772 Centerline is valid? [True, True] Translation: X:73.55, Y:15.09, Z:-0.80 [[ 8.96634880e-01 -4.42083269e-01 -2.46632436e-02 7.35482470e+01] [ 4.41937649e-01 8.96973736e-01 -1.13679478e-02 1.50949360e+01] [ 2.71478613e-02 -7.06717455e-04 9.99631179e-01 -8.00182860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53719347 meters 0.06491971956429139 Centerline is valid? [True, True] Translation: X:73.58, Y:15.09, Z:-0.80 [[ 8.94009747e-01 -4.47046139e-01 -2.99386153e-02 7.35817076e+01] [ 4.46834309e-01 8.94510294e-01 -1.37997737e-02 1.50946614e+01] [ 3.29495351e-02 -1.04046832e-03 9.99456475e-01 -8.04298591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56719347 meters 0.06551490451852442 Centerline is valid? [True, True] Translation: X:73.61, Y:15.10, Z:-0.80 [[ 8.92560359e-01 -4.49742341e-01 -3.26777014e-02 7.36117748e+01] [ 4.49491773e-01 8.93157476e-01 -1.50621541e-02 1.51024170e+01] [ 3.59604218e-02 -1.24447627e-03 9.99352440e-01 -8.04582175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59719347000001 meters 0.06701849507564966 Centerline is valid? [True, True] Translation: X:73.64, Y:15.11, Z:-0.81 [[ 8.90780126e-01 -4.53229914e-01 -3.30667804e-02 7.36409209e+01] [ 4.52975619e-01 8.91392556e-01 -1.52446835e-02 1.51077768e+01] [ 3.63848285e-02 -1.39878422e-03 9.99336874e-01 -8.05827096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62719347 meters 0.06702205834525475 Centerline is valid? [True, True] Translation: X:73.67, Y:15.12, Z:-0.80 [[ 8.88840198e-01 -4.56879615e-01 -3.49874181e-02 7.36698570e+01] [ 4.56597706e-01 8.89527029e-01 -1.61306792e-02 1.51176117e+01] [ 3.84920326e-02 -1.63757872e-03 9.99257565e-01 -8.02698823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65719347 meters 0.06928231473634464 Centerline is valid? [True, True] Translation: X:73.70, Y:15.12, Z:-0.80 [[ 8.85225966e-01 -4.63685980e-01 -3.70175755e-02 7.37024321e+01] [ 4.63376273e-01 8.85997253e-01 -1.70674321e-02 1.51195609e+01] [ 4.07113992e-02 -2.04453216e-03 9.99168856e-01 -8.02301559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68719347 meters 0.07166168075209292 Centerline is valid? [True, True] Translation: X:73.73, Y:15.12, Z:-0.81 [[ 8.83475309e-01 -4.66975720e-01 -3.74840654e-02 7.37319064e+01] [ 4.66661015e-01 8.84267346e-01 -1.72845891e-02 1.51240200e+01] [ 4.12174185e-02 -2.22184427e-03 9.99147731e-01 -8.05485745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71719347 meters 0.07295464183115206 Centerline is valid? [True, True] Translation: X:73.76, Y:15.13, Z:-0.81 [[ 8.81892472e-01 -4.69976889e-01 -3.72476923e-02 7.37606924e+01] [ 4.69668675e-01 8.82675607e-01 -1.71787079e-02 1.51313375e+01] [ 4.09512251e-02 -2.34430104e-03 9.99158397e-01 -8.05487047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74719347 meters 0.07659293190001788 Centerline is valid? [True, True] Translation: X:73.79, Y:15.13, Z:-0.81 [[ 8.78908160e-01 -4.75672381e-01 -3.54433529e-02 7.37908697e+01] [ 4.75397825e-01 8.79619026e-01 -1.63486024e-02 1.51344356e+01] [ 3.89532262e-02 -2.48077283e-03 9.99237956e-01 -8.05359833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77719347 meters 0.07435400185801933 Centerline is valid? [True, True] Translation: X:73.82, Y:15.15, Z:-0.80 [[ 8.77770358e-01 -4.77767463e-01 -3.54605398e-02 7.38155900e+01] [ 4.77494266e-01 8.78482572e-01 -1.63583575e-02 1.51514018e+01] [ 3.89669571e-02 -2.57332309e-03 9.99237186e-01 -8.00014869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80719347 meters 0.07398501977054105 Centerline is valid? [True, True] Translation: X:73.84, Y:15.17, Z:-0.80 [[ 8.76874626e-01 -4.79453644e-01 -3.48581755e-02 7.38405320e+01] [ 4.79190381e-01 8.77563387e-01 -1.60960177e-02 1.51659727e+01] [ 3.83075528e-02 -2.58951288e-03 9.99262641e-01 -7.96913054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83719347 meters 0.07527208720652216 Centerline is valid? [True, True] Translation: X:73.87, Y:15.18, Z:-0.80 [[ 8.76755200e-01 -4.79740682e-01 -3.38998310e-02 7.38659034e+01] [ 4.79491808e-01 8.77406683e-01 -1.56562426e-02 1.51776296e+01] [ 3.72548748e-02 -2.52799921e-03 9.99302599e-01 -7.97479049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86719347 meters 0.07673109633352639 Centerline is valid? [True, True] Translation: X:73.89, Y:15.19, Z:-0.80 [[ 8.77471367e-01 -4.78464844e-01 -3.33974889e-02 7.38913096e+01] [ 4.78222135e-01 8.78103343e-01 -1.54307617e-02 1.51891879e+01] [ 3.67095236e-02 -2.43136684e-03 9.99323021e-01 -7.98376933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89719347 meters 0.07353283956105218 Centerline is valid? [True, True] Translation: X:73.91, Y:15.21, Z:-0.79 [[ 8.79523967e-01 -4.74781052e-01 -3.19459593e-02 7.39125203e+01] [ 4.74556535e-01 8.80101250e-01 -1.47608956e-02 1.52139859e+01] [ 3.51238722e-02 -2.17760231e-03 9.99380594e-01 -7.94754989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92719347 meters 0.07241323360099586 Centerline is valid? [True, True] Translation: X:73.94, Y:15.23, Z:-0.79 [[ 8.80862764e-01 -4.72302428e-01 -3.17994886e-02 7.39364751e+01] [ 4.72078299e-01 8.81434139e-01 -1.46948415e-02 1.52325983e+01] [ 3.49695642e-02 -2.06770976e-03 9.99386239e-01 -7.94307919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95719347 meters 0.07008439403982511 Centerline is valid? [True, True] Translation: X:73.96, Y:15.25, Z:-0.79 [[ 8.82299183e-01 -4.69593657e-01 -3.20928171e-02 7.39591620e+01] [ 4.69363526e-01 8.82880450e-01 -1.48321037e-02 1.52537346e+01] [ 3.52991827e-02 -1.97684480e-03 9.99374834e-01 -7.92568845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98719347000001 meters 0.06918388348532578 Centerline is valid? [True, True] Translation: X:73.98, Y:15.27, Z:-0.79 [[ 8.83704957e-01 -4.67008481e-01 -3.11227766e-02 7.39819291e+01] [ 4.66790363e-01 8.84250975e-01 -1.43864627e-02 1.52722016e+01] [ 3.42389456e-02 -1.81442374e-03 9.99412028e-01 -7.92634532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01719347 meters 0.06703739165363595 Centerline is valid? [True, True] Translation: X:74.00, Y:15.30, Z:-0.79 [[ 8.87451560e-01 -4.59807636e-01 -3.17280133e-02 7.40019135e+01] [ 4.59576284e-01 8.88017168e-01 -1.46679375e-02 1.52974929e+01] [ 3.49194501e-02 -1.56435849e-03 9.99388906e-01 -7.94382947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04719347 meters 0.06567341017232725 Centerline is valid? [True, True] Translation: X:74.02, Y:15.32, Z:-0.79 [[ 8.89581237e-01 -4.55748968e-01 -3.06284478e-02 7.40248549e+01] [ 4.55530920e-01 8.90107321e-01 -1.41611350e-02 1.53172410e+01] [ 3.37165283e-02 -1.35472501e-03 9.99430518e-01 -7.93687263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07719347 meters 0.0642745387329937 Centerline is valid? [True, True] Translation: X:74.05, Y:15.34, Z:-0.79 [[ 8.91684684e-01 -4.51586209e-01 -3.11178487e-02 7.40477615e+01] [ 4.51358547e-01 8.92226664e-01 -1.43889817e-02 1.53381724e+01] [ 3.42620400e-02 -1.21487233e-03 9.99412146e-01 -7.93837207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10719347 meters 0.06295044718477327 Centerline is valid? [True, True] Translation: X:74.07, Y:15.37, Z:-0.80 [[ 8.95508992e-01 -4.43793126e-01 -3.33362556e-02 7.40671229e+01] [ 4.43526361e-01 8.96128730e-01 -1.54164262e-02 1.53651762e+01] [ 3.67152804e-02 -9.79959839e-04 9.99325286e-01 -7.96265467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13719347 meters 0.06276165718384552 Centerline is valid? [True, True] Translation: X:74.09, Y:15.38, Z:-0.80 [[ 8.97059234e-01 -4.40473826e-01 -3.56025063e-02 7.40901001e+01] [ 4.40166735e-01 8.97765005e-01 -1.64694102e-02 1.53815181e+01] [ 3.92170283e-02 -8.97002426e-04 9.99230314e-01 -8.00148213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16719347 meters 0.06271992778302006 Centerline is valid? [True, True] Translation: X:74.11, Y:15.40, Z:-0.80 [[ 8.98155782e-01 -4.37980643e-01 -3.85894756e-02 7.41141453e+01] [ 4.37616898e-01 8.98984010e-01 -1.78661885e-02 1.53977439e+01] [ 4.25163663e-02 -8.40786119e-04 9.99095417e-01 -8.04277970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19719347 meters 0.0629366793852324 Centerline is valid? [True, True] Translation: X:74.14, Y:15.41, Z:-0.81 [[ 8.98846200e-01 -4.36361243e-01 -4.07967503e-02 7.41375863e+01] [ 4.35952813e-01 8.99771204e-01 -1.88924769e-02 1.54120085e+01] [ 4.49516858e-02 -8.04027010e-04 9.98988839e-01 -8.08024871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22719347 meters 0.06209844614454027 Centerline is valid? [True, True] Translation: X:74.16, Y:15.43, Z:-0.80 [[ 8.99039003e-01 -4.36054016e-01 -3.98216886e-02 7.41619721e+01] [ 4.35663885e-01 8.99920177e-01 -1.84568319e-02 1.54280099e+01] [ 4.38845167e-02 -7.55459835e-04 9.99036325e-01 -8.04151407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25719347 meters 0.06164436104011756 Centerline is valid? [True, True] Translation: X:74.19, Y:15.44, Z:-0.80 [[ 8.98097043e-01 -4.38080783e-01 -3.88191808e-02 7.41878853e+01] [ 4.37711319e-01 8.98935234e-01 -1.80068122e-02 1.54395926e+01] [ 4.27843678e-02 -8.19730000e-04 9.99083993e-01 -8.00252584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28719347 meters 0.06217407061489504 Centerline is valid? [True, True] Translation: X:74.21, Y:15.45, Z:-0.80 [[ 8.96699888e-01 -4.40940500e-01 -3.87399892e-02 7.42142160e+01] [ 4.40575063e-01 8.97535833e-01 -1.79734004e-02 1.54489297e+01] [ 4.26957286e-02 -9.51127099e-04 9.99087669e-01 -8.00521464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31719347 meters 0.06335101432460614 Centerline is valid? [True, True] Translation: X:74.24, Y:15.46, Z:-0.80 [[ 8.94892912e-01 -4.44603824e-01 -3.86537806e-02 7.42414092e+01] [ 4.44243078e-01 8.95726629e-01 -1.79413927e-02 1.54563634e+01] [ 4.26000324e-02 -1.11604934e-03 9.99091583e-01 -8.03674107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34719347000001 meters 0.06449933197324616 Centerline is valid? [True, True] Translation: X:74.27, Y:15.46, Z:-0.80 [[ 8.91688386e-01 -4.50928410e-01 -3.94384454e-02 7.42722859e+01] [ 4.50559029e-01 8.92558948e-01 -1.83053274e-02 1.54609882e+01] [ 4.34555295e-02 -1.44669986e-03 9.99054315e-01 -8.04039570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37719347 meters 0.06477319110501994 Centerline is valid? [True, True] Translation: X:74.30, Y:15.47, Z:-0.80 [[ 8.90213508e-01 -4.53980599e-01 -3.77031199e-02 7.42989623e+01] [ 4.53645509e-01 8.91010272e-01 -1.75056332e-02 1.54708418e+01] [ 4.15410849e-02 -1.52009985e-03 9.99135640e-01 -8.02310699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40719347 meters 0.06506873571139259 Centerline is valid? [True, True] Translation: X:74.33, Y:15.48, Z:-0.80 [[ 8.88518211e-01 -4.57366371e-01 -3.67612823e-02 7.43257724e+01] [ 4.57050078e-01 8.89276881e-01 -1.70837839e-02 1.54822216e+01] [ 4.05045067e-02 -1.62249381e-03 9.99178038e-01 -7.99247187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43719347 meters 0.06550261389398092 Centerline is valid? [True, True] Translation: X:74.35, Y:15.49, Z:-0.80 [[ 8.87421071e-01 -4.59667480e-01 -3.44913156e-02 7.43522558e+01] [ 4.59390299e-01 8.88089645e-01 -1.60416681e-02 1.54942731e+01] [ 3.80052134e-02 -1.60926153e-03 9.99276245e-01 -7.96551855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46719347 meters 0.06614714342126163 Centerline is valid? [True, True] Translation: X:74.38, Y:15.51, Z:-0.79 [[ 8.86512048e-01 -4.61654115e-01 -3.11747756e-02 7.43772225e+01] [ 4.61428514e-01 8.87058715e-01 -1.45107487e-02 1.55076617e+01] [ 3.43528032e-02 -1.52097684e-03 9.99408611e-01 -7.94304925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49719347 meters 0.06541651729099791 Centerline is valid? [True, True] Translation: X:74.40, Y:15.52, Z:-0.79 [[ 8.85618045e-01 -4.63373339e-01 -3.10777588e-02 7.44019341e+01] [ 4.63149791e-01 8.86161767e-01 -1.44773591e-02 1.55230853e+01] [ 3.42483438e-02 -1.57224704e-03 9.99412117e-01 -7.92128838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52719347 meters 0.06560505428402581 Centerline is valid? [True, True] Translation: X:74.43, Y:15.54, Z:-0.79 [[ 8.85450932e-01 -4.63765645e-01 -2.99678592e-02 7.44282567e+01] [ 4.63557669e-01 8.85956608e-01 -1.39705596e-02 1.55357618e+01] [ 3.30292885e-02 -1.52158590e-03 9.99453226e-01 -7.93476806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55719347 meters 0.06545890367898421 Centerline is valid? [True, True] Translation: X:74.45, Y:15.55, Z:-0.79 [[ 8.85493520e-01 -4.63738162e-01 -2.91229065e-02 7.44536369e+01] [ 4.63541379e-01 8.85971085e-01 -1.35877734e-02 1.55501640e+01] [ 3.21032221e-02 -1.46778694e-03 9.99483481e-01 -7.94180894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58719347 meters 0.06536777995223328 Centerline is valid? [True, True] Translation: X:74.48, Y:15.57, Z:-0.79 [[ 8.86666557e-01 -4.61566966e-01 -2.78989655e-02 7.44769092e+01] [ 4.61385320e-01 8.87104371e-01 -1.30162110e-02 1.55684818e+01] [ 3.07571473e-02 -1.33113411e-03 9.99526001e-01 -7.94670024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61719347 meters 0.06502938704565495 Centerline is valid? [True, True] Translation: X:74.50, Y:15.58, Z:-0.79 [[ 8.86986759e-01 -4.61020625e-01 -2.67296059e-02 7.45011153e+01] [ 4.60853296e-01 8.87388544e-01 -1.24824131e-02 1.55843087e+01] [ 2.94741960e-02 -1.24669180e-03 9.99564764e-01 -7.93869623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64719347 meters 0.06450696384994546 Centerline is valid? [True, True] Translation: X:74.53, Y:15.60, Z:-0.79 [[ 8.87433568e-01 -4.60255050e-01 -2.50390026e-02 7.45260085e+01] [ 4.60107831e-01 8.87786003e-01 -1.16960350e-02 1.56001333e+01] [ 2.76124352e-02 -1.14118706e-03 9.99618053e-01 -7.93193263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67719347 meters 0.06420974242349953 Centerline is valid? [True, True] Translation: X:74.55, Y:15.62, Z:-0.80 [[ 8.88135178e-01 -4.58887918e-01 -2.52543863e-02 7.45499792e+01] [ 4.58737312e-01 8.88493484e-01 -1.18070950e-02 1.56169280e+01] [ 2.78564909e-02 -1.09883289e-03 9.99611329e-01 -7.95428418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70719347 meters 0.06423928865058494 Centerline is valid? [True, True] Translation: X:74.57, Y:15.63, Z:-0.80 [[ 8.88425972e-01 -4.58225818e-01 -2.69887276e-02 7.45748289e+01] [ 4.58053226e-01 8.88835076e-01 -1.26273900e-02 1.56315916e+01] [ 2.97747239e-02 -1.14377249e-03 9.99555980e-01 -7.98442129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73719347000001 meters 0.06388291910854109 Centerline is valid? [True, True] Translation: X:74.60, Y:15.65, Z:-0.80 [[ 8.88711152e-01 -4.57614956e-01 -2.79470901e-02 7.45987873e+01] [ 4.57429219e-01 8.89149719e-01 -1.30876254e-02 1.56470912e+01] [ 3.08382405e-02 -1.15269697e-03 9.99523724e-01 -7.99522005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76719347 meters 0.06428435574011616 Centerline is valid? [True, True] Translation: X:74.62, Y:15.66, Z:-0.80 [[ 8.89344189e-01 -4.56285488e-01 -2.95036758e-02 7.46222494e+01] [ 4.56077518e-01 8.89832683e-01 -1.38236836e-02 1.56606962e+01] [ 3.25608812e-02 -1.16195059e-03 9.99469079e-01 -8.02769623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79719347 meters 0.06200168092051782 Centerline is valid? [True, True] Translation: X:74.65, Y:15.68, Z:-0.80 [[ 8.91934144e-01 -4.51509456e-01 -2.43452945e-02 7.46450020e+01] [ 4.51366103e-01 8.92265961e-01 -1.14059079e-02 1.56838339e+01] [ 2.68723529e-02 -8.15322006e-04 9.99638541e-01 -7.96203853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82719347 meters 0.06122835497762155 Centerline is valid? [True, True] Translation: X:74.67, Y:15.70, Z:-0.79 [[ 8.93949001e-01 -4.47598365e-01 -2.26028202e-02 7.46703879e+01] [ 4.47473535e-01 8.94234469e-01 -1.05901385e-02 1.57005122e+01] [ 2.49523496e-02 -6.47120126e-04 9.99688432e-01 -7.94666789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85719347 meters 0.060072139435642456 Centerline is valid? [True, True] Translation: X:74.69, Y:15.72, Z:-0.79 [[ 8.96142447e-01 -4.43219648e-01 -2.20240223e-02 7.46949132e+01] [ 4.43099687e-01 8.96412900e-01 -1.03237878e-02 1.57173085e+01] [ 2.43183233e-02 -5.07252898e-04 9.99704137e-01 -7.94265776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88719347 meters 0.059050834360048904 Centerline is valid? [True, True] Translation: X:74.72, Y:15.74, Z:-0.80 [[ 9.00769432e-01 -4.33797192e-01 -2.08428961e-02 7.47181926e+01] [ 4.33687214e-01 9.01010510e-01 -9.77040590e-03 1.57361207e+01] [ 2.30180431e-02 -2.38414550e-04 9.99735021e-01 -7.96512887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91719347 meters 0.05898356189695379 Centerline is valid? [True, True] Translation: X:74.74, Y:15.75, Z:-0.80 [[ 9.02539509e-01 -4.30072257e-01 -2.14543591e-02 7.47423742e+01] [ 4.29954436e-01 9.02794459e-01 -1.00671752e-02 1.57530155e+01] [ 2.36984892e-02 -1.38373541e-04 9.99719142e-01 -7.95919547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94719347 meters 0.05898356189695379 Centerline is valid? [True, True] Translation: X:74.77, Y:15.76, Z:-0.80 [[ 9.02392312e-01 -4.30381203e-01 -2.14507602e-02 7.47670815e+01] [ 4.30263287e-01 9.02647219e-01 -1.00748425e-02 1.57648569e+01] [ 2.36984919e-02 -1.38014119e-04 9.99719142e-01 -7.96146348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97719347 meters 0.05901061996082986 Centerline is valid? [True, True] Translation: X:74.79, Y:15.78, Z:-0.80 [[ 9.03514075e-01 -4.27965344e-01 -2.25384318e-02 7.47912631e+01] [ 4.27834219e-01 9.03795142e-01 -1.05934841e-02 1.57805346e+01] [ 2.49037692e-02 -7.13503620e-05 9.99689850e-01 -7.95851893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00719347 meters 0.05908888700078172 Centerline is valid? [True, True] Translation: X:74.82, Y:15.79, Z:-0.80 [[ 9.04328341e-01 -4.26236033e-01 -2.26516080e-02 7.48159255e+01] [ 4.26102796e-01 9.04611985e-01 -1.06565998e-02 1.57939165e+01] [ 2.50331429e-02 -1.48483394e-05 9.99686622e-01 -7.96191032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03719347 meters 0.05943659346056355 Centerline is valid? [True, True] Translation: X:74.84, Y:15.80, Z:-0.80 [[ 9.05175687e-01 -4.24473481e-01 -2.18915542e-02 7.48433911e+01] [ 4.24348333e-01 9.05440369e-01 -1.03067788e-02 1.58036106e+01] [ 2.41964512e-02 3.98010874e-05 9.99707222e-01 -7.98707690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06719347 meters 0.05914924831036 Centerline is valid? [True, True] Translation: X:74.87, Y:15.81, Z:-0.80 [[ 9.05265646e-01 -4.24270291e-01 -2.21095213e-02 7.48698152e+01] [ 4.24142324e-01 9.05535597e-01 -1.04197713e-02 1.58120440e+01] [ 2.44417579e-02 5.50772358e-05 9.99701254e-01 -7.97821579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09719347000001 meters 0.05928570601896463 Centerline is valid? [True, True] Translation: X:74.90, Y:15.82, Z:-0.80 [[ 9.05304751e-01 -4.24236024e-01 -2.11448548e-02 7.48961985e+01] [ 4.24118914e-01 9.05551651e-01 -9.96760777e-03 1.58205501e+01] [ 2.33763765e-02 5.57897967e-05 9.99726734e-01 -8.01667214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12719347 meters 0.059064891468098485 Centerline is valid? [True, True] Translation: X:74.92, Y:15.83, Z:-0.80 [[ 9.05949110e-01 -4.22952525e-01 -1.91669563e-02 7.49225592e+01] [ 4.22855832e-01 9.06151838e-01 -9.04389411e-03 1.58311334e+01] [ 2.11933105e-02 8.84485603e-05 9.99775393e-01 -7.98404942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15719347 meters 0.05912910130768858 Centerline is valid? [True, True] Translation: X:74.95, Y:15.84, Z:-0.79 [[ 9.07896908e-01 -4.18868919e-01 -1.64934443e-02 7.49486725e+01] [ 4.18796525e-01 9.08046696e-01 -7.78905317e-03 1.58429159e+01] [ 1.82394099e-02 1.64260136e-04 9.99833635e-01 -7.94845008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18719347 meters 0.05957084833908247 Centerline is valid? [True, True] Translation: X:74.97, Y:15.85, Z:-0.80 [[ 9.08988107e-01 -4.16539992e-01 -1.53315475e-02 7.49738159e+01] [ 4.16477100e-01 9.09117372e-01 -7.24077819e-03 1.58547804e+01] [ 1.69542499e-02 1.96542818e-04 9.99856247e-01 -7.95507915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21719347 meters 0.05986806681319703 Centerline is valid? [True, True] Translation: X:75.00, Y:15.86, Z:-0.80 [[ 9.10076446e-01 -4.14191677e-01 -1.43567490e-02 7.50010772e+01] [ 4.14136122e-01 9.10189651e-01 -6.78762737e-03 1.58644469e+01] [ 1.58787431e-02 2.31611443e-04 9.99873898e-01 -7.95403851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24719347 meters 0.06002827028056974 Centerline is valid? [True, True] Translation: X:75.03, Y:15.87, Z:-0.80 [[ 9.10603377e-01 -4.13043380e-01 -1.40234550e-02 7.50284162e+01] [ 4.12990235e-01 9.10711319e-01 -6.63018209e-03 1.58714855e+01] [ 1.55098720e-02 2.45916214e-04 9.99879684e-01 -7.96607597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27719347 meters 0.05961185089025607 Centerline is valid? [True, True] Translation: X:75.06, Y:15.87, Z:-0.80 [[ 9.09182815e-01 -4.16120614e-01 -1.51737835e-02 7.50616800e+01] [ 4.16058788e-01 9.09309403e-01 -7.17595115e-03 1.58669145e+01] [ 1.67837252e-02 2.11065495e-04 9.99859121e-01 -8.00940383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30719347 meters 0.05898022835574085 Centerline is valid? [True, True] Translation: X:75.09, Y:15.87, Z:-0.80 [[ 9.07350673e-01 -4.20110444e-01 -1.48986844e-02 7.50911686e+01] [ 4.20051345e-01 9.07472973e-01 -7.04777179e-03 1.58687330e+01] [ 1.64809959e-02 1.36588078e-04 9.99864170e-01 -8.01495339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33719347 meters 0.05853391628041471 Centerline is valid? [True, True] Translation: X:75.12, Y:15.87, Z:-0.80 [[ 9.05281215e-01 -4.24557256e-01 -1.47328540e-02 7.51213710e+01] [ 4.24499936e-01 9.05401089e-01 -6.97651131e-03 1.58712933e+01] [ 1.63010706e-02 6.16090443e-05 9.99867127e-01 -8.00993057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36719347 meters 0.05879310410140181 Centerline is valid? [True, True] Translation: X:75.16, Y:15.86, Z:-0.80 [[ 9.00761047e-01 -4.33935446e-01 -1.81539228e-02 7.51575046e+01] [ 4.33850322e-01 9.00943955e-01 -8.59578566e-03 1.58625838e+01] [ 2.00856831e-02 -1.33336343e-04 9.99798253e-01 -8.04954979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39719347 meters 0.059023398223111104 Centerline is valid? [True, True] Translation: X:75.19, Y:15.86, Z:-0.81 [[ 8.98553348e-01 -4.38464190e-01 -1.87359252e-02 7.51881689e+01] [ 4.38374313e-01 8.98748630e-01 -8.88047324e-03 1.58643690e+01] [ 2.07326566e-02 -2.33769378e-04 9.99785028e-01 -8.05203144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42719347 meters 0.05964388214068185 Centerline is valid? [True, True] Translation: X:75.22, Y:15.86, Z:-0.81 [[ 8.96563019e-01 -4.42553234e-01 -1.79272746e-02 7.52196221e+01] [ 4.42471750e-01 8.96742180e-01 -8.49788335e-03 1.58637197e+01] [ 1.98369090e-02 -3.13424602e-04 9.99803180e-01 -8.08210322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45719347 meters 0.06049311921690284 Centerline is valid? [True, True] Translation: X:75.25, Y:15.86, Z:-0.81 [[ 8.93977160e-01 -4.47783559e-01 -1.71674600e-02 7.52504608e+01] [ 4.47709757e-01 8.94141888e-01 -8.13984529e-03 1.58632998e+01] [ 1.89950340e-02 -4.09203572e-04 9.99819494e-01 -8.08882057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48719347000001 meters 0.06182658495810118 Centerline is valid? [True, True] Translation: X:75.28, Y:15.86, Z:-0.81 [[ 8.91342647e-01 -4.53052580e-01 -1.58633582e-02 7.52825645e+01] [ 4.52990391e-01 8.91483667e-01 -7.52180788e-03 1.58649638e+01] [ 1.75496992e-02 -4.81440670e-04 9.99845876e-01 -8.08649215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51719347 meters 0.06571425865521673 Centerline is valid? [True, True] Translation: X:75.32, Y:15.86, Z:-0.81 [[ 8.86461705e-01 -4.62508611e-01 -1.64751201e-02 7.53166651e+01] [ 4.62443136e-01 8.86614519e-01 -7.81289627e-03 1.58611884e+01] [ 1.82206124e-02 -6.92972840e-04 9.99833751e-01 -8.09762167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54719347 meters 0.06534312483253933 Centerline is valid? [True, True] Translation: X:75.34, Y:15.87, Z:-0.81 [[ 8.84513428e-01 -4.66214962e-01 -1.67213791e-02 7.53435591e+01] [ 4.66148148e-01 8.84671126e-01 -7.93111444e-03 1.58722622e+01] [ 1.84905255e-02 -7.79462674e-04 9.99828732e-01 -8.07937750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57719347 meters 0.06545463253632203 Centerline is valid? [True, True] Translation: X:75.37, Y:15.88, Z:-0.81 [[ 8.83016976e-01 -4.69092759e-01 -1.52644626e-02 7.53705333e+01] [ 4.69037440e-01 8.83148573e-01 -7.24417625e-03 1.58817721e+01] [ 1.68789790e-02 -7.62873857e-04 9.99857249e-01 -8.06177490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60719347 meters 0.06798494425118093 Centerline is valid? [True, True] Translation: X:75.40, Y:15.88, Z:-0.81 [[ 8.81646470e-01 -4.71760855e-01 -1.18826477e-02 7.54001544e+01] [ 4.71727556e-01 8.81726316e-01 -5.64064983e-03 1.58836013e+01] [ 1.31382809e-02 -6.32313330e-04 9.99913489e-01 -8.07827265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63719347 meters 0.0670328397273802 Centerline is valid? [True, True] Translation: X:75.42, Y:15.90, Z:-0.81 [[ 8.81116548e-01 -4.72799770e-01 -9.69569896e-03 7.54246540e+01] [ 4.72777594e-01 8.81169736e-01 -4.60892259e-03 1.58974794e+01] [ 1.07226540e-02 -5.22911267e-04 9.99942374e-01 -8.06070410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66719347 meters 0.0674377729425138 Centerline is valid? [True, True] Translation: X:75.45, Y:15.91, Z:-0.80 [[ 8.80422468e-01 -4.74130139e-01 -7.54251380e-03 7.54500807e+01] [ 4.74116743e-01 8.80454676e-01 -3.58845735e-03 1.59103500e+01] [ 8.34223733e-03 -4.16673603e-04 9.99965116e-01 -8.04563256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69719347 meters 0.07070165033118879 Centerline is valid? [True, True] Translation: X:75.48, Y:15.92, Z:-0.80 [[ 8.79427388e-01 -4.76017079e-01 -3.89981828e-03 7.54761135e+01] [ 4.76013516e-01 8.79436007e-01 -1.85544841e-03 1.59209865e+01] [ 4.31286575e-03 -2.24634059e-04 9.99990674e-01 -8.03366276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72719347 meters 0.06890288858706735 Centerline is valid? [True, True] Translation: X:75.50, Y:15.94, Z:-0.80 [[ 8.79089057e-01 -4.76648006e-01 -3.01803811e-03 7.54980220e+01] [ 4.76645864e-01 8.79094220e-01 -1.43947655e-03 1.59389367e+01] [ 3.33926349e-03 -1.73107300e-04 9.99994410e-01 -8.02420757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75719347 meters 0.06952078792347778 Centerline is valid? [True, True] Translation: X:75.52, Y:15.95, Z:-0.80 [[ 8.78647265e-01 -4.77466606e-01 -2.15057533e-03 7.55234690e+01] [ 4.77465517e-01 8.78649888e-01 -1.02699752e-03 1.59514888e+01] [ 2.37995979e-03 -1.24457002e-04 9.99997160e-01 -8.03938218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78719347 meters 0.07010053106264848 Centerline is valid? [True, True] Translation: X:75.55, Y:15.96, Z:-0.81 [[ 8.78411781e-01 -4.77894359e-01 -3.11858954e-03 7.55487290e+01] [ 4.77892080e-01 8.78417297e-01 -1.48739359e-03 1.59641695e+01] [ 3.45024001e-03 -1.83805186e-04 9.99994031e-01 -8.06993400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81719347 meters 0.07046276008230924 Centerline is valid? [True, True] Translation: X:75.57, Y:15.98, Z:-0.81 [[ 8.78007808e-01 -4.78630084e-01 -3.94115283e-03 7.55728725e+01] [ 4.78626441e-01 8.78016622e-01 -1.88196471e-03 1.59797811e+01] [ 4.36116262e-03 -2.33960246e-04 9.99990463e-01 -8.09662858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84719347000001 meters 0.07171309908131768 Centerline is valid? [True, True] Translation: X:75.60, Y:15.99, Z:-0.81 [[ 8.77342990e-01 -4.79842413e-01 -4.53169476e-03 7.55982735e+01] [ 4.79837617e-01 8.77354650e-01 -2.16317502e-03 1.59919890e+01] [ 5.01388659e-03 -2.76631168e-04 9.99987392e-01 -8.11702042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87719347 meters 0.0729436905444611 Centerline is valid? [True, True] Translation: X:75.62, Y:16.00, Z:-0.81 [[ 8.76429254e-01 -4.81511147e-01 -4.33340668e-03 7.56240437e+01] [ 4.81506784e-01 8.76439924e-01 -2.06805796e-03 1.60039342e+01] [ 4.79376358e-03 -2.74058221e-04 9.99988472e-01 -8.13717715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90719347 meters 0.07432375043609012 Centerline is valid? [True, True] Translation: X:75.65, Y:16.02, Z:-0.81 [[ 8.74517231e-01 -4.84991213e-01 -1.77081613e-03 7.56498823e+01] [ 4.84990491e-01 8.74519016e-01 -8.45171034e-04 1.60194983e+01] [ 1.95851291e-03 -1.19712353e-04 9.99998075e-01 -8.12198869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93719347 meters 0.07107575077179185 Centerline is valid? [True, True] Translation: X:75.67, Y:16.04, Z:-0.81 [[ 8.73646604e-01 -4.86558233e-01 -1.64241960e-03 7.56715273e+01] [ 4.86557614e-01 8.73648140e-01 -7.84397075e-04 1.60419079e+01] [ 1.81655168e-03 -1.13845921e-04 9.99998344e-01 -8.10525825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96719347 meters 0.0711368260937046 Centerline is valid? [True, True] Translation: X:75.70, Y:16.06, Z:-0.81 [[ 8.72933453e-01 -4.87832288e-01 -2.61634335e-03 7.56959670e+01] [ 4.87830715e-01 8.72937355e-01 -1.25237823e-03 1.60580889e+01] [ 2.89485438e-03 -1.83089792e-04 9.99995793e-01 -8.10860660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99719347 meters 0.07283258402297829 Centerline is valid? [True, True] Translation: X:75.72, Y:16.07, Z:-0.81 [[ 8.72811612e-01 -4.88046676e-01 -3.21426083e-03 7.57209040e+01] [ 4.88044310e-01 8.72817501e-01 -1.53655521e-03 1.60703810e+01] [ 3.55537377e-03 -2.27578485e-04 9.99993654e-01 -8.12780457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02719347 meters 0.07189095811931755 Centerline is valid? [True, True] Translation: X:75.74, Y:16.09, Z:-0.82 [[ 8.74774034e-01 -4.84516619e-01 -3.74629678e-03 7.57430773e+01] [ 4.84513375e-01 8.74782021e-01 -1.79031108e-03 1.60909709e+01] [ 4.14462854e-03 -2.49013254e-04 9.99991380e-01 -8.15267416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05719347 meters 0.07131745966836993 Centerline is valid? [True, True] Translation: X:75.77, Y:16.11, Z:-0.82 [[ 8.76399336e-01 -4.81575427e-01 -3.05147095e-03 7.57662527e+01] [ 4.81573257e-01 8.76404628e-01 -1.45844156e-03 1.61089817e+01] [ 3.37667288e-03 -1.91329590e-04 9.99994281e-01 -8.15105107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08719347 meters 0.06817366242449859 Centerline is valid? [True, True] Translation: X:75.79, Y:16.13, Z:-0.81 [[ 8.78374721e-01 -4.77963505e-01 -2.95595339e-03 7.57874756e+01] [ 4.77961448e-01 8.78379678e-01 -1.41272597e-03 1.61346105e+01] [ 3.27168084e-03 -1.71928981e-04 9.99994633e-01 -8.13763286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11719347 meters 0.06566094389385985 Centerline is valid? [True, True] Translation: X:75.81, Y:16.16, Z:-0.81 [[ 8.80997002e-01 -4.73118101e-01 -1.88284585e-03 7.58082599e+01] [ 4.73117255e-01 8.80999009e-01 -8.99940082e-04 1.61604773e+01] [ 2.08456327e-03 -9.79623467e-05 9.99997822e-01 -8.11165327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14719347 meters 0.06386948515435775 Centerline is valid? [True, True] Translation: X:75.83, Y:16.19, Z:-0.81 [[ 8.86259334e-01 -4.63186208e-01 1.71154662e-03 7.58255991e+01] [ 4.63185491e-01 8.86260984e-01 8.17659406e-04 1.61918983e+01] [-1.89560555e-03 6.81052815e-05 9.99998201e-01 -8.06379480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17719347 meters 0.06248594634377265 Centerline is valid? [True, True] Translation: X:75.85, Y:16.21, Z:-0.80 [[ 8.88585699e-01 -4.58692823e-01 4.04345887e-03 7.58485738e+01] [ 4.58688774e-01 8.88594888e-01 1.93238458e-03 1.62139681e+01] [-4.47936782e-03 1.37599892e-04 9.99989958e-01 -8.04265530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20719347 meters 0.061700879056637244 Centerline is valid? [True, True] Translation: X:75.87, Y:16.23, Z:-0.80 [[ 8.90293610e-01 -4.55356934e-01 5.22974364e-03 7.58705497e+01] [ 4.55350102e-01 8.90308957e-01 2.49928012e-03 1.62325734e+01] [-5.79415214e-03 1.56271180e-04 9.99983202e-01 -8.04327246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23719347000001 meters 0.06086671101723029 Centerline is valid? [True, True] Translation: X:75.89, Y:16.25, Z:-0.81 [[ 8.92153124e-01 -4.51713933e-01 4.16244577e-03 7.58927609e+01] [ 4.51709567e-01 8.92162828e-01 1.98890244e-03 1.62539434e+01] [-4.61199433e-03 1.05811050e-04 9.99989359e-01 -8.05859902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26719347 meters 0.06027553998848162 Centerline is valid? [True, True] Translation: X:75.91, Y:16.27, Z:-0.81 [[ 8.92272705e-01 -4.51485936e-01 3.14141332e-03 7.59149781e+01] [ 4.51483448e-01 8.92278232e-01 1.50101931e-03 1.62710386e+01] [-3.48070383e-03 7.89775599e-05 9.99993939e-01 -8.07775154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29719347 meters 0.060953198456263735 Centerline is valid? [True, True] Translation: X:75.94, Y:16.28, Z:-0.81 [[ 8.92173399e-01 -4.51689126e-01 1.88695872e-03 7.59398537e+01] [ 4.51688227e-01 8.92175393e-01 9.02422884e-04 1.62831372e+01] [-2.09111274e-03 4.71993454e-05 9.99997813e-01 -8.09615806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32719347 meters 0.060827808838507184 Centerline is valid? [True, True] Translation: X:75.96, Y:16.30, Z:-0.81 [[ 8.91771425e-01 -4.52486112e-01 2.09078940e-04 7.59640689e+01] [ 4.52486102e-01 8.91771450e-01 9.75076267e-05 1.62996455e+01] [-2.30571476e-04 7.65079902e-06 9.99999973e-01 -8.10731874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35719347 meters 0.06222188134549549 Centerline is valid? [True, True] Translation: X:75.99, Y:16.31, Z:-0.81 [[ 8.90412782e-01 -4.55148774e-01 -2.16115819e-03 7.59895322e+01] [ 4.55147595e-01 8.90415403e-01 -1.03793447e-03 1.63102524e+01] [ 2.39674314e-03 -5.94558362e-05 9.99997126e-01 -8.14313139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38719347 meters 0.0628188628009538 Centerline is valid? [True, True] Translation: X:76.02, Y:16.32, Z:-0.82 [[ 8.89369906e-01 -4.57182925e-01 -2.22360627e-03 7.60161273e+01] [ 4.57181678e-01 8.89372683e-01 -1.06970868e-03 1.63214368e+01] [ 2.46666721e-03 -6.52253392e-05 9.99996956e-01 -8.15957303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41719347 meters 0.062234287276784477 Centerline is valid? [True, True] Translation: X:76.04, Y:16.34, Z:-0.82 [[ 8.88303520e-01 -4.59246479e-01 -3.08667827e-03 7.60410384e+01] [ 4.59244087e-01 8.88308878e-01 -1.48536321e-03 1.63364459e+01] [ 3.42407153e-03 -9.80853763e-05 9.99994133e-01 -8.17240827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44719347 meters 0.0627535305588502 Centerline is valid? [True, True] Translation: X:76.07, Y:16.35, Z:-0.82 [[ 8.87019078e-01 -4.61707984e-01 -4.78468127e-03 7.60671585e+01] [ 4.61702272e-01 8.87031967e-01 -2.30270265e-03 1.63481553e+01] [ 5.30734143e-03 -1.66557033e-04 9.99985902e-01 -8.21044101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47719347 meters 0.06333850066488388 Centerline is valid? [True, True] Translation: X:76.09, Y:16.36, Z:-0.82 [[ 8.86641139e-01 -4.62412005e-01 -6.52893072e-03 7.60923305e+01] [ 4.62401396e-01 8.86665147e-01 -3.14110617e-03 1.63607117e+01] [ 7.24146052e-03 -2.33952724e-04 9.99973753e-01 -8.23572477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50719347 meters 0.063482510792478 Centerline is valid? [True, True] Translation: X:76.12, Y:16.38, Z:-0.82 [[ 8.85979740e-01 -4.63682859e-01 -6.17305841e-03 7.61172853e+01] [ 4.63673380e-01 8.86001216e-01 -2.97349760e-03 1.63750663e+01] [ 6.84809712e-03 -2.27824231e-04 9.99976526e-01 -8.24042462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53719347 meters 0.06363934096334038 Centerline is valid? [True, True] Translation: X:76.14, Y:16.39, Z:-0.83 [[ 8.85204430e-01 -4.65141099e-01 -7.54153549e-03 7.61428959e+01] [ 4.65126987e-01 8.85236507e-01 -3.63487560e-03 1.63888557e+01] [ 8.36677257e-03 -2.90163691e-04 9.99964956e-01 -8.25131810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56719347 meters 0.0641649697915265 Centerline is valid? [True, True] Translation: X:76.17, Y:16.40, Z:-0.83 [[ 8.84198026e-01 -4.67053868e-01 -7.38478829e-03 7.61690080e+01] [ 4.67040380e-01 8.84228814e-01 -3.56207420e-03 1.64006934e+01] [ 8.19352312e-03 -2.99415348e-04 9.99966388e-01 -8.25800880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59719347000001 meters 0.0652952528115013 Centerline is valid? [True, True] Translation: X:76.20, Y:16.41, Z:-0.83 [[ 8.82138049e-01 -4.70926986e-01 -7.76119840e-03 7.61961009e+01] [ 4.70912247e-01 8.82172120e-01 -3.74249642e-03 1.64111750e+01] [ 8.60915541e-03 -3.53444896e-04 9.99962878e-01 -8.27431992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62719347 meters 0.06655660905041721 Centerline is valid? [True, True] Translation: X:76.22, Y:16.42, Z:-0.83 [[ 8.80439877e-01 -4.74067723e-01 -9.24212618e-03 7.62225885e+01] [ 4.74046988e-01 8.80488265e-01 -4.45732817e-03 1.64207465e+01] [ 1.02506591e-02 -4.56792612e-04 9.99947356e-01 -8.29597653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65719347 meters 0.06732602886843041 Centerline is valid? [True, True] Translation: X:76.25, Y:16.43, Z:-0.83 [[ 8.79126199e-01 -4.76509984e-01 -8.68115400e-03 7.62504649e+01] [ 4.76491807e-01 8.79168942e-01 -4.18689336e-03 1.64311115e+01] [ 9.62729746e-03 -4.55691113e-04 9.99953553e-01 -8.29528052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68719347 meters 0.06841361841054233 Centerline is valid? [True, True] Translation: X:76.28, Y:16.44, Z:-0.83 [[ 8.77852604e-01 -4.78869224e-01 -7.68583187e-03 7.62781118e+01] [ 4.78855056e-01 8.77886146e-01 -3.70808654e-03 1.64403877e+01] [ 8.52297385e-03 -4.25246023e-04 9.99963588e-01 -8.29100917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71719347 meters 0.06866069280820701 Centerline is valid? [True, True] Translation: X:76.30, Y:16.45, Z:-0.83 [[ 8.76255421e-01 -4.81826268e-01 -4.45925049e-03 7.63043691e+01] [ 4.81821534e-01 8.76266728e-01 -2.15188156e-03 1.64532656e+01] [ 4.94432589e-03 -2.62965032e-04 9.99987742e-01 -8.25827864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74719347 meters 0.06902067239477291 Centerline is valid? [True, True] Translation: X:76.33, Y:16.47, Z:-0.83 [[ 8.75886395e-01 -4.82488724e-01 -5.25868233e-03 7.63303202e+01] [ 4.82482130e-01 8.75902126e-01 -2.54161945e-03 1.64663816e+01] [ 5.83239376e-03 -3.11050353e-04 9.99982943e-01 -8.25437153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77719347 meters 0.07031558488733307 Centerline is valid? [True, True] Translation: X:76.36, Y:16.48, Z:-0.83 [[ 8.75584304e-01 -4.83032663e-01 -5.61901076e-03 7.63558000e+01] [ 4.83025146e-01 8.75602269e-01 -2.71582499e-03 1.64762285e+01] [ 6.23185074e-03 -3.36189757e-04 9.99980525e-01 -8.26920472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80719347 meters 0.06977997451292926 Centerline is valid? [True, True] Translation: X:76.38, Y:16.49, Z:-0.83 [[ 8.75972197e-01 -4.82346578e-01 -3.80638076e-03 7.63807030e+01] [ 4.82343110e-01 8.75980439e-01 -1.84256722e-03 1.64902101e+01] [ 4.22307108e-03 -2.21943875e-04 9.99991058e-01 -8.25907246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83719347 meters 0.06977997451292926 Centerline is valid? [True, True] Translation: X:76.41, Y:16.50, Z:-0.83 [[ 8.75814252e-01 -4.82633312e-01 -3.80563296e-03 7.64053207e+01] [ 4.82629839e-01 8.75822492e-01 -1.84411270e-03 1.65023414e+01] [ 4.22308916e-03 -2.21611845e-04 9.99991058e-01 -8.26134289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86719347 meters 0.0696564547812804 Centerline is valid? [True, True] Translation: X:76.43, Y:16.52, Z:-0.83 [[ 8.75743857e-01 -4.82766386e-01 -3.05180061e-03 7.64309107e+01] [ 4.82764150e-01 8.75749156e-01 -1.48014502e-03 1.65155041e+01] [ 3.38717607e-03 -1.77072014e-04 9.99994248e-01 -8.26121069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89719347 meters 0.07017749440996678 Centerline is valid? [True, True] Translation: X:76.46, Y:16.53, Z:-0.83 [[ 8.75888144e-01 -4.82506530e-01 -2.72176817e-03 7.64560570e+01] [ 4.82504753e-01 8.75892358e-01 -1.31900044e-03 1.65270571e+01] [ 3.02040227e-03 -1.57969227e-04 9.99995426e-01 -8.26342762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92719347 meters 0.06788421006820848 Centerline is valid? [True, True] Translation: X:76.48, Y:16.55, Z:-0.83 [[ 8.75859284e-01 -4.82562744e-01 -1.92672954e-03 7.64780146e+01] [ 4.82561848e-01 8.75861397e-01 -9.36525635e-04 1.65486897e+01] [ 2.13948041e-03 -1.09501496e-04 9.99997705e-01 -8.25028221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95719347 meters 0.06948771158503626 Centerline is valid? [True, True] Translation: X:76.50, Y:16.56, Z:-0.83 [[ 8.75533757e-01 -4.83151391e-01 -2.31809462e-03 7.65035979e+01] [ 4.83150101e-01 8.75536816e-01 -1.12471536e-03 1.65602755e+01] [ 2.57298498e-03 -1.35261382e-04 9.99996681e-01 -8.25054908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98719347000001 meters 0.06867078565450618 Centerline is valid? [True, True] Translation: X:76.53, Y:16.58, Z:-0.82 [[ 8.74839049e-01 -4.84403911e-01 -3.08028568e-03 7.65272620e+01] [ 4.84401632e-01 8.74844453e-01 -1.49708674e-03 1.65773027e+01] [ 3.41996551e-03 -1.82385469e-04 9.99994135e-01 -8.24997367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01719347 meters 0.07028517141623189 Centerline is valid? [True, True] Translation: X:76.55, Y:16.59, Z:-0.83 [[ 8.73539981e-01 -4.86714675e-01 -6.06025186e-03 7.65539107e+01] [ 4.86705934e-01 8.73560920e-01 -2.94157857e-03 1.65883909e+01] [ 6.72570865e-03 -3.79974057e-04 9.99977310e-01 -8.29723173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04719347 meters 0.07460262855480096 Centerline is valid? [True, True] Translation: X:76.58, Y:16.59, Z:-0.83 [[ 8.72311395e-01 -4.88907459e-01 -6.50596222e-03 7.65830404e+01] [ 4.88897440e-01 8.72335552e-01 -3.15867862e-03 1.65931895e+01] [ 7.21968369e-03 -4.25396923e-04 9.99973847e-01 -8.33232781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07719347 meters 0.07268541304065083 Centerline is valid? [True, True] Translation: X:76.61, Y:16.61, Z:-0.83 [[ 8.71376503e-01 -4.90562967e-01 -7.13899447e-03 7.66077684e+01] [ 4.90550961e-01 8.71405614e-01 -3.46578450e-03 1.66109197e+01] [ 7.92114538e-03 -4.82037414e-04 9.99968511e-01 -8.31680604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10719347 meters 0.07224162709248669 Centerline is valid? [True, True] Translation: X:76.63, Y:16.63, Z:-0.83 [[ 8.70176596e-01 -4.92697256e-01 -6.48885339e-03 7.66310083e+01] [ 4.92687394e-01 8.70200670e-01 -3.15053887e-03 1.66307569e+01] [ 7.19886642e-03 -4.55451078e-04 9.99973984e-01 -8.28857145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13719347 meters 0.07087792098107877 Centerline is valid? [True, True] Translation: X:76.65, Y:16.65, Z:-0.83 [[ 8.70756154e-01 -4.91688825e-01 -5.08133172e-03 7.66541877e+01] [ 4.91682755e-01 8.70770910e-01 -2.46816279e-03 1.66490717e+01] [ 5.63824391e-03 -3.49235242e-04 9.99984044e-01 -8.26742420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16719347 meters 0.07168122729572267 Centerline is valid? [True, True] Translation: X:76.68, Y:16.66, Z:-0.83 [[ 8.71699505e-01 -4.90022513e-01 -4.23195704e-03 7.66786970e+01] [ 4.90018279e-01 8.71709732e-01 -2.05645898e-03 1.66623250e+01] [ 4.69674934e-03 -2.81122026e-04 9.99988931e-01 -8.26989365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19719347 meters 0.07174911664117893 Centerline is valid? [True, True] Translation: X:76.70, Y:16.68, Z:-0.83 [[ 8.73303880e-01 -4.87163401e-01 -3.48631733e-03 7.67038699e+01] [ 4.87160505e-01 8.73310811e-01 -1.69387865e-03 1.66767228e+01] [ 3.86983430e-03 -2.19125317e-04 9.99992488e-01 -8.27625856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22719347 meters 0.06724124806751614 Centerline is valid? [True, True] Translation: X:76.72, Y:16.70, Z:-0.83 [[ 8.78185838e-01 -4.78315179e-01 -2.05526055e-03 7.67238151e+01] [ 4.78314149e-01 8.78188236e-01 -9.98475924e-04 1.67046444e+01] [ 2.28249183e-03 -1.06212784e-04 9.99997389e-01 -8.26228005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25719347 meters 0.06494186450186773 Centerline is valid? [True, True] Translation: X:76.75, Y:16.73, Z:-0.82 [[ 8.80431686e-01 -4.74167028e-01 -2.38245478e-03 7.67463904e+01] [ 4.74165628e-01 8.80434903e-01 -1.15757490e-03 1.67277887e+01] [ 2.64648019e-03 -1.10512544e-04 9.99996492e-01 -8.24693711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28719347 meters 0.06383147227249127 Centerline is valid? [True, True] Translation: X:76.77, Y:16.75, Z:-0.82 [[ 8.82665738e-01 -4.69999023e-01 -1.45396183e-03 7.67696401e+01] [ 4.69998496e-01 8.82666933e-01 -7.06776157e-04 1.67473014e+01] [ 1.61554814e-03 -5.95127772e-05 9.99998693e-01 -8.24327588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31719347 meters 0.06260467327285789 Centerline is valid? [True, True] Translation: X:76.79, Y:16.77, Z:-0.83 [[ 8.84154424e-01 -4.67188396e-01 -2.44065569e-03 7.67927730e+01] [ 4.67186897e-01 8.84157788e-01 -1.18679588e-03 1.67662100e+01] [ 2.71238200e-03 -9.09315350e-05 9.99996317e-01 -8.25295622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34719347000001 meters 0.06187286959519671 Centerline is valid? [True, True] Translation: X:76.82, Y:16.78, Z:-0.83 [[ 8.85605023e-01 -4.64415563e-01 -4.68269750e-03 7.68165295e+01] [ 4.64409993e-01 8.85617390e-01 -2.27992184e-03 1.67829031e+01] [ 5.20590952e-03 -1.55581279e-04 9.99986437e-01 -8.30067619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37719347 meters 0.06163903323877754 Centerline is valid? [True, True] Translation: X:76.84, Y:16.80, Z:-0.83 [[ 8.85676090e-01 -4.64262833e-01 -6.15511810e-03 7.68419552e+01] [ 4.64253196e-01 8.85697454e-01 -2.99826154e-03 1.67962683e+01] [ 6.84355383e-03 -2.02044694e-04 9.99976562e-01 -8.32677381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40719347 meters 0.0618037945059224 Centerline is valid? [True, True] Translation: X:76.87, Y:16.81, Z:-0.83 [[ 8.85679158e-01 -4.64230570e-01 -7.89988059e-03 7.68677617e+01] [ 4.64214674e-01 8.85714351e-01 -3.85025381e-03 1.68091112e+01] [ 8.78444313e-03 -2.57150946e-04 9.99961383e-01 -8.34553357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43719347 meters 0.061663247743990346 Centerline is valid? [True, True] Translation: X:76.89, Y:16.83, Z:-0.84 [[ 8.86225028e-01 -4.63135497e-01 -1.05219709e-02 7.68914072e+01] [ 4.63107235e-01 8.86287427e-01 -5.12693322e-03 1.68250443e+01] [ 1.16999553e-02 -3.29184330e-04 9.99931499e-01 -8.35491055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46719347 meters 0.06161374526562288 Centerline is valid? [True, True] Translation: X:76.91, Y:16.84, Z:-0.84 [[ 8.86789857e-01 -4.62016877e-01 -1.20064343e-02 7.69148044e+01] [ 4.61979944e-01 8.86871061e-01 -5.85261133e-03 1.68386774e+01] [ 1.33521644e-02 -3.56695493e-04 9.99910792e-01 -8.36364187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49719347 meters 0.06129254416423223 Centerline is valid? [True, True] Translation: X:76.94, Y:16.85, Z:-0.84 [[ 8.87616667e-01 -4.60425956e-01 -1.20246214e-02 7.69395880e+01] [ 4.60388691e-01 8.87698052e-01 -5.86704933e-03 1.68537394e+01] [ 1.33755748e-02 -3.28308925e-04 9.99910489e-01 -8.36243576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52719347 meters 0.06098804575798323 Centerline is valid? [True, True] Translation: X:76.96, Y:16.87, Z:-0.84 [[ 8.88110424e-01 -4.59484737e-01 -1.15608037e-02 7.69644526e+01] [ 4.59450158e-01 8.88185615e-01 -5.64488981e-03 1.68673867e+01] [ 1.28618803e-02 -2.98327627e-04 9.99917238e-01 -8.36606932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55719347 meters 0.0602528973914182 Centerline is valid? [True, True] Translation: X:76.99, Y:16.88, Z:-0.84 [[ 8.90059060e-01 -4.55689676e-01 -1.19075317e-02 7.69883833e+01] [ 4.55652600e-01 8.90138674e-01 -5.81801340e-03 1.68825787e+01] [ 1.32505631e-02 -2.47322232e-04 9.99912177e-01 -8.38903271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58719347 meters 0.05954565761145953 Centerline is valid? [True, True] Translation: X:77.01, Y:16.90, Z:-0.84 [[ 8.91314507e-01 -4.53211561e-01 -1.25591145e-02 7.70138329e+01] [ 4.53170108e-01 8.91402956e-01 -6.13374176e-03 1.68999675e+01] [ 1.39751145e-02 -2.24322278e-04 9.99902318e-01 -8.37738264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61719347 meters 0.0592465280823128 Centerline is valid? [True, True] Translation: X:77.04, Y:16.92, Z:-0.84 [[ 8.92276333e-01 -4.51298217e-01 -1.31477914e-02 7.70406516e+01] [ 4.51252595e-01 8.92373172e-01 -6.42015145e-03 1.69160759e+01] [ 1.46301392e-02 -2.04425784e-04 9.99892953e-01 -8.38605947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64719347 meters 0.05912828467613905 Centerline is valid? [True, True] Translation: X:77.07, Y:16.93, Z:-0.84 [[ 8.93127064e-01 -4.49577832e-01 -1.42765963e-02 7.70663544e+01] [ 4.49523821e-01 8.93241141e-01 -6.97121183e-03 1.69317555e+01] [ 1.58865455e-02 -1.91492172e-04 9.99873783e-01 -8.39241207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67719347 meters 0.0591012173316579 Centerline is valid? [True, True] Translation: X:77.09, Y:16.94, Z:-0.84 [[ 8.92903717e-01 -4.50083392e-01 -1.21611166e-02 7.70940487e+01] [ 4.50044247e-01 8.92986512e-01 -5.93839662e-03 1.69438533e+01] [ 1.35324867e-02 -1.70624127e-04 9.99908417e-01 -8.39217115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70719347 meters 0.05923533089048241 Centerline is valid? [True, True] Translation: X:77.12, Y:16.95, Z:-0.84 [[ 8.91544665e-01 -4.52804707e-01 -1.07707122e-02 7.71220240e+01] [ 4.52774183e-01 8.91609703e-01 -5.26088204e-03 1.69526116e+01] [ 1.19854237e-02 -1.86389103e-04 9.99928155e-01 -8.39192590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73719347000001 meters 0.05965292994474479 Centerline is valid? [True, True] Translation: X:77.15, Y:16.96, Z:-0.84 [[ 8.89768980e-01 -4.56293783e-01 -1.03511389e-02 7.71497497e+01] [ 4.56265806e-01 8.89829160e-01 -5.05769358e-03 1.69603087e+01] [ 1.15185393e-02 -2.22691860e-04 9.99933635e-01 -8.38836386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76719347 meters 0.061596018555491 Centerline is valid? [True, True] Translation: X:77.18, Y:16.96, Z:-0.84 [[ 8.85278180e-01 -4.64939603e-01 -1.06634554e-02 7.71811670e+01] [ 4.64910543e-01 8.85342333e-01 -5.20971988e-03 1.69621783e+01] [ 1.18630136e-02 -3.45501507e-04 9.99929572e-01 -8.40496419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79719347 meters 0.06271865847248305 Centerline is valid? [True, True] Translation: X:77.21, Y:16.97, Z:-0.84 [[ 8.83064068e-01 -4.69137633e-01 -1.03794272e-02 7.72105554e+01] [ 4.69110381e-01 8.83124979e-01 -5.07169986e-03 1.69698464e+01] [ 1.15456567e-02 -3.90461130e-04 9.99933270e-01 -8.41157546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82719347 meters 0.06445357798094133 Centerline is valid? [True, True] Translation: X:77.24, Y:16.98, Z:-0.84 [[ 8.80746909e-01 -4.73463951e-01 -1.08059905e-02 7.72392535e+01] [ 4.73434715e-01 8.80813074e-01 -5.28192240e-03 1.69757800e+01] [ 1.20188576e-02 -4.63894217e-04 9.99927663e-01 -8.42575023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85719347 meters 0.06410938788315086 Centerline is valid? [True, True] Translation: X:77.27, Y:16.99, Z:-0.84 [[ 8.78613521e-01 -4.77409672e-01 -1.08759869e-02 7.72664504e+01] [ 4.77380349e-01 8.78680678e-01 -5.31672638e-03 1.69871285e+01] [ 1.20947762e-02 -5.20634767e-04 9.99926720e-01 -8.41477130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88719347 meters 0.06735866089783693 Centerline is valid? [True, True] Translation: X:77.30, Y:16.99, Z:-0.84 [[ 8.74827970e-01 -4.84314796e-01 -1.07331469e-02 7.72981863e+01] [ 4.84286756e-01 8.74893598e-01 -5.24681610e-03 1.69886935e+01] [ 1.19314722e-02 -6.07859441e-04 9.99928633e-01 -8.41776111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91719347 meters 0.06885765579595915 Centerline is valid? [True, True] Translation: X:77.33, Y:17.00, Z:-0.84 [[ 8.73188709e-01 -4.87256190e-01 -1.10853343e-02 7.73262594e+01] [ 4.87226500e-01 8.73258816e-01 -5.42019892e-03 1.69975409e+01] [ 1.23213914e-02 -6.68212137e-04 9.99923866e-01 -8.42488538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94719347 meters 0.06914046622754656 Centerline is valid? [True, True] Translation: X:77.35, Y:17.01, Z:-0.84 [[ 8.71946573e-01 -4.89445054e-01 -1.23576914e-02 7.73533639e+01] [ 4.89408364e-01 8.72033791e-01 -6.04324635e-03 1.70088705e+01] [ 1.37341615e-02 -7.78569559e-04 9.99905379e-01 -8.42799963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97719347 meters 0.06990045071322523 Centerline is valid? [True, True] Translation: X:77.38, Y:17.02, Z:-0.84 [[ 8.70653050e-01 -4.91691605e-01 -1.42348734e-02 7.73830817e+01] [ 4.91643230e-01 8.70768904e-01 -6.96056290e-03 1.70172141e+01] [ 1.58177355e-02 -9.38243826e-04 9.99874452e-01 -8.44138492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00719347 meters 0.07080689273893316 Centerline is valid? [True, True] Translation: X:77.41, Y:17.03, Z:-0.85 [[ 8.70567164e-01 -4.91816931e-01 -1.51301056e-02 7.74091068e+01] [ 4.91762249e-01 8.70698060e-01 -7.40125037e-03 1.70262097e+01] [ 1.68138138e-02 -9.97129210e-04 9.99858141e-01 -8.47138644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03719347 meters 0.07179130050138038 Centerline is valid? [True, True] Translation: X:77.44, Y:17.04, Z:-0.85 [[ 8.71103654e-01 -4.90818320e-01 -1.66072526e-02 7.74355755e+01] [ 4.90752221e-01 8.71261286e-01 -8.12584452e-03 1.70360054e+01] [ 1.84575696e-02 -1.07159323e-03 9.99829070e-01 -8.49603012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06719347 meters 0.06813053294623357 Centerline is valid? [True, True] Translation: X:77.46, Y:17.06, Z:-0.85 [[ 8.73803879e-01 -4.86021454e-01 -1.58091064e-02 7.74585610e+01] [ 4.85960782e-01 8.73946390e-01 -7.73468420e-03 1.70582080e+01] [ 1.75755339e-02 -9.24008638e-04 9.99845111e-01 -8.46020501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09719347000001 meters 0.06766873402811292 Centerline is valid? [True, True] Translation: X:77.48, Y:17.07, Z:-0.84 [[ 8.75239513e-01 -4.83455007e-01 -1.50681906e-02 7.74829625e+01] [ 4.83399482e-01 8.75368818e-01 -7.37385904e-03 1.70732705e+01] [ 1.67551533e-02 -8.30062733e-04 9.99859278e-01 -8.44845937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12719347 meters 0.06688949860459696 Centerline is valid? [True, True] Translation: X:77.51, Y:17.09, Z:-0.84 [[ 8.76112752e-01 -4.81908250e-01 -1.38161042e-02 7.75075180e+01] [ 4.81861352e-01 8.76221377e-01 -6.76279376e-03 1.70881413e+01] [ 1.53650120e-02 -7.32476815e-04 9.99881683e-01 -8.44169969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15719347 meters 0.0665837335773343 Centerline is valid? [True, True] Translation: X:77.53, Y:17.10, Z:-0.85 [[ 8.76628995e-01 -4.80974064e-01 -1.36218656e-02 7.75331358e+01] [ 4.80928259e-01 8.76734544e-01 -6.67453730e-03 1.71013570e+01] [ 1.51530395e-02 -7.00047197e-04 9.99884941e-01 -8.45718921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18719347 meters 0.06608169525379826 Centerline is valid? [True, True] Translation: X:77.56, Y:17.11, Z:-0.85 [[ 8.76099975e-01 -4.81947767e-01 -1.32356650e-02 7.75581952e+01] [ 4.81904632e-01 8.76199672e-01 -6.48544068e-03 1.71145009e+01] [ 1.47227290e-02 -6.96433867e-04 9.99891372e-01 -8.46501000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21719347 meters 0.06603970413244639 Centerline is valid? [True, True] Translation: X:77.58, Y:17.13, Z:-0.84 [[ 8.74858735e-01 -4.84218613e-01 -1.24309507e-02 7.75836310e+01] [ 4.84180701e-01 8.74946779e-01 -6.09771033e-03 1.71277066e+01] [ 1.38290451e-02 -6.84191258e-04 9.99904140e-01 -8.44433723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24719347 meters 0.06827241645750379 Centerline is valid? [True, True] Translation: X:77.61, Y:17.14, Z:-0.84 [[ 8.73711987e-01 -4.86315748e-01 -1.11515288e-02 7.76106250e+01] [ 4.86285393e-01 8.73782914e-01 -5.47135011e-03 1.71364721e+01] [ 1.24048190e-02 -6.42441372e-04 9.99922851e-01 -8.44291906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27719347 meters 0.07020943589941837 Centerline is valid? [True, True] Translation: X:77.64, Y:17.15, Z:-0.84 [[ 8.72700332e-01 -4.88146342e-01 -1.03575388e-02 7.76370497e+01] [ 4.88120274e-01 8.72761574e-01 -5.08265485e-03 1.71464953e+01] [ 1.15207413e-02 -6.20090130e-04 9.99933442e-01 -8.43696242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30719347 meters 0.0703490862698317 Centerline is valid? [True, True] Translation: X:77.66, Y:17.16, Z:-0.84 [[ 8.71645906e-01 -4.90043988e-01 -9.50284991e-03 7.76625315e+01] [ 4.90022153e-01 8.71697505e-01 -4.66366304e-03 1.71610809e+01] [ 1.05690106e-02 -5.91544177e-04 9.99943971e-01 -8.42799032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33719347 meters 0.07011217867645719 Centerline is valid? [True, True] Translation: X:77.69, Y:17.17, Z:-0.84 [[ 8.71524351e-01 -4.90241191e-01 -1.04345973e-02 7.76875473e+01] [ 4.90214812e-01 8.71586574e-01 -5.12668351e-03 1.71747357e+01] [ 1.16079663e-02 -6.47164627e-04 9.99932416e-01 -8.43410382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36719347 meters 0.07088013889242518 Centerline is valid? [True, True] Translation: X:77.71, Y:17.19, Z:-0.85 [[ 8.71747890e-01 -4.89829258e-01 -1.10866684e-02 7.77126049e+01] [ 4.89799451e-01 8.71818119e-01 -5.44658822e-03 1.71861862e+01] [ 1.23334567e-02 -6.82192314e-04 9.99923707e-01 -8.45561302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39719347 meters 0.06987473295062106 Centerline is valid? [True, True] Translation: X:77.74, Y:17.20, Z:-0.85 [[ 8.72471101e-01 -4.88401463e-01 -1.60682867e-02 7.77352938e+01] [ 4.88338579e-01 8.72618527e-01 -7.89552990e-03 1.72041784e+01] [ 1.78776730e-02 -9.58142637e-04 9.99839723e-01 -8.48939176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42719347 meters 0.0703022018511896 Centerline is valid? [True, True] Translation: X:77.76, Y:17.22, Z:-0.85 [[ 8.72984335e-01 -4.87423229e-01 -1.78030147e-02 7.77590769e+01] [ 4.87345788e-01 8.73165230e-01 -8.75005586e-03 1.72186951e+01] [ 1.98099539e-02 -1.03756252e-03 9.99803225e-01 -8.50595337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45719347 meters 0.0709351593676085 Centerline is valid? [True, True] Translation: X:77.78, Y:17.23, Z:-0.85 [[ 8.73693223e-01 -4.86091143e-01 -1.93791918e-02 7.77836135e+01] [ 4.85999005e-01 8.73907434e-01 -9.52704381e-03 1.72324826e+01] [ 2.15666314e-02 -1.09455430e-03 9.99766814e-01 -8.53413062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48719347 meters 0.07104187559904504 Centerline is valid? [True, True] Translation: X:77.81, Y:17.25, Z:-0.86 [[ 8.74156343e-01 -4.85161779e-01 -2.16503312e-02 7.78082815e+01] [ 4.85046280e-01 8.74423601e-01 -1.06523709e-02 1.72481159e+01] [ 2.40996838e-02 -1.18957499e-03 9.99708853e-01 -8.56178287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51719347 meters 0.06729579012263383 Centerline is valid? [True, True] Translation: X:77.83, Y:17.27, Z:-0.85 [[ 8.74699850e-01 -4.84042682e-01 -2.45531026e-02 7.78287474e+01] [ 4.83893441e-01 8.75043414e-01 -1.20897498e-02 1.72723560e+01] [ 2.73369856e-02 -1.30618298e-03 9.99625421e-01 -8.54029918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54719347 meters 0.06903915622247889 Centerline is valid? [True, True] Translation: X:77.85, Y:17.28, Z:-0.86 [[ 8.75426519e-01 -4.82761514e-01 -2.38690395e-02 7.78549730e+01] [ 4.82619961e-01 8.75750997e-01 -1.17543678e-02 1.72820644e+01] [ 2.65778915e-02 -1.22958959e-03 9.99645989e-01 -8.58654280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57719347 meters 0.06933558626943484 Centerline is valid? [True, True] Translation: X:77.88, Y:17.30, Z:-0.86 [[ 8.75817386e-01 -4.82014125e-01 -2.46229308e-02 7.78788534e+01] [ 4.81863113e-01 8.76162564e-01 -1.21285288e-02 1.72955948e+01] [ 2.74198124e-02 -1.24250574e-03 9.99623234e-01 -8.60542481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60719347 meters 0.06684675034046544 Centerline is valid? [True, True] Translation: X:77.90, Y:17.32, Z:-0.86 [[ 8.76048334e-01 -4.81431025e-01 -2.76312359e-02 7.78980278e+01] [ 4.81240194e-01 8.76482920e-01 -1.36222683e-02 1.73213757e+01] [ 3.07764889e-02 -1.36349590e-03 9.99525362e-01 -8.55103354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63719347 meters 0.06860279898295843 Centerline is valid? [True, True] Translation: X:77.92, Y:17.33, Z:-0.86 [[ 8.76212583e-01 -4.81037304e-01 -2.92339033e-02 7.79226087e+01] [ 4.80823292e-01 8.76698971e-01 -1.44178774e-02 1.73331929e+01] [ 3.25648698e-02 -1.42321605e-03 9.99468611e-01 -8.59521209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66719347 meters 0.06861007226509808 Centerline is valid? [True, True] Translation: X:77.95, Y:17.35, Z:-0.86 [[ 8.76361441e-01 -4.80719017e-01 -2.99975084e-02 7.79460662e+01] [ 4.80493049e-01 8.76873516e-01 -1.48076826e-02 1.73481889e+01] [ 3.34223552e-02 -1.43671221e-03 9.99440284e-01 -8.60580289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69719347 meters 0.06740853782259405 Centerline is valid? [True, True] Translation: X:77.97, Y:17.37, Z:-0.86 [[ 8.77196476e-01 -4.79168532e-01 -3.03950793e-02 7.79692588e+01] [ 4.78935249e-01 8.77721821e-01 -1.50144057e-02 1.73660561e+01] [ 3.38728551e-02 -1.38669109e-03 9.99425188e-01 -8.60616254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72719347 meters 0.0674863607136462 Centerline is valid? [True, True] Translation: X:77.99, Y:17.38, Z:-0.86 [[ 8.77037816e-01 -4.79421115e-01 -3.09849013e-02 7.79939178e+01] [ 4.79178463e-01 8.77583840e-01 -1.53168158e-02 1.73804259e+01] [ 3.45350536e-02 -1.41387071e-03 9.99402487e-01 -8.60793594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75719347 meters 0.06710816829649989 Centerline is valid? [True, True] Translation: X:78.02, Y:17.40, Z:-0.86 [[ 8.76998226e-01 -4.79579829e-01 -2.96192421e-02 7.80187929e+01] [ 4.79357865e-01 8.77497218e-01 -1.46516057e-02 1.73960235e+01] [ 3.30174171e-02 -1.34878449e-03 9.99453866e-01 -8.58925768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78719347 meters 0.06710816829649989 Centerline is valid? [True, True] Translation: X:78.04, Y:17.41, Z:-0.86 [[ 8.76839711e-01 -4.79869900e-01 -2.96141733e-02 7.80432740e+01] [ 4.79647755e-01 8.77338624e-01 -1.46618494e-02 1.74083729e+01] [ 3.30174382e-02 -1.34827994e-03 9.99453866e-01 -8.59152765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81719347 meters 0.06784725961470019 Centerline is valid? [True, True] Translation: X:78.07, Y:17.42, Z:-0.86 [[ 8.76134254e-01 -4.81014392e-01 -3.18421754e-02 7.80685841e+01] [ 4.80758353e-01 8.76711419e-01 -1.57636638e-02 1.74242976e+01] [ 3.54989479e-02 -1.49730601e-03 9.99368592e-01 -8.57479297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84719347000001 meters 0.0682906408276844 Centerline is valid? [True, True] Translation: X:78.09, Y:17.44, Z:-0.86 [[ 8.75948280e-01 -4.81290320e-01 -3.27755816e-02 7.80942536e+01] [ 4.81018729e-01 8.76559898e-01 -1.62397120e-02 1.74374343e+01] [ 3.65457767e-02 -1.54052085e-03 9.99330793e-01 -8.58786896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87719347 meters 0.06775872204192052 Centerline is valid? [True, True] Translation: X:78.12, Y:17.45, Z:-0.86 [[ 8.75527145e-01 -4.81802535e-01 -3.63116390e-02 7.81208163e+01] [ 4.81469717e-01 8.76278103e-01 -1.79888407e-02 1.74524706e+01] [ 4.04861631e-02 -1.73323623e-03 9.99178596e-01 -8.59481688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90719347 meters 0.06845261374702667 Centerline is valid? [True, True] Translation: X:78.15, Y:17.46, Z:-0.86 [[ 8.75556707e-01 -4.81779182e-01 -3.59064504e-02 7.81466286e+01] [ 4.81453502e-01 8.76290993e-01 -1.77938664e-02 1.74633968e+01] [ 4.00372135e-02 -1.70774722e-03 9.99196730e-01 -8.61977741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93719347 meters 0.06847737871729907 Centerline is valid? [True, True] Translation: X:78.17, Y:17.48, Z:-0.86 [[ 8.75941524e-01 -4.81031482e-01 -3.65398522e-02 7.81713180e+01] [ 4.80693366e-01 8.76701675e-01 -1.81124434e-02 1.74764788e+01] [ 4.07472051e-02 -1.69902326e-03 9.99168043e-01 -8.63317607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96719347 meters 0.06747764665796036 Centerline is valid? [True, True] Translation: X:78.20, Y:17.49, Z:-0.86 [[ 8.76185293e-01 -4.80577969e-01 -3.66626163e-02 7.81951537e+01] [ 4.80236546e-01 8.76950413e-01 -1.81888038e-02 1.74923536e+01] [ 4.08924349e-02 -1.66996582e-03 9.99162159e-01 -8.60277473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99719347 meters 0.0684115804504091 Centerline is valid? [True, True] Translation: X:78.22, Y:17.51, Z:-0.87 [[ 8.77655073e-01 -4.77871389e-01 -3.68850659e-02 7.82202728e+01] [ 4.77523342e-01 8.78428442e-01 -1.83010743e-02 1.75051090e+01] [ 4.11464508e-02 -1.55144922e-03 9.99151922e-01 -8.65132894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02719347 meters 0.06652317436731683 Centerline is valid? [True, True] Translation: X:78.24, Y:17.52, Z:-0.86 [[ 8.78298142e-01 -4.76660537e-01 -3.72438620e-02 7.82434593e+01] [ 4.76303926e-01 8.79086172e-01 -1.84952229e-02 1.75235859e+01] [ 4.15565069e-02 -1.49507777e-03 9.99135037e-01 -8.60384795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05719347 meters 0.06859040823240915 Centerline is valid? [True, True] Translation: X:78.27, Y:17.53, Z:-0.87 [[ 8.78505375e-01 -4.76399925e-01 -3.56569521e-02 7.82704302e+01] [ 4.76072728e-01 8.79227561e-01 -1.77102441e-02 1.75308658e+01] [ 3.97877340e-02 -1.41675788e-03 9.99207150e-01 -8.67825915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08719347 meters 0.06777606699314553 Centerline is valid? [True, True] Translation: X:78.30, Y:17.55, Z:-0.87 [[ 8.77869503e-01 -4.77484888e-01 -3.67874677e-02 7.82950390e+01] [ 4.77136942e-01 8.78638682e-01 -1.82867316e-02 1.75454256e+01] [ 4.10545301e-02 -1.49929585e-03 9.99155782e-01 -8.65073857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11719347 meters 0.07073350085894278 Centerline is valid? [True, True] Translation: X:78.32, Y:17.55, Z:-0.87 [[ 8.76288197e-01 -4.80610688e-01 -3.36505921e-02 7.83228971e+01] [ 4.80321757e-01 8.76932785e-01 -1.67302300e-02 1.75511288e+01] [ 3.75500347e-02 -1.50260845e-03 9.99293619e-01 -8.67661579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14719347 meters 0.06844870479887886 Centerline is valid? [True, True] Translation: X:78.35, Y:17.57, Z:-0.86 [[ 8.75726632e-01 -4.81631114e-01 -3.36799129e-02 7.83460346e+01] [ 4.81341899e-01 8.76372702e-01 -1.67589656e-02 1.75700683e+01] [ 3.75877955e-02 -1.53528073e-03 9.99292150e-01 -8.60073568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17719347 meters 0.06886731942637839 Centerline is valid? [True, True] Translation: X:78.37, Y:17.58, Z:-0.86 [[ 8.75332558e-01 -4.82384867e-01 -3.31323460e-02 7.83702237e+01] [ 4.82105347e-01 8.75958032e-01 -1.64911945e-02 1.75818180e+01] [ 3.69776473e-02 -1.53800166e-03 9.99314909e-01 -8.60119978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20719347 meters 0.06769697516508108 Centerline is valid? [True, True] Translation: X:78.39, Y:17.60, Z:-0.86 [[ 8.75911494e-01 -4.81440911e-01 -3.15230721e-02 7.83949424e+01] [ 4.81187179e-01 8.76477396e-01 -1.56931114e-02 1.75973563e+01] [ 3.51845660e-02 -1.42272148e-03 9.99379819e-01 -8.58185754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23719347 meters 0.06872005097745013 Centerline is valid? [True, True] Translation: X:78.42, Y:17.61, Z:-0.86 [[ 8.76711695e-01 -4.80076503e-01 -3.00525498e-02 7.84213682e+01] [ 4.79844988e-01 8.77225660e-01 -1.49642534e-02 1.76080145e+01] [ 3.35468543e-02 -1.30122942e-03 9.99436299e-01 -8.61687864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26719347 meters 0.0670911996645487 Centerline is valid? [True, True] Translation: X:78.44, Y:17.63, Z:-0.86 [[ 8.77509401e-01 -4.78580325e-01 -3.06287917e-02 7.84447457e+01] [ 4.78338892e-01 8.78042862e-01 -1.52524295e-02 1.76276268e+01] [ 3.41929046e-02 -1.26679208e-03 9.99414449e-01 -8.57264453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29719347 meters 0.06704765334021429 Centerline is valid? [True, True] Translation: X:78.47, Y:17.64, Z:-0.86 [[ 8.78429908e-01 -4.76830642e-01 -3.15188064e-02 7.84695383e+01] [ 4.76573786e-01 8.78994324e-01 -1.56973021e-02 1.76447200e+01] [ 3.51898066e-02 -1.23205725e-03 9.99379888e-01 -8.57414884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32719347 meters 0.06694263277232564 Centerline is valid? [True, True] Translation: X:78.49, Y:17.66, Z:-0.86 [[ 8.80811036e-01 -4.72300599e-01 -3.32274480e-02 7.84925477e+01] [ 4.72011841e-01 8.81436850e-01 -1.65499847e-02 1.76639481e+01] [ 3.71044648e-02 -1.10633978e-03 9.99310780e-01 -8.59728368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35719347 meters 0.0667953798491244 Centerline is valid? [True, True] Translation: X:78.52, Y:17.68, Z:-0.86 [[ 8.81708072e-01 -4.70592162e-01 -3.36733357e-02 7.85173223e+01] [ 4.70293800e-01 8.82350240e-01 -1.67867909e-02 1.76788041e+01] [ 3.76114080e-02 -1.03531198e-03 9.99291904e-01 -8.61781972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38719347 meters 0.06653145750112134 Centerline is valid? [True, True] Translation: X:78.54, Y:17.69, Z:-0.86 [[ 8.82694752e-01 -4.68743242e-01 -3.36117197e-02 7.85422231e+01] [ 4.68444168e-01 8.83333958e-01 -1.67684083e-02 1.76931858e+01] [ 3.75504515e-02 -9.43828117e-04 9.99294287e-01 -8.63701658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41719347 meters 0.06657421335000166 Centerline is valid? [True, True] Translation: X:78.56, Y:17.71, Z:-0.87 [[ 8.84335852e-01 -4.65475799e-01 -3.58103407e-02 7.85648223e+01] [ 4.65133514e-01 8.85060195e-01 -1.78679923e-02 1.77109929e+01] [ 4.00114251e-02 -8.55283415e-04 9.99198856e-01 -8.65698735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44719347 meters 0.06685913025909636 Centerline is valid? [True, True] Translation: X:78.59, Y:17.73, Z:-0.87 [[ 8.85368393e-01 -4.63356082e-01 -3.77352490e-02 7.85883165e+01] [ 4.62973424e-01 8.86171836e-01 -1.88437372e-02 1.77269919e+01] [ 4.21712751e-02 -7.86768084e-04 9.99110086e-01 -8.67984084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47719347 meters 0.06723344069386623 Centerline is valid? [True, True] Translation: X:78.61, Y:17.74, Z:-0.87 [[ 8.86962759e-01 -4.60121800e-01 -3.98119743e-02 7.86116288e+01] [ 4.59692438e-01 8.87855555e-01 -1.98840590e-02 1.77416744e+01] [ 4.44963716e-02 -6.64843730e-04 9.99009325e-01 -8.72343694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50719347 meters 0.06682630167516417 Centerline is valid? [True, True] Translation: X:78.64, Y:17.76, Z:-0.87 [[ 8.90470008e-01 -4.53449491e-01 -3.80358160e-02 7.86351176e+01] [ 4.53051436e-01 8.91281919e-01 -1.89983392e-02 1.77596819e+01] [ 4.25154223e-02 -3.14729812e-04 9.99095761e-01 -8.72803877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53719347 meters 0.06643315121105486 Centerline is valid? [True, True] Translation: X:78.66, Y:17.77, Z:-0.87 [[ 8.91994212e-01 -4.50697963e-01 -3.48951680e-02 7.86608149e+01] [ 4.50360775e-01 8.92676492e-01 -1.74314061e-02 1.77748617e+01] [ 3.90063954e-02 -1.66701587e-04 9.99238947e-01 -8.70381513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56719347 meters 0.06598948112819464 Centerline is valid? [True, True] Translation: X:78.69, Y:17.79, Z:-0.87 [[ 8.93992276e-01 -4.46759390e-01 -3.44072371e-02 7.86887954e+01] [ 4.46428831e-01 8.94654149e-01 -1.71828770e-02 1.77914457e+01] [ 3.84591891e-02 9.76692490e-07 9.99260172e-01 -8.65402914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59719347000001 meters 0.0669574881376452 Centerline is valid? [True, True] Translation: X:78.71, Y:17.81, Z:-0.87 [[ 8.96891122e-01 -4.41186904e-01 -3.06664326e-02 7.87145884e+01] [ 4.40921080e-01 8.97415216e-01 -1.53144116e-02 1.78078049e+01] [ 3.42770410e-02 2.13883253e-04 9.99412347e-01 -8.68206170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62719347 meters 0.06720887589371642 Centerline is valid? [True, True] Translation: X:78.74, Y:17.82, Z:-0.87 [[ 8.97323881e-01 -4.40264973e-01 -3.12507146e-02 7.87410690e+01] [ 4.39987891e-01 8.97867854e-01 -1.56196150e-02 1.78185616e+01] [ 3.49357814e-02 2.65917560e-04 9.99389524e-01 -8.69100283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65719347 meters 0.06631678878957917 Centerline is valid? [True, True] Translation: X:78.77, Y:17.83, Z:-0.86 [[ 8.97371784e-01 -4.40066542e-01 -3.26392423e-02 7.87729157e+01] [ 4.39764407e-01 8.97965122e-01 -1.63065988e-02 1.78273610e+01] [ 3.64848897e-02 2.79504638e-04 9.99334166e-01 -8.62999341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68719347 meters 0.0664781406321647 Centerline is valid? [True, True] Translation: X:78.80, Y:17.84, Z:-0.87 [[ 8.97170075e-01 -4.40628766e-01 -3.05310876e-02 7.88030929e+01] [ 4.40364782e-01 8.97689386e-01 -1.52520533e-02 1.78355157e+01] [ 3.41279267e-02 2.38870104e-04 9.99417444e-01 -8.66782075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71719347 meters 0.06628644874535884 Centerline is valid? [True, True] Translation: X:78.84, Y:17.84, Z:-0.87 [[ 8.96727792e-01 -4.41520026e-01 -3.06485566e-02 7.88352073e+01] [ 4.41254444e-01 8.97251371e-01 -1.53131519e-02 1.78374427e+01] [ 3.42605227e-02 2.07917055e-04 9.99412914e-01 -8.66285174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74719347 meters 0.06592957306993853 Centerline is valid? [True, True] Translation: X:78.86, Y:17.84, Z:-0.86 [[ 8.95917298e-01 -4.43275737e-01 -2.89623173e-02 7.88638416e+01] [ 4.43039076e-01 8.96385297e-01 -1.44836836e-02 1.78447420e+01] [ 3.23816609e-02 1.44744389e-04 9.99475566e-01 -8.64877656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77719347 meters 0.0664293968511087 Centerline is valid? [True, True] Translation: X:78.89, Y:17.85, Z:-0.87 [[ 8.95347470e-01 -4.44455543e-01 -2.84987314e-02 7.88923063e+01] [ 4.44226933e-01 8.95800904e-01 -1.42538654e-02 1.78503175e+01] [ 3.18643988e-02 1.02258240e-04 9.99492196e-01 -8.68692432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80719347 meters 0.06742099498273178 Centerline is valid? [True, True] Translation: X:78.93, Y:17.85, Z:-0.88 [[ 8.93981607e-01 -4.47042402e-01 -3.08217017e-02 7.89261722e+01] [ 4.46776435e-01 8.94512767e-01 -1.54184033e-02 1.78454725e+01] [ 3.44630857e-02 1.33589621e-05 9.99405971e-01 -8.78038650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83719347 meters 0.06690265420068928 Centerline is valid? [True, True] Translation: X:78.96, Y:17.85, Z:-0.87 [[ 8.92584183e-01 -4.49708581e-01 -3.24910552e-02 7.89559901e+01] [ 4.49414305e-01 8.93175339e-01 -1.62664308e-02 1.78493937e+01] [ 3.63353627e-02 -8.27861855e-05 9.99339649e-01 -8.74926346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86719347 meters 0.06678776361929893 Centerline is valid? [True, True] Translation: X:78.99, Y:17.85, Z:-0.87 [[ 8.91474249e-01 -4.51809682e-01 -3.37886883e-02 7.89850035e+01] [ 4.51492477e-01 8.92114334e-01 -1.69280648e-02 1.78549472e+01] [ 3.77916367e-02 -1.64404680e-04 9.99285627e-01 -8.73235129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89719347 meters 0.06672591384533313 Centerline is valid? [True, True] Translation: X:79.02, Y:17.86, Z:-0.87 [[ 8.89642744e-01 -4.55210440e-01 -3.63213905e-02 7.90180175e+01] [ 4.54846723e-01 8.90383819e-01 -1.81965139e-02 1.78553225e+01] [ 4.06232215e-02 -3.32268925e-04 9.99174481e-01 -8.69359574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92719347 meters 0.06681460237896956 Centerline is valid? [True, True] Translation: X:79.05, Y:17.86, Z:-0.87 [[ 8.89059742e-01 -4.56352438e-01 -3.62660654e-02 7.90465803e+01] [ 4.55990554e-01 8.89799027e-01 -1.81743202e-02 1.78601611e+01] [ 4.05634050e-02 -3.78926863e-04 9.99176895e-01 -8.71685056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95719347 meters 0.06695350630471936 Centerline is valid? [True, True] Translation: X:79.08, Y:17.86, Z:-0.87 [[ 8.87897298e-01 -4.58574260e-01 -3.67156194e-02 7.90759872e+01] [ 4.58204594e-01 8.88655965e-01 -1.84153495e-02 1.78649083e+01] [ 4.10723594e-02 -4.72326445e-04 9.99156063e-01 -8.72587888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98719347 meters 0.06781927081758538 Centerline is valid? [True, True] Translation: X:79.11, Y:17.86, Z:-0.88 [[ 8.84804633e-01 -4.64304898e-01 -3.92647868e-02 7.91105532e+01] [ 4.63887734e-01 8.85675075e-01 -1.96934393e-02 1.78607531e+01] [ 4.39196033e-02 -7.89606640e-04 9.99034757e-01 -8.76031981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01719347 meters 0.06820761611664991 Centerline is valid? [True, True] Translation: X:79.14, Y:17.87, Z:-0.88 [[ 8.83273388e-01 -4.67187824e-01 -3.95431252e-02 7.91395776e+01] [ 4.66766846e-01 8.84157612e-01 -1.98501425e-02 1.78664450e+01] [ 4.42361000e-02 -9.24317248e-04 9.99020677e-01 -8.75831821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04719347 meters 0.06893186794498357 Centerline is valid? [True, True] Translation: X:79.17, Y:17.87, Z:-0.88 [[ 8.81265912e-01 -4.70916583e-01 -4.00994317e-02 7.91694407e+01] [ 4.70487404e-01 8.82177027e-01 -2.01319389e-02 1.78722949e+01] [ 4.48552613e-02 -1.12468604e-03 9.98992863e-01 -8.76258659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07719347 meters 0.06966480426242458 Centerline is valid? [True, True] Translation: X:79.20, Y:17.88, Z:-0.88 [[ 8.79429157e-01 -4.74364446e-01 -3.97835317e-02 7.91990352e+01] [ 4.73944787e-01 8.80327635e-01 -1.99898357e-02 1.78782202e+01] [ 4.45050097e-02 -1.27555309e-03 9.99008347e-01 -8.76346816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10719347 meters 0.07061956096083549 Centerline is valid? [True, True] Translation: X:79.23, Y:17.88, Z:-0.87 [[ 8.75841964e-01 -4.81049177e-01 -3.86334632e-02 7.92319357e+01] [ 4.80659860e-01 8.76692212e-01 -1.94129943e-02 1.78780805e+01] [ 4.32082613e-02 -1.56683997e-03 9.99064858e-01 -8.72313531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13719347 meters 0.07222071850794494 Centerline is valid? [True, True] Translation: X:79.26, Y:17.88, Z:-0.87 [[ 8.74203394e-01 -4.84179385e-01 -3.65889225e-02 7.92610598e+01] [ 4.83832714e-01 8.74967245e-01 -1.83908677e-02 1.78821320e+01] [ 4.09185877e-02 -1.62555876e-03 9.99161162e-01 -8.72729473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16719347 meters 0.07113235932462024 Centerline is valid? [True, True] Translation: X:79.29, Y:17.89, Z:-0.87 [[ 8.72799808e-01 -4.86823265e-01 -3.49800614e-02 7.92873066e+01] [ 4.86507954e-01 8.73498916e-01 -1.75970380e-02 1.78937556e+01] [ 3.91216932e-02 -1.65938672e-03 9.99233076e-01 -8.65893790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19719347 meters 0.07149883125727322 Centerline is valid? [True, True] Translation: X:79.31, Y:17.90, Z:-0.86 [[ 8.71250228e-01 -4.89668856e-01 -3.38740578e-02 7.93141984e+01] [ 4.89374831e-01 8.71906793e-01 -1.70534116e-02 1.79044434e+01] [ 3.78855457e-02 -1.71932256e-03 9.99280606e-01 -8.63682458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22719347 meters 0.07413809108511905 Centerline is valid? [True, True] Translation: X:79.34, Y:17.91, Z:-0.87 [[ 8.69641087e-01 -4.92400949e-01 -3.55764806e-02 7.93434091e+01] [ 4.92078902e-01 8.70366346e-01 -1.79102580e-02 1.79109452e+01] [ 3.97835994e-02 -1.93093929e-03 9.99206453e-01 -8.66044989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25719347 meters 0.07348935680029997 Centerline is valid? [True, True] Translation: X:79.37, Y:17.92, Z:-0.87 [[ 8.68814759e-01 -4.93818541e-01 -3.61131915e-02 7.93692776e+01] [ 4.93487297e-01 8.69562647e-01 -1.81958824e-02 1.79235107e+01] [ 4.03881465e-02 -2.01255010e-03 9.99182039e-01 -8.65323384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28719347 meters 0.07374270534227043 Centerline is valid? [True, True] Translation: X:79.40, Y:17.93, Z:-0.87 [[ 8.68686442e-01 -4.94092294e-01 -3.54495515e-02 7.93950236e+01] [ 4.93773227e-01 8.69407190e-01 -1.78644250e-02 1.79341897e+01] [ 3.96467697e-02 -1.98545563e-03 9.99211785e-01 -8.65636133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31719347 meters 0.0718205791931954 Centerline is valid? [True, True] Translation: X:79.42, Y:17.95, Z:-0.86 [[ 8.68540156e-01 -4.94522445e-01 -3.29476775e-02 7.94197368e+01] [ 4.94246912e-01 8.69162873e-01 -1.66099519e-02 1.79500872e+01] [ 3.68508920e-02 -1.85787766e-03 9.99319048e-01 -8.61488708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34719347000001 meters 0.07184567949801723 Centerline is valid? [True, True] Translation: X:79.44, Y:17.96, Z:-0.86 [[ 8.68278477e-01 -4.95113470e-01 -3.09053164e-02 7.94449883e+01] [ 4.94870968e-01 8.68826549e-01 -1.55933654e-02 1.79636384e+01] [ 3.45718447e-02 -1.75476028e-03 9.99400675e-01 -8.60132803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37719347 meters 0.07192947890721328 Centerline is valid? [True, True] Translation: X:79.47, Y:17.98, Z:-0.86 [[ 8.68343486e-01 -4.95108351e-01 -2.91086191e-02 7.94689128e+01] [ 4.94893080e-01 8.68829675e-01 -1.46913422e-02 1.79778153e+01] [ 3.25642383e-02 -1.64852283e-03 9.99468285e-01 -8.58418077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40719347 meters 0.07051438214678604 Centerline is valid? [True, True] Translation: X:79.49, Y:18.00, Z:-0.86 [[ 8.69816767e-01 -4.92595359e-01 -2.77237101e-02 7.94931479e+01] [ 4.92398829e-01 8.70257215e-01 -1.39919222e-02 1.79965566e+01] [ 3.10191147e-02 -1.48071389e-03 9.99517695e-01 -8.56216462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43719347 meters 0.070518718508604 Centerline is valid? [True, True] Translation: X:79.52, Y:18.01, Z:-0.86 [[ 8.70830940e-01 -4.90689267e-01 -2.96229174e-02 7.95166402e+01] [ 4.90463629e-01 8.71333332e-01 -1.49550104e-02 1.80112104e+01] [ 3.31496984e-02 -1.50567780e-03 9.99449264e-01 -8.59237557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46719347 meters 0.06959504635980138 Centerline is valid? [True, True] Translation: X:79.54, Y:18.03, Z:-0.86 [[ 8.72512929e-01 -4.87584087e-01 -3.13519872e-02 7.95388856e+01] [ 4.87329192e-01 8.73074803e-01 -1.58318468e-02 1.80284996e+01] [ 3.50919866e-02 -1.46524761e-03 9.99383012e-01 -8.61567790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49719347 meters 0.06774260349470379 Centerline is valid? [True, True] Translation: X:79.56, Y:18.05, Z:-0.86 [[ 8.74395498e-01 -4.84208115e-01 -3.12252128e-02 7.95619245e+01] [ 4.83953088e-01 8.74951856e-01 -1.57689026e-02 1.80490003e+01] [ 3.49559885e-02 -1.32328076e-03 9.99387977e-01 -8.60899988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52719347 meters 0.06522487344076641 Centerline is valid? [True, True] Translation: X:79.58, Y:18.07, Z:-0.86 [[ 8.79139611e-01 -4.75735110e-01 -2.81007083e-02 7.95824061e+01] [ 4.75524195e-01 8.79588154e-01 -1.41922116e-02 1.80737913e+01] [ 3.14687835e-02 -8.85631280e-04 9.99504343e-01 -8.60885820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55719347 meters 0.06409224144540085 Centerline is valid? [True, True] Translation: X:79.61, Y:18.09, Z:-0.86 [[ 8.81039573e-01 -4.72288250e-01 -2.67035717e-02 7.96065592e+01] [ 4.72096190e-01 8.81443864e-01 -1.34871284e-02 1.80933483e+01] [ 2.99075116e-02 -7.23960622e-04 9.99552408e-01 -8.60612322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58719347 meters 0.06197020846416096 Centerline is valid? [True, True] Translation: X:79.63, Y:18.12, Z:-0.86 [[ 8.82831637e-01 -4.68971997e-01 -2.59531666e-02 7.96274690e+01] [ 4.68789048e-01 8.83212837e-01 -1.31115360e-02 1.81155405e+01] [ 2.90711131e-02 -5.91281498e-04 9.99577171e-01 -8.55753878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61719347 meters 0.06157825843345287 Centerline is valid? [True, True] Translation: X:79.65, Y:18.13, Z:-0.86 [[ 8.84549943e-01 -4.65682868e-01 -2.66620474e-02 7.96503423e+01] [ 4.65487934e-01 8.84951542e-01 -1.34815595e-02 1.81345314e+01] [ 2.98727512e-02 -4.85748694e-04 9.99553592e-01 -8.57387154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64719347 meters 0.061409496020107666 Centerline is valid? [True, True] Translation: X:79.67, Y:18.15, Z:-0.86 [[ 8.86008406e-01 -4.62746083e-01 -2.92432358e-02 7.96724382e+01] [ 4.62509908e-01 8.86490769e-01 -1.47885618e-02 1.81531999e+01] [ 3.27672076e-02 -4.22496175e-04 9.99462922e-01 -8.62193250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67719347 meters 0.061409496020107666 Centerline is valid? [True, True] Translation: X:79.70, Y:18.17, Z:-0.86 [[ 8.85852236e-01 -4.63045346e-01 -2.92373775e-02 7.96968012e+01] [ 4.62808951e-01 8.86334492e-01 -1.48001417e-02 1.81657812e+01] [ 3.27672329e-02 -4.20581396e-04 9.99462922e-01 -8.62419737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70719347 meters 0.06165414615222234 Centerline is valid? [True, True] Translation: X:79.72, Y:18.18, Z:-0.86 [[ 8.85799034e-01 -4.63042951e-01 -3.08430979e-02 7.97220538e+01] [ 4.62779809e-01 8.86335732e-01 -1.56146850e-02 1.81784000e+01] [ 3.45676095e-02 -4.42090080e-04 9.99402264e-01 -8.64793577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73719347 meters 0.061876857908008266 Centerline is valid? [True, True] Translation: X:79.75, Y:18.19, Z:-0.87 [[ 8.84620759e-01 -4.65172855e-01 -3.25626758e-02 7.97496370e+01] [ 4.64880945e-01 8.85219695e-01 -1.64863058e-02 1.81897856e+01] [ 3.64941039e-02 -5.53639181e-04 9.99333715e-01 -8.67305914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76719347 meters 0.06315449226782878 Centerline is valid? [True, True] Translation: X:79.78, Y:18.20, Z:-0.87 [[ 8.80670800e-01 -4.72571597e-01 -3.30912113e-02 7.97795046e+01] [ 4.72275226e-01 8.81291851e-01 -1.67566186e-02 1.81958603e+01] [ 3.70817169e-02 -8.71094582e-04 9.99311857e-01 -8.67853767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79719347 meters 0.06425603728021921 Centerline is valid? [True, True] Translation: X:79.81, Y:18.20, Z:-0.87 [[ 8.78357594e-01 -4.76766140e-01 -3.43799980e-02 7.98086339e+01] [ 4.76449376e-01 8.79029502e-01 -1.74105555e-02 1.82043433e+01] [ 3.85217959e-02 -1.08763497e-03 9.99257168e-01 -8.68607940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82719347 meters 0.0654685046564903 Centerline is valid? [True, True] Translation: X:79.84, Y:18.21, Z:-0.87 [[ 8.76795137e-01 -4.79521487e-01 -3.59086646e-02 7.98365842e+01] [ 4.79178057e-01 8.77529235e-01 -1.81887467e-02 1.82118489e+01] [ 4.02327979e-02 -1.25883946e-03 9.99189540e-01 -8.71545397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85719347 meters 0.06623378502211724 Centerline is valid? [True, True] Translation: X:79.87, Y:18.22, Z:-0.87 [[ 8.75535637e-01 -4.81953512e-01 -3.40317427e-02 7.98650729e+01] [ 4.81646717e-01 8.76195832e-01 -1.72425275e-02 1.82178899e+01] [ 3.81285678e-02 -1.29482981e-03 9.99272003e-01 -8.71708153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88719347 meters 0.06806072298624617 Centerline is valid? [True, True] Translation: X:79.89, Y:18.23, Z:-0.88 [[ 8.75669888e-01 -4.81883439e-01 -3.14737646e-02 7.98927435e+01] [ 4.81620926e-01 8.76234517e-01 -1.59485222e-02 1.82263236e+01] [ 3.52637277e-02 -1.19278301e-03 9.99377330e-01 -8.75821924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91719347 meters 0.06496171677853824 Centerline is valid? [True, True] Translation: X:79.92, Y:18.25, Z:-0.87 [[ 8.76264222e-01 -4.80975095e-01 -2.87049073e-02 7.99165030e+01] [ 4.80756249e-01 8.76733624e-01 -1.45458747e-02 1.82456925e+01] [ 3.21627609e-02 -1.05403400e-03 9.99482089e-01 -8.66558786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94719347 meters 0.06457570024200732 Centerline is valid? [True, True] Translation: X:79.94, Y:18.26, Z:-0.86 [[ 8.76279672e-01 -4.81176573e-01 -2.45569088e-02 7.99412450e+01] [ 4.81016434e-01 8.76623228e-01 -1.24461205e-02 1.82597856e+01] [ 2.75159383e-02 -9.05994330e-04 9.99620954e-01 -8.61712119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97719347 meters 0.06478217600564648 Centerline is valid? [True, True] Translation: X:79.97, Y:18.27, Z:-0.86 [[ 8.75785150e-01 -4.82144807e-01 -2.31680009e-02 7.99670790e+01] [ 4.82002352e-01 8.76091103e-01 -1.17521270e-02 1.82729728e+01] [ 2.59635064e-02 -8.74692622e-04 9.99662509e-01 -8.61275346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00719347 meters 0.06376816228947034 Centerline is valid? [True, True] Translation: X:79.99, Y:18.29, Z:-0.86 [[ 8.75340423e-01 -4.83036853e-01 -2.13200022e-02 7.99916609e+01] [ 4.82916293e-01 8.75599636e-01 -1.08227326e-02 1.82880474e+01] [ 2.38955648e-02 -8.22201102e-04 9.99714122e-01 -8.57428127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03719347 meters 0.06509913485677 Centerline is valid? [True, True] Translation: X:80.02, Y:18.30, Z:-0.86 [[ 8.73141214e-01 -4.87050467e-01 -2.01559664e-02 8.00205338e+01] [ 4.86943803e-01 8.73373382e-01 -1.02307183e-02 1.82962278e+01] [ 2.25865607e-02 -8.81961123e-04 9.99744502e-01 -8.59817307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06719347 meters 0.06747131816100979 Centerline is valid? [True, True] Translation: X:80.05, Y:18.30, Z:-0.86 [[ 8.72189035e-01 -4.88827602e-01 -1.82719107e-02 8.00484568e+01] [ 4.88740245e-01 8.72380006e-01 -9.27891912e-03 1.83035143e+01] [ 2.04758413e-02 -8.37246586e-04 9.99789997e-01 -8.62348017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09719347000001 meters 0.0668376303529087 Centerline is valid? [True, True] Translation: X:80.07, Y:18.32, Z:-0.86 [[ 8.70961656e-01 -4.91057041e-01 -1.69934405e-02 8.00725208e+01] [ 4.90981871e-01 8.71127029e-01 -8.63142062e-03 1.83188131e+01] [ 1.90419652e-02 -8.25834810e-04 9.99818344e-01 -8.58626605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12719347 meters 0.06440884175055886 Centerline is valid? [True, True] Translation: X:80.09, Y:18.34, Z:-0.85 [[ 8.70297083e-01 -4.92285349e-01 -1.54312374e-02 8.00945716e+01] [ 4.92223401e-01 8.70433540e-01 -7.84702933e-03 1.83378999e+01] [ 1.72948442e-02 -7.66369415e-04 9.99850139e-01 -8.53322999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15719347 meters 0.06415010319571271 Centerline is valid? [True, True] Translation: X:80.12, Y:18.35, Z:-0.85 [[ 8.70568474e-01 -4.91786920e-01 -1.60049509e-02 8.01184027e+01] [ 4.91720095e-01 8.70715233e-01 -8.14437522e-03 1.83547593e+01] [ 1.79410517e-02 -7.79719642e-04 9.99838742e-01 -8.54031326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18719347 meters 0.06345964421513024 Centerline is valid? [True, True] Translation: X:80.14, Y:18.37, Z:-0.85 [[ 8.71613538e-01 -4.89887185e-01 -1.73316616e-02 8.01419017e+01] [ 4.89808322e-01 8.71785473e-01 -8.82589622e-03 1.83726715e+01] [ 1.94331842e-02 -7.96421442e-04 9.99810841e-01 -8.53978542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21719347 meters 0.061291289428430734 Centerline is valid? [True, True] Translation: X:80.16, Y:18.40, Z:-0.85 [[ 8.76343003e-01 -4.81440541e-01 -1.54254951e-02 8.01623513e+01] [ 4.81376777e-01 8.76478586e-01 -7.85414165e-03 1.83954736e+01] [ 1.73014184e-02 -5.42553051e-04 9.99850172e-01 -8.53099620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24719347 meters 0.060464722676770236 Centerline is valid? [True, True] Translation: X:80.19, Y:18.41, Z:-0.85 [[ 8.79047694e-01 -4.76479650e-01 -1.55657910e-02 8.01861311e+01] [ 4.76413929e-01 8.79185385e-01 -7.92632382e-03 1.84125287e+01] [ 1.74619480e-02 -4.48142982e-04 9.99847428e-01 -8.54822713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27719347 meters 0.059129305132816626 Centerline is valid? [True, True] Translation: X:80.21, Y:18.43, Z:-0.85 [[ 8.81836544e-01 -4.71329158e-01 -1.45991573e-02 8.02094152e+01] [ 4.71270625e-01 8.81957323e-01 -7.43489241e-03 1.84323073e+01] [ 1.63801153e-02 -3.23794173e-04 9.99865784e-01 -8.53441199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30719347 meters 0.05811780340266093 Centerline is valid? [True, True] Translation: X:80.23, Y:18.45, Z:-0.85 [[ 8.84271708e-01 -4.66802158e-01 -1.26210818e-02 8.02320931e+01] [ 4.66757857e-01 8.84361750e-01 -6.43410872e-03 1.84522576e+01] [ 1.41650578e-02 -2.01488774e-04 9.99899650e-01 -8.51156576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33719347 meters 0.05802816977124119 Centerline is valid? [True, True] Translation: X:80.25, Y:18.47, Z:-0.85 [[ 8.88138998e-01 -4.59367764e-01 -1.37977074e-02 8.02520874e+01] [ 4.59313897e-01 8.88246165e-01 -7.03524981e-03 1.84745775e+01] [ 1.54875276e-02 -8.91990278e-05 9.99880057e-01 -8.52035449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36719347 meters 0.058193978338941 Centerline is valid? [True, True] Translation: X:80.28, Y:18.49, Z:-0.86 [[ 8.89264164e-01 -4.57156133e-01 -1.47484415e-02 8.02773672e+01] [ 4.57094173e-01 8.89386456e-01 -7.52660596e-03 1.84891028e+01] [ 1.65578982e-02 -4.82856969e-05 9.99862907e-01 -8.55374393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39719347 meters 0.05834835713454391 Centerline is valid? [True, True] Translation: X:80.30, Y:18.50, Z:-0.86 [[ 8.89793133e-01 -4.56069446e-01 -1.63963674e-02 8.03036066e+01] [ 4.55992576e-01 8.89944189e-01 -8.37325106e-03 1.85010084e+01] [ 1.84106359e-02 -2.61605316e-05 9.99830510e-01 -8.58571914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42719347 meters 0.058404347519311416 Centerline is valid? [True, True] Translation: X:80.33, Y:18.51, Z:-0.86 [[ 8.90288086e-01 -4.55096666e-01 -1.65574373e-02 8.03291035e+01] [ 4.55018103e-01 8.90442039e-01 -8.45588263e-03 1.85114967e+01] [ 1.85916822e-02 -5.76213306e-06 9.99827160e-01 -8.60110072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45719347 meters 0.058133333963715055 Centerline is valid? [True, True] Translation: X:80.36, Y:18.52, Z:-0.86 [[ 8.90104314e-01 -4.55498976e-01 -1.53294701e-02 8.03576237e+01] [ 4.55431569e-01 8.90236307e-01 -7.83602419e-03 1.85200820e+01] [ 1.72161518e-02 -6.64566917e-06 9.99851791e-01 -8.56046355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48719347 meters 0.058162391802720266 Centerline is valid? [True, True] Translation: X:80.38, Y:18.53, Z:-0.86 [[ 8.90466414e-01 -4.54809490e-01 -1.47612128e-02 8.03835122e+01] [ 4.54746885e-01 8.90588754e-01 -7.54603033e-03 1.85301068e+01] [ 1.65781763e-02 6.87103161e-06 9.99862573e-01 -8.56290561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51719347 meters 0.05822942813573412 Centerline is valid? [True, True] Translation: X:80.41, Y:18.54, Z:-0.86 [[ 8.90611857e-01 -4.54514917e-01 -1.50568864e-02 8.04101908e+01] [ 4.54449586e-01 8.90739125e-01 -7.70610369e-03 1.85390790e+01] [ 1.69142969e-02 2.05515462e-05 9.99856943e-01 -8.55733903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54719347 meters 0.05817940689058164 Centerline is valid? [True, True] Translation: X:80.44, Y:18.54, Z:-0.86 [[ 8.90553587e-01 -4.54663533e-01 -1.39778555e-02 8.04404103e+01] [ 4.54607250e-01 8.90663276e-01 -7.15375637e-03 1.85415133e+01] [ 1.57021147e-02 1.63689358e-05 9.99876714e-01 -8.57596613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57719347 meters 0.057951806487624366 Centerline is valid? [True, True] Translation: X:80.47, Y:18.55, Z:-0.86 [[ 8.89890107e-01 -4.56002197e-01 -1.25536068e-02 8.04688202e+01] [ 4.55956841e-01 8.89978649e-01 -6.43141752e-03 1.85498721e+01] [ 1.41051825e-02 -6.48069982e-07 9.99900517e-01 -8.56731115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60719347 meters 0.05792496919836392 Centerline is valid? [True, True] Translation: X:80.50, Y:18.56, Z:-0.86 [[ 8.88861419e-01 -4.57974535e-01 -1.35905743e-02 8.04970712e+01] [ 4.57921528e-01 8.88965311e-01 -6.96776594e-03 1.85576334e+01] [ 1.52726085e-02 -3.00382410e-05 9.99883366e-01 -8.56586988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63719347 meters 0.05816135798322492 Centerline is valid? [True, True] Translation: X:80.53, Y:18.56, Z:-0.86 [[ 8.87501539e-01 -4.60572379e-01 -1.46321853e-02 8.05255166e+01] [ 4.60511289e-01 8.87622148e-01 -7.50174557e-03 1.85640590e+01] [ 1.64429485e-02 -8.04757458e-05 9.99864802e-01 -8.58169306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66719347 meters 0.058357146108123495 Centerline is valid? [True, True] Translation: X:80.56, Y:18.56, Z:-0.86 [[ 8.84941372e-01 -4.65506010e-01 -1.35248832e-02 8.05586191e+01] [ 4.65454284e-01 8.85044706e-01 -6.94104774e-03 1.85634638e+01] [ 1.52012258e-02 -1.52794529e-04 9.99884443e-01 -8.59813150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69719347 meters 0.05850017381842599 Centerline is valid? [True, True] Translation: X:80.59, Y:18.57, Z:-0.86 [[ 8.83925096e-01 -4.67472044e-01 -1.20959733e-02 8.05865743e+01] [ 4.67430853e-01 8.84007839e-01 -6.20783982e-03 1.85707402e+01] [ 1.35949268e-02 -1.66765691e-04 9.99907571e-01 -8.59449414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72719347 meters 0.058404059539567 Centerline is valid? [True, True] Translation: X:80.61, Y:18.58, Z:-0.86 [[ 8.83203116e-01 -4.68869393e-01 -1.06652802e-02 8.06142537e+01] [ 4.68837400e-01 8.83267494e-01 -5.47957257e-03 1.85803585e+01] [ 1.19894992e-02 -1.60706670e-04 9.99928110e-01 -8.57848001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75719347 meters 0.05840648158067984 Centerline is valid? [True, True] Translation: X:80.64, Y:18.59, Z:-0.86 [[ 8.83457093e-01 -4.68397363e-01 -1.03669844e-02 8.06434937e+01] [ 4.68367055e-01 8.83517905e-01 -5.33040051e-03 1.85866556e+01] [ 1.16561619e-02 -1.46373792e-04 9.99932054e-01 -8.59153692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78719347 meters 0.05834525079658459 Centerline is valid? [True, True] Translation: X:80.67, Y:18.60, Z:-0.86 [[ 8.83673086e-01 -4.67965008e-01 -1.14293268e-02 8.06707164e+01] [ 4.67928079e-01 8.83746982e-01 -5.88079003e-03 1.85960195e+01] [ 1.28526370e-02 -1.51407050e-04 9.99917390e-01 -8.61622917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81719347 meters 0.058660036202366136 Centerline is valid? [True, True] Translation: X:80.70, Y:18.60, Z:-0.87 [[ 8.83608756e-01 -4.68043892e-01 -1.30568618e-02 8.06975187e+01] [ 4.67995713e-01 8.83705202e-01 -6.71774441e-03 1.86047855e+01] [ 1.46826159e-02 -1.74697575e-04 9.99892189e-01 -8.65339769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84719347000001 meters 0.059002066017765704 Centerline is valid? [True, True] Translation: X:80.73, Y:18.61, Z:-0.87 [[ 8.82980494e-01 -4.69201485e-01 -1.39790612e-02 8.07259283e+01] [ 4.69146376e-01 8.83091119e-01 -7.19402593e-03 1.86114942e+01] [ 1.57202324e-02 -2.06041326e-04 9.99876408e-01 -8.67085896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87719347 meters 0.05940938175563957 Centerline is valid? [True, True] Translation: X:80.75, Y:18.62, Z:-0.87 [[ 8.82348900e-01 -4.70371028e-01 -1.45435176e-02 8.07522778e+01] [ 4.70311496e-01 8.82468720e-01 -7.48701001e-03 1.86199598e+01] [ 1.63558719e-02 -2.33828446e-04 9.99866206e-01 -8.67818700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90719347 meters 0.06044481962190194 Centerline is valid? [True, True] Translation: X:80.78, Y:18.62, Z:-0.87 [[ 8.81152010e-01 -4.72592509e-01 -1.50816268e-02 8.07822163e+01] [ 4.72528786e-01 8.81281022e-01 -7.76577243e-03 1.86230687e+01] [ 1.69611973e-02 -2.83676802e-04 9.99856108e-01 -8.71262547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93719347 meters 0.060680241084268026 Centerline is valid? [True, True] Translation: X:80.81, Y:18.63, Z:-0.87 [[ 8.80087209e-01 -4.74573724e-01 -1.50427649e-02 8.08096930e+01] [ 4.74510492e-01 8.80215702e-01 -7.75310647e-03 1.86319895e+01] [ 1.69202985e-02 -3.14539944e-04 9.99856792e-01 -8.71302686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96719347 meters 0.06127213996486271 Centerline is valid? [True, True] Translation: X:80.84, Y:18.64, Z:-0.87 [[ 8.78715655e-01 -4.77143266e-01 -1.38961232e-02 8.08375325e+01] [ 4.77089544e-01 8.78825463e-01 -7.16747215e-03 1.86400269e+01] [ 1.56321780e-02 -3.31525104e-04 9.99877755e-01 -8.71466145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99719347 meters 0.062040997464621175 Centerline is valid? [True, True] Translation: X:80.87, Y:18.65, Z:-0.87 [[ 8.77293964e-01 -4.79811420e-01 -1.16748289e-02 8.08651957e+01] [ 4.79773734e-01 8.77371586e-01 -6.02195813e-03 1.86468025e+01] [ 1.31325674e-02 -3.18248738e-04 9.99913713e-01 -8.71379811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02719347 meters 0.062338049821996214 Centerline is valid? [True, True] Translation: X:80.89, Y:18.65, Z:-0.87 [[ 8.74989071e-01 -4.84040306e-01 -9.95530400e-03 8.08945200e+01] [ 4.84013112e-01 8.75045644e-01 -5.14082801e-03 1.86532103e+01] [ 1.11997134e-02 -3.20329351e-04 9.99937230e-01 -8.69136873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05719347 meters 0.06379010950228237 Centerline is valid? [True, True] Translation: X:80.92, Y:18.66, Z:-0.87 [[ 8.73360564e-01 -4.86988880e-01 -9.11897714e-03 8.09216676e+01] [ 4.86966223e-01 8.73408108e-01 -4.70904772e-03 1.86601424e+01] [ 1.02578424e-02 -3.27937281e-04 9.99947333e-01 -8.69778876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08719347 meters 0.06335818577721664 Centerline is valid? [True, True] Translation: X:80.95, Y:18.67, Z:-0.87 [[ 8.72965493e-01 -4.87723575e-01 -7.54741988e-03 8.09471915e+01] [ 4.87708041e-01 8.72998075e-01 -3.90217794e-03 1.86728083e+01] [ 8.49206721e-03 -2.74470682e-04 9.99963904e-01 -8.69224808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11719347 meters 0.06265221679089529 Centerline is valid? [True, True] Translation: X:80.97, Y:18.69, Z:-0.87 [[ 8.74284615e-01 -4.85399834e-01 -3.66253974e-03 8.09722467e+01] [ 4.85396159e-01 8.74292277e-01 -1.89285014e-03 1.86892315e+01] [ 4.12091935e-03 -1.22892969e-04 9.99991501e-01 -8.65486056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14719347 meters 0.061827502336011066 Centerline is valid? [True, True] Translation: X:81.00, Y:18.71, Z:-0.86 [[ 8.75820214e-01 -4.82635957e-01 -1.21862902e-03 8.09961005e+01] [ 4.82635544e-01 8.75821062e-01 -6.32679663e-04 1.87070171e+01] [ 1.37265491e-03 -3.40400406e-05 9.99999057e-01 -8.63867006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17719347 meters 0.061032929510439156 Centerline is valid? [True, True] Translation: X:81.02, Y:18.73, Z:-0.86 [[ 8.78168361e-01 -4.78351318e-01 -5.87614287e-04 8.10190880e+01] [ 4.78351221e-01 8.78168558e-01 -3.04683431e-04 1.87253574e+01] [ 6.61770112e-04 -1.35226628e-05 9.99999781e-01 -8.63289840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20719347 meters 0.06031727561438031 Centerline is valid? [True, True] Translation: X:81.04, Y:18.74, Z:-0.86 [[ 8.80353382e-01 -4.74317960e-01 6.29541715e-04 8.10416084e+01] [ 4.74317849e-01 8.80353607e-01 3.24849308e-04 1.87437884e+01] [-7.08301181e-04 1.26206852e-05 9.99999749e-01 -8.64075462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23719347 meters 0.05942926111116355 Centerline is valid? [True, True] Translation: X:81.06, Y:18.77, Z:-0.87 [[ 8.85239518e-01 -4.65129849e-01 -2.28457994e-03 8.10624765e+01] [ 4.65128339e-01 8.85242466e-01 -1.18526352e-03 1.87665869e+01] [ 2.57370862e-03 -1.33807673e-05 9.99996688e-01 -8.68571886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26719347 meters 0.05936507862088847 Centerline is valid? [True, True] Translation: X:81.08, Y:18.79, Z:-0.87 [[ 8.87398329e-01 -4.60996075e-01 -2.61245865e-03 8.10849165e+01] [ 4.60994081e-01 8.87402174e-01 -1.35606066e-03 1.87853896e+01] [ 2.94344013e-03 -9.62007233e-07 9.99995668e-01 -8.71002403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29719347 meters 0.0595755924176841 Centerline is valid? [True, True] Translation: X:81.11, Y:18.80, Z:-0.87 [[ 8.89553389e-01 -4.56810451e-01 -4.35664883e-03 8.11069419e+01] [ 4.56804855e-01 8.89564057e-01 -2.26126628e-03 1.88044572e+01] [ 4.90848827e-03 2.13787435e-05 9.99987953e-01 -8.73049565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32719347 meters 0.0599972042403927 Centerline is valid? [True, True] Translation: X:81.13, Y:18.82, Z:-0.88 [[ 8.91120453e-01 -4.53720152e-01 -6.50857397e-03 8.11295881e+01] [ 4.53707589e-01 8.91144220e-01 -3.37684218e-03 1.88221745e+01] [ 7.33221943e-03 5.61837304e-05 9.99973117e-01 -8.75622800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35719347 meters 0.060435363851189604 Centerline is valid? [True, True] Translation: X:81.15, Y:18.84, Z:-0.88 [[ 8.91732844e-01 -4.52464220e-01 -9.41615383e-03 8.11546434e+01] [ 4.52437810e-01 8.91782552e-01 -4.88966976e-03 1.88368466e+01] [ 1.06095623e-02 1.00055106e-04 9.99943712e-01 -8.77860405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38719347 meters 0.06060010643943288 Centerline is valid? [True, True] Translation: X:81.18, Y:18.85, Z:-0.88 [[ 8.91162853e-01 -4.53579076e-01 -9.73609319e-03 8.11790532e+01] [ 4.53550903e-01 8.91216031e-01 -5.05614632e-03 1.88473367e+01] [ 1.09703245e-02 9.00359292e-05 9.99939820e-01 -8.79732031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41719347 meters 0.06066042688966902 Centerline is valid? [True, True] Translation: X:81.21, Y:18.86, Z:-0.88 [[ 8.90504443e-01 -4.54852756e-01 -1.05264955e-02 8.12060526e+01] [ 4.54819902e-01 8.90566653e-01 -5.46744622e-03 1.88565705e+01] [ 1.18614288e-02 8.11255167e-05 9.99929647e-01 -8.82141063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44719347 meters 0.06101759087771845 Centerline is valid? [True, True] Translation: X:81.24, Y:18.86, Z:-0.89 [[ 8.90017571e-01 -4.55732661e-01 -1.32840183e-02 8.12366175e+01] [ 4.55680342e-01 8.90116696e-01 -6.90599653e-03 1.88608569e+01] [ 1.49716147e-02 9.31922464e-05 9.99887915e-01 -8.86184238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47719347 meters 0.06116033230682067 Centerline is valid? [True, True] Translation: X:81.26, Y:18.87, Z:-0.89 [[ 8.89876846e-01 -4.55961226e-01 -1.47837911e-02 8.12643016e+01] [ 4.55896458e-01 8.89999635e-01 -7.68562601e-03 1.88689473e+01] [ 1.66619162e-02 9.93826170e-05 9.99861176e-01 -8.88459029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50719347 meters 0.06113332041868204 Centerline is valid? [True, True] Translation: X:81.29, Y:18.88, Z:-0.89 [[ 8.89432912e-01 -4.56837133e-01 -1.44543650e-02 8.12913983e+01] [ 4.56775199e-01 8.89550350e-01 -7.52275960e-03 1.88769657e+01] [ 1.62945613e-02 8.85945446e-05 9.99867231e-01 -8.88812511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53719347 meters 0.06106123913467133 Centerline is valid? [True, True] Translation: X:81.32, Y:18.89, Z:-0.89 [[ 8.88796079e-01 -4.58107169e-01 -1.33922403e-02 8.13180346e+01] [ 4.58054150e-01 8.88896967e-01 -6.96982382e-03 1.88853345e+01] [ 1.50972480e-02 6.03808465e-05 9.99886028e-01 -8.89560887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56719347 meters 0.06068288681526643 Centerline is valid? [True, True] Translation: X:81.35, Y:18.89, Z:-0.88 [[ 8.85747453e-01 -4.64044585e-01 -1.06804559e-02 8.13508115e+01] [ 4.64011228e-01 8.85811844e-01 -5.56402603e-03 1.88859363e+01] [ 1.20428305e-02 -2.75295670e-05 9.99927482e-01 -8.84556200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59719347000001 meters 0.06068288681526643 Centerline is valid? [True, True] Translation: X:81.38, Y:18.90, Z:-0.88 [[ 8.85590492e-01 -4.64344111e-01 -1.06783335e-02 8.13750370e+01] [ 4.64310726e-01 8.85654868e-01 -5.56809947e-03 1.88988259e+01] [ 1.20428322e-02 -2.70088198e-05 9.99927482e-01 -8.84782956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62719347 meters 0.06094066301524592 Centerline is valid? [True, True] Translation: X:81.40, Y:18.90, Z:-0.88 [[ 8.83000451e-01 -4.69267253e-01 -9.92209407e-03 8.14044647e+01] [ 4.69238700e-01 8.83056192e-01 -5.17733872e-03 1.89038579e+01] [ 1.11913221e-02 -8.42380863e-05 9.99937372e-01 -8.83989389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65719347 meters 0.0612755327814828 Centerline is valid? [True, True] Translation: X:81.43, Y:18.91, Z:-0.88 [[ 8.80138209e-01 -4.74629840e-01 -9.12406817e-03 8.14342942e+01] [ 4.74605941e-01 8.80185490e-01 -4.76491217e-03 1.89091605e+01] [ 1.02924419e-02 -1.36555700e-04 9.99947022e-01 -8.82444684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68719347 meters 0.06408138493051038 Centerline is valid? [True, True] Translation: X:81.47, Y:18.90, Z:-0.89 [[ 8.74134946e-01 -4.85582973e-01 -9.86267386e-03 8.14706092e+01] [ 4.85555761e-01 8.74190536e-01 -5.14874078e-03 1.89010118e+01] [ 1.11219970e-02 -2.88183871e-04 9.99938107e-01 -8.86418575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71719347 meters 0.06662183040455316 Centerline is valid? [True, True] Translation: X:81.50, Y:18.90, Z:-0.89 [[ 8.71103996e-01 -4.91002706e-01 -9.70411471e-03 8.15019387e+01] [ 4.90976688e-01 8.71157976e-01 -5.06679723e-03 1.89034442e+01] [ 1.09416281e-02 -3.50786790e-04 9.99940077e-01 -8.88273822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74719347 meters 0.0688758883600153 Centerline is valid? [True, True] Translation: X:81.53, Y:18.91, Z:-0.89 [[ 8.68641930e-01 -4.95348307e-01 -9.55256487e-03 8.15312108e+01] [ 4.95323349e-01 8.68694363e-01 -4.98836690e-03 1.89091922e+01] [ 1.07692384e-02 -3.98503769e-04 9.99941931e-01 -8.89457168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77719347 meters 0.07123733915201243 Centerline is valid? [True, True] Translation: X:81.56, Y:18.92, Z:-0.89 [[ 8.66024935e-01 -4.99947372e-01 -7.31000998e-03 8.15591192e+01] [ 4.99932912e-01 8.66055717e-01 -3.81830815e-03 1.89170135e+01] [ 8.23982906e-03 -3.47764506e-04 9.99965992e-01 -8.87032261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80719347 meters 0.06811119175860951 Centerline is valid? [True, True] Translation: X:81.58, Y:18.94, Z:-0.88 [[ 8.66564682e-01 -4.99027224e-01 -6.12225913e-03 8.15814696e+01] [ 4.99017030e-01 8.66586263e-01 -3.20197202e-03 1.89373716e+01] [ 6.90333687e-03 -2.80395699e-04 9.99976132e-01 -8.83260951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83719347 meters 0.06676293897028834 Centerline is valid? [True, True] Translation: X:81.61, Y:18.95, Z:-0.88 [[ 8.68270607e-01 -4.96051890e-01 -6.21893692e-03 8.16059344e+01] [ 4.96041280e-01 8.68292840e-01 -3.25464377e-03 1.89541182e+01] [ 7.01433059e-03 -2.58937905e-04 9.99975366e-01 -8.83587942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86719347 meters 0.0648258660168795 Centerline is valid? [True, True] Translation: X:81.63, Y:18.97, Z:-0.89 [[ 8.70932212e-01 -4.91337782e-01 -8.01660594e-03 8.16292214e+01] [ 4.91319974e-01 8.70969059e-01 -4.19301931e-03 1.89733954e+01] [ 9.04240454e-03 -2.86883035e-04 9.99959075e-01 -8.85435071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89719347 meters 0.062294447479470966 Centerline is valid? [True, True] Translation: X:81.65, Y:19.00, Z:-0.89 [[ 8.76767645e-01 -4.80848132e-01 -7.97311652e-03 8.16482212e+01] [ 4.80830076e-01 8.76803879e-01 -4.17087956e-03 1.89998081e+01] [ 8.99641914e-03 -1.76821966e-04 9.99959516e-01 -8.87262040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92719347 meters 0.06131382659531743 Centerline is valid? [True, True] Translation: X:81.67, Y:19.02, Z:-0.89 [[ 8.79616795e-01 -4.75655211e-01 -5.13945655e-03 8.16701325e+01] [ 4.75647618e-01 8.79631806e-01 -2.68890668e-03 1.90206084e+01] [ 5.79982192e-03 -7.93627879e-05 9.99983178e-01 -8.85727989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95719347 meters 0.060511006552137724 Centerline is valid? [True, True] Translation: X:81.69, Y:19.04, Z:-0.88 [[ 8.81775236e-01 -4.71666246e-01 -1.84009200e-03 8.16925123e+01] [ 4.71665262e-01 8.81777156e-01 -9.63553130e-04 1.90401131e+01] [ 2.07702657e-03 -1.82701855e-05 9.99997843e-01 -8.83348270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98719347 meters 0.05998231958204613 Centerline is valid? [True, True] Translation: X:81.72, Y:19.06, Z:-0.88 [[ 8.84023263e-01 -4.67440445e-01 1.51675347e-03 8.17150056e+01] [ 4.67439775e-01 8.84024564e-01 7.91430741e-04 1.90591572e+01] [-1.71079407e-03 9.34771725e-06 9.99998537e-01 -8.80984863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01719347 meters 0.05992847548944848 Centerline is valid? [True, True] Translation: X:81.74, Y:19.07, Z:-0.88 [[ 8.84309403e-01 -4.66900216e-01 1.03355878e-03 8.17386369e+01] [ 4.66899904e-01 8.84310007e-01 5.40000038e-04 1.90732381e+01] [-1.16611250e-03 5.04138136e-06 9.99999320e-01 -8.81227775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04719347 meters 0.05992439480667028 Centerline is valid? [True, True] Translation: X:81.76, Y:19.09, Z:-0.88 [[ 8.84427041e-01 -4.66678323e-01 3.88832590e-04 8.17625693e+01] [ 4.66678280e-01 8.84427127e-01 2.00721526e-04 1.90875871e+01] [-4.37566475e-04 3.93617922e-06 9.99999904e-01 -8.83425351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07719347 meters 0.06046386617553329 Centerline is valid? [True, True] Translation: X:81.79, Y:19.10, Z:-0.89 [[ 8.83722912e-01 -4.67992743e-01 -4.07529127e-03 8.17876945e+01] [ 4.67987859e-01 8.83732308e-01 -2.13806115e-03 1.90984429e+01] [ 4.60206366e-03 -1.77332183e-05 9.99989410e-01 -8.90691609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10719347 meters 0.060600000524855924 Centerline is valid? [True, True] Translation: X:81.81, Y:19.11, Z:-0.89 [[ 8.83384972e-01 -4.68625458e-01 -4.60128544e-03 8.18136249e+01] [ 4.68619236e-01 8.83396955e-01 -2.41504955e-03 1.91092618e+01] [ 5.19651524e-03 -2.28323834e-05 9.99986498e-01 -8.92549397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13719347 meters 0.060652651956901824 Centerline is valid? [True, True] Translation: X:81.84, Y:19.12, Z:-0.89 [[ 8.82603388e-01 -4.70100392e-01 -4.10864450e-03 8.18403500e+01] [ 4.70095430e-01 8.82612951e-01 -2.15992088e-03 1.91188865e+01] [ 4.64172250e-03 -2.51015207e-05 9.99989227e-01 -8.93310165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16719347 meters 0.060899587539149085 Centerline is valid? [True, True] Translation: X:81.87, Y:19.12, Z:-0.89 [[ 8.80788966e-01 -4.73488320e-01 -4.42802726e-03 8.18693887e+01] [ 4.73482594e-01 8.80800096e-01 -2.32895289e-03 1.91245927e+01] [ 5.00293883e-03 -4.52778307e-05 9.99987484e-01 -8.94161667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19719347 meters 0.06131837250684672 Centerline is valid? [True, True] Translation: X:81.90, Y:19.13, Z:-0.90 [[ 8.79749973e-01 -4.75408232e-01 -5.19597699e-03 8.18957802e+01] [ 4.75400391e-01 8.79765314e-01 -2.73130598e-03 1.91348734e+01] [ 5.86972568e-03 -6.73031343e-05 9.99982771e-01 -8.96493934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22719347 meters 0.06153862387399223 Centerline is valid? [True, True] Translation: X:81.92, Y:19.15, Z:-0.90 [[ 8.79250379e-01 -4.76325087e-01 -5.76050614e-03 8.19214742e+01] [ 4.76315446e-01 8.79269245e-01 -3.03155954e-03 1.91478897e+01] [ 6.50904375e-03 -7.83181742e-05 9.99978813e-01 -8.96803724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25719347 meters 0.06225273948221889 Centerline is valid? [True, True] Translation: X:81.95, Y:19.16, Z:-0.90 [[ 8.78139146e-01 -4.78360741e-01 -6.53006695e-03 8.19473693e+01] [ 4.78348411e-01 8.78163419e-01 -3.43621311e-03 1.91578154e+01] [ 7.37821537e-03 -1.06173906e-04 9.99972775e-01 -8.97904751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28719347 meters 0.06195959780491432 Centerline is valid? [True, True] Translation: X:81.97, Y:19.17, Z:-0.90 [[ 8.76978866e-01 -4.80467959e-01 -7.65564266e-03 8.19732466e+01] [ 4.80451056e-01 8.77012269e-01 -4.03277181e-03 1.91697283e+01] [ 8.65171018e-03 -1.41505950e-04 9.99962563e-01 -8.96093417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31719347 meters 0.06298368255301282 Centerline is valid? [True, True] Translation: X:82.00, Y:19.18, Z:-0.90 [[ 8.75809504e-01 -4.82574658e-01 -8.91136624e-03 8.20019854e+01] [ 4.82551874e-01 8.75854818e-01 -4.69315171e-03 1.91752765e+01] [ 1.00698591e-02 -1.89889615e-04 9.99949280e-01 -9.00810162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34719347000001 meters 0.06422846034572113 Centerline is valid? [True, True] Translation: X:82.03, Y:19.18, Z:-0.90 [[ 8.74368770e-01 -4.85183093e-01 -8.75326627e-03 8.20301363e+01] [ 4.85161215e-01 8.74412557e-01 -4.61250364e-03 1.91805117e+01] [ 9.89187473e-03 -2.13716163e-04 9.99951051e-01 -9.03606464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37719347 meters 0.06494619926880497 Centerline is valid? [True, True] Translation: X:82.06, Y:19.19, Z:-0.90 [[ 8.70409384e-01 -4.92244972e-01 -9.07695090e-03 8.20587992e+01] [ 4.92221839e-01 8.70456658e-01 -4.78203729e-03 1.91900832e+01] [ 1.02550262e-02 -3.05543323e-04 9.99947369e-01 -9.01041301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40719347 meters 0.06543861037102865 Centerline is valid? [True, True] Translation: X:82.08, Y:19.20, Z:-0.90 [[ 8.69246111e-01 -4.94295285e-01 -9.13066824e-03 8.20843461e+01] [ 4.94271969e-01 8.69294002e-01 -4.81227253e-03 1.92024611e+01] [ 1.03159188e-02 -3.29984190e-04 9.99946735e-01 -9.01146984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43719347 meters 0.06613952592375845 Centerline is valid? [True, True] Translation: X:82.11, Y:19.22, Z:-0.90 [[ 8.68660903e-01 -4.95279577e-01 -1.12416687e-02 8.21085296e+01] [ 4.95244276e-01 8.68733541e-01 -5.92799381e-03 1.92151931e+01] [ 1.27020290e-02 -4.17955637e-04 9.99919239e-01 -9.02718731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46719347 meters 0.06500249979694421 Centerline is valid? [True, True] Translation: X:82.13, Y:19.23, Z:-0.91 [[ 8.71243732e-01 -4.90681399e-01 -1.28888894e-02 8.21304374e+01] [ 4.90634488e-01 8.71338971e-01 -6.79678721e-03 1.92348800e+01] [ 1.45656487e-02 -4.02075393e-04 9.99893834e-01 -9.05449908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49719347 meters 0.06411167609241786 Centerline is valid? [True, True] Translation: X:82.15, Y:19.25, Z:-0.91 [[ 8.73731399e-01 -4.86196833e-01 -1.43555424e-02 8.21533399e+01] [ 4.86138008e-01 8.73849248e-01 -7.57162409e-03 1.92522509e+01] [ 1.62258796e-02 -3.63209084e-04 9.99868286e-01 -9.07980037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52719347 meters 0.06286163793793441 Centerline is valid? [True, True] Translation: X:82.18, Y:19.27, Z:-0.91 [[ 8.76348314e-01 -4.81439067e-01 -1.51676779e-02 8.21760861e+01] [ 4.81372553e-01 8.76479517e-01 -8.00751173e-03 1.92706594e+01] [ 1.71492880e-02 -2.83934449e-04 9.99852900e-01 -9.08579956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55719347 meters 0.06196163363539717 Centerline is valid? [True, True] Translation: X:82.20, Y:19.29, Z:-0.91 [[ 8.78865771e-01 -4.76831028e-01 -1.50707679e-02 8.21982892e+01] [ 4.76764654e-01 8.78994957e-01 -7.95803942e-03 1.92879994e+01] [ 1.70417691e-02 -1.91161001e-04 9.99854760e-01 -9.08753497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58719347 meters 0.061282136602914865 Centerline is valid? [True, True] Translation: X:82.22, Y:19.31, Z:-0.91 [[ 8.81334483e-01 -4.72281184e-01 -1.41425925e-02 8.22190561e+01] [ 4.72222037e-01 8.81447942e-01 -7.47484693e-03 1.93108265e+01] [ 1.59961886e-02 -9.06034859e-05 9.99872049e-01 -9.06849904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61719347 meters 0.061551686207622545 Centerline is valid? [True, True] Translation: X:82.24, Y:19.33, Z:-0.91 [[ 8.81383877e-01 -4.72143271e-01 -1.55946335e-02 8.22431186e+01] [ 4.72071231e-01 8.81521823e-01 -8.24801370e-03 1.93261450e+01] [ 1.76412539e-02 -9.21115204e-05 9.99844377e-01 -9.07839626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64719347 meters 0.06172241853726669 Centerline is valid? [True, True] Translation: X:82.27, Y:19.34, Z:-0.91 [[ 8.80765729e-01 -4.73250338e-01 -1.69070386e-02 8.22690416e+01] [ 4.73165740e-01 8.80927979e-01 -8.94868061e-03 1.93391578e+01] [ 1.91288495e-02 -1.18140221e-04 9.99817020e-01 -9.07899534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67719347 meters 0.062273156304060814 Centerline is valid? [True, True] Translation: X:82.30, Y:19.34, Z:-0.91 [[ 8.78867348e-01 -4.76747917e-01 -1.74243510e-02 8.22982187e+01] [ 4.76658705e-01 8.79040036e-01 -9.22467176e-03 1.93439847e+01] [ 1.97145451e-02 -1.98205750e-04 9.99805630e-01 -9.10408070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70719347 meters 0.06218475835204823 Centerline is valid? [True, True] Translation: X:82.33, Y:19.35, Z:-0.91 [[ 8.77792721e-01 -4.78775751e-01 -1.59285404e-02 8.23253814e+01] [ 4.78701395e-01 8.77937204e-01 -8.44045881e-03 1.93532814e+01] [ 1.80253452e-02 -2.16041186e-04 9.99837507e-01 -9.09000142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73719347 meters 0.06235079229712329 Centerline is valid? [True, True] Translation: X:82.35, Y:19.36, Z:-0.91 [[ 8.77289736e-01 -4.79700566e-01 -1.58141303e-02 8.23515295e+01] [ 4.79627417e-01 8.77432227e-01 -8.38020713e-03 1.93623806e+01] [ 1.78958176e-02 -2.33020759e-04 9.99839830e-01 -9.09448350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76719347 meters 0.06191375150426842 Centerline is valid? [True, True] Translation: X:82.38, Y:19.37, Z:-0.91 [[ 8.77606575e-01 -4.79161100e-01 -1.45375377e-02 8.23781714e+01] [ 4.79099084e-01 8.77726951e-01 -7.71147804e-03 1.93742114e+01] [ 1.64550289e-02 -1.97277162e-04 9.99864587e-01 -9.07823735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79719347 meters 0.06201225086197618 Centerline is valid? [True, True] Translation: X:82.40, Y:19.39, Z:-0.91 [[ 8.78074909e-01 -4.78299895e-01 -1.46172887e-02 8.24029327e+01] [ 4.78237074e-01 8.78196548e-01 -7.75394549e-03 1.93875489e+01] [ 1.65455638e-02 -1.81984374e-04 9.99863096e-01 -9.09204600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82719347 meters 0.06178152054772346 Centerline is valid? [True, True] Translation: X:82.43, Y:19.40, Z:-0.91 [[ 8.78111116e-01 -4.78264569e-01 -1.35598733e-02 8.24273870e+01] [ 4.78210393e-01 8.78215791e-01 -7.20031997e-03 1.94022986e+01] [ 1.53521528e-02 -1.61791318e-04 9.99882136e-01 -9.07123568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85719347 meters 0.062061840142550534 Centerline is valid? [True, True] Translation: X:82.45, Y:19.41, Z:-0.91 [[ 8.77625756e-01 -4.79094891e-01 -1.55279480e-02 8.24530249e+01] [ 4.79023977e-01 8.77763091e-01 -8.24527806e-03 1.94144853e+01] [ 1.75801302e-02 -2.01991002e-04 9.99845437e-01 -9.08413378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88719347 meters 0.06231931401182236 Centerline is valid? [True, True] Translation: X:82.48, Y:19.43, Z:-0.91 [[ 8.76953068e-01 -4.80296756e-01 -1.63811817e-02 8.24792414e+01] [ 4.80218001e-01 8.77106020e-01 -8.70065896e-03 1.94255959e+01] [ 1.85469313e-02 -2.36468756e-04 9.99827963e-01 -9.09012925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91719347 meters 0.06296786154791897 Centerline is valid? [True, True] Translation: X:82.51, Y:19.43, Z:-0.91 [[ 8.75113358e-01 -4.83626366e-01 -1.67972849e-02 8.25076571e+01] [ 4.83544112e-01 8.75274495e-01 -8.92472792e-03 1.94302494e+01] [ 1.90184688e-02 -3.12079593e-04 9.99819084e-01 -9.12489990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94719347 meters 0.06325311225142909 Centerline is valid? [True, True] Translation: X:82.53, Y:19.44, Z:-0.91 [[ 8.73837039e-01 -4.85913393e-01 -1.72337738e-02 8.25340888e+01] [ 4.85827090e-01 8.74006889e-01 -9.16498420e-03 1.94415929e+01] [ 1.95158256e-02 -3.63931503e-04 9.99809482e-01 -9.12715587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97719347 meters 0.06346936209978637 Centerline is valid? [True, True] Translation: X:82.56, Y:19.46, Z:-0.91 [[ 8.72906497e-01 -4.87578315e-01 -1.73676455e-02 8.25589812e+01] [ 4.87490859e-01 8.73079165e-01 -9.24305967e-03 1.94552592e+01] [ 1.96700449e-02 -3.98241575e-04 9.99806447e-01 -9.12458245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00719347 meters 0.06513795055317473 Centerline is valid? [True, True] Translation: X:82.58, Y:19.47, Z:-0.92 [[ 8.71008847e-01 -4.90819459e-01 -2.09725338e-02 8.25844567e+01] [ 4.90692874e-01 8.71261117e-01 -1.11610327e-02 1.94673106e+01] [ 2.37506053e-02 -5.69714670e-04 9.99717752e-01 -9.18149587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03719347 meters 0.06546440281607147 Centerline is valid? [True, True] Translation: X:82.61, Y:19.48, Z:-0.92 [[ 8.70300370e-01 -4.91965371e-01 -2.33952873e-02 8.26103265e+01] [ 4.91808192e-01 8.70614511e-01 -1.24528832e-02 1.94808799e+01] [ 2.64946639e-02 -6.68245107e-04 9.99648731e-01 -9.20015599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06719347 meters 0.06652778416659691 Centerline is valid? [True, True] Translation: X:82.64, Y:19.49, Z:-0.92 [[ 8.69548359e-01 -4.93242838e-01 -2.44367451e-02 8.26359779e+01] [ 4.93071759e-01 8.69891350e-01 -1.30107287e-02 1.94910890e+01] [ 2.76747620e-02 -7.35611090e-04 9.99616710e-01 -9.24094306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09719347000001 meters 0.06761105123279984 Centerline is valid? [True, True] Translation: X:82.66, Y:19.50, Z:-0.93 [[ 8.68116268e-01 -4.95587874e-01 -2.76912300e-02 8.26629445e+01] [ 4.95369294e-01 8.68557321e-01 -1.47459412e-02 1.95032467e+01] [ 3.13593302e-02 -9.16193614e-04 9.99507755e-01 -9.28063200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12719347 meters 0.06708246025846801 Centerline is valid? [True, True] Translation: X:82.69, Y:19.52, Z:-0.92 [[ 8.67197123e-01 -4.97181907e-01 -2.79159532e-02 8.26868825e+01] [ 4.96960180e-01 8.67645786e-01 -1.48785138e-02 1.95192156e+01] [ 3.16184870e-02 -9.70512724e-04 9.99499539e-01 -9.24239521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15719347 meters 0.06795226461325005 Centerline is valid? [True, True] Translation: X:82.71, Y:19.53, Z:-0.92 [[ 8.66759902e-01 -4.98065351e-01 -2.56550004e-02 8.27112175e+01] [ 4.97878422e-01 8.67139009e-01 -1.36753865e-02 1.95319193e+01] [ 2.90576878e-02 -9.19794429e-04 9.99577313e-01 -9.24750194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18719347 meters 0.06761548120663843 Centerline is valid? [True, True] Translation: X:82.73, Y:19.55, Z:-0.92 [[ 8.66031957e-01 -4.99366184e-01 -2.49412079e-02 8.27344387e+01] [ 4.99189737e-01 8.66390533e-01 -1.33060743e-02 1.95486828e+01] [ 2.82534299e-02 -9.26909479e-04 9.99600362e-01 -9.20873396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21719347 meters 0.06829280001170453 Centerline is valid? [True, True] Translation: X:82.76, Y:19.56, Z:-0.92 [[ 8.64712096e-01 -5.01572680e-01 -2.64165989e-02 8.27592775e+01] [ 5.01375752e-01 8.65114864e-01 -1.40935227e-02 1.95646788e+01] [ 2.99223183e-02 -1.05780263e-03 9.99551667e-01 -9.20197066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24719347 meters 0.06911648524921352 Centerline is valid? [True, True] Translation: X:82.78, Y:19.58, Z:-0.92 [[ 8.63944941e-01 -5.02862777e-01 -2.69845700e-02 8.27843498e+01] [ 5.02657798e-01 8.64365529e-01 -1.44003895e-02 1.95761317e+01] [ 3.05659520e-02 -1.12286084e-03 9.99532121e-01 -9.21950908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27719347 meters 0.06987595940860244 Centerline is valid? [True, True] Translation: X:82.81, Y:19.59, Z:-0.92 [[ 8.62742399e-01 -5.04820223e-01 -2.88460611e-02 8.28106676e+01] [ 5.04587012e-01 8.63223565e-01 -1.53956193e-02 1.95891593e+01] [ 3.26726196e-02 -1.27289418e-03 9.99465297e-01 -9.23610171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30719347 meters 0.07247522617969819 Centerline is valid? [True, True] Translation: X:82.84, Y:19.60, Z:-0.93 [[ 8.60308806e-01 -5.08881653e-01 -3.01367329e-02 8.28358071e+01] [ 5.08629464e-01 8.60835205e-01 -1.60878262e-02 1.96017668e+01] [ 3.41295602e-02 -1.48793180e-03 9.99416309e-01 -9.26542355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33719347 meters 0.07204450769924343 Centerline is valid? [True, True] Translation: X:82.86, Y:19.62, Z:-0.92 [[ 8.59165354e-01 -5.10721638e-01 -3.15959475e-02 8.28594120e+01] [ 5.10445586e-01 8.59744576e-01 -1.68691296e-02 1.96199756e+01] [ 3.57798740e-02 -1.63464024e-03 9.99358358e-01 -9.24745932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36719347 meters 0.07268161032080969 Centerline is valid? [True, True] Translation: X:82.88, Y:19.64, Z:-0.92 [[ 8.58069650e-01 -5.12534946e-01 -3.20063182e-02 8.28846549e+01] [ 5.12252557e-01 8.58664637e-01 -1.70985249e-02 1.96357440e+01] [ 3.62462852e-02 -1.72359308e-03 9.99341401e-01 -9.24898880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39719347 meters 0.07322478341634148 Centerline is valid? [True, True] Translation: X:82.91, Y:19.65, Z:-0.92 [[ 8.56668040e-01 -5.14731414e-01 -3.42263020e-02 8.29101982e+01] [ 5.14410201e-01 8.57349287e-01 -1.82851317e-02 1.96508671e+01] [ 3.87558273e-02 -1.94207098e-03 9.99246823e-01 -9.24590150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42719347 meters 0.07359102791041613 Centerline is valid? [True, True] Translation: X:82.93, Y:19.67, Z:-0.92 [[ 8.53325753e-01 -5.20237143e-01 -3.44742488e-02 8.29340674e+01] [ 5.19915257e-01 8.54019020e-01 -1.84293071e-02 1.96700231e+01] [ 3.90292742e-02 -2.19748555e-03 9.99235651e-01 -9.20013444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45719347 meters 0.07536880121646217 Centerline is valid? [True, True] Translation: X:82.96, Y:19.68, Z:-0.92 [[ 8.51316314e-01 -5.23554855e-01 -3.39241387e-02 8.29587995e+01] [ 5.23245728e-01 8.51988834e-01 -1.81365372e-02 1.96846756e+01] [ 3.83984595e-02 -2.31073063e-03 9.99259835e-01 -9.20178901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48719347 meters 0.07536880121646217 Centerline is valid? [True, True] Translation: X:82.98, Y:19.70, Z:-0.92 [[ 8.51136519e-01 -5.23847569e-01 -3.39168186e-02 8.29829720e+01] [ 5.23538131e-01 8.51808896e-01 -1.81502240e-02 1.96978560e+01] [ 3.83985985e-02 -2.30842933e-03 9.99259835e-01 -9.20406134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51719347 meters 0.07873295562433645 Centerline is valid? [True, True] Translation: X:83.01, Y:19.71, Z:-0.92 [[ 8.48952853e-01 -5.27410294e-01 -3.34280604e-02 8.30086235e+01] [ 5.27112436e-01 8.49607239e-01 -1.78890834e-02 1.97099648e+01] [ 3.78356089e-02 -2.43335789e-03 9.99281014e-01 -9.21692197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54719347 meters 0.08105366270552898 Centerline is valid? [True, True] Translation: X:83.03, Y:19.73, Z:-0.92 [[ 8.45277178e-01 -5.33390384e-01 -3.16415943e-02 8.30323276e+01] [ 5.33127278e-01 8.45865363e-01 -1.69438151e-02 1.97295114e+01] [ 3.58021966e-02 -2.54677684e-03 9.99355651e-01 -9.19271880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57719347 meters 0.08099686333390492 Centerline is valid? [True, True] Translation: X:83.06, Y:19.75, Z:-0.92 [[ 8.44267667e-01 -5.34884599e-01 -3.33252499e-02 8.30554987e+01] [ 5.34593835e-01 8.44920656e-01 -1.78470038e-02 1.97481776e+01] [ 3.77032795e-02 -2.74782489e-03 9.99285201e-01 -9.18889162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60719347 meters 0.08408065203983321 Centerline is valid? [True, True] Translation: X:83.08, Y:19.76, Z:-0.92 [[ 8.42891049e-01 -5.37080626e-01 -3.28493577e-02 8.30803091e+01] [ 5.36799669e-01 8.43526255e-01 -1.75946756e-02 1.97620856e+01] [ 3.71590551e-02 -2.80312976e-03 9.99305432e-01 -9.20990797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63719347 meters 0.08261264342857476 Centerline is valid? [True, True] Translation: X:83.10, Y:19.78, Z:-0.92 [[ 8.42488975e-01 -5.37766459e-01 -3.19305772e-02 8.31003857e+01] [ 5.37500904e-01 8.43089394e-01 -1.71187811e-02 1.97835028e+01] [ 3.61262373e-02 -2.74032977e-03 9.99343477e-01 -9.19111500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66719347 meters 0.08252616877524686 Centerline is valid? [True, True] Translation: X:83.12, Y:19.81, Z:-0.92 [[ 8.43339723e-01 -5.36332087e-01 -3.35559851e-02 8.31165984e+01] [ 5.36037593e-01 8.44002355e-01 -1.79923179e-02 1.98117485e+01] [ 3.79711879e-02 -2.81363308e-03 9.99274873e-01 -9.20812640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69719347 meters 0.08296336309089951 Centerline is valid? [True, True] Translation: X:83.14, Y:19.83, Z:-0.92 [[ 8.44904341e-01 -5.33867964e-01 -3.34910622e-02 8.31392681e+01] [ 5.33572609e-01 8.45563557e-01 -1.79594284e-02 1.98305497e+01] [ 3.79067852e-02 -2.69591442e-03 9.99277643e-01 -9.23946971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72719347 meters 0.0800424393324736 Centerline is valid? [True, True] Translation: X:83.16, Y:19.85, Z:-0.92 [[ 8.46482182e-01 -5.31296103e-01 -3.45306517e-02 8.31599637e+01] [ 5.30979536e-01 8.47182048e-01 -1.85286196e-02 1.98544800e+01] [ 3.90979316e-02 -2.65092309e-03 9.99231867e-01 -9.23339849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75719347 meters 0.07797029361755349 Centerline is valid? [True, True] Translation: X:83.18, Y:19.88, Z:-0.92 [[ 8.48334884e-01 -5.28294400e-01 -3.51134137e-02 8.31815437e+01] [ 5.27964064e-01 8.49057446e-01 -1.88520678e-02 1.98777214e+01] [ 3.97727472e-02 -2.54575390e-03 9.99205508e-01 -9.23565175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78719347 meters 0.07261326694392702 Centerline is valid? [True, True] Translation: X:83.19, Y:19.92, Z:-0.92 [[ 8.52206824e-01 -5.21889425e-01 -3.70804151e-02 8.31948634e+01] [ 5.21514998e-01 8.53009847e-01 -1.99074839e-02 1.99159227e+01] [ 4.20194645e-02 -2.37269898e-03 9.99113975e-01 -9.20376170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81719347 meters 0.07318067521588303 Centerline is valid? [True, True] Translation: X:83.22, Y:19.94, Z:-0.92 [[ 8.54203973e-01 -5.18633069e-01 -3.68145665e-02 8.32172039e+01] [ 5.18260884e-01 8.54994107e-01 -1.97669525e-02 1.99360213e+01] [ 4.17280326e-02 -2.19454037e-03 9.99126596e-01 -9.24264483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84719347000001 meters 0.07098753012856436 Centerline is valid? [True, True] Translation: X:83.23, Y:19.97, Z:-0.93 [[ 8.57873852e-01 -5.12468072e-01 -3.78011723e-02 8.32341369e+01] [ 5.12069633e-01 8.58704080e-01 -2.02976641e-02 1.99674547e+01] [ 4.28619257e-02 -1.94399709e-03 9.99079114e-01 -9.25258936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87719347 meters 0.0708849724861238 Centerline is valid? [True, True] Translation: X:83.26, Y:19.99, Z:-0.93 [[ 8.59498054e-01 -5.09742250e-01 -3.77615390e-02 8.32564938e+01] [ 5.09341870e-01 8.60325280e-01 -2.02798207e-02 1.99860584e+01] [ 4.28246881e-02 -1.80306652e-03 9.99080975e-01 -9.27447696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90719347 meters 0.07020298569428823 Centerline is valid? [True, True] Translation: X:83.28, Y:20.01, Z:-0.93 [[ 8.61068780e-01 -5.07135145e-01 -3.70742721e-02 8.32795131e+01] [ 5.06746723e-01 8.61864984e-01 -1.99125077e-02 2.00061434e+01] [ 4.20513494e-02 -1.64122714e-03 9.99114103e-01 -9.27970574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93719347 meters 0.0689472016173897 Centerline is valid? [True, True] Translation: X:83.30, Y:20.03, Z:-0.93 [[ 8.62146799e-01 -5.05222426e-01 -3.81208226e-02 8.33010267e+01] [ 5.04809201e-01 8.62987723e-01 -2.04904711e-02 2.00279364e+01] [ 4.32500474e-02 -1.57794797e-03 9.99063033e-01 -9.27118884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96719347 meters 0.06881260035744101 Centerline is valid? [True, True] Translation: X:83.32, Y:20.05, Z:-0.93 [[ 8.64046308e-01 -5.01990898e-01 -3.78036584e-02 8.33229714e+01] [ 5.01581424e-01 8.64871763e-01 -2.03201364e-02 2.00472636e+01] [ 4.28958402e-02 -1.40407398e-03 9.99078563e-01 -9.29639875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99719347 meters 0.06745947568257399 Centerline is valid? [True, True] Translation: X:83.34, Y:20.08, Z:-0.93 [[ 8.67975422e-01 -4.95170786e-01 -3.77433314e-02 8.33413151e+01] [ 4.94756118e-01 8.68795005e-01 -2.02884900e-02 2.00773175e+01] [ 4.28374853e-02 -1.06383342e-03 9.99081487e-01 -9.28511647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02719347 meters 0.06674898917324766 Centerline is valid? [True, True] Translation: X:83.36, Y:20.10, Z:-0.93 [[ 8.70049779e-01 -4.91506491e-01 -3.78781000e-02 8.33624465e+01] [ 4.91084662e-01 8.70873475e-01 -2.03775849e-02 2.00992032e+01] [ 4.30027478e-02 -8.71840739e-04 9.99074574e-01 -9.26855815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05719347 meters 0.06674780601168034 Centerline is valid? [True, True] Translation: X:83.38, Y:20.12, Z:-0.93 [[ 8.72406449e-01 -4.87339145e-01 -3.75172659e-02 8.33845736e+01] [ 4.86921364e-01 8.73212531e-01 -2.01856499e-02 2.01180089e+01] [ 4.25978041e-02 -6.57867118e-04 9.99092085e-01 -9.29523228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08719347 meters 0.06651699050336378 Centerline is valid? [True, True] Translation: X:83.41, Y:20.14, Z:-0.93 [[ 8.76162743e-01 -4.80581556e-01 -3.71512441e-02 8.34053432e+01] [ 4.80165577e-01 8.76949979e-01 -1.99938433e-02 2.01382434e+01] [ 4.21884551e-02 -3.20887938e-04 9.99109619e-01 -9.32312387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11719347 meters 0.06637138149370092 Centerline is valid? [True, True] Translation: X:83.43, Y:20.15, Z:-0.93 [[ 8.77004795e-01 -4.79128539e-01 -3.60337681e-02 8.34296335e+01] [ 4.78735417e-01 8.77744718e-01 -1.94064739e-02 2.01547632e+01] [ 4.09266451e-02 -2.31070284e-04 9.99162127e-01 -9.32108842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14719347 meters 0.06607445583668792 Centerline is valid? [True, True] Translation: X:83.45, Y:20.17, Z:-0.93 [[ 8.77756462e-01 -4.77873959e-01 -3.43522039e-02 8.34537679e+01] [ 4.77515641e-01 8.78428400e-01 -1.85029473e-02 2.01703286e+01] [ 3.90180282e-02 -1.62633103e-04 9.99238494e-01 -9.30036810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17719347 meters 0.06560992749276305 Centerline is valid? [True, True] Translation: X:83.48, Y:20.18, Z:-0.93 [[ 8.79489302e-01 -4.74878454e-01 -3.14487151e-02 8.34796362e+01] [ 4.74576199e-01 8.80051392e-01 -1.69404413e-02 2.01848517e+01] [ 3.57211360e-02 -2.58747737e-05 9.99361796e-01 -9.26450317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20719347 meters 0.0651504527212948 Centerline is valid? [True, True] Translation: X:83.51, Y:20.20, Z:-0.92 [[ 8.80165582e-01 -4.73852375e-01 -2.77934233e-02 8.35073789e+01] [ 4.73615784e-01 8.80604296e-01 -1.49720592e-02 2.01973459e+01] [ 3.15695538e-02 1.44872101e-05 9.99501557e-01 -9.24614823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23719347 meters 0.06525773725581353 Centerline is valid? [True, True] Translation: X:83.53, Y:20.21, Z:-0.93 [[ 8.80375933e-01 -4.73653162e-01 -2.43084059e-02 8.35342756e+01] [ 4.73472052e-01 8.80711463e-01 -1.30971063e-02 2.02077810e+01] [ 2.76121775e-02 2.10263881e-05 9.99618711e-01 -9.27315250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26719347 meters 0.06418538566419246 Centerline is valid? [True, True] Translation: X:83.57, Y:20.21, Z:-0.92 [[ 8.77170800e-01 -4.79631010e-01 -2.29233763e-02 8.35668219e+01] [ 4.79471683e-01 8.77470269e-01 -1.23625603e-02 2.02083896e+01] [ 2.60440484e-02 -1.47032921e-04 9.99660785e-01 -9.20483446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29719347 meters 0.06468000475182535 Centerline is valid? [True, True] Translation: X:83.60, Y:20.21, Z:-0.92 [[ 8.74609594e-01 -4.84306583e-01 -2.24764726e-02 8.35971372e+01] [ 4.84154859e-01 8.74898312e-01 -1.21250290e-02 2.02105995e+01] [ 2.55368593e-02 -2.77426752e-04 9.99673843e-01 -9.24792359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32719347 meters 0.0655391323926329 Centerline is valid? [True, True] Translation: X:83.63, Y:20.21, Z:-0.93 [[ 8.71256689e-01 -4.90285291e-01 -2.30676299e-02 8.36292205e+01] [ 4.90127544e-01 8.71561884e-01 -1.24447761e-02 2.02109919e+01] [ 2.62063577e-02 -4.63486371e-04 9.99656447e-01 -9.28440884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35719347 meters 0.06591254150092991 Centerline is valid? [True, True] Translation: X:83.66, Y:20.22, Z:-0.93 [[ 8.67007416e-01 -4.97771753e-01 -2.28347032e-02 8.36605164e+01] [ 4.97619728e-01 8.67307799e-01 -1.23202297e-02 2.02154068e+01] [ 2.59373785e-02 -6.81268309e-04 9.99663337e-01 -9.25258676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38719347 meters 0.06881631555841039 Centerline is valid? [True, True] Translation: X:83.70, Y:20.21, Z:-0.93 [[ 8.59529539e-01 -5.10550904e-01 -2.33825844e-02 8.36966502e+01] [ 5.10396155e-01 8.59846839e-01 -1.26166071e-02 2.02110324e+01] [ 2.65468614e-02 -1.09003470e-03 9.99646976e-01 -9.25878985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41719347 meters 0.07110115593390609 Centerline is valid? [True, True] Translation: X:83.73, Y:20.22, Z:-0.93 [[ 8.56285063e-01 -5.15897562e-01 -2.50119133e-02 8.37273642e+01] [ 5.15722712e-01 8.56649231e-01 -1.34973614e-02 2.02152600e+01] [ 2.83896922e-02 -1.34162285e-03 9.99596031e-01 -9.28483145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44719347 meters 0.07266979584393377 Centerline is valid? [True, True] Translation: X:83.76, Y:20.22, Z:-0.93 [[ 8.54208598e-01 -5.19278447e-01 -2.60300930e-02 8.37578946e+01] [ 5.19090604e-01 8.54603772e-01 -1.40476813e-02 2.02215147e+01] [ 2.95400739e-02 -1.51232654e-03 9.99562453e-01 -9.30444309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47719347 meters 0.0739208104319479 Centerline is valid? [True, True] Translation: X:83.79, Y:20.23, Z:-0.93 [[ 8.52551148e-01 -5.21941128e-01 -2.70924101e-02 8.37882899e+01] [ 5.21738901e-01 8.52979881e-01 -1.46233406e-02 2.02269881e+01] [ 3.07418036e-02 -1.66801851e-03 9.99525967e-01 -9.32647328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50719347 meters 0.07709112817236924 Centerline is valid? [True, True] Translation: X:83.82, Y:20.23, Z:-0.94 [[ 8.52451116e-01 -5.22071516e-01 -2.77205278e-02 8.38165951e+01] [ 5.21859738e-01 8.52900003e-01 -1.49665602e-02 2.02335853e+01] [ 3.14564530e-02 -1.70796638e-03 9.99503664e-01 -9.37561039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53719347 meters 0.07601750767183107 Centerline is valid? [True, True] Translation: X:83.84, Y:20.25, Z:-0.94 [[ 8.52156085e-01 -5.22571066e-01 -2.73767805e-02 8.38402763e+01] [ 5.22364343e-01 8.52594050e-01 -1.47945909e-02 2.02487056e+01] [ 3.10725053e-02 -1.69335336e-03 9.99515699e-01 -9.35841421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56719347 meters 0.07416365491426516 Centerline is valid? [True, True] Translation: X:83.86, Y:20.27, Z:-0.93 [[ 8.52066794e-01 -5.22693639e-01 -2.78125467e-02 8.38640158e+01] [ 5.22480020e-01 8.52518865e-01 -1.50404168e-02 2.02657702e+01] [ 3.15722509e-02 -1.71606025e-03 9.99499999e-01 -9.33452909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59719347000001 meters 0.0749596479205325 Centerline is valid? [True, True] Translation: X:83.89, Y:20.28, Z:-0.93 [[ 8.51358366e-01 -5.23896744e-01 -2.68539539e-02 8.38901839e+01] [ 5.23698136e-01 8.51780088e-01 -1.45239466e-02 2.02763728e+01] [ 3.04827115e-02 -1.69828217e-03 9.99533851e-01 -9.31996022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62719347 meters 0.07613390821871449 Centerline is valid? [True, True] Translation: X:83.92, Y:20.29, Z:-0.93 [[ 8.50872290e-01 -5.24724080e-01 -2.60956945e-02 8.39163101e+01] [ 5.24536815e-01 8.51270715e-01 -1.41173435e-02 2.02869320e+01] [ 2.96222106e-02 -1.67609607e-03 9.99559761e-01 -9.32689993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65719347 meters 0.07564218422840852 Centerline is valid? [True, True] Translation: X:83.94, Y:20.30, Z:-0.93 [[ 8.50241695e-01 -5.25794469e-01 -2.50845909e-02 8.39413313e+01] [ 5.25621580e-01 8.50610072e-01 -1.35815725e-02 2.03019635e+01] [ 2.84783214e-02 -1.63738307e-03 9.99593069e-01 -9.31248489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68719347 meters 0.07678423391491804 Centerline is valid? [True, True] Translation: X:83.97, Y:20.32, Z:-0.93 [[ 8.50725549e-01 -5.25004690e-01 -2.52213330e-02 8.39659386e+01] [ 5.24829521e-01 8.51097795e-01 -1.36571697e-02 2.03154524e+01] [ 2.86358991e-02 -1.61839689e-03 9.99588598e-01 -9.33812243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71719347 meters 0.07439799177658275 Centerline is valid? [True, True] Translation: X:83.99, Y:20.34, Z:-0.93 [[ 8.52612052e-01 -5.21909162e-01 -2.57588140e-02 8.39885397e+01] [ 5.21724992e-01 8.52999671e-01 -1.39496962e-02 2.03363803e+01] [ 2.92527341e-02 -1.54533788e-03 9.99570853e-01 -9.32998771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74719347 meters 0.07284971492554132 Centerline is valid? [True, True] Translation: X:84.01, Y:20.36, Z:-0.93 [[ 8.54853822e-01 -5.18232609e-01 -2.56886380e-02 8.40113927e+01] [ 5.18047744e-01 8.55238541e-01 -1.39130096e-02 2.03561251e+01] [ 2.91800886e-02 -1.41435153e-03 9.99573170e-01 -9.33200280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77719347 meters 0.06984674289009858 Centerline is valid? [True, True] Translation: X:84.03, Y:20.38, Z:-0.93 [[ 8.59633240e-01 -5.10393725e-01 -2.29986629e-02 8.40311518e+01] [ 5.10242702e-01 8.59940227e-01 -1.24575847e-02 2.03804073e+01] [ 2.61357484e-02 -1.02594599e-03 9.99657877e-01 -9.31822468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80719347 meters 0.06885719450120667 Centerline is valid? [True, True] Translation: X:84.05, Y:20.40, Z:-0.93 [[ 8.61588826e-01 -5.07182181e-01 -2.07588427e-02 8.40543189e+01] [ 5.07058186e-01 8.61838462e-01 -1.12455139e-02 2.03981387e+01] [ 2.35942933e-02 -8.36931977e-04 9.99721266e-01 -9.31102840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83719347 meters 0.0673561323341214 Centerline is valid? [True, True] Translation: X:84.08, Y:20.42, Z:-0.93 [[ 8.62949704e-01 -5.04958285e-01 -1.83013327e-02 8.40775134e+01] [ 5.04861393e-01 8.63143478e-01 -9.91516224e-03 2.04171771e+01] [ 2.08034193e-02 -6.83349985e-04 9.99783352e-01 -9.28234411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86719347 meters 0.06509427709619944 Centerline is valid? [True, True] Translation: X:84.10, Y:20.44, Z:-0.92 [[ 8.63953029e-01 -5.03321938e-01 -1.58805055e-02 8.40977125e+01] [ 5.03248669e-01 8.64098789e-01 -8.60580696e-03 2.04406545e+01] [ 1.80538170e-02 -5.56830264e-04 9.99836862e-01 -9.20370778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89719347 meters 0.0657720776442 Centerline is valid? [True, True] Translation: X:84.12, Y:20.45, Z:-0.92 [[ 8.63845522e-01 -5.03483965e-01 -1.65774337e-02 8.41219980e+01] [ 5.03404108e-01 8.64004374e-01 -8.98589399e-03 2.04539950e+01] [ 1.88472287e-02 -5.82723924e-04 9.99822205e-01 -9.22583997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92719347 meters 0.06513226868978106 Centerline is valid? [True, True] Translation: X:84.15, Y:20.47, Z:-0.92 [[ 8.64262055e-01 -5.02808013e-01 -1.53363080e-02 8.41459983e+01] [ 5.02739430e-01 8.64397960e-01 -8.32059518e-03 2.04705324e+01] [ 1.74403353e-02 -5.18992078e-04 9.99847771e-01 -9.21060610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95719347 meters 0.06572107627127904 Centerline is valid? [True, True] Translation: X:84.17, Y:20.48, Z:-0.92 [[ 8.64889816e-01 -5.01747122e-01 -1.46775972e-02 8.41712988e+01] [ 5.01684147e-01 8.65014219e-01 -7.96351386e-03 2.04829140e+01] [ 1.66920005e-02 -4.75955812e-04 9.99860566e-01 -9.23936121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98719347 meters 0.06300341034630971 Centerline is valid? [True, True] Translation: X:84.19, Y:20.51, Z:-0.92 [[ 8.68526387e-01 -4.95354852e-01 -1.68963507e-02 8.41913120e+01] [ 4.95270042e-01 8.68690630e-01 -9.17464156e-03 2.05071659e+01] [ 1.92224047e-02 -3.99838025e-04 9.99815153e-01 -9.22519096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01719347 meters 0.06247712033936981 Centerline is valid? [True, True] Translation: X:84.21, Y:20.53, Z:-0.92 [[ 8.70505861e-01 -4.91750687e-01 -2.00202121e-02 8.42143260e+01] [ 4.91630492e-01 8.70735966e-01 -1.08782481e-02 2.05255959e+01] [ 2.27817047e-02 -3.72967980e-04 9.99740394e-01 -9.24232786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04719347 meters 0.06214743724691045 Centerline is valid? [True, True] Translation: X:84.24, Y:20.54, Z:-0.93 [[ 8.73147915e-01 -4.86945627e-01 -2.22862063e-02 8.42360382e+01] [ 4.86794861e-01 8.73432244e-01 -1.21193409e-02 2.05435685e+01] [ 2.53669512e-02 -2.66833461e-04 9.99678172e-01 -9.26223303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07719347 meters 0.062281242907665776 Centerline is valid? [True, True] Translation: X:84.26, Y:20.56, Z:-0.93 [[ 8.75229641e-01 -4.83108469e-01 -2.40682963e-02 8.42589405e+01] [ 4.82930933e-01 8.75560496e-01 -1.30970524e-02 2.05616235e+01] [ 2.74005464e-02 -1.60396293e-04 9.99624522e-01 -9.27486911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10719347 meters 0.06295424110783433 Centerline is valid? [True, True] Translation: X:84.28, Y:20.58, Z:-0.93 [[ 8.78604459e-01 -4.76866650e-01 -2.55421886e-02 8.42812045e+01] [ 4.76664008e-01 8.78975652e-01 -1.39006075e-02 2.05793570e+01] [ 2.90796980e-02 3.80937771e-05 9.99577095e-01 -9.30218889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13719347 meters 0.06290123662941648 Centerline is valid? [True, True] Translation: X:84.31, Y:20.59, Z:-0.93 [[ 8.79845498e-01 -4.74581049e-01 -2.53914993e-02 8.43057588e+01] [ 4.74379455e-01 8.80211800e-01 -1.38318407e-02 2.05922892e+01] [ 2.89142267e-02 1.24677127e-04 9.99581889e-01 -9.29165519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16719347 meters 0.06299768956891676 Centerline is valid? [True, True] Translation: X:84.33, Y:20.60, Z:-0.93 [[ 8.80765949e-01 -4.72885393e-01 -2.51147122e-02 8.43313221e+01] [ 4.72687169e-01 8.81123924e-01 -1.36920068e-02 2.06044080e+01] [ 2.86039237e-02 1.88051150e-04 9.99590806e-01 -9.29328199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19719347 meters 0.06363178672237702 Centerline is valid? [True, True] Translation: X:84.36, Y:20.61, Z:-0.93 [[ 8.81826100e-01 -4.70889074e-01 -2.54206511e-02 8.43577731e+01] [ 4.70685100e-01 8.82192390e-01 -1.38608710e-02 2.06129270e+01] [ 2.89528377e-02 2.57756145e-04 9.99580745e-01 -9.33510198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22719347 meters 0.06280822629466166 Centerline is valid? [True, True] Translation: X:84.39, Y:20.62, Z:-0.93 [[ 8.81779067e-01 -4.71008505e-01 -2.48327290e-02 8.43860944e+01] [ 4.70813583e-01 8.82128631e-01 -1.35516894e-02 2.06211126e+01] [ 2.82886222e-02 2.58009909e-04 9.99599764e-01 -9.29398741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25719347 meters 0.062394641973523776 Centerline is valid? [True, True] Translation: X:84.41, Y:20.63, Z:-0.93 [[ 8.80806195e-01 -4.72798315e-01 -2.53416604e-02 8.44134664e+01] [ 4.72595707e-01 8.81170646e-01 -1.38416305e-02 2.06285434e+01] [ 2.88746269e-02 2.15433983e-04 9.99583018e-01 -9.29094959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28719347 meters 0.062228627775502664 Centerline is valid? [True, True] Translation: X:84.44, Y:20.64, Z:-0.93 [[ 8.79194904e-01 -4.75779610e-01 -2.54967211e-02 8.44408958e+01] [ 4.75575423e-01 8.79564521e-01 -1.39381072e-02 2.06356664e+01] [ 2.90574785e-02 1.28698922e-04 9.99577734e-01 -9.29324821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31719347 meters 0.062061660304768305 Centerline is valid? [True, True] Translation: X:84.47, Y:20.63, Z:-0.93 [[ 8.74837068e-01 -4.83745813e-01 -2.54969247e-02 8.44733610e+01] [ 4.83544648e-01 8.75208531e-01 -1.39499314e-02 2.06340544e+01] [ 2.90633469e-02 -1.24984388e-04 9.99577564e-01 -9.29418949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34719347000001 meters 0.06237650777545397 Centerline is valid? [True, True] Translation: X:84.50, Y:20.64, Z:-0.93 [[ 8.72220229e-01 -4.88392917e-01 -2.65373411e-02 8.45033551e+01] [ 4.88177099e-01 8.72623787e-01 -1.45205319e-02 2.06381505e+01] [ 3.02488401e-02 -2.89820532e-04 9.99542357e-01 -9.31212954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37719347 meters 0.06237650777545397 Centerline is valid? [True, True] Translation: X:84.53, Y:20.65, Z:-0.93 [[ 8.72047492e-01 -4.88701611e-01 -2.65312374e-02 8.45273121e+01] [ 4.88485596e-01 8.72450946e-01 -1.45316827e-02 2.06515283e+01] [ 3.02488599e-02 -2.87809838e-04 9.99542357e-01 -9.31439539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40719347 meters 0.06385008149111379 Centerline is valid? [True, True] Translation: X:84.56, Y:20.65, Z:-0.93 [[ 8.66633684e-01 -4.98161088e-01 -2.79569083e-02 8.45630449e+01] [ 4.97926158e-01 8.67084256e-01 -1.53112476e-02 2.06465446e+01] [ 3.18684628e-02 -6.51233031e-04 9.99491859e-01 -9.34166040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43719347 meters 0.0651339633461137 Centerline is valid? [True, True] Translation: X:84.59, Y:20.65, Z:-0.94 [[ 8.64281942e-01 -5.02188974e-01 -2.86872590e-02 8.45919699e+01] [ 5.01943704e-01 8.64757519e-01 -1.57147006e-02 2.06523107e+01] [ 3.26992723e-02 -8.17457080e-04 9.99464902e-01 -9.35978183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46719347 meters 0.06559151810596367 Centerline is valid? [True, True] Translation: X:84.62, Y:20.66, Z:-0.93 [[ 8.62192818e-01 -5.05787275e-01 -2.83333371e-02 8.46196565e+01] [ 5.05549543e-01 8.62657734e-01 -1.55336092e-02 2.06610988e+01] [ 3.22986742e-02 -9.30939367e-04 9.99477828e-01 -9.33842015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49719347 meters 0.06587828530791522 Centerline is valid? [True, True] Translation: X:84.65, Y:20.67, Z:-0.93 [[ 8.60028710e-01 -5.09517447e-01 -2.72504768e-02 8.46472233e+01] [ 5.09299073e-01 8.60459720e-01 -1.49507634e-02 2.06704395e+01] [ 3.10656125e-02 -1.02055676e-03 9.99516826e-01 -9.31004595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52719347 meters 0.06772862753588907 Centerline is valid? [True, True] Translation: X:84.68, Y:20.68, Z:-0.93 [[ 8.58090610e-01 -5.12804794e-01 -2.66786255e-02 8.46765846e+01] [ 5.12597071e-01 8.58504513e-01 -1.46370601e-02 2.06758622e+01] [ 3.04096750e-02 -1.11546149e-03 9.99536896e-01 -9.33166773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55719347 meters 0.06808031131671267 Centerline is valid? [True, True] Translation: X:84.71, Y:20.68, Z:-0.93 [[ 8.54516336e-01 -5.18804105e-01 -2.53797692e-02 8.47063803e+01] [ 5.18618734e-01 8.54892218e-01 -1.39249566e-02 2.06840603e+01] [ 2.89212919e-02 -1.26332084e-03 9.99580894e-01 -9.28059002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58719347 meters 0.06900425338032466 Centerline is valid? [True, True] Translation: X:84.73, Y:20.69, Z:-0.93 [[ 8.52898151e-01 -5.21492010e-01 -2.47149330e-02 8.47336845e+01] [ 5.21317251e-01 8.53255150e-01 -1.35636439e-02 2.06946891e+01] [ 2.81614758e-02 -1.31591409e-03 9.99602521e-01 -9.27018806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61719347 meters 0.07051750499519455 Centerline is valid? [True, True] Translation: X:84.76, Y:20.70, Z:-0.93 [[ 8.51633993e-01 -5.23558312e-01 -2.46218669e-02 8.47605378e+01] [ 5.23385649e-01 8.51988731e-01 -1.35153136e-02 2.07040299e+01] [ 2.80536080e-02 -1.37663135e-03 9.99605472e-01 -9.27974689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64719347 meters 0.07130272834376553 Centerline is valid? [True, True] Translation: X:84.79, Y:20.72, Z:-0.93 [[ 8.50585568e-01 -5.25311454e-01 -2.34961413e-02 8.47857125e+01] [ 5.25154795e-01 8.50908932e-01 -1.29007914e-02 2.07156077e+01] [ 2.67700100e-02 -1.36588426e-03 9.99640686e-01 -9.27077052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67719347 meters 0.07177009247909501 Centerline is valid? [True, True] Translation: X:84.81, Y:20.73, Z:-0.93 [[ 8.49442665e-01 -5.27233469e-01 -2.17262305e-02 8.48110053e+01] [ 5.27099899e-01 8.49719455e-01 -1.19391625e-02 2.07291378e+01] [ 2.47559268e-02 -1.31025992e-03 9.99692666e-01 -9.25608932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70719347 meters 0.07069535240552342 Centerline is valid? [True, True] Translation: X:84.84, Y:20.75, Z:-0.92 [[ 8.49413674e-01 -5.27332591e-01 -2.04144311e-02 8.48353739e+01] [ 5.27214501e-01 8.49658069e-01 -1.12265705e-02 2.07450570e+01] [ 2.32654227e-02 -1.22678161e-03 9.99728571e-01 -9.24413721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73719347 meters 0.07095091713494939 Centerline is valid? [True, True] Translation: X:84.86, Y:20.76, Z:-0.93 [[ 8.50159720e-01 -5.26074013e-01 -2.17849250e-02 8.48588760e+01] [ 5.25939097e-01 8.50437838e-01 -1.19812409e-02 2.07593307e+01] [ 2.48297440e-02 -1.27157540e-03 9.99690886e-01 -9.27677312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76719347 meters 0.07088560789119455 Centerline is valid? [True, True] Translation: X:84.88, Y:20.78, Z:-0.93 [[ 8.50254881e-01 -5.25879884e-01 -2.27372916e-02 8.48811909e+01] [ 5.25732529e-01 8.50557834e-01 -1.25171578e-02 2.07759159e+01] [ 2.59219030e-02 -1.31095926e-03 9.99663111e-01 -9.28722383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79719347 meters 0.07052892464331122 Centerline is valid? [True, True] Translation: X:84.90, Y:20.79, Z:-0.93 [[ 8.50384078e-01 -5.25620610e-01 -2.38724536e-02 8.49043801e+01] [ 5.25457832e-01 8.50718005e-01 -1.31508080e-02 2.07942286e+01] [ 2.72210618e-02 -1.36072993e-03 9.99628512e-01 -9.29580227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82719347 meters 0.07118364082845251 Centerline is valid? [True, True] Translation: X:84.93, Y:20.81, Z:-0.93 [[ 8.50664584e-01 -5.25073065e-01 -2.58465214e-02 8.49274267e+01] [ 5.24881952e-01 8.51055912e-01 -1.42397756e-02 2.08094470e+01] [ 2.94737574e-02 -1.45309979e-03 9.99564498e-01 -9.33016157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85719347 meters 0.07223481407583487 Centerline is valid? [True, True] Translation: X:84.95, Y:20.83, Z:-0.94 [[ 8.49732353e-01 -5.26442054e-01 -2.85252778e-02 8.49503318e+01] [ 5.26209949e-01 8.50209402e-01 -1.57181909e-02 2.08267244e+01] [ 3.25271761e-02 -1.65402967e-03 9.99469483e-01 -9.36513009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88719347 meters 0.07251017941155986 Centerline is valid? [True, True] Translation: X:84.97, Y:20.84, Z:-0.94 [[ 8.49077355e-01 -5.27512644e-01 -2.82498775e-02 8.49733195e+01] [ 5.27285459e-01 8.49545528e-01 -1.55705041e-02 2.08438698e+01] [ 3.22131949e-02 -1.67518718e-03 9.99479617e-01 -9.35256906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91719347 meters 0.07153330267390766 Centerline is valid? [True, True] Translation: X:84.99, Y:20.86, Z:-0.93 [[ 8.49091569e-01 -5.27583073e-01 -2.64501221e-02 8.49948070e+01] [ 5.27383598e-01 8.49502010e-01 -1.45902688e-02 2.08641081e+01] [ 3.01670107e-02 -1.56088632e-03 9.99543653e-01 -9.31581323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94719347 meters 0.07073993586444234 Centerline is valid? [True, True] Translation: X:85.02, Y:20.88, Z:-0.93 [[ 8.49797242e-01 -5.26580127e-01 -2.36223944e-02 8.50173226e+01] [ 5.26420662e-01 8.50124410e-01 -1.30297283e-02 2.08844027e+01] [ 2.69431701e-02 -1.36268935e-03 9.99636038e-01 -9.28255170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97719347 meters 0.06833985756072204 Centerline is valid? [True, True] Translation: X:85.04, Y:20.91, Z:-0.93 [[ 8.52954573e-01 -5.21603636e-01 -1.99535108e-02 8.50354323e+01] [ 5.21488468e-01 8.53187326e-01 -1.10074949e-02 2.09137109e+01] [ 2.27656319e-02 -1.01663265e-03 9.99740313e-01 -9.25110509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00719347 meters 0.06689101221511702 Centerline is valid? [True, True] Translation: X:85.06, Y:20.94, Z:-0.92 [[ 8.55572226e-01 -5.17358074e-01 -1.83518518e-02 8.50571214e+01] [ 5.17259649e-01 8.55768622e-01 -1.01252336e-02 2.09367316e+01] [ 2.09433102e-02 -8.29803756e-04 9.99780320e-01 -9.24966719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03719347 meters 0.06543603472622572 Centerline is valid? [True, True] Translation: X:85.08, Y:20.96, Z:-0.93 [[ 8.58446014e-01 -5.12573723e-01 -1.84016083e-02 8.50781853e+01] [ 5.12473645e-01 8.58642922e-01 -1.01535714e-02 2.09594466e+01] [ 2.10048646e-02 -7.14046427e-04 9.99779119e-01 -9.26106270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06719347 meters 0.06321812705606929 Centerline is valid? [True, True] Translation: X:85.09, Y:20.99, Z:-0.93 [[ 8.63456639e-01 -5.04057939e-01 -1.91892377e-02 8.50948993e+01] [ 5.03946990e-01 8.63669680e-01 -1.05884709e-02 2.09916462e+01] [ 2.19103656e-02 -5.27673081e-04 9.99759800e-01 -9.27414755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09719347000001 meters 0.062425589949082684 Centerline is valid? [True, True] Translation: X:85.12, Y:21.01, Z:-0.93 [[ 8.64760315e-01 -5.01797067e-01 -1.97306996e-02 8.51156422e+01] [ 5.01678944e-01 8.64985247e-01 -1.08976639e-02 2.10140080e+01] [ 2.25351799e-02 -4.74609248e-04 9.99745938e-01 -9.25802249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12719347 meters 0.06230610577967196 Centerline is valid? [True, True] Translation: X:85.14, Y:21.03, Z:-0.93 [[ 8.65473601e-01 -5.00527029e-01 -2.06915151e-02 8.51378850e+01] [ 5.00396531e-01 8.65720790e-01 -1.14379076e-02 2.10318548e+01] [ 2.36380567e-02 -4.54755280e-04 9.99720479e-01 -9.27096794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15719347 meters 0.06249373684103634 Centerline is valid? [True, True] Translation: X:85.16, Y:21.05, Z:-0.93 [[ 8.65426172e-01 -5.00560474e-01 -2.18346511e-02 8.51619115e+01] [ 5.00415150e-01 8.65701439e-01 -1.20704704e-02 2.10469611e+01] [ 2.49442893e-02 -4.80289205e-04 9.99688727e-01 -9.28798276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18719347 meters 0.06223242383398622 Centerline is valid? [True, True] Translation: X:85.19, Y:21.06, Z:-0.93 [[ 8.65954193e-01 -4.99593015e-01 -2.30250984e-02 8.51855313e+01] [ 4.99430775e-01 8.66260123e-01 -1.27396874e-02 2.10633845e+01] [ 2.63103834e-02 -4.67457069e-04 9.99653713e-01 -9.28860614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21719347 meters 0.06199358609521686 Centerline is valid? [True, True] Translation: X:85.21, Y:21.08, Z:-0.93 [[ 8.67357734e-01 -4.97161860e-01 -2.28176461e-02 8.52088591e+01] [ 4.97001653e-01 8.67657728e-01 -1.26263002e-02 2.10791969e+01] [ 2.60752219e-02 -3.88888688e-04 9.99659908e-01 -9.29682270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24719347 meters 0.06265061329121882 Centerline is valid? [True, True] Translation: X:85.23, Y:21.09, Z:-0.94 [[ 8.69478244e-01 -4.93432635e-01 -2.30611629e-02 8.52327195e+01] [ 4.93267590e-01 8.69783972e-01 -1.27642770e-02 2.10939741e+01] [ 2.63565407e-02 -2.77063053e-04 9.99652568e-01 -9.37432061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27719347 meters 0.06160894942380771 Centerline is valid? [True, True] Translation: X:85.26, Y:21.11, Z:-0.93 [[ 8.71868368e-01 -4.89195837e-01 -2.30864103e-02 8.52552702e+01] [ 4.89028669e-01 8.72173958e-01 -1.27885542e-02 2.11137081e+01] [ 2.63914734e-02 -1.39980616e-04 9.99651675e-01 -9.29616539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30719347 meters 0.06175707669347903 Centerline is valid? [True, True] Translation: X:85.28, Y:21.13, Z:-0.93 [[ 8.75173886e-01 -4.83241305e-01 -2.34202935e-02 8.52777612e+01] [ 4.83066823e-01 8.75487201e-01 -1.29848191e-02 2.11298365e+01] [ 2.67789681e-02 5.04078112e-05 9.99641378e-01 -9.29630646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33719347 meters 0.06167849790847897 Centerline is valid? [True, True] Translation: X:85.30, Y:21.14, Z:-0.93 [[ 8.74664760e-01 -4.84210124e-01 -2.24079010e-02 8.53032848e+01] [ 4.84050499e-01 8.74951745e-01 -1.24321686e-02 2.11419493e+01] [ 2.56256140e-02 2.74241201e-05 9.99671610e-01 -9.29780565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36719347 meters 0.061622867956135786 Centerline is valid? [True, True] Translation: X:85.33, Y:21.15, Z:-0.93 [[ 8.72790919e-01 -4.87575530e-01 -2.24970056e-02 8.53300968e+01] [ 4.87415475e-01 8.73080809e-01 -1.24922060e-02 2.11519736e+01] [ 2.57325978e-02 -6.23046785e-05 9.99668860e-01 -9.29856803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39719347 meters 0.06231189896905403 Centerline is valid? [True, True] Translation: X:85.36, Y:21.15, Z:-0.93 [[ 8.66896769e-01 -4.97847440e-01 -2.52570367e-02 8.53626753e+01] [ 4.97650086e-01 8.67264525e-01 -1.40227003e-02 2.11539164e+01] [ 2.88856974e-02 -4.12932906e-04 9.99582636e-01 -9.32095210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42719347 meters 0.06321349849363712 Centerline is valid? [True, True] Translation: X:85.39, Y:21.16, Z:-0.93 [[ 8.63542073e-01 -5.03596224e-01 -2.61902989e-02 8.53933977e+01] [ 5.03386598e-01 8.63938917e-01 -1.45423779e-02 2.11601009e+01] [ 2.99503050e-02 -6.25890301e-04 9.99551193e-01 -9.34580494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45719347 meters 0.06402905168661625 Centerline is valid? [True, True] Translation: X:85.42, Y:21.17, Z:-0.94 [[ 8.60139927e-01 -5.09350399e-01 -2.68603439e-02 8.54232371e+01] [ 5.09132623e-01 8.60558806e-01 -1.49169353e-02 2.11667571e+01] [ 3.07128524e-02 -8.44825667e-04 9.99527892e-01 -9.35375367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48719347 meters 0.0655033909100692 Centerline is valid? [True, True] Translation: X:85.46, Y:21.17, Z:-0.94 [[ 8.55338349e-01 -5.17415861e-01 -2.60218385e-02 8.54553375e+01] [ 5.17215167e-01 8.55733382e-01 -1.44516332e-02 2.11712143e+01] [ 2.97452601e-02 -1.09785348e-03 9.99556909e-01 -9.35040245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51719347 meters 0.0669760782747851 Centerline is valid? [True, True] Translation: X:85.48, Y:21.18, Z:-0.94 [[ 8.53885342e-01 -5.19825643e-01 -2.57123180e-02 8.54816409e+01] [ 5.19630652e-01 8.54271588e-01 -1.42842231e-02 2.11806054e+01] [ 2.93906082e-02 -1.16381987e-03 9.99567325e-01 -9.37421277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54719347 meters 0.06662634548700896 Centerline is valid? [True, True] Translation: X:85.51, Y:21.20, Z:-0.94 [[ 8.53060663e-01 -5.21138363e-01 -2.65011792e-02 8.55059910e+01] [ 5.20931476e-01 8.53471312e-01 -1.47348817e-02 2.11956543e+01] [ 3.02969083e-02 -1.23555039e-03 9.99540180e-01 -9.35236796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57719347 meters 0.06784055669170638 Centerline is valid? [True, True] Translation: X:85.53, Y:21.21, Z:-0.94 [[ 8.52949985e-01 -5.21318391e-01 -2.65228055e-02 8.55314466e+01] [ 5.21111196e-01 8.53361350e-01 -1.47487915e-02 2.12064137e+01] [ 3.03223533e-02 -1.24134943e-03 9.99539401e-01 -9.37325211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60719347 meters 0.06675642082887616 Centerline is valid? [True, True] Translation: X:85.56, Y:21.22, Z:-0.93 [[ 8.53931194e-01 -5.19749140e-01 -2.57361087e-02 8.55550317e+01] [ 5.19553266e-01 8.54318157e-01 -1.43139846e-02 2.12235023e+01] [ 2.94265061e-02 -1.14812141e-03 9.99566287e-01 -9.34701891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63719347 meters 0.06695417117000729 Centerline is valid? [True, True] Translation: X:85.58, Y:21.24, Z:-0.94 [[ 8.55037208e-01 -5.17994800e-01 -2.43466627e-02 8.55796306e+01] [ 5.17818699e-01 8.55383151e-01 -1.35447410e-02 2.12363668e+01] [ 2.78418305e-02 -1.02589970e-03 9.99611815e-01 -9.35595335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66719347 meters 0.06542634112782357 Centerline is valid? [True, True] Translation: X:85.60, Y:21.25, Z:-0.93 [[ 8.56015496e-01 -5.16369414e-01 -2.44969207e-02 8.56028463e+01] [ 5.16190151e-01 8.56365394e-01 -1.36396408e-02 2.12537381e+01] [ 2.80214085e-02 -9.69325315e-04 9.99606853e-01 -9.33448039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69719347 meters 0.06529216216911593 Centerline is valid? [True, True] Translation: X:85.63, Y:21.27, Z:-0.93 [[ 8.56908780e-01 -5.14897889e-01 -2.42385380e-02 8.56274364e+01] [ 5.14721757e-01 8.57251034e-01 -1.34973241e-02 2.12667104e+01] [ 2.77282555e-02 -9.10127377e-04 9.99615084e-01 -9.34516327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72719347 meters 0.06426249422213351 Centerline is valid? [True, True] Translation: X:85.65, Y:21.28, Z:-0.94 [[ 8.59089973e-01 -5.11282212e-01 -2.35567000e-02 8.56515157e+01] [ 5.11114471e-01 8.59412536e-01 -1.31183554e-02 2.12829585e+01] [ 2.69521050e-02 -7.70322672e-04 9.99636429e-01 -9.35543453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75719347 meters 0.06398146711071157 Centerline is valid? [True, True] Translation: X:85.68, Y:21.30, Z:-0.94 [[ 8.59829152e-01 -5.10008051e-01 -2.41995152e-02 8.56755281e+01] [ 5.09830206e-01 8.60169309e-01 -1.34878220e-02 2.12996475e+01] [ 2.76945780e-02 -7.40421235e-04 9.99616157e-01 -9.35618275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78719347 meters 0.06365527056947305 Centerline is valid? [True, True] Translation: X:85.70, Y:21.32, Z:-0.94 [[ 8.60851254e-01 -5.08302956e-01 -2.37323210e-02 8.56996852e+01] [ 5.08131043e-01 8.61178067e-01 -1.32355805e-02 2.13164980e+01] [ 2.71654390e-02 -6.65262940e-04 9.99630730e-01 -9.35323341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81719347 meters 0.06265343804661506 Centerline is valid? [True, True] Translation: X:85.72, Y:21.33, Z:-0.94 [[ 8.63808986e-01 -5.03257300e-01 -2.37933781e-02 8.57219376e+01] [ 5.03082561e-01 8.64136467e-01 -1.32704121e-02 2.13345190e+01] [ 2.72391574e-02 -5.06932380e-04 9.99628817e-01 -9.36394009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84719347000001 meters 0.06236369786455305 Centerline is valid? [True, True] Translation: X:85.75, Y:21.35, Z:-0.94 [[ 8.65216894e-01 -5.00824651e-01 -2.39665474e-02 8.57467921e+01] [ 5.00646151e-01 8.65548663e-01 -1.33769394e-02 2.13499960e+01] [ 2.74437141e-02 -4.24805761e-04 9.99623260e-01 -9.38288887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87719347 meters 0.06202088142183509 Centerline is valid? [True, True] Translation: X:85.77, Y:21.36, Z:-0.94 [[ 8.66307888e-01 -4.99016691e-01 -2.22032866e-02 8.57708599e+01] [ 4.98862880e-01 8.66592307e-01 -1.23935704e-02 2.13648913e+01] [ 2.54257959e-02 -3.39747744e-04 9.99676654e-01 -9.38859458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90719347 meters 0.06168364799171337 Centerline is valid? [True, True] Translation: X:85.79, Y:21.38, Z:-0.94 [[ 8.67528706e-01 -4.96917202e-01 -2.16156977e-02 8.57941294e+01] [ 4.96770698e-01 8.67797916e-01 -1.20685896e-02 2.13799873e+01] [ 2.47551472e-02 -2.68197283e-04 9.99693508e-01 -9.39426527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93719347 meters 0.061658571163357635 Centerline is valid? [True, True] Translation: X:85.82, Y:21.39, Z:-0.94 [[ 8.67201667e-01 -4.97461894e-01 -2.22021005e-02 8.58190652e+01] [ 4.97307262e-01 8.67485783e-01 -1.24057425e-02 2.13938115e+01] [ 2.54313907e-02 -2.82985203e-04 9.99676530e-01 -9.39138119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96719347 meters 0.06174926100049517 Centerline is valid? [True, True] Translation: X:85.84, Y:21.41, Z:-0.94 [[ 8.66544939e-01 -4.98609931e-01 -2.20908398e-02 8.58441967e+01] [ 4.98457190e-01 8.66826417e-01 -1.23447374e-02 2.14062143e+01] [ 2.53041321e-02 -3.14068204e-04 9.99679750e-01 -9.38969474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99719347 meters 0.06167787774082546 Centerline is valid? [True, True] Translation: X:85.87, Y:21.42, Z:-0.94 [[ 8.65678446e-01 -5.00128444e-01 -2.17340145e-02 8.58696486e+01] [ 4.99980795e-01 8.65951166e-01 -1.21565831e-02 2.14185899e+01] [ 2.49004482e-02 -3.42897856e-04 9.99689877e-01 -9.37677843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02719347 meters 0.06193604595323234 Centerline is valid? [True, True] Translation: X:85.90, Y:21.43, Z:-0.94 [[ 8.64069647e-01 -5.02991492e-01 -1.95756340e-02 8.58974770e+01] [ 5.02872432e-01 8.64291278e-01 -1.09500868e-02 2.14259724e+01] [ 2.24268502e-02 -3.82409074e-04 9.99748413e-01 -9.36732299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05719347 meters 0.06194906269094303 Centerline is valid? [True, True] Translation: X:85.92, Y:21.44, Z:-0.94 [[ 8.63074060e-01 -5.04743065e-01 -1.83740315e-02 8.59236609e+01] [ 5.04638380e-01 8.63269531e-01 -1.02869920e-02 2.14373983e+01] [ 2.10540295e-02 -3.93805569e-04 9.99778262e-01 -9.35329277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08719347 meters 0.06207984283536161 Centerline is valid? [True, True] Translation: X:85.95, Y:21.45, Z:-0.93 [[ 8.61930067e-01 -5.06745517e-01 -1.68979207e-02 8.59492866e+01] [ 5.06657219e-01 8.62095598e-01 -9.46795385e-03 2.14484675e+01] [ 1.93654662e-02 -4.00739392e-04 9.99812391e-01 -9.34067400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11719347 meters 0.06179339831621859 Centerline is valid? [True, True] Translation: X:85.97, Y:21.46, Z:-0.93 [[ 8.59599745e-01 -5.10710574e-01 -1.62168754e-02 8.59748695e+01] [ 5.10629945e-01 8.59752574e-01 -9.08683736e-03 2.14606618e+01] [ 1.85832443e-02 -4.69779094e-04 9.99827206e-01 -9.29750725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14719347 meters 0.06203764625795841 Centerline is valid? [True, True] Translation: X:86.00, Y:21.47, Z:-0.93 [[ 8.58652753e-01 -5.12327401e-01 -1.53649928e-02 8.60017276e+01] [ 5.12255140e-01 8.58790086e-01 -8.61742702e-03 2.14716807e+01] [ 1.76102474e-02 -4.71419080e-04 9.99844816e-01 -9.30680918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17719347 meters 0.062306877617943714 Centerline is valid? [True, True] Translation: X:86.03, Y:21.48, Z:-0.93 [[ 8.57859576e-01 -5.13685028e-01 -1.43052182e-02 8.60277415e+01] [ 5.13622465e-01 8.57978719e-01 -8.03006711e-03 2.14817509e+01] [ 1.63984980e-02 -4.58811448e-04 9.99865430e-01 -9.31648753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20719347 meters 0.06198242318473951 Centerline is valid? [True, True] Translation: X:86.05, Y:21.49, Z:-0.93 [[ 8.57250957e-01 -5.14736201e-01 -1.29399033e-02 8.60531526e+01] [ 5.14685037e-01 8.57348506e-01 -7.26992986e-03 2.14935940e+01] [ 1.48361028e-02 -4.27820288e-04 9.99889847e-01 -9.31158643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23719347 meters 0.06195953379127479 Centerline is valid? [True, True] Translation: X:86.08, Y:21.51, Z:-0.93 [[ 8.57457827e-01 -5.14333624e-01 -1.50664609e-02 8.60782766e+01] [ 5.14264184e-01 8.57590044e-01 -8.46553695e-03 2.15062001e+01] [ 1.72749572e-02 -4.89300299e-04 9.99850657e-01 -9.32437412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26719347 meters 0.06195953379127479 Centerline is valid? [True, True] Translation: X:86.10, Y:21.52, Z:-0.93 [[ 8.57281793e-01 -5.14627086e-01 -1.50628260e-02 8.61020932e+01] [ 5.14557578e-01 8.57413975e-01 -8.47200419e-03 2.15198352e+01] [ 1.72750004e-02 -4.87796340e-04 9.99850657e-01 -9.32664097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29719347 meters 0.06215412480155475 Centerline is valid? [True, True] Translation: X:86.13, Y:21.53, Z:-0.93 [[ 8.57295338e-01 -5.14535271e-01 -1.72672472e-02 8.61263539e+01] [ 5.14443914e-01 8.57469034e-01 -9.71160769e-03 2.15342612e+01] [ 1.98030945e-02 -5.57314245e-04 9.99803744e-01 -9.34440617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32719347 meters 0.06236285820376646 Centerline is valid? [True, True] Translation: X:86.15, Y:21.55, Z:-0.94 [[ 8.57105829e-01 -5.14780516e-01 -1.92514523e-02 8.61522393e+01] [ 5.14666809e-01 8.57321781e-01 -1.08369080e-02 2.15476690e+01] [ 2.20833185e-02 -6.19706505e-04 9.99755942e-01 -9.36324670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35719347 meters 0.0637238465798551 Centerline is valid? [True, True] Translation: X:86.18, Y:21.55, Z:-0.94 [[ 8.55945191e-01 -5.16604339e-01 -2.18583395e-02 8.61809925e+01] [ 5.16458327e-01 8.56223910e-01 -1.23049280e-02 2.15534621e+01] [ 2.50724121e-02 -7.56577519e-04 9.99685351e-01 -9.42999795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38719347 meters 0.06406976690201106 Centerline is valid? [True, True] Translation: X:86.21, Y:21.57, Z:-0.94 [[ 8.55140479e-01 -5.17806632e-01 -2.47194792e-02 8.62074390e+01] [ 5.17620369e-01 8.55497219e-01 -1.39162656e-02 2.15665122e+01] [ 2.83533803e-02 -8.94943910e-04 9.99597561e-01 -9.44925277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41719347 meters 0.06441492233294761 Centerline is valid? [True, True] Translation: X:86.23, Y:21.58, Z:-0.95 [[ 8.54438914e-01 -5.18839804e-01 -2.71918883e-02 8.62334394e+01] [ 5.18614886e-01 8.54870876e-01 -1.53096503e-02 2.15804104e+01] [ 3.11888093e-02 -1.02095706e-03 9.99512989e-01 -9.45437323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44719347 meters 0.06542118079766786 Centerline is valid? [True, True] Translation: X:86.26, Y:21.59, Z:-0.95 [[ 8.53428066e-01 -5.20450541e-01 -2.81384296e-02 8.62603148e+01] [ 5.20210478e-01 8.53891089e-01 -1.58451173e-02 2.15915937e+01] [ 3.22737541e-02 -1.11523806e-03 9.99478445e-01 -9.46745510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47719347 meters 0.06519742058428005 Centerline is valid? [True, True] Translation: X:86.28, Y:21.61, Z:-0.95 [[ 8.53903895e-01 -5.19739992e-01 -2.68044653e-02 8.62846707e+01] [ 5.19521681e-01 8.54323869e-01 -1.50980093e-02 2.16052248e+01] [ 3.07467337e-02 -1.03325190e-03 9.99526673e-01 -9.45742641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50719347 meters 0.06459310672712389 Centerline is valid? [True, True] Translation: X:86.31, Y:21.62, Z:-0.94 [[ 8.54667024e-01 -5.18553827e-01 -2.54206022e-02 8.63091674e+01] [ 5.18356647e-01 8.55044480e-01 -1.43291127e-02 2.16211172e+01] [ 2.91661618e-02 -9.30318002e-04 9.99574144e-01 -9.44188847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53719347 meters 0.06242663120723355 Centerline is valid? [True, True] Translation: X:86.33, Y:21.64, Z:-0.94 [[ 8.56750137e-01 -5.15167491e-01 -2.41176105e-02 8.63318648e+01] [ 5.14988709e-01 8.57089176e-01 -1.35931321e-02 2.16422009e+01] [ 2.76736827e-02 -7.74379330e-04 9.99616710e-01 -9.39083438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56719347 meters 0.06021968062603063 Centerline is valid? [True, True] Translation: X:86.35, Y:21.67, Z:-0.94 [[ 8.62525384e-01 -5.05537988e-01 -2.19386615e-02 8.63514151e+01] [ 5.05386878e-01 8.62804245e-01 -1.23667898e-02 2.16668374e+01] [ 2.51806523e-02 -4.20841496e-04 9.99682829e-01 -9.36974405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59719347000001 meters 0.059330100553642656 Centerline is valid? [True, True] Translation: X:86.37, Y:21.69, Z:-0.94 [[ 8.65288486e-01 -5.00891147e-01 -1.95932257e-02 8.63746730e+01] [ 5.00769391e-01 8.65510251e-01 -1.10463756e-02 2.16870185e+01] [ 2.24911694e-02 -2.53386114e-04 9.99747010e-01 -9.35167431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62719347 meters 0.05883969885693164 Centerline is valid? [True, True] Translation: X:86.40, Y:21.71, Z:-0.93 [[ 8.67386979e-01 -4.97310996e-01 -1.79332623e-02 8.63968652e+01] [ 4.97208185e-01 8.67572332e-01 -1.01128008e-02 2.17057087e+01] [ 2.05876093e-02 -1.44853102e-04 9.99788042e-01 -9.34871005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65719347 meters 0.05832486312673055 Centerline is valid? [True, True] Translation: X:86.42, Y:21.73, Z:-0.93 [[ 8.70282487e-01 -4.92331099e-01 -1.47811327e-02 8.64173640e+01] [ 4.92260495e-01 8.70408001e-01 -8.33766017e-03 2.17259171e+01] [ 1.69705056e-02 -2.00480579e-05 9.99855990e-01 -9.33950652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68719347 meters 0.05809536930886182 Centerline is valid? [True, True] Translation: X:86.44, Y:21.74, Z:-0.93 [[ 8.70367363e-01 -4.92197087e-01 -1.42366464e-02 8.64428386e+01] [ 4.92131455e-01 8.70483789e-01 -8.03760312e-03 2.17403444e+01] [ 1.63488547e-02 -1.06340619e-05 9.99866348e-01 -9.32148073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71719347 meters 0.05808203967524022 Centerline is valid? [True, True] Translation: X:86.47, Y:21.75, Z:-0.93 [[ 8.70365948e-01 -4.92200778e-01 -1.41954480e-02 8.64667701e+01] [ 4.92135500e-01 8.70481703e-01 -8.01594990e-03 2.17518270e+01] [ 1.63023345e-02 -9.27403739e-06 9.99867108e-01 -9.33086682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74719347 meters 0.05810808414110989 Centerline is valid? [True, True] Translation: X:86.49, Y:21.76, Z:-0.94 [[ 8.70290756e-01 -4.92307975e-01 -1.50617957e-02 8.64917757e+01] [ 4.92234474e-01 8.70421081e-01 -8.50672425e-03 2.17635294e+01] [ 1.72980326e-02 -1.06115846e-05 9.99850378e-01 -9.35131563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77719347 meters 0.0581436200651305 Centerline is valid? [True, True] Translation: X:86.52, Y:21.78, Z:-0.94 [[ 8.70439240e-01 -4.91976479e-01 -1.71660396e-02 8.65166245e+01] [ 4.91880774e-01 8.70608490e-01 -9.70361866e-03 2.17785362e+01] [ 1.97188520e-02 2.76561745e-06 9.99805565e-01 -9.35379479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80719347 meters 0.05838632526708964 Centerline is valid? [True, True] Translation: X:86.54, Y:21.79, Z:-0.94 [[ 8.70794660e-01 -4.91313537e-01 -1.81016390e-02 8.65402886e+01] [ 4.91206923e-01 8.70982783e-01 -1.02347968e-02 2.17925489e+01] [ 2.07947101e-02 2.07559542e-05 9.99783766e-01 -9.36863850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83719347 meters 0.058512904774660895 Centerline is valid? [True, True] Translation: X:86.57, Y:21.81, Z:-0.94 [[ 8.71214262e-01 -4.90522553e-01 -1.93218792e-02 8.65654563e+01] [ 4.90400690e-01 8.71428495e-01 -1.09334738e-02 2.18061258e+01] [ 2.22007516e-02 4.99353603e-05 9.99753532e-01 -9.37715544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86719347 meters 0.058758901686859225 Centerline is valid? [True, True] Translation: X:86.59, Y:21.81, Z:-0.94 [[ 8.70901881e-01 -4.91009958e-01 -2.09555456e-02 8.65945283e+01] [ 4.90866565e-01 8.71153958e-01 -1.18657529e-02 2.18125529e+01] [ 2.40817094e-02 4.75297922e-05 9.99709992e-01 -9.41849449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89719347 meters 0.058416730553978786 Centerline is valid? [True, True] Translation: X:86.62, Y:21.82, Z:-0.94 [[ 8.70440501e-01 -4.91837644e-01 -2.07139154e-02 8.66215223e+01] [ 4.91697531e-01 8.70686930e-01 -1.17391575e-02 2.18217471e+01] [ 2.38090950e-02 3.32570875e-05 9.99716523e-01 -9.39790947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92719347 meters 0.058713649503841094 Centerline is valid? [True, True] Translation: X:86.65, Y:21.83, Z:-0.94 [[ 8.69598183e-01 -4.93335412e-01 -2.04736898e-02 8.66480952e+01] [ 4.93198723e-01 8.69839164e-01 -1.16124358e-02 2.18304386e+01] [ 2.35376430e-02 5.55399988e-07 9.99722951e-01 -9.43287079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95719347 meters 0.05884340237403789 Centerline is valid? [True, True] Translation: X:86.68, Y:21.83, Z:-0.94 [[ 8.66555941e-01 -4.98571262e-01 -2.25276992e-02 8.66791219e+01] [ 4.98407316e-01 8.66848703e-01 -1.27856451e-02 2.18338795e+01] [ 2.59026621e-02 -1.48493401e-04 9.99664459e-01 -9.41920228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98719347 meters 0.05890727626325249 Centerline is valid? [True, True] Translation: X:86.71, Y:21.84, Z:-0.94 [[ 8.64686437e-01 -5.01790569e-01 -2.28821001e-02 8.67074898e+01] [ 5.01622298e-01 8.64989114e-01 -1.29962989e-02 2.18426986e+01] [ 2.63141878e-02 -2.40448261e-04 9.99653693e-01 -9.39567475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01719347 meters 0.059397893215844454 Centerline is valid? [True, True] Translation: X:86.74, Y:21.85, Z:-0.94 [[ 8.62935748e-01 -5.04826716e-01 -2.21784134e-02 8.67354162e+01] [ 5.04669546e-01 8.63220646e-01 -1.26002216e-02 2.18497242e+01] [ 2.55057928e-02 -3.19588171e-04 9.99674623e-01 -9.40498775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04719347 meters 0.06007010374405228 Centerline is valid? [True, True] Translation: X:86.76, Y:21.86, Z:-0.94 [[ 8.60832304e-01 -5.08410011e-01 -2.20682024e-02 8.67634736e+01] [ 5.08255508e-01 8.61115023e-01 -1.25401487e-02 2.18566708e+01] [ 2.53787978e-02 -4.21320333e-04 9.99677818e-01 -9.40945506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07719347 meters 0.061792782631248454 Centerline is valid? [True, True] Translation: X:86.80, Y:21.86, Z:-0.94 [[ 8.56653555e-01 -5.15424359e-01 -2.19639684e-02 8.67950460e+01] [ 5.15273570e-01 8.56934852e-01 -1.24823242e-02 2.18597962e+01] [ 2.52553840e-02 -6.24425056e-04 9.99680837e-01 -9.41067880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10719347 meters 0.06296118798776977 Centerline is valid? [True, True] Translation: X:86.82, Y:21.87, Z:-0.94 [[ 8.54968938e-01 -5.18171640e-01 -2.29405127e-02 8.68231601e+01] [ 5.18008079e-01 8.55276336e-01 -1.30391468e-02 2.18684397e+01] [ 2.63769938e-02 -7.35305435e-04 9.99651796e-01 -9.43979919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13719347 meters 0.06328014446272057 Centerline is valid? [True, True] Translation: X:86.85, Y:21.88, Z:-0.94 [[ 8.53304567e-01 -5.20815080e-01 -2.49593205e-02 8.68504943e+01] [ 5.20622492e-01 8.53669062e-01 -1.41899297e-02 2.18793726e+01] [ 2.86973291e-02 -8.86051770e-04 9.99587754e-01 -9.44463764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16719347 meters 0.06498902299251884 Centerline is valid? [True, True] Translation: X:86.88, Y:21.89, Z:-0.95 [[ 8.51975291e-01 -5.22951202e-01 -2.56932482e-02 8.68786465e+01] [ 5.22748002e-01 8.52362055e-01 -1.46100731e-02 2.18878647e+01] [ 2.95403051e-02 -9.83672877e-04 9.99563106e-01 -9.48658607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19719347 meters 0.06548631378152292 Centerline is valid? [True, True] Translation: X:86.90, Y:21.90, Z:-0.95 [[ 8.50243622e-01 -5.25654866e-01 -2.77983041e-02 8.69042356e+01] [ 5.25418413e-01 8.50697128e-01 -1.58078130e-02 2.19035906e+01] [ 3.19573913e-02 -1.16524862e-03 9.99488553e-01 -9.48366727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22719347 meters 0.06552372891747925 Centerline is valid? [True, True] Translation: X:86.93, Y:21.92, Z:-0.95 [[ 8.49329796e-01 -5.27062448e-01 -2.90529432e-02 8.69284617e+01] [ 5.26804894e-01 8.49825606e-01 -1.65240173e-02 2.19199909e+01] [ 3.33991241e-02 -1.27089240e-03 9.99441286e-01 -9.46654733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25719347 meters 0.06625389661664471 Centerline is valid? [True, True] Translation: X:86.95, Y:21.93, Z:-0.95 [[ 8.48596127e-01 -5.28282447e-01 -2.83243722e-02 8.69527658e+01] [ 5.28038186e-01 8.49067731e-01 -1.61140169e-02 2.19332676e+01] [ 3.25620627e-02 -1.28205782e-03 9.99468893e-01 -9.46537469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28719347 meters 0.06679505685421337 Centerline is valid? [True, True] Translation: X:86.98, Y:21.95, Z:-0.95 [[ 8.48707027e-01 -5.28144187e-01 -2.75699143e-02 8.69770995e+01] [ 5.27912573e-01 8.49153803e-01 -1.56886480e-02 2.19462416e+01] [ 3.16969658e-02 -1.23943859e-03 9.99496756e-01 -9.47916203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31719347 meters 0.06593944581325809 Centerline is valid? [True, True] Translation: X:87.00, Y:21.96, Z:-0.95 [[ 8.49361386e-01 -5.26966934e-01 -2.98510563e-02 8.70012216e+01] [ 5.26694215e-01 8.49884818e-01 -1.70000100e-02 2.19627186e+01] [ 3.43284027e-02 -1.28322663e-03 9.99409783e-01 -9.48063269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34719347000001 meters 0.06484561557466881 Centerline is valid? [True, True] Translation: X:87.02, Y:21.98, Z:-0.95 [[ 8.50059003e-01 -5.25853889e-01 -2.96205851e-02 8.70246479e+01] [ 5.25584326e-01 8.50574041e-01 -1.68794778e-02 2.19806080e+01] [ 3.40706399e-02 -1.21956320e-03 9.99418683e-01 -9.46349687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37719347 meters 0.06489577452105946 Centerline is valid? [True, True] Translation: X:87.05, Y:22.00, Z:-0.95 [[ 8.51781118e-01 -5.23135146e-01 -2.82585703e-02 8.70479118e+01] [ 5.22888288e-01 8.52249082e-01 -1.61040325e-02 2.19974093e+01] [ 3.25079259e-02 -1.05896467e-03 9.99470917e-01 -9.47283004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40719347 meters 0.061850907169845676 Centerline is valid? [True, True] Translation: X:87.07, Y:22.02, Z:-0.94 [[ 8.54485349e-01 -5.18812735e-01 -2.62323079e-02 8.70681134e+01] [ 5.18597674e-01 8.54887519e-01 -1.49593538e-02 2.20220621e+01] [ 3.01867759e-02 -8.21465234e-04 9.99543938e-01 -9.41263493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43719347 meters 0.05862336544830352 Centerline is valid? [True, True] Translation: X:87.08, Y:22.05, Z:-0.94 [[ 8.61844859e-01 -5.06721089e-01 -2.13816966e-02 8.70841598e+01] [ 5.06574474e-01 8.62109990e-01 -1.21929704e-02 2.20538426e+01] [ 2.46118095e-02 -3.22972877e-04 9.99697031e-01 -9.36056778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46719347 meters 0.05788414104998781 Centerline is valid? [True, True] Translation: X:87.11, Y:22.07, Z:-0.93 [[ 8.64748585e-01 -5.01817816e-01 -1.97171026e-02 8.71057990e+01] [ 5.01691649e-01 8.64973325e-01 -1.12532468e-02 2.20747410e+01] [ 2.27018476e-02 -1.60676492e-04 9.99742267e-01 -9.34444432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49719347 meters 0.05749927231446056 Centerline is valid? [True, True] Translation: X:87.13, Y:22.09, Z:-0.94 [[ 8.67359342e-01 -4.97361055e-01 -1.78816182e-02 8.71274406e+01] [ 4.97256184e-01 8.67543647e-01 -1.02131345e-02 2.20936215e+01] [ 2.05926996e-02 -3.32875954e-05 9.99787947e-01 -9.35728532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52719347 meters 0.05740263139009449 Centerline is valid? [True, True] Translation: X:87.15, Y:22.11, Z:-0.94 [[ 8.69846445e-01 -4.93009313e-01 -1.75778413e-02 8.71483806e+01] [ 4.92906916e-01 8.70024030e-01 -1.00478782e-02 2.21125603e+01] [ 2.02468419e-02 7.58715865e-05 9.99795009e-01 -9.36229535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55719347 meters 0.05767712446693421 Centerline is valid? [True, True] Translation: X:87.17, Y:22.13, Z:-0.94 [[ 8.69780166e-01 -4.93066107e-01 -1.91905461e-02 8.71727968e+01] [ 4.92943923e-01 8.69991843e-01 -1.09764466e-02 2.21279739e+01] [ 2.21077324e-02 8.72324473e-05 9.99755590e-01 -9.39069138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58719347 meters 0.05793185692087346 Centerline is valid? [True, True] Translation: X:87.20, Y:22.14, Z:-0.94 [[ 8.69130258e-01 -4.94157510e-01 -2.05170786e-02 8.71978744e+01] [ 4.94018130e-01 8.69372389e-01 -1.17361155e-02 2.21410363e+01] [ 2.36364713e-02 6.44043068e-05 9.99720618e-01 -9.41587203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61719347 meters 0.05842263987654316 Centerline is valid? [True, True] Translation: X:87.22, Y:22.15, Z:-0.95 [[ 8.67800825e-01 -4.96349160e-01 -2.36482653e-02 8.72249404e+01] [ 4.96164755e-01 8.68122982e-01 -1.35286348e-02 2.21522546e+01] [ 2.72445291e-02 6.72464131e-06 9.99628799e-01 -9.45285645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64719347 meters 0.058655403868422995 Centerline is valid? [True, True] Translation: X:87.25, Y:22.16, Z:-0.95 [[ 8.64176098e-01 -5.02596860e-01 -2.44144860e-02 8.72548375e+01] [ 5.02402681e-01 8.64520884e-01 -1.39709526e-02 2.21568721e+01] [ 2.81285899e-02 -1.92539870e-04 9.99604294e-01 -9.45834035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67719347 meters 0.05892717548343486 Centerline is valid? [True, True] Translation: X:87.28, Y:22.17, Z:-0.95 [[ 8.62420975e-01 -5.05707315e-01 -2.21398517e-02 8.72821356e+01] [ 5.05548383e-01 8.62705074e-01 -1.26801991e-02 2.21659183e+01] [ 2.55126318e-02 -2.57096503e-04 9.99674467e-01 -9.45420148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70719347 meters 0.05935749118090159 Centerline is valid? [True, True] Translation: X:87.31, Y:22.17, Z:-0.94 [[ 8.60842762e-01 -5.08445796e-01 -2.07992919e-02 8.73087860e+01] [ 5.08306300e-01 8.61093939e-01 -1.19135921e-02 2.21749683e+01] [ 2.39675600e-02 -3.16681605e-04 9.99712687e-01 -9.44777498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73719347 meters 0.05962315185115855 Centerline is valid? [True, True] Translation: X:87.34, Y:22.19, Z:-0.94 [[ 8.59341457e-01 -5.10893664e-01 -2.28018247e-02 8.73359049e+01] [ 5.10726853e-01 8.59643813e-01 -1.30612305e-02 2.21868569e+01] [ 2.62743475e-02 -4.21447376e-04 9.99654681e-01 -9.43518098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76719347 meters 0.06149234380691806 Centerline is valid? [True, True] Translation: X:87.37, Y:22.19, Z:-0.95 [[ 8.56144288e-01 -5.15967688e-01 -2.81833745e-02 8.73657590e+01] [ 5.15715439e-01 8.56607752e-01 -1.61475981e-02 2.21937786e+01] [ 3.24737360e-02 -7.09927448e-04 9.99472337e-01 -9.49680821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79719347 meters 0.06224267419801729 Centerline is valid? [True, True] Translation: X:87.39, Y:22.20, Z:-0.95 [[ 8.54883173e-01 -5.18042856e-01 -2.83964663e-02 8.73923528e+01] [ 5.17787784e-01 8.55354297e-01 -1.62738327e-02 2.22043844e+01] [ 3.27195822e-02 -7.91117638e-04 9.99464258e-01 -9.50845367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82719347 meters 0.06289817741735158 Centerline is valid? [True, True] Translation: X:87.42, Y:22.22, Z:-0.95 [[ 8.53896515e-01 -5.19620640e-01 -2.92426392e-02 8.74188327e+01] [ 5.19350614e-01 8.54396653e-01 -1.67719577e-02 2.22168193e+01] [ 3.36998685e-02 -8.65666376e-04 9.99431623e-01 -9.52512055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85719347 meters 0.06337802288785545 Centerline is valid? [True, True] Translation: X:87.45, Y:22.23, Z:-0.95 [[ 8.53185880e-01 -5.20901620e-01 -2.71174478e-02 8.74453497e+01] [ 5.20669932e-01 8.53616300e-01 -1.55574641e-02 2.22257574e+01] [ 3.12518037e-02 -8.45831020e-04 9.99511185e-01 -9.52814126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88719347 meters 0.06359320899502394 Centerline is valid? [True, True] Translation: X:87.47, Y:22.24, Z:-0.95 [[ 8.52265534e-01 -5.22483955e-01 -2.55729694e-02 8.74723768e+01] [ 5.22278292e-01 8.52648701e-01 -1.46826165e-02 2.22371795e+01] [ 2.94761907e-02 -8.42718804e-04 9.99565127e-01 -9.52766816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91719347 meters 0.06391145950279947 Centerline is valid? [True, True] Translation: X:87.50, Y:22.25, Z:-0.95 [[ 8.51240544e-01 -5.24182650e-01 -2.49416506e-02 8.74991145e+01] [ 5.23987466e-01 8.51605420e-01 -1.43298531e-02 2.22488394e+01] [ 2.87519052e-02 -8.70960315e-04 9.99586199e-01 -9.52579920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94719347 meters 0.06517741456639571 Centerline is valid? [True, True] Translation: X:87.53, Y:22.26, Z:-0.96 [[ 8.49909372e-01 -5.26275602e-01 -2.62307039e-02 8.75255736e+01] [ 5.26060672e-01 8.50313478e-01 -1.50717587e-02 2.22592341e+01] [ 3.02362200e-02 -9.89312744e-04 9.99542291e-01 -9.55109814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97719347 meters 0.066143693860144 Centerline is valid? [True, True] Translation: X:87.55, Y:22.27, Z:-0.95 [[ 8.46702222e-01 -5.31283228e-01 -2.88700494e-02 8.75526000e+01] [ 5.31025376e-01 8.47193310e-01 -1.65995795e-02 2.22722074e+01] [ 3.32775909e-02 -1.27582799e-03 9.99445333e-01 -9.54111453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00719347 meters 0.06953236267555615 Centerline is valid? [True, True] Translation: X:87.58, Y:22.28, Z:-0.96 [[ 8.45400946e-01 -5.33327743e-01 -2.93045715e-02 8.75805518e+01] [ 5.33063237e-01 8.45907576e-01 -1.68510598e-02 2.22803473e+01] [ 3.37760967e-02 -1.37528787e-03 9.99428479e-01 -9.58588211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03719347 meters 0.06732728800099508 Centerline is valid? [True, True] Translation: X:87.60, Y:22.30, Z:-0.95 [[ 8.44190703e-01 -5.35234217e-01 -2.94345144e-02 8.76031039e+01] [ 5.34968268e-01 8.44702448e-01 -1.69329981e-02 2.22981334e+01] [ 3.39265263e-02 -1.45185159e-03 9.99423275e-01 -9.52199771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06719347 meters 0.0683748727942773 Centerline is valid? [True, True] Translation: X:87.63, Y:22.31, Z:-0.95 [[ 8.43551760e-01 -5.36252123e-01 -2.92247870e-02 8.76282303e+01] [ 5.35990402e-01 8.44056559e-01 -1.68170702e-02 2.23092562e+01] [ 3.36855628e-02 -1.47813614e-03 9.99431387e-01 -9.53806560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09719347000001 meters 0.06773990130709896 Centerline is valid? [True, True] Translation: X:87.66, Y:22.32, Z:-0.95 [[ 8.43800431e-01 -5.36048770e-01 -2.55450176e-02 8.76551987e+01] [ 5.35848676e-01 8.44186039e-01 -1.47012680e-02 2.23212166e+01] [ 2.94453438e-02 -1.28332760e-03 9.99565568e-01 -9.51095009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12719347 meters 0.06689725107532171 Centerline is valid? [True, True] Translation: X:87.68, Y:22.34, Z:-0.95 [[ 8.44489582e-01 -5.34980188e-01 -2.51702889e-02 8.76797436e+01] [ 5.34785091e-01 8.44863727e-01 -1.44979306e-02 2.23368201e+01] [ 2.90215697e-02 -1.21734393e-03 9.99578044e-01 -9.49824158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15719347 meters 0.06665623570632757 Centerline is valid? [True, True] Translation: X:87.70, Y:22.35, Z:-0.95 [[ 8.45691811e-01 -5.33023583e-01 -2.62910710e-02 8.77022601e+01] [ 5.32809655e-01 8.46099536e-01 -1.51475005e-02 2.23537199e+01] [ 3.03188380e-02 -1.19801934e-03 9.99539560e-01 -9.51050944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18719347 meters 0.06665623570632757 Centerline is valid? [True, True] Translation: X:87.73, Y:22.37, Z:-0.95 [[ 8.45512897e-01 -5.33307629e-01 -2.62852477e-02 8.77259626e+01] [ 5.33093524e-01 8.45920529e-01 -1.51576045e-02 2.23676476e+01] [ 3.03188968e-02 -1.19654526e-03 9.99539560e-01 -9.51277925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21719347 meters 0.06547346642105652 Centerline is valid? [True, True] Translation: X:87.74, Y:22.39, Z:-0.95 [[ 8.48457545e-01 -5.28576829e-01 -2.69505115e-02 8.77442327e+01] [ 5.28349325e-01 8.48884814e-01 -1.55422837e-02 2.23927863e+01] [ 3.10931710e-02 -1.05231668e-03 9.99515937e-01 -9.50616334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24719347 meters 0.06291361504497804 Centerline is valid? [True, True] Translation: X:87.77, Y:22.41, Z:-0.95 [[ 8.50276883e-01 -5.25695849e-01 -2.59441053e-02 8.77657593e+01] [ 5.25483641e-01 8.50672114e-01 -1.49632292e-02 2.24146438e+01] [ 2.99360344e-02 -9.10314998e-04 9.99551402e-01 -9.45649837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27719347 meters 0.061638200706653726 Centerline is valid? [True, True] Translation: X:87.79, Y:22.43, Z:-0.94 [[ 8.52359153e-01 -5.22353323e-01 -2.51173223e-02 8.77891694e+01] [ 5.22152630e-01 8.52728815e-01 -1.44982579e-02 2.24328982e+01] [ 2.89914777e-02 -7.57353054e-04 9.99579372e-01 -9.44462741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30719347 meters 0.0615821874947365 Centerline is valid? [True, True] Translation: X:87.81, Y:22.45, Z:-0.95 [[ 8.54216867e-01 -5.19324164e-01 -2.48184743e-02 8.78130998e+01] [ 5.19126882e-01 8.54577087e-01 -1.43277176e-02 2.24469225e+01] [ 2.86500294e-02 -6.44959142e-04 9.99589296e-01 -9.48599547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33719347 meters 0.059506293187183285 Centerline is valid? [True, True] Translation: X:87.83, Y:22.47, Z:-0.94 [[ 8.57198379e-01 -5.14555793e-01 -2.10541116e-02 8.78341384e+01] [ 5.14412378e-01 8.57456802e-01 -1.21547734e-02 2.24708910e+01] [ 2.43073002e-02 -4.11443558e-04 9.99704449e-01 -9.44055137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36719347 meters 0.05895650358697655 Centerline is valid? [True, True] Translation: X:87.86, Y:22.49, Z:-0.94 [[ 8.58761557e-01 -5.11956417e-01 -2.07175123e-02 8.78554523e+01] [ 5.11816530e-01 8.59011363e-01 -1.19715021e-02 2.24913620e+01] [ 2.39254658e-02 -3.22899489e-04 9.99713693e-01 -9.42863773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39719347 meters 0.058659435976636705 Centerline is valid? [True, True] Translation: X:87.88, Y:22.51, Z:-0.94 [[ 8.60238217e-01 -5.09424075e-01 -2.18476894e-02 8.78760188e+01] [ 5.09267424e-01 8.60515570e-01 -1.26350883e-02 2.25116915e+01] [ 2.52368950e-02 -2.57130688e-04 9.99681466e-01 -9.42990460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42719347 meters 0.05871584546836921 Centerline is valid? [True, True] Translation: X:87.90, Y:22.53, Z:-0.95 [[ 8.63412457e-01 -5.03902478e-01 -2.45198047e-02 8.78961472e+01] [ 5.03702834e-01 8.63760546e-01 -1.41835616e-02 2.25318952e+01] [ 2.83263718e-02 -1.04431333e-04 9.99598722e-01 -9.47861529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45719347 meters 0.0588933338087687 Centerline is valid? [True, True] Translation: X:87.92, Y:22.55, Z:-0.95 [[ 8.64208195e-01 -5.02442915e-01 -2.63687878e-02 8.79203468e+01] [ 5.02211243e-01 8.64610383e-01 -1.52562531e-02 2.25459173e+01] [ 3.04641240e-02 -5.81227131e-05 9.99535859e-01 -9.51478162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48719347 meters 0.05894240595758302 Centerline is valid? [True, True] Translation: X:87.95, Y:22.56, Z:-0.95 [[ 8.64564290e-01 -5.01750172e-01 -2.78451660e-02 8.79452384e+01] [ 5.01491045e-01 8.65012580e-01 -1.61235149e-02 2.25595576e+01] [ 3.21763953e-02 -2.42861334e-05 9.99482205e-01 -9.53451925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51719347 meters 0.05938710320453133 Centerline is valid? [True, True] Translation: X:87.97, Y:22.57, Z:-0.96 [[ 8.65126918e-01 -5.00665035e-01 -2.98318260e-02 8.79694759e+01] [ 5.00366881e-01 8.65641105e-01 -1.72760623e-02 2.25734473e+01] [ 3.44731751e-02 1.91288113e-05 9.99405623e-01 -9.57268289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54719347 meters 0.059923690593954755 Centerline is valid? [True, True] Translation: X:88.00, Y:22.59, Z:-0.96 [[ 8.65554599e-01 -4.99795132e-01 -3.19383991e-02 8.79952183e+01] [ 4.99452735e-01 8.66143650e-01 -1.84971140e-02 2.25882772e+01] [ 3.69080091e-02 5.85413075e-05 9.99318666e-01 -9.59017745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57719347 meters 0.06046567872458033 Centerline is valid? [True, True] Translation: X:88.02, Y:22.60, Z:-0.96 [[ 8.65669589e-01 -4.99438383e-01 -3.43141910e-02 8.80211652e+01] [ 4.99042730e-01 8.66349407e-01 -1.98760963e-02 2.26017409e+01] [ 3.96549644e-02 8.18845605e-05 9.99213429e-01 -9.61627899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60719347 meters 0.06045122739580776 Centerline is valid? [True, True] Translation: X:88.05, Y:22.61, Z:-0.96 [[ 8.65214652e-01 -5.00257947e-01 -3.38466015e-02 8.80492116e+01] [ 4.99873029e-01 8.65876425e-01 -1.96207003e-02 2.26101133e+01] [ 3.91223855e-02 5.71141399e-05 9.99234425e-01 -9.61123003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63719347 meters 0.060318577527281 Centerline is valid? [True, True] Translation: X:88.08, Y:22.62, Z:-0.96 [[ 8.64491741e-01 -5.01566850e-01 -3.29351683e-02 8.80767354e+01] [ 5.01202852e-01 8.65118891e-01 -1.91051365e-02 2.26190871e+01] [ 3.80753394e-02 9.03246459e-06 9.99274871e-01 -9.61310586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66719347 meters 0.060591180759058325 Centerline is valid? [True, True] Translation: X:88.11, Y:22.63, Z:-0.96 [[ 8.63085352e-01 -5.03932345e-01 -3.37026268e-02 8.81053650e+01] [ 5.03552479e-01 8.63743124e-01 -1.95631448e-02 2.26265182e+01] [ 3.89689136e-02 -8.63775766e-05 9.99240420e-01 -9.63631519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69719347 meters 0.06065983535416451 Centerline is valid? [True, True] Translation: X:88.14, Y:22.63, Z:-0.96 [[ 8.60723574e-01 -5.08018167e-01 -3.27486040e-02 8.81350998e+01] [ 5.07661975e-01 8.61346317e-01 -1.90221096e-02 2.26334407e+01] [ 3.78714667e-02 -2.52442808e-04 9.99282587e-01 -9.63726215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72719347 meters 0.06153217275866524 Centerline is valid? [True, True] Translation: X:88.17, Y:22.63, Z:-0.96 [[ 8.55707960e-01 -5.16568950e-01 -3.03382077e-02 8.81680030e+01] [ 5.16268437e-01 8.56245400e-01 -1.76271455e-02 2.26327910e+01] [ 3.50825868e-02 -5.78970354e-04 9.99384249e-01 -9.62143174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75719347 meters 0.0631157551937642 Centerline is valid? [True, True] Translation: X:88.20, Y:22.64, Z:-0.96 [[ 8.52713892e-01 -5.21594385e-01 -2.86062223e-02 8.81963645e+01] [ 5.21329797e-01 8.53193271e-01 -1.66278312e-02 2.26384050e+01] [ 3.30796198e-02 -7.34493395e-04 9.99452450e-01 -9.62481306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78719347 meters 0.06498304150222269 Centerline is valid? [True, True] Translation: X:88.23, Y:22.65, Z:-0.96 [[ 8.49463854e-01 -5.26906818e-01 -2.79350267e-02 8.82264745e+01] [ 5.26657100e-01 8.49922569e-01 -1.62458011e-02 2.26451573e+01] [ 3.23026330e-02 -9.11959396e-04 9.99477718e-01 -9.61731574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81719347 meters 0.07002739006099311 Centerline is valid? [True, True] Translation: X:88.26, Y:22.64, Z:-0.96 [[ 8.43280280e-01 -5.36731147e-01 -2.82496887e-02 8.82592416e+01] [ 5.36481145e-01 8.43752326e-01 -1.64314447e-02 2.26445377e+01] [ 3.26550087e-02 -1.29911209e-03 9.99465839e-01 -9.61992811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84719347000001 meters 0.06838985149466063 Centerline is valid? [True, True] Translation: X:88.28, Y:22.66, Z:-0.96 [[ 8.40587678e-01 -5.40841527e-01 -3.00465949e-02 8.82840293e+01] [ 5.40561089e-01 8.41123090e-01 -1.74830391e-02 2.26617039e+01] [ 3.47284384e-02 -1.54599282e-03 9.99395590e-01 -9.56955224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87719347 meters 0.07471505618464573 Centerline is valid? [True, True] Translation: X:88.31, Y:22.67, Z:-0.97 [[ 8.38882444e-01 -5.43449433e-01 -3.06424542e-02 8.83142419e+01] [ 5.43159389e-01 8.39440217e-01 -1.78325942e-02 2.26651912e+01] [ 3.54136216e-02 -1.68428654e-03 9.99371322e-01 -9.66886258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90719347 meters 0.07048439597771239 Centerline is valid? [True, True] Translation: X:88.34, Y:22.69, Z:-0.96 [[ 8.38165790e-01 -5.44509901e-01 -3.14177713e-02 8.83352068e+01] [ 5.44205206e-01 8.38752566e-01 -1.82982734e-02 2.26863445e+01] [ 3.63153273e-02 -1.76072790e-03 9.99338830e-01 -9.60618815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93719347 meters 0.07073171866200419 Centerline is valid? [True, True] Translation: X:88.36, Y:22.70, Z:-0.97 [[ 8.38989799e-01 -5.43067294e-01 -3.42641430e-02 8.83574217e+01] [ 5.42703562e-01 8.39687139e-01 -1.99587681e-02 2.27034571e+01] [ 3.96101144e-02 -1.85006957e-03 9.99213499e-01 -9.65061200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96719347 meters 0.07037198862837236 Centerline is valid? [True, True] Translation: X:88.38, Y:22.72, Z:-0.97 [[ 8.40249255e-01 -5.41029255e-01 -3.56164974e-02 8.83789913e+01] [ 5.40634205e-01 8.41001805e-01 -2.07513968e-02 2.27212162e+01] [ 4.11806514e-02 -1.81915104e-03 9.99150061e-01 -9.67563830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99719347 meters 0.07302581030237264 Centerline is valid? [True, True] Translation: X:88.40, Y:22.73, Z:-0.98 [[ 8.41785171e-01 -5.38679432e-01 -3.49599123e-02 8.84040406e+01] [ 5.38296681e-01 8.42509157e-01 -2.03716406e-02 2.27344554e+01] [ 4.04278300e-02 -1.67025979e-03 9.99181065e-01 -9.75056340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02719347 meters 0.06888534135824008 Centerline is valid? [True, True] Translation: X:88.42, Y:22.76, Z:-0.97 [[ 8.43611671e-01 -5.35900868e-01 -3.36096356e-02 8.84226169e+01] [ 5.35544407e-01 8.44279639e-01 -1.95979256e-02 2.27617005e+01] [ 3.88784764e-02 -1.46641361e-03 9.99242870e-01 -9.68366481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05719347 meters 0.06813808089027189 Centerline is valid? [True, True] Translation: X:88.45, Y:22.78, Z:-0.97 [[ 8.44484096e-01 -5.34633964e-01 -3.18297977e-02 8.84454948e+01] [ 5.34312974e-01 8.45082700e-01 -1.85708085e-02 2.27803774e+01] [ 3.68273964e-02 -1.32432147e-03 9.99320764e-01 -9.66394522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08719347 meters 0.06721937600305451 Centerline is valid? [True, True] Translation: X:88.47, Y:22.80, Z:-0.96 [[ 8.45525607e-01 -5.33108351e-01 -2.96973546e-02 8.84680074e+01] [ 5.32827955e-01 8.46046164e-01 -1.73279930e-02 2.27995974e+01] [ 3.43630307e-02 -1.17231891e-03 9.99408729e-01 -9.63743171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11719347 meters 0.06542008331952133 Centerline is valid? [True, True] Translation: X:88.49, Y:22.82, Z:-0.96 [[ 8.46939880e-01 -5.31053118e-01 -2.59889472e-02 8.84892709e+01] [ 5.30837114e-01 8.47338005e-01 -1.51744545e-02 2.28223942e+01] [ 3.00798641e-02 -9.44047072e-04 9.99547053e-01 -9.59443900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14719347 meters 0.06489377773916077 Centerline is valid? [True, True] Translation: X:88.51, Y:22.84, Z:-0.96 [[ 8.47604085e-01 -5.30017411e-01 -2.54727066e-02 8.85125918e+01] [ 5.29809143e-01 8.47986302e-01 -1.48829902e-02 2.28395762e+01] [ 2.94887503e-02 -8.80789542e-04 9.99564724e-01 -9.59587066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17719347 meters 0.06433947757482673 Centerline is valid? [True, True] Translation: X:88.54, Y:22.86, Z:-0.96 [[ 8.48533306e-01 -5.28542993e-01 -2.51700973e-02 8.85360199e+01] [ 5.28338720e-01 8.48906147e-01 -1.47156699e-02 2.28570148e+01] [ 2.91449145e-02 -8.11600934e-04 9.99574867e-01 -9.60722709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20719347 meters 0.06255645434549129 Centerline is valid? [True, True] Translation: X:88.56, Y:22.88, Z:-0.96 [[ 8.49539373e-01 -5.27005878e-01 -2.34020959e-02 8.85577066e+01] [ 5.26828478e-01 8.49861352e-01 -1.36908068e-02 2.28777044e+01] [ 2.71036725e-02 -6.98011141e-04 9.99632384e-01 -9.57512849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23719347 meters 0.06352508194741907 Centerline is valid? [True, True] Translation: X:88.58, Y:22.89, Z:-0.96 [[ 8.50169272e-01 -5.25983164e-01 -2.35355185e-02 8.85819178e+01] [ 5.25803297e-01 8.50494718e-01 -1.37705327e-02 2.28917241e+01] [ 2.72599026e-02 -6.67769433e-04 9.99628157e-01 -9.62501692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26719347 meters 0.06361539762117915 Centerline is valid? [True, True] Translation: X:88.60, Y:22.91, Z:-0.96 [[ 8.50564121e-01 -5.25330699e-01 -2.38397475e-02 8.86046577e+01] [ 5.25145811e-01 8.50897897e-01 -1.39515712e-02 2.29085931e+01] [ 2.76143796e-02 -6.52637585e-04 9.99618437e-01 -9.63446098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29719347 meters 0.06387603908670954 Centerline is valid? [True, True] Translation: X:88.63, Y:22.93, Z:-0.97 [[ 8.50896522e-01 -5.24741482e-01 -2.49296086e-02 8.86265433e+01] [ 5.24538866e-01 8.51261385e-01 -1.45956526e-02 2.29251703e+01] [ 2.88805575e-02 -6.57158568e-04 9.99582654e-01 -9.65320170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32719347 meters 0.06213554746520168 Centerline is valid? [True, True] Translation: X:88.65, Y:22.95, Z:-0.96 [[ 8.51193818e-01 -5.24231532e-01 -2.55026639e-02 8.86465375e+01] [ 5.24018863e-01 8.51575533e-01 -1.49446980e-02 2.29472989e+01] [ 2.95519265e-02 -6.43042370e-04 9.99563040e-01 -9.59394604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35719347 meters 0.06211616799525005 Centerline is valid? [True, True] Translation: X:88.67, Y:22.96, Z:-0.96 [[ 8.51129673e-01 -5.24347037e-01 -2.52678469e-02 8.86713633e+01] [ 5.24138027e-01 8.51504424e-01 -1.48170331e-02 2.29624362e+01] [ 2.92849508e-02 -6.32622870e-04 9.99570904e-01 -9.59688626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38719347 meters 0.06257767482057164 Centerline is valid? [True, True] Translation: X:88.70, Y:22.97, Z:-0.96 [[ 8.50731971e-01 -5.25087200e-01 -2.32066074e-02 8.86963626e+01] [ 5.24911133e-01 8.51048218e-01 -1.36100477e-02 2.29744974e+01] [ 2.68964037e-02 -6.02903925e-04 9.99638044e-01 -9.60622019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41719347 meters 0.06384435849687405 Centerline is valid? [True, True] Translation: X:88.72, Y:22.99, Z:-0.96 [[ 8.47550742e-01 -5.30202998e-01 -2.32920872e-02 8.87236723e+01] [ 5.30027513e-01 8.47870387e-01 -1.36617111e-02 2.29859981e+01] [ 2.69921512e-02 -7.66453659e-04 9.99635352e-01 -9.60527264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44719347 meters 0.06548921001686438 Centerline is valid? [True, True] Translation: X:88.75, Y:23.00, Z:-0.96 [[ 8.44917870e-01 -5.34422046e-01 -2.25137902e-02 8.87512272e+01] [ 5.34259535e-01 8.45217322e-01 -1.32070944e-02 2.29966374e+01] [ 2.60872078e-02 -8.69297044e-04 9.99659293e-01 -9.62008476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47719347 meters 0.06744150388412083 Centerline is valid? [True, True] Translation: X:88.78, Y:23.01, Z:-0.97 [[ 8.42329635e-01 -5.38363780e-01 -2.54012937e-02 8.87787689e+01] [ 5.38158612e-01 8.42711810e-01 -1.49034916e-02 2.30083531e+01] [ 2.94294703e-02 -1.11627234e-03 9.99566236e-01 -9.65217950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50719347 meters 0.06760865117303382 Centerline is valid? [True, True] Translation: X:88.80, Y:23.02, Z:-0.97 [[ 8.39812072e-01 -5.42163763e-01 -2.78233305e-02 8.88041138e+01] [ 5.41919628e-01 8.40271733e-01 -1.63258091e-02 2.30243063e+01] [ 3.22304202e-02 -1.36739737e-03 9.99479530e-01 -9.65481236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53719347 meters 0.07078206307834752 Centerline is valid? [True, True] Translation: X:88.83, Y:23.04, Z:-0.97 [[ 8.35838483e-01 -5.48099838e-01 -3.09935144e-02 8.88289923e+01] [ 5.47800815e-01 8.36411033e-01 -1.81892911e-02 2.30386998e+01] [ 3.58928649e-02 -1.77496299e-03 9.99354067e-01 -9.68748943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56719347 meters 0.07135419231833508 Centerline is valid? [True, True] Translation: X:88.85, Y:23.05, Z:-0.97 [[ 8.34849068e-01 -5.49609203e-01 -3.09314928e-02 8.88525181e+01] [ 5.49311881e-01 8.35419893e-01 -1.81675369e-02 2.30547862e+01] [ 3.58258299e-02 -1.82388522e-03 9.99356385e-01 -9.68914549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59719347000001 meters 0.07191640369779571 Centerline is valid? [True, True] Translation: X:88.88, Y:23.07, Z:-0.97 [[ 8.34488675e-01 -5.50117158e-01 -3.16190398e-02 8.88756427e+01] [ 5.49806736e-01 8.35085361e-01 -1.85739614e-02 2.30697325e+01] [ 3.66224522e-02 -1.88460066e-03 9.99327396e-01 -9.69675552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62719347 meters 0.07130571109926544 Centerline is valid? [True, True] Translation: X:88.90, Y:23.09, Z:-0.97 [[ 8.35042129e-01 -5.49362200e-01 -3.00967882e-02 8.88984010e+01] [ 5.49080352e-01 8.35582478e-01 -1.76830257e-02 2.30872739e+01] [ 3.48627347e-02 -1.75948360e-03 9.99390561e-01 -9.68564777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65719347 meters 0.06970864555280389 Centerline is valid? [True, True] Translation: X:88.92, Y:23.11, Z:-0.97 [[ 8.37219141e-01 -5.46127626e-01 -2.84381298e-02 8.89175578e+01] [ 5.45873796e-01 8.37700595e-01 -1.67186294e-02 2.31134164e+01] [ 3.29531436e-02 -1.52647332e-03 9.99455732e-01 -9.67079704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68719347 meters 0.06759912228007357 Centerline is valid? [True, True] Translation: X:88.94, Y:23.14, Z:-0.96 [[ 8.38238501e-01 -5.44530039e-01 -2.90388075e-02 8.89371001e+01] [ 5.44263981e-01 8.38740029e-01 -1.70846136e-02 2.31370042e+01] [ 3.36590955e-02 -1.48379611e-03 9.99432271e-01 -9.64859765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71719347 meters 0.06852760703670858 Centerline is valid? [True, True] Translation: X:88.96, Y:23.15, Z:-0.97 [[ 8.39456462e-01 -5.42676307e-01 -2.85529888e-02 8.89596187e+01] [ 5.42417966e-01 8.39940776e-01 -1.68000687e-02 2.31544085e+01] [ 3.30998188e-02 -1.38472785e-03 9.99451092e-01 -9.68135320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74719347 meters 0.0655008413436457 Centerline is valid? [True, True] Translation: X:88.98, Y:23.18, Z:-0.96 [[ 8.43290747e-01 -5.36811256e-01 -2.63513171e-02 8.89772719e+01] [ 5.36588330e-01 8.43701691e-01 -1.55055202e-02 2.31833347e+01] [ 3.05561886e-02 -1.06414755e-03 9.99532484e-01 -9.64019664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77719347 meters 0.06460837598407554 Centerline is valid? [True, True] Translation: X:89.00, Y:23.20, Z:-0.96 [[ 8.45260352e-01 -5.33796328e-01 -2.44216756e-02 8.90004765e+01] [ 5.33603422e-01 8.45612622e-01 -1.43764303e-02 2.32035857e+01] [ 2.83253629e-02 -8.79663140e-04 9.99598369e-01 -9.63708577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80719347 meters 0.06428963981950223 Centerline is valid? [True, True] Translation: X:89.02, Y:23.22, Z:-0.97 [[ 8.47233001e-01 -5.30687701e-01 -2.38077000e-02 8.90221729e+01] [ 5.30503012e-01 8.47567106e-01 -1.40198170e-02 2.32216342e+01] [ 2.76187679e-02 -7.52004924e-04 9.99618246e-01 -9.65708456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83719347 meters 0.06334884021097618 Centerline is valid? [True, True] Translation: X:89.04, Y:23.24, Z:-0.96 [[ 8.48659499e-01 -5.28396980e-01 -2.39517583e-02 8.90434252e+01] [ 5.28208851e-01 8.48997161e-01 -1.41149409e-02 2.32431200e+01] [ 2.77932669e-02 -6.72752052e-04 9.99613466e-01 -9.64342640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86719347 meters 0.06306396387574548 Centerline is valid? [True, True] Translation: X:89.06, Y:23.27, Z:-0.97 [[ 8.51192948e-01 -5.24244354e-01 -2.52670236e-02 8.90622590e+01] [ 5.24033104e-01 8.51567694e-01 -1.48918647e-02 2.32663568e+01] [ 2.93235570e-02 -5.64906558e-04 9.99569812e-01 -9.65875171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89719347 meters 0.06279542125348479 Centerline is valid? [True, True] Translation: X:89.09, Y:23.28, Z:-0.97 [[ 8.52294454e-01 -5.22487256e-01 -2.45200107e-02 8.90854561e+01] [ 5.22287255e-01 8.52646959e-01 -1.44632777e-02 2.32840346e+01] [ 2.84637909e-02 -4.79517685e-04 9.99594709e-01 -9.66216919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92719347 meters 0.0625575355223218 Centerline is valid? [True, True] Translation: X:89.11, Y:23.30, Z:-0.97 [[ 8.53534583e-01 -5.20513918e-01 -2.33233152e-02 8.91078143e+01] [ 5.20332185e-01 8.53853095e-01 -1.37590123e-02 2.33001288e+01] [ 2.70764423e-02 -3.92078718e-04 9.99633289e-01 -9.66946594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95719347 meters 0.06216681327281681 Centerline is valid? [True, True] Translation: X:89.13, Y:23.32, Z:-0.97 [[ 8.56865483e-01 -5.14973230e-01 -2.41685158e-02 8.91292622e+01] [ 5.14775549e-01 8.57206233e-01 -1.42691402e-02 2.33205663e+01] [ 2.80656276e-02 -2.14627227e-04 9.99606060e-01 -9.68816928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98719347 meters 0.06253002736403583 Centerline is valid? [True, True] Translation: X:89.15, Y:23.34, Z:-0.97 [[ 8.58459568e-01 -5.12215713e-01 -2.61195807e-02 8.91513596e+01] [ 5.11983491e-01 8.58856825e-01 -1.54226915e-02 2.33382431e+01] [ 3.03327250e-02 -1.33037040e-04 9.99539848e-01 -9.73450270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01719347 meters 0.06260176622774237 Centerline is valid? [True, True] Translation: X:89.17, Y:23.36, Z:-0.97 [[ 8.59350634e-01 -5.10693397e-01 -2.66222160e-02 8.91742157e+01] [ 5.10451033e-01 8.59762903e-01 -1.57319231e-02 2.33555490e+01] [ 3.09229829e-02 -7.00994960e-05 9.99521768e-01 -9.73295263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04719347 meters 0.06344355129189595 Centerline is valid? [True, True] Translation: X:89.20, Y:23.37, Z:-0.98 [[ 8.58474562e-01 -5.12009595e-01 -2.94550908e-02 8.91986561e+01] [ 5.11713666e-01 8.58979719e-01 -1.74059245e-02 2.33704832e+01] [ 3.42133259e-02 -1.30029094e-04 9.99414544e-01 -9.78264642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07719347 meters 0.06344355129189595 Centerline is valid? [True, True] Translation: X:89.22, Y:23.38, Z:-0.98 [[ 8.58306929e-01 -5.12290946e-01 -2.94482769e-02 8.92221481e+01] [ 5.11994788e-01 8.58811953e-01 -1.74174512e-02 2.33846583e+01] [ 3.42133347e-02 -1.27845244e-04 9.99414544e-01 -9.78491153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10719347 meters 0.06369858494127449 Centerline is valid? [True, True] Translation: X:89.25, Y:23.40, Z:-0.98 [[ 8.57235988e-01 -5.14051906e-01 -2.99516180e-02 8.92473082e+01] [ 5.13746223e-01 8.57759058e-01 -1.77261738e-02 2.33978564e+01] [ 3.48034450e-02 -1.92016539e-04 9.99394158e-01 -9.79921840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13719347 meters 0.06329638525499338 Centerline is valid? [True, True] Translation: X:89.27, Y:23.41, Z:-0.98 [[ 8.55356685e-01 -5.17242334e-01 -2.87281942e-02 8.92743477e+01] [ 5.16962557e-01 8.55838933e-01 -1.70128144e-02 2.34096722e+01] [ 3.33864549e-02 -2.99376216e-04 9.99442472e-01 -9.77106213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16719347 meters 0.06324304702640696 Centerline is valid? [True, True] Translation: X:89.30, Y:23.42, Z:-0.98 [[ 8.53334163e-01 -5.20607368e-01 -2.80851445e-02 8.93006821e+01] [ 5.20341338e-01 8.53796112e-01 -1.66460543e-02 2.34207790e+01] [ 3.26450457e-02 -4.09214859e-04 9.99466925e-01 -9.75473462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19719347 meters 0.06503215997558034 Centerline is valid? [True, True] Translation: X:89.33, Y:23.42, Z:-0.98 [[ 8.48368297e-01 -5.28820122e-01 -2.49100386e-02 8.93316406e+01] [ 5.28614322e-01 8.48733685e-01 -1.47658734e-02 2.34231516e+01] [ 2.89504798e-02 -6.40904320e-04 9.99580642e-01 -9.80853344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22719347 meters 0.06506563677209104 Centerline is valid? [True, True] Translation: X:89.36, Y:23.44, Z:-0.98 [[ 8.45199410e-01 -5.33916288e-01 -2.39030438e-02 8.93579121e+01] [ 5.33728497e-01 8.45536990e-01 -1.41806216e-02 2.34352321e+01] [ 2.77821726e-02 -7.72282628e-04 9.99613703e-01 -9.75353174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25719347 meters 0.06621069468194918 Centerline is valid? [True, True] Translation: X:89.38, Y:23.44, Z:-0.97 [[ 8.42606288e-01 -5.38100668e-01 -2.15014999e-02 8.93844905e+01] [ 5.37950041e-01 8.42880183e-01 -1.27573884e-02 2.34447620e+01] [ 2.49879474e-02 -8.17277042e-04 9.99687418e-01 -9.74848468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28719347 meters 0.06866572617309329 Centerline is valid? [True, True] Translation: X:89.41, Y:23.45, Z:-0.97 [[ 8.37659441e-01 -5.45846402e-01 -1.94516414e-02 8.94146312e+01] [ 5.45725176e-01 8.37884723e-01 -1.15422699e-02 2.34519650e+01] [ 2.25985397e-02 -9.46759054e-04 9.99744172e-01 -9.73358449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31719347 meters 0.07095487715570845 Centerline is valid? [True, True] Translation: X:89.44, Y:23.46, Z:-0.98 [[ 8.35109254e-01 -5.49733486e-01 -1.96374040e-02 8.94420279e+01] [ 5.49610953e-01 8.35339434e-01 -1.16546165e-02 2.34619170e+01] [ 2.28108310e-02 -1.06005423e-03 9.99739237e-01 -9.75092300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34719347000001 meters 0.07131185548462454 Centerline is valid? [True, True] Translation: X:89.47, Y:23.48, Z:-0.97 [[ 8.32973178e-01 -5.52913822e-01 -2.10235504e-02 8.94674440e+01] [ 5.52774367e-01 8.33237541e-01 -1.24779668e-02 2.34771641e+01] [ 2.44168518e-02 -1.22746811e-03 9.99701111e-01 -9.74937304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37719347 meters 0.0722902649363764 Centerline is valid? [True, True] Translation: X:89.49, Y:23.49, Z:-0.98 [[ 8.31262871e-01 -5.55452051e-01 -2.17958355e-02 8.94933500e+01] [ 5.55302997e-01 8.31547473e-01 -1.29376068e-02 2.34914525e+01] [ 2.53104921e-02 -1.34874058e-03 9.99678728e-01 -9.76658146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40719347 meters 0.07678801285891523 Centerline is valid? [True, True] Translation: X:89.52, Y:23.50, Z:-0.98 [[ 8.29051873e-01 -5.58831976e-01 -1.94888192e-02 8.95223807e+01] [ 5.58713694e-01 8.29279893e-01 -1.15700972e-02 2.34983765e+01] [ 2.26274262e-02 -1.29645940e-03 9.99743126e-01 -9.79639710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43719347 meters 0.07359557013040569 Centerline is valid? [True, True] Translation: X:89.54, Y:23.52, Z:-0.97 [[ 8.28405411e-01 -5.59888197e-01 -1.64220205e-02 8.95436481e+01] [ 5.59804333e-01 8.28567420e-01 -9.75396332e-03 2.35200088e+01] [ 1.90678801e-02 -1.11288227e-03 9.99817572e-01 -9.73773948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46719347 meters 0.07506999531215552 Centerline is valid? [True, True] Translation: X:89.57, Y:23.53, Z:-0.97 [[ 8.27694280e-01 -5.61000364e-01 -1.41693629e-02 8.95669635e+01] [ 5.60938046e-01 8.27814974e-01 -8.41887680e-03 2.35326590e+01] [ 1.64526037e-02 -9.79878569e-04 9.99864167e-01 -9.73114711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49719347 meters 0.07493240945796524 Centerline is valid? [True, True] Translation: X:89.59, Y:23.55, Z:-0.97 [[ 8.25068906e-01 -5.64935549e-01 -1.04462920e-02 8.95883953e+01] [ 5.64901977e-01 8.25134667e-01 -6.20792953e-03 2.35538583e+01] [ 1.21266777e-02 -7.79161363e-04 9.99926166e-01 -9.68229368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52719347 meters 0.07673849518875643 Centerline is valid? [True, True] Translation: X:89.61, Y:23.57, Z:-0.97 [[ 8.23377292e-01 -5.67404629e-01 -1.00907046e-02 8.96124097e+01] [ 5.67373475e-01 8.23438746e-01 -5.99770204e-03 2.35685573e+01] [ 1.17122011e-02 -7.86826500e-04 9.99931100e-01 -9.68557777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55719347 meters 0.07679829895020901 Centerline is valid? [True, True] Translation: X:89.64, Y:23.59, Z:-0.97 [[ 8.21797614e-01 -5.69686074e-01 -1.03179311e-02 8.96355925e+01] [ 5.69653671e-01 8.21861957e-01 -6.13342352e-03 2.35867858e+01] [ 1.19740410e-02 -8.37214492e-04 9.99927958e-01 -9.69584687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58719347 meters 0.08196626156449623 Centerline is valid? [True, True] Translation: X:89.66, Y:23.60, Z:-0.98 [[ 8.18579268e-01 -5.74239658e-01 -1.32964642e-02 8.96607113e+01] [ 5.74186424e-01 8.18686424e-01 -7.90507892e-03 2.35998557e+01] [ 1.54250445e-02 -1.16371551e-03 9.99880350e-01 -9.75767604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61719347 meters 0.08136027942353924 Centerline is valid? [True, True] Translation: X:89.68, Y:23.62, Z:-0.98 [[ 8.17686862e-01 -5.75502235e-01 -1.36152080e-02 8.96831598e+01] [ 5.75446583e-01 8.17799303e-01 -8.09507439e-03 2.36201694e+01] [ 1.57932410e-02 -1.21558893e-03 9.99874540e-01 -9.77181485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64719347 meters 0.08340931009570346 Centerline is valid? [True, True] Translation: X:89.71, Y:23.64, Z:-0.98 [[ 8.17248984e-01 -5.76092919e-01 -1.48676232e-02 8.97052973e+01] [ 5.76026570e-01 8.17383119e-01 -8.84460454e-03 2.36363928e+01] [ 1.72478583e-02 -1.33590192e-03 9.99850352e-01 -9.79996680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67719347 meters 0.07957137894656202 Centerline is valid? [True, True] Translation: X:89.72, Y:23.67, Z:-0.98 [[ 8.18021680e-01 -5.74961833e-01 -1.61065330e-02 8.97193185e+01] [ 5.74883621e-01 8.18179006e-01 -9.58836343e-03 2.36702822e+01] [ 1.86909702e-02 -1.41589284e-03 9.99824306e-01 -9.78353186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70719347 meters 0.0798954207239749 Centerline is valid? [True, True] Translation: X:89.74, Y:23.69, Z:-0.98 [[ 8.19255421e-01 -5.73221048e-01 -1.54332394e-02 8.97402478e+01] [ 5.73148954e-01 8.19399712e-01 -9.18629598e-03 2.36906378e+01] [ 1.79117701e-02 -1.31962222e-03 9.99838701e-01 -9.79083423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73719347 meters 0.07818814865824432 Centerline is valid? [True, True] Translation: X:89.76, Y:23.72, Z:-0.98 [[ 8.20629635e-01 -5.71285995e-01 -1.41178436e-02 8.97609148e+01] [ 5.71225379e-01 8.20750234e-01 -8.40356396e-03 2.37152349e+01] [ 1.63880619e-02 -1.16825695e-03 9.99865024e-01 -9.78303087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76719347 meters 0.07531395817494498 Centerline is valid? [True, True] Translation: X:89.78, Y:23.75, Z:-0.98 [[ 8.23854176e-01 -5.66649168e-01 -1.31535542e-02 8.97762450e+01] [ 5.66595941e-01 8.23958565e-01 -7.83088612e-03 2.37484586e+01] [ 1.52753488e-02 -1.00124220e-03 9.99882824e-01 -9.77277566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79719347 meters 0.07565160146271312 Centerline is valid? [True, True] Translation: X:89.80, Y:23.77, Z:-0.98 [[ 8.25033837e-01 -5.64950094e-01 -1.22702270e-02 8.97973983e+01] [ 5.64903572e-01 8.25124581e-01 -7.30614611e-03 2.37688582e+01] [ 1.42520738e-02 -9.03677274e-04 9.99898026e-01 -9.77611095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82719347 meters 0.07317584711168051 Centerline is valid? [True, True] Translation: X:89.82, Y:23.79, Z:-0.98 [[ 8.25882611e-01 -5.63717739e-01 -1.18416192e-02 8.98156342e+01] [ 5.63674263e-01 8.25967062e-01 -7.05249487e-03 2.37945066e+01] [ 1.37564039e-02 -8.50283108e-04 9.99905015e-01 -9.75066167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85719347 meters 0.07231839816449034 Centerline is valid? [True, True] Translation: X:89.84, Y:23.82, Z:-0.97 [[ 8.26898829e-01 -5.62228764e-01 -1.17107793e-02 8.98361313e+01] [ 5.62186077e-01 8.26981349e-01 -6.97590240e-03 2.38162482e+01] [ 1.36066491e-02 -8.15271556e-04 9.99907093e-01 -9.74732330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88719347 meters 0.07189727763255153 Centerline is valid? [True, True] Translation: X:89.86, Y:23.84, Z:-0.97 [[ 8.27727464e-01 -5.61017861e-01 -1.12340987e-02 8.98581800e+01] [ 5.60978432e-01 8.27803346e-01 -6.69464845e-03 2.38365584e+01] [ 1.30554418e-02 -7.60742678e-04 9.99914485e-01 -9.74656517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91719347 meters 0.07170560576194242 Centerline is valid? [True, True] Translation: X:89.88, Y:23.86, Z:-0.98 [[ 8.30164490e-01 -5.57363611e-01 -1.31425146e-02 8.98776907e+01] [ 5.57309196e-01 8.30268106e-01 -7.83148283e-03 2.38600227e+01] [ 1.52767942e-02 -8.23025274e-04 9.99882964e-01 -9.78484449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94719347 meters 0.06915702082147003 Centerline is valid? [True, True] Translation: X:89.90, Y:23.88, Z:-0.98 [[ 8.32011514e-01 -5.54584335e-01 -1.38944667e-02 8.98979007e+01] [ 5.54523125e-01 8.32127123e-01 -8.27973256e-03 2.38848929e+01] [ 1.61537726e-02 -8.15970261e-04 9.99869186e-01 -9.78311820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97719347 meters 0.0687307276639375 Centerline is valid? [True, True] Translation: X:89.92, Y:23.91, Z:-0.98 [[ 8.34396632e-01 -5.50985794e-01 -1.40326689e-02 8.99191408e+01] [ 5.50922836e-01 8.34514283e-01 -8.36306525e-03 2.39054688e+01] [ 1.63183927e-02 -7.52804258e-04 9.99866563e-01 -9.78396326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00719347 meters 0.06591213585275502 Centerline is valid? [True, True] Translation: X:89.94, Y:23.93, Z:-0.97 [[ 8.36803029e-01 -5.47331558e-01 -1.37425078e-02 8.99381629e+01] [ 5.47270681e-01 8.36915599e-01 -8.19034298e-03 2.39322295e+01] [ 1.59841523e-02 -6.67167779e-04 9.99872023e-01 -9.74158718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03719347 meters 0.06387285619959357 Centerline is valid? [True, True] Translation: X:89.96, Y:23.96, Z:-0.97 [[ 8.41457380e-01 -5.40158820e-01 -1.33389224e-02 8.99562879e+01] [ 5.40100561e-01 8.41562941e-01 -7.94984042e-03 2.39617462e+01] [ 1.55197192e-02 -5.14907601e-04 9.99879429e-01 -9.72983942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06719347 meters 0.06329210653423759 Centerline is valid? [True, True] Translation: X:89.98, Y:23.98, Z:-0.97 [[ 8.43366363e-01 -5.37167581e-01 -1.35708440e-02 8.99779548e+01] [ 5.37106856e-01 8.43475413e-01 -8.09030507e-03 2.39809782e+01] [ 1.57925228e-02 -4.65902183e-04 9.99875182e-01 -9.74637930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09719347000001 meters 0.06279145259724 Centerline is valid? [True, True] Translation: X:90.00, Y:24.00, Z:-0.98 [[ 8.44997348e-01 -5.34618137e-01 -1.27643344e-02 8.99997220e+01] [ 5.34564094e-01 8.45093660e-01 -7.61152129e-03 2.39990398e+01] [ 1.48563154e-02 -3.91639524e-04 9.99889562e-01 -9.76012244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12719347 meters 0.06240566562969843 Centerline is valid? [True, True] Translation: X:90.02, Y:24.02, Z:-0.98 [[ 8.45423979e-01 -5.33930458e-01 -1.32876428e-02 9.00210703e+01] [ 5.33871700e-01 8.45528305e-01 -7.93048237e-03 2.40196302e+01] [ 1.54694042e-02 -3.89276516e-04 9.99880266e-01 -9.76587173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15719347 meters 0.06252454863899655 Centerline is valid? [True, True] Translation: X:90.05, Y:24.04, Z:-0.98 [[ 8.44735895e-01 -5.35012265e-01 -1.35330689e-02 9.00453871e+01] [ 5.34951373e-01 8.44844190e-01 -8.08221201e-03 2.40354999e+01] [ 1.57574172e-02 -4.12199182e-04 9.99875759e-01 -9.76955756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18719347 meters 0.06302141243709725 Centerline is valid? [True, True] Translation: X:90.07, Y:24.05, Z:-0.98 [[ 8.43520793e-01 -5.36891898e-01 -1.48243644e-02 9.00709968e+01] [ 5.36819140e-01 8.43650905e-01 -8.85221237e-03 2.40494491e+01] [ 1.72592695e-02 -4.90977336e-04 9.99850927e-01 -9.78843905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21719347 meters 0.06343186240528333 Centerline is valid? [True, True] Translation: X:90.10, Y:24.06, Z:-0.98 [[ 8.42124259e-01 -5.39032931e-01 -1.64387202e-02 9.00972382e+01] [ 5.38943857e-01 8.42284482e-01 -9.81688659e-03 2.40636267e+01] [ 1.91377041e-02 -5.92508944e-04 9.99816682e-01 -9.80398683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24719347 meters 0.06471162157820716 Centerline is valid? [True, True] Translation: X:90.12, Y:24.07, Z:-0.98 [[ 8.40300502e-01 -5.41794180e-01 -1.88184377e-02 9.01230694e+01] [ 5.41678070e-01 8.40510861e-01 -1.12410486e-02 2.40747830e+01] [ 2.19074360e-02 -7.47676234e-04 9.99759724e-01 -9.84463920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27719347 meters 0.06618075872792416 Centerline is valid? [True, True] Translation: X:90.15, Y:24.09, Z:-0.99 [[ 8.36722826e-01 -5.47195323e-01 -2.17299437e-02 9.01503028e+01] [ 5.47042332e-01 8.37004315e-01 -1.29793409e-02 2.40882700e+01] [ 2.52902913e-02 -1.02708831e-03 9.99679622e-01 -9.86029494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30719347 meters 0.06669940836827737 Centerline is valid? [True, True] Translation: X:90.18, Y:24.10, Z:-0.99 [[ 8.34972610e-01 -5.49866677e-01 -2.16189548e-02 9.01768791e+01] [ 5.49716097e-01 8.35251714e-01 -1.29146053e-02 2.41020837e+01] [ 2.51585801e-02 -1.10094570e-03 9.99682867e-01 -9.85871541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33719347 meters 0.06801461016387023 Centerline is valid? [True, True] Translation: X:90.20, Y:24.11, Z:-0.99 [[ 8.33442286e-01 -5.52177656e-01 -2.17667725e-02 9.02034261e+01] [ 5.52025744e-01 8.33725645e-01 -1.30049154e-02 2.41134478e+01] [ 2.53285401e-02 -1.17697236e-03 9.99678488e-01 -9.87478084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36719347 meters 0.06813397171810293 Centerline is valid? [True, True] Translation: X:90.23, Y:24.13, Z:-0.99 [[ 8.31598483e-01 -5.55031255e-01 -1.96027931e-02 9.02285097e+01] [ 5.54908609e-01 8.31828726e-01 -1.17220138e-02 2.41270016e+01] [ 2.28122504e-02 -1.12974976e-03 9.99739128e-01 -9.85153335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39719347 meters 0.06757103234643294 Centerline is valid? [True, True] Translation: X:90.25, Y:24.14, Z:-0.98 [[ 8.31524903e-01 -5.55157268e-01 -1.91505610e-02 9.02527742e+01] [ 5.55040079e-01 8.31744670e-01 -1.14592601e-02 2.41432931e+01] [ 2.22900686e-02 -1.10066878e-03 9.99750940e-01 -9.83671810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42719347 meters 0.06730605585621653 Centerline is valid? [True, True] Translation: X:90.28, Y:24.16, Z:-0.98 [[ 8.32218683e-01 -5.54174399e-01 -1.74011118e-02 9.02756514e+01] [ 5.54077413e-01 8.32400014e-01 -1.04133135e-02 2.41589053e+01] [ 2.02554775e-02 -9.75408932e-04 9.99794361e-01 -9.82443516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45719347 meters 0.06563401325429628 Centerline is valid? [True, True] Translation: X:90.30, Y:24.18, Z:-0.98 [[ 8.35630466e-01 -5.49013439e-01 -1.74919503e-02 9.02981915e+01] [ 5.48914303e-01 8.35813085e-01 -1.04677890e-02 2.41784585e+01] [ 2.03669578e-02 -8.54378295e-04 9.99792207e-01 -9.82986040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48719347 meters 0.06491117532234164 Centerline is valid? [True, True] Translation: X:90.32, Y:24.19, Z:-0.99 [[ 8.37691137e-01 -5.45828022e-01 -1.85830288e-02 9.03208144e+01] [ 5.45715279e-01 8.37896827e-01 -1.11239107e-02 2.41945496e+01] [ 2.16424031e-02 -8.22641314e-04 9.99765437e-01 -9.85738129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51719347 meters 0.06459794978263007 Centerline is valid? [True, True] Translation: X:90.34, Y:24.21, Z:-0.99 [[ 8.39975061e-01 -5.42253775e-01 -2.00683959e-02 9.03435968e+01] [ 5.42121202e-01 8.40214392e-01 -1.20156985e-02 2.42099231e+01] [ 2.33773129e-02 -7.86615781e-04 9.99726404e-01 -9.89566170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54719347 meters 0.06179301475794936 Centerline is valid? [True, True] Translation: X:90.36, Y:24.24, Z:-0.99 [[ 8.45848407e-01 -5.32995522e-01 -2.13598999e-02 9.03633426e+01] [ 5.32842377e-01 8.46117873e-01 -1.27885128e-02 2.42362669e+01] [ 2.48892131e-02 -5.64316620e-04 9.99690056e-01 -9.88846194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57719347 meters 0.06099153013366661 Centerline is valid? [True, True] Translation: X:90.39, Y:24.26, Z:-0.99 [[ 8.48490834e-01 -5.28786816e-01 -2.11614831e-02 9.03860930e+01] [ 5.28634951e-01 8.48754570e-01 -1.26794598e-02 2.42553019e+01] [ 2.46656367e-02 -4.28294146e-04 9.99695665e-01 -9.88185876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60719347 meters 0.060340405591764804 Centerline is valid? [True, True] Translation: X:90.41, Y:24.27, Z:-0.99 [[ 8.51182266e-01 -5.24427834e-01 -2.15452498e-02 9.04083088e+01] [ 5.24268800e-01 8.51454847e-01 -1.29177423e-02 2.42735858e+01] [ 2.51192310e-02 -3.00149079e-04 9.99684417e-01 -9.87067816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63719347 meters 0.06002937903610251 Centerline is valid? [True, True] Translation: X:90.43, Y:24.29, Z:-0.99 [[ 8.55303135e-01 -5.17666063e-01 -2.18722515e-02 9.04307078e+01] [ 5.17499913e-01 8.55582747e-01 -1.31149633e-02 2.42901747e+01] [ 2.55026925e-02 -1.01619027e-04 9.99674748e-01 -9.87563788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66719347 meters 0.05999022408067273 Centerline is valid? [True, True] Translation: X:90.46, Y:24.30, Z:-0.99 [[ 8.56291535e-01 -5.16011419e-01 -2.22939863e-02 9.04558381e+01] [ 5.15837971e-01 8.56581702e-01 -1.33781309e-02 2.43034770e+01] [ 2.59998890e-02 -4.45043700e-05 9.99661945e-01 -9.88201742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69719347 meters 0.059725882576392664 Centerline is valid? [True, True] Translation: X:90.48, Y:24.32, Z:-0.99 [[ 8.56580204e-01 -5.15467112e-01 -2.37488937e-02 9.04814268e+01] [ 5.15269798e-01 8.56909363e-01 -1.42611143e-02 2.43158931e+01] [ 2.77017848e-02 -2.12994363e-05 9.99616232e-01 -9.86113543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72719347 meters 0.06066963648119405 Centerline is valid? [True, True] Translation: X:90.51, Y:24.33, Z:-0.99 [[ 8.57073136e-01 -5.14587542e-01 -2.50060096e-02 9.05068783e+01] [ 5.14368287e-01 8.57437847e-01 -1.50201148e-02 2.43276640e+01] [ 2.91702630e-02 1.10386153e-05 9.99574457e-01 -9.93902874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75719347 meters 0.059994971424915194 Centerline is valid? [True, True] Translation: X:90.54, Y:24.34, Z:-0.99 [[ 8.57421849e-01 -5.14074321e-01 -2.35662017e-02 9.05353525e+01] [ 5.13879123e-01 8.57745645e-01 -1.41652701e-02 2.43370207e+01] [ 2.74958085e-02 3.54329644e-05 9.99621918e-01 -9.87799096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78719347 meters 0.06013672725887099 Centerline is valid? [True, True] Translation: X:90.56, Y:24.35, Z:-0.99 [[ 8.57204985e-01 -5.14445614e-01 -2.33521603e-02 9.05618284e+01] [ 5.14254037e-01 8.57523008e-01 -1.40383650e-02 2.43474372e+01] [ 2.72469901e-02 2.48137186e-05 9.99628732e-01 -9.89611789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81719347 meters 0.05990114534344287 Centerline is valid? [True, True] Translation: X:90.59, Y:24.35, Z:-0.99 [[ 8.56579787e-01 -5.15408127e-01 -2.50106140e-02 9.05917111e+01] [ 5.15188672e-01 8.56944842e-01 -1.50389633e-02 2.43527838e+01] [ 2.91839205e-02 -3.11301849e-06 9.99574059e-01 -9.90690278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84719347000001 meters 0.05977987975620988 Centerline is valid? [True, True] Translation: X:90.62, Y:24.36, Z:-0.99 [[ 8.56218551e-01 -5.16010946e-01 -2.49498610e-02 9.06180229e+01] [ 5.15792400e-01 8.56581989e-01 -1.50165614e-02 2.43623159e+01] [ 2.91203116e-02 -1.14902889e-05 9.99575914e-01 -9.91109580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87719347 meters 0.059850412118759765 Centerline is valid? [True, True] Translation: X:90.65, Y:24.37, Z:-0.99 [[ 8.55067236e-01 -5.17904868e-01 -2.51906688e-02 9.06454614e+01] [ 5.17682864e-01 8.55438216e-01 -1.51628006e-02 2.43712275e+01] [ 2.94019490e-02 -7.55635901e-05 9.99567666e-01 -9.92868621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90719347 meters 0.05954264199330984 Centerline is valid? [True, True] Translation: X:90.67, Y:24.38, Z:-0.99 [[ 8.53608151e-01 -5.20364212e-01 -2.39627217e-02 9.06729076e+01] [ 5.20163966e-01 8.53944417e-01 -1.44354385e-02 2.43805438e+01] [ 2.79745180e-02 -1.42336354e-04 9.99608626e-01 -9.90214245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93719347 meters 0.05945572430068672 Centerline is valid? [True, True] Translation: X:90.70, Y:24.38, Z:-0.99 [[ 8.50548713e-01 -5.25467104e-01 -2.12417002e-02 9.07035973e+01] [ 5.25311306e-01 8.50813874e-01 -1.27977886e-02 2.43828606e+01] [ 2.47975502e-02 -2.73362666e-04 9.99692456e-01 -9.88144789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96719347 meters 0.05983660118414349 Centerline is valid? [True, True] Translation: X:90.73, Y:24.39, Z:-0.99 [[ 8.48982390e-01 -5.28013514e-01 -2.07516334e-02 9.07320598e+01] [ 5.27865511e-01 8.49235901e-01 -1.25054618e-02 2.43895453e+01] [ 2.42260849e-02 -3.37154745e-04 9.99706448e-01 -9.90538954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99719347 meters 0.05983660118414349 Centerline is valid? [True, True] Translation: X:90.76, Y:24.40, Z:-0.99 [[ 8.48812638e-01 -5.28286551e-01 -2.07466835e-02 9.07554100e+01] [ 5.28138430e-01 8.49066079e-01 -1.25136731e-02 2.44038890e+01] [ 2.42261104e-02 -3.35356994e-04 9.99706448e-01 -9.90765335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02719347 meters 0.05992269909597562 Centerline is valid? [True, True] Translation: X:90.78, Y:24.41, Z:-0.99 [[ 8.47196042e-01 -5.30850790e-01 -2.13613140e-02 9.07841946e+01] [ 5.30694369e-01 8.47465202e-01 -1.28925769e-02 2.44121207e+01] [ 2.49470049e-02 -4.13788946e-04 9.99688689e-01 -9.90309710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05719347 meters 0.06012295772210096 Centerline is valid? [True, True] Translation: X:90.81, Y:24.42, Z:-0.99 [[ 8.45800714e-01 -5.33056007e-01 -2.17358405e-02 9.08123682e+01] [ 5.32894554e-01 8.46079821e-01 -1.31274759e-02 2.44211391e+01] [ 2.53879359e-02 -4.79682543e-04 9.99677559e-01 -9.91043064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08719347 meters 0.06116799959296684 Centerline is valid? [True, True] Translation: X:90.84, Y:24.42, Z:-0.99 [[ 8.43060171e-01 -5.37362765e-01 -2.21541587e-02 9.08447529e+01] [ 5.37196550e-01 8.43350978e-01 -1.33788777e-02 2.44245118e+01] [ 2.58730422e-02 -6.21938710e-04 9.99665043e-01 -9.91904155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11719347 meters 0.06193013524597036 Centerline is valid? [True, True] Translation: X:90.87, Y:24.43, Z:-0.99 [[ 8.41435455e-01 -5.39876589e-01 -2.27956834e-02 9.08733632e+01] [ 5.39701470e-01 8.41743876e-01 -1.37684313e-02 2.44324858e+01] [ 2.66213806e-02 -7.17617585e-04 9.99645331e-01 -9.92641896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14719347 meters 0.06256375441545058 Centerline is valid? [True, True] Translation: X:90.90, Y:24.44, Z:-0.99 [[ 8.39628329e-01 -5.42669620e-01 -2.31073933e-02 9.09018279e+01] [ 5.42490421e-01 8.39945850e-01 -1.39682329e-02 2.44406377e+01] [ 2.69890948e-02 -8.07415488e-04 9.99635402e-01 -9.92422025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17719347 meters 0.0640246460788557 Centerline is valid? [True, True] Translation: X:90.94, Y:24.44, Z:-0.99 [[ 8.36231496e-01 -5.47936810e-01 -2.19576458e-02 9.09352801e+01] [ 5.47776834e-01 8.36519210e-01 -1.32721858e-02 2.44427399e+01] [ 2.56403116e-02 -9.29269917e-04 9.99670801e-01 -9.90887202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20719347 meters 0.0648376415688732 Centerline is valid? [True, True] Translation: X:90.96, Y:24.45, Z:-0.99 [[ 8.34829457e-01 -5.50112139e-01 -2.08904850e-02 9.09641175e+01] [ 5.49967752e-01 8.35090267e-01 -1.26379531e-02 2.44512355e+01] [ 2.43977321e-02 -9.38557611e-04 9.99701890e-01 -9.91369492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23719347 meters 0.06606265456101143 Centerline is valid? [True, True] Translation: X:90.99, Y:24.46, Z:-0.99 [[ 8.33081048e-01 -5.52724304e-01 -2.17212319e-02 9.09921792e+01] [ 5.52569079e-01 8.33363505e-01 -1.31408529e-02 2.44591939e+01] [ 2.53649507e-02 -1.05508563e-03 9.99677701e-01 -9.92581494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26719347 meters 0.06713628727282671 Centerline is valid? [True, True] Translation: X:91.02, Y:24.47, Z:-0.99 [[ 8.31494249e-01 -5.55111733e-01 -2.16397177e-02 9.10212244e+01] [ 5.54958455e-01 8.31775032e-01 -1.30923604e-02 2.44690587e+01] [ 2.52670997e-02 -1.12292198e-03 9.99680105e-01 -9.93593753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29719347 meters 0.07070734658979996 Centerline is valid? [True, True] Translation: X:91.05, Y:24.47, Z:-1.00 [[ 8.26896048e-01 -5.61869890e-01 -2.33484815e-02 9.10528622e+01] [ 5.61694073e-01 8.27224380e-01 -1.41277807e-02 2.44737761e+01] [ 2.72524077e-02 -1.43249766e-03 9.99627558e-01 -9.96185349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32719347 meters 0.07284995951888729 Centerline is valid? [True, True] Translation: X:91.08, Y:24.48, Z:-1.00 [[ 8.24460295e-01 -5.65458401e-01 -2.28477144e-02 9.10806398e+01] [ 5.65291375e-01 8.24775422e-01 -1.38262109e-02 2.44841686e+01] [ 2.66623804e-02 -1.51645399e-03 9.99643345e-01 -9.95849497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35719347 meters 0.07503485045331229 Centerline is valid? [True, True] Translation: X:91.11, Y:24.49, Z:-1.00 [[ 8.21967670e-01 -5.69079199e-01 -2.27599305e-02 9.11091046e+01] [ 5.68914800e-01 8.22281108e-01 -1.37742693e-02 2.44948622e+01] [ 2.65537109e-02 -1.62645728e-03 9.99646065e-01 -9.95875034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38719347 meters 0.07773794777416997 Centerline is valid? [True, True] Translation: X:91.14, Y:24.51, Z:-1.00 [[ 8.19281253e-01 -5.72953221e-01 -2.24240044e-02 9.11375170e+01] [ 5.72794960e-01 8.19586262e-01 -1.35754462e-02 2.45059102e+01] [ 2.61565015e-02 -1.72224812e-03 9.99656377e-01 -9.95809839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41719347 meters 0.0811939270178137 Centerline is valid? [True, True] Translation: X:91.16, Y:24.52, Z:-0.99 [[ 8.16231023e-01 -5.77328991e-01 -2.14045017e-02 9.11634023e+01] [ 5.77186243e-01 8.16509695e-01 -1.29599297e-02 2.45184363e+01] [ 2.49591263e-02 -1.77608720e-03 9.99686895e-01 -9.94840982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44719347 meters 0.08181594276570987 Centerline is valid? [True, True] Translation: X:91.19, Y:24.54, Z:-1.00 [[ 8.15711824e-01 -5.78024166e-01 -2.24116964e-02 9.11868397e+01] [ 5.77867883e-01 8.16017480e-01 -1.35713767e-02 2.45362836e+01] [ 2.61329197e-02 -1.88066713e-03 9.99656708e-01 -9.95586784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47719347 meters 0.08190206702886564 Centerline is valid? [True, True] Translation: X:91.21, Y:24.55, Z:-1.00 [[ 8.15844498e-01 -5.77824161e-01 -2.27375090e-02 9.12092665e+01] [ 5.77662948e-01 8.16159087e-01 -1.37790664e-02 2.45542029e+01] [ 2.65193021e-02 -1.89304098e-03 9.99646509e-01 -9.96536695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50719347 meters 0.08019269674601961 Centerline is valid? [True, True] Translation: X:91.23, Y:24.58, Z:-1.00 [[ 8.18228114e-01 -5.74504218e-01 -2.11579111e-02 9.12292208e+01] [ 5.74363525e-01 8.18499935e-01 -1.28217330e-02 2.45768614e+01] [ 2.46838886e-02 -1.66122998e-03 9.99693926e-01 -9.95755378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53719347 meters 0.07069446514578653 Centerline is valid? [True, True] Translation: X:91.24, Y:24.61, Z:-0.99 [[ 8.19954712e-01 -5.72097616e-01 -1.94573253e-02 9.12437555e+01] [ 5.71977953e-01 8.20184238e-01 -1.17914291e-02 2.46110914e+01] [ 2.27044400e-02 -1.46072321e-03 9.99741154e-01 -9.86991748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56719347 meters 0.07822007746495065 Centerline is valid? [True, True] Translation: X:91.27, Y:24.62, Z:-0.99 [[ 8.21111083e-01 -5.70467953e-01 -1.85176516e-02 9.12728935e+01] [ 5.70359129e-01 8.21318758e-01 -1.12232839e-02 2.46186987e+01] [ 2.16114185e-02 -1.34614883e-03 9.99765540e-01 -9.93158279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59719347 meters 0.07768563110888843 Centerline is valid? [True, True] Translation: X:91.29, Y:24.64, Z:-0.99 [[ 8.22151144e-01 -5.68988683e-01 -1.78710649e-02 9.12938256e+01] [ 5.68886948e-01 8.22344387e-01 -1.08328188e-02 2.46394729e+01] [ 2.08599212e-02 -1.26040116e-03 9.99781614e-01 -9.92621063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62719347 meters 0.07706142849280889 Centerline is valid? [True, True] Translation: X:91.31, Y:24.66, Z:-0.99 [[ 8.23554320e-01 -5.66959062e-01 -1.77680724e-02 9.13125648e+01] [ 5.66857985e-01 8.23745095e-01 -1.07723583e-02 2.46626199e+01] [ 2.07438487e-02 -1.20035148e-03 9.99784103e-01 -9.93483793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65719347 meters 0.07626297836616587 Centerline is valid? [True, True] Translation: X:91.33, Y:24.68, Z:-0.99 [[ 8.24544993e-01 -5.65506811e-01 -1.80997622e-02 9.13346761e+01] [ 5.65401539e-01 8.24742775e-01 -1.09752281e-02 2.46810425e+01] [ 2.11342144e-02 -1.18406400e-03 9.99775946e-01 -9.94593079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68719347 meters 0.07611354035404665 Centerline is valid? [True, True] Translation: X:91.36, Y:24.70, Z:-1.00 [[ 8.25108175e-01 -5.64640496e-01 -1.94321749e-02 9.13566595e+01] [ 5.64518856e-01 8.25336028e-01 -1.17856730e-02 2.46991188e+01] [ 2.26927423e-02 -1.24537396e-03 9.99741711e-01 -9.96607070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71719347 meters 0.07517624310726892 Centerline is valid? [True, True] Translation: X:91.37, Y:24.72, Z:-1.00 [[ 8.26432553e-01 -5.62657977e-01 -2.06212550e-02 9.13746334e+01] [ 5.62520318e-01 8.26688823e-01 -1.25093092e-02 2.47229461e+01] [ 2.40858236e-02 -1.26177460e-03 9.99709098e-01 -9.96803426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74719347 meters 0.07507159281641033 Centerline is valid? [True, True] Translation: X:91.40, Y:24.74, Z:-1.00 [[ 8.26852505e-01 -5.62008636e-01 -2.14762248e-02 9.13963207e+01] [ 5.61858886e-01 8.27130362e-01 -1.30367043e-02 2.47418202e+01] [ 2.50903780e-02 -1.28717610e-03 9.99684358e-01 -9.97913436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77719347 meters 0.06786922302065393 Centerline is valid? [True, True] Translation: X:91.41, Y:24.77, Z:-0.99 [[ 8.26740030e-01 -5.62104425e-01 -2.32279814e-02 9.14114844e+01] [ 5.61929024e-01 8.27065107e-01 -1.41096294e-02 2.47730185e+01] [ 2.71421380e-02 -1.38748143e-03 9.99630621e-01 -9.90141518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80719347 meters 0.06679762322067029 Centerline is valid? [True, True] Translation: X:91.43, Y:24.79, Z:-0.99 [[ 8.27695016e-01 -5.60620370e-01 -2.50152410e-02 9.14328316e+01] [ 5.60415965e-01 8.28071703e-01 -1.52052675e-02 2.47925759e+01] [ 2.92387960e-02 -1.43361629e-03 9.99571427e-01 -9.91598591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83719347 meters 0.06618787038005629 Centerline is valid? [True, True] Translation: X:91.45, Y:24.82, Z:-1.00 [[ 8.30247831e-01 -5.56731871e-01 -2.71691775e-02 9.14514885e+01] [ 5.56488602e-01 8.30691065e-01 -1.65163497e-02 2.48150158e+01] [ 3.17643713e-02 -1.40667412e-03 9.99494395e-01 -9.95532262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86719347 meters 0.06470308723690185 Centerline is valid? [True, True] Translation: X:91.47, Y:24.84, Z:-0.99 [[ 8.32381921e-01 -5.53549520e-01 -2.68936063e-02 9.14726019e+01] [ 5.53309473e-01 8.32815293e-01 -1.63497691e-02 2.48370694e+01] [ 3.14478135e-02 -1.27123491e-03 9.99504587e-01 -9.93815416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89719347 meters 0.06348333244409317 Centerline is valid? [True, True] Translation: X:91.49, Y:24.86, Z:-0.99 [[ 8.34459293e-01 -5.50466235e-01 -2.57800710e-02 9.14936608e+01] [ 5.50244140e-01 8.34856695e-01 -1.56743166e-02 2.48596842e+01] [ 3.01508469e-02 -1.10575381e-03 9.99544748e-01 -9.92320206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92719347 meters 0.06318095036728134 Centerline is valid? [True, True] Translation: X:91.51, Y:24.88, Z:-0.99 [[ 8.36767426e-01 -5.46902222e-01 -2.67998888e-02 9.15142132e+01] [ 5.46660237e-01 8.37195876e-01 -1.62987820e-02 2.48796392e+01] [ 3.13505965e-02 -1.01214364e-03 9.99507937e-01 -9.93692361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95719347 meters 0.062301050336487813 Centerline is valid? [True, True] Translation: X:91.53, Y:24.90, Z:-0.99 [[ 8.39174560e-01 -5.43077425e-01 -2.92056263e-02 9.15327179e+01] [ 5.42787262e-01 8.39682103e-01 -1.77750850e-02 2.49046506e+01] [ 3.41766891e-02 -9.36042838e-04 9.99415368e-01 -9.94044362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98719347 meters 0.06227188639059129 Centerline is valid? [True, True] Translation: X:91.56, Y:24.92, Z:-1.00 [[ 8.39419350e-01 -5.42700663e-01 -2.91743977e-02 9.15554036e+01] [ 5.42410497e-01 8.39925689e-01 -1.77676770e-02 2.49218751e+01] [ 3.41468561e-02 -9.09967689e-04 9.99416412e-01 -9.95110807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01719347 meters 0.061686666544294104 Centerline is valid? [True, True] Translation: X:91.58, Y:24.94, Z:-0.99 [[ 8.38862058e-01 -5.43510548e-01 -3.01119844e-02 9.15785512e+01] [ 5.43201507e-01 8.39401785e-01 -1.83511783e-02 2.49389124e+01] [ 3.52501124e-02 -9.62768058e-04 9.99378058e-01 -9.93222843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04719347 meters 0.062288360852801795 Centerline is valid? [True, True] Translation: X:91.60, Y:24.95, Z:-0.99 [[ 8.37437981e-01 -5.45851545e-01 -2.72711969e-02 9.16046001e+01] [ 5.45599238e-01 8.37881359e-01 -1.66223031e-02 2.49500719e+01] [ 3.19233373e-02 -9.58996264e-04 9.99489860e-01 -9.93163983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07719347 meters 0.06354277847312913 Centerline is valid? [True, True] Translation: X:91.63, Y:24.96, Z:-0.99 [[ 8.36401608e-01 -5.47526427e-01 -2.54393650e-02 9.16305892e+01] [ 5.47307546e-01 8.36787851e-01 -1.55094520e-02 2.49604653e+01] [ 2.97791864e-02 -9.51025816e-04 9.99556049e-01 -9.94793409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10719347 meters 0.06293093759515261 Centerline is valid? [True, True] Translation: X:91.65, Y:24.98, Z:-0.99 [[ 8.35211690e-01 -5.49402484e-01 -2.40487763e-02 9.16539695e+01] [ 5.49207280e-01 8.35557303e-01 -1.46750817e-02 2.49765300e+01] [ 2.81566570e-02 -9.50963198e-04 9.99603070e-01 -9.90334985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13719347 meters 0.0628028893413297 Centerline is valid? [True, True] Translation: X:91.68, Y:24.99, Z:-0.99 [[ 8.34579223e-01 -5.50292331e-01 -2.56099789e-02 9.16776541e+01] [ 5.50071258e-01 8.34971416e-01 -1.56315677e-02 2.49919599e+01] [ 2.99855322e-02 -1.04153171e-03 9.99549790e-01 -9.89704608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16719347 meters 0.0639757348562337 Centerline is valid? [True, True] Translation: X:91.70, Y:25.00, Z:-1.00 [[ 8.34949653e-01 -5.49596361e-01 -2.83357735e-02 9.17028589e+01] [ 5.49325197e-01 8.35429579e-01 -1.72987655e-02 2.50035157e+01] [ 3.31798819e-02 -1.12195609e-03 9.99448766e-01 -9.96549399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19719347 meters 0.06294226584184974 Centerline is valid? [True, True] Translation: X:91.73, Y:25.02, Z:-1.00 [[ 8.35564725e-01 -5.48633713e-01 -2.88554811e-02 9.17259664e+01] [ 5.48351472e-01 8.36062112e-01 -1.76297336e-02 2.50203085e+01] [ 3.37972407e-02 -1.09216198e-03 9.99428113e-01 -9.95017868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22719347 meters 0.0631264039081868 Centerline is valid? [True, True] Translation: X:91.75, Y:25.03, Z:-1.00 [[ 8.35674312e-01 -5.48473635e-01 -2.87248259e-02 9.17514029e+01] [ 5.48193460e-01 8.36167163e-01 -1.75614878e-02 2.50340185e+01] [ 3.36507692e-02 -1.07107748e-03 9.99433079e-01 -9.96495235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25719347 meters 0.06330074557473003 Centerline is valid? [True, True] Translation: X:91.78, Y:25.05, Z:-1.00 [[ 8.35410264e-01 -5.48967638e-01 -2.69113840e-02 9.17763435e+01] [ 5.48721916e-01 8.35842983e-01 -1.64550151e-02 2.50463463e+01] [ 3.15269622e-02 -1.02017768e-03 9.99502381e-01 -9.95828247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28719347 meters 0.06403519560451927 Centerline is valid? [True, True] Translation: X:91.80, Y:25.05, Z:-0.99 [[ 8.33763927e-01 -5.51558431e-01 -2.49200995e-02 9.18038081e+01] [ 5.51348781e-01 8.34135620e-01 -1.52410608e-02 2.50546937e+01] [ 2.91930782e-02 -1.03221972e-03 9.99573258e-01 -9.93559556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31719347 meters 0.06478540574839048 Centerline is valid? [True, True] Translation: X:91.83, Y:25.07, Z:-0.99 [[ 8.32386467e-01 -5.53661874e-01 -2.43166440e-02 9.18311720e+01] [ 5.53462828e-01 8.32740887e-01 -1.48833142e-02 2.50655687e+01] [ 2.84897874e-02 -1.06968926e-03 9.99593511e-01 -9.93680219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34719347 meters 0.06600930305541203 Centerline is valid? [True, True] Translation: X:91.86, Y:25.08, Z:-1.00 [[ 8.30528350e-01 -5.56446446e-01 -2.42901871e-02 9.18598782e+01] [ 5.56249047e-01 8.30882661e-01 -1.48661042e-02 2.50757545e+01] [ 2.84544861e-02 -1.16467245e-03 9.99594411e-01 -9.95167891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37719347 meters 0.0690785925934364 Centerline is valid? [True, True] Translation: X:91.89, Y:25.08, Z:-1.00 [[ 8.26534100e-01 -5.62374305e-01 -2.40108936e-02 9.18917981e+01] [ 5.62183862e-01 8.26881682e-01 -1.46965953e-02 2.50792777e+01] [ 2.81191556e-02 -1.35129974e-03 9.99603665e-01 -9.98623091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40719347 meters 0.07074064020737107 Centerline is valid? [True, True] Translation: X:91.92, Y:25.09, Z:-1.00 [[ 8.24438329e-01 -5.65427829e-01 -2.43477176e-02 9.19199991e+01] [ 5.65233287e-01 8.24796457e-01 -1.49042297e-02 2.50897841e+01] [ 2.85091774e-02 -1.47452222e-03 9.99592443e-01 -9.98540887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43719347 meters 0.07227469060666494 Centerline is valid? [True, True] Translation: X:91.95, Y:25.10, Z:-1.00 [[ 8.23115164e-01 -5.67354503e-01 -2.42959737e-02 9.19478173e+01] [ 5.67161561e-01 8.23472227e-01 -1.48746547e-02 2.51005421e+01] [ 2.84462619e-02 -1.53618856e-03 9.99594143e-01 -9.98880191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46719347 meters 0.07321696038477607 Centerline is valid? [True, True] Translation: X:91.97, Y:25.11, Z:-1.00 [[ 8.21961451e-01 -5.69025412e-01 -2.42786497e-02 9.19739099e+01] [ 5.68833415e-01 8.22318398e-01 -1.48659893e-02 2.51124790e+01] [ 2.84239060e-02 -1.59123705e-03 9.99594693e-01 -9.99290947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49719347 meters 0.07556156122655149 Centerline is valid? [True, True] Translation: X:92.00, Y:25.12, Z:-1.00 [[ 8.19908717e-01 -5.71852186e-01 -2.71066966e-02 9.20030547e+01] [ 5.71614354e-01 8.20354510e-01 -1.65984259e-02 2.51224893e+01] [ 3.17289470e-02 -1.88538278e-03 9.99494732e-01 -1.00300631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52719347 meters 0.07790072793059441 Centerline is valid? [True, True] Translation: X:92.03, Y:25.13, Z:-1.01 [[ 8.18572860e-01 -5.73671384e-01 -2.89761301e-02 9.20315222e+01] [ 5.73400749e-01 8.19082884e-01 -1.77428977e-02 2.51336823e+01] [ 3.39124449e-02 -2.09108022e-03 9.99422620e-01 -1.00623157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55719347 meters 0.07629348916327083 Centerline is valid? [True, True] Translation: X:92.06, Y:25.15, Z:-1.01 [[ 8.17235940e-01 -5.75453142e-01 -3.12905607e-02 9.20562955e+01] [ 5.75138806e-01 8.17831411e-01 -1.91608150e-02 2.51511431e+01] [ 3.66165546e-02 -2.33750908e-03 9.99326655e-01 -1.00535091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58719347 meters 0.08068537220563418 Centerline is valid? [True, True] Translation: X:92.09, Y:25.16, Z:-1.01 [[ 8.16444255e-01 -5.76487411e-01 -3.28792259e-02 9.20862141e+01] [ 5.76141051e-01 8.17102198e-01 -2.01367353e-02 2.51572643e+01] [ 3.84742621e-02 -2.50254992e-03 9.99256458e-01 -1.01215954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61719347 meters 0.07787920080003292 Centerline is valid? [True, True] Translation: X:92.11, Y:25.18, Z:-1.01 [[ 8.16484587e-01 -5.76422888e-01 -3.30086880e-02 9.21078403e+01] [ 5.76073182e-01 8.17147732e-01 -2.02304990e-02 2.51774213e+01] [ 3.86342971e-02 -2.49752932e-03 9.99250296e-01 -1.00819909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64719347 meters 0.07842337223046979 Centerline is valid? [True, True] Translation: X:92.13, Y:25.19, Z:-1.01 [[ 8.17414580e-01 -5.75152805e-01 -3.21349538e-02 9.21319405e+01] [ 5.74820413e-01 8.18042553e-01 -1.96945110e-02 2.51936034e+01] [ 3.76151129e-02 -2.37324700e-03 9.99289483e-01 -1.00786168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67719347 meters 0.06986617068009827 Centerline is valid? [True, True] Translation: X:92.15, Y:25.23, Z:-1.00 [[ 8.22089514e-01 -5.68518329e-01 -3.09150375e-02 9.21464844e+01] [ 5.68205941e-01 8.22668192e-01 -1.89487102e-02 2.52280606e+01] [ 3.62055071e-02 -1.98857200e-03 9.99342387e-01 -9.97454791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70719347 meters 0.06887786563394935 Centerline is valid? [True, True] Translation: X:92.17, Y:25.25, Z:-1.00 [[ 8.25151091e-01 -5.64118278e-01 -2.99373577e-02 9.21689291e+01] [ 5.63822379e-01 8.25692166e-01 -1.83513576e-02 2.52468568e+01] [ 3.50713780e-02 -1.73670951e-03 9.99383301e-01 -9.99024913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73719347 meters 0.06660545768114688 Centerline is valid? [True, True] Translation: X:92.19, Y:25.27, Z:-1.00 [[ 8.27897997e-01 -5.60183926e-01 -2.79083346e-02 9.21908678e+01] [ 5.59924510e-01 8.28366966e-01 -1.71088199e-02 2.52685214e+01] [ 3.27024284e-02 -1.46220285e-03 9.99464063e-01 -9.96812418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76719347 meters 0.06544260142794633 Centerline is valid? [True, True] Translation: X:92.21, Y:25.29, Z:-1.00 [[ 8.29977456e-01 -5.57217869e-01 -2.54100350e-02 9.22131621e+01] [ 5.57001392e-01 8.30365432e-01 -1.55787934e-02 2.52881447e+01] [ 2.97803968e-02 -1.22337760e-03 9.99555717e-01 -9.95330816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79719347 meters 0.06414902489772187 Centerline is valid? [True, True] Translation: X:92.23, Y:25.31, Z:-0.99 [[ 8.31191998e-01 -5.55628249e-01 -1.99276380e-02 9.22343790e+01] [ 5.55494653e-01 8.31430342e-01 -1.22179340e-02 2.53106873e+01] [ 2.33570722e-02 -9.14247370e-04 9.99726768e-01 -9.89991175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82719347 meters 0.0654228710934122 Centerline is valid? [True, True] Translation: X:92.26, Y:25.32, Z:-0.99 [[ 8.29471140e-01 -5.58267484e-01 -1.77494834e-02 9.22590567e+01] [ 5.58162030e-01 8.29660561e-01 -1.08858723e-02 2.53243846e+01] [ 2.08032749e-02 -8.77570757e-04 9.99783203e-01 -9.87662151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85719347 meters 0.06726636352772068 Centerline is valid? [True, True] Translation: X:92.28, Y:25.34, Z:-0.99 [[ 8.27399771e-01 -5.61393307e-01 -1.57217662e-02 9.22843826e+01] [ 5.61311081e-01 8.27548694e-01 -9.64516997e-03 2.53354956e+01] [ 1.84252609e-02 -8.44390139e-04 9.99829884e-01 -9.87723023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88719347 meters 0.06726636352772068 Centerline is valid? [True, True] Translation: X:92.31, Y:25.35, Z:-0.99 [[ 8.27221128e-01 -5.61656616e-01 -1.57178474e-02 9.23076492e+01] [ 5.61574316e-01 8.27370011e-01 -9.65155588e-03 2.53500198e+01] [ 1.84253358e-02 -8.42768424e-04 9.99829884e-01 -9.87949642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91719347 meters 0.06826587702326353 Centerline is valid? [True, True] Translation: X:92.33, Y:25.36, Z:-0.99 [[ 8.24704082e-01 -5.65384090e-01 -1.42831406e-02 9.23340761e+01] [ 5.65316712e-01 8.24827327e-01 -8.76896023e-03 2.53635906e+01] [ 1.67389553e-02 -8.42700817e-04 9.99859539e-01 -9.86978925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94719347 meters 0.07007517676686578 Centerline is valid? [True, True] Translation: X:92.36, Y:25.38, Z:-0.99 [[ 8.21829186e-01 -5.69567760e-01 -1.37606811e-02 9.23624218e+01] [ 5.69505800e-01 8.21943896e-01 -8.44840510e-03 2.53751489e+01] [ 1.61224470e-02 -8.93641817e-04 9.99869626e-01 -9.89378094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97719347 meters 0.07200699170537526 Centerline is valid? [True, True] Translation: X:92.39, Y:25.39, Z:-0.99 [[ 8.21029968e-01 -5.70690266e-01 -1.49134530e-02 9.23881974e+01] [ 5.70617646e-01 8.21164806e-01 -9.15775307e-03 2.53879827e+01] [ 1.74726432e-02 -9.91089707e-04 9.99846851e-01 -9.91663945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00719347 meters 0.0711704347348441 Centerline is valid? [True, True] Translation: X:92.41, Y:25.41, Z:-0.99 [[ 8.20877418e-01 -5.70866775e-01 -1.64739255e-02 9.24106380e+01] [ 5.70778034e-01 8.21041980e-01 -1.01243838e-02 2.54065869e+01] [ 1.93054587e-02 -1.09207676e-03 9.99813036e-01 -9.92441192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03719347 meters 0.07204142403988853 Centerline is valid? [True, True] Translation: X:92.43, Y:25.42, Z:-0.99 [[ 8.20874091e-01 -5.70837496e-01 -1.76147527e-02 9.24337564e+01] [ 5.70736022e-01 8.21062234e-01 -1.08259577e-02 2.54213156e+01] [ 2.06426708e-02 -1.16662570e-03 9.99786237e-01 -9.94607578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06719347 meters 0.0718582606920181 Centerline is valid? [True, True] Translation: X:92.46, Y:25.44, Z:-1.00 [[ 8.21908450e-01 -5.69305689e-01 -1.89085195e-02 9.24559060e+01] [ 5.69188165e-01 8.22125041e-01 -1.16297087e-02 2.54393384e+01] [ 2.21660267e-02 -1.20394962e-03 9.99753579e-01 -9.97037860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09719347 meters 0.07047771790385886 Centerline is valid? [True, True] Translation: X:92.48, Y:25.46, Z:-1.00 [[ 8.22113650e-01 -5.68960871e-01 -2.03143666e-02 9.24776242e+01] [ 5.68824932e-01 8.22363604e-01 -1.25020144e-02 2.54594728e+01] [ 2.38189527e-02 -1.27724153e-03 9.99715473e-01 -9.97127128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12719347 meters 0.07118918755976966 Centerline is valid? [True, True] Translation: X:92.50, Y:25.47, Z:-1.00 [[ 8.22813723e-01 -5.67876954e-01 -2.22112917e-02 9.24992960e+01] [ 5.67713896e-01 8.23112339e-01 -1.36751841e-02 2.54746311e+01] [ 2.60482102e-02 -1.35752976e-03 9.99659766e-01 -1.00069244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15719347 meters 0.06738854263376268 Centerline is valid? [True, True] Translation: X:92.52, Y:25.50, Z:-1.00 [[ 8.24208994e-01 -5.65738158e-01 -2.48972205e-02 9.25170143e+01] [ 5.65531985e-01 8.24583696e-01 -1.53395596e-02 2.55000054e+01] [ 2.92080162e-02 -1.43717155e-03 9.99572322e-01 -9.98699151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18719347 meters 0.06736481752846565 Centerline is valid? [True, True] Translation: X:92.54, Y:25.52, Z:-1.01 [[ 8.25804934e-01 -5.63185912e-01 -2.94591366e-02 9.25364249e+01] [ 5.62895557e-01 8.26328684e-01 -1.81520880e-02 2.55209025e+01] [ 3.45659298e-02 -1.59233330e-03 9.99401151e-01 -1.00520224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21719347 meters 0.0681561461029116 Centerline is valid? [True, True] Translation: X:92.56, Y:25.54, Z:-1.01 [[ 8.26112979e-01 -5.62694100e-01 -3.02108588e-02 9.25585465e+01] [ 5.62388218e-01 8.26663635e-01 -1.86205963e-02 2.55369582e+01] [ 3.54519180e-02 -1.60751482e-03 9.99370090e-01 -1.00796860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24719347 meters 0.06767170486967405 Centerline is valid? [True, True] Translation: X:92.58, Y:25.56, Z:-1.01 [[ 8.25662610e-01 -5.63346121e-01 -3.03710758e-02 9.25804932e+01] [ 5.63036936e-01 8.26219391e-01 -1.87330256e-02 2.55566978e+01] [ 3.56463490e-02 -1.63287860e-03 9.99363133e-01 -1.00689462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27719347 meters 0.06719526688325636 Centerline is valid? [True, True] Translation: X:92.60, Y:25.58, Z:-1.01 [[ 8.25118912e-01 -5.64104394e-01 -3.10646774e-02 9.26020904e+01] [ 5.63780993e-01 8.25701741e-01 -1.91735865e-02 2.55760896e+01] [ 3.64660626e-02 -1.69318586e-03 9.99333458e-01 -1.00582051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30719347 meters 0.06774090830748436 Centerline is valid? [True, True] Translation: X:92.62, Y:25.59, Z:-1.01 [[ 8.23625837e-01 -5.66303416e-01 -3.06744564e-02 9.26233410e+01] [ 5.65989412e-01 8.24194960e-01 -1.89381585e-02 2.55942024e+01] [ 3.60064762e-02 -1.76346085e-03 9.99350001e-01 -1.00628517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33719347 meters 0.06857549834914628 Centerline is valid? [True, True] Translation: X:92.65, Y:25.61, Z:-1.01 [[ 8.22927577e-01 -5.67410000e-01 -2.89153023e-02 9.26471519e+01] [ 5.67131543e-01 8.23433656e-01 -1.78557287e-02 2.56078972e+01] [ 3.39413521e-02 -1.70480845e-03 9.99422372e-01 -1.00668060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36719347 meters 0.06878159696301375 Centerline is valid? [True, True] Translation: X:92.67, Y:25.62, Z:-1.00 [[ 8.21973000e-01 -5.68939691e-01 -2.58459938e-02 9.26708166e+01] [ 5.68717607e-01 8.22377749e-01 -1.59724818e-02 2.56242198e+01] [ 3.03425491e-02 -1.57012295e-03 9.99538326e-01 -1.00362353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39719347 meters 0.06949757438540188 Centerline is valid? [True, True] Translation: X:92.69, Y:25.64, Z:-1.00 [[ 8.21524823e-01 -5.69631991e-01 -2.48265781e-02 9.26936732e+01] [ 5.69427291e-01 8.21898445e-01 -1.53462099e-02 2.56391593e+01] [ 2.91466181e-02 -1.52963878e-03 9.99573977e-01 -1.00347955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42719347 meters 0.06984528700450529 Centerline is valid? [True, True] Translation: X:92.72, Y:25.66, Z:-1.00 [[ 8.21343886e-01 -5.69940889e-01 -2.36982022e-02 9.27163451e+01] [ 5.69754423e-01 8.21684385e-01 -1.46516063e-02 2.56554255e+01] [ 2.78229922e-02 -1.46814828e-03 9.99611787e-01 -1.00235736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45719347 meters 0.06932073000930743 Centerline is valid? [True, True] Translation: X:92.74, Y:25.67, Z:-1.00 [[ 8.22564279e-01 -5.68243079e-01 -2.20863972e-02 9.27393775e+01] [ 5.68080491e-01 8.22859694e-01 -1.36557779e-02 2.56738939e+01] [ 2.59338073e-02 -1.31409626e-03 9.99662799e-01 -1.00112767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48719347 meters 0.06831181419728047 Centerline is valid? [True, True] Translation: X:92.76, Y:25.69, Z:-1.00 [[ 8.23385780e-01 -5.67123434e-01 -2.01709796e-02 9.27641929e+01] [ 5.66987481e-01 8.23631986e-01 -1.24718892e-02 2.56914037e+01] [ 2.36865646e-02 -1.16751669e-03 9.99718752e-01 -9.99844913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51719347 meters 0.06696183882650286 Centerline is valid? [True, True] Translation: X:92.79, Y:25.71, Z:-1.00 [[ 8.24334808e-01 -5.65748831e-01 -2.00096139e-02 9.27870899e+01] [ 5.65614421e-01 8.24576877e-01 -1.23814767e-02 2.57102147e+01] [ 2.35042709e-02 -1.11124403e-03 9.99723119e-01 -9.97945859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54719347 meters 0.06689625012837247 Centerline is valid? [True, True] Translation: X:92.81, Y:25.73, Z:-1.00 [[ 8.26207066e-01 -5.63049332e-01 -1.89032549e-02 9.28112801e+01] [ 5.62928685e-01 8.26422709e-01 -1.16962228e-02 2.57276252e+01] [ 2.22076296e-02 -9.77682537e-04 9.99752902e-01 -9.98209272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57719347 meters 0.06387458324586816 Centerline is valid? [True, True] Translation: X:92.83, Y:25.75, Z:-1.00 [[ 8.31810913e-01 -5.54756930e-01 -1.83126637e-02 9.28301291e+01] [ 5.54641672e-01 8.32012148e-01 -1.13314303e-02 2.57540962e+01] [ 2.15225482e-02 -7.31359030e-04 9.99768096e-01 -9.97278610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60719347 meters 0.06251386237346244 Centerline is valid? [True, True] Translation: X:92.85, Y:25.78, Z:-1.00 [[ 8.35595795e-01 -5.48971366e-01 -2.02511112e-02 9.28514832e+01] [ 5.48828682e-01 8.35840910e-01 -1.25320207e-02 2.57753174e+01] [ 2.38064277e-02 -6.42686817e-04 9.99716380e-01 -9.99770235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63719347 meters 0.06147700301702532 Centerline is valid? [True, True] Translation: X:92.87, Y:25.80, Z:-1.00 [[ 8.39443519e-01 -5.42956503e-01 -2.30827654e-02 9.28716699e+01] [ 5.42768545e-01 8.39760654e-01 -1.42950786e-02 2.57968583e+01] [ 2.71456041e-02 -5.28687966e-04 9.99631350e-01 -1.00474337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66719347 meters 0.06044125644012905 Centerline is valid? [True, True] Translation: X:92.89, Y:25.82, Z:-1.01 [[ 8.42707602e-01 -5.37731453e-01 -2.62446588e-02 9.28919991e+01] [ 5.37485600e-01 8.43116080e-01 -1.62636354e-02 2.58187597e+01] [ 3.08727621e-02 -4.00637054e-04 9.99523242e-01 -1.00515553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69719347 meters 0.06060603872058906 Centerline is valid? [True, True] Translation: X:92.91, Y:25.84, Z:-1.01 [[ 8.46298501e-01 -5.31951944e-01 -2.83897228e-02 9.29133577e+01] [ 5.31660917e-01 8.46774520e-01 -1.75949073e-02 2.58376309e+01] [ 3.33993390e-02 -2.03162371e-04 9.99442066e-01 -1.01016285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72719347 meters 0.06021289448818614 Centerline is valid? [True, True] Translation: X:92.94, Y:25.85, Z:-1.01 [[ 8.46305331e-01 -5.32009132e-01 -2.70845146e-02 9.29378826e+01] [ 5.31743877e-01 8.46738596e-01 -1.67988101e-02 2.58529613e+01] [ 3.18706242e-02 -1.85102256e-04 9.99491985e-01 -1.00729613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75719347 meters 0.059939404198709856 Centerline is valid? [True, True] Translation: X:92.97, Y:25.86, Z:-1.00 [[ 8.43623924e-01 -5.36377636e-01 -2.44480256e-02 9.29659091e+01] [ 5.36163081e-01 8.43978043e-01 -1.51728109e-02 2.58634037e+01] [ 2.87719533e-02 -3.07982453e-04 9.99585954e-01 -1.00247980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78719347 meters 0.06051967791128453 Centerline is valid? [True, True] Translation: X:92.99, Y:25.87, Z:-1.00 [[ 8.41551880e-01 -5.39681328e-01 -2.31192196e-02 9.29933797e+01] [ 5.39490660e-01 8.41869294e-01 -1.43499341e-02 2.58725895e+01] [ 2.72077526e-02 -3.96389064e-04 9.99629722e-01 -1.00481257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81719347 meters 0.060609414497123766 Centerline is valid? [True, True] Translation: X:93.02, Y:25.88, Z:-1.00 [[ 8.39724654e-01 -5.42505870e-01 -2.34496663e-02 9.30208846e+01] [ 5.42310506e-01 8.40051871e-01 -1.45660410e-02 2.58823823e+01] [ 2.76010988e-02 -4.85536645e-04 9.99618899e-01 -1.00494867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84719347 meters 0.06127587456883485 Centerline is valid? [True, True] Translation: X:93.05, Y:25.89, Z:-1.01 [[ 8.37504415e-01 -5.45919214e-01 -2.36340331e-02 9.30495410e+01] [ 5.45721862e-01 8.37837609e-01 -1.46898351e-02 2.58905410e+01] [ 2.78209450e-02 -5.94806811e-04 9.99612746e-01 -1.00731046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87719347 meters 0.061522768853787005 Centerline is valid? [True, True] Translation: X:93.08, Y:25.90, Z:-1.01 [[ 8.35288492e-01 -5.49287976e-01 -2.39969828e-02 9.30771693e+01] [ 5.49085876e-01 8.35632817e-01 -1.49162611e-02 2.59010778e+01] [ 2.82459892e-02 -7.17023100e-04 9.99600745e-01 -1.00646435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90719347 meters 0.06304671426890118 Centerline is valid? [True, True] Translation: X:93.11, Y:25.91, Z:-1.01 [[ 8.31250265e-01 -5.55377611e-01 -2.40563203e-02 9.31077805e+01] [ 5.55177042e-01 8.31597771e-01 -1.49532204e-02 2.59084209e+01] [ 2.83098661e-02 -9.25648365e-04 9.99598767e-01 -1.00581966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93719347 meters 0.06410666263821882 Centerline is valid? [True, True] Translation: X:93.14, Y:25.92, Z:-1.01 [[ 8.29301844e-01 -5.58294466e-01 -2.37852951e-02 9.31352021e+01] [ 5.58099518e-01 8.29642252e-01 -1.47871993e-02 2.59190683e+01] [ 2.79888973e-02 -1.01151009e-03 9.99607722e-01 -1.00594789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96719347 meters 0.06739156210231108 Centerline is valid? [True, True] Translation: X:93.17, Y:25.92, Z:-1.01 [[ 8.25984405e-01 -5.63162702e-01 -2.44445011e-02 9.31675340e+01] [ 5.62958883e-01 8.26345153e-01 -1.51981735e-02 2.59218687e+01] [ 2.87586395e-02 -1.20779476e-03 9.99585655e-01 -1.00958451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99719347 meters 0.06883384998064566 Centerline is valid? [True, True] Translation: X:93.20, Y:25.93, Z:-1.01 [[ 8.23776066e-01 -5.66351781e-01 -2.52715892e-02 9.31964390e+01] [ 5.66135422e-01 8.24162485e-01 -1.57125068e-02 2.59325380e+01] [ 2.97267019e-02 -1.36355476e-03 9.99557134e-01 -1.01098698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02719347 meters 0.0701548819736934 Centerline is valid? [True, True] Translation: X:93.22, Y:25.94, Z:-1.01 [[ 8.22556055e-01 -5.68105636e-01 -2.56421938e-02 9.32249761e+01] [ 5.67883683e-01 8.22954369e-01 -1.59445471e-02 2.59431244e+01] [ 3.01605425e-02 -1.44649973e-03 9.99544021e-01 -1.01314178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05719347 meters 0.0671027037545715 Centerline is valid? [True, True] Translation: X:93.25, Y:25.96, Z:-1.01 [[ 8.21851647e-01 -5.69120779e-01 -2.57178784e-02 9.32472846e+01] [ 5.68897611e-01 8.22252611e-01 -1.60047242e-02 2.59616635e+01] [ 3.02552137e-02 -1.47733062e-03 9.99541114e-01 -1.00814197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08719347 meters 0.0674529393170712 Centerline is valid? [True, True] Translation: X:93.27, Y:25.97, Z:-1.01 [[ 8.21339223e-01 -5.69815516e-01 -2.66863098e-02 9.32731355e+01] [ 5.69575247e-01 8.21771181e-01 -1.66182007e-02 2.59741888e+01] [ 3.13993489e-02 -1.55068147e-03 9.99505716e-01 -1.00930090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11719347 meters 0.06739871297875835 Centerline is valid? [True, True] Translation: X:93.30, Y:25.99, Z:-1.01 [[ 8.21821864e-01 -5.69057104e-01 -2.79792080e-02 9.32959567e+01] [ 5.68792112e-01 8.22296480e-01 -1.74365255e-02 2.59895080e+01] [ 3.29295829e-02 -1.58463494e-03 9.99456418e-01 -1.00962899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14719347 meters 0.06664207077941701 Centerline is valid? [True, True] Translation: X:93.32, Y:26.01, Z:-1.01 [[ 8.22419624e-01 -5.68147231e-01 -2.88909551e-02 9.33193814e+01] [ 5.67863735e-01 8.22925391e-01 -1.80161119e-02 2.60066395e+01] [ 3.40109046e-02 -1.58932173e-03 9.99420198e-01 -1.00948849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17719347 meters 0.06631229070388149 Centerline is valid? [True, True] Translation: X:93.35, Y:26.02, Z:-1.01 [[ 8.23886492e-01 -5.66088489e-01 -2.74749344e-02 9.33451059e+01] [ 5.65830988e-01 8.24343239e-01 -1.71323634e-02 2.60214350e+01] [ 3.23472101e-02 -1.43104652e-03 9.99475668e-01 -1.01066228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20719347 meters 0.06505105688832424 Centerline is valid? [True, True] Translation: X:93.37, Y:26.04, Z:-1.01 [[ 8.25485327e-01 -5.63810378e-01 -2.63027112e-02 9.33701111e+01] [ 5.63573212e-01 8.25903269e-01 -1.64019987e-02 2.60382376e+01] [ 3.09711123e-02 -1.28389413e-03 9.99519455e-01 -1.00962402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23719347 meters 0.06444485594529635 Centerline is valid? [True, True] Translation: X:93.39, Y:26.05, Z:-1.01 [[ 8.27628468e-01 -5.60695676e-01 -2.55240557e-02 9.33942107e+01] [ 5.60470786e-01 8.28021184e-01 -1.59190692e-02 2.60534334e+01] [ 3.00602121e-02 -1.13041272e-03 9.99547451e-01 -1.00958032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26719347 meters 0.0642384541687193 Centerline is valid? [True, True] Translation: X:93.42, Y:26.07, Z:-1.01 [[ 8.28074979e-01 -5.60014349e-01 -2.59953456e-02 9.34183460e+01] [ 5.59780351e-01 8.28482157e-01 -1.62257324e-02 2.60698189e+01] [ 3.06233230e-02 -1.11556064e-03 9.99530374e-01 -1.00936813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29719347 meters 0.06456841427872574 Centerline is valid? [True, True] Translation: X:93.44, Y:26.08, Z:-1.01 [[ 8.27981719e-01 -5.60220681e-01 -2.44757355e-02 9.34428456e+01] [ 5.60013283e-01 8.28342727e-01 -1.52790533e-02 2.60836256e+01] [ 2.88339391e-02 -1.05596020e-03 9.99583658e-01 -1.00805065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32719347 meters 0.06468568360534183 Centerline is valid? [True, True] Translation: X:93.47, Y:26.10, Z:-1.01 [[ 8.26924313e-01 -5.61850707e-01 -2.28027005e-02 9.34673462e+01] [ 5.61670973e-01 8.27238013e-01 -1.42473907e-02 2.60968474e+01] [ 2.68681672e-02 -1.02610115e-03 9.99638459e-01 -1.00670071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35719347 meters 0.06586141475817897 Centerline is valid? [True, True] Translation: X:93.49, Y:26.11, Z:-1.01 [[ 8.25621648e-01 -5.63804141e-01 -2.17666208e-02 9.34940453e+01] [ 5.63640969e-01 8.25907873e-01 -1.36031016e-02 2.61066449e+01] [ 2.56467085e-02 -1.03754407e-03 9.99670531e-01 -1.00828358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38719347 meters 0.06677753816826784 Centerline is valid? [True, True] Translation: X:93.52, Y:26.12, Z:-1.01 [[ 8.21165889e-01 -5.70270024e-01 -2.18788122e-02 9.35232815e+01] [ 5.70107462e-01 8.21456358e-01 -1.36723915e-02 2.61168111e+01] [ 2.57694444e-02 -1.24597257e-03 9.99667136e-01 -1.00512227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41719347 meters 0.06951616421895684 Centerline is valid? [True, True] Translation: X:93.55, Y:26.13, Z:-1.01 [[ 8.19099028e-01 -5.73290686e-01 -2.03610503e-02 9.35511470e+01] [ 5.73150772e-01 8.19351107e-01 -1.27261617e-02 2.61258986e+01] [ 2.39786391e-02 -1.24596507e-03 9.99711695e-01 -1.00605183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44719347 meters 0.06822635601552011 Centerline is valid? [True, True] Translation: X:93.57, Y:26.14, Z:-1.00 [[ 8.17375966e-01 -5.75763440e-01 -1.98240183e-02 9.35744767e+01] [ 5.75631491e-01 8.17615324e-01 -1.23923004e-02 2.61437673e+01] [ 2.33434546e-02 -1.28216072e-03 9.99726682e-01 -1.00183943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47719347 meters 0.06918490607153538 Centerline is valid? [True, True] Translation: X:93.60, Y:26.16, Z:-1.00 [[ 8.15953948e-01 -5.77797309e-01 -1.92204151e-02 9.35984143e+01] [ 5.77673603e-01 8.16179271e-01 -1.20252019e-02 2.61593211e+01] [ 2.26354336e-02 -1.29111550e-03 9.99742952e-01 -1.00123838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50719347 meters 0.06889746491203426 Centerline is valid? [True, True] Translation: X:93.62, Y:26.18, Z:-1.00 [[ 8.16033835e-01 -5.77663986e-01 -1.98267190e-02 9.36216518e+01] [ 5.77532086e-01 8.16273591e-01 -1.24142644e-02 2.61753918e+01] [ 2.33553006e-02 -1.32010663e-03 9.99726356e-01 -1.00218616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53719347 meters 0.07060043923313347 Centerline is valid? [True, True] Translation: X:93.65, Y:26.19, Z:-1.01 [[ 8.16232478e-01 -5.77397741e-01 -1.94008034e-02 9.36471274e+01] [ 5.77271358e-01 8.16462002e-01 -1.21481904e-02 2.61868942e+01] [ 2.28543565e-02 -1.28378059e-03 9.99737981e-01 -1.00572162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56719347 meters 0.07001161484016032 Centerline is valid? [True, True] Translation: X:93.67, Y:26.21, Z:-1.01 [[ 8.15548054e-01 -5.78310273e-01 -2.09427966e-02 9.36703607e+01] [ 5.78163285e-01 8.15815685e-01 -1.31142589e-02 2.62053034e+01] [ 2.46695726e-02 -1.41304777e-03 9.99694661e-01 -1.00655005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59719347 meters 0.06985885682522394 Centerline is valid? [True, True] Translation: X:93.69, Y:26.22, Z:-1.01 [[ 8.14470745e-01 -5.79767111e-01 -2.25278230e-02 9.36939918e+01] [ 5.79597549e-01 8.14780733e-01 -1.41080881e-02 2.62234353e+01] [ 2.65346416e-02 -1.56644599e-03 9.99646667e-01 -1.00738308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62719347 meters 0.07238655984398762 Centerline is valid? [True, True] Translation: X:93.72, Y:26.24, Z:-1.01 [[ 8.12814212e-01 -5.81985441e-01 -2.50200562e-02 9.37199579e+01] [ 5.81777283e-01 8.13197170e-01 -1.56702458e-02 2.62370629e+01] [ 2.94660938e-02 -1.81910180e-03 9.99564125e-01 -1.01037969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65719347 meters 0.07385116913091856 Centerline is valid? [True, True] Translation: X:93.75, Y:26.25, Z:-1.01 [[ 8.10865357e-01 -5.84665303e-01 -2.57654198e-02 9.37460770e+01] [ 5.84445909e-01 8.11272203e-01 -1.61366571e-02 2.62527719e+01] [ 3.03373124e-02 -1.97383796e-03 9.99537769e-01 -1.01119415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68719347 meters 0.07550111905061249 Centerline is valid? [True, True] Translation: X:93.77, Y:26.27, Z:-1.01 [[ 8.07847392e-01 -5.88796049e-01 -2.64915866e-02 9.37713432e+01] [ 5.88566279e-01 8.08278681e-01 -1.65924616e-02 2.62690027e+01] [ 3.11821605e-02 -2.18787774e-03 9.99511324e-01 -1.01139346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71719347 meters 0.07706248411309743 Centerline is valid? [True, True] Translation: X:93.80, Y:26.28, Z:-1.01 [[ 8.06409655e-01 -5.90821586e-01 -2.51658845e-02 9.37968068e+01] [ 5.90615143e-01 8.06799373e-01 -1.57646542e-02 2.62833544e+01] [ 2.96179178e-02 -2.15058315e-03 9.99558980e-01 -1.01191250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74719347 meters 0.07744597883350095 Centerline is valid? [True, True] Translation: X:93.82, Y:26.30, Z:-1.01 [[ 8.04887604e-01 -5.92912451e-01 -2.47137858e-02 9.38209099e+01] [ 5.92714274e-01 8.05263962e-01 -1.54835699e-02 2.62994068e+01] [ 2.90815225e-02 -2.18568016e-03 9.99574653e-01 -1.01094507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77719347 meters 0.07677320286062649 Centerline is valid? [True, True] Translation: X:93.84, Y:26.32, Z:-1.01 [[ 8.03734372e-01 -5.94532666e-01 -2.32802010e-02 9.38430883e+01] [ 5.94357173e-01 8.04068703e-01 -1.45969784e-02 2.63177368e+01] [ 2.73972615e-02 -2.10466121e-03 9.99622409e-01 -1.00963115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80719347 meters 0.07677320286062649 Centerline is valid? [True, True] Translation: X:93.87, Y:26.33, Z:-1.01 [[ 8.03541927e-01 -5.94792932e-01 -2.32753174e-02 9.38662762e+01] [ 5.94617323e-01 8.03876197e-01 -1.46047651e-02 2.63324918e+01] [ 2.73972847e-02 -2.10436580e-03 9.99622409e-01 -1.00985866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83719347 meters 0.07965852705875949 Centerline is valid? [True, True] Translation: X:93.89, Y:26.35, Z:-1.01 [[ 8.02560635e-01 -5.96101912e-01 -2.36418673e-02 9.38913094e+01] [ 5.95921332e-01 8.02905810e-01 -1.48332792e-02 2.63468480e+01] [ 2.78243387e-02 -2.18408713e-03 9.99610442e-01 -1.01199268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86719347 meters 0.07912067327150521 Centerline is valid? [True, True] Translation: X:93.91, Y:26.37, Z:-1.01 [[ 8.01963626e-01 -5.96803348e-01 -2.60788568e-02 9.39108568e+01] [ 5.96583909e-01 8.02383847e-01 -1.63646302e-02 2.63705326e+01] [ 3.06917195e-02 -2.43438813e-03 9.99525934e-01 -1.01238348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89719347 meters 0.0793448227833427 Centerline is valid? [True, True] Translation: X:93.93, Y:26.39, Z:-1.01 [[ 8.02040366e-01 -5.96691519e-01 -2.62770162e-02 9.39337492e+01] [ 5.96468295e-01 8.02466998e-01 -1.65012064e-02 2.63888696e+01] [ 3.09325682e-02 -2.43877340e-03 9.99518498e-01 -1.01366849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92719347 meters 0.07918966146024807 Centerline is valid? [True, True] Translation: X:93.96, Y:26.41, Z:-1.02 [[ 8.02847149e-01 -5.95642162e-01 -2.54336465e-02 9.39570028e+01] [ 5.95432541e-01 8.03246552e-01 -1.59707608e-02 2.64075993e+01] [ 2.99423474e-02 -2.32194098e-03 9.99548930e-01 -1.01504229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95719347 meters 0.07495153158691162 Centerline is valid? [True, True] Translation: X:93.97, Y:26.44, Z:-1.01 [[ 8.05496224e-01 -5.91982514e-01 -2.70653982e-02 9.39736046e+01] [ 5.91743060e-01 8.05947451e-01 -1.69957832e-02 2.64376536e+01] [ 3.18744951e-02 -2.32572235e-03 9.99489173e-01 -1.01393586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98719347 meters 0.07680086708219903 Centerline is valid? [True, True] Translation: X:94.00, Y:26.46, Z:-1.02 [[ 8.07247074e-01 -5.89505199e-01 -2.89098969e-02 9.39965153e+01] [ 5.89230346e-01 8.07761081e-01 -1.81558675e-02 2.64558110e+01] [ 3.40552679e-02 -2.37831759e-03 9.99417121e-01 -1.01720619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01719347 meters 0.07232712063047546 Centerline is valid? [True, True] Translation: X:94.01, Y:26.48, Z:-1.01 [[ 8.09070131e-01 -5.87010063e-01 -2.87177297e-02 9.40137638e+01] [ 5.86737267e-01 8.09576488e-01 -1.80358012e-02 2.64847112e+01] [ 3.38363956e-02 -2.25753423e-03 9.99424836e-01 -1.01227773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04719347 meters 0.07144406432794873 Centerline is valid? [True, True] Translation: X:94.04, Y:26.51, Z:-1.01 [[ 8.10978660e-01 -5.84395570e-01 -2.82033938e-02 9.40351032e+01] [ 5.84130825e-01 8.11466187e-01 -1.77145837e-02 2.65067808e+01] [ 3.32384247e-02 -2.10832228e-03 9.99445227e-01 -1.01161148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07719347 meters 0.07234055027405613 Centerline is valid? [True, True] Translation: X:94.06, Y:26.53, Z:-1.01 [[ 8.14606650e-01 -5.79485493e-01 -2.47501447e-02 9.40568362e+01] [ 5.79279328e-01 8.14980837e-01 -1.55465485e-02 2.65278802e+01] [ 2.91798929e-02 -1.67292540e-03 9.99572776e-01 -1.01282649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10719347 meters 0.0709167610413342 Centerline is valid? [True, True] Translation: X:94.08, Y:26.55, Z:-1.01 [[ 8.16976650e-01 -5.76138845e-01 -2.47625495e-02 9.40783510e+01] [ 5.75930924e-01 8.17350364e-01 -1.55548663e-02 2.65497350e+01] [ 2.92014416e-02 -1.55355547e-03 9.99572340e-01 -1.01382639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13719347 meters 0.06998059940079611 Centerline is valid? [True, True] Translation: X:94.10, Y:26.57, Z:-1.02 [[ 8.18788324e-01 -5.73529821e-01 -2.54799055e-02 9.40989530e+01] [ 5.73308346e-01 8.19183308e-01 -1.60077813e-02 2.65704779e+01] [ 3.00536533e-02 -1.50085805e-03 9.99547160e-01 -1.01572329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16719347 meters 0.06400416290233979 Centerline is valid? [True, True] Translation: X:94.11, Y:26.61, Z:-1.01 [[ 8.23570718e-01 -5.66629936e-01 -2.57252250e-02 9.41125622e+01] [ 5.66400815e-01 8.23971435e-01 -1.61613827e-02 2.66065137e+01] [ 3.03543738e-02 -1.26074686e-03 9.99538405e-01 -1.00906513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19719347 meters 0.06319112947083955 Centerline is valid? [True, True] Translation: X:94.14, Y:26.63, Z:-1.01 [[ 8.26069458e-01 -5.62961125e-01 -2.61538265e-02 9.41355902e+01] [ 5.62722561e-01 8.26482581e-01 -1.64275073e-02 2.66294095e+01] [ 3.08637300e-02 -1.14708616e-03 9.99522943e-01 -1.00977823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22719347 meters 0.06271459244409869 Centerline is valid? [True, True] Translation: X:94.16, Y:26.65, Z:-1.01 [[ 8.28404403e-01 -5.59528707e-01 -2.59571134e-02 9.41585902e+01] [ 5.59292069e-01 8.28810353e-01 -1.63027807e-02 2.66502275e+01] [ 3.06353981e-02 -1.01231241e-03 9.99530113e-01 -1.01167129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25719347 meters 0.06177689299859337 Centerline is valid? [True, True] Translation: X:94.18, Y:26.67, Z:-1.01 [[ 8.29739899e-01 -5.57456361e-01 -2.78227436e-02 9.41825017e+01] [ 5.57183427e-01 8.30205633e-01 -1.74709876e-02 2.66723658e+01] [ 3.28379116e-02 -1.00599613e-03 9.99460184e-01 -1.01095683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28719347 meters 0.06267621764237019 Centerline is valid? [True, True] Translation: X:94.21, Y:26.69, Z:-1.02 [[ 8.30598712e-01 -5.56205277e-01 -2.72299431e-02 9.42108789e+01] [ 5.55943403e-01 8.31044405e-01 -1.70917978e-02 2.66864285e+01] [ 3.21358400e-02 -9.41882033e-04 9.99483067e-01 -1.01778791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31719347 meters 0.06232635126935147 Centerline is valid? [True, True] Translation: X:94.24, Y:26.70, Z:-1.02 [[ 8.30391333e-01 -5.56562640e-01 -2.62347555e-02 9.42368834e+01] [ 5.56319666e-01 8.30805142e-01 -1.64695417e-02 2.67016480e+01] [ 3.09623014e-02 -9.18745746e-04 9.99520131e-01 -1.01683016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34719347 meters 0.06198442214184208 Centerline is valid? [True, True] Translation: X:94.26, Y:26.72, Z:-1.01 [[ 8.29740338e-01 -5.57520880e-01 -2.64847258e-02 9.42646441e+01] [ 5.57273861e-01 8.30162354e-01 -1.66225770e-02 2.67184934e+01] [ 3.12540561e-02 -9.66822737e-04 9.99511005e-01 -1.01468670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37719347 meters 0.06287022527484347 Centerline is valid? [True, True] Translation: X:94.29, Y:26.73, Z:-1.01 [[ 8.29059204e-01 -5.58600854e-01 -2.50184544e-02 9.42927564e+01] [ 5.58381007e-01 8.29436059e-01 -1.56995270e-02 2.67333406e+01] [ 2.95209774e-02 -9.53992446e-04 9.99563706e-01 -1.01364957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40719347 meters 0.06214946960008879 Centerline is valid? [True, True] Translation: X:94.32, Y:26.75, Z:-1.01 [[ 8.29190539e-01 -5.58342500e-01 -2.63951370e-02 9.43189224e+01] [ 5.58097747e-01 8.29609941e-01 -1.65604944e-02 2.67518099e+01] [ 3.11440959e-02 -9.99261196e-04 9.99514405e-01 -1.01094062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43719347 meters 0.06237621509155144 Centerline is valid? [True, True] Translation: X:94.35, Y:26.77, Z:-1.01 [[ 8.29724259e-01 -5.57500200e-01 -2.74076745e-02 9.43466870e+01] [ 5.57235913e-01 8.30176194e-01 -1.71937135e-02 2.67668428e+01] [ 3.23386976e-02 -1.00649937e-03 9.99476461e-01 -1.01236852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46719347 meters 0.0630447181589416 Centerline is valid? [True, True] Translation: X:94.38, Y:26.78, Z:-1.02 [[ 8.30487568e-01 -5.56260462e-01 -2.94057339e-02 9.43761855e+01] [ 5.55955462e-01 8.31007365e-01 -1.84467901e-02 2.67771290e+01] [ 3.46976014e-02 -1.02844854e-03 9.99397328e-01 -1.02036370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49719347 meters 0.06212378377442835 Centerline is valid? [True, True] Translation: X:94.40, Y:26.79, Z:-1.02 [[ 8.30502605e-01 -5.56183106e-01 -3.04265633e-02 9.44039594e+01] [ 5.55856646e-01 8.31059095e-01 -1.90832269e-02 2.67935646e+01] [ 3.59000406e-02 -1.06413772e-03 9.99354819e-01 -1.01835902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52719347 meters 0.06149938622647596 Centerline is valid? [True, True] Translation: X:94.43, Y:26.81, Z:-1.02 [[ 8.30372549e-01 -5.56455907e-01 -2.89526140e-02 9.44316910e+01] [ 5.56160600e-01 8.30876507e-01 -1.81553628e-02 2.68095768e+01] [ 3.41587056e-02 -1.02658833e-03 9.99415894e-01 -1.01522687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55719347 meters 0.06217837111375079 Centerline is valid? [True, True] Translation: X:94.46, Y:26.82, Z:-1.01 [[ 8.28860753e-01 -5.58751063e-01 -2.80553146e-02 9.44607458e+01] [ 5.58475166e-01 8.29334712e-01 -1.75904612e-02 2.68219719e+01] [ 3.30959352e-02 -1.08815358e-03 9.99451587e-01 -1.01288646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58719347 meters 0.06235373339135942 Centerline is valid? [True, True] Translation: X:94.49, Y:26.84, Z:-1.01 [[ 8.27634177e-01 -5.60599864e-01 -2.73763006e-02 9.44895323e+01] [ 5.60338278e-01 8.28086047e-01 -1.71613922e-02 2.68361340e+01] [ 3.22906067e-02 -1.13663443e-03 9.99477876e-01 -1.01137779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61719347 meters 0.06337944947119874 Centerline is valid? [True, True] Translation: X:94.52, Y:26.85, Z:-1.01 [[ 8.25686783e-01 -5.63417804e-01 -2.83145702e-02 9.45185329e+01] [ 5.63139631e-01 8.26171117e-01 -1.77493934e-02 2.68475991e+01] [ 3.33930043e-02 -1.28961706e-03 9.99441466e-01 -1.01207295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64719347 meters 0.06487329207272216 Centerline is valid? [True, True] Translation: X:94.55, Y:26.86, Z:-1.01 [[ 8.23080032e-01 -5.67162536e-01 -2.94265031e-02 9.45470940e+01] [ 5.66864381e-01 8.23604529e-01 -1.84486708e-02 2.68571752e+01] [ 3.46991961e-02 -1.49610388e-03 9.99396682e-01 -1.01378404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67719347 meters 0.06848586267302431 Centerline is valid? [True, True] Translation: X:94.58, Y:26.86, Z:-1.02 [[ 8.17443180e-01 -5.75153951e-01 -3.13780155e-02 9.45787855e+01] [ 5.74820708e-01 8.18042854e-01 -1.96733964e-02 2.68611549e+01] [ 3.69837931e-02 -1.95484940e-03 9.99313953e-01 -1.01718895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70719347 meters 0.06981183648801138 Centerline is valid? [True, True] Translation: X:94.61, Y:26.87, Z:-1.02 [[ 8.14889094e-01 -5.78816652e-01 -3.04474480e-02 9.46072106e+01] [ 5.78505397e-01 8.15455119e-01 -1.90906911e-02 2.68729155e+01] [ 3.58785372e-02 -2.05721697e-03 9.99354041e-01 -1.01603575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73719347 meters 0.07110879243268897 Centerline is valid? [True, True] Translation: X:94.63, Y:26.89, Z:-1.02 [[ 8.13379410e-01 -5.80971977e-01 -2.97573174e-02 9.46348417e+01] [ 5.80676044e-01 8.13920846e-01 -1.86598051e-02 2.68852808e+01] [ 3.50609248e-02 -2.10186012e-03 9.99382967e-01 -1.01547686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76719347 meters 0.07118322399326071 Centerline is valid? [True, True] Translation: X:94.66, Y:26.90, Z:-1.02 [[ 8.12801497e-01 -5.81729167e-01 -3.07392562e-02 9.46595839e+01] [ 5.81413398e-01 8.13379594e-01 -1.92897767e-02 2.68993364e+01] [ 3.62241094e-02 -2.19345605e-03 9.99341284e-01 -1.01681856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79719347 meters 0.07185971437695121 Centerline is valid? [True, True] Translation: X:94.68, Y:26.91, Z:-1.02 [[ 8.13988496e-01 -5.80086632e-01 -3.03682096e-02 9.46840293e+01] [ 5.79777289e-01 8.14552094e-01 -1.90573295e-02 2.69137674e+01] [ 3.57913907e-02 -2.09435124e-03 9.99357088e-01 -1.01860907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82719347 meters 0.07064385635513801 Centerline is valid? [True, True] Translation: X:94.71, Y:26.93, Z:-1.02 [[ 8.15932727e-01 -5.77321489e-01 -3.08817577e-02 9.47072666e+01] [ 5.76999601e-01 8.16514467e-01 -1.93800338e-02 2.69332627e+01] [ 3.64039118e-02 -2.00595806e-03 9.99335145e-01 -1.01874382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85719347 meters 0.0672435018967402 Centerline is valid? [True, True] Translation: X:94.73, Y:26.96, Z:-1.02 [[ 8.21778452e-01 -5.68883087e-01 -3.24377701e-02 9.47256085e+01] [ 5.68521280e-01 8.22416624e-01 -2.03580630e-02 2.69598472e+01] [ 3.82587192e-02 -1.71174507e-03 9.99266401e-01 -1.01653055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88719347 meters 0.06593723366621464 Centerline is valid? [True, True] Translation: X:94.75, Y:26.98, Z:-1.01 [[ 8.24567077e-01 -5.64860906e-01 -3.19576701e-02 9.47485922e+01] [ 5.64506683e-01 8.25184769e-01 -2.00574844e-02 2.69805161e+01] [ 3.77006714e-02 -1.50157705e-03 9.99287949e-01 -1.01497222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91719347 meters 0.06358684295131871 Centerline is valid? [True, True] Translation: X:94.77, Y:27.00, Z:-1.01 [[ 8.27431824e-01 -5.60729937e-01 -3.06351773e-02 9.47699014e+01] [ 5.60401590e-01 8.27997799e-01 -1.92276779e-02 2.70033090e+01] [ 3.61473940e-02 -1.25840947e-03 9.99345677e-01 -1.00939739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94719347 meters 0.06411906578536597 Centerline is valid? [True, True] Translation: X:94.80, Y:27.02, Z:-1.01 [[ 8.29581915e-01 -5.57570961e-01 -3.01408276e-02 9.47952862e+01] [ 5.57251008e-01 8.30128550e-01 -1.89183691e-02 2.70184346e+01] [ 3.55690947e-02 -1.10166970e-03 9.99366612e-01 -1.01336029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97719347 meters 0.06313779118240563 Centerline is valid? [True, True] Translation: X:94.82, Y:27.04, Z:-1.01 [[ 8.33355253e-01 -5.51961107e-01 -2.92909336e-02 9.48180055e+01] [ 5.51655413e-01 8.33869437e-01 -1.83865990e-02 2.70366821e+01] [ 3.45735019e-02 -8.35933262e-04 9.99401808e-01 -1.01400847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00719347 meters 0.06209294421567483 Centerline is valid? [True, True] Translation: X:94.84, Y:27.06, Z:-1.01 [[ 8.35235629e-01 -5.49092062e-01 -2.96538606e-02 9.48406349e+01] [ 5.48776457e-01 8.35761567e-01 -1.86280504e-02 2.70551679e+01] [ 3.50120716e-02 -7.14529195e-04 9.99386634e-01 -1.01069264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03719347 meters 0.061710315599581365 Centerline is valid? [True, True] Translation: X:94.86, Y:27.07, Z:-1.01 [[ 8.37396390e-01 -5.45789736e-01 -2.96791214e-02 9.48635051e+01] [ 5.45471077e-01 8.37921980e-01 -1.86563650e-02 2.70723815e+01] [ 3.50512407e-02 -5.66329668e-04 9.99385356e-01 -1.01124087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06719347 meters 0.062306119000864295 Centerline is valid? [True, True] Translation: X:94.89, Y:27.09, Z:-1.02 [[ 8.40274263e-01 -5.41254279e-01 -3.13523275e-02 9.48854770e+01] [ 5.40895405e-01 8.40858876e-01 -1.97107143e-02 2.70899424e+01] [ 3.70313913e-02 -3.95923961e-04 9.99314024e-01 -1.01547519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09719347 meters 0.0625356822154822 Centerline is valid? [True, True] Translation: X:94.91, Y:27.10, Z:-1.02 [[ 8.40400181e-01 -5.41028631e-01 -3.18677986e-02 9.49108685e+01] [ 5.40657153e-01 8.41004088e-01 -2.00491093e-02 2.71027765e+01] [ 3.76480911e-02 -3.80278148e-04 9.99290987e-01 -1.01800264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12719347 meters 0.06224533743130626 Centerline is valid? [True, True] Translation: X:94.94, Y:27.11, Z:-1.02 [[ 8.40192924e-01 -5.41385873e-01 -3.12599891e-02 9.49390675e+01] [ 5.41028195e-01 8.40774164e-01 -1.96798867e-02 2.71117545e+01] [ 3.69370038e-02 -3.77633878e-04 9.99317525e-01 -1.01641663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15719347 meters 0.06254656711509007 Centerline is valid? [True, True] Translation: X:94.96, Y:27.12, Z:-1.02 [[ 8.39555254e-01 -5.42384294e-01 -3.10846127e-02 9.49648842e+01] [ 5.42031122e-01 8.40130410e-01 -1.95744133e-02 2.71219011e+01] [ 3.67319827e-02 -4.15026028e-04 9.99325067e-01 -1.01884570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18719347 meters 0.06249799394691951 Centerline is valid? [True, True] Translation: X:94.99, Y:27.13, Z:-1.02 [[ 8.38087725e-01 -5.44624378e-01 -3.15159094e-02 9.49914609e+01] [ 5.44262375e-01 8.38679932e-01 -1.98604822e-02 2.71329273e+01] [ 3.72482635e-02 -5.08097397e-04 9.99305913e-01 -1.01771294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21719347 meters 0.06320394021556247 Centerline is valid? [True, True] Translation: X:95.02, Y:27.14, Z:-1.02 [[ 8.35012438e-01 -5.49247208e-01 -3.28897095e-02 9.50232076e+01] [ 5.48856541e-01 8.35659589e-01 -2.07255722e-02 2.71381071e+01] [ 3.88680638e-02 -7.45621619e-04 9.99244073e-01 -1.01835259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24719347 meters 0.0634218553898875 Centerline is valid? [True, True] Translation: X:95.05, Y:27.15, Z:-1.02 [[ 8.32327619e-01 -5.53294535e-01 -3.31042530e-02 9.50510718e+01] [ 5.52901814e-01 8.32985161e-01 -2.08639942e-02 2.71488393e+01] [ 3.91192855e-02 -9.37722931e-04 9.99234108e-01 -1.01601975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27719347 meters 0.06408608154815192 Centerline is valid? [True, True] Translation: X:95.08, Y:27.16, Z:-1.02 [[ 8.30058337e-01 -5.56706963e-01 -3.28711792e-02 9.50789486e+01] [ 5.56321789e-01 8.30708250e-01 -2.07333201e-02 2.71585612e+01] [ 3.88487434e-02 -1.07708803e-03 9.99244522e-01 -1.01630418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30719347 meters 0.06576428440500327 Centerline is valid? [True, True] Translation: X:95.11, Y:27.16, Z:-1.02 [[ 8.25374355e-01 -5.63581692e-01 -3.36578428e-02 9.51125156e+01] [ 5.63183613e-01 8.26059088e-01 -2.12273638e-02 2.71612612e+01] [ 3.97667205e-02 -1.43502378e-03 9.99207961e-01 -1.01879067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33719347 meters 0.06662478582014791 Centerline is valid? [True, True] Translation: X:95.14, Y:27.17, Z:-1.02 [[ 8.22775438e-01 -5.67438041e-01 -3.24753355e-02 9.51415705e+01] [ 5.67070308e-01 8.23414617e-01 -2.04849707e-02 2.71700490e+01] [ 3.83646176e-02 -1.56126775e-03 9.99262587e-01 -1.01886659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36719347 meters 0.06781099982615652 Centerline is valid? [True, True] Translation: X:95.17, Y:27.18, Z:-1.02 [[ 8.20653976e-01 -5.70591774e-01 -3.08557694e-02 9.51709433e+01] [ 5.70261481e-01 8.21232265e-01 -1.94784681e-02 2.71780857e+01] [ 3.64540070e-02 -1.61077445e-03 9.99334034e-01 -1.01896596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39719347 meters 0.06869386288452882 Centerline is valid? [True, True] Translation: X:95.20, Y:27.19, Z:-1.02 [[ 8.19107079e-01 -5.72850551e-01 -3.00971726e-02 9.51984140e+01] [ 5.72537376e-01 8.19658157e-01 -1.90120749e-02 2.71883715e+01] [ 3.55604706e-02 -1.65883108e-03 9.99366150e-01 -1.01898127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42719347 meters 0.06904338009744825 Centerline is valid? [True, True] Translation: X:95.22, Y:27.20, Z:-1.02 [[ 8.18721688e-01 -5.73406941e-01 -2.99879636e-02 9.52238446e+01] [ 5.73096317e-01 8.19268988e-01 -1.89456168e-02 2.72003470e+01] [ 3.54317568e-02 -1.67480413e-03 9.99370695e-01 -1.01785742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45719347 meters 0.0687192139537875 Centerline is valid? [True, True] Translation: X:95.25, Y:27.22, Z:-1.02 [[ 8.19304713e-01 -5.72553506e-01 -3.03689073e-02 9.52483027e+01] [ 5.72233842e-01 8.19865703e-01 -1.92005021e-02 2.72157041e+01] [ 3.58917403e-02 -1.64705468e-03 9.99354327e-01 -1.01838215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48719347 meters 0.0685546743060116 Centerline is valid? [True, True] Translation: X:95.27, Y:27.23, Z:-1.02 [[ 8.20007079e-01 -5.71544298e-01 -3.04221329e-02 9.52737034e+01] [ 5.71222376e-01 8.20569662e-01 -1.92464867e-02 2.72296002e+01] [ 3.59636991e-02 -1.59554770e-03 9.99351823e-01 -1.02022554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51719347 meters 0.06800046032138066 Centerline is valid? [True, True] Translation: X:95.30, Y:27.24, Z:-1.02 [[ 8.21269020e-01 -5.69762032e-01 -2.98064439e-02 9.52998522e+01] [ 5.69451694e-01 8.21808388e-01 -1.88611106e-02 2.72432503e+01] [ 3.52415303e-02 -1.48328415e-03 9.99377724e-01 -1.02179802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54719347 meters 0.06777784143915085 Centerline is valid? [True, True] Translation: X:95.33, Y:27.25, Z:-1.02 [[ 8.22708079e-01 -5.67752049e-01 -2.84434260e-02 9.53274235e+01] [ 5.67468225e-01 8.23198540e-01 -1.79993986e-02 2.72541822e+01] [ 3.36337821e-02 -1.33248980e-03 9.99433336e-01 -1.02478395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57719347 meters 0.06638995576128236 Centerline is valid? [True, True] Translation: X:95.35, Y:27.27, Z:-1.02 [[ 8.22745382e-01 -5.67726583e-01 -2.78668771e-02 9.53500794e+01] [ 5.67453671e-01 8.23216166e-01 -1.76486639e-02 2.72719748e+01] [ 3.29600794e-02 -1.29280495e-03 9.99455833e-01 -1.01966227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60719347 meters 0.06736627738781598 Centerline is valid? [True, True] Translation: X:95.38, Y:27.28, Z:-1.02 [[ 8.23443254e-01 -5.66777096e-01 -2.65505337e-02 9.53750467e+01] [ 5.66528803e-01 8.23870316e-01 -1.68171571e-02 2.72843375e+01] [ 3.14057760e-02 -1.19366751e-03 9.99506004e-01 -1.02097871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63719347 meters 0.06698608237747086 Centerline is valid? [True, True] Translation: X:95.40, Y:27.30, Z:-1.02 [[ 8.24883945e-01 -5.64593299e-01 -2.82998949e-02 9.53994165e+01] [ 5.64309788e-01 8.25368411e-01 -1.79290246e-02 2.72975778e+01] [ 3.34804465e-02 -1.18054315e-03 9.99438675e-01 -1.02350132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66719347 meters 0.06709255986072539 Centerline is valid? [True, True] Translation: X:95.42, Y:27.31, Z:-1.03 [[ 8.25460160e-01 -5.63743448e-01 -2.84402635e-02 9.54244678e+01] [ 5.63456482e-01 8.25949154e-01 -1.80218568e-02 2.73096443e+01] [ 3.36499153e-02 -1.14852599e-03 9.99433021e-01 -1.02738169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69719347 meters 0.06709255986072539 Centerline is valid? [True, True] Translation: X:95.45, Y:27.32, Z:-1.03 [[ 8.25283370e-01 -5.64002559e-01 -2.84336568e-02 9.54475131e+01] [ 5.63715388e-01 8.25772244e-01 -1.80322796e-02 2.73245215e+01] [ 3.36499764e-02 -1.14674936e-03 9.99433021e-01 -1.02760827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72719347 meters 0.06639986635622638 Centerline is valid? [True, True] Translation: X:95.47, Y:27.34, Z:-1.03 [[ 8.25939499e-01 -5.63034340e-01 -2.85705374e-02 9.54723540e+01] [ 5.62743452e-01 8.26432765e-01 -1.81299004e-02 2.73390172e+01] [ 3.38193847e-02 -1.10368199e-03 9.99427352e-01 -1.02857897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75719347 meters 0.06471005594035228 Centerline is valid? [True, True] Translation: X:95.50, Y:27.36, Z:-1.03 [[ 8.27292779e-01 -5.61076072e-01 -2.79338548e-02 9.54954837e+01] [ 5.60796841e-01 8.27763639e-01 -1.77273906e-02 2.73558928e+01] [ 3.30690440e-02 -9.99475270e-04 9.99452570e-01 -1.02530231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78719347 meters 0.06379250743881246 Centerline is valid? [True, True] Translation: X:95.52, Y:27.37, Z:-1.02 [[ 8.28740664e-01 -5.58982025e-01 -2.69816267e-02 9.55195892e+01] [ 5.58720294e-01 8.29179304e-01 -1.71264340e-02 2.73721199e+01] [ 3.19459752e-02 -8.81810152e-04 9.99489208e-01 -1.02413387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81719347 meters 0.06305218893544004 Centerline is valid? [True, True] Translation: X:95.54, Y:27.39, Z:-1.02 [[ 8.30937343e-01 -5.55822848e-01 -2.45782985e-02 9.55440731e+01] [ 5.55604286e-01 8.31300476e-01 -1.56011288e-02 2.73892988e+01] [ 2.91034151e-02 -6.92247452e-04 9.99576166e-01 -1.02202840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84719347 meters 0.06226483755932362 Centerline is valid? [True, True] Translation: X:95.57, Y:27.41, Z:-1.02 [[ 8.35193657e-01 -5.49538317e-01 -2.14287999e-02 9.55657819e+01] [ 5.49370074e-01 8.35468413e-01 -1.36033790e-02 2.74088488e+01] [ 2.53786635e-02 -4.10885515e-04 9.99677825e-01 -1.02015755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87719347 meters 0.06185297084881919 Centerline is valid? [True, True] Translation: X:95.59, Y:27.43, Z:-1.02 [[ 8.36847992e-01 -5.47064335e-01 -2.01507108e-02 9.55890289e+01] [ 5.46914779e-01 8.37090506e-01 -1.27948962e-02 2.74265712e+01] [ 2.38676001e-02 -3.13338376e-04 9.99715079e-01 -1.01922099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90719347 meters 0.061822005038230696 Centerline is valid? [True, True] Translation: X:95.61, Y:27.44, Z:-1.02 [[ 8.37493359e-01 -5.46099571e-01 -1.94969529e-02 9.56145630e+01] [ 5.45959066e-01 8.37720232e-01 -1.23900009e-02 2.74405141e+01] [ 2.30991661e-02 -2.67994738e-04 9.99733143e-01 -1.02091545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93719347 meters 0.0617326807690699 Centerline is valid? [True, True] Translation: X:95.64, Y:27.45, Z:-1.02 [[ 8.37267393e-01 -5.46467233e-01 -1.88911831e-02 9.56415565e+01] [ 5.46335240e-01 8.37480444e-01 -1.20129672e-02 2.74522673e+01] [ 2.23856894e-02 -2.62853375e-04 9.99749375e-01 -1.02420281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96719347 meters 0.06240238720505707 Centerline is valid? [True, True] Translation: X:95.67, Y:27.46, Z:-1.03 [[ 8.33570208e-01 -5.52113396e-01 -1.82073258e-02 9.56729955e+01] [ 5.51991964e-01 8.33768939e-01 -1.15856805e-02 2.74563045e+01] [ 2.15773121e-02 -3.92819486e-04 9.99767106e-01 -1.02699181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99719347 meters 0.06324799412413992 Centerline is valid? [True, True] Translation: X:95.70, Y:27.47, Z:-1.03 [[ 8.30702628e-01 -5.56410466e-01 -1.84536753e-02 9.57014005e+01] [ 5.56286796e-01 8.30907415e-01 -1.17417475e-02 2.74656057e+01] [ 2.18665268e-02 -5.11635406e-04 9.99760768e-01 -1.02856059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02719347 meters 0.06653562389891941 Centerline is valid? [True, True] Translation: X:95.73, Y:27.47, Z:-1.03 [[ 8.23854685e-01 -5.66469534e-01 -1.93836336e-02 9.57344899e+01] [ 5.66335815e-01 8.24082279e-01 -1.23346112e-02 2.74675630e+01] [ 2.29608904e-02 -8.15718682e-04 9.99736031e-01 -1.02951153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05719347 meters 0.06757709759065438 Centerline is valid? [True, True] Translation: X:95.76, Y:27.48, Z:-1.03 [[ 8.20239570e-01 -5.71658736e-01 -2.03306868e-02 9.57628501e+01] [ 5.71513201e-01 8.20490874e-01 -1.29377999e-02 2.74790146e+01] [ 2.40771493e-02 -1.00716050e-03 9.99709596e-01 -1.02926963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08719347 meters 0.07056080958310755 Centerline is valid? [True, True] Translation: X:95.79, Y:27.49, Z:-1.03 [[ 8.17188840e-01 -5.75936298e-01 -2.23557969e-02 9.57932468e+01] [ 5.75761863e-01 8.17493628e-01 -1.42282838e-02 2.74854710e+01] [ 2.64703066e-02 -1.24442058e-03 9.99648825e-01 -1.03353331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11719347 meters 0.0698053370068123 Centerline is valid? [True, True] Translation: X:95.82, Y:27.50, Z:-1.03 [[ 8.14625881e-01 -5.79511613e-01 -2.34726261e-02 9.58193753e+01] [ 5.79320768e-01 8.14962730e-01 -1.49397554e-02 2.74998990e+01] [ 2.77870772e-02 -1.42786831e-03 9.99612845e-01 -1.03163726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14719347 meters 0.07425762207612187 Centerline is valid? [True, True] Translation: X:95.85, Y:27.50, Z:-1.04 [[ 8.11097590e-01 -5.84281473e-01 -2.71267391e-02 9.58509252e+01] [ 5.84029122e-01 8.11549005e-01 -1.72683573e-02 2.75033069e+01] [ 3.21042594e-02 -1.83648266e-03 9.99482838e-01 -1.03851545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17719347 meters 0.0733777302250113 Centerline is valid? [True, True] Translation: X:95.87, Y:27.52, Z:-1.04 [[ 8.09675725e-01 -5.86275385e-01 -2.65780451e-02 9.58746701e+01] [ 5.86034136e-01 8.10109658e-01 -1.69214120e-02 2.75204644e+01] [ 3.14517384e-02 -1.87478517e-03 9.99503513e-01 -1.03613863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20719347 meters 0.07281287160635974 Centerline is valid? [True, True] Translation: X:95.90, Y:27.54, Z:-1.03 [[ 8.08747158e-01 -5.87535473e-01 -2.70204125e-02 9.58990450e+01] [ 5.87286776e-01 8.09196050e-01 -1.72044886e-02 2.75379692e+01] [ 3.19730584e-02 -1.95464965e-03 9.99486820e-01 -1.03487348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23719347 meters 0.07482239210291791 Centerline is valid? [True, True] Translation: X:95.93, Y:27.55, Z:-1.04 [[ 8.07804898e-01 -5.88806781e-01 -2.75285708e-02 9.59254762e+01] [ 5.88549286e-01 8.08271249e-01 -1.75307303e-02 2.75500331e+01] [ 3.25727652e-02 -2.04051092e-03 9.99467284e-01 -1.03656743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26719347 meters 0.07521256495429203 Centerline is valid? [True, True] Translation: X:95.95, Y:27.56, Z:-1.03 [[ 8.05687437e-01 -5.91820988e-01 -2.48127448e-02 9.59516346e+01] [ 5.91613179e-01 8.06067072e-01 -1.58025568e-02 2.75642639e+01] [ 2.93530213e-02 -1.94762533e-03 9.99567210e-01 -1.03365790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29719347 meters 0.07536443254866963 Centerline is valid? [True, True] Translation: X:95.98, Y:27.58, Z:-1.03 [[ 8.04597343e-01 -5.93331084e-01 -2.41109991e-02 9.59758543e+01] [ 5.93135180e-01 8.04956196e-01 -1.53681833e-02 2.75794105e+01] [ 2.85267189e-02 -1.93588239e-03 9.99591156e-01 -1.03329928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32719347 meters 0.07692535931953348 Centerline is valid? [True, True] Translation: X:96.00, Y:27.59, Z:-1.03 [[ 8.03112720e-01 -5.95380676e-01 -2.30610068e-02 9.60003867e+01] [ 5.95202281e-01 8.03441449e-01 -1.46997294e-02 2.75930086e+01] [ 2.72801035e-02 -1.92042421e-03 9.99625984e-01 -1.03399206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35719347 meters 0.07688270803056817 Centerline is valid? [True, True] Translation: X:96.02, Y:27.61, Z:-1.03 [[ 8.01878097e-01 -5.97054624e-01 -2.27440722e-02 9.60247592e+01] [ 5.96881742e-01 8.02198215e-01 -1.44986569e-02 2.76102179e+01] [ 2.69017442e-02 -1.94936600e-03 9.99636182e-01 -1.03319949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38719347 meters 0.07863633298464318 Centerline is valid? [True, True] Translation: X:96.05, Y:27.63, Z:-1.03 [[ 7.99978949e-01 -5.99628172e-01 -2.19028996e-02 9.60494513e+01] [ 5.99468753e-01 8.00276338e-01 -1.39641129e-02 2.76251077e+01] [ 2.59016478e-02 -1.95910752e-03 9.99662576e-01 -1.03347354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41719347 meters 0.07712173381978353 Centerline is valid? [True, True] Translation: X:96.07, Y:27.64, Z:-1.03 [[ 8.00433402e-01 -5.99064426e-01 -2.06925760e-02 9.60709781e+01] [ 5.98921885e-01 8.00698732e-01 -1.31953039e-02 2.76444887e+01] [ 2.44733565e-02 -1.83127462e-03 9.99698805e-01 -1.03149534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44719347 meters 0.07507970597749597 Centerline is valid? [True, True] Translation: X:96.09, Y:27.67, Z:-1.03 [[ 8.00802425e-01 -5.98621077e-01 -1.91907000e-02 9.60912710e+01] [ 5.98498296e-01 8.01030569e-01 -1.22400200e-02 2.76662080e+01] [ 2.26994713e-02 -1.68376356e-03 9.99740916e-01 -1.02826385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47719347 meters 0.07678824608971174 Centerline is valid? [True, True] Translation: X:96.12, Y:27.68, Z:-1.03 [[ 8.02345920e-01 -5.96582669e-01 -1.81698699e-02 9.61155179e+01] [ 5.96472069e-01 8.02550155e-01 -1.15896383e-02 2.76820455e+01] [ 2.14964092e-02 -1.53892085e-03 9.99767741e-01 -1.02863436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50719347 meters 0.07324499048590316 Centerline is valid? [True, True] Translation: X:96.13, Y:27.71, Z:-1.02 [[ 8.06067273e-01 -5.91591337e-01 -1.65903898e-02 9.61321238e+01] [ 5.91498074e-01 8.06236965e-01 -1.05823130e-02 2.77124003e+01] [ 1.96361902e-02 -1.28312740e-03 9.99806368e-01 -1.02458445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53719347 meters 0.07223069713604037 Centerline is valid? [True, True] Translation: X:96.15, Y:27.73, Z:-1.02 [[ 8.07787494e-01 -5.89221490e-01 -1.72453235e-02 9.61536348e+01] [ 5.89120153e-01 8.07970554e-01 -1.10013409e-02 2.77334444e+01] [ 2.04159401e-02 -1.27282200e-03 9.99790763e-01 -1.02471449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56719347 meters 0.07259012057346023 Centerline is valid? [True, True] Translation: X:96.18, Y:27.75, Z:-1.03 [[ 8.08702708e-01 -5.87965702e-01 -1.72122760e-02 9.61757084e+01] [ 5.87864421e-01 8.08884914e-01 -1.09826935e-02 2.77512961e+01] [ 2.03801975e-02 -1.23675068e-03 9.99791537e-01 -1.02762789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59719347 meters 0.07126082016939551 Centerline is valid? [True, True] Translation: X:96.19, Y:27.77, Z:-1.03 [[ 8.09623165e-01 -5.86664122e-01 -1.83177086e-02 9.61949871e+01] [ 5.86548873e-01 8.09829356e-01 -1.16975960e-02 2.77745749e+01] [ 2.16967780e-02 -1.27358668e-03 9.99763786e-01 -1.03004928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62719347 meters 0.07133538221058475 Centerline is valid? [True, True] Translation: X:96.22, Y:27.79, Z:-1.03 [[ 8.09295910e-01 -5.87149088e-01 -1.72069372e-02 9.62174861e+01] [ 5.87047355e-01 8.09477919e-01 -1.09954793e-02 2.77926191e+01] [ 2.03846214e-02 -1.20269058e-03 9.99791489e-01 -1.03003547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65719347 meters 0.07135634752774257 Centerline is valid? [True, True] Translation: X:96.24, Y:27.81, Z:-1.03 [[ 8.08480054e-01 -5.88303629e-01 -1.60885962e-02 9.62391773e+01] [ 5.88214788e-01 8.08639305e-01 -1.02877233e-02 2.78116477e+01] [ 1.90621762e-02 -1.14613112e-03 9.99817643e-01 -1.02846160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68719347 meters 0.07274482257799984 Centerline is valid? [True, True] Translation: X:96.26, Y:27.83, Z:-1.03 [[ 8.07044344e-01 -5.90275944e-01 -1.59290858e-02 9.62623592e+01] [ 5.90189253e-01 8.07200665e-01 -1.01848912e-02 2.78287562e+01] [ 1.88698649e-02 -1.18151640e-03 9.99821250e-01 -1.02752122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71719347 meters 0.07285109908164002 Centerline is valid? [True, True] Translation: X:96.29, Y:27.85, Z:-1.03 [[ 8.04585136e-01 -5.93579651e-01 -1.74916287e-02 9.62850224e+01] [ 5.93475883e-01 8.04774060e-01 -1.11843270e-02 2.78501295e+01] [ 2.07155979e-02 -1.38211654e-03 9.99784454e-01 -1.02745072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74719347 meters 0.0766067816874119 Centerline is valid? [True, True] Translation: X:96.31, Y:27.86, Z:-1.03 [[ 8.01099661e-01 -5.98239791e-01 -1.86677532e-02 9.63124841e+01] [ 5.98122810e-01 8.01315535e-01 -1.19380956e-02 2.78601614e+01] [ 2.21006044e-02 -1.60200466e-03 9.99754468e-01 -1.03246396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77719347 meters 0.07793512038512261 Centerline is valid? [True, True] Translation: X:96.34, Y:27.88, Z:-1.03 [[ 7.99230618e-01 -6.00679560e-01 -2.03589177e-02 9.63380746e+01] [ 6.00541198e-01 7.99487806e-01 -1.30198686e-02 2.78755965e+01] [ 2.40974754e-02 -1.82049116e-03 9.99707956e-01 -1.03453945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80719347 meters 0.08038638404308648 Centerline is valid? [True, True] Translation: X:96.36, Y:27.89, Z:-1.04 [[ 7.97142067e-01 -6.03388402e-01 -2.20671968e-02 9.63630461e+01] [ 6.03226831e-01 7.97444788e-01 -1.41138681e-02 2.78898531e+01] [ 2.61135154e-02 -2.06076723e-03 9.99656860e-01 -1.03729634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83719347 meters 0.0807295883818365 Centerline is valid? [True, True] Translation: X:96.39, Y:27.91, Z:-1.04 [[ 7.96086381e-01 -6.04698253e-01 -2.42177070e-02 9.63870985e+01] [ 6.04504251e-01 7.96451312e-01 -1.54893127e-02 2.79086481e+01] [ 2.86545848e-02 -2.30887588e-03 9.99586707e-01 -1.03868705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86719347 meters 0.08215040576929071 Centerline is valid? [True, True] Translation: X:96.41, Y:27.92, Z:-1.04 [[ 7.94985968e-01 -6.06105212e-01 -2.51750380e-02 9.64106723e+01] [ 6.05896186e-01 7.95380705e-01 -1.61042240e-02 2.79249529e+01] [ 2.97845936e-02 -2.45082743e-03 9.99553336e-01 -1.04038714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89719347 meters 0.07999890285661873 Centerline is valid? [True, True] Translation: X:96.43, Y:27.95, Z:-1.04 [[ 7.94578249e-01 -6.06698430e-01 -2.37154134e-02 9.64288055e+01] [ 6.06512870e-01 7.94928697e-01 -1.51824158e-02 2.79498511e+01] [ 2.80632104e-02 -2.32008608e-03 9.99603458e-01 -1.03688733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92719347 meters 0.08013678433450584 Centerline is valid? [True, True] Translation: X:96.45, Y:27.97, Z:-1.04 [[ 7.95118214e-01 -6.06014430e-01 -2.30984116e-02 9.64497700e+01] [ 6.05838074e-01 7.95450511e-01 -1.47889459e-02 2.79688290e+01] [ 2.73359579e-02 -2.23493690e-03 9.99623804e-01 -1.03555502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95719347 meters 0.07760395547098164 Centerline is valid? [True, True] Translation: X:96.47, Y:27.99, Z:-1.03 [[ 7.96374932e-01 -6.04375307e-01 -2.27476520e-02 9.64698298e+01] [ 6.04203606e-01 7.96696859e-01 -1.45642602e-02 2.79935966e+01] [ 2.69252621e-02 -2.14560163e-03 9.99635147e-01 -1.03332015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98719347 meters 0.07645700193362914 Centerline is valid? [True, True] Translation: X:96.49, Y:28.02, Z:-1.04 [[ 8.00589548e-01 -5.98739440e-01 -2.38213950e-02 9.64879447e+01] [ 5.98548594e-01 8.00941257e-01 -1.52539561e-02 2.80187512e+01] [ 2.82126832e-02 -2.04610468e-03 9.99599849e-01 -1.03566544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01719347 meters 0.07554359075981734 Centerline is valid? [True, True] Translation: X:96.51, Y:28.04, Z:-1.04 [[ 8.03123447e-01 -5.95292820e-01 -2.48834666e-02 9.65090141e+01] [ 5.95082895e-01 8.03506328e-01 -1.59351538e-02 2.80392443e+01] [ 2.94801055e-02 -2.00982966e-03 9.99563347e-01 -1.03755588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04719347 meters 0.07173344142521294 Centerline is valid? [True, True] Translation: X:96.53, Y:28.07, Z:-1.04 [[ 8.06232907e-01 -5.91089403e-01 -2.45319818e-02 9.65278309e+01] [ 5.90883436e-01 8.06603973e-01 -1.57097133e-02 2.80666581e+01] [ 2.90734390e-02 -1.82985394e-03 9.99575603e-01 -1.03562028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07719347 meters 0.07085371156926977 Centerline is valid? [True, True] Translation: X:96.55, Y:28.09, Z:-1.03 [[ 8.09880965e-01 -5.86141199e-01 -2.30503216e-02 9.65479510e+01] [ 5.85957325e-01 8.10207436e-01 -1.47622474e-02 2.80892291e+01] [ 2.73283033e-02 -1.55084164e-03 9.99625309e-01 -1.03496629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10719347 meters 0.06688481330439573 Centerline is valid? [True, True] Translation: X:96.56, Y:28.12, Z:-1.03 [[ 8.17840441e-01 -5.74999887e-01 -2.26305668e-02 9.65607535e+01] [ 5.74818332e-01 8.18152674e-01 -1.44943951e-02 2.81248604e+01] [ 2.68495343e-02 -1.15436219e-03 9.99638820e-01 -1.03099451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13719347 meters 0.06494451705959985 Centerline is valid? [True, True] Translation: X:96.58, Y:28.15, Z:-1.03 [[ 8.21668804e-01 -5.69430803e-01 -2.46766575e-02 9.65798116e+01] [ 5.69212367e-01 8.22038588e-01 -1.58063453e-02 2.81500274e+01] [ 2.92857846e-02 -1.05867778e-03 9.99570519e-01 -1.02948733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16719347 meters 0.06422947052250584 Centerline is valid? [True, True] Translation: X:96.60, Y:28.17, Z:-1.03 [[ 8.24205541e-01 -5.65716957e-01 -2.54862895e-02 9.66007197e+01] [ 5.65481833e-01 8.24598949e-01 -1.63361433e-02 2.81713348e+01] [ 3.02576009e-02 -9.47693859e-04 9.99541685e-01 -1.03109916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19719347 meters 0.06445942725118373 Centerline is valid? [True, True] Translation: X:96.62, Y:28.19, Z:-1.04 [[ 8.26267427e-01 -5.62686379e-01 -2.58104281e-02 9.66230575e+01] [ 5.62443719e-01 8.26670021e-01 -1.65450745e-02 2.81878957e+01] [ 3.06463952e-02 -8.46257042e-04 9.99529931e-01 -1.03566198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22719347 meters 0.06426346770149777 Centerline is valid? [True, True] Translation: X:96.65, Y:28.21, Z:-1.03 [[ 8.26702136e-01 -5.62104934e-01 -2.45279519e-02 9.66463909e+01] [ 5.61885227e-01 8.27065561e-01 -1.57337065e-02 2.82054574e+01] [ 2.91302183e-02 -7.74805044e-04 9.99575325e-01 -1.03473597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25719347 meters 0.06309269824839699 Centerline is valid? [True, True] Translation: X:96.67, Y:28.22, Z:-1.03 [[ 8.26069879e-01 -5.63181177e-01 -2.08690434e-02 9.66690176e+01] [ 5.63022397e-01 8.26333158e-01 -1.33900504e-02 2.82242831e+01] [ 2.47858068e-02 -6.88621491e-04 9.99692548e-01 -1.02623810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28719347 meters 0.06444610160290754 Centerline is valid? [True, True] Translation: X:96.70, Y:28.24, Z:-1.03 [[ 8.24112263e-01 -5.66078249e-01 -1.98593566e-02 9.66964266e+01] [ 5.65935363e-01 8.24351180e-01 -1.27395584e-02 2.82352583e+01] [ 2.35826710e-02 -7.40285854e-04 9.99721616e-01 -1.02801413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31719347 meters 0.06345076634741406 Centerline is valid? [True, True] Translation: X:96.72, Y:28.26, Z:-1.02 [[ 8.22851271e-01 -5.67930591e-01 -1.92517410e-02 9.67219014e+01] [ 5.67796885e-01 8.23076089e-01 -1.23470149e-02 2.82554219e+01] [ 2.28578951e-02 -7.71321666e-04 9.99738427e-01 -1.02206137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34719347 meters 0.06624963542368194 Centerline is valid? [True, True] Translation: X:96.75, Y:28.26, Z:-1.03 [[ 8.20976958e-01 -5.70549297e-01 -2.16871889e-02 9.67543874e+01] [ 5.70380524e-01 8.21262805e-01 -1.39090686e-02 2.82605968e+01] [ 2.57466909e-02 -9.50925330e-04 9.99668047e-01 -1.03324652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37719347 meters 0.06485966968991025 Centerline is valid? [True, True] Translation: X:96.78, Y:28.28, Z:-1.03 [[ 8.20085537e-01 -5.71763561e-01 -2.33696934e-02 9.67795117e+01] [ 5.71568115e-01 8.20417755e-01 -1.49865985e-02 2.82790570e+01] [ 2.77417023e-02 -1.06707887e-03 9.99614555e-01 -1.03115115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40719347 meters 0.06503868480690364 Centerline is valid? [True, True] Translation: X:96.81, Y:28.29, Z:-1.03 [[ 8.19041570e-01 -5.73190093e-01 -2.49804678e-02 9.68070518e+01] [ 5.72967447e-01 8.19421561e-01 -1.60190572e-02 2.82936715e+01] [ 2.96514989e-02 -1.19272111e-03 9.99559586e-01 -1.03199777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43719347 meters 0.06613086347632952 Centerline is valid? [True, True] Translation: X:96.83, Y:28.31, Z:-1.03 [[ 8.17512457e-01 -5.75256857e-01 -2.74396042e-02 9.68323872e+01] [ 5.74989294e-01 8.17971646e-01 -1.75982201e-02 2.83075367e+01] [ 3.25683150e-02 -1.39071448e-03 9.99468544e-01 -1.03266880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46719347 meters 0.06633558752301061 Centerline is valid? [True, True] Translation: X:96.86, Y:28.32, Z:-1.03 [[ 8.17085770e-01 -5.75825191e-01 -2.82169039e-02 9.68566635e+01] [ 5.75542128e-01 8.17571568e-01 -1.81104593e-02 2.83234526e+01] [ 3.34977971e-02 -1.44221838e-03 9.99437751e-01 -1.03199740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49719347 meters 0.06690642238183944 Centerline is valid? [True, True] Translation: X:96.88, Y:28.34, Z:-1.03 [[ 8.16848115e-01 -5.76175128e-01 -2.79531600e-02 9.68809017e+01] [ 5.75897400e-01 8.17324996e-01 -1.79453605e-02 2.83361510e+01] [ 3.31864868e-02 -1.43951823e-03 9.99448140e-01 -1.03404800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52719347 meters 0.06987513976658952 Centerline is valid? [True, True] Translation: X:96.91, Y:28.34, Z:-1.04 [[ 8.17314458e-01 -5.75495083e-01 -2.83282070e-02 9.69095385e+01] [ 5.75209323e-01 8.17803993e-01 -1.81896618e-02 2.83428942e+01] [ 3.36349817e-02 -1.42797522e-03 9.99433164e-01 -1.04316787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55719347 meters 0.06699597623788188 Centerline is valid? [True, True] Translation: X:96.93, Y:28.36, Z:-1.04 [[ 8.17526483e-01 -5.75069218e-01 -3.07545764e-02 9.69302905e+01] [ 5.74731597e-01 8.18103345e-01 -1.97612872e-02 2.83635568e+01] [ 3.65245298e-02 -1.52025118e-03 9.99331600e-01 -1.03925388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58719347 meters 0.06708883394939567 Centerline is valid? [True, True] Translation: X:96.96, Y:28.38, Z:-1.04 [[ 8.17016974e-01 -5.75737532e-01 -3.17735531e-02 9.69550171e+01] [ 5.75377200e-01 8.17633023e-01 -2.04283322e-02 2.83786303e+01] [ 3.77404638e-02 -1.59148385e-03 9.99286308e-01 -1.03977694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61719347 meters 0.0678275141588332 Centerline is valid? [True, True] Translation: X:96.98, Y:28.39, Z:-1.04 [[ 8.16668178e-01 -5.76181686e-01 -3.26764591e-02 9.69797605e+01] [ 5.75800721e-01 8.17319968e-01 -2.10142638e-02 2.83916104e+01] [ 3.88151564e-02 -1.65344818e-03 9.99245040e-01 -1.04202084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64719347 meters 0.0678275141588332 Centerline is valid? [True, True] Translation: X:97.00, Y:28.41, Z:-1.04 [[ 8.16490177e-01 -5.76434308e-01 -3.26692365e-02 9.70027254e+01] [ 5.76053096e-01 8.17141823e-01 -2.10254912e-02 2.84066016e+01] [ 3.88152140e-02 -1.65210778e-03 9.99245040e-01 -1.04224759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67719347 meters 0.06624111315913046 Centerline is valid? [True, True] Translation: X:97.02, Y:28.42, Z:-1.04 [[ 8.15784536e-01 -5.77455261e-01 -3.22647209e-02 9.70248396e+01] [ 5.77083731e-01 8.16420624e-01 -2.07781469e-02 2.84248098e+01] [ 3.83400338e-02 -1.66895459e-03 9.99263357e-01 -1.03644608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70719347 meters 0.06685296353468138 Centerline is valid? [True, True] Translation: X:97.05, Y:28.43, Z:-1.04 [[ 8.13637875e-01 -5.80579949e-01 -3.03369470e-02 9.70529413e+01] [ 5.80253207e-01 8.14201475e-01 -1.95492380e-02 2.84341762e+01] [ 3.60502826e-02 -1.69711034e-03 9.99348536e-01 -1.03706332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73719347 meters 0.06736766565384143 Centerline is valid? [True, True] Translation: X:97.08, Y:28.45, Z:-1.04 [[ 8.12497849e-01 -5.82222245e-01 -2.94024195e-02 9.70797862e+01] [ 5.81915977e-01 8.13027889e-01 -1.89590988e-02 2.84455840e+01] [ 3.49433961e-02 -1.70551068e-03 9.99387838e-01 -1.03805250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76719347 meters 0.06775018079868379 Centerline is valid? [True, True] Translation: X:97.11, Y:28.46, Z:-1.04 [[ 8.10746958e-01 -5.84726344e-01 -2.80084441e-02 9.71066072e+01] [ 5.84449534e-01 8.11228791e-01 -1.80718081e-02 2.84576592e+01] [ 3.32883185e-02 -1.71785864e-03 9.99444314e-01 -1.03687857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79719347 meters 0.06892486795313421 Centerline is valid? [True, True] Translation: X:97.13, Y:28.47, Z:-1.03 [[ 8.09176213e-01 -5.87102141e-01 -2.33437864e-02 9.71331019e+01] [ 5.86910796e-01 8.09511453e-01 -1.50640493e-02 2.84672533e+01] [ 2.77411980e-02 -1.51124990e-03 9.99613997e-01 -1.03304418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82719347 meters 0.0688477755177697 Centerline is valid? [True, True] Translation: X:97.16, Y:28.48, Z:-1.03 [[ 8.08557496e-01 -5.87967518e-01 -2.29994153e-02 9.71567125e+01] [ 5.87781822e-01 8.08883131e-01 -1.48529335e-02 2.84829136e+01] [ 2.73368815e-02 -1.50918752e-03 9.99625138e-01 -1.03052951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85719347 meters 0.06965830919271099 Centerline is valid? [True, True] Translation: X:97.18, Y:28.50, Z:-1.03 [[ 8.07548968e-01 -5.89394816e-01 -2.18726947e-02 9.71818799e+01] [ 5.89227157e-01 8.07843784e-01 -1.41342943e-02 2.84974017e+01] [ 2.60004003e-02 -1.47385094e-03 9.99660846e-01 -1.02869823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88719347 meters 0.07061691643774216 Centerline is valid? [True, True] Translation: X:97.21, Y:28.51, Z:-1.03 [[ 8.05680364e-01 -5.91958315e-01 -2.15523746e-02 9.72100016e+01] [ 5.91796471e-01 8.05967120e-01 -1.39261946e-02 2.85089781e+01] [ 2.56142319e-02 -1.53455768e-03 9.99670724e-01 -1.03032625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91719347 meters 0.0722521661509961 Centerline is valid? [True, True] Translation: X:97.24, Y:28.52, Z:-1.03 [[ 8.04367002e-01 -5.93755071e-01 -2.11811836e-02 9.72380837e+01] [ 5.93599341e-01 8.04644314e-01 -1.36875852e-02 2.85191252e+01] [ 2.51703920e-02 -1.56329478e-03 9.99681953e-01 -1.03363002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94719347 meters 0.07396177397712958 Centerline is valid? [True, True] Translation: X:97.27, Y:28.53, Z:-1.04 [[ 8.02910493e-01 -5.95731798e-01 -2.09371701e-02 9.72650281e+01] [ 5.95580219e-01 8.03181831e-01 -1.35332812e-02 2.85293739e+01] [ 2.48785605e-02 -1.60375089e-03 9.99689194e-01 -1.03643664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97719347 meters 0.0747189732034229 Centerline is valid? [True, True] Translation: X:97.29, Y:28.54, Z:-1.04 [[ 8.01794767e-01 -5.97221843e-01 -2.12419896e-02 9.72902049e+01] [ 5.97066301e-01 8.02074355e-01 -1.37317650e-02 2.85433192e+01] [ 2.52385651e-02 -1.67281888e-03 9.99680057e-01 -1.03752327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00719347 meters 0.07392112877145283 Centerline is valid? [True, True] Translation: X:97.31, Y:28.56, Z:-1.04 [[ 8.00842427e-01 -5.98411224e-01 -2.35672297e-02 9.73134402e+01] [ 5.98220265e-01 8.01186873e-01 -1.52351235e-02 2.85625611e+01] [ 2.79986240e-02 -1.89746114e-03 9.99606161e-01 -1.03690632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03719347 meters 0.07207289606548035 Centerline is valid? [True, True] Translation: X:97.33, Y:28.58, Z:-1.03 [[ 8.00929856e-01 -5.98279951e-01 -2.39262576e-02 9.73347201e+01] [ 5.98082727e-01 8.01284871e-01 -1.54792450e-02 2.85829063e+01] [ 2.84326701e-02 -1.91209189e-03 9.99593881e-01 -1.03490114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06719347 meters 0.07242320842312544 Centerline is valid? [True, True] Translation: X:97.36, Y:28.60, Z:-1.04 [[ 8.01488261e-01 -5.97543710e-01 -2.36237718e-02 9.73576087e+01] [ 5.97351069e-01 8.01834181e-01 -1.52854935e-02 2.85982074e+01] [ 2.80760982e-02 -1.86054173e-03 9.99604057e-01 -1.03621362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09719347 meters 0.0712278988709211 Centerline is valid? [True, True] Translation: X:97.38, Y:28.62, Z:-1.04 [[ 8.02483907e-01 -5.96159110e-01 -2.47768968e-02 9.73805185e+01] [ 5.95946214e-01 8.02864084e-01 -1.60428124e-02 2.86164454e+01] [ 2.94565493e-02 -1.89159910e-03 9.99564272e-01 -1.03757804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12719347 meters 0.07369408862190532 Centerline is valid? [True, True] Translation: X:97.41, Y:28.63, Z:-1.04 [[ 8.02317984e-01 -5.96343341e-01 -2.56996572e-02 9.74070683e+01] [ 5.96114054e-01 8.02727087e-01 -1.66510852e-02 2.86258499e+01] [ 3.05595748e-02 -1.96046172e-03 9.99531025e-01 -1.04383293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15719347 meters 0.07226694478061078 Centerline is valid? [True, True] Translation: X:97.43, Y:28.64, Z:-1.04 [[ 8.02210026e-01 -5.96488517e-01 -2.57006512e-02 9.74284553e+01] [ 5.96258904e-01 8.02619227e-01 -1.66642425e-02 2.86439039e+01] [ 3.05678661e-02 -1.95601975e-03 9.99530780e-01 -1.04319547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18719347 meters 0.07207429942925012 Centerline is valid? [True, True] Translation: X:97.45, Y:28.66, Z:-1.04 [[ 8.02100906e-01 -5.96627854e-01 -2.58716304e-02 9.74510539e+01] [ 5.96394883e-01 8.02515634e-01 -1.67869114e-02 2.86607738e+01] [ 3.07779268e-02 -1.96491117e-03 9.99524316e-01 -1.04319238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21719347 meters 0.07204101063298912 Centerline is valid? [True, True] Translation: X:97.47, Y:28.68, Z:-1.04 [[ 8.02778825e-01 -5.95792135e-01 -2.40393576e-02 9.74745223e+01] [ 5.95590660e-01 8.03136666e-01 -1.55968376e-02 2.86785641e+01] [ 2.85993627e-02 -1.79680593e-03 9.99589340e-01 -1.04175483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24719347 meters 0.07306301811220915 Centerline is valid? [True, True] Translation: X:97.50, Y:28.69, Z:-1.04 [[ 8.02817947e-01 -5.95762597e-01 -2.34578989e-02 9.74997012e+01] [ 5.95570436e-01 8.03158694e-01 -1.52304703e-02 2.86931537e+01] [ 2.79141600e-02 -1.74353621e-03 9.99608803e-01 -1.04292167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27719347 meters 0.07282354844992756 Centerline is valid? [True, True] Translation: X:97.52, Y:28.71, Z:-1.04 [[ 8.02760554e-01 -5.95881654e-01 -2.23729285e-02 9.75228087e+01] [ 5.95706656e-01 8.03070546e-01 -1.45354184e-02 2.87097699e+01] [ 2.66284290e-02 -1.65924187e-03 9.99644023e-01 -1.04125450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30719347 meters 0.07147665641581044 Centerline is valid? [True, True] Translation: X:97.54, Y:28.73, Z:-1.04 [[ 8.02140500e-01 -5.96770050e-01 -2.08836209e-02 9.75438578e+01] [ 5.96617611e-01 8.02410774e-01 -1.35785176e-02 2.87281128e+01] [ 2.48604950e-02 -1.56765708e-03 9.99689701e-01 -1.03851498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33719347 meters 0.07202040695572015 Centerline is valid? [True, True] Translation: X:97.57, Y:28.74, Z:-1.04 [[ 8.00292354e-01 -5.99363298e-01 -1.71984062e-02 9.75688798e+01] [ 5.99260358e-01 8.00475991e-01 -1.11897884e-02 2.87427737e+01] [ 2.04736597e-02 -1.35122096e-03 9.99789480e-01 -1.03702016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36719347 meters 0.07429274638885561 Centerline is valid? [True, True] Translation: X:97.60, Y:28.75, Z:-1.04 [[ 7.99120238e-01 -6.00939826e-01 -1.66784486e-02 9.75953601e+01] [ 6.00843359e-01 7.99293128e-01 -1.08514679e-02 2.87538633e+01] [ 1.98520485e-02 -1.34950748e-03 9.99802018e-01 -1.03945502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39719347 meters 0.0729675182176072 Centerline is valid? [True, True] Translation: X:97.62, Y:28.77, Z:-1.04 [[ 7.96839165e-01 -6.03985379e-01 -1.57799587e-02 9.76184227e+01] [ 6.03899619e-01 7.96994255e-01 -1.02667917e-02 2.87739951e+01] [ 1.87775286e-02 -1.34852933e-03 9.99822777e-01 -1.03805571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42719347 meters 0.07396251451808127 Centerline is valid? [True, True] Translation: X:97.64, Y:28.79, Z:-1.04 [[ 7.95587286e-01 -6.05620846e-01 -1.62560988e-02 9.76431900e+01] [ 6.05530148e-01 7.95752067e-01 -1.05777240e-02 2.87907568e+01] [ 1.93419144e-02 -1.42805518e-03 9.99811908e-01 -1.03812870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45719347 meters 0.07488557349100373 Centerline is valid? [True, True] Translation: X:97.67, Y:28.81, Z:-1.04 [[ 7.95098960e-01 -6.06263258e-01 -1.62020384e-02 9.76661733e+01] [ 6.06173238e-01 7.95262723e-01 -1.05455024e-02 2.88069955e+01] [ 1.92782279e-02 -1.43652408e-03 9.99813126e-01 -1.03869916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48719347 meters 0.07476134873668529 Centerline is valid? [True, True] Translation: X:97.69, Y:28.83, Z:-1.04 [[ 7.94869679e-01 -6.06550873e-01 -1.66803076e-02 9.76871786e+01] [ 6.06455352e-01 7.95043301e-01 -1.08653747e-02 2.88281714e+01] [ 1.98519693e-02 -1.47930497e-03 9.99801836e-01 -1.03879399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51719347 meters 0.07631080562248718 Centerline is valid? [True, True] Translation: X:97.71, Y:28.84, Z:-1.04 [[ 7.95324446e-01 -6.05941306e-01 -1.71510732e-02 9.77112328e+01] [ 6.05840164e-01 7.95507931e-01 -1.11725967e-02 2.88427382e+01] [ 2.04137526e-02 -1.50496974e-03 9.99790485e-01 -1.04095126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54719347 meters 0.07934247279060215 Centerline is valid? [True, True] Translation: X:97.74, Y:28.85, Z:-1.04 [[ 7.95281205e-01 -6.05996953e-01 -1.71900334e-02 9.77358503e+01] [ 6.05895288e-01 7.95465538e-01 -1.12016706e-02 2.88539513e+01] [ 2.04622574e-02 -1.50688215e-03 9.99789491e-01 -1.04488390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57719347 meters 0.07280027058015466 Centerline is valid? [True, True] Translation: X:97.75, Y:28.88, Z:-1.04 [[ 7.95826532e-01 -6.05215125e-01 -1.93593377e-02 9.77503494e+01] [ 6.05085735e-01 7.96060220e-01 -1.26245959e-02 2.88838689e+01] [ 2.30517950e-02 -1.66707073e-03 9.99732882e-01 -1.04307149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60719347 meters 0.07359661321520986 Centerline is valid? [True, True] Translation: X:97.77, Y:28.90, Z:-1.04 [[ 7.96423792e-01 -6.04375712e-01 -2.09557168e-02 9.77726251e+01] [ 6.04223787e-01 7.96697458e-01 -1.36665990e-02 2.89007622e+01] [ 2.49551268e-02 -1.77753792e-03 9.99686992e-01 -1.04446921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63719347 meters 0.07223326604756866 Centerline is valid? [True, True] Translation: X:97.79, Y:28.92, Z:-1.04 [[ 7.97502197e-01 -6.02935327e-01 -2.14298341e-02 9.77930062e+01] [ 6.02775874e-01 7.97788104e-01 -1.39780699e-02 2.89226767e+01] [ 2.55243389e-02 -1.76984554e-03 9.99672634e-01 -1.04349294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66719347 meters 0.070054849733871 Centerline is valid? [True, True] Translation: X:97.81, Y:28.95, Z:-1.04 [[ 8.01145337e-01 -5.98027549e-01 -2.30043429e-02 9.78107536e+01] [ 5.97841799e-01 8.01473674e-01 -1.50044592e-02 2.89502949e+01] [ 2.74104552e-02 -1.73220519e-03 9.99622762e-01 -1.04252902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69719347 meters 0.070054849733871 Centerline is valid? [True, True] Translation: X:97.83, Y:28.97, Z:-1.04 [[ 8.00949748e-01 -5.98289724e-01 -2.29979842e-02 9.78336315e+01] [ 5.98103802e-01 8.01277989e-01 -1.50142047e-02 2.89654299e+01] [ 2.74106229e-02 -1.72955833e-03 9.99622762e-01 -1.04275538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72719347 meters 0.06691042974750977 Centerline is valid? [True, True] Translation: X:97.85, Y:28.99, Z:-1.04 [[ 8.05894875e-01 -5.91633150e-01 -2.24424859e-02 9.78523486e+01] [ 5.91453607e-01 8.06205965e-01 -1.46482770e-02 2.89925780e+01] [ 2.67596723e-02 -1.46871788e-03 9.99640817e-01 -1.04287458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75719347 meters 0.06546156446771369 Centerline is valid? [True, True] Translation: X:97.87, Y:29.01, Z:-1.04 [[ 8.08723149e-01 -5.87767692e-01 -2.22712425e-02 9.78749890e+01] [ 5.87589365e-01 8.09028661e-01 -1.45383314e-02 2.90133088e+01] [ 2.65632350e-02 -1.32886006e-03 9.99646252e-01 -1.04429094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78719347 meters 0.06570008775150724 Centerline is valid? [True, True] Translation: X:97.90, Y:29.03, Z:-1.05 [[ 8.11470076e-01 -5.84004493e-01 -2.13323399e-02 9.78990363e+01] [ 5.83839558e-01 8.11749605e-01 -1.39265691e-02 2.90299474e+01] [ 2.54496975e-02 -1.15366982e-03 9.99675438e-01 -1.04743446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81719347 meters 0.06269224002373935 Centerline is valid? [True, True] Translation: X:97.92, Y:29.06, Z:-1.04 [[ 8.14495216e-01 -5.79857485e-01 -1.90483754e-02 9.79193007e+01] [ 5.79724858e-01 8.14717411e-01 -1.24349848e-02 2.90555321e+01] [ 2.27295621e-02 -9.14581071e-04 9.99741232e-01 -1.04302990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84719347 meters 0.060066458883663715 Centerline is valid? [True, True] Translation: X:97.94, Y:29.08, Z:-1.04 [[ 8.21861271e-01 -5.69463169e-01 -1.59921727e-02 9.79366729e+01] [ 5.69367705e-01 8.22016681e-01 -1.04399782e-02 2.90832648e+01] [ 1.90910158e-02 -5.25212878e-04 9.99817612e-01 -1.03859564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87719347 meters 0.05883467383240863 Centerline is valid? [True, True] Translation: X:97.96, Y:29.11, Z:-1.04 [[ 8.25688960e-01 -5.63922139e-01 -1.51513337e-02 9.79583330e+01] [ 5.63835514e-01 8.25827876e-01 -9.89104235e-03 2.91060287e+01] [ 1.80901715e-02 -3.75935566e-04 9.99836289e-01 -1.03627012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90719347 meters 0.05821322872179811 Centerline is valid? [True, True] Translation: X:97.98, Y:29.13, Z:-1.03 [[ 8.29065288e-01 -5.58974554e-01 -1.40782223e-02 9.79829261e+01] [ 5.58899082e-01 8.29184772e-01 -9.18862541e-03 2.91267891e+01] [ 1.68096553e-02 -2.50335142e-04 9.99858676e-01 -1.03460694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93719347 meters 0.05805277873222667 Centerline is valid? [True, True] Translation: X:98.01, Y:29.14, Z:-1.03 [[ 8.32347057e-01 -5.54104105e-01 -1.29235204e-02 9.80074905e+01] [ 5.54039918e-01 8.32447368e-01 -8.43495130e-03 2.91445567e+01] [ 1.54319917e-02 -1.39339259e-04 9.99880910e-01 -1.03430405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96719347 meters 0.05865042741020559 Centerline is valid? [True, True] Translation: X:98.03, Y:29.16, Z:-1.04 [[ 8.36996616e-01 -5.46967446e-01 -1.62258065e-02 9.80337611e+01] [ 5.46864963e-01 8.37153876e-01 -1.05877341e-02 2.91610532e+01] [ 1.93746427e-02 -1.14274326e-05 9.99812294e-01 -1.03990368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99719347 meters 0.059008944273387175 Centerline is valid? [True, True] Translation: X:98.06, Y:29.18, Z:-1.04 [[ 8.38219569e-01 -5.45047428e-01 -1.76424259e-02 9.80609208e+01] [ 5.44925869e-01 8.38405212e-01 -1.15107806e-02 2.91774330e+01] [ 2.10654232e-02 3.47472584e-05 9.99778099e-01 -1.03991485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02719347 meters 0.059397772088421556 Centerline is valid? [True, True] Translation: X:98.09, Y:29.19, Z:-1.04 [[ 8.38557201e-01 -5.44433342e-01 -2.03508292e-02 9.80895497e+01] [ 5.44271451e-01 8.38804109e-01 -1.32760982e-02 2.91916942e+01] [ 2.42983097e-02 5.63924414e-05 9.99704751e-01 -1.04114457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05719347 meters 0.059765122858232385 Centerline is valid? [True, True] Translation: X:98.12, Y:29.20, Z:-1.04 [[ 8.38223287e-01 -5.44914826e-01 -2.12027083e-02 9.81188192e+01] [ 5.44739232e-01 8.38491402e-01 -1.38324930e-02 2.92033434e+01] [ 2.53158191e-02 4.47706973e-05 9.99679502e-01 -1.04321913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08719347 meters 0.05972084666158003 Centerline is valid? [True, True] Translation: X:98.15, Y:29.21, Z:-1.05 [[ 8.36637186e-01 -5.47325846e-01 -2.17402173e-02 9.81510756e+01] [ 5.47141936e-01 8.36919600e-01 -1.41874708e-02 2.92056246e+01] [ 2.59599835e-02 -2.52189315e-05 9.99662983e-01 -1.04624577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11719347 meters 0.05948095322164697 Centerline is valid? [True, True] Translation: X:98.18, Y:29.22, Z:-1.04 [[ 8.36250006e-01 -5.47865013e-01 -2.30185781e-02 9.81781214e+01] [ 5.47658713e-01 8.36566749e-01 -1.50335711e-02 2.92164603e+01] [ 2.74929447e-02 -3.45009482e-05 9.99621997e-01 -1.04498760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14719347 meters 0.059327337501632035 Centerline is valid? [True, True] Translation: X:98.21, Y:29.22, Z:-1.04 [[ 8.36960623e-01 -5.46846309e-01 -2.13548580e-02 9.82073613e+01] [ 5.46668183e-01 8.37233011e-01 -1.39564773e-02 2.92246208e+01] [ 2.55110402e-02 7.00055723e-06 9.99674540e-01 -1.04327376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17719347 meters 0.05945419871405641 Centerline is valid? [True, True] Translation: X:98.23, Y:29.24, Z:-1.04 [[ 8.38461190e-01 -5.44580594e-01 -2.03668700e-02 9.82325518e+01] [ 5.44417826e-01 8.38708514e-01 -1.33139008e-02 2.92364158e+01] [ 2.43323592e-02 7.51020103e-05 9.99703921e-01 -1.04473801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20719347 meters 0.05949476348494051 Centerline is valid? [True, True] Translation: X:98.26, Y:29.25, Z:-1.05 [[ 8.39420258e-01 -5.43073517e-01 -2.10899548e-02 9.82592006e+01] [ 5.42898437e-01 8.39685143e-01 -1.37894183e-02 2.92472932e+01] [ 2.51975896e-02 1.25413575e-04 9.99682482e-01 -1.04502240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23719347 meters 0.059682775209444844 Centerline is valid? [True, True] Translation: X:98.29, Y:29.26, Z:-1.05 [[ 8.39362665e-01 -5.43177910e-01 -2.06899588e-02 9.82860890e+01] [ 5.43009361e-01 8.39617617e-01 -1.35311101e-02 2.92568831e+01] [ 2.47214540e-02 1.22667302e-04 9.99694371e-01 -1.04825380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26719347 meters 0.05969210192747511 Centerline is valid? [True, True] Translation: X:98.32, Y:29.26, Z:-1.05 [[ 8.38159805e-01 -5.44979709e-01 -2.20285626e-02 9.83155344e+01] [ 5.44788972e-01 8.38449229e-01 -1.44175830e-02 2.92646427e+01] [ 2.63271215e-02 8.33205941e-05 9.99653378e-01 -1.05028715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29719347 meters 0.0594062432485009 Centerline is valid? [True, True] Translation: X:98.35, Y:29.26, Z:-1.05 [[ 8.33456449e-01 -5.52133937e-01 -2.23262898e-02 9.83525881e+01] [ 5.51940523e-01 8.33755417e-01 -1.46138475e-02 2.92592595e+01] [ 2.66834662e-02 -1.42778581e-04 9.99643923e-01 -1.05278302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32719347 meters 0.05912150032157983 Centerline is valid? [True, True] Translation: X:98.38, Y:29.27, Z:-1.05 [[ 8.30769980e-01 -5.56202790e-01 -2.14405691e-02 9.83818168e+01] [ 5.56025432e-01 8.31046565e-01 -1.40472605e-02 2.92657951e+01] [ 2.56312368e-02 -2.51459425e-04 9.99671434e-01 -1.04942024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35719347 meters 0.05931296051109776 Centerline is valid? [True, True] Translation: X:98.41, Y:29.27, Z:-1.05 [[ 8.28628074e-01 -5.59380527e-01 -2.16550428e-02 9.84112390e+01] [ 5.59200456e-01 8.28910916e-01 -1.41966242e-02 2.92729072e+01] [ 2.58914165e-02 -3.45788450e-04 9.99664701e-01 -1.04826811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38719347 meters 0.05981845387160122 Centerline is valid? [True, True] Translation: X:98.44, Y:29.28, Z:-1.05 [[ 8.27475336e-01 -5.61110574e-01 -2.09640961e-02 9.84390697e+01] [ 5.60942204e-01 8.27740768e-01 -1.37500873e-02 2.92790696e+01] [ 2.50681564e-02 -3.81788122e-04 9.99685671e-01 -1.05078631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41719347 meters 0.059598893831291855 Centerline is valid? [True, True] Translation: X:98.47, Y:29.28, Z:-1.05 [[ 8.26376890e-01 -5.62774249e-01 -1.96565362e-02 9.84715525e+01] [ 5.62626483e-01 8.26610541e-01 -1.29017277e-02 2.92819720e+01] [ 2.35090601e-02 -3.97598267e-04 9.99723545e-01 -1.04791691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44719347 meters 0.05978869577685973 Centerline is valid? [True, True] Translation: X:98.50, Y:29.29, Z:-1.05 [[ 8.26262578e-01 -5.62951349e-01 -1.93889202e-02 9.84986927e+01] [ 5.62807400e-01 8.26489944e-01 -1.27359358e-02 2.92905253e+01] [ 2.31944598e-02 -3.89000584e-04 9.99730897e-01 -1.04957264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47719347 meters 0.059864315470586564 Centerline is valid? [True, True] Translation: X:98.53, Y:29.30, Z:-1.05 [[ 8.26928894e-01 -5.61907561e-01 -2.11777466e-02 9.85290851e+01] [ 5.61735264e-01 8.27199942e-01 -1.39193874e-02 2.92972442e+01] [ 2.53396398e-02 -3.85943448e-04 9.99678825e-01 -1.05149989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50719347 meters 0.060126053418399834 Centerline is valid? [True, True] Translation: X:98.56, Y:29.31, Z:-1.05 [[ 8.27043331e-01 -5.61671900e-01 -2.28911733e-02 9.85561524e+01] [ 5.61470463e-01 8.27359964e-01 -1.50468951e-02 2.93073880e+01] [ 2.73906585e-02 -4.08283439e-04 9.99624722e-01 -1.05381582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53719347 meters 0.060126053418399834 Centerline is valid? [True, True] Translation: X:98.58, Y:29.32, Z:-1.05 [[ 8.26852042e-01 -5.61953715e-01 -2.28849852e-02 9.85789331e+01] [ 5.61752125e-01 8.27168579e-01 -1.50563061e-02 2.93226356e+01] [ 2.73906878e-02 -4.06351662e-04 9.99624722e-01 -1.05404225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56719347 meters 0.060298998066809384 Centerline is valid? [True, True] Translation: X:98.61, Y:29.33, Z:-1.06 [[ 8.26923409e-01 -5.61767200e-01 -2.48050032e-02 9.86065877e+01] [ 5.61529981e-01 8.27295251e-01 -1.63293740e-02 2.93327206e+01] [ 2.96943680e-02 -4.25611355e-04 9.99558934e-01 -1.05626685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59719347 meters 0.06003803828911377 Centerline is valid? [True, True] Translation: X:98.64, Y:29.34, Z:-1.05 [[ 8.26460243e-01 -5.62539044e-01 -2.26559004e-02 9.86382181e+01] [ 5.62341172e-01 8.26770621e-01 -1.49247265e-02 2.93363621e+01] [ 2.71269742e-02 -4.05652493e-04 9.99631914e-01 -1.05462898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62719347 meters 0.060105180196849184 Centerline is valid? [True, True] Translation: X:98.66, Y:29.35, Z:-1.05 [[ 8.26310375e-01 -5.62760060e-01 -2.26335948e-02 9.86643081e+01] [ 5.62562569e-01 8.26620195e-01 -1.49133756e-02 2.93454997e+01] [ 2.71020387e-02 -4.09736247e-04 9.99632588e-01 -1.05439761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65719347 meters 0.06006394583845764 Centerline is valid? [True, True] Translation: X:98.69, Y:29.36, Z:-1.05 [[ 8.26079642e-01 -5.63055394e-01 -2.36864476e-02 9.86909920e+01] [ 5.62838879e-01 8.26419046e-01 -1.56191147e-02 2.93574742e+01] [ 2.83693582e-02 -4.29020984e-04 9.99597417e-01 -1.05317607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68719347 meters 0.06058020149710941 Centerline is valid? [True, True] Translation: X:98.72, Y:29.36, Z:-1.06 [[ 8.26339654e-01 -5.62585254e-01 -2.57022945e-02 9.87200345e+01] [ 5.62329995e-01 8.26739157e-01 -1.69512010e-02 2.93631772e+01] [ 3.07855890e-02 -4.45721534e-04 9.99525912e-01 -1.05695816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71719347 meters 0.06063607172411969 Centerline is valid? [True, True] Translation: X:98.75, Y:29.37, Z:-1.06 [[ 8.26025634e-01 -5.63130588e-01 -2.37821869e-02 9.87471295e+01] [ 5.62912114e-01 8.26367811e-01 -1.56905431e-02 2.93726701e+01] [ 2.84886585e-02 -4.26490268e-04 9.99594025e-01 -1.05732845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74719347 meters 0.06059620693848453 Centerline is valid? [True, True] Translation: X:98.77, Y:29.38, Z:-1.06 [[ 8.25320056e-01 -5.64249123e-01 -2.16732874e-02 9.87748971e+01] [ 5.64067792e-01 8.25604478e-01 -1.43098483e-02 2.93830410e+01] [ 2.59678825e-02 -4.14998584e-04 9.99662692e-01 -1.05577528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77719347 meters 0.06071137061746801 Centerline is valid? [True, True] Translation: X:98.81, Y:29.39, Z:-1.05 [[ 8.21913519e-01 -5.69301232e-01 -1.88221828e-02 9.88053298e+01] [ 5.69165555e-01 8.22128863e-01 -1.24379964e-02 2.93871505e+01] [ 2.25552264e-02 -4.89980756e-04 9.99745478e-01 -1.04979479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80719347 meters 0.061576090281393644 Centerline is valid? [True, True] Translation: X:98.83, Y:29.40, Z:-1.05 [[ 8.19919634e-01 -5.72199742e-01 -1.78675118e-02 9.88335541e+01] [ 5.72078155e-01 8.20114116e-01 -1.18076930e-02 2.93950415e+01] [ 2.14097575e-02 -5.40253888e-04 9.99770639e-01 -1.05113250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83719347 meters 0.06290537628192207 Centerline is valid? [True, True] Translation: X:98.86, Y:29.40, Z:-1.05 [[ 8.18588893e-01 -5.74082317e-01 -1.84856137e-02 9.88609907e+01] [ 5.73952571e-01 8.18797365e-01 -1.22196972e-02 2.94031078e+01] [ 2.21510839e-02 -6.06957101e-04 9.99754450e-01 -1.05471802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86719347 meters 0.06266659840067122 Centerline is valid? [True, True] Translation: X:98.89, Y:29.42, Z:-1.05 [[ 8.17829494e-01 -5.75157631e-01 -1.86712993e-02 9.88860334e+01] [ 5.75025329e-01 8.18042356e-01 -1.23520793e-02 2.94173422e+01] [ 2.23783064e-02 -6.34575307e-04 9.99749373e-01 -1.05332206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89719347 meters 0.06291357154396723 Centerline is valid? [True, True] Translation: X:98.91, Y:29.43, Z:-1.06 [[ 8.18763591e-01 -5.73804052e-01 -1.93673063e-02 9.89107750e+01] [ 5.73661301e-01 8.18992385e-01 -1.28134327e-02 2.94295383e+01] [ 2.32140759e-02 -6.19101938e-04 9.99730325e-01 -1.05578961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92719347 meters 0.06192715214131691 Centerline is valid? [True, True] Translation: X:98.93, Y:29.45, Z:-1.05 [[ 8.19328824e-01 -5.72964116e-01 -2.03076576e-02 9.89322369e+01] [ 5.72806595e-01 8.19580225e-01 -1.34483894e-02 2.94473137e+01] [ 2.43491992e-02 -6.13707130e-04 9.99703326e-01 -1.05333026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95719347 meters 0.06252911425340807 Centerline is valid? [True, True] Translation: X:98.96, Y:29.46, Z:-1.06 [[ 8.20153727e-01 -5.71743129e-01 -2.13929863e-02 9.89567027e+01] [ 5.71567884e-01 8.20432463e-01 -1.41678756e-02 2.94602731e+01] [ 2.56518860e-02 -6.07707946e-04 9.99670752e-01 -1.05838044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98719347 meters 0.06288758513490529 Centerline is valid? [True, True] Translation: X:98.98, Y:29.47, Z:-1.06 [[ 8.20013779e-01 -5.71786988e-01 -2.52397174e-02 9.89823837e+01] [ 5.71543009e-01 8.20401808e-01 -1.67171458e-02 2.94740769e+01] [ 3.02653562e-02 -7.17294144e-04 9.99541642e-01 -1.06184473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01719347 meters 0.06333989795835784 Centerline is valid? [True, True] Translation: X:99.01, Y:29.49, Z:-1.06 [[ 8.18952208e-01 -5.73271367e-01 -2.60234614e-02 9.90082297e+01] [ 5.73012318e-01 8.19365196e-01 -1.72499178e-02 2.94873933e+01] [ 3.12116025e-02 -7.84905633e-04 9.99512491e-01 -1.06241368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04719347 meters 0.06412154421990829 Centerline is valid? [True, True] Translation: X:99.03, Y:29.50, Z:-1.06 [[ 8.17352948e-01 -5.75533930e-01 -2.63601016e-02 9.90336007e+01] [ 5.75269118e-01 8.17777430e-01 -1.74790097e-02 2.94983462e+01] [ 3.16164593e-02 -8.77632305e-04 9.99499689e-01 -1.06367426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07719347 meters 0.06595255120943258 Centerline is valid? [True, True] Translation: X:99.06, Y:29.51, Z:-1.07 [[ 8.14430112e-01 -5.79490956e-01 -2.98968965e-02 9.90634514e+01] [ 5.79152861e-01 8.14977834e-01 -1.98266097e-02 2.95053950e+01] [ 3.58546490e-02 -1.16748517e-03 9.99356333e-01 -1.06734438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10719347 meters 0.06526692638053457 Centerline is valid? [True, True] Translation: X:99.09, Y:29.52, Z:-1.06 [[ 8.13900779e-01 -5.80212187e-01 -3.03206253e-02 9.90873322e+01] [ 5.79864754e-01 8.14464455e-01 -2.01126582e-02 2.95205626e+01] [ 3.63646809e-02 -1.21215377e-03 9.99337851e-01 -1.06458821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13719347 meters 0.06605895451932318 Centerline is valid? [True, True] Translation: X:99.11, Y:29.53, Z:-1.07 [[ 8.14234507e-01 -5.79766507e-01 -2.98825279e-02 9.91118416e+01] [ 5.79428576e-01 8.14781827e-01 -1.98267396e-02 2.95332216e+01] [ 3.58426203e-02 -1.17117506e-03 9.99356761e-01 -1.06812842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16719347 meters 0.06518411933296618 Centerline is valid? [True, True] Translation: X:99.13, Y:29.55, Z:-1.07 [[ 8.14937490e-01 -5.78761218e-01 -3.02049492e-02 9.91342979e+01] [ 5.78414718e-01 8.15496280e-01 -2.00557047e-02 2.95515272e+01] [ 3.62394878e-02 -1.12684147e-03 9.99342499e-01 -1.06601267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19719347 meters 0.06431743880263939 Centerline is valid? [True, True] Translation: X:99.16, Y:29.57, Z:-1.07 [[ 8.17859222e-01 -5.74686487e-01 -2.90126673e-02 9.91568366e+01] [ 5.74364216e-01 8.18373153e-01 -1.92647547e-02 2.95693152e+01] [ 3.48143822e-02 -9.07980549e-04 9.99393383e-01 -1.06665914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22719347 meters 0.063729271674517 Centerline is valid? [True, True] Translation: X:99.18, Y:29.59, Z:-1.07 [[ 8.19580336e-01 -5.72199603e-01 -2.95920084e-02 9.91793503e+01] [ 5.71862171e-01 8.20113995e-01 -1.96644946e-02 2.95874483e+01] [ 3.55208363e-02 -8.05917047e-04 9.99368611e-01 -1.06707058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25719347 meters 0.06321116499463271 Centerline is valid? [True, True] Translation: X:99.20, Y:29.61, Z:-1.07 [[ 8.21655426e-01 -5.69224363e-01 -2.94276343e-02 9.92018230e+01] [ 5.68888348e-01 8.22181965e-01 -1.95668921e-02 2.96066118e+01] [ 3.53328219e-02 -6.63795201e-04 9.99375380e-01 -1.06775898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28719347 meters 0.06282326037522527 Centerline is valid? [True, True] Translation: X:99.22, Y:29.62, Z:-1.07 [[ 8.23433282e-01 -5.66697964e-01 -2.84789078e-02 9.92230069e+01] [ 5.66381665e-01 8.23925440e-01 -1.89388060e-02 2.96244104e+01] [ 3.41970794e-02 -5.35088014e-04 9.99414966e-01 -1.06788611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31719347 meters 0.06217499698593697 Centerline is valid? [True, True] Translation: X:99.24, Y:29.64, Z:-1.07 [[ 8.26307961e-01 -5.62538759e-01 -2.76640358e-02 9.92441103e+01] [ 5.62237862e-01 8.26770840e-01 -1.84001239e-02 2.96446341e+01] [ 3.32226010e-02 -3.49599484e-04 9.99447916e-01 -1.06626821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34719347 meters 0.06214888408087662 Centerline is valid? [True, True] Translation: X:99.27, Y:29.66, Z:-1.07 [[ 8.26414990e-01 -5.62385006e-01 -2.75929282e-02 9.92675825e+01] [ 5.62085037e-01 8.26875442e-01 -1.83688411e-02 2.96601989e+01] [ 3.31462755e-02 -3.29286480e-04 9.99450457e-01 -1.06729213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37719347 meters 0.062175466342122294 Centerline is valid? [True, True] Translation: X:99.29, Y:29.67, Z:-1.07 [[ 8.25546496e-01 -5.63683446e-01 -2.70916214e-02 9.92922937e+01] [ 5.63394542e-01 8.25990824e-01 -1.80485435e-02 2.96739412e+01] [ 3.25510959e-02 -3.63359768e-04 9.99470007e-01 -1.06715534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40719347 meters 0.061759272903911165 Centerline is valid? [True, True] Translation: X:99.32, Y:29.69, Z:-1.06 [[ 8.24177126e-01 -5.65754570e-01 -2.55701299e-02 9.93178527e+01] [ 5.65497850e-01 8.24573586e-01 -1.70465039e-02 2.96877901e+01] [ 3.07285912e-02 -4.10514914e-04 9.99527681e-01 -1.06354565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43719347 meters 0.06275698996285543 Centerline is valid? [True, True] Translation: X:99.35, Y:29.70, Z:-1.07 [[ 8.20986357e-01 -5.70409517e-01 -2.47868064e-02 9.93462415e+01] [ 5.70170339e-01 8.21360253e-01 -1.65263442e-02 2.96953321e+01] [ 2.97856816e-02 -5.64798695e-04 9.99556149e-01 -1.06709223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46719347 meters 0.06269621303717499 Centerline is valid? [True, True] Translation: X:99.37, Y:29.71, Z:-1.07 [[ 8.19539523e-01 -5.72489873e-01 -2.47045649e-02 9.93709956e+01] [ 5.72252840e-01 8.19911551e-01 -1.64844187e-02 2.97095374e+01] [ 2.96927209e-02 -6.27624764e-04 9.99558877e-01 -1.06533531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49719347 meters 0.06341528455547575 Centerline is valid? [True, True] Translation: X:99.40, Y:29.72, Z:-1.07 [[ 8.18403718e-01 -5.74083020e-01 -2.53779681e-02 9.93965708e+01] [ 5.73833590e-01 8.18796796e-01 -1.69356846e-02 2.97206989e+01] [ 3.05018879e-02 -7.02503307e-04 9.99534462e-01 -1.06832085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52719347 meters 0.0639855607500762 Centerline is valid? [True, True] Translation: X:99.42, Y:29.73, Z:-1.07 [[ 8.17831834e-01 -5.74849758e-01 -2.64357048e-02 9.94241768e+01] [ 5.74579372e-01 8.18258627e-01 -1.76455447e-02 2.97296477e+01] [ 3.17747806e-02 -7.58322459e-04 9.99494767e-01 -1.07270368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55719347 meters 0.06311145220840168 Centerline is valid? [True, True] Translation: X:99.45, Y:29.75, Z:-1.07 [[ 8.17807460e-01 -5.74878779e-01 -2.65584037e-02 9.94470204e+01] [ 5.74605379e-01 8.18238246e-01 -1.77434805e-02 2.97460702e+01] [ 3.19314520e-02 -7.49850900e-04 9.99489780e-01 -1.06927560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58719347 meters 0.06402145630815317 Centerline is valid? [True, True] Translation: X:99.47, Y:29.76, Z:-1.07 [[ 8.18496672e-01 -5.73945723e-01 -2.54853931e-02 9.94712138e+01] [ 5.73693467e-01 8.18893058e-01 -1.70283628e-02 2.97599318e+01] [ 3.06431675e-02 -6.83145257e-04 9.99530154e-01 -1.07473319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61719347 meters 0.06263291994152113 Centerline is valid? [True, True] Translation: X:99.49, Y:29.78, Z:-1.07 [[ 8.19564067e-01 -5.72452009e-01 -2.47676671e-02 9.94920231e+01] [ 5.72212729e-01 8.19938009e-01 -1.65606474e-02 2.97815380e+01] [ 2.97881275e-02 -5.99862838e-04 9.99556055e-01 -1.06865457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64719347 meters 0.06290453437301849 Centerline is valid? [True, True] Translation: X:99.51, Y:29.80, Z:-1.07 [[ 8.21940451e-01 -5.68937817e-01 -2.69008495e-02 9.95133982e+01] [ 5.68653492e-01 8.22380387e-01 -1.79917771e-02 2.97992016e+01] [ 3.23589334e-02 -5.09092652e-04 9.99476183e-01 -1.07333237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67719347 meters 0.06272369503111472 Centerline is valid? [True, True] Translation: X:99.54, Y:29.81, Z:-1.07 [[ 8.22512045e-01 -5.68036959e-01 -2.84244376e-02 9.95372274e+01] [ 5.67718496e-01 8.23002900e-01 -1.90246084e-02 2.98147726e+01] [ 3.42000752e-02 -4.89109391e-04 9.99414887e-01 -1.07337593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70719347 meters 0.06257213206029728 Centerline is valid? [True, True] Translation: X:99.56, Y:29.83, Z:-1.07 [[ 8.22330057e-01 -5.68307490e-01 -2.82820311e-02 9.95620088e+01] [ 5.67991870e-01 8.22816116e-01 -1.89439835e-02 2.98273986e+01] [ 3.40369188e-02 -4.85756696e-04 9.99420458e-01 -1.07360926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73719347 meters 0.0629759988195437 Centerline is valid? [True, True] Translation: X:99.59, Y:29.84, Z:-1.08 [[ 8.20702184e-01 -5.70678009e-01 -2.78304826e-02 9.95900043e+01] [ 5.70373683e-01 8.21173722e-01 -1.86434953e-02 2.98357072e+01] [ 3.34930937e-02 -5.73017568e-04 9.99438785e-01 -1.07528791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76719347 meters 0.06336536802923749 Centerline is valid? [True, True] Translation: X:99.62, Y:29.85, Z:-1.07 [[ 8.18943084e-01 -5.73199646e-01 -2.78278961e-02 9.96155413e+01] [ 5.72896367e-01 8.19415477e-01 -1.86555181e-02 2.98499607e+01] [ 3.34959452e-02 -6.64693090e-04 9.99438632e-01 -1.07474324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79719347 meters 0.06390702809830931 Centerline is valid? [True, True] Translation: X:99.64, Y:29.86, Z:-1.07 [[ 8.17049208e-01 -5.75923524e-01 -2.72522681e-02 9.96407737e+01] [ 5.75633794e-01 8.17503230e-01 -1.82812347e-02 2.98646374e+01] [ 3.28074103e-02 -7.50658142e-04 9.99461410e-01 -1.07409106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82719347 meters 0.06448452402017711 Centerline is valid? [True, True] Translation: X:99.67, Y:29.88, Z:-1.07 [[ 8.15099210e-01 -5.78715393e-01 -2.64909741e-02 9.96664241e+01] [ 5.78442737e-01 8.15529157e-01 -1.77818499e-02 2.98780168e+01] [ 3.18947921e-02 -8.29539777e-04 9.99490887e-01 -1.07256741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85719347 meters 0.06551981141613362 Centerline is valid? [True, True] Translation: X:99.69, Y:29.89, Z:-1.07 [[ 8.12591473e-01 -5.82303319e-01 -2.48584461e-02 9.96922671e+01] [ 5.82064851e-01 8.12971106e-01 -1.66880382e-02 2.98887128e+01] [ 2.99266985e-02 -9.08670184e-04 9.99551683e-01 -1.07104039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88719347 meters 0.06625776362799185 Centerline is valid? [True, True] Translation: X:99.72, Y:29.90, Z:-1.06 [[ 8.07605397e-01 -5.89390218e-01 -1.98165112e-02 9.97211975e+01] [ 5.89240545e-01 8.07847954e-01 -1.33140544e-02 2.98978606e+01] [ 2.38559014e-02 -9.24189668e-04 9.99714980e-01 -1.06282161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91719347 meters 0.06744309054362914 Centerline is valid? [True, True] Translation: X:99.75, Y:29.91, Z:-1.06 [[ 8.05043230e-01 -5.92932033e-01 -1.83575892e-02 9.97481740e+01] [ 5.92804360e-01 8.05251951e-01 -1.23403876e-02 2.99103723e+01] [ 2.20994956e-02 -9.47913431e-04 9.99755327e-01 -1.06205910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94719347 meters 0.07137919174288813 Centerline is valid? [True, True] Translation: X:99.78, Y:29.92, Z:-1.07 [[ 8.02318931e-01 -5.96612667e-01 -1.83755021e-02 9.97770908e+01] [ 5.96485711e-01 8.02528643e-01 -1.23521246e-02 2.99191410e+01] [ 2.21163008e-02 -1.05038106e-03 9.99754853e-01 -1.06600624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97719347 meters 0.06988350256018336 Centerline is valid? [True, True] Translation: X:99.80, Y:29.94, Z:-1.06 [[ 8.00058870e-01 -5.99632007e-01 -1.86349202e-02 9.97988403e+01] [ 5.99502078e-01 8.00275046e-01 -1.25343176e-02 2.99403359e+01] [ 2.24290396e-02 -1.14348141e-03 9.99747784e-01 -1.06277101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00719347 meters 0.07255803696266357 Centerline is valid? [True, True] Translation: X:99.82, Y:29.96, Z:-1.07 [[ 7.97661934e-01 -6.02803343e-01 -1.90674869e-02 9.98218865e+01] [ 6.02668195e-01 7.97888802e-01 -1.28259954e-02 2.99566311e+01] [ 2.29452872e-02 -1.26055956e-03 9.99735928e-01 -1.06516475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03719347 meters 0.07373080162642552 Centerline is valid? [True, True] Translation: X:99.85, Y:29.97, Z:-1.07 [[ 7.96698595e-01 -6.04062481e-01 -1.94901969e-02 9.98452450e+01] [ 6.03921610e-01 7.96935860e-01 -1.31119669e-02 2.99741999e+01] [ 2.34528840e-02 -1.32426548e-03 9.99724066e-01 -1.06685311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06719347 meters 0.07448105152700693 Centerline is valid? [True, True] Translation: X:99.87, Y:29.99, Z:-1.07 [[ 7.95879053e-01 -6.05105783e-01 -2.05797140e-02 9.98678984e+01] [ 6.04949023e-01 7.96143799e-01 -1.38466926e-02 2.99928268e+01] [ 2.47631254e-02 -1.42938535e-03 9.99692325e-01 -1.06799877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09719347 meters 0.07577726988808797 Centerline is valid? [True, True] Translation: X:99.89, Y:30.01, Z:-1.07 [[ 7.94789981e-01 -6.06527773e-01 -2.08073620e-02 9.98904345e+01] [ 6.06367964e-01 7.95060907e-01 -1.40016726e-02 3.00105792e+01] [ 2.50355234e-02 -1.48852862e-03 9.99685454e-01 -1.06957678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12719347 meters 0.07653608656607715 Centerline is valid? [True, True] Translation: X:99.91, Y:30.03, Z:-1.07 [[ 7.93558795e-01 -6.08141284e-01 -2.07031081e-02 9.99125369e+01] [ 6.07983573e-01 7.93827335e-01 -1.39333241e-02 3.00301609e+01] [ 2.49081227e-02 -1.53023775e-03 9.99688573e-01 -1.07038008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15719347 meters 0.07952608875031612 Centerline is valid? [True, True] Translation: X:99.93, Y:30.05, Z:-1.07 [[ 7.91125133e-01 -6.11263103e-01 -2.18733386e-02 9.99330486e+01] [ 6.11088175e-01 7.91425591e-01 -1.47233396e-02 3.00504304e+01] [ 2.63109542e-02 -1.71853454e-03 9.99652330e-01 -1.07191989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18719347 meters 0.07857098457627962 Centerline is valid? [True, True] Translation: X:99.95, Y:30.07, Z:-1.07 [[ 7.89544744e-01 -6.13282608e-01 -2.24396892e-02 9.99537525e+01] [ 6.13099082e-01 7.89861451e-01 -1.51130496e-02 3.00731523e+01] [ 2.69928160e-02 -1.82532395e-03 9.99633961e-01 -1.07081972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21719347 meters 0.08069663486485515 Centerline is valid? [True, True] Translation: X:99.97, Y:30.09, Z:-1.08 [[ 7.87738611e-01 -6.15494870e-01 -2.51782798e-02 9.99744410e+01] [ 6.15264878e-01 7.88138008e-01 -1.69590915e-02 3.00943063e+01] [ 3.02821931e-02 -2.13198000e-03 9.99539116e-01 -1.07527311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24719347 meters 0.0804865533491656 Centerline is valid? [True, True] Translation: X:100.00, Y:30.11, Z:-1.08 [[ 7.86725446e-01 -6.16773347e-01 -2.55677737e-02 9.99969415e+01] [ 6.16536524e-01 7.87137707e-01 -1.72320924e-02 3.01144831e+01] [ 3.07536540e-02 -2.20654073e-03 9.99524559e-01 -1.07606846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27719347 meters 0.08326546789348231 Centerline is valid? [True, True] Translation: X:100.02, Y:30.13, Z:-1.08 [[ 7.85912438e-01 -6.17830799e-01 -2.50348477e-02 1.00020750e+02] [ 6.17604209e-01 7.86307998e-01 -1.68752285e-02 3.01286763e+01] [ 3.01111369e-02 -2.19917534e-03 9.99544138e-01 -1.07818779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30719347 meters 0.08002735747873162 Centerline is valid? [True, True] Translation: X:100.04, Y:30.15, Z:-1.07 [[ 7.84817633e-01 -6.19278473e-01 -2.35681064e-02 1.00038938e+02] [ 6.19077965e-01 7.85168586e-01 -1.58985820e-02 3.01528858e+01] [ 2.83505864e-02 -2.11300786e-03 9.99595808e-01 -1.07296483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33719347 meters 0.08538272778756847 Centerline is valid? [True, True] Translation: X:100.06, Y:30.17, Z:-1.08 [[ 7.84508069e-01 -6.19671264e-01 -2.35502350e-02 1.00061334e+02] [ 6.19471163e-01 7.84858595e-01 -1.58891077e-02 3.01684385e+01] [ 2.83296279e-02 -2.12355826e-03 9.99596380e-01 -1.07569637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36719347 meters 0.08049870916544113 Centerline is valid? [True, True] Translation: X:100.08, Y:30.20, Z:-1.07 [[ 7.85191541e-01 -6.18746195e-01 -2.50477741e-02 1.00077087e+02] [ 6.18519001e-01 7.85587835e-01 -1.69115078e-02 3.01960539e+01] [ 3.01411577e-02 -2.21375138e-03 9.99543201e-01 -1.07274716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39719347 meters 0.07995610927326115 Centerline is valid? [True, True] Translation: X:100.10, Y:30.22, Z:-1.08 [[ 7.86226617e-01 -6.17375765e-01 -2.63604354e-02 1.00097529e+02] [ 6.17123018e-01 7.86665133e-01 -1.78086955e-02 3.02167558e+01] [ 3.17314924e-02 -2.26596098e-03 9.99493861e-01 -1.07545417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42719347 meters 0.08364071767315044 Centerline is valid? [True, True] Translation: X:100.12, Y:30.23, Z:-1.08 [[ 7.87707796e-01 -6.15396580e-01 -2.83456656e-02 1.00122042e+02] [ 6.15102975e-01 7.88214140e-01 -1.91520252e-02 3.02301182e+01] [ 3.41285452e-02 -2.34930367e-03 9.99414690e-01 -1.08397348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45719347 meters 0.08364071767315044 Centerline is valid? [True, True] Translation: X:100.14, Y:30.25, Z:-1.08 [[ 7.87519996e-01 -6.15637201e-01 -2.83388780e-02 1.00144716e+02] [ 6.15343392e-01 7.88026221e-01 -1.91620680e-02 3.02457229e+01] [ 3.41286609e-02 -2.34762955e-03 9.99414690e-01 -1.08420073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48719347 meters 0.07537097840023191 Centerline is valid? [True, True] Translation: X:100.16, Y:30.28, Z:-1.08 [[ 7.90974112e-01 -6.11090211e-01 -3.04746958e-02 1.00156647e+02] [ 6.10747047e-01 7.91557581e-01 -2.06068087e-02 3.02817280e+01] [ 3.67150956e-02 -2.31287822e-03 9.99323097e-01 -1.07982355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51719347 meters 0.0746041032126483 Centerline is valid? [True, True] Translation: X:100.18, Y:30.30, Z:-1.08 [[ 7.92866695e-01 -6.08635201e-01 -3.04236080e-02 1.00176627e+02] [ 6.08291274e-01 7.93447152e-01 -2.05753032e-02 3.03033419e+01] [ 3.66623789e-02 -2.19294256e-03 9.99325303e-01 -1.07986396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54719347 meters 0.07378997589453545 Centerline is valid? [True, True] Translation: X:100.20, Y:30.33, Z:-1.08 [[ 7.95255707e-01 -6.05523066e-01 -3.01691340e-02 1.00196285e+02] [ 6.05182539e-01 7.95825167e-01 -2.04058610e-02 3.03254684e+01] [ 3.63655756e-02 -2.02995571e-03 9.99336492e-01 -1.07983514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57719347 meters 0.07063710724055366 Centerline is valid? [True, True] Translation: X:100.21, Y:30.36, Z:-1.07 [[ 7.99526783e-01 -6.00036760e-01 -2.66985023e-02 1.00211304e+02] [ 5.99766935e-01 7.99970883e-01 -1.80612829e-02 3.03563583e+01] [ 3.21954582e-02 -1.57239949e-03 9.99480355e-01 -1.07307322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60719347 meters 0.06850223972416336 Centerline is valid? [True, True] Translation: X:100.23, Y:30.38, Z:-1.07 [[ 8.01854115e-01 -5.96981537e-01 -2.53578928e-02 1.00231206e+02] [ 5.96736524e-01 8.02253797e-01 -1.71570792e-02 3.03808940e+01] [ 3.05859253e-02 -1.37450626e-03 9.99531196e-01 -1.06892771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63719347 meters 0.06815924324696092 Centerline is valid? [True, True] Translation: X:100.25, Y:30.40, Z:-1.07 [[ 8.04146868e-01 -5.94000643e-01 -2.26064538e-02 1.00252870e+02] [ 5.93804704e-01 8.04463781e-01 -1.52969746e-02 3.04009433e+01] [ 2.72724860e-02 -1.12280442e-03 9.99627406e-01 -1.06940998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66719347 meters 0.06671959260314268 Centerline is valid? [True, True] Translation: X:100.27, Y:30.42, Z:-1.07 [[ 8.06075303e-01 -5.91430525e-01 -2.12729759e-02 1.00273149e+02] [ 5.91256096e-01 8.06355372e-01 -1.43959487e-02 3.04238461e+01] [ 2.56677819e-02 -9.73557973e-04 9.99670054e-01 -1.06742011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69719347 meters 0.06615040876436692 Centerline is valid? [True, True] Translation: X:100.29, Y:30.44, Z:-1.07 [[ 8.08106239e-01 -5.88634386e-01 -2.17684863e-02 1.00293992e+02] [ 5.88450638e-01 8.08398877e-01 -1.47343807e-02 3.04433453e+01] [ 2.62707831e-02 -9.02734700e-04 9.99654456e-01 -1.06826806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72719347 meters 0.06508235818987754 Centerline is valid? [True, True] Translation: X:100.31, Y:30.47, Z:-1.07 [[ 8.12505151e-01 -5.82509643e-01 -2.27572978e-02 1.00313712e+02] [ 5.82306363e-01 8.12823459e-01 -1.54053290e-02 3.04680232e+01] [ 2.74714182e-02 -7.34810169e-04 9.99622319e-01 -1.07136070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75719347 meters 0.06459403509594824 Centerline is valid? [True, True] Translation: X:100.33, Y:30.49, Z:-1.07 [[ 8.14571100e-01 -5.79582049e-01 -2.36341123e-02 1.00334749e+02] [ 5.79361212e-01 8.14913631e-01 -1.60112629e-02 3.04887764e+01] [ 2.85396008e-02 -6.50375956e-04 9.99592451e-01 -1.07225254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78719347 meters 0.06419366155046889 Centerline is valid? [True, True] Translation: X:100.35, Y:30.51, Z:-1.07 [[ 8.16456484e-01 -5.76852033e-01 -2.53089313e-02 1.00353968e+02] [ 5.76597069e-01 8.16848451e-01 -1.71589008e-02 3.05093946e+01] [ 3.05717082e-02 -5.83559790e-04 9.99532406e-01 -1.07288063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81719347 meters 0.06426728800153793 Centerline is valid? [True, True] Translation: X:100.37, Y:30.53, Z:-1.08 [[ 8.19829819e-01 -5.71949656e-01 -2.74346226e-02 1.00373614e+02] [ 5.71647246e-01 8.20288610e-01 -1.86016687e-02 3.05307404e+01] [ 3.31435265e-02 -4.32723743e-04 9.99450509e-01 -1.07620556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84719347 meters 0.0643527044387779 Centerline is valid? [True, True] Translation: X:100.40, Y:30.55, Z:-1.08 [[ 8.20219635e-01 -5.71407038e-01 -2.70877720e-02 1.00397122e+02] [ 5.71111488e-01 8.20666705e-01 -1.83800721e-02 3.05473623e+01] [ 3.27325351e-02 -3.94441756e-04 9.99464069e-01 -1.07682647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87719347 meters 0.06446358447845175 Centerline is valid? [True, True] Translation: X:100.42, Y:30.56, Z:-1.08 [[ 8.20299391e-01 -5.71297927e-01 -2.69738242e-02 1.00421549e+02] [ 5.71004355e-01 8.20742673e-01 -1.83164097e-02 3.05613284e+01] [ 3.26026955e-02 -3.77231358e-04 9.99468320e-01 -1.07811196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90719347 meters 0.06419460698342243 Centerline is valid? [True, True] Translation: X:100.45, Y:30.57, Z:-1.08 [[ 8.18631022e-01 -5.73742768e-01 -2.57387917e-02 1.00449916e+02] [ 5.73476322e-01 8.19035432e-01 -1.74891120e-02 3.05710001e+01] [ 3.11152339e-02 -4.43457924e-04 9.99515706e-01 -1.07660665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93719347 meters 0.06460549773499001 Centerline is valid? [True, True] Translation: X:100.48, Y:30.58, Z:-1.08 [[ 8.17771493e-01 -5.74937453e-01 -2.63952690e-02 1.00475352e+02] [ 5.74657793e-01 8.18197210e-01 -1.79372603e-02 3.05822759e+01] [ 3.19093382e-02 -4.99666940e-04 9.99490643e-01 -1.07965866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96719347 meters 0.06518415097644992 Centerline is valid? [True, True] Translation: X:100.50, Y:30.59, Z:-1.08 [[ 8.15857702e-01 -5.77602974e-01 -2.74046552e-02 1.00502290e+02] [ 5.77302560e-01 8.16317601e-01 -1.86367481e-02 3.05935137e+01] [ 3.31355434e-02 -6.15843143e-04 9.99450677e-01 -1.08178429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99719347 meters 0.06559175082695315 Centerline is valid? [True, True] Translation: X:100.53, Y:30.61, Z:-1.08 [[ 8.13925816e-01 -5.80271109e-01 -2.84641260e-02 1.00530560e+02] [ 5.79948667e-01 8.14423031e-01 -1.93564279e-02 3.06051793e+01] [ 3.44138157e-02 -7.53035589e-04 9.99407386e-01 -1.08164050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02719347 meters 0.06774772353984704 Centerline is valid? [True, True] Translation: X:100.56, Y:30.61, Z:-1.09 [[ 8.09107873e-01 -5.86947599e-01 -2.89303603e-02 1.00563555e+02] [ 5.86618625e-01 8.09624242e-01 -1.96767878e-02 3.06074433e+01] [ 3.49719644e-02 -1.05044426e-03 9.99387742e-01 -1.08586273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05719347 meters 0.06777754858374517 Centerline is valid? [True, True] Translation: X:100.59, Y:30.62, Z:-1.08 [[ 8.07365593e-01 -5.89330118e-01 -2.91686709e-02 1.00589354e+02] [ 5.88996726e-01 8.07891507e-01 -1.98537286e-02 3.06203408e+01] [ 3.52655217e-02 -1.15103432e-03 9.99377315e-01 -1.08376601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08719347 meters 0.06839155380372411 Centerline is valid? [True, True] Translation: X:100.62, Y:30.63, Z:-1.08 [[ 8.05515960e-01 -5.91887521e-01 -2.85166671e-02 1.00616322e+02] [ 5.91570039e-01 8.06019641e-01 -1.94223176e-02 3.06323817e+01] [ 3.44808212e-02 -1.22461904e-03 9.99404609e-01 -1.08290308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11719347 meters 0.06898021247690984 Centerline is valid? [True, True] Translation: X:100.64, Y:30.64, Z:-1.08 [[ 8.04627107e-01 -5.93108985e-01 -2.82302995e-02 1.00643034e+02] [ 5.92798186e-01 8.05121207e-01 -1.92393605e-02 3.06449063e+01] [ 3.41398504e-02 -1.25435933e-03 9.99416278e-01 -1.08456674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14719347 meters 0.06872298862115263 Centerline is valid? [True, True] Translation: X:100.67, Y:30.66, Z:-1.09 [[ 8.04902194e-01 -5.92700151e-01 -2.89653246e-02 1.00667505e+02] [ 5.92372175e-01 8.05422219e-01 -1.97549006e-02 3.06588022e+01] [ 3.50380485e-02 -1.25748949e-03 9.99385188e-01 -1.08523931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17719347 meters 0.0679651389582931 Centerline is valid? [True, True] Translation: X:100.69, Y:30.68, Z:-1.08 [[ 8.05754171e-01 -5.91568693e-01 -2.84024296e-02 1.00690377e+02] [ 5.91252259e-01 8.06253744e-01 -1.93821473e-02 3.06773486e+01] [ 3.43654367e-02 -1.17575459e-03 9.99408642e-01 -1.08394679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20719347 meters 0.06750477315190828 Centerline is valid? [True, True] Translation: X:100.71, Y:30.70, Z:-1.08 [[ 8.06753624e-01 -5.90186803e-01 -2.87772209e-02 1.00713105e+02] [ 5.89860631e-01 8.07265929e-01 -1.96508317e-02 3.06953687e+01] [ 3.48285316e-02 -1.12116999e-03 9.99392674e-01 -1.08353304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23719347 meters 0.06671894624082053 Centerline is valid? [True, True] Translation: X:100.74, Y:30.71, Z:-1.08 [[ 8.08436451e-01 -5.87925376e-01 -2.78254885e-02 1.00735740e+02] [ 5.87618700e-01 8.08914576e-01 -1.90124015e-02 3.07139544e+01] [ 3.36863165e-02 -9.80459003e-04 9.99431974e-01 -1.08221541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26719347 meters 0.0666388177446147 Centerline is valid? [True, True] Translation: X:100.76, Y:30.73, Z:-1.08 [[ 8.09618662e-01 -5.86269907e-01 -2.83763535e-02 1.00758662e+02] [ 5.85949857e-01 8.10115261e-01 -1.93914725e-02 3.07295642e+01] [ 3.43567538e-02 -9.27422219e-04 9.99409202e-01 -1.08311929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29719347 meters 0.06695045318820422 Centerline is valid? [True, True] Translation: X:100.78, Y:30.74, Z:-1.09 [[ 8.09454506e-01 -5.86498198e-01 -2.83419499e-02 1.00781640e+02] [ 5.86178838e-01 8.09949997e-01 -1.93745242e-02 3.07430637e+01] [ 3.43186858e-02 -9.30655298e-04 9.99410507e-01 -1.08545215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32719347 meters 0.06674685936052233 Centerline is valid? [True, True] Translation: X:100.81, Y:30.76, Z:-1.08 [[ 8.09009182e-01 -5.87072929e-01 -2.91465232e-02 1.00805975e+02] [ 5.86735035e-01 8.09533467e-01 -1.99390242e-02 3.07589509e+01] [ 3.53007473e-02 -9.70432662e-04 9.99376263e-01 -1.08463987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35719347 meters 0.066766726254786 Centerline is valid? [True, True] Translation: X:100.83, Y:30.77, Z:-1.08 [[ 8.09059021e-01 -5.87012445e-01 -2.89808392e-02 1.00830172e+02] [ 5.86677892e-01 8.09577348e-01 -1.98385348e-02 3.07749179e+01] [ 3.51076978e-02 -9.51872104e-04 9.99383081e-01 -1.08461712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38719347 meters 0.06635538074777572 Centerline is valid? [True, True] Translation: X:100.85, Y:30.80, Z:-1.08 [[ 8.11058913e-01 -5.84242186e-01 -2.90604262e-02 1.00850692e+02] [ 5.83903558e-01 8.11578949e-01 -1.99058917e-02 3.07962214e+01] [ 3.52146918e-02 -8.23635396e-04 9.99379431e-01 -1.08443121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41719347 meters 0.06594527977385814 Centerline is valid? [True, True] Translation: X:100.87, Y:30.82, Z:-1.08 [[ 8.12194661e-01 -5.82648081e-01 -2.93435880e-02 1.00872608e+02] [ 5.82301301e-01 8.12724215e-01 -2.01133064e-02 3.08155165e+01] [ 3.55672239e-02 -7.50889371e-04 9.99367004e-01 -1.08279544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44719347 meters 0.06660185650670239 Centerline is valid? [True, True] Translation: X:100.90, Y:30.83, Z:-1.09 [[ 8.13919480e-01 -5.80287672e-01 -2.83072157e-02 1.00896861e+02] [ 5.79963441e-01 8.14411340e-01 -1.94055763e-02 3.08293242e+01] [ 3.43145342e-02 -6.22573676e-04 9.99410889e-01 -1.08940950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47719347 meters 0.06533291561250551 Centerline is valid? [True, True] Translation: X:100.92, Y:30.85, Z:-1.08 [[ 8.15667805e-01 -5.77927556e-01 -2.61872213e-02 1.00921022e+02] [ 5.77648824e-01 8.16087928e-01 -1.79535433e-02 3.08464329e+01] [ 3.17469226e-02 -4.82890343e-04 9.99495823e-01 -1.08439403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50719347 meters 0.06523948981748931 Centerline is valid? [True, True] Translation: X:100.94, Y:30.86, Z:-1.08 [[ 8.15435505e-01 -5.78292296e-01 -2.53566208e-02 1.00944676e+02] [ 5.78030714e-01 8.15829516e-01 -1.73981122e-02 3.08625808e+01] [ 3.07478739e-02 -4.69867261e-04 9.99527062e-01 -1.08346760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53719347 meters 0.06529399516948345 Centerline is valid? [True, True] Translation: X:100.97, Y:30.88, Z:-1.08 [[ 8.15128502e-01 -5.78709989e-01 -2.56957992e-02 1.00968426e+02] [ 5.78441204e-01 8.15533271e-01 -1.76425066e-02 3.08789512e+01] [ 3.11656740e-02 -4.82599025e-04 9.99514116e-01 -1.08241163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56719347 meters 0.06569261220001305 Centerline is valid? [True, True] Translation: X:100.99, Y:30.89, Z:-1.09 [[ 8.15069503e-01 -5.78798525e-01 -2.55728770e-02 1.00991881e+02] [ 5.78532090e-01 8.15470441e-01 -1.75664608e-02 3.08922848e+01] [ 3.10213669e-02 -4.76843526e-04 9.99518608e-01 -1.08603470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59719347 meters 0.06554226852616094 Centerline is valid? [True, True] Translation: X:101.02, Y:30.91, Z:-1.09 [[ 8.14770555e-01 -5.79239041e-01 -2.51212236e-02 1.01017790e+02] [ 5.78981781e-01 8.15157597e-01 -1.72681403e-02 3.09061323e+01] [ 3.04801373e-02 -4.75158568e-04 9.99535260e-01 -1.08571243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62719347 meters 0.06561874973205589 Centerline is valid? [True, True] Translation: X:101.04, Y:30.92, Z:-1.09 [[ 8.14337255e-01 -5.79856904e-01 -2.49159769e-02 1.01041677e+02] [ 5.79603721e-01 8.14718195e-01 -1.71402767e-02 3.09202450e+01] [ 3.02384075e-02 -4.83427013e-04 9.99542598e-01 -1.08630532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65719347 meters 0.06584471926998788 Centerline is valid? [True, True] Translation: X:101.07, Y:30.93, Z:-1.09 [[ 8.13681418e-01 -5.80752695e-01 -2.54726694e-02 1.01067044e+02] [ 5.80488174e-01 8.14079872e-01 -1.75340164e-02 3.09347151e+01] [ 3.09197147e-02 -5.19480044e-04 9.99521736e-01 -1.08750479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68719347 meters 0.0659231312228971 Centerline is valid? [True, True] Translation: X:101.09, Y:30.95, Z:-1.09 [[ 8.12999736e-01 -5.81731997e-01 -2.48860016e-02 1.01091424e+02] [ 5.81479584e-01 8.13380354e-01 -1.71433348e-02 3.09483123e+01] [ 3.02146112e-02 -5.33175217e-04 9.99543292e-01 -1.08813287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71719347 meters 0.06605867684606373 Centerline is valid? [True, True] Translation: X:101.12, Y:30.96, Z:-1.09 [[ 8.11758559e-01 -5.83548822e-01 -2.27774891e-02 1.01116623e+02] [ 5.83338050e-01 8.12077872e-01 -1.56923221e-02 3.09612315e+01] [ 2.76543310e-02 -5.48599274e-04 9.99617395e-01 -1.08831815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74719347 meters 0.06658230932970723 Centerline is valid? [True, True] Translation: X:101.14, Y:30.98, Z:-1.09 [[ 8.10465830e-01 -5.85316513e-01 -2.34460445e-02 1.01141453e+02] [ 5.85093582e-01 8.10804661e-01 -1.61648544e-02 3.09757176e+01] [ 2.84717184e-02 -6.17067989e-04 9.99594408e-01 -1.08857615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77719347 meters 0.06722217011994144 Centerline is valid? [True, True] Translation: X:101.17, Y:30.99, Z:-1.09 [[ 8.08482451e-01 -5.88022253e-01 -2.42065500e-02 1.01167849e+02] [ 5.87785630e-01 8.08844421e-01 -1.66959708e-02 3.09898699e+01] [ 2.93969353e-02 -7.29862822e-04 9.99567550e-01 -1.08879564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80719347 meters 0.06760366028500199 Centerline is valid? [True, True] Translation: X:101.20, Y:31.00, Z:-1.09 [[ 8.04540801e-01 -5.93487103e-01 -2.20716735e-02 1.01197379e+02] [ 5.93292131e-01 8.04843063e-01 -1.52345477e-02 3.09983201e+01] [ 2.68057409e-02 -8.38135023e-04 9.99640310e-01 -1.08629083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83719347 meters 0.06975214976114542 Centerline is valid? [True, True] Translation: X:101.23, Y:31.01, Z:-1.09 [[ 8.02440171e-01 -5.96307972e-01 -2.25072109e-02 1.01226776e+02] [ 5.96106317e-01 8.02755193e-01 -1.55357690e-02 3.10053294e+01] [ 2.73318834e-02 -9.50165420e-04 9.99625963e-01 -1.09202893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86719347 meters 0.06983329195555607 Centerline is valid? [True, True] Translation: X:101.25, Y:31.02, Z:-1.09 [[ 8.00944914e-01 -5.98236054e-01 -2.45126311e-02 1.01252668e+02] [ 5.97997633e-01 8.01319166e-01 -1.69240659e-02 3.10197010e+01] [ 2.97670276e-02 -1.10325086e-03 9.99556255e-01 -1.09307986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89719347 meters 0.0711329338852276 Centerline is valid? [True, True] Translation: X:101.28, Y:31.03, Z:-1.10 [[ 7.99491949e-01 -6.00042714e-01 -2.75928346e-02 1.01277608e+02] [ 5.99741585e-01 7.99966881e-01 -1.90531118e-02 3.10333819e+01] [ 3.35060348e-02 -1.31576086e-03 9.99437649e-01 -1.09714202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92719347 meters 0.07199107357178361 Centerline is valid? [True, True] Translation: X:101.30, Y:31.05, Z:-1.10 [[ 7.98956656e-01 -6.00611265e-01 -3.05674730e-02 1.01301082e+02] [ 6.00241951e-01 7.99539815e-01 -2.11112703e-02 3.10508445e+01] [ 3.71195784e-02 -1.48088967e-03 9.99309734e-01 -1.09842826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95719347 meters 0.0716281728808675 Centerline is valid? [True, True] Translation: X:101.32, Y:31.07, Z:-1.10 [[ 8.00452371e-01 -5.98632657e-01 -3.02480512e-02 1.01324107e+02] [ 5.98269439e-01 8.01022511e-01 -2.08953346e-02 3.10660938e+01] [ 3.67379996e-02 -1.37076454e-03 9.99323992e-01 -1.09887615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98719347 meters 0.06931010891261669 Centerline is valid? [True, True] Translation: X:101.35, Y:31.09, Z:-1.10 [[ 8.02928158e-01 -5.95337757e-01 -2.96534596e-02 1.01346358e+02] [ 5.94986345e-01 8.03474660e-01 -2.04870687e-02 3.10853954e+01] [ 3.60225289e-02 -1.19375920e-03 9.99350265e-01 -1.09512816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01719347 meters 0.06665668977997184 Centerline is valid? [True, True] Translation: X:101.37, Y:31.11, Z:-1.09 [[ 8.07905700e-01 -5.88601035e-01 -2.89344303e-02 1.01366537e+02] [ 5.88261695e-01 8.08423206e-01 -2.00024481e-02 3.11078030e+01] [ 3.51647266e-02 -8.60925177e-04 9.99381159e-01 -1.09129345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04719347 meters 0.06636206210433816 Centerline is valid? [True, True] Translation: X:101.39, Y:31.13, Z:-1.09 [[ 8.10341296e-01 -5.85233095e-01 -2.91411878e-02 1.01387903e+02] [ 5.84886207e-01 8.10864799e-01 -2.01594088e-02 3.11265524e+01] [ 3.54275166e-02 -7.08277315e-04 9.99371998e-01 -1.09310432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07719347 meters 0.06578602699117912 Centerline is valid? [True, True] Translation: X:101.41, Y:31.15, Z:-1.09 [[ 8.12444071e-01 -5.82324243e-01 -2.88635977e-02 1.01410381e+02] [ 5.81981676e-01 8.12956429e-01 -1.99793207e-02 3.11454146e+01] [ 3.50992902e-02 -5.66004305e-04 9.99383670e-01 -1.09251927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10719347 meters 0.06574128225695869 Centerline is valid? [True, True] Translation: X:101.43, Y:31.16, Z:-1.10 [[ 8.14264813e-01 -5.79799381e-01 -2.83811759e-02 1.01433509e+02] [ 5.79466185e-01 8.14759158e-01 -1.96584641e-02 3.11617585e+01] [ 3.45217883e-02 -4.38736122e-04 9.99403849e-01 -1.09525706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13719347 meters 0.06524604200595183 Centerline is valid? [True, True] Translation: X:101.46, Y:31.17, Z:-1.09 [[ 8.14986852e-01 -5.78934941e-01 -2.51150655e-02 1.01459295e+02] [ 5.78673587e-01 8.15373662e-01 -1.73974298e-02 3.11738214e+01] [ 3.05501429e-02 -3.54748492e-04 9.99533172e-01 -1.09494076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16719347 meters 0.0652255526357152 Centerline is valid? [True, True] Translation: X:101.49, Y:31.19, Z:-1.09 [[ 8.13633236e-01 -5.80897177e-01 -2.36521932e-02 1.01485573e+02] [ 5.80665863e-01 8.13976851e-01 -1.63963830e-02 3.11868228e+01] [ 2.87769504e-02 -3.93379042e-04 9.99585780e-01 -1.09443286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19719347 meters 0.06526240948021954 Centerline is valid? [True, True] Translation: X:101.51, Y:31.20, Z:-1.09 [[ 8.11318965e-01 -5.84204367e-01 -2.16054405e-02 1.01511966e+02] [ 5.84012265e-01 8.11606461e-01 -1.49875483e-02 3.11994733e+01] [ 2.62909062e-02 -4.58160069e-04 9.99654229e-01 -1.09077865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22719347 meters 0.06571382921720105 Centerline is valid? [True, True] Translation: X:101.54, Y:31.21, Z:-1.09 [[ 8.09025638e-01 -5.87448521e-01 -1.95384946e-02 1.01538983e+02] [ 5.87292330e-01 8.09261377e-01 -1.35551480e-02 3.12101596e+01] [ 2.37747006e-02 -5.08345766e-04 9.99717213e-01 -1.09017828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25719347 meters 0.06651860446290182 Centerline is valid? [True, True] Translation: X:101.57, Y:31.22, Z:-1.09 [[ 8.05170112e-01 -5.92817364e-01 -1.63909587e-02 1.01569032e+02] [ 5.92708464e-01 8.05336740e-01 -1.13759932e-02 3.12165773e+01] [ 1.99441276e-02 -5.55450224e-04 9.99800942e-01 -1.08792535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28719347 meters 0.06809177082378652 Centerline is valid? [True, True] Translation: X:101.60, Y:31.23, Z:-1.09 [[ 8.03203493e-01 -5.95477185e-01 -1.64642341e-02 1.01596523e+02] [ 5.95367832e-01 8.03371978e-01 -1.14285065e-02 3.12260008e+01] [ 2.00323192e-02 -6.22858954e-04 9.99799139e-01 -1.09035662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31719347 meters 0.06797097568725957 Centerline is valid? [True, True] Translation: X:101.62, Y:31.24, Z:-1.09 [[ 8.01663506e-01 -5.97521576e-01 -1.74238247e-02 1.01621323e+02] [ 5.97399557e-01 8.01852517e-01 -1.20958416e-02 3.12413551e+01] [ 2.11988640e-02 -7.12190409e-04 9.99775025e-01 -1.08955988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34719347 meters 0.06797097568725957 Centerline is valid? [True, True] Translation: X:101.64, Y:31.26, Z:-1.09 [[ 8.01463153e-01 -5.97790441e-01 -1.74184840e-02 1.01643747e+02] [ 5.97668319e-01 8.01652097e-01 -1.21035322e-02 3.12572125e+01] [ 2.11989401e-02 -7.09940978e-04 9.99775025e-01 -1.08978657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37719347 meters 0.07008154709861222 Centerline is valid? [True, True] Translation: X:101.67, Y:31.27, Z:-1.09 [[ 7.99101378e-01 -6.00844871e-01 -2.05530681e-02 1.01669703e+02] [ 6.00675862e-01 7.99365104e-01 -1.42807648e-02 3.12687764e+01] [ 2.50099297e-02 -9.33953027e-04 9.99686767e-01 -1.09473570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40719347 meters 0.07174057216647367 Centerline is valid? [True, True] Translation: X:101.69, Y:31.28, Z:-1.10 [[ 7.98561155e-01 -6.01520202e-01 -2.17607063e-02 1.01694255e+02] [ 6.01330905e-01 7.98856952e-01 -1.51232973e-02 3.12825189e+01] [ 2.64806603e-02 -1.00850750e-03 9.99648817e-01 -1.09925453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43719347 meters 0.06992973854558791 Centerline is valid? [True, True] Translation: X:101.72, Y:31.30, Z:-1.09 [[ 7.97505287e-01 -6.02876558e-01 -2.29166654e-02 1.01716069e+02] [ 6.02666873e-01 7.97833719e-01 -1.59372689e-02 3.13031005e+01] [ 2.78918943e-02 -1.10105887e-03 9.99610339e-01 -1.09475096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46719347 meters 0.0721278134664281 Centerline is valid? [True, True] Translation: X:101.74, Y:31.31, Z:-1.10 [[ 7.96578600e-01 -6.04128244e-01 -2.21720291e-02 1.01742826e+02] [ 6.03932337e-01 7.96886344e-01 -1.54236052e-02 3.13133902e+01] [ 2.69864228e-02 -1.10429150e-03 9.99635190e-01 -1.09860553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49719347 meters 0.07396813662094666 Centerline is valid? [True, True] Translation: X:101.77, Y:31.33, Z:-1.10 [[ 7.94103855e-01 -6.07373836e-01 -2.22730774e-02 1.01768977e+02] [ 6.07177341e-01 7.94415219e-01 -1.54963502e-02 3.13261577e+01] [ 2.71061493e-02 -1.21799650e-03 9.99631819e-01 -1.09944309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52719347 meters 0.07103562263222933 Centerline is valid? [True, True] Translation: X:101.79, Y:31.35, Z:-1.09 [[ 7.92397225e-01 -6.09612712e-01 -2.18855973e-02 1.01788030e+02] [ 6.09423518e-01 7.92698397e-01 -1.52390363e-02 3.13496564e+01] [ 2.66385881e-02 -1.26222760e-03 9.99644333e-01 -1.09328733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55719347 meters 0.07305249713824072 Centerline is valid? [True, True] Translation: X:101.81, Y:31.36, Z:-1.10 [[ 7.90930910e-01 -6.11523913e-01 -2.16055491e-02 1.01813286e+02] [ 6.11340227e-01 7.91224867e-01 -1.50445021e-02 3.13628220e+01] [ 2.62949205e-02 -1.30917949e-03 9.99653372e-01 -1.09554914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58719347 meters 0.07385916669681747 Centerline is valid? [True, True] Translation: X:101.84, Y:31.38, Z:-1.10 [[ 7.89449955e-01 -6.13462636e-01 -2.07933426e-02 1.01837391e+02] [ 6.13292888e-01 7.89722654e-01 -1.44901516e-02 3.13781690e+01] [ 2.53101403e-02 -1.31315962e-03 9.99678785e-01 -1.09550856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61719347 meters 0.07443168504012235 Centerline is valid? [True, True] Translation: X:101.86, Y:31.40, Z:-1.10 [[ 7.87793014e-01 -6.15594869e-01 -2.06185278e-02 1.01861489e+02] [ 6.15428521e-01 7.88061606e-01 -1.43750199e-02 3.13952628e+01] [ 2.50978586e-02 -1.36468977e-03 9.99684068e-01 -1.09564408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64719347 meters 0.07576176053852682 Centerline is valid? [True, True] Translation: X:101.88, Y:31.41, Z:-1.10 [[ 7.85161616e-01 -6.18933541e-01 -2.10358976e-02 1.01884701e+02] [ 6.18761415e-01 7.85441935e-01 -1.46723693e-02 3.14138741e+01] [ 2.56036976e-02 -1.49602058e-03 9.99671052e-01 -1.09510195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67719347 meters 0.07603520577985093 Centerline is valid? [True, True] Translation: X:101.91, Y:31.43, Z:-1.10 [[ 7.83822215e-01 -6.20626447e-01 -2.11080053e-02 1.01907376e+02] [ 6.20453734e-01 7.84104834e-01 -1.47231950e-02 3.14321713e+01] [ 2.56884932e-02 -1.55617338e-03 9.99668785e-01 -1.09555603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70719347 meters 0.07543043274082181 Centerline is valid? [True, True] Translation: X:101.93, Y:31.45, Z:-1.10 [[ 7.83344017e-01 -6.21169094e-01 -2.28277696e-02 1.01929352e+02] [ 6.20967224e-01 7.83674721e-01 -1.59260469e-02 3.14519015e+01] [ 2.77823140e-02 -1.69972313e-03 9.99612552e-01 -1.09558241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73719347 meters 0.07503080731128564 Centerline is valid? [True, True] Translation: X:101.95, Y:31.47, Z:-1.10 [[ 7.85018819e-01 -6.18956098e-01 -2.52745483e-02 1.01948633e+02] [ 6.18707353e-01 7.85423541e-01 -1.76372727e-02 3.14729559e+01] [ 3.07679226e-02 -1.79195787e-03 9.99524949e-01 -1.09835403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76719347 meters 0.07522850594328147 Centerline is valid? [True, True] Translation: X:101.97, Y:31.49, Z:-1.10 [[ 7.87756560e-01 -6.15511270e-01 -2.41966682e-02 1.01970671e+02] [ 6.15281609e-01 7.88126491e-01 -1.68871680e-02 3.14920878e+01] [ 2.94642774e-02 -1.58478756e-03 9.99564578e-01 -1.10070356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79719347 meters 0.0746034690501942 Centerline is valid? [True, True] Translation: X:101.99, Y:31.51, Z:-1.10 [[ 7.91327606e-01 -6.10923055e-01 -2.39507995e-02 1.01990550e+02] [ 6.10695861e-01 7.91688745e-01 -1.67181789e-02 3.15130240e+01] [ 2.91750993e-02 -1.39709767e-03 9.99573340e-01 -1.10221401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82719347 meters 0.07104197410263696 Centerline is valid? [True, True] Translation: X:102.01, Y:31.54, Z:-1.10 [[ 7.95736689e-01 -6.05198315e-01 -2.31974278e-02 1.02007459e+02] [ 6.04982643e-01 7.96073920e-01 -1.61961840e-02 3.15411057e+01] [ 2.82687705e-02 -1.14614335e-03 9.99599701e-01 -1.10025585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85719347 meters 0.06627731269752575 Centerline is valid? [True, True] Translation: X:102.02, Y:31.58, Z:-1.10 [[ 8.04148718e-01 -5.93958085e-01 -2.36354182e-02 1.02018352e+02] [ 5.93729213e-01 8.04495627e-01 -1.65047672e-02 3.15783181e+01] [ 2.88177305e-02 -7.60750860e-04 9.99584393e-01 -1.09533798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88719347 meters 0.06584869357273862 Centerline is valid? [True, True] Translation: X:102.04, Y:31.60, Z:-1.10 [[ 8.06550702e-01 -5.90726752e-01 -2.27567327e-02 1.02037205e+02] [ 5.90513184e-01 8.06871441e-01 -1.58951872e-02 3.16000123e+01] [ 2.77514700e-02 -6.17876240e-04 9.99614663e-01 -1.09625328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91719347 meters 0.06537308217645493 Centerline is valid? [True, True] Translation: X:102.06, Y:31.62, Z:-1.09 [[ 8.08346713e-01 -5.88333363e-01 -2.09629614e-02 1.02057634e+02] [ 5.88151061e-01 8.08618340e-01 -1.46530093e-02 3.16216304e+01] [ 2.55718893e-02 -4.84676131e-04 9.99672868e-01 -1.09457887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94719347 meters 0.06516856617760636 Centerline is valid? [True, True] Translation: X:102.08, Y:31.64, Z:-1.09 [[ 8.09160154e-01 -5.87225361e-01 -2.06451281e-02 1.02078897e+02] [ 5.87047941e-01 8.09423367e-01 -1.44404945e-02 3.16411780e+01] [ 2.51904737e-02 -4.35007224e-04 9.99682575e-01 -1.09412493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97719347 meters 0.06451230921179812 Centerline is valid? [True, True] Translation: X:102.10, Y:31.66, Z:-1.09 [[ 8.10876798e-01 -5.84932990e-01 -1.82267801e-02 1.02100137e+02] [ 5.84794115e-01 8.11081558e-01 -1.27494904e-02 3.16612114e+01] [ 2.22410028e-02 -3.20647791e-04 9.99752587e-01 -1.09335064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00719347 meters 0.06453852696761574 Centerline is valid? [True, True] Translation: X:102.12, Y:31.68, Z:-1.09 [[ 8.11354623e-01 -5.84275810e-01 -1.80403582e-02 1.02122498e+02] [ 5.84139370e-01 8.11555108e-01 -1.26294679e-02 3.16784878e+01] [ 2.20198374e-02 -2.91106337e-04 9.99757492e-01 -1.09478902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03719347 meters 0.06449993139606938 Centerline is valid? [True, True] Translation: X:102.15, Y:31.70, Z:-1.10 [[ 8.11955848e-01 -5.83452853e-01 -1.76201142e-02 1.02145698e+02] [ 5.83322350e-01 8.12146971e-01 -1.23423447e-02 3.16962800e+01] [ 2.15112986e-02 -2.56767413e-04 9.99768572e-01 -1.09607570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06719347 meters 0.06437401178305971 Centerline is valid? [True, True] Translation: X:102.17, Y:31.71, Z:-1.10 [[ 8.12293465e-01 -5.82975614e-01 -1.78538546e-02 1.02168160e+02] [ 5.82841300e-01 8.12489616e-01 -1.25157022e-02 3.17131590e+01] [ 2.18024206e-02 -2.39540723e-04 9.99762270e-01 -1.09697455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09719347 meters 0.06458532615107518 Centerline is valid? [True, True] Translation: X:102.19, Y:31.73, Z:-1.10 [[ 8.11614493e-01 -5.83837273e-01 -2.03949565e-02 1.02192177e+02] [ 5.83662319e-01 8.11870647e-01 -1.42950888e-02 3.17310138e+01] [ 2.49040722e-02 -3.01666394e-04 9.99689800e-01 -1.09679327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12719347 meters 0.06489568645857878 Centerline is valid? [True, True] Translation: X:102.22, Y:31.75, Z:-1.10 [[ 8.11561205e-01 -5.83872555e-01 -2.14767191e-02 1.02215301e+02] [ 5.83678453e-01 8.11845269e-01 -1.50573287e-02 3.17465869e+01] [ 2.62273338e-02 -3.15554320e-04 9.99655955e-01 -1.09846628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15719347 meters 0.06545897601223898 Centerline is valid? [True, True] Translation: X:102.24, Y:31.76, Z:-1.10 [[ 8.11092638e-01 -5.84441580e-01 -2.35960257e-02 1.02240140e+02] [ 5.84207158e-01 8.11435711e-01 -1.65554873e-02 3.17610036e+01] [ 2.88223731e-02 -3.56933245e-04 9.99584485e-01 -1.10145770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18719347 meters 0.06593348996228378 Centerline is valid? [True, True] Translation: X:102.27, Y:31.77, Z:-1.10 [[ 8.09995570e-01 -5.85869365e-01 -2.57733177e-02 1.02267456e+02] [ 5.85590361e-01 8.10405386e-01 -1.80842288e-02 3.17729390e+01] [ 3.14818311e-02 -4.44461254e-04 9.99504225e-01 -1.10468691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21719347 meters 0.06623590021943651 Centerline is valid? [True, True] Translation: X:102.30, Y:31.78, Z:-1.11 [[ 8.07690040e-01 -5.89074162e-01 -2.50685218e-02 1.02298618e+02] [ 5.88811547e-01 8.08078790e-01 -1.75963241e-02 3.17776419e+01] [ 3.06228807e-02 -5.48259441e-04 9.99530859e-01 -1.10669027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24719347 meters 0.06645699009416929 Centerline is valid? [True, True] Translation: X:102.33, Y:31.79, Z:-1.11 [[ 8.05602724e-01 -5.91964105e-01 -2.41402019e-02 1.02325074e+02] [ 5.91721779e-01 8.05964081e-01 -1.69480338e-02 3.17892873e+01] [ 2.94887633e-02 -6.30900992e-04 9.99564913e-01 -1.10509648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27719347 meters 0.06670509971508727 Centerline is valid? [True, True] Translation: X:102.35, Y:31.80, Z:-1.10 [[ 8.04017016e-01 -5.94183708e-01 -2.24133626e-02 1.02351488e+02] [ 5.93975353e-01 8.04329097e-01 -1.57475025e-02 3.18018320e+01] [ 2.73846291e-02 -6.51724973e-04 9.99624758e-01 -1.10261743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30719347 meters 0.06710682539773288 Centerline is valid? [True, True] Translation: X:102.38, Y:31.81, Z:-1.10 [[ 8.02636433e-01 -5.96068249e-01 -2.18494465e-02 1.02377932e+02] [ 5.95870688e-01 8.02933476e-01 -1.53608989e-02 3.18136311e+01] [ 2.66997962e-02 -6.90227601e-04 9.99643259e-01 -1.10226727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33719347 meters 0.06794500677853364 Centerline is valid? [True, True] Translation: X:102.41, Y:31.82, Z:-1.10 [[ 8.01336317e-01 -5.97768867e-01 -2.30757215e-02 1.02405403e+02] [ 5.97549217e-01 8.01668110e-01 -1.62226555e-02 3.18238911e+01] [ 2.81964684e-02 -7.89076275e-04 9.99602089e-01 -1.10465154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36719347 meters 0.06865840197746063 Centerline is valid? [True, True] Translation: X:102.44, Y:31.83, Z:-1.11 [[ 7.98534057e-01 -6.01409349e-01 -2.54981387e-02 1.02436112e+02] [ 6.01142940e-01 7.98940405e-01 -1.79274896e-02 3.18312979e+01] [ 3.11532531e-02 -1.01231508e-03 9.99514107e-01 -1.10583170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39719347 meters 0.06919987646613751 Centerline is valid? [True, True] Translation: X:102.46, Y:31.84, Z:-1.11 [[ 7.96578182e-01 -6.03956614e-01 -2.64501156e-02 1.02463042e+02] [ 6.03671225e-01 7.97016364e-01 -1.86002159e-02 3.18444393e+01] [ 3.23148984e-02 -1.15064752e-03 9.99477075e-01 -1.10644798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42719347 meters 0.0706642693053858 Centerline is valid? [True, True] Translation: X:102.49, Y:31.86, Z:-1.11 [[ 7.94991803e-01 -6.06015014e-01 -2.70893951e-02 1.02490093e+02] [ 6.05716769e-01 7.95452205e-01 -1.90521865e-02 3.18555281e+01] [ 3.30942301e-02 -1.26216884e-03 9.99451439e-01 -1.10912480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45719347 meters 0.07201250638435418 Centerline is valid? [True, True] Translation: X:102.52, Y:31.87, Z:-1.11 [[ 7.92285524e-01 -6.09524307e-01 -2.76363446e-02 1.02517102e+02] [ 6.09215932e-01 7.92766082e-01 -1.94393411e-02 3.18674390e+01] [ 3.37579075e-02 -1.43499292e-03 9.99429009e-01 -1.10845116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48719347 meters 0.07230934458714158 Centerline is valid? [True, True] Translation: X:102.54, Y:31.88, Z:-1.11 [[ 7.91530267e-01 -6.10524053e-01 -2.72069280e-02 1.02541387e+02] [ 6.10225301e-01 7.91996400e-01 -1.91516253e-02 3.18824069e+01] [ 3.32403169e-02 -1.44326478e-03 9.99446346e-01 -1.10740527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51719347 meters 0.07195646155658678 Centerline is valid? [True, True] Translation: X:102.57, Y:31.90, Z:-1.10 [[ 7.90551702e-01 -6.11861462e-01 -2.55647976e-02 1.02565478e+02] [ 6.11598226e-01 7.90963702e-01 -1.80008824e-02 3.18991438e+01] [ 3.12348732e-02 -1.40475667e-03 9.99511085e-01 -1.10443895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54719347 meters 0.07174409267308424 Centerline is valid? [True, True] Translation: X:102.59, Y:31.92, Z:-1.10 [[ 7.90044013e-01 -6.12597321e-01 -2.35580172e-02 1.02589524e+02] [ 6.12373803e-01 7.90394079e-01 -1.65989493e-02 3.19157657e+01] [ 2.87885891e-02 -1.31241207e-03 9.99584661e-01 -1.10218557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57719347 meters 0.07190288119119029 Centerline is valid? [True, True] Translation: X:102.61, Y:31.93, Z:-1.10 [[ 7.87972507e-01 -6.15399972e-01 -1.95500071e-02 1.02613208e+02] [ 6.15246696e-01 7.88214129e-01 -1.37836799e-02 3.19330282e+01] [ 2.38920680e-02 -1.16691649e-03 9.99713863e-01 -1.09797750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60719347 meters 0.07365092755184953 Centerline is valid? [True, True] Translation: X:102.64, Y:31.95, Z:-1.10 [[ 7.87084561e-01 -6.16565961e-01 -1.85555727e-02 1.02637195e+02] [ 6.16428175e-01 7.87302430e-01 -1.30839129e-02 3.19466640e+01] [ 2.26759428e-02 -1.14003196e-03 9.99742218e-01 -1.09919978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63719347 meters 0.07305501451940895 Centerline is valid? [True, True] Translation: X:102.66, Y:31.97, Z:-1.10 [[ 7.86185987e-01 -6.17718881e-01 -1.83024041e-02 1.02659445e+02] [ 6.17584915e-01 7.86398158e-01 -1.29155052e-02 3.19653701e+01] [ 2.23711283e-02 -1.14929952e-03 9.99749074e-01 -1.09769615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66719347 meters 0.07535790010821426 Centerline is valid? [True, True] Translation: X:102.68, Y:31.98, Z:-1.10 [[ 7.84740428e-01 -6.19491404e-01 -2.03189746e-02 1.02683993e+02] [ 6.19326858e-01 7.85002310e-01 -1.43393095e-02 3.19794606e+01] [ 2.48335210e-02 -1.33145079e-03 9.99690714e-01 -1.10325825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69719347 meters 0.07531843688563009 Centerline is valid? [True, True] Translation: X:102.71, Y:32.00, Z:-1.10 [[ 7.83911498e-01 -6.20531116e-01 -2.05887518e-02 1.02706834e+02] [ 6.20362253e-01 7.84180621e-01 -1.45405763e-02 3.19974795e+01] [ 2.51681802e-02 -1.37395949e-03 9.99682287e-01 -1.10284609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72719347 meters 0.07443324406670779 Centerline is valid? [True, True] Translation: X:102.73, Y:32.02, Z:-1.10 [[ 7.83279229e-01 -6.21335126e-01 -2.04036774e-02 1.02728115e+02] [ 6.21169326e-01 7.83543717e-01 -1.44191211e-02 3.20172810e+01] [ 2.49462797e-02 -1.37994049e-03 9.99687841e-01 -1.10182159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75719347 meters 0.07592846108162422 Centerline is valid? [True, True] Translation: X:102.75, Y:32.03, Z:-1.11 [[ 7.84125925e-01 -6.20232604e-01 -2.14021362e-02 1.02750071e+02] [ 6.20049735e-01 7.84416681e-01 -1.51259912e-02 3.20346296e+01] [ 2.61698255e-02 -1.40970706e-03 9.99656517e-01 -1.10589812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78719347 meters 0.07391576838435761 Centerline is valid? [True, True] Translation: X:102.77, Y:32.06, Z:-1.11 [[ 7.85096990e-01 -6.18997005e-01 -2.15736848e-02 1.02770035e+02] [ 6.18810439e-01 7.85392149e-01 -1.52581865e-02 3.20567356e+01] [ 2.63885745e-02 -1.37086511e-03 9.99650821e-01 -1.10533324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81719347 meters 0.0736587380057448 Centerline is valid? [True, True] Translation: X:102.79, Y:32.08, Z:-1.11 [[ 7.85885890e-01 -6.18018881e-01 -2.08813578e-02 1.02791384e+02] [ 6.17843738e-01 7.86162189e-01 -1.47691912e-02 3.20755558e+01] [ 2.55437730e-02 -1.29451717e-03 9.99672866e-01 -1.10604363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84719347 meters 0.07321025694567446 Centerline is valid? [True, True] Translation: X:102.81, Y:32.10, Z:-1.10 [[ 7.86709168e-01 -6.17054272e-01 -1.82403304e-02 1.02813052e+02] [ 6.16920332e-01 7.86919825e-01 -1.29031736e-02 3.20954112e+01] [ 2.23156360e-02 -1.10178570e-03 9.99750368e-01 -1.10363773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87719347 meters 0.07105987451899876 Centerline is valid? [True, True] Translation: X:102.83, Y:32.12, Z:-1.10 [[ 7.88552549e-01 -6.14795387e-01 -1.45433785e-02 1.02830788e+02] [ 6.14709724e-01 7.88686222e-01 -1.02955063e-02 3.21222896e+01] [ 1.77997920e-02 -8.21408433e-04 9.99841234e-01 -1.09858374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90719347 meters 0.0708229161126685 Centerline is valid? [True, True] Translation: X:102.85, Y:32.14, Z:-1.10 [[ 7.89714800e-01 -6.13286908e-01 -1.51559546e-02 1.02851526e+02] [ 6.13193586e-01 7.89859795e-01 -1.07298777e-02 3.21416423e+01] [ 1.85515727e-02 -8.19990948e-04 9.99827569e-01 -1.09899613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93719347 meters 0.07027846395684381 Centerline is valid? [True, True] Translation: X:102.87, Y:32.16, Z:-1.10 [[ 7.90946063e-01 -6.11661658e-01 -1.65632553e-02 1.02872349e+02] [ 6.11549661e-01 7.91119016e-01 -1.17351577e-02 3.21613760e+01] [ 2.02814522e-02 -8.47376355e-04 9.99793951e-01 -1.10193991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96719347 meters 0.06993293757521735 Centerline is valid? [True, True] Translation: X:102.89, Y:32.18, Z:-1.11 [[ 7.92455886e-01 -6.09636902e-01 -1.88816393e-02 1.02893752e+02] [ 6.09490601e-01 7.92680287e-01 -1.33854488e-02 3.21806222e+01] [ 2.31273668e-02 -9.00803971e-04 9.99732121e-01 -1.10554590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99719347 meters 0.0695525240142488 Centerline is valid? [True, True] Translation: X:102.91, Y:32.20, Z:-1.11 [[ 7.93438658e-01 -6.08325202e-01 -1.98882817e-02 1.02914402e+02] [ 6.08162268e-01 7.93687366e-01 -1.41074960e-02 3.22006312e+01] [ 2.43670233e-02 -9.01869775e-04 9.99702673e-01 -1.10806415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02719347 meters 0.06788489736779314 Centerline is valid? [True, True] Translation: X:102.93, Y:32.23, Z:-1.11 [[ 7.95292280e-01 -6.05856066e-01 -2.11805751e-02 1.02930983e+02] [ 6.05670145e-01 7.95573797e-01 -1.50335978e-02 3.22274939e+01] [ 2.59589070e-02 -8.72337731e-04 9.99662630e-01 -1.10698780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05719347 meters 0.06757933855913192 Centerline is valid? [True, True] Translation: X:102.95, Y:32.25, Z:-1.11 [[ 7.95863028e-01 -6.05096943e-01 -2.14413060e-02 1.02951574e+02] [ 6.04905887e-01 7.96151346e-01 -1.52282984e-02 3.22481942e+01] [ 2.62851214e-02 -8.50332513e-04 9.99654125e-01 -1.10630004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08719347 meters 0.06720133879717649 Centerline is valid? [True, True] Translation: X:102.97, Y:32.27, Z:-1.11 [[ 7.96229956e-01 -6.04580106e-01 -2.23775150e-02 1.02971669e+02] [ 6.04371513e-01 7.96543881e-01 -1.59034660e-02 3.22697659e+01] [ 2.74395918e-02 -8.61516555e-04 9.99623092e-01 -1.10674534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11719347 meters 0.06768634720234062 Centerline is valid? [True, True] Translation: X:103.00, Y:32.29, Z:-1.11 [[ 7.96087644e-01 -6.04698180e-01 -2.41779700e-02 1.02995232e+02] [ 6.04454670e-01 7.96454166e-01 -1.71846977e-02 3.22852366e+01] [ 2.96482004e-02 -9.33961361e-04 9.99559959e-01 -1.11051007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14719347 meters 0.06769266409695014 Centerline is valid? [True, True] Translation: X:103.02, Y:32.30, Z:-1.11 [[ 7.96051457e-01 -6.04732158e-01 -2.45172484e-02 1.03018074e+02] [ 6.04481330e-01 7.96428365e-01 -1.74408008e-02 3.23006907e+01] [ 3.00732452e-02 -9.36443988e-04 9.99547259e-01 -1.11243638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17719347 meters 0.06760266434991394 Centerline is valid? [True, True] Translation: X:103.04, Y:32.32, Z:-1.11 [[ 7.96159646e-01 -6.04567856e-01 -2.50504622e-02 1.03041428e+02] [ 6.04305588e-01 7.96553087e-01 -1.78307690e-02 3.23175881e+01] [ 3.07339328e-02 -9.41995540e-04 9.99527157e-01 -1.11291022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20719346999999 meters 0.06684038278631711 Centerline is valid? [True, True] Translation: X:103.06, Y:32.34, Z:-1.11 [[ 7.96666980e-01 -6.03974790e-01 -2.31555029e-02 1.03063704e+02] [ 6.03750425e-01 7.97002970e-01 -1.64830560e-02 3.23360610e+01] [ 2.84103548e-02 -8.48638280e-04 9.99595984e-01 -1.10972959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23719347 meters 0.06684038278631711 Centerline is valid? [True, True] Translation: X:103.09, Y:32.35, Z:-1.11 [[ 7.96457549e-01 -6.04251205e-01 -2.31485373e-02 1.03085932e+02] [ 6.04026673e-01 7.96793427e-01 -1.64928380e-02 3.23521607e+01] [ 2.84104196e-02 -8.46488660e-04 9.99595984e-01 -1.10995621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26719347 meters 0.06646099853169878 Centerline is valid? [True, True] Translation: X:103.11, Y:32.37, Z:-1.11 [[ 7.96194989e-01 -6.04650120e-01 -2.17203292e-02 1.03108962e+02] [ 6.04452329e-01 7.96490799e-01 -1.54851241e-02 3.23696283e+01] [ 2.66631246e-02 -7.99725372e-04 9.99644156e-01 -1.10752062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29719347 meters 0.06722054682047908 Centerline is valid? [True, True] Translation: X:103.13, Y:32.38, Z:-1.11 [[ 7.95872501e-01 -6.05079866e-01 -2.15712210e-02 1.03132692e+02] [ 6.04884898e-01 7.96164370e-01 -1.53803583e-02 3.23837309e+01] [ 2.64805827e-02 -8.07301602e-04 9.99649002e-01 -1.10911345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32719347 meters 0.06674967676421012 Centerline is valid? [True, True] Translation: X:103.15, Y:32.40, Z:-1.11 [[ 7.95622733e-01 -6.05342258e-01 -2.33498715e-02 1.03154388e+02] [ 6.05113816e-01 7.95964808e-01 -1.66521673e-02 3.24022827e+01] [ 2.86659365e-02 -8.80486925e-04 9.99588660e-01 -1.10761652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35719347 meters 0.06615526038006925 Centerline is valid? [True, True] Translation: X:103.18, Y:32.42, Z:-1.11 [[ 7.95469154e-01 -6.05585228e-01 -2.22566097e-02 1.03177303e+02] [ 6.05377433e-01 7.95780013e-01 -1.58850382e-02 3.24201452e+01] [ 2.73311096e-02 -8.37591354e-04 9.99626085e-01 -1.10593669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38719347 meters 0.065935197474357 Centerline is valid? [True, True] Translation: X:103.20, Y:32.44, Z:-1.10 [[ 7.95069041e-01 -6.06185203e-01 -2.01176337e-02 1.03201461e+02] [ 6.06015383e-01 7.95323148e-01 -1.43682052e-02 3.24351984e+01] [ 2.47098132e-02 -7.67880384e-04 9.99694371e-01 -1.10469950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41719347 meters 0.0660789347888901 Centerline is valid? [True, True] Translation: X:103.23, Y:32.45, Z:-1.11 [[ 7.95261846e-01 -6.05981290e-01 -1.85815231e-02 1.03226037e+02] [ 6.05836332e-01 7.95478587e-01 -1.32723889e-02 3.24485462e+01] [ 2.28240231e-02 -7.02337313e-04 9.99739251e-01 -1.10526591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44719347 meters 0.06510598878856938 Centerline is valid? [True, True] Translation: X:103.25, Y:32.47, Z:-1.10 [[ 7.96620208e-01 -6.04252225e-01 -1.65979678e-02 1.03248691e+02] [ 6.04136151e-01 7.96792890e-01 -1.18575521e-02 3.24663316e+01] [ 2.03900950e-02 -5.81466819e-04 9.99791931e-01 -1.10159329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47719347 meters 0.06507315555206612 Centerline is valid? [True, True] Translation: X:103.27, Y:32.48, Z:-1.10 [[ 7.97834498e-01 -6.02628650e-01 -1.72865574e-02 1.03271513e+02] [ 6.02502299e-01 7.98021552e-01 -1.23524175e-02 3.24826855e+01] [ 2.12389661e-02 -5.60005800e-04 9.99774271e-01 -1.10327062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50719347 meters 0.0643432453684162 Centerline is valid? [True, True] Translation: X:103.29, Y:32.50, Z:-1.10 [[ 7.99258752e-01 -6.00682308e-01 -1.91366604e-02 1.03292449e+02] [ 6.00526622e-01 7.99487622e-01 -1.36864060e-02 3.25014429e+01] [ 2.35207051e-02 -5.53094219e-04 9.99723197e-01 -1.10277695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53719347 meters 0.06414384233228436 Centerline is valid? [True, True] Translation: X:103.31, Y:32.52, Z:-1.10 [[ 8.01085758e-01 -5.98230589e-01 -1.95389422e-02 1.03313989e+02] [ 5.98067541e-01 8.01323856e-01 -1.39747697e-02 3.25185365e+01] [ 2.40171552e-02 -4.90618182e-04 9.99711426e-01 -1.10494415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56719347 meters 0.06256759966509233 Centerline is valid? [True, True] Translation: X:103.34, Y:32.54, Z:-1.10 [[ 8.04903491e-01 -5.93093080e-01 -1.92605582e-02 1.03335320e+02] [ 5.92933111e-01 8.05133834e-01 -1.37780826e-02 3.25387820e+01] [ 2.36790125e-02 -3.30195925e-04 9.99719558e-01 -1.10046123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59719347 meters 0.06226016217632389 Centerline is valid? [True, True] Translation: X:103.36, Y:32.55, Z:-1.10 [[ 8.06399937e-01 -5.91106579e-01 -1.76678391e-02 1.03359059e+02] [ 5.90971388e-01 8.06593424e-01 -1.26438618e-02 3.25533769e+01] [ 2.17246327e-02 -2.45178077e-04 9.99763962e-01 -1.10170456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62719347 meters 0.06168347657950197 Centerline is valid? [True, True] Translation: X:103.38, Y:32.57, Z:-1.10 [[ 8.07654053e-01 -5.89435832e-01 -1.61347681e-02 1.03383143e+02] [ 5.89322576e-01 8.07815182e-01 -1.15556226e-02 3.25696249e+01] [ 1.98452087e-02 -1.75637673e-04 9.99803049e-01 -1.09850767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65719347 meters 0.061507895152698076 Centerline is valid? [True, True] Translation: X:103.41, Y:32.58, Z:-1.10 [[ 8.08838163e-01 -5.87796970e-01 -1.65996375e-02 1.03406677e+02] [ 5.87676565e-01 8.09008470e-01 -1.18974621e-02 3.25843796e+01] [ 2.04225395e-02 -1.32096551e-04 9.99791429e-01 -1.09952740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68719347 meters 0.061691497941141114 Centerline is valid? [True, True] Translation: X:103.43, Y:32.60, Z:-1.10 [[ 8.10305100e-01 -5.85618255e-01 -2.13753393e-02 1.03432165e+02] [ 5.85417899e-01 8.10586978e-01 -1.53177522e-02 3.25996647e+01] [ 2.62969270e-02 -1.01453474e-04 9.99654171e-01 -1.10149820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71719347 meters 0.06177994171016442 Centerline is valid? [True, True] Translation: X:103.46, Y:32.62, Z:-1.10 [[ 8.11065636e-01 -5.84526722e-01 -2.23840534e-02 1.03456455e+02] [ 5.84306228e-01 8.11374456e-01 -1.60537770e-02 3.26154329e+01] [ 2.75457108e-02 -5.84749355e-05 9.99620543e-01 -1.10212596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74719347 meters 0.061672663075768235 Centerline is valid? [True, True] Translation: X:103.48, Y:32.63, Z:-1.10 [[ 8.11422547e-01 -5.83997112e-01 -2.32556273e-02 1.03481790e+02] [ 5.83758580e-01 8.11755734e-01 -1.66897652e-02 3.26301652e+01] [ 2.86246635e-02 -3.32201596e-05 9.99590230e-01 -1.10230656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77719347 meters 0.061218652329761765 Centerline is valid? [True, True] Translation: X:103.51, Y:32.64, Z:-1.10 [[ 8.11963469e-01 -5.83301956e-01 -2.17750367e-02 1.03509917e+02] [ 5.83092304e-01 8.12255396e-01 -1.56376829e-02 3.26397961e+01] [ 2.68083821e-02 3.70905150e-07 9.99640591e-01 -1.10114559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80719347 meters 0.061040917223971626 Centerline is valid? [True, True] Translation: X:103.54, Y:32.65, Z:-1.10 [[ 8.11251554e-01 -5.84290805e-01 -2.17984321e-02 1.03536143e+02] [ 5.84080731e-01 8.11544364e-01 -1.56666772e-02 3.26514794e+01] [ 2.68442901e-02 -2.24279188e-05 9.99639627e-01 -1.10125115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83719347 meters 0.06097209459135973 Centerline is valid? [True, True] Translation: X:103.56, Y:32.66, Z:-1.10 [[ 8.11017213e-01 -5.84588365e-01 -2.25283158e-02 1.03561690e+02] [ 5.84364041e-01 8.11330046e-01 -1.61933541e-02 3.26627215e+01] [ 2.77443459e-02 -3.16487352e-05 9.99615051e-01 -1.10270744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86719347 meters 0.060691930580993134 Centerline is valid? [True, True] Translation: X:103.59, Y:32.67, Z:-1.10 [[ 8.09357014e-01 -5.86822158e-01 -2.41035125e-02 1.03592768e+02] [ 5.86565960e-01 8.09715841e-01 -1.73387136e-02 3.26688978e+01] [ 2.96917372e-02 -1.05090504e-04 9.99559098e-01 -1.10257709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89719347 meters 0.06066896741127474 Centerline is valid? [True, True] Translation: X:103.62, Y:32.68, Z:-1.10 [[ 8.07621338e-01 -5.89205094e-01 -2.41894989e-02 1.03620936e+02] [ 5.88947795e-01 8.07983492e-01 -1.74118336e-02 3.26789719e+01] [ 2.98038569e-02 -1.84183681e-04 9.99555749e-01 -1.10319028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92719347 meters 0.060923033047145234 Centerline is valid? [True, True] Translation: X:103.65, Y:32.69, Z:-1.10 [[ 8.05151993e-01 -5.92507581e-01 -2.57882469e-02 1.03649704e+02] [ 5.92216455e-01 8.05564812e-01 -1.85743006e-02 3.26882087e+01] [ 3.17795182e-02 -3.17088984e-04 9.99494853e-01 -1.10397753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95719346999999 meters 0.06129292745985648 Centerline is valid? [True, True] Translation: X:103.68, Y:32.70, Z:-1.10 [[ 8.02277042e-01 -5.96371001e-01 -2.63282623e-02 1.03678586e+02] [ 5.96069549e-01 8.02708790e-01 -1.89655209e-02 3.26964379e+01] [ 3.24444142e-02 -4.77873424e-04 9.99473427e-01 -1.10441359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98719347 meters 0.0625071758321904 Centerline is valid? [True, True] Translation: X:103.72, Y:32.69, Z:-1.10 [[ 7.95451683e-01 -6.05488786e-01 -2.52972489e-02 1.03716221e+02] [ 6.05214988e-01 7.95853422e-01 -1.82249536e-02 3.26944430e+01] [ 3.11679071e-02 -8.13204153e-04 9.99513832e-01 -1.10109274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01719347 meters 0.063593743110016 Centerline is valid? [True, True] Translation: X:103.75, Y:32.70, Z:-1.10 [[ 7.91449400e-01 -6.10739291e-01 -2.46041752e-02 1.03747425e+02] [ 6.10482740e-01 7.91831130e-01 -1.77280934e-02 3.27013613e+01] [ 3.03095950e-02 -9.89535395e-04 9.99540069e-01 -1.10011743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04719347 meters 0.06521891775896635 Centerline is valid? [True, True] Translation: X:103.78, Y:32.71, Z:-1.10 [[ 7.87137300e-01 -6.16331917e-01 -2.34486660e-02 1.03778181e+02] [ 6.16101297e-01 7.87485654e-01 -1.68978109e-02 3.27083486e+01] [ 2.88801482e-02 -1.14585629e-03 9.99582225e-01 -1.09918342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07719347 meters 0.06848596322322935 Centerline is valid? [True, True] Translation: X:103.81, Y:32.71, Z:-1.10 [[ 7.83199313e-01 -6.21334960e-01 -2.32745071e-02 1.03808724e+02] [ 6.21109802e-01 7.83543959e-01 -1.67773374e-02 3.27135344e+01] [ 2.86609457e-02 -1.31602534e-03 9.99588324e-01 -1.10111015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10719347 meters 0.07054969099569858 Centerline is valid? [True, True] Translation: X:103.84, Y:32.72, Z:-1.10 [[ 7.76963462e-01 -6.29166598e-01 -2.18442388e-02 1.03838377e+02] [ 6.28971040e-01 7.77269034e-01 -1.57569106e-02 3.27227722e+01] [ 2.68925722e-02 -1.49684973e-03 9.99637209e-01 -1.09600327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13719347 meters 0.07257189826540132 Centerline is valid? [True, True] Translation: X:103.86, Y:32.74, Z:-1.10 [[ 7.75524797e-01 -6.30949108e-01 -2.15525326e-02 1.03863917e+02] [ 6.30759409e-01 7.75822698e-01 -1.55469998e-02 3.27356615e+01] [ 2.65303097e-02 -1.53737882e-03 9.99646827e-01 -1.09663679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16719347 meters 0.07026566159656915 Centerline is valid? [True, True] Translation: X:103.89, Y:32.76, Z:-1.09 [[ 7.73575097e-01 -6.33315912e-01 -2.21928953e-02 1.03885343e+02] [ 6.33115438e-01 7.73891599e-01 -1.60198600e-02 3.27565125e+01] [ 2.73205274e-02 -1.65809991e-03 9.99625350e-01 -1.09294308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19719347 meters 0.07676860393210605 Centerline is valid? [True, True] Translation: X:103.91, Y:32.76, Z:-1.10 [[ 7.71158045e-01 -6.36220175e-01 -2.32197786e-02 1.03914466e+02] [ 6.36001988e-01 7.71505345e-01 -1.67622681e-02 3.27643600e+01] [ 2.85786765e-02 -1.84146750e-03 9.99589850e-01 -1.09856900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22719347 meters 0.07696844814119817 Centerline is valid? [True, True] Translation: X:103.94, Y:32.78, Z:-1.10 [[ 7.69828190e-01 -6.37798079e-01 -2.40451212e-02 1.03936279e+02] [ 6.37564706e-01 7.70201113e-01 -1.73634844e-02 3.27836123e+01] [ 2.95939761e-02 -1.96342082e-03 9.99560074e-01 -1.09885019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25719347 meters 0.07773556111562382 Centerline is valid? [True, True] Translation: X:103.96, Y:32.80, Z:-1.10 [[ 7.68532409e-01 -6.39297491e-01 -2.56252618e-02 1.03957964e+02] [ 6.39032907e-01 7.68956510e-01 -1.85156333e-02 3.28029396e+01] [ 3.15417099e-02 -2.14552130e-03 9.99500134e-01 -1.09960741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28719347 meters 0.07931665318928857 Centerline is valid? [True, True] Translation: X:103.98, Y:32.82, Z:-1.10 [[ 7.67475030e-01 -6.40500600e-01 -2.72224261e-02 1.03979440e+02] [ 6.40202681e-01 7.67954134e-01 -1.96716937e-02 3.28210633e+01] [ 3.35053063e-02 -2.33033643e-03 9.99435823e-01 -1.10235094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31719347 meters 0.07390877704171671 Centerline is valid? [True, True] Translation: X:103.99, Y:32.85, Z:-1.10 [[ 7.66276270e-01 -6.41907914e-01 -2.78371804e-02 1.03992832e+02] [ 6.41597218e-01 7.66777841e-01 -2.01184773e-02 3.28528270e+01] [ 3.42591429e-02 -2.44394576e-03 9.99409995e-01 -1.09632219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34719347 meters 0.07721773272802167 Centerline is valid? [True, True] Translation: X:104.02, Y:32.87, Z:-1.10 [[ 7.65614613e-01 -6.42703950e-01 -2.76748368e-02 1.04016154e+02] [ 6.42397112e-01 7.66110688e-01 -2.00091184e-02 3.28685666e+01] [ 3.40619276e-02 -2.45896181e-03 9.99416699e-01 -1.09857384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37719347 meters 0.07445453217934957 Centerline is valid? [True, True] Translation: X:104.03, Y:32.89, Z:-1.10 [[ 7.64978700e-01 -6.43475271e-01 -2.73342891e-02 1.04033616e+02] [ 6.43175942e-01 7.65462974e-01 -1.97773195e-02 3.28943640e+01] [ 3.36496023e-02 -2.45152897e-03 9.99430685e-01 -1.09567614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40719347 meters 0.07961484077353546 Centerline is valid? [True, True] Translation: X:104.06, Y:32.91, Z:-1.10 [[ 7.63714531e-01 -6.44964839e-01 -2.75766469e-02 1.04058654e+02] [ 6.44661062e-01 7.64208032e-01 -1.99549173e-02 3.29088817e+01] [ 3.39445151e-02 -2.53773019e-03 9.99420497e-01 -1.10023689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43719347 meters 0.08077903240589285 Centerline is valid? [True, True] Translation: X:104.08, Y:32.93, Z:-1.10 [[ 7.59525819e-01 -6.49911076e-01 -2.71316087e-02 1.04076705e+02] [ 6.49619719e-01 7.60005449e-01 -1.96453420e-02 3.29344516e+01] [ 3.33878958e-02 -2.70408356e-03 9.99438811e-01 -1.09846721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46719347 meters 0.08105782460554344 Centerline is valid? [True, True] Translation: X:104.10, Y:32.96, Z:-1.10 [[ 7.57621487e-01 -6.52166195e-01 -2.62475946e-02 1.04097124e+02] [ 6.51894835e-01 7.58071172e-01 -1.90058637e-02 3.29559422e+01] [ 3.22925266e-02 -2.71142066e-03 9.99474783e-01 -1.09699655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49719347 meters 0.08412326502129708 Centerline is valid? [True, True] Translation: X:104.12, Y:32.98, Z:-1.10 [[ 7.54885996e-01 -6.55364522e-01 -2.53865538e-02 1.04115565e+02] [ 6.55112351e-01 7.55307732e-01 -1.83857761e-02 3.29779522e+01] [ 3.12240458e-02 -2.75188009e-03 9.99508622e-01 -1.09722530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52719347 meters 0.0847912988514108 Centerline is valid? [True, True] Translation: X:104.14, Y:33.00, Z:-1.10 [[ 7.55083785e-01 -6.55079733e-01 -2.68145549e-02 1.04135438e+02] [ 6.54797757e-01 7.55554251e-01 -1.94337686e-02 3.30002895e+01] [ 3.29905189e-02 -2.88398688e-03 9.99451504e-01 -1.09910260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55719347 meters 0.08384986476837344 Centerline is valid? [True, True] Translation: X:104.15, Y:33.02, Z:-1.10 [[ 7.56698403e-01 -6.53166136e-01 -2.79557836e-02 1.04152965e+02] [ 6.52858309e-01 7.57209006e-01 -2.02620010e-02 3.30243790e+01] [ 3.44028240e-02 -2.91894179e-03 9.99403785e-01 -1.10124629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58719347 meters 0.08109097979260609 Centerline is valid? [True, True] Translation: X:104.17, Y:33.05, Z:-1.10 [[ 7.59545542e-01 -6.49821843e-01 -2.86730159e-02 1.04169820e+02] [ 6.49495501e-01 7.60081269e-01 -2.07860448e-02 3.30509015e+01] [ 3.53010482e-02 -2.83504715e-03 9.99372702e-01 -1.10200710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61719347 meters 0.07342287925427503 Centerline is valid? [True, True] Translation: X:104.18, Y:33.09, Z:-1.10 [[ 7.68230493e-01 -6.39575441e-01 -2.76616153e-02 1.04176099e+02] [ 6.39264955e-01 7.68724968e-01 -2.00559351e-02 3.30924883e+01] [ 3.40914579e-02 -2.27552035e-03 9.99416127e-01 -1.10021831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64719347 meters 0.06872712618472955 Centerline is valid? [True, True] Translation: X:104.19, Y:33.13, Z:-1.10 [[ 7.73638046e-01 -6.33035042e-01 -2.74009063e-02 1.04188748e+02] [ 6.32726191e-01 7.74120645e-01 -1.98694245e-02 3.31250702e+01] [ 3.37896492e-02 -1.96552838e-03 9.99427034e-01 -1.09674162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67719347 meters 0.06611256402575989 Centerline is valid? [True, True] Translation: X:104.20, Y:33.15, Z:-1.10 [[ 7.78795507e-01 -6.26731175e-01 -2.61838393e-02 1.04202949e+02] [ 6.26445511e-01 7.79233874e-01 -1.89892610e-02 3.31542574e+01] [ 3.23044964e-02 -1.61399750e-03 9.99476770e-01 -1.09554237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70719346999999 meters 0.06403304918685232 Centerline is valid? [True, True] Translation: X:104.22, Y:33.18, Z:-1.09 [[ 7.83819941e-01 -6.20510144e-01 -2.43610707e-02 1.04218561e+02] [ 6.20259777e-01 7.84197407e-01 -1.76701873e-02 3.31818365e+01] [ 3.00684190e-02 -1.25994710e-03 9.99547049e-01 -1.09465537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73719347 meters 0.061209498047046985 Centerline is valid? [True, True] Translation: X:104.23, Y:33.21, Z:-1.09 [[ 7.88836530e-01 -6.14181289e-01 -2.27656281e-02 1.04234316e+02] [ 6.13959938e-01 7.89164395e-01 -1.65152011e-02 3.32109205e+01] [ 2.81091506e-02 -9.49389659e-04 9.99604409e-01 -1.09269753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76719347 meters 0.057921115351633065 Centerline is valid? [True, True] Translation: X:104.24, Y:33.25, Z:-1.09 [[ 7.97515345e-01 -6.02934859e-01 -2.09482909e-02 1.04244953e+02] [ 6.02743495e-01 7.97790261e-01 -1.51979984e-02 3.32466080e+01] [ 2.58757455e-02 -5.05809142e-04 9.99665039e-01 -1.09043010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79719347 meters 0.05734865421093228 Centerline is valid? [True, True] Translation: X:104.26, Y:33.27, Z:-1.09 [[ 8.00080495e-01 -5.99519727e-01 -2.11494175e-02 1.04264157e+02] [ 5.99323148e-01 8.00359885e-01 -1.53563805e-02 3.32690524e+01] [ 2.61335984e-02 -3.88994936e-04 9.99658384e-01 -1.09074346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82719347 meters 0.05714719464063097 Centerline is valid? [True, True] Translation: X:104.28, Y:33.29, Z:-1.09 [[ 8.02525618e-01 -5.96230259e-01 -2.14967632e-02 1.04283721e+02] [ 5.96025722e-01 8.02813429e-01 -1.56184991e-02 3.32908220e+01] [ 2.65701119e-02 -2.78378132e-04 9.99646913e-01 -1.09227377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85719347 meters 0.05720043868096283 Centerline is valid? [True, True] Translation: X:104.31, Y:33.31, Z:-1.09 [[ 8.03226523e-01 -5.95222687e-01 -2.31755343e-02 1.04305646e+02] [ 5.94984227e-01 8.03560755e-01 -1.68487973e-02 3.33099382e+01] [ 2.86517363e-02 -2.55676533e-04 9.99589422e-01 -1.09337493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88719347 meters 0.05750631397381835 Centerline is valid? [True, True] Translation: X:104.33, Y:33.33, Z:-1.09 [[ 8.03800743e-01 -5.94420837e-01 -2.38376498e-02 1.04328006e+02] [ 5.94167878e-01 8.04154101e-01 -1.73411163e-02 3.33281217e+01] [ 2.94770647e-02 -2.24763627e-04 9.99565432e-01 -1.09491513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91719347 meters 0.05755106608104885 Centerline is valid? [True, True] Translation: X:104.35, Y:33.35, Z:-1.10 [[ 8.04731302e-01 -5.93139563e-01 -2.43513970e-02 1.04350535e+02] [ 5.92874657e-01 8.05099639e-01 -1.77260339e-02 3.33453977e+01] [ 3.01193129e-02 -1.72631799e-04 9.99546296e-01 -1.09578181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94719347 meters 0.057396973371637926 Centerline is valid? [True, True] Translation: X:104.37, Y:33.36, Z:-1.10 [[ 8.05863737e-01 -5.91689032e-01 -2.20845371e-02 1.04374833e+02] [ 5.91470587e-01 8.06166285e-01 -1.60769038e-02 3.33598649e+01] [ 2.73163369e-02 -1.06560322e-04 9.99626834e-01 -1.09593657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97719347 meters 0.05718336492379578 Centerline is valid? [True, True] Translation: X:104.40, Y:33.37, Z:-1.09 [[ 8.05426191e-01 -5.92255634e-01 -2.28454701e-02 1.04399660e+02] [ 5.92021723e-01 8.05750116e-01 -1.66442115e-02 3.33746548e+01] [ 2.82653683e-02 -1.19330739e-04 9.99600448e-01 -1.09355875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00719347 meters 0.057322833519718154 Centerline is valid? [True, True] Translation: X:104.42, Y:33.39, Z:-1.10 [[ 8.04793650e-01 -5.93104563e-01 -2.31118521e-02 1.04424697e+02] [ 5.92865462e-01 8.05125428e-01 -1.68400933e-02 3.33873058e+01] [ 2.85958759e-02 -1.49418736e-04 9.99591043e-01 -1.09630790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03719347 meters 0.05761375873909538 Centerline is valid? [True, True] Translation: X:104.45, Y:33.40, Z:-1.10 [[ 8.03942679e-01 -5.94216346e-01 -2.41475316e-02 1.04450478e+02] [ 5.93955713e-01 8.04305226e-01 -1.75987187e-02 3.33991314e+01] [ 2.98794321e-02 -1.94203254e-04 9.99553491e-01 -1.09962822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06719347 meters 0.057911718223969906 Centerline is valid? [True, True] Translation: X:104.48, Y:33.41, Z:-1.10 [[ 8.01057102e-01 -5.98049659e-01 -2.53796065e-02 1.04480188e+02] [ 5.97763220e-01 8.01458975e-01 -1.85106707e-02 3.34072848e+01] [ 3.14110137e-02 -3.42891046e-04 9.99506494e-01 -1.10131151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09719347 meters 0.05836565022292777 Centerline is valid? [True, True] Translation: X:104.51, Y:33.42, Z:-1.10 [[ 7.99186569e-01 -6.00539050e-01 -2.55671151e-02 1.04505884e+02] [ 6.00249529e-01 7.99595307e-01 -1.86506819e-02 3.34184683e+01] [ 3.16438080e-02 -4.41274355e-04 9.99499112e-01 -1.10299875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12719347 meters 0.05836565022292777 Centerline is valid? [True, True] Translation: X:104.53, Y:33.43, Z:-1.10 [[ 7.98978193e-01 -6.00816573e-01 -2.55595856e-02 1.04527907e+02] [ 6.00526864e-01 7.99386798e-01 -1.86610003e-02 3.34348209e+01] [ 3.16438335e-02 -4.39485517e-04 9.99499112e-01 -1.10322533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15719347 meters 0.058565685319684375 Centerline is valid? [True, True] Translation: X:104.55, Y:33.45, Z:-1.10 [[ 7.97161509e-01 -6.03271163e-01 -2.44424299e-02 1.04553703e+02] [ 6.03007330e-01 7.97535981e-01 -1.78470882e-02 3.34462432e+01] [ 3.02603510e-02 -5.11952589e-04 9.99541920e-01 -1.10245372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18719347 meters 0.05902732032036627 Centerline is valid? [True, True] Translation: X:104.58, Y:33.45, Z:-1.10 [[ 7.93020705e-01 -6.08784691e-01 -2.23463726e-02 1.04583288e+02] [ 6.08565995e-01 7.93335224e-01 -1.63294745e-02 3.34541495e+01] [ 2.76692986e-02 -6.49631065e-04 9.99616921e-01 -1.09823406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21719347 meters 0.06012004432243838 Centerline is valid? [True, True] Translation: X:104.61, Y:33.46, Z:-1.10 [[ 7.90782743e-01 -6.11705300e-01 -2.18924437e-02 1.04611008e+02] [ 6.11496469e-01 7.91085385e-01 -1.59994513e-02 3.34634592e+01] [ 2.71057414e-02 -7.35062002e-04 9.99632302e-01 -1.10011723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24719347 meters 0.061092866707071654 Centerline is valid? [True, True] Translation: X:104.64, Y:33.48, Z:-1.10 [[ 7.88615225e-01 -6.14435067e-01 -2.35706630e-02 1.04639118e+02] [ 6.14194092e-01 7.88966892e-01 -1.72296093e-02 3.34751433e+01] [ 2.91829489e-02 -8.89429741e-04 9.99573691e-01 -1.10122821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27719347 meters 0.0612821757819594 Centerline is valid? [True, True] Translation: X:104.67, Y:33.49, Z:-1.10 [[ 7.87088013e-01 -6.16343389e-01 -2.47646358e-02 1.04665302e+02] [ 6.16078257e-01 7.87476865e-01 -1.81043691e-02 3.34887724e+01] [ 3.06600860e-02 -1.00722173e-03 9.99529362e-01 -1.10060586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30719347 meters 0.0620459592994904 Centerline is valid? [True, True] Translation: X:104.69, Y:33.50, Z:-1.10 [[ 7.85828107e-01 -6.17909361e-01 -2.57334002e-02 1.04691558e+02] [ 6.17623457e-01 7.86248570e-01 -1.88268562e-02 3.35016719e+01] [ 3.18661398e-02 -1.09887883e-03 9.99491542e-01 -1.10228582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33719347 meters 0.0630344792550739 Centerline is valid? [True, True] Translation: X:104.72, Y:33.51, Z:-1.10 [[ 7.85081263e-01 -6.18802382e-01 -2.70374329e-02 1.04718862e+02] [ 6.18487286e-01 7.85545791e-01 -1.97810024e-02 3.35123316e+01] [ 3.34796730e-02 -1.19261416e-03 9.99438687e-01 -1.10360849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36719347 meters 0.06173903452189696 Centerline is valid? [True, True] Translation: X:104.74, Y:33.53, Z:-1.10 [[ 7.85733939e-01 -6.17961773e-01 -2.73024337e-02 1.04741461e+02] [ 6.17639443e-01 7.86207295e-01 -1.99901991e-02 3.35305309e+01] [ 3.38185514e-02 -1.15608207e-03 9.99427321e-01 -1.10031464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39719347 meters 0.06226135321932854 Centerline is valid? [True, True] Translation: X:104.77, Y:33.54, Z:-1.10 [[ 7.86293604e-01 -6.17281922e-01 -2.65593280e-02 1.04765384e+02] [ 6.16976435e-01 7.86741274e-01 -1.94485777e-02 3.35446836e+01] [ 3.29005750e-02 -1.09418723e-03 9.99458031e-01 -1.10137554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42719347 meters 0.061766880303357405 Centerline is valid? [True, True] Translation: X:104.79, Y:33.56, Z:-1.10 [[ 7.87300273e-01 -6.16000657e-01 -2.64852944e-02 1.04789090e+02] [ 6.15695694e-01 7.87744969e-01 -1.94081486e-02 3.35615995e+01] [ 3.28190897e-02 -1.02684101e-03 9.99460781e-01 -1.10067643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45719346999999 meters 0.06121035013041548 Centerline is valid? [True, True] Translation: X:104.81, Y:33.58, Z:-1.10 [[ 7.87614716e-01 -6.15650704e-01 -2.52442003e-02 1.04812687e+02] [ 6.15373111e-01 7.88018590e-01 -1.85104242e-02 3.35780003e+01] [ 3.12888548e-02 -9.55519542e-04 9.99509927e-01 -1.09741262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48719347 meters 0.06138121032352538 Centerline is valid? [True, True] Translation: X:104.84, Y:33.59, Z:-1.10 [[ 7.87829317e-01 -6.15344873e-01 -2.59933630e-02 1.04836953e+02] [ 6.15050013e-01 7.88257421e-01 -1.90714361e-02 3.35941574e+01] [ 3.22249717e-02 -9.62181817e-04 9.99480178e-01 -1.09822718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51719347 meters 0.060606757048335375 Centerline is valid? [True, True] Translation: X:104.86, Y:33.61, Z:-1.10 [[ 7.88226337e-01 -6.14791843e-01 -2.70227930e-02 1.04859918e+02] [ 6.14472410e-01 7.88688820e-01 -1.98393981e-02 3.36122193e+01] [ 3.35096749e-02 -9.66824607e-04 9.99437926e-01 -1.09726945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54719347 meters 0.06003435916885171 Centerline is valid? [True, True] Translation: X:104.88, Y:33.63, Z:-1.10 [[ 7.89411776e-01 -6.13238741e-01 -2.77000843e-02 1.04883450e+02] [ 6.12901686e-01 7.89897090e-01 -2.03496840e-02 3.36283352e+01] [ 3.43594305e-02 -9.13148175e-04 9.99409123e-01 -1.09772432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57719347 meters 0.05950548492735356 Centerline is valid? [True, True] Translation: X:104.91, Y:33.65, Z:-1.10 [[ 7.89748627e-01 -6.12825746e-01 -2.72343613e-02 1.04906096e+02] [ 6.12499239e-01 7.90217596e-01 -2.00208290e-02 3.36466598e+01] [ 3.37903510e-02 -8.69603389e-04 9.99428565e-01 -1.09708164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60719347 meters 0.0596114238748241 Centerline is valid? [True, True] Translation: X:104.93, Y:33.66, Z:-1.10 [[ 7.90231412e-01 -6.12240834e-01 -2.63718957e-02 1.04928801e+02] [ 6.11934276e-01 7.90670915e-01 -1.93893155e-02 3.36630685e+01] [ 3.27224216e-02 -8.15820710e-04 9.99464145e-01 -1.09804063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63719347 meters 0.05860853102048061 Centerline is valid? [True, True] Translation: X:104.95, Y:33.68, Z:-1.09 [[ 7.91559286e-01 -6.10627546e-01 -2.38305927e-02 1.04950456e+02] [ 6.10376178e-01 7.91917643e-01 -1.75318941e-02 3.36833913e+01] [ 2.95773243e-02 -6.68092503e-04 9.99562272e-01 -1.09357185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66719347 meters 0.058418353709402814 Centerline is valid? [True, True] Translation: X:104.97, Y:33.70, Z:-1.09 [[ 7.92593818e-01 -6.09289650e-01 -2.36888632e-02 1.04972278e+02] [ 6.09040593e-01 7.92947506e-01 -1.74301193e-02 3.37008643e+01] [ 2.94040163e-02 -6.12474542e-04 9.99567421e-01 -1.09456977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69719347 meters 0.057825042754125235 Centerline is valid? [True, True] Translation: X:104.99, Y:33.72, Z:-1.09 [[ 7.93909912e-01 -6.07582939e-01 -2.34525734e-02 1.04994149e+02] [ 6.07337720e-01 7.94256059e-01 -1.72686792e-02 3.37204004e+01] [ 2.91195034e-02 -5.33856840e-04 9.99575795e-01 -1.09383986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72719347 meters 0.057637774602933914 Centerline is valid? [True, True] Translation: X:105.02, Y:33.74, Z:-1.09 [[ 7.94740920e-01 -6.06521100e-01 -2.27821181e-02 1.05017488e+02] [ 6.06288972e-01 7.95067250e-01 -1.67854291e-02 3.37379679e+01] [ 2.82940328e-02 -4.72479594e-04 9.99599532e-01 -1.09460422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75719347 meters 0.057519158029790886 Centerline is valid? [True, True] Translation: X:105.04, Y:33.75, Z:-1.10 [[ 7.95331973e-01 -6.05713596e-01 -2.36239778e-02 1.05040740e+02] [ 6.05463297e-01 7.95682623e-01 -1.74172375e-02 3.37544527e+01] [ 2.93470462e-02 -4.50965611e-04 9.99569181e-01 -1.09589570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78719347 meters 0.05729798067807447 Centerline is valid? [True, True] Translation: X:105.06, Y:33.77, Z:-1.10 [[ 7.96299371e-01 -6.04450100e-01 -2.33963424e-02 1.05063467e+02] [ 6.04204000e-01 7.96642905e-01 -1.72513454e-02 3.37708489e+01] [ 2.90661076e-02 -3.98928116e-04 9.99577412e-01 -1.09700109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81719347 meters 0.057343903364873404 Centerline is valid? [True, True] Translation: X:105.09, Y:33.79, Z:-1.10 [[ 7.96259636e-01 -6.04498821e-01 -2.34897503e-02 1.05086270e+02] [ 6.04250329e-01 7.96605940e-01 -1.73354157e-02 3.37872212e+01] [ 2.91913130e-02 -3.90197608e-04 9.99573767e-01 -1.09747348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84719347 meters 0.05759238678131307 Centerline is valid? [True, True] Translation: X:105.11, Y:33.80, Z:-1.10 [[ 7.96205532e-01 -6.04506535e-01 -2.50718978e-02 1.05110197e+02] [ 6.04223087e-01 7.96600077e-01 -1.85142577e-02 3.38036058e+01] [ 3.11642655e-02 -4.07865126e-04 9.99514193e-01 -1.09945529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87719347 meters 0.057863554735815 Centerline is valid? [True, True] Translation: X:105.13, Y:33.82, Z:-1.10 [[ 7.96632615e-01 -6.03841618e-01 -2.74185677e-02 1.05134590e+02] [ 6.03502218e-01 7.97104213e-01 -2.02471376e-02 3.38198836e+01] [ 3.40815202e-02 -4.17636260e-04 9.99418969e-01 -1.10253109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90719347 meters 0.05858195331180639 Centerline is valid? [True, True] Translation: X:105.16, Y:33.83, Z:-1.11 [[ 7.98343843e-01 -6.01485717e-01 -2.93605295e-02 1.05158780e+02] [ 6.01094732e-01 7.98883483e-01 -2.16864717e-02 3.38340825e+01] [ 3.64997451e-02 -3.35198517e-04 9.99333606e-01 -1.10927303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93719347 meters 0.05807717319259415 Centerline is valid? [True, True] Translation: X:105.18, Y:33.85, Z:-1.11 [[ 7.99986703e-01 -5.99274217e-01 -2.98611400e-02 1.05181647e+02] [ 5.98867555e-01 8.00543792e-01 -2.20746125e-02 3.38506642e+01] [ 3.71338964e-02 -2.23471466e-04 9.99310274e-01 -1.10688992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96719347 meters 0.05790591200784489 Centerline is valid? [True, True] Translation: X:105.20, Y:33.87, Z:-1.11 [[ 8.01704247e-01 -5.96970678e-01 -2.99384294e-02 1.05204512e+02] [ 5.96559705e-01 8.02263048e-01 -2.21476790e-02 3.38668993e+01] [ 3.72400106e-02 -1.04172285e-04 9.99306345e-01 -1.10648151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99719347 meters 0.05803318959182573 Centerline is valid? [True, True] Translation: X:105.23, Y:33.88, Z:-1.11 [[ 8.03751946e-01 -5.94207063e-01 -3.00129214e-02 1.05227145e+02] [ 5.93791516e-01 8.04312107e-01 -2.22187142e-02 3.38839162e+01] [ 3.73422729e-02 3.69166686e-05 9.99302533e-01 -1.10730584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02719347 meters 0.059178281396742166 Centerline is valid? [True, True] Translation: X:105.25, Y:33.90, Z:-1.11 [[ 8.09651360e-01 -5.86174351e-01 -2.93990853e-02 1.05247494e+02] [ 5.85770210e-01 8.10184836e-01 -2.17667699e-02 3.39039482e+01] [ 3.65778154e-02 4.02386472e-04 9.99330727e-01 -1.10766969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05719347 meters 0.05996314286544936 Centerline is valid? [True, True] Translation: X:105.27, Y:33.92, Z:-1.11 [[ 8.12271973e-01 -5.82542751e-01 -2.92948060e-02 1.05270092e+02] [ 5.82138547e-01 8.12799859e-01 -2.17048747e-02 3.39218866e+01] [ 3.64548316e-02 5.76625577e-04 9.99335135e-01 -1.10770671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08719347 meters 0.061489755308064956 Centerline is valid? [True, True] Translation: X:105.29, Y:33.93, Z:-1.11 [[ 8.16281766e-01 -5.77005707e-01 -2.73586036e-02 1.05294763e+02] [ 5.76649970e-01 8.16739749e-01 -2.02729913e-02 3.39348620e+01] [ 3.40424908e-02 7.72135208e-04 9.99420088e-01 -1.10703584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11719347 meters 0.06118568713337368 Centerline is valid? [True, True] Translation: X:105.32, Y:33.95, Z:-1.11 [[ 8.16131532e-01 -5.77290430e-01 -2.57891856e-02 1.05322954e+02] [ 5.76974080e-01 8.16538567e-01 -1.91227520e-02 3.39461488e+01] [ 3.20972463e-02 7.26989234e-04 9.99484486e-01 -1.10525798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14719347 meters 0.06091592872403718 Centerline is valid? [True, True] Translation: X:105.35, Y:33.96, Z:-1.11 [[ 8.15448791e-01 -5.78310706e-01 -2.44948148e-02 1.05350824e+02] [ 5.78025638e-01 8.15816338e-01 -1.81676807e-02 3.39551574e+01] [ 3.04898344e-02 6.56182299e-04 9.99534862e-01 -1.10584681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17719347 meters 0.060268946878326644 Centerline is valid? [True, True] Translation: X:105.38, Y:33.96, Z:-1.11 [[ 8.13321205e-01 -5.81277343e-01 -2.50053432e-02 1.05381033e+02] [ 5.80981269e-01 8.13705308e-01 -1.85589859e-02 3.39633692e+01] [ 3.11348985e-02 5.66780752e-04 9.99515031e-01 -1.10729074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20719346999999 meters 0.05885381593620101 Centerline is valid? [True, True] Translation: X:105.42, Y:33.96, Z:-1.11 [[ 8.09315404e-01 -5.86906345e-01 -2.34418468e-02 1.05419014e+02] [ 5.86648217e-01 8.09654759e-01 -1.74080472e-02 3.39616209e+01] [ 2.91966962e-02 3.36483115e-04 9.99573629e-01 -1.10754502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23719347 meters 0.05834199407929206 Centerline is valid? [True, True] Translation: X:105.45, Y:33.97, Z:-1.11 [[ 8.07967740e-01 -5.88803617e-01 -2.23255778e-02 1.05448482e+02] [ 5.88569948e-01 8.08276086e-01 -1.65887122e-02 3.39708599e+01] [ 2.78127244e-02 2.62980168e-04 9.99613117e-01 -1.10657987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26719347 meters 0.05831463937171624 Centerline is valid? [True, True] Translation: X:105.48, Y:33.98, Z:-1.11 [[ 8.06574392e-01 -5.90727271e-01 -2.18870127e-02 1.05476236e+02] [ 5.90503350e-01 8.06871274e-01 -1.62646836e-02 3.39805460e+01] [ 2.72679940e-02 1.94322911e-04 9.99628140e-01 -1.10804474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29719347 meters 0.05802019737128199 Centerline is valid? [True, True] Translation: X:105.50, Y:33.99, Z:-1.11 [[ 8.05482833e-01 -5.92217996e-01 -2.18002488e-02 1.05504097e+02] [ 5.91996076e-01 8.05777774e-01 -1.62118647e-02 3.39906583e+01] [ 2.71671139e-02 1.52716936e-04 9.99630894e-01 -1.10764323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32719347 meters 0.05740833044233793 Centerline is valid? [True, True] Translation: X:105.53, Y:34.00, Z:-1.10 [[ 8.04167534e-01 -5.94003896e-01 -2.17703737e-02 1.05532172e+02] [ 5.93782890e-01 8.04462156e-01 -1.62024287e-02 3.39996580e+01] [ 2.71377475e-02 1.02591706e-04 9.99631698e-01 -1.10360674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35719347 meters 0.05746642525424895 Centerline is valid? [True, True] Translation: X:105.56, Y:34.00, Z:-1.11 [[ 8.01071649e-01 -5.98222363e-01 -2.03523160e-02 1.05564413e+02] [ 5.98030542e-01 8.01330146e-01 -1.51482245e-02 3.40025738e+01] [ 2.53709310e-02 -3.64933826e-05 9.99678105e-01 -1.10817157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38719347 meters 0.05705711062094664 Centerline is valid? [True, True] Translation: X:105.59, Y:34.01, Z:-1.10 [[ 7.98892341e-01 -6.01147483e-01 -1.98174558e-02 1.05591179e+02] [ 6.00966178e-01 7.99138092e-01 -1.47635556e-02 3.40132145e+01] [ 2.47119582e-02 -1.15129145e-04 9.99694606e-01 -1.10364081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41719347 meters 0.058154722347667914 Centerline is valid? [True, True] Translation: X:105.62, Y:34.02, Z:-1.11 [[ 7.94644367e-01 -6.06768274e-01 -1.93026263e-02 1.05624640e+02] [ 6.06597844e-01 7.94878722e-01 -1.43830425e-02 3.40150422e+01] [ 2.40704208e-02 -2.79527799e-04 9.99710226e-01 -1.10956617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44719347 meters 0.05772818134698933 Centerline is valid? [True, True] Translation: X:105.65, Y:34.03, Z:-1.10 [[ 7.91948554e-01 -6.10254416e-01 -2.01751215e-02 1.05650661e+02] [ 6.10069281e-01 7.92205395e-01 -1.50361397e-02 3.40276846e+01] [ 2.51587108e-02 -4.00372777e-04 9.99683389e-01 -1.10368482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47719347 meters 0.058680004094782454 Centerline is valid? [True, True] Translation: X:105.68, Y:34.04, Z:-1.11 [[ 7.89108440e-01 -6.13849256e-01 -2.22926086e-02 1.05679227e+02] [ 6.13624338e-01 7.89423066e-01 -1.66251367e-02 3.40389161e+01] [ 2.78036272e-02 -5.60251529e-04 9.99613247e-01 -1.10649967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50719347 meters 0.05994155820464633 Centerline is valid? [True, True] Translation: X:105.71, Y:34.05, Z:-1.11 [[ 7.86111944e-01 -6.17630912e-01 -2.36657683e-02 1.05706816e+02] [ 6.17379094e-01 7.86467746e-01 -1.76504549e-02 3.40491102e+01] [ 2.95138300e-02 -7.35517198e-04 9.99564101e-01 -1.10944103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53719347 meters 0.0627640415113594 Centerline is valid? [True, True] Translation: X:105.74, Y:34.05, Z:-1.11 [[ 7.79933996e-01 -6.25393462e-01 -2.42070156e-02 1.05739839e+02] [ 6.25133583e-01 7.80308861e-01 -1.80578392e-02 3.40525331e+01] [ 3.01822033e-02 -1.04869572e-03 9.99543863e-01 -1.11093615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56719347 meters 0.06487749996171345 Centerline is valid? [True, True] Translation: X:105.77, Y:34.06, Z:-1.11 [[ 7.76944843e-01 -6.29129116e-01 -2.35216061e-02 1.05767620e+02] [ 6.28885330e-01 7.77299954e-01 -1.75506011e-02 3.40617023e+01] [ 2.93249375e-02 -1.15654400e-03 9.99569262e-01 -1.11207053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59719347 meters 0.06657253844356763 Centerline is valid? [True, True] Translation: X:105.80, Y:34.07, Z:-1.11 [[ 7.74222173e-01 -6.32485197e-01 -2.32917020e-02 1.05795053e+02] [ 6.32247524e-01 7.74571411e-01 -1.73838601e-02 3.40733396e+01] [ 2.90361207e-02 -1.26715098e-03 9.99577560e-01 -1.11317567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62719347 meters 0.06796618058010116 Centerline is valid? [True, True] Translation: X:105.82, Y:34.09, Z:-1.11 [[ 7.72236467e-01 -6.34946375e-01 -2.22247436e-02 1.05820557e+02] [ 6.34730899e-01 7.72555127e-01 -1.65910069e-02 3.40853183e+01] [ 2.77042393e-02 -1.29455094e-03 9.99615326e-01 -1.11264536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65719347 meters 0.06836159272166066 Centerline is valid? [True, True] Translation: X:105.84, Y:34.10, Z:-1.11 [[ 7.71502412e-01 -6.35918289e-01 -1.97979204e-02 1.05843734e+02] [ 6.35747354e-01 7.71755497e-01 -1.47903444e-02 3.41024068e+01] [ 2.46846044e-02 -1.17568910e-03 9.99694597e-01 -1.10971874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68719347 meters 0.06688403133192615 Centerline is valid? [True, True] Translation: X:105.86, Y:34.12, Z:-1.11 [[ 7.73122448e-01 -6.34016779e-01 -1.74471704e-02 1.05864392e+02] [ 6.33883379e-01 7.73318673e-01 -1.30419204e-02 3.41240948e+01] [ 2.17610190e-02 -9.76469861e-04 9.99762724e-01 -1.10626208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71719347 meters 0.06426400505898959 Centerline is valid? [True, True] Translation: X:105.88, Y:34.15, Z:-1.10 [[ 7.75130573e-01 -6.31601192e-01 -1.58911590e-02 1.05882468e+02] [ 6.31489919e-01 7.75293013e-01 -1.18838674e-02 3.41480917e+01] [ 1.98261694e-02 -8.23557747e-04 9.99803103e-01 -1.10253669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74719347 meters 0.06080678012070876 Centerline is valid? [True, True] Translation: X:105.90, Y:34.18, Z:-1.10 [[ 7.80300811e-01 -6.25264139e-01 -1.32438761e-02 1.05897124e+02] [ 6.25185813e-01 7.80413005e-01 -9.91164188e-03 3.41774418e+01] [ 1.65330874e-02 -5.45821242e-04 9.99863170e-01 -1.09884878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77719347 meters 0.06106615179050632 Centerline is valid? [True, True] Translation: X:105.92, Y:34.20, Z:-1.10 [[ 7.81740999e-01 -6.23479777e-01 -1.24087994e-02 1.05917855e+02] [ 6.23410787e-01 7.81839332e-01 -9.28706275e-03 3.41962341e+01] [ 1.54919833e-02 -4.75701704e-04 9.99879879e-01 -1.10054550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80719347 meters 0.06069751467904964 Centerline is valid? [True, True] Translation: X:105.94, Y:34.22, Z:-1.10 [[ 7.82730445e-01 -6.22276432e-01 -1.02514547e-02 1.05938606e+02] [ 6.22229163e-01 7.82797487e-01 -7.67874380e-03 3.42173876e+01] [ 1.28031143e-02 -3.68367504e-04 9.99917969e-01 -1.10056715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83719347 meters 0.06037117236307329 Centerline is valid? [True, True] Translation: X:105.96, Y:34.24, Z:-1.10 [[ 7.83639318e-01 -6.21144935e-01 -9.40155244e-03 1.05959138e+02] [ 6.21105041e-01 7.83695649e-01 -7.04690900e-03 3.42381305e+01] [ 1.17451076e-02 -3.17116645e-04 9.99930974e-01 -1.10017384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86719347 meters 0.05941611853949976 Centerline is valid? [True, True] Translation: X:105.98, Y:34.26, Z:-1.10 [[ 7.85243027e-01 -6.19118581e-01 -9.25047166e-03 1.05976812e+02] [ 6.19079766e-01 7.85297463e-01 -6.93819061e-03 3.42627531e+01] [ 1.15599347e-02 -2.78614030e-04 9.99933143e-01 -1.10148177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89719347 meters 0.05938933670528018 Centerline is valid? [True, True] Translation: X:106.00, Y:34.28, Z:-1.10 [[ 7.85729753e-01 -6.18507167e-01 -8.81129056e-03 1.05997610e+02] [ 6.18471902e-01 7.85779116e-01 -6.60965565e-03 3.42819894e+01] [ 1.10118475e-02 -2.56132536e-04 9.99939335e-01 -1.10226861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92719347 meters 0.05909406351023821 Centerline is valid? [True, True] Translation: X:106.02, Y:34.30, Z:-1.10 [[ 7.86257953e-01 -6.17845499e-01 -8.08521775e-03 1.06018320e+02] [ 6.17815749e-01 7.86299490e-01 -6.06728244e-03 3.43031371e+01] [ 1.01060457e-02 -2.24725786e-04 9.99948907e-01 -1.10238421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95719346999999 meters 0.05930584587182139 Centerline is valid? [True, True] Translation: X:106.04, Y:34.32, Z:-1.10 [[ 7.86513226e-01 -6.17509571e-01 -8.88113826e-03 1.06037896e+02] [ 6.17473611e-01 7.86563330e-01 -6.66844400e-03 3.43218861e+01] [ 1.11034057e-02 -2.39049105e-04 9.99938327e-01 -1.10436284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98719347 meters 0.05991037658232258 Centerline is valid? [True, True] Translation: X:106.06, Y:34.34, Z:-1.11 [[ 7.86217179e-01 -6.17860688e-01 -1.05222439e-02 1.06056977e+02] [ 6.17810223e-01 7.86287535e-01 -7.90199080e-03 3.43426552e+01] [ 1.31558386e-02 -2.88068908e-04 9.99913417e-01 -1.10768701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01719347 meters 0.060317398852493966 Centerline is valid? [True, True] Translation: X:106.08, Y:34.36, Z:-1.11 [[ 7.85140409e-01 -6.19197869e-01 -1.21875843e-02 1.06079138e+02] [ 6.19130220e-01 7.85234917e-01 -9.15953850e-03 3.43606366e+01] [ 1.52416835e-02 -3.54177955e-04 9.99883776e-01 -1.10966334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04719347 meters 0.060317398852493966 Centerline is valid? [True, True] Translation: X:106.10, Y:34.38, Z:-1.11 [[ 7.84927909e-01 -6.19467289e-01 -1.21842240e-02 1.06100960e+02] [ 6.19399603e-01 7.85022390e-01 -9.16400894e-03 3.43773501e+01] [ 1.52416924e-02 -3.53817137e-04 9.99883776e-01 -1.10989023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07719347 meters 0.06087649290178563 Centerline is valid? [True, True] Translation: X:106.12, Y:34.39, Z:-1.11 [[ 7.83948696e-01 -6.20674150e-01 -1.37128492e-02 1.06124039e+02] [ 6.20588504e-01 7.84068507e-01 -1.03191960e-02 3.43945241e+01] [ 1.71566714e-02 -4.20316339e-04 9.99852725e-01 -1.11256874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10719347 meters 0.06197905550575317 Centerline is valid? [True, True] Translation: X:106.15, Y:34.41, Z:-1.11 [[ 7.80857034e-01 -6.24523547e-01 -1.52522522e-02 1.06148890e+02] [ 6.24418345e-01 7.81005776e-01 -1.14764211e-02 3.44098004e+01] [ 1.90793923e-02 -5.62341935e-04 9.99817814e-01 -1.11438307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13719347 meters 0.06300689158780297 Centerline is valid? [True, True] Translation: X:106.17, Y:34.42, Z:-1.12 [[ 7.79019913e-01 -6.26772722e-01 -1.68502048e-02 1.06172775e+02] [ 6.26644792e-01 7.79201830e-01 -1.26811715e-02 3.44248755e+01] [ 2.10779228e-02 -6.80207964e-04 9.99777605e-01 -1.11660902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16719347 meters 0.06422857725786835 Centerline is valid? [True, True] Translation: X:106.20, Y:34.44, Z:-1.12 [[ 7.77613165e-01 -6.28490836e-01 -1.78054641e-02 1.06196109e+02] [ 6.28348373e-01 7.77816613e-01 -1.34029498e-02 3.44406133e+01] [ 2.22730169e-02 -7.65724180e-04 9.99751632e-01 -1.11908933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19719347 meters 0.0657418778266502 Centerline is valid? [True, True] Translation: X:106.22, Y:34.46, Z:-1.12 [[ 7.76421459e-01 -6.29944444e-01 -1.84313878e-02 1.06217882e+02] [ 6.29792126e-01 7.76639751e-01 -1.38771147e-02 3.44573578e+01] [ 2.30563597e-02 -8.33453338e-04 9.99733819e-01 -1.12199476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22719347 meters 0.06560594921717683 Centerline is valid? [True, True] Translation: X:106.24, Y:34.48, Z:-1.12 [[ 7.75910504e-01 -6.30559450e-01 -1.89121747e-02 1.06239748e+02] [ 6.30399018e-01 7.76140471e-01 -1.42495025e-02 3.44766423e+01] [ 2.36636626e-02 -8.65877653e-04 9.99719601e-01 -1.12214581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25719347 meters 0.06562221086838234 Centerline is valid? [True, True] Translation: X:106.26, Y:34.50, Z:-1.12 [[ 7.75572687e-01 -6.30970966e-01 -1.90432825e-02 1.06262140e+02] [ 6.30808219e-01 7.75805948e-01 -1.43569336e-02 3.44950132e+01] [ 2.38327001e-02 -8.77813614e-04 9.99715575e-01 -1.12190680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28719347 meters 0.06624410726777237 Centerline is valid? [True, True] Translation: X:106.29, Y:34.51, Z:-1.12 [[ 7.74891389e-01 -6.31788459e-01 -1.96641434e-02 1.06285310e+02] [ 6.31615160e-01 7.75140294e-01 -1.48261567e-02 3.45113986e+01] [ 2.46094646e-02 -9.31509875e-04 9.99696707e-01 -1.12418332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31719347 meters 0.0674641651262742 Centerline is valid? [True, True] Translation: X:106.31, Y:34.53, Z:-1.13 [[ 7.73419486e-01 -6.33551892e-01 -2.08398189e-02 1.06309213e+02] [ 6.33357822e-01 7.73699495e-01 -1.57149924e-02 3.45270106e+01] [ 2.60800205e-02 -1.04478097e-03 9.99659312e-01 -1.12663958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34719347 meters 0.06771388043801611 Centerline is valid? [True, True] Translation: X:106.33, Y:34.55, Z:-1.13 [[ 7.71934484e-01 -6.35362653e-01 -2.07714143e-02 1.06331557e+02] [ 6.35170205e-01 7.72213121e-01 -1.56750328e-02 3.45451370e+01] [ 2.59992891e-02 -1.09328517e-03 9.99661364e-01 -1.12525662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37719347 meters 0.06877357760045087 Centerline is valid? [True, True] Translation: X:106.35, Y:34.56, Z:-1.12 [[ 7.70019554e-01 -6.37749904e-01 -1.85727125e-02 1.06354567e+02] [ 6.37596705e-01 7.70242793e-01 -1.40171627e-02 3.45610224e+01] [ 2.32449422e-02 -1.04841092e-03 9.99729250e-01 -1.12306433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40719347 meters 0.07197302824748163 Centerline is valid? [True, True] Translation: X:106.38, Y:34.57, Z:-1.12 [[ 7.68610542e-01 -6.39531180e-01 -1.54176881e-02 1.06380561e+02] [ 6.39425919e-01 7.68764617e-01 -1.16386125e-02 3.45733217e+01] [ 1.92958287e-02 -9.12909078e-04 9.99813401e-01 -1.12275642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43719347 meters 0.07192767728480658 Centerline is valid? [True, True] Translation: X:106.40, Y:34.59, Z:-1.12 [[ 7.67202133e-01 -6.41301483e-01 -1.15453621e-02 1.06402251e+02] [ 6.41242566e-01 7.67288669e-01 -8.72184098e-03 3.45933210e+01] [ 1.44519550e-02 -7.11962585e-04 9.99895312e-01 -1.11678466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46719347 meters 0.07106817732560855 Centerline is valid? [True, True] Translation: X:106.42, Y:34.61, Z:-1.12 [[ 7.66897211e-01 -6.41676204e-01 -1.09689021e-02 1.06421742e+02] [ 6.41622976e-01 7.66975351e-01 -8.29259819e-03 3.46139057e+01] [ 1.37340405e-02 -6.78329162e-04 9.99905454e-01 -1.11508218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49719347 meters 0.07102685780584496 Centerline is valid? [True, True] Translation: X:106.44, Y:34.63, Z:-1.12 [[ 7.67383846e-01 -6.41109710e-01 -1.00186448e-02 1.06443210e+02] [ 6.41065205e-01 7.67449002e-01 -7.57833954e-03 3.46338555e+01] [ 1.25473460e-02 -6.07109226e-04 9.99921095e-01 -1.11566688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52719347 meters 0.06962768554235922 Centerline is valid? [True, True] Translation: X:106.46, Y:34.66, Z:-1.12 [[ 7.69888182e-01 -6.38083360e-01 -1.10368703e-02 1.06460178e+02] [ 6.38028990e-01 7.69967046e-01 -8.35206232e-03 3.46580259e+01] [ 1.38273384e-02 -6.11689099e-04 9.99904211e-01 -1.11813760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55719347 meters 0.06884565599639143 Centerline is valid? [True, True] Translation: X:106.48, Y:34.68, Z:-1.12 [[ 7.71216842e-01 -6.36466426e-01 -1.16220500e-02 1.06479831e+02] [ 6.36405888e-01 7.71304166e-01 -8.79939969e-03 3.46804125e+01] [ 1.45646580e-02 -6.10095787e-04 9.99893744e-01 -1.11947400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58719347 meters 0.06853705757209849 Centerline is valid? [True, True] Translation: X:106.50, Y:34.70, Z:-1.12 [[ 7.71610188e-01 -6.35981817e-01 -1.20352297e-02 1.06499236e+02] [ 6.35916762e-01 7.71703794e-01 -9.11736273e-03 3.47021289e+01] [ 1.50861093e-02 -6.18354328e-04 9.99886007e-01 -1.12047117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61719347 meters 0.06911135320152575 Centerline is valid? [True, True] Translation: X:106.52, Y:34.72, Z:-1.12 [[ 7.71467180e-01 -6.36134373e-01 -1.30938938e-02 1.06519862e+02] [ 6.36057391e-01 7.71577995e-01 -9.91927525e-03 3.47214878e+01] [ 1.64129523e-02 -6.76072648e-04 9.99865070e-01 -1.12238266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64719347 meters 0.07062874645792891 Centerline is valid? [True, True] Translation: X:106.54, Y:34.74, Z:-1.13 [[ 7.70315437e-01 -6.37427073e-01 -1.73451416e-02 1.06540916e+02] [ 6.37292229e-01 7.70510131e-01 -1.31435409e-02 3.47400042e+01] [ 2.17426562e-02 -9.29251456e-04 9.99763169e-01 -1.12918115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67719347 meters 0.07206288915452272 Centerline is valid? [True, True] Translation: X:106.56, Y:34.76, Z:-1.13 [[ 7.68637320e-01 -6.39433025e-01 -1.79465001e-02 1.06563732e+02] [ 6.39289041e-01 7.68846134e-01 -1.36067907e-02 3.47568483e+01] [ 2.24987286e-02 -1.01431373e-03 9.99746357e-01 -1.13104341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70719346999999 meters 0.06895191236343476 Centerline is valid? [True, True] Translation: X:106.58, Y:34.78, Z:-1.12 [[ 7.66565485e-01 -6.41918416e-01 -1.78354918e-02 1.06582334e+02] [ 6.41776713e-01 7.66772191e-01 -1.35298952e-02 3.47819445e+01] [ 2.23608480e-02 -1.07485260e-03 9.99749387e-01 -1.12493478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73719347 meters 0.07040451210027568 Centerline is valid? [True, True] Translation: X:106.61, Y:34.80, Z:-1.13 [[ 7.64203545e-01 -6.44718443e-01 -1.81953668e-02 1.06606380e+02] [ 6.44571757e-01 7.64419215e-01 -1.38026772e-02 3.47990331e+01] [ 2.28077286e-02 -1.18016469e-03 9.99739173e-01 -1.12544360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76719347 meters 0.0707889514693396 Centerline is valid? [True, True] Translation: X:106.63, Y:34.82, Z:-1.12 [[ 7.61549645e-01 -6.47831560e-01 -1.88787818e-02 1.06628371e+02] [ 6.47674510e-01 7.61782471e-01 -1.43246682e-02 3.48179263e+01] [ 2.36614972e-02 -1.31835979e-03 9.99719158e-01 -1.12464166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79719347 meters 0.07325495279365277 Centerline is valid? [True, True] Translation: X:106.65, Y:34.84, Z:-1.13 [[ 7.58329171e-01 -6.51574474e-01 -1.96868734e-02 1.06650963e+02] [ 6.51404682e-01 7.58583212e-01 -1.49482812e-02 3.48354983e+01] [ 2.46740501e-02 -1.48840375e-03 9.99694441e-01 -1.12532219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82719347 meters 0.07216832479466505 Centerline is valid? [True, True] Translation: X:106.67, Y:34.86, Z:-1.12 [[ 7.57959556e-01 -6.52008161e-01 -1.95619409e-02 1.06671326e+02] [ 6.51840424e-01 7.58210493e-01 -1.48630700e-02 3.48566730e+01] [ 2.45229118e-02 -1.48565793e-03 9.99698164e-01 -1.12430550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85719347 meters 0.07157997184402597 Centerline is valid? [True, True] Translation: X:106.69, Y:34.88, Z:-1.12 [[ 7.59020271e-01 -6.50808402e-01 -1.83480713e-02 1.06692463e+02] [ 6.50660482e-01 7.59240794e-01 -1.39411114e-02 3.48753979e+01] [ 2.30035966e-02 -1.35677874e-03 9.99734462e-01 -1.12376170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88719347 meters 0.07110096631653583 Centerline is valid? [True, True] Translation: X:106.71, Y:34.89, Z:-1.12 [[ 7.60454473e-01 -6.49154808e-01 -1.75222611e-02 1.06713802e+02] [ 6.49019405e-01 7.60655299e-01 -1.33165025e-02 3.48938558e+01] [ 2.19728724e-02 -1.24569364e-03 9.99757791e-01 -1.12448092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91719347 meters 0.068254278943468 Centerline is valid? [True, True] Translation: X:106.73, Y:34.92, Z:-1.12 [[ 7.65132704e-01 -6.43671884e-01 -1.60763812e-02 1.06729974e+02] [ 6.43556593e-01 7.65300932e-01 -1.22227164e-02 3.49207399e+01] [ 2.01706885e-02 -9.94061061e-04 9.99796057e-01 -1.12321040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94719347 meters 0.06706020781076766 Centerline is valid? [True, True] Translation: X:106.75, Y:34.94, Z:-1.12 [[ 7.68013403e-01 -6.40243071e-01 -1.56276267e-02 1.06747900e+02] [ 6.40133392e-01 7.68171882e-01 -1.18827787e-02 3.49442769e+01] [ 1.96125701e-02 -8.77632367e-04 9.99807270e-01 -1.12365327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97719347 meters 0.06568125625337488 Centerline is valid? [True, True] Translation: X:106.77, Y:34.97, Z:-1.12 [[ 7.70735116e-01 -6.36977093e-01 -1.50852322e-02 1.06765909e+02] [ 6.36874208e-01 7.70882351e-01 -1.14736009e-02 3.49693427e+01] [ 1.89373602e-02 -7.64288228e-04 9.99820380e-01 -1.12346357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00719347 meters 0.0625868887561733 Centerline is valid? [True, True] Translation: X:106.78, Y:35.00, Z:-1.12 [[ 7.76096002e-01 -6.30497441e-01 -1.21644360e-02 1.06779595e+02] [ 6.30429645e-01 7.76191177e-01 -9.25847322e-03 3.50006115e+01] [ 1.52793716e-02 -4.83357044e-04 9.99883147e-01 -1.11969782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03719347 meters 0.062176141834336895 Centerline is valid? [True, True] Translation: X:106.80, Y:35.02, Z:-1.12 [[ 7.78003016e-01 -6.28174907e-01 -1.03726919e-02 1.06799968e+02] [ 6.28125400e-01 7.78072070e-01 -7.89522573e-03 3.50198331e+01] [ 1.30302846e-02 -3.72841829e-04 9.99915033e-01 -1.12067026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06719347 meters 0.06179032094058829 Centerline is valid? [True, True] Translation: X:106.82, Y:35.04, Z:-1.12 [[ 7.79117982e-01 -6.26806408e-01 -9.42854467e-03 1.06821135e+02] [ 6.26765327e-01 7.79174967e-01 -7.18304199e-03 3.50393044e+01] [ 1.18488627e-02 -3.13047710e-04 9.99929751e-01 -1.12191288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09719347 meters 0.061123298646152055 Centerline is valid? [True, True] Translation: X:106.84, Y:35.06, Z:-1.12 [[ 7.79958920e-01 -6.25777537e-01 -8.15822380e-03 1.06841901e+02] [ 6.25746680e-01 7.80001545e-01 -6.21959418e-03 3.50597600e+01] [ 1.02555095e-02 -2.53953494e-04 9.99947379e-01 -1.12219473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12719347 meters 0.06026931798625566 Centerline is valid? [True, True] Translation: X:106.86, Y:35.08, Z:-1.12 [[ 7.81851202e-01 -6.23390180e-01 -9.66340754e-03 1.06859370e+02] [ 6.23346651e-01 7.81910875e-01 -7.37133071e-03 3.50848350e+01] [ 1.21511386e-02 -2.60368957e-04 9.99926138e-01 -1.12311046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15719347 meters 0.059893528692772674 Centerline is valid? [True, True] Translation: X:106.88, Y:35.11, Z:-1.12 [[ 7.84424812e-01 -6.20128318e-01 -1.08896310e-02 1.06878194e+02] [ 6.20072658e-01 7.84500361e-01 -8.31160712e-03 3.51072251e+01] [ 1.36971824e-02 -2.32531558e-04 9.99906162e-01 -1.12482113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18719347 meters 0.05947333319488642 Centerline is valid? [True, True] Translation: X:106.89, Y:35.13, Z:-1.13 [[ 7.90592166e-01 -6.12229969e-01 -1.17682349e-02 1.06891732e+02] [ 6.12164088e-01 7.90679742e-01 -8.98190449e-03 3.51349241e+01] [ 1.48038960e-02 -1.03067448e-04 9.99890411e-01 -1.12925409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21719347 meters 0.05955598558692257 Centerline is valid? [True, True] Translation: X:106.91, Y:35.16, Z:-1.13 [[ 7.93809434e-01 -6.08029159e-01 -1.29276472e-02 1.06910864e+02] [ 6.07948966e-01 7.93914694e-01 -9.87489309e-03 3.51579772e+01] [ 1.62676720e-02 -2.05664832e-05 9.99867672e-01 -1.13039533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24719347 meters 0.05996640708899838 Centerline is valid? [True, True] Translation: X:106.93, Y:35.18, Z:-1.13 [[ 7.96256824e-01 -6.04757655e-01 -1.55964559e-02 1.06931148e+02] [ 6.04640166e-01 7.96409553e-01 -1.19203436e-02 3.51784143e+01] [ 1.96300855e-02 6.14112414e-05 9.99807309e-01 -1.13339007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27719347 meters 0.06061801529822275 Centerline is valid? [True, True] Translation: X:106.95, Y:35.20, Z:-1.14 [[ 7.98209132e-01 -6.02094141e-01 -1.85695018e-02 1.06952334e+02] [ 6.01926889e-01 7.98425089e-01 -1.41914606e-02 3.51978579e+01] [ 2.33709514e-02 1.50270992e-04 9.99726851e-01 -1.13775345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30719347 meters 0.060904178983127985 Centerline is valid? [True, True] Translation: X:106.98, Y:35.21, Z:-1.14 [[ 7.99303757e-01 -6.00579029e-01 -2.04532287e-02 1.06976169e+02] [ 6.00375297e-01 7.99565369e-01 -1.56436422e-02 3.52145399e+01] [ 2.57489367e-02 2.24408711e-04 9.99668416e-01 -1.13938261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33719347 meters 0.06091605195445545 Centerline is valid? [True, True] Translation: X:107.00, Y:35.23, Z:-1.14 [[ 7.97946350e-01 -6.02413594e-01 -1.94803460e-02 1.07000919e+02] [ 6.02229295e-01 7.98184087e-01 -1.49010100e-02 3.52283790e+01] [ 2.45254731e-02 1.58571537e-04 9.99699193e-01 -1.14179750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36719347 meters 0.06057827501029619 Centerline is valid? [True, True] Translation: X:107.03, Y:35.24, Z:-1.14 [[ 7.95625106e-01 -6.05494575e-01 -1.88947004e-02 1.07026912e+02] [ 6.05321984e-01 7.95849430e-01 -1.44561536e-02 3.52395757e+01] [ 2.37904591e-02 6.43011478e-05 9.99716965e-01 -1.14179183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39719347 meters 0.06057732481798679 Centerline is valid? [True, True] Translation: X:107.06, Y:35.24, Z:-1.14 [[ 7.90688022e-01 -6.11907277e-01 -1.95431635e-02 1.07060152e+02] [ 6.11724310e-01 7.90929497e-01 -1.49632711e-02 3.52435134e+01] [ 2.46133990e-02 -1.23749007e-04 9.99697037e-01 -1.14347772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42719347 meters 0.060831822123410685 Centerline is valid? [True, True] Translation: X:107.09, Y:35.25, Z:-1.14 [[ 7.87503617e-01 -6.16010889e-01 -1.91999472e-02 1.07087649e+02] [ 6.15835478e-01 7.87737598e-01 -1.47017200e-02 3.52534392e+01] [ 2.41809399e-02 -2.46351047e-04 9.99707568e-01 -1.14364424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45719346999999 meters 0.061005607722230244 Centerline is valid? [True, True] Translation: X:107.11, Y:35.26, Z:-1.14 [[ 7.84278330e-01 -6.20136879e-01 -1.83780343e-02 1.07114700e+02] [ 6.19977042e-01 7.84493550e-01 -1.40832692e-02 3.52649862e+01] [ 2.31510040e-02 -3.48756527e-04 9.99731919e-01 -1.14058101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48719347 meters 0.06126979804684614 Centerline is valid? [True, True] Translation: X:107.14, Y:35.28, Z:-1.14 [[ 7.80870001e-01 -6.24450597e-01 -1.74210535e-02 1.07141308e+02] [ 6.24307842e-01 7.81064181e-01 -1.33590475e-02 3.52776733e+01] [ 2.19490261e-02 -4.44420834e-04 9.99758992e-01 -1.13687681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51719347 meters 0.06361533996274828 Centerline is valid? [True, True] Translation: X:107.18, Y:35.28, Z:-1.14 [[ 7.75185726e-01 -6.31595283e-01 -1.32094337e-02 1.07175444e+02] [ 6.31514224e-01 7.75298110e-01 -1.01304533e-02 3.52794168e+01] [ 1.66395955e-02 -4.88962489e-04 9.99861433e-01 -1.13685266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54719347 meters 0.06440550163352958 Centerline is valid? [True, True] Translation: X:107.20, Y:35.29, Z:-1.14 [[ 7.72637994e-01 -6.34737191e-01 -1.17995276e-02 1.07202125e+02] [ 6.34672848e-01 7.72727929e-01 -9.05115773e-03 3.52911953e+01] [ 1.48629309e-02 -4.95571409e-04 9.99889418e-01 -1.13500829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57719347 meters 0.06465880239014962 Centerline is valid? [True, True] Translation: X:107.23, Y:35.31, Z:-1.13 [[ 7.71013839e-01 -6.36720473e-01 -1.11668706e-02 1.07227209e+02] [ 6.36662949e-01 7.71094540e-01 -8.57320251e-03 3.53057479e+01] [ 1.40694465e-02 -4.99474967e-04 9.99900896e-01 -1.13416062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60719347 meters 0.06477238039108027 Centerline is valid? [True, True] Translation: X:107.25, Y:35.32, Z:-1.13 [[ 7.69683316e-01 -6.38305811e-01 -1.23808599e-02 1.07250630e+02] [ 6.38235214e-01 7.69782667e-01 -9.51093451e-03 3.53228148e+01] [ 1.56014561e-02 -5.81493149e-04 9.99878121e-01 -1.13423029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63719347 meters 0.06639980804058404 Centerline is valid? [True, True] Translation: X:107.28, Y:35.34, Z:-1.14 [[ 7.67694974e-01 -6.40647200e-01 -1.46830515e-02 1.07275429e+02] [ 6.40548360e-01 7.67835013e-01 -1.12778853e-02 3.53375601e+01] [ 1.84993067e-02 -7.47228685e-04 9.99828594e-01 -1.13715373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66719347 meters 0.0656356781594521 Centerline is valid? [True, True] Translation: X:107.30, Y:35.36, Z:-1.14 [[ 7.67644288e-01 -6.40685494e-01 -1.56315050e-02 1.07295921e+02] [ 6.40573281e-01 7.67803018e-01 -1.20164893e-02 3.53575657e+01] [ 1.97007071e-02 -7.88735088e-04 9.99805611e-01 -1.13601403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69719347 meters 0.06527216775807707 Centerline is valid? [True, True] Translation: X:107.32, Y:35.38, Z:-1.14 [[ 7.67831882e-01 -6.40440184e-01 -1.64490334e-02 1.07317179e+02] [ 6.40315669e-01 7.68007620e-01 -1.26546333e-02 3.53764795e+01] [ 2.07375187e-02 -8.15942952e-04 9.99784622e-01 -1.13662722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72719347 meters 0.06568053910945655 Centerline is valid? [True, True] Translation: X:107.34, Y:35.39, Z:-1.14 [[ 7.67839256e-01 -6.40405835e-01 -1.74138775e-02 1.07339726e+02] [ 6.40266267e-01 7.68036212e-01 -1.33971838e-02 3.53920476e+01] [ 2.19541231e-02 -8.62634706e-04 9.99758607e-01 -1.13853349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75719347 meters 0.06630009210070345 Centerline is valid? [True, True] Translation: X:107.36, Y:35.41, Z:-1.14 [[ 7.68860066e-01 -6.39176109e-01 -1.75527915e-02 1.07363496e+02] [ 6.39033921e-01 7.69059952e-01 -1.35070081e-02 3.54068341e+01] [ 2.21325058e-02 -8.31830047e-04 9.99754700e-01 -1.14154902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78719347 meters 0.06478596492346997 Centerline is valid? [True, True] Translation: X:107.38, Y:35.43, Z:-1.14 [[ 7.70362402e-01 -6.37386196e-01 -1.67513127e-02 1.07383523e+02] [ 6.37256229e-01 7.70544149e-01 -1.28923684e-02 3.54276813e+01] [ 2.11250437e-02 -7.43082451e-04 9.99776565e-01 -1.13954692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81719347 meters 0.06362572150117621 Centerline is valid? [True, True] Translation: X:107.40, Y:35.45, Z:-1.14 [[ 7.72267844e-01 -6.35094684e-01 -1.60349395e-02 1.07403363e+02] [ 6.34974915e-01 7.72434028e-01 -1.23503317e-02 3.54500533e+01] [ 2.02295629e-02 -6.44020325e-04 9.99795154e-01 -1.13802362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84719347 meters 0.06174259440947181 Centerline is valid? [True, True] Translation: X:107.42, Y:35.48, Z:-1.14 [[ 7.77761956e-01 -6.28357586e-01 -1.59085969e-02 1.07418521e+02] [ 6.28238192e-01 7.77924502e-01 -1.22573390e-02 3.54784140e+01] [ 2.00776793e-02 -4.61096245e-04 9.99798317e-01 -1.13679614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87719347 meters 0.06078318064111404 Centerline is valid? [True, True] Translation: X:107.44, Y:35.50, Z:-1.14 [[ 7.81624834e-01 -6.23538472e-01 -1.61985455e-02 1.07436457e+02] [ 6.23413626e-01 7.81792592e-01 -1.24817569e-02 3.55018242e+01] [ 2.04467585e-02 -3.42342814e-04 9.99790885e-01 -1.13750026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90719347 meters 0.060151421451948364 Centerline is valid? [True, True] Translation: X:107.45, Y:35.53, Z:-1.14 [[ 7.86364958e-01 -6.17532060e-01 -1.68613919e-02 1.07454010e+02] [ 6.17395178e-01 7.86545689e-01 -1.30028327e-02 3.55254941e+01] [ 2.12919212e-02 -1.85170084e-04 9.99773284e-01 -1.13915179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93719347 meters 0.060151421451948364 Centerline is valid? [True, True] Translation: X:107.48, Y:35.54, Z:-1.14 [[ 7.86152927e-01 -6.17802093e-01 -1.68567188e-02 1.07475601e+02] [ 6.17665143e-01 7.86333606e-01 -1.30088911e-02 3.55424542e+01] [ 2.12919246e-02 -1.84829862e-04 9.99773284e-01 -1.13937864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96719347 meters 0.059920394552187894 Centerline is valid? [True, True] Translation: X:107.49, Y:35.56, Z:-1.14 [[ 7.90280756e-01 -6.12491906e-01 -1.76065826e-02 1.07493366e+02] [ 6.12340960e-01 7.90476858e-01 -1.35972641e-02 3.55645637e+01] [ 2.22458103e-02 -3.55755227e-05 9.99752531e-01 -1.13986855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99719347 meters 0.06062232268706712 Centerline is valid? [True, True] Translation: X:107.51, Y:35.59, Z:-1.14 [[ 7.97914995e-01 -6.02521028e-01 -1.73225859e-02 1.07509173e+02] [ 6.02372529e-01 7.98102972e-01 -1.33784654e-02 3.55889649e+01] [ 2.18860140e-02 2.40228278e-04 9.99760444e-01 -1.14210599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02719347 meters 0.061203161580944215 Centerline is valid? [True, True] Translation: X:107.53, Y:35.61, Z:-1.14 [[ 8.00455299e-01 -5.99168742e-01 -1.63747351e-02 1.07529412e+02] [ 5.99035143e-01 8.00622704e-01 -1.26563257e-02 3.56097297e+01] [ 2.06932595e-02 3.21781176e-04 9.99785820e-01 -1.14234104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05719347 meters 0.06161829292251339 Centerline is valid? [True, True] Translation: X:107.55, Y:35.63, Z:-1.14 [[ 8.02227460e-01 -5.96817973e-01 -1.54728529e-02 1.07550612e+02] [ 5.96698099e-01 8.02376577e-01 -1.19669230e-02 3.56296009e+01] [ 1.95571294e-02 3.67572347e-04 9.99808673e-01 -1.14037878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08719347 meters 0.0614898137873694 Centerline is valid? [True, True] Translation: X:107.57, Y:35.65, Z:-1.14 [[ 8.02108338e-01 -5.97001336e-01 -1.45471206e-02 1.07573228e+02] [ 5.96895272e-01 8.02240166e-01 -1.12582865e-02 3.56466818e+01] [ 1.83914965e-02 3.47257936e-04 9.99830802e-01 -1.13894653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11719347 meters 0.06123502760271121 Centerline is valid? [True, True] Translation: X:107.60, Y:35.66, Z:-1.14 [[ 8.00453583e-01 -5.99245939e-01 -1.33553390e-02 1.07600667e+02] [ 5.99156742e-01 8.00564943e-01 -1.03426458e-02 3.56574602e+01] [ 1.68896047e-02 2.76866479e-04 9.99857322e-01 -1.13787544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14719347 meters 0.06064161391400169 Centerline is valid? [True, True] Translation: X:107.63, Y:35.67, Z:-1.14 [[ 7.98768639e-01 -6.01507993e-01 -1.25218142e-02 1.07629550e+02] [ 6.01429760e-01 7.98866751e-01 -9.70349884e-03 3.56677206e+01] [ 1.58399932e-02 2.19858823e-04 9.99874515e-01 -1.13806951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17719347 meters 0.06019025425766725 Centerline is valid? [True, True] Translation: X:107.66, Y:35.68, Z:-1.14 [[ 7.96284750e-01 -6.04758328e-01 -1.40699126e-02 1.07658351e+02] [ 6.04659915e-01 7.96409023e-01 -1.09111991e-02 3.56764781e+01] [ 1.78040438e-02 1.80909332e-04 9.99841479e-01 -1.14010860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20719346999999 meters 0.06005484717793371 Centerline is valid? [True, True] Translation: X:107.69, Y:35.68, Z:-1.14 [[ 7.91832560e-01 -6.10543971e-01 -1.54031256e-02 1.07691336e+02] [ 6.10427086e-01 7.91982358e-01 -1.19464385e-02 3.56783693e+01] [ 1.94928298e-02 5.70939187e-05 9.99809995e-01 -1.14396182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23719347 meters 0.05987844374788469 Centerline is valid? [True, True] Translation: X:107.72, Y:35.69, Z:-1.14 [[ 7.90055941e-01 -6.12829134e-01 -1.58765090e-02 1.07718495e+02] [ 6.12705221e-01 7.90215447e-01 -1.23230907e-02 3.56910059e+01] [ 2.00978116e-02 8.31106393e-06 9.99798019e-01 -1.14290853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26719347 meters 0.059995653708508366 Centerline is valid? [True, True] Translation: X:107.74, Y:35.71, Z:-1.14 [[ 7.90130651e-01 -6.12712526e-01 -1.66407476e-02 1.07743974e+02] [ 6.12576192e-01 7.90305865e-01 -1.29247716e-02 3.57056487e+01] [ 2.10704499e-02 1.85324161e-05 9.99777993e-01 -1.14308905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29719347 meters 0.06024541393572979 Centerline is valid? [True, True] Translation: X:107.77, Y:35.72, Z:-1.14 [[ 7.90835307e-01 -6.11776421e-01 -1.75820555e-02 1.07768123e+02] [ 6.11623974e-01 7.91030726e-01 -1.36567103e-02 3.57199694e+01] [ 2.22627994e-02 4.66020381e-05 9.99752152e-01 -1.14456680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32719347 meters 0.06082033459327718 Centerline is valid? [True, True] Translation: X:107.79, Y:35.73, Z:-1.15 [[ 7.93667581e-01 -6.08025329e-01 -1.99241053e-02 1.07793916e+02] [ 6.07828298e-01 7.93917609e-01 -1.54787422e-02 3.57324566e+01] [ 2.52295654e-02 1.74540889e-04 9.99681669e-01 -1.14814881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35719347 meters 0.06106449403703677 Centerline is valid? [True, True] Translation: X:107.82, Y:35.75, Z:-1.15 [[ 7.94604795e-01 -6.06751312e-01 -2.13556960e-02 1.07818240e+02] [ 6.06524125e-01 7.94891683e-01 -1.66041369e-02 3.57482113e+01] [ 2.70500470e-02 2.40981921e-04 9.99634051e-01 -1.14839387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38719347 meters 0.061346404055668914 Centerline is valid? [True, True] Translation: X:107.84, Y:35.76, Z:-1.15 [[ 7.95544841e-01 -6.05486289e-01 -2.22431668e-02 1.07841201e+02] [ 6.05239281e-01 7.95855681e-01 -1.72958921e-02 3.57636111e+01] [ 2.81747762e-02 2.97219409e-04 9.99602968e-01 -1.14990308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41719347 meters 0.06196180459116665 Centerline is valid? [True, True] Translation: X:107.87, Y:35.78, Z:-1.15 [[ 7.96046344e-01 -6.04786882e-01 -2.33033213e-02 1.07866862e+02] [ 6.04515340e-01 7.96387287e-01 -1.81243697e-02 3.57763586e+01] [ 2.95198499e-02 3.40622996e-04 9.99564136e-01 -1.15144655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44719347 meters 0.06180214721782553 Centerline is valid? [True, True] Translation: X:107.89, Y:35.79, Z:-1.15 [[ 7.94984528e-01 -6.06189710e-01 -2.31005475e-02 1.07892626e+02] [ 6.05923065e-01 7.95320028e-01 -1.79803415e-02 3.57897339e+01] [ 2.92718261e-02 2.96938793e-04 9.99571444e-01 -1.15157432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47719347 meters 0.061447365783099506 Centerline is valid? [True, True] Translation: X:107.92, Y:35.80, Z:-1.15 [[ 7.92764127e-01 -6.09071084e-01 -2.36104540e-02 1.07919064e+02] [ 6.08793382e-01 7.93115611e-01 -1.83914771e-02 3.58014567e+01] [ 2.99275365e-02 2.06215145e-04 9.99552050e-01 -1.15135126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50719347 meters 0.06134113310106305 Centerline is valid? [True, True] Translation: X:107.95, Y:35.81, Z:-1.15 [[ 7.90214181e-01 -6.12320961e-01 -2.49917715e-02 1.07946244e+02] [ 6.12011040e-01 7.90609278e-01 -1.94796252e-02 3.58131107e+01] [ 3.16865093e-02 9.78359912e-05 9.99497852e-01 -1.15197759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53719347 meters 0.06132134963880054 Centerline is valid? [True, True] Translation: X:107.98, Y:35.82, Z:-1.15 [[ 7.84962454e-01 -6.19054250e-01 -2.46126255e-02 1.07978757e+02] [ 6.18756473e-01 7.85348209e-01 -1.91993960e-02 3.58170273e+01] [ 3.12149490e-02 -1.58416366e-04 9.99512682e-01 -1.15135407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56719347 meters 0.061699560150391915 Centerline is valid? [True, True] Translation: X:108.01, Y:35.83, Z:-1.15 [[ 7.82462582e-01 -6.22256196e-01 -2.34421629e-02 1.08006059e+02] [ 6.21987452e-01 7.82813613e-01 -1.82881629e-02 3.58272049e+01] [ 2.97307669e-02 -2.70927971e-04 9.99557906e-01 -1.15275737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59719347 meters 0.06147540506274021 Centerline is valid? [True, True] Translation: X:108.03, Y:35.84, Z:-1.15 [[ 7.79839714e-01 -6.25565282e-01 -2.27617881e-02 1.08032423e+02] [ 6.25312913e-01 7.80171736e-01 -1.77714228e-02 3.58400882e+01] [ 2.88752889e-02 -3.74378763e-04 9.99582952e-01 -1.14925835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62719347 meters 0.061641079880224915 Centerline is valid? [True, True] Translation: X:108.06, Y:35.85, Z:-1.15 [[ 7.78211990e-01 -6.27633541e-01 -2.14996827e-02 1.08057709e+02] [ 6.27408867e-01 7.78508808e-01 -1.67972985e-02 3.58545183e+01] [ 2.72802402e-02 -4.17232451e-04 9.99627738e-01 -1.14839723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65719347 meters 0.062239115864262444 Centerline is valid? [True, True] Translation: X:108.08, Y:35.87, Z:-1.15 [[ 7.76631519e-01 -6.29633721e-01 -2.01211540e-02 1.08083264e+02] [ 6.29437565e-01 7.76891994e-01 -1.57219911e-02 3.58669142e+01] [ 2.55310592e-02 -4.54816340e-04 9.99673926e-01 -1.14843647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68719347 meters 0.06199511033025321 Centerline is valid? [True, True] Translation: X:108.11, Y:35.88, Z:-1.15 [[ 7.76686783e-01 -6.29640953e-01 -1.76043018e-02 1.08106688e+02] [ 6.29490582e-01 7.76886168e-01 -1.37654756e-02 3.58842929e+01] [ 2.23438457e-02 -3.90279260e-04 9.99750269e-01 -1.14652036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71719347 meters 0.06171593934347254 Centerline is valid? [True, True] Translation: X:108.13, Y:35.90, Z:-1.15 [[ 7.77026230e-01 -6.29239993e-01 -1.69490246e-02 1.08129859e+02] [ 6.29100327e-01 7.77210977e-01 -1.32618076e-02 3.59018870e+01] [ 2.15178277e-02 -3.57864543e-04 9.99768401e-01 -1.14507551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74719347 meters 0.06122132024207248 Centerline is valid? [True, True] Translation: X:108.15, Y:35.92, Z:-1.14 [[ 7.78729580e-01 -6.27146852e-01 -1.63421628e-02 1.08152328e+02] [ 6.27016372e-01 7.78900986e-01 -1.27954278e-02 3.59203510e+01] [ 2.07535390e-02 -2.82625542e-04 9.99784582e-01 -1.14437474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77719347 meters 0.06113984577162606 Centerline is valid? [True, True] Translation: X:108.17, Y:35.94, Z:-1.15 [[ 7.79815822e-01 -6.25721644e-01 -1.89659709e-02 1.08173648e+02] [ 6.25545454e-01 7.80046373e-01 -1.48506379e-02 3.59389692e+01] [ 2.40867024e-02 -2.83314444e-04 9.99709833e-01 -1.14570055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80719347 meters 0.06110214261659866 Centerline is valid? [True, True] Translation: X:108.20, Y:35.96, Z:-1.15 [[ 7.80859645e-01 -6.24379668e-01 -2.02050739e-02 1.08195164e+02] [ 6.24178930e-01 7.81120969e-01 -1.58333501e-02 3.59586642e+01] [ 2.56686288e-02 -2.47957238e-04 9.99670476e-01 -1.14685933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83719347 meters 0.06118755042474993 Centerline is valid? [True, True] Translation: X:108.22, Y:35.98, Z:-1.15 [[ 7.82437875e-01 -6.22398158e-01 -2.02855823e-02 1.08215284e+02] [ 6.22195111e-01 7.82700773e-01 -1.58979350e-02 3.59781461e+01] [ 2.57723864e-02 -1.82443676e-04 9.99667820e-01 -1.14995626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86719347 meters 0.0612811703262149 Centerline is valid? [True, True] Translation: X:108.23, Y:36.00, Z:-1.15 [[ 7.85755147e-01 -6.18165001e-01 -2.14681169e-02 1.08233666e+02] [ 6.17935898e-01 7.86048364e-01 -1.68284361e-02 3.59991196e+01] [ 2.72777283e-02 -4.28897605e-05 9.99627893e-01 -1.15241347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89719347 meters 0.06156109421166893 Centerline is valid? [True, True] Translation: X:108.25, Y:36.02, Z:-1.15 [[ 7.87791808e-01 -6.15585032e-01 -2.09555498e-02 1.08253627e+02] [ 6.15365726e-01 7.88070470e-01 -1.64303721e-02 3.60182983e+01] [ 2.66287411e-02 4.83854309e-05 9.99645391e-01 -1.15440522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92719347 meters 0.06154320207583555 Centerline is valid? [True, True] Translation: X:108.27, Y:36.04, Z:-1.15 [[ 7.90008717e-01 -6.12783710e-01 -1.95538325e-02 1.08274050e+02] [ 6.12591615e-01 7.90250660e-01 -1.53430260e-02 3.60383220e+01] [ 2.48543854e-02 1.42610435e-04 9.99691072e-01 -1.15321734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95719346999999 meters 0.0620971853194504 Centerline is valid? [True, True] Translation: X:108.30, Y:36.06, Z:-1.15 [[ 7.93404289e-01 -6.08364302e-01 -2.00626357e-02 1.08295334e+02] [ 6.08160399e-01 7.93657853e-01 -1.57525001e-02 3.60584255e+01] [ 2.55061271e-02 2.96800644e-04 9.99674622e-01 -1.15347287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98719347 meters 0.06283964837101635 Centerline is valid? [True, True] Translation: X:108.32, Y:36.08, Z:-1.16 [[ 7.94660190e-01 -6.06709054e-01 -2.04769587e-02 1.08316629e+02] [ 6.06495989e-01 7.94923892e-01 -1.60817226e-02 3.60767948e+01] [ 2.60345504e-02 3.60311441e-04 9.99660979e-01 -1.15726053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01719347 meters 0.06264150304095506 Centerline is valid? [True, True] Translation: X:108.34, Y:36.09, Z:-1.15 [[ 7.95464284e-01 -6.05661671e-01 -2.02611283e-02 1.08341095e+02] [ 6.05452421e-01 7.95722175e-01 -1.59243745e-02 3.60924621e+01] [ 2.57670123e-02 4.00121958e-04 9.99667895e-01 -1.15451017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04719347 meters 0.06338395643418515 Centerline is valid? [True, True] Translation: X:108.36, Y:36.11, Z:-1.16 [[ 7.96026866e-01 -6.04889890e-01 -2.12002254e-02 1.08363787e+02] [ 6.04660474e-01 7.96308999e-01 -1.66639932e-02 3.61086326e+01] [ 2.69618113e-02 4.46047933e-04 9.99636365e-01 -1.15849765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07719347 meters 0.06377615649914485 Centerline is valid? [True, True] Translation: X:108.39, Y:36.12, Z:-1.16 [[ 7.95311968e-01 -6.05807597e-01 -2.18180840e-02 1.08390793e+02] [ 6.05564855e-01 7.95611067e-01 -1.71533078e-02 3.61190151e+01] [ 2.77503133e-02 4.29966096e-04 9.99614793e-01 -1.16215971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10719347 meters 0.06289507858389268 Centerline is valid? [True, True] Translation: X:108.42, Y:36.13, Z:-1.16 [[ 7.93788312e-01 -6.07771523e-01 -2.26691691e-02 1.08417594e+02] [ 6.07509817e-01 7.94111847e-01 -1.78380685e-02 3.61297643e+01] [ 2.88433258e-02 3.87907493e-04 9.99583869e-01 -1.15870390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13719347 meters 0.062491278342025836 Centerline is valid? [True, True] Translation: X:108.44, Y:36.14, Z:-1.16 [[ 7.92002353e-01 -6.10066999e-01 -2.34633868e-02 1.08444239e+02] [ 6.09787223e-01 7.92349765e-01 -1.84767825e-02 3.61406041e+01] [ 2.98632842e-02 3.25981738e-04 9.99553940e-01 -1.15814771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16719347 meters 0.062486894933051325 Centerline is valid? [True, True] Translation: X:108.47, Y:36.15, Z:-1.16 [[ 7.89857871e-01 -6.12813487e-01 -2.41696867e-02 1.08470240e+02] [ 6.12517781e-01 7.90227547e-01 -1.90366017e-02 3.61507316e+01] [ 3.07654386e-02 2.31846837e-04 9.99526605e-01 -1.16122869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19719347 meters 0.06218226832726816 Centerline is valid? [True, True] Translation: X:108.50, Y:36.15, Z:-1.16 [[ 7.84342964e-01 -6.19799855e-01 -2.55783976e-02 1.08504329e+02] [ 6.19471879e-01 7.84759924e-01 -2.01606525e-02 3.61539807e+01] [ 3.25684709e-02 -3.22320705e-05 9.99469506e-01 -1.16132484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22719347 meters 0.0623786582556132 Centerline is valid? [True, True] Translation: X:108.53, Y:36.16, Z:-1.16 [[ 7.80767539e-01 -6.24308659e-01 -2.53130045e-02 1.08532140e+02] [ 6.23989676e-01 7.81177734e-01 -1.99557512e-02 3.61631487e+01] [ 3.22325038e-02 -2.14250779e-04 9.99480375e-01 -1.16264177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25719347 meters 0.06290548872966757 Centerline is valid? [True, True] Translation: X:108.57, Y:36.17, Z:-1.16 [[ 7.73134716e-01 -6.33781000e-01 -2.41734417e-02 1.08566103e+02] [ 6.33494453e-01 7.73512323e-01 -1.90647103e-02 3.61659361e+01] [ 3.07813062e-02 -5.74151843e-04 9.99525978e-01 -1.15764067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28719347 meters 0.0639525962972241 Centerline is valid? [True, True] Translation: X:108.59, Y:36.18, Z:-1.16 [[ 7.69708869e-01 -6.37907906e-01 -2.49351192e-02 1.08593227e+02] [ 6.37605042e-01 7.70112283e-01 -1.96693288e-02 3.61764229e+01] [ 3.17500619e-02 -7.59100896e-04 9.99495551e-01 -1.15855471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31719347 meters 0.06650037127640313 Centerline is valid? [True, True] Translation: X:108.62, Y:36.19, Z:-1.16 [[ 7.66307956e-01 -6.41973650e-01 -2.53367059e-02 1.08620865e+02] [ 6.41662931e-01 7.66726128e-01 -1.99931966e-02 3.61859608e+01] [ 3.22614198e-02 -9.36679324e-04 9.99479026e-01 -1.16382664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34719347 meters 0.06862783418219608 Centerline is valid? [True, True] Translation: X:108.65, Y:36.20, Z:-1.17 [[ 7.62932909e-01 -6.45908650e-01 -2.71181312e-02 1.08647167e+02] [ 6.45555004e-01 7.63413801e-01 -2.14033968e-02 3.61976710e+01] [ 3.45269947e-02 -1.17688953e-03 9.99403073e-01 -1.16678704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37719347 meters 0.070740796477884 Centerline is valid? [True, True] Translation: X:108.68, Y:36.21, Z:-1.17 [[ 7.57380174e-01 -6.52378601e-01 -2.78824963e-02 1.08675168e+02] [ 6.52008824e-01 7.57891741e-01 -2.20136991e-02 3.62085353e+01] [ 3.54931799e-02 -1.50689438e-03 9.99368783e-01 -1.16544904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40719347 meters 0.07113691276179332 Centerline is valid? [True, True] Translation: X:108.70, Y:36.22, Z:-1.16 [[ 7.55928341e-01 -6.54131968e-01 -2.61478813e-02 1.08698833e+02] [ 6.53807264e-01 7.56378996e-01 -2.06609775e-02 3.62244258e+01] [ 3.32927141e-02 -1.47745636e-03 9.99444552e-01 -1.16356067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43719347 meters 0.0697213946482168 Centerline is valid? [True, True] Translation: X:108.72, Y:36.24, Z:-1.16 [[ 7.55072867e-01 -6.55168332e-01 -2.48882077e-02 1.08720180e+02] [ 6.54874330e-01 7.55481557e-01 -1.96781604e-02 3.62447600e+01] [ 3.16950894e-02 -1.44020336e-03 9.99496547e-01 -1.15861114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46719347 meters 0.06890542477972629 Centerline is valid? [True, True] Translation: X:108.74, Y:36.26, Z:-1.16 [[ 7.55227734e-01 -6.55041347e-01 -2.34926452e-02 1.08741803e+02] [ 6.54778968e-01 7.55591838e-01 -1.85870346e-02 3.62645079e+01] [ 2.99261271e-02 -1.34504597e-03 9.99551208e-01 -1.15607352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49719347 meters 0.06819522428368975 Centerline is valid? [True, True] Translation: X:108.76, Y:36.29, Z:-1.16 [[ 7.57546187e-01 -6.52383566e-01 -2.27916348e-02 1.08760590e+02] [ 6.52135136e-01 7.57888022e-01 -1.80418972e-02 3.62863264e+01] [ 2.90437442e-02 -1.19565548e-03 9.99577426e-01 -1.15723539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52719347 meters 0.06682990101131626 Centerline is valid? [True, True] Translation: X:108.78, Y:36.31, Z:-1.16 [[ 7.59005963e-01 -6.50653458e-01 -2.36648609e-02 1.08778548e+02] [ 6.50384405e-01 7.59373903e-01 -1.87457207e-02 3.63094827e+01] [ 3.01674458e-02 -1.16314263e-03 9.99544182e-01 -1.15748657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55719347 meters 0.0663118689061272 Centerline is valid? [True, True] Translation: X:108.80, Y:36.33, Z:-1.16 [[ 7.60436280e-01 -6.48961507e-01 -2.41997230e-02 1.08797690e+02] [ 6.48678916e-01 7.60820431e-01 -1.91816805e-02 3.63316308e+01] [ 3.08598159e-02 -1.11140432e-03 9.99523105e-01 -1.15940618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58719347 meters 0.06528325640075121 Centerline is valid? [True, True] Translation: X:108.81, Y:36.36, Z:-1.16 [[ 7.62521335e-01 -6.46466471e-01 -2.53439279e-02 1.08814080e+02] [ 6.46154721e-01 7.62941677e-01 -2.01015828e-02 3.63575558e+01] [ 3.23309382e-02 -1.04821290e-03 9.99476669e-01 -1.16138735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61719347 meters 0.06534389574508742 Centerline is valid? [True, True] Translation: X:108.83, Y:36.38, Z:-1.16 [[ 7.62772847e-01 -6.46214761e-01 -2.41674749e-02 1.08834574e+02] [ 6.45931007e-01 7.63154972e-01 -1.91734839e-02 3.63759465e+01] [ 3.08337170e-02 -9.85508524e-04 9.99524042e-01 -1.16273640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64719347 meters 0.0654036231237157 Centerline is valid? [True, True] Translation: X:108.86, Y:36.39, Z:-1.16 [[ 7.61929008e-01 -6.47256464e-01 -2.28748239e-02 1.08856433e+02] [ 6.47002341e-01 7.62271699e-01 -1.81611271e-02 3.63944353e+01] [ 2.91917378e-02 -9.62575080e-04 9.99573367e-01 -1.16182645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67719347 meters 0.06488347411769503 Centerline is valid? [True, True] Translation: X:108.88, Y:36.41, Z:-1.16 [[ 7.60934762e-01 -6.48423056e-01 -2.29309431e-02 1.08877719e+02] [ 6.48167860e-01 7.61279541e-01 -1.82177227e-02 3.64133866e+01] [ 2.92696493e-02 -1.00060181e-03 9.99571051e-01 -1.15926609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70719346999999 meters 0.06696957257593483 Centerline is valid? [True, True] Translation: X:108.90, Y:36.43, Z:-1.16 [[ 7.57119614e-01 -6.52912893e-01 -2.17863357e-02 1.08902768e+02] [ 6.52684363e-01 7.57432184e-01 -1.73092218e-02 3.64278293e+01] [ 2.78030859e-02 -1.11444927e-03 9.99612798e-01 -1.15880449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73719347 meters 0.06764291930405733 Centerline is valid? [True, True] Translation: X:108.93, Y:36.45, Z:-1.16 [[ 7.54550051e-01 -6.55928277e-01 -2.03055734e-02 1.08925133e+02] [ 6.55730732e-01 7.54822362e-01 -1.61371726e-02 3.64455188e+01] [ 2.59119287e-02 -1.13868415e-03 9.99663581e-01 -1.15685986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76719347 meters 0.06879341934938983 Centerline is valid? [True, True] Translation: X:108.95, Y:36.46, Z:-1.16 [[ 7.52562889e-01 -6.58260852e-01 -1.84864354e-02 1.08947836e+02] [ 6.58097554e-01 7.52789106e-01 -1.47027597e-02 3.64633743e+01] [ 2.35946383e-02 -1.10112657e-03 9.99721001e-01 -1.15611379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79719347 meters 0.06831970149855428 Centerline is valid? [True, True] Translation: X:108.97, Y:36.48, Z:-1.15 [[ 7.50703036e-01 -6.60443117e-01 -1.61195849e-02 1.08967830e+02] [ 6.60319279e-01 7.50875398e-01 -1.28291756e-02 3.64841131e+01] [ 2.05767404e-02 -1.01317161e-03 9.99787763e-01 -1.15383589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82719347 meters 0.06896038747158358 Centerline is valid? [True, True] Translation: X:108.99, Y:36.51, Z:-1.15 [[ 7.49398378e-01 -6.61917079e-01 -1.63661739e-02 1.08986353e+02] [ 6.61789599e-01 7.49576313e-01 -1.30336951e-02 3.65067573e+01] [ 2.08949217e-02 -1.06353373e-03 9.99781112e-01 -1.15380286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85719347 meters 0.06896038747158358 Centerline is valid? [True, True] Translation: X:109.01, Y:36.52, Z:-1.15 [[ 7.49161464e-01 -6.62185328e-01 -1.63612744e-02 1.09007756e+02] [ 6.62057778e-01 7.49339349e-01 -1.30398460e-02 3.65241102e+01] [ 2.08949414e-02 -1.06315885e-03 9.99781112e-01 -1.15403005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88719347 meters 0.0686651028146642 Centerline is valid? [True, True] Translation: X:109.03, Y:36.55, Z:-1.16 [[ 7.49607582e-01 -6.61655633e-01 -1.73290386e-02 1.09026912e+02] [ 6.61512225e-01 7.49807044e-01 -1.38192998e-02 3.65457093e+01] [ 2.21370527e-02 -1.10431896e-03 9.99754336e-01 -1.15595134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91719347 meters 0.06847129580823764 Centerline is valid? [True, True] Translation: X:109.04, Y:36.57, Z:-1.16 [[ 7.51900194e-01 -6.59029598e-01 -1.80578812e-02 1.09043515e+02] [ 6.58873092e-01 7.52116245e-01 -1.44014645e-02 3.65693261e+01] [ 2.30726171e-02 -1.06938810e-03 9.99733220e-01 -1.15952036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94719347 meters 0.06663213419186699 Centerline is valid? [True, True] Translation: X:109.06, Y:36.59, Z:-1.16 [[ 7.53263345e-01 -6.57478263e-01 -1.77951528e-02 1.09060671e+02] [ 6.57325628e-01 7.53472849e-01 -1.42015728e-02 3.65944372e+01] [ 2.27453899e-02 -9.99685780e-04 9.99740790e-01 -1.15871290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97719347 meters 0.06599409713903438 Centerline is valid? [True, True] Translation: X:109.08, Y:36.62, Z:-1.16 [[ 7.54462858e-01 -6.56117971e-01 -1.71756587e-02 1.09078548e+02] [ 6.55975259e-01 7.54657778e-01 -1.37148630e-02 3.66181270e+01] [ 2.19603126e-02 -9.19452436e-04 9.99758420e-01 -1.15918279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00719347 meters 0.06527100040648559 Centerline is valid? [True, True] Translation: X:109.10, Y:36.64, Z:-1.16 [[ 7.55527483e-01 -6.54883720e-01 -1.74795856e-02 1.09095691e+02] [ 6.54735376e-01 7.55729129e-01 -1.39667564e-02 3.66422471e+01] [ 2.23564334e-02 -8.92234759e-04 9.99749666e-01 -1.16017310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03719347 meters 0.06525319195526962 Centerline is valid? [True, True] Translation: X:109.11, Y:36.66, Z:-1.16 [[ 7.56383845e-01 -6.53888869e-01 -1.76869176e-02 1.09113242e+02] [ 6.53736690e-01 7.56590105e-01 -1.41334325e-02 3.66649580e+01] [ 2.26234410e-02 -8.72286925e-04 9.99743677e-01 -1.16197281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06719347 meters 0.06498043288639858 Centerline is valid? [True, True] Translation: X:109.13, Y:36.69, Z:-1.16 [[ 7.58059404e-01 -6.51932271e-01 -1.81729093e-02 1.09127867e+02] [ 6.51770977e-01 7.58276743e-01 -1.45249494e-02 3.66914043e+01] [ 2.32493777e-02 -8.33800324e-04 9.99729349e-01 -1.16493019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09719347 meters 0.06483805121254793 Centerline is valid? [True, True] Translation: X:109.15, Y:36.71, Z:-1.16 [[ 7.58393533e-01 -6.51573879e-01 -1.70507957e-02 1.09146408e+02] [ 6.51431735e-01 7.58584793e-01 -1.36310830e-02 3.67127328e+01] [ 2.18161319e-02 -7.69704241e-04 9.99761704e-01 -1.16446553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12719347 meters 0.06343227021912286 Centerline is valid? [True, True] Translation: X:109.16, Y:36.74, Z:-1.16 [[ 7.58291194e-01 -6.51722345e-01 -1.58886896e-02 1.09163337e+02] [ 6.51598740e-01 7.58457300e-01 -1.27124482e-02 3.67373848e+01] [ 2.03358792e-02 -7.13312617e-04 9.99792950e-01 -1.16118570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15719347 meters 0.06467846563047783 Centerline is valid? [True, True] Translation: X:109.18, Y:36.76, Z:-1.16 [[ 7.57542306e-01 -6.52620839e-01 -1.46865612e-02 1.09181381e+02] [ 6.52515357e-01 7.57684353e-01 -1.17529120e-02 3.67583557e+01] [ 1.87979729e-02 -6.79878678e-04 9.99823071e-01 -1.16288661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18719347 meters 0.06393515530172875 Centerline is valid? [True, True] Translation: X:109.20, Y:36.78, Z:-1.16 [[ 7.57844799e-01 -6.52289423e-01 -1.37757207e-02 1.09200895e+02] [ 6.52196417e-01 7.57969736e-01 -1.10323893e-02 3.67806399e+01] [ 1.76378902e-02 -6.23636813e-04 9.99844246e-01 -1.16179991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21719347 meters 0.06410050619942605 Centerline is valid? [True, True] Translation: X:109.22, Y:36.80, Z:-1.16 [[ 7.58045681e-01 -6.52061284e-01 -1.35213450e-02 1.09220697e+02] [ 6.51971639e-01 7.58166020e-01 -1.08290210e-02 3.68000457e+01] [ 1.73126097e-02 -6.06640890e-04 9.99849942e-01 -1.16245860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24719347 meters 0.06384426829289525 Centerline is valid? [True, True] Translation: X:109.24, Y:36.82, Z:-1.16 [[ 7.58907515e-01 -6.51077726e-01 -1.25371272e-02 1.09240777e+02] [ 6.51000393e-01 7.59010875e-01 -1.00488409e-02 3.68204415e+01] [ 1.60583924e-02 -5.35533808e-04 9.99870912e-01 -1.16238378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27719347 meters 0.06119565621696062 Centerline is valid? [True, True] Translation: X:109.25, Y:36.85, Z:-1.16 [[ 7.61393290e-01 -6.48189217e-01 -1.14453741e-02 1.09254765e+02] [ 6.48124359e-01 7.61479189e-01 -9.17933740e-03 3.68500618e+01] [ 1.46653617e-02 -4.28939873e-04 9.99892366e-01 -1.15827219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30719347 meters 0.06238705148298561 Centerline is valid? [True, True] Translation: X:109.28, Y:36.87, Z:-1.16 [[ 7.62755589e-01 -6.46598549e-01 -1.06877420e-02 1.09275703e+02] [ 6.46541814e-01 7.62830374e-01 -8.57338963e-03 3.68683092e+01] [ 1.36964755e-02 -3.70671247e-04 9.99906130e-01 -1.16291832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33719347 meters 0.06032645095511677 Centerline is valid? [True, True] Translation: X:109.29, Y:36.90, Z:-1.16 [[ 7.64176267e-01 -6.44936010e-01 -9.60084748e-03 1.09291323e+02] [ 6.44890067e-01 7.64236515e-01 -7.70398425e-03 3.68957384e+01] [ 1.23058951e-02 -3.04289249e-04 9.99924233e-01 -1.15805540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36719347 meters 0.06095470826908806 Centerline is valid? [True, True] Translation: X:109.31, Y:36.92, Z:-1.16 [[ 7.66084442e-01 -6.42673873e-01 -9.21523315e-03 1.09309895e+02] [ 6.42631368e-01 7.66139823e-01 -7.39576509e-03 3.69172284e+01] [ 1.18132221e-02 -2.56217310e-04 9.99930189e-01 -1.16253964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39719347 meters 0.059576148814879853 Centerline is valid? [True, True] Translation: X:109.33, Y:36.94, Z:-1.16 [[ 7.67026831e-01 -6.41536657e-01 -1.00279077e-02 1.09328232e+02] [ 6.41486139e-01 7.67092337e-01 -8.05482115e-03 3.69410093e+01] [ 1.28597942e-02 -2.54499863e-04 9.99917277e-01 -1.16084316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42719347 meters 0.05903388878433894 Centerline is valid? [True, True] Translation: X:109.35, Y:36.96, Z:-1.16 [[ 7.68012444e-01 -6.40324743e-01 -1.18789048e-02 1.09346815e+02] [ 6.40253622e-01 7.68104256e-01 -9.54729436e-03 3.69636679e+01] [ 1.52376062e-02 -2.73070948e-04 9.99883864e-01 -1.16042109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45719346999999 meters 0.05882368688149094 Centerline is valid? [True, True] Translation: X:109.36, Y:36.99, Z:-1.16 [[ 7.69532538e-01 -6.38494713e-01 -1.20072565e-02 1.09364729e+02] [ 6.38421823e-01 7.69626172e-01 -9.65045224e-03 3.69862202e+01] [ 1.54028616e-02 -2.39357596e-04 9.99881340e-01 -1.16137726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48719347 meters 0.05815580932579265 Centerline is valid? [True, True] Translation: X:109.38, Y:37.01, Z:-1.16 [[ 7.72862379e-01 -6.34474860e-01 -1.11979559e-02 1.09378387e+02] [ 6.34410933e-01 7.72943485e-01 -9.00762141e-03 3.70147531e+01] [ 1.43704964e-02 -1.42453934e-04 9.99896729e-01 -1.15970429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51719347 meters 0.05807646209608261 Centerline is valid? [True, True] Translation: X:109.40, Y:37.04, Z:-1.16 [[ 7.74564751e-01 -6.32393112e-01 -1.13313115e-02 1.09397808e+02] [ 6.32327406e-01 7.74647624e-01 -9.11645945e-03 3.70354351e+01] [ 1.45429597e-02 -1.03810652e-04 9.99894240e-01 -1.16103478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54719347 meters 0.05783932464628482 Centerline is valid? [True, True] Translation: X:109.42, Y:37.06, Z:-1.16 [[ 7.76081122e-01 -6.30544333e-01 -1.05799672e-02 1.09418572e+02] [ 6.30486797e-01 7.76153232e-01 -8.51817427e-03 3.70564078e+01] [ 1.35827623e-02 -5.97354087e-05 9.99907748e-01 -1.16120245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57719347 meters 0.05785971657557072 Centerline is valid? [True, True] Translation: X:109.44, Y:37.08, Z:-1.16 [[ 7.77417058e-01 -6.28885613e-01 -1.12073487e-02 1.09438664e+02] [ 6.28820797e-01 7.77497836e-01 -9.02884559e-03 3.70770852e+01] [ 1.43918005e-02 -2.82353946e-05 9.99896432e-01 -1.16210652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60719347 meters 0.05824438512005872 Centerline is valid? [True, True] Translation: X:109.46, Y:37.10, Z:-1.16 [[ 7.80395973e-01 -6.25153495e-01 -1.28542790e-02 1.09455519e+02] [ 6.25067725e-01 7.80501829e-01 -1.03553931e-02 3.71012612e+01] [ 1.65064985e-02 4.65121266e-05 9.99863757e-01 -1.16456043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63719347 meters 0.058604371054969406 Centerline is valid? [True, True] Translation: X:109.48, Y:37.12, Z:-1.17 [[ 7.81833090e-01 -6.23328373e-01 -1.40982047e-02 1.09475572e+02] [ 6.23224858e-01 7.81960185e-01 -1.13598431e-02 3.71205390e+01] [ 1.81051472e-02 9.51496291e-05 9.99836084e-01 -1.16716094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66719347 meters 0.05899214706468322 Centerline is valid? [True, True] Translation: X:109.50, Y:37.14, Z:-1.17 [[ 7.83762222e-01 -6.20863396e-01 -1.56659628e-02 1.09497182e+02] [ 6.20735029e-01 7.83918755e-01 -1.26257835e-02 3.71389390e+01] [ 2.01197288e-02 1.71200220e-04 9.99797563e-01 -1.16851794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69719347 meters 0.05933915799724759 Centerline is valid? [True, True] Translation: X:109.52, Y:37.16, Z:-1.17 [[ 7.86581608e-01 -6.17314288e-01 -1.45754642e-02 1.09520280e+02] [ 6.17202381e-01 7.86716599e-01 -1.17564624e-02 3.71563298e+01] [ 1.87241918e-02 2.51405825e-04 9.99824655e-01 -1.16813127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72719347 meters 0.059821071799290304 Centerline is valid? [True, True] Translation: X:109.54, Y:37.17, Z:-1.17 [[ 7.87395915e-01 -6.16266766e-01 -1.49314121e-02 1.09542251e+02] [ 6.16149091e-01 7.87537423e-01 -1.20459683e-02 3.71739951e+01] [ 1.91825757e-02 2.84970265e-04 9.99815957e-01 -1.16980417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75719347 meters 0.05956485865838054 Centerline is valid? [True, True] Translation: X:109.57, Y:37.19, Z:-1.17 [[ 7.87403457e-01 -6.16244745e-01 -1.54340753e-02 1.09567363e+02] [ 6.16118819e-01 7.87554648e-01 -1.24610444e-02 3.71880104e+01] [ 1.98342308e-02 3.02645193e-04 9.99803236e-01 -1.16783598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78719347 meters 0.05933725433040133 Centerline is valid? [True, True] Translation: X:109.59, Y:37.20, Z:-1.17 [[ 7.86920491e-01 -6.16863389e-01 -1.53525326e-02 1.09592754e+02] [ 6.16738715e-01 7.87070184e-01 -1.24049863e-02 3.72004711e+01] [ 1.97357026e-02 2.93236707e-04 9.99805189e-01 -1.16850251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81719347 meters 0.058645955366988786 Centerline is valid? [True, True] Translation: X:109.63, Y:37.21, Z:-1.17 [[ 7.85248113e-01 -6.19029125e-01 -1.37238294e-02 1.09625321e+02] [ 6.18929706e-01 7.85367999e-01 -1.10961667e-02 3.72062178e+01] [ 1.76471068e-02 2.19158276e-04 9.99844254e-01 -1.16742461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84719347 meters 0.05856277547974879 Centerline is valid? [True, True] Translation: X:109.65, Y:37.22, Z:-1.17 [[ 7.84129562e-01 -6.20474136e-01 -1.23562430e-02 1.09651817e+02] [ 6.20393717e-01 7.84226892e-01 -9.99088744e-03 3.72180726e+01] [ 1.58891853e-02 1.68414633e-04 9.99873745e-01 -1.16883153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87719347 meters 0.058270319983599016 Centerline is valid? [True, True] Translation: X:109.68, Y:37.23, Z:-1.17 [[ 7.83075341e-01 -6.21825466e-01 -1.12294197e-02 1.09678186e+02] [ 6.21759156e-01 7.83155842e-01 -9.08183262e-03 3.72294623e+01] [ 1.44417004e-02 1.29764669e-04 9.99895705e-01 -1.16831571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90719347 meters 0.05779612827805945 Centerline is valid? [True, True] Translation: X:109.71, Y:37.24, Z:-1.17 [[ 7.82039166e-01 -6.23149166e-01 -9.99301363e-03 1.09705991e+02] [ 6.23096676e-01 7.82103003e-01 -8.08855511e-03 3.72416510e+01] [ 1.28559423e-02 9.89533146e-05 9.99917354e-01 -1.16673015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93719347 meters 0.057283289005997995 Centerline is valid? [True, True] Translation: X:109.74, Y:37.25, Z:-1.17 [[ 7.79548839e-01 -6.26280961e-01 -8.70437156e-03 1.09738211e+02] [ 6.26241276e-01 7.79597432e-01 -7.05044210e-03 3.72469394e+01] [ 1.12014634e-02 4.51271991e-05 9.99937261e-01 -1.16548157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96719347 meters 0.05694465418261939 Centerline is valid? [True, True] Translation: X:109.77, Y:37.26, Z:-1.16 [[ 7.77569135e-01 -6.28748859e-01 -7.81746918e-03 1.09766466e+02] [ 6.28716927e-01 7.77608431e-01 -6.33665528e-03 3.72581233e+01] [ 1.00630947e-02 1.22123685e-05 9.99949366e-01 -1.16338181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99719347 meters 0.05683544484323329 Centerline is valid? [True, True] Translation: X:109.79, Y:37.27, Z:-1.16 [[ 7.74906677e-01 -6.32028187e-01 -7.74679785e-03 1.09793712e+02] [ 6.31996941e-01 7.74945398e-01 -6.28456257e-03 3.72688244e+01] [ 9.97536603e-03 -2.60030530e-05 9.99950244e-01 -1.16387137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02719347 meters 0.05696674355372503 Centerline is valid? [True, True] Translation: X:109.82, Y:37.28, Z:-1.16 [[ 7.72427764e-01 -6.35057997e-01 -7.52930793e-03 1.09820883e+02] [ 6.35028636e-01 7.72464456e-01 -6.10696264e-03 3.72788131e+01] [ 9.69439822e-03 -6.41386484e-05 9.99953006e-01 -1.16494869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05719347 meters 0.05714460679787751 Centerline is valid? [True, True] Translation: X:109.85, Y:37.29, Z:-1.17 [[ 7.70518638e-01 -6.37364848e-01 -8.19024833e-03 1.09848287e+02] [ 6.37330168e-01 7.70562160e-01 -6.64947005e-03 3.72910678e+01] [ 1.05492339e-02 -9.63517356e-05 9.99944351e-01 -1.16532222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08719347 meters 0.05783599732390157 Centerline is valid? [True, True] Translation: X:109.88, Y:37.30, Z:-1.17 [[ 7.67548536e-01 -6.40913721e-01 -9.94220424e-03 1.09877629e+02] [ 6.40862927e-01 7.67612905e-01 -8.07078234e-03 3.72993293e+01] [ 1.28044394e-02 -1.76872942e-04 9.99918004e-01 -1.16952665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11719347 meters 0.05822843692278953 Centerline is valid? [True, True] Translation: X:109.90, Y:37.32, Z:-1.17 [[ 7.66411127e-01 -6.42244662e-01 -1.16524154e-02 1.09900611e+02] [ 6.42174924e-01 7.66499669e-01 -9.46705173e-03 3.73164141e+01] [ 1.50117360e-02 -2.27235187e-04 9.99887292e-01 -1.17131928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14719347 meters 0.05862863791325751 Centerline is valid? [True, True] Translation: X:109.92, Y:37.33, Z:-1.17 [[ 7.66264572e-01 -6.42391569e-01 -1.31025772e-02 1.09923022e+02] [ 6.42303415e-01 7.66376543e-01 -1.06450717e-02 3.73328192e+01] [ 1.68798121e-02 -2.58888751e-04 9.99857492e-01 -1.17464108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17719347 meters 0.05819314832316574 Centerline is valid? [True, True] Translation: X:109.94, Y:37.35, Z:-1.17 [[ 7.67857057e-01 -6.40455517e-01 -1.45694846e-02 1.09944767e+02] [ 6.40345957e-01 7.67995232e-01 -1.18481592e-02 3.73503723e+01] [ 1.87775136e-02 -2.31817893e-04 9.99823660e-01 -1.17323206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20719346999999 meters 0.05812214263038921 Centerline is valid? [True, True] Translation: X:109.97, Y:37.37, Z:-1.17 [[ 7.69832205e-01 -6.38082096e-01 -1.44780633e-02 1.09966820e+02] [ 6.37973355e-01 7.69968318e-01 -1.17808363e-02 3.73680778e+01] [ 1.86647907e-02 -1.67351448e-04 9.99825784e-01 -1.17428002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23719347 meters 0.057659388925651985 Centerline is valid? [True, True] Translation: X:109.99, Y:37.39, Z:-1.17 [[ 7.72628860e-01 -6.34703260e-01 -1.40148777e-02 1.09987900e+02] [ 6.34600675e-01 7.72755955e-01 -1.14112537e-02 3.73884109e+01] [ 1.80728402e-02 -7.71869271e-05 9.99836670e-01 -1.17278250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26719347 meters 0.05774405258025645 Centerline is valid? [True, True] Translation: X:110.01, Y:37.41, Z:-1.17 [[ 7.74966903e-01 -6.31854815e-01 -1.36305465e-02 1.10007707e+02] [ 6.31757299e-01 7.75086765e-01 -1.11005663e-02 3.74083015e+01] [ 1.75788024e-02 -8.62578628e-06 9.99845481e-01 -1.17359022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29719347 meters 0.058038312881199455 Centerline is valid? [True, True] Translation: X:110.03, Y:37.43, Z:-1.17 [[ 7.77848118e-01 -6.28336787e-01 -1.20493481e-02 1.10027827e+02] [ 6.28260042e-01 7.77941435e-01 -9.82053266e-03 3.74283977e+01] [ 1.55442891e-02 6.87589309e-05 9.99879178e-01 -1.17425928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32719347 meters 0.057718176427618235 Centerline is valid? [True, True] Translation: X:110.05, Y:37.44, Z:-1.17 [[ 7.78136463e-01 -6.27983728e-01 -1.18356258e-02 1.10050629e+02] [ 6.27909520e-01 7.78226465e-01 -9.65424066e-03 3.74443912e+01] [ 1.52735032e-02 8.06145907e-05 9.99883350e-01 -1.17080810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35719347 meters 0.05773941078393502 Centerline is valid? [True, True] Translation: X:110.07, Y:37.46, Z:-1.17 [[ 7.78718670e-01 -6.27294643e-01 -9.93298653e-03 1.10073782e+02] [ 6.27242304e-01 7.78782014e-01 -8.10355955e-03 3.74601118e+01] [ 1.28189507e-02 8.00037610e-05 9.99917831e-01 -1.16979812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38719347 meters 0.057527829810604086 Centerline is valid? [True, True] Translation: X:110.10, Y:37.47, Z:-1.17 [[ 7.78421135e-01 -6.27681556e-01 -8.74078872e-03 1.10098569e+02] [ 6.27640979e-01 7.78470205e-01 -7.13738335e-03 3.74748372e+01] [ 1.12844475e-02 6.98128579e-05 9.99936326e-01 -1.16844776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41719347 meters 0.05739376911144994 Centerline is valid? [True, True] Translation: X:110.13, Y:37.48, Z:-1.17 [[ 7.76824522e-01 -6.29662821e-01 -8.27005284e-03 1.10127373e+02] [ 6.29626614e-01 7.76868541e-01 -6.75252743e-03 3.74839260e+01] [ 1.06765594e-02 3.84835253e-05 9.99943003e-01 -1.16824684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44719347 meters 0.057460804735394874 Centerline is valid? [True, True] Translation: X:110.15, Y:37.50, Z:-1.17 [[ 7.75594785e-01 -6.31154833e-01 -9.81357465e-03 1.10152340e+02] [ 6.31103879e-01 7.75656868e-01 -8.01981400e-03 3.74983634e+01] [ 1.26737109e-02 2.67408897e-05 9.99919685e-01 -1.16908925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47719347 meters 0.057688811033353736 Centerline is valid? [True, True] Translation: X:110.18, Y:37.51, Z:-1.17 [[ 7.75610518e-01 -6.31108496e-01 -1.14188675e-02 1.10177382e+02] [ 6.31039512e-01 7.75694569e-01 -9.33109349e-03 3.75112413e+01] [ 1.47464859e-02 3.15377000e-05 9.99891264e-01 -1.17014394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50719347 meters 0.05819562120224013 Centerline is valid? [True, True] Translation: X:110.20, Y:37.53, Z:-1.17 [[ 7.76628582e-01 -6.29836230e-01 -1.24245680e-02 1.10199574e+02] [ 6.29754362e-01 7.76727958e-01 -1.01549818e-02 3.75279428e+01] [ 1.60464848e-02 6.22232379e-05 9.99871245e-01 -1.17232777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53719347 meters 0.058541844851595755 Centerline is valid? [True, True] Translation: X:110.22, Y:37.55, Z:-1.17 [[ 7.78154651e-01 -6.27907253e-01 -1.44159983e-02 1.10222375e+02] [ 6.27796535e-01 7.78288164e-01 -1.17917171e-02 3.75455170e+01] [ 1.86239055e-02 1.25465698e-04 9.99826552e-01 -1.17475788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56719347 meters 0.05912408222954833 Centerline is valid? [True, True] Translation: X:110.25, Y:37.56, Z:-1.18 [[ 7.79897509e-01 -6.25695952e-01 -1.62619473e-02 1.10245086e+02] [ 6.25554420e-01 7.80067005e-01 -1.33092054e-02 3.75628078e+01] [ 2.10129244e-02 2.07083156e-04 9.99779183e-01 -1.17743081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59719347 meters 0.06001867850975648 Centerline is valid? [True, True] Translation: X:110.27, Y:37.58, Z:-1.18 [[ 7.82129681e-01 -6.22887325e-01 -1.68684067e-02 1.10269096e+02] [ 6.22734366e-01 7.82311507e-01 -1.38063341e-02 3.75773518e+01] [ 2.17961392e-02 2.93807089e-04 9.99762393e-01 -1.17864440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62719347 meters 0.05984935092919737 Centerline is valid? [True, True] Translation: X:110.29, Y:37.59, Z:-1.18 [[ 7.82327994e-01 -6.22681815e-01 -1.51745623e-02 1.10292904e+02] [ 6.22557811e-01 7.82475099e-01 -1.24294924e-02 3.75937245e+01] [ 1.96133360e-02 2.76897591e-04 9.99807602e-01 -1.17658013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65719347 meters 0.05961696116439946 Centerline is valid? [True, True] Translation: X:110.32, Y:37.61, Z:-1.18 [[ 7.81219524e-01 -6.24074953e-01 -1.50501956e-02 1.10317360e+02] [ 6.23953090e-01 7.81364443e-01 -1.23348452e-02 3.76093814e+01] [ 1.94575556e-02 2.45605879e-04 9.99810654e-01 -1.17650983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68719347 meters 0.0590821939716015 Centerline is valid? [True, True] Translation: X:110.35, Y:37.62, Z:-1.18 [[ 7.78641554e-01 -6.27300341e-01 -1.45469370e-02 1.10346910e+02] [ 6.27187042e-01 7.78777412e-01 -1.19229969e-02 3.76177520e+01] [ 1.88081260e-02 1.60090474e-04 9.99823099e-01 -1.17616144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71719347 meters 0.058438288983062775 Centerline is valid? [True, True] Translation: X:110.38, Y:37.63, Z:-1.17 [[ 7.76772934e-01 -6.29616587e-01 -1.43792627e-02 1.10375125e+02] [ 6.29506094e-01 7.76906006e-01 -1.17955918e-02 3.76289108e+01] [ 1.85980358e-02 1.10662907e-04 9.99827035e-01 -1.17114897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74719347 meters 0.058438288983062775 Centerline is valid? [True, True] Translation: X:110.40, Y:37.65, Z:-1.17 [[ 7.76541900e-01 -6.29901617e-01 -1.43746877e-02 1.10396248e+02] [ 6.29791070e-01 7.76674926e-01 -1.18011676e-02 3.76465529e+01] [ 1.85980341e-02 1.11051124e-04 9.99827035e-01 -1.17137587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77719347 meters 0.058370166080406634 Centerline is valid? [True, True] Translation: X:110.42, Y:37.66, Z:-1.17 [[ 7.73866859e-01 -6.33159460e-01 -1.54655077e-02 1.10422975e+02] [ 6.33031997e-01 7.74021380e-01 -1.27041086e-02 3.76589906e+01] [ 2.00143602e-02 4.11273350e-05 9.99799692e-01 -1.17197854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80719347 meters 0.05848729182039442 Centerline is valid? [True, True] Translation: X:110.45, Y:37.67, Z:-1.17 [[ 7.71043830e-01 -6.36575460e-01 -1.62202337e-02 1.10450088e+02] [ 6.36435829e-01 7.71214420e-01 -1.33324354e-02 3.76717390e+01] [ 2.09963793e-02 -4.32457948e-05 9.99779551e-01 -1.17398677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83719347 meters 0.05910861762328428 Centerline is valid? [True, True] Translation: X:110.48, Y:37.68, Z:-1.18 [[ 7.65757224e-01 -6.42896010e-01 -1.73376280e-02 1.10481261e+02] [ 6.42738066e-01 7.65953437e-01 -1.42517203e-02 3.76776182e+01] [ 2.24421899e-02 -2.30195738e-04 9.99748116e-01 -1.17522806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86719347 meters 0.059762738523604 Centerline is valid? [True, True] Translation: X:110.51, Y:37.69, Z:-1.18 [[ 7.62764151e-01 -6.46429077e-01 -1.78968836e-02 1.10507445e+02] [ 6.46261618e-01 7.62974005e-01 -1.47169523e-02 3.76895331e+01] [ 2.31683229e-02 -3.40505372e-04 9.99731520e-01 -1.17654265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89719347 meters 0.06058906817892871 Centerline is valid? [True, True] Translation: X:110.53, Y:37.70, Z:-1.18 [[ 7.59708823e-01 -6.49961913e-01 -1.97993986e-02 1.10533552e+02] [ 6.49757880e-01 7.59966627e-01 -1.62917969e-02 3.77028865e+01] [ 2.56359297e-02 -4.87793405e-04 9.99671227e-01 -1.17695058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92719347 meters 0.0624919534799644 Centerline is valid? [True, True] Translation: X:110.56, Y:37.71, Z:-1.18 [[ 7.53802511e-01 -6.56747119e-01 -2.15637476e-02 1.10563483e+02] [ 6.56507519e-01 7.54110485e-01 -1.77553878e-02 3.77122791e+01] [ 2.79222480e-02 -7.72706565e-04 9.99609799e-01 -1.17671471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95719346999999 meters 0.06352218675269468 Centerline is valid? [True, True] Translation: X:110.59, Y:37.73, Z:-1.18 [[ 7.51616555e-01 -6.59248710e-01 -2.15335108e-02 1.10588186e+02] [ 6.59010678e-01 7.51924462e-01 -1.77349735e-02 3.77263034e+01] [ 2.78833319e-02 -8.60913838e-04 9.99610814e-01 -1.17733706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98719347 meters 0.06423511618882011 Centerline is valid? [True, True] Translation: X:110.61, Y:37.74, Z:-1.18 [[ 7.50291544e-01 -6.60783706e-01 -2.06758827e-02 1.10611840e+02] [ 6.60564664e-01 7.50575862e-01 -1.70352535e-02 3.77416551e+01] [ 2.67754365e-02 -8.76350818e-04 9.99641090e-01 -1.17632399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01719347 meters 0.0645804134951786 Centerline is valid? [True, True] Translation: X:110.63, Y:37.76, Z:-1.18 [[ 7.49075287e-01 -6.62150751e-01 -2.10379945e-02 1.10634664e+02] [ 6.61924169e-01 7.49370078e-01 -1.73459054e-02 3.77594535e+01] [ 2.72508478e-02 -9.32167964e-04 9.99628192e-01 -1.17582494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04719347 meters 0.06313964631847545 Centerline is valid? [True, True] Translation: X:110.65, Y:37.78, Z:-1.17 [[ 7.50587507e-01 -6.60419206e-01 -2.15607465e-02 1.10651000e+02] [ 6.60180180e-01 7.50896593e-01 -1.77886503e-02 3.77845524e+01] [ 2.79378574e-02 -8.82038832e-04 9.99609273e-01 -1.17448949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07719347 meters 0.06270845910962683 Centerline is valid? [True, True] Translation: X:110.67, Y:37.81, Z:-1.18 [[ 7.52939898e-01 -6.57764051e-01 -2.06872590e-02 1.10669524e+02] [ 6.57542949e-01 7.53223666e-01 -1.70698539e-02 3.78059920e+01] [ 2.68100694e-02 -7.50187228e-04 9.99640264e-01 -1.17569703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10719347 meters 0.06043417871317039 Centerline is valid? [True, True] Translation: X:110.68, Y:37.84, Z:-1.17 [[ 7.58763615e-01 -6.51067726e-01 -1.97127738e-02 1.10682326e+02] [ 6.50864526e-01 7.59019488e-01 -1.62722628e-02 3.78356571e+01] [ 2.55567246e-02 -4.83544193e-04 9.99673257e-01 -1.17419775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13719347 meters 0.060091160696150774 Centerline is valid? [True, True] Translation: X:110.70, Y:37.86, Z:-1.18 [[ 7.61607316e-01 -6.47761604e-01 -1.89525664e-02 1.10699504e+02] [ 6.47572678e-01 7.61843014e-01 -1.56476690e-02 3.78583854e+01] [ 2.45748395e-02 -3.55785001e-04 9.99697930e-01 -1.17580422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16719347 meters 0.059698933901466834 Centerline is valid? [True, True] Translation: X:110.72, Y:37.88, Z:-1.18 [[ 7.63675644e-01 -6.45310719e-01 -1.93284075e-02 1.10717228e+02] [ 6.45113138e-01 7.63920154e-01 -1.59699044e-02 3.78826887e+01] [ 2.50709106e-02 -2.73182592e-04 9.99685638e-01 -1.17684260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19719347 meters 0.0592384089009976 Centerline is valid? [True, True] Translation: X:110.74, Y:37.91, Z:-1.17 [[ 7.64663168e-01 -6.44154061e-01 -1.88622690e-02 1.10735471e+02] [ 6.43965295e-01 7.64895742e-01 -1.55949184e-02 3.79060277e+01] [ 2.44731993e-02 -2.21786854e-04 9.99700462e-01 -1.17474723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22719347 meters 0.05975272551353561 Centerline is valid? [True, True] Translation: X:110.75, Y:37.93, Z:-1.18 [[ 7.65751837e-01 -6.42818347e-01 -2.02162479e-02 1.10752825e+02] [ 6.42601003e-01 7.66018627e-01 -1.67157047e-02 3.79290958e+01] [ 2.62311841e-02 -1.90899564e-04 9.99655885e-01 -1.17990628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25719347 meters 0.059530980552406264 Centerline is valid? [True, True] Translation: X:110.77, Y:37.95, Z:-1.18 [[ 7.66159803e-01 -6.42344043e-01 -1.98314772e-02 1.10773082e+02] [ 6.42134417e-01 7.66416404e-01 -1.64099337e-02 3.79497414e+01] [ 2.57399926e-02 -1.61842510e-04 9.99668658e-01 -1.17857106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28719347 meters 0.059355671656844515 Centerline is valid? [True, True] Translation: X:110.79, Y:37.97, Z:-1.18 [[ 7.66371189e-01 -6.42123576e-01 -1.87753813e-02 1.10793601e+02] [ 6.41935379e-01 7.66601131e-01 -1.55458963e-02 3.79696304e+01] [ 2.43756151e-02 -1.38654487e-04 9.99702861e-01 -1.17799131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31719347 meters 0.059661708588777757 Centerline is valid? [True, True] Translation: X:110.81, Y:37.99, Z:-1.18 [[ 7.67636029e-01 -6.40569909e-01 -2.01275866e-02 1.10812955e+02] [ 6.40353054e-01 7.67899852e-01 -1.66668208e-02 3.79901463e+01] [ 2.61322347e-02 -9.47094440e-05 9.99658490e-01 -1.18155932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34719347 meters 0.05965088542068781 Centerline is valid? [True, True] Translation: X:110.83, Y:38.01, Z:-1.18 [[ 7.68541414e-01 -6.39462304e-01 -2.07859814e-02 1.10833854e+02] [ 6.39230282e-01 7.68822450e-01 -1.72246132e-02 3.80101653e+01] [ 2.69952200e-02 -4.92001463e-05 9.99635561e-01 -1.18164449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37719347 meters 0.05954653032971119 Centerline is valid? [True, True] Translation: X:110.85, Y:38.03, Z:-1.18 [[ 7.69477281e-01 -6.38354407e-01 -2.02080243e-02 1.10854317e+02] [ 6.38134456e-01 7.69742587e-01 -1.67560689e-02 3.80306614e+01] [ 2.62512873e-02 -2.02225684e-06 9.99655376e-01 -1.18203355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40719347 meters 0.059080284127937574 Centerline is valid? [True, True] Translation: X:110.87, Y:38.05, Z:-1.18 [[ 7.69573440e-01 -6.38272630e-01 -1.90989725e-02 1.10874753e+02] [ 6.38075875e-01 7.69810399e-01 -1.58470056e-02 3.80518763e+01] [ 2.48172976e-02 8.84106076e-06 9.99692003e-01 -1.17857367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43719347 meters 0.05917786186728467 Centerline is valid? [True, True] Translation: X:110.90, Y:38.07, Z:-1.18 [[ 7.68181927e-01 -6.39967727e-01 -1.83803106e-02 1.10897077e+02] [ 6.39785753e-01 7.68401788e-01 -1.52605058e-02 3.80692913e+01] [ 2.38896948e-02 -3.66161154e-05 9.99714600e-01 -1.17969670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46719347 meters 0.059467771252885514 Centerline is valid? [True, True] Translation: X:110.92, Y:38.08, Z:-1.18 [[ 7.65935896e-01 -6.42651757e-01 -1.84640746e-02 1.10921141e+02] [ 6.42468869e-01 7.66158407e-01 -1.53312474e-02 3.80843661e+01] [ 2.39990590e-02 -1.19840422e-04 9.99711974e-01 -1.18158299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49719347 meters 0.060044636863033 Centerline is valid? [True, True] Translation: X:110.95, Y:38.10, Z:-1.18 [[ 7.62791079e-01 -6.46332122e-01 -2.01136305e-02 1.10947024e+02] [ 6.46116041e-01 7.63056175e-01 -1.67133046e-02 3.80981585e+01] [ 2.61501756e-02 -2.46979631e-04 9.99657995e-01 -1.18329110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52719347 meters 0.06197382721852962 Centerline is valid? [True, True] Translation: X:110.98, Y:38.11, Z:-1.18 [[ 7.55799577e-01 -6.54461693e-01 -2.11398255e-02 1.10977615e+02] [ 6.54225839e-01 7.56094964e-01 -1.75771525e-02 3.81051565e+01] [ 2.74872886e-02 -5.45415707e-04 9.99622004e-01 -1.18465678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55719347 meters 0.0632145160437469 Centerline is valid? [True, True] Translation: X:111.00, Y:38.12, Z:-1.18 [[ 7.52262154e-01 -6.58524501e-01 -2.11455161e-02 1.11003585e+02] [ 6.58289992e-01 7.52558971e-01 -1.75863885e-02 3.81186578e+01] [ 2.74943155e-02 -6.90307122e-04 9.99621721e-01 -1.18495184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58719347 meters 0.06470986660569253 Centerline is valid? [True, True] Translation: X:111.03, Y:38.13, Z:-1.19 [[ 7.49308850e-01 -6.61862580e-01 -2.17754975e-02 1.11028401e+02] [ 6.61614983e-01 7.49624732e-01 -1.81211416e-02 3.81332931e+01] [ 2.83171570e-02 -8.28663623e-04 9.99598645e-01 -1.18636108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61719347 meters 0.06583757141572177 Centerline is valid? [True, True] Translation: X:111.05, Y:38.15, Z:-1.19 [[ 7.46880680e-01 -6.64573827e-01 -2.26026176e-02 1.11052376e+02] [ 6.64307958e-01 7.47221995e-01 -1.88209310e-02 3.81501206e+01] [ 2.93970712e-02 -9.58108988e-04 9.99567354e-01 -1.18771282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64719347 meters 0.06820618702441322 Centerline is valid? [True, True] Translation: X:111.07, Y:38.17, Z:-1.19 [[ 7.43322075e-01 -6.68477973e-01 -2.46879083e-02 1.11074671e+02] [ 6.68162702e-01 7.43730956e-01 -2.05637576e-02 3.81663287e+01] [ 3.21075806e-02 -1.21004453e-03 9.99483686e-01 -1.19105184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67719347 meters 0.06951599462693055 Centerline is valid? [True, True] Translation: X:111.10, Y:38.18, Z:-1.19 [[ 7.42260692e-01 -6.69595849e-01 -2.62766845e-02 1.11096844e+02] [ 6.69238971e-01 7.42724463e-01 -2.18991011e-02 3.81837542e+01] [ 3.41798836e-02 -1.33053943e-03 9.99414811e-01 -1.19292152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70719346999999 meters 0.07017375504947564 Centerline is valid? [True, True] Translation: X:111.12, Y:38.20, Z:-1.19 [[ 7.41151805e-01 -6.70815738e-01 -2.64621906e-02 1.11118543e+02] [ 6.70454108e-01 7.41622764e-01 -2.20672748e-02 3.82028326e+01] [ 3.44280381e-02 -1.38648382e-03 9.99406218e-01 -1.19327912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73719347 meters 0.07008986854476215 Centerline is valid? [True, True] Translation: X:111.14, Y:38.23, Z:-1.19 [[ 7.40628226e-01 -6.71432208e-01 -2.54680292e-02 1.11137190e+02] [ 6.71097183e-01 7.41064748e-01 -2.12511057e-02 3.82257893e+01] [ 3.31421355e-02 -1.35235393e-03 9.99449734e-01 -1.19181330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76719347 meters 0.06930667967039746 Centerline is valid? [True, True] Translation: X:111.16, Y:38.25, Z:-1.19 [[ 7.40893544e-01 -6.71181401e-01 -2.43368559e-02 1.11157130e+02] [ 6.70874987e-01 7.41292052e-01 -2.03186166e-02 3.82476199e+01] [ 3.16781954e-02 -1.27305603e-03 9.99497309e-01 -1.18898456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79719347 meters 0.06873831046189094 Centerline is valid? [True, True] Translation: X:111.18, Y:38.27, Z:-1.19 [[ 7.40934926e-01 -6.71207237e-01 -2.22773416e-02 1.11176731e+02] [ 6.70950167e-01 7.41268848e-01 -1.86109766e-02 3.82693870e+01] [ 2.90053215e-02 -1.15746350e-03 9.99578587e-01 -1.18729086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82719347 meters 0.06857629285388793 Centerline is valid? [True, True] Translation: X:111.20, Y:38.29, Z:-1.19 [[ 7.41907673e-01 -6.70182981e-01 -2.06827544e-02 1.11195426e+02] [ 6.69960954e-01 7.42195189e-01 -1.72806853e-02 3.82905831e+01] [ 2.69318620e-02 -1.03596485e-03 9.99636735e-01 -1.18638475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85719347 meters 0.06791824231804382 Centerline is valid? [True, True] Translation: X:111.21, Y:38.32, Z:-1.19 [[ 7.43289753e-01 -6.68706263e-01 -1.87690447e-02 1.11209807e+02] [ 6.68522651e-01 7.43526164e-01 -1.56942302e-02 3.83164521e+01] [ 2.44501059e-02 -8.82171055e-04 9.99700662e-01 -1.18731014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88719347 meters 0.0665800851905212 Centerline is valid? [True, True] Translation: X:111.23, Y:38.34, Z:-1.19 [[ 7.44682756e-01 -6.67169327e-01 -1.82395552e-02 1.11228058e+02] [ 6.66995255e-01 7.44905663e-01 -1.52605195e-02 3.83394805e+01] [ 2.37680985e-02 -8.01451079e-04 9.99717178e-01 -1.18586651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91719347 meters 0.06629867865374832 Centerline is valid? [True, True] Translation: X:111.25, Y:38.36, Z:-1.19 [[ 7.45597879e-01 -6.66192218e-01 -1.64842622e-02 1.11247535e+02] [ 6.66049620e-01 7.45779761e-01 -1.38004000e-02 3.83600599e+01] [ 2.14873482e-02 -6.89787636e-04 9.99768882e-01 -1.18572880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94719347 meters 0.06523358144130285 Centerline is valid? [True, True] Translation: X:111.26, Y:38.39, Z:-1.18 [[ 7.48206392e-01 -6.63333123e-01 -1.32801828e-02 1.11262123e+02] [ 6.63240020e-01 7.48324083e-01 -1.11239715e-02 3.83857876e+01] [ 1.73167794e-02 -4.84922131e-04 9.99849936e-01 -1.18429026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97719347 meters 0.06472383292976094 Centerline is valid? [True, True] Translation: X:111.28, Y:38.41, Z:-1.19 [[ 7.49730917e-01 -6.61605264e-01 -1.34917062e-02 1.11279811e+02] [ 6.61508775e-01 7.49852169e-01 -1.13077823e-02 3.84094405e+01] [ 1.75980735e-02 -4.47088036e-04 9.99845042e-01 -1.18623394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00719347 meters 0.06355878760191096 Centerline is valid? [True, True] Translation: X:111.30, Y:38.43, Z:-1.19 [[ 7.50389955e-01 -6.60817316e-01 -1.53424344e-02 1.11296404e+02] [ 6.60692215e-01 7.50546630e-01 -1.28667622e-02 3.84346942e+01] [ 2.00177917e-02 -4.81537913e-04 9.99799508e-01 -1.18519848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03719347 meters 0.06389633635517025 Centerline is valid? [True, True] Translation: X:111.31, Y:38.46, Z:-1.19 [[ 7.50782926e-01 -6.60339817e-01 -1.66230361e-02 1.11313615e+02] [ 6.60192782e-01 7.50966757e-01 -1.39434698e-02 3.84573587e+01] [ 2.16907758e-02 -5.05889372e-04 9.99764599e-01 -1.18887228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06719347 meters 0.06565782804668775 Centerline is valid? [True, True] Translation: X:111.34, Y:38.47, Z:-1.19 [[ 7.49994413e-01 -6.61242961e-01 -1.63133962e-02 1.11336210e+02] [ 6.61101458e-01 7.50171633e-01 -1.36888170e-02 3.84733645e+01] [ 2.12894809e-02 -5.18273724e-04 9.99773219e-01 -1.19346072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09719347 meters 0.06512704063535285 Centerline is valid? [True, True] Translation: X:111.36, Y:38.49, Z:-1.19 [[ 7.48147196e-01 -6.63344709e-01 -1.57977867e-02 1.11356657e+02] [ 6.63212287e-01 7.48313765e-01 -1.32654391e-02 3.84940215e+01] [ 2.06212601e-02 -5.52785178e-04 9.99787206e-01 -1.18886482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12719347 meters 0.06818972464489477 Centerline is valid? [True, True] Translation: X:111.38, Y:38.51, Z:-1.19 [[ 7.45315982e-01 -6.66539968e-01 -1.51181624e-02 1.11381685e+02] [ 6.66419276e-01 7.45469046e-01 -1.26984252e-02 3.85065229e+01] [ 1.97341300e-02 -6.10695641e-04 9.99805077e-01 -1.19343683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15719347 meters 0.06780179890549844 Centerline is valid? [True, True] Translation: X:111.40, Y:38.53, Z:-1.19 [[ 7.42323484e-01 -6.69870285e-01 -1.51540800e-02 1.11401817e+02] [ 6.69749541e-01 7.42477824e-01 -1.27370744e-02 3.85280190e+01] [ 1.97837560e-02 -6.94408720e-04 9.99804041e-01 -1.18945258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18719347 meters 0.06905392949316233 Centerline is valid? [True, True] Translation: X:111.42, Y:38.55, Z:-1.19 [[ 7.37418348e-01 -6.75298922e-01 -1.36215233e-02 1.11420778e+02] [ 6.75202240e-01 7.37543761e-01 -1.14514852e-02 3.85498758e+01] [ 1.77796451e-02 -7.52747751e-04 9.99841646e-01 -1.18612950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21719347 meters 0.06992883678080486 Centerline is valid? [True, True] Translation: X:111.44, Y:38.57, Z:-1.19 [[ 7.35300740e-01 -6.77617534e-01 -1.29344334e-02 1.11441847e+02] [ 6.77530573e-01 7.35414099e-01 -1.08823356e-02 3.85692128e+01] [ 1.68862261e-02 -7.61684671e-04 9.99857127e-01 -1.18571095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24719347 meters 0.07029892562967922 Centerline is valid? [True, True] Translation: X:111.46, Y:38.59, Z:-1.19 [[ 7.33832719e-01 -6.79189649e-01 -1.38188986e-02 1.11462262e+02] [ 6.79090539e-01 7.33962331e-01 -1.16334149e-02 3.85897891e+01] [ 1.80438460e-02 -8.47302830e-04 9.99836838e-01 -1.18615611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27719347 meters 0.07169399475337689 Centerline is valid? [True, True] Translation: X:111.48, Y:38.61, Z:-1.19 [[ 7.33185825e-01 -6.79873828e-01 -1.44956456e-02 1.11483133e+02] [ 6.79764897e-01 7.33328546e-01 -1.22036019e-02 3.86085920e+01] [ 1.89269803e-02 -9.06123146e-04 9.99820458e-01 -1.18817455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30719347 meters 0.0721393673820514 Centerline is valid? [True, True] Translation: X:111.50, Y:38.63, Z:-1.19 [[ 7.33046948e-01 -6.79959358e-01 -1.72465434e-02 1.11499076e+02] [ 6.79804938e-01 7.33249016e-01 -1.45302010e-02 3.86346481e+01] [ 2.25259571e-02 -1.07296586e-03 9.99745683e-01 -1.19056606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33719347 meters 0.0712304602395502 Centerline is valid? [True, True] Translation: X:111.52, Y:38.66, Z:-1.19 [[ 7.33902274e-01 -6.79005281e-01 -1.84195649e-02 1.11515386e+02] [ 6.78828612e-01 7.34132550e-01 -1.55278450e-02 3.86596531e+01] [ 2.40658909e-02 -1.10780690e-03 9.99709761e-01 -1.19160207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36719347 meters 0.07002719389616635 Centerline is valid? [True, True] Translation: X:111.53, Y:38.69, Z:-1.19 [[ 7.37403709e-01 -6.75146826e-01 -2.03109108e-02 1.11526979e+02] [ 6.74930301e-01 7.37682592e-01 -1.71313417e-02 3.86909384e+01] [ 2.65491763e-02 -1.07573425e-03 9.99646930e-01 -1.19421030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39719347 meters 0.06871687790288185 Centerline is valid? [True, True] Translation: X:111.54, Y:38.72, Z:-1.20 [[ 7.40294777e-01 -6.71942934e-01 -2.13620573e-02 1.11542872e+02] [ 6.71701842e-01 7.40602245e-01 -1.80263498e-02 3.87169326e+01] [ 2.79334659e-02 -1.00412065e-03 9.99609280e-01 -1.19517713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42719347 meters 0.06757863671744598 Centerline is valid? [True, True] Translation: X:111.56, Y:38.74, Z:-1.20 [[ 7.43166031e-01 -6.68772293e-01 -2.11629554e-02 1.11559287e+02] [ 6.68534287e-01 7.43466782e-01 -1.78619784e-02 3.87431026e+01] [ 2.76795506e-02 -8.73745715e-04 9.99616466e-01 -1.19501151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45719346999999 meters 0.06625596764134874 Centerline is valid? [True, True] Translation: X:111.57, Y:38.77, Z:-1.19 [[ 7.45947616e-01 -6.65698227e-01 -2.01995978e-02 1.11574548e+02] [ 6.65480181e-01 7.46220710e-01 -1.70522688e-02 3.87700033e+01] [ 2.64250234e-02 -7.22332747e-04 9.99650537e-01 -1.19364663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48719347 meters 0.06462381948042935 Centerline is valid? [True, True] Translation: X:111.58, Y:38.80, Z:-1.19 [[ 7.50747798e-01 -6.60337376e-01 -1.82289118e-02 1.11584327e+02] [ 6.60157956e-01 7.50968925e-01 -1.53995768e-02 3.88036299e+01] [ 2.38582624e-02 -4.72762796e-04 9.99715239e-01 -1.19132487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51719347 meters 0.0641040651510979 Centerline is valid? [True, True] Translation: X:111.60, Y:38.83, Z:-1.19 [[ 7.53010493e-01 -6.57781701e-01 -1.72751713e-02 1.11600917e+02] [ 6.57619862e-01 7.53208535e-01 -1.45952064e-02 3.88275309e+01] [ 2.26122662e-02 -3.70152149e-04 9.99744241e-01 -1.19086783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54719347 meters 0.06380336115866773 Centerline is valid? [True, True] Translation: X:111.62, Y:38.85, Z:-1.19 [[ 7.54903592e-01 -6.55593434e-01 -1.78273888e-02 1.11618887e+02] [ 6.55420216e-01 7.55114002e-01 -1.50726772e-02 3.88515576e+01] [ 2.33432591e-02 -3.06012850e-04 9.99727462e-01 -1.19170730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57719347 meters 0.06353884194812645 Centerline is valid? [True, True] Translation: X:111.64, Y:38.87, Z:-1.19 [[ 7.56723553e-01 -6.53474457e-01 -1.84552832e-02 1.11636154e+02] [ 6.53287924e-01 7.56948529e-01 -1.56144880e-02 3.88747756e+01] [ 2.41733685e-02 -2.40762825e-04 9.99707752e-01 -1.19311462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60719347 meters 0.06360785027109145 Centerline is valid? [True, True] Translation: X:111.65, Y:38.90, Z:-1.19 [[ 7.58035665e-01 -6.51855578e-01 -2.15925048e-02 1.11653478e+02] [ 6.51599308e-01 7.58343101e-01 -1.82779344e-02 3.88999367e+01] [ 2.82891006e-02 -2.14334974e-04 9.99599760e-01 -1.19442122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63719347 meters 0.0638358100363796 Centerline is valid? [True, True] Translation: X:111.67, Y:38.92, Z:-1.20 [[ 7.57698171e-01 -6.52222592e-01 -2.23421695e-02 1.11674506e+02] [ 6.51948021e-01 7.58027466e-01 -1.89245659e-02 3.89198941e+01] [ 2.92790075e-02 -2.26824271e-04 9.99571252e-01 -1.19584530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66719347 meters 0.0638358100363796 Centerline is valid? [True, True] Translation: X:111.70, Y:38.94, Z:-1.20 [[ 7.57469332e-01 -6.52488579e-01 -2.23353006e-02 1.11695312e+02] [ 6.52213884e-01 7.57798524e-01 -1.89326731e-02 3.89378428e+01] [ 2.92790108e-02 -2.26473932e-04 9.99571252e-01 -1.19607222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69719347 meters 0.06437326275319202 Centerline is valid? [True, True] Translation: X:111.72, Y:38.96, Z:-1.20 [[ 7.57455060e-01 -6.52493056e-01 -2.26857787e-02 1.11716280e+02] [ 6.52209547e-01 7.57794669e-01 -1.92339816e-02 3.89559123e+01] [ 2.97412016e-02 -2.27004826e-04 9.99557607e-01 -1.20152716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72719347 meters 0.06412151617547084 Centerline is valid? [True, True] Translation: X:111.74, Y:38.98, Z:-1.20 [[ 7.57888495e-01 -6.51984360e-01 -2.28346836e-02 1.11735228e+02] [ 6.51696415e-01 7.58232389e-01 -1.93759385e-02 3.89761806e+01] [ 2.99468055e-02 -1.96480569e-04 9.99551475e-01 -1.19879897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75719347 meters 0.06428979678678737 Centerline is valid? [True, True] Translation: X:111.76, Y:38.99, Z:-1.20 [[ 7.58698759e-01 -6.51018797e-01 -2.34674086e-02 1.11755249e+02] [ 6.50714123e-01 7.59061592e-01 -1.99155682e-02 3.89947575e+01] [ 3.07786178e-02 -1.60657274e-04 9.99526213e-01 -1.20115834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78719347 meters 0.06404732512800428 Centerline is valid? [True, True] Translation: X:111.78, Y:39.01, Z:-1.20 [[ 7.59018401e-01 -6.50618218e-01 -2.42281055e-02 1.11776966e+02] [ 6.50292781e-01 7.59404975e-01 -2.05762749e-02 3.90142722e+01] [ 3.17862432e-02 -1.37590818e-04 9.99494680e-01 -1.19870050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81719347 meters 0.06422285698069556 Centerline is valid? [True, True] Translation: X:111.80, Y:39.03, Z:-1.20 [[ 7.58012390e-01 -6.51822623e-01 -2.33341819e-02 1.11800901e+02] [ 6.51520941e-01 7.58371438e-01 -1.98298801e-02 3.90311600e+01] [ 3.06215415e-02 -1.71413365e-04 9.99531036e-01 -1.19888987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84719347 meters 0.06451407493472432 Centerline is valid? [True, True] Translation: X:111.82, Y:39.05, Z:-1.20 [[ 7.56891027e-01 -6.53148152e-01 -2.26597566e-02 1.11823875e+02] [ 6.52864188e-01 7.57230114e-01 -1.92589632e-02 3.90464592e+01] [ 2.97376063e-02 -2.16807112e-04 9.99557716e-01 -1.20090219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87719347 meters 0.06468974648902905 Centerline is valid? [True, True] Translation: X:111.85, Y:39.06, Z:-1.20 [[ 7.54817304e-01 -6.55516340e-01 -2.34342910e-02 1.11847487e+02] [ 6.55213311e-01 7.55180927e-01 -1.99320062e-02 3.90632575e+01] [ 3.07628854e-02 -3.09436167e-04 9.99526663e-01 -1.20024888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90719347 meters 0.06553576021316591 Centerline is valid? [True, True] Translation: X:111.87, Y:39.08, Z:-1.20 [[ 7.49994260e-01 -6.61068332e-01 -2.22995559e-02 1.11874770e+02] [ 6.60796030e-01 7.50325535e-01 -1.89788722e-02 3.90751497e+01] [ 2.92782576e-02 -5.01412818e-04 9.99571174e-01 -1.19966061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93719347 meters 0.06613187467757653 Centerline is valid? [True, True] Translation: X:111.90, Y:39.09, Z:-1.20 [[ 7.46928052e-01 -6.64519717e-01 -2.26281044e-02 1.11899763e+02] [ 6.64240539e-01 7.47270460e-01 -1.92708400e-02 3.90898508e+01] [ 2.97151671e-02 -6.36573272e-04 9.99558204e-01 -1.19976373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96719347 meters 0.06863714764068132 Centerline is valid? [True, True] Translation: X:111.93, Y:39.10, Z:-1.21 [[ 7.41803978e-01 -6.70205393e-01 -2.34859300e-02 1.11930068e+02] [ 6.69907419e-01 7.42175134e-01 -2.00030015e-02 3.90973212e+01] [ 3.08367927e-02 -8.95092633e-04 9.99524032e-01 -1.20500080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99719347 meters 0.06959181473189045 Centerline is valid? [True, True] Translation: X:111.95, Y:39.11, Z:-1.21 [[ 7.39659452e-01 -6.72530956e-01 -2.46172337e-02 1.11954991e+02] [ 6.72204751e-01 7.40068265e-01 -2.09698727e-02 3.91124818e+01] [ 3.23213219e-02 -1.03725692e-03 9.99476991e-01 -1.20720552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02719347 meters 0.07077673132217403 Centerline is valid? [True, True] Translation: X:111.98, Y:39.13, Z:-1.21 [[ 7.37792821e-01 -6.74567314e-01 -2.49136920e-02 1.11979046e+02] [ 6.74234210e-01 7.38212467e-01 -2.12269476e-02 3.91268153e+01] [ 3.27106031e-02 -1.13657388e-03 9.99464219e-01 -1.20939361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05719347 meters 0.071661825425699 Centerline is valid? [True, True] Translation: X:112.00, Y:39.14, Z:-1.21 [[ 7.36338866e-01 -6.76164419e-01 -2.46323686e-02 1.12002683e+02] [ 6.75839540e-01 7.36749796e-01 -2.09917689e-02 3.91417244e+01] [ 3.23417798e-02 -1.19047334e-03 9.99476159e-01 -1.21060426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08719347 meters 0.07196413201226805 Centerline is valid? [True, True] Translation: X:112.03, Y:39.16, Z:-1.21 [[ 7.34842683e-01 -6.77785311e-01 -2.47649600e-02 1.12025463e+02] [ 6.77457360e-01 7.35258792e-01 -2.11195199e-02 3.91592502e+01] [ 3.25231549e-02 -1.25767975e-03 9.99470191e-01 -1.20919949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11719347 meters 0.07195691459820648 Centerline is valid? [True, True] Translation: X:112.05, Y:39.18, Z:-1.21 [[ 7.34719013e-01 -6.77947071e-01 -2.39945978e-02 1.12046205e+02] [ 6.77638911e-01 7.35109712e-01 -2.04748130e-02 3.91787225e+01] [ 3.15195014e-02 -1.21643876e-03 9.99502397e-01 -1.20834134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14719347 meters 0.07136635271896272 Centerline is valid? [True, True] Translation: X:112.07, Y:39.20, Z:-1.21 [[ 7.35309389e-01 -6.77290356e-01 -2.44515276e-02 1.12065632e+02] [ 6.76969579e-01 7.35714843e-01 -2.08772220e-02 3.91997448e+01] [ 3.21292929e-02 -1.20172296e-03 9.99482999e-01 -1.20668414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17719347 meters 0.0711389652057907 Centerline is valid? [True, True] Translation: X:112.09, Y:39.22, Z:-1.21 [[ 7.36449921e-01 -6.76050200e-01 -2.44467031e-02 1.12086389e+02] [ 6.75728468e-01 7.36854688e-01 -2.08855483e-02 3.92199909e+01] [ 3.21333469e-02 -1.13817285e-03 9.99482943e-01 -1.20752069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20719346999999 meters 0.07067461277031253 Centerline is valid? [True, True] Translation: X:112.11, Y:39.24, Z:-1.21 [[ 7.38598756e-01 -6.73646228e-01 -2.59352714e-02 1.12107433e+02] [ 6.73282545e-01 7.39053152e-01 -2.21596990e-02 3.92385240e+01] [ 3.40953417e-02 -1.09463938e-03 9.99417985e-01 -1.21117846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23719347 meters 0.07044842965467739 Centerline is valid? [True, True] Translation: X:112.13, Y:39.26, Z:-1.21 [[ 7.39402433e-01 -6.72776275e-01 -2.56149566e-02 1.12128177e+02] [ 6.72420847e-01 7.39845259e-01 -2.18905761e-02 3.92575890e+01] [ 3.36785644e-02 -1.03808562e-03 9.99432177e-01 -1.21253174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26719347 meters 0.06970530873656786 Centerline is valid? [True, True] Translation: X:112.15, Y:39.28, Z:-1.21 [[ 7.40855416e-01 -6.71238298e-01 -2.39248876e-02 1.12148233e+02] [ 6.70927029e-01 7.41241086e-01 -2.04590890e-02 3.92791093e+01] [ 3.14670337e-02 -8.94626922e-04 9.99504390e-01 -1.21206115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29719347 meters 0.0664343786987592 Centerline is valid? [True, True] Translation: X:112.16, Y:39.31, Z:-1.20 [[ 7.45939120e-01 -6.65698034e-01 -2.05172413e-02 1.12160152e+02] [ 6.65466717e-01 7.46221024e-01 -1.75565321e-02 3.93095450e+01] [ 2.69977457e-02 -5.57437103e-04 9.99635339e-01 -1.20288311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32719347 meters 0.06552627040541277 Centerline is valid? [True, True] Translation: X:112.18, Y:39.33, Z:-1.20 [[ 7.49369875e-01 -6.61896328e-01 -1.83858806e-02 1.12178119e+02] [ 6.61709413e-01 7.49595297e-01 -1.57335234e-02 3.93326498e+01] [ 2.41959310e-02 -3.75881759e-04 9.99707165e-01 -1.20112295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35719347 meters 0.0650277594174733 Centerline is valid? [True, True] Translation: X:112.20, Y:39.35, Z:-1.20 [[ 7.53068346e-01 -6.57700437e-01 -1.78382279e-02 1.12195963e+02] [ 6.57523222e-01 7.53279551e-01 -1.52685843e-02 3.93547694e+01] [ 2.34793269e-02 -2.30761565e-04 9.99724296e-01 -1.20209013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38719347 meters 0.06474614547907824 Centerline is valid? [True, True] Translation: X:112.21, Y:39.38, Z:-1.20 [[ 7.55954538e-01 -6.54389570e-01 -1.75221732e-02 1.12214784e+02] [ 6.54217420e-01 7.56157574e-01 -1.50096880e-02 3.93769835e+01] [ 2.30717072e-02 -1.16669181e-04 9.99733806e-01 -1.20219436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41719347 meters 0.06461597920312406 Centerline is valid? [True, True] Translation: X:112.23, Y:39.40, Z:-1.20 [[ 7.60740521e-01 -6.48838357e-01 -1.68120885e-02 1.12232252e+02] [ 6.48678307e-01 7.60926267e-01 -1.44107962e-02 3.94014570e+01] [ 2.21430371e-02 5.72395196e-05 9.99754811e-01 -1.20213189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44719347 meters 0.06503213511335401 Centerline is valid? [True, True] Translation: X:112.25, Y:39.42, Z:-1.20 [[ 7.63110134e-01 -6.46037590e-01 -1.72729814e-02 1.12251211e+02] [ 6.45867849e-01 7.63305582e-01 -1.48091581e-02 3.94217577e+01] [ 2.27518360e-02 1.44955294e-04 9.99741133e-01 -1.20465921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47719347 meters 0.06537967555176813 Centerline is valid? [True, True] Translation: X:112.27, Y:39.44, Z:-1.21 [[ 7.64769593e-01 -6.44040470e-01 -1.84212555e-02 1.12272724e+02] [ 6.43846545e-01 7.64991386e-01 -1.58052283e-02 3.94414978e+01] [ 2.42713085e-02 2.26896314e-04 9.99705383e-01 -1.20702842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50719347 meters 0.06581510452410202 Centerline is valid? [True, True] Translation: X:112.29, Y:39.46, Z:-1.21 [[ 7.65414952e-01 -6.43222707e-01 -2.01122304e-02 1.12294952e+02] [ 6.42991219e-01 7.65679093e-01 -1.72574280e-02 3.94580366e+01] [ 2.64998839e-02 2.77105834e-04 9.99648778e-01 -1.21069596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53719347 meters 0.06571638670262613 Centerline is valid? [True, True] Translation: X:112.32, Y:39.47, Z:-1.21 [[ 7.64113016e-01 -6.44747684e-01 -2.07779480e-02 1.12323309e+02] [ 6.44500808e-01 7.64395425e-01 -1.78421689e-02 3.94690526e+01] [ 2.73862654e-02 2.42029200e-04 9.99624897e-01 -1.21313452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56719347 meters 0.06548052847155848 Centerline is valid? [True, True] Translation: X:112.35, Y:39.48, Z:-1.21 [[ 7.62682663e-01 -6.46508637e-01 -1.84861361e-02 1.12348926e+02] [ 6.46313724e-01 7.62906650e-01 -1.58749590e-02 3.94831003e+01] [ 2.43664943e-02 1.59712490e-04 9.99703080e-01 -1.21334309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59719347 meters 0.06496073806822515 Centerline is valid? [True, True] Translation: X:112.38, Y:39.50, Z:-1.21 [[ 7.60852410e-01 -6.48708585e-01 -1.67565469e-02 1.12375666e+02] [ 6.48548717e-01 7.61036901e-01 -1.44012863e-02 3.94966035e+01] [ 2.20945886e-02 8.98163616e-05 9.99755881e-01 -1.21111810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62719347 meters 0.06475140778963968 Centerline is valid? [True, True] Translation: X:112.41, Y:39.50, Z:-1.21 [[ 7.55457463e-01 -6.55016966e-01 -1.53881497e-02 1.12410485e+02] [ 6.54883273e-01 7.55614166e-01 -1.32336996e-02 3.95005532e+01] [ 2.02958016e-02 -7.99447420e-05 9.99794016e-01 -1.21156031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65719347 meters 0.06499972865245147 Centerline is valid? [True, True] Translation: X:112.44, Y:39.51, Z:-1.21 [[ 7.52265082e-01 -6.58687177e-01 -1.51145342e-02 1.12437834e+02] [ 6.58558920e-01 7.52416887e-01 -1.29991314e-02 3.95108584e+01] [ 1.99347920e-02 -1.75018696e-04 9.99801267e-01 -1.21222065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68719347 meters 0.0654872473080167 Centerline is valid? [True, True] Translation: X:112.46, Y:39.52, Z:-1.21 [[ 7.49424134e-01 -6.61910521e-01 -1.54249631e-02 1.12464434e+02] [ 6.61777563e-01 7.49582812e-01 -1.32689357e-02 3.95224952e+01] [ 2.03451353e-02 -2.63833836e-04 9.99792982e-01 -1.21288096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71719347 meters 0.06548534161313839 Centerline is valid? [True, True] Translation: X:112.49, Y:39.54, Z:-1.21 [[ 7.47289141e-01 -6.64308791e-01 -1.58987428e-02 1.12489621e+02] [ 6.64167849e-01 7.47458173e-01 -1.36875033e-02 3.95373325e+01] [ 2.09763741e-02 -3.30911228e-04 9.99779917e-01 -1.21070936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74719347 meters 0.06663499194939158 Centerline is valid? [True, True] Translation: X:112.52, Y:39.54, Z:-1.21 [[ 7.43983311e-01 -6.67965311e-01 -1.76401885e-02 1.12519747e+02] [ 6.67792805e-01 7.44192255e-01 -1.51874030e-02 3.95446720e+01] [ 2.32723500e-02 -4.80816606e-04 9.99729047e-01 -1.21404621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77719347 meters 0.06726284290796074 Centerline is valid? [True, True] Translation: X:112.54, Y:39.56, Z:-1.22 [[ 7.42810005e-01 -6.69248532e-01 -1.84309059e-02 1.12544643e+02] [ 6.69060469e-01 7.43038431e-01 -1.58738366e-02 3.95583051e+01] [ 2.43184132e-02 -5.40145913e-04 9.99704118e-01 -1.21589592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80719347 meters 0.06738318157713893 Centerline is valid? [True, True] Translation: X:112.57, Y:39.57, Z:-1.22 [[ 7.41486682e-01 -6.70673805e-01 -1.98531637e-02 1.12568136e+02] [ 6.70455985e-01 7.41752150e-01 -1.71032397e-02 3.95743486e+01] [ 2.61968217e-02 -6.28847953e-04 9.99656607e-01 -1.21507922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83719347 meters 0.06868749270713759 Centerline is valid? [True, True] Translation: X:112.59, Y:39.59, Z:-1.22 [[ 7.39080747e-01 -6.73231842e-01 -2.27714093e-02 1.12594714e+02] [ 6.72946250e-01 7.39431008e-01 -1.96247014e-02 3.95858491e+01] [ 3.00498600e-02 -8.19695578e-04 9.99548065e-01 -1.21777036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86719347 meters 0.06960415184878624 Centerline is valid? [True, True] Translation: X:112.62, Y:39.60, Z:-1.22 [[ 7.37391707e-01 -6.75007271e-01 -2.48727637e-02 1.12619327e+02] [ 6.74667098e-01 7.37810445e-01 -2.14488496e-02 3.96019098e+01] [ 3.28295143e-02 -9.64631499e-04 9.99460501e-01 -1.21962211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89719347 meters 0.06986026123737014 Centerline is valid? [True, True] Translation: X:112.64, Y:39.62, Z:-1.22 [[ 7.35246397e-01 -6.77277480e-01 -2.66073478e-02 1.12642394e+02] [ 6.76889175e-01 7.35726810e-01 -2.29588048e-02 3.96192579e+01] [ 3.51252206e-02 -1.12984722e-03 9.99382280e-01 -1.21857178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92719347 meters 0.0730698362061007 Centerline is valid? [True, True] Translation: X:112.67, Y:39.63, Z:-1.22 [[ 7.31870299e-01 -6.80848018e-01 -2.84928490e-02 1.12669764e+02] [ 6.80405267e-01 7.32423404e-01 -2.45892102e-02 3.96296230e+01] [ 3.76103445e-02 -1.39057190e-03 9.99291513e-01 -1.22315549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95719346999999 meters 0.0728504056731304 Centerline is valid? [True, True] Translation: X:112.69, Y:39.65, Z:-1.22 [[ 7.30046540e-01 -6.82747932e-01 -2.97877618e-02 1.12691166e+02] [ 6.82264926e-01 7.30652365e-01 -2.57233846e-02 3.96482079e+01] [ 3.93270863e-02 -1.54387720e-03 9.99225198e-01 -1.22097450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98719347 meters 0.0738280805622304 Centerline is valid? [True, True] Translation: X:112.71, Y:39.67, Z:-1.22 [[ 7.28069247e-01 -6.84840686e-01 -3.01397933e-02 1.12714465e+02] [ 6.84347371e-01 7.28690923e-01 -2.60425421e-02 3.96659563e+01] [ 3.97975862e-02 -1.66531425e-03 9.99206375e-01 -1.22089100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01719347 meters 0.07467769501141755 Centerline is valid? [True, True] Translation: X:112.74, Y:39.68, Z:-1.22 [[ 7.26870537e-01 -6.86067086e-01 -3.11636774e-02 1.12735909e+02] [ 6.85540448e-01 7.27536092e-01 -2.69356353e-02 3.96833716e+01] [ 4.11523529e-02 -1.78524166e-03 9.99151288e-01 -1.22151519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04719347 meters 0.07325154839683073 Centerline is valid? [True, True] Translation: X:112.75, Y:39.71, Z:-1.22 [[ 7.25445833e-01 -6.87475543e-01 -3.32523740e-02 1.12754064e+02] [ 6.86876998e-01 7.26204821e-01 -2.87497565e-02 3.97063078e+01] [ 4.39127887e-02 -1.98389978e-03 9.99033398e-01 -1.21687045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07719347 meters 0.07638962716680574 Centerline is valid? [True, True] Translation: X:112.78, Y:39.72, Z:-1.22 [[ 7.25081945e-01 -6.87882145e-01 -3.27769212e-02 1.12777910e+02] [ 6.87300550e-01 7.25819720e-01 -2.83493992e-02 3.97206779e+01] [ 4.32911813e-02 -1.97195847e-03 9.99060551e-01 -1.22232613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10719347 meters 0.07629485806630193 Centerline is valid? [True, True] Translation: X:112.80, Y:39.74, Z:-1.22 [[ 7.25333922e-01 -6.87614770e-01 -3.28120446e-02 1.12798531e+02] [ 6.87031442e-01 7.26073073e-01 -2.83846690e-02 3.97392403e+01] [ 4.33416597e-02 -1.95454303e-03 9.99058397e-01 -1.22192151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13719347 meters 0.07291523229525962 Centerline is valid? [True, True] Translation: X:112.82, Y:39.76, Z:-1.21 [[ 7.26015493e-01 -6.86953342e-01 -3.15691121e-02 1.12816329e+02] [ 6.86411976e-01 7.26699224e-01 -2.73283252e-02 3.97630040e+01] [ 4.17145336e-02 -1.82862909e-03 9.99127897e-01 -1.21445248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16719347 meters 0.07199959953677802 Centerline is valid? [True, True] Translation: X:112.83, Y:39.79, Z:-1.21 [[ 7.27669493e-01 -6.85301245e-01 -2.93140260e-02 1.12833738e+02] [ 6.84832723e-01 7.28257947e-01 -2.53870771e-02 3.97857248e+01] [ 3.87459680e-02 -1.60180268e-03 9.99247809e-01 -1.21331478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19719347 meters 0.07158826042684674 Centerline is valid? [True, True] Translation: X:112.85, Y:39.81, Z:-1.21 [[ 7.28480802e-01 -6.84466179e-01 -2.86665411e-02 1.12852551e+02] [ 6.84016902e-01 7.29043047e-01 -2.48417603e-02 3.98072176e+01] [ 3.79024873e-02 -1.51165316e-03 9.99280299e-01 -1.21165045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22719347 meters 0.06851812266925195 Centerline is valid? [True, True] Translation: X:112.87, Y:39.83, Z:-1.20 [[ 7.29315701e-01 -6.83490706e-01 -3.06441302e-02 1.12868257e+02] [ 6.82975735e-01 7.29957570e-01 -2.65723755e-02 3.98336771e+01] [ 4.05308865e-02 -1.54954671e-03 9.99177084e-01 -1.20475629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25719347 meters 0.06751816100230416 Centerline is valid? [True, True] Translation: X:112.89, Y:39.86, Z:-1.20 [[ 7.30854712e-01 -6.81812585e-01 -3.13526412e-02 1.12885726e+02] [ 6.81271261e-01 7.31525403e-01 -2.72039175e-02 3.98580890e+01] [ 4.14832268e-02 -1.47754213e-03 9.99138108e-01 -1.20366923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28719347 meters 0.06738770239171749 Centerline is valid? [True, True] Translation: X:112.90, Y:39.88, Z:-1.20 [[ 7.31581592e-01 -6.80998737e-01 -3.20794932e-02 1.12904189e+02] [ 6.80430936e-01 7.32283135e-01 -2.78415454e-02 3.98780021e+01] [ 4.24513291e-02 -1.45951739e-03 9.99097470e-01 -1.20474805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31719347 meters 0.06699455914459662 Centerline is valid? [True, True] Translation: X:112.92, Y:39.90, Z:-1.20 [[ 7.31483291e-01 -6.81086387e-01 -3.24581069e-02 1.12923687e+02] [ 6.80504347e-01 7.32201598e-01 -2.81896024e-02 3.98989890e+01] [ 4.29654322e-02 -1.46765973e-03 9.99075481e-01 -1.20437077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34719347 meters 0.06876301101891166 Centerline is valid? [True, True] Translation: X:112.95, Y:39.92, Z:-1.21 [[ 7.30414573e-01 -6.82258979e-01 -3.18941576e-02 1.12945763e+02] [ 6.81697940e-01 7.31109031e-01 -2.77038644e-02 3.99162634e+01] [ 4.22193169e-02 -1.50687524e-03 9.99107231e-01 -1.20859682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37719347 meters 0.06934717266913451 Centerline is valid? [True, True] Translation: X:112.96, Y:39.94, Z:-1.21 [[ 7.28065393e-01 -6.84716888e-01 -3.29175818e-02 1.12963651e+02] [ 6.84120888e-01 7.28807200e-01 -2.86125289e-02 3.99395477e+01] [ 4.35820524e-02 -1.68781322e-03 9.99048425e-01 -1.20813819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40719347 meters 0.06923903539559996 Centerline is valid? [True, True] Translation: X:112.98, Y:39.96, Z:-1.21 [[ 7.27825380e-01 -6.84955465e-01 -3.32599876e-02 1.12982857e+02] [ 6.84346477e-01 7.28582937e-01 -2.89275336e-02 3.99616406e+01] [ 4.40467317e-02 -1.70716222e-03 9.99028013e-01 -1.20757429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43719347 meters 0.06910555721678337 Centerline is valid? [True, True] Translation: X:113.00, Y:39.98, Z:-1.21 [[ 7.26731835e-01 -6.86098772e-01 -3.36052928e-02 1.13002465e+02] [ 6.85477483e-01 7.27506220e-01 -2.92458521e-02 3.99826783e+01] [ 4.45136027e-02 -1.78177980e-03 9.99007189e-01 -1.20663090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46719347 meters 0.06926673739822217 Centerline is valid? [True, True] Translation: X:113.02, Y:40.00, Z:-1.21 [[ 7.25087385e-01 -6.87791535e-01 -3.45121378e-02 1.13021598e+02] [ 6.87137364e-01 7.25905712e-01 -3.00522947e-02 4.00049641e+01] [ 4.57222719e-02 -1.92403963e-03 9.98952337e-01 -1.20734795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49719347 meters 0.07018611817691307 Centerline is valid? [True, True] Translation: X:113.04, Y:40.03, Z:-1.21 [[ 7.24327654e-01 -6.88540210e-01 -3.55222436e-02 1.13041393e+02] [ 6.87847688e-01 7.25195343e-01 -3.09398168e-02 4.00251293e+01] [ 4.70638736e-02 -2.02332820e-03 9.98889833e-01 -1.20967881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52719347 meters 0.06999791849407648 Centerline is valid? [True, True] Translation: X:113.06, Y:40.05, Z:-1.21 [[ 7.23982369e-01 -6.88852964e-01 -3.64845639e-02 1.13059547e+02] [ 6.88121757e-01 7.24898098e-01 -3.17992859e-02 4.00482893e+01] [ 4.83526233e-02 -2.08369988e-03 9.98828154e-01 -1.21018376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55719347 meters 0.06999791849407648 Centerline is valid? [True, True] Translation: X:113.08, Y:40.07, Z:-1.21 [[ 7.23741247e-01 -6.89106896e-01 -3.64731819e-02 1.13080148e+02] [ 6.88375355e-01 7.24656708e-01 -3.18123409e-02 4.00665772e+01] [ 4.83526395e-02 -2.08333628e-03 9.98828154e-01 -1.21041111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58719347 meters 0.07101737066709009 Centerline is valid? [True, True] Translation: X:113.10, Y:40.09, Z:-1.21 [[ 7.22584759e-01 -6.90270456e-01 -3.73893555e-02 1.13098705e+02] [ 6.89502823e-01 7.23548074e-01 -3.26196649e-02 4.00877059e+01] [ 4.95693871e-02 -2.20959345e-03 9.98768238e-01 -1.21212444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61719347 meters 0.07170674808544242 Centerline is valid? [True, True] Translation: X:113.11, Y:40.11, Z:-1.21 [[ 7.23274682e-01 -6.89592571e-01 -3.65488852e-02 1.13114447e+02] [ 6.88857209e-01 7.24194503e-01 -3.19071612e-02 4.01124571e+01] [ 4.84714431e-02 -2.09932124e-03 9.98822363e-01 -1.21341366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64719347 meters 0.0700337769824858 Centerline is valid? [True, True] Translation: X:113.13, Y:40.14, Z:-1.21 [[ 7.24443719e-01 -6.88385827e-01 -3.61421020e-02 1.13130711e+02] [ 6.87664350e-01 7.25342005e-01 -3.15708291e-02 4.01373636e+01] [ 4.79482960e-02 -1.98234631e-03 9.98847852e-01 -1.21167948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67719347 meters 0.0684378995649388 Centerline is valid? [True, True] Translation: X:113.15, Y:40.16, Z:-1.21 [[ 7.24828998e-01 -6.88033801e-01 -3.51057347e-02 1.13147940e+02] [ 6.87351931e-01 7.25676177e-01 -3.06823806e-02 4.01614330e+01] [ 4.65859103e-02 -1.89051535e-03 9.98912498e-01 -1.20778646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70719347 meters 0.06898498858217365 Centerline is valid? [True, True] Translation: X:113.17, Y:40.18, Z:-1.21 [[ 7.25337898e-01 -6.87583178e-01 -3.33812305e-02 1.13165205e+02] [ 6.86966005e-01 7.26103472e-01 -2.91797105e-02 4.01841140e+01] [ 4.43017054e-02 -1.76662068e-03 9.99016635e-01 -1.20936758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73719347 meters 0.06801970062186351 Centerline is valid? [True, True] Translation: X:113.18, Y:40.21, Z:-1.21 [[ 7.25108161e-01 -6.87830212e-01 -3.32829331e-02 1.13182202e+02] [ 6.87215922e-01 7.25869480e-01 -2.91165717e-02 4.02072986e+01] [ 4.41863230e-02 -1.75989773e-03 9.99021757e-01 -1.20728314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76719347 meters 0.0678229372607116 Centerline is valid? [True, True] Translation: X:113.20, Y:40.23, Z:-1.21 [[ 7.24866272e-01 -6.88092125e-01 -3.31378168e-02 1.13200605e+02] [ 6.87482573e-01 7.25621218e-01 -2.90096338e-02 4.02290972e+01] [ 4.40068036e-02 -1.75356645e-03 9.99029692e-01 -1.20671818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79719347 meters 0.06780821568287745 Centerline is valid? [True, True] Translation: X:113.22, Y:40.25, Z:-1.21 [[ 7.24806626e-01 -6.88178056e-01 -3.26545476e-02 1.13217573e+02] [ 6.87585527e-01 7.25539800e-01 -2.86031648e-02 4.02537564e+01] [ 4.33762443e-02 -1.72103092e-03 9.99057325e-01 -1.20615886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82719347 meters 0.06813181272447842 Centerline is valid? [True, True] Translation: X:113.24, Y:40.27, Z:-1.21 [[ 7.24875609e-01 -6.88064982e-01 -3.34952549e-02 1.13236712e+02] [ 6.87441239e-01 7.25646952e-01 -2.93435572e-02 4.02743294e+01] [ 4.44960038e-02 -1.75559067e-03 9.99008020e-01 -1.20752367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85719347 meters 0.06830283217428361 Centerline is valid? [True, True] Translation: X:113.26, Y:40.29, Z:-1.21 [[ 7.25107178e-01 -6.87765426e-01 -3.46164725e-02 1.13255344e+02] [ 6.87098403e-01 7.25930797e-01 -3.03358283e-02 4.02946797e+01] [ 4.59930973e-02 -1.78819610e-03 9.98940157e-01 -1.21006520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88719347 meters 0.06755841735277815 Centerline is valid? [True, True] Translation: X:113.27, Y:40.32, Z:-1.21 [[ 7.25488274e-01 -6.87237574e-01 -3.70308193e-02 1.13273821e+02] [ 6.86472575e-01 7.26430344e-01 -3.24708888e-02 4.03177339e+01] [ 4.92155257e-02 -1.86339278e-03 9.98786444e-01 -1.21112150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91719347 meters 0.06915186630046548 Centerline is valid? [True, True] Translation: X:113.29, Y:40.34, Z:-1.22 [[ 7.25859195e-01 -6.86722415e-01 -3.92524315e-02 1.13294235e+02] [ 6.85861881e-01 7.26917173e-01 -3.44224290e-02 4.03373224e+01] [ 5.21719201e-02 -1.93590986e-03 9.98636242e-01 -1.21749102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94719347 meters 0.06974065814789798 Centerline is valid? [True, True] Translation: X:113.31, Y:40.36, Z:-1.22 [[ 7.26224072e-01 -6.86277565e-01 -4.02703648e-02 1.13311324e+02] [ 6.85370486e-01 7.27337144e-01 -3.53267010e-02 4.03603286e+01] [ 5.35340544e-02 -1.94501889e-03 9.98564130e-01 -1.22171869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97719347 meters 0.0684370417450537 Centerline is valid? [True, True] Translation: X:113.33, Y:40.38, Z:-1.22 [[ 7.26355375e-01 -6.86179306e-01 -3.95705541e-02 1.13329522e+02] [ 6.85302198e-01 7.27429993e-01 -3.47347363e-02 4.03838076e+01] [ 5.26190651e-02 -1.88802533e-03 9.98612873e-01 -1.21844614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00719347 meters 0.06656519146788692 Centerline is valid? [True, True] Translation: X:113.35, Y:40.41, Z:-1.21 [[ 7.25950445e-01 -6.86674939e-01 -3.83859294e-02 1.13347056e+02] [ 6.85849209e-01 7.26962243e-01 -3.37158749e-02 4.04076503e+01] [ 5.10569676e-02 -1.85090493e-03 9.98694027e-01 -1.21145152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03719347 meters 0.06642883405240403 Centerline is valid? [True, True] Translation: X:113.36, Y:40.43, Z:-1.21 [[ 7.27236146e-01 -6.85485254e-01 -3.51788904e-02 1.13364690e+02] [ 6.84790228e-01 7.28084716e-01 -3.09029282e-02 4.04302724e+01] [ 4.67967141e-02 -1.61643395e-03 9.98903126e-01 -1.21047302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06719347 meters 0.06643763492657973 Centerline is valid? [True, True] Translation: X:113.38, Y:40.45, Z:-1.21 [[ 7.28272716e-01 -6.84385943e-01 -3.51387414e-02 1.13383723e+02] [ 6.83690917e-01 7.29118311e-01 -3.08742331e-02 4.04509888e+01] [ 4.67501909e-02 -1.53917673e-03 9.98905426e-01 -1.21243542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09719347 meters 0.06568049439899153 Centerline is valid? [True, True] Translation: X:113.40, Y:40.47, Z:-1.21 [[ 7.28915515e-01 -6.83745696e-01 -3.42636200e-02 1.13402690e+02] [ 6.83083353e-01 7.29718937e-01 -3.01231692e-02 4.04729834e+01] [ 4.55993996e-02 -1.44766307e-03 9.98958757e-01 -1.21100764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12719347 meters 0.06617667248599296 Centerline is valid? [True, True] Translation: X:113.42, Y:40.50, Z:-1.21 [[ 7.29544941e-01 -6.83074645e-01 -3.42521257e-02 1.13420080e+02] [ 6.82411194e-01 7.30347240e-01 -3.01308893e-02 4.04960231e+01] [ 4.55975920e-02 -1.39219619e-03 9.98958919e-01 -1.21397259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15719347 meters 0.06509903253336277 Centerline is valid? [True, True] Translation: X:113.44, Y:40.52, Z:-1.21 [[ 7.29553177e-01 -6.83103444e-01 -3.34939765e-02 1.13437967e+02] [ 6.82468300e-01 7.30320383e-01 -2.94814832e-02 4.05191789e+01] [ 4.46002365e-02 -1.35026741e-03 9.99004002e-01 -1.21044696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18719347 meters 0.06405100634247195 Centerline is valid? [True, True] Translation: X:113.46, Y:40.54, Z:-1.21 [[ 7.30019256e-01 -6.82673893e-01 -3.20662105e-02 1.13456839e+02] [ 6.82091234e-01 7.30722078e-01 -2.82275359e-02 4.05415911e+01] [ 4.27016898e-02 -1.26543628e-03 9.99087065e-01 -1.20703047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21719347 meters 0.06764692852491083 Centerline is valid? [True, True] Translation: X:113.48, Y:40.55, Z:-1.22 [[ 7.30334537e-01 -6.82412995e-01 -3.03968618e-02 1.13482071e+02] [ 6.81888976e-01 7.30965875e-01 -2.67640239e-02 4.05549084e+01] [ 4.04831864e-02 -1.18059397e-03 9.99179522e-01 -1.21971813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24719347 meters 0.06327610988606233 Centerline is valid? [True, True] Translation: X:113.50, Y:40.58, Z:-1.21 [[ 7.31983339e-01 -6.80798278e-01 -2.67225726e-02 1.13497201e+02] [ 6.80392049e-01 7.32470336e-01 -2.35343654e-02 4.05819515e+01] [ 3.55956471e-02 -9.55062608e-04 9.99365818e-01 -1.20721215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27719347 meters 0.0629497927360216 Centerline is valid? [True, True] Translation: X:113.52, Y:40.60, Z:-1.21 [[ 7.32464568e-01 -6.80314783e-01 -2.58350917e-02 1.13517492e+02] [ 6.79934541e-01 7.32919501e-01 -2.27601811e-02 4.06031703e+01] [ 3.44191302e-02 -8.95145024e-04 9.99407085e-01 -1.20573573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30719347 meters 0.06298323185963353 Centerline is valid? [True, True] Translation: X:113.54, Y:40.62, Z:-1.21 [[ 7.32720937e-01 -6.80063683e-01 -2.51677603e-02 1.13537653e+02] [ 6.79702193e-01 7.33152552e-01 -2.21870181e-02 4.06239994e+01] [ 3.35403930e-02 -8.49689158e-04 9.99437002e-01 -1.20555496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33719347 meters 0.062276555813219905 Centerline is valid? [True, True] Translation: X:113.56, Y:40.64, Z:-1.20 [[ 7.33510270e-01 -6.79279733e-01 -2.32750331e-02 1.13557760e+02] [ 6.78970140e-01 7.33879063e-01 -2.05199690e-02 4.06443519e+01] [ 3.10198586e-02 -7.51444489e-04 9.99518486e-01 -1.20274526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36719347 meters 0.06278613558988294 Centerline is valid? [True, True] Translation: X:113.58, Y:40.66, Z:-1.21 [[ 7.33529124e-01 -6.79251340e-01 -2.35083286e-02 1.13580264e+02] [ 6.78935347e-01 7.33905340e-01 -2.07303173e-02 4.06610680e+01] [ 3.13339837e-02 -7.54343702e-04 9.99508686e-01 -1.20587801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39719347 meters 0.06290031252107518 Centerline is valid? [True, True] Translation: X:113.60, Y:40.68, Z:-1.21 [[ 7.32501490e-01 -6.80370525e-01 -2.31844021e-02 1.13603218e+02] [ 6.80063297e-01 7.32867887e-01 -2.04590312e-02 4.06779109e+01] [ 3.09108256e-02 -7.80590140e-04 9.99521841e-01 -1.20629367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42719347 meters 0.06262181645688134 Centerline is valid? [True, True] Translation: X:113.63, Y:40.70, Z:-1.20 [[ 7.31395081e-01 -6.81612864e-01 -2.15670881e-02 1.13626368e+02] [ 6.81347206e-01 7.31712592e-01 -1.90438391e-02 4.06953850e+01] [ 2.87614356e-02 -7.66104958e-04 9.99586011e-01 -1.20401283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45719347 meters 0.06461672705070097 Centerline is valid? [True, True] Translation: X:113.65, Y:40.71, Z:-1.21 [[ 7.27400268e-01 -6.85851732e-01 -2.22766986e-02 1.13652373e+02] [ 6.85570222e-01 7.27740665e-01 -1.96721917e-02 4.07094433e+01] [ 2.97038662e-02 -9.62683683e-04 9.99558279e-01 -1.20765232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48719347 meters 0.065208070378893 Centerline is valid? [True, True] Translation: X:113.68, Y:40.73, Z:-1.21 [[ 7.25135026e-01 -6.88227140e-01 -2.28603825e-02 1.13675456e+02] [ 6.87931790e-01 7.25494469e-01 -2.01897961e-02 4.07273516e+01] [ 3.04802467e-02 -1.08605552e-03 9.99534779e-01 -1.20772815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51719347 meters 0.06629563447952813 Centerline is valid? [True, True] Translation: X:113.70, Y:40.74, Z:-1.21 [[ 7.23419198e-01 -6.90014671e-01 -2.33327577e-02 1.13698367e+02] [ 6.89707665e-01 7.23794420e-01 -2.06149026e-02 4.07428748e+01] [ 3.11127051e-02 -1.17956551e-03 9.99515187e-01 -1.20966785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54719347 meters 0.0676401743101478 Centerline is valid? [True, True] Translation: X:113.72, Y:40.76, Z:-1.21 [[ 7.22385234e-01 -6.91081802e-01 -2.37805725e-02 1.13721891e+02] [ 6.90763317e-01 7.22775478e-01 -2.10154329e-02 4.07576015e+01] [ 3.17113979e-02 -1.24550873e-03 9.99496291e-01 -1.21274129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57719347 meters 0.06769557938227912 Centerline is valid? [True, True] Translation: X:113.74, Y:40.78, Z:-1.21 [[ 7.21599453e-01 -6.91914879e-01 -2.34100309e-02 1.13743129e+02] [ 6.91606242e-01 7.21978000e-01 -2.07020158e-02 4.07765828e+01] [ 3.12255601e-02 -1.25196023e-03 9.99511579e-01 -1.21396910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60719347 meters 0.0663560459086069 Centerline is valid? [True, True] Translation: X:113.76, Y:40.80, Z:-1.21 [[ 7.22154582e-01 -6.91275529e-01 -2.51177814e-02 1.13761111e+02] [ 6.90919364e-01 7.22590093e-01 -2.22258955e-02 4.07992711e+01] [ 3.35140776e-02 -1.30382927e-03 9.99437395e-01 -1.21276332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63719347 meters 0.06686056303696924 Centerline is valid? [True, True] Translation: X:113.78, Y:40.82, Z:-1.22 [[ 7.23044475e-01 -6.90281868e-01 -2.67886096e-02 1.13780788e+02] [ 6.89875835e-01 7.23539325e-01 -2.37102829e-02 4.08184977e+01] [ 3.57493908e-02 -1.33722538e-03 9.99359892e-01 -1.21784380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66719347 meters 0.06682314398149881 Centerline is valid? [True, True] Translation: X:113.80, Y:40.84, Z:-1.22 [[ 7.23792606e-01 -6.89527920e-01 -2.59905793e-02 1.13798749e+02] [ 6.89145089e-01 7.24258009e-01 -2.30083112e-02 4.08401826e+01] [ 3.46887582e-02 -1.25803459e-03 9.99397372e-01 -1.21768155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69719347 meters 0.06683788468877046 Centerline is valid? [True, True] Translation: X:113.82, Y:40.86, Z:-1.22 [[ 7.23367212e-01 -6.90036040e-01 -2.42927780e-02 1.13819253e+02] [ 6.89701406e-01 7.23774034e-01 -2.15201961e-02 4.08600239e+01] [ 3.24321928e-02 -1.18775887e-03 9.99473232e-01 -1.21680828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72719347 meters 0.0681824388668771 Centerline is valid? [True, True] Translation: X:113.84, Y:40.88, Z:-1.22 [[ 7.22375793e-01 -6.91190181e-01 -2.07206968e-02 1.13842479e+02] [ 6.90946989e-01 7.22672144e-01 -1.83638331e-02 4.08761917e+01] [ 2.76671715e-02 -1.05131459e-03 9.99616638e-01 -1.21657987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75719347 meters 0.0674074184753951 Centerline is valid? [True, True] Translation: X:113.86, Y:40.90, Z:-1.21 [[ 7.20572418e-01 -6.93113557e-01 -1.92090604e-02 1.13863097e+02] [ 6.92904960e-01 7.20827667e-01 -1.70349750e-02 4.08962017e+01] [ 2.56535943e-02 -1.03512005e-03 9.99670356e-01 -1.21220486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78719347 meters 0.06933491527334561 Centerline is valid? [True, True] Translation: X:113.89, Y:40.91, Z:-1.21 [[ 7.15683517e-01 -6.98296889e-01 -1.33625583e-02 1.13888914e+02] [ 6.98196709e-01 7.15807756e-01 -1.18580070e-02 4.09110298e+01] [ 1.78454323e-02 -8.43114097e-04 9.99840402e-01 -1.20807962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81719347 meters 0.06893534085507134 Centerline is valid? [True, True] Translation: X:113.91, Y:40.93, Z:-1.20 [[ 7.12705661e-01 -7.01366364e-01 -1.16561080e-02 1.13910110e+02] [ 7.01290556e-01 7.12800519e-01 -1.03429833e-02 4.09308490e+01] [ 1.55627004e-02 -8.02815739e-04 9.99878572e-01 -1.20466856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84719347 meters 0.07039260292575027 Centerline is valid? [True, True] Translation: X:113.93, Y:40.95, Z:-1.20 [[ 7.09546832e-01 -7.04573365e-01 -1.09391835e-02 1.13933426e+02] [ 7.04506937e-01 7.09630682e-01 -9.70933239e-03 4.09483080e+01] [ 1.46037172e-02 -8.17504592e-04 9.99893026e-01 -1.20442057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87719347 meters 0.07292300805017637 Centerline is valid? [True, True] Translation: X:113.96, Y:40.97, Z:-1.21 [[ 7.06470462e-01 -7.07648829e-01 -1.15161215e-02 1.13955050e+02] [ 7.07575571e-01 7.06563712e-01 -1.02241463e-02 4.09659994e+01] [ 1.53719788e-02 -9.25468873e-04 9.99881416e-01 -1.20540146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90719347 meters 0.07747549975177426 Centerline is valid? [True, True] Translation: X:113.98, Y:40.98, Z:-1.21 [[ 7.05985539e-01 -7.08142560e-01 -1.08873373e-02 1.13980104e+02] [ 7.08077115e-01 7.06068930e-01 -9.66776139e-03 4.09791223e+01] [ 1.45333639e-02 -8.83774640e-04 9.99893995e-01 -1.20976287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93719347 meters 0.0736022091348202 Centerline is valid? [True, True] Translation: X:114.00, Y:41.00, Z:-1.21 [[ 7.05852197e-01 -7.08281153e-01 -1.05111766e-02 1.13995904e+02] [ 7.08220061e-01 7.05929944e-01 -9.34131751e-03 4.10047860e+01] [ 1.40364334e-02 -8.50636629e-04 9.99901123e-01 -1.20703546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96719347 meters 0.07517100410809643 Centerline is valid? [True, True] Translation: X:114.02, Y:41.02, Z:-1.21 [[ 7.05320442e-01 -7.08806996e-01 -1.07571758e-02 1.14017936e+02] [ 7.08743074e-01 7.05401918e-01 -9.55976299e-03 4.10224052e+01] [ 1.43641593e-02 -8.81377559e-04 9.99896442e-01 -1.20900322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99719347 meters 0.07477444869754789 Centerline is valid? [True, True] Translation: X:114.03, Y:41.05, Z:-1.21 [[ 7.04312473e-01 -7.09808802e-01 -1.07426833e-02 1.14034917e+02] [ 7.09745058e-01 7.04393827e-01 -9.55452269e-03 4.10461769e+01] [ 1.43489641e-02 -8.95196882e-04 9.99896648e-01 -1.21043777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02719347 meters 0.07481605070882097 Centerline is valid? [True, True] Translation: X:114.05, Y:41.07, Z:-1.21 [[ 7.03027166e-01 -7.11089388e-01 -1.02316225e-02 1.14053879e+02] [ 7.11031624e-01 7.03101073e-01 -9.10555387e-03 4.10681690e+01] [ 1.36687275e-02 -8.73555447e-04 9.99906197e-01 -1.21038848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05719347 meters 0.07732383637526911 Centerline is valid? [True, True] Translation: X:114.08, Y:41.09, Z:-1.21 [[ 7.02532351e-01 -7.11573073e-01 -1.05857230e-02 1.14075342e+02] [ 7.11511299e-01 7.02611505e-01 -9.42044393e-03 4.10859041e+01] [ 1.41409850e-02 -9.13694899e-04 9.99899594e-01 -1.21270588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08719347 meters 0.07430491980112651 Centerline is valid? [True, True] Translation: X:114.09, Y:41.12, Z:-1.21 [[ 7.02783870e-01 -7.11320399e-01 -1.08683991e-02 1.14087492e+02] [ 7.11255138e-01 7.02867291e-01 -9.67986797e-03 4.11162088e+01] [ 1.45245298e-02 -9.27349617e-04 9.99894083e-01 -1.21146119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11719347 meters 0.0747749610495166 Centerline is valid? [True, True] Translation: X:114.11, Y:41.14, Z:-1.21 [[ 7.03843047e-01 -7.10250798e-01 -1.21970813e-02 1.14105644e+02] [ 7.10168447e-01 7.03947989e-01 -1.08630051e-02 4.11370220e+01] [ 1.63015689e-02 -1.01613173e-03 9.99866604e-01 -1.21369260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14719347 meters 0.07463981698506619 Centerline is valid? [True, True] Translation: X:114.12, Y:41.16, Z:-1.22 [[ 7.05946182e-01 -7.08136549e-01 -1.35135724e-02 1.14123465e+02] [ 7.08035033e-01 7.06074701e-01 -1.20378004e-02 4.11591759e+01] [ 1.80659980e-02 -1.07004348e-03 9.99836224e-01 -1.21709949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17719347 meters 0.06958762644009392 Centerline is valid? [True, True] Translation: X:114.13, Y:41.19, Z:-1.22 [[ 7.12859304e-01 -7.01140343e-01 -1.52915884e-02 1.14131495e+02] [ 7.01008553e-01 7.13022590e-01 -1.36306575e-02 4.11947154e+01] [ 2.04602519e-02 -1.00279327e-03 9.99790164e-01 -1.21966307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20719347 meters 0.0685312905564264 Centerline is valid? [True, True] Translation: X:114.15, Y:41.22, Z:-1.22 [[ 7.16028526e-01 -6.97919111e-01 -1.45624423e-02 1.14146556e+02] [ 6.97798903e-01 7.16176071e-01 -1.29817674e-02 4.12196975e+01] [ 1.94894962e-02 -8.66340445e-04 9.99809686e-01 -1.22087132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23719347 meters 0.06681385675010501 Centerline is valid? [True, True] Translation: X:114.16, Y:41.25, Z:-1.22 [[ 7.19724402e-01 -6.94135321e-01 -1.31506986e-02 1.14161805e+02] [ 6.94036613e-01 7.19844207e-01 -1.17259474e-02 4.12470174e+01] [ 1.76058485e-02 -6.87615810e-04 9.99844769e-01 -1.21960697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26719347 meters 0.06541252833925752 Centerline is valid? [True, True] Translation: X:114.18, Y:41.27, Z:-1.22 [[ 7.22780767e-01 -6.90970120e-01 -1.21760648e-02 1.14177400e+02] [ 6.90885011e-01 7.22883100e-01 -1.08593655e-02 4.12737411e+01] [ 1.63053686e-02 -5.63320124e-04 9.99866900e-01 -1.21901177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29719347 meters 0.06476360308648248 Centerline is valid? [True, True] Translation: X:114.19, Y:41.30, Z:-1.22 [[ 7.25386570e-01 -6.88274398e-01 -9.62688770e-03 1.14193207e+02] [ 6.88220943e-01 7.25450340e-01 -8.58708389e-03 4.12991271e+01] [ 1.28940989e-02 -3.96470408e-04 9.99916789e-01 -1.21763472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32719347 meters 0.064367208858053 Centerline is valid? [True, True] Translation: X:114.21, Y:41.32, Z:-1.22 [[ 7.25214449e-01 -6.88474704e-01 -8.15997169e-03 1.14213374e+02] [ 6.88436238e-01 7.25260278e-01 -7.28536100e-03 4.13201889e+01] [ 1.09338901e-02 -3.34171141e-04 9.99940167e-01 -1.21693808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35719347 meters 0.06409667620135794 Centerline is valid? [True, True] Translation: X:114.23, Y:41.34, Z:-1.22 [[ 7.24524283e-01 -6.89213888e-01 -6.98426209e-03 1.14233594e+02] [ 6.89185694e-01 7.24557886e-01 -6.24087436e-03 4.13400101e+01] [ 9.36179946e-03 -2.91788497e-04 9.99956135e-01 -1.21580041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38719347 meters 0.06528062834379182 Centerline is valid? [True, True] Translation: X:114.26, Y:41.36, Z:-1.22 [[ 7.23489740e-01 -6.90314299e-01 -5.36327803e-03 1.14256110e+02] [ 6.90297690e-01 7.23509581e-01 -4.79428600e-03 4.13556326e+01] [ 7.18994722e-03 -2.33641703e-04 9.99974125e-01 -1.21609819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41719347 meters 0.06434034751282147 Centerline is valid? [True, True] Translation: X:114.27, Y:41.38, Z:-1.22 [[ 7.23539943e-01 -6.90254659e-01 -6.20134088e-03 1.14273283e+02] [ 6.90232413e-01 7.23566469e-01 -5.54807097e-03 4.13776840e+01] [ 8.31666416e-03 -2.66115517e-04 9.99965381e-01 -1.21522628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44719347 meters 0.06523773886396735 Centerline is valid? [True, True] Translation: X:114.30, Y:41.40, Z:-1.22 [[ 7.24713490e-01 -6.89005515e-01 -7.85864765e-03 1.14295041e+02] [ 6.88969738e-01 7.24756027e-01 -7.02867378e-03 4.13953869e+01] [ 1.05383972e-02 -3.20595707e-04 9.99944418e-01 -1.21812156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47719347 meters 0.06523773886396735 Centerline is valid? [True, True] Translation: X:114.32, Y:41.41, Z:-1.22 [[ 7.24496802e-01 -6.89233399e-01 -7.85528489e-03 1.14315333e+02] [ 6.89197595e-01 7.24539315e-01 -7.03243286e-03 4.14138553e+01] [ 1.05384503e-02 -3.18868341e-04 9.99944418e-01 -1.21834814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50719347 meters 0.06406950347076851 Centerline is valid? [True, True] Translation: X:114.33, Y:41.44, Z:-1.22 [[ 7.25689234e-01 -6.87943309e-01 -1.04469501e-02 1.14332709e+02] [ 6.87879789e-01 7.25764319e-01 -9.35678088e-03 4.14380816e+01] [ 1.40189584e-02 -3.96130660e-04 9.99901651e-01 -1.21795522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53719347 meters 0.06379891239175824 Centerline is valid? [True, True] Translation: X:114.35, Y:41.46, Z:-1.22 [[ 7.31072852e-01 -6.82189016e-01 -1.22731941e-02 1.14352621e+02] [ 6.82100547e-01 7.31175789e-01 -1.09913428e-02 4.14580521e+01] [ 1.64720357e-02 -3.36080059e-04 9.99864270e-01 -1.22449057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56719347 meters 0.0626672784184064 Centerline is valid? [True, True] Translation: X:114.37, Y:41.48, Z:-1.22 [[ 7.33145013e-01 -6.79940426e-01 -1.33943002e-02 1.14371665e+02] [ 6.79834507e-01 7.33267294e-01 -1.20049029e-02 4.14803749e+01] [ 1.79842211e-02 -3.04572848e-04 9.99838224e-01 -1.22178559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59719347 meters 0.06230618912214511 Centerline is valid? [True, True] Translation: X:114.39, Y:41.50, Z:-1.22 [[ 7.34972411e-01 -6.77983193e-01 -1.24235506e-02 1.14393105e+02] [ 6.77891677e-01 7.35077367e-01 -1.11417526e-02 4.14997592e+01] [ 1.66861919e-02 -2.32940803e-04 9.99860749e-01 -1.22240026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62719347 meters 0.06194688699388247 Centerline is valid? [True, True] Translation: X:114.41, Y:41.52, Z:-1.22 [[ 7.35925425e-01 -6.76967793e-01 -1.13303384e-02 1.14413859e+02] [ 6.76891452e-01 7.36012617e-01 -1.01680499e-02 4.15198853e+01] [ 1.52227143e-02 -1.86482788e-04 9.99884110e-01 -1.21999806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65719347 meters 0.06188594878486141 Centerline is valid? [True, True] Translation: X:114.43, Y:41.54, Z:-1.22 [[ 7.36189051e-01 -6.76701362e-01 -1.00473127e-02 1.14435000e+02] [ 6.76641226e-01 7.36257593e-01 -9.02262990e-03 4.15396912e+01] [ 1.35030362e-02 -1.56064624e-04 9.99908818e-01 -1.21783022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68719347 meters 0.062256582759991255 Centerline is valid? [True, True] Translation: X:114.46, Y:41.56, Z:-1.22 [[ 7.36093390e-01 -6.76771491e-01 -1.21189729e-02 1.14456369e+02] [ 6.76684017e-01 7.36193122e-01 -1.08825168e-02 4.15581410e+01] [ 1.62868816e-02 -1.90166546e-04 9.99867342e-01 -1.21941501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71719347 meters 0.06253304017160653 Centerline is valid? [True, True] Translation: X:114.48, Y:41.58, Z:-1.22 [[ 7.37084825e-01 -6.75668980e-01 -1.33187932e-02 1.14477383e+02] [ 6.75563101e-01 7.37205125e-01 -1.19624162e-02 4.15762707e+01] [ 1.79013161e-02 -1.80369805e-04 9.99839742e-01 -1.22159527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74719347 meters 0.06269785422620305 Centerline is valid? [True, True] Translation: X:114.50, Y:41.60, Z:-1.22 [[ 7.37997608e-01 -6.74609080e-01 -1.61901297e-02 1.14498733e+02] [ 6.74452125e-01 7.38175153e-01 -1.45524646e-02 4.15956340e+01] [ 2.17683762e-02 -1.79783258e-04 9.99763025e-01 -1.22314958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77719347 meters 0.06312174943465175 Centerline is valid? [True, True] Translation: X:114.52, Y:41.61, Z:-1.23 [[ 7.40400427e-01 -6.71929822e-01 -1.78191325e-02 1.14521005e+02] [ 6.71738678e-01 7.40614814e-01 -1.60264068e-02 4.16138264e+01] [ 2.39657342e-02 -1.03842034e-04 9.99712775e-01 -1.22724566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80719347 meters 0.06324029822659609 Centerline is valid? [True, True] Translation: X:114.54, Y:41.63, Z:-1.23 [[ 7.41607267e-01 -6.70572441e-01 -1.87420119e-02 1.14542380e+02] [ 6.70360282e-01 7.41844053e-01 -1.68669261e-02 4.16334817e+01] [ 2.52141459e-02 -5.52654022e-05 9.99682071e-01 -1.22832259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83719347 meters 0.06351047748481453 Centerline is valid? [True, True] Translation: X:114.56, Y:41.65, Z:-1.23 [[ 7.42859208e-01 -6.69174244e-01 -1.91318541e-02 1.14563386e+02] [ 6.68952597e-01 7.43105532e-01 -1.72218260e-02 4.16523320e+01] [ 2.57413890e-02 -4.91143578e-06 9.99668636e-01 -1.22991698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86719347 meters 0.06355795705678786 Centerline is valid? [True, True] Translation: X:114.59, Y:41.67, Z:-1.23 [[ 7.44091774e-01 -6.67803527e-01 -1.91280370e-02 1.14585811e+02] [ 6.67581145e-01 7.44337589e-01 -1.72327677e-02 4.16692073e+01] [ 2.57458200e-02 5.32438221e-05 9.99668520e-01 -1.22864302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89719347 meters 0.06393360707751737 Centerline is valid? [True, True] Translation: X:114.61, Y:41.69, Z:-1.23 [[ 7.44951165e-01 -6.66864315e-01 -1.84322212e-02 1.14607733e+02] [ 6.66657446e-01 7.45179158e-01 -1.66093730e-02 4.16864061e+01] [ 2.48115053e-02 8.51942569e-05 9.99692144e-01 -1.23089329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92719347 meters 0.06384268020293568 Centerline is valid? [True, True] Translation: X:114.63, Y:41.70, Z:-1.23 [[ 7.45329256e-01 -6.66459085e-01 -1.77929598e-02 1.14630966e+02] [ 6.66265937e-01 7.45541600e-01 -1.60444056e-02 4.17029266e+01] [ 2.39583316e-02 1.03521860e-04 9.99712953e-01 -1.22967502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95719347 meters 0.06372475383786753 Centerline is valid? [True, True] Translation: X:114.66, Y:41.71, Z:-1.23 [[ 7.46073117e-01 -6.65628446e-01 -1.77108855e-02 1.14658236e+02] [ 6.65436552e-01 7.46283292e-01 -1.59825978e-02 4.17146571e+01] [ 2.38558096e-02 1.38715974e-04 9.99715400e-01 -1.22610958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98719347 meters 0.0637255825711985 Centerline is valid? [True, True] Translation: X:114.68, Y:41.73, Z:-1.23 [[ 7.46141644e-01 -6.65608267e-01 -1.54363894e-02 1.14682638e+02] [ 6.65462316e-01 7.46301292e-01 -1.39386882e-02 4.17299126e+01] [ 2.07979035e-02 1.27900265e-04 9.99783692e-01 -1.22599789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01719347 meters 0.06395074859718669 Centerline is valid? [True, True] Translation: X:114.71, Y:41.75, Z:-1.23 [[ 7.46749937e-01 -6.64915842e-01 -1.58573235e-02 1.14707310e+02] [ 6.64761482e-01 7.46918267e-01 -1.43273670e-02 4.17460006e+01] [ 2.13706179e-02 1.57622574e-04 9.99771610e-01 -1.22661920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04719347 meters 0.06403806786920621 Centerline is valid? [True, True] Translation: X:114.73, Y:41.76, Z:-1.23 [[ 7.46642114e-01 -6.65012367e-01 -1.68553962e-02 1.14732486e+02] [ 6.64837776e-01 7.46832325e-01 -1.52384449e-02 4.17610652e+01] [ 2.27219091e-02 1.71560598e-04 9.99741809e-01 -1.22678572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07719347 meters 0.06476310048956652 Centerline is valid? [True, True] Translation: X:114.76, Y:41.77, Z:-1.23 [[ 7.47935151e-01 -6.63517584e-01 -1.83691323e-02 1.14759554e+02] [ 6.63309717e-01 7.48160651e-01 -1.66090594e-02 4.17718360e+01] [ 2.47634649e-02 2.38075406e-04 9.99693310e-01 -1.22955583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10719347 meters 0.06496414014960637 Centerline is valid? [True, True] Translation: X:114.78, Y:41.79, Z:-1.23 [[ 7.48665319e-01 -6.62717494e-01 -1.74860983e-02 1.14783123e+02] [ 6.62528839e-01 7.48869453e-01 -1.58138855e-02 4.17866130e+01] [ 2.35749434e-02 2.54263212e-04 9.99722040e-01 -1.22954855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13719347 meters 0.06501979106830255 Centerline is valid? [True, True] Translation: X:114.81, Y:41.80, Z:-1.23 [[ 7.49849932e-01 -6.61353861e-01 -1.83343906e-02 1.14807455e+02] [ 6.61145734e-01 7.50073974e-01 -1.65937084e-02 4.18026216e+01] [ 2.47264623e-02 3.21086954e-04 9.99694203e-01 -1.22757969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16719347 meters 0.06643381367873968 Centerline is valid? [True, True] Translation: X:114.83, Y:41.82, Z:-1.23 [[ 7.54039358e-01 -6.56555693e-01 -1.89544047e-02 1.14831681e+02] [ 6.56331674e-01 7.54277387e-01 -1.71568562e-02 4.18177916e+01] [ 2.55613105e-02 4.96568624e-04 9.99673133e-01 -1.22915332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19719347 meters 0.06742803051838248 Centerline is valid? [True, True] Translation: X:114.85, Y:41.83, Z:-1.23 [[ 7.55735052e-01 -6.54575925e-01 -1.98718459e-02 1.14854896e+02] [ 6.54328904e-01 7.55996036e-01 -1.79910863e-02 4.18342283e+01] [ 2.67995687e-02 5.93771366e-04 9.99640651e-01 -1.23074334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22719347 meters 0.06790854192071531 Centerline is valid? [True, True] Translation: X:114.88, Y:41.85, Z:-1.23 [[ 7.56653520e-01 -6.53488874e-01 -2.06819309e-02 1.14879469e+02] [ 6.53220776e-01 7.56935833e-01 -1.87286580e-02 4.18492174e+01] [ 2.78938642e-02 6.61238070e-04 9.99610672e-01 -1.23200934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25719347 meters 0.06811305305281985 Centerline is valid? [True, True] Translation: X:114.91, Y:41.86, Z:-1.23 [[ 7.55624521e-01 -6.54656251e-01 -2.13723228e-02 1.14911614e+02] [ 6.54369938e-01 7.55926431e-01 -1.93704551e-02 4.18557234e+01] [ 2.88368932e-02 6.51385293e-04 9.99583918e-01 -1.23456421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28719347 meters 0.06798251154002688 Centerline is valid? [True, True] Translation: X:114.94, Y:41.87, Z:-1.24 [[ 7.54005583e-01 -6.56493454e-01 -2.21793881e-02 1.14938577e+02] [ 6.56185850e-01 7.54331478e-01 -2.01034958e-02 4.18679060e+01] [ 2.99284240e-02 6.04347448e-04 9.99551862e-01 -1.23712648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31719347 meters 0.06724756286781673 Centerline is valid? [True, True] Translation: X:114.97, Y:41.88, Z:-1.24 [[ 7.51119216e-01 -6.59808651e-01 -2.17363195e-02 1.14967078e+02] [ 6.59514203e-01 7.51433511e-01 -1.97153681e-02 4.18796270e+01] [ 2.93417693e-02 4.73180388e-04 9.99569326e-01 -1.23733469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34719347 meters 0.06640053506590138 Centerline is valid? [True, True] Translation: X:115.00, Y:41.88, Z:-1.24 [[ 7.44461893e-01 -6.67255639e-01 -2.33752577e-02 1.15004192e+02] [ 6.66918666e-01 7.44828755e-01 -2.12042080e-02 4.18806335e+01] [ 3.15591914e-02 1.96329097e-04 9.99501865e-01 -1.23979763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37719347 meters 0.06610279811872609 Centerline is valid? [True, True] Translation: X:115.03, Y:41.89, Z:-1.24 [[ 7.41080410e-01 -6.71023500e-01 -2.29627648e-02 1.15034692e+02] [ 6.70699666e-01 7.41436079e-01 -2.08446151e-02 4.18901434e+01] [ 3.10126489e-02 4.64172083e-05 9.99518991e-01 -1.24085612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40719347 meters 0.0659675087957699 Centerline is valid? [True, True] Translation: X:115.06, Y:41.90, Z:-1.24 [[ 7.38229342e-01 -6.74147010e-01 -2.33076664e-02 1.15063609e+02] [ 6.73814531e-01 7.38597186e-01 -2.11701321e-02 4.19005833e+01] [ 3.14867581e-02 -7.66315862e-05 9.99504166e-01 -1.24157166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43719347 meters 0.06545473716513218 Centerline is valid? [True, True] Translation: X:115.09, Y:41.91, Z:-1.24 [[ 7.36246649e-01 -6.76363550e-01 -2.17536216e-02 1.15090982e+02] [ 6.76074525e-01 7.36567936e-01 -1.97714760e-02 4.19131424e+01] [ 2.93957259e-02 -1.50386415e-04 9.99567841e-01 -1.23781659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46719347 meters 0.06549819838355037 Centerline is valid? [True, True] Translation: X:115.12, Y:41.92, Z:-1.24 [[ 7.32382291e-01 -6.80599843e-01 -2.00008530e-02 1.15122169e+02] [ 6.80356971e-01 7.32655287e-01 -1.81830236e-02 4.19205695e+01] [ 2.70290937e-02 -2.90795285e-04 9.99634605e-01 -1.23762561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49719347 meters 0.06530787103853568 Centerline is valid? [True, True] Translation: X:115.15, Y:41.93, Z:-1.23 [[ 7.30556666e-01 -6.82577612e-01 -1.93587466e-02 1.15147262e+02] [ 6.82350380e-01 7.30813031e-01 -1.76145408e-02 4.19347603e+01] [ 2.61709155e-02 -3.41027911e-04 9.99657425e-01 -1.23455549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52719347 meters 0.06592027925734292 Centerline is valid? [True, True] Translation: X:115.17, Y:41.95, Z:-1.24 [[ 7.27794062e-01 -6.85540460e-01 -1.87104496e-02 1.15173792e+02] [ 6.85329139e-01 7.28034403e-01 -1.70258434e-02 4.19470895e+01] [ 2.52937555e-02 -4.31508601e-04 9.99679969e-01 -1.23638784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55719347 meters 0.06659557303928794 Centerline is valid? [True, True] Translation: X:115.20, Y:41.96, Z:-1.24 [[ 7.25059388e-01 -6.88442711e-01 -1.83171319e-02 1.15200578e+02] [ 6.88240800e-01 7.25290543e-01 -1.66802130e-02 4.19604587e+01] [ 2.47686136e-02 -5.12452471e-04 9.99693079e-01 -1.23675833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58719347 meters 0.06758213578611881 Centerline is valid? [True, True] Translation: X:115.23, Y:41.97, Z:-1.24 [[ 7.20903122e-01 -6.92758738e-01 -1.95964224e-02 1.15231249e+02] [ 6.92528987e-01 7.21169079e-01 -1.78538719e-02 4.19697017e+01] [ 2.65007596e-02 -7.00178580e-04 9.99648548e-01 -1.23807443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61719347 meters 0.06839250755701388 Centerline is valid? [True, True] Translation: X:115.26, Y:41.98, Z:-1.24 [[ 7.19507217e-01 -6.94205029e-01 -1.97165552e-02 1.15256540e+02] [ 6.93972934e-01 7.19776914e-01 -1.79655743e-02 4.19833847e+01] [ 2.66633132e-02 -7.56395294e-04 9.99644184e-01 -1.23946313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64719347 meters 0.06866329966336912 Centerline is valid? [True, True] Translation: X:115.28, Y:42.00, Z:-1.24 [[ 7.19155212e-01 -6.94583307e-01 -1.92304675e-02 1.15279320e+02] [ 6.94362479e-01 7.19411893e-01 -1.75292804e-02 4.19989011e+01] [ 2.60101726e-02 -7.46641767e-04 9.99661399e-01 -1.24059402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67719347 meters 0.06746372063301237 Centerline is valid? [True, True] Translation: X:115.30, Y:42.02, Z:-1.24 [[ 7.19445390e-01 -6.94320683e-01 -1.78078521e-02 1.15299370e+02] [ 6.94130956e-01 7.19665432e-01 -1.62444427e-02 4.20192196e+01] [ 2.40945481e-02 -6.73991984e-04 9.99709457e-01 -1.23659788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70719347 meters 0.067014721323836 Centerline is valid? [True, True] Translation: X:115.32, Y:42.04, Z:-1.24 [[ 7.20246875e-01 -6.93480933e-01 -1.81282848e-02 1.15319187e+02] [ 6.93283791e-01 7.20474686e-01 -1.65472523e-02 4.20404366e+01] [ 2.45361742e-02 -6.49939246e-04 9.99698731e-01 -1.23593062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73719347 meters 0.06761126235166444 Centerline is valid? [True, True] Translation: X:115.34, Y:42.06, Z:-1.24 [[ 7.21035467e-01 -6.92638483e-01 -1.89680844e-02 1.15338758e+02] [ 6.92422269e-01 7.21284627e-01 -1.73172879e-02 4.20588275e+01] [ 2.56760076e-02 -6.47545261e-04 9.99670107e-01 -1.24016516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76719347 meters 0.06821960018356087 Centerline is valid? [True, True] Translation: X:115.36, Y:42.08, Z:-1.24 [[ 7.20544357e-01 -6.93053685e-01 -2.21905251e-02 1.15359758e+02] [ 6.92757562e-01 7.20885569e-01 -2.02720612e-02 4.20780289e+01] [ 3.00464560e-02 -7.65734739e-04 9.99548210e-01 -1.24442538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79719347 meters 0.06795978691936003 Centerline is valid? [True, True] Translation: X:115.38, Y:42.10, Z:-1.24 [[ 7.19570189e-01 -6.94073812e-01 -2.19154341e-02 1.15380796e+02] [ 6.93785075e-01 7.19903411e-01 -2.00336857e-02 4.20972773e+01] [ 2.96818524e-02 -7.88958075e-04 9.99559085e-01 -1.24306382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82719347 meters 0.06855054782868157 Centerline is valid? [True, True] Translation: X:115.40, Y:42.11, Z:-1.24 [[ 7.17819760e-01 -6.95877740e-01 -2.21125144e-02 1.15402945e+02] [ 6.95584573e-01 7.18159742e-01 -2.02160371e-02 4.21144388e+01] [ 2.99482078e-02 -8.69653023e-04 9.99551074e-01 -1.24410569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85719347 meters 0.0685099843463896 Centerline is valid? [True, True] Translation: X:115.42, Y:42.13, Z:-1.24 [[ 7.16002395e-01 -6.97768505e-01 -2.14402401e-02 1.15424151e+02] [ 6.97493307e-01 7.16322754e-01 -1.96163026e-02 4.21345346e+01] [ 2.90457700e-02 -9.09104293e-04 9.99577669e-01 -1.24239083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88719347 meters 0.07088938345164894 Centerline is valid? [True, True] Translation: X:115.45, Y:42.15, Z:-1.25 [[ 7.11839207e-01 -7.02021501e-01 -2.12309857e-02 1.15445279e+02] [ 7.01753394e-01 7.12154948e-01 -1.94294361e-02 4.21529926e+01] [ 2.87596334e-02 -1.06828193e-03 9.99585785e-01 -1.24528717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91719347 meters 0.07230974439641545 Centerline is valid? [True, True] Translation: X:115.47, Y:42.17, Z:-1.25 [[ 7.09249074e-01 -7.04615031e-01 -2.19865848e-02 1.15466461e+02] [ 7.04328347e-01 7.09588757e-01 -2.01339424e-02 4.21710718e+01] [ 2.97881118e-02 -1.20579493e-03 9.99555508e-01 -1.24667558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94719347 meters 0.07384330153629522 Centerline is valid? [True, True] Translation: X:115.49, Y:42.19, Z:-1.25 [[ 7.07265517e-01 -7.06633050e-01 -2.11002739e-02 1.15488757e+02] [ 7.06369847e-01 7.07579114e-01 -1.93244973e-02 4.21877967e+01] [ 2.85854416e-02 -1.23704672e-03 9.99590587e-01 -1.24726059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97719347 meters 0.07571998285938135 Centerline is valid? [True, True] Translation: X:115.51, Y:42.21, Z:-1.25 [[ 7.03122359e-01 -7.10770040e-01 -2.06130660e-02 1.15511662e+02] [ 7.10520260e-01 7.03423124e-01 -1.88909754e-02 4.22059112e+01] [ 2.79268466e-02 -1.36333383e-03 9.99609040e-01 -1.24762944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00719347 meters 0.07366169105058876 Centerline is valid? [True, True] Translation: X:115.53, Y:42.23, Z:-1.24 [[ 7.00815015e-01 -7.13077131e-01 -1.94761273e-02 1.15528694e+02] [ 7.12854943e-01 7.01084247e-01 -1.78524252e-02 4.22294072e+01] [ 2.63845622e-02 -1.37240598e-03 9.99650925e-01 -1.24233718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03719347 meters 0.07439630267745714 Centerline is valid? [True, True] Translation: X:115.55, Y:42.25, Z:-1.24 [[ 6.98977412e-01 -7.14918023e-01 -1.79665743e-02 1.15549606e+02] [ 7.14729243e-01 6.99207033e-01 -1.64813200e-02 4.22492656e+01] [ 2.43451478e-02 -1.32116562e-03 9.99702740e-01 -1.24098764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06719347 meters 0.07489633139917404 Centerline is valid? [True, True] Translation: X:115.57, Y:42.27, Z:-1.24 [[ 6.97547023e-01 -7.16345085e-01 -1.66694116e-02 1.15565579e+02] [ 7.16182956e-01 6.97745014e-01 -1.52927954e-02 4.22728660e+01] [ 2.25859176e-02 -1.27090457e-03 9.99744098e-01 -1.24022901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09719347 meters 0.07476612010163547 Centerline is valid? [True, True] Translation: X:115.58, Y:42.30, Z:-1.24 [[ 6.97648035e-01 -7.16260548e-01 -1.60638313e-02 1.15583384e+02] [ 7.16109715e-01 6.97831895e-01 -1.47486218e-02 4.22959978e+01] [ 2.17737098e-02 -1.21411868e-03 9.99762187e-01 -1.23924592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12719347 meters 0.0755966078540445 Centerline is valid? [True, True] Translation: X:115.60, Y:42.32, Z:-1.24 [[ 6.98785102e-01 -7.15161434e-01 -1.56046677e-02 1.15601862e+02] [ 7.15018807e-01 6.98958376e-01 -1.43280558e-02 4.23169970e+01] [ 2.11538862e-02 -1.14539896e-03 9.99775575e-01 -1.24136179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15719347 meters 0.07358509736475402 Centerline is valid? [True, True] Translation: X:115.62, Y:42.34, Z:-1.24 [[ 7.00724793e-01 -7.13288825e-01 -1.42764568e-02 1.15617162e+02] [ 7.13168852e-01 7.00869514e-01 -1.31191796e-02 4.23422552e+01] [ 1.93636975e-02 -9.88589934e-04 9.99812017e-01 -1.24003702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18719347 meters 0.07110726210053596 Centerline is valid? [True, True] Translation: X:115.63, Y:42.37, Z:-1.24 [[ 7.04297754e-01 -7.09805009e-01 -1.18963578e-02 1.15629364e+02] [ 7.09721093e-01 7.04397830e-01 -1.09392082e-02 4.23712957e+01] [ 1.61444734e-02 -7.38636272e-04 9.99869397e-01 -1.23825804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21719347 meters 0.07013305689411507 Centerline is valid? [True, True] Translation: X:115.65, Y:42.40, Z:-1.24 [[ 7.05840138e-01 -7.08278623e-01 -1.14495373e-02 1.15645510e+02] [ 7.08200614e-01 7.05932673e-01 -1.05333894e-02 4.23958844e+01] [ 1.55431770e-02 -6.73680299e-04 9.99878971e-01 -1.23774172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24719347 meters 0.07012431704238314 Centerline is valid? [True, True] Translation: X:115.66, Y:42.42, Z:-1.24 [[ 7.05923959e-01 -7.08207365e-01 -1.06627209e-02 1.15662580e+02] [ 7.08139603e-01 7.06004209e-01 -9.81632657e-03 4.24196705e+01] [ 1.44799206e-02 -6.21114850e-04 9.99894968e-01 -1.23761525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27719347 meters 0.07025900986695542 Centerline is valid? [True, True] Translation: X:115.68, Y:42.44, Z:-1.24 [[ 7.04904394e-01 -7.09227709e-01 -1.02884508e-02 1.15679336e+02] [ 7.09164646e-01 7.04979204e-01 -9.47769638e-03 4.24435634e+01] [ 1.39749888e-02 -6.15335755e-04 9.99902156e-01 -1.23772328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30719347 meters 0.07504790716669829 Centerline is valid? [True, True] Translation: X:115.70, Y:42.46, Z:-1.24 [[ 7.00445245e-01 -7.13580220e-01 -1.34062659e-02 1.15700267e+02] [ 7.13473911e-01 7.00572933e-01 -1.23508975e-02 4.24622416e+01] [ 1.82054232e-02 -9.13893552e-04 9.99833850e-01 -1.24329948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33719347 meters 0.07571943327504199 Centerline is valid? [True, True] Translation: X:115.72, Y:42.48, Z:-1.24 [[ 6.96979891e-01 -7.16932979e-01 -1.50377879e-02 1.15719548e+02] [ 7.16799790e-01 6.97141203e-01 -1.38637701e-02 4.24834665e+01] [ 2.04228556e-02 -1.11631423e-03 9.99790809e-01 -1.24482961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36719347 meters 0.07571943327504199 Centerline is valid? [True, True] Translation: X:115.74, Y:42.50, Z:-1.25 [[ 6.96738625e-01 -7.17167554e-01 -1.50329203e-02 1.15739624e+02] [ 7.17034305e-01 6.96899888e-01 -1.38690488e-02 4.25022941e+01] [ 2.04228723e-02 -1.11601759e-03 9.99790809e-01 -1.24505680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39719347 meters 0.07636417137971972 Centerline is valid? [True, True] Translation: X:115.76, Y:42.52, Z:-1.25 [[ 6.92974904e-01 -7.20765969e-01 -1.67988187e-02 1.15759372e+02] [ 7.20600427e-01 6.93177156e-01 -1.55066316e-02 4.25241130e+01] [ 2.28212097e-02 -1.35952939e-03 9.99738638e-01 -1.24568888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42719347 meters 0.08169640887192002 Centerline is valid? [True, True] Translation: X:115.78, Y:42.54, Z:-1.25 [[ 6.88060054e-01 -7.25431720e-01 -1.79494099e-02 1.15780523e+02] [ 7.25244107e-01 6.88292249e-01 -1.65760648e-02 4.25420937e+01] [ 2.43792429e-02 -1.61237573e-03 9.99701482e-01 -1.24900698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45719347 meters 0.08306495669194586 Centerline is valid? [True, True] Translation: X:115.80, Y:42.56, Z:-1.25 [[ 6.87004938e-01 -7.26388093e-01 -1.96100659e-02 1.15798908e+02] [ 7.26164433e-01 6.87282412e-01 -1.81136192e-02 4.25638280e+01] [ 2.66351707e-02 -1.79598649e-03 9.99643608e-01 -1.25154273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48719347 meters 0.0792589566174413 Centerline is valid? [True, True] Translation: X:115.81, Y:42.59, Z:-1.25 [[ 6.86253270e-01 -7.27074584e-01 -2.04694776e-02 1.15810586e+02] [ 7.26830824e-01 6.86555871e-01 -1.89206158e-02 4.25931959e+01] [ 2.78101389e-02 -1.89351280e-03 9.99611430e-01 -1.24927589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51719347 meters 0.0813728666864757 Centerline is valid? [True, True] Translation: X:115.82, Y:42.62, Z:-1.25 [[ 6.86227066e-01 -7.27031073e-01 -2.27647197e-02 1.15824366e+02] [ 7.26729498e-01 6.86601337e-01 -2.10437756e-02 4.26194131e+01] [ 3.09297657e-02 -2.10298496e-03 9.99519348e-01 -1.25347951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54719347 meters 0.08041811526607345 Centerline is valid? [True, True] Translation: X:115.84, Y:42.65, Z:-1.25 [[ 6.86018277e-01 -7.27248658e-01 -2.20978094e-02 1.15840053e+02] [ 7.26964174e-01 6.86371054e-01 -2.04417542e-02 4.26451642e+01] [ 3.00335350e-02 -2.04089880e-03 9.99546808e-01 -1.25245935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57719347 meters 0.08017812252708843 Centerline is valid? [True, True] Translation: X:115.86, Y:42.67, Z:-1.25 [[ 6.86084570e-01 -7.27166667e-01 -2.27288696e-02 1.15857042e+02] [ 7.26865197e-01 6.86457785e-01 -2.10403140e-02 4.26678834e+01] [ 3.09022245e-02 -2.08538951e-03 9.99520237e-01 -1.25275681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60719347 meters 0.07856872935271786 Centerline is valid? [True, True] Translation: X:115.87, Y:42.69, Z:-1.25 [[ 6.86243423e-01 -7.27026251e-01 -2.24230730e-02 1.15873265e+02] [ 7.26732390e-01 6.86606625e-01 -2.07695614e-02 4.26925781e+01] [ 3.04958468e-02 -2.04259854e-03 9.99532806e-01 -1.25169375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63719347 meters 0.07785948007378515 Centerline is valid? [True, True] Translation: X:115.89, Y:42.72, Z:-1.25 [[ 6.88145200e-01 -7.25227351e-01 -2.23936008e-02 1.15886076e+02] [ 7.24933158e-01 6.88506690e-01 -2.07474046e-02 4.27196650e+01] [ 3.04647292e-02 -1.95663684e-03 9.99533927e-01 -1.25266755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66719347 meters 0.07951927145963243 Centerline is valid? [True, True] Translation: X:115.91, Y:42.74, Z:-1.26 [[ 6.88728246e-01 -7.24691911e-01 -2.17953457e-02 1.15905227e+02] [ 7.24412593e-01 6.89070481e-01 -2.02056536e-02 4.27405958e+01] [ 2.96614031e-02 -1.87261853e-03 9.99558250e-01 -1.25522526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69719347 meters 0.07696167329840274 Centerline is valid? [True, True] Translation: X:115.92, Y:42.77, Z:-1.25 [[ 6.88942415e-01 -7.24492245e-01 -2.16641392e-02 1.15919330e+02] [ 7.24215815e-01 6.89280484e-01 -2.00964529e-02 4.27683121e+01] [ 2.94923927e-02 -1.84421343e-03 9.99563303e-01 -1.25178234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72719347 meters 0.07688298648314282 Centerline is valid? [True, True] Translation: X:115.94, Y:42.79, Z:-1.25 [[ 6.89854903e-01 -7.23637356e-01 -2.11940880e-02 1.15936006e+02] [ 7.23372333e-01 6.90178133e-01 -1.96624770e-02 4.27911837e+01] [ 2.88561990e-02 -1.76696072e-03 9.99582011e-01 -1.25130148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75719347 meters 0.07317830605300961 Centerline is valid? [True, True] Translation: X:115.95, Y:42.82, Z:-1.25 [[ 6.94250433e-01 -7.19462824e-01 -1.97377937e-02 1.15945471e+02] [ 7.19230969e-01 6.94529386e-01 -1.83233461e-02 4.28237594e+01] [ 2.68914441e-02 -1.47504152e-03 9.99637271e-01 -1.24901204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78719347 meters 0.07219516105637827 Centerline is valid? [True, True] Translation: X:115.96, Y:42.85, Z:-1.25 [[ 6.96836593e-01 -7.16961170e-01 -1.96326940e-02 1.15961854e+02] [ 7.16730509e-01 6.97111771e-01 -1.82361434e-02 4.28489283e+01] [ 2.67607888e-02 -1.36373871e-03 9.99640936e-01 -1.24989234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81719347 meters 0.07073200491999151 Centerline is valid? [True, True] Translation: X:115.98, Y:42.88, Z:-1.25 [[ 7.00233421e-01 -7.13639603e-01 -1.97907468e-02 1.15977610e+02] [ 7.13403813e-01 7.00511933e-01 -1.83856073e-02 4.28753140e+01] [ 2.69843518e-02 -1.24457751e-03 9.99635081e-01 -1.24988149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84719347 meters 0.06725327051599843 Centerline is valid? [True, True] Translation: X:115.99, Y:42.91, Z:-1.25 [[ 7.08917855e-01 -7.05105419e-01 -1.61809408e-02 1.15986068e+02] [ 7.04945513e-01 7.09102100e-01 -1.50345085e-02 4.29082379e+01] [ 2.20748525e-02 -7.48450125e-04 9.99756041e-01 -1.24863092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87719347 meters 0.06573405095066001 Centerline is valid? [True, True] Translation: X:116.00, Y:42.93, Z:-1.25 [[ 7.13278203e-01 -7.00731383e-01 -1.44821597e-02 1.16001219e+02] [ 7.00602197e-01 7.13425003e-01 -1.34657256e-02 4.29347286e+01] [ 1.97677914e-02 -5.41424385e-04 9.99804452e-01 -1.24685460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90719347 meters 0.06426311230702528 Centerline is valid? [True, True] Translation: X:116.02, Y:42.96, Z:-1.24 [[ 7.17556817e-01 -6.96388411e-01 -1.24657547e-02 1.16016074e+02] [ 6.96292034e-01 7.17664998e-01 -1.15911138e-02 4.29611563e+01] [ 1.70181532e-02 -3.62522973e-04 9.99855115e-01 -1.24412629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93719347 meters 0.06327872670519513 Centerline is valid? [True, True] Translation: X:116.03, Y:42.99, Z:-1.24 [[ 7.21261469e-01 -6.92568060e-01 -1.14619186e-02 1.16031606e+02] [ 6.92486066e-01 7.21352494e-01 -1.06596688e-02 4.29869295e+01] [ 1.56506297e-02 -2.48810585e-04 9.99877490e-01 -1.24120189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96719347 meters 0.06272743424192603 Centerline is valid? [True, True] Translation: X:116.04, Y:43.02, Z:-1.24 [[ 7.28286655e-01 -6.85117703e-01 -1.45698939e-02 1.16041469e+02] [ 6.84983453e-01 7.28432374e-01 -1.35626625e-02 4.30167841e+01] [ 1.99052026e-02 -1.02630095e-04 9.99801867e-01 -1.24172728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99719347 meters 0.06323330941995366 Centerline is valid? [True, True] Translation: X:116.06, Y:43.04, Z:-1.25 [[ 7.31111619e-01 -6.82065417e-01 -1.62039613e-02 1.16058682e+02] [ 6.81898606e-01 7.31291164e-01 -1.50839059e-02 4.30388359e+01] [ 2.21380243e-02 -2.14398069e-05 9.99754924e-01 -1.24676221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02719347 meters 0.06344462685092365 Centerline is valid? [True, True] Translation: X:116.08, Y:43.06, Z:-1.25 [[ 7.33140758e-01 -6.79831393e-01 -1.82730906e-02 1.16078598e+02] [ 6.79618234e-01 7.33368443e-01 -1.70229886e-02 4.30601312e+01] [ 2.49736701e-02 6.15212058e-05 9.99688107e-01 -1.24676356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05719347 meters 0.06404238740637948 Centerline is valid? [True, True] Translation: X:116.10, Y:43.08, Z:-1.25 [[ 7.34631472e-01 -6.78188361e-01 -1.94203068e-02 1.16099117e+02] [ 6.77946976e-01 7.34888108e-01 -1.80932646e-02 4.30790273e+01] [ 2.65423939e-02 1.25943345e-04 9.99647681e-01 -1.25167823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08719347 meters 0.06448222647670317 Centerline is valid? [True, True] Translation: X:116.12, Y:43.10, Z:-1.26 [[ 7.36424201e-01 -6.76199697e-01 -2.08174392e-02 1.16122728e+02] [ 6.75921134e-01 7.36718346e-01 -1.94087476e-02 4.30957751e+01] [ 2.84607787e-02 2.22124341e-04 9.99594885e-01 -1.25520990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11719347 meters 0.06464208743613967 Centerline is valid? [True, True] Translation: X:116.15, Y:43.11, Z:-1.26 [[ 7.37243932e-01 -6.75281994e-01 -2.15780622e-02 1.16145114e+02] [ 6.74981941e-01 7.37559592e-01 -2.01302387e-02 4.31139505e+01] [ 2.95086945e-02 2.76093980e-04 9.99564486e-01 -1.25582385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14719347 meters 0.06501761722191012 Centerline is valid? [True, True] Translation: X:116.17, Y:43.13, Z:-1.25 [[ 7.38938924e-01 -6.73368472e-01 -2.33273833e-02 1.16170099e+02] [ 6.73016476e-01 7.39306938e-01 -2.17732372e-02 4.31303075e+01] [ 3.19075078e-02 3.89379162e-04 9.99490750e-01 -1.25470231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17719347 meters 0.06524876137874988 Centerline is valid? [True, True] Translation: X:116.19, Y:43.15, Z:-1.26 [[ 7.38706287e-01 -6.73609062e-01 -2.37455738e-02 1.16194386e+02] [ 6.73243985e-01 7.39087731e-01 -2.21779606e-02 4.31463725e+01] [ 3.24893375e-02 3.96434177e-04 9.99472004e-01 -1.25661037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20719347 meters 0.06556574204457004 Centerline is valid? [True, True] Translation: X:116.22, Y:43.16, Z:-1.26 [[ 7.38087618e-01 -6.74277233e-01 -2.40183602e-02 1.16218757e+02] [ 6.73903983e-01 7.38478215e-01 -2.24354075e-02 4.31610916e+01] [ 3.28647203e-02 3.73227921e-04 9.99459739e-01 -1.25964190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23719347 meters 0.06513792034211832 Centerline is valid? [True, True] Translation: X:116.25, Y:43.17, Z:-1.26 [[ 7.36269741e-01 -6.76262670e-01 -2.39931133e-02 1.16245561e+02] [ 6.75890727e-01 7.36660514e-01 -2.24279457e-02 4.31740997e+01] [ 3.28419616e-02 2.96295009e-04 9.99460513e-01 -1.25894624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26719347 meters 0.06441442076357208 Centerline is valid? [True, True] Translation: X:116.28, Y:43.18, Z:-1.26 [[ 7.29762882e-01 -6.83302132e-01 -2.33309156e-02 1.16280387e+02] [ 6.82953563e-01 7.30135738e-01 -2.18227964e-02 4.31785189e+01] [ 3.19462986e-02 -8.46513998e-06 9.99489587e-01 -1.25848035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29719347 meters 0.06444169160379161 Centerline is valid? [True, True] Translation: X:116.31, Y:43.19, Z:-1.26 [[ 7.25629857e-01 -6.87715341e-01 -2.25592817e-02 1.16309274e+02] [ 6.87391496e-01 7.25980422e-01 -2.11035236e-02 4.31889420e+01] [ 3.08908138e-02 -1.93711591e-04 9.99522746e-01 -1.25886022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32719347 meters 0.06493437115155788 Centerline is valid? [True, True] Translation: X:116.34, Y:43.20, Z:-1.26 [[ 7.20972558e-01 -6.92614606e-01 -2.19904065e-02 1.16338327e+02] [ 6.92309021e-01 7.21307740e-01 -2.05758122e-02 4.31984748e+01] [ 3.01129585e-02 -3.89560848e-04 9.99546426e-01 -1.26051385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35719347 meters 0.06580805512703183 Centerline is valid? [True, True] Translation: X:116.37, Y:43.21, Z:-1.26 [[ 7.16613119e-01 -6.97146488e-01 -2.12699515e-02 1.16367547e+02] [ 6.96862176e-01 7.16928498e-01 -1.99157328e-02 4.32093466e+01] [ 2.91332175e-02 -5.50349299e-04 9.99575386e-01 -1.26103306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38719347 meters 0.06613151612497559 Centerline is valid? [True, True] Translation: X:116.39, Y:43.22, Z:-1.26 [[ 7.12986070e-01 -7.00840196e-01 -2.17688700e-02 1.16394584e+02] [ 7.00544097e-01 7.13317955e-01 -2.03829279e-02 4.32230649e+01] [ 2.98133010e-02 -7.17309688e-04 9.99555227e-01 -1.25854303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41719347 meters 0.06824473643727587 Centerline is valid? [True, True] Translation: X:116.43, Y:43.23, Z:-1.26 [[ 7.08464351e-01 -7.05368918e-01 -2.30857467e-02 1.16425356e+02] [ 7.05038142e-01 7.08839735e-01 -2.16205731e-02 4.32312620e+01] [ 3.16145749e-02 -9.58926637e-04 9.99499674e-01 -1.26191364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44719347 meters 0.0685432626208465 Centerline is valid? [True, True] Translation: X:116.45, Y:43.25, Z:-1.26 [[ 7.07934158e-01 -7.05906300e-01 -2.29243109e-02 1.16448465e+02] [ 7.05579863e-01 7.08304572e-01 -2.14869569e-02 4.32478773e+01] [ 3.14051725e-02 -9.63581436e-04 9.99506271e-01 -1.26231459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47719347 meters 0.06821595646350945 Centerline is valid? [True, True] Translation: X:116.47, Y:43.26, Z:-1.26 [[ 7.09224204e-01 -7.04563402e-01 -2.43195650e-02 1.16472412e+02] [ 7.04194785e-01 7.09640409e-01 -2.28077836e-02 4.32637934e+01] [ 3.33276756e-02 -9.49878666e-04 9.99444027e-01 -1.26343925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50719347 meters 0.06681689654226469 Centerline is valid? [True, True] Translation: X:116.49, Y:43.28, Z:-1.26 [[ 7.10606195e-01 -7.03166734e-01 -2.44003971e-02 1.16493097e+02] [ 7.02794342e-01 7.11024455e-01 -2.28983988e-02 4.32843242e+01] [ 3.34506714e-02 -8.76716933e-04 9.99439985e-01 -1.25991726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53719347 meters 0.0669239114854266 Centerline is valid? [True, True] Translation: X:116.51, Y:43.30, Z:-1.26 [[ 7.12015126e-01 -7.01759736e-01 -2.38271563e-02 1.16514879e+02] [ 7.01403762e-01 7.12413257e-01 -2.23632136e-02 4.33014007e+01] [ 3.26683849e-02 -7.89510728e-04 9.99465934e-01 -1.26189798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56719347 meters 0.06640376506730127 Centerline is valid? [True, True] Translation: X:116.54, Y:43.32, Z:-1.26 [[ 7.12824250e-01 -7.00935233e-01 -2.39037109e-02 1.16535635e+02] [ 7.00575965e-01 7.13224542e-01 -2.24514832e-02 4.33219810e+01] [ 3.27857489e-02 -7.42403645e-04 9.99462127e-01 -1.26040856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59719347 meters 0.06717130278450134 Centerline is valid? [True, True] Translation: X:116.56, Y:43.34, Z:-1.27 [[ 7.15587924e-01 -6.98054342e-01 -2.55745845e-02 1.16557616e+02] [ 6.97641135e-01 7.16044490e-01 -2.40236136e-02 4.33395197e+01] [ 3.50823281e-02 -6.50874450e-04 9.99384214e-01 -1.26664516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62719347 meters 0.0663698777397492 Centerline is valid? [True, True] Translation: X:116.58, Y:43.36, Z:-1.26 [[ 7.16744448e-01 -6.96889089e-01 -2.49598530e-02 1.16577930e+02] [ 6.96494241e-01 7.17178692e-01 -2.34626613e-02 4.33603903e+01] [ 3.42515474e-02 -5.67661607e-04 9.99413082e-01 -1.26321473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65719347 meters 0.06616726936114359 Centerline is valid? [True, True] Translation: X:116.60, Y:43.38, Z:-1.26 [[ 7.18238694e-01 -6.95337067e-01 -2.52891726e-02 1.16598656e+02] [ 6.94930264e-01 7.18683605e-01 -2.37866405e-02 4.33804002e+01] [ 3.47146466e-02 -4.89725789e-04 9.99397145e-01 -1.26353913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68719347 meters 0.0662964642483982 Centerline is valid? [True, True] Translation: X:116.62, Y:43.40, Z:-1.26 [[ 7.19817597e-01 -6.93698244e-01 -2.54041999e-02 1.16618090e+02] [ 6.93286607e-01 7.20265630e-01 -2.38977654e-02 4.33997161e+01] [ 3.48756099e-02 -4.10359504e-04 9.99391577e-01 -1.26482891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71719347 meters 0.06631136935640525 Centerline is valid? [True, True] Translation: X:116.64, Y:43.42, Z:-1.27 [[ 7.23678913e-01 -6.89653201e-01 -2.58320103e-02 1.16637739e+02] [ 6.89224808e-01 7.24139776e-01 -2.43053013e-02 4.34189395e+01] [ 3.54682150e-02 -2.14828317e-04 9.99370782e-01 -1.26808954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74719347 meters 0.06611366037039282 Centerline is valid? [True, True] Translation: X:116.66, Y:43.44, Z:-1.27 [[ 7.25070438e-01 -6.88198298e-01 -2.56117694e-02 1.16659278e+02] [ 6.87775736e-01 7.25522629e-01 -2.41133049e-02 4.34387413e+01] [ 3.51766537e-02 -1.31308991e-04 9.99381101e-01 -1.26794802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77719347 meters 0.0656493643193178 Centerline is valid? [True, True] Translation: X:116.68, Y:43.46, Z:-1.26 [[ 7.26401102e-01 -6.86806658e-01 -2.52597181e-02 1.16680713e+02] [ 6.86394262e-01 7.26840155e-01 -2.37971792e-02 4.34583021e+01] [ 3.47038386e-02 -5.18284024e-05 9.99397639e-01 -1.26478816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80719347 meters 0.06552386445261138 Centerline is valid? [True, True] Translation: X:116.70, Y:43.48, Z:-1.26 [[ 7.29214982e-01 -6.83853055e-01 -2.43003843e-02 1.16701977e+02] [ 6.83469264e-01 7.29619757e-01 -2.29079869e-02 4.34779526e+01] [ 3.33957373e-02 9.62814992e-05 9.99442202e-01 -1.26290105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83719347 meters 0.06568672773654709 Centerline is valid? [True, True] Translation: X:116.72, Y:43.50, Z:-1.26 [[ 7.30440983e-01 -6.82560652e-01 -2.38102096e-02 1.16722249e+02] [ 6.82191413e-01 7.30828935e-01 -2.24486840e-02 4.34970685e+01] [ 3.27237785e-02 1.54318259e-04 9.99464422e-01 -1.26293664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86719347 meters 0.06570536042773599 Centerline is valid? [True, True] Translation: X:116.74, Y:43.52, Z:-1.26 [[ 7.31140724e-01 -6.81808471e-01 -2.38841132e-02 1.16744430e+02] [ 6.81436003e-01 7.31530702e-01 -2.25345456e-02 4.35161801e+01] [ 3.28362062e-02 2.00429377e-04 9.99460726e-01 -1.26265986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89719347 meters 0.06565357232354008 Centerline is valid? [True, True] Translation: X:116.77, Y:43.53, Z:-1.26 [[ 7.30817380e-01 -6.82208227e-01 -2.23134790e-02 1.16767600e+02] [ 6.81882925e-01 7.31157919e-01 -2.10659672e-02 4.35333024e+01] [ 3.06860530e-02 1.80194638e-04 9.99529056e-01 -1.26335677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92719347 meters 0.06523159561906368 Centerline is valid? [True, True] Translation: X:116.80, Y:43.54, Z:-1.26 [[ 7.27791341e-01 -6.85419027e-01 -2.28149367e-02 1.16797275e+02] [ 6.85080072e-01 7.28148854e-01 -2.15532308e-02 4.35441866e+01] [ 3.13856646e-02 5.61962476e-05 9.99507347e-01 -1.26346697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95719347 meters 0.0652455675070131 Centerline is valid? [True, True] Translation: X:116.82, Y:43.56, Z:-1.26 [[ 7.24840728e-01 -6.88554931e-01 -2.23164943e-02 1.16823632e+02] [ 6.88232031e-01 7.25184184e-01 -2.10848282e-02 4.35572592e+01] [ 3.07016312e-02 -7.57839794e-05 9.99528591e-01 -1.26456008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98719347 meters 0.06531849953508798 Centerline is valid? [True, True] Translation: X:116.85, Y:43.57, Z:-1.26 [[ 7.20346387e-01 -6.93273635e-01 -2.17428139e-02 1.16850638e+02] [ 6.92968740e-01 7.20674407e-01 -2.05602603e-02 4.35694983e+01] [ 2.99233759e-02 -2.56581147e-04 9.99552163e-01 -1.26397223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01719347 meters 0.06583257688200153 Centerline is valid? [True, True] Translation: X:116.88, Y:43.58, Z:-1.26 [[ 7.15505419e-01 -6.98284592e-01 -2.12279281e-02 1.16879292e+02] [ 6.97995809e-01 7.15820110e-01 -2.00853191e-02 4.35813193e+01] [ 2.92206467e-02 -4.45850195e-04 9.99572886e-01 -1.26419682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04719347 meters 0.06841160436372402 Centerline is valid? [True, True] Translation: X:116.91, Y:43.58, Z:-1.27 [[ 7.06816475e-01 -7.07011916e-01 -2.33371353e-02 1.16914810e+02] [ 7.06667509e-01 7.07201082e-01 -2.20830277e-02 4.35839771e+01] [ 3.21170111e-02 -8.82947494e-04 9.99483726e-01 -1.26804222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07719347 meters 0.06986575551433695 Centerline is valid? [True, True] Translation: X:116.94, Y:43.60, Z:-1.27 [[ 7.03257387e-01 -7.10497083e-01 -2.49588272e-02 1.16942035e+02] [ 7.10105044e-01 7.03699272e-01 -2.36254272e-02 4.35970455e+01] [ 3.43493056e-02 -1.10863293e-03 9.99409274e-01 -1.26996428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10719347 meters 0.06971173496840136 Centerline is valid? [True, True] Translation: X:116.97, Y:43.61, Z:-1.27 [[ 7.00506728e-01 -7.13210349e-01 -2.49263272e-02 1.16966005e+02] [ 7.12820465e-01 7.00948992e-01 -2.36113339e-02 4.36136622e+01] [ 3.43119316e-02 -1.22809790e-03 9.99410418e-01 -1.26747107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13719347 meters 0.07087318801347889 Centerline is valid? [True, True] Translation: X:116.99, Y:43.63, Z:-1.27 [[ 6.97134962e-01 -7.16516050e-01 -2.46494591e-02 1.16991965e+02] [ 7.16136395e-01 6.97569269e-01 -2.33619102e-02 4.36279693e+01] [ 3.39338888e-02 -1.36597041e-03 9.99423146e-01 -1.26865343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16719347 meters 0.07142896091984226 Centerline is valid? [True, True] Translation: X:117.01, Y:43.65, Z:-1.27 [[ 6.95893427e-01 -7.17681634e-01 -2.57955512e-02 1.17013705e+02] [ 7.17266313e-01 6.96369782e-01 -2.44573476e-02 4.36465570e+01] [ 3.55158315e-02 -1.48257247e-03 9.99368014e-01 -1.26983510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19719347 meters 0.07151107325745218 Centerline is valid? [True, True] Translation: X:117.03, Y:43.67, Z:-1.27 [[ 6.95207022e-01 -7.18360499e-01 -2.54045346e-02 1.17034842e+02] [ 7.17957453e-01 6.95669463e-01 -2.41058979e-02 4.36654344e+01] [ 3.49898838e-02 -1.48078546e-03 9.99386570e-01 -1.26988483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22719347 meters 0.07177847546781128 Centerline is valid? [True, True] Translation: X:117.06, Y:43.68, Z:-1.27 [[ 6.94605341e-01 -7.18976055e-01 -2.44305654e-02 1.17058443e+02] [ 7.18603232e-01 6.95033342e-01 -2.31958603e-02 4.36823764e+01] [ 3.36573257e-02 -1.44391477e-03 9.99432389e-01 -1.27010257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25719347 meters 0.07252376897081587 Centerline is valid? [True, True] Translation: X:117.08, Y:43.70, Z:-1.27 [[ 6.93871356e-01 -7.19652876e-01 -2.53432289e-02 1.17080096e+02] [ 7.19251900e-01 6.94332345e-01 -2.40686263e-02 4.36995023e+01] [ 3.49176797e-02 -1.52763516e-03 9.99389024e-01 -1.27205755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28719347 meters 0.0733798785017166 Centerline is valid? [True, True] Translation: X:117.10, Y:43.72, Z:-1.27 [[ 6.93025180e-01 -7.20460899e-01 -2.55380663e-02 1.17101114e+02] [ 7.20054002e-01 6.93493773e-01 -2.42615325e-02 4.37174900e+01] [ 3.51899755e-02 -1.57493391e-03 9.99379400e-01 -1.27407334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31719347 meters 0.0733798785017166 Centerline is valid? [True, True] Translation: X:117.12, Y:43.74, Z:-1.27 [[ 6.92776126e-01 -7.20700720e-01 -2.55286351e-02 1.17120907e+02] [ 7.20293620e-01 6.93244543e-01 -2.42714569e-02 4.37366422e+01] [ 3.51900435e-02 -1.57342713e-03 9.99379400e-01 -1.27430058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34719347 meters 0.07189522136373235 Centerline is valid? [True, True] Translation: X:117.14, Y:43.76, Z:-1.27 [[ 6.92330766e-01 -7.21149127e-01 -2.49408815e-02 1.17138486e+02] [ 7.20760346e-01 6.92778129e-01 -2.37273499e-02 4.37604386e+01] [ 3.43894549e-02 -1.54922404e-03 9.99407307e-01 -1.27093396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37719347 meters 0.07067938750839368 Centerline is valid? [True, True] Translation: X:117.15, Y:43.79, Z:-1.27 [[ 6.92464705e-01 -7.21150033e-01 -2.08629221e-02 1.17153234e+02] [ 7.20877657e-01 6.92777722e-01 -1.98602721e-02 4.37872592e+01] [ 2.87756035e-02 -1.28707697e-03 9.99585068e-01 -1.26551048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40719347 meters 0.07255159346008432 Centerline is valid? [True, True] Translation: X:117.17, Y:43.81, Z:-1.27 [[ 6.92234620e-01 -7.21438088e-01 -1.83933796e-02 1.17174544e+02] [ 7.21226192e-01 6.92478008e-01 -1.75210592e-02 4.38058250e+01] [ 2.53773703e-02 -1.13710332e-03 9.99677296e-01 -1.26700360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43719347 meters 0.0702285565747893 Centerline is valid? [True, True] Translation: X:117.19, Y:43.83, Z:-1.26 [[ 6.92142102e-01 -7.21584438e-01 -1.59752731e-02 1.17189868e+02] [ 7.21424415e-01 6.92325739e-01 -1.52277462e-02 4.38312509e+01] [ 2.20481974e-02 -9.85187812e-04 9.99756424e-01 -1.26111403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46719347 meters 0.07021832510678211 Centerline is valid? [True, True] Translation: X:117.21, Y:43.85, Z:-1.26 [[ 6.91568063e-01 -7.22186566e-01 -1.34230377e-02 1.17209531e+02] [ 7.22073548e-01 6.91697811e-01 -1.28035054e-02 4.38523524e+01] [ 1.85312054e-02 -8.37925037e-04 9.99827931e-01 -1.25956707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49719347 meters 0.07045004033752786 Centerline is valid? [True, True] Translation: X:117.23, Y:43.87, Z:-1.26 [[ 6.89759283e-01 -7.23959500e-01 -1.07132821e-02 1.17227652e+02] [ 7.23887595e-01 6.89842121e-01 -1.02273110e-02 4.38734518e+01] [ 1.47946322e-02 -7.00829342e-04 9.99890308e-01 -1.25801120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52719347 meters 0.07015877525260761 Centerline is valid? [True, True] Translation: X:117.25, Y:43.90, Z:-1.26 [[ 6.89469052e-01 -7.24257074e-01 -9.17154334e-03 1.17246259e+02] [ 7.24204334e-01 6.89529788e-01 -8.76098904e-03 4.38958895e+01] [ 1.26692606e-02 -6.01640628e-04 9.99919561e-01 -1.25611041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55719347 meters 0.070141540029442 Centerline is valid? [True, True] Translation: X:117.26, Y:43.92, Z:-1.26 [[ 6.89464899e-01 -7.24271497e-01 -8.30366843e-03 1.17263761e+02] [ 7.24228208e-01 6.89514688e-01 -7.93713609e-03 4.39189188e+01] [ 1.14741428e-02 -5.41374173e-04 9.99934023e-01 -1.25522622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58719347 meters 0.06804640578162413 Centerline is valid? [True, True] Translation: X:117.27, Y:43.95, Z:-1.25 [[ 6.92580137e-01 -7.21286303e-01 -8.87823049e-03 1.17274903e+02] [ 7.21236518e-01 6.92636842e-01 -8.49055773e-03 4.39486886e+01] [ 1.22735125e-02 -5.22912417e-04 9.99924541e-01 -1.25483754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61719347 meters 0.06791454233751211 Centerline is valid? [True, True] Translation: X:117.29, Y:43.97, Z:-1.26 [[ 6.95067226e-01 -7.18859839e-01 -1.10491092e-02 1.17291686e+02] [ 7.18782328e-01 6.95154789e-01 -1.05728631e-02 4.39720153e+01] [ 1.52812478e-02 -5.93053770e-04 9.99883059e-01 -1.25869080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64719347 meters 0.06697629519827836 Centerline is valid? [True, True] Translation: X:117.31, Y:44.00, Z:-1.26 [[ 6.98094368e-01 -7.15897840e-01 -1.24312531e-02 1.17307624e+02] [ 7.15799164e-01 6.98204794e-01 -1.19005289e-02 4.39969018e+01] [ 1.71991235e-02 -5.90588372e-04 9.99851910e-01 -1.26067890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67719347 meters 0.06519932536086236 Centerline is valid? [True, True] Translation: X:117.32, Y:44.03, Z:-1.26 [[ 7.03048372e-01 -7.11008422e-01 -1.37843923e-02 1.17320115e+02] [ 7.10886110e-01 7.03183300e-01 -1.31979456e-02 4.40253546e+01] [ 1.90768049e-02 -5.20338853e-04 9.99817886e-01 -1.26221605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70719347 meters 0.06463248709039239 Centerline is valid? [True, True] Translation: X:117.34, Y:44.05, Z:-1.26 [[ 7.04870021e-01 -7.09192098e-01 -1.43115736e-02 1.17337051e+02] [ 7.09059666e-01 7.05015132e-01 -1.37132574e-02 4.40488317e+01] [ 1.98152097e-02 -4.81695551e-04 9.99803543e-01 -1.26318329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73719347 meters 0.06447603389845459 Centerline is valid? [True, True] Translation: X:117.35, Y:44.07, Z:-1.26 [[ 7.06413604e-01 -7.07633877e-01 -1.53008889e-02 1.17353331e+02] [ 7.07482120e-01 7.06579138e-01 -1.46619051e-02 4.40715081e+01] [ 2.11865496e-02 -4.67736062e-04 9.99775430e-01 -1.26431533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76719347 meters 0.06435838791001683 Centerline is valid? [True, True] Translation: X:117.37, Y:44.09, Z:-1.27 [[ 7.07889928e-01 -7.06130978e-01 -1.64587812e-02 1.17369814e+02] [ 7.05954655e-01 7.08081100e-01 -1.57854639e-02 4.40949259e+01] [ 2.28007569e-02 -4.44782342e-04 9.99739930e-01 -1.26510088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79719347 meters 0.06429911430455044 Centerline is valid? [True, True] Translation: X:117.39, Y:44.12, Z:-1.27 [[ 7.08883635e-01 -7.05107616e-01 -1.75283034e-02 1.17388138e+02] [ 7.04907080e-01 7.09100178e-01 -1.68209637e-02 4.41177017e+01] [ 2.42899126e-02 -4.31719287e-04 9.99704863e-01 -1.26681498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82719347 meters 0.0643892424057394 Centerline is valid? [True, True] Translation: X:117.41, Y:44.14, Z:-1.27 [[ 7.11758100e-01 -7.02125454e-01 -2.05001011e-02 1.17405066e+02] [ 7.01849858e-01 7.12053158e-01 -1.96742899e-02 4.41408691e+01] [ 2.84109814e-02 -3.84657850e-04 9.99596253e-01 -1.27203539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85719347 meters 0.06489337731433997 Centerline is valid? [True, True] Translation: X:117.43, Y:44.16, Z:-1.28 [[ 7.12189690e-01 -7.01636674e-01 -2.21770960e-02 1.17425002e+02] [ 7.01313755e-01 7.12534788e-01 -2.12883330e-02 4.41606058e+01] [ 3.07386276e-02 -3.91771196e-04 9.99527380e-01 -1.27687607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88719347 meters 0.0647729131602882 Centerline is valid? [True, True] Translation: X:117.44, Y:44.18, Z:-1.27 [[ 7.10372138e-01 -7.03434547e-01 -2.34790238e-02 1.17444617e+02] [ 7.03073038e-01 7.10759877e-01 -2.25543924e-02 4.41814708e+01] [ 3.25534869e-02 -4.85456669e-04 9.99469877e-01 -1.27411639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91719347 meters 0.06542038853250352 Centerline is valid? [True, True] Translation: X:117.47, Y:44.20, Z:-1.28 [[ 7.08021440e-01 -7.05766835e-01 -2.44707155e-02 1.17466206e+02] [ 7.05375304e-01 7.08443928e-01 -2.35134378e-02 4.41983971e+01] [ 3.39311344e-02 -6.13020318e-04 9.99423985e-01 -1.27608874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94719347 meters 0.06586228818944803 Centerline is valid? [True, True] Translation: X:117.49, Y:44.22, Z:-1.28 [[ 7.05451508e-01 -7.08288065e-01 -2.58105759e-02 1.17489466e+02] [ 7.07853590e-01 7.05923108e-01 -2.48165479e-02 4.42160457e+01] [ 3.57975467e-02 -7.63237685e-04 9.99358771e-01 -1.27601423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97719347 meters 0.06701931255558329 Centerline is valid? [True, True] Translation: X:117.51, Y:44.23, Z:-1.28 [[ 7.02673260e-01 -7.10985912e-01 -2.73737474e-02 1.17514552e+02] [ 7.10499054e-01 7.03205608e-01 -2.63242774e-02 4.42311089e+01] [ 3.79655631e-02 -9.51655824e-04 9.99278595e-01 -1.27940246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00719347 meters 0.06792952777632588 Centerline is valid? [True, True] Translation: X:117.54, Y:44.24, Z:-1.28 [[ 6.97731154e-01 -7.15868580e-01 -2.65219525e-02 1.17542550e+02] [ 7.15414904e-01 6.98234054e-01 -2.55092345e-02 4.42437184e+01] [ 3.67797898e-02 -1.17561249e-03 9.99322703e-01 -1.27670132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03719347 meters 0.06885397919449104 Centerline is valid? [True, True] Translation: X:117.57, Y:44.26, Z:-1.28 [[ 6.95920952e-01 -7.17683906e-01 -2.49767987e-02 1.17565059e+02] [ 7.17282513e-01 6.96367998e-01 -2.40293323e-02 4.42597300e+01] [ 3.46385084e-02 -1.19290516e-03 9.99399195e-01 -1.27613688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06719347 meters 0.06750438117293756 Centerline is valid? [True, True] Translation: X:117.58, Y:44.28, Z:-1.27 [[ 6.94497648e-01 -7.19083550e-01 -2.43282678e-02 1.17584204e+02] [ 7.18703016e-01 6.94922560e-01 -2.34224415e-02 4.42812760e+01] [ 3.37489545e-02 -1.21796885e-03 9.99429600e-01 -1.26998680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09719347 meters 0.0677966563570902 Centerline is valid? [True, True] Translation: X:117.61, Y:44.30, Z:-1.27 [[ 6.94578667e-01 -7.19052475e-01 -2.28913484e-02 1.17605525e+02] [ 7.18715123e-01 6.94954854e-01 -2.20527046e-02 4.42997572e+01] [ 3.17655055e-02 -1.13502018e-03 9.99494705e-01 -1.26952623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12719347 meters 0.06671682550382671 Centerline is valid? [True, True] Translation: X:117.62, Y:44.32, Z:-1.27 [[ 6.95373346e-01 -7.18326419e-01 -2.15189573e-02 1.17623866e+02] [ 7.18027647e-01 6.95705468e-01 -2.07412629e-02 4.43224438e+01] [ 2.98698533e-02 -1.02828494e-03 9.99553267e-01 -1.26650954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15719347 meters 0.06494970671800854 Centerline is valid? [True, True] Translation: X:117.64, Y:44.35, Z:-1.26 [[ 6.99368791e-01 -7.14464000e-01 -2.06030606e-02 1.17638964e+02] [ 7.14188312e-01 6.99671720e-01 -1.98630403e-02 4.43487534e+01] [ 2.86068061e-02 -8.22874562e-04 9.99590403e-01 -1.26337633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18719347 meters 0.0647857620706616 Centerline is valid? [True, True] Translation: X:117.66, Y:44.37, Z:-1.27 [[ 7.02023951e-01 -7.11891475e-01 -1.93105978e-02 1.17658288e+02] [ 7.11648160e-01 7.02289172e-01 -1.86229908e-02 4.43697184e+01] [ 2.68191721e-02 -6.68565790e-04 9.99640078e-01 -1.26616514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21719347 meters 0.06268990954845587 Centerline is valid? [True, True] Translation: X:117.67, Y:44.40, Z:-1.26 [[ 7.08335571e-01 -7.05638352e-01 -1.83094182e-02 1.17671839e+02] [ 7.05417199e-01 7.08572055e-01 -1.76697013e-02 4.43977984e+01] [ 2.54419610e-02 -3.99700552e-04 9.99676221e-01 -1.26297192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24719347 meters 0.06244673378471213 Centerline is valid? [True, True] Translation: X:117.69, Y:44.42, Z:-1.26 [[ 7.11007249e-01 -7.02950629e-01 -1.81412444e-02 1.17689033e+02] [ 7.02732364e-01 7.11238587e-01 -1.75184685e-02 4.44206868e+01] [ 2.52173715e-02 -2.92681507e-04 9.99681949e-01 -1.26330758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27719347 meters 0.06239267058554962 Centerline is valid? [True, True] Translation: X:117.71, Y:44.44, Z:-1.27 [[ 7.13117361e-01 -7.00792025e-01 -1.88193087e-02 1.17706272e+02] [ 7.00556035e-01 7.13365608e-01 -1.81865639e-02 4.44434166e+01] [ 2.61700466e-02 -2.14825796e-04 9.99657483e-01 -1.26509403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30719347 meters 0.06275886867589356 Centerline is valid? [True, True] Translation: X:117.72, Y:44.47, Z:-1.27 [[ 7.14584556e-01 -6.99227470e-01 -2.12098419e-02 1.17724201e+02] [ 6.98926975e-01 7.14899234e-01 -2.04980379e-02 4.44656041e+01] [ 2.94956909e-02 -1.76549263e-04 9.99564892e-01 -1.26736851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33719347 meters 0.06343575571274698 Centerline is valid? [True, True] Translation: X:117.75, Y:44.48, Z:-1.27 [[ 7.13774797e-01 -7.00018851e-01 -2.23415854e-02 1.17745524e+02] [ 6.99685664e-01 7.14124331e-01 -2.15965398e-02 4.44839640e+01] [ 3.10726547e-02 -2.17021219e-04 9.99517105e-01 -1.27226573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36719347 meters 0.06322659811179807 Centerline is valid? [True, True] Translation: X:117.77, Y:44.50, Z:-1.27 [[ 7.12684103e-01 -7.01099394e-01 -2.32596056e-02 1.17766953e+02] [ 7.00738298e-01 7.13063511e-01 -2.25004001e-02 4.45027881e+01] [ 3.23605929e-02 -2.63218929e-04 9.99476224e-01 -1.27054476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39719347 meters 0.06368832181506313 Centerline is valid? [True, True] Translation: X:117.79, Y:44.52, Z:-1.27 [[ 7.09855814e-01 -7.03890893e-01 -2.53443195e-02 1.17792226e+02] [ 7.03463864e-01 7.10307983e-01 -2.45185751e-02 4.45178842e+01] [ 3.52606742e-02 -4.24159863e-04 9.99378059e-01 -1.27114370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42719347 meters 0.06372730972127094 Centerline is valid? [True, True] Translation: X:117.82, Y:44.53, Z:-1.27 [[ 7.09028377e-01 -7.04699251e-01 -2.60331693e-02 1.17815250e+02] [ 7.04248557e-01 7.09505990e-01 -2.52035632e-02 4.45349705e+01] [ 3.62316217e-02 -4.63780418e-04 9.99343312e-01 -1.27228332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45719347 meters 0.06388456189236989 Centerline is valid? [True, True] Translation: X:117.84, Y:44.55, Z:-1.27 [[ 7.08725842e-01 -7.04989592e-01 -2.64075037e-02 1.17837372e+02] [ 7.04525789e-01 7.09217487e-01 -2.55728043e-02 4.45519567e+01] [ 3.67572243e-02 -4.80660093e-04 9.99324109e-01 -1.27383665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48719347 meters 0.06438342459751979 Centerline is valid? [True, True] Translation: X:117.86, Y:44.57, Z:-1.28 [[ 7.08504240e-01 -7.05254257e-01 -2.52621023e-02 1.17860836e+02] [ 7.04829826e-01 7.08954309e-01 -2.44684350e-02 4.45671191e+01] [ 3.51661443e-02 -4.69493209e-04 9.99381370e-01 -1.27737921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51719347 meters 0.06429631722983921 Centerline is valid? [True, True] Translation: X:117.88, Y:44.59, Z:-1.28 [[ 7.08604411e-01 -7.05154332e-01 -2.52419729e-02 1.17880321e+02] [ 7.04730172e-01 7.09053707e-01 -2.44586354e-02 4.45854659e+01] [ 3.51450271e-02 -4.57283002e-04 9.99382118e-01 -1.27758921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54719347 meters 0.06386932403991062 Centerline is valid? [True, True] Translation: X:117.90, Y:44.61, Z:-1.27 [[ 7.08812922e-01 -7.04921304e-01 -2.58881667e-02 1.17900506e+02] [ 7.04474388e-01 7.09285385e-01 -2.51014000e-02 4.46056759e+01] [ 3.60566099e-02 -4.45353660e-04 9.99349650e-01 -1.27451996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57719347 meters 0.06350892203877254 Centerline is valid? [True, True] Translation: X:117.92, Y:44.62, Z:-1.27 [[ 7.10608474e-01 -7.03096307e-01 -2.62903038e-02 1.17922703e+02] [ 7.02633457e-01 7.11094554e-01 -2.55100030e-02 4.46233659e+01] [ 3.66308807e-02 -3.44822734e-04 9.99328805e-01 -1.27400182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60719347 meters 0.06368075338573242 Centerline is valid? [True, True] Translation: X:117.94, Y:44.64, Z:-1.28 [[ 7.11469961e-01 -7.02254346e-01 -2.54819222e-02 1.17944332e+02] [ 7.01818893e-01 7.11926084e-01 -2.47283780e-02 4.46410120e+01] [ 3.55068561e-02 -2.90196301e-04 9.99369391e-01 -1.27689203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63719347 meters 0.06319168845361654 Centerline is valid? [True, True] Translation: X:117.97, Y:44.66, Z:-1.27 [[ 7.11492567e-01 -7.02248130e-01 -2.50178163e-02 1.17966627e+02] [ 7.01827797e-01 7.11932223e-01 -2.42951166e-02 4.46592121e+01] [ 3.48721898e-02 -2.72404090e-04 9.99391743e-01 -1.27442792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66719347 meters 0.06313220424651549 Centerline is valid? [True, True] Translation: X:117.99, Y:44.68, Z:-1.27 [[ 7.11019849e-01 -7.02795631e-01 -2.30016474e-02 1.17988668e+02] [ 7.02440178e-01 7.11391756e-01 -2.23509574e-02 4.46770422e+01] [ 3.20713375e-02 -2.65306907e-04 9.99485547e-01 -1.27438739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69719347 meters 0.062061810623571134 Centerline is valid? [True, True] Translation: X:118.01, Y:44.69, Z:-1.27 [[ 7.09811214e-01 -7.04123175e-01 -1.94575166e-02 1.18013306e+02] [ 7.03869032e-01 7.10077801e-01 -1.89183028e-02 4.46940000e+01] [ 2.71371661e-02 -2.67119895e-04 9.99631684e-01 -1.26680727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72719347 meters 0.06214372240924029 Centerline is valid? [True, True] Translation: X:118.04, Y:44.71, Z:-1.27 [[ 7.08618650e-01 -7.05309840e-01 -1.99408484e-02 1.18036800e+02] [ 7.05043041e-01 7.08899099e-01 -1.94004847e-02 4.47105911e+01] [ 2.78194022e-02 -3.11611109e-04 9.99612917e-01 -1.26685822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75719347 meters 0.06196474186624801 Centerline is valid? [True, True] Translation: X:118.06, Y:44.73, Z:-1.27 [[ 7.07388932e-01 -7.06545982e-01 -1.98412151e-02 1.18060394e+02] [ 7.06281985e-01 7.07667049e-01 -1.93159213e-02 4.47278475e+01] [ 2.76885607e-02 -3.49623873e-04 9.99616537e-01 -1.26551130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78719347 meters 0.06175037844464361 Centerline is valid? [True, True] Translation: X:118.09, Y:44.74, Z:-1.26 [[ 7.05424335e-01 -7.08544622e-01 -1.84668718e-02 1.18085230e+02] [ 7.08316503e-01 7.05665900e-01 -1.79824973e-02 4.47415804e+01] [ 2.57728435e-02 -3.95098895e-04 9.99667747e-01 -1.26351684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81719347 meters 0.06160130386883516 Centerline is valid? [True, True] Translation: X:118.11, Y:44.76, Z:-1.26 [[ 7.05376511e-01 -7.08601884e-01 -1.80927247e-02 1.18106584e+02] [ 7.08382609e-01 7.05608408e-01 -1.76310591e-02 4.47611447e+01] [ 2.52597804e-02 -3.80036536e-04 9.99680849e-01 -1.26282302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84719347 meters 0.06136452279913092 Centerline is valid? [True, True] Translation: X:118.13, Y:44.78, Z:-1.26 [[ 7.06078817e-01 -7.07918258e-01 -1.74483355e-02 1.18127119e+02] [ 7.07714014e-01 7.06294290e-01 -1.70073366e-02 4.47819805e+01] [ 2.43634638e-02 -3.39911461e-04 9.99703109e-01 -1.26225850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87719347 meters 0.06101779210842845 Centerline is valid? [True, True] Translation: X:118.15, Y:44.80, Z:-1.26 [[ 7.07260981e-01 -7.06742884e-01 -1.72162557e-02 1.18146360e+02] [ 7.06543392e-01 7.07470433e-01 -1.67935275e-02 4.48035979e+01] [ 2.40486980e-02 -2.86624932e-04 9.99710747e-01 -1.26150596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90719347 meters 0.06067730222921385 Centerline is valid? [True, True] Translation: X:118.16, Y:44.83, Z:-1.26 [[ 7.12008491e-01 -7.01970176e-01 -1.67863174e-02 1.18164264e+02] [ 7.01779157e-01 7.12206331e-01 -1.63755293e-02 4.48250785e+01] [ 2.34504547e-02 -1.20771716e-04 9.99724993e-01 -1.26287222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93719347 meters 0.06056900350781054 Centerline is valid? [True, True] Translation: X:118.18, Y:44.85, Z:-1.26 [[ 7.13877011e-01 -7.00070455e-01 -1.67621678e-02 1.18183522e+02] [ 6.99879123e-01 7.14073774e-01 -1.63663555e-02 4.48455145e+01] [ 2.34270264e-02 -4.79263464e-05 9.99725548e-01 -1.26407948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96719347 meters 0.06053870481524055 Centerline is valid? [True, True] Translation: X:118.20, Y:44.87, Z:-1.26 [[ 7.15242867e-01 -6.98655007e-01 -1.75733728e-02 1.18203738e+02] [ 6.98444027e-01 7.15458721e-01 -1.71685759e-02 4.48665731e+01] [ 2.45679343e-02 5.68421574e-06 9.99698163e-01 -1.26426476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99719347 meters 0.060394497617403536 Centerline is valid? [True, True] Translation: X:118.22, Y:44.89, Z:-1.26 [[ 7.16115646e-01 -6.97776938e-01 -1.69034115e-02 1.18224236e+02] [ 6.97581241e-01 7.16315114e-01 -1.65247983e-02 4.48862063e+01] [ 2.36387923e-02 4.21638884e-05 9.99720564e-01 -1.26362437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02719347 meters 0.0605623373352314 Centerline is valid? [True, True] Translation: X:118.25, Y:44.90, Z:-1.27 [[ 7.16734002e-01 -6.97150401e-01 -1.65435351e-02 1.18247905e+02] [ 6.96962693e-01 7.16924901e-01 -1.61768470e-02 4.49020315e+01] [ 2.31381676e-02 6.42694695e-05 9.99732275e-01 -1.26654126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05719347 meters 0.06038355306357466 Centerline is valid? [True, True] Translation: X:118.27, Y:44.92, Z:-1.27 [[ 7.16756147e-01 -6.97129622e-01 -1.64595266e-02 1.18270105e+02] [ 6.96943497e-01 7.16945106e-01 -1.61083022e-02 4.49198250e+01] [ 2.30301516e-02 7.43645843e-05 9.99734768e-01 -1.26571614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08719347 meters 0.06055718625880201 Centerline is valid? [True, True] Translation: X:118.29, Y:44.94, Z:-1.27 [[ 7.16745441e-01 -6.97133892e-01 -1.67424383e-02 1.18291913e+02] [ 6.96941092e-01 7.16940952e-01 -1.63946567e-02 4.49380869e+01] [ 2.34326105e-02 8.23022163e-05 9.99725415e-01 -1.26717091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11719347 meters 0.06082722943853734 Centerline is valid? [True, True] Translation: X:118.31, Y:44.96, Z:-1.27 [[ 7.16884438e-01 -6.96991039e-01 -1.67390141e-02 1.18312881e+02] [ 6.96798203e-01 7.17079831e-01 -1.63945113e-02 4.49557575e+01] [ 2.34300368e-02 8.92550862e-05 9.99725475e-01 -1.26969281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14719347 meters 0.06071619563586296 Centerline is valid? [True, True] Translation: X:118.34, Y:44.97, Z:-1.27 [[ 7.17866488e-01 -6.95959485e-01 -1.75527960e-02 1.18338757e+02] [ 6.95746821e-01 7.18081038e-01 -1.72042220e-02 4.49708088e+01] [ 2.45777714e-02 1.38032414e-04 9.99697911e-01 -1.26830722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17719347 meters 0.06071619563586296 Centerline is valid? [True, True] Translation: X:118.36, Y:44.99, Z:-1.27 [[ 7.17614764e-01 -6.96219202e-01 -1.75463081e-02 1.18358211e+02] [ 6.96006454e-01 7.17829230e-01 -1.72108397e-02 4.49902354e+01] [ 2.45777699e-02 1.38408951e-04 9.99697911e-01 -1.26853412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20719347 meters 0.06079827201960699 Centerline is valid? [True, True] Translation: X:118.38, Y:45.01, Z:-1.27 [[ 7.18273886e-01 -6.95525468e-01 -1.80817153e-02 1.18381355e+02] [ 6.95299292e-01 7.18501423e-01 -1.77369559e-02 4.50068376e+01] [ 2.53282427e-02 1.67788401e-04 9.99679175e-01 -1.26976658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23719347 meters 0.061009369741051096 Centerline is valid? [True, True] Translation: X:118.40, Y:45.02, Z:-1.27 [[ 7.18694063e-01 -6.95083676e-01 -1.83719337e-02 1.18404759e+02] [ 6.94849688e-01 7.18928818e-01 -1.80351219e-02 4.50236347e+01] [ 2.57440314e-02 1.96002642e-04 9.99668548e-01 -1.27132866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26719347 meters 0.060882438543842864 Centerline is valid? [True, True] Translation: X:118.43, Y:45.04, Z:-1.27 [[ 7.18485892e-01 -6.95311824e-01 -1.78742972e-02 1.18428722e+02] [ 6.95090141e-01 7.18708168e-01 -1.75574783e-02 4.50401886e+01] [ 2.50543256e-02 1.90552686e-04 9.99686073e-01 -1.27086766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29719347 meters 0.060068744078556176 Centerline is valid? [True, True] Translation: X:118.45, Y:45.05, Z:-1.27 [[ 7.17393551e-01 -6.96509497e-01 -1.48665330e-02 1.18454687e+02] [ 6.96356377e-01 7.17547563e-01 -1.46044843e-02 4.50534431e+01] [ 2.08396066e-02 1.24757794e-04 9.99782824e-01 -1.26724253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32719347 meters 0.05952383241668176 Centerline is valid? [True, True] Translation: X:118.48, Y:45.07, Z:-1.26 [[ 7.16790047e-01 -6.97143662e-01 -1.42387572e-02 1.18478790e+02] [ 6.97003095e-01 7.16931449e-01 -1.39994019e-02 4.50706678e+01] [ 1.99678072e-02 1.10174114e-04 9.99800617e-01 -1.26343495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35719347 meters 0.05975557838109936 Centerline is valid? [True, True] Translation: X:118.50, Y:45.09, Z:-1.27 [[ 7.16776210e-01 -6.97179429e-01 -1.31418397e-02 1.18500636e+02] [ 6.97059679e-01 7.16896669e-01 -1.29217169e-02 4.50876961e+01] [ 1.84300963e-02 1.01332732e-04 9.99830146e-01 -1.26573341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38719347 meters 0.05954348527737333 Centerline is valid? [True, True] Translation: X:118.52, Y:45.11, Z:-1.26 [[ 7.17029661e-01 -6.96914347e-01 -1.33737906e-02 1.18523658e+02] [ 6.96790087e-01 7.17154362e-01 -1.31603700e-02 4.51055425e+01] [ 1.87627230e-02 1.17650922e-04 9.99823958e-01 -1.26392897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41719347 meters 0.059608424530377555 Centerline is valid? [True, True] Translation: X:118.55, Y:45.12, Z:-1.26 [[ 7.18800944e-01 -6.95104107e-01 -1.24692977e-02 1.18547089e+02] [ 6.94995644e-01 7.18909072e-01 -1.22801097e-02 4.51222060e+01] [ 1.75002460e-02 1.60846854e-04 9.99846846e-01 -1.26385732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44719347 meters 0.05963012224329937 Centerline is valid? [True, True] Translation: X:118.57, Y:45.14, Z:-1.26 [[ 7.19526835e-01 -6.94371385e-01 -1.13803949e-02 1.18568915e+02] [ 6.94280837e-01 7.19616809e-01 -1.12146096e-02 4.51406872e+01] [ 1.59766275e-02 1.68022416e-04 9.99872351e-01 -1.26334155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47719347 meters 0.05950250084420882 Centerline is valid? [True, True] Translation: X:118.59, Y:45.16, Z:-1.26 [[ 7.20162794e-01 -6.93724334e-01 -1.05876883e-02 1.18590373e+02] [ 6.93645888e-01 7.20240599e-01 -1.04336649e-02 4.51584794e+01] [ 1.48637702e-02 1.69830807e-04 9.99889514e-01 -1.26232251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50719347 meters 0.05967567906412575 Centerline is valid? [True, True] Translation: X:118.61, Y:45.18, Z:-1.26 [[ 7.20550623e-01 -6.93325431e-01 -1.03269578e-02 1.18611262e+02] [ 6.93250689e-01 7.20624600e-01 -1.01817369e-02 4.51764379e+01] [ 1.45011169e-02 1.77286256e-04 9.99894838e-01 -1.26332402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53719347 meters 0.05948435569626107 Centerline is valid? [True, True] Translation: X:118.64, Y:45.19, Z:-1.26 [[ 7.20407014e-01 -6.93469321e-01 -1.06787806e-02 1.18635158e+02] [ 6.93389301e-01 7.20486132e-01 -1.05361250e-02 4.51937766e+01] [ 1.50003928e-02 1.85746174e-04 9.99887471e-01 -1.26413395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56719347 meters 0.05949899472106361 Centerline is valid? [True, True] Translation: X:118.66, Y:45.21, Z:-1.27 [[ 7.19880928e-01 -6.94014435e-01 -1.07430913e-02 1.18657037e+02] [ 6.93933470e-01 7.19961063e-01 -1.06022161e-02 4.52101784e+01] [ 1.50926985e-02 1.77342508e-04 9.99886083e-01 -1.26514768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59719347 meters 0.059159304716878115 Centerline is valid? [True, True] Translation: X:118.68, Y:45.23, Z:-1.26 [[ 7.18631755e-01 -6.95304951e-01 -1.09281661e-02 1.18681264e+02] [ 6.95221178e-01 7.18714825e-01 -1.07942042e-02 4.52261372e+01] [ 1.53594986e-02 1.59565403e-04 9.99882023e-01 -1.26465041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62719347 meters 0.058481506269501916 Centerline is valid? [True, True] Translation: X:118.71, Y:45.24, Z:-1.27 [[ 7.15766577e-01 -6.98256242e-01 -1.07901945e-02 1.18709639e+02] [ 6.98174911e-01 7.15847897e-01 -1.06574782e-02 4.52369344e+01] [ 1.51657887e-02 9.48236141e-05 9.99884988e-01 -1.26522923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65719347 meters 0.058220229305329864 Centerline is valid? [True, True] Translation: X:118.73, Y:45.25, Z:-1.27 [[ 7.13401773e-01 -7.00682974e-01 -1.00638040e-02 1.18734069e+02] [ 7.00612436e-01 7.13472752e-01 -9.94217544e-03 4.52514170e+01] [ 1.41465630e-02 4.19393621e-05 9.99899931e-01 -1.26503262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68719347 meters 0.0578212364317552 Centerline is valid? [True, True] Translation: X:118.76, Y:45.27, Z:-1.26 [[ 7.10276448e-01 -7.03851515e-01 -1.00206165e-02 1.18759068e+02] [ 7.03781758e-01 7.10347130e-01 -9.90918326e-03 4.52655058e+01] [ 1.40927098e-02 -1.40676148e-05 9.99900693e-01 -1.26384935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71719347 meters 0.05821159490829681 Centerline is valid? [True, True] Translation: X:118.79, Y:45.28, Z:-1.26 [[ 7.03983358e-01 -7.10127375e-01 -1.12491559e-02 1.18789420e+02] [ 7.10040166e-01 7.04073212e-01 -1.11298744e-02 4.52760726e+01] [ 1.58238579e-02 -1.52106145e-04 9.99874783e-01 -1.26490097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74719347 meters 0.05850733231020195 Centerline is valid? [True, True] Translation: X:118.81, Y:45.29, Z:-1.26 [[ 7.00563703e-01 -7.13499442e-01 -1.13597662e-02 1.18814694e+02] [ 7.13410838e-01 7.00655761e-01 -1.12463860e-02 4.52919859e+01] [ 1.59835758e-02 -2.25370474e-04 9.99872229e-01 -1.26348764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77719347 meters 0.059123330411219366 Centerline is valid? [True, True] Translation: X:118.84, Y:45.31, Z:-1.26 [[ 6.97544114e-01 -7.16450121e-01 -1.14644365e-02 1.18840047e+02] [ 7.16360159e-01 6.97638258e-01 -1.13570627e-02 4.53076911e+01] [ 1.61347984e-02 -2.90613300e-04 9.99869783e-01 -1.26329481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80719347 meters 0.06005087515403423 Centerline is valid? [True, True] Translation: X:118.87, Y:45.32, Z:-1.26 [[ 6.93803857e-01 -7.20090421e-01 -1.02953260e-02 1.18865454e+02] [ 7.20018216e-01 6.93880158e-01 -1.02027049e-02 4.53216671e+01] [ 1.44905925e-02 -3.34146256e-04 9.99894950e-01 -1.26268422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83719347 meters 0.060299356330928505 Centerline is valid? [True, True] Translation: X:118.89, Y:45.34, Z:-1.26 [[ 6.92668292e-01 -7.21190326e-01 -9.75457559e-03 1.18886165e+02] [ 7.21125519e-01 6.92736893e-01 -9.67385657e-03 4.53415790e+01] [ 1.37340462e-02 -3.33499674e-04 9.99905628e-01 -1.26176096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86719347 meters 0.05999879822741459 Centerline is valid? [True, True] Translation: X:118.91, Y:45.36, Z:-1.26 [[ 6.91566925e-01 -7.22263314e-01 -8.41986883e-03 1.18905048e+02] [ 7.22215031e-01 6.91618113e-01 -8.35668037e-03 4.53630727e+01] [ 1.18590575e-02 -3.01752086e-04 9.99929633e-01 -1.25944384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89719347 meters 0.06213693736150386 Centerline is valid? [True, True] Translation: X:118.93, Y:45.38, Z:-1.26 [[ 6.90576279e-01 -7.23213695e-01 -8.14579674e-03 1.18928459e+02] [ 7.23168556e-01 6.90624252e-01 -8.08594794e-03 4.53785855e+01] [ 1.14735531e-02 -3.06820225e-04 9.99934130e-01 -1.26258148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92719347 meters 0.06199476291760637 Centerline is valid? [True, True] Translation: X:118.95, Y:45.40, Z:-1.26 [[ 6.85875722e-01 -7.27663328e-01 -8.97634981e-03 1.18947047e+02] [ 7.27608797e-01 6.85934332e-01 -8.91792493e-03 4.53999085e+01] [ 1.26464334e-02 -4.14682892e-04 9.99919945e-01 -1.25880519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95719347 meters 0.06347769056128552 Centerline is valid? [True, True] Translation: X:118.97, Y:45.42, Z:-1.26 [[ 6.81349823e-01 -7.31889965e-01 -9.97484635e-03 1.18968251e+02] [ 7.31822987e-01 6.81422618e-01 -9.91622007e-03 4.54184086e+01] [ 1.40546679e-02 -5.43407066e-04 9.99901081e-01 -1.25920913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98719347 meters 0.06556745331961876 Centerline is valid? [True, True] Translation: X:118.99, Y:45.44, Z:-1.26 [[ 6.76589372e-01 -7.36288788e-01 -1.02782118e-02 1.18989324e+02] [ 7.36218079e-01 6.76667125e-01 -1.02245452e-02 4.54373880e+01] [ 1.44831460e-02 -6.49186723e-04 9.99894903e-01 -1.25998625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01719347 meters 0.06867200866589539 Centerline is valid? [True, True] Translation: X:119.01, Y:45.46, Z:-1.26 [[ 6.69794208e-01 -7.42419153e-01 -1.37666674e-02 1.19007004e+02] [ 7.42293432e-01 6.69934861e-01 -1.37019412e-02 4.54606925e+01] [ 1.93953540e-02 -1.04142596e-03 9.99811350e-01 -1.26392965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04719347 meters 0.07036594786297372 Centerline is valid? [True, True] Translation: X:119.03, Y:45.48, Z:-1.27 [[ 6.66735849e-01 -7.45128759e-01 -1.56983929e-02 1.19025259e+02] [ 7.44965795e-01 6.66919424e-01 -1.56347817e-02 4.54826395e+01] [ 2.21194886e-02 -1.27049626e-03 9.99754527e-01 -1.26514489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07719347 meters 0.07337721239558931 Centerline is valid? [True, True] Translation: X:119.05, Y:45.50, Z:-1.27 [[ 6.64856835e-01 -7.46801884e-01 -1.58850636e-02 1.19045498e+02] [ 7.46635262e-01 6.65045235e-01 -1.58310357e-02 4.55020588e+01] [ 2.23869332e-02 -1.33497631e-03 9.99748490e-01 -1.26770707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10719347 meters 0.07287728948130107 Centerline is valid? [True, True] Translation: X:119.06, Y:45.53, Z:-1.27 [[ 6.63387144e-01 -7.48099850e-01 -1.62515379e-02 1.19061430e+02] [ 7.47925744e-01 6.63584684e-01 -1.62002794e-02 4.55262500e+01] [ 2.29036983e-02 -1.40788649e-03 9.99736685e-01 -1.26675183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13719347 meters 0.07389440103617431 Centerline is valid? [True, True] Translation: X:119.08, Y:45.55, Z:-1.27 [[ 6.62098354e-01 -7.49214647e-01 -1.74121103e-02 1.19078746e+02] [ 7.49014848e-01 6.62325477e-01 -1.73700803e-02 4.55490197e+01] [ 2.45464029e-02 -1.54122757e-03 9.99697504e-01 -1.26869110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16719347 meters 0.07307685753642898 Centerline is valid? [True, True] Translation: X:119.09, Y:45.58, Z:-1.27 [[ 6.60482532e-01 -7.50555966e-01 -2.07018792e-02 1.19086938e+02] [ 7.50273802e-01 6.60804203e-01 -2.06646402e-02 4.55816445e+01] [ 2.91898578e-02 -1.88344369e-03 9.99572111e-01 -1.27086730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19719347 meters 0.07466081206974497 Centerline is valid? [True, True] Translation: X:119.10, Y:45.61, Z:-1.28 [[ 6.60961960e-01 -7.50098095e-01 -2.19575770e-02 1.19102358e+02] [ 7.49780251e-01 6.61323639e-01 -2.19230579e-02 4.56050299e+01] [ 3.09655087e-02 -1.97305021e-03 9.99518506e-01 -1.27503624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22719347 meters 0.07405726766510282 Centerline is valid? [True, True] Translation: X:119.12, Y:45.63, Z:-1.28 [[ 6.61945011e-01 -7.49234488e-01 -2.18284981e-02 1.19116561e+02] [ 7.48919408e-01 6.62302069e-01 -2.18102985e-02 4.56311513e+01] [ 3.07980873e-02 -1.91056756e-03 9.99523800e-01 -1.27623202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25719347 meters 0.07395932553427467 Centerline is valid? [True, True] Translation: X:119.13, Y:45.66, Z:-1.28 [[ 6.62817145e-01 -7.48431507e-01 -2.28847522e-02 1.19125882e+02] [ 7.48084352e-01 6.63209206e-01 -2.28768470e-02 4.56597449e+01] [ 3.22991315e-02 -1.95655863e-03 9.99476332e-01 -1.27813263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28719347 meters 0.07449443501835279 Centerline is valid? [True, True] Translation: X:119.14, Y:45.68, Z:-1.28 [[ 6.62376426e-01 -7.48793064e-01 -2.37995142e-02 1.19141984e+02] [ 7.48417472e-01 6.62800694e-01 -2.38018406e-02 4.56838425e+01] [ 3.35969877e-02 -2.04619414e-03 9.99433367e-01 -1.28010928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31719347 meters 0.07179530349516734 Centerline is valid? [True, True] Translation: X:119.15, Y:45.71, Z:-1.28 [[ 6.61749538e-01 -7.49303915e-01 -2.51235419e-02 1.19154401e+02] [ 7.48885142e-01 6.62222700e-01 -2.51423835e-02 4.57121153e+01] [ 3.54766662e-02 -2.17668658e-03 9.99368134e-01 -1.27724859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34719347 meters 0.07564508419255017 Centerline is valid? [True, True] Translation: X:119.17, Y:45.73, Z:-1.28 [[ 6.61490862e-01 -7.49486219e-01 -2.64621792e-02 1.19173992e+02] [ 7.49021618e-01 6.62015947e-01 -2.64858659e-02 4.57316524e+01] [ 3.73691761e-02 -2.30058606e-03 9.99298880e-01 -1.28272857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37719347 meters 0.07190290336641435 Centerline is valid? [True, True] Translation: X:119.18, Y:45.77, Z:-1.28 [[ 6.62080567e-01 -7.48936659e-01 -2.72617740e-02 1.19181046e+02] [ 7.48442408e-01 6.62637509e-01 -2.73037427e-02 4.57661113e+01] [ 3.85134478e-02 -2.32659029e-03 9.99255373e-01 -1.27794387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40719347 meters 0.07132697070453356 Centerline is valid? [True, True] Translation: X:119.20, Y:45.79, Z:-1.28 [[ 6.63024834e-01 -7.48129919e-01 -2.64517312e-02 1.19196032e+02] [ 7.47663404e-01 6.63548625e-01 -2.65076766e-02 4.57927682e+01] [ 3.73831958e-02 -2.20174349e-03 9.99298579e-01 -1.27649746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43719347 meters 0.07362360869061223 Centerline is valid? [True, True] Translation: X:119.21, Y:45.81, Z:-1.28 [[ 6.64189604e-01 -7.47144719e-01 -2.50387514e-02 1.19213819e+02] [ 7.46725423e-01 6.64658324e-01 -2.51088411e-02 4.58144472e+01] [ 3.54021526e-02 -2.02004102e-03 9.99371106e-01 -1.27877734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46719347 meters 0.06845071988241601 Centerline is valid? [True, True] Translation: X:119.22, Y:45.85, Z:-1.27 [[ 6.66459091e-01 -7.45220175e-01 -2.18899624e-02 1.19221415e+02] [ 7.44898484e-01 6.66816388e-01 -2.19579811e-02 4.58482203e+01] [ 3.09601162e-02 -1.67170365e-03 9.99519223e-01 -1.26935253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49719347 meters 0.06824637280802838 Centerline is valid? [True, True] Translation: X:119.24, Y:45.87, Z:-1.27 [[ 6.67350350e-01 -7.44439809e-01 -2.12810178e-02 1.19238993e+02] [ 7.44134974e-01 6.67687705e-01 -2.13604570e-02 4.58720928e+01] [ 3.01106484e-02 -1.58104114e-03 9.99545321e-01 -1.26907444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52719347 meters 0.06776922923530194 Centerline is valid? [True, True] Translation: X:119.25, Y:45.90, Z:-1.27 [[ 6.68191378e-01 -7.43701140e-01 -2.07098387e-02 1.19254872e+02] [ 7.43411717e-01 6.68510563e-01 -2.08001592e-02 4.58966851e+01] [ 2.93138480e-02 -1.49744967e-03 9.99569135e-01 -1.26897768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55719347 meters 0.0653437008208132 Centerline is valid? [True, True] Translation: X:119.27, Y:45.92, Z:-1.27 [[ 6.69830523e-01 -7.42229753e-01 -2.05442094e-02 1.19267554e+02] [ 7.41943868e-01 6.70144013e-01 -2.06469993e-02 4.59249858e+01] [ 2.90923961e-02 -1.41265982e-03 9.99575728e-01 -1.26648440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58719347 meters 0.0638170939199415 Centerline is valid? [True, True] Translation: X:119.27, Y:45.96, Z:-1.27 [[ 6.76084974e-01 -7.36538190e-01 -2.05085693e-02 1.19274990e+02] [ 7.36250602e-01 6.76394960e-01 -2.06133265e-02 4.59569119e+01] [ 2.90543951e-02 -1.16308621e-03 9.99577155e-01 -1.26847030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61719347 meters 0.0629481002400776 Centerline is valid? [True, True] Translation: X:119.29, Y:45.98, Z:-1.27 [[ 6.80866557e-01 -7.32144505e-01 -1.96253610e-02 1.19288841e+02] [ 7.31879205e-01 6.81148705e-01 -1.97299361e-02 4.59829386e+01] [ 2.78129535e-02 -9.29939978e-04 9.99612712e-01 -1.27045052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64719347 meters 0.059937244079427035 Centerline is valid? [True, True] Translation: X:119.30, Y:46.01, Z:-1.27 [[ 6.85445216e-01 -7.27890371e-01 -1.84516366e-02 1.19299942e+02] [ 7.27654223e-01 6.85693156e-01 -1.85533501e-02 4.60124359e+01] [ 2.61569658e-02 -7.09106172e-04 9.99657597e-01 -1.26607497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67719347 meters 0.058366591067085104 Centerline is valid? [True, True] Translation: X:119.31, Y:46.04, Z:-1.26 [[ 6.89990415e-01 -7.23620221e-01 -1.69411964e-02 1.19313674e+02] [ 7.23419569e-01 6.90198184e-01 -1.70468234e-02 4.60397538e+01] [ 2.40282091e-02 -4.93448279e-04 9.99711159e-01 -1.26450073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70719347 meters 0.056568337115577676 Centerline is valid? [True, True] Translation: X:119.32, Y:46.07, Z:-1.26 [[ 6.98111194e-01 -7.15892920e-01 -1.17510987e-02 1.19322246e+02] [ 7.15795257e-01 6.98210071e-01 -1.18256850e-02 4.60710864e+01] [ 1.66706596e-02 -1.55737660e-04 9.99861023e-01 -1.26087040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73719347 meters 0.05605299447606735 Centerline is valid? [True, True] Translation: X:119.34, Y:46.10, Z:-1.26 [[ 7.00897937e-01 -7.13175578e-01 -1.10759095e-02 1.19337170e+02] [ 7.13088325e-01 7.00985441e-01 -1.11558396e-02 4.60966781e+01] [ 1.57201237e-02 -7.89968173e-05 9.99876428e-01 -1.25847692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76719347 meters 0.0562555490359428 Centerline is valid? [True, True] Translation: X:119.35, Y:46.12, Z:-1.26 [[ 7.02954468e-01 -7.11162384e-01 -1.01528264e-02 1.19354271e+02] [ 7.11088855e-01 7.03027782e-01 -1.02262865e-02 4.61186700e+01] [ 1.44102693e-02 -3.09479302e-05 9.99896166e-01 -1.26177164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79719347 meters 0.05622617425913084 Centerline is valid? [True, True] Translation: X:119.37, Y:46.14, Z:-1.26 [[ 7.04641972e-01 -7.09487446e-01 -1.03564085e-02 1.19373603e+02] [ 7.09410606e-01 7.04718074e-01 -1.04416491e-02 4.61382204e+01] [ 1.47065672e-02 1.06781703e-05 9.99891853e-01 -1.26159522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82719347 meters 0.05633311046526513 Centerline is valid? [True, True] Translation: X:119.39, Y:46.16, Z:-1.26 [[ 7.05111914e-01 -7.09034440e-01 -9.34618574e-03 1.19394491e+02] [ 7.08971804e-01 7.05173852e-01 -9.42436234e-03 4.61572182e+01] [ 1.32728833e-02 1.90479984e-05 9.99911911e-01 -1.26320355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85719347 meters 0.05630634759289048 Centerline is valid? [True, True] Translation: X:119.41, Y:46.18, Z:-1.26 [[ 7.05827726e-01 -7.08321183e-01 -9.39799326e-03 1.19414314e+02] [ 7.08257668e-01 7.05890289e-01 -9.48557006e-03 4.61769675e+01] [ 1.33527824e-02 3.89775522e-05 9.99910847e-01 -1.26277976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88719347 meters 0.056553593356408256 Centerline is valid? [True, True] Translation: X:119.43, Y:46.20, Z:-1.26 [[ 7.07641069e-01 -7.06516089e-01 -8.89564773e-03 1.19432713e+02] [ 7.06459032e-01 7.07696977e-01 -8.97915403e-03 4.61971123e+01] [ 1.26393398e-02 6.96074709e-05 9.99920118e-01 -1.26302915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91719347 meters 0.05795137132431874 Centerline is valid? [True, True] Translation: X:119.45, Y:46.22, Z:-1.27 [[ 7.12619391e-01 -7.01410531e-01 -1.40310885e-02 1.19452778e+02] [ 7.01267391e-01 7.12757462e-01 -1.41720517e-02 4.62178206e+01] [ 1.99411893e-02 2.59734002e-04 9.99801121e-01 -1.26912939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94719347 meters 0.05934945319415151 Centerline is valid? [True, True] Translation: X:119.47, Y:46.24, Z:-1.28 [[ 7.14450667e-01 -6.99449440e-01 -1.81858467e-02 1.19473577e+02] [ 6.99208314e-01 7.14681967e-01 -1.83689857e-02 4.62361253e+01] [ 2.58452735e-02 4.08038915e-04 9.99665872e-01 -1.27643406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97719347 meters 0.05988948315001104 Centerline is valid? [True, True] Translation: X:119.50, Y:46.25, Z:-1.28 [[ 7.15409486e-01 -6.98425454e-01 -1.97775932e-02 1.19497620e+02] [ 6.98139460e-01 7.15682640e-01 -1.99913471e-02 4.62530563e+01] [ 2.81169458e-02 4.94481157e-04 9.99604518e-01 -1.28036487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00719347 meters 0.0596799250463809 Centerline is valid? [True, True] Translation: X:119.52, Y:46.27, Z:-1.28 [[ 7.15331223e-01 -6.98498321e-01 -2.00333895e-02 1.19522425e+02] [ 6.98204538e-01 7.15611514e-01 -2.02629001e-02 4.62689522e+01] [ 2.84897259e-02 5.07281647e-04 9.99593957e-01 -1.28022304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03719347 meters 0.059471206042044776 Centerline is valid? [True, True] Translation: X:119.55, Y:46.28, Z:-1.28 [[ 7.14418177e-01 -6.99501946e-01 -1.74268832e-02 1.19550816e+02] [ 6.99279748e-01 7.14630574e-01 -1.76345429e-02 4.62803875e+01] [ 2.47891806e-02 4.12171544e-04 9.99692616e-01 -1.27996760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06719347 meters 0.05941371709968081 Centerline is valid? [True, True] Translation: X:119.58, Y:46.30, Z:-1.28 [[ 7.13983555e-01 -6.99958095e-01 -1.69159063e-02 1.19575832e+02] [ 6.99748594e-01 7.14183807e-01 -1.71287548e-02 4.62966077e+01] [ 2.40704769e-02 3.92767553e-04 9.99710187e-01 -1.27957638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09719347 meters 0.05915672311611265 Centerline is valid? [True, True] Translation: X:119.60, Y:46.31, Z:-1.28 [[ 7.13309082e-01 -7.00643045e-01 -1.70140441e-02 1.19600439e+02] [ 7.00430994e-01 7.13511863e-01 -1.72407689e-02 4.63112068e+01] [ 2.42193471e-02 3.80833199e-04 9.99706596e-01 -1.27943136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12719347 meters 0.05915672311611265 Centerline is valid? [True, True] Translation: X:119.62, Y:46.33, Z:-1.28 [[ 7.13063222e-01 -7.00893408e-01 -1.70079956e-02 1.19619555e+02] [ 7.00681286e-01 7.13265929e-01 -1.72467365e-02 4.63309477e+01] [ 2.42193477e-02 3.80829238e-04 9.99706596e-01 -1.27965829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15719347 meters 0.058917667825267014 Centerline is valid? [True, True] Translation: X:119.64, Y:46.35, Z:-1.28 [[ 7.12501147e-01 -7.01463699e-01 -1.70526811e-02 1.19644891e+02] [ 7.01250321e-01 7.12705087e-01 -1.73045315e-02 4.63454568e+01] [ 2.42920333e-02 3.71300469e-04 9.99704836e-01 -1.27930320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18719347 meters 0.058419743446142626 Centerline is valid? [True, True] Translation: X:119.68, Y:46.35, Z:-1.28 [[ 7.11162188e-01 -7.02848722e-01 -1.58750374e-02 1.19677033e+02] [ 7.02663918e-01 7.11339285e-01 -1.61195320e-02 4.63536595e+01] [ 2.26221302e-02 3.08785631e-04 9.99744039e-01 -1.27862813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21719347 meters 0.05868327841981416 Centerline is valid? [True, True] Translation: X:119.70, Y:46.37, Z:-1.28 [[ 7.10215844e-01 -7.03798735e-01 -1.61491503e-02 1.19701629e+02] [ 7.03607665e-01 7.10399366e-01 -1.64010660e-02 4.63674927e+01] [ 2.30153956e-02 2.85630970e-04 9.99735070e-01 -1.28177759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24719347 meters 0.05854050417254179 Centerline is valid? [True, True] Translation: X:119.73, Y:46.38, Z:-1.28 [[ 7.09150649e-01 -7.04852528e-01 -1.69785505e-02 1.19728452e+02] [ 7.04641326e-01 7.09353818e-01 -1.72557695e-02 4.63812505e+01] [ 2.42065724e-02 2.73151727e-04 9.99706941e-01 -1.28269918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27719347 meters 0.05854703000528775 Centerline is valid? [True, True] Translation: X:119.75, Y:46.40, Z:-1.28 [[ 7.08764666e-01 -7.05229447e-01 -1.74377662e-02 1.19753959e+02] [ 7.05006509e-01 7.08979091e-01 -1.77333421e-02 4.63959558e+01] [ 2.48690867e-02 2.75027578e-04 9.99690679e-01 -1.28472440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30719347 meters 0.05853020941854076 Centerline is valid? [True, True] Translation: X:119.78, Y:46.41, Z:-1.28 [[ 7.08326602e-01 -7.05623688e-01 -1.91998930e-02 1.19779525e+02] [ 7.05353213e-01 7.08586708e-01 -1.95377361e-02 4.64113731e+01] [ 2.73910784e-02 2.96391994e-04 9.99624750e-01 -1.28495051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33719347 meters 0.059074713987487766 Centerline is valid? [True, True] Translation: X:119.81, Y:46.42, Z:-1.29 [[ 7.07897692e-01 -7.05999673e-01 -2.11026076e-02 1.19808239e+02] [ 7.05673015e-01 7.08212090e-01 -2.14762811e-02 4.64217288e+01] [ 3.01073693e-02 3.11469110e-04 9.99546622e-01 -1.28786128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36719347 meters 0.059244578768021555 Centerline is valid? [True, True] Translation: X:119.83, Y:46.44, Z:-1.29 [[ 7.07584919e-01 -7.06292893e-01 -2.17699530e-02 1.19834123e+02] [ 7.05944880e-01 7.07919661e-01 -2.21715830e-02 4.64367711e+01] [ 3.10710093e-02 3.19890842e-04 9.99517128e-01 -1.28920609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39719347 meters 0.05925915655076046 Centerline is valid? [True, True] Translation: X:119.86, Y:46.45, Z:-1.29 [[ 7.07466561e-01 -7.06402650e-01 -2.20535965e-02 1.19859805e+02] [ 7.06045346e-01 7.07810138e-01 -2.24672744e-02 4.64512628e+01] [ 3.14807013e-02 3.24006181e-04 9.99504307e-01 -1.28885599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42719347 meters 0.05866936589276929 Centerline is valid? [True, True] Translation: X:119.89, Y:46.46, Z:-1.29 [[ 7.06867910e-01 -7.07089171e-01 -1.90436939e-02 1.19890290e+02] [ 7.06822663e-01 7.07124342e-01 -1.94135848e-02 4.64623107e+01] [ 2.71933951e-02 2.62325637e-04 9.99630157e-01 -1.28517997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45719347 meters 0.058565835378957605 Centerline is valid? [True, True] Translation: X:119.91, Y:46.48, Z:-1.28 [[ 7.07222910e-01 -7.06774572e-01 -1.74774167e-02 1.19913585e+02] [ 7.06549897e-01 7.07438788e-01 -1.78214367e-02 4.64782592e+01] [ 2.49599408e-02 2.55061333e-04 9.99688420e-01 -1.28352544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48719347 meters 0.058241648734493924 Centerline is valid? [True, True] Translation: X:119.94, Y:46.49, Z:-1.28 [[ 7.07626187e-01 -7.06379802e-01 -1.71100600e-02 1.19937773e+02] [ 7.06164000e-01 7.07832961e-01 -1.74615511e-02 4.64942882e+01] [ 2.44455514e-02 2.73742464e-04 9.99701125e-01 -1.28036085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51719347 meters 0.058317044066074825 Centerline is valid? [True, True] Translation: X:119.96, Y:46.51, Z:-1.28 [[ 7.07806477e-01 -7.06222284e-01 -1.61269333e-02 1.19962054e+02] [ 7.06030330e-01 7.07990123e-01 -1.64669339e-02 4.65115333e+01] [ 2.30470252e-02 2.69298398e-04 9.99734346e-01 -1.28081053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54719347 meters 0.058315574926618034 Centerline is valid? [True, True] Translation: X:119.99, Y:46.52, Z:-1.28 [[ 7.05712661e-01 -7.08309223e-01 -1.63610919e-02 1.19990251e+02] [ 7.08112177e-01 7.05902261e-01 -1.67075449e-02 4.65232437e+01] [ 2.33834399e-02 2.05237533e-04 9.99726549e-01 -1.28152262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57719347 meters 0.05805277508650486 Centerline is valid? [True, True] Translation: X:120.02, Y:46.54, Z:-1.28 [[ 7.04172775e-01 -7.09833388e-01 -1.66512721e-02 1.20015581e+02] [ 7.09629362e-01 7.04369600e-01 -1.70186833e-02 4.65377447e+01] [ 2.38090795e-02 1.67861833e-04 9.99716510e-01 -1.27941363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60719347 meters 0.05800074248419341 Centerline is valid? [True, True] Translation: X:120.04, Y:46.55, Z:-1.28 [[ 7.02408549e-01 -7.11555054e-01 -1.76532018e-02 1.20041997e+02] [ 7.11326006e-01 7.02630337e-01 -1.80533552e-02 4.65527925e+01] [ 2.52496312e-02 1.23649504e-04 9.99681170e-01 -1.27943724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63719347 meters 0.057930869854872724 Centerline is valid? [True, True] Translation: X:120.07, Y:46.57, Z:-1.28 [[ 7.01461073e-01 -7.12466044e-01 -1.85606747e-02 1.20066922e+02] [ 7.12213110e-01 7.01706581e-01 -1.89831538e-02 4.65680303e+01] [ 2.65490001e-02 9.67876050e-05 9.99647508e-01 -1.27868579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66719347 meters 0.05794529569259841 Centerline is valid? [True, True] Translation: X:120.09, Y:46.58, Z:-1.28 [[ 6.99053600e-01 -7.14869875e-01 -1.68856700e-02 1.20094572e+02] [ 7.14660915e-01 6.99257507e-01 -1.72833503e-02 4.65806963e+01] [ 2.41627780e-02 1.44598271e-05 9.99708037e-01 -1.27982791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69719347 meters 0.05791302218798577 Centerline is valid? [True, True] Translation: X:120.12, Y:46.60, Z:-1.28 [[ 6.97900936e-01 -7.16017753e-01 -1.59015703e-02 1.20117563e+02] [ 7.15832519e-01 6.98082070e-01 -1.62858533e-02 4.65981248e+01] [ 2.27615612e-02 -1.69488485e-05 9.99740922e-01 -1.27916929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72719347 meters 0.05817619669504794 Centerline is valid? [True, True] Translation: X:120.14, Y:46.61, Z:-1.28 [[ 6.97759013e-01 -7.16082374e-01 -1.89312529e-02 1.20143888e+02] [ 7.15819703e-01 6.98015783e-01 -1.93937957e-02 4.66122783e+01] [ 2.71018686e-02 -1.91681169e-05 9.99632677e-01 -1.27979533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75719347 meters 0.05824802597099495 Centerline is valid? [True, True] Translation: X:120.17, Y:46.63, Z:-1.28 [[ 6.98510566e-01 -7.15301492e-01 -2.06582817e-02 1.20166171e+02] [ 7.14987918e-01 6.98815981e-01 -2.11778795e-02 4.66308745e+01] [ 2.95849062e-02 2.25508128e-05 9.99562271e-01 -1.28082057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78719347 meters 0.05837424828248659 Centerline is valid? [True, True] Translation: X:120.19, Y:46.65, Z:-1.28 [[ 7.00200160e-01 -7.13613296e-01 -2.18128378e-02 1.20186473e+02] [ 7.13262423e-01 7.00539829e-01 -2.23755140e-02 4.66511098e+01] [ 3.12482259e-02 1.09060944e-04 9.99511649e-01 -1.28194141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81719347 meters 0.05850286085446706 Centerline is valid? [True, True] Translation: X:120.21, Y:46.67, Z:-1.28 [[ 7.01475919e-01 -7.12332618e-01 -2.26666209e-02 1.20205925e+02] [ 7.11952586e-01 7.01842010e-01 -2.32660112e-02 4.66719172e+01] [ 3.24815254e-02 1.82987209e-04 9.99472319e-01 -1.28224608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84719347 meters 0.05862995210239809 Centerline is valid? [True, True] Translation: X:120.22, Y:46.69, Z:-1.28 [[ 7.03685187e-01 -7.10224565e-01 -2.02045977e-02 1.20224574e+02] [ 7.09921363e-01 7.03975142e-01 -2.07523032e-02 4.66934035e+01] [ 2.89623300e-02 2.59412819e-04 9.99580470e-01 -1.28234662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87719347 meters 0.05871200424326583 Centerline is valid? [True, True] Translation: X:120.24, Y:46.71, Z:-1.28 [[ 7.05068984e-01 -7.08862543e-01 -1.97894477e-02 1.20244364e+02] [ 7.08570726e-01 7.05346577e-01 -2.03404147e-02 4.67129852e+01] [ 2.83769773e-02 3.19172216e-04 9.99597242e-01 -1.28216942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90719347 meters 0.058538675226438346 Centerline is valid? [True, True] Translation: X:120.27, Y:46.73, Z:-1.28 [[ 7.04908116e-01 -7.09041879e-01 -1.90830302e-02 1.20270509e+02] [ 7.08770551e-01 7.05166309e-01 -1.96158737e-02 4.67269866e+01] [ 2.73651859e-02 3.01898768e-04 9.99625458e-01 -1.28168387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93719347 meters 0.05851680644704774 Centerline is valid? [True, True] Translation: X:120.30, Y:46.74, Z:-1.28 [[ 7.02562471e-01 -7.11312737e-01 -2.09800903e-02 1.20295301e+02] [ 7.10985312e-01 7.02875615e-01 -2.15813751e-02 4.67433526e+01] [ 3.00975008e-02 2.45728107e-04 9.99546937e-01 -1.28345586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96719347 meters 0.05855518341274498 Centerline is valid? [True, True] Translation: X:120.32, Y:46.76, Z:-1.29 [[ 7.00117424e-01 -7.13674000e-01 -2.24725386e-02 1.20320003e+02] [ 7.13299072e-01 7.00477976e-01 -2.31309159e-02 4.67599668e+01] [ 3.22494516e-02 1.64716311e-04 9.99479838e-01 -1.28535214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99719346999998 meters 0.058678925164524116 Centerline is valid? [True, True] Translation: X:120.34, Y:46.78, Z:-1.29 [[ 6.96755303e-01 -7.16947173e-01 -2.27771412e-02 1.20343841e+02] [ 7.16563185e-01 6.97127499e-01 -2.34617003e-02 4.67752535e+01] [ 3.26993712e-02 2.58032840e-05 9.99465232e-01 -1.28641096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02719347 meters 0.05925551820038975 Centerline is valid? [True, True] Translation: X:120.38, Y:46.78, Z:-1.29 [[ 6.88694343e-01 -7.24706277e-01 -2.23811102e-02 1.20375502e+02] [ 7.24339401e-01 6.89057837e-01 -2.30592836e-02 4.67833559e+01] [ 3.21330869e-02 -3.30721781e-04 9.99483544e-01 -1.28678096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05719347 meters 0.06032748015841822 Centerline is valid? [True, True] Translation: X:120.40, Y:46.80, Z:-1.29 [[ 6.84083177e-01 -7.29055809e-01 -2.25351841e-02 1.20401041e+02] [ 7.28685734e-01 6.84454052e-01 -2.32325541e-02 4.67970590e+01] [ 3.23621265e-02 -5.28067753e-04 9.99476070e-01 -1.28809644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08719347 meters 0.06116554121516025 Centerline is valid? [True, True] Translation: X:120.43, Y:46.81, Z:-1.29 [[ 6.79991429e-01 -7.32822477e-01 -2.41427652e-02 1.20425730e+02] [ 7.32399516e-01 6.80419473e-01 -2.49055932e-02 4.68135459e+01] [ 3.46785861e-02 -7.46559649e-04 9.99398238e-01 -1.28754295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11719347 meters 0.06275045000798846 Centerline is valid? [True, True] Translation: X:120.45, Y:46.83, Z:-1.29 [[ 6.76359435e-01 -7.36144449e-01 -2.50851530e-02 1.20449881e+02] [ 7.35689460e-01 6.76823807e-01 -2.58950544e-02 4.68290851e+01] [ 3.60407293e-02 -9.40518342e-04 9.99349879e-01 -1.29001898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14719347 meters 0.06522841610367791 Centerline is valid? [True, True] Translation: X:120.47, Y:46.84, Z:-1.29 [[ 6.71493979e-01 -7.40517103e-01 -2.70232549e-02 1.20474836e+02] [ 7.39992028e-01 6.72036340e-01 -2.79097801e-02 4.68427801e+01] [ 3.88282788e-02 -1.25574390e-03 9.99245109e-01 -1.29216175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17719347 meters 0.06580689665851015 Centerline is valid? [True, True] Translation: X:120.49, Y:46.86, Z:-1.29 [[ 6.70351329e-01 -7.41589453e-01 -2.59649435e-02 1.20494826e+02] [ 7.41104799e-01 6.70852825e-01 -2.68358929e-02 4.68623099e+01] [ 3.73198708e-02 -1.25326769e-03 9.99302585e-01 -1.29259332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20719347 meters 0.0645004191202784 Centerline is valid? [True, True] Translation: X:120.51, Y:46.89, Z:-1.29 [[ 6.70443259e-01 -7.41499323e-01 -2.61646895e-02 1.20511782e+02] [ 7.41006357e-01 6.70952462e-01 -2.70623852e-02 4.68856595e+01] [ 3.76220032e-02 -1.24440753e-03 9.99291267e-01 -1.28944766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23719347 meters 0.06448557512709033 Centerline is valid? [True, True] Translation: X:120.53, Y:46.91, Z:-1.29 [[ 6.71370151e-01 -7.40694171e-01 -2.51846405e-02 1.20530558e+02] [ 7.40236252e-01 6.71841380e-01 -2.60662756e-02 4.69065067e+01] [ 3.62272220e-02 -1.14246450e-03 9.99342926e-01 -1.28989758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26719347 meters 0.06300307291089112 Centerline is valid? [True, True] Translation: X:120.55, Y:46.93, Z:-1.29 [[ 6.73885933e-01 -7.38449117e-01 -2.38882728e-02 1.20545854e+02] [ 7.38035107e-01 6.74308524e-01 -2.47425917e-02 4.69307682e+01] [ 3.43792109e-02 -9.56699484e-04 9.99408402e-01 -1.28762611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29719347 meters 0.06172053962935223 Centerline is valid? [True, True] Translation: X:120.56, Y:46.96, Z:-1.29 [[ 6.75505257e-01 -7.36996136e-01 -2.30074464e-02 1.20560156e+02] [ 7.36610707e-01 6.75896436e-01 -2.38468859e-02 4.69562526e+01] [ 3.31257138e-02 -8.38834588e-04 9.99450841e-01 -1.28558167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32719347 meters 0.061998872577260715 Centerline is valid? [True, True] Translation: X:120.58, Y:46.98, Z:-1.29 [[ 6.77705864e-01 -7.34969672e-01 -2.31158889e-02 1.20575204e+02] [ 7.34579333e-01 6.78099574e-01 -2.39618556e-02 4.69799583e+01] [ 3.32861116e-02 -7.41364185e-04 9.99445589e-01 -1.29024978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35719347 meters 0.060953742819509986 Centerline is valid? [True, True] Translation: X:120.59, Y:47.01, Z:-1.29 [[ 6.79811870e-01 -7.32990703e-01 -2.40925334e-02 1.20588366e+02] [ 7.32564703e-01 6.80238338e-01 -2.49951762e-02 4.70057861e+01] [ 3.47098967e-02 -6.57322182e-04 9.99397214e-01 -1.28952792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38719347 meters 0.060207548923329184 Centerline is valid? [True, True] Translation: X:120.60, Y:47.03, Z:-1.29 [[ 6.85223897e-01 -7.27934962e-01 -2.40603914e-02 1.20601131e+02] [ 7.27506812e-01 6.85646071e-01 -2.49660616e-02 4.70315258e+01] [ 3.46705819e-02 -3.96756612e-04 9.99398716e-01 -1.29042906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41719347 meters 0.05970492025046042 Centerline is valid? [True, True] Translation: X:120.62, Y:47.06, Z:-1.29 [[ 6.87215182e-01 -7.26082964e-01 -2.32125656e-02 1.20617539e+02] [ 7.25682846e-01 6.87607047e-01 -2.41030389e-02 4.70555833e+01] [ 3.34619296e-02 -2.80986388e-04 9.99439953e-01 -1.28904153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44719347 meters 0.05955831224831909 Centerline is valid? [True, True] Translation: X:120.63, Y:47.08, Z:-1.29 [[ 6.88977897e-01 -7.24422586e-01 -2.28336170e-02 1.20632957e+02] [ 7.24034423e-01 6.89356134e-01 -2.37123540e-02 4.70798733e+01] [ 3.29182587e-02 -1.95036883e-04 9.99458028e-01 -1.29042873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47719347 meters 0.05942971982481938 Centerline is valid? [True, True] Translation: X:120.65, Y:47.10, Z:-1.29 [[ 6.89956759e-01 -7.23496968e-01 -2.26231912e-02 1.20648103e+02] [ 7.23114824e-01 6.90327545e-01 -2.35123968e-02 4.71040776e+01] [ 3.26285598e-02 -1.36627822e-04 9.99467537e-01 -1.28991831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50719347 meters 0.05927701166386414 Centerline is valid? [True, True] Translation: X:120.66, Y:47.13, Z:-1.29 [[ 6.92617254e-01 -7.20998966e-01 -2.10197615e-02 1.20661033e+02] [ 7.20667834e-01 6.92936138e-01 -2.18490622e-02 4.71300384e+01] [ 3.03185036e-02 -1.52284934e-05 9.99540288e-01 -1.29049031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53719347 meters 0.059087073143009476 Centerline is valid? [True, True] Translation: X:120.68, Y:47.15, Z:-1.29 [[ 6.93690924e-01 -7.19975209e-01 -2.07026662e-02 1.20678774e+02] [ 7.19653059e-01 6.93999782e-01 -2.15354938e-02 4.71526894e+01] [ 2.98726675e-02 4.02395406e-05 9.99553711e-01 -1.28828999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56719347 meters 0.05920680638729325 Centerline is valid? [True, True] Translation: X:120.70, Y:47.17, Z:-1.29 [[ 6.95425360e-01 -7.18334463e-01 -1.94722601e-02 1.20696065e+02] [ 7.18048773e-01 6.95697915e-01 -2.02576144e-02 4.71742944e+01] [ 2.80985533e-02 1.05626306e-04 9.99605152e-01 -1.28972232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59719347 meters 0.05910783870622028 Centerline is valid? [True, True] Translation: X:120.71, Y:47.20, Z:-1.29 [[ 6.97142319e-01 -7.16691663e-01 -1.85916010e-02 1.20713976e+02] [ 7.16430243e-01 6.97390156e-01 -1.93565839e-02 4.71960826e+01] [ 2.68383018e-02 1.74708575e-04 9.99639773e-01 -1.28842748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62719347 meters 0.05920417428959822 Centerline is valid? [True, True] Translation: X:120.73, Y:47.22, Z:-1.29 [[ 6.98780838e-01 -7.15120733e-01 -1.75407652e-02 1.20731414e+02] [ 7.14887236e-01 6.99000919e-01 -1.82744310e-02 4.72179312e+01] [ 2.53294355e-02 2.30153039e-04 9.99679132e-01 -1.28857756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65719347 meters 0.059858801813163706 Centerline is valid? [True, True] Translation: X:120.75, Y:47.24, Z:-1.29 [[ 7.02021990e-01 -7.11965387e-01 -1.64442710e-02 1.20746447e+02] [ 7.11759029e-01 7.02214482e-01 -1.71437110e-02 4.72425186e+01] [ 2.37531341e-02 3.30903740e-04 9.99717800e-01 -1.29024266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68719347 meters 0.05999820318624736 Centerline is valid? [True, True] Translation: X:120.76, Y:47.26, Z:-1.29 [[ 7.03063970e-01 -7.10910826e-01 -1.75171673e-02 1.20764909e+02] [ 7.10676300e-01 7.03282052e-01 -1.82634118e-02 4.72639781e+01] [ 2.53031665e-02 3.91311143e-04 9.99679747e-01 -1.28929620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71719347 meters 0.06142274755702168 Centerline is valid? [True, True] Translation: X:120.78, Y:47.29, Z:-1.30 [[ 7.04114325e-01 -7.09817874e-01 -1.95346649e-02 1.20782030e+02] [ 7.09525465e-01 7.04385084e-01 -2.03781054e-02 4.72865100e+01] [ 2.82246700e-02 4.88173712e-04 9.99601485e-01 -1.29686696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74719346999998 meters 0.061290091156051225 Centerline is valid? [True, True] Translation: X:120.81, Y:47.30, Z:-1.30 [[ 7.04653047e-01 -7.09190777e-01 -2.26390155e-02 1.20809140e+02] [ 7.08797185e-01 7.05016364e-01 -2.36321015e-02 4.73005024e+01] [ 3.27205448e-02 6.05961914e-04 9.99464356e-01 -1.29615232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77719347 meters 0.06109095320962915 Centerline is valid? [True, True] Translation: X:120.83, Y:47.32, Z:-1.29 [[ 7.04945416e-01 -7.08899117e-01 -2.26716063e-02 1.20833943e+02] [ 7.08503748e-01 7.05309608e-01 -2.36811153e-02 4.73170940e+01] [ 3.27780235e-02 6.30975640e-04 9.99462457e-01 -1.29471770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80719347 meters 0.06257222853912235 Centerline is valid? [True, True] Translation: X:120.85, Y:47.34, Z:-1.30 [[ 7.05364350e-01 -7.08507766e-01 -2.18604513e-02 1.20853341e+02] [ 7.08139912e-01 7.05702736e-01 -2.28366543e-02 4.73370340e+01] [ 3.16069272e-02 6.27903718e-04 9.99500179e-01 -1.30196843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83719347 meters 0.06134024834205853 Centerline is valid? [True, True] Translation: X:120.88, Y:47.36, Z:-1.29 [[ 7.06099591e-01 -7.07800698e-01 -2.10128487e-02 1.20876722e+02] [ 7.07460032e-01 7.06411888e-01 -2.19669407e-02 4.73550058e+01] [ 3.03919421e-02 6.45097229e-04 9.99537850e-01 -1.29432701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86719347 meters 0.061615362959323 Centerline is valid? [True, True] Translation: X:120.90, Y:47.38, Z:-1.29 [[ 7.08277337e-01 -7.05661970e-01 -1.96060861e-02 1.20895967e+02] [ 7.05364141e-01 7.08548302e-01 -2.05117573e-02 4.73755822e+01] [ 2.83662261e-02 6.98582723e-04 9.99597354e-01 -1.29321238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89719347 meters 0.06169946840135814 Centerline is valid? [True, True] Translation: X:120.92, Y:47.39, Z:-1.29 [[ 7.08858331e-01 -7.05142538e-01 -1.71425654e-02 1.20915955e+02] [ 7.04914673e-01 7.09065303e-01 -1.79359889e-02 4.73945085e+01] [ 2.48026270e-02 6.30029294e-04 9.99692169e-01 -1.29254823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92719347 meters 0.061216822438586053 Centerline is valid? [True, True] Translation: X:120.94, Y:47.41, Z:-1.29 [[ 7.07665782e-01 -7.06379629e-01 -1.53935485e-02 1.20938963e+02] [ 7.06195909e-01 7.07832984e-01 -1.61184749e-02 4.74120078e+01] [ 2.22818236e-02 5.35632175e-04 9.99751586e-01 -1.29115679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95719347 meters 0.060620523288965576 Centerline is valid? [True, True] Translation: X:120.96, Y:47.43, Z:-1.29 [[ 7.05257651e-01 -7.08823466e-01 -1.34513933e-02 1.20964364e+02] [ 7.08683467e-01 7.05385801e-01 -1.40930994e-02 4.74285043e+01] [ 1.94779414e-02 4.06486119e-04 9.99810204e-01 -1.28988755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98719347 meters 0.060620523288965576 Centerline is valid? [True, True] Translation: X:120.98, Y:47.45, Z:-1.29 [[ 7.05007803e-01 -7.09072071e-01 -1.34460248e-02 1.20983220e+02] [ 7.08932019e-01 7.05135897e-01 -1.40982223e-02 4.74485944e+01] [ 1.94779304e-02 4.07039207e-04 9.99810204e-01 -1.29011455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01719347 meters 0.05978789080147602 Centerline is valid? [True, True] Translation: X:121.01, Y:47.46, Z:-1.29 [[ 7.01586553e-01 -7.12495061e-01 -1.12736882e-02 1.21009132e+02] [ 7.12396914e-01 7.01677074e-01 -1.18288119e-02 4.74620087e+01] [ 1.63384587e-02 2.67594707e-04 9.99866483e-01 -1.28946049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04719347 meters 0.05841913523548466 Centerline is valid? [True, True] Translation: X:121.04, Y:47.47, Z:-1.29 [[ 6.92096208e-01 -7.21741722e-01 -9.57738806e-03 1.21043800e+02] [ 7.21671660e-01 6.92162470e-01 -1.00563618e-02 4.74679783e+01] [ 1.38872044e-02 4.82403213e-05 9.99903567e-01 -1.28680258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07719347 meters 0.05845937717740654 Centerline is valid? [True, True] Translation: X:121.07, Y:47.48, Z:-1.29 [[ 6.87391923e-01 -7.26225111e-01 -9.45686668e-03 1.21068684e+02] [ 7.26157140e-01 6.87456971e-01 -9.93585031e-03 4.74817085e+01] [ 1.37168529e-02 -3.73480084e-05 9.99905919e-01 -1.28854628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10719347 meters 0.05879268643926002 Centerline is valid? [True, True] Translation: X:121.09, Y:47.50, Z:-1.29 [[ 6.83215085e-01 -7.30165139e-01 -8.71879492e-03 1.21092663e+02] [ 7.30107593e-01 6.83270707e-01 -9.16753624e-03 4.74977843e+01] [ 1.26511125e-02 -1.02259323e-04 9.99919966e-01 -1.28881204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13719347 meters 0.05936184215397949 Centerline is valid? [True, True] Translation: X:121.11, Y:47.51, Z:-1.29 [[ 6.80974740e-01 -7.32256214e-01 -8.61628122e-03 1.21114700e+02] [ 7.32200173e-01 6.81029234e-01 -9.06036332e-03 4.75148415e+01] [ 1.25024467e-02 -1.38964042e-04 9.99921832e-01 -1.29099751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16719347 meters 0.05976529289603064 Centerline is valid? [True, True] Translation: X:121.14, Y:47.53, Z:-1.29 [[ 6.79354223e-01 -7.33747220e-01 -9.63618971e-03 1.21135161e+02] [ 7.33677169e-01 6.79422537e-01 -1.01403903e-02 4.75347752e+01] [ 1.39875276e-02 -1.80935423e-04 9.99902153e-01 -1.29294823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19719347 meters 0.059873711582536494 Centerline is valid? [True, True] Translation: X:121.15, Y:47.56, Z:-1.29 [[ 6.79846134e-01 -7.33279118e-01 -1.05342111e-02 1.21154351e+02] [ 7.33195233e-01 6.79927718e-01 -1.10927173e-02 4.75557134e+01] [ 1.52965601e-02 -1.82292379e-04 9.99882984e-01 -1.29442331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22719347 meters 0.05982411278915539 Centerline is valid? [True, True] Translation: X:121.17, Y:47.58, Z:-1.29 [[ 6.80310655e-01 -7.32858452e-01 -9.79299221e-03 1.21173979e+02] [ 7.32785823e-01 6.80381118e-01 -1.03185517e-02 4.75767014e+01] [ 1.42250048e-02 -1.56345174e-04 9.99898807e-01 -1.29482055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25719347 meters 0.05985277774483174 Centerline is valid? [True, True] Translation: X:121.19, Y:47.60, Z:-1.30 [[ 6.79811314e-01 -7.33328342e-01 -9.28015244e-03 1.21192027e+02] [ 7.33263086e-01 6.79874635e-01 -9.78404960e-03 4.75965622e+01] [ 1.34842611e-02 -1.53485601e-04 9.99909071e-01 -1.29530667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28719347 meters 0.06059228735639358 Centerline is valid? [True, True] Translation: X:121.21, Y:47.62, Z:-1.29 [[ 6.75925482e-01 -7.36923774e-01 -8.25193356e-03 1.21212814e+02] [ 7.36872378e-01 6.75975823e-01 -8.70554534e-03 4.76171737e+01] [ 1.19934309e-02 -1.96321972e-04 9.99928057e-01 -1.29397082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31719347 meters 0.06074104861043611 Centerline is valid? [True, True] Translation: X:121.23, Y:47.64, Z:-1.29 [[ 6.73165620e-01 -7.39448285e-01 -8.01760334e-03 1.21233475e+02] [ 7.39399879e-01 6.73213325e-01 -8.46393803e-03 4.76379485e+01] [ 1.16562019e-02 -2.30582851e-04 9.99932038e-01 -1.29257849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34719347 meters 0.06277285397554826 Centerline is valid? [True, True] Translation: X:121.26, Y:47.65, Z:-1.29 [[ 6.65856271e-01 -7.46031837e-01 -8.48086374e-03 1.21256786e+02] [ 7.45978133e-01 6.65910180e-01 -8.95863418e-03 4.76546017e+01] [ 1.23309198e-02 -3.61376152e-04 9.99923906e-01 -1.29204117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37719347 meters 0.06528577273126088 Centerline is valid? [True, True] Translation: X:121.28, Y:47.67, Z:-1.29 [[ 6.62255415e-01 -7.49235497e-01 -7.99598691e-03 1.21278530e+02] [ 7.49187958e-01 6.62303567e-01 -8.44920393e-03 4.76717270e+01] [ 1.16262142e-02 -3.94966045e-04 9.99932335e-01 -1.29488433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40719347 meters 0.06582754945963383 Centerline is valid? [True, True] Translation: X:121.30, Y:47.69, Z:-1.30 [[ 6.58820088e-01 -7.52256340e-01 -8.15419255e-03 1.21295867e+02] [ 7.52207046e-01 6.58870393e-01 -8.62356608e-03 4.76945517e+01] [ 1.18596883e-02 -4.52262526e-04 9.99929569e-01 -1.29520595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43719347 meters 0.06882977986676142 Centerline is valid? [True, True] Translation: X:121.32, Y:47.71, Z:-1.30 [[ 6.55516517e-01 -7.55145068e-01 -7.34994848e-03 1.21316823e+02] [ 7.55105173e-01 6.55557565e-01 -7.77545710e-03 4.77123532e+01] [ 1.06899124e-02 -4.53043562e-04 9.99942759e-01 -1.29730132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46719347 meters 0.06874018698922882 Centerline is valid? [True, True] Translation: X:121.33, Y:47.74, Z:-1.30 [[ 6.52435928e-01 -7.57801074e-01 -8.05554224e-03 1.21333642e+02] [ 7.57753269e-01 6.52485434e-01 -8.52892543e-03 4.77352903e+01] [ 1.17193528e-02 -5.39536084e-04 9.99931180e-01 -1.29691966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49719346999998 meters 0.07171684914515342 Centerline is valid? [True, True] Translation: X:121.35, Y:47.76, Z:-1.30 [[ 6.48082761e-01 -7.61514129e-01 -9.21769970e-03 1.21351824e+02] [ 7.61451861e-01 6.48147940e-01 -9.76271078e-03 4.77560894e+01] [ 1.34088753e-02 -6.91790040e-04 9.99909858e-01 -1.29954969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52719347 meters 0.07264203013764173 Centerline is valid? [True, True] Translation: X:121.37, Y:47.78, Z:-1.30 [[ 6.47399389e-01 -7.62087383e-01 -9.84133614e-03 1.21368051e+02] [ 7.62016361e-01 6.47473756e-01 -1.04307902e-02 4.77780093e+01] [ 1.43211805e-02 -7.46371951e-04 9.99897168e-01 -1.30140355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55719347 meters 0.07304059616808868 Centerline is valid? [True, True] Translation: X:121.38, Y:47.80, Z:-1.30 [[ 6.47418227e-01 -7.62051239e-01 -1.12937296e-02 1.21383911e+02] [ 7.61957576e-01 6.47516166e-01 -1.19777553e-02 4.78018811e+01] [ 1.64405358e-02 -8.50725683e-04 9.99864483e-01 -1.30325315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58719347 meters 0.07213371795057774 Centerline is valid? [True, True] Translation: X:121.40, Y:47.83, Z:-1.30 [[ 6.47379515e-01 -7.62080374e-01 -1.15440927e-02 1.21397809e+02] [ 7.61982364e-01 6.47481857e-01 -1.22523963e-02 4.78278257e+01] [ 1.68119013e-02 -8.64444673e-04 9.99858296e-01 -1.30306372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61719347 meters 0.07058340465420927 Centerline is valid? [True, True] Translation: X:121.40, Y:47.86, Z:-1.30 [[ 6.49598128e-01 -7.60185981e-01 -1.18130159e-02 1.21404037e+02] [ 7.60082908e-01 6.49705000e-01 -1.25453666e-02 4.78613214e+01] [ 1.72117874e-02 -8.29424801e-04 9.99851522e-01 -1.30384914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64719347 meters 0.06862250993009489 Centerline is valid? [True, True] Translation: X:121.41, Y:47.89, Z:-1.30 [[ 6.51134598e-01 -7.58869735e-01 -1.18515879e-02 1.21414208e+02] [ 7.58765632e-01 6.51241966e-01 -1.25943657e-02 4.78919172e+01] [ 1.72757344e-02 -7.91950281e-04 9.99850450e-01 -1.30345283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67719347 meters 0.06832628487368687 Centerline is valid? [True, True] Translation: X:121.43, Y:47.92, Z:-1.30 [[ 6.52283532e-01 -7.57883305e-01 -1.17936395e-02 1.21427559e+02] [ 7.57779914e-01 6.52389702e-01 -1.25410720e-02 4.79184751e+01] [ 1.71987180e-02 -7.56648356e-04 9.99851805e-01 -1.30380047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70719347 meters 0.06841739493906504 Centerline is valid? [True, True] Translation: X:121.44, Y:47.95, Z:-1.31 [[ 6.54213155e-01 -7.56209593e-01 -1.23369583e-02 1.21439431e+02] [ 7.56096153e-01 6.54329043e-01 -1.31191194e-02 4.79453699e+01] [ 1.79932341e-02 -7.45226240e-04 9.99837831e-01 -1.30617324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73719347 meters 0.06756490826061767 Centerline is valid? [True, True] Translation: X:121.45, Y:47.97, Z:-1.31 [[ 6.54972924e-01 -7.55553106e-01 -1.22463342e-02 1.21454022e+02] [ 7.55441018e-01 6.55087012e-01 -1.30336385e-02 4.79707584e+01] [ 1.78700205e-02 -7.14702820e-04 9.99840063e-01 -1.30608831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76719347 meters 0.06717624945608054 Centerline is valid? [True, True] Translation: X:121.47, Y:48.00, Z:-1.31 [[ 6.55737899e-01 -7.54890708e-01 -1.21583844e-02 1.21467927e+02] [ 7.54779964e-01 6.55850248e-01 -1.29483218e-02 4.79967222e+01] [ 1.77486472e-02 -6.86199629e-04 9.99842245e-01 -1.30695577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79719347 meters 0.0663132202095723 Centerline is valid? [True, True] Translation: X:121.48, Y:48.02, Z:-1.31 [[ 6.57113075e-01 -7.53698802e-01 -1.18542411e-02 1.21480932e+02] [ 7.53593191e-01 6.57219686e-01 -1.26327407e-02 4.80245289e+01] [ 1.73121222e-02 -6.32136249e-04 9.99849934e-01 -1.30751199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82719347 meters 0.06604733064363097 Centerline is valid? [True, True] Translation: X:121.50, Y:48.05, Z:-1.31 [[ 6.59113645e-01 -7.51938995e-01 -1.25279647e-02 1.21495218e+02] [ 7.51820567e-01 6.59232410e-01 -1.33590545e-02 4.80499919e+01] [ 1.83040344e-02 -6.13646432e-04 9.99832279e-01 -1.30848478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85719347 meters 0.06346400415289004 Centerline is valid? [True, True] Translation: X:121.50, Y:48.08, Z:-1.30 [[ 6.63478195e-01 -7.48141648e-01 -8.98663308e-03 1.21503945e+02] [ 7.48080260e-01 6.63538956e-01 -9.59054538e-03 4.80806251e+01] [ 1.31380676e-02 -3.59605073e-04 9.99913627e-01 -1.30297567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88719347 meters 0.062375717610996084 Centerline is valid? [True, True] Translation: X:121.52, Y:48.11, Z:-1.30 [[ 6.65451951e-01 -7.46411722e-01 -6.57584442e-03 1.21517423e+02] [ 7.46378710e-01 6.65484400e-01 -7.02387118e-03 4.81064643e+01] [ 9.61882166e-03 -2.34021495e-04 9.99953711e-01 -1.29994120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91719347 meters 0.06184173543653249 Centerline is valid? [True, True] Translation: X:121.53, Y:48.13, Z:-1.30 [[ 6.67241237e-01 -7.44825734e-01 -4.87423437e-03 1.21530797e+02] [ 7.44807557e-01 6.67259021e-01 -5.20591416e-03 4.81315231e+01] [ 7.12987569e-03 -1.56765997e-04 9.99974570e-01 -1.29895672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94719347 meters 0.06123301776867603 Centerline is valid? [True, True] Translation: X:121.54, Y:48.16, Z:-1.30 [[ 6.68221081e-01 -7.43946982e-01 -4.84516362e-03 1.21544247e+02] [ 7.43928957e-01 6.68238631e-01 -5.18062225e-03 4.81578245e+01] [ 7.09183379e-03 -1.42656518e-04 9.99974842e-01 -1.29840048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97719347 meters 0.06059370544569127 Centerline is valid? [True, True] Translation: X:121.55, Y:48.19, Z:-1.30 [[ 6.72090927e-01 -7.40446128e-01 -5.77211204e-03 1.21554671e+02] [ 7.40420421e-01 6.72115701e-01 -6.17118831e-03 4.81859441e+01] [ 8.44895962e-03 -1.26189952e-04 9.99964299e-01 -1.30155024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00719347 meters 0.059861225148065945 Centerline is valid? [True, True] Translation: X:121.57, Y:48.21, Z:-1.30 [[ 6.75695159e-01 -7.37150353e-01 -6.73860687e-03 1.21569083e+02] [ 7.37115094e-01 6.75728753e-01 -7.21043527e-03 4.82122002e+01] [ 9.86864533e-03 -9.50726282e-05 9.99951299e-01 -1.30200729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03719347 meters 0.05913229169670884 Centerline is valid? [True, True] Translation: X:121.58, Y:48.24, Z:-1.30 [[ 6.79093603e-01 -7.34032057e-01 -5.36813688e-03 1.21582720e+02] [ 7.34009550e-01 6.79114819e-01 -5.74828604e-03 4.82382009e+01] [ 7.86500753e-03 -3.66394519e-05 9.99969070e-01 -1.30235847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06719347 meters 0.05882795950070754 Centerline is valid? [True, True] Translation: X:121.60, Y:48.26, Z:-1.30 [[ 6.82327068e-01 -7.31032421e-01 -4.62295175e-03 1.21596618e+02] [ 7.31015635e-01 6.82342728e-01 -4.95397438e-03 4.82641781e+01] [ 6.77595339e-03 7.80797955e-07 9.99977043e-01 -1.30133251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09719347 meters 0.05891261325527269 Centerline is valid? [True, True] Translation: X:121.61, Y:48.29, Z:-1.30 [[ 6.86900679e-01 -7.26737959e-01 -4.40421187e-03 1.21607715e+02] [ 7.26722636e-01 6.86914797e-01 -4.71942222e-03 4.82925672e+01] [ 6.45510157e-03 4.11338682e-05 9.99979165e-01 -1.30089479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12719347 meters 0.058995088623579356 Centerline is valid? [True, True] Translation: X:121.63, Y:48.32, Z:-1.30 [[ 6.88176494e-01 -7.25521339e-01 -5.64796827e-03 1.21625881e+02] [ 7.25496054e-01 6.88199667e-01 -6.05751151e-03 4.83153922e+01] [ 8.28178374e-03 7.10583366e-05 9.99965703e-01 -1.30196560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15719347 meters 0.059807552080077396 Centerline is valid? [True, True] Translation: X:121.64, Y:48.34, Z:-1.31 [[ 6.91829313e-01 -7.22004763e-01 -9.01802181e-03 1.21641459e+02] [ 7.21939965e-01 6.91888061e-01 -9.67460653e-03 4.83389952e+01] [ 1.32245736e-02 1.82706044e-04 9.99912535e-01 -1.30734307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18719347 meters 0.060512613894998804 Centerline is valid? [True, True] Translation: X:121.66, Y:48.36, Z:-1.31 [[ 6.93948070e-01 -7.19964204e-01 -9.36062402e-03 1.21658653e+02] [ 7.19894202e-01 6.94011162e-01 -1.00422130e-02 4.83610668e+01] [ 1.37264115e-02 2.30115393e-04 9.99905762e-01 -1.31099536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21719347 meters 0.06101036034482186 Centerline is valid? [True, True] Translation: X:121.68, Y:48.38, Z:-1.31 [[ 6.95618922e-01 -7.18335686e-01 -1.03999082e-02 1.21679145e+02] [ 7.18248959e-01 6.95696596e-01 -1.11659859e-02 4.83816074e+01] [ 1.52561068e-02 2.97547837e-04 9.99883575e-01 -1.31220471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24719346999998 meters 0.06076350011292566 Centerline is valid? [True, True] Translation: X:121.70, Y:48.40, Z:-1.31 [[ 6.96305107e-01 -7.17676242e-01 -1.00004965e-02 1.21701655e+02] [ 7.17595878e-01 6.96376851e-01 -1.07441681e-02 4.83998958e+01] [ 1.46749484e-02 3.04904049e-04 9.99892271e-01 -1.31149076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27719347 meters 0.06074340974843168 Centerline is valid? [True, True] Translation: X:121.72, Y:48.42, Z:-1.31 [[ 6.96136749e-01 -7.17850311e-01 -9.19551336e-03 1.21724663e+02] [ 7.17782380e-01 6.96197424e-01 -9.87935741e-03 4.84162948e+01] [ 1.34937925e-02 2.77006282e-04 9.99908916e-01 -1.31143468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30719347 meters 0.06082363940334898 Centerline is valid? [True, True] Translation: X:121.75, Y:48.43, Z:-1.31 [[ 6.95677711e-01 -7.18294786e-01 -9.22622987e-03 1.21746682e+02] [ 7.18226305e-01 6.95738833e-01 -9.92221791e-03 4.84345114e+01] [ 1.35461238e-02 2.76144848e-04 9.99908209e-01 -1.31227418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33719347 meters 0.060493092190678895 Centerline is valid? [True, True] Translation: X:121.77, Y:48.45, Z:-1.31 [[ 6.94987053e-01 -7.18966517e-01 -8.95224644e-03 1.21770995e+02] [ 7.18902024e-01 6.95044660e-01 -9.63330393e-03 4.84507883e+01] [ 1.31482341e-02 2.59233432e-04 9.99913525e-01 -1.31089699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36719347 meters 0.06098527212739278 Centerline is valid? [True, True] Translation: X:121.79, Y:48.47, Z:-1.31 [[ 6.94581932e-01 -7.19356693e-01 -9.04920471e-03 1.21793000e+02] [ 7.19290796e-01 6.94640830e-01 -9.73999930e-03 4.84670926e+01] [ 1.32924808e-02 2.56217875e-04 9.99911618e-01 -1.31369675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39719347 meters 0.06022243731424993 Centerline is valid? [True, True] Translation: X:121.82, Y:48.48, Z:-1.31 [[ 6.93229378e-01 -7.20647616e-01 -1.00021180e-02 1.21819366e+02] [ 7.20567107e-01 6.93301481e-01 -1.07750037e-02 4.84808571e+01] [ 1.46994640e-02 2.62351846e-04 9.99891923e-01 -1.31289813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42719347 meters 0.0600023219803042 Centerline is valid? [True, True] Translation: X:121.85, Y:48.49, Z:-1.32 [[ 6.90170213e-01 -7.23566380e-01 -1.08060676e-02 1.21850317e+02] [ 7.23472734e-01 6.90254769e-01 -1.16428847e-02 4.84896502e+01] [ 1.58833396e-02 2.17676983e-04 9.99873828e-01 -1.31538752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45719347 meters 0.05985740231175913 Centerline is valid? [True, True] Translation: X:121.88, Y:48.50, Z:-1.32 [[ 6.87767690e-01 -7.25836529e-01 -1.17020643e-02 1.21875000e+02] [ 7.25726853e-01 6.87867210e-01 -1.26188989e-02 4.85047676e+01] [ 1.72087241e-02 1.86368711e-04 9.99851902e-01 -1.31778007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48719347 meters 0.05986925852569908 Centerline is valid? [True, True] Translation: X:121.90, Y:48.52, Z:-1.32 [[ 6.85678596e-01 -7.27811598e-01 -1.16250592e-02 1.21900318e+02] [ 7.27703515e-01 6.85777120e-01 -1.25433531e-02 4.85203858e+01] [ 1.71013975e-02 1.41112278e-04 9.99853750e-01 -1.31893682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51719347 meters 0.0598335893848012 Centerline is valid? [True, True] Translation: X:121.93, Y:48.53, Z:-1.32 [[ 6.81517437e-01 -7.31691196e-01 -1.27269757e-02 1.21930688e+02] [ 7.31562172e-01 6.81636259e-01 -1.37403814e-02 4.85294089e+01] [ 1.87288842e-02 5.37355022e-05 9.99824598e-01 -1.31999825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54719347 meters 0.059736600339143825 Centerline is valid? [True, True] Translation: X:121.96, Y:48.54, Z:-1.32 [[ 6.78738147e-01 -7.34281449e-01 -1.20532659e-02 1.21956259e+02] [ 7.34165972e-01 6.78845161e-01 -1.30220167e-02 4.85440887e+01] [ 1.77441266e-02 -1.05581569e-05 9.99842561e-01 -1.31915177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57719347 meters 0.05975281765074212 Centerline is valid? [True, True] Translation: X:121.98, Y:48.56, Z:-1.32 [[ 6.75645686e-01 -7.37125403e-01 -1.22084798e-02 1.21981800e+02] [ 7.37007251e-01 6.75755972e-01 -1.31976446e-02 4.85592095e+01] [ 1.79782722e-02 -8.08065020e-05 9.99838375e-01 -1.31661147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60719347 meters 0.060472703622357175 Centerline is valid? [True, True] Translation: X:122.01, Y:48.57, Z:-1.32 [[ 6.72497295e-01 -7.40010387e-01 -1.14897980e-02 1.22006657e+02] [ 7.39906016e-01 6.72595426e-01 -1.24289916e-02 4.85727406e+01] [ 1.69255685e-02 -1.42907422e-04 9.99856742e-01 -1.31860480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63719347 meters 0.06143510599418267 Centerline is valid? [True, True] Translation: X:122.03, Y:48.59, Z:-1.32 [[ 6.68656201e-01 -7.43470216e-01 -1.22850688e-02 1.22031814e+02] [ 7.43351366e-01 6.68769003e-01 -1.32953903e-02 4.85880602e+01] [ 1.81005999e-02 -2.42077520e-04 9.99836141e-01 -1.31976399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66719347 meters 0.06296287845508829 Centerline is valid? [True, True] Translation: X:122.06, Y:48.60, Z:-1.32 [[ 6.61372564e-01 -7.49941751e-01 -1.31795761e-02 1.22060245e+02] [ 7.49806037e-01 6.61503722e-01 -1.42734972e-02 4.86007094e+01] [ 1.94226302e-02 -4.42026312e-04 9.99811265e-01 -1.31807821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69719347 meters 0.06434098554901965 Centerline is valid? [True, True] Translation: X:122.09, Y:48.62, Z:-1.32 [[ 6.57073072e-01 -7.53737777e-01 -1.15905745e-02 1.22085593e+02] [ 7.53633302e-01 6.57175114e-01 -1.25584803e-02 4.86154389e+01] [ 1.70828381e-02 -4.83203735e-04 9.99853961e-01 -1.31599604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72719347 meters 0.06613951143729524 Centerline is valid? [True, True] Translation: X:122.11, Y:48.63, Z:-1.32 [[ 6.52833921e-01 -7.57424331e-01 -1.07821475e-02 1.22111006e+02] [ 7.57334296e-01 6.52922735e-01 -1.16904303e-02 4.86316223e+01] [ 1.58945256e-02 -5.33780627e-04 9.99873532e-01 -1.31523791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75719347 meters 0.06791985462821551 Centerline is valid? [True, True] Translation: X:122.13, Y:48.65, Z:-1.32 [[ 6.49482593e-01 -7.60294481e-01 -1.11652904e-02 1.22133995e+02] [ 7.60198205e-01 6.49578262e-01 -1.21148537e-02 4.86483940e+01] [ 1.64635864e-02 -6.19447122e-04 9.99864274e-01 -1.31635110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78719347 meters 0.07126159008146138 Centerline is valid? [True, True] Translation: X:122.16, Y:48.67, Z:-1.32 [[ 6.43367207e-01 -7.65461896e-01 -1.21129645e-02 1.22156583e+02] [ 7.65349337e-01 6.43480716e-01 -1.31514832e-02 4.86657952e+01] [ 1.78614184e-02 -8.09416337e-04 9.99840145e-01 -1.31767968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81719347 meters 0.07201688291464346 Centerline is valid? [True, True] Translation: X:122.17, Y:48.69, Z:-1.32 [[ 6.41516651e-01 -7.67011409e-01 -1.22427199e-02 1.22174795e+02] [ 7.66896632e-01 6.41632886e-01 -1.32964391e-02 4.86871071e+01] [ 1.80538522e-02 -8.59013576e-04 9.99836647e-01 -1.31804190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84719347 meters 0.07356154103127735 Centerline is valid? [True, True] Translation: X:122.19, Y:48.71, Z:-1.32 [[ 6.40106989e-01 -7.68205949e-01 -1.10753209e-02 1.22192859e+02] [ 7.68112052e-01 6.40202294e-01 -1.20373554e-02 4.87073732e+01] [ 1.63376138e-02 -8.01892157e-04 9.99866211e-01 -1.31821567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87719347 meters 0.07067532858972134 Centerline is valid? [True, True] Translation: X:122.20, Y:48.74, Z:-1.31 [[ 6.38889320e-01 -7.69225321e-01 -1.06227423e-02 1.22204857e+02] [ 7.69138960e-01 6.38977138e-01 -1.15531998e-02 4.87351153e+01] [ 1.56747033e-02 -7.89148991e-04 9.99876833e-01 -1.31423693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90719347 meters 0.07416802512319469 Centerline is valid? [True, True] Translation: X:122.22, Y:48.76, Z:-1.32 [[ 6.39095962e-01 -7.69047715e-01 -1.10437389e-02 1.22220711e+02] [ 7.68954227e-01 6.39190859e-01 -1.20184460e-02 4.87567647e+01] [ 1.63018154e-02 -8.11189398e-04 9.99866788e-01 -1.31820908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93719347 meters 0.07416802512319469 Centerline is valid? [True, True] Translation: X:122.24, Y:48.78, Z:-1.32 [[ 6.38842110e-01 -7.69258659e-01 -1.10396789e-02 1.22239179e+02] [ 7.69165138e-01 6.38936975e-01 -1.20221761e-02 4.87772515e+01] [ 1.63018221e-02 -8.11063863e-04 9.99866788e-01 -1.31843622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96719347 meters 0.07268353839036472 Centerline is valid? [True, True] Translation: X:122.25, Y:48.80, Z:-1.32 [[ 6.39249992e-01 -7.68919587e-01 -1.10506539e-02 1.22251529e+02] [ 7.68825701e-01 6.39345003e-01 -1.20419481e-02 4.88039645e+01] [ 1.63244701e-02 -7.98211519e-04 9.99866428e-01 -1.31873528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99719346999998 meters 0.07122495410341599 Centerline is valid? [True, True] Translation: X:122.26, Y:48.83, Z:-1.32 [[ 6.40394801e-01 -7.67964470e-01 -1.11835467e-02 1.22264521e+02] [ 7.67868050e-01 6.40491973e-01 -1.21938463e-02 4.88313527e+01] [ 1.65274126e-02 -7.78612401e-04 9.99863110e-01 -1.31900056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02719347 meters 0.06920238146755879 Centerline is valid? [True, True] Translation: X:122.27, Y:48.86, Z:-1.32 [[ 6.42890666e-01 -7.65886334e-01 -1.04745229e-02 1.22271810e+02] [ 7.65801353e-01 6.42975637e-01 -1.14288567e-02 4.88630395e+01] [ 1.54880682e-02 -6.73898548e-04 9.99879826e-01 -1.31898291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05719347 meters 0.06718856180630892 Centerline is valid? [True, True] Translation: X:122.28, Y:48.89, Z:-1.32 [[ 6.44401090e-01 -7.64621368e-01 -1.00697073e-02 1.22282828e+02] [ 7.64542559e-01 6.44479470e-01 -1.09949104e-02 4.88913280e+01] [ 1.48966630e-02 -6.13587561e-04 9.99888850e-01 -1.31770520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08719347 meters 0.06642073303986257 Centerline is valid? [True, True] Translation: X:122.30, Y:48.92, Z:-1.32 [[ 6.46412802e-01 -7.62919749e-01 -1.01954082e-02 1.22295014e+02] [ 7.62838635e-01 6.46492942e-01 -1.11396514e-02 4.89185824e+01] [ 1.50899195e-02 -5.76637964e-04 9.99885974e-01 -1.32009137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11719347 meters 0.06459124303898657 Centerline is valid? [True, True] Translation: X:122.30, Y:48.95, Z:-1.32 [[ 6.52368480e-01 -7.57793516e-01 -1.28200660e-02 1.22299572e+02] [ 7.57664189e-01 6.52494184e-01 -1.40113389e-02 4.89511171e+01] [ 1.89827203e-02 -5.72749014e-04 9.99819648e-01 -1.32422652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14719347 meters 0.06319458402793773 Centerline is valid? [True, True] Translation: X:122.31, Y:48.98, Z:-1.33 [[ 6.55237251e-01 -7.55302933e-01 -1.34767987e-02 1.22311595e+02] [ 7.55159283e-01 6.55375625e-01 -1.47393290e-02 4.89795083e+01] [ 1.99650238e-02 -5.19372197e-04 9.99800544e-01 -1.32516464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17719347 meters 0.06221718840736185 Centerline is valid? [True, True] Translation: X:122.32, Y:49.01, Z:-1.33 [[ 6.58540369e-01 -7.52417263e-01 -1.38868249e-02 1.22324283e+02] [ 7.52263901e-01 6.58686625e-01 -1.51971602e-02 4.90070739e+01] [ 2.05816715e-02 -4.38613607e-04 9.99788079e-01 -1.32563506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20719347 meters 0.061120351157029414 Centerline is valid? [True, True] Translation: X:122.34, Y:49.03, Z:-1.33 [[ 6.61588106e-01 -7.49744795e-01 -1.35617276e-02 1.22337336e+02] [ 7.49597794e-01 6.61727003e-01 -1.48499552e-02 4.90347246e+01] [ 2.01078380e-02 -3.41287317e-04 9.99797759e-01 -1.32595876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23719347 meters 0.059810351532185994 Centerline is valid? [True, True] Translation: X:122.35, Y:49.06, Z:-1.33 [[ 6.67271513e-01 -7.44704447e-01 -1.28068408e-02 1.22345831e+02] [ 7.44572228e-01 6.67394380e-01 -1.40334921e-02 4.90643271e+01] [ 1.89980175e-02 -1.71468510e-04 9.99819507e-01 -1.32565522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26719347 meters 0.059568492120190615 Centerline is valid? [True, True] Translation: X:122.36, Y:49.09, Z:-1.33 [[ 6.69101112e-01 -7.43056097e-01 -1.30896213e-02 1.22359740e+02] [ 7.42917592e-01 6.69229124e-01 -1.43467784e-02 4.90884907e+01] [ 1.94204169e-02 -1.25064559e-04 9.99811398e-01 -1.32673871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29719347 meters 0.05935270293179085 Centerline is valid? [True, True] Translation: X:122.37, Y:49.11, Z:-1.33 [[ 6.71383827e-01 -7.40981064e-01 -1.38137718e-02 1.22373702e+02] [ 7.40826304e-01 6.71525918e-01 -1.51435885e-02 4.91127663e+01] [ 2.04974181e-02 -6.64450621e-05 9.99789904e-01 -1.32844892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32719347 meters 0.05931569305856142 Centerline is valid? [True, True] Translation: X:122.39, Y:49.14, Z:-1.33 [[ 6.73012030e-01 -7.39499113e-01 -1.39953394e-02 1.22389156e+02] [ 7.39339665e-01 6.73157532e-01 -1.53556978e-02 4.91369833e+01] [ 2.07765931e-02 -1.27401696e-05 9.99784143e-01 -1.32948899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35719347 meters 0.0593239339975121 Centerline is valid? [True, True] Translation: X:122.41, Y:49.16, Z:-1.33 [[ 6.74757399e-01 -7.37913483e-01 -1.36434603e-02 1.22405400e+02] [ 7.37761436e-01 6.74895317e-01 -1.49791085e-02 4.91606472e+01] [ 2.02611936e-02 4.16454033e-05 9.99794720e-01 -1.32926003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38719347 meters 0.059100808707931725 Centerline is valid? [True, True] Translation: X:122.42, Y:49.18, Z:-1.33 [[ 6.77584086e-01 -7.35330142e-01 -1.30149367e-02 1.22420104e+02] [ 7.35191193e-01 6.77709059e-01 -1.42947994e-02 4.91832898e+01] [ 1.93317373e-02 1.17461762e-04 9.99813118e-01 -1.32891944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41719347 meters 0.059237541992109594 Centerline is valid? [True, True] Translation: X:122.44, Y:49.20, Z:-1.33 [[ 6.78100171e-01 -7.34853345e-01 -1.30659661e-02 1.22438776e+02] [ 7.34713130e-01 6.78226027e-01 -1.43552269e-02 4.92040670e+01] [ 1.94106648e-02 1.34544964e-04 9.99811586e-01 -1.33029524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44719347 meters 0.05920439806796122 Centerline is valid? [True, True] Translation: X:122.46, Y:49.22, Z:-1.33 [[ 6.78188145e-01 -7.34790685e-01 -1.19787257e-02 1.22458655e+02] [ 7.34672661e-01 6.78293913e-01 -1.31699843e-02 4.92245623e+01] [ 1.78022785e-02 1.31284942e-04 9.99841518e-01 -1.32945592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47719347 meters 0.059022072696904695 Centerline is valid? [True, True] Translation: X:122.48, Y:49.24, Z:-1.33 [[ 6.77184082e-01 -7.35705641e-01 -1.26066877e-02 1.22479685e+02] [ 7.35574908e-01 6.77301407e-01 -1.38693792e-02 4.92432530e+01] [ 1.87423079e-02 1.18959676e-04 9.99824340e-01 -1.32940948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50719347 meters 0.0591254765185769 Centerline is valid? [True, True] Translation: X:122.50, Y:49.26, Z:-1.33 [[ 6.75985980e-01 -7.36807544e-01 -1.25537902e-02 1.22500509e+02] [ 7.36677923e-01 6.76102532e-01 -1.38204023e-02 4.92624370e+01] [ 1.86706261e-02 9.42980734e-05 9.99825684e-01 -1.33047476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53719347 meters 0.059159485702374 Centerline is valid? [True, True] Translation: X:122.52, Y:49.28, Z:-1.33 [[ 6.74863139e-01 -7.37833981e-01 -1.26791229e-02 1.22521773e+02] [ 7.37701792e-01 6.74982231e-01 -1.39661898e-02 4.92802308e+01] [ 1.88629121e-02 7.18549504e-05 9.99822077e-01 -1.33000504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56719347 meters 0.058945515322014475 Centerline is valid? [True, True] Translation: X:122.54, Y:49.30, Z:-1.33 [[ 6.74201695e-01 -7.38441750e-01 -1.24842731e-02 1.22542760e+02] [ 7.38313552e-01 6.74317269e-01 -1.37593714e-02 4.92976104e+01] [ 1.85788552e-02 5.92834539e-05 9.99827396e-01 -1.33070110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59719347 meters 0.058658177229509674 Centerline is valid? [True, True] Translation: X:122.57, Y:49.31, Z:-1.33 [[ 6.73554947e-01 -7.39050771e-01 -1.13000238e-02 1.22568407e+02] [ 7.38945777e-01 6.73649728e-01 -1.24572308e-02 4.93139937e+01] [ 1.68187840e-02 4.05245467e-05 9.99858553e-01 -1.32671410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62719347 meters 0.05836949083390917 Centerline is valid? [True, True] Translation: X:122.59, Y:49.33, Z:-1.32 [[ 6.72673778e-01 -7.39856004e-01 -1.10942125e-02 1.22590449e+02] [ 7.39754727e-01 6.72765259e-01 -1.22413388e-02 4.93322387e+01] [ 1.65206287e-02 2.74315147e-05 9.99863525e-01 -1.32432815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65719347 meters 0.0582226468086315 Centerline is valid? [True, True] Translation: X:122.61, Y:49.35, Z:-1.32 [[ 6.72578720e-01 -7.39955554e-01 -1.01805082e-02 1.22612167e+02] [ 7.39870184e-01 6.72655764e-01 -1.12398281e-02 4.93513198e+01] [ 1.51649508e-02 2.74147649e-05 9.99885005e-01 -1.32316842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68719347 meters 0.05823726673557182 Centerline is valid? [True, True] Translation: X:122.63, Y:49.37, Z:-1.32 [[ 6.72288477e-01 -7.40222715e-01 -9.92657570e-03 1.22632048e+02] [ 7.40141542e-01 6.72361757e-01 -1.09620305e-02 4.93695505e+01] [ 1.47885938e-02 2.25757243e-05 9.99890643e-01 -1.32409071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71719347 meters 0.05798475047467776 Centerline is valid? [True, True] Translation: X:122.66, Y:49.39, Z:-1.32 [[ 6.71903234e-01 -7.40587898e-01 -8.69540192e-03 1.22655830e+02] [ 7.40525545e-01 6.71959497e-01 -9.60995903e-03 4.93873103e+01] [ 1.29599773e-02 1.77953070e-05 9.99916016e-01 -1.32065593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74719346999998 meters 0.057913638932069446 Centerline is valid? [True, True] Translation: X:122.68, Y:49.41, Z:-1.32 [[ 6.71274229e-01 -7.41155946e-01 -8.87541917e-03 1.22677094e+02] [ 7.41090938e-01 6.71332900e-01 -9.81625052e-03 4.94054708e+01] [ 1.32337333e-02 1.19032792e-05 9.99912430e-01 -1.31976746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77719347 meters 0.05796056476341886 Centerline is valid? [True, True] Translation: X:122.70, Y:49.42, Z:-1.32 [[ 6.70468969e-01 -7.41876619e-01 -9.51018780e-03 1.22698804e+02] [ 7.41801971e-01 6.70536413e-01 -1.05239610e-02 4.94244276e+01] [ 1.41844078e-02 1.31320592e-06 9.99899396e-01 -1.32070868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80719347 meters 0.05816052283901961 Centerline is valid? [True, True] Translation: X:122.72, Y:49.44, Z:-1.32 [[ 6.69263725e-01 -7.42943835e-01 -1.09783334e-02 1.22720936e+02] [ 7.42844383e-01 6.69353761e-01 -1.21558835e-02 4.94430628e+01] [ 1.63795275e-02 -1.97014193e-05 9.99865846e-01 -1.32193568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83719347 meters 0.0584131236939938 Centerline is valid? [True, True] Translation: X:122.74, Y:49.46, Z:-1.32 [[ 6.67820994e-01 -7.44212314e-01 -1.27730473e-02 1.22744103e+02] [ 7.44077758e-01 6.67943132e-01 -1.41514144e-02 4.94606360e+01] [ 1.90633261e-02 -5.35287260e-05 9.99818277e-01 -1.32431450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86719347 meters 0.05921163594988021 Centerline is valid? [True, True] Translation: X:122.77, Y:49.47, Z:-1.33 [[ 6.62617836e-01 -7.48820033e-01 -1.43583329e-02 1.22774277e+02] [ 7.48650881e-01 6.62773353e-01 -1.59166918e-02 4.94709235e+01] [ 2.14350581e-02 -2.02694744e-04 9.99770222e-01 -1.32709023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89719347 meters 0.06005798193307009 Centerline is valid? [True, True] Translation: X:122.80, Y:49.49, Z:-1.33 [[ 6.58917909e-01 -7.52083945e-01 -1.40331317e-02 1.22799068e+02] [ 7.51923015e-01 6.59067258e-01 -1.55604886e-02 4.94864792e+01] [ 2.09515713e-02 -2.98750055e-04 9.99780447e-01 -1.32911722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92719347 meters 0.061867970333483846 Centerline is valid? [True, True] Translation: X:122.83, Y:49.50, Z:-1.33 [[ 6.51257641e-01 -7.58706398e-01 -1.51025247e-02 1.22825519e+02] [ 7.58521616e-01 6.51432501e-01 -1.67527580e-02 4.95005457e+01] [ 2.25487002e-02 -5.45229763e-04 9.99745597e-01 -1.32726822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95719347 meters 0.0626895564758141 Centerline is valid? [True, True] Translation: X:122.85, Y:49.52, Z:-1.33 [[ 6.48293634e-01 -7.61247563e-01 -1.47482618e-02 1.22847291e+02] [ 7.61071738e-01 6.48461082e-01 -1.63717816e-02 4.95201062e+01] [ 2.20266526e-02 -6.10763511e-04 9.99757197e-01 -1.32687326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98719347 meters 0.06335753671272779 Centerline is valid? [True, True] Translation: X:122.87, Y:49.54, Z:-1.33 [[ 6.46591151e-01 -7.62676414e-01 -1.56388042e-02 1.22868119e+02] [ 7.62478876e-01 6.46779877e-01 -1.73710924e-02 4.95397510e+01] [ 2.33633863e-02 -6.92263266e-04 9.99726799e-01 -1.32783332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01719347 meters 0.06387595578099246 Centerline is valid? [True, True] Translation: X:122.89, Y:49.56, Z:-1.33 [[ 6.45612220e-01 -7.63493719e-01 -1.61926762e-02 1.22888428e+02] [ 7.63282078e-01 6.45814824e-01 -1.79911767e-02 4.95594876e+01] [ 2.41936208e-02 -7.44255970e-04 9.99707014e-01 -1.32853382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04719347 meters 0.06410131841403094 Centerline is valid? [True, True] Translation: X:122.91, Y:49.58, Z:-1.33 [[ 6.44622661e-01 -7.64306622e-01 -1.72340479e-02 1.22906583e+02] [ 7.64066820e-01 6.44852480e-01 -1.91617511e-02 4.95816053e+01] [ 2.57588718e-02 -8.15865203e-04 9.99667852e-01 -1.32985233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07719347 meters 0.06409139394169949 Centerline is valid? [True, True] Translation: X:122.92, Y:49.60, Z:-1.33 [[ 6.44283942e-01 -7.64585962e-01 -1.75074087e-02 1.22923544e+02] [ 7.64338477e-01 6.44521223e-01 -1.94701436e-02 4.96045034e+01] [ 2.61704949e-02 -8.37285211e-04 9.99657143e-01 -1.33084048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10719347 meters 0.06421560670921299 Centerline is valid? [True, True] Translation: X:122.94, Y:49.63, Z:-1.33 [[ 6.43552902e-01 -7.65218989e-01 -1.67200510e-02 1.22940423e+02] [ 7.64993089e-01 6.43769551e-01 -1.86101798e-02 4.96273757e+01] [ 2.50047227e-02 -8.14088195e-04 9.99687002e-01 -1.33038805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13719347 meters 0.06523526196882448 Centerline is valid? [True, True] Translation: X:122.96, Y:49.65, Z:-1.33 [[ 6.42576999e-01 -7.66066247e-01 -1.54047275e-02 1.22958649e+02] [ 7.65874529e-01 6.42761158e-01 -1.71552015e-02 4.96481407e+01] [ 2.30435813e-02 -7.74550557e-04 9.99734161e-01 -1.33146332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16719347 meters 0.06579566423586292 Centerline is valid? [True, True] Translation: X:122.98, Y:49.67, Z:-1.33 [[ 6.39571890e-01 -7.68582694e-01 -1.51142252e-02 1.22975394e+02] [ 7.68398599e-01 6.39749899e-01 -1.68421968e-02 4.96711347e+01] [ 2.26139451e-02 -8.41953791e-04 9.99743918e-01 -1.33020991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19719347 meters 0.06651229146674101 Centerline is valid? [True, True] Translation: X:122.99, Y:49.69, Z:-1.33 [[ 6.37937512e-01 -7.69946247e-01 -1.47820229e-02 1.22993258e+02] [ 7.69770296e-01 6.38108165e-01 -1.64821574e-02 4.96934674e+01] [ 2.21229048e-02 -8.64175678e-04 9.99754885e-01 -1.33035042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22719347 meters 0.06576313848010171 Centerline is valid? [True, True] Translation: X:123.01, Y:49.72, Z:-1.33 [[ 6.37234923e-01 -7.70518379e-01 -1.52669829e-02 1.23008721e+02] [ 7.70330607e-01 6.37417137e-01 -1.70337700e-02 4.97183480e+01] [ 2.28562694e-02 -9.06111058e-04 9.99738351e-01 -1.33009534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25719347 meters 0.06561000685323595 Centerline is valid? [True, True] Translation: X:123.02, Y:49.74, Z:-1.33 [[ 6.37229412e-01 -7.70498530e-01 -1.64527232e-02 1.23024435e+02] [ 7.70280166e-01 6.37441038e-01 -1.83681402e-02 4.97427228e+01] [ 2.46402660e-02 -9.68487125e-04 9.99695913e-01 -1.33203950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28719347 meters 0.0656242501994882 Centerline is valid? [True, True] Translation: X:123.04, Y:49.77, Z:-1.33 [[ 6.38160705e-01 -7.69743671e-01 -1.56715025e-02 1.23040542e+02] [ 7.69545290e-01 6.38352475e-01 -1.74975253e-02 4.97655216e+01] [ 2.34725517e-02 -8.93697861e-04 9.99724082e-01 -1.33309805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31719347 meters 0.06423918515479135 Centerline is valid? [True, True] Translation: X:123.05, Y:49.79, Z:-1.33 [[ 6.39392178e-01 -7.68725629e-01 -1.54450618e-02 1.23053849e+02] [ 7.68532331e-01 6.39578150e-01 -1.72582098e-02 4.97923432e+01] [ 2.31451522e-02 -8.35264971e-04 9.99731766e-01 -1.33219410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34719347 meters 0.06365072247955088 Centerline is valid? [True, True] Translation: X:123.07, Y:49.82, Z:-1.33 [[ 6.40840655e-01 -7.67511367e-01 -1.57973458e-02 1.23068188e+02] [ 7.67308520e-01 6.41034833e-01 -1.76629141e-02 4.98185556e+01] [ 2.36831362e-02 -8.02324576e-04 9.99719193e-01 -1.33210041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37719347 meters 0.06275601619079502 Centerline is valid? [True, True] Translation: X:123.08, Y:49.85, Z:-1.33 [[ 6.43725325e-01 -7.65074535e-01 -1.66931582e-02 1.23079613e+02] [ 7.64846917e-01 6.43941301e-01 -1.86760228e-02 4.98474017e+01] [ 2.50379634e-02 -7.45481739e-04 9.99686223e-01 -1.33486666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40719347 meters 0.0622080787907596 Centerline is valid? [True, True] Translation: X:123.10, Y:49.87, Z:-1.34 [[ 6.44359131e-01 -7.64529559e-01 -1.72007015e-02 1.23095238e+02] [ 7.64287314e-01 6.44588249e-01 -1.92585395e-02 4.98705961e+01] [ 2.58110928e-02 -7.36862145e-04 9.99666567e-01 -1.33531511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43719347 meters 0.06348583624030797 Centerline is valid? [True, True] Translation: X:123.11, Y:49.89, Z:-1.34 [[ 6.44592475e-01 -7.64342505e-01 -1.67652889e-02 1.23114535e+02] [ 7.64112076e-01 6.44810079e-01 -1.87802438e-02 4.98895782e+01] [ 2.51649658e-02 -7.04955826e-04 9.99683064e-01 -1.33966665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46719347 meters 0.06310522762057524 Centerline is valid? [True, True] Translation: X:123.13, Y:49.91, Z:-1.34 [[ 6.44445847e-01 -7.64468616e-01 -1.66518860e-02 1.23130755e+02] [ 7.64240999e-01 6.44660570e-01 -1.86666757e-02 4.99125524e+01] [ 2.50049021e-02 -6.96392395e-04 9.99687086e-01 -1.33929803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49719346999998 meters 0.06227109830829449 Centerline is valid? [True, True] Translation: X:123.15, Y:49.94, Z:-1.34 [[ 6.43987526e-01 -7.64856152e-01 -1.65871064e-02 1.23145565e+02] [ 7.64630096e-01 6.44200727e-01 -1.86075121e-02 4.99364780e+01] [ 2.49174961e-02 -6.99995144e-04 9.99689266e-01 -1.33729038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52719347 meters 0.06248379204855693 Centerline is valid? [True, True] Translation: X:123.16, Y:49.96, Z:-1.34 [[ 6.43486735e-01 -7.65288335e-01 -1.60806323e-02 1.23161386e+02] [ 7.65075755e-01 6.43687262e-01 -1.80498908e-02 4.99580274e+01] [ 2.41642690e-02 -6.88036600e-04 9.99707765e-01 -1.33690036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55719347 meters 0.06290200531182179 Centerline is valid? [True, True] Translation: X:123.18, Y:49.98, Z:-1.34 [[ 6.41854615e-01 -7.66673568e-01 -1.53066673e-02 1.23176557e+02] [ 7.66481072e-01 6.42036724e-01 -1.71933209e-02 4.99825209e+01] [ 2.30091072e-02 -6.96658446e-04 9.99735013e-01 -1.33635562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58719347 meters 0.06232284019492025 Centerline is valid? [True, True] Translation: X:123.19, Y:50.01, Z:-1.33 [[ 6.40707037e-01 -7.67630034e-01 -1.54474748e-02 1.23193132e+02] [ 7.67434002e-01 6.40892813e-01 -1.73624727e-02 5.00066275e+01] [ 2.32281311e-02 -7.30658976e-04 9.99729924e-01 -1.33470113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61719347 meters 0.06424944166760452 Centerline is valid? [True, True] Translation: X:123.21, Y:50.02, Z:-1.34 [[ 6.38582368e-01 -7.69383634e-01 -1.61673433e-02 1.23213904e+02] [ 7.69169402e-01 6.38786455e-01 -1.81740597e-02 5.00249659e+01] [ 2.43103040e-02 -8.29791655e-04 9.99704117e-01 -1.33802485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64719347 meters 0.06566679723106356 Centerline is valid? [True, True] Translation: X:123.23, Y:50.05, Z:-1.34 [[ 6.32821743e-01 -7.74105979e-01 -1.72213248e-02 1.23232219e+02] [ 7.73864226e-01 6.33055128e-01 -1.93743210e-02 5.00470031e+01] [ 2.58998257e-02 -1.06647556e-03 9.99663974e-01 -1.33671391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67719347 meters 0.06762809647234394 Centerline is valid? [True, True] Translation: X:123.25, Y:50.07, Z:-1.34 [[ 6.28928450e-01 -7.77243362e-01 -1.84867535e-02 1.23251887e+02] [ 7.76965944e-01 6.29198791e-01 -2.08039356e-02 5.00675917e+01] [ 2.78015638e-02 -1.27939086e-03 9.99612643e-01 -1.33870017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70719347 meters 0.07065413424186792 Centerline is valid? [True, True] Translation: X:123.27, Y:50.09, Z:-1.34 [[ 6.25043969e-01 -7.80368256e-01 -1.85855493e-02 1.23271857e+02] [ 7.80089084e-01 6.25318609e-01 -2.09202956e-02 5.00860725e+01] [ 2.79474244e-02 -1.42227957e-03 9.99608383e-01 -1.34124675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73719347 meters 0.07248755930105595 Centerline is valid? [True, True] Translation: X:123.29, Y:50.11, Z:-1.34 [[ 6.20896862e-01 -7.83668397e-01 -1.87331294e-02 1.23290622e+02] [ 7.83385796e-01 6.21177406e-01 -2.11027220e-02 5.01076882e+01] [ 2.81741330e-02 -1.57265361e-03 9.99601793e-01 -1.34151707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76719347 meters 0.07454194370648884 Centerline is valid? [True, True] Translation: X:123.31, Y:50.13, Z:-1.34 [[ 6.14084305e-01 -7.89090234e-01 -1.53970284e-02 1.23307857e+02] [ 7.88900721e-01 6.14275499e-01 -1.73569665e-02 5.01306481e+01] [ 2.31542301e-02 -1.48808606e-03 9.99730797e-01 -1.33551106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79719347 meters 0.07454194370648884 Centerline is valid? [True, True] Translation: X:123.33, Y:50.15, Z:-1.34 [[ 6.13809958e-01 -7.89303779e-01 -1.53908910e-02 1.23325981e+02] [ 7.89114197e-01 6.14001083e-01 -1.73624096e-02 5.01514352e+01] [ 2.31542393e-02 -1.48795070e-03 9.99730797e-01 -1.33573842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82719347 meters 0.07622985223613606 Centerline is valid? [True, True] Translation: X:123.34, Y:50.17, Z:-1.33 [[ 6.11561055e-01 -7.91088064e-01 -1.31434490e-02 1.23343499e+02] [ 7.90950183e-01 6.11700837e-01 -1.48288389e-02 5.01726023e+01] [ 1.97707763e-02 -1.32707303e-03 9.99803658e-01 -1.33344223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85719347 meters 0.07661557037269405 Centerline is valid? [True, True] Translation: X:123.36, Y:50.20, Z:-1.33 [[ 6.10533373e-01 -7.91918186e-01 -1.07045445e-02 1.23359978e+02] [ 7.91826681e-01 6.10626224e-01 -1.20880858e-02 5.01962611e+01] [ 1.61092506e-02 -1.09596411e-03 9.99869637e-01 -1.33022161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88719347 meters 0.07800361268681923 Centerline is valid? [True, True] Translation: X:123.37, Y:50.22, Z:-1.33 [[ 6.10986575e-01 -7.91577534e-01 -1.00206236e-02 1.23371869e+02] [ 7.91497306e-01 6.11067895e-01 -1.13156080e-02 5.02230412e+01] [ 1.50804625e-02 -1.01761201e-03 9.99885766e-01 -1.33091981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91719347 meters 0.07493472985781315 Centerline is valid? [True, True] Translation: X:123.38, Y:50.25, Z:-1.33 [[ 6.12302050e-01 -7.90547628e-01 -1.09839499e-02 1.23381800e+02] [ 7.90450899e-01 6.12399607e-01 -1.24136512e-02 5.02528260e+01] [ 1.65401491e-02 -1.08136897e-03 9.99862618e-01 -1.33175568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94719347 meters 0.07449365049483829 Centerline is valid? [True, True] Translation: X:123.39, Y:50.28, Z:-1.33 [[ 6.13549139e-01 -7.89568848e-01 -1.17681081e-02 1.23394896e+02] [ 7.89457498e-01 6.13660954e-01 -1.33075702e-02 5.02791798e+01] [ 1.77288713e-02 -1.12557290e-03 9.99842198e-01 -1.33347627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97719347 meters 0.07513864535948038 Centerline is valid? [True, True] Translation: X:123.41, Y:50.30, Z:-1.34 [[ 6.14946645e-01 -7.88470099e-01 -1.24710237e-02 1.23409213e+02] [ 7.88344817e-01 6.15071995e-01 -1.41028537e-02 5.03037007e+01] [ 1.87902559e-02 -1.15896433e-03 9.99822776e-01 -1.33613153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00719347 meters 0.07163131972700927 Centerline is valid? [True, True] Translation: X:123.41, Y:50.34, Z:-1.33 [[ 6.17216287e-01 -7.86708480e-01 -1.15681770e-02 1.23412461e+02] [ 7.86600172e-01 6.17323846e-01 -1.30934718e-02 5.03382981e+01] [ 1.74420568e-02 -1.01802598e-03 9.99847357e-01 -1.33439699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03719347 meters 0.07380831444843926 Centerline is valid? [True, True] Translation: X:123.43, Y:50.36, Z:-1.34 [[ 6.18580451e-01 -7.85623742e-01 -1.23920036e-02 1.23427737e+02] [ 7.85499242e-01 6.18703659e-01 -1.40258130e-02 5.03616254e+01] [ 1.86859897e-02 -1.05781572e-03 9.99824842e-01 -1.33709998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06719347 meters 0.07033693636654288 Centerline is valid? [True, True] Translation: X:123.44, Y:50.39, Z:-1.34 [[ 6.20495322e-01 -7.84109322e-01 -1.25748349e-02 1.23435257e+02] [ 7.83980587e-01 6.20621890e-01 -1.42445920e-02 5.03924058e+01] [ 1.89735352e-02 -1.01972376e-03 9.99819466e-01 -1.33593717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09719347 meters 0.06828614460726593 Centerline is valid? [True, True] Translation: X:123.45, Y:50.42, Z:-1.34 [[ 6.23370681e-01 -7.81806263e-01 -1.37099035e-02 1.23445266e+02] [ 7.81652477e-01 6.23520576e-01 -1.55401394e-02 5.04212106e+01] [ 2.06977852e-02 -1.02911278e-03 9.99785248e-01 -1.33647329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12719347 meters 0.06418281096642396 Centerline is valid? [True, True] Translation: X:123.45, Y:50.46, Z:-1.34 [[ 6.32512044e-01 -7.74418535e-01 -1.42985275e-02 1.23448246e+02] [ 7.74249294e-01 6.32673111e-01 -1.62100532e-02 5.04560086e+01] [ 2.15996595e-02 -8.17570882e-04 9.99766366e-01 -1.33801091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15719347 meters 0.062357042732506064 Centerline is valid? [True, True] Translation: X:123.46, Y:50.48, Z:-1.34 [[ 6.37157060e-01 -7.70583483e-01 -1.52307922e-02 1.23459522e+02] [ 7.70390215e-01 6.37338659e-01 -1.72728375e-02 5.04846371e+01] [ 2.30173360e-02 -7.28142901e-04 9.99734801e-01 -1.33915004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18719347 meters 0.06088164098158742 Centerline is valid? [True, True] Translation: X:123.47, Y:50.51, Z:-1.34 [[ 6.41209784e-01 -7.67216836e-01 -1.51108928e-02 1.23470235e+02] [ 7.67025528e-01 6.41387533e-01 -1.71426923e-02 5.05121548e+01] [ 2.28441004e-02 -5.98378461e-04 9.99738860e-01 -1.33997698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21719347 meters 0.05915986229266326 Centerline is valid? [True, True] Translation: X:123.47, Y:50.55, Z:-1.34 [[ 6.48465727e-01 -7.61060262e-01 -1.67176166e-02 1.23473258e+02] [ 7.60823722e-01 6.48681052e-01 -1.89777750e-02 5.05474035e+01] [ 2.52876315e-02 -4.12722618e-04 9.99680132e-01 -1.34228016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24719346999998 meters 0.05850652284509091 Centerline is valid? [True, True] Translation: X:123.49, Y:50.57, Z:-1.34 [[ 6.51933233e-01 -7.58111104e-01 -1.58307729e-02 1.23485755e+02] [ 7.57897873e-01 6.52125355e-01 -1.79815352e-02 5.05747707e+01] [ 2.39556499e-02 -2.75348730e-04 9.99712984e-01 -1.34271660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27719347 meters 0.058229031282695895 Centerline is valid? [True, True] Translation: X:123.50, Y:50.60, Z:-1.34 [[ 6.54826692e-01 -7.55611832e-01 -1.58985349e-02 1.23500046e+02] [ 7.55395999e-01 6.55019638e-01 -1.80598743e-02 5.05997229e+01] [ 2.40601072e-02 -1.83601881e-04 9.99710497e-01 -1.34423970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30719347 meters 0.058175479052196416 Centerline is valid? [True, True] Translation: X:123.52, Y:50.62, Z:-1.35 [[ 6.56831101e-01 -7.53864026e-01 -1.61844095e-02 1.23515242e+02] [ 7.53639592e-01 6.57030454e-01 -1.83942403e-02 5.06225706e+01] [ 2.45004060e-02 -1.15302672e-04 9.99699813e-01 -1.34639075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33719347 meters 0.058146504426140076 Centerline is valid? [True, True] Translation: X:123.53, Y:50.65, Z:-1.35 [[ 6.60860427e-01 -7.50298196e-01 -1.77795523e-02 1.23530509e+02] [ 7.50025706e-01 6.61099551e-01 -2.02193999e-02 5.06474330e+01] [ 2.69246333e-02 2.70799615e-05 9.99637466e-01 -1.34867242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36719347 meters 0.05796671665902621 Centerline is valid? [True, True] Translation: X:123.55, Y:50.67, Z:-1.35 [[ 6.61439313e-01 -7.49789433e-01 -1.77155457e-02 1.23548292e+02] [ 7.49518325e-01 6.61676509e-01 -2.01613100e-02 5.06686339e+01] [ 2.68386977e-02 5.73568797e-05 9.99639776e-01 -1.34686097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39719347 meters 0.057980630275059106 Centerline is valid? [True, True] Translation: X:123.57, Y:50.69, Z:-1.35 [[ 6.61200359e-01 -7.50008072e-01 -1.73774882e-02 1.23567757e+02] [ 7.49746987e-01 6.61428673e-01 -1.97880370e-02 5.06900989e+01] [ 2.63351565e-02 5.51377289e-05 9.99653168e-01 -1.34698384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42719347 meters 0.057941889844139165 Centerline is valid? [True, True] Translation: X:123.59, Y:50.71, Z:-1.35 [[ 6.61554454e-01 -7.49705908e-01 -1.69338742e-02 1.23587959e+02] [ 7.49457584e-01 6.61771143e-01 -1.92946375e-02 5.07107517e+01] [ 2.56716530e-02 7.32329353e-05 9.99670426e-01 -1.34658051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45719347 meters 0.05774197698914497 Centerline is valid? [True, True] Translation: X:123.61, Y:50.73, Z:-1.35 [[ 6.59558079e-01 -7.51482587e-01 -1.60331286e-02 1.23613151e+02] [ 7.51260220e-01 6.59752924e-01 -1.82800602e-02 5.07268300e+01] [ 2.43150504e-02 1.17096255e-05 9.99704345e-01 -1.34517693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48719347 meters 0.05843493279066178 Centerline is valid? [True, True] Translation: X:123.63, Y:50.74, Z:-1.35 [[ 6.58080513e-01 -7.52783128e-01 -1.57353211e-02 1.23634987e+02] [ 7.52569213e-01 6.58268608e-01 -1.79449012e-02 5.07433907e+01] [ 2.38666868e-02 -3.27284425e-05 9.99715150e-01 -1.35270124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51719347 meters 0.05804514848279023 Centerline is valid? [True, True] Translation: X:123.66, Y:50.76, Z:-1.35 [[ 6.55712719e-01 -7.54862866e-01 -1.49292876e-02 1.23662391e+02] [ 7.54670601e-01 6.55882645e-01 -1.70364079e-02 5.07583734e+01] [ 2.26520123e-02 -9.57050619e-05 9.99743406e-01 -1.34812558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54719347 meters 0.05786901347507791 Centerline is valid? [True, True] Translation: X:123.68, Y:50.78, Z:-1.35 [[ 6.54603397e-01 -7.55832408e-01 -1.45520977e-02 1.23684689e+02] [ 7.55649692e-01 6.54765116e-01 -1.66188310e-02 5.07759337e+01] [ 2.20892569e-02 -1.17544911e-04 9.99755996e-01 -1.34583365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57719347 meters 0.05786069637604266 Centerline is valid? [True, True] Translation: X:123.71, Y:50.79, Z:-1.34 [[ 6.52392265e-01 -7.57742289e-01 -1.45243570e-02 1.23708431e+02] [ 7.57560519e-01 6.52553901e-01 -1.65971986e-02 5.07934733e+01] [ 2.20543251e-02 -1.75195424e-04 9.99756758e-01 -1.34406041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60719347 meters 0.05862839950872604 Centerline is valid? [True, True] Translation: X:123.73, Y:50.81, Z:-1.35 [[ 6.50099196e-01 -7.59718933e-01 -1.40776068e-02 1.23732154e+02] [ 7.59548483e-01 6.50251559e-01 -1.60938571e-02 5.08082068e+01] [ 2.13807937e-02 -2.30021320e-04 9.99771378e-01 -1.34823884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63719347 meters 0.05864065142089657 Centerline is valid? [True, True] Translation: X:123.75, Y:50.83, Z:-1.35 [[ 6.47849142e-01 -7.61639741e-01 -1.40140774e-02 1.23754490e+02] [ 7.61471048e-01 6.48000635e-01 -1.60318124e-02 5.08273945e+01] [ 2.12915964e-02 -2.85118303e-04 9.99773268e-01 -1.34505822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66719347 meters 0.05893853207517243 Centerline is valid? [True, True] Translation: X:123.78, Y:50.84, Z:-1.34 [[ 6.45489004e-01 -7.63664251e-01 -1.26830058e-02 1.23779343e+02] [ 7.63526295e-01 6.45613518e-01 -1.45183175e-02 5.08442409e+01] [ 1.92754401e-02 -3.12394126e-04 9.99814163e-01 -1.34314111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69719347 meters 0.058874827219456256 Centerline is valid? [True, True] Translation: X:123.80, Y:50.86, Z:-1.34 [[ 6.45554492e-01 -7.63621937e-01 -1.18716151e-02 1.23800706e+02] [ 7.63500909e-01 6.45663578e-01 -1.35979789e-02 5.08633237e+01] [ 1.80487845e-02 -2.85752616e-04 9.99837067e-01 -1.34330405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72719347 meters 0.058447494988474305 Centerline is valid? [True, True] Translation: X:123.82, Y:50.88, Z:-1.34 [[ 6.46186522e-01 -7.63094531e-01 -1.13893286e-02 1.23820736e+02] [ 7.62982910e-01 6.46286835e-01 -1.30539811e-02 5.08837375e+01] [ 1.73221947e-02 -2.54556413e-04 9.99849927e-01 -1.34194046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75719347 meters 0.05853762820252758 Centerline is valid? [True, True] Translation: X:123.84, Y:50.90, Z:-1.34 [[ 6.46983429e-01 -7.62426761e-01 -1.08571132e-02 1.23842219e+02] [ 7.62325105e-01 6.47074482e-01 -1.24518460e-02 5.09025614e+01] [ 1.65189815e-02 -2.20511980e-04 9.99863528e-01 -1.34418625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78719347 meters 0.05831384057638938 Centerline is valid? [True, True] Translation: X:123.86, Y:50.92, Z:-1.34 [[ 6.47278916e-01 -7.62176089e-01 -1.08449829e-02 1.23860607e+02] [ 7.62074468e-01 6.47369729e-01 -1.24474773e-02 5.09230850e+01] [ 1.65078832e-02 -2.07694938e-04 9.99863714e-01 -1.34321703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81719347 meters 0.05854316165886699 Centerline is valid? [True, True] Translation: X:123.88, Y:50.94, Z:-1.35 [[ 6.47591288e-01 -7.61900370e-01 -1.15477478e-02 1.23880433e+02] [ 7.61785114e-01 6.47694203e-01 -1.32536527e-02 5.09429621e+01] [ 1.75773722e-02 -2.13952384e-04 9.99845483e-01 -1.34566645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84719347 meters 0.05818980619803121 Centerline is valid? [True, True] Translation: X:123.90, Y:50.97, Z:-1.35 [[ 6.52356248e-01 -7.57784268e-01 -1.39402106e-02 1.23898368e+02] [ 7.57615109e-01 6.52505165e-01 -1.60111399e-02 5.09656438e+01] [ 2.12290493e-02 -1.16347059e-04 9.99774632e-01 -1.34922883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87719347 meters 0.058268779182428884 Centerline is valid? [True, True] Translation: X:123.91, Y:50.99, Z:-1.35 [[ 6.55870023e-01 -7.54719425e-01 -1.52676836e-02 1.23914108e+02] [ 7.54515570e-01 6.56047704e-01 -1.75403963e-02 5.09882890e+01] [ 2.32544066e-02 -1.54848324e-05 9.99729580e-01 -1.35107948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90719347 meters 0.05854803739192083 Centerline is valid? [True, True] Translation: X:123.93, Y:51.01, Z:-1.35 [[ 6.59539384e-01 -7.51489974e-01 -1.64505318e-02 1.23929911e+02] [ 7.51252136e-01 6.59744501e-01 -1.89055796e-02 5.10121966e+01] [ 2.50605015e-02 1.10477161e-04 9.99685930e-01 -1.35355936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93719347 meters 0.058601874005671836 Centerline is valid? [True, True] Translation: X:123.95, Y:51.04, Z:-1.35 [[ 6.63393714e-01 -7.48095412e-01 -1.61875106e-02 1.23947052e+02] [ 7.47863769e-01 6.63591136e-01 -1.86168522e-02 5.10352702e+01] [ 2.46690703e-02 2.44250080e-04 9.99695642e-01 -1.35087545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96719347 meters 0.05987613480753757 Centerline is valid? [True, True] Translation: X:123.96, Y:51.06, Z:-1.35 [[ 6.69839429e-01 -7.42348646e-01 -1.52848668e-02 1.23964154e+02] [ 7.42140549e-01 6.70013656e-01 -1.75814133e-02 5.10567467e+01] [ 2.32926079e-02 4.33204424e-04 9.99728597e-01 -1.35202581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99719346999998 meters 0.0612088242966321 Centerline is valid? [True, True] Translation: X:123.98, Y:51.08, Z:-1.36 [[ 6.72222778e-01 -7.40204719e-01 -1.46120267e-02 1.23981903e+02] [ 7.40013957e-01 6.72381392e-01 -1.68109417e-02 5.10785774e+01] [ 2.22683932e-02 4.87594265e-04 9.99751910e-01 -1.35532264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02719347 meters 0.0611145991558805 Centerline is valid? [True, True] Translation: X:124.00, Y:51.10, Z:-1.35 [[ 6.73666365e-01 -7.38878875e-01 -1.52196015e-02 1.24003786e+02] [ 7.38671275e-01 6.73838030e-01 -1.75230118e-02 5.10980260e+01] [ 2.32029295e-02 5.62381198e-04 9.99730618e-01 -1.35283365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05719347 meters 0.061670198254749745 Centerline is valid? [True, True] Translation: X:124.03, Y:51.11, Z:-1.35 [[ 6.74941587e-01 -7.37734240e-01 -1.42142799e-02 1.24027041e+02] [ 7.37552795e-01 6.75091010e-01 -1.63707842e-02 5.11129480e+01] [ 2.16732206e-02 5.65541195e-04 9.99764948e-01 -1.35215849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08719347 meters 0.061660669042816675 Centerline is valid? [True, True] Translation: X:124.05, Y:51.13, Z:-1.35 [[ 6.75292773e-01 -7.37422534e-01 -1.36995230e-02 1.24050000e+02] [ 7.37253666e-01 6.75431484e-01 -1.57905918e-02 5.11301924e+01] [ 2.08974274e-02 5.63248991e-04 9.99781466e-01 -1.35135693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11719347 meters 0.06217307833279536 Centerline is valid? [True, True] Translation: X:124.07, Y:51.15, Z:-1.35 [[ 6.76042825e-01 -7.36741357e-01 -1.33518620e-02 1.24071862e+02] [ 7.36580770e-01 6.76174421e-01 -1.53922545e-02 5.11477554e+01] [ 2.03682980e-02 5.71098459e-04 9.99792382e-01 -1.35196893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14719347 meters 0.0628455819292298 Centerline is valid? [True, True] Translation: X:124.09, Y:51.17, Z:-1.35 [[ 6.77208752e-01 -7.35667733e-01 -1.34645168e-02 1.24093937e+02] [ 7.35504076e-01 6.77342315e-01 -1.55287919e-02 5.11659954e+01] [ 2.05441181e-02 6.13026766e-04 9.99788759e-01 -1.35267646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17719347 meters 0.06325837217052846 Centerline is valid? [True, True] Translation: X:124.12, Y:51.18, Z:-1.35 [[ 6.78038609e-01 -7.34903663e-01 -1.34257422e-02 1.24115948e+02] [ 7.34740590e-01 6.78171214e-01 -1.54942104e-02 5.11848129e+01] [ 2.04917038e-02 6.41235127e-04 9.99789817e-01 -1.35339288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20719347 meters 0.06304292797312322 Centerline is valid? [True, True] Translation: X:124.15, Y:51.20, Z:-1.35 [[ 6.78213482e-01 -7.34738458e-01 -1.36334537e-02 1.24145111e+02] [ 7.34570246e-01 6.78350180e-01 -1.57348912e-02 5.11970603e+01] [ 2.08092855e-02 6.56885951e-04 9.99783248e-01 -1.35226482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23719347 meters 0.06252174052256634 Centerline is valid? [True, True] Translation: X:124.17, Y:51.21, Z:-1.35 [[ 6.76757442e-01 -7.36102316e-01 -1.23590384e-02 1.24170265e+02] [ 7.35964088e-01 6.76870047e-01 -1.42758862e-02 5.12124429e+01] [ 1.88739758e-02 5.65503795e-04 9.99821711e-01 -1.35130365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26719347 meters 0.06286937718897276 Centerline is valid? [True, True] Translation: X:124.19, Y:51.23, Z:-1.35 [[ 6.75177001e-01 -7.37557527e-01 -1.20379439e-02 1.24194187e+02] [ 7.37426613e-01 6.75284113e-01 -1.39053224e-02 5.12288002e+01] [ 1.83850075e-02 5.11453671e-04 9.99830851e-01 -1.35286997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29719347 meters 0.06171010838067602 Centerline is valid? [True, True] Translation: X:124.23, Y:51.24, Z:-1.35 [[ 6.71097599e-01 -7.41263899e-01 -1.24837351e-02 1.24228724e+02] [ 7.41123675e-01 6.71213564e-01 -1.44239366e-02 5.12352354e+01] [ 1.90711959e-02 4.27877583e-04 9.99818037e-01 -1.35418555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32719347 meters 0.06002966978459851 Centerline is valid? [True, True] Translation: X:124.26, Y:51.25, Z:-1.35 [[ 6.68958901e-01 -7.43176236e-01 -1.35303911e-02 1.24258735e+02] [ 7.43011615e-01 6.69095592e-01 -1.56470023e-02 5.12465740e+01] [ 2.06816053e-02 4.13963745e-04 9.99786027e-01 -1.34979364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35719347 meters 0.06125259798933949 Centerline is valid? [True, True] Translation: X:124.28, Y:51.26, Z:-1.36 [[ 6.67169571e-01 -7.44779940e-01 -1.36969059e-02 1.24281460e+02] [ 7.44611463e-01 6.67310050e-01 -1.58450825e-02 5.12626953e+01] [ 2.09411826e-02 3.72483777e-04 9.99780640e-01 -1.35697665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38719347 meters 0.059816485297214006 Centerline is valid? [True, True] Translation: X:124.31, Y:51.28, Z:-1.35 [[ 6.65657470e-01 -7.46149023e-01 -1.27187862e-02 1.24311528e+02] [ 7.46003828e-01 6.65778896e-01 -1.47224443e-02 5.12754054e+01] [ 1.94530368e-02 3.11841849e-04 9.99810723e-01 -1.35037385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41719347 meters 0.059146606109434716 Centerline is valid? [True, True] Translation: X:124.35, Y:51.28, Z:-1.35 [[ 6.63574991e-01 -7.48008094e-01 -1.23337828e-02 1.24346825e+02] [ 7.47871719e-01 6.63689556e-01 -1.42851525e-02 5.12836451e+01] [ 1.88712125e-02 2.55182557e-04 9.99821890e-01 -1.34646568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44719347 meters 0.05900250025401566 Centerline is valid? [True, True] Translation: X:124.37, Y:51.30, Z:-1.35 [[ 6.62369697e-01 -7.49071844e-01 -1.25601657e-02 1.24371450e+02] [ 7.48930399e-01 6.62488730e-01 -1.45581899e-02 5.13000408e+01] [ 1.92260984e-02 2.36213909e-04 9.99815134e-01 -1.34663627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47719347 meters 0.05915267465497409 Centerline is valid? [True, True] Translation: X:124.39, Y:51.32, Z:-1.35 [[ 6.61620532e-01 -7.49725407e-01 -1.30417233e-02 1.24394866e+02] [ 7.49572836e-01 6.61749016e-01 -1.51262086e-02 5.13169478e+01] [ 1.99708504e-02 2.32088666e-04 9.99800536e-01 -1.34791659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50719347 meters 0.05978769481781117 Centerline is valid? [True, True] Translation: X:124.42, Y:51.33, Z:-1.35 [[ 6.60901788e-01 -7.50306620e-01 -1.57734813e-02 1.24423258e+02] [ 7.50083355e-01 6.61089938e-01 -1.83044823e-02 5.13292709e+01] [ 2.41616641e-02 2.66039304e-04 9.99708029e-01 -1.35177755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53719347 meters 0.06001430906271674 Centerline is valid? [True, True] Translation: X:124.45, Y:51.34, Z:-1.35 [[ 6.60618398e-01 -7.50514660e-01 -1.76373948e-02 1.24447520e+02] [ 7.50235394e-01 6.60853735e-01 -2.04742317e-02 5.13445268e+01] [ 2.70219493e-02 2.93456290e-04 9.99634797e-01 -1.35408270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56719347 meters 0.060299693204876624 Centerline is valid? [True, True] Translation: X:124.47, Y:51.36, Z:-1.36 [[ 6.59595459e-01 -7.51394078e-01 -1.84599619e-02 1.24472696e+02] [ 7.51088118e-01 6.59853667e-01 -2.14424177e-02 5.13609509e+01] [ 2.82925792e-02 2.78263265e-04 9.99599646e-01 -1.35641351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59719347 meters 0.0602786760111487 Centerline is valid? [True, True] Translation: X:124.50, Y:51.38, Z:-1.36 [[ 6.57318839e-01 -7.53352591e-01 -1.97943733e-02 1.24498921e+02] [ 7.53001269e-01 6.57616778e-01 -2.30056995e-02 5.13768145e+01] [ 3.03485153e-02 2.16891501e-04 9.99539354e-01 -1.35790318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62719347 meters 0.06015118945994148 Centerline is valid? [True, True] Translation: X:124.53, Y:51.39, Z:-1.36 [[ 6.51937180e-01 -7.57961050e-01 -2.17476396e-02 1.24531204e+02] [ 7.57539017e-01 6.52299813e-01 -2.52901433e-02 5.13866716e+01] [ 3.33549249e-02 1.28991871e-05 9.99443570e-01 -1.35676763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65719347 meters 0.059991176667325126 Centerline is valid? [True, True] Translation: X:124.56, Y:51.40, Z:-1.36 [[ 6.49775187e-01 -7.59840883e-01 -2.08336184e-02 1.24555061e+02] [ 7.59454046e-01 6.50109089e-01 -2.42430286e-02 5.14038099e+01] [ 3.19649689e-02 -6.96573647e-05 9.99488987e-01 -1.35516813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68719347 meters 0.06014166030267263 Centerline is valid? [True, True] Translation: X:124.58, Y:51.42, Z:-1.36 [[ 6.48719149e-01 -7.60763397e-01 -2.00629117e-02 1.24577486e+02] [ 7.60405012e-01 6.49029308e-01 -2.33490050e-02 5.14210227e+01] [ 3.07844861e-02 -1.08992013e-04 9.99526039e-01 -1.35609872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71719347 meters 0.0596527587365604 Centerline is valid? [True, True] Translation: X:124.60, Y:51.44, Z:-1.35 [[ 6.48864622e-01 -7.60686217e-01 -1.81984043e-02 1.24599030e+02] [ 7.60390892e-01 6.49119767e-01 -2.11948001e-02 5.14408705e+01] [ 2.79355363e-02 -8.53449002e-05 9.99609723e-01 -1.35325863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74719346999998 meters 0.0596527587365604 Centerline is valid? [True, True] Translation: X:124.62, Y:51.46, Z:-1.35 [[ 6.48598262e-01 -7.60913526e-01 -1.81906996e-02 1.24616805e+02] [ 7.60618104e-01 6.48853296e-01 -2.12014139e-02 5.14619447e+01] [ 2.79355380e-02 -8.49752130e-05 9.99609723e-01 -1.35348563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77719347 meters 0.05965212363382456 Centerline is valid? [True, True] Translation: X:124.63, Y:51.48, Z:-1.35 [[ 6.49425216e-01 -7.60215067e-01 -1.78868656e-02 1.24634757e+02] [ 7.59928855e-01 6.49671493e-01 -2.08587074e-02 5.14823366e+01] [ 2.74776903e-02 -4.65747939e-05 9.99622416e-01 -1.35297547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80719347 meters 0.059448304610121565 Centerline is valid? [True, True] Translation: X:124.65, Y:51.50, Z:-1.35 [[ 6.50844657e-01 -7.59006272e-01 -1.76270197e-02 1.24653306e+02] [ 7.58727462e-01 6.51083312e-01 -2.05708207e-02 5.15039911e+01] [ 2.70900403e-02 1.43048256e-05 9.99632997e-01 -1.35147042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83719347 meters 0.0595331843490163 Centerline is valid? [True, True] Translation: X:124.67, Y:51.53, Z:-1.35 [[ 6.52642365e-01 -7.57459289e-01 -1.77022584e-02 1.24670964e+02] [ 7.57177127e-01 6.52882392e-01 -2.06731584e-02 5.15255291e+01] [ 2.72165687e-02 8.84338311e-05 9.99629557e-01 -1.35254690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86719347 meters 0.059816026886738954 Centerline is valid? [True, True] Translation: X:124.69, Y:51.55, Z:-1.35 [[ 6.54657431e-01 -7.55702759e-01 -1.83572554e-02 1.24687987e+02] [ 7.55398485e-01 6.54914736e-01 -2.14433713e-02 5.15472981e+01] [ 2.82272519e-02 1.71019452e-04 9.99601517e-01 -1.35478585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89719347 meters 0.06064250132100368 Centerline is valid? [True, True] Translation: X:124.70, Y:51.57, Z:-1.36 [[ 6.58645457e-01 -7.52177506e-01 -2.03755371e-02 1.24702660e+02] [ 7.51800769e-01 6.58960446e-01 -2.38061776e-02 5.15705529e+01] [ 3.13331443e-02 3.61486270e-04 9.99508931e-01 -1.35958469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92719347 meters 0.060839992964215085 Centerline is valid? [True, True] Translation: X:124.72, Y:51.59, Z:-1.36 [[ 6.60300929e-01 -7.50739630e-01 -1.98164287e-02 1.24720204e+02] [ 7.50382067e-01 6.60598080e-01 -2.31717527e-02 5.15924905e+01] [ 3.04866478e-02 4.30437109e-04 9.99535081e-01 -1.35928230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95719347 meters 0.0607492114691371 Centerline is valid? [True, True] Translation: X:124.74, Y:51.61, Z:-1.36 [[ 6.61443086e-01 -7.49748262e-01 -1.92506395e-02 1.24739573e+02] [ 7.49409931e-01 6.61722993e-01 -2.25263236e-02 5.16131385e+01] [ 2.96276628e-02 4.73260578e-04 9.99560892e-01 -1.35685045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98719347 meters 0.06073249559790796 Centerline is valid? [True, True] Translation: X:124.76, Y:51.63, Z:-1.35 [[ 6.62535671e-01 -7.48817370e-01 -1.78614519e-02 1.24762453e+02] [ 7.48525431e-01 6.62776214e-01 -2.09133639e-02 5.16310582e+01] [ 2.74984356e-02 4.86098547e-04 9.99621728e-01 -1.35462512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01719347 meters 0.06158156531066522 Centerline is valid? [True, True] Translation: X:124.78, Y:51.65, Z:-1.36 [[ 6.62856686e-01 -7.48517913e-01 -1.84918280e-02 1.24782029e+02] [ 7.48204700e-01 6.63114367e-01 -2.16578814e-02 5.16514540e+01] [ 2.84735090e-02 5.20398891e-04 9.99594412e-01 -1.35860209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04719347 meters 0.061445094928191155 Centerline is valid? [True, True] Translation: X:124.80, Y:51.67, Z:-1.36 [[ 6.63274690e-01 -7.48146457e-01 -1.85355174e-02 1.24802785e+02] [ 7.47831157e-01 6.63533404e-01 -2.17251579e-02 5.16704088e+01] [ 2.85525349e-02 5.48309883e-04 9.99592143e-01 -1.35769568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07719347 meters 0.06183452574119965 Centerline is valid? [True, True] Translation: X:124.82, Y:51.69, Z:-1.36 [[ 6.64225569e-01 -7.47302367e-01 -1.85355109e-02 1.24821985e+02] [ 7.46986602e-01 6.64483880e-01 -2.17299375e-02 5.16903960e+01] [ 2.85553820e-02 5.87801803e-04 9.99592039e-01 -1.35981663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10719347 meters 0.061746653185451215 Centerline is valid? [True, True] Translation: X:124.84, Y:51.71, Z:-1.36 [[ 6.64783357e-01 -7.46787115e-01 -1.92897206e-02 1.24843477e+02] [ 7.46444442e-01 6.65062846e-01 -2.26297481e-02 5.17098524e+01] [ 2.97284808e-02 6.45175188e-04 9.99557803e-01 -1.35946987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13719347 meters 0.06189850268240296 Centerline is valid? [True, True] Translation: X:124.87, Y:51.72, Z:-1.36 [[ 6.63292856e-01 -7.48042285e-01 -2.18019915e-02 1.24871087e+02] [ 7.47604675e-01 6.63650723e-01 -2.55923280e-02 5.17241005e+01] [ 3.36130510e-02 6.75937523e-04 9.99434693e-01 -1.36370432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16719347 meters 0.06158870620244031 Centerline is valid? [True, True] Translation: X:124.90, Y:51.74, Z:-1.36 [[ 6.61152100e-01 -7.49929518e-01 -2.19913210e-02 1.24896568e+02] [ 7.49484770e-01 6.61517469e-01 -2.58305470e-02 5.17406932e+01] [ 3.39187327e-02 5.95760214e-04 9.99424417e-01 -1.36370696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19719347 meters 0.06119589379395754 Centerline is valid? [True, True] Translation: X:124.92, Y:51.76, Z:-1.36 [[ 6.58752722e-01 -7.52046887e-01 -2.16871050e-02 1.24922223e+02] [ 7.51614975e-01 6.59109429e-01 -2.54890143e-02 5.17564043e+01] [ 3.34631093e-02 4.90604632e-04 9.99439833e-01 -1.36264917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22719347 meters 0.06042803118835191 Centerline is valid? [True, True] Translation: X:124.95, Y:51.77, Z:-1.36 [[ 6.51304813e-01 -7.58520114e-01 -2.11961314e-02 1.24954372e+02] [ 7.58110363e-01 6.51649605e-01 -2.49293042e-02 5.17666017e+01] [ 3.27218294e-02 1.67568946e-04 9.99464484e-01 -1.36174759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25719347 meters 0.060442394233764955 Centerline is valid? [True, True] Translation: X:124.98, Y:51.78, Z:-1.36 [[ 6.47259810e-01 -7.61986127e-01 -2.07817386e-02 1.24978549e+02] [ 7.61593477e-01 6.47593347e-01 -2.44588164e-02 5.17834362e+01] [ 3.20953944e-02 3.97233900e-06 9.99484810e-01 -1.36216078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28719347 meters 0.061085535430175586 Centerline is valid? [True, True] Translation: X:125.00, Y:51.80, Z:-1.36 [[ 6.43352647e-01 -7.65294658e-01 -2.05294352e-02 1.25001914e+02] [ 7.64912681e-01 6.43680094e-01 -2.41769731e-02 5.17997163e+01] [ 3.17168972e-02 -1.48905700e-04 9.99496882e-01 -1.36461904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31719347 meters 0.06158818160548521 Centerline is valid? [True, True] Translation: X:125.03, Y:51.81, Z:-1.36 [[ 6.38049955e-01 -7.69700786e-01 -2.12827294e-02 1.25030637e+02] [ 7.69292142e-01 6.38404701e-01 -2.50806117e-02 5.18124417e+01] [ 3.28915610e-02 -3.69953362e-04 9.99458858e-01 -1.36197123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34719347 meters 0.06202055184652637 Centerline is valid? [True, True] Translation: X:125.05, Y:51.83, Z:-1.36 [[ 6.37092181e-01 -7.70483806e-01 -2.16392418e-02 1.25052174e+02] [ 7.70061271e-01 6.37459441e-01 -2.55166745e-02 5.18302385e+01] [ 3.34543235e-02 -4.07068201e-04 9.99440165e-01 -1.36349236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37719347 meters 0.06166190231474591 Centerline is valid? [True, True] Translation: X:125.07, Y:51.85, Z:-1.36 [[ 6.38433141e-01 -7.69377416e-01 -2.14829133e-02 1.25071131e+02] [ 7.68959765e-01 6.38794395e-01 -2.53495591e-02 5.18507343e+01] [ 3.32265429e-02 -3.35497344e-04 9.99447790e-01 -1.36281096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40719347 meters 0.06093633767322387 Centerline is valid? [True, True] Translation: X:125.09, Y:51.87, Z:-1.36 [[ 6.40630898e-01 -7.67593123e-01 -1.98204559e-02 1.25089092e+02] [ 7.67236293e-01 6.40937401e-01 -2.34033871e-02 5.18731056e+01] [ 3.06679505e-02 -2.14040206e-04 9.99529605e-01 -1.36072756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43719347 meters 0.059900750035218414 Centerline is valid? [True, True] Translation: X:125.10, Y:51.90, Z:-1.36 [[ 6.46617161e-01 -7.62613522e-01 -1.75175159e-02 1.25103087e+02] [ 7.62332575e-01 6.46854400e-01 -2.06985622e-02 5.18988937e+01] [ 2.71162856e-02 2.98725382e-05 9.99632285e-01 -1.35646016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46719347 meters 0.059969988338197854 Centerline is valid? [True, True] Translation: X:125.12, Y:51.92, Z:-1.36 [[ 6.48867962e-01 -7.60722494e-01 -1.64819628e-02 1.25118672e+02] [ 7.60472830e-01 6.49077249e-01 -1.94884651e-02 5.19221616e+01] [ 2.55233808e-02 1.11355739e-04 9.99674219e-01 -1.35802631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49719346999998 meters 0.06004402995379709 Centerline is valid? [True, True] Translation: X:125.14, Y:51.95, Z:-1.36 [[ 6.51541478e-01 -7.58431919e-01 -1.65748664e-02 1.25135744e+02] [ 7.58178387e-01 6.51752238e-01 -1.96100660e-02 5.19458688e+01] [ 2.56756062e-02 2.10065946e-04 9.99670305e-01 -1.35735407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52719347 meters 0.06021440324670083 Centerline is valid? [True, True] Translation: X:125.15, Y:51.97, Z:-1.36 [[ 6.52992231e-01 -7.57193702e-01 -1.60886237e-02 1.25153047e+02] [ 7.56954146e-01 6.53190348e-01 -1.90470292e-02 5.19672162e+01] [ 2.49312243e-02 2.59211677e-04 9.99689135e-01 -1.35802079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55719347 meters 0.06049780282023659 Centerline is valid? [True, True] Translation: X:125.17, Y:51.99, Z:-1.36 [[ 6.55257328e-01 -7.55233890e-01 -1.61122778e-02 1.25173233e+02] [ 7.54992735e-01 6.55455303e-01 -1.90870769e-02 5.19860621e+01] [ 2.49760853e-02 3.42294353e-04 9.99687990e-01 -1.35729447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58719347 meters 0.06052203119110548 Centerline is valid? [True, True] Translation: X:125.19, Y:52.01, Z:-1.36 [[ 6.55146508e-01 -7.55344956e-01 -1.53964479e-02 1.25193913e+02] [ 7.55124489e-01 6.55327313e-01 -1.82515185e-02 5.20058285e+01] [ 2.38759053e-02 3.31183730e-04 9.99714875e-01 -1.35674816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61719347 meters 0.06048217973665489 Centerline is valid? [True, True] Translation: X:125.22, Y:52.02, Z:-1.36 [[ 6.54185151e-01 -7.56176213e-01 -1.54700438e-02 1.25215014e+02] [ 7.55953566e-01 6.54367968e-01 -1.83512451e-02 5.20242953e+01] [ 2.39998762e-02 3.10477266e-04 9.99711913e-01 -1.35805140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64719347 meters 0.06058983811683351 Centerline is valid? [True, True] Translation: X:125.24, Y:52.04, Z:-1.36 [[ 6.52787595e-01 -7.57362427e-01 -1.64471723e-02 1.25239636e+02] [ 7.57110853e-01 6.52994693e-01 -1.95214603e-02 5.20395636e+01] [ 2.55247368e-02 2.91034438e-04 9.99674148e-01 -1.36071256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67719347 meters 0.0607640296137863 Centerline is valid? [True, True] Translation: X:125.26, Y:52.06, Z:-1.36 [[ 6.52924732e-01 -7.57231545e-01 -1.70200376e-02 1.25260317e+02] [ 7.56961759e-01 6.53146452e-01 -2.02140549e-02 5.20593818e+01] [ 2.64232972e-02 3.14738721e-04 9.99650794e-01 -1.36178430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70719347 meters 0.060667861270349156 Centerline is valid? [True, True] Translation: X:125.28, Y:52.08, Z:-1.36 [[ 6.52070651e-01 -7.57969207e-01 -1.69276960e-02 1.25281635e+02] [ 7.57702229e-01 6.52290270e-01 -2.01180529e-02 5.20784928e+01] [ 2.62906360e-02 2.92238834e-04 9.99654299e-01 -1.36198243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73719347 meters 0.06071144043423081 Centerline is valid? [True, True] Translation: X:125.30, Y:52.10, Z:-1.36 [[ 6.50641669e-01 -7.59181528e-01 -1.75734299e-02 1.25303482e+02] [ 7.58893857e-01 6.50878897e-01 -2.08991683e-02 5.20968254e+01] [ 2.73044372e-02 2.61501711e-04 9.99627130e-01 -1.36319844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76719347 meters 0.06026721875697446 Centerline is valid? [True, True] Translation: X:125.33, Y:52.11, Z:-1.36 [[ 6.45494352e-01 -7.63569469e-01 -1.72831762e-02 1.25330535e+02] [ 7.63292411e-01 6.45725684e-01 -2.05678527e-02 5.21112711e+01] [ 2.68651751e-02 8.43154762e-05 9.99639062e-01 -1.36117608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79719347 meters 0.06043131319902998 Centerline is valid? [True, True] Translation: X:125.35, Y:52.13, Z:-1.36 [[ 6.43104957e-01 -7.65574625e-01 -1.76495898e-02 1.25351866e+02] [ 7.65286042e-01 6.43347102e-01 -2.10185681e-02 5.21304636e+01] [ 2.74460949e-02 1.01605797e-05 9.99623285e-01 -1.36238557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82719347 meters 0.060650048997679215 Centerline is valid? [True, True] Translation: X:125.37, Y:52.15, Z:-1.36 [[ 6.41331166e-01 -7.67052861e-01 -1.80067670e-02 1.25372681e+02] [ 7.66752648e-01 6.41583905e-01 -2.14585754e-02 5.21490718e+01] [ 2.80127135e-02 -4.46830867e-05 9.99607566e-01 -1.36319898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85719347 meters 0.060660508055279484 Centerline is valid? [True, True] Translation: X:125.39, Y:52.17, Z:-1.36 [[ 6.40500168e-01 -7.67754426e-01 -1.76826617e-02 1.25392934e+02] [ 7.67464794e-01 6.40744206e-01 -2.10867958e-02 5.21685656e+01] [ 2.75195438e-02 -6.47240947e-05 9.99621264e-01 -1.36270315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88719347 meters 0.06036649119188433 Centerline is valid? [True, True] Translation: X:125.41, Y:52.19, Z:-1.36 [[ 6.40581384e-01 -7.67691711e-01 -1.74621714e-02 1.25412140e+02] [ 7.67408828e-01 6.40819346e-01 -2.08388351e-02 5.21892152e+01] [ 2.71878982e-02 -5.16546321e-05 9.99630339e-01 -1.36001330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91719347 meters 0.06024557386932285 Centerline is valid? [True, True] Translation: X:125.43, Y:52.21, Z:-1.36 [[ 6.40947673e-01 -7.67391580e-01 -1.72117204e-02 1.25428155e+02] [ 7.67116232e-01 6.41178729e-01 -2.05553822e-02 5.22116512e+01] [ 2.68098162e-02 -2.84656748e-05 9.99640552e-01 -1.36164610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94719347 meters 0.06030469574005906 Centerline is valid? [True, True] Translation: X:125.44, Y:52.24, Z:-1.36 [[ 6.41356393e-01 -7.67033886e-01 -1.79163273e-02 1.25444019e+02] [ 7.66735022e-01 6.41606591e-01 -2.14099936e-02 5.22354517e+01] [ 2.79174243e-02 -5.63936924e-06 9.99610233e-01 -1.36499457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97719347 meters 0.06021518926069262 Centerline is valid? [True, True] Translation: X:125.46, Y:52.26, Z:-1.37 [[ 6.42391923e-01 -7.66169485e-01 -1.78027200e-02 1.25459733e+02] [ 7.65873647e-01 6.42638560e-01 -2.12893861e-02 5.22589295e+01] [ 2.77519923e-02 4.14956183e-05 9.99614838e-01 -1.36592216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00719347 meters 0.06040932944001437 Centerline is valid? [True, True] Translation: X:125.47, Y:52.28, Z:-1.37 [[ 6.44515714e-01 -7.64415192e-01 -1.63984019e-02 1.25474450e+02] [ 7.64163289e-01 6.44724282e-01 -1.96231330e-02 5.22829985e+01] [ 2.55726689e-02 1.16360849e-04 9.99672959e-01 -1.36961931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03719347 meters 0.05974237639952319 Centerline is valid? [True, True] Translation: X:125.49, Y:52.30, Z:-1.36 [[ 6.44733283e-01 -7.64256287e-01 -1.52092482e-02 1.25492682e+02] [ 7.64039261e-01 6.44912639e-01 -1.82124844e-02 5.23044346e+01] [ 2.37276421e-02 1.21732066e-04 9.99718452e-01 -1.36427331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06719347 meters 0.059659179408308914 Centerline is valid? [True, True] Translation: X:125.51, Y:52.33, Z:-1.36 [[ 6.45612313e-01 -7.63533302e-01 -1.41999161e-02 1.25511073e+02] [ 7.63343700e-01 6.45768438e-01 -1.70153084e-02 5.23261394e+01] [ 2.21616122e-02 1.45876106e-04 9.99754391e-01 -1.36327446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09719347 meters 0.05952045844610053 Centerline is valid? [True, True] Translation: X:125.53, Y:52.35, Z:-1.36 [[ 6.46105262e-01 -7.63130058e-01 -1.34352028e-02 1.25529125e+02] [ 7.62960002e-01 6.46244914e-01 -1.61104175e-02 5.23482600e+01] [ 2.09767753e-02 1.58503120e-04 9.99779951e-01 -1.36209875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12719347 meters 0.05934502152989118 Centerline is valid? [True, True] Translation: X:125.54, Y:52.37, Z:-1.36 [[ 6.46833047e-01 -7.62519592e-01 -1.30721239e-02 1.25544556e+02] [ 7.62358254e-01 6.46965099e-01 -1.56860932e-02 5.23720787e+01] [ 2.04181612e-02 1.80641918e-04 9.99791511e-01 -1.36403351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15719347 meters 0.05948253095222277 Centerline is valid? [True, True] Translation: X:125.56, Y:52.39, Z:-1.36 [[ 6.46776567e-01 -7.62561843e-01 -1.33980498e-02 1.25561750e+02] [ 7.62392143e-01 6.46915295e-01 -1.60879240e-02 5.23943605e+01] [ 2.09354403e-02 1.90724352e-04 9.99780811e-01 -1.36481466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18719347 meters 0.05964969835858255 Centerline is valid? [True, True] Translation: X:125.58, Y:52.42, Z:-1.37 [[ 6.46284342e-01 -7.62973924e-01 -1.36872304e-02 1.25578703e+02] [ 7.62796693e-01 6.46429235e-01 -1.64453178e-02 5.24150593e+01] [ 2.13951745e-02 1.87777311e-04 9.99771079e-01 -1.36751349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21719347 meters 0.05969701934549564 Centerline is valid? [True, True] Translation: X:125.60, Y:52.44, Z:-1.37 [[ 6.46687440e-01 -7.62617325e-01 -1.44972711e-02 1.25598039e+02] [ 7.62418148e-01 6.46849881e-01 -1.74298559e-02 5.24356517e+01] [ 2.26698682e-02 2.18686268e-04 9.99742982e-01 -1.36721675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24719346999998 meters 0.05997802910898452 Centerline is valid? [True, True] Translation: X:125.62, Y:52.45, Z:-1.37 [[ 6.46249374e-01 -7.62958116e-01 -1.60205967e-02 1.25616856e+02] [ 7.62714903e-01 6.46447879e-01 -1.92643839e-02 5.24549437e+01] [ 2.50543988e-02 2.30448185e-04 9.99686063e-01 -1.37022419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27719347 meters 0.05971175362605975 Centerline is valid? [True, True] Translation: X:125.64, Y:52.47, Z:-1.37 [[ 6.44924674e-01 -7.64052259e-01 -1.72136649e-02 1.25637585e+02] [ 7.63771638e-01 6.45154325e-01 -2.07070560e-02 5.24746930e+01] [ 2.69267433e-02 2.07182321e-04 9.99637388e-01 -1.36724724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30719347 meters 0.05995171675363298 Centerline is valid? [True, True] Translation: X:125.66, Y:52.49, Z:-1.37 [[ 6.42763017e-01 -7.65856081e-01 -1.78931960e-02 1.25656340e+02] [ 7.65553378e-01 6.43012008e-01 -2.15309772e-02 5.24940588e+01] [ 2.79951697e-02 1.41119248e-04 9.99608048e-01 -1.37149429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33719347 meters 0.06021053591791875 Centerline is valid? [True, True] Translation: X:125.68, Y:52.51, Z:-1.37 [[ 6.40755143e-01 -7.67526055e-01 -1.83467056e-02 1.25675828e+02] [ 7.67207984e-01 6.41017744e-01 -2.20943648e-02 5.25143568e+01] [ 2.87185644e-02 8.13388648e-05 9.99587534e-01 -1.37352663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36719347 meters 0.060195887317137785 Centerline is valid? [True, True] Translation: X:125.70, Y:52.53, Z:-1.37 [[ 6.37577718e-01 -7.70168252e-01 -1.83171321e-02 1.25696181e+02] [ 7.69851839e-01 6.37840782e-01 -2.20745063e-02 5.25337076e+01] [ 2.86844978e-02 -2.72644673e-05 9.99588515e-01 -1.37259391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39719347 meters 0.0602565098669995 Centerline is valid? [True, True] Translation: X:125.72, Y:52.55, Z:-1.37 [[ 6.35194477e-01 -7.72153324e-01 -1.75277257e-02 1.25715864e+02] [ 7.71863954e-01 6.35436255e-01 -2.11376777e-02 5.25536756e+01] [ 2.74592805e-02 -1.02483550e-04 9.99622918e-01 -1.37189711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42719347 meters 0.06089196512333457 Centerline is valid? [True, True] Translation: X:125.74, Y:52.57, Z:-1.37 [[ 6.30337229e-01 -7.76130903e-01 -1.71988340e-02 1.25739382e+02] [ 7.75853417e-01 6.30571767e-01 -2.07538513e-02 5.25693869e+01] [ 2.69528045e-02 -2.61848992e-04 9.99636673e-01 -1.36989145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45719347 meters 0.06139067346731255 Centerline is valid? [True, True] Translation: X:125.76, Y:52.59, Z:-1.37 [[ 6.27607205e-01 -7.78321388e-01 -1.80281161e-02 1.25759808e+02] [ 7.78016984e-01 6.27865976e-01 -2.17689840e-02 5.25890511e+01] [ 2.82625065e-02 -3.63809317e-04 9.99600469e-01 -1.36999835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48719347 meters 0.06175700204748308 Centerline is valid? [True, True] Translation: X:125.78, Y:52.61, Z:-1.37 [[ 6.24966958e-01 -7.80454806e-01 -1.75099015e-02 1.25779692e+02] [ 7.80168066e-01 6.25212048e-01 -2.11585402e-02 5.26093830e+01] [ 2.74606857e-02 -4.37277469e-04 9.99622789e-01 -1.36999546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51719347 meters 0.06273311967273816 Centerline is valid? [True, True] Translation: X:125.80, Y:52.63, Z:-1.37 [[ 6.21684111e-01 -7.83095561e-01 -1.64380248e-02 1.25796978e+02] [ 7.82843500e-01 6.21901181e-01 -1.98740060e-02 5.26295771e+01] [ 2.57860729e-02 -5.13047123e-04 9.99667352e-01 -1.37131932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54719347 meters 0.06274599181348814 Centerline is valid? [True, True] Translation: X:125.81, Y:52.65, Z:-1.37 [[ 6.21280021e-01 -7.83415250e-01 -1.64827808e-02 1.25812883e+02] [ 7.83161551e-01 6.21498413e-01 -1.99426322e-02 5.26523177e+01] [ 2.58673843e-02 -5.18721214e-04 9.99665249e-01 -1.37195658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57719347 meters 0.06241617668842764 Centerline is valid? [True, True] Translation: X:125.83, Y:52.68, Z:-1.37 [[ 6.21220997e-01 -7.83443469e-01 -1.73436644e-02 1.25828501e+02] [ 7.83162212e-01 6.21462823e-01 -2.09978400e-02 5.26763863e+01] [ 2.72290633e-02 -5.38603470e-04 9.99629075e-01 -1.37208340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60719347 meters 0.06241617668842764 Centerline is valid? [True, True] Translation: X:125.85, Y:52.70, Z:-1.37 [[ 6.20949011e-01 -7.83659224e-01 -1.73362462e-02 1.25845915e+02] [ 7.83377880e-01 6.21190736e-01 -2.10039658e-02 5.26978351e+01] [ 2.72290671e-02 -5.38439960e-04 9.99629075e-01 -1.37231042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63719347 meters 0.06286700613396609 Centerline is valid? [True, True] Translation: X:125.86, Y:52.72, Z:-1.37 [[ 6.21003769e-01 -7.83608559e-01 -1.76620023e-02 1.25861889e+02] [ 7.83316250e-01 6.21254646e-01 -2.14083517e-02 5.27201371e+01] [ 2.77483686e-02 -5.40266304e-04 9.99614794e-01 -1.37421871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66719347 meters 0.06319892225612438 Centerline is valid? [True, True] Translation: X:125.88, Y:52.74, Z:-1.38 [[ 6.21757003e-01 -7.83027810e-01 -1.69020242e-02 1.25876150e+02] [ 7.82759678e-01 6.21986505e-01 -2.04957090e-02 5.27443218e+01] [ 2.65615411e-02 -4.86872436e-04 9.99647061e-01 -1.37513158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69719347 meters 0.06248504134336114 Centerline is valid? [True, True] Translation: X:125.89, Y:52.77, Z:-1.37 [[ 6.21500825e-01 -7.83197909e-01 -1.83782495e-02 1.25890393e+02] [ 7.82880526e-01 6.21772271e-01 -2.23007869e-02 5.27696200e+01] [ 2.88930156e-02 -5.28016172e-04 9.99582370e-01 -1.37316264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72719347 meters 0.06200213168154064 Centerline is valid? [True, True] Translation: X:125.91, Y:52.79, Z:-1.37 [[ 6.21728097e-01 -7.83011458e-01 -1.86341069e-02 1.25905322e+02] [ 7.82684620e-01 6.22007066e-01 -2.26273226e-02 5.27934139e+01] [ 2.93079990e-02 -5.16586624e-04 9.99570295e-01 -1.37206107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75719347 meters 0.06214955998243287 Centerline is valid? [True, True] Translation: X:125.92, Y:52.82, Z:-1.37 [[ 6.21177241e-01 -7.83425934e-01 -1.95612200e-02 1.25921456e+02] [ 7.83065503e-01 6.21484915e-01 -2.37680271e-02 5.28166363e+01] [ 3.07774920e-02 -5.53559047e-04 9.99526107e-01 -1.37253553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78719347 meters 0.062420757408238756 Centerline is valid? [True, True] Translation: X:125.94, Y:52.84, Z:-1.37 [[ 6.20626093e-01 -7.83866048e-01 -1.94234928e-02 1.25937051e+02] [ 7.83510344e-01 6.20929711e-01 -2.36185347e-02 5.28388545e+01] [ 3.05743912e-02 -5.60228650e-04 9.99532337e-01 -1.37378811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81719347 meters 0.06186107107281508 Centerline is valid? [True, True] Translation: X:125.95, Y:52.86, Z:-1.37 [[ 6.20431241e-01 -7.84009293e-01 -1.98621277e-02 1.25949757e+02] [ 7.83636928e-01 6.20748824e-01 -2.41673878e-02 5.28649377e+01] [ 3.12768491e-02 -5.70494317e-04 9.99510597e-01 -1.37162256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84719347 meters 0.06174060425448378 Centerline is valid? [True, True] Translation: X:125.97, Y:52.89, Z:-1.37 [[ 6.20948507e-01 -7.83590346e-01 -2.02267326e-02 1.25965336e+02] [ 7.83203411e-01 6.21277610e-01 -2.46281931e-02 5.28890806e+01] [ 3.18648304e-02 -5.48806206e-04 9.99492037e-01 -1.37178929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87719347 meters 0.06177159163681271 Centerline is valid? [True, True] Translation: X:125.98, Y:52.91, Z:-1.37 [[ 6.21821514e-01 -7.82926786e-01 -1.90696686e-02 1.25981459e+02] [ 7.82582077e-01 6.22113673e-01 -2.32351382e-02 5.29118196e+01] [ 3.00549136e-02 -4.75471995e-04 9.99548136e-01 -1.37300749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90719347 meters 0.06045864750086241 Centerline is valid? [True, True] Translation: X:125.99, Y:52.94, Z:-1.37 [[ 6.24576525e-01 -7.80704086e-01 -2.01319423e-02 1.25992561e+02] [ 7.80318197e-01 6.24900782e-01 -2.45463655e-02 5.29385319e+01] [ 3.17439143e-02 -3.78237214e-04 9.99495963e-01 -1.36955356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93719347 meters 0.05973624728881485 Centerline is valid? [True, True] Translation: X:126.01, Y:52.96, Z:-1.37 [[ 6.26548500e-01 -7.79111335e-01 -2.05549264e-02 1.26006058e+02] [ 7.78707611e-01 6.26885510e-01 -2.50801597e-02 5.29632030e+01] [ 3.24258222e-02 -2.92341172e-04 9.99474102e-01 -1.36852003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96719347 meters 0.05959600514607257 Centerline is valid? [True, True] Translation: X:126.02, Y:52.99, Z:-1.37 [[ 6.28255525e-01 -7.77712283e-01 -2.14149297e-02 1.26019638e+02] [ 7.77272701e-01 6.28620359e-01 -2.61455991e-02 5.29871036e+01] [ 3.37956144e-02 -2.19123110e-04 9.99428741e-01 -1.36996031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99719346999998 meters 0.05927573926743101 Centerline is valid? [True, True] Translation: X:126.03, Y:53.01, Z:-1.37 [[ 6.30205254e-01 -7.76162126e-01 -2.03394016e-02 1.26033276e+02] [ 7.75764239e-01 6.30533377e-01 -2.48496795e-02 5.30129736e+01] [ 3.21120516e-02 -1.18181784e-04 9.99484268e-01 -1.37069321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02719347 meters 0.05859606680875286 Centerline is valid? [True, True] Translation: X:126.04, Y:53.04, Z:-1.37 [[ 6.34745557e-01 -7.72466542e-01 -1.98373234e-02 1.26042486e+02] [ 7.72085715e-01 6.35055458e-01 -2.42531201e-02 5.30416998e+01] [ 3.13325244e-02 7.84462134e-05 9.99509013e-01 -1.36943577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05719347 meters 0.05873514522509379 Centerline is valid? [True, True] Translation: X:126.06, Y:53.07, Z:-1.37 [[ 6.36587776e-01 -7.70949152e-01 -1.98345203e-02 1.26056674e+02] [ 7.70567217e-01 6.36896678e-01 -2.42649332e-02 5.30653842e+01] [ 3.13395698e-02 1.62928751e-04 9.99508782e-01 -1.37122633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08719347 meters 0.05838417307440276 Centerline is valid? [True, True] Translation: X:126.07, Y:53.09, Z:-1.37 [[ 6.38073152e-01 -7.69741214e-01 -1.90030517e-02 1.26073051e+02] [ 7.69389612e-01 6.38356024e-01 -2.32639562e-02 5.30890821e+01] [ 3.00379384e-02 2.23355293e-04 9.99548734e-01 -1.36788718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11719347 meters 0.05834210761095007 Centerline is valid? [True, True] Translation: X:126.09, Y:53.11, Z:-1.37 [[ 6.40397514e-01 -7.67840724e-01 -1.76534824e-02 1.26089078e+02] [ 7.67536165e-01 6.40640720e-01 -2.16264360e-02 5.31128841e+01] [ 2.79151980e-02 2.99829699e-04 9.99610250e-01 -1.36644926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14719347 meters 0.0586453150408536 Centerline is valid? [True, True] Translation: X:126.10, Y:53.14, Z:-1.36 [[ 6.45554473e-01 -7.63550449e-01 -1.58156466e-02 1.26101660e+02] [ 7.63304366e-01 6.45748027e-01 -1.93889206e-02 5.31382973e+01] [ 2.50173416e-02 4.44452316e-04 9.99686919e-01 -1.36301894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17719347 meters 0.05899589496940789 Centerline is valid? [True, True] Translation: X:126.12, Y:53.16, Z:-1.36 [[ 6.47487432e-01 -7.61906901e-01 -1.60592391e-02 1.26117482e+02] [ 7.61652353e-01 6.47686344e-01 -1.97000869e-02 5.31614488e+01] [ 2.54109820e-02 5.24001387e-04 9.99676952e-01 -1.36358627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20719347 meters 0.05971904027110651 Centerline is valid? [True, True] Translation: X:126.13, Y:53.18, Z:-1.37 [[ 6.48759699e-01 -7.60804529e-01 -1.69505832e-02 1.26133140e+02] [ 7.60520183e-01 6.48980816e-01 -2.08074732e-02 5.31845162e+01] [ 2.68310232e-02 6.07789439e-04 9.99639799e-01 -1.36652851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23719347 meters 0.06118983424689695 Centerline is valid? [True, True] Translation: X:126.15, Y:53.21, Z:-1.38 [[ 6.51032038e-01 -7.58773532e-01 -2.04942176e-02 1.26148623e+02] [ 7.58356515e-01 6.51353988e-01 -2.51670186e-02 5.32073620e+01] [ 3.24450579e-02 8.42611971e-04 9.99473165e-01 -1.37555975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26719347 meters 0.061931707858565194 Centerline is valid? [True, True] Translation: X:126.17, Y:53.23, Z:-1.38 [[ 6.51785764e-01 -7.58067734e-01 -2.25527841e-02 1.26166354e+02] [ 7.57561624e-01 6.52175095e-01 -2.77133863e-02 5.32293104e+01] [ 3.57169880e-02 9.78066959e-04 9.99361466e-01 -1.37929286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29719347 meters 0.062348763584444106 Centerline is valid? [True, True] Translation: X:126.18, Y:53.25, Z:-1.38 [[ 6.51782161e-01 -7.58053352e-01 -2.31328665e-02 1.26184962e+02] [ 7.57520220e-01 6.52191754e-01 -2.84434890e-02 5.32503082e+01] [ 3.66487469e-02 1.01534461e-03 9.99327693e-01 -1.38115676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32719347 meters 0.06274587642108283 Centerline is valid? [True, True] Translation: X:126.20, Y:53.27, Z:-1.38 [[ 6.51798366e-01 -7.58037681e-01 -2.31897594e-02 1.26204494e+02] [ 7.57501156e-01 6.52209943e-01 -2.85340137e-02 5.32688301e+01] [ 3.67544492e-02 1.03215399e-03 9.99323794e-01 -1.38189880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35719347 meters 0.061448960528109525 Centerline is valid? [True, True] Translation: X:126.23, Y:53.28, Z:-1.37 [[ 6.51939702e-01 -7.57920282e-01 -2.30536658e-02 1.26233312e+02] [ 7.57389245e-01 6.52346345e-01 -2.83862147e-02 5.32811054e+01] [ 3.65534625e-02 1.04550181e-03 9.99331152e-01 -1.37413755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38719347 meters 0.06283581976154953 Centerline is valid? [True, True] Translation: X:126.25, Y:53.30, Z:-1.38 [[ 6.52346731e-01 -7.57567672e-01 -2.31293070e-02 1.26250509e+02] [ 7.57032295e-01 6.52755740e-01 -2.84964592e-02 5.33020889e+01] [ 3.66857841e-02 1.07993962e-03 9.99326267e-01 -1.37855787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41719347 meters 0.06303416127274351 Centerline is valid? [True, True] Translation: X:126.27, Y:53.32, Z:-1.38 [[ 6.53205746e-01 -7.56831650e-01 -2.29805721e-02 1.26269093e+02] [ 7.56302051e-01 6.53608894e-01 -2.83305700e-02 5.33236685e+01] [ 3.64617784e-02 1.12543729e-03 9.99334415e-01 -1.37947397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44719347 meters 0.0627310394298564 Centerline is valid? [True, True] Translation: X:126.29, Y:53.34, Z:-1.38 [[ 6.56229921e-01 -7.54210028e-01 -2.30113814e-02 1.26291833e+02] [ 7.53676693e-01 6.56631998e-01 -2.83876992e-02 5.33415992e+01] [ 3.65202968e-02 1.28571574e-03 9.99332084e-01 -1.37681335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47719347 meters 0.0629931268058859 Centerline is valid? [True, True] Translation: X:126.31, Y:53.36, Z:-1.38 [[ 6.57375582e-01 -7.53200517e-01 -2.33736126e-02 1.26312918e+02] [ 7.52648972e-01 6.57789550e-01 -2.88518943e-02 5.33616812e+01] [ 3.71061798e-02 1.37440528e-03 9.99310383e-01 -1.37714569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50719347 meters 0.06403828469521958 Centerline is valid? [True, True] Translation: X:126.33, Y:53.38, Z:-1.38 [[ 6.58529605e-01 -7.52186923e-01 -2.35285483e-02 1.26332844e+02] [ 7.51626635e-01 6.58948190e-01 -2.90634504e-02 5.33808455e+01] [ 3.73652416e-02 1.45445897e-03 9.99300617e-01 -1.37794575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53719347 meters 0.06382309762443086 Centerline is valid? [True, True] Translation: X:126.36, Y:53.39, Z:-1.37 [[ 6.58475493e-01 -7.52303981e-01 -2.11836056e-02 1.26360351e+02] [ 7.51849290e-01 6.58814837e-01 -2.61850395e-02 5.33946909e+01] [ 3.36551831e-02 1.31532800e-03 9.99432638e-01 -1.37311915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56719347 meters 0.06332201611161782 Centerline is valid? [True, True] Translation: X:126.38, Y:53.41, Z:-1.37 [[ 6.57807059e-01 -7.52937030e-01 -1.93830202e-02 1.26382565e+02] [ 7.52556436e-01 6.58091514e-01 -2.39660216e-02 5.34115994e+01] [ 3.08007062e-02 1.17820162e-03 9.99524851e-01 -1.37024549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59719347 meters 0.06220421355315577 Centerline is valid? [True, True] Translation: X:126.41, Y:53.43, Z:-1.37 [[ 6.57094839e-01 -7.53605134e-01 -1.74835653e-02 1.26406951e+02] [ 7.53295284e-01 6.57326563e-01 -2.16334201e-02 5.34286614e+01] [ 2.77954683e-02 1.04492137e-03 9.99613085e-01 -1.36571687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62719347 meters 0.06059424006853689 Centerline is valid? [True, True] Translation: X:126.44, Y:53.44, Z:-1.36 [[ 6.53081255e-01 -7.57136465e-01 -1.51409335e-02 1.26435204e+02] [ 7.56904720e-01 6.53256274e-01 -1.87479244e-02 5.34417433e+01] [ 2.40856470e-02 7.83673935e-04 9.99709592e-01 -1.36488516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65719347 meters 0.06031028289194146 Centerline is valid? [True, True] Translation: X:126.46, Y:53.46, Z:-1.37 [[ 6.50622764e-01 -7.59251510e-01 -1.50719282e-02 1.26457847e+02] [ 7.59022159e-01 6.50796927e-01 -1.86740812e-02 5.34602673e+01] [ 2.39870889e-02 7.09854824e-04 9.99712016e-01 -1.36612637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68719347 meters 0.05947983682136427 Centerline is valid? [True, True] Translation: X:126.48, Y:53.48, Z:-1.37 [[ 6.48134735e-01 -7.61364359e-01 -1.56741299e-02 1.26482055e+02] [ 7.61116595e-01 6.48323893e-01 -1.94334408e-02 5.34770250e+01] [ 2.49578421e-02 6.65647620e-04 9.99688283e-01 -1.36591966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71719347 meters 0.05895101437430644 Centerline is valid? [True, True] Translation: X:126.51, Y:53.49, Z:-1.37 [[ 6.42797897e-01 -7.65880153e-01 -1.54419711e-02 1.26512425e+02] [ 7.65640636e-01 6.42983164e-01 -1.91590196e-02 5.34878781e+01] [ 2.46024402e-02 4.92376944e-04 9.99697193e-01 -1.36501388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74719346999998 meters 0.05830532795079757 Centerline is valid? [True, True] Translation: X:126.54, Y:53.50, Z:-1.36 [[ 6.39640629e-01 -7.68528532e-01 -1.49586424e-02 1.26537300e+02] [ 7.68304206e-01 6.39815400e-01 -1.85715205e-02 5.35039178e+01] [ 2.38435131e-02 3.86311130e-04 9.99715628e-01 -1.36381067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77719347 meters 0.05835382950855419 Centerline is valid? [True, True] Translation: X:126.56, Y:53.52, Z:-1.37 [[ 6.36792930e-01 -7.70891870e-01 -1.48488928e-02 1.26558970e+02] [ 7.70671307e-01 6.36965961e-01 -1.84418455e-02 5.35214272e+01] [ 2.36749080e-02 3.00021184e-04 9.99719665e-01 -1.36588908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80719347 meters 0.0585489206618444 Centerline is valid? [True, True] Translation: X:126.59, Y:53.54, Z:-1.37 [[ 6.31277661e-01 -7.75354359e-01 -1.77237600e-02 1.26585364e+02] [ 7.75041449e-01 6.31526396e-01 -2.20264114e-02 5.35365713e+01] [ 2.82712964e-02 1.68132804e-04 9.99600273e-01 -1.36989031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83719347 meters 0.058870398537182664 Centerline is valid? [True, True] Translation: X:126.61, Y:53.56, Z:-1.37 [[ 6.29572103e-01 -7.76704409e-01 -1.92152965e-02 1.26606149e+02] [ 7.76336787e-01 6.29865259e-01 -2.38945422e-02 5.35563675e+01] [ 3.06620440e-02 1.25795697e-04 9.99529801e-01 -1.37221770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86719347 meters 0.05911066698845375 Centerline is valid? [True, True] Translation: X:126.63, Y:53.58, Z:-1.37 [[ 6.28219200e-01 -7.77765805e-01 -2.05180285e-02 1.26627094e+02] [ 7.77346682e-01 6.28554170e-01 -2.55302145e-02 5.35761874e+01] [ 3.27532202e-02 8.89495259e-05 9.99463465e-01 -1.37391637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89719347 meters 0.05957367056840223 Centerline is valid? [True, True] Translation: X:126.65, Y:53.60, Z:-1.38 [[ 6.27328960e-01 -7.78465124e-01 -2.12232681e-02 1.26647138e+02] [ 7.78016533e-01 6.27687858e-01 -2.64240003e-02 5.35963687e+01] [ 3.38917504e-02 6.44871801e-05 9.99425508e-01 -1.37614385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92719347 meters 0.059653689701149794 Centerline is valid? [True, True] Translation: X:126.67, Y:53.62, Z:-1.38 [[ 6.26840477e-01 -7.78838646e-01 -2.19403669e-02 1.26666623e+02] [ 7.78358861e-01 6.27224330e-01 -2.73335505e-02 5.36166539e+01] [ 3.50499574e-02 5.62968447e-05 9.99385560e-01 -1.37590035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95719347 meters 0.05954029232165586 Centerline is valid? [True, True] Translation: X:126.68, Y:53.64, Z:-1.38 [[ 6.27393200e-01 -7.78427144e-01 -2.07112046e-02 1.26684050e+02] [ 7.77999103e-01 6.27734956e-01 -2.58112515e-02 5.36375924e+01] [ 3.30933259e-02 8.05050313e-05 9.99452263e-01 -1.37610235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98719347 meters 0.0598136611260419 Centerline is valid? [True, True] Translation: X:126.70, Y:53.66, Z:-1.38 [[ 6.29842653e-01 -7.76426879e-01 -2.14367411e-02 1.26699795e+02] [ 7.75966696e-01 6.30207316e-01 -2.67287377e-02 5.36591936e+01] [ 3.42625015e-02 2.00701897e-04 9.99412848e-01 -1.37774231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01719347 meters 0.05952108828272436 Centerline is valid? [True, True] Translation: X:126.72, Y:53.68, Z:-1.38 [[ 6.30687872e-01 -7.75751742e-01 -2.10248189e-02 1.26716286e+02] [ 7.75308106e-01 6.31038173e-01 -2.62329017e-02 5.36818166e+01] [ 3.36176825e-02 2.44060387e-04 9.99434736e-01 -1.37673729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04719347 meters 0.05925910507098483 Centerline is valid? [True, True] Translation: X:126.73, Y:53.70, Z:-1.37 [[ 6.31377846e-01 -7.75195129e-01 -2.08453266e-02 1.26733505e+02] [ 7.74758161e-01 6.31721800e-01 -2.60261407e-02 5.37036023e+01] [ 3.33437847e-02 2.82241757e-04 9.99443902e-01 -1.37498097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07719347 meters 0.05867247137807315 Centerline is valid? [True, True] Translation: X:126.75, Y:53.72, Z:-1.37 [[ 6.30915113e-01 -7.75571569e-01 -2.08533328e-02 1.26752772e+02] [ 7.75133852e-01 6.31259587e-01 -2.60546571e-02 5.37241848e+01] [ 3.33711175e-02 2.74152782e-04 9.99442992e-01 -1.37026382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10719347 meters 0.058550779676362484 Centerline is valid? [True, True] Translation: X:126.77, Y:53.74, Z:-1.37 [[ 6.29433949e-01 -7.76816337e-01 -1.92167142e-02 1.26773888e+02] [ 7.76445000e-01 6.29727195e-01 -2.40171172e-02 5.37421298e+01] [ 3.07581766e-02 1.96467236e-04 9.99526836e-01 -1.36814512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13719347 meters 0.05817286641604171 Centerline is valid? [True, True] Translation: X:126.79, Y:53.76, Z:-1.37 [[ 6.27715780e-01 -7.78245151e-01 -1.75324015e-02 1.26792477e+02] [ 7.77936395e-01 6.27960565e-01 -2.19201639e-02 5.37615281e+01] [ 2.80689181e-02 1.20539558e-04 9.99605983e-01 -1.36693343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16719347 meters 0.05783046178447788 Centerline is valid? [True, True] Translation: X:126.81, Y:53.78, Z:-1.36 [[ 6.25443598e-01 -7.80084051e-01 -1.70052692e-02 1.26812528e+02] [ 7.79793833e-01 6.25674733e-01 -2.12768902e-02 5.37815737e+01] [ 2.72375300e-02 4.68906944e-05 9.99628989e-01 -1.36385644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19719347 meters 0.057649283468915374 Centerline is valid? [True, True] Translation: X:126.83, Y:53.80, Z:-1.36 [[ 6.20636885e-01 -7.83931814e-01 -1.61482907e-02 1.26834746e+02] [ 7.83671042e-01 6.20846921e-01 -2.02187603e-02 5.37999502e+01] [ 2.58757460e-02 -1.06439335e-04 9.99665161e-01 -1.35980362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22719347 meters 0.05800270234776504 Centerline is valid? [True, True] Translation: X:126.85, Y:53.82, Z:-1.36 [[ 6.18188579e-01 -7.85836182e-01 -1.74464026e-02 1.26853640e+02] [ 7.85532159e-01 6.18434684e-01 -2.18579345e-02 5.38212891e+01] [ 2.79662163e-02 -1.92384863e-04 9.99608850e-01 -1.36055448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25719347 meters 0.05837815825971414 Centerline is valid? [True, True] Translation: X:126.87, Y:53.84, Z:-1.36 [[ 6.15327711e-01 -7.88095254e-01 -1.66636580e-02 1.26871804e+02] [ 7.87818326e-01 6.15553244e-01 -2.08923361e-02 5.38423480e+01] [ 2.67225197e-02 -2.72301737e-04 9.99642853e-01 -1.36063918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28719347 meters 0.05948540788329386 Centerline is valid? [True, True] Translation: X:126.89, Y:53.86, Z:-1.36 [[ 6.09476962e-01 -7.92582390e-01 -1.87346655e-02 1.26891840e+02] [ 7.92233927e-01 6.09764617e-01 -2.35056848e-02 5.38623538e+01] [ 3.00539280e-02 -5.16064293e-04 9.99548145e-01 -1.35979182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31719347 meters 0.060725165895677474 Centerline is valid? [True, True] Translation: X:126.91, Y:53.88, Z:-1.36 [[ 6.06769439e-01 -7.94670388e-01 -1.81610373e-02 1.26911056e+02] [ 7.94343735e-01 6.07040870e-01 -2.27906333e-02 5.38814547e+01] [ 2.91355333e-02 -5.97446415e-04 9.99575292e-01 -1.36097984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34719347 meters 0.06153402266223036 Centerline is valid? [True, True] Translation: X:126.93, Y:53.90, Z:-1.36 [[ 6.03683863e-01 -7.96996998e-01 -1.90152064e-02 1.26929138e+02] [ 7.96639457e-01 6.03982823e-01 -2.38815030e-02 5.39027220e+01] [ 3.05183442e-02 -7.31385668e-04 9.99533939e-01 -1.36083103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37719347 meters 0.06205406706222472 Centerline is valid? [True, True] Translation: X:126.95, Y:53.93, Z:-1.36 [[ 6.01210023e-01 -7.98848467e-01 -1.96884617e-02 1.26946401e+02] [ 7.98465637e-01 6.01531723e-01 -2.47429382e-02 5.39252709e+01] [ 3.16090925e-02 -8.44857662e-04 9.99499951e-01 -1.36105690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40719347 meters 0.06381034133142784 Centerline is valid? [True, True] Translation: X:126.96, Y:53.95, Z:-1.36 [[ 5.97018564e-01 -8.01952808e-01 -2.09887664e-02 1.26961052e+02] [ 8.01519264e-01 5.97386434e-01 -2.63878541e-02 5.39489928e+01] [ 3.37002180e-02 -1.06886181e-03 9.99431415e-01 -1.36498011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43719347 meters 0.06485722239068797 Centerline is valid? [True, True] Translation: X:126.98, Y:53.97, Z:-1.37 [[ 5.94931051e-01 -8.03488827e-01 -2.15115947e-02 1.26977053e+02] [ 8.03033697e-01 5.95318680e-01 -2.70656893e-02 5.39725740e+01] [ 3.45532331e-02 -1.17231646e-03 9.99402171e-01 -1.36698910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46719347 meters 0.0652816169805914 Centerline is valid? [True, True] Translation: X:126.99, Y:54.00, Z:-1.37 [[ 5.93501891e-01 -8.04555798e-01 -2.11062292e-02 1.26992325e+02] [ 8.04117695e-01 5.93875852e-01 -2.65745182e-02 5.39962881e+01] [ 3.39151625e-02 -1.19986554e-03 9.99423995e-01 -1.36710255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49719346999998 meters 0.06507654078631116 Centerline is valid? [True, True] Translation: X:127.01, Y:54.02, Z:-1.37 [[ 5.93186318e-01 -8.04775957e-01 -2.15789457e-02 1.27007010e+02] [ 8.04317481e-01 5.93577417e-01 -2.71889593e-02 5.40209850e+01] [ 3.46897956e-02 -1.22820464e-03 9.99397373e-01 -1.36643428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52719347 meters 0.06507654078631116 Centerline is valid? [True, True] Translation: X:127.02, Y:54.04, Z:-1.37 [[ 5.92908617e-01 -8.04980823e-01 -2.15695653e-02 1.27024028e+02] [ 8.04522212e-01 5.93299558e-01 -2.71964022e-02 5.40428089e+01] [ 3.46897958e-02 -1.22821320e-03 9.99397373e-01 -1.36666140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55719347 meters 0.06444242618079242 Centerline is valid? [True, True] Translation: X:127.04, Y:54.07, Z:-1.37 [[ 5.92971622e-01 -8.04870231e-01 -2.38446303e-02 1.27036229e+02] [ 8.04308871e-01 5.93449340e-01 -3.00852423e-02 5.40697568e+01] [ 3.83652961e-02 -1.33875275e-03 9.99262884e-01 -1.36565675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58719347 meters 0.06470946077813378 Centerline is valid? [True, True] Translation: X:127.05, Y:54.09, Z:-1.37 [[ 5.94043994e-01 -8.04053521e-01 -2.46914591e-02 1.27050092e+02] [ 8.03450245e-01 5.94555452e-01 -3.11691800e-02 5.40934024e+01] [ 3.97421306e-02 -1.32249471e-03 9.99209094e-01 -1.36760909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61719347 meters 0.06362023721925379 Centerline is valid? [True, True] Translation: X:127.06, Y:54.12, Z:-1.37 [[ 5.95573683e-01 -8.02920478e-01 -2.47122245e-02 1.27062366e+02] [ 8.02314720e-01 5.96084866e-01 -3.12077393e-02 5.41204165e+01] [ 3.97879160e-02 -1.24047325e-03 9.99207377e-01 -1.36841442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64719347 meters 0.0616222345043352 Centerline is valid? [True, True] Translation: X:127.07, Y:54.15, Z:-1.37 [[ 6.01606898e-01 -7.98483746e-01 -2.22001728e-02 1.27066122e+02] [ 7.97991032e-01 6.02015789e-01 -2.80589225e-02 5.41512052e+01] [ 3.57694481e-02 -8.35097444e-04 9.99359720e-01 -1.37038675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67719347 meters 0.05990153211938746 Centerline is valid? [True, True] Translation: X:127.08, Y:54.18, Z:-1.37 [[ 6.05131126e-01 -7.95816574e-01 -2.21878666e-02 1.27076398e+02] [ 7.95321980e-01 6.05537395e-01 -2.80608323e-02 5.41794660e+01] [ 3.57668584e-02 -6.66015000e-04 9.99359939e-01 -1.36857001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70719347 meters 0.05882426069088627 Centerline is valid? [True, True] Translation: X:127.09, Y:54.21, Z:-1.37 [[ 6.07922647e-01 -7.93705737e-01 -2.14769114e-02 1.27087835e+02] [ 7.93240336e-01 6.08301686e-01 -2.71814172e-02 5.42066074e+01] [ 3.46384882e-02 -5.12153305e-04 9.99399776e-01 -1.36826066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73719347 meters 0.0583528414295335 Centerline is valid? [True, True] Translation: X:127.10, Y:54.23, Z:-1.37 [[ 6.09334775e-01 -7.92632555e-01 -2.10894255e-02 1.27101345e+02] [ 7.92182597e-01 6.09699471e-01 -2.67074453e-02 5.42326914e+01] [ 3.40274022e-02 -4.32900654e-04 9.99420807e-01 -1.36847685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76719347 meters 0.05786074665112758 Centerline is valid? [True, True] Translation: X:127.11, Y:54.26, Z:-1.37 [[ 6.10802741e-01 -7.91519023e-01 -2.04364197e-02 1.27112799e+02] [ 7.91095578e-01 6.11144427e-01 -2.58896886e-02 5.42603206e+01] [ 3.29817850e-02 -3.53668527e-04 9.99455890e-01 -1.36888220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79719347 meters 0.058714351741620596 Centerline is valid? [True, True] Translation: X:127.13, Y:54.28, Z:-1.37 [[ 6.10823117e-01 -7.91477303e-01 -2.14195940e-02 1.27128224e+02] [ 7.91011425e-01 6.11198456e-01 -2.71546231e-02 5.42832014e+01] [ 3.45838906e-02 -3.56472045e-04 9.99401735e-01 -1.37388423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82719347 meters 0.0582988908635408 Centerline is valid? [True, True] Translation: X:127.14, Y:54.31, Z:-1.37 [[ 6.10783331e-01 -7.91462553e-01 -2.30379951e-02 1.27142732e+02] [ 7.90922877e-01 6.11217546e-01 -2.92252260e-02 5.43078713e+01] [ 3.72118988e-02 -3.70996438e-04 9.99307329e-01 -1.37254606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85719347 meters 0.05860562141932122 Centerline is valid? [True, True] Translation: X:127.16, Y:54.33, Z:-1.38 [[ 6.10639957e-01 -7.91554525e-01 -2.36701548e-02 1.27156436e+02] [ 7.90984154e-01 6.11098431e-01 -3.00462232e-02 5.43316334e+01] [ 3.82480185e-02 -3.75292911e-04 9.99268206e-01 -1.37548286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88719347 meters 0.058189939467449416 Centerline is valid? [True, True] Translation: X:127.17, Y:54.36, Z:-1.38 [[ 6.12895870e-01 -7.89773972e-01 -2.48138125e-02 1.27165570e+02] [ 7.89144834e-01 6.13397916e-01 -3.15186869e-02 5.43601587e+01] [ 4.01133794e-02 -2.64018898e-04 9.99195100e-01 -1.37640794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91719347 meters 0.05815280827511474 Centerline is valid? [True, True] Translation: X:127.18, Y:54.38, Z:-1.38 [[ 6.13363745e-01 -7.89421373e-01 -2.44706136e-02 1.27179209e+02] [ 7.88808377e-01 6.13851647e-01 -3.11046466e-02 5.43844748e+01] [ 3.95759993e-02 -2.24162453e-04 9.99216538e-01 -1.37651201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94719347 meters 0.05806028107576299 Centerline is valid? [True, True] Translation: X:127.19, Y:54.41, Z:-1.38 [[ 6.12623949e-01 -7.90008619e-01 -2.40474207e-02 1.27194050e+02] [ 7.89416273e-01 6.13095687e-01 -3.05880185e-02 5.44090080e+01] [ 3.89081682e-02 -2.44472506e-04 9.99242761e-01 -1.37647435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97719347 meters 0.05783292080998701 Centerline is valid? [True, True] Translation: X:127.21, Y:54.43, Z:-1.37 [[ 6.10952372e-01 -7.91352914e-01 -2.23106388e-02 1.27206849e+02] [ 7.90843623e-01 6.11359530e-01 -2.83881873e-02 5.44330376e+01] [ 3.61048964e-02 -3.00396107e-04 9.99347961e-01 -1.37426117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00719347 meters 0.057368299708081785 Centerline is valid? [True, True] Translation: X:127.22, Y:54.46, Z:-1.37 [[ 6.10176580e-01 -7.91961632e-01 -2.19388685e-02 1.27221800e+02] [ 7.91468843e-01 6.10570775e-01 -2.79356212e-02 5.44573884e+01] [ 3.55191721e-02 -3.18269033e-04 9.99368944e-01 -1.37142536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03719347 meters 0.05799984166414689 Centerline is valid? [True, True] Translation: X:127.24, Y:54.48, Z:-1.37 [[ 6.09026746e-01 -7.92857156e-01 -2.15395824e-02 1.27237883e+02] [ 7.92381968e-01 6.09407423e-01 -2.74483079e-02 5.44795864e+01] [ 3.48889687e-02 -3.50823078e-04 9.99391133e-01 -1.37395192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06719347 meters 0.05802442283379786 Centerline is valid? [True, True] Translation: X:127.25, Y:54.50, Z:-1.37 [[ 6.07309871e-01 -7.94157851e-01 -2.20913620e-02 1.27253057e+02] [ 7.93658228e-01 6.07711384e-01 -2.81689545e-02 5.45044044e+01] [ 3.57957685e-02 -4.25707100e-04 9.99359035e-01 -1.37123262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09719347 meters 0.05766927166141235 Centerline is valid? [True, True] Translation: X:127.27, Y:54.53, Z:-1.37 [[ 6.06580636e-01 -7.94713640e-01 -2.21396071e-02 1.27268186e+02] [ 7.94211474e-01 6.06984374e-01 -2.82507408e-02 5.45280431e+01] [ 3.58896446e-02 -4.47177698e-04 9.99355659e-01 -1.36910349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12719347 meters 0.057226419809140554 Centerline is valid? [True, True] Translation: X:127.28, Y:54.55, Z:-1.37 [[ 6.06565279e-01 -7.94763959e-01 -2.07077888e-02 1.27282679e+02] [ 7.94324063e-01 6.06918513e-01 -2.64424096e-02 5.45521413e+01] [ 3.35834145e-02 -4.09647374e-04 9.99435834e-01 -1.36806912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15719347 meters 0.056354016110174786 Centerline is valid? [True, True] Translation: X:127.29, Y:54.58, Z:-1.37 [[ 6.08344193e-01 -7.93468059e-01 -1.80494237e-02 1.27292677e+02] [ 7.93132793e-01 6.08611829e-01 -2.30654470e-02 5.45787883e+01] [ 2.92867882e-02 -2.83859104e-04 9.99571010e-01 -1.36696185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18719347 meters 0.05610712647301861 Centerline is valid? [True, True] Translation: X:127.31, Y:54.60, Z:-1.37 [[ 6.09671451e-01 -7.92474101e-01 -1.68973527e-02 1.27306717e+02] [ 7.92179698e-01 6.09905527e-01 -2.16003280e-02 5.46026749e+01] [ 2.74234893e-02 -2.16636457e-04 9.99623882e-01 -1.36709643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21719347 meters 0.05573645459253188 Centerline is valid? [True, True] Translation: X:127.32, Y:54.63, Z:-1.37 [[ 6.11240273e-01 -7.91264808e-01 -1.68917743e-02 1.27321258e+02] [ 7.90969692e-01 6.11473614e-01 -2.16093751e-02 5.46268494e+01] [ 2.74276123e-02 -1.52361192e-04 9.99623781e-01 -1.36676731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24719346999998 meters 0.05531264193948154 Centerline is valid? [True, True] Translation: X:127.34, Y:54.65, Z:-1.37 [[ 6.12792060e-01 -7.90068105e-01 -1.66817203e-02 1.27336142e+02] [ 7.89779450e-01 6.13019071e-01 -2.13550865e-02 5.46513954e+01] [ 2.70981854e-02 -8.86524462e-05 9.99632773e-01 -1.36612582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27719347 meters 0.055445766923254675 Centerline is valid? [True, True] Translation: X:127.35, Y:54.68, Z:-1.37 [[ 6.15470301e-01 -7.87956500e-01 -1.79126135e-02 1.27347743e+02] [ 7.87622354e-01 6.15730910e-01 -2.29450115e-02 5.46768777e+01] [ 2.91090208e-02 1.35982671e-05 9.99576243e-01 -1.37008311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30719347 meters 0.055736109906736005 Centerline is valid? [True, True] Translation: X:127.36, Y:54.70, Z:-1.37 [[ 6.16083403e-01 -7.87445530e-01 -1.92556024e-02 1.27363388e+02] [ 7.87058677e-01 6.16384243e-01 -2.46800451e-02 5.47008450e+01] [ 3.13030410e-02 4.96772253e-05 9.99509938e-01 -1.37327589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33719347 meters 0.05627090445774228 Centerline is valid? [True, True] Translation: X:127.38, Y:54.72, Z:-1.38 [[ 6.16766918e-01 -7.86870891e-01 -2.08031028e-02 1.27379629e+02] [ 7.86418470e-01 6.17117648e-01 -2.66795496e-02 5.47244818e+01] [ 3.38313229e-02 9.51193043e-05 9.99427552e-01 -1.37666408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36719347 meters 0.05594636118069113 Centerline is valid? [True, True] Translation: X:127.40, Y:54.75, Z:-1.37 [[ 6.17365308e-01 -7.86340869e-01 -2.29807274e-02 1.27396642e+02] [ 7.85787561e-01 6.17792858e-01 -2.94939563e-02 5.47469190e+01] [ 3.73896325e-02 1.50575729e-04 9.99300752e-01 -1.37337571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39719347 meters 0.05608791697924415 Centerline is valid? [True, True] Translation: X:127.41, Y:54.77, Z:-1.37 [[ 6.16120444e-01 -7.87308007e-01 -2.32744735e-02 1.27414586e+02] [ 7.86740352e-01 6.16559884e-01 -2.98919298e-02 5.47683176e+01] [ 3.78842623e-02 1.06061607e-04 9.99282128e-01 -1.37491227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42719347 meters 0.057219830146681284 Centerline is valid? [True, True] Translation: X:127.43, Y:54.79, Z:-1.38 [[ 6.13706363e-01 -7.89202301e-01 -2.28960180e-02 1.27433151e+02] [ 7.88653479e-01 6.14133314e-01 -2.94272348e-02 5.47883212e+01] [ 3.72852488e-02 2.65699115e-06 9.99304663e-01 -1.38125811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45719347 meters 0.056331987986686614 Centerline is valid? [True, True] Translation: X:127.45, Y:54.81, Z:-1.38 [[ 6.11075007e-01 -7.91240013e-01 -2.29472908e-02 1.27452673e+02] [ 7.90689381e-01 6.11505707e-01 -2.95139477e-02 5.48093488e+01] [ 3.73850156e-02 -1.08943354e-04 9.99300930e-01 -1.37504285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48719347 meters 0.05686128666781816 Centerline is valid? [True, True] Translation: X:127.47, Y:54.83, Z:-1.38 [[ 6.06709646e-01 -7.94582578e-01 -2.32794561e-02 1.27472976e+02] [ 7.94017572e-01 6.07156020e-01 -2.99610188e-02 5.48300451e+01] [ 3.79407655e-02 -3.06658070e-04 9.99279943e-01 -1.37532777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51719347 meters 0.059211542806046916 Centerline is valid? [True, True] Translation: X:127.49, Y:54.85, Z:-1.39 [[ 6.04886494e-01 -7.95965761e-01 -2.34699198e-02 1.27491029e+02] [ 7.95391775e-01 6.05341523e-01 -3.02252402e-02 5.48507801e+01] [ 3.82655734e-02 -3.84941602e-04 9.99267531e-01 -1.38670315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54719347 meters 0.05769957219608883 Centerline is valid? [True, True] Translation: X:127.51, Y:54.87, Z:-1.38 [[ 6.03539505e-01 -7.96979552e-01 -2.37415116e-02 1.27506457e+02] [ 7.96392180e-01 6.04006124e-01 -3.05957168e-02 5.48749740e+01] [ 3.87241791e-02 -4.41830439e-04 9.99249840e-01 -1.37948899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57719347 meters 0.05852630921727038 Centerline is valid? [True, True] Translation: X:127.52, Y:54.90, Z:-1.38 [[ 6.02809129e-01 -7.97545987e-01 -2.32712582e-02 1.27523627e+02] [ 7.96981525e-01 6.03257977e-01 -3.00043688e-02 5.48963784e+01] [ 3.79684361e-02 -4.59855380e-04 9.99278833e-01 -1.38263791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60719347 meters 0.05732745859244072 Centerline is valid? [True, True] Translation: X:127.54, Y:54.92, Z:-1.38 [[ 6.00939666e-01 -7.99022923e-01 -2.08299376e-02 1.27541211e+02] [ 7.98570875e-01 6.01300371e-01 -2.68779197e-02 5.49184906e+01] [ 3.40011232e-02 -4.82173390e-04 9.99421678e-01 -1.37567557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63719347 meters 0.05721713828958459 Centerline is valid? [True, True] Translation: X:127.56, Y:54.94, Z:-1.37 [[ 5.99648612e-01 -8.00054293e-01 -1.82940129e-02 1.27558881e+02] [ 7.99705925e-01 5.99927418e-01 -2.36120040e-02 5.49390874e+01] [ 2.98659651e-02 -4.70925105e-04 9.99553802e-01 -1.37316548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66719347 meters 0.056644083347259275 Centerline is valid? [True, True] Translation: X:127.57, Y:54.96, Z:-1.37 [[ 5.97033099e-01 -8.02065354e-01 -1.55771334e-02 1.27574614e+02] [ 8.01813023e-01 5.97236085e-01 -2.01229999e-02 5.49625436e+01] [ 2.54431872e-02 -4.75851466e-04 9.99676156e-01 -1.36872021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69719347 meters 0.05850201501781704 Centerline is valid? [True, True] Translation: X:127.59, Y:54.98, Z:-1.38 [[ 5.96733938e-01 -8.02282176e-01 -1.58719126e-02 1.27591647e+02] [ 8.02019854e-01 5.96944785e-01 -2.05201913e-02 5.49830851e+01] [ 2.59376392e-02 -4.84494432e-04 9.99663445e-01 -1.37621489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72719347 meters 0.05709276370760889 Centerline is valid? [True, True] Translation: X:127.60, Y:55.01, Z:-1.37 [[ 5.96632766e-01 -8.02358814e-01 -1.58011209e-02 1.27604259e+02] [ 8.02098488e-01 5.96841776e-01 -2.04428488e-02 5.50085762e+01] [ 2.58332689e-02 -4.77181729e-04 9.99666152e-01 -1.37180294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75719347 meters 0.05611516060849716 Centerline is valid? [True, True] Translation: X:127.62, Y:55.03, Z:-1.37 [[ 5.98573155e-01 -8.00962605e-01 -1.30032502e-02 1.27616604e+02] [ 8.00785696e-01 5.98714284e-01 -1.68367049e-02 5.50344949e+01] [ 2.12708027e-02 -3.34817146e-04 9.99773695e-01 -1.36774850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78719347 meters 0.05570243791827543 Centerline is valid? [True, True] Translation: X:127.63, Y:55.06, Z:-1.37 [[ 5.98828812e-01 -8.00788526e-01 -1.19075830e-02 1.27632885e+02] [ 8.00639933e-01 5.98947118e-01 -1.54287966e-02 5.50578124e+01] [ 1.94872158e-02 -2.94478521e-04 9.99810063e-01 -1.36567643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81719347 meters 0.05558575890910296 Centerline is valid? [True, True] Translation: X:127.65, Y:55.08, Z:-1.37 [[ 5.98427139e-01 -8.01093033e-01 -1.16151394e-02 1.27648710e+02] [ 8.00951487e-01 5.98539780e-01 -1.50614673e-02 5.50812159e+01] [ 1.90177595e-02 -2.89972377e-04 9.99819104e-01 -1.36505575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84719347 meters 0.05637508704234363 Centerline is valid? [True, True] Translation: X:127.67, Y:55.10, Z:-1.37 [[ 5.97547843e-01 -8.01745051e-01 -1.18932098e-02 1.27665648e+02] [ 8.01596672e-01 5.97666106e-01 -1.54272975e-02 5.51031982e+01] [ 1.94769278e-02 -3.15009058e-04 9.99810257e-01 -1.36729529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87719347 meters 0.05673867121852691 Centerline is valid? [True, True] Translation: X:127.68, Y:55.13, Z:-1.37 [[ 5.94824034e-01 -8.03758061e-01 -1.25438367e-02 1.27680401e+02] [ 8.03593195e-01 5.94956153e-01 -1.62835164e-02 5.51274139e+01] [ 2.05510404e-02 -3.94314899e-04 9.99788727e-01 -1.36749169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90719347 meters 0.057712732912466765 Centerline is valid? [True, True] Translation: X:127.70, Y:55.15, Z:-1.37 [[ 5.92461350e-01 -8.05496492e-01 -1.28432899e-02 1.27697384e+02] [ 8.05323827e-01 5.92600364e-01 -1.66835955e-02 5.51491495e+01] [ 2.10495160e-02 -4.58621865e-04 9.99778329e-01 -1.36989647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93719347 meters 0.059409398015890603 Centerline is valid? [True, True] Translation: X:127.72, Y:55.17, Z:-1.37 [[ 5.87894408e-01 -8.08838065e-01 -1.26945034e-02 1.27715995e+02] [ 8.08669925e-01 5.88031178e-01 -1.65011177e-02 5.51709740e+01] [ 2.08114959e-02 -5.64748285e-04 9.99783258e-01 -1.37117860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96719347 meters 0.06047572172257717 Centerline is valid? [True, True] Translation: X:127.73, Y:55.19, Z:-1.37 [[ 5.85679668e-01 -8.10449018e-01 -1.23172938e-02 1.27733227e+02] [ 8.10290867e-01 5.85808870e-01 -1.60212180e-02 5.51926412e+01] [ 2.01999603e-02 -5.97289028e-04 9.99795782e-01 -1.37192759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99719346999998 meters 0.061754300079323435 Centerline is valid? [True, True] Translation: X:127.75, Y:55.22, Z:-1.37 [[ 5.81951661e-01 -8.13132836e-01 -1.21348876e-02 1.27748478e+02] [ 8.12979704e-01 5.82077775e-01 -1.57944312e-02 5.52169928e+01] [ 1.99064190e-02 -6.73821906e-04 9.99801621e-01 -1.37213694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02719347 meters 0.06277923776911172 Centerline is valid? [True, True] Translation: X:127.76, Y:55.24, Z:-1.37 [[ 5.80057496e-01 -8.14493232e-01 -1.15790880e-02 1.27763577e+02] [ 8.14353871e-01 5.80172656e-01 -1.50818762e-02 5.52404038e+01] [ 1.90019563e-02 -6.81119809e-04 9.99819215e-01 -1.37254732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05719347 meters 0.061274127846364386 Centerline is valid? [True, True] Translation: X:127.77, Y:55.27, Z:-1.37 [[ 5.79764673e-01 -8.14703987e-01 -1.14165173e-02 1.27774325e+02] [ 8.14568342e-01 5.79876678e-01 -1.48813624e-02 5.52676522e+01] [ 1.87440774e-02 -6.71845326e-04 9.99824089e-01 -1.37118894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08719347 meters 0.06298332813327294 Centerline is valid? [True, True] Translation: X:127.79, Y:55.29, Z:-1.38 [[ 5.79850221e-01 -8.14632628e-01 -1.21409574e-02 1.27789082e+02] [ 8.14479161e-01 5.79976876e-01 -1.58278363e-02 5.52901512e+01] [ 1.99353464e-02 -7.10782428e-04 9.99801019e-01 -1.37525520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11719347 meters 0.06104138981401274 Centerline is valid? [True, True] Translation: X:127.80, Y:55.32, Z:-1.37 [[ 5.80953112e-01 -8.13829394e-01 -1.32362991e-02 1.27798070e+02] [ 8.13646443e-01 5.81103413e-01 -1.72710585e-02 5.53191101e+01] [ 2.17473537e-02 -7.35992521e-04 9.99763227e-01 -1.37436094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14719347 meters 0.061464652869318605 Centerline is valid? [True, True] Translation: X:127.80, Y:55.35, Z:-1.38 [[ 5.86077986e-01 -8.10118020e-01 -1.48790694e-02 1.27803471e+02] [ 8.09885298e-01 5.86266452e-01 -1.94281431e-02 5.53497043e+01] [ 2.44621880e-02 -6.63932567e-04 9.99700535e-01 -1.38267508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17719347 meters 0.05943907215135783 Centerline is valid? [True, True] Translation: X:127.81, Y:55.38, Z:-1.38 [[ 5.89483650e-01 -8.07634224e-01 -1.53618308e-02 1.27810873e+02] [ 8.07384972e-01 5.89683503e-01 -2.00716855e-02 5.53800340e+01] [ 2.52691983e-02 -5.70980916e-04 9.99680520e-01 -1.38230352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20719347 meters 0.058322982956127076 Centerline is valid? [True, True] Translation: X:127.82, Y:55.41, Z:-1.38 [[ 5.93279833e-01 -8.04843997e-01 -1.56582246e-02 1.27820076e+02] [ 8.04583731e-01 5.93486255e-01 -2.04715650e-02 5.54093933e+01] [ 2.57693573e-02 -4.52986137e-04 9.99667812e-01 -1.38324438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23719347 meters 0.05727753917398603 Centerline is valid? [True, True] Translation: X:127.83, Y:55.44, Z:-1.38 [[ 5.96599279e-01 -8.02380810e-01 -1.59479259e-02 1.27829275e+02] [ 8.02109576e-01 5.96812296e-01 -2.08640877e-02 5.54386968e+01] [ 2.62588619e-02 -3.44484411e-04 9.99655117e-01 -1.38160716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26719347 meters 0.05631662043331036 Centerline is valid? [True, True] Translation: X:127.83, Y:55.47, Z:-1.38 [[ 6.02454023e-01 -7.98005496e-01 -1.53746234e-02 1.27833009e+02] [ 7.97751594e-01 6.02650155e-01 -2.01291995e-02 5.54712657e+01] [ 2.53287310e-02 -1.38213106e-04 9.99679167e-01 -1.38153683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29719347 meters 0.05634511084302125 Centerline is valid? [True, True] Translation: X:127.84, Y:55.50, Z:-1.38 [[ 6.05354269e-01 -7.95817175e-01 -1.48738633e-02 1.27843448e+02] [ 7.95578655e-01 6.05536970e-01 -1.94828508e-02 5.54975693e+01] [ 2.45114614e-02 -3.93012790e-05 9.99699548e-01 -1.38369888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32719347 meters 0.05631027390037473 Centerline is valid? [True, True] Translation: X:127.86, Y:55.52, Z:-1.39 [[ 6.06035900e-01 -7.95293046e-01 -1.51479168e-02 1.27855244e+02] [ 7.95045085e-01 6.06225182e-01 -1.98580378e-02 5.55225736e+01] [ 2.49760080e-02 -8.59295744e-06 9.99688051e-01 -1.38565988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35719347 meters 0.056857996375592475 Centerline is valid? [True, True] Translation: X:127.87, Y:55.55, Z:-1.39 [[ 6.05517488e-01 -7.95677972e-01 -1.56568349e-02 1.27867472e+02] [ 7.95413112e-01 6.05719873e-01 -2.05284213e-02 5.55470160e+01] [ 2.58176687e-02 -2.33336664e-05 9.99666668e-01 -1.38909964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38719347 meters 0.057174916309241354 Centerline is valid? [True, True] Translation: X:127.88, Y:55.57, Z:-1.39 [[ 6.03370735e-01 -7.97297667e-01 -1.61303280e-02 1.27884997e+02] [ 7.97016718e-01 6.03586302e-01 -2.11643168e-02 5.55683992e+01] [ 2.66103054e-02 -8.62116792e-05 9.99645879e-01 -1.39117754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41719347 meters 0.057174916309241354 Centerline is valid? [True, True] Translation: X:127.90, Y:55.59, Z:-1.39 [[ 6.03107288e-01 -7.97497113e-01 -1.61231212e-02 1.27901501e+02] [ 7.97216088e-01 6.03322756e-01 -2.11698081e-02 5.55904740e+01] [ 2.66103067e-02 -8.59460632e-05 9.99645879e-01 -1.39140450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44719347 meters 0.05773431385073589 Centerline is valid? [True, True] Translation: X:127.92, Y:55.61, Z:-1.39 [[ 6.01376414e-01 -7.98778692e-01 -1.72919112e-02 1.27919809e+02] [ 7.98455571e-01 6.01624950e-01 -2.27182910e-02 5.56121392e+01] [ 2.85501320e-02 -1.44578477e-04 9.99592351e-01 -1.39415507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47719347 meters 0.05767589619081438 Centerline is valid? [True, True] Translation: X:127.94, Y:55.63, Z:-1.39 [[ 5.99223979e-01 -8.00360585e-01 -1.88030836e-02 1.27939434e+02] [ 7.99978759e-01 5.99518875e-01 -2.47205108e-02 5.56331700e+01] [ 3.10581260e-02 -2.28944627e-04 9.99517554e-01 -1.39285174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50719347 meters 0.05797061958071331 Centerline is valid? [True, True] Translation: X:127.96, Y:55.65, Z:-1.39 [[ 5.97944787e-01 -8.01310465e-01 -1.90675315e-02 1.27958129e+02] [ 8.00917759e-01 5.98248665e-01 -2.50854265e-02 5.56549333e+01] [ 3.15083400e-02 -2.71824592e-04 9.99503452e-01 -1.39384691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53719347 meters 0.058452746107543335 Centerline is valid? [True, True] Translation: X:127.98, Y:55.68, Z:-1.40 [[ 5.96363538e-01 -8.02502215e-01 -1.84587339e-02 1.27975589e+02] [ 8.02134193e-01 5.96649057e-01 -2.43030967e-02 5.56753673e+01] [ 3.05166751e-02 -3.12900880e-04 9.99534209e-01 -1.39585287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56719347 meters 0.058181421357926706 Centerline is valid? [True, True] Translation: X:127.99, Y:55.70, Z:-1.39 [[ 5.94236057e-01 -8.04097039e-01 -1.76482683e-02 1.27992118e+02] [ 8.03760836e-01 5.94497954e-01 -2.32529668e-02 5.56975401e+01] [ 2.91895011e-02 -3.67235584e-04 9.99573828e-01 -1.39392296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59719347 meters 0.05922070937579452 Centerline is valid? [True, True] Translation: X:128.01, Y:55.72, Z:-1.39 [[ 5.89976448e-01 -8.07284799e-01 -1.48001336e-02 1.28010291e+02] [ 8.07049190e-01 5.90161896e-01 -1.95074816e-02 5.57181978e+01] [ 2.44825682e-02 -4.35481107e-04 9.99700162e-01 -1.39422342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62719347 meters 0.059492629189457816 Centerline is valid? [True, True] Translation: X:128.03, Y:55.74, Z:-1.39 [[ 5.87184713e-01 -8.09338341e-01 -1.36221720e-02 1.28028716e+02] [ 8.09138969e-01 5.87342514e-01 -1.79694161e-02 5.57392217e+01] [ 2.25442182e-02 -4.70863732e-04 9.99745736e-01 -1.39148603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65719347 meters 0.06097156185643178 Centerline is valid? [True, True] Translation: X:128.05, Y:55.76, Z:-1.39 [[ 5.80509674e-01 -8.14138706e-01 -1.36633404e-02 1.28048548e+02] [ 8.13939130e-01 5.80670083e-01 -1.80373810e-02 5.57589744e+01] [ 2.26188231e-02 -6.50253244e-04 9.99743950e-01 -1.38918762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68719347 meters 0.06203018557277443 Centerline is valid? [True, True] Translation: X:128.07, Y:55.78, Z:-1.39 [[ 5.77390535e-01 -8.16362511e-01 -1.31309034e-02 1.28066892e+02] [ 8.16178493e-01 5.77539400e-01 -1.73467456e-02 5.57803103e+01] [ 2.17448469e-02 -7.01314263e-04 9.99763307e-01 -1.38794925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71719347 meters 0.06324763165035596 Centerline is valid? [True, True] Translation: X:128.08, Y:55.80, Z:-1.39 [[ 5.74315017e-01 -8.18546802e-01 -1.19747124e-02 1.28084402e+02] [ 8.18394019e-01 5.74439405e-01 -1.58303491e-02 5.58020923e+01] [ 1.98366283e-02 -7.08425841e-04 9.99802984e-01 -1.38760999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74719346999998 meters 0.064129344560443 Centerline is valid? [True, True] Translation: X:128.10, Y:55.82, Z:-1.39 [[ 5.72821979e-01 -8.19604013e-01 -1.11464398e-02 1.28100259e+02] [ 8.19471732e-01 5.72930001e-01 -1.47409078e-02 5.58244452e+01] [ 1.84678369e-02 -6.90276312e-04 9.99829217e-01 -1.38748236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77719347 meters 0.06288176733569432 Centerline is valid? [True, True] Translation: X:128.11, Y:55.85, Z:-1.39 [[ 5.72836448e-01 -8.19611721e-01 -9.74835156e-03 1.28109100e+02] [ 8.19510366e-01 5.72919078e-01 -1.29030889e-02 5.58529012e+01] [ 1.61605395e-02 -5.97515530e-04 9.99869231e-01 -1.38529705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80719347 meters 0.062317051723945596 Centerline is valid? [True, True] Translation: X:128.12, Y:55.88, Z:-1.39 [[ 5.74022514e-01 -8.18770813e-01 -1.06070167e-02 1.28121654e+02] [ 8.18650593e-01 5.74120170e-01 -1.40441151e-02 5.58791859e+01] [ 1.75886138e-02 -6.21802265e-04 9.99845115e-01 -1.38631919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83719347 meters 0.06159764819104593 Centerline is valid? [True, True] Translation: X:128.13, Y:55.91, Z:-1.39 [[ 5.76406792e-01 -8.17087959e-01 -1.10669581e-02 1.28134114e+02] [ 8.16956556e-01 5.76512725e-01 -1.46650386e-02 5.59056021e+01] [ 1.83628686e-02 -5.88196104e-04 9.99831215e-01 -1.38849665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86719347 meters 0.06125105064061187 Centerline is valid? [True, True] Translation: X:128.15, Y:55.93, Z:-1.39 [[ 5.78504346e-01 -8.15580904e-01 -1.26692994e-02 1.28145583e+02] [ 8.15408067e-01 5.78642736e-01 -1.68008726e-02 5.59308433e+01] [ 2.10334689e-02 -6.11271084e-04 9.99778585e-01 -1.39061566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89719347 meters 0.059123649547811026 Centerline is valid? [True, True] Translation: X:128.15, Y:55.96, Z:-1.39 [[ 5.83585077e-01 -8.11972403e-01 -1.13699137e-02 1.28151342e+02] [ 8.11832285e-01 5.83695671e-01 -1.50898945e-02 5.59612457e+01] [ 1.88891473e-02 -4.24225783e-04 9.99821494e-01 -1.38948328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92719347 meters 0.05875130364917536 Centerline is valid? [True, True] Translation: X:128.16, Y:55.99, Z:-1.39 [[ 5.85591223e-01 -8.10525999e-01 -1.14247266e-02 1.28163174e+02] [ 8.10384144e-01 5.85702538e-01 -1.51682741e-02 5.59866860e+01] [ 1.89857719e-02 -3.76009144e-04 9.99819683e-01 -1.39061938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95719347 meters 0.05846528323758691 Centerline is valid? [True, True] Translation: X:128.17, Y:56.01, Z:-1.39 [[ 5.87070408e-01 -8.09445656e-01 -1.20857414e-02 1.28174502e+02] [ 8.09286424e-01 5.87194691e-01 -1.60586171e-02 5.60128360e+01] [ 2.00952610e-02 -3.53287580e-04 9.99798007e-01 -1.39125314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98719347 meters 0.05853413973466263 Centerline is valid? [True, True] Translation: X:128.19, Y:56.04, Z:-1.39 [[ 5.87981197e-01 -8.08775510e-01 -1.26604661e-02 1.28187262e+02] [ 8.08600348e-01 5.88117387e-01 -1.68349909e-02 5.60366553e+01] [ 2.10615686e-02 -3.38599238e-04 9.99778123e-01 -1.39342233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01719347 meters 0.059314521400691045 Centerline is valid? [True, True] Translation: X:128.20, Y:56.06, Z:-1.40 [[ 5.86213519e-01 -8.10047533e-01 -1.32930246e-02 1.28202614e+02] [ 8.09854636e-01 5.86364080e-01 -1.76814593e-02 5.60595355e+01] [ 2.21173746e-02 -4.00307167e-04 9.99755301e-01 -1.39616536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04719347 meters 0.06004214669968558 Centerline is valid? [True, True] Translation: X:128.22, Y:56.08, Z:-1.40 [[ 5.83142581e-01 -8.12265343e-01 -1.30285280e-02 1.28220758e+02] [ 8.12080311e-01 5.83287917e-01 -1.73428610e-02 5.60813175e+01] [ 2.16863880e-02 -4.66850358e-04 9.99764714e-01 -1.39550716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07719347 meters 0.06114062652749267 Centerline is valid? [True, True] Translation: X:128.24, Y:56.10, Z:-1.39 [[ 5.78686746e-01 -8.15466994e-01 -1.16289143e-02 1.28239942e+02] [ 8.15320011e-01 5.78803347e-01 -1.54907907e-02 5.61029463e+01] [ 1.93630831e-02 -5.16971283e-04 9.99812384e-01 -1.39412598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10719347 meters 0.06599066680256202 Centerline is valid? [True, True] Translation: X:128.26, Y:56.12, Z:-1.39 [[ 5.67595767e-01 -8.23260292e-01 -8.80543848e-03 1.28262615e+02] [ 8.23176790e-01 5.67663764e-01 -1.17398136e-02 5.61197771e+01] [ 1.46634507e-02 -5.84964061e-04 9.99892315e-01 -1.39233734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13719347 meters 0.07048329598174773 Centerline is valid? [True, True] Translation: X:128.28, Y:56.14, Z:-1.39 [[ 5.61692699e-01 -8.27310212e-01 -7.68921343e-03 1.28283913e+02] [ 8.27246811e-01 5.61745009e-01 -1.02595904e-02 5.61380951e+01] [ 1.28072412e-02 -5.98140238e-04 9.99917805e-01 -1.39309977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16719347 meters 0.06999834485386147 Centerline is valid? [True, True] Translation: X:128.30, Y:56.16, Z:-1.39 [[ 5.57105031e-01 -8.30416674e-01 -6.49085889e-03 1.28297140e+02] [ 8.30371632e-01 5.57142560e-01 -8.66724820e-03 5.61637640e+01] [ 1.08137612e-02 -5.61257507e-04 9.99941372e-01 -1.38959114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19719347 meters 0.07247437986203009 Centerline is valid? [True, True] Translation: X:128.31, Y:56.18, Z:-1.39 [[ 5.53043900e-01 -8.33136665e-01 -5.07356837e-03 1.28313567e+02] [ 8.33109228e-01 5.53066965e-01 -6.77830434e-03 5.61849074e+01] [ 8.45327694e-03 -4.78136765e-04 9.99964156e-01 -1.38854713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22719347 meters 0.0770592918807633 Centerline is valid? [True, True] Translation: X:128.33, Y:56.21, Z:-1.39 [[ 5.46568010e-01 -8.37405990e-01 -3.82334801e-03 1.28329357e+02] [ 8.37390473e-01 5.46581232e-01 -5.11408308e-03 5.62071128e+01] [ 6.37233406e-03 -4.06440983e-04 9.99979614e-01 -1.38819210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25719347 meters 0.07888798246587442 Centerline is valid? [True, True] Translation: X:128.34, Y:56.23, Z:-1.39 [[ 5.44488374e-01 -8.38758358e-01 -4.10218418e-03 1.28342709e+02] [ 8.38740526e-01 5.44503639e-01 -5.48794089e-03 5.62305062e+01] [ 6.83671050e-03 -4.52548110e-04 9.99976527e-01 -1.38983734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28719347 meters 0.08035570503867015 Centerline is valid? [True, True] Translation: X:128.35, Y:56.26, Z:-1.39 [[ 5.42954257e-01 -8.39747093e-01 -5.04922832e-03 1.28354641e+02] [ 8.39720082e-01 5.42977435e-01 -6.75942180e-03 5.62572664e+01] [ 8.41782185e-03 -5.69881578e-04 9.99964407e-01 -1.39284155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31719347 meters 0.0804064124105852 Centerline is valid? [True, True] Translation: X:128.36, Y:56.29, Z:-1.40 [[ 5.43052581e-01 -8.39671227e-01 -6.79146095e-03 1.28355804e+02] [ 8.39622296e-01 5.43094512e-01 -9.09674837e-03 5.62916773e+01] [ 1.13266830e-02 -7.62249346e-04 9.99935561e-01 -1.39788895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34719347 meters 0.07954054382551583 Centerline is valid? [True, True] Translation: X:128.36, Y:56.32, Z:-1.40 [[ 5.43416717e-01 -8.39433570e-01 -7.03943855e-03 1.28364254e+02] [ 8.39380914e-01 5.43461747e-01 -9.43455739e-03 5.63209005e+01] [ 1.17453498e-02 -7.81874170e-04 9.99930715e-01 -1.39963379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37719347 meters 0.0812897396907851 Centerline is valid? [True, True] Translation: X:128.38, Y:56.35, Z:-1.40 [[ 5.43583321e-01 -8.39326850e-01 -6.90020069e-03 1.28376404e+02] [ 8.39276176e-01 5.43626582e-01 -9.25418903e-03 5.63463772e+01] [ 1.15184218e-02 -7.60751246e-04 9.99933371e-01 -1.40184243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40719347 meters 0.08173520100684169 Centerline is valid? [True, True] Translation: X:128.39, Y:56.37, Z:-1.40 [[ 5.43374907e-01 -8.39454274e-01 -7.76097622e-03 1.28388234e+02] [ 8.39390105e-01 5.43429656e-01 -1.04144845e-02 5.63731982e+01] [ 1.29600282e-02 -8.55517067e-04 9.99915649e-01 -1.40433812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43719347 meters 0.07865096468242021 Centerline is valid? [True, True] Translation: X:128.39, Y:56.41, Z:-1.40 [[ 5.42928905e-01 -8.39726130e-01 -9.39314041e-03 1.28389772e+02] [ 8.39632054e-01 5.43009159e-01 -1.26122107e-02 5.64071236e+01] [ 1.56913642e-02 -1.03924803e-03 9.99876343e-01 -1.40496908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46719347 meters 0.08343425525115804 Centerline is valid? [True, True] Translation: X:128.41, Y:56.43, Z:-1.41 [[ 5.42681100e-01 -8.39892558e-01 -8.81560122e-03 1.28405926e+02] [ 8.39809582e-01 5.42751823e-01 -1.18458773e-02 5.64290020e+01] [ 1.47339478e-02 -9.74892678e-04 9.99890974e-01 -1.40688712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49719346999998 meters 0.0780745653760625 Centerline is valid? [True, True] Translation: X:128.40, Y:56.47, Z:-1.40 [[ 5.44613239e-01 -8.38655630e-01 -7.29072812e-03 1.28401718e+02] [ 8.38598681e-01 5.44661486e-01 -9.80398059e-03 5.64673034e+01] [ 1.21931423e-02 -7.74617360e-04 9.99925361e-01 -1.40338886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52719347 meters 0.07755372544159035 Centerline is valid? [True, True] Translation: X:128.41, Y:56.50, Z:-1.40 [[ 5.45890175e-01 -8.37830399e-01 -6.64370373e-03 1.28411382e+02] [ 8.37782992e-01 5.45930171e-01 -8.93910776e-03 5.64958240e+01] [ 1.11164545e-02 -6.86210879e-04 9.99937975e-01 -1.40334789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55719347 meters 0.0733262992479446 Centerline is valid? [True, True] Translation: X:128.41, Y:56.53, Z:-1.40 [[ 5.49908109e-01 -8.35203683e-01 -5.98996721e-03 1.28411292e+02] [ 8.35164925e-01 5.49940439e-01 -8.06614043e-03 5.65310330e+01] [ 1.00309954e-02 -5.66974488e-04 9.99949528e-01 -1.40172371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58719347 meters 0.07439663096937489 Centerline is valid? [True, True] Translation: X:128.42, Y:56.56, Z:-1.40 [[ 5.51635990e-01 -8.34065306e-01 -5.72704649e-03 1.28424058e+02] [ 8.34029811e-01 5.51665471e-01 -7.71244685e-03 5.65551792e+01] [ 9.59209814e-03 -5.22064246e-04 9.99953858e-01 -1.40338179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61719347 meters 0.07126044415109144 Centerline is valid? [True, True] Translation: X:128.43, Y:56.59, Z:-1.40 [[ 5.52902452e-01 -8.33224918e-01 -5.92581042e-03 1.28430854e+02] [ 8.33186800e-01 5.52933960e-01 -7.98698475e-03 5.65863019e+01] [ 9.93153653e-03 -5.21283574e-04 9.99950545e-01 -1.40297343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64719347 meters 0.07050699655133182 Centerline is valid? [True, True] Translation: X:128.44, Y:56.62, Z:-1.40 [[ 5.54046648e-01 -8.32466033e-01 -5.71092949e-03 1.28440503e+02] [ 8.32430541e-01 5.54075867e-01 -7.70245379e-03 5.66151047e+01] [ 9.57631936e-03 -4.86433416e-04 9.99954028e-01 -1.40369773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67719347 meters 0.07354454485001657 Centerline is valid? [True, True] Translation: X:128.45, Y:56.64, Z:-1.41 [[ 5.54645728e-01 -8.32053940e-01 -7.37269198e-03 1.28454404e+02] [ 8.31994719e-01 5.54694384e-01 -9.94626178e-03 5.66384031e+01] [ 1.23654171e-02 -6.17389184e-04 9.99923355e-01 -1.40887600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70719347 meters 0.07457745777347621 Centerline is valid? [True, True] Translation: X:128.47, Y:56.66, Z:-1.41 [[ 5.54679702e-01 -8.32020865e-01 -8.46807545e-03 1.28465390e+02] [ 8.31942714e-01 5.54743887e-01 -1.14254768e-02 5.66637192e+01] [ 1.42038482e-02 -7.07473585e-04 9.99898870e-01 -1.41249903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73719347 meters 0.07384797613116552 Centerline is valid? [True, True] Translation: X:128.47, Y:56.69, Z:-1.42 [[ 5.53841656e-01 -8.32554060e-01 -1.06375524e-02 1.28471636e+02] [ 8.32430622e-01 5.53943073e-01 -1.43642552e-02 5.66936647e+01] [ 1.78516175e-02 -8.99501454e-04 9.99840243e-01 -1.41603769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76719347 meters 0.07103879475768263 Centerline is valid? [True, True] Translation: X:128.48, Y:56.72, Z:-1.41 [[ 5.52202985e-01 -8.33637836e-01 -1.09462965e-02 1.28480767e+02] [ 8.33507174e-01 5.52310640e-01 -1.47901384e-02 5.67226190e+01] [ 1.83753750e-02 -9.56658105e-04 9.99830701e-01 -1.41301069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79719347 meters 0.07855279890358575 Centerline is valid? [True, True] Translation: X:128.50, Y:56.74, Z:-1.42 [[ 5.50025894e-01 -8.35082711e-01 -1.04106803e-02 1.28504788e+02] [ 8.34964752e-01 5.50123581e-01 -1.40679934e-02 5.67390005e+01] [ 1.74750988e-02 -9.54790437e-04 9.99846843e-01 -1.41877867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82719347 meters 0.08295915246731103 Centerline is valid? [True, True] Translation: X:128.52, Y:56.76, Z:-1.42 [[ 5.43797861e-01 -8.39144359e-01 -1.09832162e-02 1.28516735e+02] [ 8.39013720e-01 5.43907572e-01 -1.48502849e-02 5.67635834e+01] [ 1.84353873e-02 -1.13951593e-03 9.99829404e-01 -1.41801970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85719347 meters 0.07763371854638625 Centerline is valid? [True, True] Translation: X:128.52, Y:56.80, Z:-1.41 [[ 5.40598025e-01 -8.41206434e-01 -1.12031671e-02 1.28520796e+02] [ 8.41070738e-01 5.40712704e-01 -1.51586824e-02 5.67961949e+01] [ 1.88092759e-02 -1.22790224e-03 9.99822336e-01 -1.41231758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88719347 meters 0.07957300796781126 Centerline is valid? [True, True] Translation: X:128.54, Y:56.82, Z:-1.41 [[ 5.37786501e-01 -8.43006311e-01 -1.12267474e-02 1.28535564e+02] [ 8.42870359e-01 5.37902121e-01 -1.51942382e-02 5.68207485e+01] [ 1.88477299e-02 -1.29143643e-03 9.99821532e-01 -1.41294973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91719347 meters 0.08010619832995675 Centerline is valid? [True, True] Translation: X:128.55, Y:56.85, Z:-1.41 [[ 5.35765125e-01 -8.44295802e-01 -1.09694505e-02 1.28548873e+02] [ 8.44166081e-01 5.35875832e-01 -1.48566760e-02 5.68466797e+01] [ 1.84216926e-02 -1.30034918e-03 9.99829461e-01 -1.41202776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94719347 meters 0.0791857039521938 Centerline is valid? [True, True] Translation: X:128.56, Y:56.87, Z:-1.41 [[ 5.34603498e-01 -8.45035460e-01 -1.06850868e-02 1.28561002e+02] [ 8.44912358e-01 5.34708721e-01 -1.44807030e-02 5.68740169e+01] [ 1.79501166e-02 -1.28652744e-03 9.99838056e-01 -1.41118806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97719347 meters 0.08748873002961652 Centerline is valid? [True, True] Translation: X:128.58, Y:56.89, Z:-1.41 [[ 5.36464189e-01 -8.43888668e-01 -7.62168918e-03 1.28580550e+02] [ 8.43825893e-01 5.36517592e-01 -1.03313379e-02 5.68930557e+01] [ 1.28076693e-02 -8.88985872e-04 9.99917583e-01 -1.41317617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00719347 meters 0.07616057786037132 Centerline is valid? [True, True] Translation: X:128.58, Y:56.93, Z:-1.41 [[ 5.38514187e-01 -8.42592399e-01 -6.36548722e-03 1.28576263e+02] [ 8.42548433e-01 5.38551336e-01 -8.63688798e-03 5.69311990e+01] [ 1.07055178e-02 -7.12144573e-04 9.99942441e-01 -1.40668506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03719347 meters 0.07627401956289313 Centerline is valid? [True, True] Translation: X:128.59, Y:56.96, Z:-1.41 [[ 5.40432525e-01 -8.41369772e-01 -5.43990081e-03 1.28586449e+02] [ 8.41337546e-01 5.40459586e-01 -7.38709366e-03 5.69579476e+01] [ 9.15532385e-03 -5.84567124e-04 9.99957918e-01 -1.40617659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06719347 meters 0.07391948842903881 Centerline is valid? [True, True] Translation: X:128.59, Y:56.99, Z:-1.41 [[ 5.45037290e-01 -8.38399279e-01 -4.58276952e-03 1.28588399e+02] [ 8.38376269e-01 5.45056372e-01 -6.22764744e-03 5.69910237e+01] [ 7.71912285e-03 -4.47785124e-04 9.99970107e-01 -1.40593602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09719347 meters 0.07419020409950207 Centerline is valid? [True, True] Translation: X:128.60, Y:57.02, Z:-1.41 [[ 5.45858501e-01 -8.37861494e-01 -5.15884659e-03 1.28601076e+02] [ 8.37832329e-01 5.45882652e-01 -7.00848247e-03 5.70163436e+01] [ 8.68826245e-03 -4.96608718e-04 9.99962133e-01 -1.40763584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12719347 meters 0.07243509287050753 Centerline is valid? [True, True] Translation: X:128.61, Y:57.04, Z:-1.41 [[ 5.44566567e-01 -8.38695175e-01 -6.13660883e-03 1.28611200e+02] [ 8.38653880e-01 5.44600809e-01 -8.34443604e-03 5.70448730e+01] [ 1.03404404e-02 -6.02389915e-04 9.99946355e-01 -1.40889743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15719347 meters 0.07495844536139103 Centerline is valid? [True, True] Translation: X:128.62, Y:57.07, Z:-1.41 [[ 5.40865856e-01 -8.41067649e-01 -8.32680311e-03 1.28624945e+02] [ 8.40991866e-01 5.40929237e-01 -1.13244250e-02 5.70686087e+01] [ 1.40288187e-02 -8.77778895e-04 9.99901206e-01 -1.41423898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18719347 meters 0.07683345869504954 Centerline is valid? [True, True] Translation: X:128.64, Y:57.09, Z:-1.42 [[ 5.38493551e-01 -8.42581021e-01 -9.05083950e-03 1.28640355e+02] [ 8.42491617e-01 5.38568691e-01 -1.23142803e-02 5.70911006e+01] [ 1.52502777e-02 -9.94095868e-04 9.99883214e-01 -1.41539012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21719347 meters 0.07999176977152958 Centerline is valid? [True, True] Translation: X:128.66, Y:57.11, Z:-1.42 [[ 5.36855358e-01 -8.43626033e-01 -9.02451018e-03 1.28657909e+02] [ 8.43537166e-01 5.36930242e-01 -1.22867720e-02 5.71129543e+01] [ 1.52109731e-02 -1.01629036e-03 9.99883790e-01 -1.41851526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24719346999998 meters 0.07853118418647292 Centerline is valid? [True, True] Translation: X:128.67, Y:57.14, Z:-1.42 [[ 5.35326938e-01 -8.44591739e-01 -9.47963853e-03 1.28668951e+02] [ 8.44493703e-01 5.35409751e-01 -1.29144706e-02 5.71398988e+01] [ 1.59829461e-02 -1.09203107e-03 9.99871668e-01 -1.41745192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27719347 meters 0.08254838853371706 Centerline is valid? [True, True] Translation: X:128.69, Y:57.16, Z:-1.42 [[ 5.34066638e-01 -8.45384111e-01 -9.92626654e-03 1.28687605e+02] [ 8.45276709e-01 5.34157601e-01 -1.35255968e-02 5.71606684e+01] [ 1.67365154e-02 -1.16687190e-03 9.99859254e-01 -1.42050425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30719347 meters 0.08093775923145924 Centerline is valid? [True, True] Translation: X:128.70, Y:57.19, Z:-1.42 [[ 5.32982241e-01 -8.46067641e-01 -9.97387122e-03 1.28695833e+02] [ 8.45959165e-01 5.33074229e-01 -1.35999194e-02 5.71903579e+01] [ 1.68232654e-02 -1.18897226e-03 9.99857772e-01 -1.41954233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33719347 meters 0.08093775923145924 Centerline is valid? [True, True] Translation: X:128.71, Y:57.21, Z:-1.42 [[ 5.32714567e-01 -8.46236257e-01 -9.96930890e-03 1.28711935e+02] [ 8.46127749e-01 5.32806516e-01 -1.36032647e-02 5.72126798e+01] [ 1.68232885e-02 -1.18865163e-03 9.99857772e-01 -1.41976970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36719347 meters 0.08170851781821355 Centerline is valid? [True, True] Translation: X:128.73, Y:57.24, Z:-1.42 [[ 5.31719933e-01 -8.46862607e-01 -9.88116406e-03 1.28726512e+02] [ 8.46755994e-01 5.31810398e-01 -1.34902935e-02 5.72381193e+01] [ 1.66793309e-02 -1.19387694e-03 9.99860178e-01 -1.41917661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39719347 meters 0.08479058317419091 Centerline is valid? [True, True] Translation: X:128.74, Y:57.26, Z:-1.42 [[ 5.30492284e-01 -8.47643014e-01 -8.90259661e-03 1.28738741e+02] [ 8.47556524e-01 5.30565849e-01 -1.21581073e-02 5.72639818e+01] [ 1.50291484e-02 -1.09567173e-03 9.99886456e-01 -1.41795929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42719347 meters 0.0779681927731601 Centerline is valid? [True, True] Translation: X:128.74, Y:57.30, Z:-1.41 [[ 5.30067788e-01 -8.47912214e-01 -8.54503831e-03 1.28742051e+02] [ 8.47832415e-01 5.30135613e-01 -1.16802511e-02 5.72964541e+01] [ 1.44338567e-02 -1.05343559e-03 9.99895272e-01 -1.41375491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45719347 meters 0.07835134073213708 Centerline is valid? [True, True] Translation: X:128.76, Y:57.32, Z:-1.41 [[ 5.30145013e-01 -8.47868817e-01 -8.04573788e-03 1.28755944e+02] [ 8.47797981e-01 5.30205143e-01 -1.10041098e-02 5.73213068e+01] [ 1.35959331e-02 -9.87386410e-04 9.99907084e-01 -1.41408129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48719347 meters 0.07857139468922605 Centerline is valid? [True, True] Translation: X:128.77, Y:57.35, Z:-1.41 [[ 5.29835621e-01 -8.48065956e-01 -7.63868731e-03 1.28769313e+02] [ 8.48002023e-01 5.29889851e-01 -1.04553368e-02 5.73464289e+01] [ 1.29144780e-02 -9.38012454e-04 9.99916165e-01 -1.41390263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51719347 meters 0.07885333967352318 Centerline is valid? [True, True] Translation: X:128.78, Y:57.37, Z:-1.42 [[ 5.30721188e-01 -8.47514006e-01 -7.41826818e-03 1.28780424e+02] [ 8.47453667e-01 5.30772270e-01 -1.01527672e-02 5.73728194e+01] [ 1.25420234e-02 -8.98349917e-04 9.99920942e-01 -1.41589143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54719347 meters 0.07792010853979128 Centerline is valid? [True, True] Translation: X:128.79, Y:57.40, Z:-1.42 [[ 5.31354038e-01 -8.47120349e-01 -7.07107483e-03 1.28792679e+02] [ 8.47065392e-01 5.31400417e-01 -9.68593880e-03 5.73996692e+01] [ 1.19627280e-02 -8.43000082e-04 9.99928089e-01 -1.41633308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57719347 meters 0.07736373231367058 Centerline is valid? [True, True] Translation: X:128.81, Y:57.43, Z:-1.42 [[ 5.32713427e-01 -8.46260648e-01 -7.70190840e-03 1.28805089e+02] [ 8.46195347e-01 5.32768346e-01 -1.05509791e-02 5.74268055e+01] [ 1.30322115e-02 -8.96670797e-04 9.99914675e-01 -1.41637521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60719347 meters 0.07736122168201823 Centerline is valid? [True, True] Translation: X:128.82, Y:57.45, Z:-1.42 [[ 5.33927324e-01 -8.45494684e-01 -7.76863092e-03 1.28817516e+02] [ 8.45428058e-01 5.33983111e-01 -1.06506385e-02 5.74525449e+01] [ 1.31533759e-02 -8.81151648e-04 9.99913102e-01 -1.41626654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63719347 meters 0.07446031495143768 Centerline is valid? [True, True] Translation: X:128.82, Y:57.48, Z:-1.42 [[ 5.37489091e-01 -8.43231987e-01 -8.08037732e-03 1.28824229e+02] [ 8.43159561e-01 5.37549146e-01 -1.10846938e-02 5.74826532e+01] [ 1.36905683e-02 -8.55145408e-04 9.99905914e-01 -1.41725331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66719347 meters 0.07368018941524944 Centerline is valid? [True, True] Translation: X:128.84, Y:57.51, Z:-1.42 [[ 5.38694111e-01 -8.42449957e-01 -9.31263661e-03 1.28838097e+02] [ 8.42353528e-01 5.38773748e-01 -1.27821430e-02 5.75082092e+01] [ 1.57857199e-02 -9.58867133e-04 9.99874938e-01 -1.41948655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69719347 meters 0.07171075082709098 Centerline is valid? [True, True] Translation: X:128.85, Y:57.54, Z:-1.42 [[ 5.39771176e-01 -8.41740456e-01 -1.09582177e-02 1.28849738e+02] [ 8.41606627e-01 5.39881281e-01 -1.50495273e-02 5.75358346e+01] [ 1.85839326e-02 -1.09920754e-03 9.99826700e-01 -1.42070605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72719347 meters 0.07235172380018555 Centerline is valid? [True, True] Translation: X:128.86, Y:57.56, Z:-1.42 [[ 5.41711591e-01 -8.40484904e-01 -1.15619435e-02 1.28864973e+02] [ 8.40335451e-01 5.41833827e-01 -1.58881846e-02 5.75597774e+01] [ 1.96184314e-02 -1.10909723e-03 9.99806925e-01 -1.42402070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75719347 meters 0.07007144466357296 Centerline is valid? [True, True] Translation: X:128.88, Y:57.59, Z:-1.42 [[ 5.44673039e-01 -8.38548673e-01 -1.29384313e-02 1.28875052e+02] [ 8.38360738e-01 5.44825462e-01 -1.77901658e-02 5.75882702e+01] [ 2.19671067e-02 -1.15724919e-03 9.99758024e-01 -1.42409143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78719347 meters 0.06841821921319337 Centerline is valid? [True, True] Translation: X:128.88, Y:57.62, Z:-1.43 [[ 5.52907539e-01 -8.33138180e-01 -1.31918925e-02 1.28882339e+02] [ 8.32941024e-01 5.53064068e-01 -1.81490313e-02 5.76176440e+01] [ 2.24166126e-02 -9.53332236e-04 9.99748262e-01 -1.42727721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81719347 meters 0.06511900811777001 Centerline is valid? [True, True] Translation: X:128.89, Y:57.65, Z:-1.42 [[ 5.57315032e-01 -8.30200610e-01 -1.29190553e-02 1.28890259e+02] [ 8.30010667e-01 5.57464152e-01 -1.77767250e-02 5.76483598e+01] [ 2.19601582e-02 -8.15717705e-04 9.99758514e-01 -1.42345282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84719347 meters 0.06417478266933693 Centerline is valid? [True, True] Translation: X:128.90, Y:57.68, Z:-1.42 [[ 5.60700119e-01 -8.27921440e-01 -1.27069142e-02 1.28902719e+02] [ 8.27736982e-01 5.60843636e-01 -1.74901395e-02 5.76753408e+01] [ 2.16070535e-02 -7.11259501e-04 9.99766287e-01 -1.42399664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87719347 meters 0.06331726833514104 Centerline is valid? [True, True] Translation: X:128.92, Y:57.70, Z:-1.42 [[ 5.62656881e-01 -8.26583447e-01 -1.33056061e-02 1.28916041e+02] [ 8.26380515e-01 5.62813769e-01 -1.83277310e-02 5.77014396e+01] [ 2.26379773e-02 -6.83269666e-04 9.99743495e-01 -1.42483410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90719347 meters 0.06348144322110631 Centerline is valid? [True, True] Translation: X:128.93, Y:57.73, Z:-1.43 [[ 5.62565996e-01 -8.26630723e-01 -1.41826534e-02 1.28932016e+02] [ 8.26399881e-01 5.62744280e-01 -1.95477113e-02 5.77257926e+01] [ 2.41399458e-02 -7.23665378e-04 9.99708327e-01 -1.42747364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93719347 meters 0.06512260054525044 Centerline is valid? [True, True] Translation: X:128.95, Y:57.74, Z:-1.43 [[ 5.59976383e-01 -8.28395114e-01 -1.37107790e-02 1.28952675e+02] [ 8.28179866e-01 5.60143677e-01 -1.88989455e-02 5.77449439e+01] [ 2.33358003e-02 -7.72027994e-04 9.99727385e-01 -1.43082656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96719347 meters 0.06473548597762221 Centerline is valid? [True, True] Translation: X:128.97, Y:57.77, Z:-1.43 [[ 5.57792194e-01 -8.29880186e-01 -1.29129668e-02 1.28969842e+02] [ 8.29689355e-01 5.57941101e-01 -1.78129935e-02 5.77682065e+01] [ 2.19873252e-02 -7.77802333e-04 9.99757947e-01 -1.42849055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99719346999998 meters 0.06565952039633925 Centerline is valid? [True, True] Translation: X:128.99, Y:57.79, Z:-1.43 [[ 5.55563050e-01 -8.31374043e-01 -1.29188876e-02 1.28989415e+02] [ 8.31183411e-01 5.55712606e-01 -1.78223563e-02 5.77881128e+01] [ 2.19962331e-02 -8.36522415e-04 9.99757704e-01 -1.42898610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02719347 meters 0.06716993229768962 Centerline is valid? [True, True] Translation: X:129.01, Y:57.81, Z:-1.43 [[ 5.51650051e-01 -8.33978028e-01 -1.27620682e-02 1.29009958e+02] [ 8.33792410e-01 5.51796883e-01 -1.76186520e-02 5.78092861e+01] [ 2.17356381e-02 -9.21585300e-04 9.99763328e-01 -1.42893766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05719347 meters 0.06789641691602798 Centerline is valid? [True, True] Translation: X:129.03, Y:57.83, Z:-1.43 [[ 5.49963934e-01 -8.35076991e-01 -1.36414694e-02 1.29027705e+02] [ 8.34864988e-01 5.50132136e-01 -1.88437026e-02 5.78321501e+01] [ 2.32405532e-02 -1.02542832e-03 9.99729376e-01 -1.42995628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08719347 meters 0.06763695571074034 Centerline is valid? [True, True] Translation: X:129.04, Y:57.86, Z:-1.43 [[ 5.46676568e-01 -8.37221610e-01 -1.43075504e-02 1.29044969e+02] [ 8.36989051e-01 5.46862514e-01 -1.97666265e-02 5.78557337e+01] [ 2.43733098e-02 -1.16931153e-03 9.99702243e-01 -1.42885863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11719347 meters 0.06938807833080823 Centerline is valid? [True, True] Translation: X:129.07, Y:57.88, Z:-1.43 [[ 5.45436301e-01 -8.38035703e-01 -1.39786285e-02 1.29065478e+02] [ 8.37813883e-01 5.45614130e-01 -1.93162717e-02 5.78752501e+01] [ 2.38146626e-02 -1.17569326e-03 9.99715699e-01 -1.43091133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14719347 meters 0.06914187836860777 Centerline is valid? [True, True] Translation: X:129.08, Y:57.90, Z:-1.43 [[ 5.43816977e-01 -8.39091639e-01 -1.37228675e-02 1.29083046e+02] [ 8.38877854e-01 5.43988788e-01 -1.89774814e-02 5.78981588e+01] [ 2.33889320e-02 -1.19153305e-03 9.99725731e-01 -1.43030385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17719347 meters 0.07210990116166666 Centerline is valid? [True, True] Translation: X:129.11, Y:57.92, Z:-1.43 [[ 5.43027014e-01 -8.39598735e-01 -1.39866323e-02 1.29105418e+02] [ 8.39376784e-01 5.43205704e-01 -1.93436822e-02 5.79163899e+01] [ 2.38385496e-02 -1.23591246e-03 9.99715057e-01 -1.43415844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20719347 meters 0.0702157721309559 Centerline is valid? [True, True] Translation: X:129.12, Y:57.94, Z:-1.43 [[ 5.42224676e-01 -8.40101840e-01 -1.48761244e-02 1.29118326e+02] [ 8.39850563e-01 5.42427073e-01 -2.05888752e-02 5.79424048e+01] [ 2.53659646e-02 -1.32992532e-03 9.99677348e-01 -1.43245816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23719347 meters 0.07207352491252486 Centerline is valid? [True, True] Translation: X:129.14, Y:57.96, Z:-1.44 [[ 5.42811793e-01 -8.39719083e-01 -1.50737828e-02 1.29137042e+02] [ 8.39460891e-01 5.43019425e-01 -2.08642388e-02 5.79633584e+01] [ 2.57054564e-02 -1.32849630e-03 9.99668677e-01 -1.43571880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26719347 meters 0.07287110654080038 Centerline is valid? [True, True] Translation: X:129.15, Y:57.98, Z:-1.44 [[ 5.43469971e-01 -8.39288441e-01 -1.53395808e-02 1.29154995e+02] [ 8.39020780e-01 5.43684786e-01 -2.12363901e-02 5.79845921e+01] [ 2.61633534e-02 -1.32888678e-03 9.99656798e-01 -1.43801660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29719347 meters 0.06947463603682787 Centerline is valid? [True, True] Translation: X:129.17, Y:58.01, Z:-1.44 [[ 5.44233860e-01 -8.38784062e-01 -1.58367802e-02 1.29166949e+02] [ 8.38498120e-01 5.44462586e-01 -2.19407358e-02 5.80109137e+01] [ 2.70260738e-02 -1.33821903e-03 9.99633833e-01 -1.43535076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32719347 meters 0.06929090595440619 Centerline is valid? [True, True] Translation: X:129.18, Y:58.03, Z:-1.44 [[ 5.45341774e-01 -8.38050181e-01 -1.65603410e-02 1.29184005e+02] [ 8.37736823e-01 5.45591477e-01 -2.29555025e-02 5.80346139e+01] [ 2.82730439e-02 -1.35461299e-03 9.99599320e-01 -1.43800488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35719347 meters 0.06955498367732732 Centerline is valid? [True, True] Translation: X:129.20, Y:58.06, Z:-1.44 [[ 5.45253196e-01 -8.38074994e-01 -1.81454507e-02 1.29200388e+02] [ 8.37698310e-01 5.45553042e-01 -2.51678407e-02 5.80582402e+01] [ 3.09918438e-02 -1.47756784e-03 9.99518545e-01 -1.43948880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38719347 meters 0.06997421002674015 Centerline is valid? [True, True] Translation: X:129.22, Y:58.08, Z:-1.44 [[ 5.45278254e-01 -8.38038837e-01 -1.90403193e-02 1.29216814e+02] [ 8.37623959e-01 5.45608391e-01 -2.64118646e-02 5.80809082e+01] [ 3.25227262e-02 -1.54681225e-03 9.99469799e-01 -1.44138375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41719347 meters 0.0705923329890726 Centerline is valid? [True, True] Translation: X:129.23, Y:58.10, Z:-1.44 [[ 5.45505377e-01 -8.37886009e-01 -1.92592674e-02 1.29234447e+02] [ 8.37460977e-01 5.45843055e-01 -2.67296033e-02 5.81015840e+01] [ 3.29088980e-02 -1.54774258e-03 9.99457157e-01 -1.44292880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44719347 meters 0.07120938061324389 Centerline is valid? [True, True] Translation: X:129.25, Y:58.12, Z:-1.44 [[ 5.44936659e-01 -8.38253784e-01 -1.93553821e-02 1.29252287e+02] [ 8.37824485e-01 5.45278017e-01 -2.68703467e-02 5.81233820e+01] [ 3.30782342e-02 -1.57377605e-03 9.99451526e-01 -1.44334336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47719347 meters 0.07118315113987111 Centerline is valid? [True, True] Translation: X:129.27, Y:58.15, Z:-1.44 [[ 5.44195145e-01 -8.38746974e-01 -1.88456378e-02 1.29268308e+02] [ 8.38339644e-01 5.44519155e-01 -2.61826547e-02 5.81460567e+01] [ 3.22224331e-02 -1.55057173e-03 9.99479520e-01 -1.44195891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50719347 meters 0.0715214067133676 Centerline is valid? [True, True] Translation: X:129.28, Y:58.17, Z:-1.44 [[ 5.43686855e-01 -8.39096191e-01 -1.79495317e-02 1.29284992e+02] [ 8.38726804e-01 5.43981017e-01 -2.49399630e-02 5.81677909e+01] [ 3.06912325e-02 -1.49522331e-03 9.99527795e-01 -1.44077734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53719347 meters 0.07151002554697845 Centerline is valid? [True, True] Translation: X:129.30, Y:58.19, Z:-1.44 [[ 5.43633828e-01 -8.39165297e-01 -1.62439426e-02 1.29301691e+02] [ 8.38862342e-01 5.43874792e-01 -2.25871991e-02 5.81898873e+01] [ 2.77890645e-02 -1.34726622e-03 9.99612901e-01 -1.43951684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56719347 meters 0.06730462043706437 Centerline is valid? [True, True] Translation: X:129.31, Y:58.22, Z:-1.43 [[ 5.42864517e-01 -8.39719437e-01 -1.30147099e-02 1.29312186e+02] [ 8.39524943e-01 5.43019394e-01 -1.81054691e-02 5.82181804e+01] [ 2.22707542e-02 -1.09735686e-03 9.99751374e-01 -1.42836359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59719347 meters 0.07291870112476191 Centerline is valid? [True, True] Translation: X:129.34, Y:58.23, Z:-1.43 [[ 5.41384423e-01 -8.40699074e-01 -1.13125199e-02 1.29337431e+02] [ 8.40552261e-01 5.41501702e-01 -1.57417360e-02 5.82333643e+01] [ 1.93598117e-02 -9.86433493e-04 9.99812095e-01 -1.43226476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62719347 meters 0.06893815090434102 Centerline is valid? [True, True] Translation: X:129.35, Y:58.26, Z:-1.43 [[ 5.39463891e-01 -8.41936832e-01 -1.10036907e-02 1.29346940e+02] [ 8.41798128e-01 5.39575174e-01 -1.53148196e-02 5.82614635e+01] [ 1.88314290e-02 -1.00109402e-03 9.99822172e-01 -1.42611489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65719347 meters 0.07202139115111744 Centerline is valid? [True, True] Translation: X:129.37, Y:58.28, Z:-1.43 [[ 5.37479697e-01 -8.43218889e-01 -9.87322317e-03 1.29368790e+02] [ 8.43107343e-01 5.37569559e-01 -1.37469233e-02 5.82799887e+01] [ 1.68992096e-02 -9.35494769e-04 9.99856761e-01 -1.42840867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68719347 meters 0.07065797003805444 Centerline is valid? [True, True] Translation: X:129.38, Y:58.30, Z:-1.43 [[ 5.34595453e-01 -8.45050126e-01 -9.89876346e-03 1.29383235e+02] [ 8.44938182e-01 5.34686170e-01 -1.37901611e-02 5.83049068e+01] [ 1.69461093e-02 -9.91685794e-04 9.99855913e-01 -1.42626243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71719347 meters 0.07475611172899843 Centerline is valid? [True, True] Translation: X:129.41, Y:58.32, Z:-1.43 [[ 5.27412646e-01 -8.49556824e-01 -9.43945486e-03 1.29405210e+02] [ 8.49455659e-01 5.27496005e-01 -1.31547842e-02 5.83230806e+01] [ 1.61550114e-02 -1.08039882e-03 9.99868916e-01 -1.42666703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74719346999998 meters 0.07718632166861605 Centerline is valid? [True, True] Translation: X:129.42, Y:58.34, Z:-1.43 [[ 5.23849361e-01 -8.51758939e-01 -9.41050160e-03 1.29424207e+02] [ 8.51658708e-01 5.23932632e-01 -1.31164963e-02 5.83436342e+01] [ 1.61025618e-02 -1.14346745e-03 9.99869692e-01 -1.42676146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77719347 meters 0.0791099011471606 Centerline is valid? [True, True] Translation: X:129.44, Y:58.36, Z:-1.43 [[ 5.21151322e-01 -8.53410528e-01 -9.57970059e-03 1.29442361e+02] [ 8.53306838e-01 5.21237950e-01 -1.33581555e-02 5.83645890e+01] [ 1.63932941e-02 -1.21280360e-03 9.99864885e-01 -1.42754184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80719347 meters 0.07798809756516019 Centerline is valid? [True, True] Translation: X:129.45, Y:58.39, Z:-1.43 [[ 5.18202062e-01 -8.55196010e-01 -1.03153447e-02 1.29454241e+02] [ 8.55075946e-01 5.18302933e-01 -1.43942682e-02 5.83914445e+01] [ 1.76563942e-02 -1.36126364e-03 9.99843187e-01 -1.42802592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83719347 meters 0.0821756781286205 Centerline is valid? [True, True] Translation: X:129.47, Y:58.41, Z:-1.43 [[ 5.17351127e-01 -8.55704714e-01 -1.08283674e-02 1.29473291e+02] [ 8.55572443e-01 5.17462418e-01 -1.51142625e-02 5.84112130e+01] [ 1.85366189e-02 -1.44507198e-03 9.99827138e-01 -1.43125820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86719347 meters 0.08147980566409664 Centerline is valid? [True, True] Translation: X:129.49, Y:58.44, Z:-1.43 [[ 5.16478025e-01 -8.56213118e-01 -1.22288722e-02 1.29485447e+02] [ 8.56044360e-01 5.16620151e-01 -1.70784215e-02 5.84374409e+01] [ 2.09404503e-02 -1.64782771e-03 9.99779367e-01 -1.43241355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89719347 meters 0.08397987408846529 Centerline is valid? [True, True] Translation: X:129.50, Y:58.46, Z:-1.44 [[ 5.16860773e-01 -8.55964788e-01 -1.33874216e-02 1.29502284e+02] [ 8.55762333e-01 5.17031021e-01 -1.87016629e-02 5.84600643e+01] [ 2.29296772e-02 -1.79029525e-03 9.99735477e-01 -1.43644851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92719347 meters 0.07940484352855269 Centerline is valid? [True, True] Translation: X:129.51, Y:58.49, Z:-1.44 [[ 5.16925498e-01 -8.55902169e-01 -1.48157765e-02 1.29505252e+02] [ 8.55653819e-01 5.17134018e-01 -2.07111027e-02 5.84932221e+01] [ 2.53884197e-02 -1.97107862e-03 9.99675719e-01 -1.43641611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95719347 meters 0.07931013705779584 Centerline is valid? [True, True] Translation: X:129.52, Y:58.52, Z:-1.44 [[ 5.16677904e-01 -8.56056109e-01 -1.45561366e-02 1.29517901e+02] [ 8.55816139e-01 5.16879274e-01 -2.03605691e-02 5.85193938e+01] [ 2.49535549e-02 -1.93752044e-03 9.99686734e-01 -1.43715258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98719347 meters 0.08065499391720471 Centerline is valid? [True, True] Translation: X:129.53, Y:58.54, Z:-1.44 [[ 5.16704577e-01 -8.56051639e-01 -1.38553814e-02 1.29532423e+02] [ 8.55834114e-01 5.16887028e-01 -1.93847751e-02 5.85429607e+01] [ 2.37560354e-02 -1.84170602e-03 9.99716089e-01 -1.43879944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01719347 meters 0.07844261127426327 Centerline is valid? [True, True] Translation: X:129.54, Y:58.57, Z:-1.44 [[ 5.16702523e-01 -8.56043629e-01 -1.44155500e-02 1.29541609e+02] [ 8.55807746e-01 5.16900056e-01 -2.01850219e-02 5.85708967e+01] [ 2.47306580e-02 -1.90728762e-03 9.99692331e-01 -1.43756844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04719347 meters 0.07912352706178614 Centerline is valid? [True, True] Translation: X:129.55, Y:58.60, Z:-1.44 [[ 5.16433480e-01 -8.56201131e-01 -1.46997776e-02 1.29549365e+02] [ 8.55955887e-01 5.16638957e-01 -2.05841342e-02 5.85997730e+01] [ 2.52186367e-02 -1.95202509e-03 9.99680054e-01 -1.43854752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07719347 meters 0.07990533273253558 Centerline is valid? [True, True] Translation: X:129.56, Y:58.62, Z:-1.44 [[ 5.16446896e-01 -8.56187717e-01 -1.50065483e-02 1.29562957e+02] [ 8.55932008e-01 5.16661043e-01 -2.10181883e-02 5.86247300e+01] [ 2.57488136e-02 -1.98980697e-03 9.99666464e-01 -1.43958989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10719347 meters 0.07944668930002155 Centerline is valid? [True, True] Translation: X:129.58, Y:58.65, Z:-1.44 [[ 5.15893725e-01 -8.56526573e-01 -1.46933667e-02 1.29575043e+02] [ 8.56281124e-01 5.16099220e-01 -2.05968685e-02 5.86503553e+01] [ 2.52250003e-02 -1.95585734e-03 9.99679886e-01 -1.44018931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13719347 meters 0.07884714495541215 Centerline is valid? [True, True] Translation: X:129.58, Y:58.68, Z:-1.44 [[ 5.15456784e-01 -8.56787373e-01 -1.48223441e-02 1.29583711e+02] [ 8.56537397e-01 5.15666053e-01 -2.07896519e-02 5.86800289e+01] [ 2.54556909e-02 -1.97972496e-03 9.99673991e-01 -1.43865753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16719347 meters 0.08041173130816966 Centerline is valid? [True, True] Translation: X:129.60, Y:58.70, Z:-1.44 [[ 5.15496432e-01 -8.56770586e-01 -1.44080226e-02 1.29597023e+02] [ 8.56534341e-01 5.15694159e-01 -2.02103327e-02 5.87044421e+01] [ 2.47457517e-02 -1.92261179e-03 9.99691928e-01 -1.43879858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19719347 meters 0.08050685514055174 Centerline is valid? [True, True] Translation: X:129.61, Y:58.73, Z:-1.44 [[ 5.15222529e-01 -8.56927716e-01 -1.48537864e-02 1.29608929e+02] [ 8.56676313e-01 5.15432789e-01 -2.08503037e-02 5.87309633e+01] [ 2.55233317e-02 -1.98234080e-03 9.99672261e-01 -1.43915828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22719347 meters 0.08050685514055174 Centerline is valid? [True, True] Translation: X:129.62, Y:58.75, Z:-1.44 [[ 5.14951133e-01 -8.57090952e-01 -1.48469161e-02 1.29624722e+02] [ 8.56839477e-01 5.15161307e-01 -2.08551969e-02 5.87534710e+01] [ 2.55233573e-02 -1.98201655e-03 9.99672261e-01 -1.43938577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25719347 meters 0.07710932810574647 Centerline is valid? [True, True] Translation: X:129.63, Y:58.78, Z:-1.44 [[ 5.15793991e-01 -8.56589761e-01 -1.45100149e-02 1.29632907e+02] [ 8.56349136e-01 5.15994517e-01 -2.03915659e-02 5.87825954e+01] [ 2.49542947e-02 -1.90779155e-03 9.99686773e-01 -1.43722646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28719347 meters 0.07634679692387483 Centerline is valid? [True, True] Translation: X:129.64, Y:58.81, Z:-1.44 [[ 5.17361881e-01 -8.55655001e-01 -1.38276628e-02 1.29643957e+02] [ 8.55436053e-01 5.17543599e-01 -1.94366479e-02 5.88107862e+01] [ 2.37874834e-02 -1.77290061e-03 9.99715466e-01 -1.43751017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31719347 meters 0.07500018447232167 Centerline is valid? [True, True] Translation: X:129.66, Y:58.84, Z:-1.44 [[ 5.18333757e-01 -8.55068145e-01 -1.37325803e-02 1.29655906e+02] [ 8.54851686e-01 5.18512762e-01 -1.93160787e-02 5.88383045e+01] [ 2.36370817e-02 -1.72714378e-03 9.99719113e-01 -1.43529681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34719347 meters 0.07578259506474044 Centerline is valid? [True, True] Translation: X:129.67, Y:58.86, Z:-1.44 [[ 5.20391224e-01 -8.53818079e-01 -1.36989356e-02 1.29670509e+02] [ 8.53602237e-01 5.20568835e-01 -1.92693569e-02 5.88629447e+01] [ 2.35837643e-02 -1.66583785e-03 9.99720476e-01 -1.43612457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37719347 meters 0.0745258905760571 Centerline is valid? [True, True] Translation: X:129.68, Y:58.89, Z:-1.44 [[ 5.23349778e-01 -8.51999605e-01 -1.42015490e-02 1.29681926e+02] [ 8.51766878e-01 5.23539859e-01 -1.99800160e-02 5.88900381e+01] [ 2.44580427e-02 -1.63987209e-03 9.99699512e-01 -1.43697210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40719347 meters 0.07227449300082635 Centerline is valid? [True, True] Translation: X:129.69, Y:58.92, Z:-1.44 [[ 5.27096164e-01 -8.49673079e-01 -1.50097767e-02 1.29691655e+02] [ 8.49412032e-01 5.27307356e-01 -2.11223188e-02 5.89185516e+01] [ 2.58618313e-02 -1.61599174e-03 9.99664221e-01 -1.43710499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43719347 meters 0.06844849583215891 Centerline is valid? [True, True] Translation: X:129.69, Y:58.95, Z:-1.44 [[ 5.37520589e-01 -8.43086973e-01 -1.66124417e-02 1.29694003e+02] [ 8.42763881e-01 5.37775331e-01 -2.33823535e-02 5.89511242e+01] [ 2.86471189e-02 -1.43186941e-03 9.99588562e-01 -1.43868919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46719347 meters 0.06563639704132612 Centerline is valid? [True, True] Translation: X:129.70, Y:58.98, Z:-1.44 [[ 5.42465849e-01 -8.39916387e-01 -1.64701503e-02 1.29702782e+02] [ 8.39596900e-01 5.42714395e-01 -2.31976627e-02 5.89801568e+01] [ 2.84226847e-02 -1.24434734e-03 9.99595219e-01 -1.43702238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49719346999998 meters 0.06505084110039026 Centerline is valid? [True, True] Translation: X:129.72, Y:59.01, Z:-1.44 [[ 5.47348165e-01 -8.36751621e-01 -1.60222126e-02 1.29716461e+02] [ 8.36447880e-01 5.47581614e-01 -2.25681257e-02 5.90054717e+01] [ 2.76573848e-02 -1.04912360e-03 9.99616911e-01 -1.44018434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52719347 meters 0.0637228708172322 Centerline is valid? [True, True] Translation: X:129.73, Y:59.03, Z:-1.44 [[ 5.51388408e-01 -8.34091972e-01 -1.61680377e-02 1.29729507e+02] [ 8.33781345e-01 5.51624633e-01 -2.27801082e-02 5.90322547e+01] [ 2.79193932e-02 -9.19920674e-04 9.99609754e-01 -1.44161073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55719347 meters 0.061370658959734925 Centerline is valid? [True, True] Translation: X:129.74, Y:59.06, Z:-1.44 [[ 5.58958863e-01 -8.29057746e-01 -1.51077147e-02 1.29736528e+02] [ 8.28784579e-01 5.59162649e-01 -2.12897533e-02 5.90611872e+01] [ 2.60981047e-02 -6.20944710e-04 9.99659194e-01 -1.43945027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58719347 meters 0.06060305186508639 Centerline is valid? [True, True] Translation: X:129.75, Y:59.09, Z:-1.44 [[ 5.62141766e-01 -8.26915401e-01 -1.44067617e-02 1.29748905e+02] [ 8.26665961e-01 5.62326133e-01 -2.03152560e-02 5.90881961e+01] [ 2.49002966e-02 -4.89525588e-04 9.99689820e-01 -1.43757896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61719347 meters 0.059955400420920776 Centerline is valid? [True, True] Translation: X:129.76, Y:59.11, Z:-1.44 [[ 5.64832310e-01 -8.25093589e-01 -1.36026180e-02 1.29762654e+02] [ 8.24870478e-01 5.64995951e-01 -1.91903602e-02 5.91138454e+01] [ 2.35192673e-02 -3.81062501e-04 9.99723311e-01 -1.43653323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64719347 meters 0.05890408592394436 Centerline is valid? [True, True] Translation: X:129.78, Y:59.14, Z:-1.43 [[ 5.66830794e-01 -8.23725743e-01 -1.33698033e-02 1.29780592e+02] [ 8.23509521e-01 5.66988363e-01 -1.88750031e-02 5.91361623e+01] [ 2.31283489e-02 -3.11227284e-04 9.99732456e-01 -1.43335407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67719347 meters 0.05862699194314943 Centerline is valid? [True, True] Translation: X:129.80, Y:59.16, Z:-1.43 [[ 5.67128682e-01 -8.23523590e-01 -1.31892066e-02 1.29800723e+02] [ 8.23312841e-01 5.67281951e-01 -1.86320543e-02 5.91568387e+01] [ 2.28259351e-02 -2.92070810e-04 9.99739412e-01 -1.43434007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70719347 meters 0.0586695757383679 Centerline is valid? [True, True] Translation: X:129.82, Y:59.18, Z:-1.44 [[ 5.66086975e-01 -8.24239196e-01 -1.32395189e-02 1.29822004e+02] [ 8.24026762e-01 5.66241687e-01 -1.87149019e-02 5.91774783e+01] [ 2.29223232e-02 -3.15455688e-04 9.99737199e-01 -1.43567258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73719347 meters 0.05892090349478423 Centerline is valid? [True, True] Translation: X:129.85, Y:59.20, Z:-1.43 [[ 5.63512542e-01 -8.26004369e-01 -1.30536463e-02 1.29845252e+02] [ 8.25798294e-01 5.63663586e-01 -1.84537132e-02 5.91957308e+01] [ 2.26007129e-02 -3.80780026e-04 9.99744499e-01 -1.43419848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76719347 meters 0.05928949186276808 Centerline is valid? [True, True] Translation: X:129.87, Y:59.22, Z:-1.44 [[ 5.62861265e-01 -8.26454312e-01 -1.26675779e-02 1.29865838e+02] [ 8.26260272e-01 5.63003661e-01 -1.79120160e-02 5.92155824e+01] [ 2.19353556e-02 -3.84736437e-04 9.99759317e-01 -1.43551976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79719347 meters 0.05961173276143803 Centerline is valid? [True, True] Translation: X:129.89, Y:59.24, Z:-1.44 [[ 5.62395785e-01 -8.26768810e-01 -1.28185939e-02 1.29886822e+02] [ 8.26570112e-01 5.62541710e-01 -1.81293736e-02 5.92350998e+01] [ 2.21997944e-02 -3.99583262e-04 9.99753474e-01 -1.43668849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82719347 meters 0.059788212065468374 Centerline is valid? [True, True] Translation: X:129.91, Y:59.25, Z:-1.44 [[ 5.61753609e-01 -8.27189351e-01 -1.38079760e-02 1.29912702e+02] [ 8.26958578e-01 5.61923112e-01 -1.95429398e-02 5.92519822e+01] [ 2.39247325e-02 -4.40307260e-04 9.99713666e-01 -1.43945893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85719347 meters 0.05947021339881834 Centerline is valid? [True, True] Translation: X:129.93, Y:59.27, Z:-1.44 [[ 5.60977303e-01 -8.27690405e-01 -1.52662696e-02 1.29932335e+02] [ 8.27408123e-01 5.61184765e-01 -2.16207487e-02 5.92737302e+01] [ 2.64624841e-02 -5.02686243e-04 9.99649681e-01 -1.43835944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88719347 meters 0.059792257433065404 Centerline is valid? [True, True] Translation: X:129.95, Y:59.29, Z:-1.44 [[ 5.61237794e-01 -8.27506641e-01 -1.56491986e-02 1.29952832e+02] [ 8.27209889e-01 5.61455701e-01 -2.21651745e-02 5.92937262e+01] [ 2.71281609e-02 -5.05238199e-04 9.99631836e-01 -1.44185290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91719347 meters 0.05978188630924512 Centerline is valid? [True, True] Translation: X:129.97, Y:59.31, Z:-1.44 [[ 5.62323709e-01 -8.26752483e-01 -1.65038767e-02 1.29972060e+02] [ 8.26421611e-01 5.62565638e-01 -2.33928298e-02 5.93149154e+01] [ 2.86245941e-02 -4.84817492e-04 9.99590115e-01 -1.44351189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94719347 meters 0.05973186641019697 Centerline is valid? [True, True] Translation: X:129.99, Y:59.34, Z:-1.45 [[ 5.64084484e-01 -8.25541173e-01 -1.70430962e-02 1.29989799e+02] [ 8.25187614e-01 5.64341726e-01 -2.41623354e-02 5.93355384e+01] [ 2.95651330e-02 -4.34153412e-04 9.99562762e-01 -1.44515966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97719347 meters 0.05938220588036563 Centerline is valid? [True, True] Translation: X:130.01, Y:59.36, Z:-1.44 [[ 5.67484694e-01 -8.23177060e-01 -1.84567167e-02 1.30009032e+02] [ 8.22760539e-01 5.67784662e-01 -2.61853432e-02 5.93575665e+01] [ 3.20346145e-02 -3.25676713e-04 9.99486707e-01 -1.44451781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00719347 meters 0.060084431247649894 Centerline is valid? [True, True] Translation: X:130.03, Y:59.38, Z:-1.45 [[ 5.68918182e-01 -8.22172659e-01 -1.90846016e-02 1.30027317e+02] [ 8.21726636e-01 5.69238125e-01 -2.70793658e-02 5.93783812e+01] [ 3.31275970e-02 -2.76381891e-04 9.99451092e-01 -1.44926679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03719347 meters 0.05970257551718324 Centerline is valid? [True, True] Translation: X:130.05, Y:59.40, Z:-1.45 [[ 5.69289497e-01 -8.21899546e-01 -1.97637281e-02 1.30045945e+02] [ 8.21420336e-01 5.69632398e-01 -2.80635350e-02 5.94004547e+01] [ 3.43234665e-02 -2.58052484e-04 9.99410743e-01 -1.44661011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06719347 meters 0.05981448181389018 Centerline is valid? [True, True] Translation: X:130.07, Y:59.42, Z:-1.45 [[ 5.70212510e-01 -8.21259510e-01 -1.97613426e-02 1.30065665e+02] [ 8.20779816e-01 5.70554792e-01 -2.80664162e-02 5.94200628e+01] [ 3.43247399e-02 -2.15889523e-04 9.99410709e-01 -1.44801378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09719347 meters 0.059134139859213626 Centerline is valid? [True, True] Translation: X:130.09, Y:59.44, Z:-1.45 [[ 5.73375586e-01 -8.19077409e-01 -1.87785739e-02 1.30089369e+02] [ 8.18642446e-01 5.73683007e-01 -2.66899424e-02 5.94383219e+01] [ 3.26340777e-02 -6.95763126e-05 9.99467364e-01 -1.44666423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12719347 meters 0.059070684961260826 Centerline is valid? [True, True] Translation: X:130.11, Y:59.46, Z:-1.45 [[ 5.76213228e-01 -8.17105175e-01 -1.78170733e-02 1.30107557e+02] [ 8.16712579e-01 5.76488621e-01 -2.53265204e-02 5.94596496e+01] [ 3.09657709e-02 4.20481866e-05 9.99520445e-01 -1.44711043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15719347 meters 0.05902279262361521 Centerline is valid? [True, True] Translation: X:130.13, Y:59.48, Z:-1.45 [[ 5.78952504e-01 -8.15166997e-01 -1.77978940e-02 1.30125690e+02] [ 8.14773739e-01 5.79225986e-01 -2.53182171e-02 5.94825615e+01] [ 3.09475777e-02 1.56788508e-04 9.99520997e-01 -1.44502074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18719347 meters 0.05956609141524419 Centerline is valid? [True, True] Translation: X:130.15, Y:59.50, Z:-1.44 [[ 5.82853093e-01 -8.12385500e-01 -1.76655536e-02 1.30148572e+02] [ 8.11996289e-01 5.83120659e-01 -2.51460475e-02 5.95021180e+01] [ 3.07294336e-02 3.12087607e-04 9.99527691e-01 -1.44491286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21719347 meters 0.05975582736146199 Centerline is valid? [True, True] Translation: X:130.17, Y:59.52, Z:-1.44 [[ 5.82984801e-01 -8.12295701e-01 -1.74474956e-02 1.30170192e+02] [ 8.11915914e-01 5.83245741e-01 -2.48385674e-02 5.95214230e+01] [ 3.03524390e-02 3.14607929e-04 9.99539209e-01 -1.44447907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24719346999998 meters 0.059565543346690834 Centerline is valid? [True, True] Translation: X:130.19, Y:59.54, Z:-1.44 [[ 5.82023717e-01 -8.12987916e-01 -1.72927953e-02 1.30193591e+02] [ 8.12614588e-01 5.82280487e-01 -2.46366795e-02 5.95396176e+01] [ 3.00985800e-02 2.86754065e-04 9.99546894e-01 -1.44437085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27719347 meters 0.05931291172642687 Centerline is valid? [True, True] Translation: X:130.22, Y:59.56, Z:-1.44 [[ 5.79931947e-01 -8.14490397e-01 -1.68620817e-02 1.30218261e+02] [ 8.14135992e-01 5.80176999e-01 -2.40257508e-02 5.95559808e+01] [ 2.93517353e-02 2.05272774e-04 9.99569124e-01 -1.44421381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30719347 meters 0.058811105496493286 Centerline is valid? [True, True] Translation: X:130.26, Y:59.56, Z:-1.44 [[ 5.74441600e-01 -8.18401360e-01 -1.53643118e-02 1.30256875e+02] [ 8.18108109e-01 5.74647034e-01 -2.19068307e-02 5.95646188e+01] [ 2.67576362e-02 1.45267660e-05 9.99641950e-01 -1.44445690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33719347 meters 0.05838794218579382 Centerline is valid? [True, True] Translation: X:130.28, Y:59.58, Z:-1.44 [[ 5.71089402e-01 -8.20756096e-01 -1.47080123e-02 1.30283898e+02] [ 8.20487774e-01 5.71278762e-01 -2.09854668e-02 5.95804849e+01] [ 2.56263248e-02 -8.31665709e-05 9.99671588e-01 -1.44108479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36719347 meters 0.058581094310055294 Centerline is valid? [True, True] Translation: X:130.31, Y:59.60, Z:-1.44 [[ 5.67777348e-01 -8.23060359e-01 -1.41607924e-02 1.30309168e+02] [ 8.22812250e-01 5.67953884e-01 -2.02085793e-02 5.95954999e+01] [ 2.46755575e-02 -1.77699872e-04 9.99695496e-01 -1.44101347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39719347 meters 0.0593176269304881 Centerline is valid? [True, True] Translation: X:130.34, Y:59.61, Z:-1.44 [[ 5.64192169e-01 -8.25520256e-01 -1.42654723e-02 1.30335211e+02] [ 8.25269068e-01 5.64372419e-01 -2.03651063e-02 5.96110969e+01] [ 2.48628469e-02 -2.83019523e-04 9.99690832e-01 -1.44330689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42719347 meters 0.05998705620905759 Centerline is valid? [True, True] Translation: X:130.36, Y:59.63, Z:-1.44 [[ 5.59595026e-01 -8.28610902e-01 -1.60430547e-02 1.30361112e+02] [ 8.28294000e-01 5.59824757e-01 -2.29192131e-02 5.96280628e+01] [ 2.79724091e-02 -4.62888291e-04 9.99608588e-01 -1.44381882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45719347 meters 0.062461966339974015 Centerline is valid? [True, True] Translation: X:130.40, Y:59.64, Z:-1.45 [[ 5.51530084e-01 -8.33974761e-01 -1.73396979e-02 1.30396490e+02] [ 8.33607060e-01 5.51802024e-01 -2.47748965e-02 5.96373496e+01] [ 3.02297188e-02 -7.90393880e-04 9.99542665e-01 -1.44669296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48719347 meters 0.06367032475329265 Centerline is valid? [True, True] Translation: X:130.42, Y:59.66, Z:-1.45 [[ 5.48075595e-01 -8.36250020e-01 -1.72929657e-02 1.30420853e+02] [ 8.35884878e-01 5.48347598e-01 -2.47261534e-02 5.96554826e+01] [ 3.01598024e-02 -9.03127268e-04 9.99544682e-01 -1.44724978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51719347 meters 0.0643372497845094 Centerline is valid? [True, True] Translation: X:130.44, Y:59.67, Z:-1.45 [[ 5.44685315e-01 -8.38454510e-01 -1.76619215e-02 1.30444067e+02] [ 8.38074277e-01 5.44970603e-01 -2.52695172e-02 5.96745348e+01] [ 3.08125687e-02 -1.03806719e-03 9.99524641e-01 -1.44618754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54719347 meters 0.06815539734430136 Centerline is valid? [True, True] Translation: X:130.48, Y:59.69, Z:-1.45 [[ 5.42323758e-01 -8.39978966e-01 -1.78962975e-02 1.30476445e+02] [ 8.39589254e-01 5.42617769e-01 -2.56093823e-02 5.96850908e+01] [ 3.12221915e-02 -1.13696257e-03 9.99511822e-01 -1.45236908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57719347 meters 0.06560029211013324 Centerline is valid? [True, True] Translation: X:130.49, Y:59.71, Z:-1.45 [[ 5.42805664e-01 -8.39664967e-01 -1.80209524e-02 1.30489803e+02] [ 8.39268975e-01 5.43103581e-01 -2.58086814e-02 5.97095643e+01] [ 3.14578894e-02 -1.11532778e-03 9.99504456e-01 -1.44749274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60719347 meters 0.0654115876339219 Centerline is valid? [True, True] Translation: X:130.50, Y:59.73, Z:-1.45 [[ 5.44332427e-01 -8.38647228e-01 -1.93141263e-02 1.30504411e+02] [ 8.38191138e-01 5.44673815e-01 -2.76776341e-02 5.97326341e+01] [ 3.37316700e-02 -1.12309575e-03 9.99430294e-01 -1.44819498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63719347 meters 0.06363980106517728 Centerline is valid? [True, True] Translation: X:130.52, Y:59.76, Z:-1.45 [[ 5.47249312e-01 -8.36736349e-01 -1.97603942e-02 1.30516608e+02] [ 8.36257050e-01 5.47605009e-01 -2.83355016e-02 5.97595232e+01] [ 3.45302350e-02 -1.01818514e-03 9.99403135e-01 -1.44504867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66719347 meters 0.06361085590729962 Centerline is valid? [True, True] Translation: X:130.53, Y:59.78, Z:-1.45 [[ 5.50258607e-01 -8.34761574e-01 -1.97124329e-02 1.30531797e+02] [ 8.34283146e-01 5.50610865e-01 -2.82720243e-02 5.97825828e+01] [ 3.44542792e-02 -8.88825873e-04 9.99405880e-01 -1.44824287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69719347 meters 0.06199304485669512 Centerline is valid? [True, True] Translation: X:130.55, Y:59.81, Z:-1.45 [[ 5.56868726e-01 -8.30368454e-01 -1.96329309e-02 1.30546103e+02] [ 8.29890739e-01 5.57214377e-01 -2.81691167e-02 5.98075255e+01] [ 3.43304973e-02 -6.06687386e-04 9.99410351e-01 -1.44844622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72719347 meters 0.06159255123776354 Centerline is valid? [True, True] Translation: X:130.56, Y:59.83, Z:-1.45 [[ 5.59314118e-01 -8.28716172e-01 -1.99304571e-02 1.30561411e+02] [ 8.28222040e-01 5.59668881e-01 -2.86181181e-02 5.98315185e+01] [ 3.48707539e-02 -5.00326389e-04 9.99391705e-01 -1.44964100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75719347 meters 0.061139358213890105 Centerline is valid? [True, True] Translation: X:130.58, Y:59.86, Z:-1.45 [[ 5.61276159e-01 -8.27397178e-01 -1.95699743e-02 1.30577002e+02] [ 8.26919348e-01 5.61617085e-01 -2.81183542e-02 5.98559932e+01] [ 3.42558788e-02 -4.00628563e-04 9.99413015e-01 -1.44906477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78719347 meters 0.06076310980464439 Centerline is valid? [True, True] Translation: X:130.59, Y:59.88, Z:-1.45 [[ 5.62560653e-01 -8.26517664e-01 -1.98510252e-02 1.30592908e+02] [ 8.26024682e-01 5.62910682e-01 -2.85445013e-02 5.98790194e+01] [ 3.47668887e-02 -3.39423499e-04 9.99395391e-01 -1.44786533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81719347 meters 0.06185740972045441 Centerline is valid? [True, True] Translation: X:130.61, Y:59.90, Z:-1.46 [[ 5.64100194e-01 -8.25473410e-01 -1.96117533e-02 1.30612394e+02] [ 8.24991505e-01 5.64440942e-01 -2.82035517e-02 5.98992353e+01] [ 3.43509585e-02 -2.69900846e-04 9.99409795e-01 -1.45589871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84719347 meters 0.06196909829748063 Centerline is valid? [True, True] Translation: X:130.63, Y:59.92, Z:-1.46 [[ 5.64058331e-01 -8.25490585e-01 -2.00871583e-02 1.30631120e+02] [ 8.24984343e-01 5.64415825e-01 -2.89069393e-02 5.99217381e+01] [ 3.51999163e-02 -2.66391128e-04 9.99380255e-01 -1.45606491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87719347 meters 0.06099067378419352 Centerline is valid? [True, True] Translation: X:130.65, Y:59.94, Z:-1.45 [[ 5.63430140e-01 -8.25933176e-01 -1.95157890e-02 1.30649771e+02] [ 8.25454945e-01 5.63767961e-01 -2.81037579e-02 5.99437836e+01] [ 3.42142026e-02 -2.74900285e-04 9.99414485e-01 -1.44908329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90719347 meters 0.06107033864492998 Centerline is valid? [True, True] Translation: X:130.67, Y:59.96, Z:-1.45 [[ 5.62035107e-01 -8.26898055e-01 -1.88718072e-02 1.30670806e+02] [ 8.26450818e-01 5.62351766e-01 -2.71944171e-02 5.99644018e+01] [ 3.30996048e-02 -3.12403365e-04 9.99452009e-01 -1.44878175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93719347 meters 0.06170557484699228 Centerline is valid? [True, True] Translation: X:130.70, Y:59.98, Z:-1.45 [[ 5.57957692e-01 -8.29675048e-01 -1.79590783e-02 1.30697430e+02] [ 8.29271184e-01 5.58246463e-01 -2.58880353e-02 5.99786134e+01] [ 3.15042489e-02 -4.48517722e-04 9.99503517e-01 -1.44967645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96719347 meters 0.06246049654566225 Centerline is valid? [True, True] Translation: X:130.72, Y:60.00, Z:-1.45 [[ 5.55655965e-01 -8.31215189e-01 -1.81040891e-02 1.30718634e+02] [ 8.30805391e-01 5.55950557e-01 -2.61032755e-02 5.99972113e+01] [ 3.17624175e-02 -5.36534125e-04 9.99495303e-01 -1.45171317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99719346999998 meters 0.06274899911455846 Centerline is valid? [True, True] Translation: X:130.74, Y:60.02, Z:-1.45 [[ 5.52553615e-01 -8.33273173e-01 -1.84478156e-02 1.30739575e+02] [ 8.32848219e-01 5.52861092e-01 -2.66168532e-02 6.00171142e+01] [ 3.23781892e-02 -6.56991896e-04 9.99475473e-01 -1.45032574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02719347 meters 0.06407774946228831 Centerline is valid? [True, True] Translation: X:130.76, Y:60.03, Z:-1.45 [[ 5.49886622e-01 -8.35019706e-01 -1.91518674e-02 1.30762129e+02] [ 8.34562367e-01 5.50219482e-01 -2.76437589e-02 6.00348665e+01] [ 3.36208140e-02 -7.82494625e-04 9.99434354e-01 -1.45365344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05719347 meters 0.0653104425403807 Centerline is valid? [True, True] Translation: X:130.79, Y:60.05, Z:-1.45 [[ 5.43718253e-01 -8.39082154e-01 -1.76522341e-02 1.30788772e+02] [ 8.38695270e-01 5.44003907e-01 -2.54949671e-02 6.00510555e+01] [ 3.09952562e-02 -9.42766255e-04 9.99519087e-01 -1.45037195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08719347 meters 0.06600788039144542 Centerline is valid? [True, True] Translation: X:130.81, Y:60.07, Z:-1.45 [[ 5.40837728e-01 -8.40970272e-01 -1.62343561e-02 1.30809152e+02] [ 8.40643374e-01 5.41080482e-01 -2.34654916e-02 6.00709698e+01] [ 2.85178741e-02 -9.56280697e-04 9.99592825e-01 -1.44872612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11719347 meters 0.06608329442493172 Centerline is valid? [True, True] Translation: X:130.83, Y:60.09, Z:-1.45 [[ 5.38809289e-01 -8.42281339e-01 -1.57065729e-02 1.30827219e+02] [ 8.41975519e-01 5.39037268e-01 -2.27167223e-02 6.00936521e+01] [ 2.76002994e-02 -9.84568884e-04 9.99618554e-01 -1.44645947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14719347 meters 0.06608329442493172 Centerline is valid? [True, True] Translation: X:130.84, Y:60.12, Z:-1.45 [[ 5.38522685e-01 -8.42464761e-01 -1.56985613e-02 1.30842665e+02] [ 8.42158857e-01 5.38750553e-01 -2.27222602e-02 6.01164063e+01] [ 2.76003120e-02 -9.84229851e-04 9.99618554e-01 -1.44668651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17719347 meters 0.06528425807997316 Centerline is valid? [True, True] Translation: X:130.86, Y:60.14, Z:-1.44 [[ 5.37680294e-01 -8.42997315e-01 -1.59821565e-02 1.30857469e+02] [ 8.42680072e-01 5.37916800e-01 -2.31476407e-02 6.01410179e+01] [ 2.81104694e-02 -1.02181448e-03 9.99604300e-01 -1.44498319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20719347 meters 0.06734310987647567 Centerline is valid? [True, True] Translation: X:130.88, Y:60.16, Z:-1.45 [[ 5.36692100e-01 -8.43622893e-01 -1.61865411e-02 1.30876893e+02] [ 8.43297545e-01 5.36935082e-01 -2.34513860e-02 6.01614134e+01] [ 2.84752479e-02 -1.06389682e-03 9.99593932e-01 -1.44974580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23719347 meters 0.06694879262444124 Centerline is valid? [True, True] Translation: X:130.89, Y:60.19, Z:-1.45 [[ 5.34877063e-01 -8.44740241e-01 -1.79012276e-02 1.30893359e+02] [ 8.44342337e-01 5.35175118e-01 -2.59540177e-02 6.01851617e+01] [ 3.15046947e-02 -1.23255556e-03 9.99502844e-01 -1.45063073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26719347 meters 0.06777500591369533 Centerline is valid? [True, True] Translation: X:130.91, Y:60.21, Z:-1.45 [[ 5.33149755e-01 -8.45839487e-01 -1.75185679e-02 1.30911799e+02] [ 8.45458763e-01 5.33435995e-01 -2.54070813e-02 6.02065215e+01] [ 3.08353473e-02 -1.26544761e-03 9.99523677e-01 -1.45196155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29719347 meters 0.06940912882341933 Centerline is valid? [True, True] Translation: X:130.93, Y:60.23, Z:-1.45 [[ 5.29715008e-01 -8.47997900e-01 -1.73658007e-02 1.30929867e+02] [ 8.47624344e-01 5.29997820e-01 -2.52048178e-02 6.02275970e+01] [ 3.05774691e-02 -1.36830517e-03 9.99531463e-01 -1.45252564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32719347 meters 0.07002802849524084 Centerline is valid? [True, True] Translation: X:130.95, Y:60.25, Z:-1.45 [[ 5.28384768e-01 -8.48820948e-01 -1.76786576e-02 1.30945500e+02] [ 8.48433862e-01 5.28678484e-01 -2.56718033e-02 6.02512169e+01] [ 3.11370903e-02 -1.43458191e-03 9.99514094e-01 -1.45331147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35719347 meters 0.07069988531368197 Centerline is valid? [True, True] Translation: X:130.96, Y:60.28, Z:-1.45 [[ 5.27453879e-01 -8.49385709e-01 -1.83391156e-02 1.30960226e+02] [ 8.48969003e-01 5.27770426e-01 -2.66459846e-02 6.02752357e+01] [ 3.23115614e-02 -1.51481273e-03 9.99476697e-01 -1.45416465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38719347 meters 0.07092717214084027 Centerline is valid? [True, True] Translation: X:130.97, Y:60.30, Z:-1.46 [[ 5.27723711e-01 -8.49203497e-01 -1.90027548e-02 1.30973799e+02] [ 8.48755304e-01 5.28063466e-01 -2.76298669e-02 6.02996963e+01] [ 3.34980401e-02 -1.54775300e-03 9.99437585e-01 -1.45515227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41719347 meters 0.0711088914310141 Centerline is valid? [True, True] Translation: X:130.99, Y:60.32, Z:-1.46 [[ 5.27832780e-01 -8.49112007e-01 -2.00338708e-02 1.30988305e+02] [ 8.48613161e-01 5.28210362e-01 -2.91464719e-02 6.03247586e+01] [ 3.53307174e-02 -1.61654315e-03 9.99374368e-01 -1.45691877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44719347 meters 0.06981582971832069 Centerline is valid? [True, True] Translation: X:131.00, Y:60.35, Z:-1.46 [[ 5.31279686e-01 -8.46990176e-01 -1.86959177e-02 1.31000545e+02] [ 8.46553830e-01 5.31606785e-01 -2.72183594e-02 6.03498218e+01] [ 3.29925598e-02 -1.36653933e-03 9.99454663e-01 -1.45678097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47719347 meters 0.0684983264165446 Centerline is valid? [True, True] Translation: X:131.01, Y:60.38, Z:-1.46 [[ 5.33543774e-01 -8.45576956e-01 -1.81838359e-02 1.31013242e+02] [ 8.45162812e-01 5.33852121e-01 -2.64902628e-02 6.03756017e+01] [ 3.21070351e-02 -1.23458715e-03 9.99483674e-01 -1.45667409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50719347 meters 0.06714259900812905 Centerline is valid? [True, True] Translation: X:131.02, Y:60.40, Z:-1.46 [[ 5.37092469e-01 -8.43339728e-01 -1.76006481e-02 1.31023131e+02] [ 8.42949959e-01 5.37379744e-01 -2.56588698e-02 6.04022304e+01] [ 3.10973761e-02 -1.05527987e-03 9.99515803e-01 -1.45687860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53719347 meters 0.06561934892710274 Centerline is valid? [True, True] Translation: X:131.03, Y:60.43, Z:-1.46 [[ 5.41452527e-01 -8.40550309e-01 -1.74453381e-02 1.31031599e+02] [ 8.40165443e-01 5.41732783e-01 -2.54483709e-02 6.04309727e+01] [ 3.08413476e-02 -8.77885526e-04 9.99523907e-01 -1.45751909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56719347 meters 0.06367549898305246 Centerline is valid? [True, True] Translation: X:131.03, Y:60.46, Z:-1.46 [[ 5.50322677e-01 -8.34724509e-01 -1.94921767e-02 1.31033213e+02] [ 8.34239902e-01 5.50667436e-01 -2.84457540e-02 6.04626955e+01] [ 3.44780750e-02 -6.06808070e-04 9.99405270e-01 -1.46175719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59719347 meters 0.06302508283318543 Centerline is valid? [True, True] Translation: X:131.04, Y:60.49, Z:-1.46 [[ 5.53549170e-01 -8.32585018e-01 -1.96342592e-02 1.31044978e+02] [ 8.32091280e-01 5.53897076e-01 -2.86728154e-02 6.04893137e+01] [ 3.47479153e-02 -4.65682750e-04 9.99396000e-01 -1.46300744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62719347 meters 0.062354286574399995 Centerline is valid? [True, True] Translation: X:131.06, Y:60.51, Z:-1.46 [[ 5.55423524e-01 -8.31356906e-01 -1.87190969e-02 1.31057527e+02] [ 8.30906817e-01 5.55738757e-01 -2.73549825e-02 6.05142509e+01] [ 3.31446812e-02 -3.60224396e-04 9.99450499e-01 -1.46138325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65719347 meters 0.061856809117694256 Centerline is valid? [True, True] Translation: X:131.07, Y:60.54, Z:-1.46 [[ 5.56573720e-01 -8.30624161e-01 -1.70057779e-02 1.31070620e+02] [ 8.30252217e-01 5.56833388e-01 -2.48562897e-02 6.05378308e+01] [ 3.01156197e-02 -2.84727193e-04 9.99546381e-01 -1.45982966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68719347 meters 0.06132775987657763 Centerline is valid? [True, True] Translation: X:131.08, Y:60.56, Z:-1.46 [[ 5.57061865e-01 -8.30338818e-01 -1.48164287e-02 1.31084773e+02] [ 8.30056174e-01 5.57258822e-01 -2.16645399e-02 6.05610468e+01] [ 2.62454940e-02 -2.29979106e-04 9.99655501e-01 -1.45675038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71719347 meters 0.06099422391218001 Centerline is valid? [True, True] Translation: X:131.10, Y:60.59, Z:-1.46 [[ 5.58109651e-01 -8.29649208e-01 -1.39931838e-02 1.31099308e+02] [ 8.29396519e-01 5.58285016e-01 -2.04757239e-02 6.05850818e+01] [ 2.47998530e-02 -1.78198884e-04 9.99692420e-01 -1.45527363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74719346999998 meters 0.060106542291213684 Centerline is valid? [True, True] Translation: X:131.11, Y:60.61, Z:-1.45 [[ 5.58878622e-01 -8.29122791e-01 -1.44942288e-02 1.31113503e+02] [ 8.28851142e-01 5.59066520e-01 -2.12228832e-02 6.06100424e+01] [ 2.56996143e-02 -1.52542365e-04 9.99669699e-01 -1.44860417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77719347 meters 0.06028359011127543 Centerline is valid? [True, True] Translation: X:131.13, Y:60.63, Z:-1.45 [[ 5.59608826e-01 -8.28620376e-01 -1.50410919e-02 1.31128960e+02] [ 8.28327511e-01 5.59810910e-01 -2.20290609e-02 6.06326743e+01] [ 2.66738960e-02 -1.31293311e-04 9.99644180e-01 -1.45080125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80719347 meters 0.06029799074702113 Centerline is valid? [True, True] Translation: X:131.15, Y:60.66, Z:-1.45 [[ 5.61016844e-01 -8.27657707e-01 -1.55826994e-02 1.31146202e+02] [ 8.27342520e-01 5.61233208e-01 -2.28394711e-02 6.06562083e+01] [ 2.76487927e-02 -7.89017754e-05 9.99617696e-01 -1.45077073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83719347 meters 0.06021392878846426 Centerline is valid? [True, True] Translation: X:131.16, Y:60.68, Z:-1.45 [[ 5.61699217e-01 -8.27220340e-01 -1.41597433e-02 1.31162987e+02] [ 8.26959898e-01 5.61877661e-01 -2.07562179e-02 6.06781461e+01] [ 2.51260090e-02 -5.07885495e-05 9.99684291e-01 -1.45178707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86719347 meters 0.06022566950889204 Centerline is valid? [True, True] Translation: X:131.18, Y:60.70, Z:-1.45 [[ 5.62173642e-01 -8.26909414e-01 -1.34765359e-02 1.31180692e+02] [ 8.26673304e-01 5.62335149e-01 -1.97592691e-02 6.07001753e+01] [ 2.39174555e-02 -3.25521728e-05 9.99713936e-01 -1.45229669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89719347 meters 0.060114685552226356 Centerline is valid? [True, True] Translation: X:131.20, Y:60.72, Z:-1.45 [[ 5.62257921e-01 -8.26856458e-01 -1.32071451e-02 1.31198135e+02] [ 8.26629277e-01 5.62413014e-01 -1.93814279e-02 6.07226050e+01] [ 2.34535291e-02 -2.00514120e-05 9.99724928e-01 -1.45280057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92719347 meters 0.06034105325748015 Centerline is valid? [True, True] Translation: X:131.21, Y:60.75, Z:-1.45 [[ 5.62636656e-01 -8.26577093e-01 -1.45018142e-02 1.31214869e+02] [ 8.26302758e-01 5.62823515e-01 -2.12941898e-02 6.07461952e+01] [ 2.57632516e-02 -1.99731314e-06 9.99668072e-01 -1.45330390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95719347 meters 0.06151714233531987 Centerline is valid? [True, True] Translation: X:131.23, Y:60.77, Z:-1.46 [[ 5.64318135e-01 -8.25384701e-01 -1.68860373e-02 1.31231233e+02] [ 8.25011688e-01 5.64570713e-01 -2.48117795e-02 6.07686931e+01] [ 3.00126253e-02 7.05589578e-05 9.99549517e-01 -1.46128178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98719347 meters 0.06204776228485482 Centerline is valid? [True, True] Translation: X:131.25, Y:60.79, Z:-1.47 [[ 5.64966297e-01 -8.24920933e-01 -1.78476275e-02 1.31249776e+02] [ 8.24503639e-01 5.65248125e-01 -2.62355995e-02 6.07903661e+01] [ 3.17306332e-02 1.06795679e-04 9.99496451e-01 -1.46525255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01719347 meters 0.06155716878649535 Centerline is valid? [True, True] Translation: X:131.27, Y:60.81, Z:-1.46 [[ 5.64626090e-01 -8.25135317e-01 -1.86838654e-02 1.31270137e+02] [ 8.24677778e-01 5.64935127e-01 -2.74748057e-02 6.08107109e+01] [ 3.32256043e-02 1.04823514e-04 9.99447872e-01 -1.46136864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04719347 meters 0.06115558237318899 Centerline is valid? [True, True] Translation: X:131.29, Y:60.83, Z:-1.46 [[ 5.63768361e-01 -8.25724804e-01 -1.85413870e-02 1.31289279e+02] [ 8.25273732e-01 5.64073170e-01 -2.72896631e-02 6.08315935e+01] [ 3.29924507e-02 8.33289904e-05 9.99455597e-01 -1.45881974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07719347 meters 0.061430625756131986 Centerline is valid? [True, True] Translation: X:131.31, Y:60.85, Z:-1.46 [[ 5.62716847e-01 -8.26435068e-01 -1.88368719e-02 1.31307957e+02] [ 8.25969741e-01 5.63032038e-01 -2.77292309e-02 6.08519184e+01] [ 3.35221712e-02 4.50192181e-05 9.99437973e-01 -1.46087360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10719347 meters 0.0618726076651548 Centerline is valid? [True, True] Translation: X:131.33, Y:60.87, Z:-1.46 [[ 5.60536446e-01 -8.27866738e-01 -2.08700164e-02 1.31333179e+02] [ 8.27295705e-01 5.60924829e-01 -3.07433328e-02 6.08692664e+01] [ 3.71578930e-02 -3.29164831e-05 9.99309406e-01 -1.46294307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13719347 meters 0.06240109408650686 Centerline is valid? [True, True] Translation: X:131.35, Y:60.89, Z:-1.47 [[ 5.59874189e-01 -8.28293446e-01 -2.16993212e-02 1.31353692e+02] [ 8.27675856e-01 5.60294534e-01 -3.19798933e-02 6.08886295e+01] [ 3.86467471e-02 -5.52873937e-05 9.99252934e-01 -1.46734896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16719347 meters 0.06307716532413034 Centerline is valid? [True, True] Translation: X:131.37, Y:60.91, Z:-1.47 [[ 5.58949443e-01 -8.28909991e-01 -2.19942325e-02 1.31373598e+02] [ 8.28275499e-01 5.59381997e-01 -3.24265221e-02 6.09086877e+01] [ 3.91818459e-02 -9.24974142e-05 9.99232092e-01 -1.47260476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19719347 meters 0.06272835174671057 Centerline is valid? [True, True] Translation: X:131.39, Y:60.93, Z:-1.47 [[ 5.57664908e-01 -8.29766729e-01 -2.22940585e-02 1.31393626e+02] [ 8.29114565e-01 5.58110343e-01 -3.28919849e-02 6.09303695e+01] [ 3.97352194e-02 -1.41622890e-04 9.99210234e-01 -1.46966903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22719347 meters 0.06234154242434972 Centerline is valid? [True, True] Translation: X:131.42, Y:60.95, Z:-1.47 [[ 5.56318743e-01 -8.30705946e-01 -2.09066559e-02 1.31418793e+02] [ 8.30132336e-01 5.56711413e-01 -3.08659632e-02 6.09483136e+01] [ 3.72795131e-02 -1.83977290e-04 9.99304860e-01 -1.46610517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25719347 meters 0.06229999823583368 Centerline is valid? [True, True] Translation: X:131.44, Y:60.97, Z:-1.47 [[ 5.55661330e-01 -8.31166464e-01 -2.00697547e-02 1.31439212e+02] [ 8.30637521e-01 5.56023624e-01 -2.96485670e-02 6.09698835e+01] [ 3.58021523e-02 -1.96129074e-04 9.99358878e-01 -1.46543725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28719347 meters 0.061860478539026154 Centerline is valid? [True, True] Translation: X:131.46, Y:60.99, Z:-1.46 [[ 5.54996800e-01 -8.31625010e-01 -1.94523833e-02 1.31457995e+02] [ 8.31127694e-01 5.55337555e-01 -2.87568470e-02 6.09916419e+01] [ 3.47175521e-02 -2.07456371e-04 9.99397143e-01 -1.46212360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31719347 meters 0.06250844437150291 Centerline is valid? [True, True] Translation: X:131.48, Y:61.01, Z:-1.47 [[ 5.54217773e-01 -8.32153735e-01 -1.90478622e-02 1.31476256e+02] [ 8.31676758e-01 5.54544957e-01 -2.81719993e-02 6.10118640e+01] [ 3.40063303e-02 -2.28241546e-04 9.99421591e-01 -1.46634004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34719347 meters 0.062228621223796354 Centerline is valid? [True, True] Translation: X:131.50, Y:61.03, Z:-1.46 [[ 5.53166792e-01 -8.32878146e-01 -1.79023296e-02 1.31495022e+02] [ 8.32456619e-01 5.53456351e-01 -2.64961400e-02 6.10337426e+01] [ 3.19762140e-02 -2.46128021e-04 9.99488600e-01 -1.46345013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37719347 meters 0.06167620335501433 Centerline is valid? [True, True] Translation: X:131.52, Y:61.05, Z:-1.46 [[ 5.51181313e-01 -8.34226555e-01 -1.62854142e-02 1.31517467e+02] [ 8.33877833e-01 5.51421775e-01 -2.41202301e-02 6.10532831e+01] [ 2.91018684e-02 -2.85425798e-04 9.99576410e-01 -1.45735051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40719347 meters 0.061830021445674774 Centerline is valid? [True, True] Translation: X:131.54, Y:61.07, Z:-1.46 [[ 5.49748330e-01 -8.35182812e-01 -1.56985125e-02 1.31536074e+02] [ 8.34858760e-01 5.49972336e-01 -2.32654391e-02 6.10730942e+01] [ 2.80646425e-02 -3.15904367e-04 9.99606060e-01 -1.45701752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43719347 meters 0.06169958234486617 Centerline is valid? [True, True] Translation: X:131.55, Y:61.10, Z:-1.46 [[ 5.49131376e-01 -8.35587580e-01 -1.57520698e-02 1.31553893e+02] [ 8.35260932e-01 5.49357159e-01 -2.33642209e-02 6.10951208e+01] [ 2.81763651e-02 -3.27061772e-04 9.99602914e-01 -1.45606738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46719347 meters 0.06226937873666394 Centerline is valid? [True, True] Translation: X:131.57, Y:61.11, Z:-1.46 [[ 5.48132054e-01 -8.36227774e-01 -1.65638357e-02 1.31574720e+02] [ 8.35866597e-01 5.48382139e-01 -2.45776833e-02 6.11148765e+01] [ 2.96358530e-02 -3.73340955e-04 9.99560692e-01 -1.45872727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49719346999998 meters 0.062495510766418245 Centerline is valid? [True, True] Translation: X:131.59, Y:61.14, Z:-1.46 [[ 5.46979087e-01 -8.36975086e-01 -1.69287624e-02 1.31593216e+02] [ 8.36597622e-01 5.47240837e-01 -2.51373280e-02 6.11375916e+01] [ 3.03034273e-02 -4.12969650e-04 9.99540660e-01 -1.45965078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52719347 meters 0.06278229159908826 Centerline is valid? [True, True] Translation: X:131.61, Y:61.16, Z:-1.46 [[ 5.45230256e-01 -8.38118276e-01 -1.67846353e-02 1.31610259e+02] [ 8.37747179e-01 5.45488352e-01 -2.49423552e-02 6.11595249e+01] [ 3.00604668e-02 -4.61954152e-04 9.99547975e-01 -1.46004878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55719347 meters 0.06299487381367515 Centerline is valid? [True, True] Translation: X:131.63, Y:61.18, Z:-1.46 [[ 5.42960989e-01 -8.39612970e-01 -1.56020945e-02 1.31627756e+02] [ 8.39292516e-01 5.43184879e-01 -2.32004341e-02 6.11821440e+01] [ 2.79542072e-02 -4.97790521e-04 9.99609081e-01 -1.45851094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58719347 meters 0.06351269041126309 Centerline is valid? [True, True] Translation: X:131.65, Y:61.20, Z:-1.46 [[ 5.41398905e-01 -8.40625192e-01 -1.53789371e-02 1.31645644e+02] [ 8.40313815e-01 5.41617025e-01 -2.28843086e-02 6.12030596e+01] [ 2.75666205e-02 -5.33593678e-04 9.99619826e-01 -1.45958726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61719347 meters 0.06403859691357802 Centerline is valid? [True, True] Translation: X:131.67, Y:61.22, Z:-1.46 [[ 5.37938435e-01 -8.42829410e-01 -1.61500838e-02 1.31667404e+02] [ 8.42486545e-01 5.38180394e-01 -2.40475713e-02 6.12235033e+01] [ 2.89596588e-02 -6.70115476e-04 9.99580357e-01 -1.45929392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64719347 meters 0.06472451130293692 Centerline is valid? [True, True] Translation: X:131.69, Y:61.24, Z:-1.46 [[ 5.37710106e-01 -8.42963461e-01 -1.67465135e-02 1.31685211e+02] [ 8.42594349e-01 5.37970374e-01 -2.49527561e-02 6.12442974e+01] [ 3.00433898e-02 -6.93168535e-04 9.99548355e-01 -1.46344296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67719347 meters 0.0643802147180484 Centerline is valid? [True, True] Translation: X:131.70, Y:61.27, Z:-1.46 [[ 5.38694366e-01 -8.42311653e-01 -1.78734261e-02 1.31700281e+02] [ 8.41890215e-01 5.38990354e-01 -2.66507648e-02 6.12683259e+01] [ 3.20818541e-02 -6.90845723e-04 9.99485006e-01 -1.46399932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70719347 meters 0.06429249926488645 Centerline is valid? [True, True] Translation: X:131.71, Y:61.29, Z:-1.47 [[ 5.40724234e-01 -8.41024185e-01 -1.71936791e-02 1.31714605e+02] [ 8.40632946e-01 5.40997212e-01 -2.56567215e-02 6.12917545e+01] [ 3.08796557e-02 -5.80362063e-04 9.99522941e-01 -1.46647030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73719347 meters 0.06311648922805471 Centerline is valid? [True, True] Translation: X:131.73, Y:61.32, Z:-1.46 [[ 5.44198129e-01 -8.38795875e-01 -1.64279155e-02 1.31726368e+02] [ 8.38437148e-01 5.44445866e-01 -2.45325721e-02 6.13174018e+01] [ 2.95219310e-02 -4.23194769e-04 9.99564043e-01 -1.46379186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76719347 meters 0.06194735995797727 Centerline is valid? [True, True] Translation: X:131.74, Y:61.35, Z:-1.46 [[ 5.51674096e-01 -8.33908628e-01 -1.58773730e-02 1.31735451e+02] [ 8.33571034e-01 5.51902508e-01 -2.37266339e-02 6.13457998e+01] [ 2.85486067e-02 -1.45548894e-04 9.99592395e-01 -1.46078843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79719347 meters 0.061851815331648484 Centerline is valid? [True, True] Translation: X:131.75, Y:61.37, Z:-1.46 [[ 5.55742004e-01 -8.31199353e-01 -1.60767088e-02 1.31748859e+02] [ 8.30851515e-01 5.55974492e-01 -2.40442167e-02 6.13709106e+01] [ 2.89237774e-02 5.02337813e-06 9.99581620e-01 -1.46157020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82719347 meters 0.06212533533551346 Centerline is valid? [True, True] Translation: X:131.76, Y:61.40, Z:-1.46 [[ 5.58802064e-01 -8.29141864e-01 -1.62487731e-02 1.31763168e+02] [ 8.28785502e-01 5.59038242e-01 -2.43071231e-02 6.13953155e+01] [ 2.92377389e-02 1.16122995e-04 9.99572479e-01 -1.46380986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85719347 meters 0.06246853918333352 Centerline is valid? [True, True] Translation: X:131.78, Y:61.42, Z:-1.47 [[ 5.61791039e-01 -8.27118788e-01 -1.62892202e-02 1.31781858e+02] [ 8.26759237e-01 5.62027096e-01 -2.43866202e-02 6.14177065e+01] [ 2.93256148e-02 2.32921458e-04 9.99569885e-01 -1.46612783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88719347 meters 0.062254142602698806 Centerline is valid? [True, True] Translation: X:131.80, Y:61.44, Z:-1.47 [[ 5.61749135e-01 -8.27150238e-01 -1.61367208e-02 1.31801504e+02] [ 8.26796826e-01 5.61980806e-01 -2.41781194e-02 6.14378632e+01] [ 2.90674646e-02 2.40248054e-04 9.99577423e-01 -1.46622315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91719347 meters 0.06224551905344412 Centerline is valid? [True, True] Translation: X:131.82, Y:61.46, Z:-1.47 [[ 5.62593152e-01 -8.26593361e-01 -1.52433464e-02 1.31820948e+02] [ 8.26277743e-01 5.62799564e-01 -2.28416599e-02 6.14587394e+01] [ 2.74597131e-02 2.55323587e-04 9.99622878e-01 -1.46677410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94719347 meters 0.06230402616112115 Centerline is valid? [True, True] Translation: X:131.84, Y:61.48, Z:-1.47 [[ 5.63704642e-01 -8.25849392e-01 -1.44865036e-02 1.31839246e+02] [ 8.25563581e-01 5.63890680e-01 -2.17272903e-02 6.14800319e+01] [ 2.61122738e-02 2.88244675e-04 9.99658975e-01 -1.46667314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97719347 meters 0.06260546071056523 Centerline is valid? [True, True] Translation: X:131.86, Y:61.50, Z:-1.47 [[ 5.68141640e-01 -8.22822075e-01 -1.33756938e-02 1.31857404e+02] [ 8.22577201e-01 5.68298926e-01 -2.00768553e-02 6.15011548e+01] [ 2.41210722e-02 4.03956736e-04 9.99708963e-01 -1.46575017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00719347 meters 0.06312329472889557 Centerline is valid? [True, True] Translation: X:131.87, Y:61.52, Z:-1.47 [[ 5.70420778e-01 -8.21260779e-01 -1.22828665e-02 1.31872904e+02] [ 8.21053649e-01 5.70552837e-01 -1.84489947e-02 6.15235120e+01] [ 2.21594601e-02 4.38797530e-04 9.99754353e-01 -1.46596534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03719347 meters 0.0634473402697499 Centerline is valid? [True, True] Translation: X:131.89, Y:61.55, Z:-1.47 [[ 5.72559661e-01 -8.19770365e-01 -1.23281187e-02 1.31890798e+02] [ 8.19561096e-01 5.72692145e-01 -1.85288318e-02 6.15465919e+01] [ 2.22496039e-02 5.05215170e-04 9.99752319e-01 -1.46562264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06719347 meters 0.0634473402697499 Centerline is valid? [True, True] Translation: X:131.91, Y:61.57, Z:-1.47 [[ 5.72277008e-01 -8.19967809e-01 -1.23214266e-02 1.31905828e+02] [ 8.19758490e-01 5.72409413e-01 -1.85332832e-02 6.15696361e+01] [ 2.22495962e-02 5.05577816e-04 9.99752319e-01 -1.46584958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09719347 meters 0.06426069789355886 Centerline is valid? [True, True] Translation: X:131.93, Y:61.59, Z:-1.47 [[ 5.73052176e-01 -8.19420409e-01 -1.27042082e-02 1.31928613e+02] [ 8.19197458e-01 5.73192717e-01 -1.91215604e-02 6.15873085e+01] [ 2.29505565e-02 5.50396731e-04 9.99736450e-01 -1.46892027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12719347 meters 0.06430019488868738 Centerline is valid? [True, True] Translation: X:131.95, Y:61.61, Z:-1.47 [[ 5.72248832e-01 -8.19967940e-01 -1.35591778e-02 1.31950073e+02] [ 8.19713789e-01 5.72409163e-01 -2.04218880e-02 6.16067649e+01] [ 2.45066911e-02 5.71756614e-04 9.99699502e-01 -1.47106564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15719347 meters 0.06326713081993705 Centerline is valid? [True, True] Translation: X:131.97, Y:61.62, Z:-1.47 [[ 5.71366949e-01 -8.20575521e-01 -1.39865770e-02 1.31974007e+02] [ 8.20304851e-01 5.71537827e-01 -2.10823009e-02 6.16249765e+01] [ 2.52934779e-02 5.72473039e-04 9.99679905e-01 -1.46845932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18719347 meters 0.06316824335468067 Centerline is valid? [True, True] Translation: X:131.99, Y:61.64, Z:-1.47 [[ 5.69742136e-01 -8.21702715e-01 -1.40906934e-02 1.31994224e+02] [ 8.21428053e-01 5.69916103e-01 -2.12506290e-02 6.16441761e+01] [ 2.54922126e-02 5.32887878e-04 9.99674879e-01 -1.46988232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21719347 meters 0.0627011238595989 Centerline is valid? [True, True] Translation: X:132.02, Y:61.66, Z:-1.47 [[ 5.69031377e-01 -8.22215699e-01 -1.28310821e-02 1.32018901e+02] [ 8.21987731e-01 5.69175826e-01 -1.93661706e-02 6.16620370e+01] [ 2.32263113e-02 4.72966653e-04 9.99730121e-01 -1.46787202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24719346999998 meters 0.06265636799771514 Centerline is valid? [True, True] Translation: X:132.04, Y:61.68, Z:-1.47 [[ 5.68641325e-01 -8.22490091e-01 -1.25337471e-02 1.32038108e+02] [ 8.22272385e-01 5.68779256e-01 -1.89283577e-02 6.16822496e+01] [ 2.26973220e-02 4.57292250e-04 9.99742278e-01 -1.46807896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27719347 meters 0.06267447035765122 Centerline is valid? [True, True] Translation: X:132.06, Y:61.70, Z:-1.47 [[ 5.68328074e-01 -8.22712308e-01 -1.21515112e-02 1.32058034e+02] [ 8.22507414e-01 5.68457793e-01 -1.83655010e-02 6.17029048e+01] [ 2.20171450e-02 4.42921717e-04 9.99757495e-01 -1.46868868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30719347 meters 0.06215555216331034 Centerline is valid? [True, True] Translation: X:132.08, Y:61.72, Z:-1.47 [[ 5.67937252e-01 -8.22978155e-01 -1.24190967e-02 1.32079367e+02] [ 8.22763879e-01 5.68072842e-01 -1.87841844e-02 6.17224251e+01] [ 2.25139250e-02 4.50253953e-04 9.99746428e-01 -1.46671196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33719347 meters 0.06246150200627825 Centerline is valid? [True, True] Translation: X:132.10, Y:61.74, Z:-1.47 [[ 5.64838089e-01 -8.25089825e-01 -1.35909593e-02 1.32104521e+02] [ 8.24833473e-01 5.65001428e-01 -2.05700687e-02 6.17386642e+01] [ 2.46510658e-02 4.08480145e-04 9.99696033e-01 -1.47377338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36719347 meters 0.061860555232862796 Centerline is valid? [True, True] Translation: X:132.13, Y:61.76, Z:-1.47 [[ 5.61265567e-01 -8.27519208e-01 -1.38896872e-02 1.32128499e+02] [ 8.27251823e-01 5.61437316e-01 -2.10371401e-02 6.17569770e+01] [ 2.52068262e-02 3.17153273e-04 9.99682207e-01 -1.47373404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39719347 meters 0.06157627244850427 Centerline is valid? [True, True] Translation: X:132.15, Y:61.77, Z:-1.47 [[ 5.57042390e-01 -8.30350494e-01 -1.48940735e-02 1.32152486e+02] [ 8.30043579e-01 5.57241431e-01 -2.25753119e-02 6.17742524e+01] [ 2.70450162e-02 2.12675607e-04 9.99634194e-01 -1.47481998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42719347 meters 0.061594337006701076 Centerline is valid? [True, True] Translation: X:132.18, Y:61.79, Z:-1.48 [[ 5.51275390e-01 -8.34177977e-01 -1.55739232e-02 1.32177524e+02] [ 8.33843376e-01 5.51495332e-01 -2.36246305e-02 6.17900016e+01] [ 2.82960924e-02 3.74647015e-05 9.99599585e-01 -1.47609598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45719347 meters 0.06204940367228641 Centerline is valid? [True, True] Translation: X:132.20, Y:61.81, Z:-1.48 [[ 5.45060142e-01 -8.38240105e-01 -1.62162937e-02 1.32204201e+02] [ 8.37878620e-01 5.45301290e-01 -2.46154610e-02 6.18064911e+01] [ 2.94764325e-02 -1.70379069e-04 9.99565461e-01 -1.47709087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48719347 meters 0.06293314902951216 Centerline is valid? [True, True] Translation: X:132.23, Y:61.82, Z:-1.48 [[ 5.39386895e-01 -8.41901611e-01 -1.62312744e-02 1.32230404e+02] [ 8.41540812e-01 5.39630933e-01 -2.46478841e-02 6.18221385e+01] [ 2.95099911e-02 -3.64534139e-04 9.99564419e-01 -1.47734468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51719347 meters 0.0642514234623616 Centerline is valid? [True, True] Translation: X:132.26, Y:61.83, Z:-1.47 [[ 5.30637753e-01 -8.47455263e-01 -1.55933385e-02 1.32263860e+02] [ 8.47124046e-01 5.30866439e-01 -2.36996968e-02 6.18334317e+01] [ 2.83624129e-02 -6.33538132e-04 9.99597505e-01 -1.47315802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54719347 meters 0.06554320748412373 Centerline is valid? [True, True] Translation: X:132.29, Y:61.85, Z:-1.47 [[ 5.26666009e-01 -8.49923733e-01 -1.58922548e-02 1.32286019e+02] [ 8.49580536e-01 5.26905159e-01 -2.41633130e-02 6.18523508e+01] [ 2.89106842e-02 -7.75754755e-04 9.99581698e-01 -1.47418532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57719347 meters 0.06660175375953258 Centerline is valid? [True, True] Translation: X:132.31, Y:61.87, Z:-1.47 [[ 5.22315249e-01 -8.52588682e-01 -1.67128501e-02 1.32305995e+02] [ 8.52209842e-01 5.22581686e-01 -2.54316081e-02 6.18730455e+01] [ 3.04165306e-02 -9.59538640e-04 9.99536850e-01 -1.47449109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60719347 meters 0.06732390614451206 Centerline is valid? [True, True] Translation: X:132.32, Y:61.90, Z:-1.47 [[ 5.16752866e-01 -8.55978785e-01 -1.63338544e-02 1.32322147e+02] [ 8.55617967e-01 5.17009732e-01 -2.48763132e-02 6.18959104e+01] [ 2.97383581e-02 -1.12063316e-03 9.99557089e-01 -1.47261200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63719347 meters 0.06978612760427168 Centerline is valid? [True, True] Translation: X:132.34, Y:61.92, Z:-1.48 [[ 5.15642903e-01 -8.56666164e-01 -1.53453759e-02 1.32339868e+02] [ 8.56347449e-01 5.15870060e-01 -2.33907724e-02 6.19166200e+01] [ 2.79543032e-02 -1.07968776e-03 9.99608619e-01 -1.47569660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66719347 meters 0.06771676476481239 Centerline is valid? [True, True] Translation: X:132.35, Y:61.94, Z:-1.47 [[ 5.15271047e-01 -8.56907727e-01 -1.43141880e-02 1.32350582e+02] [ 8.56630109e-01 5.15468840e-01 -2.18341940e-02 6.19440503e+01] [ 2.60884074e-02 -1.01143642e-03 9.99659128e-01 -1.47056037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69719347 meters 0.06744724141885605 Centerline is valid? [True, True] Translation: X:132.36, Y:61.97, Z:-1.47 [[ 5.15435080e-01 -8.56818046e-01 -1.37664454e-02 1.32363898e+02] [ 8.56560820e-01 5.15617994e-01 -2.10153835e-02 6.19689036e+01] [ 2.51045868e-02 -9.59731859e-04 9.99684370e-01 -1.46919624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72719347 meters 0.06610922795793191 Centerline is valid? [True, True] Translation: X:132.37, Y:62.00, Z:-1.47 [[ 5.18983097e-01 -8.54687078e-01 -1.29051824e-02 1.32372896e+02] [ 8.54459971e-01 5.19142917e-01 -1.97177235e-02 6.19954152e+01] [ 2.35521176e-02 -7.93796598e-04 9.99722295e-01 -1.46676721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75719347 meters 0.06491084793951785 Centerline is valid? [True, True] Translation: X:132.38, Y:62.02, Z:-1.47 [[ 5.22223982e-01 -8.52706558e-01 -1.31771847e-02 1.32380873e+02] [ 8.52468978e-01 5.22389714e-01 -2.01402257e-02 6.20221771e+01] [ 2.40573283e-02 -7.15432298e-04 9.99710325e-01 -1.46671462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78719347 meters 0.06371301088537139 Centerline is valid? [True, True] Translation: X:132.39, Y:62.05, Z:-1.47 [[ 5.26403980e-01 -8.50128188e-01 -1.34504248e-02 1.32388339e+02] [ 8.49879361e-01 5.26575450e-01 -2.05758814e-02 6.20510617e+01] [ 2.45748003e-02 -6.00012584e-04 9.99697814e-01 -1.46719944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81719347 meters 0.06247706329896006 Centerline is valid? [True, True] Translation: X:132.39, Y:62.08, Z:-1.47 [[ 5.31371107e-01 -8.47028553e-01 -1.36886200e-02 1.32394362e+02] [ 8.46769391e-01 5.31547198e-01 -2.09564762e-02 6.20808019e+01] [ 2.50268813e-02 -4.55438447e-04 9.99686675e-01 -1.46863420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84719347 meters 0.06141564658100382 Centerline is valid? [True, True] Translation: X:132.39, Y:62.11, Z:-1.47 [[ 5.41843093e-01 -8.40348006e-01 -1.48758686e-02 1.32391736e+02] [ 8.40039142e-01 5.42047235e-01 -2.27823114e-02 6.21148869e+01] [ 2.72084934e-02 -1.51873829e-04 9.99629769e-01 -1.47283207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87719347 meters 0.061087464021705444 Centerline is valid? [True, True] Translation: X:132.40, Y:62.14, Z:-1.47 [[ 5.46545334e-01 -8.37306104e-01 -1.43765868e-02 1.32399822e+02] [ 8.37016094e-01 5.46734386e-01 -2.20356617e-02 6.21432226e+01] [ 2.63107684e-02 1.00535907e-05 9.99653812e-01 -1.47261183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90719347 meters 0.06130777085853377 Centerline is valid? [True, True] Translation: X:132.41, Y:62.17, Z:-1.47 [[ 5.49661352e-01 -8.35259017e-01 -1.46551118e-02 1.32410523e+02] [ 8.34956494e-01 5.49856673e-01 -2.24787013e-02 6.21696744e+01] [ 2.68337490e-02 1.19292577e-04 9.99639903e-01 -1.47410239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93719347 meters 0.06166319597849578 Centerline is valid? [True, True] Translation: X:132.42, Y:62.19, Z:-1.48 [[ 5.52036377e-01 -8.33690079e-01 -1.47204570e-02 1.32422553e+02] [ 8.33384159e-01 5.52232572e-01 -2.25838512e-02 6.21939063e+01] [ 2.69570485e-02 1.99311739e-04 9.99636573e-01 -1.47609152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96719347 meters 0.06191221900542629 Centerline is valid? [True, True] Translation: X:132.44, Y:62.22, Z:-1.48 [[ 5.52142174e-01 -8.33608397e-01 -1.53642420e-02 1.32436704e+02] [ 8.33274780e-01 5.52355857e-01 -2.35828136e-02 6.22173396e+01] [ 2.81453605e-02 2.18430598e-04 9.99603817e-01 -1.47890314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99719346999998 meters 0.06141778801724595 Centerline is valid? [True, True] Translation: X:132.45, Y:62.24, Z:-1.48 [[ 5.49208708e-01 -8.35531634e-01 -1.60213125e-02 1.32454823e+02] [ 8.35169083e-01 5.49442326e-01 -2.46116392e-02 6.22393851e+01] [ 2.93665904e-02 1.36421695e-04 9.99568699e-01 -1.47546301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02719347 meters 0.06139879957625744 Centerline is valid? [True, True] Translation: X:132.47, Y:62.26, Z:-1.48 [[ 5.46237878e-01 -8.37476651e-01 -1.60324424e-02 1.32473369e+02] [ 8.37113856e-01 5.46473107e-01 -2.46482217e-02 6.22608853e+01] [ 2.94036088e-02 4.28127010e-05 9.99567620e-01 -1.47665559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05719347 meters 0.061748806603194796 Centerline is valid? [True, True] Translation: X:132.49, Y:62.28, Z:-1.48 [[ 5.43175214e-01 -8.39466344e-01 -1.60294820e-02 1.32491707e+02] [ 8.39103937e-01 5.43411680e-01 -2.46643315e-02 6.22813192e+01] [ 2.94154840e-02 -5.33478779e-05 9.99567270e-01 -1.47973433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08719347 meters 0.0626109350089 Centerline is valid? [True, True] Translation: X:132.52, Y:62.30, Z:-1.48 [[ 5.36468931e-01 -8.43740301e-01 -1.74180740e-02 1.32516131e+02] [ 8.43313962e-01 5.36751538e-01 -2.68206780e-02 6.22986090e+01] [ 3.19788650e-02 -3.00444536e-04 9.99488500e-01 -1.48261606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11719347 meters 0.06319075361874187 Centerline is valid? [True, True] Translation: X:132.54, Y:62.32, Z:-1.48 [[ 5.33314053e-01 -8.45716781e-01 -1.84186665e-02 1.32536123e+02] [ 8.45240485e-01 5.33631840e-01 -2.83827626e-02 6.23191862e+01] [ 3.38325655e-02 -4.31276419e-04 9.99427422e-01 -1.48333857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14719347 meters 0.06379272510623538 Centerline is valid? [True, True] Translation: X:132.56, Y:62.34, Z:-1.48 [[ 5.30546347e-01 -8.47458145e-01 -1.83102934e-02 1.32556501e+02] [ 8.46987787e-01 5.30861954e-01 -2.82360584e-02 6.23396582e+01] [ 3.36491158e-02 -5.28057291e-04 9.99433569e-01 -1.48285403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17719347 meters 0.06417633689362924 Centerline is valid? [True, True] Translation: X:132.58, Y:62.36, Z:-1.48 [[ 5.27819597e-01 -8.49182866e-01 -1.71736202e-02 1.32575259e+02] [ 8.48769575e-01 5.28098581e-01 -2.64971354e-02 6.23593678e+01] [ 3.15702778e-02 -5.90738979e-04 9.99501360e-01 -1.48214990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20719347 meters 0.06409649634398774 Centerline is valid? [True, True] Translation: X:132.59, Y:62.38, Z:-1.48 [[ 5.26809213e-01 -8.49815572e-01 -1.68981189e-02 1.32592292e+02] [ 8.49415101e-01 5.27079809e-01 -2.60933255e-02 6.23819357e+01] [ 3.10811716e-02 -6.07313041e-04 9.99516679e-01 -1.48006360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23719347 meters 0.06334502304139941 Centerline is valid? [True, True] Translation: X:132.61, Y:62.41, Z:-1.48 [[ 5.26634006e-01 -8.49940033e-01 -1.60799162e-02 1.32606610e+02] [ 8.49576901e-01 5.26879123e-01 -2.48491370e-02 6.24061926e+01] [ 2.95924485e-02 -5.74724855e-04 9.99561882e-01 -1.47582425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26719347 meters 0.06350040392043534 Centerline is valid? [True, True] Translation: X:132.62, Y:62.43, Z:-1.48 [[ 5.27253621e-01 -8.49576795e-01 -1.49294715e-02 1.32621605e+02] [ 8.49263131e-01 5.27464705e-01 -2.30893989e-02 6.24292785e+01] [ 2.74909868e-02 -5.05080543e-04 9.99621924e-01 -1.47741100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29719347 meters 0.06274149088323934 Centerline is valid? [True, True] Translation: X:132.63, Y:62.45, Z:-1.48 [[ 5.28071517e-01 -8.49067982e-01 -1.49677811e-02 1.32634457e+02] [ 8.48752002e-01 5.28283391e-01 -2.31667349e-02 6.24545911e+01] [ 2.75773631e-02 -4.70241335e-04 9.99619562e-01 -1.47545039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32719347 meters 0.06262426872674313 Centerline is valid? [True, True] Translation: X:132.65, Y:62.48, Z:-1.48 [[ 5.28144482e-01 -8.49011096e-01 -1.56065397e-02 1.32648943e+02] [ 8.48667030e-01 5.28374801e-01 -2.41731598e-02 6.24794270e+01] [ 2.87693832e-02 -4.77834737e-04 9.99585961e-01 -1.47528470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35719347 meters 0.06326109315967575 Centerline is valid? [True, True] Translation: X:132.67, Y:62.50, Z:-1.48 [[ 5.27040666e-01 -8.49705160e-01 -1.51419515e-02 1.32665269e+02] [ 8.49381001e-01 5.27257908e-01 -2.34736669e-02 6.25007043e+01] [ 2.79294095e-02 -4.89708941e-04 9.99609778e-01 -1.47821608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38719347 meters 0.06402724049966053 Centerline is valid? [True, True] Translation: X:132.68, Y:62.52, Z:-1.48 [[ 5.23843558e-01 -8.51676102e-01 -1.53539429e-02 1.32682468e+02] [ 8.51343191e-01 5.24068186e-01 -2.38182465e-02 6.25236588e+01] [ 2.83319444e-02 -5.94439726e-04 9.99598393e-01 -1.47983007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41719347 meters 0.06473572493558992 Centerline is valid? [True, True] Translation: X:132.70, Y:62.55, Z:-1.48 [[ 5.21767729e-01 -8.52936061e-01 -1.60783301e-02 1.32698359e+02] [ 8.52571068e-01 5.22014948e-01 -2.49593417e-02 6.25475520e+01] [ 2.96818513e-02 -6.84940041e-04 9.99559162e-01 -1.48178340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44719347 meters 0.0655280755653799 Centerline is valid? [True, True] Translation: X:132.71, Y:62.57, Z:-1.48 [[ 5.20243241e-01 -8.53844386e-01 -1.72259616e-02 1.32714539e+02] [ 8.53425328e-01 5.20527767e-01 -2.67591851e-02 6.25712200e+01] [ 3.18147713e-02 -7.79786702e-04 9.99493478e-01 -1.48348334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47719347 meters 0.06570759678179568 Centerline is valid? [True, True] Translation: X:132.73, Y:62.59, Z:-1.48 [[ 5.17764838e-01 -8.55329424e-01 -1.81974749e-02 1.32729669e+02] [ 8.54861903e-01 5.18083729e-01 -2.82909339e-02 6.25947645e+01] [ 3.36258839e-02 -9.08277225e-04 9.99434077e-01 -1.48038633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50719347 meters 0.06549963429542068 Centerline is valid? [True, True] Translation: X:132.74, Y:62.62, Z:-1.48 [[ 5.17159367e-01 -8.55710886e-01 -1.74662149e-02 1.32744660e+02] [ 8.55279745e-01 5.17453473e-01 -2.71746341e-02 6.26186658e+01] [ 3.22915838e-02 -8.84883232e-04 9.99478099e-01 -1.47784542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53719347 meters 0.06459727016722404 Centerline is valid? [True, True] Translation: X:132.76, Y:62.64, Z:-1.48 [[ 5.18136971e-01 -8.55132559e-01 -1.68043043e-02 1.32757598e+02] [ 8.54732556e-01 5.18408773e-01 -2.61649119e-02 6.26439145e+01] [ 3.10859669e-02 -8.06177760e-04 9.99516389e-01 -1.47569567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56719347 meters 0.06483251360052773 Centerline is valid? [True, True] Translation: X:132.77, Y:62.67, Z:-1.48 [[ 5.18897965e-01 -8.54677573e-01 -1.64665626e-02 1.32770902e+02] [ 8.54292879e-01 5.19158620e-01 -2.56515682e-02 6.26674009e+01] [ 3.04725780e-02 -7.56720694e-04 9.99535317e-01 -1.47673294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59719347 meters 0.0643067173880962 Centerline is valid? [True, True] Translation: X:132.78, Y:62.69, Z:-1.48 [[ 5.19395754e-01 -8.54386203e-01 -1.58828835e-02 1.32782813e+02] [ 8.54027627e-01 5.19638066e-01 -2.47606849e-02 6.26939904e+01] [ 2.94085384e-02 -7.03826678e-04 9.99567228e-01 -1.47533956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62719347 meters 0.06370629223975025 Centerline is valid? [True, True] Translation: X:132.79, Y:62.72, Z:-1.48 [[ 5.20289688e-01 -8.53851308e-01 -1.53812868e-02 1.32790856e+02] [ 8.53514317e-01 5.20516598e-01 -2.39954632e-02 6.27231338e+01] [ 2.84947728e-02 -6.43556438e-04 9.99593734e-01 -1.47517520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65719347 meters 0.06343955452197915 Centerline is valid? [True, True] Translation: X:132.80, Y:62.75, Z:-1.47 [[ 5.19240722e-01 -8.54493668e-01 -1.51540348e-02 1.32803065e+02] [ 8.54166273e-01 5.19461393e-01 -2.36609165e-02 6.27487657e+01] [ 2.80900393e-02 -6.58354070e-04 9.99605180e-01 -1.47425088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68719347 meters 0.06451274272781977 Centerline is valid? [True, True] Translation: X:132.82, Y:62.77, Z:-1.48 [[ 5.18050107e-01 -8.55223802e-01 -1.47083515e-02 1.32818348e+02] [ 8.54915348e-01 5.18258429e-01 -2.29771474e-02 6.27708742e+01] [ 2.72733305e-02 -6.71081782e-04 9.99627788e-01 -1.47746930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71719347 meters 0.06544111314042698 Centerline is valid? [True, True] Translation: X:132.83, Y:62.79, Z:-1.48 [[ 5.15801560e-01 -8.56584388e-01 -1.45580640e-02 1.32834123e+02] [ 8.56282290e-01 5.16006452e-01 -2.27591890e-02 6.27937384e+01] [ 2.70072210e-02 -7.26587155e-04 9.99634974e-01 -1.47852636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74719346999998 meters 0.0661305162734972 Centerline is valid? [True, True] Translation: X:132.85, Y:62.82, Z:-1.48 [[ 5.12663747e-01 -8.58469878e-01 -1.43300562e-02 1.32850413e+02] [ 8.58177471e-01 5.12863355e-01 -2.24189080e-02 6.28169216e+01] [ 2.65953179e-02 -8.04369961e-04 9.99645958e-01 -1.47727294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77719347 meters 0.06918219430319038 Centerline is valid? [True, True] Translation: X:132.87, Y:62.84, Z:-1.48 [[ 5.06517648e-01 -8.62139314e-01 -1.24769815e-02 1.32869847e+02] [ 8.61918351e-01 5.06670569e-01 -1.95368888e-02 6.28367997e+01] [ 2.31652392e-02 -8.58360367e-04 9.99731281e-01 -1.47590295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80719347 meters 0.06756746493325982 Centerline is valid? [True, True] Translation: X:132.88, Y:62.86, Z:-1.47 [[ 5.04058461e-01 -8.63579146e-01 -1.24950595e-02 1.32880413e+02] [ 8.63357653e-01 5.04212470e-01 -1.95792965e-02 6.28638733e+01] [ 2.32084369e-02 -9.18595173e-04 9.99730226e-01 -1.47098689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83719347 meters 0.06996492337465605 Centerline is valid? [True, True] Translation: X:132.90, Y:62.89, Z:-1.47 [[ 5.02513141e-01 -8.64483017e-01 -1.22334067e-02 1.32896677e+02] [ 8.64270654e-01 5.02661161e-01 -1.91831715e-02 6.28855612e+01] [ 2.27327844e-02 -9.33178662e-04 9.99741141e-01 -1.47410037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86719347 meters 0.06696704306652171 Centerline is valid? [True, True] Translation: X:132.90, Y:62.92, Z:-1.47 [[ 5.03220892e-01 -8.64069657e-01 -1.23434826e-02 1.32899070e+02] [ 8.63852972e-01 5.03371425e-01 -1.93714219e-02 6.29176419e+01] [ 2.29516143e-02 -9.14849953e-04 9.99736158e-01 -1.47072488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89719347 meters 0.06764322135974689 Centerline is valid? [True, True] Translation: X:132.91, Y:62.94, Z:-1.47 [[ 5.04358812e-01 -8.63415879e-01 -1.16279447e-02 1.32910634e+02] [ 8.63223096e-01 5.04492158e-01 -1.82633011e-02 6.29429991e+01] [ 2.16350311e-02 -8.26253624e-04 9.99765594e-01 -1.47292569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92719347 meters 0.06606295607550025 Centerline is valid? [True, True] Translation: X:132.92, Y:62.97, Z:-1.47 [[ 5.05784492e-01 -8.62580344e-01 -1.17131287e-02 1.32918808e+02] [ 8.62384200e-01 5.05919486e-01 -1.84110060e-02 6.29718124e+01] [ 2.18068720e-02 -7.89215782e-04 9.99761890e-01 -1.47216964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95719347 meters 0.06606295607550025 Centerline is valid? [True, True] Translation: X:132.93, Y:63.00, Z:-1.47 [[ 5.05469872e-01 -8.62764841e-01 -1.17062937e-02 1.32933390e+02] [ 8.62568645e-01 5.05604793e-01 -1.84153534e-02 6.29951990e+01] [ 2.18068776e-02 -7.89075545e-04 9.99761890e-01 -1.47239668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98719347 meters 0.06624710950449225 Centerline is valid? [True, True] Translation: X:132.95, Y:63.02, Z:-1.48 [[ 5.07272003e-01 -8.61699694e-01 -1.21964418e-02 1.32945247e+02] [ 8.61486243e-01 5.07418018e-01 -1.91939552e-02 6.30195239e+01] [ 2.27281197e-02 -7.70510706e-04 9.99741386e-01 -1.47564352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01719347 meters 0.06465670929835023 Centerline is valid? [True, True] Translation: X:132.95, Y:63.05, Z:-1.48 [[ 5.10725545e-01 -8.59633171e-01 -1.37923221e-02 1.32951567e+02] [ 8.59358975e-01 5.10911183e-01 -2.17235971e-02 6.30493837e+01] [ 2.57209763e-02 -7.57759802e-04 9.99668874e-01 -1.47829133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04719347 meters 0.06426498668218052 Centerline is valid? [True, True] Translation: X:132.96, Y:63.08, Z:-1.48 [[ 5.12422000e-01 -8.58610941e-01 -1.45239887e-02 1.32961634e+02] [ 8.58305970e-01 5.12627265e-01 -2.28942980e-02 6.30764812e+01] [ 2.71026873e-02 -7.34484232e-04 9.99632385e-01 -1.48076975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07719347 meters 0.06391038627468873 Centerline is valid? [True, True] Translation: X:132.97, Y:63.10, Z:-1.48 [[ 5.13684896e-01 -8.57836788e-01 -1.56164162e-02 1.32971370e+02] [ 8.57483315e-01 5.13921689e-01 -2.46345502e-02 6.31039603e+01] [ 2.91580384e-02 -7.36419988e-04 9.99574543e-01 -1.48300769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10719347 meters 0.06358009553062026 Centerline is valid? [True, True] Translation: X:132.98, Y:63.13, Z:-1.48 [[ 5.15399690e-01 -8.56796102e-01 -1.62357426e-02 1.32980929e+02] [ 8.56412891e-01 5.15654883e-01 -2.56320373e-02 6.31306105e+01] [ 3.03334696e-02 -6.93755214e-04 9.99539594e-01 -1.48483964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13719347 meters 0.063637105671594 Centerline is valid? [True, True] Translation: X:132.99, Y:63.16, Z:-1.49 [[ 5.16881051e-01 -8.55896288e-01 -1.65989077e-02 1.32989599e+02] [ 8.55494597e-01 5.17147106e-01 -2.62271715e-02 6.31569227e+01] [ 3.10318158e-02 -6.43947858e-04 9.99518190e-01 -1.48839744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16719347 meters 0.063484871971059 Centerline is valid? [True, True] Translation: X:133.00, Y:63.18, Z:-1.49 [[ 5.16226751e-01 -8.56279048e-01 -1.72085416e-02 1.33003188e+02] [ 8.55846874e-01 5.16513048e-01 -2.72102806e-02 6.31823607e+01] [ 3.21880294e-02 -6.81201765e-04 9.99481599e-01 -1.48822150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19719347 meters 0.06387211957127908 Centerline is valid? [True, True] Translation: X:133.02, Y:63.21, Z:-1.49 [[ 5.15941358e-01 -8.56446178e-01 -1.74487403e-02 1.33016876e+02] [ 8.56001159e-01 5.16235866e-01 -2.76142382e-02 6.32054339e+01] [ 3.26577744e-02 -6.88814388e-04 9.99466355e-01 -1.48973562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22719347 meters 0.0635137329760326 Centerline is valid? [True, True] Translation: X:133.03, Y:63.23, Z:-1.49 [[ 5.16367216e-01 -8.56195287e-01 -1.71618344e-02 1.33030223e+02] [ 8.55763997e-01 5.16651920e-01 -2.71804302e-02 6.32308216e+01] [ 3.21384509e-02 -6.51396891e-04 9.99483214e-01 -1.48874548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25719347 meters 0.06374989809707432 Centerline is valid? [True, True] Translation: X:133.04, Y:63.25, Z:-1.49 [[ 5.16804196e-01 -8.55939608e-01 -1.67574134e-02 1.33044436e+02] [ 8.55527849e-01 5.17075441e-01 -2.65534929e-02 6.32540264e+01] [ 3.13930332e-02 -6.13477253e-04 9.99506929e-01 -1.49010985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28719347 meters 0.06285736180495326 Centerline is valid? [True, True] Translation: X:133.05, Y:63.28, Z:-1.49 [[ 5.19157556e-01 -8.54510106e-01 -1.69679517e-02 1.33053293e+02] [ 8.54086490e-01 5.19434506e-01 -2.69083860e-02 6.32813623e+01] [ 3.18072274e-02 -5.22406338e-04 9.99493886e-01 -1.48888312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31719347 meters 0.06267278244780458 Centerline is valid? [True, True] Translation: X:133.06, Y:63.31, Z:-1.49 [[ 5.20036277e-01 -8.53979206e-01 -1.67865029e-02 1.33064486e+02] [ 8.53563707e-01 5.20306920e-01 -2.66403184e-02 6.33077068e+01] [ 3.14844115e-02 -4.74417634e-04 9.99504130e-01 -1.48996274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34719347 meters 0.06274667957098932 Centerline is valid? [True, True] Translation: X:133.08, Y:63.33, Z:-1.49 [[ 5.20944374e-01 -8.53416991e-01 -1.72162441e-02 1.33075877e+02] [ 8.52978965e-01 5.21228592e-01 -2.73430108e-02 6.33335985e+01] [ 3.23085887e-02 -4.40906451e-04 9.99477844e-01 -1.49131306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37719347 meters 0.06260296823523305 Centerline is valid? [True, True] Translation: X:133.09, Y:63.36, Z:-1.49 [[ 5.20733865e-01 -8.53565649e-01 -1.61840623e-02 1.33089799e+02] [ 8.53178089e-01 5.20985136e-01 -2.57223044e-02 6.33577523e+01] [ 3.03873313e-02 -4.13412337e-04 9.99538113e-01 -1.49016808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40719347 meters 0.061838305813919144 Centerline is valid? [True, True] Translation: X:133.11, Y:63.38, Z:-1.48 [[ 5.19226575e-01 -8.54500762e-01 -1.52384977e-02 1.33105180e+02] [ 8.54157015e-01 5.19449962e-01 -2.42390548e-02 6.33817526e+01] [ 2.86279279e-02 -4.30508261e-04 9.99590044e-01 -1.48474707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43719347 meters 0.06270913403641908 Centerline is valid? [True, True] Translation: X:133.12, Y:63.40, Z:-1.49 [[ 5.17248125e-01 -8.55703403e-01 -1.50353795e-02 1.33123017e+02] [ 8.55368905e-01 5.17466378e-01 -2.39287475e-02 6.34028689e+01] [ 2.82562140e-02 -4.83696282e-04 9.99600596e-01 -1.48703135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46719347 meters 0.06258450628967863 Centerline is valid? [True, True] Translation: X:133.14, Y:63.43, Z:-1.48 [[ 5.14648355e-01 -8.57277636e-01 -1.45645401e-02 1.33138064e+02] [ 8.56963795e-01 5.14854117e-01 -2.32011193e-02 6.34259117e+01] [ 2.73884142e-02 -5.40865618e-04 9.99624721e-01 -1.48379651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49719346999998 meters 0.06345461874174647 Centerline is valid? [True, True] Translation: X:133.15, Y:63.45, Z:-1.48 [[ 5.11926401e-01 -8.58905511e-01 -1.45836684e-02 1.33154213e+02] [ 8.58591258e-01 5.12133707e-01 -2.32404232e-02 6.34478695e+01] [ 2.74301157e-02 -6.24024009e-04 9.99623529e-01 -1.48490466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52719347 meters 0.06501661609301217 Centerline is valid? [True, True] Translation: X:133.17, Y:63.47, Z:-1.49 [[ 5.07383028e-01 -8.61600502e-01 -1.43887745e-02 1.33170528e+02] [ 8.61295132e-01 5.07586459e-01 -2.29495361e-02 6.34703257e+01] [ 2.70768789e-02 -7.48776306e-04 9.99633074e-01 -1.48675299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55719347 meters 0.06567020946439965 Centerline is valid? [True, True] Translation: X:133.19, Y:63.49, Z:-1.49 [[ 5.05936455e-01 -8.62453609e-01 -1.42153121e-02 1.33186601e+02] [ 8.62155493e-01 5.06135523e-01 -2.26878377e-02 6.34924539e+01] [ 2.67620820e-02 -7.77205210e-04 9.99641529e-01 -1.48747018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58719347 meters 0.06511069363484549 Centerline is valid? [True, True] Translation: X:133.20, Y:63.52, Z:-1.48 [[ 5.04348019e-01 -8.63395494e-01 -1.34646590e-02 1.33200850e+02] [ 8.63127913e-01 5.04527127e-01 -2.15077654e-02 6.35160360e+01] [ 2.53629935e-02 -7.74324119e-04 9.99678008e-01 -1.48448556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61719347 meters 0.06528505761617091 Centerline is valid? [True, True] Translation: X:133.22, Y:63.54, Z:-1.48 [[ 5.01654415e-01 -8.64961463e-01 -1.35836406e-02 1.33216999e+02] [ 8.64689255e-01 5.01837565e-01 -2.17152156e-02 6.35389179e+01] [ 2.55996058e-02 -8.52094301e-04 9.99671913e-01 -1.48225872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64719347 meters 0.06607387490272348 Centerline is valid? [True, True] Translation: X:133.23, Y:63.56, Z:-1.48 [[ 4.99539371e-01 -8.66192312e-01 -1.30880017e-02 1.33233156e+02] [ 8.65939644e-01 4.99710031e-01 -2.09384044e-02 6.35626653e+01] [ 2.46768907e-02 -8.73862146e-04 9.99695097e-01 -1.48237250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67719347 meters 0.06679289829131924 Centerline is valid? [True, True] Translation: X:133.25, Y:63.59, Z:-1.48 [[ 4.97518217e-01 -8.67364182e-01 -1.24498723e-02 1.33248889e+02] [ 8.67135587e-01 4.97673188e-01 -1.99316841e-02 6.35857480e+01] [ 2.34839965e-02 -8.79351408e-04 9.99723826e-01 -1.48250415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70719347 meters 0.06757992676452093 Centerline is valid? [True, True] Translation: X:133.26, Y:63.61, Z:-1.48 [[ 4.93842624e-01 -8.69472162e-01 -1.17312861e-02 1.33263727e+02] [ 8.69269464e-01 4.93981095e-01 -1.87956642e-02 6.36101252e+01] [ 2.21373403e-02 -9.15548642e-04 9.99754520e-01 -1.48033155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73719347 meters 0.0682168824561017 Centerline is valid? [True, True] Translation: X:133.28, Y:63.63, Z:-1.48 [[ 4.91650467e-01 -8.70710335e-01 -1.19721162e-02 1.33277600e+02] [ 8.70499269e-01 4.91795226e-01 -1.91957694e-02 6.36348830e+01] [ 2.26017843e-02 -9.84109420e-04 9.99744063e-01 -1.48091990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76719347 meters 0.0692911476183291 Centerline is valid? [True, True] Translation: X:133.29, Y:63.66, Z:-1.48 [[ 4.89652828e-01 -8.71832598e-01 -1.21667445e-02 1.33292202e+02] [ 8.71614863e-01 4.89802835e-01 -1.95118558e-02 6.36577208e+01] [ 2.29703779e-02 -1.05068003e-03 9.99735594e-01 -1.48172681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79719347 meters 0.0699898053814839 Centerline is valid? [True, True] Translation: X:133.31, Y:63.68, Z:-1.48 [[ 4.87010514e-01 -8.73309517e-01 -1.22982599e-02 1.33306685e+02] [ 8.73087108e-01 4.87164475e-01 -1.97402344e-02 6.36821875e+01] [ 2.32306099e-02 -1.12375051e-03 9.99729501e-01 -1.48148131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82719347 meters 0.07223960265902504 Centerline is valid? [True, True] Translation: X:133.32, Y:63.71, Z:-1.48 [[ 4.83752039e-01 -8.75108538e-01 -1.30004578e-02 1.33319711e+02] [ 8.74860354e-01 4.83925021e-01 -2.08790527e-02 6.37056253e+01] [ 2.45626841e-02 -1.27330077e-03 9.99697481e-01 -1.48385958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85719347 meters 0.0735967193089418 Centerline is valid? [True, True] Translation: X:133.33, Y:63.73, Z:-1.49 [[ 4.82082091e-01 -8.76015904e-01 -1.38921714e-02 1.33332651e+02] [ 8.75732397e-01 4.82280180e-01 -2.23292810e-02 6.37300367e+01] [ 2.62607242e-02 -1.40127805e-03 9.99654146e-01 -1.48633069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88719347 meters 0.07419513901125262 Centerline is valid? [True, True] Translation: X:133.34, Y:63.76, Z:-1.49 [[ 4.81091642e-01 -8.76547209e-01 -1.46909082e-02 1.33344385e+02] [ 8.76229962e-01 4.81313542e-01 -2.36289672e-02 6.37560523e+01] [ 2.77828383e-02 -1.50491528e-03 9.99612850e-01 -1.48853107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91719347 meters 0.07572067251504569 Centerline is valid? [True, True] Translation: X:133.35, Y:63.78, Z:-1.49 [[ 4.79790023e-01 -8.77241700e-01 -1.57649660e-02 1.33353067e+02] [ 8.76876456e-01 4.80046108e-01 -2.53656251e-02 6.37822268e+01] [ 2.98196946e-02 -1.65375361e-03 9.99553926e-01 -1.49257617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94719347 meters 0.07572067251504569 Centerline is valid? [True, True] Translation: X:133.37, Y:63.81, Z:-1.49 [[ 4.79495869e-01 -8.77402687e-01 -1.57555074e-02 1.33367404e+02] [ 8.77037339e-01 4.79751804e-01 -2.53715019e-02 6.38057747e+01] [ 2.98197570e-02 -1.65263796e-03 9.99553926e-01 -1.49280353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97719347 meters 0.07709837068340708 Centerline is valid? [True, True] Translation: X:133.38, Y:63.83, Z:-1.49 [[ 4.77272156e-01 -8.78623625e-01 -1.52254415e-02 1.33376691e+02] [ 8.78282536e-01 4.77512056e-01 -2.45361501e-02 6.38323685e+01] [ 2.88283731e-02 -1.66181814e-03 9.99582995e-01 -1.49301795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00719347 meters 0.07824936814570423 Centerline is valid? [True, True] Translation: X:133.39, Y:63.86, Z:-1.49 [[ 4.75130767e-01 -8.79793575e-01 -1.46294091e-02 1.33390180e+02] [ 8.79478777e-01 4.75353047e-01 -2.35915523e-02 6.38577352e+01] [ 2.77098303e-02 -1.65718250e-03 9.99614635e-01 -1.49170920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03719347 meters 0.07628527691783081 Centerline is valid? [True, True] Translation: X:133.40, Y:63.89, Z:-1.49 [[ 4.74119054e-01 -8.80346651e-01 -1.41737792e-02 1.33398401e+02] [ 8.80050917e-01 4.74328075e-01 -2.28748855e-02 6.38860248e+01] [ 2.68608502e-02 -1.62822827e-03 9.99637856e-01 -1.48821435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06719347 meters 0.0787206697948073 Centerline is valid? [True, True] Translation: X:133.41, Y:63.91, Z:-1.49 [[ 4.73449036e-01 -8.80719837e-01 -1.33633727e-02 1.33412099e+02] [ 8.80456669e-01 4.73635067e-01 -2.15841961e-02 6.39090910e+01] [ 2.53389916e-02 -1.54685379e-03 9.99677719e-01 -1.48918962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09719347 meters 0.07491854696251253 Centerline is valid? [True, True] Translation: X:133.41, Y:63.94, Z:-1.49 [[ 4.77044899e-01 -8.78746955e-01 -1.52300536e-02 1.33411897e+02] [ 8.78403608e-01 4.77285153e-01 -2.46167510e-02 6.39420311e+01] [ 2.89009734e-02 -1.63483856e-03 9.99580943e-01 -1.48922330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12719347 meters 0.0736281648066847 Centerline is valid? [True, True] Translation: X:133.42, Y:63.97, Z:-1.49 [[ 4.80577028e-01 -8.76819286e-01 -1.52859497e-02 1.33419618e+02] [ 8.76471862e-01 4.80817685e-01 -2.47270724e-02 6.39692802e+01] [ 2.90309289e-02 -1.51444181e-03 9.99577367e-01 -1.48950431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15719347 meters 0.07149806042647898 Centerline is valid? [True, True] Translation: X:133.42, Y:64.00, Z:-1.49 [[ 4.84966142e-01 -8.74408904e-01 -1.47278820e-02 1.33424791e+02] [ 8.74084754e-01 4.85187955e-01 -2.38430298e-02 6.39973542e+01] [ 2.79943485e-02 -1.31035493e-03 9.99607223e-01 -1.48857659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18719347 meters 0.06637474382796432 Centerline is valid? [True, True] Translation: X:133.42, Y:64.03, Z:-1.48 [[ 4.91192828e-01 -8.70935177e-01 -1.41958837e-02 1.33424092e+02] [ 8.70632085e-01 4.91396774e-01 -2.29996225e-02 6.40306405e+01] [ 2.70069917e-02 -1.06214220e-03 9.99634680e-01 -1.48358595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21719347 meters 0.061950163076165625 Centerline is valid? [True, True] Translation: X:133.42, Y:64.07, Z:-1.48 [[ 5.05081186e-01 -8.62978706e-01 -1.26786346e-02 1.33415021e+02] [ 8.62733998e-01 5.05239987e-01 -2.05573644e-02 6.40682635e+01] [ 2.41463209e-02 -5.55151127e-04 9.99708281e-01 -1.48195559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24719346999998 meters 0.060286641012196954 Centerline is valid? [True, True] Translation: X:133.42, Y:64.10, Z:-1.48 [[ 5.10999438e-01 -8.59488291e-01 -1.26274321e-02 1.33419272e+02] [ 8.59244091e-01 5.11155294e-01 -2.04904504e-02 6.40982401e+01] [ 2.40658810e-02 -3.79437764e-04 9.99710303e-01 -1.48059092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27719347 meters 0.05942906365811291 Centerline is valid? [True, True] Translation: X:133.43, Y:64.13, Z:-1.48 [[ 5.15258605e-01 -8.56958131e-01 -1.14599755e-02 1.33427470e+02] [ 8.56756077e-01 5.15385980e-01 -1.86095634e-02 6.41267011e+01] [ 2.18539274e-02 -2.29665975e-04 9.99761148e-01 -1.47932959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30719347 meters 0.05873491457796188 Centerline is valid? [True, True] Translation: X:133.43, Y:64.16, Z:-1.48 [[ 5.20564960e-01 -8.53755491e-01 -1.06622791e-02 1.33434901e+02] [ 8.53579673e-01 5.20674135e-01 -1.73259168e-02 6.41553718e+01] [ 2.03436696e-02 -8.18395354e-05 9.99793043e-01 -1.47991324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33719347 meters 0.058722246528202286 Centerline is valid? [True, True] Translation: X:133.45, Y:64.18, Z:-1.48 [[ 5.21044699e-01 -8.53464381e-01 -1.05343508e-02 1.33446859e+02] [ 8.53292424e-01 5.21151175e-01 -1.71316122e-02 6.41803365e+01] [ 2.01112101e-02 -6.25460200e-05 9.99797747e-01 -1.48070172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36719347 meters 0.05894919773057722 Centerline is valid? [True, True] Translation: X:133.46, Y:64.21, Z:-1.48 [[ 5.20998701e-01 -8.53479267e-01 -1.15539567e-02 1.33459952e+02] [ 8.53272138e-01 5.21126795e-01 -1.88021885e-02 6.42053295e+01] [ 2.20683545e-02 -6.27535616e-05 9.99756462e-01 -1.48279091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39719347 meters 0.05978121407163828 Centerline is valid? [True, True] Translation: X:133.47, Y:64.23, Z:-1.49 [[ 5.21600716e-01 -8.53066634e-01 -1.44917570e-02 1.33473357e+02] [ 8.52740300e-01 5.21801989e-01 -2.35937374e-02 6.42281638e+01] [ 2.76888577e-02 -5.11948511e-05 9.99616589e-01 -1.48792935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42719347 meters 0.06020101740139192 Centerline is valid? [True, True] Translation: X:133.49, Y:64.25, Z:-1.49 [[ 5.22551311e-01 -8.52462523e-01 -1.57408316e-02 1.33488853e+02] [ 8.52076675e-01 5.22788338e-01 -2.56455449e-02 6.42520011e+01] [ 3.00909891e-02 -1.12823617e-05 9.99547164e-01 -1.49118129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45719347 meters 0.060669168470503 Centerline is valid? [True, True] Translation: X:133.50, Y:64.28, Z:-1.49 [[ 5.24410030e-01 -8.51290440e-01 -1.72831597e-02 1.33504147e+02] [ 8.50823986e-01 5.24694752e-01 -2.81773388e-02 6.42762170e+01] [ 3.30554824e-02 7.15522713e-05 9.99453516e-01 -1.49405009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48719347 meters 0.06134333593339486 Centerline is valid? [True, True] Translation: X:133.52, Y:64.30, Z:-1.50 [[ 5.26238722e-01 -8.50136679e-01 -1.84508730e-02 1.33519126e+02] [ 8.49603931e-01 5.26562058e-01 -3.00925168e-02 6.42990891e+01] [ 3.52982819e-02 1.59913390e-04 9.99376809e-01 -1.49695922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51719347 meters 0.06110537764942493 Centerline is valid? [True, True] Translation: X:133.53, Y:64.32, Z:-1.49 [[ 5.28262143e-01 -8.48861406e-01 -1.93241225e-02 1.33534963e+02] [ 8.48275717e-01 5.28615403e-01 -3.15287892e-02 6.43225716e+01] [ 3.69786012e-02 2.63281891e-04 9.99316023e-01 -1.49383113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54719347 meters 0.06219025545252958 Centerline is valid? [True, True] Translation: X:133.55, Y:64.35, Z:-1.50 [[ 5.29727259e-01 -8.47947672e-01 -1.93333070e-02 1.33548658e+02] [ 8.47359932e-01 5.30079834e-01 -3.15676247e-02 6.43462409e+01] [ 3.70158900e-02 3.39961617e-04 9.99314619e-01 -1.49896799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57719347 meters 0.06134601993095042 Centerline is valid? [True, True] Translation: X:133.57, Y:64.37, Z:-1.49 [[ 5.29322546e-01 -8.48201211e-01 -1.92962989e-02 1.33569753e+02] [ 8.47614936e-01 5.29674044e-01 -3.15329660e-02 6.43658734e+01] [ 3.69670487e-02 3.35278689e-04 9.99316429e-01 -1.49272769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60719347 meters 0.061062287193357996 Centerline is valid? [True, True] Translation: X:133.59, Y:64.39, Z:-1.49 [[ 5.27863750e-01 -8.49112823e-01 -1.91644429e-02 1.33589724e+02] [ 8.48534213e-01 5.28211449e-01 -3.13425323e-02 6.43865354e+01] [ 3.67362242e-02 2.82901176e-04 9.99324957e-01 -1.49108697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63719347 meters 0.0611897111332126 Centerline is valid? [True, True] Translation: X:133.61, Y:64.41, Z:-1.49 [[ 5.26166238e-01 -8.50147380e-01 -1.99630397e-02 1.33610988e+02] [ 8.49519778e-01 5.26544757e-01 -3.26613843e-02 6.44064183e+01] [ 3.82784242e-02 2.26320650e-04 9.99267087e-01 -1.49322885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66719347 meters 0.06114671363580507 Centerline is valid? [True, True] Translation: X:133.63, Y:64.43, Z:-1.49 [[ 5.24690083e-01 -8.51066596e-01 -1.96460339e-02 1.33632810e+02] [ 8.50458394e-01 5.25057730e-01 -3.21698503e-02 6.44262974e+01] [ 3.76939870e-02 1.71066968e-04 9.99289315e-01 -1.49460079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69719347 meters 0.06139533355629195 Centerline is valid? [True, True] Translation: X:133.66, Y:64.44, Z:-1.50 [[ 5.19987226e-01 -8.53931420e-01 -2.03572053e-02 1.33662450e+02] [ 8.53279580e-01 5.20385559e-01 -3.33590908e-02 6.44410156e+01] [ 3.90799714e-02 -2.40865287e-05 9.99236086e-01 -1.49619278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72719347 meters 0.0616258783630861 Centerline is valid? [True, True] Translation: X:133.68, Y:64.46, Z:-1.50 [[ 5.16498806e-01 -8.56056868e-01 -1.98902440e-02 1.33683664e+02] [ 8.55435480e-01 5.16881620e-01 -3.26118028e-02 6.44591494e+01] [ 3.81984593e-02 -1.70863190e-04 9.99270158e-01 -1.49625425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75719347 meters 0.062120227829833535 Centerline is valid? [True, True] Translation: X:133.71, Y:64.48, Z:-1.50 [[ 5.12144760e-01 -8.58651851e-01 -2.06092790e-02 1.33705102e+02] [ 8.57985759e-01 5.12559134e-01 -3.38167333e-02 6.44793690e+01] [ 3.96002748e-02 -3.63405065e-04 9.99215535e-01 -1.49646990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78719347 meters 0.06324590056235871 Centerline is valid? [True, True] Translation: X:133.73, Y:64.50, Z:-1.50 [[ 5.08025828e-01 -8.61077727e-01 -2.13285289e-02 1.33726012e+02] [ 8.60365997e-01 5.08473035e-01 -3.50074887e-02 6.44983437e+01] [ 4.09891506e-02 -5.65632612e-04 9.99159432e-01 -1.49893228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81719347 meters 0.06469645820024554 Centerline is valid? [True, True] Translation: X:133.75, Y:64.51, Z:-1.50 [[ 5.00543831e-01 -8.65395401e-01 -2.33810578e-02 1.33754074e+02] [ 8.64543154e-01 5.01088639e-01 -3.84097753e-02 6.45142304e+01] [ 4.49556253e-02 -9.88157403e-04 9.98988496e-01 -1.49700328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84719347 meters 0.06542794157251355 Centerline is valid? [True, True] Translation: X:133.78, Y:64.53, Z:-1.50 [[ 4.97334924e-01 -8.67271114e-01 -2.23335526e-02 1.33776502e+02] [ 8.66494135e-01 4.97834939e-01 -3.67190335e-02 6.45335893e+01] [ 4.29637799e-02 -1.09023458e-03 9.99076036e-01 -1.49546139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87719347 meters 0.06542794157251355 Centerline is valid? [True, True] Translation: X:133.79, Y:64.56, Z:-1.50 [[ 4.97023877e-01 -8.67449749e-01 -2.23203784e-02 1.33790597e+02] [ 8.66672590e-01 4.97523613e-01 -3.67270438e-02 6.45572544e+01] [ 4.29637802e-02 -1.09024243e-03 9.99076036e-01 -1.49568853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90719347 meters 0.06638382259003592 Centerline is valid? [True, True] Translation: X:133.81, Y:64.58, Z:-1.50 [[ 4.93925690e-01 -8.69229966e-01 -2.18329656e-02 1.33812764e+02] [ 8.68487034e-01 4.94406528e-01 -3.59507523e-02 6.45760628e+01] [ 4.20438319e-02 -1.20464744e-03 9.99115041e-01 -1.49517181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93719347 meters 0.06720987114230376 Centerline is valid? [True, True] Translation: X:133.84, Y:64.59, Z:-1.49 [[ 4.90012281e-01 -8.71474292e-01 -2.05066336e-02 1.33835655e+02] [ 8.70819686e-01 4.90439472e-01 -3.37964289e-02 6.45943841e+01] [ 3.95099815e-02 -1.29691504e-03 9.99218334e-01 -1.49078271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96719347 meters 0.0667307373990572 Centerline is valid? [True, True] Translation: X:133.85, Y:64.62, Z:-1.49 [[ 4.89979120e-01 -8.71510315e-01 -1.97543016e-02 1.33850302e+02] [ 8.70902047e-01 4.90375601e-01 -3.25790569e-02 6.46192649e+01] [ 3.80800117e-02 -1.24100412e-03 9.99273923e-01 -1.48828419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99719346999998 meters 0.06938398395518795 Centerline is valid? [True, True] Translation: X:133.87, Y:64.64, Z:-1.49 [[ 4.89730069e-01 -8.71667098e-01 -1.89981540e-02 1.33869053e+02] [ 8.71104100e-01 4.90096966e-01 -3.13466414e-02 6.46401471e+01] [ 3.66347736e-02 -1.19797700e-03 9.99328003e-01 -1.49363901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02719347 meters 0.06784532567826856 Centerline is valid? [True, True] Translation: X:133.88, Y:64.67, Z:-1.49 [[ 4.88911066e-01 -8.72141966e-01 -1.82855151e-02 1.33882422e+02] [ 8.71619913e-01 4.89251478e-01 -3.01946835e-02 6.46655638e+01] [ 3.52802659e-02 -1.17550424e-03 9.99376766e-01 -1.48824509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05719347 meters 0.06726107703162656 Centerline is valid? [True, True] Translation: X:133.90, Y:64.69, Z:-1.48 [[ 4.85114137e-01 -8.74280621e-01 -1.72530931e-02 1.33900218e+02] [ 8.73816470e-01 4.85419248e-01 -2.85119213e-02 6.46874138e+01] [ 3.33024037e-02 -1.24450083e-03 9.99444546e-01 -1.48179235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08719347 meters 0.06916833086917734 Centerline is valid? [True, True] Translation: X:133.92, Y:64.71, Z:-1.48 [[ 4.81626797e-01 -8.76207985e-01 -1.71812672e-02 1.33920450e+02] [ 8.75748126e-01 4.81931237e-01 -2.84165876e-02 6.47072662e+01] [ 3.31790303e-02 -1.36027252e-03 9.99448499e-01 -1.48320521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11719347 meters 0.07371009477972432 Centerline is valid? [True, True] Translation: X:133.94, Y:64.72, Z:-1.49 [[ 4.76956544e-01 -8.78749019e-01 -1.76809709e-02 1.33943389e+02] [ 8.78263025e-01 4.77281566e-01 -2.92637266e-02 6.47248972e+01] [ 3.41542726e-02 -1.57101710e-03 9.99415338e-01 -1.48836848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14719347 meters 0.07409485891620038 Centerline is valid? [True, True] Translation: X:133.96, Y:64.75, Z:-1.49 [[ 4.69990612e-01 -8.82445877e-01 -1.99524015e-02 1.33957162e+02] [ 8.81829150e-01 4.70409423e-01 -3.30503437e-02 6.47490121e+01] [ 3.85509372e-02 -2.06125803e-03 9.99254510e-01 -1.48698305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17719347 meters 0.07570630465105539 Centerline is valid? [True, True] Translation: X:133.97, Y:64.77, Z:-1.49 [[ 4.68555244e-01 -8.83180620e-01 -2.11654298e-02 1.33970785e+02] [ 8.82486703e-01 4.69027673e-01 -3.50750701e-02 6.47726590e+01] [ 4.09047944e-02 -2.24360230e-03 9.99160530e-01 -1.48978556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20719347 meters 0.07597793621848863 Centerline is valid? [True, True] Translation: X:133.98, Y:64.80, Z:-1.49 [[ 4.67705219e-01 -8.83611912e-01 -2.19503442e-02 1.33982171e+02] [ 8.82864822e-01 4.68214111e-01 -3.64040094e-02 6.47989718e+01] [ 4.24444773e-02 -2.35284151e-03 9.99096057e-01 -1.49056062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23719347 meters 0.07621236960779636 Centerline is valid? [True, True] Translation: X:133.99, Y:64.82, Z:-1.49 [[ 4.67788511e-01 -8.83555068e-01 -2.24577764e-02 1.33994637e+02] [ 8.82771755e-01 4.68321188e-01 -3.72732272e-02 6.48247441e+01] [ 4.34504013e-02 -2.38910321e-03 9.99052729e-01 -1.49181945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26719347 meters 0.07632185900630362 Centerline is valid? [True, True] Translation: X:134.01, Y:64.85, Z:-1.49 [[ 4.68815122e-01 -8.83020431e-01 -2.20748677e-02 1.34006861e+02] [ 8.82262411e-01 4.69328948e-01 -3.66521053e-02 6.48488698e+01] [ 4.27249323e-02 -2.29276483e-03 9.99084242e-01 -1.49337898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29719347 meters 0.07544736029679006 Centerline is valid? [True, True] Translation: X:134.02, Y:64.88, Z:-1.49 [[ 4.70030379e-01 -8.82375630e-01 -2.20157001e-02 1.34015000e+02] [ 8.81619687e-01 4.70540484e-01 -3.65838907e-02 6.48770920e+01] [ 4.26400118e-02 -2.21393461e-03 9.99088048e-01 -1.49251648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32719347 meters 0.07336944017617614 Centerline is valid? [True, True] Translation: X:134.02, Y:64.91, Z:-1.49 [[ 4.69751643e-01 -8.82558317e-01 -2.05963850e-02 1.34022776e+02] [ 8.81895866e-01 4.70198379e-01 -3.42515197e-02 6.49057002e+01] [ 3.99133504e-02 -2.07415916e-03 9.99200992e-01 -1.48651233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35719347 meters 0.07220065527534109 Centerline is valid? [True, True] Translation: X:134.03, Y:64.93, Z:-1.48 [[ 4.70963325e-01 -8.81950573e-01 -1.88873981e-02 1.34030602e+02] [ 8.81392026e-01 4.71338304e-01 -3.14372403e-02 6.49332102e+01] [ 3.66284463e-02 -1.84141483e-03 9.99327257e-01 -1.48440317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38719347 meters 0.07148589276741964 Centerline is valid? [True, True] Translation: X:134.04, Y:64.96, Z:-1.48 [[ 4.72500309e-01 -8.81138054e-01 -1.84170180e-02 1.34039018e+02] [ 8.80605570e-01 4.72855960e-01 -3.06768893e-02 6.49611778e+01] [ 3.57391713e-02 -1.72328895e-03 9.99359666e-01 -1.48413895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41719347 meters 0.07300428542137019 Centerline is valid? [True, True] Translation: X:134.05, Y:64.99, Z:-1.49 [[ 4.75515416e-01 -8.79526274e-01 -1.78499736e-02 1.34049669e+02] [ 8.79024075e-01 4.75847833e-01 -2.97576030e-02 6.49860973e+01] [ 3.46664650e-02 -1.54035751e-03 9.99397750e-01 -1.48893534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44719347 meters 0.0682195455960569 Centerline is valid? [True, True] Translation: X:134.04, Y:65.02, Z:-1.49 [[ 4.83986609e-01 -8.74885207e-01 -1.82438445e-02 1.34042806e+02] [ 8.74356822e-01 4.84328786e-01 -3.04265399e-02 6.50233116e+01] [ 3.54557487e-02 -1.22559208e-03 9.99370496e-01 -1.48712104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47719347 meters 0.06715535953698715 Centerline is valid? [True, True] Translation: X:134.05, Y:65.05, Z:-1.49 [[ 4.87625492e-01 -8.72853080e-01 -1.86783590e-02 1.34048547e+02] [ 8.72296776e-01 4.87981877e-01 -3.11772748e-02 6.50527524e+01] [ 3.63278810e-02 -1.09023839e-03 9.99339330e-01 -1.48844434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50719347 meters 0.06626937887650675 Centerline is valid? [True, True] Translation: X:134.05, Y:65.08, Z:-1.49 [[ 4.91153322e-01 -8.70873301e-01 -1.86576185e-02 1.34054707e+02] [ 8.70315926e-01 4.91506691e-01 -3.11666909e-02 6.50816749e+01] [ 3.63125833e-02 -9.30398665e-04 9.99340048e-01 -1.49001599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53719347 meters 0.06510959385437241 Centerline is valid? [True, True] Translation: X:134.06, Y:65.11, Z:-1.49 [[ 4.96727552e-01 -8.67705958e-01 -1.86577039e-02 1.34056895e+02] [ 8.67145758e-01 4.97077353e-01 -3.11823488e-02 6.51117075e+01] [ 3.63314319e-02 -6.89816950e-04 9.99339558e-01 -1.49188125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56719347 meters 0.06473664584407358 Centerline is valid? [True, True] Translation: X:134.07, Y:65.14, Z:-1.49 [[ 4.98151873e-01 -8.66874498e-01 -1.93213879e-02 1.34066468e+02] [ 8.66272103e-01 4.98526024e-01 -3.23179002e-02 6.51388030e+01] [ 3.76477782e-02 -6.38356773e-04 9.99290867e-01 -1.49156354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59719347 meters 0.06451365522727712 Centerline is valid? [True, True] Translation: X:134.08, Y:65.16, Z:-1.49 [[ 4.99266972e-01 -8.66232781e-01 -1.93199447e-02 1.34077309e+02] [ 8.65629056e-01 4.99640306e-01 -3.23404103e-02 6.51648242e+01] [ 3.76673466e-02 -5.77406766e-04 9.99290167e-01 -1.49235588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62719347 meters 0.06465829171800931 Centerline is valid? [True, True] Translation: X:134.09, Y:65.19, Z:-1.49 [[ 4.99054749e-01 -8.66360886e-01 -1.90571020e-02 1.34088941e+02] [ 8.65772620e-01 4.99418157e-01 -3.19260875e-02 6.51894717e+01] [ 3.71769762e-02 -5.66251547e-04 9.99308537e-01 -1.49377507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65719347 meters 0.0644759485230115 Centerline is valid? [True, True] Translation: X:134.10, Y:65.21, Z:-1.49 [[ 4.96398492e-01 -8.67924069e-01 -1.72147658e-02 1.34102201e+02] [ 8.67444314e-01 4.96696530e-01 -2.88603572e-02 6.52148502e+01] [ 3.35991131e-02 -6.06612934e-04 9.99435206e-01 -1.49060469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68719347 meters 0.06404530247141459 Centerline is valid? [True, True] Translation: X:134.12, Y:65.24, Z:-1.49 [[ 4.94601415e-01 -8.68956935e-01 -1.68310852e-02 1.34116456e+02] [ 8.68498158e-01 4.94887283e-01 -2.82405188e-02 6.52387578e+01] [ 3.28692847e-02 -6.49965923e-04 9.99459448e-01 -1.48754216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71719347 meters 0.06392861366143561 Centerline is valid? [True, True] Translation: X:134.13, Y:65.26, Z:-1.49 [[ 4.93424953e-01 -8.69637209e-01 -1.62154322e-02 1.34132386e+02] [ 8.69211058e-01 4.93690885e-01 -2.72295043e-02 6.52624937e+01] [ 3.16852012e-02 -6.58916131e-04 9.99497681e-01 -1.48666743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74719346999998 meters 0.06455993596158158 Centerline is valid? [True, True] Translation: X:134.15, Y:65.28, Z:-1.49 [[ 4.92569752e-01 -8.70116343e-01 -1.65102425e-02 1.34148870e+02] [ 8.69674549e-01 4.92845880e-01 -2.77329679e-02 6.52845884e+01] [ 3.22679136e-02 -6.98116592e-04 9.99479011e-01 -1.48917732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77719347 meters 0.06435516308560703 Centerline is valid? [True, True] Translation: X:134.16, Y:65.31, Z:-1.49 [[ 4.95452492e-01 -8.68464685e-01 -1.72023256e-02 1.34162027e+02] [ 8.67983347e-01 4.95750669e-01 -2.89168341e-02 6.53080169e+01] [ 3.36413137e-02 -6.04414634e-04 9.99433788e-01 -1.49303090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80719347 meters 0.06383915012415885 Centerline is valid? [True, True] Translation: X:134.17, Y:65.33, Z:-1.49 [[ 4.97371873e-01 -8.67371954e-01 -1.69444331e-02 1.34174708e+02] [ 8.66903937e-01 4.97660152e-01 -2.84945256e-02 6.53338605e+01] [ 3.31479215e-02 -5.16820227e-04 9.99450323e-01 -1.49386252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83719347 meters 0.06307631555445425 Centerline is valid? [True, True] Translation: X:134.19, Y:65.36, Z:-1.49 [[ 4.98944621e-01 -8.66487858e-01 -1.59077725e-02 1.34187586e+02] [ 8.66074508e-01 4.99197969e-01 -2.67644308e-02 6.53594349e+01] [ 3.11321821e-02 -4.23347486e-04 9.99515186e-01 -1.49164796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86719347 meters 0.06207264410857888 Centerline is valid? [True, True] Translation: X:134.20, Y:65.38, Z:-1.49 [[ 5.01318868e-01 -8.65144100e-01 -1.43205765e-02 1.34200858e+02] [ 8.64808004e-01 5.01523279e-01 -2.41146788e-02 6.53847990e+01] [ 2.80447746e-02 -2.95405642e-04 9.99606624e-01 -1.48802181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89719347 meters 0.06227719982440263 Centerline is valid? [True, True] Translation: X:134.22, Y:65.41, Z:-1.49 [[ 5.02667467e-01 -8.64372980e-01 -1.35929683e-02 1.34215119e+02] [ 8.64069617e-01 5.02851167e-01 -2.28997929e-02 6.54082046e+01] [ 2.66292022e-02 -2.34289995e-04 9.99645352e-01 -1.49147380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92719347 meters 0.06171942359079232 Centerline is valid? [True, True] Translation: X:134.23, Y:65.43, Z:-1.49 [[ 5.04455616e-01 -8.63328814e-01 -1.37073433e-02 1.34228555e+02] [ 8.63019394e-01 5.04641784e-01 -2.31126520e-02 6.54331848e+01] [ 2.68711166e-02 -1.70395991e-04 9.99638892e-01 -1.48977921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95719347 meters 0.061660236711180504 Centerline is valid? [True, True] Translation: X:134.24, Y:65.46, Z:-1.49 [[ 5.06329786e-01 -8.62227703e-01 -1.39117431e-02 1.34242738e+02] [ 8.61908130e-01 5.06520856e-01 -2.34733601e-02 6.54565426e+01] [ 2.72859694e-02 -1.05383044e-04 9.99627663e-01 -1.49141572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98719347 meters 0.06112561496476974 Centerline is valid? [True, True] Translation: X:134.26, Y:65.48, Z:-1.49 [[ 5.07606371e-01 -8.61475532e-01 -1.39885821e-02 1.34258067e+02] [ 8.61151575e-01 5.07799079e-01 -2.36232872e-02 6.54803830e+01] [ 2.74542730e-02 -5.49584596e-05 9.99623059e-01 -1.48892236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01719347 meters 0.060924080298726695 Centerline is valid? [True, True] Translation: X:134.28, Y:65.50, Z:-1.49 [[ 5.09047956e-01 -8.60655658e-01 -1.19170979e-02 1.34275325e+02] [ 8.60420192e-01 5.09187429e-01 -2.01309659e-02 6.55016174e+01] [ 2.33938662e-02 -6.08457740e-06 9.99726326e-01 -1.49048218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04719347 meters 0.06046119973452971 Centerline is valid? [True, True] Translation: X:134.29, Y:65.52, Z:-1.49 [[ 5.09140932e-01 -8.60603686e-01 -1.16964284e-02 1.34291212e+02] [ 8.60376402e-01 5.09275264e-01 -1.97775802e-02 6.55248900e+01] [ 2.29773601e-02 6.24468330e-06 9.99735986e-01 -1.48756852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07719347 meters 0.06034649303350712 Centerline is valid? [True, True] Translation: X:134.31, Y:65.55, Z:-1.49 [[ 5.09603499e-01 -8.60337651e-01 -1.11085276e-02 1.34308012e+02] [ 8.60132247e-01 5.09724558e-01 -1.87987302e-02 6.55480143e+01] [ 2.18355447e-02 2.50959154e-05 9.99761576e-01 -1.48737022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10719347 meters 0.06056577908383407 Centerline is valid? [True, True] Translation: X:134.32, Y:65.57, Z:-1.49 [[ 5.10502811e-01 -8.59811794e-01 -1.05147081e-02 1.34324758e+02] [ 8.59627439e-01 5.10611081e-01 -1.78042097e-02 6.55699866e+01] [ 2.06771960e-02 5.03674776e-05 9.99786203e-01 -1.48940397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13719347 meters 0.060457270611725865 Centerline is valid? [True, True] Translation: X:134.35, Y:65.59, Z:-1.49 [[ 5.11606274e-01 -8.59160537e-01 -1.01090228e-02 1.34348197e+02] [ 8.58989712e-01 5.11706132e-01 -1.71321060e-02 6.55887860e+01] [ 1.98920784e-02 8.13463071e-05 9.99802130e-01 -1.49011765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16719347 meters 0.06061536325680045 Centerline is valid? [True, True] Translation: X:134.37, Y:65.61, Z:-1.49 [[ 5.11298906e-01 -8.59339764e-01 -1.04210675e-02 1.34366934e+02] [ 8.59157982e-01 5.11405087e-01 -1.76748180e-02 6.56096898e+01] [ 2.05180608e-02 8.37718003e-05 9.99789479e-01 -1.49170190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19719347 meters 0.06071177026385771 Centerline is valid? [True, True] Translation: X:134.39, Y:65.63, Z:-1.49 [[ 5.09582910e-01 -8.60349601e-01 -1.11275167e-02 1.34387188e+02] [ 8.60142274e-01 5.09704385e-01 -1.88867140e-02 6.56310469e+01] [ 2.19209210e-02 5.30991743e-05 9.99759706e-01 -1.49259448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22719347 meters 0.06079512609186448 Centerline is valid? [True, True] Translation: X:134.41, Y:65.65, Z:-1.49 [[ 5.07142249e-01 -8.61788456e-01 -1.12870394e-02 1.34407462e+02] [ 8.61575142e-01 5.07267836e-01 -1.91733347e-02 6.56516039e+01] [ 2.22489106e-02 -1.02452291e-06 9.99752462e-01 -1.49301892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25719347 meters 0.06125950867141207 Centerline is valid? [True, True] Translation: X:134.44, Y:65.67, Z:-1.49 [[ 5.00503018e-01 -8.65674425e-01 -1.02234104e-02 1.34437348e+02] [ 8.65499921e-01 5.00607398e-01 -1.73815794e-02 6.56653185e+01] [ 2.01647036e-02 -1.48827929e-04 9.99796661e-01 -1.49232025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28719347 meters 0.06169199157411612 Centerline is valid? [True, True] Translation: X:134.46, Y:65.68, Z:-1.49 [[ 4.95965890e-01 -8.68287269e-01 -9.74961046e-03 1.34460158e+02] [ 8.68128801e-01 4.96061653e-01 -1.65897879e-02 6.56841367e+01] [ 1.92411095e-02 -2.35948713e-04 9.99814845e-01 -1.49061538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31719347 meters 0.0626630642644833 Centerline is valid? [True, True] Translation: X:134.48, Y:65.70, Z:-1.49 [[ 4.91572316e-01 -8.70788611e-01 -9.15713705e-03 1.34483931e+02] [ 8.70649142e-01 4.91657501e-01 -1.55875900e-02 6.57018484e+01] [ 1.80756709e-02 -3.10225810e-04 9.99836574e-01 -1.49140532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34719347 meters 0.06486785152168686 Centerline is valid? [True, True] Translation: X:134.51, Y:65.72, Z:-1.49 [[ 4.82415505e-01 -8.75888386e-01 -9.73731971e-03 1.34512830e+02] [ 8.75731530e-01 4.82513479e-01 -1.65840321e-02 6.57171472e+01] [ 1.92241491e-02 -5.26883676e-04 9.99815060e-01 -1.49120438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37719347 meters 0.06615499966311093 Centerline is valid? [True, True] Translation: X:134.53, Y:65.74, Z:-1.49 [[ 4.78225994e-01 -8.78177521e-01 -1.02048987e-02 1.34532410e+02] [ 8.78005453e-01 4.78334434e-01 -1.73952336e-02 6.57385874e+01] [ 2.01574576e-02 -6.41103832e-04 9.99796612e-01 -1.49286267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40719347 meters 0.06789696833327107 Centerline is valid? [True, True] Translation: X:134.55, Y:65.76, Z:-1.49 [[ 4.74091566e-01 -8.80413628e-01 -1.04417676e-02 1.34551546e+02] [ 8.80233738e-01 4.74205953e-01 -1.78123919e-02 6.57600638e+01] [ 2.06338209e-02 -7.46491394e-04 9.99786821e-01 -1.49442032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43719347 meters 0.06931918417139793 Centerline is valid? [True, True] Translation: X:134.57, Y:65.78, Z:-1.50 [[ 4.70716576e-01 -8.82225152e-01 -1.02316337e-02 1.34569210e+02] [ 8.82052757e-01 4.70827070e-01 -1.74586214e-02 6.57810077e+01] [ 2.02197650e-02 -8.06778221e-04 9.99795234e-01 -1.49504951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46719347 meters 0.07201987720616704 Centerline is valid? [True, True] Translation: X:134.59, Y:65.80, Z:-1.49 [[ 4.64756943e-01 -8.85386909e-01 -9.53960907e-03 1.34589178e+02] [ 8.85237524e-01 4.64854014e-01 -1.62871572e-02 6.58012151e+01] [ 1.88549613e-02 -8.75250523e-04 9.99821846e-01 -1.49426601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49719346999998 meters 0.07199841075812724 Centerline is valid? [True, True] Translation: X:134.60, Y:65.83, Z:-1.49 [[ 4.61690933e-01 -8.86990826e-01 -9.42105250e-03 1.34602589e+02] [ 8.86845175e-01 4.61786124e-01 -1.61000365e-02 6.58256841e+01] [ 1.86310960e-02 -9.21774086e-04 9.99826001e-01 -1.49246334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52719347 meters 0.07281271156398453 Centerline is valid? [True, True] Translation: X:134.62, Y:65.85, Z:-1.49 [[ 4.59674224e-01 -8.88041461e-01 -9.05381639e-03 1.34617729e+02] [ 8.87906939e-01 4.59762455e-01 -1.54839404e-02 6.58497601e+01] [ 1.79129859e-02 -9.21378110e-04 9.99839125e-01 -1.49178332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55719347 meters 0.07348840512488208 Centerline is valid? [True, True] Translation: X:134.63, Y:65.87, Z:-1.49 [[ 4.57646730e-01 -8.89091088e-01 -8.74690115e-03 1.34631866e+02] [ 8.88965505e-01 4.57729379e-01 -1.49715107e-02 6.58737598e+01] [ 1.73147504e-02 -9.24030457e-04 9.99849661e-01 -1.49165926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58719347 meters 0.0753231068126087 Centerline is valid? [True, True] Translation: X:134.65, Y:65.90, Z:-1.49 [[ 4.56490389e-01 -8.89696475e-01 -7.53041089e-03 1.34645728e+02] [ 8.89603297e-01 4.56551779e-01 -1.29014423e-02 6.58964798e+01] [ 1.49163902e-02 -8.09693934e-04 9.99888417e-01 -1.49158973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61719347 meters 0.07246288074792753 Centerline is valid? [True, True] Translation: X:134.65, Y:65.93, Z:-1.49 [[ 4.57128120e-01 -8.89381640e-01 -5.84640117e-03 1.34652264e+02] [ 8.89325355e-01 4.57165089e-01 -1.00246660e-02 6.59258739e+01] [ 1.15885244e-02 -6.16796074e-04 9.99932661e-01 -1.48843348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64719347 meters 0.07429778037766922 Centerline is valid? [True, True] Translation: X:134.66, Y:65.95, Z:-1.49 [[ 4.58727624e-01 -8.88561838e-01 -5.17949718e-03 1.34664943e+02] [ 8.88517592e-01 4.58756561e-01 -8.88296286e-03 6.59494864e+01] [ 1.02691901e-02 -5.27213921e-04 9.99947131e-01 -1.48921100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67719347 meters 0.0707322362421327 Centerline is valid? [True, True] Translation: X:134.67, Y:65.98, Z:-1.49 [[ 4.61430974e-01 -8.87167892e-01 -3.81922471e-03 1.34668467e+02] [ 8.87143750e-01 4.61446637e-01 -6.55505458e-03 6.59802227e+01] [ 7.57780235e-03 -3.63496109e-04 9.99971222e-01 -1.48587771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70719347 meters 0.06921646620523401 Centerline is valid? [True, True] Translation: X:134.68, Y:66.01, Z:-1.48 [[ 4.63663618e-01 -8.86006388e-01 -2.95450336e-03 1.34675218e+02] [ 8.85991880e-01 4.63672957e-01 -5.07720675e-03 6.60093803e+01] [ 5.86836092e-03 -2.63549931e-04 9.99982746e-01 -1.48472372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73719347 meters 0.06583231755113461 Centerline is valid? [True, True] Translation: X:134.67, Y:66.04, Z:-1.48 [[ 4.70310633e-01 -8.82497050e-01 -2.62023547e-03 1.34674871e+02] [ 8.82485578e-01 4.70317892e-01 -4.50399022e-03 6.60424051e+01] [ 5.20710170e-03 -1.94045526e-04 9.99986424e-01 -1.48359993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76719347 meters 0.06583231755113461 Centerline is valid? [True, True] Translation: X:134.69, Y:66.07, Z:-1.48 [[ 4.69992571e-01 -8.82666489e-01 -2.61763532e-03 1.34688513e+02] [ 8.82655011e-01 4.69999821e-01 -4.50550310e-03 6.60663135e+01] [ 5.20714473e-03 -1.92915947e-04 9.99986424e-01 -1.48382695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79719347 meters 0.06486235307713964 Centerline is valid? [True, True] Translation: X:134.70, Y:66.09, Z:-1.49 [[ 4.72809762e-01 -8.81156644e-01 -3.72811562e-03 1.34697467e+02] [ 8.81133301e-01 4.72824393e-01 -6.41866646e-03 6.60941999e+01] [ 7.41859460e-03 -2.50158668e-04 9.99972451e-01 -1.48574898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82719347 meters 0.06512144982440513 Centerline is valid? [True, True] Translation: X:134.71, Y:66.12, Z:-1.49 [[ 4.75172725e-01 -8.79880956e-01 -4.51492243e-03 1.34708415e+02] [ 8.79846615e-01 4.75194094e-01 -7.77859616e-03 6.61199220e+01] [ 8.98970310e-03 -2.76262480e-04 9.99959554e-01 -1.49003150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85719347 meters 0.06375361634593607 Centerline is valid? [True, True] Translation: X:134.72, Y:66.15, Z:-1.49 [[ 4.77509390e-01 -8.78613882e-01 -4.73589653e-03 1.34715959e+02] [ 8.78575986e-01 4.77532803e-01 -8.16448969e-03 6.61489225e+01] [ 9.43497992e-03 -2.62224472e-04 9.99955455e-01 -1.49008126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88719347 meters 0.06277270691440173 Centerline is valid? [True, True] Translation: X:134.72, Y:66.18, Z:-1.49 [[ 4.81990075e-01 -8.76157648e-01 -5.77428338e-03 1.34719183e+02] [ 8.76101103e-01 4.82024593e-01 -9.95741578e-03 6.61784888e+01] [ 1.15076126e-02 -2.59480454e-04 9.99933752e-01 -1.49417443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91719347 meters 0.062329793830539444 Centerline is valid? [True, True] Translation: X:134.73, Y:66.21, Z:-1.50 [[ 4.84159429e-01 -8.74954911e-01 -6.59938430e-03 1.34728276e+02] [ 8.74880801e-01 4.84204334e-01 -1.13906205e-02 6.62054656e+01] [ 1.31617298e-02 -2.58798319e-04 9.99913347e-01 -1.49647815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94719347 meters 0.062092130362790134 Centerline is valid? [True, True] Translation: X:134.74, Y:66.23, Z:-1.50 [[ 4.85267872e-01 -8.74335000e-01 -7.30752849e-03 1.34738000e+02] [ 8.74243926e-01 4.85322818e-01 -1.26221995e-02 6.62324436e+01] [ 1.45825411e-02 -2.63414494e-04 9.99893634e-01 -1.49846822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97719347 meters 0.06156495178462633 Centerline is valid? [True, True] Translation: X:134.74, Y:66.26, Z:-1.50 [[ 4.89034671e-01 -8.72227534e-01 -8.01365436e-03 1.34742802e+02] [ 8.72117630e-01 4.89100278e-01 -1.38476516e-02 6.62610169e+01] [ 1.59977836e-02 -2.16867495e-04 9.99872004e-01 -1.50126708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00719347 meters 0.061244781738385684 Centerline is valid? [True, True] Translation: X:134.75, Y:66.29, Z:-1.50 [[ 4.90923255e-01 -8.71160894e-01 -8.54719246e-03 1.34753681e+02] [ 8.71035486e-01 4.90997618e-01 -1.47824535e-02 6.62875785e+01] [ 1.70745465e-02 -1.87857762e-04 9.99854202e-01 -1.50233200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03719347 meters 0.06122043572594809 Centerline is valid? [True, True] Translation: X:134.77, Y:66.31, Z:-1.50 [[ 4.92106209e-01 -8.70488232e-01 -9.03979181e-03 1.34765609e+02] [ 8.70347604e-01 4.92189202e-01 -1.56472829e-02 6.63123367e+01] [ 1.80700635e-02 -1.67636073e-04 9.99836709e-01 -1.50470939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06719347 meters 0.06063039958179761 Centerline is valid? [True, True] Translation: X:134.78, Y:66.34, Z:-1.50 [[ 4.94552351e-01 -8.69098461e-01 -9.26484907e-03 1.34776997e+02] [ 8.68950265e-01 4.94639113e-01 -1.60494216e-02 6.63384010e+01] [ 1.85312843e-02 -1.13413876e-04 9.99828275e-01 -1.50377802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09719347 meters 0.06012373731667657 Centerline is valid? [True, True] Translation: X:134.79, Y:66.37, Z:-1.50 [[ 4.98726856e-01 -8.66721119e-01 -8.12550086e-03 1.34785076e+02] [ 8.66606634e-01 4.98793044e-01 -1.40869154e-02 6.63657677e+01] [ 1.62623704e-02 -1.60898952e-05 9.99867759e-01 -1.50316509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12719347 meters 0.05987831082972649 Centerline is valid? [True, True] Translation: X:134.80, Y:66.39, Z:-1.50 [[ 4.99681281e-01 -8.66174958e-01 -7.71743558e-03 1.34796130e+02] [ 8.66071442e-01 4.99740874e-01 -1.33908983e-02 6.63917315e+01] [ 1.54555788e-02 7.33068147e-06 9.99880555e-01 -1.50147699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15719347 meters 0.059983397024125355 Centerline is valid? [True, True] Translation: X:134.81, Y:66.42, Z:-1.50 [[ 5.00794827e-01 -8.65534680e-01 -7.36608486e-03 1.34807459e+02] [ 8.65440226e-01 5.00848997e-01 -1.27866001e-02 6.64163854e+01] [ 1.47565420e-02 2.85570497e-05 9.99891116e-01 -1.50401474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18719347 meters 0.060147947729030475 Centerline is valid? [True, True] Translation: X:134.82, Y:66.44, Z:-1.50 [[ 5.00742462e-01 -8.65564464e-01 -7.42601303e-03 1.34821393e+02] [ 8.65468297e-01 5.00797522e-01 -1.29022620e-02 6.64401519e+01] [ 1.48866684e-02 3.37316005e-05 9.99889187e-01 -1.50495439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21719347 meters 0.05995560271696475 Centerline is valid? [True, True] Translation: X:134.84, Y:66.46, Z:-1.51 [[ 4.99543938e-01 -8.66258378e-01 -7.23027196e-03 1.34840115e+02] [ 8.66167133e-01 4.99596259e-01 -1.25727761e-02 6.64617961e+01] [ 1.45034894e-02 1.80301422e-05 9.99894819e-01 -1.50506655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24719346999998 meters 0.06001740130152392 Centerline is valid? [True, True] Translation: X:134.86, Y:66.48, Z:-1.51 [[ 4.98560667e-01 -8.66825902e-01 -7.07935974e-03 1.34855712e+02] [ 8.66738329e-01 4.98610926e-01 -1.23212735e-02 6.64838901e+01] [ 1.42102451e-02 6.94989983e-06 9.99899029e-01 -1.50690267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27719347 meters 0.060083963394489896 Centerline is valid? [True, True] Translation: X:134.87, Y:66.51, Z:-1.51 [[ 4.98340627e-01 -8.66946305e-01 -7.79255756e-03 1.34870985e+02] [ 8.66840069e-01 4.98401549e-01 -1.35716913e-02 6.65080074e+01] [ 1.56497504e-02 8.42403164e-06 9.99877535e-01 -1.50719064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30719347 meters 0.06033756667791311 Centerline is valid? [True, True] Translation: X:134.89, Y:66.53, Z:-1.51 [[ 4.99910515e-01 -8.66038464e-01 -8.17654268e-03 1.34886061e+02] [ 8.65921219e-01 4.99977376e-01 -1.42500902e-02 6.65302407e+01] [ 1.64292125e-02 4.35281002e-05 9.99865030e-01 -1.50978357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33719347 meters 0.06035717624006525 Centerline is valid? [True, True] Translation: X:134.90, Y:66.55, Z:-1.51 [[ 5.01784480e-01 -8.64954477e-01 -8.12949185e-03 1.34901362e+02] [ 8.64838245e-01 5.01850322e-01 -1.41796979e-02 6.65532386e+01] [ 1.63445813e-02 8.44568877e-05 9.99866415e-01 -1.51035346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36719347 meters 0.060106485793169115 Centerline is valid? [True, True] Translation: X:134.92, Y:66.58, Z:-1.51 [[ 5.02973210e-01 -8.64263263e-01 -8.18309574e-03 1.34918722e+02] [ 8.64145206e-01 5.03039760e-01 -1.42850498e-02 6.65756870e+01] [ 1.64624663e-02 1.13614410e-04 9.99864478e-01 -1.50765115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39719347 meters 0.060231458771965195 Centerline is valid? [True, True] Translation: X:134.93, Y:66.60, Z:-1.51 [[ 5.03821070e-01 -8.63769949e-01 -8.11201346e-03 1.34934543e+02] [ 8.63653704e-01 5.03886353e-01 -1.41711591e-02 6.65976323e+01] [ 1.63281543e-02 1.33758076e-04 9.99866678e-01 -1.50921865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42719347 meters 0.05983866972825602 Centerline is valid? [True, True] Translation: X:134.95, Y:66.62, Z:-1.51 [[ 5.03872571e-01 -8.63754917e-01 -6.31465311e-03 1.34951294e+02] [ 8.63684425e-01 5.03912127e-01 -1.10354914e-02 6.66191258e+01] [ 1.27139903e-02 1.06613903e-04 9.99919168e-01 -1.50655356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45719347 meters 0.05948698061364503 Centerline is valid? [True, True] Translation: X:134.97, Y:66.64, Z:-1.50 [[ 5.02616013e-01 -8.64489729e-01 -5.88667684e-03 1.34969356e+02] [ 8.64428388e-01 5.02650477e-01 -1.02986075e-02 6.66413250e+01] [ 1.18619814e-02 8.76344874e-05 9.99929640e-01 -1.50264007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48719347 meters 0.059558702612323655 Centerline is valid? [True, True] Translation: X:134.99, Y:66.66, Z:-1.50 [[ 5.01408334e-01 -8.65191406e-01 -5.78905003e-03 1.34988212e+02] [ 8.65132034e-01 5.01441747e-01 -1.01360074e-02 6.66629558e+01] [ 1.16724579e-02 7.39859783e-05 9.99931872e-01 -1.50404679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51719347 meters 0.05962367582636068 Centerline is valid? [True, True] Translation: X:135.01, Y:66.68, Z:-1.51 [[ 4.99827035e-01 -8.66102218e-01 -6.31525585e-03 1.35008131e+02] [ 8.66031518e-01 4.99866926e-01 -1.10664472e-02 6.66830323e+01] [ 1.27414620e-02 6.20988974e-05 9.99918822e-01 -1.50543932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54719347 meters 0.05978250257989848 Centerline is valid? [True, True] Translation: X:135.03, Y:66.70, Z:-1.51 [[ 4.96700964e-01 -8.67888224e-01 -7.62781424e-03 1.35034137e+02] [ 8.67785160e-01 4.96759530e-01 -1.33748365e-02 6.67007576e+01] [ 1.53970525e-02 2.39901805e-05 9.99881458e-01 -1.50699891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57719347 meters 0.060008742701375024 Centerline is valid? [True, True] Translation: X:135.05, Y:66.72, Z:-1.51 [[ 4.95648489e-01 -8.68481213e-01 -8.54156541e-03 1.35051922e+02] [ 8.68351887e-01 4.95722082e-01 -1.49872637e-02 6.67221580e+01] [ 1.72503995e-02 1.13301592e-05 9.99851201e-01 -1.50915942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60719347 meters 0.0598993594855323 Centerline is valid? [True, True] Translation: X:135.07, Y:66.74, Z:-1.51 [[ 4.95341554e-01 -8.68657888e-01 -8.37958636e-03 1.35071634e+02] [ 8.68533223e-01 4.95412427e-01 -1.47162130e-02 6.67417376e+01] [ 1.69347057e-02 1.16026762e-05 9.99856598e-01 -1.50990512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63719347 meters 0.05998394749917974 Centerline is valid? [True, True] Translation: X:135.09, Y:66.76, Z:-1.51 [[ 4.96023714e-01 -8.68265679e-01 -8.67097177e-03 1.35086878e+02] [ 8.68131931e-01 4.96099496e-01 -1.52394485e-02 6.67648623e+01] [ 1.75335548e-02 3.15803866e-05 9.99846275e-01 -1.51008875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66719347 meters 0.060029089693414625 Centerline is valid? [True, True] Translation: X:135.10, Y:66.79, Z:-1.51 [[ 4.97155980e-01 -8.67619167e-01 -8.53895468e-03 1.35101819e+02] [ 8.67489158e-01 4.97229302e-01 -1.50193839e-02 6.67884552e+01] [ 1.72769239e-02 5.95259296e-05 9.99850741e-01 -1.51073694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69719347 meters 0.06044265489815955 Centerline is valid? [True, True] Translation: X:135.12, Y:66.81, Z:-1.51 [[ 4.98355829e-01 -8.66919762e-01 -9.57043111e-03 1.35116069e+02] [ 8.66756213e-01 4.98447707e-01 -1.68389421e-02 6.68115150e+01] [ 1.93683712e-02 9.65543453e-05 9.99812411e-01 -1.51448952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72719347 meters 0.06062610306992231 Centerline is valid? [True, True] Translation: X:135.14, Y:66.83, Z:-1.52 [[ 4.99462172e-01 -8.66268633e-01 -1.07793760e-02 1.35135210e+02] [ 8.66060647e-01 4.99578457e-01 -1.89821082e-02 6.68328682e+01] [ 2.18287490e-02 1.45251678e-04 9.99761714e-01 -1.51500707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75719347 meters 0.060549129698321914 Centerline is valid? [True, True] Translation: X:135.15, Y:66.86, Z:-1.51 [[ 4.99069205e-01 -8.66501993e-01 -1.02090259e-02 1.35152659e+02] [ 8.66315207e-01 4.99173595e-01 -1.79912539e-02 6.68554274e+01] [ 2.06855335e-02 1.34646368e-04 9.99786022e-01 -1.51472581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78719347 meters 0.06017592996511508 Centerline is valid? [True, True] Translation: X:135.17, Y:66.88, Z:-1.51 [[ 4.98543779e-01 -8.66819698e-01 -8.81540902e-03 1.35171034e+02] [ 8.66680260e-01 4.98621699e-01 -1.55475902e-02 6.68773522e+01] [ 1.78725117e-02 1.11013403e-04 9.99840268e-01 -1.51122646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81719347 meters 0.060043565656490806 Centerline is valid? [True, True] Translation: X:135.19, Y:66.90, Z:-1.51 [[ 4.97853270e-01 -8.67223719e-01 -8.07114476e-03 1.35189026e+02] [ 8.67106768e-01 4.97918681e-01 -1.42421980e-02 6.68985009e+01] [ 1.63699456e-02 9.19805747e-05 9.99865999e-01 -1.51041230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84719347 meters 0.060137046592075034 Centerline is valid? [True, True] Translation: X:135.21, Y:66.92, Z:-1.51 [[ 4.93990499e-01 -8.69426221e-01 -8.45189181e-03 1.35214911e+02] [ 8.69298065e-01 4.94062796e-01 -1.49274387e-02 6.69152863e+01] [ 1.71540719e-02 2.67997143e-05 9.99852858e-01 -1.51266962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87719347 meters 0.06010369963175209 Centerline is valid? [True, True] Translation: X:135.24, Y:66.94, Z:-1.51 [[ 4.90605788e-01 -8.71338577e-01 -8.66289565e-03 1.35235813e+02] [ 8.71204038e-01 4.90682264e-01 -1.53114291e-02 6.69352337e+01] [ 1.75921681e-02 -3.52739282e-05 9.99845245e-01 -1.51212837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90719347 meters 0.060465856424282115 Centerline is valid? [True, True] Translation: X:135.26, Y:66.96, Z:-1.51 [[ 4.87185715e-01 -8.73247255e-01 -9.45043341e-03 1.35256323e+02] [ 8.73087259e-01 4.87277355e-01 -1.67157783e-02 6.69557397e+01] [ 1.92019897e-02 -1.07364601e-04 9.99815619e-01 -1.51329736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93719347 meters 0.06200624654309547 Centerline is valid? [True, True] Translation: X:135.28, Y:66.97, Z:-1.51 [[ 4.79550467e-01 -8.77464160e-01 -9.38076895e-03 1.35284274e+02] [ 8.77307126e-01 4.79642134e-01 -1.66020921e-02 6.69705247e+01] [ 1.90671529e-02 -2.68274415e-04 9.99818169e-01 -1.51445765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96719347 meters 0.06341289713921168 Centerline is valid? [True, True] Translation: X:135.31, Y:66.99, Z:-1.52 [[ 4.74642768e-01 -8.80126659e-01 -9.55545075e-03 1.35305639e+02] [ 8.79963974e-01 4.74738795e-01 -1.69257626e-02 6.69902199e+01] [ 1.94331581e-02 -3.74761606e-04 9.99811088e-01 -1.51555095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99719346999998 meters 0.06550201742173554 Centerline is valid? [True, True] Translation: X:135.33, Y:67.01, Z:-1.52 [[ 4.69987551e-01 -8.82617054e-01 -9.94172906e-03 1.35326916e+02] [ 8.82441220e-01 4.70092433e-01 -1.76237873e-02 6.70089302e+01] [ 2.02285868e-02 -4.90030910e-04 9.99795261e-01 -1.51758617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02719347 meters 0.067191398156865 Centerline is valid? [True, True] Translation: X:135.35, Y:67.03, Z:-1.52 [[ 4.66242081e-01 -8.84581549e-01 -1.15673895e-02 1.35345905e+02] [ 8.84343733e-01 4.66385082e-01 -2.05211208e-02 6.70293134e+01] [ 2.35474628e-02 -6.61738350e-04 9.99722501e-01 -1.51979829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05719347 meters 0.06912450147398316 Centerline is valid? [True, True] Translation: X:135.36, Y:67.05, Z:-1.52 [[ 4.60174553e-01 -8.87707104e-01 -1.46791881e-02 1.35363902e+02] [ 8.87325065e-01 4.60407463e-01 -2.60614153e-02 6.70512111e+01] [ 2.98933113e-02 -1.03241138e-03 9.99552562e-01 -1.52286183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08719347 meters 0.06794568313978454 Centerline is valid? [True, True] Translation: X:135.37, Y:67.08, Z:-1.52 [[ 4.57736047e-01 -8.88944503e-01 -1.59806579e-02 1.35374836e+02] [ 8.88491703e-01 4.58013348e-01 -2.83948263e-02 6.70776772e+01] [ 3.25607794e-02 -1.20134641e-03 9.99469035e-01 -1.52059174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11719347 meters 0.07149039865486902 Centerline is valid? [True, True] Translation: X:135.39, Y:67.10, Z:-1.53 [[ 4.55956786e-01 -8.89869383e-01 -1.53587479e-02 1.35393390e+02] [ 8.89450868e-01 4.56213795e-01 -2.73153284e-02 6.70983944e+01] [ 3.13139471e-02 -1.20624229e-03 9.99508870e-01 -1.52605668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14719347 meters 0.07444943189498175 Centerline is valid? [True, True] Translation: X:135.41, Y:67.12, Z:-1.53 [[ 4.54226471e-01 -8.90751837e-01 -1.54750662e-02 1.35410119e+02] [ 8.90326771e-01 4.54488240e-01 -2.75441680e-02 6.71198964e+01] [ 3.15682539e-02 -1.26657550e-03 9.99500796e-01 -1.52924440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17719347 meters 0.069282989930838 Centerline is valid? [True, True] Translation: X:135.41, Y:67.15, Z:-1.52 [[ 4.54653970e-01 -8.90557104e-01 -1.40645498e-02 1.35412043e+02] [ 8.90205281e-01 4.54870058e-01 -2.50556945e-02 6.71510839e+01] [ 2.87110694e-02 -1.12866555e-03 9.99587115e-01 -1.51862531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20719347 meters 0.06757537988361464 Centerline is valid? [True, True] Translation: X:135.42, Y:67.18, Z:-1.52 [[ 4.56021520e-01 -8.89863714e-01 -1.36727011e-02 1.35419513e+02] [ 8.89530347e-01 4.56225248e-01 -2.43779472e-02 6.71792641e+01] [ 2.79308821e-02 -1.04541400e-03 9.99609310e-01 -1.51574854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23719347 meters 0.06685371099539705 Centerline is valid? [True, True] Translation: X:135.43, Y:67.21, Z:-1.52 [[ 4.58848181e-01 -8.88421351e-01 -1.28782792e-02 1.35427931e+02] [ 8.88124491e-01 4.59028003e-01 -2.29821926e-02 6.72060161e+01] [ 2.63293613e-02 -8.92177874e-04 9.99652924e-01 -1.51586407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26719347 meters 0.06412017269740515 Centerline is valid? [True, True] Translation: X:135.43, Y:67.24, Z:-1.51 [[ 4.66813490e-01 -8.84265524e-01 -1.26352004e-02 1.35428218e+02] [ 8.83977734e-01 4.66984026e-01 -2.25673505e-02 6.72379137e+01] [ 2.58559668e-02 -6.34492108e-04 9.99665477e-01 -1.51491612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29719347 meters 0.06340602819413209 Centerline is valid? [True, True] Translation: X:135.44, Y:67.26, Z:-1.52 [[ 4.69789056e-01 -8.82685268e-01 -1.28436826e-02 1.35435459e+02] [ 8.82386836e-01 4.69964272e-01 -2.29576820e-02 6.72644996e+01] [ 2.63004796e-02 -5.47828750e-04 9.99653932e-01 -1.51641015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32719347 meters 0.06253772753405133 Centerline is valid? [True, True] Translation: X:135.44, Y:67.29, Z:-1.52 [[ 4.73061859e-01 -8.80943048e-01 -1.23216487e-02 1.35443752e+02] [ 8.80667323e-01 4.73222111e-01 -2.20431311e-02 6.72920124e+01] [ 2.52496197e-02 -4.23508826e-04 9.99681088e-01 -1.51742577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35719347 meters 0.061633110513134255 Centerline is valid? [True, True] Translation: X:135.45, Y:67.32, Z:-1.52 [[ 4.74714634e-01 -8.80051577e-01 -1.24594824e-02 1.35452521e+02] [ 8.79768855e-01 4.74877968e-01 -2.23086689e-02 6.73187242e+01] [ 2.55495129e-02 -3.71213014e-04 9.99673489e-01 -1.51569117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38719347 meters 0.061642037631671316 Centerline is valid? [True, True] Translation: X:135.46, Y:67.35, Z:-1.52 [[ 4.78094465e-01 -8.78212053e-01 -1.30104562e-02 1.35460500e+02] [ 8.77902752e-01 4.78271379e-01 -2.33076233e-02 6.73457080e+01] [ 2.66915645e-02 -2.78669589e-04 9.99643678e-01 -1.52093488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41719347 meters 0.06157913531636449 Centerline is valid? [True, True] Translation: X:135.47, Y:67.37, Z:-1.52 [[ 4.78212088e-01 -8.78151819e-01 -1.27507445e-02 1.35471770e+02] [ 8.77854216e-01 4.78381976e-01 -2.28617761e-02 6.73711431e+01] [ 2.61758367e-02 -2.60517159e-04 9.99657320e-01 -1.52189130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44719347 meters 0.06121799103808119 Centerline is valid? [True, True] Translation: X:135.48, Y:67.40, Z:-1.52 [[ 4.78412097e-01 -8.78042479e-01 -1.27776986e-02 1.35483552e+02] [ 8.77743073e-01 4.78582641e-01 -2.29293056e-02 6.73967515e+01] [ 2.62480891e-02 -2.45879214e-04 9.99655429e-01 -1.52012732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47719347 meters 0.0613113196562929 Centerline is valid? [True, True] Translation: X:135.50, Y:67.42, Z:-1.52 [[ 4.78389806e-01 -8.78051436e-01 -1.29949640e-02 1.35495763e+02] [ 8.77741217e-01 4.78566210e-01 -2.33396167e-02 6.74204864e+01] [ 2.67123346e-02 -2.40780795e-04 9.99643133e-01 -1.52101839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50719347 meters 0.06108735720359262 Centerline is valid? [True, True] Translation: X:135.51, Y:67.44, Z:-1.52 [[ 4.79014239e-01 -8.77724319e-01 -1.20573159e-02 1.35508628e+02] [ 8.77456942e-01 4.79165920e-01 -2.16641719e-02 6.74444021e+01] [ 2.47926254e-02 -2.02328713e-04 9.99692595e-01 -1.52109292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53719347 meters 0.061216677833239926 Centerline is valid? [True, True] Translation: X:135.52, Y:67.47, Z:-1.52 [[ 4.77889572e-01 -8.78332163e-01 -1.24164316e-02 1.35523101e+02] [ 8.78048345e-01 4.78050789e-01 -2.23281424e-02 6.74687737e+01] [ 2.55472106e-02 -2.31840821e-04 9.99673590e-01 -1.52092443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56719347 meters 0.06150993010789127 Centerline is valid? [True, True] Translation: X:135.54, Y:67.49, Z:-1.52 [[ 4.75936245e-01 -8.79392612e-01 -1.23824507e-02 1.35538333e+02] [ 8.79110239e-01 4.76097213e-01 -2.22852312e-02 6.74926630e+01] [ 2.54927180e-02 -2.79189963e-04 9.99674969e-01 -1.52169989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59719347 meters 0.06231819822298995 Centerline is valid? [True, True] Translation: X:135.55, Y:67.51, Z:-1.52 [[ 4.72798214e-01 -8.81081705e-01 -1.25250832e-02 1.35554384e+02] [ 8.80792881e-01 4.72963947e-01 -2.25611301e-02 6.75142449e+01] [ 2.58021118e-02 -3.65142111e-04 9.99667003e-01 -1.52412084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62719347 meters 0.06308084456556624 Centerline is valid? [True, True] Translation: X:135.57, Y:67.54, Z:-1.52 [[ 4.69137824e-01 -8.83025984e-01 -1.32216948e-02 1.35570702e+02] [ 8.82704392e-01 4.69323845e-01 -2.38345248e-02 6.75369367e+01] [ 2.72517614e-02 -4.89171013e-04 9.99628482e-01 -1.52430813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65719347 meters 0.06597221740624591 Centerline is valid? [True, True] Translation: X:135.59, Y:67.56, Z:-1.52 [[ 4.60378060e-01 -8.87625090e-01 -1.31811313e-02 1.35591740e+02] [ 8.87306742e-01 4.60566111e-01 -2.37824210e-02 6.75551901e+01] [ 2.71806560e-02 -7.46801807e-04 9.99630259e-01 -1.52481795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68719347 meters 0.06597221740624591 Centerline is valid? [True, True] Translation: X:135.60, Y:67.58, Z:-1.53 [[ 4.60041093e-01 -8.87799916e-01 -1.31720089e-02 1.35604410e+02] [ 8.87481495e-01 4.60229021e-01 -2.37874754e-02 6.75787199e+01] [ 2.71806594e-02 -7.46697930e-04 9.99630259e-01 -1.52503806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71719347 meters 0.06809525909356878 Centerline is valid? [True, True] Translation: X:135.62, Y:67.60, Z:-1.53 [[ 4.55502127e-01 -8.90148210e-01 -1.24087044e-02 1.35622760e+02] [ 8.89866009e-01 4.55670365e-01 -2.24277779e-02 6.75997547e+01] [ 2.56183252e-02 -8.26183772e-04 9.99671455e-01 -1.52550399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74719346999998 meters 0.06984242062131915 Centerline is valid? [True, True] Translation: X:135.64, Y:67.62, Z:-1.52 [[ 4.50423365e-01 -8.92726621e-01 -1.25687328e-02 1.35639132e+02] [ 8.92437618e-01 4.50597633e-01 -2.27348052e-02 6.76226730e+01] [ 2.59594070e-02 -9.76522481e-04 9.99662521e-01 -1.52440428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77719347 meters 0.06888689329082974 Centerline is valid? [True, True] Translation: X:135.65, Y:67.65, Z:-1.52 [[ 4.45775633e-01 -8.95052508e-01 -1.28488393e-02 1.35649957e+02] [ 8.94750880e-01 4.45959345e-01 -2.32620909e-02 6.76486632e+01] [ 2.65508527e-02 -1.12683699e-03 9.99646829e-01 -1.51976148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80719347 meters 0.07380712548796745 Centerline is valid? [True, True] Translation: X:135.67, Y:67.67, Z:-1.52 [[ 4.38777259e-01 -8.98499942e-01 -1.31290256e-02 1.35667360e+02] [ 8.98186147e-01 4.38971540e-01 -2.37830331e-02 6.76695261e+01] [ 2.71323225e-02 -1.35685487e-03 9.99630930e-01 -1.52356081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83719347 meters 0.0734464744425595 Centerline is valid? [True, True] Translation: X:135.68, Y:67.70, Z:-1.52 [[ 4.36581258e-01 -8.99567263e-01 -1.32493377e-02 1.35677242e+02] [ 8.99247595e-01 4.36779926e-01 -2.40220544e-02 6.76961383e+01] [ 2.73964985e-02 -1.42685631e-03 9.99623627e-01 -1.52252982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86719347 meters 0.0757288575597509 Centerline is valid? [True, True] Translation: X:135.69, Y:67.72, Z:-1.53 [[ 4.35327560e-01 -9.00179706e-01 -1.29001229e-02 1.35690582e+02] [ 8.99876600e-01 4.35516334e-01 -2.34014533e-02 6.77198774e+01] [ 2.66837276e-02 -1.42122116e-03 9.99642916e-01 -1.52528917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89719347 meters 0.07716276857363465 Centerline is valid? [True, True] Translation: X:135.70, Y:67.75, Z:-1.53 [[ 4.33917487e-01 -9.00853356e-01 -1.33732956e-02 1.35697996e+02] [ 9.00527313e-01 4.34120905e-01 -2.42816536e-02 6.77466207e+01] [ 2.76798363e-02 -1.50678385e-03 9.99615704e-01 -1.52731454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92719347 meters 0.07399362653447798 Centerline is valid? [True, True] Translation: X:135.70, Y:67.78, Z:-1.52 [[ 4.32870482e-01 -9.01356454e-01 -1.34048194e-02 1.35702523e+02] [ 9.01028542e-01 4.33075272e-01 -2.43592893e-02 6.77764335e+01] [ 2.77616984e-02 -1.53370755e-03 9.99613393e-01 -1.52349840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95719347 meters 0.07763168504619539 Centerline is valid? [True, True] Translation: X:135.72, Y:67.80, Z:-1.53 [[ 4.32211422e-01 -9.01677820e-01 -1.30535665e-02 1.35716735e+02] [ 9.01366440e-01 4.32405881e-01 -2.37422538e-02 6.77991466e+01] [ 2.70523026e-02 -1.50437354e-03 9.99632888e-01 -1.52700945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98719347 meters 0.0747596598387013 Centerline is valid? [True, True] Translation: X:135.72, Y:67.83, Z:-1.52 [[ 4.31258840e-01 -9.02137015e-01 -1.28304008e-02 1.35715643e+02] [ 9.01835891e-01 4.31447054e-01 -2.33552227e-02 6.78316103e+01] [ 2.66052495e-02 -1.49876966e-03 9.99644894e-01 -1.52379899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01719347 meters 0.07615665359285974 Centerline is valid? [True, True] Translation: X:135.73, Y:67.86, Z:-1.53 [[ 4.31156238e-01 -9.02189918e-01 -1.25559255e-02 1.35726298e+02] [ 9.01901247e-01 4.31336536e-01 -2.28677167e-02 6.78565594e+01] [ 2.60468529e-02 -1.46464616e-03 9.99659650e-01 -1.52573713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04719347 meters 0.07475852017417142 Centerline is valid? [True, True] Translation: X:135.73, Y:67.89, Z:-1.52 [[ 4.30050204e-01 -9.02722379e-01 -1.22117868e-02 1.35733467e+02] [ 9.02449052e-01 4.30221118e-01 -2.22598088e-02 6.78853695e+01] [ 2.53481961e-02 -1.44768009e-03 9.99677635e-01 -1.52374092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07719347 meters 0.07622086437190043 Centerline is valid? [True, True] Translation: X:135.74, Y:67.91, Z:-1.52 [[ 4.28625453e-01 -9.03403624e-01 -1.19211403e-02 1.35744390e+02] [ 9.03143119e-01 4.28788757e-01 -2.17418601e-02 6.79097720e+01] [ 2.47533261e-02 -1.44738115e-03 9.99692542e-01 -1.52421622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10719347 meters 0.0774935893328439 Centerline is valid? [True, True] Translation: X:135.76, Y:67.94, Z:-1.53 [[ 4.26634915e-01 -9.04347310e-01 -1.17725295e-02 1.35755063e+02] [ 9.04093159e-01 4.26794759e-01 -2.14893884e-02 6.79357315e+01] [ 2.44583245e-02 -1.47533998e-03 9.99699762e-01 -1.52552090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13719347 meters 0.08033620611345417 Centerline is valid? [True, True] Translation: X:135.76, Y:67.96, Z:-1.53 [[ 4.22229535e-01 -9.06407226e-01 -1.21721108e-02 1.35761398e+02] [ 9.06135853e-01 4.22401766e-01 -2.22388011e-02 6.79624613e+01] [ 2.52989311e-02 -1.63970736e-03 9.99678586e-01 -1.52675611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16719347 meters 0.07838402908708439 Centerline is valid? [True, True] Translation: X:135.77, Y:67.99, Z:-1.52 [[ 4.19621702e-01 -9.07612721e-01 -1.25209802e-02 1.35766613e+02] [ 9.07325639e-01 4.19804801e-01 -2.28935127e-02 6.79918296e+01] [ 2.60348110e-02 -1.75399159e-03 9.99659498e-01 -1.52405361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19719347 meters 0.07798420516729082 Centerline is valid? [True, True] Translation: X:135.77, Y:68.02, Z:-1.52 [[ 4.17391624e-01 -9.08656536e-01 -1.12930200e-02 1.35770156e+02] [ 9.08422985e-01 4.17541174e-01 -2.06651680e-02 6.80219949e+01] [ 2.34928408e-02 -1.63337087e-03 9.99722671e-01 -1.52065532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22719347 meters 0.07974643442547741 Centerline is valid? [True, True] Translation: X:135.78, Y:68.05, Z:-1.52 [[ 4.17615698e-01 -9.08563321e-01 -1.04795147e-02 1.35781482e+02] [ 9.08362008e-01 4.17744442e-01 -1.91844439e-02 6.80469552e+01] [ 2.18080411e-02 -1.50746806e-03 9.99761040e-01 -1.52050708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25719347 meters 0.0774676181616045 Centerline is valid? [True, True] Translation: X:135.79, Y:68.08, Z:-1.52 [[ 4.19292178e-01 -9.07795881e-01 -1.00353024e-02 1.35786129e+02] [ 9.07610702e-01 4.19409923e-01 -1.83883186e-02 6.80766048e+01] [ 2.09017452e-02 -1.39806967e-03 9.99780557e-01 -1.51873257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28719347 meters 0.0759306906388672 Centerline is valid? [True, True] Translation: X:135.79, Y:68.11, Z:-1.52 [[ 4.21757859e-01 -9.06659314e-01 -9.44435891e-03 1.35790072e+02] [ 9.06494731e-01 4.21861718e-01 -1.73203287e-02 6.81066409e+01] [ 1.96878508e-02 -1.25627683e-03 9.99805386e-01 -1.51792846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31719347 meters 0.07338513349871169 Centerline is valid? [True, True] Translation: X:135.78, Y:68.14, Z:-1.52 [[ 4.29568319e-01 -9.02999508e-01 -7.93401159e-03 1.35784838e+02] [ 9.02882501e-01 4.29640625e-01 -1.45644533e-02 6.81404183e+01] [ 1.65604679e-02 -9.07052504e-04 9.99862455e-01 -1.51791398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34719347 meters 0.07148855555216693 Centerline is valid? [True, True] Translation: X:135.79, Y:68.17, Z:-1.52 [[ 4.34023606e-01 -9.00872823e-01 -7.18794674e-03 1.35787517e+02] [ 9.00776447e-01 4.34082480e-01 -1.31982183e-02 6.81689099e+01] [ 1.50100779e-02 -7.46394842e-04 9.99887064e-01 -1.51793536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37719347 meters 0.06674802818849246 Centerline is valid? [True, True] Translation: X:135.79, Y:68.20, Z:-1.52 [[ 4.38768604e-01 -8.98572274e-01 -7.06962052e-03 1.35785652e+02] [ 8.98478532e-01 4.38825074e-01 -1.29954885e-02 6.82013457e+01] [ 1.47797124e-02 -6.49889918e-04 9.99890563e-01 -1.51524532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40719347 meters 0.06499753184236404 Centerline is valid? [True, True] Translation: X:135.79, Y:68.23, Z:-1.52 [[ 4.43208226e-01 -8.96390184e-01 -7.14882536e-03 1.35789105e+02] [ 8.96293894e-01 4.43265499e-01 -1.31511991e-02 6.82313262e+01] [ 1.49574334e-02 -5.78728913e-04 9.99887964e-01 -1.51550305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43719347 meters 0.06219365045684843 Centerline is valid? [True, True] Translation: X:135.78, Y:68.27, Z:-1.52 [[ 4.52478706e-01 -8.91737823e-01 -8.16546379e-03 1.35782635e+02] [ 8.91611231e-01 4.52552125e-01 -1.50328953e-02 6.82652989e+01] [ 1.71006993e-02 -4.78354209e-04 9.99853658e-01 -1.51788476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46719347 meters 0.06090925428551293 Centerline is valid? [True, True] Translation: X:135.79, Y:68.29, Z:-1.52 [[ 4.56228932e-01 -8.89828621e-01 -7.75798172e-03 1.35786176e+02] [ 8.89713881e-01 4.56294729e-01 -1.42944455e-02 6.82949173e+01] [ 1.62595329e-02 -3.80844422e-04 9.99867733e-01 -1.51726161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49719346999998 meters 0.05954728027862995 Centerline is valid? [True, True] Translation: X:135.79, Y:68.33, Z:-1.52 [[ 4.60137521e-01 -8.87815636e-01 -7.54044981e-03 1.35790223e+02] [ 8.87706801e-01 4.60199206e-01 -1.39041774e-02 6.83250757e+01] [ 1.58144552e-02 -2.95874835e-04 9.99874900e-01 -1.51549536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52719347 meters 0.05848995827571463 Centerline is valid? [True, True] Translation: X:135.79, Y:68.36, Z:-1.52 [[ 4.65295030e-01 -8.85130584e-01 -6.66212108e-03 1.35790743e+02] [ 8.85045196e-01 4.65342689e-01 -1.22956393e-02 6.83561050e+01] [ 1.39834157e-02 -1.75178431e-04 9.99902212e-01 -1.51612113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55719347 meters 0.05843659858667368 Centerline is valid? [True, True] Translation: X:135.80, Y:68.38, Z:-1.52 [[ 4.66306724e-01 -8.84596982e-01 -6.79835288e-03 1.35800296e+02] [ 8.84507861e-01 4.66356252e-01 -1.25574658e-02 6.83811599e+01] [ 1.42787507e-02 -1.57565835e-04 9.99898041e-01 -1.51806749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58719347 meters 0.05787524674125463 Centerline is valid? [True, True] Translation: X:135.81, Y:68.41, Z:-1.52 [[ 4.66983272e-01 -8.84235630e-01 -7.34667557e-03 1.35810805e+02] [ 8.84131346e-01 4.67041033e-01 -1.35807210e-02 6.84077409e+01] [ 1.54397563e-02 -1.53456641e-04 9.99880788e-01 -1.51679670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61719347 meters 0.05790901927545691 Centerline is valid? [True, True] Translation: X:135.82, Y:68.43, Z:-1.52 [[ 4.67443158e-01 -8.83994246e-01 -7.14617800e-03 1.35823284e+02] [ 8.83895418e-01 4.67497759e-01 -1.32187414e-02 6.84315337e+01] [ 1.50261135e-02 -1.37463772e-04 9.99887092e-01 -1.51944634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64719347 meters 0.057503580731178706 Centerline is valid? [True, True] Translation: X:135.83, Y:68.46, Z:-1.52 [[ 4.69447504e-01 -8.82926863e-01 -7.69393658e-03 1.35834027e+02] [ 8.82811954e-01 4.69510537e-01 -1.42446353e-02 6.84573695e+01] [ 1.61893555e-02 -1.05190681e-04 9.99868938e-01 -1.51963131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67719347 meters 0.057662740288961095 Centerline is valid? [True, True] Translation: X:135.84, Y:68.48, Z:-1.52 [[ 4.70603474e-01 -8.82308930e-01 -7.95755080e-03 1.35844968e+02] [ 8.82185748e-01 4.70670740e-01 -1.47431607e-02 6.84819361e+01] [ 1.67534087e-02 -8.18552742e-05 9.99859648e-01 -1.52418548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70719347 meters 0.057770062626062234 Centerline is valid? [True, True] Translation: X:135.86, Y:68.51, Z:-1.53 [[ 4.71824102e-01 -8.81650883e-01 -8.58710656e-03 1.35855666e+02] [ 8.81507117e-01 4.71902234e-01 -1.59211975e-02 6.85081020e+01] [ 1.80892126e-02 -5.75908269e-05 9.99836375e-01 -1.52534079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73719347 meters 0.05758167933039112 Centerline is valid? [True, True] Translation: X:135.87, Y:68.53, Z:-1.52 [[ 4.73086829e-01 -8.80972049e-01 -8.78075984e-03 1.35866860e+02] [ 8.80821346e-01 4.73168309e-01 -1.62944157e-02 6.85340782e+01] [ 1.85097021e-02 -2.56072325e-05 9.99828680e-01 -1.52400100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76719347 meters 0.05762794986522699 Centerline is valid? [True, True] Translation: X:135.88, Y:68.56, Z:-1.53 [[ 4.74500009e-01 -8.80192905e-01 -1.04972378e-02 1.35884147e+02] [ 8.79977034e-01 4.74616109e-01 -1.94927750e-02 6.85571095e+01] [ 2.21395604e-02 1.19937452e-05 9.99754890e-01 -1.52617792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79719347 meters 0.05813227399631299 Centerline is valid? [True, True] Translation: X:135.90, Y:68.58, Z:-1.53 [[ 4.73650944e-01 -8.80644131e-01 -1.09862430e-02 1.35901723e+02] [ 8.80407725e-01 4.73778339e-01 -2.04039959e-02 6.85785677e+01] [ 2.31737032e-02 -8.00125624e-06 9.99731454e-01 -1.53256826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82719347 meters 0.05833181943820807 Centerline is valid? [True, True] Translation: X:135.92, Y:68.60, Z:-1.53 [[ 4.72446756e-01 -8.81274404e-01 -1.22265132e-02 1.35919253e+02] [ 8.80981246e-01 4.72604934e-01 -2.27293012e-02 6.86009501e+01] [ 2.58090618e-02 -3.29442522e-05 9.99666890e-01 -1.53483327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85719347 meters 0.058911719830713194 Centerline is valid? [True, True] Translation: X:135.94, Y:68.62, Z:-1.54 [[ 4.68026576e-01 -8.83621651e-01 -1.28024058e-02 1.35939840e+02] [ 8.83300613e-01 4.68201614e-01 -2.38175522e-02 6.86208211e+01] [ 2.70398118e-02 -1.61125467e-04 9.99634344e-01 -1.53669407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88719347 meters 0.05882919742335274 Centerline is valid? [True, True] Translation: X:135.96, Y:68.64, Z:-1.53 [[ 4.64993605e-01 -8.85226483e-01 -1.24507557e-02 1.35956908e+02] [ 8.84922869e-01 4.65160207e-01 -2.31839883e-02 6.86430231e+01] [ 2.63146765e-02 -2.37552172e-04 9.99653681e-01 -1.53351160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91719347 meters 0.05924737734656618 Centerline is valid? [True, True] Translation: X:135.98, Y:68.66, Z:-1.53 [[ 4.61415408e-01 -8.87102245e-01 -1.20593438e-02 1.35975161e+02] [ 8.86817632e-01 4.61572855e-01 -2.24718967e-02 6.86638959e+01] [ 2.55011357e-02 -3.25559284e-04 9.99674740e-01 -1.53310191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94719347 meters 0.060044280127421905 Centerline is valid? [True, True] Translation: X:135.99, Y:68.68, Z:-1.53 [[ 4.57530378e-01 -8.89120481e-01 -1.14334330e-02 1.35994200e+02] [ 8.88864881e-01 4.57673032e-01 -2.13217888e-02 6.86845750e+01] [ 2.41904130e-02 -4.07411035e-04 9.99707286e-01 -1.53254617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97719347 meters 0.06286975849165781 Centerline is valid? [True, True] Translation: X:136.02, Y:68.70, Z:-1.53 [[ 4.47282851e-01 -8.94316267e-01 -1.16818113e-02 1.36023262e+02] [ 8.94050702e-01 4.47434839e-01 -2.18038252e-02 6.86999238e+01] [ 2.47263650e-02 -6.91654500e-04 9.99694017e-01 -1.53294361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00719347 meters 0.06530572698683054 Centerline is valid? [True, True] Translation: X:136.05, Y:68.72, Z:-1.53 [[ 4.41008015e-01 -8.97418635e-01 -1.23176270e-02 1.36045131e+02] [ 8.97124075e-01 4.41179076e-01 -2.30090542e-02 6.87196707e+01] [ 2.60830333e-02 -9.03262450e-04 9.99659372e-01 -1.53326870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03719347 meters 0.06774735162528106 Centerline is valid? [True, True] Translation: X:136.07, Y:68.74, Z:-1.53 [[ 4.34973131e-01 -9.00355980e-01 -1.25493106e-02 1.36065979e+02] [ 9.00050922e-01 4.35152757e-01 -2.34609535e-02 6.87402115e+01] [ 2.65840769e-02 -1.09013421e-03 9.99645987e-01 -1.53354549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06719347 meters 0.07039137705479663 Centerline is valid? [True, True] Translation: X:136.08, Y:68.76, Z:-1.53 [[ 4.29578391e-01 -9.02948148e-01 -1.21263446e-02 1.36084682e+02] [ 9.02663957e-01 4.29747832e-01 -2.26843870e-02 6.87607328e+01] [ 2.56940956e-02 -1.20129171e-03 9.99669130e-01 -1.53237619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09719347 meters 0.07187552807560559 Centerline is valid? [True, True] Translation: X:136.10, Y:68.78, Z:-1.53 [[ 4.23539051e-01 -9.05820406e-01 -1.02012361e-02 1.36099204e+02] [ 9.05619726e-01 4.23660328e-01 -1.91007521e-02 6.87843632e+01] [ 2.16237101e-02 -1.14852620e-03 9.99765521e-01 -1.52652675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12719347 meters 0.07464815063865758 Centerline is valid? [True, True] Translation: X:136.12, Y:68.81, Z:-1.53 [[ 4.21568129e-01 -9.06743404e-01 -9.83420894e-03 1.36115017e+02] [ 9.06556855e-01 4.21681259e-01 -1.84278147e-02 6.88071374e+01] [ 2.08562011e-02 -1.14669016e-03 9.99781828e-01 -1.52812440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15719347 meters 0.07573349653825547 Centerline is valid? [True, True] Translation: X:136.13, Y:68.83, Z:-1.53 [[ 4.20442890e-01 -9.07267104e-01 -9.70453822e-03 1.36128664e+02] [ 9.07085295e-01 4.20553298e-01 -1.81986566e-02 6.88316268e+01] [ 2.05923180e-02 -1.15134815e-03 9.99787293e-01 -1.52877433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18719347 meters 0.07787115939470829 Centerline is valid? [True, True] Translation: X:136.14, Y:68.86, Z:-1.53 [[ 4.17760165e-01 -9.08505804e-01 -9.67728146e-03 1.36141104e+02] [ 9.08325026e-01 4.17870505e-01 -1.81628377e-02 6.88552174e+01] [ 2.05448939e-02 -1.20240689e-03 9.99788208e-01 -1.52972762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21719347 meters 0.0752219320086907 Centerline is valid? [True, True] Translation: X:136.15, Y:68.88, Z:-1.53 [[ 4.17098555e-01 -9.08814468e-01 -9.22267996e-03 1.36147809e+02] [ 9.08650082e-01 4.17198908e-01 -1.73233969e-02 6.88836495e+01] [ 1.95914457e-02 -1.15462510e-03 9.99807403e-01 -1.52689002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24719346999998 meters 0.07824950378093423 Centerline is valid? [True, True] Translation: X:136.16, Y:68.91, Z:-1.53 [[ 4.16961099e-01 -9.08875900e-01 -9.38301294e-03 1.36161419e+02] [ 9.08705467e-01 4.17065015e-01 -1.76393648e-02 6.89066541e+01] [ 1.99453200e-02 -1.17146622e-03 9.99800386e-01 -1.52977003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27719347 meters 0.07503464622759508 Centerline is valid? [True, True] Translation: X:136.17, Y:68.94, Z:-1.53 [[ 4.16955375e-01 -9.08876076e-01 -9.61738620e-03 1.36165688e+02] [ 9.08696739e-01 4.17064564e-01 -1.80938050e-02 6.89357126e+01] [ 2.04560974e-02 -1.19497825e-03 9.99790038e-01 -1.52793804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30719347 meters 0.0786477875436936 Centerline is valid? [True, True] Translation: X:136.18, Y:68.96, Z:-1.53 [[ 4.17105275e-01 -9.08794522e-01 -1.07566499e-02 1.36177158e+02] [ 9.08569846e-01 4.17241844e-01 -2.02504165e-02 6.89601371e+01] [ 2.28915920e-02 -1.32661219e-03 9.99737073e-01 -1.53395964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33719347 meters 0.0795166984202515 Centerline is valid? [True, True] Translation: X:136.19, Y:68.98, Z:-1.54 [[ 4.16651446e-01 -9.08994199e-01 -1.14507106e-02 1.36187247e+02] [ 9.08739384e-01 4.16806348e-01 -2.15685145e-02 6.89847498e+01] [ 2.43783835e-02 -1.41915895e-03 9.99701796e-01 -1.53672700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36719347 meters 0.08068904293301189 Centerline is valid? [True, True] Translation: X:136.20, Y:69.01, Z:-1.54 [[ 4.15604143e-01 -9.09463252e-01 -1.22388775e-02 1.36197757e+02] [ 9.09172043e-01 4.15781454e-01 -2.30646657e-02 6.90099496e+01] [ 2.60651642e-02 -1.54147469e-03 9.99659057e-01 -1.53889216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39719347 meters 0.07811603122913066 Centerline is valid? [True, True] Translation: X:136.20, Y:69.04, Z:-1.54 [[ 4.14355287e-01 -9.10031240e-01 -1.23627963e-02 1.36202822e+02] [ 9.09733801e-01 4.14536647e-01 -2.33190900e-02 6.90384800e+01] [ 2.63459326e-02 -1.58446541e-03 9.99651630e-01 -1.53681263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42719347 meters 0.07555694018932294 Centerline is valid? [True, True] Translation: X:136.20, Y:69.07, Z:-1.54 [[ 4.14413444e-01 -9.09988844e-01 -1.34833706e-02 1.36202994e+02] [ 9.09634492e-01 4.14629175e-01 -2.54507117e-02 6.90702117e+01] [ 2.87504625e-02 -1.71782191e-03 9.99585144e-01 -1.53610007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45719347 meters 0.07368068595096082 Centerline is valid? [True, True] Translation: X:136.21, Y:69.10, Z:-1.53 [[ 4.14922285e-01 -9.09753568e-01 -1.37092179e-02 1.36209329e+02] [ 9.09386511e-01 4.15145133e-01 -2.58977320e-02 6.90984607e+01] [ 2.92518692e-02 -1.72143169e-03 9.99570590e-01 -1.53458821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48719347 meters 0.07823231483897053 Centerline is valid? [True, True] Translation: X:136.22, Y:69.12, Z:-1.54 [[ 4.16067698e-01 -9.09236080e-01 -1.33199845e-02 1.36224987e+02] [ 9.08889055e-01 4.16277652e-01 -2.51714469e-02 6.91204250e+01] [ 2.84315995e-02 -1.63336217e-03 9.99594406e-01 -1.54020188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51719347 meters 0.07733780563761139 Centerline is valid? [True, True] Translation: X:136.23, Y:69.15, Z:-1.54 [[ 4.17618891e-01 -9.08534332e-01 -1.26423488e-02 1.36232673e+02] [ 9.08220834e-01 4.17807527e-01 -2.39120609e-02 6.91475710e+01] [ 2.70069968e-02 -1.49591618e-03 9.99634125e-01 -1.53845519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54719347 meters 0.07066363026646127 Centerline is valid? [True, True] Translation: X:136.23, Y:69.18, Z:-1.53 [[ 4.22018110e-01 -9.06515340e-01 -1.14303766e-02 1.36225458e+02] [ 9.06257930e-01 4.22171092e-01 -2.16363895e-02 6.91827446e+01] [ 2.44392936e-02 -1.22792122e-03 9.99700562e-01 -1.53143257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57719347 meters 0.07066363026646127 Centerline is valid? [True, True] Translation: X:136.24, Y:69.21, Z:-1.53 [[ 4.21713363e-01 -9.06657243e-01 -1.14229223e-02 1.36238097e+02] [ 9.06399779e-01 4.21866254e-01 -2.16403265e-02 6.92071752e+01] [ 2.44393042e-02 -1.22771939e-03 9.99700562e-01 -1.53165973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60719347 meters 0.06924745083519712 Centerline is valid? [True, True] Translation: X:136.24, Y:69.24, Z:-1.53 [[ 4.25006397e-01 -9.05119887e-01 -1.12939306e-02 1.36244050e+02] [ 9.04867256e-01 4.25154958e-01 -2.14128511e-02 6.92361578e+01] [ 2.41828679e-02 -1.11890930e-03 9.99706926e-01 -1.53271852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63719347 meters 0.06634304254850797 Centerline is valid? [True, True] Translation: X:136.25, Y:69.27, Z:-1.53 [[ 4.28413599e-01 -9.03495397e-01 -1.25640558e-02 1.36247540e+02] [ 9.03181597e-01 4.28596288e-01 -2.38374568e-02 6.92671973e+01] [ 2.69219401e-02 -1.13533336e-03 9.99636894e-01 -1.53097131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66719347 meters 0.06709058944107213 Centerline is valid? [True, True] Translation: X:136.26, Y:69.29, Z:-1.53 [[ 4.31835548e-01 -9.01878334e-01 -1.15554751e-02 1.36258018e+02] [ 9.01612181e-01 4.31989086e-01 -2.19295441e-02 6.92921245e+01] [ 2.47696198e-02 -9.48600420e-04 9.99692736e-01 -1.53464994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69719347 meters 0.06334872392289886 Centerline is valid? [True, True] Translation: X:136.26, Y:69.32, Z:-1.53 [[ 4.40534201e-01 -8.97665508e-01 -1.12362465e-02 1.36256356e+02] [ 8.97411981e-01 4.40676948e-01 -2.13439410e-02 6.93244451e+01] [ 2.41112745e-02 -6.80806201e-04 9.99709049e-01 -1.53080689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72719347 meters 0.062451683857850875 Centerline is valid? [True, True] Translation: X:136.26, Y:69.35, Z:-1.53 [[ 4.44434498e-01 -8.95746123e-01 -1.08102265e-02 1.36263157e+02] [ 8.95510499e-01 4.44565613e-01 -2.05514546e-02 6.93520971e+01] [ 2.32147408e-02 -5.46895907e-04 9.99730352e-01 -1.53083337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75719347 meters 0.06107995458505556 Centerline is valid? [True, True] Translation: X:136.27, Y:69.38, Z:-1.53 [[ 4.48928429e-01 -8.93503507e-01 -1.07120862e-02 1.36268565e+02] [ 8.93271137e-01 4.49056018e-01 -2.03805865e-02 6.93812339e+01] [ 2.30204522e-02 -4.19372767e-04 9.99734906e-01 -1.52888212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78719347 meters 0.06002341701692366 Centerline is valid? [True, True] Translation: X:136.27, Y:69.41, Z:-1.53 [[ 4.58572707e-01 -8.88586032e-01 -1.12221425e-02 1.36268771e+02] [ 8.88329431e-01 4.58709966e-01 -2.13539039e-02 6.94117302e+01] [ 2.41224893e-02 -1.76641939e-04 9.99708995e-01 -1.53009538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81719347 meters 0.05973581244024065 Centerline is valid? [True, True] Translation: X:136.28, Y:69.44, Z:-1.53 [[ 4.62672246e-01 -8.86448304e-01 -1.19915693e-02 1.36277209e+02] [ 8.86154087e-01 4.62827615e-01 -2.28370868e-02 6.94399070e+01] [ 2.57939263e-02 -6.02919331e-05 9.99667280e-01 -1.52973143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84719347 meters 0.060336554050111284 Centerline is valid? [True, True] Translation: X:136.29, Y:69.47, Z:-1.54 [[ 4.66464736e-01 -8.84446349e-01 -1.28570966e-02 1.36286574e+02] [ 8.84107142e-01 4.66641888e-01 -2.44930588e-02 6.94659213e+01] [ 2.76624563e-02 5.80972403e-05 9.99617319e-01 -1.53525280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87719347 meters 0.06073617277905276 Centerline is valid? [True, True] Translation: X:136.30, Y:69.49, Z:-1.54 [[ 4.69139288e-01 -8.83015017e-01 -1.38855224e-02 1.36297972e+02] [ 8.82618347e-01 4.69344707e-01 -2.64650807e-02 6.94912970e+01] [ 2.98861602e-02 1.60192327e-04 9.99553296e-01 -1.53769355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90719347 meters 0.06122551840720753 Centerline is valid? [True, True] Translation: X:136.31, Y:69.51, Z:-1.54 [[ 4.71663824e-01 -8.81656125e-01 -1.46871932e-02 1.36314872e+02] [ 8.81210885e-01 4.71892363e-01 -2.80173708e-02 6.95139059e+01] [ 3.16324609e-02 2.72265716e-04 9.99499531e-01 -1.54081779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93719347 meters 0.06115775057535357 Centerline is valid? [True, True] Translation: X:136.33, Y:69.54, Z:-1.54 [[ 4.72431752e-01 -8.81237411e-01 -1.51282830e-02 1.36331049e+02] [ 8.80764135e-01 4.72673803e-01 -2.88793027e-02 6.95383790e+01] [ 3.26002650e-02 3.19050484e-04 9.99468419e-01 -1.53845595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96719346999998 meters 0.06124833272980481 Centerline is valid? [True, True] Translation: X:136.35, Y:69.56, Z:-1.54 [[ 4.72824401e-01 -8.81032631e-01 -1.47847397e-02 1.36345672e+02] [ 8.80579757e-01 4.73055376e-01 -2.82471759e-02 6.95620835e+01] [ 3.18806843e-02 3.36811541e-04 9.99491625e-01 -1.53882849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99719346999998 meters 0.061234227063153714 Centerline is valid? [True, True] Translation: X:136.36, Y:69.59, Z:-1.54 [[ 4.73563559e-01 -8.80634035e-01 -1.48745380e-02 1.36360264e+02] [ 8.80174709e-01 4.73796955e-01 -2.84416582e-02 6.95862695e+01] [ 3.20942030e-02 3.76740731e-04 9.99484777e-01 -1.53801114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02719347 meters 0.061426164158510106 Centerline is valid? [True, True] Translation: X:136.38, Y:69.61, Z:-1.54 [[ 4.73532724e-01 -8.80644586e-01 -1.52273560e-02 1.36381591e+02] [ 8.80162496e-01 4.73777328e-01 -2.91380224e-02 6.96072826e+01] [ 3.28746177e-02 3.95259452e-04 9.99459406e-01 -1.53675428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05719347 meters 0.06206528666693885 Centerline is valid? [True, True] Translation: X:136.40, Y:69.63, Z:-1.54 [[ 4.72535338e-01 -8.81174962e-01 -1.55254999e-02 1.36398677e+02] [ 8.80673311e-01 4.72790170e-01 -2.97316949e-02 6.96284939e+01] [ 3.35391289e-02 3.76383117e-04 9.99437334e-01 -1.54024208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08719347 meters 0.06135776902343522 Centerline is valid? [True, True] Translation: X:136.42, Y:69.65, Z:-1.54 [[ 4.70252233e-01 -8.82399328e-01 -1.53056375e-02 1.36418550e+02] [ 8.81911699e-01 4.70501156e-01 -2.93328760e-02 6.96504139e+01] [ 3.30846302e-02 2.95629686e-04 9.99452510e-01 -1.53791405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11719347 meters 0.06114056019897554 Centerline is valid? [True, True] Translation: X:136.45, Y:69.67, Z:-1.54 [[ 4.65903025e-01 -8.84728183e-01 -1.37990383e-02 1.36445471e+02] [ 8.84332185e-01 4.66107312e-01 -2.64680926e-02 6.96677424e+01] [ 2.98489002e-02 1.28630725e-04 9.99554414e-01 -1.53907175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14719347 meters 0.06145928540992157 Centerline is valid? [True, True] Translation: X:136.47, Y:69.69, Z:-1.54 [[ 4.63209621e-01 -8.86147032e-01 -1.34270000e-02 1.36466247e+02] [ 8.85772271e-01 4.63404181e-01 -2.57691416e-02 6.96877522e+01] [ 2.90573763e-02 4.32500010e-05 9.99577744e-01 -1.54111174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17719347 meters 0.06101645973902737 Centerline is valid? [True, True] Translation: X:136.49, Y:69.71, Z:-1.54 [[ 4.60055264e-01 -8.87790276e-01 -1.33259063e-02 1.36487455e+02] [ 8.87421132e-01 4.60248219e-01 -2.55990264e-02 6.97085825e+01] [ 2.88597913e-02 -4.87240408e-05 9.99583468e-01 -1.53765475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20719347 meters 0.06136942100065808 Centerline is valid? [True, True] Translation: X:136.51, Y:69.73, Z:-1.54 [[ 4.53465726e-01 -8.91169640e-01 -1.36201029e-02 1.36514814e+02] [ 8.90784911e-01 4.53670150e-01 -2.61846671e-02 6.97250036e+01] [ 2.95140145e-02 -2.58733036e-04 9.99564333e-01 -1.53888775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23719347 meters 0.061956577100120105 Centerline is valid? [True, True] Translation: X:136.53, Y:69.75, Z:-1.54 [[ 4.50365672e-01 -8.92738646e-01 -1.37284791e-02 1.36534812e+02] [ 8.92347871e-01 4.50574726e-01 -2.64138710e-02 6.97467794e+01] [ 2.97663891e-02 -3.54678315e-04 9.99556820e-01 -1.53974540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26719347 meters 0.06260065331814155 Centerline is valid? [True, True] Translation: X:136.56, Y:69.77, Z:-1.54 [[ 4.47006456e-01 -8.94428572e-01 -1.35188180e-02 1.36555515e+02] [ 8.94049802e-01 4.47210607e-01 -2.60312349e-02 6.97675425e+01] [ 2.93288391e-02 -4.50366530e-04 9.99569716e-01 -1.54078755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29719347 meters 0.06351088284511244 Centerline is valid? [True, True] Translation: X:136.58, Y:69.79, Z:-1.54 [[ 4.43321978e-01 -8.96257140e-01 -1.37391291e-02 1.36576838e+02] [ 8.95866449e-01 4.43534451e-01 -2.64669060e-02 6.97874795e+01] [ 2.98149305e-02 -5.75063671e-04 9.99555271e-01 -1.54207041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32719347 meters 0.06544708420292648 Centerline is valid? [True, True] Translation: X:136.61, Y:69.80, Z:-1.54 [[ 4.36502836e-01 -8.99590880e-01 -1.41958701e-02 1.36605776e+02] [ 8.99174934e-01 4.36732844e-01 -2.73653397e-02 6.98025856e+01] [ 3.08174128e-02 -8.19522185e-04 9.99524695e-01 -1.54379847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35719347 meters 0.06658651213406876 Centerline is valid? [True, True] Translation: X:136.63, Y:69.82, Z:-1.54 [[ 4.33125377e-01 -9.01229578e-01 -1.36987622e-02 1.36625972e+02] [ 9.00842446e-01 4.33341031e-01 -2.64279923e-02 6.98240371e+01] [ 2.97539241e-02 -8.93792323e-04 9.99556854e-01 -1.54338369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38719347 meters 0.06792564159622716 Centerline is valid? [True, True] Translation: X:136.65, Y:69.85, Z:-1.54 [[ 4.29419771e-01 -9.03010699e-01 -1.30513898e-02 1.36645976e+02] [ 9.02659521e-01 4.29616989e-01 -2.51998521e-02 6.98451743e+01] [ 2.83628349e-02 -9.59646489e-04 9.99597233e-01 -1.54279904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41719347 meters 0.06802065408546737 Centerline is valid? [True, True] Translation: X:136.66, Y:69.87, Z:-1.54 [[ 4.26061725e-01 -9.04609250e-01 -1.23899666e-02 1.36663294e+02] [ 9.04292933e-01 4.26240657e-01 -2.39414576e-02 6.98680118e+01] [ 2.69387715e-02 -1.00362047e-03 9.99636582e-01 -1.53984425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44719347 meters 0.0702727314602656 Centerline is valid? [True, True] Translation: X:136.68, Y:69.89, Z:-1.54 [[ 4.20665817e-01 -9.07138891e-01 -1.18026567e-02 1.36683176e+02] [ 9.06852498e-01 4.20829911e-01 -2.28195852e-02 6.98877053e+01] [ 2.56674442e-02 -1.10384921e-03 9.99669927e-01 -1.53814037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47719347 meters 0.07112138453589006 Centerline is valid? [True, True] Translation: X:136.70, Y:69.91, Z:-1.54 [[ 4.18423514e-01 -9.08174741e-01 -1.18491406e-02 1.36697282e+02] [ 9.07886018e-01 4.18589637e-01 -2.29280353e-02 6.99124509e+01] [ 2.57825900e-02 -1.16404001e-03 9.99666896e-01 -1.53775030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50719347 meters 0.0735839485228442 Centerline is valid? [True, True] Translation: X:136.71, Y:69.93, Z:-1.54 [[ 4.16549311e-01 -9.09036866e-01 -1.17748770e-02 1.36713446e+02] [ 9.08751569e-01 4.16713970e-01 -2.28046726e-02 6.99348632e+01] [ 2.56370438e-02 -1.20116728e-03 9.99670595e-01 -1.54069560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53719347 meters 0.07175380976112095 Centerline is valid? [True, True] Translation: X:136.72, Y:69.96, Z:-1.54 [[ 4.14968957e-01 -9.09752756e-01 -1.22754409e-02 1.36721811e+02] [ 9.09442479e-01 4.15148476e-01 -2.37932726e-02 6.99619381e+01] [ 2.67421259e-02 -1.29033789e-03 9.99641533e-01 -1.53758648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56719347 meters 0.07180974243976694 Centerline is valid? [True, True] Translation: X:136.73, Y:69.99, Z:-1.54 [[ 4.15314539e-01 -9.09590247e-01 -1.26259947e-02 1.36729352e+02] [ 9.09261321e-01 4.15504359e-01 -2.44944388e-02 6.99884798e+01] [ 2.75260585e-02 -1.30743206e-03 9.99620231e-01 -1.53934360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59719347 meters 0.07181432267507361 Centerline is valid? [True, True] Translation: X:136.74, Y:70.01, Z:-1.54 [[ 4.16374028e-01 -9.09095739e-01 -1.33269160e-02 1.36736587e+02] [ 9.08728393e-01 4.16585107e-01 -2.58757741e-02 7.00146864e+01] [ 2.90753507e-02 -1.33654670e-03 9.99576329e-01 -1.54166290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62719347 meters 0.06854350043224426 Centerline is valid? [True, True] Translation: X:136.73, Y:70.05, Z:-1.54 [[ 4.21750824e-01 -9.06617475e-01 -1.30765828e-02 1.36733804e+02] [ 9.06262000e-01 4.21951975e-01 -2.54109644e-02 7.00473111e+01] [ 2.85557143e-02 -1.13371493e-03 9.99591560e-01 -1.54049852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65719347 meters 0.06661133120231554 Centerline is valid? [True, True] Translation: X:136.74, Y:70.08, Z:-1.54 [[ 4.25747063e-01 -9.04757065e-01 -1.24133642e-02 1.36738558e+02] [ 9.04435401e-01 4.25926934e-01 -2.41423463e-02 7.00763420e+01] [ 2.71301445e-02 -9.48553052e-04 9.99631460e-01 -1.53939212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68719347 meters 0.0652086623644573 Centerline is valid? [True, True] Translation: X:136.74, Y:70.10, Z:-1.54 [[ 4.30366708e-01 -9.02572511e-01 -1.21391192e-02 1.36743256e+02] [ 9.02263482e-01 4.30537162e-01 -2.36296830e-02 7.01043809e+01] [ 2.65538443e-02 -7.83255095e-04 9.99647078e-01 -1.53971382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71719346999998 meters 0.06378461141491376 Centerline is valid? [True, True] Translation: X:136.75, Y:70.13, Z:-1.54 [[ 4.34708995e-01 -9.00486374e-01 -1.23441925e-02 1.36747332e+02] [ 9.00165498e-01 4.34883727e-01 -2.40462295e-02 7.01340620e+01] [ 2.70215905e-02 -6.58703893e-04 9.99634633e-01 -1.54049213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74719346999998 meters 0.06259165654288254 Centerline is valid? [True, True] Translation: X:136.75, Y:70.16, Z:-1.54 [[ 4.38720318e-01 -8.98531719e-01 -1.28542667e-02 1.36750168e+02] [ 8.98182382e-01 4.38908243e-01 -2.50592004e-02 7.01638954e+01] [ 2.81583300e-02 -5.51495546e-04 9.99603323e-01 -1.54146279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77719347 meters 0.06113983244573335 Centerline is valid? [True, True] Translation: X:136.75, Y:70.20, Z:-1.54 [[ 4.47226306e-01 -8.94321923e-01 -1.33015102e-02 1.36746329e+02] [ 8.93945385e-01 4.47423980e-01 -2.59505522e-02 7.01979983e+01] [ 2.91595623e-02 -2.85054040e-04 9.99574729e-01 -1.54255132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80719347 meters 0.06083177850716005 Centerline is valid? [True, True] Translation: X:136.75, Y:70.22, Z:-1.54 [[ 4.50882398e-01 -8.92486726e-01 -1.31341846e-02 1.36754493e+02] [ 8.92118442e-01 4.51073629e-01 -2.56371984e-02 7.02244511e+01] [ 2.88053436e-02 -1.57886798e-04 9.99585028e-01 -1.54433041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83719347 meters 0.06070962051468424 Centerline is valid? [True, True] Translation: X:136.77, Y:70.25, Z:-1.55 [[ 4.52784268e-01 -8.91522676e-01 -1.31804812e-02 1.36765741e+02] [ 8.91150727e-01 4.52976060e-01 -2.57501816e-02 7.02496292e+01] [ 2.89273132e-02 -8.65183227e-05 9.99581514e-01 -1.54535673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86719347 meters 0.06071840722059577 Centerline is valid? [True, True] Translation: X:136.78, Y:70.27, Z:-1.55 [[ 4.56234844e-01 -8.89757779e-01 -1.34484876e-02 1.36776928e+02] [ 8.89369367e-01 4.56433011e-01 -2.62875512e-02 7.02738091e+01] [ 2.95278868e-02 3.26238831e-05 9.99563956e-01 -1.54799934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89719347 meters 0.060649443336523015 Centerline is valid? [True, True] Translation: X:136.79, Y:70.30, Z:-1.55 [[ 4.56843382e-01 -8.89446909e-01 -1.33536509e-02 1.36789781e+02] [ 8.89063164e-01 4.57038502e-01 -2.61246712e-02 7.02983295e+01] [ 2.93396406e-02 6.26440525e-05 9.99569498e-01 -1.54832705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92719347 meters 0.060733693402259495 Centerline is valid? [True, True] Translation: X:136.80, Y:70.32, Z:-1.55 [[ 4.56807751e-01 -8.89465437e-01 -1.33384560e-02 1.36803457e+02] [ 8.89082171e-01 4.57002441e-01 -2.61086704e-02 7.03220087e+01] [ 2.93184668e-02 6.76596079e-05 9.99570119e-01 -1.54881319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95719347 meters 0.06122348169209318 Centerline is valid? [True, True] Translation: X:136.82, Y:70.35, Z:-1.55 [[ 4.60035049e-01 -8.87796199e-01 -1.36258151e-02 1.36817127e+02] [ 8.87394900e-01 4.60236759e-01 -2.66911395e-02 7.03458175e+01] [ 2.99673931e-02 1.87380871e-04 9.99550859e-01 -1.54994779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98719347 meters 0.06142748334827156 Centerline is valid? [True, True] Translation: X:136.83, Y:70.37, Z:-1.55 [[ 4.61930412e-01 -8.86811116e-01 -1.36505735e-02 1.36830439e+02] [ 8.86407284e-01 4.62131989e-01 -2.67609935e-02 7.03705276e+01] [ 3.00403132e-02 2.61748952e-04 9.99548654e-01 -1.55020208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01719347 meters 0.06183254439742021 Centerline is valid? [True, True] Translation: X:136.84, Y:70.39, Z:-1.55 [[ 4.63881418e-01 -8.85789528e-01 -1.38181959e-02 1.36844868e+02] [ 8.85374622e-01 4.64087056e-01 -2.71105698e-02 7.03947214e+01] [ 3.04271047e-02 3.41809599e-04 9.99536930e-01 -1.55129335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04719347 meters 0.06266364335193665 Centerline is valid? [True, True] Translation: X:136.86, Y:70.42, Z:-1.55 [[ 4.65129301e-01 -8.85119078e-01 -1.47970230e-02 1.36859507e+02] [ 8.84642180e-01 4.65364414e-01 -2.90546993e-02 7.04176324e+01] [ 3.26028767e-02 4.24121281e-04 9.99468295e-01 -1.55459884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07719347 meters 0.061753858152996804 Centerline is valid? [True, True] Translation: X:136.88, Y:70.44, Z:-1.55 [[ 4.65996276e-01 -8.84660362e-01 -1.49504183e-02 1.36878540e+02] [ 8.84172505e-01 4.66235800e-01 -2.93795936e-02 7.04402186e+01] [ 3.29613822e-02 4.72032406e-04 9.99456515e-01 -1.54927008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10719347 meters 0.0615203673660142 Centerline is valid? [True, True] Translation: X:136.90, Y:70.46, Z:-1.55 [[ 4.64111131e-01 -8.85649149e-01 -1.50480062e-02 1.36903091e+02] [ 8.85154570e-01 4.64354833e-01 -2.95968951e-02 7.04592744e+01] [ 3.32000794e-02 4.16437026e-04 9.99448639e-01 -1.54994706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13719347 meters 0.061001926146114854 Centerline is valid? [True, True] Translation: X:136.92, Y:70.48, Z:-1.55 [[ 4.61491432e-01 -8.87034397e-01 -1.39869908e-02 1.36921587e+02] [ 8.86607299e-01 4.61703246e-01 -2.75247075e-02 7.04800659e+01] [ 3.08732014e-02 3.01448573e-04 9.99523264e-01 -1.54924021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16719347 meters 0.06060002527840937 Centerline is valid? [True, True] Translation: X:136.94, Y:70.50, Z:-1.55 [[ 4.57531809e-01 -8.89085782e-01 -1.38244379e-02 1.36941654e+02] [ 8.88668756e-01 4.57740584e-01 -2.72286589e-02 7.05014067e+01] [ 3.05366198e-02 1.72631498e-04 9.99533634e-01 -1.54725744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19719347 meters 0.060401432718470635 Centerline is valid? [True, True] Translation: X:136.97, Y:70.52, Z:-1.55 [[ 4.49893086e-01 -8.92983201e-01 -1.33121935e-02 1.36971234e+02] [ 8.92597611e-01 4.50089988e-01 -2.62394365e-02 7.05186669e+01] [ 2.94230610e-02 -7.74910976e-05 9.99567045e-01 -1.54577601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22719347 meters 0.06019742626642224 Centerline is valid? [True, True] Translation: X:136.99, Y:70.54, Z:-1.54 [[ 4.46083670e-01 -8.94899950e-01 -1.27843476e-02 1.36993679e+02] [ 8.94544763e-01 4.46266786e-01 -2.52115667e-02 7.05392509e+01] [ 2.82670594e-02 -1.89702982e-04 9.99600389e-01 -1.54188414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25719347 meters 0.060250888437880346 Centerline is valid? [True, True] Translation: X:137.02, Y:70.56, Z:-1.54 [[ 4.42971758e-01 -8.96455157e-01 -1.20072266e-02 1.37015167e+02] [ 8.96141788e-01 4.43134386e-01 -2.37025501e-02 7.05596571e+01] [ 2.65690883e-02 -2.60617237e-04 9.99646945e-01 -1.54052369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28719347 meters 0.06079045762839272 Centerline is valid? [True, True] Translation: X:137.04, Y:70.58, Z:-1.54 [[ 4.37498006e-01 -8.99155952e-01 -1.06803255e-02 1.37042593e+02] [ 8.98908370e-01 4.37628197e-01 -2.11022158e-02 7.05774203e+01] [ 2.36481945e-02 -3.68456629e-04 9.99720274e-01 -1.53782008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31719347 meters 0.06053251049091639 Centerline is valid? [True, True] Translation: X:137.06, Y:70.60, Z:-1.54 [[ 4.35148679e-01 -9.00305723e-01 -9.75868381e-03 1.37058928e+02] [ 9.00098932e-01 4.35257919e-01 -1.92991086e-02 7.06003650e+01] [ 2.16226423e-02 -3.85799261e-04 9.99766129e-01 -1.53534051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34719347 meters 0.06114690215129878 Centerline is valid? [True, True] Translation: X:137.07, Y:70.62, Z:-1.54 [[ 4.34454419e-01 -9.00638357e-01 -9.99541717e-03 1.37074958e+02] [ 9.00421174e-01 4.34569196e-01 -1.97819166e-02 7.06231173e+01] [ 2.21600533e-02 -4.05744172e-04 9.99754354e-01 -1.53804683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37719347 meters 0.06137788717267769 Centerline is valid? [True, True] Translation: X:137.09, Y:70.65, Z:-1.54 [[ 4.34159548e-01 -9.00769649e-01 -1.09328404e-02 1.37090834e+02] [ 9.00509435e-01 4.34296953e-01 -2.16544419e-02 7.06472279e+01] [ 2.42537633e-02 -4.43643277e-04 9.99705736e-01 -1.54033118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40719347 meters 0.06115574301845092 Centerline is valid? [True, True] Translation: X:137.11, Y:70.67, Z:-1.54 [[ 4.35959259e-01 -8.99870845e-01 -1.31143671e-02 1.37107701e+02] [ 8.99495394e-01 4.36156219e-01 -2.59959366e-02 7.06707716e+01] [ 2.91128982e-02 -4.63143522e-04 9.99576022e-01 -1.54397843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43719347 meters 0.061370169003943854 Centerline is valid? [True, True] Translation: X:137.12, Y:70.69, Z:-1.55 [[ 4.37159027e-01 -8.99291039e-01 -1.29464741e-02 1.37122166e+02] [ 8.98924444e-01 4.37350496e-01 -2.56785536e-02 7.06934038e+01] [ 2.87546400e-02 -4.12290506e-04 9.99586415e-01 -1.54682979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46719346999998 meters 0.061370169003943854 Centerline is valid? [True, True] Translation: X:137.13, Y:70.72, Z:-1.55 [[ 4.36850133e-01 -8.99441268e-01 -1.29370451e-02 1.37134321e+02] [ 8.99074597e-01 4.37041458e-01 -2.56833059e-02 7.07180924e+01] [ 2.87546502e-02 -4.11613006e-04 9.99586415e-01 -1.54705675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49719346999998 meters 0.06113197014555098 Centerline is valid? [True, True] Translation: X:137.15, Y:70.74, Z:-1.55 [[ 4.37731360e-01 -8.99013514e-01 -1.28824836e-02 1.37148097e+02] [ 8.98649111e-01 4.37920727e-01 -2.55970928e-02 7.07420848e+01] [ 2.86536389e-02 -3.72182245e-04 9.99589331e-01 -1.54658143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52719347 meters 0.06067290298993237 Centerline is valid? [True, True] Translation: X:137.16, Y:70.77, Z:-1.55 [[ 4.39152867e-01 -8.98326540e-01 -1.24171734e-02 1.37164902e+02] [ 8.97987192e-01 4.39328274e-01 -2.46915063e-02 7.07658624e+01] [ 2.76362508e-02 -3.07116852e-04 9.99617999e-01 -1.54654790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55719347 meters 0.06097913410315714 Centerline is valid? [True, True] Translation: X:137.18, Y:70.79, Z:-1.55 [[ 4.39177141e-01 -8.98314101e-01 -1.24585035e-02 1.37178991e+02] [ 8.97971817e-01 4.39353716e-01 -2.47977478e-02 7.07885681e+01] [ 2.77498563e-02 -2.96780995e-04 9.99614855e-01 -1.54891473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58719347 meters 0.061045277197553025 Centerline is valid? [True, True] Translation: X:137.19, Y:70.81, Z:-1.55 [[ 4.38920525e-01 -8.98440000e-01 -1.24233032e-02 1.37192578e+02] [ 8.98099139e-01 4.39096207e-01 -2.47479032e-02 7.08131757e+01] [ 2.76895315e-02 -2.94995223e-04 9.99616528e-01 -1.54871241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61719347 meters 0.06077275734076805 Centerline is valid? [True, True] Translation: X:137.21, Y:70.84, Z:-1.55 [[ 4.38611285e-01 -8.98582902e-01 -1.29965420e-02 1.37205384e+02] [ 8.98209305e-01 4.38803685e-01 -2.59108180e-02 7.08382482e+01] [ 2.89859486e-02 -3.08837803e-04 9.99579771e-01 -1.54824835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64719347 meters 0.06196053276009381 Centerline is valid? [True, True] Translation: X:137.22, Y:70.86, Z:-1.55 [[ 4.36290226e-01 -8.99694029e-01 -1.41948077e-02 1.37224492e+02] [ 8.99248626e-01 4.36520885e-01 -2.83094663e-02 7.08585611e+01] [ 3.16661878e-02 -4.13517911e-04 9.99498415e-01 -1.55292304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67719347 meters 0.06258691249482819 Centerline is valid? [True, True] Translation: X:137.24, Y:70.88, Z:-1.56 [[ 4.34127519e-01 -9.00724037e-01 -1.51495027e-02 1.37240305e+02] [ 9.00216353e-01 4.34391472e-01 -3.02418060e-02 7.08821105e+01] [ 3.38203364e-02 -5.09029856e-04 9.99427799e-01 -1.55518287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70719347 meters 0.06303199417040825 Centerline is valid? [True, True] Translation: X:137.25, Y:70.91, Z:-1.56 [[ 4.31704163e-01 -9.01887142e-01 -1.52019588e-02 1.37254757e+02] [ 9.01375776e-01 4.31971335e-01 -3.03722854e-02 7.09066020e+01] [ 3.39591841e-02 -5.90835339e-04 9.99423046e-01 -1.55614186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73719347 meters 0.06401515652938712 Centerline is valid? [True, True] Translation: X:137.27, Y:70.93, Z:-1.56 [[ 4.26949339e-01 -9.04160116e-01 -1.44480343e-02 1.37272869e+02] [ 9.03698713e-01 4.27193122e-01 -2.88907219e-02 7.09292940e+01] [ 3.22939394e-02 -7.21795339e-04 9.99478154e-01 -1.55522331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76719347 meters 0.06510165669668455 Centerline is valid? [True, True] Translation: X:137.29, Y:70.95, Z:-1.56 [[ 4.23336081e-01 -9.05864153e-01 -1.40249219e-02 1.37290124e+02] [ 9.05429564e-01 4.23567551e-01 -2.80683771e-02 7.09521320e+01] [ 3.13666385e-02 -8.16222096e-04 9.99507613e-01 -1.55510221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79719347 meters 0.06511948373199683 Centerline is valid? [True, True] Translation: X:137.31, Y:70.98, Z:-1.55 [[ 4.21032476e-01 -9.06950038e-01 -1.31637083e-02 1.37305566e+02] [ 9.06567040e-01 4.21237387e-01 -2.63678952e-02 7.09757418e+01] [ 2.94594097e-02 -8.32043896e-04 9.99565631e-01 -1.55294133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82719347 meters 0.06576596029624422 Centerline is valid? [True, True] Translation: X:137.32, Y:71.00, Z:-1.55 [[ 4.17728755e-01 -9.08484974e-01 -1.25594118e-02 1.37321120e+02] [ 9.08136407e-01 4.17916575e-01 -2.51793876e-02 7.09989880e+01] [ 2.81238817e-02 -8.87504862e-04 9.99604051e-01 -1.55116691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85719347 meters 0.06779082937882557 Centerline is valid? [True, True] Translation: X:137.34, Y:71.02, Z:-1.55 [[ 4.12588914e-01 -9.10845729e-01 -1.14213360e-02 1.37338714e+02] [ 9.10557954e-01 4.12745883e-01 -2.29139260e-02 7.10197052e+01] [ 2.55851610e-02 -9.45756472e-04 9.99672199e-01 -1.55035548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88719347 meters 0.06857107937429895 Centerline is valid? [True, True] Translation: X:137.35, Y:71.04, Z:-1.55 [[ 4.08679058e-01 -9.12607337e-01 -1.13699736e-02 1.37354014e+02] [ 9.12322281e-01 4.08835862e-01 -2.28318322e-02 7.10435670e+01] [ 2.54849506e-02 -1.04218863e-03 9.99674663e-01 -1.54881179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91719347 meters 0.07242481809638285 Centerline is valid? [True, True] Translation: X:137.37, Y:71.06, Z:-1.55 [[ 4.05457495e-01 -9.14047334e-01 -1.10313506e-02 1.37374093e+02] [ 9.13779135e-01 4.05606063e-01 -2.21678716e-02 7.10631927e+01] [ 2.47368666e-02 -1.09208831e-03 9.99693400e-01 -1.55271919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94719347 meters 0.0727914272986018 Centerline is valid? [True, True] Translation: X:137.39, Y:71.09, Z:-1.55 [[ 4.02323371e-01 -9.15429888e-01 -1.11366159e-02 1.37388375e+02] [ 9.15156752e-01 4.02475739e-01 -2.23919598e-02 7.10867106e+01] [ 2.49804870e-02 -1.18294048e-03 9.99687239e-01 -1.55130769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97719347 meters 0.07545865381752832 Centerline is valid? [True, True] Translation: X:137.41, Y:71.11, Z:-1.55 [[ 3.98628512e-01 -9.17042429e-01 -1.13354789e-02 1.37405666e+02] [ 9.16759525e-01 3.98787537e-01 -2.28138826e-02 7.11080569e+01] [ 2.54417460e-02 -1.29764416e-03 9.99675464e-01 -1.55243702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00719347 meters 0.07565924069737573 Centerline is valid? [True, True] Translation: X:137.42, Y:71.13, Z:-1.55 [[ 3.98582217e-01 -9.17050912e-01 -1.22409653e-02 1.37416727e+02] [ 9.16720485e-01 3.98767702e-01 -2.46550493e-02 7.11341104e+01] [ 2.74912370e-02 -1.39447950e-03 9.99621072e-01 -1.55420196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03719347 meters 0.07227976018079094 Centerline is valid? [True, True] Translation: X:137.42, Y:71.16, Z:-1.55 [[ 3.99369690e-01 -9.16694473e-01 -1.32322841e-02 1.37421509e+02] [ 9.16307702e-01 3.99586120e-01 -2.66669773e-02 7.11625103e+01] [ 2.97329078e-02 -1.47486135e-03 9.99556791e-01 -1.55223100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06719347 meters 0.07142720361646031 Centerline is valid? [True, True] Translation: X:137.43, Y:71.19, Z:-1.55 [[ 4.01154894e-01 -9.15905830e-01 -1.38297468e-02 1.37430559e+02] [ 9.15482068e-01 4.01390521e-01 -2.78968096e-02 7.11895853e+01] [ 3.11019798e-02 -1.46994349e-03 9.99515136e-01 -1.55428852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09719347 meters 0.07411586510578336 Centerline is valid? [True, True] Translation: X:137.45, Y:71.21, Z:-1.56 [[ 4.03198967e-01 -9.15004762e-01 -1.40313146e-02 1.37445584e+02] [ 9.14567295e-01 4.03440569e-01 -2.83261389e-02 7.12123643e+01] [ 3.15793535e-02 -1.41151150e-03 9.99500251e-01 -1.56118207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12719347 meters 0.07014614674400364 Centerline is valid? [True, True] Translation: X:137.45, Y:71.24, Z:-1.56 [[ 4.05862674e-01 -9.13838038e-01 -1.32487633e-02 1.37449937e+02] [ 9.13446658e-01 4.06076976e-01 -2.67711059e-02 7.12409159e+01] [ 2.98444726e-02 -1.23664596e-03 9.99553790e-01 -1.55515619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15719347 meters 0.06913959338022084 Centerline is valid? [True, True] Translation: X:137.46, Y:71.27, Z:-1.55 [[ 4.07312297e-01 -9.13203389e-01 -1.25005007e-02 1.37459184e+02] [ 9.12854097e-01 4.07502550e-01 -2.52798128e-02 7.12679762e+01] [ 2.81795966e-02 -1.11435468e-03 9.99602255e-01 -1.55377162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18719347 meters 0.06840206261788281 Centerline is valid? [True, True] Translation: X:137.47, Y:71.30, Z:-1.55 [[ 4.08976633e-01 -9.12456023e-01 -1.27326084e-02 1.37467791e+02] [ 9.12092703e-01 4.09173376e-01 -2.57691682e-02 7.12955037e+01] [ 2.87230771e-02 -1.07433158e-03 9.99586830e-01 -1.55433233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21719346999998 meters 0.06670996269191581 Centerline is valid? [True, True] Translation: X:137.47, Y:71.32, Z:-1.56 [[ 4.15326922e-01 -9.09565158e-01 -1.39560400e-02 1.37469794e+02] [ 9.09126359e-01 4.15560253e-01 -2.82655229e-02 7.13243836e+01] [ 3.15089103e-02 -9.48371151e-04 9.99503021e-01 -1.55878316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24719346999998 meters 0.0650396233863971 Centerline is valid? [True, True] Translation: X:137.48, Y:71.35, Z:-1.56 [[ 4.19078603e-01 -9.07837905e-01 -1.42640103e-02 1.37475854e+02] [ 9.07377691e-01 4.19320470e-01 -2.89148719e-02 7.13523977e+01] [ 3.22312083e-02 -8.25240566e-04 9.99480099e-01 -1.55876629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27719347 meters 0.06434194948216815 Centerline is valid? [True, True] Translation: X:137.48, Y:71.38, Z:-1.56 [[ 4.22810021e-01 -9.06106996e-01 -1.42055412e-02 1.37484464e+02] [ 9.05648843e-01 4.23048045e-01 -2.88188129e-02 7.13782313e+01] [ 3.21225544e-02 -6.80349040e-04 9.99483706e-01 -1.56020203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30719347 meters 0.06266354770016816 Centerline is valid? [True, True] Translation: X:137.49, Y:71.41, Z:-1.56 [[ 4.26424754e-01 -9.04414831e-01 -1.39907813e-02 1.37491790e+02] [ 9.03969073e-01 4.26653869e-01 -2.83970393e-02 7.14062870e+01] [ 3.16519245e-02 -5.38033076e-04 9.99498808e-01 -1.55678733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33719347 meters 0.06183417029675723 Centerline is valid? [True, True] Translation: X:137.49, Y:71.43, Z:-1.56 [[ 4.33108844e-01 -9.01254104e-01 -1.25606175e-02 1.37494720e+02] [ 9.00892733e-01 4.33290862e-01 -2.55208309e-02 7.14345337e+01] [ 2.84431544e-02 -2.62471429e-04 9.99595377e-01 -1.56000878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36719347 meters 0.06082472877797266 Centerline is valid? [True, True] Translation: X:137.50, Y:71.46, Z:-1.55 [[ 4.35343962e-01 -9.00185637e-01 -1.18934140e-02 1.37502337e+02] [ 8.99860967e-01 4.35506357e-01 -2.41754781e-02 7.14626438e+01] [ 2.69420756e-02 -1.77770602e-04 9.99636981e-01 -1.55457621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39719347 meters 0.05995641329335317 Centerline is valid? [True, True] Translation: X:137.51, Y:71.49, Z:-1.55 [[ 4.37598239e-01 -8.99106727e-01 -1.07179564e-02 1.37510941e+02] [ 8.98842453e-01 4.37729464e-01 -2.17981823e-02 7.14902406e+01] [ 2.42904576e-02 -9.49080359e-05 9.99704939e-01 -1.54978842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42719347 meters 0.05966043865262125 Centerline is valid? [True, True] Translation: X:137.52, Y:71.52, Z:-1.55 [[ 4.39237501e-01 -8.98317431e-01 -9.80875949e-03 1.37521190e+02] [ 8.98095457e-01 4.39347007e-01 -1.99689048e-02 7.15169464e+01] [ 2.22478644e-02 -3.81105057e-05 9.99752485e-01 -1.54792407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45719347 meters 0.0591431792874494 Centerline is valid? [True, True] Translation: X:137.53, Y:71.54, Z:-1.54 [[ 4.42397245e-01 -8.96790344e-01 -7.19423631e-03 1.37533425e+02] [ 8.96670582e-01 4.42455736e-01 -1.46556754e-02 7.15408644e+01] [ 1.63261993e-02 3.27703753e-05 9.99866718e-01 -1.54411153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48719347 meters 0.05903043840984851 Centerline is valid? [True, True] Translation: X:137.55, Y:71.57, Z:-1.54 [[ 4.44228653e-01 -8.95892043e-01 -6.19283975e-03 1.37548143e+02] [ 8.95803035e-01 4.44271812e-01 -1.26284985e-02 7.15655517e+01] [ 1.40650755e-02 6.23762252e-05 9.99901080e-01 -1.54160426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51719347 meters 0.05936512280910811 Centerline is valid? [True, True] Translation: X:137.56, Y:71.59, Z:-1.54 [[ 4.45963939e-01 -8.95030608e-01 -6.03126578e-03 1.37560751e+02] [ 8.94945940e-01 4.46004711e-01 -1.23110809e-02 7.15898759e+01] [ 1.37087672e-02 9.26413170e-05 9.99906026e-01 -1.54456874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54719347 meters 0.059882565627971826 Centerline is valid? [True, True] Translation: X:137.57, Y:71.62, Z:-1.54 [[ 4.52202900e-01 -8.91890673e-01 -6.60035588e-03 1.37573092e+02] [ 8.91788790e-01 4.52251018e-01 -1.34822345e-02 7.16156314e+01] [ 1.50096968e-02 2.10582136e-04 9.99887326e-01 -1.54399138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57719347 meters 0.061879232249164855 Centerline is valid? [True, True] Translation: X:137.58, Y:71.64, Z:-1.55 [[ 4.55781745e-01 -8.90057059e-01 -7.83785172e-03 1.37581091e+02] [ 8.89913041e-01 4.55849017e-01 -1.60141323e-02 7.16417154e+01] [ 1.78263685e-02 3.23942688e-04 9.99841045e-01 -1.55220186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60719347 meters 0.06243500664303509 Centerline is valid? [True, True] Translation: X:137.60, Y:71.67, Z:-1.55 [[ 4.58575338e-01 -8.88606687e-01 -9.31741496e-03 1.37596574e+02] [ 8.88402498e-01 4.58669754e-01 -1.90540744e-02 7.16655062e+01] [ 2.12051944e-02 4.60113888e-04 9.99775039e-01 -1.55416352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63719347 meters 0.06338657763495041 Centerline is valid? [True, True] Translation: X:137.61, Y:71.69, Z:-1.56 [[ 4.60397779e-01 -8.87637502e-01 -1.15564291e-02 1.37613364e+02] [ 8.87322541e-01 4.60542356e-01 -2.36526292e-02 7.16880537e+01] [ 2.63171858e-02 6.35337914e-04 9.99653441e-01 -1.55899868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66719347 meters 0.06356891609347247 Centerline is valid? [True, True] Translation: X:137.64, Y:71.71, Z:-1.56 [[ 4.59201819e-01 -8.88234434e-01 -1.31635920e-02 1.37640311e+02] [ 8.87825351e-01 4.59389930e-01 -2.69636542e-02 7.17061264e+01] [ 2.99972678e-02 6.94788383e-04 9.99549739e-01 -1.56285243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69719347 meters 0.0634275752677553 Centerline is valid? [True, True] Translation: X:137.66, Y:71.73, Z:-1.56 [[ 4.57056929e-01 -8.89330624e-01 -1.37842398e-02 1.37660764e+02] [ 8.88881803e-01 4.57264258e-01 -2.82584317e-02 7.17274175e+01] [ 3.14341289e-02 6.63152082e-04 9.99505606e-01 -1.56439550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72719347 meters 0.06316272792521946 Centerline is valid? [True, True] Translation: X:137.68, Y:71.75, Z:-1.57 [[ 4.54057694e-01 -8.90859982e-01 -1.41457989e-02 1.37680760e+02] [ 8.90387075e-01 4.54277613e-01 -2.90294115e-02 7.17468225e+01] [ 3.22872608e-02 5.85791144e-04 9.99478459e-01 -1.56592907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75719347 meters 0.06283888180184576 Centerline is valid? [True, True] Translation: X:137.70, Y:71.77, Z:-1.57 [[ 4.51389221e-01 -8.92210684e-01 -1.44175833e-02 1.37700967e+02] [ 8.91719209e-01 4.51619125e-01 -2.96144800e-02 7.17674583e+01] [ 3.29336118e-02 5.11221053e-04 9.99457411e-01 -1.56652407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78719347 meters 0.06227240335740777 Centerline is valid? [True, True] Translation: X:137.73, Y:71.78, Z:-1.57 [[ 4.45633882e-01 -8.95091287e-01 -1.49006953e-02 1.37730550e+02] [ 8.94566871e-01 4.45882813e-01 -3.06370779e-02 7.17824422e+01] [ 3.40669455e-02 3.23251566e-04 9.99419501e-01 -1.56756821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81719347 meters 0.062146787290975614 Centerline is valid? [True, True] Translation: X:137.75, Y:71.80, Z:-1.57 [[ 4.41033294e-01 -8.97361483e-01 -1.52316425e-02 1.37753227e+02] [ 8.96813852e-01 4.41296207e-01 -3.13460118e-02 7.18012865e+01] [ 3.48503697e-02 1.64686897e-04 9.99392528e-01 -1.56802069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84719347 meters 0.06184723632120642 Centerline is valid? [True, True] Translation: X:137.78, Y:71.82, Z:-1.57 [[ 4.36122526e-01 -8.99757279e-01 -1.52964488e-02 1.37776029e+02] [ 8.99205376e-01 4.36390695e-01 -3.15095670e-02 7.18207391e+01] [ 3.50261901e-02 -1.26170308e-05 9.99386395e-01 -1.56605596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87719347 meters 0.062203152215305334 Centerline is valid? [True, True] Translation: X:137.81, Y:71.84, Z:-1.56 [[ 4.26730019e-01 -9.04269640e-01 -1.40680171e-02 1.37805971e+02] [ 9.03804722e-01 4.26961710e-01 -2.89952291e-02 7.18366088e+01] [ 3.22260100e-02 -3.41605615e-04 9.99480549e-01 -1.56299917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90719347 meters 0.06295414714273519 Centerline is valid? [True, True] Translation: X:137.83, Y:71.86, Z:-1.56 [[ 4.21271351e-01 -9.06837079e-01 -1.33026954e-02 1.37825842e+02] [ 9.06421780e-01 4.21481040e-01 -2.74461274e-02 7.18572944e+01] [ 3.04959999e-02 -4.95585642e-04 9.99534766e-01 -1.56150517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93719347 meters 0.06409052128472606 Centerline is valid? [True, True] Translation: X:137.84, Y:71.88, Z:-1.56 [[ 4.16412932e-01 -9.09086283e-01 -1.27436387e-02 1.37844945e+02] [ 9.08705799e-01 4.16607415e-01 -2.63065251e-02 7.18786292e+01] [ 2.92239955e-02 -6.25841173e-04 9.99572692e-01 -1.56134558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96719346999998 meters 0.06582895485692936 Centerline is valid? [True, True] Translation: X:137.86, Y:71.90, Z:-1.56 [[ 4.12593047e-01 -9.10830481e-01 -1.24423661e-02 1.37864258e+02] [ 9.10467861e-01 4.12779984e-01 -2.57091357e-02 7.18989774e+01] [ 2.85526241e-02 -7.20963854e-04 9.99592031e-01 -1.56301368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99719346999998 meters 0.06721175320557903 Centerline is valid? [True, True] Translation: X:137.88, Y:71.92, Z:-1.56 [[ 4.08980380e-01 -9.12453444e-01 -1.27969123e-02 1.37882059e+02] [ 9.12069888e-01 4.09179661e-01 -2.64674229e-02 7.19198719e+01] [ 2.93865274e-02 -8.47021714e-04 9.99567764e-01 -1.56283952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02719347 meters 0.07067196940758964 Centerline is valid? [True, True] Translation: X:137.91, Y:71.94, Z:-1.56 [[ 4.03042574e-01 -9.15102765e-01 -1.19838677e-02 1.37905836e+02] [ 9.14766891e-01 4.03219546e-01 -2.48099487e-02 7.19378226e+01] [ 2.75357824e-02 -9.62979851e-04 9.99620355e-01 -1.56240853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05719347 meters 0.06685124425228657 Centerline is valid? [True, True] Translation: X:137.91, Y:71.97, Z:-1.55 [[ 4.01663822e-01 -9.15707262e-01 -1.20989810e-02 1.37911560e+02] [ 9.15364555e-01 4.01844747e-01 -2.50705046e-02 7.19662725e+01] [ 2.78191551e-02 -1.00506364e-03 9.99612467e-01 -1.55398457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08719347 meters 0.06698579618663895 Centerline is valid? [True, True] Translation: X:137.92, Y:71.99, Z:-1.55 [[ 4.01247560e-01 -9.15885411e-01 -1.24221778e-02 1.37922212e+02] [ 9.15523570e-01 4.01438467e-01 -2.57633566e-02 7.19920084e+01] [ 2.85830225e-02 -1.03531258e-03 9.99590886e-01 -1.55468063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11719347 meters 0.06602374676556014 Centerline is valid? [True, True] Translation: X:137.93, Y:72.02, Z:-1.55 [[ 4.04097379e-01 -9.14637829e-01 -1.19561895e-02 1.37928019e+02] [ 9.14301418e-01 4.04273211e-01 -2.48211280e-02 7.20191794e+01] [ 2.75359098e-02 -9.01408246e-04 9.99620409e-01 -1.55490869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14719347 meters 0.06478762712613606 Centerline is valid? [True, True] Translation: X:137.93, Y:72.05, Z:-1.55 [[ 4.07360131e-01 -9.13191898e-01 -1.17593241e-02 1.37934277e+02] [ 9.12865282e-01 4.07529076e-01 -2.44341891e-02 7.20468517e+01] [ 2.71053700e-02 -7.81164182e-04 9.99632277e-01 -1.55435311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17719347 meters 0.06371408877558116 Centerline is valid? [True, True] Translation: X:137.94, Y:72.08, Z:-1.55 [[ 4.10868960e-01 -9.11621567e-01 -1.15246192e-02 1.37940840e+02] [ 9.11306945e-01 4.11030029e-01 -2.39576098e-02 7.20750973e+01] [ 2.65772384e-02 -6.59027285e-04 9.99646546e-01 -1.55423480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20719347 meters 0.06234452539383293 Centerline is valid? [True, True] Translation: X:137.95, Y:72.10, Z:-1.55 [[ 4.15231144e-01 -9.09649988e-01 -1.09542992e-02 1.37946929e+02] [ 9.09364468e-01 4.15375317e-01 -2.27949769e-02 7.21033821e+01] [ 2.52855960e-02 -4.96266131e-04 9.99680145e-01 -1.55261651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23719347 meters 0.060750749175203636 Centerline is valid? [True, True] Translation: X:137.95, Y:72.13, Z:-1.55 [[ 4.24418007e-01 -9.05392805e-01 -1.15422953e-02 1.37948297e+02] [ 9.05073653e-01 4.24574857e-01 -2.40389962e-02 7.21329681e+01] [ 2.66653026e-02 -2.44044525e-04 9.99644388e-01 -1.55432319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26719347 meters 0.06224236262953003 Centerline is valid? [True, True] Translation: X:137.96, Y:72.16, Z:-1.57 [[ 4.27598001e-01 -9.03883467e-01 -1.24349150e-02 1.37956720e+02] [ 9.03511997e-01 4.27778744e-01 -2.59117323e-02 7.21586734e+01] [ 2.87405787e-02 -1.55289972e-04 9.99586892e-01 -1.56813700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29719347 meters 0.060763513668866335 Centerline is valid? [True, True] Translation: X:137.96, Y:72.19, Z:-1.56 [[ 4.30677372e-01 -9.02414977e-01 -1.28144835e-02 1.37962234e+02] [ 9.02019010e-01 4.30867970e-01 -2.67300909e-02 7.21859666e+01] [ 2.96429848e-02 -4.68624236e-05 9.99560549e-01 -1.56067430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32719347 meters 0.06096013006501134 Centerline is valid? [True, True] Translation: X:137.96, Y:72.21, Z:-1.56 [[ 4.36191693e-01 -8.99756914e-01 -1.32023546e-02 1.37964555e+02] [ 8.99334657e-01 4.36391421e-01 -2.75626845e-02 7.22145050e+01] [ 3.05611102e-02 1.49278971e-04 9.99532889e-01 -1.56384915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35719347 meters 0.06125317252050712 Centerline is valid? [True, True] Translation: X:137.97, Y:72.24, Z:-1.57 [[ 4.38767570e-01 -8.98500686e-01 -1.33991169e-02 1.37971716e+02] [ 8.98064705e-01 4.38972045e-01 -2.79880292e-02 7.22405326e+01] [ 3.10291012e-02 2.46965643e-04 9.99518451e-01 -1.56554468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38719347 meters 0.06125317252050712 Centerline is valid? [True, True] Translation: X:137.98, Y:72.26, Z:-1.57 [[ 4.38446524e-01 -8.98657555e-01 -1.33881861e-02 1.37982966e+02] [ 8.98221488e-01 4.38650814e-01 -2.79932603e-02 7.22647677e+01] [ 3.10290936e-02 2.47991297e-04 9.99518451e-01 -1.56576487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41719347 meters 0.062021021958190196 Centerline is valid? [True, True] Translation: X:137.99, Y:72.29, Z:-1.57 [[ 4.39997521e-01 -8.97882231e-01 -1.44804005e-02 1.37992728e+02] [ 8.97370882e-01 4.40235603e-01 -3.03003975e-02 7.22912871e+01] [ 3.35809764e-02 3.37809986e-04 9.99435943e-01 -1.56895313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44719347 meters 0.06239715696394456 Centerline is valid? [True, True] Translation: X:138.00, Y:72.32, Z:-1.57 [[ 4.41376825e-01 -8.97200143e-01 -1.47784499e-02 1.38004439e+02] [ 8.96666291e-01 4.41623977e-01 -3.09487692e-02 7.23167935e+01] [ 3.42937579e-02 4.08731596e-04 9.99411713e-01 -1.57113030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47719347 meters 0.06280380782747828 Centerline is valid? [True, True] Translation: X:138.02, Y:72.34, Z:-1.57 [[ 4.40355716e-01 -8.97693663e-01 -1.52621007e-02 1.38020660e+02] [ 8.97123616e-01 4.40619941e-01 -3.19888359e-02 7.23391737e+01] [ 3.54409612e-02 3.94475738e-04 9.99371694e-01 -1.57415095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50719347 meters 0.06268625315718292 Centerline is valid? [True, True] Translation: X:138.04, Y:72.36, Z:-1.57 [[ 4.39521530e-01 -8.98095250e-01 -1.56763299e-02 1.38035206e+02] [ 8.97493131e-01 4.39800836e-01 -3.28831925e-02 7.23634641e+01] [ 3.64267020e-02 3.83472670e-04 9.99336254e-01 -1.57404899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53719347 meters 0.06288280491093544 Centerline is valid? [True, True] Translation: X:138.05, Y:72.39, Z:-1.58 [[ 4.39363152e-01 -8.98172791e-01 -1.56734887e-02 1.38047592e+02] [ 8.97570126e-01 4.39642455e-01 -3.28995505e-02 7.23866064e+01] [ 3.64402122e-02 3.86795029e-04 9.99335760e-01 -1.57559493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56719347 meters 0.06293656933314581 Centerline is valid? [True, True] Translation: X:138.06, Y:72.41, Z:-1.57 [[ 4.40258209e-01 -8.97746668e-01 -1.49542413e-02 1.38059180e+02] [ 8.97196806e-01 4.40511915e-01 -3.14188434e-02 7.24111141e+01] [ 3.47936835e-02 4.15506200e-04 9.99394430e-01 -1.57496409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59719347 meters 0.0627682745837146 Centerline is valid? [True, True] Translation: X:138.07, Y:72.43, Z:-1.57 [[ 4.42229638e-01 -8.96798456e-01 -1.36189775e-02 1.38071289e+02] [ 8.96341110e-01 4.42439057e-01 -2.86407811e-02 7.24345495e+01] [ 3.17105758e-02 4.58552903e-04 9.99496988e-01 -1.57160154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62719347 meters 0.06103595661582326 Centerline is valid? [True, True] Translation: X:138.09, Y:72.46, Z:-1.56 [[ 4.41446824e-01 -8.97196217e-01 -1.27925620e-02 1.38089015e+02] [ 8.96792217e-01 4.41631947e-01 -2.69247511e-02 7.24577879e+01] [ 2.98063889e-02 4.13575835e-04 9.99555605e-01 -1.56162867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65719347 meters 0.06064933542996987 Centerline is valid? [True, True] Translation: X:138.11, Y:72.48, Z:-1.56 [[ 4.38760416e-01 -8.98518978e-01 -1.23670148e-02 1.38106055e+02] [ 8.98141262e-01 4.38934552e-01 -2.60524750e-02 7.24810979e+01] [ 2.88369533e-02 3.23468474e-04 9.99584076e-01 -1.56110471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68719347 meters 0.05987065070206558 Centerline is valid? [True, True] Translation: X:138.13, Y:72.50, Z:-1.56 [[ 4.34888708e-01 -9.00408294e-01 -1.16925904e-02 1.38125502e+02] [ 9.00070755e-01 4.35045820e-01 -2.46529835e-02 7.25033363e+01] [ 2.72845634e-02 1.97145466e-04 9.99627688e-01 -1.55752054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71719346999998 meters 0.06054092290330943 Centerline is valid? [True, True] Translation: X:138.16, Y:72.52, Z:-1.56 [[ 4.24028074e-01 -9.05599067e-01 -9.51430042e-03 1.38155313e+02] [ 9.05376464e-01 4.24134789e-01 -2.00783108e-02 7.25183151e+01] [ 2.22182453e-02 -1.00256229e-04 9.99753139e-01 -1.56330939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74719346999998 meters 0.06190778638533051 Centerline is valid? [True, True] Translation: X:138.18, Y:72.54, Z:-1.56 [[ 4.17728739e-01 -9.08519634e-01 -9.73527814e-03 1.38178759e+02] [ 9.08286968e-01 4.17842089e-01 -2.05614472e-02 7.25376227e+01] [ 2.27482874e-02 -2.53318857e-04 9.99741192e-01 -1.56488985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77719347 meters 0.06158794253384024 Centerline is valid? [True, True] Translation: X:138.20, Y:72.56, Z:-1.56 [[ 4.10587766e-01 -9.11763916e-01 -1.02101838e-02 1.38197923e+02] [ 9.11508510e-01 4.10714455e-01 -2.15840981e-02 7.25594938e+01] [ 2.38730719e-02 -4.44502763e-04 9.99714899e-01 -1.55600380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80719347 meters 0.06469457499616918 Centerline is valid? [True, True] Translation: X:138.23, Y:72.58, Z:-1.56 [[ 3.98827116e-01 -9.16966764e-01 -1.04348572e-02 1.38225476e+02] [ 9.16701181e-01 3.98962878e-01 -2.20809188e-02 7.25764196e+01] [ 2.44105893e-02 -7.59176810e-04 9.99701729e-01 -1.55661499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83719347 meters 0.06639802611960967 Centerline is valid? [True, True] Translation: X:138.24, Y:72.60, Z:-1.56 [[ 3.94827003e-01 -9.18689230e-01 -1.10334152e-02 1.38242158e+02] [ 9.18392419e-01 3.94980097e-01 -2.33685326e-02 7.25975405e+01] [ 2.58263986e-02 -9.06477180e-04 9.99666032e-01 -1.55880314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86719347 meters 0.06704857620164648 Centerline is valid? [True, True] Translation: X:138.26, Y:72.62, Z:-1.56 [[ 3.92020167e-01 -9.19880732e-01 -1.18163968e-02 1.38256483e+02] [ 9.19540193e-01 3.92196819e-01 -2.50497222e-02 7.26219081e+01] [ 2.76771100e-02 -1.04565552e-03 9.99616369e-01 -1.55962356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89719347 meters 0.06783389764215775 Centerline is valid? [True, True] Translation: X:138.27, Y:72.65, Z:-1.56 [[ 3.91534206e-01 -9.20079424e-01 -1.24426424e-02 1.38268983e+02] [ 9.19701176e-01 3.91730303e-01 -2.64029413e-02 7.26455794e+01] [ 2.91669631e-02 -1.10585817e-03 9.99573942e-01 -1.56142555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92719347 meters 0.06596193803063105 Centerline is valid? [True, True] Translation: X:138.27, Y:72.68, Z:-1.56 [[ 3.96300731e-01 -9.18019363e-01 -1.36447967e-02 1.38271629e+02] [ 9.17562838e-01 3.96534194e-01 -2.89667335e-02 7.26757020e+01] [ 3.20026507e-02 -1.04042072e-03 9.99487242e-01 -1.56401993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95719347 meters 0.0647953955231607 Centerline is valid? [True, True] Translation: X:138.28, Y:72.70, Z:-1.57 [[ 4.00630793e-01 -9.16128339e-01 -1.42770819e-02 1.38277097e+02] [ 9.15626299e-01 4.00884054e-01 -3.03390217e-02 7.27036898e+01] [ 3.35178921e-02 -9.17725331e-04 9.99437696e-01 -1.56590933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98719347 meters 0.06335078426155231 Centerline is valid? [True, True] Translation: X:138.28, Y:72.73, Z:-1.57 [[ 4.04929767e-01 -9.14231380e-01 -1.45899748e-02 1.38282071e+02] [ 9.13704855e-01 4.05191805e-01 -3.10328736e-02 7.27323440e+01] [ 3.42829651e-02 -7.64796552e-04 9.99411874e-01 -1.56509765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01719347 meters 0.06272964419168754 Centerline is valid? [True, True] Translation: X:138.29, Y:72.76, Z:-1.57 [[ 4.08616197e-01 -9.12589653e-01 -1.45921011e-02 1.38288093e+02] [ 9.12060993e-01 4.08876200e-01 -3.10644186e-02 7.27593045e+01] [ 3.43154298e-02 -6.15461664e-04 9.99410863e-01 -1.56644865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04719347 meters 0.060618149206024055 Centerline is valid? [True, True] Translation: X:138.29, Y:72.79, Z:-1.56 [[ 4.16536864e-01 -9.09033328e-01 -1.24679517e-02 1.38286978e+02] [ 9.08644990e-01 4.16723338e-01 -2.65695513e-02 7.27906966e+01] [ 2.93482940e-02 -2.61744233e-04 9.99569212e-01 -1.56178336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07719347 meters 0.06015836875987185 Centerline is valid? [True, True] Translation: X:138.29, Y:72.82, Z:-1.56 [[ 4.19568829e-01 -9.07650120e-01 -1.15436893e-02 1.38293495e+02] [ 9.07316153e-01 4.19727576e-01 -2.46203268e-02 7.28170943e+01] [ 2.71918473e-02 -1.43854076e-04 9.99630223e-01 -1.56091187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10719347 meters 0.059770245246995674 Centerline is valid? [True, True] Translation: X:138.30, Y:72.84, Z:-1.56 [[ 4.21679667e-01 -9.06670309e-01 -1.16279452e-02 1.38301622e+02] [ 9.06330367e-01 4.21839953e-01 -2.48257879e-02 7.28438188e+01] [ 2.74139366e-02 -7.02298359e-05 9.99624165e-01 -1.56000256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13719347 meters 0.05972585989900216 Centerline is valid? [True, True] Translation: X:138.31, Y:72.87, Z:-1.56 [[ 4.25307121e-01 -9.04968541e-01 -1.20744251e-02 1.38308819e+02] [ 9.04600662e-01 4.25478480e-01 -2.58012675e-02 7.28709580e+01] [ 2.84867435e-02 5.09299104e-05 9.99594169e-01 -1.55985791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16719347 meters 0.05943903813972506 Centerline is valid? [True, True] Translation: X:138.32, Y:72.90, Z:-1.56 [[ 4.26981405e-01 -9.04185295e-01 -1.16547283e-02 1.38318491e+02] [ 9.03841614e-01 4.27140423e-01 -2.49277974e-02 7.28976520e+01] [ 2.75175534e-02 1.09677484e-04 9.99621314e-01 -1.55885649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19719347 meters 0.05977050310710931 Centerline is valid? [True, True] Translation: X:138.33, Y:72.92, Z:-1.56 [[ 4.29890025e-01 -9.02819720e-01 -1.05413031e-02 1.38326532e+02] [ 9.02537814e-01 4.30019207e-01 -2.25604984e-02 7.29234947e+01] [ 2.49010256e-02 1.84608514e-04 9.99689904e-01 -1.56089338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22719347 meters 0.059621478786906434 Centerline is valid? [True, True] Translation: X:138.34, Y:72.95, Z:-1.56 [[ 4.32582908e-01 -9.01531228e-01 -1.06523785e-02 1.38336519e+02] [ 9.01242389e-01 4.32713961e-01 -2.28206863e-02 7.29502256e+01] [ 2.51829942e-02 2.71463863e-04 9.99682821e-01 -1.55842948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25719347 meters 0.06048757353983553 Centerline is valid? [True, True] Translation: X:138.34, Y:72.98, Z:-1.56 [[ 4.38594039e-01 -8.98626864e-01 -1.02483463e-02 1.38343021e+02] [ 8.98358356e-01 4.38713545e-01 -2.19701763e-02 7.29765040e+01] [ 2.42390790e-02 4.29300792e-04 9.99706098e-01 -1.55854852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28719347 meters 0.0608691412992078 Centerline is valid? [True, True] Translation: X:138.35, Y:73.00, Z:-1.56 [[ 4.40371787e-01 -8.97756100e-01 -1.03282785e-02 1.38354263e+02] [ 8.97482639e-01 4.40492615e-01 -2.21623440e-02 7.30024570e+01] [ 2.44459099e-02 4.90220419e-04 9.99701034e-01 -1.55973914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31719347 meters 0.060736897183678126 Centerline is valid? [True, True] Translation: X:138.37, Y:73.03, Z:-1.56 [[ 4.40424024e-01 -8.97729000e-01 -1.04557180e-02 1.38368266e+02] [ 8.97448234e-01 4.40547825e-01 -2.24562085e-02 7.30267335e+01] [ 2.47658335e-02 5.06788039e-04 9.99693151e-01 -1.55892367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34719347 meters 0.060716797699026374 Centerline is valid? [True, True] Translation: X:138.38, Y:73.05, Z:-1.56 [[ 4.39378640e-01 -8.98248166e-01 -9.83066724e-03 1.38381975e+02] [ 8.97999663e-01 4.39488364e-01 -2.11325182e-02 7.30501409e+01] [ 2.33027096e-02 4.57241240e-04 9.99728350e-01 -1.55926818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37719347 meters 0.059573789006324256 Centerline is valid? [True, True] Translation: X:138.40, Y:73.07, Z:-1.56 [[ 4.33634205e-01 -9.01047406e-01 -8.65730675e-03 1.38403522e+02] [ 9.00854856e-01 4.33720526e-01 -1.86288315e-02 7.30706083e+01] [ 2.05403119e-02 2.79121713e-04 9.99788987e-01 -1.55827096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40719347 meters 0.05899605867065525 Centerline is valid? [True, True] Translation: X:138.42, Y:73.09, Z:-1.56 [[ 4.29173608e-01 -9.03175004e-01 -9.21553111e-03 1.38422287e+02] [ 9.02956920e-01 4.29272493e-01 -1.98476093e-02 7.30927720e+01] [ 2.18818386e-02 1.96842493e-04 9.99760545e-01 -1.55783253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43719347 meters 0.05896693112177305 Centerline is valid? [True, True] Translation: X:138.44, Y:73.11, Z:-1.56 [[ 4.24606023e-01 -9.05325343e-01 -9.78509736e-03 1.38440618e+02] [ 9.05079559e-01 4.24718745e-01 -2.10945443e-02 7.31144301e+01] [ 2.32533399e-02 1.00578981e-04 9.99729599e-01 -1.56045822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46719346999998 meters 0.05959623432776519 Centerline is valid? [True, True] Translation: X:138.47, Y:73.13, Z:-1.56 [[ 4.14428635e-01 -9.10017294e-01 -1.08365503e-02 1.38469401e+02] [ 9.09716892e-01 4.14570255e-01 -2.33812119e-02 7.31319117e+01] [ 2.57698186e-02 -1.68349121e-04 9.99667889e-01 -1.56345944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49719346999998 meters 0.06085657108265661 Centerline is valid? [True, True] Translation: X:138.49, Y:73.15, Z:-1.57 [[ 4.08922289e-01 -9.12496769e-01 -1.14981652e-02 1.38490015e+02] [ 9.12159139e-01 4.09083772e-01 -2.48228413e-02 7.31523438e+01] [ 2.73544753e-02 -3.37543388e-04 9.99625739e-01 -1.56747093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52719347 meters 0.0624394137559689 Centerline is valid? [True, True] Translation: X:138.51, Y:73.17, Z:-1.57 [[ 4.03449423e-01 -9.14923588e-01 -1.19745761e-02 1.38509851e+02] [ 9.14557777e-01 4.03626765e-01 -2.58748212e-02 7.31738142e+01] [ 2.85067437e-02 -5.12259999e-04 9.99593469e-01 -1.56998901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55719347 meters 0.06499594730264464 Centerline is valid? [True, True] Translation: X:138.53, Y:73.19, Z:-1.57 [[ 3.92884972e-01 -9.19494131e-01 -1.31127010e-02 1.38533259e+02] [ 9.19057068e-01 3.93102682e-01 -2.83617326e-02 7.31930574e+01] [ 3.12330846e-02 -9.08422046e-04 9.99511715e-01 -1.57017700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58719347 meters 0.066128238569036 Centerline is valid? [True, True] Translation: X:138.55, Y:73.22, Z:-1.57 [[ 3.88469188e-01 -9.21363240e-01 -1.34710630e-02 1.38548612e+02] [ 9.20902209e-01 3.88701197e-01 -2.91633410e-02 7.32169312e+01] [ 3.21062486e-02 -1.07647230e-03 9.99483882e-01 -1.56985728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61719347 meters 0.06723629180457845 Centerline is valid? [True, True] Translation: X:138.56, Y:73.24, Z:-1.57 [[ 3.85265723e-01 -9.22703172e-01 -1.37542634e-02 1.38562492e+02] [ 9.22222426e-01 3.85509291e-01 -2.98057613e-02 7.32408928e+01] [ 3.28042668e-02 -1.20135197e-03 9.99461073e-01 -1.57054959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64719347 meters 0.06932851869691584 Centerline is valid? [True, True] Translation: X:138.58, Y:73.26, Z:-1.57 [[ 3.82654668e-01 -9.23789777e-01 -1.37059356e-02 1.38577200e+02] [ 9.23312161e-01 3.82897914e-01 -2.97294702e-02 7.32636989e+01] [ 3.27117548e-02 -1.27873646e-03 9.99464009e-01 -1.57297078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67719347 meters 0.06854909404521979 Centerline is valid? [True, True] Translation: X:138.59, Y:73.29, Z:-1.57 [[ 3.80955242e-01 -9.24494101e-01 -1.35558394e-02 1.38587551e+02] [ 9.24026461e-01 3.81194084e-01 -2.94307614e-02 7.32897915e+01] [ 3.23759711e-02 -1.31415150e-03 9.99474897e-01 -1.57036733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70719347 meters 0.06882314976354076 Centerline is valid? [True, True] Translation: X:138.60, Y:73.31, Z:-1.57 [[ 3.79932545e-01 -9.24923042e-01 -1.29856629e-02 1.38599271e+02] [ 9.24493239e-01 3.80152235e-01 -2.82228656e-02 7.33148609e+01] [ 3.10405075e-02 -1.28237242e-03 9.99517305e-01 -1.56747494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73719347 meters 0.06931872830667857 Centerline is valid? [True, True] Translation: X:138.61, Y:73.34, Z:-1.57 [[ 3.80570815e-01 -9.24670797e-01 -1.22381250e-02 1.38609653e+02] [ 9.24288466e-01 3.80765699e-01 -2.66141883e-02 7.33395523e+01] [ 2.92692209e-02 -1.18297443e-03 9.99570865e-01 -1.56797939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76719347 meters 0.06797700322035075 Centerline is valid? [True, True] Translation: X:138.62, Y:73.37, Z:-1.57 [[ 3.82312262e-01 -9.23958607e-01 -1.17399579e-02 1.38616271e+02] [ 9.23605642e-01 3.82490973e-01 -2.55592151e-02 7.33667352e+01] [ 2.81060847e-02 -1.07149002e-03 9.99604372e-01 -1.56707320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79719347 meters 0.0654099666697648 Centerline is valid? [True, True] Translation: X:138.61, Y:73.40, Z:-1.57 [[ 3.88844562e-01 -9.21242446e-01 -1.05954057e-02 1.38614827e+02] [ 9.20953297e-01 3.88988111e-01 -2.30927169e-02 7.33959827e+01] [ 2.53954778e-02 -7.78396436e-04 9.99677180e-01 -1.56687101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82719347 meters 0.06363299131416694 Centerline is valid? [True, True] Translation: X:138.62, Y:73.43, Z:-1.57 [[ 3.92890932e-01 -9.19523805e-01 -1.06154601e-02 1.38617550e+02] [ 9.19232425e-01 3.93033760e-01 -2.31562548e-02 7.34256430e+01] [ 2.54649617e-02 -6.60192631e-04 9.99675497e-01 -1.56687483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85719347 meters 0.06232156282549439 Centerline is valid? [True, True] Translation: X:138.62, Y:73.45, Z:-1.57 [[ 3.97843705e-01 -9.17395162e-01 -1.03200589e-02 1.38620885e+02] [ 9.17118490e-01 3.97977220e-01 -2.25345762e-02 7.34529322e+01] [ 2.47802595e-02 -4.99477516e-04 9.99692797e-01 -1.56717429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88719347 meters 0.06008580038841154 Centerline is valid? [True, True] Translation: X:138.62, Y:73.48, Z:-1.56 [[ 4.04596429e-01 -9.14439877e-01 -1.00718384e-02 1.38620707e+02] [ 9.14174961e-01 4.04721659e-01 -2.20118118e-02 7.34841682e+01] [ 2.42047696e-02 -3.01522024e-04 9.99706976e-01 -1.56341705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91719347 meters 0.05958679621071986 Centerline is valid? [True, True] Translation: X:138.63, Y:73.51, Z:-1.56 [[ 4.07073274e-01 -9.13346360e-01 -9.47505186e-03 1.38627513e+02] [ 9.13111179e-01 4.07183474e-01 -2.07266394e-02 7.35121415e+01] [ 2.27886852e-02 -2.14514812e-04 9.99740281e-01 -1.56334461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94719347 meters 0.059367723374441995 Centerline is valid? [True, True] Translation: X:138.63, Y:73.54, Z:-1.56 [[ 4.09725043e-01 -9.12152523e-01 -1.01569424e-02 1.38634468e+02] [ 9.11881417e-01 4.09850890e-01 -2.22380285e-02 7.35399262e+01] [ 2.44473057e-02 -1.50449831e-04 9.99701109e-01 -1.56337441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97719347 meters 0.05953027158211 Centerline is valid? [True, True] Translation: X:138.64, Y:73.56, Z:-1.57 [[ 4.11092022e-01 -9.11539552e-01 -9.94962976e-03 1.38643221e+02] [ 9.11278824e-01 4.11212396e-01 -2.18006885e-02 7.35648930e+01] [ 2.39636009e-02 -1.04797776e-04 9.99712826e-01 -1.56510560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00719347 meters 0.05926384101760544 Centerline is valid? [True, True] Translation: X:138.65, Y:73.59, Z:-1.56 [[ 4.11482704e-01 -9.11363471e-01 -9.93014771e-03 1.38654269e+02] [ 9.11103151e-01 4.11602498e-01 -2.17814422e-02 7.35899162e+01] [ 2.39380844e-02 -8.47021249e-05 9.99713439e-01 -1.56408663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03719347 meters 0.05912910666308514 Centerline is valid? [True, True] Translation: X:138.67, Y:73.61, Z:-1.56 [[ 4.09728806e-01 -9.12152919e-01 -9.96785751e-03 1.38665118e+02] [ 9.11890307e-01 4.09850018e-01 -2.18867724e-02 7.36145825e+01] [ 2.40494099e-02 -1.21951516e-04 9.99710764e-01 -1.56342265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06719347 meters 0.0594305801034068 Centerline is valid? [True, True] Translation: X:138.68, Y:73.64, Z:-1.56 [[ 4.06978654e-01 -9.13381280e-01 -1.01495425e-02 1.38677173e+02] [ 9.13108901e-01 4.07105149e-01 -2.23054590e-02 7.36397585e+01] [ 2.45053197e-02 -1.89791908e-04 9.99699682e-01 -1.56402200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09719347 meters 0.06029477798471156 Centerline is valid? [True, True] Translation: X:138.69, Y:73.66, Z:-1.57 [[ 4.03483622e-01 -9.14930629e-01 -1.01445226e-02 1.38691254e+02] [ 9.14658460e-01 4.03611037e-01 -2.23166241e-02 7.36626624e+01] [ 2.45126042e-02 -2.74381089e-04 9.99699483e-01 -1.56869298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12719347 meters 0.06124798598346634 Centerline is valid? [True, True] Translation: X:138.71, Y:73.69, Z:-1.57 [[ 3.98030176e-01 -9.17299829e-01 -1.15327310e-02 1.38708004e+02] [ 9.16948358e-01 3.98196944e-01 -2.53949232e-02 7.36852584e+01] [ 2.78870569e-02 -4.66973068e-04 9.99610971e-01 -1.56969909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15719347 meters 0.06293873264253565 Centerline is valid? [True, True] Translation: X:138.72, Y:73.71, Z:-1.58 [[ 3.95541427e-01 -9.18367129e-01 -1.21982446e-02 1.38723325e+02] [ 9.17973665e-01 3.95729074e-01 -2.68858760e-02 7.37076950e+01] [ 2.95183048e-02 -5.63189548e-04 9.99564081e-01 -1.57515590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18719347 meters 0.06262810805697383 Centerline is valid? [True, True] Translation: X:138.73, Y:73.73, Z:-1.57 [[ 3.93227662e-01 -9.19356801e-01 -1.24530340e-02 1.38734697e+02] [ 9.18946476e-01 3.93424277e-01 -2.74720197e-02 7.37333528e+01] [ 3.01559141e-02 -6.40913602e-04 9.99545002e-01 -1.57190767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21719346999998 meters 0.06307395896831591 Centerline is valid? [True, True] Translation: X:138.75, Y:73.76, Z:-1.57 [[ 3.91164500e-01 -9.20239043e-01 -1.22652805e-02 1.38747101e+02] [ 9.19840699e-01 3.91356141e-01 -2.70824448e-02 7.37587709e+01] [ 2.97224160e-02 -6.88413217e-04 9.99557954e-01 -1.57211312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24719346999998 meters 0.06289018291594967 Centerline is valid? [True, True] Translation: X:138.75, Y:73.79, Z:-1.57 [[ 3.88519479e-01 -9.21365682e-01 -1.17428537e-02 1.38754289e+02] [ 9.21000238e-01 3.88696215e-01 -2.59579261e-02 7.37851708e+01] [ 2.84811451e-02 -7.30011161e-04 9.99594063e-01 -1.56949372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27719347 meters 0.06289018291594967 Centerline is valid? [True, True] Translation: X:138.77, Y:73.81, Z:-1.57 [[ 3.88150443e-01 -9.21521342e-01 -1.17324436e-02 1.38765042e+02] [ 9.21155827e-01 3.88327031e-01 -2.59626337e-02 7.38096753e+01] [ 2.84811460e-02 -7.30001077e-04 9.99594063e-01 -1.56971382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30719347 meters 0.06319202528549794 Centerline is valid? [True, True] Translation: X:138.77, Y:73.83, Z:-1.57 [[ 3.87867394e-01 -9.21641752e-01 -1.16346425e-02 1.38774347e+02] [ 9.21281536e-01 3.88041183e-01 -2.57753927e-02 7.38347642e+01] [ 2.82703985e-02 -7.21346948e-04 9.99600052e-01 -1.57111206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33719347 meters 0.06407552087441364 Centerline is valid? [True, True] Translation: X:138.79, Y:73.86, Z:-1.57 [[ 3.87916628e-01 -9.21616392e-01 -1.19964679e-02 1.38785148e+02] [ 9.21232682e-01 3.88101391e-01 -2.66018189e-02 7.38593442e+01] [ 2.91725182e-02 -7.32250443e-04 9.99574123e-01 -1.57458526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36719347 meters 0.06375644804707949 Centerline is valid? [True, True] Translation: X:138.79, Y:73.89, Z:-1.57 [[ 3.88424262e-01 -9.21390975e-01 -1.28554957e-02 1.38794519e+02] [ 9.20949432e-01 3.88636203e-01 -2.85314947e-02 7.38857153e+01] [ 3.12847728e-02 -7.56936674e-04 9.99510225e-01 -1.57479162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39719347 meters 0.06311446631870624 Centerline is valid? [True, True] Translation: X:138.80, Y:73.91, Z:-1.58 [[ 3.90746394e-01 -9.20407896e-01 -1.29058359e-02 1.38801128e+02] [ 9.19961532e-01 3.90958893e-01 -2.86692155e-02 7.39135369e+01] [ 3.14330237e-02 -6.70479932e-04 9.99505636e-01 -1.57583351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42719347 meters 0.06280767445236214 Centerline is valid? [True, True] Translation: X:138.81, Y:73.94, Z:-1.58 [[ 3.92170967e-01 -9.19804527e-01 -1.27107707e-02 1.38808185e+02] [ 9.19370711e-01 3.92376432e-01 -2.82530010e-02 7.39403783e+01] [ 3.09746451e-02 -6.05903539e-04 9.99519987e-01 -1.57660438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45719347 meters 0.06268789013406326 Centerline is valid? [True, True] Translation: X:138.81, Y:73.97, Z:-1.58 [[ 3.92819483e-01 -9.19523745e-01 -1.29975265e-02 1.38814774e+02] [ 9.19068907e-01 3.93034020e-01 -2.89240946e-02 7.39667015e+01] [ 3.17048619e-02 -5.83674622e-04 9.99497104e-01 -1.57774730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48719347 meters 0.06245044340380037 Centerline is valid? [True, True] Translation: X:138.82, Y:73.99, Z:-1.58 [[ 3.94085107e-01 -9.18982206e-01 -1.29859033e-02 1.38821878e+02] [ 9.18527240e-01 3.94298647e-01 -2.89186326e-02 7.39925539e+01] [ 3.16960329e-02 -5.31503483e-04 9.99497413e-01 -1.57894804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51719347 meters 0.06098547164989156 Centerline is valid? [True, True] Translation: X:138.83, Y:74.02, Z:-1.57 [[ 3.98848927e-01 -9.16934177e-01 -1.22983507e-02 1.38827384e+02] [ 9.16524316e-01 3.99038347e-01 -2.74148733e-02 7.40203809e+01] [ 3.00451478e-02 -3.37344682e-04 9.99548486e-01 -1.57448099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54719347 meters 0.060871698610121136 Centerline is valid? [True, True] Translation: X:138.84, Y:74.05, Z:-1.58 [[ 4.01014948e-01 -9.15994294e-01 -1.18938772e-02 1.38836044e+02] [ 9.15609845e-01 4.01191216e-01 -2.65371394e-02 7.40466814e+01] [ 2.90795873e-02 -2.48361442e-04 9.99577069e-01 -1.57584356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57719347 meters 0.06040866284898158 Centerline is valid? [True, True] Translation: X:138.84, Y:74.07, Z:-1.58 [[ 4.03629377e-01 -9.14845369e-01 -1.18859817e-02 1.38842402e+02] [ 9.14460148e-01 4.03804317e-01 -2.65463826e-02 7.40733508e+01] [ 2.90854459e-02 -1.54356735e-04 9.99576917e-01 -1.57524067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60719347 meters 0.059986958281378115 Centerline is valid? [True, True] Translation: X:138.85, Y:74.10, Z:-1.57 [[ 4.05807838e-01 -9.13879502e-01 -1.20106134e-02 1.38848363e+02] [ 9.13484911e-01 4.05985530e-01 -2.68527002e-02 7.41008898e+01] [ 2.94162675e-02 -7.44779520e-05 9.99567245e-01 -1.57357781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63719347 meters 0.06077787448365905 Centerline is valid? [True, True] Translation: X:138.86, Y:74.13, Z:-1.58 [[ 4.06845970e-01 -9.13412447e-01 -1.24120672e-02 1.38856512e+02] [ 9.12990018e-01 4.07035258e-01 -2.77763366e-02 7.41272540e+01] [ 3.04234005e-02 -3.14028658e-05 9.99537101e-01 -1.57992463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66719347 meters 0.06090282026075862 Centerline is valid? [True, True] Translation: X:138.87, Y:74.15, Z:-1.58 [[ 4.06038291e-01 -9.13759948e-01 -1.32538126e-02 1.38868130e+02] [ 9.13277629e-01 4.06254544e-01 -2.96853215e-02 7.41531341e+01] [ 3.25096795e-02 -5.10333810e-05 9.99471419e-01 -1.58004582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69719347 meters 0.06160709489769719 Centerline is valid? [True, True] Translation: X:138.88, Y:74.18, Z:-1.58 [[ 4.03060682e-01 -9.15078636e-01 -1.31596632e-02 1.38882078e+02] [ 9.14602801e-01 4.03275426e-01 -2.95067399e-02 7.41756608e+01] [ 3.23079561e-02 -1.42858101e-04 9.99477952e-01 -1.58422099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72719347 meters 0.06324160603146087 Centerline is valid? [True, True] Translation: X:138.90, Y:74.20, Z:-1.59 [[ 3.94237918e-01 -9.18915696e-01 -1.30539969e-02 1.38902182e+02] [ 9.18448621e-01 3.94453736e-01 -2.92981337e-02 7.41957756e+01] [ 3.20717128e-02 -4.38990213e-04 9.99485474e-01 -1.58589000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75719347 meters 0.06327079493413702 Centerline is valid? [True, True] Translation: X:138.92, Y:74.22, Z:-1.58 [[ 3.89808321e-01 -9.20810237e-01 -1.25689786e-02 1.38915436e+02] [ 9.20377348e-01 3.90010502e-01 -2.82373106e-02 7.42194292e+01] [ 3.09032383e-02 -5.61064510e-04 9.99522223e-01 -1.58125152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78719347 meters 0.06470492869979048 Centerline is valid? [True, True] Translation: X:138.93, Y:74.24, Z:-1.58 [[ 3.85513902e-01 -9.22616822e-01 -1.25391883e-02 1.38929161e+02] [ 9.22186260e-01 3.85717146e-01 -2.81919371e-02 7.42413749e+01] [ 3.08469354e-02 -6.95083503e-04 9.99523878e-01 -1.58188659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81719347 meters 0.06382107109298082 Centerline is valid? [True, True] Translation: X:138.94, Y:74.27, Z:-1.58 [[ 3.82803534e-01 -9.23742871e-01 -1.26712984e-02 1.38938796e+02] [ 9.23302932e-01 3.83012394e-01 -2.85166880e-02 7.42678011e+01] [ 3.11953516e-02 -7.83158003e-04 9.99513000e-01 -1.57611153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84719347 meters 0.06398064238641656 Centerline is valid? [True, True] Translation: X:138.95, Y:74.29, Z:-1.57 [[ 3.80859751e-01 -9.24557973e-01 -1.17645427e-02 1.38950335e+02] [ 9.24178403e-01 3.81040611e-01 -2.65015649e-02 7.42935852e+01] [ 2.89850017e-02 -7.79156860e-04 9.99579543e-01 -1.57251514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87719347 meters 0.06351234949495191 Centerline is valid? [True, True] Translation: X:138.96, Y:74.32, Z:-1.57 [[ 3.80139365e-01 -9.24867717e-01 -1.06663083e-02 1.38960499e+02] [ 9.24555266e-01 3.80288297e-01 -2.40493535e-02 7.43203343e+01] [ 2.62987429e-02 -7.19485512e-04 9.99653869e-01 -1.57033374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90719347 meters 0.06336764290830739 Centerline is valid? [True, True] Translation: X:138.97, Y:74.35, Z:-1.57 [[ 3.80829996e-01 -9.24589449e-01 -1.01422613e-02 1.38968834e+02] [ 9.24306316e-01 3.80964459e-01 -2.28891940e-02 7.43463816e+01] [ 2.50269484e-02 -6.57664465e-04 9.99686561e-01 -1.57000633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93719347 meters 0.06340520698340096 Centerline is valid? [True, True] Translation: X:138.98, Y:74.37, Z:-1.57 [[ 3.81971891e-01 -9.24118657e-01 -1.01085411e-02 1.38975541e+02] [ 9.23836703e-01 3.82105127e-01 -2.28345790e-02 7.43727504e+01] [ 2.49643859e-02 -6.16473998e-04 9.99688151e-01 -1.57188797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96719346999998 meters 0.06294701888038194 Centerline is valid? [True, True] Translation: X:138.98, Y:74.40, Z:-1.58 [[ 3.84595920e-01 -9.23007778e-01 -1.19423421e-02 1.38978202e+02] [ 9.22612984e-01 3.84780768e-01 -2.70007963e-02 7.44023119e+01] [ 2.95171286e-02 -6.33763767e-04 9.99564074e-01 -1.57647392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99719346999998 meters 0.06296980467057468 Centerline is valid? [True, True] Translation: X:138.99, Y:74.43, Z:-1.58 [[ 3.86262950e-01 -9.22298512e-01 -1.28991792e-02 1.38987000e+02] [ 9.21836605e-01 3.86477783e-01 -2.91924040e-02 7.44276813e+01] [ 3.19093570e-02 -6.14991524e-04 9.99490578e-01 -1.57980826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02719347 meters 0.06275640509471146 Centerline is valid? [True, True] Translation: X:139.00, Y:74.45, Z:-1.58 [[ 3.87658596e-01 -9.21704683e-01 -1.34644262e-02 1.38995557e+02] [ 9.21199967e-01 3.87891922e-01 -3.05037359e-02 7.44538366e+01] [ 3.33381784e-02 -5.78393539e-04 9.99443961e-01 -1.58154771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05719347 meters 0.06246018754068803 Centerline is valid? [True, True] Translation: X:139.00, Y:74.48, Z:-1.58 [[ 3.89723963e-01 -9.20815096e-01 -1.46557715e-02 1.38998616e+02] [ 9.20215363e-01 3.89999068e-01 -3.32327104e-02 7.44831729e+01] [ 3.63169186e-02 -5.34882528e-04 9.99340180e-01 -1.58381848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08719347 meters 0.06322381343108059 Centerline is valid? [True, True] Translation: X:139.01, Y:74.51, Z:-1.59 [[ 3.90389488e-01 -9.20538077e-01 -1.43421540e-02 1.39007587e+02] [ 9.19962472e-01 3.90652548e-01 -3.25520805e-02 7.45092082e+01] [ 3.55682286e-02 -4.86253473e-04 9.99367132e-01 -1.58804820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11719347 meters 0.06265082892249679 Centerline is valid? [True, True] Translation: X:139.02, Y:74.54, Z:-1.58 [[ 3.90023262e-01 -9.20695805e-01 -1.41806144e-02 1.39017386e+02] [ 9.20132440e-01 3.90280666e-01 -3.22070766e-02 7.45351685e+01] [ 3.51873400e-02 -4.86534263e-04 9.99380615e-01 -1.58445891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14719347 meters 0.06188470776528577 Centerline is valid? [True, True] Translation: X:139.03, Y:74.56, Z:-1.58 [[ 3.89912449e-01 -9.20754300e-01 -1.34089956e-02 1.39028762e+02] [ 9.20250044e-01 3.90142678e-01 -3.04720808e-02 7.45613747e+01] [ 3.32887209e-02 -4.58185124e-04 9.99445672e-01 -1.57871558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17719347 meters 0.06269624365064463 Centerline is valid? [True, True] Translation: X:139.04, Y:74.59, Z:-1.58 [[ 3.89765682e-01 -9.20827841e-01 -1.26015948e-02 1.39042266e+02] [ 9.20381593e-01 3.89969110e-01 -2.86673358e-02 7.45855546e+01] [ 3.13119137e-02 -4.24732206e-04 9.99509572e-01 -1.58254792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20719347 meters 0.06206868651176207 Centerline is valid? [True, True] Translation: X:139.05, Y:74.61, Z:-1.58 [[ 3.86638895e-01 -9.22151508e-01 -1.21227944e-02 1.39051528e+02] [ 9.21738261e-01 3.86828576e-01 -2.76085133e-02 7.46115426e+01] [ 3.01486754e-02 -4.99518335e-04 9.99545301e-01 -1.57654700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23719347 meters 0.0626093843195455 Centerline is valid? [True, True] Translation: X:139.06, Y:74.64, Z:-1.58 [[ 3.84768499e-01 -9.22938260e-01 -1.17546019e-02 1.39062660e+02] [ 9.22549216e-01 3.84947639e-01 -2.68003593e-02 7.46356354e+01] [ 2.92599832e-02 -5.32264741e-04 9.99571693e-01 -1.57737213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26719347 meters 0.06254303075624629 Centerline is valid? [True, True] Translation: X:139.07, Y:74.66, Z:-1.58 [[ 3.83125194e-01 -9.23626497e-01 -1.13656845e-02 1.39072759e+02] [ 9.23262295e-01 3.83293342e-01 -2.59412556e-02 7.46606885e+01] [ 2.83164222e-02 -5.54759419e-04 9.99598856e-01 -1.57543413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29719347 meters 0.06258505508167016 Centerline is valid? [True, True] Translation: X:139.08, Y:74.69, Z:-1.57 [[ 3.82700986e-01 -9.23810213e-01 -1.07072801e-02 1.39082903e+02] [ 9.23486467e-01 3.82850380e-01 -2.44608265e-02 7.46853148e+01] [ 2.66964476e-02 -5.26845822e-04 9.99643447e-01 -1.57480587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32719347 meters 0.06171667246261731 Centerline is valid? [True, True] Translation: X:139.09, Y:74.71, Z:-1.57 [[ 3.83201967e-01 -9.23608364e-01 -1.01903216e-02 1.39089653e+02] [ 9.23314458e-01 3.83337137e-01 -2.33034650e-02 7.47132024e+01] [ 2.54296038e-02 -4.78937625e-04 9.99676501e-01 -1.57117274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35719347 meters 0.06348408619569541 Centerline is valid? [True, True] Translation: X:139.10, Y:74.74, Z:-1.58 [[ 3.83578962e-01 -9.23451861e-01 -1.01901989e-02 1.39101581e+02] [ 9.23157185e-01 3.83714023e-01 -2.33315226e-02 7.47364208e+01] [ 2.54556601e-02 -4.57674096e-04 9.99675847e-01 -1.57972385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38719347 meters 0.06310051256589018 Centerline is valid? [True, True] Translation: X:139.11, Y:74.76, Z:-1.58 [[ 3.85276450e-01 -9.22739309e-01 -1.06875746e-02 1.39107994e+02] [ 9.22414227e-01 3.85424428e-01 -2.44949987e-02 7.47618862e+01] [ 2.67217505e-02 -4.21024698e-04 9.99642822e-01 -1.58098157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41719347 meters 0.06124476319886064 Centerline is valid? [True, True] Translation: X:139.11, Y:74.79, Z:-1.58 [[ 3.87841017e-01 -9.21654585e-01 -1.14965569e-02 1.39112245e+02] [ 9.21277240e-01 3.88011203e-01 -2.63733376e-02 7.47909282e+01] [ 2.87679004e-02 -3.62854106e-04 9.99586052e-01 -1.57549452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44719347 meters 0.060669768228309225 Centerline is valid? [True, True] Translation: X:139.12, Y:74.82, Z:-1.58 [[ 3.93335874e-01 -9.19321508e-01 -1.16127263e-02 1.39116086e+02] [ 9.18934696e-01 3.93507220e-01 -2.66663243e-02 7.48195407e+01] [ 2.90846171e-02 -1.82515163e-04 9.99576936e-01 -1.57550044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47719347 meters 0.06068703542517661 Centerline is valid? [True, True] Translation: X:139.12, Y:74.85, Z:-1.58 [[ 3.94620436e-01 -9.18776671e-01 -1.11418754e-02 1.39124575e+02] [ 9.18419666e-01 3.94777676e-01 -2.56106090e-02 7.48456376e+01] [ 2.79289937e-02 -1.26447872e-04 9.99609902e-01 -1.57775082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50719347 meters 0.060433280698364115 Centerline is valid? [True, True] Translation: X:139.13, Y:74.87, Z:-1.58 [[ 3.95337521e-01 -9.18467654e-01 -1.11987865e-02 1.39133367e+02] [ 9.18106073e-01 3.95496093e-01 -2.57697265e-02 7.48712290e+01] [ 2.80977365e-02 -9.39340821e-05 9.99605176e-01 -1.57721499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53719347 meters 0.060711862712985704 Centerline is valid? [True, True] Translation: X:139.14, Y:74.90, Z:-1.58 [[ 3.96514447e-01 -9.17952362e-01 -1.18218146e-02 1.39143659e+02] [ 9.17548383e-01 3.96690635e-01 -2.72305895e-02 7.48967481e+01] [ 2.96859871e-02 -4.97647480e-05 9.99559273e-01 -1.57921224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56719347 meters 0.06083720185537529 Centerline is valid? [True, True] Translation: X:139.16, Y:74.92, Z:-1.58 [[ 3.95834724e-01 -9.18239602e-01 -1.22843544e-02 1.39155126e+02] [ 9.17802706e-01 3.96025289e-01 -2.83224978e-02 7.49219277e+01] [ 3.08717541e-02 -6.35856337e-05 9.99523352e-01 -1.58115465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59719347 meters 0.06106135875043216 Centerline is valid? [True, True] Translation: X:139.17, Y:74.95, Z:-1.58 [[ 3.94622461e-01 -9.18753084e-01 -1.28796179e-02 1.39167817e+02] [ 9.18272477e-01 3.94832573e-01 -2.97135943e-02 7.49464182e+01] [ 3.23847491e-02 -1.01346961e-04 9.99475471e-01 -1.58218428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62719347 meters 0.06126941884825974 Centerline is valid? [True, True] Translation: X:139.18, Y:74.97, Z:-1.58 [[ 3.93358665e-01 -9.19292317e-01 -1.30612982e-02 1.39181454e+02] [ 9.18797269e-01 3.93575429e-01 -3.01655457e-02 7.49705202e+01] [ 3.28715604e-02 -1.34806366e-04 9.99459575e-01 -1.58351735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65719347 meters 0.06152910848757336 Centerline is valid? [True, True] Translation: X:139.20, Y:74.99, Z:-1.59 [[ 3.90654897e-01 -9.20446932e-01 -1.28917008e-02 1.39197174e+02] [ 9.19964166e-01 3.90867495e-01 -2.98083010e-02 7.49924138e+01] [ 3.24759060e-02 -2.15143987e-04 9.99472495e-01 -1.58554505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68719347 meters 0.061620623297064976 Centerline is valid? [True, True] Translation: X:139.21, Y:75.02, Z:-1.59 [[ 3.89334811e-01 -9.21008170e-01 -1.27419050e-02 1.39209979e+02] [ 9.20535856e-01 3.89543182e-01 -2.94931859e-02 7.50165401e+01] [ 3.21269874e-02 -2.46656466e-04 9.99483765e-01 -1.58512066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71719346999998 meters 0.061730886714778284 Centerline is valid? [True, True] Translation: X:139.22, Y:75.04, Z:-1.59 [[ 3.87495116e-01 -9.21784678e-01 -1.26705466e-02 1.39222329e+02] [ 9.21316989e-01 3.87702102e-01 -2.93613047e-02 7.50402418e+01] [ 3.19771984e-02 -2.96227679e-04 9.99488555e-01 -1.58527426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74719346999998 meters 0.06202945470000407 Centerline is valid? [True, True] Translation: X:139.23, Y:75.06, Z:-1.59 [[ 3.87151940e-01 -9.21927055e-01 -1.28015986e-02 1.39233324e+02] [ 9.21449017e-01 3.87363413e-01 -2.96866132e-02 7.50637858e+01] [ 3.23277628e-02 -3.02790567e-04 9.99477275e-01 -1.58617492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77719347 meters 0.061607692397528384 Centerline is valid? [True, True] Translation: X:139.24, Y:75.09, Z:-1.58 [[ 3.86438867e-01 -9.22229438e-01 -1.25644447e-02 1.39244294e+02] [ 9.21768043e-01 3.86642946e-01 -2.91703081e-02 7.50891582e+01] [ 3.17596708e-02 -3.08962803e-04 9.99495487e-01 -1.58309838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80719347 meters 0.06161726616883585 Centerline is valid? [True, True] Translation: X:139.26, Y:75.11, Z:-1.58 [[ 3.85889566e-01 -9.22464556e-01 -1.21814101e-02 1.39256624e+02] [ 9.22030176e-01 3.86081661e-01 -2.83073330e-02 7.51145692e+01] [ 3.08155304e-02 -3.08123284e-04 9.99525041e-01 -1.58267784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83719347 meters 0.06151952353365963 Centerline is valid? [True, True] Translation: X:139.27, Y:75.14, Z:-1.58 [[ 3.84548872e-01 -9.23025977e-01 -1.20503533e-02 1.39268350e+02] [ 9.22600226e-01 3.84737485e-01 -2.80337510e-02 7.51394108e+01] [ 3.05121031e-02 -3.37311340e-04 9.99534340e-01 -1.58112410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86719347 meters 0.06160220462275111 Centerline is valid? [True, True] Translation: X:139.28, Y:75.16, Z:-1.58 [[ 3.82333333e-01 -9.23961045e-01 -1.08263434e-02 1.39279574e+02] [ 9.23617173e-01 3.82486413e-01 -2.52083486e-02 7.51635943e+01] [ 2.74324614e-02 -3.61404715e-04 9.99623594e-01 -1.57942441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89719347 meters 0.06110356138540995 Centerline is valid? [True, True] Translation: X:139.29, Y:75.19, Z:-1.58 [[ 3.80725037e-01 -9.24637109e-01 -9.72944548e-03 1.39288608e+02] [ 9.24359049e-01 3.80849165e-01 -2.26773383e-02 7.51901821e+01] [ 2.46737597e-02 -3.59670510e-04 9.99695492e-01 -1.57527733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92719347 meters 0.060834322621994966 Centerline is valid? [True, True] Translation: X:139.30, Y:75.22, Z:-1.57 [[ 3.80136899e-01 -9.24889868e-01 -8.64115743e-03 1.39298055e+02] [ 9.24670163e-01 3.80234961e-01 -2.01609797e-02 7.52166340e+01] [ 2.19323560e-02 -3.26288120e-04 9.99759404e-01 -1.57269873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95719347 meters 0.06086525917355043 Centerline is valid? [True, True] Translation: X:139.31, Y:75.24, Z:-1.57 [[ 3.80215935e-01 -9.24868275e-01 -7.38352876e-03 1.39309974e+02] [ 9.24707655e-01 3.80287521e-01 -1.72381436e-02 7.52412149e+01] [ 1.87508760e-02 -2.73388679e-04 9.99824149e-01 -1.57067945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98719347 meters 0.06108948135630444 Centerline is valid? [True, True] Translation: X:139.32, Y:75.27, Z:-1.57 [[ 3.79504041e-01 -9.25156979e-01 -7.82601580e-03 1.39321782e+02] [ 9.24976193e-01 3.79584609e-01 -1.82911829e-02 7.52659135e+01] [ 1.98928507e-02 -2.97300447e-04 9.99802073e-01 -1.57165334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01719347 meters 0.06139325764696236 Centerline is valid? [True, True] Translation: X:139.33, Y:75.29, Z:-1.57 [[ 3.78781655e-01 -9.25447489e-01 -8.45005173e-03 1.39332971e+02] [ 9.25236419e-01 3.78875753e-01 -1.97669615e-02 7.52913682e+01] [ 2.14948046e-02 -3.30933207e-04 9.99768905e-01 -1.57381332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04719347 meters 0.06155350353060109 Centerline is valid? [True, True] Translation: X:139.34, Y:75.32, Z:-1.58 [[ 3.79360197e-01 -9.25200920e-01 -9.43921258e-03 1.39341923e+02] [ 9.24936987e-01 3.79477453e-01 -2.21004997e-02 7.53176315e+01] [ 2.40293710e-02 -3.46626915e-04 9.99711193e-01 -1.57648446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07719347 meters 0.06161371637789928 Centerline is valid? [True, True] Translation: X:139.35, Y:75.34, Z:-1.58 [[ 3.81130427e-01 -9.24462871e-01 -1.03922103e-02 1.39349745e+02] [ 9.24142048e-01 3.81271946e-01 -2.43552563e-02 7.53434824e+01] [ 2.64777884e-02 -3.21349323e-04 9.99649350e-01 -1.57991664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10719347 meters 0.0616246455582745 Centerline is valid? [True, True] Translation: X:139.36, Y:75.37, Z:-1.58 [[ 3.82110574e-01 -9.24055120e-01 -1.06604149e-02 1.39360155e+02] [ 9.23716667e-01 3.82259140e-01 -2.50093907e-02 7.53688609e+01] [ 2.71850965e-02 -2.90850258e-04 9.99630375e-01 -1.58192772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13719347 meters 0.06183279708309925 Centerline is valid? [True, True] Translation: X:139.37, Y:75.39, Z:-1.58 [[ 3.81773357e-01 -9.24191599e-01 -1.09083054e-02 1.39371466e+02] [ 9.23836612e-01 3.81929049e-01 -2.56147732e-02 7.53930614e+01] [ 2.78391569e-02 -2.98453902e-04 9.99612371e-01 -1.58346600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16719347 meters 0.0620273433561936 Centerline is valid? [True, True] Translation: X:139.38, Y:75.42, Z:-1.59 [[ 3.81982213e-01 -9.24095727e-01 -1.16908900e-02 1.39382385e+02] [ 9.23687219e-01 3.82160955e-01 -2.74759000e-02 7.54185374e+01] [ 2.98581635e-02 -3.03420575e-04 9.99554100e-01 -1.58569345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19719347 meters 0.0620273433561936 Centerline is valid? [True, True] Translation: X:139.39, Y:75.44, Z:-1.59 [[ 3.81647928e-01 -9.24233965e-01 -1.16806389e-02 1.39392550e+02] [ 9.23825389e-01 3.81826513e-01 -2.74802602e-02 7.54432517e+01] [ 2.98581675e-02 -3.03086389e-04 9.99554100e-01 -1.58591354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22719347 meters 0.06301527243893314 Centerline is valid? [True, True] Translation: X:139.41, Y:75.47, Z:-1.59 [[ 3.80746975e-01 -9.24581252e-01 -1.34629228e-02 1.39405314e+02] [ 9.24037658e-01 3.80984741e-01 -3.17022807e-02 7.54672333e+01] [ 3.44405026e-02 -3.69700185e-04 9.99406682e-01 -1.59136030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25719347 meters 0.06388047008655152 Centerline is valid? [True, True] Translation: X:139.42, Y:75.49, Z:-1.59 [[ 3.79454482e-01 -9.25094669e-01 -1.46338749e-02 1.39417934e+02] [ 9.24451334e-01 3.79736306e-01 -3.44973641e-02 7.54898182e+01] [ 3.74703412e-02 -4.38125768e-04 9.99297644e-01 -1.59462304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28719347 meters 0.06353780750662098 Centerline is valid? [True, True] Translation: X:139.43, Y:75.51, Z:-1.59 [[ 3.78016274e-01 -9.25673688e-01 -1.52289339e-02 1.39430902e+02] [ 9.24976174e-01 3.78322575e-01 -3.59319708e-02 7.55149067e+01] [ 3.90227294e-02 -5.03531323e-04 9.99238196e-01 -1.59183426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31719347 meters 0.06390101400784204 Centerline is valid? [True, True] Translation: X:139.44, Y:75.54, Z:-1.59 [[ 3.76475870e-01 -9.26295984e-01 -1.55457214e-02 1.39444382e+02] [ 9.25568313e-01 3.76796269e-01 -3.67133361e-02 7.55394286e+01] [ 3.98649856e-02 -5.66941981e-04 9.99204915e-01 -1.59194094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34719347 meters 0.06589159898241449 Centerline is valid? [True, True] Translation: X:139.46, Y:75.56, Z:-1.60 [[ 3.72931895e-01 -9.27736480e-01 -1.50607010e-02 1.39461099e+02] [ 9.27053126e-01 3.73235257e-01 -3.56082114e-02 7.55604324e+01] [ 3.86562213e-02 -6.82632137e-04 9.99252336e-01 -1.59690862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37719347 meters 0.06620135386269023 Centerline is valid? [True, True] Translation: X:139.47, Y:75.58, Z:-1.60 [[ 3.71285488e-01 -9.28398692e-01 -1.49316452e-02 1.39472401e+02] [ 9.27726094e-01 3.71584894e-01 -3.53406399e-02 7.55843805e+01] [ 3.83585777e-02 -7.31010113e-04 9.99263772e-01 -1.59711620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40719347 meters 0.06639058890094714 Centerline is valid? [True, True] Translation: X:139.48, Y:75.61, Z:-1.60 [[ 3.70596070e-01 -9.28673271e-01 -1.49836074e-02 1.39482981e+02] [ 9.27994751e-01 3.70898094e-01 -3.55013454e-02 7.56080852e+01] [ 3.85265420e-02 -7.48049960e-04 9.99257297e-01 -1.59765634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43719347 meters 0.06382102529974264 Centerline is valid? [True, True] Translation: X:139.49, Y:75.64, Z:-1.59 [[ 3.70142508e-01 -9.28850670e-01 -1.51972846e-02 1.39490427e+02] [ 9.28151434e-01 3.70453572e-01 -3.60425607e-02 7.56358882e+01] [ 3.91080450e-02 -7.64497674e-04 9.99234695e-01 -1.58715489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46719346999998 meters 0.06640693692307845 Centerline is valid? [True, True] Translation: X:139.50, Y:75.66, Z:-1.60 [[ 3.70387374e-01 -9.28760441e-01 -1.47389338e-02 1.39504973e+02] [ 9.28101391e-01 3.70679816e-01 -3.49897395e-02 7.56594816e+01] [ 3.79605111e-02 -7.19467241e-04 9.99278981e-01 -1.59739862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49719346999998 meters 0.06291834577393426 Centerline is valid? [True, True] Translation: X:139.51, Y:75.69, Z:-1.58 [[ 3.72712681e-01 -9.27836713e-01 -1.42930357e-02 1.39507990e+02] [ 9.27215119e-01 3.72986166e-01 -3.39623890e-02 7.56890244e+01] [ 3.68426560e-02 -5.94505785e-04 9.99320902e-01 -1.58416519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52719347 meters 0.064958286390127 Centerline is valid? [True, True] Translation: X:139.52, Y:75.71, Z:-1.60 [[ 3.74603302e-01 -9.27084867e-01 -1.36387706e-02 1.39518317e+02] [ 9.26517241e-01 3.74851191e-01 -3.24405116e-02 7.57144440e+01] [ 3.51876168e-02 -4.84233308e-04 9.99380607e-01 -1.59609086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55719347 meters 0.06232999313487577 Centerline is valid? [True, True] Translation: X:139.52, Y:75.74, Z:-1.58 [[ 3.76456341e-01 -9.26339872e-01 -1.32311995e-02 1.39522312e+02] [ 9.25804205e-01 3.76688583e-01 -3.15005623e-02 7.57431027e+01] [ 3.41642687e-02 -3.90913722e-04 9.99416155e-01 -1.58489187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58719347 meters 0.06393221923240813 Centerline is valid? [True, True] Translation: X:139.53, Y:75.77, Z:-1.60 [[ 3.78147376e-01 -9.25650640e-01 -1.32459288e-02 1.39531904e+02] [ 9.25112114e-01 3.78379166e-01 -3.15718763e-02 7.57675140e+01] [ 3.42365110e-02 -3.15147013e-04 9.99413709e-01 -1.59511314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61719347 meters 0.06125510589263912 Centerline is valid? [True, True] Translation: X:139.54, Y:75.79, Z:-1.58 [[ 3.79574994e-01 -9.25062131e-01 -1.35232480e-02 1.39539033e+02] [ 9.24499174e-01 3.79815731e-01 -3.22689787e-02 7.57944345e+01] [ 3.49871525e-02 -2.53734214e-04 9.99387730e-01 -1.57966982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64719347 meters 0.06161367815627815 Centerline is valid? [True, True] Translation: X:139.55, Y:75.82, Z:-1.58 [[ 3.79938099e-01 -9.24910703e-01 -1.36832861e-02 1.39549743e+02] [ 9.24333315e-01 3.80184346e-01 -3.26769944e-02 7.58180431e+01] [ 3.54254731e-02 -2.32682085e-04 9.99372294e-01 -1.58253488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67719347 meters 0.06134078977253669 Centerline is valid? [True, True] Translation: X:139.56, Y:75.84, Z:-1.58 [[ 3.79803669e-01 -9.24972405e-01 -1.32371444e-02 1.39560527e+02] [ 9.24431011e-01 3.80034211e-01 -3.16434011e-02 7.58436126e+01] [ 3.42998406e-02 -2.18546905e-04 9.99411563e-01 -1.58127902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70719347 meters 0.061173776039368126 Centerline is valid? [True, True] Translation: X:139.57, Y:75.87, Z:-1.58 [[ 3.79640723e-01 -9.25042764e-01 -1.29925621e-02 1.39570790e+02] [ 9.24520012e-01 3.79862926e-01 -3.10950990e-02 7.58687963e+01] [ 3.36996889e-02 -2.06917852e-04 9.99431983e-01 -1.57994148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73719347 meters 0.06119363644606514 Centerline is valid? [True, True] Translation: X:139.58, Y:75.89, Z:-1.58 [[ 3.79181267e-01 -9.25233260e-01 -1.28444813e-02 1.39583810e+02] [ 9.24721240e-01 3.79398696e-01 -3.07775495e-02 7.58915249e+01] [ 3.33495920e-02 -2.07294431e-04 9.99443726e-01 -1.57991903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76719347 meters 0.06122272865379624 Centerline is valid? [True, True] Translation: X:139.60, Y:75.92, Z:-1.58 [[ 3.78095753e-01 -9.25676721e-01 -1.28921912e-02 1.39596965e+02] [ 9.25160011e-01 3.78315414e-01 -3.09257515e-02 7.59152795e+01] [ 3.35045629e-02 -2.34444387e-04 9.99438537e-01 -1.57972020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79719347 meters 0.061437492990513744 Centerline is valid? [True, True] Translation: X:139.61, Y:75.94, Z:-1.58 [[ 3.76744695e-01 -9.26211778e-01 -1.39705627e-02 1.39612229e+02] [ 9.25604151e-01 3.77003522e-01 -3.35454836e-02 7.59390145e+01] [ 3.63371734e-02 -2.93127863e-04 9.99339544e-01 -1.58085062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82719347 meters 0.06205860494061156 Centerline is valid? [True, True] Translation: X:139.62, Y:75.96, Z:-1.58 [[ 3.75901417e-01 -9.26551833e-01 -1.41359316e-02 1.39623941e+02] [ 9.25928611e-01 3.76166984e-01 -3.39794999e-02 7.59637101e+01] [ 3.68012387e-02 -3.15921317e-04 9.99322555e-01 -1.58489384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85719347 meters 0.06176638777239861 Centerline is valid? [True, True] Translation: X:139.63, Y:75.99, Z:-1.58 [[ 3.75790085e-01 -9.26592521e-01 -1.44260914e-02 1.39634052e+02] [ 9.25942160e-01 3.76066752e-01 -3.47118909e-02 7.59894267e+01] [ 3.75889518e-02 -3.13341804e-04 9.99293237e-01 -1.58330951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88719347 meters 0.06190894353615507 Centerline is valid? [True, True] Translation: X:139.64, Y:76.01, Z:-1.58 [[ 3.75908457e-01 -9.26542787e-01 -1.45360028e-02 1.39644009e+02] [ 9.25881300e-01 3.76189279e-01 -3.50063389e-02 7.60137395e+01] [ 3.79031592e-02 -2.99434382e-04 9.99281372e-01 -1.58415560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91719347 meters 0.06210904241411758 Centerline is valid? [True, True] Translation: X:139.66, Y:76.04, Z:-1.59 [[ 3.78241727e-01 -9.25580856e-01 -1.52733432e-02 1.39655569e+02] [ 9.24848138e-01 3.78549917e-01 -3.68222941e-02 7.60381541e+01] [ 3.98637332e-02 -1.97794901e-04 9.99205106e-01 -1.58546504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94719347 meters 0.061975759475622644 Centerline is valid? [True, True] Translation: X:139.66, Y:76.06, Z:-1.59 [[ 3.80192122e-01 -9.24779526e-01 -1.53876443e-02 1.39664526e+02] [ 9.24033451e-01 3.80503376e-01 -3.71397653e-02 7.60642244e+01] [ 4.02011451e-02 -9.84519139e-05 9.99191602e-01 -1.58588278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97719347 meters 0.06192955766437797 Centerline is valid? [True, True] Translation: X:139.67, Y:76.09, Z:-1.59 [[ 3.81780307e-01 -9.24128869e-01 -1.51535951e-02 1.39671997e+02] [ 9.23403098e-01 3.82080926e-01 -3.66180998e-02 7.60898366e+01] [ 3.96297428e-02 -1.28072654e-05 9.99214433e-01 -1.58637003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00719347 meters 0.061840893662364164 Centerline is valid? [True, True] Translation: X:139.68, Y:76.12, Z:-1.59 [[ 3.83966443e-01 -9.23229845e-01 -1.47113587e-02 1.39679069e+02] [ 9.22543867e-01 3.84248155e-01 -3.55832683e-02 7.61175438e+01] [ 3.85043477e-02 9.09071835e-05 9.99258429e-01 -1.58586841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03719347 meters 0.061646965789731924 Centerline is valid? [True, True] Translation: X:139.68, Y:76.15, Z:-1.58 [[ 3.86975375e-01 -9.21986464e-01 -1.38209598e-02 1.39684565e+02] [ 9.21379041e-01 3.87222047e-01 -3.34626500e-02 7.61450843e+01] [ 3.62038907e-02 2.14878841e-04 9.99344401e-01 -1.58472594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06719347 meters 0.06181320075150904 Centerline is valid? [True, True] Translation: X:139.69, Y:76.17, Z:-1.59 [[ 3.87317124e-01 -9.21844340e-01 -1.37280285e-02 1.39693323e+02] [ 9.21243582e-01 3.87560260e-01 -3.32762289e-02 7.61697666e+01] [ 3.59959416e-02 2.41595095e-04 9.99351907e-01 -1.58548493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09719347 meters 0.06173831387197744 Centerline is valid? [True, True] Translation: X:139.70, Y:76.20, Z:-1.58 [[ 3.86630381e-01 -9.22140307e-01 -1.31985632e-02 1.39704939e+02] [ 9.21584160e-01 3.86855537e-01 -3.20223245e-02 7.61950285e+01] [ 3.46350134e-02 2.17216784e-04 9.99400004e-01 -1.58481714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12719347 meters 0.06143046628250312 Centerline is valid? [True, True] Translation: X:139.72, Y:76.22, Z:-1.58 [[ 3.84671187e-01 -9.22972651e-01 -1.22296537e-02 1.39718673e+02] [ 9.22494659e-01 3.84865516e-01 -2.97008037e-02 7.62189330e+01] [ 3.21198015e-02 1.43253143e-04 9.99484016e-01 -1.58405190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15719347 meters 0.061793003947322116 Centerline is valid? [True, True] Translation: X:139.74, Y:76.24, Z:-1.59 [[ 3.77180987e-01 -9.26056725e-01 -1.23872920e-02 1.39739256e+02] [ 9.25566849e-01 3.77384328e-01 -3.01177290e-02 7.62391102e+01] [ 3.25654953e-02 -1.05432038e-04 9.99469598e-01 -1.58545403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18719347 meters 0.0618242693468014 Centerline is valid? [True, True] Translation: X:139.75, Y:76.26, Z:-1.58 [[ 3.72589186e-01 -9.27907935e-01 -1.28125902e-02 1.39754418e+02] [ 9.27383903e-01 3.72809327e-01 -3.11817521e-02 7.62631798e+01] [ 3.37104484e-02 -2.64206327e-04 9.99431606e-01 -1.58279305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21719346999998 meters 0.0635637387483954 Centerline is valid? [True, True] Translation: X:139.77, Y:76.29, Z:-1.59 [[ 3.68129917e-01 -9.29676404e-01 -1.34962308e-02 1.39771338e+02] [ 9.29094874e-01 3.68376973e-01 -3.28804089e-02 7.62857044e+01] [ 3.55398410e-02 -4.35016602e-04 9.99368166e-01 -1.59030330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24719346999998 meters 0.06370219490527607 Centerline is valid? [True, True] Translation: X:139.79, Y:76.31, Z:-1.59 [[ 3.64622121e-01 -9.31052202e-01 -1.38746709e-02 1.39785996e+02] [ 9.30437400e-01 3.64885557e-01 -3.38345133e-02 7.63101073e+01] [ 3.65643652e-02 -5.72700670e-04 9.99331136e-01 -1.58766338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27719347 meters 0.06472611251089898 Centerline is valid? [True, True] Translation: X:139.80, Y:76.33, Z:-1.59 [[ 3.59721441e-01 -9.32947336e-01 -1.44828353e-02 1.39803147e+02] [ 9.32278033e-01 3.60012007e-01 -3.53415298e-02 7.63326907e+01] [ 3.81857807e-02 -7.88923125e-04 9.99270346e-01 -1.58835569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30719347 meters 0.06584633719020476 Centerline is valid? [True, True] Translation: X:139.82, Y:76.36, Z:-1.59 [[ 3.57289061e-01 -9.33880751e-01 -1.45351210e-02 1.39816022e+02] [ 9.33205844e-01 3.57583519e-01 -3.55088721e-02 7.63565183e+01] [ 3.83585719e-02 -8.77328317e-04 9.99263654e-01 -1.59064125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33719347 meters 0.06602655076558026 Centerline is valid? [True, True] Translation: X:139.83, Y:76.38, Z:-1.59 [[ 3.55683744e-01 -9.34493667e-01 -1.45141836e-02 1.39826629e+02] [ 9.33819798e-01 3.55978545e-01 -3.54945167e-02 7.63820033e+01] [ 3.83361390e-02 -9.28809437e-04 9.99264468e-01 -1.58949990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36719347 meters 0.06597610144827175 Centerline is valid? [True, True] Translation: X:139.84, Y:76.41, Z:-1.59 [[ 3.54733123e-01 -9.34862264e-01 -1.40342199e-02 1.39837127e+02] [ 9.34231267e-01 3.55009427e-01 -3.43547155e-02 7.64077331e+01] [ 3.70992075e-02 -9.24451504e-04 9.99311160e-01 -1.58798603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39719347 meters 0.0652211172607761 Centerline is valid? [True, True] Translation: X:139.85, Y:76.43, Z:-1.58 [[ 3.54067743e-01 -9.35121195e-01 -1.35788425e-02 1.39846400e+02] [ 9.34529438e-01 3.54326864e-01 -3.32746575e-02 7.64344530e+01] [ 3.59271862e-02 -9.08345169e-04 9.99353997e-01 -1.58399546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42719347 meters 0.06680628152718232 Centerline is valid? [True, True] Translation: X:139.86, Y:76.46, Z:-1.59 [[ 3.51886431e-01 -9.35954789e-01 -1.28286119e-02 1.39858284e+02] [ 9.35425827e-01 3.52118985e-01 -3.14760572e-02 7.64581133e+01] [ 3.39773643e-02 -9.24217487e-04 9.99422175e-01 -1.58643663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45719347 meters 0.06608803905504992 Centerline is valid? [True, True] Translation: X:139.87, Y:76.49, Z:-1.58 [[ 3.50078128e-01 -9.36631947e-01 -1.28802080e-02 1.39865880e+02] [ 9.36098122e-01 3.50313616e-01 -3.16334668e-02 7.64850539e+01] [ 3.41410278e-02 -9.82953669e-04 9.99416542e-01 -1.58335445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48719347 meters 0.06682322777571226 Centerline is valid? [True, True] Translation: X:139.88, Y:76.51, Z:-1.58 [[ 3.47896352e-01 -9.37452308e-01 -1.23003425e-02 1.39875954e+02] [ 9.36964744e-01 3.48112290e-01 -3.02473375e-02 7.65095307e+01] [ 3.26373368e-02 -1.00204883e-03 9.99466758e-01 -1.58343125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51719347 meters 0.06787552487776927 Centerline is valid? [True, True] Translation: X:139.88, Y:76.53, Z:-1.59 [[ 3.46036900e-01 -9.38140783e-01 -1.22611261e-02 1.39884990e+02] [ 9.37656045e-01 3.46252446e-01 -3.01725885e-02 7.65344733e+01] [ 3.25515807e-02 -1.05589000e-03 9.99469499e-01 -1.58577224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54719347 meters 0.06661171213957291 Centerline is valid? [True, True] Translation: X:139.89, Y:76.56, Z:-1.58 [[ 3.45206928e-01 -9.38452752e-01 -1.17732450e-02 1.39890727e+02] [ 9.38004861e-01 3.45406099e-01 -2.90087643e-02 7.65617181e+01] [ 3.12899053e-02 -1.02933466e-03 9.99509821e-01 -1.58229391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57719347 meters 0.06772443511409912 Centerline is valid? [True, True] Translation: X:139.90, Y:76.59, Z:-1.58 [[ 3.44771839e-01 -9.38622530e-01 -1.09601750e-02 1.39900174e+02] [ 9.38233695e-01 3.44944660e-01 -2.70317429e-02 7.65866770e+01] [ 2.91532568e-02 -9.63421789e-04 9.99574489e-01 -1.58468771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60719347 meters 0.06621390990961722 Centerline is valid? [True, True] Translation: X:139.90, Y:76.62, Z:-1.58 [[ 3.45363040e-01 -9.38410539e-01 -1.04895436e-02 1.39904751e+02] [ 9.38053529e-01 3.45521140e-01 -2.58982248e-02 7.66153883e+01] [ 2.79275261e-02 -8.95463706e-04 9.99609549e-01 -1.58120395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63719347 meters 0.0670484947880614 Centerline is valid? [True, True] Translation: X:139.91, Y:76.64, Z:-1.58 [[ 3.46968741e-01 -9.37827372e-01 -9.61838553e-03 1.39910913e+02] [ 9.37526541e-01 3.47101174e-01 -2.37646879e-02 7.66419625e+01] [ 2.56257277e-02 -7.71887869e-04 9.99671309e-01 -1.58451419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66719347 meters 0.06591625843519643 Centerline is valid? [True, True] Translation: X:139.92, Y:76.67, Z:-1.58 [[ 3.47570607e-01 -9.37599413e-01 -1.01001717e-02 1.39915760e+02] [ 9.37266773e-01 3.47716448e-01 -2.49853352e-02 7.66696977e+01] [ 2.69382314e-02 -7.82387186e-04 9.99636794e-01 -1.58374960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69719347 meters 0.06632618996252285 Centerline is valid? [True, True] Translation: X:139.92, Y:76.70, Z:-1.59 [[ 3.47297748e-01 -9.37701262e-01 -1.00308261e-02 1.39923368e+02] [ 9.37372416e-01 3.47441712e-01 -2.48437093e-02 7.66952322e+01] [ 2.67811050e-02 -7.74455426e-04 9.99641022e-01 -1.58515166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72719347 meters 0.06632412509490897 Centerline is valid? [True, True] Translation: X:139.93, Y:76.72, Z:-1.59 [[ 3.46985904e-01 -9.37814887e-01 -1.01989706e-02 1.39926635e+02] [ 9.37474226e-01 3.47134870e-01 -2.52874913e-02 7.67232230e+01] [ 2.72554041e-02 -7.86869013e-04 9.99628193e-01 -1.58639380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75719347 meters 0.06703969732587393 Centerline is valid? [True, True] Translation: X:139.93, Y:76.75, Z:-1.59 [[ 3.46928676e-01 -9.37830470e-01 -1.07006037e-02 1.39934307e+02] [ 9.37454711e-01 3.47092697e-01 -2.65579383e-02 7.67492810e+01] [ 2.86209451e-02 -8.17620967e-04 9.99590002e-01 -1.58999857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78719347 meters 0.06677979872990715 Centerline is valid? [True, True] Translation: X:139.94, Y:76.78, Z:-1.59 [[ 3.46919203e-01 -9.37831310e-01 -1.09316588e-02 1.39941244e+02] [ 9.37438275e-01 3.47090412e-01 -2.71611308e-02 7.67762045e+01] [ 2.92668328e-02 -8.25037543e-04 9.99571294e-01 -1.58983940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81719347 meters 0.06678485850255846 Centerline is valid? [True, True] Translation: X:139.95, Y:76.80, Z:-1.59 [[ 3.46903842e-01 -9.37837028e-01 -1.09285635e-02 1.39948215e+02] [ 9.37443356e-01 3.47074984e-01 -2.71828837e-02 7.68029216e+01] [ 2.92861459e-02 -8.15062462e-04 9.99570737e-01 -1.59029102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84719347 meters 0.06643478716467154 Centerline is valid? [True, True] Translation: X:139.95, Y:76.83, Z:-1.59 [[ 3.49539397e-01 -9.36873641e-01 -9.48636157e-03 1.39950598e+02] [ 9.36575992e-01 3.49667538e-01 -2.36225405e-02 7.68306887e+01] [ 2.54484082e-02 -6.27689936e-04 9.99675940e-01 -1.59015830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87719347 meters 0.06358952548675445 Centerline is valid? [True, True] Translation: X:139.95, Y:76.86, Z:-1.58 [[ 3.51709593e-01 -9.36063423e-01 -9.25367073e-03 1.39950787e+02] [ 9.35779337e-01 3.51830882e-01 -2.30664921e-02 7.68606042e+01] [ 2.48474266e-02 -5.46687327e-04 9.99691106e-01 -1.58321940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90719347 meters 0.06364083968140391 Centerline is valid? [True, True] Translation: X:139.96, Y:76.89, Z:-1.59 [[ 3.53604993e-01 -9.35349638e-01 -9.19584465e-03 1.39956924e+02] [ 9.35068279e-01 3.53724213e-01 -2.29454630e-02 7.68873570e+01] [ 2.47148234e-02 -4.85112374e-04 9.99694424e-01 -1.58671011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93719347 meters 0.06308808416254004 Centerline is valid? [True, True] Translation: X:139.96, Y:76.91, Z:-1.59 [[ 3.56013689e-01 -9.34435706e-01 -9.17414525e-03 1.39962189e+02] [ 9.34154836e-01 3.56131635e-01 -2.29129112e-02 7.69149880e+01] [ 2.46778457e-02 -4.12762081e-04 9.99695370e-01 -1.58807955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96719346999998 meters 0.06245420174412428 Centerline is valid? [True, True] Translation: X:139.96, Y:76.94, Z:-1.59 [[ 3.60873992e-01 -9.32559540e-01 -1.01324665e-02 1.39962314e+02] [ 9.32215410e-01 3.61016085e-01 -2.53340905e-02 7.69444684e+01] [ 2.72835311e-02 -3.03227031e-04 9.99627689e-01 -1.59266125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99719346999998 meters 0.061261522213485464 Centerline is valid? [True, True] Translation: X:139.97, Y:76.97, Z:-1.59 [[ 3.63239902e-01 -9.31641246e-01 -1.00678789e-02 1.39966112e+02] [ 9.31300403e-01 3.63379333e-01 -2.51995915e-02 7.69728825e+01] [ 2.71354379e-02 -2.22722534e-04 9.99631741e-01 -1.58784411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02719347 meters 0.06127641817339987 Centerline is valid? [True, True] Translation: X:139.97, Y:77.00, Z:-1.59 [[ 3.66305354e-01 -9.30436024e-01 -1.04495325e-02 1.39971359e+02] [ 9.30067850e-01 3.66454347e-01 -2.61726081e-02 7.69999418e+01] [ 2.81812140e-02 -1.31607697e-04 9.99602822e-01 -1.59048566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05719347 meters 0.06117860528364291 Centerline is valid? [True, True] Translation: X:139.98, Y:77.03, Z:-1.59 [[ 3.69776233e-01 -9.29062832e-01 -1.03823034e-02 1.39975675e+02] [ 9.28698161e-01 3.69921958e-01 -2.60282570e-02 7.70266428e+01] [ 2.80225281e-02 -1.73952239e-05 9.99607292e-01 -1.59146936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08719347 meters 0.06117860528364291 Centerline is valid? [True, True] Translation: X:139.99, Y:77.05, Z:-1.59 [[ 3.69411341e-01 -9.29208101e-01 -1.03714127e-02 1.39985281e+02] [ 9.28843366e-01 3.69556903e-01 -2.60325993e-02 7.70515617e+01] [ 2.80225293e-02 -1.66804781e-05 9.99607292e-01 -1.59168945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11719347 meters 0.06143329120381726 Centerline is valid? [True, True] Translation: X:139.99, Y:77.08, Z:-1.59 [[ 3.74941145e-01 -9.26989281e-01 -1.04885717e-02 1.39987032e+02] [ 9.26614597e-01 3.75087785e-01 -2.63541769e-02 7.70799949e+01] [ 2.83641746e-02 1.62401666e-04 9.99597643e-01 -1.59418277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14719347 meters 0.06113113033264871 Centerline is valid? [True, True] Translation: X:140.00, Y:77.11, Z:-1.59 [[ 3.76635211e-01 -9.26302515e-01 -1.04674898e-02 1.39995998e+02] [ 9.25928295e-01 3.76780573e-01 -2.63285342e-02 7.71067120e+01] [ 2.83321343e-02 2.24108023e-04 9.99598539e-01 -1.59110565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17719347 meters 0.06150507840229637 Centerline is valid? [True, True] Translation: X:140.00, Y:77.13, Z:-1.59 [[ 3.78338863e-01 -9.25610992e-01 -1.01979160e-02 1.40004004e+02] [ 9.25255070e-01 3.78476177e-01 -2.56678547e-02 7.71328650e+01] [ 2.76181167e-02 2.75473463e-04 9.99618509e-01 -1.59307824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20719347 meters 0.06152494420805191 Centerline is valid? [True, True] Translation: X:140.01, Y:77.16, Z:-1.59 [[ 3.80031158e-01 -9.24921141e-01 -9.85911854e-03 1.40012561e+02] [ 9.24587431e-01 3.80158884e-01 -2.48456276e-02 7.71585221e+01] [ 2.67282777e-02 3.26495529e-04 9.99642682e-01 -1.59162867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23719347 meters 0.061092989935508865 Centerline is valid? [True, True] Translation: X:140.02, Y:77.19, Z:-1.58 [[ 3.83920711e-01 -9.23328755e-01 -8.30051081e-03 1.40022410e+02] [ 9.23091397e-01 3.84010247e-01 -2.09380631e-02 7.71852741e+01] [ 2.25201969e-02 3.76425952e-04 9.99746317e-01 -1.58411547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26719347 meters 0.06108746198394765 Centerline is valid? [True, True] Translation: X:140.03, Y:77.21, Z:-1.58 [[ 3.84129642e-01 -9.23248023e-01 -7.58335754e-03 1.40033327e+02] [ 9.23049475e-01 3.84204323e-01 -1.91495490e-02 7.72106671e+01] [ 2.05933420e-02 3.56095209e-04 9.99787871e-01 -1.58335846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29719347 meters 0.06109496842217602 Centerline is valid? [True, True] Translation: X:140.05, Y:77.24, Z:-1.58 [[ 3.83930448e-01 -9.23330305e-01 -7.65233553e-03 1.40046130e+02] [ 9.23127689e-01 3.84006530e-01 -1.93456652e-02 7.72351842e+01] [ 2.08009858e-02 3.63307095e-04 9.99783570e-01 -1.58407332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32719347 meters 0.06118690388885601 Centerline is valid? [True, True] Translation: X:140.06, Y:77.26, Z:-1.59 [[ 3.82680136e-01 -9.23845845e-01 -8.04783328e-03 1.40060483e+02] [ 9.23621381e-01 3.82764580e-01 -2.03671628e-02 7.72586483e+01] [ 2.18965443e-02 3.60957758e-04 9.99760177e-01 -1.58615918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35719347 meters 0.061165210985716305 Centerline is valid? [True, True] Translation: X:140.08, Y:77.28, Z:-1.59 [[ 3.80188714e-01 -9.24871251e-01 -8.34928003e-03 1.40076051e+02] [ 9.24629388e-01 3.80280245e-01 -2.11525378e-02 7.72810260e+01] [ 2.27384403e-02 3.21966437e-04 9.99741396e-01 -1.58918826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38719347 meters 0.060705571802357375 Centerline is valid? [True, True] Translation: X:140.10, Y:77.30, Z:-1.59 [[ 3.72493800e-01 -9.27993177e-01 -8.77682884e-03 1.40102337e+02] [ 9.27726244e-01 3.72597158e-01 -2.22569971e-02 7.73006234e+01] [ 2.39245629e-02 1.48098974e-04 9.99713756e-01 -1.59079116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41719347 meters 0.06063326458705164 Centerline is valid? [True, True] Translation: X:140.12, Y:77.32, Z:-1.59 [[ 3.68170446e-01 -9.29719653e-01 -8.47875987e-03 1.40121447e+02] [ 9.29470748e-01 3.68268062e-01 -2.15119263e-02 7.73237698e+01] [ 2.31225171e-02 3.92962404e-05 9.99732638e-01 -1.59117660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44719347 meters 0.06099133205342523 Centerline is valid? [True, True] Translation: X:140.14, Y:77.35, Z:-1.59 [[ 3.63540163e-01 -9.31536213e-01 -8.87889748e-03 1.40140709e+02] [ 9.31263234e-01 3.63648566e-01 -2.25501688e-02 7.73459315e+01] [ 2.42350971e-02 -7.06987601e-05 9.99706284e-01 -1.59303674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47719347 meters 0.06196803444669309 Centerline is valid? [True, True] Translation: X:140.17, Y:77.37, Z:-1.59 [[ 3.55570509e-01 -9.34591558e-01 -1.04034841e-02 1.40166620e+02] [ 9.34217199e-01 3.55722534e-01 -2.64519155e-02 7.73651044e+01] [ 2.84224906e-02 -3.13592722e-04 9.99595950e-01 -1.59398423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50719347 meters 0.06285211307302774 Centerline is valid? [True, True] Translation: X:140.18, Y:77.39, Z:-1.60 [[ 3.52666047e-01 -9.35687287e-01 -1.07684962e-02 1.40183003e+02] [ 9.35285845e-01 3.52830181e-01 -2.74089856e-02 7.73881272e+01] [ 2.94456898e-02 -4.05403501e-04 9.99566299e-01 -1.59681030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53719347 meters 0.06374242514427754 Centerline is valid? [True, True] Translation: X:140.20, Y:77.41, Z:-1.60 [[ 3.49660611e-01 -9.36808457e-01 -1.12859142e-02 1.40198149e+02] [ 9.36367234e-01 3.49842323e-01 -2.87532987e-02 7.74120220e+01] [ 3.08846238e-02 -5.13864271e-04 9.99522824e-01 -1.59874150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56719347 meters 0.06370233135641813 Centerline is valid? [True, True] Translation: X:140.22, Y:77.44, Z:-1.59 [[ 3.46953966e-01 -9.37819158e-01 -1.08707035e-02 1.40215080e+02] [ 9.37409309e-01 3.47123756e-01 -2.77287716e-02 7.74350432e+01] [ 2.97780527e-02 -5.69691353e-04 9.99556373e-01 -1.59469327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59719347 meters 0.0637305899222394 Centerline is valid? [True, True] Translation: X:140.23, Y:77.46, Z:-1.59 [[ 3.45265552e-01 -9.38451310e-01 -1.00417752e-02 1.40228916e+02] [ 9.38101204e-01 3.45411082e-01 -2.56381681e-02 7.74603158e+01] [ 2.75287129e-02 -5.68225187e-04 9.99620852e-01 -1.59169214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62719347 meters 0.0635956841857843 Centerline is valid? [True, True] Translation: X:140.24, Y:77.49, Z:-1.59 [[ 3.43938297e-01 -9.38943180e-01 -9.59958016e-03 1.40240358e+02] [ 9.38622626e-01 3.44071764e-01 -2.45395067e-02 7.74851888e+01] [ 2.63441470e-02 -5.70306987e-04 9.99652770e-01 -1.58950481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65719347 meters 0.06403513970473212 Centerline is valid? [True, True] Translation: X:140.25, Y:77.51, Z:-1.59 [[ 3.42215735e-01 -9.39575432e-01 -9.29508612e-03 1.40251778e+02] [ 9.39274423e-01 3.42341438e-01 -2.37886050e-02 7.75097319e+01] [ 2.55332820e-02 -5.89801701e-04 9.99673799e-01 -1.59010827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68719347 meters 0.06440409350865707 Centerline is valid? [True, True] Translation: X:140.26, Y:77.54, Z:-1.59 [[ 3.39222558e-01 -9.40664458e-01 -8.85626890e-03 1.40263991e+02] [ 9.40391006e-01 3.39337557e-01 -2.26887405e-02 7.75352253e+01] [ 2.43477564e-02 -6.31823053e-04 9.99703350e-01 -1.58845525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71719346999998 meters 0.06520917520698664 Centerline is valid? [True, True] Translation: X:140.28, Y:77.56, Z:-1.59 [[ 3.37776353e-01 -9.41191916e-01 -8.05680092e-03 1.40276258e+02] [ 9.40965263e-01 3.37871891e-01 -2.06629771e-02 7.75593538e+01] [ 2.21699935e-02 -6.01704773e-04 9.99754034e-01 -1.58923303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74719346999998 meters 0.06467329353572504 Centerline is valid? [True, True] Translation: X:140.29, Y:77.59, Z:-1.59 [[ 3.35619782e-01 -9.41965104e-01 -7.81700074e-03 1.40285157e+02] [ 9.41751446e-01 3.35710221e-01 -2.00713907e-02 7.75855228e+01] [ 2.15307966e-02 -6.25315983e-04 9.99767990e-01 -1.58543399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77719347 meters 0.06492836939259154 Centerline is valid? [True, True] Translation: X:140.30, Y:77.61, Z:-1.58 [[ 3.33839353e-01 -9.42605203e-01 -6.83499965e-03 1.40296659e+02] [ 9.42441572e-01 3.33908820e-01 -1.75722188e-02 7.76099571e+01] [ 1.88459315e-02 -5.75289681e-04 9.99822234e-01 -1.58374163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80719347 meters 0.06861485942452443 Centerline is valid? [True, True] Translation: X:140.31, Y:77.63, Z:-1.59 [[ 3.31371344e-01 -9.43475258e-01 -6.88989149e-03 1.40314181e+02] [ 9.43308814e-01 3.31442377e-01 -1.77322488e-02 7.76318469e+01] [ 1.90135400e-02 -6.23336255e-04 9.99819032e-01 -1.58851696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83719347 meters 0.06726179047009175 Centerline is valid? [True, True] Translation: X:140.32, Y:77.66, Z:-1.59 [[ 3.28811807e-01 -9.44368288e-01 -7.16466793e-03 1.40319691e+02] [ 9.44188155e-01 3.28889119e-01 -1.84573850e-02 7.76598348e+01] [ 1.97869504e-02 -6.95788485e-04 9.99803977e-01 -1.58552808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86719347 meters 0.06732400721216612 Centerline is valid? [True, True] Translation: X:140.33, Y:77.69, Z:-1.59 [[ 3.28127557e-01 -9.44604029e-01 -7.45213960e-03 1.40327391e+02] [ 9.44408810e-01 3.28211353e-01 -1.92173623e-02 7.76868146e+01] [ 2.05986746e-02 -7.32120157e-04 9.99787557e-01 -1.58620664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89719347 meters 0.06744954870396434 Centerline is valid? [True, True] Translation: X:140.33, Y:77.71, Z:-1.59 [[ 3.27409272e-01 -9.44849633e-01 -7.89552664e-03 1.40333906e+02] [ 9.44630073e-01 3.27503519e-01 -2.03830739e-02 7.77138141e+01] [ 2.18447526e-02 -7.84744526e-04 9.99761067e-01 -1.58802275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92719347 meters 0.06927779361588395 Centerline is valid? [True, True] Translation: X:140.34, Y:77.74, Z:-1.59 [[ 3.26259707e-01 -9.45243096e-01 -8.37215983e-03 1.40339869e+02] [ 9.44996048e-01 3.26365986e-01 -2.16266660e-02 7.77407751e+01] [ 2.31748449e-02 -8.55748246e-04 9.99731061e-01 -1.59266480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95719347 meters 0.06984854005793842 Centerline is valid? [True, True] Translation: X:140.35, Y:77.77, Z:-1.59 [[ 3.25477546e-01 -9.45515882e-01 -8.00527148e-03 1.40346585e+02] [ 9.45289674e-01 3.25574919e-01 -2.06979474e-02 7.77663002e+01] [ 2.21765536e-02 -8.30583332e-04 9.99753725e-01 -1.59220011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98719347 meters 0.06816486593406089 Centerline is valid? [True, True] Translation: X:140.35, Y:77.79, Z:-1.59 [[ 3.24266114e-01 -9.45938380e-01 -7.21587734e-03 1.40349488e+02] [ 9.45754189e-01 3.24345486e-01 -1.86820696e-02 7.77943676e+01] [ 2.00125239e-02 -7.66484097e-04 9.99799436e-01 -1.58731714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01719347 meters 0.06973719545048582 Centerline is valid? [True, True] Translation: X:140.36, Y:77.82, Z:-1.59 [[ 3.23265840e-01 -9.46283221e-01 -6.87473016e-03 1.40358229e+02] [ 9.46115835e-01 3.23338073e-01 -1.78134032e-02 7.78186770e+01] [ 1.90793866e-02 -7.45826315e-04 9.99817694e-01 -1.58837866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04719347 meters 0.06975017490637077 Centerline is valid? [True, True] Translation: X:140.36, Y:77.85, Z:-1.59 [[ 3.22625528e-01 -9.46504661e-01 -6.45720993e-03 1.40364108e+02] [ 9.46356662e-01 3.22689368e-01 -1.67522863e-02 7.78456306e+01] [ 1.79397901e-02 -7.06108418e-04 9.99838820e-01 -1.58660696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07719347 meters 0.07227112807055264 Centerline is valid? [True, True] Translation: X:140.37, Y:77.87, Z:-1.59 [[ 3.20381584e-01 -9.47269296e-01 -6.04332090e-03 1.40366317e+02] [ 9.47139473e-01 3.20437823e-01 -1.56977536e-02 7.78725540e+01] [ 1.68065086e-02 -6.94596631e-04 9.99858519e-01 -1.58855089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10719347 meters 0.07221049565110467 Centerline is valid? [True, True] Translation: X:140.37, Y:77.90, Z:-1.59 [[ 3.18586823e-01 -9.47870574e-01 -6.61894689e-03 1.40369651e+02] [ 9.47714627e-01 3.18654595e-01 -1.72114756e-02 7.79000458e+01] [ 1.84234091e-02 -7.89523442e-04 9.99829963e-01 -1.58934661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13719347 meters 0.07345429235166567 Centerline is valid? [True, True] Translation: X:140.38, Y:77.93, Z:-1.59 [[ 3.17266520e-01 -9.48313626e-01 -6.57438435e-03 1.40376150e+02] [ 9.48159647e-01 3.17333606e-01 -1.71074841e-02 7.79258027e+01] [ 1.83095334e-02 -8.05933985e-04 9.99832042e-01 -1.59047176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16719347 meters 0.07017246823885408 Centerline is valid? [True, True] Translation: X:140.38, Y:77.96, Z:-1.59 [[ 3.15370054e-01 -9.48947066e-01 -6.41840342e-03 1.40375496e+02] [ 9.48800087e-01 3.15434304e-01 -1.67210780e-02 7.79562411e+01] [ 1.78920025e-02 -8.16454461e-04 9.99839592e-01 -1.58583430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19719347 meters 0.07046016736300256 Centerline is valid? [True, True] Translation: X:140.38, Y:77.99, Z:-1.59 [[ 3.11436323e-01 -9.50244990e-01 -6.47110544e-03 1.40375992e+02] [ 9.50095517e-01 3.11502268e-01 -1.68773650e-02 7.79858327e+01] [ 1.80533956e-02 -8.91943777e-04 9.99836626e-01 -1.58584459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22719347 meters 0.07072715866908191 Centerline is valid? [True, True] Translation: X:140.38, Y:78.01, Z:-1.59 [[ 3.10876965e-01 -9.50425857e-01 -6.79723616e-03 1.40380616e+02] [ 9.50260626e-01 3.10949838e-01 -1.77465529e-02 7.80139615e+01] [ 1.89803823e-02 -9.42151380e-04 9.99819412e-01 -1.58646464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25719347 meters 0.07015445263532154 Centerline is valid? [True, True] Translation: X:140.38, Y:78.04, Z:-1.59 [[ 3.13277896e-01 -9.49632593e-01 -7.40928157e-03 1.40375328e+02] [ 9.49435659e-01 3.13364005e-01 -1.93631059e-02 7.80449965e+01] [ 2.07096386e-02 -9.68603043e-04 9.99785063e-01 -1.58928072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28719347 meters 0.06943813484778134 Centerline is valid? [True, True] Translation: X:140.38, Y:78.07, Z:-1.59 [[ 3.15760553e-01 -9.48808471e-01 -7.59994708e-03 1.40376737e+02] [ 9.48600628e-01 3.15850625e-01 -1.98804134e-02 7.80728730e+01] [ 2.12631527e-02 -9.31864243e-04 9.99773479e-01 -1.59141843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31719347 meters 0.06808863717722535 Centerline is valid? [True, True] Translation: X:140.38, Y:78.10, Z:-1.59 [[ 3.18742294e-01 -9.47811507e-01 -7.52973434e-03 1.40377469e+02] [ 9.47606761e-01 3.18830086e-01 -1.97181020e-02 7.81025078e+01] [ 2.10897498e-02 -8.50234120e-04 9.99777225e-01 -1.59291121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34719347 meters 0.0671590904640198 Centerline is valid? [True, True] Translation: X:140.38, Y:78.13, Z:-1.59 [[ 3.21714928e-01 -9.46805301e-01 -7.69594063e-03 1.40379534e+02] [ 9.46590660e-01 3.21805984e-01 -2.01749974e-02 7.81310961e+01] [ 2.15783943e-02 -7.94307671e-04 9.99766844e-01 -1.59405724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37719347 meters 0.06463178463422628 Centerline is valid? [True, True] Translation: X:140.38, Y:78.16, Z:-1.59 [[ 3.25573991e-01 -9.45485073e-01 -7.71710705e-03 1.40378002e+02] [ 9.45268373e-01 3.25664684e-01 -2.02538261e-02 7.81612767e+01] [ 2.16628794e-02 -7.00618232e-04 9.99765087e-01 -1.59207901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40719347 meters 0.06435295187613724 Centerline is valid? [True, True] Translation: X:140.38, Y:78.19, Z:-1.60 [[ 3.29848494e-01 -9.44003078e-01 -7.62624981e-03 1.40375916e+02] [ 9.43790568e-01 3.29936119e-01 -2.00380013e-02 7.81911805e+01] [ 2.14321102e-02 -5.88078076e-04 9.99770133e-01 -1.59571905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43719347 meters 0.0632513241444142 Centerline is valid? [True, True] Translation: X:140.38, Y:78.22, Z:-1.59 [[ 3.30537814e-01 -9.43760081e-01 -7.85264612e-03 1.40378817e+02] [ 9.43534215e-01 3.30630566e-01 -2.06546205e-02 7.82200578e+01] [ 2.20893311e-02 -5.82107212e-04 9.99755831e-01 -1.59388070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46719346999998 meters 0.06429727825202455 Centerline is valid? [True, True] Translation: X:140.39, Y:78.25, Z:-1.60 [[ 3.30037542e-01 -9.43937753e-01 -7.53255761e-03 1.40387836e+02] [ 9.43729685e-01 3.30123005e-01 -1.98263216e-02 7.82457468e+01] [ 2.12014840e-02 -5.65267790e-04 9.99775063e-01 -1.59751312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49719346999998 meters 0.06445281690223999 Centerline is valid? [True, True] Translation: X:140.40, Y:78.27, Z:-1.60 [[ 3.26750110e-01 -9.45084041e-01 -7.10786960e-03 1.40395442e+02] [ 9.44898592e-01 3.26826867e-01 -1.87309927e-02 7.82727593e+01] [ 2.00254051e-02 -5.95862042e-04 9.99799294e-01 -1.59576437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52719347 meters 0.0641873968831142 Centerline is valid? [True, True] Translation: X:140.40, Y:78.30, Z:-1.59 [[ 3.25414914e-01 -9.45545559e-01 -6.98070829e-03 1.40403067e+02] [ 9.45366384e-01 3.25489215e-01 -1.84165980e-02 7.83000773e+01] [ 1.96858777e-02 -6.06291293e-04 9.99806031e-01 -1.59486253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55719347 meters 0.0653741462321935 Centerline is valid? [True, True] Translation: X:140.41, Y:78.33, Z:-1.60 [[ 3.24498508e-01 -9.45862999e-01 -6.62618225e-03 1.40412679e+02] [ 9.45701233e-01 3.24565623e-01 -1.75024080e-02 7.83257716e+01] [ 1.87055111e-02 -5.86883447e-04 9.99824864e-01 -1.59698716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58719347 meters 0.06445228649243531 Centerline is valid? [True, True] Translation: X:140.41, Y:78.36, Z:-1.60 [[ 3.24116589e-01 -9.45988488e-01 -7.36326108e-03 1.40413467e+02] [ 9.45788342e-01 3.24199559e-01 -1.94694418e-02 7.83551777e+01] [ 2.08050338e-02 -6.53717413e-04 9.99783338e-01 -1.59602686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61719347 meters 0.06546327726740261 Centerline is valid? [True, True] Translation: X:140.42, Y:78.38, Z:-1.60 [[ 3.23941028e-01 -9.46043465e-01 -7.99829852e-03 1.40422361e+02] [ 9.45806778e-01 3.24038985e-01 -2.11725157e-02 7.83804010e+01] [ 2.26218806e-02 -7.06198464e-04 9.99743843e-01 -1.59916886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64719347 meters 0.06472025274824528 Centerline is valid? [True, True] Translation: X:140.43, Y:78.41, Z:-1.60 [[ 3.24499660e-01 -9.45848448e-01 -8.40732203e-03 1.40428036e+02] [ 9.45586517e-01 3.24607747e-01 -2.22699105e-02 7.84076485e+01] [ 2.37930421e-02 -7.23271981e-04 9.99716644e-01 -1.59895371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67719347 meters 0.06553978437036122 Centerline is valid? [True, True] Translation: X:140.44, Y:78.43, Z:-1.60 [[ 3.25930692e-01 -9.45357709e-01 -8.24535660e-03 1.40436795e+02] [ 9.45105032e-01 3.26034290e-01 -2.18659591e-02 7.84335518e+01] [ 2.33594220e-02 -6.65940832e-04 9.99726910e-01 -1.60293311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70719347 meters 0.06428153141278126 Centerline is valid? [True, True] Translation: X:140.43, Y:78.46, Z:-1.60 [[ 3.27152107e-01 -9.44934358e-01 -8.39993250e-03 1.40434201e+02] [ 9.44671379e-01 3.27259302e-01 -2.23009997e-02 7.84641521e+01] [ 2.38219368e-02 -6.39356798e-04 9.99716013e-01 -1.60051423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73719347 meters 0.06361810054047047 Centerline is valid? [True, True] Translation: X:140.44, Y:78.49, Z:-1.60 [[ 3.27429707e-01 -9.44841325e-01 -8.04099293e-03 1.40437972e+02] [ 9.44599801e-01 3.27527881e-01 -2.13706275e-02 7.84928598e+01] [ 2.28255014e-02 -5.98142026e-04 9.99739285e-01 -1.59924766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76719347 meters 0.06342095486400064 Centerline is valid? [True, True] Translation: X:140.44, Y:78.52, Z:-1.60 [[ 3.26568702e-01 -9.45139180e-01 -8.05071814e-03 1.40444679e+02] [ 9.44896601e-01 3.26667349e-01 -2.14209432e-02 7.85205524e+01] [ 2.28756794e-02 -6.11686603e-04 9.99738130e-01 -1.59769963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79719347 meters 0.06380751003080999 Centerline is valid? [True, True] Translation: X:140.45, Y:78.55, Z:-1.60 [[ 3.26307352e-01 -9.45231527e-01 -7.80213676e-03 1.40453369e+02] [ 9.45003183e-01 3.26400079e-01 -2.07839229e-02 7.85457545e+01] [ 2.21922373e-02 -5.91097215e-04 9.99753547e-01 -1.59879296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82719347 meters 0.06326644250574479 Centerline is valid? [True, True] Translation: X:140.46, Y:78.57, Z:-1.60 [[ 3.26597772e-01 -9.45135362e-01 -7.28300468e-03 1.40458237e+02] [ 9.44936188e-01 3.26678515e-01 -1.94099963e-02 7.85747294e+01] [ 2.07242751e-02 -5.42713128e-04 9.99785082e-01 -1.59754271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85719347 meters 0.06331785622868413 Centerline is valid? [True, True] Translation: X:140.47, Y:78.60, Z:-1.60 [[ 3.27552739e-01 -9.44803072e-01 -7.50721501e-03 1.40465465e+02] [ 9.44590786e-01 3.27638330e-01 -2.00342781e-02 7.86010167e+01] [ 2.13880989e-02 -5.28963454e-04 9.99771109e-01 -1.59946186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88719347 meters 0.062383705017876136 Centerline is valid? [True, True] Translation: X:140.47, Y:78.63, Z:-1.60 [[ 3.29683961e-01 -9.44059760e-01 -7.72372110e-03 1.40470742e+02] [ 9.43834375e-01 3.29774063e-01 -2.06334706e-02 7.86296474e+01] [ 2.20263122e-02 -4.87389172e-04 9.99757273e-01 -1.59752079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91719347 meters 0.06189730601172802 Centerline is valid? [True, True] Translation: X:140.48, Y:78.66, Z:-1.60 [[ 3.33827415e-01 -9.42600047e-01 -8.02554406e-03 1.40477049e+02] [ 9.42355987e-01 3.33923630e-01 -2.14523338e-02 7.86561858e+01] [ 2.29008896e-02 -4.01542374e-04 9.99737660e-01 -1.59989103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94719347 meters 0.06147444823970531 Centerline is valid? [True, True] Translation: X:140.48, Y:78.68, Z:-1.60 [[ 3.34945531e-01 -9.42202778e-01 -8.08807827e-03 1.40483904e+02] [ 9.41954169e-01 3.35042968e-01 -2.16460885e-02 7.86835093e+01] [ 2.31048584e-02 -3.68338438e-04 9.99732979e-01 -1.59977559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97719347 meters 0.06133008660713088 Centerline is valid? [True, True] Translation: X:140.49, Y:78.71, Z:-1.60 [[ 3.36829757e-01 -9.41529065e-01 -8.29067342e-03 1.40491297e+02] [ 9.41267068e-01 3.36931620e-01 -2.22123861e-02 7.87106734e+01] [ 2.37069972e-02 -3.21945241e-04 9.99718898e-01 -1.60149439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00719347 meters 0.061267548331588886 Centerline is valid? [True, True] Translation: X:140.50, Y:78.74, Z:-1.61 [[ 3.40087478e-01 -9.40347907e-01 -9.29094105e-03 1.40500461e+02] [ 9.40017800e-01 3.40214266e-01 -2.49156394e-02 7.87368413e+01] [ 2.65902800e-02 -2.60153016e-04 9.99646382e-01 -1.60523586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03719347 meters 0.061267548331588886 Centerline is valid? [True, True] Translation: X:140.51, Y:78.76, Z:-1.61 [[ 3.39754827e-01 -9.40468236e-01 -9.28193678e-03 1.40509831e+02] [ 9.40138083e-01 3.39881493e-01 -2.49189957e-02 7.87626933e+01] [ 2.65902825e-02 -2.59953156e-04 9.99646382e-01 -1.60546277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06719347 meters 0.06100593791420064 Centerline is valid? [True, True] Translation: X:140.52, Y:78.79, Z:-1.61 [[ 3.40123876e-01 -9.40340228e-01 -8.71807599e-03 1.40520838e+02] [ 9.40048285e-01 3.40235514e-01 -2.34310985e-02 7.87881087e+01] [ 2.49994035e-02 -2.25936345e-04 9.99687441e-01 -1.60520030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09719347 meters 0.06086932364563969 Centerline is valid? [True, True] Translation: X:140.53, Y:78.81, Z:-1.60 [[ 3.40570944e-01 -9.40182944e-01 -8.21360695e-03 1.40531919e+02] [ 9.39923205e-01 3.40669919e-01 -2.20992035e-02 7.88124683e+01] [ 2.35754230e-02 -1.93813183e-04 9.99722042e-01 -1.60483153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12719347 meters 0.06043846260045486 Centerline is valid? [True, True] Translation: X:140.54, Y:78.84, Z:-1.60 [[ 3.41914625e-01 -9.39700238e-01 -7.60603769e-03 1.40542193e+02] [ 9.39476897e-01 3.41999186e-01 -2.04869800e-02 7.88385498e+01] [ 2.18528786e-02 -1.40898619e-04 9.99761187e-01 -1.60346893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15719347 meters 0.06021286126876626 Centerline is valid? [True, True] Translation: X:140.55, Y:78.86, Z:-1.60 [[ 3.44183261e-01 -9.38874967e-01 -7.18886244e-03 1.40550837e+02] [ 9.38674842e-01 3.44258320e-01 -1.93842851e-02 7.88636779e+01] [ 2.06742457e-02 -7.62578626e-05 9.99786262e-01 -1.60327907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18719347 meters 0.0602089840885843 Centerline is valid? [True, True] Translation: X:140.56, Y:78.89, Z:-1.61 [[ 3.49672734e-01 -9.36837888e-01 -7.98442952e-03 1.40557282e+02] [ 9.36589930e-01 3.49763876e-01 -2.15530478e-02 7.88902582e+01] [ 2.29843768e-02 5.83768684e-05 9.99735823e-01 -1.60540420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21719346999998 meters 0.06024841200550879 Centerline is valid? [True, True] Translation: X:140.57, Y:78.92, Z:-1.61 [[ 3.51731067e-01 -9.36064800e-01 -8.24294409e-03 1.40565965e+02] [ 9.35799962e-01 3.51827622e-01 -2.22655735e-02 7.89163183e+01] [ 2.37421150e-02 1.17747151e-04 9.99718109e-01 -1.60512171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24719346999998 meters 0.060422627407191044 Centerline is valid? [True, True] Translation: X:140.58, Y:78.94, Z:-1.61 [[ 3.53675922e-01 -9.35332982e-01 -8.09666198e-03 1.40575850e+02] [ 9.35076662e-01 3.53768545e-01 -2.18963986e-02 7.89424136e+01] [ 2.33447681e-02 1.73229305e-04 9.99727459e-01 -1.60548227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27719347 meters 0.0606512410797916 Centerline is valid? [True, True] Translation: X:140.59, Y:78.97, Z:-1.61 [[ 3.54659398e-01 -9.34962909e-01 -7.81478905e-03 1.40586172e+02] [ 9.34723483e-01 3.54745429e-01 -2.11586992e-02 7.89675058e+01] [ 2.25548596e-02 1.99464656e-04 9.99745587e-01 -1.60791111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30719347 meters 0.05978578743822821 Centerline is valid? [True, True] Translation: X:140.61, Y:78.99, Z:-1.60 [[ 3.51011084e-01 -9.36347296e-01 -6.70520553e-03 1.40607299e+02] [ 9.36170871e-01 3.51075107e-01 -1.81760816e-02 7.89897328e+01] [ 1.93731556e-02 1.02787996e-04 9.99812318e-01 -1.60179292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33719347 meters 0.05968304199408845 Centerline is valid? [True, True] Translation: X:140.62, Y:79.01, Z:-1.60 [[ 3.46693794e-01 -9.37956335e-01 -6.42862745e-03 1.40624136e+02] [ 9.37794082e-01 3.46753390e-01 -1.74455063e-02 7.90131102e+01] [ 1.85922715e-02 1.95199907e-05 9.99827149e-01 -1.60172022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36719347 meters 0.06018118167356912 Centerline is valid? [True, True] Translation: X:140.64, Y:79.04, Z:-1.60 [[ 3.40626866e-01 -9.40178409e-01 -6.15605886e-03 1.40643195e+02] [ 9.40029638e-01 3.40682478e-01 -1.67250937e-02 7.90353672e+01] [ 1.78218334e-02 -8.98615226e-05 9.99841174e-01 -1.60373999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39719347 meters 0.06068663536652242 Centerline is valid? [True, True] Translation: X:140.66, Y:79.06, Z:-1.60 [[ 3.33890838e-01 -9.42594629e-01 -5.68104439e-03 1.40662671e+02] [ 9.42467991e-01 3.33939108e-01 -1.54517955e-02 7.90578391e+01] [ 1.64619023e-02 -1.94989566e-04 9.99864475e-01 -1.60162764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42719347 meters 0.061786258944777565 Centerline is valid? [True, True] Translation: X:140.68, Y:79.08, Z:-1.60 [[ 3.27816536e-01 -9.44728785e-01 -4.88286219e-03 1.40682568e+02] [ 9.44635229e-01 3.27852801e-01 -1.32975762e-02 7.90789468e+01] [ 1.41634630e-02 -2.53358278e-04 9.99899661e-01 -1.60002615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45719347 meters 0.06431929014669534 Centerline is valid? [True, True] Translation: X:140.71, Y:79.10, Z:-1.60 [[ 3.17130452e-01 -9.48370745e-01 -4.60498925e-03 1.40708035e+02] [ 9.48287700e-01 3.17163651e-01 -1.25561150e-02 7.90986399e+01] [ 1.33683873e-02 -3.84928242e-04 9.99910565e-01 -1.59842565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48719347 meters 0.06596712077732841 Centerline is valid? [True, True] Translation: X:140.73, Y:79.12, Z:-1.60 [[ 3.12331097e-01 -9.49959550e-01 -5.11262881e-03 1.40725257e+02] [ 9.49857195e-01 3.12372542e-01 -1.39536462e-02 7.91222181e+01] [ 1.48524444e-02 -4.98109620e-04 9.99889572e-01 -1.60004960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51719347 meters 0.06764734019765203 Centerline is valid? [True, True] Translation: X:140.74, Y:79.15, Z:-1.60 [[ 3.08364940e-01 -9.51252425e-01 -5.46700106e-03 1.40742112e+02] [ 9.51135319e-01 3.08412827e-01 -1.49376062e-02 7.91451977e+01] [ 1.58955274e-02 -5.93623742e-04 9.99873482e-01 -1.60210406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54719347 meters 0.07031198844463778 Centerline is valid? [True, True] Translation: X:140.76, Y:79.17, Z:-1.61 [[ 3.03821607e-01 -9.52707098e-01 -6.45111063e-03 1.40763986e+02] [ 9.52543984e-01 3.03889078e-01 -1.76461674e-02 7.91655815e+01] [ 1.87720510e-02 -7.83679683e-04 9.99823482e-01 -1.60623922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57719347 meters 0.07051085429334927 Centerline is valid? [True, True] Translation: X:140.78, Y:79.19, Z:-1.61 [[ 3.03144963e-01 -9.52924252e-01 -6.20494655e-03 1.40775003e+02] [ 9.52773036e-01 3.03207505e-01 -1.69926579e-02 7.91903896e+01] [ 1.80741022e-02 -7.60667111e-04 9.99836361e-01 -1.60668591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60719347 meters 0.07015830943254989 Centerline is valid? [True, True] Translation: X:140.78, Y:79.22, Z:-1.61 [[ 3.02776477e-01 -9.53039794e-01 -6.44632009e-03 1.40782757e+02] [ 9.52876222e-01 3.02844059e-01 -1.76743054e-02 7.92161959e+01] [ 1.87965461e-02 -7.91181217e-04 9.99823016e-01 -1.60701564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63719347 meters 0.07040389321688907 Centerline is valid? [True, True] Translation: X:140.79, Y:79.24, Z:-1.61 [[ 3.02820557e-01 -9.53026325e-01 -6.36657125e-03 1.40791096e+02] [ 9.52866361e-01 3.02886487e-01 -1.74778273e-02 7.92409492e+01] [ 1.85851779e-02 -7.73846185e-04 9.99826981e-01 -1.60826703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66719347 meters 0.06912380249988383 Centerline is valid? [True, True] Translation: X:140.80, Y:79.27, Z:-1.61 [[ 3.05985438e-01 -9.52011550e-01 -6.84987738e-03 1.40797318e+02] [ 9.51825772e-01 3.06061155e-01 -1.88220400e-02 7.92683364e+01] [ 2.00152808e-02 -7.60619676e-04 9.99799385e-01 -1.60995450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69719347 meters 0.06686611764280728 Centerline is valid? [True, True] Translation: X:140.80, Y:79.30, Z:-1.61 [[ 3.07903743e-01 -9.51391031e-01 -7.09867849e-03 1.40801566e+02] [ 9.51191135e-01 3.07984665e-01 -1.95159064e-02 7.92971220e+01] [ 2.07535425e-02 -7.43179412e-04 9.99784346e-01 -1.60869180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72719347 meters 0.06821444438144122 Centerline is valid? [True, True] Translation: X:140.81, Y:79.32, Z:-1.61 [[ 3.08994413e-01 -9.51035408e-01 -7.35565490e-03 1.40811635e+02] [ 9.50820012e-01 3.09081076e-01 -2.02532217e-02 7.93209755e+01] [ 2.15350247e-02 -7.35771527e-04 9.99767824e-01 -1.61365878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75719347 meters 0.06582188925774296 Centerline is valid? [True, True] Translation: X:140.81, Y:79.35, Z:-1.61 [[ 3.10276074e-01 -9.50612864e-01 -7.99626109e-03 1.40812816e+02] [ 9.50357558e-01 3.10378164e-01 -2.20432879e-02 7.93491144e+01] [ 2.34364979e-02 -7.59802349e-04 9.99725039e-01 -1.61160661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78719347 meters 0.06398198922903263 Centerline is valid? [True, True] Translation: X:140.81, Y:79.38, Z:-1.62 [[ 3.18465629e-01 -9.47895557e-01 -8.58225753e-03 1.40810207e+02] [ 9.47599738e-01 3.18580705e-01 -2.36869473e-02 7.93780912e+01] [ 2.51868937e-02 -5.89066421e-04 9.99682586e-01 -1.61554025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81719347 meters 0.0628154470661944 Centerline is valid? [True, True] Translation: X:140.81, Y:79.41, Z:-1.62 [[ 3.23994422e-01 -9.46014584e-01 -9.16632276e-03 1.40812885e+02] [ 9.45675670e-01 3.24123730e-01 -2.53246015e-02 7.94071566e+01] [ 2.69284651e-02 -4.63338783e-04 9.99637256e-01 -1.61758689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84719347 meters 0.061353905377360005 Centerline is valid? [True, True] Translation: X:140.81, Y:79.44, Z:-1.62 [[ 3.34452733e-01 -9.42366446e-01 -9.31937995e-03 1.40808721e+02] [ 9.42013968e-01 3.34582510e-01 -2.57726208e-02 7.94371696e+01] [ 2.74053546e-02 -1.59262620e-04 9.99624390e-01 -1.62044018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87719347 meters 0.06100195813334757 Centerline is valid? [True, True] Translation: X:140.81, Y:79.46, Z:-1.62 [[ 3.38665005e-01 -9.40861382e-01 -9.26688881e-03 1.40812024e+02] [ 9.40511402e-01 3.38791765e-01 -2.56601448e-02 7.94647290e+01] [ 2.72821849e-02 -2.54215110e-05 9.99627772e-01 -1.62051137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90719347 meters 0.061036130659977324 Centerline is valid? [True, True] Translation: X:140.82, Y:79.49, Z:-1.62 [[ 3.42997699e-01 -9.39293086e-01 -9.00427697e-03 1.40816900e+02] [ 9.38961312e-01 3.43115851e-01 -2.49633103e-02 7.94921861e+01] [ 2.65373749e-02 1.07690284e-04 9.99647816e-01 -1.62117581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93719347 meters 0.06110716570736636 Centerline is valid? [True, True] Translation: X:140.82, Y:79.52, Z:-1.62 [[ 3.45666068e-01 -9.38317115e-01 -8.71555234e-03 1.40824151e+02] [ 9.38005220e-01 3.45775876e-01 -2.41919785e-02 7.95188995e+01] [ 2.57133752e-02 1.87112496e-04 9.99669339e-01 -1.62093031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96719346999998 meters 0.06064183738525135 Centerline is valid? [True, True] Translation: X:140.84, Y:79.55, Z:-1.62 [[ 3.46927233e-01 -9.37860286e-01 -7.71876559e-03 1.40835001e+02] [ 9.37615048e-01 3.47013030e-01 -2.14471349e-02 7.95453960e+01] [ 2.27929283e-02 2.03364379e-04 9.99740187e-01 -1.61672626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99719346999998 meters 0.060504255638835026 Centerline is valid? [True, True] Translation: X:140.85, Y:79.57, Z:-1.62 [[ 3.45269573e-01 -9.38472895e-01 -7.58600981e-03 1.40847096e+02] [ 9.38235625e-01 3.45352859e-01 -2.11024987e-02 7.95709108e+01] [ 2.24239733e-02 1.68586066e-04 9.99748537e-01 -1.61613338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02719347 meters 0.060566096906453856 Centerline is valid? [True, True] Translation: X:140.86, Y:79.60, Z:-1.62 [[ 3.43225347e-01 -9.39224974e-01 -7.26707297e-03 1.40860466e+02] [ 9.39006909e-01 3.43302249e-01 -2.02383702e-02 7.95951696e+01] [ 2.15031852e-02 1.22489902e-04 9.99768772e-01 -1.61605492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05719347 meters 0.060459220420163544 Centerline is valid? [True, True] Translation: X:140.88, Y:79.62, Z:-1.62 [[ 3.38537070e-01 -9.40925996e-01 -7.13593754e-03 1.40877577e+02] [ 9.40715555e-01 3.38612270e-01 -1.98991301e-02 7.96177048e+01] [ 2.11399248e-02 2.37057529e-05 9.99776527e-01 -1.61630887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08719347 meters 0.06115764961977193 Centerline is valid? [True, True] Translation: X:140.91, Y:79.64, Z:-1.62 [[ 3.30084573e-01 -9.43924671e-01 -7.09861706e-03 1.40906629e+02] [ 9.43716627e-01 3.30160856e-01 -1.98176174e-02 7.96364168e+01] [ 2.10500235e-02 -1.57593159e-04 9.99778411e-01 -1.61601919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11719347 meters 0.061571670595554774 Centerline is valid? [True, True] Translation: X:140.92, Y:79.66, Z:-1.62 [[ 3.25505063e-01 -9.45513076e-01 -7.17481562e-03 1.40924519e+02] [ 9.45300469e-01 3.25584027e-01 -2.00515654e-02 7.96599983e+01] [ 2.12950227e-02 -2.55470500e-04 9.99773203e-01 -1.61620961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14719347 meters 0.062432597894927035 Centerline is valid? [True, True] Translation: X:140.94, Y:79.68, Z:-1.62 [[ 3.21801892e-01 -9.46778089e-01 -7.40217104e-03 1.40940693e+02] [ 9.46551596e-01 3.21886832e-01 -2.07109580e-02 7.96828702e+01] [ 2.19913426e-02 -3.41711364e-04 9.99758103e-01 -1.61780928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17719347 meters 0.06304428892271198 Centerline is valid? [True, True] Translation: X:140.95, Y:79.71, Z:-1.62 [[ 3.19268994e-01 -9.47634378e-01 -7.50967807e-03 1.40954010e+02] [ 9.47401001e-01 3.19357051e-01 -2.10337114e-02 7.97080272e+01] [ 2.23305367e-02 -3.99264650e-04 9.99750563e-01 -1.61829175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20719347 meters 0.062397031117060596 Centerline is valid? [True, True] Translation: X:140.97, Y:79.73, Z:-1.62 [[ 3.18949605e-01 -9.47739988e-01 -7.75014614e-03 1.40966496e+02] [ 9.47490857e-01 3.19043486e-01 -2.17331490e-02 7.97333362e+01] [ 2.30700080e-02 -4.11413324e-04 9.99733767e-01 -1.61522015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23719347 meters 0.06315003655808478 Centerline is valid? [True, True] Translation: X:140.98, Y:79.76, Z:-1.62 [[ 3.20312317e-01 -9.47277410e-01 -8.09496271e-03 1.40979331e+02] [ 9.47004678e-01 3.20414359e-01 -2.27327507e-02 7.97562998e+01] [ 2.41279635e-02 -3.84387502e-04 9.99708804e-01 -1.62087175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26719347 meters 0.06279936007352145 Centerline is valid? [True, True] Translation: X:140.99, Y:79.78, Z:-1.62 [[ 3.22038554e-01 -9.46693783e-01 -7.87730545e-03 1.40988977e+02] [ 9.46434767e-01 3.22134719e-01 -2.21462048e-02 7.97814513e+01] [ 2.35032280e-02 -3.23423979e-04 9.99723709e-01 -1.62104811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29719347 meters 0.0616568288066657 Centerline is valid? [True, True] Translation: X:141.00, Y:79.81, Z:-1.62 [[ 3.23353134e-01 -9.46240310e-01 -8.48686069e-03 1.40995483e+02] [ 9.45938800e-01 3.23464347e-01 -2.38873030e-02 7.98086183e+01] [ 2.53483259e-02 -3.04016521e-04 9.99678633e-01 -1.61665233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32719347 meters 0.06184597069224007 Centerline is valid? [True, True] Translation: X:141.01, Y:79.83, Z:-1.62 [[ 3.24041624e-01 -9.46003507e-01 -8.62499807e-03 1.41005619e+02] [ 9.45691235e-01 3.24156268e-01 -2.43063944e-02 7.98338411e+01] [ 2.57897815e-02 -2.80301551e-04 9.99667349e-01 -1.61995907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35719347 meters 0.06207180318725746 Centerline is valid? [True, True] Translation: X:141.02, Y:79.86, Z:-1.62 [[ 3.21992725e-01 -9.46696747e-01 -9.27113955e-03 1.41019950e+02] [ 9.46335318e-01 3.22125979e-01 -2.61594974e-02 7.98579590e+01] [ 2.77515860e-02 -3.50438928e-04 9.99614789e-01 -1.61952858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38719347 meters 0.06418582343703476 Centerline is valid? [True, True] Translation: X:141.04, Y:79.88, Z:-1.63 [[ 3.20334885e-01 -9.47256102e-01 -9.56235700e-03 1.41036093e+02] [ 9.46870905e-01 3.20477326e-01 -2.70143096e-02 7.98803935e+01] [ 2.86539882e-02 -4.00691868e-04 9.99589310e-01 -1.63103787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41719347 meters 0.0628524789760448 Centerline is valid? [True, True] Translation: X:141.05, Y:79.91, Z:-1.62 [[ 3.18630873e-01 -9.47829860e-01 -9.63969822e-03 1.41045571e+02] [ 9.47437788e-01 3.18776345e-01 -2.72631695e-02 7.99069567e+01] [ 2.89137539e-02 -4.46126858e-04 9.99581810e-01 -1.62302492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44719347 meters 0.06294185464121504 Centerline is valid? [True, True] Translation: X:141.06, Y:79.93, Z:-1.62 [[ 3.17883265e-01 -9.48079142e-01 -9.80665266e-03 1.41056592e+02] [ 9.47672554e-01 3.18034153e-01 -2.77670316e-02 7.99327242e+01] [ 2.94441940e-02 -4.66820906e-04 9.99566317e-01 -1.62377514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47719347 meters 0.06316726308390325 Centerline is valid? [True, True] Translation: X:141.07, Y:79.96, Z:-1.63 [[ 3.20357381e-01 -9.47241106e-01 -1.02682102e-02 1.41065994e+02] [ 9.46793655e-01 3.20521655e-01 -2.91142992e-02 7.99572795e+01] [ 3.08694447e-02 -3.94895679e-04 9.99523347e-01 -1.62821672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50719347 meters 0.06275490761013397 Centerline is valid? [True, True] Translation: X:141.07, Y:79.98, Z:-1.63 [[ 3.22226033e-01 -9.46603396e-01 -1.06016391e-02 1.41073947e+02] [ 9.46124885e-01 3.22400218e-01 -3.00965338e-02 7.99830481e+01] [ 3.19074518e-02 -3.32587870e-04 9.99490772e-01 -1.62675550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53719347 meters 0.062318438169264655 Centerline is valid? [True, True] Translation: X:141.08, Y:80.01, Z:-1.63 [[ 3.24905454e-01 -9.45688945e-01 -1.04338981e-02 1.41081986e+02] [ 9.45223896e-01 3.25072866e-01 -2.96549878e-02 8.00095874e+01] [ 3.14361713e-02 -2.27302504e-04 9.99505736e-01 -1.62588730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56719347 meters 0.06172434700845246 Centerline is valid? [True, True] Translation: X:141.09, Y:80.04, Z:-1.62 [[ 3.26583438e-01 -9.45113720e-01 -1.01644043e-02 1.41090340e+02] [ 9.44670990e-01 3.26741539e-01 -2.89255674e-02 8.00360899e+01] [ 3.06590837e-02 -1.55406651e-04 9.99529888e-01 -1.62226586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59719347 meters 0.061326843595182604 Centerline is valid? [True, True] Translation: X:141.10, Y:80.06, Z:-1.62 [[ 3.27262154e-01 -9.44884135e-01 -9.66712924e-03 1.41101390e+02] [ 9.44482621e-01 3.27404883e-01 -2.75430760e-02 8.00619365e+01] [ 2.91900809e-02 -1.16629173e-04 9.99573872e-01 -1.61890287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62719347 meters 0.06112529107523062 Centerline is valid? [True, True] Translation: X:141.11, Y:80.09, Z:-1.62 [[ 3.27983150e-01 -9.44644361e-01 -8.60722035e-03 1.41111171e+02] [ 9.44325287e-01 3.28096061e-01 -2.45505099e-02 8.00869693e+01] [ 2.60154958e-02 -7.58622666e-05 9.99661537e-01 -1.61774827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65719347 meters 0.06084113616327911 Centerline is valid? [True, True] Translation: X:141.12, Y:80.11, Z:-1.62 [[ 3.27599349e-01 -9.44784175e-01 -7.84406778e-03 1.41122745e+02] [ 9.44518630e-01 3.27693237e-01 -2.23986689e-02 8.01132284e+01] [ 2.37323558e-02 -7.10788239e-05 9.99718345e-01 -1.61621600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68719347 meters 0.06072198999118318 Centerline is valid? [True, True] Translation: X:141.14, Y:80.14, Z:-1.61 [[ 3.27674898e-01 -9.44763345e-01 -7.16816334e-03 1.41137418e+02] [ 9.44541065e-01 3.27753288e-01 -2.04928742e-02 8.01370606e+01] [ 2.17103055e-02 -5.56241863e-05 9.99764302e-01 -1.61462703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71719346999998 meters 0.060747171346007135 Centerline is valid? [True, True] Translation: X:141.15, Y:80.16, Z:-1.62 [[ 3.26876096e-01 -9.45037862e-01 -7.44691628e-03 1.41149420e+02] [ 9.44797489e-01 3.26960906e-01 -2.13136422e-02 8.01620781e+01] [ 2.25770493e-02 -6.89076457e-05 9.99745104e-01 -1.61556316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74719346999998 meters 0.060904613508362765 Centerline is valid? [True, True] Translation: X:141.16, Y:80.19, Z:-1.62 [[ 3.25830013e-01 -9.45398592e-01 -7.50367452e-03 1.41161378e+02] [ 9.45153979e-01 3.25916393e-01 -2.15049178e-02 8.01864098e+01] [ 2.27762895e-02 -8.51801835e-05 9.99740583e-01 -1.61580934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77719347 meters 0.061155242173899886 Centerline is valid? [True, True] Translation: X:141.18, Y:80.21, Z:-1.62 [[ 3.23571892e-01 -9.46166396e-01 -8.38942796e-03 1.41178306e+02] [ 9.45860172e-01 3.23680599e-01 -2.40708401e-02 8.02095830e+01] [ 2.54905151e-02 -1.46578504e-04 9.99675053e-01 -1.61781939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80719347 meters 0.06151111854361715 Centerline is valid? [True, True] Translation: X:141.19, Y:80.23, Z:-1.62 [[ 3.23105822e-01 -9.46322275e-01 -8.76235205e-03 1.41190771e+02] [ 9.45987479e-01 3.23224576e-01 -2.51706947e-02 8.02335320e+01] [ 2.66517966e-02 -1.56277319e-04 9.99644766e-01 -1.62050979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83719347 meters 0.06159933646491533 Centerline is valid? [True, True] Translation: X:141.20, Y:80.26, Z:-1.62 [[ 3.23171644e-01 -9.46298553e-01 -8.89589739e-03 1.41202277e+02] [ 9.45952535e-01 3.23294026e-01 -2.55885469e-02 8.02577148e+01] [ 2.70903954e-02 -1.45603920e-04 9.99632977e-01 -1.62165426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86719347 meters 0.06171908243560612 Centerline is valid? [True, True] Translation: X:141.21, Y:80.28, Z:-1.62 [[ 3.23234612e-01 -9.46272032e-01 -9.41417142e-03 1.41213697e+02] [ 9.45883711e-01 3.23371645e-01 -2.71069235e-02 8.02831320e+01] [ 2.86947997e-02 -1.42815467e-04 9.99588209e-01 -1.62212541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89719347 meters 0.06171908243560612 Centerline is valid? [True, True] Translation: X:141.22, Y:80.31, Z:-1.62 [[ 3.22872261e-01 -9.46395836e-01 -9.40346395e-03 1.41222173e+02] [ 9.46007458e-01 3.23009136e-01 -2.71106405e-02 8.03084790e+01] [ 2.86948021e-02 -1.42473222e-04 9.99588209e-01 -1.62234549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92719347 meters 0.06166618694952614 Centerline is valid? [True, True] Translation: X:141.23, Y:80.33, Z:-1.62 [[ 3.24809818e-01 -9.45718464e-01 -1.07317247e-02 1.41233296e+02] [ 9.45211022e-01 3.24987047e-01 -3.09764952e-02 8.03336217e+01] [ 3.27827150e-02 -8.22746676e-05 9.99462499e-01 -1.62387063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95719347 meters 0.06254657925484185 Centerline is valid? [True, True] Translation: X:141.24, Y:80.36, Z:-1.63 [[ 3.25975030e-01 -9.45304508e-01 -1.18180714e-02 1.41243383e+02] [ 9.44687936e-01 3.26189187e-01 -3.41367419e-02 8.03589675e+01] [ 3.61245431e-02 -3.66639766e-05 9.99347295e-01 -1.62953205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98719347 meters 0.0620470768363126 Centerline is valid? [True, True] Translation: X:141.25, Y:80.38, Z:-1.63 [[ 3.25877901e-01 -9.45339281e-01 -1.17148226e-02 1.41254203e+02] [ 9.44731780e-01 3.26088398e-01 -3.38854018e-02 8.03835409e+01] [ 3.58532691e-02 -2.48615730e-05 9.99357065e-01 -1.62650290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01719347 meters 0.062270316212883224 Centerline is valid? [True, True] Translation: X:141.27, Y:80.41, Z:-1.63 [[ 3.24844274e-01 -9.45700794e-01 -1.12341259e-02 1.41266556e+02] [ 9.45141157e-01 3.25038467e-01 -3.25298073e-02 8.04079552e+01] [ 3.44149877e-02 -5.07130718e-05 9.99407628e-01 -1.62829400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04719347 meters 0.06173183054044896 Centerline is valid? [True, True] Translation: X:141.28, Y:80.43, Z:-1.62 [[ 3.24222033e-01 -9.45916721e-01 -1.10286637e-02 1.41278410e+02] [ 9.45376066e-01 3.24409547e-01 -3.19771583e-02 8.04322528e+01] [ 3.38255325e-02 -5.85354339e-05 9.99427751e-01 -1.62419378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07719347 meters 0.06156479230996796 Centerline is valid? [True, True] Translation: X:141.29, Y:80.46, Z:-1.62 [[ 3.23301920e-01 -9.46239051e-01 -1.03695110e-02 1.41290559e+02] [ 9.45760204e-01 3.23468163e-01 -3.00995616e-02 8.04578761e+01] [ 3.18355873e-02 -7.58247759e-05 9.99493116e-01 -1.62307825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10719347 meters 0.061999959293380445 Centerline is valid? [True, True] Translation: X:141.31, Y:80.48, Z:-1.63 [[ 3.18816874e-01 -9.47756749e-01 -1.06275503e-02 1.41306236e+02] [ 9.47253385e-01 3.18993880e-01 -3.08857438e-02 8.04810552e+01] [ 3.26622956e-02 -2.20086695e-04 9.99466421e-01 -1.62525233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13719347 meters 0.06228381804241753 Centerline is valid? [True, True] Translation: X:141.32, Y:80.51, Z:-1.62 [[ 3.15570129e-01 -9.48840225e-01 -1.08499020e-02 1.41319575e+02] [ 9.48315065e-01 3.15756424e-01 -3.15660780e-02 8.05062328e+01] [ 3.33770908e-02 -3.27814272e-04 9.99442776e-01 -1.62482745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16719347 meters 0.06264297712590733 Centerline is valid? [True, True] Translation: X:141.33, Y:80.53, Z:-1.62 [[ 3.12127312e-01 -9.49982281e-01 -1.04979744e-02 1.41332925e+02] [ 9.49490001e-01 3.12303520e-01 -3.05818675e-02 8.05303542e+01] [ 3.23307866e-02 -4.22285619e-04 9.99477134e-01 -1.62398320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19719347 meters 0.06253220622933126 Centerline is valid? [True, True] Translation: X:141.34, Y:80.56, Z:-1.62 [[ 3.09593751e-01 -9.50816914e-01 -9.94507753e-03 1.41344234e+02] [ 9.50374560e-01 3.09753083e-01 -2.90038570e-02 8.05564560e+01] [ 3.06578762e-02 -4.72135805e-04 9.99529825e-01 -1.62097444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22719347 meters 0.06317714597807142 Centerline is valid? [True, True] Translation: X:141.35, Y:80.58, Z:-1.62 [[ 3.05393283e-01 -9.52166184e-01 -1.07004857e-02 1.41353799e+02] [ 9.51653673e-01 3.05580015e-01 -3.12432647e-02 8.05828249e+01] [ 3.30186348e-02 -6.41673371e-04 9.99454530e-01 -1.62049635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25719347 meters 0.06342825190180845 Centerline is valid? [True, True] Translation: X:141.36, Y:80.61, Z:-1.62 [[ 3.05146441e-01 -9.52244362e-01 -1.07854183e-02 1.41361827e+02] [ 9.51722331e-01 3.05336311e-01 -3.15331805e-02 8.06089735e+01] [ 3.33204731e-02 -6.42485643e-04 9.99444512e-01 -1.62219093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28719347 meters 0.06291048563529156 Centerline is valid? [True, True] Translation: X:141.37, Y:80.63, Z:-1.62 [[ 3.06154841e-01 -9.51932010e-01 -9.72939863e-03 1.41370912e+02] [ 9.51506320e-01 3.06308921e-01 -2.84704709e-02 8.06341560e+01] [ 3.00821542e-02 -5.41211793e-04 9.99547283e-01 -1.61861418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31719347 meters 0.06246042197925432 Centerline is valid? [True, True] Translation: X:141.38, Y:80.66, Z:-1.62 [[ 3.05560196e-01 -9.52133250e-01 -8.67413729e-03 1.41380221e+02] [ 9.51794110e-01 3.05682898e-01 -2.54153257e-02 8.06606116e+01] [ 2.68503121e-02 -4.90080873e-04 9.99639345e-01 -1.61523906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34719347 meters 0.06235847265632863 Centerline is valid? [True, True] Translation: X:141.39, Y:80.69, Z:-1.61 [[ 3.04410708e-01 -9.52507405e-01 -7.98522853e-03 1.41389059e+02] [ 9.52219449e-01 3.04515056e-01 -2.34244014e-02 8.06869093e+01] [ 2.47435381e-02 -4.73051308e-04 9.99693720e-01 -1.61364774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37719347 meters 0.0624314961611337 Centerline is valid? [True, True] Translation: X:141.40, Y:80.71, Z:-1.61 [[ 3.02593669e-01 -9.53087587e-01 -7.81813793e-03 1.41396815e+02] [ 9.52810978e-01 3.02694239e-01 -2.29660170e-02 8.07134034e+01] [ 2.42551310e-02 -4.99836299e-04 9.99705676e-01 -1.61296560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40719347 meters 0.06275278559489998 Centerline is valid? [True, True] Translation: X:141.40, Y:80.74, Z:-1.61 [[ 3.00354763e-01 -9.53793375e-01 -8.07559383e-03 1.41404668e+02] [ 9.53497825e-01 3.00462772e-01 -2.37491177e-02 8.07405123e+01] [ 2.50781665e-02 -5.66900524e-04 9.99685333e-01 -1.61351226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43719347 meters 0.06369690623525683 Centerline is valid? [True, True] Translation: X:141.41, Y:80.77, Z:-1.62 [[ 2.98090779e-01 -9.54500376e-01 -8.42132888e-03 1.41413374e+02] [ 9.54178767e-01 2.98209008e-01 -2.47844474e-02 8.07663470e+01] [ 2.61680805e-02 -6.47437957e-04 9.99657347e-01 -1.61597536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46719346999998 meters 0.06429155767793703 Centerline is valid? [True, True] Translation: X:141.42, Y:80.79, Z:-1.62 [[ 2.98289402e-01 -9.54433082e-01 -8.99581088e-03 1.41422051e+02] [ 9.54065412e-01 2.98424248e-01 -2.64982489e-02 8.07913589e+01] [ 2.79753735e-02 -6.78445195e-04 9.99608382e-01 -1.61983441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49719346999998 meters 0.06392039596361644 Centerline is valid? [True, True] Translation: X:141.43, Y:80.82, Z:-1.62 [[ 2.99482226e-01 -9.54058932e-01 -9.05264220e-03 1.41428372e+02] [ 9.53685379e-01 2.99618340e-01 -2.67029688e-02 8.08177910e+01] [ 2.81885435e-02 -6.36307960e-04 9.99602422e-01 -1.62014781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52719347 meters 0.06347046652625243 Centerline is valid? [True, True] Translation: X:141.43, Y:80.85, Z:-1.62 [[ 3.01060579e-01 -9.53556095e-01 -9.65931381e-03 1.41434014e+02] [ 9.53129586e-01 3.01214858e-01 -2.85237055e-02 8.08455239e+01] [ 3.01084821e-02 -6.19214492e-04 9.99546445e-01 -1.62148217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55719347 meters 0.06230979179662116 Centerline is valid? [True, True] Translation: X:141.44, Y:80.87, Z:-1.62 [[ 3.05874913e-01 -9.52024358e-01 -9.49524369e-03 1.41435183e+02] [ 9.51610818e-01 3.06021922e-01 -2.80612730e-02 8.08733895e+01] [ 2.96207682e-02 -4.52537181e-04 9.99561106e-01 -1.62303610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58719347 meters 0.06233268691103534 Centerline is valid? [True, True] Translation: X:141.44, Y:80.90, Z:-1.63 [[ 3.07212896e-01 -9.51595734e-01 -9.26262126e-03 1.41440494e+02] [ 9.51201068e-01 3.07352252e-01 -2.74065944e-02 8.09008043e+01] [ 2.89268858e-02 -3.90955983e-04 9.99581454e-01 -1.62568826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61719347 meters 0.062136531558176375 Centerline is valid? [True, True] Translation: X:141.44, Y:80.93, Z:-1.63 [[ 3.09093629e-01 -9.50981261e-01 -9.78621024e-03 1.41441829e+02] [ 9.50539339e-01 3.09248323e-01 -2.89903525e-02 8.09287519e+01] [ 3.05956511e-02 -3.41444535e-04 9.99531785e-01 -1.62844903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64719347 meters 0.06213432447761467 Centerline is valid? [True, True] Translation: X:141.45, Y:80.96, Z:-1.63 [[ 3.09027189e-01 -9.51002155e-01 -9.85378518e-03 1.41448373e+02] [ 9.50552985e-01 3.09184070e-01 -2.92272801e-02 8.09556077e+01] [ 3.08418398e-02 -3.34520681e-04 9.99524221e-01 -1.62978143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67719347 meters 0.06250558839713716 Centerline is valid? [True, True] Translation: X:141.46, Y:80.98, Z:-1.63 [[ 3.08331942e-01 -9.51222602e-01 -1.03428691e-02 1.41455506e+02] [ 9.50726644e-01 3.08505154e-01 -3.07151204e-02 8.09819036e+01] [ 3.24077452e-02 -3.62788460e-04 9.99474665e-01 -1.63258015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70719347 meters 0.06275679916261079 Centerline is valid? [True, True] Translation: X:141.46, Y:81.01, Z:-1.63 [[ 3.06391732e-01 -9.51847146e-01 -1.05412585e-02 1.41463969e+02] [ 9.51331074e-01 3.06572717e-01 -3.13425748e-02 8.10081953e+01] [ 3.30650026e-02 -4.25121009e-04 9.99453113e-01 -1.63352506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73719347 meters 0.06357732182879741 Centerline is valid? [True, True] Translation: X:141.47, Y:81.03, Z:-1.64 [[ 3.03791054e-01 -9.52677602e-01 -1.07881059e-02 1.41474200e+02] [ 9.52136275e-01 3.03982108e-01 -3.21152784e-02 8.10338667e+01] [ 3.38748976e-02 -5.15412752e-04 9.99425948e-01 -1.63566036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76719347 meters 0.06484027848310675 Centerline is valid? [True, True] Translation: X:141.49, Y:81.06, Z:-1.64 [[ 2.98215934e-01 -9.54440325e-01 -1.05319715e-02 1.41487583e+02] [ 9.53924561e-01 2.98401058e-01 -3.13805856e-02 8.10573675e+01] [ 3.30936477e-02 -6.88515649e-04 9.99452018e-01 -1.63571218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79719347 meters 0.06588721497679244 Centerline is valid? [True, True] Translation: X:141.50, Y:81.08, Z:-1.64 [[ 2.94500760e-01 -9.55600155e-01 -9.88158667e-03 1.41498510e+02] [ 9.55145758e-01 2.94665521e-01 -2.94756040e-02 8.10804528e+01] [ 3.10786547e-02 -7.57767810e-04 9.99516655e-01 -1.63531876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82719347 meters 0.0670207686782316 Centerline is valid? [True, True] Translation: X:141.51, Y:81.11, Z:-1.63 [[ 2.90235860e-01 -9.56908886e-01 -9.40902893e-03 1.41509194e+02] [ 9.56496555e-01 2.90387108e-01 -2.81010212e-02 8.11055027e+01] [ 2.96223776e-02 -8.43779700e-04 9.99560805e-01 -1.63481210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85719347 meters 0.06843216433554533 Centerline is valid? [True, True] Translation: X:141.52, Y:81.13, Z:-1.63 [[ 2.86744943e-01 -9.57965159e-01 -8.94938503e-03 1.41519662e+02] [ 9.57591735e-01 2.86883165e-01 -2.67603882e-02 8.11306771e+01] [ 2.82029474e-02 -8.96451166e-04 9.99601816e-01 -1.63383060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88719347 meters 0.07108336122631234 Centerline is valid? [True, True] Translation: X:141.53, Y:81.15, Z:-1.63 [[ 2.80282558e-01 -9.59888142e-01 -7.51288740e-03 1.41530895e+02] [ 9.59624971e-01 2.80381770e-01 -2.24939817e-02 8.11539762e+01] [ 2.36981830e-02 -9.04883619e-04 9.99718749e-01 -1.63015985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91719347 meters 0.07226812042113168 Centerline is valid? [True, True] Translation: X:141.54, Y:81.18, Z:-1.63 [[ 2.77790628e-01 -9.60615280e-01 -7.11692716e-03 1.41540167e+02] [ 9.60378961e-01 2.77880287e-01 -2.13259596e-02 8.11784427e+01] [ 2.24636964e-02 -9.10795409e-04 9.99747244e-01 -1.62870767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94719347 meters 0.07335249787800255 Centerline is valid? [True, True] Translation: X:141.55, Y:81.20, Z:-1.63 [[ 2.75805023e-01 -9.61187645e-01 -7.06404531e-03 1.41549181e+02] [ 9.60954414e-01 2.75893861e-01 -2.11941250e-02 8.12041911e+01] [ 2.23204579e-02 -9.42779369e-04 9.99750423e-01 -1.62859771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97719347 meters 0.07395902090643906 Centerline is valid? [True, True] Translation: X:141.56, Y:81.23, Z:-1.63 [[ 2.74403685e-01 -9.61587149e-01 -7.26446388e-03 1.41556933e+02] [ 9.61340057e-01 2.74498020e-01 -2.18204580e-02 8.12304578e+01] [ 2.29763529e-02 -9.96006040e-04 9.99735513e-01 -1.62943327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00719347 meters 0.07543249538867591 Centerline is valid? [True, True] Translation: X:141.56, Y:81.26, Z:-1.63 [[ 2.72879545e-01 -9.62016185e-01 -7.84950685e-03 1.41564340e+02] [ 9.61727352e-01 2.72990164e-01 -2.35981156e-02 8.12552987e+01] [ 2.48446073e-02 -1.10964239e-03 9.99690709e-01 -1.63218245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03719347 meters 0.0755944216055336 Centerline is valid? [True, True] Translation: X:141.56, Y:81.28, Z:-1.63 [[ 2.72807891e-01 -9.62036240e-01 -7.88207967e-03 1.41564613e+02] [ 9.61744158e-01 2.72919490e-01 -2.37302746e-02 8.12814944e+01] [ 2.49805573e-02 -1.10673790e-03 9.99687325e-01 -1.63382907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06719347 meters 0.07517167862343646 Centerline is valid? [True, True] Translation: X:141.57, Y:81.31, Z:-1.64 [[ 2.74335924e-01 -9.61599751e-01 -8.10678759e-03 1.41567521e+02] [ 9.61289874e-01 2.74453515e-01 -2.44345488e-02 8.13078242e+01] [ 2.57211924e-02 -1.08969829e-03 9.99668561e-01 -1.63512117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09719347 meters 0.07420823346493759 Centerline is valid? [True, True] Translation: X:141.57, Y:81.34, Z:-1.64 [[ 2.75538826e-01 -9.61254311e-01 -8.27681148e-03 1.41569883e+02] [ 9.60930426e-01 2.75661025e-01 -2.49743029e-02 8.13356628e+01] [ 2.62882506e-02 -1.07204989e-03 9.99653829e-01 -1.63622499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12719347 meters 0.06687146434708476 Centerline is valid? [True, True] Translation: X:141.56, Y:81.37, Z:-1.63 [[ 2.78170891e-01 -9.60499083e-01 -7.90359578e-03 1.41558015e+02] [ 9.60202647e-01 2.78281541e-01 -2.38801217e-02 8.13683976e+01] [ 2.51362598e-02 -9.46298850e-04 9.99683586e-01 -1.62592480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15719347 meters 0.0691389166640355 Centerline is valid? [True, True] Translation: X:141.57, Y:81.39, Z:-1.63 [[ 2.79435043e-01 -9.60132865e-01 -7.80628379e-03 1.41567466e+02] [ 9.59843111e-01 2.79542620e-01 -2.36035142e-02 8.13939811e+01] [ 2.48446987e-02 -8.97158731e-04 9.99690920e-01 -1.63155425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18719347 meters 0.07136398590596604 Centerline is valid? [True, True] Translation: X:141.57, Y:81.42, Z:-1.64 [[ 2.80656341e-01 -9.59776225e-01 -7.84958483e-03 1.41574684e+02] [ 9.59482292e-01 2.80764771e-01 -2.37670975e-02 8.14188635e+01] [ 2.50149820e-02 -8.61151010e-04 9.99686705e-01 -1.63792404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21719346999998 meters 0.0647458335764734 Centerline is valid? [True, True] Translation: X:141.56, Y:81.45, Z:-1.63 [[ 2.85235865e-01 -9.58416748e-01 -8.82256327e-03 1.41560798e+02] [ 9.58044370e-01 2.85371073e-01 -2.67270725e-02 8.14535814e+01] [ 2.81333782e-02 -8.28887425e-04 9.99603835e-01 -1.63238901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24719346999998 meters 0.06414533709273766 Centerline is valid? [True, True] Translation: X:141.56, Y:81.48, Z:-1.63 [[ 2.87086161e-01 -9.57866004e-01 -8.61716695e-03 1.41564335e+02] [ 9.57509639e-01 2.87214485e-01 -2.61367751e-02 8.14811895e+01] [ 2.75105034e-02 -7.47514013e-04 9.99621235e-01 -1.63288243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27719347 meters 0.06361125975082717 Centerline is valid? [True, True] Translation: X:141.57, Y:81.51, Z:-1.63 [[ 2.88792316e-01 -9.57356522e-01 -8.21512952e-03 1.41569070e+02] [ 9.57031654e-01 2.88908390e-01 -2.49470407e-02 8.15090525e+01] [ 2.62566319e-02 -6.57625337e-04 9.99655019e-01 -1.63293824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30719347 meters 0.06307361786708074 Centerline is valid? [True, True] Translation: X:141.57, Y:81.54, Z:-1.63 [[ 2.90052700e-01 -9.56976553e-01 -8.08136125e-03 1.41573519e+02] [ 9.56661192e-01 2.90164631e-01 -2.45733820e-02 8.15365360e+01] [ 2.58610756e-02 -6.03548867e-04 9.99665364e-01 -1.63278786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33719347 meters 0.06276738411571825 Centerline is valid? [True, True] Translation: X:141.57, Y:81.56, Z:-1.63 [[ 2.90575189e-01 -9.56817462e-01 -8.14879870e-03 1.41573558e+02] [ 9.56495941e-01 2.90688839e-01 -2.48095499e-02 8.15645857e+01] [ 2.61069754e-02 -5.85253213e-04 9.99658984e-01 -1.63398434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36719347 meters 0.06351007265590254 Centerline is valid? [True, True] Translation: X:141.58, Y:81.59, Z:-1.64 [[ 2.88894331e-01 -9.57324093e-01 -8.40512382e-03 1.41579671e+02] [ 9.56981387e-01 2.89015863e-01 -2.56213943e-02 8.15909023e+01] [ 2.69571922e-02 -6.41671466e-04 9.99636383e-01 -1.63578886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39719347 meters 0.06425667604187286 Centerline is valid? [True, True] Translation: X:141.59, Y:81.62, Z:-1.64 [[ 2.86711650e-01 -9.57976732e-01 -8.77553952e-03 1.41587505e+02] [ 9.57602525e-01 2.86845002e-01 -2.67833672e-02 8.16168337e+01] [ 2.81750623e-02 -7.24375404e-04 9.99602742e-01 -1.63667044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42719347 meters 0.06497515098372166 Centerline is valid? [True, True] Translation: X:141.60, Y:81.64, Z:-1.64 [[ 2.84703864e-01 -9.58576490e-01 -8.65000086e-03 1.41596327e+02] [ 9.58212211e-01 2.84834218e-01 -2.64353414e-02 8.16420452e+01] [ 2.78041130e-02 -7.62292613e-04 9.99613100e-01 -1.63642384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45719347 meters 0.06604649237138811 Centerline is valid? [True, True] Translation: X:141.60, Y:81.67, Z:-1.63 [[ 2.80754784e-01 -9.59747832e-01 -7.80073315e-03 1.41603150e+02] [ 9.59451119e-01 2.80862048e-01 -2.38759303e-02 8.16661051e+01] [ 2.51058022e-02 -7.81140506e-04 9.99684494e-01 -1.63403665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48719347 meters 0.06604649237138811 Centerline is valid? [True, True] Translation: X:141.61, Y:81.69, Z:-1.63 [[ 2.80372862e-01 -9.59859548e-01 -7.79141872e-03 1.41610823e+02] [ 9.59562795e-01 2.80480012e-01 -2.38789722e-02 8.16908226e+01] [ 2.51057967e-02 -7.81339763e-04 9.99684494e-01 -1.63424984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51719347 meters 0.06597015616407055 Centerline is valid? [True, True] Translation: X:141.61, Y:81.72, Z:-1.63 [[ 2.79732208e-01 -9.60051762e-01 -7.10682748e-03 1.41612510e+02] [ 9.59804292e-01 2.79821543e-01 -2.18088516e-02 8.17181909e+01] [ 2.29262699e-02 -7.20525295e-04 9.99736899e-01 -1.63222997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54719347 meters 0.06531314553116681 Centerline is valid? [True, True] Translation: X:141.62, Y:81.75, Z:-1.63 [[ 2.80874526e-01 -9.59720168e-01 -6.83372401e-03 1.41615128e+02] [ 9.59490711e-01 2.80956872e-01 -2.09954904e-02 8.17452675e+01] [ 2.20697773e-02 -6.59796289e-04 9.99756215e-01 -1.63160436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57719347 meters 0.06451910401037149 Centerline is valid? [True, True] Translation: X:141.62, Y:81.77, Z:-1.63 [[ 2.81996697e-01 -9.59394473e-01 -6.33315500e-03 1.41618419e+02] [ 9.59196839e-01 2.82067205e-01 -1.94811552e-02 8.17730999e+01] [ 2.04764880e-02 -5.81120830e-04 9.99790166e-01 -1.63038290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60719347 meters 0.06404621341330552 Centerline is valid? [True, True] Translation: X:141.62, Y:81.80, Z:-1.63 [[ 2.82876752e-01 -9.59137459e-01 -6.00654190e-03 1.41622960e+02] [ 9.58959368e-01 2.82940019e-01 -1.84898826e-02 8.18006197e+01] [ 1.94338301e-02 -5.29671691e-04 9.99811005e-01 -1.63024009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63719347 meters 0.062927326020343 Centerline is valid? [True, True] Translation: X:141.62, Y:81.83, Z:-1.63 [[ 2.80320209e-01 -9.59887056e-01 -6.11726347e-03 1.41624744e+02] [ 9.59702037e-01 2.80386337e-01 -1.88547734e-02 8.18293703e+01] [ 1.98136500e-02 -5.85376184e-04 9.99803519e-01 -1.62666509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66719347 meters 0.06298580838043225 Centerline is valid? [True, True] Translation: X:141.63, Y:81.86, Z:-1.63 [[ 2.76989805e-01 -9.60853955e-01 -6.02703054e-03 1.41632112e+02] [ 9.60674092e-01 2.77054635e-01 -1.86015510e-02 8.18558007e+01] [ 1.95431906e-02 -6.37572112e-04 9.99808810e-01 -1.62549619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69719347 meters 0.06938947155924846 Centerline is valid? [True, True] Translation: X:141.65, Y:81.88, Z:-1.63 [[ 2.72293842e-01 -9.62195370e-01 -6.01108022e-03 1.41652391e+02] [ 9.62016313e-01 2.72359220e-01 -1.85760149e-02 8.18775828e+01] [ 1.95109287e-02 -7.24622749e-04 9.99809381e-01 -1.63395694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72719347 meters 0.06849616846919276 Centerline is valid? [True, True] Translation: X:141.66, Y:81.90, Z:-1.63 [[ 2.63643226e-01 -9.64599012e-01 -6.40275335e-03 1.41657970e+02] [ 9.64396025e-01 2.63719245e-01 -1.98107628e-02 8.19043972e+01] [ 2.07979715e-02 -9.51816459e-04 9.99783246e-01 -1.62895433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75719347 meters 0.07566803672235478 Centerline is valid? [True, True] Translation: X:141.68, Y:81.93, Z:-1.64 [[ 2.61278540e-01 -9.65237961e-01 -7.01454315e-03 1.41677202e+02] [ 9.64994017e-01 2.61370400e-01 -2.17269870e-02 8.19260203e+01] [ 2.28051066e-02 -1.09219674e-03 9.99739333e-01 -1.63720283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78719347 meters 0.07785008378521979 Centerline is valid? [True, True] Translation: X:141.69, Y:81.95, Z:-1.64 [[ 2.59741642e-01 -9.65652259e-01 -7.07065265e-03 1.41685732e+02] [ 9.65403959e-01 2.59835402e-01 -2.19262598e-02 8.19502093e+01] [ 2.30103482e-02 -1.13087332e-03 9.99734587e-01 -1.63933431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81719347 meters 0.07682187969769003 Centerline is valid? [True, True] Translation: X:141.68, Y:81.98, Z:-1.64 [[ 2.61831667e-01 -9.65080234e-01 -8.01993963e-03 1.41683356e+02] [ 9.64759679e-01 2.61951636e-01 -2.49018616e-02 8.19773322e+01] [ 2.61331307e-02 -1.21721846e-03 9.99657730e-01 -1.64266086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84719347 meters 0.07682187969769003 Centerline is valid? [True, True] Translation: X:141.69, Y:82.00, Z:-1.64 [[ 2.61485706e-01 -9.65174102e-01 -8.01115173e-03 1.41690913e+02] [ 9.64853505e-01 2.61605564e-01 -2.49046906e-02 8.20020931e+01] [ 2.61331243e-02 -1.21736720e-03 9.99657730e-01 -1.64287419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87719347 meters 0.06803371577439381 Centerline is valid? [True, True] Translation: X:141.68, Y:82.04, Z:-1.63 [[ 2.63353745e-01 -9.64661326e-01 -8.56340143e-03 1.41680123e+02] [ 9.64293884e-01 2.63490023e-01 -2.66516806e-02 8.20351615e+01] [ 2.79662164e-02 -1.23881572e-03 9.99608101e-01 -1.63409523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90719347 meters 0.06707218136447506 Centerline is valid? [True, True] Translation: X:141.68, Y:82.06, Z:-1.64 [[ 2.65513769e-01 -9.64065441e-01 -8.95896471e-03 1.41682428e+02] [ 9.63662059e-01 2.65662061e-01 -2.79124474e-02 8.20643564e+01] [ 2.92894830e-02 -1.22227525e-03 9.99570224e-01 -1.63520120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93719347 meters 0.06603811484618156 Centerline is valid? [True, True] Translation: X:141.68, Y:82.09, Z:-1.64 [[ 2.68289112e-01 -9.63300971e-01 -8.49656990e-03 1.41684009e+02] [ 9.62936893e-01 2.68421483e-01 -2.65037346e-02 8.20912780e+01] [ 2.78117352e-02 -1.07099719e-03 9.99612605e-01 -1.63527773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96719346999998 meters 0.06459352200104578 Centerline is valid? [True, True] Translation: X:141.69, Y:82.12, Z:-1.64 [[ 2.71812658e-01 -9.62312734e-01 -8.49006037e-03 1.41685217e+02] [ 9.61947875e-01 2.71943524e-01 -2.65142574e-02 8.21201508e+01] [ 2.78238245e-02 -9.60084763e-04 9.99612381e-01 -1.63552162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99719346999998 meters 0.060899982027878774 Centerline is valid? [True, True] Translation: X:141.68, Y:82.15, Z:-1.63 [[ 2.80910121e-01 -9.59693564e-01 -8.81859728e-03 1.41675602e+02] [ 9.59297473e-01 2.81047605e-01 -2.75790020e-02 8.21517334e+01] [ 2.89458363e-02 -7.12437305e-04 9.99580728e-01 -1.63400065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02719347 meters 0.059495529505931566 Centerline is valid? [True, True] Translation: X:141.68, Y:82.18, Z:-1.63 [[ 2.86001088e-01 -9.58191611e-01 -8.49795344e-03 1.41675390e+02] [ 9.57822163e-01 2.86126821e-01 -2.66110227e-02 8.21805462e+01] [ 2.79299511e-02 -5.28746708e-04 9.99609743e-01 -1.63279649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05719347 meters 0.05832022635829008 Centerline is valid? [True, True] Translation: X:141.67, Y:82.21, Z:-1.63 [[ 2.90424019e-01 -9.56862253e-01 -8.27759705e-03 1.41674907e+02] [ 9.56510284e-01 2.90541709e-01 -2.59536377e-02 8.22101214e+01] [ 2.72390434e-02 -3.80046955e-04 9.99628876e-01 -1.63156670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08719347 meters 0.05765886298719748 Centerline is valid? [True, True] Translation: X:141.67, Y:82.24, Z:-1.63 [[ 2.98402376e-01 -9.54409027e-01 -7.70917566e-03 1.41671495e+02] [ 9.54102106e-01 2.98501913e-01 -2.42028916e-02 8.22396330e+01] [ 2.54006619e-02 -1.33140356e-04 9.99677342e-01 -1.63344520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11719347 meters 0.05722317132767033 Centerline is valid? [True, True] Translation: X:141.68, Y:82.27, Z:-1.63 [[ 3.00797266e-01 -9.53659252e-01 -7.41862568e-03 1.41675844e+02] [ 9.53374106e-01 3.00888730e-01 -2.33192209e-02 8.22677934e+01] [ 2.44707716e-02 -5.83677316e-05 9.99700544e-01 -1.63145804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14719347 meters 0.05706485462450454 Centerline is valid? [True, True] Translation: X:141.68, Y:82.29, Z:-1.63 [[ 3.03166996e-01 -9.52910845e-01 -7.12002035e-03 1.41681121e+02] [ 9.52647178e-01 3.03250593e-01 -2.24149870e-02 8.22931353e+01] [ 2.35186346e-02 1.26169735e-05 9.99723399e-01 -1.63105504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17719347 meters 0.05703152761399694 Centerline is valid? [True, True] Translation: X:141.69, Y:82.32, Z:-1.63 [[ 3.04148148e-01 -9.52600164e-01 -6.84342624e-03 1.41687419e+02] [ 9.52355804e-01 3.04225125e-01 -2.15753474e-02 8.23185544e+01] [ 2.26346217e-02 4.47252523e-05 9.99743803e-01 -1.63150120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20719347 meters 0.05685257146278491 Centerline is valid? [True, True] Translation: X:141.70, Y:82.34, Z:-1.63 [[ 3.05128272e-01 -9.52291161e-01 -6.18725992e-03 1.41696487e+02] [ 9.52090909e-01 3.05190989e-01 -1.95284789e-02 8.23438389e+01] [ 2.04850939e-02 6.78571015e-05 9.99790156e-01 -1.63032274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23719347 meters 0.05671456517962836 Centerline is valid? [True, True] Translation: X:141.71, Y:82.37, Z:-1.63 [[ 3.04853478e-01 -9.52381932e-01 -5.74565728e-03 1.41706959e+02] [ 9.52208805e-01 3.04907611e-01 -1.81587309e-02 8.23695414e+01] [ 1.90459419e-02 6.46868134e-05 9.99818608e-01 -1.62949379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26719347 meters 0.05660715610287939 Centerline is valid? [True, True] Translation: X:141.72, Y:82.39, Z:-1.63 [[ 3.04448350e-01 -9.52513657e-01 -5.37911113e-03 1.41717241e+02] [ 9.52361516e-01 3.04495861e-01 -1.70239180e-02 8.23946084e+01] [ 1.78534315e-02 6.00453377e-05 9.99840613e-01 -1.62884373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29719347 meters 0.0565877962306063 Centerline is valid? [True, True] Translation: X:141.73, Y:82.42, Z:-1.63 [[ 3.04532384e-01 -9.52487804e-01 -5.19705224e-03 1.41727630e+02] [ 9.52345405e-01 3.04576720e-01 -1.64696893e-02 8.24199038e+01] [ 1.72700793e-02 6.61649397e-05 9.99850859e-01 -1.62908332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32719347 meters 0.05681257739630033 Centerline is valid? [True, True] Translation: X:141.74, Y:82.44, Z:-1.63 [[ 3.04272572e-01 -9.52568966e-01 -5.52872155e-03 1.41741007e+02] [ 9.52407629e-01 3.04322790e-01 -1.75313454e-02 8.24440923e+01] [ 1.83823315e-02 6.87109831e-05 9.99831028e-01 -1.63126024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35719347 meters 0.056947505526647964 Centerline is valid? [True, True] Translation: X:141.75, Y:82.47, Z:-1.63 [[ 3.04614513e-01 -9.52457891e-01 -5.82790850e-03 1.41751359e+02] [ 9.52278111e-01 3.04670245e-01 -1.85051461e-02 8.24688100e+01] [ 1.94009628e-02 8.71463810e-05 9.99811780e-01 -1.63294542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38719347 meters 0.05738333660510316 Centerline is valid? [True, True] Translation: X:141.76, Y:82.49, Z:-1.64 [[ 3.05313265e-01 -9.52229143e-01 -6.59315175e-03 1.41762988e+02] [ 9.51998510e-01 3.05384421e-01 -2.09569089e-02 8.24948314e+01] [ 2.19692253e-02 1.21751652e-04 9.99758640e-01 -1.63642832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41719347 meters 0.057955760027871166 Centerline is valid? [True, True] Translation: X:141.78, Y:82.52, Z:-1.64 [[ 3.04230719e-01 -9.52566823e-01 -7.75347948e-03 1.41780339e+02] [ 9.52247462e-01 3.04329480e-01 -2.46645376e-02 8.25169750e+01] [ 2.58542326e-02 1.20478848e-04 9.99665716e-01 -1.64229406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44719347 meters 0.058247825370408415 Centerline is valid? [True, True] Translation: X:141.79, Y:82.54, Z:-1.65 [[ 3.02739954e-01 -9.53037662e-01 -8.23010167e-03 1.41792622e+02] [ 9.52677035e-01 3.02851788e-01 -2.62156723e-02 8.25413905e+01] [ 2.74770241e-02 9.59025888e-05 9.99622431e-01 -1.64535898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47719347 meters 0.05850982185018925 Centerline is valid? [True, True] Translation: X:141.81, Y:82.57, Z:-1.65 [[ 3.00754702e-01 -9.53662738e-01 -8.60184919e-03 1.41805434e+02] [ 9.53268068e-01 3.00877683e-01 -2.74337348e-02 8.25659264e+01] [ 2.87506351e-02 5.09565652e-05 9.99586614e-01 -1.64768697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50719347 meters 0.059283772884724285 Centerline is valid? [True, True] Translation: X:141.83, Y:82.59, Z:-1.65 [[ 2.94951964e-01 -9.55464263e-01 -9.55938108e-03 1.41827175e+02] [ 9.54976483e-01 2.95106806e-01 -3.05268770e-02 8.25863648e+01] [ 3.19883785e-02 -1.25021805e-04 9.99488233e-01 -1.65191253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53719347 meters 0.05993971331323468 Centerline is valid? [True, True] Translation: X:141.84, Y:82.61, Z:-1.65 [[ 2.90205782e-01 -9.56915689e-01 -9.64196660e-03 1.41844972e+02] [ 9.56419026e-01 2.90365783e-01 -3.08278958e-02 8.26093013e+01] [ 3.22993943e-02 -2.75326691e-04 9.99478201e-01 -1.65258258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56719347 meters 0.0610960107065933 Centerline is valid? [True, True] Translation: X:141.86, Y:82.63, Z:-1.65 [[ 2.83877459e-01 -9.58813256e-01 -9.52516431e-03 1.41864446e+02] [ 9.58328400e-01 2.84036824e-01 -3.04919590e-02 8.26320886e+01] [ 3.19415919e-02 -4.72255618e-04 9.99489626e-01 -1.65229657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59719347 meters 0.06268095764356268 Centerline is valid? [True, True] Translation: X:141.88, Y:82.65, Z:-1.65 [[ 2.77503030e-01 -9.60681146e-01 -9.15441944e-03 1.41882903e+02] [ 9.60233190e-01 2.77653228e-01 -2.93412068e-02 8.26546774e+01] [ 3.07292983e-02 -6.48103590e-04 9.99527533e-01 -1.65074618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62719347 meters 0.06499392590287804 Centerline is valid? [True, True] Translation: X:141.90, Y:82.68, Z:-1.65 [[ 2.71184228e-01 -9.62486983e-01 -8.82735244e-03 1.41900966e+02] [ 9.62070371e-01 2.71326650e-01 -2.83275430e-02 8.26778721e+01] [ 2.96599873e-02 -8.10551354e-04 9.99559717e-01 -1.64958772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65719347 meters 0.06798617440287837 Centerline is valid? [True, True] Translation: X:141.92, Y:82.70, Z:-1.65 [[ 2.64173923e-01 -9.64439966e-01 -8.22742453e-03 1.41918873e+02] [ 9.64078023e-01 2.64300309e-01 -2.64369429e-02 8.26997201e+01] [ 2.76713552e-02 -9.47928277e-04 9.99616625e-01 -1.64728776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68719347 meters 0.07294053188649754 Centerline is valid? [True, True] Translation: X:141.94, Y:82.72, Z:-1.64 [[ 2.54961017e-01 -9.66923396e-01 -7.35024196e-03 1.41941120e+02] [ 9.66634948e-01 2.55064669e-01 -2.36409150e-02 8.27194672e+01] [ 2.47337408e-02 -1.07748903e-03 9.99693494e-01 -1.64235857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71719346999998 meters 0.07482517008439947 Centerline is valid? [True, True] Translation: X:141.95, Y:82.74, Z:-1.64 [[ 2.51795943e-01 -9.67754048e-01 -7.13483867e-03 1.41951899e+02] [ 9.67481846e-01 2.51894532e-01 -2.29787547e-02 8.27440973e+01] [ 2.40350097e-02 -1.11686967e-03 9.99710494e-01 -1.64210703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74719346999998 meters 0.07613660917636898 Centerline is valid? [True, True] Translation: X:141.96, Y:82.77, Z:-1.64 [[ 2.49972642e-01 -9.68227116e-01 -7.06612456e-03 1.41960087e+02] [ 9.67959648e-01 2.50069876e-01 -2.27854567e-02 8.27694648e+01] [ 2.38285219e-02 -1.14398263e-03 9.99715406e-01 -1.64271725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77719347 meters 0.07668294329419985 Centerline is valid? [True, True] Translation: X:141.97, Y:82.79, Z:-1.64 [[ 2.49399353e-01 -9.68377786e-01 -6.66534223e-03 1.41965071e+02] [ 9.68139168e-01 2.49486046e-01 -2.15235990e-02 8.27940009e+01] [ 2.25058850e-02 -1.08500721e-03 9.99746122e-01 -1.64206237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80719347 meters 0.07678593915874975 Centerline is valid? [True, True] Translation: X:141.97, Y:82.82, Z:-1.64 [[ 2.49416606e-01 -9.68376923e-01 -6.12299927e-03 1.41970868e+02] [ 9.68175036e-01 2.49489787e-01 -1.97976137e-02 8.28192144e+01] [ 2.06991781e-02 -9.90281415e-04 9.99785259e-01 -1.64030376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83719347 meters 0.07635451391903873 Centerline is valid? [True, True] Translation: X:141.97, Y:82.85, Z:-1.64 [[ 2.49861984e-01 -9.68265116e-01 -5.62628392e-03 1.41974849e+02] [ 9.68094179e-01 2.49923717e-01 -1.82152930e-02 8.28456288e+01] [ 1.90433745e-02 -8.95463476e-04 9.99818258e-01 -1.63853091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86719347 meters 0.06620570243780803 Centerline is valid? [True, True] Translation: X:141.96, Y:82.88, Z:-1.63 [[ 2.50269031e-01 -9.68161403e-01 -5.37683356e-03 1.41960089e+02] [ 9.68004892e-01 2.50325363e-01 -1.74281658e-02 8.28800508e+01] [ 1.82192353e-02 -8.43071013e-04 9.99833661e-01 -1.62763280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89719347 meters 0.06596557066814959 Centerline is valid? [True, True] Translation: X:141.96, Y:82.91, Z:-1.63 [[ 2.50089576e-01 -9.68209678e-01 -5.02236132e-03 1.41956388e+02] [ 9.68072724e-01 2.50138770e-01 -1.63032804e-02 8.29101171e+01] [ 1.70412812e-02 -7.84730508e-04 9.99854479e-01 -1.62910280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92719347 meters 0.06779805880558218 Centerline is valid? [True, True] Translation: X:141.96, Y:82.94, Z:-1.63 [[ 2.48589548e-01 -9.68595704e-01 -5.05954405e-03 1.41963774e+02] [ 9.68456415e-01 2.48639707e-01 -1.64459237e-02 8.29363933e+01] [ 1.71874546e-02 -8.11663141e-04 9.99851955e-01 -1.63122976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95719347 meters 0.06740739142210671 Centerline is valid? [True, True] Translation: X:141.97, Y:82.96, Z:-1.63 [[ 2.47103936e-01 -9.68975642e-01 -5.08433448e-03 1.41967615e+02] [ 9.68834716e-01 2.47154819e-01 -1.65465306e-02 8.29641044e+01] [ 1.72898028e-02 -8.37166936e-04 9.99850170e-01 -1.63099767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98719347 meters 0.06858035975926279 Centerline is valid? [True, True] Translation: X:141.97, Y:82.99, Z:-1.63 [[ 2.42645144e-01 -9.70102943e-01 -4.85933086e-03 1.41971173e+02] [ 9.69974050e-01 2.42692236e-01 -1.58373317e-02 8.29916592e+01] [ 1.65431640e-02 -8.70573189e-04 9.99862774e-01 -1.63053059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01719347 meters 0.07173065944797767 Centerline is valid? [True, True] Translation: X:141.98, Y:83.02, Z:-1.63 [[ 2.39572482e-01 -9.70866977e-01 -4.72648194e-03 1.41980458e+02] [ 9.70744840e-01 2.39617439e-01 -1.54252373e-02 8.30168690e+01] [ 1.61084010e-02 -8.92745564e-04 9.99869853e-01 -1.63262353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04719347 meters 0.07207468642202956 Centerline is valid? [True, True] Translation: X:141.98, Y:83.04, Z:-1.63 [[ 2.37256916e-01 -9.71435747e-01 -4.66308264e-03 1.41984897e+02] [ 9.71316809e-01 2.37300967e-01 -1.52284910e-02 8.30444750e+01] [ 1.59000545e-02 -9.16265745e-04 9.99873166e-01 -1.63275141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07719347 meters 0.07391957403969458 Centerline is valid? [True, True] Translation: X:141.99, Y:83.07, Z:-1.64 [[ 2.33324023e-01 -9.72383080e-01 -5.57191209e-03 1.41985454e+02] [ 9.72213010e-01 2.33387635e-01 -1.82229453e-02 8.30733320e+01] [ 1.90200991e-02 -1.16523452e-03 9.99818423e-01 -1.63551613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10719347 meters 0.07548953243927004 Centerline is valid? [True, True] Translation: X:141.99, Y:83.10, Z:-1.64 [[ 2.32182078e-01 -9.72655667e-01 -5.69521200e-03 1.41990751e+02] [ 9.72477612e-01 2.32248773e-01 -1.86494222e-02 8.30997998e+01] [ 1.94621722e-02 -1.20840456e-03 9.99809864e-01 -1.63732496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13719347 meters 0.076805316312015 Centerline is valid? [True, True] Translation: X:142.00, Y:83.13, Z:-1.64 [[ 2.31157059e-01 -9.72900459e-01 -5.57770335e-03 1.41996174e+02] [ 9.72729500e-01 2.31221226e-01 -1.82774107e-02 8.31260173e+01] [ 1.90717847e-02 -1.20064409e-03 9.99817396e-01 -1.63771135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16719347 meters 0.07506285308673354 Centerline is valid? [True, True] Translation: X:142.00, Y:83.16, Z:-1.64 [[ 2.30671544e-01 -9.73018591e-01 -5.04587366e-03 1.41996953e+02] [ 9.72878305e-01 2.30724153e-01 -1.65580337e-02 8.31552399e+01] [ 1.72754796e-02 -1.08955381e-03 9.99850174e-01 -1.63553173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19719347 meters 0.0725042904096845 Centerline is valid? [True, True] Translation: X:142.00, Y:83.19, Z:-1.63 [[ 2.31267489e-01 -9.72877703e-01 -4.93180975e-03 1.41995439e+02] [ 9.72743304e-01 2.31317687e-01 -1.62047214e-02 8.31852675e+01] [ 1.69060269e-02 -1.04975968e-03 9.99856532e-01 -1.63391786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22719347 meters 0.0729853799361343 Centerline is valid? [True, True] Translation: X:141.99, Y:83.22, Z:-1.64 [[ 2.35518268e-01 -9.71855568e-01 -5.28199485e-03 1.41988364e+02] [ 9.71700704e-01 2.35575199e-01 -1.73800957e-02 8.32152331e+01] [ 1.81352497e-02 -1.03918808e-03 9.99835003e-01 -1.63607630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25719347 meters 0.06869278781523527 Centerline is valid? [True, True] Translation: X:141.98, Y:83.25, Z:-1.63 [[ 2.38964055e-01 -9.71011434e-01 -5.74244245e-03 1.41979327e+02] [ 9.70827655e-01 2.39030720e-01 -1.89203508e-02 8.32466534e+01] [ 1.97444971e-02 -1.05363819e-03 9.99804503e-01 -1.63439445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28719347 meters 0.06857772670758656 Centerline is valid? [True, True] Translation: X:141.98, Y:83.27, Z:-1.64 [[ 2.43551491e-01 -9.69870090e-01 -5.88899216e-03 1.41977754e+02] [ 9.69675936e-01 2.43620713e-01 -1.94300374e-02 8.32748072e+01] [ 2.02792926e-02 -9.78199412e-04 9.99793875e-01 -1.63613111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31719347 meters 0.06492720269235494 Centerline is valid? [True, True] Translation: X:141.96, Y:83.31, Z:-1.64 [[ 2.54789606e-01 -9.66978087e-01 -5.96963278e-03 1.41962367e+02] [ 9.66777464e-01 2.54858429e-01 -1.97108228e-02 8.33075065e+01] [ 2.05813450e-02 -7.49193652e-04 9.99787901e-01 -1.63786319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34719347 meters 0.06250470351781105 Centerline is valid? [True, True] Translation: X:141.96, Y:83.34, Z:-1.64 [[ 2.60322136e-01 -9.65500982e-01 -6.34341497e-03 1.41957464e+02] [ 9.65273336e-01 2.60398568e-01 -2.09755309e-02 8.33376447e+01] [ 2.19037119e-02 -6.62734320e-04 9.99759865e-01 -1.63800415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37719347 meters 0.061446374536903936 Centerline is valid? [True, True] Translation: X:141.96, Y:83.37, Z:-1.64 [[ 2.64381675e-01 -9.64396881e-01 -6.40198170e-03 1.41956481e+02] [ 9.64164126e-01 2.64458563e-01 -2.11945139e-02 8.33672643e+01] [ 2.21329820e-02 -5.69120014e-04 9.99754874e-01 -1.63954728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40719347 meters 0.06130868267560986 Centerline is valid? [True, True] Translation: X:141.95, Y:83.40, Z:-1.64 [[ 2.66769609e-01 -9.63740765e-01 -6.14117295e-03 1.41953017e+02] [ 9.63525930e-01 2.66839841e-01 -2.03539080e-02 8.33962352e+01] [ 2.12546005e-02 -4.87375295e-04 9.99773977e-01 -1.64067868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43719347 meters 0.05999653388332538 Centerline is valid? [True, True] Translation: X:141.95, Y:83.43, Z:-1.64 [[ 2.66375411e-01 -9.63850620e-01 -6.01022711e-03 1.41952918e+02] [ 9.63644328e-01 2.66442777e-01 -1.99463066e-02 8.34259314e+01] [ 2.08266416e-02 -4.78515638e-04 9.99782987e-01 -1.63558834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46719346999998 meters 0.059600639468021986 Centerline is valid? [True, True] Translation: X:141.96, Y:83.45, Z:-1.63 [[ 2.67013040e-01 -9.63672660e-01 -6.24824925e-03 1.41956533e+02] [ 9.63449075e-01 2.67085713e-01 -2.07629746e-02 8.34540792e+01] [ 2.16775291e-02 -4.75884969e-04 9.99764902e-01 -1.63424091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49719346999998 meters 0.05949562302759651 Centerline is valid? [True, True] Translation: X:141.96, Y:83.48, Z:-1.64 [[ 2.68565110e-01 -9.63240068e-01 -6.43069613e-03 1.41961759e+02] [ 9.63002467e-01 2.68641719e-01 -2.13980309e-02 8.34802574e+01] [ 2.23389940e-02 -4.46011695e-04 9.99750354e-01 -1.63576637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52719347 meters 0.05951321290785457 Centerline is valid? [True, True] Translation: X:141.97, Y:83.51, Z:-1.64 [[ 2.70477300e-01 -9.62703735e-01 -6.59917541e-03 1.41967545e+02] [ 9.62452965e-01 2.70557485e-01 -2.19758498e-02 8.35061729e+01] [ 2.29416889e-02 -4.07427441e-04 9.99736722e-01 -1.63789462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55719347 meters 0.05884136086960103 Centerline is valid? [True, True] Translation: X:141.97, Y:83.53, Z:-1.64 [[ 2.74593206e-01 -9.61535040e-01 -6.99561749e-03 1.41969175e+02] [ 9.61252093e-01 2.74682117e-01 -2.33269995e-02 8.35346698e+01] [ 2.43512984e-02 -3.19116377e-04 9.99703412e-01 -1.63910948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58719347 meters 0.05888709085640622 Centerline is valid? [True, True] Translation: X:141.98, Y:83.56, Z:-1.64 [[ 2.75994430e-01 -9.61135636e-01 -6.73527098e-03 1.41975240e+02] [ 9.60872915e-01 2.76076469e-01 -2.24727440e-02 8.35620796e+01] [ 2.34588049e-02 -2.69387305e-04 9.99724768e-01 -1.64051934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61719347 meters 0.05861052878669954 Centerline is valid? [True, True] Translation: X:141.98, Y:83.59, Z:-1.64 [[ 2.75884195e-01 -9.61168754e-01 -6.52208974e-03 1.41981662e+02] [ 9.60921658e-01 2.75961161e-01 -2.17945996e-02 8.35898137e+01] [ 2.27481316e-02 -2.54431724e-04 9.99741195e-01 -1.63853617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64719347 meters 0.05915425786309457 Centerline is valid? [True, True] Translation: X:141.99, Y:83.61, Z:-1.64 [[ 2.71622892e-01 -9.62385790e-01 -5.88183609e-03 1.41993681e+02] [ 9.62184527e-01 2.71686388e-01 -1.96835440e-02 8.36139499e+01] [ 2.05411779e-02 -3.12910522e-04 9.99788959e-01 -1.63833441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67719347 meters 0.06031913192785226 Centerline is valid? [True, True] Translation: X:142.01, Y:83.64, Z:-1.64 [[ 2.66325270e-01 -9.63866077e-01 -5.74764237e-03 1.42008327e+02] [ 9.63673766e-01 2.66386968e-01 -1.92576374e-02 8.36387212e+01] [ 2.00928804e-02 -4.10056697e-04 9.99798034e-01 -1.63949634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70719347 meters 0.06031913192785226 Centerline is valid? [True, True] Translation: X:142.02, Y:83.67, Z:-1.64 [[ 2.65988235e-01 -9.63959181e-01 -5.74084101e-03 1.42015961e+02] [ 9.63766847e-01 2.66049864e-01 -1.92596665e-02 8.36651093e+01] [ 2.00928823e-02 -4.09987535e-04 9.99798034e-01 -1.63972323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73719347 meters 0.06254853787563379 Centerline is valid? [True, True] Translation: X:142.03, Y:83.69, Z:-1.64 [[ 2.59163277e-01 -9.65814863e-01 -6.00380810e-03 1.42034160e+02] [ 9.65604400e-01 2.59232184e-01 -2.01697270e-02 8.36878234e+01] [ 2.10366024e-02 -5.70050981e-04 9.99778544e-01 -1.64351865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76719347 meters 0.06575253219279205 Centerline is valid? [True, True] Translation: X:142.05, Y:83.71, Z:-1.64 [[ 2.47425426e-01 -9.68884612e-01 -6.57780942e-03 1.42054169e+02] [ 9.68632370e-01 2.47511220e-01 -2.21252914e-02 8.37110471e+01] [ 2.30649360e-02 -8.97119465e-04 9.99733566e-01 -1.64375730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79719347 meters 0.06857973720681157 Centerline is valid? [True, True] Translation: X:142.07, Y:83.73, Z:-1.65 [[ 2.42834631e-01 -9.70045800e-01 -6.51824893e-03 1.42066472e+02] [ 9.69797860e-01 2.42920079e-01 -2.19532795e-02 8.37346468e+01] [ 2.28791001e-02 -9.90367343e-04 9.99737749e-01 -1.64588396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82719347 meters 0.0698811983225744 Centerline is valid? [True, True] Translation: X:142.07, Y:83.76, Z:-1.65 [[ 2.40165819e-01 -9.70704684e-01 -7.26609924e-03 1.42073871e+02] [ 9.70396084e-01 2.40272879e-01 -2.45027131e-02 8.37612616e+01] [ 2.55307449e-02 -1.16628010e-03 9.99673357e-01 -1.64762650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85719347 meters 0.06974733678878756 Centerline is valid? [True, True] Translation: X:142.08, Y:83.79, Z:-1.65 [[ 2.39240017e-01 -9.70931134e-01 -7.54635459e-03 1.42078383e+02] [ 9.70597575e-01 2.39355849e-01 -2.54779333e-02 8.37890112e+01] [ 2.65435828e-02 -1.22913228e-03 9.99646901e-01 -1.64752135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88719347 meters 0.06770300999915044 Centerline is valid? [True, True] Translation: X:142.08, Y:83.82, Z:-1.65 [[ 2.42201522e-01 -9.70189268e-01 -8.43842096e-03 1.42077992e+02] [ 9.69770685e-01 2.42345125e-01 -2.85247127e-02 8.38184979e+01] [ 2.97193804e-02 -1.27460444e-03 9.99557469e-01 -1.64765603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91719347 meters 0.06599816994600016 Centerline is valid? [True, True] Translation: X:142.08, Y:83.85, Z:-1.65 [[ 2.44968491e-01 -9.69495600e-01 -8.28973672e-03 1.42080537e+02] [ 9.69090217e-01 2.45105967e-01 -2.80573745e-02 8.38469729e+01] [ 2.92333651e-02 -1.16033006e-03 9.99571940e-01 -1.64611886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94719347 meters 0.06674166748583543 Centerline is valid? [True, True] Translation: X:142.09, Y:83.87, Z:-1.65 [[ 2.47429895e-01 -9.68873660e-01 -7.89160812e-03 1.42088331e+02] [ 9.68505208e-01 2.47553580e-01 -2.67373946e-02 8.38727476e+01] [ 2.78587532e-02 -1.02743283e-03 9.99611342e-01 -1.64860169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97719347 meters 0.06359426285255658 Centerline is valid? [True, True] Translation: X:142.08, Y:83.90, Z:-1.64 [[ 2.52290743e-01 -9.67618806e-01 -7.95157158e-03 1.42081859e+02] [ 9.67243026e-01 2.52414469e-01 -2.69789488e-02 8.39035904e+01] [ 2.81124299e-02 -8.84563123e-04 9.99604376e-01 -1.64380344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00719347 meters 0.06358079986439802 Centerline is valid? [True, True] Translation: X:142.08, Y:83.93, Z:-1.65 [[ 2.53982340e-01 -9.67173891e-01 -8.22408054e-03 1.42084921e+02] [ 9.66770613e-01 2.54114019e-01 -2.79400773e-02 8.39304021e+01] [ 2.91127674e-02 -8.54513169e-04 9.99575768e-01 -1.64565251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03719347 meters 0.06271232022858378 Centerline is valid? [True, True] Translation: X:142.09, Y:83.96, Z:-1.64 [[ 2.56428822e-01 -9.66528946e-01 -8.12747121e-03 1.42087790e+02] [ 9.66133878e-01 2.56556452e-01 -2.76426594e-02 8.39593560e+01] [ 2.88025856e-02 -7.63850705e-04 9.99584828e-01 -1.64409390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06719347 meters 0.06242637142982366 Centerline is valid? [True, True] Translation: X:142.09, Y:83.99, Z:-1.65 [[ 2.58595017e-01 -9.65952412e-01 -8.03464870e-03 1.42093511e+02] [ 9.65565356e-01 2.58718899e-01 -2.73509521e-02 8.39859521e+01] [ 2.84984336e-02 -6.85158525e-04 9.99593602e-01 -1.64547563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09719347 meters 0.06175747116333483 Centerline is valid? [True, True] Translation: X:142.10, Y:84.01, Z:-1.65 [[ 2.61965792e-01 -9.65044581e-01 -7.92969127e-03 1.42100087e+02] [ 9.64666113e-01 2.62085164e-01 -2.70306811e-02 8.40124678e+01] [ 2.81640668e-02 -5.68390663e-04 9.99603152e-01 -1.64623430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12719347 meters 0.06080696699593386 Centerline is valid? [True, True] Translation: X:142.10, Y:84.04, Z:-1.64 [[ 2.63426768e-01 -9.64649727e-01 -7.56593071e-03 1.42104678e+02] [ 9.64304123e-01 2.63534935e-01 -2.58243300e-02 8.40406033e+01] [ 2.69053199e-02 -4.93038405e-04 9.99637865e-01 -1.64311441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15719347 meters 0.0603610053205134 Centerline is valid? [True, True] Translation: X:142.11, Y:84.07, Z:-1.64 [[ 2.65424528e-01 -9.64103353e-01 -7.38544050e-03 1.42110618e+02] [ 9.63772963e-01 2.65526929e-01 -2.52413636e-02 8.40683164e+01] [ 2.62963166e-02 -4.18210863e-04 9.99654105e-01 -1.64356594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18719347 meters 0.060125728844144556 Centerline is valid? [True, True] Translation: X:142.12, Y:84.09, Z:-1.64 [[ 2.69036546e-01 -9.63102338e-01 -7.29550335e-03 1.42116165e+02] [ 9.62779094e-01 2.69135265e-01 -2.49524767e-02 8.40949703e+01] [ 2.59952658e-02 -3.10829973e-04 9.99662018e-01 -1.64484171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21719346999998 meters 0.060069721411520074 Centerline is valid? [True, True] Translation: X:142.12, Y:84.12, Z:-1.64 [[ 2.70209992e-01 -9.62775466e-01 -7.06845537e-03 1.42123780e+02] [ 9.62471061e-01 2.70302302e-01 -2.42099548e-02 8.41217307e+01] [ 2.52193703e-02 -2.61412044e-04 9.99681907e-01 -1.64459974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24719346999998 meters 0.06009089929324631 Centerline is valid? [True, True] Translation: X:142.13, Y:84.15, Z:-1.64 [[ 2.70928855e-01 -9.62573396e-01 -7.07200155e-03 1.42132275e+02] [ 9.62267806e-01 2.71021038e-01 -2.42542255e-02 8.41485491e+01] [ 2.52631334e-02 -2.33989863e-04 9.99680809e-01 -1.64490757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27719347 meters 0.06006619533518068 Centerline is valid? [True, True] Translation: X:142.14, Y:84.17, Z:-1.65 [[ 2.70992215e-01 -9.62557036e-01 -6.86818669e-03 1.42141014e+02] [ 9.62268008e-01 2.71079149e-01 -2.35876032e-02 8.41737099e+01] [ 2.45662356e-02 -2.16979496e-04 9.99698181e-01 -1.64573195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30719347 meters 0.0601957103909818 Centerline is valid? [True, True] Translation: X:142.15, Y:84.20, Z:-1.64 [[ 2.68968252e-01 -9.63126141e-01 -6.64202112e-03 1.42154993e+02] [ 9.62855657e-01 2.69050128e-01 -2.28256985e-02 8.41992956e+01] [ 2.37710635e-02 -2.55919389e-04 9.99717396e-01 -1.64437809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33719347 meters 0.060468036549366916 Centerline is valid? [True, True] Translation: X:142.17, Y:84.22, Z:-1.64 [[ 2.67024372e-01 -9.63666608e-01 -6.68226015e-03 1.42168011e+02] [ 9.63392194e-01 2.67107806e-01 -2.29978268e-02 8.42242388e+01] [ 2.39471216e-02 -2.96656989e-04 9.99713183e-01 -1.64490486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36719347 meters 0.06107031417185597 Centerline is valid? [True, True] Translation: X:142.18, Y:84.25, Z:-1.65 [[ 2.65022656e-01 -9.64219877e-01 -6.55897142e-03 1.42182229e+02] [ 9.63954915e-01 2.65103599e-01 -2.26053947e-02 8.42476689e+01] [ 2.35353778e-02 -3.31610988e-04 9.99722950e-01 -1.64791775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39719347 meters 0.061285465162126296 Centerline is valid? [True, True] Translation: X:142.19, Y:84.27, Z:-1.65 [[ 2.62838754e-01 -9.64813951e-01 -7.05902864e-03 1.42194678e+02] [ 9.64506508e-01 2.62933215e-01 -2.43581532e-02 8.42731037e+01] [ 2.53571391e-02 -4.06212417e-04 9.99678374e-01 -1.64821250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42719347 meters 0.061990473572784005 Centerline is valid? [True, True] Translation: X:142.21, Y:84.30, Z:-1.65 [[ 2.59391308e-01 -9.65743444e-01 -7.46663071e-03 1.42211055e+02] [ 9.65398971e-01 2.59498235e-01 -2.57971426e-02 8.42973195e+01] [ 2.68509989e-02 -5.16723037e-04 9.99639313e-01 -1.64979393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45719347 meters 0.06252198259189626 Centerline is valid? [True, True] Translation: X:142.22, Y:84.32, Z:-1.65 [[ 2.58000552e-01 -9.66116076e-01 -7.44603508e-03 1.42222348e+02] [ 9.65772712e-01 2.58107403e-01 -2.57611695e-02 8.43220655e+01] [ 2.68101568e-02 -5.44781543e-04 9.99640395e-01 -1.65119949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48719347 meters 0.06257070188654686 Centerline is valid? [True, True] Translation: X:142.23, Y:84.35, Z:-1.65 [[ 2.57950886e-01 -9.66130860e-01 -7.24586713e-03 1.42233176e+02] [ 9.65805040e-01 2.58052100e-01 -2.50945751e-02 8.43464832e+01] [ 2.61144547e-02 -5.24927112e-04 9.99658822e-01 -1.65244202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51719347 meters 0.06255387900243287 Centerline is valid? [True, True] Translation: X:142.24, Y:84.37, Z:-1.65 [[ 2.57888244e-01 -9.66146415e-01 -7.39984960e-03 1.42243622e+02] [ 9.65805499e-01 2.57993849e-01 -2.56692920e-02 8.43711889e+01] [ 2.67094101e-02 -5.27006800e-04 9.99643101e-01 -1.65325514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54719347 meters 0.06256637396161853 Centerline is valid? [True, True] Translation: X:142.25, Y:84.40, Z:-1.66 [[ 2.57977366e-01 -9.66120943e-01 -7.61590247e-03 1.42254503e+02] [ 9.65758815e-01 2.58089213e-01 -2.64550275e-02 8.43966858e+01] [ 2.75243384e-02 -5.30326655e-04 9.99620993e-01 -1.65500750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57719347 meters 0.0631947561911394 Centerline is valid? [True, True] Translation: X:142.27, Y:84.42, Z:-1.66 [[ 2.57995764e-01 -9.66109716e-01 -8.37872288e-03 1.42267746e+02] [ 9.65670281e-01 2.58131147e-01 -2.91413758e-02 8.44211256e+01] [ 3.03165756e-02 -5.72732183e-04 9.99540183e-01 -1.65936387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60719347 meters 0.06307405184845884 Centerline is valid? [True, True] Translation: X:142.28, Y:84.45, Z:-1.66 [[ 2.57003429e-01 -9.66369721e-01 -8.87693302e-03 1.42278057e+02] [ 9.65875381e-01 2.57155918e-01 -3.09124942e-02 8.44470769e+01] [ 3.21556543e-02 -6.29394055e-04 9.99482675e-01 -1.65916239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63719347 meters 0.06359866457348017 Centerline is valid? [True, True] Translation: X:142.29, Y:84.47, Z:-1.66 [[ 2.54659404e-01 -9.66989599e-01 -8.92764583e-03 1.42290487e+02] [ 9.66488668e-01 2.54814880e-01 -3.11292588e-02 8.44726044e+01] [ 3.23765665e-02 -7.01110037e-04 9.99475496e-01 -1.65870059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66719347 meters 0.06482288160609183 Centerline is valid? [True, True] Translation: X:142.31, Y:84.50, Z:-1.66 [[ 2.47647840e-01 -9.68814274e-01 -8.33362003e-03 1.42311286e+02] [ 9.68377614e-01 2.47786511e-01 -2.90971011e-02 8.44960025e+01] [ 3.02546455e-02 -8.64256827e-04 9.99541850e-01 -1.65539815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69719347 meters 0.06675662237591873 Centerline is valid? [True, True] Translation: X:142.33, Y:84.52, Z:-1.66 [[ 2.42703209e-01 -9.70067554e-01 -8.00575282e-03 1.42327334e+02] [ 9.69664094e-01 2.42833278e-01 -2.79918461e-02 8.45195534e+01] [ 2.90980448e-02 -9.69180186e-04 9.99576092e-01 -1.65637166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72719347 meters 0.06917561876522643 Centerline is valid? [True, True] Translation: X:142.34, Y:84.54, Z:-1.66 [[ 2.36891606e-01 -9.71506451e-01 -7.58838190e-03 1.42343076e+02] [ 9.71143787e-01 2.37010670e-01 -2.65647774e-02 8.45425176e+01] [ 2.76063801e-02 -1.07643717e-03 9.99618292e-01 -1.65546975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75719347 meters 0.06991665769871955 Centerline is valid? [True, True] Translation: X:142.36, Y:84.57, Z:-1.65 [[ 2.31035888e-01 -9.72919509e-01 -7.07449150e-03 1.42355277e+02] [ 9.72604359e-01 2.31141297e-01 -2.47883365e-02 8.45675060e+01] [ 2.57522633e-02 -1.15368594e-03 9.99667690e-01 -1.65089003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78719347 meters 0.07421076388103195 Centerline is valid? [True, True] Translation: X:142.37, Y:84.59, Z:-1.65 [[ 2.25703691e-01 -9.74172733e-01 -6.73274771e-03 1.42374470e+02] [ 9.73886952e-01 2.25800769e-01 -2.36266401e-02 8.45896382e+01] [ 2.45366881e-02 -1.22431527e-03 9.99698180e-01 -1.65330630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81719347 meters 0.07841119040686687 Centerline is valid? [True, True] Translation: X:142.39, Y:84.61, Z:-1.65 [[ 2.18573415e-01 -9.75798358e-01 -6.57477097e-03 1.42392215e+02] [ 9.75525925e-01 2.18668015e-01 -2.30969647e-02 8.46112412e+01] [ 2.39756724e-02 -1.36547708e-03 9.99711610e-01 -1.65466106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84719347 meters 0.07557501452062858 Centerline is valid? [True, True] Translation: X:142.39, Y:84.64, Z:-1.65 [[ 2.17144027e-01 -9.76115384e-01 -6.87232355e-03 1.42392720e+02] [ 9.75817016e-01 2.17247869e-01 -2.41767438e-02 8.46397268e+01] [ 2.50922892e-02 -1.45629475e-03 9.99684078e-01 -1.65170784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87719347 meters 0.07461920295007125 Centerline is valid? [True, True] Translation: X:142.40, Y:84.67, Z:-1.65 [[ 2.16929619e-01 -9.76165178e-01 -6.56401047e-03 1.42396053e+02] [ 9.75892273e-01 2.17024455e-01 -2.31226399e-02 8.46678262e+01] [ 2.39960667e-02 -1.38978163e-03 9.99711087e-01 -1.65051322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90719347 meters 0.07545466454592117 Centerline is valid? [True, True] Translation: X:142.40, Y:84.69, Z:-1.65 [[ 2.19152075e-01 -9.75670491e-01 -6.28181851e-03 1.42399786e+02] [ 9.75419695e-01 2.19238400e-01 -2.21572425e-02 8.46937723e+01] [ 2.29953835e-02 -1.27160383e-03 9.99734763e-01 -1.65247175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93719347 meters 0.07509340540016207 Centerline is valid? [True, True] Translation: X:142.40, Y:84.72, Z:-1.65 [[ 2.19747818e-01 -9.75536892e-01 -6.21847503e-03 1.42404122e+02] [ 9.75290449e-01 2.19832295e-01 -2.19613872e-02 8.47216181e+01] [ 2.27911651e-02 -1.23885239e-03 9.99739480e-01 -1.65228838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96719346999998 meters 0.07813837793199488 Centerline is valid? [True, True] Translation: X:142.41, Y:84.75, Z:-1.66 [[ 2.20982020e-01 -9.75256043e-01 -6.52668355e-03 1.42412488e+02] [ 9.74983772e-01 2.21074770e-01 -2.30779144e-02 8.47470515e+01] [ 2.39497606e-02 -1.26360641e-03 9.99712365e-01 -1.65758788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99719346999998 meters 0.07251939996433261 Centerline is valid? [True, True] Translation: X:142.40, Y:84.78, Z:-1.65 [[ 2.21718149e-01 -9.75086921e-01 -6.82339268e-03 1.42399173e+02] [ 9.74788332e-01 2.21819346e-01 -2.41637256e-02 8.47787066e+01] [ 2.50752933e-02 -1.29382705e-03 9.99684728e-01 -1.65259394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02719347 meters 0.07332675149232834 Centerline is valid? [True, True] Translation: X:142.41, Y:84.81, Z:-1.66 [[ 2.20891801e-01 -9.75271061e-01 -7.29171081e-03 1.42405136e+02] [ 9.74929332e-01 2.21007697e-01 -2.58533503e-02 8.48058503e+01] [ 2.68255486e-02 -1.39810964e-03 9.99639153e-01 -1.65560097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05719347 meters 0.07373042666065274 Centerline is valid? [True, True] Translation: X:142.41, Y:84.83, Z:-1.66 [[ 2.20157648e-01 -9.75434054e-01 -7.68215594e-03 1.42411135e+02] [ 9.75053779e-01 2.20286627e-01 -2.72750757e-02 8.48326742e+01] [ 2.82973139e-02 -1.48569868e-03 9.99598447e-01 -1.65749892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08719347 meters 0.07467406901446205 Centerline is valid? [True, True] Translation: X:142.42, Y:84.86, Z:-1.66 [[ 2.18674071e-01 -9.75764513e-01 -8.07869256e-03 1.42416754e+02] [ 9.75343116e-01 2.18817403e-01 -2.87184780e-02 8.48602689e+01] [ 2.97902303e-02 -1.59951067e-03 9.99554893e-01 -1.65949541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11719347 meters 0.07600346031896868 Centerline is valid? [True, True] Translation: X:142.42, Y:84.89, Z:-1.66 [[ 2.16417874e-01 -9.76268985e-01 -7.88498692e-03 1.42418650e+02] [ 9.75866749e-01 2.16555407e-01 -2.80685549e-02 8.48874326e+01] [ 2.91099962e-02 -1.62015956e-03 9.99574901e-01 -1.65970724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14719347 meters 0.07873798751560385 Centerline is valid? [True, True] Translation: X:142.43, Y:84.91, Z:-1.66 [[ 2.15824445e-01 -9.76402123e-01 -7.66178150e-03 1.42427804e+02] [ 9.76021230e-01 2.15954601e-01 -2.73160979e-02 8.49124200e+01] [ 2.83260929e-02 -1.58257973e-03 9.99597483e-01 -1.66280237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17719347 meters 0.07584067429827401 Centerline is valid? [True, True] Translation: X:142.43, Y:84.94, Z:-1.66 [[ 2.16638088e-01 -9.76221010e-01 -7.77676685e-03 1.42427625e+02] [ 9.75827543e-01 2.16771903e-01 -2.77587688e-02 8.49414446e+01] [ 2.87844779e-02 -1.57517670e-03 9.99584400e-01 -1.66075413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20719347 meters 0.07492444241574672 Centerline is valid? [True, True] Translation: X:142.43, Y:84.97, Z:-1.66 [[ 2.18577823e-01 -9.75787624e-01 -7.88977171e-03 1.42430401e+02] [ 9.75381314e-01 2.18714805e-01 -2.81979968e-02 8.49698121e+01] [ 2.92408662e-02 -1.53207914e-03 9.99571220e-01 -1.66178588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23719347 meters 0.07276360311806479 Centerline is valid? [True, True] Translation: X:142.42, Y:85.00, Z:-1.66 [[ 2.24531991e-01 -9.74432329e-01 -8.18667797e-03 1.42422781e+02] [ 9.73992656e-01 2.24676862e-01 -2.93020994e-02 8.49994320e+01] [ 3.03922701e-02 -1.39450549e-03 9.99537075e-01 -1.66364645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26719347 meters 0.07111998808428421 Centerline is valid? [True, True] Translation: X:142.42, Y:85.03, Z:-1.67 [[ 2.28309804e-01 -9.73549654e-01 -8.70079540e-03 1.42422098e+02] [ 9.73051777e-01 2.28471535e-01 -3.11608282e-02 8.50290603e+01] [ 3.23244976e-02 -1.35200186e-03 9.99476512e-01 -1.66536885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29719347 meters 0.07003495573258409 Centerline is valid? [True, True] Translation: X:142.42, Y:85.06, Z:-1.67 [[ 2.32537043e-01 -9.72542734e-01 -9.33563737e-03 1.42422248e+02] [ 9.71967282e-01 2.32720793e-01 -3.34758988e-02 8.50569718e+01] [ 3.47293391e-02 -1.28954757e-03 9.99395923e-01 -1.66987292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32719347 meters 0.06884729880311698 Centerline is valid? [True, True] Translation: X:142.42, Y:85.09, Z:-1.67 [[ 2.36414109e-01 -9.71605659e-01 -9.52955233e-03 1.42421504e+02] [ 9.71003573e-01 2.36603234e-01 -3.42194582e-02 8.50852554e+01] [ 3.55025421e-02 -1.16326663e-03 9.99368909e-01 -1.67116797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35719347 meters 0.06513794132993207 Centerline is valid? [True, True] Translation: X:142.41, Y:85.12, Z:-1.66 [[ 2.40974615e-01 -9.70491646e-01 -8.78638472e-03 1.42412660e+02] [ 9.69977615e-01 2.41133033e-01 -3.15956593e-02 8.51163469e+01] [ 3.27820110e-02 -9.08844646e-04 9.99462112e-01 -1.66326207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38719347 meters 0.0670823283010687 Centerline is valid? [True, True] Translation: X:142.42, Y:85.14, Z:-1.67 [[ 2.40841103e-01 -9.70530999e-01 -8.07118240e-03 1.42422602e+02] [ 9.70096226e-01 2.40974874e-01 -2.90589506e-02 8.51410526e+01] [ 3.01475646e-02 -8.31233857e-04 9.99545113e-01 -1.66943529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41719347 meters 0.06466200259678886 Centerline is valid? [True, True] Translation: X:142.42, Y:85.17, Z:-1.66 [[ 2.40207629e-01 -9.70690964e-01 -7.70373811e-03 1.42423738e+02] [ 9.70293862e-01 2.40329789e-01 -2.77743337e-02 8.51694225e+01] [ 2.88117325e-02 -8.03282955e-04 9.99584533e-01 -1.66080379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44719347 meters 0.06455075618273798 Centerline is valid? [True, True] Translation: X:142.43, Y:85.20, Z:-1.66 [[ 2.39127031e-01 -9.70960241e-01 -7.38055777e-03 1.42430304e+02] [ 9.70594952e-01 2.39239591e-01 -2.66431380e-02 8.51971371e+01] [ 2.76351493e-02 -7.92437614e-04 9.99617762e-01 -1.65927309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47719347 meters 0.0658063836555146 Centerline is valid? [True, True] Translation: X:142.44, Y:85.22, Z:-1.66 [[ 2.37417793e-01 -9.71380036e-01 -7.32233647e-03 1.42439606e+02] [ 9.71019918e-01 2.37529240e-01 -2.64608829e-02 8.52219763e+01] [ 2.74428424e-02 -8.27850154e-04 9.99623031e-01 -1.66259556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50719347 meters 0.06534834675996032 Centerline is valid? [True, True] Translation: X:142.44, Y:85.25, Z:-1.66 [[ 2.35378500e-01 -9.71876398e-01 -7.29579753e-03 1.42442892e+02] [ 9.71518090e-01 2.35489924e-01 -2.64025724e-02 8.52503599e+01] [ 2.73781237e-02 -8.73401404e-04 9.99624767e-01 -1.65915059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53719347 meters 0.06520008987805472 Centerline is valid? [True, True] Translation: X:142.45, Y:85.28, Z:-1.66 [[ 2.35401458e-01 -9.71875660e-01 -6.62231925e-03 1.42449523e+02] [ 9.71579695e-01 2.35493279e-01 -2.39960786e-02 8.52760366e+01] [ 2.48807164e-02 -7.85399040e-04 9.99690119e-01 -1.65828610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56719347 meters 0.06477629752742674 Centerline is valid? [True, True] Translation: X:142.46, Y:85.30, Z:-1.66 [[ 2.36041783e-01 -9.71724097e-01 -6.04620098e-03 1.42455505e+02] [ 9.71476636e-01 2.36118184e-01 -2.19396860e-02 8.53036179e+01] [ 2.27469396e-02 -6.95060372e-04 9.99741013e-01 -1.65645198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59719347 meters 0.06715058033387011 Centerline is valid? [True, True] Translation: X:142.47, Y:85.33, Z:-1.67 [[ 2.38415454e-01 -9.71145156e-01 -5.92941917e-03 1.42467104e+02] [ 9.70906390e-01 2.38488367e-01 -2.15425392e-02 8.53281632e+01] [ 2.23350300e-02 -6.20836708e-04 9.99750349e-01 -1.66515778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62719347 meters 0.06429341609518635 Centerline is valid? [True, True] Translation: X:142.46, Y:85.36, Z:-1.66 [[ 2.39828021e-01 -9.70793683e-01 -6.49197380e-03 1.42464921e+02] [ 9.70506485e-01 2.39915030e-01 -2.36207645e-02 8.53569487e+01] [ 2.44884111e-02 -6.35581468e-04 9.99699912e-01 -1.66073331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65719347 meters 0.06429341609518635 Centerline is valid? [True, True] Translation: X:142.47, Y:85.38, Z:-1.66 [[ 2.39471202e-01 -9.70881821e-01 -6.48329032e-03 1.42471691e+02] [ 9.70594592e-01 2.39558105e-01 -2.36231500e-02 8.53827086e+01] [ 2.44884116e-02 -6.35582414e-04 9.99699912e-01 -1.66095337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68719347 meters 0.0630294276365718 Centerline is valid? [True, True] Translation: X:142.47, Y:85.41, Z:-1.66 [[ 2.41279219e-01 -9.70431831e-01 -6.81183130e-03 1.42473132e+02] [ 9.70113727e-01 2.41374580e-01 -2.48529210e-02 8.54116523e+01] [ 2.57622686e-02 -6.11757687e-04 9.99667910e-01 -1.65913701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71719346999998 meters 0.06265004199033511 Centerline is valid? [True, True] Translation: X:142.48, Y:85.44, Z:-1.66 [[ 2.43126336e-01 -9.69969922e-01 -6.92344617e-03 1.42478060e+02] [ 9.69640231e-01 2.43224242e-01 -2.52940855e-02 8.54390995e+01] [ 2.62184521e-02 -5.63593616e-04 9.99656078e-01 -1.66033330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74719346999998 meters 0.06234034585337168 Centerline is valid? [True, True] Translation: X:142.48, Y:85.47, Z:-1.67 [[ 2.47644306e-01 -9.68821457e-01 -7.56847778e-03 1.42481468e+02] [ 9.68425876e-01 2.47759481e-01 -2.76868455e-02 8.54672870e+01] [ 2.86987721e-02 -4.73020073e-04 9.99587993e-01 -1.66533177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77719347 meters 0.06256841390281107 Centerline is valid? [True, True] Translation: X:142.49, Y:85.49, Z:-1.67 [[ 2.49258781e-01 -9.68402841e-01 -8.12390684e-03 1.42487227e+02] [ 9.67945523e-01 2.49390736e-01 -2.97611319e-02 8.54932833e+01] [ 3.08467918e-02 -4.45275811e-04 9.99524025e-01 -1.66904315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80719347 meters 0.06272817289185116 Centerline is valid? [True, True] Translation: X:142.49, Y:85.52, Z:-1.67 [[ 2.49215774e-01 -9.68408763e-01 -8.71583894e-03 1.42494279e+02] [ 9.67880891e-01 2.49367699e-01 -3.19739201e-02 8.55194147e+01] [ 3.31372731e-02 -4.67488729e-04 9.99450700e-01 -1.67245897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83719347 meters 0.06309412036194648 Centerline is valid? [True, True] Translation: X:142.50, Y:85.54, Z:-1.67 [[ 2.46629020e-01 -9.69072609e-01 -8.50910953e-03 1.42503987e+02] [ 9.68568358e-01 2.46775193e-01 -3.12624296e-02 8.55444149e+01] [ 3.23954014e-02 -5.31431882e-04 9.99474990e-01 -1.67221172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86719347 meters 0.06375069396012116 Centerline is valid? [True, True] Translation: X:142.52, Y:85.57, Z:-1.67 [[ 2.43103061e-01 -9.69964926e-01 -8.30324319e-03 1.42516373e+02] [ 9.69484063e-01 2.43244018e-01 -3.05450330e-02 8.55702997e+01] [ 3.16473249e-02 -6.24270926e-04 9.99498903e-01 -1.67235925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89719347 meters 0.0650682186355749 Centerline is valid? [True, True] Translation: X:142.53, Y:85.59, Z:-1.67 [[ 2.37261084e-01 -9.71410386e-01 -8.30908374e-03 1.42530396e+02] [ 9.70928335e-01 2.37405170e-01 -3.06097031e-02 8.55941746e+01] [ 3.17072029e-02 -8.05033500e-04 9.99496876e-01 -1.67299985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92719347 meters 0.06750964368798681 Centerline is valid? [True, True] Translation: X:142.55, Y:85.62, Z:-1.67 [[ 2.26759725e-01 -9.73923343e-01 -7.30403524e-03 1.42550221e+02] [ 9.73551089e-01 2.26875119e-01 -2.69436071e-02 8.56177872e+01] [ 2.78981117e-02 -1.00112652e-03 9.99610271e-01 -1.66892152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95719347 meters 0.07011076981704276 Centerline is valid? [True, True] Translation: X:142.56, Y:85.64, Z:-1.67 [[ 2.21073729e-01 -9.75231829e-01 -7.02035649e-03 1.42564980e+02] [ 9.74887571e-01 2.21182380e-01 -2.59341282e-02 8.56417246e+01] [ 2.68445664e-02 -1.11070386e-03 9.99639003e-01 -1.66901734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98719347 meters 0.07251559019897488 Centerline is valid? [True, True] Translation: X:142.58, Y:85.67, Z:-1.67 [[ 2.15706833e-01 -9.76434354e-01 -6.82011614e-03 1.42578591e+02] [ 9.76109474e-01 2.15811187e-01 -2.52155992e-02 8.56664494e+01] [ 2.60932347e-02 -1.21800293e-03 9.99658772e-01 -1.66816002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01719347 meters 0.07472053034882496 Centerline is valid? [True, True] Translation: X:142.59, Y:85.69, Z:-1.67 [[ 2.11063597e-01 -9.77450185e-01 -6.57983574e-03 1.42590564e+02] [ 9.77147355e-01 2.11162210e-01 -2.43632545e-02 8.56917774e+01] [ 2.52032802e-02 -1.28727298e-03 9.99681518e-01 -1.66711870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04719347 meters 0.07713364336903582 Centerline is valid? [True, True] Translation: X:142.60, Y:85.72, Z:-1.67 [[ 2.07106158e-01 -9.78296367e-01 -6.57705600e-03 1.42601472e+02] [ 9.77993280e-01 2.07205962e-01 -2.43892218e-02 8.57158155e+01] [ 2.52226923e-02 -1.38115854e-03 9.99680903e-01 -1.66672704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07719347 meters 0.08025795053920332 Centerline is valid? [True, True] Translation: X:142.61, Y:85.74, Z:-1.66 [[ 2.01697599e-01 -9.79430261e-01 -5.86874604e-03 1.42611695e+02] [ 9.79188921e-01 2.01778427e-01 -2.17835736e-02 8.57402399e+01] [ 2.25196775e-02 -1.35291661e-03 9.99745484e-01 -1.66419041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10719347 meters 0.07738580478925497 Centerline is valid? [True, True] Translation: X:142.61, Y:85.77, Z:-1.66 [[ 2.00054305e-01 -9.79767832e-01 -5.76810733e-03 1.42611654e+02] [ 9.79534178e-01 2.00132815e-01 -2.14394859e-02 8.57692163e+01] [ 2.21601061e-02 -1.36099683e-03 9.99753508e-01 -1.66014837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13719347 meters 0.08156552800343182 Centerline is valid? [True, True] Translation: X:142.62, Y:85.79, Z:-1.66 [[ 1.99328138e-01 -9.79915886e-01 -5.75755198e-03 1.42622901e+02] [ 9.79682493e-01 1.99406574e-01 -2.14296825e-02 8.57943443e+01] [ 2.21473800e-02 -1.36903417e-03 9.99753779e-01 -1.66367513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16719347 meters 0.08284542126887183 Centerline is valid? [True, True] Translation: X:142.63, Y:85.82, Z:-1.66 [[ 1.98455332e-01 -9.80093526e-01 -5.67111178e-03 1.42628458e+02] [ 9.79866725e-01 1.98531659e-01 -2.11277236e-02 8.58196168e+01] [ 2.18330404e-02 -1.36402433e-03 9.99760700e-01 -1.66439900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19719347 meters 0.07996055960761679 Centerline is valid? [True, True] Translation: X:142.62, Y:85.85, Z:-1.66 [[ 1.96556251e-01 -9.80478915e-01 -5.17079026e-03 1.42624996e+02] [ 9.80289969e-01 1.96620104e-01 -1.92902093e-02 8.58498849e+01] [ 1.99303248e-02 -1.27726261e-03 9.99800555e-01 -1.66018041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22719347 meters 0.08026887718852972 Centerline is valid? [True, True] Translation: X:142.63, Y:85.88, Z:-1.66 [[ 1.96212420e-01 -9.80550894e-01 -4.54200519e-03 1.42629789e+02] [ 9.80404741e-01 1.96261765e-01 -1.69665325e-02 8.58779170e+01] [ 1.75279706e-02 -1.12395903e-03 9.99845742e-01 -1.65878271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25719347 meters 0.08007217297455692 Centerline is valid? [True, True] Translation: X:142.63, Y:85.91, Z:-1.66 [[ 1.97688410e-01 -9.80253329e-01 -4.76480031e-03 1.42627889e+02] [ 9.80091903e-01 1.97742503e-01 -1.78259560e-02 8.59051457e+01] [ 1.84161563e-02 -1.14595730e-03 9.99829751e-01 -1.66147277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28719347 meters 0.07897955712469101 Centerline is valid? [True, True] Translation: X:142.63, Y:85.93, Z:-1.66 [[ 1.99388121e-01 -9.79907551e-01 -5.05657839e-03 1.42628928e+02] [ 9.79725157e-01 1.99448755e-01 -1.89423059e-02 8.59325493e+01] [ 1.95702368e-02 -1.17718629e-03 9.99807792e-01 -1.66353375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31719347 meters 0.07854213870471778 Centerline is valid? [True, True] Translation: X:142.63, Y:85.96, Z:-1.67 [[ 2.01143977e-01 -9.79547332e-01 -5.30328075e-03 1.42631007e+02] [ 9.79346006e-01 2.01210346e-01 -1.98946641e-02 8.59587046e+01] [ 2.05548401e-02 -1.19205496e-03 9.99788016e-01 -1.66533195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34719347 meters 0.07729442283341115 Centerline is valid? [True, True] Translation: X:142.63, Y:85.99, Z:-1.67 [[ 2.02200538e-01 -9.79328138e-01 -5.59821579e-03 1.42631491e+02] [ 9.79103108e-01 2.02274286e-01 -2.10289675e-02 8.59863645e+01] [ 2.17266347e-02 -1.22916194e-03 9.99763193e-01 -1.66588157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37719347 meters 0.07115537784746404 Centerline is valid? [True, True] Translation: X:142.62, Y:86.02, Z:-1.66 [[ 2.04055887e-01 -9.78942063e-01 -5.79929828e-03 1.42622101e+02] [ 9.78699752e-01 2.04134607e-01 -2.18141639e-02 8.60178433e+01] [ 2.25386401e-02 -1.22446321e-03 9.99745223e-01 -1.66119420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40719347 meters 0.06990306680424133 Centerline is valid? [True, True] Translation: X:142.62, Y:86.05, Z:-1.66 [[ 2.08485369e-01 -9.78000050e-01 -7.05357446e-03 1.42617749e+02] [ 9.77640108e-01 2.08600240e-01 -2.65661198e-02 8.60476448e+01] [ 2.74530438e-02 -1.35721000e-03 9.99622173e-01 -1.66460989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43719347 meters 0.07037768937917065 Centerline is valid? [True, True] Translation: X:142.62, Y:86.07, Z:-1.67 [[ 2.12720134e-01 -9.77083591e-01 -7.60263488e-03 1.42622591e+02] [ 9.76663674e-01 2.12851821e-01 -2.86735033e-02 8.60742692e+01] [ 2.96346442e-02 -1.32578587e-03 9.99559918e-01 -1.67016186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46719346999998 meters 0.06697733102304228 Centerline is valid? [True, True] Translation: X:142.62, Y:86.10, Z:-1.67 [[ 2.17330790e-01 -9.76066321e-01 -7.86538871e-03 1.42619700e+02] [ 9.75615034e-01 2.17469659e-01 -2.97027301e-02 8.61041684e+01] [ 3.07023179e-02 -1.21827367e-03 9.99527830e-01 -1.66877633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49719346999998 meters 0.0643056611832297 Centerline is valid? [True, True] Translation: X:142.61, Y:86.13, Z:-1.67 [[ 2.26262837e-01 -9.74036918e-01 -7.56373247e-03 1.42614289e+02] [ 9.73617193e-01 2.26387469e-01 -2.86055091e-02 8.61335468e+01] [ 2.95751562e-02 -8.91816330e-04 9.99562162e-01 -1.66806474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52719347 meters 0.06291561369424617 Centerline is valid? [True, True] Translation: X:142.61, Y:86.16, Z:-1.67 [[ 2.29878907e-01 -9.73193735e-01 -7.04566456e-03 1.42614506e+02] [ 9.72828570e-01 2.29985715e-01 -2.66672998e-02 8.61623171e+01] [ 2.75728513e-02 -7.23974036e-04 9.99619534e-01 -1.66508955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55719347 meters 0.06242198476798917 Centerline is valid? [True, True] Translation: X:142.62, Y:86.19, Z:-1.66 [[ 2.32306849e-01 -9.72619410e-01 -6.70900035e-03 1.42617284e+02] [ 9.72287350e-01 2.32402886e-01 -2.54206267e-02 8.61889966e+01] [ 2.62837860e-02 -6.17690476e-04 9.99654331e-01 -1.66381401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58719347 meters 0.06144166243163342 Centerline is valid? [True, True] Translation: X:142.62, Y:86.22, Z:-1.66 [[ 2.33489803e-01 -9.72338623e-01 -6.33349856e-03 1.42621017e+02] [ 9.72041707e-01 2.33575052e-01 -2.40336301e-02 8.62173492e+01] [ 2.48481741e-02 -5.44817177e-04 9.99691088e-01 -1.66005470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61719347 meters 0.06148162021287414 Centerline is valid? [True, True] Translation: X:142.63, Y:86.24, Z:-1.66 [[ 2.35079602e-01 -9.71954247e-01 -6.52101205e-03 1.42629180e+02] [ 9.71638749e-01 2.35169468e-01 -2.47681612e-02 8.62428958e+01] [ 2.56070624e-02 -5.13578534e-04 9.99671953e-01 -1.66221092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64719347 meters 0.061391449309062554 Centerline is valid? [True, True] Translation: X:142.64, Y:86.27, Z:-1.66 [[ 2.34683572e-01 -9.72045984e-01 -7.08704712e-03 1.42636939e+02] [ 9.71672330e-01 2.34789887e-01 -2.69553823e-02 8.62699841e+01] [ 2.78658381e-02 -5.60302188e-04 9.99611515e-01 -1.66382510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67719347 meters 0.06176488342834843 Centerline is valid? [True, True] Translation: X:142.64, Y:86.30, Z:-1.67 [[ 2.35316378e-01 -9.71892973e-01 -7.08878927e-03 1.42644849e+02] [ 9.71517930e-01 2.35422524e-01 -2.70027033e-02 8.62958554e+01] [ 2.79125982e-02 -5.32707549e-04 9.99610226e-01 -1.66581670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70719347 meters 0.06159118928194571 Centerline is valid? [True, True] Translation: X:142.65, Y:86.32, Z:-1.67 [[ 2.36202544e-01 -9.71673403e-01 -7.69131612e-03 1.42654302e+02] [ 9.71230651e-01 2.36327115e-01 -2.93345737e-02 8.63220655e+01] [ 3.03212916e-02 -5.41141025e-04 9.99540057e-01 -1.66702938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73719347 meters 0.061489958081516055 Centerline is valid? [True, True] Translation: X:142.66, Y:86.35, Z:-1.67 [[ 2.36236179e-01 -9.71665928e-01 -7.60207002e-03 1.42663383e+02] [ 9.71232144e-01 2.36357884e-01 -2.90357396e-02 8.63487871e+01] [ 3.00098480e-02 -5.24082582e-04 9.99549466e-01 -1.66618013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76719347 meters 0.0615598005721406 Centerline is valid? [True, True] Translation: X:142.67, Y:86.37, Z:-1.67 [[ 2.36862598e-01 -9.71511582e-01 -7.83301411e-03 1.42672013e+02] [ 9.71050583e-01 2.36991517e-01 -2.99296802e-02 8.63742647e+01] [ 3.09333889e-02 -5.17031121e-04 9.99521315e-01 -1.66686369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79719347 meters 0.06169899710925545 Centerline is valid? [True, True] Translation: X:142.68, Y:86.40, Z:-1.67 [[ 2.37614144e-01 -9.71326952e-01 -7.96681549e-03 1.42680133e+02] [ 9.70848354e-01 2.37747161e-01 -3.04919708e-02 8.63997713e+01] [ 3.15117608e-02 -4.89246167e-04 9.99503261e-01 -1.66822713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82719347 meters 0.06141159251287993 Centerline is valid? [True, True] Translation: X:142.69, Y:86.43, Z:-1.67 [[ 2.39306706e-01 -9.70912419e-01 -7.83429407e-03 1.42687368e+02] [ 9.70448104e-01 2.39434545e-01 -3.00262509e-02 8.64267875e+01] [ 3.10286605e-02 -4.17292655e-04 9.99518408e-01 -1.66761412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85719347 meters 0.06080553036895146 Centerline is valid? [True, True] Translation: X:142.70, Y:86.45, Z:-1.67 [[ 2.43009666e-01 -9.69992431e-01 -7.80929706e-03 1.42696799e+02] [ 9.69529356e-01 2.43134942e-01 -2.99704386e-02 8.64532925e+01] [ 3.09698116e-02 -2.88236486e-04 9.99520279e-01 -1.66773149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88719347 meters 0.060429365165246926 Centerline is valid? [True, True] Translation: X:142.71, Y:86.48, Z:-1.67 [[ 2.44278336e-01 -9.69676165e-01 -7.49868887e-03 1.42705701e+02] [ 9.69247856e-01 2.44393297e-01 -2.88185628e-02 8.64802577e+01] [ 2.97773028e-02 -2.28337546e-04 9.99556532e-01 -1.66619025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91719347 meters 0.060172270812041975 Centerline is valid? [True, True] Translation: X:142.72, Y:86.51, Z:-1.67 [[ 2.44396162e-01 -9.69645517e-01 -7.62156628e-03 1.42715411e+02] [ 9.69201722e-01 2.44514877e-01 -2.93342306e-02 8.65067814e+01] [ 3.03073915e-02 -2.17661801e-04 9.99540602e-01 -1.66574262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94719347 meters 0.060534803717735064 Centerline is valid? [True, True] Translation: X:142.73, Y:86.53, Z:-1.67 [[ 2.44202801e-01 -9.69695145e-01 -7.50445321e-03 1.42730474e+02] [ 9.69263661e-01 2.44317991e-01 -2.89253264e-02 8.65311646e+01] [ 2.98822215e-02 -2.10148065e-04 9.99553405e-01 -1.66935893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97719347 meters 0.060964109651014536 Centerline is valid? [True, True] Translation: X:142.74, Y:86.56, Z:-1.67 [[ 2.42798882e-01 -9.70042808e-01 -8.10272390e-03 1.42743176e+02] [ 9.69538459e-01 2.42933907e-01 -3.12776810e-02 8.65562364e+01] [ 3.23091159e-02 -2.61716457e-04 9.99477890e-01 -1.67208394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00719347 meters 0.0610376236415242 Centerline is valid? [True, True] Translation: X:142.76, Y:86.58, Z:-1.67 [[ 2.40649143e-01 -9.70576775e-01 -8.28937460e-03 1.42756574e+02] [ 9.70047735e-01 2.40791642e-01 -3.20433664e-02 8.65816377e+01] [ 3.30965594e-02 -3.29880388e-04 9.99452104e-01 -1.67228235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03719347 meters 0.06154531167512675 Centerline is valid? [True, True] Translation: X:142.78, Y:86.60, Z:-1.67 [[ 2.36423978e-01 -9.71617752e-01 -7.91501122e-03 1.42777563e+02] [ 9.71135074e-01 2.36556010e-01 -3.06255119e-02 8.66039613e+01] [ 3.16286345e-02 -4.45939653e-04 9.99499590e-01 -1.67233336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06719347 meters 0.06204771155741676 Centerline is valid? [True, True] Translation: X:142.79, Y:86.63, Z:-1.67 [[ 2.33632050e-01 -9.72294480e-01 -7.71423460e-03 1.42792453e+02] [ 9.71834647e-01 2.33758815e-01 -2.99037664e-02 8.66274072e+01] [ 3.08785373e-02 -5.10482212e-04 9.99523014e-01 -1.67307827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09719347 meters 0.0619109921730508 Centerline is valid? [True, True] Translation: X:142.81, Y:86.65, Z:-1.67 [[ 2.32230930e-01 -9.72629974e-01 -7.72848242e-03 1.42805922e+02] [ 9.72167349e-01 2.32358851e-01 -3.00001570e-02 8.66529798e+01] [ 3.09748332e-02 -5.46413891e-04 9.99520015e-01 -1.67092507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12719347 meters 0.062392957949473526 Centerline is valid? [True, True] Translation: X:142.82, Y:86.68, Z:-1.67 [[ 2.32129082e-01 -9.72654505e-01 -7.70089709e-03 1.42819358e+02] [ 9.72193774e-01 2.32256165e-01 -2.99389469e-02 8.66773586e+01] [ 3.09088324e-02 -5.37063945e-04 9.99522064e-01 -1.67449435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15719347 meters 0.06159691695415827 Centerline is valid? [True, True] Translation: X:142.83, Y:86.70, Z:-1.67 [[ 2.33803995e-01 -9.72253597e-01 -7.65738558e-03 1.42832933e+02] [ 9.71796550e-01 2.33928881e-01 -2.98118065e-02 8.67026028e+01] [ 3.07759198e-02 -4.71301440e-04 9.99526198e-01 -1.67196646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18719347 meters 0.06138514811873446 Centerline is valid? [True, True] Translation: X:142.84, Y:86.73, Z:-1.67 [[ 2.35092390e-01 -9.71946386e-01 -7.19664010e-03 1.42843340e+02] [ 9.71541458e-01 2.35202182e-01 -2.80558342e-02 8.67292305e+01] [ 2.89614321e-02 -3.96121103e-04 9.99580451e-01 -1.67120982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21719346999998 meters 0.06126850567935502 Centerline is valid? [True, True] Translation: X:142.85, Y:86.75, Z:-1.67 [[ 2.37318253e-01 -9.71405366e-01 -7.18755843e-03 1.42853050e+02] [ 9.71000225e-01 2.37426854e-01 -2.80544684e-02 8.67538464e+01] [ 2.89587805e-02 -3.21283433e-04 9.99580555e-01 -1.67261534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24719346999998 meters 0.060971365721475795 Centerline is valid? [True, True] Translation: X:142.86, Y:86.78, Z:-1.67 [[ 2.39503334e-01 -9.70870726e-01 -6.94170486e-03 1.42862576e+02] [ 9.70491869e-01 2.39603790e-01 -2.71211556e-02 8.67792609e+01] [ 2.79943948e-02 -2.41260942e-04 9.99608051e-01 -1.67364827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27719347 meters 0.060454841321857834 Centerline is valid? [True, True] Translation: X:142.87, Y:86.81, Z:-1.67 [[ 2.46007644e-01 -9.69244635e-01 -6.71395533e-03 1.42871640e+02] [ 9.68888634e-01 2.46099240e-01 -2.62674297e-02 8.68063486e+01] [ 2.71118647e-02 -4.30865127e-05 9.99632405e-01 -1.67372705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30719347 meters 0.060235430749456115 Centerline is valid? [True, True] Translation: X:142.88, Y:86.83, Z:-1.67 [[ 2.49031722e-01 -9.68474928e-01 -6.28609028e-03 1.42880268e+02] [ 9.68162139e-01 2.49111043e-01 -2.46122200e-02 8.68335650e+01] [ 2.54022525e-02 4.32689298e-05 9.99677310e-01 -1.67298653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33719347 meters 0.05976717550291998 Centerline is valid? [True, True] Translation: X:142.89, Y:86.86, Z:-1.67 [[ 2.51719088e-01 -9.67782640e-01 -5.85342501e-03 1.42889396e+02] [ 9.67510325e-01 2.51787110e-01 -2.29569604e-02 8.68600502e+01] [ 2.36911647e-02 1.15456018e-04 9.99719318e-01 -1.66949135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36719347 meters 0.06029327545825543 Centerline is valid? [True, True] Translation: X:142.90, Y:86.89, Z:-1.67 [[ 2.55598564e-01 -9.66766270e-01 -5.68796362e-03 1.42896206e+02] [ 9.66507939e-01 2.55661755e-01 -2.23488552e-02 8.68852341e+01] [ 2.30603142e-02 2.14873324e-04 9.99734053e-01 -1.67262004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39719347 meters 0.06093729290024214 Centerline is valid? [True, True] Translation: X:142.91, Y:86.91, Z:-1.67 [[ 2.60517731e-01 -9.65451057e-01 -5.89647358e-03 1.42905726e+02] [ 9.65172362e-01 2.60584214e-01 -2.31986693e-02 8.69114462e+01] [ 2.39337077e-02 3.52551368e-04 9.99713486e-01 -1.67332349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42719347 meters 0.06132356229437817 Centerline is valid? [True, True] Translation: X:142.91, Y:86.94, Z:-1.67 [[ 2.61545455e-01 -9.65172951e-01 -5.92863081e-03 1.42914838e+02] [ 9.64890331e-01 2.61612352e-01 -2.33586471e-02 8.69379784e+01] [ 2.40961374e-02 3.88869439e-04 9.99709570e-01 -1.67451352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45719347 meters 0.06147174127864127 Centerline is valid? [True, True] Translation: X:142.93, Y:86.96, Z:-1.68 [[ 2.61225761e-01 -9.65259446e-01 -5.94166101e-03 1.42926610e+02] [ 9.64974591e-01 2.61293029e-01 -2.34519005e-02 8.69623143e+01] [ 2.41896831e-02 3.92688657e-04 9.99707310e-01 -1.67533461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48719347 meters 0.06148424982531098 Centerline is valid? [True, True] Translation: X:142.95, Y:86.98, Z:-1.68 [[ 2.59266086e-01 -9.65785403e-01 -6.29695897e-03 1.42948680e+02] [ 9.65464715e-01 2.59342275e-01 -2.48891330e-02 8.69843849e+01] [ 2.56706290e-02 3.73416398e-04 9.99670385e-01 -1.67966444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51719347 meters 0.06148424982531098 Centerline is valid? [True, True] Translation: X:142.95, Y:87.01, Z:-1.68 [[ 2.58902616e-01 -9.65882966e-01 -6.28743352e-03 1.42954900e+02] [ 9.65562248e-01 2.58978680e-01 -2.48915416e-02 8.70103032e+01] [ 2.56706273e-02 3.73576811e-04 9.99670385e-01 -1.67988445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54719347 meters 0.061128230455085565 Centerline is valid? [True, True] Translation: X:142.97, Y:87.03, Z:-1.68 [[ 2.56996704e-01 -9.66391942e-01 -6.26963635e-03 1.42970688e+02] [ 9.66072188e-01 2.57072954e-01 -2.48600831e-02 8.70345894e+01] [ 2.56363379e-02 3.32038102e-04 9.99671280e-01 -1.68080320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57719347 meters 0.06102059367739031 Centerline is valid? [True, True] Translation: X:142.98, Y:87.06, Z:-1.68 [[ 2.55852232e-01 -9.66697523e-01 -5.96112993e-03 1.42984797e+02] [ 9.66407781e-01 2.55921497e-01 -2.36683093e-02 8.70590639e+01] [ 2.44056773e-02 2.94707416e-04 9.99702094e-01 -1.68131517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60719347 meters 0.06051101189672206 Centerline is valid? [True, True] Translation: X:143.00, Y:87.08, Z:-1.68 [[ 2.54233833e-01 -9.67127733e-01 -5.39493528e-03 1.42998953e+02] [ 9.66890035e-01 2.54290959e-01 -2.14422035e-02 8.70840928e+01] [ 2.21092329e-02 2.35024424e-04 9.99755533e-01 -1.68021124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63719347 meters 0.05984604703260852 Centerline is valid? [True, True] Translation: X:143.01, Y:87.11, Z:-1.68 [[ 2.53211956e-01 -9.67397592e-01 -5.06016863e-03 1.43012985e+02] [ 9.67187850e-01 2.53262427e-01 -2.01446401e-02 8.71096941e+01] [ 2.07694269e-02 2.06730107e-04 9.99784271e-01 -1.67586329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66719347 meters 0.060314885144443414 Centerline is valid? [True, True] Translation: X:143.03, Y:87.13, Z:-1.68 [[ 2.53596928e-01 -9.67298553e-01 -4.70178141e-03 1.43029148e+02] [ 9.67116926e-01 2.53640427e-01 -1.87453001e-02 8.71339741e+01] [ 1.93248635e-02 2.06578137e-04 9.99813236e-01 -1.67961819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69719347 meters 0.06069277144136736 Centerline is valid? [True, True] Translation: X:143.04, Y:87.16, Z:-1.68 [[ 2.55071650e-01 -9.66908537e-01 -5.13174373e-03 1.43040777e+02] [ 9.66691432e-01 2.55123128e-01 -2.04905924e-02 8.71587429e+01] [ 2.11217552e-02 2.65756501e-04 9.99776876e-01 -1.68080012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72719347 meters 0.061226336620259184 Centerline is valid? [True, True] Translation: X:143.05, Y:87.18, Z:-1.68 [[ 2.57453553e-01 -9.66276805e-01 -5.17728402e-03 1.43052392e+02] [ 9.66055239e-01 2.57505398e-01 -2.06940861e-02 8.71831959e+01] [ 2.13293940e-02 3.26223654e-04 9.99772449e-01 -1.68199682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75719347 meters 0.06150490981354256 Centerline is valid? [True, True] Translation: X:143.07, Y:87.21, Z:-1.68 [[ 2.59827230e-01 -9.65639447e-01 -5.50167527e-03 1.43065190e+02] [ 9.65388260e-01 2.59885144e-01 -2.20276975e-02 8.72079785e+01] [ 2.27006174e-02 4.12142914e-04 9.99742223e-01 -1.68137178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78719347 meters 0.06405647872459037 Centerline is valid? [True, True] Translation: X:143.08, Y:87.23, Z:-1.69 [[ 2.63522209e-01 -9.64636011e-01 -5.78026866e-03 1.43077517e+02] [ 9.64357569e-01 2.63585053e-01 -2.31818835e-02 8.72314769e+01] [ 2.38856720e-02 5.34695312e-04 9.99714554e-01 -1.68849699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81719347 meters 0.0617472417930859 Centerline is valid? [True, True] Translation: X:143.10, Y:87.26, Z:-1.68 [[ 2.64836774e-01 -9.64274850e-01 -5.95788261e-03 1.43095617e+02] [ 9.63978064e-01 2.64903114e-01 -2.39297315e-02 8.72561809e+01] [ 2.46530999e-02 5.94204750e-04 9.99695890e-01 -1.67832514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84719347 meters 0.06567261932169813 Centerline is valid? [True, True] Translation: X:143.10, Y:87.28, Z:-1.69 [[ 2.66151233e-01 -9.63911050e-01 -6.24571271e-03 1.43097181e+02] [ 9.63583740e-01 2.66223665e-01 -2.51264146e-02 8.72832778e+01] [ 2.58823852e-02 6.69159009e-04 9.99664771e-01 -1.69090141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87719347 meters 0.0639937962952477 Centerline is valid? [True, True] Translation: X:143.11, Y:87.31, Z:-1.68 [[ 2.66849057e-01 -9.63718543e-01 -6.17662149e-03 1.43112983e+02] [ 9.63397396e-01 2.66919637e-01 -2.48870387e-02 8.73069518e+01] [ 2.56327622e-02 6.90541732e-04 9.99671188e-01 -1.68496891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90719347 meters 0.0644801838301016 Centerline is valid? [True, True] Translation: X:143.12, Y:87.33, Z:-1.69 [[ 2.67369358e-01 -9.63573379e-01 -6.32211504e-03 1.43124686e+02] [ 9.63235772e-01 2.67443090e-01 -2.55155007e-02 8.73306520e+01] [ 2.62768632e-02 7.32375686e-04 9.99654435e-01 -1.68604064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93719347 meters 0.06324558070000513 Centerline is valid? [True, True] Translation: X:143.15, Y:87.35, Z:-1.68 [[ 2.67039024e-01 -9.63666563e-01 -6.07583369e-03 1.43149142e+02] [ 9.63353738e-01 2.67107203e-01 -2.45625307e-02 8.73525931e+01] [ 2.52929885e-02 7.05977137e-04 9.99679832e-01 -1.68139376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96719346999998 meters 0.06229874727793257 Centerline is valid? [True, True] Translation: X:143.17, Y:87.38, Z:-1.68 [[ 2.64998612e-01 -9.64230952e-01 -5.86575499e-03 1.43165548e+02] [ 9.63938745e-01 2.65062755e-01 -2.37451245e-02 8.73778099e+01] [ 2.44505772e-02 6.38196540e-04 9.99700836e-01 -1.67929468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99719346999998 meters 0.06202180615449169 Centerline is valid? [True, True] Translation: X:143.18, Y:87.40, Z:-1.68 [[ 2.63562615e-01 -9.64625402e-01 -5.70812926e-03 1.43180130e+02] [ 9.64347860e-01 2.63623747e-01 -2.31457511e-02 8.74026453e+01] [ 2.38317778e-02 5.95732435e-04 9.99715805e-01 -1.67874180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02719347 meters 0.06224419067673913 Centerline is valid? [True, True] Translation: X:143.20, Y:87.43, Z:-1.68 [[ 2.63203564e-01 -9.64725746e-01 -5.30272790e-03 1.43199192e+02] [ 9.64485542e-01 2.63256393e-01 -2.15339335e-02 8.74254455e+01] [ 2.21703171e-02 5.53403649e-04 9.99754055e-01 -1.67896635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05719347 meters 0.06236633424082363 Centerline is valid? [True, True] Translation: X:143.21, Y:87.45, Z:-1.68 [[ 2.64948904e-01 -9.64247911e-01 -5.29569855e-03 1.43211205e+02] [ 9.64007474e-01 2.65001139e-01 -2.15403361e-02 8.74509348e+01] [ 2.21735902e-02 6.01995457e-04 9.99753954e-01 -1.67807670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08719347 meters 0.06329289785042615 Centerline is valid? [True, True] Translation: X:143.22, Y:87.48, Z:-1.68 [[ 2.68574261e-01 -9.63244387e-01 -5.30250796e-03 1.43220348e+02] [ 9.63002376e-01 2.68625700e-01 -2.16022241e-02 8.74772149e+01] [ 2.22326110e-02 6.95473605e-04 9.99752583e-01 -1.67880428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11719347 meters 0.06448688070091306 Centerline is valid? [True, True] Translation: X:143.23, Y:87.50, Z:-1.68 [[ 2.72723152e-01 -9.62077583e-01 -5.36724859e-03 1.43229265e+02] [ 9.61828608e-01 2.72774757e-01 -2.19011725e-02 8.75030502e+01] [ 2.25346770e-02 8.10583573e-04 9.99745733e-01 -1.67997350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14719347 meters 0.06740633160385055 Centerline is valid? [True, True] Translation: X:143.24, Y:87.53, Z:-1.68 [[ 2.79969576e-01 -9.59994142e-01 -5.31824453e-03 1.43240478e+02] [ 9.59748470e-01 2.80018361e-01 -2.17391699e-02 8.75272072e+01] [ 2.23586819e-02 9.82129124e-04 9.99749531e-01 -1.68174009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17719347 meters 0.0684948109284035 Centerline is valid? [True, True] Translation: X:143.25, Y:87.55, Z:-1.68 [[ 2.81241796e-01 -9.59622471e-01 -5.26925059e-03 1.43250887e+02] [ 9.59380556e-01 2.81289336e-01 -2.15698510e-02 8.75521633e+01] [ 2.21810977e-02 1.01112707e-03 9.99753458e-01 -1.68230030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20719347 meters 0.06667012614060656 Centerline is valid? [True, True] Translation: X:143.27, Y:87.58, Z:-1.68 [[ 2.81612338e-01 -9.59515020e-01 -5.04147188e-03 1.43268305e+02] [ 9.59292766e-01 2.81655736e-01 -2.06745162e-02 8.75756478e+01] [ 2.12574683e-02 9.85951352e-04 9.99773548e-01 -1.67889854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23719347 meters 0.06607564625523868 Centerline is valid? [True, True] Translation: X:143.28, Y:87.60, Z:-1.68 [[ 2.80513001e-01 -9.59836557e-01 -5.12259365e-03 1.43284056e+02] [ 9.59606367e-01 2.80558033e-01 -2.10430613e-02 8.75993533e+01] [ 2.16350843e-02 9.87178782e-04 9.99765447e-01 -1.67846665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26719347 meters 0.06544254273669066 Centerline is valid? [True, True] Translation: X:143.30, Y:87.62, Z:-1.68 [[ 2.78347334e-01 -9.60468816e-01 -4.73447160e-03 1.43300316e+02] [ 9.60271680e-01 2.78386220e-01 -1.94785502e-02 8.76243046e+01] [ 2.00265517e-02 8.75423542e-04 9.99799065e-01 -1.67847342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29719347 meters 0.06582432604436683 Centerline is valid? [True, True] Translation: X:143.32, Y:87.65, Z:-1.68 [[ 2.71702378e-01 -9.62371054e-01 -4.44668575e-03 1.43322482e+02] [ 9.62196959e-01 2.71737865e-01 -1.83179040e-02 8.76456097e+01] [ 1.88369535e-02 6.98430561e-04 9.99822325e-01 -1.68220431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32719347 meters 0.06288134314905484 Centerline is valid? [True, True] Translation: X:143.35, Y:87.67, Z:-1.68 [[ 2.68231913e-01 -9.63345095e-01 -4.22710415e-03 1.43345972e+02] [ 9.63187375e-01 2.68264532e-01 -1.74419486e-02 8.76684770e+01] [ 1.79365978e-02 6.06993898e-04 9.99838942e-01 -1.67729110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35719347 meters 0.06165478530110626 Centerline is valid? [True, True] Translation: X:143.37, Y:87.69, Z:-1.67 [[ 2.65282192e-01 -9.64162931e-01 -3.89879234e-03 1.43365178e+02] [ 9.64028423e-01 2.65310338e-01 -1.61128672e-02 8.76926633e+01] [ 1.65698192e-02 5.15910098e-04 9.99862578e-01 -1.67408496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38719347 meters 0.06078836927580793 Centerline is valid? [True, True] Translation: X:143.38, Y:87.72, Z:-1.67 [[ 2.62909459e-01 -9.64813261e-01 -3.74002640e-03 1.43383552e+02] [ 9.64689168e-01 2.62935654e-01 -1.54806800e-02 8.77171490e+01] [ 1.59193517e-02 4.62054267e-04 9.99873172e-01 -1.67173506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41719347 meters 0.06053400138763984 Centerline is valid? [True, True] Translation: X:143.40, Y:87.74, Z:-1.67 [[ 2.58928398e-01 -9.65889641e-01 -3.64511390e-03 1.43404855e+02] [ 9.65771547e-01 2.58953758e-01 -1.51085967e-02 8.77396216e+01] [ 1.55371530e-02 3.91697456e-04 9.99879214e-01 -1.67429203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44719347 meters 0.0603880276167035 Centerline is valid? [True, True] Translation: X:143.42, Y:87.76, Z:-1.68 [[ 2.56882923e-01 -9.66435118e-01 -3.78504810e-03 1.43417521e+02] [ 9.66307306e-01 2.56910524e-01 -1.57217621e-02 8.77629531e+01] [ 1.61664817e-02 3.81132578e-04 9.99869241e-01 -1.67693399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47719347 meters 0.06024334841474082 Centerline is valid? [True, True] Translation: X:143.43, Y:87.79, Z:-1.68 [[ 2.54805378e-01 -9.66983999e-01 -4.02067619e-03 1.43430621e+02] [ 9.66839326e-01 2.54836821e-01 -1.67305962e-02 8.77858877e+01] [ 1.72028351e-02 3.75698021e-04 9.99851950e-01 -1.67916888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50719347 meters 0.059526579295029414 Centerline is valid? [True, True] Translation: X:143.45, Y:87.81, Z:-1.68 [[ 2.53031479e-01 -9.67448982e-01 -4.18771905e-03 1.43446706e+02] [ 9.67291607e-01 2.53065867e-01 -1.74531761e-02 8.78100085e+01] [ 1.79448262e-02 3.65457480e-04 9.99838912e-01 -1.67785861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53719347 meters 0.059422257325181305 Centerline is valid? [True, True] Translation: X:143.46, Y:87.83, Z:-1.68 [[ 2.49988990e-01 -9.68239694e-01 -4.17139148e-03 1.43464731e+02] [ 9.68083089e-01 2.50023591e-01 -1.74165410e-02 8.78328755e+01] [ 1.79063326e-02 3.15689943e-04 9.99839619e-01 -1.67933749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56719347 meters 0.05877152020799107 Centerline is valid? [True, True] Translation: X:143.48, Y:87.86, Z:-1.68 [[ 2.48212808e-01 -9.68695954e-01 -4.30706228e-03 1.43479113e+02] [ 9.68528523e-01 2.48249994e-01 -1.80122673e-02 8.78578594e+01] [ 1.85176386e-02 2.99362771e-04 9.99828489e-01 -1.67560476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59719347 meters 0.05870946870749468 Centerline is valid? [True, True] Translation: X:143.49, Y:87.88, Z:-1.68 [[ 2.46090263e-01 -9.69237270e-01 -4.32405248e-03 1.43491116e+02] [ 9.69068036e-01 2.46128103e-01 -1.81134953e-02 8.78832624e+01] [ 1.86205455e-02 2.67253764e-04 9.99826587e-01 -1.67642161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62719347 meters 0.058618335719720166 Centerline is valid? [True, True] Translation: X:143.51, Y:87.91, Z:-1.68 [[ 2.42375447e-01 -9.70169445e-01 -5.03892025e-03 1.43506588e+02] [ 9.69939283e-01 2.42427707e-01 -2.11327612e-02 8.79060212e+01] [ 2.17239331e-02 2.34615748e-04 9.99763980e-01 -1.67932851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65719347 meters 0.05833672910114919 Centerline is valid? [True, True] Translation: X:143.52, Y:87.93, Z:-1.68 [[ 2.39973569e-01 -9.70767116e-01 -4.88797549e-03 1.43517077e+02] [ 9.70549849e-01 2.40023274e-01 -2.05382230e-02 8.79313485e+01] [ 2.11110594e-02 1.84606802e-04 9.99777120e-01 -1.67787689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68719347 meters 0.05821773464879907 Centerline is valid? [True, True] Translation: X:143.53, Y:87.96, Z:-1.68 [[ 2.37119512e-01 -9.71469117e-01 -4.70019675e-03 1.43526744e+02] [ 9.71267659e-01 2.37166058e-01 -1.97837132e-02 8.79575130e+01] [ 2.03339936e-02 1.25955340e-04 9.99793235e-01 -1.67764833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71719346999998 meters 0.05835041267534558 Centerline is valid? [True, True] Translation: X:143.53, Y:87.98, Z:-1.68 [[ 2.35740726e-01 -9.71804668e-01 -4.69005897e-03 1.43534664e+02] [ 9.71603470e-01 2.35787352e-01 -1.97742731e-02 8.79828653e+01] [ 2.03225875e-02 1.04723914e-04 9.99793469e-01 -1.68041306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74719346999998 meters 0.0582130578765603 Centerline is valid? [True, True] Translation: X:143.54, Y:88.01, Z:-1.68 [[ 2.34633831e-01 -9.72073284e-01 -4.52721513e-03 1.43542453e+02] [ 9.71885113e-01 2.34677486e-01 -1.91260386e-02 8.80083636e+01] [ 1.96543466e-02 8.76827186e-05 9.99806831e-01 -1.67844099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77719347 meters 0.05851193310599734 Centerline is valid? [True, True] Translation: X:143.55, Y:88.03, Z:-1.68 [[ 2.35450352e-01 -9.71873643e-01 -4.97530067e-03 1.43550079e+02] [ 9.71645569e-01 2.35502881e-01 -2.10542451e-02 8.80332012e+01] [ 2.16337636e-02 1.23000577e-04 9.99765955e-01 -1.67983953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80719347 meters 0.05872533425631823 Centerline is valid? [True, True] Translation: X:143.56, Y:88.06, Z:-1.68 [[ 2.35530585e-01 -9.71851474e-01 -5.48225225e-03 1.43556486e+02] [ 9.71573949e-01 2.35594336e-01 -2.32243461e-02 8.80589897e+01] [ 2.38622026e-02 1.43630354e-04 9.99715247e-01 -1.68169487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83719347 meters 0.05895123939654451 Centerline is valid? [True, True] Translation: X:143.56, Y:88.09, Z:-1.68 [[ 2.35352598e-01 -9.71893029e-01 -5.75271746e-03 1.43562399e+02] [ 9.71586385e-01 2.35422843e-01 -2.44127426e-02 8.80856152e+01] [ 2.50808955e-02 1.56340456e-04 9.99685413e-01 -1.68406618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86719347 meters 0.05919537850299617 Centerline is valid? [True, True] Translation: X:143.57, Y:88.11, Z:-1.69 [[ 2.34697436e-01 -9.72049585e-01 -6.05950853e-03 1.43567629e+02] [ 9.71708330e-01 2.34775594e-01 -2.57554389e-02 8.81108251e+01] [ 2.64581884e-02 1.56660569e-04 9.99649909e-01 -1.68566890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89719347 meters 0.05884908746707696 Centerline is valid? [True, True] Translation: X:143.58, Y:88.14, Z:-1.68 [[ 2.29339146e-01 -9.73329561e-01 -5.75506695e-03 1.43575946e+02] [ 9.73021021e-01 2.29411343e-01 -2.45056662e-02 8.81365251e+01] [ 2.51723670e-02 2.03074480e-05 9.99683126e-01 -1.68274355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92719347 meters 0.0588320433028402 Centerline is valid? [True, True] Translation: X:143.58, Y:88.16, Z:-1.68 [[ 2.24647983e-01 -9.74426467e-01 -5.13259172e-03 1.43584582e+02] [ 9.74180402e-01 2.24706593e-01 -2.18972797e-02 8.81617628e+01] [ 2.24906161e-02 -8.08905453e-05 9.99747051e-01 -1.68120799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95719347 meters 0.05932600204501312 Centerline is valid? [True, True] Translation: X:143.59, Y:88.19, Z:-1.68 [[ 2.19272414e-01 -9.75652695e-01 -4.62889402e-03 1.43594890e+02] [ 9.75452236e-01 2.19321195e-01 -1.97774783e-02 8.81854277e+01] [ 2.03111646e-02 -1.78609608e-04 9.99793691e-01 -1.68079907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98719347 meters 0.059544084055108464 Centerline is valid? [True, True] Translation: X:143.60, Y:88.21, Z:-1.68 [[ 2.13382964e-01 -9.76959863e-01 -4.13959458e-03 1.43604334e+02] [ 9.76799157e-01 2.13422953e-01 -1.77214375e-02 8.82114839e+01] [ 1.81966176e-02 -2.62099652e-04 9.99834393e-01 -1.67528933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01719347 meters 0.06149361811785797 Centerline is valid? [True, True] Translation: X:143.62, Y:88.24, Z:-1.67 [[ 2.02565418e-01 -9.79262029e-01 -3.62355876e-03 1.43616423e+02] [ 9.79138715e-01 2.02597432e-01 -1.55453094e-02 8.82350222e+01] [ 1.59570549e-02 -3.99024581e-04 9.99872598e-01 -1.67261399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04719347 meters 0.06293217253777209 Centerline is valid? [True, True] Translation: X:143.62, Y:88.26, Z:-1.67 [[ 1.97424328e-01 -9.80310805e-01 -3.78955934e-03 1.43623614e+02] [ 9.80175634e-01 1.97460064e-01 -1.62864961e-02 8.82609743e+01] [ 1.67141147e-02 -4.99083172e-04 9.99860185e-01 -1.67294763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07719347 meters 0.06517044290974892 Centerline is valid? [True, True] Translation: X:143.63, Y:88.29, Z:-1.68 [[ 1.93536999e-01 -9.81084579e-01 -4.05937379e-03 1.43630887e+02] [ 9.80929058e-01 1.93578639e-01 -1.74783859e-02 8.82858176e+01] [ 1.79335830e-02 -5.99243346e-04 9.99839001e-01 -1.67620319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10719347 meters 0.06497007522807213 Centerline is valid? [True, True] Translation: X:143.63, Y:88.32, Z:-1.68 [[ 1.90572256e-01 -9.81662992e-01 -4.47042101e-03 1.43625667e+02] [ 9.81473901e-01 1.90623347e-01 -1.92800684e-02 8.83153213e+01] [ 1.97786963e-02 -7.13355421e-04 9.99804128e-01 -1.67577553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13719347 meters 0.06519967017917812 Centerline is valid? [True, True] Translation: X:143.63, Y:88.34, Z:-1.68 [[ 1.90096842e-01 -9.81755015e-01 -4.50357171e-03 1.43625765e+02] [ 9.81562336e-01 1.90148816e-01 -1.94630068e-02 8.83427704e+01] [ 1.99642533e-02 -7.20680242e-04 9.99800435e-01 -1.67773553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16719347 meters 0.0649545745106786 Centerline is valid? [True, True] Translation: X:143.62, Y:88.37, Z:-1.68 [[ 1.90045083e-01 -9.81763757e-01 -4.77411361e-03 1.43624639e+02] [ 9.81546375e-01 1.90103530e-01 -2.06727114e-02 8.83700665e+01] [ 2.12032947e-02 -7.57266757e-04 9.99774898e-01 -1.67852713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19719347 meters 0.0649939494950691 Centerline is valid? [True, True] Translation: X:143.62, Y:88.40, Z:-1.68 [[ 1.91152516e-01 -9.81546531e-01 -5.20800008e-03 1.43623793e+02] [ 9.81286684e-01 1.91221813e-01 -2.25978212e-02 8.83968483e+01] [ 2.31766962e-02 -7.90910763e-04 9.99731071e-01 -1.68083860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22719347 meters 0.06437723746847684 Centerline is valid? [True, True] Translation: X:143.61, Y:88.43, Z:-1.69 [[ 1.98296940e-01 -9.80121482e-01 -6.34060541e-03 1.43612803e+02] [ 9.79734762e-01 1.98396865e-01 -2.75405184e-02 8.84264299e+01] [ 2.82510100e-02 -7.50910998e-04 9.99600579e-01 -1.68898404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25719347 meters 0.062315330168958696 Centerline is valid? [True, True] Translation: X:143.61, Y:88.46, Z:-1.69 [[ 2.02154468e-01 -9.79329720e-01 -6.84624116e-03 1.43605512e+02] [ 9.78876465e-01 2.02269229e-01 -2.97997438e-02 8.84551570e+01] [ 3.05685587e-02 -6.77472984e-04 9.99532443e-01 -1.68817938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28719347 meters 0.06169529865435734 Centerline is valid? [True, True] Translation: X:143.60, Y:88.48, Z:-1.69 [[ 2.05628397e-01 -9.78603073e-01 -7.27931241e-03 1.43602041e+02] [ 9.78088426e-01 2.05756346e-01 -3.17388887e-02 8.84842725e+01] [ 3.25575387e-02 -5.93394429e-04 9.99469687e-01 -1.69014464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31719347 meters 0.06096750425290102 Centerline is valid? [True, True] Translation: X:143.60, Y:88.51, Z:-1.69 [[ 2.08512991e-01 -9.77992895e-01 -7.22705019e-03 1.43599194e+02] [ 9.77483390e-01 2.08637641e-01 -3.15682877e-02 8.85129760e+01] [ 3.23813958e-02 -4.81923443e-04 9.99475469e-01 -1.69012417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34719347 meters 0.06074842939160732 Centerline is valid? [True, True] Translation: X:143.60, Y:88.54, Z:-1.69 [[ 2.11532274e-01 -9.77345203e-01 -7.10294504e-03 1.43597055e+02] [ 9.76850791e-01 2.11651183e-01 -3.10855133e-02 8.85407429e+01] [ 3.18846240e-02 -3.62928167e-04 9.99491490e-01 -1.69241220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37719347 meters 0.059528991181030014 Centerline is valid? [True, True] Translation: X:143.59, Y:88.57, Z:-1.69 [[ 2.16531567e-01 -9.76251760e-01 -6.82512333e-03 1.43587723e+02] [ 9.75793054e-01 2.16639030e-01 -2.99240106e-02 8.85707719e+01] [ 3.06919561e-02 -1.80415034e-04 9.99528875e-01 -1.68934480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40719347 meters 0.05945933882209251 Centerline is valid? [True, True] Translation: X:143.59, Y:88.60, Z:-1.69 [[ 2.18055070e-01 -9.75914759e-01 -6.50927452e-03 1.43588919e+02] [ 9.75495756e-01 2.18152174e-01 -2.85947261e-02 8.85973430e+01] [ 2.93260276e-02 -1.14544670e-04 9.99569893e-01 -1.68957271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43719347 meters 0.05858525358464633 Centerline is valid? [True, True] Translation: X:143.59, Y:88.63, Z:-1.68 [[ 2.20794362e-01 -9.75301570e-01 -6.05788110e-03 1.43587760e+02] [ 9.74937264e-01 2.20877450e-01 -2.66549071e-02 8.86264799e+01] [ 2.73346221e-02 -2.08008062e-05 9.99626339e-01 -1.68341633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46719346999998 meters 0.05858525358464633 Centerline is valid? [True, True] Translation: X:143.59, Y:88.65, Z:-1.68 [[ 2.20400933e-01 -9.75390622e-01 -6.04675685e-03 1.43593415e+02] [ 9.75026280e-01 2.20483864e-01 -2.66574336e-02 8.86526301e+01] [ 2.73346231e-02 -2.04235862e-05 9.99626339e-01 -1.68363642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49719346999998 meters 0.058368479780852765 Centerline is valid? [True, True] Translation: X:143.60, Y:88.68, Z:-1.68 [[ 2.21994047e-01 -9.75031277e-01 -5.71409546e-03 1.43595251e+02] [ 9.74704760e-01 2.22067573e-01 -2.52314033e-02 8.86803482e+01] [ 2.58703227e-02 3.16652878e-05 9.99665307e-01 -1.68280974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52719347 meters 0.058290570897265546 Centerline is valid? [True, True] Translation: X:143.60, Y:88.71, Z:-1.68 [[ 2.22623563e-01 -9.74888592e-01 -5.56625909e-03 1.43596452e+02] [ 9.74577439e-01 2.22693131e-01 -2.46289291e-02 8.87067586e+01] [ 2.52500297e-02 5.82294233e-05 9.99681165e-01 -1.68331361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55719347 meters 0.058603545217867904 Centerline is valid? [True, True] Translation: X:143.60, Y:88.73, Z:-1.69 [[ 2.23879920e-01 -9.74599810e-01 -5.74385678e-03 1.43597804e+02] [ 9.74267127e-01 2.23953566e-01 -2.54630216e-02 8.87335569e+01] [ 2.61026132e-02 1.04608387e-04 9.99659263e-01 -1.68501991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58719347 meters 0.05854242677069786 Centerline is valid? [True, True] Translation: X:143.60, Y:88.76, Z:-1.69 [[ 2.24375450e-01 -9.74486125e-01 -5.69645338e-03 1.43600906e+02] [ 9.74157682e-01 2.24447713e-01 -2.52989052e-02 8.87607705e+01] [ 2.59319881e-02 1.27209430e-04 9.99663701e-01 -1.68512830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61719347 meters 0.05867299689079154 Centerline is valid? [True, True] Translation: X:143.60, Y:88.79, Z:-1.69 [[ 2.25047211e-01 -9.74331044e-01 -5.72438056e-03 1.43603288e+02] [ 9.73998016e-01 2.25119949e-01 -2.54730060e-02 8.87875248e+01] [ 2.61078128e-02 1.57093671e-04 9.99659121e-01 -1.68716624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64719347 meters 0.05882208455749012 Centerline is valid? [True, True] Translation: X:143.61, Y:88.81, Z:-1.69 [[ 2.24829084e-01 -9.74379046e-01 -6.11204885e-03 1.43609033e+02] [ 9.73998269e-01 2.24912083e-01 -2.72383502e-02 8.88146138e+01] [ 2.79151513e-02 1.70848329e-04 9.99610282e-01 -1.68749834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67719347 meters 0.058852485579480085 Centerline is valid? [True, True] Translation: X:143.62, Y:88.84, Z:-1.69 [[ 2.24344756e-01 -9.74490606e-01 -6.12281148e-03 1.43615391e+02] [ 9.74107001e-01 2.24428228e-01 -2.73408460e-02 8.88405339e+01] [ 2.80175293e-02 1.69501908e-04 9.99607418e-01 -1.68791629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70719347 meters 0.05869344541123176 Centerline is valid? [True, True] Translation: X:143.62, Y:88.87, Z:-1.69 [[ 2.23336157e-01 -9.74723159e-01 -5.97692972e-03 1.43622374e+02] [ 9.74356397e-01 2.23416072e-01 -2.67370716e-02 8.88671824e+01] [ 2.73965851e-02 1.47695129e-04 9.99624632e-01 -1.68779704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73719347 meters 0.05864033959668679 Centerline is valid? [True, True] Translation: X:143.63, Y:88.89, Z:-1.69 [[ 2.20854373e-01 -9.75287817e-01 -6.08434952e-03 1.43629403e+02] [ 9.74906586e-01 2.20938148e-01 -2.72669007e-02 8.88937338e+01] [ 2.79373410e-02 9.03418509e-05 9.99609672e-01 -1.68736523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76719347 meters 0.05872650072887662 Centerline is valid? [True, True] Translation: X:143.64, Y:88.92, Z:-1.69 [[ 2.18697007e-01 -9.75772279e-01 -6.33082798e-03 1.43636925e+02] [ 9.75358148e-01 2.18788616e-01 -2.84257707e-02 8.89194501e+01] [ 2.91221922e-02 4.18063065e-05 9.99575858e-01 -1.68863853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79719347 meters 0.05925860172868374 Centerline is valid? [True, True] Translation: X:143.65, Y:88.94, Z:-1.69 [[ 2.15585578e-01 -9.76463068e-01 -6.53724078e-03 1.43646032e+02] [ 9.76020138e-01 2.15684666e-01 -2.94077462e-02 8.89442088e+01] [ 3.01255607e-02 -4.05926733e-05 9.99546121e-01 -1.69297671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82719347 meters 0.05930716026008769 Centerline is valid? [True, True] Translation: X:143.66, Y:88.97, Z:-1.69 [[ 2.12256931e-01 -9.77191252e-01 -6.65228461e-03 1.43656546e+02] [ 9.76731329e-01 2.12361106e-01 -2.99778383e-02 8.89699032e+01] [ 3.07067678e-02 -1.34490847e-04 9.99528427e-01 -1.69103007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85719347 meters 0.05968111262120271 Centerline is valid? [True, True] Translation: X:143.67, Y:88.99, Z:-1.69 [[ 2.07762289e-01 -9.78157804e-01 -6.49158811e-03 1.43667593e+02] [ 9.77718507e-01 2.07863522e-01 -2.93134336e-02 8.89944343e+01] [ 3.00225282e-02 -2.56719763e-04 9.99549189e-01 -1.69187930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88719347 meters 0.060572686188150496 Centerline is valid? [True, True] Translation: X:143.68, Y:89.02, Z:-1.69 [[ 2.00405036e-01 -9.79694654e-01 -6.01718461e-03 1.43683787e+02] [ 9.79316276e-01 2.00494875e-01 -2.72293299e-02 8.90171559e+01] [ 2.78828436e-02 -4.35831981e-04 9.99611103e-01 -1.69078903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91719347 meters 0.06126250287768091 Centerline is valid? [True, True] Translation: X:143.69, Y:89.04, Z:-1.69 [[ 1.97308089e-01 -9.80323652e-01 -5.92069740e-03 1.43692984e+02] [ 9.79956363e-01 1.97396251e-01 -2.68374074e-02 8.90431500e+01] [ 2.74780687e-02 -5.06787521e-04 9.99622278e-01 -1.69163041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94719347 meters 0.06176324261659953 Centerline is valid? [True, True] Translation: X:143.70, Y:89.07, Z:-1.69 [[ 1.95800570e-01 -9.80624880e-01 -6.08131065e-03 1.43700423e+02] [ 9.80236090e-01 1.95894203e-01 -2.76164570e-02 8.90687191e+01] [ 2.82726784e-02 -5.53802148e-04 9.99600095e-01 -1.69239388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97719347 meters 0.061429798409287695 Centerline is valid? [True, True] Translation: X:143.70, Y:89.10, Z:-1.69 [[ 1.96242362e-01 -9.80537138e-01 -5.98808045e-03 1.43704449e+02] [ 9.80158652e-01 1.96333005e-01 -2.72464448e-02 8.90953055e+01] [ 2.78918088e-02 -5.22362175e-04 9.99610811e-01 -1.69172772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00719347 meters 0.06111909120266832 Centerline is valid? [True, True] Translation: X:143.71, Y:89.12, Z:-1.69 [[ 1.97399276e-01 -9.80306338e-01 -5.74545210e-03 1.43707790e+02] [ 9.79956547e-01 1.97482334e-01 -2.61895884e-02 8.91213723e+01] [ 2.68084448e-02 -4.60487619e-04 9.99640483e-01 -1.69174568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03719347 meters 0.061079553302813616 Centerline is valid? [True, True] Translation: X:143.71, Y:89.15, Z:-1.69 [[ 1.99058733e-01 -9.79967166e-01 -6.32259531e-03 1.43710997e+02] [ 9.79541928e-01 1.99158617e-01 -2.88696607e-02 8.91480828e+01] [ 2.95505189e-02 -4.46489124e-04 9.99563188e-01 -1.69378569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06719347 meters 0.06066178798298561 Centerline is valid? [True, True] Translation: X:143.71, Y:89.18, Z:-1.69 [[ 2.01252234e-01 -9.79519130e-01 -6.30968519e-03 1.43712672e+02] [ 9.79093982e-01 2.01350781e-01 -2.88589283e-02 8.91758128e+01] [ 2.95383323e-02 -3.69851023e-04 9.99563580e-01 -1.69434429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09719347 meters 0.060045946986426776 Centerline is valid? [True, True] Translation: X:143.71, Y:89.20, Z:-1.70 [[ 2.07306267e-01 -9.78253813e-01 -6.60222239e-03 1.43707377e+02] [ 9.77785772e-01 2.07411293e-01 -3.02578911e-02 8.92029718e+01] [ 3.09692728e-02 -1.82908650e-04 9.99520320e-01 -1.69697337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12719347 meters 0.059683240062194685 Centerline is valid? [True, True] Translation: X:143.71, Y:89.23, Z:-1.70 [[ 2.09593599e-01 -9.77767522e-01 -6.41840216e-03 1.43708710e+02] [ 9.77323527e-01 2.09691829e-01 -2.94628702e-02 8.92309297e+01] [ 3.01537240e-02 -9.76264420e-05 9.99545268e-01 -1.69670225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15719347 meters 0.05863061023025884 Centerline is valid? [True, True] Translation: X:143.71, Y:89.26, Z:-1.69 [[ 2.10681323e-01 -9.77535759e-01 -6.10075457e-03 1.43711258e+02] [ 9.77133064e-01 2.10769629e-01 -2.80559807e-02 8.92588648e+01] [ 2.87115782e-02 -5.03778583e-05 9.99587736e-01 -1.68985696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18719347 meters 0.058550028388066264 Centerline is valid? [True, True] Translation: X:143.71, Y:89.29, Z:-1.69 [[ 2.10320568e-01 -9.77615654e-01 -5.73514294e-03 1.43714982e+02] [ 9.77258443e-01 2.10398743e-01 -2.64254476e-02 8.92857713e+01] [ 2.70405981e-02 -4.69017118e-05 9.99634335e-01 -1.68905282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21719346999998 meters 0.05866810370814468 Centerline is valid? [True, True] Translation: X:143.72, Y:89.31, Z:-1.69 [[ 2.04100618e-01 -9.78934332e-01 -5.52368898e-03 1.43723559e+02] [ 9.78602141e-01 2.04175251e-01 -2.55013048e-02 8.93112929e+01] [ 2.60919034e-02 -2.00661798e-04 9.99659528e-01 -1.68724290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24719346999998 meters 0.059449765280450075 Centerline is valid? [True, True] Translation: X:143.73, Y:89.34, Z:-1.69 [[ 1.98595919e-01 -9.80066751e-01 -5.36886298e-03 1.43733974e+02] [ 9.79752018e-01 1.98668208e-01 -2.48379896e-02 8.93354576e+01] [ 2.54095102e-02 -3.27430952e-04 9.99677073e-01 -1.68872288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27719347 meters 0.0610892828759695 Centerline is valid? [True, True] Translation: X:143.75, Y:89.36, Z:-1.69 [[ 1.86721952e-01 -9.82399072e-01 -5.19380495e-03 1.43748998e+02] [ 9.82104353e-01 1.86793188e-01 -2.40695753e-02 8.93609978e+01] [ 2.46160959e-02 -6.06540344e-04 9.99696794e-01 -1.68590956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30719347 meters 0.0625982927093948 Centerline is valid? [True, True] Translation: X:143.76, Y:89.39, Z:-1.69 [[ 1.81477173e-01 -9.83381159e-01 -5.24703398e-03 1.43759172e+02] [ 9.83079540e-01 1.81551517e-01 -2.43652418e-02 8.93869040e+01] [ 2.49129267e-02 -7.36516544e-04 9.99689354e-01 -1.68691657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33719347 meters 0.06428282403698678 Centerline is valid? [True, True] Translation: X:143.77, Y:89.41, Z:-1.69 [[ 1.76839639e-01 -9.84225884e-01 -5.21073750e-03 1.43768757e+02] [ 9.83927863e-01 1.76914390e-01 -2.42334158e-02 8.94109943e+01] [ 2.47730095e-02 -8.41561311e-04 9.99692748e-01 -1.68785948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36719347 meters 0.06580525604687827 Centerline is valid? [True, True] Translation: X:143.78, Y:89.44, Z:-1.69 [[ 1.73161552e-01 -9.84878729e-01 -5.38194419e-03 1.43776765e+02] [ 9.84560177e-01 1.73242517e-01 -2.50656891e-02 8.94366782e+01] [ 2.56190456e-02 -9.58434301e-04 9.99671319e-01 -1.68926895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39719347 meters 0.0700348873458699 Centerline is valid? [True, True] Translation: X:143.79, Y:89.46, Z:-1.69 [[ 1.69806122e-01 -9.85462499e-01 -5.43539974e-03 1.43785977e+02] [ 9.85136405e-01 1.69889869e-01 -2.53711469e-02 8.94610170e+01] [ 2.59257331e-02 -1.04643411e-03 9.99663324e-01 -1.69474694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42719347 meters 0.06691243706379393 Centerline is valid? [True, True] Translation: X:143.78, Y:89.49, Z:-1.69 [[ 1.69581997e-01 -9.85500384e-01 -5.56239713e-03 1.43782394e+02] [ 9.85157380e-01 1.69669841e-01 -2.60207943e-02 8.94887520e+01] [ 2.65872738e-02 -1.06717832e-03 9.99645926e-01 -1.68976295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45719347 meters 0.06749446833610774 Centerline is valid? [True, True] Translation: X:143.79, Y:89.51, Z:-1.69 [[ 1.69323678e-01 -9.85545198e-01 -5.49139698e-03 1.43785288e+02] [ 9.85209842e-01 1.69409425e-01 -2.57296165e-02 8.95144954e+01] [ 2.62879944e-02 -1.05354506e-03 9.99653856e-01 -1.69122944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48719347 meters 0.06731575589120875 Centerline is valid? [True, True] Translation: X:143.79, Y:89.54, Z:-1.69 [[ 1.69513032e-01 -9.85513185e-01 -5.39388303e-03 1.43786826e+02] [ 9.85188328e-01 1.69595750e-01 -2.53227201e-02 8.95418136e+01] [ 2.58706542e-02 -1.02145954e-03 9.99664777e-01 -1.69094334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51719347 meters 0.0675220396917821 Centerline is valid? [True, True] Translation: X:143.79, Y:89.57, Z:-1.69 [[ 1.69600563e-01 -9.85497336e-01 -5.53617589e-03 1.43788427e+02] [ 9.85153609e-01 1.69687731e-01 -2.60468804e-02 8.95688580e+01] [ 2.66085523e-02 -1.03641810e-03 9.99645393e-01 -1.69280098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54719347 meters 0.06854223562148214 Centerline is valid? [True, True] Translation: X:143.79, Y:89.60, Z:-1.70 [[ 1.68361714e-01 -9.85706782e-01 -6.03934593e-03 1.43786271e+02] [ 9.85296264e-01 1.68466023e-01 -2.84687812e-02 8.95966451e+01] [ 2.90792953e-02 -1.15749218e-03 9.99576438e-01 -1.69631342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57719347 meters 0.06986376225607083 Centerline is valid? [True, True] Translation: X:143.79, Y:89.62, Z:-1.70 [[ 1.67072323e-01 -9.85923847e-01 -6.40358518e-03 1.43788714e+02] [ 9.85460635e-01 1.67190269e-01 -3.02448606e-02 8.96226715e+01] [ 3.08897465e-02 -1.25740198e-03 9.99522007e-01 -1.69951484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60719347 meters 0.0702052827632779 Centerline is valid? [True, True] Translation: X:143.79, Y:89.65, Z:-1.70 [[ 1.66750015e-01 -9.85976681e-01 -6.66459810e-03 1.43790502e+02] [ 9.85473121e-01 1.66878010e-01 -3.15350317e-02 8.96499798e+01] [ 3.22049807e-02 -1.30931528e-03 9.99480427e-01 -1.70103538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63719347 meters 0.06904476342821914 Centerline is valid? [True, True] Translation: X:143.79, Y:89.68, Z:-1.70 [[ 1.66644693e-01 -9.85994787e-01 -6.62007603e-03 1.43790323e+02] [ 9.85495845e-01 1.66771122e-01 -3.13899938e-02 8.96775394e+01] [ 3.20544078e-02 -1.29308154e-03 9.99485289e-01 -1.69918115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66719347 meters 0.06723226032947831 Centerline is valid? [True, True] Translation: X:143.78, Y:89.71, Z:-1.70 [[ 1.67965070e-01 -9.85774389e-01 -6.04897970e-03 1.43784362e+02] [ 9.85355908e-01 1.68070140e-01 -2.87430426e-02 8.97065733e+01] [ 2.93508081e-02 -1.13257074e-03 9.99568531e-01 -1.69550229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69719347 meters 0.06779952425506511 Centerline is valid? [True, True] Translation: X:143.78, Y:89.73, Z:-1.70 [[ 1.70156963e-01 -9.85398806e-01 -5.98335698e-03 1.43783972e+02] [ 9.84987965e-01 1.70258898e-01 -2.84713304e-02 8.97334416e+01] [ 2.90743347e-02 -1.04893950e-03 9.99576702e-01 -1.69877016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72719347 meters 0.06537903039872738 Centerline is valid? [True, True] Translation: X:143.78, Y:89.76, Z:-1.70 [[ 1.72991419e-01 -9.84905989e-01 -5.84478434e-03 1.43777429e+02] [ 9.84512101e-01 1.73087612e-01 -2.78675855e-02 8.97632395e+01] [ 2.84586116e-02 -9.33407743e-04 9.99594536e-01 -1.69629049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75719347 meters 0.06431556014560431 Centerline is valid? [True, True] Translation: X:143.77, Y:89.79, Z:-1.70 [[ 1.75794283e-01 -9.84410291e-01 -5.72259862e-03 1.43773854e+02] [ 9.84030896e-01 1.75885467e-01 -2.73404003e-02 8.97918101e+01] [ 2.79206934e-02 -8.24927770e-04 9.99609801e-01 -1.69639124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78719347 meters 0.06372908727336837 Centerline is valid? [True, True] Translation: X:143.77, Y:89.82, Z:-1.70 [[ 1.79433578e-01 -9.83754541e-01 -5.53117916e-03 1.43768179e+02] [ 9.83398339e-01 1.79517490e-01 -2.64797576e-02 8.98194983e+01] [ 2.70425252e-02 -6.87994759e-04 9.99634047e-01 -1.69704989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81719347 meters 0.06365391044112922 Centerline is valid? [True, True] Translation: X:143.77, Y:89.85, Z:-1.70 [[ 1.80380359e-01 -9.83583386e-01 -5.16230122e-03 1.43769393e+02] [ 9.83271778e-01 1.80453186e-01 -2.47640657e-02 8.98462603e+01] [ 2.52890773e-02 -6.08994034e-04 9.99679995e-01 -1.69745829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84719347 meters 0.06222233344402348 Centerline is valid? [True, True] Translation: X:143.77, Y:89.87, Z:-1.69 [[ 1.80683609e-01 -9.83527419e-01 -5.22004287e-03 1.43767024e+02] [ 9.83207480e-01 1.80758007e-01 -2.50917293e-02 8.98748952e+01] [ 2.56219683e-02 -5.98720981e-04 9.99671524e-01 -1.69337629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87719347 meters 0.06235014926684746 Centerline is valid? [True, True] Translation: X:143.77, Y:89.90, Z:-1.69 [[ 1.80737761e-01 -9.83516966e-01 -5.31408931e-03 1.43768751e+02] [ 9.83183959e-01 1.80814878e-01 -2.55984818e-02 8.99014027e+01] [ 2.61374076e-02 -5.98115070e-04 9.99658181e-01 -1.69463669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90719347 meters 0.06311955718412748 Centerline is valid? [True, True] Translation: X:143.77, Y:89.93, Z:-1.70 [[ 1.77540832e-01 -9.84100219e-01 -5.10026426e-03 1.43769050e+02] [ 9.83792486e-01 1.77612897e-01 -2.46171234e-02 8.99287130e+01] [ 2.51315892e-02 -6.47057099e-04 9.99683942e-01 -1.69512938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93719347 meters 0.06353804564674032 Centerline is valid? [True, True] Translation: X:143.77, Y:89.96, Z:-1.69 [[ 1.75656875e-01 -9.84439568e-01 -4.83726268e-03 1.43771572e+02] [ 9.84161749e-01 1.75722260e-01 -2.33952788e-02 8.99561755e+01] [ 2.38812529e-02 -6.51107344e-04 9.99714590e-01 -1.69443615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96719346999998 meters 0.063811866797229 Centerline is valid? [True, True] Translation: X:143.77, Y:89.98, Z:-1.69 [[ 1.74617321e-01 -9.84624839e-01 -4.76620217e-03 1.43773400e+02] [ 9.84354106e-01 1.74681116e-01 -2.30976486e-02 8.99831898e+01] [ 2.35750841e-02 -6.58381143e-04 9.99721852e-01 -1.69487357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99719346999998 meters 0.06296504531739848 Centerline is valid? [True, True] Translation: X:143.77, Y:90.01, Z:-1.69 [[ 1.75594760e-01 -9.84451276e-01 -4.70803643e-03 1.43768892e+02] [ 9.84185945e-01 1.75656774e-01 -2.28631535e-02 9.00120972e+01] [ 2.33346591e-02 -6.18933334e-04 9.99727518e-01 -1.69445984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02719347 meters 0.06320371572384066 Centerline is valid? [True, True] Translation: X:143.77, Y:90.04, Z:-1.70 [[ 1.77223754e-01 -9.84159275e-01 -4.71821702e-03 1.43770617e+02] [ 9.83891528e-01 1.77285624e-01 -2.29623406e-02 9.00387545e+01] [ 2.34350725e-02 -5.72741550e-04 9.99725197e-01 -1.69682693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05719347 meters 0.0623771729186884 Centerline is valid? [True, True] Translation: X:143.77, Y:90.07, Z:-1.70 [[ 1.80034564e-01 -9.83649556e-01 -4.59420081e-03 1.43769378e+02] [ 9.83394562e-01 1.80092520e-01 -2.24013491e-02 9.00668150e+01] [ 2.28624583e-02 -4.84894977e-04 9.99738502e-01 -1.69735702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08719347 meters 0.061510242743075656 Centerline is valid? [True, True] Translation: X:143.77, Y:90.09, Z:-1.70 [[ 1.82682564e-01 -9.83159900e-01 -4.86742017e-03 1.43767480e+02] [ 9.82872356e-01 1.82746867e-01 -2.37805585e-02 9.00945312e+01] [ 2.42695973e-02 -4.39759341e-04 9.99705353e-01 -1.69735197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11719347 meters 0.06096268533856113 Centerline is valid? [True, True] Translation: X:143.77, Y:90.12, Z:-1.70 [[ 1.85403807e-01 -9.82649675e-01 -5.00444794e-03 1.43766299e+02] [ 9.82344311e-01 1.85470958e-01 -2.44985401e-02 9.01226386e+01] [ 2.50016622e-02 -3.73968359e-04 9.99687340e-01 -1.69812510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14719347 meters 0.061182329579611686 Centerline is valid? [True, True] Translation: X:143.76, Y:90.15, Z:-1.70 [[ 1.88072062e-01 -9.82136872e-01 -6.00535284e-03 1.43764391e+02] [ 9.81695073e-01 1.88167581e-01 -2.94575148e-02 9.01498838e+01] [ 3.00613241e-02 -3.55289746e-04 9.99547993e-01 -1.70304600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17719347 meters 0.06179786800345205 Centerline is valid? [True, True] Translation: X:143.77, Y:90.18, Z:-1.71 [[ 1.86499112e-01 -9.82434952e-01 -6.29651117e-03 1.43769880e+02] [ 9.81947578e-01 1.86604918e-01 -3.09444545e-02 9.01764717e+01] [ 3.15758736e-02 -4.11730609e-04 9.99501273e-01 -1.70596541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20719347 meters 0.06300390448944787 Centerline is valid? [True, True] Translation: X:143.78, Y:90.20, Z:-1.71 [[ 1.81069640e-01 -9.83450433e-01 -6.24746986e-03 1.43780281e+02] [ 9.82969183e-01 1.81176491e-01 -3.07679016e-02 9.02009542e+01] [ 3.13906009e-02 -5.69937458e-04 9.99507031e-01 -1.70660838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23719347 meters 0.06340460761390226 Centerline is valid? [True, True] Translation: X:143.79, Y:90.23, Z:-1.70 [[ 1.77645543e-01 -9.84077040e-01 -5.86860229e-03 1.43788197e+02] [ 9.83650803e-01 1.77741347e-01 -2.89674307e-02 9.02264925e+01] [ 2.95492767e-02 -6.26720403e-04 9.99563128e-01 -1.70455335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26719347 meters 0.06434519765300412 Centerline is valid? [True, True] Translation: X:143.80, Y:90.25, Z:-1.70 [[ 1.74303605e-01 -9.84675901e-01 -5.62351848e-03 1.43796167e+02] [ 9.84283213e-01 1.74392944e-01 -2.78147189e-02 9.02515834e+01] [ 2.83691853e-02 -6.86929059e-04 9.99597278e-01 -1.70492940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29719347 meters 0.06439301115884312 Centerline is valid? [True, True] Translation: X:143.80, Y:90.28, Z:-1.70 [[ 1.73118799e-01 -9.84884414e-01 -5.70724473e-03 1.43802087e+02] [ 9.84478492e-01 1.73211343e-01 -2.82830131e-02 9.02778078e+01] [ 2.88440583e-02 -7.22338433e-04 9.99583663e-01 -1.70426748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32719347 meters 0.06439301115884312 Centerline is valid? [True, True] Translation: X:143.81, Y:90.30, Z:-1.70 [[ 1.72702355e-01 -9.84957595e-01 -5.69493368e-03 1.43806833e+02] [ 9.84551632e-01 1.72794718e-01 -2.82854953e-02 9.03032550e+01] [ 2.88440679e-02 -7.21984587e-04 9.99583663e-01 -1.70448072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35719347 meters 0.06449419856664435 Centerline is valid? [True, True] Translation: X:143.81, Y:90.33, Z:-1.70 [[ 1.71401891e-01 -9.85184685e-01 -5.70333178e-03 1.43811888e+02] [ 9.84776052e-01 1.71495105e-01 -2.83823272e-02 9.03301352e+01] [ 2.89399276e-02 -7.51720002e-04 9.99580870e-01 -1.70413732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38719347 meters 0.0644187339356298 Centerline is valid? [True, True] Translation: X:143.82, Y:90.36, Z:-1.70 [[ 1.71669823e-01 -9.85138461e-01 -5.62884480e-03 1.43815796e+02] [ 9.84738480e-01 1.71760560e-01 -2.80791156e-02 9.03554997e+01] [ 2.86286303e-02 -7.22603253e-04 9.99589856e-01 -1.70423426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41719347 meters 0.06334590539242711 Centerline is valid? [True, True] Translation: X:143.82, Y:90.38, Z:-1.70 [[ 1.73131120e-01 -9.84883225e-01 -5.53604390e-03 1.43817310e+02] [ 9.84494671e-01 1.73218352e-01 -2.76703056e-02 9.03828461e+01] [ 2.82109642e-02 -6.59614702e-04 9.99601774e-01 -1.70124799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44719347 meters 0.0634632319660982 Centerline is valid? [True, True] Translation: X:143.82, Y:90.41, Z:-1.70 [[ 1.74937791e-01 -9.84564302e-01 -5.46852296e-03 1.43820771e+02] [ 9.84183911e-01 1.75022236e-01 -2.73723599e-02 9.04091091e+01] [ 2.79069615e-02 -5.93572133e-04 9.99610349e-01 -1.70367867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47719347 meters 0.06158581259973496 Centerline is valid? [True, True] Translation: X:143.82, Y:90.44, Z:-1.70 [[ 1.76752530e-01 -9.84240411e-01 -5.41825656e-03 1.43817518e+02] [ 9.83865305e-01 1.76834771e-01 -2.71758383e-02 9.04382585e+01] [ 2.77056944e-02 -5.27436468e-04 9.99615984e-01 -1.69861885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50719347 meters 0.06175535585837946 Centerline is valid? [True, True] Translation: X:143.82, Y:90.46, Z:-1.70 [[ 1.77141991e-01 -9.84169667e-01 -5.54805620e-03 1.43819961e+02] [ 9.83775081e-01 1.77228087e-01 -2.78710443e-02 9.04642418e+01] [ 2.84131078e-02 -5.20907158e-04 9.99596130e-01 -1.70039616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53719347 meters 0.06163964346717182 Centerline is valid? [True, True] Translation: X:143.82, Y:90.49, Z:-1.70 [[ 1.77406394e-01 -9.84121955e-01 -5.56320294e-03 1.43822300e+02] [ 9.83723382e-01 1.77492886e-01 -2.80104084e-02 9.04912493e+01] [ 2.85530868e-02 -5.03427263e-04 9.99592151e-01 -1.70152320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56719347 meters 0.06314756999597708 Centerline is valid? [True, True] Translation: X:143.83, Y:90.52, Z:-1.71 [[ 1.77096108e-01 -9.84177714e-01 -5.58538656e-03 1.43828910e+02] [ 9.83774159e-01 1.77183449e-01 -2.81856186e-02 9.05165961e+01] [ 2.87292957e-02 -5.03195616e-04 9.99587102e-01 -1.70882255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59719347 meters 0.062088997626164426 Centerline is valid? [True, True] Translation: X:143.83, Y:90.54, Z:-1.70 [[ 1.75966089e-01 -9.84381429e-01 -5.39791233e-03 1.43832431e+02] [ 9.84003049e-01 1.76048128e-01 -2.72957302e-02 9.05432902e+01] [ 2.78197023e-02 -5.08439294e-04 9.99612828e-01 -1.70324503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62719347 meters 0.062351801679849383 Centerline is valid? [True, True] Translation: X:143.84, Y:90.57, Z:-1.70 [[ 1.71996000e-01 -9.85085897e-01 -4.81164612e-03 1.43840655e+02] [ 9.84784201e-01 1.72062429e-01 -2.43843874e-02 9.05695800e+01] [ 2.48486197e-02 -5.44415989e-04 9.99691077e-01 -1.70013332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65719347 meters 0.06243810516050026 Centerline is valid? [True, True] Translation: X:143.85, Y:90.60, Z:-1.70 [[ 1.69549677e-01 -9.85510153e-01 -4.75877533e-03 1.43846660e+02] [ 9.85214083e-01 1.69615414e-01 -2.41624202e-02 9.05967567e+01] [ 2.46194721e-02 -5.91681928e-04 9.99696720e-01 -1.69883747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68719347 meters 0.06361975368636816 Centerline is valid? [True, True] Translation: X:143.85, Y:90.62, Z:-1.70 [[ 1.67432764e-01 -9.85870219e-01 -5.11674278e-03 1.43854795e+02] [ 9.85527023e-01 1.67509524e-01 -2.60200958e-02 9.06220273e+01] [ 2.65095407e-02 -6.86071733e-04 9.99648325e-01 -1.70221692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71719346999998 meters 0.06486585545262485 Centerline is valid? [True, True] Translation: X:143.86, Y:90.65, Z:-1.71 [[ 1.63517388e-01 -9.86522618e-01 -5.93191600e-03 1.43861483e+02] [ 9.86059775e-01 1.63622439e-01 -3.02294028e-02 9.06483447e+01] [ 3.07925841e-02 -9.06190790e-04 9.99525385e-01 -1.70501488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74719346999998 meters 0.06489146632894623 Centerline is valid? [True, True] Translation: X:143.87, Y:90.67, Z:-1.70 [[ 1.63075399e-01 -9.86596572e-01 -5.79814570e-03 1.43866391e+02] [ 9.86152461e-01 1.63176022e-01 -2.96126531e-02 9.06747662e+01] [ 3.01618604e-02 -8.88760431e-04 9.99544632e-01 -1.70488254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77719347 meters 0.06504868849774531 Centerline is valid? [True, True] Translation: X:143.87, Y:90.70, Z:-1.70 [[ 1.62800454e-01 -9.86642375e-01 -5.73025224e-03 1.43872296e+02] [ 9.86206746e-01 1.62898912e-01 -2.93291525e-02 9.07010133e+01] [ 2.98708366e-02 -8.76414065e-04 9.99553383e-01 -1.70433880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80719347 meters 0.06491498370365106 Centerline is valid? [True, True] Translation: X:143.88, Y:90.73, Z:-1.70 [[ 1.63657639e-01 -9.86501964e-01 -5.48197008e-03 1.43878865e+02] [ 9.86101466e-01 1.63747454e-01 -2.81188716e-02 9.07269353e+01] [ 2.86369807e-02 -8.03910586e-04 9.99589554e-01 -1.70441593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83719347 meters 0.06372624776385949 Centerline is valid? [True, True] Translation: X:143.88, Y:90.76, Z:-1.70 [[ 1.64694740e-01 -9.86330842e-01 -5.20692903e-03 1.43883161e+02] [ 9.85968736e-01 1.64775409e-01 -2.67341800e-02 9.07551440e+01] [ 2.72267201e-02 -7.30890407e-04 9.99629017e-01 -1.70008183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86719347 meters 0.06283415980551323 Centerline is valid? [True, True] Translation: X:143.89, Y:90.78, Z:-1.70 [[ 1.68838183e-01 -9.85631468e-01 -4.92723927e-03 1.43886083e+02] [ 9.85305650e-01 1.68909085e-01 -2.53475221e-02 9.07816213e+01] [ 2.58155709e-02 -5.75207105e-04 9.99666557e-01 -1.69946366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89719347 meters 0.0632933593374525 Centerline is valid? [True, True] Translation: X:143.89, Y:90.81, Z:-1.70 [[ 1.70504764e-01 -9.85344209e-01 -4.99142888e-03 1.43891194e+02] [ 9.85008607e-01 1.70576982e-01 -2.57203838e-02 9.08074505e+01] [ 2.61948541e-02 -5.31152423e-04 9.99656715e-01 -1.70349261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92719347 meters 0.06282177546528345 Centerline is valid? [True, True] Translation: X:143.89, Y:90.83, Z:-1.70 [[ 1.71355459e-01 -9.85197083e-01 -4.90047099e-03 1.43893248e+02] [ 9.84872124e-01 1.71424818e-01 -2.53067389e-02 9.08343676e+01] [ 2.57721877e-02 -4.89889409e-04 9.99667722e-01 -1.70334237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95719347 meters 0.0619199190274518 Centerline is valid? [True, True] Translation: X:143.89, Y:90.86, Z:-1.70 [[ 1.72192876e-01 -9.85051700e-01 -4.77099367e-03 1.43894015e+02] [ 9.84742439e-01 1.72258378e-01 -2.46856397e-02 9.08631888e+01] [ 2.51384750e-02 -4.47508634e-04 9.99683878e-01 -1.69972560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98719347 meters 0.06218529294416414 Centerline is valid? [True, True] Translation: X:143.90, Y:90.89, Z:-1.70 [[ 1.73512697e-01 -9.84819268e-01 -4.93497095e-03 1.43897963e+02] [ 9.84486704e-01 1.73582360e-01 -2.55948201e-02 9.08886708e+01] [ 2.60628959e-02 -4.17387018e-04 9.99660218e-01 -1.70264165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01719347 meters 0.06250721031043302 Centerline is valid? [True, True] Translation: X:143.91, Y:90.92, Z:-1.70 [[ 1.72964706e-01 -9.84912786e-01 -5.47854150e-03 1.43905604e+02] [ 9.84501498e-01 1.73050810e-01 -2.84643251e-02 9.09158211e+01] [ 2.89829438e-02 -4.70308697e-04 9.99579796e-01 -1.70467080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04719347 meters 0.06295043329962435 Centerline is valid? [True, True] Translation: X:143.91, Y:90.94, Z:-1.71 [[ 1.72010001e-01 -9.85077183e-01 -5.95842886e-03 1.43914437e+02] [ 9.84588740e-01 1.72112352e-01 -3.10217968e-02 9.09422024e+01] [ 3.15843834e-02 -5.30542676e-04 9.99500948e-01 -1.70710156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07719347 meters 0.06408449883996582 Centerline is valid? [True, True] Translation: X:143.92, Y:90.97, Z:-1.71 [[ 1.69932817e-01 -9.85432826e-01 -6.70698446e-03 1.43923103e+02] [ 9.84812598e-01 1.70063828e-01 -3.49634172e-02 9.09677480e+01] [ 3.55947144e-02 -6.63690807e-04 9.99366087e-01 -1.71113627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10719347 meters 0.06371095814545802 Centerline is valid? [True, True] Translation: X:143.93, Y:91.00, Z:-1.71 [[ 1.68643634e-01 -9.85655315e-01 -6.55165361e-03 1.43925207e+02] [ 9.85060808e-01 1.68769478e-01 -3.42354720e-02 9.09953281e+01] [ 3.48500941e-02 -6.80182795e-04 9.99392320e-01 -1.70932105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13719347 meters 0.06387473577627176 Centerline is valid? [True, True] Translation: X:143.93, Y:91.02, Z:-1.71 [[ 1.70133902e-01 -9.85399871e-01 -6.44596845e-03 1.43927294e+02] [ 9.84822033e-01 1.70254889e-01 -3.37466439e-02 9.10220645e+01] [ 3.43513962e-02 -6.06683530e-04 9.99409632e-01 -1.71089846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16719347 meters 0.06320270772695703 Centerline is valid? [True, True] Translation: X:143.93, Y:91.05, Z:-1.71 [[ 1.72567581e-01 -9.84977451e-01 -6.31281847e-03 1.43927541e+02] [ 9.84420534e-01 1.72682289e-01 -3.31215716e-02 9.10495936e+01] [ 3.37141131e-02 -4.98758622e-04 9.99431393e-01 -1.70956043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19719347 meters 0.06217885456510138 Centerline is valid? [True, True] Translation: X:143.93, Y:91.08, Z:-1.71 [[ 1.75962224e-01 -9.84378544e-01 -6.01472849e-03 1.43927525e+02] [ 9.83870388e-01 1.76064639e-01 -3.16275615e-02 9.10772320e+01] [ 3.21924739e-02 -3.52457185e-04 9.99481626e-01 -1.70684525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22719347 meters 0.0611597557095119 Centerline is valid? [True, True] Translation: X:143.92, Y:91.11, Z:-1.70 [[ 1.82789444e-01 -9.83135296e-01 -5.74539756e-03 1.43924546e+02] [ 9.82669303e-01 1.82879681e-01 -3.02665508e-02 9.11066454e+01] [ 3.08068308e-02 -1.13419812e-04 9.99525351e-01 -1.70347583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25719347 meters 0.061248466798787586 Centerline is valid? [True, True] Translation: X:143.93, Y:91.13, Z:-1.71 [[ 1.85124478e-01 -9.82699145e-01 -5.59629796e-03 1.43925751e+02] [ 9.82254640e-01 1.85209045e-01 -2.95538904e-02 9.11332425e+01] [ 3.00790678e-02 -2.58411052e-05 9.99547522e-01 -1.70600726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28719347 meters 0.061066709416764 Centerline is valid? [True, True] Translation: X:143.93, Y:91.16, Z:-1.70 [[ 1.87048549e-01 -9.82334511e-01 -5.63465488e-03 1.43927905e+02] [ 9.81881808e-01 1.87133394e-01 -2.98195852e-02 9.11605197e+01] [ 3.03472397e-02 4.51450158e-05 9.99539415e-01 -1.70460177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31719347 meters 0.061376639281080204 Centerline is valid? [True, True] Translation: X:143.93, Y:91.19, Z:-1.71 [[ 1.88343743e-01 -9.82086372e-01 -5.74390017e-03 1.43930892e+02] [ 9.81613691e-01 1.88431282e-01 -3.04666101e-02 9.11867258e+01] [ 3.10031730e-02 9.99043250e-05 9.99519281e-01 -1.70740843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34719347 meters 0.06185767332560074 Centerline is valid? [True, True] Translation: X:143.94, Y:91.21, Z:-1.71 [[ 1.87889934e-01 -9.82168573e-01 -6.50134139e-03 1.43938426e+02] [ 9.81560359e-01 1.88002347e-01 -3.45597970e-02 9.12123570e+01] [ 3.51658139e-02 1.11978999e-04 9.99381485e-01 -1.71072961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37719347 meters 0.06173758915925467 Centerline is valid? [True, True] Translation: X:143.95, Y:91.24, Z:-1.71 [[ 1.85613847e-01 -9.82601609e-01 -6.44803839e-03 1.43947284e+02] [ 9.82001118e-01 1.85725808e-01 -3.43471711e-02 9.12388522e+01] [ 3.49471527e-02 4.33296522e-05 9.99389161e-01 -1.71007285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40719347 meters 0.06209648041925208 Centerline is valid? [True, True] Translation: X:143.96, Y:91.26, Z:-1.71 [[ 1.82138226e-01 -9.83251146e-01 -6.54603140e-03 1.43957121e+02] [ 9.82630107e-01 1.82255807e-01 -3.49412987e-02 9.12644478e+01] [ 3.55491242e-02 -6.81813650e-05 9.99367928e-01 -1.71271033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43719347 meters 0.06196687452015602 Centerline is valid? [True, True] Translation: X:143.97, Y:91.29, Z:-1.71 [[ 1.74662218e-01 -9.84611401e-01 -5.78789508e-03 1.43973541e+02] [ 9.84124435e-01 1.74757853e-01 -3.09643316e-02 9.12891856e+01] [ 3.14993140e-02 -2.87710144e-04 9.99503732e-01 -1.70814202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46719346999998 meters 0.062132192100690015 Centerline is valid? [True, True] Translation: X:143.98, Y:91.32, Z:-1.71 [[ 1.71156065e-01 -9.85226359e-01 -5.88410365e-03 1.43984262e+02] [ 9.84721199e-01 1.71256724e-01 -3.15482989e-02 9.13150791e+01] [ 3.20899080e-02 -3.94518916e-04 9.99484908e-01 -1.70639653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49719346999998 meters 0.06253346275717561 Centerline is valid? [True, True] Translation: X:143.99, Y:91.34, Z:-1.71 [[ 1.68736007e-01 -9.85643749e-01 -5.87870002e-03 1.43993782e+02] [ 9.85137576e-01 1.68837751e-01 -3.15875021e-02 9.13410400e+01] [ 3.21265705e-02 -4.61379314e-04 9.99483702e-01 -1.70703602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52719347 meters 0.06277592619835919 Centerline is valid? [True, True] Translation: X:144.00, Y:91.37, Z:-1.71 [[ 1.67757573e-01 -9.85809424e-01 -6.09732633e-03 1.44000833e+02] [ 9.85262632e-01 1.67867600e-01 -3.28331316e-02 9.13671418e+01] [ 3.33907541e-02 -4.99461334e-04 9.99442249e-01 -1.70799292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55719347 meters 0.06303860599109239 Centerline is valid? [True, True] Translation: X:144.01, Y:91.39, Z:-1.71 [[ 1.66298165e-01 -9.86058650e-01 -5.76704525e-03 1.44008166e+02] [ 9.85567332e-01 1.66397359e-01 -3.11279992e-02 9.13920005e+01] [ 3.16536540e-02 -5.07282263e-04 9.99498769e-01 -1.70772068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58719347 meters 0.0628918689443581 Centerline is valid? [True, True] Translation: X:144.01, Y:91.42, Z:-1.71 [[ 1.64760394e-01 -9.86317864e-01 -5.57519682e-03 1.44014547e+02] [ 9.85856586e-01 1.64853855e-01 -3.01661933e-02 9.14173842e+01] [ 3.06725480e-02 -5.26150623e-04 9.99529348e-01 -1.70601162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61719347 meters 0.06310568376307613 Centerline is valid? [True, True] Translation: X:144.02, Y:91.44, Z:-1.71 [[ 1.63639628e-01 -9.86504974e-01 -5.47805611e-03 1.44021455e+02] [ 9.86057460e-01 1.63730407e-01 -2.97159651e-02 9.14420083e+01] [ 3.02118717e-02 -5.38968629e-04 9.99543372e-01 -1.70642216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64719347 meters 0.06361262094653362 Centerline is valid? [True, True] Translation: X:144.03, Y:91.47, Z:-1.71 [[ 1.62666849e-01 -9.86664166e-01 -5.77230510e-03 1.44027596e+02] [ 9.86165286e-01 1.62768170e-01 -3.13775542e-02 9.14669899e+01] [ 3.18986559e-02 -5.88359044e-04 9.99490935e-01 -1.70871394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67719347 meters 0.06404174661158864 Centerline is valid? [True, True] Translation: X:144.03, Y:91.49, Z:-1.71 [[ 1.61595801e-01 -9.86838280e-01 -6.08320499e-03 1.44032261e+02] [ 9.86281984e-01 1.61708974e-01 -3.31369261e-02 9.14935167e+01] [ 3.36844960e-02 -6.44967380e-04 9.99432308e-01 -1.71089802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70719347 meters 0.06377402181262584 Centerline is valid? [True, True] Translation: X:144.03, Y:91.52, Z:-1.71 [[ 1.59465357e-01 -9.87183879e-01 -6.22808789e-03 1.44034100e+02] [ 9.86598200e-01 1.59585302e-01 -3.40077075e-02 9.15202941e+01] [ 3.45657719e-02 -7.21569082e-04 9.99402165e-01 -1.70991121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73719347 meters 0.06363279534799629 Centerline is valid? [True, True] Translation: X:144.04, Y:91.55, Z:-1.71 [[ 1.58852438e-01 -9.87283403e-01 -6.11437016e-03 1.44038607e+02] [ 9.86716460e-01 1.58968448e-01 -3.34613100e-02 9.15475825e+01] [ 3.40077880e-02 -7.17739004e-04 9.99421310e-01 -1.70993173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76719347 meters 0.06346110334352635 Centerline is valid? [True, True] Translation: X:144.04, Y:91.57, Z:-1.71 [[ 1.59254425e-01 -9.87217612e-01 -6.27806052e-03 1.44043474e+02] [ 9.86617168e-01 1.59376539e-01 -3.44337408e-02 9.15744505e+01] [ 3.49941710e-02 -7.10316700e-04 9.99387264e-01 -1.70938530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79719347 meters 0.06340165004437501 Centerline is valid? [True, True] Translation: X:144.05, Y:91.60, Z:-1.71 [[ 1.59787331e-01 -9.87132131e-01 -6.17779724e-03 1.44048178e+02] [ 9.86547875e-01 1.59905318e-01 -3.39643981e-02 9.16002998e+01] [ 3.45152113e-02 -6.67612217e-04 9.99403950e-01 -1.71113711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82719347 meters 0.0618785128193015 Centerline is valid? [True, True] Translation: X:144.05, Y:91.63, Z:-1.71 [[ 1.62718416e-01 -9.86649721e-01 -6.71162597e-03 1.44047358e+02] [ 9.85956917e-01 1.62855664e-01 -3.69728299e-02 9.16292681e+01] [ 3.75722586e-02 -6.01213739e-04 9.99293733e-01 -1.70826411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85719347 meters 0.06191216447163538 Centerline is valid? [True, True] Translation: X:144.05, Y:91.66, Z:-1.71 [[ 1.64897142e-01 -9.86284989e-01 -7.13114011e-03 1.44048675e+02] [ 9.85499066e-01 1.65050397e-01 -3.93694873e-02 9.16565858e+01] [ 4.00065318e-02 -5.35815977e-04 9.99199275e-01 -1.71193889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88719347 meters 0.06172453037348459 Centerline is valid? [True, True] Translation: X:144.05, Y:91.68, Z:-1.71 [[ 1.66842339e-01 -9.85956660e-01 -7.28683329e-03 1.44050149e+02] [ 9.85132885e-01 1.67000769e-01 -4.02981658e-02 9.16834404e+01] [ 4.09491518e-02 -4.55058866e-04 9.99161128e-01 -1.71277026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91719347 meters 0.062164373350456374 Centerline is valid? [True, True] Translation: X:144.05, Y:91.71, Z:-1.72 [[ 1.68642381e-01 -9.85651075e-01 -7.19071470e-03 1.44053302e+02] [ 9.84844501e-01 1.68795233e-01 -3.98682645e-02 9.17098407e+01] [ 4.05099561e-02 -3.58256785e-04 9.99179071e-01 -1.71771585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94719347 meters 0.06104103877014333 Centerline is valid? [True, True] Translation: X:144.06, Y:91.74, Z:-1.71 [[ 1.71365059e-01 -9.85183794e-01 -6.84901928e-03 1.44058075e+02] [ 9.84448554e-01 1.71501731e-01 -3.80552369e-02 9.17368953e+01] [ 3.86660213e-02 -2.21169211e-04 9.99252165e-01 -1.71425213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97719347 meters 0.060826039104308144 Centerline is valid? [True, True] Translation: X:144.06, Y:91.76, Z:-1.71 [[ 1.70030324e-01 -9.85413877e-01 -7.01278449e-03 1.44064034e+02] [ 9.84639791e-01 1.70174675e-01 -3.90520490e-02 9.17630748e+01] [ 3.96758293e-02 -2.65034101e-04 9.99212569e-01 -1.71261891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00719347 meters 0.06102943949948652 Centerline is valid? [True, True] Translation: X:144.07, Y:91.79, Z:-1.71 [[ 1.67920616e-01 -9.85774169e-01 -7.20800576e-03 1.44071424e+02] [ 9.84953015e-01 1.68074894e-01 -4.02291982e-02 9.17894047e+01] [ 4.08683892e-02 -3.44235275e-04 9.99164479e-01 -1.71341039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03719347 meters 0.06175904219764698 Centerline is valid? [True, True] Translation: X:144.08, Y:91.82, Z:-1.71 [[ 1.59901208e-01 -9.87104697e-01 -7.47807225e-03 1.44084043e+02] [ 9.86218578e-01 1.60074498e-01 -4.18218919e-02 9.18154660e+01] [ 4.24796346e-02 -6.87642757e-04 9.99097096e-01 -1.71263679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06719347 meters 0.06372058094632854 Centerline is valid? [True, True] Translation: X:144.10, Y:91.84, Z:-1.72 [[ 1.55862003e-01 -9.87752107e-01 -7.26710953e-03 1.44095311e+02] [ 9.86911771e-01 1.56029163e-01 -4.07437849e-02 9.18399938e+01] [ 4.13786405e-02 -8.21588015e-04 9.99143200e-01 -1.71732536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09719347 meters 0.06260152823438583 Centerline is valid? [True, True] Translation: X:144.10, Y:91.87, Z:-1.71 [[ 1.51973173e-01 -9.88357181e-01 -7.36464030e-03 1.44101260e+02] [ 9.87490924e-01 1.52148336e-01 -4.13830741e-02 9.18669481e+01] [ 4.20217762e-02 -9.83398368e-04 9.99116211e-01 -1.70877300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12719347 meters 0.0653920969675086 Centerline is valid? [True, True] Translation: X:144.11, Y:91.89, Z:-1.71 [[ 1.48509791e-01 -9.88884898e-01 -7.17642873e-03 1.44112020e+02] [ 9.88058682e-01 1.48679113e-01 -4.04297306e-02 9.18914707e+01] [ 4.10473350e-02 -1.08652188e-03 9.99156612e-01 -1.71472177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15719347 meters 0.06456503028518118 Centerline is valid? [True, True] Translation: X:144.12, Y:91.92, Z:-1.71 [[ 1.45065426e-01 -9.89396892e-01 -7.05783657e-03 1.44115211e+02] [ 9.88594430e-01 1.45232098e-01 -3.98583878e-02 9.19180229e+01] [ 4.04607894e-02 -1.19526392e-03 9.99180412e-01 -1.70795217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18719347 meters 0.06477345099381075 Centerline is valid? [True, True] Translation: X:144.12, Y:91.95, Z:-1.71 [[ 1.44234128e-01 -9.89521360e-01 -6.63284953e-03 1.44120290e+02] [ 9.88809726e-01 1.44382025e-01 -3.75387388e-02 9.19451763e+01] [ 3.81030481e-02 -1.14425886e-03 9.99273160e-01 -1.70733201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21719346999998 meters 0.06328918578999136 Centerline is valid? [True, True] Translation: X:144.12, Y:91.97, Z:-1.70 [[ 1.43205946e-01 -9.89671157e-01 -6.56180927e-03 1.44120585e+02] [ 9.88971297e-01 1.43351525e-01 -3.72305467e-02 9.19724402e+01] [ 3.77866436e-02 -1.15780539e-03 9.99285159e-01 -1.70317895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24719346999998 meters 0.06328918578999136 Centerline is valid? [True, True] Translation: X:144.12, Y:92.00, Z:-1.70 [[ 1.42789446e-01 -9.89731440e-01 -6.54612745e-03 1.44124915e+02] [ 9.89031518e-01 1.42934730e-01 -3.72333079e-02 9.19988284e+01] [ 3.77866444e-02 -1.15780297e-03 9.99285159e-01 -1.70339916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27719347 meters 0.06408706626974903 Centerline is valid? [True, True] Translation: X:144.13, Y:92.02, Z:-1.71 [[ 1.42287995e-01 -9.89804031e-01 -6.48890202e-03 1.44128502e+02] [ 9.89112750e-01 1.42431212e-01 -3.70043032e-02 9.20245062e+01] [ 3.75512307e-02 -1.15298760e-03 9.99294039e-01 -1.70502640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30719347 meters 0.06326980787685607 Centerline is valid? [True, True] Translation: X:144.13, Y:92.05, Z:-1.70 [[ 1.42411122e-01 -9.89787595e-01 -6.29195170e-03 1.44128564e+02] [ 9.89134691e-01 1.42545787e-01 -3.59619525e-02 9.20526579e+01] [ 3.64915857e-02 -1.10220571e-03 9.99333352e-01 -1.70355541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33719347 meters 0.06261373358751995 Centerline is valid? [True, True] Translation: X:144.13, Y:92.08, Z:-1.70 [[ 1.45237902e-01 -9.89377029e-01 -6.24871508e-03 1.44126144e+02] [ 9.88729321e-01 1.45368975e-01 -3.58077066e-02 9.20793478e+01] [ 3.63356916e-02 -9.77651636e-04 9.99339163e-01 -1.70462570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36719347 meters 0.06220402970864168 Centerline is valid? [True, True] Translation: X:144.13, Y:92.11, Z:-1.71 [[ 1.47200356e-01 -9.89085522e-01 -6.47195050e-03 1.44126166e+02] [ 9.88387107e-01 1.47339662e-01 -3.71746103e-02 9.21067768e+01] [ 3.77224438e-02 -9.24676549e-04 9.99287828e-01 -1.70644342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39719347 meters 0.06143018120610129 Centerline is valid? [True, True] Translation: X:144.12, Y:92.14, Z:-1.71 [[ 1.50436783e-01 -9.88596901e-01 -6.70386092e-03 1.44124093e+02] [ 9.87843392e-01 1.50583871e-01 -3.85996112e-02 9.21351008e+01] [ 3.91689493e-02 -8.15563404e-04 9.99232269e-01 -1.70809269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42719347 meters 0.06113427462005342 Centerline is valid? [True, True] Translation: X:144.12, Y:92.16, Z:-1.71 [[ 1.53882915e-01 -9.88065999e-01 -6.75498052e-03 1.44121583e+02] [ 9.87296502e-01 1.54029653e-01 -3.89933738e-02 9.21624047e+01] [ 3.95684941e-02 -6.68754624e-04 9.99216637e-01 -1.71122828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45719347 meters 0.060433930516064834 Centerline is valid? [True, True] Translation: X:144.12, Y:92.19, Z:-1.71 [[ 1.57732824e-01 -9.87458221e-01 -6.82774694e-03 1.44118543e+02] [ 9.86667755e-01 1.57879722e-01 -3.95061296e-02 9.21908378e+01] [ 4.00886152e-02 -5.05304355e-04 9.99196001e-01 -1.71222214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48719347 meters 0.06013406110069208 Centerline is valid? [True, True] Translation: X:144.11, Y:92.22, Z:-1.72 [[ 1.66840028e-01 -9.85964314e-01 -6.22709323e-03 1.44110046e+02] [ 9.85302502e-01 1.66956161e-01 -3.61195236e-02 9.22190184e+01] [ 3.66522129e-02 -1.09388225e-04 9.99328076e-01 -1.71553926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51719347 meters 0.05984238385924711 Centerline is valid? [True, True] Translation: X:144.11, Y:92.25, Z:-1.71 [[ 1.72024877e-01 -9.85075579e-01 -5.79185802e-03 1.44108321e+02] [ 9.84500089e-01 1.72122329e-01 -3.36671826e-02 9.22478492e+01] [ 3.41616275e-02 8.95082129e-05 9.99416317e-01 -1.71312791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54719347 meters 0.06184076188905625 Centerline is valid? [True, True] Translation: X:144.10, Y:92.28, Z:-1.72 [[ 1.79706249e-01 -9.83707309e-01 -5.05910461e-03 1.44103383e+02] [ 9.83265963e-01 1.79777161e-01 -2.94655511e-02 9.22757051e+01] [ 2.98949894e-02 3.20698298e-04 9.99552993e-01 -1.71733996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57719347 meters 0.06314629537506138 Centerline is valid? [True, True] Translation: X:144.10, Y:92.30, Z:-1.72 [[ 1.81632582e-01 -9.83356878e-01 -4.34228319e-03 1.44104283e+02] [ 9.83030017e-01 1.81684168e-01 -2.53544609e-02 9.23025574e+01] [ 2.57214077e-02 3.36601472e-04 9.99669093e-01 -1.71939944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60719347 meters 0.0633673588614057 Centerline is valid? [True, True] Translation: X:144.11, Y:92.33, Z:-1.72 [[ 1.80856963e-01 -9.83503918e-01 -3.28666942e-03 1.44109826e+02] [ 9.83316110e-01 1.80886660e-01 -1.92209081e-02 9.23296989e+01] [ 1.94983531e-02 2.44400082e-04 9.99809859e-01 -1.71653764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63719347 meters 0.06372882854096291 Centerline is valid? [True, True] Translation: X:144.12, Y:92.36, Z:-1.72 [[ 1.78130892e-01 -9.84003701e-01 -2.47031262e-03 1.44116040e+02] [ 9.83897027e-01 1.78147957e-01 -1.44894833e-02 9.23553030e+01] [ 1.46977863e-02 1.50491339e-04 9.99891970e-01 -1.71582528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66719347 meters 0.06490396398460889 Centerline is valid? [True, True] Translation: X:144.13, Y:92.38, Z:-1.71 [[ 1.69212296e-01 -9.85578861e-01 -1.22770849e-03 1.44132042e+02] [ 9.85552365e-01 1.69216749e-01 -7.22684366e-03 9.23801806e+01] [ 7.33037318e-03 1.28998003e-05 9.99973132e-01 -1.71497752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69719347 meters 0.06589323720585004 Centerline is valid? [True, True] Translation: X:144.14, Y:92.40, Z:-1.72 [[ 1.63663993e-01 -9.86515579e-01 -1.05314275e-03 1.44144137e+02] [ 9.86495984e-01 1.63667380e-01 -6.21793290e-03 9.24043027e+01] [ 6.30645279e-03 -2.12693688e-05 9.99980114e-01 -1.71703785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72719347 meters 0.06730189801669481 Centerline is valid? [True, True] Translation: X:144.16, Y:92.43, Z:-1.72 [[ 1.56989257e-01 -9.87599795e-01 -1.00878867e-03 1.44157920e+02] [ 9.87581754e-01 1.56992487e-01 -5.96972091e-03 9.24296474e+01] [ 6.05406739e-03 -5.90792350e-05 9.99981672e-01 -1.71948003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75719347 meters 0.07396192847634314 Centerline is valid? [True, True] Translation: X:144.17, Y:92.45, Z:-1.72 [[ 1.49332275e-01 -9.88786685e-01 -8.73877780e-04 1.44172152e+02] [ 9.88773081e-01 1.49334805e-01 -5.18745148e-03 9.24534517e+01] [ 5.25978332e-03 -8.94128956e-05 9.99986163e-01 -1.72203174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78719347 meters 0.08471354229831247 Centerline is valid? [True, True] Translation: X:144.19, Y:92.48, Z:-1.72 [[ 1.35649762e-01 -9.90756823e-01 -2.42924267e-04 1.44189522e+02] [ 9.90755748e-01 1.35649973e-01 -1.46032901e-03 9.24781344e+01] [ 1.47978360e-03 -4.25853314e-05 9.99998904e-01 -1.72059849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81719347 meters 0.09097221586532066 Centerline is valid? [True, True] Translation: X:144.20, Y:92.50, Z:-1.72 [[ 1.30154724e-01 -9.91493695e-01 -4.35556295e-06 1.44203414e+02] [ 9.91493694e-01 1.30154724e-01 -4.66657491e-05 9.25024583e+01] [ 4.68356926e-05 1.75525454e-06 9.99999999e-01 -1.72094272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84719347 meters 0.09379152601809275 Centerline is valid? [True, True] Translation: X:144.20, Y:92.53, Z:-1.72 [[ 1.26603772e-01 -9.91953333e-01 2.65715029e-04 1.44204727e+02] [ 9.91952101e-01 1.26604034e-01 1.56453680e-03 9.25309777e+01] [-1.58558809e-03 6.55003197e-05 9.99998741e-01 -1.71726655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87719347 meters 0.09861705350313585 Centerline is valid? [True, True] Translation: X:144.22, Y:92.56, Z:-1.72 [[ 1.23722234e-01 -9.92316847e-01 -2.88907712e-04 1.44217844e+02] [ 9.92315312e-01 1.23722551e-01 -1.74703863e-03 9.25552958e+01] [ 1.76936026e-03 -7.05400238e-05 9.99998432e-01 -1.71867486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90719347 meters 0.10137397870412948 Centerline is valid? [True, False] Translation: X:144.01, Y:91.56, Z:-1.46 [[ 5.88474795e-01 -8.02881385e-01 -9.52832509e-02 1.44013849e+02] [ 6.21959566e-01 3.74237973e-01 6.87831547e-01 9.15580117e+01] [-5.16588535e-01 -4.64033858e-01 7.19589372e-01 -1.46299290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93719347 meters 0.10790002054304287 Centerline is valid? [False, False] Translation: X:143.78, Y:91.40, Z:-1.27 [[ 6.11950644e-01 -7.90589398e-01 2.20184591e-02 1.43779656e+02] [ 6.37298522e-01 5.09401196e-01 5.78239583e-01 9.13964272e+01] [-4.68366314e-01 -3.39821754e-01 8.15569845e-01 -1.27263963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96719346999998 meters 0.1116319113336334 Centerline is valid? [False, False] Translation: X:143.58, Y:91.24, Z:-1.11 [[ 6.36011140e-01 -7.65543318e-01 9.71249641e-02 1.43578721e+02] [ 6.41159152e-01 5.94274401e-01 4.85543900e-01 9.12422394e+01] [-4.29423768e-01 -2.46538770e-01 8.68800243e-01 -1.11102981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99719346999998 meters 0.11266678606584568 Centerline is valid? [False, False] Translation: X:143.40, Y:91.10, Z:-0.98 [[ 0.65785119 -0.73891017 0.14575174 143.39920009] [ 0.63795497 0.64955943 0.41362545 91.09753936] [ -0.40030647 -0.17912095 0.89870486 -0.97758722] [ 0. 0. 0. 1. ]] SLAMing on 196.02719347 meters 0.11841464910456588 Centerline is valid? [False, False] Translation: X:143.23, Y:90.96, Z:-0.86 [[ 6.77182299e-01 -7.13654546e-01 1.79224226e-01 1.43226264e+02] [ 6.33452562e-01 6.89348003e-01 3.51478566e-01 9.09624267e+01] [-3.74382139e-01 -1.24485019e-01 9.18880566e-01 -8.60684999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05719347 meters 0.11876246600954386 Centerline is valid? [False, False] Translation: X:143.07, Y:90.83, Z:-0.76 [[ 6.95297195e-01 -6.90197153e-01 2.00473691e-01 1.43065859e+02] [ 6.27013764e-01 7.18842317e-01 3.00199039e-01 9.08345672e+01] [-3.51305495e-01 -8.30277859e-02 9.32572161e-01 -7.56621705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08719347 meters 0.12010551267021387 Centerline is valid? [False, False] Translation: X:142.91, Y:90.71, Z:-0.66 [[ 7.15172393e-01 -6.68591380e-01 2.03749882e-01 1.42913707e+02] [ 6.20378709e-01 7.41489188e-01 2.55585684e-01 9.07134220e+01] [-3.21960719e-01 -5.63857361e-02 9.45072454e-01 -6.58064989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11719347 meters 0.12102026124320843 Centerline is valid? [False, False] Translation: X:142.82, Y:90.63, Z:-0.58 [[ 7.37668931e-01 -6.50453841e-01 1.80981627e-01 1.42817322e+02] [ 6.15201254e-01 7.57993337e-01 2.16733749e-01 9.06346111e+01] [-2.78158167e-01 -4.85376290e-02 9.59308153e-01 -5.82569648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14719347 meters 0.11864287033743545 Centerline is valid? [False, False] Translation: X:142.72, Y:90.56, Z:-0.52 [[ 7.56806341e-01 -6.33980510e-01 1.59100203e-01 1.42720272e+02] [ 6.08802604e-01 7.72289317e-01 1.81462395e-01 9.05580545e+01] [-2.37915009e-01 -4.04712731e-02 9.70442438e-01 -5.16718755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17719347 meters 0.11754506393611565 Centerline is valid? [False, False] Translation: X:142.63, Y:90.49, Z:-0.46 [[ 7.70939438e-01 -6.21053844e-01 1.41225019e-01 1.42626120e+02] [ 6.03204959e-01 7.83142585e-01 1.51100856e-01 9.04920283e+01] [-2.04441094e-01 -3.13019771e-02 9.78378263e-01 -4.62880727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20719347 meters 0.11587997550642128 Centerline is valid? [False, False] Translation: X:142.54, Y:90.43, Z:-0.42 [[ 7.83181574e-01 -6.08723329e-01 1.26816915e-01 1.42537347e+02] [ 5.95817267e-01 7.93023652e-01 1.26945938e-01 9.04279698e+01] [-1.77843767e-01 -2.38620123e-02 9.83769383e-01 -4.19566405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23719347 meters 0.11707999786835366 Centerline is valid? [False, False] Translation: X:142.44, Y:90.36, Z:-0.38 [[ 7.92827745e-01 -5.97929296e-01 1.17918289e-01 1.42442371e+02] [ 5.88301554e-01 8.01382261e-01 1.08109916e-01 9.03629095e+01] [-1.59139711e-01 -1.63410280e-02 9.87120825e-01 -3.83582447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26719347 meters 0.11713330839239978 Centerline is valid? [False, False] Translation: X:142.35, Y:90.30, Z:-0.35 [[ 8.01364731e-01 -5.87959898e-01 1.10080543e-01 1.42351206e+02] [ 5.81021389e-01 8.08845037e-01 9.04646404e-02 9.03024187e+01] [-1.42227682e-01 -8.53602204e-03 9.89797162e-01 -3.52385122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29719347 meters 0.11435880707814434 Centerline is valid? [False, False] Translation: X:142.25, Y:90.24, Z:-0.32 [[ 8.08325860e-01 -5.79463303e-01 1.04074899e-01 1.42252805e+02] [ 5.75143228e-01 8.14993769e-01 7.06783101e-02 9.02449033e+01] [-1.25775882e-01 2.72686776e-03 9.92054934e-01 -3.23130628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32719347 meters 0.11088584114657225 Centerline is valid? [False, False] Translation: X:142.16, Y:90.19, Z:-0.30 [[ 8.16410526e-01 -5.69553647e-01 9.53021333e-02 1.42159148e+02] [ 5.66915639e-01 8.21907499e-01 5.54501665e-02 9.01873449e+01] [-1.09911383e-01 8.75817023e-03 9.93902803e-01 -2.96501450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35719347 meters 0.11043006092041241 Centerline is valid? [False, False] Translation: X:142.07, Y:90.14, Z:-0.27 [[ 8.22767688e-01 -5.61481510e-01 8.82714353e-02 1.42069749e+02] [ 5.60146676e-01 8.27349091e-01 4.15834492e-02 9.01409030e+01] [-9.63796295e-02 1.52314327e-02 9.95228100e-01 -2.70777212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38719347 meters 0.10804086244912463 Centerline is valid? [False, False] Translation: X:141.98, Y:90.09, Z:-0.25 [[ 8.30319272e-01 -5.50931514e-01 8.39307627e-02 1.41979948e+02] [ 5.50753179e-01 8.34219438e-01 2.73654066e-02 9.00892135e+01] [-8.50931386e-02 2.35031099e-02 9.96095759e-01 -2.50280038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41719347 meters 0.10662473931521976 Centerline is valid? [False, False] Translation: X:141.89, Y:90.04, Z:-0.23 [[ 8.37476673e-01 -5.40456247e-01 8.08694406e-02 1.41893929e+02] [ 5.41175390e-01 8.40782228e-01 1.46438812e-02 9.00416268e+01] [-7.59079655e-02 3.15006422e-02 9.96617123e-01 -2.33791256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44719347 meters 0.10596181416092965 Centerline is valid? [False, False] Translation: X:141.81, Y:90.00, Z:-0.22 [[ 8.44681712e-01 -5.29323229e-01 7.95595638e-02 1.41810137e+02] [ 5.30733796e-01 8.47529281e-01 3.96940245e-03 8.99979448e+01] [-6.95301568e-02 3.88720676e-02 9.96822211e-01 -2.20493524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47719347 meters 0.10328744435510295 Centerline is valid? [False, False] Translation: X:141.73, Y:89.96, Z:-0.21 [[ 8.52192429e-01 -5.17525266e-01 7.70432560e-02 1.41726047e+02] [ 5.19383967e-01 8.54527068e-01 -4.87693812e-03 8.99564666e+01] [-6.33116090e-02 4.41711217e-02 9.97015823e-01 -2.09508562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50719347 meters 0.0982352305551728 Centerline is valid? [False, True] Translation: X:141.64, Y:89.92, Z:-0.20 [[ 8.61097162e-01 -5.03159422e-01 7.30908526e-02 1.41641910e+02] [ 5.05471457e-01 8.62689832e-01 -1.62745349e-02 8.99228710e+01] [-5.48660498e-02 5.09592956e-02 9.97192492e-01 -2.00562610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53719347 meters 0.09665534683657594 Centerline is valid? [True, True] Translation: X:141.67, Y:89.93, Z:-0.20 [[ 8.60876220e-01 -5.06199933e-01 5.15146767e-02 1.41672488e+02] [ 5.05522031e-01 8.62409780e-01 2.63978741e-02 8.99276520e+01] [-5.77893631e-02 3.31650195e-03 9.98323289e-01 -2.04346988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56719347 meters 0.09274386035508475 Centerline is valid? [True, True] Translation: X:141.69, Y:89.95, Z:-0.21 [[ 8.62759972e-01 -5.02481588e-01 5.61915005e-02 1.41694357e+02] [ 5.01664597e-01 8.64581562e-01 2.88332278e-02 8.99467158e+01] [-6.30703013e-02 3.31313164e-03 9.98003587e-01 -2.11018282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59719347 meters 0.08811616558650703 Centerline is valid? [True, True] Translation: X:141.71, Y:89.97, Z:-0.21 [[ 8.64277148e-01 -4.99774272e-01 5.70148171e-02 1.41714943e+02] [ 4.98926877e-01 8.66149940e-01 2.92618157e-02 8.99714450e+01] [-6.40076830e-02 3.15590605e-03 9.97944416e-01 -2.10014130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62719347 meters 0.08335442651456694 Centerline is valid? [True, True] Translation: X:141.73, Y:90.00, Z:-0.21 [[ 8.66780926e-01 -4.95103962e-01 5.96899809e-02 1.41734179e+02] [ 4.94163657e-01 8.68828772e-01 3.06405833e-02 8.99988097e+01] [-6.70306470e-02 2.93794609e-03 9.97746591e-01 -2.12897182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65719347 meters 0.0822470789583954 Centerline is valid? [True, True] Translation: X:141.76, Y:90.02, Z:-0.22 [[ 8.67865039e-01 -4.93228438e-01 5.94641285e-02 1.41756625e+02] [ 4.92291907e-01 8.69895333e-01 3.05088263e-02 9.00169071e+01] [-6.67753886e-02 2.79616545e-03 9.97764115e-01 -2.16601528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68719347 meters 0.0830744703772375 Centerline is valid? [True, True] Translation: X:141.78, Y:90.03, Z:-0.22 [[ 8.68703996e-01 -4.92026918e-01 5.71216132e-02 1.41780065e+02] [ 4.91157693e-01 8.70576214e-01 2.93458173e-02 9.00344267e+01] [-6.41676498e-02 2.56289099e-03 9.97935842e-01 -2.22460571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71719346999998 meters 0.08025465373993301 Centerline is valid? [True, True] Translation: X:141.80, Y:90.05, Z:-0.23 [[ 8.68887808e-01 -4.91280671e-01 6.06405698e-02 1.41804226e+02] [ 4.90299235e-01 8.70997247e-01 3.11521547e-02 9.00514262e+01] [-6.81222208e-02 2.66429757e-03 9.97673426e-01 -2.26777362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74719346999998 meters 0.07774236838516405 Centerline is valid? [True, True] Translation: X:141.83, Y:90.07, Z:-0.23 [[ 8.69407340e-01 -4.90190334e-01 6.20025269e-02 1.41826554e+02] [ 4.89160065e-01 8.71611483e-01 3.18724647e-02 9.00720475e+01] [-6.96656885e-02 2.61900536e-03 9.97566956e-01 -2.28431460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77719347 meters 0.07679458350195287 Centerline is valid? [True, True] Translation: X:141.85, Y:90.08, Z:-0.24 [[ 8.69018699e-01 -4.90392572e-01 6.57390852e-02 1.41852224e+02] [ 4.89234487e-01 8.71497181e-01 3.37976411e-02 9.00839581e+01] [-7.38655396e-02 2.79104562e-03 9.97264304e-01 -2.35718731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80719347 meters 0.07574625176702163 Centerline is valid? [True, True] Translation: X:141.88, Y:90.10, Z:-0.23 [[ 8.69834534e-01 -4.89452053e-01 6.18431157e-02 1.41876459e+02] [ 4.88424578e-01 8.72026496e-01 3.17997243e-02 9.01033626e+01] [-6.94932758e-02 2.54519930e-03 9.97579173e-01 -2.34039195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83719347 meters 0.07586289034376291 Centerline is valid? [True, True] Translation: X:141.90, Y:90.12, Z:-0.24 [[ 8.71029730e-01 -4.87421931e-01 6.10497368e-02 1.41900222e+02] [ 4.86415819e-01 8.73163398e-01 3.13899809e-02 9.01170476e+01] [-6.86065608e-02 2.35395117e-03 9.97641017e-01 -2.40739126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86719347 meters 0.07030946539340267 Centerline is valid? [True, True] Translation: X:141.92, Y:90.14, Z:-0.24 [[ 8.75701980e-01 -4.78351299e-01 6.57729184e-02 1.41922102e+02] [ 4.77156463e-01 8.78166815e-01 3.38342377e-02 9.01399308e+01] [-7.39442457e-02 1.75526410e-03 9.97260832e-01 -2.40868572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89719347 meters 0.07059130521864718 Centerline is valid? [True, True] Translation: X:141.94, Y:90.16, Z:-0.25 [[ 8.78564504e-01 -4.72952753e-01 6.66341235e-02 1.41944301e+02] [ 4.71710798e-01 8.81086806e-01 3.42777428e-02 9.01563015e+01] [-7.49221998e-02 1.31682747e-03 9.97188513e-01 -2.53600343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92719347 meters 0.06794750046400184 Centerline is valid? [True, True] Translation: X:141.97, Y:90.18, Z:-0.25 [[ 8.81582175e-01 -4.67312868e-01 6.65699102e-02 1.41965423e+02] [ 4.66058069e-01 8.84091606e-01 3.42331499e-02 9.01803055e+01] [-7.48514903e-02 8.46109026e-04 9.97194333e-01 -2.45690648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95719347 meters 0.06875859611068676 Centerline is valid? [True, True] Translation: X:141.99, Y:90.20, Z:-0.25 [[ 8.86501062e-01 -4.57656849e-01 6.83086801e-02 1.41985063e+02] [ 4.56303168e-01 8.89128904e-01 3.51740042e-02 9.02035493e+01] [-7.68328458e-02 -1.23248994e-05 9.97043988e-01 -2.53780936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98719347 meters 0.06593365392630755 Centerline is valid? [True, True] Translation: X:142.01, Y:90.22, Z:-0.25 [[ 8.87733546e-01 -4.54826409e-01 7.11483656e-02 1.42012234e+02] [ 4.53348102e-01 8.90580071e-01 3.66419796e-02 9.02180431e+01] [-8.00290565e-02 -2.73337979e-04 9.96792494e-01 -2.51532019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01719347 meters 0.06640679962050594 Centerline is valid? [True, True] Translation: X:142.04, Y:90.23, Z:-0.26 [[ 8.88473003e-01 -4.53421580e-01 7.08843706e-02 1.42038183e+02] [ 4.51951070e-01 8.91296092e-01 3.64898247e-02 9.02288562e+01] [-7.97242365e-02 -3.83956956e-04 9.96816883e-01 -2.56475542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04719347 meters 0.06673163692308785 Centerline is valid? [True, True] Translation: X:142.06, Y:90.24, Z:-0.26 [[ 8.89148280e-01 -4.51921396e-01 7.19888098e-02 1.42063922e+02] [ 4.50396573e-01 8.92057586e-01 3.70970347e-02 9.02389554e+01] [-8.09831076e-02 -5.61251305e-04 9.96715316e-01 -2.63350337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07719347 meters 0.06673329827900358 Centerline is valid? [True, True] Translation: X:142.09, Y:90.25, Z:-0.27 [[ 8.89961051e-01 -4.50188602e-01 7.27980123e-02 1.42092237e+02] [ 4.48622866e-01 8.92933192e-01 3.75211824e-02 9.02465761e+01] [-8.18953702e-02 -7.33537997e-04 9.96640663e-01 -2.69472013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10719347 meters 0.06723568476781666 Centerline is valid? [True, True] Translation: X:142.12, Y:90.26, Z:-0.27 [[ 8.90101439e-01 -4.50118468e-01 7.15038013e-02 1.42119111e+02] [ 4.48605616e-01 8.92968533e-01 3.68808946e-02 9.02560959e+01] [-8.04514164e-02 -7.50730540e-04 9.96758249e-01 -2.74183238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13719347 meters 0.06723568476781666 Centerline is valid? [True, True] Translation: X:142.14, Y:90.27, Z:-0.28 [[ 8.89945399e-01 -4.50428508e-01 7.14936823e-02 1.42143204e+02] [ 4.48915080e-01 8.92812189e-01 3.69004959e-02 9.02688271e+01] [-8.04514663e-02 -7.44834488e-04 9.96758249e-01 -2.77902457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16719347 meters 0.06756548695402088 Centerline is valid? [True, True] Translation: X:142.17, Y:90.28, Z:-0.28 [[ 8.90084431e-01 -4.50262771e-01 7.08035483e-02 1.42170321e+02] [ 4.48775260e-01 8.92895753e-01 3.65778779e-02 9.02776865e+01] [-7.96898441e-02 -7.82518855e-04 9.96819400e-01 -2.83094422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19719347 meters 0.06597774747866166 Centerline is valid? [True, True] Translation: X:142.20, Y:90.28, Z:-0.28 [[ 8.89876265e-01 -4.50556146e-01 7.15499238e-02 1.42199656e+02] [ 4.49035828e-01 8.92747746e-01 3.69903768e-02 9.02846984e+01] [-8.05422748e-02 -7.88379090e-04 9.96750882e-01 -2.83728481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22719347 meters 0.0681983846809555 Centerline is valid? [True, True] Translation: X:142.23, Y:90.29, Z:-0.30 [[ 8.90671520e-01 -4.49479228e-01 6.83569091e-02 1.42226962e+02] [ 4.48085279e-01 8.93290345e-01 3.53827939e-02 9.02927712e+01] [-7.69663978e-02 -8.84722166e-04 9.97033295e-01 -2.95083563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25719347 meters 0.06795334757536597 Centerline is valid? [True, True] Translation: X:142.26, Y:90.29, Z:-0.30 [[ 8.90840002e-01 -4.49410145e-01 6.65928806e-02 1.42260003e+02] [ 4.48086856e-01 8.93325116e-01 3.44732779e-02 9.02937808e+01] [-7.49817336e-02 -8.70780502e-04 9.97184527e-01 -2.98470968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28719347 meters 0.06770804071243777 Centerline is valid? [True, True] Translation: X:142.29, Y:90.30, Z:-0.30 [[ 8.90535667e-01 -4.49907547e-01 6.73010012e-02 1.42289228e+02] [ 4.48558374e-01 8.93074755e-01 3.48262407e-02 9.03002719e+01] [-7.57734136e-02 -8.25581813e-04 9.97124720e-01 -3.01590929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31719347 meters 0.06647688034885742 Centerline is valid? [True, True] Translation: X:142.33, Y:90.30, Z:-0.30 [[ 8.88935917e-01 -4.52515157e-01 7.08729063e-02 1.42325531e+02] [ 4.51023225e-01 8.91756454e-01 3.67216197e-02 9.02962338e+01] [-7.98184611e-02 -6.77839856e-04 9.96809186e-01 -3.01883420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34719347 meters 0.06513200539557525 Centerline is valid? [True, True] Translation: X:142.36, Y:90.30, Z:-0.30 [[ 8.87475416e-01 -4.54780008e-01 7.45823732e-02 1.42356856e+02] [ 4.53135324e-01 8.90603668e-01 3.86456360e-02 9.03006037e+01] [-8.39985978e-02 -5.01143986e-04 9.96465747e-01 -3.02013313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37719347 meters 0.06533549007457505 Centerline is valid? [True, True] Translation: X:142.39, Y:90.30, Z:-0.31 [[ 8.86129764e-01 -4.57257109e-01 7.54319451e-02 1.42385131e+02] [ 4.55583518e-01 8.89334506e-01 3.90870164e-02 9.03043620e+01] [-8.49570477e-02 -2.70617626e-04 9.96384578e-01 -3.08812890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40719347 meters 0.06527271266821344 Centerline is valid? [True, True] Translation: X:142.41, Y:90.31, Z:-0.31 [[ 8.84525809e-01 -4.60428408e-01 7.49651517e-02 1.42414899e+02] [ 4.58785953e-01 8.87696840e-01 3.88557527e-02 9.03080142e+01] [-8.44366206e-02 2.40424523e-05 9.96428852e-01 -3.12558053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43719347 meters 0.06600200528513295 Centerline is valid? [True, True] Translation: X:142.44, Y:90.31, Z:-0.32 [[ 8.82599008e-01 -4.64120243e-01 7.49092206e-02 1.42444337e+02] [ 4.62492632e-01 8.85772129e-01 3.88368498e-02 9.03103067e+01] [-8.43774680e-02 3.67597459e-04 9.96433795e-01 -3.17566195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46719346999998 meters 0.06614224823736019 Centerline is valid? [True, True] Translation: X:142.48, Y:90.30, Z:-0.32 [[ 8.77601599e-01 -4.72869901e-01 7.88003161e-02 1.42481306e+02] [ 4.71102469e-01 8.81131358e-01 4.08655501e-02 9.02996815e+01] [-8.87575182e-02 1.25935138e-03 9.96052467e-01 -3.18862611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49719346999998 meters 0.06426215447778606 Centerline is valid? [True, True] Translation: X:142.51, Y:90.31, Z:-0.31 [[ 8.74658129e-01 -4.77513607e-01 8.33901219e-02 1.42512549e+02] [ 4.75554573e-01 8.78622450e-01 4.32485640e-02 9.03063077e+01] [-9.39202110e-02 1.82884567e-03 9.95578048e-01 -3.11454580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52719347 meters 0.06698854344955817 Centerline is valid? [True, True] Translation: X:142.54, Y:90.31, Z:-0.32 [[ 8.72934208e-01 -4.81046912e-01 8.11155719e-02 1.42543034e+02] [ 4.79205036e-01 8.76692308e-01 4.21085570e-02 9.03076819e+01] [-9.13695893e-02 2.11299061e-03 9.95814809e-01 -3.22085262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55719347 meters 0.06638460953080981 Centerline is valid? [True, True] Translation: X:142.57, Y:90.32, Z:-0.32 [[ 8.71189830e-01 -4.84141638e-01 8.14564550e-02 1.42571760e+02] [ 4.82297706e-01 8.74986218e-01 4.22852262e-02 9.03163355e+01] [-9.17453142e-02 2.44780234e-03 9.95779496e-01 -3.21862749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58719347 meters 0.07135627134761477 Centerline is valid? [True, True] Translation: X:142.60, Y:90.31, Z:-0.34 [[ 8.69309359e-01 -4.87840981e-01 7.94507121e-02 1.42603038e+02] [ 4.86098425e-01 8.72928247e-01 4.12867546e-02 9.03137104e+01] [-8.94961417e-02 2.72990392e-03 9.95983428e-01 -3.36397961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61719347 meters 0.06670287769706607 Centerline is valid? [True, True] Translation: X:142.63, Y:90.33, Z:-0.33 [[ 8.68400247e-01 -4.88818844e-01 8.32895538e-02 1.42628047e+02] [ 4.86907093e-01 8.72380292e-01 4.32909759e-02 9.03315469e+01] [-9.38216101e-02 2.96038040e-03 9.95584623e-01 -3.25747263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64719347 meters 0.07127657459109667 Centerline is valid? [True, True] Translation: X:142.66, Y:90.33, Z:-0.34 [[ 8.67227597e-01 -4.90654809e-01 8.47003808e-02 1.42656538e+02] [ 4.88686171e-01 8.71348120e-01 4.40259147e-02 9.03315341e+01] [-9.54050443e-02 3.21141655e-03 9.95433355e-01 -3.39779494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67719347 meters 0.06928402549822721 Centerline is valid? [True, True] Translation: X:142.68, Y:90.35, Z:-0.34 [[ 8.66678466e-01 -4.91700221e-01 8.42575218e-02 1.42682199e+02] [ 4.89754708e-01 8.70758340e-01 4.38205260e-02 9.03460792e+01] [-9.49145021e-02 3.28721179e-03 9.95480001e-01 -3.38001733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70719347 meters 0.0690076206705385 Centerline is valid? [True, True] Translation: X:142.71, Y:90.36, Z:-0.34 [[ 8.66125395e-01 -4.92308852e-01 8.63643092e-02 1.42708939e+02] [ 4.90264196e-01 8.70413914e-01 4.49514857e-02 9.03578811e+01] [-9.73027108e-02 3.40770528e-03 9.95248999e-01 -3.40391461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73719347 meters 0.06744639709704255 Centerline is valid? [True, True] Translation: X:142.73, Y:90.38, Z:-0.34 [[ 8.67669996e-01 -4.88985448e-01 8.96772475e-02 1.42731995e+02] [ 4.86758626e-01 8.72286377e-01 4.67174164e-02 9.03757857e+01] [-1.01068378e-01 3.11587327e-03 9.94874602e-01 -3.43705628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76719347 meters 0.0666239093226882 Centerline is valid? [True, True] Translation: X:142.76, Y:90.39, Z:-0.35 [[ 8.68800290e-01 -4.86772986e-01 9.07640718e-02 1.42755833e+02] [ 4.84479537e-01 8.73523724e-01 4.72851120e-02 9.03928633e+01] [-1.02301685e-01 2.89201647e-03 9.94749215e-01 -3.48066191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79719347 meters 0.06509439302224038 Centerline is valid? [True, True] Translation: X:142.78, Y:90.41, Z:-0.35 [[ 8.71079978e-01 -4.82682599e-01 9.07589159e-02 1.42776942e+02] [ 4.80363195e-01 8.75792134e-01 4.73216574e-02 9.04140016e+01] [-1.02327285e-01 2.37629443e-03 9.94747948e-01 -3.52130208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82719347 meters 0.06492397272524077 Centerline is valid? [True, True] Translation: X:142.80, Y:90.43, Z:-0.36 [[ 8.71636180e-01 -4.81648916e-01 9.09103482e-02 1.42799613e+02] [ 4.79315348e-01 8.76361370e-01 4.74082909e-02 9.04290901e+01] [-1.02504469e-01 2.25194361e-03 9.94729995e-01 -3.57359800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85719347 meters 0.06456445698612218 Centerline is valid? [True, True] Translation: X:142.82, Y:90.45, Z:-0.36 [[ 8.71981365e-01 -4.80943520e-01 9.13336195e-02 1.42823352e+02] [ 4.78582812e-01 8.76748901e-01 4.76430239e-02 9.04451608e+01] [-1.02990254e-01 2.16687136e-03 9.94680005e-01 -3.61085144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88719347 meters 0.06462391053146521 Centerline is valid? [True, True] Translation: X:142.85, Y:90.46, Z:-0.36 [[ 8.71866526e-01 -4.80914570e-01 9.25739592e-02 1.42847002e+02] [ 4.78484306e-01 8.76764813e-01 4.83345839e-02 9.04589198e+01] [-1.04410396e-01 2.15388084e-03 9.94531965e-01 -3.64242882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91719347 meters 0.06483477867147167 Centerline is valid? [True, True] Translation: X:142.87, Y:90.47, Z:-0.37 [[ 8.71116106e-01 -4.81584678e-01 9.60881278e-02 1.42871414e+02] [ 4.78968403e-01 8.76396528e-01 5.01836154e-02 9.04715111e+01] [-1.08378962e-01 2.30742151e-03 9.94106974e-01 -3.67334337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94719347 meters 0.06468658091194762 Centerline is valid? [True, True] Translation: X:142.90, Y:90.48, Z:-0.37 [[ 8.71360080e-01 -4.80938899e-01 9.71050241e-02 1.42895159e+02] [ 4.78261289e-01 8.76751255e-01 5.07284552e-02 9.04849224e+01] [-1.09534239e-01 2.23882325e-03 9.93980502e-01 -3.70717570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97719347 meters 0.06444340255593504 Centerline is valid? [True, True] Translation: X:142.92, Y:90.50, Z:-0.38 [[ 8.71811081e-01 -4.80148657e-01 9.69675524e-02 1.42918741e+02] [ 4.77472939e-01 8.77184548e-01 5.06642058e-02 9.05002631e+01] [-1.09384789e-01 2.12976620e-03 9.93997199e-01 -3.75726344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00719347 meters 0.06368314226381207 Centerline is valid? [True, True] Translation: X:142.94, Y:90.52, Z:-0.38 [[ 8.72740487e-01 -4.78256288e-01 9.79538911e-02 1.42942465e+02] [ 4.75509159e-01 8.78218314e-01 5.12214072e-02 9.05180317e+01] [-1.10521861e-01 1.87497655e-03 9.93871925e-01 -3.78019057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03719347 meters 0.0634739623209965 Centerline is valid? [True, True] Translation: X:142.96, Y:90.54, Z:-0.38 [[ 8.74681203e-01 -4.74921599e-01 9.68621048e-02 1.42963751e+02] [ 4.72212765e-01 8.80026968e-01 5.06718819e-02 9.05353553e+01] [-1.09306436e-01 1.41777978e-03 9.94007089e-01 -3.84933521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06719347 meters 0.06299851094440305 Centerline is valid? [True, True] Translation: X:142.99, Y:90.55, Z:-0.39 [[ 8.75640208e-01 -4.72966617e-01 9.77589137e-02 1.42988286e+02] [ 4.70194074e-01 8.81079562e-01 5.11501475e-02 9.05513027e+01] [-1.10325693e-01 1.17653618e-03 9.93894792e-01 -3.88052229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09719347 meters 0.06281472957116294 Centerline is valid? [True, True] Translation: X:143.01, Y:90.57, Z:-0.39 [[ 8.76154385e-01 -4.71673784e-01 9.93847806e-02 1.43012022e+02] [ 4.68795497e-01 8.81772559e-01 5.20378424e-02 9.05664349e+01] [-1.12179658e-01 9.97953793e-04 9.93687440e-01 -3.91892187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12719347 meters 0.06258354236321557 Centerline is valid? [True, True] Translation: X:143.04, Y:90.58, Z:-0.40 [[ 8.76964075e-01 -4.69996536e-01 1.00186161e-01 1.43036280e+02] [ 4.67056029e-01 8.82667937e-01 5.24974136e-02 9.05827581e+01] [-1.13104715e-01 7.54204738e-04 9.93582787e-01 -3.95158249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15719347 meters 0.06263643663810396 Centerline is valid? [True, True] Translation: X:143.06, Y:90.60, Z:-0.40 [[ 8.77622777e-01 -4.68906491e-01 9.95236863e-02 1.43059973e+02] [ 4.65993633e-01 8.83247627e-01 5.21877764e-02 9.05970389e+01] [-1.12375247e-01 5.76222864e-04 9.93665674e-01 -4.01117658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18719347 meters 0.06289795169717653 Centerline is valid? [True, True] Translation: X:143.09, Y:90.61, Z:-0.41 [[ 8.77254520e-01 -4.69653090e-01 9.92495996e-02 1.43085596e+02] [ 4.66755976e-01 8.82850825e-01 5.20891591e-02 9.06099430e+01] [-1.12086425e-01 6.29893526e-04 9.93698262e-01 -4.06026258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21719346999998 meters 0.06308012355473866 Centerline is valid? [True, True] Translation: X:143.11, Y:90.62, Z:-0.41 [[ 8.76867999e-01 -4.70631154e-01 9.80246402e-02 1.43111165e+02] [ 4.67807271e-01 8.82329762e-01 5.14834647e-02 9.06220200e+01] [-1.10719780e-01 7.12436766e-04 9.93851409e-01 -4.11293880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24719346999998 meters 0.06376647989925825 Centerline is valid? [True, True] Translation: X:143.14, Y:90.63, Z:-0.42 [[ 8.73806859e-01 -4.76090762e-01 9.89907038e-02 1.43138530e+02] [ 4.73240856e-01 8.79395066e-01 5.20327777e-02 9.06293362e+01] [-1.11824261e-01 1.37984734e-03 9.93727040e-01 -4.16341758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27719347 meters 0.06439432477004531 Centerline is valid? [True, True] Translation: X:143.17, Y:90.64, Z:-0.42 [[ 8.71671302e-01 -4.79891894e-01 9.94631171e-02 1.43165745e+02] [ 4.77037355e-01 8.77325655e-01 5.22977641e-02 9.06384894e+01] [-1.12358818e-01 1.86116222e-03 9.93665956e-01 -4.20506551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30719347 meters 0.06578932211086252 Centerline is valid? [True, True] Translation: X:143.19, Y:90.65, Z:-0.43 [[ 8.69210317e-01 -4.84463093e-01 9.88379318e-02 1.43193557e+02] [ 4.81669006e-01 8.74808414e-01 5.20116148e-02 9.06454828e+01] [-1.11661962e-01 2.39813622e-03 9.93743355e-01 -4.25221027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33719347 meters 0.06737968219468699 Centerline is valid? [True, True] Translation: X:143.22, Y:90.65, Z:-0.43 [[ 8.66791305e-01 -4.88995566e-01 9.77556664e-02 1.43222396e+02] [ 4.86289926e-01 8.72281320e-01 5.14529583e-02 9.06528843e+01] [-1.10430710e-01 2.93861886e-03 9.93879481e-01 -4.30606082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36719347 meters 0.06906885632649978 Centerline is valid? [True, True] Translation: X:143.25, Y:90.66, Z:-0.44 [[ 8.64314228e-01 -4.93511532e-01 9.69911445e-02 1.43250684e+02] [ 4.90876048e-01 8.69732274e-01 5.10536712e-02 9.06616865e+01] [-1.09551904e-01 3.48421535e-03 9.93974970e-01 -4.35502888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39719347 meters 0.07163012976397072 Centerline is valid? [True, True] Translation: X:143.28, Y:90.67, Z:-0.44 [[ 8.62020012e-01 -4.97825969e-01 9.53457032e-02 1.43277793e+02] [ 4.95302214e-01 8.67268019e-01 5.02185257e-02 9.06707615e+01] [-1.07690365e-01 3.93556381e-03 9.94176693e-01 -4.42633211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42719347 meters 0.07166030233634006 Centerline is valid? [True, True] Translation: X:143.30, Y:90.68, Z:-0.45 [[ 8.61804505e-01 -4.98062083e-01 9.60580917e-02 1.43302569e+02] [ 4.95501801e-01 8.67132172e-01 5.05940879e-02 9.06847304e+01] [-1.08494058e-01 3.99474462e-03 9.94089071e-01 -4.45959218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45719347 meters 0.07105024592882565 Centerline is valid? [True, True] Translation: X:143.33, Y:90.70, Z:-0.45 [[ 8.63240341e-01 -4.95848742e-01 9.46051714e-02 1.43326659e+02] [ 4.93348667e-01 8.68401317e-01 4.98622732e-02 9.07005784e+01] [-1.06879401e-01 3.63020945e-03 9.94265365e-01 -4.51830705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48719347 meters 0.07016600103168134 Centerline is valid? [True, True] Translation: X:143.35, Y:90.72, Z:-0.46 [[ 8.64753520e-01 -4.93320849e-01 9.39994155e-02 1.43350210e+02] [ 4.90834321e-01 8.69841288e-01 4.95762261e-02 9.07173639e+01] [-1.06221559e-01 3.26692329e-03 9.94337120e-01 -4.56662077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51719347 meters 0.06726942088503932 Centerline is valid? [True, True] Translation: X:143.37, Y:90.74, Z:-0.46 [[ 8.69144012e-01 -4.85587400e-01 9.37740017e-02 1.43368695e+02] [ 4.83063537e-01 8.74185154e-01 4.94968296e-02 9.07420317e+01] [-1.06010877e-01 2.27892784e-03 9.94362359e-01 -4.60874363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54719347 meters 0.06592054156337535 Centerline is valid? [True, True] Translation: X:143.39, Y:90.76, Z:-0.46 [[ 8.71049584e-01 -4.81826221e-01 9.54783454e-02 1.43389857e+02] [ 4.79186049e-01 8.76264847e-01 5.04048446e-02 9.07615282e+01] [-1.07950693e-01 1.84677209e-03 9.94154534e-01 -4.62934917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57719347 meters 0.06482059125419759 Centerline is valid? [True, True] Translation: X:143.41, Y:90.78, Z:-0.47 [[ 8.72930757e-01 -4.78342502e-01 9.58141150e-02 1.43412121e+02] [ 4.75662198e-01 8.78172218e-01 5.05868410e-02 9.07814716e+01] [-1.08339130e-01 1.41634310e-03 9.94112985e-01 -4.65841914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60719347 meters 0.06411618107197228 Centerline is valid? [True, True] Translation: X:143.43, Y:90.80, Z:-0.47 [[ 8.74281263e-01 -4.75634722e-01 9.69736335e-02 1.43434666e+02] [ 4.72868583e-01 8.79642246e-01 5.12330300e-02 9.08003028e+01] [-1.09670313e-01 1.06370644e-03 9.93967450e-01 -4.68479491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63719347 meters 0.0636542300605247 Centerline is valid? [True, True] Translation: X:143.46, Y:90.82, Z:-0.47 [[ 8.76095395e-01 -4.72148254e-01 9.76364968e-02 1.43455634e+02] [ 4.69318143e-01 8.81518956e-01 5.16218018e-02 9.08194668e+01] [-1.10441566e-01 5.96956559e-04 9.93882440e-01 -4.71767073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66719347 meters 0.06359047521547087 Centerline is valid? [True, True] Translation: X:143.48, Y:90.83, Z:-0.48 [[ 8.75887123e-01 -4.72471862e-01 9.79391967e-02 1.43480178e+02] [ 4.69625447e-01 8.81345526e-01 5.17880530e-02 9.08331058e+01] [-1.10786671e-01 6.34250308e-04 9.93844008e-01 -4.75196539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69719347 meters 0.06368683868424999 Centerline is valid? [True, True] Translation: X:143.51, Y:90.85, Z:-0.48 [[ 8.74879436e-01 -4.74023485e-01 9.94369590e-02 1.43506354e+02] [ 4.71094546e-01 8.80511830e-01 5.26198329e-02 9.08451401e+01] [-1.12498455e-01 8.08199341e-04 9.93651571e-01 -4.77961858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72719347 meters 0.06423037370232891 Centerline is valid? [True, True] Translation: X:143.53, Y:90.85, Z:-0.48 [[ 8.72746013e-01 -4.77631957e-01 1.00906444e-01 1.43532127e+02] [ 4.74635407e-01 8.78559119e-01 5.34331837e-02 9.08538545e+01] [-1.14173673e-01 1.26017325e-03 9.93460006e-01 -4.81218469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75719347 meters 0.06384979214054523 Centerline is valid? [True, True] Translation: X:143.56, Y:90.87, Z:-0.48 [[ 8.71880444e-01 -4.79317063e-01 1.00397429e-01 1.43556334e+02] [ 4.76359215e-01 8.77640612e-01 5.31869774e-02 9.08703738e+01] [-1.13606287e-01 1.45255523e-03 9.93524787e-01 -4.80778350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78719347 meters 0.06409967118327234 Centerline is valid? [True, True] Translation: X:143.58, Y:90.88, Z:-0.48 [[ 8.70891277e-01 -4.81412786e-01 9.89450035e-02 1.43580633e+02] [ 4.78549384e-01 8.76492413e-01 5.24551032e-02 9.08848490e+01] [-1.11977102e-01 1.66737860e-03 9.93709388e-01 -4.84557815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81719347 meters 0.06500859336157161 Centerline is valid? [True, True] Translation: X:143.60, Y:90.90, Z:-0.49 [[ 8.70674227e-01 -4.82446958e-01 9.57670265e-02 1.43604860e+02] [ 4.79766667e-01 8.75923528e-01 5.08125831e-02 9.08950820e+01] [-1.08398968e-01 1.70462062e-03 9.94106009e-01 -4.93890924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84719347 meters 0.0651330460595753 Centerline is valid? [True, True] Translation: X:143.63, Y:90.91, Z:-0.50 [[ 8.71233592e-01 -4.82045539e-01 9.26505603e-02 1.43629678e+02] [ 4.79532289e-01 8.76144743e-01 4.91850907e-02 9.09078030e+01] [-1.04884755e-01 1.57723198e-03 9.94483132e-01 -4.98657357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87719347 meters 0.06507577724735669 Centerline is valid? [True, True] Translation: X:143.65, Y:90.92, Z:-0.50 [[ 8.71831851e-01 -4.81340671e-01 9.06663168e-02 1.43653721e+02] [ 4.78929852e-01 8.76532395e-01 4.81368578e-02 9.09229974e+01] [-1.02642191e-01 1.45555988e-03 9.94717277e-01 -5.03612568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90719347 meters 0.0649682776486919 Centerline is valid? [True, True] Translation: X:143.68, Y:90.94, Z:-0.51 [[ 8.72304593e-01 -4.80604463e-01 9.00224862e-02 1.43676515e+02] [ 4.78220298e-01 8.76936479e-01 4.78305295e-02 9.09391434e+01] [-1.01931568e-01 1.32778960e-03 9.94790527e-01 -5.08748120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93719347 meters 0.06514708889497764 Centerline is valid? [True, True] Translation: X:143.70, Y:90.96, Z:-0.51 [[ 8.72941827e-01 -4.79776869e-01 8.82424074e-02 1.43699820e+02] [ 4.77477763e-01 8.77389759e-01 4.69275626e-02 9.09554246e+01] [-9.99377436e-02 1.16875503e-03 9.94993006e-01 -5.14583000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96719346999998 meters 0.06559473576920201 Centerline is valid? [True, True] Translation: X:143.72, Y:90.97, Z:-0.52 [[ 8.73128853e-01 -4.79587524e-01 8.74174597e-02 1.43724312e+02] [ 4.77325914e-01 8.77493364e-01 4.65335183e-02 9.09672535e+01] [-9.90251356e-02 1.09686137e-03 9.95084328e-01 -5.21316741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99719346999998 meters 0.06548335836290207 Centerline is valid? [True, True] Translation: X:143.75, Y:90.98, Z:-0.52 [[ 8.72111468e-01 -4.81192020e-01 8.87458541e-02 1.43751028e+02] [ 4.78868740e-01 8.76614263e-01 4.72457920e-02 9.09788058e+01] [-1.00530180e-01 1.29401824e-03 9.94933168e-01 -5.22678332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02719347 meters 0.06554945399662378 Centerline is valid? [True, True] Translation: X:143.78, Y:90.99, Z:-0.53 [[ 8.70869547e-01 -4.83237438e-01 8.98209949e-02 1.43777791e+02] [ 4.80864325e-01 8.75488026e-01 4.78562209e-02 9.09900563e+01] [-1.01763123e-01 1.51518666e-03 9.94807504e-01 -5.25973282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05719347 meters 0.06554945399662378 Centerline is valid? [True, True] Translation: X:143.80, Y:91.00, Z:-0.53 [[ 8.70689949e-01 -4.83563736e-01 8.98060452e-02 1.43801738e+02] [ 4.81189463e-01 8.75307831e-01 4.78842557e-02 9.10031056e+01] [-1.01763024e-01 1.52138248e-03 9.94807505e-01 -5.29690026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08719347 meters 0.06694124221958694 Centerline is valid? [True, True] Translation: X:143.83, Y:91.01, Z:-0.54 [[ 8.68464679e-01 -4.87831482e-01 8.82584092e-02 1.43829200e+02] [ 4.85555217e-01 8.72935669e-01 4.71110379e-02 9.10100929e+01] [-1.00026161e-01 1.94005858e-03 9.94982916e-01 -5.35926970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11719347 meters 0.0677653942592277 Centerline is valid? [True, True] Translation: X:143.86, Y:91.02, Z:-0.54 [[ 8.67296526e-01 -4.90087348e-01 8.72417726e-02 1.43855100e+02] [ 4.87873766e-01 8.71670636e-01 4.65777869e-02 9.10196491e+01] [-9.88732755e-02 2.16621931e-03 9.95097675e-01 -5.41550791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14719347 meters 0.06857062027248385 Centerline is valid? [True, True] Translation: X:143.88, Y:91.03, Z:-0.55 [[ 8.66761633e-01 -4.91238034e-01 8.60782486e-02 1.43880772e+02] [ 4.89087122e-01 8.71022461e-01 4.59745520e-02 9.10293943e+01] [-9.75605365e-02 2.25078512e-03 9.95227047e-01 -5.47526011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17719347 meters 0.06841998492726763 Centerline is valid? [True, True] Translation: X:143.91, Y:91.04, Z:-0.55 [[ 8.66151264e-01 -4.92532506e-01 8.48157906e-02 1.43906585e+02] [ 4.90449527e-01 8.70290871e-01 4.53107252e-02 9.10429193e+01] [-9.61314132e-02 2.35192251e-03 9.95365872e-01 -5.49617016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20719347 meters 0.0681112619836419 Centerline is valid? [True, True] Translation: X:143.93, Y:91.06, Z:-0.55 [[ 8.65406045e-01 -4.93793427e-01 8.50907133e-02 1.43931446e+02] [ 4.91699653e-01 8.69575730e-01 4.54917774e-02 9.10570630e+01] [-9.64563597e-02 2.47021501e-03 9.95334149e-01 -5.50162158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23719347 meters 0.06792923374137293 Centerline is valid? [True, True] Translation: X:143.96, Y:91.07, Z:-0.55 [[ 8.65846204e-01 -4.92806967e-01 8.63229084e-02 1.43955448e+02] [ 4.90643472e-01 8.70135456e-01 4.61873567e-02 9.10715302e+01] [-9.78740744e-02 2.36262405e-03 9.95196003e-01 -5.53693815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26719347 meters 0.06776217063220788 Centerline is valid? [True, True] Translation: X:143.98, Y:91.09, Z:-0.56 [[ 8.66544656e-01 -4.91363502e-01 8.75343806e-02 1.43978988e+02] [ 4.89126861e-01 8.70951840e-01 4.68807599e-02 9.10867505e+01] [-9.92737242e-02 2.19114491e-03 9.95057750e-01 -5.57299718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29719347 meters 0.06688384260214728 Centerline is valid? [True, True] Translation: X:144.00, Y:91.10, Z:-0.56 [[ 8.67586487e-01 -4.89434031e-01 8.80228272e-02 1.44002220e+02] [ 4.87161930e-01 8.72038084e-01 4.71469452e-02 9.11045887e+01] [-9.98345770e-02 1.97731775e-03 9.95002084e-01 -5.58374692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32719347 meters 0.06622128690737639 Centerline is valid? [True, True] Translation: X:144.02, Y:91.13, Z:-0.56 [[ 8.70763570e-01 -4.84055646e-01 8.63767152e-02 1.44022035e+02] [ 4.81837263e-01 8.75036257e-01 4.63076790e-02 9.11255502e+01] [-9.79982510e-02 1.29648022e-03 9.95185742e-01 -5.63710250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35719347 meters 0.06589787134873548 Centerline is valid? [True, True] Translation: X:144.04, Y:91.14, Z:-0.57 [[ 8.72465634e-01 -4.81068966e-01 8.58857874e-02 1.44044685e+02] [ 4.78860964e-01 8.76682237e-01 4.60481619e-02 9.11438175e+01] [-9.74468858e-02 9.51912218e-04 9.95240272e-01 -5.68069602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38719347 meters 0.06591976651382389 Centerline is valid? [True, True] Translation: X:144.07, Y:91.16, Z:-0.57 [[ 8.74289177e-01 -4.77829208e-01 8.54264775e-02 1.44066755e+02] [ 4.75625208e-01 8.78452586e-01 4.58444669e-02 9.11611692e+01] [-9.69489354e-02 5.49664897e-04 9.95289205e-01 -5.73267076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41719347 meters 0.06556934822892635 Centerline is valid? [True, True] Translation: X:144.09, Y:91.18, Z:-0.58 [[ 8.75946571e-01 -4.74605396e-01 8.64136788e-02 1.44088872e+02] [ 4.72333133e-01 8.80198662e-01 4.63867064e-02 9.11789664e+01] [-9.80765856e-02 1.83767326e-04 9.95178853e-01 -5.77016144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44719347 meters 0.06577468574284856 Centerline is valid? [True, True] Translation: X:144.11, Y:91.20, Z:-0.58 [[ 8.79457124e-01 -4.67768539e-01 8.80213635e-02 1.44108822e+02] [ 4.65375929e-01 8.83850801e-01 4.72546905e-02 9.12022863e+01] [-9.99020102e-02 -5.95450414e-04 9.94997102e-01 -5.81385709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47719347 meters 0.06615990411403669 Centerline is valid? [True, True] Translation: X:144.13, Y:91.22, Z:-0.59 [[ 8.81170559e-01 -4.64758722e-01 8.68203671e-02 1.44132202e+02] [ 4.62413261e-01 8.85436853e-01 4.66428461e-02 9.12196917e+01] [-9.85516222e-02 -9.53413653e-04 9.95131483e-01 -5.85228844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50719347 meters 0.06649895989093203 Centerline is valid? [True, True] Translation: X:144.16, Y:91.23, Z:-0.59 [[ 8.82647764e-01 -4.62231351e-01 8.52942101e-02 1.44157028e+02] [ 4.59952926e-01 8.86758498e-01 4.58548945e-02 9.12346590e+01] [-9.68309355e-02 -1.24239861e-03 9.95300069e-01 -5.88870146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53719347 meters 0.06741531424772963 Centerline is valid? [True, True] Translation: X:144.18, Y:91.25, Z:-0.60 [[ 8.84966249e-01 -4.58455141e-01 8.15697317e-02 1.44183195e+02] [ 4.56351501e-01 8.88716066e-01 4.38983145e-02 9.12482358e+01] [-9.26177390e-02 -1.62405727e-03 9.95700415e-01 -5.96191850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56719347 meters 0.0679677922401809 Centerline is valid? [True, True] Translation: X:144.21, Y:91.26, Z:-0.60 [[ 8.85499103e-01 -4.57614857e-01 8.04983294e-02 1.44206945e+02] [ 4.55562934e-01 8.89148915e-01 4.33199677e-02 9.12607572e+01] [-9.13988631e-02 -1.68773749e-03 9.95812934e-01 -6.02700256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59719347 meters 0.06815972041640546 Centerline is valid? [True, True] Translation: X:144.23, Y:91.27, Z:-0.61 [[ 8.85968908e-01 -4.57000165e-01 7.88031952e-02 1.44232856e+02] [ 4.55031481e-01 8.89464957e-01 4.24080294e-02 9.12729761e+01] [-8.94731571e-02 -1.71426082e-03 9.95987759e-01 -6.06964882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62719347 meters 0.06885386600346423 Centerline is valid? [True, True] Translation: X:144.26, Y:91.28, Z:-0.61 [[ 8.86474676e-01 -4.56235952e-01 7.75332518e-02 1.44257586e+02] [ 4.54323614e-01 8.89857018e-01 4.17676952e-02 9.12847987e+01] [-8.80494325e-02 -1.80081690e-03 9.96114479e-01 -6.12995774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65719347 meters 0.06885904470788146 Centerline is valid? [True, True] Translation: X:144.28, Y:91.29, Z:-0.62 [[ 8.86449654e-01 -4.56176460e-01 7.81668038e-02 1.44284707e+02] [ 4.54232366e-01 8.89887474e-01 4.21098659e-02 9.12945640e+01] [-8.87691891e-02 -1.82238382e-03 9.96050556e-01 -6.16150163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68719347 meters 0.06914964977332472 Centerline is valid? [True, True] Translation: X:144.31, Y:91.30, Z:-0.62 [[ 8.86722252e-01 -4.55537136e-01 7.88007975e-02 1.44313359e+02] [ 4.53554841e-01 8.90214665e-01 4.24953721e-02 9.12985346e+01] [-8.95078457e-02 -1.94110886e-03 9.95984226e-01 -6.21495824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71719346999998 meters 0.06890192262135834 Centerline is valid? [True, True] Translation: X:144.34, Y:91.31, Z:-0.63 [[ 8.85843335e-01 -4.57182897e-01 7.91541880e-02 1.44341525e+02] [ 4.55189135e-01 8.89370909e-01 4.26876614e-02 9.13066121e+01] [-8.99135008e-02 -1.78445388e-03 9.95947980e-01 -6.26567805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74719346999998 meters 0.06836607247461411 Centerline is valid? [True, True] Translation: X:144.37, Y:91.32, Z:-0.63 [[ 8.85055035e-01 -4.58636249e-01 7.95636642e-02 1.44369843e+02] [ 4.56624721e-01 8.88622524e-01 4.29403598e-02 9.13153871e+01] [-9.03960696e-02 -1.67384565e-03 9.95904488e-01 -6.29204229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77719347 meters 0.06733370626370107 Centerline is valid? [True, True] Translation: X:144.40, Y:91.32, Z:-0.63 [[ 8.83319752e-01 -4.61702369e-01 8.10995607e-02 1.44401631e+02] [ 4.59621030e-01 8.87033759e-01 4.38134657e-02 9.13180371e+01] [-9.21668291e-02 -1.42623603e-03 9.95742558e-01 -6.29642247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80719347 meters 0.06706963138852207 Centerline is valid? [True, True] Translation: X:144.43, Y:91.33, Z:-0.63 [[ 8.82387758e-01 -4.63497280e-01 8.10068876e-02 1.44430607e+02] [ 4.61428417e-01 8.86097480e-01 4.37615325e-02 9.13257593e+01] [-9.20633503e-02 -1.23576061e-03 9.95752385e-01 -6.32252235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83719347 meters 0.06683029943684686 Centerline is valid? [True, True] Translation: X:144.46, Y:91.33, Z:-0.64 [[ 8.80924563e-01 -4.66180611e-01 8.15325245e-02 1.44458900e+02] [ 4.64092916e-01 8.84689014e-01 4.40807677e-02 9.13324708e+01] [-9.26805279e-02 -9.93163961e-04 9.95695402e-01 -6.36277441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86719347 meters 0.06682069132941158 Centerline is valid? [True, True] Translation: X:144.49, Y:91.33, Z:-0.64 [[ 8.78993626e-01 -4.70075827e-01 7.99932640e-02 1.44492032e+02] [ 4.68079441e-01 8.82625830e-01 4.32814240e-02 9.13306492e+01] [-9.09496722e-02 -6.00893594e-04 9.95855309e-01 -6.40701716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89719347 meters 0.06686852462427957 Centerline is valid? [True, True] Translation: X:144.52, Y:91.34, Z:-0.65 [[ 8.78073843e-01 -4.71785695e-01 8.00286449e-02 1.44519832e+02] [ 4.69790584e-01 8.81713130e-01 4.33447085e-02 9.13375094e+01] [-9.10117204e-02 -4.63150934e-04 9.95849714e-01 -6.46081236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92719347 meters 0.06675634153766591 Centerline is valid? [True, True] Translation: X:144.55, Y:91.35, Z:-0.65 [[ 8.77448737e-01 -4.72939638e-01 8.00737933e-02 1.44546778e+02] [ 4.70947113e-01 8.81094763e-01 4.33685965e-02 9.13453541e+01] [-9.10633282e-02 -3.43198439e-04 9.95845044e-01 -6.48910825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95719347 meters 0.0663830907785699 Centerline is valid? [True, True] Translation: X:144.57, Y:91.36, Z:-0.65 [[ 8.76386339e-01 -4.74680654e-01 8.13957074e-02 1.44574743e+02] [ 4.72625203e-01 8.80158074e-01 4.41268838e-02 9.13551440e+01] [-9.25872671e-02 -2.02535443e-04 9.95704553e-01 -6.51174959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98719347 meters 0.0663006765697528 Centerline is valid? [True, True] Translation: X:144.60, Y:91.37, Z:-0.66 [[ 8.76815258e-01 -4.73314368e-01 8.46670673e-02 1.44600971e+02] [ 4.71079371e-01 8.80893495e-01 4.59442830e-02 9.13655953e+01] [-9.63287581e-02 -3.99739606e-04 9.95349492e-01 -6.56166034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01719347 meters 0.06570361045901137 Centerline is valid? [True, True] Translation: X:144.63, Y:91.38, Z:-0.65 [[ 8.77372422e-01 -4.72177584e-01 8.52406143e-02 1.44627053e+02] [ 4.69906759e-01 8.81503290e-01 4.62556824e-02 9.13782647e+01] [-9.69807783e-02 -5.28319301e-04 9.95286114e-01 -6.54687229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04719347 meters 0.06575523964055574 Centerline is valid? [True, True] Translation: X:144.65, Y:91.39, Z:-0.66 [[ 8.78573699e-01 -4.69846800e-01 8.57452056e-02 1.44651655e+02] [ 4.67534034e-01 8.82747588e-01 4.65684724e-02 9.13902431e+01] [-9.75714212e-02 -8.25033205e-04 9.95228183e-01 -6.57282355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07719347 meters 0.06583566240802519 Centerline is valid? [True, True] Translation: X:144.68, Y:91.40, Z:-0.66 [[ 8.79213211e-01 -4.68514182e-01 8.64788488e-02 1.44677994e+02] [ 4.66152604e-01 8.83455405e-01 4.69925215e-02 9.14016248e+01] [-9.84168692e-02 -1.00410519e-03 9.95144769e-01 -6.60599535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10719347 meters 0.06585170278089028 Centerline is valid? [True, True] Translation: X:144.70, Y:91.41, Z:-0.66 [[ 8.79443655e-01 -4.67757272e-01 8.82156071e-02 1.44704435e+02] [ 4.65292137e-01 8.83856226e-01 4.79729062e-02 9.14119233e+01] [-1.00409589e-01 -1.14343957e-03 9.94945530e-01 -6.63499660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13719347 meters 0.06580447955250873 Centerline is valid? [True, True] Translation: X:144.73, Y:91.42, Z:-0.67 [[ 8.78957342e-01 -4.68777204e-01 8.76465873e-02 1.44731651e+02] [ 4.66344601e-01 8.83315806e-01 4.77063897e-02 9.14195604e+01] [-9.97832838e-02 -1.05836869e-03 9.95008631e-01 -6.68633304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16719347 meters 0.06569225245782634 Centerline is valid? [True, True] Translation: X:144.76, Y:91.43, Z:-0.67 [[ 8.78162403e-01 -4.70271423e-01 8.76104000e-02 1.44757018e+02] [ 4.67847965e-01 8.82521385e-01 4.76894808e-02 9.14302075e+01] [-9.97450516e-02 -8.90761674e-04 9.95012629e-01 -6.73568918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19719347 meters 0.06574643585916068 Centerline is valid? [True, True] Translation: X:144.78, Y:91.44, Z:-0.68 [[ 8.77197740e-01 -4.72228265e-01 8.67443956e-02 1.44784399e+02] [ 4.69858172e-01 8.81476023e-01 4.72579973e-02 9.14403412e+01] [-9.87796669e-02 -6.97045292e-04 9.95109085e-01 -6.77062466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22719347 meters 0.06599674522583401 Centerline is valid? [True, True] Translation: X:144.82, Y:91.44, Z:-0.68 [[ 8.74318335e-01 -4.78100205e-01 8.35921254e-02 1.44816818e+02] [ 4.75922945e-01 8.78305294e-01 4.55758753e-02 9.14416271e+01] [-9.52092416e-02 -6.44129666e-05 9.95457280e-01 -6.82856201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25719347 meters 0.06634873429214738 Centerline is valid? [True, True] Translation: X:144.84, Y:91.45, Z:-0.69 [[ 8.72342299e-01 -4.81853711e-01 8.26795919e-02 1.44844410e+02] [ 4.79737748e-01 8.76251620e-01 4.51086625e-02 9.14475004e+01] [-9.41839028e-02 3.14326916e-04 9.95554767e-01 -6.87767195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28719347 meters 0.06686485858388665 Centerline is valid? [True, True] Translation: X:144.87, Y:91.45, Z:-0.69 [[ 8.69827653e-01 -4.86354979e-01 8.28172005e-02 1.44873630e+02] [ 4.84251970e-01 8.73760948e-01 4.51866623e-02 9.14542012e+01] [-9.43391938e-02 7.99784064e-04 9.95539792e-01 -6.92541205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31719347 meters 0.06788639772157994 Centerline is valid? [True, True] Translation: X:144.91, Y:91.46, Z:-0.69 [[ 8.65248499e-01 -4.94622872e-01 8.18122807e-02 1.44905648e+02] [ 4.92603524e-01 8.69106160e-01 4.46794172e-02 9.14571166e+01] [-9.32030188e-02 1.64221912e-03 9.95645771e-01 -6.93948945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34719347 meters 0.06913337121997669 Centerline is valid? [True, True] Translation: X:144.93, Y:91.47, Z:-0.70 [[ 8.62893407e-01 -4.98703252e-01 8.19148020e-02 1.44932418e+02] [ 4.96696213e-01 8.66770301e-01 4.47450265e-02 9.14652511e+01] [-9.33158078e-02 2.07658358e-03 9.95634395e-01 -6.99157314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37719347 meters 0.06908529066205643 Centerline is valid? [True, True] Translation: X:144.96, Y:91.48, Z:-0.70 [[ 8.61186607e-01 -5.01456191e-01 8.30621241e-02 1.44958642e+02] [ 4.99404904e-01 8.65179693e-01 4.53744556e-02 9.14774911e+01] [-9.46169647e-02 2.40575871e-03 9.95510845e-01 -6.99028667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40719347 meters 0.06957048994148543 Centerline is valid? [True, True] Translation: X:144.99, Y:91.49, Z:-0.70 [[ 8.59669107e-01 -5.04171871e-01 8.23392433e-02 1.44985107e+02] [ 5.02165418e-01 8.63599268e-01 4.50133112e-02 9.14896902e+01] [-9.38025555e-02 2.65136742e-03 9.95587289e-01 -7.02149056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43719346999998 meters 0.07079158412470221 Centerline is valid? [True, True] Translation: X:145.01, Y:91.50, Z:-0.71 [[ 8.58459392e-01 -5.06295006e-01 8.19319195e-02 1.45010608e+02] [ 5.04314158e-01 8.62355692e-01 4.48317909e-02 9.15004171e+01] [-9.33525690e-02 2.83315505e-03 9.95629083e-01 -7.07144518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46719346999998 meters 0.0728377282645697 Centerline is valid? [True, True] Translation: X:145.04, Y:91.51, Z:-0.71 [[ 8.56995625e-01 -5.09280124e-01 7.86908734e-02 1.45035866e+02] [ 5.07463828e-01 8.60595532e-01 4.30789275e-02 9.15123622e+01] [-8.96602556e-02 3.01431942e-03 9.95967847e-01 -7.12054664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49719346999998 meters 0.07261769143564026 Centerline is valid? [True, True] Translation: X:145.06, Y:91.53, Z:-0.71 [[ 8.56556118e-01 -5.10147795e-01 7.78514238e-02 1.45058961e+02] [ 5.08372985e-01 8.60081294e-01 4.26271654e-02 9.15290923e+01] [-8.87047078e-02 3.06500143e-03 9.96053252e-01 -7.14441446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52719347 meters 0.07318447935404764 Centerline is valid? [True, True] Translation: X:145.08, Y:91.55, Z:-0.72 [[ 8.56613588e-01 -5.10424687e-01 7.53644448e-02 1.45082238e+02] [ 5.08761587e-01 8.59917288e-01 4.12783967e-02 9.15460373e+01] [-8.58767017e-02 2.98289908e-03 9.96301307e-01 -7.19877270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55719347 meters 0.07390421107155747 Centerline is valid? [True, True] Translation: X:145.10, Y:91.56, Z:-0.73 [[ 8.56881754e-01 -5.10289242e-01 7.32021199e-02 1.45104386e+02] [ 5.08719696e-01 8.59998014e-01 4.00959651e-02 9.15625003e+01] [-8.34142174e-02 2.88185929e-03 9.96510794e-01 -7.25533549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58719347 meters 0.07433862893134709 Centerline is valid? [True, True] Translation: X:145.12, Y:91.58, Z:-0.73 [[ 8.57116700e-01 -5.10149515e-01 7.14033255e-02 1.45124809e+02] [ 5.08654929e-01 8.60081216e-01 3.91211669e-02 9.15824447e+01] [-8.13703033e-02 2.78824798e-03 9.96680039e-01 -7.29395995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61719347 meters 0.07454716085303276 Centerline is valid? [True, True] Translation: X:145.15, Y:91.60, Z:-0.73 [[ 8.57225355e-01 -5.10277635e-01 6.91478564e-02 1.45148584e+02] [ 5.08875894e-01 8.60005477e-01 3.78933143e-02 9.16004994e+01] [-7.88036460e-02 2.70456746e-03 9.96886488e-01 -7.34362894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64719347 meters 0.07213021319101719 Centerline is valid? [True, True] Translation: X:145.17, Y:91.62, Z:-0.73 [[ 8.57338419e-01 -5.10145719e-01 6.87181243e-02 1.45169562e+02] [ 5.08759734e-01 8.60083867e-01 3.76732645e-02 9.16227054e+01] [-7.83222047e-02 2.66227758e-03 9.96924543e-01 -7.30548599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67719347 meters 0.07509772767585672 Centerline is valid? [True, True] Translation: X:145.19, Y:91.64, Z:-0.74 [[ 8.56973121e-01 -5.10850512e-01 6.80354574e-02 1.45192846e+02] [ 5.09490307e-01 8.59665457e-01 3.73487619e-02 9.16350994e+01] [-7.75673667e-02 2.65652103e-03 9.96983574e-01 -7.41745328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70719347 meters 0.0756925193969273 Centerline is valid? [True, True] Translation: X:145.21, Y:91.66, Z:-0.75 [[ 8.57209766e-01 -5.10737059e-01 6.58716393e-02 1.45212793e+02] [ 5.09460899e-01 8.59733183e-01 3.61724553e-02 9.16564257e+01] [-7.51066476e-02 2.55164262e-03 9.97172242e-01 -7.45921231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73719347 meters 0.07552885199296634 Centerline is valid? [True, True] Translation: X:145.24, Y:91.68, Z:-0.75 [[ 8.57244900e-01 -5.10646865e-01 6.61132406e-02 1.45235216e+02] [ 5.09361553e-01 8.59786736e-01 3.62984464e-02 9.16750431e+01] [-7.53789752e-02 2.55888479e-03 9.97151675e-01 -7.48889754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76719347 meters 0.07213639687189975 Centerline is valid? [True, True] Translation: X:145.26, Y:91.70, Z:-0.74 [[ 8.58175832e-01 -5.09201493e-01 6.51773041e-02 1.45255007e+02] [ 5.07946772e-01 8.60644045e-01 3.58036989e-02 9.16986192e+01] [-7.43257556e-02 2.38073211e-03 9.97231174e-01 -7.43634439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79719347 meters 0.07086805783063098 Centerline is valid? [True, True] Translation: X:145.28, Y:91.72, Z:-0.74 [[ 8.59482570e-01 -5.06998741e-01 6.51305532e-02 1.45276518e+02] [ 5.05737025e-01 8.61944089e-01 3.58113049e-02 9.17197431e+01] [-7.42951818e-02 2.15973986e-03 9.97233955e-01 -7.44870840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82719347 meters 0.0687454870620971 Centerline is valid? [True, True] Translation: X:145.29, Y:91.75, Z:-0.74 [[ 8.62325051e-01 -5.02011668e-01 6.61799956e-02 1.45293756e+02] [ 5.00690844e-01 8.64859140e-01 3.64327835e-02 9.17493422e+01] [-7.55260565e-02 1.71881601e-03 9.97142347e-01 -7.44683881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85719347 meters 0.0682299135035686 Centerline is valid? [True, True] Translation: X:145.31, Y:91.77, Z:-0.75 [[ 8.64119348e-01 -4.98998905e-01 6.55579556e-02 1.45314024e+02] [ 4.97694827e-01 8.66601403e-01 3.60813930e-02 9.17705170e+01] [-7.48171919e-02 1.44922557e-03 9.97196213e-01 -7.49670172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88719347 meters 0.06761994046969667 Centerline is valid? [True, True] Translation: X:145.33, Y:91.79, Z:-0.75 [[ 8.65857797e-01 -4.96049295e-01 6.50028560e-02 1.45334805e+02] [ 4.94756936e-01 8.68293585e-01 3.58025852e-02 9.17917443e+01] [-7.42014100e-02 1.16066626e-03 9.97242600e-01 -7.53464407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91719347 meters 0.06715210378670214 Centerline is valid? [True, True] Translation: X:145.35, Y:91.82, Z:-0.76 [[ 8.69623226e-01 -4.89638876e-01 6.33183648e-02 1.45351076e+02] [ 4.88392800e-01 8.71925143e-01 3.49144386e-02 9.18189076e+01] [-7.23043408e-02 5.61826703e-04 9.97382458e-01 -7.58911563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94719347 meters 0.06715210378670214 Centerline is valid? [True, True] Translation: X:145.37, Y:91.83, Z:-0.76 [[ 8.69450565e-01 -4.89944955e-01 6.33218391e-02 1.45374862e+02] [ 4.88700147e-01 8.71753169e-01 3.49081490e-02 9.18323438e+01] [-7.23040854e-02 5.94482142e-04 9.97382457e-01 -7.62635765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97719347 meters 0.06691438733062677 Centerline is valid? [True, True] Translation: X:145.40, Y:91.85, Z:-0.77 [[ 8.70994854e-01 -4.87163937e-01 6.35551935e-02 1.45396358e+02] [ 4.85900127e-01 8.73310475e-01 3.50696562e-02 9.18526968e+01] [-7.25880880e-02 3.35986491e-04 9.97361949e-01 -7.66572277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00719347 meters 0.06636196372319443 Centerline is valid? [True, True] Translation: X:145.42, Y:91.87, Z:-0.77 [[ 8.72773784e-01 -4.83999603e-01 6.33269759e-02 1.45416942e+02] [ 4.82734953e-01 8.75068215e-01 3.49654634e-02 9.18728012e+01] [-7.23386942e-02 5.32049386e-05 9.97380123e-01 -7.67820135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03719347 meters 0.067430839931388 Centerline is valid? [True, True] Translation: X:145.44, Y:91.89, Z:-0.78 [[ 8.74824164e-01 -4.80504469e-01 6.16290269e-02 1.45437890e+02] [ 4.79294627e-01 8.76992235e-01 3.40775597e-02 9.18920833e+01] [-7.04225978e-02 -2.73411194e-04 9.97517209e-01 -7.77119476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06719347 meters 0.06680258495759858 Centerline is valid? [True, True] Translation: X:145.46, Y:91.91, Z:-0.78 [[ 8.76568172e-01 -4.77667595e-01 5.88379813e-02 1.45461919e+02] [ 4.76558216e-01 8.78540514e-01 3.25397021e-02 9.19107743e+01] [-6.72347116e-02 -4.83543823e-04 9.97737069e-01 -7.75281297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09719347 meters 0.06766908387811146 Centerline is valid? [True, True] Translation: X:145.48, Y:91.93, Z:-0.78 [[ 8.79490401e-01 -4.72583278e-01 5.62288257e-02 1.45484037e+02] [ 4.71559510e-01 8.81285620e-01 3.11012090e-02 9.19303923e+01] [-6.42515668e-02 -8.37977295e-04 9.97933382e-01 -7.81214699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12719347 meters 0.06823851002175542 Centerline is valid? [True, True] Translation: X:145.51, Y:91.94, Z:-0.79 [[ 8.79622765e-01 -4.72377280e-01 5.58882476e-02 1.45507543e+02] [ 4.71365588e-01 8.81396046e-01 3.09110572e-02 9.19439923e+01] [-6.38613616e-02 -8.46272971e-04 9.97958421e-01 -7.87698237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15719347 meters 0.06809680635404626 Centerline is valid? [True, True] Translation: X:145.53, Y:91.95, Z:-0.79 [[ 8.78678142e-01 -4.74040974e-01 5.66557847e-02 1.45533983e+02] [ 4.73005194e-01 8.80502483e-01 3.13283121e-02 9.19539825e+01] [-6.47364627e-02 -7.29022588e-04 9.97902129e-01 -7.91355104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18719346999998 meters 0.06733043208326794 Centerline is valid? [True, True] Translation: X:145.56, Y:91.96, Z:-0.79 [[ 8.77620267e-01 -4.76059937e-01 5.61213255e-02 1.45560879e+02] [ 4.75046342e-01 8.79412635e-01 3.10546179e-02 9.19645750e+01] [-6.41376622e-02 -5.93931686e-04 9.97940884e-01 -7.91434244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21719346999998 meters 0.0672648170898983 Centerline is valid? [True, True] Translation: X:145.59, Y:91.97, Z:-0.80 [[ 8.76124358e-01 -4.78782594e-01 5.63323818e-02 1.45587633e+02] [ 4.77765389e-01 8.77933399e-01 3.11958349e-02 9.19741608e+01] [-6.43921021e-02 -4.17768495e-04 9.97924588e-01 -7.96119022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24719346999998 meters 0.06762756604771702 Centerline is valid? [True, True] Translation: X:145.62, Y:91.98, Z:-0.80 [[ 8.74658634e-01 -4.81686439e-01 5.43180300e-02 1.45615822e+02] [ 4.80743665e-01 8.76343608e-01 3.01232258e-02 9.19831716e+01] [-6.21112078e-02 -2.34490726e-04 9.98069207e-01 -8.02178400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27719347 meters 0.06722120207593588 Centerline is valid? [True, True] Translation: X:145.65, Y:91.98, Z:-0.80 [[ 8.70067729e-01 -4.89788023e-01 5.55863282e-02 1.45648498e+02] [ 4.88817329e-01 8.71841481e-01 3.08229064e-02 9.19849072e+01] [-6.35591571e-02 3.53544309e-04 9.97978010e-01 -8.02744069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30719347 meters 0.06788814415070309 Centerline is valid? [True, True] Translation: X:145.68, Y:91.99, Z:-0.81 [[ 8.67192499e-01 -4.94692174e-01 5.70685796e-02 1.45676753e+02] [ 4.93679532e-01 8.69067960e-01 3.16449310e-02 9.19914422e+01] [-6.52509737e-02 7.31342821e-04 9.97868616e-01 -8.08385952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33719347 meters 0.06844411978107494 Centerline is valid? [True, True] Translation: X:145.70, Y:92.00, Z:-0.81 [[ 8.64698595e-01 -4.98714954e-01 5.98308787e-02 1.45704821e+02] [ 4.97608155e-01 8.66765427e-01 3.32237717e-02 9.19986130e+01] [-6.84285289e-02 1.04378443e-03 9.97655475e-01 -8.12397474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36719347 meters 0.06849851087875745 Centerline is valid? [True, True] Translation: X:145.73, Y:92.01, Z:-0.81 [[ 8.62082673e-01 -5.03137831e-01 6.05457517e-02 1.45732814e+02] [ 5.02016040e-01 8.64205013e-01 3.36094042e-02 9.20076113e+01] [-6.92341049e-02 1.42085347e-03 9.97599429e-01 -8.12729986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39719347 meters 0.0698134632839322 Centerline is valid? [True, True] Translation: X:145.76, Y:92.01, Z:-0.81 [[ 8.57677489e-01 -5.10448354e-01 6.19015584e-02 1.45762937e+02] [ 5.09292694e-01 8.59906013e-01 3.43889615e-02 9.20132003e+01] [-7.07833111e-02 2.03137328e-03 9.97489647e-01 -8.14173001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42719347 meters 0.07037513456220662 Centerline is valid? [True, True] Translation: X:145.79, Y:92.02, Z:-0.82 [[ 8.55537203e-01 -5.14226794e-01 6.02237305e-02 1.45791001e+02] [ 5.13139720e-01 8.57651300e-01 3.34944025e-02 9.20240147e+01] [-6.88746800e-02 2.24748072e-03 9.97622788e-01 -8.16373884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45719347 meters 0.07129142770532806 Centerline is valid? [True, True] Translation: X:145.82, Y:92.03, Z:-0.82 [[ 8.53257607e-01 -5.18010202e-01 6.01405523e-02 1.45818782e+02] [ 5.16935258e-01 8.55370649e-01 3.34513327e-02 9.20344475e+01] [-6.87705949e-02 2.54616778e-03 9.97629251e-01 -8.19554986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48719347 meters 0.07244024949733513 Centerline is valid? [True, True] Translation: X:145.85, Y:92.05, Z:-0.82 [[ 8.49387197e-01 -5.23978595e-01 6.31491989e-02 1.45846455e+02] [ 5.22808395e-01 8.51725549e-01 3.51421566e-02 9.20452361e+01] [-7.21995240e-02 3.16563343e-03 9.97385185e-01 -8.20649081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51719347 meters 0.0735924029029519 Centerline is valid? [True, True] Translation: X:145.87, Y:92.06, Z:-0.83 [[ 8.48159842e-01 -5.25706490e-01 6.52500442e-02 1.45871506e+02] [ 5.24459802e-01 8.50659243e-01 3.63423812e-02 9.20575869e+01] [-7.46109789e-02 3.39687695e-03 9.97206931e-01 -8.25323656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54719347 meters 0.07360867920206668 Centerline is valid? [True, True] Translation: X:145.90, Y:92.07, Z:-0.83 [[ 8.46864799e-01 -5.27707851e-01 6.59123357e-02 1.45895674e+02] [ 5.26439524e-01 8.49418374e-01 3.67403616e-02 9.20725471e+01] [-7.53753263e-02 3.58473963e-03 9.97148790e-01 -8.27563608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57719347 meters 0.07655271380070239 Centerline is valid? [True, True] Translation: X:145.92, Y:92.08, Z:-0.84 [[ 8.46304837e-01 -5.28683567e-01 6.52825387e-02 1.45920515e+02] [ 5.27439543e-01 8.48811339e-01 3.64258189e-02 9.20824599e+01] [-7.46702909e-02 3.60524567e-03 9.97201760e-01 -8.36241158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60719347 meters 0.0740122536782837 Centerline is valid? [True, True] Translation: X:145.94, Y:92.10, Z:-0.84 [[ 8.46283705e-01 -5.28745457e-01 6.50548433e-02 1.45940385e+02] [ 5.27509898e-01 8.48772836e-01 3.63039904e-02 9.21045050e+01] [-7.44123539e-02 3.59359829e-03 9.97221083e-01 -8.35357973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63719347 meters 0.07403292618290933 Centerline is valid? [True, True] Translation: X:145.96, Y:92.12, Z:-0.84 [[ 8.46102721e-01 -5.28928206e-01 6.59176726e-02 1.45963014e+02] [ 5.27657376e-01 8.48658826e-01 3.68224274e-02 9.21222797e+01] [-7.54180351e-02 3.62639011e-03 9.97145410e-01 -8.38874716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66719347 meters 0.07304321581734909 Centerline is valid? [True, True] Translation: X:145.99, Y:92.14, Z:-0.84 [[ 8.46424988e-01 -5.28168715e-01 6.78420778e-02 1.45985267e+02] [ 5.26816423e-01 8.49131722e-01 3.79443804e-02 9.21424693e+01] [-7.76478949e-02 3.62324901e-03 9.96974261e-01 -8.41281823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69719347 meters 0.07394693528869888 Centerline is valid? [True, True] Translation: X:146.00, Y:92.16, Z:-0.85 [[ 8.45862953e-01 -5.29002402e-01 6.83543977e-02 1.46004355e+02] [ 5.27631933e-01 8.48612156e-01 3.82354855e-02 9.21644969e+01] [-7.82330365e-02 3.72398231e-03 9.96928144e-01 -8.46409358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72719347 meters 0.07439077743150366 Centerline is valid? [True, True] Translation: X:146.03, Y:92.18, Z:-0.85 [[ 8.44862377e-01 -5.30419943e-01 6.97298202e-02 1.46026621e+02] [ 5.28998652e-01 8.47725899e-01 3.90028995e-02 9.21827140e+01] [-7.97996903e-02 3.93489853e-03 9.96803153e-01 -8.50602402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75719347 meters 0.07488266200071099 Centerline is valid? [True, True] Translation: X:146.05, Y:92.20, Z:-0.85 [[ 8.43838302e-01 -5.32096710e-01 6.93542446e-02 1.46049629e+02] [ 5.30694026e-01 8.46673914e-01 3.88218303e-02 9.22007782e+01] [-7.93773979e-02 4.04653594e-03 9.96836423e-01 -8.54282555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78719347 meters 0.07528567674281762 Centerline is valid? [True, True] Translation: X:146.07, Y:92.22, Z:-0.86 [[ 8.42408467e-01 -5.34203421e-01 7.05314108e-02 1.46073120e+02] [ 5.32757530e-01 8.45345070e-01 3.95111004e-02 9.22185500e+01] [-8.07303454e-02 4.29165472e-03 9.96726739e-01 -8.57037212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81719347 meters 0.07930459116141178 Centerline is valid? [True, True] Translation: X:146.10, Y:92.23, Z:-0.86 [[ 8.39864948e-01 -5.37962113e-01 7.22747151e-02 1.46096893e+02] [ 5.36453777e-01 8.42955750e-01 4.05333028e-02 9.22321720e+01] [-8.27297679e-02 4.72954365e-03 9.96560794e-01 -8.64426697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84719347 meters 0.0789169279443528 Centerline is valid? [True, True] Translation: X:146.12, Y:92.25, Z:-0.87 [[ 8.37733783e-01 -5.40996730e-01 7.43279710e-02 1.46119848e+02] [ 5.39413474e-01 8.41008771e-01 4.16815389e-02 9.22512293e+01] [-8.50600518e-02 5.17547577e-03 9.96362385e-01 -8.65448885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87719347 meters 0.08252037201015473 Centerline is valid? [True, True] Translation: X:146.14, Y:92.27, Z:-0.87 [[ 8.35536866e-01 -5.44249882e-01 7.53008056e-02 1.46143897e+02] [ 5.42634149e-01 8.38904854e-01 4.22708730e-02 9.22650451e+01] [-8.61761290e-02 5.54191580e-03 9.96264504e-01 -8.71899891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90719347 meters 0.079634930806566 Centerline is valid? [True, True] Translation: X:146.16, Y:92.29, Z:-0.87 [[ 8.33915918e-01 -5.46728910e-01 7.53109639e-02 1.46163641e+02] [ 5.45121914e-01 8.37289657e-01 4.22862758e-02 9.22900828e+01] [-8.61762206e-02 5.79045825e-03 9.96263083e-01 -8.71027119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93719346999998 meters 0.08230747343372044 Centerline is valid? [True, True] Translation: X:146.19, Y:92.31, Z:-0.88 [[ 8.32096291e-01 -5.49416060e-01 7.58798831e-02 1.46187205e+02] [ 5.47795222e-01 8.35526578e-01 4.26113975e-02 9.23052128e+01] [-8.68110452e-02 6.10985162e-03 9.96206059e-01 -8.76408850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96719346999998 meters 0.08350777213598871 Centerline is valid? [True, True] Translation: X:146.21, Y:92.33, Z:-0.88 [[ 8.29421653e-01 -5.53102178e-01 7.83434882e-02 1.46208768e+02] [ 5.51390275e-01 8.33086439e-01 4.39971558e-02 9.23277015e+01] [-8.96018203e-02 6.70564381e-03 9.95955093e-01 -8.78271757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99719346999998 meters 0.0818452729318142 Centerline is valid? [True, True] Translation: X:146.23, Y:92.35, Z:-0.88 [[ 8.28691224e-01 -5.53907956e-01 8.03544124e-02 1.46229533e+02] [ 5.52108671e-01 8.32548897e-01 4.51480785e-02 9.23503215e+01] [-9.19068573e-02 6.95055142e-03 9.95743350e-01 -8.78626595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02719347 meters 0.0808699999922348 Centerline is valid? [True, True] Translation: X:146.25, Y:92.37, Z:-0.88 [[ 8.28637896e-01 -5.53795522e-01 8.16685818e-02 1.46249957e+02] [ 5.51932946e-01 8.32623083e-01 4.59219474e-02 9.23720424e+01] [-9.34305152e-02 7.02291504e-03 9.95601033e-01 -8.80878073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05719347 meters 0.07997292657922246 Centerline is valid? [True, True] Translation: X:146.27, Y:92.40, Z:-0.88 [[ 8.29932524e-01 -5.51755936e-01 8.23249243e-02 1.46266705e+02] [ 5.49849009e-01 8.33977822e-01 4.63363727e-02 9.24010220e+01] [-9.42235298e-02 6.81021533e-03 9.95527773e-01 -8.84775210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08719347 meters 0.08020639808788088 Centerline is valid? [True, True] Translation: X:146.29, Y:92.42, Z:-0.89 [[ 8.31238118e-01 -5.49559546e-01 8.38301690e-02 1.46287847e+02] [ 5.47570235e-01 8.35427884e-01 4.71920453e-02 9.24216405e+01] [-9.59688997e-02 6.67507838e-03 9.95361951e-01 -8.89115665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11719347 meters 0.07746709463542492 Centerline is valid? [True, True] Translation: X:146.31, Y:92.45, Z:-0.89 [[ 8.32181219e-01 -5.47829789e-01 8.57726103e-02 1.46306887e+02] [ 5.45737981e-01 8.36563566e-01 4.82851587e-02 9.24481323e+01] [-9.82062891e-02 6.62736888e-03 9.95144011e-01 -8.90526338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14719347 meters 0.07579560830755115 Centerline is valid? [True, True] Translation: X:146.33, Y:92.47, Z:-0.89 [[ 8.33011341e-01 -5.46349079e-01 8.71480910e-02 1.46327188e+02] [ 5.44178227e-01 8.37532115e-01 4.90918874e-02 9.24731302e+01] [-9.98106324e-02 6.52999469e-03 9.94985023e-01 -8.92212594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17719347 meters 0.07595203420565198 Centerline is valid? [True, True] Translation: X:146.34, Y:92.50, Z:-0.90 [[ 8.33458343e-01 -5.45112103e-01 9.05537689e-02 1.46344545e+02] [ 5.42756283e-01 8.38337197e-01 5.10525403e-02 9.25004699e+01] [-1.03743950e-01 6.59846139e-03 9.94582150e-01 -8.95255376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20719347 meters 0.07501697658718047 Centerline is valid? [True, True] Translation: X:146.37, Y:92.52, Z:-0.90 [[ 8.33382811e-01 -5.45216636e-01 9.06195937e-02 1.46365316e+02] [ 5.42858171e-01 8.38269065e-01 5.10879706e-02 9.25223685e+01] [-1.03817614e-01 6.61775041e-03 9.94574335e-01 -8.98785051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23719347 meters 0.07507332559282971 Centerline is valid? [True, True] Translation: X:146.39, Y:92.54, Z:-0.90 [[ 8.33060795e-01 -5.45785256e-01 9.01563449e-02 1.46386681e+02] [ 5.43450343e-01 8.37898915e-01 5.08638574e-02 9.25418653e+01] [-1.03302647e-01 6.62281114e-03 9.94627921e-01 -9.02870893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26719347 meters 0.07565799838967874 Centerline is valid? [True, True] Translation: X:146.41, Y:92.56, Z:-0.91 [[ 8.32416551e-01 -5.46800152e-01 8.99570922e-02 1.46408449e+02] [ 5.44477589e-01 8.37236330e-01 5.07886070e-02 9.25614440e+01] [-1.03086564e-01 6.70234363e-03 9.94649807e-01 -9.07105055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29719347 meters 0.076298675903007 Centerline is valid? [True, True] Translation: X:146.43, Y:92.58, Z:-0.91 [[ 8.31725496e-01 -5.47839310e-01 9.00266055e-02 1.46429260e+02] [ 5.45514563e-01 8.36555954e-01 5.08723641e-02 9.25812928e+01] [-1.03182174e-01 6.79898217e-03 9.94639238e-01 -9.11890959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32719347 meters 0.07754231514879315 Centerline is valid? [True, True] Translation: X:146.45, Y:92.61, Z:-0.92 [[ 8.31121737e-01 -5.49010426e-01 8.84545669e-02 1.46448189e+02] [ 5.46771329e-01 8.35787766e-01 4.99992428e-02 9.26070068e+01] [-1.01379350e-01 6.80896352e-03 9.94824540e-01 -9.17565347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35719347 meters 0.0785174621876701 Centerline is valid? [True, True] Translation: X:146.47, Y:92.63, Z:-0.92 [[ 8.29948583e-01 -5.50836818e-01 8.81144184e-02 1.46470807e+02] [ 5.48624698e-01 8.34583600e-01 4.98111924e-02 9.26254295e+01] [-1.00976687e-01 7.00101765e-03 9.94864159e-01 -9.22817147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38719347 meters 0.07947526214713263 Centerline is valid? [True, True] Translation: X:146.49, Y:92.64, Z:-0.93 [[ 8.29468043e-01 -5.51724775e-01 8.70777728e-02 1.46493175e+02] [ 5.49568587e-01 8.33996712e-01 4.92326289e-02 9.26432747e+01] [-9.97854373e-02 7.01831630e-03 9.94984226e-01 -9.28030514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41719347 meters 0.08176410736297679 Centerline is valid? [True, True] Translation: X:146.51, Y:92.67, Z:-0.93 [[ 8.27254487e-01 -5.55065690e-01 8.69027831e-02 1.46513821e+02] [ 5.52935546e-01 8.31773611e-01 4.91420540e-02 9.26655326e+01] [-9.95605098e-02 7.39865313e-03 9.95004002e-01 -9.32523795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44719347 meters 0.08315530074291289 Centerline is valid? [True, True] Translation: X:146.54, Y:92.68, Z:-0.93 [[ 8.25811466e-01 -5.56919357e-01 8.87482523e-02 1.46536029e+02] [ 5.54707939e-01 8.30530101e-01 5.01881860e-02 9.26829280e+01] [-1.01658867e-01 7.78338069e-03 9.94788869e-01 -9.34610858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47719347 meters 0.08403094899091759 Centerline is valid? [True, True] Translation: X:146.56, Y:92.70, Z:-0.94 [[ 8.24126405e-01 -5.58973606e-01 9.14558679e-02 1.46558370e+02] [ 5.56636728e-01 8.29144117e-01 5.17260650e-02 9.27024341e+01] [-1.04743600e-01 8.27887902e-03 9.94464800e-01 -9.35797913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50719347 meters 0.07721267622597681 Centerline is valid? [True, True] Translation: X:146.57, Y:92.74, Z:-0.93 [[ 8.23112551e-01 -5.60151924e-01 9.33571138e-02 1.46569934e+02] [ 5.57720308e-01 8.28345503e-01 5.28373445e-02 9.27410727e+01] [-1.06928886e-01 8.57607686e-03 9.94229684e-01 -9.33112191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53719347 meters 0.08210829410949669 Centerline is valid? [True, True] Translation: X:146.59, Y:92.75, Z:-0.94 [[ 8.23460430e-01 -5.59626750e-01 9.34388662e-02 1.46594727e+02] [ 5.57182493e-01 8.28701424e-01 5.29303199e-02 9.27528868e+01] [-1.07054144e-01 8.47647650e-03 9.94217059e-01 -9.39703784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56719347 meters 0.07776559991519948 Centerline is valid? [True, True] Translation: X:146.61, Y:92.78, Z:-0.94 [[ 8.25295419e-01 -5.56895642e-01 9.35666347e-02 1.46613342e+02] [ 5.54425456e-01 8.30542792e-01 5.30196675e-02 9.27806215e+01] [-1.07237516e-01 8.11883539e-03 9.94200281e-01 -9.41926795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59719347 meters 0.07643779116454442 Centerline is valid? [True, True] Translation: X:146.63, Y:92.80, Z:-0.95 [[ 8.28385677e-01 -5.52287593e-01 9.35712766e-02 1.46633191e+02] [ 5.49787772e-01 8.33619735e-01 5.30239755e-02 9.28033221e+01] [-1.07287347e-01 7.52004188e-03 9.94199615e-01 -9.46796151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62719347 meters 0.07041130845191501 Centerline is valid? [True, True] Translation: X:146.64, Y:92.84, Z:-0.95 [[ 8.36970656e-01 -5.39449649e-01 9.20554013e-02 1.46644487e+02] [ 5.36951760e-01 8.41998140e-01 5.21722098e-02 9.28431323e+01] [-1.05654757e-01 5.76270103e-03 9.94386174e-01 -9.52055274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65719347 meters 0.06666879397521462 Centerline is valid? [True, True] Translation: X:146.66, Y:92.87, Z:-0.96 [[ 8.42042847e-01 -5.31683766e-01 9.09737147e-02 1.46662402e+02] [ 5.29198439e-01 8.46929787e-01 5.15649813e-02 9.28729329e+01] [-1.04464612e-01 4.72322422e-03 9.94517388e-01 -9.55007762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68719346999998 meters 0.06476145311249401 Centerline is valid? [True, True] Translation: X:146.68, Y:92.90, Z:-0.96 [[ 8.46554052e-01 -5.24433353e-01 9.11915324e-02 1.46680972e+02] [ 5.21894013e-01 8.51442863e-01 5.16883906e-02 9.28986342e+01] [-1.04751495e-01 3.83529831e-03 9.94491033e-01 -9.58244755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71719346999998 meters 0.062104825008120104 Centerline is valid? [True, True] Translation: X:146.70, Y:92.93, Z:-0.96 [[ 8.54252383e-01 -5.11824096e-01 9.10437292e-02 1.46696108e+02] [ 5.09220432e-01 8.59087264e-01 5.16103106e-02 9.29333199e+01] [-1.04629909e-01 2.27309631e-03 9.94508630e-01 -9.62458054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74719346999998 meters 0.06151844380743669 Centerline is valid? [True, True] Translation: X:146.72, Y:92.95, Z:-0.97 [[ 8.56748930e-01 -5.07883143e-01 8.96436488e-02 1.46717041e+02] [ 5.05338662e-01 8.61424153e-01 5.08061542e-02 9.29535772e+01] [-1.03024794e-01 1.77228323e-03 9.94677209e-01 -9.67608089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77719347 meters 0.06126391183362865 Centerline is valid? [True, True] Translation: X:146.74, Y:92.97, Z:-0.97 [[ 8.58498813e-01 -5.04903002e-01 8.97370929e-02 1.46739459e+02] [ 5.02333091e-01 8.63174979e-01 5.08961810e-02 9.29712760e+01] [-1.03156448e-01 1.38360032e-03 9.94664181e-01 -9.72247158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80719347 meters 0.061190033852016386 Centerline is valid? [True, True] Translation: X:146.76, Y:92.99, Z:-0.98 [[ 8.58947578e-01 -5.04184204e-01 8.94837807e-02 1.46762267e+02] [ 5.01621333e-01 8.63595213e-01 5.07872610e-02 9.29863429e+01] [-1.02883899e-01 1.26337855e-03 9.94692569e-01 -9.76406727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83719347 meters 0.0613152419868842 Centerline is valid? [True, True] Translation: X:146.79, Y:93.00, Z:-0.98 [[ 8.58748648e-01 -5.04646999e-01 8.87815611e-02 1.46786639e+02] [ 5.02121499e-01 8.63324857e-01 5.04399744e-02 9.29992514e+01] [-1.02101710e-01 1.26387074e-03 9.94773162e-01 -9.81756033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86719347 meters 0.0613152419868842 Centerline is valid? [True, True] Translation: X:146.81, Y:93.01, Z:-0.99 [[ 8.58571258e-01 -5.04949031e-01 8.87799029e-02 1.46810148e+02] [ 5.02424839e-01 8.63148189e-01 5.04428962e-02 9.30128704e+01] [-1.02101304e-01 1.29640759e-03 9.94773162e-01 -9.85464633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89719347 meters 0.06126340849744168 Centerline is valid? [True, True] Translation: X:146.84, Y:93.02, Z:-0.99 [[ 8.56093363e-01 -5.08803617e-01 9.06809422e-02 1.46835931e+02] [ 5.06186859e-01 8.60880825e-01 5.15661523e-02 9.30235004e+01] [-1.04302529e-01 1.75606064e-03 9.94544066e-01 -9.86257228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92719347 meters 0.06180937332581341 Centerline is valid? [True, True] Translation: X:146.86, Y:93.03, Z:-0.99 [[ 8.54610311e-01 -5.11097680e-01 9.17626171e-02 1.46862297e+02] [ 5.08425340e-01 8.59520278e-01 5.22356731e-02 9.30327641e+01] [-1.05569361e-01 2.01329497e-03 9.94409904e-01 -9.91285133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95719347 meters 0.06243865790840123 Centerline is valid? [True, True] Translation: X:146.89, Y:93.04, Z:-1.00 [[ 8.52978643e-01 -5.13906984e-01 9.12526481e-02 1.46888797e+02] [ 5.11278869e-01 8.57842735e-01 5.19592266e-02 9.30414882e+01] [-1.04982631e-01 2.33544003e-03 9.94471313e-01 -9.96196370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98719347 meters 0.06371748448356805 Centerline is valid? [True, True] Translation: X:146.92, Y:93.05, Z:-1.00 [[ 8.49026707e-01 -5.20445057e-01 9.10526924e-02 1.46919704e+02] [ 5.17864090e-01 8.53889454e-01 5.18612018e-02 9.30478669e+01] [-1.04739840e-01 3.12137430e-03 9.94494758e-01 -9.98866645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01719347 meters 0.06482169639820579 Centerline is valid? [True, True] Translation: X:146.95, Y:93.06, Z:-1.00 [[ 8.46715465e-01 -5.24281701e-01 9.05627988e-02 1.46948178e+02] [ 5.21749976e-01 8.51537393e-01 5.15851912e-02 9.30572539e+01] [-1.04162781e-01 3.57315892e-03 9.94553843e-01 -1.00321031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04719347 meters 0.06521222732577024 Centerline is valid? [True, True] Translation: X:146.98, Y:93.07, Z:-1.01 [[ 8.44708062e-01 -5.27622435e-01 8.99047081e-02 1.46975062e+02] [ 5.25145802e-01 8.49469806e-01 5.12146083e-02 9.30683543e+01] [-1.03393311e-01 3.95168757e-03 9.94632700e-01 -1.00602339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07719347 meters 0.06620267013283661 Centerline is valid? [True, True] Translation: X:147.00, Y:93.08, Z:-1.01 [[ 8.42902415e-01 -5.30335835e-01 9.08813542e-02 1.47001099e+02] [ 5.27819938e-01 8.47776617e-01 5.17776068e-02 9.30779120e+01] [-1.04506607e-01 4.32552098e-03 9.94514786e-01 -1.00999410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10719347 meters 0.06725687972268915 Centerline is valid? [True, True] Translation: X:147.03, Y:93.09, Z:-1.01 [[ 8.41229275e-01 -5.32956021e-01 9.10559540e-02 1.47028561e+02] [ 5.30444013e-01 8.46130185e-01 5.18927541e-02 9.30889173e+01] [-1.04701747e-01 4.64638179e-03 9.94492813e-01 -1.01325685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13719347 meters 0.06782117494978025 Centerline is valid? [True, True] Translation: X:147.05, Y:93.10, Z:-1.02 [[ 8.40486572e-01 -5.33852252e-01 9.26503876e-02 1.47054511e+02] [ 5.31257026e-01 8.45563895e-01 5.27984023e-02 9.31003226e+01] [-1.06528369e-01 4.84482120e-03 9.94297860e-01 -1.01568517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16719347 meters 0.06644399617412293 Centerline is valid? [True, True] Translation: X:147.08, Y:93.12, Z:-1.02 [[ 8.40567317e-01 -5.34014079e-01 9.09700473e-02 1.47077419e+02] [ 5.31509587e-01 8.45462262e-01 5.18760260e-02 9.31179671e+01] [-1.04614270e-01 4.74616032e-03 9.94501548e-01 -1.01797745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19719347 meters 0.06621363643089224 Centerline is valid? [True, True] Translation: X:147.10, Y:93.13, Z:-1.02 [[ 8.41300663e-01 -5.32877955e-01 9.08530667e-02 1.47101051e+02] [ 5.30369298e-01 8.46179788e-01 5.18476021e-02 9.31331444e+01] [-1.04506473e-01 4.56625521e-03 9.94513724e-01 -1.02231374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22719347 meters 0.06543850905763478 Centerline is valid? [True, True] Translation: X:147.12, Y:93.15, Z:-1.03 [[ 8.42748026e-01 -5.30839360e-01 8.93607229e-02 1.47124091e+02] [ 5.28397434e-01 8.47462002e-01 5.10324046e-02 9.31507268e+01] [-1.02819826e-01 4.21051848e-03 9.94691085e-01 -1.02661597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25719347 meters 0.06353610258905829 Centerline is valid? [True, True] Translation: X:147.14, Y:93.17, Z:-1.03 [[ 8.47870396e-01 -5.22615296e-01 8.93814488e-02 1.47144367e+02] [ 5.20121522e-01 8.52562728e-01 5.10920510e-02 9.31739408e+01] [-1.02904779e-01 3.16977763e-03 9.94686161e-01 -1.03083356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28719347 meters 0.06262938876669302 Centerline is valid? [True, True] Translation: X:147.17, Y:93.19, Z:-1.04 [[ 8.51001864e-01 -5.17742042e-01 8.79716197e-02 1.47166286e+02] [ 5.15300215e-01 8.55533019e-01 5.02885842e-02 9.31920018e+01] [-1.01299140e-01 2.53611563e-03 9.94852779e-01 -1.03610344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31719347 meters 0.061879378973889364 Centerline is valid? [True, True] Translation: X:147.19, Y:93.21, Z:-1.04 [[ 8.54171048e-01 -5.12585790e-01 8.74507189e-02 1.47188432e+02] [ 5.10144806e-01 8.58633907e-01 5.00009199e-02 9.32096998e+01] [-1.00717913e-01 1.90319180e-03 9.94913202e-01 -1.04144679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34719347 meters 0.061192354194446935 Centerline is valid? [True, True] Translation: X:147.21, Y:93.23, Z:-1.05 [[ 8.57198377e-01 -5.07518924e-01 8.73812563e-02 1.47211332e+02] [ 5.05054719e-01 8.61639631e-01 4.99687619e-02 9.32277442e+01] [-1.00651246e-01 1.29917423e-03 9.94920921e-01 -1.04560273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37719347 meters 0.060804609411255255 Centerline is valid? [True, True] Translation: X:147.23, Y:93.25, Z:-1.05 [[ 8.62030615e-01 -4.99371034e-01 8.67858810e-02 1.47231362e+02] [ 4.96897021e-01 8.66388172e-01 4.96476192e-02 9.32482540e+01] [-9.99828437e-02 3.25878058e-04 9.94989108e-01 -1.04877455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40719347 meters 0.06093216519276022 Centerline is valid? [True, True] Translation: X:147.25, Y:93.27, Z:-1.05 [[ 8.64166866e-01 -4.95605560e-01 8.71249492e-02 1.47254222e+02] [ 4.93092497e-01 8.68547705e-01 4.98465088e-02 9.32663664e+01] [-1.00376382e-01 -1.15042537e-04 9.94949531e-01 -1.05185477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43719346999998 meters 0.06174956659916666 Centerline is valid? [True, True] Translation: X:147.28, Y:93.28, Z:-1.05 [[ 8.67526867e-01 -4.89759179e-01 8.67933257e-02 1.47277390e+02] [ 4.87232495e-01 8.71857370e-01 4.96912630e-02 9.32828544e+01] [-1.00008153e-01 -8.19977130e-04 9.94986280e-01 -1.05490020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46719346999998 meters 0.061853822741749116 Centerline is valid? [True, True] Translation: X:147.30, Y:93.30, Z:-1.06 [[ 8.68185592e-01 -4.88618391e-01 8.66362898e-02 1.47303905e+02] [ 4.86091760e-01 8.72497053e-01 4.96355984e-02 9.32951797e+01] [-9.98427737e-02 -9.79724764e-04 9.95002744e-01 -1.05735555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49719346999998 meters 0.061938589103739075 Centerline is valid? [True, True] Translation: X:147.33, Y:93.31, Z:-1.06 [[ 8.68293156e-01 -4.88384461e-01 8.68770003e-02 1.47329563e+02] [ 4.85839091e-01 8.72627949e-01 4.98080337e-02 9.33056939e+01] [-1.00136768e-01 -1.03973192e-03 9.94973139e-01 -1.06202308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52719347 meters 0.06169406260062027 Centerline is valid? [True, True] Translation: X:147.36, Y:93.32, Z:-1.06 [[ 8.67826927e-01 -4.89078945e-01 8.76254015e-02 1.47357503e+02] [ 4.86488509e-01 8.72238943e-01 5.02807901e-02 9.33156108e+01] [-1.01021563e-01 -1.00627266e-03 9.94883727e-01 -1.06341409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55719347 meters 0.06179252639833819 Centerline is valid? [True, True] Translation: X:147.38, Y:93.32, Z:-1.07 [[ 8.67225057e-01 -4.90175323e-01 8.74577226e-02 1.47382435e+02] [ 4.87595816e-01 8.71623378e-01 5.02295442e-02 9.33244366e+01] [-1.00851479e-01 -9.16299682e-04 9.94901070e-01 -1.06890035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58719347 meters 0.061881558209567825 Centerline is valid? [True, True] Translation: X:147.41, Y:93.33, Z:-1.07 [[ 8.65016060e-01 -4.93950505e-01 8.80915103e-02 1.47413986e+02] [ 4.91351521e-01 8.69489883e-01 5.06065799e-02 9.33274643e+01] [-1.01591823e-01 -4.91606837e-04 9.94826045e-01 -1.07165125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61719347 meters 0.06183130561173998 Centerline is valid? [True, True] Translation: X:147.44, Y:93.34, Z:-1.08 [[ 8.63452183e-01 -4.96322739e-01 9.00781144e-02 1.47441362e+02] [ 4.93612790e-01 8.68138049e-01 5.17951972e-02 9.33351568e+01] [-1.03907373e-01 -2.58966721e-04 9.94586945e-01 -1.07695448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64719347 meters 0.06200190647625211 Centerline is valid? [True, True] Translation: X:147.47, Y:93.34, Z:-1.08 [[ 8.61872382e-01 -4.98937517e-01 9.07598591e-02 1.47469500e+02] [ 4.96199973e-01 8.66637959e-01 5.21942048e-02 9.33438916e+01] [-1.04697586e-01 5.02960511e-05 9.94504104e-01 -1.08079420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67719347 meters 0.06184467447543928 Centerline is valid? [True, True] Translation: X:147.50, Y:93.35, Z:-1.08 [[ 8.60294523e-01 -5.01298585e-01 9.26987724e-02 1.47497574e+02] [ 4.98451948e-01 8.65274310e-01 5.33481312e-02 9.33540610e+01] [-1.06953209e-01 3.10778597e-04 9.94264006e-01 -1.07997384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70719347 meters 0.0634837220220052 Centerline is valid? [True, True] Translation: X:147.53, Y:93.36, Z:-1.08 [[ 8.56743572e-01 -5.06523486e-01 9.70794029e-02 1.47526658e+02] [ 5.03428335e-01 8.62225624e-01 5.59185469e-02 9.33578818e+01] [-1.12028406e-01 9.64666616e-04 9.93704536e-01 -1.08499181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73719347 meters 0.06416994282807517 Centerline is valid? [True, True] Translation: X:147.55, Y:93.37, Z:-1.09 [[ 8.55348495e-01 -5.08696635e-01 9.80136987e-02 1.47554372e+02] [ 5.05554701e-01 8.60944923e-01 5.64648871e-02 9.33655629e+01] [-1.13107894e-01 1.25412991e-03 9.93581920e-01 -1.09051461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76719347 meters 0.0651584241442613 Centerline is valid? [True, True] Translation: X:147.58, Y:93.37, Z:-1.10 [[ 8.53970028e-01 -5.10549380e-01 1.00371920e-01 1.47581985e+02] [ 5.07261241e-01 8.59847134e-01 5.78700201e-02 9.33738357e+01] [-1.15850011e-01 1.49552192e-03 9.93265593e-01 -1.09593067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79719347 meters 0.0657236720314881 Centerline is valid? [True, True] Translation: X:147.61, Y:93.38, Z:-1.10 [[ 8.52516324e-01 -5.12345251e-01 1.03529034e-01 1.47609464e+02] [ 5.08854452e-01 8.58777766e-01 5.97318695e-02 9.33840770e+01] [-1.19511772e-01 1.75881591e-03 9.92831226e-01 -1.09947532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82719347 meters 0.06686441503664159 Centerline is valid? [True, True] Translation: X:147.63, Y:93.40, Z:-1.10 [[ 8.50988295e-01 -5.14060391e-01 1.07521327e-01 1.47634855e+02] [ 5.10301926e-01 8.57751575e-01 6.20820470e-02 9.33954169e+01] [-1.24140509e-01 2.03724493e-03 9.92262558e-01 -1.10188556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85719347 meters 0.06942589853648348 Centerline is valid? [True, True] Translation: X:147.66, Y:93.41, Z:-1.10 [[ 8.48474371e-01 -5.16392289e-01 1.15888941e-01 1.47661513e+02] [ 5.12042756e-01 8.56348350e-01 6.69307095e-02 9.34074088e+01] [-1.33803806e-01 2.55110127e-03 9.91004558e-01 -1.10304074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88719347 meters 0.07052549835767515 Centerline is valid? [True, True] Translation: X:147.69, Y:93.42, Z:-1.11 [[ 8.47695899e-01 -5.17024500e-01 1.18732173e-01 1.47686834e+02] [ 5.12457903e-01 8.55966409e-01 6.86178094e-02 9.34205162e+01] [-1.37107841e-01 2.67820489e-03 9.90552506e-01 -1.10745384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91719347 meters 0.0717304010385197 Centerline is valid? [True, True] Translation: X:147.71, Y:93.43, Z:-1.11 [[ 8.47322757e-01 -5.17265492e-01 1.20335185e-01 1.47710807e+02] [ 5.12569658e-01 8.55820692e-01 6.95937410e-02 9.34311894e+01] [-1.38983782e-01 2.71180407e-03 9.90290944e-01 -1.11222628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94719347 meters 0.07516497851359344 Centerline is valid? [True, True] Translation: X:147.74, Y:93.44, Z:-1.12 [[ 8.43926320e-01 -5.21090162e-01 1.27488862e-01 1.47738901e+02] [ 5.15853789e-01 8.53494425e-01 7.37708250e-02 9.34408037e+01] [-1.47252284e-01 3.50847177e-03 9.89092744e-01 -1.11798062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97719347 meters 0.07714248939784031 Centerline is valid? [True, True] Translation: X:147.77, Y:93.45, Z:-1.12 [[ 8.41872432e-01 -5.23207161e-01 1.32306748e-01 1.47765736e+02] [ 5.17590060e-01 8.52196043e-01 7.65665410e-02 9.34528319e+01] [-1.52811450e-01 4.02139768e-03 9.88247180e-01 -1.12238693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00719347 meters 0.07950583290623234 Centerline is valid? [True, True] Translation: X:147.79, Y:93.46, Z:-1.13 [[ 8.39526458e-01 -5.25790914e-01 1.36891345e-01 1.47792385e+02] [ 5.19808221e-01 8.50601172e-01 7.92278983e-02 9.34634884e+01] [-1.58097248e-01 4.64332971e-03 9.87412629e-01 -1.12567315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03719347 meters 0.08239145485472563 Centerline is valid? [True, True] Translation: X:147.82, Y:93.47, Z:-1.13 [[ 8.37277432e-01 -5.27667801e-01 1.43294084e-01 1.47819847e+02] [ 5.21134691e-01 8.49434715e-01 8.29415399e-02 9.34749696e+01] [-1.65484549e-01 5.23043884e-03 9.86198513e-01 -1.12888096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06719347 meters 0.08763481292335022 Centerline is valid? [True, True] Translation: X:147.85, Y:93.49, Z:-1.14 [[ 8.34402191e-01 -5.30041531e-01 1.51092550e-01 1.47847592e+02] [ 5.22810626e-01 8.47950343e-01 8.74600793e-02 9.34857568e+01] [-1.74476454e-01 6.01590879e-03 9.84642969e-01 -1.13585974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09719347 meters 0.08985061841897249 Centerline is valid? [True, True] Translation: X:147.87, Y:93.50, Z:-1.14 [[ 8.33949070e-01 -5.30246631e-01 1.52864187e-01 1.47872144e+02] [ 5.22845712e-01 8.47821329e-01 8.84949468e-02 9.34990028e+01] [-1.76525666e-01 6.12410627e-03 9.84276986e-01 -1.14164140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12719347 meters 0.09239727338542075 Centerline is valid? [True, True] Translation: X:147.90, Y:93.51, Z:-1.15 [[ 8.33560512e-01 -5.29605841e-01 1.57144919e-01 1.47897800e+02] [ 5.21767202e-01 8.48221587e-01 9.09897085e-02 9.35144762e+01] [-1.81482394e-01 6.14763679e-03 9.83374978e-01 -1.14684217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15719347 meters 0.09770172323481961 Centerline is valid? [True, True] Translation: X:147.92, Y:93.53, Z:-1.15 [[ 8.30952696e-01 -5.30488305e-01 1.67629872e-01 1.47923814e+02] [ 5.21577075e-01 8.47665160e-01 9.70625137e-02 9.35276307e+01] [-1.93584531e-01 6.77754108e-03 9.81060189e-01 -1.14860070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18719346999998 meters 0.10538764416396162 Centerline is valid? [True, False] Translation: X:147.96, Y:93.52, Z:-1.12 [[ 8.59206613e-01 -5.00592567e-01 1.05693323e-01 1.47955722e+02] [ 4.96863725e-01 8.65683007e-01 6.09866427e-02 9.35184046e+01] [-1.22026374e-01 1.15051583e-04 9.92526851e-01 -1.11667380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21719346999998 meters 0.11068200612343486 Centerline is valid? [False, False] Translation: X:147.99, Y:93.52, Z:-1.09 [[ 8.78357903e-01 -4.75480817e-01 4.90447559e-02 1.47987683e+02] [ 4.74485802e-01 8.79717193e-01 3.09981222e-02 9.35156262e+01] [-5.78845275e-02 -3.95640524e-03 9.98315445e-01 -1.08836972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24719346999998 meters 0.11922302963100583 Centerline is valid? [False, False] Translation: X:148.03, Y:93.52, Z:-1.06 [[ 8.90553591e-01 -4.54877593e-01 -8.22743515e-04 1.48027492e+02] [ 4.54867992e-01 8.90519682e-01 8.35500941e-03 9.35189368e+01] [-3.06783728e-03 -7.81482332e-03 9.99964758e-01 -1.06378366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27719347 meters 0.12602273431125632 Centerline is valid? [False, False] Translation: X:148.07, Y:93.53, Z:-1.04 [[ 8.98114345e-01 -4.37519157e-01 -4.43577632e-02 1.48073201e+02] [ 4.37516090e-01 8.99151663e-01 -1.02935927e-02 9.35262262e+01] [ 4.43880005e-02 -1.01624118e-02 9.98962677e-01 -1.04131964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30719347 meters 0.13792310949112413 Centerline is valid? [False, False] Translation: X:148.12, Y:93.53, Z:-1.02 [[ 9.01428859e-01 -4.25654308e-01 -7.90216553e-02 1.48118693e+02] [ 4.25377300e-01 9.04768908e-01 -2.11512827e-02 9.35286147e+01] [ 8.04994713e-02 -1.45476417e-02 9.96648484e-01 -1.02157622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33719347 meters 0.14592750772158686 Centerline is valid? [False, False] Translation: X:148.16, Y:93.53, Z:-1.01 [[ 9.02712257e-01 -4.17240282e-01 -1.04981560e-01 1.48158156e+02] [ 4.17178348e-01 9.08517990e-01 -2.36069443e-02 9.35343817e+01] [ 1.05227404e-01 -2.24857557e-02 9.94193937e-01 -1.00703441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36719347 meters 0.15221271352997068 Centerline is valid? [False, False] Translation: X:148.17, Y:93.53, Z:-1.00 [[ 9.03681197e-01 -4.12376022e-01 -1.15352985e-01 1.48173504e+02] [ 4.12868914e-01 9.10554934e-01 -2.07116203e-02 9.35303137e+01] [ 1.13576205e-01 -2.89089597e-02 9.93108613e-01 -1.00185616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3778.74 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%| | 0/6813 [00:00