+ python -m lidar_slam --no-model /working/61721308-a28a-4b5d-a02b-eba3020b5a7b Lidar SLAM 0.0.12 ===================================================== The recording path: /working/61721308-a28a-4b5d-a02b-eba3020b5a7b 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 0.005336195 Adjusted end_distance from 9.223372036854776e+18 to 177.335336195 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005336195 meters 0.07725577052872507 Centerline is valid? [0, True] SLAMing on 0.035336195 meters 0.06798924051559456 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.18, Z:-0.02 [[ 9.99314660e-01 -3.50725259e-02 -1.18375515e-02 2.94251777e-02] [ 3.50762347e-02 9.99384634e-01 1.05776649e-04 -1.80786623e-01] [ 1.18265572e-02 -5.20920888e-04 9.99929928e-01 -1.59736599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.065336195 meters 0.05718775319952539 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.19, Z:-0.01 [[ 9.99510749e-01 -3.04719534e-02 -7.05145032e-03 5.84649558e-02] [ 3.04731551e-02 9.99535584e-01 6.30255699e-05 -1.85082135e-01] [ 7.04625500e-03 -2.77874674e-04 9.99975136e-01 -8.75375597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.095336195 meters 0.05214379352299203 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.17, Z:-0.00 [[ 9.99615146e-01 -2.74051050e-02 -4.30339916e-03 8.90307594e-02] [ 2.74055240e-02 9.99624397e-01 3.84141736e-05 -1.73344883e-01] [ 4.30073004e-03 -1.56336299e-04 9.99990740e-01 -2.98796408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12533619499999998 meters 0.047390112063034735 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.16, Z:-0.00 [[ 9.99693915e-01 -2.44504637e-02 -3.77500264e-03 1.20465085e-01] [ 2.44507648e-02 9.99701035e-01 3.36208105e-05 -1.64488933e-01] [ 3.77305201e-03 -1.25912221e-04 9.99992874e-01 -6.32681426e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15533619499999998 meters 0.04788408268091352 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.16, Z:-0.01 [[ 9.99807677e-01 -1.79515729e-02 -7.89624481e-03 1.49816790e-01] [ 1.79526904e-02 9.99838835e-01 7.06593874e-05 -1.55384877e-01] [ 7.89370377e-03 -2.12404636e-04 9.99968822e-01 -6.84765234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18533619499999998 meters 0.046972960966467435 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.15, Z:-0.01 [[ 9.99871816e-01 -1.36166516e-02 -8.42246793e-03 1.80258210e-01] [ 1.36177686e-02 9.99907271e-01 7.52809547e-05 -1.49923587e-01] [ 8.42066184e-03 -1.89966524e-04 9.99964528e-01 -8.74196868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21533619499999998 meters 0.04270447073222886 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.14, Z:-0.01 [[ 9.99928574e-01 -8.63873673e-03 -8.25952162e-03 2.10693459e-01] [ 8.63964114e-03 9.99962675e-01 7.38245225e-05 -1.43282761e-01] [ 8.25857558e-03 -1.45178552e-04 9.99965887e-01 -9.75021141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24533619499999998 meters 0.04087364061584894 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.14, Z:-0.01 [[ 9.99960806e-01 -3.88995188e-03 -7.95333242e-03 2.40186628e-01] [ 3.89064014e-03 9.99992429e-01 7.10668593e-05 -1.36765729e-01] [ 7.95299575e-03 -1.02007628e-04 9.99968369e-01 -1.04085147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.275336195 meters 0.04586916453567321 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.12, Z:-0.01 [[ 9.99961679e-01 4.33684139e-03 -7.60477664e-03 2.68651096e-01] [-4.33645187e-03 9.99990595e-01 6.77090249e-05 -1.24676832e-01] [ 7.60499876e-03 -3.47286824e-05 9.99971081e-01 -9.25792208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.305336195 meters 0.04955968961651476 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.12, Z:-0.01 [[ 9.99945889e-01 8.07066118e-03 -6.56385467e-03 2.96755483e-01] [-8.07045745e-03 9.99967432e-01 5.75245461e-05 -1.15183079e-01] [ 6.56410516e-03 -4.54812355e-06 9.99978456e-01 -5.14033296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33533619499999995 meters 0.04305120675996276 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.10, Z:-0.00 [[ 9.99922531e-01 1.14752093e-02 -4.82196438e-03 3.25666820e-01] [-1.14751400e-02 9.99934158e-01 4.20576709e-05 -1.03975177e-01] [ 4.82212951e-03 1.32783034e-05 9.99988373e-01 -1.41471941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.365336195 meters 0.04295374095742068 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.10, Z:-0.00 [[ 9.99922276e-01 1.14675494e-02 -4.89253314e-03 3.54061864e-01] [-1.14674787e-02 9.99934245e-01 4.24918987e-05 -1.04205200e-01] [ 4.89269871e-03 1.36164237e-05 9.99988031e-01 -2.96818972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.395336195 meters 0.040090100555779884 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.11, Z:-0.00 [[ 9.99929962e-01 1.06609042e-02 -5.13963542e-03 3.82163837e-01] [-1.06608176e-02 9.99943171e-01 4.42479743e-05 -1.06299647e-01] [ 5.13981506e-03 1.05478405e-05 9.99986791e-01 -4.88756128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.425336195 meters 0.038243865442553156 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.11, Z:-0.01 [[ 9.99970471e-01 5.04133122e-03 -5.80024419e-03 4.10232074e-01] [-5.04112927e-03 9.99987292e-01 4.94375009e-05 -1.14857526e-01] [ 5.80041971e-03 -2.01962603e-05 9.99983177e-01 -8.23700127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45533619499999994 meters 0.040387230963228375 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.12, Z:-0.01 [[ 9.99981387e-01 8.24045082e-04 -6.04539910e-03 4.37661898e-01] [-8.23750919e-04 9.99999659e-01 5.11487962e-05 -1.18869424e-01] [ 6.04543919e-03 -4.61679411e-05 9.99981725e-01 -7.30067913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48533619499999997 meters 0.03453781481568336 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.12, Z:-0.00 [[ 9.99946345e-01 -8.28771956e-03 -6.21457595e-03 4.67883485e-01] [ 8.28820375e-03 9.99965651e-01 5.21618510e-05 -1.22533433e-01] [ 6.21393018e-03 -1.03666724e-04 9.99980688e-01 -4.33156612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.515336195 meters 0.0462274083696487 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.12, Z:-0.00 [[ 9.99901330e-01 -1.28383208e-02 -5.70160716e-03 4.98639823e-01] [ 1.28388015e-02 9.99917578e-01 4.77268108e-05 -1.24964179e-01] [ 5.70052449e-03 -1.20923904e-04 9.99983745e-01 -1.88048780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5453361950000001 meters 0.047687721341425196 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.13, Z:0.00 [[ 9.99836732e-01 -1.73568055e-02 -5.02499854e-03 5.29058836e-01] [ 1.73572370e-02 9.99849351e-01 4.22745431e-05 -1.29311436e-01] [ 5.02350778e-03 -1.29487732e-04 9.99987374e-01 3.84303515e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.575336195 meters 0.05201623045269964 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.13, Z:0.00 [[ 9.99771100e-01 -2.09338188e-02 -4.41846485e-03 5.59538810e-01] [ 2.09341876e-02 9.99780855e-01 3.72141769e-05 -1.34561919e-01] [ 4.41671753e-03 -1.29702631e-04 9.99990238e-01 6.22942762e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.605336195 meters 0.056835302474848276 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.15, Z:-0.00 [[ 9.99663294e-01 -2.55752630e-02 -4.38240730e-03 5.90183227e-01] [ 2.55756704e-02 9.99672888e-01 3.69337607e-05 -1.45192103e-01] [ 4.38002917e-03 -1.49004329e-04 9.99990397e-01 -3.47207232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.635336195 meters 0.05286049401177075 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.15, Z:-0.00 [[ 9.99637368e-01 -2.65588887e-02 -4.44489392e-03 6.22000560e-01] [ 2.65593176e-02 9.99647238e-01 3.74925692e-05 -1.48199361e-01] [ 4.44233017e-03 -1.55532323e-04 9.99990121e-01 -4.14637053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.665336195 meters 0.049877266410731286 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.15, Z:-0.00 [[ 9.99630860e-01 -2.67612516e-02 -4.68827236e-03 6.53171249e-01] [ 2.67617323e-02 9.99641840e-01 3.98086642e-05 -1.48541619e-01] [ 4.68552788e-03 -1.65260259e-04 9.99989009e-01 -3.68259309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.695336195 meters 0.05303191081274089 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.15, Z:-0.00 [[ 9.99639070e-01 -2.62971882e-02 -5.49425557e-03 6.84552625e-01] [ 2.62978426e-02 9.99654151e-01 4.68854527e-05 -1.47562042e-01] [ 5.49112243e-03 -1.91355598e-04 9.99984905e-01 -2.92972483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.725336195 meters 0.04599487951265512 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.13, Z:0.00 [[ 9.99693883e-01 -2.42598086e-02 -4.85817998e-03 7.15885832e-01] [ 2.42602970e-02 9.99705675e-01 4.16195264e-05 -1.29933327e-01] [ 4.85574041e-03 -1.59467675e-04 9.99988198e-01 2.00935353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.755336195 meters 0.049665782396487015 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.12, Z:0.00 [[ 9.99742486e-01 -2.23076655e-02 -4.16299952e-03 7.47439261e-01] [ 2.23080075e-02 9.99751145e-01 3.57347568e-05 -1.23157380e-01] [ 4.16116638e-03 -1.28593779e-04 9.99991334e-01 3.68966087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7853361950000001 meters 0.04046982043320078 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.12, Z:0.00 [[ 9.99826977e-01 -1.82795859e-02 -3.44578112e-03 7.77479476e-01] [ 1.82797968e-02 9.99832910e-01 2.97147487e-05 -1.22293278e-01] [ 3.44466219e-03 -9.26977861e-05 9.99994063e-01 2.21628194e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.815336195 meters 0.03396425662181781 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.12, Z:-0.00 [[ 9.99853205e-01 -1.66652273e-02 -3.97979088e-03 8.08635822e-01] [ 1.66654953e-02 9.99861120e-01 3.41797291e-05 -1.24073905e-01] [ 3.97866855e-03 -1.00499898e-04 9.99992080e-01 -2.02411436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.845336195 meters 0.04036631747784043 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.12, Z:-0.00 [[ 9.99878868e-01 -1.48214852e-02 -4.75104643e-03 8.40685993e-01] [ 1.48218476e-02 9.99890150e-01 4.10773421e-05 -1.18408505e-01] [ 4.74991570e-03 -1.11491652e-04 9.99988713e-01 -4.10085543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.875336195 meters 0.043230813539351896 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.11, Z:-0.00 [[ 9.99899634e-01 -1.33141288e-02 -4.84308933e-03 8.73429765e-01] [ 1.33144886e-02 9.99911357e-01 4.20600206e-05 -1.10619546e-01] [ 4.84210003e-03 -1.06539057e-04 9.99988271e-01 -1.18350138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.905336195 meters 0.037094090556570355 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.11, Z:0.00 [[ 9.99894681e-01 -1.36731058e-02 -4.86555877e-03 9.04140358e-01] [ 1.36734752e-02 9.99906513e-01 4.26763703e-05 -1.07879378e-01] [ 4.86452038e-03 -1.09200973e-04 9.99988162e-01 1.64572566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.935336195 meters 0.037094090556570355 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.11, Z:0.00 [[ 9.99895310e-01 -1.36269892e-02 -4.86555822e-03 9.35841915e-01] [ 1.36273584e-02 9.99907142e-01 4.27389472e-05 -1.08234169e-01] [ 4.86452401e-03 -1.09039179e-04 9.99988162e-01 1.87004316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.965336195 meters 0.03523645193188391 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.11, Z:0.00 [[ 9.99873680e-01 -1.48723020e-02 -5.60698751e-03 9.68367742e-01] [ 1.48728136e-02 9.99889392e-01 4.95602429e-05 -1.07198563e-01] [ 5.60563026e-03 -1.32945663e-04 9.99984279e-01 2.75641518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.995336195 meters 0.043766336019383664 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.11, Z:0.00 [[ 9.99841391e-01 -1.67378228e-02 -6.08589015e-03 9.99639929e-01] [ 1.67384621e-02 9.99859901e-01 5.41123954e-05 -1.12392070e-01] [ 6.08413180e-03 -1.55972254e-04 9.99981479e-01 2.13644596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.025336195 meters 0.049486251765360444 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.12, Z:0.00 [[ 9.99746728e-01 -2.17926934e-02 -5.61771161e-03 1.03102992e+00] [ 2.17933189e-02 9.99762496e-01 5.01409900e-05 -1.19378534e-01] [ 5.61528468e-03 -1.72556871e-04 9.99984219e-01 1.98636773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.055336195 meters 0.04426713129871709 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.12, Z:0.00 [[ 9.99707298e-01 -2.36327260e-02 -5.17802689e-03 1.06325195e+00] [ 2.36332823e-02 9.99720694e-01 4.62757466e-05 -1.19951851e-01] [ 5.17548702e-03 -1.68635973e-04 9.99986593e-01 3.37054512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.085336195 meters 0.044495569226672686 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.13, Z:0.00 [[ 9.99686821e-01 -2.44797605e-02 -5.19618739e-03 1.09462811e+00] [ 2.44803336e-02 9.99700311e-01 4.67021143e-05 -1.25612509e-01] [ 5.19348689e-03 -1.73891889e-04 9.99986499e-01 1.97588367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1153361949999998 meters 0.04443648612135796 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.12, Z:-0.00 [[ 9.99703647e-01 -2.37134542e-02 -5.50363664e-03 1.12658403e+00] [ 2.37140866e-02 9.99718780e-01 4.96538126e-05 -1.24069606e-01] [ 5.50091145e-03 -1.80152813e-04 9.99984854e-01 -1.17115229e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1453361949999998 meters 0.05153577980476711 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.12, Z:-0.00 [[ 9.99738513e-01 -2.22427811e-02 -5.30697762e-03 1.15940709e+00] [ 2.22433494e-02 9.99752585e-01 4.80797555e-05 -1.19717662e-01] [ 5.30459517e-03 -1.66112141e-04 9.99985917e-01 -1.32196663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1753361949999999 meters 0.04595326999388603 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.12, Z:-0.00 [[ 9.99769146e-01 -2.07407098e-02 -5.61053606e-03 1.19073904e+00] [ 2.07413235e-02 9.99784874e-01 5.12094143e-05 -1.21242935e-01] [ 5.60826697e-03 -1.67567536e-04 9.99984260e-01 -1.57152312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2053361949999999 meters 0.04769104708336466 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.11, Z:-0.00 [[ 9.99799504e-01 -1.77312016e-02 -9.30357786e-03 1.22093481e+00] [ 1.77327631e-02 9.99842759e-01 8.53686977e-05 -1.10709651e-01] [ 9.30060126e-03 -2.50329723e-04 9.99956717e-01 -4.02597686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.235336195 meters 0.03984627933450557 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.10, Z:-0.00 [[ 9.99784772e-01 -1.73196674e-02 -1.14210158e-02 1.25334165e+00] [ 1.73219983e-02 9.99849957e-01 1.05190985e-04 -1.00228835e-01] [ 1.14174803e-02 -3.03003161e-04 9.99934773e-01 -4.24982438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.265336195 meters 0.037956546667389235 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.10, Z:-0.01 [[ 9.99768121e-01 -1.76732823e-02 -1.23027866e-02 1.28374809e+00] [ 1.76760189e-02 9.99843761e-01 1.13729656e-04 -1.00165020e-01] [ 1.22988545e-02 -3.31167575e-04 9.99924311e-01 -5.50118796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.295336195 meters 0.03974143790200038 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.11, Z:-0.01 [[ 9.99759251e-01 -1.86996600e-02 -1.14787685e-02 1.31355453e+00] [ 1.87021108e-02 9.99825095e-01 1.06188742e-04 -1.05204745e-01] [ 1.14747751e-02 -3.20840378e-04 9.99934111e-01 -6.72416625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3253361949999998 meters 0.04262034160153794 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.12, Z:-0.01 [[ 9.99729689e-01 -2.15365535e-02 -8.75929804e-03 1.34324674e+00] [ 2.15380900e-02 9.99768025e-01 8.11095831e-05 -1.19961692e-01] [ 8.75551928e-03 -2.69746208e-04 9.99961633e-01 -5.22991885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3553361949999998 meters 0.0481040528808178 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.12, Z:-0.00 [[ 9.99676464e-01 -2.41344069e-02 -8.03107461e-03 1.37412877e+00] [ 2.41357848e-02 9.99708687e-01 7.46792077e-05 -1.23229544e-01] [ 8.02693272e-03 -2.68491335e-04 9.99967748e-01 -2.91354259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3853361949999998 meters 0.05051004505019857 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.13, Z:0.00 [[ 9.99589655e-01 -2.76396621e-02 -7.52131024e-03 1.40461688e+00] [ 2.76409703e-02 9.99617913e-01 7.00168746e-05 -1.25983692e-01] [ 7.51650120e-03 -2.77884456e-04 9.99971712e-01 1.15705728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4153361949999999 meters 0.05547590145905489 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.13, Z:0.01 [[ 9.99405220e-01 -3.42145433e-02 -4.30954365e-03 1.43569007e+00] [ 3.42150337e-02 9.99414494e-01 4.01089027e-05 -1.25222631e-01] [ 4.30564808e-03 -1.87536228e-04 9.99990713e-01 1.05735299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4453361949999999 meters 0.057547602211263975 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.14, Z:0.01 [[ 9.99309120e-01 -3.69332939e-02 -4.14897156e-03 1.46594290e+00] [ 3.69337723e-02 9.99317715e-01 3.87133762e-05 -1.37042906e-01] [ 4.14471097e-03 -1.91923801e-04 9.99991392e-01 1.16044317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.475336195 meters 0.05148771140812051 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.14, Z:0.01 [[ 9.99200096e-01 -3.95563587e-02 -5.87056320e-03 1.49718705e+00] [ 3.95573622e-02 9.99217300e-01 5.48791917e-05 -1.41130765e-01] [ 5.86379749e-03 -2.87059289e-04 9.99982767e-01 6.91170896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.505336195 meters 0.05857282320888844 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.15, Z:0.00 [[ 9.99097498e-01 -4.17476538e-02 -7.83086940e-03 1.52737523e+00] [ 4.17495076e-02 9.99128107e-01 7.33485661e-05 -1.50678139e-01] [ 7.82097958e-03 -4.00217310e-04 9.99969336e-01 1.94439467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.535336195 meters 0.06003254338847812 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.16, Z:0.00 [[ 9.99057559e-01 -4.25785936e-02 -8.42952120e-03 1.55786018e+00] [ 4.25807746e-02 9.99093024e-01 7.93575069e-05 -1.61488807e-01] [ 8.41849690e-03 -4.38218260e-04 9.99964468e-01 6.21982593e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.565336195 meters 0.05967669742432965 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.16, Z:0.00 [[ 9.99126376e-01 -4.08479045e-02 -8.82796190e-03 1.58923206e+00] [ 4.08502311e-02 9.99165277e-01 8.33165893e-05 -1.57289344e-01] [ 8.81718970e-03 -4.43868086e-04 9.99961029e-01 1.38171784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5953361949999998 meters 0.05848319352924627 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.16, Z:0.00 [[ 9.99220598e-01 -3.82348879e-02 -9.81278589e-03 1.61872411e+00] [ 3.82376384e-02 9.99268670e-01 9.27628704e-05 -1.60972504e-01] [ 9.80206273e-03 -4.67908329e-04 9.99951849e-01 1.46694181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6253361949999998 meters 0.053925627863785845 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.16, Z:0.00 [[ 9.99466620e-01 -3.13102456e-02 -9.28138610e-03 1.64848171e+00] [ 3.13124074e-02 9.99509643e-01 8.76586948e-05 -1.55515847e-01] [ 9.27409029e-03 -3.78234482e-04 9.99956923e-01 4.52338863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6553361949999998 meters 0.053857946403880134 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.15, Z:0.01 [[ 9.99610353e-01 -2.67394401e-02 -8.00897823e-03 1.67872431e+00] [ 2.67409031e-02 9.99642395e-01 7.56302188e-05 -1.49252840e-01] [ 8.00409187e-03 -2.89768061e-04 9.99967925e-01 7.05287796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6853361949999999 meters 0.04520895840303278 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.14, Z:0.01 [[ 9.99730956e-01 -2.20850689e-02 -7.08975742e-03 1.70987157e+00] [ 2.20860984e-02 9.99756070e-01 6.69391303e-05 -1.40943574e-01] [ 7.08654966e-03 -2.23506201e-04 9.99974865e-01 7.31600836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.715336195 meters 0.03901430821250764 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.14, Z:0.01 [[ 9.99821225e-01 -1.76239572e-02 -6.84946004e-03 1.74084928e+00] [ 1.76248140e-02 9.99844669e-01 6.47406752e-05 -1.36700006e-01] [ 6.84725512e-03 -1.85449560e-04 9.99976540e-01 6.38519698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.745336195 meters 0.02597074606501152 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.12, Z:0.01 [[ 9.99943149e-01 -8.44138072e-03 -6.51480308e-03 1.77162108e+00] [ 8.44196151e-03 9.99964364e-01 6.16550571e-05 -1.22712181e-01] [ 6.51405046e-03 -1.16649269e-04 9.99978777e-01 7.29341021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.775336195 meters 0.01632209204728999 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.12, Z:0.01 [[ 9.99968516e-01 -4.59316753e-03 -6.47065201e-03 1.80227668e+00] [ 4.59365993e-03 9.99989447e-01 6.12364689e-05 -1.17944007e-01] [ 6.47030246e-03 -9.09585158e-05 9.99979063e-01 5.40887368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8053361949999998 meters 0.01904372297199994 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.12, Z:0.00 [[ 9.99973134e-01 -1.16110950e-03 -7.23765998e-03 1.83127046e+00] [ 1.16163563e-03 9.99999323e-01 6.84897475e-05 -1.17095440e-01] [ 7.23757556e-03 -7.68954312e-05 9.99973805e-01 3.63052682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8353361949999998 meters 0.027941564221863543 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.12, Z:-0.00 [[ 9.99935982e-01 2.17629689e-03 -1.11038652e-02 1.86042768e+00] [-2.17527512e-03 9.99997629e-01 1.04095175e-04 -1.15743562e-01] [ 1.11040654e-02 -7.99345498e-05 9.99938345e-01 -2.67181602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8653361949999998 meters 0.03239385589894404 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.11, Z:-0.00 [[ 9.99922667e-01 2.09001999e-03 -1.22593203e-02 1.88944447e+00] [-2.08878548e-03 9.99997812e-01 1.13502905e-04 -1.14457105e-01] [ 1.22595307e-02 -8.78870374e-05 9.99924845e-01 -1.77177509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8953361949999998 meters 0.03238877070005514 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.11, Z:0.00 [[ 9.99921023e-01 5.86683481e-04 -1.25540638e-02 1.91679635e+00] [-5.85278690e-04 9.99999822e-01 1.15572957e-04 -1.14331398e-01] [ 1.25541293e-02 -1.08216204e-04 9.99921188e-01 5.90335731e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9253361949999999 meters 0.029736822676116142 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.12, Z:0.00 [[ 9.99912849e-01 -2.50063434e-03 -1.29630718e-02 1.94539510e+00] [ 2.50238263e-03 9.99996862e-01 1.18648474e-04 -1.16176406e-01] [ 1.29627344e-02 -1.51076699e-04 9.99915969e-01 2.15353992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9553361949999999 meters 0.035794927888062905 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.13, Z:-0.00 [[ 9.99864866e-01 -9.85874094e-03 -1.31550509e-02 1.97438212e+00] [ 9.86117201e-03 9.99951370e-01 1.19947354e-04 -1.33278911e-01] [ 1.31532286e-02 -2.49655364e-04 9.99913461e-01 -5.01503857e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.985336195 meters 0.03947059017589689 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.14, Z:0.00 [[ 9.99833131e-01 -1.42270384e-02 -1.14587160e-02 2.00360694e+00] [ 1.42291663e-02 9.99898755e-01 1.04191283e-04 -1.41404167e-01] [ 1.14560735e-02 -2.67221872e-04 9.99934341e-01 3.16312922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0153361949999997 meters 0.038582928284910244 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.15, Z:0.01 [[ 9.99784893e-01 -1.87685426e-02 -8.82659924e-03 2.03365477e+00] [ 1.87699802e-02 9.99823825e-01 8.00489913e-05 -1.49968028e-01] [ 8.82354182e-03 -2.45706865e-04 9.99961042e-01 7.52360260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.045336195 meters 0.03427061762353783 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.16, Z:0.01 [[ 9.99707895e-01 -2.30034820e-02 -7.41386358e-03 2.06390772e+00] [ 2.30046121e-02 9.99735357e-01 6.71715876e-05 -1.59597813e-01] [ 7.41035637e-03 -2.37705022e-04 9.99972515e-01 9.95013715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0753361949999998 meters 0.04448234829780585 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.17, Z:0.01 [[ 9.99536188e-01 -2.96099509e-02 -7.11756751e-03 2.09478410e+00] [ 2.96111603e-02 9.99561491e-01 6.45653650e-05 -1.67211731e-01] [ 7.11253462e-03 -2.75294851e-04 9.99974668e-01 1.23337772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.105336195 meters 0.04475812120953071 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.17, Z:0.01 [[ 9.99478896e-01 -3.17088607e-02 -6.04025790e-03 2.12435568e+00] [ 3.17097706e-02 9.99497117e-01 5.48974683e-05 -1.74631794e-01] [ 6.03547962e-03 -2.46404053e-04 9.99981756e-01 1.42215012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.135336195 meters 0.048369205002002265 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.19, Z:0.02 [[ 9.99455727e-01 -3.27487817e-02 -3.97068878e-03 2.15542418e+00] [ 3.27491826e-02 9.99463601e-01 3.59783476e-05 -1.86353470e-01] [ 3.96738066e-03 -1.65995578e-04 9.99992116e-01 1.79048549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.165336195 meters 0.04190650052334351 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.19, Z:0.02 [[ 9.99505753e-01 -3.10530102e-02 -4.89490968e-03 2.18721255e+00] [ 3.10536003e-02 9.99517720e-01 4.45861584e-05 -1.89211203e-01] [ 4.89116443e-03 -1.96568691e-04 9.99988019e-01 1.58165745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.195336195 meters 0.04377998293641225 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.19, Z:0.01 [[ 9.99585676e-01 -2.79283907e-02 -6.96281587e-03 2.21811431e+00] [ 2.79295115e-02 9.99609893e-01 6.37640038e-05 -1.89129934e-01] [ 6.95831880e-03 -2.58205631e-04 9.99975757e-01 1.18789454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2253361949999997 meters 0.0414072928620519 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.19, Z:0.01 [[ 9.99670996e-01 -2.39987933e-02 -9.05300322e-03 2.24904175e+00] [ 2.40005282e-02 9.99711942e-01 8.30344946e-05 -1.87994397e-01] [ 9.04840270e-03 -3.00284035e-04 9.99959017e-01 8.14434266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.255336195 meters 0.03506095005312789 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.18, Z:0.01 [[ 9.99824982e-01 -1.49950980e-02 -1.11871701e-02 2.27839605e+00] [ 1.49971853e-02 9.99887531e-01 1.02707316e-04 -1.77773219e-01] [ 1.11843717e-02 -2.70465403e-04 9.99937416e-01 6.79623901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2853361949999997 meters 0.03801578759936352 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.17, Z:0.01 [[ 9.99884802e-01 -9.49163775e-03 -1.18445045e-02 2.30745184e+00] [ 9.49359023e-03 9.99954929e-01 1.08626381e-04 -1.70580736e-01] [ 1.18429396e-02 -2.21060739e-04 9.99929845e-01 6.08601063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.315336195 meters 0.017043690067767632 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.16, Z:0.00 [[ 9.99907027e-01 -4.59979522e-03 -1.28366201e-02 2.33671196e+00] [ 4.60167229e-03 9.99989405e-01 1.16695351e-04 -1.63391805e-01] [ 1.28359474e-02 -1.75754421e-04 9.99917600e-01 3.00635527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.345336195 meters 0.029021493830486977 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.15, Z:0.00 [[ 9.99903780e-01 7.95850820e-04 -1.38491112e-02 2.36612711e+00] [-7.94206602e-04 9.99999677e-01 1.24223128e-04 -1.54882173e-01] [ 1.38492056e-02 -1.13212120e-04 9.99904089e-01 4.32941616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.375336195 meters 0.018224172065345223 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.13, Z:0.01 [[ 9.99853567e-01 8.98821504e-03 -1.45621554e-02 2.39376226e+00] [-8.98728089e-03 9.99959605e-01 1.29589966e-04 -1.34796493e-01] [ 1.45627320e-02 1.30319113e-06 9.99893958e-01 5.52535974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.405336195 meters 0.015445249011283696 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.13, Z:0.01 [[ 9.99828130e-01 1.22152387e-02 -1.39463041e-02 2.42153718e+00] [-1.22147193e-02 9.99925390e-01 1.22425101e-04 -1.26852770e-01] [ 1.39467591e-02 4.79461301e-05 9.99902738e-01 7.36837313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4353361949999996 meters 0.012065199992089106 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.12, Z:0.01 [[ 9.99816439e-01 1.43987739e-02 -1.26397281e-02 2.44973172e+00] [-1.43985411e-02 9.99896330e-01 1.09420136e-04 -1.21910068e-01] [ 1.26399932e-02 7.25935939e-05 9.99920109e-01 7.47760034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.465336195 meters 0.020797186585164308 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.12, Z:0.01 [[ 9.99803053e-01 1.64320180e-02 -1.11285602e-02 2.47835923e+00] [-1.64319697e-02 9.99864981e-01 9.57813575e-05 -1.17547615e-01] [ 1.11286316e-02 8.71016713e-05 9.99938071e-01 1.04879837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4953361949999997 meters 0.01961519767952697 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.11, Z:0.01 [[ 9.99784526e-01 1.62969766e-02 -1.28572986e-02 2.50675327e+00] [-1.62969184e-02 9.99867190e-01 1.09306285e-04 -1.09947268e-01] [ 1.28573724e-02 1.00251613e-04 9.99917336e-01 7.16789550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.525336195 meters 0.012709022528579235 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.10, Z:0.01 [[ 9.99803165e-01 1.48856852e-02 -1.31166782e-02 2.53488114e+00] [-1.48855262e-02 9.99889198e-01 1.09761381e-04 -1.04765275e-01] [ 1.31168587e-02 8.55088795e-05 9.99913967e-01 5.23048453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5553361949999998 meters 0.02042212226848028 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.10, Z:0.01 [[ 9.99832311e-01 1.39624429e-02 -1.18490718e-02 2.56305907e+00] [-1.39622583e-02 9.99902518e-01 9.83057851e-05 -9.90575938e-02] [ 1.18492893e-02 6.71505009e-05 9.99929792e-01 9.23006988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.585336195 meters 0.018054994899235136 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.10, Z:0.01 [[ 9.99870617e-01 1.20858755e-02 -1.06150830e-02 2.59090184e+00] [-1.20856277e-02 9.99926962e-01 8.74996891e-05 -9.56404178e-02] [ 1.06153652e-02 4.08015723e-05 9.99943655e-01 1.11521120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.615336195 meters 0.010479010251679782 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.10, Z:0.01 [[ 9.99909240e-01 6.74033963e-03 -1.16653346e-02 2.61856152e+00] [-6.73968542e-03 9.99977284e-01 9.53931381e-05 -9.69184169e-02] [ 1.16657126e-02 -1.67637946e-05 9.99931953e-01 5.92401762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6453361949999996 meters 0.018683642389365984 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.10, Z:0.01 [[ 9.99915751e-01 3.12196820e-03 -1.25993753e-02 2.64691093e+00] [-3.12092781e-03 9.99995125e-01 1.02236242e-04 -9.88750264e-02] [ 1.25996331e-02 -6.29058878e-05 9.99920619e-01 5.65514905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.675336195 meters 0.017078373560292216 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.10, Z:0.00 [[ 9.99918807e-01 -1.66929651e-03 -1.26329997e-02 2.67537113e+00] [ 1.67071728e-03 9.99998599e-01 1.01911981e-04 -1.00918879e-01] [ 1.26328119e-02 -1.23009877e-04 9.99920195e-01 4.72512721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7053361949999997 meters 0.029093187734248523 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.10, Z:0.01 [[ 9.99877714e-01 -1.00718551e-02 -1.19630773e-02 2.70605919e+00] [ 1.00737266e-02 9.99949254e-01 9.61907334e-05 -1.01854342e-01] [ 1.19615014e-02 -2.16691740e-04 9.99928435e-01 7.04698448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.735336195 meters 0.03377473184480562 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.10, Z:0.01 [[ 9.99819188e-01 -1.40575914e-02 -1.28053179e-02 2.73436053e+00] [ 1.40600587e-02 9.99901147e-01 1.02666918e-04 -1.02556339e-01] [ 1.28026089e-02 -2.82691876e-04 9.99918003e-01 8.35753309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7653361949999997 meters 0.0373487015942184 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.10, Z:0.01 [[ 9.99747927e-01 -1.78219338e-02 -1.36551087e-02 2.76349125e+00] [ 1.78250829e-02 9.99841115e-01 1.08937210e-04 -1.03043889e-01] [ 1.36509977e-02 -3.52313195e-04 9.99906759e-01 8.78435007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.795336195 meters 0.036400845461785285 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.10, Z:0.01 [[ 9.99597448e-01 -2.45728042e-02 -1.41816492e-02 2.79379264e+00] [ 2.45768774e-02 9.99697937e-01 1.12981520e-04 -1.04911440e-01] [ 1.41745892e-02 -4.61476693e-04 9.99899429e-01 8.21136506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8253361949999998 meters 0.036400845461785285 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.11, Z:0.01 [[ 9.99598604e-01 -2.45257481e-02 -1.41816465e-02 2.82550529e+00] [ 2.45298215e-02 9.99699092e-01 1.13330454e-04 -1.05238040e-01] [ 1.41745996e-02 -4.61158219e-04 9.99899429e-01 8.43584026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.855336195 meters 0.035839109466731446 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.11, Z:0.01 [[ 9.99497258e-01 -2.85456506e-02 -1.37977290e-02 2.85620977e+00] [ 2.85498945e-02 9.99592363e-01 1.10665765e-04 -1.09551590e-01] [ 1.37889455e-02 -5.04533835e-04 9.99904801e-01 8.00096746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.885336195 meters 0.04953219324312208 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.12, Z:0.01 [[ 9.99378960e-01 -3.26432082e-02 -1.32708054e-02 2.88611953e+00] [ 3.26474952e-02 9.99466923e-01 1.06469514e-04 -1.17710973e-01] [ 1.32602555e-02 -5.39661947e-04 9.99911933e-01 8.43188427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9153361949999996 meters 0.048431831634293876 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.12, Z:0.01 [[ 9.99247879e-01 -3.67937920e-02 -1.22430741e-02 2.91533213e+00] [ 3.67977503e-02 9.99322729e-01 9.81225002e-05 -1.23171382e-01] [ 1.22311719e-02 -5.48566284e-04 9.99925046e-01 9.70436287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.945336195 meters 0.049345691866626164 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.12, Z:0.01 [[ 9.99102503e-01 -4.07958133e-02 -1.13969104e-02 2.94632865e+00] [ 4.07995024e-02 9.99167349e-01 9.12872374e-05 -1.24144729e-01] [ 1.13836967e-02 -5.56193583e-04 9.99935049e-01 1.21674141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9753361949999997 meters 0.054238982010716204 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.13, Z:0.01 [[ 9.98761316e-01 -4.82077047e-02 -1.23228135e-02 2.97533470e+00] [ 4.82125825e-02 9.98837092e-01 9.88965657e-05 -1.30275265e-01] [ 1.23037156e-02 -6.92888726e-04 9.99924066e-01 1.45854936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.005336195 meters 0.05641940838003242 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.13, Z:0.02 [[ 9.98664047e-01 -5.00693673e-02 -1.27742122e-02 3.00690601e+00] [ 5.00747656e-02 9.98745467e-01 1.02898515e-04 -1.26899525e-01] [ 1.27530344e-02 -7.42426727e-04 9.99918401e-01 1.55291362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0353361949999997 meters 0.053833079696416104 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.13, Z:0.01 [[ 9.98697516e-01 -4.95656971e-02 -1.21042349e-02 3.03930507e+00] [ 4.95705117e-02 9.98770622e-01 9.78860061e-05 -1.29127430e-01] [ 1.20845024e-02 -6.97771627e-04 9.99926736e-01 1.12301840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.065336195 meters 0.060496237190969325 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.14, Z:0.01 [[ 9.98759429e-01 -4.82164739e-02 -1.24408330e-02 3.06991180e+00] [ 4.82214614e-02 9.98836664e-01 1.01064896e-04 -1.38876975e-01] [ 1.24214871e-02 -7.00854665e-04 9.99922605e-01 7.27281916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.095336195 meters 0.053713727454265406 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.13, Z:0.00 [[ 9.98824027e-01 -4.66529446e-02 -1.31933871e-02 3.10129163e+00] [ 4.66584219e-02 9.98910897e-01 1.07488804e-04 -1.34826198e-01] [ 1.31740035e-02 -7.22945023e-04 9.99912958e-01 4.86306043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.125336195 meters 0.053159723093077135 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.13, Z:0.00 [[ 9.98892413e-01 -4.48228173e-02 -1.43130432e-02 3.13224430e+00] [ 4.48290814e-02 9.98994665e-01 1.16947456e-04 -1.32402515e-01] [ 1.42934119e-02 -7.58458506e-04 9.99897556e-01 4.24207074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.155336195 meters 0.048312120313855324 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.11, Z:0.01 [[ 9.99051213e-01 -4.00529130e-02 -1.71007978e-02 3.16254326e+00] [ 4.00611614e-02 9.99197220e-01 1.39911804e-04 -1.10730948e-01] [ 1.70814657e-02 -8.24856878e-04 9.99853761e-01 9.07074435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1853361949999996 meters 0.049149174808112685 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.11, Z:0.01 [[ 9.99135465e-01 -3.76438621e-02 -1.76425997e-02 3.19261538e+00] [ 3.76522667e-02 9.99290892e-01 1.44341829e-04 -1.10356614e-01] [ 1.76246556e-02 -8.08500912e-04 9.99844347e-01 9.22156635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.215336195 meters 0.04010952371994203 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.10, Z:0.01 [[ 9.99255733e-01 -3.46799151e-02 -1.68903400e-02 3.22344964e+00] [ 3.46871976e-02 9.99398209e-01 1.38301267e-04 -9.59382985e-02] [ 1.68753792e-02 -7.24076893e-04 9.99857338e-01 1.23256501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2453361949999997 meters 0.04316889223970577 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.10, Z:0.01 [[ 9.99399780e-01 -3.06514650e-02 -1.61421186e-02 3.25295702e+00] [ 3.06575917e-02 9.99529937e-01 1.32173916e-04 -9.70395598e-02] [ 1.61304794e-02 -6.26973063e-04 9.99869699e-01 1.00176855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.275336195 meters 0.031049484010239745 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.09, Z:0.00 [[ 9.99619739e-01 -2.31210119e-02 -1.50265387e-02 3.28393853e+00] [ 2.31254712e-02 9.99732563e-01 1.23050655e-04 -9.23998586e-02] [ 1.50196750e-02 -4.70499651e-04 9.99887088e-01 4.57209449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3053361949999998 meters 0.03251641746623744 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.09, Z:0.01 [[ 9.99710393e-01 -2.02708911e-02 -1.29700123e-02 3.31525246e+00] [ 2.02739758e-02 9.99794456e-01 1.06385640e-04 -8.66402056e-02] [ 1.29651899e-02 -3.69308545e-04 9.99915880e-01 1.00005762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.335336195 meters 0.02892047913597962 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.08, Z:0.01 [[ 9.99759741e-01 -1.85906714e-02 -1.16123817e-02 3.34721329e+00] [ 1.85930342e-02 9.99827130e-01 9.55386127e-05 -8.10701373e-02] [ 1.16085981e-02 -3.11425069e-04 9.99932569e-01 1.41332157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.365336195 meters 0.02459758530122599 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.07, Z:0.01 [[ 9.99761644e-01 -1.77651683e-02 -1.26906962e-02 3.37982534e+00] [ 1.77679307e-02 9.99842132e-01 1.04941694e-04 -7.39749931e-02] [ 1.26868284e-02 -3.30404090e-04 9.99919464e-01 1.47145975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3953361949999996 meters 0.02587660267062278 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.07, Z:0.02 [[ 9.99729707e-01 -1.88994997e-02 -1.35396576e-02 3.41083572e+00] [ 1.89027549e-02 9.99821321e-01 1.12469833e-04 -7.36553863e-02] [ 1.35351127e-02 -3.68376262e-04 9.99908328e-01 1.50587720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.425336195 meters 0.03225217437815877 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.08, Z:0.01 [[ 9.99639599e-01 -2.29404261e-02 -1.39430739e-02 3.44057431e+00] [ 2.29442767e-02 9.99736739e-01 1.16240102e-04 -8.24153919e-02] [ 1.39367366e-02 -4.36111953e-04 9.99902784e-01 1.34639802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4553361949999997 meters 0.03570568299406477 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.10, Z:0.01 [[ 9.99557853e-01 -2.56191710e-02 -1.50916375e-02 3.47078996e+00] [ 2.56239927e-02 9.99671644e-01 1.26183755e-04 -9.62133159e-02] [ 1.50834493e-02 -5.12835971e-04 9.99886107e-01 7.24537577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.485336195 meters 0.039996931658494446 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.10, Z:0.01 [[ 9.99448226e-01 -2.85046496e-02 -1.70507881e-02 3.50142879e+00] [ 2.85112275e-02 9.99593462e-01 1.42771984e-04 -1.00175005e-01] [ 1.70397867e-02 -6.28832105e-04 9.99854615e-01 5.30217631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5153361949999997 meters 0.049619898429242214 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.12, Z:0.00 [[ 9.99184342e-01 -3.61882883e-02 -1.79181243e-02 3.53090069e+00] [ 3.61967901e-02 9.99344670e-01 1.50289410e-04 -1.18947709e-01] [ 1.79009433e-02 -7.98745410e-04 9.99839446e-01 4.25032117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.545336195 meters 0.052181721485159774 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.13, Z:0.01 [[ 9.99061481e-01 -3.99206581e-02 -1.68076624e-02 3.56160001e+00] [ 3.99286676e-02 9.99202523e-01 1.41101748e-04 -1.25018588e-01] [ 1.67886258e-02 -8.12076887e-04 9.99858731e-01 6.50148905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5753361949999998 meters 0.05101290940535516 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.13, Z:0.01 [[ 9.98932062e-01 -4.36367760e-02 -1.51844746e-02 3.59180100e+00] [ 4.36437416e-02 9.99047150e-01 1.27505263e-04 -1.33180408e-01] [ 1.51644421e-02 -7.90076380e-04 9.99884701e-01 7.26524035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6053361949999996 meters 0.052339887663988095 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.14, Z:0.01 [[ 9.98757893e-01 -4.82803053e-02 -1.23159379e-02 3.62295587e+00] [ 4.82852408e-02 9.98833582e-01 1.03536466e-04 -1.44570375e-01] [ 1.22965736e-02 -6.98085888e-04 9.99924151e-01 1.36071128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.635336195 meters 0.059329446904986954 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.16, Z:0.01 [[ 9.98725359e-01 -4.90754907e-02 -1.18006046e-02 3.65403448e+00] [ 4.90800807e-02 9.98794842e-01 9.95039255e-05 -1.56684870e-01] [ 1.17814998e-02 -6.78551721e-04 9.99930365e-01 1.46890533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6653361949999996 meters 0.05413235434320708 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.16, Z:0.01 [[ 9.98747969e-01 -4.86578572e-02 -1.16149603e-02 3.68663242e+00] [ 4.86622809e-02 9.98815285e-01 9.83845102e-05 -1.57661441e-01] [ 1.15964127e-02 -6.63471793e-04 9.99932539e-01 1.37025056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.695336195 meters 0.05512682544266723 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.16, Z:0.01 [[ 9.98837681e-01 -4.66781496e-02 -1.20181720e-02 3.71866192e+00] [ 4.66827501e-02 9.98909761e-01 1.02395065e-04 -1.58599045e-01] [ 1.20002897e-02 -6.63317370e-04 9.99927774e-01 1.23409400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7253361949999997 meters 0.04463154746798489 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.16, Z:0.01 [[ 9.99166646e-01 -3.81456420e-02 -1.45231825e-02 3.74842088e+00] [ 3.81514681e-02 9.99271960e-01 1.24214207e-04 -1.64615531e-01] [ 1.45078708e-02 -6.78191428e-04 9.99894525e-01 9.95966345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.755336195 meters 0.038863597581195994 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.16, Z:0.01 [[ 9.99360194e-01 -3.19768347e-02 -1.60213935e-02 3.77908622e+00] [ 3.19831341e-02 9.99488399e-01 1.37054000e-04 -1.58067585e-01] [ 1.60088144e-02 -6.49380689e-04 9.99871640e-01 9.80824971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7853361949999997 meters 0.04250265976454415 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.16, Z:0.01 [[ 9.99547758e-01 -2.50613478e-02 -1.66195430e-02 3.80897485e+00] [ 2.50671734e-02 9.99685759e-01 1.42270177e-04 -1.59303002e-01] [ 1.66107549e-02 -5.58810802e-04 9.99861876e-01 8.56071561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.815336195 meters 0.0276118081198019 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.14, Z:0.01 [[ 9.99832091e-01 -9.11315739e-03 -1.58978150e-02 3.83916792e+00] [ 9.11647533e-03 9.99958435e-01 1.36244518e-04 -1.42166910e-01] [ 1.58959126e-02 -2.81153680e-04 9.99873612e-01 1.34471459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.845336195 meters 0.02297714432423797 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.13, Z:0.02 [[ 9.99888727e-01 -6.96992624e-04 -1.49012855e-02 3.86917631e+00] [ 6.98972668e-04 9.99999748e-01 1.27669707e-04 -1.30208521e-01] [ 1.49011928e-02 -1.38071092e-04 9.99888962e-01 1.70842226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8753361949999996 meters 0.011805916759812738 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.12, Z:0.02 [[ 9.99884125e-01 7.24918891e-03 -1.33860413e-02 3.89759616e+00] [-7.24830817e-03 9.99973724e-01 1.14310144e-04 -1.20087379e-01] [ 1.33865182e-02 -1.72707454e-05 9.99910396e-01 1.81175203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.905336195 meters 0.017856184283106227 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.11, Z:0.02 [[ 9.99656306e-01 2.39575798e-02 -1.06444029e-02 3.92739374e+00] [-2.39579730e-02 9.99712962e-01 9.05867337e-05 -1.05056684e-01] [ 1.06435177e-02 1.64462717e-04 9.99943343e-01 1.63421587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9353361949999996 meters 0.023696027156811437 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.10, Z:0.01 [[ 9.99476823e-01 3.09728585e-02 -9.31461107e-03 3.95767529e+00] [-3.09734650e-02 9.99520204e-01 7.91697336e-05 -9.86376567e-02] [ 9.31259407e-03 2.09377466e-04 9.99956615e-01 1.48378959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.965336195 meters 0.028436108466503667 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.09, Z:0.02 [[ 9.99324608e-01 3.56989667e-02 -8.71274515e-03 3.98686926e+00] [-3.56996776e-02 9.99362561e-01 7.39632339e-05 -9.04719151e-02] [ 8.70983172e-03 2.37128914e-04 9.99962041e-01 1.55304198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9953361949999997 meters 0.028376571746318285 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.08, Z:0.02 [[ 9.99313794e-01 3.59227585e-02 -9.02757030e-03 4.01529562e+00] [-3.59235343e-02 9.99354539e-01 7.62549297e-05 -7.78121080e-02] [ 9.02448264e-03 2.48099628e-04 9.99959248e-01 2.01216417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0253361949999995 meters 0.02614502947301741 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.08, Z:0.02 [[ 9.99415292e-01 3.26154853e-02 -1.02617400e-02 4.04404452e+00] [-3.26163286e-02 9.99467942e-01 8.52100833e-05 -7.58980467e-02] [ 1.02590593e-02 2.49540024e-04 9.99947343e-01 2.05089632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.055336195 meters 0.017162524223070675 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.09, Z:0.01 [[ 9.99666500e-01 2.17410031e-02 -1.39361959e-02 4.07315621e+00] [-2.17415083e-02 9.99763619e-01 1.15274166e-04 -8.86634800e-02] [ 1.39354078e-02 1.87758196e-04 9.99902880e-01 1.30577995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.085336195 meters 0.01921021075736115 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.10, Z:0.01 [[ 9.99772416e-01 1.51597470e-02 -1.50099217e-02 4.10158125e+00] [-1.51595986e-02 9.99885079e-01 1.23672684e-04 -9.99141691e-02] [ 1.50100716e-02 1.03899850e-04 9.99887337e-01 1.01691632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.115336194999999 meters 0.011555020092738975 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.11, Z:0.01 [[ 9.99851721e-01 8.28936740e-03 -1.50937650e-02 4.13059433e+00] [-8.28844512e-03 9.99965643e-01 1.23659015e-04 -1.12475660e-01] [ 1.50942715e-02 1.46316351e-06 9.99886075e-01 6.28535085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.145336195 meters 0.011687352689066175 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.13, Z:0.00 [[ 9.99884952e-01 1.68622504e-03 -1.50744732e-02 4.15897720e+00] [-1.68456526e-03 9.99998574e-01 1.22802750e-04 -1.25243024e-01] [ 1.50746588e-02 -9.73946879e-05 9.99886366e-01 3.60351306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.175336195 meters 0.016346421711568172 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.14, Z:0.00 [[ 9.99872097e-01 -5.18571815e-03 -1.51293718e-02 4.18714452e+00] [ 5.18816559e-03 9.99986534e-01 1.22522407e-04 -1.37228249e-01] [ 1.51285327e-02 -2.01000422e-04 9.99885537e-01 2.38245847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.205336195 meters 0.02789130763253054 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.15, Z:0.01 [[ 9.99763188e-01 -1.71121999e-02 -1.34439755e-02 4.21766777e+00] [ 1.71152059e-02 9.99853518e-01 1.08564904e-04 -1.50514487e-01] [ 1.34401484e-02 -3.38635604e-04 9.99909620e-01 1.11080549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2353361949999995 meters 0.031438324651767234 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.15, Z:0.02 [[ 9.99669172e-01 -2.22392740e-02 -1.29213692e-02 4.24775571e+00] [ 2.22424780e-02 9.99752600e-01 1.04282553e-04 -1.53402891e-01] [ 1.29158533e-02 -3.91651324e-04 9.99916510e-01 1.54733100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.265336195 meters 0.036415336913020686 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.16, Z:0.02 [[ 9.99534928e-01 -2.70002000e-02 -1.41745276e-02 4.27721040e+00] [ 2.70045315e-02 9.99635305e-01 1.14244590e-04 -1.58658108e-01] [ 1.41662736e-02 -4.96967936e-04 9.99899530e-01 1.58867367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.295336195 meters 0.04168776963892696 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.17, Z:0.01 [[ 9.99231000e-01 -3.51579862e-02 -1.73586972e-02 4.30817391e+00] [ 3.51657109e-02 9.99381485e-01 1.39871586e-04 -1.72169340e-01] [ 1.73430430e-02 -7.50194952e-04 9.99849317e-01 9.28353861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.325336195 meters 0.047463281116711255 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.18, Z:0.01 [[ 9.99139655e-01 -3.77262156e-02 -1.72244453e-02 4.33884401e+00] [ 3.77342045e-02 9.99287802e-01 1.38933008e-04 -1.81822348e-01] [ 1.72069366e-02 -7.88764219e-04 9.99851639e-01 9.05407930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.355336195 meters 0.04337181634082996 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.19, Z:0.01 [[ 9.99095024e-01 -3.94733755e-02 -1.58425520e-02 4.37088937e+00] [ 3.94803605e-02 9.99220338e-01 1.28268142e-04 -1.85968669e-01] [ 1.58251370e-02 -7.53621726e-04 9.99874491e-01 8.69784880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.385336195 meters 0.04724730886074758 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.19, Z:0.02 [[ 9.99083737e-01 -4.11595907e-02 -1.17292086e-02 4.40223392e+00] [ 4.11635398e-02 9.99152418e-01 9.53698261e-05 -1.94698290e-01] [ 1.17153418e-02 -5.78098188e-04 9.99931206e-01 1.55035769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.415336195 meters 0.04616739755397462 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.19, Z:0.02 [[ 9.99120467e-01 -4.06224762e-02 -1.03974300e-02 4.43474300e+00] [ 4.06255541e-02 9.99174438e-01 8.49104451e-05 -1.92436532e-01] [ 1.03853970e-02 -5.07237118e-04 9.99945942e-01 1.96024308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.445336194999999 meters 0.0444242541338209 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.18, Z:0.03 [[ 9.99241393e-01 -3.77820776e-02 -9.44206322e-03 4.46464706e+00] [ 3.77844921e-02 9.99285908e-01 7.74023191e-05 -1.83435317e-01] [ 9.43239630e-03 -4.34107164e-04 9.99955420e-01 2.60608303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.475336195 meters 0.039152582590675326 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.18, Z:0.03 [[ 9.99322598e-01 -3.54786015e-02 -9.77826116e-03 4.49613036e+00] [ 3.54810816e-02 9.99370345e-01 8.02216941e-05 -1.75745257e-01] [ 9.76925808e-03 -4.27110634e-04 9.99952188e-01 2.63383007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.505336195 meters 0.03612261272208127 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.18, Z:0.02 [[ 9.99495482e-01 -2.95457884e-02 -1.16545294e-02 4.52551412e+00] [ 2.95489106e-02 9.99563331e-01 9.57561121e-05 -1.76106168e-01] [ 1.16466111e-02 -4.40086449e-04 9.99932079e-01 2.00081720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.535336195 meters 0.03377736278403965 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.18, Z:0.02 [[ 9.99587629e-01 -2.60710103e-02 -1.20363642e-02 4.55506234e+00] [ 2.60740871e-02 9.99660008e-01 9.87462061e-05 -1.77897660e-01] [ 1.20296975e-02 -4.12542695e-04 9.99927555e-01 1.63318043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5653361949999995 meters 0.027854969249506405 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.18, Z:0.01 [[ 9.99671431e-01 -2.07154955e-02 -1.50962827e-02 4.58608387e+00] [ 2.07197270e-02 9.99785316e-01 1.23935805e-04 -1.77794567e-01] [ 1.50904744e-02 -4.36685941e-04 9.99886037e-01 9.38038268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.595336195 meters 0.02525122930042153 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.17, Z:0.01 [[ 9.99686791e-01 -1.79227073e-02 -1.74670228e-02 4.61625862e+00] [ 1.79279499e-02 9.99839271e-01 1.43590562e-04 -1.74707373e-01] [ 1.74616418e-02 -4.56693498e-04 9.99847430e-01 7.71595137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.625336195 meters 0.022164510856434026 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.16, Z:0.02 [[ 9.99765789e-01 -1.24083334e-02 -1.77313156e-02 4.64571626e+00] [ 1.24128669e-02 9.99922947e-01 1.45638068e-04 -1.59781473e-01] [ 1.77281423e-02 -3.65700418e-04 9.99842777e-01 1.56822426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.655336194999999 meters 0.021840365439779044 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.15, Z:0.02 [[ 9.99822099e-01 -7.49712103e-03 -1.73079098e-02 4.67588424e+00] [ 7.50069779e-03 9.99971859e-01 1.41747371e-04 -1.52609368e-01] [ 1.73063600e-02 -2.71543555e-04 9.99850197e-01 1.86583746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.685336195 meters 0.015625599154090637 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.16, Z:0.01 [[ 9.99844318e-01 -5.32901399e-03 -1.68208745e-02 4.70448176e+00] [ 5.33205452e-03 9.99985775e-01 1.35916033e-04 -1.56470610e-01] [ 1.68199110e-02 -2.25584693e-04 9.99858510e-01 1.34136177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.715336195 meters 0.012539336258174284 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.16, Z:0.01 [[ 9.99883782e-01 -7.51501988e-04 -1.52268574e-02 4.73324255e+00] [ 7.53440671e-04 9.99999709e-01 1.21583819e-04 -1.58218700e-01] [ 1.52267616e-02 -1.33042222e-04 9.99884057e-01 1.15732715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745336195 meters 0.011300328763298043 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.15, Z:0.01 [[ 9.99882781e-01 1.19400428e-03 -1.52643182e-02 4.76195804e+00] [-1.19230874e-03 9.99999282e-01 1.20178768e-04 -1.54139472e-01] [ 1.52644507e-02 -1.01964901e-04 9.99883486e-01 1.25581957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7753361949999995 meters 0.011300328763298043 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.15, Z:0.01 [[ 9.99882864e-01 1.12215222e-03 -1.52643319e-02 4.78941519e+00] [-1.12047533e-03 9.99999365e-01 1.18408850e-04 -1.54236377e-01] [ 1.52644551e-02 -1.01291672e-04 9.99883486e-01 1.27531725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.805336195 meters 0.010623692374900996 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.15, Z:0.01 [[ 9.99878486e-01 3.40623515e-03 -1.52121874e-02 4.81830784e+00] [-3.40486242e-03 9.99994197e-01 1.16137219e-04 -1.47936872e-01] [ 1.52124947e-02 -6.43277009e-05 9.99884281e-01 1.44604132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.835336195 meters 0.00997916659288395 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.13, Z:0.02 [[ 9.99855617e-01 1.02009859e-02 -1.35898918e-02 4.84681491e+00] [-1.02005472e-02 9.99947968e-01 1.01602448e-04 -1.31770831e-01] [ 1.35902211e-02 3.70365539e-05 9.99907648e-01 2.16622641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.865336194999999 meters 0.012277830147890767 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.12, Z:0.02 [[ 9.99814537e-01 1.50088839e-02 -1.20675151e-02 4.87549959e+00] [-1.50089109e-02 9.99887356e-01 8.83296739e-05 -1.21582412e-01] [ 1.20674815e-02 9.28069673e-05 9.99927181e-01 2.44600055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.895336195 meters 0.013361906774386551 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.12, Z:0.02 [[ 9.99802411e-01 1.56842908e-02 -1.22123354e-02 4.90299677e+00] [-1.56843873e-02 9.99876989e-01 8.78814268e-05 -1.20420794e-01] [ 1.22122115e-02 1.03678936e-04 9.99925423e-01 2.11110482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.925336195 meters 0.013006071895107324 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.12, Z:0.02 [[ 9.99812234e-01 1.56415993e-02 -1.14384333e-02 4.93180346e+00] [-1.56416879e-02 9.99877658e-01 8.17165833e-05 -1.22484263e-01] [ 1.14383121e-02 9.72151650e-05 9.99934576e-01 1.87850627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.955336195 meters 0.024258779570451472 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.12, Z:0.02 [[ 9.99825062e-01 1.56422281e-02 -1.02550057e-02 4.95990036e+00] [-1.56423085e-02 9.99877649e-01 7.23675303e-05 -1.20544233e-01] [ 1.02548830e-02 8.80570922e-05 9.99947413e-01 2.25816676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9853361949999995 meters 0.023374103074364667 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.11, Z:0.03 [[ 9.99818868e-01 1.61466605e-02 -1.00755141e-02 4.98797002e+00] [-1.61467788e-02 9.99869630e-01 6.96023859e-05 -1.09440135e-01] [ 1.00753244e-02 9.30973194e-05 9.99949238e-01 2.53302382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.015336195 meters 0.013551763175616023 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.10, Z:0.02 [[ 9.99793843e-01 1.67724399e-02 -1.14436246e-02 5.01715475e+00] [-1.67726474e-02 9.99859326e-01 7.78532542e-05 -1.03748631e-01] [ 1.14433206e-02 1.14102676e-04 9.99934517e-01 2.27136580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.045336195 meters 0.01470210402735878 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.10, Z:0.02 [[ 9.99759648e-01 1.74045751e-02 -1.33314518e-02 5.04581988e+00] [-1.74049450e-02 9.99848519e-01 8.82798204e-05 -9.54306960e-02] [ 1.33309688e-02 1.43774583e-04 9.99911128e-01 2.02568540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.075336194999999 meters 0.021562991340566422 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.09, Z:0.01 [[ 9.99757848e-01 1.54952269e-02 -1.56250747e-02 5.07237040e+00] [-1.54955348e-02 9.99879932e-01 1.01368151e-04 -9.22155882e-02] [ 1.56247694e-02 1.40775285e-04 9.99877916e-01 1.42691102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.105336195 meters 0.01714370613613811 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.10, Z:0.01 [[ 9.99779861e-01 1.31256680e-02 -1.63690587e-02 5.10141030e+00] [-1.31257060e-02 9.99913849e-01 1.05119995e-04 -9.61974230e-02] [ 1.63690282e-02 1.09758597e-04 9.99866012e-01 1.45129830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.135336195 meters 0.009960804395769947 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.10, Z:0.02 [[ 9.99844026e-01 5.93046031e-03 -1.66359170e-02 5.12957692e+00] [-5.92951921e-03 9.99982415e-01 1.05894715e-04 -9.63476799e-02] [ 1.66362524e-02 -7.23520876e-06 9.99861608e-01 1.50102326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.165336195 meters 0.010398941401216963 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.10, Z:0.02 [[ 9.99868878e-01 1.87968430e-03 -1.60839649e-02 5.15821355e+00] [-1.87829416e-03 9.99998231e-01 1.01536036e-04 -9.50952334e-02] [ 1.60841273e-02 -7.13123055e-05 9.99870640e-01 1.83170194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.195336194999999 meters 0.014934419917272948 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.10, Z:0.02 [[ 9.99881717e-01 -5.41149677e-03 -1.43967715e-02 5.18545576e+00] [ 5.41335235e-03 9.99985344e-01 8.99222213e-05 -9.97958667e-02] [ 1.43960739e-02 -1.67846382e-04 9.99896357e-01 1.94590222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.225336195 meters 0.016709527318775504 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.10, Z:0.02 [[ 9.99874766e-01 -8.84787070e-03 -1.31212277e-02 5.21440809e+00] [ 8.84969650e-03 9.99960837e-01 8.10923113e-05 -1.04104157e-01] [ 1.31199963e-02 -1.97201039e-04 9.99913910e-01 1.97650215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.255336195 meters 0.019488629608072107 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.11, Z:0.02 [[ 9.99853267e-01 -1.27828601e-02 -1.14036012e-02 5.24374852e+00] [ 1.27844906e-02 9.99918273e-01 7.00922892e-05 -1.09225148e-01] [ 1.14017732e-02 -2.15871236e-04 9.99934974e-01 2.16227950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285336194999999 meters 0.026502011850791995 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.11, Z:0.03 [[ 9.99731262e-01 -2.16592038e-02 -8.26336866e-03 5.27379514e+00] [ 2.16603619e-02 9.99765386e-01 5.06707756e-05 -1.14235657e-01] [ 8.26033246e-03 -2.29644714e-04 9.99965857e-01 2.96979027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3153361949999995 meters 0.03389456872431913 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.12, Z:0.03 [[ 9.99514700e-01 -2.98623539e-02 -8.86593420e-03 5.30400533e+00] [ 2.98640095e-02 9.99553970e-01 5.43772182e-05 -1.17708400e-01] [ 8.86035589e-03 -3.19123172e-04 9.99960695e-01 3.17917970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.345336195 meters 0.03678070300257041 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.12, Z:0.03 [[ 9.99403964e-01 -3.30605736e-02 -9.93551952e-03 5.33459576e+00] [ 3.30628119e-02 9.99453274e-01 6.10706930e-05 -1.19531018e-01] [ 9.92806848e-03 -3.89530506e-04 9.99950640e-01 3.02937277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.375336195 meters 0.04362492767681073 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.13, Z:0.02 [[ 9.99285063e-01 -3.59962750e-02 -1.15599048e-02 5.36476348e+00] [ 3.59995058e-02 9.99351805e-01 7.14563972e-05 -1.33518038e-01] [ 1.15498396e-02 -4.87556170e-04 9.99933180e-01 2.04506116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.405336194999999 meters 0.03648348940749099 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.13, Z:0.02 [[ 9.99301839e-01 -3.52173904e-02 -1.24727489e-02 5.39694732e+00] [ 3.52210984e-02 9.99379542e-01 7.76872213e-05 -1.29449080e-01] [ 1.24622741e-02 -5.16936900e-04 9.99922209e-01 1.66192942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.435336195 meters 0.03878318276119013 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.13, Z:0.01 [[ 9.99384805e-01 -3.20271449e-02 -1.42924552e-02 5.42693653e+00] [ 3.20316937e-02 9.99486850e-01 8.94024774e-05 -1.29057229e-01] [ 1.42822577e-02 -5.47159025e-04 9.99897854e-01 1.49592136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.465336195 meters 0.03613902147602216 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.12, Z:0.02 [[ 9.99491183e-01 -2.86563451e-02 -1.40067541e-02 5.45740511e+00] [ 2.86603833e-02 9.99589203e-01 8.76153539e-05 -1.15721072e-01] [ 1.39984895e-02 -4.89009716e-04 9.99901897e-01 2.20659000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.495336195 meters 0.03189635697129418 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.11, Z:0.02 [[ 9.99562663e-01 -2.66492853e-02 -1.28179198e-02 5.48888685e+00] [ 2.66525038e-02 9.99644756e-01 8.03103041e-05 -1.10152568e-01] [ 1.28112261e-02 -4.21904838e-04 9.99917844e-01 2.46694760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5253361949999995 meters 0.032819490488152574 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.11, Z:0.03 [[ 9.99614189e-01 -2.47621596e-02 -1.25821030e-02 5.51990589e+00] [ 2.47651150e-02 9.99693294e-01 7.91178549e-05 -1.07292265e-01] [ 1.25762848e-02 -3.90684557e-04 9.99920839e-01 2.74092834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.555336195 meters 0.03588835323521755 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.11, Z:0.03 [[ 9.99672751e-01 -2.23850051e-02 -1.23815502e-02 5.55000722e+00] [ 2.23876883e-02 9.99749361e-01 7.81371795e-05 -1.07425596e-01] [ 1.23766978e-02 -3.55305897e-04 9.99923343e-01 2.55261207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.585336195 meters 0.02771996798800151 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.11, Z:0.02 [[ 9.99698787e-01 -2.13165280e-02 -1.21631072e-02 5.58200086e+00] [ 2.13190431e-02 9.99772720e-01 7.71491283e-05 -1.07807598e-01] [ 1.21586983e-02 -3.36431698e-04 9.99926024e-01 2.32562644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.615336194999999 meters 0.023078175894237832 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.10, Z:0.02 [[ 9.99760942e-01 -1.64372610e-02 -1.44179007e-02 5.61248780e+00] [ 1.64402937e-02 9.99864845e-01 9.18337129e-05 -9.87736033e-02] [ 1.44144425e-02 -3.28846280e-04 9.99896052e-01 2.09515091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.645336195 meters 0.022237456540122432 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.09, Z:0.02 [[ 9.99777572e-01 -1.39516095e-02 -1.58164221e-02 5.64253487e+00] [ 1.39549482e-02 9.99902620e-01 1.00741488e-04 -9.32852858e-02] [ 1.58134763e-02 -3.21436431e-04 9.99874907e-01 1.95077520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.675336195 meters 0.016653043178879955 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.08, Z:0.02 [[ 9.99856632e-01 -8.78750644e-03 -1.44739318e-02 5.67258210e+00] [ 8.78976023e-03 9.99961365e-01 9.21053957e-05 -7.79306434e-02] [ 1.44725632e-02 -2.19314581e-04 9.99895243e-01 2.30721233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.705336195 meters 0.020571001407501014 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.07, Z:0.03 [[ 9.99897483e-01 -6.71072075e-03 -1.26486664e-02 5.70116929e+00] [ 6.71226864e-03 9.99977469e-01 7.99271370e-05 -7.38187443e-02] [ 1.26478450e-02 -1.64820190e-04 9.99919999e-01 2.68755016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7353361949999995 meters 0.01404364201730171 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.07, Z:0.03 [[ 9.99934221e-01 -6.06827456e-03 -9.73287047e-03 5.72974047e+00] [ 6.06915163e-03 9.99981581e-01 6.05801541e-05 -6.97251989e-02] [ 9.73232358e-03 -1.19646436e-04 9.99952633e-01 2.83119105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.765336195 meters 0.022592372550849255 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.07, Z:0.03 [[ 9.99926397e-01 -6.27868764e-03 -1.03816412e-02 5.75769284e+00] [ 6.27967738e-03 9.99980281e-01 6.27406072e-05 -6.52608572e-02] [ 1.03810426e-02 -1.27929347e-04 9.99946107e-01 3.12750034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.795336195 meters 0.020629272990928357 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.06, Z:0.03 [[ 9.99881696e-01 -8.49244206e-03 -1.28247123e-02 5.78610579e+00] [ 8.49410898e-03 9.99963922e-01 7.55127413e-05 -5.87297328e-02] [ 1.28236083e-02 -1.84438312e-04 9.99917757e-01 2.91474632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825336194999999 meters 0.017856673802421726 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.06, Z:0.03 [[ 9.99857336e-01 -9.75897634e-03 -1.37865607e-02 5.81361797e+00] [ 9.76101131e-03 9.99952357e-01 8.03229359e-05 -5.98251595e-02] [ 1.37851200e-02 -2.14882252e-04 9.99904958e-01 2.61402920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.855336195 meters 0.022311344657026676 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.06, Z:0.02 [[ 9.99810749e-01 -1.04449448e-02 -1.64124726e-02 5.84176189e+00] [ 1.04479041e-02 9.99945415e-01 9.45743304e-05 -6.08376168e-02] [ 1.64105889e-02 -2.66032373e-04 9.99865302e-01 2.14975924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885336195 meters 0.022954694621583113 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.06, Z:0.02 [[ 9.99791685e-01 -1.07326850e-02 -1.73607704e-02 5.86931165e+00] [ 1.07360216e-02 9.99942362e-01 9.90029656e-05 -6.19084459e-02] [ 1.73587072e-02 -2.85367948e-04 9.99849286e-01 1.97333231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.915336195 meters 0.018844720152746186 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.06, Z:0.02 [[ 9.99734349e-01 -1.24543927e-02 -1.93938077e-02 5.89764519e+00] [ 1.24588502e-02 9.99922380e-01 1.09033317e-04 -5.96820911e-02] [ 1.93909444e-02 -3.50628898e-04 9.99811916e-01 1.71011951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945336194999999 meters 0.02094941159743931 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.06, Z:0.02 [[ 9.99706746e-01 -1.46995823e-02 -1.92443430e-02 5.92548612e+00] [ 1.47043615e-02 9.99891879e-01 1.06857165e-04 -5.99631610e-02] [ 1.92406916e-02 -3.89801605e-04 9.99814805e-01 1.84905188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.975336195 meters 0.027957889482013422 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.06, Z:0.02 [[ 9.99737642e-01 -1.58243453e-02 -1.65601322e-02 5.95410794e+00] [ 1.58280072e-02 9.99874725e-01 9.00730584e-05 -6.15296628e-02] [ 1.65566323e-02 -3.52163318e-04 9.99862868e-01 2.43280328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005336195 meters 0.030568751278356156 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.06, Z:0.03 [[ 9.99764395e-01 -1.68921555e-02 -1.36312292e-02 5.98348560e+00] [ 1.68947207e-02 9.99857271e-01 7.30509630e-05 -6.34819967e-02] [ 1.36280497e-02 -3.03329563e-04 9.99907088e-01 2.85721394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.035336194999999 meters 0.023253418418507414 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.07, Z:0.03 [[ 9.99731487e-01 -1.97168019e-02 -1.21738249e-02 6.01497205e+00] [ 1.97190569e-02 9.99805558e-01 6.52130934e-05 -6.91321836e-02] [ 1.21701720e-02 -3.05251928e-04 9.99925894e-01 2.80493856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0653361949999995 meters 0.027822395856328876 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.07, Z:0.03 [[ 9.99685265e-01 -2.19492052e-02 -1.21492092e-02 6.04555868e+00] [ 2.19516193e-02 9.99759032e-01 6.53682875e-05 -7.31816042e-02] [ 1.21448469e-02 -3.32042529e-04 9.99926193e-01 3.04669278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.095336195 meters 0.0309417832862398 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.07, Z:0.03 [[ 9.99669236e-01 -2.23973955e-02 -1.26402436e-02 6.07814758e+00] [ 2.24000500e-02 9.99749085e-01 6.84423320e-05 -7.45759395e-02] [ 1.26355390e-02 -3.51561782e-04 9.99920107e-01 3.00316292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.125336195 meters 0.02609861520293043 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.08, Z:0.02 [[ 9.99634781e-01 -2.25975745e-02 -1.48207487e-02 6.11027613e+00] [ 2.26012569e-02 9.99744556e-01 8.09961547e-05 -7.91617877e-02] [ 1.48151325e-02 -4.15934121e-04 9.99890163e-01 2.39815955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.155336194999999 meters 0.03367771324462388 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.08, Z:0.02 [[ 9.99634473e-01 -2.15551869e-02 -1.63185402e-02 6.14150891e+00] [ 2.15595238e-02 9.99767562e-01 8.98688791e-05 -8.24986767e-02] [ 1.63128100e-02 -4.41655986e-04 9.99866840e-01 2.37758151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.185336195 meters 0.03372652729089872 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.08, Z:0.02 [[ 9.99666237e-01 -1.82536335e-02 -1.82816701e-02 6.17240433e+00] [ 1.82585304e-02 9.99833294e-01 1.00967733e-04 -7.50017551e-02] [ 1.82767794e-02 -4.34730462e-04 9.99832871e-01 2.36810932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.215336195 meters 0.03151499278534265 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.07, Z:0.02 [[ 9.99704778e-01 -1.52877831e-02 -1.88849100e-02 6.20192319e+00] [ 1.52924746e-02 9.99883058e-01 1.04029843e-04 -6.91373365e-02] [ 1.88811112e-02 -3.92796138e-04 9.99821659e-01 2.44118138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.245336195 meters 0.023456347477639066 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.06, Z:0.02 [[ 9.99817717e-01 -6.24542012e-03 -1.80423751e-02 6.23231369e+00] [ 6.24822535e-03 9.99980475e-01 9.91126448e-05 -5.55585828e-02] [ 1.80414039e-02 -2.11827404e-04 9.99837218e-01 2.43651067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2753361949999995 meters 0.02083575270036928 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.05, Z:0.02 [[ 9.99839992e-01 -7.84822898e-04 -1.78710481e-02 6.26003563e+00] [ 7.86690237e-04 9.99999686e-01 9.74597979e-05 -4.88320731e-02] [ 1.78709660e-02 -1.11503183e-04 9.99840295e-01 2.17948917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.305336195 meters 0.010661771366457393 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.03, Z:0.02 [[ 9.99834726e-01 8.12019897e-03 -1.62660169e-02 6.28927577e+00] [-8.11985870e-03 9.99967030e-01 8.69635462e-05 -3.27437971e-02] [ 1.62661868e-02 4.51285859e-05 9.99867696e-01 2.03420720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.335336195 meters 0.011706219930792584 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.02, Z:0.02 [[ 9.99823231e-01 1.08793780e-02 -1.53344446e-02 6.31710286e+00] [-1.08794391e-02 9.99940814e-01 7.94392143e-05 -2.34250202e-02] [ 1.53344012e-02 8.74049841e-05 9.99882417e-01 2.36190125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.365336194999999 meters 0.013413555805184435 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.01, Z:0.03 [[ 9.99791849e-01 1.38781498e-02 -1.49551241e-02 6.34477392e+00] [-1.38785697e-02 9.99903685e-01 7.57125558e-05 -5.97533953e-03] [ 1.49547344e-02 1.31858935e-04 9.99888163e-01 2.68541824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.395336195 meters 0.013365994478392033 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.00, Z:0.02 [[ 9.99766005e-01 1.37388583e-02 -1.67086482e-02 6.37331707e+00] [-1.37393975e-02 9.99905607e-01 8.25226427e-05 -4.47872622e-03] [ 1.67082048e-02 1.47063427e-04 9.99860397e-01 2.34048057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425336195 meters 0.012106709954808914 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.00, Z:0.02 [[ 9.99764074e-01 1.09514943e-02 -1.87579836e-02 6.40099404e+00] [-1.09517502e-02 9.99940024e-01 8.90858048e-05 -4.19385396e-03] [ 1.87578342e-02 1.16367964e-04 9.99824050e-01 1.85383179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.455336195 meters 0.011390096639052463 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.00, Z:0.02 [[ 9.99792105e-01 8.39164714e-03 -1.85829882e-02 6.42852612e+00] [-8.39149382e-03 9.99964787e-01 8.62280241e-05 -1.02669989e-03] [ 1.85830574e-02 6.97289329e-05 9.99827318e-01 2.12064395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4853361949999995 meters 0.013839622508306068 Centerline is valid? [True, True] Translation: X:6.46, Y:0.00, Z:0.03 [[ 9.99831769e-01 1.42221331e-03 -1.82869198e-02 6.45586549e+00] [-1.42091878e-03 9.99998987e-01 8.37832625e-05 1.79776728e-03] [ 1.82870204e-02 -5.77849399e-05 9.99832777e-01 2.71785024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.515336195 meters 0.015409304435656529 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.01, Z:0.02 [[ 9.99801602e-01 -8.44277731e-03 -1.80409548e-02 6.48424733e+00] [ 8.44562874e-03 9.99964332e-01 8.18680925e-05 -6.34002671e-03] [ 1.80396201e-02 -2.34219056e-04 9.99837245e-01 2.43422684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545336195 meters 0.024566602059918636 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.01, Z:0.03 [[ 9.99756202e-01 -1.32300625e-02 -1.76777095e-02 6.51350068e+00] [ 1.32335375e-02 9.99912430e-01 7.96068213e-05 -7.56773210e-03] [ 1.76751083e-02 -3.13526045e-04 9.99843734e-01 2.84801758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.575336194999999 meters 0.026940609365874738 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.01, Z:0.03 [[ 9.99619652e-01 -2.32630762e-02 -1.48115283e-02 6.54254845e+00] [ 2.32666129e-02 9.99729294e-01 6.64892635e-05 -1.46360136e-02] [ 1.48059720e-02 -4.11078070e-04 9.99890301e-01 3.14273969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.605336195 meters 0.03157011011027126 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.02, Z:0.03 [[ 9.99509304e-01 -2.76354980e-02 -1.47454967e-02 6.57276198e+00] [ 2.76394785e-02 9.99617954e-01 6.61911884e-05 -2.04829086e-02] [ 1.47380340e-02 -4.73716547e-04 9.99891277e-01 3.07780663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.635336195 meters 0.03157011011027126 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.02, Z:0.03 [[ 9.99510548e-01 -2.75904669e-02 -1.47454951e-02 6.60447918e+00] [ 2.75944476e-02 9.99619199e-01 6.65366198e-05 -2.07006476e-02] [ 1.47380442e-02 -4.73397846e-04 9.99891277e-01 3.10025753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.665336195 meters 0.03817270914436916 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.03, Z:0.03 [[ 9.99309577e-01 -3.38261070e-02 -1.53676138e-02 6.63486105e+00] [ 3.38311729e-02 9.99427560e-01 6.97210301e-05 -3.16173846e-02] [ 1.53564583e-02 -5.89577291e-04 9.99881909e-01 2.75422898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.695336194999999 meters 0.039861693928378565 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.03, Z:0.03 [[ 9.99266857e-01 -3.51204222e-02 -1.52415377e-02 6.66736585e+00] [ 3.51255619e-02 9.99382905e-01 6.95616993e-05 -3.08014237e-02] [ 1.52296892e-02 -6.04878276e-04 9.99883839e-01 2.95155070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.725336195 meters 0.046275327375656046 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.04, Z:0.03 [[ 9.99232783e-01 -3.66305270e-02 -1.38581781e-02 6.69827129e+00] [ 3.66349321e-02 9.99328714e-01 6.40635732e-05 -3.90673504e-02] [ 1.38465286e-02 -5.71707837e-04 9.99903969e-01 3.18345240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.755336195 meters 0.039900517339362 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.04, Z:0.03 [[ 9.99212829e-01 -3.72550334e-02 -1.36303271e-02 6.72997815e+00] [ 3.72593632e-02 9.99305627e-01 6.37686562e-05 -3.51794998e-02] [ 1.36184869e-02 -5.71575767e-04 9.99907101e-01 3.44020720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785336194999999 meters 0.04621771937142411 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.03, Z:0.04 [[ 9.99195946e-01 -3.73102859e-02 -1.46766821e-02 6.76143206e+00] [ 3.73153197e-02 9.99303539e-01 6.91833868e-05 -3.41081133e-02] [ 1.46638791e-02 -6.16792845e-04 9.99892289e-01 3.99515744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8153361949999995 meters 0.04301525247767393 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.03, Z:0.04 [[ 9.99213637e-01 -3.66459113e-02 -1.51388756e-02 6.79320095e+00] [ 3.66512002e-02 9.99328116e-01 7.19659020e-05 -3.08187453e-02] [ 1.51260667e-02 -6.26767270e-04 9.99885398e-01 4.10973024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.845336195 meters 0.03794137762894806 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.03, Z:0.03 [[ 9.99300945e-01 -3.38035772e-02 -1.59668485e-02 6.82380970e+00] [ 3.38091035e-02 9.99428306e-01 7.62310528e-05 -3.39646853e-02] [ 1.59551435e-02 -6.16002598e-04 9.99872519e-01 3.24541223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.875336195 meters 0.035191316158243266 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.03, Z:0.03 [[ 9.99378408e-01 -3.06766581e-02 -1.73706865e-02 6.85520253e+00] [ 3.06827314e-02 9.99529171e-01 8.31633153e-05 -3.17763109e-02] [ 1.73599567e-02 -6.16091730e-04 9.99849115e-01 2.96920806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.905336194999999 meters 0.02968421027750037 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.02, Z:0.03 [[ 9.99552561e-01 -2.36035309e-02 -1.83725509e-02 6.88517190e+00] [ 2.36091344e-02 9.99721262e-01 8.81211796e-05 -2.00164789e-02] [ 1.83653497e-02 -5.21841772e-04 9.99831207e-01 3.03457592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.935336195 meters 0.026426247082822464 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.01, Z:0.03 [[ 9.99644388e-01 -2.03304477e-02 -1.72560288e-02 6.91501894e+00] [ 2.03349033e-02 9.99793221e-01 8.27625305e-05 -1.34963588e-02] [ 1.72507780e-02 -4.33632777e-04 9.99851100e-01 3.25161165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.965336195 meters 0.023457265052246115 Centerline is valid? [True, True] Translation: X:6.95, Y:0.00, Z:0.04 [[ 9.99815952e-01 -1.37460697e-02 -1.33831464e-02 6.94550702e+00] [ 1.37481601e-02 9.99905488e-01 6.41993770e-05 4.32287165e-03] [ 1.33809991e-02 -2.48181201e-04 9.99910440e-01 4.48044400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.995336194999999 meters 0.01485930464476252 Centerline is valid? [True, True] Translation: X:6.98, Y:0.01, Z:0.05 [[ 9.99907474e-01 -8.45746322e-03 -1.06543492e-02 6.97572549e+00] [ 8.45848794e-03 9.99964225e-01 5.11197756e-05 1.21340288e-02] [ 1.06535357e-02 -1.41234730e-04 9.99943240e-01 4.60619034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0253361949999995 meters 0.013108830380146132 Centerline is valid? [True, True] Translation: X:7.01, Y:0.01, Z:0.04 [[ 9.99917757e-01 -6.76662080e-03 -1.08945500e-02 7.00511265e+00] [ 6.76759092e-03 9.99977098e-01 5.21823944e-05 1.15795568e-02] [ 1.08939474e-02 -1.25907961e-04 9.99940651e-01 4.23978283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.055336195 meters 0.012852738479937504 Centerline is valid? [True, True] Translation: X:7.03, Y:0.01, Z:0.04 [[ 9.99912335e-01 -5.44812921e-03 -1.20681537e-02 7.03415750e+00] [ 5.44921150e-03 9.99985151e-01 5.68001573e-05 1.35360755e-02] [ 1.20676651e-02 -1.22557100e-04 9.99927176e-01 4.05788873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085336195 meters 0.012405898932996977 Centerline is valid? [True, True] Translation: X:7.06, Y:0.02, Z:0.04 [[ 9.99919560e-01 -4.72375218e-03 -1.17711772e-02 7.06235360e+00] [ 4.72471510e-03 9.99988837e-01 5.39957972e-05 1.66678175e-02] [ 1.17707907e-02 -1.09606912e-04 9.99930716e-01 4.26558599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.115336194999999 meters 0.011983219626720169 Centerline is valid? [True, True] Translation: X:7.09, Y:0.02, Z:0.04 [[ 9.99895421e-01 -4.32428244e-03 -1.38002875e-02 7.09114386e+00] [ 4.32554651e-03 9.99990643e-01 6.17502053e-05 2.28062866e-02] [ 1.37998913e-02 -1.21437533e-04 9.99904770e-01 4.22104841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.145336195 meters 0.012083292457011398 Centerline is valid? [True, True] Translation: X:7.12, Y:0.02, Z:0.04 [[ 9.99870961e-01 -4.11399258e-03 -1.55285733e-02 7.12018120e+00] [ 4.11552664e-03 9.99991529e-01 6.68344049e-05 2.31746796e-02] [ 1.55281668e-02 -1.30734038e-04 9.99879422e-01 3.96865732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.175336195 meters 0.011182258464360845 Centerline is valid? [True, True] Translation: X:7.15, Y:0.02, Z:0.03 [[ 9.99857394e-01 -2.24207119e-03 -1.67381434e-02 7.14856985e+00] [ 2.24354392e-03 9.99997481e-01 6.92095285e-05 2.16364659e-02] [ 1.67379461e-02 -1.06752419e-04 9.99859905e-01 3.43656229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205336194999999 meters 0.010407569011647619 Centerline is valid? [True, True] Translation: X:7.18, Y:0.02, Z:0.03 [[ 9.99868484e-01 -1.45367140e-03 -1.61524188e-02 7.17705511e+00] [ 1.45489750e-03 9.99998940e-01 6.41575254e-05 2.18312190e-02] [ 1.61523084e-02 -8.76492013e-05 9.99869539e-01 3.48488411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2353361949999995 meters 0.010730176771309633 Centerline is valid? [True, True] Translation: X:7.20, Y:0.02, Z:0.04 [[ 9.99888020e-01 -1.85920229e-03 -1.48489132e-02 7.20477017e+00] [ 1.86026027e-03 9.99998268e-01 5.74376964e-05 2.33120875e-02] [ 1.48487807e-02 -8.50541078e-05 9.99889747e-01 3.91107967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.265336195 meters 0.011024488520180656 Centerline is valid? [True, True] Translation: X:7.23, Y:0.03, Z:0.05 [[ 9.99919818e-01 -2.45651201e-03 -1.24226603e-02 7.23238009e+00] [ 2.45728853e-03 9.99996980e-01 4.72449846e-05 2.71003158e-02] [ 1.24225067e-02 -7.77672569e-05 9.99922835e-01 4.74341608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.295336195 meters 0.010433269789912929 Centerline is valid? [True, True] Translation: X:7.26, Y:0.03, Z:0.05 [[ 9.99936128e-01 -3.41013368e-03 -1.07755199e-02 7.26020320e+00] [ 3.41076016e-03 9.99994183e-01 3.97625768e-05 2.94196489e-02] [ 1.07753216e-02 -7.65127509e-05 9.99941942e-01 5.08593524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325336194999999 meters 0.011526256615352042 Centerline is valid? [True, True] Translation: X:7.29, Y:0.03, Z:0.05 [[ 9.99928845e-01 -3.51189361e-03 -1.14004961e-02 7.28778960e+00] [ 3.51258265e-03 9.99993830e-01 4.04162807e-05 2.93074496e-02] [ 1.14002838e-02 -8.04585896e-05 9.99935011e-01 4.85145693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.355336195 meters 0.017319681634233457 Centerline is valid? [True, True] Translation: X:7.32, Y:0.03, Z:0.04 [[ 9.99926641e-01 -1.92917661e-03 -1.19579093e-02 7.31638921e+00] [ 1.92980672e-03 9.99998137e-01 4.11554361e-05 3.11857838e-02] [ 1.19578076e-02 -6.42288706e-05 9.99928501e-01 4.38635044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385336195 meters 0.009772894351536126 Centerline is valid? [True, True] Translation: X:7.34, Y:0.03, Z:0.04 [[ 9.99936351e-01 -1.35448348e-03 -1.12008906e-02 7.34381460e+00] [ 1.35497923e-03 9.99999081e-01 3.66708911e-05 3.34412965e-02] [ 1.12008306e-02 -5.18455311e-05 9.99937267e-01 4.29918935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.415336195 meters 0.00894077651920205 Centerline is valid? [True, True] Translation: X:7.37, Y:0.04, Z:0.05 [[ 9.99937425e-01 6.22273080e-04 -1.11695141e-02 7.37135318e+00] [-6.21921104e-04 9.99999806e-01 3.49855474e-05 4.34398025e-02] [ 1.11695338e-02 -2.80368016e-05 9.99937618e-01 4.60027736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445336194999999 meters 0.009173832388392244 Centerline is valid? [True, True] Translation: X:7.40, Y:0.05, Z:0.05 [[ 9.99923336e-01 1.11813918e-03 -1.23317070e-02 7.39777230e+00] [-1.11776294e-03 9.99999375e-01 3.74022210e-05 5.34511813e-02] [ 1.23317411e-02 -2.36154286e-05 9.99923961e-01 4.62837432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.475336195 meters 0.008989957723701082 Centerline is valid? [True, True] Translation: X:7.43, Y:0.05, Z:0.04 [[ 9.99925632e-01 4.73558359e-04 -1.21862999e-02 7.42587955e+00] [-4.73159711e-04 9.99999887e-01 3.55958727e-05 5.41588256e-02] [ 1.21863154e-02 -2.98271594e-05 9.99925744e-01 4.47066074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505336195 meters 0.009438484663274922 Centerline is valid? [True, True] Translation: X:7.46, Y:0.05, Z:0.04 [[ 9.99927846e-01 -1.02024177e-03 -1.19691825e-02 7.45500911e+00] [ 1.02072490e-03 9.99999478e-01 3.42562149e-05 5.27800191e-02] [ 1.19691413e-02 -4.64709858e-05 9.99928366e-01 4.37191968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.535336194999999 meters 0.011208812793571419 Centerline is valid? [True, True] Translation: X:7.48, Y:0.05, Z:0.04 [[ 9.99920260e-01 -5.21315616e-03 -1.15020438e-02 7.48292886e+00] [ 5.21387307e-03 9.99986407e-01 3.23440574e-05 4.99608529e-02] [ 1.15017188e-02 -9.23116746e-05 9.99933849e-01 4.41348972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5653361949999995 meters 0.01944244828482084 Centerline is valid? [True, True] Translation: X:7.51, Y:0.05, Z:0.05 [[ 9.99856115e-01 -1.08124547e-02 -1.30705647e-02 7.51287577e+00] [ 1.08138509e-02 9.99941528e-01 3.61475731e-05 5.06608824e-02] [ 1.30694096e-02 -1.77485509e-04 9.99914576e-01 4.51084781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.595336195 meters 0.016641721231548105 Centerline is valid? [True, True] Translation: X:7.54, Y:0.05, Z:0.04 [[ 9.99821709e-01 -1.33146921e-02 -1.33891688e-02 7.54259769e+00] [ 1.33163782e-02 9.99911332e-01 3.67850011e-05 4.99098647e-02] [ 1.33874918e-02 -2.15073678e-04 9.99910360e-01 4.39436576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625336195 meters 0.018940486324221753 Centerline is valid? [True, True] Translation: X:7.57, Y:0.05, Z:0.04 [[ 9.99784926e-01 -1.62836882e-02 -1.28430280e-02 7.57363974e+00] [ 1.62854851e-02 9.99867382e-01 3.53381160e-05 4.82317341e-02] [ 1.28407494e-02 -2.44485458e-04 9.99917524e-01 4.17933917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.655336194999999 meters 0.021052041887190356 Centerline is valid? [True, True] Translation: X:7.60, Y:0.05, Z:0.04 [[ 9.99764551e-01 -1.73045569e-02 -1.30918239e-02 7.60481854e+00] [ 1.73065165e-02 9.99850230e-01 3.63960213e-05 4.52823372e-02] [ 1.30892333e-02 -2.62961317e-04 9.99914298e-01 4.00595543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.685336195 meters 0.022160152642323808 Centerline is valid? [True, True] Translation: X:7.64, Y:0.05, Z:0.04 [[ 9.99732494e-01 -1.83080644e-02 -1.41335100e-02 7.63658102e+00] [ 1.83104591e-02 9.99832349e-01 4.00397450e-05 4.97835071e-02] [ 1.41304075e-02 -2.98820091e-04 9.99900116e-01 4.01065330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.715336195 meters 0.021147261391271047 Centerline is valid? [True, True] Translation: X:7.67, Y:0.06, Z:0.05 [[ 9.99791976e-01 -1.72205293e-02 -1.09296843e-02 7.66805353e+00] [ 1.72219014e-02 9.99851692e-01 3.14259873e-05 5.88531498e-02] [ 1.09275222e-02 -2.19649395e-04 9.99940269e-01 4.81107057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745336194999999 meters 0.019880764609797517 Centerline is valid? [True, True] Translation: X:7.70, Y:0.06, Z:0.05 [[ 9.99828972e-01 -1.57348169e-02 -9.71811041e-03 7.70054445e+00] [ 1.57358340e-02 9.99876184e-01 2.82032530e-05 6.18830742e-02] [ 9.71646338e-03 -1.81121002e-04 9.99952778e-01 4.89834641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7753361949999995 meters 0.016288862786262293 Centerline is valid? [True, True] Translation: X:7.73, Y:0.07, Z:0.04 [[ 9.99856567e-01 -1.29495087e-02 -1.09158396e-02 7.73267602e+00] [ 1.29506320e-02 9.99916137e-01 3.22186280e-05 6.83354227e-02] [ 1.09145070e-02 -1.73581028e-04 9.99940420e-01 4.47133286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.805336195 meters 0.017077303345562546 Centerline is valid? [True, True] Translation: X:7.76, Y:0.07, Z:0.04 [[ 9.99868262e-01 -1.22904172e-02 -1.06020601e-02 7.76430861e+00] [ 1.22914445e-02 9.99924457e-01 3.17390597e-05 6.93588885e-02] [ 1.06008691e-02 -1.62049512e-04 9.99943796e-01 4.42640817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.835336195 meters 0.015722528883927025 Centerline is valid? [True, True] Translation: X:7.80, Y:0.08, Z:0.05 [[ 9.99904426e-01 -1.09592563e-02 -8.42808220e-03 7.79611705e+00] [ 1.09598603e-02 9.99939939e-01 2.54742763e-05 7.97687542e-02] [ 8.42729682e-03 -1.17842445e-04 9.99964483e-01 5.06280521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865336194999999 meters 0.015866681296933586 Centerline is valid? [True, True] Translation: X:7.83, Y:0.08, Z:0.05 [[ 9.99900218e-01 -1.05490300e-02 -9.39535363e-03 7.82850496e+00] [ 1.05497659e-02 9.99944349e-01 2.87708075e-05 8.49730809e-02] [ 9.39452727e-03 -1.27886718e-04 9.99955862e-01 5.07606465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.895336195 meters 0.01560074193927948 Centerline is valid? [True, True] Translation: X:7.86, Y:0.09, Z:0.05 [[ 9.99885220e-01 -1.03529753e-02 -1.10617924e-02 7.86037975e+00] [ 1.03539896e-02 9.99946395e-01 3.44312747e-05 8.93287536e-02] [ 1.10608430e-02 -1.48961007e-04 9.99938816e-01 4.60516364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925336195 meters 0.016001605807480515 Centerline is valid? [True, True] Translation: X:7.89, Y:0.09, Z:0.04 [[ 9.99888599e-01 -1.07867314e-02 -1.03167940e-02 7.89043864e+00] [ 1.07876402e-02 9.99941811e-01 3.24471369e-05 8.63070093e-02] [ 1.03158437e-02 -1.43737384e-04 9.99946780e-01 4.33297024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.955336194999999 meters 0.01670379217249403 Centerline is valid? [True, True] Translation: X:7.92, Y:0.09, Z:0.04 [[ 9.99855501e-01 -1.23029973e-02 -1.17308614e-02 7.92148986e+00] [ 1.23042791e-02 9.99924299e-01 3.70940319e-05 8.58089176e-02] [ 1.17295170e-02 -1.81428464e-04 9.99931190e-01 3.87970085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9853361949999995 meters 0.019254374459287276 Centerline is valid? [True, True] Translation: X:7.95, Y:0.09, Z:0.04 [[ 9.99819489e-01 -1.40150489e-02 -1.28284278e-02 7.95225621e+00] [ 1.40167310e-02 9.99901760e-01 4.12180186e-05 8.53939336e-02] [ 1.28265898e-02 -2.21023199e-04 9.99917711e-01 3.89223538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.015336195 meters 0.019392689798371773 Centerline is valid? [True, True] Translation: X:7.98, Y:0.09, Z:0.04 [[ 9.99786725e-01 -1.55743164e-02 -1.35626102e-02 7.98396790e+00] [ 1.55763503e-02 9.99878680e-01 4.43376219e-05 8.80417043e-02] [ 1.35602742e-02 -2.55584132e-04 9.99908023e-01 4.18370095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045336194999999 meters 0.02524919892242433 Centerline is valid? [True, True] Translation: X:8.01, Y:0.08, Z:0.04 [[ 9.99679272e-01 -2.08467690e-02 -1.43793235e-02 8.01360425e+00] [ 2.08496076e-02 9.99782622e-01 4.75104760e-05 7.91798981e-02] [ 1.43752073e-02 -3.47298491e-04 9.99896611e-01 3.94650890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.075336195 meters 0.027047351742074687 Centerline is valid? [True, True] Translation: X:8.05, Y:0.07, Z:0.04 [[ 9.99610876e-01 -2.46432766e-02 -1.30692720e-02 8.04504313e+00] [ 2.46459513e-02 9.99696241e-01 4.36109620e-05 7.30427529e-02] [ 1.30642274e-02 -3.65698633e-04 9.99914592e-01 4.10721079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.105336195 meters 0.039756262517406604 Centerline is valid? [True, True] Translation: X:8.07, Y:0.06, Z:0.05 [[ 9.99440267e-01 -3.14775161e-02 -1.13277689e-02 8.07453251e+00] [ 3.14799650e-02 9.99504382e-01 3.78989017e-05 5.73387620e-02] [ 1.13209617e-02 -3.94475457e-04 9.99935838e-01 4.55903066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.135336194999999 meters 0.03528645432358493 Centerline is valid? [True, True] Translation: X:8.11, Y:0.06, Z:0.05 [[ 9.99331296e-01 -3.48871501e-02 -1.09475248e-02 8.10557119e+00] [ 3.48896414e-02 9.99391170e-01 3.66071686e-05 5.59512946e-02] [ 1.09395825e-02 -4.18537905e-04 9.99940073e-01 4.52139535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.165336195 meters 0.0395107363010014 Centerline is valid? [True, True] Translation: X:8.14, Y:0.04, Z:0.04 [[ 9.99194534e-01 -3.90318102e-02 -9.31667388e-03 8.13529589e+00] [ 3.90337948e-02 9.99237891e-01 3.12040797e-05 3.97587428e-02] [ 9.30835560e-03 -3.94844083e-04 9.99956598e-01 4.40040106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.195336195 meters 0.03959434288220567 Centerline is valid? [True, True] Translation: X:8.17, Y:0.03, Z:0.04 [[ 9.99196146e-01 -3.90780065e-02 -8.94266169e-03 8.16740317e+00] [ 3.90798389e-02 9.99236091e-01 3.01918311e-05 3.49766435e-02] [ 8.93465047e-03 -3.79645340e-04 9.99960013e-01 4.46116303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225336194999999 meters 0.042527314260548156 Centerline is valid? [True, True] Translation: X:8.20, Y:0.03, Z:0.04 [[ 9.99281149e-01 -3.62382302e-02 -1.11344796e-02 8.19678424e+00] [ 3.62409126e-02 9.99343082e-01 3.91699165e-05 2.69286806e-02] [ 1.11257457e-02 -4.42665461e-04 9.99938009e-01 4.38271970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.255336195 meters 0.031118022913285092 Centerline is valid? [True, True] Translation: X:8.23, Y:0.04, Z:0.04 [[ 9.99519522e-01 -2.81596740e-02 -1.29521188e-02 8.22757665e+00] [ 2.81626316e-02 9.99603353e-01 4.59816551e-05 3.75957986e-02] [ 1.29456866e-02 -4.10725312e-04 9.99916117e-01 4.15039792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285336195 meters 0.026332967331087528 Centerline is valid? [True, True] Translation: X:8.26, Y:0.04, Z:0.04 [[ 9.99661201e-01 -2.24547833e-02 -1.31630272e-02 8.25867692e+00] [ 2.24573451e-02 9.99747801e-01 4.68234142e-05 4.12950222e-02] [ 1.31586561e-02 -3.42414195e-04 9.99913363e-01 4.06538654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.315336195 meters 0.020718168843268315 Centerline is valid? [True, True] Translation: X:8.29, Y:0.06, Z:0.04 [[ 9.99844084e-01 -8.62275997e-03 -1.54096234e-02 8.28943114e+00] [ 8.62463045e-03 9.99962806e-01 5.49316186e-05 6.02397514e-02] [ 1.54085766e-02 -1.87825361e-04 9.99881263e-01 4.18102167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345336195 meters 0.011447885341157694 Centerline is valid? [True, True] Translation: X:8.32, Y:0.07, Z:0.04 [[ 9.99853588e-01 -2.13661413e-03 -1.69775404e-02 8.31778243e+00] [ 2.13792352e-03 9.99997713e-01 5.89757339e-05 7.17944344e-02] [ 1.69773755e-02 -9.52637821e-05 9.99855869e-01 4.12311095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.375336195 meters 0.013153619214879706 Centerline is valid? [True, True] Translation: X:8.35, Y:0.09, Z:0.04 [[ 9.99804238e-01 1.10974802e-02 -1.63808570e-02 8.34595682e+00] [-1.10980806e-02 9.99938413e-01 5.42520368e-05 8.85975832e-02] [ 1.63804502e-02 1.27554655e-04 9.99865823e-01 3.83645146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.405336195 meters 0.016800049367566877 Centerline is valid? [True, True] Translation: X:8.37, Y:0.09, Z:0.04 [[ 9.99761909e-01 1.61337096e-02 -1.46911277e-02 8.37323109e+00] [-1.61347578e-02 9.99869825e-01 4.71786179e-05 9.46629275e-02] [ 1.46899765e-02 1.89870403e-04 9.99892078e-01 3.90454946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.435336195 meters 0.026510738019785037 Centerline is valid? [True, True] Translation: X:8.40, Y:0.10, Z:0.04 [[ 9.99668517e-01 2.24292713e-02 -1.26405438e-02 8.40272597e+00] [-2.24305564e-02 9.99748403e-01 4.01180046e-05 1.03331898e-01] [ 1.26382633e-02 2.43429724e-04 9.99920104e-01 4.26980276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465336194999999 meters 0.021024618283186317 Centerline is valid? [True, True] Translation: X:8.43, Y:0.10, Z:0.04 [[ 9.99682042e-01 2.19777428e-02 -1.23609551e-02 8.43067394e+00] [-2.19789512e-02 9.99758433e-01 3.80964455e-05 1.04725875e-01] [ 1.23588063e-02 2.33596496e-04 9.99923600e-01 4.35294834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.495336195 meters 0.016474045615432722 Centerline is valid? [True, True] Translation: X:8.46, Y:0.10, Z:0.05 [[ 9.99781290e-01 1.69705231e-02 -1.22218428e-02 8.46017618e+00] [-1.69713476e-02 9.99855976e-01 3.62569493e-05 1.03186612e-01] [ 1.22206979e-02 1.71172123e-04 9.99925310e-01 4.65091093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525336195 meters 0.011032108178088989 Centerline is valid? [True, True] Translation: X:8.49, Y:0.09, Z:0.04 [[ 9.99861080e-01 7.59888225e-03 -1.48350224e-02 8.48859897e+00] [-7.59907389e-03 9.99971126e-01 4.34523981e-05 9.06995753e-02] [ 1.48349242e-02 6.92860694e-05 9.99889954e-01 3.92219519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.555336194999999 meters 0.011032108178088989 Centerline is valid? [True, True] Translation: X:8.52, Y:0.09, Z:0.04 [[ 9.99861600e-01 7.53019480e-03 -1.48350248e-02 8.51603942e+00] [-7.53039162e-03 9.99971645e-01 4.25934458e-05 9.07356517e-02] [ 1.48349249e-02 6.91259959e-05 9.99889954e-01 3.94164399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.585336195 meters 0.009622164944141202 Centerline is valid? [True, True] Translation: X:8.55, Y:0.08, Z:0.04 [[ 9.99875853e-01 1.85122895e-03 -1.56477026e-02 8.54511695e+00] [-1.85076675e-03 9.99998286e-01 4.40188660e-05 8.00297024e-02] [ 1.56477573e-02 -1.50531536e-05 9.99877566e-01 3.65168937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.615336195 meters 0.016299776344697897 Centerline is valid? [True, True] Translation: X:8.57, Y:0.06, Z:0.04 [[ 9.99827348e-01 -1.10413516e-02 -1.49453177e-02 8.57333318e+00] [ 1.10432032e-02 9.99939021e-01 4.13714749e-05 6.13879077e-02] [ 1.49439496e-02 -2.06408513e-04 9.99888312e-01 4.12739274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.645336195 meters 0.019636346998433238 Centerline is valid? [True, True] Translation: X:8.60, Y:0.06, Z:0.05 [[ 9.99740979e-01 -1.72959332e-02 -1.47927742e-02 8.60282473e+00] [ 1.72984242e-02 9.99850370e-01 4.04498262e-05 5.73692927e-02] [ 1.47898612e-02 -2.96331032e-04 9.99890580e-01 4.60386182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.675336195 meters 0.02762608238052405 Centerline is valid? [True, True] Translation: X:8.63, Y:0.04, Z:0.05 [[ 9.99500504e-01 -2.79209645e-02 -1.48041230e-02 8.63416352e+00] [ 2.79246235e-02 9.99610031e-01 4.04691441e-05 4.23154170e-02] [ 1.47972199e-02 -4.53848492e-04 9.99890412e-01 4.68214331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705336195 meters 0.032646094765199384 Centerline is valid? [True, True] Translation: X:8.66, Y:0.03, Z:0.05 [[ 9.99414989e-01 -3.12591414e-02 -1.38761195e-02 8.66387735e+00] [ 3.12626844e-02 9.99511202e-01 3.84330193e-05 2.97416587e-02] [ 1.38681355e-02 -4.72215280e-04 9.99903721e-01 4.51721923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.735336195 meters 0.03730062896026884 Centerline is valid? [True, True] Translation: X:8.70, Y:0.02, Z:0.05 [[ 9.99400931e-01 -3.32364906e-02 -9.64960962e-03 8.69537519e+00] [ 3.32383004e-02 9.99447455e-01 2.71909873e-05 1.96792879e-02] [ 9.64337404e-03 -3.47911321e-04 9.99953441e-01 5.12610501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765336195 meters 0.0343360745022658 Centerline is valid? [True, True] Translation: X:8.73, Y:0.02, Z:0.05 [[ 9.99404962e-01 -3.22436731e-02 -1.22501685e-02 8.72765559e+00] [ 3.22465266e-02 9.99479945e-01 3.54370517e-05 2.24870557e-02] [ 1.22426551e-02 -4.30441348e-04 9.99924963e-01 5.01060342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.795336194999999 meters 0.03010465521094283 Centerline is valid? [True, True] Translation: X:8.76, Y:0.03, Z:0.05 [[ 9.99511322e-01 -2.72209701e-02 -1.53666956e-02 8.75753874e+00] [ 2.72248736e-02 9.99629333e-01 4.48494798e-05 2.84421538e-02] [ 1.53597789e-02 -4.63183909e-04 9.99881924e-01 4.71788512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825336195 meters 0.026250563373175075 Centerline is valid? [True, True] Translation: X:8.79, Y:0.03, Z:0.05 [[ 9.99617328e-01 -2.32372837e-02 -1.50075438e-02 8.78800279e+00] [ 2.32405581e-02 9.99729901e-01 4.38012537e-05 3.29480726e-02] [ 1.50024725e-02 -3.92568187e-04 9.99887380e-01 4.72347796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.855336195 meters 0.0198349568912782 Centerline is valid? [True, True] Translation: X:8.82, Y:0.04, Z:0.04 [[ 9.99801719e-01 -1.35183445e-02 -1.46210957e-02 8.81788218e+00] [ 1.35204124e-02 9.99908594e-01 4.25874308e-05 3.77608590e-02] [ 1.46191836e-02 -2.40262230e-04 9.99893105e-01 4.20258894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885336194999999 meters 0.014527460513960993 Centerline is valid? [True, True] Translation: X:8.85, Y:0.05, Z:0.04 [[ 9.99858096e-01 -7.95614862e-03 -1.48488320e-02 8.84772064e+00] [ 7.95766568e-03 9.99968336e-01 4.30848163e-05 4.60203501e-02] [ 1.48480191e-02 -1.61240744e-04 9.99889749e-01 4.17409380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.915336195 meters 0.009769178531062595 Centerline is valid? [True, True] Translation: X:8.88, Y:0.07, Z:0.05 [[ 9.99911574e-01 1.28583515e-03 -1.32359987e-02 8.87653843e+00] [-1.28544404e-03 9.99999173e-01 3.80564747e-05 6.88096585e-02] [ 1.32360367e-02 -2.10389738e-05 9.99912400e-01 5.16450596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945336195 meters 0.009531070214864006 Centerline is valid? [True, True] Translation: X:8.91, Y:0.08, Z:0.06 [[ 9.99919917e-01 4.64962052e-03 -1.17703591e-02 8.90571263e+00] [-4.64955585e-03 9.99989190e-01 3.28585953e-05 7.88373068e-02] [ 1.17703847e-02 2.18709784e-05 9.99930726e-01 5.70996646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.975336194999999 meters 0.010792387328387007 Centerline is valid? [True, True] Translation: X:8.93, Y:0.09, Z:0.06 [[ 9.99920169e-01 8.81946426e-03 -9.04834985e-03 8.93471694e+00] [-8.81960693e-03 9.99961106e-01 2.41363965e-05 8.80944122e-02] [ 9.04821079e-03 5.56684193e-05 9.99959063e-01 5.92406957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005336195 meters 0.010062247739918118 Centerline is valid? [True, True] Translation: X:8.96, Y:0.09, Z:0.06 [[ 9.99937134e-01 8.12366397e-03 -7.72877976e-03 8.96370369e+00] [-8.12375497e-03 9.99967002e-01 1.96203411e-05 8.67711455e-02] [ 7.72868411e-03 4.31676053e-05 9.99970132e-01 5.96873531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.035336195 meters 0.008496082306590776 Centerline is valid? [True, True] Translation: X:8.99, Y:0.08, Z:0.06 [[ 9.99962548e-01 3.45849478e-03 -7.93361476e-03 8.99191361e+00] [-3.45844691e-03 9.99994019e-01 1.97535494e-05 8.29856822e-02] [ 7.93363563e-03 7.68517582e-06 9.99968528e-01 5.78381861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065336195 meters 0.009911254761403147 Centerline is valid? [True, True] Translation: X:9.02, Y:0.08, Z:0.05 [[ 9.99916367e-01 -1.43930674e-03 -1.28525015e-02 9.01950881e+00] [ 1.43982325e-03 9.99998963e-01 3.09342031e-05 8.00336787e-02] [ 1.28524436e-02 -4.94369463e-05 9.99917403e-01 5.03010736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.095336195 meters 0.01846624873773987 Centerline is valid? [True, True] Translation: X:9.05, Y:0.08, Z:0.05 [[ 9.99882833e-01 -2.66723839e-03 -1.50733905e-02 9.04833773e+00] [ 2.66807397e-03 9.99996440e-01 3.53250574e-05 8.03338631e-02] [ 1.50732426e-02 -7.55378393e-05 9.99886389e-01 4.84228881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.125336195 meters 0.011019989472836 Centerline is valid? [True, True] Translation: X:9.08, Y:0.08, Z:0.05 [[ 9.99867988e-01 -3.86893677e-03 -1.57809428e-02 9.07587298e+00] [ 3.86998891e-03 9.99992511e-01 3.61337337e-05 8.08205180e-02] [ 1.57806849e-02 -9.72010374e-05 9.99875473e-01 4.71884040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.155336195 meters 0.010850543873692222 Centerline is valid? [True, True] Translation: X:9.10, Y:0.08, Z:0.05 [[ 9.99874979e-01 -4.21073986e-03 -1.52412343e-02 9.10400641e+00] [ 4.21173176e-03 9.99991130e-01 3.29822965e-05 8.28479271e-02] [ 1.52409602e-02 -9.71701634e-05 9.99883845e-01 5.02233503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185336195 meters 0.011378238872386015 Centerline is valid? [True, True] Translation: X:9.13, Y:0.08, Z:0.05 [[ 9.99900114e-01 -4.76143339e-03 -1.33075355e-02 9.13140980e+00] [ 4.76221819e-03 9.99988660e-01 2.72864109e-05 8.47057898e-02] [ 1.33072547e-02 -9.06570730e-05 9.99911450e-01 5.40908825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.215336194999999 meters 0.010759760325565975 Centerline is valid? [True, True] Translation: X:9.16, Y:0.08, Z:0.06 [[ 9.99943361e-01 -4.88435695e-03 -9.45609421e-03 9.16021148e+00] [ 4.88475235e-03 9.99988069e-01 1.87186352e-05 8.39742195e-02] [ 9.45588997e-03 -6.49082533e-05 9.99955290e-01 5.81696443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245336195 meters 0.010486763661929993 Centerline is valid? [True, True] Translation: X:9.19, Y:0.08, Z:0.06 [[ 9.99968443e-01 -4.85067820e-03 -6.29152439e-03 9.18821804e+00] [ 4.85084812e-03 9.99988234e-01 1.17480389e-05 8.37619883e-02] [ 6.29139338e-03 -4.22668974e-05 9.99980208e-01 6.22153205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.275336195 meters 0.010784850442086972 Centerline is valid? [True, True] Translation: X:9.22, Y:0.09, Z:0.06 [[ 9.99972716e-01 -5.05897283e-03 -5.38267072e-03 9.21884653e+00] [ 5.05909837e-03 9.99987203e-01 9.70751968e-06 8.55646960e-02] [ 5.38255273e-03 -3.69387155e-05 9.99985513e-01 6.30716440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305336194999999 meters 0.011881803099565238 Centerline is valid? [True, True] Translation: X:9.25, Y:0.09, Z:0.06 [[ 9.99953983e-01 -6.20804113e-03 -7.31380287e-03 9.24921673e+00] [ 6.20830367e-03 9.99980728e-01 1.31929369e-05 9.12313100e-02] [ 7.31358002e-03 -5.85986391e-05 9.99973254e-01 6.32607104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.335336195 meters 0.011555623226790348 Centerline is valid? [True, True] Translation: X:9.28, Y:0.09, Z:0.07 [[ 9.99957928e-01 -6.48983015e-03 -6.48257266e-03 9.28014852e+00] [ 6.49004278e-03 9.99978939e-01 1.17644961e-05 9.44385298e-02] [ 6.48235979e-03 -5.38361750e-05 9.99978988e-01 6.61840344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365336195 meters 0.012912191917231551 Centerline is valid? [True, True] Translation: X:9.31, Y:0.09, Z:0.06 [[ 9.99931570e-01 -7.86493612e-03 -8.66008665e-03 9.31102831e+00] [ 7.86536765e-03 9.99969067e-01 1.57716384e-05 9.17220113e-02] [ 8.65969472e-03 -8.38853245e-05 9.99962501e-01 5.84738718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.395336194999999 meters 0.013726277256969524 Centerline is valid? [True, True] Translation: X:9.34, Y:0.09, Z:0.05 [[ 9.99891690e-01 -9.50741017e-03 -1.12346481e-02 9.34126247e+00] [ 9.50824370e-03 9.99954795e-01 2.07820503e-05 8.91141297e-02] [ 1.12339427e-02 -1.27601572e-04 9.99936889e-01 5.24584987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425336195 meters 0.017631516358486067 Centerline is valid? [True, True] Translation: X:9.37, Y:0.09, Z:0.05 [[ 9.99836852e-01 -1.46834215e-02 -1.05198623e-02 9.37200726e+00] [ 1.46844388e-02 9.99892178e-01 1.94598269e-05 8.50413970e-02] [ 1.05184423e-02 -1.73934926e-04 9.99944665e-01 5.29404718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.455336195 meters 0.02492067496774477 Centerline is valid? [True, True] Translation: X:9.40, Y:0.08, Z:0.06 [[ 9.99691304e-01 -2.36641028e-02 -7.57017147e-03 9.40283471e+00] [ 2.36648868e-02 9.99719947e-01 1.40043796e-05 7.98517658e-02] [ 7.56772002e-03 -1.93147308e-04 9.99971346e-01 6.11872998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485336195 meters 0.02990645309201094 Centerline is valid? [True, True] Translation: X:9.43, Y:0.08, Z:0.06 [[ 9.99552652e-01 -2.86834199e-02 -8.47101814e-03 9.43242954e+00] [ 2.86845820e-02 9.99588513e-01 1.56856711e-05 7.68035034e-02] [ 8.46708251e-03 -2.58666268e-04 9.99964120e-01 6.33800137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.515336195 meters 0.03621195230860837 Centerline is valid? [True, True] Translation: X:9.46, Y:0.07, Z:0.06 [[ 9.99249840e-01 -3.70127706e-02 -1.13934719e-02 9.46363034e+00] [ 3.70154140e-02 9.99314695e-01 2.11514362e-05 6.94184512e-02] [ 1.13848810e-02 -4.42869648e-04 9.99935092e-01 5.67351378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545336194999999 meters 0.043573829166210824 Centerline is valid? [True, True] Translation: X:9.49, Y:0.05, Z:0.05 [[ 9.99118902e-01 -4.02784771e-02 -1.17925716e-02 9.49416673e+00] [ 4.02815384e-02 9.99188369e-01 2.20960286e-05 5.40398855e-02] [ 1.17821104e-02 -4.97099485e-04 9.99930465e-01 4.96381183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.575336195 meters 0.0443194543546741 Centerline is valid? [True, True] Translation: X:9.53, Y:0.04, Z:0.05 [[ 9.99009997e-01 -4.30541330e-02 -1.11967613e-02 9.52570970e+00] [ 4.30570694e-02 9.99072614e-01 2.12224947e-05 4.36357744e-02] [ 1.11854639e-02 -5.03301214e-04 9.99937314e-01 4.53453536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605336195 meters 0.0411650865282709 Centerline is valid? [True, True] Translation: X:9.56, Y:0.05, Z:0.05 [[ 9.99067797e-01 -4.11528620e-02 -1.30375624e-02 9.55695750e+00] [ 4.11566860e-02 9.99152704e-01 2.50253471e-05 5.05084046e-02] [ 1.30254859e-02 -5.61584880e-04 9.99915007e-01 4.97064753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.635336194999999 meters 0.03877863378299744 Centerline is valid? [True, True] Translation: X:9.59, Y:0.06, Z:0.05 [[ 9.99133449e-01 -3.97145461e-02 -1.24541247e-02 9.58808520e+00] [ 3.97179273e-02 9.99210932e-01 2.41778115e-05 5.64194375e-02] [ 1.24433373e-02 -5.18808879e-04 9.99922444e-01 5.47124230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665336195 meters 0.035375747905840374 Centerline is valid? [True, True] Translation: X:9.62, Y:0.06, Z:0.06 [[ 9.99305192e-01 -3.58715629e-02 -1.01174742e-02 9.61911496e+00] [ 3.58735991e-02 9.99356335e-01 1.97931177e-05 6.14773304e-02] [ 1.01102520e-02 -3.82729580e-04 9.99948817e-01 6.09424101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.695336195 meters 0.0325784135731232 Centerline is valid? [True, True] Translation: X:9.65, Y:0.06, Z:0.05 [[ 9.99425421e-01 -3.20519121e-02 -1.10228466e-02 9.64850498e+00] [ 3.20540972e-02 9.99486135e-01 2.15737725e-05 5.50725149e-02] [ 1.10164909e-02 -3.74888772e-04 9.99939246e-01 5.40078823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725336194999999 meters 0.03641151630156607 Centerline is valid? [True, True] Translation: X:9.68, Y:0.05, Z:0.05 [[ 9.99467036e-01 -3.06966199e-02 -1.11068056e-02 9.68025635e+00] [ 3.06987559e-02 9.99528682e-01 2.18370705e-05 5.15117709e-02] [ 1.11009004e-02 -3.62790545e-04 9.99938317e-01 5.34019856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.755336195 meters 0.031192870861484458 Centerline is valid? [True, True] Translation: X:9.71, Y:0.05, Z:0.06 [[ 9.99509356e-01 -2.94776936e-02 -1.05883792e-02 9.71246338e+00] [ 2.94795713e-02 9.99565383e-01 2.12751016e-05 4.87541185e-02] [ 1.05831501e-02 -3.33405542e-04 9.99943941e-01 5.57361756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785336195 meters 0.030746764508488702 Centerline is valid? [True, True] Translation: X:9.74, Y:0.05, Z:0.06 [[ 9.99541673e-01 -2.78764069e-02 -1.18046472e-02 9.74440537e+00] [ 2.78786360e-02 9.99611315e-01 2.42917074e-05 5.33440595e-02] [ 1.17993818e-02 -3.53378037e-04 9.99930322e-01 5.71438508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.815336195 meters 0.02621646269147177 Centerline is valid? [True, True] Translation: X:9.78, Y:0.05, Z:0.06 [[ 9.99616570e-01 -2.40732311e-02 -1.36818350e-02 9.77511458e+00] [ 2.40758770e-02 9.99710134e-01 2.86914799e-05 5.37059182e-02] [ 1.36771784e-02 -3.58082654e-04 9.99906399e-01 5.60989086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845336195 meters 0.023215514988229394 Centerline is valid? [True, True] Translation: X:9.81, Y:0.06, Z:0.06 [[ 9.99694503e-01 -2.08921169e-02 -1.32067913e-02 9.80680171e+00] [ 2.08943097e-02 9.99781690e-01 2.80598585e-05 5.54857736e-02] [ 1.32033219e-02 -3.03998073e-04 9.99912786e-01 5.54224592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.875336195 meters 0.01545997594259565 Centerline is valid? [True, True] Translation: X:9.84, Y:0.06, Z:0.05 [[ 9.99847101e-01 -1.23055663e-02 -1.24236700e-02 9.83755726e+00] [ 1.23068471e-02 9.99924268e-01 2.66428155e-05 6.23729579e-02] [ 1.24224012e-02 -1.79534949e-04 9.99922823e-01 5.23543295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905336195 meters 0.009848706436266041 Centerline is valid? [True, True] Translation: X:9.87, Y:0.07, Z:0.05 [[ 9.99925765e-01 -2.13986742e-03 -1.19952215e-02 9.86700711e+00] [ 2.14033033e-03 9.99997709e-01 2.57537202e-05 6.96685518e-02] [ 1.19951389e-02 -5.14255447e-05 9.99928054e-01 4.76017249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.935336195 meters 0.009269094577973775 Centerline is valid? [True, True] Translation: X:9.89, Y:0.08, Z:0.05 [[ 9.99919181e-01 4.88091851e-03 -1.17391301e-02 9.89467397e+00] [-4.88096372e-03 9.99988088e-01 2.47986243e-05 7.87175200e-02] [ 1.17391113e-02 3.25016480e-05 9.99931094e-01 4.96682805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.965336194999999 meters 0.011196357768903006 Centerline is valid? [True, True] Translation: X:9.92, Y:0.09, Z:0.06 [[ 9.99907400e-01 7.12706501e-03 -1.15929745e-02 9.92241705e+00] [-7.12727155e-03 9.99974600e-01 2.34984701e-05 8.92411718e-02] [ 1.15928475e-02 5.91299833e-05 9.99932799e-01 5.59748420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.995336195 meters 0.01164967264101225 Centerline is valid? [True, True] Translation: X:9.95, Y:0.10, Z:0.06 [[ 9.99893331e-01 8.95350939e-03 -1.15395612e-02 9.95145933e+00] [-8.95385079e-03 9.99959913e-01 2.20793692e-05 1.04168607e-01] [ 1.15392964e-02 8.12464956e-05 9.99933417e-01 6.40448838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025336195 meters 0.011384527359457924 Centerline is valid? [True, True] Translation: X:9.98, Y:0.10, Z:0.06 [[ 9.99894974e-01 8.06145848e-03 -1.20438390e-02 9.97923104e+00] [-8.06178326e-03 9.99967503e-01 2.15829346e-05 1.02552778e-01] [ 1.20436216e-02 7.55141520e-05 9.99927470e-01 6.00514422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.055336194999999 meters 0.009800303460818102 Centerline is valid? [True, True] Translation: X:10.01, Y:0.10, Z:0.05 [[ 9.99905176e-01 6.18639341e-03 -1.23031356e-02 1.00080901e+01] [-6.18659844e-03 9.99980863e-01 2.13941785e-05 9.55932366e-02] [ 1.23030325e-02 5.47224097e-05 9.99924313e-01 5.19968080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085336195 meters 0.009767891243991321 Centerline is valid? [True, True] Translation: X:10.04, Y:0.09, Z:0.05 [[ 9.99918890e-01 3.84148069e-03 -1.21431501e-02 1.00368108e+01] [-3.84151428e-03 9.99992621e-01 2.05585241e-05 9.43340611e-02] [ 1.21431394e-02 2.60912278e-05 9.99926269e-01 5.14301243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.115336195 meters 0.011382891889117851 Centerline is valid? [True, True] Translation: X:10.06, Y:0.09, Z:0.05 [[ 9.99872579e-01 -2.12163785e-03 -1.58216133e-02 1.00640290e+01] [ 2.12230860e-03 9.99997748e-01 2.56044239e-05 9.39191937e-02] [ 1.58215233e-02 -5.91795073e-05 9.99874830e-01 4.79417674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145336194999999 meters 0.012008097300677078 Centerline is valid? [True, True] Translation: X:10.09, Y:0.09, Z:0.05 [[ 9.99836167e-01 -5.61756921e-03 -1.72070475e-02 1.00932226e+01] [ 5.61886106e-03 9.99984214e-01 2.67322050e-05 9.26487779e-02] [ 1.72066257e-02 -1.23411834e-04 9.99851947e-01 4.69562228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.175336195 meters 0.019743870361374826 Centerline is valid? [True, True] Translation: X:10.12, Y:0.09, Z:0.05 [[ 9.99825787e-01 -1.29207095e-02 -1.34703783e-02 1.01221924e+01] [ 1.29221566e-02 9.99916505e-01 2.03938303e-05 8.69141912e-02] [ 1.34689901e-02 -1.94456616e-04 9.99909270e-01 5.47846958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205336195 meters 0.022253635887698978 Centerline is valid? [True, True] Translation: X:10.15, Y:0.07, Z:0.05 [[ 9.99725138e-01 -2.06888386e-02 -1.10281397e-02 1.01534126e+01] [ 2.06902785e-02 9.99785933e-01 1.64795523e-05 7.24482706e-02] [ 1.10254380e-02 -2.44650305e-04 9.99939188e-01 5.27559133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.235336195 meters 0.025493126724894264 Centerline is valid? [True, True] Translation: X:10.18, Y:0.07, Z:0.05 [[ 9.99651099e-01 -2.45196233e-02 -9.82186263e-03 1.01848868e+01] [ 2.45209515e-02 9.99699316e-01 1.48106400e-05 6.72344222e-02] [ 9.81854620e-03 -2.55646890e-04 9.99951764e-01 5.42576477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265336195 meters 0.030093750183109558 Centerline is valid? [True, True] Translation: X:10.22, Y:0.07, Z:0.06 [[ 9.99406695e-01 -3.29532852e-02 -1.00169800e-02 1.02161988e+01] [ 3.29550920e-02 9.99456833e-01 1.53242554e-05 6.88354488e-02] [ 1.00110342e-02 -3.45425662e-04 9.99949829e-01 6.22607309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.295336194999999 meters 0.0413934470121815 Centerline is valid? [True, True] Translation: X:10.25, Y:0.06, Z:0.06 [[ 9.99071012e-01 -4.03115312e-02 -1.52345979e-02 1.02463084e+01] [ 4.03165682e-02 9.99186956e-01 2.35281920e-05 5.57105171e-02] [ 1.52212631e-02 -6.37713041e-04 9.99883947e-01 5.54165843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325336195 meters 0.04166003518818231 Centerline is valid? [True, True] Translation: X:10.28, Y:0.05, Z:0.05 [[ 9.98927493e-01 -4.30766250e-02 -1.69784663e-02 1.02776231e+01] [ 4.30832822e-02 9.99071484e-01 2.63503630e-05 5.02853863e-02] [ 1.69615664e-02 -7.57810155e-04 9.99855855e-01 5.03564453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.355336195 meters 0.04601831457628133 Centerline is valid? [True, True] Translation: X:10.31, Y:0.03, Z:0.04 [[ 9.98818653e-01 -4.52033773e-02 -1.78312347e-02 1.03074392e+01] [ 4.52110598e-02 9.98977457e-01 2.77573989e-05 3.24862595e-02] [ 1.78117468e-02 -8.33893626e-04 9.99841011e-01 4.20240730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385336194999999 meters 0.044792456937148964 Centerline is valid? [True, True] Translation: X:10.34, Y:0.03, Z:0.04 [[ 9.98829875e-01 -4.50834865e-02 -1.75031313e-02 1.03396093e+01] [ 4.50908786e-02 9.98982889e-01 2.77082240e-05 2.91435638e-02] [ 1.74840795e-02 -8.16907370e-04 9.99846808e-01 4.20604115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.415336195 meters 0.03868790427188468 Centerline is valid? [True, True] Translation: X:10.37, Y:0.04, Z:0.05 [[ 9.99038768e-01 -4.11223573e-02 -1.51819717e-02 1.03697755e+01] [ 4.11274661e-02 9.99153908e-01 2.43061995e-05 3.56995803e-02] [ 1.51681268e-02 -6.48678862e-04 9.99884747e-01 5.25613595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445336195 meters 0.03868790427188468 Centerline is valid? [True, True] Translation: X:10.40, Y:0.04, Z:0.05 [[ 9.99041577e-01 -4.10540515e-02 -1.51819708e-02 1.04023626e+01] [ 4.10591608e-02 9.99156717e-01 2.48608351e-05 3.55392000e-02] [ 1.51681475e-02 -6.48195988e-04 9.99884747e-01 5.27920217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.475336194999999 meters 0.037498036402253306 Centerline is valid? [True, True] Translation: X:10.43, Y:0.04, Z:0.06 [[ 9.99216291e-01 -3.75045025e-02 -1.26576580e-02 1.04320898e+01] [ 3.75077741e-02 9.99296336e-01 2.10909276e-05 4.11228930e-02] [ 1.26479603e-02 -4.95834977e-04 9.99919888e-01 6.15597595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505336195 meters 0.032134434186599455 Centerline is valid? [True, True] Translation: X:10.46, Y:0.05, Z:0.07 [[ 9.99510271e-01 -3.01971627e-02 -8.20663170e-03 1.04621989e+01] [ 3.01982915e-02 9.99543928e-01 1.36403532e-05 5.10051589e-02] [ 8.20247698e-03 -2.61459930e-04 9.99966325e-01 7.11368510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.535336195 meters 0.02403739991420173 Centerline is valid? [True, True] Translation: X:10.49, Y:0.05, Z:0.06 [[ 9.99698896e-01 -2.27511713e-02 -9.19242645e-03 1.04927104e+01] [ 2.27522730e-02 9.99741133e-01 1.52691983e-05 5.49600691e-02] [ 9.18969944e-03 -2.24413196e-04 9.99957749e-01 6.30235577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565336194999999 meters 0.020355321004200976 Centerline is valid? [True, True] Translation: X:10.52, Y:0.06, Z:0.06 [[ 9.99769398e-01 -1.87623715e-02 -1.04462532e-02 1.05240363e+01] [ 1.87635773e-02 9.99823948e-01 1.74280397e-05 5.67307431e-02] [ 1.04440871e-02 -2.13433099e-04 9.99945436e-01 5.93767268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.595336195 meters 0.01607079551047157 Centerline is valid? [True, True] Translation: X:10.56, Y:0.06, Z:0.06 [[ 9.99818804e-01 -1.37438384e-02 -1.31706336e-02 1.05551990e+01] [ 1.37453245e-02 9.99905528e-01 2.23187129e-05 6.46384791e-02] [ 1.31690826e-02 -2.03349302e-04 9.99913263e-01 5.85395720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625336195 meters 0.01520896204920724 Centerline is valid? [True, True] Translation: X:10.59, Y:0.07, Z:0.06 [[ 9.99809690e-01 -1.12558831e-02 -1.59339175e-02 1.05851298e+01] [ 1.12577473e-02 9.99936629e-01 2.73020645e-05 7.24931781e-02] [ 1.59326004e-02 -2.06676886e-04 9.99873047e-01 6.09376766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.655336195 meters 0.014647391212707247 Centerline is valid? [True, True] Translation: X:10.61, Y:0.08, Z:0.06 [[ 9.99812143e-01 -1.11651689e-02 -1.58435275e-02 1.06141563e+01] [ 1.11669799e-02 9.99937647e-01 2.58372747e-05 7.58476202e-02] [ 1.58422511e-02 -2.02756774e-04 9.99874483e-01 6.40062705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685336195 meters 0.014867957029160456 Centerline is valid? [True, True] Translation: X:10.64, Y:0.07, Z:0.06 [[ 9.99815806e-01 -1.28164809e-02 -1.42860799e-02 1.06427038e+01] [ 1.28180905e-02 9.99917845e-01 2.11046932e-05 7.38519036e-02] [ 1.42846357e-02 -2.04221070e-04 9.99897949e-01 6.44095988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.715336194999999 meters 0.016958229715779417 Centerline is valid? [True, True] Translation: X:10.67, Y:0.06, Z:0.05 [[ 9.99783768e-01 -1.45971494e-02 -1.48101400e-02 1.06724486e+01] [ 1.45990555e-02 9.99893428e-01 2.05876101e-05 6.04814812e-02] [ 1.48082611e-02 -2.36797214e-04 9.99890324e-01 5.39781950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745336195 meters 0.018079577198199196 Centerline is valid? [True, True] Translation: X:10.70, Y:0.06, Z:0.05 [[ 9.99761034e-01 -1.54486572e-02 -1.54665413e-02 1.07029277e+01] [ 1.54508379e-02 9.99880628e-01 2.15085872e-05 5.62418218e-02] [ 1.54643627e-02 -2.60474470e-04 9.99880386e-01 5.26246761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.775336195 meters 0.01842659216698514 Centerline is valid? [True, True] Translation: X:10.73, Y:0.06, Z:0.06 [[ 9.99694112e-01 -1.73131231e-02 -1.76617672e-02 1.07336438e+01] [ 1.73162616e-02 9.99850062e-01 2.47755394e-05 5.84141408e-02] [ 1.76586901e-02 -3.30603741e-04 9.99844019e-01 5.59572110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805336194999999 meters 0.025688358847553317 Centerline is valid? [True, True] Translation: X:10.76, Y:0.06, Z:0.06 [[ 9.99666915e-01 -1.79805769e-02 -1.85137372e-02 1.07641885e+01] [ 1.79841440e-02 9.99838272e-01 2.61892243e-05 5.79660506e-02] [ 1.85102721e-02 -3.59134217e-04 9.99828606e-01 5.70778399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.835336195 meters 0.02074399041715616 Centerline is valid? [True, True] Translation: X:10.80, Y:0.05, Z:0.06 [[ 9.99663203e-01 -1.93405015e-02 -1.73039234e-02 1.07953044e+01] [ 1.93438266e-02 9.99812890e-01 2.47883887e-05 5.35676190e-02] [ 1.73002062e-02 -3.59504133e-04 9.99850276e-01 5.92043474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865336195 meters 0.02392468087389076 Centerline is valid? [True, True] Translation: X:10.83, Y:0.04, Z:0.06 [[ 9.99635284e-01 -2.28532308e-02 -1.43885297e-02 1.08264408e+01] [ 2.28558989e-02 9.99738770e-01 2.09971923e-05 3.70805860e-02] [ 1.43842911e-02 -3.49852314e-04 9.99896480e-01 5.84489895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.895336194999999 meters 0.03086944072570736 Centerline is valid? [True, True] Translation: X:10.86, Y:0.02, Z:0.06 [[ 9.99481044e-01 -2.91205386e-02 -1.37708382e-02 1.08562890e+01] [ 2.91235791e-02 9.99575818e-01 2.02659501e-05 1.98959813e-02] [ 1.37644067e-02 -4.21311529e-04 9.99905177e-01 5.98816760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925336195 meters 0.038493375019564346 Centerline is valid? [True, True] Translation: X:10.89, Y:0.02, Z:0.07 [[ 9.99400706e-01 -3.18919735e-02 -1.34585027e-02 1.08876565e+01] [ 3.18951297e-02 9.99491221e-01 1.98857822e-05 1.77175838e-02] [ 1.34510211e-02 -4.49134555e-04 9.99909430e-01 6.54250372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.955336195 meters 0.03586536673777998 Centerline is valid? [True, True] Translation: X:10.92, Y:0.01, Z:0.07 [[ 9.99257515e-01 -3.60733442e-02 -1.35326396e-02 1.09185407e+01] [ 3.60769213e-02 9.99349016e-01 2.02199857e-05 1.17220110e-02] [ 1.35231006e-02 -5.08420945e-04 9.99908429e-01 7.03707503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.985336195 meters 0.03693490890528766 Centerline is valid? [True, True] Translation: X:10.95, Y:0.01, Z:0.07 [[ 9.99252348e-01 -3.60868403e-02 -1.38739116e-02 1.09493759e+01] [ 3.60906160e-02 9.99348521e-01 2.17885806e-05 7.29025028e-03] [ 1.38640868e-02 -5.22490307e-04 9.99903752e-01 6.93094494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.015336195 meters 0.03355539897151288 Centerline is valid? [True, True] Translation: X:10.98, Y:0.00, Z:0.06 [[ 9.99342044e-01 -3.24081247e-02 -1.62847447e-02 1.09799720e+01] [ 3.24128604e-02 9.99474565e-01 2.68827189e-05 1.34975472e-03] [ 1.62753169e-02 -5.54700186e-04 9.99867394e-01 6.16815647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045336194999999 meters 0.026877624499605103 Centerline is valid? [True, True] Translation: X:11.01, Y:0.00, Z:0.06 [[ 9.99498644e-01 -2.51612848e-02 -1.92190038e-02 1.10106919e+01] [ 2.51665445e-02 9.99683272e-01 3.18246806e-05 4.25927506e-03] [ 1.92121159e-02 -5.15484640e-04 9.99815297e-01 5.65997700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.075336195 meters 0.02533661871587299 Centerline is valid? [True, True] Translation: X:11.04, Y:0.01, Z:0.06 [[ 9.99578348e-01 -2.11376109e-02 -1.99079607e-02 1.10410587e+01] [ 2.11424600e-02 9.99776473e-01 3.31130232e-05 5.75489241e-03] [ 1.99028108e-02 -4.54002326e-04 9.99801816e-01 5.52897970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105336195 meters 0.0173671056794965 Centerline is valid? [True, True] Translation: X:11.07, Y:0.02, Z:0.06 [[ 9.99745408e-01 -1.41212121e-02 -1.75986097e-02 1.10717351e+01] [ 1.41239174e-02 9.99900252e-01 2.94391362e-05 1.52917251e-02] [ 1.75964385e-02 -2.77992951e-04 9.99845132e-01 6.25674131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.135336194999999 meters 0.014271495750735119 Centerline is valid? [True, True] Translation: X:11.10, Y:0.02, Z:0.07 [[ 9.99795098e-01 -1.17769600e-02 -1.64640347e-02 1.11000896e+01] [ 1.17789854e-02 9.99930625e-01 2.60551806e-05 2.01396451e-02] [ 1.64625857e-02 -2.19979467e-04 9.99864458e-01 6.79432683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165336195 meters 0.012954773642641035 Centerline is valid? [True, True] Translation: X:11.13, Y:0.02, Z:0.07 [[ 9.99866062e-01 -8.50134130e-03 -1.39852006e-02 1.11281096e+01] [ 8.50246284e-03 9.99963853e-01 2.07382828e-05 1.71285508e-02] [ 1.39845188e-02 -1.39644154e-04 9.99902202e-01 6.88657806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.195336195 meters 0.01048273056864632 Centerline is valid? [True, True] Translation: X:11.16, Y:0.01, Z:0.07 [[ 9.99908562e-01 -6.26894990e-03 -1.19819528e-02 1.11569665e+01] [ 6.26959898e-03 9.99980346e-01 1.66095495e-05 1.34444150e-02] [ 1.19816132e-02 -9.17300696e-05 9.99928214e-01 6.97251681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225336194999999 meters 0.010366737463672346 Centerline is valid? [True, True] Translation: X:11.18, Y:0.01, Z:0.07 [[ 9.99913780e-01 -4.69596157e-03 -1.22629961e-02 1.11842918e+01] [ 4.69650490e-03 9.99988971e-01 1.55087553e-05 1.46809190e-02] [ 1.22627880e-02 -7.31006392e-05 9.99924807e-01 6.95902283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.255336195 meters 0.009419251044386377 Centerline is valid? [True, True] Translation: X:11.21, Y:0.02, Z:0.07 [[ 9.99887605e-01 -2.04232503e-03 -1.48528338e-02 1.12123631e+01] [ 2.04280087e-03 9.99997913e-01 1.68657209e-05 1.94965097e-02] [ 1.48527683e-02 -4.72052071e-05 9.99889690e-01 6.96189770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285336195 meters 0.009670611823550111 Centerline is valid? [True, True] Translation: X:11.24, Y:0.02, Z:0.07 [[ 9.99854048e-01 7.79928731e-04 -1.70667537e-02 1.12403461e+01] [-7.79751377e-04 9.99999696e-01 1.70461295e-05 1.83705125e-02] [ 1.70667618e-02 -3.73581690e-06 9.99854352e-01 6.51954998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.315336194999999 meters 0.010309036204169992 Centerline is valid? [True, True] Translation: X:11.27, Y:0.02, Z:0.06 [[ 9.99830295e-01 2.26428943e-03 -1.82826031e-02 1.12694122e+01] [-2.26437842e-03 9.99997436e-01 1.58336847e-05 1.81162280e-02] [ 1.82825921e-02 2.55677343e-05 9.99832859e-01 6.43644549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345336195 meters 0.011467598058386106 Centerline is valid? [True, True] Translation: X:11.30, Y:0.01, Z:0.06 [[ 9.99848764e-01 1.12781646e-03 -1.73544734e-02 1.12970336e+01] [-1.12775408e-03 9.99999364e-01 1.33807393e-05 1.48207644e-02] [ 1.73544774e-02 6.19286247e-06 9.99849400e-01 6.48979210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.375336195 meters 0.009492572987067807 Centerline is valid? [True, True] Translation: X:11.33, Y:0.00, Z:0.07 [[ 9.99874996e-01 -3.52105146e-03 -1.54140992e-02 1.13262000e+01] [ 3.52164150e-03 9.99993799e-01 1.11364486e-05 1.42874856e-03] [ 1.54139644e-02 -6.54179881e-05 9.99881196e-01 6.66705829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.405336195 meters 0.01054632985704371 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.00, Z:0.07 [[ 9.99880691e-01 -6.41832542e-03 -1.40501956e-02 1.13540008e+01] [ 6.41908929e-03 9.99979397e-01 9.27055189e-06 -3.64892829e-03] [ 1.40498467e-02 -9.94589061e-05 9.99901291e-01 6.92815828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.435336195 meters 0.013542156955297695 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.01, Z:0.08 [[ 9.99870570e-01 -1.19566211e-02 -1.07648608e-02 1.13829829e+01] [ 1.19573837e-02 9.99928508e-01 6.48017387e-06 -8.03333008e-03] [ 1.07640137e-02 -1.35198906e-04 9.99942057e-01 7.91879679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465336194999999 meters 0.018622033721276517 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.02, Z:0.08 [[ 9.99802614e-01 -1.61841355e-02 -1.15242022e-02 1.14138862e+01] [ 1.61852904e-02 9.99869010e-01 6.94395941e-06 -2.05468677e-02] [ 1.15225802e-02 -1.93465147e-04 9.99933594e-01 7.59795022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.495336195 meters 0.019856852155939894 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.03, Z:0.07 [[ 9.99795197e-01 -1.64286212e-02 -1.18179765e-02 1.14450283e+01] [ 1.64298616e-02 9.99865021e-01 7.87563113e-06 -2.73943212e-02] [ 1.18162520e-02 -2.02041737e-04 9.99930165e-01 7.31643548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525336195 meters 0.015335631275173844 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.02, Z:0.07 [[ 9.99818840e-01 -1.40144767e-02 -1.28794790e-02 1.14761694e+01] [ 1.40157548e-02 9.99901774e-01 8.97580074e-06 -2.49901144e-02] [ 1.28780881e-02 -1.89489794e-04 9.99917056e-01 7.22620863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.555336194999999 meters 0.01408281481541662 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.02, Z:0.07 [[ 9.99855445e-01 -9.91981287e-03 -1.38089013e-02 1.15066897e+01] [ 9.92089888e-03 9.99950787e-01 1.01443148e-05 -1.86064045e-02] [ 1.38081211e-02 -1.47139562e-04 9.99904653e-01 7.22155005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585336195 meters 0.012406853732331047 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.01, Z:0.07 [[ 9.99874069e-01 -8.13869505e-03 -1.36237944e-02 1.15353421e+01] [ 8.13957773e-03 9.99966873e-01 9.34142832e-06 -1.31202773e-02] [ 1.36232670e-02 -1.20232185e-04 9.99907192e-01 7.37511535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.615336195 meters 0.010434876473770125 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.01, Z:0.07 [[ 9.99894923e-01 -6.01106051e-03 -1.31913155e-02 1.15640356e+01] [ 6.01167575e-03 9.99981930e-01 6.98673022e-06 -1.10639301e-02] [ 1.31910351e-02 -8.62879074e-05 9.99912991e-01 7.35270969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645336194999999 meters 0.010759628345118621 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.01, Z:0.07 [[ 9.99895642e-01 -5.31304865e-03 -1.34341511e-02 1.15910101e+01] [ 5.31360132e-03 9.99985883e-01 5.44541304e-06 -1.02537780e-02] [ 1.34339325e-02 -7.68285678e-05 9.99909758e-01 7.25789761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.675336195 meters 0.009924062935042452 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.01, Z:0.07 [[ 9.99870566e-01 -4.57926642e-03 -1.54234402e-02 1.16186685e+01] [ 4.57989026e-03 9.99989512e-01 5.12711931e-06 -7.66567831e-03] [ 1.54232549e-02 -7.57641192e-05 9.99881052e-01 6.72901808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705336195 meters 0.010093272283569764 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.01, Z:0.07 [[ 9.99871856e-01 -5.01131362e-03 -1.52038658e-02 1.16458243e+01] [ 5.01195400e-03 9.99987440e-01 4.01670218e-06 -5.27691534e-03] [ 1.52036547e-02 -8.02172635e-05 9.99884415e-01 6.80876939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.735336195 meters 0.010905060065529572 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.00, Z:0.07 [[ 9.99879234e-01 -5.56609024e-03 -1.45098314e-02 1.16736462e+01] [ 5.56670466e-03 9.99984506e-01 1.95706900e-06 -3.37656071e-03] [ 1.45095957e-02 -8.27287787e-05 9.99894727e-01 7.04228173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765336195 meters 0.010873711681955693 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.00, Z:0.07 [[ 9.99855154e-01 -8.09358609e-03 -1.49721532e-02 1.17025973e+01] [ 8.09449827e-03 9.99967239e-01 3.25812340e-07 -4.82611888e-03] [ 1.49716600e-02 -1.21517833e-04 9.99887911e-01 6.96316649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.795336194999999 meters 0.0203739340184512 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.01, Z:0.07 [[ 9.99818804e-01 -1.08135628e-02 -1.56660544e-02 1.17303591e+01] [ 1.08148820e-02 9.99941517e-01 -5.13427435e-07 -1.02222662e-02] [ 1.56651437e-02 -1.68913195e-04 9.99877280e-01 6.75564573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825336195 meters 0.020544755250237804 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.02, Z:0.07 [[ 9.99667772e-01 -1.96707278e-02 -1.66555909e-02 1.17606305e+01] [ 1.96734385e-02 9.99806459e-01 -1.09527566e-06 -1.87817191e-02] [ 1.66523889e-02 -3.26577831e-04 9.99861286e-01 6.88044729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.855336195 meters 0.03242695993103065 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.03, Z:0.06 [[ 9.99432259e-01 -2.80576459e-02 -1.86528186e-02 1.17915716e+01] [ 2.80625071e-02 9.99606170e-01 -1.12789798e-06 -3.14140014e-02] [ 1.86455042e-02 -5.22317598e-04 9.99826021e-01 6.45244023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885336194999999 meters 0.031762719996293466 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.04, Z:0.06 [[ 9.99304541e-01 -3.17366688e-02 -1.95759823e-02 1.18222323e+01] [ 3.17427335e-02 9.99496072e-01 -9.23794829e-07 -4.13730470e-02] [ 1.95661468e-02 -6.20472037e-04 9.99808372e-01 5.95550347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.915336195 meters 0.03481747662390936 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.05, Z:0.07 [[ 9.99220602e-01 -3.58198470e-02 -1.65869705e-02 1.18530665e+01] [ 3.58247654e-02 9.99358087e-01 -6.08769686e-07 -5.02294339e-02] [ 1.65763449e-02 -5.93616032e-04 9.99862427e-01 6.52923228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945336195 meters 0.03607441562646229 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.05, Z:0.07 [[ 9.99244013e-01 -3.61799987e-02 -1.42271172e-02 1.18837266e+01] [ 3.61836579e-02 9.99345157e-01 -2.14696699e-07 -4.86953188e-02] [ 1.42178085e-02 -5.14574607e-04 9.99898789e-01 7.35243360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.975336194999999 meters 0.029904765967390588 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.04, Z:0.08 [[ 9.99379641e-01 -3.31461633e-02 -1.19023279e-02 1.19144681e+01] [ 3.31485122e-02 9.99450437e-01 7.45357696e-08 -3.86099273e-02] [ 1.18957844e-02 -3.94618952e-04 9.99929165e-01 7.96779523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005336195 meters 0.02628590614558933 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.04, Z:0.07 [[ 9.99514658e-01 -2.81601993e-02 -1.33210953e-02 1.19441817e+01] [ 2.81627005e-02 9.99603352e-01 1.75499639e-07 -4.28990655e-02] [ 1.33158065e-02 -3.75333431e-04 9.99911270e-01 7.09539807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.035336195 meters 0.024881901804971265 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.04, Z:0.07 [[ 9.99564878e-01 -2.54543951e-02 -1.49039767e-02 1.19743218e+01] [ 2.54572269e-02 9.99675912e-01 2.86066408e-07 -4.35787007e-02] [ 1.48991392e-02 -3.79699859e-04 9.99888930e-01 6.93075404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065336194999999 meters 0.030149745697472714 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.04, Z:0.07 [[ 9.99586223e-01 -2.42984356e-02 -1.53937858e-02 1.20055423e+01] [ 2.43013253e-02 9.99704679e-01 6.61213111e-07 -4.28921516e-02] [ 1.53892236e-02 -3.74750335e-04 9.99881509e-01 7.22102659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.095336195 meters 0.022348883307175875 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.04, Z:0.08 [[ 9.99637272e-01 -2.18165064e-02 -1.57913006e-02 1.20369297e+01] [ 2.18192448e-02 9.99761932e-01 1.12190453e-06 -3.62176530e-02] [ 1.57875167e-02 -3.45675751e-04 9.99875310e-01 7.57674674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125336195 meters 0.021751638631741288 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.04, Z:0.07 [[ 9.99665620e-01 -2.02770338e-02 -1.60464981e-02 1.20680488e+01] [ 2.02796706e-02 9.99794346e-01 1.60586169e-06 -3.80475829e-02] [ 1.60431656e-02 -3.27023022e-04 9.99871247e-01 7.41345682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.155336195 meters 0.01743001627221708 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.04, Z:0.07 [[ 9.99725468e-01 -1.72198476e-02 -1.58891656e-02 1.20997641e+01] [ 1.72220557e-02 9.99851689e-01 2.13449570e-06 -3.75935572e-02] [ 1.58867723e-02 -2.75778003e-04 9.99873759e-01 7.20345579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185336195 meters 0.015766047887441455 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.04, Z:0.07 [[ 9.99809735e-01 -1.39480564e-02 -1.36361855e-02 1.21297040e+01] [ 1.39493812e-02 9.99902703e-01 2.04397392e-06 -3.54587690e-02] [ 1.36348302e-02 -1.92259935e-04 9.99907023e-01 7.48653960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.215336194999999 meters 0.01540879191202756 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.03, Z:0.07 [[ 9.99823079e-01 -1.29883548e-02 -1.36056078e-02 1.21602025e+01] [ 1.29895859e-02 9.99915632e-01 2.11259186e-06 -3.45446662e-02] [ 1.36044325e-02 -1.78843429e-04 9.99907439e-01 7.47472372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245336195 meters 0.014825419281293915 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.03, Z:0.07 [[ 9.99811865e-01 -1.25472573e-02 -1.47919545e-02 1.21900611e+01] [ 1.25486629e-02 9.99921262e-01 2.20932851e-06 -3.21595047e-02] [ 1.47907621e-02 -1.87828164e-04 9.99890593e-01 7.48967371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.275336195 meters 0.014589484417376765 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.03, Z:0.08 [[ 9.99802913e-01 -1.26275293e-02 -1.53192848e-02 1.22192201e+01] [ 1.26290237e-02 9.99920251e-01 8.10139023e-07 -3.04427542e-02] [ 1.53180529e-02 -1.94277591e-04 9.99882653e-01 7.62742999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305336194999999 meters 0.017645350034382782 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.03, Z:0.08 [[ 9.99795181e-01 -1.26347473e-02 -1.58100971e-02 1.22483385e+01] [ 1.26363168e-02 9.99920159e-01 -6.23702107e-07 -2.96208960e-02] [ 1.58088427e-02 -1.99157822e-04 9.99875013e-01 7.73176033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.335336195 meters 0.015296341501169215 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.03, Z:0.07 [[ 9.99782049e-01 -1.26036782e-02 -1.66433777e-02 1.22769091e+01] [ 1.26053840e-02 9.99920549e-01 -2.41474656e-06 -3.03766536e-02] [ 1.66420858e-02 -2.07381947e-04 9.99861489e-01 7.38776719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365336195 meters 0.015296341501169215 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.03, Z:0.07 [[ 9.99779768e-01 -1.27833554e-02 -1.66433770e-02 1.23042740e+01] [ 1.27850389e-02 9.99918268e-01 -5.24752890e-06 -3.02238398e-02] [ 1.66420838e-02 -2.07539849e-04 9.99861489e-01 7.40721183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.395336194999999 meters 0.022220028830379 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.03, Z:0.07 [[ 9.99791835e-01 -1.17801161e-02 -1.66587802e-02 1.23317905e+01] [ 1.17816334e-02 9.99930594e-01 -7.05995837e-06 -3.21241361e-02] [ 1.66577072e-02 -1.89209152e-04 9.99861233e-01 7.19216026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425336195 meters 0.012361980036866643 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.04, Z:0.07 [[ 9.99842483e-01 -1.08525773e-02 -1.40439053e-02 1.23602963e+01] [ 1.08535435e-02 9.99941099e-01 -7.41481882e-06 -3.57400534e-02] [ 1.40431585e-02 -1.45012486e-04 9.99901379e-01 7.12123544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.455336195 meters 0.013665873351151615 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.03, Z:0.07 [[ 9.99865570e-01 -1.01847760e-02 -1.28495668e-02 1.23876106e+01] [ 1.01855096e-02 9.99948126e-01 -8.34848470e-06 -3.49503840e-02] [ 1.28489852e-02 -1.22532023e-04 9.99917441e-01 7.33906469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485336195 meters 0.0107889288072943 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.02, Z:0.08 [[ 9.99848869e-01 -8.35847683e-03 -1.52438429e-02 1.24161969e+01] [ 8.35926527e-03 9.99965061e-01 -1.19953396e-05 -1.93695595e-02] [ 1.52434105e-02 -1.15433800e-04 9.99883806e-01 7.87018818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.515336195 meters 0.010251182880752507 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.01, Z:0.08 [[ 9.99861411e-01 -7.69757123e-03 -1.47616752e-02 1.24441397e+01] [ 7.69821526e-03 9.99970368e-01 -1.31940836e-05 -1.36305060e-02] [ 1.47613393e-02 -1.00446298e-04 9.99891040e-01 7.94653084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545336194999999 meters 0.010249730996403042 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.01, Z:0.08 [[ 9.99875725e-01 -7.68368920e-03 -1.37657039e-02 1.24715883e+01] [ 7.68423465e-03 9.99970476e-01 -1.32684017e-05 -1.27194541e-02] [ 1.37653994e-02 -9.25121459e-05 9.99905248e-01 7.98015170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.575336195 meters 0.01138315596751493 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.01, Z:0.08 [[ 9.99878948e-01 -8.66903931e-03 -1.29204010e-02 1.24994547e+01] [ 8.66958094e-03 9.99962418e-01 -1.40889944e-05 -1.11788564e-02] [ 1.29200376e-02 -9.79271734e-05 9.99916528e-01 7.71116582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605336195 meters 0.012830015309681371 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.01, Z:0.07 [[ 9.99816547e-01 -1.20639846e-02 -1.48772643e-02 1.25280490e+01] [ 1.20650374e-02 9.99927215e-01 -1.89896945e-05 -1.49610040e-02] [ 1.48764105e-02 -1.60508539e-04 9.99889327e-01 7.00862431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.635336194999999 meters 0.014990589973872767 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.02, Z:0.07 [[ 9.99772399e-01 -1.45657525e-02 -1.55881383e-02 1.25568406e+01] [ 1.45671869e-02 9.99893893e-01 -2.15263136e-05 -1.66543323e-02] [ 1.55867978e-02 -2.05553909e-04 9.99878497e-01 6.96592223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665336195 meters 0.020552822511112803 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.01, Z:0.08 [[ 9.99636124e-01 -2.11209007e-02 -1.67787925e-02 1.25864678e+01] [ 2.11234777e-02 9.99776874e-01 -2.36435002e-05 -1.21153944e-02] [ 1.67755481e-02 -3.30791552e-04 9.99859226e-01 7.75105363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.695336195 meters 0.024777117137694454 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.01, Z:0.08 [[ 9.99548829e-01 -2.50347533e-02 -1.65951608e-02 1.26177338e+01] [ 2.50378156e-02 9.99686504e-01 -2.32506031e-05 -1.28814603e-02] [ 1.65905404e-02 -3.92266462e-04 9.99862291e-01 8.04287294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725336194999999 meters 0.027457391894079784 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.02, Z:0.08 [[ 9.99383504e-01 -3.19883615e-02 -1.44691281e-02 1.26482451e+01] [ 3.19914196e-02 9.99488143e-01 -2.01151903e-05 -1.89920495e-02] [ 1.44623654e-02 -4.42785158e-04 9.99895316e-01 8.13949462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.755336195 meters 0.03348502339064153 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.03, Z:0.08 [[ 9.99319526e-01 -3.41899941e-02 -1.38393870e-02 1.26792202e+01] [ 3.41930105e-02 9.99415248e-01 -1.86744143e-05 -2.85977654e-02] [ 1.38319329e-02 -4.54548598e-04 9.99904231e-01 7.86486808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785336195 meters 0.03333604348598072 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.03, Z:0.08 [[ 9.99288586e-01 -3.51972752e-02 -1.35452413e-02 1.27117748e+01] [ 3.52002686e-02 9.99380278e-01 -1.74245431e-05 -2.78699882e-02] [ 1.35374604e-02 -4.59383986e-04 9.99908259e-01 7.73078186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.815336194999999 meters 0.03318525095651563 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.02, Z:0.08 [[ 9.99312994e-01 -3.40941515e-02 -1.45302746e-02 1.27426817e+01] [ 3.40974883e-02 9.99418511e-01 -1.80993320e-05 -2.28588619e-02] [ 1.45224425e-02 -4.77358972e-04 9.99894430e-01 7.68794226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845336195 meters 0.02902750753317975 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.01, Z:0.08 [[ 9.99300380e-01 -3.35453837e-02 -1.65365580e-02 1.27756021e+01] [ 3.35496462e-02 9.99437052e-01 -1.96646932e-05 -1.39976483e-02] [ 1.65279085e-02 -5.35144736e-04 9.99863262e-01 7.76650846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.875336195 meters 0.03400411618176432 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.01, Z:0.07 [[ 9.99227059e-01 -3.34511628e-02 -2.06471141e-02 1.28069019e+01] [ 3.34578110e-02 9.99440130e-01 -2.34614225e-05 -1.18127675e-02] [ 2.06363393e-02 -6.67363955e-04 9.99786825e-01 7.47265533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905336195 meters 0.035592130026156396 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.02, Z:0.07 [[ 9.99115472e-01 -3.74835535e-02 -1.90592812e-02 1.28371875e+01] [ 3.74899655e-02 9.99297004e-01 -2.08894989e-05 -2.15933671e-02] [ 1.90466656e-02 -6.93660773e-04 9.99818355e-01 7.31109977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.935336195 meters 0.035117583503025164 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.03, Z:0.07 [[ 9.99030911e-01 -4.01898284e-02 -1.79448160e-02 1.28683757e+01] [ 4.01959581e-02 9.99191816e-01 -1.91167330e-05 -2.59012932e-02] [ 1.79310816e-02 -7.02210863e-04 9.99838979e-01 7.25829670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.965336194999999 meters 0.04016167159097965 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.04, Z:0.07 [[ 9.98798407e-01 -4.64261123e-02 -1.56957867e-02 1.28989568e+01] [ 4.64315730e-02 9.98921473e-01 -1.65206908e-05 -4.02000171e-02] [ 1.56796254e-02 -7.12279228e-04 9.99876813e-01 7.40951101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.995336195 meters 0.04612526839829759 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.05, Z:0.08 [[ 9.98638221e-01 -5.02513595e-02 -1.40179850e-02 1.29282529e+01] [ 5.02560928e-02 9.98736364e-01 -1.46176828e-05 -4.71107335e-02] [ 1.40010059e-02 -6.89891378e-04 9.99901743e-01 8.22925722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025336195 meters 0.044659963818228565 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.04, Z:0.08 [[ 9.98626726e-01 -5.02302692e-02 -1.48856183e-02 1.29600029e+01] [ 5.02356231e-02 9.98737394e-01 -1.42686712e-05 -4.43733012e-02] [ 1.48675404e-02 -7.33539234e-04 9.99889203e-01 8.41622308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.055336194999999 meters 0.04243649850390174 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.04, Z:0.08 [[ 9.98841367e-01 -4.54491699e-02 -1.58207897e-02 1.29892473e+01] [ 4.54546351e-02 9.98966404e-01 -1.41599527e-05 -4.35108443e-02] [ 1.58050809e-02 -7.04984675e-04 9.99874843e-01 8.40152594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085336195 meters 0.04271094485855297 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.05, Z:0.08 [[ 9.99035080e-01 -4.08099122e-02 -1.62314372e-02 1.30191205e+01] [ 4.08150521e-02 9.99166718e-01 -1.46110733e-05 -4.77214086e-02] [ 1.62185081e-02 -6.47889979e-04 9.99868261e-01 8.04440971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.115336195 meters 0.02818654093323529 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.04, Z:0.08 [[ 9.99453744e-01 -2.90280999e-02 -1.57981904e-02 1.30495860e+01] [ 2.90314984e-02 9.99578497e-01 -1.42273369e-05 -3.83867505e-02] [ 1.57919444e-02 -4.44425573e-04 9.99875201e-01 7.57460727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145336194999999 meters 0.023625734718812005 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.04, Z:0.08 [[ 9.99633651e-01 -2.31602115e-02 -1.40059826e-02 1.30787815e+01] [ 2.31623061e-02 9.99731718e-01 -1.26700605e-05 -3.63517065e-02] [ 1.40025185e-02 -3.11745436e-04 9.99901911e-01 7.64699144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.175336195 meters 0.014166459251781718 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.02, Z:0.08 [[ 9.99785691e-01 -1.45557236e-02 -1.47208680e-02 1.31097001e+01] [ 1.45571054e-02 9.99894040e-01 -1.32888656e-05 -2.25338013e-02] [ 1.47195016e-02 -2.01007210e-04 9.99891642e-01 8.03364188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205336195 meters 0.015071771984297766 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.02, Z:0.08 [[ 9.99808033e-01 -1.15314179e-02 -1.58405603e-02 1.31397164e+01] [ 1.15326397e-02 9.99933497e-01 -1.42174483e-05 -1.58529793e-02] [ 1.58396708e-02 -1.68468756e-04 9.99874530e-01 8.31469747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.235336194999999 meters 0.010288828464950116 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.00, Z:0.09 [[ 9.99885101e-01 -7.70144096e-03 -1.30565220e-02 1.31680333e+01] [ 7.70194090e-03 9.99970340e-01 -1.19925234e-05 -2.69810639e-03] [ 1.30562271e-02 -8.85694152e-05 9.99914760e-01 9.32098365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265336195 meters 0.008581596737914 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.01, Z:0.09 [[ 9.99931253e-01 -4.58273511e-03 -1.07929089e-02 1.31965312e+01] [ 4.58288560e-03 9.99989498e-01 -1.07889833e-05 -6.73200442e-03] [ 1.07928450e-02 -3.86744250e-05 9.99941755e-01 8.88103982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.295336194999999 meters 0.008369269154286972 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.02, Z:0.08 [[ 9.99912772e-01 -2.98629564e-03 -1.28658735e-02 1.32248996e+01] [ 2.98635527e-03 9.99995541e-01 -1.45773530e-05 -1.81030553e-02] [ 1.28658597e-02 -2.38459878e-05 9.99917231e-01 7.72039890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325336195 meters 0.009388551994880819 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.02, Z:0.08 [[ 9.99901128e-01 -3.21833900e-03 -1.36885603e-02 1.32538007e+01] [ 3.21840760e-03 9.99994821e-01 -1.70173423e-05 -1.68364000e-02] [ 1.36885441e-02 -2.70397067e-05 9.99906307e-01 7.84589953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.355336195 meters 0.00910479298019357 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.01, Z:0.08 [[ 9.99881231e-01 -4.39337356e-03 -1.47723368e-02 1.32815921e+01] [ 4.39355360e-03 9.99990348e-01 -2.02658682e-05 -8.37518877e-03] [ 1.47722833e-02 -4.46395924e-05 9.99890883e-01 8.38373067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385336194999999 meters 0.009447108235843752 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.01, Z:0.09 [[ 9.99860258e-01 -5.35706085e-03 -1.58356229e-02 1.33098877e+01] [ 5.35737019e-03 9.99985649e-01 -2.28873186e-05 -5.99015245e-03] [ 1.58355183e-02 -6.19531740e-05 9.99874608e-01 8.60261606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.415336195 meters 0.0107440389137659 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.01, Z:0.08 [[ 9.99826732e-01 -8.17371858e-03 -1.67241487e-02 1.33385418e+01] [ 8.17444293e-03 9.99966588e-01 -2.50490076e-05 -1.18498611e-02] [ 1.67237947e-02 -1.11665932e-04 9.99860141e-01 8.31402358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445336195 meters 0.012124289051479505 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.02, Z:0.08 [[ 9.99818135e-01 -1.01872951e-02 -1.61219060e-02 1.33663348e+01] [ 1.01882165e-02 9.99948098e-01 -2.49807439e-05 -1.93820715e-02] [ 1.61213237e-02 -1.39277267e-04 9.99870033e-01 8.04509384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.475336194999999 meters 0.02105535543049664 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.03, Z:0.08 [[ 9.99795233e-01 -1.44974948e-02 -1.41179157e-02 1.33955729e+01] [ 1.44986215e-02 9.99894889e-01 -2.25476370e-05 -3.25496239e-02] [ 1.41167586e-02 -1.82147296e-04 9.99900337e-01 8.01129128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505336195 meters 0.017915260954937763 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.03, Z:0.09 [[ 9.99740613e-01 -1.92352068e-02 -1.21948269e-02 1.34254454e+01] [ 1.92363957e-02 9.99814963e-01 -1.98097527e-05 -3.45195039e-02] [ 1.21929514e-02 -2.14779900e-04 9.99925640e-01 8.65269426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.535336195 meters 0.019025610067281172 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.03, Z:0.09 [[ 9.99715662e-01 -2.09660453e-02 -1.13587064e-02 1.34572479e+01] [ 2.09671898e-02 9.99780164e-01 -1.83288149e-05 -3.34613139e-02] [ 1.13565937e-02 -2.19836551e-04 9.99935488e-01 8.97914560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565336194999999 meters 0.023107251724953957 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.04, Z:0.09 [[ 9.99669898e-01 -2.30765121e-02 -1.12946947e-02 1.34886462e+01] [ 2.30777837e-02 9.99733672e-01 -1.77526401e-05 -3.95958157e-02] [ 1.12920963e-02 -2.42909742e-04 9.99936213e-01 8.81598166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.595336195 meters 0.021199393860621526 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.04, Z:0.09 [[ 9.99675473e-01 -2.25357712e-02 -1.18780595e-02 1.35213286e+01] [ 2.25371451e-02 9.99746006e-01 -1.81937645e-05 -4.04037328e-02] [ 1.18754525e-02 -2.49509689e-04 9.99929453e-01 8.54926839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625336195 meters 0.018958241721683734 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.04, Z:0.08 [[ 9.99727461e-01 -1.95779190e-02 -1.27164626e-02 1.35516642e+01] [ 1.95792597e-02 9.99808308e-01 -1.90695069e-05 -4.11922770e-02] [ 1.27143983e-02 -2.29914613e-04 9.99919142e-01 8.22071795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.655336195 meters 0.016327869612950543 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.04, Z:0.08 [[ 9.99798261e-01 -1.53629420e-02 -1.29389533e-02 1.35821370e+01] [ 1.53639790e-02 9.99881967e-01 -1.92556815e-05 -3.64251582e-02] [ 1.29377219e-02 -1.79542011e-04 9.99916288e-01 8.29538061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685336195 meters 0.012807208921134317 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.03, Z:0.09 [[ 9.99834976e-01 -1.31243124e-02 -1.25607754e-02 1.36134756e+01] [ 1.31251156e-02 9.99913862e-01 -1.84864103e-05 -2.94806150e-02] [ 1.25599361e-02 -1.46378270e-04 9.99921110e-01 8.61197849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.715336194999999 meters 0.011281251701830038 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.02, Z:0.09 [[ 9.99894829e-01 -9.53134412e-03 -1.09309337e-02 1.36430552e+01] [ 9.53173884e-03 9.99954572e-01 -1.59876397e-05 -1.88947977e-02] [ 1.09305895e-02 -8.82048469e-05 9.99940255e-01 9.19546783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745336195 meters 0.010215127033019663 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.02, Z:0.09 [[ 9.99893471e-01 -8.57867287e-03 -1.18090423e-02 1.36732482e+01] [ 8.57906541e-03 9.99963199e-01 -1.74169378e-05 -1.95166247e-02] [ 1.18087571e-02 -8.38954641e-05 9.99930271e-01 8.64828190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.775336195 meters 0.013210900794179959 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.02, Z:0.08 [[ 9.99864631e-01 -9.41142148e-03 -1.34961380e-02 1.37014177e+01] [ 9.41200476e-03 9.99955706e-01 -2.02981283e-05 -2.31245093e-02] [ 1.34957312e-02 -1.06730334e-04 9.99908923e-01 8.24213241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805336194999999 meters 0.012642148678379497 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.02, Z:0.08 [[ 9.99817458e-01 -1.17112554e-02 -1.50962418e-02 1.37290433e+01] [ 1.17122348e-02 9.99931409e-01 -2.35364707e-05 -2.45565526e-02] [ 1.50954820e-02 -1.53278554e-04 9.99886045e-01 7.95333024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.835336195 meters 0.01323512368273182 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.02, Z:0.08 [[ 9.99801902e-01 -1.26855505e-02 -1.53372935e-02 1.37576044e+01] [ 1.26866495e-02 9.99919521e-01 -2.56399172e-05 -2.27779120e-02] [ 1.53363844e-02 -1.68944029e-04 9.99882376e-01 8.05477899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865336195 meters 0.014178986557421253 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.02, Z:0.08 [[ 9.99804710e-01 -1.41407807e-02 -1.38051119e-02 1.37859120e+01] [ 1.41417811e-02 9.99900000e-01 -2.51554231e-05 -1.86693271e-02] [ 1.38040871e-02 -1.70078361e-04 9.99904705e-01 8.44357990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.895336194999999 meters 0.013628732554749877 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.02, Z:0.09 [[ 9.99821557e-01 -1.42626942e-02 -1.23866453e-02 1.38163324e+01] [ 1.42634964e-02 9.99898271e-01 -2.35761091e-05 -1.76589095e-02] [ 1.23857215e-02 -1.53104969e-04 9.99923282e-01 8.56479657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925336195 meters 0.013709294084566608 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.02, Z:0.08 [[ 9.99838045e-01 -1.44431770e-02 -1.07367499e-02 1.38480654e+01] [ 1.44437911e-02 9.99895683e-01 -2.03511509e-05 -1.95789549e-02] [ 1.07359238e-02 -1.34731517e-04 9.99942359e-01 8.46465012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.955336195 meters 0.016359487883733762 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.02, Z:0.09 [[ 9.99823657e-01 -1.70119404e-02 -7.95296247e-03 1.38796358e+01] [ 1.70123598e-02 9.99855279e-01 -1.49230524e-05 -1.69750841e-02] [ 7.95206538e-03 -1.20378238e-04 9.99968375e-01 9.07438267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985336194999999 meters 0.017793196160022916 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.01, Z:0.10 [[ 9.99807168e-01 -1.85301484e-02 -6.50075829e-03 1.39112813e+01] [ 1.85304618e-02 9.99828296e-01 -1.20176958e-05 -1.48443843e-02] [ 6.49986478e-03 -1.08446675e-04 9.99978870e-01 9.53875334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.015336195 meters 0.017996224558375754 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.01, Z:0.09 [[ 9.99759136e-01 -1.98653154e-02 -9.32947384e-03 1.39434465e+01] [ 1.98660233e-02 9.99802651e-01 -1.67973729e-05 -1.01069497e-02] [ 9.32796636e-03 -1.68546217e-04 9.99956479e-01 9.16542531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045336194999999 meters 0.018003254755627723 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.01, Z:0.09 [[ 9.99720684e-01 -2.01067517e-02 -1.24206158e-02 1.39758476e+01] [ 2.01080336e-02 9.99797813e-01 -2.16761923e-05 -9.26802483e-03] [ 1.24185403e-02 -2.28084021e-04 9.99922861e-01 8.57485606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.075336195 meters 0.02165041733727346 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.01, Z:0.08 [[ 9.99624886e-01 -2.22705130e-02 -1.59408656e-02 1.40072923e+01] [ 2.22729113e-02 9.99751928e-01 -2.70903102e-05 -1.31056353e-02] [ 1.59375144e-02 -3.27969337e-04 9.99872936e-01 7.68361775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105336195 meters 0.022460636683284227 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.01, Z:0.08 [[ 9.99568802e-01 -2.43146807e-02 -1.64622951e-02 1.40390062e+01] [ 2.43175251e-02 9.99704285e-01 -2.74008278e-05 -1.33473452e-02] [ 1.64580932e-02 -3.72933262e-04 9.99864487e-01 7.73544961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.135336194999999 meters 0.026288468980024456 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.01, Z:0.08 [[ 9.99446424e-01 -2.88571703e-02 -1.65562420e-02 1.40698353e+01] [ 2.88606758e-02 9.99583444e-01 -2.72049283e-05 -1.22368858e-02] [ 1.65501304e-02 -4.50634464e-04 9.99862936e-01 8.02037505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165336195 meters 0.027249765018642937 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.01, Z:0.08 [[ 9.99365835e-01 -3.22476756e-02 -1.51001807e-02 1.41008768e+01] [ 3.22509834e-02 9.99479801e-01 -2.44683452e-05 -1.27793268e-02] [ 1.50931146e-02 -4.62542848e-04 9.99885985e-01 8.25860424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.195336195 meters 0.035219014298716815 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.02, Z:0.08 [[ 9.99238404e-01 -3.68776976e-02 -1.27532980e-02 1.41305271e+01] [ 3.68804392e-02 9.99319685e-01 -2.02265256e-05 -2.35607491e-02] [ 1.27453676e-02 -4.50136109e-04 9.99918673e-01 8.42197151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.225336194999999 meters 0.036943196581816384 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.03, Z:0.08 [[ 9.99166456e-01 -3.90239407e-02 -1.19802234e-02 1.41616427e+01] [ 3.90265186e-02 9.99238175e-01 -1.86143882e-05 -2.64585821e-02] [ 1.19718230e-02 -4.48947539e-04 9.99928234e-01 8.48139841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.255336195 meters 0.036943196581816384 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.03, Z:0.09 [[ 9.99169043e-01 -3.89576350e-02 -1.19802241e-02 1.41942165e+01] [ 3.89602139e-02 9.99240762e-01 -1.81331712e-05 -2.65209241e-02] [ 1.19718347e-02 -4.48633992e-04 9.99928234e-01 8.50444456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285336195 meters 0.03948791702999034 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.03, Z:0.09 [[ 9.99063365e-01 -4.15306681e-02 -1.21489094e-02 1.42253597e+01] [ 4.15335165e-02 9.99137111e-01 -1.78563123e-05 -2.80907445e-02] [ 1.21391678e-02 -4.86747340e-04 9.99926199e-01 8.78443812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.315336194999999 meters 0.03757372099895939 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.02, Z:0.09 [[ 9.99064209e-01 -4.11943399e-02 -1.31807998e-02 1.42579530e+01] [ 4.11976683e-02 9.99151015e-01 -1.90133609e-05 -2.32075022e-02] [ 1.31703927e-02 -5.24022649e-04 9.99913129e-01 8.85765441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345336195 meters 0.03727481203934554 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.02, Z:0.09 [[ 9.99170070e-01 -3.86130934e-02 -1.29692276e-02 1.42887845e+01] [ 3.86161045e-02 9.99254120e-01 -1.82629480e-05 -2.32209386e-02] [ 1.29602593e-02 -4.82573258e-04 9.99915896e-01 8.52417196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.375336195 meters 0.034986230302960594 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.02, Z:0.08 [[ 9.99250089e-01 -3.68237782e-02 -1.19695386e-02 1.43204369e+01] [ 3.68262184e-02 9.99321685e-01 -1.65457193e-05 -2.39843809e-02] [ 1.19620287e-02 -4.24259530e-04 9.99928362e-01 8.31889403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.405336194999999 meters 0.0329628413843954 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.02, Z:0.08 [[ 9.99377603e-01 -3.36751358e-02 -1.05067901e-02 1.43506826e+01] [ 3.36768444e-02 9.99432774e-01 -1.43157029e-05 -2.35841787e-02] [ 1.05013125e-02 -3.39528742e-04 9.99944802e-01 8.47052452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.435336195 meters 0.030698675854985747 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.01, Z:0.09 [[ 9.99441426e-01 -3.13335597e-02 -1.16208124e-02 1.43824158e+01] [ 3.13354935e-02 9.99508923e-01 -1.56843138e-05 -1.28498341e-02] [ 1.16155972e-02 -3.48468339e-04 9.99932476e-01 8.83027002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465336194999999 meters 0.02905110897350955 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.01, Z:0.09 [[ 9.99475819e-01 -2.99103398e-02 -1.23878528e-02 1.44146272e+01] [ 2.99124340e-02 9.99552523e-01 -1.62382600e-05 -9.32129574e-03] [ 1.23827952e-02 -3.54321081e-04 9.99923267e-01 8.74550771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.495336195 meters 0.02549274626196988 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.01, Z:0.08 [[ 9.99505267e-01 -2.74101450e-02 -1.54241585e-02 1.44469968e+01] [ 2.74131075e-02 9.99624190e-01 -1.93596150e-05 -6.66625552e-03] [ 1.54188926e-02 -4.03474078e-04 9.99881040e-01 7.98155388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525336195 meters 0.026772484062093743 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.01, Z:0.07 [[ 9.99494794e-01 -2.58335646e-02 -1.85143968e-02 1.44781414e+01] [ 2.58375816e-02 9.99666154e-01 -2.22412475e-05 -7.34581163e-03] [ 1.85087904e-02 -4.56137228e-04 9.99828594e-01 7.20037947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.555336194999999 meters 0.024623323041438373 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.00, Z:0.07 [[ 9.99491219e-01 -2.55296144e-02 -1.91191314e-02 1.45101611e+01] [ 2.55338594e-02 9.99673958e-01 -2.20937188e-05 -1.91135339e-03] [ 1.91134618e-02 -4.66102735e-04 9.99817212e-01 7.35096186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585336195 meters 0.023389832078547 Centerline is valid? [True, True] Translation: X:14.54, Y:0.01, Z:0.08 [[ 9.99561562e-01 -2.46780792e-02 -1.63608108e-02 1.45420745e+01] [ 2.46810847e-02 9.99695375e-01 -1.82172610e-05 8.34807615e-03] [ 1.63562765e-02 -3.85593285e-04 9.99866153e-01 8.30981221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.615336195 meters 0.023996181796498994 Centerline is valid? [True, True] Translation: X:14.57, Y:0.01, Z:0.09 [[ 9.99609104e-01 -2.40068793e-02 -1.43285814e-02 1.45737986e+01] [ 2.40091242e-02 9.99711739e-01 -1.53496860e-05 9.97071493e-03] [ 1.43248195e-02 -3.28673004e-04 9.99897340e-01 8.60605190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645336194999999 meters 0.023259659066833523 Centerline is valid? [True, True] Translation: X:14.61, Y:0.01, Z:0.09 [[ 9.99592624e-01 -2.62497515e-02 -1.12042768e-02 1.46063471e+01] [ 2.62512698e-02 9.99655376e-01 -1.15603620e-05 1.17474378e-02] [ 1.12007190e-02 -2.82570842e-04 9.99937230e-01 8.98714011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.675336195 meters 0.0351421961996349 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.00, Z:0.09 [[ 9.99471732e-01 -3.13946192e-02 -8.40442287e-03 1.46360341e+01] [ 3.13956573e-02 9.99507035e-01 -8.42367592e-06 -7.95154258e-04] [ 8.40054424e-03 -2.55443154e-04 9.99964682e-01 9.00512841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705336195 meters 0.032813133629951974 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.00, Z:0.09 [[ 9.99365458e-01 -3.44145243e-02 -9.18272253e-03 1.46672270e+01] [ 3.44158914e-02 9.99407598e-01 -9.14402445e-06 -4.53892357e-03] [ 9.17759735e-03 -3.06893359e-04 9.99957838e-01 8.87857268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.735336194999999 meters 0.03358806529569229 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.01, Z:0.09 [[ 9.99257031e-01 -3.69814459e-02 -1.08517031e-02 1.46987788e+01] [ 3.69835098e-02 9.99315876e-01 -1.04829104e-05 -6.75164493e-03] [ 1.08446669e-02 -3.90858946e-04 9.99941118e-01 8.64406551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765336195 meters 0.03992891065100722 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.02, Z:0.08 [[ 9.99033792e-01 -4.14378893e-02 -1.46418735e-02 1.47282489e+01] [ 4.14421271e-02 9.99140906e-01 -1.39985887e-05 -2.02320144e-02] [ 1.46298748e-02 -5.92805318e-04 9.99892802e-01 7.97455294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.795336194999999 meters 0.03958845372206795 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.02, Z:0.08 [[ 9.98872019e-01 -4.44961291e-02 -1.65766131e-02 1.47592408e+01] [ 4.45019834e-02 9.99009296e-01 -1.57166992e-05 -2.39908307e-02] [ 1.65608899e-02 -7.21993192e-04 9.99862598e-01 8.02939181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.825336195 meters 0.037886724434841236 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.02, Z:0.08 [[ 9.98827112e-01 -4.55766397e-02 -1.63453158e-02 1.47913792e+01] [ 4.55824858e-02 9.98960578e-01 -1.49089618e-05 -2.23479171e-02] [ 1.63290056e-02 -7.30168650e-04 9.99866406e-01 8.41726836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.855336195 meters 0.042556947926866054 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.03, Z:0.09 [[ 9.98839465e-01 -4.56793992e-02 -1.52681558e-02 1.48237364e+01] [ 4.56845361e-02 9.98955916e-01 -1.23441220e-05 -3.15137832e-02] [ 1.52527784e-02 -6.85188818e-04 9.99883435e-01 8.61626153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.885336194999999 meters 0.04503616957067011 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.04, Z:0.09 [[ 9.98922272e-01 -4.38639885e-02 -1.51737945e-02 1.48543571e+01] [ 4.38688724e-02 9.99037298e-01 -1.09938191e-05 -3.86453745e-02] [ 1.51596689e-02 -6.54675285e-04 9.99884871e-01 8.50802416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.915336195 meters 0.03745187547211068 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.03, Z:0.09 [[ 9.99206298e-01 -3.82482566e-02 -1.11285547e-02 1.48850744e+01] [ 3.82505372e-02 9.99268180e-01 -7.91791259e-06 -3.25815486e-02] [ 1.11207135e-02 -4.17761568e-04 9.99938076e-01 9.15258901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945336195 meters 0.029629391258219326 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.02, Z:0.09 [[ 9.99481481e-01 -3.07527885e-02 -9.54120247e-03 1.49154738e+01] [ 3.07541240e-02 9.99526980e-01 -6.74911692e-06 -2.30375478e-02] [ 9.53689685e-03 -2.86685707e-04 9.99954482e-01 9.39154927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.975336194999999 meters 0.025860556676212263 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.02, Z:0.09 [[ 9.99604033e-01 -2.60681338e-02 -1.05938256e-02 1.49463691e+01] [ 2.60695176e-02 9.99660132e-01 -7.46308856e-06 -1.71254583e-02] [ 1.05904197e-02 -2.68715790e-04 9.99943884e-01 9.26139041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005336195 meters 0.0164968797234192 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.00, Z:0.09 [[ 9.99809086e-01 -1.52275395e-02 -1.22439582e-02 1.49762278e+01] [ 1.52285766e-02 9.99884038e-01 -8.52716662e-06 -3.85810836e-04] [ 1.22426682e-02 -1.77932517e-04 9.99925040e-01 9.04056450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.035336195 meters 0.012275835205180151 Centerline is valid? [True, True] Translation: X:15.01, Y:0.01, Z:0.09 [[ 9.99868952e-01 -1.04451199e-02 -1.23684223e-02 1.50079447e+01] [ 1.04458148e-02 9.99945441e-01 -8.41971470e-06 9.89334104e-03] [ 1.23678355e-02 -1.20779637e-04 9.99923508e-01 9.05641527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065336194999999 meters 0.008505736932832983 Centerline is valid? [True, True] Translation: X:15.04, Y:0.03, Z:0.09 [[ 9.99921663e-01 -3.01328258e-03 -1.21486071e-02 1.50371744e+01] [ 3.01340600e-03 9.99995460e-01 -8.14624861e-06 2.79045509e-02] [ 1.21485765e-02 -2.84630750e-05 9.99926203e-01 9.40491723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.095336195 meters 0.008706357798290671 Centerline is valid? [True, True] Translation: X:15.07, Y:0.04, Z:0.09 [[ 9.99916512e-01 -5.91984137e-04 -1.29080505e-02 1.50653895e+01] [ 5.91905328e-04 9.99999825e-01 -9.92573236e-06 3.57316026e-02] [ 1.29080541e-02 2.28455980e-06 9.99916688e-01 9.32367889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125336195 meters 0.010327643010237059 Centerline is valid? [True, True] Translation: X:15.09, Y:0.04, Z:0.08 [[ 9.99895655e-01 2.94749672e-03 -1.41418021e-02 1.50933358e+01] [-2.94797176e-03 9.99995655e-01 -1.27452273e-05 4.37218684e-02] [ 1.41417031e-02 5.44335307e-05 9.99900000e-01 8.41487892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.155336194999999 meters 0.010681507615782272 Centerline is valid? [True, True] Translation: X:15.12, Y:0.05, Z:0.08 [[ 9.99879601e-01 3.40877735e-03 -1.51381697e-02 1.51216568e+01] [-3.40940075e-03 9.99994188e-01 -1.53734550e-05 4.57752395e-02] [ 1.51380293e-02 6.69836912e-05 9.99885411e-01 8.10752762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185336195 meters 0.010540834656894581 Centerline is valid? [True, True] Translation: X:15.15, Y:0.05, Z:0.08 [[ 9.99855322e-01 1.56747165e-03 -1.69375012e-02 1.51495968e+01] [-1.56801881e-03 9.99998770e-01 -1.90246980e-05 5.46406466e-02] [ 1.69374505e-02 4.55802660e-05 9.99856550e-01 7.94253880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.215336194999999 meters 0.010131690458029776 Centerline is valid? [True, True] Translation: X:15.18, Y:0.06, Z:0.08 [[ 9.99846074e-01 -3.41687483e-03 -1.72090946e-02 1.51774249e+01] [ 3.41702918e-03 9.99994162e-01 -2.04350444e-05 6.29422945e-02] [ 1.72090640e-02 -3.83720797e-05 9.99851912e-01 8.46510887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245336195 meters 0.011855749372610762 Centerline is valid? [True, True] Translation: X:15.21, Y:0.06, Z:0.08 [[ 9.99800299e-01 -1.02334205e-02 -1.71650303e-02 1.52057498e+01] [ 1.02345602e-02 9.99947625e-01 -2.14500936e-05 6.18865305e-02] [ 1.71643508e-02 -1.54230726e-04 9.99852670e-01 8.45968810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.275336195 meters 0.01443775831613339 Centerline is valid? [True, True] Translation: X:15.23, Y:0.06, Z:0.08 [[ 9.99777073e-01 -1.43857772e-02 -1.54548648e-02 1.52347208e+01] [ 1.43871855e-02 9.99896499e-01 -2.00640228e-05 5.71858588e-02] [ 1.54535538e-02 -2.02292457e-04 9.99880566e-01 8.46135264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305336194999999 meters 0.018481629871651938 Centerline is valid? [True, True] Translation: X:15.27, Y:0.05, Z:0.09 [[ 9.99743456e-01 -1.85599507e-02 -1.29827158e-02 1.52654290e+01] [ 1.85612927e-02 9.99827724e-01 -1.71269209e-05 5.29474138e-02] [ 1.29807971e-02 -2.23853461e-04 9.99915721e-01 8.65592563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.335336195 meters 0.023022499591171683 Centerline is valid? [True, True] Translation: X:15.30, Y:0.05, Z:0.09 [[ 9.99581489e-01 -2.64997776e-02 -1.16020653e-02 1.52956064e+01] [ 2.65013840e-02 9.99648777e-01 -1.52925857e-05 5.03577904e-02] [ 1.15983957e-02 -2.92184603e-04 9.99932694e-01 8.96511246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365336195 meters 0.02872255558922363 Centerline is valid? [True, True] Translation: X:15.33, Y:0.05, Z:0.09 [[ 9.99495083e-01 -2.98238984e-02 -1.09596842e-02 1.53253003e+01] [ 2.98255341e-02 9.99555120e-01 -1.42045755e-05 4.59721852e-02] [ 1.09552321e-02 -3.12681031e-04 9.99939941e-01 9.05384231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.395336194999999 meters 0.03219960852830878 Centerline is valid? [True, True] Translation: X:15.36, Y:0.05, Z:0.10 [[ 9.99348326e-01 -3.50693145e-02 -8.54793652e-03 1.53563383e+01] [ 3.50705040e-02 9.99384841e-01 -1.07421721e-05 4.96644292e-02] [ 8.54305490e-03 -2.89045270e-04 9.99963466e-01 9.93284643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425336195 meters 0.03148404832697546 Centerline is valid? [True, True] Translation: X:15.39, Y:0.05, Z:0.10 [[ 9.99296395e-01 -3.66281207e-02 -8.06813179e-03 1.53883079e+01] [ 3.66292331e-02 9.99328924e-01 -9.89641974e-06 5.42339925e-02] [ 8.06307995e-03 -2.85640023e-04 9.99967452e-01 1.01318007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.455336195 meters 0.03288999640628685 Centerline is valid? [True, True] Translation: X:15.42, Y:0.05, Z:0.10 [[ 9.99293588e-01 -3.64585273e-02 -9.11595351e-03 1.54207766e+01] [ 3.64599546e-02 9.99335115e-01 -9.62757499e-06 5.41905630e-02] [ 9.11024346e-03 -3.22746477e-04 9.99958449e-01 9.86266326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485336194999999 meters 0.029696904841257834 Centerline is valid? [True, True] Translation: X:15.45, Y:0.06, Z:0.09 [[ 9.99406663e-01 -3.27695052e-02 -1.06057342e-02 1.54513157e+01] [ 3.27712447e-02 9.99462878e-01 -9.77706999e-06 6.06512343e-02] [ 1.06003580e-02 -3.37791842e-04 9.99943758e-01 9.43650161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.515336195 meters 0.028862384442523988 Centerline is valid? [True, True] Translation: X:15.48, Y:0.06, Z:0.09 [[ 9.99460924e-01 -3.10331621e-02 -1.07146649e-02 1.54830090e+01] [ 3.10348396e-02 9.99518303e-01 -9.71306320e-06 6.28038789e-02] [ 1.07098051e-02 -3.22820078e-04 9.99942596e-01 9.27380721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545336194999999 meters 0.02512295979911325 Centerline is valid? [True, True] Translation: X:15.51, Y:0.07, Z:0.10 [[ 9.99532039e-01 -2.90003901e-02 -9.73037351e-03 1.55146165e+01] [ 2.90016807e-02 9.99579363e-01 -8.46785426e-06 7.40158122e-02] [ 9.72652612e-03 -2.73733294e-04 9.99952659e-01 9.65116488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.575336195 meters 0.025906590183820456 Centerline is valid? [True, True] Translation: X:15.55, Y:0.08, Z:0.10 [[ 9.99561397e-01 -2.80913466e-02 -9.37500046e-03 1.55457449e+01] [ 2.80925094e-02 9.99605328e-01 -7.65182946e-06 7.82267729e-02] [ 9.37151536e-03 -2.55718816e-04 9.99956054e-01 9.88662958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605336195 meters 0.02552549261277482 Centerline is valid? [True, True] Translation: X:15.58, Y:0.08, Z:0.10 [[ 9.99576767e-01 -2.74152655e-02 -9.73088068e-03 1.55782262e+01] [ 2.74164983e-02 9.99624097e-01 -6.71240668e-06 8.31658770e-02] [ 9.72740683e-03 -2.60077108e-04 9.99952654e-01 9.66419471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.635336194999999 meters 0.027994319660840938 Centerline is valid? [True, True] Translation: X:15.61, Y:0.08, Z:0.09 [[ 9.99500971e-01 -2.92325495e-02 -1.19694471e-02 1.56088824e+01] [ 2.92345511e-02 9.99572579e-01 -7.74678224e-06 7.92408894e-02] [ 1.19645575e-02 -3.42178495e-04 9.99928364e-01 9.03647614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665336195 meters 0.02846772081432821 Centerline is valid? [True, True] Translation: X:15.64, Y:0.08, Z:0.09 [[ 9.99453218e-01 -3.01976220e-02 -1.34673525e-02 1.56414157e+01] [ 3.02002498e-02 9.99543868e-01 -8.24589248e-06 7.86574884e-02] [ 1.34614586e-02 -3.98476026e-04 9.99909311e-01 8.75881460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.695336195 meters 0.030156523059495066 Centerline is valid? [True, True] Translation: X:15.67, Y:0.08, Z:0.08 [[ 9.99321407e-01 -3.28685247e-02 -1.66248573e-02 1.56727179e+01] [ 3.28729089e-02 9.99459540e-01 -9.56703539e-06 7.67805663e-02] [ 1.66161867e-02 -5.36946877e-04 9.99861797e-01 8.39954097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725336194999999 meters 0.031779988245962114 Centerline is valid? [True, True] Translation: X:15.70, Y:0.08, Z:0.08 [[ 9.99279715e-01 -3.39737811e-02 -1.69065861e-02 1.57041048e+01] [ 3.39784816e-02 9.99422565e-01 -9.22874250e-06 7.51940522e-02] [ 1.68971371e-02 -5.65238029e-04 9.99857073e-01 8.48075978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.755336195 meters 0.038464793061475405 Centerline is valid? [True, True] Translation: X:15.74, Y:0.07, Z:0.09 [[ 9.99246321e-01 -3.55348339e-02 -1.56226193e-02 1.57352053e+01] [ 3.55390459e-02 9.99368289e-01 -8.01462601e-06 6.76548658e-02] [ 1.56130351e-02 -5.47204398e-04 9.99877959e-01 8.73515439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785336195 meters 0.034613201669501686 Centerline is valid? [True, True] Translation: X:15.77, Y:0.07, Z:0.09 [[ 9.99232978e-01 -3.58825949e-02 -1.56810465e-02 1.57675514e+01] [ 3.58868911e-02 9.99355858e-01 -7.42094113e-06 7.14533937e-02] [ 1.56712120e-02 -5.55328760e-04 9.99877045e-01 9.06296040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.815336194999999 meters 0.032484287524636585 Centerline is valid? [True, True] Translation: X:15.80, Y:0.08, Z:0.09 [[ 9.99298760e-01 -3.45790506e-02 -1.43623307e-02 1.57990798e+01] [ 3.45825265e-02 9.99401846e-01 -6.34423451e-06 7.58433124e-02] [ 1.43539592e-02 -4.90345897e-04 9.99896856e-01 9.40516359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845336195 meters 0.03067766045108062 Centerline is valid? [True, True] Translation: X:15.83, Y:0.08, Z:0.09 [[ 9.99342921e-01 -3.34231455e-02 -1.40221393e-02 1.58314181e+01] [ 3.34263517e-02 9.99441183e-01 -5.72223020e-06 7.69697672e-02] [ 1.40144948e-02 -4.62990489e-04 9.99901685e-01 9.33264538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.875336195 meters 0.02999753338395774 Centerline is valid? [True, True] Translation: X:15.86, Y:0.08, Z:0.09 [[ 9.99432400e-01 -3.10503632e-02 -1.30672245e-02 1.58620710e+01] [ 3.10529505e-02 9.99517741e-01 -4.89623182e-06 7.50909270e-02] [ 1.30610747e-02 -4.00882422e-04 9.99914620e-01 9.14400608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905336194999999 meters 0.02860762230683672 Centerline is valid? [True, True] Translation: X:15.89, Y:0.08, Z:0.09 [[ 9.99524019e-01 -2.86837107e-02 -1.13569509e-02 1.58926648e+01] [ 2.86855150e-02 9.99588486e-01 -4.02031879e-06 7.69621838e-02] [ 1.13523927e-02 -3.21761582e-04 9.99935508e-01 9.31921381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.935336195 meters 0.027097770630206703 Centerline is valid? [True, True] Translation: X:15.93, Y:0.08, Z:0.09 [[ 9.99548425e-01 -2.77479305e-02 -1.15325067e-02 1.59252939e+01] [ 2.77497330e-02 9.99614902e-01 -3.72230666e-06 7.76872677e-02] [ 1.15281688e-02 -3.16303355e-04 9.99933498e-01 9.15035488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965336194999999 meters 0.026225512219967585 Centerline is valid? [True, True] Translation: X:15.96, Y:0.08, Z:0.09 [[ 9.99570812e-01 -2.63155298e-02 -1.28718344e-02 1.59563715e+01] [ 2.63176637e-02 9.99653630e-01 -3.60627493e-06 7.62195130e-02] [ 1.28674709e-02 -3.35151882e-04 9.99917155e-01 8.90306117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.995336195 meters 0.02551376569102397 Centerline is valid? [True, True] Translation: X:15.99, Y:0.08, Z:0.09 [[ 9.99553235e-01 -2.66296404e-02 -1.35717779e-02 1.59881314e+01] [ 2.66320491e-02 9.99645304e-01 -3.25908680e-06 7.70723938e-02] [ 1.35670509e-02 -3.58186625e-04 9.99907899e-01 9.13670027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025336195 meters 0.026058468133608962 Centerline is valid? [True, True] Translation: X:16.02, Y:0.08, Z:0.09 [[ 9.99521670e-01 -2.73606778e-02 -1.44161280e-02 1.60207584e+01] [ 2.73634812e-02 9.99625550e-01 -2.78563984e-06 7.59847183e-02] [ 1.44108061e-02 -3.91691141e-04 9.99896082e-01 9.11844442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.055336195000002 meters 0.02833978805350593 Centerline is valid? [True, True] Translation: X:16.05, Y:0.07, Z:0.09 [[ 9.99437943e-01 -2.95989503e-02 -1.57385260e-02 1.60515712e+01] [ 2.96025776e-02 9.99561748e-01 -2.49246134e-06 7.05730987e-02] [ 1.57317024e-02 -4.63409879e-04 9.99876142e-01 9.16510048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085336195 meters 0.03131864481331306 Centerline is valid? [True, True] Translation: X:16.08, Y:0.07, Z:0.09 [[ 9.99431502e-01 -3.02508706e-02 -1.48848311e-02 1.60824924e+01] [ 3.02541934e-02 9.99542237e-01 -1.94304614e-06 6.74213890e-02] [ 1.48780762e-02 -4.48386619e-04 9.99889215e-01 9.40085822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.115336195 meters 0.027922246488625416 Centerline is valid? [True, True] Translation: X:16.12, Y:0.07, Z:0.09 [[ 9.99473718e-01 -2.92218826e-02 -1.40843256e-02 1.61151067e+01] [ 2.92247643e-02 9.99572865e-01 -1.21576158e-06 6.89377772e-02] [ 1.40783453e-02 -4.10395975e-04 9.99900811e-01 9.40423859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145336195000002 meters 0.026937669215599022 Centerline is valid? [True, True] Translation: X:16.15, Y:0.06, Z:0.09 [[ 9.99506625e-01 -2.80407383e-02 -1.41500124e-02 1.61470975e+01] [ 2.80435388e-02 9.99606703e-01 -4.99267338e-07 6.46050461e-02] [ 1.41444613e-02 -3.96317402e-04 9.99899884e-01 8.92964025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.175336195 meters 0.026937669215599022 Centerline is valid? [True, True] Translation: X:16.18, Y:0.06, Z:0.09 [[ 9.99508526e-01 -2.79729172e-02 -1.41500124e-02 1.61796687e+01] [ 2.79757223e-02 9.99608603e-01 3.00509236e-07 6.44941063e-02] [ 1.41444657e-02 -3.96157179e-04 9.99899884e-01 8.95267070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205336195 meters 0.026532908611419166 Centerline is valid? [True, True] Translation: X:16.21, Y:0.06, Z:0.09 [[ 9.99581218e-01 -2.50839680e-02 -1.44285826e-02 1.62106792e+01] [ 2.50865933e-02 9.99685282e-01 9.61534768e-07 6.22983493e-02] [ 1.44240176e-02 -3.62925117e-04 9.99895903e-01 8.59113787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.235336195000002 meters 0.024863755839394958 Centerline is valid? [True, True] Translation: X:16.24, Y:0.07, Z:0.09 [[ 9.99652655e-01 -2.26036839e-02 -1.35514609e-02 1.62415522e+01] [ 2.26057758e-02 9.99744457e-01 1.19341073e-06 6.87410405e-02] [ 1.35479710e-02 -3.07534284e-04 9.99908175e-01 9.11241865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265336195 meters 0.02260052277537791 Centerline is valid? [True, True] Translation: X:16.27, Y:0.07, Z:0.09 [[ 9.99670782e-01 -2.19225796e-02 -1.33314736e-02 1.62733220e+01] [ 2.19245494e-02 9.99759628e-01 1.60592085e-06 7.36208465e-02] [ 1.33282339e-02 -2.93891944e-04 9.99911132e-01 9.42680967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.295336195 meters 0.022099721919319 Centerline is valid? [True, True] Translation: X:16.31, Y:0.08, Z:0.10 [[ 9.99657008e-01 -2.19590573e-02 -1.42711921e-02 1.63053423e+01] [ 2.19613278e-02 9.99758821e-01 2.38585204e-06 7.63850589e-02] [ 1.42676978e-02 -3.15799362e-04 9.99898161e-01 9.57655767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325336195000002 meters 0.023136555585381212 Centerline is valid? [True, True] Translation: X:16.34, Y:0.08, Z:0.09 [[ 9.99631462e-01 -2.25280148e-02 -1.51468986e-02 1.63369559e+01] [ 2.25306516e-02 9.99746153e-01 3.43364907e-06 7.58138581e-02] [ 1.51429762e-02 -3.44701878e-04 9.99885279e-01 9.46154232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.355336195 meters 0.022960279206088403 Centerline is valid? [True, True] Translation: X:16.37, Y:0.07, Z:0.09 [[ 9.99617166e-01 -2.35734301e-02 -1.44849908e-02 1.63688771e+01] [ 2.35759628e-02 9.99722048e-01 4.09270062e-06 7.22351401e-02] [ 1.44808682e-02 -3.45588738e-04 9.99895087e-01 9.09834819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385336195 meters 0.023983913084294376 Centerline is valid? [True, True] Translation: X:16.40, Y:0.07, Z:0.09 [[ 9.99625950e-01 -2.37866065e-02 -1.34965837e-02 1.64001998e+01] [ 2.37888317e-02 9.99717006e-01 4.33453164e-06 6.87299446e-02] [ 1.34926611e-02 -3.25400869e-04 9.99908917e-01 9.07691344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.415336195000002 meters 0.023914449016291178 Centerline is valid? [True, True] Translation: X:16.43, Y:0.07, Z:0.09 [[ 9.99621282e-01 -2.37078958e-02 -1.39724422e-02 1.64334226e+01] [ 2.37102832e-02 9.99718872e-01 5.20938542e-06 7.07052909e-02] [ 1.39683906e-02 -3.36497974e-04 9.99902381e-01 9.18122087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445336195 meters 0.023142887670944585 Centerline is valid? [True, True] Translation: X:16.47, Y:0.07, Z:0.09 [[ 9.99593146e-01 -2.42441989e-02 -1.50253757e-02 1.64656056e+01] [ 2.42470336e-02 9.99705997e-01 6.49077492e-06 7.28128352e-02] [ 1.50208009e-02 -3.70808924e-04 9.99887113e-01 9.16089888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.475336195 meters 0.02666488413627303 Centerline is valid? [True, True] Translation: X:16.50, Y:0.07, Z:0.09 [[ 9.99542768e-01 -2.64277023e-02 -1.46912074e-02 1.64967867e+01] [ 2.64306608e-02 9.99650649e-01 7.22665928e-06 6.84470124e-02] [ 1.46858841e-02 -3.95521676e-04 9.99892078e-01 9.26201256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505336195 meters 0.027998532163164877 Centerline is valid? [True, True] Translation: X:16.53, Y:0.07, Z:0.09 [[ 9.99489971e-01 -2.75587938e-02 -1.61341573e-02 1.65276108e+01] [ 2.75625220e-02 9.99620081e-01 8.71269304e-06 6.70360791e-02] [ 1.61277876e-02 -4.53406316e-04 9.99869836e-01 9.17512820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.535336195000003 meters 0.02811877384970291 Centerline is valid? [True, True] Translation: X:16.56, Y:0.06, Z:0.09 [[ 9.99463566e-01 -2.80192094e-02 -1.69559450e-02 1.65598111e+01] [ 2.80234037e-02 9.99607267e-01 9.76800268e-06 6.41407270e-02] [ 1.69490122e-02 -4.84926055e-04 9.99856238e-01 8.85445017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565336195 meters 0.03376468980765784 Centerline is valid? [True, True] Translation: X:16.59, Y:0.05, Z:0.08 [[ 9.99405321e-01 -3.07479475e-02 -1.56066462e-02 1.65904945e+01] [ 3.07518406e-02 9.99527050e-01 9.47292045e-06 4.74117167e-02] [ 1.55989737e-02 -4.89400382e-04 9.99878209e-01 8.47498513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.595336195 meters 0.031217029554719188 Centerline is valid? [True, True] Translation: X:16.62, Y:0.05, Z:0.09 [[ 9.99369021e-01 -3.24118889e-02 -1.45268461e-02 1.66227372e+01] [ 3.24154444e-02 9.99474481e-01 9.30239287e-06 4.95297534e-02] [ 1.45189105e-02 -4.80190697e-04 9.99894480e-01 8.94260914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625336195000003 meters 0.03957713229474001 Centerline is valid? [True, True] Translation: X:16.65, Y:0.04, Z:0.09 [[ 9.99238931e-01 -3.62663139e-02 -1.43636193e-02 1.66522486e+01] [ 3.62701963e-02 9.99342020e-01 9.80744531e-06 3.93765790e-02] [ 1.43538127e-02 -5.30771275e-04 9.99896838e-01 9.37848044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.655336195 meters 0.034411013576014136 Centerline is valid? [True, True] Translation: X:16.68, Y:0.04, Z:0.10 [[ 9.99165433e-01 -3.81381998e-02 -1.46258328e-02 1.66846328e+01] [ 3.81424348e-02 9.99272313e-01 1.06226688e-05 4.37513449e-02] [ 1.46147846e-02 -5.68478677e-04 9.99893037e-01 9.66555974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.685336195 meters 0.037135838067572986 Centerline is valid? [True, True] Translation: X:16.72, Y:0.03, Z:0.10 [[ 9.99136243e-01 -3.93358355e-02 -1.33962302e-02 1.67157519e+01] [ 3.93395124e-02 9.99225902e-01 1.09709881e-05 3.22902431e-02] [ 1.33854286e-02 -5.37962674e-04 9.99910266e-01 9.66416894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.715336195000003 meters 0.03593566828168395 Centerline is valid? [True, True] Translation: X:16.75, Y:0.03, Z:0.10 [[ 9.99287606e-01 -3.54099182e-02 -1.30544233e-02 1.67460373e+01] [ 3.54130895e-02 9.99372760e-01 1.17850252e-05 2.88895032e-02] [ 1.30458178e-02 -4.74074093e-04 9.99914787e-01 9.57709773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745336195 meters 0.03283061454853013 Centerline is valid? [True, True] Translation: X:16.78, Y:0.03, Z:0.09 [[ 9.99400248e-01 -3.18498819e-02 -1.35915360e-02 1.67771741e+01] [ 3.18529928e-02 9.99492565e-01 1.24218947e-05 3.05831131e-02] [ 1.35842436e-02 -4.45345545e-04 9.99907631e-01 9.38281276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.775336195 meters 0.020734054572544344 Centerline is valid? [True, True] Translation: X:16.81, Y:0.04, Z:0.09 [[ 9.99672213e-01 -2.14510676e-02 -1.39756434e-02 1.68076749e+01] [ 2.14533433e-02 9.99769850e-01 1.29158663e-05 4.42354407e-02] [ 1.39721499e-02 -3.12735909e-04 9.99902336e-01 9.38311049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805336195000002 meters 0.017806624751342714 Centerline is valid? [True, True] Translation: X:16.84, Y:0.05, Z:0.09 [[ 9.99786014e-01 -1.56750852e-02 -1.34987996e-02 1.68374003e+01] [ 1.56766827e-02 9.99877113e-01 1.25369797e-05 4.97519661e-02] [ 1.34969442e-02 -2.24150695e-04 9.99908887e-01 9.43235648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.835336195 meters 0.010451046900566197 Centerline is valid? [True, True] Translation: X:16.87, Y:0.06, Z:0.09 [[ 9.99891878e-01 -4.97785007e-03 -1.38366965e-02 1.68684247e+01] [ 4.97850393e-03 9.99987607e-01 1.28107258e-05 6.40238717e-02] [ 1.38364613e-02 -8.16953887e-05 9.99904268e-01 9.49292427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865336195 meters 0.009481372513729705 Centerline is valid? [True, True] Translation: X:16.90, Y:0.07, Z:0.09 [[ 9.99881077e-01 -1.00173435e-03 -1.53892415e-02 1.68952658e+01] [ 1.00205541e-03 9.99999498e-01 1.31519790e-05 6.92072552e-02] [ 1.53892206e-02 -2.85712876e-05 9.99881579e-01 9.21758156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.895336195000002 meters 0.01058046630501756 Centerline is valid? [True, True] Translation: X:16.92, Y:0.07, Z:0.09 [[ 9.99868175e-01 2.62276800e-03 -1.60235059e-02 1.69238531e+01] [-2.62292328e-03 9.99996560e-01 1.13246804e-05 7.42795113e-02] [ 1.60234805e-02 3.07052393e-05 9.99871615e-01 8.97784313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925336195 meters 0.010042157141331963 Centerline is valid? [True, True] Translation: X:16.95, Y:0.07, Z:0.09 [[ 9.99882275e-01 2.82653097e-03 -1.50813633e-02 1.69516364e+01] [-2.82671476e-03 9.99996005e-01 9.12979168e-06 7.45895706e-02] [ 1.50813289e-02 3.35019955e-05 9.99886270e-01 9.05720057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.955336195 meters 0.010208234020747175 Centerline is valid? [True, True] Translation: X:16.98, Y:0.07, Z:0.09 [[ 9.99896866e-01 1.44261088e-03 -1.42890429e-02 1.69803743e+01] [-1.44264476e-03 9.99998959e-01 7.93673845e-06 7.32164425e-02] [ 1.42890395e-02 1.26780930e-05 9.99897906e-01 9.28679529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985336195000002 meters 0.009752864373414423 Centerline is valid? [True, True] Translation: X:17.01, Y:0.07, Z:0.09 [[ 9.99890082e-01 2.40393174e-04 -1.48245090e-02 1.70090861e+01] [-2.40307870e-04 9.99999971e-01 7.53557994e-06 7.11705403e-02] [ 1.48245104e-02 -3.97230547e-06 9.99890111e-01 9.29944800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.015336195 meters 0.009999793728920112 Centerline is valid? [True, True] Translation: X:17.04, Y:0.07, Z:0.09 [[ 9.99872825e-01 -3.22436733e-03 -1.56185127e-02 1.70364380e+01] [ 3.22487147e-03 9.99994800e-01 7.09290425e-06 6.63480258e-02] [ 1.56184086e-02 -5.74596983e-05 9.99878024e-01 9.11152316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045336195 meters 0.010663646857403604 Centerline is valid? [True, True] Translation: X:17.06, Y:0.07, Z:0.09 [[ 9.99860302e-01 -5.36787893e-03 -1.58291753e-02 1.70643009e+01] [ 5.36865083e-03 9.99985589e-01 6.27128125e-06 6.55383375e-02] [ 1.58289135e-02 -9.12517201e-05 9.99874711e-01 9.20100388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.075336195000002 meters 0.01331032251955099 Centerline is valid? [True, True] Translation: X:17.09, Y:0.06, Z:0.10 [[ 9.99802169e-01 -1.12925016e-02 -1.63738342e-02 1.70937868e+01] [ 1.12941115e-02 9.99936219e-01 5.85129891e-06 6.36301890e-02] [ 1.63727238e-02 -1.90778051e-04 9.99865940e-01 9.55320743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105336195 meters 0.017149625009313014 Centerline is valid? [True, True] Translation: X:17.12, Y:0.06, Z:0.10 [[ 9.99739789e-01 -1.57766673e-02 -1.64757801e-02 1.71227609e+01] [ 1.57788979e-02 9.99875505e-01 5.39246492e-06 5.73373389e-02] [ 1.64736439e-02 -2.65360713e-04 9.99864265e-01 9.53506974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.135336195 meters 0.026602191475210795 Centerline is valid? [True, True] Translation: X:17.15, Y:0.04, Z:0.09 [[ 9.99539703e-01 -2.59172561e-02 -1.57695124e-02 1.71523067e+01] [ 2.59205577e-02 9.99664006e-01 4.97381937e-06 3.52628152e-02] [ 1.57640850e-02 -4.13726086e-04 9.99875653e-01 9.10981027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165336195000002 meters 0.036752403433057114 Centerline is valid? [True, True] Translation: X:17.18, Y:0.01, Z:0.09 [[ 9.99188277e-01 -3.64421831e-02 -1.71684143e-02 1.71832079e+01] [ 3.64476490e-02 9.99335564e-01 5.47971190e-06 1.44374676e-02] [ 1.71568073e-02 -6.31223603e-04 9.99852612e-01 8.75027461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.195336195 meters 0.038714120573362897 Centerline is valid? [True, True] Translation: X:17.21, Y:0.01, Z:0.09 [[ 9.99040761e-01 -4.02671985e-02 -1.72078843e-02 1.72139212e+01] [ 4.02732573e-02 9.99188703e-01 5.56261555e-06 9.62323516e-03] [ 1.71936996e-02 -6.98574830e-04 9.99851933e-01 8.86758591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225336195 meters 0.040333946155345704 Centerline is valid? [True, True] Translation: X:17.25, Y:0.00, Z:0.09 [[ 9.98932402e-01 -4.35348318e-02 -1.54523515e-02 1.72454368e+01] [ 4.35401108e-02 9.99051680e-01 5.22153221e-06 1.10946634e-03] [ 1.54374704e-02 -6.78013056e-04 9.99880605e-01 9.45591512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.255336195 meters 0.044822762147566045 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.01, Z:0.10 [[ 9.98928274e-01 -4.38357359e-02 -1.48570639e-02 1.72763793e+01] [ 4.38406616e-02 9.99038536e-01 5.85196511e-06 -8.17218223e-03] [ 1.48425229e-02 -6.57189206e-04 9.99889628e-01 9.60487254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285336195000003 meters 0.03902932625739732 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.01, Z:0.09 [[ 9.99026191e-01 -4.11068687e-02 -1.60279449e-02 1.73076112e+01] [ 4.11122631e-02 9.99154533e-01 7.07730854e-06 -1.00561057e-02] [ 1.60141029e-02 -6.66015504e-04 9.99871544e-01 9.46663426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.315336195 meters 0.03825825352087765 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.01, Z:0.09 [[ 9.99159518e-01 -3.78211169e-02 -1.58057481e-02 1.73377183e+01] [ 3.78259535e-02 9.99284343e-01 7.05772286e-06 -1.45677490e-02] [ 1.57941697e-02 -6.04919284e-04 9.99875081e-01 9.24197537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.345336195 meters 0.033010670120089916 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.02, Z:0.09 [[ 9.99441147e-01 -3.01670075e-02 -1.43994722e-02 1.73677153e+01] [ 3.01702289e-02 9.99544775e-01 6.48671068e-06 -1.91057648e-02] [ 1.43927216e-02 -4.40918459e-04 9.99896322e-01 9.21010020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.375336195000003 meters 0.02613597761570991 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.01, Z:0.09 [[ 9.99555610e-01 -2.59106779e-02 -1.47383942e-02 1.73986812e+01] [ 2.59135924e-02 9.99664186e-01 6.78203306e-06 -1.26942331e-02] [ 1.47332691e-02 -3.88703759e-04 9.99891384e-01 9.47278936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405336195 meters 0.0187266470475915 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.01, Z:0.09 [[ 9.99725626e-01 -1.63448236e-02 -1.67785349e-02 1.74284429e+01] [ 1.63472541e-02 9.99866375e-01 7.70793381e-06 -7.58424992e-03] [ 1.67761669e-02 -2.81988793e-04 9.99859230e-01 9.19405221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.435336195 meters 0.013939172323839243 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.01, Z:0.09 [[ 9.99827859e-01 -7.72361532e-03 -1.68700227e-02 1.74578075e+01] [ 7.72484225e-03 9.99970163e-01 7.56506651e-06 -5.63714192e-03] [ 1.68694609e-02 -1.37882028e-04 9.99857691e-01 8.91692561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465336195000003 meters 0.010866798627437672 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.00, Z:0.09 [[ 9.99863828e-01 -4.48910631e-03 -1.58799787e-02 1.74865783e+01] [ 4.48976226e-03 9.99989921e-01 5.65597743e-06 -2.65332732e-03] [ 1.58797933e-02 -7.69525364e-05 9.99873905e-01 9.21345042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.495336195 meters 0.00985791168211845 Centerline is valid? [True, True] Translation: X:17.52, Y:0.00, Z:0.10 [[ 9.99889067e-01 2.06883280e-04 -1.48933459e-02 1.75154676e+01] [-2.06861360e-04 9.99999979e-01 3.01231593e-06 2.38380283e-03] [ 1.48933462e-02 6.88760273e-08 9.99889088e-01 9.58219325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525336195 meters 0.010152848457201174 Centerline is valid? [True, True] Translation: X:17.54, Y:0.00, Z:0.10 [[ 9.99911334e-01 1.54678359e-03 -1.32262072e-02 1.75435650e+01] [-1.54690134e-03 9.99998804e-01 1.32780595e-06 4.21234906e-03] [ 1.32261934e-02 1.91319494e-05 9.99912530e-01 9.90005713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.555336195000002 meters 0.010205087468452072 Centerline is valid? [True, True] Translation: X:17.57, Y:0.01, Z:0.10 [[ 9.99924683e-01 3.50923042e-03 -1.17606964e-02 1.75709097e+01] [-3.50947352e-03 9.99993842e-01 -3.35380991e-08 6.19233184e-03] [ 1.17606239e-02 4.13073882e-05 9.99930841e-01 1.01559283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.585336195 meters 0.010380642704748174 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.00, Z:0.09 [[ 9.99894708e-01 2.13527582e-03 -1.43531995e-02 1.75984080e+01] [-2.13552505e-03 9.99997720e-01 -2.03799678e-06 -3.05961511e-03] [ 1.43531624e-02 3.26893992e-05 9.99896988e-01 9.13251268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.615336195 meters 0.009820034222095755 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.01, Z:0.09 [[ 9.99900632e-01 5.36688855e-04 -1.40868010e-02 1.76249665e+01] [-5.36788076e-04 9.99999856e-01 -3.26258402e-06 -6.75975856e-03] [ 1.40867972e-02 1.08238866e-05 9.99900776e-01 9.15649485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645336195000002 meters 0.00976842627097629 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.01, Z:0.09 [[ 9.99905797e-01 -1.60526765e-03 -1.36315750e-02 1.76538034e+01] [ 1.60535816e-03 9.99998711e-01 -4.30246195e-06 -7.37118734e-03] [ 1.36315643e-02 -1.75815035e-05 9.99907086e-01 9.49749125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.675336195 meters 0.011056832614198858 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.01, Z:0.10 [[ 9.99870080e-01 -6.81096445e-03 -1.46094023e-02 1.76820845e+01] [ 6.81160988e-03 9.99976801e-01 -5.58038900e-06 -9.04309222e-03] [ 1.46091014e-02 -9.39338852e-05 9.99893277e-01 9.83531312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705336195 meters 0.012737145967315755 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.01, Z:0.10 [[ 9.99836976e-01 -9.15088551e-03 -1.55654097e-02 1.77098210e+01] [ 9.15188042e-03 9.99958121e-01 -7.31283885e-06 -1.19421913e-02] [ 1.55648247e-02 -1.35141122e-04 9.99878852e-01 9.70037235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.735336195000002 meters 0.015224579523974621 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.02, Z:0.09 [[ 9.99761299e-01 -1.28056193e-02 -1.77019907e-02 1.77398119e+01] [ 1.28074623e-02 9.99917981e-01 -9.25956958e-06 -2.12050447e-02] [ 1.77006573e-02 -2.17460218e-04 9.99843307e-01 9.01715712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765336195 meters 0.015573325360245735 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.03, Z:0.09 [[ 9.99749039e-01 -1.41498513e-02 -1.73677859e-02 1.77682932e+01] [ 1.41517965e-02 9.99899858e-01 -1.09050666e-05 -2.56340752e-02] [ 1.73662010e-02 -2.34883042e-04 9.99849169e-01 8.90064780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.795336195 meters 0.016341773039517185 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.03, Z:0.09 [[ 9.99771300e-01 -1.46925203e-02 -1.55395398e-02 1.77960271e+01] [ 1.46941194e-02 9.99892036e-01 -1.12676584e-05 -3.03954422e-02] [ 1.55380276e-02 -2.17074773e-04 9.99879254e-01 8.99150919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825336195000002 meters 0.017079159141934513 Centerline is valid? [True, True] Translation: X:17.82, Y:-0.03, Z:0.09 [[ 9.99782584e-01 -1.37564775e-02 -1.56698345e-02 1.78247862e+01] [ 1.37579777e-02 9.99905354e-01 -1.20635400e-05 -2.60745435e-02] [ 1.56685174e-02 -2.03524316e-04 9.99877221e-01 9.27585895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.855336195 meters 0.014146079060584462 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.02, Z:0.10 [[ 9.99804213e-01 -1.18001457e-02 -1.58837404e-02 1.78530757e+01] [ 1.18014143e-02 9.99930361e-01 -1.38627323e-05 -1.70106646e-02] [ 1.58827979e-02 -1.73590583e-04 9.99873845e-01 9.60577364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885336195 meters 0.01199543676833569 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.01, Z:0.09 [[ 9.99837673e-01 -6.48464326e-03 -1.68100521e-02 1.78805294e+01] [ 6.48528395e-03 9.99978970e-01 -1.63999943e-05 -5.29647313e-03] [ 1.68098050e-02 -9.26206291e-05 9.99858701e-01 9.24760543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.915336195000002 meters 0.011330727754428851 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.00, Z:0.09 [[ 9.99833372e-01 -4.87820272e-03 -1.75906573e-02 1.79086072e+01] [ 4.87861499e-03 9.99988099e-01 -1.94757962e-05 -1.96089155e-03] [ 1.75905430e-02 -6.63454933e-05 9.99845272e-01 8.98697565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945336195 meters 0.010746144897178758 Centerline is valid? [True, True] Translation: X:17.94, Y:0.00, Z:0.09 [[ 9.99862465e-01 -2.19013257e-03 -1.64394371e-02 1.79378365e+01] [ 2.19008697e-03 9.99997602e-01 -2.07767867e-05 2.61242230e-03] [ 1.64394431e-02 -1.52298678e-05 9.99864863e-01 8.83148386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.975336195 meters 0.010519895887259618 Centerline is valid? [True, True] Translation: X:17.97, Y:0.01, Z:0.09 [[ 9.99866182e-01 -8.77244511e-04 -1.63355043e-02 1.79651841e+01] [ 8.76979204e-04 9.99999615e-01 -2.34045093e-05 7.30170894e-03] [ 1.63355185e-02 9.07547976e-06 9.99866566e-01 8.92697900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005336195 meters 0.011324226280478548 Centerline is valid? [True, True] Translation: X:17.99, Y:0.01, Z:0.09 [[ 9.99872588e-01 -1.00806398e-03 -1.59308284e-02 1.79932477e+01] [ 1.00779963e-03 9.99999492e-01 -2.46219507e-05 1.39206104e-02] [ 1.59308451e-02 8.56373067e-06 9.99873096e-01 8.84737378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.035336195 meters 0.010237800145699314 Centerline is valid? [True, True] Translation: X:18.02, Y:0.02, Z:0.09 [[ 9.99886949e-01 -2.02284013e-03 -1.48995862e-02 1.80216990e+01] [ 2.02271055e-03 9.99997954e-01 -2.37665012e-05 1.56551945e-02] [ 1.48996038e-02 -6.37373570e-06 9.99888995e-01 9.19720883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065336195 meters 0.010237800145699314 Centerline is valid? [True, True] Translation: X:18.05, Y:0.02, Z:0.09 [[ 9.99886565e-01 -2.20429547e-03 -1.48995832e-02 1.80490523e+01] [ 2.20416010e-03 9.99997571e-01 -2.55066777e-05 1.58473530e-02] [ 1.48996033e-02 -7.33728253e-06 9.99888995e-01 9.21659351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.095336195 meters 0.011292975596282001 Centerline is valid? [True, True] Translation: X:18.08, Y:0.02, Z:0.10 [[ 9.99879841e-01 -7.94338170e-03 -1.33118975e-02 1.80782115e+01] [ 7.94376316e-03 9.99968448e-01 -2.42205266e-05 1.66883718e-02] [ 1.33116698e-02 -8.15289445e-05 9.99911392e-01 9.71688030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125336195000003 meters 0.017259844435109337 Centerline is valid? [True, True] Translation: X:18.11, Y:0.01, Z:0.10 [[ 9.99758703e-01 -1.69113895e-02 -1.40193046e-02 1.81066056e+01] [ 1.69126864e-02 9.99856970e-01 -2.60465572e-05 8.94143941e-03] [ 1.40177399e-02 -2.11063831e-04 9.99901724e-01 9.59966681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.155336195 meters 0.020163047899164056 Centerline is valid? [True, True] Translation: X:18.14, Y:0.01, Z:0.10 [[ 9.99676864e-01 -2.10538750e-02 -1.42443939e-02 1.81381677e+01] [ 2.10556337e-02 9.99778305e-01 -2.65078263e-05 5.73263877e-03] [ 1.42417941e-02 -2.73425480e-04 9.99898543e-01 9.56394209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185336195 meters 0.028088647462572724 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.01, Z:0.09 [[ 9.99460796e-01 -2.98298469e-02 -1.37221269e-02 1.81678969e+01] [ 2.98323067e-02 9.99554917e-01 -2.54439958e-05 -6.07794188e-03] [ 1.37167784e-02 -3.83932423e-04 9.99905847e-01 9.37200982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.215336195000003 meters 0.03422038843019908 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.02, Z:0.09 [[ 9.99329825e-01 -3.34386034e-02 -1.48916203e-02 1.81981995e+01] [ 3.34419009e-02 9.99440663e-01 -2.75988746e-05 -1.57352963e-02] [ 1.48842137e-02 -4.70423711e-04 9.99889113e-01 8.99228578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245336195 meters 0.036387991878458585 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.02, Z:0.09 [[ 9.99127602e-01 -3.82401685e-02 -1.67846233e-02 1.82283967e+01] [ 3.82450363e-02 9.99268390e-01 -3.09935259e-05 -1.76116653e-02] [ 1.67735287e-02 -6.10962039e-04 9.99859128e-01 8.96360697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.275336195 meters 0.0372662222277942 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.01, Z:0.09 [[ 9.99061854e-01 -3.93746328e-02 -1.80291375e-02 1.82608991e+01] [ 3.93804429e-02 9.99224289e-01 -3.27864904e-05 -1.40423696e-02] [ 1.80164430e-02 -6.77239687e-04 9.99837461e-01 9.14695742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305336195000002 meters 0.03649926211735966 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.01, Z:0.09 [[ 9.99059905e-01 -3.89882224e-02 -1.89532372e-02 1.82940626e+01] [ 3.89945955e-02 9.99239421e-01 -3.33423885e-05 -1.42443794e-02] [ 1.89401218e-02 -7.05762775e-04 9.99820371e-01 8.91720234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.335336195 meters 0.037429961275179294 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.02, Z:0.09 [[ 9.99083822e-01 -3.93783598e-02 -1.67589149e-02 1.83250735e+01] [ 3.93834095e-02 9.99224172e-01 -2.87405372e-05 -2.27505367e-02] [ 1.67470446e-02 -6.31309001e-04 9.99859559e-01 8.81667884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365336195 meters 0.037172258017406104 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.02, Z:0.09 [[ 9.99100283e-01 -4.01182843e-02 -1.37530740e-02 1.83574185e+01] [ 4.01217616e-02 9.99194798e-01 -2.30919505e-05 -2.33637816e-02] [ 1.37429264e-02 -5.28726382e-04 9.99905422e-01 9.48660997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.395336195000002 meters 0.03729540760314158 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.02, Z:0.10 [[ 9.99089706e-01 -4.02519470e-02 -1.41258765e-02 1.83900063e+01] [ 4.02556378e-02 9.99189413e-01 -2.30749279e-05 -2.12740645e-02] [ 1.41153551e-02 -5.45592246e-04 9.99900225e-01 9.68110169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425336195 meters 0.03776878923506096 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.02, Z:0.10 [[ 9.99090174e-01 -4.01471165e-02 -1.43886269e-02 1.84232551e+01] [ 4.01509467e-02 9.99193625e-01 -2.26913297e-05 -2.12770480e-02] [ 1.43779352e-02 -5.55046306e-04 9.99896478e-01 9.72434056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.455336195 meters 0.03904175062202721 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.03, Z:0.09 [[ 9.99172529e-01 -3.76852761e-02 -1.52995714e-02 1.84536312e+01] [ 3.76893276e-02 9.99289505e-01 -2.35321192e-05 -2.88855945e-02] [ 1.52895879e-02 -5.53117911e-04 9.99882954e-01 9.22341305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485336195000002 meters 0.03180694181435907 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.03, Z:0.08 [[ 9.99254141e-01 -3.36631219e-02 -1.89197058e-02 1.84854602e+01] [ 3.36686075e-02 9.99433051e-01 -2.86052867e-05 -2.99124732e-02] [ 1.89099422e-02 -6.08416197e-04 9.99821006e-01 8.28146780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.515336195 meters 0.030183471249804885 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.03, Z:0.08 [[ 9.99325404e-01 -3.16178430e-02 -1.86828335e-02 1.85172454e+01] [ 3.16228466e-02 9.99499872e-01 -2.76218217e-05 -3.35795635e-02] [ 1.86743630e-02 -5.63201189e-04 9.99825460e-01 8.20230063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545336195 meters 0.028151392613365727 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.03, Z:0.09 [[ 9.99409203e-01 -2.95463124e-02 -1.75573534e-02 1.85487701e+01] [ 2.95504199e-02 9.99563291e-01 -2.54972923e-05 -3.48984291e-02] [ 1.75504393e-02 -4.93344937e-04 9.99845857e-01 8.52419503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.575336195000002 meters 0.028360216624105167 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.04, Z:0.09 [[ 9.99461432e-01 -2.77659522e-02 -1.74899480e-02 1.85805284e+01] [ 2.77697687e-02 9.99614345e-01 -2.46593772e-05 -3.89952020e-02] [ 1.74838877e-02 -4.61045716e-04 9.99847039e-01 9.02870742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605336195 meters 0.02557742751762779 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.04, Z:0.09 [[ 9.99423189e-01 -2.85634493e-02 -1.83689583e-02 1.86131147e+01] [ 2.85678111e-02 9.99591856e-01 -2.49546843e-05 -4.31104507e-02] [ 1.83621740e-02 -4.99820642e-04 9.99831276e-01 9.14010393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.635336195 meters 0.028909805648751348 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.05, Z:0.09 [[ 9.99413159e-01 -2.90588738e-02 -1.81361589e-02 1.86439085e+01] [ 2.90632296e-02 9.99577575e-01 -2.34084952e-05 -5.49294987e-02] [ 1.81291779e-02 -5.03700591e-04 9.99835526e-01 8.80546633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665336195000002 meters 0.02805729468621224 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.06, Z:0.08 [[ 9.99428643e-01 -2.74484231e-02 -1.97223487e-02 1.86760698e+01] [ 2.74532844e-02 9.99623087e-01 -2.42677755e-05 -6.47292169e-02] [ 1.97155812e-02 -5.17189337e-04 9.99805495e-01 8.32212361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.695336195 meters 0.02560651141653045 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.06, Z:0.08 [[ 9.99496833e-01 -2.49814301e-02 -1.95450305e-02 1.87072827e+01] [ 2.49857445e-02 9.99687807e-01 -2.34591737e-05 -6.49354383e-02] [ 1.95395147e-02 -4.64899768e-04 9.99808977e-01 8.36857179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725336195 meters 0.018480689544370623 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.06, Z:0.08 [[ 9.99672765e-01 -1.65346832e-02 -1.95183683e-02 1.87377181e+01] [ 1.65373797e-02 9.99863248e-01 -2.32621560e-05 -6.07996467e-02] [ 1.95160837e-02 -2.99528122e-04 9.99809498e-01 8.32389355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.755336195 meters 0.012558285621768776 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.05, Z:0.08 [[ 9.99795603e-01 -4.92565360e-03 -1.96083960e-02 1.87669726e+01] [ 4.92613981e-03 9.99987866e-01 -2.35061092e-05 -4.98926519e-02] [ 1.96082739e-02 -7.30923955e-05 9.99807737e-01 8.36625473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785336195 meters 0.012696936492849817 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.04, Z:0.09 [[ 9.99798282e-01 1.07253386e-03 -2.00560451e-02 1.87949899e+01] [-1.07326341e-03 9.99999424e-01 -2.56118262e-05 -4.00093927e-02] [ 2.00560061e-02 4.71320792e-05 9.99798857e-01 8.64143513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.815336195 meters 0.019165230131483944 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.02, Z:0.09 [[ 9.99713812e-01 1.11626985e-02 -2.11586526e-02 1.88231781e+01] [-1.11658042e-02 9.99937660e-01 -2.86409024e-05 -2.04328944e-02] [ 2.11570138e-02 2.64886077e-04 9.99776130e-01 8.61270451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.845336195 meters 0.019991292965576554 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.02, Z:0.09 [[ 9.99681909e-01 1.40244061e-02 -2.09618188e-02 1.88518599e+01] [-1.40281395e-02 9.99901600e-01 -3.10669176e-05 -1.60516493e-02] [ 2.09593204e-02 3.25112354e-04 9.99780276e-01 8.80966841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.875336195000003 meters 0.022075933577080036 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.01, Z:0.09 [[ 9.99688995e-01 1.64188728e-02 -1.87705517e-02 1.88793707e+01] [-1.64223211e-02 9.99865144e-01 -2.95663440e-05 -1.30251724e-02] [ 1.87675350e-02 3.37813176e-04 9.99823817e-01 8.67657711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905336195 meters 0.02140023546334401 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.01, Z:0.09 [[ 9.99725621e-01 1.54691581e-02 -1.75894230e-02 1.89075255e+01] [-1.54720567e-02 9.99880300e-01 -2.87129450e-05 -1.48373146e-02] [ 1.75868733e-02 3.00849616e-04 9.99845294e-01 8.63938097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.935336195 meters 0.01742205844183237 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.02, Z:0.09 [[ 9.99813895e-01 9.53968178e-03 -1.67681464e-02 1.89359939e+01] [-9.54149299e-03 9.99954479e-01 -2.80142829e-05 -1.86160474e-02] [ 1.67671159e-02 1.88002221e-04 9.99859404e-01 8.65899526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965336195000003 meters 0.013803401075945363 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.02, Z:0.09 [[ 9.99844456e-01 5.46814378e-03 -1.67679216e-02 1.89651395e+01] [-5.46939311e-03 9.99985042e-01 -2.86496463e-05 -2.11624353e-02] [ 1.67675141e-02 1.20355545e-04 9.99859408e-01 8.92692364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.995336195 meters 0.012069008544690356 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.03, Z:0.09 [[ 9.99825388e-01 -3.15996541e-03 -1.84176247e-02 1.89926652e+01] [ 3.15990295e-03 9.99995007e-01 -3.24929989e-05 -2.78036898e-02] [ 1.84176354e-02 -2.57105812e-05 9.99830381e-01 8.57928919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025336195 meters 0.01278767065828716 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.03, Z:0.08 [[ 9.99781538e-01 -6.91856253e-03 -1.97233125e-02 1.90216440e+01] [ 6.91920207e-03 9.99976061e-01 -3.58164878e-05 -3.14038562e-02] [ 1.97230881e-02 -1.00660921e-04 9.99805476e-01 8.43932685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.055336195000002 meters 0.016224425788647866 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.04, Z:0.08 [[ 9.99688560e-01 -1.37171447e-02 -2.08476317e-02 1.90510462e+01] [ 1.37193203e-02 9.99905885e-01 -3.86693057e-05 -3.70766986e-02] [ 2.08462001e-02 -2.47358075e-04 9.99782664e-01 8.27943391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085336195 meters 0.021127872991216358 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.04, Z:0.08 [[ 9.99573239e-01 -1.94511998e-02 -2.17942923e-02 1.90798872e+01] [ 1.94549237e-02 9.99810734e-01 -4.11738540e-05 -4.40897743e-02] [ 2.17909683e-02 -3.82850010e-04 9.99762475e-01 7.98669229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.115336195 meters 0.02232207824839231 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.05, Z:0.08 [[ 9.99528953e-01 -2.18313088e-02 -2.15700248e-02 1.91088704e+01] [ 2.18354560e-02 9.99761577e-01 -4.32652606e-05 -4.62512819e-02] [ 2.15658265e-02 -4.27746447e-04 9.99767339e-01 8.04720963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145336195000002 meters 0.026282840420313532 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.05, Z:0.08 [[ 9.99406242e-01 -2.71590657e-02 -2.12025669e-02 1.91392846e+01] [ 2.71642476e-02 9.99630983e-01 -4.36219959e-05 -5.27794453e-02] [ 2.11959276e-02 -5.32355684e-04 9.99775199e-01 8.11924102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.175336195 meters 0.02935366358246692 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.05, Z:0.08 [[ 9.99324549e-01 -3.01155259e-02 -2.10594624e-02 1.91696100e+01] [ 3.01212973e-02 9.99546250e-01 -4.31700927e-05 -5.43351238e-02] [ 2.10512067e-02 -5.91197392e-04 9.99778224e-01 8.31000096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205336195 meters 0.0336348410055187 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.05, Z:0.09 [[ 9.99225995e-01 -3.45605504e-02 -1.87877240e-02 1.92002452e+01] [ 3.45659346e-02 9.99402419e-01 -3.81789152e-05 -5.41888301e-02] [ 1.87778163e-02 -6.11265876e-04 9.99823494e-01 9.16277968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.235336195000002 meters 0.03291200492588407 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.05, Z:0.09 [[ 9.99219641e-01 -3.52855673e-02 -1.77493010e-02 1.92325501e+01] [ 3.52904980e-02 9.99377096e-01 -3.54360404e-05 -5.25310177e-02] [ 1.77394953e-02 -5.90973286e-04 9.99842468e-01 9.48952673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265336195 meters 0.02900275402000064 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.05, Z:0.09 [[ 9.99333822e-01 -3.21091444e-02 -1.73469204e-02 1.92637552e+01] [ 3.21133875e-02 9.99484232e-01 -3.39683176e-05 -5.41804140e-02] [ 1.73390641e-02 -5.23122689e-04 9.99849530e-01 9.20941022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.295336195 meters 0.022904495057457803 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.05, Z:0.09 [[ 9.99550704e-01 -2.47955817e-02 -1.68395251e-02 1.92946037e+01] [ 2.47985469e-02 9.99692468e-01 -3.27347300e-05 -5.07845924e-02] [ 1.68351581e-02 -3.84875731e-04 9.99858205e-01 8.89685432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325336195000002 meters 0.02464685700760782 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.05, Z:0.09 [[ 9.99646055e-01 -2.09346324e-02 -1.64166145e-02 1.93247404e+01] [ 2.09369319e-02 9.99780798e-01 -3.18000484e-05 -4.51661997e-02] [ 1.64136817e-02 -3.11924747e-04 9.99865238e-01 9.12626857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.355336195 meters 0.01744103954462723 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.03, Z:0.09 [[ 9.99731043e-01 -1.65416288e-02 -1.62547170e-02 1.93557536e+01] [ 1.65433058e-02 9.99863150e-01 -3.13001665e-05 -3.36323523e-02] [ 1.62530103e-02 -2.37615006e-04 9.99867883e-01 9.40045112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385336195 meters 0.01295852182940396 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.02, Z:0.10 [[ 9.99842034e-01 -8.91907171e-03 -1.53739064e-02 1.93855822e+01] [ 8.91967048e-03 9.99960219e-01 -2.96228327e-05 -1.64702854e-02] [ 1.53735590e-02 -1.07512025e-04 9.99881814e-01 9.67577702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.415336195000002 meters 0.011858264704066175 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.02, Z:0.09 [[ 9.99859836e-01 -6.60988123e-03 -1.53824074e-02 1.94140351e+01] [ 6.61018507e-03 9.99978152e-01 -3.10915486e-05 -1.57403745e-02] [ 1.53822769e-02 -7.05933691e-05 9.99881683e-01 9.41564725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445336195 meters 0.012550476431898177 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.02, Z:0.09 [[ 9.99840900e-01 -5.15679785e-03 -1.70757659e-02 1.94422490e+01] [ 5.15692817e-03 9.99986702e-01 -3.64006768e-05 -1.96543102e-02] [ 1.70757265e-02 -5.16636126e-05 9.99854198e-01 8.72608956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.475336195 meters 0.013074825312448102 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.02, Z:0.08 [[ 9.99768338e-01 -5.74323261e-03 -2.07433287e-02 1.94706362e+01] [ 5.74351583e-03 9.99983505e-01 -4.59231419e-05 -1.69779371e-02] [ 2.07432503e-02 -7.32271333e-05 9.99784833e-01 8.45755225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505336195 meters 0.014411837221294124 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.02, Z:0.08 [[ 9.99719288e-01 -6.17265128e-03 -2.28745080e-02 1.94988204e+01] [ 6.17307166e-03 9.99980945e-01 -5.22354100e-05 -1.80307627e-02] [ 2.28743946e-02 -8.89852301e-05 9.99738343e-01 7.86670820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.535336195 meters 0.013986816783531723 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.01, Z:0.08 [[ 9.99705937e-01 -5.13017876e-03 -2.37006632e-02 1.95276682e+01] [ 5.13026837e-03 9.99986838e-01 -5.70236752e-05 -1.40825340e-02] [ 2.37006438e-02 -6.45838560e-05 9.99719098e-01 8.00805382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565336195 meters 0.014567842319629374 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.01, Z:0.08 [[ 9.99722054e-01 -4.86897816e-03 -2.30674748e-02 1.95550346e+01] [ 4.86894865e-03 9.99988145e-01 -5.74441607e-05 -1.15143179e-02] [ 2.30674810e-02 -5.48861559e-05 9.99733909e-01 8.19797688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.595336195 meters 0.013154082320786128 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.01, Z:0.08 [[ 9.99774521e-01 -3.98535414e-03 -2.08572188e-02 1.95831196e+01] [ 3.98511392e-03 9.99992058e-01 -5.30809805e-05 -8.70341996e-03] [ 2.08572647e-02 -3.00493812e-05 9.99782463e-01 8.38826647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625336195000003 meters 0.012712871282007227 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.01, Z:0.09 [[ 9.99799396e-01 -3.43697159e-03 -1.97321018e-02 1.96121650e+01] [ 3.43660203e-03 9.99994093e-01 -5.26380241e-05 -7.84143349e-03] [ 1.97321662e-02 -1.51839165e-05 9.99805302e-01 8.54772355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.655336195 meters 0.01296884344364776 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.00, Z:0.09 [[ 9.99812711e-01 -1.22680393e-03 -1.93141725e-02 1.96395473e+01] [ 1.22600227e-03 9.99999247e-01 -5.33470067e-05 -8.49170651e-04] [ 1.93142234e-02 2.96577960e-05 9.99813463e-01 8.52070716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685336195 meters 0.013595884201647632 Centerline is valid? [True, True] Translation: X:19.67, Y:0.01, Z:0.09 [[ 9.99793979e-01 -1.73024882e-04 -2.02970404e-02 1.96678643e+01] [ 1.71870169e-04 9.99999984e-01 -5.86351248e-05 6.39094568e-03] [ 2.02970502e-02 5.51345890e-05 9.99793992e-01 8.63335622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.715336195000003 meters 0.014155118700967672 Centerline is valid? [True, True] Translation: X:19.70, Y:0.01, Z:0.08 [[ 9.99774708e-01 6.47120246e-04 -2.12158951e-02 1.96955827e+01] [-6.48609326e-04 9.99999788e-01 -6.33058772e-05 1.35654794e-02] [ 2.12158496e-02 7.70524423e-05 9.99774916e-01 8.27478425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745336195 meters 0.013964367189959042 Centerline is valid? [True, True] Translation: X:19.72, Y:0.01, Z:0.08 [[ 9.99779884e-01 1.67560866e-05 -2.09805244e-02 1.97234618e+01] [-1.80987113e-05 9.99999998e-01 -6.38039763e-05 1.23138518e-02] [ 2.09805233e-02 6.41696525e-05 9.99779883e-01 8.02660972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.775336195 meters 0.014636427162547662 Centerline is valid? [True, True] Translation: X:19.75, Y:0.01, Z:0.07 [[ 9.99678483e-01 -3.57532010e-03 -2.51027243e-02 1.97515977e+01] [ 3.57449745e-03 9.99993608e-01 -7.76432192e-05 1.08904590e-02] [ 2.51028415e-02 -1.21113685e-05 9.99684874e-01 7.36478180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805336195000002 meters 0.014974630509650911 Centerline is valid? [True, True] Translation: X:19.78, Y:0.01, Z:0.07 [[ 9.99607988e-01 -6.23600387e-03 -2.72943651e-02 1.97805362e+01] [ 6.23592386e-03 9.99980553e-01 -8.80508046e-05 1.20894749e-02] [ 2.72943833e-02 -8.21892947e-05 9.99627436e-01 7.32263721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.835336195 meters 0.016807160334767878 Centerline is valid? [True, True] Translation: X:19.81, Y:0.01, Z:0.07 [[ 9.99528154e-01 -1.27540667e-02 -2.79428589e-02 1.98094685e+01] [ 1.27564021e-02 9.99918629e-01 -9.46859232e-05 1.10810869e-02] [ 2.79417928e-02 -2.61809098e-04 9.99609518e-01 7.34112963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865336195 meters 0.018197640980422605 Centerline is valid? [True, True] Translation: X:19.84, Y:0.01, Z:0.07 [[ 9.99504306e-01 -1.58823607e-02 -2.71825670e-02 1.98370492e+01] [ 1.58856658e-02 9.99873810e-01 -9.43689762e-05 8.16899198e-03] [ 2.71806356e-02 -3.37490975e-04 9.99630481e-01 7.37343546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.895336195000002 meters 0.022776293206813774 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.00, Z:0.07 [[ 9.99403111e-01 -2.29752498e-02 -2.57984419e-02 1.98658425e+01] [ 2.29805622e-02 9.99735908e-01 -9.05814053e-05 -2.15734696e-03] [ 2.57937098e-02 -5.02335361e-04 9.99667161e-01 7.24831968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925336195 meters 0.030955036137501786 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.02, Z:0.07 [[ 9.99262355e-01 -3.01394165e-02 -2.37983432e-02 1.98947908e+01] [ 3.01459574e-02 9.99545504e-01 -8.39504993e-05 -1.61928033e-02] [ 2.37900572e-02 -6.33535268e-04 9.99716776e-01 7.14372645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.955336195 meters 0.032046377264384314 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.02, Z:0.08 [[ 9.99145079e-01 -3.42395107e-02 -2.31682423e-02 1.99255831e+01] [ 3.42468133e-02 9.99413403e-01 -8.16187249e-05 -1.50283630e-02] [ 2.31574465e-02 -7.11889523e-04 9.99731577e-01 7.67845150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985336195000002 meters 0.034873924237611424 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.01, Z:0.08 [[ 9.98883384e-01 -4.06284910e-02 -2.41104041e-02 1.99568866e+01] [ 4.06382686e-02 9.99173921e-01 -8.45031271e-05 -1.49286887e-02] [ 2.40939202e-02 -8.95396307e-04 9.99709298e-01 8.14975374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.015336195 meters 0.034873924237611424 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.01, Z:0.08 [[ 9.98886204e-01 -4.05590815e-02 -2.41104087e-02 1.99894669e+01] [ 4.05688710e-02 9.99176741e-01 -8.31733224e-05 -1.49250879e-02] [ 2.40939330e-02 -8.95051374e-04 9.99709298e-01 8.17280497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045336195 meters 0.03924179958245142 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.02, Z:0.08 [[ 9.98816360e-01 -4.21288969e-02 -2.43112263e-02 2.00206229e+01] [ 4.21393558e-02 9.99111739e-01 -8.21632696e-05 -2.17188551e-02] [ 2.42930930e-02 -9.42393396e-04 9.99704435e-01 7.98727685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.075336195000002 meters 0.038392366471561266 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.03, Z:0.08 [[ 9.98715509e-01 -4.35644622e-02 -2.58741129e-02 2.00520762e+01] [ 4.35768154e-02 9.99050076e-01 -8.64907240e-05 -2.66047996e-02] [ 2.58533024e-02 -1.04113181e-03 9.99665205e-01 7.70580435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105336195 meters 0.0428799305377826 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.04, Z:0.07 [[ 9.98717089e-01 -4.32529105e-02 -2.63317693e-02 2.00838624e+01] [ 4.32656548e-02 9.99063599e-01 -8.58136709e-05 -3.65547819e-02] [ 2.63108239e-02 -1.05355766e-03 9.99653255e-01 7.20308402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.135336195 meters 0.039891937717445036 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.03, Z:0.08 [[ 9.98872097e-01 -4.04884512e-02 -2.48036076e-02 2.01149881e+01] [ 4.04989298e-02 9.99179579e-01 -7.99344519e-05 -3.45830514e-02] [ 2.47864947e-02 -9.24675272e-04 9.99692340e-01 7.61688648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.165336195000002 meters 0.03333158275259375 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.02, Z:0.08 [[ 9.98997416e-01 -3.70074076e-02 -2.51915550e-02 2.01459879e+01] [ 3.70171185e-02 9.99314628e-01 -8.09025374e-05 -2.42900752e-02] [ 2.51772834e-02 -8.51697350e-04 9.99682639e-01 8.13008491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.195336195 meters 0.032349620267399515 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.02, Z:0.08 [[ 9.99087127e-01 -3.48431806e-02 -2.47156809e-02 2.01760705e+01] [ 3.48518733e-02 9.99392486e-01 -7.90957593e-05 -2.21808377e-02] [ 2.47034217e-02 -7.82364225e-04 9.99694518e-01 8.24054220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225336195 meters 0.02554223501753041 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.01, Z:0.09 [[ 9.99360399e-01 -2.88404350e-02 -2.11429216e-02 2.02069544e+01] [ 2.88454553e-02 9.99583881e-01 -6.75527789e-05 -1.24229906e-02] [ 2.11360719e-02 -5.42367629e-04 9.99776461e-01 8.86309779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.255336195 meters 0.02536048349703891 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.02, Z:0.08 [[ 9.99461914e-01 -2.51472475e-02 -2.10594098e-02 2.02370657e+01] [ 2.51514126e-02 9.99683651e-01 -6.71029786e-05 -1.56463254e-02] [ 2.10544351e-02 -4.62607034e-04 9.99778224e-01 8.33218663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285336195 meters 0.02170614002068805 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.01, Z:0.08 [[ 9.99506203e-01 -2.11926799e-02 -2.31995684e-02 2.02680330e+01] [ 2.11966765e-02 9.99775323e-01 -7.36529030e-05 -1.28462333e-02] [ 2.31959169e-02 -4.18137214e-04 9.99730851e-01 7.84507758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.315336195 meters 0.016660968638743882 Centerline is valid? [True, True] Translation: X:20.30, Y:0.00, Z:0.07 [[ 9.99578599e-01 -1.19483446e-02 -2.64548776e-02 2.02973328e+01] [ 1.19502961e-02 9.99928589e-01 -8.43361902e-05 7.42811964e-04] [ 2.64539961e-02 -2.31842969e-04 9.99650005e-01 7.37880649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345336195 meters 0.015805513642248862 Centerline is valid? [True, True] Translation: X:20.33, Y:0.01, Z:0.07 [[ 9.99623077e-01 -8.13830567e-03 -2.62196674e-02 2.03253329e+01] [ 8.13887968e-03 9.99966875e-01 -8.48270731e-05 9.00594543e-03] [ 2.62194893e-02 -1.28603619e-04 9.99656202e-01 7.49047828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.375336195000003 meters 0.0159231489172664 Centerline is valid? [True, True] Translation: X:20.35, Y:0.02, Z:0.08 [[ 9.99637220e-01 -2.70192300e-03 -2.67978948e-02 2.03530900e+01] [ 2.70046217e-03 9.99996350e-01 -9.07029237e-05 2.11189909e-02] [ 2.67980421e-02 1.83033174e-05 9.99640868e-01 7.65552971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405336195 meters 0.016905732600319832 Centerline is valid? [True, True] Translation: X:20.38, Y:0.02, Z:0.07 [[ 9.99599133e-01 5.45721796e-05 -2.83120200e-02 2.03813165e+01] [-5.73993173e-05 9.99999993e-01 -9.90437463e-05 2.33465222e-02] [ 2.83120144e-02 1.00629134e-04 9.99599130e-01 7.20825940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.435336195 meters 0.01742938607126646 Centerline is valid? [True, True] Translation: X:20.41, Y:0.03, Z:0.07 [[ 9.99596691e-01 8.78018341e-04 -2.83845941e-02 2.04093793e+01] [-8.81244531e-04 9.99999607e-01 -1.01150693e-04 2.56327707e-02] [ 2.83844941e-02 1.26123666e-04 9.99597071e-01 7.05850163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465336195000003 meters 0.01789384616906709 Centerline is valid? [True, True] Translation: X:20.44, Y:0.03, Z:0.07 [[ 9.99602263e-01 1.08271274e-03 -2.81805529e-02 2.04364319e+01] [-1.08606063e-03 9.99999405e-01 -1.03495630e-04 3.21895892e-02] [ 2.81804240e-02 1.34060255e-04 9.99602844e-01 7.12120892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.495336195 meters 0.016853295686320307 Centerline is valid? [True, True] Translation: X:20.47, Y:0.03, Z:0.07 [[ 9.99640450e-01 1.54722685e-04 -2.68131737e-02 2.04650320e+01] [-1.57527370e-04 9.99999982e-01 -1.02488757e-04 3.12241504e-02] [ 2.68131574e-02 1.06675716e-04 9.99640457e-01 7.30911595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.525336195 meters 0.01596905309012713 Centerline is valid? [True, True] Translation: X:20.49, Y:0.03, Z:0.07 [[ 9.99655721e-01 -1.76097601e-03 -2.61789513e-02 2.04940981e+01] [ 1.75885009e-03 9.99998448e-01 -1.04233581e-04 2.79220878e-02] [ 2.61790943e-02 5.81528450e-05 9.99657267e-01 7.26154984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.555336195000002 meters 0.016209286170957217 Centerline is valid? [True, True] Translation: X:20.52, Y:0.03, Z:0.07 [[ 9.99578318e-01 -5.85443280e-03 -2.84413919e-02 2.05231210e+01] [ 5.85344746e-03 9.99982861e-01 -1.17902021e-04 2.82411819e-02] [ 2.84415947e-02 -4.86278893e-05 9.99595455e-01 7.20398633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585336195 meters 0.016588126634161322 Centerline is valid? [True, True] Translation: X:20.55, Y:0.03, Z:0.07 [[ 9.99542153e-01 -9.26623310e-03 -2.88031416e-02 2.05518616e+01] [ 9.26650560e-03 9.99957057e-01 -1.24021705e-04 2.57837395e-02] [ 2.88030539e-02 -1.42939551e-04 9.99585096e-01 7.16000928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.615336195 meters 0.016883052930521517 Centerline is valid? [True, True] Translation: X:20.58, Y:0.02, Z:0.07 [[ 9.99506101e-01 -1.22254922e-02 -2.89498236e-02 2.05807312e+01] [ 1.22268741e-02 9.99925241e-01 -1.29293017e-04 2.35354634e-02] [ 2.89492400e-02 -2.24736689e-04 9.99580858e-01 7.19188260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645336195000002 meters 0.020017934919163604 Centerline is valid? [True, True] Translation: X:20.61, Y:0.02, Z:0.07 [[ 9.99413720e-01 -1.76276055e-02 -2.93510557e-02 2.06094174e+01] [ 1.76312912e-02 9.99844548e-01 -1.33244504e-04 1.59543224e-02] [ 2.93488418e-02 -3.84330625e-04 9.99569156e-01 7.08125305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.675336195 meters 0.02110887522582143 Centerline is valid? [True, True] Translation: X:20.64, Y:0.01, Z:0.07 [[ 9.99348602e-01 -2.01666048e-02 -2.99279054e-02 2.06382547e+01] [ 2.01714544e-02 9.99796526e-01 -1.39893558e-04 1.21943094e-02] [ 2.99246370e-02 -4.63886947e-04 9.99552050e-01 7.19450877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705336195 meters 0.02303056198889144 Centerline is valid? [True, True] Translation: X:20.67, Y:0.01, Z:0.08 [[ 9.99297810e-01 -2.43640533e-02 -2.84654169e-02 2.06661505e+01] [ 2.43700758e-02 9.99702996e-01 -1.35380304e-04 7.48407212e-03] [ 2.84602610e-02 -5.58419127e-04 9.99594769e-01 7.57101650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.735336195000002 meters 0.02489011703894389 Centerline is valid? [True, True] Translation: X:20.69, Y:0.01, Z:0.08 [[ 9.99275220e-01 -2.61445950e-02 -2.76675902e-02 2.06943113e+01] [ 2.61509054e-02 9.99657998e-01 -1.33793495e-04 5.16718669e-03] [ 2.76616258e-02 -5.89836010e-04 9.99617170e-01 7.72323410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765336195 meters 0.025364435460278223 Centerline is valid? [True, True] Translation: X:20.72, Y:0.00, Z:0.07 [[ 9.99203347e-01 -2.70566507e-02 -2.93361519e-02 2.07232812e+01] [ 2.70640163e-02 9.99633692e-01 -1.46030202e-04 1.38031810e-04] [ 2.93293569e-02 -6.48040224e-04 9.99569592e-01 7.30708081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.795336195 meters 0.0216148755321459 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.00, Z:0.07 [[ 9.99355412e-01 -2.32157816e-02 -2.73822631e-02 2.07529714e+01] [ 2.32207158e-02 9.99730353e-01 -1.37811769e-04 -9.26892523e-04] [ 2.73780790e-02 -4.98112813e-04 9.99625026e-01 7.31206353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825336195000002 meters 0.01993786033456917 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.00, Z:0.07 [[ 9.99430131e-01 -2.03071880e-02 -2.69635056e-02 2.07807118e+01] [ 2.03108791e-02 9.99793703e-01 -1.37002066e-04 -3.29310877e-04] [ 2.69607253e-02 -4.10728511e-04 9.99636409e-01 7.28055093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.855336195 meters 0.018462735830385695 Centerline is valid? [True, True] Translation: X:20.81, Y:0.01, Z:0.07 [[ 9.99425572e-01 -1.49346980e-02 -3.04217258e-02 2.08086271e+01] [ 1.49367829e-02 9.99888427e-01 -1.58729794e-04 5.90337080e-03] [ 3.04207022e-02 -2.95764100e-04 9.99537140e-01 6.82027882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885336195 meters 0.017834682452983416 Centerline is valid? [True, True] Translation: X:20.84, Y:0.01, Z:0.07 [[ 9.99429446e-01 -1.34116066e-02 -3.09985643e-02 2.08362041e+01] [ 1.34128676e-02 9.99910029e-01 -1.67269671e-04 1.09888214e-02] [ 3.09980187e-02 -2.48605404e-04 9.99519415e-01 7.15252894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.915336195000002 meters 0.0165747830741966 Centerline is valid? [True, True] Translation: X:20.86, Y:0.02, Z:0.08 [[ 9.99520990e-01 -1.13953117e-02 -2.87738933e-02 2.08646626e+01] [ 1.13954995e-02 9.99935057e-01 -1.57459161e-04 1.88207799e-02] [ 2.87738189e-02 -1.70509149e-04 9.99585933e-01 8.03410881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945336195 meters 0.016387033634053912 Centerline is valid? [True, True] Translation: X:20.89, Y:0.02, Z:0.08 [[ 9.99553548e-01 -1.10447039e-02 -2.77618467e-02 2.08936980e+01] [ 1.10446424e-02 9.99938994e-01 -1.55559273e-04 1.80922891e-02] [ 2.77618711e-02 -1.51129847e-04 9.99614554e-01 8.13003347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.975336195 meters 0.01542218313599035 Centerline is valid? [True, True] Translation: X:20.92, Y:0.01, Z:0.08 [[ 9.99595686e-01 -1.03942314e-02 -2.64655525e-02 2.09226518e+01] [ 1.03938362e-02 9.99945971e-01 -1.52497879e-04 6.55788940e-03] [ 2.64657077e-02 -1.22642396e-04 9.99649714e-01 7.64813873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005336195 meters 0.015278178405753635 Centerline is valid? [True, True] Translation: X:20.95, Y:0.00, Z:0.08 [[ 9.99597268e-01 -1.00967110e-02 -2.65208843e-02 2.09504545e+01] [ 1.00960842e-02 9.99949021e-01 -1.57538656e-04 4.93367660e-03] [ 2.65211229e-02 -1.10281871e-04 9.99648247e-01 7.70452928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.035336195 meters 0.015947108496051847 Centerline is valid? [True, True] Translation: X:20.98, Y:0.01, Z:0.08 [[ 9.99590574e-01 -8.73659540e-03 -2.72462323e-02 2.09779380e+01] [ 8.73530403e-03 9.99961833e-01 -1.66422199e-04 9.88578576e-03] [ 2.72466463e-02 -7.16500613e-05 9.99628739e-01 7.81446320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065336195 meters 0.01596399774065304 Centerline is valid? [True, True] Translation: X:21.01, Y:0.01, Z:0.08 [[ 9.99595086e-01 -8.09336553e-03 -2.72793078e-02 2.10062302e+01] [ 8.09170065e-03 9.99967247e-01 -1.71420663e-04 1.18290867e-02] [ 2.72798017e-02 -4.93847404e-05 9.99627836e-01 7.85427189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.095336195 meters 0.016024060169229096 Centerline is valid? [True, True] Translation: X:21.03, Y:0.01, Z:0.08 [[ 9.99591723e-01 -5.76623135e-03 -2.79846147e-02 2.10348964e+01] [ 5.76343450e-03 9.99983375e-01 -1.80601586e-04 1.27611396e-02] [ 2.79851908e-02 1.92403573e-05 9.99608338e-01 7.85402986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125336195 meters 0.01703078602292083 Centerline is valid? [True, True] Translation: X:21.06, Y:0.01, Z:0.08 [[ 9.99592559e-01 -5.18193171e-03 -2.80689079e-02 2.10621986e+01] [ 5.17877929e-03 9.99986573e-01 -1.85005339e-04 1.27160222e-02] [ 2.80694897e-02 3.95672816e-05 9.99605973e-01 7.56375126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.155336195 meters 0.017451720965321455 Centerline is valid? [True, True] Translation: X:21.09, Y:0.01, Z:0.07 [[ 9.99556362e-01 -5.34931932e-03 -2.92995414e-02 2.10907246e+01] [ 5.34582634e-03 9.99985691e-01 -1.97547311e-04 8.52473132e-03] [ 2.93001789e-02 4.08294107e-05 9.99570657e-01 7.30383640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185336195 meters 0.018926898385679347 Centerline is valid? [True, True] Translation: X:21.12, Y:0.00, Z:0.07 [[ 9.99501324e-01 -6.67578064e-03 -3.08632099e-02 2.11185197e+01] [ 6.67245991e-03 9.99977717e-01 -2.10586533e-04 3.86618214e-03] [ 3.08639280e-02 4.54798786e-06 9.99523595e-01 6.76860766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.215336195000003 meters 0.01761823399971766 Centerline is valid? [True, True] Translation: X:21.15, Y:0.00, Z:0.07 [[ 9.99500958e-01 -6.64412074e-03 -3.08818761e-02 2.11466767e+01] [ 6.64063479e-03 9.99977928e-01 -2.15441997e-04 4.88293013e-03] [ 3.08826259e-02 1.02592212e-05 9.99523018e-01 7.31188275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245336195 meters 0.017049738187511102 Centerline is valid? [True, True] Translation: X:21.18, Y:0.00, Z:0.07 [[ 9.99527755e-01 -6.73385872e-03 -2.99820219e-02 2.11758446e+01] [ 6.73047402e-03 9.99977327e-01 -2.13810174e-04 4.74355309e-03] [ 2.99827819e-02 1.19159846e-05 9.99550415e-01 7.40307067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.275336195 meters 0.015839245377566584 Centerline is valid? [True, True] Translation: X:21.21, Y:0.00, Z:0.08 [[ 9.99569166e-01 -7.27355085e-03 -2.84354939e-02 2.12050318e+01] [ 7.27064357e-03 9.99973547e-01 -2.05634211e-04 2.47861168e-03] [ 2.84362374e-02 -1.19872430e-06 9.99595608e-01 7.77587946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305336195000002 meters 0.01618639046415479 Centerline is valid? [True, True] Translation: X:21.23, Y:0.00, Z:0.08 [[ 9.99602910e-01 -6.78305749e-03 -2.73498254e-02 2.12328687e+01] [ 6.78013538e-03 9.99976995e-01 -1.99577017e-04 3.50171792e-03] [ 2.73505500e-02 1.40622478e-05 9.99625904e-01 7.67549037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.335336195 meters 0.016493328058630016 Centerline is valid? [True, True] Translation: X:21.26, Y:0.01, Z:0.08 [[ 9.99602096e-01 -5.83746121e-03 -2.75966351e-02 2.12611850e+01] [ 5.83402272e-03 9.99982961e-01 -2.05112074e-04 1.08532729e-02] [ 2.75973622e-02 4.40310630e-05 9.99619119e-01 7.91017139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365336195 meters 0.017075136729341852 Centerline is valid? [True, True] Translation: X:21.29, Y:0.01, Z:0.08 [[ 9.99590725e-01 -4.96501280e-03 -2.81732504e-02 2.12892073e+01] [ 4.96101560e-03 9.99987672e-01 -2.11775553e-04 1.37056515e-02] [ 2.81739545e-02 7.19209442e-05 9.99603033e-01 7.65743983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.395336195000002 meters 0.017468592301026133 Centerline is valid? [True, True] Translation: X:21.32, Y:0.01, Z:0.07 [[ 9.99557102e-01 -4.69295522e-03 -2.93866580e-02 2.13179467e+01] [ 4.68837243e-03 9.99988984e-01 -2.24848879e-04 1.11819237e-02] [ 2.93873895e-02 8.69736968e-05 9.99568094e-01 7.06011668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425336195 meters 0.016208449998050125 Centerline is valid? [True, True] Translation: X:21.35, Y:0.01, Z:0.08 [[ 9.99535479e-01 -6.82762050e-03 -2.97020020e-02 2.13457274e+01] [ 6.82372062e-03 9.99976691e-01 -2.32660760e-04 1.21032469e-02] [ 2.97028982e-02 2.98745208e-05 9.99558771e-01 7.53799715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.455336195 meters 0.016829859856418983 Centerline is valid? [True, True] Translation: X:21.37, Y:0.01, Z:0.07 [[ 9.99493644e-01 -9.20449380e-03 -3.04586972e-02 2.13732636e+01] [ 9.20141258e-03 9.99957637e-01 -2.41326158e-04 1.26847953e-02] [ 3.04596281e-02 -3.90590779e-05 9.99535997e-01 7.43910015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485336195000002 meters 0.017263460937244304 Centerline is valid? [True, True] Translation: X:21.40, Y:0.01, Z:0.07 [[ 9.99436522e-01 -1.26343914e-02 -3.10967833e-02 2.14013973e+01] [ 1.26327840e-02 9.99920172e-01 -2.48167183e-04 1.22769705e-02] [ 3.10974363e-02 -1.44811598e-04 9.99516347e-01 7.44409821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.515336195 meters 0.016767966030222764 Centerline is valid? [True, True] Translation: X:21.43, Y:0.01, Z:0.08 [[ 9.99446964e-01 -1.39756107e-02 -3.01736330e-02 2.14306385e+01] [ 1.39746357e-02 9.99902320e-01 -2.43202930e-04 1.18171570e-02] [ 3.01740846e-02 -1.78597099e-04 9.99544643e-01 7.65326034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545336195 meters 0.016213605226861248 Centerline is valid? [True, True] Translation: X:21.46, Y:0.01, Z:0.08 [[ 9.99490134e-01 -1.53508356e-02 -2.79968451e-02 2.14593577e+01] [ 1.53504255e-02 9.99882149e-01 -2.29587246e-04 1.04663133e-02] [ 2.79970700e-02 -2.00293297e-04 9.99607985e-01 7.81075785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.575336195000002 meters 0.016184401290921423 Centerline is valid? [True, True] Translation: X:21.49, Y:0.01, Z:0.08 [[ 9.99497360e-01 -1.56608979e-02 -2.75638198e-02 2.14880685e+01] [ 1.56604973e-02 9.99877340e-01 -2.30420873e-04 1.00835649e-02] [ 2.75640474e-02 -2.01358070e-04 9.99620019e-01 7.70098356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605336195 meters 0.015988383634028953 Centerline is valid? [True, True] Translation: X:21.52, Y:0.02, Z:0.08 [[ 9.99539214e-01 -1.43965867e-02 -2.67226099e-02 2.15156401e+01] [ 1.43956992e-02 9.99896351e-01 -2.25599422e-04 1.71837463e-02] [ 2.67230880e-02 -1.59195186e-04 9.99642862e-01 7.91050870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.635336195 meters 0.015675381296488104 Centerline is valid? [True, True] Translation: X:21.54, Y:0.03, Z:0.08 [[ 9.99570715e-01 -1.13890049e-02 -2.69940112e-02 2.15440523e+01] [ 1.13869067e-02 9.99935140e-01 -2.31451789e-04 3.41627740e-02] [ 2.69948964e-02 -7.60258557e-05 9.99635568e-01 8.40865966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665336195000002 meters 0.015999814258400996 Centerline is valid? [True, True] Translation: X:21.57, Y:0.04, Z:0.08 [[ 9.99563593e-01 -1.04322825e-02 -2.76367779e-02 2.15730900e+01] [ 1.04295960e-02 9.99945581e-01 -2.41358712e-04 3.95146497e-02] [ 2.76377918e-02 -4.69870461e-05 9.99618002e-01 8.34416279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.695336195 meters 0.016212340714424074 Centerline is valid? [True, True] Translation: X:21.60, Y:0.04, Z:0.08 [[ 9.99536076e-01 -9.83632567e-03 -2.88249901e-02 2.16013517e+01] [ 9.83306860e-03 9.99951622e-01 -2.54744560e-04 4.09811235e-02] [ 2.88261013e-02 -2.88117264e-05 9.99584441e-01 7.98040019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725336195 meters 0.018015986126131266 Centerline is valid? [True, True] Translation: X:21.63, Y:0.04, Z:0.07 [[ 9.99488262e-01 -1.12878318e-02 -2.99298881e-02 2.16290867e+01] [ 1.12849135e-02 9.99936288e-01 -2.66420913e-04 3.93595044e-02] [ 2.99309886e-02 -7.14716247e-05 9.99551965e-01 7.14108162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.755336195 meters 0.01586185326931467 Centerline is valid? [True, True] Translation: X:21.66, Y:0.04, Z:0.08 [[ 9.99464109e-01 -1.33778147e-02 -2.98752145e-02 2.16567033e+01] [ 1.33756989e-02 9.99910505e-01 -2.70673988e-04 4.22010469e-02] [ 2.98761618e-02 -1.29072937e-04 9.99553600e-01 8.04193694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785336195 meters 0.01693420229872014 Centerline is valid? [True, True] Translation: X:21.68, Y:0.05, Z:0.09 [[ 9.99448621e-01 -1.86109973e-02 -2.74970076e-02 2.16840622e+01] [ 1.86111173e-02 9.99826767e-01 -2.51578213e-04 4.63175129e-02] [ 2.74969264e-02 -2.60310538e-04 9.99621854e-01 8.64131270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.815336195 meters 0.01694557653013555 Centerline is valid? [True, True] Translation: X:21.71, Y:0.05, Z:0.09 [[ 9.99406565e-01 -2.19813853e-02 -2.65205033e-02 2.17129011e+01] [ 2.19825869e-02 9.99758323e-01 -2.46271416e-04 4.77143505e-02] [ 2.65195073e-02 -3.36863999e-04 9.99648239e-01 9.06958026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845336195 meters 0.02352099801873487 Centerline is valid? [True, True] Translation: X:21.74, Y:0.03, Z:0.08 [[ 9.99275762e-01 -2.80350600e-02 -2.57290900e-02 2.17418984e+01] [ 2.80381501e-02 9.99606825e-01 -2.40717507e-04 3.31839176e-02] [ 2.57257225e-02 -4.80852918e-04 9.99668923e-01 8.08641992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.875336195 meters 0.02352099801873487 Centerline is valid? [True, True] Translation: X:21.77, Y:0.03, Z:0.08 [[ 9.99275159e-01 -2.80565561e-02 -2.57290839e-02 2.17710554e+01] [ 2.80596366e-02 9.99606222e-01 -2.41367964e-04 3.34970487e-02] [ 2.57257243e-02 -4.80755734e-04 9.99668923e-01 8.10707705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905336195 meters 0.023995346344335887 Centerline is valid? [True, True] Translation: X:21.80, Y:0.03, Z:0.08 [[ 9.99159234e-01 -3.10123308e-02 -2.68152910e-02 2.18009740e+01] [ 3.10167307e-02 9.99518834e-01 -2.51938588e-04 2.68515162e-02] [ 2.68102016e-02 -5.79995893e-04 9.99640374e-01 7.69961871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.935336195 meters 0.027720992942249067 Centerline is valid? [True, True] Translation: X:21.83, Y:0.02, Z:0.07 [[ 9.98900618e-01 -3.55099715e-02 -3.06038919e-02 2.18319571e+01] [ 3.55178059e-02 9.99369002e-01 -2.87757157e-04 1.65180217e-02] [ 3.05947992e-02 -7.99542292e-04 9.99531550e-01 7.05785407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965336195000003 meters 0.029694097678150237 Centerline is valid? [True, True] Translation: X:21.86, Y:0.02, Z:0.07 [[ 9.98791666e-01 -3.68970118e-02 -3.24625748e-02 2.18612372e+01] [ 3.69065491e-02 9.99318675e-01 -3.05561102e-04 1.71697915e-02] [ 3.24517315e-02 -8.92889727e-04 9.99472905e-01 7.13976492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.995336195 meters 0.03498574678995035 Centerline is valid? [True, True] Translation: X:21.89, Y:0.02, Z:0.07 [[ 9.98651543e-01 -3.73907398e-02 -3.60142649e-02 2.18907547e+01] [ 3.74027833e-02 9.99300213e-01 -3.39503082e-04 2.16954886e-02] [ 3.60017568e-02 -1.00798847e-03 9.99351218e-01 7.28707003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025336195 meters 0.030409657210466637 Centerline is valid? [True, True] Translation: X:21.92, Y:0.03, Z:0.07 [[ 9.98653310e-01 -3.56218471e-02 -3.77180438e-02 2.19190214e+01] [ 3.56336145e-02 9.99364856e-01 -3.60438558e-04 2.52789241e-02] [ 3.77069269e-02 -9.84077075e-04 9.99288356e-01 7.18314510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.055336195000002 meters 0.025743922342790476 Centerline is valid? [True, True] Translation: X:21.95, Y:0.03, Z:0.08 [[ 9.98852642e-01 -3.24246839e-02 -3.52425658e-02 2.19489472e+01] [ 3.24329264e-02 9.99473857e-01 -3.37935203e-04 2.65858403e-02] [ 3.52349806e-02 -8.05472073e-04 9.99378731e-01 7.55895341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085336195 meters 0.025059570421801892 Centerline is valid? [True, True] Translation: X:21.98, Y:0.02, Z:0.07 [[ 9.98968709e-01 -3.05398535e-02 -3.35981594e-02 2.19781346e+01] [ 3.05462487e-02 9.99533302e-01 -3.23052109e-04 2.34413552e-02] [ 3.35923451e-02 -7.03578785e-04 9.99435370e-01 7.47176150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.115336195 meters 0.023136983098296954 Centerline is valid? [True, True] Translation: X:22.01, Y:0.02, Z:0.08 [[ 9.99086583e-01 -2.82877139e-02 -3.20281918e-02 2.20076894e+01] [ 2.82923431e-02 9.99599644e-01 -3.08739416e-04 2.30634276e-02] [ 3.20241026e-02 -5.97695182e-04 9.99486918e-01 7.61599681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145336195000002 meters 0.018761191556049262 Centerline is valid? [True, True] Translation: X:22.04, Y:0.03, Z:0.08 [[ 9.99275688e-01 -2.41540143e-02 -2.94055048e-02 2.20372942e+01] [ 2.41561068e-02 9.99708158e-01 -2.84128110e-04 2.73017698e-02] [ 2.94037858e-02 -4.26400201e-04 9.99567524e-01 8.31275365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.175336195 meters 0.017749205836047565 Centerline is valid? [True, True] Translation: X:22.06, Y:0.04, Z:0.09 [[ 9.99380427e-01 -1.98969086e-02 -2.90323060e-02 2.20648957e+01] [ 1.98971177e-02 9.99801993e-01 -2.81715576e-04 3.50466433e-02] [ 2.90321627e-02 -2.96118178e-04 9.99578434e-01 8.61565419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205336195 meters 0.0170876473179982 Centerline is valid? [True, True] Translation: X:22.09, Y:0.04, Z:0.09 [[ 9.99413896e-01 -1.73545365e-02 -2.95073755e-02 2.20922972e+01] [ 1.73535971e-02 9.99849374e-01 -2.87939771e-04 4.21718682e-02] [ 2.95079280e-02 -2.24288097e-04 9.99564521e-01 8.81320196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.235336195000002 meters 0.01653465579758708 Centerline is valid? [True, True] Translation: X:22.12, Y:0.05, Z:0.09 [[ 9.99443536e-01 -1.42593128e-02 -3.01544276e-02 2.21199793e+01] [ 1.42567847e-02 9.99898322e-01 -2.98848874e-04 4.79278118e-02] [ 3.01556229e-02 -1.31222607e-04 9.99545207e-01 8.78235442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265336195 meters 0.016813453768524566 Centerline is valid? [True, True] Translation: X:22.15, Y:0.05, Z:0.08 [[ 9.99506804e-01 -7.91170208e-03 -3.03900351e-02 2.21478284e+01] [ 7.90603102e-03 9.99968700e-01 -3.06766396e-04 5.02608464e-02] [ 3.03915109e-02 6.63505396e-05 9.99538069e-01 8.18792277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.295336195 meters 0.017512370408830854 Centerline is valid? [True, True] Translation: X:22.18, Y:0.05, Z:0.08 [[ 9.99526325e-01 -6.36167644e-03 -3.01107007e-02 2.21758901e+01] [ 6.35523957e-03 9.99979757e-01 -3.09471476e-04 4.92016303e-02] [ 3.01120600e-02 1.17964170e-04 9.99546522e-01 8.00282992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325336195000002 meters 0.01665040257644492 Centerline is valid? [True, True] Translation: X:22.20, Y:0.05, Z:0.09 [[ 9.99578242e-01 -5.01957872e-03 -2.86031663e-02 2.22047629e+01] [ 5.01308310e-03 9.99987390e-01 -2.98800113e-04 5.30054422e-02] [ 2.86043054e-02 1.55284042e-04 9.99590801e-01 8.79365927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.355336195 meters 0.017254373829868906 Centerline is valid? [True, True] Translation: X:22.23, Y:0.06, Z:0.09 [[ 9.99594908e-01 -5.61803033e-03 -2.79008558e-02 2.22323545e+01] [ 5.61201650e-03 9.99984209e-01 -2.93843834e-04 5.88318756e-02] [ 2.79020661e-02 1.37144736e-04 9.99610652e-01 9.03553975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385336195 meters 0.015969786354262334 Centerline is valid? [True, True] Translation: X:22.26, Y:0.06, Z:0.09 [[ 9.99568912e-01 -8.48539544e-03 -2.81067358e-02 2.22607078e+01] [ 8.48031259e-03 9.99963996e-01 -3.00038776e-04 5.90261117e-02] [ 2.81082698e-02 6.15555272e-05 9.99604883e-01 9.10121921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.415336195000002 meters 0.016009972565954225 Centerline is valid? [True, True] Translation: X:22.29, Y:0.06, Z:0.09 [[ 9.99549585e-01 -1.01896073e-02 -2.82276157e-02 2.22875938e+01] [ 1.01850783e-02 9.99948084e-01 -3.04225167e-04 5.50349967e-02] [ 2.82292502e-02 1.65876645e-05 9.99601475e-01 8.75309726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445336195 meters 0.015115241598251061 Centerline is valid? [True, True] Translation: X:22.32, Y:0.05, Z:0.09 [[ 9.99480257e-01 -1.43526169e-02 -2.88655269e-02 2.23163078e+01] [ 1.43494959e-02 9.99896991e-01 -3.15275569e-04 4.58271907e-02] [ 2.88670785e-02 -9.90940544e-05 9.99583254e-01 8.50362456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.475336195 meters 0.016368174294307643 Centerline is valid? [True, True] Translation: X:22.34, Y:0.04, Z:0.08 [[ 9.99452343e-01 -1.66014426e-02 -2.86252626e-02 2.23437261e+01] [ 1.65992262e-02 9.99862174e-01 -3.15068954e-04 4.09240328e-02] [ 2.86265479e-02 -1.60260804e-04 9.99590164e-01 8.08802611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505336195 meters 0.0164231569509731 Centerline is valid? [True, True] Translation: X:22.37, Y:0.04, Z:0.09 [[ 9.99401314e-01 -2.02550169e-02 -2.80490110e-02 2.23720642e+01] [ 2.02542823e-02 9.99794813e-01 -3.10331033e-04 3.68406420e-02] [ 2.80495415e-02 -2.57967345e-04 9.99606501e-01 8.60909421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.535336195 meters 0.017569710171185773 Centerline is valid? [True, True] Translation: X:22.40, Y:0.03, Z:0.09 [[ 9.99378218e-01 -2.19714155e-02 -2.75759754e-02 2.23997253e+01] [ 2.19713156e-02 9.99758554e-01 -3.06658831e-04 3.39973530e-02] [ 2.75760550e-02 -2.99412303e-04 9.99619663e-01 8.65662605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565336195 meters 0.018625773639750903 Centerline is valid? [True, True] Translation: X:22.43, Y:0.03, Z:0.09 [[ 9.99235187e-01 -2.51639592e-02 -2.99301973e-02 2.24289099e+01] [ 2.51652364e-02 9.99683249e-01 -3.34071886e-04 3.11072148e-02] [ 2.99291235e-02 -4.19384108e-04 9.99551935e-01 8.90560006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.595336195 meters 0.02032383869799546 Centerline is valid? [True, True] Translation: X:22.46, Y:0.03, Z:0.09 [[ 9.99194006e-01 -2.60110523e-02 -3.05738968e-02 2.24564052e+01] [ 2.60127324e-02 9.99661553e-01 -3.42861038e-04 2.95658168e-02] [ 3.05724673e-02 -4.52725901e-04 9.99532450e-01 8.62759252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625336195 meters 0.020873436447625977 Centerline is valid? [True, True] Translation: X:22.49, Y:0.03, Z:0.09 [[ 9.99117730e-01 -2.83383146e-02 -3.09951915e-02 2.24853500e+01] [ 2.83410282e-02 9.99598250e-01 -3.51861182e-04 2.62496865e-02] [ 3.09927103e-02 -5.26884849e-04 9.99519472e-01 8.57978885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.655336195 meters 0.024780204853543014 Centerline is valid? [True, True] Translation: X:22.51, Y:0.02, Z:0.08 [[ 9.99063487e-01 -2.95575038e-02 -3.15990953e-02 2.25126267e+01] [ 2.95608435e-02 9.99562917e-01 -3.61570881e-04 2.20959746e-02] [ 3.15959710e-02 -5.72863647e-04 9.99500558e-01 8.40105131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685336195 meters 0.021430779063105865 Centerline is valid? [True, True] Translation: X:22.54, Y:0.02, Z:0.08 [[ 9.99110346e-01 -2.80981033e-02 -3.14485638e-02 2.25404721e+01] [ 2.81006090e-02 9.99605034e-01 -3.62378324e-04 2.21446901e-02] [ 3.14463248e-02 -5.21667864e-04 9.99505306e-01 8.47436601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.715336195000003 meters 0.019312027143748908 Centerline is valid? [True, True] Translation: X:22.57, Y:0.03, Z:0.09 [[ 9.99157919e-01 -2.71579772e-02 -3.07554436e-02 2.25692915e+01] [ 2.71597913e-02 9.99631040e-01 -3.58845198e-04 2.54976428e-02] [ 3.07538416e-02 -4.76768409e-04 9.99526875e-01 8.90005091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745336195 meters 0.01843613823357422 Centerline is valid? [True, True] Translation: X:22.60, Y:0.03, Z:0.09 [[ 9.99278248e-01 -2.40248120e-02 -2.94243290e-02 2.25975821e+01] [ 2.40250514e-02 9.99711297e-01 -3.45453447e-04 2.83240436e-02] [ 2.94241335e-02 -3.61716900e-04 9.99566951e-01 8.90216366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.775336195 meters 0.017460500225973185 Centerline is valid? [True, True] Translation: X:22.63, Y:0.03, Z:0.09 [[ 9.99362559e-01 -2.19428268e-02 -2.81600360e-02 2.26251328e+01] [ 2.19421613e-02 9.99759186e-01 -3.32677624e-04 3.06353232e-02] [ 2.81605546e-02 -2.85426492e-04 9.99603372e-01 8.94576928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805336195000002 meters 0.01524355696712138 Centerline is valid? [True, True] Translation: X:22.65, Y:0.03, Z:0.09 [[ 9.99468051e-01 -1.77064180e-02 -2.73879269e-02 2.26526132e+01] [ 1.77041512e-02 9.99843216e-01 -3.25269010e-04 3.28220941e-02] [ 2.73893923e-02 -1.59784016e-04 9.99624827e-01 8.75802256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.835336195 meters 0.01573377690386147 Centerline is valid? [True, True] Translation: X:22.68, Y:0.03, Z:0.09 [[ 9.99445792e-01 -1.74285678e-02 -2.83611476e-02 2.26810802e+01] [ 1.74259191e-02 9.99848099e-01 -3.40568070e-04 3.47717233e-02] [ 2.83627751e-02 -1.53839739e-04 9.99597684e-01 8.64857686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865336195 meters 0.01599979537444366 Centerline is valid? [True, True] Translation: X:22.71, Y:0.04, Z:0.09 [[ 9.99361460e-01 -1.68515147e-02 -3.15071118e-02 2.27101369e+01] [ 1.68478934e-02 9.99857992e-01 -3.80430403e-04 3.87880961e-02] [ 3.15090483e-02 -1.50640978e-04 9.99503455e-01 8.71228321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.895336195000002 meters 0.017808293789651698 Centerline is valid? [True, True] Translation: X:22.74, Y:0.04, Z:0.08 [[ 9.99351986e-01 -1.63485225e-02 -3.20676391e-02 2.27380205e+01] [ 1.63444341e-02 9.99866345e-01 -3.89636291e-04 4.05801914e-02] [ 3.20697231e-02 -1.34743615e-04 9.99485625e-01 8.27701279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925336195 meters 0.015751806279049332 Centerline is valid? [True, True] Translation: X:22.77, Y:0.04, Z:0.09 [[ 9.99407513e-01 -1.64499859e-02 -3.02327775e-02 2.27670053e+01] [ 1.64462681e-02 9.99864682e-01 -3.71649775e-04 4.19659168e-02] [ 3.02348001e-02 -1.25786788e-04 9.99542816e-01 9.05254331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.955336195 meters 0.016957472200389484 Centerline is valid? [True, True] Translation: X:22.79, Y:0.04, Z:0.09 [[ 9.99404669e-01 -1.77107681e-02 -2.96080306e-02 2.27949727e+01] [ 1.77076844e-02 9.99843140e-01 -3.66370521e-04 3.79665605e-02] [ 2.96098750e-02 -1.58137252e-04 9.99561519e-01 8.77064071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985336195000002 meters 0.016663287008103093 Centerline is valid? [True, True] Translation: X:22.82, Y:0.03, Z:0.08 [[ 9.99346213e-01 -2.03906728e-02 -2.98557723e-02 2.28241751e+01] [ 2.03886126e-02 9.99792061e-01 -3.73461730e-04 2.86699794e-02] [ 2.98571792e-02 -2.35500211e-04 9.99554147e-01 8.47953334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.015336195 meters 0.017530817559116455 Centerline is valid? [True, True] Translation: X:22.85, Y:0.03, Z:0.09 [[ 9.99308612e-01 -2.24595988e-02 -2.96287878e-02 2.28532487e+01] [ 2.24583400e-02 9.99747709e-01 -3.75305653e-04 2.63169781e-02] [ 2.96297420e-02 -2.90367220e-04 9.99560901e-01 8.59667178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045336195 meters 0.018545491864049843 Centerline is valid? [True, True] Translation: X:22.88, Y:0.03, Z:0.09 [[ 9.99267213e-01 -2.42590522e-02 -2.96063467e-02 2.28818752e+01] [ 2.42584468e-02 9.99705648e-01 -3.79681356e-04 2.81454062e-02] [ 2.96068427e-02 -3.38800857e-04 9.99561564e-01 8.90653682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.075336195000002 meters 0.01834422149999619 Centerline is valid? [True, True] Translation: X:22.91, Y:0.03, Z:0.09 [[ 9.99221485e-01 -2.53789245e-02 -3.02048740e-02 2.29100514e+01] [ 2.53787315e-02 9.99677832e-01 -3.89821682e-04 3.21936428e-02] [ 3.02050362e-02 -3.77043186e-04 9.99543653e-01 9.35796376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105336195 meters 0.01853980745645999 Centerline is valid? [True, True] Translation: X:22.94, Y:0.02, Z:0.09 [[ 9.99241789e-01 -2.47213105e-02 -3.00783001e-02 2.29379566e+01] [ 2.47207693e-02 9.99694319e-01 -3.89911758e-04 2.40517356e-02] [ 3.00787449e-02 -3.53942597e-04 9.99547470e-01 8.71652516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.135336195 meters 0.020005926183287528 Centerline is valid? [True, True] Translation: X:22.97, Y:0.02, Z:0.08 [[ 9.99238782e-01 -2.48835867e-02 -3.00443487e-02 2.29652242e+01] [ 2.48830537e-02 9.99690292e-01 -3.91680933e-04 2.03700681e-02] [ 3.00447901e-02 -3.56212362e-04 9.99548490e-01 8.41524604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165336195000002 meters 0.01930882152371766 Centerline is valid? [True, True] Translation: X:22.99, Y:0.02, Z:0.09 [[ 9.99181789e-01 -2.60734154e-02 -3.09181064e-02 2.29934064e+01] [ 2.60733409e-02 9.99659950e-01 -4.05643508e-04 2.31206122e-02] [ 3.09181692e-02 -4.00826722e-04 9.99521839e-01 8.89856367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.195336195 meters 0.019270482856303648 Centerline is valid? [True, True] Translation: X:23.02, Y:0.03, Z:0.09 [[ 9.99164994e-01 -2.66601220e-02 -3.09605048e-02 2.30216172e+01] [ 2.66602468e-02 9.99644469e-01 -4.08846299e-04 2.54578339e-02] [ 3.09603973e-02 -4.16909792e-04 9.99520525e-01 9.18491227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225336195 meters 0.018734708478584963 Centerline is valid? [True, True] Translation: X:23.05, Y:0.02, Z:0.10 [[ 9.99204435e-01 -2.73891286e-02 -2.89885040e-02 2.30505316e+01] [ 2.73894257e-02 9.99624764e-01 -3.86899398e-04 2.39329815e-02] [ 2.89882233e-02 -4.07386880e-04 9.99579670e-01 9.55575658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.255336195 meters 0.018862284453590505 Centerline is valid? [True, True] Translation: X:23.08, Y:0.02, Z:0.10 [[ 9.99221268e-01 -2.73849217e-02 -2.84063974e-02 2.30792144e+01] [ 2.73850763e-02 9.99624885e-01 -3.83663437e-04 2.23360396e-02] [ 2.84062484e-02 -3.94546695e-04 9.99596383e-01 9.51571623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285336195 meters 0.016884145549189742 Centerline is valid? [True, True] Translation: X:23.11, Y:0.02, Z:0.09 [[ 9.99269503e-01 -2.48179221e-02 -2.90608146e-02 2.31083025e+01] [ 2.48168603e-02 9.99691935e-01 -3.97267237e-04 2.29421508e-02] [ 2.90617213e-02 -3.24221140e-04 9.99577566e-01 9.33506549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.315336195 meters 0.016603150331089344 Centerline is valid? [True, True] Translation: X:23.14, Y:0.02, Z:0.09 [[ 9.99338603e-01 -2.33139616e-02 -2.79072631e-02 2.31363873e+01] [ 2.33122702e-02 9.99728158e-01 -3.86007459e-04 2.36269779e-02] [ 2.79086761e-02 -2.64829502e-04 9.99610442e-01 9.36240220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345336195 meters 0.01393725965574977 Centerline is valid? [True, True] Translation: X:23.17, Y:0.03, Z:0.10 [[ 9.99499348e-01 -1.84148199e-02 -2.57283315e-02 2.31653248e+01] [ 1.84116591e-02 9.99830426e-01 -3.59754431e-04 3.25057462e-02] [ 2.57305935e-02 -1.14126950e-04 9.99668907e-01 9.99011464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.375336195 meters 0.0143954333256145 Centerline is valid? [True, True] Translation: X:23.19, Y:0.04, Z:0.10 [[ 9.99525686e-01 -1.57564096e-02 -2.64601233e-02 2.31933750e+01] [ 1.57520761e-02 9.99875859e-01 -3.72215985e-04 3.64969204e-02] [ 2.64627034e-02 -4.47624397e-05 9.99649800e-01 9.71513074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405336195 meters 0.01573754441315145 Centerline is valid? [True, True] Translation: X:23.22, Y:0.04, Z:0.09 [[ 9.99487166e-01 -1.40067340e-02 -2.87961179e-02 2.32214051e+01] [ 1.40008074e-02 9.99901901e-01 -4.07440143e-04 4.00442889e-02] [ 2.87989999e-02 4.06229385e-06 9.99585223e-01 9.31582632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.435336195 meters 0.016160923139675872 Centerline is valid? [True, True] Translation: X:23.25, Y:0.04, Z:0.09 [[ 9.99470997e-01 -1.22727881e-02 -3.01181830e-02 2.32501053e+01] [ 1.22653854e-02 9.99924685e-01 -4.30527521e-04 4.14858656e-02] [ 3.01211984e-02 6.08886471e-05 9.99546252e-01 9.11470098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465336195000003 meters 0.015492895027132282 Centerline is valid? [True, True] Translation: X:23.28, Y:0.03, Z:0.09 [[ 9.99461994e-01 -1.47293747e-02 -2.93047502e-02 2.32791889e+01] [ 1.47232849e-02 9.99891517e-01 -4.23589267e-04 3.31276565e-02] [ 2.93078103e-02 -8.10081171e-06 9.99570434e-01 9.01332058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.495336195 meters 0.014676781092955503 Centerline is valid? [True, True] Translation: X:23.31, Y:0.03, Z:0.09 [[ 9.99423877e-01 -1.74684826e-02 -2.90992598e-02 2.33074051e+01] [ 1.74634840e-02 9.99847411e-01 -4.25930502e-04 3.14284670e-02] [ 2.91022599e-02 -8.24893433e-05 9.99576436e-01 9.49381725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525336195 meters 0.015863946892959443 Centerline is valid? [True, True] Translation: X:23.34, Y:0.03, Z:0.10 [[ 9.99326422e-01 -2.31501721e-02 -2.84740558e-02 2.33350976e+01] [ 2.31476183e-02 9.99731970e-01 -4.19350020e-04 2.78232184e-02] [ 2.84761319e-02 -2.40039020e-04 9.99594444e-01 9.76994706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.555336195000002 meters 0.01916030796335986 Centerline is valid? [True, True] Translation: X:23.36, Y:0.02, Z:0.10 [[ 9.99273380e-01 -2.58399247e-02 -2.80180217e-02 2.33630683e+01] [ 2.58384638e-02 9.99666045e-01 -4.14243300e-04 2.19879206e-02] [ 2.80193690e-02 -3.10000338e-04 9.99607332e-01 9.68594890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585336195 meters 0.017992524977218274 Centerline is valid? [True, True] Translation: X:23.39, Y:0.01, Z:0.10 [[ 9.99255235e-01 -2.77738646e-02 -2.67878293e-02 2.33903539e+01] [ 2.77731439e-02 9.99614172e-01 -3.99034593e-04 1.34396633e-02] [ 2.67885765e-02 -3.45244832e-04 9.99641062e-01 9.54549575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.615336195 meters 0.018305932285066582 Centerline is valid? [True, True] Translation: X:23.42, Y:0.01, Z:0.10 [[ 9.99218583e-01 -2.85426100e-02 -2.73412337e-02 2.34193035e+01] [ 2.85420315e-02 9.99592509e-01 -4.11495485e-04 1.21195522e-02] [ 2.73418375e-02 -3.69200420e-04 9.99626074e-01 9.51476041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645336195000002 meters 0.017256666197887748 Centerline is valid? [True, True] Translation: X:23.45, Y:0.01, Z:0.10 [[ 9.99229204e-01 -2.75122524e-02 -2.80013110e-02 2.34478062e+01] [ 2.75111133e-02 9.99621407e-01 -4.26002599e-04 1.33208110e-02] [ 2.80024302e-02 -3.44673000e-04 9.99607796e-01 9.72125900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.675336195 meters 0.01642117854989314 Centerline is valid? [True, True] Translation: X:23.48, Y:0.02, Z:0.10 [[ 9.99254077e-01 -2.65532522e-02 -2.80395174e-02 2.34763324e+01] [ 2.65516025e-02 9.99647351e-01 -4.31218539e-04 1.91973435e-02] [ 2.80410795e-02 -3.13597236e-04 9.99606722e-01 1.01458804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705336195 meters 0.01715644598189178 Centerline is valid? [True, True] Translation: X:23.50, Y:0.02, Z:0.10 [[ 9.99310636e-01 -2.36154913e-02 -2.86454487e-02 2.35041214e+01] [ 2.36124261e-02 9.99721089e-01 -4.45310235e-04 2.46145762e-02] [ 2.86479753e-02 -2.31385285e-04 9.99589536e-01 9.76246979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.735336195000002 meters 0.015945123670467198 Centerline is valid? [True, True] Translation: X:23.53, Y:0.02, Z:0.09 [[ 9.99336439e-01 -2.18022213e-02 -2.91778265e-02 2.35315149e+01] [ 2.17981521e-02 9.99762287e-01 -4.57571616e-04 2.44485950e-02] [ 2.91808666e-02 -1.78754710e-04 9.99574132e-01 9.38186376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765336195 meters 0.016392530356255118 Centerline is valid? [True, True] Translation: X:23.56, Y:0.02, Z:0.09 [[ 9.99337177e-01 -2.09801678e-02 -2.97496028e-02 2.35589077e+01] [ 2.09755080e-02 9.99779880e-01 -4.68733418e-04 2.26113606e-02] [ 2.97528884e-02 -1.55590302e-04 9.99557273e-01 8.99668002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.795336195 meters 0.016392530356255118 Centerline is valid? [True, True] Translation: X:23.59, Y:0.02, Z:0.09 [[ 9.99333397e-01 -2.11595631e-02 -2.97495320e-02 2.35862709e+01] [ 2.11548498e-02 9.99776099e-01 -4.73202646e-04 2.31993035e-02] [ 2.97528838e-02 -1.56459674e-04 9.99557273e-01 9.01607962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825336195000002 meters 0.015227380960392908 Centerline is valid? [True, True] Translation: X:23.61, Y:0.02, Z:0.09 [[ 9.99306348e-01 -2.13657098e-02 -3.05012859e-02 2.36145294e+01] [ 2.13607690e-02 9.99771714e-01 -4.87855504e-04 2.18944363e-02] [ 3.05047462e-02 -1.64013818e-04 9.99534608e-01 9.27351483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.855336195 meters 0.016613527816426256 Centerline is valid? [True, True] Translation: X:23.64, Y:0.02, Z:0.09 [[ 9.99197368e-01 -2.36609698e-02 -3.23230453e-02 2.36427069e+01] [ 2.36565686e-02 9.99720010e-01 -5.18637362e-04 2.31484482e-02] [ 3.23262666e-02 -2.46431251e-04 9.99477339e-01 9.36222093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885336195 meters 0.018497472315299555 Centerline is valid? [True, True] Translation: X:23.67, Y:0.02, Z:0.09 [[ 9.99176369e-01 -2.48241057e-02 -3.20990243e-02 2.36695775e+01] [ 2.48202495e-02 9.99691796e-01 -5.18646323e-04 2.33601604e-02] [ 3.21020061e-02 -2.78486642e-04 9.99484559e-01 9.14126221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.915336195000002 meters 0.017571618790714495 Centerline is valid? [True, True] Translation: X:23.70, Y:0.02, Z:0.10 [[ 9.99204523e-01 -2.62176683e-02 -3.00492268e-02 2.36982595e+01] [ 2.62147823e-02 9.99656213e-01 -4.90061009e-04 2.29693527e-02] [ 3.00517446e-02 -2.98062764e-04 9.99548300e-01 9.65679998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945336195 meters 0.016894092416779652 Centerline is valid? [True, True] Translation: X:23.73, Y:0.02, Z:0.10 [[ 9.99263302e-01 -2.61230951e-02 -2.81147149e-02 2.37263991e+01] [ 2.61204678e-02 9.99658696e-01 -4.60764255e-04 2.03003100e-02] [ 2.81171559e-02 -2.73944695e-04 9.99604597e-01 9.61765981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.975336195 meters 0.016251046356926035 Centerline is valid? [True, True] Translation: X:23.76, Y:0.02, Z:0.10 [[ 9.99335188e-01 -2.61548315e-02 -2.53989369e-02 2.37556916e+01] [ 2.61526190e-02 9.99657874e-01 -4.19341124e-04 1.75347243e-02] [ 2.54012151e-02 -2.45186379e-04 9.99677307e-01 9.72845843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005336195 meters 0.015095008881896174 Centerline is valid? [True, True] Translation: X:23.78, Y:0.02, Z:0.10 [[ 9.99355605e-01 -2.61289335e-02 -2.46100318e-02 2.37841841e+01] [ 2.61267527e-02 9.99658554e-01 -4.10205477e-04 1.83558863e-02] [ 2.46123470e-02 -2.33039071e-04 9.99697043e-01 1.00512681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.035336195 meters 0.017575438252616003 Centerline is valid? [True, True] Translation: X:23.81, Y:0.02, Z:0.10 [[ 9.99267786e-01 -2.73087806e-02 -2.67978183e-02 2.38125117e+01] [ 2.73065668e-02 9.99627006e-01 -4.48618425e-04 2.32029374e-02] [ 2.68000741e-02 -2.83466476e-04 9.99640773e-01 9.95320213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065336195 meters 0.017732262661465194 Centerline is valid? [True, True] Translation: X:23.84, Y:0.03, Z:0.10 [[ 9.99203250e-01 -2.87950550e-02 -2.76353007e-02 2.38415946e+01] [ 2.87932427e-02 9.99585281e-01 -4.63590148e-04 2.97844168e-02] [ 2.76371890e-02 -3.32489139e-04 9.99617965e-01 1.01665856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.095336195 meters 0.02024263748876896 Centerline is valid? [True, True] Translation: X:23.87, Y:0.02, Z:0.09 [[ 9.99014972e-01 -3.12961426e-02 -3.14584937e-02 2.38720056e+01] [ 3.12950169e-02 9.99510051e-01 -5.28274496e-04 2.03429293e-02] [ 3.14596136e-02 -4.56739960e-04 9.99504919e-01 9.20638336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125336195 meters 0.019771717931343687 Centerline is valid? [True, True] Translation: X:23.90, Y:0.02, Z:0.09 [[ 9.98958551e-01 -3.16336116e-02 -3.28805203e-02 2.39002289e+01] [ 3.16325126e-02 9.99499413e-01 -5.53742594e-04 1.97291740e-02] [ 3.28815776e-02 -4.86927573e-04 9.99459136e-01 9.13936603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.155336195 meters 0.020326889075142816 Centerline is valid? [True, True] Translation: X:23.93, Y:0.02, Z:0.09 [[ 9.98968265e-01 -3.12064072e-02 -3.29934223e-02 2.39283215e+01] [ 3.12050044e-02 9.99512850e-01 -5.57562586e-04 2.11050293e-02] [ 3.29947491e-02 -4.72572557e-04 9.99455413e-01 9.06277007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185336195 meters 0.021336212333232855 Centerline is valid? [True, True] Translation: X:23.96, Y:0.02, Z:0.09 [[ 9.98976949e-01 -3.10344652e-02 -3.28925063e-02 2.39561553e+01] [ 3.10329161e-02 9.99518207e-01 -5.57732046e-04 2.21441019e-02] [ 3.28939678e-02 -4.63588929e-04 9.99458740e-01 8.99328025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.215336195000003 meters 0.017481350229395436 Centerline is valid? [True, True] Translation: X:23.99, Y:0.03, Z:0.10 [[ 9.99155057e-01 -2.88733651e-02 -2.92489502e-02 2.39861573e+01] [ 2.88711959e-02 9.99583017e-01 -4.96565173e-04 3.10691513e-02] [ 2.92510914e-02 -3.48306568e-04 9.99572035e-01 9.95105862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245336195 meters 0.01723552491410939 Centerline is valid? [True, True] Translation: X:24.01, Y:0.04, Z:0.10 [[ 9.99231498e-01 -2.81269543e-02 -2.72999543e-02 2.40142897e+01] [ 2.81247583e-02 9.99604313e-01 -4.64487962e-04 3.58620546e-02] [ 2.73022167e-02 -3.03673613e-04 9.99627179e-01 1.02925547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.275336195 meters 0.01619828865592579 Centerline is valid? [True, True] Translation: X:24.04, Y:0.04, Z:0.10 [[ 9.99273363e-01 -2.77382901e-02 -2.61406559e-02 2.40430283e+01] [ 2.77360554e-02 9.99615181e-01 -4.48133891e-04 3.51731376e-02] [ 2.61430269e-02 -2.77230419e-04 9.99658174e-01 1.00596573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305336195000002 meters 0.016049292778571103 Centerline is valid? [True, True] Translation: X:24.07, Y:0.03, Z:0.10 [[ 9.99312129e-01 -2.74080922e-02 -2.49812965e-02 2.40719988e+01] [ 2.74059058e-02 9.99624295e-01 -4.29953856e-04 3.29710743e-02] [ 2.49836952e-02 -2.54976957e-04 9.99687826e-01 9.97032893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.335336195 meters 0.014498954779254987 Centerline is valid? [True, True] Translation: X:24.10, Y:0.04, Z:0.11 [[ 9.99356043e-01 -2.51241503e-02 -2.56178841e-02 2.41011300e+01] [ 2.51210832e-02 9.99684318e-01 -4.41595577e-04 4.25084687e-02] [ 2.56208917e-02 -2.02237789e-04 9.99671711e-01 1.05147745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365336195 meters 0.01511171122894324 Centerline is valid? [True, True] Translation: X:24.13, Y:0.05, Z:0.10 [[ 9.99315934e-01 -2.44804520e-02 -2.77195125e-02 2.41299713e+01] [ 2.44765882e-02 9.99700289e-01 -4.78733426e-04 4.80519968e-02] [ 2.77229242e-02 -2.00073153e-04 9.99615626e-01 1.02628058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.395336195000002 meters 0.015933461966389135 Centerline is valid? [True, True] Translation: X:24.16, Y:0.06, Z:0.10 [[ 9.99209618e-01 -2.51300327e-02 -3.07996730e-02 2.41589323e+01] [ 2.51255367e-02 9.99684162e-01 -5.33049396e-04 5.54650808e-02] [ 3.08033408e-02 -2.41230231e-04 9.99525435e-01 1.01672586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425336195 meters 0.017079759450463593 Centerline is valid? [True, True] Translation: X:24.19, Y:0.06, Z:0.10 [[ 9.99208403e-01 -2.53222507e-02 -3.06814400e-02 2.41858343e+01] [ 2.53178124e-02 9.99679311e-01 -5.33197201e-04 5.77563714e-02] [ 3.06851026e-02 -2.44011820e-04 9.99529072e-01 9.93783715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.455336195 meters 0.017158848897991543 Centerline is valid? [True, True] Translation: X:24.21, Y:0.06, Z:0.10 [[ 9.99230316e-01 -2.56363041e-02 -2.96909866e-02 2.42136671e+01] [ 2.56322318e-02 9.99671306e-01 -5.17817143e-04 5.96861387e-02] [ 2.96945023e-02 -2.43627664e-04 9.99558991e-01 9.80671641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485336195000002 meters 0.016546464762405254 Centerline is valid? [True, True] Translation: X:24.24, Y:0.06, Z:0.10 [[ 9.99247022e-01 -2.51015751e-02 -2.95854689e-02 2.42426088e+01] [ 2.50971803e-02 9.99684881e-01 -5.19931463e-04 6.13650627e-02] [ 2.95891971e-02 -2.22971882e-04 9.99562119e-01 9.75365285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.515336195 meters 0.017317915206482674 Centerline is valid? [True, True] Translation: X:24.27, Y:0.06, Z:0.09 [[ 9.99274369e-01 -2.45590632e-02 -2.91133559e-02 2.42704543e+01] [ 2.45544446e-02 9.99698361e-01 -5.16194503e-04 6.47524711e-02] [ 2.91172515e-02 -1.99042348e-04 9.99575983e-01 9.36828363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545336195 meters 0.014669958428287586 Centerline is valid? [True, True] Translation: X:24.30, Y:0.07, Z:0.10 [[ 9.99334226e-01 -2.44354620e-02 -2.70926851e-02 2.42995095e+01] [ 2.44313060e-02 9.99701394e-01 -4.84456395e-04 7.11622723e-02] [ 2.70964329e-02 -1.77775822e-04 9.99632808e-01 1.03024120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.575336195000002 meters 0.014258766609947555 Centerline is valid? [True, True] Translation: X:24.33, Y:0.08, Z:0.11 [[ 9.99383017e-01 -2.44623314e-02 -2.52027567e-02 2.43278313e+01] [ 2.44586437e-02 9.99700739e-01 -4.54620590e-04 7.61598158e-02] [ 2.52063355e-02 -1.62085148e-04 9.99682257e-01 1.07018547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605336195 meters 0.014111525847698843 Centerline is valid? [True, True] Translation: X:24.36, Y:0.08, Z:0.11 [[ 9.99424511e-01 -2.34661813e-02 -2.44946093e-02 2.43561830e+01] [ 2.34623533e-02 9.99724623e-01 -4.43702382e-04 8.22860194e-02] [ 2.44982761e-02 -1.31254142e-04 9.99699864e-01 1.06175831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.635336195 meters 0.014397336807365203 Centerline is valid? [True, True] Translation: X:24.38, Y:0.09, Z:0.11 [[ 9.99398764e-01 -2.44930648e-02 -2.45397517e-02 2.43847814e+01] [ 2.44895102e-02 9.99699988e-01 -4.45410258e-04 8.63095454e-02] [ 2.45432989e-02 -1.55824039e-04 9.99698756e-01 1.05907238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665336195000002 meters 0.01486924356099892 Centerline is valid? [True, True] Translation: X:24.41, Y:0.09, Z:0.10 [[ 9.99375887e-01 -2.54427680e-02 -2.45051306e-02 2.44142946e+01] [ 2.54395025e-02 9.99676264e-01 -4.45043411e-04 8.59953081e-02] [ 2.45085206e-02 -1.78632679e-04 9.99699605e-01 1.03929153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.695336195 meters 0.01607390052839436 Centerline is valid? [True, True] Translation: X:24.44, Y:0.08, Z:0.10 [[ 9.99234569e-01 -2.96825225e-02 -2.54798925e-02 2.44448478e+01] [ 2.96803697e-02 9.99559334e-01 -4.62755753e-04 8.26490310e-02] [ 2.54824001e-02 -2.93851084e-04 9.99675228e-01 1.03091698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725336195 meters 0.019529329367725314 Centerline is valid? [True, True] Translation: X:24.47, Y:0.08, Z:0.10 [[ 9.99086789e-01 -3.29953217e-02 -2.71458592e-02 2.44748085e+01] [ 3.29941006e-02 9.99455425e-01 -4.93012383e-04 7.88882308e-02] [ 2.71473433e-02 -4.03091051e-04 9.99631362e-01 9.97467676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.755336195 meters 0.025142038830752236 Centerline is valid? [True, True] Translation: X:24.51, Y:0.07, Z:0.10 [[ 9.98765217e-01 -4.00671478e-02 -2.93711732e-02 2.45054913e+01] [ 4.00687754e-02 9.99196782e-01 -5.33381499e-04 7.39534343e-02] [ 2.93689528e-02 -6.44144055e-04 9.99568432e-01 1.00233583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785336195 meters 0.024149235521238772 Centerline is valid? [True, True] Translation: X:24.54, Y:0.08, Z:0.11 [[ 9.98630537e-01 -4.31259353e-02 -2.96176375e-02 2.45371646e+01] [ 4.31289585e-02 9.99069369e-01 -5.37046916e-04 7.80069853e-02] [ 2.96132350e-02 -7.41066406e-04 9.99561157e-01 1.06897417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.815336195 meters 0.030370583568021536 Centerline is valid? [True, True] Translation: X:24.57, Y:0.07, Z:0.11 [[ 9.98514252e-01 -4.71361647e-02 -2.73398936e-02 2.45679709e+01] [ 4.71402611e-02 9.98888157e-01 -4.95033542e-04 6.80971674e-02] [ 2.73328299e-02 -7.94511676e-04 9.99626073e-01 1.05549610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845336195 meters 0.02911290199578015 Centerline is valid? [True, True] Translation: X:24.60, Y:0.06, Z:0.11 [[ 9.98435307e-01 -4.99677553e-02 -2.51030294e-02 2.46002357e+01] [ 4.99721272e-02 9.98750510e-01 -4.53529581e-04 6.15540639e-02] [ 2.50943253e-02 -8.01631832e-04 9.99684766e-01 1.06306355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.875336195 meters 0.028492037675152973 Centerline is valid? [True, True] Translation: X:24.63, Y:0.06, Z:0.11 [[ 9.98435957e-01 -4.98873348e-02 -2.52367363e-02 2.46336020e+01] [ 4.98917689e-02 9.98754527e-01 -4.54314604e-04 6.16251472e-02] [ 2.52279692e-02 -8.05501379e-04 9.99681400e-01 1.06497201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905336195 meters 0.028448350137453914 Centerline is valid? [True, True] Translation: X:24.67, Y:0.06, Z:0.11 [[ 9.98472615e-01 -4.89218761e-02 -2.56727017e-02 2.46651847e+01] [ 4.89262044e-02 9.98802290e-01 -4.59893919e-04 6.15188696e-02] [ 2.56644521e-02 -7.96876366e-04 9.99670296e-01 1.06095434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.935336195 meters 0.02910203232608487 Centerline is valid? [True, True] Translation: X:24.70, Y:0.06, Z:0.11 [[ 9.98530247e-01 -4.74519288e-02 -2.61851280e-02 2.46968017e+01] [ 4.74559681e-02 9.98873221e-01 -4.67496430e-04 6.48697188e-02] [ 2.61778067e-02 -7.75831273e-04 9.99657001e-01 1.09185435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965336195000003 meters 0.026762386763066925 Centerline is valid? [True, True] Translation: X:24.73, Y:0.07, Z:0.11 [[ 9.98548770e-01 -4.62905951e-02 -2.75233578e-02 2.47293542e+01] [ 4.62946537e-02 9.98927708e-01 -4.90076986e-04 7.15232218e-02] [ 2.75165306e-02 -7.84818545e-04 9.99621040e-01 1.11307159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.995336195 meters 0.026235133785853685 Centerline is valid? [True, True] Translation: X:24.76, Y:0.07, Z:0.11 [[ 9.98643654e-01 -4.37656984e-02 -2.82031063e-02 2.47608811e+01] [ 4.37689845e-02 9.99041553e-01 -5.01102210e-04 7.01225335e-02] [ 2.81980062e-02 -7.33998780e-04 9.99602088e-01 1.07536169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025336195 meters 0.023048176551418754 Centerline is valid? [True, True] Translation: X:24.79, Y:0.07, Z:0.11 [[ 9.98856222e-01 -4.05627702e-02 -2.53161974e-02 2.47918425e+01] [ 4.05644001e-02 9.99176825e-01 -4.49374026e-04 6.62780279e-02] [ 2.53135855e-02 -5.78076318e-04 9.99679393e-01 1.07652809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.055336195000002 meters 0.023976822258835278 Centerline is valid? [True, True] Translation: X:24.82, Y:0.06, Z:0.11 [[ 9.98890355e-01 -3.93847852e-02 -2.58243375e-02 2.48228565e+01] [ 3.93861071e-02 9.99223961e-01 -4.57652381e-04 6.47532521e-02] [ 2.58223214e-02 -5.59975574e-04 9.99666391e-01 1.05110256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085336195 meters 0.020327299815786796 Centerline is valid? [True, True] Translation: X:24.85, Y:0.08, Z:0.11 [[ 9.98937662e-01 -3.70473188e-02 -2.74051572e-02 2.48548275e+01] [ 3.70479625e-02 9.99313371e-01 -4.84433166e-04 7.68630866e-02] [ 2.74042870e-02 -5.31386702e-04 9.99624291e-01 1.09918255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.115336195 meters 0.02076642323752186 Centerline is valid? [True, True] Translation: X:24.89, Y:0.08, Z:0.11 [[ 9.98994698e-01 -3.55562583e-02 -2.73010279e-02 2.48858734e+01] [ 3.55563695e-02 9.99367556e-01 -4.81533498e-04 7.95845172e-02] [ 2.73008830e-02 -4.89676023e-04 9.99627141e-01 1.09883108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145336195000002 meters 0.020385467417746928 Centerline is valid? [True, True] Translation: X:24.92, Y:0.08, Z:0.11 [[ 9.99059763e-01 -3.33286641e-02 -2.77270616e-02 2.49167757e+01] [ 3.33279483e-02 9.99444350e-01 -4.88078074e-04 7.78886171e-02] [ 2.77279220e-02 -4.36466908e-04 9.99615412e-01 1.05603176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.175336195 meters 0.020139595956298707 Centerline is valid? [True, True] Translation: X:24.95, Y:0.07, Z:0.10 [[ 9.99055671e-01 -3.30666865e-02 -2.81843893e-02 2.49483781e+01] [ 3.30658632e-02 9.99453052e-01 -4.95402696e-04 7.42746431e-02] [ 2.81853552e-02 -4.37006288e-04 9.99602618e-01 1.02414941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205336195 meters 0.02002039009440601 Centerline is valid? [True, True] Translation: X:24.98, Y:0.07, Z:0.10 [[ 9.99008013e-01 -3.28717213e-02 -3.00406390e-02 2.49788742e+01] [ 3.28707033e-02 9.99459473e-01 -5.27859836e-04 7.01367792e-02] [ 3.00417529e-02 -4.60120724e-04 9.99548539e-01 1.00748571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.235336195000002 meters 0.020540275556808516 Centerline is valid? [True, True] Translation: X:25.01, Y:0.07, Z:0.10 [[ 9.98986542e-01 -3.26311444e-02 -3.10015621e-02 2.50074402e+01] [ 3.26299101e-02 9.99467354e-01 -5.45858928e-04 7.23547863e-02] [ 3.10028613e-02 -4.66272462e-04 9.99519187e-01 1.01606090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265336195 meters 0.018917929642282665 Centerline is valid? [True, True] Translation: X:25.04, Y:0.08, Z:0.11 [[ 9.98980370e-01 -3.28122519e-02 -3.10093035e-02 2.50374008e+01] [ 3.28110763e-02 9.99461422e-01 -5.46892815e-04 7.57769347e-02] [ 3.10105473e-02 -4.71113436e-04 9.99518946e-01 1.07481739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.295336195 meters 0.019346771820207227 Centerline is valid? [True, True] Translation: X:25.07, Y:0.07, Z:0.11 [[ 9.98963682e-01 -3.34284723e-02 -3.08884980e-02 2.50674543e+01] [ 3.34275777e-02 9.99440994e-01 -5.45492232e-04 7.33898577e-02] [ 3.08894661e-02 -4.87600736e-04 9.99522688e-01 1.07858834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325336195000002 meters 0.021706168426971834 Centerline is valid? [True, True] Translation: X:25.10, Y:0.06, Z:0.10 [[ 9.98925402e-01 -3.57110953e-02 -2.95424865e-02 2.50968192e+01] [ 3.57112618e-02 9.99362013e-01 -5.22145488e-04 6.08113067e-02] [ 2.95422851e-02 -5.33415078e-04 9.99563389e-01 1.04332325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.355336195 meters 0.023307328679891836 Centerline is valid? [True, True] Translation: X:25.13, Y:0.05, Z:0.10 [[ 9.98888499e-01 -3.73559409e-02 -2.87454551e-02 2.51268380e+01] [ 3.73567838e-02 9.99301863e-01 -5.07893702e-04 5.38895373e-02] [ 2.87443597e-02 -5.66508572e-04 9.99586635e-01 1.04009362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385336195 meters 0.02369883190369624 Centerline is valid? [True, True] Translation: X:25.16, Y:0.05, Z:0.11 [[ 9.98802665e-01 -3.98023608e-02 -2.84430913e-02 2.51579621e+01] [ 3.98041937e-02 9.99207373e-01 -5.01973429e-04 4.83306663e-02] [ 2.84405263e-02 -6.30781918e-04 9.99595287e-01 1.07825305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.415336195000002 meters 0.024396800611665385 Centerline is valid? [True, True] Translation: X:25.19, Y:0.04, Z:0.11 [[ 9.98774583e-01 -4.05337861e-02 -2.83961892e-02 2.51904929e+01] [ 4.05359411e-02 9.99177956e-01 -4.99991172e-04 4.47597663e-02] [ 2.83931128e-02 -6.51687777e-04 9.99596622e-01 1.07589229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445336195 meters 0.026851885790132073 Centerline is valid? [True, True] Translation: X:25.22, Y:0.03, Z:0.11 [[ 9.98755048e-01 -4.09434507e-02 -2.84954004e-02 2.52223408e+01] [ 4.09458424e-02 9.99161242e-01 -4.99809946e-04 3.43306084e-02] [ 2.84919636e-02 -6.67580467e-04 9.99593799e-01 1.05095049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.475336195 meters 0.026184766987531142 Centerline is valid? [True, True] Translation: X:25.25, Y:0.03, Z:0.11 [[ 9.98728986e-01 -4.07894625e-02 -2.96079682e-02 2.52544373e+01] [ 4.07920237e-02 9.99167525e-01 -5.17758061e-04 3.41346612e-02] [ 2.96044394e-02 -6.90668958e-04 9.99561454e-01 1.05595356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505336195 meters 0.025520162226636712 Centerline is valid? [True, True] Translation: X:25.29, Y:0.03, Z:0.10 [[ 9.98762616e-01 -3.91247038e-02 -3.07000612e-02 2.52854495e+01] [ 3.91267067e-02 9.99234114e-01 -5.35725329e-04 3.19929864e-02] [ 3.06975085e-02 -6.66129858e-04 9.99528498e-01 1.04717170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.535336195 meters 0.022612470254395545 Centerline is valid? [True, True] Translation: X:25.32, Y:0.03, Z:0.11 [[ 9.98834452e-01 -3.77190380e-02 -3.01166427e-02 2.53160883e+01] [ 3.77203338e-02 9.99288197e-01 -5.25309786e-04 3.04517873e-02] [ 3.01150198e-02 -6.11312304e-04 9.99546253e-01 1.06099656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565336195 meters 0.021245628340354237 Centerline is valid? [True, True] Translation: X:25.35, Y:0.02, Z:0.10 [[ 9.98910372e-01 -3.52244849e-02 -3.06154357e-02 2.53466567e+01] [ 3.52246531e-02 9.99379277e-01 -5.34009986e-04 2.37984640e-02] [ 3.06152422e-02 -5.44989987e-04 9.99531095e-01 1.04750641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.595336195 meters 0.02113290550044844 Centerline is valid? [True, True] Translation: X:25.38, Y:0.02, Z:0.11 [[ 9.99012858e-01 -3.33530532e-02 -2.93408227e-02 2.53757653e+01] [ 3.33523852e-02 9.99443523e-01 -5.12302450e-04 2.39826513e-02] [ 2.93415820e-02 -4.66789684e-04 9.99569334e-01 1.08105745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625336195 meters 0.02105672816422065 Centerline is valid? [True, True] Translation: X:25.40, Y:0.02, Z:0.11 [[ 9.99044026e-01 -3.28638365e-02 -2.88271161e-02 2.54042311e+01] [ 3.28629621e-02 9.99459740e-01 -5.04231215e-04 2.35224899e-02] [ 2.88281130e-02 -4.43595242e-04 9.99584285e-01 1.09830674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.655336195 meters 0.019365321955217427 Centerline is valid? [True, True] Translation: X:25.43, Y:0.02, Z:0.11 [[ 9.99085991e-01 -3.20017113e-02 -2.83385613e-02 2.54339222e+01] [ 3.20005059e-02 9.99487730e-01 -4.96166196e-04 2.49898024e-02] [ 2.83399225e-02 -4.11135604e-04 9.99598259e-01 1.13138086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685336195 meters 0.018378544930430854 Centerline is valid? [True, True] Translation: X:25.46, Y:0.02, Z:0.11 [[ 9.99192928e-01 -2.79228948e-02 -2.88756770e-02 2.54623544e+01] [ 2.79199163e-02 9.99610035e-01 -5.06409808e-04 2.42451298e-02] [ 2.88785569e-02 -3.00205385e-04 9.99582882e-01 1.08335364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.715336195 meters 0.018378544930430854 Centerline is valid? [True, True] Translation: X:25.49, Y:0.02, Z:0.11 [[ 9.99187914e-01 -2.81018267e-02 -2.88756038e-02 2.54897232e+01] [ 2.80988030e-02 9.99605020e-01 -5.10557614e-04 2.48808127e-02] [ 2.88785461e-02 -3.01226907e-04 9.99582882e-01 1.08529295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745336195 meters 0.016420251879113286 Centerline is valid? [True, True] Translation: X:25.52, Y:0.03, Z:0.11 [[ 9.99231379e-01 -2.53976763e-02 -2.98598126e-02 2.55171203e+01] [ 2.53930688e-02 9.99677402e-01 -5.33555588e-04 2.69864913e-02] [ 2.98637309e-02 -2.25086789e-04 9.99553954e-01 1.08023643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.775336195 meters 0.015939839119152092 Centerline is valid? [True, True] Translation: X:25.55, Y:0.03, Z:0.11 [[ 9.99361325e-01 -1.84378826e-02 -3.06102369e-02 2.55453215e+01] [ 1.84296143e-02 9.99830008e-01 -5.52251474e-04 3.22161449e-02] [ 3.06152157e-02 -1.22360931e-05 9.99531244e-01 1.06301003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805336195000002 meters 0.017896468142964427 Centerline is valid? [True, True] Translation: X:25.57, Y:0.04, Z:0.10 [[ 9.99414720e-01 -1.45138655e-02 -3.09768368e-02 2.55725289e+01] [ 1.45034235e-02 9.99894662e-01 -5.61764200e-04 3.89478014e-02] [ 3.09817272e-02 1.12165229e-04 9.99519945e-01 1.04256062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.835336195 meters 0.020594212106835843 Centerline is valid? [True, True] Translation: X:25.60, Y:0.05, Z:0.11 [[ 9.99526247e-01 -8.88596193e-03 -2.94672959e-02 2.55987148e+01] [ 8.87400112e-03 9.99960481e-01 -5.36653839e-04 5.40747961e-02] [ 2.94709001e-02 2.74906781e-04 9.99565601e-01 1.08962164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865336195 meters 0.019814741877120266 Centerline is valid? [True, True] Translation: X:25.63, Y:0.06, Z:0.11 [[ 9.99534343e-01 -6.79743927e-03 -2.97471262e-02 2.56267976e+01] [ 6.78426764e-03 9.99976839e-01 -5.43693753e-04 6.24284361e-02] [ 2.97501329e-02 3.41628113e-04 9.99557308e-01 1.14911682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.895336195000002 meters 0.02079196783413152 Centerline is valid? [True, True] Translation: X:25.66, Y:0.07, Z:0.11 [[ 9.99489798e-01 -6.37329298e-03 -3.12973489e-02 2.56558322e+01] [ 6.35836122e-03 9.99979619e-01 -5.76595659e-04 6.54976120e-02] [ 3.13003858e-02 3.77301630e-04 9.99509952e-01 1.12047951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925336195 meters 0.02200399317632272 Centerline is valid? [True, True] Translation: X:25.68, Y:0.07, Z:0.11 [[ 9.99477161e-01 -6.16667038e-03 -3.17391904e-02 2.56836124e+01] [ 6.15110032e-03 9.99980909e-01 -5.88180139e-04 6.70673690e-02] [ 3.17422116e-02 3.92641671e-04 9.99496012e-01 1.06347835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.955336195 meters 0.020968421326935344 Centerline is valid? [True, True] Translation: X:25.71, Y:0.06, Z:0.10 [[ 9.99498142e-01 -6.18939018e-03 -3.10669465e-02 2.57123769e+01] [ 6.17433859e-03 9.99980770e-01 -5.80398558e-04 6.42396352e-02] [ 3.10699414e-02 3.88289434e-04 9.99517137e-01 1.04771907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985336195000002 meters 0.02108646401779314 Centerline is valid? [True, True] Translation: X:25.74, Y:0.07, Z:0.10 [[ 9.99489346e-01 -6.46312451e-03 -3.12933614e-02 2.57406303e+01] [ 6.44780249e-03 9.99979038e-01 -5.90512897e-04 6.58937328e-02] [ 3.12965220e-02 3.88437935e-04 9.99510068e-01 1.04630618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.015336195 meters 0.020147741763222492 Centerline is valid? [True, True] Translation: X:25.77, Y:0.08, Z:0.11 [[ 9.99493316e-01 -7.33923573e-03 -3.09717008e-02 2.57691609e+01] [ 7.32447855e-03 9.99973002e-01 -5.89900651e-04 7.64393878e-02] [ 3.09751940e-02 3.62750200e-04 9.99520088e-01 1.12132338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045336195 meters 0.02017415821709754 Centerline is valid? [True, True] Translation: X:25.80, Y:0.08, Z:0.12 [[ 9.99511448e-01 -7.46244921e-03 -3.03509058e-02 2.57971129e+01] [ 7.44825556e-03 9.99972093e-01 -5.80683196e-04 8.37664774e-02] [ 3.03543921e-02 3.54338199e-04 9.99539136e-01 1.15621764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.075336195000002 meters 0.019408739812143718 Centerline is valid? [True, True] Translation: X:25.82, Y:0.09, Z:0.12 [[ 9.99540183e-01 -8.45953864e-03 -2.91180191e-02 2.58244932e+01] [ 8.44684720e-03 9.99964169e-01 -5.58840632e-04 8.66861405e-02] [ 2.91217033e-02 3.12628210e-04 9.99575824e-01 1.15487707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105336195 meters 0.019061320168804675 Centerline is valid? [True, True] Translation: X:25.85, Y:0.08, Z:0.11 [[ 9.99523770e-01 -1.02195032e-02 -2.91169132e-02 2.58521840e+01] [ 1.02075084e-02 9.99947745e-01 -5.60565377e-04 8.45919272e-02] [ 2.91211203e-02 2.63087283e-04 9.99575856e-01 1.11396928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.135336195 meters 0.016642131167076118 Centerline is valid? [True, True] Translation: X:25.88, Y:0.08, Z:0.11 [[ 9.99389328e-01 -1.71839876e-02 -3.04250155e-02 2.58804755e+01] [ 1.71739839e-02 9.99852342e-01 -5.90108799e-04 8.12842856e-02] [ 3.04306634e-02 6.72297102e-05 9.99536878e-01 1.12122364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165336195000002 meters 0.01709644607700351 Centerline is valid? [True, True] Translation: X:25.91, Y:0.08, Z:0.11 [[ 9.99287955e-01 -2.13415778e-02 -3.11146420e-02 2.59078974e+01] [ 2.13330478e-02 9.99772241e-01 -6.06126944e-04 8.21432549e-02] [ 3.11204910e-02 -5.80747895e-05 9.99515639e-01 1.12162150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.195336195 meters 0.019073558962219996 Centerline is valid? [True, True] Translation: X:25.94, Y:0.08, Z:0.11 [[ 9.99042036e-01 -2.87539387e-02 -3.29881950e-02 2.59371492e+01] [ 2.87483449e-02 9.99586473e-01 -6.43961417e-04 7.83950274e-02] [ 3.29930700e-02 -3.05011484e-04 9.99455534e-01 1.11218536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225336195 meters 0.020549454705592832 Centerline is valid? [True, True] Translation: X:25.97, Y:0.07, Z:0.11 [[ 9.98883209e-01 -3.54830502e-02 -3.11975701e-02 2.59658265e+01] [ 3.54811948e-02 9.99370156e-01 -6.13244679e-04 6.59922999e-02] [ 3.11996803e-02 -4.94367248e-04 9.99513049e-01 1.12046917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.255336195 meters 0.021823002691388718 Centerline is valid? [True, True] Translation: X:26.00, Y:0.06, Z:0.11 [[ 9.98833518e-01 -3.78331427e-02 -3.00042893e-02 2.59959635e+01] [ 3.78324520e-02 9.99283922e-01 -5.90919066e-04 6.11522128e-02] [ 3.00051603e-02 -5.44906066e-04 9.99549595e-01 1.13907492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285336195 meters 0.023888684713326967 Centerline is valid? [True, True] Translation: X:26.03, Y:0.06, Z:0.12 [[ 9.98709682e-01 -4.11316472e-02 -2.97852187e-02 2.60274464e+01] [ 4.11324481e-02 9.99153531e-01 -5.86072800e-04 6.00447647e-02] [ 2.97841126e-02 -6.39822383e-04 9.99556150e-01 1.17956221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.315336195 meters 0.024872012480360722 Centerline is valid? [True, True] Translation: X:26.06, Y:0.06, Z:0.12 [[ 9.98638174e-01 -4.21716019e-02 -3.07140546e-02 2.60590334e+01] [ 4.21729676e-02 9.99110142e-01 -6.03626089e-04 6.19006537e-02] [ 3.07121794e-02 -6.92498775e-04 9.99528030e-01 1.18468876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345336195 meters 0.024454030219854966 Centerline is valid? [True, True] Translation: X:26.09, Y:0.06, Z:0.12 [[ 9.98597720e-01 -4.25296087e-02 -3.15249940e-02 2.60915703e+01] [ 4.25312680e-02 9.99094945e-01 -6.18232814e-04 6.27033321e-02] [ 3.15227554e-02 -7.23432089e-04 9.99502773e-01 1.17847347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.375336195 meters 0.025217661906764662 Centerline is valid? [True, True] Translation: X:26.12, Y:0.06, Z:0.12 [[ 9.98620775e-01 -4.23749158e-02 -3.09986255e-02 2.61234212e+01] [ 4.23764905e-02 9.99101529e-01 -6.06456276e-04 5.81468247e-02] [ 3.09964726e-02 -7.07993123e-04 9.99519243e-01 1.15171603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405336195 meters 0.024242947372716945 Centerline is valid? [True, True] Translation: X:26.15, Y:0.05, Z:0.12 [[ 9.98688501e-01 -4.29430616e-02 -2.78777797e-02 2.61546258e+01] [ 4.29445777e-02 9.99077308e-01 -5.44606258e-04 5.32288798e-02] [ 2.78754442e-02 -6.53307472e-04 9.99611191e-01 1.21307255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.435336195 meters 0.025018963803030446 Centerline is valid? [True, True] Translation: X:26.19, Y:0.05, Z:0.12 [[ 9.98688029e-01 -4.31604378e-02 -2.75571596e-02 2.61860918e+01] [ 4.31620264e-02 9.99067941e-01 -5.37451179e-04 5.34181838e-02] [ 2.75546713e-02 -6.52676791e-04 9.99620085e-01 1.23818307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465336195 meters 0.024643522034881935 Centerline is valid? [True, True] Translation: X:26.22, Y:0.06, Z:0.12 [[ 9.98680455e-01 -4.16952369e-02 -2.99809209e-02 2.62180759e+01] [ 4.16964986e-02 9.99130153e-01 -5.83379608e-04 5.70940840e-02] [ 2.99791662e-02 -6.67489614e-04 9.99550301e-01 1.23662401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.495336195 meters 0.02207331365537892 Centerline is valid? [True, True] Translation: X:26.25, Y:0.06, Z:0.12 [[ 9.98826708e-01 -3.82456803e-02 -2.97064921e-02 2.62497367e+01] [ 3.82454274e-02 9.99268209e-01 -5.76914220e-04 5.80525721e-02] [ 2.97068176e-02 -5.59900155e-04 9.99558498e-01 1.22614682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525336195 meters 0.020652221582553875 Centerline is valid? [True, True] Translation: X:26.28, Y:0.06, Z:0.12 [[ 9.98911652e-01 -3.60600343e-02 -2.95835392e-02 2.62813249e+01] [ 3.60588484e-02 9.99349504e-01 -5.73748860e-04 5.72676717e-02] [ 2.95849846e-02 -4.93623935e-04 9.99562147e-01 1.21803898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.555336195000002 meters 0.019235679947592562 Centerline is valid? [True, True] Translation: X:26.31, Y:0.06, Z:0.12 [[ 9.99010833e-01 -3.19397255e-02 -3.09388058e-02 2.63110822e+01] [ 3.19364502e-02 9.99489721e-01 -6.00138952e-04 5.52311059e-02] [ 3.09421867e-02 -3.88530317e-04 9.99521100e-01 1.16963122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585336195 meters 0.018721772450236512 Centerline is valid? [True, True] Translation: X:26.34, Y:0.06, Z:0.12 [[ 9.99047963e-01 -2.99018405e-02 -3.17654935e-02 2.63397324e+01] [ 2.98972265e-02 9.99552786e-01 -6.20318013e-04 5.71359101e-02] [ 3.17698362e-02 -3.29972708e-04 9.99495157e-01 1.16669205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.615336195 meters 0.01851880385871818 Centerline is valid? [True, True] Translation: X:26.37, Y:0.07, Z:0.12 [[ 9.99133718e-01 -2.49843193e-02 -3.32805839e-02 2.63669817e+01] [ 2.49764152e-02 9.99687827e-01 -6.53270283e-04 6.57798416e-02] [ 3.32865161e-02 -1.78525315e-04 9.99445834e-01 1.18553834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645336195000002 meters 0.017543564960119436 Centerline is valid? [True, True] Translation: X:26.40, Y:0.07, Z:0.12 [[ 9.99220394e-01 -2.28207564e-02 -3.22151742e-02 2.63957778e+01] [ 2.28120751e-02 9.99739568e-01 -6.37046075e-04 7.08230903e-02] [ 3.22213222e-02 -9.83455432e-05 9.99480754e-01 1.24112555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.675336195 meters 0.01889143213941179 Centerline is valid? [True, True] Translation: X:26.43, Y:0.07, Z:0.13 [[ 9.99426500e-01 -1.83597290e-02 -2.84533116e-02 2.64255435e+01] [ 1.83511055e-02 9.99831445e-01 -5.64197047e-04 7.18560510e-02] [ 2.84588741e-02 4.17237585e-05 9.99594963e-01 1.28666025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705336195 meters 0.01797007438042471 Centerline is valid? [True, True] Translation: X:26.45, Y:0.07, Z:0.12 [[ 9.99563962e-01 -1.30299160e-02 -2.64973208e-02 2.64538056e+01] [ 1.30205168e-02 9.99915090e-01 -5.27232485e-04 7.06521501e-02] [ 2.65019407e-02 1.81993780e-04 9.99648745e-01 1.24458319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.735336195000002 meters 0.018992350610621954 Centerline is valid? [True, True] Translation: X:26.48, Y:0.07, Z:0.13 [[ 9.99588247e-01 -1.06973999e-02 -2.66251984e-02 2.64824725e+01] [ 1.06869804e-02 9.99942750e-01 -5.33612503e-04 7.38835576e-02] [ 2.66293824e-02 2.48849814e-04 9.99645344e-01 1.26713740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765336195 meters 0.020444630836624074 Centerline is valid? [True, True] Translation: X:26.51, Y:0.08, Z:0.13 [[ 9.99543128e-01 -8.67420301e-03 -2.89532831e-02 2.65120246e+01] [ 8.66098039e-03 9.99962324e-01 -5.82067341e-04 8.23467167e-02] [ 2.89572412e-02 3.31037594e-04 9.99580596e-01 1.30070869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.795336195 meters 0.020538461938171187 Centerline is valid? [True, True] Translation: X:26.54, Y:0.09, Z:0.13 [[ 9.99507848e-01 -9.37195191e-03 -2.99370805e-02 2.65403343e+01] [ 9.35800693e-03 9.99956029e-01 -6.05885735e-04 8.54625503e-02] [ 2.99414424e-02 3.25436140e-04 9.99551602e-01 1.30799531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825336195000002 meters 0.018957815053987966 Centerline is valid? [True, True] Translation: X:26.57, Y:0.08, Z:0.13 [[ 9.99451640e-01 -1.32010776e-02 -3.03669383e-02 2.65678400e+01] [ 1.31884167e-02 9.99912839e-01 -6.17194604e-04 8.05665319e-02] [ 3.03724391e-02 2.16364324e-04 9.99538628e-01 1.30280758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.855336195 meters 0.017467206992917747 Centerline is valid? [True, True] Translation: X:26.60, Y:0.07, Z:0.13 [[ 9.99437826e-01 -1.58979080e-02 -2.95176058e-02 2.65962869e+01] [ 1.58869977e-02 9.99873611e-01 -6.04121299e-04 7.38319393e-02] [ 2.95234793e-02 1.34835542e-04 9.99564078e-01 1.30063117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885336195 meters 0.016221481846009436 Centerline is valid? [True, True] Translation: X:26.62, Y:0.06, Z:0.13 [[ 9.99385244e-01 -2.09064841e-02 -2.81434387e-02 2.66243853e+01] [ 2.08984843e-02 9.99781436e-01 -5.78388013e-04 5.97536959e-02] [ 2.81493796e-02 -1.01227671e-05 9.99603728e-01 1.26403050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.915336195000002 meters 0.016726605224191286 Centerline is valid? [True, True] Translation: X:26.65, Y:0.05, Z:0.12 [[ 9.99322452e-01 -2.37600241e-02 -2.81086684e-02 2.66524271e+01] [ 2.37531264e-02 9.99717687e-01 -5.79315135e-04 5.36715217e-02] [ 2.81144975e-02 -8.87461313e-05 9.99604705e-01 1.24333879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945336195 meters 0.016805652328242715 Centerline is valid? [True, True] Translation: X:26.68, Y:0.05, Z:0.13 [[ 9.99223110e-01 -2.75611881e-02 -2.81701414e-02 2.66808574e+01] [ 2.75556610e-02 9.99620100e-01 -5.84459807e-04 5.16938970e-02] [ 2.81755479e-02 -1.92241119e-04 9.99602972e-01 1.31019039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.975336195 meters 0.016930139952844616 Centerline is valid? [True, True] Translation: X:26.71, Y:0.06, Z:0.14 [[ 9.99221042e-01 -2.89652373e-02 -2.68015651e-02 2.67093888e+01] [ 2.89606216e-02 9.99580396e-01 -5.60448003e-04 5.68388644e-02] [ 2.68065526e-02 -2.16178548e-04 9.99640616e-01 1.39436388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005336195 meters 0.016893423328894427 Centerline is valid? [True, True] Translation: X:26.74, Y:0.06, Z:0.14 [[ 9.99202640e-01 -2.96346174e-02 -2.67558215e-02 2.67392685e+01] [ 2.96302135e-02 9.99560771e-01 -5.61130976e-04 5.70588810e-02] [ 2.67606985e-02 -2.32097151e-04 9.99641841e-01 1.40565267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.035336195 meters 0.01725338906614488 Centerline is valid? [True, True] Translation: X:26.77, Y:0.05, Z:0.14 [[ 9.99184908e-01 -2.94995696e-02 -2.75553195e-02 2.67688326e+01] [ 2.94948290e-02 9.99564765e-01 -5.78560118e-04 5.23098757e-02] [ 2.75603938e-02 -2.34650898e-04 9.99620113e-01 1.36279316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065336195 meters 0.01671855114474349 Centerline is valid? [True, True] Translation: X:26.80, Y:0.05, Z:0.13 [[ 9.99205809e-01 -2.89319437e-02 -2.73988042e-02 2.67973536e+01] [ 2.89270189e-02 9.99581360e-01 -5.76166417e-04 4.94526212e-02] [ 2.74040035e-02 -2.16856896e-04 9.99624416e-01 1.33359910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.095336195 meters 0.016566755074508412 Centerline is valid? [True, True] Translation: X:26.83, Y:0.05, Z:0.13 [[ 9.99250182e-01 -2.85360080e-02 -2.61681198e-02 2.68257316e+01] [ 2.85313561e-02 9.99592746e-01 -5.51199659e-04 4.66173019e-02] [ 2.61731918e-02 -1.95825585e-04 9.99657404e-01 1.33116094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125336195 meters 0.016848948652550627 Centerline is valid? [True, True] Translation: X:26.86, Y:0.05, Z:0.14 [[ 9.99235648e-01 -2.88124186e-02 -2.64190233e-02 2.68551636e+01] [ 2.88077551e-02 9.99584815e-01 -5.57184976e-04 4.99951685e-02] [ 2.64241084e-02 -2.04313663e-04 9.99650801e-01 1.35804312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.155336195 meters 0.01732093619318126 Centerline is valid? [True, True] Translation: X:26.88, Y:0.06, Z:0.14 [[ 9.99139329e-01 -2.90523568e-02 -2.96067823e-02 2.68849377e+01] [ 2.90465841e-02 9.99577863e-01 -6.25131618e-04 5.89231165e-02] [ 2.96124457e-02 -2.35382308e-04 9.99561428e-01 1.37554581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185336195 meters 0.017384304138351063 Centerline is valid? [True, True] Translation: X:26.91, Y:0.06, Z:0.13 [[ 9.99109862e-01 -2.90488890e-02 -3.05883129e-02 2.69135344e+01] [ 2.90425996e-02 9.99577963e-01 -6.49976805e-04 5.89107895e-02] [ 3.05942847e-02 -2.38965888e-04 9.99531857e-01 1.34551224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.215336195 meters 0.018512624624038562 Centerline is valid? [True, True] Translation: X:26.94, Y:0.05, Z:0.13 [[ 9.99114447e-01 -2.90417609e-02 -3.04450001e-02 2.69414313e+01] [ 2.90354484e-02 9.99578171e-01 -6.49506206e-04 5.46018471e-02] [ 3.04510203e-02 -2.35053195e-04 9.99536233e-01 1.28758730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245336195 meters 0.018000583179992664 Centerline is valid? [True, True] Translation: X:26.97, Y:0.06, Z:0.13 [[ 9.99068935e-01 -2.91719389e-02 -3.17845980e-02 2.69697074e+01] [ 2.91650641e-02 9.99574378e-01 -6.79987277e-04 5.52693645e-02] [ 3.17909064e-02 -2.47645675e-04 9.99494511e-01 1.29216688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.275336195 meters 0.0184979760610307 Centerline is valid? [True, True] Translation: X:27.00, Y:0.06, Z:0.13 [[ 9.99041304e-01 -2.91057611e-02 -3.27005663e-02 2.69977281e+01] [ 2.90983854e-02 9.99576306e-01 -7.01525012e-04 5.76581741e-02] [ 3.27071297e-02 -2.50681220e-04 9.99464947e-01 1.27662822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305336195000002 meters 0.018383945517930232 Centerline is valid? [True, True] Translation: X:27.03, Y:0.06, Z:0.13 [[ 9.98997737e-01 -2.95135492e-02 -3.36522251e-02 2.70266344e+01] [ 2.95058049e-02 9.99564345e-01 -7.26820088e-04 6.06856792e-02] [ 3.36590154e-02 -2.66844365e-04 9.99433339e-01 1.28758428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.335336195 meters 0.01887703673442122 Centerline is valid? [True, True] Translation: X:27.05, Y:0.06, Z:0.13 [[ 9.98973850e-01 -3.08102633e-02 -3.31960173e-02 2.70532768e+01] [ 3.08033324e-02 9.99525205e-01 -7.20303523e-04 6.15473913e-02] [ 3.32024487e-02 -3.02983571e-04 9.99448601e-01 1.29736072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365336195 meters 0.018971250332714983 Centerline is valid? [True, True] Translation: X:27.08, Y:0.06, Z:0.13 [[ 9.98960436e-01 -3.22168469e-02 -3.22509287e-02 2.70821965e+01] [ 3.22108847e-02 9.99480847e-01 -7.04537813e-04 6.17967343e-02] [ 3.22568835e-02 -3.35025544e-04 9.99479555e-01 1.32239646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.395336195000002 meters 0.019696372415737778 Centerline is valid? [True, True] Translation: X:27.11, Y:0.06, Z:0.14 [[ 9.98887286e-01 -3.57692211e-02 -3.07368251e-02 2.71097730e+01] [ 3.57653131e-02 9.99359987e-01 -6.77095950e-04 5.97554786e-02] [ 3.07413723e-02 -4.22969637e-04 9.99527283e-01 1.36326446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425336195 meters 0.020995319986837607 Centerline is valid? [True, True] Translation: X:27.14, Y:0.06, Z:0.14 [[ 9.98840550e-01 -3.89364142e-02 -2.83109862e-02 2.71393401e+01] [ 3.89343370e-02 9.99241576e-01 -6.24822694e-04 5.80491046e-02] [ 2.83138429e-02 -4.78171234e-04 9.99598968e-01 1.40833542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.455336195 meters 0.021485665950325045 Centerline is valid? [True, True] Translation: X:27.17, Y:0.06, Z:0.14 [[ 9.98830835e-01 -3.93557294e-02 -2.80729249e-02 2.71711023e+01] [ 3.93538810e-02 9.99225145e-01 -6.18554584e-04 6.42422506e-02] [ 2.80755161e-02 -4.86947152e-04 9.99605686e-01 1.42762042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485336195000002 meters 0.021562837949424728 Centerline is valid? [True, True] Translation: X:27.20, Y:0.06, Z:0.14 [[ 9.98803138e-01 -3.86779417e-02 -2.99383928e-02 2.72022069e+01] [ 3.86755701e-02 9.99251603e-01 -6.58499937e-04 6.49526346e-02] [ 2.99414565e-02 -5.00172609e-04 9.99551529e-01 1.38542453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.515336195 meters 0.022748276202869303 Centerline is valid? [True, True] Translation: X:27.23, Y:0.06, Z:0.13 [[ 9.98755709e-01 -3.87454271e-02 -3.13978508e-02 2.72328560e+01] [ 3.87428693e-02 9.99248975e-01 -6.90057350e-04 6.16708819e-02] [ 3.14010068e-02 -5.27244112e-04 9.99506728e-01 1.32460062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545336195 meters 0.0226624814572377 Centerline is valid? [True, True] Translation: X:27.26, Y:0.06, Z:0.14 [[ 9.98706859e-01 -4.03140637e-02 -3.09739538e-02 2.72635875e+01] [ 4.03123309e-02 9.99186896e-01 -6.80659805e-04 6.23214295e-02] [ 3.09762089e-02 -5.68852658e-04 9.99519960e-01 1.36106755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.575336195000002 meters 0.02141285836219761 Centerline is valid? [True, True] Translation: X:27.29, Y:0.07, Z:0.14 [[ 9.98651949e-01 -4.11245389e-02 -3.16710872e-02 2.72946521e+01] [ 4.11231539e-02 9.99153843e-01 -6.95376115e-04 6.95243981e-02] [ 3.16728855e-02 -6.07976280e-04 9.99498103e-01 1.42257035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605336195 meters 0.02141285836219761 Centerline is valid? [True, True] Translation: X:27.33, Y:0.07, Z:0.14 [[ 9.98652956e-01 -4.11000644e-02 -3.16711042e-02 2.73255109e+01] [ 4.10986917e-02 9.99154850e-01 -6.94600164e-04 7.01653572e-02] [ 3.16728855e-02 -6.07976442e-04 9.99498103e-01 1.42475397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.635336195 meters 0.02335711280405829 Centerline is valid? [True, True] Translation: X:27.36, Y:0.07, Z:0.14 [[ 9.98625851e-01 -4.10223461e-02 -3.26125165e-02 2.73558037e+01] [ 4.10208654e-02 9.99158034e-01 -7.14757050e-04 6.80902528e-02] [ 3.26143789e-02 -6.24018780e-04 9.99467815e-01 1.37680020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665336195000002 meters 0.023247904363009813 Centerline is valid? [True, True] Translation: X:27.39, Y:0.07, Z:0.14 [[ 9.98594226e-01 -4.11928912e-02 -3.33574324e-02 2.73868513e+01] [ 4.11914612e-02 9.99151005e-01 -7.30370811e-04 6.65243906e-02] [ 3.33591982e-02 -6.44697309e-04 9.99443219e-01 1.35695687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.695336195 meters 0.02442236960700204 Centerline is valid? [True, True] Translation: X:27.42, Y:0.07, Z:0.14 [[ 9.98683225e-01 -4.01575103e-02 -3.19247695e-02 2.74162382e+01] [ 4.01556671e-02 9.99193191e-01 -6.99134738e-04 6.64249724e-02] [ 3.19270878e-02 -5.83746282e-04 9.99490030e-01 1.37074922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725336195 meters 0.022458584247525667 Centerline is valid? [True, True] Translation: X:27.45, Y:0.07, Z:0.14 [[ 9.98702753e-01 -3.93481123e-02 -3.23193027e-02 2.74471236e+01] [ 3.93457872e-02 9.99225404e-01 -7.08165375e-04 7.04634334e-02] [ 3.23221332e-02 -5.64381696e-04 9.99477344e-01 1.39999140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.755336195 meters 0.02270784567282668 Centerline is valid? [True, True] Translation: X:27.48, Y:0.07, Z:0.14 [[ 9.98754892e-01 -3.79528495e-02 -3.23766555e-02 2.74771605e+01] [ 3.79497806e-02 9.99279396e-01 -7.09507981e-04 7.11901165e-02] [ 3.23802526e-02 -5.20062408e-04 9.99475487e-01 1.37488570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785336195 meters 0.0202850471353809 Centerline is valid? [True, True] Translation: X:27.51, Y:0.07, Z:0.14 [[ 9.98983189e-01 -3.32304118e-02 -3.04684845e-02 2.75057475e+01] [ 3.32254817e-02 9.99447658e-01 -6.68218636e-04 7.40312106e-02] [ 3.04738607e-02 -3.44790892e-04 9.99535505e-01 1.37416787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.815336195 meters 0.016910313030338544 Centerline is valid? [True, True] Translation: X:27.54, Y:0.08, Z:0.14 [[ 9.99197854e-01 -2.78538232e-02 -2.87717573e-02 2.75357210e+01] [ 2.78471938e-02 9.99611992e-01 -6.31157310e-04 7.77560457e-02] [ 2.87781737e-02 -1.70561670e-04 9.99585808e-01 1.39633530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845336195 meters 0.01607881992885396 Centerline is valid? [True, True] Translation: X:27.56, Y:0.08, Z:0.14 [[ 9.99272656e-01 -2.51932511e-02 -2.86261947e-02 2.75646792e+01] [ 2.51854907e-02 9.99682596e-01 -6.31674684e-04 8.28773506e-02] [ 2.86330225e-02 -8.97495205e-05 9.99589987e-01 1.43199885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.875336195 meters 0.0168271982082071 Centerline is valid? [True, True] Translation: X:27.59, Y:0.10, Z:0.15 [[ 9.99396385e-01 -2.00519871e-02 -2.83686951e-02 2.75923261e+01] [ 2.00422236e-02 9.99798937e-01 -6.28497133e-04 9.58173541e-02] [ 2.83755939e-02 5.95460325e-05 9.99597330e-01 1.46306072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905336195 meters 0.018467510380803697 Centerline is valid? [True, True] Translation: X:27.62, Y:0.10, Z:0.14 [[ 9.99433977e-01 -1.81897721e-02 -2.82994435e-02 2.76198621e+01] [ 1.81792615e-02 9.99834546e-01 -6.28664771e-04 1.01985766e-01] [ 2.83061965e-02 1.13845948e-04 9.99599293e-01 1.44255288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.935336195 meters 0.020378386266872935 Centerline is valid? [True, True] Translation: X:27.65, Y:0.11, Z:0.14 [[ 9.99444047e-01 -1.42338117e-02 -3.01495405e-02 2.76487123e+01] [ 1.42200441e-02 9.99898665e-01 -6.71017625e-04 1.11196459e-01] [ 3.01560365e-02 2.41916774e-04 9.99545174e-01 1.42731815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965336195 meters 0.02295554796439819 Centerline is valid? [True, True] Translation: X:27.68, Y:0.11, Z:0.13 [[ 9.99360762e-01 -1.02688796e-02 -3.42434993e-02 2.76784360e+01] [ 1.02487664e-02 9.99947189e-01 -7.62840854e-04 1.13744424e-01] [ 3.42495244e-02 4.11399593e-04 9.99413228e-01 1.32989004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.995336195 meters 0.02524171972669886 Centerline is valid? [True, True] Translation: X:27.71, Y:0.12, Z:0.13 [[ 9.99341203e-01 -9.53536864e-03 -3.50176538e-02 2.77061231e+01] [ 9.51382281e-03 9.99954437e-01 -7.81863812e-04 1.16506676e-01] [ 3.50235136e-02 4.48196969e-04 9.99386388e-01 1.27930465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025336195 meters 0.02338661517069244 Centerline is valid? [True, True] Translation: X:27.73, Y:0.12, Z:0.14 [[ 9.99376293e-01 -9.77716188e-03 -3.39327655e-02 2.77343686e+01] [ 9.75690319e-03 9.99952110e-01 -7.62564323e-04 1.22632330e-01] [ 3.39385962e-02 4.31009998e-04 9.99423827e-01 1.35771763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.055336195000002 meters 0.022654471155581248 Centerline is valid? [True, True] Translation: X:27.76, Y:0.13, Z:0.14 [[ 9.99386075e-01 -1.05788102e-02 -3.34000227e-02 2.77635520e+01] [ 1.05595119e-02 9.99943962e-01 -7.54138321e-04 1.25169352e-01] [ 3.34061289e-02 4.00987399e-04 9.99441779e-01 1.37876070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085336195 meters 0.020808156681611848 Centerline is valid? [True, True] Translation: X:27.79, Y:0.13, Z:0.14 [[ 9.99387149e-01 -1.31816047e-02 -3.24279540e-02 2.77918650e+01] [ 1.31647235e-02 9.99913072e-01 -7.34038328e-04 1.30050717e-01] [ 3.24348109e-02 3.06683423e-04 9.99473806e-01 1.42632552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.115336195 meters 0.020416260171812542 Centerline is valid? [True, True] Translation: X:27.82, Y:0.14, Z:0.14 [[ 9.99358699e-01 -1.52422835e-02 -3.24015983e-02 2.78192025e+01] [ 1.52264278e-02 9.99883800e-01 -7.36055373e-04 1.35715746e-01] [ 3.24090524e-02 2.42222745e-04 9.99474659e-01 1.44333920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145336195000002 meters 0.018526248337413686 Centerline is valid? [True, True] Translation: X:27.85, Y:0.13, Z:0.14 [[ 9.99306605e-01 -2.05479386e-02 -3.10498318e-02 2.78474822e+01] [ 2.05358846e-02 9.99788866e-01 -7.07090463e-04 1.34597897e-01] [ 3.10578054e-02 6.89644051e-05 9.99517588e-01 1.42802830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.175336195 meters 0.01677475514177663 Centerline is valid? [True, True] Translation: X:27.88, Y:0.13, Z:0.14 [[ 9.99233415e-01 -2.57191186e-02 -2.95145660e-02 2.78759425e+01] [ 2.57103614e-02 9.99669205e-01 -6.76226750e-04 1.27210841e-01] [ 2.95221947e-02 -8.31217962e-05 9.99564122e-01 1.43841860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205336195 meters 0.017239581695917494 Centerline is valid? [True, True] Translation: X:27.90, Y:0.13, Z:0.14 [[ 9.99159978e-01 -2.80612019e-02 -2.98648331e-02 2.79035476e+01] [ 2.80532050e-02 9.99606195e-01 -6.86815767e-04 1.26954913e-01] [ 2.98723451e-02 -1.51565459e-04 9.99553710e-01 1.42885292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.235336195000002 meters 0.019648458196301215 Centerline is valid? [True, True] Translation: X:27.93, Y:0.12, Z:0.14 [[ 9.98896024e-01 -3.48269554e-02 -3.15248624e-02 2.79333734e+01] [ 3.48213799e-02 9.99393288e-01 -7.26014269e-04 1.22371822e-01] [ 3.15310207e-02 -3.72526443e-04 9.99502704e-01 1.41528408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265336195 meters 0.022758053996915047 Centerline is valid? [True, True] Translation: X:27.96, Y:0.12, Z:0.14 [[ 9.98782310e-01 -3.77818322e-02 -3.17242818e-02 2.79632116e+01] [ 3.77776613e-02 9.99285902e-01 -7.31062338e-04 1.16817427e-01] [ 3.17292484e-02 -4.68297043e-04 9.99496391e-01 1.38238370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.295336195 meters 0.024841766986165952 Centerline is valid? [True, True] Translation: X:27.99, Y:0.11, Z:0.14 [[ 9.98526498e-01 -4.35442465e-02 -3.23841109e-02 2.79940416e+01] [ 4.35429352e-02 9.99051278e-01 -7.46058534e-04 1.12665899e-01] [ 3.23858739e-02 -6.65140025e-04 9.99475219e-01 1.42521525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325336195000002 meters 0.030061792852220444 Centerline is valid? [True, True] Translation: X:28.02, Y:0.10, Z:0.14 [[ 9.98298367e-01 -4.92617412e-02 -3.12033768e-02 2.80242311e+01] [ 4.92633159e-02 9.98785567e-01 -7.18778045e-04 1.04716080e-01] [ 3.12008907e-02 -8.19626860e-04 9.99512798e-01 1.44064773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.355336195 meters 0.03206459402633207 Centerline is valid? [True, True] Translation: X:28.06, Y:0.10, Z:0.15 [[ 9.98220703e-01 -5.16410877e-02 -2.98098226e-02 2.80565631e+01] [ 5.16436144e-02 9.98665343e-01 -6.85662577e-04 1.00647121e-01] [ 2.98054451e-02 -8.55044404e-04 9.99555353e-01 1.46288980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385336195 meters 0.031657341235491854 Centerline is valid? [True, True] Translation: X:28.09, Y:0.10, Z:0.15 [[ 9.98060868e-01 -5.52051291e-02 -2.87558195e-02 2.80875409e+01] [ 5.52089870e-02 9.98474602e-01 -6.60381004e-04 9.72850047e-02] [ 2.87484119e-02 -9.28479229e-04 9.99586248e-01 1.50565766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.415336195000002 meters 0.03171486476183019 Centerline is valid? [True, True] Translation: X:28.12, Y:0.10, Z:0.15 [[ 9.98012541e-01 -5.59053225e-02 -2.90785787e-02 2.81198464e+01] [ 5.59096017e-02 9.98435612e-01 -6.66513575e-04 9.62368588e-02] [ 2.90703502e-02 -9.60582849e-04 9.99576907e-01 1.50557853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445336195 meters 0.03287211526618743 Centerline is valid? [True, True] Translation: X:28.15, Y:0.09, Z:0.14 [[ 9.97988569e-01 -5.52526472e-02 -3.10799084e-02 2.81512126e+01] [ 5.52572963e-02 9.98471896e-01 -7.09955614e-04 8.94431566e-02] [ 3.10716420e-02 -1.00886412e-03 9.99516651e-01 1.43948513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.475336195 meters 0.035532554830658744 Centerline is valid? [True, True] Translation: X:28.18, Y:0.08, Z:0.14 [[ 9.97997502e-01 -5.43594052e-02 -3.23425574e-02 2.81823618e+01] [ 5.43640207e-02 9.98520911e-01 -7.37291457e-04 8.27972792e-02] [ 3.23347986e-02 -1.02245643e-03 9.99476571e-01 1.37623558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505336195 meters 0.03255775583533826 Centerline is valid? [True, True] Translation: X:28.21, Y:0.09, Z:0.14 [[ 9.98180919e-01 -5.14989464e-02 -3.13482235e-02 2.82130619e+01] [ 5.15018886e-02 9.98672642e-01 -7.14118503e-04 8.79237306e-02] [ 3.13433895e-02 -9.01673250e-04 9.99508269e-01 1.43423901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.535336195 meters 0.031415213913660194 Centerline is valid? [True, True] Translation: X:28.24, Y:0.09, Z:0.15 [[ 9.98319925e-01 -4.96954651e-02 -2.97940962e-02 2.82436614e+01] [ 4.96973369e-02 9.98764094e-01 -6.78136760e-04 9.37157299e-02] [ 2.97909738e-02 -8.03689797e-04 9.99555827e-01 1.49469923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565336195 meters 0.027373387276812256 Centerline is valid? [True, True] Translation: X:28.27, Y:0.10, Z:0.16 [[ 9.98508988e-01 -4.67632819e-02 -2.81601862e-02 2.82741473e+01] [ 4.67637991e-02 9.98905770e-01 -6.40560443e-04 1.01650534e-01] [ 2.81593272e-02 -6.77271931e-04 9.99603218e-01 1.55707130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.595336195 meters 0.02290482959874725 Centerline is valid? [True, True] Translation: X:28.31, Y:0.10, Z:0.15 [[ 9.98709243e-01 -4.33469505e-02 -2.64743334e-02 2.83053986e+01] [ 4.33462159e-02 9.99059930e-01 -6.01900273e-04 9.76564895e-02] [ 2.64755362e-02 -5.46438803e-04 9.99649312e-01 1.51818372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625336195 meters 0.022591256666756848 Centerline is valid? [True, True] Translation: X:28.34, Y:0.09, Z:0.15 [[ 9.98796997e-01 -4.15385100e-02 -2.60597518e-02 2.83364941e+01] [ 4.15372027e-02 9.99136783e-01 -5.91717085e-04 9.34963915e-02] [ 2.60618356e-02 -4.91443945e-04 9.99660212e-01 1.47716011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.655336195 meters 0.019964115457166007 Centerline is valid? [True, True] Translation: X:28.37, Y:0.10, Z:0.15 [[ 9.98948887e-01 -3.74948990e-02 -2.63676477e-02 2.83674969e+01] [ 3.74921710e-02 9.99296742e-01 -5.97999832e-04 9.87919483e-02] [ 2.63715264e-02 -3.91209089e-04 9.99652134e-01 1.49623164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685336195 meters 0.020531946197948202 Centerline is valid? [True, True] Translation: X:28.40, Y:0.11, Z:0.15 [[ 9.98989817e-01 -3.52897414e-02 -2.78204871e-02 2.83988760e+01] [ 3.52859001e-02 9.99377061e-01 -6.29146527e-04 1.05998839e-01] [ 2.78253590e-02 -3.53159954e-04 9.99612737e-01 1.49887509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.715336195 meters 0.019345865762643043 Centerline is valid? [True, True] Translation: X:28.43, Y:0.12, Z:0.15 [[ 9.98914957e-01 -3.41642853e-02 -3.16497925e-02 2.84294576e+01] [ 3.41587787e-02 9.99416163e-01 -7.14822404e-04 1.17811904e-01] [ 3.16557356e-02 -3.67071467e-04 9.99498764e-01 1.52869233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745336195 meters 0.021201405558810567 Centerline is valid? [True, True] Translation: X:28.46, Y:0.11, Z:0.15 [[ 9.98841575e-01 -3.46693539e-02 -3.33698056e-02 2.84577240e+01] [ 3.46634788e-02 9.99398756e-01 -7.54735595e-04 1.13117395e-01] [ 3.33759084e-02 -4.02852257e-04 9.99442788e-01 1.45187482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.775336195 meters 0.019657189816229916 Centerline is valid? [True, True] Translation: X:28.49, Y:0.10, Z:0.14 [[ 9.98786022e-01 -3.51669157e-02 -3.44930578e-02 2.84862653e+01] [ 3.51608379e-02 9.99381360e-01 -7.82958268e-04 1.04653390e-01] [ 3.44992532e-02 -4.30797041e-04 9.99404631e-01 1.44142762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805336195 meters 0.02112797255942886 Centerline is valid? [True, True] Translation: X:28.51, Y:0.10, Z:0.14 [[ 9.98814897e-01 -3.57114420e-02 -3.30680403e-02 2.85145525e+01] [ 3.57060815e-02 9.99362051e-01 -7.52806212e-04 9.87683879e-02] [ 3.30738283e-02 -4.28816083e-04 9.99452819e-01 1.40909544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.835336195 meters 0.020240862206500464 Centerline is valid? [True, True] Translation: X:28.54, Y:0.10, Z:0.15 [[ 9.98871577e-01 -3.75170543e-02 -2.91211687e-02 2.85443737e+01] [ 3.75136373e-02 9.99295895e-01 -6.63856095e-04 9.94537214e-02] [ 2.91255702e-02 -4.29333975e-04 9.99575668e-01 1.53776283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865336195 meters 0.020405757051281632 Centerline is valid? [True, True] Translation: X:28.58, Y:0.10, Z:0.16 [[ 9.98885985e-01 -3.80888931e-02 -2.78572382e-02 2.85752166e+01] [ 3.80859976e-02 9.99274264e-01 -6.34712402e-04 1.01626650e-01] [ 2.78611967e-02 -4.26965385e-04 9.99611710e-01 1.58559586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.895336195000002 meters 0.0193918034150151 Centerline is valid? [True, True] Translation: X:28.61, Y:0.10, Z:0.16 [[ 9.99005423e-01 -3.69622022e-02 -2.49391538e-02 2.86067058e+01] [ 3.69595446e-02 9.99316601e-01 -5.67651958e-04 1.01375098e-01] [ 2.49430921e-02 -3.54652384e-04 9.99688810e-01 1.63081288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925336195 meters 0.018155882023450174 Centerline is valid? [True, True] Translation: X:28.64, Y:0.09, Z:0.16 [[ 9.99104086e-01 -3.50756916e-02 -2.36795677e-02 2.86386702e+01] [ 3.50727837e-02 9.99384616e-01 -5.38234255e-04 9.41351528e-02] [ 2.36838746e-02 -2.92756310e-04 9.99719455e-01 1.59774715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.955336195 meters 0.019002432800833153 Centerline is valid? [True, True] Translation: X:28.67, Y:0.09, Z:0.16 [[ 9.99092677e-01 -3.48012389e-02 -2.45498618e-02 2.86694331e+01] [ 3.47980470e-02 9.99394209e-01 -5.57344177e-04 9.16912913e-02] [ 2.45543860e-02 -2.97448757e-04 9.99698451e-01 1.57013956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985336195000002 meters 0.018828747604552172 Centerline is valid? [True, True] Translation: X:28.70, Y:0.10, Z:0.16 [[ 9.99027072e-01 -3.41086623e-02 -2.79554698e-02 2.87009160e+01] [ 3.41042717e-02 9.99418079e-01 -6.33977265e-04 9.71944318e-02] [ 2.79608260e-02 -3.20040484e-04 9.99608968e-01 1.57429044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.015336195 meters 0.01890629163988123 Centerline is valid? [True, True] Translation: X:28.73, Y:0.10, Z:0.16 [[ 9.99029262e-01 -3.37498877e-02 -2.83103874e-02 2.87312778e+01] [ 3.37452688e-02 9.99430261e-01 -6.41039828e-04 9.84402089e-02] [ 2.83158929e-02 -3.14924085e-04 9.99598975e-01 1.56354467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045336195 meters 0.018640314865772268 Centerline is valid? [True, True] Translation: X:28.76, Y:0.09, Z:0.16 [[ 9.99015580e-01 -3.42788937e-02 -2.81572033e-02 2.87614243e+01] [ 3.42745423e-02 9.99412252e-01 -6.37300478e-04 9.40566794e-02] [ 2.81625000e-02 -3.28402150e-04 9.99603304e-01 1.56017751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.075336195000002 meters 0.018497472548545456 Centerline is valid? [True, True] Translation: X:28.79, Y:0.09, Z:0.16 [[ 9.99008376e-01 -3.47496912e-02 -2.78338420e-02 2.87920648e+01] [ 3.47456218e-02 9.99395990e-01 -6.29981628e-04 9.00704960e-02] [ 2.78389217e-02 -3.37747224e-04 9.99612365e-01 1.55673949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105336195 meters 0.019093189023972584 Centerline is valid? [True, True] Translation: X:28.82, Y:0.09, Z:0.16 [[ 9.98999778e-01 -3.54041226e-02 -2.73128497e-02 2.88229763e+01] [ 3.54004552e-02 9.99373016e-01 -6.17946702e-04 8.60896762e-02] [ 2.73176029e-02 -3.49558696e-04 9.99626744e-01 1.55582188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.135336195 meters 0.020259955668546596 Centerline is valid? [True, True] Translation: X:28.85, Y:0.08, Z:0.16 [[ 9.98953516e-01 -3.67424873e-02 -2.72371428e-02 2.88532561e+01] [ 3.67393463e-02 9.99324693e-01 -6.15911103e-04 8.31687932e-02] [ 2.72413794e-02 -3.85408259e-04 9.99628810e-01 1.57407120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165336195000002 meters 0.020603783176970515 Centerline is valid? [True, True] Translation: X:28.88, Y:0.09, Z:0.16 [[ 9.98939441e-01 -3.70201209e-02 -2.73770614e-02 2.88841793e+01] [ 3.70170669e-02 9.99314442e-01 -6.18520259e-04 8.59964909e-02] [ 2.73811906e-02 -3.95554233e-04 9.99624987e-01 1.59391875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.195336195 meters 0.019937790112146803 Centerline is valid? [True, True] Translation: X:28.92, Y:0.09, Z:0.16 [[ 9.98960228e-01 -3.72628208e-02 -2.62668019e-02 2.89155675e+01] [ 3.72601094e-02 9.99305425e-01 -5.92823986e-04 8.50665770e-02] [ 2.62706480e-02 -3.86496330e-04 9.99654792e-01 1.61158432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225336195 meters 0.020253065438699227 Centerline is valid? [True, True] Translation: X:28.95, Y:0.08, Z:0.16 [[ 9.98919923e-01 -3.77461831e-02 -2.70963642e-02 2.89474119e+01] [ 3.77434931e-02 9.99287274e-01 -6.10899137e-04 7.65832682e-02] [ 2.71001111e-02 -4.12472119e-04 9.99632639e-01 1.56786379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.255336195 meters 0.023160384214296486 Centerline is valid? [True, True] Translation: X:28.98, Y:0.07, Z:0.16 [[ 9.98857205e-01 -3.85028397e-02 -2.83163385e-02 2.89787689e+01] [ 3.85002257e-02 9.99258388e-01 -6.37712701e-04 7.20772077e-02] [ 2.83198926e-02 -4.53201498e-04 9.99598809e-01 1.55084913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285336195 meters 0.023865085954597895 Centerline is valid? [True, True] Translation: X:29.01, Y:0.06, Z:0.15 [[ 9.98669293e-01 -4.17610055e-02 -3.02599142e-02 2.90092765e+01] [ 4.17595353e-02 9.99127458e-01 -6.80826882e-04 6.34329768e-02] [ 3.02619432e-02 -5.83719053e-04 9.99541832e-01 1.51572433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.315336195 meters 0.024695120727128497 Centerline is valid? [True, True] Translation: X:29.04, Y:0.06, Z:0.15 [[ 9.98539212e-01 -4.40610395e-02 -3.12740616e-02 2.90404937e+01] [ 4.40606193e-02 9.99028612e-01 -7.02916892e-04 6.32522594e-02] [ 3.12746536e-02 -6.76064444e-04 9.99510600e-01 1.53778733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345336195 meters 0.02894257123515799 Centerline is valid? [True, True] Translation: X:29.07, Y:0.05, Z:0.15 [[ 9.98329391e-01 -4.83549258e-02 -3.16263889e-02 2.90709466e+01] [ 4.83566540e-02 9.98829880e-01 -7.10664855e-04 4.97446829e-02] [ 3.16237464e-02 -8.19868734e-04 9.99499508e-01 1.51935733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.375336195 meters 0.028611925953819516 Centerline is valid? [True, True] Translation: X:29.10, Y:0.05, Z:0.15 [[ 9.98299756e-01 -4.97252222e-02 -3.04138059e-02 2.91031246e+01] [ 4.97274888e-02 9.98762590e-01 -6.82316858e-04 4.51738118e-02] [ 3.04100999e-02 -8.31245437e-04 9.99537160e-01 1.54587925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405336195 meters 0.026947422602680297 Centerline is valid? [True, True] Translation: X:29.13, Y:0.04, Z:0.16 [[ 9.98405412e-01 -4.90443891e-02 -2.79513904e-02 2.91346153e+01] [ 4.90460587e-02 9.98796322e-01 -6.26265022e-04 4.38402785e-02] [ 2.79484607e-02 -7.45639147e-04 9.99609087e-01 1.61687000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.435336195 meters 0.028222949620499014 Centerline is valid? [True, True] Translation: X:29.17, Y:0.04, Z:0.16 [[ 9.98506157e-01 -4.72264706e-02 -2.74793409e-02 2.91656015e+01] [ 4.72274143e-02 9.98883974e-01 -6.15031858e-04 4.16327143e-02] [ 2.74777190e-02 -6.83665118e-04 9.99622182e-01 1.59963252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465336195 meters 0.022904879313008854 Centerline is valid? [True, True] Translation: X:29.20, Y:0.05, Z:0.16 [[ 9.98836334e-01 -4.06770421e-02 -2.59105595e-02 2.91956463e+01] [ 4.06756843e-02 9.99172234e-01 -5.79673683e-04 4.76494870e-02] [ 2.59126911e-02 -4.74930603e-04 9.99664097e-01 1.61415337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.495336195 meters 0.022904879313008854 Centerline is valid? [True, True] Translation: X:29.23, Y:0.05, Z:0.16 [[ 9.98838214e-01 -4.06308382e-02 -2.59105797e-02 2.92273482e+01] [ 4.06294882e-02 9.99174114e-01 -5.78770229e-04 4.82811050e-02] [ 2.59126965e-02 -4.74635773e-04 9.99664097e-01 1.61639757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525336195 meters 0.026932688781204996 Centerline is valid? [True, True] Translation: X:29.26, Y:0.05, Z:0.16 [[ 9.99005233e-01 -3.68820491e-02 -2.50651106e-02 2.92587525e+01] [ 3.68796246e-02 9.99319559e-01 -5.59147905e-04 5.48151667e-02] [ 2.50686778e-02 -3.65800187e-04 9.99685664e-01 1.64376058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.555336195 meters 0.017038470076769466 Centerline is valid? [True, True] Translation: X:29.29, Y:0.07, Z:0.16 [[ 9.99225936e-01 -2.92299685e-02 -2.63275132e-02 2.92896530e+01] [ 2.92246605e-02 9.99572696e-01 -5.86447180e-04 6.52508017e-02] [ 2.63334052e-02 -1.83419404e-04 9.99653199e-01 1.60965868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585336195 meters 0.017125301171439265 Centerline is valid? [True, True] Translation: X:29.32, Y:0.06, Z:0.15 [[ 9.99275422e-01 -2.53513663e-02 -2.83890611e-02 2.93171855e+01] [ 2.53436012e-02 9.99678599e-01 -6.33362977e-04 6.32841411e-02] [ 2.83959934e-02 -8.65769845e-05 9.99596749e-01 1.54185043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.615336195 meters 0.016761121263720577 Centerline is valid? [True, True] Translation: X:29.35, Y:0.07, Z:0.16 [[ 9.99325626e-01 -2.44237787e-02 -2.74184765e-02 2.93459310e+01] [ 2.44160815e-02 9.99701694e-01 -6.15533059e-04 6.55995376e-02] [ 2.74253310e-02 -5.43337981e-05 9.99623853e-01 1.57469164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645336195000002 meters 0.017501156318433145 Centerline is valid? [True, True] Translation: X:29.37, Y:0.07, Z:0.16 [[ 9.99292369e-01 -2.42829511e-02 -2.87245323e-02 2.93735612e+01] [ 2.42743718e-02 9.99705124e-01 -6.47393157e-04 6.55067656e-02] [ 2.87317828e-02 -5.03349363e-05 9.99587156e-01 1.57838337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.675336195 meters 0.01810667789961723 Centerline is valid? [True, True] Translation: X:29.40, Y:0.06, Z:0.16 [[ 9.99262781e-01 -2.48613846e-02 -2.92541802e-02 2.94013471e+01] [ 2.48526831e-02 9.99690906e-01 -6.61064888e-04 6.41305437e-02] [ 2.92615729e-02 -6.64673306e-05 9.99571786e-01 1.56644524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705336195 meters 0.01672021232637376 Centerline is valid? [True, True] Translation: X:29.43, Y:0.06, Z:0.16 [[ 9.99327054e-01 -2.59170638e-02 -2.59565790e-02 2.94298777e+01] [ 2.59105369e-02 9.99664093e-01 -5.87812041e-04 6.36806695e-02] [ 2.59630943e-02 -8.51324203e-05 9.99662898e-01 1.64787335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.735336195000002 meters 0.01610246253685717 Centerline is valid? [True, True] Translation: X:29.46, Y:0.06, Z:0.17 [[ 9.99349829e-01 -2.64708381e-02 -2.44788507e-02 2.94592128e+01] [ 2.64651529e-02 9.99649582e-01 -5.56243115e-04 6.27312155e-02] [ 2.44849971e-02 -9.19550648e-05 9.99700193e-01 1.67312063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765336195 meters 0.015607270700516625 Centerline is valid? [True, True] Translation: X:29.49, Y:0.06, Z:0.17 [[ 9.99413561e-01 -2.64206443e-02 -2.17826375e-02 2.94874848e+01] [ 2.64160641e-02 9.99650911e-01 -4.98033616e-04 5.75031208e-02] [ 2.17881918e-02 -7.76699970e-05 9.99762606e-01 1.69763570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.795336195 meters 0.015199010036854694 Centerline is valid? [True, True] Translation: X:29.52, Y:0.06, Z:0.17 [[ 9.99486584e-01 -2.44137709e-02 -2.07493530e-02 2.95168307e+01] [ 2.44091520e-02 9.99701939e-01 -4.75880747e-04 6.24191059e-02] [ 2.07547865e-02 -3.08376884e-05 9.99784596e-01 1.74363320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825336195000002 meters 0.015697784118232996 Centerline is valid? [True, True] Translation: X:29.55, Y:0.07, Z:0.17 [[ 9.99472007e-01 -2.37016025e-02 -2.22248038e-02 2.95458048e+01] [ 2.36961149e-02 9.99719077e-01 -5.10271141e-04 6.57669769e-02] [ 2.22306546e-02 -1.66397824e-05 9.99752868e-01 1.71789434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.855336195 meters 0.017151858233132623 Centerline is valid? [True, True] Translation: X:29.58, Y:0.07, Z:0.16 [[ 9.99422196e-01 -2.08132361e-02 -2.68715919e-02 2.95756469e+01] [ 2.08041513e-02 9.99783379e-01 -6.17636531e-04 6.66519193e-02] [ 2.68786259e-02 5.82389947e-05 9.99638703e-01 1.61136182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885336195 meters 0.017780862111195964 Centerline is valid? [True, True] Translation: X:29.60, Y:0.07, Z:0.16 [[ 9.99422136e-01 -1.96818026e-02 -2.77131925e-02 2.96043327e+01] [ 1.96716045e-02 9.99806290e-01 -6.40598870e-04 6.55647758e-02] [ 2.77204323e-02 9.50657282e-05 9.99615710e-01 1.57270594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.915336195000002 meters 0.01793129402980416 Centerline is valid? [True, True] Translation: X:29.63, Y:0.07, Z:0.16 [[ 9.99458668e-01 -1.89262752e-02 -2.69103466e-02 2.96333077e+01] [ 1.89162653e-02 9.99820875e-01 -6.26515394e-04 6.67279814e-02] [ 2.69173839e-02 1.17132986e-04 9.99637655e-01 1.57214546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945336195 meters 0.01820681380018981 Centerline is valid? [True, True] Translation: X:29.66, Y:0.07, Z:0.16 [[ 9.99447353e-01 -1.90963608e-02 -2.72087667e-02 2.96614509e+01] [ 1.90860658e-02 9.99817641e-01 -6.38045205e-04 7.11599539e-02] [ 2.72159893e-02 1.18384279e-04 9.99629569e-01 1.58799069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.975336195 meters 0.0180125444553775 Centerline is valid? [True, True] Translation: X:29.69, Y:0.08, Z:0.16 [[ 9.99404142e-01 -2.01506866e-02 -2.80234034e-02 2.96899471e+01] [ 2.01400457e-02 9.99796950e-01 -6.61942546e-04 7.96827127e-02] [ 2.80310518e-02 9.71554968e-05 9.99607048e-01 1.64358910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005336195 meters 0.017903344415376644 Centerline is valid? [True, True] Translation: X:29.72, Y:0.08, Z:0.17 [[ 9.99377907e-01 -2.14531767e-02 -2.79921306e-02 2.97175696e+01] [ 2.14430013e-02 9.99769852e-01 -6.63669381e-04 8.32698777e-02] [ 2.79999261e-02 6.30212241e-05 9.99607923e-01 1.65556351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.035336195 meters 0.017170531803816915 Centerline is valid? [True, True] Translation: X:29.75, Y:0.09, Z:0.17 [[ 9.99397965e-01 -2.34692874e-02 -2.55519009e-02 2.97451022e+01] [ 2.34614297e-02 9.99724558e-01 -6.07307585e-04 8.50498189e-02] [ 2.55591159e-02 7.45783816e-06 9.99673312e-01 1.66254328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065336195 meters 0.017516207621866373 Centerline is valid? [True, True] Translation: X:29.77, Y:0.08, Z:0.17 [[ 9.99413895e-01 -2.49322389e-02 -2.34574139e-02 2.97741692e+01] [ 2.49259462e-02 9.99689143e-01 -5.60654658e-04 7.96186437e-02] [ 2.34641004e-02 -2.43721815e-05 9.99724680e-01 1.66538297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.095336195 meters 0.016249629717986477 Centerline is valid? [True, True] Translation: X:29.80, Y:0.08, Z:0.16 [[ 9.99390011e-01 -2.52564208e-02 -2.41188678e-02 2.98022839e+01] [ 2.52498138e-02 9.99681005e-01 -5.78484546e-04 8.10078387e-02] [ 2.41257844e-02 -3.08652439e-05 9.99708930e-01 1.64210077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125336195 meters 0.016913267667053637 Centerline is valid? [True, True] Translation: X:29.83, Y:0.09, Z:0.16 [[ 9.99289722e-01 -2.81851490e-02 -2.50129779e-02 2.98302418e+01] [ 2.81789306e-02 9.99602714e-01 -6.01116113e-04 8.65571307e-02] [ 2.50199832e-02 -1.04149815e-04 9.99686946e-01 1.64540944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.155336195 meters 0.017424364309500364 Centerline is valid? [True, True] Translation: X:29.86, Y:0.09, Z:0.17 [[ 9.99224737e-01 -3.06875185e-02 -2.46617531e-02 2.98603226e+01] [ 3.06822174e-02 9.99529014e-01 -5.93407748e-04 8.81683156e-02] [ 2.46683479e-02 -1.63729568e-04 9.99695677e-01 1.66512997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185336195 meters 0.01947060376371319 Centerline is valid? [True, True] Translation: X:29.89, Y:0.09, Z:0.17 [[ 9.98995187e-01 -3.62666400e-02 -2.63314824e-02 2.98905388e+01] [ 3.62625233e-02 9.99342097e-01 -6.33988086e-04 8.89552109e-02] [ 2.63371514e-02 -3.21494946e-04 9.99653065e-01 1.67875158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.215336195 meters 0.02112294895068844 Centerline is valid? [True, True] Translation: X:29.92, Y:0.09, Z:0.17 [[ 9.98858070e-01 -3.98301916e-02 -2.63839443e-02 2.99220944e+01] [ 3.98273108e-02 9.99206376e-01 -6.34878526e-04 8.80535655e-02] [ 2.63882927e-02 -4.16648013e-04 9.99651682e-01 1.68325893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245336195 meters 0.02531807723954267 Centerline is valid? [True, True] Translation: X:29.95, Y:0.08, Z:0.16 [[ 9.98557584e-01 -4.63105902e-02 -2.71676501e-02 2.99534838e+01] [ 4.63099485e-02 9.98926905e-01 -6.53137081e-04 8.12883681e-02] [ 2.71687438e-02 -6.05937493e-04 9.99630678e-01 1.64946603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.275336195 meters 0.029230260425793513 Centerline is valid? [True, True] Translation: X:29.98, Y:0.07, Z:0.16 [[ 9.98260229e-01 -5.22128105e-02 -2.73922935e-02 2.99840429e+01] [ 5.22143852e-02 9.98635682e-01 -6.58270876e-04 7.24663618e-02] [ 2.73892918e-02 -7.73146126e-04 9.99624544e-01 1.62866999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305336195 meters 0.03400071409979946 Centerline is valid? [True, True] Translation: X:30.02, Y:0.07, Z:0.16 [[ 9.98137715e-01 -5.50624339e-02 -2.62531906e-02 3.00155782e+01] [ 5.50648831e-02 9.98482579e-01 -6.30186508e-04 6.65946584e-02] [ 2.62480531e-02 -8.16615952e-04 9.99655127e-01 1.62508136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.335336195 meters 0.03640688361232915 Centerline is valid? [True, True] Translation: X:30.05, Y:0.06, Z:0.16 [[ 9.98033601e-01 -5.73230122e-02 -2.53574969e-02 3.00462899e+01] [ 5.73260681e-02 9.98355324e-01 -6.07011728e-04 6.45213402e-02] [ 2.53505878e-02 -8.47827494e-04 9.99678263e-01 1.64630796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365336195 meters 0.03552983703696268 Centerline is valid? [True, True] Translation: X:30.08, Y:0.07, Z:0.17 [[ 9.97801293e-01 -6.04997020e-02 -2.70622595e-02 3.00772088e+01] [ 6.05043720e-02 9.98167723e-01 -6.46995529e-04 6.97979474e-02] [ 2.70518170e-02 -9.91812041e-04 9.99633541e-01 1.68982773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.395336195000002 meters 0.03754233631141189 Centerline is valid? [True, True] Translation: X:30.11, Y:0.07, Z:0.17 [[ 9.97740604e-01 -6.14146798e-02 -2.72383014e-02 3.01085114e+01] [ 6.14197728e-02 9.98111812e-01 -6.50412352e-04 6.90321048e-02] [ 2.72268152e-02 -1.02402747e-03 9.99628757e-01 1.68731675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425336195 meters 0.03728775065140267 Centerline is valid? [True, True] Translation: X:30.14, Y:0.07, Z:0.17 [[ 9.97782893e-01 -6.10425438e-02 -2.65161360e-02 3.01405227e+01] [ 6.10472692e-02 9.98134676e-01 -6.32024695e-04 6.56509224e-02] [ 2.65052552e-02 -9.88114261e-04 9.99648186e-01 1.66963079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.455336195 meters 0.03922121789474609 Centerline is valid? [True, True] Translation: X:30.17, Y:0.06, Z:0.16 [[ 9.97866076e-01 -5.97635126e-02 -2.62986240e-02 3.01724000e+01] [ 5.97677490e-02 9.98212114e-01 -6.25628108e-04 6.02473908e-02] [ 2.62889948e-02 -9.47516493e-04 9.99653936e-01 1.63449391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485336195000002 meters 0.031135973359558377 Centerline is valid? [True, True] Translation: X:30.20, Y:0.07, Z:0.17 [[ 9.98173609e-01 -5.45191366e-02 -2.60213456e-02 3.02026083e+01] [ 5.45215130e-02 9.98512404e-01 -6.18677984e-04 7.13963497e-02] [ 2.60163662e-02 -8.01175097e-04 9.99661196e-01 1.67866398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.515336195 meters 0.02868707582561486 Centerline is valid? [True, True] Translation: X:30.23, Y:0.08, Z:0.17 [[ 9.98502460e-01 -4.79574043e-02 -2.63234572e-02 3.02323617e+01] [ 4.79575601e-02 9.98849178e-01 -6.25755889e-04 8.15994447e-02] [ 2.63231732e-02 -6.37589987e-04 9.99653282e-01 1.69326883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545336195 meters 0.02917966536049963 Centerline is valid? [True, True] Translation: X:30.26, Y:0.09, Z:0.17 [[ 9.98653193e-01 -4.44752772e-02 -2.67161005e-02 3.02633728e+01] [ 4.44742056e-02 9.99010331e-01 -6.34597128e-04 8.95919598e-02] [ 2.67178843e-02 -5.54434900e-04 9.99642860e-01 1.70843044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.575336195000002 meters 0.02163215708214956 Centerline is valid? [True, True] Translation: X:30.29, Y:0.09, Z:0.17 [[ 9.98889102e-01 -3.90770400e-02 -2.63352771e-02 3.02944026e+01] [ 3.90741390e-02 9.99236119e-01 -6.24947786e-04 9.39889276e-02] [ 2.63395811e-02 -4.04774744e-04 9.99652971e-01 1.66632279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605336195 meters 0.020393043144613827 Centerline is valid? [True, True] Translation: X:30.33, Y:0.09, Z:0.17 [[ 9.98954065e-01 -3.75381098e-02 -2.61087488e-02 3.03255566e+01] [ 3.75347489e-02 9.99295131e-01 -6.18964707e-04 9.47413529e-02] [ 2.61135803e-02 -3.61668019e-04 9.99658917e-01 1.66634579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.635336195 meters 0.019764066442425305 Centerline is valid? [True, True] Translation: X:30.36, Y:0.10, Z:0.17 [[ 9.98998166e-01 -3.63361149e-02 -2.61218489e-02 3.03572159e+01] [ 3.63323558e-02 9.99339571e-01 -6.18663131e-04 9.68128181e-02] [ 2.61270771e-02 -3.31024977e-04 9.99658575e-01 1.66440454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665336195000002 meters 0.02028970181476264 Centerline is valid? [True, True] Translation: X:30.39, Y:0.10, Z:0.17 [[ 9.98975964e-01 -3.65159015e-02 -2.67135354e-02 3.03876796e+01] [ 3.65120451e-02 9.99333013e-01 -6.32277955e-04 9.84500218e-02] [ 2.67188061e-02 -3.43735332e-04 9.99642930e-01 1.66164957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.695336195 meters 0.021088887725559943 Centerline is valid? [True, True] Translation: X:30.42, Y:0.10, Z:0.17 [[ 9.98915733e-01 -3.74592658e-02 -2.76434601e-02 3.04187725e+01] [ 3.74555129e-02 9.99298082e-01 -6.53728384e-04 9.92304260e-02] [ 2.76485449e-02 -3.82380410e-04 9.99617633e-01 1.66529559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725336195 meters 0.022440317058902332 Centerline is valid? [True, True] Translation: X:30.45, Y:0.09, Z:0.17 [[ 9.98900327e-01 -4.01150429e-02 -2.42676574e-02 3.04490172e+01] [ 4.01129420e-02 9.99194987e-01 -5.73554396e-04 9.48444264e-02] [ 2.42711298e-02 -4.00523462e-04 9.99705333e-01 1.71806635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.755336195 meters 0.02284930871656519 Centerline is valid? [True, True] Translation: X:30.48, Y:0.09, Z:0.17 [[ 9.98922312e-01 -4.04651107e-02 -2.27330235e-02 3.04798694e+01] [ 4.04633715e-02 9.99180878e-01 -5.36674660e-04 9.39953230e-02] [ 2.27361190e-02 -3.83758485e-04 9.99741427e-01 1.73815263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785336195 meters 0.022610147003261742 Centerline is valid? [True, True] Translation: X:30.51, Y:0.09, Z:0.17 [[ 9.98957267e-01 -4.02719991e-02 -2.15068483e-02 3.05116373e+01] [ 4.02704165e-02 9.99188689e-01 -5.06850594e-04 9.43212471e-02] [ 2.15098114e-02 -3.59767654e-04 9.99768573e-01 1.74730238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.815336195 meters 0.02099031019095506 Centerline is valid? [True, True] Translation: X:30.54, Y:0.10, Z:0.18 [[ 9.98974238e-01 -3.98774053e-02 -2.14537921e-02 3.05438011e+01] [ 3.98757609e-02 9.99204518e-01 -5.04605823e-04 9.72846392e-02] [ 2.14568484e-02 -3.51398068e-04 9.99769714e-01 1.75232975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845336195 meters 0.02256335187506215 Centerline is valid? [True, True] Translation: X:30.58, Y:0.09, Z:0.17 [[ 9.98937261e-01 -4.02961269e-02 -2.23734322e-02 3.05754027e+01] [ 4.02944633e-02 9.99187710e-01 -5.25352165e-04 9.39730259e-02] [ 2.23764282e-02 -3.76731591e-04 9.99749545e-01 1.70497744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.875336195 meters 0.023844272255315865 Centerline is valid? [True, True] Translation: X:30.61, Y:0.09, Z:0.17 [[ 9.98722853e-01 -4.29273436e-02 -2.66440637e-02 3.06064256e+01] [ 4.29259420e-02 9.99078062e-01 -6.24828354e-04 9.06988711e-02] [ 2.66463218e-02 -5.19691179e-04 9.99644789e-01 1.65794337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905336195 meters 0.03080158472006939 Centerline is valid? [True, True] Translation: X:30.64, Y:0.08, Z:0.16 [[ 9.98387791e-01 -4.77418624e-02 -3.07007123e-02 3.06364810e+01] [ 4.77422760e-02 9.98859428e-01 -7.19978198e-04 8.41563598e-02] [ 3.07000690e-02 -7.46904438e-04 9.99528363e-01 1.59468150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.935336195 meters 0.028927753640486 Centerline is valid? [True, True] Translation: X:30.67, Y:0.09, Z:0.17 [[ 9.98286203e-01 -4.99277262e-02 -3.05266822e-02 3.06678162e+01] [ 4.99291709e-02 9.98752505e-01 -7.15414012e-04 8.64010361e-02] [ 3.05243193e-02 -8.09983996e-04 9.99533696e-01 1.66009337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965336195 meters 0.032829694877926086 Centerline is valid? [True, True] Translation: X:30.70, Y:0.07, Z:0.17 [[ 9.98274205e-01 -5.14951997e-02 -2.82286384e-02 3.06989547e+01] [ 5.14970856e-02 9.98672926e-01 -6.60662564e-04 7.45027680e-02] [ 2.82251979e-02 -7.94170215e-04 9.99601274e-01 1.65629210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.995336195 meters 0.029285890168207544 Centerline is valid? [True, True] Translation: X:30.73, Y:0.07, Z:0.17 [[ 9.98322737e-01 -5.10947010e-02 -2.72221279e-02 3.07315653e+01] [ 5.10963445e-02 9.98693526e-01 -6.35681619e-04 7.45088226e-02] [ 2.72190429e-02 -7.56335813e-04 9.99629207e-01 1.68826403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025336195 meters 0.026772075606674613 Centerline is valid? [True, True] Translation: X:30.76, Y:0.07, Z:0.17 [[ 9.98567504e-01 -4.73702586e-02 -2.48796776e-02 3.07617760e+01] [ 4.73704851e-02 9.98877220e-01 -5.80601085e-04 7.21830531e-02] [ 2.48792464e-02 -5.98793019e-04 9.99690284e-01 1.70120437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.055336195 meters 0.023954898282903658 Centerline is valid? [True, True] Translation: X:30.79, Y:0.08, Z:0.18 [[ 9.98733105e-01 -4.45115892e-02 -2.34713126e-02 3.07930005e+01] [ 4.45110106e-02 9.99008744e-01 -5.47345079e-04 7.81380580e-02] [ 2.34724097e-02 -4.98080193e-04 9.99724361e-01 1.75163380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085336195 meters 0.02242260046608387 Centerline is valid? [True, True] Translation: X:30.82, Y:0.09, Z:0.18 [[ 9.99065742e-01 -3.77110992e-02 -2.11072660e-02 3.08226017e+01] [ 3.77091168e-02 9.99288637e-01 -4.92068331e-04 8.71962028e-02] [ 2.11108075e-02 -3.04327745e-04 9.99777096e-01 1.77279924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.115336195 meters 0.020077484723260566 Centerline is valid? [True, True] Translation: X:30.85, Y:0.10, Z:0.18 [[ 9.99299653e-01 -3.01427055e-02 -2.21725176e-02 3.08535207e+01] [ 3.01386668e-02 9.99545594e-01 -5.16369734e-04 9.73967305e-02] [ 2.21780070e-02 -1.52242023e-04 9.99754026e-01 1.77006286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145336195000002 meters 0.017645551544871553 Centerline is valid? [True, True] Translation: X:30.88, Y:0.10, Z:0.17 [[ 9.99361972e-01 -2.67265427e-02 -2.36926256e-02 3.08844017e+01] [ 2.67209925e-02 9.99642779e-01 -5.50877115e-04 9.70830540e-02] [ 2.36988851e-02 -8.25648291e-05 9.99719139e-01 1.68087956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.175336195 meters 0.017786559037997154 Centerline is valid? [True, True] Translation: X:30.91, Y:0.10, Z:0.17 [[ 9.99324495e-01 -2.27949148e-02 -2.88261146e-02 3.09133645e+01] [ 2.27850373e-02 9.99740162e-01 -6.71124713e-04 1.00163252e-01] [ 2.88339228e-02 1.38672666e-05 9.99584216e-01 1.65708311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205336195 meters 0.019120526827436216 Centerline is valid? [True, True] Translation: X:30.94, Y:0.11, Z:0.16 [[ 9.99296690e-01 -2.13579710e-02 -3.08214608e-02 3.09407685e+01] [ 2.13459378e-02 9.99771891e-01 -7.19436403e-04 1.07577638e-01] [ 3.08297958e-02 6.10174318e-05 9.99524647e-01 1.64671882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.235336195000002 meters 0.020030387048061194 Centerline is valid? [True, True] Translation: X:30.97, Y:0.12, Z:0.17 [[ 9.99302546e-01 -1.99943563e-02 -3.15380244e-02 3.09695612e+01] [ 1.99809369e-02 9.99800087e-01 -7.40631501e-04 1.16322224e-01] [ 3.15465280e-02 1.09955668e-04 9.99502278e-01 1.66156590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265336195 meters 0.0207511218888588 Centerline is valid? [True, True] Translation: X:31.00, Y:0.12, Z:0.16 [[ 9.99327180e-01 -1.74432639e-02 -3.22632961e-02 3.09980523e+01] [ 1.74277157e-02 9.99847835e-01 -7.63083623e-04 1.21162447e-01] [ 3.22716974e-02 2.00294651e-04 9.99479113e-01 1.63839878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.295336195 meters 0.020911730328575486 Centerline is valid? [True, True] Translation: X:31.03, Y:0.12, Z:0.16 [[ 9.99422754e-01 -1.55539960e-02 -3.02031769e-02 3.10269122e+01] [ 1.55393574e-02 9.99878998e-01 -7.19349384e-04 1.15792199e-01] [ 3.02107110e-02 2.49596183e-04 9.99543521e-01 1.60285329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325336195000002 meters 0.021395692349944723 Centerline is valid? [True, True] Translation: X:31.06, Y:0.11, Z:0.16 [[ 9.99452586e-01 -1.55002090e-02 -2.92279338e-02 3.10550918e+01] [ 1.54864054e-02 9.99879834e-01 -6.98594020e-04 1.13436059e-01] [ 2.92352499e-02 2.45575967e-04 9.99572529e-01 1.58003885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.355336195 meters 0.01988170450196051 Centerline is valid? [True, True] Translation: X:31.08, Y:0.11, Z:0.17 [[ 9.99514062e-01 -1.72621868e-02 -2.59549054e-02 3.10841947e+01] [ 1.72518752e-02 9.99850982e-01 -6.21176018e-04 1.13228339e-01] [ 2.59617605e-02 1.73103376e-04 9.99662922e-01 1.65379554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385336195 meters 0.01806542505936185 Centerline is valid? [True, True] Translation: X:31.11, Y:0.12, Z:0.17 [[ 9.99526765e-01 -1.91119879e-02 -2.41034947e-02 3.11131173e+01] [ 1.91035611e-02 9.99817342e-01 -5.79845752e-04 1.16198835e-01] [ 2.41101740e-02 1.19108764e-04 9.99709300e-01 1.74587861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.415336195000002 meters 0.01670398600971208 Centerline is valid? [True, True] Translation: X:31.14, Y:0.11, Z:0.18 [[ 9.99452941e-01 -2.43431248e-02 -2.23882072e-02 3.11412512e+01] [ 2.43370858e-02 9.99703662e-01 -5.42207381e-04 1.14994621e-01] [ 2.23947717e-02 -2.95295667e-06 9.99749206e-01 1.78540679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445336195 meters 0.01670398600971208 Centerline is valid? [True, True] Translation: X:31.17, Y:0.12, Z:0.18 [[ 9.99449045e-01 -2.45026061e-02 -2.23881193e-02 3.11694647e+01] [ 2.44965261e-02 9.99699766e-01 -5.45820533e-04 1.15801080e-01] [ 2.23947716e-02 -2.91133869e-06 9.99749206e-01 1.78741168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.475336195 meters 0.016249681860828025 Centerline is valid? [True, True] Translation: X:31.20, Y:0.11, Z:0.18 [[ 9.99349597e-01 -2.82218943e-02 -2.24478937e-02 3.11981403e+01] [ 2.82166361e-02 9.99601680e-01 -5.51010458e-04 1.09300271e-01] [ 2.24545028e-02 -8.27519682e-05 9.99747862e-01 1.79141636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505336195 meters 0.01809709360356355 Centerline is valid? [True, True] Translation: X:31.23, Y:0.10, Z:0.17 [[ 9.99142808e-01 -3.42561879e-02 -2.32414113e-02 3.12283104e+01] [ 3.42521768e-02 9.99413059e-01 -5.70766979e-04 9.52802715e-02] [ 2.32473223e-02 -2.25791207e-04 9.99729719e-01 1.73765070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.535336195 meters 0.019648493723562747 Centerline is valid? [True, True] Translation: X:31.26, Y:0.08, Z:0.16 [[ 9.99212667e-01 -3.50188324e-02 -1.86474263e-02 3.12568217e+01] [ 3.51736887e-02 9.99348856e-01 8.04213998e-03 8.27962289e-02] [ 1.83536578e-02 -8.69170691e-03 9.99793777e-01 1.63338368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565336195 meters 0.02039471322422005 Centerline is valid? [True, True] Translation: X:31.29, Y:0.10, Z:0.17 [[ 9.98872200e-01 -3.85762840e-02 -2.76802990e-02 3.12894612e+01] [ 3.83451493e-02 9.99225513e-01 -8.83312262e-03 9.72643449e-02] [ 2.79996100e-02 7.76175542e-03 9.99577799e-01 1.73840177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.595336195 meters 0.02015361756205657 Centerline is valid? [True, True] Translation: X:31.32, Y:0.10, Z:0.17 [[ 9.98947946e-01 -3.56049065e-02 -2.89014037e-02 3.13188354e+01] [ 3.55994252e-02 9.99365891e-01 -7.04341760e-04 1.00839378e-01] [ 2.89081551e-02 -3.25272604e-04 9.99582019e-01 1.69966813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625336195 meters 0.021495110568160076 Centerline is valid? [True, True] Translation: X:31.35, Y:0.11, Z:0.17 [[ 9.99022544e-01 -3.32572385e-02 -2.91189356e-02 3.13486016e+01] [ 3.32506622e-02 9.99446792e-01 -7.10161819e-04 1.05271182e-01] [ 2.91264448e-02 -2.58756227e-04 9.99575702e-01 1.70835809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.655336195 meters 0.019833382543846128 Centerline is valid? [True, True] Translation: X:31.38, Y:0.11, Z:0.17 [[ 9.99094126e-01 -3.09364175e-02 -2.92209799e-02 3.13778614e+01] [ 3.09287374e-02 9.99521337e-01 -7.14879447e-04 1.06699921e-01] [ 2.92291087e-02 -1.89536158e-04 9.99572720e-01 1.67832541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685336195 meters 0.01876781624988195 Centerline is valid? [True, True] Translation: X:31.41, Y:0.11, Z:0.16 [[ 9.99223594e-01 -2.68133898e-02 -2.88660787e-02 3.14055389e+01] [ 2.68041189e-02 9.99640454e-01 -7.08136675e-04 1.07381551e-01] [ 2.88746876e-02 -6.61429309e-05 9.99583037e-01 1.61729977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.715336195 meters 0.01746704760055005 Centerline is valid? [True, True] Translation: X:31.43, Y:0.11, Z:0.17 [[ 9.99289643e-01 -2.64068190e-02 -2.68866011e-02 3.14339053e+01] [ 2.63985278e-02 9.99651278e-01 -6.63342194e-04 1.11545484e-01] [ 2.68947419e-02 -4.68957028e-05 9.99638270e-01 1.69518724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745336195 meters 0.016978038325818182 Centerline is valid? [True, True] Translation: X:31.46, Y:0.12, Z:0.18 [[ 9.99328223e-01 -2.69396072e-02 -2.48467160e-02 3.14625599e+01] [ 2.69325896e-02 9.99637062e-01 -6.17096913e-04 1.22441083e-01] [ 2.48543225e-02 -5.25040421e-05 9.99691082e-01 1.77414912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.775336195 meters 0.02286176117022203 Centerline is valid? [True, True] Translation: X:31.49, Y:0.12, Z:0.17 [[ 9.99235757e-01 -2.97945606e-02 -2.53018832e-02 3.14902462e+01] [ 2.97881416e-02 9.99556036e-01 -6.30650715e-04 1.22438711e-01] [ 2.53094400e-02 -1.23527333e-04 9.99679657e-01 1.74805095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805336195 meters 0.01716847860982651 Centerline is valid? [True, True] Translation: X:31.52, Y:0.12, Z:0.18 [[ 9.99223614e-01 -3.07390643e-02 -2.46430211e-02 3.15196658e+01] [ 3.07332423e-02 9.99527433e-01 -6.15046877e-04 1.23961953e-01] [ 2.46502816e-02 -1.42790575e-04 9.99696125e-01 1.76884209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.835336195 meters 0.017865920412461336 Centerline is valid? [True, True] Translation: X:31.55, Y:0.12, Z:0.17 [[ 9.99116118e-01 -3.38913871e-02 -2.48667925e-02 3.15504858e+01] [ 3.38864308e-02 9.99425497e-01 -6.20794692e-04 1.20255390e-01] [ 2.48735461e-02 -2.22400861e-04 9.99690581e-01 1.72032429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865336195 meters 0.02474384656193323 Centerline is valid? [True, True] Translation: X:31.58, Y:0.12, Z:0.17 [[ 9.99008282e-01 -3.63839537e-02 -2.56643617e-02 3.15806481e+01] [ 3.63795025e-02 9.99337842e-01 -6.40478722e-04 1.15416736e-01] [ 2.56706710e-02 -2.93813161e-04 9.99670411e-01 1.67932014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.895336195000002 meters 0.021211637240390636 Centerline is valid? [True, True] Translation: X:31.61, Y:0.12, Z:0.17 [[ 9.98823712e-01 -3.94862567e-02 -2.81430037e-02 3.16118308e+01] [ 3.94821519e-02 9.99220029e-01 -7.01739304e-04 1.15363722e-01] [ 2.81487621e-02 -4.10232492e-04 9.99603661e-01 1.67381729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925336195 meters 0.022904042767022063 Centerline is valid? [True, True] Translation: X:31.64, Y:0.12, Z:0.17 [[ 9.98716910e-01 -4.19753264e-02 -2.83302948e-02 3.16433903e+01] [ 4.19721867e-02 9.99118530e-01 -7.05738251e-04 1.19331254e-01] [ 2.83349461e-02 -4.84251697e-04 9.99598368e-01 1.70395831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.955336195 meters 0.027473085100389608 Centerline is valid? [True, True] Translation: X:31.67, Y:0.12, Z:0.18 [[ 9.98497550e-01 -4.72094179e-02 -2.78192883e-02 3.16744245e+01] [ 4.72084316e-02 9.98884820e-01 -6.92599966e-04 1.21643157e-01] [ 2.78209621e-02 -6.21745601e-04 9.99612729e-01 1.75490871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985336195000002 meters 0.026653492925851348 Centerline is valid? [True, True] Translation: X:31.71, Y:0.12, Z:0.17 [[ 9.98431837e-01 -4.86574615e-02 -2.76824370e-02 3.17057892e+01] [ 4.86570639e-02 9.98815306e-01 -6.88364076e-04 1.16958721e-01] [ 2.76831358e-02 -6.59661496e-04 9.99616531e-01 1.72725821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.015336194999996 meters 0.03070255901145003 Centerline is valid? [True, True] Translation: X:31.74, Y:0.10, Z:0.17 [[ 9.98259816e-01 -5.29300763e-02 -2.59951330e-02 3.17365663e+01] [ 5.29311948e-02 9.98597953e-01 -6.45544974e-04 1.03885249e-01] [ 2.59928553e-02 -7.31531841e-04 9.99661861e-01 1.69547455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.045336195 meters 0.029515092043684334 Centerline is valid? [True, True] Translation: X:31.77, Y:0.11, Z:0.17 [[ 9.98223187e-01 -5.38206061e-02 -2.55697236e-02 3.17684478e+01] [ 5.38220086e-02 9.98550344e-01 -6.33865704e-04 1.07691121e-01] [ 2.55667713e-02 -7.43474439e-04 9.99672840e-01 1.73875968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.075336195 meters 0.028539560661129948 Centerline is valid? [True, True] Translation: X:31.80, Y:0.12, Z:0.18 [[ 9.98304143e-01 -5.15424845e-02 -2.70593738e-02 3.17992124e+01] [ 5.15432482e-02 9.98670539e-01 -6.69734335e-04 1.21298795e-01] [ 2.70579192e-02 -7.26129456e-04 9.99633604e-01 1.75960577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105336195 meters 0.03347379577251949 Centerline is valid? [True, True] Translation: X:31.83, Y:0.12, Z:0.17 [[ 9.98356469e-01 -5.02262242e-02 -2.75986975e-02 3.18300277e+01] [ 5.02265715e-02 9.98737617e-01 -6.81078968e-04 1.23712621e-01] [ 2.75980654e-02 -7.06228361e-04 9.99618851e-01 1.73700259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.135336194999994 meters 0.02460854036376726 Centerline is valid? [True, True] Translation: X:31.86, Y:0.14, Z:0.18 [[ 9.98638618e-01 -4.55321876e-02 -2.54505675e-02 3.18609181e+01] [ 4.55309777e-02 9.98962730e-01 -6.27326087e-04 1.38009597e-01] [ 2.54527319e-02 -5.32317164e-04 9.99675885e-01 1.78613269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165336194999995 meters 0.02420861055256679 Centerline is valid? [True, True] Translation: X:31.89, Y:0.14, Z:0.17 [[ 9.98719028e-01 -4.35748860e-02 -2.57202815e-02 3.18926840e+01] [ 4.35730264e-02 9.99050044e-01 -6.33010590e-04 1.38187435e-01] [ 2.57234317e-02 -4.88510784e-04 9.99668978e-01 1.74955103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.195336194999996 meters 0.024334539013211608 Centerline is valid? [True, True] Translation: X:31.92, Y:0.14, Z:0.17 [[ 9.98708589e-01 -4.29901410e-02 -2.70740209e-02 3.19241780e+01] [ 4.29878937e-02 9.99075372e-01 -6.65303224e-04 1.36728565e-01] [ 2.70775889e-02 -4.99411087e-04 9.99633210e-01 1.70958473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.225336195 meters 0.025410108824327617 Centerline is valid? [True, True] Translation: X:31.96, Y:0.14, Z:0.17 [[ 9.98707745e-01 -4.35749115e-02 -2.61546780e-02 3.19553541e+01] [ 4.35730376e-02 9.99050038e-01 -6.41830304e-04 1.38792572e-01] [ 2.61577998e-02 -4.98637875e-04 9.99657702e-01 1.72779387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.255336195 meters 0.02403411502694618 Centerline is valid? [True, True] Translation: X:31.99, Y:0.15, Z:0.18 [[ 9.98704357e-01 -4.49749216e-02 -2.38089102e-02 3.19877790e+01] [ 4.49737950e-02 9.98987997e-01 -5.83052672e-04 1.47806538e-01] [ 2.38110382e-02 -4.88479800e-04 9.99716358e-01 1.82298610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285336195 meters 0.02456124370071432 Centerline is valid? [True, True] Translation: X:32.02, Y:0.15, Z:0.18 [[ 9.98680264e-01 -4.58120186e-02 -2.32161620e-02 3.20199629e+01] [ 4.58112004e-02 9.98949955e-01 -5.67373464e-04 1.47613091e-01] [ 2.32177765e-02 -4.96935568e-04 9.99730308e-01 1.83132620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.315336195 meters 0.025582830129764558 Centerline is valid? [True, True] Translation: X:32.05, Y:0.15, Z:0.18 [[ 9.98568977e-01 -4.85143591e-02 -2.25023485e-02 3.20524634e+01] [ 4.85142998e-02 9.98822337e-01 -5.48867170e-04 1.45038238e-01] [ 2.25024762e-02 -5.43603952e-04 9.99746639e-01 1.83672718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345336194999994 meters 0.02926245930939828 Centerline is valid? [True, True] Translation: X:32.08, Y:0.14, Z:0.18 [[ 9.98340276e-01 -5.26376161e-02 -2.33660910e-02 3.20827395e+01] [ 5.26387069e-02 9.98613460e-01 -5.68803764e-04 1.37679387e-01] [ 2.33636334e-02 -6.62101108e-04 9.99726814e-01 1.79409926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.375336194999996 meters 0.03412462236375913 Centerline is valid? [True, True] Translation: X:32.11, Y:0.13, Z:0.17 [[ 9.98262475e-01 -5.35082033e-02 -2.46759768e-02 3.21138507e+01] [ 5.35097098e-02 9.98567149e-01 -5.99720805e-04 1.30195918e-01] [ 2.46727098e-02 -7.21725583e-04 9.99695322e-01 1.73813422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405336195 meters 0.03013653300178249 Centerline is valid? [True, True] Translation: X:32.15, Y:0.14, Z:0.18 [[ 9.98252410e-01 -5.28295819e-02 -2.64794527e-02 3.21455403e+01] [ 5.28311097e-02 9.98603255e-01 -6.42380318e-04 1.42902645e-01] [ 2.64764043e-02 -7.57681168e-04 9.99649151e-01 1.78619449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.435336195 meters 0.030818174805395133 Centerline is valid? [True, True] Translation: X:32.18, Y:0.15, Z:0.18 [[ 9.98315189e-01 -5.15095784e-02 -2.67123094e-02 3.21763998e+01] [ 5.15106882e-02 9.98672234e-01 -6.47019299e-04 1.46490212e-01] [ 2.67101694e-02 -7.30040246e-04 9.99642953e-01 1.77783564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465336195 meters 0.02681322059219751 Centerline is valid? [True, True] Translation: X:32.21, Y:0.15, Z:0.18 [[ 9.98440903e-01 -4.90221853e-02 -2.66943425e-02 3.22077783e+01] [ 4.90224240e-02 9.98797469e-01 -6.45877343e-04 1.52086941e-01] [ 2.66939041e-02 -6.63751018e-04 9.99643434e-01 1.76441369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.495336195 meters 0.027085693193288796 Centerline is valid? [True, True] Translation: X:32.24, Y:0.15, Z:0.17 [[ 9.98483520e-01 -4.79813322e-02 -2.69898590e-02 3.22390205e+01] [ 4.79812200e-02 9.98848025e-01 -6.52151055e-04 1.51415307e-01] [ 2.69900585e-02 -6.43844283e-04 9.99635495e-01 1.73755417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525336194999994 meters 0.028537559478198766 Centerline is valid? [True, True] Translation: X:32.27, Y:0.15, Z:0.17 [[ 9.98512506e-01 -4.68751588e-02 -2.78477169e-02 3.22704191e+01] [ 4.68746370e-02 9.98900554e-01 -6.71897895e-04 1.53388639e-01] [ 2.78485952e-02 -6.34453171e-04 9.99611951e-01 1.71236501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.555336194999995 meters 0.02644425870348169 Centerline is valid? [True, True] Translation: X:32.30, Y:0.16, Z:0.17 [[ 9.98526341e-01 -4.67997752e-02 -2.74759454e-02 3.23027262e+01] [ 4.67992714e-02 9.98904095e-01 -6.61735311e-04 1.57519223e-01] [ 2.74768035e-02 -6.25094090e-04 9.99622246e-01 1.74343238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585336195 meters 0.028273766729459124 Centerline is valid? [True, True] Translation: X:32.33, Y:0.16, Z:0.17 [[ 9.98528747e-01 -4.72144114e-02 -2.66672337e-02 3.23343893e+01] [ 4.72141109e-02 9.98884586e-01 -6.41266617e-04 1.56410449e-01] [ 2.66677658e-02 -6.18746580e-04 9.99644160e-01 1.74850708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.615336195 meters 0.02755981049943797 Centerline is valid? [True, True] Translation: X:32.37, Y:0.16, Z:0.18 [[ 9.98620656e-01 -4.70786033e-02 -2.32463135e-02 3.23660897e+01] [ 4.70783555e-02 9.98891044e-01 -5.58235807e-04 1.61308399e-01] [ 2.32468153e-02 -5.36932405e-04 9.99729612e-01 1.83278690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645336195 meters 0.027322164670328847 Centerline is valid? [True, True] Translation: X:32.40, Y:0.16, Z:0.19 [[ 9.98658442e-01 -4.72691233e-02 -2.11410959e-02 3.23978114e+01] [ 4.72689790e-02 9.98882068e-01 -5.06820635e-04 1.59399871e-01] [ 2.11414186e-02 -4.93177315e-04 9.99776374e-01 1.85565520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.675336195 meters 0.025030390938591558 Centerline is valid? [True, True] Translation: X:32.43, Y:0.16, Z:0.19 [[ 9.98672523e-01 -4.68644155e-02 -2.13756463e-02 3.24296928e+01] [ 4.68642087e-02 9.98901139e-01 -5.10885770e-04 1.61848157e-01] [ 2.13760998e-02 -4.91545170e-04 9.99771384e-01 1.86423208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705336194999994 meters 0.025096310366530032 Centerline is valid? [True, True] Translation: X:32.46, Y:0.17, Z:0.18 [[ 9.98688948e-01 -4.48873534e-02 -2.46071249e-02 3.24610528e+01] [ 4.48865363e-02 9.98991920e-01 -5.85830376e-04 1.65711780e-01] [ 2.46086153e-02 -5.19466282e-04 9.99697027e-01 1.82679602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.735336194999995 meters 0.02412119069740589 Centerline is valid? [True, True] Translation: X:32.49, Y:0.17, Z:0.18 [[ 9.98745477e-01 -4.35187151e-02 -2.47708157e-02 3.24930205e+01] [ 4.35175025e-02 9.99052492e-01 -5.88270734e-04 1.72361415e-01] [ 2.47729459e-02 -4.90431297e-04 9.99692983e-01 1.84161966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765336194999996 meters 0.02192281243917533 Centerline is valid? [True, True] Translation: X:32.53, Y:0.18, Z:0.19 [[ 9.98951074e-01 -3.97106723e-02 -2.27994313e-02 3.25261905e+01] [ 3.95225111e-02 9.99181281e-01 -8.64518995e-03 1.80182587e-01] [ 2.31240712e-02 7.73503101e-03 9.99702679e-01 1.87010438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.795336195 meters 0.021875116354882526 Centerline is valid? [True, True] Translation: X:32.55, Y:0.17, Z:0.17 [[ 9.98841959e-01 -3.91996714e-02 -2.78949104e-02 3.25548600e+01] [ 3.94244484e-02 9.99194001e-01 7.55395139e-03 1.66966332e-01] [ 2.75763147e-02 -8.64494506e-03 9.99582319e-01 1.70492035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825336195 meters 0.02208595171689479 Centerline is valid? [True, True] Translation: X:32.59, Y:0.17, Z:0.17 [[ 9.98799301e-01 -3.87951346e-02 -2.99147889e-02 3.25863595e+01] [ 3.87913145e-02 9.99247083e-01 -7.08256723e-04 1.68287256e-01] [ 2.99197425e-02 -4.53027665e-04 9.99552202e-01 1.70719286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.855336195 meters 0.023645519115836306 Centerline is valid? [True, True] Translation: X:32.62, Y:0.17, Z:0.17 [[ 9.98815365e-01 -3.87007804e-02 -2.94977361e-02 3.26168197e+01] [ 3.86970373e-02 9.99250745e-01 -6.97959830e-04 1.67378022e-01] [ 2.95026464e-02 -4.44341992e-04 9.99564603e-01 1.69633490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885336194999994 meters 0.021082444460603256 Centerline is valid? [True, True] Translation: X:32.65, Y:0.18, Z:0.18 [[ 9.98957509e-01 -3.66440505e-02 -2.72232958e-02 3.26479237e+01] [ 3.64683676e-02 9.99310833e-01 -6.92226727e-03 1.80661901e-01] [ 2.74581943e-02 5.92226171e-03 9.99605409e-01 1.81998403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.915336194999995 meters 0.02107401685741382 Centerline is valid? [True, True] Translation: X:32.68, Y:0.18, Z:0.18 [[ 9.98900304e-01 -3.64897325e-02 -2.94394667e-02 3.26771079e+01] [ 3.66723357e-02 9.99311164e-01 5.68659030e-03 1.75052281e-01] [ 2.92116856e-02 -6.75995078e-03 9.99550389e-01 1.75814410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945336194999996 meters 0.019315812508950012 Centerline is valid? [True, True] Translation: X:32.71, Y:0.18, Z:0.18 [[ 9.98997809e-01 -3.43301033e-02 -2.87197224e-02 3.27080769e+01] [ 3.43247760e-02 9.99410501e-01 -6.78615768e-04 1.79373890e-01] [ 2.87260891e-02 -3.07862374e-04 9.99587273e-01 1.80613104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.975336195 meters 0.018955919521965375 Centerline is valid? [True, True] Translation: X:32.74, Y:0.18, Z:0.18 [[ 9.99061435e-01 -3.27531029e-02 -2.83457695e-02 3.27374420e+01] [ 3.27472854e-02 9.99463440e-01 -6.69548779e-04 1.77466000e-01] [ 2.83524901e-02 -2.59326641e-04 9.99597954e-01 1.78043298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.005336195 meters 0.01797430009634258 Centerline is valid? [True, True] Translation: X:32.77, Y:0.18, Z:0.18 [[ 9.99194680e-01 -2.98228675e-02 -2.68437808e-02 3.27667829e+01] [ 2.98165813e-02 9.99555186e-01 -6.34502926e-04 1.77245174e-01] [ 2.68507630e-02 -1.66397826e-04 9.99639439e-01 1.78790464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.035336195 meters 0.01763680821620047 Centerline is valid? [True, True] Translation: X:32.80, Y:0.19, Z:0.18 [[ 9.99258637e-01 -2.73690908e-02 -2.70759898e-02 3.27966158e+01] [ 2.73617772e-02 9.99625391e-01 -6.40639480e-04 1.85197320e-01] [ 2.70833806e-02 -1.00682668e-04 9.99633173e-01 1.81723557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065336195 meters 0.017748370646461047 Centerline is valid? [True, True] Translation: X:32.82, Y:0.19, Z:0.18 [[ 9.99284805e-01 -2.61242086e-02 -2.73386853e-02 3.28244068e+01] [ 2.61162485e-02 9.99658702e-01 -6.48245760e-04 1.91019779e-01] [ 2.73462896e-02 -6.62017605e-05 9.99626018e-01 1.82300108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.095336194999994 meters 0.018158134342799965 Centerline is valid? [True, True] Translation: X:32.85, Y:0.20, Z:0.18 [[ 9.99374712e-01 -2.25661315e-02 -2.72204842e-02 3.28522825e+01] [ 2.25568025e-02 9.99745352e-01 -6.49769294e-04 2.00883417e-01] [ 2.72282154e-02 3.53559130e-05 9.99629243e-01 1.83752437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125336194999996 meters 0.017766462323743248 Centerline is valid? [True, True] Translation: X:32.88, Y:0.20, Z:0.18 [[ 9.99550259e-01 -1.92878876e-02 -2.29620829e-02 3.28812075e+01] [ 1.92667462e-02 9.99813727e-01 -1.14160584e-03 2.03245469e-01] [ 2.29798248e-02 6.98687789e-04 9.99735685e-01 1.82878573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.155336195 meters 0.018996604478059485 Centerline is valid? [True, True] Translation: X:32.91, Y:0.21, Z:0.18 [[ 9.99454591e-01 -1.97714080e-02 -2.64501895e-02 3.29090921e+01] [ 1.97774144e-02 9.99804407e-01 -3.45284677e-05 2.05170190e-01] [ 2.64456987e-02 -4.88606723e-04 9.99650132e-01 1.79250255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.185336195 meters 0.01820622920308418 Centerline is valid? [True, True] Translation: X:32.94, Y:0.21, Z:0.18 [[ 9.99447219e-01 -2.02666100e-02 -2.63537533e-02 3.29367578e+01] [ 2.02568156e-02 9.99794606e-01 -6.38590950e-04 2.08755698e-01] [ 2.63612825e-02 1.04394828e-04 9.99652476e-01 1.82361387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.215336195 meters 0.018419947284604797 Centerline is valid? [True, True] Translation: X:32.96, Y:0.22, Z:0.18 [[ 9.99414226e-01 -2.22701439e-02 -2.59854721e-02 3.29642006e+01] [ 2.22612360e-02 9.99751988e-01 -6.32072644e-04 2.16240537e-01] [ 2.59931037e-02 5.32336674e-05 9.99662121e-01 1.82434668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245336195 meters 0.017230087493761977 Centerline is valid? [True, True] Translation: X:32.99, Y:0.22, Z:0.19 [[ 9.99410953e-01 -2.37285878e-02 -2.47931586e-02 3.29931721e+01] [ 2.37208435e-02 9.99718437e-01 -6.06451538e-04 2.18718259e-01] [ 2.48005680e-02 1.79796733e-05 9.99692418e-01 1.86772487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.275336194999994 meters 0.016172328153221515 Centerline is valid? [True, True] Translation: X:33.02, Y:0.22, Z:0.19 [[ 9.99456956e-01 -2.57968819e-02 -2.05015423e-02 3.30229260e+01] [ 2.56923103e-02 9.99655594e-01 -5.34784113e-03 2.21568835e-01] [ 2.06324390e-02 4.81820503e-03 9.99775518e-01 1.90404263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305336194999995 meters 0.016172328153221515 Centerline is valid? [True, True] Translation: X:33.05, Y:0.22, Z:0.19 [[ 9.99455833e-01 -2.57373956e-02 -2.06306581e-02 3.30538969e+01] [ 2.57279958e-02 9.99668720e-01 -7.20958913e-04 2.19040793e-01] [ 2.06423792e-02 1.89781107e-04 9.99786905e-01 1.87518618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.335336195 meters 0.016900826799518372 Centerline is valid? [True, True] Translation: X:33.08, Y:0.22, Z:0.18 [[ 9.99318675e-01 -2.89813120e-02 -2.28531925e-02 3.30836783e+01] [ 2.90871905e-02 9.99567568e-01 4.31419494e-03 2.15454465e-01] [ 2.27182790e-02 -4.97599074e-03 9.99729523e-01 1.82859979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.365336195 meters 0.017563952737864996 Centerline is valid? [True, True] Translation: X:33.12, Y:0.22, Z:0.19 [[ 9.99159432e-01 -3.35350838e-02 -2.35760157e-02 3.31155669e+01] [ 3.35307452e-02 9.99437519e-01 -5.79428258e-04 2.22932922e-01] [ 2.35821858e-02 -2.11580167e-04 9.99721879e-01 1.89881355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.395336195 meters 0.018957003533512595 Centerline is valid? [True, True] Translation: X:33.15, Y:0.23, Z:0.19 [[ 9.99084897e-01 -3.55072492e-02 -2.38454086e-02 3.31462368e+01] [ 3.55034148e-02 9.99369384e-01 -5.84274850e-04 2.25229819e-01] [ 2.38511173e-02 -2.62853256e-04 9.99715487e-01 1.89549203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425336195 meters 0.020788089814291838 Centerline is valid? [True, True] Translation: X:33.18, Y:0.23, Z:0.19 [[ 9.98963930e-01 -3.86835203e-02 -2.39718935e-02 3.31776223e+01] [ 3.86805873e-02 9.99251454e-01 -5.86204456e-04 2.28884961e-01] [ 2.39766259e-02 -3.41649812e-04 9.99712461e-01 1.87972933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.455336194999994 meters 0.022850044860533134 Centerline is valid? [True, True] Translation: X:33.21, Y:0.23, Z:0.18 [[ 9.98812684e-01 -4.15760420e-02 -2.53900674e-02 3.32093109e+01] [ 4.15737083e-02 9.99135247e-01 -6.19999164e-04 2.25690254e-01] [ 2.53938884e-02 -4.36296227e-04 9.99677428e-01 1.81464197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485336194999995 meters 0.024249580382242612 Centerline is valid? [True, True] Translation: X:33.24, Y:0.23, Z:0.18 [[ 9.98715855e-01 -4.29812119e-02 -2.68189695e-02 3.32404527e+01] [ 4.29791395e-02 9.99075756e-01 -6.53965811e-04 2.26090360e-01] [ 2.68222904e-02 -4.99530207e-04 9.99640093e-01 1.78909505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.515336194999996 meters 0.024728844086276874 Centerline is valid? [True, True] Translation: X:33.27, Y:0.24, Z:0.18 [[ 9.98542320e-01 -4.49922773e-02 -2.98149356e-02 3.32716095e+01] [ 4.49906362e-02 9.98987145e-01 -7.26228049e-04 2.37533602e-01] [ 2.98174121e-02 -6.16223481e-04 9.99555172e-01 1.81548722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.545336195 meters 0.027150536175214592 Centerline is valid? [True, True] Translation: X:33.30, Y:0.24, Z:0.18 [[ 9.98476260e-01 -4.60088078e-02 -3.04687985e-02 3.33028208e+01] [ 4.60076185e-02 9.98940814e-01 -7.40463090e-04 2.39930013e-01] [ 3.04705943e-02 -6.62462043e-04 9.99535444e-01 1.80451435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.575336195 meters 0.025873439040686227 Centerline is valid? [True, True] Translation: X:33.33, Y:0.25, Z:0.19 [[ 9.98430551e-01 -4.78626240e-02 -2.90792554e-02 3.33349326e+01] [ 4.78623689e-02 9.98853691e-01 -7.05219923e-04 2.47013056e-01] [ 2.90796753e-02 -6.87688932e-04 9.99576860e-01 1.86945774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605336195 meters 0.02791819930232373 Centerline is valid? [True, True] Translation: X:33.37, Y:0.24, Z:0.19 [[ 9.98438173e-01 -4.85154248e-02 -2.77032055e-02 3.33662421e+01] [ 4.85154730e-02 9.98822206e-01 -6.70803229e-04 2.44904570e-01] [ 2.77031211e-02 -6.74278568e-04 9.99615967e-01 1.85364607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.635336194999994 meters 0.026472113896407138 Centerline is valid? [True, True] Translation: X:33.40, Y:0.25, Z:0.18 [[ 9.98454517e-01 -4.89864769e-02 -2.62469670e-02 3.33982851e+01] [ 4.89867125e-02 9.98799229e-01 -6.34399275e-04 2.47157174e-01] [ 2.62465273e-02 -6.52333803e-04 9.99655288e-01 1.84663326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665336194999995 meters 0.028311770595472123 Centerline is valid? [True, True] Translation: X:33.43, Y:0.25, Z:0.18 [[ 9.98451529e-01 -4.91767533e-02 -2.60036698e-02 3.34309448e+01] [ 4.91770927e-02 9.98789878e-01 -6.26834359e-04 2.48120778e-01] [ 2.60030278e-02 -6.52921155e-04 9.99661651e-01 1.83775978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.695336194999996 meters 0.026868967928599673 Centerline is valid? [True, True] Translation: X:33.46, Y:0.26, Z:0.19 [[ 9.98506462e-01 -4.89550367e-02 -2.42538747e-02 3.34618586e+01] [ 4.89552922e-02 9.98800800e-01 -5.83587963e-04 2.56220587e-01] [ 2.42533591e-02 -6.04639172e-04 9.99705661e-01 1.89812048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.725336195 meters 0.027091522074445203 Centerline is valid? [True, True] Translation: X:33.49, Y:0.26, Z:0.19 [[ 9.98507207e-01 -4.87953734e-02 -2.45432210e-02 3.34936634e+01] [ 4.87956183e-02 9.98808610e-01 -5.89268142e-04 2.62484682e-01] [ 2.45427340e-02 -6.09213157e-04 9.99698596e-01 1.91351855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.755336195 meters 0.02736111271836013 Centerline is valid? [True, True] Translation: X:33.53, Y:0.27, Z:0.19 [[ 9.98473086e-01 -4.89027416e-02 -2.56908178e-02 3.35254486e+01] [ 4.89030787e-02 9.98803339e-01 -6.15538205e-04 2.67728470e-01] [ 2.56901762e-02 -6.41761755e-04 9.99669747e-01 1.91635508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785336195 meters 0.027001248651478214 Centerline is valid? [True, True] Translation: X:33.56, Y:0.27, Z:0.19 [[ 9.98411155e-01 -4.97277094e-02 -2.65013162e-02 3.35570607e+01] [ 4.97284119e-02 9.98762577e-01 -6.32946687e-04 2.72240581e-01] [ 2.64999979e-02 -6.85927337e-04 9.99648578e-01 1.91589681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.815336195 meters 0.028003743898016208 Centerline is valid? [True, True] Translation: X:33.59, Y:0.27, Z:0.19 [[ 9.98381023e-01 -5.01237456e-02 -2.68876000e-02 3.35883688e+01] [ 5.01246763e-02 9.98742763e-01 -6.39794686e-04 2.68248421e-01] [ 2.68858648e-02 -7.08973373e-04 9.99638258e-01 1.86742808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845336194999994 meters 0.031119698300143963 Centerline is valid? [True, True] Translation: X:33.62, Y:0.26, Z:0.18 [[ 9.98242542e-01 -5.23710646e-02 -2.77326404e-02 3.36183379e+01] [ 5.23729385e-02 9.98627378e-01 -6.59283533e-04 2.58558052e-01] [ 2.77291014e-02 -7.94315003e-04 9.99615159e-01 1.79930137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.875336194999996 meters 0.03115267052828107 Centerline is valid? [True, True] Translation: X:33.65, Y:0.26, Z:0.18 [[ 9.98061440e-01 -5.46038323e-02 -2.98627452e-02 3.36495773e+01] [ 5.46070203e-02 9.98507672e-01 -7.09383460e-04 2.63756499e-01] [ 2.98569152e-02 -9.22707256e-04 9.99553757e-01 1.83518066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.905336195 meters 0.03467630872378665 Centerline is valid? [True, True] Translation: X:33.68, Y:0.26, Z:0.18 [[ 9.98082553e-01 -5.46614973e-02 -2.90402804e-02 3.36808843e+01] [ 5.46645632e-02 9.98504537e-01 -6.88913030e-04 2.61971059e-01] [ 2.90345087e-02 -8.99882167e-04 9.99578005e-01 1.83559303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.935336195 meters 0.02895959000364969 Centerline is valid? [True, True] Translation: X:33.71, Y:0.27, Z:0.19 [[ 9.98330111e-01 -5.13896564e-02 -2.63835765e-02 3.37111226e+01] [ 5.13910502e-02 9.98678411e-01 -6.25676090e-04 2.69471481e-01] [ 2.63808615e-02 -7.31248424e-04 9.99651697e-01 1.90134665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965336195 meters 0.027459428765248765 Centerline is valid? [True, True] Translation: X:33.74, Y:0.27, Z:0.19 [[ 9.98418158e-01 -4.93706679e-02 -2.69020288e-02 3.37434413e+01] [ 4.93714100e-02 9.98780285e-01 -6.37034259e-04 2.71202343e-01] [ 2.69006668e-02 -6.92164523e-04 9.99637872e-01 1.89283724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.995336195 meters 0.025664051853417677 Centerline is valid? [True, True] Translation: X:33.77, Y:0.28, Z:0.19 [[ 9.98551730e-01 -4.67897912e-02 -2.65547982e-02 3.37746730e+01] [ 4.67896227e-02 9.98904568e-01 -6.28040605e-04 2.75026659e-01] [ 2.65550952e-02 -6.15357958e-04 9.99647162e-01 1.90321430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025336194999994 meters 0.023220250339980812 Centerline is valid? [True, True] Translation: X:33.80, Y:0.29, Z:0.19 [[ 9.98793860e-01 -4.13447321e-02 -2.64846699e-02 3.38045581e+01] [ 4.13426550e-02 9.99144831e-01 -6.26225214e-04 2.86399218e-01] [ 2.64879122e-02 -4.69476672e-04 9.99649023e-01 1.91289614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.055336194999995 meters 0.019509534423450298 Centerline is valid? [True, True] Translation: X:33.84, Y:0.30, Z:0.19 [[ 9.98990837e-01 -3.57956000e-02 -2.71289933e-02 3.38358554e+01] [ 3.57913879e-02 9.99359077e-01 -6.40982250e-04 2.95674586e-01] [ 2.71345501e-02 -3.30648928e-04 9.99631736e-01 1.89520184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085336195 meters 0.018538669190631137 Centerline is valid? [True, True] Translation: X:33.87, Y:0.30, Z:0.19 [[ 9.99107888e-01 -3.31059907e-02 -2.62187279e-02 3.38665078e+01] [ 3.31011465e-02 9.99451815e-01 -6.18868361e-04 2.98469167e-01] [ 2.62248435e-02 -2.49553695e-04 9.99656038e-01 1.88029720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.115336195 meters 0.017929968371008752 Centerline is valid? [True, True] Translation: X:33.90, Y:0.30, Z:0.19 [[ 9.99177414e-01 -3.14059049e-02 -2.56546998e-02 3.38988123e+01] [ 3.14007331e-02 9.99506693e-01 -6.04521601e-04 3.02239172e-01] [ 2.56610297e-02 -2.01552052e-04 9.99670681e-01 1.89163247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145336195 meters 0.017667452557877068 Centerline is valid? [True, True] Translation: X:33.93, Y:0.31, Z:0.19 [[ 9.99237523e-01 -3.08401659e-02 -2.39428019e-02 3.39286815e+01] [ 3.08355107e-02 9.99524314e-01 -5.63692346e-04 3.05801393e-01] [ 2.39487970e-02 -1.75025981e-04 9.99713171e-01 1.90342860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.175336195 meters 0.017973661226959373 Centerline is valid? [True, True] Translation: X:33.96, Y:0.31, Z:0.19 [[ 9.99114297e-01 -3.31963502e-02 -2.58577601e-02 3.39602938e+01] [ 3.31917291e-02 9.99448818e-01 -6.08016486e-04 3.07927133e-01] [ 2.58636916e-02 -2.50785802e-04 9.99665447e-01 1.91765148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205336194999994 meters 0.01988772163108705 Centerline is valid? [True, True] Translation: X:33.99, Y:0.31, Z:0.19 [[ 9.99009751e-01 -3.56061907e-02 -2.66780215e-02 3.39919661e+01] [ 3.56021559e-02 9.99365846e-01 -6.26356490e-04 3.05788367e-01] [ 2.66834057e-02 -3.24058841e-04 9.99643882e-01 1.89266800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.235336194999995 meters 0.02425964098375266 Centerline is valid? [True, True] Translation: X:34.02, Y:0.30, Z:0.19 [[ 9.98852456e-01 -4.08037421e-02 -2.50763805e-02 3.40232698e+01] [ 4.08018501e-02 9.99167085e-01 -5.87320309e-04 2.95476756e-01] [ 2.50794589e-02 -4.36516382e-04 9.99685366e-01 1.87388169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265336194999996 meters 0.02411194024546475 Centerline is valid? [True, True] Translation: X:34.06, Y:0.29, Z:0.19 [[ 9.98767064e-01 -4.35264690e-02 -2.38704321e-02 3.40551584e+01] [ 4.35255604e-02 9.99052158e-01 -5.57870633e-04 2.93563767e-01] [ 2.38720888e-02 -4.81791119e-04 9.99714905e-01 1.91537193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.295336195 meters 0.024801178942018304 Centerline is valid? [True, True] Translation: X:34.09, Y:0.29, Z:0.19 [[ 9.98666448e-01 -4.56479723e-02 -2.41161505e-02 3.40871999e+01] [ 4.56476899e-02 9.98957443e-01 -5.62497970e-04 2.90397159e-01] [ 2.41166849e-02 -5.39098709e-04 9.99709005e-01 1.93095600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325336195 meters 0.02956610491700394 Centerline is valid? [True, True] Translation: X:34.12, Y:0.28, Z:0.19 [[ 9.98415855e-01 -4.93609671e-02 -2.70050973e-02 3.41173898e+01] [ 4.93620018e-02 9.98780755e-01 -6.28727426e-04 2.80967652e-01] [ 2.70032061e-02 -7.05294230e-04 9.99635098e-01 1.87540198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.355336195 meters 0.0298730456927106 Centerline is valid? [True, True] Translation: X:34.15, Y:0.28, Z:0.19 [[ 9.98347514e-01 -5.07707031e-02 -2.69179571e-02 3.41495779e+01] [ 5.07722757e-02 9.98710060e-01 -6.25481447e-04 2.84472064e-01] [ 2.69149906e-02 -7.42238089e-04 9.99637450e-01 1.92060923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385336194999994 meters 0.02912582507227071 Centerline is valid? [True, True] Translation: X:34.18, Y:0.29, Z:0.19 [[ 9.98391333e-01 -5.01157725e-02 -2.65170798e-02 3.41803952e+01] [ 5.01170945e-02 9.98743159e-01 -6.15158877e-04 2.87187083e-01] [ 2.65145812e-02 -7.14789702e-04 9.99648171e-01 1.94923479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.415336194999995 meters 0.024915181744425585 Centerline is valid? [True, True] Translation: X:34.21, Y:0.29, Z:0.19 [[ 9.98512557e-01 -4.66934239e-02 -2.81495572e-02 3.42125418e+01] [ 4.66935907e-02 9.98909047e-01 -6.51764896e-04 2.93463570e-01] [ 2.81492805e-02 -6.63608469e-04 9.99603510e-01 1.94856970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445336194999996 meters 0.024775486305115047 Centerline is valid? [True, True] Translation: X:34.24, Y:0.29, Z:0.19 [[ 9.98624635e-01 -4.46807103e-02 -2.74312271e-02 3.42433413e+01] [ 4.46801316e-02 9.99001143e-01 -6.34332854e-04 2.92183435e-01] [ 2.74321697e-02 -5.92170424e-04 9.99623492e-01 1.92137158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.475336195 meters 0.024393179569692794 Centerline is valid? [True, True] Translation: X:34.27, Y:0.29, Z:0.19 [[ 9.98707632e-01 -4.32809845e-02 -2.66424706e-02 3.42745511e+01] [ 4.32799632e-02 9.99062794e-01 -6.15248397e-04 2.91045222e-01] [ 2.66441296e-02 -5.38631876e-04 9.99644837e-01 1.90967885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.505336195 meters 0.021911299465377943 Centerline is valid? [True, True] Translation: X:34.31, Y:0.30, Z:0.19 [[ 9.98800457e-01 -4.04394384e-02 -2.76097710e-02 3.43068912e+01] [ 4.04372902e-02 9.99181876e-01 -6.36368830e-04 2.97267616e-01] [ 2.76129172e-02 -4.80858843e-04 9.99618575e-01 1.93340633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.535336195 meters 0.020079958390625804 Centerline is valid? [True, True] Translation: X:34.34, Y:0.31, Z:0.20 [[ 9.98935030e-01 -3.78408804e-02 -2.63983613e-02 3.43385873e+01] [ 3.78380358e-02 9.99283700e-01 -6.07444035e-04 3.09232410e-01] [ 2.64024384e-02 -3.92065014e-04 9.99651318e-01 2.00167659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565336195 meters 0.019098396911444677 Centerline is valid? [True, True] Translation: X:34.37, Y:0.31, Z:0.20 [[ 9.99013469e-01 -3.61388293e-02 -2.58084038e-02 3.43705756e+01] [ 3.61355720e-02 9.99346721e-01 -5.92730454e-04 3.13121212e-01] [ 2.58129643e-02 -3.40455728e-04 9.99666732e-01 2.00909579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.595336194999994 meters 0.018489129104768937 Centerline is valid? [True, True] Translation: X:34.40, Y:0.32, Z:0.20 [[ 9.99072364e-01 -3.40570969e-02 -2.63538692e-02 3.44017189e+01] [ 3.40530094e-02 9.99419846e-01 -6.04007929e-04 3.15043820e-01] [ 2.63591506e-02 -2.93980924e-04 9.99652494e-01 1.97712270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625336194999996 meters 0.01745238118840239 Centerline is valid? [True, True] Translation: X:34.43, Y:0.32, Z:0.19 [[ 9.99183629e-01 -2.95371581e-02 -2.75614235e-02 3.44324425e+01] [ 2.95309975e-02 9.99563666e-01 -6.30618063e-04 3.18660990e-01] [ 2.75680242e-02 -1.83813083e-04 9.99619913e-01 1.90895638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.655336195 meters 0.017065297765719217 Centerline is valid? [True, True] Translation: X:34.46, Y:0.33, Z:0.19 [[ 9.99276581e-01 -2.54225798e-02 -2.82843855e-02 3.44633008e+01] [ 2.54144651e-02 9.99676791e-01 -6.46405097e-04 3.26096194e-01] [ 2.82916770e-02 -7.28950525e-05 9.99599708e-01 1.89615308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.685336195 meters 0.02229294311203488 Centerline is valid? [True, True] Translation: X:34.49, Y:0.33, Z:0.19 [[ 9.99308166e-01 -2.39434473e-02 -2.84587660e-02 3.44915135e+01] [ 2.39345332e-02 9.99713314e-01 -6.53876601e-04 3.30658054e-01] [ 2.84662633e-02 -2.77230532e-05 9.99594753e-01 1.89489681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.715336195 meters 0.01770312386980758 Centerline is valid? [True, True] Translation: X:34.52, Y:0.34, Z:0.19 [[ 9.99350861e-01 -2.27395303e-02 -2.79422675e-02 3.45192937e+01] [ 2.27304000e-02 9.99741423e-01 -6.44387064e-04 3.36664716e-01] [ 2.79496953e-02 8.82985217e-06 9.99609331e-01 1.92012918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745336195 meters 0.017966474780449944 Centerline is valid? [True, True] Translation: X:34.55, Y:0.35, Z:0.19 [[ 9.99347591e-01 -2.14576971e-02 -2.90509835e-02 3.45465090e+01] [ 2.14472360e-02 9.99769756e-01 -6.71680540e-04 3.45489826e-01] [ 2.90587074e-02 4.81790314e-05 9.99577705e-01 1.92473452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.775336194999994 meters 0.018773603321674295 Centerline is valid? [True, True] Translation: X:34.58, Y:0.35, Z:0.19 [[ 9.99282169e-01 -2.12056789e-02 -3.13921300e-02 3.45755284e+01] [ 2.11932985e-02 9.99775132e-01 -7.27097245e-04 3.47828140e-01] [ 3.14004895e-02 6.12725299e-05 9.99506881e-01 1.88270084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805336194999995 meters 0.01773460988299708 Centerline is valid? [True, True] Translation: X:34.60, Y:0.35, Z:0.19 [[ 9.99281619e-01 -2.18961884e-02 -3.09322435e-02 3.46042595e+01] [ 2.18843647e-02 9.99760249e-01 -7.20782347e-04 3.47919537e-01] [ 3.09406098e-02 4.33320532e-05 9.99521224e-01 1.90917129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.835336195 meters 0.01733306606584908 Centerline is valid? [True, True] Translation: X:34.63, Y:0.35, Z:0.19 [[ 9.99353016e-01 -2.39199540e-02 -2.68586303e-02 3.46334991e+01] [ 2.39117311e-02 9.99713877e-01 -6.27337085e-04 3.49332945e-01] [ 2.68659513e-02 -1.53051366e-05 9.99639045e-01 1.92464844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.865336195 meters 0.016271570573235153 Centerline is valid? [True, True] Translation: X:34.66, Y:0.35, Z:0.20 [[ 9.99348336e-01 -2.50920276e-02 -2.59478881e-02 3.46628829e+01] [ 2.50847321e-02 9.99685145e-01 -6.06678072e-04 3.52767634e-01] [ 2.59549410e-02 -4.46130987e-05 9.99663113e-01 1.98562779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.895336195 meters 0.01625391601786434 Centerline is valid? [True, True] Translation: X:34.69, Y:0.36, Z:0.20 [[ 9.99256216e-01 -2.83702429e-02 -2.61178790e-02 3.46931915e+01] [ 2.83639666e-02 9.99597475e-01 -6.10813945e-04 3.55119588e-01] [ 2.61246948e-02 -1.30447016e-04 9.99658683e-01 1.98595245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925336195 meters 0.01650157648532376 Centerline is valid? [True, True] Translation: X:34.72, Y:0.36, Z:0.20 [[ 9.99210841e-01 -2.99947957e-02 -2.60385876e-02 3.47246496e+01] [ 2.99891271e-02 9.99550040e-01 -6.08265767e-04 3.55886213e-01] [ 2.60451161e-02 -1.73088766e-04 9.99660753e-01 1.98294856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.955336194999994 meters 0.017745868055176212 Centerline is valid? [True, True] Translation: X:34.76, Y:0.36, Z:0.20 [[ 9.99122737e-01 -3.24403638e-02 -2.64835527e-02 3.47551742e+01] [ 3.24353776e-02 9.99473644e-01 -6.17943919e-04 3.61625825e-01] [ 2.64896592e-02 -2.41602213e-04 9.99649058e-01 1.98300894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985336194999995 meters 0.018043382128241008 Centerline is valid? [True, True] Translation: X:34.79, Y:0.36, Z:0.20 [[ 9.99061910e-01 -3.36595905e-02 -2.72457617e-02 3.47861109e+01] [ 3.36547905e-02 9.99433315e-01 -6.34845174e-04 3.63843293e-01] [ 2.72516906e-02 -2.82700772e-04 9.99628564e-01 1.96621194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.015336194999996 meters 0.02157956259683841 Centerline is valid? [True, True] Translation: X:34.82, Y:0.36, Z:0.19 [[ 9.98813926e-01 -3.82843619e-02 -3.00840202e-02 3.48162844e+01] [ 3.82806144e-02 9.99266783e-01 -7.00717560e-04 3.64253336e-01] [ 3.00887886e-02 -4.51748318e-04 9.99547128e-01 1.90249023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.045336195 meters 0.023124536952966394 Centerline is valid? [True, True] Translation: X:34.85, Y:0.36, Z:0.19 [[ 9.98670122e-01 -4.15272094e-02 -3.05528824e-02 3.48479825e+01] [ 4.15248861e-02 9.99137217e-01 -7.10812600e-04 3.64583707e-01] [ 3.05560399e-02 -5.58837653e-04 9.99532899e-01 1.90479358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.075336195 meters 0.02753371199915132 Centerline is valid? [True, True] Translation: X:34.88, Y:0.36, Z:0.19 [[ 9.98332918e-01 -4.98684550e-02 -2.90606669e-02 3.48787774e+01] [ 4.98698926e-02 9.98755494e-01 -6.75762341e-04 3.60051384e-01] [ 2.90582000e-02 -7.74616548e-04 9.99577421e-01 1.92564594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105336195 meters 0.02869523442717064 Centerline is valid? [True, True] Translation: X:34.91, Y:0.36, Z:0.19 [[ 9.98142648e-01 -5.36337980e-02 -2.88906538e-02 3.49097422e+01] [ 5.36368026e-02 9.98560285e-01 -6.71512826e-04 3.57489410e-01] [ 2.88850752e-02 -8.79336702e-04 9.99582352e-01 1.93047165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.135336194999994 meters 0.03459601028495547 Centerline is valid? [True, True] Translation: X:34.94, Y:0.35, Z:0.19 [[ 9.97740256e-01 -6.01957782e-02 -2.98471124e-02 3.49401416e+01] [ 6.02019234e-02 9.98185978e-01 -6.93511930e-04 3.51084227e-01] [ 2.98347156e-02 -1.10490880e-03 9.99554235e-01 1.92150569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165336194999995 meters 0.035140525751529345 Centerline is valid? [True, True] Translation: X:34.97, Y:0.35, Z:0.20 [[ 9.97647246e-01 -6.20645744e-02 -2.91197625e-02 3.49725688e+01] [ 6.20712500e-02 9.98071492e-01 -6.75511742e-04 3.53194034e-01] [ 2.91055302e-02 -1.13357763e-03 9.99575702e-01 1.95731394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.195336194999996 meters 0.04148200100728531 Centerline is valid? [True, True] Translation: X:35.00, Y:0.35, Z:0.20 [[ 9.97543381e-01 -6.48967594e-02 -2.63745030e-02 3.50039639e+01] [ 6.49033091e-02 9.97891372e-01 -6.08540535e-04 3.47428739e-01] [ 2.63583813e-02 -1.10474694e-03 9.99651947e-01 1.96238314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.225336195 meters 0.04148200100728531 Centerline is valid? [True, True] Translation: X:35.04, Y:0.35, Z:0.20 [[ 9.97555116e-01 -6.47160730e-02 -2.63746082e-02 3.50366455e+01] [ 6.47226806e-02 9.97903106e-01 -6.03956342e-04 3.48051146e-01] [ 2.63583892e-02 -1.10455560e-03 9.99651947e-01 1.96458157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.255336195 meters 0.038707754497689664 Centerline is valid? [True, True] Translation: X:35.07, Y:0.35, Z:0.20 [[ 9.97544194e-01 -6.49684110e-02 -2.61665076e-02 3.50684311e+01] [ 6.49751152e-02 9.97886707e-01 -5.94834298e-04 3.50932708e-01] [ 2.61498556e-02 -1.10679835e-03 9.99657421e-01 1.98662336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285336195 meters 0.04018896091528571 Centerline is valid? [True, True] Translation: X:35.10, Y:0.35, Z:0.20 [[ 9.97561822e-01 -6.41316210e-02 -2.75235540e-02 3.51003106e+01] [ 6.41388519e-02 9.97940791e-01 -6.20943371e-04 3.51127698e-01] [ 2.75066993e-02 -1.14589975e-03 9.99620962e-01 1.97070746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31533619499999 meters 0.03634692825046009 Centerline is valid? [True, True] Translation: X:35.13, Y:0.36, Z:0.20 [[ 9.97553002e-01 -6.36747244e-02 -2.88710497e-02 3.51323572e+01] [ 6.36826313e-02 9.97969992e-01 -6.46466195e-04 3.57425210e-01] [ 2.88536047e-02 -1.19370012e-03 9.99582935e-01 1.97552578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345336194999994 meters 0.03743897240453591 Centerline is valid? [True, True] Translation: X:35.16, Y:0.36, Z:0.19 [[ 9.97629436e-01 -6.12235538e-02 -3.14194903e-02 3.51637672e+01] [ 6.12318178e-02 9.98123326e-01 -6.99987922e-04 3.55450827e-01] [ 3.14033819e-02 -1.22554395e-03 9.99506041e-01 1.92060598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.375336194999996 meters 0.03793704346907874 Centerline is valid? [True, True] Translation: X:35.20, Y:0.36, Z:0.19 [[ 9.97723088e-01 -5.90976646e-02 -3.24977901e-02 3.51955245e+01] [ 5.91054413e-02 9.98251484e-01 -7.22139678e-04 3.60668248e-01] [ 3.24836439e-02 -1.20030080e-03 9.99471546e-01 1.92298631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.405336195 meters 0.034332501356801486 Centerline is valid? [True, True] Translation: X:35.23, Y:0.36, Z:0.19 [[ 9.97940935e-01 -5.44307332e-02 -3.39291155e-02 3.52251402e+01] [ 5.44365285e-02 9.98516948e-01 -7.53613781e-04 3.64045095e-01] [ 3.39198166e-02 -1.09492122e-03 9.99423958e-01 1.87202496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.435336195 meters 0.0320695973915163 Centerline is valid? [True, True] Translation: X:35.26, Y:0.37, Z:0.19 [[ 9.98058043e-01 -5.17051527e-02 -3.47378730e-02 3.52566323e+01] [ 5.17096012e-02 9.98661866e-01 -7.70942948e-04 3.67305376e-01] [ 3.47312508e-02 -1.02683575e-03 9.99396161e-01 1.85116668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465336195 meters 0.02686717630790091 Centerline is valid? [True, True] Translation: X:35.29, Y:0.37, Z:0.19 [[ 9.98365398e-01 -4.63421211e-02 -3.34505691e-02 3.52867995e+01] [ 4.63432435e-02 9.98925299e-01 -7.42183466e-04 3.73982584e-01] [ 3.34490141e-02 -8.09237581e-04 9.99440098e-01 1.87749225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.495336195 meters 0.02331284780633911 Centerline is valid? [True, True] Translation: X:35.32, Y:0.38, Z:0.19 [[ 9.98515882e-01 -4.39615533e-02 -3.21467782e-02 3.53179027e+01] [ 4.39613765e-02 9.99032977e-01 -7.12631614e-04 3.81682152e-01] [ 3.21470199e-02 -7.01642636e-04 9.99482905e-01 1.94944910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525336194999994 meters 0.02305453144997827 Centerline is valid? [True, True] Translation: X:35.35, Y:0.39, Z:0.20 [[ 9.98589364e-01 -4.21959839e-02 -3.22301329e-02 3.53489022e+01] [ 4.21949221e-02 9.99109143e-01 -7.13397423e-04 3.86294012e-01] [ 3.22315229e-02 -6.47556865e-04 9.99480220e-01 1.96468712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.555336194999995 meters 0.021586705732443943 Centerline is valid? [True, True] Translation: X:35.38, Y:0.39, Z:0.20 [[ 9.98664290e-01 -3.96912777e-02 -3.30792821e-02 3.53814309e+01] [ 3.96888360e-02 9.99211821e-01 -7.30689960e-04 3.91192124e-01] [ 3.30822117e-02 -5.83164231e-04 9.99452464e-01 1.95495589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.585336195 meters 0.021637615711873493 Centerline is valid? [True, True] Translation: X:35.41, Y:0.39, Z:0.20 [[ 9.98785065e-01 -3.84310904e-02 -3.08455119e-02 3.54117047e+01] [ 3.84283842e-02 9.99261125e-01 -6.80761547e-04 3.92835439e-01] [ 3.08488833e-02 -5.05408716e-04 9.99523932e-01 1.96013783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.615336195 meters 0.01998683249198458 Centerline is valid? [True, True] Translation: X:35.44, Y:0.39, Z:0.20 [[ 9.98843484e-01 -3.77592227e-02 -2.97646657e-02 3.54438875e+01] [ 3.77564396e-02 9.99286756e-01 -6.55726658e-04 3.94413068e-01] [ 2.97681960e-02 -4.68839504e-04 9.99556719e-01 1.98031260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645336195 meters 0.01962896337521345 Centerline is valid? [True, True] Translation: X:35.48, Y:0.39, Z:0.20 [[ 9.98877045e-01 -3.73002476e-02 -2.92119812e-02 3.54758316e+01] [ 3.72974112e-02 9.99304003e-01 -6.42160689e-04 3.93069538e-01] [ 2.92156025e-02 -4.48091704e-04 9.99573033e-01 1.95929663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.675336195 meters 0.020574674824626615 Centerline is valid? [True, True] Translation: X:35.51, Y:0.39, Z:0.19 [[ 9.98873847e-01 -3.75630653e-02 -2.89836828e-02 3.55068694e+01] [ 3.75604160e-02 9.99294156e-01 -6.36030227e-04 3.90405530e-01] [ 2.89871161e-02 -4.53325221e-04 9.99579682e-01 1.92487560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705336194999994 meters 0.021381937521484214 Centerline is valid? [True, True] Translation: X:35.54, Y:0.39, Z:0.19 [[ 9.98877145e-01 -3.82566262e-02 -2.79442104e-02 3.55383344e+01] [ 3.82544617e-02 9.99267843e-01 -6.12247521e-04 3.90847748e-01] [ 2.79471733e-02 -4.57430670e-04 9.99609297e-01 1.94305267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.735336194999995 meters 0.022286812175557433 Centerline is valid? [True, True] Translation: X:35.57, Y:0.39, Z:0.20 [[ 9.98833042e-01 -4.05049623e-02 -2.63040282e-02 3.55708843e+01] [ 4.05038530e-02 9.99179217e-01 -5.75187522e-04 3.92832018e-01] [ 2.63057363e-02 -4.90898191e-04 9.99653824e-01 2.01532228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765336194999996 meters 0.023312429635646028 Centerline is valid? [True, True] Translation: X:35.60, Y:0.39, Z:0.20 [[ 9.98699469e-01 -4.25984549e-02 -2.80132430e-02 3.56026002e+01] [ 4.25980502e-02 9.99092104e-01 -6.11492441e-04 3.90448089e-01] [ 2.80138586e-02 -5.82612356e-04 9.99607365e-01 2.00650885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.795336195 meters 0.022411881981810225 Centerline is valid? [True, True] Translation: X:35.63, Y:0.39, Z:0.20 [[ 9.98673851e-01 -4.28912420e-02 -2.84759553e-02 3.56349512e+01] [ 4.28909791e-02 9.99079566e-01 -6.20316022e-04 3.88264505e-01] [ 2.84763511e-02 -6.01868213e-04 9.99594285e-01 1.99229435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825336195 meters 0.023798845252484244 Centerline is valid? [True, True] Translation: X:35.67, Y:0.39, Z:0.20 [[ 9.98645664e-01 -4.37587178e-02 -2.81427025e-02 3.56659452e+01] [ 4.37588356e-02 9.99041936e-01 -6.11975193e-04 3.85356606e-01] [ 2.81425193e-02 -6.20345521e-04 9.99603728e-01 1.98442353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.855336195 meters 0.024946484178293486 Centerline is valid? [True, True] Translation: X:35.70, Y:0.39, Z:0.20 [[ 9.98637672e-01 -4.42426006e-02 -2.76657334e-02 3.56975182e+01] [ 4.42429404e-02 9.99020621e-01 -6.00139761e-04 3.89376937e-01] [ 2.76651899e-02 -6.24691219e-04 9.99617050e-01 2.04180998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885336194999994 meters 0.023287204954986027 Centerline is valid? [True, True] Translation: X:35.73, Y:0.40, Z:0.21 [[ 9.98640323e-01 -4.38296154e-02 -2.82218024e-02 3.57299521e+01] [ 4.38298448e-02 9.99038824e-01 -6.10769004e-04 3.95702673e-01] [ 2.82214460e-02 -6.27018664e-04 9.99601499e-01 2.07945305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.915336194999995 meters 0.0238298451782503 Centerline is valid? [True, True] Translation: X:35.76, Y:0.40, Z:0.20 [[ 9.98728254e-01 -4.15499211e-02 -2.85566029e-02 3.57616420e+01] [ 4.15492636e-02 9.99136266e-01 -6.16651508e-04 3.95768080e-01] [ 2.85575594e-02 -5.70638538e-04 9.99591987e-01 2.01723556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945336194999996 meters 0.021799395264252234 Centerline is valid? [True, True] Translation: X:35.79, Y:0.40, Z:0.20 [[ 9.98769568e-01 -4.03088148e-02 -2.88885629e-02 3.57941130e+01] [ 4.03076626e-02 9.99187122e-01 -6.22459173e-04 3.96955379e-01] [ 2.88901706e-02 -5.42737165e-04 9.99582445e-01 2.00684870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.975336195 meters 0.02221482059758712 Centerline is valid? [True, True] Translation: X:35.83, Y:0.39, Z:0.20 [[ 9.98805186e-01 -3.98608273e-02 -2.82721440e-02 3.58251481e+01] [ 3.98595742e-02 9.99205106e-01 -6.08115701e-04 3.91733447e-01] [ 2.82739107e-02 -5.19526508e-04 9.99600078e-01 1.96326716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.005336195 meters 0.022814538719039715 Centerline is valid? [True, True] Translation: X:35.86, Y:0.39, Z:0.20 [[ 9.98833847e-01 -4.03395866e-02 -2.65266567e-02 3.58567697e+01] [ 4.03386820e-02 9.99185902e-01 -5.69438502e-04 3.91548224e-01] [ 2.65280323e-02 -5.01275918e-04 9.99647944e-01 1.99367177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.035336195 meters 0.02411353122528198 Centerline is valid? [True, True] Translation: X:35.89, Y:0.40, Z:0.21 [[ 9.98779902e-01 -4.28247618e-02 -2.45915973e-02 3.58891713e+01] [ 4.28247639e-02 9.99082460e-01 -5.26799309e-04 3.96908048e-01] [ 2.45915936e-02 -5.26972785e-04 9.99697442e-01 2.09794115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06533619499999 meters 0.026587126108159907 Centerline is valid? [True, True] Translation: X:35.92, Y:0.40, Z:0.21 [[ 9.98661151e-01 -4.59076280e-02 -2.38410423e-02 3.59214244e+01] [ 4.59085333e-02 9.98945517e-01 -5.09646160e-04 3.95462035e-01] [ 2.38392989e-02 -5.85543462e-04 9.99715632e-01 2.13179521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.095336194999994 meters 0.024303279092261154 Centerline is valid? [True, True] Translation: X:35.95, Y:0.40, Z:0.22 [[ 9.98665174e-01 -4.63110717e-02 -2.28725643e-02 3.59538490e+01] [ 4.63120349e-02 9.98926903e-01 -4.87879736e-04 3.96555712e-01] [ 2.28706140e-02 -5.72046493e-04 9.99738270e-01 2.15796150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125336194999996 meters 0.02846251306550902 Centerline is valid? [True, True] Translation: X:35.98, Y:0.39, Z:0.21 [[ 9.98693480e-01 -4.61209499e-02 -2.20043558e-02 3.59849367e+01] [ 4.61218536e-02 9.98935712e-01 -4.66705121e-04 3.92700969e-01] [ 2.20024617e-02 -5.48786316e-04 9.99757766e-01 2.13120641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.155336195 meters 0.024876617713672354 Centerline is valid? [True, True] Translation: X:36.02, Y:0.39, Z:0.21 [[ 9.98714732e-01 -4.42946646e-02 -2.46346650e-02 3.60169888e+01] [ 4.42953338e-02 9.99018345e-01 -5.18783033e-04 3.94035126e-01] [ 2.46334616e-02 -5.73084452e-04 9.99696386e-01 2.06812719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.185336195 meters 0.02357946703238908 Centerline is valid? [True, True] Translation: X:36.05, Y:0.40, Z:0.21 [[ 9.98747034e-01 -4.26531049e-02 -2.61739168e-02 3.60489995e+01] [ 4.26533477e-02 9.99089781e-01 -5.49277380e-04 3.97987830e-01] [ 2.61735212e-02 -5.67816019e-04 9.99657253e-01 2.05087524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.215336195 meters 0.020277023816447547 Centerline is valid? [True, True] Translation: X:36.08, Y:0.41, Z:0.21 [[ 9.98889780e-01 -3.82619893e-02 -2.74814129e-02 3.60800984e+01] [ 3.82606253e-02 9.99267628e-01 -5.75649430e-04 4.07604175e-01] [ 2.74833118e-02 -4.76445709e-04 9.99622149e-01 2.05104933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245336195 meters 0.019621250741280228 Centerline is valid? [True, True] Translation: X:36.11, Y:0.41, Z:0.20 [[ 9.98937844e-01 -3.62135536e-02 -2.84914336e-02 3.61111515e+01] [ 3.62112841e-02 9.99343979e-01 -5.95781991e-04 4.12516243e-01] [ 2.84943180e-02 -4.36562220e-04 9.99593859e-01 2.04649440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.275336194999994 meters 0.021357807384067333 Centerline is valid? [True, True] Translation: X:36.14, Y:0.42, Z:0.20 [[ 9.99007077e-01 -3.37456159e-02 -2.90877015e-02 3.61422848e+01] [ 3.37422347e-02 9.99430384e-01 -6.07216806e-04 4.18148241e-01] [ 2.90916236e-02 -3.74870165e-04 9.99576679e-01 2.04155043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305336194999995 meters 0.019157569953093034 Centerline is valid? [True, True] Translation: X:36.17, Y:0.42, Z:0.21 [[ 9.99015156e-01 -3.37051023e-02 -2.88562540e-02 3.61743227e+01] [ 3.37017939e-02 9.99431752e-01 -6.01136961e-04 4.20229665e-01] [ 2.88601179e-02 -3.71962591e-04 9.99583391e-01 2.05979656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.335336195 meters 0.02361373808590851 Centerline is valid? [True, True] Translation: X:36.21, Y:0.42, Z:0.21 [[ 9.98956582e-01 -3.64604258e-02 -2.75024426e-02 3.62069776e+01] [ 3.64584985e-02 9.99335004e-01 -5.71684461e-04 4.20448686e-01] [ 2.75049975e-02 -4.31609807e-04 9.99621573e-01 2.09662770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.365336195 meters 0.021418962907113523 Centerline is valid? [True, True] Translation: X:36.24, Y:0.42, Z:0.21 [[ 9.98896480e-01 -3.87138210e-02 -2.65906373e-02 3.62390421e+01] [ 3.87128497e-02 9.99250224e-01 -5.51511937e-04 4.19378808e-01] [ 2.65920515e-02 -4.78496014e-04 9.99646254e-01 2.10950307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.395336195 meters 0.024772863685625573 Centerline is valid? [True, True] Translation: X:36.27, Y:0.41, Z:0.21 [[ 9.98761670e-01 -4.28213218e-02 -2.53270623e-02 3.62707646e+01] [ 4.28218032e-02 9.99082589e-01 -5.23601352e-04 4.11037398e-01] [ 2.53262483e-02 -5.61597517e-04 9.99679081e-01 2.08190863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425336195 meters 0.026047171145539158 Centerline is valid? [True, True] Translation: X:36.30, Y:0.41, Z:0.21 [[ 9.98670532e-01 -4.47535645e-02 -2.55790213e-02 3.63025587e+01] [ 4.47547186e-02 9.98997866e-01 -5.27651831e-04 4.08352390e-01] [ 2.55770020e-02 -6.17831565e-04 9.99672664e-01 2.07239758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.455336194999994 meters 0.026066788104440762 Centerline is valid? [True, True] Translation: X:36.33, Y:0.41, Z:0.21 [[ 9.98488109e-01 -4.76856992e-02 -2.73417355e-02 3.63339522e+01] [ 4.76881366e-02 9.98862115e-01 -5.63278705e-04 4.07156334e-01] [ 2.73374841e-02 -7.41449328e-04 9.99625986e-01 2.06717497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485336194999995 meters 0.029237116430194 Centerline is valid? [True, True] Translation: X:36.37, Y:0.40, Z:0.21 [[ 9.98403750e-01 -4.90105207e-02 -2.80699146e-02 3.63653581e+01] [ 4.90136388e-02 9.98797942e-01 -5.77357255e-04 4.03725909e-01] [ 2.80644695e-02 -7.99373008e-04 9.99605796e-01 2.05348551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.515336194999996 meters 0.030441195354577847 Centerline is valid? [True, True] Translation: X:36.40, Y:0.41, Z:0.21 [[ 9.98292427e-01 -5.05181741e-02 -2.93282239e-02 3.63970705e+01] [ 5.05222584e-02 9.98722754e-01 -6.02219186e-04 4.05373133e-01] [ 2.93211876e-02 -8.80537254e-04 9.99569654e-01 2.08184467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.545336195 meters 0.03282465184736008 Centerline is valid? [True, True] Translation: X:36.43, Y:0.41, Z:0.21 [[ 9.98244704e-01 -5.10311067e-02 -3.00555784e-02 3.64293335e+01] [ 5.10356686e-02 9.98696641e-01 -6.15825282e-04 4.07167427e-01] [ 3.00478314e-02 -9.19162212e-04 9.99548039e-01 2.09189443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.575336195 meters 0.03313336683423546 Centerline is valid? [True, True] Translation: X:36.46, Y:0.40, Z:0.20 [[ 9.98321476e-01 -4.99660113e-02 -2.92853040e-02 3.64611094e+01] [ 4.99699241e-02 9.98750544e-01 -5.98681929e-04 4.00031598e-01] [ 2.92786270e-02 -8.65707390e-04 9.99570914e-01 2.04273425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605336195 meters 0.030403993475979718 Centerline is valid? [True, True] Translation: X:36.49, Y:0.40, Z:0.21 [[ 9.98338107e-01 -4.97656499e-02 -2.90586323e-02 3.64935781e+01] [ 4.97694560e-02 9.98760557e-01 -5.92721810e-04 4.02863417e-01] [ 2.90521130e-02 -8.54495553e-04 9.99577533e-01 2.06350688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.635336194999994 meters 0.032963174965244944 Centerline is valid? [True, True] Translation: X:36.53, Y:0.40, Z:0.21 [[ 9.98347095e-01 -5.05232960e-02 -2.73948069e-02 3.65255371e+01] [ 5.05269968e-02 9.98722540e-01 -5.57550719e-04 3.97853750e-01] [ 2.73879804e-02 -8.27548182e-04 9.99624536e-01 2.05931360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665336194999995 meters 0.03187131369845081 Centerline is valid? [True, True] Translation: X:36.56, Y:0.40, Z:0.21 [[ 9.98317529e-01 -5.12594656e-02 -2.71031234e-02 3.65578951e+01] [ 5.12633932e-02 9.98685016e-01 -5.50352010e-04 3.96111022e-01] [ 2.70956940e-02 -8.39972013e-04 9.99632491e-01 2.06686466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.695336194999996 meters 0.03074716936606461 Centerline is valid? [True, True] Translation: X:36.59, Y:0.39, Z:0.21 [[ 9.98231737e-01 -5.18350072e-02 -2.90951967e-02 3.65886959e+01] [ 5.18398036e-02 9.98655239e-01 -5.89936556e-04 3.93258738e-01] [ 2.90866500e-02 -9.19395889e-04 9.99576471e-01 2.06846075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.725336195 meters 0.029099444518863572 Centerline is valid? [True, True] Translation: X:36.62, Y:0.40, Z:0.21 [[ 9.98232475e-01 -5.17746580e-02 -2.91772160e-02 3.66217560e+01] [ 5.17795070e-02 9.98658367e-01 -5.89843269e-04 3.97275009e-01] [ 2.91686098e-02 -9.21981152e-04 9.99574080e-01 2.11211170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.755336195 meters 0.026134979136902933 Centerline is valid? [True, True] Translation: X:36.65, Y:0.40, Z:0.21 [[ 9.98278397e-01 -4.98039290e-02 -3.09808053e-02 3.66539765e+01] [ 4.98085013e-02 9.98758591e-01 -6.24615629e-04 3.99635616e-01] [ 3.09734537e-02 -9.19567190e-04 9.99519784e-01 2.11231972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785336195 meters 0.028434276015547745 Centerline is valid? [True, True] Translation: X:36.68, Y:0.39, Z:0.20 [[ 9.98394554e-01 -4.72054288e-02 -3.13043490e-02 3.66841930e+01] [ 4.72088408e-02 9.98884842e-01 -6.30510836e-04 3.93231000e-01] [ 3.12992033e-02 -8.48343446e-04 9.99509700e-01 2.03765505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81533619499999 meters 0.02207710913613852 Centerline is valid? [True, True] Translation: X:36.71, Y:0.40, Z:0.21 [[ 9.98757644e-01 -4.09445111e-02 -2.84027283e-02 3.67146655e+01] [ 4.09447905e-02 9.99161247e-01 -5.71997420e-04 3.99330429e-01] [ 2.84023256e-02 -5.91656964e-04 9.99596397e-01 2.09305696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845336194999994 meters 0.021994305601890113 Centerline is valid? [True, True] Translation: X:36.75, Y:0.40, Z:0.21 [[ 9.98905530e-01 -3.72644346e-02 -2.82684293e-02 3.67458500e+01] [ 3.72632527e-02 9.99305322e-01 -5.68781079e-04 4.03579550e-01] [ 2.82699871e-02 -4.85215061e-04 9.99600206e-01 2.10468738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.875336194999996 meters 0.017526126512060335 Centerline is valid? [True, True] Translation: X:36.78, Y:0.41, Z:0.21 [[ 9.99044350e-01 -3.22217178e-02 -2.95321399e-02 3.67782698e+01] [ 3.22182625e-02 9.99480681e-01 -5.92958116e-04 4.09996244e-01] [ 2.95359095e-02 -3.59082783e-04 9.99563655e-01 2.10140405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.905336195 meters 0.017008947072924684 Centerline is valid? [True, True] Translation: X:36.81, Y:0.41, Z:0.21 [[ 9.99099900e-01 -3.10133172e-02 -2.89406820e-02 3.68096490e+01] [ 3.10095164e-02 9.99518921e-01 -5.80240611e-04 4.11741704e-01] [ 2.89447545e-02 -3.17718218e-04 9.99580962e-01 2.12073875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.935336195 meters 0.01682290623720705 Centerline is valid? [True, True] Translation: X:36.84, Y:0.42, Z:0.22 [[ 9.99183024e-01 -2.90527455e-02 -2.80930917e-02 3.68399958e+01] [ 2.90484008e-02 9.99577848e-01 -5.62837807e-04 4.16223459e-01] [ 2.80975841e-02 -2.53681405e-04 9.99605153e-01 2.15396199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965336195 meters 0.016941810187871664 Centerline is valid? [True, True] Translation: X:36.87, Y:0.42, Z:0.22 [[ 9.99178579e-01 -2.88703953e-02 -2.84370692e-02 3.68717991e+01] [ 2.88658861e-02 9.99583131e-01 -5.69154424e-04 4.16995555e-01] [ 2.84416463e-02 -2.52174290e-04 9.99595423e-01 2.15533699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.995336195 meters 0.016875178138386356 Centerline is valid? [True, True] Translation: X:36.90, Y:0.41, Z:0.21 [[ 9.99153566e-01 -2.90062201e-02 -2.91683335e-02 3.69024259e+01] [ 2.90015385e-02 9.99579197e-01 -5.83632800e-04 4.09671997e-01] [ 2.91729883e-02 -2.62787754e-04 9.99574343e-01 2.08557531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025336194999994 meters 0.01700250197338689 Centerline is valid? [True, True] Translation: X:36.93, Y:0.41, Z:0.21 [[ 9.99166338e-01 -2.92465034e-02 -2.84828215e-02 3.69318569e+01] [ 2.92421297e-02 9.99572195e-01 -5.70165678e-04 4.05408306e-01] [ 2.84873118e-02 -2.63208010e-04 9.99594120e-01 2.05675740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.055336194999995 meters 0.01649884675464333 Centerline is valid? [True, True] Translation: X:36.96, Y:0.41, Z:0.21 [[ 9.99248824e-01 -2.93887154e-02 -2.52604523e-02 3.69628576e+01] [ 2.93853300e-02 9.99568030e-01 -5.05290473e-04 4.06234256e-01] [ 2.52643904e-02 -2.37375817e-04 9.99680776e-01 2.14013563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.085336195 meters 0.01567751139152905 Centerline is valid? [True, True] Translation: X:36.99, Y:0.41, Z:0.22 [[ 9.99261043e-01 -2.91563995e-02 -2.50453972e-02 3.69944288e+01] [ 2.91530188e-02 9.99574835e-01 -5.00183580e-04 4.09686232e-01] [ 2.50493323e-02 -2.30334969e-04 9.99686190e-01 2.16862704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.115336195 meters 0.01567751139152905 Centerline is valid? [True, True] Translation: X:37.03, Y:0.41, Z:0.22 [[ 9.99262384e-01 -2.91103943e-02 -2.50454188e-02 3.70261364e+01] [ 2.91070262e-02 9.99576176e-01 -4.99103093e-04 4.10242690e-01] [ 2.50493330e-02 -2.30262713e-04 9.99686190e-01 2.17076552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145336195 meters 0.017316300461422098 Centerline is valid? [True, True] Translation: X:37.06, Y:0.41, Z:0.21 [[ 9.99160678e-01 -2.98833407e-02 -2.80165206e-02 3.70565558e+01] [ 2.98794465e-02 9.99553354e-01 -5.57720349e-04 4.11471584e-01] [ 2.80206737e-02 -2.79865887e-04 9.99607305e-01 2.11767030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.175336195 meters 0.01746010229559057 Centerline is valid? [True, True] Translation: X:37.09, Y:0.41, Z:0.21 [[ 9.99117034e-01 -3.08212787e-02 -2.85517160e-02 3.70878527e+01] [ 3.08176335e-02 9.99524863e-01 -5.67800802e-04 4.08422531e-01] [ 2.85556504e-02 -3.12596869e-04 9.99592155e-01 2.09762112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205336194999994 meters 0.018811174210448395 Centerline is valid? [True, True] Translation: X:37.12, Y:0.40, Z:0.21 [[ 9.99023844e-01 -3.50514289e-02 -2.68841445e-02 3.71194307e+01] [ 3.50497444e-02 9.99385426e-01 -5.34026214e-04 4.03447737e-01] [ 2.68863406e-02 -4.08777473e-04 9.99638413e-01 2.13846117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.235336194999995 meters 0.01992820571200486 Centerline is valid? [True, True] Translation: X:37.15, Y:0.40, Z:0.22 [[ 9.98927146e-01 -3.72997543e-02 -2.74460537e-02 3.71511924e+01] [ 3.72988886e-02 9.99304006e-01 -5.43670391e-04 4.02050549e-01] [ 2.74472302e-02 -4.80620189e-04 9.99623138e-01 2.15314764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.265336194999996 meters 0.023210034488352852 Centerline is valid? [True, True] Translation: X:37.18, Y:0.40, Z:0.21 [[ 9.98776149e-01 -4.06700795e-02 -2.81451456e-02 3.71811367e+01] [ 4.06705192e-02 9.99172457e-01 -5.57064771e-04 3.98376631e-01] [ 2.81445102e-02 -5.88294680e-04 9.99603692e-01 2.14401754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.295336195 meters 0.023569054685935512 Centerline is valid? [True, True] Translation: X:37.21, Y:0.40, Z:0.21 [[ 9.98762478e-01 -4.12608864e-02 -2.77678303e-02 3.72136147e+01] [ 4.12615691e-02 9.99148228e-01 -5.48640273e-04 3.97343474e-01] [ 2.77668158e-02 -5.97782929e-04 9.99614249e-01 2.13429138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325336195 meters 0.02341998379420649 Centerline is valid? [True, True] Translation: X:37.25, Y:0.40, Z:0.21 [[ 9.98696457e-01 -4.28751602e-02 -2.76967019e-02 3.72461658e+01] [ 4.28764956e-02 9.99080231e-01 -5.45939785e-04 3.96332150e-01] [ 2.76946346e-02 -6.42309388e-04 9.99616224e-01 2.13821458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.355336195 meters 0.02298699125778132 Centerline is valid? [True, True] Translation: X:37.28, Y:0.40, Z:0.21 [[ 9.98712168e-01 -4.26320524e-02 -2.75047793e-02 3.72783589e+01] [ 4.26333128e-02 9.99090641e-01 -5.40860303e-04 3.97816848e-01] [ 2.75028256e-02 -6.32456094e-04 9.99621526e-01 2.14566399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385336194999994 meters 0.023288876454713312 Centerline is valid? [True, True] Translation: X:37.31, Y:0.40, Z:0.21 [[ 9.98753350e-01 -4.22693188e-02 -2.65527998e-02 3.73097555e+01] [ 4.22703918e-02 9.99106072e-01 -5.21138087e-04 3.98304111e-01] [ 2.65510916e-02 -6.01908839e-04 9.99647276e-01 2.14846830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.415336194999995 meters 0.02168875442230098 Centerline is valid? [True, True] Translation: X:37.34, Y:0.40, Z:0.22 [[ 9.98816456e-01 -4.05182031e-02 -2.69065428e-02 3.73420760e+01] [ 4.05187019e-02 9.99178641e-01 -5.26893959e-04 4.04966561e-01] [ 2.69057916e-02 -5.63947827e-04 9.99637815e-01 2.17609958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445336194999996 meters 0.022547260071229418 Centerline is valid? [True, True] Translation: X:37.37, Y:0.41, Z:0.22 [[ 9.98744067e-01 -4.01416958e-02 -2.99822216e-02 3.73729958e+01] [ 4.01421816e-02 9.99193806e-01 -5.85950903e-04 4.12088814e-01] [ 2.99815712e-02 -6.18336797e-04 9.99550260e-01 2.15143835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.475336195 meters 0.02268363863449468 Centerline is valid? [True, True] Translation: X:37.41, Y:0.41, Z:0.21 [[ 9.98761254e-01 -4.02053591e-02 -2.93169934e-02 3.74057593e+01] [ 4.02058957e-02 9.99191253e-01 -5.71420144e-04 4.12138467e-01] [ 2.93162575e-02 -6.08003678e-04 9.99570001e-01 2.13548232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.505336195 meters 0.021377579893024783 Centerline is valid? [True, True] Translation: X:37.44, Y:0.41, Z:0.21 [[ 9.98780575e-01 -4.03929206e-02 -2.83861847e-02 3.74376825e+01] [ 4.03935390e-02 9.99183696e-01 -5.51872677e-04 4.11172261e-01] [ 2.83853046e-02 -5.95418747e-04 9.99596879e-01 2.12811604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.535336195 meters 0.023157612151215833 Centerline is valid? [True, True] Translation: X:37.47, Y:0.41, Z:0.21 [[ 9.98780669e-01 -4.02031162e-02 -2.86510863e-02 3.74694505e+01] [ 4.02037290e-02 9.99191349e-01 -5.54903952e-04 4.08520214e-01] [ 2.86502264e-02 -5.97653167e-04 9.99589319e-01 2.08551589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56533619499999 meters 0.020681030171235747 Centerline is valid? [True, True] Translation: X:37.50, Y:0.42, Z:0.21 [[ 9.98757305e-01 -3.95294741e-02 -3.03523800e-02 3.75017895e+01] [ 3.95299037e-02 9.99218216e-01 -5.86132971e-04 4.16507972e-01] [ 3.03518205e-02 -6.14422071e-04 9.99539089e-01 2.11743376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.595336194999994 meters 0.021801397233132142 Centerline is valid? [True, True] Translation: X:37.53, Y:0.42, Z:0.21 [[ 9.98826752e-01 -3.76266725e-02 -3.04852870e-02 3.75334579e+01] [ 3.76262647e-02 9.99291709e-01 -5.87238408e-04 4.21386655e-01] [ 3.04857904e-02 -5.60498046e-04 9.99535043e-01 2.10085356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625336194999996 meters 0.01963331949502602 Centerline is valid? [True, True] Translation: X:37.57, Y:0.43, Z:0.22 [[ 9.98893373e-01 -3.73526756e-02 -2.85798345e-02 3.75661080e+01] [ 3.73522572e-02 9.99302010e-01 -5.48694883e-04 4.26896704e-01] [ 2.85803813e-02 -5.19433646e-04 9.99591363e-01 2.17405136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.655336195 meters 0.019493547028758773 Centerline is valid? [True, True] Translation: X:37.60, Y:0.43, Z:0.23 [[ 9.98970579e-01 -3.76622688e-02 -2.52850946e-02 3.75962168e+01] [ 3.76620833e-02 9.99290415e-01 -4.83727512e-04 4.31875581e-01] [ 2.52853710e-02 -4.69059786e-04 9.99680164e-01 2.25161367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.685336195 meters 0.019853164775200865 Centerline is valid? [True, True] Translation: X:37.63, Y:0.43, Z:0.22 [[ 9.98964110e-01 -3.81010837e-02 -2.48799993e-02 3.76284356e+01] [ 3.81010784e-02 9.99273778e-01 -4.74439279e-04 4.32092809e-01] [ 2.48800076e-02 -4.74006993e-04 9.99690332e-01 2.24184846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.715336195 meters 0.021958504660079533 Centerline is valid? [True, True] Translation: X:37.66, Y:0.42, Z:0.22 [[ 9.98892184e-01 -4.00347496e-02 -2.47310045e-02 3.76599881e+01] [ 4.00353828e-02 9.99198152e-01 -4.69725448e-04 4.22074900e-01] [ 2.47299793e-02 -5.20910154e-04 9.99694032e-01 2.15787407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745336195 meters 0.022288706144321064 Centerline is valid? [True, True] Translation: X:37.69, Y:0.43, Z:0.22 [[ 9.98870151e-01 -3.96623061e-02 -2.61786839e-02 3.76914177e+01] [ 3.96629210e-02 9.99212994e-01 -4.95967572e-04 4.25411552e-01] [ 2.61777524e-02 -5.42915868e-04 9.99657156e-01 2.16808596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.775336194999994 meters 0.021025036019618977 Centerline is valid? [True, True] Translation: X:37.72, Y:0.43, Z:0.22 [[ 9.98881532e-01 -3.82211729e-02 -2.78357187e-02 3.77232648e+01] [ 3.82213433e-02 9.99269159e-01 -5.26136820e-04 4.32487763e-01] [ 2.78354848e-02 -5.38370209e-04 9.99612373e-01 2.18846560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805336194999995 meters 0.020323237639026458 Centerline is valid? [True, True] Translation: X:37.75, Y:0.44, Z:0.22 [[ 9.98932377e-01 -3.62792573e-02 -2.85993385e-02 3.77541325e+01] [ 3.62786726e-02 9.99341567e-01 -5.39495854e-04 4.36487887e-01] [ 2.86000803e-02 -4.98626162e-04 9.99590810e-01 2.18365059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.835336195 meters 0.01696270148163957 Centerline is valid? [True, True] Translation: X:37.79, Y:0.44, Z:0.22 [[ 9.99090650e-01 -3.07545106e-02 -2.95302079e-02 3.77859865e+01] [ 3.07515054e-02 9.99526906e-01 -5.56019158e-04 4.43357465e-01] [ 2.95333374e-02 -3.52584805e-04 9.99563734e-01 2.15947935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.865336195 meters 0.01673927760227957 Centerline is valid? [True, True] Translation: X:37.82, Y:0.45, Z:0.21 [[ 9.99126279e-01 -2.86630444e-02 -3.04156074e-02 3.78166201e+01] [ 2.86589032e-02 9.99589086e-01 -5.72173075e-04 4.46387745e-01] [ 3.04195094e-02 -3.00004794e-04 9.99537175e-01 2.13624077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.895336195 meters 0.01847921502461506 Centerline is valid? [True, True] Translation: X:37.85, Y:0.46, Z:0.21 [[ 9.99219266e-01 -2.53246882e-02 -3.03235613e-02 3.78461122e+01] [ 2.53190293e-02 9.99679259e-01 -5.70634149e-04 4.56082915e-01] [ 3.03282864e-02 -1.97574499e-04 9.99539972e-01 2.13546285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925336195 meters 0.014722486698709032 Centerline is valid? [True, True] Translation: X:37.87, Y:0.46, Z:0.22 [[ 9.99266875e-01 -2.39259241e-02 -2.98874866e-02 3.78748575e+01] [ 2.39196851e-02 9.99713723e-01 -5.66312281e-04 4.62231520e-01] [ 2.98924800e-02 -1.49002164e-04 9.99553109e-01 2.16838450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.955336194999994 meters 0.014162499953061828 Centerline is valid? [True, True] Translation: X:37.90, Y:0.47, Z:0.22 [[ 9.99360006e-01 -2.22525553e-02 -2.80071914e-02 3.79038669e+01] [ 2.22462988e-02 9.99752377e-01 -5.34996348e-04 4.71518646e-01] [ 2.80121612e-02 -8.84023960e-05 9.99607579e-01 2.22047479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985336194999995 meters 0.014025696200941339 Centerline is valid? [True, True] Translation: X:37.93, Y:0.47, Z:0.22 [[ 9.99389247e-01 -2.22535048e-02 -2.69428103e-02 3.79328224e+01] [ 2.22476691e-02 9.99752357e-01 -5.16375342e-04 4.74610196e-01] [ 2.69476293e-02 -8.33547626e-05 9.99636843e-01 2.22741083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.015336194999996 meters 0.014088285987884084 Centerline is valid? [True, True] Translation: X:37.96, Y:0.47, Z:0.22 [[ 9.99355151e-01 -2.40106220e-02 -2.66977913e-02 3.79621179e+01] [ 2.40055004e-02 9.99711695e-01 -5.12370900e-04 4.74142782e-01] [ 2.67023965e-02 -1.28853342e-04 9.99643419e-01 2.21258546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.045336195 meters 0.013939047743173151 Centerline is valid? [True, True] Translation: X:37.99, Y:0.48, Z:0.22 [[ 9.99307021e-01 -2.49629365e-02 -2.76103023e-02 3.79926063e+01] [ 2.49578177e-02 9.99688365e-01 -5.30042745e-04 4.75277527e-01] [ 2.76149293e-02 -1.59417455e-04 9.99618622e-01 2.22038132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.075336195 meters 0.014874413741539543 Centerline is valid? [True, True] Translation: X:38.02, Y:0.47, Z:0.22 [[ 9.99254573e-01 -2.73879417e-02 -2.72066054e-02 3.80230096e+01] [ 2.73838767e-02 9.99624855e-01 -5.22050965e-04 4.74407972e-01] [ 2.72106969e-02 -2.23360514e-04 9.99629695e-01 2.20640586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105336195 meters 0.015620321690250528 Centerline is valid? [True, True] Translation: X:38.05, Y:0.47, Z:0.22 [[ 9.99217849e-01 -2.98080516e-02 -2.59840326e-02 3.80544652e+01] [ 2.98051753e-02 9.99555603e-01 -4.98070397e-04 4.72727933e-01] [ 2.59873318e-02 -2.76777814e-04 9.99662234e-01 2.22122744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.135336194999994 meters 0.01726045668198408 Centerline is valid? [True, True] Translation: X:38.09, Y:0.47, Z:0.23 [[ 9.99061725e-01 -3.50815379e-02 -2.53959820e-02 3.80861273e+01] [ 3.50805141e-02 9.99384371e-01 -4.85976723e-04 4.71461878e-01] [ 2.53973963e-02 -4.05383361e-04 9.99677352e-01 2.26705826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165336194999995 meters 0.01887172031546057 Centerline is valid? [True, True] Translation: X:38.12, Y:0.47, Z:0.23 [[ 9.98974496e-01 -3.74033471e-02 -2.55136425e-02 3.81177919e+01] [ 3.74030940e-02 9.99300141e-01 -4.87311959e-04 4.70701783e-01] [ 2.55140136e-02 -4.67476948e-04 9.99674355e-01 2.26779250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.195336194999996 meters 0.021160151929022923 Centerline is valid? [True, True] Translation: X:38.15, Y:0.47, Z:0.22 [[ 9.98839419e-01 -4.06242450e-02 -2.58744192e-02 3.81484933e+01] [ 4.06250828e-02 9.99174339e-01 -4.93501609e-04 4.67037814e-01] [ 2.58731038e-02 -5.58221560e-04 9.99665079e-01 2.23597240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.225336195 meters 0.022642384335328367 Centerline is valid? [True, True] Translation: X:38.18, Y:0.46, Z:0.22 [[ 9.98783231e-01 -4.16047190e-02 -2.64783683e-02 3.81796186e+01] [ 4.16059635e-02 9.99133970e-01 -5.04161774e-04 4.63918624e-01] [ 2.64764127e-02 -5.98109699e-04 9.99649259e-01 2.21489019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.255336195 meters 0.026844538766297603 Centerline is valid? [True, True] Translation: X:38.21, Y:0.46, Z:0.22 [[ 9.98619508e-01 -4.49556775e-02 -2.71673578e-02 3.82098278e+01] [ 4.49582332e-02 9.98988734e-01 -5.17036886e-04 4.61054999e-01] [ 2.71631281e-02 -7.05073286e-04 9.99630766e-01 2.21313850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285336195 meters 0.02526620358568242 Centerline is valid? [True, True] Translation: X:38.24, Y:0.47, Z:0.23 [[ 9.98550942e-01 -4.63090508e-02 -2.74132702e-02 3.82421626e+01] [ 4.63121893e-02 9.98926879e-01 -5.20747006e-04 4.65625362e-01] [ 2.74079677e-02 -7.49576145e-04 9.99624050e-01 2.25115475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31533619499999 meters 0.02637643835204266 Centerline is valid? [True, True] Translation: X:38.27, Y:0.46, Z:0.22 [[ 9.98478038e-01 -4.73529120e-02 -2.82720535e-02 3.82729191e+01] [ 4.73567274e-02 9.98877898e-01 -5.34978489e-04 4.62466438e-01] [ 2.82656621e-02 -8.04707657e-04 9.99600122e-01 2.21533739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345336194999994 meters 0.028538475000642462 Centerline is valid? [True, True] Translation: X:38.30, Y:0.46, Z:0.22 [[ 9.98482684e-01 -4.76168535e-02 -2.76580090e-02 3.83039726e+01] [ 4.76206410e-02 9.98865357e-01 -5.22092878e-04 4.57323010e-01] [ 2.76514875e-02 -7.95791419e-04 9.99617308e-01 2.18509714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.375336194999996 meters 0.02860976582232808 Centerline is valid? [True, True] Translation: X:38.34, Y:0.46, Z:0.22 [[ 9.98479230e-01 -4.91335063e-02 -2.50025004e-02 3.83359085e+01] [ 4.91371019e-02 9.98791932e-01 -4.70912681e-04 4.55666644e-01] [ 2.49954333e-02 -7.58353879e-04 9.99687278e-01 2.23129680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.405336195 meters 0.027512592478471674 Centerline is valid? [True, True] Translation: X:38.37, Y:0.46, Z:0.23 [[ 9.98466948e-01 -4.95891533e-02 -2.45900456e-02 3.83682997e+01] [ 4.95927974e-02 9.98769413e-01 -4.61997706e-04 4.58556246e-01] [ 2.45826955e-02 -7.58199707e-04 9.99697512e-01 2.26631288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.435336195 meters 0.028019158045953407 Centerline is valid? [True, True] Translation: X:38.40, Y:0.46, Z:0.23 [[ 9.98453243e-01 -4.99657794e-02 -2.43832303e-02 3.83996322e+01] [ 4.99695476e-02 9.98750638e-01 -4.55115580e-04 4.58999006e-01] [ 2.43755070e-02 -7.64007359e-04 9.99702581e-01 2.28276804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465336195 meters 0.029150399919913743 Centerline is valid? [True, True] Translation: X:38.43, Y:0.46, Z:0.23 [[ 9.98471570e-01 -4.92279267e-02 -2.51223965e-02 3.84312753e+01] [ 4.92317627e-02 9.98787273e-01 -4.66168449e-04 4.56001810e-01] [ 2.51148784e-02 -7.71363918e-04 9.99684274e-01 2.25496777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.495336195 meters 0.02632336530697007 Centerline is valid? [True, True] Translation: X:38.46, Y:0.46, Z:0.23 [[ 9.98588190e-01 -4.64375537e-02 -2.57911101e-02 3.84628597e+01] [ 4.64406947e-02 9.98920935e-01 -4.77500022e-04 4.57372221e-01] [ 2.57854538e-02 -7.20931190e-04 9.99667240e-01 2.25452147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525336194999994 meters 0.028189936046289884 Centerline is valid? [True, True] Translation: X:38.49, Y:0.45, Z:0.22 [[ 9.98671786e-01 -4.41713430e-02 -2.65246401e-02 3.84946050e+01] [ 4.41738952e-02 9.99023737e-01 -4.90009677e-04 4.53949974e-01] [ 2.65203894e-02 -6.82337831e-04 9.99648040e-01 2.20445950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.555336194999995 meters 0.021966133045136928 Centerline is valid? [True, True] Translation: X:38.53, Y:0.46, Z:0.22 [[ 9.98753641e-01 -4.16752376e-02 -2.74652190e-02 3.85264031e+01] [ 4.16770670e-02 9.99131005e-01 -5.06080877e-04 4.61752725e-01] [ 2.74624429e-02 -6.39219655e-04 9.99622632e-01 2.23435128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.585336195 meters 0.01865506120281382 Centerline is valid? [True, True] Translation: X:38.56, Y:0.47, Z:0.23 [[ 9.98997095e-01 -3.56622535e-02 -2.70741070e-02 3.85556867e+01] [ 3.56618583e-02 9.99363790e-01 -4.97597264e-04 4.69928823e-01] [ 2.70746276e-02 -4.68414744e-04 9.99633305e-01 2.26490714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.615336195 meters 0.016170864857072486 Centerline is valid? [True, True] Translation: X:38.59, Y:0.48, Z:0.23 [[ 9.99105523e-01 -3.25674458e-02 -2.69725101e-02 3.85874174e+01] [ 3.25659609e-02 9.99469466e-01 -4.94441162e-04 4.76761776e-01] [ 2.69743029e-02 -3.84386814e-04 9.99636053e-01 2.29695259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645336195 meters 0.014586176841209882 Centerline is valid? [True, True] Translation: X:38.62, Y:0.48, Z:0.22 [[ 9.99263412e-01 -2.67960544e-02 -2.74700790e-02 3.86179485e+01] [ 2.67923496e-02 9.99640894e-01 -5.02985377e-04 4.81646607e-01] [ 2.74736924e-02 -2.33373077e-04 9.99622500e-01 2.24922948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.675336195 meters 0.013985179062739776 Centerline is valid? [True, True] Translation: X:38.65, Y:0.48, Z:0.22 [[ 9.99291406e-01 -2.51273760e-02 -2.80232289e-02 3.86495656e+01] [ 2.51228810e-02 9.99684239e-01 -5.12528373e-04 4.83153329e-01] [ 2.80272588e-02 -1.91859046e-04 9.99607141e-01 2.24075288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705336194999994 meters 0.014501916493437397 Centerline is valid? [True, True] Translation: X:38.68, Y:0.48, Z:0.22 [[ 9.99338879e-01 -2.43965280e-02 -2.69557917e-02 3.86793091e+01] [ 2.43921008e-02 9.99702347e-01 -4.93090238e-04 4.83428504e-01] [ 2.69597979e-02 -1.64744141e-04 9.99636505e-01 2.22893276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.735336194999995 meters 0.01719005071070743 Centerline is valid? [True, True] Translation: X:38.71, Y:0.48, Z:0.23 [[ 9.99337115e-01 -2.53976673e-02 -2.60823545e-02 3.87098677e+01] [ 2.53938612e-02 9.99677410e-01 -4.77189776e-04 4.81197332e-01] [ 2.60860601e-02 -1.85458237e-04 9.99659684e-01 2.26380699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.765336194999996 meters 0.014352226026073892 Centerline is valid? [True, True] Translation: X:38.74, Y:0.47, Z:0.23 [[ 9.99298522e-01 -2.82504941e-02 -2.45840160e-02 3.87400130e+01] [ 2.82479810e-02 9.99600845e-01 -4.49565791e-04 4.74194017e-01] [ 2.45869036e-02 -2.45198386e-04 9.99697666e-01 2.27830509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.795336195 meters 0.015499229523611319 Centerline is valid? [True, True] Translation: X:38.77, Y:0.47, Z:0.23 [[ 9.99251317e-01 -2.96772123e-02 -2.48207189e-02 3.87715693e+01] [ 2.96751081e-02 9.99559494e-01 -4.53187565e-04 4.72936892e-01] [ 2.48232346e-02 -2.83709244e-04 9.99691816e-01 2.28979520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825336195 meters 0.017651099051221066 Centerline is valid? [True, True] Translation: X:38.80, Y:0.47, Z:0.23 [[ 9.99164524e-01 -3.27081408e-02 -2.45037102e-02 3.88035001e+01] [ 3.27070267e-02 9.99464882e-01 -4.46355752e-04 4.68922846e-01] [ 2.45051973e-02 -3.55460669e-04 9.99699639e-01 2.31601003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.855336195 meters 0.017224591494270507 Centerline is valid? [True, True] Translation: X:38.84, Y:0.47, Z:0.23 [[ 9.99167852e-01 -3.33924096e-02 -2.34211569e-02 3.88361227e+01] [ 3.33916045e-02 9.99442254e-01 -4.25572937e-04 4.66981258e-01] [ 2.34223048e-02 -3.56851211e-04 9.99725596e-01 2.33565135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885336194999994 meters 0.016995597572845314 Centerline is valid? [True, True] Translation: X:38.87, Y:0.46, Z:0.23 [[ 9.99210207e-01 -3.27632120e-02 -2.24840712e-02 3.88677006e+01] [ 3.27623482e-02 9.99463087e-01 -4.06877823e-04 4.62084783e-01] [ 2.24853299e-02 -3.30074497e-04 9.99747119e-01 2.31545623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.915336194999995 meters 0.015707147506612184 Centerline is valid? [True, True] Translation: X:38.90, Y:0.46, Z:0.23 [[ 9.99207747e-01 -3.21149355e-02 -2.35055219e-02 3.88995530e+01] [ 3.21138454e-02 9.99484128e-01 -4.23953303e-04 4.61854778e-01] [ 2.35070113e-02 -3.31235271e-04 9.99723617e-01 2.30900438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.945336194999996 meters 0.016889099443826616 Centerline is valid? [True, True] Translation: X:38.93, Y:0.46, Z:0.23 [[ 9.99202635e-01 -3.14396480e-02 -2.46098172e-02 3.89307338e+01] [ 3.14382722e-02 9.99505597e-01 -4.42901682e-04 4.60771004e-01] [ 2.46115747e-02 -3.31141604e-04 9.99697034e-01 2.28638849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.975336195 meters 0.015073686578215515 Centerline is valid? [True, True] Translation: X:38.96, Y:0.46, Z:0.23 [[ 9.99300600e-01 -2.89063721e-02 -2.37219762e-02 3.89619121e+01] [ 2.89043994e-02 9.99582090e-01 -4.26111590e-04 4.64930901e-01] [ 2.37243799e-02 -2.59855907e-04 9.99718504e-01 2.31361057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.005336195 meters 0.014685020592137606 Centerline is valid? [True, True] Translation: X:38.99, Y:0.46, Z:0.23 [[ 9.99294763e-01 -2.77874406e-02 -2.52553926e-02 3.89942074e+01] [ 2.77848751e-02 9.99613823e-01 -4.52559787e-04 4.63373427e-01] [ 2.52582150e-02 -2.49477305e-04 9.99680929e-01 2.26418614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.035336195 meters 0.014685020592137606 Centerline is valid? [True, True] Translation: X:39.03, Y:0.46, Z:0.23 [[ 9.99295399e-01 -2.77645534e-02 -2.52554057e-02 3.90250627e+01] [ 2.77619991e-02 9.99614459e-01 -4.51826160e-04 4.63887439e-01] [ 2.52582135e-02 -2.49632749e-04 9.99680929e-01 2.26626644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06533619499999 meters 0.015263651394170654 Centerline is valid? [True, True] Translation: X:39.06, Y:0.46, Z:0.22 [[ 9.99244154e-01 -2.78247795e-02 -2.71459478e-02 3.90568029e+01] [ 2.78218681e-02 9.99612779e-01 -4.85013560e-04 4.63454791e-01] [ 2.71489318e-02 -2.70604015e-04 9.99631363e-01 2.23762897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.095336194999994 meters 0.016383796733707556 Centerline is valid? [True, True] Translation: X:39.09, Y:0.46, Z:0.22 [[ 9.99235080e-01 -2.84585769e-02 -2.68209574e-02 3.90867676e+01] [ 2.84559732e-02 9.99594932e-01 -4.78823681e-04 4.59704305e-01] [ 2.68237197e-02 -2.84759028e-04 9.99640139e-01 2.20938028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125336194999996 meters 0.016124036578598323 Centerline is valid? [True, True] Translation: X:39.12, Y:0.46, Z:0.22 [[ 9.99228514e-01 -2.97101337e-02 -2.56843102e-02 3.91181722e+01] [ 2.97081724e-02 9.99558510e-01 -4.58024184e-04 4.57773325e-01] [ 2.56865788e-02 -3.05363090e-04 9.99669999e-01 2.24003743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.155336195 meters 0.018622694831836234 Centerline is valid? [True, True] Translation: X:39.15, Y:0.45, Z:0.23 [[ 9.99073299e-01 -3.42668502e-02 -2.60447027e-02 3.91491607e+01] [ 3.42663908e-02 9.99412627e-01 -4.64073823e-04 4.52057791e-01] [ 2.60453071e-02 -4.28814196e-04 9.99660671e-01 2.26790968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.185336195 meters 0.025166504067594905 Centerline is valid? [True, True] Translation: X:39.18, Y:0.45, Z:0.23 [[ 9.98895973e-01 -3.79160557e-02 -2.77345975e-02 3.91799645e+01] [ 3.79169497e-02 9.99280772e-01 -4.93860529e-04 4.49957032e-01] [ 2.77333752e-02 -5.58296046e-04 9.99615200e-01 2.28094830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.215336195 meters 0.02371611825438751 Centerline is valid? [True, True] Translation: X:39.21, Y:0.45, Z:0.23 [[ 9.98768072e-01 -4.10050341e-02 -2.79450333e-02 3.92107453e+01] [ 4.10071658e-02 9.99158729e-01 -4.97041050e-04 4.46269522e-01] [ 2.79419051e-02 -6.49517881e-04 9.99609338e-01 2.27974174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245336195 meters 0.02708547967503897 Centerline is valid? [True, True] Translation: X:39.24, Y:0.44, Z:0.23 [[ 9.98555596e-01 -4.58646888e-02 -2.79848708e-02 3.92415341e+01] [ 4.58687442e-02 9.98947351e-01 -4.97347625e-04 4.36983263e-01] [ 2.79782233e-02 -7.87001626e-04 9.99608223e-01 2.27279173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.275336194999994 meters 0.026339765467924 Centerline is valid? [True, True] Translation: X:39.27, Y:0.44, Z:0.23 [[ 9.98514496e-01 -4.66960476e-02 -2.80763347e-02 3.92740231e+01] [ 4.67004886e-02 9.98908813e-01 -4.97879911e-04 4.35738485e-01] [ 2.80689472e-02 -8.14038241e-04 9.99605658e-01 2.28533841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305336194999995 meters 0.029010278164299783 Centerline is valid? [True, True] Translation: X:39.31, Y:0.43, Z:0.23 [[ 9.98525834e-01 -4.67085983e-02 -2.76489577e-02 3.93057940e+01] [ 4.67129457e-02 9.98908235e-01 -4.89000028e-04 4.31198796e-01] [ 2.76416121e-02 -8.03285102e-04 9.99617575e-01 2.28381188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.335336195 meters 0.02712545402025609 Centerline is valid? [True, True] Translation: X:39.34, Y:0.43, Z:0.23 [[ 9.98594861e-01 -4.51372479e-02 -2.77656711e-02 3.93380519e+01] [ 4.51410608e-02 9.98980503e-01 -4.89786154e-04 4.32115716e-01] [ 2.77594717e-02 -7.64273913e-04 9.99614339e-01 2.27079386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.365336195 meters 0.025927104123981144 Centerline is valid? [True, True] Translation: X:39.37, Y:0.43, Z:0.22 [[ 9.98709806e-01 -4.22191063e-02 -2.82182658e-02 3.93684625e+01] [ 4.22219309e-02 9.99108134e-01 -4.95993171e-04 4.29786420e-01] [ 2.82140393e-02 -6.96076427e-04 9.99601662e-01 2.21685301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.395336195 meters 0.023988639787273176 Centerline is valid? [True, True] Translation: X:39.40, Y:0.43, Z:0.22 [[ 9.98823994e-01 -3.96976927e-02 -2.78338267e-02 3.94002191e+01] [ 3.96994949e-02 9.99211545e-01 -4.88067106e-04 4.30686421e-01] [ 2.78312562e-02 -6.17495727e-04 9.99612445e-01 2.21694610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425336195 meters 0.022074537433483112 Centerline is valid? [True, True] Translation: X:39.43, Y:0.43, Z:0.22 [[ 9.98886571e-01 -3.77764323e-02 -2.82588094e-02 3.94329334e+01] [ 3.77775628e-02 9.99286051e-01 -4.94064311e-04 4.33922281e-01] [ 2.82572981e-02 -5.74034743e-04 9.99600518e-01 2.22679843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.455336194999994 meters 0.021498084360136113 Centerline is valid? [True, True] Translation: X:39.46, Y:0.44, Z:0.22 [[ 9.98931261e-01 -3.62856019e-02 -2.86302466e-02 3.94636408e+01] [ 3.62861828e-02 9.99341315e-01 -4.99427716e-04 4.36842698e-01] [ 2.86295103e-02 -5.39988402e-04 9.99589946e-01 2.23769224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485336194999995 meters 0.019240939005410334 Centerline is valid? [True, True] Translation: X:39.49, Y:0.44, Z:0.23 [[ 9.99031968e-01 -3.37704452e-02 -2.81901502e-02 3.94947223e+01] [ 3.37700277e-02 9.99429509e-01 -4.91032300e-04 4.40914042e-01] [ 2.81906503e-02 -4.61425186e-04 9.99602458e-01 2.28277859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.515336194999996 meters 0.01765014770147015 Centerline is valid? [True, True] Translation: X:39.53, Y:0.44, Z:0.23 [[ 9.99072782e-01 -3.26995884e-02 -2.80055824e-02 3.95271070e+01] [ 3.26987879e-02 9.99465133e-01 -4.86670296e-04 4.41583811e-01] [ 2.80065170e-02 -4.29529551e-04 9.99607648e-01 2.29936061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.545336195 meters 0.01674884180252522 Centerline is valid? [True, True] Translation: X:39.56, Y:0.44, Z:0.23 [[ 9.99148113e-01 -2.93902061e-02 -2.89700431e-02 3.95579494e+01] [ 2.93879909e-02 9.99567953e-01 -5.02331510e-04 4.44341940e-01] [ 2.89722903e-02 -3.49467779e-04 9.99580154e-01 2.28766677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.575336195 meters 0.01550962002635943 Centerline is valid? [True, True] Translation: X:39.59, Y:0.45, Z:0.23 [[ 9.99180867e-01 -2.80233342e-02 -2.91939681e-02 3.95883903e+01] [ 2.80205082e-02 9.99607220e-01 -5.05977881e-04 4.47613985e-01] [ 2.91966805e-02 -3.12466406e-04 9.99573637e-01 2.29804672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605336195 meters 0.016803826958078347 Centerline is valid? [True, True] Translation: X:39.62, Y:0.45, Z:0.22 [[ 9.99214743e-01 -2.64083858e-02 -2.95380269e-02 3.96175398e+01] [ 2.64047640e-02 9.99651202e-01 -5.12735053e-04 4.47299177e-01] [ 2.95412646e-02 -2.67612205e-04 9.99563526e-01 2.22866429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.635336194999994 meters 0.015451679644467963 Centerline is valid? [True, True] Translation: X:39.65, Y:0.45, Z:0.22 [[ 9.99241470e-01 -2.50166370e-02 -2.98438184e-02 3.96461625e+01] [ 2.50122031e-02 9.99687010e-01 -5.21932535e-04 4.49035763e-01] [ 2.98475346e-02 -2.24923013e-04 9.99554438e-01 2.23142258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665336194999995 meters 0.013954490688072595 Centerline is valid? [True, True] Translation: X:39.68, Y:0.45, Z:0.23 [[ 9.99293947e-01 -2.26609271e-02 -2.99681543e-02 3.96751565e+01] [ 2.26552499e-02 9.99743197e-01 -5.29016354e-04 4.52726580e-01] [ 2.99724464e-02 -1.50293185e-04 9.99550714e-01 2.25407840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.695336194999996 meters 0.01474235991802699 Centerline is valid? [True, True] Translation: X:39.70, Y:0.46, Z:0.22 [[ 9.99311842e-01 -2.17527691e-02 -3.00443073e-02 3.97019278e+01] [ 2.17465614e-02 9.99763373e-01 -5.33393713e-04 4.55666904e-01] [ 3.00488009e-02 -1.20333721e-04 9.99548426e-01 2.24091726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.725336195 meters 0.014105712690556335 Centerline is valid? [True, True] Translation: X:39.73, Y:0.46, Z:0.23 [[ 9.99323392e-01 -2.10585534e-02 -3.01545316e-02 3.97296653e+01] [ 2.10518421e-02 9.99778240e-01 -5.40056546e-04 4.59553467e-01] [ 3.01592173e-02 -9.51172998e-05 9.99545103e-01 2.27879556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.755336195 meters 0.013836456869137715 Centerline is valid? [True, True] Translation: X:39.76, Y:0.46, Z:0.23 [[ 9.99360089e-01 -2.01968522e-02 -2.95211678e-02 3.97581732e+01] [ 2.01898980e-02 9.99796021e-01 -5.33656292e-04 4.58838026e-01] [ 2.95259243e-02 -6.27145688e-05 9.99564013e-01 2.27528592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785336195 meters 0.013646144866284066 Centerline is valid? [True, True] Translation: X:39.79, Y:0.46, Z:0.23 [[ 9.99403325e-01 -2.03368464e-02 -2.79178450e-02 3.97862950e+01] [ 2.03306176e-02 9.99793183e-01 -5.06972650e-04 4.56683137e-01] [ 2.79223814e-02 -6.09168786e-05 9.99610092e-01 2.28612908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81533619499999 meters 0.014162106890598262 Centerline is valid? [True, True] Translation: X:39.81, Y:0.46, Z:0.23 [[ 9.99370943e-01 -2.16998759e-02 -2.80505600e-02 3.98141056e+01] [ 2.16940593e-02 9.99764525e-01 -5.11705299e-04 4.55270838e-01] [ 2.80550588e-02 -9.71471057e-05 9.99606375e-01 2.27835645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845336194999994 meters 0.013265936876555463 Centerline is valid? [True, True] Translation: X:39.84, Y:0.45, Z:0.23 [[ 9.99332181e-01 -2.34228670e-02 -2.80456991e-02 3.98423854e+01] [ 2.34176141e-02 9.99725637e-01 -5.15772140e-04 4.54462034e-01] [ 2.80500853e-02 -1.41335662e-04 9.99606509e-01 2.31985141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.875336194999996 meters 0.01425944475635336 Centerline is valid? [True, True] Translation: X:39.87, Y:0.45, Z:0.23 [[ 9.99311320e-01 -2.50456085e-02 -2.73788836e-02 3.98707387e+01] [ 2.50411480e-02 9.99686293e-01 -5.05824745e-04 4.50506699e-01] [ 2.73829634e-02 -1.80122282e-04 9.99625000e-01 2.29904403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.905336195 meters 0.013453932168320014 Centerline is valid? [True, True] Translation: X:39.90, Y:0.45, Z:0.23 [[ 9.99319350e-01 -2.51355073e-02 -2.70008114e-02 3.99001801e+01] [ 2.51311782e-02 9.99684037e-01 -4.99716157e-04 4.47820548e-01] [ 2.70048407e-02 -1.79186177e-04 9.99635287e-01 2.31592955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.935336195 meters 0.013641806318536188 Centerline is valid? [True, True] Translation: X:39.93, Y:0.45, Z:0.23 [[ 9.99288580e-01 -2.51681108e-02 -2.80873514e-02 3.99295920e+01] [ 2.51634201e-02 9.99683216e-01 -5.20503900e-04 4.47781233e-01] [ 2.80915539e-02 -1.86640220e-04 9.99605337e-01 2.31045160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965336195 meters 0.013827390943855832 Centerline is valid? [True, True] Translation: X:39.96, Y:0.45, Z:0.23 [[ 9.99252603e-01 -2.44688003e-02 -2.99251237e-02 3.99593239e+01] [ 2.44631403e-02 9.99700578e-01 -5.55289972e-04 4.50966776e-01] [ 2.99297508e-02 -1.77187551e-04 9.99551989e-01 2.30710995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.995336195 meters 0.01511772782226309 Centerline is valid? [True, True] Translation: X:39.99, Y:0.45, Z:0.23 [[ 9.99228190e-01 -2.44918919e-02 -3.07110857e-02 3.99875794e+01] [ 2.44858926e-02 9.99700012e-01 -5.71468682e-04 4.49567895e-01] [ 3.07158691e-02 -1.80960729e-04 9.99528140e-01 2.25615519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025336194999994 meters 0.015793036161378646 Centerline is valid? [True, True] Translation: X:40.02, Y:0.45, Z:0.22 [[ 9.99220332e-01 -2.43626274e-02 -3.10675135e-02 4.00152886e+01] [ 2.43563695e-02 9.99703171e-01 -5.79906460e-04 4.45946272e-01] [ 3.10724198e-02 -1.77237513e-04 9.99517120e-01 2.20572552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.055336194999995 meters 0.014889906214628233 Centerline is valid? [True, True] Translation: X:40.04, Y:0.45, Z:0.22 [[ 9.99244777e-01 -2.36972959e-02 -3.07946939e-02 4.00441569e+01] [ 2.36906987e-02 9.99719168e-01 -5.79126415e-04 4.45732223e-01] [ 3.07997695e-02 -1.50858769e-04 9.99525563e-01 2.23962002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.085336195 meters 0.014888268043000547 Centerline is valid? [True, True] Translation: X:40.07, Y:0.45, Z:0.23 [[ 9.99251410e-01 -2.43180217e-02 -3.00874217e-02 4.00731458e+01] [ 2.43118586e-02 9.99704260e-01 -5.70699597e-04 4.49624575e-01] [ 3.00924020e-02 -1.61208768e-04 9.99547108e-01 2.27797063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.115336195 meters 0.014047527766331006 Centerline is valid? [True, True] Translation: X:40.10, Y:0.45, Z:0.23 [[ 9.99247859e-01 -2.49580574e-02 -2.96784754e-02 4.01013602e+01] [ 2.49521808e-02 9.99688484e-01 -5.68401260e-04 4.49713541e-01] [ 2.96834163e-02 -1.72568943e-04 9.99559335e-01 2.30094955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145336195 meters 0.015499792348682848 Centerline is valid? [True, True] Translation: X:40.13, Y:0.45, Z:0.23 [[ 9.99210500e-01 -2.65376270e-02 -2.95657043e-02 4.01293725e+01] [ 2.65324085e-02 9.99647792e-01 -5.68871769e-04 4.47921904e-01] [ 2.95703876e-02 -2.16026699e-04 9.99562677e-01 2.28380461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.175336195 meters 0.015550348737866551 Centerline is valid? [True, True] Translation: X:40.16, Y:0.45, Z:0.23 [[ 9.99213209e-01 -2.77591821e-02 -2.83265182e-02 4.01582891e+01] [ 2.77547748e-02 9.99614611e-01 -5.48829610e-04 4.46766232e-01] [ 2.83308366e-02 -2.37798339e-04 9.99598573e-01 2.30219019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205336194999994 meters 0.014629531346456866 Centerline is valid? [True, True] Translation: X:40.19, Y:0.44, Z:0.23 [[ 9.99213460e-01 -2.92942745e-02 -2.67265032e-02 4.01886106e+01] [ 2.92908730e-02 9.99570796e-01 -5.18837611e-04 4.44310200e-01] [ 2.67302310e-02 -2.64413086e-04 9.99642649e-01 2.34748700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.235336194999995 meters 0.016405878121044527 Centerline is valid? [True, True] Translation: X:40.22, Y:0.44, Z:0.23 [[ 9.99093713e-01 -3.30867667e-02 -2.67772132e-02 4.02198831e+01] [ 3.30847265e-02 9.99452416e-01 -5.19347057e-04 4.35002020e-01] [ 2.67797339e-02 -3.67040397e-04 9.99641291e-01 2.33414790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.265336194999996 meters 0.01920392769670958 Centerline is valid? [True, True] Translation: X:40.25, Y:0.43, Z:0.23 [[ 9.98946989e-01 -3.70276368e-02 -2.70899999e-02 4.02510540e+01] [ 3.70270209e-02 9.99314127e-01 -5.24529073e-04 4.30151529e-01] [ 2.70908416e-02 -4.79085253e-04 9.99632861e-01 2.34972058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.295336195 meters 0.020401017053674038 Centerline is valid? [True, True] Translation: X:40.28, Y:0.43, Z:0.24 [[ 9.98913721e-01 -3.83008125e-02 -2.65410317e-02 4.02818407e+01] [ 3.83006951e-02 9.99266128e-01 -5.12972379e-04 4.30095082e-01] [ 2.65412012e-02 -5.04124814e-04 9.99647593e-01 2.37334173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325336195 meters 0.02159793531266108 Centerline is valid? [True, True] Translation: X:40.31, Y:0.43, Z:0.24 [[ 9.98873517e-01 -3.86482812e-02 -2.75319348e-02 4.03134919e+01] [ 3.86483356e-02 9.99252733e-01 -5.30355113e-04 4.28107161e-01] [ 2.75318585e-02 -5.34305782e-04 9.99620784e-01 2.35848068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.355336195 meters 0.020877686900973618 Centerline is valid? [True, True] Translation: X:40.35, Y:0.43, Z:0.23 [[ 9.98905111e-01 -3.78670430e-02 -2.74711963e-02 4.03460404e+01] [ 3.78668415e-02 9.99282655e-01 -5.27740883e-04 4.25865842e-01] [ 2.74714740e-02 -5.13084373e-04 9.99622456e-01 2.33562160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385336194999994 meters 0.02082494332970344 Centerline is valid? [True, True] Translation: X:40.38, Y:0.42, Z:0.23 [[ 9.98968787e-01 -3.67327724e-02 -2.66845733e-02 4.03774099e+01] [ 3.67322040e-02 9.99325014e-01 -5.11646373e-04 4.23614530e-01] [ 2.66853557e-02 -4.69064432e-04 9.99643772e-01 2.32124927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.415336194999995 meters 0.017142995644325122 Centerline is valid? [True, True] Translation: X:40.41, Y:0.43, Z:0.24 [[ 9.99080142e-01 -3.31930925e-02 -2.71493556e-02 4.04096838e+01] [ 3.31912301e-02 9.99448884e-01 -5.19363166e-04 4.28130906e-01] [ 2.71516325e-02 -3.82235083e-04 9.99631253e-01 2.35532917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.445336194999996 meters 0.017549347182148987 Centerline is valid? [True, True] Translation: X:40.44, Y:0.43, Z:0.23 [[ 9.99080712e-01 -3.15808542e-02 -2.89893339e-02 4.04410405e+01] [ 3.15780852e-02 9.99501135e-01 -5.53439682e-04 4.30536407e-01] [ 2.89923502e-02 -3.62496744e-04 9.99579568e-01 2.33264617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.475336195 meters 0.016407438886825627 Centerline is valid? [True, True] Translation: X:40.47, Y:0.44, Z:0.23 [[ 9.99150497e-01 -2.90908733e-02 -2.91891245e-02 4.04720705e+01] [ 2.90870257e-02 9.99576728e-01 -5.56498612e-04 4.35239127e-01] [ 2.91929586e-02 -2.92998951e-04 9.99573752e-01 2.33410966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.505336195 meters 0.015784709964319427 Centerline is valid? [True, True] Translation: X:40.50, Y:0.43, Z:0.23 [[ 9.99141789e-01 -2.80506440e-02 -3.04770022e-02 4.05015676e+01] [ 2.80459536e-02 9.99606466e-01 -5.81448149e-04 4.34696835e-01] [ 3.04813185e-02 -2.73807448e-04 9.99535299e-01 2.30404550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.535336195 meters 0.016925109904870454 Centerline is valid? [True, True] Translation: X:40.53, Y:0.43, Z:0.23 [[ 9.99149927e-01 -2.81108485e-02 -3.01529958e-02 4.05296168e+01] [ 2.81062160e-02 9.99604775e-01 -5.77547891e-04 4.32776515e-01] [ 3.01573140e-02 -2.70429680e-04 9.99545128e-01 2.28120181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56533619499999 meters 0.014832155134095523 Centerline is valid? [True, True] Translation: X:40.56, Y:0.44, Z:0.24 [[ 9.99200326e-01 -2.81950970e-02 -2.83503826e-02 4.05593685e+01] [ 2.81910045e-02 9.99602407e-01 -5.44116366e-04 4.35025321e-01] [ 2.83544521e-02 -2.55544512e-04 9.99597899e-01 2.36729143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.595336194999994 meters 0.015724164301110802 Centerline is valid? [True, True] Translation: X:40.59, Y:0.43, Z:0.23 [[ 9.99237632e-01 -2.72122998e-02 -2.79936678e-02 4.05888793e+01] [ 2.72079125e-02 9.99629652e-01 -5.37682643e-04 4.33084229e-01] [ 2.79979319e-02 -2.24376532e-04 9.99607956e-01 2.34294515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.625336194999996 meters 0.014977271942149263 Centerline is valid? [True, True] Translation: X:40.62, Y:0.43, Z:0.23 [[ 9.99203451e-01 -2.70093787e-02 -2.93761455e-02 4.06182566e+01] [ 2.70044415e-02 9.99635154e-01 -5.64857267e-04 4.32152937e-01] [ 2.93806842e-02 -2.28879072e-04 9.99568268e-01 2.33967413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.655336195 meters 0.015364442412419257 Centerline is valid? [True, True] Translation: X:40.65, Y:0.43, Z:0.24 [[ 9.99259347e-01 -2.72271492e-02 -2.71926582e-02 4.06469968e+01] [ 2.72229754e-02 9.99629249e-01 -5.23746577e-04 4.29859904e-01] [ 2.71968367e-02 -2.16906405e-04 9.99630074e-01 2.35471681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.685336195 meters 0.015315429594408403 Centerline is valid? [True, True] Translation: X:40.68, Y:0.43, Z:0.24 [[ 9.99279834e-01 -2.78745551e-02 -2.57453346e-02 4.06771826e+01] [ 2.78710172e-02 9.99611405e-01 -4.96312465e-04 4.27115157e-01] [ 2.57491645e-02 -2.21593627e-04 9.99668411e-01 2.38040483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.715336195 meters 0.01495914158519985 Centerline is valid? [True, True] Translation: X:40.71, Y:0.43, Z:0.24 [[ 9.99253028e-01 -2.80644579e-02 -2.65663704e-02 4.07080724e+01] [ 2.80607558e-02 9.99606088e-01 -5.12219104e-04 4.26860490e-01] [ 2.65702807e-02 -2.33635941e-04 9.99646920e-01 2.38884864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745336195 meters 0.015060823301524202 Centerline is valid? [True, True] Translation: X:40.74, Y:0.43, Z:0.24 [[ 9.99233743e-01 -2.80654053e-02 -2.72811384e-02 4.07390578e+01] [ 2.80615017e-02 9.99606060e-01 -5.26000355e-04 4.25178084e-01] [ 2.72851537e-02 -2.39952407e-04 9.99627662e-01 2.36864689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.775336194999994 meters 0.014941340395996327 Centerline is valid? [True, True] Translation: X:40.77, Y:0.42, Z:0.24 [[ 9.99235820e-01 -2.72511440e-02 -2.80205326e-02 4.07697796e+01] [ 2.72467058e-02 9.99628594e-01 -5.40256418e-04 4.24368764e-01] [ 2.80248482e-02 -2.23623645e-04 9.99607202e-01 2.37176595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805336194999995 meters 0.016004016938680733 Centerline is valid? [True, True] Translation: X:40.80, Y:0.43, Z:0.24 [[ 9.99242000e-01 -2.65112403e-02 -2.85057838e-02 4.07986903e+01] [ 2.65063316e-02 9.99648494e-01 -5.50122996e-04 4.25680303e-01] [ 2.85103483e-02 -2.05877755e-04 9.99593476e-01 2.35027868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.835336195 meters 0.015445300376507164 Centerline is valid? [True, True] Translation: X:40.83, Y:0.43, Z:0.24 [[ 9.99236212e-01 -2.43767823e-02 -3.05412024e-02 4.08273422e+01] [ 2.43700265e-02 9.99702831e-01 -5.93472132e-04 4.32055395e-01] [ 3.05465934e-02 -1.51271065e-04 9.99533332e-01 2.36332051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.865336195 meters 0.015671421774542126 Centerline is valid? [True, True] Translation: X:40.86, Y:0.43, Z:0.24 [[ 9.99255408e-01 -2.30260117e-02 -3.09585706e-02 4.08556374e+01] [ 2.30182469e-02 9.99734861e-01 -6.07230805e-04 4.33967785e-01] [ 3.09643444e-02 -1.05833356e-04 9.99520484e-01 2.35041341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.895336195 meters 0.015181952969367448 Centerline is valid? [True, True] Translation: X:40.88, Y:0.43, Z:0.23 [[ 9.99406874e-01 -1.98120323e-02 -2.81670553e-02 4.08832242e+01] [ 1.98042611e-02 9.99803722e-01 -5.54864898e-04 4.34522447e-01] [ 2.81725197e-02 -3.29192509e-06 9.99603076e-01 2.33180048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925336195 meters 0.015181952969367448 Centerline is valid? [True, True] Translation: X:40.91, Y:0.44, Z:0.23 [[ 9.99403249e-01 -1.99942132e-02 -2.81669703e-02 4.09105726e+01] [ 1.99863933e-02 9.99800096e-01 -5.59158615e-04 4.35210809e-01] [ 2.81725195e-02 -4.13121135e-06 9.99603076e-01 2.33364965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.955336194999994 meters 0.015166637390708606 Centerline is valid? [True, True] Translation: X:40.94, Y:0.44, Z:0.23 [[ 9.99434066e-01 -1.93363045e-02 -2.75255394e-02 4.09388434e+01] [ 1.93284627e-02 9.99813036e-01 -5.50951395e-04 4.36896658e-01] [ 2.75310465e-02 1.86132310e-05 9.99620949e-01 2.34421558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985336194999995 meters 0.014426574501384987 Centerline is valid? [True, True] Translation: X:40.97, Y:0.45, Z:0.24 [[ 9.99443345e-01 -1.89035414e-02 -2.74892057e-02 4.09668629e+01] [ 1.88954185e-02 9.99821311e-01 -5.55245941e-04 4.46378792e-01] [ 2.74947898e-02 3.55168164e-05 9.99621946e-01 2.42654144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.015336194999996 meters 0.014822061768220238 Centerline is valid? [True, True] Translation: X:40.99, Y:0.45, Z:0.24 [[ 9.99452062e-01 -1.95344376e-02 -2.67204426e-02 4.09945923e+01] [ 1.95269235e-02 9.99809184e-01 -5.42137956e-04 4.50429281e-01] [ 2.67259343e-02 2.00728598e-05 9.99642798e-01 2.43062586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.045336195 meters 0.014772079995352915 Centerline is valid? [True, True] Translation: X:41.02, Y:0.45, Z:0.24 [[ 9.99407255e-01 -2.13951968e-02 -2.69700468e-02 4.10232144e+01] [ 2.13881209e-02 9.99771096e-01 -5.50840149e-04 4.48656568e-01] [ 2.69756586e-02 -2.63249786e-05 9.99636090e-01 2.39974359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.075336195 meters 0.01499557023463228 Centerline is valid? [True, True] Translation: X:41.05, Y:0.45, Z:0.24 [[ 9.99341789e-01 -2.25636117e-02 -2.84054833e-02 4.10516947e+01] [ 2.25561014e-02 9.99745408e-01 -5.84832120e-04 4.46395299e-01] [ 2.84114474e-02 -5.62697849e-05 9.99596312e-01 2.36231249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105336195 meters 0.016485230250254113 Centerline is valid? [True, True] Translation: X:41.08, Y:0.44, Z:0.23 [[ 9.99158457e-01 -2.55661889e-02 -3.20740917e-02 4.10810824e+01] [ 2.55580912e-02 9.99673119e-01 -6.62491516e-04 4.42980981e-01] [ 3.20805447e-02 -1.57818558e-04 9.99485274e-01 2.28402446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.135336194999994 meters 0.017317345034358077 Centerline is valid? [True, True] Translation: X:41.11, Y:0.44, Z:0.23 [[ 9.99113813e-01 -2.70561113e-02 -3.22421273e-02 4.11092856e+01] [ 2.70486489e-02 9.99633895e-01 -6.67674899e-04 4.43990599e-01] [ 3.22483880e-02 -2.05022767e-04 9.99479864e-01 2.27648095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165336194999995 meters 0.01824482201154937 Centerline is valid? [True, True] Translation: X:41.14, Y:0.45, Z:0.23 [[ 9.99105617e-01 -2.97672348e-02 -3.00312953e-02 4.11374189e+01] [ 2.97618637e-02 9.99556822e-01 -6.25928462e-04 4.46999350e-01] [ 3.00366183e-02 -2.68418677e-04 9.99548763e-01 2.33599378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.195336194999996 meters 0.01663583453544299 Centerline is valid? [True, True] Translation: X:41.17, Y:0.45, Z:0.24 [[ 9.99094621e-01 -3.09521086e-02 -2.91874193e-02 4.11674977e+01] [ 3.09475103e-02 9.99520825e-01 -6.09373835e-04 4.50245349e-01] [ 2.91922948e-02 -2.94455838e-04 9.99573771e-01 2.41366394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.225336195 meters 0.01911831213454907 Centerline is valid? [True, True] Translation: X:41.20, Y:0.44, Z:0.23 [[ 9.99000524e-01 -3.26061947e-02 -3.05743339e-02 4.11976095e+01] [ 3.26019234e-02 9.99468212e-01 -6.38329786e-04 4.42814393e-01] [ 3.05788884e-02 -3.59090303e-04 9.99532292e-01 2.31544999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.255336195 meters 0.01817051145784852 Centerline is valid? [True, True] Translation: X:41.23, Y:0.44, Z:0.23 [[ 9.98975272e-01 -3.31898853e-02 -3.07707232e-02 4.12283447e+01] [ 3.31858358e-02 9.99448992e-01 -6.42429994e-04 4.43535781e-01] [ 3.07750905e-02 -3.79380491e-04 9.99526263e-01 2.33659455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285336195 meters 0.018362975870279883 Centerline is valid? [True, True] Translation: X:41.26, Y:0.45, Z:0.24 [[ 9.99029019e-01 -3.33746259e-02 -2.87602881e-02 4.12587731e+01] [ 3.33711720e-02 9.99442847e-01 -6.00199465e-04 4.51762977e-01] [ 2.87642956e-02 -3.60147837e-04 9.99586157e-01 2.41413287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31533619499999 meters 0.017609863596699138 Centerline is valid? [True, True] Translation: X:41.29, Y:0.46, Z:0.24 [[ 9.99059814e-01 -3.24493580e-02 -2.87493748e-02 4.12909671e+01] [ 3.24455558e-02 9.99473325e-01 -5.98859010e-04 4.57187751e-01] [ 2.87536658e-02 -3.34493473e-04 9.99586472e-01 2.44427556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345336194999994 meters 0.018010408377339145 Centerline is valid? [True, True] Translation: X:41.32, Y:0.46, Z:0.24 [[ 9.99029338e-01 -3.09034129e-02 -3.13904607e-02 4.13207839e+01] [ 3.08981282e-02 9.99522325e-01 -6.53527554e-04 4.62310712e-01] [ 3.13956625e-02 -3.17013279e-04 9.99506984e-01 2.38253965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.375336194999996 meters 0.018585154000799638 Centerline is valid? [True, True] Translation: X:41.35, Y:0.46, Z:0.23 [[ 9.99028635e-01 -3.02944770e-02 -3.20004944e-02 4.13497228e+01] [ 3.02886446e-02 9.99540971e-01 -6.67104470e-04 4.63821420e-01] [ 3.20060148e-02 -3.02795133e-04 9.99487630e-01 2.33929090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.405336195 meters 0.018409502678880554 Centerline is valid? [True, True] Translation: X:41.38, Y:0.46, Z:0.23 [[ 9.99070294e-01 -2.97240812e-02 -3.12254008e-02 4.13793856e+01] [ 2.97182249e-02 9.99558104e-01 -6.51729467e-04 4.63598802e-01] [ 3.12309744e-02 -2.76839933e-04 9.99512156e-01 2.29649670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.435336195 meters 0.01717883484338426 Centerline is valid? [True, True] Translation: X:41.41, Y:0.47, Z:0.23 [[ 9.99079980e-01 -3.00147611e-02 -3.06318127e-02 4.14089031e+01] [ 3.00092399e-02 9.99549416e-01 -6.40057261e-04 4.66605773e-01] [ 3.06372216e-02 -2.79769020e-04 9.99530531e-01 2.33994489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465336195 meters 0.016880638756121332 Centerline is valid? [True, True] Translation: X:41.44, Y:0.47, Z:0.24 [[ 9.99142175e-01 -3.08672073e-02 -2.76066868e-02 4.14379487e+01] [ 3.08630304e-02 9.99523456e-01 -5.77484091e-04 4.74887099e-01] [ 2.76113563e-02 -2.75037303e-04 9.99618696e-01 2.43405897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.495336195 meters 0.017855603163115467 Centerline is valid? [True, True] Translation: X:41.47, Y:0.48, Z:0.25 [[ 9.99153210e-01 -3.13610913e-02 -2.66335472e-02 4.14693400e+01] [ 3.13573935e-02 9.99508081e-01 -5.56584276e-04 4.80159759e-01] [ 2.66379008e-02 -2.79045655e-04 9.99645109e-01 2.47277281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525336194999994 meters 0.016439043957581993 Centerline is valid? [True, True] Translation: X:41.50, Y:0.49, Z:0.25 [[ 9.99196225e-01 -3.07243819e-02 -2.57471739e-02 4.15012236e+01] [ 3.07207439e-02 9.99527862e-01 -5.36930715e-04 4.88247198e-01] [ 2.57515146e-02 -2.54473192e-04 9.99668342e-01 2.52217009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.555336194999995 meters 0.016921916111585413 Centerline is valid? [True, True] Translation: X:41.53, Y:0.49, Z:0.25 [[ 9.99197760e-01 -3.02379497e-02 -2.62583933e-02 4.15323932e+01] [ 3.02340247e-02 9.99542698e-01 -5.46571825e-04 4.88472101e-01] [ 2.62629125e-02 -2.47763568e-04 9.99655040e-01 2.47821358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.585336195 meters 0.01693163516472086 Centerline is valid? [True, True] Translation: X:41.56, Y:0.49, Z:0.24 [[ 9.99164625e-01 -3.06771679e-02 -2.69993203e-02 4.15643084e+01] [ 3.06732111e-02 9.99529309e-01 -5.60791396e-04 4.88736262e-01] [ 2.70038154e-02 -2.67832925e-04 9.99635295e-01 2.42611104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.615336195 meters 0.018538301614461745 Centerline is valid? [True, True] Translation: X:41.60, Y:0.49, Z:0.24 [[ 9.99114876e-01 -3.16090346e-02 -2.77548981e-02 4.15956228e+01] [ 3.16052424e-02 9.99500264e-01 -5.75416092e-04 4.90215873e-01] [ 2.77592163e-02 -3.02293504e-04 9.99614593e-01 2.40292801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645336195 meters 0.019884527034537487 Centerline is valid? [True, True] Translation: X:41.63, Y:0.50, Z:0.24 [[ 9.98994190e-01 -3.42150934e-02 -2.89816381e-02 4.16270718e+01] [ 3.42121013e-02 9.99414415e-01 -5.99244362e-04 4.98419512e-01] [ 2.89851701e-02 -3.92881104e-04 9.99579764e-01 2.44382899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.675336195 meters 0.019184095394929167 Centerline is valid? [True, True] Translation: X:41.66, Y:0.50, Z:0.25 [[ 9.98936941e-01 -3.56006573e-02 -2.92844852e-02 4.16586312e+01] [ 3.55982334e-02 9.99365999e-01 -6.04281849e-04 5.03462729e-01] [ 2.92874317e-02 -4.38836478e-04 9.99570935e-01 2.48830224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705336194999994 meters 0.020815308233461043 Centerline is valid? [True, True] Translation: X:41.69, Y:0.50, Z:0.24 [[ 9.98829651e-01 -3.76409121e-02 -3.03725162e-02 4.16898829e+01] [ 3.76393022e-02 9.99291195e-01 -6.24937751e-04 5.01312563e-01] [ 3.03745113e-02 -5.18993962e-04 9.99538453e-01 2.43390428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.735336194999995 meters 0.022392619127208854 Centerline is valid? [True, True] Translation: X:41.72, Y:0.50, Z:0.24 [[ 9.98804465e-01 -3.86664460e-02 -2.99089660e-02 4.17209447e+01] [ 3.86653818e-02 9.99252026e-01 -6.14146970e-04 4.95971949e-01] [ 2.99103417e-02 -5.43028852e-04 9.99552438e-01 2.38032425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.765336194999996 meters 0.02722253827942007 Centerline is valid? [True, True] Translation: X:41.75, Y:0.49, Z:0.24 [[ 9.98754233e-01 -4.22681486e-02 -2.65214181e-02 4.17524082e+01] [ 4.22686039e-02 9.99106135e-01 -5.43695529e-04 4.86550332e-01] [ 2.65206926e-02 -5.78005106e-04 9.99648097e-01 2.37748954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.795336195 meters 0.025518792672286163 Centerline is valid? [True, True] Translation: X:41.78, Y:0.49, Z:0.25 [[ 9.98653793e-01 -4.46008482e-02 -2.64833321e-02 4.17846218e+01] [ 4.46021523e-02 9.99004682e-01 -5.41761174e-04 4.94893893e-01] [ 2.64811358e-02 -6.40181761e-04 9.99649108e-01 2.49286432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825336195 meters 0.027857035946578845 Centerline is valid? [True, True] Translation: X:41.81, Y:0.50, Z:0.26 [[ 9.98576996e-01 -4.36449251e-02 -3.06447824e-02 4.18111394e+01] [ 4.33295075e-02 9.99001562e-01 -1.08827268e-02 4.99165217e-01] [ 3.10891613e-02 9.53941731e-03 9.99471092e-01 2.55883693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.855336195 meters 0.028768397231828394 Centerline is valid? [True, True] Translation: X:41.85, Y:0.48, Z:0.24 [[ 9.98499621e-01 -4.76270863e-02 -2.70216184e-02 4.18479022e+01] [ 4.78989428e-02 9.98806972e-01 9.50388256e-03 4.84626613e-01] [ 2.65367386e-02 -1.07839301e-02 9.99589670e-01 2.43047528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885336194999994 meters 0.029675171042682663 Centerline is valid? [True, True] Translation: X:41.88, Y:0.49, Z:0.25 [[ 9.98464321e-01 -4.84277149e-02 -2.69027161e-02 4.18788572e+01] [ 4.84305382e-02 9.98826403e-01 -5.47003372e-04 4.86454306e-01] [ 2.68976332e-02 -7.56749666e-04 9.99637907e-01 2.48264131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.915336194999995 meters 0.02924983875410713 Centerline is valid? [True, True] Translation: X:41.91, Y:0.48, Z:0.25 [[ 9.98481802e-01 -4.80171765e-02 -2.69896723e-02 4.19108142e+01] [ 4.80198994e-02 9.98846229e-01 -5.47617190e-04 4.83540244e-01] [ 2.69848274e-02 -7.49255549e-04 9.99635562e-01 2.45745294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.945336194999996 meters 0.02840083917903518 Centerline is valid? [True, True] Translation: X:41.94, Y:0.48, Z:0.24 [[ 9.98594709e-01 -4.61012412e-02 -2.61396756e-02 4.19418419e+01] [ 4.61031584e-02 9.98936544e-01 -5.29634195e-04 4.78087893e-01] [ 2.61362940e-02 -6.76231701e-04 9.99658160e-01 2.43789861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.975336195 meters 0.023265393645452298 Centerline is valid? [True, True] Translation: X:41.97, Y:0.49, Z:0.25 [[ 9.98788527e-01 -4.26632089e-02 -2.45220034e-02 4.19726021e+01] [ 4.26638695e-02 9.99089359e-01 -4.96481922e-04 4.87015266e-01] [ 2.45208541e-02 -5.50323103e-04 9.99699167e-01 2.54365164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.005336195 meters 0.02302703893654053 Centerline is valid? [True, True] Translation: X:42.00, Y:0.49, Z:0.26 [[ 9.98890570e-01 -4.03189249e-02 -2.43313393e-02 4.20042860e+01] [ 4.03189024e-02 9.99186741e-01 -4.91704980e-04 4.91282407e-01] [ 2.43313766e-02 -4.89853425e-04 9.99703828e-01 2.56852940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.035336195 meters 0.02202738994003477 Centerline is valid? [True, True] Translation: X:42.04, Y:0.49, Z:0.26 [[ 9.98978660e-01 -3.77560941e-02 -2.48216374e-02 4.20359694e+01] [ 3.77553136e-02 9.99286889e-01 -5.00258592e-04 4.94987605e-01] [ 2.48228246e-02 -4.37401044e-04 9.99691771e-01 2.56329485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06533619499999 meters 0.018655967510577395 Centerline is valid? [True, True] Translation: X:42.07, Y:0.50, Z:0.25 [[ 9.99184795e-01 -3.10712164e-02 -2.57744833e-02 4.20671465e+01] [ 3.10681727e-02 9.99517133e-01 -5.18628320e-04 4.98039241e-01] [ 2.57781521e-02 -2.82560567e-04 9.99667648e-01 2.49001907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.095336194999994 meters 0.017764480708845898 Centerline is valid? [True, True] Translation: X:42.10, Y:0.50, Z:0.25 [[ 9.99279038e-01 -2.67012642e-02 -2.69897426e-02 4.20989327e+01] [ 2.66963625e-02 9.99643442e-01 -5.41990912e-04 5.02095629e-01] [ 2.69945910e-02 -1.78927795e-04 9.99635564e-01 2.46749067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.125336194999996 meters 0.01735621337420128 Centerline is valid? [True, True] Translation: X:42.13, Y:0.51, Z:0.24 [[ 9.99432407e-01 -1.95404869e-02 -2.74414428e-02 4.21284972e+01] [ 1.95327294e-02 9.99809066e-01 -5.50745496e-04 5.09710544e-01] [ 2.74469651e-02 1.44266217e-05 9.99623261e-01 2.42247980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.155336195 meters 0.01757101227496693 Centerline is valid? [True, True] Translation: X:42.16, Y:0.51, Z:0.24 [[ 9.99473793e-01 -1.76738889e-02 -2.71987126e-02 4.21560021e+01] [ 1.76654745e-02 9.99843802e-01 -5.49638676e-04 5.13658541e-01] [ 2.72041785e-02 6.88712881e-05 9.99629895e-01 2.43370940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.185336195 meters 0.017204066158103472 Centerline is valid? [True, True] Translation: X:42.18, Y:0.52, Z:0.25 [[ 9.99537001e-01 -1.66522717e-02 -2.54653699e-02 4.21844741e+01] [ 1.66444581e-02 9.99861337e-01 -5.18777328e-04 5.18859413e-01] [ 2.54704776e-02 9.46798522e-05 9.99675570e-01 2.49889662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.215336195 meters 0.016416332894080263 Centerline is valid? [True, True] Translation: X:42.21, Y:0.52, Z:0.26 [[ 9.99534322e-01 -1.78602413e-02 -2.47417016e-02 4.22133201e+01] [ 1.78531372e-02 9.99840491e-01 -5.08007958e-04 5.21943569e-01] [ 2.47468282e-02 6.60543963e-05 9.99693748e-01 2.55741433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24533619499999 meters 0.016188595190142912 Centerline is valid? [True, True] Translation: X:42.24, Y:0.52, Z:0.26 [[ 9.99497914e-01 -1.95276479e-02 -2.49517604e-02 4.22405347e+01] [ 1.95208780e-02 9.99809317e-01 -5.14891544e-04 5.24071969e-01] [ 2.49570571e-02 2.75527537e-05 9.99688524e-01 2.57828481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.275336194999994 meters 0.01596834030513354 Centerline is valid? [True, True] Translation: X:42.27, Y:0.52, Z:0.25 [[ 9.99400581e-01 -2.38995657e-02 -2.50457591e-02 4.22692269e+01] [ 2.38940276e-02 9.99714362e-01 -5.20407452e-04 5.17076848e-01] [ 2.50510425e-02 -7.83485470e-05 9.99686170e-01 2.54934067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.305336194999995 meters 0.017245908934756582 Centerline is valid? [True, True] Translation: X:42.30, Y:0.51, Z:0.25 [[ 9.99328966e-01 -2.63048258e-02 -2.54886979e-02 4.22996846e+01] [ 2.62998602e-02 9.99653958e-01 -5.30082342e-04 5.10433482e-01] [ 2.54938214e-02 -1.40622552e-04 9.99674970e-01 2.48356414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.335336195 meters 0.018952021124699733 Centerline is valid? [True, True] Translation: X:42.33, Y:0.50, Z:0.24 [[ 9.99135381e-01 -3.12405628e-02 -2.74320396e-02 4.23306743e+01] [ 3.12366845e-02 9.99511853e-01 -5.69997252e-04 5.00216110e-01] [ 2.74364558e-02 -2.87381543e-04 9.99623508e-01 2.42028388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.365336195 meters 0.020506716355047565 Centerline is valid? [True, True] Translation: X:42.36, Y:0.50, Z:0.24 [[ 9.99026997e-01 -3.36712435e-02 -2.84834585e-02 4.23620335e+01] [ 3.36680735e-02 9.99432895e-01 -5.91011145e-04 4.96335907e-01] [ 2.84872055e-02 -3.68547085e-04 9.99594089e-01 2.38883140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.395336195 meters 0.02382439917421698 Centerline is valid? [True, True] Translation: X:42.39, Y:0.49, Z:0.24 [[ 9.98857589e-01 -3.85162238e-02 -2.82845751e-02 4.23927219e+01] [ 3.85150527e-02 9.99257848e-01 -5.86405106e-04 4.91202459e-01] [ 2.82861697e-02 -5.03646710e-04 9.99599739e-01 2.41962066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425336195 meters 0.023326777578864463 Centerline is valid? [True, True] Translation: X:42.42, Y:0.50, Z:0.25 [[ 9.98822031e-01 -3.97046121e-02 -2.78943473e-02 4.24249254e+01] [ 3.97039654e-02 9.99211320e-01 -5.77266050e-04 4.95452744e-01] [ 2.78952677e-02 -5.30930152e-04 9.99610710e-01 2.50336346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.455336194999994 meters 0.023778238060512897 Centerline is valid? [True, True] Translation: X:42.46, Y:0.50, Z:0.26 [[ 9.98861111e-01 -3.97032220e-02 -2.64600837e-02 4.24556920e+01] [ 3.97026906e-02 9.99211388e-01 -5.45653199e-04 4.99413989e-01] [ 2.64608811e-02 -5.05504754e-04 9.99649722e-01 2.55995918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485336194999995 meters 0.022113103705507016 Centerline is valid? [True, True] Translation: X:42.49, Y:0.50, Z:0.26 [[ 9.98928978e-01 -3.87300653e-02 -2.53156032e-02 4.24883695e+01] [ 3.87293139e-02 9.99249603e-01 -5.20169602e-04 4.99804479e-01] [ 2.53167527e-02 -4.60843455e-04 9.99679373e-01 2.55757953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.515336194999996 meters 0.021630387318526487 Centerline is valid? [True, True] Translation: X:42.52, Y:0.50, Z:0.25 [[ 9.98997079e-01 -3.73402217e-02 -2.47091855e-02 4.25197161e+01] [ 3.73391083e-02 9.99302524e-01 -5.06599523e-04 4.98049021e-01] [ 2.47108680e-02 -4.16527510e-04 9.99694553e-01 2.52946971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.545336195 meters 0.02015418648284407 Centerline is valid? [True, True] Translation: X:42.55, Y:0.50, Z:0.25 [[ 9.99146216e-01 -3.31199842e-02 -2.46962836e-02 4.25497199e+01] [ 3.31176192e-02 9.99451334e-01 -5.04871601e-04 5.01658090e-01] [ 2.46994549e-02 -3.13441568e-04 9.99694873e-01 2.49625910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.575336195 meters 0.01913926185602566 Centerline is valid? [True, True] Translation: X:42.58, Y:0.51, Z:0.25 [[ 9.99208736e-01 -3.14350159e-02 -2.43668290e-02 4.25818697e+01] [ 3.14322432e-02 9.99505761e-01 -4.96885482e-04 5.06415747e-01] [ 2.43704056e-02 -2.69411781e-04 9.99702961e-01 2.51433811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605336195 meters 0.01758864740525432 Centerline is valid? [True, True] Translation: X:42.61, Y:0.51, Z:0.26 [[ 9.99318133e-01 -2.90220019e-02 -2.28252762e-02 4.26143860e+01] [ 2.90189673e-02 9.99578753e-01 -4.64233186e-04 5.13565082e-01] [ 2.28291341e-02 -1.98449304e-04 9.99739362e-01 2.57313429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.635336194999994 meters 0.017487108441070334 Centerline is valid? [True, True] Translation: X:42.65, Y:0.52, Z:0.26 [[ 9.99330004e-01 -2.81509820e-02 -2.33894421e-02 4.26454423e+01] [ 2.81475950e-02 9.99603666e-01 -4.74081072e-04 5.17190461e-01] [ 2.33935179e-02 -1.84593105e-04 9.99726317e-01 2.57835325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665336194999995 meters 0.018366572501572573 Centerline is valid? [True, True] Translation: X:42.68, Y:0.52, Z:0.25 [[ 9.99218968e-01 -2.82745708e-02 -2.76044107e-02 4.26767315e+01] [ 2.82699299e-02 9.99600170e-01 -5.58443677e-04 5.22992457e-01] [ 2.76091634e-02 -2.22367242e-04 9.99618770e-01 2.53620809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.695336194999996 meters 0.018114289625215076 Centerline is valid? [True, True] Translation: X:42.71, Y:0.52, Z:0.25 [[ 9.99186782e-01 -2.87704993e-02 -2.82494767e-02 4.27084608e+01] [ 2.87658563e-02 9.99586014e-01 -5.70819005e-04 5.23555965e-01] [ 2.82542046e-02 -2.42265584e-04 9.99600741e-01 2.51737954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.725336195 meters 0.01936081380860362 Centerline is valid? [True, True] Translation: X:42.74, Y:0.52, Z:0.25 [[ 9.99159347e-01 -3.00724194e-02 -2.78612492e-02 4.27388361e+01] [ 3.00684206e-02 9.99547685e-01 -5.62563249e-04 5.22075745e-01] [ 2.78655648e-02 -2.75653433e-04 9.99611642e-01 2.46306388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.755336195 meters 0.019215101157213085 Centerline is valid? [True, True] Translation: X:42.77, Y:0.52, Z:0.25 [[ 9.99140154e-01 -3.09146707e-02 -2.76267205e-02 4.27704739e+01] [ 3.09110764e-02 9.99521983e-01 -5.57260205e-04 5.23674622e-01] [ 2.76307419e-02 -2.97190620e-04 9.99618154e-01 2.47749595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785336195 meters 0.02016245022344575 Centerline is valid? [True, True] Translation: X:42.80, Y:0.52, Z:0.25 [[ 9.99126207e-01 -3.33507840e-02 -2.51902221e-02 4.28020946e+01] [ 3.33485895e-02 9.99443652e-01 -5.07324165e-04 5.21431674e-01] [ 2.51931273e-02 -3.33177508e-04 9.99682547e-01 2.48140097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81533619499999 meters 0.020963547507391392 Centerline is valid? [True, True] Translation: X:42.83, Y:0.52, Z:0.25 [[ 9.99075875e-01 -3.45348974e-02 -2.55878389e-02 4.28337659e+01] [ 3.45330440e-02 9.99403424e-01 -5.14445196e-04 5.20844086e-01] [ 2.55903401e-02 -3.69656183e-04 9.99672445e-01 2.48465342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845336194999994 meters 0.020963547507391392 Centerline is valid? [True, True] Translation: X:42.87, Y:0.52, Z:0.25 [[ 9.99077455e-01 -3.44891260e-02 -2.55878609e-02 4.28654757e+01] [ 3.44872857e-02 9.99405005e-01 -5.13351009e-04 5.21405072e-01] [ 2.55903412e-02 -3.69578447e-04 9.99672445e-01 2.48679940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.875336194999996 meters 0.022298780352285368 Centerline is valid? [True, True] Translation: X:42.90, Y:0.52, Z:0.25 [[ 9.98974063e-01 -3.65468587e-02 -2.67422491e-02 4.28978961e+01] [ 3.65456187e-02 9.99331842e-01 -5.35271475e-04 5.24214901e-01] [ 2.67439436e-02 -4.42589719e-04 9.99642219e-01 2.52651038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.905336195 meters 0.02326310429770562 Centerline is valid? [True, True] Translation: X:42.93, Y:0.52, Z:0.26 [[ 9.98960617e-01 -3.77427272e-02 -2.55572390e-02 4.29301235e+01] [ 3.77420208e-02 9.99287386e-01 -5.10183820e-04 5.24509243e-01] [ 2.55582822e-02 -4.54928300e-04 9.99673230e-01 2.55932796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.935336195 meters 0.023253799097621795 Centerline is valid? [True, True] Translation: X:42.96, Y:0.52, Z:0.26 [[ 9.98885038e-01 -4.02910390e-02 -2.46031287e-02 4.29623102e+01] [ 4.02911867e-02 9.99187860e-01 -4.89918414e-04 5.24737996e-01] [ 2.46028868e-02 -5.01917077e-04 9.99697177e-01 2.60099595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965336195 meters 0.025808902486747897 Centerline is valid? [True, True] Translation: X:42.99, Y:0.52, Z:0.26 [[ 9.98829845e-01 -4.15030307e-02 -2.48282081e-02 4.29934123e+01] [ 4.15035792e-02 9.99138233e-01 -4.93437049e-04 5.20593488e-01] [ 2.48272911e-02 -5.37599851e-04 9.99691611e-01 2.57404774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99533619499999 meters 0.024401907139322665 Centerline is valid? [True, True] Translation: X:43.03, Y:0.52, Z:0.26 [[ 9.98868555e-01 -4.11241525e-02 -2.38833579e-02 4.30257812e+01] [ 4.11245762e-02 9.99153915e-01 -4.73633249e-04 5.22694489e-01] [ 2.38826283e-02 -5.09095615e-04 9.99714640e-01 2.60102787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025336194999994 meters 0.02545544577970891 Centerline is valid? [True, True] Translation: X:43.06, Y:0.52, Z:0.26 [[ 9.98909590e-01 -4.06861488e-02 -2.28968872e-02 4.30568627e+01] [ 4.06864429e-02 9.99171861e-01 -4.53207910e-04 5.22116491e-01] [ 2.28963647e-02 -4.78879167e-04 9.99737729e-01 2.59906165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.055336194999995 meters 0.023734716585951852 Centerline is valid? [True, True] Translation: X:43.09, Y:0.53, Z:0.26 [[ 9.98983391e-01 -3.84483402e-02 -2.35352778e-02 4.30893953e+01] [ 3.84480682e-02 9.99260492e-01 -4.64227692e-04 5.28021165e-01] [ 2.35357221e-02 -4.41130213e-04 9.99722899e-01 2.60160873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.085336195 meters 0.022886967677323077 Centerline is valid? [True, True] Translation: X:43.12, Y:0.53, Z:0.26 [[ 9.99033731e-01 -3.61573438e-02 -2.49849972e-02 4.31204442e+01] [ 3.61563516e-02 9.99346024e-01 -4.91615994e-04 5.31536124e-01] [ 2.49864331e-02 -4.12225379e-04 9.99687705e-01 2.56528640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.115336195 meters 0.021277051121380564 Centerline is valid? [True, True] Translation: X:43.15, Y:0.54, Z:0.25 [[ 9.99142908e-01 -3.23695411e-02 -2.58004152e-02 4.31515448e+01] [ 3.23672432e-02 9.99475915e-01 -5.06781754e-04 5.35304461e-01] [ 2.58032979e-02 -3.28740919e-04 9.99666985e-01 2.52753382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145336195 meters 0.02024851446253515 Centerline is valid? [True, True] Translation: X:43.18, Y:0.54, Z:0.26 [[ 9.99152213e-01 -3.16662472e-02 -2.63078546e-02 4.31833665e+01] [ 3.16636441e-02 9.99498448e-01 -5.15621236e-04 5.38878886e-01] [ 2.63109876e-02 -3.17818443e-04 9.99653756e-01 2.55785266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.175336195 meters 0.02064892215879801 Centerline is valid? [True, True] Translation: X:43.22, Y:0.54, Z:0.26 [[ 9.99076217e-01 -3.29371851e-02 -2.76017100e-02 4.32154864e+01] [ 3.29348406e-02 9.99457355e-01 -5.39674595e-04 5.38339467e-01] [ 2.76045074e-02 -3.69881866e-04 9.99618855e-01 2.56236171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205336194999994 meters 0.021335938006194866 Centerline is valid? [True, True] Translation: X:43.25, Y:0.54, Z:0.25 [[ 9.99044998e-01 -3.40183160e-02 -2.74198244e-02 4.32469201e+01] [ 3.40164379e-02 9.99421130e-01 -5.35075370e-04 5.35172941e-01] [ 2.74221543e-02 -3.98160383e-04 9.99623863e-01 2.54068461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.235336194999995 meters 0.022886586350797926 Centerline is valid? [True, True] Translation: X:43.28, Y:0.53, Z:0.25 [[ 9.99027301e-01 -3.51898210e-02 -2.65730913e-02 4.32784436e+01] [ 3.51885162e-02 9.99380559e-01 -5.16861470e-04 5.29687350e-01] [ 2.65748191e-02 -4.18708937e-04 9.99646739e-01 2.52641887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.265336194999996 meters 0.021930982755019972 Centerline is valid? [True, True] Translation: X:43.31, Y:0.53, Z:0.26 [[ 9.99056299e-01 -3.51724144e-02 -2.54835927e-02 4.33108412e+01] [ 3.51712430e-02 9.99381178e-01 -4.94320453e-04 5.31663698e-01] [ 2.54852094e-02 -4.02435670e-04 9.99675118e-01 2.56147455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.295336195 meters 0.021925609217216868 Centerline is valid? [True, True] Translation: X:43.34, Y:0.53, Z:0.26 [[ 9.99082207e-01 -3.48796737e-02 -2.48626818e-02 4.33419638e+01] [ 3.48785136e-02 9.99391444e-01 -4.80444351e-04 5.32238545e-01] [ 2.48643092e-02 -3.87169983e-04 9.99690760e-01 2.57482904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325336195 meters 0.021314965636799 Centerline is valid? [True, True] Translation: X:43.37, Y:0.53, Z:0.26 [[ 9.99143673e-01 -3.30210280e-02 -2.49305336e-02 4.33736569e+01] [ 3.30193181e-02 9.99454598e-01 -4.80354454e-04 5.34030746e-01] [ 2.49327982e-02 -3.43246105e-04 9.99689071e-01 2.55872380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.355336195 meters 0.02024035879590085 Centerline is valid? [True, True] Translation: X:43.41, Y:0.54, Z:0.26 [[ 9.99188077e-01 -3.13199770e-02 -2.53425811e-02 4.34053143e+01] [ 3.13176928e-02 9.99509362e-01 -4.87121345e-04 5.39227561e-01] [ 2.53454037e-02 -3.06945332e-04 9.99678707e-01 2.58554338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385336194999994 meters 0.020120219223228396 Centerline is valid? [True, True] Translation: X:43.44, Y:0.54, Z:0.26 [[ 9.99210298e-01 -3.06644762e-02 -2.52679703e-02 4.34362169e+01] [ 3.06620200e-02 9.99529692e-01 -4.84737099e-04 5.42024817e-01] [ 2.52709508e-02 -2.90412708e-04 9.99680596e-01 2.59765098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.415336194999995 meters 0.019705797820710438 Centerline is valid? [True, True] Translation: X:43.47, Y:0.55, Z:0.26 [[ 9.99213317e-01 -2.99141464e-02 -2.60363237e-02 4.34687768e+01] [ 2.99113137e-02 9.99552432e-01 -4.98333198e-04 5.45400452e-01] [ 2.60395779e-02 -2.80839479e-04 9.99660873e-01 2.59952531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.445336194999996 meters 0.020110732828871252 Centerline is valid? [True, True] Translation: X:43.50, Y:0.54, Z:0.25 [[ 9.99161792e-01 -2.90205687e-02 -2.88707475e-02 4.35006938e+01] [ 2.90167649e-02 9.99578773e-01 -5.50789448e-04 5.43307223e-01] [ 2.88745706e-02 -2.87407919e-04 9.99583001e-01 2.52006447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.475336195 meters 0.021667508117157154 Centerline is valid? [True, True] Translation: X:43.53, Y:0.54, Z:0.24 [[ 9.99137447e-01 -2.88755700e-02 -2.98423212e-02 4.35313103e+01] [ 2.88714630e-02 9.99582971e-01 -5.68595621e-04 5.39399606e-01] [ 2.98462946e-02 -2.93486296e-04 9.99554457e-01 2.43829471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.505336195 meters 0.019941160720584973 Centerline is valid? [True, True] Translation: X:43.56, Y:0.54, Z:0.25 [[ 9.99103460e-01 -3.04063574e-02 -2.94572565e-02 4.35617403e+01] [ 3.04030231e-02 9.99537564e-01 -5.61179910e-04 5.42978864e-01] [ 2.94606979e-02 -3.34912861e-04 9.99565883e-01 2.53621699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.535336195 meters 0.02193680006900846 Centerline is valid? [True, True] Translation: X:43.59, Y:0.54, Z:0.26 [[ 9.99072333e-01 -3.28673492e-02 -2.78246393e-02 4.35928960e+01] [ 3.28653493e-02 9.99459648e-01 -5.29316522e-04 5.44560146e-01] [ 2.78270014e-02 -3.85640998e-04 9.99612680e-01 2.59434422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56533619499999 meters 0.021502910991037565 Centerline is valid? [True, True] Translation: X:43.63, Y:0.55, Z:0.26 [[ 9.99079158e-01 -3.37588637e-02 -2.64797132e-02 4.36254376e+01] [ 3.37573961e-02 9.99429930e-01 -5.02571131e-04 5.45009176e-01] [ 2.64815842e-02 -3.91777825e-04 9.99649225e-01 2.62572495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.595336194999994 meters 0.021973260769193627 Centerline is valid? [True, True] Translation: X:43.66, Y:0.54, Z:0.26 [[ 9.99086467e-01 -3.42882004e-02 -2.55059027e-02 4.36568075e+01] [ 3.42870356e-02 9.99411910e-01 -4.83126170e-04 5.40788453e-01] [ 2.55074684e-02 -3.91836975e-04 9.99674555e-01 2.59400871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.625336194999996 meters 0.022044782249204833 Centerline is valid? [True, True] Translation: X:43.69, Y:0.53, Z:0.25 [[ 9.99077538e-01 -3.46679630e-02 -2.53417624e-02 4.36894137e+01] [ 3.46669634e-02 9.99398805e-01 -4.78906903e-04 5.32782776e-01] [ 2.53431298e-02 -4.00056821e-04 9.99678731e-01 2.53397012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.655336195 meters 0.021820173864188504 Centerline is valid? [True, True] Translation: X:43.72, Y:0.53, Z:0.26 [[ 9.99078896e-01 -3.47394076e-02 -2.51899508e-02 4.37214239e+01] [ 3.47384727e-02 9.99396324e-01 -4.74846792e-04 5.33363038e-01] [ 2.51912401e-02 -4.00651008e-04 9.99682570e-01 2.55109176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.685336195 meters 0.022820476336443733 Centerline is valid? [True, True] Translation: X:43.75, Y:0.54, Z:0.26 [[ 9.99044134e-01 -3.60636602e-02 -2.47028345e-02 4.37525168e+01] [ 3.60631892e-02 9.99349404e-01 -4.64713204e-04 5.36388721e-01] [ 2.47035221e-02 -4.26593991e-04 9.99694730e-01 2.61826279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.715336195 meters 0.02390539955403489 Centerline is valid? [True, True] Translation: X:43.78, Y:0.54, Z:0.26 [[ 9.98992549e-01 -3.69835640e-02 -2.54185590e-02 4.37840374e+01] [ 3.69833858e-02 9.99315767e-01 -4.77280914e-04 5.36316717e-01] [ 2.54188184e-02 -4.63264298e-04 9.99676782e-01 2.62850832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74533619499999 meters 0.025670009937096953 Centerline is valid? [True, True] Translation: X:43.82, Y:0.53, Z:0.26 [[ 9.98853687e-01 -3.87284190e-02 -2.81322184e-02 4.38154146e+01] [ 3.87289138e-02 9.99249615e-01 -5.27488492e-04 5.32013524e-01] [ 2.81315372e-02 -5.62646436e-04 9.99604072e-01 2.57416109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.775336194999994 meters 0.027030496427190673 Centerline is valid? [True, True] Translation: X:43.85, Y:0.53, Z:0.25 [[ 9.98771964e-01 -4.02975106e-02 -2.88214093e-02 4.38477236e+01] [ 4.02987163e-02 9.99187531e-01 -5.39253946e-04 5.27492977e-01] [ 2.88197234e-02 -6.22874072e-04 9.99584431e-01 2.54679000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.805336194999995 meters 0.02708456827434062 Centerline is valid? [True, True] Translation: X:43.88, Y:0.52, Z:0.26 [[ 9.98811488e-01 -4.09171235e-02 -2.64839558e-02 4.38805166e+01] [ 4.09184010e-02 9.99162369e-01 -4.93926140e-04 5.23157527e-01] [ 2.64819820e-02 -5.90342019e-04 9.99649117e-01 2.58376240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.835336195 meters 0.025026365550208124 Centerline is valid? [True, True] Translation: X:43.91, Y:0.53, Z:0.26 [[ 9.98878363e-01 -3.98179326e-02 -2.56231777e-02 4.39127754e+01] [ 3.98188006e-02 9.99206803e-01 -4.76551386e-04 5.28318826e-01] [ 2.56218287e-02 -5.44267335e-04 9.99671559e-01 2.63983582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.865336195 meters 0.02545025087408551 Centerline is valid? [True, True] Translation: X:43.94, Y:0.53, Z:0.27 [[ 9.98966643e-01 -3.72052718e-02 -2.61038972e-02 4.39444199e+01] [ 3.72053133e-02 9.99307525e-01 -4.84262579e-04 5.32063068e-01] [ 2.61038381e-02 -4.87441513e-04 9.99659118e-01 2.67759628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.895336195 meters 0.024361944050982028 Centerline is valid? [True, True] Translation: X:43.98, Y:0.53, Z:0.26 [[ 9.98984763e-01 -3.67410444e-02 -2.60679811e-02 4.39758305e+01] [ 3.67409534e-02 9.99324707e-01 -4.82615754e-04 5.28029098e-01] [ 2.60681094e-02 -4.75636694e-04 9.99660056e-01 2.61889745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925336195 meters 0.023548622825536266 Centerline is valid? [True, True] Translation: X:44.01, Y:0.52, Z:0.26 [[ 9.99052608e-01 -3.55142645e-02 -2.51520168e-02 4.40086573e+01] [ 3.55138232e-02 9.99369077e-01 -4.64378929e-04 5.24106051e-01] [ 2.51526399e-02 -4.29305299e-04 9.99683530e-01 2.61236118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.955336194999994 meters 0.0221260445099909 Centerline is valid? [True, True] Translation: X:44.04, Y:0.53, Z:0.26 [[ 9.99098536e-01 -3.46238900e-02 -2.45621962e-02 4.40410271e+01] [ 3.46232302e-02 9.99400334e-01 -4.52267411e-04 5.25811554e-01] [ 2.45631263e-02 -3.98562864e-04 9.99698201e-01 2.63445484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.985336194999995 meters 0.02152610527733649 Centerline is valid? [True, True] Translation: X:44.07, Y:0.53, Z:0.26 [[ 9.99149165e-01 -3.33123722e-02 -2.43152605e-02 4.40730463e+01] [ 3.33113652e-02 9.99444923e-01 -4.46573486e-04 5.27129182e-01] [ 2.43166400e-02 -3.63780996e-04 9.99704241e-01 2.64642421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.015336194999996 meters 0.02046689975536439 Centerline is valid? [True, True] Translation: X:44.11, Y:0.53, Z:0.27 [[ 9.99192881e-01 -3.05591806e-02 -2.60714840e-02 4.41053019e+01] [ 3.05571189e-02 9.99532908e-01 -4.77568111e-04 5.32659805e-01] [ 2.60739003e-02 -3.19486780e-04 9.99659967e-01 2.66752826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.045336195 meters 0.020116652893218425 Centerline is valid? [True, True] Translation: X:44.14, Y:0.54, Z:0.27 [[ 9.99236697e-01 -2.90865691e-02 -2.60767300e-02 4.41365254e+01] [ 2.90840315e-02 9.99576856e-01 -4.76657793e-04 5.36916420e-01] [ 2.60795602e-02 -2.82122480e-04 9.99659831e-01 2.67271516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.075336195 meters 0.020076115382089758 Centerline is valid? [True, True] Translation: X:44.17, Y:0.54, Z:0.26 [[ 9.99315456e-01 -2.50183780e-02 -2.72525257e-02 4.41673700e+01] [ 2.50141461e-02 9.99686974e-01 -4.96237378e-04 5.38722083e-01] [ 2.72564100e-02 -1.85800979e-04 9.99628458e-01 2.59656169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105336195 meters 0.019747937356624355 Centerline is valid? [True, True] Translation: X:44.20, Y:0.54, Z:0.26 [[ 9.99333979e-01 -2.28521307e-02 -2.84495620e-02 4.41969620e+01] [ 2.28466433e-02 9.99738847e-01 -5.17966055e-04 5.38264271e-01] [ 2.84539689e-02 -1.32355915e-04 9.99595095e-01 2.56459192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.135336194999994 meters 0.019755799046797282 Centerline is valid? [True, True] Translation: X:44.23, Y:0.54, Z:0.25 [[ 9.99324909e-01 -2.06434520e-02 -3.03903602e-02 4.42253431e+01] [ 2.06360446e-02 9.99786899e-01 -5.57395892e-04 5.39422320e-01] [ 3.03953906e-02 -7.01172275e-05 9.99537951e-01 2.53003283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165336194999995 meters 0.020047922316990596 Centerline is valid? [True, True] Translation: X:44.25, Y:0.54, Z:0.26 [[ 9.99329356e-01 -1.98298189e-02 -3.07833853e-02 4.42534788e+01] [ 1.98217538e-02 9.99803369e-01 -5.67165524e-04 5.43892132e-01] [ 3.07885791e-02 -4.33955274e-05 9.99525918e-01 2.55230571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.195336194999996 meters 0.01990914978733812 Centerline is valid? [True, True] Translation: X:44.28, Y:0.55, Z:0.26 [[ 9.99370754e-01 -1.91637170e-02 -2.98470671e-02 4.42818134e+01] [ 1.91557140e-02 9.99816359e-01 -5.54071589e-04 5.49534707e-01] [ 2.98522040e-02 -1.80189382e-05 9.99554323e-01 2.60763111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.225336195 meters 0.01917536523991172 Centerline is valid? [True, True] Translation: X:44.31, Y:0.55, Z:0.27 [[ 9.99455763e-01 -1.83587502e-02 -2.74068309e-02 4.43108337e+01] [ 1.83515847e-02 9.99831464e-01 -5.12975648e-04 5.51619052e-01] [ 2.74116294e-02 9.73768990e-06 9.99624231e-01 2.66341543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.255336195 meters 0.020031387748167585 Centerline is valid? [True, True] Translation: X:44.34, Y:0.55, Z:0.26 [[ 9.99406628e-01 -1.96660821e-02 -2.82778509e-02 4.43383816e+01] [ 1.96589105e-02 9.99806604e-01 -5.31626346e-04 5.45685837e-01] [ 2.82828370e-02 -2.46008458e-05 9.99599960e-01 2.61734195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285336195 meters 0.019499430124994412 Centerline is valid? [True, True] Translation: X:44.37, Y:0.54, Z:0.26 [[ 9.99353639e-01 -2.11884973e-02 -2.90405097e-02 4.43666945e+01] [ 2.11814559e-02 9.99775496e-01 -5.50105044e-04 5.43151176e-01] [ 2.90456459e-02 -6.53707990e-05 9.99578084e-01 2.63183233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31533619499999 meters 0.020213239536081035 Centerline is valid? [True, True] Translation: X:44.39, Y:0.54, Z:0.26 [[ 9.99217743e-01 -2.51905167e-02 -3.04850740e-02 4.43941618e+01] [ 2.51845135e-02 9.99682651e-01 -5.80932814e-04 5.40565021e-01] [ 3.04900336e-02 -1.87273383e-04 9.99535053e-01 2.63884625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345336194999994 meters 0.020666476895204827 Centerline is valid? [True, True] Translation: X:44.42, Y:0.54, Z:0.27 [[ 9.99168932e-01 -2.71776849e-02 -3.03779453e-02 4.44224834e+01] [ 2.71725041e-02 9.99630589e-01 -5.83424058e-04 5.39429001e-01] [ 3.03825795e-02 -2.42505650e-04 9.99538313e-01 2.65175224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.375336194999996 meters 0.02200638944543069 Centerline is valid? [True, True] Translation: X:44.45, Y:0.53, Z:0.26 [[ 9.99147922e-01 -2.86902291e-02 -2.96698727e-02 4.44515647e+01] [ 2.86858975e-02 9.99588311e-01 -5.71716072e-04 5.29247320e-01] [ 2.96740606e-02 -2.79878003e-04 9.99559589e-01 2.57760957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.405336195 meters 0.021659287449109034 Centerline is valid? [True, True] Translation: X:44.48, Y:0.52, Z:0.26 [[ 9.99184020e-01 -2.87512918e-02 -2.83664712e-02 4.44818005e+01] [ 2.87473437e-02 9.99586560e-01 -5.47070244e-04 5.24519709e-01] [ 2.83704724e-02 -2.68836853e-04 9.99597441e-01 2.56447935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.435336195 meters 0.020889888026039742 Centerline is valid? [True, True] Translation: X:44.51, Y:0.53, Z:0.26 [[ 9.99261939e-01 -2.74385963e-02 -2.68830952e-02 4.45123106e+01] [ 2.74345733e-02 9.99623467e-01 -5.18534291e-04 5.25167295e-01] [ 2.68872007e-02 -2.19374666e-04 9.99638450e-01 2.59453123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465336195 meters 0.019939572644971003 Centerline is valid? [True, True] Translation: X:44.54, Y:0.53, Z:0.26 [[ 9.99316709e-01 -2.64291965e-02 -2.58381947e-02 4.45425058e+01] [ 2.64251428e-02 9.99650671e-01 -4.98379738e-04 5.28056825e-01] [ 2.58423404e-02 -1.84738784e-04 9.99666014e-01 2.63237742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49533619499999 meters 0.019092804149294637 Centerline is valid? [True, True] Translation: X:44.57, Y:0.53, Z:0.27 [[ 9.99366128e-01 -2.52692497e-02 -2.50760238e-02 4.45724664e+01] [ 2.52650666e-02 9.99680670e-01 -4.83678614e-04 5.31984504e-01] [ 2.50802385e-02 -1.50175387e-04 9.99685430e-01 2.69025171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525336194999994 meters 0.019747101640394667 Centerline is valid? [True, True] Translation: X:44.60, Y:0.54, Z:0.27 [[ 9.99325856e-01 -2.53356885e-02 -2.65694478e-02 4.46016245e+01] [ 2.53310096e-02 9.99678987e-01 -5.12716323e-04 5.35661150e-01] [ 2.65739086e-02 -1.60660256e-04 9.99646838e-01 2.69089107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.555336194999995 meters 0.019863251774178695 Centerline is valid? [True, True] Translation: X:44.63, Y:0.54, Z:0.27 [[ 9.99247255e-01 -2.54384338e-02 -2.92883701e-02 4.46317014e+01] [ 2.54327818e-02 9.99676375e-01 -5.65541342e-04 5.39634433e-01] [ 2.92932782e-02 -1.79769094e-04 9.99570844e-01 2.69820856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.585336195 meters 0.022075907179960254 Centerline is valid? [True, True] Translation: X:44.66, Y:0.53, Z:0.25 [[ 9.99109452e-01 -2.71727151e-02 -3.22791989e-02 4.46607819e+01] [ 2.71667225e-02 9.99630722e-01 -6.24290992e-04 5.30271863e-01] [ 3.22842426e-02 -2.53185008e-04 9.99478696e-01 2.54806766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.615336195 meters 0.02192765878143211 Centerline is valid? [True, True] Translation: X:44.69, Y:0.53, Z:0.26 [[ 9.99123009e-01 -2.76675685e-02 -3.14279971e-02 4.46891887e+01] [ 2.76620014e-02 9.99617146e-01 -6.11994063e-04 5.27372946e-01] [ 3.14328972e-02 -2.57903951e-04 9.99505831e-01 2.55723046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645336195 meters 0.022654006080751698 Centerline is valid? [True, True] Translation: X:44.72, Y:0.53, Z:0.26 [[ 9.99158954e-01 -2.69487024e-02 -3.09055217e-02 4.47170520e+01] [ 2.69428815e-02 9.99636792e-01 -6.04847244e-04 5.31056147e-01] [ 3.09105964e-02 -2.28345268e-04 9.99522127e-01 2.56445497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.675336195 meters 0.02132212695584378 Centerline is valid? [True, True] Translation: X:44.75, Y:0.54, Z:0.26 [[ 9.99137199e-01 -2.58176294e-02 -3.25316433e-02 4.47453179e+01] [ 2.58104231e-02 9.99666650e-01 -6.41507649e-04 5.36135551e-01] [ 3.25373611e-02 -1.98701321e-04 9.99470500e-01 2.60090972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705336194999994 meters 0.021632825171424067 Centerline is valid? [True, True] Translation: X:44.77, Y:0.53, Z:0.26 [[ 9.99170797e-01 -2.57042088e-02 -3.15754932e-02 4.47729837e+01] [ 2.56972829e-02 9.99669575e-01 -6.25195020e-04 5.33312187e-01] [ 3.15811300e-02 -1.86727775e-04 9.99501174e-01 2.55798925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.735336194999995 meters 0.021632825171424067 Centerline is valid? [True, True] Translation: X:44.80, Y:0.53, Z:0.26 [[ 9.99166098e-01 -2.58863361e-02 -3.15753954e-02 4.48003302e+01] [ 2.58793457e-02 9.99664875e-01 -6.30112070e-04 5.34001946e-01] [ 3.15811249e-02 -1.87563954e-04 9.99501174e-01 2.55984474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.765336194999996 meters 0.019995853616985797 Centerline is valid? [True, True] Translation: X:44.83, Y:0.54, Z:0.27 [[ 9.99262473e-01 -2.61658154e-02 -2.81044481e-02 4.48298085e+01] [ 2.61603430e-02 9.99657601e-01 -5.62447071e-04 5.37359367e-01] [ 2.81095420e-02 -1.73189748e-04 9.99604834e-01 2.66215226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.795336195 meters 0.020602606978719754 Centerline is valid? [True, True] Translation: X:44.86, Y:0.54, Z:0.27 [[ 9.99171793e-01 -2.97282629e-02 -2.77841263e-02 4.48592747e+01] [ 2.97242731e-02 9.99557981e-01 -5.56691415e-04 5.35080471e-01] [ 2.77883947e-02 -2.69632599e-04 9.99613792e-01 2.68267714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825336195 meters 0.021892001491423313 Centerline is valid? [True, True] Translation: X:44.89, Y:0.53, Z:0.27 [[ 9.99121938e-01 -3.17545216e-02 -2.73313698e-02 4.48900987e+01] [ 3.17514210e-02 9.99495647e-01 -5.47535175e-04 5.29430668e-01] [ 2.73349719e-02 -3.20755423e-04 9.99626278e-01 2.66014800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.855336195 meters 0.022600017632911133 Centerline is valid? [True, True] Translation: X:44.92, Y:0.53, Z:0.27 [[ 9.99088980e-01 -3.34995597e-02 -2.64384072e-02 4.49218128e+01] [ 3.34972890e-02 9.99438668e-01 -5.28892836e-04 5.25404784e-01] [ 2.64412842e-02 -3.57203962e-04 9.99650304e-01 2.66681587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885336194999994 meters 0.023827209424186726 Centerline is valid? [True, True] Translation: X:44.95, Y:0.53, Z:0.27 [[ 9.98949638e-01 -3.66731277e-02 -2.74718427e-02 4.49537316e+01] [ 3.66719084e-02 9.99327209e-01 -5.48368140e-04 5.25561083e-01] [ 2.74734703e-02 -4.59652747e-04 9.99622427e-01 2.71377255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.915336194999995 meters 0.02542557401261914 Centerline is valid? [True, True] Translation: X:44.98, Y:0.52, Z:0.27 [[ 9.98863811e-01 -3.78018638e-02 -2.90190808e-02 4.49848780e+01] [ 3.78010292e-02 9.99285119e-01 -5.77546619e-04 5.23263241e-01] [ 2.90201679e-02 -5.20060703e-04 9.99578691e-01 2.67935918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.945336194999996 meters 0.026716045643658384 Centerline is valid? [True, True] Translation: X:45.02, Y:0.51, Z:0.26 [[ 9.98770282e-01 -3.90936683e-02 -3.04894974e-02 4.50162565e+01] [ 3.90933870e-02 9.99235378e-01 -6.05560226e-04 5.14500558e-01] [ 3.04898581e-02 -5.87122166e-04 9.99534904e-01 2.60837670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.975336195 meters 0.02520240401965474 Centerline is valid? [True, True] Translation: X:45.05, Y:0.51, Z:0.26 [[ 9.98795263e-01 -3.85733368e-02 -3.03334952e-02 4.50484735e+01] [ 3.85728591e-02 9.99255610e-01 -6.01123799e-04 5.13915775e-01] [ 3.03341026e-02 -5.69650034e-04 9.99539653e-01 2.62410685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.005336195 meters 0.026934665109952797 Centerline is valid? [True, True] Translation: X:45.08, Y:0.51, Z:0.26 [[ 9.98836891e-01 -3.64076824e-02 -3.16124411e-02 4.50801267e+01] [ 3.64061179e-02 9.99336882e-01 -6.25265767e-04 5.10258140e-01] [ 3.16142428e-02 -5.26347743e-04 9.99500006e-01 2.60256687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.035336195 meters 0.024052082885909352 Centerline is valid? [True, True] Translation: X:45.11, Y:0.52, Z:0.27 [[ 9.98867291e-01 -3.48302676e-02 -3.24189249e-02 4.51118349e+01] [ 3.48278296e-02 9.99393122e-01 -6.40059367e-04 5.16134545e-01] [ 3.24215440e-02 -4.89746427e-04 9.99474164e-01 2.65223813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06533619499999 meters 0.02243098715406284 Centerline is valid? [True, True] Translation: X:45.14, Y:0.52, Z:0.27 [[ 9.99075978e-01 -2.96200255e-02 -3.11423334e-02 4.51414251e+01] [ 2.96152521e-02 9.99561183e-01 -6.14623335e-04 5.24633917e-01] [ 3.11468728e-02 -3.08232646e-04 9.99514771e-01 2.69968519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.095336194999994 meters 0.02212037686567058 Centerline is valid? [True, True] Translation: X:45.17, Y:0.53, Z:0.27 [[ 9.99191415e-01 -2.75937559e-02 -2.92421121e-02 4.51713105e+01] [ 2.75886719e-02 9.99619193e-01 -5.77385479e-04 5.27907313e-01] [ 2.92469088e-02 -2.29832422e-04 9.99572191e-01 2.74091635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.125336194999996 meters 0.020719834223068688 Centerline is valid? [True, True] Translation: X:45.20, Y:0.52, Z:0.27 [[ 9.99225912e-01 -2.63494696e-02 -2.92109892e-02 4.52005724e+01] [ 2.63438471e-02 9.99652774e-01 -5.77376907e-04 5.24253275e-01] [ 2.92160600e-02 -1.92599866e-04 9.99573101e-01 2.66598138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.155336195 meters 0.020723261443657392 Centerline is valid? [True, True] Translation: X:45.23, Y:0.52, Z:0.27 [[ 9.99249905e-01 -2.61528294e-02 -2.85597173e-02 4.52288125e+01] [ 2.61473336e-02 9.99657940e-01 -5.65935686e-04 5.22993512e-01] [ 2.85647490e-02 -1.81249274e-04 9.99591928e-01 2.65733137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.185336195 meters 0.020109572459776556 Centerline is valid? [True, True] Translation: X:45.26, Y:0.52, Z:0.27 [[ 9.99278851e-01 -2.73144091e-02 -2.63761339e-02 4.52578942e+01] [ 2.73100377e-02 9.99626873e-01 -5.26015110e-04 5.23784472e-01] [ 2.63806600e-02 -1.94697436e-04 9.99651951e-01 2.71939857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.215336195 meters 0.02085296746917239 Centerline is valid? [True, True] Translation: X:45.29, Y:0.52, Z:0.27 [[ 9.99242974e-01 -2.80050207e-02 -2.70036659e-02 4.52872261e+01] [ 2.80006608e-02 9.99607759e-01 -5.39646547e-04 5.23376522e-01] [ 2.70081867e-02 -2.16882467e-04 9.99635189e-01 2.70449838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24533619499999 meters 0.021391411124612732 Centerline is valid? [True, True] Translation: X:45.32, Y:0.52, Z:0.27 [[ 9.99145227e-01 -2.94522111e-02 -2.90066089e-02 4.53179260e+01] [ 2.94477895e-02 9.99566152e-01 -5.79696148e-04 5.23859115e-01] [ 2.90110978e-02 -2.74979875e-04 9.99579052e-01 2.71726444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.275336194999994 meters 0.021831831606148877 Centerline is valid? [True, True] Translation: X:45.35, Y:0.52, Z:0.27 [[ 9.99113264e-01 -3.03805624e-02 -2.91497302e-02 4.53480513e+01] [ 3.03764920e-02 9.99538358e-01 -5.82556422e-04 5.22584041e-01] [ 2.91539719e-02 -3.03426698e-04 9.99574887e-01 2.71448576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.305336194999995 meters 0.021419520760903758 Centerline is valid? [True, True] Translation: X:45.38, Y:0.52, Z:0.27 [[ 9.99057618e-01 -3.14451471e-02 -2.99178629e-02 4.53786234e+01] [ 3.14413366e-02 9.99505420e-01 -5.97907530e-04 5.17387878e-01] [ 2.99218674e-02 -3.43313526e-04 9.99552182e-01 2.69133490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.335336195 meters 0.0228657796356769 Centerline is valid? [True, True] Translation: X:45.41, Y:0.52, Z:0.27 [[ 9.99059794e-01 -3.13630552e-02 -2.99313596e-02 4.54081948e+01] [ 3.13591961e-02 9.99508000e-01 -5.98454830e-04 5.15063859e-01] [ 2.99354028e-02 -3.40731217e-04 9.99551777e-01 2.66665772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.365336195 meters 0.02263108340662788 Centerline is valid? [True, True] Translation: X:45.44, Y:0.52, Z:0.27 [[ 9.99078941e-01 -3.10299262e-02 -2.96380500e-02 4.54377568e+01] [ 3.10259856e-02 9.99518402e-01 -5.92934861e-04 5.15619923e-01] [ 2.96421751e-02 -3.27160980e-04 9.99560521e-01 2.67077768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.395336195 meters 0.021226637944404526 Centerline is valid? [True, True] Translation: X:45.47, Y:0.52, Z:0.27 [[ 9.99155853e-01 -2.98514742e-02 -2.82218074e-02 4.54679208e+01] [ 2.98474290e-02 9.99554307e-01 -5.64676168e-04 5.16975894e-01] [ 2.82260856e-02 -2.78148894e-04 9.99601526e-01 2.70813058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425336195 meters 0.02096168434156224 Centerline is valid? [True, True] Translation: X:45.50, Y:0.52, Z:0.27 [[ 9.99139455e-01 -2.96811960e-02 -2.89719725e-02 4.54986961e+01] [ 2.96768614e-02 9.99559377e-01 -5.79685849e-04 5.16261450e-01] [ 2.89764125e-02 -2.80610207e-04 9.99580056e-01 2.71315625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.455336194999994 meters 0.021338044796869557 Centerline is valid? [True, True] Translation: X:45.53, Y:0.52, Z:0.27 [[ 9.99127180e-01 -2.92446772e-02 -2.98266116e-02 4.55281969e+01] [ 2.92398868e-02 9.99572245e-01 -5.96849429e-04 5.16177615e-01] [ 2.98313078e-02 -2.75798260e-04 9.99554909e-01 2.70540364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.485336194999995 meters 0.022792201557151157 Centerline is valid? [True, True] Translation: X:45.56, Y:0.52, Z:0.27 [[ 9.99207252e-01 -2.74728226e-02 -2.88116494e-02 4.55583233e+01] [ 2.74676082e-02 9.99622528e-01 -5.76816817e-04 5.18697848e-01] [ 2.88166205e-02 -2.15027549e-04 9.99584692e-01 2.74315716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.515336194999996 meters 0.02031773286948988 Centerline is valid? [True, True] Translation: X:45.59, Y:0.52, Z:0.27 [[ 9.99202622e-01 -2.75404508e-02 -2.89074895e-02 4.55880233e+01] [ 2.75352123e-02 9.99620666e-01 -5.79346725e-04 5.17244125e-01] [ 2.89124794e-02 -2.17089093e-04 9.99581923e-01 2.72340995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.545336195 meters 0.02036561959089878 Centerline is valid? [True, True] Translation: X:45.62, Y:0.51, Z:0.28 [[ 9.99205787e-01 -2.90336040e-02 -2.72918489e-02 4.56164757e+01] [ 2.90294671e-02 9.99578406e-01 -5.47858586e-04 5.14264171e-01] [ 2.72962491e-02 -2.44844361e-04 9.99627358e-01 2.76394216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.575336195 meters 0.02126858420504566 Centerline is valid? [True, True] Translation: X:45.65, Y:0.51, Z:0.28 [[ 9.99181917e-01 -3.00221696e-02 -2.70954987e-02 4.56457147e+01] [ 3.00184481e-02 9.99549197e-01 -5.44185096e-04 5.13421542e-01] [ 2.70996215e-02 -2.69624914e-04 9.99632701e-01 2.76387715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605336195 meters 0.021388462216781187 Centerline is valid? [True, True] Translation: X:45.68, Y:0.52, Z:0.28 [[ 9.99123788e-01 -3.13592063e-02 -2.77174471e-02 4.56766286e+01] [ 3.13558397e-02 9.99508130e-01 -5.56196137e-04 5.15875971e-01] [ 2.77212556e-02 -3.13395036e-04 9.99615643e-01 2.79148095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.635336194999994 meters 0.021376363369022437 Centerline is valid? [True, True] Translation: X:45.71, Y:0.51, Z:0.28 [[ 9.99126718e-01 -3.19520773e-02 -2.69233484e-02 4.57083933e+01] [ 3.19491328e-02 9.99489350e-01 -5.39636338e-04 5.14516624e-01] [ 2.69268425e-02 -3.21012550e-04 9.99637355e-01 2.79320775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.665336194999995 meters 0.02213296074966692 Centerline is valid? [True, True] Translation: X:45.74, Y:0.51, Z:0.28 [[ 9.99159437e-01 -3.23245260e-02 -2.52100166e-02 4.57393585e+01] [ 3.23220773e-02 9.99477378e-01 -5.04719174e-04 5.11637180e-01] [ 2.52131561e-02 -3.10545178e-04 9.99682050e-01 2.77204223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.695336194999996 meters 0.022043276553848672 Centerline is valid? [True, True] Translation: X:45.77, Y:0.51, Z:0.28 [[ 9.99155545e-01 -3.27985222e-02 -2.47478010e-02 4.57720284e+01] [ 3.27963320e-02 9.99461933e-01 -4.94488937e-04 5.11472987e-01] [ 2.47507035e-02 -3.17565733e-04 9.99693604e-01 2.77790323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.725336195 meters 0.02394487987376047 Centerline is valid? [True, True] Translation: X:45.80, Y:0.51, Z:0.28 [[ 9.99057067e-01 -3.40050022e-02 -2.69932532e-02 4.58032174e+01] [ 3.40028645e-02 9.99421590e-01 -5.38328805e-04 5.11972784e-01] [ 2.69959459e-02 -3.80026733e-04 9.99635471e-01 2.75923596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.755336195 meters 0.02523453312911999 Centerline is valid? [True, True] Translation: X:45.84, Y:0.51, Z:0.28 [[ 9.99033683e-01 -3.38030215e-02 -2.80901436e-02 4.58350378e+01] [ 3.38006609e-02 9.99428438e-01 -5.58995825e-04 5.14559168e-01] [ 2.80929841e-02 -3.91009761e-04 9.99605238e-01 2.76834354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785336195 meters 0.02424268204501317 Centerline is valid? [True, True] Translation: X:45.87, Y:0.51, Z:0.27 [[ 9.98968994e-01 -3.50049516e-02 -2.89067905e-02 4.58668482e+01] [ 3.50029784e-02 9.99387043e-01 -5.74430405e-04 5.14104247e-01] [ 2.89091798e-02 -4.37985599e-04 9.99581946e-01 2.71714414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81533619499999 meters 0.023816368584653625 Centerline is valid? [True, True] Translation: X:45.90, Y:0.51, Z:0.27 [[ 9.98914044e-01 -3.60756414e-02 -2.94835644e-02 4.58981729e+01] [ 3.60740753e-02 9.99348947e-01 -5.85200478e-04 5.12448740e-01] [ 2.94854806e-02 -4.79027347e-04 9.99565094e-01 2.71409437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845336194999994 meters 0.026558091465168545 Centerline is valid? [True, True] Translation: X:45.93, Y:0.50, Z:0.26 [[ 9.98702755e-01 -3.95866504e-02 -3.20266064e-02 4.59282641e+01] [ 3.95866404e-02 9.99215940e-01 -6.34634733e-04 5.02052600e-01] [ 3.20266187e-02 -6.34014297e-04 9.99486815e-01 2.64341846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.875336194999996 meters 0.028616817080442836 Centerline is valid? [True, True] Translation: X:45.96, Y:0.50, Z:0.26 [[ 9.98629442e-01 -4.15273295e-02 -3.18546613e-02 4.59597563e+01] [ 4.15283416e-02 9.99137128e-01 -6.30115493e-04 4.98968688e-01] [ 3.18533418e-02 -6.93619374e-04 9.99492313e-01 2.64116018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.905336195 meters 0.027943219278863143 Centerline is valid? [True, True] Translation: X:45.99, Y:0.50, Z:0.28 [[ 9.98575638e-01 -4.43869294e-02 -2.96056771e-02 4.59923545e+01] [ 4.43890972e-02 9.99014147e-01 -5.84326355e-04 4.99168885e-01] [ 2.96024267e-02 -7.30675216e-04 9.99561485e-01 2.75626396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.935336195 meters 0.029684499893175256 Centerline is valid? [True, True] Translation: X:46.02, Y:0.50, Z:0.28 [[ 9.98578325e-01 -4.46110608e-02 -2.91750112e-02 4.60233232e+01] [ 4.46133225e-02 9.99004165e-01 -5.73734420e-04 4.95297427e-01] [ 2.91715526e-02 -7.28675425e-04 9.99574154e-01 2.75343870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965336195 meters 0.027353974274597743 Centerline is valid? [True, True] Translation: X:46.06, Y:0.49, Z:0.28 [[ 9.98643258e-01 -4.23361665e-02 -3.03198484e-02 4.60557820e+01] [ 4.23376122e-02 9.99103184e-01 -5.94587556e-04 4.94982611e-01] [ 3.03178297e-02 -6.89889131e-04 9.99540071e-01 2.76575785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99533619499999 meters 0.025936403452608735 Centerline is valid? [True, True] Translation: X:46.09, Y:0.50, Z:0.28 [[ 9.98725980e-01 -4.01709106e-02 -3.05403758e-02 4.60876079e+01] [ 4.01714029e-02 9.99192625e-01 -5.97694945e-04 4.96673828e-01] [ 3.05397282e-02 -6.29916271e-04 9.99533355e-01 2.77779035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025336194999994 meters 0.02453758724749721 Centerline is valid? [True, True] Translation: X:46.12, Y:0.50, Z:0.27 [[ 9.98862031e-01 -3.48863970e-02 -3.25204879e-02 4.61183575e+01] [ 3.48841847e-02 9.99391160e-01 -6.35571906e-04 4.98982554e-01] [ 3.25228609e-02 -4.99602061e-04 9.99470867e-01 2.71837339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.055336194999995 meters 0.02262973422759645 Centerline is valid? [True, True] Translation: X:46.15, Y:0.50, Z:0.27 [[ 9.98935763e-01 -3.18652391e-02 -3.33458872e-02 4.61478987e+01] [ 3.18612151e-02 9.99492090e-01 -6.52170495e-04 5.02371564e-01] [ 3.33497321e-02 -4.10964053e-04 9.99443658e-01 2.71539929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.085336195 meters 0.02155452296717525 Centerline is valid? [True, True] Translation: X:46.18, Y:0.51, Z:0.27 [[ 9.99024329e-01 -2.93095827e-02 -3.30354225e-02 4.61764614e+01] [ 2.93040863e-02 9.99570331e-01 -6.50640084e-04 5.05553529e-01] [ 3.30402982e-02 -3.18067598e-04 9.99453970e-01 2.72312484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.115336195 meters 0.020945240460071457 Centerline is valid? [True, True] Translation: X:46.20, Y:0.51, Z:0.27 [[ 9.99148493e-01 -2.53237006e-02 -3.25729915e-02 4.62041137e+01] [ 2.53161292e-02 9.99679287e-01 -6.44912444e-04 5.08674654e-01] [ 3.25788765e-02 -1.80258763e-04 9.99469151e-01 2.71287974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145336195 meters 0.020793374885824556 Centerline is valid? [True, True] Translation: X:46.23, Y:0.51, Z:0.27 [[ 9.99154598e-01 -2.43488977e-02 -3.31243129e-02 4.62329102e+01] [ 2.43403664e-02 9.99703511e-01 -6.60829560e-04 5.08754582e-01] [ 3.31305824e-02 -1.45987021e-04 9.99451021e-01 2.71782496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.175336195 meters 0.020724979163443655 Centerline is valid? [True, True] Translation: X:46.26, Y:0.51, Z:0.27 [[ 9.99173689e-01 -2.49032483e-02 -3.21211433e-02 4.62621577e+01] [ 2.48953513e-02 9.99689854e-01 -6.45825339e-04 5.08218326e-01] [ 3.21272642e-02 -1.54375460e-04 9.99483774e-01 2.72878252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205336194999994 meters 0.020147549110537157 Centerline is valid? [True, True] Translation: X:46.29, Y:0.50, Z:0.27 [[ 9.99184907e-01 -2.68307643e-02 -3.01600970e-02 4.62907090e+01] [ 2.68245304e-02 9.99639971e-01 -6.11352577e-04 4.98805600e-01] [ 3.01656415e-02 -1.98176172e-04 9.99544894e-01 2.73281646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.235336194999995 meters 0.02137089208785018 Centerline is valid? [True, True] Translation: X:46.32, Y:0.49, Z:0.27 [[ 9.99168210e-01 -2.81982401e-02 -2.94575679e-02 4.63183316e+01] [ 2.81928141e-02 9.99602324e-01 -5.99597136e-04 4.93641146e-01] [ 2.94627609e-02 -2.31393340e-04 9.99565852e-01 2.70158761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.265336194999996 meters 0.02360312766694396 Centerline is valid? [True, True] Translation: X:46.35, Y:0.49, Z:0.27 [[ 9.98991256e-01 -3.16730259e-02 -3.18322205e-02 4.63468628e+01] [ 3.16684123e-02 9.99498219e-01 -6.49216081e-04 4.91182197e-01] [ 3.18368104e-02 -3.59514696e-04 9.99493016e-01 2.69882049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.295336195 meters 0.0242369601122397 Centerline is valid? [True, True] Translation: X:46.38, Y:0.49, Z:0.27 [[ 9.98923464e-01 -3.25719000e-02 -3.30300650e-02 4.63752991e+01] [ 3.25672808e-02 9.99469315e-01 -6.77977787e-04 4.91656182e-01] [ 3.30346195e-02 -3.98451482e-04 9.99454129e-01 2.69650908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325336195 meters 0.021768711410260405 Centerline is valid? [True, True] Translation: X:46.40, Y:0.49, Z:0.27 [[ 9.98965060e-01 -3.12967172e-02 -3.30049075e-02 4.64041119e+01] [ 3.12912282e-02 9.99510076e-01 -6.82943493e-04 4.90419115e-01] [ 3.30101115e-02 -3.50527405e-04 9.99454956e-01 2.71661246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.355336195 meters 0.02351140301185866 Centerline is valid? [True, True] Translation: X:46.43, Y:0.48, Z:0.26 [[ 9.98970893e-01 -3.04571537e-02 -3.36082924e-02 4.64320582e+01] [ 3.04508942e-02 9.99536020e-01 -6.98198248e-04 4.84793266e-01] [ 3.36139640e-02 -3.25922830e-04 9.99434838e-01 2.62686780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385336194999994 meters 0.022951874592621834 Centerline is valid? [True, True] Translation: X:46.46, Y:0.48, Z:0.26 [[ 9.99013913e-01 -2.91403181e-02 -3.34969289e-02 4.64612242e+01] [ 2.91332060e-02 9.99575293e-01 -7.00478897e-04 4.82253866e-01] [ 3.35031147e-02 -2.76084766e-04 9.99438575e-01 2.62327135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.415336194999995 meters 0.021391791590307026 Centerline is valid? [True, True] Translation: X:46.49, Y:0.49, Z:0.27 [[ 9.99084705e-01 -2.81993143e-02 -3.21644495e-02 4.64903140e+01] [ 2.81921122e-02 9.99602294e-01 -6.77494155e-04 4.86305953e-01] [ 3.21707623e-02 -2.29909720e-04 9.99482361e-01 2.70114100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.445336194999996 meters 0.020199230553430616 Centerline is valid? [True, True] Translation: X:46.52, Y:0.49, Z:0.28 [[ 9.99176039e-01 -2.69677295e-02 -3.03312411e-02 4.65194894e+01] [ 2.69606188e-02 9.99636289e-01 -6.43452202e-04 4.91600966e-01] [ 3.03375618e-02 -1.74827008e-04 9.99539695e-01 2.78502134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.475336195 meters 0.020213398605347113 Centerline is valid? [True, True] Translation: X:46.55, Y:0.49, Z:0.28 [[ 9.99186113e-01 -2.71304185e-02 -2.98505036e-02 4.65485162e+01] [ 2.71234607e-02 9.99631888e-01 -6.38054011e-04 4.92071147e-01] [ 2.98568259e-02 -1.72114255e-04 9.99554171e-01 2.79830907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.505336195 meters 0.019802888505440614 Centerline is valid? [True, True] Translation: X:46.58, Y:0.49, Z:0.28 [[ 9.99221095e-01 -2.67960636e-02 -2.89685067e-02 4.65770257e+01] [ 2.67892330e-02 9.99640909e-01 -6.23939797e-04 4.91996546e-01] [ 2.89748235e-02 -1.52590270e-04 9.99580130e-01 2.81082485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.535336195 meters 0.020635007216096245 Centerline is valid? [True, True] Translation: X:46.60, Y:0.49, Z:0.28 [[ 9.99212281e-01 -2.67260012e-02 -2.93349361e-02 4.66048004e+01] [ 2.67188944e-02 9.99642785e-01 -6.34289163e-04 4.89342573e-01] [ 2.93414092e-02 -1.50007539e-04 9.99569437e-01 2.75721417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56533619499999 meters 0.02058307866273867 Centerline is valid? [True, True] Translation: X:46.63, Y:0.48, Z:0.27 [[ 9.99255817e-01 -2.60171285e-02 -2.84766788e-02 4.66331337e+01] [ 2.60100978e-02 9.99661490e-01 -6.17344135e-04 4.82887395e-01] [ 2.84831007e-02 -1.23796483e-04 9.99594267e-01 2.70596887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.595336194999994 meters 0.019423411421779575 Centerline is valid? [True, True] Translation: X:46.66, Y:0.49, Z:0.28 [[ 9.99282975e-01 -2.53554368e-02 -2.81182790e-02 4.66617087e+01] [ 2.53482092e-02 9.99678494e-01 -6.13516658e-04 4.86676370e-01] [ 2.81247948e-02 -9.96712680e-05 9.99604415e-01 2.76585861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.625336194999996 meters 0.020079844806887636 Centerline is valid? [True, True] Translation: X:46.69, Y:0.48, Z:0.27 [[ 9.99221086e-01 -2.65830917e-02 -2.91643615e-02 4.66932376e+01] [ 2.69984993e-02 9.99538223e-01 1.39435110e-02 4.83403869e-01] [ 2.87802325e-02 -1.47200442e-02 9.99477373e-01 2.70576958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.655336195 meters 0.020079844806887636 Centerline is valid? [True, True] Translation: X:46.72, Y:0.49, Z:0.28 [[ 9.99225748e-01 -2.68128844e-02 -2.87918971e-02 4.67221734e+01] [ 2.68249652e-02 9.99640145e-01 3.33529424e-05 4.93967689e-01] [ 2.87806419e-02 -8.05668756e-04 9.99585427e-01 2.80041806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.685336195 meters 0.0191234814680334 Centerline is valid? [True, True] Translation: X:46.75, Y:0.52, Z:0.30 [[ 9.99405911e-01 -2.17098946e-02 -2.67676094e-02 4.67488633e+01] [ 2.13151774e-02 9.99661108e-01 -1.49442939e-02 5.16490757e-01] [ 2.70829772e-02 1.43648594e-02 9.99529971e-01 2.96241936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.715336195 meters 0.02018714192068328 Centerline is valid? [True, True] Translation: X:46.78, Y:0.51, Z:0.28 [[ 9.99359738e-01 -1.91408845e-02 -3.02281581e-02 4.67786480e+01] [ 1.91294695e-02 9.99816793e-01 -6.66800035e-04 5.10657454e-01] [ 3.02353832e-02 8.81244777e-05 9.99542802e-01 2.80423046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74533619499999 meters 0.021086180184932166 Centerline is valid? [True, True] Translation: X:46.81, Y:0.51, Z:0.28 [[ 9.99363729e-01 -1.81333901e-02 -3.07134786e-02 4.68065747e+01] [ 1.81210563e-02 9.99835569e-01 -6.79898011e-04 5.10540204e-01] [ 3.07207572e-02 1.22904736e-04 9.99527999e-01 2.75008398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.775336194999994 meters 0.020266905869113925 Centerline is valid? [True, True] Translation: X:46.84, Y:0.51, Z:0.28 [[ 9.99400012e-01 -1.81615770e-02 -2.94919265e-02 4.68355035e+01] [ 1.81500863e-02 9.99835058e-01 -6.57296185e-04 5.09135785e-01] [ 2.94989995e-02 1.21620805e-04 9.99564802e-01 2.76366184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.805336194999995 meters 0.019463179832297856 Centerline is valid? [True, True] Translation: X:46.86, Y:0.51, Z:0.28 [[ 9.99448577e-01 -1.93153918e-02 -2.70084754e-02 4.68632559e+01] [ 1.93061157e-02 9.99813437e-01 -6.04193147e-04 5.12999858e-01] [ 2.70151068e-02 8.24312294e-05 9.99635022e-01 2.81794074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.835336195 meters 0.018777973949884574 Centerline is valid? [True, True] Translation: X:46.89, Y:0.52, Z:0.29 [[ 9.99428705e-01 -2.06224125e-02 -2.67764823e-02 4.68908264e+01] [ 2.06136506e-02 9.99787334e-01 -6.03244279e-04 5.17907029e-01] [ 2.67832282e-02 5.09385997e-05 9.99641264e-01 2.87411216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.865336195 meters 0.018293789748946073 Centerline is valid? [True, True] Translation: X:46.92, Y:0.52, Z:0.29 [[ 9.99429996e-01 -2.30156395e-02 -2.46974468e-02 4.69188506e+01] [ 2.30088128e-02 9.99735105e-01 -5.60586010e-04 5.21893354e-01] [ 2.47038068e-02 -7.99245601e-06 9.99694814e-01 2.92791339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.895336195 meters 0.018808662087925723 Centerline is valid? [True, True] Translation: X:46.95, Y:0.52, Z:0.29 [[ 9.99426284e-01 -2.26709421e-02 -2.51621080e-02 4.69478018e+01] [ 2.26637021e-02 9.99742981e-01 -5.72914175e-04 5.18328907e-01] [ 2.51686294e-02 2.31896591e-06 9.99683220e-01 2.86573594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925336195 meters 0.018963491509934167 Centerline is valid? [True, True] Translation: X:46.98, Y:0.52, Z:0.28 [[ 9.99395166e-01 -2.21608290e-02 -2.67992418e-02 4.69768966e+01] [ 2.21523362e-02 9.99754418e-01 -6.13786592e-04 5.17333465e-01] [ 2.68062625e-02 1.97495389e-05 9.99640647e-01 2.83612037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.955336194999994 meters 0.019164895817102432 Centerline is valid? [True, True] Translation: X:47.01, Y:0.52, Z:0.28 [[ 9.99382410e-01 -2.12792083e-02 -2.79641574e-02 4.70052787e+01] [ 2.12694833e-02 9.99773571e-01 -6.45204443e-04 5.17978756e-01] [ 2.79715549e-02 5.00227913e-05 9.99608718e-01 2.81026170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.985336194999995 meters 0.020133133690772815 Centerline is valid? [True, True] Translation: X:47.03, Y:0.53, Z:0.28 [[ 9.99437114e-01 -1.90704891e-02 -2.76002182e-02 4.70314254e+01] [ 1.90600324e-02 9.99818135e-01 -6.41917201e-04 5.27889529e-01] [ 2.76074404e-02 1.15494821e-04 9.99618835e-01 2.83026263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.015336194999996 meters 0.0204888207267709 Centerline is valid? [True, True] Translation: X:47.06, Y:0.53, Z:0.29 [[ 9.99428688e-01 -1.77653355e-02 -2.87522256e-02 4.70597977e+01] [ 1.77533037e-02 9.99842171e-01 -6.73704396e-04 5.33748946e-01] [ 2.87596563e-02 1.62872506e-04 9.99586342e-01 2.85526352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.045336195 meters 0.022175933601279698 Centerline is valid? [True, True] Translation: X:47.09, Y:0.54, Z:0.28 [[ 9.99386872e-01 -1.57154295e-02 -3.12874711e-02 4.70883507e+01] [ 1.57001124e-02 9.99876475e-01 -7.35183771e-04 5.39489999e-01] [ 3.12951601e-02 2.43516196e-04 9.99510157e-01 2.80601864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.075336195 meters 0.022802728190459226 Centerline is valid? [True, True] Translation: X:47.12, Y:0.54, Z:0.28 [[ 9.99442623e-01 -1.51501983e-02 -2.97475092e-02 4.71158790e+01] [ 1.51360553e-02 9.99885198e-01 -7.00570124e-04 5.40908293e-01] [ 2.97547079e-02 2.49919698e-04 9.99557199e-01 2.78367044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105336195 meters 0.022325800322464603 Centerline is valid? [True, True] Translation: X:47.14, Y:0.54, Z:0.28 [[ 9.99435905e-01 -1.58762352e-02 -2.95941999e-02 4.71443223e+01] [ 1.58624353e-02 9.99873938e-01 -7.01031782e-04 5.40186934e-01] [ 2.96015989e-02 2.31200253e-04 9.99561750e-01 2.77979825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.135336194999994 meters 0.021028846901410988 Centerline is valid? [True, True] Translation: X:47.17, Y:0.54, Z:0.28 [[ 9.99447690e-01 -1.67574325e-02 -2.86967444e-02 4.71726119e+01] [ 1.67446855e-02 9.99859564e-01 -6.84467470e-04 5.38651967e-01] [ 2.87041842e-02 2.03571474e-04 9.99587929e-01 2.80909071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.165336194999995 meters 0.019664353234325593 Centerline is valid? [True, True] Translation: X:47.20, Y:0.54, Z:0.29 [[ 9.99530780e-01 -1.80734404e-02 -2.47299453e-02 4.72011351e+01] [ 1.80643378e-02 9.99836652e-01 -5.91447024e-04 5.36373306e-01] [ 2.47365952e-02 1.44439419e-04 9.99693993e-01 2.85126130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.195336194999996 meters 0.020007895956533843 Centerline is valid? [True, True] Translation: X:47.23, Y:0.54, Z:0.28 [[ 9.99493322e-01 -1.95559375e-02 -2.51130204e-02 4.72286130e+01] [ 1.95469753e-02 9.99808758e-01 -6.02332154e-04 5.35178346e-01] [ 2.51199969e-02 1.11143376e-04 9.99684437e-01 2.84115357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.225336195 meters 0.01916518448018677 Centerline is valid? [True, True] Translation: X:47.26, Y:0.54, Z:0.29 [[ 9.99369688e-01 -2.27325465e-02 -2.72664234e-02 4.72575968e+01] [ 2.27230561e-02 9.99741582e-01 -6.57896540e-04 5.36542219e-01] [ 2.72743329e-02 3.79053921e-05 9.99627985e-01 2.88723877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.255336195 meters 0.018619747922811104 Centerline is valid? [True, True] Translation: X:47.29, Y:0.54, Z:0.29 [[ 9.99326053e-01 -2.45059140e-02 -2.73294714e-02 4.72858458e+01] [ 2.44969071e-02 9.99699685e-01 -6.64376881e-04 5.38347831e-01] [ 2.73375451e-02 -5.55839582e-06 9.99626259e-01 2.92116344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285336195 meters 0.0189031615633228 Centerline is valid? [True, True] Translation: X:47.31, Y:0.53, Z:0.29 [[ 9.99237582e-01 -2.72227208e-02 -2.79853076e-02 4.73147093e+01] [ 2.72142075e-02 9.99629390e-01 -6.85108043e-04 5.31723264e-01] [ 2.79935865e-02 -7.70122631e-05 9.99608100e-01 2.88881885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31533619499999 meters 0.01934285182200004 Centerline is valid? [True, True] Translation: X:47.34, Y:0.53, Z:0.28 [[ 9.99209734e-01 -2.74799536e-02 -2.87186209e-02 4.73429776e+01] [ 2.74710323e-02 9.99622351e-01 -7.05219808e-04 5.27569567e-01] [ 2.87271548e-02 -8.42676670e-05 9.99587287e-01 2.84929869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345336194999994 meters 0.019481817149050975 Centerline is valid? [True, True] Translation: X:47.37, Y:0.53, Z:0.28 [[ 9.99269054e-01 -2.47844036e-02 -2.91048161e-02 4.73707145e+01] [ 2.47740503e-02 9.99692819e-01 -7.16323691e-04 5.29181003e-01] [ 2.91136293e-02 -5.24407997e-06 9.99576108e-01 2.82525087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.375336194999996 meters 0.019695475909405954 Centerline is valid? [True, True] Translation: X:47.40, Y:0.53, Z:0.28 [[ 9.99304333e-01 -2.31568378e-02 -2.92337326e-02 4.73988987e+01] [ 2.31456465e-02 9.99731844e-01 -7.21197651e-04 5.33258204e-01] [ 2.92425940e-02 4.40622972e-05 9.99572343e-01 2.83039109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.405336195 meters 0.020275527714865176 Centerline is valid? [True, True] Translation: X:47.43, Y:0.54, Z:0.29 [[ 9.99390751e-01 -1.99092627e-02 -2.86661330e-02 4.74255023e+01] [ 1.98971041e-02 9.99801781e-01 -7.09355380e-04 5.42466180e-01] [ 2.86745735e-02 1.38550174e-04 9.99588790e-01 2.86750192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.435336195 meters 0.020852053395742493 Centerline is valid? [True, True] Translation: X:47.45, Y:0.55, Z:0.29 [[ 9.99442426e-01 -1.84667433e-02 -2.78175457e-02 4.74532605e+01] [ 1.84546869e-02 9.99829460e-01 -6.90098945e-04 5.50499294e-01] [ 2.78255456e-02 1.76350066e-04 9.99612779e-01 2.90425772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465336195 meters 0.019933721114055624 Centerline is valid? [True, True] Translation: X:47.48, Y:0.56, Z:0.30 [[ 9.99517607e-01 -1.67362548e-02 -2.61620019e-02 4.74817280e+01] [ 1.67249037e-02 9.99859916e-01 -6.52648241e-04 5.60106126e-01] [ 2.61692599e-02 2.14776446e-04 9.99657503e-01 2.98975789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49533619499999 meters 0.020235303841135054 Centerline is valid? [True, True] Translation: X:47.51, Y:0.56, Z:0.29 [[ 9.99499465e-01 -1.69551820e-02 -2.67084509e-02 4.75103553e+01] [ 1.69433103e-02 9.99856227e-01 -6.70752999e-04 5.59271208e-01] [ 2.67159837e-02 2.17887692e-04 9.99643041e-01 2.94648469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525336194999994 meters 0.020594384530503884 Centerline is valid? [True, True] Translation: X:47.54, Y:0.56, Z:0.29 [[ 9.99467359e-01 -1.74169044e-02 -2.75980062e-02 4.75384812e+01] [ 1.74043190e-02 9.99848291e-01 -6.96188001e-04 5.55975835e-01] [ 2.76059448e-02 2.15492680e-04 9.99618860e-01 2.88691603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.555336194999995 meters 0.02090958290296383 Centerline is valid? [True, True] Translation: X:47.57, Y:0.55, Z:0.28 [[ 9.99437877e-01 -1.78726027e-02 -2.83637193e-02 4.75661591e+01] [ 1.78594381e-02 9.99840250e-01 -7.17419548e-04 5.53327950e-01] [ 2.83720103e-02 2.10456181e-04 9.99597411e-01 2.83438379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.585336195 meters 0.020199929071562824 Centerline is valid? [True, True] Translation: X:47.59, Y:0.55, Z:0.28 [[ 9.99401596e-01 -1.97950315e-02 -2.83655804e-02 4.75948003e+01] [ 1.97825269e-02 9.99804046e-01 -7.21423336e-04 5.54363801e-01] [ 2.83743027e-02 1.59848775e-04 9.99597356e-01 2.84796668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.615336195 meters 0.019203212781269626 Centerline is valid? [True, True] Translation: X:47.62, Y:0.55, Z:0.29 [[ 9.99371244e-01 -2.17455015e-02 -2.80044526e-02 4.76232484e+01] [ 2.17339490e-02 9.99763533e-01 -7.16877574e-04 5.54574075e-01] [ 2.80134193e-02 1.07779487e-04 9.99607541e-01 2.88209468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645336195 meters 0.019012539653849206 Centerline is valid? [True, True] Translation: X:47.65, Y:0.56, Z:0.29 [[ 9.99358599e-01 -2.35538008e-02 -2.69742244e-02 4.76506732e+01] [ 2.35436801e-02 9.99722569e-01 -6.92775147e-04 5.55832917e-01] [ 2.69830584e-02 5.72582918e-05 9.99635889e-01 2.89869515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.675336195 meters 0.01816250264993851 Centerline is valid? [True, True] Translation: X:47.68, Y:0.55, Z:0.29 [[ 9.99300320e-01 -2.75065961e-02 -2.53427984e-02 4.76792873e+01] [ 2.74988489e-02 9.99621621e-01 -6.54215009e-04 5.53874303e-01] [ 2.53512044e-02 -4.31405171e-05 9.99678606e-01 2.94501649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705336194999994 meters 0.018282684457976605 Centerline is valid? [True, True] Translation: X:47.71, Y:0.55, Z:0.29 [[ 9.99219686e-01 -2.89498359e-02 -2.68686684e-02 4.77096491e+01] [ 2.89416189e-02 9.99580862e-01 -6.94735208e-04 5.49522693e-01] [ 2.68775192e-02 -8.34296655e-05 9.99638731e-01 2.91663866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.735336194999995 meters 0.019760345325386567 Centerline is valid? [True, True] Translation: X:47.74, Y:0.54, Z:0.28 [[ 9.99012525e-01 -3.18142378e-02 -3.10133774e-02 4.77399692e+01] [ 3.18046605e-02 9.99493782e-01 -8.02191085e-04 5.42020468e-01] [ 3.10231990e-02 -1.84971000e-04 9.99518648e-01 2.81752996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.765336194999996 meters 0.01954224483735287 Centerline is valid? [True, True] Translation: X:47.77, Y:0.54, Z:0.29 [[ 9.98986112e-01 -3.29138427e-02 -3.07152568e-02 4.77694719e+01] [ 3.29049482e-02 9.99458169e-01 -7.95131121e-04 5.43820869e-01] [ 3.07247852e-02 -2.16358989e-04 9.99527859e-01 2.85217224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.795336195 meters 0.020606861310293993 Centerline is valid? [True, True] Translation: X:47.80, Y:0.55, Z:0.29 [[ 9.98917581e-01 -3.47177009e-02 -3.09571843e-02 4.77993559e+01] [ 3.47095241e-02 9.99397121e-01 -8.01638258e-04 5.45601345e-01] [ 3.09663519e-02 -2.73738584e-04 9.99520390e-01 2.87135085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825336195 meters 0.020454960539205504 Centerline is valid? [True, True] Translation: X:47.83, Y:0.55, Z:0.29 [[ 9.98874265e-01 -3.55881383e-02 -3.13637975e-02 4.78297859e+01] [ 3.55801736e-02 9.99366495e-01 -8.12190844e-04 5.45469247e-01] [ 3.13728327e-02 -3.04652826e-04 9.99507705e-01 2.88043925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.855336195 meters 0.01969323762901194 Centerline is valid? [True, True] Translation: X:47.86, Y:0.54, Z:0.29 [[ 9.98963007e-01 -3.56843515e-02 -2.82760843e-02 4.78600350e+01] [ 3.56779162e-02 9.99363072e-01 -7.32232020e-04 5.44513628e-01] [ 2.82842037e-02 -2.77359066e-04 9.99599883e-01 2.92608503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885336194999994 meters 0.019117273808424193 Centerline is valid? [True, True] Translation: X:47.89, Y:0.54, Z:0.30 [[ 9.99044108e-01 -3.52188942e-02 -2.58940244e-02 4.78920085e+01] [ 3.52133569e-02 9.99379593e-01 -6.69938958e-04 5.44337265e-01] [ 2.59015541e-02 -2.42516956e-04 9.99664469e-01 2.95504010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.915336194999995 meters 0.019876239398165286 Centerline is valid? [True, True] Translation: X:47.92, Y:0.54, Z:0.29 [[ 9.99071861e-01 -3.54398563e-02 -2.44833250e-02 4.79235029e+01] [ 3.54349924e-02 9.99371783e-01 -6.32621120e-04 5.41476135e-01] [ 2.44903642e-02 -2.35532476e-04 9.99700038e-01 2.93683369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.945336194999996 meters 0.018907337796778712 Centerline is valid? [True, True] Translation: X:47.96, Y:0.54, Z:0.30 [[ 9.99079886e-01 -3.50339688e-02 -2.47386929e-02 4.79554987e+01] [ 3.50289050e-02 9.99386096e-01 -6.38144644e-04 5.42792681e-01] [ 2.47458624e-02 -2.29011845e-04 9.99693748e-01 2.96768202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.975336195 meters 0.017338454135847767 Centerline is valid? [True, True] Translation: X:47.99, Y:0.55, Z:0.30 [[ 9.99217223e-01 -3.14877219e-02 -2.39471236e-02 4.79881424e+01] [ 3.14819904e-02 9.99504129e-01 -6.16401496e-04 5.48437442e-01] [ 2.39546580e-02 -1.37984124e-04 9.99713036e-01 2.98037371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.005336195 meters 0.017433228033708777 Centerline is valid? [True, True] Translation: X:48.02, Y:0.55, Z:0.30 [[ 9.99273543e-01 -2.99302462e-02 -2.35916834e-02 4.80195329e+01] [ 2.99242730e-02 9.99551985e-01 -6.06261530e-04 5.48009003e-01] [ 2.35992595e-02 -1.00142867e-04 9.99721494e-01 2.95036349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.035336195 meters 0.017020578130329804 Centerline is valid? [True, True] Translation: X:48.05, Y:0.55, Z:0.29 [[ 9.99317957e-01 -2.81427705e-02 -2.39082654e-02 4.80520760e+01] [ 2.81361495e-02 9.99603912e-01 -6.13345226e-04 5.48830163e-01] [ 2.39160569e-02 -5.97596336e-05 9.99713968e-01 2.94956930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06533619499999 meters 0.01749126343063727 Centerline is valid? [True, True] Translation: X:48.08, Y:0.56, Z:0.30 [[ 9.99369279e-01 -2.41006938e-02 -2.60806743e-02 4.80828367e+01] [ 2.40914533e-02 9.99709535e-01 -6.68503124e-04 5.56967370e-01] [ 2.60892102e-02 3.97601359e-05 9.99659618e-01 2.95811977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.095336194999994 meters 0.01906577615783211 Centerline is valid? [True, True] Translation: X:48.11, Y:0.57, Z:0.30 [[ 9.99424136e-01 -2.01831513e-02 -2.72770560e-02 4.81110345e+01] [ 2.01715589e-02 9.99796288e-01 -7.00108278e-04 5.67199090e-01] [ 2.72856297e-02 1.49484369e-04 9.99627667e-01 2.95477566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.125336194999996 meters 0.019662409821597247 Centerline is valid? [True, True] Translation: X:48.14, Y:0.57, Z:0.30 [[ 9.99460253e-01 -1.85891855e-02 -2.70858883e-02 4.81393926e+01] [ 1.85770706e-02 9.99827187e-01 -6.98864118e-04 5.71233366e-01] [ 2.70941988e-02 1.95310448e-04 9.99632866e-01 2.95392040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.155336195 meters 0.022381600408080606 Centerline is valid? [True, True] Translation: X:48.17, Y:0.57, Z:0.29 [[ 9.99513299e-01 -1.57746939e-02 -2.69132676e-02 4.81672728e+01] [ 1.57616520e-02 9.99875535e-01 -6.96671696e-04 5.74341827e-01] [ 2.69209076e-02 2.72135067e-04 9.99637530e-01 2.88954462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.185336195 meters 0.02280682727930975 Centerline is valid? [True, True] Translation: X:48.20, Y:0.58, Z:0.29 [[ 9.99524043e-01 -1.42688376e-02 -2.73512021e-02 4.81962255e+01] [ 1.42547025e-02 9.99898143e-01 -7.11717774e-04 5.75017031e-01] [ 2.73585716e-02 3.21495777e-04 9.99625633e-01 2.87457308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.215336195 meters 0.023732329152450188 Centerline is valid? [True, True] Translation: X:48.23, Y:0.58, Z:0.29 [[ 9.99546777e-01 -1.27079956e-02 -2.72900784e-02 4.82252095e+01] [ 1.26932225e-02 9.99919183e-01 -7.14506160e-04 5.78042709e-01] [ 2.72969528e-02 3.67783292e-04 9.99627301e-01 2.87953133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24533619499999 meters 0.025005302195120732 Centerline is valid? [True, True] Translation: X:48.25, Y:0.59, Z:0.29 [[ 9.99609190e-01 -1.00925400e-02 -2.60692826e-02 4.82535562e+01] [ 1.00780621e-02 9.99948979e-01 -6.86692626e-04 5.87527759e-01] [ 2.60748830e-02 4.23696410e-04 9.99659903e-01 2.94374330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.275336194999994 meters 0.024958093814464836 Centerline is valid? [True, True] Translation: X:48.28, Y:0.59, Z:0.30 [[ 9.99599709e-01 -9.33809242e-03 -2.67062211e-02 4.82824838e+01] [ 9.32251121e-03 9.99956294e-01 -7.07879975e-04 5.91564551e-01] [ 2.67116641e-02 4.58627572e-04 9.99643075e-01 2.96334892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.305336194999995 meters 0.024627406411193566 Centerline is valid? [True, True] Translation: X:48.31, Y:0.60, Z:0.30 [[ 9.99630226e-01 -8.77696255e-03 -2.57366783e-02 4.83100194e+01] [ 8.76218535e-03 9.99961375e-01 -6.86888400e-04 5.98001765e-01] [ 2.57417130e-02 4.61124861e-04 9.99668521e-01 2.99586486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.335336195 meters 0.02552257525127302 Centerline is valid? [True, True] Translation: X:48.34, Y:0.60, Z:0.30 [[ 9.99666424e-01 -9.58981576e-03 -2.39807512e-02 4.83377821e+01] [ 9.57716723e-03 9.99953932e-01 -6.42242434e-04 6.02326463e-01] [ 2.39858054e-02 4.12360534e-04 9.99712214e-01 3.00857329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.365336195 meters 0.023283993409375384 Centerline is valid? [True, True] Translation: X:48.37, Y:0.60, Z:0.30 [[ 9.99655222e-01 -1.10058062e-02 -2.38392518e-02 4.83667835e+01] [ 1.09936324e-02 9.99939362e-01 -6.41664352e-04 6.02590709e-01] [ 2.38448683e-02 3.79363148e-04 9.99715599e-01 3.00934570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.395336195 meters 0.023305793371258085 Centerline is valid? [True, True] Translation: X:48.40, Y:0.60, Z:0.30 [[ 9.99595103e-01 -1.19083508e-02 -2.58422445e-02 4.83957414e+01] [ 1.18942337e-02 9.99929016e-01 -6.99929058e-04 6.01996590e-01] [ 2.58487451e-02 3.92271965e-04 9.99665788e-01 2.95157700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425336195 meters 0.023454798996723928 Centerline is valid? [True, True] Translation: X:48.42, Y:0.60, Z:0.29 [[ 9.99542163e-01 -1.29486390e-02 -2.73458824e-02 4.84248827e+01] [ 1.29330942e-02 9.99916086e-01 -7.45245450e-04 6.02224787e-01] [ 2.73532376e-02 3.91237375e-04 9.99625754e-01 2.89850156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.455336194999994 meters 0.023317601725512928 Centerline is valid? [True, True] Translation: X:48.45, Y:0.60, Z:0.29 [[ 9.99562717e-01 -1.30364145e-02 -2.65410197e-02 4.84530540e+01] [ 1.30217430e-02 9.99914950e-01 -7.25553417e-04 6.04372115e-01] [ 2.65482211e-02 3.79625807e-04 9.99647462e-01 2.90268242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.485336194999995 meters 0.022812130236180412 Centerline is valid? [True, True] Translation: X:48.48, Y:0.61, Z:0.29 [[ 9.99540974e-01 -1.49234656e-02 -2.63653373e-02 4.84810630e+01] [ 1.49095497e-02 9.99888584e-01 -7.24324100e-04 6.08760498e-01] [ 2.63732092e-02 3.30896311e-04 9.99652112e-01 2.93768118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.515336194999996 meters 0.021604130914869353 Centerline is valid? [True, True] Translation: X:48.51, Y:0.61, Z:0.30 [[ 9.99530860e-01 -1.52817507e-02 -2.65429542e-02 4.85090824e+01] [ 1.52676448e-02 9.99883173e-01 -7.34025962e-04 6.11378014e-01] [ 2.65510705e-02 3.28433203e-04 9.99647404e-01 2.97882941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.545336195 meters 0.021604130914869353 Centerline is valid? [True, True] Translation: X:48.54, Y:0.61, Z:0.30 [[ 9.99527960e-01 -1.54705216e-02 -2.65428152e-02 4.85364183e+01] [ 1.54563494e-02 9.99880270e-01 -7.39030897e-04 6.12287882e-01] [ 2.65510705e-02 3.28427019e-04 9.99647404e-01 2.98067124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.575336195 meters 0.02205736125862952 Centerline is valid? [True, True] Translation: X:48.56, Y:0.62, Z:0.30 [[ 9.99556217e-01 -1.48164156e-02 -2.58426746e-02 4.85643018e+01] [ 1.48027019e-02 9.99890173e-01 -7.21891696e-04 6.17016113e-01] [ 2.58505323e-02 3.39029923e-04 9.99665762e-01 2.98521042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605336195 meters 0.02211378092494522 Centerline is valid? [True, True] Translation: X:48.59, Y:0.62, Z:0.30 [[ 9.99598862e-01 -1.45368708e-02 -2.43062600e-02 4.85921934e+01] [ 1.45246129e-02 9.99894280e-01 -6.80792045e-04 6.17341791e-01] [ 2.43135869e-02 3.27479937e-04 9.99704327e-01 2.98732188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.635336194999994 meters 0.021322832251698384 Centerline is valid? [True, True] Translation: X:48.62, Y:0.62, Z:0.30 [[ 9.99667182e-01 -1.29487271e-02 -2.23126953e-02 4.86207367e+01] [ 1.29379322e-02 9.99916104e-01 -6.28099842e-04 6.18650184e-01] [ 2.23189565e-02 3.39210660e-04 9.99750844e-01 3.02918216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.665336194999995 meters 0.022517777459134018 Centerline is valid? [True, True] Translation: X:48.65, Y:0.62, Z:0.30 [[ 9.99678421e-01 -1.31061557e-02 -2.17090817e-02 4.86487754e+01] [ 1.30959306e-02 9.99914057e-01 -6.13111551e-04 6.19941330e-01] [ 2.17152515e-02 3.28613758e-04 9.99764142e-01 3.00523543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.695336194999996 meters 0.02085602198500831 Centerline is valid? [True, True] Translation: X:48.68, Y:0.62, Z:0.30 [[ 9.99663415e-01 -1.41935500e-02 -2.17163643e-02 4.86776556e+01] [ 1.41835115e-02 9.99899219e-01 -6.16218553e-04 6.21242500e-01] [ 2.17229221e-02 3.07996840e-04 9.99763982e-01 3.04487703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.725336195 meters 0.02184908628833142 Centerline is valid? [True, True] Translation: X:48.71, Y:0.63, Z:0.31 [[ 9.99645650e-01 -1.45794842e-02 -2.22713569e-02 4.87052157e+01] [ 1.45689757e-02 9.99893666e-01 -6.34030106e-04 6.28139551e-01] [ 2.22782326e-02 3.09334579e-04 9.99751762e-01 3.05521308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.755336195 meters 0.021158250786101517 Centerline is valid? [True, True] Translation: X:48.73, Y:0.63, Z:0.30 [[ 9.99622825e-01 -1.43707992e-02 -2.34027110e-02 4.87340864e+01] [ 1.43590639e-02 9.99896679e-01 -6.69429544e-04 6.31809178e-01] [ 2.34099132e-02 3.33136031e-04 9.99725895e-01 3.04838254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785336195 meters 0.022311148589445145 Centerline is valid? [True, True] Translation: X:48.76, Y:0.63, Z:0.30 [[ 9.99605708e-01 -1.35956182e-02 -2.45680092e-02 4.87625355e+01] [ 1.35823492e-02 9.99907506e-01 -7.06890514e-04 6.32549807e-01] [ 2.45753474e-02 3.72920514e-04 9.99697911e-01 2.98906530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81533619499999 meters 0.024141835433175836 Centerline is valid? [True, True] Translation: X:48.79, Y:0.63, Z:0.29 [[ 9.99655353e-01 -1.04164054e-02 -2.40971835e-02 4.87911496e+01] [ 1.04026203e-02 9.99945648e-01 -6.97351950e-04 6.34673577e-01] [ 2.41031377e-02 4.46437759e-04 9.99709377e-01 2.93894510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.845336194999994 meters 0.027346993579698026 Centerline is valid? [True, True] Translation: X:48.82, Y:0.64, Z:0.29 [[ 9.99668542e-01 -8.92164026e-03 -2.41497622e-02 4.88182458e+01] [ 8.90730148e-03 9.99960083e-01 -7.01251233e-04 6.42645208e-01] [ 2.41550545e-02 4.85909585e-04 9.99708106e-01 2.92607559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.875336194999996 meters 0.029539051909471908 Centerline is valid? [True, True] Translation: X:48.85, Y:0.65, Z:0.29 [[ 9.99642981e-01 -8.27657751e-03 -2.54048777e-02 4.88458401e+01] [ 8.26044709e-03 9.99965608e-01 -7.39815175e-04 6.54723618e-01] [ 2.54101272e-02 5.29695399e-04 9.99676970e-01 2.93391445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.905336195 meters 0.025829882752633013 Centerline is valid? [True, True] Translation: X:48.87, Y:0.65, Z:0.30 [[ 9.99617765e-01 -9.71799486e-03 -2.58821268e-02 4.88744306e+01] [ 9.70163831e-03 9.99952651e-01 -7.57461983e-04 6.53620216e-01] [ 2.58882623e-02 5.06073421e-04 9.99664715e-01 2.97140883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.935336195 meters 0.023903342919649767 Centerline is valid? [True, True] Translation: X:48.90, Y:0.65, Z:0.30 [[ 9.99576506e-01 -1.21249128e-02 -2.64536458e-02 4.89027938e+01] [ 1.21085511e-02 9.99926386e-01 -7.78608560e-04 6.52205982e-01] [ 2.64611389e-02 4.57963502e-04 9.99649738e-01 2.95958699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965336195 meters 0.021663109926960803 Centerline is valid? [True, True] Translation: X:48.93, Y:0.65, Z:0.29 [[ 9.99462544e-01 -1.78126529e-02 -2.75196613e-02 4.89310585e+01] [ 1.77970414e-02 9.99841290e-01 -8.12130658e-04 6.50260355e-01] [ 2.75297599e-02 3.21925622e-04 9.99620932e-01 2.92841084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99533619499999 meters 0.018663874465336253 Centerline is valid? [True, True] Translation: X:48.96, Y:0.65, Z:0.29 [[ 9.99383848e-01 -2.29707480e-02 -2.65380738e-02 4.89602446e+01] [ 2.29579620e-02 9.99736122e-01 -7.86422653e-04 6.49473128e-01] [ 2.65491357e-02 1.76678006e-04 9.99647494e-01 2.93401772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025336194999994 meters 0.017731076339969506 Centerline is valid? [True, True] Translation: X:48.99, Y:0.65, Z:0.29 [[ 9.99354500e-01 -2.47328413e-02 -2.60551228e-02 4.89886350e+01] [ 2.47210079e-02 9.99694088e-01 -7.76225395e-04 6.48585989e-01] [ 2.60663505e-02 1.31615444e-04 9.99660206e-01 2.92830790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.055336194999995 meters 0.017700859875580944 Centerline is valid? [True, True] Translation: X:49.02, Y:0.65, Z:0.29 [[ 9.99325781e-01 -2.57305016e-02 -2.61901597e-02 4.90196213e+01] [ 2.57188593e-02 9.99668910e-01 -7.81338524e-04 6.48057187e-01] [ 2.62015926e-02 1.07230700e-04 9.99656674e-01 2.91062101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.085336195 meters 0.018725940389498826 Centerline is valid? [True, True] Translation: X:49.05, Y:0.65, Z:0.28 [[ 9.99264592e-01 -2.67579707e-02 -2.74642590e-02 4.90490010e+01] [ 2.67455492e-02 9.99641938e-01 -8.19586166e-04 6.50546223e-01] [ 2.74763556e-02 8.44367456e-05 9.99622450e-01 2.84179845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.115336195 meters 0.0180518987965963 Centerline is valid? [True, True] Translation: X:49.08, Y:0.65, Z:0.29 [[ 9.99251822e-01 -2.66238814e-02 -2.80529130e-02 4.90791344e+01] [ 2.66108666e-02 9.99645518e-01 -8.37230796e-04 6.53702524e-01] [ 2.80652590e-02 9.00920732e-05 9.99606089e-01 2.86652414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145336195 meters 0.0170889853926421 Centerline is valid? [True, True] Translation: X:49.11, Y:0.66, Z:0.29 [[ 9.99255837e-01 -2.74349858e-02 -2.71126308e-02 4.91096401e+01] [ 2.74231276e-02 9.99623588e-01 -8.09168358e-04 6.58733370e-01] [ 2.71246248e-02 6.50530699e-05 9.99632058e-01 2.89729234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.175336195 meters 0.016967787978495866 Centerline is valid? [True, True] Translation: X:49.14, Y:0.66, Z:0.29 [[ 9.99247375e-01 -2.78027125e-02 -2.70498226e-02 4.91396457e+01] [ 2.77910438e-02 9.99613428e-01 -8.07293866e-04 6.63013334e-01] [ 2.70618109e-02 5.49434705e-05 9.99633761e-01 2.92485517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205336194999994 meters 0.01760981458798271 Centerline is valid? [True, True] Translation: X:49.17, Y:0.67, Z:0.29 [[ 9.99182478e-01 -2.87902230e-02 -2.83812990e-02 4.91697263e+01] [ 2.87777824e-02 9.99585475e-01 -8.46783517e-04 6.67242574e-01] [ 2.83939133e-02 2.93404072e-05 9.99596811e-01 2.90783318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.235336194999995 meters 0.0173177540497588 Centerline is valid? [True, True] Translation: X:49.20, Y:0.66, Z:0.29 [[ 9.99139551e-01 -3.02016738e-02 -2.84256157e-02 4.92007856e+01] [ 3.01897675e-02 9.99543825e-01 -8.48029103e-04 6.64976732e-01] [ 2.84382606e-02 -1.08633128e-05 9.99595551e-01 2.88277699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.265336194999996 meters 0.01660869856910543 Centerline is valid? [True, True] Translation: X:49.23, Y:0.66, Z:0.29 [[ 9.99121230e-01 -3.14642416e-02 -2.76906119e-02 4.92326419e+01] [ 3.14534415e-02 9.99504877e-01 -8.25614131e-04 6.63003127e-01] [ 2.77028789e-02 -4.60764348e-05 9.99616201e-01 2.89030955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.295336195 meters 0.017184297740576726 Centerline is valid? [True, True] Translation: X:49.26, Y:0.66, Z:0.29 [[ 9.99090062e-01 -3.25077759e-02 -2.76096601e-02 4.92641466e+01] [ 3.24974617e-02 9.99471480e-01 -8.22318683e-04 6.63121850e-01] [ 2.76217996e-02 -7.56734487e-05 9.99618442e-01 2.87429182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325336195 meters 0.017820861345438796 Centerline is valid? [True, True] Translation: X:49.29, Y:0.66, Z:0.29 [[ 9.99062728e-01 -3.27483309e-02 -2.83057118e-02 4.92949601e+01] [ 3.27376138e-02 9.99463626e-01 -8.42085957e-04 6.64816980e-01] [ 2.83181062e-02 -8.53647675e-05 9.99598958e-01 2.85713830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.355336195 meters 0.01637762868028848 Centerline is valid? [True, True] Translation: X:49.33, Y:0.67, Z:0.29 [[ 9.99094952e-01 -3.19142535e-02 -2.81203923e-02 4.93272472e+01] [ 3.19033808e-02 9.99490609e-01 -8.35333392e-04 6.70603516e-01] [ 2.81327271e-02 -6.25582085e-05 9.99604195e-01 2.92366391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385336194999994 meters 0.016548883025553796 Centerline is valid? [True, True] Translation: X:49.36, Y:0.67, Z:0.29 [[ 9.99133095e-01 -3.09248324e-02 -2.78695757e-02 4.93587626e+01] [ 3.09138244e-02 9.99521712e-01 -8.25860520e-04 6.74774093e-01] [ 2.78817857e-02 -3.64105913e-05 9.99611227e-01 2.92068001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.415336194999995 meters 0.01652965784465664 Centerline is valid? [True, True] Translation: X:49.39, Y:0.68, Z:0.29 [[ 9.99234905e-01 -2.84706038e-02 -2.68147061e-02 4.93910165e+01] [ 2.84595688e-02 9.99594630e-01 -7.93149490e-04 6.83384106e-01] [ 2.68264177e-02 2.94076817e-05 9.99640106e-01 2.93849234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.445336194999996 meters 0.016611216143295776 Centerline is valid? [True, True] Translation: X:49.42, Y:0.69, Z:0.30 [[ 9.99321166e-01 -2.61554543e-02 -2.59441746e-02 4.94217904e+01] [ 2.61443636e-02 9.99657884e-01 -7.66653276e-04 6.89068057e-01] [ 2.59553508e-02 8.78389130e-05 9.99663099e-01 2.95033508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.475336195 meters 0.01717916465665122 Centerline is valid? [True, True] Translation: X:49.45, Y:0.69, Z:0.30 [[ 9.99393283e-01 -2.34964957e-02 -2.57095552e-02 4.94527810e+01] [ 2.34847405e-02 9.99723907e-01 -7.59115066e-04 6.94286665e-01] [ 2.57202936e-02 1.54872264e-04 9.99669167e-01 2.95480805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.505336195 meters 0.019115462665771982 Centerline is valid? [True, True] Translation: X:49.48, Y:0.70, Z:0.29 [[ 9.99434361e-01 -1.95216574e-02 -2.73836392e-02 4.94825283e+01] [ 1.95068204e-02 9.99809397e-01 -8.08874545e-04 6.99305853e-01] [ 2.73942103e-02 2.74249281e-04 9.99624671e-01 2.90736867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.535336195 meters 0.01991655715325529 Centerline is valid? [True, True] Translation: X:49.51, Y:0.70, Z:0.29 [[ 9.99394525e-01 -2.13281905e-02 -2.74898540e-02 4.95100406e+01] [ 2.13138825e-02 9.99772503e-01 -8.13424733e-04 7.03799073e-01] [ 2.75009490e-02 2.27016708e-04 9.99621752e-01 2.89272713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56533619499999 meters 0.017298658558645496 Centerline is valid? [True, True] Translation: X:49.54, Y:0.70, Z:0.29 [[ 9.99332739e-01 -2.42069211e-02 -2.73514407e-02 4.95384391e+01] [ 2.41937297e-02 9.99706958e-01 -8.13166476e-04 7.03149400e-01] [ 2.73631098e-02 1.50890518e-04 9.99625549e-01 2.93637520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.595336194999994 meters 0.017003199082772806 Centerline is valid? [True, True] Translation: X:49.57, Y:0.70, Z:0.29 [[ 9.99249294e-01 -2.73066483e-02 -2.74808234e-02 4.95677525e+01] [ 2.72944753e-02 9.99627102e-01 -8.18041743e-04 7.02881755e-01] [ 2.74929138e-02 6.73529778e-05 9.99621996e-01 2.92770297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.625336194999996 meters 0.01622631527136127 Centerline is valid? [True, True] Translation: X:49.60, Y:0.70, Z:0.30 [[ 9.99034484e-01 -3.33238999e-02 -2.86289729e-02 4.95992831e+01] [ 3.33131738e-02 9.99444599e-01 -8.51671124e-04 7.01113292e-01] [ 2.86414533e-02 -1.02873127e-04 9.99589744e-01 2.96006659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.655336195 meters 0.01853304062205278 Centerline is valid? [True, True] Translation: X:49.63, Y:0.70, Z:0.29 [[ 9.98830813e-01 -3.74319877e-02 -3.05917284e-02 4.96306277e+01] [ 3.74216970e-02 9.99299150e-01 -9.09049917e-04 6.97491627e-01] [ 3.06043157e-02 -2.36807325e-04 9.99531550e-01 2.88106271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.685336195 meters 0.01880101757422877 Centerline is valid? [True, True] Translation: X:49.66, Y:0.70, Z:0.29 [[ 9.98767113e-01 -3.86702444e-02 -3.11266033e-02 4.96624655e+01] [ 3.86602342e-02 9.99251987e-01 -9.23583243e-04 6.96803190e-01] [ 3.11390354e-02 -2.80917204e-04 9.99515023e-01 2.85864377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.715336195 meters 0.018846368318447108 Centerline is valid? [True, True] Translation: X:49.69, Y:0.70, Z:0.28 [[ 9.98750448e-01 -3.89549155e-02 -3.13058506e-02 4.96948038e+01] [ 3.89449748e-02 9.99240926e-01 -9.27457193e-04 6.97222119e-01] [ 3.13182162e-02 -2.92907275e-04 9.99509421e-01 2.84034365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74533619499999 meters 0.017896828140664022 Centerline is valid? [True, True] Translation: X:49.73, Y:0.70, Z:0.28 [[ 9.98773868e-01 -3.87753600e-02 -3.07771301e-02 4.97266584e+01] [ 3.87657116e-02 9.99247913e-01 -9.10343747e-04 6.99671555e-01] [ 3.07892819e-02 -2.83869805e-04 9.99525857e-01 2.84811655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.775336194999994 meters 0.01862176952973363 Centerline is valid? [True, True] Translation: X:49.76, Y:0.70, Z:0.28 [[ 9.98805434e-01 -3.82585437e-02 -3.03971986e-02 4.97575056e+01] [ 3.82489280e-02 9.99267839e-01 -8.97950661e-04 7.01467254e-01] [ 3.04092972e-02 -2.65782259e-04 9.99537495e-01 2.83119275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.805336194999995 meters 0.016754654827518232 Centerline is valid? [True, True] Translation: X:49.79, Y:0.71, Z:0.29 [[ 9.98868091e-01 -3.77419702e-02 -2.89496210e-02 4.97897101e+01] [ 3.77330691e-02 9.99287489e-01 -8.53896461e-04 7.11550584e-01] [ 2.89612218e-02 -2.39428119e-04 9.99580507e-01 2.94060514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.835336195 meters 0.017704071125870257 Centerline is valid? [True, True] Translation: X:49.82, Y:0.71, Z:0.29 [[ 9.98888797e-01 -3.76035412e-02 -2.84103096e-02 4.98206671e+01] [ 3.75949748e-02 9.99292710e-01 -8.35801292e-04 7.14375945e-01] [ 2.84216444e-02 -2.33212329e-04 9.99595996e-01 2.93395595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.865336195 meters 0.017839697038303074 Centerline is valid? [True, True] Translation: X:49.85, Y:0.72, Z:0.29 [[ 9.98869694e-01 -3.75245921e-02 -2.91760038e-02 4.98530554e+01] [ 3.75155713e-02 9.99295676e-01 -8.56712647e-04 7.19327261e-01] [ 2.91876022e-02 -2.38810148e-04 9.99573923e-01 2.93247983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.895336195 meters 0.01751384619742869 Centerline is valid? [True, True] Translation: X:49.88, Y:0.72, Z:0.29 [[ 9.98865771e-01 -3.70428453e-02 -2.99165209e-02 4.98849745e+01] [ 3.70331866e-02 9.99313651e-01 -8.77057399e-04 7.23364212e-01] [ 2.99284764e-02 -2.31841485e-04 9.99552016e-01 2.94611421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925336195 meters 0.017632999565740867 Centerline is valid? [True, True] Translation: X:49.92, Y:0.73, Z:0.29 [[ 9.98907638e-01 -3.44249935e-02 -3.15982777e-02 4.99160964e+01] [ 3.44129467e-02 9.99407271e-01 -9.25159910e-04 7.26094032e-01] [ 3.16113971e-02 -1.63240548e-04 9.99500222e-01 2.86439608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.955336194999994 meters 0.018489444854933586 Centerline is valid? [True, True] Translation: X:49.95, Y:0.73, Z:0.28 [[ 9.98862672e-01 -3.40042458e-02 -3.34226515e-02 4.99461500e+01] [ 3.39905507e-02 9.99421676e-01 -9.78019167e-04 7.26626819e-01] [ 3.34365792e-02 -1.59147493e-04 9.99440829e-01 2.81547077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.985336194999995 meters 0.019218732248101347 Centerline is valid? [True, True] Translation: X:49.98, Y:0.73, Z:0.28 [[ 9.98804424e-01 -3.42534390e-02 -3.48772638e-02 4.99764839e+01] [ 3.42386916e-02 9.99413163e-01 -1.02018199e-03 7.28017383e-01] [ 3.48917413e-02 -1.75189597e-04 9.99391082e-01 2.79521024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.015336194999996 meters 0.01855568119244221 Centerline is valid? [True, True] Translation: X:50.01, Y:0.74, Z:0.29 [[ 9.98760497e-01 -3.62634763e-02 -3.40944227e-02 5.00078777e+01] [ 3.62505785e-02 9.99342235e-01 -9.96576572e-04 7.35117599e-01] [ 3.41081359e-02 -2.40601232e-04 9.99418119e-01 2.90217134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.045336195 meters 0.017620477113579294 Centerline is valid? [True, True] Translation: X:50.04, Y:0.74, Z:0.30 [[ 9.98712161e-01 -3.94842082e-02 -3.18593253e-02 5.00406232e+01] [ 3.94746369e-02 9.99220140e-01 -9.29588220e-04 7.35169867e-01] [ 3.18711836e-02 -3.29244239e-04 9.99491931e-01 2.95981107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.075336195 meters 0.01974902190396376 Centerline is valid? [True, True] Translation: X:50.07, Y:0.73, Z:0.29 [[ 9.98653028e-01 -4.14115245e-02 -3.12604318e-02 5.00724268e+01] [ 4.14032935e-02 9.99142101e-01 -9.10837942e-04 7.29478703e-01] [ 3.12713327e-02 -3.84673763e-04 9.99510858e-01 2.90097139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105336195 meters 0.01898111528113411 Centerline is valid? [True, True] Translation: X:50.10, Y:0.73, Z:0.29 [[ 9.98603225e-01 -4.26935765e-02 -3.11264786e-02 5.01046676e+01] [ 4.26860823e-02 9.99088123e-01 -9.05521607e-04 7.27100837e-01] [ 3.11367551e-02 -4.24410632e-04 9.99515044e-01 2.90702710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.135336194999994 meters 0.019237282491007444 Centerline is valid? [True, True] Translation: X:50.14, Y:0.73, Z:0.29 [[ 9.98570103e-01 -4.33381553e-02 -3.12978182e-02 5.01369281e+01] [ 4.33309421e-02 9.99060360e-01 -9.08999794e-04 7.27023108e-01] [ 3.13078039e-02 -4.48463928e-04 9.99509690e-01 2.89362908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.165336194999995 meters 0.019117396386006805 Centerline is valid? [True, True] Translation: X:50.17, Y:0.74, Z:0.29 [[ 9.98593845e-01 -4.21932084e-02 -3.20946409e-02 5.01678799e+01] [ 4.21850721e-02 9.99109380e-01 -9.30900580e-04 7.38902520e-01] [ 3.21053345e-02 -4.24323154e-04 9.99484401e-01 2.94422676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.195336194999996 meters 0.019828245932076955 Centerline is valid? [True, True] Translation: X:50.20, Y:0.74, Z:0.29 [[ 9.98615165e-01 -4.13016797e-02 -3.25871575e-02 5.01987356e+01] [ 4.12928922e-02 9.99146640e-01 -9.42888053e-04 7.43805637e-01] [ 3.25982917e-02 -4.04035672e-04 9.99468453e-01 2.94408417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.225336195 meters 0.01880605225950046 Centerline is valid? [True, True] Translation: X:50.23, Y:0.75, Z:0.29 [[ 9.98717997e-01 -3.84257717e-02 -3.29518121e-02 5.02311014e+01] [ 3.84152792e-02 9.99261408e-01 -9.51692995e-04 7.47696041e-01] [ 3.29640436e-02 -3.15380140e-04 9.99456488e-01 2.90689823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.255336195 meters 0.018729836169092587 Centerline is valid? [True, True] Translation: X:50.26, Y:0.75, Z:0.29 [[ 9.98712113e-01 -3.70686608e-02 -3.46414449e-02 5.02631081e+01] [ 3.70563054e-02 9.99312680e-01 -9.98852348e-04 7.49041807e-01] [ 3.46546612e-02 -2.86118021e-04 9.99399306e-01 2.87009864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285336195 meters 0.019256032009203453 Centerline is valid? [True, True] Translation: X:50.29, Y:0.75, Z:0.28 [[ 9.98706533e-01 -3.60994428e-02 -3.58063069e-02 5.02941135e+01] [ 3.60857077e-02 9.99348168e-01 -1.02998571e-03 7.49908818e-01] [ 3.58201491e-02 -2.63442468e-04 9.99358218e-01 2.81650975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31533619499999 meters 0.018017713606268772 Centerline is valid? [True, True] Translation: X:50.33, Y:0.75, Z:0.29 [[ 9.98738835e-01 -3.67297287e-02 -3.42296177e-02 5.03259124e+01] [ 3.67175964e-02 9.99325198e-01 -9.83181942e-04 7.53113354e-01] [ 3.42426315e-02 -2.74887304e-04 9.99413511e-01 2.86421479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.345336194999994 meters 0.01782262913616547 Centerline is valid? [True, True] Translation: X:50.36, Y:0.75, Z:0.29 [[ 9.98739570e-01 -3.73160351e-02 -3.35676230e-02 5.03578182e+01] [ 3.73047494e-02 9.99303472e-01 -9.62655744e-04 7.54782529e-01] [ 3.35801647e-02 -2.90789383e-04 9.99435985e-01 2.89287615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.375336194999996 meters 0.017863377629291407 Centerline is valid? [True, True] Translation: X:50.39, Y:0.76, Z:0.29 [[ 9.98735726e-01 -3.73715866e-02 -3.36201587e-02 5.03891311e+01] [ 3.73603400e-02 9.99301395e-01 -9.62885548e-04 7.57547557e-01] [ 3.36326560e-02 -2.94392362e-04 9.99434219e-01 2.90819559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.405336195 meters 0.01843391203102559 Centerline is valid? [True, True] Translation: X:50.42, Y:0.76, Z:0.29 [[ 9.98742779e-01 -3.78648999e-02 -3.28498172e-02 5.04200884e+01] [ 3.78544674e-02 9.99282821e-01 -9.39668995e-04 7.59705358e-01] [ 3.28618384e-02 -3.05024711e-04 9.99459857e-01 2.91936996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.435336195 meters 0.01802778228617289 Centerline is valid? [True, True] Translation: X:50.45, Y:0.76, Z:0.29 [[ 9.98698833e-01 -3.98472049e-02 -3.18251557e-02 5.04528186e+01] [ 3.98384743e-02 9.99205720e-01 -9.08628262e-04 7.59257744e-01] [ 3.18360839e-02 -3.60419660e-04 9.99493038e-01 2.94520396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465336195 meters 0.01802778228617289 Centerline is valid? [True, True] Translation: X:50.49, Y:0.76, Z:0.29 [[ 9.98701685e-01 -3.97756139e-02 -3.18252184e-02 5.04853864e+01] [ 3.97669171e-02 9.99208572e-01 -9.06427936e-04 7.60075335e-01] [ 3.18360848e-02 -3.60339713e-04 9.99493038e-01 2.94738341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49533619499999 meters 0.02032307091501806 Centerline is valid? [True, True] Translation: X:50.52, Y:0.75, Z:0.29 [[ 9.98621005e-01 -4.11730343e-02 -3.25709890e-02 5.05170355e+01] [ 4.11647141e-02 9.99151945e-01 -9.26255441e-04 7.53495693e-01] [ 3.25815038e-02 -4.15797313e-04 9.99468995e-01 2.86608263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.525336194999994 meters 0.021406448277575107 Centerline is valid? [True, True] Translation: X:50.55, Y:0.75, Z:0.28 [[ 9.98416595e-01 -4.41138715e-02 -3.49037038e-02 5.05481501e+01] [ 4.41061508e-02 9.99026358e-01 -9.91513181e-04 7.47588017e-01] [ 3.49134596e-02 -5.49524808e-04 9.99390188e-01 2.82527262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.555336194999995 meters 0.02283052073241027 Centerline is valid? [True, True] Translation: X:50.58, Y:0.75, Z:0.28 [[ 9.98261902e-01 -4.69165327e-02 -3.56653174e-02 5.05798266e+01] [ 4.69103025e-02 9.98898593e-01 -1.01192819e-03 7.47643168e-01] [ 3.56735116e-02 -6.62901477e-04 9.99363278e-01 2.84765445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.585336195 meters 0.02424306321099053 Centerline is valid? [True, True] Translation: X:50.61, Y:0.75, Z:0.28 [[ 9.98236386e-01 -4.75163055e-02 -3.55853554e-02 5.06111190e+01] [ 4.75105283e-02 9.98870228e-01 -1.00841632e-03 7.47281674e-01] [ 3.55930683e-02 -6.84041176e-04 9.99366132e-01 2.84418956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.615336195 meters 0.021938696008389907 Centerline is valid? [True, True] Translation: X:50.64, Y:0.75, Z:0.29 [[ 9.98255933e-01 -4.68557663e-02 -3.59114172e-02 5.06440539e+01] [ 4.68495397e-02 9.98901441e-01 -1.01531905e-03 7.50363684e-01] [ 3.59195400e-02 -6.68885107e-04 9.99354461e-01 2.87002418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645336195 meters 0.02066202301854765 Centerline is valid? [True, True] Translation: X:50.68, Y:0.75, Z:0.29 [[ 9.98361905e-01 -4.45127047e-02 -3.59461371e-02 5.06767860e+01] [ 4.45050429e-02 9.99008645e-01 -1.01366566e-03 7.53258210e-01] [ 3.59556228e-02 -5.87779195e-04 9.99353215e-01 2.85998253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67533619499999 meters 0.02159312154397528 Centerline is valid? [True, True] Translation: X:50.71, Y:0.76, Z:0.29 [[ 9.98491745e-01 -4.25693022e-02 -3.46711769e-02 5.07076817e+01] [ 4.25610427e-02 9.99093391e-01 -9.76566572e-04 7.56616954e-01] [ 3.46813154e-02 -5.00547779e-04 9.99398297e-01 2.85013659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705336194999994 meters 0.017792739203678583 Centerline is valid? [True, True] Translation: X:50.74, Y:0.77, Z:0.29 [[ 9.98797399e-01 -3.80543094e-02 -3.09131745e-02 5.07380548e+01] [ 3.80455938e-02 9.99275625e-01 -8.70299525e-04 7.67875543e-01] [ 3.09239004e-02 -3.06857177e-04 9.99521695e-01 2.93122831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.735336194999995 meters 0.016919311345960673 Centerline is valid? [True, True] Translation: X:50.77, Y:0.77, Z:0.29 [[ 9.98854032e-01 -3.64713898e-02 -3.09913086e-02 5.07701353e+01] [ 3.64619061e-02 9.99334664e-01 -8.71282473e-04 7.71696623e-01] [ 3.10024658e-02 -2.59718173e-04 9.99519274e-01 2.94119091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.765336194999996 meters 0.017187776972672944 Centerline is valid? [True, True] Translation: X:50.80, Y:0.78, Z:0.29 [[ 9.98900540e-01 -3.45352992e-02 -3.17021204e-02 5.08012889e+01] [ 3.45244386e-02 9.99403458e-01 -8.90069010e-04 7.78441908e-01] [ 3.17139475e-02 -2.05407494e-04 9.99496965e-01 2.93294428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.795336195 meters 0.01624670035628182 Centerline is valid? [True, True] Translation: X:50.83, Y:0.78, Z:0.30 [[ 9.98916445e-01 -3.57557910e-02 -2.97902406e-02 5.08335356e+01] [ 3.57467828e-02 9.99360531e-01 -8.35073559e-04 7.81419030e-01] [ 2.98010494e-02 -2.30736550e-04 9.99555823e-01 2.98184903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825336195 meters 0.019167759450517855 Centerline is valid? [True, True] Translation: X:50.86, Y:0.78, Z:0.30 [[ 9.98733815e-01 -4.13541639e-02 -2.86461185e-02 5.08642882e+01] [ 4.13481596e-02 9.99144477e-01 -8.02177144e-04 7.78267655e-01] [ 2.86547845e-02 -3.83302842e-04 9.99589294e-01 2.98231851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.855336195 meters 0.020943699811542874 Centerline is valid? [True, True] Translation: X:50.90, Y:0.78, Z:0.30 [[ 9.98552806e-01 -4.42148592e-02 -3.06160204e-02 5.08952770e+01] [ 4.42093583e-02 9.99021921e-01 -8.56899845e-04 7.77265131e-01] [ 3.06239633e-02 -4.97854872e-04 9.99530852e-01 2.96226996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885336194999994 meters 0.024933288360976646 Centerline is valid? [True, True] Translation: X:50.93, Y:0.77, Z:0.29 [[ 9.98270231e-01 -4.86648761e-02 -3.29890254e-02 5.09257083e+01] [ 4.86609541e-02 9.98814928e-01 -9.22212683e-04 7.70672341e-01] [ 3.29948104e-02 -6.84659982e-04 9.99455289e-01 2.86965987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.915336194999995 meters 0.026248286787746367 Centerline is valid? [True, True] Translation: X:50.96, Y:0.77, Z:0.28 [[ 9.98180802e-01 -5.02700651e-02 -3.32867542e-02 5.09575677e+01] [ 5.02670026e-02 9.98735383e-01 -9.29373112e-04 7.67068223e-01] [ 3.32913789e-02 -7.45542963e-04 9.99445410e-01 2.82582353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.945336194999996 meters 0.024031645185611177 Centerline is valid? [True, True] Translation: X:50.99, Y:0.77, Z:0.28 [[ 9.98123937e-01 -5.10918307e-02 -3.37376965e-02 5.09893305e+01] [ 5.10891943e-02 9.98693651e-01 -9.40764062e-04 7.67344172e-01] [ 3.37416887e-02 -7.84632605e-04 9.99430279e-01 2.83737671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.975336195 meters 0.025855914312868312 Centerline is valid? [True, True] Translation: X:51.02, Y:0.77, Z:0.28 [[ 9.98118506e-01 -5.07923026e-02 -3.43451609e-02 5.10200989e+01] [ 5.07894356e-02 9.98708926e-01 -9.56476913e-04 7.70510582e-01] [ 3.43494004e-02 -7.89694029e-04 9.99409573e-01 2.84383181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.005336195 meters 0.025131248447738178 Centerline is valid? [True, True] Translation: X:51.05, Y:0.78, Z:0.29 [[ 9.98166717e-01 -4.96592014e-02 -3.46001260e-02 5.10524621e+01] [ 4.96556637e-02 9.98765933e-01 -9.62071135e-04 7.78891012e-01] [ 3.46052028e-02 -7.57784833e-04 9.99400773e-01 2.89602599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.035336195 meters 0.02080170242485168 Centerline is valid? [True, True] Translation: X:51.08, Y:0.79, Z:0.30 [[ 9.98352667e-01 -4.68914981e-02 -3.30626771e-02 5.10837501e+01] [ 4.68867914e-02 9.98899788e-01 -9.18080729e-04 7.92167564e-01] [ 3.30693513e-02 -6.33634501e-04 9.99452859e-01 2.97489204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06533619499999 meters 0.019941477080417467 Centerline is valid? [True, True] Translation: X:51.11, Y:0.79, Z:0.29 [[ 9.98516519e-01 -4.38177869e-02 -3.23227917e-02 5.11140098e+01] [ 4.38116962e-02 9.99039404e-01 -8.96990836e-04 7.90566101e-01] [ 3.23310467e-02 -5.20456166e-04 9.99477080e-01 2.88248642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.095336194999994 meters 0.02085508646558115 Centerline is valid? [True, True] Translation: X:51.14, Y:0.79, Z:0.28 [[ 9.98579062e-01 -4.23537109e-02 -3.23422231e-02 5.11448455e+01] [ 4.23468773e-02 9.99102566e-01 -8.96543142e-04 7.91142661e-01] [ 3.23511700e-02 -4.74322945e-04 9.99476451e-01 2.84899810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.125336194999996 meters 0.01849065247122213 Centerline is valid? [True, True] Translation: X:51.18, Y:0.80, Z:0.29 [[ 9.98629807e-01 -4.08840697e-02 -3.26649915e-02 5.11766163e+01] [ 4.08763613e-02 9.99163803e-01 -9.04020375e-04 8.00188295e-01] [ 3.26746371e-02 -4.32444300e-04 9.99465948e-01 2.92142474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.155336195 meters 0.018356748695333155 Centerline is valid? [True, True] Translation: X:51.21, Y:0.81, Z:0.30 [[ 9.98682946e-01 -3.91519031e-02 -3.31587515e-02 5.12078448e+01] [ 3.91430474e-02 9.99233197e-01 -9.16423126e-04 8.10934939e-01] [ 3.31692049e-02 -3.82718434e-04 9.99449677e-01 2.95001741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.185336195 meters 0.020188689450108575 Centerline is valid? [True, True] Translation: X:51.24, Y:0.81, Z:0.29 [[ 9.98679900e-01 -3.84735589e-02 -3.40329709e-02 5.12388610e+01] [ 3.84638771e-02 9.99259550e-01 -9.39387383e-04 8.10196438e-01] [ 3.40439128e-02 -3.70892714e-04 9.99420269e-01 2.87162469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.215336195 meters 0.018704065011222556 Centerline is valid? [True, True] Translation: X:51.27, Y:0.81, Z:0.28 [[ 9.98716588e-01 -3.58127989e-02 -3.58136880e-02 5.12705882e+01] [ 3.58004120e-02 9.99358472e-01 -9.87294994e-04 8.12980971e-01] [ 3.58260703e-02 -2.96116898e-04 9.99357996e-01 2.84788058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24533619499999 meters 0.01794228811657304 Centerline is valid? [True, True] Translation: X:51.30, Y:0.82, Z:0.29 [[ 9.98780945e-01 -3.51413609e-02 -3.46656707e-02 5.13021335e+01] [ 3.51293812e-02 9.99382317e-01 -9.54780664e-04 8.15548450e-01] [ 3.46778106e-02 -2.64166828e-04 9.99398509e-01 2.87623117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.275336194999994 meters 0.016690458672881072 Centerline is valid? [True, True] Translation: X:51.33, Y:0.82, Z:0.29 [[ 9.98879467e-01 -3.43098178e-02 -3.25982552e-02 5.13338220e+01] [ 3.42988165e-02 9.99411220e-01 -8.96775503e-04 8.16793107e-01] [ 3.26098303e-02 -2.22310937e-04 9.99468133e-01 2.90515436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.305336194999995 meters 0.016902251845984186 Centerline is valid? [True, True] Translation: X:51.37, Y:0.82, Z:0.29 [[ 9.98857494e-01 -3.34825681e-02 -3.40972634e-02 5.13657144e+01] [ 3.34701025e-02 9.99439280e-01 -9.36471279e-04 8.18499437e-01] [ 3.41094999e-02 -2.05837546e-04 9.99418081e-01 2.89015994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.335336195 meters 0.018591137162731784 Centerline is valid? [True, True] Translation: X:51.40, Y:0.82, Z:0.29 [[ 9.98817918e-01 -3.30028099e-02 -3.56872654e-02 5.13962279e+01] [ 3.29888723e-02 9.99455239e-01 -9.79469387e-04 8.22088947e-01] [ 3.57001496e-02 -1.98971066e-04 9.99362527e-01 2.87150344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.365336195 meters 0.017486791911468957 Centerline is valid? [True, True] Translation: X:51.43, Y:0.83, Z:0.29 [[ 9.98810694e-01 -3.33316557e-02 -3.55836759e-02 5.14278153e+01] [ 3.33180341e-02 9.99444324e-01 -9.75876866e-04 8.28211461e-01] [ 3.55964305e-02 -2.10861878e-04 9.99366224e-01 2.92671191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.395336195 meters 0.018767426546823094 Centerline is valid? [True, True] Translation: X:51.46, Y:0.83, Z:0.29 [[ 9.98772485e-01 -3.49309131e-02 -3.51191498e-02 5.14587297e+01] [ 3.49186501e-02 9.99389694e-01 -9.62655230e-04 8.25625475e-01] [ 3.51313428e-02 -2.64839748e-04 9.99382669e-01 2.89086969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42533619499999 meters 0.017795888250441375 Centerline is valid? [True, True] Translation: X:51.49, Y:0.82, Z:0.29 [[ 9.98592315e-01 -3.85361375e-02 -3.64465908e-02 5.14905946e+01] [ 3.85253590e-02 9.99257124e-01 -9.98241612e-04 8.18857909e-01] [ 3.64579839e-02 -4.07281592e-04 9.99335104e-01 2.90285463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.455336194999994 meters 0.019080967366589097 Centerline is valid? [True, True] Translation: X:51.52, Y:0.82, Z:0.29 [[ 9.98556458e-01 -3.96964072e-02 -3.61828175e-02 5.15219957e+01] [ 3.96865899e-02 9.99211687e-01 -9.89788063e-04 8.16360477e-01] [ 3.61935851e-02 -4.47613377e-04 9.99344697e-01 2.89045247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.485336194999995 meters 0.019390829224247008 Centerline is valid? [True, True] Translation: X:51.55, Y:0.82, Z:0.29 [[ 9.98576884e-01 -4.08326853e-02 -3.43059620e-02 5.15530416e+01] [ 4.08245716e-02 9.99165890e-01 -9.37238453e-04 8.15749779e-01] [ 3.43156171e-02 -4.64621551e-04 9.99410938e-01 2.91644845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.515336194999996 meters 0.018489869283688513 Centerline is valid? [True, True] Translation: X:51.59, Y:0.82, Z:0.29 [[ 9.98547186e-01 -4.12796102e-02 -3.46339576e-02 5.15851760e+01] [ 4.12716644e-02 9.99147515e-01 -9.44610536e-04 8.16523356e-01] [ 3.46434258e-02 -4.86162882e-04 9.99399618e-01 2.93717618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.545336195 meters 0.01865865263985245 Centerline is valid? [True, True] Translation: X:51.62, Y:0.81, Z:0.29 [[ 9.98560112e-01 -4.10243758e-02 -3.45644707e-02 5.16166405e+01] [ 4.10163549e-02 9.99158032e-01 -9.41388651e-04 8.14436083e-01] [ 3.45739884e-02 -4.77675442e-04 9.99402027e-01 2.90714346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.575336195 meters 0.019080976837287232 Centerline is valid? [True, True] Translation: X:51.65, Y:0.81, Z:0.29 [[ 9.98607881e-01 -4.02304921e-02 -3.41146172e-02 5.16483138e+01] [ 4.02222682e-02 9.99190327e-01 -9.27593131e-04 8.14527149e-01] [ 3.41243131e-02 -4.45865475e-04 9.99417497e-01 2.88134447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605336195 meters 0.018849779107582728 Centerline is valid? [True, True] Translation: X:51.68, Y:0.82, Z:0.29 [[ 9.98643007e-01 -3.92226566e-02 -3.42597219e-02 5.16799210e+01] [ 3.92138554e-02 9.99230409e-01 -9.29043649e-04 8.18429243e-01] [ 3.42697955e-02 -4.15672835e-04 9.99412532e-01 2.89674096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.635336194999994 meters 0.01812071743675571 Centerline is valid? [True, True] Translation: X:51.71, Y:0.82, Z:0.29 [[ 9.98693246e-01 -3.80767020e-02 -3.40876057e-02 5.17121389e+01] [ 3.80673832e-02 9.99274749e-01 -9.22575205e-04 8.23222959e-01] [ 3.40980122e-02 -3.76256319e-04 9.99418423e-01 2.92784154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.665336194999995 meters 0.018398852440410982 Centerline is valid? [True, True] Translation: X:51.74, Y:0.83, Z:0.29 [[ 9.98709040e-01 -3.58400723e-02 -3.59964275e-02 5.17431300e+01] [ 3.58282771e-02 9.99357488e-01 -9.72886086e-04 8.30219092e-01] [ 3.60081677e-02 -3.18059850e-04 9.99351445e-01 2.91983462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.695336194999996 meters 0.020149063960985248 Centerline is valid? [True, True] Translation: X:51.77, Y:0.83, Z:0.29 [[ 9.98735730e-01 -3.53533514e-02 -3.57362775e-02 5.17748922e+01] [ 3.53415052e-02 9.99374830e-01 -9.63322962e-04 8.29579052e-01] [ 3.57479929e-02 -3.00868773e-04 9.99360791e-01 2.85743930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.725336195 meters 0.01741609165244424 Centerline is valid? [True, True] Translation: X:51.81, Y:0.83, Z:0.29 [[ 9.98823141e-01 -3.57218026e-02 -3.28068087e-02 5.18065208e+01] [ 3.57120633e-02 9.99361731e-01 -8.82965187e-04 8.30712698e-01] [ 3.28174102e-02 -2.89672766e-04 9.99461322e-01 2.93320844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.755336195 meters 0.01796186390594734 Centerline is valid? [True, True] Translation: X:51.84, Y:0.83, Z:0.29 [[ 9.98773151e-01 -3.69226023e-02 -3.29986967e-02 5.18390421e+01] [ 3.69134513e-02 9.99318073e-01 -8.86694169e-04 8.28451558e-01] [ 3.30089331e-02 -3.32489454e-04 9.99455001e-01 2.92077377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785336195 meters 0.01851566800787983 Centerline is valid? [True, True] Translation: X:51.87, Y:0.82, Z:0.29 [[ 9.98569809e-01 -4.10784023e-02 -3.42184479e-02 5.18706972e+01] [ 4.10710342e-02 9.99155807e-01 -9.18494110e-04 8.24146297e-01] [ 3.42272912e-02 -4.88206557e-04 9.99413955e-01 2.94482452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81533619499999 meters 0.021297466768899275 Centerline is valid? [True, True] Translation: X:51.90, Y:0.82, Z:0.29 [[ 9.98427454e-01 -4.40981472e-02 -3.46117299e-02 5.19018294e+01] [ 4.40924622e-02 9.99027024e-01 -9.27891257e-04 8.20321179e-01] [ 3.46189718e-02 -5.99684288e-04 9.99400404e-01 2.92444371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.845336194999994 meters 0.024944256010291425 Centerline is valid? [True, True] Translation: X:51.93, Y:0.81, Z:0.29 [[ 9.98031186e-01 -5.06015498e-02 -3.70571895e-02 5.19323656e+01] [ 5.05995238e-02 9.98718530e-01 -9.93132259e-04 8.10466547e-01] [ 3.70599558e-02 -8.83899174e-04 9.99312653e-01 2.88481290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.875336194999996 meters 0.0295062038004917 Centerline is valid? [True, True] Translation: X:51.96, Y:0.80, Z:0.28 [[ 9.97849872e-01 -5.28940347e-02 -3.87021163e-02 5.19631235e+01] [ 5.28935848e-02 9.98599617e-01 -1.03627339e-03 8.03123536e-01] [ 3.87027312e-02 -1.01304840e-03 9.99250255e-01 2.82135083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.905336195 meters 0.028797466415317424 Centerline is valid? [True, True] Translation: X:51.99, Y:0.80, Z:0.29 [[ 9.97667975e-01 -5.54364811e-02 -3.98171912e-02 5.19937677e+01] [ 5.54380514e-02 9.98461560e-01 -1.06554412e-03 8.02806708e-01] [ 3.98150048e-02 -1.14432825e-03 9.99206413e-01 2.87075963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.935336195 meters 0.0317572250028251 Centerline is valid? [True, True] Translation: X:52.03, Y:0.80, Z:0.28 [[ 9.97639728e-01 -5.62184400e-02 -3.94266467e-02 5.20253160e+01] [ 5.62206372e-02 9.98417813e-01 -1.05387439e-03 7.99443227e-01] [ 3.94235136e-02 -1.16520424e-03 9.99221912e-01 2.84906653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965336195 meters 0.03465976099158044 Centerline is valid? [True, True] Translation: X:52.06, Y:0.80, Z:0.29 [[ 9.97675961e-01 -5.62975338e-02 -3.83831275e-02 5.20574627e+01] [ 5.62997383e-02 9.98413386e-01 -1.02430207e-03 7.97378795e-01] [ 3.83798940e-02 -1.13903848e-03 9.99262571e-01 2.87883895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99533619499999 meters 0.03126862654390469 Centerline is valid? [True, True] Translation: X:52.09, Y:0.79, Z:0.29 [[ 9.97688734e-01 -5.60908368e-02 -3.83537143e-02 5.20889309e+01] [ 5.60930061e-02 9.98425026e-01 -1.02037060e-03 7.93937380e-01] [ 3.83505417e-02 -1.13336288e-03 9.99263705e-01 2.85168267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.025336194999994 meters 0.027876743528539423 Centerline is valid? [True, True] Translation: X:52.12, Y:0.80, Z:0.29 [[ 9.97791794e-01 -5.31085051e-02 -3.98876132e-02 5.21212442e+01] [ 5.31085604e-02 9.98588183e-01 -1.05897214e-03 7.97031859e-01] [ 3.98875397e-02 -1.06174001e-03 9.99203611e-01 2.85880135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.055336194999995 meters 0.03181905052728483 Centerline is valid? [True, True] Translation: X:52.15, Y:0.79, Z:0.27 [[ 9.97843735e-01 -5.18268985e-02 -4.02722443e-02 5.21523981e+01] [ 5.18259896e-02 9.98655560e-01 -1.06726835e-03 7.88709807e-01] [ 4.02734139e-02 -1.02218187e-03 9.99188174e-01 2.72629329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.085336195 meters 0.027698569393184262 Centerline is valid? [True, True] Translation: X:52.18, Y:0.79, Z:0.28 [[ 9.98112621e-01 -4.71496837e-02 -3.93459335e-02 5.21829488e+01] [ 4.71452101e-02 9.98887503e-01 -1.04205477e-03 7.94263851e-01] [ 3.93512938e-02 -8.14884280e-04 9.99225106e-01 2.76632768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.115336195 meters 0.023656724644651746 Centerline is valid? [True, True] Translation: X:52.21, Y:0.81, Z:0.29 [[ 9.98294131e-01 -4.19630363e-02 -4.05947327e-02 5.22144324e+01] [ 4.19540564e-02 9.99118964e-01 -1.07346697e-03 8.07129564e-01] [ 4.06040132e-02 -6.31477927e-04 9.99175117e-01 2.88490670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145336195 meters 0.0220730334636489 Centerline is valid? [True, True] Translation: X:52.25, Y:0.81, Z:0.29 [[ 9.98348988e-01 -4.08605099e-02 -4.03697642e-02 5.22452261e+01] [ 4.08507726e-02 9.99164690e-01 -1.06642143e-03 8.10481316e-01] [ 4.03796175e-02 -5.84475307e-04 9.99184240e-01 2.88631200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17533619499999 meters 0.02047826139188335 Centerline is valid? [True, True] Translation: X:52.28, Y:0.81, Z:0.29 [[ 9.98425493e-01 -3.95767221e-02 -3.97519440e-02 5.22763663e+01] [ 3.95663003e-02 9.99216397e-01 -1.04917582e-03 8.14519871e-01] [ 3.97623172e-02 -5.25313471e-04 9.99209028e-01 2.92957626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.205336194999994 meters 0.02149700589715043 Centerline is valid? [True, True] Translation: X:52.31, Y:0.81, Z:0.28 [[ 9.98455003e-01 -3.73823833e-02 -4.11116138e-02 5.23068540e+01] [ 3.73694170e-02 9.99300931e-01 -1.08410012e-03 8.10845274e-01] [ 4.11234002e-02 -4.53891850e-04 9.99153972e-01 2.81085259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.235336194999995 meters 0.021486130692454992 Centerline is valid? [True, True] Translation: X:52.34, Y:0.81, Z:0.28 [[ 9.98422831e-01 -3.67442245e-02 -4.24465942e-02 5.23356733e+01] [ 3.67295883e-02 9.99324608e-01 -1.12490192e-03 8.09372878e-01] [ 4.24592597e-02 -4.35918171e-04 9.99098104e-01 2.76753063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.265336194999996 meters 0.021454440640208915 Centerline is valid? [True, True] Translation: X:52.36, Y:0.81, Z:0.28 [[ 9.98445457e-01 -3.63425843e-02 -4.22597360e-02 5.23630333e+01] [ 3.63275429e-02 9.99339305e-01 -1.12406701e-03 8.11572401e-01] [ 4.22726667e-02 -4.12872771e-04 9.99106026e-01 2.76999448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.295336195 meters 0.019899801057460097 Centerline is valid? [True, True] Translation: X:52.39, Y:0.82, Z:0.28 [[ 9.98434507e-01 -3.74764786e-02 -4.15216650e-02 5.23916088e+01] [ 3.74626744e-02 9.99297410e-01 -1.11077410e-03 8.15970198e-01] [ 4.15341203e-02 -4.46477432e-04 9.99136986e-01 2.84846621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325336195 meters 0.021102995841110198 Centerline is valid? [True, True] Translation: X:52.42, Y:0.81, Z:0.29 [[ 9.98383528e-01 -4.13936758e-02 -3.89473410e-02 5.24212998e+01] [ 4.13844531e-02 9.99142752e-01 -1.04332805e-03 8.13500873e-01] [ 3.89571406e-02 -5.70172870e-04 9.99240720e-01 2.90177613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.355336195 meters 0.021102995841110198 Centerline is valid? [True, True] Translation: X:52.45, Y:0.81, Z:0.29 [[ 9.98385441e-01 -4.13474613e-02 -3.89473788e-02 5.24530193e+01] [ 4.13382586e-02 9.99144666e-01 -1.04191496e-03 8.14273748e-01] [ 3.89571463e-02 -5.69784091e-04 9.99240720e-01 2.90390267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385336194999994 meters 0.02027867101939968 Centerline is valid? [True, True] Translation: X:52.49, Y:0.81, Z:0.30 [[ 9.98384865e-01 -4.32076664e-02 -3.68884714e-02 5.24851968e+01] [ 4.32007432e-02 9.99065926e-01 -9.85108341e-04 8.12882962e-01] [ 3.68965791e-02 -6.10092123e-04 9.99318903e-01 2.96912526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.415336194999995 meters 0.02228990704225124 Centerline is valid? [True, True] Translation: X:52.52, Y:0.81, Z:0.30 [[ 9.98260268e-01 -4.58633211e-02 -3.70539319e-02 5.25173563e+01] [ 4.58582285e-02 9.98947470e-01 -9.87779279e-04 8.06476917e-01] [ 3.70602344e-02 -7.13166868e-04 9.99312779e-01 2.95574964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.445336194999996 meters 0.022864720735105547 Centerline is valid? [True, True] Translation: X:52.55, Y:0.80, Z:0.29 [[ 9.98161158e-01 -4.73584512e-02 -3.78349104e-02 5.25498476e+01] [ 4.73542833e-02 9.98877649e-01 -1.00679802e-03 8.02704575e-01] [ 3.78401268e-02 -7.86698388e-04 9.99283496e-01 2.92654306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.475336195 meters 0.025369491547595824 Centerline is valid? [True, True] Translation: X:52.58, Y:0.80, Z:0.29 [[ 9.97988155e-01 -4.95859855e-02 -3.95078895e-02 5.25801318e+01] [ 4.95831987e-02 9.98769444e-01 -1.05098451e-03 7.97221911e-01] [ 3.95113869e-02 -9.10057443e-04 9.99218706e-01 2.88763692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.505336195 meters 0.030565003378535148 Centerline is valid? [True, True] Translation: X:52.61, Y:0.80, Z:0.29 [[ 9.97974576e-01 -4.93488504e-02 -4.01427053e-02 5.26113679e+01] [ 4.93458289e-02 9.98781183e-01 -1.06670885e-03 7.96477130e-01] [ 4.01464196e-02 -9.16326754e-04 9.99193387e-01 2.87133166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.535336195 meters 0.025373212425398264 Centerline is valid? [True, True] Translation: X:52.64, Y:0.80, Z:0.29 [[ 9.97868149e-01 -4.97217275e-02 -4.22718184e-02 5.26422736e+01] [ 4.97187409e-02 9.98762628e-01 -1.12262088e-03 7.98613335e-01] [ 4.22753310e-02 -9.81473969e-04 9.99105516e-01 2.88773907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56533619499999 meters 0.026495870428382945 Centerline is valid? [True, True] Translation: X:52.67, Y:0.80, Z:0.28 [[ 9.97804984e-01 -4.94953005e-02 -4.39935079e-02 5.26738929e+01] [ 4.94919089e-02 9.98773843e-01 -1.16694728e-03 7.95396200e-01] [ 4.39973234e-02 -1.01293688e-03 9.99031135e-01 2.83459292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.595336194999994 meters 0.026837037236125794 Centerline is valid? [True, True] Translation: X:52.70, Y:0.80, Z:0.28 [[ 9.97776062e-01 -4.73244166e-02 -4.69396350e-02 5.27042222e+01] [ 4.73181926e-02 9.98879092e-01 -1.24437356e-03 7.97716174e-01] [ 4.69459092e-02 -9.79492539e-04 9.98896953e-01 2.78560491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.625336194999996 meters 0.02881994815459551 Centerline is valid? [True, True] Translation: X:52.73, Y:0.80, Z:0.28 [[ 9.97884371e-01 -4.53963216e-02 -4.65398307e-02 5.27339555e+01] [ 4.53881112e-02 9.98968667e-01 -1.23369734e-03 8.02091156e-01] [ 4.65478380e-02 -8.81267718e-04 9.98915673e-01 2.79769529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.655336195 meters 0.022937420059215636 Centerline is valid? [True, True] Translation: X:52.76, Y:0.81, Z:0.28 [[ 9.98062405e-01 -4.40796494e-02 -4.39137930e-02 5.27637120e+01] [ 4.40710163e-02 9.99027721e-01 -1.16517306e-03 8.05032034e-01] [ 4.39224570e-02 -7.72410064e-04 9.99034645e-01 2.84261370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.685336195 meters 0.02575506100690554 Centerline is valid? [True, True] Translation: X:52.79, Y:0.80, Z:0.28 [[ 9.98173871e-01 -4.33075738e-02 -4.21114755e-02 5.27936980e+01] [ 4.32989394e-02 9.99061536e-01 -1.11753941e-03 8.02178662e-01] [ 4.21203533e-02 -7.07883589e-04 9.99112293e-01 2.78476727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.715336195 meters 0.021281534179617846 Centerline is valid? [True, True] Translation: X:52.82, Y:0.81, Z:0.29 [[ 9.98427079e-01 -4.10407759e-02 -3.81971538e-02 5.28235421e+01] [ 4.10320169e-02 9.99157318e-01 -1.01355344e-03 8.11065257e-01] [ 3.82065628e-02 -5.55347062e-04 9.99269708e-01 2.92292834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74533619499999 meters 0.019415442436018334 Centerline is valid? [True, True] Translation: X:52.86, Y:0.81, Z:0.30 [[ 9.98494054e-01 -4.02326795e-02 -3.72955116e-02 5.28552451e+01] [ 4.02238067e-02 9.99190206e-01 -9.88522084e-04 8.14232192e-01] [ 3.73050808e-02 -5.13134027e-04 9.99303791e-01 2.96940626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.775336194999994 meters 0.019739418344625188 Centerline is valid? [True, True] Translation: X:52.89, Y:0.81, Z:0.29 [[ 9.98493581e-01 -4.03662695e-02 -3.71636070e-02 5.28862456e+01] [ 4.03576006e-02 9.99184816e-01 -9.83715768e-04 8.10887427e-01] [ 3.71730207e-02 -5.17600127e-04 9.99308710e-01 2.94010668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.805336194999995 meters 0.02162875603185951 Centerline is valid? [True, True] Translation: X:52.92, Y:0.81, Z:0.29 [[ 9.98402970e-01 -4.17193798e-02 -3.80920247e-02 5.29167729e+01] [ 4.17112798e-02 9.99129198e-01 -1.00768514e-03 8.08141250e-01] [ 3.81008941e-02 -5.82791266e-04 9.99273727e-01 2.90914479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.835336195 meters 0.020614091801368157 Centerline is valid? [True, True] Translation: X:52.95, Y:0.81, Z:0.30 [[ 9.98285448e-01 -4.33198511e-02 -3.93643974e-02 5.29489914e+01] [ 4.33125102e-02 9.99061032e-01 -1.03968368e-03 8.09654496e-01] [ 3.93724744e-02 -6.67069779e-04 9.99224381e-01 2.96282909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.865336195 meters 0.027316374538995956 Centerline is valid? [True, True] Translation: X:52.98, Y:0.80, Z:0.28 [[ 9.97926735e-01 -4.77338268e-02 -4.31707519e-02 5.29789023e+01] [ 4.77291247e-02 9.98859665e-01 -1.14023126e-03 7.98751690e-01] [ 4.31759504e-02 -9.22634946e-04 9.99067058e-01 2.84255017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.895336195 meters 0.03284247582641522 Centerline is valid? [True, True] Translation: X:53.01, Y:0.79, Z:0.28 [[ 9.97717550e-01 -5.22509643e-02 -4.27729689e-02 5.30094893e+01] [ 5.22505085e-02 9.98633371e-01 -1.12938783e-03 7.85113045e-01] [ 4.27735257e-02 -1.10809931e-03 9.99084179e-01 2.80300785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92533619499999 meters 0.028432526820243085 Centerline is valid? [True, True] Translation: X:53.04, Y:0.79, Z:0.29 [[ 9.97671252e-01 -5.39884532e-02 -4.16811776e-02 5.30415745e+01] [ 5.39896053e-02 9.98540893e-01 -1.09884698e-03 7.88815267e-01] [ 4.16796854e-02 -1.15406228e-03 9.99130358e-01 2.93110396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.955336194999994 meters 0.029360409802340733 Centerline is valid? [True, True] Translation: X:53.07, Y:0.79, Z:0.30 [[ 9.97633050e-01 -5.51224893e-02 -4.11072767e-02 5.30739207e+01] [ 5.51246496e-02 9.98478894e-01 -1.08180015e-03 7.86309570e-01] [ 4.11043798e-02 -1.18678465e-03 9.99154153e-01 2.95562519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.985336194999995 meters 0.02830169148062506 Centerline is valid? [True, True] Translation: X:53.11, Y:0.78, Z:0.30 [[ 9.97674648e-01 -5.52772589e-02 -3.98713013e-02 5.31058869e+01] [ 5.52794883e-02 9.98470371e-01 -1.04739802e-03 7.82005735e-01] [ 3.98682103e-02 -1.15910268e-03 9.99204275e-01 2.97816071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.015336194999996 meters 0.026702153734833717 Centerline is valid? [True, True] Translation: X:53.14, Y:0.78, Z:0.30 [[ 9.97897157e-01 -5.29744189e-02 -3.73493713e-02 5.31354114e+01] [ 5.29747594e-02 9.98595370e-01 -9.81210327e-04 7.79259036e-01] [ 3.73488883e-02 -9.99426964e-04 9.99301787e-01 2.98710320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.045336195 meters 0.025223566075286676 Centerline is valid? [True, True] Translation: X:53.17, Y:0.78, Z:0.30 [[ 9.97972412e-01 -5.13057277e-02 -3.76667803e-02 5.31671637e+01] [ 5.13049392e-02 9.98682546e-01 -9.88160875e-04 7.81637098e-01] [ 3.76678544e-02 -9.46334580e-04 9.99289866e-01 3.00236868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.075336195 meters 0.02419001932025041 Centerline is valid? [True, True] Translation: X:53.20, Y:0.79, Z:0.30 [[ 9.98000328e-01 -4.92876013e-02 -3.95737049e-02 5.31994687e+01] [ 4.92852223e-02 9.98784207e-01 -1.03628967e-03 7.86433110e-01] [ 3.95766677e-02 -9.16181414e-04 9.99216117e-01 3.00300379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105336195 meters 0.023477518070892593 Centerline is valid? [True, True] Translation: X:53.23, Y:0.80, Z:0.29 [[ 9.98087946e-01 -4.38449656e-02 -4.35668626e-02 5.32301182e+01] [ 4.38369765e-02 9.99038048e-01 -1.13919248e-03 7.97965834e-01] [ 4.35749012e-02 -7.72825252e-04 9.99049864e-01 2.94840609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.135336194999994 meters 0.023356703484017662 Centerline is valid? [True, True] Translation: X:53.26, Y:0.80, Z:0.30 [[ 9.98204692e-01 -4.09388053e-02 -4.37196416e-02 5.32604274e+01] [ 4.09279850e-02 9.99161445e-01 -1.14294828e-03 8.04125308e-01] [ 4.37297712e-02 -6.48460499e-04 9.99043186e-01 2.95497388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.165336194999995 meters 0.02258555995334463 Centerline is valid? [True, True] Translation: X:53.29, Y:0.80, Z:0.28 [[ 9.98286902e-01 -3.89609058e-02 -4.36498381e-02 5.32886171e+01] [ 3.89481342e-02 9.99240579e-01 -1.14332175e-03 8.02215073e-01] [ 4.36612344e-02 -5.58716626e-04 9.99046237e-01 2.83888103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.195336194999996 meters 0.02068221459691747 Centerline is valid? [True, True] Translation: X:53.32, Y:0.80, Z:0.29 [[ 9.98272427e-01 -3.93388621e-02 -4.36418895e-02 5.33166157e+01] [ 3.93261286e-02 9.99225766e-01 -1.15060963e-03 8.03168323e-01] [ 4.36533641e-02 -5.67644687e-04 9.99046576e-01 2.86987256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.225336195 meters 0.02353575559818235 Centerline is valid? [True, True] Translation: X:53.34, Y:0.80, Z:0.28 [[ 9.98090203e-01 -4.22795338e-02 -4.50376239e-02 5.33448976e+01] [ 4.22688135e-02 9.99105565e-01 -1.19075751e-03 8.02880814e-01] [ 4.50476853e-02 -7.15203513e-04 9.98984582e-01 2.84602182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.255336195 meters 0.024413218045718842 Centerline is valid? [True, True] Translation: X:53.37, Y:0.81, Z:0.29 [[ 9.97935327e-01 -4.57081865e-02 -4.51203329e-02 5.33736933e+01] [ 4.57008227e-02 9.98954456e-01 -1.19527425e-03 8.09493225e-01] [ 4.51277915e-02 -8.69229931e-04 9.98980844e-01 2.93340578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285336195 meters 0.02436116692604918 Centerline is valid? [True, True] Translation: X:53.40, Y:0.81, Z:0.30 [[ 9.97872457e-01 -4.66411974e-02 -4.55539129e-02 5.34047399e+01] [ 4.66346890e-02 9.98911283e-01 -1.20618886e-03 8.12400767e-01] [ 4.55605757e-02 -9.20769920e-04 9.98961153e-01 2.96405673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31533619499999 meters 0.027839844624007067 Centerline is valid? [True, True] Translation: X:53.43, Y:0.80, Z:0.29 [[ 9.97692376e-01 -4.96436122e-02 -4.63188314e-02 5.34345917e+01] [ 4.96401019e-02 9.98766417e-01 -1.22674607e-03 8.03820475e-01] [ 4.63225934e-02 -1.07535631e-03 9.98925954e-01 2.86529428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.345336194999994 meters 0.027851403212627964 Centerline is valid? [True, True] Translation: X:53.47, Y:0.80, Z:0.28 [[ 9.97616770e-01 -5.16300453e-02 -4.57724557e-02 5.34656322e+01] [ 5.16287615e-02 9.98665612e-01 -1.21104321e-03 7.98156372e-01] [ 4.57739037e-02 -1.15501818e-03 9.98951158e-01 2.84691810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.375336194999996 meters 0.032081474838194075 Centerline is valid? [True, True] Translation: X:53.50, Y:0.79, Z:0.28 [[ 9.97501882e-01 -5.34011902e-02 -4.62418528e-02 5.34957824e+01] [ 5.34018882e-02 9.98572354e-01 -1.22115079e-03 7.88587214e-01] [ 4.62410468e-02 -1.25130205e-03 9.98929527e-01 2.76262749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.405336195 meters 0.03163007380920558 Centerline is valid? [True, True] Translation: X:53.53, Y:0.79, Z:0.28 [[ 9.97403166e-01 -5.44521337e-02 -4.71369232e-02 5.35274489e+01] [ 5.44540931e-02 9.98515501e-01 -1.24349925e-03 7.89389064e-01] [ 4.71346597e-02 -1.32652831e-03 9.98887663e-01 2.79703112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.435336195 meters 0.028323164471337575 Centerline is valid? [True, True] Translation: X:53.56, Y:0.80, Z:0.29 [[ 9.97510875e-01 -5.36803580e-02 -4.57217019e-02 5.35591400e+01] [ 5.36814603e-02 9.98557384e-01 -1.20462335e-03 7.98093978e-01] [ 4.57204076e-02 -1.25278283e-03 9.98953490e-01 2.90375062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465336195 meters 0.02773519026575325 Centerline is valid? [True, True] Translation: X:53.59, Y:0.81, Z:0.29 [[ 9.97600830e-01 -5.15456387e-02 -4.62128883e-02 5.35906890e+01] [ 5.15445750e-02 9.98669955e-01 -1.21545943e-03 8.05102794e-01] [ 4.62140747e-02 -1.16948035e-03 9.98930874e-01 2.91616759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49533619499999 meters 0.03024176107269018 Centerline is valid? [True, True] Translation: X:53.62, Y:0.80, Z:0.28 [[ 9.97638312e-01 -4.90152580e-02 -4.81175963e-02 5.36203668e+01] [ 4.90111831e-02 9.98797428e-01 -1.26522712e-03 7.97880701e-01] [ 4.81217469e-02 -1.09606128e-03 9.98840876e-01 2.75088797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.525336194999994 meters 0.02910599049205928 Centerline is valid? [True, True] Translation: X:53.65, Y:0.80, Z:0.27 [[ 9.97643027e-01 -4.81771605e-02 -4.88605349e-02 5.36499108e+01] [ 4.81719086e-02 9.98838232e-01 -1.28572308e-03 7.97615922e-01] [ 4.88657128e-02 -1.07101256e-03 9.98804783e-01 2.73705680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.555336194999995 meters 0.028169478202136288 Centerline is valid? [True, True] Translation: X:53.68, Y:0.80, Z:0.27 [[ 9.97662700e-01 -4.75905316e-02 -4.90334447e-02 5.36789658e+01] [ 4.75841942e-02 9.98866388e-01 -1.29721105e-03 7.98987306e-01] [ 4.90395948e-02 -1.03903787e-03 9.98796295e-01 2.74894626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.585336195 meters 0.027621504494884725 Centerline is valid? [True, True] Translation: X:53.71, Y:0.80, Z:0.28 [[ 9.97747757e-01 -4.66941641e-02 -4.81567072e-02 5.37071266e+01] [ 4.66868660e-02 9.98908758e-01 -1.27694878e-03 8.04176060e-01] [ 4.81637826e-02 -9.74212960e-04 9.98838976e-01 2.81641323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.615336195 meters 0.0256601770442995 Centerline is valid? [True, True] Translation: X:53.74, Y:0.81, Z:0.29 [[ 9.97692196e-01 -4.67214956e-02 -4.92684911e-02 5.37356830e+01] [ 4.67135292e-02 9.98907463e-01 -1.31376296e-03 8.08171793e-01] [ 4.92760445e-02 -9.90774047e-04 9.98784706e-01 2.87048926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645336195 meters 0.02649460992943997 Centerline is valid? [True, True] Translation: X:53.76, Y:0.81, Z:0.29 [[ 9.97718339e-01 -4.67446983e-02 -4.87139496e-02 5.37637413e+01] [ 4.67367049e-02 9.98906392e-01 -1.30374014e-03 8.06674942e-01] [ 4.87216186e-02 -9.75964041e-04 9.98811920e-01 2.85832390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67533619499999 meters 0.023270602060271203 Centerline is valid? [True, True] Translation: X:53.79, Y:0.81, Z:0.30 [[ 9.97892293e-01 -4.48545092e-02 -4.68939811e-02 5.37933105e+01] [ 4.48449435e-02 9.98993169e-01 -1.25655588e-03 8.12151171e-01] [ 4.69031290e-02 -8.49050506e-04 9.98899082e-01 2.95883462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.705336194999994 meters 0.027338002015744954 Centerline is valid? [True, True] Translation: X:53.82, Y:0.81, Z:0.29 [[ 9.98015871e-01 -4.37149467e-02 -4.53136337e-02 5.38224395e+01] [ 4.37047915e-02 9.99043750e-01 -1.21527921e-03 8.09994844e-01] [ 4.53234284e-02 -7.67554979e-04 9.98972071e-01 2.88544697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.735336194999995 meters 0.023084722695699587 Centerline is valid? [True, True] Translation: X:53.85, Y:0.81, Z:0.29 [[ 9.98201985e-01 -4.01073066e-02 -4.45443736e-02 5.38522941e+01] [ 4.00938575e-02 9.99195203e-01 -1.19566701e-03 8.10186279e-01] [ 4.45564794e-02 -5.92438577e-04 9.99006691e-01 2.89242600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.765336194999996 meters 0.021315572178703064 Centerline is valid? [True, True] Translation: X:53.88, Y:0.81, Z:0.29 [[ 9.98257278e-01 -3.81844185e-02 -4.49928644e-02 5.38809064e+01] [ 3.81684540e-02 9.99270581e-01 -1.21417180e-03 8.09428215e-01] [ 4.50064082e-02 -5.05252243e-04 9.98986570e-01 2.87539737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.795336195 meters 0.022656907991198714 Centerline is valid? [True, True] Translation: X:53.91, Y:0.81, Z:0.28 [[ 9.98387961e-01 -3.36563814e-02 -4.57026073e-02 5.39088087e+01] [ 3.36350115e-02 9.99433418e-01 -1.23673053e-03 8.14638258e-01] [ 4.57183369e-02 -3.02470847e-04 9.98954324e-01 2.81705170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825336195 meters 0.02277896469176688 Centerline is valid? [True, True] Translation: X:53.94, Y:0.82, Z:0.28 [[ 9.98412096e-01 -3.23665056e-02 -4.61052783e-02 5.39376576e+01] [ 3.23430770e-02 9.99476039e-01 -1.25424953e-03 8.20707585e-01] [ 4.61217166e-02 -2.38928661e-04 9.98935799e-01 2.83828027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.855336195 meters 0.02202039350701071 Centerline is valid? [True, True] Translation: X:53.97, Y:0.83, Z:0.29 [[ 9.98260279e-01 -3.19148348e-02 -4.95767976e-02 5.39680743e+01] [ 3.18871309e-02 9.99490565e-01 -1.34982583e-03 8.27284365e-01] [ 4.95946209e-02 -2.33384322e-04 9.98769402e-01 2.88969632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.885336194999994 meters 0.02345470135527042 Centerline is valid? [True, True] Translation: X:54.00, Y:0.83, Z:0.29 [[ 9.98177230e-01 -3.34247041e-02 -5.02494381e-02 5.39953967e+01] [ 3.33979272e-02 9.99441191e-01 -1.37266361e-03 8.26783890e-01] [ 5.02672391e-02 -3.08065512e-04 9.98735756e-01 2.87084042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.915336194999995 meters 0.024366472930729195 Centerline is valid? [True, True] Translation: X:54.02, Y:0.82, Z:0.29 [[ 9.98045201e-01 -3.90839065e-02 -4.87670523e-02 5.40238898e+01] [ 3.90650723e-02 9.99235771e-01 -1.33962493e-03 8.15538831e-01] [ 4.87821409e-02 -5.68082187e-04 9.98809281e-01 2.85785757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.945336194999996 meters 0.02372678584859941 Centerline is valid? [True, True] Translation: X:54.05, Y:0.81, Z:0.29 [[ 9.97955369e-01 -4.24039792e-02 -4.78224183e-02 5.40519035e+01] [ 4.23892560e-02 9.99100296e-01 -1.32244588e-03 8.07138665e-01] [ 4.78354693e-02 -7.07414767e-04 9.98854978e-01 2.87121047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.975336195 meters 0.029739813527714033 Centerline is valid? [True, True] Translation: X:54.08, Y:0.79, Z:0.28 [[ 9.97751439e-01 -4.74708762e-02 -4.73136457e-02 5.40814534e+01] [ 4.74620289e-02 9.98872183e-01 -1.31103956e-03 7.88114039e-01] [ 4.73225208e-02 -9.37510011e-04 9.98879222e-01 2.77230288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.005336195 meters 0.026603998206214067 Centerline is valid? [True, True] Translation: X:54.11, Y:0.79, Z:0.29 [[ 9.97680927e-01 -4.96715744e-02 -4.65349707e-02 5.41099661e+01] [ 4.96650918e-02 9.98765087e-01 -1.29621886e-03 7.90294225e-01] [ 4.65418893e-02 -1.01795076e-03 9.98915820e-01 2.89148057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.035336195 meters 0.026482393748749045 Centerline is valid? [True, True] Translation: X:54.14, Y:0.79, Z:0.30 [[ 9.97722299e-01 -5.14766888e-02 -4.35931760e-02 5.41400952e+01] [ 5.14726739e-02 9.98673664e-01 -1.21530277e-03 7.89647480e-01] [ 4.35979166e-02 -1.03132266e-03 9.99048626e-01 3.00329329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06533619499999 meters 0.02929151346221501 Centerline is valid? [True, True] Translation: X:54.17, Y:0.79, Z:0.30 [[ 9.97790600e-01 -5.09171335e-02 -4.26774444e-02 5.41719242e+01] [ 5.09128277e-02 9.98702394e-01 -1.18849986e-03 7.89216169e-01] [ 4.26825809e-02 -9.86955392e-04 9.99088196e-01 3.03235493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.095336194999994 meters 0.026233534626303665 Centerline is valid? [True, True] Translation: X:54.20, Y:0.78, Z:0.30 [[ 9.97953503e-01 -5.00820431e-02 -3.97566931e-02 5.42015479e+01] [ 5.00777124e-02 9.98744713e-01 -1.10540447e-03 7.80532105e-01] [ 3.97621480e-02 -8.87781980e-04 9.99208779e-01 3.02948527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.125336194999996 meters 0.02384288469735994 Centerline is valid? [True, True] Translation: X:54.23, Y:0.78, Z:0.31 [[ 9.98124529e-01 -4.86112505e-02 -3.72071238e-02 5.42321462e+01] [ 4.86064721e-02 9.98817472e-01 -1.03351625e-03 7.82555686e-01] [ 3.72133658e-02 -7.76929106e-04 9.99307041e-01 3.08919679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.155336195 meters 0.024715000360433455 Centerline is valid? [True, True] Translation: X:54.26, Y:0.79, Z:0.31 [[ 9.98325233e-01 -4.54801671e-02 -3.57530929e-02 5.42628694e+01] [ 4.54737769e-02 9.98965040e-01 -9.92305928e-04 7.86131277e-01] [ 3.57612202e-02 -6.35184125e-04 9.99360161e-01 3.12082761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.185336195 meters 0.02254536847614946 Centerline is valid? [True, True] Translation: X:54.29, Y:0.79, Z:0.31 [[ 9.98308480e-01 -4.45068623e-02 -3.74074491e-02 5.42944374e+01] [ 4.44992297e-02 9.99008880e-01 -1.03702088e-03 7.90354232e-01] [ 3.74165284e-02 -6.29335933e-04 9.99299558e-01 3.14690441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.215336195 meters 0.02045615893809623 Centerline is valid? [True, True] Translation: X:54.33, Y:0.79, Z:0.31 [[ 9.98296799e-01 -4.45592240e-02 -3.76560364e-02 5.43267522e+01] [ 4.45515912e-02 9.99006541e-01 -1.04220670e-03 7.86627100e-01] [ 3.76650666e-02 -6.37204734e-04 9.99290216e-01 3.12526040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24533619499999 meters 0.02513296926686552 Centerline is valid? [True, True] Translation: X:54.36, Y:0.78, Z:0.30 [[ 9.98340454e-01 -4.43729482e-02 -3.67066674e-02 5.43577809e+01] [ 4.43655939e-02 9.99014846e-01 -1.01526405e-03 7.77840971e-01] [ 3.67155560e-02 -6.14933925e-04 9.99325567e-01 3.00257325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.275336194999994 meters 0.02513296926686552 Centerline is valid? [True, True] Translation: X:54.39, Y:0.78, Z:0.30 [[ 9.98341402e-01 -4.43516067e-02 -3.67066873e-02 5.43886392e+01] [ 4.43442644e-02 9.99015794e-01 -1.01454366e-03 7.78652893e-01] [ 3.67155570e-02 -6.14870108e-04 9.99325567e-01 3.00464093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.305336194999995 meters 0.022530079260380125 Centerline is valid? [True, True] Translation: X:54.42, Y:0.78, Z:0.30 [[ 9.98299448e-01 -4.27854438e-02 -3.95931664e-02 5.44199899e+01] [ 4.27757068e-02 9.99084102e-01 -1.09342582e-03 7.79412595e-01] [ 3.96036858e-02 -6.02059284e-04 9.99215285e-01 3.00084328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.335336195 meters 0.02105020441418573 Centerline is valid? [True, True] Translation: X:54.45, Y:0.78, Z:0.31 [[ 9.98270480e-01 -4.21763924e-02 -4.09536502e-02 5.44504717e+01] [ 4.21654694e-02 9.99110001e-01 -1.13084120e-03 7.83727344e-01] [ 4.09648963e-02 -5.97944500e-04 9.99160407e-01 3.05010143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.365336195 meters 0.020625215617942057 Centerline is valid? [True, True] Translation: X:54.48, Y:0.79, Z:0.31 [[ 9.98356429e-01 -4.16710054e-02 -3.93442339e-02 5.44802372e+01] [ 4.16605314e-02 9.99131233e-01 -1.08640086e-03 7.90173301e-01] [ 3.93553243e-02 -5.54486415e-04 9.99225125e-01 3.12876920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.395336195 meters 0.019724498199527884 Centerline is valid? [True, True] Translation: X:54.51, Y:0.79, Z:0.32 [[ 9.98384172e-01 -4.16273702e-02 -3.86808435e-02 5.45114111e+01] [ 4.16172430e-02 9.99133057e-01 -1.06732334e-03 7.90722677e-01] [ 3.86917393e-02 -5.44191340e-04 9.99251046e-01 3.15518892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42533619499999 meters 0.021964884380280082 Centerline is valid? [True, True] Translation: X:54.54, Y:0.78, Z:0.31 [[ 9.98258200e-01 -4.30443308e-02 -4.03454070e-02 5.45413529e+01] [ 4.30345446e-02 9.99072967e-01 -1.11140890e-03 7.83882848e-01] [ 4.03558454e-02 -6.26773175e-04 9.99185174e-01 3.10876940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.455336194999994 meters 0.02190128624257542 Centerline is valid? [True, True] Translation: X:54.57, Y:0.78, Z:0.31 [[ 9.98195700e-01 -4.46134619e-02 -4.01868537e-02 5.45717956e+01] [ 4.46050365e-02 9.99004087e-01 -1.10670850e-03 7.81174091e-01] [ 4.01962052e-02 -6.87824410e-04 9.99191569e-01 3.12145092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.485336194999995 meters 0.02406451146408412 Centerline is valid? [True, True] Translation: X:54.60, Y:0.78, Z:0.31 [[ 9.98029474e-01 -4.86245422e-02 -3.96588349e-02 5.46027801e+01] [ 4.86195158e-02 9.98816775e-01 -1.09177946e-03 7.75762813e-01] [ 3.96649969e-02 -8.38565272e-04 9.99212682e-01 3.13662323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.515336194999996 meters 0.026263764123075992 Centerline is valid? [True, True] Translation: X:54.63, Y:0.77, Z:0.31 [[ 9.97921219e-01 -5.03888887e-02 -4.01771116e-02 5.46343800e+01] [ 5.03852094e-02 9.98729248e-01 -1.10479074e-03 7.71208194e-01] [ 4.01817256e-02 -9.21838062e-04 9.99191963e-01 3.10040853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.545336195 meters 0.02604986993112713 Centerline is valid? [True, True] Translation: X:54.67, Y:0.76, Z:0.31 [[ 9.97791108e-01 -5.23783273e-02 -4.08584931e-02 5.46654625e+01] [ 5.23762151e-02 9.98626793e-01 -1.12288333e-03 7.63619214e-01] [ 4.08612006e-02 -1.01961022e-03 9.99164312e-01 3.07842411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.575336195 meters 0.02561399732946851 Centerline is valid? [True, True] Translation: X:54.70, Y:0.76, Z:0.31 [[ 9.97862082e-01 -5.13918763e-02 -4.03749853e-02 5.46971175e+01] [ 5.13890419e-02 9.98678095e-01 -1.10872479e-03 7.62016393e-01] [ 4.03785928e-02 -9.68477385e-04 9.99183983e-01 3.07499670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605336195 meters 0.025357761171294818 Centerline is valid? [True, True] Translation: X:54.73, Y:0.76, Z:0.31 [[ 9.97995793e-01 -4.95055483e-02 -3.94157122e-02 5.47275074e+01] [ 4.95013976e-02 9.98773468e-01 -1.08184177e-03 7.62369625e-01] [ 3.94209248e-02 -8.71459308e-04 9.99222313e-01 3.07652207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.635336194999994 meters 0.023149050303629272 Centerline is valid? [True, True] Translation: X:54.76, Y:0.76, Z:0.31 [[ 9.98220445e-01 -4.55612745e-02 -3.84722405e-02 5.47573173e+01] [ 4.55543950e-02 9.98961302e-01 -1.05586906e-03 7.63824683e-01] [ 3.84803862e-02 -6.98589557e-04 9.99259111e-01 3.08974124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.665336194999995 meters 0.02258043253651914 Centerline is valid? [True, True] Translation: X:54.79, Y:0.76, Z:0.31 [[ 9.98291446e-01 -4.36170782e-02 -3.88811017e-02 5.47881892e+01] [ 4.36086065e-02 9.99048123e-01 -1.06636037e-03 7.64782725e-01] [ 3.88906032e-02 -6.31012228e-04 9.99243275e-01 3.08664930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.695336194999996 meters 0.020997992827439364 Centerline is valid? [True, True] Translation: X:54.82, Y:0.77, Z:0.31 [[ 9.98390988e-01 -4.11572208e-02 -3.90066491e-02 5.48191172e+01] [ 4.11468383e-02 9.99152538e-01 -1.06928087e-03 7.69287569e-01] [ 3.90176011e-02 -5.37439896e-04 9.99238379e-01 3.11767341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.725336195 meters 0.01839137499274622 Centerline is valid? [True, True] Translation: X:54.85, Y:0.78, Z:0.32 [[ 9.98613818e-01 -3.71878788e-02 -3.72492239e-02 5.48485945e+01] [ 3.71756264e-02 9.99308225e-01 -1.02173913e-03 7.77836782e-01] [ 3.72614522e-02 -3.64440415e-04 9.99305485e-01 3.19484342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.755336195 meters 0.018232416319265008 Centerline is valid? [True, True] Translation: X:54.88, Y:0.78, Z:0.32 [[ 9.98721715e-01 -3.40298990e-02 -3.73751515e-02 5.48774206e+01] [ 3.40153074e-02 9.99420785e-01 -1.02641108e-03 7.77263617e-01] [ 3.73884319e-02 -2.46228230e-04 9.99300778e-01 3.15874664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785336195 meters 0.017252469068304327 Centerline is valid? [True, True] Translation: X:54.91, Y:0.78, Z:0.32 [[ 9.98766464e-01 -3.27460334e-02 -3.73262303e-02 5.49060824e+01] [ 3.27303877e-02 9.99463686e-01 -1.03031160e-03 7.78917345e-01] [ 3.73399504e-02 -1.92661313e-04 9.99302602e-01 3.18484110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81533619499999 meters 0.018221549955813515 Centerline is valid? [True, True] Translation: X:54.93, Y:0.78, Z:0.32 [[ 9.98839888e-01 -3.14963835e-02 -3.64260343e-02 5.49334635e+01] [ 3.14805507e-02 9.99503856e-01 -1.00826405e-03 7.80805138e-01] [ 3.64397184e-02 -1.39617267e-04 9.99335843e-01 3.16117484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.845336194999994 meters 0.016547018054787387 Centerline is valid? [True, True] Translation: X:54.96, Y:0.78, Z:0.32 [[ 9.98840105e-01 -3.08206003e-02 -3.69937221e-02 5.49617136e+01] [ 3.08037251e-02 9.99524926e-01 -1.02617806e-03 7.82060936e-01] [ 3.70077748e-02 -1.14556646e-04 9.99314971e-01 3.20145485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.875336194999996 meters 0.018885924075672265 Centerline is valid? [True, True] Translation: X:54.99, Y:0.78, Z:0.31 [[ 9.98715185e-01 -3.15517480e-02 -3.96543396e-02 5.49906996e+01] [ 3.15328703e-02 9.99502108e-01 -1.10157548e-03 7.78390306e-01] [ 3.96693527e-02 -1.50254983e-04 9.99212850e-01 3.11448712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.905336195 meters 0.017742775727785664 Centerline is valid? [True, True] Translation: X:55.02, Y:0.78, Z:0.31 [[ 9.98704999e-01 -3.20091751e-02 -3.95441255e-02 5.50181506e+01] [ 3.19905041e-02 9.99487562e-01 -1.10499515e-03 7.78778461e-01] [ 3.95592315e-02 -1.61472326e-04 9.99217214e-01 3.14295901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.935336195 meters 0.018098449659152048 Centerline is valid? [True, True] Translation: X:55.05, Y:0.78, Z:0.31 [[ 9.98758932e-01 -3.14794213e-02 -3.85958791e-02 5.50462746e+01] [ 3.14609881e-02 9.99504392e-01 -1.08501069e-03 7.80025259e-01] [ 3.86109062e-02 -1.30600374e-04 9.99254312e-01 3.13455930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965336195 meters 0.016670005680758306 Centerline is valid? [True, True] Translation: X:55.07, Y:0.78, Z:0.32 [[ 9.98830041e-01 -3.03860869e-02 -3.76196188e-02 5.50749724e+01] [ 3.03675640e-02 9.99538233e-01 -1.06381703e-03 7.82206161e-01] [ 3.76345726e-02 -7.98437704e-05 9.99291565e-01 3.18288485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99533619499999 meters 0.017559847342309476 Centerline is valid? [True, True] Translation: X:55.10, Y:0.79, Z:0.32 [[ 9.98941652e-01 -2.69480669e-02 -3.72743424e-02 5.51025042e+01] [ 2.69273804e-02 9.99636834e-01 -1.05698463e-03 7.91929404e-01] [ 3.72892893e-02 5.21655734e-05 9.99304511e-01 3.21500117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.025336194999994 meters 0.018602947842406965 Centerline is valid? [True, True] Translation: X:55.13, Y:0.80, Z:0.32 [[ 9.98963067e-01 -2.56575684e-02 -3.76095658e-02 5.51297732e+01] [ 2.56355104e-02 9.99670785e-01 -1.06870092e-03 7.97143111e-01] [ 3.76246044e-02 1.03452336e-04 9.99291939e-01 3.19944683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.055336194999995 meters 0.018444520376737095 Centerline is valid? [True, True] Translation: X:55.16, Y:0.80, Z:0.32 [[ 9.99026520e-01 -2.41528587e-02 -3.69141019e-02 5.51583366e+01] [ 2.41303850e-02 9.99708264e-01 -1.05428322e-03 7.99328445e-01] [ 3.69287967e-02 1.62505408e-04 9.99317886e-01 3.19339628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.085336195 meters 0.019474588893291494 Centerline is valid? [True, True] Translation: X:55.19, Y:0.80, Z:0.32 [[ 9.99062201e-01 -2.35519246e-02 -3.63321421e-02 5.51859698e+01] [ 2.35296234e-02 9.99722598e-01 -1.04133438e-03 8.00573159e-01] [ 3.63465890e-02 1.85476199e-04 9.99339227e-01 3.16569894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.115336195 meters 0.018445552254204287 Centerline is valid? [True, True] Translation: X:55.21, Y:0.80, Z:0.32 [[ 9.99078160e-01 -2.32549283e-02 -3.60837809e-02 5.52139965e+01] [ 2.32325158e-02 9.99729547e-01 -1.04035210e-03 8.01958420e-01] [ 3.60982152e-02 2.01076057e-04 9.99348227e-01 3.19211753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145336195 meters 0.018313533708897142 Centerline is valid? [True, True] Translation: X:55.24, Y:0.80, Z:0.32 [[ 9.99020083e-01 -2.49675003e-02 -3.65444494e-02 5.52413265e+01] [ 2.49455458e-02 9.99688253e-01 -1.05667040e-03 8.04240896e-01] [ 3.65594392e-02 1.44013711e-04 9.99331470e-01 3.18274348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17533619499999 meters 0.018426198115401592 Centerline is valid? [True, True] Translation: X:55.27, Y:0.81, Z:0.32 [[ 9.98993880e-01 -2.61840742e-02 -3.64090987e-02 5.52701089e+01] [ 2.61628979e-02 9.99657133e-01 -1.05802339e-03 8.05422268e-01] [ 3.64243185e-02 1.04391358e-04 9.99336409e-01 3.18866142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.205336194999994 meters 0.016798338656216504 Centerline is valid? [True, True] Translation: X:55.30, Y:0.81, Z:0.32 [[ 9.98890940e-01 -2.91978075e-02 -3.69374856e-02 5.52986882e+01] [ 2.91778440e-02 9.99573653e-01 -1.07952756e-03 8.05706877e-01] [ 3.69532573e-02 5.74104227e-07 9.99316995e-01 3.22098197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.235336194999995 meters 0.0176163106614689 Centerline is valid? [True, True] Translation: X:55.33, Y:0.81, Z:0.32 [[ 9.98811284e-01 -3.12095090e-02 -3.74431049e-02 5.53266676e+01] [ 3.11902978e-02 9.99512862e-01 -1.09724581e-03 8.05504076e-01] [ 3.74591095e-02 -7.19200995e-05 9.99298159e-01 3.20035677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.265336194999996 meters 0.017475196511254825 Centerline is valid? [True, True] Translation: X:55.36, Y:0.81, Z:0.32 [[ 9.98728676e-01 -3.30753068e-02 -3.80401953e-02 5.53555474e+01] [ 3.30566200e-02 9.99452853e-01 -1.12027374e-03 8.05300040e-01] [ 3.80564351e-02 -1.38630770e-04 9.99275582e-01 3.20763597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.295336195 meters 0.019052706696739374 Centerline is valid? [True, True] Translation: X:55.38, Y:0.80, Z:0.31 [[ 9.98604627e-01 -3.47054851e-02 -3.98036212e-02 5.53837631e+01] [ 3.46862066e-02 9.99397562e-01 -1.17503834e-03 8.01457920e-01] [ 3.98204222e-02 -2.07237906e-04 9.99206831e-01 3.13405386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325336195 meters 0.019525333573460774 Centerline is valid? [True, True] Translation: X:55.41, Y:0.80, Z:0.31 [[ 9.98536144e-01 -3.52133364e-02 -4.10559450e-02 5.54129177e+01] [ 3.51930131e-02 9.99379792e-01 -1.21787987e-03 7.99614974e-01] [ 4.10733674e-02 -2.28785337e-04 9.99156107e-01 3.10751930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.355336195 meters 0.019812415281625972 Centerline is valid? [True, True] Translation: X:55.44, Y:0.80, Z:0.31 [[ 9.98473542e-01 -3.45688205e-02 -4.30764816e-02 5.54424996e+01] [ 3.45457621e-02 9.99402298e-01 -1.27979767e-03 8.03780744e-01] [ 4.30949758e-02 -2.10265769e-04 9.99070958e-01 3.11933185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.385336194999994 meters 0.02031706285739222 Centerline is valid? [True, True] Translation: X:55.47, Y:0.81, Z:0.31 [[ 9.98469967e-01 -3.43203229e-02 -4.33571192e-02 5.54707127e+01] [ 3.42966289e-02 9.99410864e-01 -1.29043748e-03 8.05740469e-01] [ 4.33758642e-02 -1.98539960e-04 9.99058805e-01 3.10884672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.415336194999995 meters 0.01904705283680928 Centerline is valid? [True, True] Translation: X:55.50, Y:0.81, Z:0.31 [[ 9.98465512e-01 -3.49058793e-02 -4.29907133e-02 5.54990285e+01] [ 3.48828490e-02 9.99390581e-01 -1.28598340e-03 8.05477570e-01] [ 4.30094023e-02 -2.15628484e-04 9.99074644e-01 3.13512274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.445336194999996 meters 0.019665504457867983 Centerline is valid? [True, True] Translation: X:55.53, Y:0.80, Z:0.31 [[ 9.98534463e-01 -3.45737352e-02 -4.16363096e-02 5.55266446e+01] [ 3.45517132e-02 9.99402131e-01 -1.24862874e-03 8.03459513e-01] [ 4.16545863e-02 -1.91806997e-04 9.99132053e-01 3.10806747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.475336195 meters 0.01846516544462724 Centerline is valid? [True, True] Translation: X:55.56, Y:0.81, Z:0.32 [[ 9.98584807e-01 -3.35698361e-02 -4.12486209e-02 5.55557284e+01] [ 3.35471293e-02 9.99436364e-01 -1.24273808e-03 8.07071046e-01] [ 4.12670902e-02 -1.42793454e-04 9.99148141e-01 3.15126086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.505336195 meters 0.01963449995676887 Centerline is valid? [True, True] Translation: X:55.58, Y:0.81, Z:0.31 [[ 9.98625139e-01 -3.15711519e-02 -4.18460783e-02 5.55832775e+01] [ 3.15458975e-02 9.99501505e-01 -1.26386055e-03 8.11164382e-01] [ 4.18651198e-02 -5.79491774e-05 9.99123270e-01 3.12484078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.535336195 meters 0.020126958945511794 Centerline is valid? [True, True] Translation: X:55.61, Y:0.81, Z:0.31 [[ 9.98665515e-01 -3.05131423e-02 -4.16669693e-02 5.56107009e+01] [ 3.04870384e-02 9.99534366e-01 -1.26191926e-03 8.14519255e-01] [ 4.16860729e-02 -1.00672519e-05 9.99130758e-01 3.12338274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56533619499999 meters 0.02043509533026827 Centerline is valid? [True, True] Translation: X:55.64, Y:0.82, Z:0.32 [[ 9.98802371e-01 -2.73751414e-02 -4.05515062e-02 5.56395082e+01] [ 2.73476033e-02 9.99625223e-01 -1.23375984e-03 8.24759200e-01] [ 4.05700828e-02 1.23295747e-04 9.99176688e-01 3.15952097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.595336194999994 meters 0.01906872196505366 Centerline is valid? [True, True] Translation: X:55.67, Y:0.83, Z:0.32 [[ 9.98856375e-01 -2.66598730e-02 -3.96887153e-02 5.56684211e+01] [ 2.66326732e-02 9.99644550e-01 -1.21398202e-03 8.28456579e-01] [ 3.97069726e-02 1.55577096e-04 9.99211355e-01 3.20410291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.625336194999996 meters 0.018908619619359475 Centerline is valid? [True, True] Translation: X:55.70, Y:0.83, Z:0.32 [[ 9.98894744e-01 -2.67433531e-02 -3.86533850e-02 5.56960803e+01] [ 2.67175018e-02 9.99642321e-01 -1.18528947e-03 8.29591741e-01] [ 3.86712581e-02 1.51257535e-04 9.99251976e-01 3.20326070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.655336195 meters 0.018335044549196197 Centerline is valid? [True, True] Translation: X:55.72, Y:0.83, Z:0.32 [[ 9.98932664e-01 -2.75389998e-02 -3.70828252e-02 5.57239102e+01] [ 2.75156463e-02 9.99620723e-01 -1.14006993e-03 8.30602406e-01] [ 3.71001569e-02 1.18495189e-04 9.99311545e-01 3.19814221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.685336195 meters 0.017590273257853624 Centerline is valid? [True, True] Translation: X:55.75, Y:0.83, Z:0.32 [[ 9.98897024e-01 -2.98401544e-02 -3.62532879e-02 5.57524432e+01] [ 2.98191552e-02 9.99554683e-01 -1.11991770e-03 8.26217424e-01] [ 3.62705622e-02 3.76400370e-05 9.99342006e-01 3.16149365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.715336195 meters 0.0165936574877092 Centerline is valid? [True, True] Translation: X:55.78, Y:0.83, Z:0.32 [[ 9.98854497e-01 -3.13960338e-02 -3.61107075e-02 5.57803476e+01] [ 3.13759753e-02 9.99507023e-01 -1.12216761e-03 8.25199437e-01] [ 3.61281373e-02 -1.21265014e-05 9.99347166e-01 3.17298698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74533619499999 meters 0.01609194628974536 Centerline is valid? [True, True] Translation: X:55.81, Y:0.83, Z:0.32 [[ 9.98802160e-01 -3.25159067e-02 -3.65644685e-02 5.58089548e+01] [ 3.24958601e-02 9.99471217e-01 -1.14257130e-03 8.29640242e-01] [ 3.65822855e-02 -4.69911695e-05 9.99330643e-01 3.20904596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.775336194999994 meters 0.01714119501237536 Centerline is valid? [True, True] Translation: X:55.84, Y:0.84, Z:0.32 [[ 9.98633035e-01 -3.58736998e-02 -3.80149720e-02 5.58367390e+01] [ 3.58543070e-02 9.99356317e-01 -1.19197986e-03 8.38608996e-01] [ 3.80332631e-02 -1.72650012e-04 9.99276459e-01 3.24043978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.805336194999995 meters 0.018613169505051468 Centerline is valid? [True, True] Translation: X:55.86, Y:0.84, Z:0.32 [[ 9.98465060e-01 -3.88563275e-02 -3.94678262e-02 5.58649237e+01] [ 3.88376663e-02 9.99244764e-01 -1.23972040e-03 8.36352143e-01] [ 3.94861897e-02 -2.95020761e-04 9.99220073e-01 3.19104345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.835336195 meters 0.020030081385883084 Centerline is valid? [True, True] Translation: X:55.90, Y:0.83, Z:0.32 [[ 9.98172516e-01 -4.47246533e-02 -4.06366074e-02 5.58950048e+01] [ 4.47096836e-02 9.98999205e-01 -1.27755993e-03 8.29029638e-01] [ 4.06530770e-02 -5.41624653e-04 9.99173175e-01 3.15804386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.865336195 meters 0.021787885615702923 Centerline is valid? [True, True] Translation: X:55.92, Y:0.83, Z:0.32 [[ 9.98100461e-01 -4.70732995e-02 -3.97438532e-02 5.59249907e+01] [ 4.70608502e-02 9.98891243e-01 -1.24925889e-03 8.27774119e-01] [ 3.97585937e-02 -6.23493652e-04 9.99209120e-01 3.15423042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.895336195 meters 0.021745423379580495 Centerline is valid? [True, True] Translation: X:55.96, Y:0.83, Z:0.32 [[ 9.98016778e-01 -4.89988809e-02 -3.95173514e-02 5.59570111e+01] [ 4.89881458e-02 9.98798590e-01 -1.24051295e-03 8.30409910e-01] [ 3.95306586e-02 -6.97829032e-04 9.99218114e-01 3.19499034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92533619499999 meters 0.024596007537079325 Centerline is valid? [True, True] Translation: X:55.99, Y:0.83, Z:0.32 [[ 9.97848800e-01 -5.12099882e-02 -4.09305545e-02 5.59869653e+01] [ 5.12003439e-02 9.98687576e-01 -1.28454872e-03 8.32586196e-01] [ 4.09426180e-02 -8.13873073e-04 9.99161168e-01 3.16977843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.955336194999994 meters 0.02373550115075353 Centerline is valid? [True, True] Translation: X:56.02, Y:0.83, Z:0.31 [[ 9.97870225e-01 -5.06691247e-02 -4.10810700e-02 5.60190971e+01] [ 5.06590171e-02 9.98715178e-01 -1.28767508e-03 8.34550841e-01] [ 4.10935335e-02 -7.96194005e-04 9.99154987e-01 3.14651331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.985336194999995 meters 0.026186536056671542 Centerline is valid? [True, True] Translation: X:56.05, Y:0.83, Z:0.31 [[ 9.97890022e-01 -5.04427923e-02 -4.08782088e-02 5.60504734e+01] [ 5.04326558e-02 9.98726644e-01 -1.27981789e-03 8.32549473e-01] [ 4.08907139e-02 -7.84479136e-04 9.99163317e-01 3.09314085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.015336194999996 meters 0.024231233861624422 Centerline is valid? [True, True] Translation: X:56.08, Y:0.84, Z:0.31 [[ 9.97887831e-01 -5.03884082e-02 -4.09986037e-02 5.60827248e+01] [ 5.03782403e-02 9.98729388e-01 -1.28177919e-03 8.35674218e-01] [ 4.10110972e-02 -7.86365652e-04 9.99158382e-01 3.13798154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.045336195 meters 0.023758536978869368 Centerline is valid? [True, True] Translation: X:56.12, Y:0.84, Z:0.32 [[ 9.97891456e-01 -5.07014104e-02 -4.05216988e-02 5.61150542e+01] [ 5.06918114e-02 9.98713543e-01 -1.26499376e-03 8.42992004e-01] [ 4.05337063e-02 -7.91791850e-04 9.99177858e-01 3.21116156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.075336195 meters 0.022689028769586915 Centerline is valid? [True, True] Translation: X:56.15, Y:0.85, Z:0.32 [[ 9.97903519e-01 -5.09351201e-02 -3.99271981e-02 5.61466870e+01] [ 5.09260626e-02 9.98701651e-01 -1.24454968e-03 8.46707394e-01] [ 3.99387499e-02 -7.91394485e-04 9.99201816e-01 3.24909139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105336195 meters 0.025812668041138787 Centerline is valid? [True, True] Translation: X:56.18, Y:0.84, Z:0.32 [[ 9.97882633e-01 -5.15084141e-02 -3.97131522e-02 5.61778924e+01] [ 5.14999662e-02 9.98672231e-01 -1.23639177e-03 8.38505284e-01] [ 3.97241069e-02 -8.11452126e-04 9.99210357e-01 3.15351125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.135336194999994 meters 0.022653376111152278 Centerline is valid? [True, True] Translation: X:56.21, Y:0.84, Z:0.32 [[ 9.97916819e-01 -5.05368774e-02 -4.01004637e-02 5.62099618e+01] [ 5.05275535e-02 9.98721889e-01 -1.24662460e-03 8.40410621e-01] [ 4.01122114e-02 -7.82150675e-04 9.99194875e-01 3.18209265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.165336194999995 meters 0.022653376111152278 Centerline is valid? [True, True] Translation: X:56.24, Y:0.84, Z:0.32 [[ 9.97919207e-01 -5.04896396e-02 -4.01005227e-02 5.62416783e+01] [ 5.04803538e-02 9.98724279e-01 -1.24472706e-03 8.41320981e-01] [ 4.01122114e-02 -7.82151536e-04 9.99194875e-01 3.18421619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.195336194999996 meters 0.02429262542305777 Centerline is valid? [True, True] Translation: X:56.27, Y:0.84, Z:0.31 [[ 9.97994378e-01 -4.91236517e-02 -3.99260297e-02 5.62727007e+01] [ 4.91134816e-02 9.98792440e-01 -1.23612132e-03 8.40899611e-01] [ 3.99385395e-02 -7.27264202e-04 9.99201874e-01 3.13831547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.225336195 meters 0.022173084180503382 Centerline is valid? [True, True] Translation: X:56.30, Y:0.85, Z:0.32 [[ 9.98139853e-01 -4.68319647e-02 -3.90333357e-02 5.63037418e+01] [ 4.68205436e-02 9.98902588e-01 -1.20717936e-03 8.45594009e-01] [ 3.90470346e-02 -6.22628161e-04 9.99237180e-01 3.16353990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.255336195 meters 0.022707114973041977 Centerline is valid? [True, True] Translation: X:56.33, Y:0.85, Z:0.31 [[ 9.98100693e-01 -4.43094431e-02 -4.27981215e-02 5.63335735e+01] [ 4.42934693e-02 9.99017688e-01 -1.32190430e-03 8.50839314e-01] [ 4.28146532e-02 -5.76283683e-04 9.99082866e-01 3.12562523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285336195 meters 0.02039327636283419 Centerline is valid? [True, True] Translation: X:56.36, Y:0.86, Z:0.32 [[ 9.98083727e-01 -4.38664610e-02 -4.36417995e-02 5.63641020e+01] [ 4.38494408e-02 9.99037242e-01 -1.34767175e-03 8.56263047e-01] [ 4.36589006e-02 -5.68579260e-04 9.99046334e-01 3.19119667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31533619499999 meters 0.02298340341482689 Centerline is valid? [True, True] Translation: X:56.39, Y:0.86, Z:0.32 [[ 9.98096164e-01 -4.39511142e-02 -4.32706250e-02 5.63926551e+01] [ 4.39344052e-02 9.99033523e-01 -1.33751550e-03 8.56487994e-01] [ 4.32875902e-02 -5.66100089e-04 9.99062493e-01 3.15406616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.345336194999994 meters 0.021415972726453063 Centerline is valid? [True, True] Translation: X:56.42, Y:0.85, Z:0.32 [[ 9.98090686e-01 -4.62009348e-02 -4.09933591e-02 5.64227080e+01] [ 4.61878084e-02 9.98931969e-01 -1.26775042e-03 8.54948366e-01] [ 4.10081482e-02 -6.28063535e-04 9.99158615e-01 3.23133382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.375336194999996 meters 0.023143229446047818 Centerline is valid? [True, True] Translation: X:56.45, Y:0.85, Z:0.32 [[ 9.98057705e-01 -4.74467036e-02 -4.03686593e-02 5.64537245e+01] [ 4.74350366e-02 9.98873546e-01 -1.24733817e-03 8.51435761e-01] [ 4.03823680e-02 -6.69973355e-04 9.99184075e-01 3.20821203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.405336195 meters 0.029371785766402553 Centerline is valid? [True, True] Translation: X:56.48, Y:0.84, Z:0.31 [[ 9.97788330e-01 -5.07851485e-02 -4.28872504e-02 5.64841912e+01] [ 5.07751057e-02 9.98709235e-01 -1.32414428e-03 8.39343947e-01] [ 4.28991399e-02 -8.56388958e-04 9.99079041e-01 3.06612656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.435336195 meters 0.02559784839024646 Centerline is valid? [True, True] Translation: X:56.52, Y:0.84, Z:0.31 [[ 9.97712481e-01 -5.23107196e-02 -4.28181419e-02 5.65151284e+01] [ 5.23021544e-02 9.98630432e-01 -1.32103376e-03 8.40530488e-01] [ 4.28286038e-02 -9.21469200e-04 9.99082009e-01 3.14249922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465336195 meters 0.02441932293999507 Centerline is valid? [True, True] Translation: X:56.55, Y:0.84, Z:0.32 [[ 9.97731367e-01 -5.34366112e-02 -4.09468879e-02 5.65465642e+01] [ 5.34297638e-02 9.98570812e-01 -1.26234156e-03 8.40365157e-01] [ 4.09558223e-02 -9.28304781e-04 9.99160527e-01 3.19867857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49533619499999 meters 0.025226082148879257 Centerline is valid? [True, True] Translation: X:56.58, Y:0.84, Z:0.33 [[ 9.97666919e-01 -5.53405810e-02 -3.99767324e-02 5.65787217e+01] [ 5.53356503e-02 9.98467051e-01 -1.23069165e-03 8.38831920e-01] [ 3.99835572e-02 -9.84318137e-04 9.99199853e-01 3.25474190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.525336194999994 meters 0.02906851616642993 Centerline is valid? [True, True] Translation: X:56.61, Y:0.83, Z:0.32 [[ 9.97537141e-01 -5.70333397e-02 -4.08270902e-02 5.66100709e+01] [ 5.70296765e-02 9.98371694e-01 -1.25533105e-03 8.34661444e-01] [ 4.08322070e-02 -1.07611641e-03 9.99165438e-01 3.21848166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.555336194999995 meters 0.02920259013322481 Centerline is valid? [True, True] Translation: X:56.64, Y:0.83, Z:0.33 [[ 9.97394251e-01 -5.98082990e-02 -4.03444681e-02 5.66419231e+01] [ 5.98070922e-02 9.98209186e-01 -1.23792764e-03 8.33798222e-01] [ 4.03462571e-02 -1.17818342e-03 9.99185064e-01 3.26849659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.585336195 meters 0.0313291827519462 Centerline is valid? [True, True] Translation: X:56.67, Y:0.83, Z:0.32 [[ 9.97360281e-01 -6.02686135e-02 -4.04989367e-02 5.66736950e+01] [ 6.02678435e-02 9.98181470e-01 -1.24101793e-03 8.29870974e-01] [ 4.05000826e-02 -1.20304159e-03 9.99178811e-01 3.23001496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.615336195 meters 0.03579306544327608 Centerline is valid? [True, True] Translation: X:56.71, Y:0.82, Z:0.32 [[ 9.97414112e-01 -5.92428577e-02 -4.06862742e-02 5.67053786e+01] [ 5.92412854e-02 9.98242916e-01 -1.24535863e-03 8.22137423e-01] [ 4.06885636e-02 -1.16816891e-03 9.99171195e-01 3.16157859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645336195 meters 0.03192973730205765 Centerline is valid? [True, True] Translation: X:56.74, Y:0.82, Z:0.32 [[ 9.97435099e-01 -5.91003995e-02 -4.03777912e-02 5.67373697e+01] [ 5.90988042e-02 9.98251375e-01 -1.23417899e-03 8.22443954e-01] [ 4.03801261e-02 -1.15526573e-03 9.99183722e-01 3.19377051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67533619499999 meters 0.02719889272344354 Centerline is valid? [True, True] Translation: X:56.77, Y:0.83, Z:0.33 [[ 9.97591075e-01 -5.66319033e-02 -4.00608840e-02 5.67682076e+01] [ 5.66283878e-02 9.98394576e-01 -1.22340916e-03 8.32286309e-01] [ 4.00658533e-02 -1.04812121e-03 9.99196492e-01 3.28411055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.705336194999994 meters 0.028828596734673383 Centerline is valid? [True, True] Translation: X:56.80, Y:0.83, Z:0.32 [[ 9.97606857e-01 -5.51035565e-02 -4.17631110e-02 5.67996932e+01] [ 5.50984579e-02 9.98480113e-01 -1.27399495e-03 8.31568727e-01] [ 4.17698375e-02 -1.03013692e-03 9.99126728e-01 3.21440418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.735336194999995 meters 0.027287990911129153 Centerline is valid? [True, True] Translation: X:56.83, Y:0.83, Z:0.32 [[ 9.97607744e-01 -5.35873557e-02 -4.36713201e-02 5.68313249e+01] [ 5.35803973e-02 9.98562652e-01 -1.33068334e-03 8.33416822e-01] [ 4.36798570e-02 -1.01242668e-03 9.99045067e-01 3.17656300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.765336194999996 meters 0.026592149297695197 Centerline is valid? [True, True] Translation: X:56.86, Y:0.84, Z:0.32 [[ 9.97723146e-01 -5.15516447e-02 -4.34850873e-02 5.68613528e+01] [ 5.15428419e-02 9.98669906e-01 -1.32435863e-03 8.36078211e-01] [ 4.34955210e-02 -9.20001719e-04 9.99053198e-01 3.15559647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.795336195 meters 0.02448340092006757 Centerline is valid? [True, True] Translation: X:56.89, Y:0.84, Z:0.32 [[ 9.97778697e-01 -5.13131025e-02 -4.24810250e-02 5.68925742e+01] [ 5.13045239e-02 9.98682219e-01 -1.29286249e-03 8.42502752e-01] [ 4.24913851e-02 -8.89478112e-04 9.99096437e-01 3.21879667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825336195 meters 0.027622002955822587 Centerline is valid? [True, True] Translation: X:56.92, Y:0.84, Z:0.32 [[ 9.97717577e-01 -5.27814442e-02 -4.21159883e-02 5.69240728e+01] [ 5.27743782e-02 9.98605641e-01 -1.28034840e-03 8.41526053e-01] [ 4.21248421e-02 -9.45218994e-04 9.99111908e-01 3.19366965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.855336195 meters 0.02614240687318261 Centerline is valid? [True, True] Translation: X:56.96, Y:0.84, Z:0.32 [[ 9.97633233e-01 -5.39846965e-02 -4.25861974e-02 5.69559013e+01] [ 5.39786496e-02 9.98541253e-01 -1.29271334e-03 8.42879230e-01] [ 4.25938616e-02 -1.00909164e-03 9.99091960e-01 3.22551923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.885336194999994 meters 0.02996264463673958 Centerline is valid? [True, True] Translation: X:56.99, Y:0.84, Z:0.32 [[ 9.97479266e-01 -5.76056951e-02 -4.14330532e-02 5.69868253e+01] [ 5.76031368e-02 9.98338770e-01 -1.25658547e-03 8.36873812e-01] [ 4.14366099e-02 -1.13325588e-03 9.99140492e-01 3.21955165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.915336194999995 meters 0.031391683680569014 Centerline is valid? [True, True] Translation: X:57.02, Y:0.84, Z:0.32 [[ 9.97356738e-01 -6.00456703e-02 -4.09152182e-02 5.70192081e+01] [ 6.00452959e-02 9.98194884e-01 -1.23915817e-03 8.35175492e-01] [ 4.09157676e-02 -1.22088363e-03 9.99161853e-01 3.23750025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.945336194999996 meters 0.03639400135188065 Centerline is valid? [True, True] Translation: X:57.05, Y:0.83, Z:0.32 [[ 9.97182494e-01 -6.24007883e-02 -4.16318941e-02 5.70507786e+01] [ 6.24024972e-02 9.98050270e-01 -1.25975181e-03 8.32785872e-01] [ 4.16293326e-02 -1.34173171e-03 9.99132223e-01 3.22740930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.975336195 meters 0.03627190254743121 Centerline is valid? [True, True] Translation: X:57.08, Y:0.83, Z:0.32 [[ 9.96695094e-01 -6.79407038e-02 -4.45303383e-02 5.70813174e+01] [ 6.79481999e-02 9.97687941e-01 -1.34702310e-03 8.26615241e-01] [ 4.45188993e-02 -1.68318502e-03 9.99007124e-01 3.19945227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.005336195 meters 0.03966778540943655 Centerline is valid? [True, True] Translation: X:57.11, Y:0.82, Z:0.32 [[ 9.96626865e-01 -6.87883583e-02 -4.47554879e-02 5.71121792e+01] [ 6.87969258e-02 9.97629770e-01 -1.35066315e-03 8.21737264e-01] [ 4.47423170e-02 -1.73293280e-03 9.98997058e-01 3.16180514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.035336195 meters 0.04072880230122948 Centerline is valid? [True, True] Translation: X:57.14, Y:0.82, Z:0.31 [[ 9.96464647e-01 -6.93645303e-02 -4.74000908e-02 5.71437669e+01] [ 6.93748678e-02 9.97589638e-01 -1.42897400e-03 8.20723133e-01] [ 4.73849595e-02 -1.86445295e-03 9.98874962e-01 3.12767432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06533619499999 meters 0.0411622296597918 Centerline is valid? [True, True] Translation: X:57.18, Y:0.82, Z:0.31 [[ 9.96439198e-01 -6.82669690e-02 -4.94827780e-02 5.71755106e+01] [ 6.82769960e-02 9.97665291e-01 -1.48961632e-03 8.24870558e-01] [ 4.94689417e-02 -1.89422335e-03 9.98773866e-01 3.12334221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.095336194999994 meters 0.041493295564574116 Centerline is valid? [True, True] Translation: X:57.21, Y:0.82, Z:0.31 [[ 9.96475236e-01 -6.69979806e-02 -5.04814276e-02 5.72071579e+01] [ 6.70068871e-02 9.97751358e-01 -1.51783555e-03 8.24281879e-01] [ 5.04696048e-02 -1.87011778e-03 9.98723847e-01 3.08681298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.125336194999996 meters 0.034653189105569235 Centerline is valid? [True, True] Translation: X:57.24, Y:0.83, Z:0.31 [[ 9.96704308e-01 -6.39970732e-02 -4.98487489e-02 5.72374445e+01] [ 6.40020209e-02 9.97948644e-01 -1.49858231e-03 8.28963056e-01] [ 4.98423963e-02 -1.69677723e-03 9.98755654e-01 3.13717733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.155336195 meters 0.035968616762624785 Centerline is valid? [True, True] Translation: X:57.27, Y:0.83, Z:0.31 [[ 9.96850416e-01 -6.23291325e-02 -4.90339409e-02 5.72684994e+01] [ 6.23319518e-02 9.98054386e-01 -1.47310216e-03 8.26584965e-01] [ 4.90303570e-02 -1.58791874e-03 9.98796027e-01 3.11027189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.185336195 meters 0.02908091244058829 Centerline is valid? [True, True] Translation: X:57.30, Y:0.84, Z:0.32 [[ 9.97177623e-01 -5.83800152e-02 -4.72076495e-02 5.72984679e+01] [ 5.83782184e-02 9.98293530e-01 -1.41795727e-03 8.37019829e-01] [ 4.72098714e-02 -1.34194321e-03 9.98884091e-01 3.22434943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.215336195 meters 0.029432281432875455 Centerline is valid? [True, True] Translation: X:57.33, Y:0.84, Z:0.32 [[ 9.97256696e-01 -5.71492981e-02 -4.70429661e-02 5.73287845e+01] [ 5.71461696e-02 9.98364823e-01 -1.41250920e-03 8.37777929e-01] [ 4.70467664e-02 -1.27969106e-03 9.98891868e-01 3.21618991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24533619499999 meters 0.03230536830622324 Centerline is valid? [True, True] Translation: X:57.36, Y:0.83, Z:0.31 [[ 9.97290515e-01 -5.56812671e-02 -4.80752108e-02 5.73594129e+01] [ 5.56763248e-02 9.98447828e-01 -1.44293935e-03 8.34784649e-01] [ 4.80809345e-02 -1.23762133e-03 9.98842676e-01 3.13355109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.275336194999994 meters 0.031026640105687033 Centerline is valid? [True, True] Translation: X:57.39, Y:0.84, Z:0.32 [[ 9.97370228e-01 -5.53625020e-02 -4.67720283e-02 5.73887232e+01] [ 5.53574336e-02 9.98465614e-01 -1.40465030e-03 8.35116608e-01] [ 4.67780269e-02 -1.18822306e-03 9.98904602e-01 3.15499517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.305336194999995 meters 0.0272552963526138 Centerline is valid? [True, True] Translation: X:57.42, Y:0.83, Z:0.32 [[ 9.97477233e-01 -5.56176709e-02 -4.41117321e-02 5.74197526e+01] [ 5.56134074e-02 9.98451498e-01 -1.32479881e-03 8.34589985e-01] [ 4.41171072e-02 -1.13174708e-03 9.99025725e-01 3.22882574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.335336195 meters 0.03019508657172034 Centerline is valid? [True, True] Translation: X:57.45, Y:0.83, Z:0.32 [[ 9.97438534e-01 -5.59208368e-02 -4.46007880e-02 5.74498679e+01] [ 5.59168021e-02 9.98434534e-01 -1.33902448e-03 8.31334277e-01] [ 4.46058463e-02 -1.15833882e-03 9.99003992e-01 3.18560783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.365336195 meters 0.031144639295552102 Centerline is valid? [True, True] Translation: X:57.48, Y:0.83, Z:0.31 [[ 9.97132216e-01 -5.79118594e-02 -4.87191919e-02 5.74799216e+01] [ 5.79094332e-02 9.98320769e-01 -1.46247459e-03 8.30567497e-01] [ 4.87220757e-02 -1.36302026e-03 9.98811444e-01 3.14787697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.395336195 meters 0.03165241768670231 Centerline is valid? [True, True] Translation: X:57.51, Y:0.83, Z:0.31 [[ 9.96963914e-01 -5.95355584e-02 -5.01843825e-02 5.75104002e+01] [ 5.95350413e-02 9.98225080e-01 -1.50643949e-03 8.28854274e-01] [ 5.01849959e-02 -1.48586347e-03 9.98738834e-01 3.13413069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42533619499999 meters 0.0362601883044654 Centerline is valid? [True, True] Translation: X:57.54, Y:0.82, Z:0.31 [[ 9.96676553e-01 -6.40747748e-02 -5.03018011e-02 5.75398853e+01] [ 6.40799921e-02 9.97943622e-01 -1.51062617e-03 8.19373183e-01] [ 5.02951546e-02 -1.71773332e-03 9.98732921e-01 3.10710451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.455336194999994 meters 0.03506557577476638 Centerline is valid? [True, True] Translation: X:57.57, Y:0.82, Z:0.32 [[ 9.96602068e-01 -6.62853551e-02 -4.88934566e-02 5.75707749e+01] [ 6.62930087e-02 9.97799121e-01 -1.46685403e-03 8.17430184e-01] [ 4.88830790e-02 -1.77942459e-03 9.98802923e-01 3.16123766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.485336194999995 meters 0.04090900264132781 Centerline is valid? [True, True] Translation: X:57.60, Y:0.81, Z:0.31 [[ 9.96501373e-01 -6.85877954e-02 -4.77569649e-02 5.76014214e+01] [ 6.85977679e-02 9.97643371e-01 -1.43203025e-03 8.06549394e-01] [ 4.77426393e-02 -1.84900109e-03 9.98857959e-01 3.11236804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.515336194999996 meters 0.04957977568637626 Centerline is valid? [True, True] Translation: X:57.63, Y:0.80, Z:0.31 [[ 9.96307582e-01 -7.10497748e-02 -4.81988814e-02 5.76318532e+01] [ 7.10628119e-02 9.97470796e-01 -1.44520191e-03 7.95503691e-01] [ 4.81796578e-02 -1.98528242e-03 9.98836713e-01 3.09288842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.545336195 meters 0.05022054743980516 Centerline is valid? [True, True] Translation: X:57.66, Y:0.79, Z:0.31 [[ 9.96088457e-01 -7.25987522e-02 -5.03707047e-02 5.76620184e+01] [ 7.26149530e-02 9.97358905e-01 -1.51071041e-03 7.91181685e-01] [ 5.03473466e-02 -2.15286515e-03 9.98729448e-01 3.05365582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.575336195 meters 0.04882346869813029 Centerline is valid? [True, True] Translation: X:57.69, Y:0.79, Z:0.30 [[ 9.95940404e-01 -7.29696580e-02 -5.27080791e-02 5.76927997e+01] [ 7.29879204e-02 9.97331572e-01 -1.58087481e-03 7.85438108e-01] [ 5.26827872e-02 -2.27259598e-03 9.98608712e-01 3.00464553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60533619499999 meters 0.04604684889843793 Centerline is valid? [True, True] Translation: X:57.72, Y:0.79, Z:0.30 [[ 9.95856958e-01 -7.30169052e-02 -5.41982574e-02 5.77238342e+01] [ 7.30363196e-02 9.97327958e-01 -1.62503192e-03 7.87028503e-01] [ 5.41720921e-02 -2.34014191e-03 9.98528872e-01 3.02079128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.635336194999994 meters 0.04571280273782042 Centerline is valid? [True, True] Translation: X:57.75, Y:0.79, Z:0.30 [[ 9.95924505e-01 -7.05810796e-02 -5.61488329e-02 5.77523623e+01] [ 7.05979737e-02 9.97503427e-01 -1.68510635e-03 7.86018693e-01] [ 5.61275898e-02 -2.28575512e-03 9.98420988e-01 2.99398212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.665336194999995 meters 0.039952053869439334 Centerline is valid? [True, True] Translation: X:57.78, Y:0.79, Z:0.31 [[ 9.96118116e-01 -6.83085220e-02 -5.55215742e-02 5.77818021e+01] [ 6.83214404e-02 9.97661967e-01 -1.66763911e-03 7.91874754e-01] [ 5.55056769e-02 -2.13214839e-03 9.98456095e-01 3.06749020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.695336194999996 meters 0.0381294201052419 Centerline is valid? [True, True] Translation: X:57.81, Y:0.79, Z:0.31 [[ 9.96637796e-01 -6.21310932e-02 -5.34119014e-02 5.78111928e+01] [ 6.21341606e-02 9.98066516e-01 -1.60471419e-03 7.94321956e-01] [ 5.34083330e-02 -1.71938484e-03 9.98571276e-01 3.07916134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.725336195 meters 0.03554886861417048 Centerline is valid? [True, True] Translation: X:57.84, Y:0.80, Z:0.31 [[ 9.96835692e-01 -5.95732408e-02 -5.26272855e-02 5.78411056e+01] [ 5.95726280e-02 9.98222721e-01 -1.58170179e-03 7.97630448e-01] [ 5.26279792e-02 -1.55844890e-03 9.98612972e-01 3.09284936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.755336195 meters 0.03550697766621469 Centerline is valid? [True, True] Translation: X:57.87, Y:0.80, Z:0.31 [[ 9.97085433e-01 -5.71156114e-02 -5.05810794e-02 5.78706744e+01] [ 5.71118485e-02 9.98366628e-01 -1.52088759e-03 7.96788143e-01] [ 5.05853281e-02 -1.37232409e-03 9.98718800e-01 3.06634533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785336195 meters 0.030889280330805124 Centerline is valid? [True, True] Translation: X:57.90, Y:0.80, Z:0.31 [[ 9.97442615e-01 -5.34229592e-02 -4.74785934e-02 5.79001259e+01] [ 5.34154170e-02 9.98571356e-01 -1.42850795e-03 8.02336300e-01] [ 4.74870785e-02 -1.11123416e-03 9.98871234e-01 3.14716328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81533619499999 meters 0.030136373165809426 Centerline is valid? [True, True] Translation: X:57.93, Y:0.81, Z:0.32 [[ 9.97544108e-01 -5.22121913e-02 -4.66866128e-02 5.79280832e+01] [ 5.22034834e-02 9.98635478e-01 -1.40659822e-03 8.08374961e-01] [ 4.66963495e-02 -1.03406005e-03 9.98908595e-01 3.18082142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.845336194999994 meters 0.026797692958674464 Centerline is valid? [True, True] Translation: X:57.96, Y:0.81, Z:0.33 [[ 9.97543955e-01 -5.29431049e-02 -4.58594156e-02 5.79565512e+01] [ 5.29351635e-02 9.98596986e-01 -1.38843183e-03 8.12959850e-01] [ 4.58685821e-02 -1.04255389e-03 9.98946939e-01 3.25557228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.875336194999996 meters 0.02769864950496979 Centerline is valid? [True, True] Translation: X:57.99, Y:0.81, Z:0.33 [[ 9.97496766e-01 -5.38937571e-02 -4.57784385e-02 5.79854419e+01] [ 5.38867304e-02 9.98546089e-01 -1.38845028e-03 8.12635090e-01] [ 4.57867096e-02 -1.08187572e-03 9.98950653e-01 3.25073629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.905336195 meters 0.031032433572539965 Centerline is valid? [True, True] Translation: X:58.02, Y:0.81, Z:0.32 [[ 9.97180721e-01 -5.66784805e-02 -4.91747901e-02 5.80152376e+01] [ 5.66737214e-02 9.98391638e-01 -1.49220114e-03 8.13426201e-01] [ 4.91802749e-02 -1.29892414e-03 9.98789074e-01 3.22081126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.935336195 meters 0.0325053954563115 Centerline is valid? [True, True] Translation: X:58.05, Y:0.82, Z:0.32 [[ 9.97006864e-01 -5.82545966e-02 -5.08302535e-02 5.80455710e+01] [ 5.82515556e-02 9.98300745e-01 -1.54251547e-03 8.15526429e-01] [ 5.08337385e-02 -1.42304283e-03 9.98706116e-01 3.22167659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965336195 meters 0.03677575008503343 Centerline is valid? [True, True] Translation: X:58.08, Y:0.81, Z:0.32 [[ 9.96793661e-01 -6.11194736e-02 -5.16411446e-02 5.80762450e+01] [ 6.11201743e-02 9.98129184e-01 -1.56712310e-03 8.11448611e-01] [ 5.16403153e-02 -1.59421739e-03 9.98664476e-01 3.18439687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99533619499999 meters 0.03820643279349907 Centerline is valid? [True, True] Translation: X:58.11, Y:0.80, Z:0.31 [[ 9.96694818e-01 -6.20072165e-02 -5.24837627e-02 5.81064640e+01] [ 6.20091143e-02 9.98074311e-01 -1.59376835e-03 8.04359993e-01] [ 5.24815204e-02 -1.66597099e-03 9.98620506e-01 3.12330189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.025336194999994 meters 0.038147811968365086 Centerline is valid? [True, True] Translation: X:58.13, Y:0.79, Z:0.30 [[ 9.96631044e-01 -6.27618191e-02 -5.27969383e-02 5.81349623e+01] [ 6.27646467e-02 9.98027064e-01 -1.60612823e-03 7.94493641e-01] [ 5.27935768e-02 -1.71306393e-03 9.98603977e-01 3.03762629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.055336194999995 meters 0.0351149054090331 Centerline is valid? [True, True] Translation: X:58.17, Y:0.79, Z:0.31 [[ 9.96876056e-01 -6.08907729e-02 -5.03035092e-02 5.81654067e+01] [ 6.08909280e-02 9.98143252e-01 -1.53082636e-03 7.92884135e-01] [ 5.03033214e-02 -1.53698321e-03 9.98732804e-01 3.09305075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.085336195 meters 0.0351149054090331 Centerline is valid? [True, True] Translation: X:58.19, Y:0.79, Z:0.31 [[ 9.96864876e-01 -6.10737332e-02 -5.03032643e-02 5.81927925e+01] [ 6.10737164e-02 9.98132072e-01 -1.53884834e-03 7.93863679e-01] [ 5.03032847e-02 -1.53818344e-03 9.98732804e-01 3.09488697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.115336195 meters 0.03484593000160625 Centerline is valid? [True, True] Translation: X:58.22, Y:0.80, Z:0.31 [[ 9.96994225e-01 -5.96710864e-02 -4.94153517e-02 5.82215214e+01] [ 5.96692403e-02 9.98217056e-01 -1.51386491e-03 7.98096654e-01] [ 4.94175809e-02 -1.43926192e-03 9.98777168e-01 3.14523994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145336195 meters 0.03158024960968834 Centerline is valid? [True, True] Translation: X:58.25, Y:0.81, Z:0.33 [[ 9.97255476e-01 -5.57654218e-02 -4.87004353e-02 5.82506938e+01] [ 5.57589220e-02 9.98443145e-01 -1.49306133e-03 8.11962171e-01] [ 4.87078769e-02 -1.22652018e-03 9.98812314e-01 3.25405649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17533619499999 meters 0.02840869211054963 Centerline is valid? [True, True] Translation: X:58.28, Y:0.82, Z:0.33 [[ 9.97346239e-01 -5.33064866e-02 -4.95872797e-02 5.82788658e+01] [ 5.32963589e-02 9.98577571e-01 -1.52738539e-03 8.17200137e-01] [ 4.95981648e-02 -1.11948937e-03 9.98768626e-01 3.27962140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.205336194999994 meters 0.0301630310490056 Centerline is valid? [True, True] Translation: X:58.31, Y:0.82, Z:0.31 [[ 9.97607074e-01 -4.65585408e-02 -5.11119120e-02 5.83072199e+01] [ 4.65385312e-02 9.98915243e-01 -1.58217725e-03 8.17289012e-01] [ 5.11301318e-02 -8.00282092e-04 9.98691679e-01 3.13620225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.235336194999995 meters 0.027003892145385157 Centerline is valid? [True, True] Translation: X:58.34, Y:0.82, Z:0.32 [[ 9.97786524e-01 -4.32187113e-02 -5.05390442e-02 5.83358230e+01] [ 4.31947150e-02 9.99065443e-01 -1.56743125e-03 8.21126643e-01] [ 5.05595550e-02 -6.19057830e-04 9.98720856e-01 3.18119962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.265336194999996 meters 0.02226716808651525 Centerline is valid? [True, True] Translation: X:58.37, Y:0.82, Z:0.32 [[ 9.98035769e-01 -3.96075504e-02 -4.85370569e-02 5.83656301e+01] [ 3.95810864e-02 9.99215226e-01 -1.50662983e-03 8.18222875e-01] [ 4.85586402e-02 -4.17478977e-04 9.98820246e-01 3.22469606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.295336195 meters 0.020641980431326874 Centerline is valid? [True, True] Translation: X:58.39, Y:0.82, Z:0.33 [[ 9.98103594e-01 -3.93887441e-02 -4.73047786e-02 5.83947779e+01] [ 3.93630503e-02 9.99223886e-01 -1.47494663e-03 8.17831742e-01] [ 4.73261610e-02 -3.89910848e-04 9.98879413e-01 3.27403476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325336195 meters 0.020609532194866657 Centerline is valid? [True, True] Translation: X:58.42, Y:0.82, Z:0.33 [[ 9.98169270e-01 -3.95256648e-02 -4.57802481e-02 5.84230959e+01] [ 3.95016112e-02 9.99218483e-01 -1.43032041e-03 8.18620346e-01] [ 4.58010044e-02 -3.80691679e-04 9.98950511e-01 3.30985534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35533619499999 meters 0.020494256773399392 Centerline is valid? [True, True] Translation: X:58.45, Y:0.82, Z:0.34 [[ 9.98147868e-01 -4.01901342e-02 -4.56682234e-02 5.84504250e+01] [ 4.01665358e-02 9.99191969e-01 -1.43463527e-03 8.22680791e-01] [ 4.56889803e-02 -4.02356191e-04 9.98955632e-01 3.37206684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.385336194999994 meters 0.021389092762185532 Centerline is valid? [True, True] Translation: X:58.48, Y:0.82, Z:0.34 [[ 9.98076587e-01 -4.12090575e-02 -4.63134895e-02 5.84782833e+01] [ 4.11857140e-02 9.99150444e-01 -1.45856572e-03 8.21623057e-01] [ 4.63342497e-02 -4.51693836e-04 9.98925890e-01 3.35074094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.415336194999995 meters 0.022796572420764633 Centerline is valid? [True, True] Translation: X:58.51, Y:0.81, Z:0.33 [[ 9.97941008e-01 -4.37194796e-02 -4.69292184e-02 5.85068716e+01] [ 4.36981538e-02 9.99043682e-01 -1.48074570e-03 8.09785921e-01] [ 4.69490766e-02 -5.73023347e-04 9.98897120e-01 3.27946031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.445336194999996 meters 0.021406148103618038 Centerline is valid? [True, True] Translation: X:58.54, Y:0.81, Z:0.33 [[ 9.97952261e-01 -4.43519532e-02 -4.60889171e-02 5.85356714e+01] [ 4.43317320e-02 9.99015797e-01 -1.46129833e-03 8.07112033e-01] [ 4.61083677e-02 -5.84895548e-04 9.98936272e-01 3.31218118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.475336195 meters 0.02341949933904528 Centerline is valid? [True, True] Translation: X:58.56, Y:0.81, Z:0.33 [[ 9.98045469e-01 -4.39228045e-02 -4.44525544e-02 5.85637638e+01] [ 4.39034382e-02 9.99034781e-01 -1.41233274e-03 8.08346316e-01] [ 4.44716815e-02 -5.42047683e-04 9.99010498e-01 3.30281820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.505336195 meters 0.02175028080652556 Centerline is valid? [True, True] Translation: X:58.59, Y:0.81, Z:0.34 [[ 9.98090124e-01 -4.40184404e-02 -4.33414477e-02 5.85925131e+01] [ 4.39998463e-02 9.99030580e-01 -1.38334034e-03 8.10802140e-01] [ 4.33603241e-02 -5.26318712e-04 9.99059360e-01 3.35665930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.535336195 meters 0.021288628324522763 Centerline is valid? [True, True] Translation: X:58.62, Y:0.81, Z:0.34 [[ 9.98151206e-01 -4.43217398e-02 -4.15903067e-02 5.86200408e+01] [ 4.43047525e-02 9.99017176e-01 -1.33053184e-03 8.09982467e-01] [ 4.16084023e-02 -5.14576279e-04 9.99133863e-01 3.38112798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56533619499999 meters 0.020226392877223224 Centerline is valid? [True, True] Translation: X:58.65, Y:0.81, Z:0.34 [[ 9.98142437e-01 -4.54373575e-02 -4.05847488e-02 5.86486281e+01] [ 4.54218574e-02 9.98967043e-01 -1.30441284e-03 8.10781001e-01] [ 4.06020956e-02 -5.41444862e-04 9.99175248e-01 3.41830946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.595336194999994 meters 0.021414009278183554 Centerline is valid? [True, True] Translation: X:58.68, Y:0.81, Z:0.34 [[ 9.98084642e-01 -4.58754639e-02 -4.15028918e-02 5.86764368e+01] [ 4.58594996e-02 9.98947005e-01 -1.33713612e-03 8.10327461e-01] [ 4.15205312e-02 -5.68726827e-04 9.99137489e-01 3.38582571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.625336194999996 meters 0.021590279610249893 Centerline is valid? [True, True] Translation: X:58.71, Y:0.81, Z:0.34 [[ 9.98061128e-01 -4.63408536e-02 -4.15512964e-02 5.87054681e+01] [ 4.63250002e-02 9.98925516e-01 -1.34482180e-03 8.10874657e-01] [ 4.15689704e-02 -5.82649451e-04 9.99135467e-01 3.36690250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.655336195 meters 0.02088038163820046 Centerline is valid? [True, True] Translation: X:58.73, Y:0.81, Z:0.34 [[ 9.98050312e-01 -4.66251723e-02 -4.14929847e-02 5.87342748e+01] [ 4.66093227e-02 9.98912283e-01 -1.34982555e-03 8.13402408e-01] [ 4.15107879e-02 -5.86766098e-04 9.99137883e-01 3.38575489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.685336195 meters 0.021798698433662216 Centerline is valid? [True, True] Translation: X:58.76, Y:0.81, Z:0.34 [[ 9.97938021e-01 -4.92011874e-02 -4.12183153e-02 5.87625533e+01] [ 4.91874598e-02 9.98788655e-01 -1.34773881e-03 8.14770162e-01] [ 4.12346960e-02 -6.82464428e-04 9.99149255e-01 3.40183460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.715336195 meters 0.023321596532756905 Centerline is valid? [True, True] Translation: X:58.79, Y:0.81, Z:0.34 [[ 9.97828376e-01 -5.19545365e-02 -4.04877579e-02 5.87919292e+01] [ 5.19434789e-02 9.98649146e-01 -1.32574226e-03 8.13676897e-01] [ 4.05019432e-02 -7.80211750e-04 9.99179155e-01 3.41955636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74533619499999 meters 0.025570940792290088 Centerline is valid? [True, True] Translation: X:58.82, Y:0.81, Z:0.34 [[ 9.97676248e-01 -5.50683457e-02 -4.01195833e-02 5.88217330e+01] [ 5.50599812e-02 9.98482184e-01 -1.31423539e-03 8.12406904e-01] [ 4.01310619e-02 -8.97802063e-04 9.99194021e-01 3.42952715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.775336194999994 meters 0.03298861326892889 Centerline is valid? [True, True] Translation: X:58.85, Y:0.81, Z:0.34 [[ 9.97184040e-01 -6.15907695e-02 -4.27851311e-02 5.88524102e+01] [ 6.15872607e-02 9.98100719e-01 -1.40137068e-03 8.05961906e-01] [ 4.27901816e-02 -1.23759454e-03 9.99083314e-01 3.37273779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.805336194999995 meters 0.03806589569834871 Centerline is valid? [True, True] Translation: X:58.88, Y:0.80, Z:0.34 [[ 9.96869297e-01 -6.65596452e-02 -4.26780721e-02 5.88824168e+01] [ 6.65606883e-02 9.97781399e-01 -1.39812580e-03 7.99815775e-01] [ 4.26764452e-02 -1.44693317e-03 9.99087898e-01 3.36070926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.835336195 meters 0.03717269812356074 Centerline is valid? [True, True] Translation: X:58.91, Y:0.80, Z:0.34 [[ 9.96788399e-01 -6.79756280e-02 -4.23343997e-02 5.89147382e+01] [ 6.79779953e-02 9.97685859e-01 -1.38529858e-03 8.01224808e-01] [ 4.23305985e-02 -1.49695806e-03 9.99102537e-01 3.38307168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.865336195 meters 0.03884248954194385 Centerline is valid? [True, True] Translation: X:58.95, Y:0.80, Z:0.34 [[ 9.96742773e-01 -6.85850373e-02 -4.24256688e-02 5.89457931e+01] [ 6.85880306e-02 9.97644104e-01 -1.38676116e-03 7.98945753e-01] [ 4.24208295e-02 -1.52764891e-03 9.99098664e-01 3.36009353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.895336195 meters 0.03679258984239165 Centerline is valid? [True, True] Translation: X:58.98, Y:0.80, Z:0.34 [[ 9.96694418e-01 -6.87150053e-02 -4.33414869e-02 5.89776842e+01] [ 6.87183367e-02 9.97635098e-01 -1.41477472e-03 8.00422141e-01] [ 4.33362048e-02 -1.56825683e-03 9.99059315e-01 3.36288528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92533619499999 meters 0.03401633408499094 Centerline is valid? [True, True] Translation: X:59.01, Y:0.81, Z:0.34 [[ 9.96762377e-01 -6.74036589e-02 -4.38350323e-02 5.90094696e+01] [ 6.74058920e-02 9.97724613e-01 -1.42882110e-03 8.06872377e-01] [ 4.38315984e-02 -1.53054434e-03 9.99037761e-01 3.39108651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.955336194999994 meters 0.03772842066851667 Centerline is valid? [True, True] Translation: X:59.04, Y:0.81, Z:0.34 [[ 9.96816263e-01 -6.57980524e-02 -4.50328157e-02 5.90406123e+01] [ 6.57988508e-02 9.97831830e-01 -1.46618474e-03 8.08702505e-01] [ 4.50316490e-02 -1.50159073e-03 9.98984432e-01 3.36683750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.985336194999995 meters 0.03890886887168934 Centerline is valid? [True, True] Translation: X:59.07, Y:0.81, Z:0.33 [[ 9.96785295e-01 -6.46221818e-02 -4.73608437e-02 5.90712625e+01] [ 6.46217778e-02 9.97908638e-01 -1.54126465e-03 8.07779202e-01] [ 4.73613949e-02 -1.52423198e-03 9.98876657e-01 3.28657477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.015336194999996 meters 0.03763608011397939 Centerline is valid? [True, True] Translation: X:59.10, Y:0.81, Z:0.32 [[ 9.96858157e-01 -6.20701202e-02 -4.92048204e-02 5.90997859e+01] [ 6.20665182e-02 9.98070728e-01 -1.60258932e-03 8.12376147e-01] [ 4.92093639e-02 -1.45641765e-03 9.98787424e-01 3.23553489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.045336195 meters 0.03420821261236149 Centerline is valid? [True, True] Translation: X:59.13, Y:0.81, Z:0.33 [[ 9.96909240e-01 -6.10427615e-02 -4.94545134e-02 5.91286747e+01] [ 6.10375148e-02 9.98134162e-01 -1.61771203e-03 8.14715124e-01] [ 4.94609889e-02 -1.40586852e-03 9.98775067e-01 3.25868568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.075336195 meters 0.03513424595174714 Centerline is valid? [True, True] Translation: X:59.16, Y:0.81, Z:0.32 [[ 9.97154788e-01 -5.80909720e-02 -4.80392301e-02 5.91573022e+01] [ 5.80824810e-02 9.98310547e-01 -1.57383736e-03 8.13791342e-01] [ 4.80494958e-02 -1.22087821e-03 9.98844210e-01 3.23008283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10533619499999 meters 0.03208133627032747 Centerline is valid? [True, True] Translation: X:59.19, Y:0.82, Z:0.33 [[ 9.97341372e-01 -5.66137809e-02 -4.58810243e-02 5.91857312e+01] [ 5.66044387e-02 9.98395551e-01 -1.50385507e-03 8.16214602e-01] [ 4.58925494e-02 -1.09721274e-03 9.98945779e-01 3.26296030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.135336194999994 meters 0.023697024546593823 Centerline is valid? [True, True] Translation: X:59.22, Y:0.83, Z:0.35 [[ 9.97771984e-01 -5.18704864e-02 -4.19585551e-02 5.92155250e+01] [ 5.18584329e-02 9.98653498e-01 -1.37638529e-03 8.32610708e-01] [ 4.19734516e-02 -8.02586239e-04 9.99118404e-01 3.45554872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.165336194999995 meters 0.02240842442339646 Centerline is valid? [True, True] Translation: X:59.25, Y:0.84, Z:0.35 [[ 9.97926556e-01 -4.93628167e-02 -4.13025443e-02 5.92455975e+01] [ 4.93489657e-02 9.98780678e-01 -1.35546410e-03 8.37455054e-01] [ 4.13190927e-02 -6.85584215e-04 9.99145766e-01 3.45782719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.195336194999996 meters 0.021964525702197864 Centerline is valid? [True, True] Translation: X:59.28, Y:0.84, Z:0.34 [[ 9.98061523e-01 -4.61009703e-02 -4.18078563e-02 5.92753089e+01] [ 4.60838799e-02 9.98936630e-01 -1.37296100e-03 8.38710932e-01] [ 4.18266939e-02 -5.56368686e-04 9.99124726e-01 3.41188303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.225336195 meters 0.023402584675100473 Centerline is valid? [True, True] Translation: X:59.30, Y:0.84, Z:0.33 [[ 9.98042794e-01 -4.56131057e-02 -4.27787987e-02 5.93026499e+01] [ 4.55946479e-02 9.98959032e-01 -1.40756966e-03 8.37412489e-01] [ 4.27984710e-02 -5.45669509e-04 9.99083577e-01 3.33121247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.255336195 meters 0.023493589487053965 Centerline is valid? [True, True] Translation: X:59.33, Y:0.84, Z:0.33 [[ 9.98001040e-01 -4.58346102e-02 -4.35099183e-02 5.93313674e+01] [ 4.58154504e-02 9.98948886e-01 -1.43796255e-03 8.39966437e-01] [ 4.35300929e-02 -5.58338385e-04 9.99051960e-01 3.32948702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285336195 meters 0.023868411991685753 Centerline is valid? [True, True] Translation: X:59.36, Y:0.85, Z:0.34 [[ 9.97841561e-01 -4.77959415e-02 -4.50307318e-02 5.93601820e+01] [ 4.77772724e-02 9.98856901e-01 -1.49138099e-03 8.46127788e-01] [ 4.50505392e-02 -6.63283600e-04 9.98984489e-01 3.35430062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31533619499999 meters 0.023509492654964322 Centerline is valid? [True, True] Translation: X:59.39, Y:0.85, Z:0.34 [[ 9.97711344e-01 -4.92173079e-02 -4.63651797e-02 5.93898739e+01] [ 4.91989888e-02 9.98787814e-01 -1.53688826e-03 8.48105025e-01] [ 4.63846180e-02 -7.47749108e-04 9.98923374e-01 3.36725133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.345336194999994 meters 0.025824289939019217 Centerline is valid? [True, True] Translation: X:59.42, Y:0.85, Z:0.33 [[ 9.97552900e-01 -5.06472199e-02 -4.81982427e-02 5.94188804e+01] [ 5.06290128e-02 9.98716249e-01 -1.59928826e-03 8.47019726e-01] [ 4.82173676e-02 -8.44854802e-04 9.98836509e-01 3.30262009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.375336194999996 meters 0.025124528266399715 Centerline is valid? [True, True] Translation: X:59.45, Y:0.85, Z:0.33 [[ 9.97532801e-01 -5.13216394e-02 -4.78999013e-02 5.94471076e+01] [ 5.13040475e-02 9.98681803e-01 -1.59743855e-03 8.50478866e-01] [ 4.79187429e-02 -8.63961461e-04 9.98850864e-01 3.32973724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.405336195 meters 0.02511588064777908 Centerline is valid? [True, True] Translation: X:59.48, Y:0.86, Z:0.34 [[ 9.97731452e-01 -5.12664584e-02 -4.36314027e-02 5.94775692e+01] [ 5.12517525e-02 9.98684703e-01 -1.45634533e-03 8.58815040e-01] [ 4.36486762e-02 -7.83144316e-04 9.99046635e-01 3.42726508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.435336195 meters 0.023288114084818547 Centerline is valid? [True, True] Translation: X:59.51, Y:0.86, Z:0.34 [[ 9.97771274e-01 -5.11125689e-02 -4.28951002e-02 5.95073554e+01] [ 5.10981935e-02 9.98692607e-01 -1.43221585e-03 8.61061846e-01] [ 4.29122237e-02 -7.62838294e-04 9.99078555e-01 3.42453812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465336195 meters 0.02426350088019633 Centerline is valid? [True, True] Translation: X:59.54, Y:0.86, Z:0.34 [[ 9.97770650e-01 -5.09297535e-02 -4.31264506e-02 5.95370352e+01] [ 5.09150302e-02 9.98701950e-01 -1.44044718e-03 8.62149792e-01] [ 4.31438319e-02 -7.58548616e-04 9.99068583e-01 3.39413762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49533619499999 meters 0.022499047569596076 Centerline is valid? [True, True] Translation: X:59.57, Y:0.87, Z:0.34 [[ 9.97824887e-01 -5.06217544e-02 -4.22247841e-02 5.95670854e+01] [ 5.06073611e-02 9.98717631e-01 -1.41040784e-03 8.68424601e-01] [ 4.22420336e-02 -7.29544855e-04 9.99107141e-01 3.42428462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.525336194999994 meters 0.021695931734049833 Centerline is valid? [True, True] Translation: X:59.60, Y:0.88, Z:0.35 [[ 9.97922440e-01 -5.08631278e-02 -3.95442270e-02 5.95978766e+01] [ 5.08507082e-02 9.98705393e-01 -1.32047764e-03 8.75577312e-01] [ 3.95601963e-02 -6.93117675e-04 9.99216949e-01 3.46883911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.555336194999995 meters 0.023002460891779247 Centerline is valid? [True, True] Translation: X:59.63, Y:0.88, Z:0.35 [[ 9.97937887e-01 -5.06720025e-02 -3.93995143e-02 5.96290330e+01] [ 5.06596323e-02 9.98715113e-01 -1.31291873e-03 8.78564469e-01] [ 3.94154186e-02 -6.85753561e-04 9.99222675e-01 3.45409354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.585336195 meters 0.0218977742988216 Centerline is valid? [True, True] Translation: X:59.66, Y:0.88, Z:0.35 [[ 9.97905216e-01 -5.06852122e-02 -4.02018617e-02 5.96603720e+01] [ 5.06723984e-02 9.98714432e-01 -1.33830356e-03 8.84168637e-01] [ 4.02180116e-02 -7.01624650e-04 9.99190682e-01 3.47783663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.615336195 meters 0.022994312424519735 Centerline is valid? [True, True] Translation: X:59.69, Y:0.89, Z:0.34 [[ 9.97852433e-01 -5.15597716e-02 -4.03993954e-02 5.96917606e+01] [ 5.15476028e-02 9.98669635e-01 -1.34352035e-03 8.87182598e-01] [ 4.04149210e-02 -7.41856929e-04 9.99182708e-01 3.44921048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645336195 meters 0.02611960682913651 Centerline is valid? [True, True] Translation: X:59.72, Y:0.89, Z:0.34 [[ 9.97763124e-01 -5.24162792e-02 -4.14883433e-02 5.97223729e+01] [ 5.24042128e-02 9.98625003e-01 -1.37908399e-03 8.89718385e-01] [ 4.15035834e-02 -7.98164815e-04 9.99138036e-01 3.40374979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67533619499999 meters 0.02600994793134288 Centerline is valid? [True, True] Translation: X:59.75, Y:0.89, Z:0.34 [[ 9.97644289e-01 -5.36778003e-02 -4.27149480e-02 5.97532244e+01] [ 5.36661869e-02 9.98557923e-01 -1.41936085e-03 8.93381997e-01] [ 4.27295380e-02 -8.76331143e-04 9.99086292e-01 3.41874686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.705336194999994 meters 0.028228576735789473 Centerline is valid? [True, True] Translation: X:59.78, Y:0.89, Z:0.34 [[ 9.97526478e-01 -5.52336470e-02 -4.34760894e-02 5.97836459e+01] [ 5.52231145e-02 9.98472995e-01 -1.44415161e-03 8.93247423e-01] [ 4.34894669e-02 -9.60305588e-04 9.99053424e-01 3.38814022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.735336194999995 meters 0.02991249940080744 Centerline is valid? [True, True] Translation: X:59.82, Y:0.89, Z:0.34 [[ 9.97361791e-01 -5.74943726e-02 -4.43153965e-02 5.98151488e+01] [ 5.74857004e-02 9.98345246e-01 -1.47110093e-03 8.94597837e-01] [ 4.43266454e-02 -1.08028174e-03 9.99016507e-01 3.38446655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.765336194999996 meters 0.02938634371612093 Centerline is valid? [True, True] Translation: X:59.85, Y:0.90, Z:0.34 [[ 9.97343806e-01 -5.81279137e-02 -4.38916610e-02 5.98472910e+01] [ 5.81201008e-02 9.98308538e-01 -1.45517257e-03 8.97955809e-01] [ 4.39020060e-02 -1.09968042e-03 9.99035237e-01 3.41968627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.795336195 meters 0.02976622002660525 Centerline is valid? [True, True] Translation: X:59.88, Y:0.90, Z:0.35 [[ 9.97360453e-01 -5.90580400e-02 -4.22406756e-02 5.98772185e+01] [ 5.90517219e-02 9.98253945e-01 -1.39839914e-03 9.02638027e-01] [ 4.22495078e-02 -1.09967663e-03 9.99106486e-01 3.45971223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825336195 meters 0.026080171467491312 Centerline is valid? [True, True] Translation: X:59.91, Y:0.91, Z:0.35 [[ 9.97411749e-01 -5.84051509e-02 -4.19361524e-02 5.99089824e+01] [ 5.83984315e-02 9.98292393e-01 -1.38630271e-03 9.10343613e-01] [ 4.19455091e-02 -1.06629091e-03 9.99119331e-01 3.51804478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85533619499999 meters 0.028188555470001556 Centerline is valid? [True, True] Translation: X:59.94, Y:0.91, Z:0.35 [[ 9.97544616e-01 -5.65142450e-02 -4.13627717e-02 5.99393531e+01] [ 5.65061138e-02 9.98401318e-01 -1.36661893e-03 9.11355056e-01] [ 4.13738792e-02 -9.73986121e-04 9.99143260e-01 3.46339538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.885336194999994 meters 0.0215594885228683 Centerline is valid? [True, True] Translation: X:59.97, Y:0.93, Z:0.35 [[ 9.97949950e-01 -4.95420849e-02 -4.05151777e-02 5.99691193e+01] [ 4.95285541e-02 9.98771811e-01 -1.33825929e-03 9.27811589e-01] [ 4.05317176e-02 -6.71142373e-04 9.99178027e-01 3.51792135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.915336194999995 meters 0.021480146658561034 Centerline is valid? [True, True] Translation: X:60.00, Y:0.94, Z:0.34 [[ 9.98190372e-01 -4.28203195e-02 -4.22184988e-02 5.99996411e+01] [ 4.27996554e-02 9.99082703e-01 -1.39362162e-03 9.40202226e-01] [ 4.22394472e-02 -4.15837519e-04 9.99107430e-01 3.42362531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.945336194999996 meters 0.021510240113922482 Centerline is valid? [True, True] Translation: X:60.03, Y:0.94, Z:0.34 [[ 9.98281270e-01 -4.05407295e-02 -4.23196837e-02 6.00277068e+01] [ 4.05178400e-02 9.99177836e-01 -1.39881936e-03 9.44994971e-01] [ 4.23415992e-02 -3.18287007e-04 9.99103142e-01 3.39708827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.975336195 meters 0.021510240113922482 Centerline is valid? [True, True] Translation: X:60.06, Y:0.95, Z:0.34 [[ 9.98273958e-01 -4.07206049e-02 -4.23194586e-02 6.00550548e+01] [ 4.06975890e-02 9.99170521e-01 -1.40561178e-03 9.46057719e-01] [ 4.23415929e-02 -3.19114298e-04 9.99103142e-01 3.39892478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.005336195 meters 0.019743935609868885 Centerline is valid? [True, True] Translation: X:60.08, Y:0.95, Z:0.34 [[ 9.98322007e-01 -3.92493407e-02 -4.25753298e-02 6.00832594e+01] [ 3.92244041e-02 9.99229416e-01 -1.42124348e-03 9.52525769e-01] [ 4.25983048e-02 -2.51133293e-04 9.99092249e-01 3.44374593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.035336195 meters 0.02025728014174813 Centerline is valid? [True, True] Translation: X:60.11, Y:0.96, Z:0.34 [[ 9.98302304e-01 -3.81049152e-02 -4.40513958e-02 6.01111566e+01] [ 3.80769576e-02 9.99273723e-01 -1.47386665e-03 9.61211683e-01] [ 4.40755639e-02 -2.05978665e-04 9.99028179e-01 3.44605200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06533619499999 meters 0.020391736474414588 Centerline is valid? [True, True] Translation: X:60.14, Y:0.96, Z:0.35 [[ 9.98278378e-01 -3.85026372e-02 -4.42473400e-02 6.01400293e+01] [ 3.84745271e-02 9.99258475e-01 -1.48705080e-03 9.64733220e-01] [ 4.42717849e-02 -2.17904819e-04 9.99019500e-01 3.45317059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.095336194999994 meters 0.020431673216018086 Centerline is valid? [True, True] Translation: X:60.17, Y:0.97, Z:0.35 [[ 9.98242595e-01 -3.94257278e-02 -4.42417593e-02 6.01675768e+01] [ 3.93981666e-02 9.99222472e-01 -1.49508348e-03 9.68510446e-01] [ 4.42663048e-02 -2.50588192e-04 9.99019735e-01 3.45682675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.125336194999996 meters 0.021892250110293447 Centerline is valid? [True, True] Translation: X:60.20, Y:0.97, Z:0.34 [[ 9.98167035e-01 -4.07716309e-02 -4.47241008e-02 6.01957568e+01] [ 4.07446584e-02 9.99168443e-01 -1.51489114e-03 9.68859148e-01] [ 4.47486747e-02 -3.10153808e-04 9.98998228e-01 3.41450569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.155336195 meters 0.022584840049162794 Centerline is valid? [True, True] Translation: X:60.22, Y:0.97, Z:0.34 [[ 9.97917579e-01 -4.53922105e-02 -4.58263318e-02 6.02249007e+01] [ 4.53686786e-02 9.98969103e-01 -1.55399603e-03 9.65637341e-01] [ 4.58496289e-02 -5.28320167e-04 9.98948213e-01 3.38166469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.185336195 meters 0.025819035396458436 Centerline is valid? [True, True] Translation: X:60.25, Y:0.96, Z:0.33 [[ 9.97741736e-01 -4.76056637e-02 -4.73827962e-02 6.02537496e+01] [ 4.75829214e-02 9.98865996e-01 -1.60843288e-03 9.62528083e-01] [ 4.74056344e-02 -6.49811253e-04 9.98875510e-01 3.30505327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.215336195 meters 0.03123027804014218 Centerline is valid? [True, True] Translation: X:60.28, Y:0.96, Z:0.32 [[ 9.97456293e-01 -4.97139188e-02 -5.10829760e-02 6.02832701e+01] [ 4.96902095e-02 9.98763172e-01 -1.73480546e-03 9.63419856e-01] [ 5.11060391e-02 -8.07931163e-04 9.98692906e-01 3.20073588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24533619499999 meters 0.028374857747174045 Centerline is valid? [True, True] Translation: X:60.31, Y:0.97, Z:0.33 [[ 9.97349336e-01 -4.99885311e-02 -5.28720055e-02 6.03124236e+01] [ 4.99634307e-02 9.98749431e-01 -1.79721900e-03 9.70220181e-01] [ 5.28957258e-02 -8.49211606e-04 9.98599680e-01 3.26569559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.275336194999994 meters 0.02637485282237737 Centerline is valid? [True, True] Translation: X:60.34, Y:0.98, Z:0.33 [[ 9.97248216e-01 -5.01136388e-02 -5.46316693e-02 6.03421566e+01] [ 5.00869529e-02 9.98743132e-01 -1.85841351e-03 9.75276319e-01] [ 5.46561364e-02 -8.83034287e-04 9.98504846e-01 3.30279147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.305336194999995 meters 0.029813304507326645 Centerline is valid? [True, True] Translation: X:60.37, Y:0.98, Z:0.32 [[ 9.97227823e-01 -4.77330715e-02 -5.70808411e-02 6.03704926e+01] [ 4.76999321e-02 9.98859819e-01 -1.94369564e-03 9.82649286e-01] [ 5.71085372e-02 -7.84444871e-04 9.98367668e-01 3.20177996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.335336195 meters 0.026713355751024487 Centerline is valid? [True, True] Translation: X:60.40, Y:0.99, Z:0.33 [[ 9.97482312e-01 -4.56853145e-02 -5.42391840e-02 6.04009605e+01] [ 4.56523476e-02 9.98955680e-01 -1.84728416e-03 9.88521320e-01] [ 5.42669347e-02 -6.33512811e-04 9.98526263e-01 3.25956587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.365336195 meters 0.025319070497296675 Centerline is valid? [True, True] Translation: X:60.43, Y:0.99, Z:0.32 [[ 9.97546945e-01 -4.50713078e-02 -5.35599563e-02 6.04293256e+01] [ 4.50378891e-02 9.98983601e-01 -1.83138069e-03 9.88083181e-01] [ 5.35880607e-02 -5.85339157e-04 9.98562956e-01 3.22664492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.395336195 meters 0.027525621051561203 Centerline is valid? [True, True] Translation: X:60.46, Y:0.99, Z:0.32 [[ 9.97542005e-01 -4.46233501e-02 -5.40250309e-02 6.04575163e+01] [ 4.45884843e-02 9.99003724e-01 -1.85112054e-03 9.87831923e-01] [ 5.40538102e-02 -5.62323741e-04 9.98537866e-01 3.15484676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42533619499999 meters 0.03093248508574156 Centerline is valid? [True, True] Translation: X:60.49, Y:1.00, Z:0.31 [[ 9.97365667e-01 -4.47269262e-02 -5.71071705e-02 6.04859813e+01] [ 4.46880796e-02 9.98999070e-01 -1.95774779e-03 9.95114068e-01] [ 5.71375742e-02 -5.99419346e-04 9.98366134e-01 3.08155854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.455336194999994 meters 0.02904587405390814 Centerline is valid? [True, True] Translation: X:60.51, Y:1.00, Z:0.31 [[ 9.97308314e-01 -4.58127346e-02 -5.72478815e-02 6.05143876e+01] [ 4.57750138e-02 9.98949831e-01 -1.97075528e-03 1.00069605e+00] [ 5.72780472e-02 -6.55071938e-04 9.98358050e-01 3.14484301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.485336194999995 meters 0.028022419837571196 Centerline is valid? [True, True] Translation: X:60.54, Y:1.00, Z:0.32 [[ 9.97273676e-01 -4.67260421e-02 -5.71129837e-02 6.05424906e+01] [ 4.66893969e-02 9.98907500e-01 -1.97656295e-03 1.00290297e+00] [ 5.71429447e-02 -6.95396563e-04 9.98365765e-01 3.16006514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.515336194999996 meters 0.029714815337674744 Centerline is valid? [True, True] Translation: X:60.57, Y:1.00, Z:0.31 [[ 9.97262732e-01 -4.71929998e-02 -5.69197997e-02 6.05708732e+01] [ 4.71571261e-02 9.98885533e-01 -1.97401202e-03 1.00079902e+00] [ 5.69495240e-02 -7.15565544e-04 9.98376802e-01 3.09784399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.545336195 meters 0.028261464249043532 Centerline is valid? [True, True] Translation: X:60.60, Y:1.00, Z:0.32 [[ 9.97317355e-01 -4.87586510e-02 -5.45956661e-02 6.06009662e+01] [ 4.87279399e-02 9.98810292e-01 -1.89433073e-03 1.00266196e+00] [ 5.46230783e-02 -7.71085428e-04 9.98506747e-01 3.15992871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.575336195 meters 0.02839368476801896 Centerline is valid? [True, True] Translation: X:60.63, Y:1.01, Z:0.32 [[ 9.97336048e-01 -4.91785187e-02 -5.38728284e-02 6.06289088e+01] [ 4.91490776e-02 9.98789699e-01 -1.87202304e-03 1.00815766e+00] [ 5.38996894e-02 -7.80763759e-04 9.98546050e-01 3.20149022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60533619499999 meters 0.027701777004063968 Centerline is valid? [True, True] Translation: X:60.66, Y:1.02, Z:0.32 [[ 9.97422691e-01 -4.76754425e-02 -5.36192926e-02 6.06572627e+01] [ 4.76436856e-02 9.98862642e-01 -1.87106871e-03 1.01898717e+00] [ 5.36475124e-02 -6.88374334e-04 9.98559698e-01 3.21635874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.635336194999994 meters 0.031018112120816326 Centerline is valid? [True, True] Translation: X:60.69, Y:1.02, Z:0.30 [[ 9.97403150e-01 -4.61464273e-02 -5.52943409e-02 6.06854362e+01] [ 4.61101161e-02 9.98934493e-01 -1.93298199e-03 1.01878374e+00] [ 5.53246246e-02 -6.21666150e-04 9.98468227e-01 3.02805569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.665336194999995 meters 0.027257535592941567 Centerline is valid? [True, True] Translation: X:60.71, Y:1.02, Z:0.31 [[ 9.97366681e-01 -4.61588531e-02 -5.59380363e-02 6.07140022e+01] [ 4.61212398e-02 9.98933919e-01 -1.96389066e-03 1.01955686e+00] [ 5.59690527e-02 -6.21212474e-04 9.98432311e-01 3.07102681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.695336194999996 meters 0.02878429748042558 Centerline is valid? [True, True] Translation: X:60.74, Y:1.02, Z:0.30 [[ 9.97280580e-01 -4.76491103e-02 -5.62228260e-02 6.07418186e+01] [ 4.76132536e-02 9.98863888e-01 -1.97788714e-03 1.01711217e+00] [ 5.62531951e-02 -7.04443240e-04 9.98416287e-01 3.01567142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.725336195 meters 0.03213392248672422 Centerline is valid? [True, True] Translation: X:60.77, Y:1.02, Z:0.31 [[ 9.97050697e-01 -5.18750409e-02 -5.65587173e-02 6.07707997e+01] [ 5.18454249e-02 9.98653135e-01 -1.99182742e-03 1.02037093e+00] [ 5.65858664e-02 -9.46357805e-04 9.98397288e-01 3.06824048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.755336195 meters 0.030659887645979544 Centerline is valid? [True, True] Translation: X:60.80, Y:1.03, Z:0.31 [[ 9.96894910e-01 -5.37344963e-02 -5.75599052e-02 6.07997447e+01] [ 5.37068035e-02 9.98554687e-01 -2.02908762e-03 1.02616068e+00] [ 5.75857451e-02 -1.06857140e-03 9.98339992e-01 3.11211450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785336195 meters 0.03712547519922957 Centerline is valid? [True, True] Translation: X:60.83, Y:1.02, Z:0.30 [[ 9.96673725e-01 -5.79806571e-02 -5.72689176e-02 6.08288352e+01] [ 5.79601289e-02 9.98316853e-01 -2.02080817e-03 1.02048622e+00] [ 5.72896934e-02 -1.30522744e-03 9.98356744e-01 3.01579696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81533619499999 meters 0.03111632449832841 Centerline is valid? [True, True] Translation: X:60.86, Y:1.02, Z:0.31 [[ 9.96583630e-01 -5.99455666e-02 -5.68119484e-02 6.08570725e+01] [ 5.99280621e-02 9.98200668e-01 -2.01329087e-03 1.02353196e+00] [ 5.68304127e-02 -1.39821725e-03 9.98382867e-01 3.14117286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.845336194999994 meters 0.03416356118819689 Centerline is valid? [True, True] Translation: X:60.89, Y:1.02, Z:0.31 [[ 9.96498411e-01 -6.22480890e-02 -5.58219645e-02 6.08858875e+01] [ 6.22346349e-02 9.98059580e-01 -1.98106189e-03 1.01843130e+00] [ 5.58369638e-02 -1.49993456e-03 9.98438773e-01 3.10114498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.875336194999996 meters 0.03471313224417748 Centerline is valid? [True, True] Translation: X:60.92, Y:1.02, Z:0.31 [[ 9.96562039e-01 -6.21616846e-02 -5.47725071e-02 6.09150222e+01] [ 6.21485563e-02 9.98065016e-01 -1.94460211e-03 1.01978302e+00] [ 5.47874029e-02 -1.46611560e-03 9.98496966e-01 3.11385148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.905336195 meters 0.035156316850071895 Centerline is valid? [True, True] Translation: X:60.94, Y:1.03, Z:0.31 [[ 9.96601794e-01 -6.08028973e-02 -5.55686304e-02 6.09439095e+01] [ 6.07872417e-02 9.98148795e-01 -1.97349693e-03 1.02806163e+00] [ 5.55857558e-02 -1.41107319e-03 9.98452920e-01 3.12938255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.935336195 meters 0.0349665934634492 Centerline is valid? [True, True] Translation: X:60.97, Y:1.03, Z:0.31 [[ 9.96617437e-01 -5.94844389e-02 -5.67034851e-02 6.09727715e+01] [ 5.94658733e-02 9.98228303e-01 -2.01617738e-03 1.03466004e+00] [ 5.67229549e-02 -1.36256472e-03 9.98389027e-01 3.12381610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965336195 meters 0.03156292735788865 Centerline is valid? [True, True] Translation: X:61.00, Y:1.05, Z:0.31 [[ 9.96790895e-01 -5.62129357e-02 -5.69913850e-02 6.10019829e+01] [ 5.61887558e-02 9.98418104e-01 -2.02789507e-03 1.04504760e+00] [ 5.70152246e-02 -1.18088768e-03 9.98372611e-01 3.13230403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99533619499999 meters 0.03246888619900716 Centerline is valid? [True, True] Translation: X:61.03, Y:1.05, Z:0.31 [[ 9.96774752e-01 -5.52900097e-02 -5.81644908e-02 6.10302001e+01] [ 5.52630722e-02 9.98469677e-01 -2.07279357e-03 1.04596896e+00] [ 5.81900851e-02 -1.14824016e-03 9.98304861e-01 3.05046338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.025336194999994 meters 0.03438929698817556 Centerline is valid? [True, True] Translation: X:61.06, Y:1.05, Z:0.30 [[ 9.96924909e-01 -5.33523183e-02 -5.73956149e-02 6.10598794e+01] [ 5.33227914e-02 9.98575230e-01 -2.04692597e-03 1.05137606e+00] [ 5.74230476e-02 -1.01986292e-03 9.98349415e-01 3.00371563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.055336194999995 meters 0.03353423630914928 Centerline is valid? [True, True] Translation: X:61.09, Y:1.06, Z:0.31 [[ 9.96913904e-01 -5.30458918e-02 -5.78688331e-02 6.10878810e+01] [ 5.30151802e-02 9.98591567e-01 -2.06691550e-03 1.05872394e+00] [ 5.78969701e-02 -1.00738982e-03 9.98322055e-01 3.05364961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.085336195 meters 0.03109291793017165 Centerline is valid? [True, True] Translation: X:61.12, Y:1.08, Z:0.32 [[ 9.96992368e-01 -5.26902686e-02 -5.68326777e-02 6.11157905e+01] [ 5.26598120e-02 9.98610437e-01 -2.03441989e-03 1.07585723e+00] [ 5.68608993e-02 -9.64497016e-04 9.98381644e-01 3.16148581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.115336195 meters 0.032727319473207554 Centerline is valid? [True, True] Translation: X:61.14, Y:1.08, Z:0.32 [[ 9.97085680e-01 -5.26842284e-02 -5.51771659e-02 6.11446918e+01] [ 5.26554182e-02 9.98610785e-01 -1.97681887e-03 1.08260981e+00] [ 5.52046601e-02 -9.34318961e-04 9.98474623e-01 3.19981691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145336195 meters 0.03205815026692872 Centerline is valid? [True, True] Translation: X:61.17, Y:1.09, Z:0.32 [[ 9.97037632e-01 -5.34067184e-02 -5.53505538e-02 6.11720481e+01] [ 5.33785954e-02 9.98572369e-01 -1.98742399e-03 1.08507713e+00] [ 5.53776754e-02 -9.72998302e-04 9.98465005e-01 3.15955559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17533619499999 meters 0.03179132347238532 Centerline is valid? [True, True] Translation: X:61.20, Y:1.08, Z:0.31 [[ 9.97027422e-01 -5.37466382e-02 -5.52052456e-02 6.12009000e+01] [ 5.37187131e-02 9.98554123e-01 -1.99070151e-03 1.08432649e+00] [ 5.52324191e-02 -9.80770760e-04 9.98473043e-01 3.13287755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.205336194999994 meters 0.03375291036122444 Centerline is valid? [True, True] Translation: X:61.23, Y:1.08, Z:0.30 [[ 9.97013076e-01 -5.51316442e-02 -5.40872235e-02 6.12286580e+01] [ 5.51066670e-02 9.98478561e-01 -1.95419840e-03 1.07656060e+00] [ 5.41126713e-02 -1.03220526e-03 9.98534303e-01 3.01173711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.235336194999995 meters 0.029328421821635274 Centerline is valid? [True, True] Translation: X:61.26, Y:1.08, Z:0.32 [[ 9.96969660e-01 -5.61112412e-02 -5.38797378e-02 6.12585692e+01] [ 5.60878631e-02 9.98423938e-01 -1.94708753e-03 1.08402599e+00] [ 5.39040735e-02 -1.08081217e-03 9.98545534e-01 3.15406169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.265336194999996 meters 0.0324818743089599 Centerline is valid? [True, True] Translation: X:61.29, Y:1.09, Z:0.31 [[ 9.96743035e-01 -5.78367463e-02 -5.61981523e-02 6.12884082e+01] [ 5.78140307e-02 9.98325304e-01 -2.03129317e-03 1.08771585e+00] [ 5.62215209e-02 -1.22436439e-03 9.98417569e-01 3.13466773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.295336195 meters 0.03287399308180876 Centerline is valid? [True, True] Translation: X:61.32, Y:1.09, Z:0.32 [[ 9.96757182e-01 -5.80489456e-02 -5.57264834e-02 6.13190302e+01] [ 5.80269371e-02 9.98312986e-01 -2.01430133e-03 1.09191022e+00] [ 5.57494001e-02 -1.22586783e-03 9.98444040e-01 3.16439340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325336195 meters 0.03491301056565839 Centerline is valid? [True, True] Translation: X:61.35, Y:1.09, Z:0.31 [[ 9.96768614e-01 -5.79417605e-02 -5.56334634e-02 6.13482523e+01] [ 5.79196272e-02 9.98319223e-01 -2.01150123e-03 1.09332821e+00] [ 5.56565058e-02 -1.21726816e-03 9.98449233e-01 3.11286385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35533619499999 meters 0.03413968882263796 Centerline is valid? [True, True] Translation: X:61.38, Y:1.10, Z:0.31 [[ 9.96875791e-01 -5.49615248e-02 -5.67264307e-02 6.13764575e+01] [ 5.49335971e-02 9.98487900e-01 -2.05273721e-03 1.10203172e+00] [ 5.67534762e-02 -1.06986285e-03 9.98387649e-01 3.07208636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.385336194999994 meters 0.029890766225269212 Centerline is valid? [True, True] Translation: X:61.41, Y:1.11, Z:0.31 [[ 9.97041475e-01 -4.95627892e-02 -5.87522559e-02 6.14055702e+01] [ 4.95233840e-02 9.98770699e-01 -2.12747221e-03 1.11457524e+00] [ 5.87854751e-02 -7.88432499e-04 9.98270327e-01 3.09505254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.415336194999995 meters 0.027934123920702585 Centerline is valid? [True, True] Translation: X:61.44, Y:1.12, Z:0.31 [[ 9.97258856e-01 -4.60490251e-02 -5.79159829e-02 6.14355308e+01] [ 4.60047688e-02 9.98939017e-01 -2.09794796e-03 1.12316021e+00] [ 5.79511435e-02 -5.72214219e-04 9.98319256e-01 3.14065197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.445336194999996 meters 0.029057958479438945 Centerline is valid? [True, True] Translation: X:61.46, Y:1.14, Z:0.32 [[ 9.97543706e-01 -4.25634011e-02 -5.56319212e-02 6.14639916e+01] [ 4.25170820e-02 9.99093705e-01 -2.01644323e-03 1.13689040e+00] [ 5.56673290e-02 -3.53816704e-04 9.98449309e-01 3.16895524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.475336195 meters 0.028526347845821642 Centerline is valid? [True, True] Translation: X:61.49, Y:1.14, Z:0.32 [[ 9.97618558e-01 -4.20489848e-02 -5.46726218e-02 6.14926254e+01] [ 4.20033513e-02 9.99115500e-01 -1.98398624e-03 1.14144470e+00] [ 5.47076884e-02 -3.17171848e-04 9.98502363e-01 3.19496439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.505336195 meters 0.026827253742310823 Centerline is valid? [True, True] Translation: X:61.52, Y:1.14, Z:0.32 [[ 9.97692959e-01 -4.22651882e-02 -5.31263902e-02 6.15216557e+01] [ 4.22220230e-02 9.99106379e-01 -1.93508493e-03 1.14059737e+00] [ 5.31607021e-02 -3.12483056e-04 9.98585921e-01 3.20362636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.535336195 meters 0.02497746836166157 Centerline is valid? [True, True] Translation: X:61.55, Y:1.13, Z:0.32 [[ 9.97708795e-01 -4.58417575e-02 -4.97563473e-02 6.15515855e+01] [ 4.58082445e-02 9.98948604e-01 -1.81426644e-03 1.13418646e+00] [ 4.97872028e-02 -4.69141341e-04 9.98759738e-01 3.21617502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56533619499999 meters 0.024798781234152054 Centerline is valid? [True, True] Translation: X:61.58, Y:1.14, Z:0.33 [[ 9.97480236e-01 -5.03813256e-02 -4.99489826e-02 6.15813786e+01] [ 5.03532049e-02 9.98729811e-01 -1.82195989e-03 1.13866385e+00] [ 4.99773307e-02 -6.97722376e-04 9.98750109e-01 3.31479030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.595336194999994 meters 0.02918731591706118 Centerline is valid? [True, True] Translation: X:61.61, Y:1.14, Z:0.33 [[ 9.97343436e-01 -5.24407488e-02 -5.05572793e-02 6.16112748e+01] [ 5.24145785e-02 9.98623708e-01 -1.84422875e-03 1.13923137e+00] [ 5.05844104e-02 -8.10609046e-04 9.98719460e-01 3.25160359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.625336194999996 meters 0.027997815163477373 Centerline is valid? [True, True] Translation: X:61.64, Y:1.14, Z:0.33 [[ 9.97145815e-01 -5.66302365e-02 -4.99323574e-02 6.16424037e+01] [ 5.66100051e-02 9.98394708e-01 -1.82043820e-03 1.13788393e+00] [ 4.99552933e-02 -1.01142868e-03 9.98750943e-01 3.29113501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.655336195 meters 0.029015832046220987 Centerline is valid? [True, True] Translation: X:61.68, Y:1.13, Z:0.33 [[ 9.97054711e-01 -5.86075229e-02 -4.94677881e-02 6.16751364e+01] [ 5.85902021e-02 9.98280493e-01 -1.80137229e-03 1.13451480e+00] [ 4.94883019e-02 -1.10226097e-03 9.98774095e-01 3.26016520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.685336195 meters 0.034531519343489483 Centerline is valid? [True, True] Translation: X:61.71, Y:1.13, Z:0.31 [[ 9.96914471e-01 -6.05227215e-02 -4.99853816e-02 6.17061418e+01] [ 6.05075067e-02 9.98166085e-01 -1.81891092e-03 1.12688197e+00] [ 5.00037981e-02 -1.21119220e-03 9.98748293e-01 3.14497842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.715336195 meters 0.030995558722302734 Centerline is valid? [True, True] Translation: X:61.74, Y:1.13, Z:0.32 [[ 9.96826954e-01 -6.12067631e-02 -5.08896481e-02 6.17384459e+01] [ 6.11919964e-02 9.98124300e-01 -1.84961394e-03 1.13229682e+00] [ 5.09074033e-02 -1.27029414e-03 9.98702570e-01 3.19921169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74533619499999 meters 0.033889138750028955 Centerline is valid? [True, True] Translation: X:61.77, Y:1.14, Z:0.32 [[ 9.97104270e-01 -5.87885258e-02 -4.82388223e-02 6.17675286e+01] [ 5.87724237e-02 9.98269867e-01 -1.75334304e-03 1.13713659e+00] [ 4.82584392e-02 -1.08684667e-03 9.98834291e-01 3.16802946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.775336194999994 meters 0.029054556610533022 Centerline is valid? [True, True] Translation: X:61.80, Y:1.15, Z:0.33 [[ 9.97250441e-01 -5.63693167e-02 -4.81046500e-02 6.17985778e+01] [ 5.63505352e-02 9.98409517e-01 -1.74756762e-03 1.15227184e+00] [ 4.81266496e-02 -9.67960190e-04 9.98840772e-01 3.30111749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.805336194999995 meters 0.02905499448409538 Centerline is valid? [True, True] Translation: X:61.83, Y:1.17, Z:0.33 [[ 9.97344494e-01 -5.30542009e-02 -4.98919958e-02 6.18302757e+01] [ 5.30299626e-02 9.98591281e-01 -1.81033300e-03 1.17020550e+00] [ 4.99177578e-02 -8.40245025e-04 9.98752978e-01 3.34244628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.835336195 meters 0.027948042486444138 Centerline is valid? [True, True] Translation: X:61.86, Y:1.17, Z:0.33 [[ 9.97230824e-01 -5.33068548e-02 -5.18561663e-02 6.18598676e+01] [ 5.32810295e-02 9.98577785e-01 -1.88128022e-03 1.17450329e+00] [ 5.18827008e-02 -8.86879299e-04 9.98652792e-01 3.29580580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.865336195 meters 0.035995016156258004 Centerline is valid? [True, True] Translation: X:61.89, Y:1.17, Z:0.31 [[ 9.97163986e-01 -5.30974967e-02 -5.33351762e-02 6.18905478e+01] [ 5.30699071e-02 9.98588926e-01 -1.93441104e-03 1.17139457e+00] [ 5.33626287e-02 -9.01567815e-04 9.98574793e-01 3.06423517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.895336195 meters 0.035995016156258004 Centerline is valid? [True, True] Translation: X:61.92, Y:1.17, Z:0.31 [[ 9.97163986e-01 -5.30974962e-02 -5.33351789e-02 6.19205644e+01] [ 5.30699106e-02 9.98588926e-01 -1.93433574e-03 1.17248314e+00] [ 5.33626274e-02 -9.01643240e-04 9.98574793e-01 3.06624698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92533619499999 meters 0.027774792556720846 Centerline is valid? [True, True] Translation: X:61.95, Y:1.18, Z:0.32 [[ 9.97073554e-01 -5.41233595e-02 -5.39906379e-02 6.19517224e+01] [ 5.40966537e-02 9.98533786e-01 -1.95701194e-03 1.18071582e+00] [ 5.40173962e-02 -9.69427998e-04 9.98539524e-01 3.22475789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.955336194999994 meters 0.03268266983471232 Centerline is valid? [True, True] Translation: X:61.98, Y:1.18, Z:0.31 [[ 9.97053556e-01 -5.44584417e-02 -5.40229949e-02 6.19820871e+01] [ 5.44323021e-02 9.98515547e-01 -1.95621001e-03 1.17845653e+00] [ 5.40493324e-02 -9.90149834e-04 9.98537776e-01 3.10420080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.985336194999995 meters 0.02663299768483841 Centerline is valid? [True, True] Translation: X:62.01, Y:1.19, Z:0.33 [[ 9.97111678e-01 -5.50669590e-02 -5.23061359e-02 6.20129441e+01] [ 5.50433593e-02 9.98482171e-01 -1.89271239e-03 1.19225325e+00] [ 5.23309700e-02 -9.91859805e-04 9.98629303e-01 3.30904358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.015336194999996 meters 0.029671968250210342 Centerline is valid? [True, True] Translation: X:62.04, Y:1.20, Z:0.33 [[ 9.97199597e-01 -5.62463579e-02 -4.92880333e-02 6.20427210e+01] [ 5.62268476e-02 9.98416427e-01 -1.78335227e-03 1.20005003e+00] [ 4.93102891e-02 -9.92952572e-04 9.98783014e-01 3.32636638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.045336195 meters 0.029400740826962143 Centerline is valid? [True, True] Translation: X:62.07, Y:1.20, Z:0.33 [[ 9.97208874e-01 -5.64120118e-02 -4.89095735e-02 6.20747264e+01] [ 5.63930919e-02 9.98407078e-01 -1.76775586e-03 1.20302303e+00] [ 4.89313871e-02 -9.95340241e-04 9.98801646e-01 3.32787935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.075336195 meters 0.03017303230154685 Centerline is valid? [True, True] Translation: X:62.11, Y:1.20, Z:0.33 [[ 9.97225908e-01 -5.63806790e-02 -4.85974080e-02 6.21074802e+01] [ 5.63620944e-02 9.98408853e-01 -1.75376370e-03 1.20376826e+00] [ 4.86189608e-02 -9.90153101e-04 9.98816908e-01 3.30398429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10533619499999 meters 0.034970770861001484 Centerline is valid? [True, True] Translation: X:62.14, Y:1.20, Z:0.31 [[ 9.97134577e-01 -5.70663031e-02 -4.96595626e-02 6.21386264e+01] [ 5.70478160e-02 9.98369841e-01 -1.79071370e-03 1.20036265e+00] [ 4.96807990e-02 -1.04738704e-03 9.98764597e-01 3.13779754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.135336194999994 meters 0.02711457355998354 Centerline is valid? [True, True] Translation: X:62.17, Y:1.23, Z:0.34 [[ 9.97212336e-01 -5.52570877e-02 -5.01419043e-02 6.21696459e+01] [ 5.52360639e-02 9.98471690e-01 -1.80594327e-03 1.22713847e+00] [ 5.01650631e-02 -9.68732527e-04 9.98740471e-01 3.38613716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.165336194999995 meters 0.02769196671032532 Centerline is valid? [True, True] Translation: X:62.20, Y:1.24, Z:0.34 [[ 9.97269232e-01 -5.41592284e-02 -5.02081356e-02 6.22003009e+01] [ 5.41368501e-02 9.98531891e-01 -1.80651670e-03 1.23513084e+00] [ 5.02322641e-02 -9.16526795e-04 9.98737142e-01 3.39979076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.195336194999996 meters 0.02518438605515405 Centerline is valid? [True, True] Translation: X:62.23, Y:1.24, Z:0.34 [[ 9.97338745e-01 -5.41419520e-02 -4.88270155e-02 6.22313405e+01] [ 5.41208260e-02 9.98532851e-01 -1.75560641e-03 1.24017166e+00] [ 4.88504309e-02 -8.91624114e-04 9.98805707e-01 3.38220543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.225336195 meters 0.0267719389168661 Centerline is valid? [True, True] Translation: X:62.26, Y:1.24, Z:0.33 [[ 9.97343209e-01 -5.46570585e-02 -4.81573363e-02 6.22626213e+01] [ 5.46371852e-02 9.98504775e-01 -1.72991853e-03 1.23598977e+00] [ 4.81798825e-02 -9.05858810e-04 9.98838264e-01 3.28880936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.255336195 meters 0.026237575771794443 Centerline is valid? [True, True] Translation: X:62.29, Y:1.23, Z:0.33 [[ 9.97286219e-01 -5.61176694e-02 -4.76550514e-02 6.22944989e+01] [ 5.60999764e-02 9.98423692e-01 -1.70973187e-03 1.23450979e+00] [ 4.76758785e-02 -9.68355226e-04 9.98862389e-01 3.27246689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285336195 meters 0.02877004446512187 Centerline is valid? [True, True] Translation: X:62.33, Y:1.24, Z:0.33 [[ 9.97172131e-01 -5.87293519e-02 -4.68892884e-02 6.23255810e+01] [ 5.87151865e-02 9.98273361e-01 -1.68055281e-03 1.23666823e+00] [ 4.69070252e-02 -1.07731289e-03 9.98898679e-01 3.27620280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31533619499999 meters 0.029797676942316224 Centerline is valid? [True, True] Translation: X:62.36, Y:1.25, Z:0.34 [[ 9.97109489e-01 -6.26347580e-02 -4.30064405e-02 6.23571013e+01] [ 6.26265474e-02 9.98035844e-01 -1.53951193e-03 1.24751154e+00] [ 4.30183961e-02 -1.15828293e-03 9.99073609e-01 3.43567683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.345336194999994 meters 0.03082037525737184 Centerline is valid? [True, True] Translation: X:62.39, Y:1.25, Z:0.35 [[ 9.97110955e-01 -6.39738736e-02 -4.09522435e-02 6.23878938e+01] [ 6.39677736e-02 9.97950896e-01 -1.46064285e-03 1.25032410e+00] [ 4.09617711e-02 -1.16320085e-03 9.99160037e-01 3.47839993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.375336194999996 meters 0.03283522992786032 Centerline is valid? [True, True] Translation: X:62.42, Y:1.25, Z:0.34 [[ 9.97164931e-01 -6.39962856e-02 -3.95799984e-02 6.24190978e+01] [ 6.39908322e-02 9.97949496e-01 -1.40594245e-03 1.24849277e+00] [ 3.95888145e-02 -1.13080053e-03 9.99215416e-01 3.42425801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.405336195 meters 0.02999900036464363 Centerline is valid? [True, True] Translation: X:62.45, Y:1.25, Z:0.34 [[ 9.97215722e-01 -6.26625591e-02 -4.04253410e-02 6.24524412e+01] [ 6.26560629e-02 9.98034156e-01 -1.42888764e-03 1.25481663e+00] [ 4.04354089e-02 -1.10798349e-03 9.99181540e-01 3.43981482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.435336195 meters 0.02757703788072413 Centerline is valid? [True, True] Translation: X:62.48, Y:1.27, Z:0.35 [[ 9.97284011e-01 -5.97764457e-02 -4.30276381e-02 6.24844540e+01] [ 5.97667119e-02 9.98211225e-01 -1.51374727e-03 1.27155795e+00] [ 4.30411577e-02 -1.06198450e-03 9.99072736e-01 3.46496290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465336195 meters 0.02662391449045062 Centerline is valid? [True, True] Translation: X:62.52, Y:1.28, Z:0.35 [[ 9.97391696e-01 -5.78459142e-02 -4.31700759e-02 6.25167856e+01] [ 5.78346086e-02 9.98325033e-01 -1.51183158e-03 1.27783283e+00] [ 4.31852207e-02 -9.88836177e-04 9.99066594e-01 3.45312941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49533619499999 meters 0.026561247156825105 Centerline is valid? [True, True] Translation: X:62.55, Y:1.29, Z:0.34 [[ 9.97383848e-01 -5.59068320e-02 -4.58245227e-02 6.25484488e+01] [ 5.58923697e-02 9.98435521e-01 -1.59783755e-03 1.28531436e+00] [ 4.58421612e-02 -9.67583798e-04 9.98948227e-01 3.40039190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.525336194999994 meters 0.024605810340675636 Centerline is valid? [True, True] Translation: X:62.58, Y:1.29, Z:0.34 [[ 9.97372448e-01 -5.54472564e-02 -4.66240528e-02 6.25805442e+01] [ 5.54319199e-02 9.98461150e-01 -1.62280540e-03 1.29137236e+00] [ 4.66422855e-02 -9.65919374e-04 9.98911189e-01 3.43732735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.555336194999995 meters 0.028998517645434544 Centerline is valid? [True, True] Translation: X:62.61, Y:1.29, Z:0.34 [[ 9.97326554e-01 -5.87849464e-02 -4.34059357e-02 6.26122486e+01] [ 5.87748791e-02 9.98270122e-01 -1.50919475e-03 1.28751253e+00] [ 4.34195666e-02 -1.04601861e-03 9.99056378e-01 3.39458725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.585336195 meters 0.028101986936296064 Centerline is valid? [True, True] Translation: X:62.64, Y:1.29, Z:0.35 [[ 9.97287246e-01 -6.04445454e-02 -4.20072179e-02 6.26441952e+01] [ 6.04366640e-02 9.98170968e-01 -1.45870679e-03 1.28977522e+00] [ 4.20185562e-02 -1.08402644e-03 9.99116242e-01 3.45267064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.615336195 meters 0.03201111941370191 Centerline is valid? [True, True] Translation: X:62.67, Y:1.29, Z:0.35 [[ 9.97164719e-01 -6.29743078e-02 -4.11917390e-02 6.26749049e+01] [ 6.29689295e-02 9.98014464e-01 -1.42929644e-03 1.29318584e+00] [ 4.11999603e-02 -1.16855572e-03 9.99150238e-01 3.48036578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645336195 meters 0.03077285469368993 Centerline is valid? [True, True] Translation: X:62.71, Y:1.30, Z:0.35 [[ 9.97084917e-01 -6.39301703e-02 -4.16485546e-02 6.27068065e+01] [ 6.39257375e-02 9.97953620e-01 -1.43957501e-03 1.29882854e+00] [ 4.16553581e-02 -1.22703604e-03 9.99131285e-01 3.50178443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67533619499999 meters 0.034499768042973646 Centerline is valid? [True, True] Translation: X:62.74, Y:1.30, Z:0.34 [[ 9.96699871e-01 -6.64859133e-02 -4.65724189e-02 6.27367240e+01] [ 6.64833056e-02 9.97786244e-01 -1.60669396e-03 1.30029026e+00] [ 4.65761414e-02 -1.49489670e-03 9.98913624e-01 3.37976528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.705336194999994 meters 0.034557804439555834 Centerline is valid? [True, True] Translation: X:62.77, Y:1.30, Z:0.34 [[ 9.96603324e-01 -6.71296637e-02 -4.77013915e-02 6.27686143e+01] [ 6.71277709e-02 9.97743034e-01 -1.64344714e-03 1.30393156e+00] [ 4.77040551e-02 -1.56422320e-03 9.98860289e-01 3.36591593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.735336194999995 meters 0.0361681772585055 Centerline is valid? [True, True] Translation: X:62.80, Y:1.32, Z:0.34 [[ 9.96700286e-01 -6.55324182e-02 -4.78961528e-02 6.28009157e+01] [ 6.55289990e-02 9.97849312e-01 -1.64327068e-03 1.31529721e+00] [ 4.79008306e-02 -1.50073859e-03 9.98850969e-01 3.38869288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.765336194999996 meters 0.035207294559246496 Centerline is valid? [True, True] Translation: X:62.83, Y:1.32, Z:0.34 [[ 9.96594497e-01 -6.55016442e-02 -5.00893558e-02 6.28323733e+01] [ 6.54979756e-02 9.97851226e-01 -1.71641059e-03 1.32047555e+00] [ 5.00941528e-02 -1.57018606e-03 9.98743265e-01 3.35313929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.795336195 meters 0.03620898838597782 Centerline is valid? [True, True] Translation: X:62.86, Y:1.33, Z:0.32 [[ 9.96276083e-01 -6.65060335e-02 -5.48717905e-02 6.28618442e+01] [ 6.65033085e-02 9.97784438e-01 -1.87764217e-03 1.32622232e+00] [ 5.48750932e-02 -1.77850563e-03 9.98491643e-01 3.24579891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825336195 meters 0.037428449691241004 Centerline is valid? [True, True] Translation: X:62.89, Y:1.33, Z:0.32 [[ 9.96258605e-01 -6.68680204e-02 -5.47490675e-02 6.28928881e+01] [ 6.68662577e-02 9.97760202e-01 -1.86605728e-03 1.32928753e+00] [ 5.47512203e-02 -1.80178964e-03 9.98498401e-01 3.22491770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85533619499999 meters 0.03484732896411021 Centerline is valid? [True, True] Translation: X:62.92, Y:1.34, Z:0.33 [[ 9.96371043e-01 -6.81372588e-02 -5.10103789e-02 6.29236562e+01] [ 6.81374533e-02 9.97674431e-01 -1.73720435e-03 1.33685218e+00] [ 5.10101191e-02 -1.74481720e-03 9.98696612e-01 3.30720024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.885336194999994 meters 0.03705681962788564 Centerline is valid? [True, True] Translation: X:62.95, Y:1.34, Z:0.33 [[ 9.96425531e-01 -6.87330101e-02 -4.91114518e-02 6.29544956e+01] [ 6.87339603e-02 9.97633625e-01 -1.67148528e-03 1.33780993e+00] [ 4.91101219e-02 -1.71011397e-03 9.98791906e-01 3.32078172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.915336194999995 meters 0.04063294472454192 Centerline is valid? [True, True] Translation: X:62.99, Y:1.34, Z:0.34 [[ 9.96507109e-01 -6.95518956e-02 -4.62181193e-02 6.29851157e+01] [ 6.95536595e-02 9.97576973e-01 -1.57196585e-03 1.34143061e+00] [ 4.62154648e-02 -1.64816419e-03 9.98930135e-01 3.36143431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.945336194999996 meters 0.034694910958764966 Centerline is valid? [True, True] Translation: X:63.02, Y:1.36, Z:0.34 [[ 9.96599764e-01 -6.88099891e-02 -4.53221302e-02 6.30157054e+01] [ 6.88109649e-02 9.97628527e-01 -1.54045601e-03 1.35606891e+00] [ 4.53206487e-02 -1.58344141e-03 9.98971237e-01 3.44598353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.975336195 meters 0.03466522549206006 Centerline is valid? [True, True] Translation: X:63.05, Y:1.36, Z:0.35 [[ 9.96703057e-01 -6.78765157e-02 -4.44499152e-02 6.30463867e+01] [ 6.78765711e-02 9.97692584e-01 -1.50979810e-03 1.36200189e+00] [ 4.44498306e-02 -1.51228745e-03 9.99010473e-01 3.47548452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.005336195 meters 0.03396677850536606 Centerline is valid? [True, True] Translation: X:63.08, Y:1.37, Z:0.35 [[ 9.96868568e-01 -6.76413413e-02 -4.09598251e-02 6.30765530e+01] [ 6.76411916e-02 9.97708742e-01 -1.39111202e-03 1.36785129e+00] [ 4.09600723e-02 -1.38381553e-03 9.99159826e-01 3.54471736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.035336195 meters 0.0341525086717511 Centerline is valid? [True, True] Translation: X:63.11, Y:1.37, Z:0.36 [[ 9.96982140e-01 -6.91773704e-02 -3.52293133e-02 6.31073263e+01] [ 6.91782240e-02 9.97603600e-01 -1.19616355e-03 1.36895580e+00] [ 3.52276372e-02 -1.24454763e-03 9.99378539e-01 3.58121426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06533619499999 meters 0.033258341509051444 Centerline is valid? [True, True] Translation: X:63.14, Y:1.37, Z:0.36 [[ 9.96845865e-01 -7.09330817e-02 -3.55923990e-02 6.31393196e+01] [ 7.09351207e-02 9.97480201e-01 -1.20707953e-03 1.37224424e+00] [ 3.55883352e-02 -1.32147888e-03 9.99365661e-01 3.60471094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.095336194999994 meters 0.037047728143085025 Centerline is valid? [True, True] Translation: X:63.17, Y:1.38, Z:0.36 [[ 9.96442896e-01 -7.52321375e-02 -3.79694691e-02 6.31706320e+01] [ 7.52376087e-02 9.97164804e-01 -1.28679667e-03 1.37666380e+00] [ 3.79586266e-02 -1.57451265e-03 9.99278071e-01 3.61213855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.125336194999996 meters 0.04159664966927132 Centerline is valid? [True, True] Translation: X:63.20, Y:1.37, Z:0.35 [[ 9.96038074e-01 -7.89118215e-02 -4.10009712e-02 6.32007727e+01] [ 7.89213921e-02 9.96879877e-01 -1.38766194e-03 1.37403265e+00] [ 4.09825460e-02 -1.85368959e-03 9.99158143e-01 3.50189220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.155336195 meters 0.04457056821834117 Centerline is valid? [True, True] Translation: X:63.23, Y:1.37, Z:0.34 [[ 9.95810782e-01 -8.05593739e-02 -4.32559168e-02 6.32310858e+01] [ 8.05715898e-02 9.96747750e-01 -1.46377357e-03 1.37193287e+00] [ 4.32331584e-02 -2.02755648e-03 9.99062952e-01 3.44154372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.185336195 meters 0.04401823287371682 Centerline is valid? [True, True] Translation: X:63.26, Y:1.38, Z:0.34 [[ 9.95457261e-01 -8.25031852e-02 -4.75191152e-02 6.32616095e+01] [ 8.25201605e-02 9.96588099e-01 -1.60776402e-03 1.38088664e+00] [ 4.74896303e-02 -2.32082464e-03 9.98869035e-01 3.42604553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.215336195 meters 0.046997101203126355 Centerline is valid? [True, True] Translation: X:63.29, Y:1.38, Z:0.34 [[ 9.95309840e-01 -8.33837836e-02 -4.90455597e-02 6.32913508e+01] [ 8.34030479e-02 9.96514518e-01 -1.65716862e-03 1.38237801e+00] [ 4.90127933e-02 -2.44115293e-03 9.98795168e-01 3.39753219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24533619499999 meters 0.04614609922012121 Centerline is valid? [True, True] Translation: X:63.32, Y:1.39, Z:0.34 [[ 9.95063854e-01 -8.55055482e-02 -5.03659354e-02 6.33219917e+01] [ 8.55286099e-02 9.96334263e-01 -1.70113040e-03 1.38881545e+00] [ 5.03267632e-02 -2.61499507e-03 9.98729382e-01 3.40142353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.275336194999994 meters 0.04888737808087812 Centerline is valid? [True, True] Translation: X:63.35, Y:1.39, Z:0.34 [[ 9.94992003e-01 -8.66436129e-02 -4.98377252e-02 6.33536768e+01] [ 8.66679391e-02 9.96235844e-01 -1.67677283e-03 1.38771890e+00] [ 4.97954098e-02 -2.65095737e-03 9.98755921e-01 3.38927691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.305336194999995 meters 0.052963152738312404 Centerline is valid? [True, True] Translation: X:63.39, Y:1.39, Z:0.34 [[ 9.94976791e-01 -8.69756620e-02 -4.95622895e-02 6.33854239e+01] [ 8.70004918e-02 9.96206885e-01 -1.66019690e-03 1.38644790e+00] [ 4.95186908e-02 -2.66008618e-03 9.98769655e-01 3.36541816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.335336195 meters 0.04761282538505594 Centerline is valid? [True, True] Translation: X:63.42, Y:1.40, Z:0.33 [[ 9.94905571e-01 -8.52497270e-02 -5.38088227e-02 6.34162607e+01] [ 8.52766142e-02 9.96355688e-01 -1.80029919e-03 1.40058383e+00] [ 5.37662016e-02 -2.79750652e-03 9.98549633e-01 3.34320133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.365336195 meters 0.047191901203650355 Centerline is valid? [True, True] Translation: X:63.45, Y:1.41, Z:0.32 [[ 9.95118630e-01 -8.09137756e-02 -5.64966636e-02 6.34469857e+01] [ 8.09365366e-02 9.96717467e-01 -1.88892697e-03 1.40552317e+00] [ 5.64640516e-02 -2.69293786e-03 9.98401001e-01 3.21625809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.395336195 meters 0.04237245013117629 Centerline is valid? [True, True] Translation: X:63.48, Y:1.42, Z:0.32 [[ 9.95492393e-01 -7.65033897e-02 -5.60546736e-02 6.34774376e+01] [ 7.65188285e-02 9.97066375e-01 -1.87398784e-03 1.41733516e+00] [ 5.60335967e-02 -2.42369732e-03 9.98425942e-01 3.23206146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42533619499999 meters 0.04146277571494471 Centerline is valid? [True, True] Translation: X:63.51, Y:1.42, Z:0.33 [[ 9.95755922e-01 -7.43508258e-02 -5.42411179e-02 6.35068886e+01] [ 7.43620675e-02 9.97229659e-01 -1.81374613e-03 1.42323338e+00] [ 5.42257050e-02 -2.22743322e-03 9.98526220e-01 3.26502051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.455336194999994 meters 0.03962563030503224 Centerline is valid? [True, True] Translation: X:63.54, Y:1.43, Z:0.33 [[ 9.96029640e-01 -7.27386506e-02 -5.13229466e-02 6.35367370e+01] [ 7.27465709e-02 9.97348982e-01 -1.71615836e-03 1.43087735e+00] [ 5.13117196e-02 -2.02422377e-03 9.98680635e-01 3.34003708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.485336194999995 meters 0.0383048137894906 Centerline is valid? [True, True] Translation: X:63.57, Y:1.44, Z:0.34 [[ 9.96297008e-01 -7.13384419e-02 -4.79906061e-02 6.35657161e+01] [ 7.13437186e-02 9.97450499e-01 -1.60512849e-03 1.43651129e+00] [ 4.79827614e-02 -1.82464358e-03 9.98846497e-01 3.35727294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.515336194999996 meters 0.03879790220065063 Centerline is valid? [True, True] Translation: X:63.60, Y:1.44, Z:0.33 [[ 9.96351089e-01 -7.18965883e-02 -4.59933391e-02 6.35974530e+01] [ 7.19020824e-02 9.97410511e-01 -1.53706541e-03 1.43870379e+00] [ 4.59847496e-02 -1.77556006e-03 9.98940564e-01 3.34444479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.545336195 meters 0.038915381540627174 Centerline is valid? [True, True] Translation: X:63.63, Y:1.44, Z:0.34 [[ 9.96435063e-01 -7.23357742e-02 -4.34131395e-02 6.36285925e+01] [ 7.23411257e-02 9.97378895e-01 -1.44979938e-03 1.44406291e+00] [ 4.34042214e-02 -1.69592445e-03 9.99056153e-01 3.40629034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.575336195 meters 0.036770716833292826 Centerline is valid? [True, True] Translation: X:63.66, Y:1.45, Z:0.35 [[ 9.96443560e-01 -7.29679706e-02 -4.21415143e-02 6.36603300e+01] [ 7.29738217e-02 9.97332872e-01 -1.40149205e-03 1.45366319e+00] [ 4.21313815e-02 -1.67871962e-03 9.99110669e-01 3.46480635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60533619499999 meters 0.039107314292061934 Centerline is valid? [True, True] Translation: X:63.69, Y:1.45, Z:0.34 [[ 9.96359301e-01 -7.30948490e-02 -4.38780856e-02 6.36920319e+01] [ 7.31016090e-02 9.97323440e-01 -1.45262045e-03 1.45300157e+00] [ 4.38668223e-02 -1.76022676e-03 9.99035837e-01 3.39052412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.635336194999994 meters 0.03872305141276163 Centerline is valid? [True, True] Translation: X:63.72, Y:1.46, Z:0.34 [[ 9.96409619e-01 -7.24015614e-02 -4.38849048e-02 6.37237998e+01] [ 7.24079515e-02 9.97374051e-01 -1.44603669e-03 1.45858964e+00] [ 4.38743606e-02 -1.73677119e-03 9.99035547e-01 3.41352830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.665336194999995 meters 0.038181019538417946 Centerline is valid? [True, True] Translation: X:63.76, Y:1.47, Z:0.35 [[ 9.96312650e-01 -7.36166620e-02 -4.40646274e-02 6.37553969e+01] [ 7.36245811e-02 9.97284980e-01 -1.44537423e-03 1.46682862e+00] [ 4.40513947e-02 -1.80419511e-03 9.99027637e-01 3.47556562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.695336194999996 meters 0.040739444881551234 Centerline is valid? [True, True] Translation: X:63.79, Y:1.47, Z:0.35 [[ 9.96304671e-01 -7.47265845e-02 -4.23431160e-02 6.37866539e+01] [ 7.47351566e-02 9.97202459e-01 -1.38270885e-03 1.46651499e+00] [ 4.23279845e-02 -1.78692012e-03 9.99102171e-01 3.49566797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.725336195 meters 0.04388293066777517 Centerline is valid? [True, True] Translation: X:63.82, Y:1.47, Z:0.36 [[ 9.96381539e-01 -7.69466823e-02 -3.60976023e-02 6.38161209e+01] [ 7.69543766e-02 9.97033919e-01 -1.17825069e-03 1.46673732e+00] [ 3.60811964e-02 -1.60388124e-03 9.99347575e-01 3.57879269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.755336195 meters 0.03728675274678145 Centerline is valid? [True, True] Translation: X:63.85, Y:1.48, Z:0.37 [[ 9.96397877e-01 -7.76710764e-02 -3.40363631e-02 6.38480048e+01] [ 7.76784879e-02 9.96977847e-01 -1.10652515e-03 1.47762877e+00] [ 3.40194451e-02 -1.54135392e-03 9.99419983e-01 3.66247156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.785336195 meters 0.03728675274678145 Centerline is valid? [True, True] Translation: X:63.88, Y:1.48, Z:0.37 [[ 9.96412492e-01 -7.74832782e-02 -3.40365658e-02 6.38807682e+01] [ 7.74907936e-02 9.96992461e-01 -1.10027037e-03 1.47857983e+00] [ 3.40194520e-02 -1.54119735e-03 9.99419983e-01 3.66465512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81533619499999 meters 0.04307828749303885 Centerline is valid? [True, True] Translation: X:63.91, Y:1.48, Z:0.36 [[ 9.96320213e-01 -7.89027213e-02 -3.34722826e-02 6.39125989e+01] [ 7.89109661e-02 9.96881086e-01 -1.07671006e-03 1.47504895e+00] [ 3.34528408e-02 -1.56858216e-03 9.99439066e-01 3.61927553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.845336194999994 meters 0.04450019673297445 Centerline is valid? [True, True] Translation: X:63.94, Y:1.47, Z:0.36 [[ 9.96266376e-01 -7.90829641e-02 -3.46293546e-02 6.39435371e+01] [ 7.90920107e-02 9.96866701e-01 -1.11069433e-03 1.47473841e+00] [ 3.46086875e-02 -1.63235787e-03 9.99399607e-01 3.57592411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.875336194999996 meters 0.04034375396589085 Centerline is valid? [True, True] Translation: X:63.98, Y:1.49, Z:0.36 [[ 9.96226683e-01 -7.82990599e-02 -3.74386502e-02 6.39751215e+01] [ 7.83092789e-02 9.96928396e-01 -1.19563716e-03 1.48555039e+00] [ 3.74172708e-02 -1.74066806e-03 9.99298213e-01 3.57018706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.905336195 meters 0.04240268055800684 Centerline is valid? [True, True] Translation: X:64.01, Y:1.49, Z:0.36 [[ 9.96089695e-01 -7.86095178e-02 -4.03219842e-02 6.40053933e+01] [ 7.86216890e-02 9.96903694e-01 -1.28625607e-03 1.48895805e+00] [ 4.02982469e-02 -1.88895608e-03 9.99185910e-01 3.55642296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.935336195 meters 0.04660650924764642 Centerline is valid? [True, True] Translation: X:64.04, Y:1.49, Z:0.35 [[ 9.96038333e-01 -7.87509776e-02 -4.13028094e-02 6.40371774e+01] [ 7.87640845e-02 9.96892420e-01 -1.31238510e-03 1.48620235e+00] [ 4.12778092e-02 -1.94599210e-03 9.99145813e-01 3.52370524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965336195 meters 0.043780612014989714 Centerline is valid? [True, True] Translation: X:64.07, Y:1.49, Z:0.36 [[ 9.96105666e-01 -7.80191034e-02 -4.10672711e-02 6.40695644e+01] [ 7.80317035e-02 9.96950032e-01 -1.29849513e-03 1.49466632e+00] [ 4.10433247e-02 -1.91111077e-03 9.99155540e-01 3.57180333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99533619499999 meters 0.04014928740687953 Centerline is valid? [True, True] Translation: X:64.10, Y:1.50, Z:0.36 [[ 9.96326159e-01 -7.61727770e-02 -3.91393980e-02 6.41005168e+01] [ 7.61828512e-02 9.97093098e-01 -1.23616170e-03 1.49696067e+00] [ 3.91197854e-02 -1.75013069e-03 9.99232996e-01 3.55512846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.025336195 meters 0.04026182473364649 Centerline is valid? [True, True] Translation: X:64.13, Y:1.50, Z:0.36 [[ 9.96560156e-01 -7.40539729e-02 -3.72003433e-02 6.41302671e+01] [ 7.40615989e-02 9.97252977e-01 -1.17489142e-03 1.49760064e+00] [ 3.71851585e-02 -1.58426693e-03 9.99307137e-01 3.55322551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.055336195 meters 0.03855073118306347 Centerline is valid? [True, True] Translation: X:64.16, Y:1.51, Z:0.37 [[ 9.96990543e-01 -6.99650994e-02 -3.33877604e-02 6.41596980e+01] [ 6.99689488e-02 9.97548612e-01 -1.05450660e-03 1.50726065e+00] [ 3.33796927e-02 -1.28477339e-03 9.99441917e-01 3.65144842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.085336195 meters 0.03215777447636587 Centerline is valid? [True, True] Translation: X:64.19, Y:1.52, Z:0.38 [[ 9.97165902e-01 -6.82971927e-02 -3.15540283e-02 6.41904234e+01] [ 6.82998058e-02 9.97664344e-01 -9.96273207e-04 1.52106846e+00] [ 3.15483716e-02 -1.16168433e-03 9.99501551e-01 3.76302919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.115336195 meters 0.034807492292352984 Centerline is valid? [True, True] Translation: X:64.22, Y:1.52, Z:0.38 [[ 9.97263067e-01 -6.79796304e-02 -2.90713749e-02 6.42206772e+01] [ 6.79817225e-02 9.97686145e-01 -9.17546111e-04 1.52237949e+00] [ 2.90664824e-02 -1.06128729e-03 9.99576917e-01 3.78077680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.145336195 meters 0.03698587038108627 Centerline is valid? [True, True] Translation: X:64.25, Y:1.51, Z:0.36 [[ 9.97045499e-01 -6.97685741e-02 -3.21343769e-02 6.42510887e+01] [ 6.97720621e-02 9.97562445e-01 -1.01414112e-03 1.51290295e+00] [ 3.21268027e-02 -1.23093690e-03 9.99483043e-01 3.61851225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.175336195 meters 0.038834445962520746 Centerline is valid? [True, True] Translation: X:64.28, Y:1.51, Z:0.36 [[ 9.96921368e-01 -7.08494694e-02 -3.35877844e-02 6.42815311e+01] [ 7.08539035e-02 9.97486141e-01 -1.05971481e-03 1.50763587e+00] [ 3.35784296e-02 -1.32337329e-03 9.99435209e-01 3.55012147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.205336195 meters 0.03831642321823826 Centerline is valid? [True, True] Translation: X:64.31, Y:1.51, Z:0.36 [[ 9.96756715e-01 -7.16970497e-02 -3.65456317e-02 6.43130015e+01] [ 7.17028981e-02 9.97425369e-01 -1.15228745e-03 1.51046012e+00] [ 3.65341557e-02 -1.47187745e-03 9.99331321e-01 3.56474774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.235336195 meters 0.03986487699710234 Centerline is valid? [True, True] Translation: X:64.34, Y:1.51, Z:0.36 [[ 9.96713485e-01 -7.15719997e-02 -3.79430916e-02 6.43437275e+01] [ 7.15782477e-02 9.97434271e-01 -1.19549108e-03 1.51149310e+00] [ 3.79313036e-02 -1.52433793e-03 9.99279187e-01 3.57360842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26533619499999 meters 0.03728538365049193 Centerline is valid? [True, True] Translation: X:64.37, Y:1.52, Z:0.37 [[ 9.96961622e-01 -6.83626264e-02 -3.73373099e-02 6.43746862e+01] [ 6.83664469e-02 9.97659584e-01 -1.17591883e-03 1.52080944e+00] [ 3.73303140e-02 -1.38027327e-03 9.99302028e-01 3.66615642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29533619499999 meters 0.029253673479990812 Centerline is valid? [True, True] Translation: X:64.40, Y:1.53, Z:0.38 [[ 9.97185482e-01 -6.54520399e-02 -3.65669970e-02 6.44046594e+01] [ 6.54537520e-02 9.97854939e-01 -1.15158604e-03 1.53441401e+00] [ 3.65639322e-02 -1.24510227e-03 9.99330540e-01 3.76213690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32533619499999 meters 0.02663710015675759 Centerline is valid? [True, True] Translation: X:64.43, Y:1.54, Z:0.37 [[ 9.97666774e-01 -5.90586191e-02 -3.42503536e-02 6.44344254e+01] [ 5.90563548e-02 9.98254068e-01 -1.07863883e-03 1.53706950e+00] [ 3.42542577e-02 -9.46578918e-04 9.99412702e-01 3.72564079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35533619499999 meters 0.025242369630849526 Centerline is valid? [True, True] Translation: X:64.46, Y:1.54, Z:0.37 [[ 9.97884661e-01 -5.61980003e-02 -3.26800844e-02 6.44646754e+01] [ 5.61944052e-02 9.98419316e-01 -1.02918893e-03 1.53853307e+00] [ 3.26862659e-02 -8.09426064e-04 9.99465333e-01 3.70934877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.385336195 meters 0.020336504200611942 Centerline is valid? [True, True] Translation: X:64.50, Y:1.55, Z:0.38 [[ 9.98218994e-01 -5.08860026e-02 -3.11360686e-02 6.44952448e+01] [ 5.08801648e-02 9.98704285e-01 -9.80274903e-04 1.54930738e+00] [ 3.11456073e-02 -6.05679271e-04 9.99514674e-01 3.75413114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.415336195 meters 0.019277148945482797 Centerline is valid? [True, True] Translation: X:64.52, Y:1.56, Z:0.38 [[ 9.98525584e-01 -4.51436172e-02 -3.01448485e-02 6.45244293e+01] [ 4.51355228e-02 9.98980422e-01 -9.49269019e-04 1.56192313e+00] [ 3.01569669e-02 -4.12734094e-04 9.99545090e-01 3.77944479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.445336195 meters 0.016379362358760568 Centerline is valid? [True, True] Translation: X:64.56, Y:1.57, Z:0.38 [[ 9.98690319e-01 -4.17018993e-02 -2.96411658e-02 6.45564479e+01] [ 4.16926699e-02 9.99130050e-01 -9.29616479e-04 1.57150061e+00] [ 2.96541463e-02 -3.07420364e-04 9.99560172e-01 3.82874911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.475336195 meters 0.01685947943638751 Centerline is valid? [True, True] Translation: X:64.59, Y:1.58, Z:0.38 [[ 9.98846503e-01 -3.77554326e-02 -2.96680205e-02 6.45874314e+01] [ 3.77445857e-02 9.99286990e-01 -9.25750512e-04 1.57735416e+00] [ 2.96818190e-02 -1.95124482e-04 9.99559379e-01 3.75825918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.505336195 meters 0.017258064632491396 Centerline is valid? [True, True] Translation: X:64.62, Y:1.58, Z:0.38 [[ 9.98852352e-01 -3.71732279e-02 -3.02014993e-02 6.46184964e+01] [ 3.71618582e-02 9.99308819e-01 -9.37868101e-04 1.58056575e+00] [ 3.02154882e-02 -1.85552078e-04 9.99543391e-01 3.75056144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.535336195 meters 0.017952640160560453 Centerline is valid? [True, True] Translation: X:64.65, Y:1.59, Z:0.37 [[ 9.98721277e-01 -3.87916907e-02 -3.24193606e-02 6.46509020e+01] [ 3.87795142e-02 9.99247287e-01 -1.00451354e-03 1.58536256e+00] [ 3.24339249e-02 -2.53978013e-04 9.99473850e-01 3.74818921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.565336195 meters 0.018439111624463538 Centerline is valid? [True, True] Translation: X:64.68, Y:1.59, Z:0.37 [[ 9.98667903e-01 -3.97414614e-02 -3.29095162e-02 6.46821812e+01] [ 3.97295661e-02 9.99209953e-01 -1.01555088e-03 1.58633254e+00] [ 3.29238756e-02 -2.93282731e-04 9.99457819e-01 3.73287349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.595336195 meters 0.01769691043198183 Centerline is valid? [True, True] Translation: X:64.71, Y:1.58, Z:0.37 [[ 9.98548283e-01 -4.20177448e-02 -3.37021550e-02 6.47147331e+01] [ 4.20067529e-02 9.99116791e-01 -1.03445687e-03 1.58430017e+00] [ 3.37158545e-02 -3.82762960e-04 9.99431386e-01 3.72816461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.625336195 meters 0.019616721062083772 Centerline is valid? [True, True] Translation: X:64.75, Y:1.58, Z:0.37 [[ 9.98501532e-01 -4.31414112e-02 -3.36676350e-02 6.47459566e+01] [ 4.31312598e-02 9.99068885e-01 -1.02806917e-03 1.58221110e+00] [ 3.36806389e-02 -4.25598866e-04 9.99432556e-01 3.69317533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65533619499999 meters 0.01927287072078598 Centerline is valid? [True, True] Translation: X:64.78, Y:1.59, Z:0.38 [[ 9.98482735e-01 -4.56129480e-02 -3.08494071e-02 6.47784111e+01] [ 4.56056767e-02 9.98959078e-01 -9.39649359e-04 1.58688197e+00] [ 3.08601555e-02 -4.68684427e-04 9.99523602e-01 3.82444684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68533619499999 meters 0.019435337080227617 Centerline is valid? [True, True] Translation: X:64.81, Y:1.59, Z:0.39 [[ 9.98420584e-01 -4.84323996e-02 -2.84717299e-02 6.48116989e+01] [ 4.84274801e-02 9.98826329e-01 -8.62709705e-04 1.58753957e+00] [ 2.84800966e-02 -5.17467007e-04 9.99594226e-01 3.88177195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71533619499999 meters 0.02022507078884714 Centerline is valid? [True, True] Translation: X:64.84, Y:1.59, Z:0.39 [[ 9.98349946e-01 -4.98993391e-02 -2.84155035e-02 6.48445640e+01] [ 4.98951719e-02 9.98754093e-01 -8.56118825e-04 1.58600914e+00] [ 2.84228202e-02 -5.63090251e-04 9.99595831e-01 3.86731085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.745336195 meters 0.02246707346605747 Centerline is valid? [True, True] Translation: X:64.88, Y:1.58, Z:0.38 [[ 9.98190598e-01 -5.30791195e-02 -2.82513106e-02 6.48765074e+01] [ 5.30763975e-02 9.98590096e-01 -8.46758347e-04 1.57898933e+00] [ 2.82564242e-02 -6.54251573e-04 9.99600493e-01 3.79498329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.775336195 meters 0.02356197155932832 Centerline is valid? [True, True] Translation: X:64.91, Y:1.58, Z:0.38 [[ 9.98125169e-01 -5.44122535e-02 -2.80259345e-02 6.49085571e+01] [ 5.44102266e-02 9.98518317e-01 -8.35482209e-04 1.57874605e+00] [ 2.80298694e-02 -6.90981627e-04 9.99606847e-01 3.80163785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.805336195 meters 0.02723661968317246 Centerline is valid? [True, True] Translation: X:64.94, Y:1.58, Z:0.38 [[ 9.97895620e-01 -5.81822324e-02 -2.86209772e-02 6.49383279e+01] [ 5.81816997e-02 9.98305646e-01 -8.52098400e-04 1.57916664e+00] [ 2.86220602e-02 -8.14911843e-04 9.99589973e-01 3.84453198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.835336195 meters 0.02644866617784544 Centerline is valid? [True, True] Translation: X:64.97, Y:1.59, Z:0.39 [[ 9.97955392e-01 -5.73687737e-02 -2.81755079e-02 6.49706563e+01] [ 5.73680362e-02 9.98352749e-01 -8.35186218e-04 1.58638298e+00] [ 2.81770094e-02 -7.82894968e-04 9.99602643e-01 3.89997768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.865336195 meters 0.026743397702173308 Centerline is valid? [True, True] Translation: X:65.00, Y:1.59, Z:0.39 [[ 9.97930476e-01 -5.77044317e-02 -2.83718978e-02 6.50020712e+01] [ 5.77039486e-02 9.98333389e-01 -8.36460824e-04 1.58672226e+00] [ 2.83728804e-02 -8.02440784e-04 9.99597087e-01 3.87126592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.895336195 meters 0.025852149897718453 Centerline is valid? [True, True] Translation: X:65.04, Y:1.59, Z:0.38 [[ 9.97950729e-01 -5.73822678e-02 -2.83128517e-02 6.50356052e+01] [ 5.73818016e-02 9.98351962e-01 -8.29622282e-04 1.58675146e+00] [ 2.83137967e-02 -7.96720278e-04 9.99598767e-01 3.84596996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.925336195 meters 0.023388687332875073 Centerline is valid? [True, True] Translation: X:65.07, Y:1.59, Z:0.39 [[ 9.98156998e-01 -5.55398183e-02 -2.44527258e-02 6.50667608e+01] [ 5.55389490e-02 9.98456265e-01 -7.15218140e-04 1.58784135e+00] [ 2.44547003e-02 -6.44178696e-04 9.99700732e-01 3.85913438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.955336195 meters 0.02432844276052758 Centerline is valid? [True, True] Translation: X:65.10, Y:1.59, Z:0.39 [[ 9.98200451e-01 -5.53826680e-02 -2.29917501e-02 6.50984931e+01] [ 5.53819170e-02 9.98465019e-01 -6.69900030e-04 1.58875696e+00] [ 2.29935591e-02 -6.04632687e-04 9.99735430e-01 3.89031811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.985336195 meters 0.0236865645033993 Centerline is valid? [True, True] Translation: X:65.13, Y:1.60, Z:0.40 [[ 9.98153724e-01 -5.56214427e-02 -2.44007785e-02 6.51310379e+01] [ 5.56207673e-02 9.98451717e-01 -7.06902162e-04 1.59506301e+00] [ 2.44023181e-02 -6.51592995e-04 9.99702007e-01 3.95344958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01533619499999 meters 0.024552646305092504 Centerline is valid? [True, True] Translation: X:65.16, Y:1.60, Z:0.40 [[ 9.98154575e-01 -5.55290479e-02 -2.45757991e-02 6.51633880e+01] [ 5.55284409e-02 9.98456855e-01 -7.07655008e-04 1.59619446e+00] [ 2.45771705e-02 -6.58306725e-04 9.99697719e-01 3.95755729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04533619499999 meters 0.0305249312784795 Centerline is valid? [True, True] Translation: X:65.19, Y:1.58, Z:0.38 [[ 9.97989118e-01 -5.82012994e-02 -2.51063381e-02 6.51937183e+01] [ 5.82015414e-02 9.98304593e-01 -7.21710835e-04 1.58478737e+00] [ 2.51057772e-02 -7.40968017e-04 9.99684526e-01 3.83081612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07533619499999 meters 0.027196629578187217 Centerline is valid? [True, True] Translation: X:65.23, Y:1.59, Z:0.38 [[ 9.97951049e-01 -5.83441611e-02 -2.62614110e-02 6.52260886e+01] [ 5.83445589e-02 9.98296222e-01 -7.51742338e-04 1.58843288e+00] [ 2.62605272e-02 -7.82008386e-04 9.99654827e-01 3.82894588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10533619499999 meters 0.02760037909574522 Centerline is valid? [True, True] Translation: X:65.26, Y:1.59, Z:0.39 [[ 9.97872894e-01 -5.94681309e-02 -2.67063308e-02 6.52580831e+01] [ 5.94690607e-02 9.98229860e-01 -7.60127901e-04 1.59401829e+00] [ 2.67042602e-02 -8.29689378e-04 9.99643033e-01 3.89326777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.135336195 meters 0.03193783449371543 Centerline is valid? [True, True] Translation: X:65.29, Y:1.59, Z:0.39 [[ 9.97820316e-01 -6.03229033e-02 -2.67537756e-02 6.52898766e+01] [ 6.03242537e-02 9.98178547e-01 -7.57352165e-04 1.59104141e+00] [ 2.67507305e-02 -8.58200169e-04 9.99641767e-01 3.88481057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.165336195 meters 0.028964949024841133 Centerline is valid? [True, True] Translation: X:65.32, Y:1.60, Z:0.39 [[ 9.97903986e-01 -5.96880699e-02 -2.49993878e-02 6.53222185e+01] [ 5.96891467e-02 9.98216765e-01 -7.03802685e-04 1.59656986e+00] [ 2.49968167e-02 -7.89864622e-04 9.99687219e-01 3.91511402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.195336195 meters 0.025477139806532573 Centerline is valid? [True, True] Translation: X:65.35, Y:1.60, Z:0.40 [[ 9.98061560e-01 -5.77712296e-02 -2.31432131e-02 6.53536815e+01] [ 5.77716739e-02 9.98329611e-01 -6.49962813e-04 1.60364427e+00] [ 2.31421041e-02 -6.88319264e-04 9.99731949e-01 3.96893810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.225336195 meters 0.02500239596752357 Centerline is valid? [True, True] Translation: X:65.39, Y:1.61, Z:0.40 [[ 9.98109048e-01 -5.71288815e-02 -2.26852207e-02 6.53856836e+01] [ 5.71292086e-02 9.98366592e-01 -6.34188030e-04 1.60603539e+00] [ 2.26843969e-02 -6.62999895e-04 9.99742456e-01 3.98288659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.255336195 meters 0.02414054628773706 Centerline is valid? [True, True] Translation: X:65.42, Y:1.60, Z:0.40 [[ 9.98248612e-01 -5.54285527e-02 -2.06732858e-02 6.54167552e+01] [ 5.54284877e-02 9.98462493e-01 -5.76586745e-04 1.60496974e+00] [ 2.06734599e-02 -5.70312053e-04 9.99786119e-01 3.95923519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.285336195 meters 0.023852084508602586 Centerline is valid? [True, True] Translation: X:65.45, Y:1.60, Z:0.39 [[ 9.98304243e-01 -5.41614452e-02 -2.13348605e-02 6.54482699e+01] [ 5.41611385e-02 9.98532032e-01 -5.92624995e-04 1.60401458e+00] [ 2.13356390e-02 -5.63900287e-04 9.99772210e-01 3.92087639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.315336195 meters 0.02202811081602801 Centerline is valid? [True, True] Translation: X:65.48, Y:1.61, Z:0.39 [[ 9.98438019e-01 -5.13368265e-02 -2.20465988e-02 6.54805567e+01] [ 5.13358903e-02 9.98681258e-01 -6.08793772e-04 1.61048085e+00] [ 2.20487785e-02 -5.23938928e-04 9.99756759e-01 3.94209329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.345336195 meters 0.020954847555437348 Centerline is valid? [True, True] Translation: X:65.51, Y:1.62, Z:0.40 [[ 9.98677269e-01 -4.72222292e-02 -2.03414339e-02 6.55101663e+01] [ 4.72205996e-02 9.98884328e-01 -5.60685624e-04 1.62226876e+00] [ 2.03452163e-02 -4.00590717e-04 9.99792934e-01 4.04474829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.375336195 meters 0.017746598636137707 Centerline is valid? [True, True] Translation: X:65.54, Y:1.63, Z:0.41 [[ 9.98823082e-01 -4.43589366e-02 -1.96147021e-02 6.55409785e+01] [ 4.43568754e-02 9.99015603e-01 -5.40347993e-04 1.63139142e+00] [ 1.96193627e-02 -3.30334849e-04 9.99807467e-01 4.08737262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40533619499999 meters 0.01622531058946736 Centerline is valid? [True, True] Translation: X:65.57, Y:1.64, Z:0.40 [[ 9.98914870e-01 -4.20237747e-02 -2.00769588e-02 6.55729059e+01] [ 4.20211923e-02 9.99116568e-01 -5.50661630e-04 1.63565778e+00] [ 2.00823631e-02 -2.93593658e-04 9.99798286e-01 4.00918992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43533619499999 meters 0.016658330328739576 Centerline is valid? [True, True] Translation: X:65.60, Y:1.63, Z:0.39 [[ 9.98953615e-01 -4.19281589e-02 -1.82675674e-02 6.56048982e+01] [ 4.19260593e-02 9.99120592e-01 -4.98062274e-04 1.63235172e+00] [ 1.82723856e-02 -2.68346004e-04 9.99833010e-01 3.92763281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46533619499999 meters 0.016768531507634955 Centerline is valid? [True, True] Translation: X:65.64, Y:1.64, Z:0.40 [[ 9.98972873e-01 -4.20518646e-02 -1.68771676e-02 6.56375164e+01] [ 4.20501362e-02 9.99115397e-01 -4.57419382e-04 1.63511973e+00] [ 1.68814734e-02 -2.52737643e-04 9.99857466e-01 3.95664732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.495336195 meters 0.01706277510021929 Centerline is valid? [True, True] Translation: X:65.67, Y:1.64, Z:0.40 [[ 9.98884963e-01 -4.30799177e-02 -1.93119709e-02 6.56694264e+01] [ 4.30779124e-02 9.99071581e-01 -5.20015692e-04 1.64392608e+00] [ 1.93164435e-02 -3.12483535e-04 9.99813371e-01 4.01777819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.525336195 meters 0.017980845586375235 Centerline is valid? [True, True] Translation: X:65.70, Y:1.65, Z:0.40 [[ 9.98826620e-01 -4.32258059e-02 -2.18383506e-02 6.57008228e+01] [ 4.32233558e-02 9.99065263e-01 -5.84421153e-04 1.64759517e+00] [ 2.18431996e-02 -3.60191396e-04 9.99761344e-01 4.01124236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.555336195 meters 0.018786445720628573 Centerline is valid? [True, True] Translation: X:65.73, Y:1.65, Z:0.39 [[ 9.98805771e-01 -4.20317754e-02 -2.49070489e-02 6.57323101e+01] [ 4.20282860e-02 9.99116201e-01 -6.63791884e-04 1.65177303e+00] [ 2.49129364e-02 -3.83801409e-04 9.99689551e-01 3.94813171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.585336195 meters 0.017433654356540047 Centerline is valid? [True, True] Translation: X:65.77, Y:1.66, Z:0.40 [[ 9.98819663e-01 -4.14521926e-02 -2.53179238e-02 6.57658950e+01] [ 4.14485052e-02 9.99140416e-01 -6.70629676e-04 1.65617636e+00] [ 2.53239600e-02 -3.79551990e-04 9.99679225e-01 3.95420080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.615336195 meters 0.017234122687108718 Centerline is valid? [True, True] Translation: X:65.80, Y:1.66, Z:0.39 [[ 9.98853655e-01 -4.03627868e-02 -2.57336736e-02 6.57974790e+01] [ 4.03587242e-02 9.99185025e-01 -6.77441462e-04 1.66169360e+00] [ 2.57400448e-02 -3.61913356e-04 9.99668605e-01 3.93882350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.645336195 meters 0.016252091744517673 Centerline is valid? [True, True] Translation: X:65.83, Y:1.67, Z:0.40 [[ 9.98904921e-01 -3.98911275e-02 -2.44470190e-02 6.58297267e+01] [ 3.98874170e-02 9.99203976e-01 -6.39591512e-04 1.66644792e+00] [ 2.44530726e-02 -3.36237331e-04 9.99700922e-01 3.95749023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.675336195 meters 0.017741205794726458 Centerline is valid? [True, True] Translation: X:65.86, Y:1.67, Z:0.40 [[ 9.98899216e-01 -4.17038291e-02 -2.14743150e-02 6.58614556e+01] [ 4.17014558e-02 9.99129960e-01 -5.58510640e-04 1.66911745e+00] [ 2.14789236e-02 -3.37614358e-04 9.99769244e-01 3.99388970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.705336195 meters 0.017741205794726458 Centerline is valid? [True, True] Translation: X:65.89, Y:1.67, Z:0.40 [[ 9.98906951e-01 -4.15181015e-02 -2.14744133e-02 6.58942092e+01] [ 4.15157668e-02 9.99137695e-01 -5.54716655e-04 1.66984111e+00] [ 2.14789266e-02 -3.37416410e-04 9.99769244e-01 3.99607144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.735336195 meters 0.018106736252400377 Centerline is valid? [True, True] Translation: X:65.93, Y:1.68, Z:0.41 [[ 9.98862454e-01 -4.31798829e-02 -2.02310356e-02 6.59261759e+01] [ 4.31782206e-02 9.99067251e-01 -5.19180377e-04 1.68018333e+00] [ 2.02345832e-02 -3.54950332e-04 9.99795197e-01 4.10569910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76533619499999 meters 0.02018566124352921 Centerline is valid? [True, True] Translation: X:65.96, Y:1.68, Z:0.41 [[ 9.98815649e-01 -4.42821141e-02 -2.01591881e-02 6.59573239e+01] [ 4.42807519e-02 9.99018994e-01 -5.14165906e-04 1.68080884e+00] [ 2.01621802e-02 -3.79107052e-04 9.99796651e-01 4.08218229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79533619499999 meters 0.020133739816727326 Centerline is valid? [True, True] Translation: X:65.99, Y:1.68, Z:0.40 [[ 9.98656674e-01 -4.62804110e-02 -2.33017518e-02 6.59883677e+01] [ 4.62791671e-02 9.98928369e-01 -5.92934204e-04 1.68420750e+00] [ 2.33042222e-02 -4.86247967e-04 9.99728301e-01 3.98940650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82533619499999 meters 0.022881920084492524 Centerline is valid? [True, True] Translation: X:66.02, Y:1.68, Z:0.39 [[ 9.98557028e-01 -4.72539412e-02 -2.55132650e-02 6.60196964e+01] [ 4.72528437e-02 9.98882751e-01 -6.46238870e-04 1.68217473e+00] [ 2.55152977e-02 -5.60267957e-04 9.99674275e-01 3.91201659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85533619499999 meters 0.021422233482599966 Centerline is valid? [True, True] Translation: X:66.05, Y:1.69, Z:0.39 [[ 9.98510657e-01 -4.75112340e-02 -2.68169928e-02 6.60513280e+01] [ 4.75101903e-02 9.98870524e-01 -6.76433970e-04 1.69115044e+00] [ 2.68188418e-02 -5.98653901e-04 9.99640131e-01 3.91748447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.885336195 meters 0.022430762578181187 Centerline is valid? [True, True] Translation: X:66.08, Y:1.69, Z:0.39 [[ 9.98528876e-01 -4.75312359e-02 -2.60933789e-02 6.60830739e+01] [ 4.75303466e-02 9.98869580e-01 -6.54651703e-04 1.69438028e+00] [ 2.60949988e-02 -5.86538713e-04 9.99659295e-01 3.94122834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.915336195 meters 0.022264001598274408 Centerline is valid? [True, True] Translation: X:66.11, Y:1.71, Z:0.40 [[ 9.98615846e-01 -4.68616580e-02 -2.38825615e-02 6.61139946e+01] [ 4.68608049e-02 9.98901251e-01 -5.95682314e-04 1.70540565e+00] [ 2.38842352e-02 -5.24298257e-04 9.99714593e-01 4.03489416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.945336195 meters 0.02109053660949518 Centerline is valid? [True, True] Translation: X:66.15, Y:1.71, Z:0.41 [[ 9.98633552e-01 -4.65481871e-02 -2.37549130e-02 6.61471333e+01] [ 4.65473546e-02 9.98915911e-01 -5.88286308e-04 1.71454386e+00] [ 2.37565442e-02 -5.18245914e-04 9.99717639e-01 4.08591257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.975336195 meters 0.021905916812227318 Centerline is valid? [True, True] Translation: X:66.18, Y:1.72, Z:0.40 [[ 9.98620546e-01 -4.67327182e-02 -2.39386314e-02 6.61784526e+01] [ 4.67320191e-02 9.98907289e-01 -5.88938593e-04 1.72080870e+00] [ 2.39399961e-02 -5.30574403e-04 9.99713256e-01 4.02805808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.005336195 meters 0.02203913066841109 Centerline is valid? [True, True] Translation: X:66.21, Y:1.73, Z:0.40 [[ 9.98602523e-01 -4.81994692e-02 -2.16751705e-02 6.62113852e+01] [ 4.81993227e-02 9.98837597e-01 -5.29491984e-04 1.72776409e+00] [ 2.16754964e-02 -5.15976505e-04 9.99764926e-01 4.01101118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.035336195 meters 0.023138624216456093 Centerline is valid? [True, True] Translation: X:66.24, Y:1.74, Z:0.41 [[ 9.98506989e-01 -5.06293614e-02 -2.05051320e-02 6.62433660e+01] [ 5.06298139e-02 9.98717365e-01 -4.97403041e-04 1.73844224e+00] [ 2.05040146e-02 -5.41510607e-04 9.99789624e-01 4.06412959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.065336195 meters 0.025624937986693967 Centerline is valid? [True, True] Translation: X:66.27, Y:1.74, Z:0.41 [[ 9.98441747e-01 -5.18683517e-02 -2.05852311e-02 6.62745246e+01] [ 5.18691188e-02 9.98653768e-01 -4.97019061e-04 1.74006789e+00] [ 2.05832981e-02 -5.71493216e-04 9.99787978e-01 4.05149037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.095336195 meters 0.02844779798765722 Centerline is valid? [True, True] Translation: X:66.31, Y:1.74, Z:0.40 [[ 9.98174584e-01 -5.60904713e-02 -2.23910458e-02 6.63059481e+01] [ 5.60924614e-02 9.98425433e-01 -5.39664643e-04 1.73967738e+00] [ 2.23860596e-02 -7.17289341e-04 9.99749143e-01 3.95577514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.125336195 meters 0.029031960510651905 Centerline is valid? [True, True] Translation: X:66.34, Y:1.74, Z:0.39 [[ 9.98014778e-01 -5.85124744e-02 -2.32979366e-02 6.63373318e+01] [ 5.85153007e-02 9.98286354e-01 -5.60986971e-04 1.74090377e+00] [ 2.32908369e-02 -8.03412477e-04 9.99728409e-01 3.93239773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15533619499999 meters 0.036344918960014176 Centerline is valid? [True, True] Translation: X:66.37, Y:1.74, Z:0.40 [[ 9.97578710e-01 -6.48980269e-02 -2.49992643e-02 6.63668808e+01] [ 6.49032852e-02 9.97891378e-01 -6.01854925e-04 1.74064356e+00] [ 2.49856095e-02 -1.02213673e-03 9.99687288e-01 3.99323335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18533619499999 meters 0.037798229967452364 Centerline is valid? [True, True] Translation: X:66.40, Y:1.75, Z:0.41 [[ 9.97384284e-01 -6.74477576e-02 -2.59882479e-02 6.63972406e+01] [ 6.74543094e-02 9.97722168e-01 -6.25470707e-04 1.74719143e+00] [ 2.59712377e-02 -1.12918466e-03 9.99662053e-01 4.06846611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21533619499999 meters 0.04185127182344609 Centerline is valid? [True, True] Translation: X:66.43, Y:1.75, Z:0.41 [[ 9.97100440e-01 -7.15166441e-02 -2.60015921e-02 6.64273504e+01] [ 7.15245978e-02 9.97438640e-01 -6.25207534e-04 1.74847749e+00] [ 2.59797054e-02 -1.23635871e-03 9.99661706e-01 4.06179582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.245336195 meters 0.04261409748104073 Centerline is valid? [True, True] Translation: X:66.46, Y:1.75, Z:0.40 [[ 9.97022913e-01 -7.26475314e-02 -2.58388689e-02 6.64595152e+01] [ 7.26557916e-02 9.97356883e-01 -6.20248627e-04 1.74626445e+00] [ 2.58156332e-02 -1.25894138e-03 9.99665928e-01 4.00301794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.275336195 meters 0.04654268471885808 Centerline is valid? [True, True] Translation: X:66.49, Y:1.74, Z:0.39 [[ 9.96951523e-01 -7.36171431e-02 -2.58491307e-02 6.64911974e+01] [ 7.36258155e-02 9.97285745e-01 -6.17374679e-04 1.73744127e+00] [ 2.58244190e-02 -1.28767070e-03 9.99665665e-01 3.85678030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.305336195 meters 0.039816170355509155 Centerline is valid? [True, True] Translation: X:66.52, Y:1.76, Z:0.40 [[ 9.97037473e-01 -7.24627710e-02 -2.57958147e-02 6.65224105e+01] [ 7.24710647e-02 9.97370326e-01 -6.14451927e-04 1.75877249e+00] [ 2.57725050e-02 -1.25681856e-03 9.99667044e-01 3.98559459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.335336195 meters 0.04121206652306462 Centerline is valid? [True, True] Translation: X:66.55, Y:1.77, Z:0.41 [[ 9.97057418e-01 -7.21688940e-02 -2.58487320e-02 6.65536346e+01] [ 7.21772037e-02 9.97391636e-01 -6.12601879e-04 1.76699319e+00] [ 2.58255199e-02 -1.25488995e-03 9.99665678e-01 4.05850494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.365336195 meters 0.0368571950884604 Centerline is valid? [True, True] Translation: X:66.59, Y:1.78, Z:0.40 [[ 9.97131191e-01 -7.02436381e-02 -2.81996146e-02 6.65853300e+01] [ 7.02528925e-02 9.97528992e-01 -6.63666771e-04 1.78217523e+00] [ 2.81765515e-02 -1.31934166e-03 9.99602091e-01 4.04805708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.395336195 meters 0.03709372799403312 Centerline is valid? [True, True] Translation: X:66.62, Y:1.78, Z:0.40 [[ 9.97154925e-01 -7.00715316e-02 -2.77855243e-02 6.66177966e+01] [ 7.00805764e-02 9.97541123e-01 -6.49344891e-04 1.78369906e+00] [ 2.77627037e-02 -1.29972810e-03 9.99613697e-01 4.01868750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.425336195 meters 0.03887425687510204 Centerline is valid? [True, True] Translation: X:66.65, Y:1.79, Z:0.40 [[ 9.97184544e-01 -6.97483824e-02 -2.75345036e-02 6.66489021e+01] [ 6.97572591e-02 9.97563791e-01 -6.39201282e-04 1.78790085e+00] [ 2.75120070e-02 -1.28332986e-03 9.99620649e-01 4.01028580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.455336195 meters 0.0384227029781419 Centerline is valid? [True, True] Translation: X:66.68, Y:1.79, Z:0.40 [[ 9.97177415e-01 -6.86198187e-02 -3.04716950e-02 6.66803872e+01] [ 6.86302650e-02 9.97641915e-01 -7.04166824e-04 1.79380681e+00] [ 3.04481600e-02 -1.38910125e-03 9.99535382e-01 3.98689458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.485336195 meters 0.03811056720750894 Centerline is valid? [True, True] Translation: X:66.71, Y:1.81, Z:0.40 [[ 9.97286724e-01 -6.60020454e-02 -3.26024426e-02 6.67104257e+01] [ 6.60126875e-02 9.97818501e-01 -7.51021228e-04 1.80576954e+00] [ 3.25808893e-02 -1.40319135e-03 9.99468117e-01 3.95585376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51533619499999 meters 0.02942527521890199 Centerline is valid? [True, True] Translation: X:66.74, Y:1.83, Z:0.40 [[ 9.97584689e-01 -6.11606828e-02 -3.29265739e-02 6.67411302e+01] [ 6.11689282e-02 9.98127140e-01 -7.57782291e-04 1.83051769e+00] [ 3.29112535e-02 -1.25813122e-03 9.99457486e-01 4.02800162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54533619499999 meters 0.03220127274451971 Centerline is valid? [True, True] Translation: X:66.77, Y:1.83, Z:0.40 [[ 9.97699442e-01 -5.98405293e-02 -3.18580463e-02 6.67718818e+01] [ 5.98475968e-02 9.98207257e-01 -7.32520814e-04 1.83099739e+00] [ 3.18447674e-02 -1.17579190e-03 9.99492135e-01 3.98218188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57533619499999 meters 0.030703561877464487 Centerline is valid? [True, True] Translation: X:66.80, Y:1.84, Z:0.39 [[ 9.97796990e-01 -5.92004263e-02 -2.99412283e-02 6.68029030e+01] [ 5.92064010e-02 9.98245525e-01 -6.87746167e-04 1.83905621e+00] [ 2.99294121e-02 -1.08648132e-03 9.99551424e-01 3.94723070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60533619499999 meters 0.028830789118377328 Centerline is valid? [True, True] Translation: X:66.84, Y:1.85, Z:0.39 [[ 9.97818439e-01 -5.86052615e-02 -3.03938393e-02 6.68357287e+01] [ 5.86112867e-02 9.98280640e-01 -6.93409100e-04 1.84527766e+00] [ 3.03822188e-02 -1.08952564e-03 9.99537760e-01 3.93430059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.635336195 meters 0.031296499365541124 Centerline is valid? [True, True] Translation: X:66.87, Y:1.85, Z:0.39 [[ 9.97726652e-01 -5.81346770e-02 -3.40864647e-02 6.68672365e+01] [ 5.81421787e-02 9.98308014e-01 -7.71939098e-04 1.85315939e+00] [ 3.40736673e-02 -1.21167711e-03 9.99418589e-01 3.87929476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.665336195 meters 0.03191831920124245 Centerline is valid? [True, True] Translation: X:66.90, Y:1.86, Z:0.39 [[ 9.97670689e-01 -5.75108870e-02 -3.66836922e-02 6.68986958e+01] [ 5.75193640e-02 9.98344050e-01 -8.25118080e-04 1.86045594e+00] [ 3.66703991e-02 -1.28682652e-03 9.99326586e-01 3.86674762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.695336195 meters 0.0317471616887868 Centerline is valid? [True, True] Translation: X:66.93, Y:1.87, Z:0.38 [[ 9.97545811e-01 -5.68763042e-02 -4.08343220e-02 6.69294159e+01] [ 5.68863678e-02 9.98380239e-01 -9.16393338e-04 1.87490846e+00] [ 4.08203012e-02 -1.40877193e-03 9.99165511e-01 3.81016348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.725336195 meters 0.029670188741564796 Centerline is valid? [True, True] Translation: X:66.96, Y:1.88, Z:0.38 [[ 9.97515870e-01 -5.68386097e-02 -4.16108267e-02 6.69610173e+01] [ 5.68491644e-02 9.98382345e-01 -9.30545472e-04 1.88489252e+00] [ 4.15964056e-02 -1.43730685e-03 9.99133461e-01 3.83193813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.755336195 meters 0.030464558766094916 Centerline is valid? [True, True] Translation: X:66.99, Y:1.90, Z:0.38 [[ 9.97571671e-01 -5.62856065e-02 -4.10206138e-02 6.69916608e+01] [ 5.62956365e-02 9.98413727e-01 -9.11493101e-04 1.90333344e+00] [ 4.10068479e-02 -1.40000187e-03 9.99157885e-01 3.80274071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.785336195 meters 0.030598370251765164 Centerline is valid? [True, True] Translation: X:67.02, Y:1.91, Z:0.38 [[ 9.97629596e-01 -5.56826450e-02 -4.04305776e-02 6.70234390e+01] [ 5.56921577e-02 9.98447589e-01 -8.91845525e-04 1.91037247e+00] [ 4.04174730e-02 -1.36193461e-03 9.99181952e-01 3.79858967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.815336195 meters 0.03229396955904998 Centerline is valid? [True, True] Translation: X:67.05, Y:1.92, Z:0.38 [[ 9.97710187e-01 -5.53895108e-02 -3.88121781e-02 6.70538706e+01] [ 5.53981091e-02 9.98463980e-01 -8.54721400e-04 1.91724480e+00] [ 3.87999044e-02 -1.29735703e-03 9.99246158e-01 3.79401730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.845336195 meters 0.03367286863127001 Centerline is valid? [True, True] Translation: X:67.09, Y:1.93, Z:0.38 [[ 9.97694478e-01 -5.58969021e-02 -3.84871982e-02 6.70853761e+01] [ 5.59059180e-02 9.98435685e-01 -8.42776022e-04 1.93026335e+00] [ 3.84741007e-02 -1.31082916e-03 9.99258738e-01 3.81016375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.875336195 meters 0.036040654269504716 Centerline is valid? [True, True] Translation: X:67.12, Y:1.95, Z:0.39 [[ 9.97355795e-01 -6.11222825e-02 -3.93126546e-02 6.71157550e+01] [ 6.11358011e-02 9.98129088e-01 -8.59330474e-04 1.94727643e+00] [ 3.92916283e-02 -1.54635240e-03 9.99226589e-01 3.94752563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90533619499999 meters 0.04150184854446095 Centerline is valid? [True, True] Translation: X:67.15, Y:1.95, Z:0.40 [[ 9.97113486e-01 -6.48901939e-02 -3.94202862e-02 6.71451817e+01] [ 6.49067252e-02 9.97890963e-01 -8.61663787e-04 1.94923408e+00] [ 3.93930609e-02 -1.69946510e-03 9.99222347e-01 3.95530462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93533619499999 meters 0.04598855814464839 Centerline is valid? [True, True] Translation: X:67.18, Y:1.95, Z:0.39 [[ 9.96636870e-01 -7.13042174e-02 -4.03814085e-02 6.71764738e+01] [ 7.13268407e-02 9.97452607e-01 -8.82046212e-04 1.95277319e+00] [ 4.03414348e-02 -2.00119851e-03 9.99183949e-01 3.88510120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96533619499999 meters 0.04587846003068073 Centerline is valid? [True, True] Translation: X:67.21, Y:1.96, Z:0.39 [[ 9.96400821e-01 -7.45774425e-02 -4.02940296e-02 6.72070177e+01] [ 7.46026541e-02 9.97212951e-01 -8.79676407e-04 1.95904090e+00] [ 4.02473322e-02 -2.12953126e-03 9.99187479e-01 3.89096452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.995336195 meters 0.049134147839721184 Centerline is valid? [True, True] Translation: X:67.24, Y:1.97, Z:0.39 [[ 9.95992582e-01 -8.02258638e-02 -3.95295656e-02 6.72372789e+01] [ 8.02545717e-02 9.96774026e-01 -8.62624945e-04 1.96986136e+00] [ 3.94712491e-02 -2.31326031e-03 9.99218029e-01 3.91955350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.025336195 meters 0.0538421746093645 Centerline is valid? [True, True] Translation: X:67.27, Y:1.98, Z:0.39 [[ 9.95691771e-01 -8.34968430e-02 -4.03258417e-02 6.72674491e+01] [ 8.35294347e-02 9.96504923e-01 -8.78945965e-04 1.97543924e+00] [ 4.02582890e-02 -2.49323550e-03 9.99186196e-01 3.86493768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.055336195 meters 0.06221931691225745 Centerline is valid? [True, True] Translation: X:67.30, Y:1.97, Z:0.38 [[ 9.95586362e-01 -8.46778775e-02 -4.04654450e-02 6.72976231e+01] [ 8.47117509e-02 9.96405111e-01 -8.79909123e-04 1.97174830e+00] [ 4.03944850e-02 -2.55187317e-03 9.99180551e-01 3.81107797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.085336195 meters 0.05875049298338514 Centerline is valid? [True, True] Translation: X:67.33, Y:1.99, Z:0.38 [[ 9.95398835e-01 -8.52881604e-02 -4.36702265e-02 6.73287142e+01] [ 8.53282598e-02 9.96352442e-01 -9.48392154e-04 1.98786173e+00] [ 4.35918234e-02 -2.78227598e-03 9.99045550e-01 3.83211453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.115336195 meters 0.05888771543100024 Centerline is valid? [True, True] Translation: X:67.36, Y:1.99, Z:0.39 [[ 9.94924766e-01 -9.03257513e-02 -4.43392475e-02 6.73597568e+01] [ 9.03720980e-02 9.95907605e-01 -9.62224351e-04 1.98984870e+00] [ 4.42447075e-02 -3.04968998e-03 9.99016069e-01 3.88118442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.145336195 meters 0.07132904428641619 Centerline is valid? [True, True] Translation: X:67.39, Y:1.98, Z:0.39 [[ 9.94137537e-01 -9.90348438e-02 -4.33895890e-02 6.73903401e+01] [ 9.90875080e-02 9.95078279e-01 -9.40564531e-04 1.97726624e+00] [ 4.32691862e-02 -3.36431574e-03 9.99057786e-01 3.94489644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.175336195 meters 0.07359706231333293 Centerline is valid? [True, True] Translation: X:67.42, Y:1.97, Z:0.39 [[ 9.94095254e-01 -9.92594959e-02 -4.38426616e-02 6.74212989e+01] [ 9.93136165e-02 9.95055731e-01 -9.47376414e-04 1.97061222e+00] [ 4.37199278e-02 -3.41239089e-03 9.99037999e-01 3.88318153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.205336195 meters 0.0692557769570868 Centerline is valid? [True, True] Translation: X:67.45, Y:1.97, Z:0.38 [[ 9.94486873e-01 -9.59546412e-02 -4.22914396e-02 6.74528343e+01] [ 9.60020797e-02 9.95380715e-01 -9.12508433e-04 1.96635098e+00] [ 4.21836428e-02 -3.15258850e-03 9.99104900e-01 3.77789707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.235336195 meters 0.06596615260084693 Centerline is valid? [True, True] Translation: X:67.48, Y:1.97, Z:0.38 [[ 9.94879572e-01 -9.24041700e-02 -4.09402773e-02 6.74839494e+01] [ 9.24456593e-02 9.95717340e-01 -8.82661563e-04 1.97185265e+00] [ 4.08465056e-02 -2.90660897e-03 9.99161206e-01 3.80582206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26533619499999 meters 0.05665207914709524 Centerline is valid? [True, True] Translation: X:67.51, Y:2.00, Z:0.39 [[ 9.95691651e-01 -8.35756562e-02 -4.01652262e-02 6.75140746e+01] [ 8.36084614e-02 9.96498307e-01 -8.65248522e-04 1.99571033e+00] [ 4.00968937e-02 -2.49663204e-03 9.99192677e-01 3.94396403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29533619499999 meters 0.053881829487078356 Centerline is valid? [True, True] Translation: X:67.54, Y:2.01, Z:0.40 [[ 9.95959345e-01 -7.97777056e-02 -4.12371205e-02 6.75440740e+01] [ 7.98090536e-02 9.96809774e-01 -8.88129904e-04 2.00650111e+00] [ 4.11764177e-02 -2.40655428e-03 9.99148993e-01 3.97820002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32533619499999 meters 0.05970622428548016 Centerline is valid? [True, True] Translation: X:67.57, Y:2.00, Z:0.40 [[ 9.95849344e-01 -8.20979745e-02 -3.92938519e-02 6.75748595e+01] [ 8.21282740e-02 9.96621409e-01 -8.45202923e-04 2.00150090e+00] [ 3.92304835e-02 -2.38544146e-03 9.99227341e-01 3.98935332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35533619499999 meters 0.057670864064024295 Centerline is valid? [True, True] Translation: X:67.61, Y:2.00, Z:0.40 [[ 9.95760520e-01 -8.37612218e-02 -3.80137336e-02 6.76071192e+01] [ 8.37908437e-02 9.96483030e-01 -8.16071904e-04 2.00001891e+00] [ 3.79483956e-02 -2.37259063e-03 9.99276884e-01 3.95364030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.385336195 meters 0.059438113376133646 Centerline is valid? [True, True] Translation: X:67.64, Y:1.99, Z:0.39 [[ 9.95826800e-01 -8.42855095e-02 -3.49990922e-02 6.76390441e+01] [ 8.43110870e-02 9.96439202e-01 -7.47040524e-04 1.98967224e+00] [ 3.49374322e-02 -2.20688853e-03 9.99387065e-01 3.86072258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.415336195 meters 0.06027045348985916 Centerline is valid? [True, True] Translation: X:67.67, Y:1.99, Z:0.39 [[ 9.95922877e-01 -8.39362671e-02 -3.30503524e-02 6.76694416e+01] [ 8.39589204e-02 9.96468968e-01 -7.04253459e-04 1.99092224e+00] [ 3.29927630e-02 -2.07348978e-03 9.99453440e-01 3.91474965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.445336195 meters 0.0718391861763375 Centerline is valid? [True, True] Translation: X:67.72, Y:1.99, Z:0.39 [[ 9.94496004e-01 -1.02215199e-01 -2.30163278e-02 6.77213721e+01] [ 1.02589209e-01 9.94599919e-01 1.56988662e-02 1.99051418e+00] [ 2.12873750e-02 -1.79736866e-02 9.99611822e-01 3.85300308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.475336195 meters 0.056427732066710194 Centerline is valid? [True, True] Translation: X:67.73, Y:2.02, Z:0.43 [[ 9.96229881e-01 -8.05152060e-02 -3.23005447e-02 6.77281921e+01] [ 8.00259673e-02 9.96661685e-01 -1.61657004e-02 2.02017383e+00] [ 3.34943000e-02 1.35198715e-02 9.99347460e-01 4.32728146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.505336195 meters 0.059371428395349604 Centerline is valid? [True, True] Translation: X:67.76, Y:2.01, Z:0.40 [[ 9.96422804e-01 -7.83151018e-02 -3.17543922e-02 6.77581271e+01] [ 7.83331511e-02 9.96927008e-01 -6.77138674e-04 2.00735130e+00] [ 3.17098414e-02 -1.81270518e-03 9.99495473e-01 4.04672459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.535336195 meters 0.05216033328837776 Centerline is valid? [True, True] Translation: X:67.79, Y:2.02, Z:0.41 [[ 9.96475741e-01 -7.74534959e-02 -3.22033159e-02 6.77905294e+01] [ 7.74717364e-02 9.96994315e-01 -6.82822616e-04 2.01776133e+00] [ 3.21594098e-02 -1.81443063e-03 9.99481105e-01 4.07895535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.565336195 meters 0.05573364880637353 Centerline is valid? [True, True] Translation: X:67.82, Y:2.01, Z:0.41 [[ 9.96229147e-01 -8.05299315e-02 -3.22864732e-02 6.78209174e+01] [ 8.05499121e-02 9.96750342e-01 -6.83461499e-04 2.01317400e+00] [ 3.22365924e-02 -1.91978832e-03 9.99478422e-01 4.06774463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.595336195 meters 0.05573364880637353 Centerline is valid? [True, True] Translation: X:67.85, Y:2.01, Z:0.41 [[ 9.96243334e-01 -8.03541961e-02 -3.22865687e-02 6.78537758e+01] [ 8.03742311e-02 9.96764527e-01 -6.78931270e-04 2.01374935e+00] [ 3.22366614e-02 -1.91862738e-03 9.99478422e-01 4.06995198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.625336195 meters 0.07353578076471977 Centerline is valid? [True, True] Translation: X:67.91, Y:2.00, Z:0.39 [[ 9.94197190e-01 -1.05089948e-01 -2.29793530e-02 6.79091344e+01] [ 1.05426991e-01 9.94328768e-01 1.39803841e-02 1.99528918e+00] [ 2.13798339e-02 -1.63219026e-02 9.99638184e-01 3.86740325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65533619499999 meters 0.07675046859786988 Centerline is valid? [True, True] Translation: X:67.95, Y:2.00, Z:0.40 [[ 9.93959937e-01 -1.07414277e-01 -2.24903617e-02 6.79485055e+01] [ 1.07526059e-01 9.94194936e-01 3.81784720e-03 2.00312349e+00] [ 2.19497124e-02 -6.21308712e-03 9.99739770e-01 4.02660321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68533619499999 meters 0.05647886109130991 Centerline is valid? [True, True] Translation: X:67.94, Y:2.03, Z:0.44 [[ 9.96237278e-01 -8.07002517e-02 -3.16030847e-02 6.79427925e+01] [ 8.01659376e-02 9.96622121e-01 -1.78261244e-02 2.02681644e+00] [ 3.29349060e-02 1.52255587e-02 9.99341520e-01 4.35429089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71533619499999 meters 0.07297401698048353 Centerline is valid? [True, True] Translation: X:68.00, Y:2.00, Z:0.39 [[ 9.94404757e-01 -1.03248909e-01 -2.23347678e-02 6.79990195e+01] [ 1.03572999e-01 9.94525099e-01 1.38730785e-02 2.00243049e+00] [ 2.07801069e-02 -1.61087342e-02 9.99654288e-01 3.88148716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.745336195 meters 0.054963068994662814 Centerline is valid? [True, True] Translation: X:68.00, Y:2.03, Z:0.42 [[ 9.96707648e-01 -7.65213211e-02 -2.68020986e-02 6.80023098e+01] [ 7.61638776e-02 9.96995414e-01 -1.41140827e-02 2.02527394e+00] [ 2.78015977e-02 1.20262624e-02 9.99541115e-01 4.24048992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.775336195 meters 0.0708935999162027 Centerline is valid? [True, True] Translation: X:68.06, Y:2.01, Z:0.39 [[ 9.94893902e-01 -9.93907436e-02 -1.75386147e-02 6.80613313e+01] [ 9.96370900e-02 9.94928441e-01 1.37784954e-02 2.00694053e+00] [ 1.60802117e-02 -1.54556376e-02 9.99751244e-01 3.86725538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.805336195 meters 0.07234177608743364 Centerline is valid? [True, True] Translation: X:68.10, Y:2.02, Z:0.41 [[ 9.94884805e-01 -9.97688438e-02 -1.58240903e-02 6.80961170e+01] [ 9.97922901e-02 9.95008047e-01 6.97086255e-04 2.01738740e+00] [ 1.56755497e-02 -2.27264273e-03 9.99874548e-01 4.09197415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.835336195 meters 0.05056930939780562 Centerline is valid? [True, True] Translation: X:68.09, Y:2.04, Z:0.44 [[ 9.97113747e-01 -7.16737517e-02 -2.50409313e-02 6.80924801e+01] [ 7.13326820e-02 9.97350651e-01 -1.42592596e-02 2.03578014e+00] [ 2.59966038e-02 1.24318670e-02 9.99584726e-01 4.36408799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.865336195 meters 0.05070920338708212 Centerline is valid? [True, True] Translation: X:68.13, Y:2.03, Z:0.42 [[ 9.97069387e-01 -7.18416996e-02 -2.62946342e-02 6.81251731e+01] [ 7.18520647e-02 9.97415148e-01 -5.51644996e-04 2.02740572e+00] [ 2.62662976e-02 -1.33929542e-03 9.99654084e-01 4.16093970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.895336195 meters 0.05251445992997597 Centerline is valid? [True, True] Translation: X:68.16, Y:2.02, Z:0.41 [[ 9.97055139e-01 -7.18988911e-02 -2.66758152e-02 6.81562720e+01] [ 7.19096814e-02 9.97410993e-01 -5.55819081e-04 2.02438718e+00] [ 2.66467141e-02 -1.36406710e-03 9.99643983e-01 4.13643017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.925336195 meters 0.07097943918170503 Centerline is valid? [True, True] Translation: X:68.22, Y:2.01, Z:0.39 [[ 9.94885432e-01 -9.94853571e-02 -1.74825673e-02 6.82210383e+01] [ 9.97411308e-02 9.94908899e-01 1.44218479e-02 2.01331453e+00] [ 1.59587991e-02 -1.60918174e-02 9.99743152e-01 3.93561140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.955336195 meters 0.048233062937551516 Centerline is valid? [True, True] Translation: X:68.22, Y:2.04, Z:0.43 [[ 9.97460906e-01 -6.67835546e-02 -2.47325069e-02 6.82153891e+01] [ 6.64390030e-02 9.97685108e-01 -1.45011472e-02 2.03783208e+00] [ 2.56436920e-02 1.28211243e-02 9.99588925e-01 4.30262119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.985336195 meters 0.037836276092125365 Centerline is valid? [True, True] Translation: X:68.25, Y:2.04, Z:0.41 [[ 9.97720630e-01 -6.24780274e-02 -2.54958776e-02 6.82460393e+01] [ 6.24847318e-02 9.98045777e-01 -5.34414577e-04 2.04233058e+00] [ 2.54794421e-02 -1.05990662e-03 9.99674784e-01 4.09170997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01533619499999 meters 0.05463270098236295 Centerline is valid? [True, True] Translation: X:68.33, Y:2.04, Z:0.39 [[ 9.96075473e-01 -8.66445953e-02 -1.80655808e-02 6.83264517e+01] [ 8.69973548e-02 9.96012732e-01 1.97508838e-02 2.03678294e+00] [ 1.62822412e-02 -2.12450287e-02 9.99641705e-01 3.85546927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04533619499999 meters 0.03342275949909562 Centerline is valid? [True, True] Translation: X:68.30, Y:2.07, Z:0.45 [[ 9.98092251e-01 -5.56148870e-02 -2.68112580e-02 6.83047517e+01] [ 5.51058751e-02 9.98292720e-01 -1.93646241e-02 2.06961883e+00] [ 2.78424451e-02 1.78502234e-02 9.99452934e-01 4.48032143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07533619499999 meters 0.033738375380657604 Centerline is valid? [True, True] Translation: X:68.34, Y:2.06, Z:0.42 [[ 9.98133829e-01 -5.42511496e-02 -2.80298483e-02 6.83362362e+01] [ 5.42560818e-02 9.98526883e-01 -5.85113769e-04 2.05882762e+00] [ 2.80203002e-02 -9.36767896e-04 9.99606915e-01 4.17316735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10533619499999 meters 0.019345132589650878 Centerline is valid? [True, True] Translation: X:68.38, Y:2.09, Z:0.43 [[ 9.98832613e-01 -4.08189167e-02 -2.58307377e-02 6.83754669e+01] [ 4.09099766e-02 9.99158313e-01 3.00645100e-03 2.09049079e+00] [ 2.56862762e-02 -4.05967619e-03 9.99661810e-01 4.34615796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.135336195 meters 0.054096072585725324 Centerline is valid? [True, True] Translation: X:68.45, Y:2.06, Z:0.41 [[ 9.97706725e-01 -6.37228616e-02 -2.28185829e-02 6.84511141e+01] [ 6.38876599e-02 9.97935492e-01 6.56669522e-03 2.05591916e+00] [ 2.23530252e-02 -8.00946185e-03 9.99718056e-01 4.11255944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.165336195 meters 0.03052950569145988 Centerline is valid? [True, True] Translation: X:68.43, Y:2.07, Z:0.44 [[ 9.98965643e-01 -3.43385741e-02 -2.98078240e-02 6.84307311e+01] [ 3.38758124e-02 9.99299667e-01 -1.58935786e-02 2.07463863e+00] [ 3.03327114e-02 1.48673747e-02 9.99429281e-01 4.43884821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.195336195 meters 0.03209075260180669 Centerline is valid? [True, True] Translation: X:68.46, Y:2.06, Z:0.42 [[ 9.98950128e-01 -3.43996872e-02 -3.02539766e-02 6.84625087e+01] [ 3.44150822e-02 9.99407626e-01 -1.18641763e-05 2.06118555e+00] [ 3.02364630e-02 -1.02934137e-03 9.99542244e-01 4.16839530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.225336195 meters 0.05661479287301079 Centerline is valid? [True, True] Translation: X:68.55, Y:2.06, Z:0.42 [[ 9.97401034e-01 -6.75166814e-02 -2.51530427e-02 6.85458833e+01] [ 6.76289805e-02 9.97703899e-01 3.64006604e-03 2.05628421e+00] [ 2.48495236e-02 -5.33168027e-03 9.99676985e-01 4.16519272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.255336195 meters 0.019097267843516032 Centerline is valid? [True, True] Translation: X:68.52, Y:2.09, Z:0.44 [[ 9.98728223e-01 -4.31785119e-02 -2.60298588e-02 6.85237268e+01] [ 4.32427877e-02 9.99062765e-01 1.91123027e-03 2.09459463e+00] [ 2.59229387e-02 -3.03440327e-03 9.99659339e-01 4.43714964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.285336195 meters 0.035774333861650576 Centerline is valid? [True, True] Translation: X:68.56, Y:2.07, Z:0.44 [[ 9.98069928e-01 -5.91351401e-02 -1.89592576e-02 6.85634148e+01] [ 5.90730825e-02 9.98246362e-01 -3.81719675e-03 2.07209700e+00] [ 1.91517404e-02 2.68984749e-03 9.99812970e-01 4.43987145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.315336195 meters 0.02428015464356132 Centerline is valid? [True, True] Translation: X:68.59, Y:2.08, Z:0.44 [[ 9.98742572e-01 -4.44649576e-02 -2.31547513e-02 6.85879053e+01] [ 4.45689603e-02 9.98998323e-01 3.99486047e-03 2.07969841e+00] [ 2.29539264e-02 -5.02182041e-03 9.99723911e-01 4.35002736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.345336195 meters 0.050146255221141856 Centerline is valid? [True, True] Translation: X:68.67, Y:2.06, Z:0.40 [[ 9.96729786e-01 -7.91565161e-02 -1.62474283e-02 6.86749042e+01] [ 7.95199255e-02 9.96565744e-01 2.30932541e-02 2.05883611e+00] [ 1.43636489e-02 -2.43097285e-02 9.99601282e-01 3.95684701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.375336195 meters 0.02747411298087911 Centerline is valid? [True, True] Translation: X:68.64, Y:2.09, Z:0.46 [[ 9.98619224e-01 -4.70765431e-02 -2.33119081e-02 6.86419264e+01] [ 4.65518842e-02 9.98661098e-01 -2.25595349e-02 2.08515826e+00] [ 2.43427207e-02 2.14431720e-02 9.99473673e-01 4.58794277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40533619499999 meters 0.02908161046991751 Centerline is valid? [True, True] Translation: X:68.67, Y:2.06, Z:0.42 [[ 9.98439252e-01 -5.04055874e-02 -2.40486437e-02 6.86741939e+01] [ 5.04081775e-02 9.98728575e-01 -4.98880784e-04 2.06474694e+00] [ 2.40432140e-02 -7.14146144e-04 9.99710665e-01 4.21741460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43533619499999 meters 0.029901009786795597 Centerline is valid? [True, True] Translation: X:68.71, Y:2.07, Z:0.43 [[ 9.98458880e-01 -4.96627084e-02 -2.47685338e-02 6.87055609e+01] [ 4.96652879e-02 9.98765787e-01 -5.11386325e-04 2.06508710e+00] [ 2.47633610e-02 -7.19538144e-04 9.99693082e-01 4.26050651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46533619499999 meters 0.030012021150096622 Centerline is valid? [True, True] Translation: X:68.74, Y:2.07, Z:0.44 [[ 9.98440514e-01 -5.04556200e-02 -2.38907968e-02 6.87372645e+01] [ 5.04583294e-02 9.98726047e-01 -4.89792753e-04 2.06833713e+00] [ 2.38850739e-02 -7.16460768e-04 9.99714454e-01 4.37997019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.495336195 meters 0.017703499399386466 Centerline is valid? [True, True] Translation: X:68.77, Y:2.10, Z:0.44 [[ 9.98957454e-01 -3.84548948e-02 -2.46013454e-02 6.87704855e+01] [ 3.87455711e-02 9.99183508e-01 1.14497959e-02 2.09537453e+00] [ 2.41409579e-02 -1.23910521e-02 9.99631770e-01 4.39662035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.525336195 meters 0.026079892061672032 Centerline is valid? [True, True] Translation: X:68.80, Y:2.09, Z:0.46 [[ 9.98682296e-01 -4.46327432e-02 -2.53296335e-02 6.87994856e+01] [ 4.43321664e-02 9.98941039e-01 -1.23068949e-02 2.08737498e+00] [ 2.58521009e-02 1.11677605e-02 9.99603396e-01 4.60397374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.555336195 meters 0.021887575092618176 Centerline is valid? [True, True] Translation: X:68.83, Y:2.09, Z:0.43 [[ 9.98885807e-01 -3.84236555e-02 -2.74001333e-02 6.88315446e+01] [ 3.84229389e-02 9.99261413e-01 -5.52842002e-04 2.08529650e+00] [ 2.74011381e-02 -5.00567619e-04 9.99624393e-01 4.29588870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.585336195 meters 0.025975264298970988 Centerline is valid? [True, True] Translation: X:68.86, Y:2.09, Z:0.45 [[ 9.98730371e-01 -4.40241398e-02 -2.44851039e-02 6.88639908e+01] [ 4.37403446e-02 9.98970765e-01 -1.20080384e-02 2.09259926e+00] [ 2.49885465e-02 1.09218058e-02 9.99628074e-01 4.46784714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.615336195 meters 0.021254571505542618 Centerline is valid? [True, True] Translation: X:68.89, Y:2.08, Z:0.41 [[ 9.98954619e-01 -3.57748586e-02 -2.84574880e-02 6.88942120e+01] [ 3.60795674e-02 9.99296180e-01 1.02669295e-02 2.08274640e+00] [ 2.80701611e-02 -1.12829305e-02 9.99542276e-01 4.13433822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.645336195 meters 0.023775491352120884 Centerline is valid? [True, True] Translation: X:68.93, Y:2.10, Z:0.45 [[ 9.98706884e-01 -4.40092185e-02 -2.54509214e-02 6.89322837e+01] [ 4.37974468e-02 9.99001502e-01 -8.81947390e-03 2.09718415e+00] [ 2.58136468e-02 7.69338391e-03 9.99637168e-01 4.52577111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.675336195 meters 0.023388776232687473 Centerline is valid? [True, True] Translation: X:68.96, Y:2.08, Z:0.42 [[ 9.98797022e-01 -4.01032982e-02 -2.82176266e-02 6.89580126e+01] [ 4.03449607e-02 9.99153403e-01 8.04744137e-03 2.08048796e+00] [ 2.78710087e-02 -9.17619951e-03 9.99569409e-01 4.20929200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.705336195 meters 0.024512675709041216 Centerline is valid? [True, True] Translation: X:68.99, Y:2.08, Z:0.43 [[ 9.98805893e-01 -4.15183662e-02 -2.57490562e-02 6.89906805e+01] [ 4.15189688e-02 9.99137585e-01 -5.11453895e-04 2.08138778e+00] [ 2.57480846e-02 -5.58231095e-04 9.99668307e-01 4.28995507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.735336195 meters 0.02272400205790052 Centerline is valid? [True, True] Translation: X:69.02, Y:2.09, Z:0.43 [[ 9.98888622e-01 -4.00021824e-02 -2.49268347e-02 6.90227910e+01] [ 4.00023471e-02 9.99199465e-01 -4.92233501e-04 2.08501847e+00] [ 2.49265703e-02 -5.05445452e-04 9.99689157e-01 4.31500722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76533619499999 meters 0.022329613685144554 Centerline is valid? [True, True] Translation: X:69.05, Y:2.09, Z:0.44 [[ 9.98997959e-01 -3.79538249e-02 -2.37188706e-02 6.90548705e+01] [ 3.79534843e-02 9.99279399e-01 -4.64689903e-04 2.09002639e+00] [ 2.37194155e-02 -4.35989518e-04 9.99718560e-01 4.35385268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79533619499999 meters 0.022156030228197728 Centerline is valid? [True, True] Translation: X:69.09, Y:2.09, Z:0.45 [[ 9.99011953e-01 -3.92652823e-02 -2.08172092e-02 6.90875250e+01] [ 3.92653691e-02 9.99228736e-01 -4.04729867e-04 2.09229533e+00] [ 2.08170454e-02 -4.13065426e-04 9.99783217e-01 4.45253226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82533619499999 meters 0.03744893047789685 Centerline is valid? [True, True] Translation: X:69.14, Y:2.09, Z:0.45 [[ 9.98084577e-01 -6.02758368e-02 -1.39284456e-02 6.91443930e+01] [ 6.03203241e-02 9.98175156e-01 2.79588658e-03 2.08759726e+00] [ 1.37345040e-02 -3.63069963e-03 9.99899086e-01 4.46452893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85533619499999 meters 0.023028403432217945 Centerline is valid? [True, True] Translation: X:69.15, Y:2.09, Z:0.46 [[ 9.98929331e-01 -4.16896367e-02 -2.00540600e-02 6.91479704e+01] [ 4.16348733e-02 9.99127956e-01 -3.14078134e-03 2.09484380e+00] [ 2.01675100e-02 2.30247036e-03 9.99793964e-01 4.55091622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.885336195 meters 0.030699248476795265 Centerline is valid? [True, True] Translation: X:69.19, Y:2.09, Z:0.46 [[ 9.98549983e-01 -5.12643319e-02 -1.64286408e-02 6.91880798e+01] [ 5.11950680e-02 9.98678035e-01 -4.60950707e-03 2.09271574e+00] [ 1.66432260e-02 3.76175782e-03 9.99854416e-01 4.58202373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.915336195 meters 0.02599844520521248 Centerline is valid? [True, True] Translation: X:69.21, Y:2.08, Z:0.43 [[ 9.98862015e-01 -4.19535038e-02 -2.26843359e-02 6.92093971e+01] [ 4.20735829e-02 9.99102781e-01 4.84217461e-03 2.08443053e+00] [ 2.24608369e-02 -5.79107558e-03 9.99730951e-01 4.33307841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.945336195 meters 0.024368514521224276 Centerline is valid? [True, True] Translation: X:69.24, Y:2.09, Z:0.44 [[ 9.98842572e-01 -4.15198015e-02 -2.42821381e-02 6.92418665e+01] [ 4.15204896e-02 9.99137539e-01 -4.76057544e-04 2.09190692e+00] [ 2.42809615e-02 -5.32699721e-04 9.99705032e-01 4.42587591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.975336195 meters 0.028910912041528125 Centerline is valid? [True, True] Translation: X:69.28, Y:2.10, Z:0.46 [[ 9.98551665e-01 -4.83179510e-02 -2.36632277e-02 6.92755834e+01] [ 4.80241487e-02 9.98763758e-01 -1.28310763e-02 2.09572202e+00] [ 2.42539456e-02 1.16760862e-02 9.99637642e-01 4.63024670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.005336195 meters 0.02460459171644407 Centerline is valid? [True, True] Translation: X:69.31, Y:2.08, Z:0.42 [[ 9.98697096e-01 -4.25063146e-02 -2.82369363e-02 6.93062351e+01] [ 4.28164434e-02 9.99028088e-01 1.04705232e-02 2.08343648e+00] [ 2.77644291e-02 -1.16658863e-02 9.99546419e-01 4.23536544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.035336195 meters 0.022950803574268104 Centerline is valid? [True, True] Translation: X:69.34, Y:2.10, Z:0.47 [[ 9.98755059e-01 -4.19805664e-02 -2.69437063e-02 6.93376862e+01] [ 4.15982321e-02 9.99027779e-01 -1.45973709e-02 2.10498012e+00] [ 2.75303170e-02 1.34583875e-02 9.99530366e-01 4.65652203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.065336195 meters 0.02304912082189648 Centerline is valid? [True, True] Translation: X:69.37, Y:2.08, Z:0.41 [[ 9.98900779e-01 -3.73918260e-02 -2.82680902e-02 6.93689245e+01] [ 3.77873249e-02 9.99193409e-01 1.35885444e-02 2.08178781e+00] [ 2.77371890e-02 -1.46417831e-02 9.99508012e-01 4.06285024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.095336195 meters 0.022215413757684467 Centerline is valid? [True, True] Translation: X:69.40, Y:2.09, Z:0.42 [[ 9.98922353e-01 -3.69445761e-02 -2.80932517e-02 6.94013481e+01] [ 3.69439074e-02 9.99317193e-01 -5.43018930e-04 2.09038149e+00] [ 2.80941311e-02 -4.95440744e-04 9.99605159e-01 4.24001236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.125336195 meters 0.020803173827548937 Centerline is valid? [True, True] Translation: X:69.43, Y:2.10, Z:0.43 [[ 9.99041688e-01 -3.45939395e-02 -2.68135093e-02 6.94312118e+01] [ 3.45925030e-02 9.99401366e-01 -5.17566905e-04 2.09558853e+00] [ 2.68153625e-02 -4.10475486e-04 9.99640319e-01 4.31813670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15533619499999 meters 0.01854315961506692 Centerline is valid? [True, True] Translation: X:69.46, Y:2.10, Z:0.44 [[ 9.99115020e-01 -3.29400245e-02 -2.61558934e-02 6.94632564e+01] [ 3.29381590e-02 9.99457265e-01 -5.02276636e-04 2.10257642e+00] [ 2.61582427e-02 -3.59694842e-04 9.99657750e-01 4.41757145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18533619499999 meters 0.01706070114057228 Centerline is valid? [True, True] Translation: X:69.49, Y:2.11, Z:0.46 [[ 9.99284429e-01 -3.01472590e-02 -2.28423334e-02 6.94933878e+01] [ 3.01451422e-02 9.99545436e-01 -4.37081698e-04 2.10963997e+00] [ 2.28451269e-02 -2.51816453e-04 9.99738984e-01 4.55187052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21533619499999 meters 0.018068412484511718 Centerline is valid? [True, True] Translation: X:69.53, Y:2.12, Z:0.47 [[ 9.99268250e-01 -3.41889572e-02 -1.71487745e-02 6.95315280e+01] [ 3.40871740e-02 9.99399676e-01 -6.19297739e-03 2.11807007e+00] [ 1.73502111e-02 5.60389242e-03 9.99833769e-01 4.73507646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.245336195 meters 0.01423545399809887 Centerline is valid? [True, True] Translation: X:69.56, Y:2.11, Z:0.45 [[ 9.99521008e-01 -2.50129391e-02 -1.82238133e-02 6.95563174e+01] [ 2.51193223e-02 9.99668594e-01 5.63223127e-03 2.11285589e+00] [ 1.80768951e-02 -6.08730332e-03 9.99818069e-01 4.50052089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.275336195 meters 0.01483855849383379 Centerline is valid? [True, True] Translation: X:69.59, Y:2.11, Z:0.45 [[ 9.99478076e-01 -2.66278205e-02 -1.82902967e-02 6.95879507e+01] [ 2.66259363e-02 9.99645407e-01 -3.46571691e-04 2.11263720e+00] [ 1.82930395e-02 -1.40605467e-04 9.99832658e-01 4.54776631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.305336195 meters 0.017680404401760493 Centerline is valid? [True, True] Translation: X:69.62, Y:2.11, Z:0.46 [[ 9.99321978e-01 -3.32341938e-02 -1.58452832e-02 6.96249645e+01] [ 3.31978751e-02 9.99445546e-01 -2.54970534e-03 2.11309056e+00] [ 1.59212351e-02 2.02194685e-03 9.99871205e-01 4.58367037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.335336195 meters 0.0180154619979005 Centerline is valid? [True, True] Translation: X:69.65, Y:2.10, Z:0.44 [[ 9.99294843e-01 -3.09342955e-02 -2.12811397e-02 6.96523070e+01] [ 3.09811911e-02 9.99518205e-01 1.87738782e-03 2.10443358e+00] [ 2.12128109e-02 -2.53537902e-03 9.99771768e-01 4.43684063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.365336195 meters 0.021246652245933972 Centerline is valid? [True, True] Translation: X:69.69, Y:2.10, Z:0.45 [[ 9.98969005e-01 -3.96691402e-02 -2.20745532e-02 6.96881584e+01] [ 3.96266361e-02 9.99211770e-01 -2.35975440e-03 2.10459237e+00] [ 2.21507628e-02 1.48258122e-03 9.99753542e-01 4.47682350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.395336195 meters 0.02040404033826679 Centerline is valid? [True, True] Translation: X:69.71, Y:2.10, Z:0.44 [[ 9.98977766e-01 -3.63356727e-02 -2.68912907e-02 6.97148265e+01] [ 3.63905447e-02 9.99336437e-01 1.55378891e-03 2.09987823e+00] [ 2.68169887e-02 -2.53078929e-03 9.99637156e-01 4.41660365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.425336195 meters 0.020656324950175144 Centerline is valid? [True, True] Translation: X:69.75, Y:2.10, Z:0.45 [[ 9.99024905e-01 -3.52746931e-02 -2.65506126e-02 6.97458547e+01] [ 3.52740264e-02 9.99377556e-01 -4.93613224e-04 2.10262150e+00] [ 2.65514984e-02 -4.43415105e-04 9.99647348e-01 4.47084252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.455336195 meters 0.02020191348595746 Centerline is valid? [True, True] Translation: X:69.78, Y:2.10, Z:0.45 [[ 9.99000805e-01 -3.54503734e-02 -2.72151356e-02 6.97784465e+01] [ 3.54498532e-02 9.99371330e-01 -5.01743932e-04 2.10358847e+00] [ 2.72158132e-02 -4.63529968e-04 9.99629474e-01 4.48243898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.485336195 meters 0.020442305108447828 Centerline is valid? [True, True] Translation: X:69.80, Y:2.11, Z:0.46 [[ 9.99035635e-01 -3.58508995e-02 -2.53478544e-02 6.98014929e+01] [ 3.55814931e-02 9.99306229e-01 -1.10008409e-02 2.10982614e+00] [ 2.57246588e-02 1.00883175e-02 9.99618161e-01 4.63880410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51533619499999 meters 0.020442305108447828 Centerline is valid? [True, True] Translation: X:69.83, Y:2.10, Z:0.45 [[ 9.99036687e-01 -3.56446451e-02 -2.55960589e-02 6.98336637e+01] [ 3.56231451e-02 9.99364455e-01 -1.29561034e-03 2.10374038e+00] [ 2.56259730e-02 3.82550145e-04 9.99671528e-01 4.48383102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54533619499999 meters 0.01946636119062099 Centerline is valid? [True, True] Translation: X:69.88, Y:2.09, Z:0.42 [[ 9.99061602e-01 -3.33163128e-02 -2.76756099e-02 6.98758399e+01] [ 3.36106409e-02 9.99382558e-01 1.02385776e-02 2.09466761e+00] [ 2.73174102e-02 -1.11591647e-02 9.99564521e-01 4.21163365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57533619499999 meters 0.017807062612497575 Centerline is valid? [True, True] Translation: X:69.91, Y:2.11, Z:0.44 [[ 9.99052671e-01 -3.32731454e-02 -2.80474267e-02 6.99074913e+01] [ 3.32719752e-02 9.99446205e-01 -5.08539256e-04 2.10532737e+00] [ 2.80488149e-02 -4.25135784e-04 9.99606464e-01 4.40748069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60533619499999 meters 0.02033330894738654 Centerline is valid? [True, True] Translation: X:69.94, Y:2.10, Z:0.44 [[ 9.98914155e-01 -3.50345419e-02 -3.07097950e-02 6.99388786e+01] [ 3.50341253e-02 9.99385964e-01 -5.51806056e-04 2.10258545e+00] [ 3.07102704e-02 -5.24683925e-04 9.99528191e-01 4.38993970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.635336195 meters 0.021365515568312822 Centerline is valid? [True, True] Translation: X:69.96, Y:2.11, Z:0.46 [[ 9.98840750e-01 -3.84977622e-02 -2.88977404e-02 6.99624557e+01] [ 3.82376160e-02 9.99223499e-01 -9.50176913e-03 2.10871608e+00] [ 2.92410981e-02 8.38577350e-03 9.99537211e-01 4.59284785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.665336195 meters 0.02408321805608256 Centerline is valid? [True, True] Translation: X:70.00, Y:2.09, Z:0.43 [[ 9.98665998e-01 -3.96627415e-02 -3.30619433e-02 7.00018879e+01] [ 3.99430724e-02 9.99171028e-01 7.86179054e-03 2.09289237e+00] [ 3.27227157e-02 -9.17189848e-03 9.99422383e-01 4.30002269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.695336195 meters 0.023261139922709725 Centerline is valid? [True, True] Translation: X:70.04, Y:2.10, Z:0.44 [[ 9.98666445e-01 -3.95662698e-02 -3.31638558e-02 7.00353977e+01] [ 3.95685618e-02 9.99216685e-01 -5.87445389e-04 2.09998279e+00] [ 3.31611211e-02 -7.25584082e-04 9.99449755e-01 4.44622078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.725336195 meters 0.02424001374076689 Centerline is valid? [True, True] Translation: X:70.07, Y:2.10, Z:0.44 [[ 9.98650354e-01 -3.93908545e-02 -3.38501388e-02 7.00665096e+01] [ 3.93933232e-02 9.99223605e-01 -5.94251778e-04 2.09818886e+00] [ 3.38472658e-02 -7.40019708e-04 9.99426743e-01 4.39101478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.755336195 meters 0.02384867366972399 Centerline is valid? [True, True] Translation: X:70.10, Y:2.10, Z:0.44 [[ 9.98667399e-01 -3.94295457e-02 -3.32977169e-02 7.00992322e+01] [ 3.94321256e-02 9.99222083e-01 -5.79454147e-04 2.09749964e+00] [ 3.32946617e-02 -7.34317791e-04 9.99445309e-01 4.37972715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.785336195 meters 0.02393603924345524 Centerline is valid? [True, True] Translation: X:70.13, Y:2.10, Z:0.44 [[ 9.98690240e-01 -3.99614091e-02 -3.19513884e-02 7.01317499e+01] [ 3.99642152e-02 9.99200960e-01 -5.51045842e-04 2.09603526e+00] [ 3.19478785e-02 -7.26588060e-04 9.99489272e-01 4.39056321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.815336195 meters 0.024200164578942616 Centerline is valid? [True, True] Translation: X:70.16, Y:2.10, Z:0.44 [[ 9.98796754e-01 -3.97149388e-02 -2.87709510e-02 7.01621544e+01] [ 3.97171586e-02 9.99210840e-01 -4.94534147e-04 2.09541702e+00] [ 2.87678865e-02 -6.48761323e-04 9.99585908e-01 4.44380807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.845336195 meters 0.023107820328653723 Centerline is valid? [True, True] Translation: X:70.19, Y:2.10, Z:0.45 [[ 9.98876053e-01 -3.76373595e-02 -2.88107499e-02 7.01939001e+01] [ 3.76388082e-02 9.99291288e-01 -4.92222478e-04 2.10120801e+00] [ 2.88088573e-02 -5.92733041e-04 9.99584763e-01 4.53160494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87533619499999 meters 0.020264270157603622 Centerline is valid? [True, True] Translation: X:70.23, Y:2.11, Z:0.46 [[ 9.98917747e-01 -3.58860191e-02 -2.95893302e-02 7.02263290e+01] [ 3.58869201e-02 9.99355732e-01 -5.00771737e-04 2.10838000e+00] [ 2.95882374e-02 -5.61640154e-04 9.99562014e-01 4.58639807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90533619499999 meters 0.022985307208673946 Centerline is valid? [True, True] Translation: X:70.26, Y:2.10, Z:0.45 [[ 9.98872329e-01 -3.75646104e-02 -2.90339581e-02 7.02579718e+01] [ 3.75663151e-02 9.99294018e-01 -4.86941572e-04 2.10276757e+00] [ 2.90317524e-02 -6.04306355e-04 9.99578307e-01 4.54767401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93533619499999 meters 0.021142610348656315 Centerline is valid? [True, True] Translation: X:70.29, Y:2.10, Z:0.46 [[ 9.98851925e-01 -3.81606567e-02 -2.89585250e-02 7.02906704e+01] [ 3.81627364e-02 9.99271422e-01 -4.81065563e-04 2.10436002e+00] [ 2.89557843e-02 -6.24623294e-04 9.99580498e-01 4.55213571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96533619499999 meters 0.021469941139007104 Centerline is valid? [True, True] Translation: X:70.32, Y:2.10, Z:0.45 [[ 9.98809218e-01 -3.83337250e-02 -3.01773261e-02 7.03236206e+01] [ 3.83362147e-02 9.99264774e-01 -4.96280445e-04 2.10230701e+00] [ 3.01741633e-02 -6.61194971e-04 9.99544438e-01 4.51044066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.995336195 meters 0.023443596249042183 Centerline is valid? [True, True] Translation: X:70.35, Y:2.10, Z:0.45 [[ 9.98784766e-01 -3.87284262e-02 -3.04811304e-02 7.03548325e+01] [ 3.87312955e-02 9.99249539e-01 -4.96506897e-04 2.09905487e+00] [ 3.04774845e-02 -6.84670145e-04 9.99535219e-01 4.47644898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.025336195 meters 0.023734363284977394 Centerline is valid? [True, True] Translation: X:70.39, Y:2.10, Z:0.44 [[ 9.98783184e-01 -3.82250633e-02 -3.11608052e-02 7.03873509e+01] [ 3.82279770e-02 9.99268917e-01 -5.02459120e-04 2.09720241e+00] [ 3.11572306e-02 -6.89366824e-04 9.99514258e-01 4.43899612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.055336195 meters 0.023795087021062086 Centerline is valid? [True, True] Translation: X:70.42, Y:2.10, Z:0.44 [[ 9.98740793e-01 -3.71408001e-02 -3.37251961e-02 7.04186316e+01] [ 3.71437746e-02 9.99309787e-01 -5.38534542e-04 2.09642360e+00] [ 3.37219201e-02 -7.14824665e-04 9.99430999e-01 4.38210218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.085336195 meters 0.023289189662351006 Centerline is valid? [True, True] Translation: X:70.45, Y:2.10, Z:0.44 [[ 9.98725330e-01 -3.59111978e-02 -3.54697250e-02 7.04507035e+01] [ 3.59139085e-02 9.99354730e-01 -5.60908553e-04 2.09829772e+00] [ 3.54669803e-02 -7.13662879e-04 9.99370594e-01 4.38379076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.115336195 meters 0.02130384364249899 Centerline is valid? [True, True] Translation: X:70.48, Y:2.11, Z:0.45 [[ 9.98787498e-01 -3.31652824e-02 -3.63812754e-02 7.04830240e+01] [ 3.31665242e-02 9.99449677e-01 -5.69552743e-04 2.10779615e+00] [ 3.63801433e-02 -6.37778293e-04 9.99337820e-01 4.48443931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.145336195 meters 0.022089011673683146 Centerline is valid? [True, True] Translation: X:70.51, Y:2.11, Z:0.45 [[ 9.98821101e-01 -3.19364147e-02 -3.65578194e-02 7.05141273e+01] [ 3.19370468e-02 9.99489722e-01 -5.66828959e-04 2.10915535e+00] [ 3.65572672e-02 -6.01388063e-04 9.99331379e-01 4.48728491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.175336195 meters 0.019792234414615514 Centerline is valid? [True, True] Translation: X:70.55, Y:2.12, Z:0.45 [[ 9.98915468e-01 -2.66768561e-02 -3.81606122e-02 7.05467841e+01] [ 2.66738283e-02 9.99644017e-01 -5.88560989e-04 2.11885901e+00] [ 3.81627286e-02 -4.29966942e-04 9.99271445e-01 4.47119936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.205336195 meters 0.018656817540804404 Centerline is valid? [True, True] Translation: X:70.58, Y:2.11, Z:0.44 [[ 9.99018963e-01 -2.77601413e-02 -3.45034349e-02 7.05783125e+01] [ 2.77583482e-02 9.99614522e-01 -5.31083156e-04 2.11273011e+00] [ 3.45048775e-02 -4.27196214e-04 9.99404438e-01 4.42796276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.235336195 meters 0.019534778876090127 Centerline is valid? [True, True] Translation: X:70.61, Y:2.11, Z:0.44 [[ 9.99067949e-01 -2.61507207e-02 -3.43419926e-02 7.06097732e+01] [ 2.61481242e-02 9.99657942e-01 -5.24803726e-04 2.11232679e+00] [ 3.43439696e-02 -3.73664105e-04 9.99410002e-01 4.37021773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26533619499999 meters 0.019378459257347772 Centerline is valid? [True, True] Translation: X:70.64, Y:2.11, Z:0.44 [[ 9.99082482e-01 -2.66879872e-02 -3.34954693e-02 7.06415766e+01] [ 2.66859018e-02 9.99643738e-01 -5.09391491e-04 2.11179536e+00] [ 3.34971307e-02 -3.84932688e-04 9.99438740e-01 4.36927433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29533619499999 meters 0.019716020990220223 Centerline is valid? [True, True] Translation: X:70.67, Y:2.11, Z:0.44 [[ 9.99083306e-01 -2.69500576e-02 -3.32602211e-02 7.06735618e+01] [ 2.69482442e-02 9.99636704e-01 -5.02878895e-04 2.11185918e+00] [ 3.32616904e-02 -3.93886651e-04 9.99446599e-01 4.37280366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32533619499999 meters 0.01930823491350461 Centerline is valid? [True, True] Translation: X:70.71, Y:2.11, Z:0.44 [[ 9.99093326e-01 -2.65981575e-02 -3.32425073e-02 7.07056356e+01] [ 2.65962211e-02 9.99646133e-01 -5.00511236e-04 2.11400106e+00] [ 3.32440565e-02 -3.84067639e-04 9.99447190e-01 4.40456447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35533619499999 meters 0.01762888065080508 Centerline is valid? [True, True] Translation: X:70.74, Y:2.12, Z:0.45 [[ 9.99178457e-01 -2.49314724e-02 -3.19504644e-02 7.07373882e+01] [ 2.49288765e-02 9.99689112e-01 -4.79654358e-04 2.12062885e+00] [ 3.19524899e-02 -3.17228879e-04 9.99489338e-01 4.50398624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.385336195 meters 0.016809278770173554 Centerline is valid? [True, True] Translation: X:70.77, Y:2.12, Z:0.45 [[ 9.99228198e-01 -2.34353432e-02 -3.15244904e-02 7.07694090e+01] [ 2.34321166e-02 9.99725319e-01 -4.71836669e-04 2.12477105e+00] [ 3.15268889e-02 -2.67213029e-04 9.99502868e-01 4.54768508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.415336195 meters 0.016342849628947616 Centerline is valid? [True, True] Translation: X:70.80, Y:2.13, Z:0.45 [[ 9.99273621e-01 -2.17897972e-02 -3.12639652e-02 7.08019962e+01] [ 2.17858630e-02 9.99762551e-01 -4.66513678e-04 2.12818224e+00] [ 3.12667069e-02 -2.14937650e-04 9.99511054e-01 4.54519310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.445336195 meters 0.016738895405570647 Centerline is valid? [True, True] Translation: X:70.83, Y:2.13, Z:0.45 [[ 9.99303260e-01 -2.12402309e-02 -3.06895388e-02 7.08331094e+01] [ 2.12362163e-02 9.99774382e-01 -4.56785818e-04 2.12725587e+00] [ 3.06923170e-02 -1.95262127e-04 9.99528861e-01 4.49101624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.475336195 meters 0.016292133551794884 Centerline is valid? [True, True] Translation: X:70.87, Y:2.13, Z:0.44 [[ 9.99324580e-01 -1.96926506e-02 -3.10255331e-02 7.08664578e+01] [ 1.96878571e-02 9.99806070e-01 -4.60010065e-04 2.12780231e+00] [ 3.10285751e-02 -1.51126897e-04 9.99518486e-01 4.43795405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.505336195 meters 0.018674628136098152 Centerline is valid? [True, True] Translation: X:70.90, Y:2.13, Z:0.44 [[ 9.99306400e-01 -2.00468184e-02 -3.13822196e-02 7.08974382e+01] [ 2.00421686e-02 9.99799028e-01 -4.62750969e-04 2.12555462e+00] [ 3.13851894e-02 -1.66537733e-04 9.99507350e-01 4.35182635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.535336195 meters 0.016748083566102905 Centerline is valid? [True, True] Translation: X:70.93, Y:2.13, Z:0.45 [[ 9.99300228e-01 -1.86071845e-02 -3.24473112e-02 7.09291327e+01] [ 1.86015178e-02 9.99826863e-01 -4.76525797e-04 2.13484032e+00] [ 3.24505601e-02 -1.27376898e-04 9.99473334e-01 4.52585638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.565336195 meters 0.01738174591824168 Centerline is valid? [True, True] Translation: X:70.96, Y:2.14, Z:0.46 [[ 9.99309779e-01 -1.86904604e-02 -3.21034650e-02 7.09607896e+01] [ 1.86850027e-02 9.99825310e-01 -4.70023366e-04 2.13846537e+00] [ 3.21066417e-02 -1.30154385e-04 9.99484440e-01 4.57031453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.595336195 meters 0.017260527030837643 Centerline is valid? [True, True] Translation: X:70.99, Y:2.14, Z:0.46 [[ 9.99336683e-01 -1.88769654e-02 -3.11424675e-02 7.09920257e+01] [ 1.88719554e-02 9.99821805e-01 -4.54823506e-04 2.14004388e+00] [ 3.11455037e-02 -1.33197443e-04 9.99514852e-01 4.60223954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62533619499999 meters 0.016181277493886773 Centerline is valid? [True, True] Translation: X:71.02, Y:2.14, Z:0.46 [[ 9.99423774e-01 -1.86093362e-02 -2.83868331e-02 7.10239048e+01] [ 1.86050912e-02 9.99826825e-01 -4.13680711e-04 2.13877007e+00] [ 2.83896155e-02 -1.14697280e-04 9.99596927e-01 4.58200927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65533619499999 meters 0.015488716032183323 Centerline is valid? [True, True] Translation: X:71.05, Y:2.14, Z:0.45 [[ 9.99538817e-01 -1.62245568e-02 -2.56693974e-02 7.10549996e+01] [ 1.62203157e-02 9.99868372e-01 -3.73442141e-04 2.13744118e+00] [ 2.56720776e-02 -4.30958152e-05 9.99670417e-01 4.51520460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68533619499999 meters 0.016272751530654148 Centerline is valid? [True, True] Translation: X:71.09, Y:2.14, Z:0.45 [[ 9.99611843e-01 -1.42758809e-02 -2.39240902e-02 7.10870770e+01] [ 1.42716586e-02 9.99898094e-01 -3.47229790e-04 2.13995521e+00] [ 2.39266092e-02 5.65856298e-06 9.99713718e-01 4.53989523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71533619499999 meters 0.015090574744946943 Centerline is valid? [True, True] Translation: X:71.12, Y:2.15, Z:0.47 [[ 9.99692751e-01 -1.18604190e-02 -2.17654537e-02 7.11179213e+01] [ 1.18563803e-02 9.99929661e-01 -3.14596814e-04 2.14954920e+00] [ 2.17676540e-02 5.64406596e-05 9.99763055e-01 4.68661160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.745336195 meters 0.015371407051169392 Centerline is valid? [True, True] Translation: X:71.15, Y:2.16, Z:0.48 [[ 9.99717424e-01 -1.06672350e-02 -2.12433949e-02 7.11499743e+01] [ 1.06631449e-02 9.99943100e-01 -3.05803352e-04 2.15507390e+00] [ 2.12454483e-02 7.91955418e-05 9.99774287e-01 4.75751546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.775336195 meters 0.015547155864611228 Centerline is valid? [True, True] Translation: X:71.18, Y:2.15, Z:0.47 [[ 9.99700882e-01 -1.02076913e-02 -2.22249540e-02 7.11823879e+01] [ 1.02031233e-02 9.99947896e-01 -3.18926368e-04 2.15441468e+00] [ 2.22270515e-02 9.20670264e-05 9.99752944e-01 4.70959583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.805336195 meters 0.015509922015272083 Centerline is valid? [True, True] Translation: X:71.21, Y:2.15, Z:0.46 [[ 9.99689108e-01 -9.98112345e-03 -2.28487196e-02 7.12142373e+01] [ 9.97625351e-03 9.99950182e-01 -3.27118413e-04 2.15129563e+00] [ 2.28508464e-02 9.90720952e-05 9.99738880e-01 4.63618715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.835336195 meters 0.021535168383674207 Centerline is valid? [True, True] Translation: X:71.26, Y:2.15, Z:0.45 [[ 9.99396656e-01 -2.79878164e-02 -2.05671008e-02 7.12644243e+01] [ 2.80520664e-02 9.99602423e-01 2.84202919e-03 2.14716858e+00] [ 2.04793816e-02 -3.41726415e-03 9.99784435e-01 4.53492944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.865336195 meters 0.016986755467809887 Centerline is valid? [True, True] Translation: X:71.27, Y:2.16, Z:0.46 [[ 9.99712067e-01 -7.94229764e-03 -2.26429498e-02 7.12717966e+01] [ 7.88034921e-03 9.99964963e-01 -2.82379983e-03 2.15613493e+00] [ 2.26645839e-02 2.64455241e-03 9.99739628e-01 4.64773887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.895336195 meters 0.017625293261753525 Centerline is valid? [True, True] Translation: X:71.30, Y:2.16, Z:0.47 [[ 9.99696346e-01 -6.77099006e-03 -2.36932270e-02 7.13005838e+01] [ 6.76502323e-03 9.99977062e-01 -3.31982790e-04 2.16081455e+00] [ 2.36949314e-02 1.71596751e-04 9.99719221e-01 4.69326718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.925336195 meters 0.017131345498278775 Centerline is valid? [True, True] Translation: X:71.33, Y:2.16, Z:0.47 [[ 9.99691434e-01 -5.71306788e-03 -2.41743335e-02 7.13288023e+01] [ 5.70645226e-03 9.99983659e-01 -3.42639936e-04 2.16136163e+00] [ 2.41758960e-02 2.04584528e-04 9.99707699e-01 4.71529648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.955336195 meters 0.022929932831083175 Centerline is valid? [True, True] Translation: X:71.38, Y:2.16, Z:0.46 [[ 9.99446789e-01 -2.32228334e-02 -2.38078847e-02 7.13790130e+01] [ 2.32690857e-02 9.99727848e-01 1.66750140e-03 2.15960311e+00] [ 2.37626812e-02 -2.22056663e-03 9.99715161e-01 4.58189131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.985336195 meters 0.01910110833364336 Centerline is valid? [True, True] Translation: X:71.39, Y:2.16, Z:0.46 [[ 9.99687919e-01 -3.24292971e-03 -2.47699030e-02 7.13870041e+01] [ 3.20247891e-03 9.99993473e-01 -1.67255642e-03 2.16230485e+00] [ 2.47751653e-02 1.59270935e-03 9.99691780e-01 4.61675423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01533619499999 meters 0.022322950154673053 Centerline is valid? [True, True] Translation: X:71.44, Y:2.16, Z:0.46 [[ 9.99391324e-01 -2.67278507e-02 -2.24188260e-02 7.14443300e+01] [ 2.67750241e-02 9.99639852e-01 1.80660928e-03 2.15770091e+00] [ 2.23624652e-02 -2.40577425e-03 9.99747034e-01 4.60542862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04533619499999 meters 0.018755626113825457 Centerline is valid? [True, True] Translation: X:71.44, Y:2.16, Z:0.46 [[ 9.99713014e-01 -6.10232519e-03 -2.31657451e-02 7.14446451e+01] [ 6.07334832e-03 9.99980685e-01 -1.32100064e-03 2.16236111e+00] [ 2.31733588e-02 1.17992790e-03 9.99730765e-01 4.62578787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07533619499999 meters 0.017462379428689098 Centerline is valid? [True, True] Translation: X:71.47, Y:2.16, Z:0.46 [[ 9.99723748e-01 -6.02784217e-03 -2.27176601e-02 7.14721482e+01] [ 6.02228128e-03 9.99981817e-01 -3.13190126e-04 2.16191320e+00] [ 2.27191349e-02 1.76291468e-04 9.99741872e-01 4.62393154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10533619499999 meters 0.016931923560111153 Centerline is valid? [True, True] Translation: X:71.50, Y:2.16, Z:0.46 [[ 9.99734848e-01 -5.81682922e-03 -2.22800103e-02 7.14999516e+01] [ 5.81133828e-03 9.99983066e-01 -3.11190652e-04 2.16217481e+00] [ 2.22814431e-02 1.81631463e-04 9.99751721e-01 4.63450898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.135336195 meters 0.016815797946110156 Centerline is valid? [True, True] Translation: X:71.53, Y:2.16, Z:0.46 [[ 9.99757545e-01 -6.16561439e-03 -2.11385042e-02 7.15279327e+01] [ 6.16069171e-03 9.99980978e-01 -2.97991706e-04 2.16296338e+00] [ 2.11399394e-02 1.67691649e-04 9.99776512e-01 4.64799734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.165336195 meters 0.01582002475081163 Centerline is valid? [True, True] Translation: X:71.56, Y:2.16, Z:0.47 [[ 9.99819727e-01 -6.76978549e-03 -1.77393206e-02 7.15566274e+01] [ 6.76637934e-03 9.99977076e-01 -2.52025056e-04 2.16426554e+00] [ 1.77406201e-02 1.31948650e-04 9.99842614e-01 4.70793481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.195336195 meters 0.015164282579357011 Centerline is valid? [True, True] Translation: X:71.59, Y:2.17, Z:0.48 [[ 9.99846515e-01 -7.53223615e-03 -1.58180908e-02 7.15862654e+01] [ 7.52959876e-03 9.99971627e-01 -2.26282390e-04 2.16739212e+00] [ 1.58193464e-02 1.07143783e-04 9.99874861e-01 4.79084438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.225336195 meters 0.023263744259431455 Centerline is valid? [True, True] Translation: X:71.65, Y:2.17, Z:0.49 [[ 9.99322371e-01 -3.15754038e-02 -1.89154193e-02 7.16490580e+01] [ 3.14627156e-02 9.99485536e-01 -6.22581542e-03 2.17079837e+00] [ 1.91022706e-02 5.62646617e-03 9.99801703e-01 4.89715421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.255336195 meters 0.0149060332781445 Centerline is valid? [True, True] Translation: X:71.64, Y:2.16, Z:0.46 [[ 9.99759212e-01 -1.08558061e-02 -1.90701290e-02 7.16447162e+01] [ 1.09805303e-02 9.99918924e-01 6.44780162e-03 2.16015669e+00] [ 1.89985868e-02 -6.65564920e-03 9.99797357e-01 4.61060471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.285336195 meters 0.01538976721678188 Centerline is valid? [True, True] Translation: X:71.68, Y:2.17, Z:0.47 [[ 9.99762688e-01 -1.10812223e-02 -1.87556308e-02 7.16760324e+01] [ 1.10772774e-02 9.99938596e-01 -3.14210043e-04 2.16579899e+00] [ 1.87579609e-02 1.06374153e-04 9.99824048e-01 4.70503421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.315336195 meters 0.014972290609024145 Centerline is valid? [True, True] Translation: X:71.71, Y:2.17, Z:0.48 [[ 9.99750852e-01 -1.15312460e-02 -1.91119111e-02 7.17083852e+01] [ 1.15272470e-02 9.99933508e-01 -3.19397996e-04 2.16723132e+00] [ 1.91143234e-02 9.90106985e-05 9.99817300e-01 4.75217727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.345336195 meters 0.014821267466472264 Centerline is valid? [True, True] Translation: X:71.74, Y:2.17, Z:0.48 [[ 9.99732883e-01 -1.20501228e-02 -1.97219899e-02 7.17408479e+01] [ 1.20459837e-02 9.99927390e-01 -3.28658560e-04 2.16776268e+00] [ 1.97245182e-02 9.10000003e-05 9.99805449e-01 4.76561718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37533619499999 meters 0.022473248283948723 Centerline is valid? [True, True] Translation: X:71.81, Y:2.17, Z:0.49 [[ 9.99215871e-01 -3.30313041e-02 -2.18306418e-02 7.18106938e+01] [ 3.28293024e-02 9.99415368e-01 -9.54772364e-03 2.17396100e+00] [ 2.21332527e-02 8.82355224e-03 9.99716092e-01 4.92540558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40533619499999 meters 0.022473248283948723 Centerline is valid? [True, True] Translation: X:71.84, Y:2.17, Z:0.47 [[ 9.99194906e-01 -3.34853622e-02 -2.20968215e-02 7.18418641e+01] [ 3.35339058e-02 9.99435905e-01 1.82988465e-03 2.16734426e+00] [ 2.20230825e-02 -2.56940415e-03 9.99754161e-01 4.74023628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43533619499999 meters 0.01569711257063956 Centerline is valid? [True, True] Translation: X:71.83, Y:2.16, Z:0.46 [[ 9.99757231e-01 -1.06872983e-02 -1.92681470e-02 7.18278956e+01] [ 1.08799321e-02 9.99891599e-01 9.92056777e-03 2.16434284e+00] [ 1.91600342e-02 -1.01277955e-02 9.99765133e-01 4.56365840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46533619499999 meters 0.01628637890361871 Centerline is valid? [True, True] Translation: X:71.86, Y:2.17, Z:0.47 [[ 9.99778667e-01 -8.93747453e-03 -1.90457011e-02 7.18603141e+01] [ 8.93268724e-03 9.99960046e-01 -3.36417533e-04 2.17177520e+00] [ 1.90479468e-02 1.66213782e-04 9.99818558e-01 4.70005179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.495336195 meters 0.01589007604475587 Centerline is valid? [True, True] Translation: X:71.89, Y:2.17, Z:0.47 [[ 9.99789372e-01 -8.64686723e-03 -1.86129616e-02 7.18926307e+01] [ 8.64226063e-03 9.99962601e-01 -3.27917776e-04 2.17135246e+00] [ 1.86151010e-02 1.66990642e-04 9.99826710e-01 4.71708840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.525336195 meters 0.016705683491935935 Centerline is valid? [True, True] Translation: X:71.92, Y:2.18, Z:0.48 [[ 9.99827114e-01 -7.51919885e-03 -1.70060149e-02 7.19235189e+01] [ 7.51520200e-03 9.99971716e-01 -2.98921110e-04 2.17667361e+00] [ 1.70077816e-02 1.71065793e-04 9.99855343e-01 4.79661711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.555336195 meters 0.016718694086556435 Centerline is valid? [True, True] Translation: X:71.95, Y:2.18, Z:0.48 [[ 9.99835343e-01 -7.40629932e-03 -1.65660337e-02 7.19548453e+01] [ 7.40249944e-03 9.99972559e-01 -2.90686261e-04 2.17921339e+00] [ 1.65677320e-02 1.68008343e-04 9.99862732e-01 4.84370934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.585336195 meters 0.01666497337125087 Centerline is valid? [True, True] Translation: X:71.99, Y:2.18, Z:0.48 [[ 9.99858267e-01 -6.56353734e-03 -1.55037472e-02 7.19860945e+01] [ 6.56011313e-03 9.99978445e-01 -2.71709816e-04 2.18039655e+00] [ 1.55051964e-02 1.69964970e-04 9.99879773e-01 4.84254435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.615336195 meters 0.016293637435988675 Centerline is valid? [True, True] Translation: X:72.02, Y:2.18, Z:0.48 [[ 9.99872886e-01 -6.82706244e-03 -1.44084186e-02 7.20164451e+01] [ 6.82413562e-03 9.99976683e-01 -2.52288523e-04 2.17802948e+00] [ 1.44098050e-02 1.53931452e-04 9.99896162e-01 4.80807339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.645336195 meters 0.016806934504513687 Centerline is valid? [True, True] Translation: X:72.05, Y:2.18, Z:0.48 [[ 9.99891052e-01 -6.84194040e-03 -1.30794623e-02 7.20478491e+01] [ 6.83953237e-03 9.99976584e-01 -2.28830004e-04 2.17867045e+00] [ 1.30807217e-02 1.39347668e-04 9.99914434e-01 4.78605912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.675336195 meters 0.016382656067009786 Centerline is valid? [True, True] Translation: X:72.08, Y:2.18, Z:0.48 [[ 9.99887302e-01 -6.72065636e-03 -1.34244366e-02 7.20802471e+01] [ 6.71812179e-03 9.99977406e-01 -2.33890081e-04 2.17898226e+00] [ 1.34257052e-02 1.43676722e-04 9.99909861e-01 4.78454754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.705336195 meters 0.016442316102820792 Centerline is valid? [True, True] Translation: X:72.11, Y:2.18, Z:0.48 [[ 9.99878045e-01 -6.93277456e-03 -1.39940156e-02 7.21127391e+01] [ 6.93005019e-03 9.99975957e-01 -2.43164049e-04 2.17927177e+00] [ 1.39953650e-02 1.46155163e-04 9.99902049e-01 4.76761857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.735336195 meters 0.01701867640206167 Centerline is valid? [True, True] Translation: X:72.14, Y:2.18, Z:0.48 [[ 9.99868895e-01 -6.45813034e-03 -1.48487297e-02 7.21440740e+01] [ 6.45502029e-03 9.99979133e-01 -2.57367378e-04 2.18146182e+00] [ 1.48500820e-02 1.61484784e-04 9.99889718e-01 4.78086283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76533619499999 meters 0.01577708836241357 Centerline is valid? [True, True] Translation: X:72.17, Y:2.18, Z:0.48 [[ 9.99846014e-01 -5.81318216e-03 -1.65576540e-02 7.21749897e+01] [ 5.80923548e-03 9.99983085e-01 -2.86447161e-04 2.18298052e+00] [ 1.65590391e-02 1.90215741e-04 9.99862872e-01 4.84267290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79533619499999 meters 0.016554821244632745 Centerline is valid? [True, True] Translation: X:72.20, Y:2.19, Z:0.48 [[ 9.99830273e-01 -6.64012708e-03 -1.71852788e-02 7.22034469e+01] [ 6.63599815e-03 9.99977937e-01 -2.97273694e-04 2.18527374e+00] [ 1.71868736e-02 1.83181760e-04 9.99852278e-01 4.83802731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82533619499999 meters 0.01819017817042347 Centerline is valid? [True, True] Translation: X:72.23, Y:2.18, Z:0.48 [[ 9.99845150e-01 -5.61614597e-03 -1.66773943e-02 7.22335159e+01] [ 5.61210777e-03 9.99984210e-01 -2.88927401e-04 2.18383758e+00] [ 1.66787537e-02 1.95287326e-04 9.99860881e-01 4.77777040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85533619499999 meters 0.01754734760577612 Centerline is valid? [True, True] Translation: X:72.26, Y:2.18, Z:0.48 [[ 9.99850248e-01 -5.10343623e-03 -1.65358981e-02 7.22623961e+01] [ 5.09937863e-03 9.99986957e-01 -2.87536521e-04 2.18394722e+00] [ 1.65371499e-02 2.03170657e-04 9.99863231e-01 4.75119465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.885336195 meters 0.018131002075865023 Centerline is valid? [True, True] Translation: X:72.29, Y:2.19, Z:0.48 [[ 9.99873947e-01 -3.63572235e-03 -1.54555020e-02 7.22910332e+01] [ 3.63196585e-03 9.99993368e-01 -2.71113968e-04 2.18554896e+00] [ 1.54563852e-02 2.14945938e-04 9.99880520e-01 4.75451696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.915336195 meters 0.018385857549186063 Centerline is valid? [True, True] Translation: X:72.32, Y:2.19, Z:0.48 [[ 9.99890788e-01 -3.54958737e-03 -1.43461569e-02 7.23177843e+01] [ 3.54631235e-03 9.99993680e-01 -2.53718805e-04 2.18812160e+00] [ 1.43469668e-02 2.02815142e-04 9.99897056e-01 4.79763980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.945336195 meters 0.01764072688020257 Centerline is valid? [True, True] Translation: X:72.35, Y:2.19, Z:0.49 [[ 9.99929917e-01 -1.79482278e-03 -1.17021277e-02 7.23463948e+01] [ 1.79250855e-03 9.99998372e-01 -2.08246700e-04 2.19254062e+00] [ 1.17024824e-02 1.87255942e-04 9.99931506e-01 4.92019980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.975336195 meters 0.018019738937435116 Centerline is valid? [True, True] Translation: X:72.38, Y:2.19, Z:0.49 [[ 9.99940655e-01 -1.44525025e-03 -1.07980341e-02 7.23750793e+01] [ 1.44324159e-03 9.99998940e-01 -1.93811099e-04 2.19444824e+00] [ 1.07983028e-02 1.78215425e-04 9.99941681e-01 4.93508299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.005336195 meters 0.019390408542171046 Centerline is valid? [True, True] Translation: X:72.40, Y:2.19, Z:0.49 [[ 9.99947010e-01 -1.09001360e-03 -1.02366660e-02 7.24027037e+01] [ 1.08817408e-03 9.99999391e-01 -1.85267617e-04 2.19456614e+00] [ 1.02368617e-02 1.74118525e-04 9.99947587e-01 4.87390196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.035336195 meters 0.019271739997867948 Centerline is valid? [True, True] Translation: X:72.43, Y:2.19, Z:0.49 [[ 9.99949967e-01 -1.76573331e-03 -9.84614856e-03 7.24319624e+01] [ 1.76405860e-03 9.99998428e-01 -1.78770310e-04 2.19362317e+00] [ 9.84644874e-03 1.61392182e-04 9.99951510e-01 4.85466984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.065336195 meters 0.01924701594393349 Centerline is valid? [True, True] Translation: X:72.46, Y:2.19, Z:0.49 [[ 9.99956005e-01 -1.47253130e-03 -9.26386903e-03 7.24604850e+01] [ 1.47103413e-03 9.99998904e-01 -1.68426117e-04 2.19339480e+00] [ 9.26410689e-03 1.54791240e-04 9.99957075e-01 4.85946694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.095336195 meters 0.017341400695425484 Centerline is valid? [True, True] Translation: X:72.49, Y:2.19, Z:0.49 [[ 9.99960958e-01 -3.29753651e-03 -8.19806666e-03 7.24883967e+01] [ 3.29641386e-03 9.99994555e-01 -1.50449818e-04 2.19460533e+00] [ 8.19851814e-03 1.23419724e-04 9.99966384e-01 4.91606616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12533619499999 meters 0.01604257376817358 Centerline is valid? [True, True] Translation: X:72.52, Y:2.19, Z:0.49 [[ 9.99948918e-01 -4.62957714e-03 -8.98492458e-03 7.25184947e+01] [ 4.62827628e-03 9.99989276e-01 -1.65569796e-04 2.19450132e+00] [ 8.98559475e-03 1.23976625e-04 9.99959621e-01 4.93481615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15533619499999 meters 0.017264843489562524 Centerline is valid? [True, True] Translation: X:72.55, Y:2.20, Z:0.50 [[ 9.99947645e-01 -4.83473426e-03 -9.01850960e-03 7.25500224e+01] [ 4.83343147e-03 9.99988305e-01 -1.66246926e-04 2.19792917e+00] [ 9.01920789e-03 1.22647874e-04 9.99959319e-01 4.95972201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18533619499999 meters 0.015930343548713116 Centerline is valid? [True, True] Translation: X:72.58, Y:2.20, Z:0.50 [[ 9.99959384e-01 -4.18991031e-03 -7.97971539e-03 7.25819545e+01] [ 4.18887150e-03 9.99991216e-01 -1.46890444e-04 2.19735375e+00] [ 7.98026076e-03 1.13458476e-04 9.99968151e-01 4.99115424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21533619499999 meters 0.01615439275691748 Centerline is valid? [True, True] Translation: X:72.61, Y:2.20, Z:0.50 [[ 9.99962649e-01 -4.84837015e-03 -7.15497978e-03 7.26126944e+01] [ 4.84755422e-03 9.99988242e-01 -1.31374762e-04 2.19874615e+00] [ 7.15553261e-03 9.66857023e-05 9.99974394e-01 5.00551291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.245336195 meters 0.016677910811178587 Centerline is valid? [True, True] Translation: X:72.64, Y:2.20, Z:0.50 [[ 9.99961419e-01 -4.58493836e-03 -7.49260114e-03 7.26434926e+01] [ 4.58403838e-03 9.99989484e-01 -1.37285649e-04 2.19858122e+00] [ 7.49315179e-03 1.02933981e-04 9.99971921e-01 4.97943366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.275336195 meters 0.01648322719756277 Centerline is valid? [True, True] Translation: X:72.68, Y:2.20, Z:0.49 [[ 9.99958020e-01 -3.35638243e-03 -8.52599909e-03 7.26758633e+01] [ 3.35517517e-03 9.99994359e-01 -1.55897746e-04 2.19540839e+00] [ 8.52647425e-03 1.27284981e-04 9.99963641e-01 4.91426203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.305336195 meters 0.01686964668753478 Centerline is valid? [True, True] Translation: X:72.71, Y:2.20, Z:0.49 [[ 9.99956442e-01 -2.21235351e-03 -9.06749887e-03 7.27064364e+01] [ 2.21094588e-03 9.99997542e-01 -1.65260216e-04 2.19513578e+00] [ 9.06784220e-03 1.45205269e-04 9.99958876e-01 4.88969152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.335336195 meters 0.019861157969766605 Centerline is valid? [True, True] Translation: X:72.73, Y:2.20, Z:0.49 [[ 9.99948811e-01 -9.22025752e-04 -1.00760032e-02 7.27339110e+01] [ 9.20223058e-04 9.99999560e-01 -1.83544365e-04 2.19983877e+00] [ 1.00761680e-02 1.74262799e-04 9.99949219e-01 4.89269065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.365336195 meters 0.02008610270147281 Centerline is valid? [True, True] Translation: X:72.76, Y:2.20, Z:0.49 [[ 9.99948536e-01 1.56504644e-03 -1.00238041e-02 7.27627503e+01] [-1.56697211e-03 9.99998755e-01 -1.84258729e-04 2.20224823e+00] [ 1.00235032e-02 1.99956267e-04 9.99949743e-01 4.92385575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.395336195 meters 0.023496921275239502 Centerline is valid? [True, True] Translation: X:72.79, Y:2.21, Z:0.49 [[ 9.99920879e-01 3.42066909e-03 -1.21051340e-02 7.27897507e+01] [-3.42364066e-03 9.99994114e-01 -2.24766238e-04 2.20900908e+00] [ 1.21042939e-02 2.66192083e-04 9.99926705e-01 4.94920264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.425336195 meters 0.022217019885080607 Centerline is valid? [True, True] Translation: X:72.82, Y:2.21, Z:0.50 [[ 9.99909189e-01 2.96933837e-03 -1.31452534e-02 7.28177857e+01] [-2.97282063e-03 9.99995551e-01 -2.45374024e-04 2.20813621e+00] [ 1.31444663e-02 2.84430222e-04 9.99913567e-01 4.95980291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.455336195 meters 0.021969416443048444 Centerline is valid? [True, True] Translation: X:72.85, Y:2.21, Z:0.50 [[ 9.99896943e-01 1.88925188e-03 -1.42314183e-02 7.28454285e+01] [-1.89325816e-03 9.99998172e-01 -2.68042335e-04 2.20892568e+00] [ 1.42308859e-02 2.94958460e-04 9.99898692e-01 4.96245196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.485336195 meters 0.020940171421817578 Centerline is valid? [True, True] Translation: X:72.87, Y:2.21, Z:0.49 [[ 9.99887766e-01 9.41620390e-05 -1.49815631e-02 7.28744979e+01] [-9.84133226e-05 9.99999955e-01 -2.83030716e-04 2.20719514e+00] [ 1.49815358e-02 2.84473336e-04 9.99887730e-01 4.94366540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51533619499999 meters 0.019557335065179322 Centerline is valid? [True, True] Translation: X:72.90, Y:2.20, Z:0.49 [[ 9.99872360e-01 -2.41858576e-03 -1.57928439e-02 7.29040573e+01] [ 2.41416379e-03 9.99997041e-01 -2.99056893e-04 2.20186869e+00] [ 1.57935205e-02 2.60892209e-04 9.99875241e-01 4.85531632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54533619499999 meters 0.01908160194241921 Centerline is valid? [True, True] Translation: X:72.93, Y:2.20, Z:0.48 [[ 9.99878029e-01 -3.67659685e-03 -1.51792840e-02 7.29318412e+01] [ 3.67264560e-03 9.99993214e-01 -2.88172360e-04 2.19902805e+00] [ 1.51802405e-02 2.32389080e-04 9.99884747e-01 4.80941399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57533619499999 meters 0.019079259495480307 Centerline is valid? [True, True] Translation: X:72.96, Y:2.20, Z:0.48 [[ 9.99904097e-01 -4.30965566e-03 -1.31614720e-02 7.29603133e+01] [ 4.30672453e-03 9.99990695e-01 -2.51039813e-04 2.19895484e+00] [ 1.31624314e-02 1.94332903e-04 9.99913353e-01 4.84004358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60533619499999 meters 0.018621278921841653 Centerline is valid? [True, True] Translation: X:72.99, Y:2.20, Z:0.49 [[ 9.99895170e-01 -5.80275415e-03 -1.32656528e-02 7.29888634e+01] [ 5.79988367e-03 9.99983148e-01 -2.54845997e-04 2.20126419e+00] [ 1.32669081e-02 1.77880038e-04 9.99911975e-01 4.88082796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.635336195 meters 0.01666860420807021 Centerline is valid? [True, True] Translation: X:73.02, Y:2.20, Z:0.49 [[ 9.99852154e-01 -7.84885176e-03 -1.52991980e-02 7.30198050e+01] [ 7.84526671e-03 9.99969182e-01 -2.94332774e-04 2.19806601e+00] [ 1.53010367e-02 1.74262969e-04 9.99882917e-01 4.86904691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.665336195 meters 0.017127311997367355 Centerline is valid? [True, True] Translation: X:73.05, Y:2.20, Z:0.48 [[ 9.99825578e-01 -8.14660791e-03 -1.68061683e-02 7.30508351e+01] [ 8.14232735e-03 9.99966799e-01 -3.23112478e-04 2.19754012e+00] [ 1.68082426e-02 1.86214796e-04 9.99858714e-01 4.83438748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.695336195 meters 0.015363648046681711 Centerline is valid? [True, True] Translation: X:73.08, Y:2.20, Z:0.49 [[ 9.99717624e-01 -1.50489081e-02 -1.83902700e-02 7.30776213e+01] [ 1.49881825e-02 9.99881769e-01 -3.43544153e-03 2.19680712e+00] [ 1.84397954e-02 3.15883472e-03 9.99824983e-01 4.86658696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.725336195 meters 0.01654037997622838 Centerline is valid? [True, True] Translation: X:73.11, Y:2.19, Z:0.47 [[ 9.99682058e-01 -1.16351372e-02 -2.23697596e-02 7.31145911e+01] [ 1.16897576e-02 9.99928998e-01 2.31249006e-03 2.19259404e+00] [ 2.23412652e-02 -2.57325189e-03 9.99747091e-01 4.73042392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.755336195 meters 0.016914534001174944 Centerline is valid? [True, True] Translation: X:73.15, Y:2.19, Z:0.48 [[ 9.99618354e-01 -1.29866538e-02 -2.43822270e-02 7.31457260e+01] [ 1.29791548e-02 9.99915659e-01 -4.65795873e-04 2.19271169e+00] [ 2.43862197e-02 1.49157405e-04 9.99702601e-01 4.75199234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.785336195 meters 0.017201502087174643 Centerline is valid? [True, True] Translation: X:73.18, Y:2.19, Z:0.48 [[ 9.99620582e-01 -1.20315786e-02 -2.47776945e-02 7.31776698e+01] [ 1.20235763e-02 9.99927603e-01 -4.71926016e-04 2.19451013e+00] [ 2.47815787e-02 1.73830459e-04 9.99692874e-01 4.76521845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.815336195 meters 0.016139910472715666 Centerline is valid? [True, True] Translation: X:73.20, Y:2.20, Z:0.49 [[ 9.99685079e-01 -1.50031171e-02 -2.01158771e-02 7.31983589e+01] [ 1.49049523e-02 9.99876308e-01 -5.02105911e-03 2.19941893e+00] [ 2.01887205e-02 4.71965169e-03 9.99785047e-01 4.89029684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.845336195 meters 0.018083255417993757 Centerline is valid? [True, True] Translation: X:73.24, Y:2.19, Z:0.47 [[ 9.99706718e-01 -9.89637272e-03 -2.21029181e-02 7.32385013e+01] [ 9.97513853e-03 9.99944274e-01 3.45618487e-03 2.19464709e+00] [ 2.20674827e-02 -3.67565091e-03 9.99749727e-01 4.74383916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87533619499999 meters 0.01788430603707678 Centerline is valid? [True, True] Translation: X:73.27, Y:2.20, Z:0.49 [[ 9.99758262e-01 -8.08886707e-03 -2.04447344e-02 7.32697275e+01] [ 8.08270098e-03 9.99967261e-01 -3.84214444e-04 2.19980577e+00] [ 2.04471729e-02 2.18872890e-04 9.99790911e-01 4.85961254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90533619499999 meters 0.018475711531068712 Centerline is valid? [True, True] Translation: X:73.30, Y:2.20, Z:0.49 [[ 9.99772124e-01 -7.77803988e-03 -1.98797009e-02 7.32989286e+01] [ 7.77215121e-03 9.99969727e-01 -3.73460741e-04 2.20173897e+00] [ 1.98820039e-02 2.18867596e-04 9.99802309e-01 4.87572219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93533619499999 meters 0.018985429880019833 Centerline is valid? [True, True] Translation: X:73.33, Y:2.20, Z:0.49 [[ 9.99772857e-01 -8.12160060e-03 -1.97046633e-02 7.33279967e+01] [ 8.11587550e-03 9.99966997e-01 -3.70497564e-04 2.20371518e+00] [ 1.97070220e-02 2.10492814e-04 9.99805776e-01 4.90218746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96533619499999 meters 0.01800235185962124 Centerline is valid? [True, True] Translation: X:73.36, Y:2.20, Z:0.49 [[ 9.99770657e-01 -8.24630950e-03 -1.97644128e-02 7.33583355e+01] [ 8.24056919e-03 9.99965977e-01 -3.71863489e-04 2.20184798e+00] [ 1.97668069e-02 2.08908194e-04 9.99804596e-01 4.90823841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.995336195 meters 0.017036762702879103 Centerline is valid? [True, True] Translation: X:73.39, Y:2.20, Z:0.49 [[ 9.99689575e-01 -1.73605189e-02 -1.78708054e-02 7.33892250e+01] [ 1.73191335e-02 9.99846967e-01 -2.46799242e-03 2.20084216e+00] [ 1.79109162e-02 2.15771943e-03 9.99837258e-01 4.90539728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.025336195 meters 0.01713480622262484 Centerline is valid? [True, True] Translation: X:73.41, Y:2.20, Z:0.49 [[ 9.99708117e-01 -1.54635782e-02 -1.85622964e-02 7.34069326e+01] [ 1.54137599e-02 9.99877213e-01 -2.82392906e-03 2.20094866e+00] [ 1.86036852e-02 2.53699002e-03 9.99823718e-01 4.90117593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.055336195 meters 0.018246962076064865 Centerline is valid? [True, True] Translation: X:73.45, Y:2.19, Z:0.48 [[ 9.99659962e-01 -1.15337754e-02 -2.33865656e-02 7.34502049e+01] [ 1.16247349e-02 9.99925372e-01 3.75717240e-03 2.19386705e+00] [ 2.33414859e-02 -4.02775745e-03 9.99719437e-01 4.79562480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.085336195 meters 0.01700308452155379 Centerline is valid? [True, True] Translation: X:73.48, Y:2.19, Z:0.49 [[ 9.99616356e-01 -1.33480586e-02 -2.42687198e-02 7.34811939e+01] [ 1.33409871e-02 9.99910902e-01 -4.53274242e-04 2.19481124e+00] [ 2.42726079e-02 1.29331668e-04 9.99705368e-01 4.87028124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.115336195 meters 0.01733961126209997 Centerline is valid? [True, True] Translation: X:73.51, Y:2.20, Z:0.49 [[ 9.99510109e-01 -2.28051150e-02 -2.14352044e-02 7.35082876e+01] [ 2.27685652e-02 9.99738865e-01 -1.94767378e-03 2.19718576e+00] [ 2.14740238e-02 1.45867079e-03 9.99768342e-01 4.90996474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.145336195 meters 0.017108447668034113 Centerline is valid? [True, True] Translation: X:73.54, Y:2.19, Z:0.48 [[ 9.99536781e-01 -1.53426370e-02 -2.62835683e-02 7.35438569e+01] [ 1.53637401e-02 9.99881790e-01 6.01136083e-04 2.18949053e+00] [ 2.62712383e-02 -1.00467154e-03 9.99654347e-01 4.76162641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.175336195 meters 0.016536808770764105 Centerline is valid? [True, True] Translation: X:73.58, Y:2.19, Z:0.48 [[ 9.99561256e-01 -1.50464501e-02 -2.55127555e-02 7.35760521e+01] [ 1.50392238e-02 9.99886792e-01 -4.75105590e-04 2.18831704e+00] [ 2.55170159e-02 9.12051002e-05 9.99674384e-01 4.75762246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.205336195 meters 0.017237104267614045 Centerline is valid? [True, True] Translation: X:73.61, Y:2.19, Z:0.48 [[ 9.99610143e-01 -1.38459788e-02 -2.42456207e-02 7.36073915e+01] [ 1.38391231e-02 9.99904133e-01 -4.50539005e-04 2.18983361e+00] [ 2.42495345e-02 1.14825229e-04 9.99705930e-01 4.76328085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.235336195 meters 0.017517591071762116 Centerline is valid? [True, True] Translation: X:73.64, Y:2.19, Z:0.48 [[ 9.99609160e-01 -1.41721914e-02 -2.40972117e-02 7.36380652e+01] [ 1.41655344e-02 9.99899564e-01 -4.46941764e-04 2.19250839e+00] [ 2.41011256e-02 1.05417201e-04 9.99709520e-01 4.82744933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26533619499999 meters 0.018766696291070965 Centerline is valid? [True, True] Translation: X:73.67, Y:2.20, Z:0.49 [[ 9.99641599e-01 -1.17323638e-02 -2.40629559e-02 7.36700916e+01] [ 1.17250426e-02 9.99931160e-01 -4.45327714e-04 2.19913033e+00] [ 2.40665242e-02 1.63028926e-04 9.99710346e-01 4.88390686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29533619499999 meters 0.019579530250886153 Centerline is valid? [True, True] Translation: X:73.70, Y:2.19, Z:0.48 [[ 9.99525053e-01 -2.55797526e-02 -1.71855813e-02 7.37040379e+01] [ 2.56586792e-02 9.99661132e-01 4.38788329e-03 2.19437434e+00] [ 1.70675167e-02 -4.82675860e-03 9.99842689e-01 4.79075916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32533619499999 meters 0.019579530250886153 Centerline is valid? [True, True] Translation: X:73.74, Y:2.20, Z:0.49 [[ 9.99522275e-01 -2.57923378e-02 -1.70287265e-02 7.37352208e+01] [ 2.57905055e-02 9.99667316e-01 -3.27238016e-04 2.19847021e+00] [ 1.70315016e-02 -1.12097778e-04 9.99854947e-01 4.87084981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35533619499999 meters 0.018076105395782756 Centerline is valid? [True, True] Translation: X:73.76, Y:2.19, Z:0.49 [[ 9.99635100e-01 -1.33645735e-02 -2.34745560e-02 7.37603082e+01] [ 1.32497019e-02 9.99899506e-01 -5.04219804e-03 2.19377405e+00] [ 2.35395837e-02 4.72932728e-03 9.99711719e-01 4.85327678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.385336195 meters 0.02165025434588795 Centerline is valid? [True, True] Translation: X:73.79, Y:2.20, Z:0.48 [[ 9.99614910e-01 -7.88503689e-03 -2.66055812e-02 7.37917233e+01] [ 7.87448718e-03 9.99968870e-01 -5.01271824e-04 2.20253224e+00] [ 2.66087055e-02 2.91573482e-04 9.99645883e-01 4.80335656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.415336195 meters 0.02176218089338634 Centerline is valid? [True, True] Translation: X:73.83, Y:2.20, Z:0.48 [[ 9.99542259e-01 -2.25978831e-02 -2.01148524e-02 7.38285007e+01] [ 2.26946643e-02 9.99731878e-01 4.59620162e-03 2.20132231e+00] [ 2.00055947e-02 -5.05059758e-03 9.99787111e-01 4.76880012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.445336195 meters 0.024412107054000345 Centerline is valid? [True, True] Translation: X:73.85, Y:2.21, Z:0.49 [[ 9.99627283e-01 -4.35735997e-03 -2.69501256e-02 7.38510378e+01] [ 4.21716557e-03 9.99977291e-01 -5.25664568e-03 2.21343887e+00] [ 2.69724187e-02 5.14103330e-03 9.99622958e-01 4.90191473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.475336195 meters 0.02318588014473142 Centerline is valid? [True, True] Translation: X:73.89, Y:2.21, Z:0.48 [[ 9.99576555e-01 -1.95243400e-02 -2.15756941e-02 7.38876834e+01] [ 1.96728859e-02 9.99784059e-01 6.69418432e-03 2.20993625e+00] [ 2.14403355e-02 -7.11580587e-03 9.99744806e-01 4.79323043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.505336195 meters 0.023966812491649885 Centerline is valid? [True, True] Translation: X:73.91, Y:2.22, Z:0.49 [[ 9.99610284e-01 -1.72437945e-02 -2.19529413e-02 7.39082169e+01] [ 1.71390942e-02 9.99840869e-01 -4.94856628e-03 2.21986683e+00] [ 2.20347799e-02 4.57038421e-03 9.99746758e-01 4.94929799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.535336195 meters 0.027953993708649264 Centerline is valid? [True, True] Translation: X:73.93, Y:2.19, Z:0.43 [[ 9.99903681e-01 9.42523093e-04 -1.38470468e-02 7.39274336e+01] [-6.62711730e-04 9.99795780e-01 2.01980044e-02 2.19016395e+00] [ 1.38632561e-02 -2.01868823e-02 9.99700105e-01 4.33774395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.565336195 meters 0.02826549262668016 Centerline is valid? [True, True] Translation: X:73.97, Y:2.24, Z:0.52 [[ 9.99733647e-01 -1.42686680e-02 -1.81394864e-02 7.39672896e+01] [ 1.39097289e-02 9.99707944e-01 -1.97622352e-02 2.23691726e+00] [ 1.84161694e-02 1.95046562e-02 9.99640142e-01 5.15028795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.595336195 meters 0.02624896072002572 Centerline is valid? [True, True] Translation: X:74.00, Y:2.22, Z:0.48 [[ 9.99762393e-01 -1.29604299e-02 -1.75267153e-02 7.40048908e+01] [ 1.30357139e-02 9.99906261e-01 4.18797659e-03 2.22268876e+00] [ 1.74707944e-02 -4.41545475e-03 9.99837624e-01 4.83210672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62533619499999 meters 0.027152394071415658 Centerline is valid? [True, True] Translation: X:74.04, Y:2.23, Z:0.49 [[ 9.99757183e-01 -1.29501715e-02 -1.78288467e-02 7.40365544e+01] [ 1.29403339e-02 9.99916048e-01 -6.67040352e-04 2.22834312e+00] [ 1.78359882e-02 4.36167155e-04 9.99840831e-01 4.89022584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65533619499999 meters 0.031349299620111015 Centerline is valid? [True, True] Translation: X:74.05, Y:2.21, Z:0.46 [[ 9.99892847e-01 8.18169200e-03 -1.21389761e-02 7.40494360e+01] [-8.08117096e-03 9.99932843e-01 8.30692036e-03 2.20935732e+00] [ 1.22061255e-02 -8.20793311e-03 9.99891814e-01 4.64403026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68533619499999 meters 0.028911893266230466 Centerline is valid? [True, True] Translation: X:74.09, Y:2.24, Z:0.50 [[ 9.99855812e-01 -9.18565557e-03 -1.42821244e-02 7.40940245e+01] [ 9.08414239e-03 9.99933130e-01 -7.15641157e-03 2.23763156e+00] [ 1.43469057e-02 7.02563885e-03 9.99872395e-01 5.00105387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71533619499999 meters 0.035211986194336194 Centerline is valid? [True, True] Translation: X:74.11, Y:2.25, Z:0.50 [[ 9.99679539e-01 1.28011045e-02 -2.18392101e-02 7.41141751e+01] [-1.30024837e-02 9.99874018e-01 -9.10404293e-03 2.24579034e+00] [ 2.17199170e-02 9.38508942e-03 9.99720043e-01 5.04811015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.745336195 meters 0.03484432137023586 Centerline is valid? [True, True] Translation: X:74.11, Y:2.23, Z:0.45 [[ 9.99955800e-01 6.43983020e-03 -6.85029278e-03 7.41052226e+01] [-6.31361206e-03 9.99812790e-01 1.82899634e-02 2.23003457e+00] [ 6.96679460e-03 -1.82459049e-02 9.99809257e-01 4.45947794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.775336195 meters 0.03143023457591153 Centerline is valid? [True, True] Translation: X:74.16, Y:2.26, Z:0.49 [[ 9.99808705e-01 -1.70124918e-02 -9.65034177e-03 7.41575428e+01] [ 1.69472618e-02 9.99833252e-01 -6.80133154e-03 2.26471868e+00] [ 9.76444019e-03 6.63648361e-03 9.99930304e-01 4.90112217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.805336195 meters 0.03626527331602558 Centerline is valid? [True, True] Translation: X:74.17, Y:2.27, Z:0.49 [[ 9.99816219e-01 6.34225571e-03 -1.80915597e-02 7.41734753e+01] [-6.57005135e-03 9.99899539e-01 -1.25597428e-02 2.26757012e+00] [ 1.80100851e-02 1.26762971e-02 9.99757445e-01 4.91772836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.835336195 meters 0.03692481143569506 Centerline is valid? [True, True] Translation: X:74.17, Y:2.23, Z:0.39 [[ 9.99971943e-01 6.01347299e-03 4.46661292e-03 7.41665918e+01] [-6.16787851e-03 9.99354207e-01 3.53995151e-02 2.22962800e+00] [-4.25085439e-03 -3.54260714e-02 9.99363259e-01 3.89901757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.865336195 meters 0.038739462836832494 Centerline is valid? [True, True] Translation: X:74.20, Y:2.28, Z:0.49 [[ 9.99999329e-01 -1.07631968e-03 -4.28706193e-04 7.41984396e+01] [ 1.06915745e-03 9.99865424e-01 -1.63704288e-02 2.27850830e+00] [ 4.46268314e-04 1.63699595e-02 9.99865904e-01 4.93961369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.895336195 meters 0.035506971707079185 Centerline is valid? [True, True] Translation: X:74.27, Y:2.27, Z:0.51 [[ 9.99801402e-01 1.37216389e-02 -1.44524389e-02 7.42664436e+01] [-1.39770205e-02 9.99745285e-01 -1.77202504e-02 2.27071261e+00] [ 1.42056067e-02 1.79187333e-02 9.99738526e-01 5.14505356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.925336195 meters 0.0402319459028088 Centerline is valid? [True, True] Translation: X:74.29, Y:2.26, Z:0.47 [[ 9.99781830e-01 1.41493591e-02 -1.53651338e-02 7.42947778e+01] [-1.41560666e-02 9.99899744e-01 -3.27855642e-04 2.26187849e+00] [ 1.53589544e-02 5.45293970e-04 9.99881896e-01 4.71690328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.955336195 meters 0.038355076364926084 Centerline is valid? [True, True] Translation: X:74.28, Y:2.24, Z:0.41 [[ 9.99971165e-01 6.85663708e-03 3.26420539e-03 7.42828869e+01] [-6.93674369e-03 9.99658435e-01 2.51971237e-02 2.23911327e+00] [-3.09032292e-03 -2.52190401e-02 9.99677173e-01 4.10899826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.985336195 meters 0.03281929102633032 Centerline is valid? [True, True] Translation: X:74.30, Y:2.26, Z:0.47 [[ 9.99971972e-01 7.47185382e-03 4.76473495e-04 7.43015519e+01] [-7.46884640e-03 9.99953934e-01 -6.02879755e-03 2.26150453e+00] [-5.21497840e-04 6.02506986e-03 9.99981713e-01 4.68114932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01533619499999 meters 0.0389399811855287 Centerline is valid? [True, True] Translation: X:74.35, Y:2.25, Z:0.44 [[ 9.99952562e-01 6.02846787e-03 7.65052840e-03 7.43481825e+01] [-6.11480621e-03 9.99917315e-01 1.13125168e-02 2.25000591e+00] [-7.58169867e-03 -1.13587617e-02 9.99906744e-01 4.43704339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04533619499999 meters 0.04261687698724611 Centerline is valid? [True, True] Translation: X:74.38, Y:2.24, Z:0.41 [[ 9.99851588e-01 3.79282818e-03 1.68052290e-02 7.43826469e+01] [-4.22920607e-03 9.99652794e-01 2.60078052e-02 2.24120538e+00] [-1.67007509e-02 -2.60750181e-02 9.99520474e-01 4.13111126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07533619499999 meters 0.046197907187047284 Centerline is valid? [True, True] Translation: X:74.42, Y:2.27, Z:0.45 [[ 9.99867502e-01 -7.40485513e-03 1.44964227e-02 7.44191845e+01] [ 7.37569693e-03 9.99970669e-01 2.06383855e-03 2.26603133e+00] [-1.45112799e-02 -1.95664387e-03 9.99892791e-01 4.52226562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10533619499999 meters 0.03531487679427976 Centerline is valid? [True, True] Translation: X:74.46, Y:2.30, Z:0.51 [[ 9.99757134e-01 -2.18353618e-02 2.98176862e-03 7.44579122e+01] [ 2.19127214e-02 9.99339256e-01 -2.89980143e-02 2.29977669e+00] [-2.34661630e-03 2.90563103e-02 9.99575022e-01 5.14710535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.135336195 meters 0.03422221328497927 Centerline is valid? [True, True] Translation: X:74.46, Y:2.22, Z:0.40 [[ 9.99845983e-01 5.66044741e-03 1.66123203e-02 7.44586226e+01] [-6.07457779e-03 9.99669359e-01 2.49854545e-02 2.22144266e+00] [-1.64653987e-02 -2.50825191e-02 9.99549778e-01 4.02447833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.165336195 meters 0.0388032078524135 Centerline is valid? [True, True] Translation: X:74.50, Y:2.23, Z:0.41 [[ 9.99789928e-01 2.76687780e-03 2.03087472e-02 7.44976259e+01] [-3.02963463e-03 9.99911960e-01 1.29187677e-02 2.22964924e+00] [-2.02712145e-02 -1.29775819e-02 9.99710288e-01 4.14380167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.195336195 meters 0.031324841502510914 Centerline is valid? [True, True] Translation: X:74.56, Y:2.26, Z:0.54 [[ 9.99723436e-01 2.25345655e-02 -6.72642884e-03 7.45566377e+01] [-2.28151389e-02 9.98724262e-01 -4.50479471e-02 2.26016379e+00] [ 5.70271177e-03 4.51889529e-02 9.98962180e-01 5.36590108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.225336195 meters 0.025961399619813606 Centerline is valid? [True, True] Translation: X:74.54, Y:2.21, Z:0.42 [[ 9.99804553e-01 1.21146580e-02 1.56233994e-02 7.45355967e+01] [-1.25000987e-02 9.99613939e-01 2.48137175e-02 2.21340466e+00] [-1.53167581e-02 -2.50041618e-02 9.99570002e-01 4.21486949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.255336195 meters 0.03197613584165566 Centerline is valid? [True, True] Translation: X:74.57, Y:2.22, Z:0.43 [[ 9.99561807e-01 2.02285659e-02 2.16101606e-02 7.45737352e+01] [-2.06482774e-02 9.99598978e-01 1.93786452e-02 2.21814755e+00] [-2.12094922e-02 -1.98163662e-02 9.99578646e-01 4.27703109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.285336195 meters 0.0323608821775275 Centerline is valid? [True, True] Translation: X:74.60, Y:2.22, Z:0.43 [[ 9.99412934e-01 2.34716324e-02 2.49573793e-02 7.46004305e+01] [-2.37374718e-02 9.99664033e-01 1.04093314e-02 2.22133301e+00] [-2.47046704e-02 -1.09956456e-02 9.99634321e-01 4.32402274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.315336195 meters 0.03380239423961011 Centerline is valid? [True, True] Translation: X:74.63, Y:2.23, Z:0.45 [[ 9.99498280e-01 2.09751464e-02 2.37325030e-02 7.46335218e+01] [-2.09684540e-02 9.99779997e-01 -5.30838312e-04 2.22910895e+00] [-2.37384162e-02 3.29380828e-05 9.99718204e-01 4.47160821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.345336195 meters 0.025809338233842547 Centerline is valid? [True, True] Translation: X:74.65, Y:2.22, Z:0.45 [[ 9.99411253e-01 2.66972615e-02 2.15500442e-02 7.46473539e+01] [-2.65892073e-02 9.99632473e-01 -5.28521448e-03 2.22020731e+00] [-2.16832247e-02 4.70910423e-03 9.99753801e-01 4.51817750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37533619499999 meters 0.027221436745148823 Centerline is valid? [True, True] Translation: X:74.68, Y:2.22, Z:0.44 [[ 9.99464181e-01 2.43928089e-02 2.18252610e-02 7.46820731e+01] [-2.43984631e-02 9.99702313e-01 -7.21923928e-06 2.21732033e+00] [-2.18189400e-02 -5.25287453e-04 9.99761801e-01 4.42627183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40533619499999 meters 0.023770464653451888 Centerline is valid? [True, True] Translation: X:74.76, Y:2.16, Z:0.48 [[ 9.96433056e-01 8.35571026e-02 1.18057711e-02 7.47596524e+01] [-8.34501087e-02 9.96468718e-01 -9.28293367e-03 2.16177912e+00] [-1.25397366e-02 8.26462908e-03 9.99887219e-01 4.75045360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43533619499999 meters 0.028518878409464384 Centerline is valid? [True, True] Translation: X:74.74, Y:2.21, Z:0.42 [[ 9.99454742e-01 2.48268701e-02 2.17680081e-02 7.47375956e+01] [-2.50584187e-02 9.99631582e-01 1.04296169e-02 2.21011005e+00] [-2.15010536e-02 -1.09694019e-02 9.99708646e-01 4.21702114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46533619499999 meters 0.033205968936040546 Centerline is valid? [True, True] Translation: X:74.79, Y:2.30, Z:0.49 [[ 9.99692937e-01 -2.43631196e-02 4.52437616e-03 7.47947173e+01] [ 2.44352705e-02 9.99562875e-01 -1.66426116e-02 2.29792837e+00] [-4.11693251e-03 1.67480557e-02 9.99851266e-01 4.88103044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.495336195 meters 0.034458322052805995 Centerline is valid? [True, True] Translation: X:74.82, Y:2.29, Z:0.46 [[ 9.99735781e-01 -2.24990152e-02 4.70768569e-03 7.48236102e+01] [ 2.24860545e-02 9.99743269e-01 2.78815776e-03 2.29340990e+00] [-4.76920789e-03 -2.68156380e-03 9.99985032e-01 4.61603510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.525336195 meters 0.033641708491170035 Centerline is valid? [True, True] Translation: X:74.86, Y:2.30, Z:0.47 [[ 9.99663490e-01 -2.56889608e-02 3.60345252e-03 7.48575692e+01] [ 2.56954424e-02 9.99668261e-01 -1.76411775e-03 2.29797771e+00] [-3.55693876e-03 1.85611641e-03 9.99991951e-01 4.70331874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.555336195 meters 0.034443344859652766 Centerline is valid? [True, True] Translation: X:74.89, Y:2.29, Z:0.46 [[ 9.99541999e-01 -2.97853915e-02 5.34996170e-03 7.48928774e+01] [ 2.97641838e-02 9.99548941e-01 4.00092595e-03 2.29422020e+00] [-5.46671770e-03 -3.83985628e-03 9.99977685e-01 4.57490261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.585336195 meters 0.03460945146299958 Centerline is valid? [True, True] Translation: X:74.92, Y:2.30, Z:0.47 [[ 9.99567129e-01 -2.90104528e-02 4.89379744e-03 7.49191469e+01] [ 2.90322266e-02 9.99568622e-01 -4.43849148e-03 2.30087371e+00] [-4.76292371e-03 4.57864802e-03 9.99978175e-01 4.67538768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.615336195 meters 0.03305181486296504 Centerline is valid? [True, True] Translation: X:74.95, Y:2.29, Z:0.45 [[ 9.99507017e-01 -3.11057080e-02 4.26111864e-03 7.49544035e+01] [ 3.10925001e-02 9.99511605e-01 3.13160085e-03 2.29051662e+00] [-4.35644819e-03 -2.99756819e-03 9.99986018e-01 4.45719031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.645336195 meters 0.022904254770573767 Centerline is valid? [True, True] Translation: X:74.92, Y:2.26, Z:0.47 [[ 9.99952308e-01 -9.25364129e-03 3.12265853e-03 7.49234962e+01] [ 9.27411083e-03 9.99935176e-01 -6.60561988e-03 2.25841353e+00] [-3.06133007e-03 6.63426473e-03 9.99973307e-01 4.73566072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.675336195 meters 0.03366734763082558 Centerline is valid? [True, True] Translation: X:75.02, Y:2.29, Z:0.44 [[ 9.99420985e-01 -3.36243168e-02 5.20585851e-03 7.50156107e+01] [ 3.35840373e-02 9.99406691e-01 7.64052416e-03 2.29286134e+00] [-5.45967723e-03 -7.46126643e-03 9.99957260e-01 4.43958195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.705336195 meters 0.03344132391990345 Centerline is valid? [True, True] Translation: X:75.05, Y:2.30, Z:0.46 [[ 9.99417008e-01 -3.36705290e-02 5.65148575e-03 7.50462985e+01] [ 3.36776474e-02 9.99432063e-01 -1.16911949e-03 2.30390237e+00] [-5.60891119e-03 1.35876665e-03 9.99983347e-01 4.63710577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.735336195 meters 0.03377398315921625 Centerline is valid? [True, True] Translation: X:75.08, Y:2.31, Z:0.46 [[ 9.99378667e-01 -3.46832461e-02 6.27317058e-03 7.50807532e+01] [ 3.46774313e-02 9.99398023e-01 1.03336357e-03 2.30623952e+00] [-6.30523467e-03 -8.15184066e-04 9.99979790e-01 4.62003692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76533619499999 meters 0.03208395814614247 Centerline is valid? [True, True] Translation: X:75.04, Y:2.32, Z:0.50 [[ 9.99994087e-01 3.34275509e-03 -8.07054461e-04 7.50409210e+01] [-3.35942762e-03 9.99760488e-01 -2.16259149e-02 2.31790491e+00] [ 7.34571025e-04 2.16284982e-02 9.99765807e-01 4.98803609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79533619499999 meters 0.026970578483927775 Centerline is valid? [True, True] Translation: X:75.08, Y:2.30, Z:0.46 [[ 9.99905150e-01 -1.23789158e-02 6.03758935e-03 7.50813696e+01] [ 1.23506006e-02 9.99912660e-01 4.70477010e-03 2.30031499e+00] [-6.09530198e-03 -4.62975600e-03 9.99970706e-01 4.57796016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82533619499999 meters 0.0392897081023858 Centerline is valid? [True, True] Translation: X:75.16, Y:2.30, Z:0.43 [[ 9.99220479e-01 -3.88117411e-02 7.21684743e-03 7.51577562e+01] [ 3.86646738e-02 9.99061781e-01 1.95089765e-02 2.29843187e+00] [-7.96725380e-03 -1.92147318e-02 9.99783635e-01 4.26196969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85533619499999 meters 0.03305299364546739 Centerline is valid? [True, True] Translation: X:75.13, Y:2.32, Z:0.50 [[ 9.99989469e-01 2.34259476e-03 -3.94646979e-03 7.51257995e+01] [-2.45181931e-03 9.99607632e-01 -2.79028836e-02 2.32183898e+00] [ 3.87955617e-03 2.79122658e-02 9.99602848e-01 5.00381857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.885336195 meters 0.026783545958995948 Centerline is valid? [True, True] Translation: X:75.16, Y:2.30, Z:0.45 [[ 9.99967324e-01 -8.08211296e-03 -1.75049565e-04 7.51612341e+01] [ 8.08229214e-03 9.99966788e-01 1.04828345e-03 2.29926583e+00] [ 1.66571406e-04 -1.04966400e-03 9.99999435e-01 4.52995211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.915336195 meters 0.029764129241864487 Centerline is valid? [True, True] Translation: X:75.19, Y:2.31, Z:0.46 [[ 9.99936171e-01 -1.11567515e-02 1.78341213e-03 7.51896324e+01] [ 1.11565332e-02 9.99937755e-01 1.32303279e-04 2.30648469e+00] [-1.78477720e-03 -1.12398138e-04 9.99998401e-01 4.55338259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.945336195 meters 0.03309069423148158 Centerline is valid? [True, True] Translation: X:75.22, Y:2.31, Z:0.46 [[ 9.99990542e-01 2.88459898e-03 -3.25496877e-03 7.52176500e+01] [-2.88770201e-03 9.99995380e-01 -9.49024615e-04 2.30737053e+00] [ 3.25221617e-03 9.58415019e-04 9.99994252e-01 4.55280947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.975336195 meters 0.03313091006083936 Centerline is valid? [True, True] Translation: X:75.25, Y:2.31, Z:0.45 [[ 9.99985348e-01 4.66683915e-03 -2.74294302e-03 7.52459472e+01] [-4.66705833e-03 9.99989107e-01 -7.35122387e-05 2.30672611e+00] [ 2.74257007e-03 8.63126367e-05 9.99996235e-01 4.53144753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.005336195 meters 0.03246155332133674 Centerline is valid? [True, True] Translation: X:75.27, Y:2.31, Z:0.45 [[ 9.99988605e-01 4.11894473e-03 -2.41347493e-03 7.52745111e+01] [-4.11911173e-03 9.99991514e-01 -6.42254345e-05 2.30707197e+00] [ 2.41318991e-03 7.41660755e-05 9.99997086e-01 4.54584663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.035336195 meters 0.028144559292417184 Centerline is valid? [True, True] Translation: X:75.32, Y:2.31, Z:0.46 [[ 9.99921725e-01 -1.15570575e-02 4.79358350e-03 7.53153811e+01] [ 1.15391989e-02 9.99926440e-01 3.73660193e-03 2.30883313e+00] [-4.83641500e-03 -3.68099533e-03 9.99981530e-01 4.57643412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.065336195 meters 0.030732583617368987 Centerline is valid? [True, True] Translation: X:75.34, Y:2.32, Z:0.46 [[ 9.99903079e-01 -1.29371261e-02 5.14423127e-03 7.53447378e+01] [ 1.29284206e-02 9.99914942e-01 1.72196179e-03 2.31542955e+00] [-5.16607095e-03 -1.65528811e-03 9.99985286e-01 4.60292995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.095336195 meters 0.029466514006530563 Centerline is valid? [True, True] Translation: X:75.36, Y:2.31, Z:0.47 [[ 9.99986910e-01 3.97794078e-03 -3.21793109e-03 7.53630558e+01] [-3.99683994e-03 9.99974677e-01 -5.88812306e-03 2.31341336e+00] [ 3.19442700e-03 5.90090755e-03 9.99977487e-01 4.70166373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12533619499999 meters 0.032999222716649304 Centerline is valid? [True, True] Translation: X:75.39, Y:2.32, Z:0.46 [[ 9.99986327e-01 4.04491371e-03 -3.31425151e-03 7.53901970e+01] [-4.04524565e-03 9.99991814e-01 -9.34555590e-05 2.31525003e+00] [ 3.31384636e-03 1.06861243e-04 9.99994503e-01 4.57234493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15533619499999 meters 0.03366251379628621 Centerline is valid? [True, True] Translation: X:75.42, Y:2.31, Z:0.45 [[ 9.99984579e-01 4.68745008e-03 -2.97821818e-03 7.54187755e+01] [-4.68772253e-03 9.99989009e-01 -8.45081509e-05 2.31448920e+00] [ 2.97778932e-03 9.84679081e-05 9.99995562e-01 4.51829888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18533619499999 meters 0.02991520220721892 Centerline is valid? [True, True] Translation: X:75.47, Y:2.31, Z:0.44 [[ 9.99900810e-01 -1.33303346e-02 4.54666353e-03 7.54672735e+01] [ 1.32852440e-02 9.99863649e-01 9.80738039e-03 2.31196544e+00] [-4.67677925e-03 -9.74600406e-03 9.99941570e-01 4.38679878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21533619499999 meters 0.02991520220721892 Centerline is valid? [True, True] Translation: X:75.50, Y:2.32, Z:0.46 [[ 9.99896984e-01 -1.34748271e-02 4.94473578e-03 7.55002712e+01] [ 1.34770615e-02 9.99909093e-01 -4.18829933e-04 2.32031008e+00] [-4.93864261e-03 4.85427295e-04 9.99987687e-01 4.55682292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.245336195 meters 0.035555300865169163 Centerline is valid? [True, True] Translation: X:75.51, Y:2.33, Z:0.48 [[ 9.99991081e-01 4.00801865e-03 -1.33211767e-03 7.55096385e+01] [-4.02078281e-03 9.99944662e-01 -9.72142854e-03 2.33304278e+00] [ 1.29308029e-03 9.72669799e-03 9.99951858e-01 4.80812842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.275336195 meters 0.03318390829876636 Centerline is valid? [True, True] Translation: X:75.57, Y:2.32, Z:0.44 [[ 9.99734843e-01 -2.12842688e-02 8.78766787e-03 7.55673278e+01] [ 2.11414956e-02 9.99647941e-01 1.60321977e-02 2.32148832e+00] [-9.12580769e-03 -1.58421622e-02 9.99832859e-01 4.38365117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.305336195 meters 0.03133165320279503 Centerline is valid? [True, True] Translation: X:75.57, Y:2.33, Z:0.49 [[ 9.99999111e-01 1.33304883e-03 -2.48356541e-05 7.55668668e+01] [-1.33327217e-03 9.99884099e-01 -1.51661216e-02 2.33214993e+00] [ 4.61559478e-06 1.51661412e-02 9.99884987e-01 4.86517920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.335336195 meters 0.03251701692613119 Centerline is valid? [True, True] Translation: X:75.59, Y:2.32, Z:0.45 [[ 9.99999566e-01 5.73702924e-04 -7.34259093e-04 7.55947599e+01] [-5.73721269e-04 9.99999835e-01 -2.47743524e-05 2.32161885e+00] [ 7.34244758e-04 2.51956017e-05 9.99999730e-01 4.54168574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.365336195 meters 0.03185400302025742 Centerline is valid? [True, True] Translation: X:75.62, Y:2.32, Z:0.46 [[ 9.99999870e-01 2.35465408e-04 4.52929371e-04 7.56241105e+01] [-2.35471927e-04 9.99999972e-01 1.43406778e-05 2.32326110e+00] [-4.52925982e-04 -1.44473281e-05 9.99999897e-01 4.59789960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.395336195 meters 0.02851079782277149 Centerline is valid? [True, True] Translation: X:75.67, Y:2.32, Z:0.44 [[ 9.99809982e-01 -1.78012020e-02 7.94467444e-03 7.56747758e+01] [ 1.76932702e-02 9.99752925e-01 1.34550062e-02 2.31928803e+00] [-8.18222679e-03 -1.33118822e-02 9.99877915e-01 4.40566007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.425336195 meters 0.03091152505119223 Centerline is valid? [True, True] Translation: X:75.68, Y:2.33, Z:0.48 [[ 9.99999349e-01 -1.03194887e-03 4.87616252e-04 7.56834735e+01] [ 1.03844306e-03 9.99908181e-01 -1.35111614e-02 2.33361734e+00] [-4.73628652e-04 1.35116590e-02 9.99908601e-01 4.81558603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.455336195 meters 0.03164419804161444 Centerline is valid? [True, True] Translation: X:75.72, Y:2.32, Z:0.45 [[ 9.99996370e-01 -4.79230496e-04 -2.65155920e-03 7.57150201e+01] [ 4.79006414e-04 9.99999882e-01 -8.51438987e-05 2.32142330e+00] [ 2.65159969e-03 8.38734757e-05 9.99996481e-01 4.47264760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.485336195 meters 0.03366849141254593 Centerline is valid? [True, True] Translation: X:75.74, Y:2.32, Z:0.45 [[ 9.99995407e-01 -2.73558676e-04 -3.01845597e-03 7.57439758e+01] [ 2.73265329e-04 9.99999958e-01 -9.75967348e-05 2.32427872e+00] [ 3.01848255e-03 9.67714472e-05 9.99995440e-01 4.46384216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51533619499999 meters 0.03084203085934114 Centerline is valid? [True, True] Translation: X:75.77, Y:2.33, Z:0.46 [[ 9.99995378e-01 1.24495700e-03 -2.77396950e-03 7.57733928e+01] [-1.24521060e-03 9.99999221e-01 -8.96978738e-05 2.32811775e+00] [ 2.77385567e-03 9.31516354e-05 9.99996149e-01 4.61575838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54533619499999 meters 0.030457711178331848 Centerline is valid? [True, True] Translation: X:75.82, Y:2.33, Z:0.45 [[ 9.99900552e-01 -1.34378586e-02 4.27903038e-03 7.58243612e+01] [ 1.33812513e-02 9.99826038e-01 1.29936697e-02 2.32965290e+00] [-4.45289309e-03 -1.29351187e-02 9.99906423e-01 4.45499857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57533619499999 meters 0.03058916102803358 Centerline is valid? [True, True] Translation: X:75.86, Y:2.34, Z:0.46 [[ 9.99919235e-01 -1.25575286e-02 1.95759386e-03 7.58563763e+01] [ 1.25562297e-02 9.99920940e-01 6.74399251e-04 2.33699512e+00] [-1.96590788e-03 -6.49764785e-04 9.99997857e-01 4.59621145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60533619499999 meters 0.03662545530147004 Centerline is valid? [True, True] Translation: X:75.86, Y:2.34, Z:0.47 [[ 9.99976291e-01 2.59109076e-03 -6.37988395e-03 7.58628154e+01] [-2.68027585e-03 9.99898256e-01 -1.40104706e-02 2.34391480e+00] [ 6.34293244e-03 1.40272383e-02 9.99881495e-01 4.73842448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.635336195 meters 0.03631328541676313 Centerline is valid? [True, True] Translation: X:75.89, Y:2.33, Z:0.45 [[ 9.99977392e-01 2.05342047e-03 -6.40308918e-03 7.58917828e+01] [-2.05479744e-03 9.99997867e-01 -2.08477709e-04 2.33302425e+00] [ 6.40264743e-03 2.21630047e-04 9.99979478e-01 4.47409144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.665336195 meters 0.028508781976813124 Centerline is valid? [True, True] Translation: X:75.94, Y:2.32, Z:0.43 [[ 9.99930691e-01 -1.17518178e-02 7.12749880e-04 7.59438579e+01] [ 1.17388258e-02 9.99801524e-01 1.60969758e-02 2.32151494e+00] [-9.01777144e-04 -1.60874933e-02 9.99870181e-01 4.26774345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.695336195 meters 0.03485764949029543 Centerline is valid? [True, True] Translation: X:75.95, Y:2.35, Z:0.48 [[ 9.99983464e-01 2.24459224e-03 -5.29458915e-03 7.59502983e+01] [-2.33144110e-03 9.99861896e-01 -1.64545911e-02 2.34732286e+00] [ 5.25692409e-03 1.64666630e-02 9.99850596e-01 4.83507369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.725336195 meters 0.032911053928471184 Centerline is valid? [True, True] Translation: X:76.00, Y:2.33, Z:0.43 [[ 9.99916562e-01 -1.26544268e-02 2.59514848e-03 7.60033195e+01] [ 1.26127976e-02 9.99800703e-01 1.54748771e-02 2.33234015e+00] [-2.79045697e-03 -1.54408538e-02 9.99876889e-01 4.30706183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.755336195 meters 0.03740387678761444 Centerline is valid? [True, True] Translation: X:76.01, Y:2.35, Z:0.49 [[ 9.99988159e-01 3.81315703e-03 -3.02354455e-03 7.60096032e+01] [-3.86012167e-03 9.99869573e-01 -1.56823455e-02 2.35328414e+00] [ 2.96335096e-03 1.56938311e-02 9.99872453e-01 4.86953602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.785336195 meters 0.036644611129691286 Centerline is valid? [True, True] Translation: X:76.04, Y:2.35, Z:0.47 [[ 9.99980539e-01 6.07321091e-03 -1.42773606e-03 7.60395870e+01] [-6.07328345e-03 9.99981556e-01 -4.64785042e-05 2.34655529e+00] [ 1.42742745e-03 5.51486455e-05 9.99998980e-01 4.67598533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.815336195 meters 0.041633730924853424 Centerline is valid? [True, True] Translation: X:76.07, Y:2.35, Z:0.46 [[ 9.99984123e-01 5.52318559e-03 -1.11744567e-03 7.60669713e+01] [-5.52323017e-03 9.99984746e-01 -3.68173275e-05 2.35301811e+00] [ 1.11722527e-03 4.29886526e-05 9.99999375e-01 4.64330351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.845336195 meters 0.03689907846230613 Centerline is valid? [True, True] Translation: X:76.10, Y:2.34, Z:0.46 [[ 9.99981747e-01 5.29715908e-03 -2.90623008e-03 7.60959316e+01] [-5.29745780e-03 9.99985964e-01 -9.50944731e-05 2.34393015e+00] [ 2.90568556e-03 1.10488369e-04 9.99995772e-01 4.57929869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87533619499999 meters 0.039515353916960795 Centerline is valid? [True, True] Translation: X:76.12, Y:2.35, Z:0.45 [[ 9.99979580e-01 5.45941564e-03 -3.32180799e-03 7.61237960e+01] [-5.45980755e-03 9.99985089e-01 -1.08924728e-04 2.34632359e+00] [ 3.32116379e-03 1.27058936e-04 9.99994477e-01 4.53397934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90533619499999 meters 0.04004482627530165 Centerline is valid? [True, True] Translation: X:76.15, Y:2.35, Z:0.45 [[ 9.99952929e-01 7.42757567e-03 -6.24271116e-03 7.61541272e+01] [-7.42899298e-03 9.99972384e-01 -2.03875794e-04 2.34792320e+00] [ 6.24102446e-03 2.50243255e-04 9.99980493e-01 4.52780245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93533619499999 meters 0.03489573590513797 Centerline is valid? [True, True] Translation: X:76.23, Y:2.33, Z:0.39 [[ 9.99865057e-01 -1.59591658e-02 3.89523098e-03 7.62260770e+01] [ 1.58082162e-02 9.99222603e-01 3.61149645e-02 2.32755506e+00] [-4.46856754e-03 -3.60485144e-02 9.99340050e-01 3.92580124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96533619499999 meters 0.04758534713408225 Centerline is valid? [True, True] Translation: X:76.21, Y:2.38, Z:0.52 [[ 9.99919819e-01 9.61483386e-03 -8.24074369e-03 7.62106439e+01] [-9.91414429e-03 9.99262962e-01 -3.70842745e-02 2.38331053e+00] [ 7.87811081e-03 3.71630009e-02 9.99278163e-01 5.15476758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.995336195 meters 0.04448154072210037 Centerline is valid? [True, True] Translation: X:76.24, Y:2.36, Z:0.45 [[ 9.99907603e-01 1.02055690e-02 -8.97955676e-03 7.62395306e+01] [-1.02086615e-02 9.99947846e-01 -2.98620338e-04 2.35657956e+00] [ 8.97604085e-03 3.90262002e-04 9.99959638e-01 4.53936716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.025336195 meters 0.04526783680944094 Centerline is valid? [True, True] Translation: X:76.27, Y:2.36, Z:0.45 [[ 9.99869594e-01 1.27412014e-02 -9.92255888e-03 7.62694643e+01] [-1.27450909e-02 9.99918724e-01 -3.28846468e-04 2.35769620e+00] [ 9.91756252e-03 4.55267499e-04 9.99950716e-01 4.52068157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.055336195 meters 0.04631882356762269 Centerline is valid? [True, True] Translation: X:76.30, Y:2.36, Z:0.45 [[ 9.99861216e-01 1.30422738e-02 -1.03657490e-02 7.62968006e+01] [-1.30465447e-02 9.99914831e-01 -3.44496087e-04 2.35926809e+00] [ 1.03603731e-02 4.79685484e-04 9.99946215e-01 4.50673436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.085336195 meters 0.04765135119459495 Centerline is valid? [True, True] Translation: X:76.32, Y:2.36, Z:0.45 [[ 9.99865320e-01 1.30622882e-02 -9.93576578e-03 7.63240758e+01] [-1.30662231e-02 9.99914578e-01 -3.31216449e-04 2.36095304e+00] [ 9.93059060e-03 4.60994772e-04 9.99950584e-01 4.49088248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.115336195 meters 0.045723522563585056 Centerline is valid? [True, True] Translation: X:76.35, Y:2.36, Z:0.45 [[ 9.99846755e-01 1.50399115e-02 -8.95924071e-03 7.63537460e+01] [-1.50431887e-02 9.99886800e-01 -2.98508701e-04 2.35992326e+00] [ 8.95373698e-03 4.33238505e-04 9.99959821e-01 4.52545427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.145336195 meters 0.04698996566851515 Centerline is valid? [True, True] Translation: X:76.38, Y:2.36, Z:0.45 [[ 9.99855376e-01 1.46216639e-02 -8.68527941e-03 7.63814117e+01] [-1.46247349e-02 9.99893011e-01 -2.90173418e-04 2.36337460e+00] [ 8.68010736e-03 4.17151361e-04 9.99962240e-01 4.54716617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.175336195 meters 0.045983832617553275 Centerline is valid? [True, True] Translation: X:76.41, Y:2.37, Z:0.46 [[ 9.99880858e-01 1.29516931e-02 -8.39780323e-03 7.64111469e+01] [-1.29545049e-02 9.99916048e-01 -2.80514459e-04 2.36501700e+00] [ 8.39346508e-03 3.89270422e-04 9.99964698e-01 4.59708029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.205336195 meters 0.045780319114646764 Centerline is valid? [True, True] Translation: X:76.44, Y:2.36, Z:0.46 [[ 9.99900283e-01 1.12924094e-02 -8.47974308e-03 7.64392453e+01] [-1.12952217e-02 9.99936167e-01 -2.83822528e-04 2.36495264e+00] [ 8.47599675e-03 3.79574803e-04 9.99964006e-01 4.58278885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.235336195 meters 0.04481215784403002 Centerline is valid? [True, True] Translation: X:76.47, Y:2.36, Z:0.45 [[ 9.99894232e-01 1.02317331e-02 -1.03361357e-02 7.64676242e+01] [-1.02358808e-02 9.99947551e-01 -3.48462491e-04 2.36223859e+00] [ 1.03320282e-02 4.54225088e-04 9.99946520e-01 4.52693020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26533619499999 meters 0.03823734945727301 Centerline is valid? [True, True] Translation: X:76.52, Y:2.35, Z:0.42 [[ 9.99979385e-01 -5.35850086e-03 -3.53777031e-03 7.65222464e+01] [ 5.43059057e-03 9.99771146e-01 2.06921511e-02 2.34846270e+00] [ 3.42608177e-03 -2.07109367e-02 9.99779635e-01 4.15569234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29533619499999 meters 0.04360928374548837 Centerline is valid? [True, True] Translation: X:76.53, Y:2.38, Z:0.49 [[ 9.99913077e-01 7.30709646e-03 -1.09746935e-02 7.65269325e+01] [-7.53880310e-03 9.99746365e-01 -2.12219767e-02 2.37594864e+00] [ 1.08168389e-02 2.13028680e-02 9.99714551e-01 4.87565023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32533619499999 meters 0.042546584782846286 Centerline is valid? [True, True] Translation: X:76.56, Y:2.36, Z:0.46 [[ 9.99917454e-01 5.39090216e-03 -1.16629163e-02 7.65559821e+01] [-5.39589581e-03 9.99985363e-01 -3.96740237e-04 2.36428152e+00] [ 1.16606068e-02 4.59639369e-04 9.99931907e-01 4.56630438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35533619499999 meters 0.03831634030790577 Centerline is valid? [True, True] Translation: X:76.59, Y:2.36, Z:0.46 [[ 9.99933027e-01 3.35550074e-03 -1.10761555e-02 7.65857897e+01] [-3.35987298e-03 9.99994285e-01 -3.76159420e-04 2.36034207e+00] [ 1.10748300e-02 4.13348703e-04 9.99938587e-01 4.59378362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.385336195 meters 0.03831737464116714 Centerline is valid? [True, True] Translation: X:76.61, Y:2.36, Z:0.45 [[ 9.99933374e-01 2.15044115e-03 -1.13412085e-02 7.66133183e+01] [-2.15495831e-03 9.99997604e-01 -3.86090605e-04 2.35812446e+00] [ 1.13403511e-02 4.10504712e-04 9.99935612e-01 4.52230203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.415336195 meters 0.041459731777730484 Centerline is valid? [True, True] Translation: X:76.64, Y:2.36, Z:0.44 [[ 9.99937981e-01 4.09953465e-04 -1.11295277e-02 7.66406489e+01] [-4.14208084e-04 9.99999842e-01 -3.79979713e-04 2.35994169e+00] [ 1.11293702e-02 3.84566088e-04 9.99937993e-01 4.43376127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.445336195 meters 0.03794975740737894 Centerline is valid? [True, True] Translation: X:76.67, Y:2.36, Z:0.45 [[ 9.99944052e-01 -8.24602170e-05 -1.05775778e-02 7.66700832e+01] [ 7.86464163e-05 9.99999932e-01 -3.60970649e-04 2.35748617e+00] [ 1.05776069e-02 3.60118565e-04 9.99943991e-01 4.48756222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.475336195 meters 0.03630574146518079 Centerline is valid? [True, True] Translation: X:76.70, Y:2.36, Z:0.46 [[ 9.99949778e-01 1.21328654e-03 -9.94836491e-03 7.66984526e+01] [-1.21675141e-03 9.99999201e-01 -3.42239900e-04 2.36107905e+00] [ 9.94794173e-03 3.54327399e-04 9.99950455e-01 4.57794341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.505336195 meters 0.037482591834504364 Centerline is valid? [True, True] Translation: X:76.73, Y:2.36, Z:0.46 [[ 9.99944580e-01 1.97343595e-03 -1.03412846e-02 7.67268630e+01] [-1.97723785e-03 9.99997981e-01 -3.57431363e-04 2.36463900e+00] [ 1.03405583e-02 3.77858734e-04 9.99946464e-01 4.57817503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.535336195 meters 0.039359101153154455 Centerline is valid? [True, True] Translation: X:76.76, Y:2.37, Z:0.46 [[ 9.99929638e-01 3.22561590e-03 -1.14155492e-02 7.67552977e+01] [-3.23032235e-03 9.99994705e-01 -3.93869738e-04 2.36863591e+00] [ 1.14142183e-02 4.30717928e-04 9.99934763e-01 4.55560409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.565336195 meters 0.03815971478585224 Centerline is valid? [True, True] Translation: X:76.78, Y:2.37, Z:0.45 [[ 9.99919680e-01 2.83865716e-03 -1.23521253e-02 7.67844022e+01] [-2.84414614e-03 9.99995864e-01 -4.26832017e-04 2.36649136e+00] [ 1.23508626e-02 4.61928984e-04 9.99923618e-01 4.50343842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.595336195 meters 0.03828426938875152 Centerline is valid? [True, True] Translation: X:76.81, Y:2.37, Z:0.45 [[ 9.99928084e-01 1.03815983e-03 -1.19477575e-02 7.68123199e+01] [-1.04317624e-03 9.99999370e-01 -4.13637358e-04 2.36626676e+00] [ 1.19473206e-02 4.26071227e-04 9.99928537e-01 4.47867287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62533619499999 meters 0.038643430201740145 Centerline is valid? [True, True] Translation: X:76.84, Y:2.37, Z:0.44 [[ 9.99916020e-01 9.83565728e-04 -1.29222776e-02 7.68406225e+01] [-9.89463416e-04 9.99999409e-01 -4.50011576e-04 2.36709462e+00] [ 1.29218273e-02 4.62759905e-04 9.99916403e-01 4.44273641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65533619499999 meters 0.039862578544319405 Centerline is valid? [True, True] Translation: X:76.87, Y:2.37, Z:0.44 [[ 9.99904657e-01 1.80909203e-03 -1.36895527e-02 7.68677591e+01] [-1.81579217e-03 9.99998238e-01 -4.77021247e-04 2.36724079e+00] [ 1.36886656e-02 5.01833149e-04 9.99906180e-01 4.38832251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68533619499999 meters 0.041125922313964496 Centerline is valid? [True, True] Translation: X:76.90, Y:2.37, Z:0.44 [[ 9.99895501e-01 3.12937460e-03 -1.41135802e-02 7.68971649e+01] [-3.13662361e-03 9.99994960e-01 -4.91513175e-04 2.36880502e+00] [ 1.41119709e-02 5.35730801e-04 9.99900278e-01 4.35864606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71533619499999 meters 0.04257817968458911 Centerline is valid? [True, True] Translation: X:76.93, Y:2.38, Z:0.45 [[ 9.99892844e-01 5.93034194e-03 -1.33840067e-02 7.69259243e+01] [-5.93712013e-03 9.99982266e-01 -4.66762820e-04 2.37576864e+00] [ 1.33810013e-02 5.46175259e-04 9.99910321e-01 4.45673097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.745336195 meters 0.04443434440706105 Centerline is valid? [True, True] Translation: X:76.95, Y:2.38, Z:0.45 [[ 9.99880743e-01 7.62106344e-03 -1.34320287e-02 7.69538963e+01] [-7.62805230e-03 9.99970796e-01 -4.69157295e-04 2.38322771e+00] [ 1.34280610e-02 5.71561562e-04 9.99909676e-01 4.52921710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.775336195 meters 0.04537778685381802 Centerline is valid? [True, True] Translation: X:76.98, Y:2.39, Z:0.45 [[ 9.99871467e-01 9.73354084e-03 -1.27400270e-02 7.69827852e+01] [-9.74000416e-03 9.99952466e-01 -4.45374311e-04 2.38612332e+00] [ 1.27350864e-02 5.69404981e-04 9.99918743e-01 4.54374333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.805336195 meters 0.04868932309665856 Centerline is valid? [True, True] Translation: X:77.01, Y:2.39, Z:0.45 [[ 9.99859078e-01 1.10881854e-02 -1.26045879e-02 7.70106091e+01] [-1.10946280e-02 9.99938355e-01 -4.41325244e-04 2.38965337e+00] [ 1.25989174e-02 5.81106266e-04 9.99920462e-01 4.50109191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.835336195 meters 0.047846606380178444 Centerline is valid? [True, True] Translation: X:77.04, Y:2.39, Z:0.45 [[ 9.99846002e-01 1.36415003e-02 -1.10399658e-02 7.70404599e+01] [-1.36465994e-02 9.99906806e-01 -3.86677383e-04 2.38967669e+00] [ 1.10336620e-02 5.37275826e-04 9.99938983e-01 4.48830225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.865336195 meters 0.05014359082157884 Centerline is valid? [True, True] Translation: X:77.07, Y:2.39, Z:0.45 [[ 9.99840936e-01 1.45258437e-02 -1.03490828e-02 7.70678421e+01] [-1.45303810e-02 9.99894362e-01 -3.63369491e-04 2.39419680e+00] [ 1.03427113e-02 5.13687808e-04 9.99946381e-01 4.47385413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.895336195 meters 0.058821959438534736 Centerline is valid? [True, True] Translation: X:77.10, Y:2.41, Z:0.44 [[ 9.99805640e-01 1.70599154e-02 -9.88133472e-03 7.70965948e+01] [-1.70641752e-02 9.99854336e-01 -3.46931552e-04 2.40610449e+00] [ 9.87397674e-03 5.15480949e-04 9.99951118e-01 4.42715335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.925336195 meters 0.05526732742966568 Centerline is valid? [True, True] Translation: X:77.12, Y:2.40, Z:0.45 [[ 9.99803222e-01 1.75180411e-02 -9.30784706e-03 7.71249585e+01] [-1.75218641e-02 9.99846426e-01 -3.29331463e-04 2.40344852e+00] [ 9.30064837e-03 4.92357489e-04 9.99956627e-01 4.46102516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.955336195 meters 0.05319949101603163 Centerline is valid? [True, True] Translation: X:77.15, Y:2.40, Z:0.45 [[ 9.99794818e-01 1.80452273e-02 -9.20277109e-03 7.71535168e+01] [-1.80490011e-02 9.99837050e-01 -3.27176800e-04 2.40380761e+00] [ 9.19536752e-03 4.93210495e-04 9.99957600e-01 4.51312558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.985336195 meters 0.0550579592927491 Centerline is valid? [True, True] Translation: X:77.18, Y:2.41, Z:0.46 [[ 9.99760439e-01 2.05857911e-02 -7.43571384e-03 7.71840060e+01] [-2.05883175e-02 9.99788003e-01 -2.63367747e-04 2.41315210e+00] [ 7.42871586e-03 4.16393492e-04 9.99972320e-01 4.62575124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01533619499999 meters 0.059338339502574625 Centerline is valid? [True, True] Translation: X:77.21, Y:2.42, Z:0.46 [[ 9.99747444e-01 2.15416580e-02 -6.40359590e-03 7.72111782e+01] [-2.15435564e-02 9.99767885e-01 -2.27617964e-04 2.42043564e+00] [ 6.39720626e-03 3.65516707e-04 9.99979471e-01 4.61524849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04533619499999 meters 0.05127014926324013 Centerline is valid? [True, True] Translation: X:77.24, Y:2.41, Z:0.45 [[ 9.99758976e-01 2.10587488e-02 -6.20630971e-03 7.72397855e+01] [-2.10605346e-02 9.99778178e-01 -2.22516016e-04 2.40616857e+00] [ 6.20024711e-03 3.53170585e-04 9.99980716e-01 4.54911048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07533619499999 meters 0.05386157399796134 Centerline is valid? [True, True] Translation: X:77.27, Y:2.41, Z:0.45 [[ 9.99778184e-01 1.98327984e-02 -7.08820409e-03 7.72679586e+01] [-1.98350917e-02 9.99803233e-01 -2.53392688e-04 2.40836432e+00] [ 7.08178388e-03 3.93931660e-04 9.99974846e-01 4.49830974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10533619499999 meters 0.053784389502339124 Centerline is valid? [True, True] Translation: X:77.30, Y:2.41, Z:0.45 [[ 9.99835433e-01 1.63717237e-02 -7.81491909e-03 7.72969725e+01] [-1.63744050e-02 9.99865891e-01 -2.79238183e-04 2.40837670e+00] [ 7.80929943e-03 4.07156880e-04 9.99969424e-01 4.51189688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.135336195 meters 0.053784389502339124 Centerline is valid? [True, True] Translation: X:77.32, Y:2.41, Z:0.45 [[ 9.99838449e-01 1.61865746e-02 -7.81482286e-03 7.73241526e+01] [-1.61892713e-02 9.99868905e-01 -2.81925397e-04 2.40951582e+00] [ 7.80923497e-03 4.08396138e-04 9.99969424e-01 4.50988459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.165336195 meters 0.05026574761260908 Centerline is valid? [True, True] Translation: X:77.35, Y:2.41, Z:0.46 [[ 9.99868279e-01 1.43184397e-02 -7.64242774e-03 7.73543955e+01] [-1.43209554e-02 9.99897412e-01 -2.74543973e-04 2.40676237e+00] [ 7.63771268e-03 3.83954676e-04 9.99970759e-01 4.55188433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.195336195 meters 0.045792194251835665 Centerline is valid? [True, True] Translation: X:77.38, Y:2.40, Z:0.46 [[ 9.99890384e-01 1.25957583e-02 -7.78245708e-03 7.73840761e+01] [-1.25983171e-02 9.99920599e-01 -2.79852738e-04 2.40223976e+00] [ 7.77831419e-03 3.77867924e-04 9.99969677e-01 4.58839160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.225336195 meters 0.04580499117139759 Centerline is valid? [True, True] Translation: X:77.41, Y:2.40, Z:0.46 [[ 9.99911881e-01 1.05356733e-02 -8.07655328e-03 7.74125317e+01] [-1.05383651e-02 9.99944428e-01 -2.90800255e-04 2.40166834e+00] [ 8.07304067e-03 3.75888298e-04 9.99967342e-01 4.57751884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.255336195 meters 0.03794347720098208 Centerline is valid? [True, True] Translation: X:77.44, Y:2.40, Z:0.47 [[ 9.99984721e-01 -3.37845687e-03 -4.37538511e-03 7.74444153e+01] [ 3.34951352e-03 9.99972573e-01 -6.60556063e-03 2.40010842e+00] [ 4.39758171e-03 6.59080430e-03 9.99968611e-01 4.71010836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.285336195 meters 0.03711272761259073 Centerline is valid? [True, True] Translation: X:77.48, Y:2.39, Z:0.46 [[ 9.99982246e-01 -5.04624339e-03 -3.16896647e-03 7.74769746e+01] [ 5.04736516e-03 9.99987202e-01 3.46090220e-04 2.39373109e+00] [ 3.16717946e-03 -3.62079006e-04 9.99994919e-01 4.56775491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.315336195 meters 0.041416926571720865 Centerline is valid? [True, True] Translation: X:77.50, Y:2.39, Z:0.44 [[ 9.99963819e-01 6.94815781e-03 -4.90744180e-03 7.75040877e+01] [-6.91944973e-03 9.99958990e-01 5.84285973e-03 2.38514651e+00] [ 4.94783765e-03 -5.80869154e-03 9.99970889e-01 4.38316511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.345336195 meters 0.03843040028687326 Centerline is valid? [True, True] Translation: X:77.53, Y:2.39, Z:0.45 [[ 9.99955083e-01 7.94890547e-03 -5.16209516e-03 7.75329685e+01] [-7.94997753e-03 9.99968381e-01 -1.87191876e-04 2.38607714e+00] [ 5.16044397e-03 2.28222008e-04 9.99986659e-01 4.50564301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37533619499999 meters 0.03873496825618088 Centerline is valid? [True, True] Translation: X:77.56, Y:2.39, Z:0.45 [[ 9.99948831e-01 8.36461204e-03 -5.68927905e-03 7.75611394e+01] [-8.36592320e-03 9.99964984e-01 -2.06701080e-04 2.38839852e+00] [ 5.68735086e-03 2.54286575e-04 9.99983795e-01 4.53870086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40533619499999 meters 0.05180471410035444 Centerline is valid? [True, True] Translation: X:77.59, Y:2.41, Z:0.45 [[ 9.99915991e-01 1.08365899e-02 -7.11190696e-03 7.75896401e+01] [-1.08386983e-02 9.99941226e-01 -2.57986507e-04 2.40626001e+00] [ 7.10869328e-03 3.35048648e-04 9.99974677e-01 4.52525169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43533619499999 meters 0.045442768361839074 Centerline is valid? [True, True] Translation: X:77.62, Y:2.40, Z:0.46 [[ 9.99897626e-01 1.23232657e-02 -7.27150042e-03 7.76199054e+01] [-1.23255098e-02 9.99924003e-01 -2.63876246e-04 2.39833667e+00] [ 7.26769599e-03 3.53474181e-04 9.99973527e-01 4.55916326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46533619499999 meters 0.046857308293810754 Centerline is valid? [True, True] Translation: X:77.65, Y:2.40, Z:0.46 [[ 9.99852145e-01 1.57842536e-02 -6.82237297e-03 7.76498358e+01] [-1.57863097e-02 9.99875358e-01 -2.47626904e-04 2.40033496e+00] [ 6.81761401e-03 3.55290383e-04 9.99976697e-01 4.59449281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.495336195 meters 0.04861366251211717 Centerline is valid? [True, True] Translation: X:77.68, Y:2.40, Z:0.46 [[ 9.99828039e-01 1.73785028e-02 -6.47153744e-03 7.76796727e+01] [-1.73803879e-02 9.99848922e-01 -2.35164988e-04 2.40400241e+00] [ 6.46647292e-03 3.47602380e-04 9.99979032e-01 4.60501519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.525336195 meters 0.052425146593914354 Centerline is valid? [True, True] Translation: X:77.71, Y:2.41, Z:0.46 [[ 9.99802078e-01 1.89927091e-02 -5.92294333e-03 7.77075751e+01] [-1.89943199e-02 9.99819568e-01 -2.15816217e-04 2.40883196e+00] [ 5.91777571e-03 3.28275782e-04 9.99982436e-01 4.57957487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.555336195 meters 0.05142691585745499 Centerline is valid? [True, True] Translation: X:77.74, Y:2.40, Z:0.45 [[ 9.99701844e-01 2.38138193e-02 -5.39667901e-03 7.77383895e+01] [-2.38152244e-02 9.99716358e-01 -1.96251933e-04 2.40263443e+00] [ 5.39047478e-03 3.24716542e-04 9.99985419e-01 4.49192797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.585336195 meters 0.053028009214095034 Centerline is valid? [True, True] Translation: X:77.77, Y:2.40, Z:0.45 [[ 9.99634888e-01 2.63686704e-02 -5.89784890e-03 7.77680670e+01] [-2.63703939e-02 9.99652218e-01 -2.14645673e-04 2.40436839e+00] [ 5.89013782e-03 3.70095902e-04 9.99982585e-01 4.46852915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.615336195 meters 0.05333007677868004 Centerline is valid? [True, True] Translation: X:77.80, Y:2.42, Z:0.47 [[ 9.99686294e-01 2.47018380e-02 -4.13916217e-03 7.78017903e+01] [-2.47311440e-02 9.99668316e-01 -7.18524613e-03 2.42067153e+00] [ 3.96030050e-03 7.28535830e-03 9.99965619e-01 4.70571086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.645336195 meters 0.05173824001156185 Centerline is valid? [True, True] Translation: X:77.83, Y:2.42, Z:0.47 [[ 9.99608180e-01 2.78004486e-02 -3.25892538e-03 7.78336151e+01] [-2.78026322e-02 9.99613236e-01 -6.26657277e-04 2.41937653e+00] [ 3.24024359e-03 7.17018444e-04 9.99994493e-01 4.65156914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.675336195 meters 0.06791333331416989 Centerline is valid? [True, True] Translation: X:77.86, Y:2.44, Z:0.46 [[ 9.99421681e-01 3.39943454e-02 -8.29493444e-04 7.78597685e+01] [-3.39925131e-02 9.99419815e-01 2.13117759e-03 2.44119424e+00] [ 9.01460172e-04 -2.10174852e-03 9.99997385e-01 4.60464584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.705336195 meters 0.06350666010962343 Centerline is valid? [True, True] Translation: X:77.89, Y:2.44, Z:0.47 [[ 9.99294773e-01 3.75474637e-02 -3.80276373e-04 7.78914901e+01] [-3.75475421e-02 9.99294822e-01 -2.01208144e-04 2.43984863e+00] [ 3.72453355e-04 2.15344690e-04 9.99999907e-01 4.65925628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.735336195 meters 0.07546052267248211 Centerline is valid? [True, True] Translation: X:77.91, Y:2.45, Z:0.45 [[ 9.98810185e-01 4.86966345e-02 -2.61754601e-03 7.79143304e+01] [-4.86811753e-02 9.98798237e-01 5.67665574e-03 2.44996881e+00] [ 2.89083437e-03 -5.54247636e-03 9.99980462e-01 4.54988714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76533619499999 meters 0.07463706110736622 Centerline is valid? [True, True] Translation: X:77.94, Y:2.46, Z:0.47 [[ 9.98601406e-01 5.27619987e-02 -3.37685940e-03 7.79446601e+01] [-5.27627215e-02 9.98607070e-01 -1.25237775e-04 2.45854352e+00] [ 3.36554787e-03 3.03234910e-04 9.99994291e-01 4.66000729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79533619499999 meters 0.06608113802420643 Centerline is valid? [True, True] Translation: X:77.97, Y:2.45, Z:0.47 [[ 9.98582106e-01 5.31122442e-02 -3.58698049e-03 7.79733044e+01] [-5.31130681e-02 9.98588496e-01 -1.34753966e-04 2.44981070e+00] [ 3.57476036e-03 3.25078438e-04 9.99993558e-01 4.66615297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82533619499999 meters 0.06351221107574746 Centerline is valid? [True, True] Translation: X:78.00, Y:2.45, Z:0.47 [[ 9.98594759e-01 5.28723320e-02 -3.60897336e-03 7.80008277e+01] [-5.28731673e-02 9.98601227e-01 -1.36354386e-04 2.44972472e+00] [ 3.59671585e-03 3.26980627e-04 9.99993478e-01 4.66388347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85533619499999 meters 0.0703517616446935 Centerline is valid? [True, True] Translation: X:78.03, Y:2.46, Z:0.46 [[ 9.98642987e-01 5.19669038e-02 -3.40947337e-03 7.80287218e+01] [-5.19676415e-02 9.98648761e-01 -1.28061139e-04 2.46055957e+00] [ 3.39821142e-03 3.05069648e-04 9.99994180e-01 4.63657481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.885336195 meters 0.07294926977581057 Centerline is valid? [True, True] Translation: X:78.06, Y:2.47, Z:0.46 [[ 9.98659681e-01 5.16718583e-02 -2.97659347e-03 7.80565126e+01] [-5.16724202e-02 9.98664082e-01 -1.12100559e-04 2.46593170e+00] [ 2.96682454e-03 2.65758097e-04 9.99995564e-01 4.61637738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.915336195 meters 0.07684198624856496 Centerline is valid? [True, True] Translation: X:78.09, Y:2.48, Z:0.46 [[ 9.98789210e-01 4.91831379e-02 -1.06437330e-03 7.80854480e+01] [-4.91832084e-02 9.98789773e-01 -4.00842691e-05 2.47501473e+00] [ 1.06111369e-03 9.23850292e-05 9.99999433e-01 4.61365092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.945336195 meters 0.06284275748303 Centerline is valid? [True, True] Translation: X:78.12, Y:2.46, Z:0.46 [[ 9.98955642e-01 4.56898719e-02 -2.47527577e-04 7.81161605e+01] [-4.56898756e-02 9.98955672e-01 -9.26789606e-06 2.45788729e+00] [ 2.46845628e-04 2.05677212e-05 9.99999969e-01 4.63586259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.975336195 meters 0.0673116415261668 Centerline is valid? [True, True] Translation: X:78.14, Y:2.46, Z:0.46 [[ 9.99302151e-01 3.73501332e-02 -4.22948603e-04 7.81445536e+01] [-3.73501433e-02 9.99302240e-01 -1.60521555e-05 2.46442062e+00] [ 4.22053936e-04 3.18381445e-05 9.99999910e-01 4.62988880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.005336195 meters 0.061692783571983795 Centerline is valid? [True, True] Translation: X:78.18, Y:2.46, Z:0.47 [[ 9.99387644e-01 3.49844940e-02 -6.49913434e-04 7.81750397e+01] [-3.49845173e-02 9.99387854e-01 -2.43831375e-05 2.45923764e+00] [ 6.48662560e-04 4.71051141e-05 9.99999789e-01 4.65222572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.035336195 meters 0.06353781595981717 Centerline is valid? [True, True] Translation: X:78.21, Y:2.47, Z:0.47 [[ 9.99674572e-01 2.55086483e-02 2.43901899e-04 7.82092915e+01] [-2.55079693e-02 9.99671570e-01 -2.46881055e-03 2.47011384e+00] [-3.06797814e-04 2.46178569e-03 9.99996923e-01 4.71198777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.065336195 meters 0.05628685552296299 Centerline is valid? [True, True] Translation: X:78.23, Y:2.45, Z:0.46 [[ 9.99579695e-01 2.89697198e-02 -1.08994854e-03 7.82343798e+01] [-2.89669206e-02 9.99577240e-01 2.50182189e-03 2.45264447e+00] [ 1.16196483e-03 -2.46919791e-03 9.99996276e-01 4.58126894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.095336195 meters 0.051543162274181785 Centerline is valid? [True, True] Translation: X:78.27, Y:2.45, Z:0.47 [[ 9.99806775e-01 1.96439491e-02 7.25940117e-04 7.82707841e+01] [-1.96407141e-02 9.99798184e-01 -4.22303653e-03 2.45472672e+00] [-8.08750726e-04 4.20796255e-03 9.99990819e-01 4.67156119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12533619499999 meters 0.05757443191699735 Centerline is valid? [True, True] Translation: X:78.29, Y:2.45, Z:0.45 [[ 9.99675146e-01 2.54683249e-02 -9.82985137e-04 7.82923875e+01] [-2.54639481e-02 9.99666774e-01 4.23419123e-03 2.45263294e+00] [ 1.09049534e-03 -4.20778505e-03 9.99990553e-01 4.49572632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15533619499999 meters 0.053106498395884674 Centerline is valid? [True, True] Translation: X:78.32, Y:2.45, Z:0.46 [[ 9.99695976e-01 2.46130743e-02 -1.46704756e-03 7.83211295e+01] [-2.46131851e-02 9.99697048e-01 -5.75306451e-05 2.45204624e+00] [ 1.46518710e-03 9.36218674e-05 9.99998922e-01 4.59718130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18533619499999 meters 0.061485398282074964 Centerline is valid? [True, True] Translation: X:78.35, Y:2.47, Z:0.46 [[ 9.99708868e-01 2.40943097e-02 -1.28180911e-03 7.83485807e+01] [-2.40943931e-02 9.99709687e-01 -4.96975612e-05 2.46624647e+00] [ 1.28023956e-03 8.05675054e-05 9.99999177e-01 4.62991056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21533619499999 meters 0.05580355922697932 Centerline is valid? [True, True] Translation: X:78.38, Y:2.46, Z:0.47 [[ 9.99662218e-01 2.59855036e-02 4.50874674e-04 7.83782652e+01] [-2.59855139e-02 9.99662319e-01 1.71632444e-05 2.46260107e+00] [-4.50276427e-04 -2.88736571e-05 9.99999898e-01 4.69793677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.245336195 meters 0.07363304665024516 Centerline is valid? [True, True] Translation: X:78.41, Y:2.48, Z:0.46 [[ 9.99553983e-01 2.98605046e-02 -4.31436185e-04 7.84069947e+01] [-2.98605146e-02 9.99554075e-01 -1.66790255e-05 2.48487872e+00] [ 4.30745752e-04 2.95544928e-05 9.99999907e-01 4.59370180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.275336195 meters 0.058431757226068894 Centerline is valid? [True, True] Translation: X:78.44, Y:2.46, Z:0.46 [[ 9.99534512e-01 3.05078153e-02 -1.78499906e-04 7.84360468e+01] [-3.05078173e-02 9.99534528e-01 -8.13783303e-06 2.46471423e+00] [ 1.78168552e-04 1.35796875e-05 9.99999984e-01 4.57778370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.305336195 meters 0.06005341558509821 Centerline is valid? [True, True] Translation: X:78.46, Y:2.47, Z:0.46 [[ 9.99537887e-01 3.03837952e-02 9.15409983e-04 7.84637740e+01] [-3.03838399e-02 9.99538304e-01 3.49829757e-05 2.46725591e+00] [-9.13924426e-04 -6.27804800e-05 9.99999580e-01 4.57978111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.335336195 meters 0.06534991839912656 Centerline is valid? [True, True] Translation: X:78.49, Y:2.48, Z:0.46 [[ 9.99485724e-01 3.20590928e-02 7.08535688e-04 7.84923052e+01] [-3.20591202e-02 9.99485974e-01 2.73410460e-05 2.47777601e+00] [-7.07294953e-04 -5.00420159e-05 9.99999749e-01 4.63684717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.365336195 meters 0.06577858157638916 Centerline is valid? [True, True] Translation: X:78.52, Y:2.48, Z:0.47 [[ 9.99504092e-01 3.14868327e-02 -3.86247726e-04 7.85203838e+01] [-3.14868410e-02 9.99504166e-01 -1.53976548e-05 2.47972792e+00] [ 3.85571388e-04 2.75517397e-05 9.99999925e-01 4.65256470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.395336195 meters 0.06347968328713069 Centerline is valid? [True, True] Translation: X:78.55, Y:2.48, Z:0.47 [[ 9.99499614e-01 3.14850261e-02 -3.03569012e-03 7.85487733e+01] [-3.14855332e-02 9.99504201e-01 -1.19394821e-04 2.47737964e+00] [ 3.03042588e-03 2.14915400e-04 9.99995385e-01 4.65473442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.425336195 meters 0.06061192026252011 Centerline is valid? [True, True] Translation: X:78.58, Y:2.48, Z:0.47 [[ 9.99506639e-01 3.12584072e-02 -3.06430212e-03 7.85769042e+01] [-3.12589252e-02 9.99511313e-01 -1.21296693e-04 2.47522897e+00] [ 3.05901309e-03 2.17023641e-04 9.99995298e-01 4.66428790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.455336195 meters 0.06507453815548027 Centerline is valid? [True, True] Translation: X:78.60, Y:2.48, Z:0.46 [[ 9.99500574e-01 3.14548493e-02 -3.03247726e-03 7.86042880e+01] [-3.14553552e-02 9.99505151e-01 -1.19272398e-04 2.48153698e+00] [ 3.02722494e-03 2.14600480e-04 9.99995395e-01 4.63175060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.485336195 meters 0.0588766575167672 Centerline is valid? [True, True] Translation: X:78.63, Y:2.47, Z:0.46 [[ 9.99511020e-01 3.11401524e-02 -2.83043872e-03 7.86335344e+01] [-3.11405955e-02 9.99515008e-01 -1.12626779e-04 2.47265527e+00] [ 2.82555876e-03 2.00713254e-04 9.99995988e-01 4.59902752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51533619499999 meters 0.06028434792579676 Centerline is valid? [True, True] Translation: X:78.66, Y:2.47, Z:0.45 [[ 9.99553276e-01 2.97969977e-02 -2.32089772e-03 7.86627623e+01] [-2.97972903e-02 9.99555958e-01 -9.15776632e-05 2.47072144e+00] [ 2.31713841e-03 1.60693216e-04 9.99997303e-01 4.52737030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54533619499999 meters 0.06272635611968673 Centerline is valid? [True, True] Translation: X:78.69, Y:2.48, Z:0.46 [[ 9.99542819e-01 3.01909120e-02 -1.63146689e-03 7.86903220e+01] [-3.01910593e-02 9.99544144e-01 -6.57202925e-05 2.47654330e+00] [ 1.62873902e-03 1.14945960e-04 9.99998667e-01 4.56714345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57533619499999 meters 0.05840247879718233 Centerline is valid? [True, True] Translation: X:78.72, Y:2.48, Z:0.47 [[ 9.99547381e-01 3.00732098e-02 -7.97346288e-04 7.87175693e+01] [-3.00732457e-02 9.99547697e-01 -3.30964966e-05 2.47801843e+00] [ 7.95990328e-04 5.70603073e-05 9.99999682e-01 4.69509187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60533619499999 meters 0.05779447005197507 Centerline is valid? [True, True] Translation: X:78.75, Y:2.48, Z:0.47 [[ 9.99578156e-01 2.90120138e-02 -1.34664594e-03 7.87465342e+01] [-2.90121126e-02 9.99579059e-01 -5.39391374e-05 2.47890764e+00] [ 1.34451420e-03 9.29854271e-05 9.99999092e-01 4.70841273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.635336195 meters 0.057977813408626074 Centerline is valid? [True, True] Translation: X:78.78, Y:2.48, Z:0.47 [[ 9.99628714e-01 2.71206719e-02 -2.62747951e-03 7.87766727e+01] [-2.71210408e-02 9.99632151e-01 -1.04855554e-04 2.47843910e+00] [ 2.62366924e-03 1.76076602e-04 9.99996543e-01 4.66297714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.665336195 meters 0.053732863028247126 Centerline is valid? [True, True] Translation: X:78.81, Y:2.47, Z:0.46 [[ 9.99665367e-01 2.57367558e-02 -2.60271569e-03 7.88067401e+01] [-2.57371132e-02 9.99668740e-01 -1.03896529e-04 2.47239282e+00] [ 2.59917956e-03 1.70848150e-04 9.99996608e-01 4.63648625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.695336195 meters 0.06153615790301392 Centerline is valid? [True, True] Translation: X:78.84, Y:2.48, Z:0.46 [[ 9.99709306e-01 2.39288889e-02 -2.95156541e-03 7.88356625e+01] [-2.39293408e-02 9.99713645e-01 -1.17869783e-04 2.48239479e+00] [ 2.94789972e-03 1.88464533e-04 9.99995637e-01 4.59052627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.725336195 meters 0.05617716447051458 Centerline is valid? [True, True] Translation: X:78.87, Y:2.48, Z:0.46 [[ 9.99818254e-01 1.87188649e-02 -3.61425964e-03 7.88657163e+01] [-1.87195085e-02 9.99824764e-01 -1.44308314e-04 2.47706048e+00] [ 3.61092501e-03 2.11939251e-04 9.99993458e-01 4.60561646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.755336195 meters 0.053381591253951456 Centerline is valid? [True, True] Translation: X:78.88, Y:2.49, Z:0.51 [[ 9.99893254e-01 1.44763488e-02 -1.97890432e-03 7.88827332e+01] [-1.45246198e-02 9.99528283e-01 -2.70600605e-02 2.49281127e+00] [ 1.58623997e-03 2.70859147e-02 9.99631851e-01 5.09762449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.785336195 meters 0.04950363279052615 Centerline is valid? [True, True] Translation: X:78.93, Y:2.45, Z:0.41 [[ 9.99880263e-01 1.32860007e-02 -7.93361784e-03 7.89252039e+01] [-1.31021674e-02 9.99654405e-01 2.27904222e-02 2.45086830e+00] [ 8.23366958e-03 -2.26837457e-02 9.99708785e-01 4.13411490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.815336195 meters 0.04739739892691831 Centerline is valid? [True, True] Translation: X:78.95, Y:2.46, Z:0.45 [[ 9.99898724e-01 1.17839766e-02 -7.97993253e-03 7.89537633e+01] [-1.17868784e-02 9.99930482e-01 -3.16698882e-04 2.46405105e+00] [ 7.97564581e-03 4.10725302e-04 9.99968110e-01 4.51492901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.845336195 meters 0.0451813330305647 Centerline is valid? [True, True] Translation: X:78.98, Y:2.46, Z:0.46 [[ 9.99931798e-01 8.86052079e-03 -7.60860810e-03 7.89834509e+01] [-8.86307473e-03 9.99960677e-01 -3.02010189e-04 2.46359777e+00] [ 7.60563294e-03 3.69425253e-04 9.99971009e-01 4.55713544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87533619499999 meters 0.05250765274466554 Centerline is valid? [True, True] Translation: X:79.01, Y:2.48, Z:0.46 [[ 9.99949108e-01 7.17964623e-03 -7.08754428e-03 7.90122865e+01] [-7.18182148e-03 9.99974171e-01 -2.81508433e-04 2.47659458e+00] [ 7.08534009e-03 3.32395585e-04 9.99974843e-01 4.58955226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90533619499999 meters 0.04134444407589317 Centerline is valid? [True, True] Translation: X:79.04, Y:2.47, Z:0.47 [[ 9.99969729e-01 3.71363367e-03 -6.83736946e-03 7.90426847e+01] [-3.71557673e-03 9.99993060e-01 -2.71501425e-04 2.46526474e+00] [ 6.83631376e-03 2.96897978e-04 9.99976588e-01 4.66437003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93533619499999 meters 0.039256396400608316 Centerline is valid? [True, True] Translation: X:79.07, Y:2.46, Z:0.46 [[ 9.99964300e-01 -9.93920787e-04 -8.39109052e-03 7.90719110e+01] [ 9.91158283e-04 9.99999453e-01 -3.33370799e-04 2.45938681e+00] [ 8.39141728e-03 3.25041999e-04 9.99964739e-01 4.57578585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96533619499999 meters 0.03712162853086256 Centerline is valid? [True, True] Translation: X:79.10, Y:2.46, Z:0.45 [[ 9.99955354e-01 -3.22792851e-03 -8.88089763e-03 7.91007494e+01] [ 3.22491656e-03 9.99994737e-01 -3.53448511e-04 2.45545511e+00] [ 8.88199180e-03 3.24792577e-04 9.99960502e-01 4.53699605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.995336195 meters 0.03621397250825953 Centerline is valid? [True, True] Translation: X:79.13, Y:2.45, Z:0.45 [[ 9.99943266e-01 -5.25993639e-03 -9.26273103e-03 7.91314836e+01] [ 5.25674979e-03 9.99986115e-01 -3.68337812e-04 2.45363836e+00] [ 9.26453986e-03 3.19625056e-04 9.99957032e-01 4.50680233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.025336195 meters 0.03621397250825953 Centerline is valid? [True, True] Translation: X:79.16, Y:2.45, Z:0.45 [[ 9.99943511e-01 -5.21316094e-03 -9.26275980e-03 7.91632340e+01] [ 5.20997903e-03 9.99986360e-01 -3.67614091e-04 2.45482307e+00] [ 9.26454989e-03 3.19334540e-04 9.99957032e-01 4.50482785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.055336195 meters 0.03583421184825635 Centerline is valid? [True, True] Translation: X:79.19, Y:2.45, Z:0.45 [[ 9.99911334e-01 -7.12531042e-03 -1.12496679e-02 7.91948170e+01] [ 7.12074070e-03 9.99974548e-01 -4.46211504e-04 2.45277341e+00] [ 1.12525610e-02 3.66065971e-04 9.99936621e-01 4.45994951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.085336195 meters 0.03574773291290562 Centerline is valid? [True, True] Translation: X:79.21, Y:2.49, Z:0.53 [[ 9.99851073e-01 -1.48712818e-02 -8.75658445e-03 7.92124328e+01] [ 1.44340766e-02 9.98741282e-01 -4.80365490e-02 2.48731035e+00] [ 9.45992744e-03 4.79030018e-02 9.98807195e-01 5.29144769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.115336195 meters 0.036658916295936844 Centerline is valid? [True, True] Translation: X:79.24, Y:2.46, Z:0.45 [[ 9.99809547e-01 -1.68892738e-02 -9.77864315e-03 7.92437329e+01] [ 1.69206032e-02 9.99851937e-01 3.13004150e-03 2.45999064e+00] [ 9.72433117e-03 -3.29490592e-03 9.99947289e-01 4.48262647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.145336195 meters 0.03457648123456501 Centerline is valid? [True, True] Translation: X:79.29, Y:2.43, Z:0.38 [[ 9.99868139e-01 -8.14861041e-03 -1.40464862e-02 7.92919005e+01] [ 8.75130218e-03 9.99019731e-01 4.33934614e-02 2.42712912e+00] [ 1.36791204e-02 -4.35106646e-02 9.98959310e-01 3.83294962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.175336195 meters 0.03263365810555727 Centerline is valid? [True, True] Translation: X:79.31, Y:2.48, Z:0.51 [[ 9.99879655e-01 -1.43048192e-02 -6.00393992e-03 7.93123799e+01] [ 1.41304966e-02 9.99504205e-01 -2.81366721e-02 2.47843343e+00] [ 6.40345320e-03 2.80484473e-02 9.99586055e-01 5.08717384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.205336195 meters 0.03898096213862497 Centerline is valid? [True, True] Translation: X:79.34, Y:2.48, Z:0.48 [[ 9.99903564e-01 -1.15749701e-02 -7.67348319e-03 7.93382434e+01] [ 1.14511675e-02 9.99806640e-01 -1.59860609e-02 2.47677454e+00] [ 7.85703762e-03 1.58966489e-02 9.99842769e-01 4.83430626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.235336195 meters 0.037085909382558555 Centerline is valid? [True, True] Translation: X:79.37, Y:2.47, Z:0.47 [[ 9.99911132e-01 -9.39754937e-03 -9.45586671e-03 7.93706344e+01] [ 9.34791894e-03 9.99942371e-01 -5.27921912e-03 2.46752688e+00] [ 9.50493351e-03 5.19035729e-03 9.99941356e-01 4.66154134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26533619499999 meters 0.03829334688789669 Centerline is valid? [True, True] Translation: X:79.41, Y:2.46, Z:0.43 [[ 9.99917865e-01 -9.56887112e-03 -8.52643694e-03 7.94085202e+01] [ 9.70193784e-03 9.99829612e-01 1.57041292e-02 2.45541170e+00] [ 8.37471335e-03 -1.57855623e-02 9.99840327e-01 4.30221303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29533619499999 meters 0.04016602332136584 Centerline is valid? [True, True] Translation: X:79.45, Y:2.44, Z:0.41 [[ 9.99887101e-01 -1.01056245e-03 -1.49921153e-02 7.94468234e+01] [ 1.41391294e-03 9.99636645e-01 2.69180192e-02 2.44478981e+00] [ 1.49594655e-02 -2.69361777e-02 9.99525216e-01 4.06167098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32533619499999 meters 0.038810907725094844 Centerline is valid? [True, True] Translation: X:79.47, Y:2.49, Z:0.51 [[ 9.99919129e-01 -7.82318975e-03 -1.00266180e-02 7.94650177e+01] [ 7.51881783e-03 9.99520334e-01 -3.00427778e-02 2.48547324e+00] [ 1.02568390e-02 2.99649599e-02 9.99498323e-01 5.05545279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35533619499999 meters 0.039468624688507384 Centerline is valid? [True, True] Translation: X:79.50, Y:2.47, Z:0.45 [[ 9.99903288e-01 -6.06769495e-03 -1.25139208e-02 7.95007692e+01] [ 6.06670159e-03 9.99981591e-01 -1.17339175e-04 2.46735333e+00] [ 1.25144024e-02 4.14096033e-05 9.99921691e-01 4.53286683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.385336195 meters 0.03958103160622765 Centerline is valid? [True, True] Translation: X:79.54, Y:2.46, Z:0.44 [[ 9.99920405e-01 -6.72020667e-03 -1.06781119e-02 7.95369511e+01] [ 6.82931022e-03 9.99924514e-01 1.02140960e-02 2.46218344e+00] [ 1.06086650e-02 -1.02862071e-02 9.99890819e-01 4.35088302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.415336195 meters 0.04001492209439956 Centerline is valid? [True, True] Translation: X:79.57, Y:2.47, Z:0.45 [[ 9.99928743e-01 -3.09206366e-03 -1.15303126e-02 7.95691843e+01] [ 3.10517570e-03 9.99994552e-01 1.11945091e-03 2.46884674e+00] [ 1.15267883e-02 -1.15517479e-03 9.99932897e-01 4.52286375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.445336195 meters 0.042717256962105 Centerline is valid? [True, True] Translation: X:79.59, Y:2.48, Z:0.47 [[ 9.99929619e-01 -1.57907178e-03 -1.17585662e-02 7.95940536e+01] [ 1.49802240e-03 9.99975084e-01 -6.89841448e-03 2.47891181e+00] [ 1.17691663e-02 6.88031437e-03 9.99907070e-01 4.67711611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.475336195 meters 0.045067119757451285 Centerline is valid? [True, True] Translation: X:79.62, Y:2.48, Z:0.46 [[ 9.99939904e-01 -1.16307527e-03 -1.09012110e-02 7.96223805e+01] [ 1.17360868e-03 9.99998851e-01 9.59913505e-04 2.47935562e+00] [ 1.09000820e-02 -9.72649574e-04 9.99940119e-01 4.56939555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.505336195 meters 0.04965648663185926 Centerline is valid? [True, True] Translation: X:79.65, Y:2.49, Z:0.47 [[ 9.99949462e-01 1.84288306e-03 -9.88317277e-03 7.96454461e+01] [-1.93800410e-03 9.99951814e-01 -9.62361972e-03 2.49106756e+00] [ 9.86496133e-03 9.64228699e-03 9.99904850e-01 4.73925738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.535336195 meters 0.04647672401370939 Centerline is valid? [True, True] Translation: X:79.68, Y:2.47, Z:0.44 [[ 9.99959598e-01 3.12615020e-03 -8.42795476e-03 7.96824820e+01] [-3.07178538e-03 9.99974443e-01 6.45578157e-03 2.47328455e+00] [ 8.44792111e-03 -6.42963187e-03 9.99943645e-01 4.40084834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.565336195 meters 0.04303568003753878 Centerline is valid? [True, True] Translation: X:79.71, Y:2.47, Z:0.45 [[ 9.99959823e-01 3.66916953e-03 -8.17859550e-03 7.97149088e+01] [-3.64514662e-03 9.99989004e-01 2.95026406e-03 2.47120314e+00] [ 8.18933059e-03 -2.92033334e-03 9.99962203e-01 4.46875146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.595336195 meters 0.04920484462108686 Centerline is valid? [True, True] Translation: X:79.74, Y:2.49, Z:0.46 [[ 9.99964444e-01 4.37896039e-03 -7.20666177e-03 7.97394437e+01] [-4.39826940e-03 9.99986775e-01 -2.66566497e-03 2.48584576e+00] [ 7.19489362e-03 2.69726703e-03 9.99970479e-01 4.59133202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62533619499999 meters 0.04986950268984422 Centerline is valid? [True, True] Translation: X:79.77, Y:2.49, Z:0.47 [[ 9.99962141e-01 4.82485443e-03 -7.24132499e-03 7.97685474e+01] [-4.82746958e-03 9.99988289e-01 -3.43707713e-04 2.49058583e+00] [ 7.23958184e-03 3.78651977e-04 9.99973722e-01 4.66540779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65533619499999 meters 0.050052195552135983 Centerline is valid? [True, True] Translation: X:79.80, Y:2.49, Z:0.46 [[ 9.99957305e-01 3.81841747e-03 -8.41475437e-03 7.97977942e+01] [-3.80471550e-03 9.99991411e-01 1.64373424e-03 2.49161654e+00] [ 8.42095856e-03 -1.61164832e-03 9.99963244e-01 4.63936073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68533619499999 meters 0.05127134724971275 Centerline is valid? [True, True] Translation: X:79.83, Y:2.49, Z:0.46 [[ 9.99918449e-01 5.61594432e-03 -1.14698374e-02 7.98260888e+01] [-5.65881111e-03 9.99977113e-01 -3.70832122e-03 2.49252311e+00] [ 1.14487492e-02 3.77292445e-03 9.99927343e-01 4.61907534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71533619499999 meters 0.05202725729110979 Centerline is valid? [True, True] Translation: X:79.86, Y:2.49, Z:0.45 [[ 9.99898121e-01 6.82323299e-03 -1.25376240e-02 7.98571338e+01] [-6.80451592e-03 9.99975671e-01 1.53492455e-03 2.48865230e+00] [ 1.25477921e-02 -1.44945571e-03 9.99920223e-01 4.46072187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.745336195 meters 0.06553007593124184 Centerline is valid? [True, True] Translation: X:79.88, Y:2.51, Z:0.44 [[ 9.99894432e-01 7.46541289e-03 -1.24656823e-02 7.98804971e+01] [-7.48531044e-03 9.99970783e-01 -1.55029262e-03 2.50837227e+00] [ 1.24537445e-02 1.64343846e-03 9.99921099e-01 4.41997565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.775336195 meters 0.06028346385801147 Centerline is valid? [True, True] Translation: X:79.91, Y:2.50, Z:0.45 [[ 9.99845187e-01 1.30685227e-02 -1.17819777e-02 7.99147372e+01] [-1.30827197e-02 9.99913781e-01 -1.12870059e-03 2.50498703e+00] [ 1.17662114e-02 1.28266616e-03 9.99929953e-01 4.47441864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.805336195 meters 0.05946371310882875 Centerline is valid? [True, True] Translation: X:79.95, Y:2.51, Z:0.45 [[ 9.99820071e-01 1.57974096e-02 -1.05008284e-02 7.99458096e+01] [-1.57788528e-02 9.99873799e-01 1.84768238e-03 2.50636725e+00] [ 1.05286918e-02 -1.68165890e-03 9.99943158e-01 4.48713561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.835336195 meters 0.05892654422346793 Centerline is valid? [True, True] Translation: X:79.98, Y:2.51, Z:0.46 [[ 9.99705989e-01 2.29215308e-02 -7.90819139e-03 7.99791626e+01] [-2.29175791e-02 9.99737184e-01 5.89964257e-04 2.51465059e+00] [ 7.91963587e-03 -4.08554199e-04 9.99968556e-01 4.64693492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.865336195 meters 0.05851112788961134 Centerline is valid? [True, True] Translation: X:80.01, Y:2.52, Z:0.47 [[ 9.99635938e-01 2.60182710e-02 -7.14428145e-03 8.00089033e+01] [-2.60301574e-02 9.99659916e-01 -1.57583040e-03 2.51905101e+00] [ 7.10085142e-03 1.76122347e-03 9.99973238e-01 4.71553281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.895336195 meters 0.07723696634181845 Centerline is valid? [True, True] Translation: X:80.03, Y:2.55, Z:0.47 [[ 9.99483395e-01 3.12979997e-02 -7.30598247e-03 8.00311455e+01] [-3.13225798e-02 9.99503964e-01 -3.27452924e-03 2.54719864e+00] [ 7.19987222e-03 3.50167982e-03 9.99967950e-01 4.66365073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.925336195 meters 0.07062501076638106 Centerline is valid? [True, True] Translation: X:80.06, Y:2.54, Z:0.47 [[ 9.99398574e-01 3.32774128e-02 -9.75213417e-03 8.00638554e+01] [-3.33247615e-02 9.99433366e-01 -4.73357057e-03 2.54064350e+00] [ 9.58908730e-03 5.05571122e-03 9.99941243e-01 4.67329119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.955336195 meters 0.07131083523756136 Centerline is valid? [True, True] Translation: X:80.09, Y:2.53, Z:0.44 [[ 9.99380443e-01 3.41765542e-02 -8.40796539e-03 8.00945207e+01] [-3.41015745e-02 9.99378698e-01 8.90509110e-03 2.53343084e+00] [ 8.70708683e-03 -8.61284902e-03 9.99925000e-01 4.37808205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.985336195 meters 0.07987375740312963 Centerline is valid? [True, True] Translation: X:80.11, Y:2.54, Z:0.44 [[ 9.98384479e-01 5.43860883e-02 -1.64494611e-02 8.01140780e+01] [-5.43492629e-02 9.98518396e-01 2.67784547e-03 2.53619448e+00] [ 1.65707270e-02 -1.77950327e-03 9.99861113e-01 4.39623637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01533619499999 meters 0.06975137731401912 Centerline is valid? [True, True] Translation: X:80.16, Y:2.54, Z:0.45 [[ 9.99266580e-01 3.72174745e-02 -9.00897785e-03 8.01562319e+01] [-3.72215687e-02 9.99306996e-01 -2.87162456e-04 2.53877673e+00] [ 8.99204713e-03 6.22280134e-04 9.99959377e-01 4.48472796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04533619499999 meters 0.07847695392002586 Centerline is valid? [True, True] Translation: X:80.17, Y:2.55, Z:0.46 [[ 9.98288430e-01 5.62885843e-02 -1.58683868e-02 8.01723185e+01] [-5.63039907e-02 9.98413534e-01 -5.25456008e-04 2.54557067e+00] [ 1.58136350e-02 1.41801016e-03 9.99873951e-01 4.58554200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07533619499999 meters 0.07351674093600258 Centerline is valid? [True, True] Translation: X:80.22, Y:2.55, Z:0.45 [[ 9.99410126e-01 3.34552801e-02 -7.75521554e-03 8.02207081e+01] [-3.34196791e-02 9.99430470e-01 4.67562992e-03 2.55157000e+00] [ 7.90722322e-03 -4.41369508e-03 9.99958997e-01 4.52535329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10533619499999 meters 0.0763803472292137 Centerline is valid? [True, True] Translation: X:80.25, Y:2.56, Z:0.46 [[ 9.99469347e-01 3.15614318e-02 -8.05602287e-03 8.02486997e+01] [-3.15809025e-02 9.99498550e-01 -2.30122528e-03 2.56278421e+00] [ 7.97935321e-03 2.55442060e-03 9.99964902e-01 4.61897328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.135336195 meters 0.07594437965698943 Centerline is valid? [True, True] Translation: X:80.28, Y:2.56, Z:0.45 [[ 9.99566664e-01 2.80934802e-02 -8.78869902e-03 8.02776777e+01] [-2.81129797e-02 9.99602540e-01 -2.10306341e-03 2.55698199e+00] [ 8.72612350e-03 2.34922860e-03 9.99959167e-01 4.51128584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.165336195 meters 0.08126426081849411 Centerline is valid? [True, True] Translation: X:80.29, Y:2.55, Z:0.45 [[ 9.98721772e-01 4.86301098e-02 -1.37816746e-02 8.02874051e+01] [-4.86432981e-02 9.98816020e-01 -6.23151594e-04 2.54815870e+00] [ 1.37350534e-02 1.29274117e-03 9.99904834e-01 4.47018149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.195336195 meters 0.08216986479633141 Centerline is valid? [True, True] Translation: X:80.32, Y:2.55, Z:0.45 [[ 9.98813002e-01 4.69666638e-02 -1.29119772e-02 8.03162845e+01] [-4.69779168e-02 9.98895766e-01 -5.69434136e-04 2.55055005e+00] [ 1.28709749e-02 1.17533601e-03 9.99916475e-01 4.47997778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.225336195 meters 0.06932002528018903 Centerline is valid? [True, True] Translation: X:80.35, Y:2.54, Z:0.45 [[ 9.98862471e-01 4.60609633e-02 -1.23349617e-02 8.03472425e+01] [-4.60711660e-02 9.98938012e-01 -5.44113067e-04 2.53507185e+00] [ 1.22967997e-02 1.11178019e-03 9.99923773e-01 4.51467651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.255336195 meters 0.0889822009308121 Centerline is valid? [True, True] Translation: X:80.38, Y:2.56, Z:0.45 [[ 9.98946498e-01 4.44166104e-02 -1.15350799e-02 8.03753841e+01] [-4.44254271e-02 9.99012574e-01 -5.09108205e-04 2.56256707e+00] [ 1.15010770e-02 1.02102271e-03 9.99933339e-01 4.53184484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.285336195 meters 0.08059847581327989 Centerline is valid? [True, True] Translation: X:80.40, Y:2.55, Z:0.46 [[ 9.98961015e-01 4.40777318e-02 -1.15777441e-02 8.04042438e+01] [-4.40866171e-02 9.99027581e-01 -5.13228395e-04 2.55434194e+00] [ 1.15438637e-02 1.02311873e-03 9.99932844e-01 4.59180474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.315336195 meters 0.08200068448833843 Centerline is valid? [True, True] Translation: X:80.43, Y:2.56, Z:0.46 [[ 9.98978159e-01 4.35217136e-02 -1.21859533e-02 8.04325753e+01] [-4.35315376e-02 9.99051906e-01 -5.41966500e-04 2.55803534e+00] [ 1.21508125e-02 1.07188598e-03 9.99925602e-01 4.60060869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.345336195 meters 0.08040723184173466 Centerline is valid? [True, True] Translation: X:80.46, Y:2.55, Z:0.45 [[ 9.99036412e-01 4.14917965e-02 -1.43065938e-02 8.04631151e+01] [-4.15051273e-02 9.99138089e-01 -6.36014318e-04 2.55385915e+00] [ 1.42678734e-02 1.22919846e-03 9.99897453e-01 4.53229637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37533619499999 meters 0.08882915833637263 Centerline is valid? [True, True] Translation: X:80.49, Y:2.56, Z:0.45 [[ 9.99079060e-01 4.03823182e-02 -1.45017240e-02 8.04910173e+01] [-4.03959072e-02 9.99183544e-01 -6.45249010e-04 2.56439500e+00] [ 1.44638273e-02 1.23046507e-03 9.99894636e-01 4.48688670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40533619499999 meters 0.06592180236322483 Centerline is valid? [True, True] Translation: X:80.52, Y:2.54, Z:0.45 [[ 9.99109354e-01 3.95560732e-02 -1.46906792e-02 8.05209796e+01] [-3.95699412e-02 9.99216589e-01 -6.54419002e-04 2.53547352e+00] [ 1.46532841e-02 1.23514546e-03 9.99891872e-01 4.52718745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43533619499999 meters 0.07515386547046575 Centerline is valid? [True, True] Translation: X:80.55, Y:2.55, Z:0.45 [[ 9.99173311e-01 3.84142667e-02 -1.33055898e-02 8.05490194e+01] [-3.84255484e-02 9.99261290e-01 -5.93189242e-04 2.54831876e+00] [ 1.32729739e-02 1.10397344e-03 9.99911301e-01 4.50309591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46533619499999 meters 0.06083993184827471 Centerline is valid? [True, True] Translation: X:80.60, Y:2.55, Z:0.50 [[ 9.99541441e-01 2.95975573e-02 -6.39465651e-03 8.05981542e+01] [-2.97198240e-02 9.99359048e-01 -1.99555823e-02 2.55377792e+00] [ 5.79992135e-03 2.01364796e-02 9.99780417e-01 4.97168094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.495336195 meters 0.0694927348623159 Centerline is valid? [True, True] Translation: X:80.61, Y:2.54, Z:0.43 [[ 9.99107267e-01 4.08228598e-02 -1.08702730e-02 8.06071672e+01] [-4.06045372e-02 9.98983040e-01 1.95999112e-02 2.53524195e+00] [ 1.16593428e-02 -1.91410314e-02 9.99748809e-01 4.27982951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.525336195 meters 0.06443500725694562 Centerline is valid? [True, True] Translation: X:80.66, Y:2.57, Z:0.50 [[ 9.99487182e-01 3.13881095e-02 -6.33715910e-03 8.06571749e+01] [-3.15027448e-02 9.99325297e-01 -1.88819284e-02 2.56555798e+00] [ 5.74021537e-03 1.90718833e-02 9.99801637e-01 4.99826423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.555336195 meters 0.07930590804164805 Centerline is valid? [True, True] Translation: X:80.68, Y:2.58, Z:0.46 [[ 9.99512355e-01 3.06367164e-02 -6.03690384e-03 8.06836346e+01] [-3.06273234e-02 9.99529524e-01 1.64230493e-03 2.57565929e+00] [ 6.08437846e-03 -1.45660987e-03 9.99980429e-01 4.59203329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.585336195 meters 0.07158524162088677 Centerline is valid? [True, True] Translation: X:80.72, Y:2.57, Z:0.47 [[ 9.99468660e-01 3.17373746e-02 -7.42535367e-03 8.07152474e+01] [-3.17599556e-02 9.99491192e-01 -2.94313628e-03 2.57000814e+00] [ 7.32816818e-03 3.17740138e-03 9.99968101e-01 4.68619558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.615336195 meters 0.06919222438883729 Centerline is valid? [True, True] Translation: X:80.72, Y:2.55, Z:0.43 [[ 9.99007666e-01 4.23033744e-02 -1.39322560e-02 8.07228813e+01] [-4.20456972e-02 9.98948155e-01 1.82959586e-02 2.54810733e+00] [ 1.46915822e-02 -1.76920115e-02 9.99735540e-01 4.30450407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.645336195 meters 0.07121862919643204 Centerline is valid? [True, True] Translation: X:80.78, Y:2.59, Z:0.49 [[ 9.99713149e-01 2.21880839e-02 -9.01710060e-03 8.07832831e+01] [-2.23454326e-02 9.99592887e-01 -1.77409553e-02 2.58868252e+00] [ 8.61979182e-03 1.79373573e-02 9.99801956e-01 4.92799496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.675336195 meters 0.0697398118431491 Centerline is valid? [True, True] Translation: X:80.78, Y:2.55, Z:0.42 [[ 9.99225288e-01 3.59991040e-02 -1.59024381e-02 8.07807679e+01] [-3.57226848e-02 9.99211345e-01 1.73371632e-02 2.54910073e+00] [ 1.65140189e-02 -1.67556541e-02 9.99723229e-01 4.23195242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.705336195 meters 0.05871494321778598 Centerline is valid? [True, True] Translation: X:80.85, Y:2.57, Z:0.49 [[ 9.99837218e-01 1.53136535e-02 -9.54093573e-03 8.08491904e+01] [-1.54709746e-02 9.99741856e-01 -1.66394405e-02 2.57205877e+00] [ 9.28366217e-03 1.67843395e-02 9.99816033e-01 4.85554890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.735336195 meters 0.07519398467589253 Centerline is valid? [True, True] Translation: X:80.84, Y:2.56, Z:0.42 [[ 9.99352838e-01 3.26218733e-02 -1.51564449e-02 8.08381694e+01] [-3.23726685e-02 9.99341202e-01 1.64064821e-02 2.55757361e+00] [ 1.56816701e-02 -1.59052099e-02 9.99750524e-01 4.18634530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76533619499999 meters 0.0698037201489071 Centerline is valid? [True, True] Translation: X:80.87, Y:2.56, Z:0.45 [[ 9.99429218e-01 3.16951647e-02 -1.16899023e-02 8.08684324e+01] [-3.17036125e-02 9.99497169e-01 -5.38011427e-04 2.56243824e+00] [ 1.16669719e-02 9.08316473e-04 9.99931526e-01 4.50662988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79533619499999 meters 0.07534607464685145 Centerline is valid? [True, True] Translation: X:80.90, Y:2.57, Z:0.46 [[ 9.99463468e-01 3.13681185e-02 -9.42429422e-03 8.08958215e+01] [-3.13736011e-02 9.99507633e-01 -4.34436332e-04 2.57262508e+00] [ 9.40602656e-03 7.29877291e-04 9.99955496e-01 4.55909516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82533619499999 meters 0.058967673204627126 Centerline is valid? [True, True] Translation: X:80.95, Y:2.58, Z:0.50 [[ 9.99760278e-01 2.14350996e-02 -4.46360052e-03 8.09515656e+01] [-2.15215470e-02 9.99561968e-01 -2.03148754e-02 2.57799985e+00] [ 4.02619394e-03 2.04060690e-02 9.99783668e-01 5.02850831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85533619499999 meters 0.06898126963401534 Centerline is valid? [True, True] Translation: X:80.95, Y:2.56, Z:0.43 [[ 9.99373223e-01 3.41232426e-02 -9.42153394e-03 8.09533579e+01] [-3.39301799e-02 9.99225215e-01 1.99427393e-02 2.55582118e+00] [ 1.00947452e-02 -1.96105653e-02 9.99756731e-01 4.26174883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.885336195 meters 0.06582374174276762 Centerline is valid? [True, True] Translation: X:80.98, Y:2.57, Z:0.46 [[ 9.99388299e-01 3.37940630e-02 -8.99936485e-03 8.09807750e+01] [-3.37992021e-02 9.99428556e-01 -4.19542804e-04 2.56579080e+00] [ 8.98004416e-03 7.23457521e-04 9.99959417e-01 4.61560089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.915336195 meters 0.07461336334712111 Centerline is valid? [True, True] Translation: X:81.01, Y:2.58, Z:0.46 [[ 9.99392525e-01 3.36034919e-02 -9.24050168e-03 8.10070688e+01] [-3.36089191e-02 9.99434967e-01 -4.32623316e-04 2.57876173e+00] [ 9.22074283e-03 7.42923781e-04 9.99957212e-01 4.61302502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.945336195 meters 0.07461336334712111 Centerline is valid? [True, True] Translation: X:81.03, Y:2.58, Z:0.46 [[ 9.99399002e-01 3.34103126e-02 -9.24041871e-03 8.10342695e+01] [-3.34157478e-02 9.99441444e-01 -4.34392823e-04 2.58020779e+00] [ 9.22074421e-03 7.42907255e-04 9.99957212e-01 4.61235060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.975336195 meters 0.07284987647100846 Centerline is valid? [True, True] Translation: X:81.06, Y:2.58, Z:0.46 [[ 9.99404954e-01 3.30712630e-02 -9.79949940e-03 8.10624761e+01] [-3.30773767e-02 9.99452687e-01 -4.62420576e-04 2.57978071e+00] [ 9.77884317e-03 7.86287147e-04 9.99951877e-01 4.61837144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.005336195 meters 0.07168962599340921 Centerline is valid? [True, True] Translation: X:81.09, Y:2.58, Z:0.46 [[ 9.99322547e-01 3.50945062e-02 -1.10825516e-02 8.10927536e+01] [-3.51024452e-02 9.99383583e-01 -5.22587905e-04 2.57947472e+00] [ 1.10573802e-02 9.11258537e-04 9.99938450e-01 4.59440909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.035336195 meters 0.06575362911762826 Centerline is valid? [True, True] Translation: X:81.15, Y:2.60, Z:0.49 [[ 9.99693458e-01 2.33151186e-02 -8.33040067e-03 8.11502336e+01] [-2.34715908e-02 9.99539981e-01 -1.92070639e-02 2.59531577e+00] [ 7.87875355e-03 1.93967039e-02 9.99780823e-01 4.93804647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.065336195 meters 0.0681454968287631 Centerline is valid? [True, True] Translation: X:81.15, Y:2.56, Z:0.42 [[ 9.99265522e-01 3.60158556e-02 -1.30871784e-02 8.11515250e+01] [-3.57759406e-02 9.99195446e-01 1.81257500e-02 2.56192862e+00] [ 1.37294635e-02 -1.76442309e-02 9.99750060e-01 4.21101235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.095336195 meters 0.06848206378532383 Centerline is valid? [True, True] Translation: X:81.18, Y:2.58, Z:0.45 [[ 9.99245092e-01 3.68532821e-02 -1.22915025e-02 8.11806511e+01] [-3.68632821e-02 9.99320145e-01 -5.87921419e-04 2.57528740e+00] [ 1.22614792e-02 1.04058272e-03 9.99924284e-01 4.52556017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12533619499999 meters 0.06885545056426687 Centerline is valid? [True, True] Translation: X:81.24, Y:2.60, Z:0.49 [[ 9.99623778e-01 2.60676733e-02 -8.53105189e-03 8.12356067e+01] [-2.62261481e-02 9.99475003e-01 -1.90238483e-02 2.59915573e+00] [ 8.03066566e-03 1.92404278e-02 9.99782634e-01 4.90800740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15533619499999 meters 0.07410416843155863 Centerline is valid? [True, True] Translation: X:81.24, Y:2.58, Z:0.43 [[ 9.99122381e-01 4.06134359e-02 -1.02477136e-02 8.12374321e+01] [-4.04119768e-02 9.98999486e-01 1.91546238e-02 2.57779714e+00] [ 1.10153957e-02 -1.87236830e-02 9.99764015e-01 4.33396172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18533619499999 meters 0.07816652302925893 Centerline is valid? [True, True] Translation: X:81.26, Y:2.60, Z:0.47 [[ 9.99087473e-01 4.17550292e-02 -8.98547160e-03 8.12649954e+01] [-4.17605692e-02 9.99127555e-01 -4.29728008e-04 2.59803140e+00] [ 8.95968896e-03 8.04574278e-04 9.99959537e-01 4.67593888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21533619499999 meters 0.08677694593020163 Centerline is valid? [True, True] Translation: X:81.29, Y:2.61, Z:0.46 [[ 9.98941978e-01 4.50565854e-02 -9.21023381e-03 8.12937370e+01] [-4.50625454e-02 9.98984070e-01 -4.40505236e-04 2.60580183e+00] [ 9.18102919e-03 8.55075751e-04 9.99957488e-01 4.55439027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.245336195 meters 0.07916998153117312 Centerline is valid? [True, True] Translation: X:81.32, Y:2.60, Z:0.45 [[ 9.98877848e-01 4.65467241e-02 -8.74344200e-03 8.13241871e+01] [-4.65521531e-02 9.98915773e-01 -4.18328409e-04 2.59535890e+00] [ 8.71449031e-03 8.24885031e-04 9.99961688e-01 4.53723614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.275336195 meters 0.08472197132940026 Centerline is valid? [True, True] Translation: X:81.35, Y:2.61, Z:0.46 [[ 9.98836200e-01 4.76170640e-02 -7.67205253e-03 8.13519616e+01] [-4.76212794e-02 9.98865396e-01 -3.67611726e-04 2.60657409e+00] [ 7.64584320e-03 7.32536856e-04 9.99970502e-01 4.59182773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.305336195 meters 0.0866585292703487 Centerline is valid? [True, True] Translation: X:81.38, Y:2.61, Z:0.46 [[ 9.98827804e-01 4.77170537e-02 -8.13025074e-03 8.13797766e+01] [-4.77217974e-02 9.98860590e-01 -3.90353580e-04 2.61117356e+00] [ 8.10236053e-03 7.77886187e-04 9.99966873e-01 4.60260023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.335336195 meters 0.0869784916529463 Centerline is valid? [True, True] Translation: X:81.41, Y:2.61, Z:0.46 [[ 9.98722177e-01 4.98393472e-02 -8.36979348e-03 8.14094101e+01] [-4.98444475e-02 9.98756912e-01 -4.01759554e-04 2.61311709e+00] [ 8.33936566e-03 8.18433908e-04 9.99964892e-01 4.61814936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.365336195 meters 0.08740112291141663 Centerline is valid? [True, True] Translation: X:81.44, Y:2.62, Z:0.47 [[ 9.98654731e-01 5.12799182e-02 -7.68753638e-03 8.14391062e+01] [-5.12842639e-02 9.98684028e-01 -3.69101931e-04 2.61669995e+00] [ 7.65849228e-03 7.62855033e-04 9.99970382e-01 4.65119564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.395336195 meters 0.08876059047781365 Centerline is valid? [True, True] Translation: X:81.47, Y:2.62, Z:0.47 [[ 9.98678127e-01 5.08219684e-02 -7.68932831e-03 8.14664845e+01] [-5.08263091e-02 9.98707439e-01 -3.70026389e-04 2.61995107e+00] [ 7.66058391e-03 7.60357439e-04 9.99970368e-01 4.65620553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.425336195 meters 0.08901762014861438 Centerline is valid? [True, True] Translation: X:81.49, Y:2.62, Z:0.45 [[ 9.98649914e-01 5.08481617e-02 -1.06214215e-02 8.14949306e+01] [-5.08564649e-02 9.98705841e-01 -5.12945811e-04 2.61629961e+00] [ 1.05815933e-02 1.05242124e-03 9.99943460e-01 4.53528439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.455336195 meters 0.07159700538377875 Centerline is valid? [True, True] Translation: X:81.52, Y:2.59, Z:0.46 [[ 9.98666760e-01 5.05073734e-02 -1.06634164e-02 8.15243000e+01] [-5.05157434e-02 9.98723131e-01 -5.16871613e-04 2.59417269e+00] [ 1.06236948e-02 1.05485291e-03 9.99943011e-01 4.55517637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.485336195 meters 0.0795164237292972 Centerline is valid? [True, True] Translation: X:81.55, Y:2.61, Z:0.46 [[ 9.98740370e-01 4.92617164e-02 -9.53708521e-03 8.15529360e+01] [-4.92683543e-02 9.98785470e-01 -4.62186124e-04 2.60709815e+00] [ 9.50273405e-03 9.31480434e-04 9.99954414e-01 4.58284180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51533619499999 meters 0.07160147986476445 Centerline is valid? [True, True] Translation: X:81.58, Y:2.60, Z:0.46 [[ 9.98729660e-01 4.93322258e-02 -1.02663735e-02 8.15818656e+01] [-4.93399436e-02 9.98781918e-01 -4.99682032e-04 2.59798924e+00] [ 1.02292178e-02 1.00558956e-03 9.99947175e-01 4.58172613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54533619499999 meters 0.08087463029721154 Centerline is valid? [True, True] Translation: X:81.63, Y:2.62, Z:0.48 [[ 9.99037068e-01 4.32519971e-02 -7.36220413e-03 8.16315558e+01] [-4.33491469e-02 9.98967527e-01 -1.35915860e-02 2.62379564e+00] [ 6.76673961e-03 1.38976435e-02 9.99880526e-01 4.79671063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57533619499999 meters 0.07018796791435156 Centerline is valid? [True, True] Translation: X:81.64, Y:2.59, Z:0.44 [[ 9.98798351e-01 4.81242796e-02 -9.26860656e-03 8.16399713e+01] [-4.80095754e-02 9.98772070e-01 1.22242389e-02 2.58930214e+00] [ 9.84550806e-03 -1.17645678e-02 9.99882324e-01 4.37303363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60533619499999 meters 0.0723967500651151 Centerline is valid? [True, True] Translation: X:81.67, Y:2.60, Z:0.46 [[ 9.98836708e-01 4.75685496e-02 -7.90344341e-03 8.16669500e+01] [-4.75731181e-02 9.98867682e-01 -3.90942643e-04 2.60268906e+00] [ 7.87589762e-03 7.66479308e-04 9.99968691e-01 4.61382717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.635336195 meters 0.07052999155775672 Centerline is valid? [True, True] Translation: X:81.70, Y:2.60, Z:0.47 [[ 9.98893952e-01 4.62551229e-02 -8.44607884e-03 8.16963654e+01] [-4.62602936e-02 9.98929332e-01 -4.17769672e-04 2.60423315e+00] [ 8.41771191e-03 8.08025686e-04 9.99964244e-01 4.66640232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.665336195 meters 0.06787881094375552 Centerline is valid? [True, True] Translation: X:81.72, Y:2.60, Z:0.47 [[ 9.98934821e-01 4.53564006e-02 -8.48650779e-03 8.17249052e+01] [-4.53615932e-02 9.98970545e-01 -4.20282835e-04 2.60247878e+00] [ 8.45870879e-03 8.04796672e-04 9.99963901e-01 4.67060566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.695336195 meters 0.07443357215224902 Centerline is valid? [True, True] Translation: X:81.75, Y:2.61, Z:0.46 [[ 9.99019654e-01 4.36590938e-02 -7.32225627e-03 8.17536612e+01] [-4.36629151e-02 9.99046254e-01 -3.62750448e-04 2.60976330e+00] [ 7.29943535e-03 6.82105880e-04 9.99973126e-01 4.62474260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.725336195 meters 0.08003479787273375 Centerline is valid? [True, True] Translation: X:81.78, Y:2.62, Z:0.46 [[ 9.99008914e-01 4.39280391e-02 -7.17754418e-03 8.17807335e+01] [-4.39317287e-02 9.99034472e-01 -3.57121260e-04 2.61827861e+00] [ 7.15492642e-03 6.72089246e-04 9.99974177e-01 4.61752473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.755336195 meters 0.07094436854629718 Centerline is valid? [True, True] Translation: X:81.81, Y:2.61, Z:0.46 [[ 9.98950140e-01 4.51992801e-02 -7.45946361e-03 8.18114135e+01] [-4.52032987e-02 9.98977740e-01 -3.70926956e-04 2.60813202e+00] [ 7.43507246e-03 7.07729896e-04 9.99972109e-01 4.62088272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.785336195 meters 0.04185250670803494 Centerline is valid? [True, True] Translation: X:81.84, Y:2.58, Z:0.49 [[ 9.98790804e-01 4.82563544e-02 -9.39435143e-03 8.18428106e+01] [-4.83692358e-02 9.98755206e-01 -1.21842135e-02 2.57642954e+00] [ 8.79469168e-03 1.26238780e-02 9.99881639e-01 4.86156060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.815336195 meters 0.07947062018833465 Centerline is valid? [True, True] Translation: X:81.87, Y:2.61, Z:0.44 [[ 9.98884889e-01 4.63973909e-02 -8.73277449e-03 8.18701296e+01] [-4.62985532e-02 9.98864869e-01 1.11990353e-02 2.61386403e+00] [ 9.24246767e-03 -1.07822323e-02 9.99899155e-01 4.39163945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.845336195 meters 0.07783305042153066 Centerline is valid? [True, True] Translation: X:81.90, Y:2.62, Z:0.46 [[ 9.98833296e-01 4.75827733e-02 -8.24172838e-03 8.18999970e+01] [-4.75877670e-02 9.98866976e-01 -4.10749465e-04 2.62099184e+00] [ 8.21284571e-03 8.02475692e-04 9.99965952e-01 4.60234761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87533619499999 meters 0.07105775824493551 Centerline is valid? [True, True] Translation: X:81.93, Y:2.61, Z:0.46 [[ 9.98812012e-01 4.79977229e-02 -8.41331552e-03 8.19288420e+01] [-4.80029566e-02 9.98847105e-01 -4.21126510e-04 2.61277601e+00] [ 8.38340274e-03 8.24490237e-04 9.99964519e-01 4.60803994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90533619499999 meters 0.07441389691790556 Centerline is valid? [True, True] Translation: X:81.96, Y:2.62, Z:0.47 [[ 9.98793774e-01 4.85385537e-02 -7.41662073e-03 8.19556182e+01] [-4.85426383e-02 9.98821042e-01 -3.71613040e-04 2.61997465e+00] [ 7.38983928e-03 7.31187128e-04 9.99972427e-01 4.65107624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93533619499999 meters 0.043351212702340304 Centerline is valid? [True, True] Translation: X:81.99, Y:2.59, Z:0.49 [[ 9.98674145e-01 5.09133635e-02 -7.60136626e-03 8.19850840e+01] [-5.09929024e-02 9.98642072e-01 -1.06647272e-02 2.58665583e+00] [ 7.04806702e-03 1.10382031e-02 9.99914238e-01 4.91057761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96533619499999 meters 0.06587294525819737 Centerline is valid? [True, True] Translation: X:82.01, Y:2.61, Z:0.45 [[ 9.98798758e-01 4.86261240e-02 -6.04498898e-03 8.20140779e+01] [-4.85651621e-02 9.98771420e-01 9.85267557e-03 2.60621509e+00] [ 6.51665965e-03 -9.54726425e-03 9.99933189e-01 4.50638131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.995336195 meters 0.07419024292297166 Centerline is valid? [True, True] Translation: X:82.04, Y:2.62, Z:0.46 [[ 9.98785730e-01 4.89514057e-02 -5.55198424e-03 8.20412859e+01] [-4.89537104e-02 9.98801009e-01 -2.79886018e-04 2.62336891e+00] [ 5.53162665e-03 5.51336390e-04 9.99984548e-01 4.62922888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.025336195 meters 0.07539400703543335 Centerline is valid? [True, True] Translation: X:82.07, Y:2.62, Z:0.46 [[ 9.98768395e-01 4.92319049e-02 -6.15727402e-03 8.20697773e+01] [-4.92347526e-02 9.98787186e-01 -3.11684628e-04 2.62430074e+00] [ 6.13446156e-03 6.14452619e-04 9.99980995e-01 4.57994691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.055336195 meters 0.08023615180687844 Centerline is valid? [True, True] Translation: X:82.10, Y:2.63, Z:0.45 [[ 9.98703667e-01 5.04808055e-02 -6.53249353e-03 8.20989952e+01] [-5.04840354e-02 9.98724813e-01 -3.30385081e-04 2.63024760e+00] [ 6.50748528e-03 6.59743427e-04 9.99978608e-01 4.54198641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.085336195 meters 0.08157958607721333 Centerline is valid? [True, True] Translation: X:82.13, Y:2.64, Z:0.46 [[ 9.98671692e-01 5.11804127e-02 -5.95118062e-03 8.21286545e+01] [-5.11831066e-02 9.98689240e-01 -3.01153330e-04 2.63545262e+00] [ 5.92796690e-03 6.05353218e-04 9.99982246e-01 4.59440528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.115336195 meters 0.07058575854768183 Centerline is valid? [True, True] Translation: X:82.16, Y:2.63, Z:0.48 [[ 9.98598665e-01 5.26699687e-02 -5.15565600e-03 8.21591999e+01] [-5.26720104e-02 9.98611832e-01 -2.60942438e-04 2.63015689e+00] [ 5.13475526e-03 5.32135537e-04 9.99986675e-01 4.75290824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.145336195 meters 0.05213761439971793 Centerline is valid? [True, True] Translation: X:82.17, Y:2.62, Z:0.51 [[ 9.98196431e-01 5.98769540e-02 -4.31692682e-03 8.21732753e+01] [-5.99567903e-02 9.97966028e-01 -2.16561875e-02 2.61578882e+00] [ 3.01143977e-03 2.18759582e-02 9.99756157e-01 5.14228902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.175336195 meters 0.07622476942236323 Centerline is valid? [True, True] Translation: X:82.22, Y:2.62, Z:0.42 [[ 9.98479119e-01 5.47042760e-02 -6.84774647e-03 8.22179032e+01] [-5.45527428e-02 9.98297461e-01 2.06440642e-02 2.62173057e+00] [ 7.96540650e-03 -2.02391037e-02 9.99763438e-01 4.24804727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.205336195 meters 0.07821307793728863 Centerline is valid? [True, True] Translation: X:82.25, Y:2.64, Z:0.46 [[ 9.98480253e-01 5.47677044e-02 -6.13856480e-03 8.22453107e+01] [-5.47706457e-02 9.98498913e-01 -3.11939286e-04 2.63880951e+00] [ 6.11226608e-03 6.47678375e-04 9.99981110e-01 4.58498930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.235336195 meters 0.07334509923213785 Centerline is valid? [True, True] Translation: X:82.27, Y:2.64, Z:0.46 [[ 9.98503035e-01 5.43525380e-02 -6.12292401e-03 8.22740906e+01] [-5.43554640e-02 9.98521600e-01 -3.12358915e-04 2.63593816e+00] [ 6.09689438e-03 6.44705700e-04 9.99981206e-01 4.61544501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26533619499999 meters 0.08018754451793131 Centerline is valid? [True, True] Translation: X:82.30, Y:2.65, Z:0.47 [[ 9.98658634e-01 5.15503739e-02 -4.84672746e-03 8.23026083e+01] [-5.15521740e-02 9.98670272e-01 -2.47127755e-04 2.65026319e+00] [ 4.82754310e-03 4.96655604e-04 9.99988224e-01 4.67493163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29533619499999 meters 0.07442167110627163 Centerline is valid? [True, True] Translation: X:82.33, Y:2.64, Z:0.47 [[ 9.98759768e-01 4.95686081e-02 -4.67758935e-03 8.23331722e+01] [-4.95702635e-02 9.98770610e-01 -2.38561931e-04 2.64423559e+00] [ 4.66001358e-03 4.70135396e-04 9.99989032e-01 4.68763672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32533619499999 meters 0.06979678798915395 Centerline is valid? [True, True] Translation: X:82.36, Y:2.64, Z:0.47 [[ 9.98973395e-01 4.49909160e-02 -5.28898777e-03 8.23634002e+01] [-4.49929694e-02 9.98987267e-01 -2.69842704e-04 2.63813120e+00] [ 5.27149097e-03 5.07532947e-04 9.99985977e-01 4.66184114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35533619499999 meters 0.07262096910242039 Centerline is valid? [True, True] Translation: X:82.39, Y:2.64, Z:0.46 [[ 9.99090521e-01 4.22582129e-02 -5.68990917e-03 8.23924070e+01] [-4.22605461e-02 9.99106582e-01 -2.90407590e-04 2.64162884e+00] [ 5.67255359e-03 5.30602139e-04 9.99983770e-01 4.62389615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.385336195 meters 0.0727956171368816 Centerline is valid? [True, True] Translation: X:82.42, Y:2.64, Z:0.46 [[ 9.99225244e-01 3.89357804e-02 -5.73724928e-03 8.24221163e+01] [-3.89380985e-02 9.99241582e-01 -2.92853773e-04 2.64163845e+00] [ 5.72149556e-03 5.16024461e-04 9.99983499e-01 4.59836271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.415336195 meters 0.06215037054538748 Centerline is valid? [True, True] Translation: X:82.45, Y:2.63, Z:0.47 [[ 9.99487822e-01 3.17701597e-02 -3.84056178e-03 8.24526683e+01] [-3.17711462e-02 9.99495150e-01 -1.96114058e-04 2.62931403e+00] [ 3.83239230e-03 3.18032663e-04 9.99992606e-01 4.65737556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.445336195 meters 0.06481093458746313 Centerline is valid? [True, True] Translation: X:82.48, Y:2.64, Z:0.47 [[ 9.99583488e-01 2.87860310e-02 -2.05303783e-03 8.24815670e+01] [-2.87863068e-02 9.99585583e-01 -1.04898376e-04 2.63634425e+00] [ 2.04916740e-03 1.63954061e-04 9.99997887e-01 4.71179074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.475336195 meters 0.06238002999702779 Centerline is valid? [True, True] Translation: X:82.51, Y:2.63, Z:0.47 [[ 9.99662651e-01 2.59385887e-02 -1.33160774e-03 8.25120343e+01] [-2.59387023e-02 9.99663533e-01 -6.80991914e-05 2.63480608e+00] [ 1.32939330e-03 1.02616395e-04 9.99999111e-01 4.71172363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.505336195 meters 0.06402894452597446 Centerline is valid? [True, True] Translation: X:82.54, Y:2.64, Z:0.46 [[ 9.99677587e-01 2.52567794e-02 -2.61115496e-03 8.25393830e+01] [-2.52572144e-02 9.99680977e-01 -1.33728346e-04 2.63532847e+00] [ 2.60694440e-03 1.99635731e-04 9.99996582e-01 4.62990171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.535336195 meters 0.05914363627591625 Centerline is valid? [True, True] Translation: X:82.57, Y:2.63, Z:0.45 [[ 9.99746118e-01 2.19381933e-02 -5.13955251e-03 8.25697633e+01] [-2.19398340e-02 9.99759258e-01 -2.63046309e-04 2.62527209e+00] [ 5.13254445e-03 3.75740455e-04 9.99986758e-01 4.53398961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.565336195 meters 0.05770673387740865 Centerline is valid? [True, True] Translation: X:82.60, Y:2.62, Z:0.46 [[ 9.99803061e-01 1.89687300e-02 -5.83323713e-03 8.26002307e+01] [-1.89707933e-02 9.99819994e-01 -2.98586106e-04 2.62490090e+00] [ 5.82652332e-03 4.09188439e-04 9.99982942e-01 4.55607809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.595336195 meters 0.055228112282324646 Centerline is valid? [True, True] Translation: X:82.63, Y:2.62, Z:0.46 [[ 9.99856184e-01 1.58816494e-02 -5.94852716e-03 8.26303122e+01] [-1.58837409e-02 9.99873799e-01 -3.04509063e-04 2.62413311e+00] [ 5.94294034e-03 3.98950134e-04 9.99982261e-01 4.61378020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62533619499999 meters 0.050446734009817924 Centerline is valid? [True, True] Translation: X:82.66, Y:2.62, Z:0.47 [[ 9.99951524e-01 8.41973755e-03 -5.10465864e-03 8.26598870e+01] [-8.42118119e-03 9.99964507e-01 -2.61380500e-04 2.61998742e+00] [ 5.10227671e-03 3.04355085e-04 9.99986937e-01 4.68575236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65533619499999 meters 0.050407446445082965 Centerline is valid? [True, True] Translation: X:82.69, Y:2.62, Z:0.47 [[ 9.99968377e-01 6.15682008e-03 -5.03381344e-03 8.26892610e+01] [-6.15819609e-03 9.99981005e-01 -2.57898292e-04 2.61910663e+00] [ 5.03212999e-03 2.88889346e-04 9.99987297e-01 4.65761607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68533619499999 meters 0.04646646941001934 Centerline is valid? [True, True] Translation: X:82.72, Y:2.61, Z:0.46 [[ 9.99989781e-01 3.66257326e-03 -2.65022701e-03 8.27195501e+01] [-3.66294608e-03 9.99993282e-01 -1.35835435e-04 2.60865039e+00] [ 2.64971169e-03 1.45541686e-04 9.99996479e-01 4.57939292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71533619499999 meters 0.041194661769007504 Centerline is valid? [True, True] Translation: X:82.75, Y:2.60, Z:0.46 [[ 9.99992237e-01 3.83763725e-03 -8.94008059e-04 8.27491848e+01] [-3.83767987e-03 9.99992635e-01 -4.59610895e-05 2.60123197e+00] [ 8.93825092e-04 4.93916494e-05 9.99999599e-01 4.57163640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.745336195 meters 0.04440779862088794 Centerline is valid? [True, True] Translation: X:82.78, Y:2.61, Z:0.46 [[ 9.99979475e-01 6.40688162e-03 -3.04601350e-05 8.27777101e+01] [-6.40688167e-03 9.99979476e-01 -1.58710667e-06 2.60561885e+00] [ 3.04493413e-05 1.78222858e-06 1.00000000e+00 4.59432365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.775336195 meters 0.047250916640998716 Centerline is valid? [True, True] Translation: X:82.80, Y:2.61, Z:0.46 [[ 9.99973401e-01 7.29355901e-03 2.00230022e-05 8.28047776e+01] [-7.29355902e-03 9.99973402e-01 8.70817580e-07 2.61092175e+00] [-2.00161184e-05 -1.01683336e-06 1.00000000e+00 4.62182111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.805336195 meters 0.050340023994645426 Centerline is valid? [True, True] Translation: X:82.83, Y:2.62, Z:0.47 [[ 9.99966447e-01 8.18938322e-03 -1.99591078e-04 8.28329086e+01] [-8.18938545e-03 9.99966466e-01 -1.03383276e-05 2.61698823e+00] [ 1.99499720e-04 1.19725090e-05 9.99999980e-01 4.66285932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.835336195 meters 0.050340023994645426 Centerline is valid? [True, True] Translation: X:82.86, Y:2.62, Z:0.47 [[ 9.99967007e-01 8.12063655e-03 -1.99586557e-04 8.28602940e+01] [-8.12063879e-03 9.99967027e-01 -1.04261562e-05 2.61851035e+00] [ 1.99495309e-04 1.20465825e-05 9.99999980e-01 4.66225128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.865336195 meters 0.05161628874597678 Centerline is valid? [True, True] Translation: X:82.89, Y:2.62, Z:0.47 [[ 9.99945436e-01 1.01342537e-02 -2.53416533e-03 8.28907046e+01] [-1.01346166e-02 9.99948635e-01 -1.30390001e-04 2.62058261e+00] [ 2.53271375e-03 1.56065681e-04 9.99996780e-01 4.68855348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.895336195 meters 0.04892077658481963 Centerline is valid? [True, True] Translation: X:82.92, Y:2.62, Z:0.47 [[ 9.99940303e-01 1.01765555e-02 -3.97837561e-03 8.29193676e+01] [-1.01774547e-02 9.99948187e-01 -2.05838547e-04 2.61729532e+00] [ 3.97607476e-03 2.46315997e-04 9.99992065e-01 4.67691602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.925336195 meters 0.05517974356448148 Centerline is valid? [True, True] Translation: X:82.95, Y:2.63, Z:0.47 [[ 9.99923390e-01 1.14191964e-02 -4.77668680e-03 8.29470547e+01] [-1.14205062e-02 9.99934753e-01 -2.47024302e-04 2.62543261e+00] [ 4.77355431e-03 3.01557559e-04 9.99988561e-01 4.65644158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.955336195 meters 0.05607401147366569 Centerline is valid? [True, True] Translation: X:82.98, Y:2.63, Z:0.47 [[ 9.99917396e-01 1.21471513e-02 -4.20105705e-03 8.29754115e+01] [-1.21481751e-02 9.99926184e-01 -2.18248627e-04 2.62858249e+00] [ 4.19809585e-03 2.69265776e-04 9.99991152e-01 4.65736482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.985336195 meters 0.05762395677558358 Centerline is valid? [True, True] Translation: X:83.01, Y:2.63, Z:0.46 [[ 9.99895169e-01 1.39470315e-02 -3.89000143e-03 8.30056471e+01] [-1.39479214e-02 9.99902703e-01 -2.01740965e-04 2.63181002e+00] [ 3.88680926e-03 2.55977250e-04 9.99992414e-01 4.63429402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01533619499999 meters 0.06183575275598256 Centerline is valid? [True, True] Translation: X:83.03, Y:2.63, Z:0.45 [[ 9.99816148e-01 1.88027051e-02 -3.75874588e-03 8.30345762e+01] [-1.88035703e-02 9.99823178e-01 -1.94975804e-04 2.63233353e+00] [ 3.75441518e-03 2.65617800e-04 9.99992917e-01 4.50283804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04533619499999 meters 0.06315245782247109 Centerline is valid? [True, True] Translation: X:83.06, Y:2.63, Z:0.45 [[ 9.99767559e-01 2.13737120e-02 -2.82700448e-03 8.30648755e+01] [-2.13742116e-02 9.99771535e-01 -1.46598790e-04 2.63476003e+00] [ 2.82322525e-03 2.06989706e-04 9.99995993e-01 4.49946040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07533619499999 meters 0.05901142888168923 Centerline is valid? [True, True] Translation: X:83.09, Y:2.64, Z:0.47 [[ 9.99619903e-01 2.75623237e-02 -6.06324048e-04 8.30947994e+01] [-2.75623478e-02 9.99620086e-01 -3.14787041e-05 2.64187656e+00] [ 6.05226071e-04 4.81784535e-05 9.99999816e-01 4.73309422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10533619499999 meters 0.06750224394182074 Centerline is valid? [True, True] Translation: X:83.12, Y:2.66, Z:0.48 [[ 9.99532297e-01 3.05788066e-02 -3.50854282e-04 8.31231930e+01] [-3.05788149e-02 9.99532359e-01 -1.82214845e-05 2.66096345e+00] [ 3.50133017e-04 2.89416704e-05 9.99999938e-01 4.82964728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.135336195 meters 0.06938148870930902 Centerline is valid? [True, True] Translation: X:83.15, Y:2.67, Z:0.48 [[ 9.99386962e-01 3.49551274e-02 -1.95937017e-03 8.31535100e+01] [-3.49553934e-02 9.99388868e-01 -1.01683613e-04 2.66557475e+00] [ 1.95461837e-03 1.70111832e-04 9.99998075e-01 4.75507859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.165336195 meters 0.06492368947581263 Centerline is valid? [True, True] Translation: X:83.18, Y:2.66, Z:0.47 [[ 9.99342053e-01 3.61386971e-02 -3.07504494e-03 8.31828153e+01] [-3.61393587e-02 9.99346747e-01 -1.59846281e-04 2.65739330e+00] [ 3.06725953e-03 2.70871263e-04 9.99995259e-01 4.65965810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.195336195 meters 0.06540592439038156 Centerline is valid? [True, True] Translation: X:83.21, Y:2.66, Z:0.46 [[ 9.99313790e-01 3.69136413e-02 -3.05492062e-03 8.32120540e+01] [-3.69142981e-02 9.99318422e-01 -1.58877031e-04 2.65901744e+00] [ 3.04697373e-03 2.71538258e-04 9.99995321e-01 4.61273955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.225336195 meters 0.06415383332937014 Centerline is valid? [True, True] Translation: X:83.24, Y:2.66, Z:0.46 [[ 9.99349823e-01 3.59124931e-02 -3.19760458e-03 8.32403774e+01] [-3.59132101e-02 9.99354899e-01 -1.67090902e-04 2.66215298e+00] [ 3.18954115e-03 2.81818508e-04 9.99994874e-01 4.64617777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.255336195 meters 0.07054002654314799 Centerline is valid? [True, True] Translation: X:83.27, Y:2.68, Z:0.47 [[ 9.99391732e-01 3.47000501e-02 -3.47453092e-03 8.32686454e+01] [-3.47008886e-02 9.99397726e-01 -1.81313339e-04 2.67513812e+00] [ 3.46614672e-03 3.01772362e-04 9.99993947e-01 4.66474122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.285336195 meters 0.06350179238087365 Centerline is valid? [True, True] Translation: X:83.30, Y:2.67, Z:0.47 [[ 9.99520682e-01 3.08023520e-02 -3.10191992e-03 8.32989087e+01] [-3.08030021e-02 9.99525462e-01 -1.62025053e-04 2.66945316e+00] [ 3.09545719e-03 2.57495838e-04 9.99995176e-01 4.67305937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.315336195 meters 0.06669163115518593 Centerline is valid? [True, True] Translation: X:83.33, Y:2.67, Z:0.46 [[ 9.99572525e-01 2.91211932e-02 -2.59294321e-03 8.33279228e+01] [-2.91216420e-02 9.99575866e-01 -1.35488467e-04 2.67374632e+00] [ 2.58789787e-03 2.10941313e-04 9.99996629e-01 4.64606606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.345336195 meters 0.0645671709184959 Centerline is valid? [True, True] Translation: X:83.36, Y:2.67, Z:0.46 [[ 9.99698363e-01 2.42879715e-02 -3.64389355e-03 8.33584663e+01] [-2.42888259e-02 9.99704965e-01 -1.90389213e-04 2.67051140e+00] [ 3.63819430e-03 2.78837680e-04 9.99993343e-01 4.59976160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37533619499999 meters 0.06203391742343207 Centerline is valid? [True, True] Translation: X:83.39, Y:2.67, Z:0.46 [[ 9.99764370e-01 2.15520344e-02 -2.59122923e-03 8.33884132e+01] [-2.15524572e-02 9.99767710e-01 -1.35353788e-04 2.67073611e+00] [ 2.58771016e-03 1.91169251e-04 9.99996634e-01 4.63748701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40533619499999 meters 0.05540323070598581 Centerline is valid? [True, True] Translation: X:83.42, Y:2.67, Z:0.47 [[ 9.99805566e-01 1.97118434e-02 -5.22253806e-04 8.34185498e+01] [-1.97118603e-02 9.99805702e-01 -2.73150484e-05 2.66615039e+00] [ 5.21613903e-04 3.76043315e-05 9.99999863e-01 4.70600583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43533619499999 meters 0.05855707867803831 Centerline is valid? [True, True] Translation: X:83.45, Y:2.67, Z:0.47 [[ 9.99859135e-01 1.67787956e-02 4.26517617e-04 8.34481130e+01] [-1.67788066e-02 9.99859226e-01 2.22982625e-05 2.67348885e+00] [-4.26083436e-04 -2.94515781e-05 9.99999909e-01 4.72004455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46533619499999 meters 0.05774599299586836 Centerline is valid? [True, True] Translation: X:83.48, Y:2.67, Z:0.46 [[ 9.99879881e-01 1.51198148e-02 -3.40804445e-03 8.34780934e+01] [-1.51205096e-02 9.99885663e-01 -1.78186304e-04 2.66794203e+00] [ 3.40496064e-03 2.29696269e-04 9.99994177e-01 4.56591907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.495336195 meters 0.05931358360734683 Centerline is valid? [True, True] Translation: X:83.51, Y:2.67, Z:0.46 [[ 9.99888658e-01 1.45707218e-02 -3.21948383e-03 8.35058979e+01] [-1.45713399e-02 9.99893818e-01 -1.68606451e-04 2.67102646e+00] [ 3.21668526e-03 2.15499871e-04 9.99994803e-01 4.56731592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.525336195 meters 0.06091484268581091 Centerline is valid? [True, True] Translation: X:83.53, Y:2.68, Z:0.46 [[ 9.99896382e-01 1.42457249e-02 -2.06995958e-03 8.35335805e+01] [-1.42459801e-02 9.99898515e-01 -1.08575646e-04 2.67732659e+00] [ 2.06820277e-03 1.38052999e-04 9.99997852e-01 4.62581508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.555336195 meters 0.059530367023544105 Centerline is valid? [True, True] Translation: X:83.56, Y:2.68, Z:0.47 [[ 9.99904428e-01 1.36084280e-02 -2.43833324e-03 8.35619158e+01] [-1.36087817e-02 9.99907388e-01 -1.28520442e-04 2.68032613e+00] [ 2.43635846e-03 1.61690904e-04 9.99997019e-01 4.67021599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.585336195 meters 0.05864738085350693 Centerline is valid? [True, True] Translation: X:83.59, Y:2.68, Z:0.46 [[ 9.99911285e-01 1.29291221e-02 -3.20297436e-03 8.35905944e+01] [-1.29297302e-02 9.99916393e-01 -1.69248002e-04 2.67947170e+00] [ 3.20051834e-03 2.10646581e-04 9.99994856e-01 4.64336515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.615336195 meters 0.05714953104469853 Centerline is valid? [True, True] Translation: X:83.62, Y:2.68, Z:0.47 [[ 9.99926898e-01 1.19315538e-02 -1.95854008e-03 8.36197113e+01] [-1.19317801e-02 9.99928808e-01 -1.03917394e-04 2.67814882e+00] [ 1.95716075e-03 1.27278667e-04 9.99998077e-01 4.65259595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.645336195 meters 0.05866685301122393 Centerline is valid? [True, True] Translation: X:83.65, Y:2.68, Z:0.46 [[ 9.99931126e-01 1.16119368e-02 -1.70504179e-03 8.36467830e+01] [-1.16121079e-02 9.99932573e-01 -9.05144777e-05 2.68155869e+00] [ 1.70387578e-03 1.10307373e-04 9.99998542e-01 4.64447304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.675336195 meters 0.05726061134520483 Centerline is valid? [True, True] Translation: X:83.68, Y:2.68, Z:0.46 [[ 9.99935288e-01 1.10858313e-02 -2.55406685e-03 8.36752622e+01] [-1.10862150e-02 9.99938537e-01 -1.36093442e-04 2.67990271e+00] [ 2.55240116e-03 1.64399569e-04 9.99996729e-01 4.60858804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.705336195 meters 0.0576623745275779 Centerline is valid? [True, True] Translation: X:83.70, Y:2.68, Z:0.46 [[ 9.99950304e-01 9.67967698e-03 -2.38601740e-03 8.37038601e+01] [-9.68000736e-03 9.99953140e-01 -1.26956130e-04 2.67894746e+00] [ 2.38467670e-03 1.50046487e-04 9.99997145e-01 4.58806101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.735336195 meters 0.04747308886515364 Centerline is valid? [True, True] Translation: X:83.73, Y:2.67, Z:0.47 [[ 9.99959174e-01 9.02111592e-03 -5.19540841e-04 8.37334397e+01] [-9.02113172e-03 9.99959308e-01 -2.80801221e-05 2.66781936e+00] [ 5.19266385e-04 3.27658221e-05 9.99999865e-01 4.65391691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76533619499999 meters 0.04830991821101705 Centerline is valid? [True, True] Translation: X:83.76, Y:2.67, Z:0.47 [[ 9.99951417e-01 9.60528416e-03 2.21411729e-03 8.37610146e+01] [-9.60556912e-03 9.99953858e-01 1.18104355e-04 2.67275084e+00] [-2.21288071e-03 -1.39366474e-04 9.99997542e-01 4.74885732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79533619499999 meters 0.0490866461895906 Centerline is valid? [True, True] Translation: X:83.79, Y:2.67, Z:0.48 [[ 9.99946380e-01 1.01577330e-02 2.01424508e-03 8.37900620e+01] [-1.01579702e-02 9.99948401e-01 1.07560502e-04 2.67490126e+00] [-2.01304857e-03 -1.28015376e-04 9.99997966e-01 4.75019596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82533619499999 meters 0.049810429050261736 Centerline is valid? [True, True] Translation: X:83.82, Y:2.68, Z:0.47 [[ 9.99945058e-01 1.04316504e-02 1.03067950e-03 8.38185620e+01] [-1.04317125e-02 9.99945587e-01 5.48868904e-05 2.67568469e+00] [-1.03005086e-03 -6.56356270e-05 9.99999467e-01 4.72611144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85533619499999 meters 0.05015584722218995 Centerline is valid? [True, True] Translation: X:83.85, Y:2.67, Z:0.47 [[ 9.99931686e-01 1.16863990e-02 -2.26248188e-04 8.38482022e+01] [-1.16864021e-02 9.99931712e-01 -1.21960860e-05 2.67296737e+00] [ 2.26090210e-04 1.48392801e-05 9.99999974e-01 4.65947582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.885336195 meters 0.05120171735947764 Centerline is valid? [True, True] Translation: X:83.88, Y:2.67, Z:0.46 [[ 9.99924669e-01 1.22741576e-02 -3.86094294e-05 8.38758157e+01] [-1.22741577e-02 9.99924670e-01 -2.21380439e-06 2.67399020e+00] [ 3.85793482e-05 2.68753585e-06 9.99999999e-01 4.64163956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.915336195 meters 0.05125039468385804 Centerline is valid? [True, True] Translation: X:83.90, Y:2.67, Z:0.46 [[ 9.99921530e-01 1.24539944e-02 -1.35318574e-03 8.39045385e+01] [-1.24541049e-02 9.99922442e-01 -7.32803865e-05 2.67248010e+00] [ 1.35216815e-03 9.01273533e-05 9.99999082e-01 4.62626310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.945336195 meters 0.04752145645235802 Centerline is valid? [True, True] Translation: X:83.93, Y:2.67, Z:0.46 [[ 9.99924081e-01 1.20711556e-02 -2.47368283e-03 8.39336877e+01] [-1.20715242e-02 9.99927128e-01 -1.34154428e-04 2.66772632e+00] [ 2.47188317e-03 1.64005365e-04 9.99996931e-01 4.62629247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.975336195 meters 0.04948147584124881 Centerline is valid? [True, True] Translation: X:83.96, Y:2.67, Z:0.46 [[ 9.99927955e-01 1.17606882e-02 -2.40237786e-03 8.39607227e+01] [-1.17610364e-02 9.99930828e-01 -1.30855135e-04 2.67029747e+00] [ 2.40067273e-03 1.59100161e-04 9.99997106e-01 4.61850556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.005336195 meters 0.048240163644046985 Centerline is valid? [True, True] Translation: X:83.99, Y:2.67, Z:0.46 [[ 9.99940222e-01 1.08342058e-02 -1.47421164e-03 8.39898884e+01] [-1.08343357e-02 9.99941304e-01 -8.02069056e-05 2.66713952e+00] [ 1.47325613e-03 9.61742148e-05 9.99998910e-01 4.63980105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.035336195 meters 0.048871473559586875 Centerline is valid? [True, True] Translation: X:84.02, Y:2.67, Z:0.47 [[ 9.99942935e-01 1.06641462e-02 -6.34216655e-04 8.40176955e+01] [-1.06641706e-02 9.99943136e-01 -3.50408694e-05 2.66907207e+00] [ 6.33806909e-04 4.18022644e-05 9.99999798e-01 4.67230178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.065336195 meters 0.051218116980933266 Centerline is valid? [True, True] Translation: X:84.05, Y:2.67, Z:0.47 [[ 9.99919578e-01 1.26767761e-02 -3.68735306e-04 8.40472356e+01] [-1.26767844e-02 9.99919646e-01 -2.01417352e-05 2.67229201e+00] [ 3.68450344e-04 2.48144933e-05 9.99999932e-01 4.69953761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.095336195 meters 0.05088416339985251 Centerline is valid? [True, True] Translation: X:84.08, Y:2.67, Z:0.47 [[ 9.99889356e-01 1.48288205e-02 -1.17564454e-03 8.40770444e+01] [-1.48289061e-02 9.99890044e-01 -6.41713808e-05 2.67155164e+00] [ 1.17456368e-03 8.15978031e-05 9.99999307e-01 4.67131455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12533619499999 meters 0.052374995555774746 Centerline is valid? [True, True] Translation: X:84.11, Y:2.67, Z:0.46 [[ 9.99861181e-01 1.65466227e-02 -1.95630373e-03 8.41076350e+01] [-1.65468630e-02 9.99863086e-01 -1.06683330e-04 2.67357284e+00] [ 1.95427064e-03 1.39039210e-04 9.99998081e-01 4.63943405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15533619499999 meters 0.046303872731884785 Centerline is valid? [True, True] Translation: X:84.14, Y:2.66, Z:0.46 [[ 9.99818038e-01 1.90051672e-02 -1.64125654e-03 8.41384898e+01] [-1.90053397e-02 9.99819378e-01 -8.95767438e-05 2.66369274e+00] [ 1.63925768e-03 1.20753082e-04 9.99998649e-01 4.61558375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18533619499999 meters 0.057374119686178414 Centerline is valid? [True, True] Translation: X:84.17, Y:2.68, Z:0.46 [[ 9.99782761e-01 2.08356646e-02 -5.52377369e-04 8.41667045e+01] [-2.08356844e-02 9.99782913e-01 -3.01744544e-05 2.67829030e+00] [ 5.51628750e-04 4.16770599e-05 9.99999847e-01 4.60010351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21533619499999 meters 0.06161435423699916 Centerline is valid? [True, True] Translation: X:84.20, Y:2.68, Z:0.46 [[ 9.99667651e-01 2.57628853e-02 9.28111138e-04 8.41961052e+01] [-2.57629434e-02 9.99668079e-01 5.06286625e-05 2.68370882e+00] [-9.26498738e-04 -7.45227108e-05 9.99999568e-01 4.61946242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.245336195 meters 0.052894033099127664 Centerline is valid? [True, True] Translation: X:84.23, Y:2.67, Z:0.46 [[ 9.99595464e-01 2.84344251e-02 6.26401842e-04 8.42274643e+01] [-2.84344521e-02 9.99595659e-01 3.41905453e-05 2.67410674e+00] [-6.25176373e-04 -5.19881071e-05 9.99999803e-01 4.64298364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.275336195 meters 0.058789939621261375 Centerline is valid? [True, True] Translation: X:84.26, Y:2.69, Z:0.47 [[ 9.99466647e-01 3.26538905e-02 -3.79997013e-04 8.42565195e+01] [-3.26539007e-02 9.99466719e-01 -2.07633888e-05 2.68509662e+00] [ 3.79116362e-04 3.31606993e-05 9.99999928e-01 4.67558360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.305336195 meters 0.06853442236286397 Centerline is valid? [True, True] Translation: X:84.28, Y:2.70, Z:0.47 [[ 9.99427383e-01 3.38150850e-02 -1.20253405e-03 8.42840284e+01] [-3.38151885e-02 9.99428101e-01 -6.58285934e-05 2.69995068e+00] [ 1.19962032e-03 1.06454814e-04 9.99999275e-01 4.67373534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.335336195 meters 0.0628337654834207 Centerline is valid? [True, True] Translation: X:84.31, Y:2.69, Z:0.47 [[ 9.99391075e-01 3.48377683e-02 -1.95176530e-03 8.43136550e+01] [-3.48380428e-02 9.99392965e-01 -1.06817121e-04 2.69318634e+00] [ 1.94685924e-03 1.74747761e-04 9.99998090e-01 4.66152695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.365336195 meters 0.0594455981270428 Centerline is valid? [True, True] Translation: X:84.34, Y:2.69, Z:0.46 [[ 9.99343581e-01 3.61976260e-02 -1.46284705e-03 8.43442567e+01] [-3.61977817e-02 9.99344642e-01 -8.00445655e-05 2.68639718e+00] [ 1.45899094e-03 1.32943841e-04 9.99998927e-01 4.62980602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.395336195 meters 0.06083731491224837 Centerline is valid? [True, True] Translation: X:84.37, Y:2.69, Z:0.46 [[ 9.99339450e-01 3.63325123e-02 -7.81847363e-04 8.43714018e+01] [-3.63325570e-02 9.99339754e-01 -4.29889195e-05 2.68883576e+00] [ 7.79769256e-04 7.13670371e-05 9.99999693e-01 4.63538485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.425336195 meters 0.062047724525231926 Centerline is valid? [True, True] Translation: X:84.40, Y:2.69, Z:0.47 [[ 9.99324740e-01 3.67407726e-02 4.23403796e-04 8.43990815e+01] [-3.67407857e-02 9.99324829e-01 2.30813458e-05 2.69286564e+00] [-4.22269900e-04 -3.86219480e-05 9.99999910e-01 4.68695968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.455336195 meters 0.058022259254679964 Centerline is valid? [True, True] Translation: X:84.43, Y:2.69, Z:0.47 [[ 9.99311093e-01 3.70813772e-02 1.51992627e-03 8.44275488e+01] [-3.70815463e-02 9.99312239e-01 8.32254755e-05 2.68960128e+00] [-1.51579481e-03 -1.39529357e-04 9.99998841e-01 4.70653345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48533619499999 meters 0.060588641734200796 Centerline is valid? [True, True] Translation: X:84.45, Y:2.69, Z:0.47 [[ 9.99299949e-01 3.73522018e-02 2.10332512e-03 8.44547185e+01] [-3.73525274e-02 9.99302144e-01 1.15698257e-04 2.69374049e+00] [-2.09753572e-03 -1.94181771e-04 9.99997781e-01 4.69991476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51533619499999 meters 0.061767460022633724 Centerline is valid? [True, True] Translation: X:84.48, Y:2.69, Z:0.46 [[ 9.99285393e-01 3.77954018e-02 4.58701210e-04 8.44826482e+01] [-3.77954173e-02 9.99285498e-01 2.51552909e-05 2.69164514e+00] [-4.57422713e-04 -4.24741184e-05 9.99999894e-01 4.62256996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54533619499999 meters 0.06221184219093112 Centerline is valid? [True, True] Translation: X:84.51, Y:2.69, Z:0.46 [[ 9.99225519e-01 3.93228977e-02 -1.43915941e-03 8.45132695e+01] [-3.93230524e-02 9.99226547e-01 -7.93445418e-05 2.69271102e+00] [ 1.43492623e-03 1.35875232e-04 9.99998961e-01 4.62289286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57533619499999 meters 0.06236753875677171 Centerline is valid? [True, True] Translation: X:84.54, Y:2.70, Z:0.47 [[ 9.99217185e-01 3.95177322e-02 -1.83444273e-03 8.45417948e+01] [-3.95179851e-02 9.99218854e-01 -1.01821495e-04 2.69564455e+00] [ 1.82898601e-03 1.74235268e-04 9.99998312e-01 4.65397698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60533619499999 meters 0.06129529272515981 Centerline is valid? [True, True] Translation: X:84.57, Y:2.70, Z:0.47 [[ 9.99237652e-01 3.89845150e-02 -2.07918082e-03 8.45704880e+01] [-3.89848394e-02 9.99239796e-01 -1.15711024e-04 2.69694410e+00] [ 2.07308928e-03 1.96679342e-04 9.99997832e-01 4.68293537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.635336195 meters 0.06323815482481744 Centerline is valid? [True, True] Translation: X:84.60, Y:2.70, Z:0.47 [[ 9.99284674e-01 3.77589602e-02 -2.09805378e-03 8.45994731e+01] [-3.77592873e-02 9.99286857e-01 -1.16486718e-04 2.70005449e+00] [ 2.09215915e-03 1.95624408e-04 9.99997792e-01 4.67217446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.665336195 meters 0.0572672881956247 Centerline is valid? [True, True] Translation: X:84.63, Y:2.69, Z:0.46 [[ 9.99321008e-01 3.68116772e-02 -1.55655798e-03 8.46293891e+01] [-3.68118562e-02 9.99322210e-01 -8.64762355e-05 2.69030944e+00] [ 1.55231963e-03 1.43717307e-04 9.99998785e-01 4.61816028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.695336195 meters 0.054460412440109414 Centerline is valid? [True, True] Translation: X:84.66, Y:2.68, Z:0.46 [[ 9.99386253e-01 3.50140995e-02 1.06266507e-03 8.46598322e+01] [-3.50141818e-02 9.99386814e-01 5.89890510e-05 2.68071333e+00] [-1.05994801e-03 -9.61611946e-05 9.99999434e-01 4.55377883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.725336195 meters 0.053514828167284645 Centerline is valid? [True, True] Translation: X:84.69, Y:2.68, Z:0.46 [[ 9.99413227e-01 3.42212681e-02 1.45111359e-03 8.46886494e+01] [-3.42214208e-02 9.99414272e-01 8.05430881e-05 2.68156789e+00] [-1.44750734e-03 -1.30154996e-04 9.99998944e-01 4.58565079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.755336195 meters 0.053514828167284645 Centerline is valid? [True, True] Translation: X:84.72, Y:2.68, Z:0.46 [[ 9.99419969e-01 3.40238015e-02 1.45111584e-03 8.47158716e+01] [-3.40239539e-02 9.99421014e-01 8.05027981e-05 2.68318564e+00] [-1.44753666e-03 -1.29828803e-04 9.99998944e-01 4.58504574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.785336195 meters 0.05650490205087003 Centerline is valid? [True, True] Translation: X:84.74, Y:2.69, Z:0.46 [[ 9.99449021e-01 3.31745476e-02 1.05025653e-03 8.47433693e+01] [-3.31746273e-02 9.99449569e-01 5.85243139e-05 2.69106641e+00] [-1.04773692e-03 -9.33339372e-05 9.99999447e-01 4.63511968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.815336195 meters 0.05192058956587691 Centerline is valid? [True, True] Translation: X:84.77, Y:2.69, Z:0.47 [[ 9.99461363e-01 3.28127233e-02 5.56801206e-04 8.47720336e+01] [-3.28127456e-02 9.99461516e-01 3.07920523e-05 2.68853858e+00] [-5.55491007e-04 -4.90456428e-05 9.99999845e-01 4.68524088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.845336195 meters 0.058016284887371705 Centerline is valid? [True, True] Translation: X:84.80, Y:2.70, Z:0.47 [[ 9.99446173e-01 3.32544199e-02 1.22073984e-03 8.47991892e+01] [-3.32545280e-02 9.99446913e-01 6.83047936e-05 2.69664931e+00] [-1.21779323e-03 -1.08862092e-04 9.99999253e-01 4.66370969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87533619499999 meters 0.05268909532400209 Centerline is valid? [True, True] Translation: X:84.83, Y:2.69, Z:0.46 [[ 9.99414966e-01 3.41984263e-02 -4.39276741e-04 8.48292287e+01] [-3.41984405e-02 9.99415062e-01 -2.46964300e-05 2.68755920e+00] [ 4.38175212e-04 3.97045612e-05 9.99999903e-01 4.59495531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90533619499999 meters 0.05126039439776725 Centerline is valid? [True, True] Translation: X:84.86, Y:2.69, Z:0.46 [[ 9.99430640e-01 3.37223297e-02 -1.09557867e-03 8.48581043e+01] [-3.37224178e-02 9.99431236e-01 -6.20464609e-05 2.68628012e+00] [ 1.09286320e-03 9.89566959e-05 9.99999398e-01 4.57972062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93533619499999 meters 0.05693611208505688 Centerline is valid? [True, True] Translation: X:84.89, Y:2.70, Z:0.46 [[ 9.99461440e-01 3.27247956e-02 -2.43272734e-03 8.48859687e+01] [-3.27252255e-02 9.99464377e-01 -1.37130576e-04 2.69556625e+00] [ 2.42693675e-03 2.16668274e-04 9.99997032e-01 4.58400915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96533619499999 meters 0.05445093634322279 Centerline is valid? [True, True] Translation: X:84.91, Y:2.69, Z:0.46 [[ 9.99468941e-01 3.24899745e-02 -2.49731111e-03 8.49133986e+01] [-3.24904289e-02 9.99472037e-01 -1.41587166e-04 2.69455797e+00] [ 2.49139246e-03 2.22650684e-04 9.99996872e-01 4.59553382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.995336195 meters 0.05884037251959122 Centerline is valid? [True, True] Translation: X:84.94, Y:2.70, Z:0.46 [[ 9.99471235e-01 3.23893353e-02 -2.86025217e-03 8.49401188e+01] [-3.23899320e-02 9.99475295e-01 -1.62538120e-04 2.70181179e+00] [ 2.85348688e-03 2.55095548e-04 9.99995896e-01 4.58936635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.025336195 meters 0.05222770147668828 Centerline is valid? [True, True] Translation: X:84.97, Y:2.69, Z:0.46 [[ 9.99470513e-01 3.22895541e-02 -4.00982666e-03 8.49695488e+01] [-3.22907283e-02 9.99478492e-01 -2.28436650e-04 2.69237768e+00] [ 4.00035938e-03 3.57795919e-04 9.99991935e-01 4.56219823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.055336195 meters 0.04913835982372182 Centerline is valid? [True, True] Translation: X:85.00, Y:2.69, Z:0.46 [[ 9.99485116e-01 3.19195714e-02 -3.26236515e-03 8.49978733e+01] [-3.19203489e-02 9.99490398e-01 -1.86519110e-04 2.68964734e+00] [ 3.25474904e-03 2.90558908e-04 9.99994661e-01 4.57826808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.085336195 meters 0.05821716237084687 Centerline is valid? [True, True] Translation: X:85.03, Y:2.71, Z:0.47 [[ 9.99576398e-01 2.90970813e-02 6.20716911e-04 8.50262109e+01] [-2.90971088e-02 9.99576589e-01 3.53819542e-05 2.70639656e+00] [-6.19424581e-04 -5.34280338e-05 9.99999807e-01 4.65214044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.115336195 meters 0.052188303318541726 Centerline is valid? [True, True] Translation: X:85.06, Y:2.70, Z:0.47 [[ 9.99633091e-01 2.69789341e-02 2.41277288e-03 8.50566655e+01] [-2.69793445e-02 9.99635982e-01 1.37699522e-04 2.70075349e+00] [-2.40817960e-03 -2.02744029e-04 9.99997080e-01 4.67999437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.145336195 meters 0.04989967744137335 Centerline is valid? [True, True] Translation: X:85.09, Y:2.70, Z:0.47 [[ 9.99737497e-01 2.23932646e-02 4.84544317e-03 8.50871807e+01] [-2.23948664e-02 9.99749165e-01 2.76581527e-04 2.69727992e+00] [-4.83803420e-03 -3.85021976e-04 9.99988223e-01 4.66131101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.175336195 meters 0.04831440570316486 Centerline is valid? [True, True] Translation: X:85.12, Y:2.70, Z:0.46 [[ 9.99787524e-01 2.00490614e-02 4.78968636e-03 8.51180456e+01] [-2.00506002e-02 9.99798929e-01 2.73466170e-04 2.69574639e+00] [-4.78324055e-03 -3.69444151e-04 9.99988492e-01 4.63204223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.205336195 meters 0.048432146888222616 Centerline is valid? [True, True] Translation: X:85.15, Y:2.70, Z:0.46 [[ 9.99869339e-01 1.61513108e-02 6.63101602e-04 8.51469776e+01] [-1.61513394e-02 9.99869558e-01 3.78326607e-05 2.69740120e+00] [-6.62404059e-04 -4.85376965e-05 9.99999779e-01 4.57629659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23533619499999 meters 0.04499346456911859 Centerline is valid? [True, True] Translation: X:85.18, Y:2.70, Z:0.46 [[ 9.99909272e-01 1.31510881e-02 -2.91493556e-03 8.51777758e+01] [-1.31516292e-02 9.99913500e-01 -1.66536894e-04 2.69727118e+00] [ 2.91249327e-03 2.04857936e-04 9.99995738e-01 4.58380414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26533619499999 meters 0.05132677868919343 Centerline is valid? [True, True] Translation: X:85.20, Y:2.71, Z:0.46 [[ 9.99904854e-01 1.33054901e-02 -3.63973952e-03 8.52044369e+01] [-1.33063361e-02 9.99911445e-01 -2.08311149e-04 2.71246099e+00] [ 3.63664552e-03 2.56722926e-04 9.99993354e-01 4.64250437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29533619499999 meters 0.045327461928879396 Centerline is valid? [True, True] Translation: X:85.24, Y:2.71, Z:0.46 [[ 9.99860361e-01 1.49433210e-02 -7.48034274e-03 8.52350341e+01] [-1.49469378e-02 9.99888197e-01 -4.27827751e-04 2.71139317e+00] [ 7.47311325e-03 5.39576228e-04 9.99971930e-01 4.64439131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32533619499999 meters 0.05416488851738702 Centerline is valid? [True, True] Translation: X:85.26, Y:2.73, Z:0.45 [[ 9.99787802e-01 1.93343144e-02 -7.10882853e-03 8.52632477e+01] [-1.93376913e-02 9.99812927e-01 -4.06592996e-04 2.72795036e+00] [ 7.09963746e-03 5.43975050e-04 9.99974649e-01 4.49779884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35533619499999 meters 0.05042797938991275 Centerline is valid? [True, True] Translation: X:85.29, Y:2.73, Z:0.45 [[ 9.99758757e-01 2.07112626e-02 -7.31247102e-03 8.52925690e+01] [-2.07148750e-02 9.99785336e-01 -4.18603758e-04 2.72835125e+00] [ 7.30223148e-03 5.69979695e-04 9.99973176e-01 4.51619690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.385336195 meters 0.05701238550913506 Centerline is valid? [True, True] Translation: X:85.32, Y:2.74, Z:0.45 [[ 9.99731677e-01 2.19797470e-02 -7.31191812e-03 8.53200956e+01] [-2.19833955e-02 9.99758248e-01 -4.18974454e-04 2.74024712e+00] [ 7.30094150e-03 5.79602821e-04 9.99973180e-01 4.49773152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.415336195 meters 0.055413414932822466 Centerline is valid? [True, True] Translation: X:85.35, Y:2.74, Z:0.45 [[ 9.99705411e-01 2.32155954e-02 -7.08001778e-03 8.53494938e+01] [-2.32190487e-02 9.99730319e-01 -4.05926308e-04 2.74016554e+00] [ 7.06868461e-03 5.70198004e-04 9.99974854e-01 4.48895217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.445336195 meters 0.055413414932822466 Centerline is valid? [True, True] Translation: X:85.38, Y:2.74, Z:0.45 [[ 9.99710032e-01 2.30158047e-02 -7.07991594e-03 8.53766837e+01] [-2.30192655e-02 9.99734938e-01 -4.07699773e-04 2.74184854e+00] [ 7.06865578e-03 5.70556017e-04 9.99974854e-01 4.48834817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.475336195 meters 0.05421609762994555 Centerline is valid? [True, True] Translation: X:85.41, Y:2.74, Z:0.45 [[ 9.99679248e-01 2.43699284e-02 -6.89259634e-03 8.54057241e+01] [-2.43732398e-02 9.99702850e-01 -3.96829250e-04 2.74248349e+00] [ 6.88087750e-03 5.64696869e-04 9.99976167e-01 4.48973337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.505336195 meters 0.055354623803142454 Centerline is valid? [True, True] Translation: X:85.43, Y:2.75, Z:0.45 [[ 9.99655685e-01 2.54452851e-02 -6.40690990e-03 8.54337534e+01] [-2.54481710e-02 9.99676075e-01 -3.69299415e-04 2.74666697e+00] [ 6.39543761e-03 5.32216399e-04 9.99979407e-01 4.50337819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.535336195 meters 0.06051145158259043 Centerline is valid? [True, True] Translation: X:85.46, Y:2.76, Z:0.45 [[ 9.99638124e-01 2.62559881e-02 -5.85179657e-03 8.54619788e+01] [-2.62584104e-02 9.99655132e-01 -3.37487126e-04 2.75641057e+00] [ 5.84091741e-03 4.91023873e-04 9.99982821e-01 4.52108002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.565336195 meters 0.056162736664063816 Centerline is valid? [True, True] Translation: X:85.49, Y:2.75, Z:0.45 [[ 9.99637379e-01 2.63778757e-02 -5.41469973e-03 8.54911315e+01] [-2.63799582e-02 9.99651939e-01 -3.13537970e-04 2.75376296e+00] [ 5.40454462e-03 4.56263827e-04 9.99985291e-01 4.54635732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.595336195 meters 0.05671553829244248 Centerline is valid? [True, True] Translation: X:85.52, Y:2.76, Z:0.46 [[ 9.99617911e-01 2.76260073e-02 9.14056655e-04 8.55208426e+01] [-2.76260671e-02 9.99618326e-01 5.28309145e-05 2.75731947e+00] [-9.12248277e-04 -7.80625189e-05 9.99999581e-01 4.60794406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62533619499999 meters 0.06678791802322975 Centerline is valid? [True, True] Translation: X:85.55, Y:2.76, Z:0.47 [[ 9.98499518e-01 5.46533434e-02 3.42426674e-03 8.55503468e+01] [-5.46543402e-02 9.98505315e-01 1.98134911e-04 2.75631095e+00] [-3.40831980e-03 -3.84988653e-04 9.99994118e-01 4.70071306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65533619499999 meters 0.05417270588668476 Centerline is valid? [True, True] Translation: X:85.58, Y:2.72, Z:0.47 [[ 9.98783692e-01 4.92898295e-02 -1.28401622e-03 8.55821520e+01] [-4.92899653e-02 9.98784508e-01 -7.43507358e-05 2.72398004e+00] [ 1.27879078e-03 1.37549418e-04 9.99999173e-01 4.69760574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68533619499999 meters 0.06256077419684775 Centerline is valid? [True, True] Translation: X:85.61, Y:2.74, Z:0.47 [[ 9.98851272e-01 4.79026345e-02 -1.21376856e-03 8.56107194e+01] [-4.79027549e-02 9.98852002e-01 -7.03412527e-05 2.73512286e+00] [ 1.20900563e-03 1.28403308e-04 9.99999261e-01 4.71461525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71533619499999 meters 0.06294526949699812 Centerline is valid? [True, True] Translation: X:85.64, Y:2.73, Z:0.47 [[ 9.98915144e-01 4.65602516e-02 -8.23140936e-04 8.56410693e+01] [-4.65603065e-02 9.98915480e-01 -4.77022115e-05 2.73497161e+00] [ 8.20027195e-04 8.59761558e-05 9.99999660e-01 4.72202402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.745336195 meters 0.06199884109569193 Centerline is valid? [True, True] Translation: X:85.67, Y:2.73, Z:0.47 [[ 9.98954148e-01 4.57215119e-02 -3.92456458e-04 8.56712745e+01] [-4.57215243e-02 9.98954224e-01 -2.27621778e-05 2.73190928e+00] [ 3.91005315e-04 4.06820793e-05 9.99999923e-01 4.70928468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.775336195 meters 0.05286201357450535 Centerline is valid? [True, True] Translation: X:85.70, Y:2.72, Z:0.47 [[ 9.98994474e-01 4.48329255e-02 -2.22971026e-04 8.57018774e+01] [-4.48329295e-02 9.98994499e-01 -1.29783875e-05 2.71602477e+00] [ 2.22164969e-04 2.29617817e-05 9.99999975e-01 4.66234818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.805336195 meters 0.053796450001003374 Centerline is valid? [True, True] Translation: X:85.73, Y:2.71, Z:0.46 [[ 9.99023230e-01 4.41858893e-02 -4.39853128e-04 8.57295534e+01] [-4.41859049e-02 9.99023326e-01 -2.56584225e-05 2.71217150e+00] [ 4.38289795e-04 4.50686686e-05 9.99999903e-01 4.59330782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.835336195 meters 0.06044284976937362 Centerline is valid? [True, True] Translation: X:85.76, Y:2.72, Z:0.45 [[ 9.99044514e-01 4.36886167e-02 -1.16823497e-03 8.57566557e+01] [-4.36887259e-02 9.99045189e-01 -6.80894411e-05 2.71647368e+00] [ 1.16414479e-03 1.19063080e-04 9.99999315e-01 4.53506405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.865336195 meters 0.06044284976937362 Centerline is valid? [True, True] Translation: X:85.78, Y:2.72, Z:0.45 [[ 9.99052950e-01 4.34952692e-02 -1.16820865e-03 8.57839176e+01] [-4.34953788e-02 9.99053626e-01 -6.85412594e-05 2.71816357e+00] [ 1.16412187e-03 1.19288025e-04 9.99999315e-01 4.53445658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.895336195 meters 0.06044284976937362 Centerline is valid? [True, True] Translation: X:85.81, Y:2.72, Z:0.45 [[ 9.99061349e-01 4.33019196e-02 -1.16819541e-03 8.58111791e+01] [-4.33020293e-02 9.99062025e-01 -6.87673463e-05 2.71985859e+00] [ 1.16412191e-03 1.19288029e-04 9.99999315e-01 4.53384545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.925336195 meters 0.054450165616954455 Centerline is valid? [True, True] Translation: X:85.84, Y:2.71, Z:0.45 [[ 9.99076944e-01 4.29050089e-02 -2.10253674e-03 8.58408140e+01] [-4.29053634e-02 9.99079133e-01 -1.23751256e-04 2.70928699e+00] [ 2.09529103e-03 2.13847129e-04 9.99997782e-01 4.52929784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.955336195 meters 0.054450165616954455 Centerline is valid? [True, True] Translation: X:85.87, Y:2.71, Z:0.45 [[ 9.99085478e-01 4.27058320e-02 -2.10250883e-03 8.58680680e+01] [-4.27061870e-02 9.99087667e-01 -1.24225465e-04 2.71098091e+00] [ 2.09528549e-03 2.13901993e-04 9.99997782e-01 4.52868761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98533619499999 meters 0.056360041455976076 Centerline is valid? [True, True] Translation: X:85.90, Y:2.71, Z:0.46 [[ 9.99112558e-01 4.20621720e-02 -2.20699630e-03 8.58955010e+01] [-4.20625612e-02 9.99114970e-01 -1.30209389e-04 2.71418284e+00] [ 2.19956615e-03 2.22925753e-04 9.99997556e-01 4.58267731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01533619499999 meters 0.056360041455976076 Centerline is valid? [True, True] Translation: X:85.92, Y:2.72, Z:0.46 [[ 9.99120843e-01 4.18649163e-02 -2.20695289e-03 8.59227557e+01] [-4.18653066e-02 9.99123255e-01 -1.30944494e-04 2.71588821e+00] [ 2.19953597e-03 2.23224133e-04 9.99997556e-01 4.58207104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04533619499999 meters 0.056360041455976076 Centerline is valid? [True, True] Translation: X:85.95, Y:2.72, Z:0.46 [[ 9.99129089e-01 4.16676583e-02 -2.20692704e-03 8.59500101e+01] [-4.16680491e-02 9.99131501e-01 -1.31380213e-04 2.71759877e+00] [ 2.19953602e-03 2.23224137e-04 9.99997556e-01 4.58145995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07533619499999 meters 0.056573210972514755 Centerline is valid? [True, True] Translation: X:85.98, Y:2.72, Z:0.47 [[ 9.99155966e-01 4.10597637e-02 -1.20478984e-03 8.59784910e+01] [-4.10598801e-02 9.99156685e-01 -7.20727989e-05 2.71947703e+00] [ 1.20081453e-03 1.21480494e-04 9.99999272e-01 4.66069148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10533619499999 meters 0.056573210972514755 Centerline is valid? [True, True] Translation: X:86.01, Y:2.72, Z:0.47 [[ 9.99164025e-01 4.08631912e-02 -1.20477243e-03 8.60057442e+01] [-4.08633078e-02 9.99164744e-01 -7.23642086e-05 2.72119853e+00] [ 1.20080911e-03 1.21534701e-04 9.99999272e-01 4.66008131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.135336195 meters 0.056573210972514755 Centerline is valid? [True, True] Translation: X:86.03, Y:2.72, Z:0.47 [[ 9.99172045e-01 4.06666169e-02 -1.20475822e-03 8.60329970e+01] [-4.06667337e-02 9.99172764e-01 -7.26012340e-05 2.72292535e+00] [ 1.20080915e-03 1.21534705e-04 9.99999272e-01 4.65947026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.165336195 meters 0.05283809233842651 Centerline is valid? [True, True] Translation: X:86.06, Y:2.72, Z:0.47 [[ 9.99212712e-01 3.96633497e-02 8.80371581e-04 8.60632958e+01] [-3.96634113e-02 9.99213096e-01 5.26901824e-05 2.71836962e+00] [-8.77588944e-04 -8.75672402e-05 9.99999611e-01 4.72204488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.195336195 meters 0.05283809233842651 Centerline is valid? [True, True] Translation: X:86.09, Y:2.72, Z:0.47 [[ 9.99220618e-01 3.94636620e-02 8.80383117e-04 8.60905423e+01] [-3.94637234e-02 9.99221002e-01 5.24981498e-05 2.72009687e+00] [-8.77625532e-04 -8.72004296e-05 9.99999611e-01 4.72143977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.225336195 meters 0.056251075302405966 Centerline is valid? [True, True] Translation: X:86.12, Y:2.72, Z:0.47 [[ 9.99263865e-01 3.82583452e-02 2.83306657e-03 8.61193084e+01] [-3.82589806e-02 9.99267843e-01 1.70379408e-04 2.72135856e+00] [-2.82447389e-03 -2.78644224e-04 9.99995972e-01 4.72533881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.255336195 meters 0.056251075302405966 Centerline is valid? [True, True] Translation: X:86.15, Y:2.72, Z:0.47 [[ 9.99271342e-01 3.80625699e-02 2.83305590e-03 8.61465571e+01] [-3.80632050e-02 9.99275319e-01 1.70556611e-04 2.72309956e+00] [-2.82451102e-03 -2.78267521e-04 9.99995972e-01 4.72473393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.285336195 meters 0.055733307277660515 Centerline is valid? [True, True] Translation: X:86.18, Y:2.72, Z:0.47 [[ 9.99348352e-01 3.59299540e-02 3.45105397e-03 8.61776522e+01] [-3.59308856e-02 9.99354256e-01 2.08320257e-04 2.71620772e+00] [-3.44134054e-03 -3.32183931e-04 9.99994023e-01 4.67935588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.315336195 meters 0.055733307277660515 Centerline is valid? [True, True] Translation: X:86.20, Y:2.72, Z:0.47 [[ 9.99355354e-01 3.57346763e-02 3.45103610e-03 8.62048974e+01] [-3.57356078e-02 9.99361257e-01 2.08615909e-04 2.71795533e+00] [-3.44137695e-03 -3.31806298e-04 9.99994023e-01 4.67875111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.345336195 meters 0.05548413764328402 Centerline is valid? [True, True] Translation: X:86.24, Y:2.71, Z:0.46 [[ 9.99434722e-01 3.34335049e-02 3.52661333e-03 8.62353788e+01] [-3.34344650e-02 9.99440889e-01 2.13644939e-04 2.71146552e+00] [-3.51749867e-03 -3.31434600e-04 9.99993759e-01 4.63801082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37533619499999 meters 0.05548413764328402 Centerline is valid? [True, True] Translation: X:86.26, Y:2.71, Z:0.46 [[ 9.99441208e-01 3.32390692e-02 3.52659596e-03 8.62626203e+01] [-3.32400292e-02 9.99447375e-01 2.13931213e-04 2.71321991e+00] [-3.51753620e-03 -3.31035822e-04 9.99993759e-01 4.63740649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40533619499999 meters 0.05548413764328402 Centerline is valid? [True, True] Translation: X:86.29, Y:2.71, Z:0.46 [[ 9.99447655e-01 3.30446314e-02 3.52655423e-03 8.62898614e+01] [-3.30455926e-02 9.99453822e-01 2.14617287e-04 2.71497935e+00] [-3.51753616e-03 -3.31035818e-04 9.99993759e-01 4.63679584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43533619499999 meters 0.0580679671128351 Centerline is valid? [True, True] Translation: X:86.32, Y:2.71, Z:0.46 [[ 9.99509818e-01 3.10532780e-02 3.97713651e-03 8.63191876e+01] [-3.10544869e-02 9.99517664e-01 2.42558085e-04 2.71398411e+00] [-3.96768597e-03 -3.65947121e-04 9.99992062e-01 4.63490237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46533619499999 meters 0.05723928952514968 Centerline is valid? [True, True] Translation: X:86.35, Y:2.71, Z:0.47 [[ 9.99555762e-01 2.93863437e-02 4.97209541e-03 8.63494680e+01] [-2.93882131e-02 9.99568027e-01 3.03323286e-04 2.71119960e+00] [-4.96103404e-03 -4.49309538e-04 9.99987593e-01 4.66993413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.495336195 meters 0.05723928952514968 Centerline is valid? [True, True] Translation: X:86.38, Y:2.71, Z:0.47 [[ 9.99561370e-01 2.91949852e-02 4.97206149e-03 8.63767056e+01] [-2.91968550e-02 9.99573635e-01 3.03878437e-04 2.71297243e+00] [-4.96106985e-03 -4.48913705e-04 9.99987593e-01 4.66932992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.525336195 meters 0.05723928952514968 Centerline is valid? [True, True] Translation: X:86.40, Y:2.71, Z:0.47 [[ 9.99566941e-01 2.90036249e-02 4.97200318e-03 8.64039429e+01] [-2.90054970e-02 9.99579206e-01 3.04830288e-04 2.71475023e+00] [-4.96106981e-03 -4.48913702e-04 9.99987593e-01 4.66871947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.555336195 meters 0.048600876100851904 Centerline is valid? [True, True] Translation: X:86.43, Y:2.70, Z:0.47 [[ 9.99619950e-01 2.71507666e-02 4.77399101e-03 8.64348916e+01] [-2.71524737e-02 9.99631261e-01 2.93119459e-04 2.70229879e+00] [-4.76427223e-03 -4.22633724e-04 9.99988561e-01 4.71296952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.585336195 meters 0.05559916196254209 Centerline is valid? [True, True] Translation: X:86.46, Y:2.71, Z:0.47 [[ 9.99681699e-01 2.50238687e-02 3.21029123e-03 8.64636844e+01] [-2.50246298e-02 9.99686815e-01 1.97139962e-04 2.70960982e+00] [-3.20435261e-03 -2.77413562e-04 9.99994828e-01 4.72243772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.615336195 meters 0.0446553149977978 Centerline is valid? [True, True] Translation: X:86.50, Y:2.68, Z:0.46 [[ 9.99780904e-01 2.08338844e-02 -2.02293902e-03 8.64953115e+01] [-2.08341783e-02 9.99782937e-01 -1.24309404e-04 2.68179688e+00] [ 2.01991007e-03 1.66428440e-04 9.99997946e-01 4.60242724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.645336195 meters 0.0446553149977978 Centerline is valid? [True, True] Translation: X:86.52, Y:2.68, Z:0.46 [[ 9.99785115e-01 2.06308610e-02 -2.02288801e-03 8.65225198e+01] [-2.06311561e-02 9.99787147e-01 -1.25138183e-04 2.68355984e+00] [ 2.01987573e-03 1.66845811e-04 9.99997946e-01 4.60182363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.675336195 meters 0.04788421554059033 Centerline is valid? [True, True] Translation: X:86.55, Y:2.67, Z:0.45 [[ 9.99849107e-01 1.73128458e-02 -1.42412922e-03 8.65526287e+01] [-1.73129884e-02 9.99850115e-01 -8.78540034e-05 2.67335615e+00] [ 1.42239477e-03 1.12496680e-04 9.99998982e-01 4.52586609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.705336195 meters 0.052858534755019025 Centerline is valid? [True, True] Translation: X:86.58, Y:2.68, Z:0.45 [[ 9.99877660e-01 1.56367995e-02 3.93474255e-04 8.65812480e+01] [-1.56368102e-02 9.99877737e-01 2.42165379e-05 2.67573514e+00] [-3.93047479e-04 -3.03662575e-05 9.99999922e-01 4.54660045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73533619499999 meters 0.04552775371201666 Centerline is valid? [True, True] Translation: X:86.61, Y:2.66, Z:0.46 [[ 9.99895083e-01 1.44230781e-02 1.34067045e-03 8.66116442e+01] [-1.44232018e-02 9.99895977e-01 8.26753467e-05 2.66270542e+00] [-1.33933856e-03 -1.02003433e-04 9.99999098e-01 4.58351445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76533619499999 meters 0.042128567374099236 Centerline is valid? [True, True] Translation: X:86.64, Y:2.66, Z:0.46 [[ 9.99912156e-01 1.32332769e-02 7.48812580e-04 8.66412764e+01] [-1.32333150e-02 9.99912435e-01 4.59676493e-05 2.65616101e+00] [-7.48138708e-04 -5.58728841e-05 9.99999719e-01 4.62418691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79533619499999 meters 0.04599968086851753 Centerline is valid? [True, True] Translation: X:86.67, Y:2.66, Z:0.47 [[ 9.99925346e-01 1.22189622e-02 -6.36919510e-06 8.66688002e+01] [-1.22189622e-02 9.99925346e-01 -5.33231591e-07 2.65643927e+00] [ 6.36220392e-06 6.11016739e-07 1.00000000e+00 4.68298218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82533619499999 meters 0.043230094576391494 Centerline is valid? [True, True] Translation: X:86.70, Y:2.64, Z:0.46 [[ 9.99930191e-01 1.13788041e-02 3.18375452e-03 8.66982837e+01] [-1.13794898e-02 9.99935232e-01 1.97357816e-04 2.64111642e+00] [-3.18130262e-03 -2.33573541e-04 9.99994912e-01 4.64956164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85533619499999 meters 0.0442481658277638 Centerline is valid? [True, True] Translation: X:86.73, Y:2.64, Z:0.46 [[ 9.99933570e-01 1.07062903e-02 4.26983100e-03 8.67269940e+01] [-1.07075202e-02 9.99942638e-01 2.65303189e-04 2.63573608e+00] [-4.26674566e-03 -3.11004867e-04 9.99990849e-01 4.60528414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.885336195 meters 0.04473952213406004 Centerline is valid? [True, True] Translation: X:86.76, Y:2.63, Z:0.46 [[ 9.99939558e-01 1.02466914e-02 3.98570484e-03 8.67564318e+01] [-1.02477605e-02 9.99947460e-01 2.47914683e-04 2.63144279e+00] [-3.98295512e-03 -2.88744247e-04 9.99992026e-01 4.57620165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.915336195 meters 0.04278319030355839 Centerline is valid? [True, True] Translation: X:86.79, Y:2.62, Z:0.46 [[ 9.99934504e-01 1.11912904e-02 2.39631562e-03 8.67867515e+01] [-1.11916798e-02 9.99937360e-01 1.49179658e-04 2.62424324e+00] [-2.39449600e-03 -1.75988684e-04 9.99997118e-01 4.60125929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.945336195 meters 0.053540615253224295 Centerline is valid? [True, True] Translation: X:86.81, Y:2.64, Z:0.46 [[ 9.99930439e-01 1.13438986e-02 3.22991042e-03 8.68139725e+01] [-1.13446074e-02 9.99935628e-01 2.01212303e-04 2.63900535e+00] [-3.22741997e-03 -2.37840372e-04 9.99994764e-01 4.64931631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.975336195 meters 0.04926212668434209 Centerline is valid? [True, True] Translation: X:86.84, Y:2.63, Z:0.46 [[ 9.99920943e-01 1.18391006e-02 4.23591024e-03 8.68435588e+01] [-1.18403253e-02 9.99929866e-01 2.64160329e-04 2.62746236e+00] [-4.23248574e-03 -3.14294001e-04 9.99990994e-01 4.63922271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.005336195 meters 0.047207483343578986 Centerline is valid? [True, True] Translation: X:86.87, Y:2.62, Z:0.46 [[ 9.99920352e-01 1.21504741e-02 3.41406563e-03 8.68729276e+01] [-1.21512720e-02 9.99926148e-01 2.13052662e-04 2.62036993e+00] [-3.41122481e-03 -2.54520933e-04 9.99994149e-01 4.58502579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.035336195 meters 0.04347898345947883 Centerline is valid? [True, True] Translation: X:86.90, Y:2.61, Z:0.45 [[ 9.99920432e-01 1.23644538e-02 2.49994597e-03 8.69025934e+01] [-1.23648825e-02 9.99923540e-01 1.56101118e-04 2.61056996e+00] [-2.49782472e-03 -1.87000235e-04 9.99996863e-01 4.53050139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.065336195 meters 0.04682505758628285 Centerline is valid? [True, True] Translation: X:86.93, Y:2.61, Z:0.45 [[ 9.99921681e-01 1.24121886e-02 1.60283944e-03 8.69300860e+01] [-1.24123650e-02 9.99922959e-01 1.00098628e-04 2.60847931e+00] [-1.60147351e-03 -1.19985816e-04 9.99998710e-01 4.51902582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.095336195 meters 0.04630334969166839 Centerline is valid? [True, True] Translation: X:86.96, Y:2.61, Z:0.45 [[ 9.99921296e-01 1.25396985e-02 3.97152298e-04 8.69584221e+01] [-1.25397093e-02 9.99921374e-01 2.47420395e-05 2.60772849e+00] [-3.96810814e-04 -2.97202666e-05 9.99999921e-01 4.54026703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12533619499999 meters 0.048722472834845834 Centerline is valid? [True, True] Translation: X:86.99, Y:2.61, Z:0.45 [[ 9.99895526e-01 1.37545852e-02 -4.44385745e-03 8.69877511e+01] [-1.37559578e-02 9.99905344e-01 -2.78450791e-04 2.61050544e+00] [ 4.43960684e-03 3.39551216e-04 9.99990087e-01 4.54960939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15533619499999 meters 0.050225333612542035 Centerline is valid? [True, True] Translation: X:87.02, Y:2.61, Z:0.45 [[ 9.99879450e-01 1.44311800e-02 -5.72947440e-03 8.70166939e+01] [-1.44334742e-02 9.99895767e-01 -3.59261681e-04 2.61083971e+00] [ 5.72369263e-03 4.41914593e-04 9.99983522e-01 4.51455462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18533619499999 meters 0.04942072161619582 Centerline is valid? [True, True] Translation: X:87.05, Y:2.61, Z:0.45 [[ 9.99867976e-01 1.49307843e-02 -6.41109394e-03 8.70457024e+01] [-1.49336759e-02 9.99888405e-01 -4.03392388e-04 2.60558938e+00] [ 6.40435553e-03 4.99080329e-04 9.99979367e-01 4.45848185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21533619499999 meters 0.04955354738668003 Centerline is valid? [True, True] Translation: X:87.07, Y:2.59, Z:0.44 [[ 9.99853929e-01 1.46108629e-02 -8.86813300e-03 8.70746169e+01] [-1.46163954e-02 9.99893018e-01 -5.59372043e-04 2.59396764e+00] [ 8.85901137e-03 6.88910473e-04 9.99960521e-01 4.35215224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.245336195 meters 0.04914687686681745 Centerline is valid? [True, True] Translation: X:87.10, Y:2.59, Z:0.44 [[ 9.99850709e-01 1.41410877e-02 -9.92923771e-03 8.71035066e+01] [-1.41480169e-02 9.99899715e-01 -6.27968836e-04 2.59175981e+00] [ 9.91936179e-03 7.68354109e-04 9.99950507e-01 4.35586704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.275336195 meters 0.05056723990554616 Centerline is valid? [True, True] Translation: X:87.13, Y:2.59, Z:0.44 [[ 9.99844824e-01 1.42340817e-02 -1.03787745e-02 8.71314921e+01] [-1.42416615e-02 9.99898367e-01 -6.56771290e-04 2.59433243e+00] [ 1.03683711e-02 8.04480368e-04 9.99945923e-01 4.40097626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.305336195 meters 0.09398823270236592 Centerline is valid? [True, True] Translation: X:87.18, Y:2.29, Z:0.45 [[ 9.99147336e-01 4.08646839e-02 -5.88878897e-03 8.71804455e+01] [-4.08675821e-02 9.99164502e-01 -3.72617117e-04 2.28880673e+00] [ 5.86864202e-03 6.12959966e-04 9.99982592e-01 4.53666725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.335336195 meters 0.09244070370995355 Centerline is valid? [True, True] Translation: X:87.21, Y:2.29, Z:0.46 [[ 9.99306773e-01 3.69669633e-02 -4.40650891e-03 8.72096852e+01] [-3.69685491e-02 9.99316391e-01 -2.78952982e-04 2.28642406e+00] [ 4.39318453e-03 4.41661845e-04 9.99990252e-01 4.60021982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.365336195 meters 0.08793251189257745 Centerline is valid? [True, True] Translation: X:87.24, Y:2.28, Z:0.46 [[ 9.99388221e-01 3.47660031e-02 -3.80891990e-03 8.72399196e+01] [-3.47671722e-02 9.99395410e-01 -2.41141937e-04 2.28070519e+00] [ 3.79823353e-03 3.73419785e-04 9.99992717e-01 4.61549884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.395336195 meters 0.077313319767121 Centerline is valid? [True, True] Translation: X:87.27, Y:2.26, Z:0.46 [[ 9.99493846e-01 3.15965190e-02 -3.70299431e-03 8.72709449e+01] [-3.15976029e-02 9.99500644e-01 -2.34551627e-04 2.26156545e+00] [ 3.69373419e-03 3.51438652e-04 9.99993116e-01 4.61366034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.425336195 meters 0.07892500495892546 Centerline is valid? [True, True] Translation: X:87.30, Y:2.25, Z:0.45 [[ 9.99516051e-01 3.06449882e-02 -5.34306716e-03 8.72997236e+01] [-3.06472330e-02 9.99530206e-01 -3.38750405e-04 2.25415661e+00] [ 5.33017601e-03 5.02336692e-04 9.99985668e-01 4.54297885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.455336195 meters 0.08135228342595931 Centerline is valid? [True, True] Translation: X:87.33, Y:2.25, Z:0.45 [[ 9.99487670e-01 3.14610505e-02 -5.88216900e-03 8.73281637e+01] [-3.14637863e-02 9.99504823e-01 -3.73112530e-04 2.25420927e+00] [ 5.86751778e-03 5.57996681e-04 9.99982630e-01 4.52579986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48533619499999 meters 0.08457889046998666 Centerline is valid? [True, True] Translation: X:87.36, Y:2.26, Z:0.46 [[ 9.99389090e-01 3.44772034e-02 -5.72438943e-03 8.73585150e+01] [-3.44798428e-02 9.99405328e-01 -3.63013487e-04 2.25906320e+00] [ 5.70846960e-03 5.60167766e-04 9.99983550e-01 4.58809314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51533619499999 meters 0.0865215101488209 Centerline is valid? [True, True] Translation: X:87.39, Y:2.26, Z:0.46 [[ 9.99296125e-01 3.71360234e-02 -5.30761686e-03 8.73889777e+01] [-3.71383296e-02 9.99310078e-01 -3.36585386e-04 2.26469313e+00] [ 5.29145557e-03 5.33464496e-04 9.99985858e-01 4.62843835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54533619499999 meters 0.09084280388099944 Centerline is valid? [True, True] Translation: X:87.42, Y:2.27, Z:0.47 [[ 9.98944232e-01 4.57281247e-02 -4.39999768e-03 8.74190631e+01] [-4.57297920e-02 9.98953807e-01 -2.79034229e-04 2.27094429e+00] [ 4.38263472e-03 4.79950612e-04 9.99990281e-01 4.65148850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57533619499999 meters 0.10617780786582787 Centerline is valid? [True, False] Translation: X:87.46, Y:2.27, Z:0.45 [[ 9.99339839e-01 3.63146021e-02 1.06554445e-03 8.74586165e+01] [-3.63263864e-02 9.99230900e-01 1.47649238e-02 2.26587533e+00] [-5.28542611e-04 -1.47938839e-02 9.99890425e-01 4.52610656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60533619499999 meters 0.10109784818647294 Centerline is valid? [False, False] Translation: X:87.46, Y:2.27, Z:0.45 [[ 9.99691848e-01 2.45442284e-02 -3.71336522e-03 8.74584669e+01] [-2.44610690e-02 9.99480400e-01 2.09901256e-02 2.26597822e+00] [ 4.22662220e-03 -2.08928246e-02 9.99772787e-01 4.51895917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.635336195 meters 0.12006286938353367 Centerline is valid? [False, False] Translation: X:87.47, Y:2.27, Z:0.45 [[ 9.99550481e-01 2.97772977e-02 3.48533167e-03 8.74701059e+01] [-2.98358107e-02 9.99389977e-01 1.81521000e-02 2.27052384e+00] [-2.94268505e-03 -1.82479280e-02 9.99829162e-01 4.52386000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.665336195 meters 0.12939426607652035 Centerline is valid? [False, False] Translation: X:87.47, Y:2.29, Z:0.47 [[ 9.99779859e-01 2.08516746e-02 2.33264183e-03 8.74698894e+01] [-2.08609688e-02 9.99774249e-01 4.03366338e-03 2.28527016e+00] [-2.24800659e-03 -4.08143657e-03 9.99989144e-01 4.66570374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.695336195 meters 0.11525027777893845 Centerline is valid? [False, False] Translation: X:87.46, Y:2.29, Z:0.47 [[ 9.99927682e-01 1.20048393e-02 -7.17760261e-04 8.74643481e+01] [-1.19942332e-02 9.99839584e-01 1.33020563e-02 2.28872797e+00] [ 8.77334168e-04 -1.32924853e-02 9.99911266e-01 4.71004824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.725336195 meters 0.12881920174581885 Centerline is valid? [False, False] Translation: X:87.46, Y:2.30, Z:0.48 [[ 9.99997885e-01 1.94859328e-03 6.57670362e-04 8.74566233e+01] [-1.94899323e-03 9.99997916e-01 6.08042883e-04 2.30002845e+00] [-6.56484163e-04 -6.09323392e-04 9.99999599e-01 4.81758947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.755336195 meters 0.1285432720903981 Centerline is valid? [False, False] Translation: X:87.46, Y:2.30, Z:0.48 [[ 9.99996820e-01 2.47890838e-03 4.63983758e-04 8.74587269e+01] [-2.47965199e-03 9.99995631e-01 1.60900061e-03 2.29671693e+00] [-4.59993166e-04 -1.61014602e-03 9.99998598e-01 4.79053789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.785336195 meters 0.11115155178330716 Centerline is valid? [False, False] Translation: X:87.46, Y:2.29, Z:0.48 [[ 9.99998779e-01 -1.49746403e-03 4.45654171e-04 8.74594949e+01] [ 1.49831019e-03 9.99997064e-01 -1.90445630e-03 2.29340624e+00] [-4.42801008e-04 1.90512170e-03 9.99998087e-01 4.77769824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.815336195 meters 0.10455320056023985 Centerline is valid? [False, False] Translation: X:87.46, Y:2.29, Z:0.48 [[ 9.99998735e-01 -1.56744517e-03 2.68713054e-04 8.74596028e+01] [ 1.56789816e-03 9.99997336e-01 -1.69392411e-03 2.29210019e+00] [-2.66057205e-04 1.69434328e-03 9.99998529e-01 4.78845283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.845336195 meters 0.1038348596392083 Centerline is valid? [False, False] Translation: X:87.46, Y:2.29, Z:0.48 [[ 9.99998746e-01 -1.58385366e-03 -8.22680488e-06 8.74600166e+01] [ 1.58383746e-03 9.99997313e-01 -1.69284995e-03 2.29191831e+00] [ 1.09080094e-05 1.69283480e-03 9.99998567e-01 4.79738515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87533619499999 meters 0.10013274095092303 Centerline is valid? [False, False] Translation: X:87.46, Y:2.29, Z:0.48 [[ 9.99999235e-01 -1.05521509e-03 -6.45099813e-04 8.74629671e+01] [ 1.05494438e-03 9.99999355e-01 -4.19846789e-04 2.28759218e+00] [ 6.45542426e-04 4.19165924e-04 9.99999704e-01 4.77628485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90533619499999 meters 0.0980621605616756 Centerline is valid? [False, True] Translation: X:87.46, Y:2.28, Z:0.48 [[ 9.99999454e-01 -6.19449840e-04 -8.41079627e-04 8.74644615e+01] [ 6.20022424e-04 9.99999576e-01 6.80682296e-04 2.28337471e+00] [ 8.40657622e-04 -6.81203413e-04 9.99999415e-01 4.75707553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93533619499999 meters 0.10000127914629242 Centerline is valid? [True, False] Translation: X:87.47, Y:2.28, Z:0.47 [[ 9.99999288e-01 -1.05417266e-05 -1.19326566e-03 8.74665719e+01] [ 1.31970345e-05 9.99997524e-01 2.22525860e-03 2.27749148e+00] [ 1.19323925e-03 -2.22527276e-03 9.99996812e-01 4.73679488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96533619499999 meters 0.09000112601345397 Centerline is valid? [False, True] Translation: X:87.47, Y:2.28, Z:0.47 [[ 9.99999138e-01 3.38683467e-05 -1.31280681e-03 8.74667930e+01] [-3.07799314e-05 9.99997232e-01 2.35247718e-03 2.27683463e+00] [ 1.31288285e-03 -2.35243474e-03 9.99996371e-01 4.73995931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.995336195 meters 0.09799834454736032 Centerline is valid? [True, True] Translation: X:87.49, Y:2.29, Z:0.48 [[ 9.99996536e-01 -1.91641455e-03 -1.80420848e-03 8.74949001e+01] [ 1.91606222e-03 9.99998145e-01 -1.96992567e-04 2.29155979e+00] [ 1.80458266e-03 1.93534909e-04 9.99998353e-01 4.78576530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.025336195 meters 0.08810877940491353 Centerline is valid? [True, True] Translation: X:87.53, Y:2.28, Z:0.48 [[ 9.99995625e-01 -2.82337528e-03 -8.82100001e-04 8.75271620e+01] [ 2.82329147e-03 9.99996010e-01 -9.62405225e-05 2.27928966e+00] [ 8.82368204e-04 9.37496760e-05 9.99999606e-01 4.79575765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.055336195 meters 0.09746720294484422 Centerline is valid? [True, True] Translation: X:87.56, Y:2.29, Z:0.47 [[ 9.99996692e-01 -1.96337869e-03 -1.66162196e-03 8.75560848e+01] [ 1.96308056e-03 9.99998057e-01 -1.81030091e-04 2.28876141e+00] [ 1.66197416e-03 1.77767595e-04 9.99998603e-01 4.74566834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.085336195 meters 0.09298382250377804 Centerline is valid? [True, True] Translation: X:87.59, Y:2.28, Z:0.47 [[ 9.99997510e-01 -1.94576588e-03 -1.09255052e-03 8.75878438e+01] [ 1.94563695e-03 9.99998100e-01 -1.19061678e-04 2.28409520e+00] [ 1.09278011e-03 1.16935675e-04 9.99999396e-01 4.74844940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.115336195 meters 0.10039618062242531 Centerline is valid? [True, False] Translation: X:87.59, Y:2.28, Z:0.48 [[ 9.99997878e-01 -1.74314314e-03 -1.09795996e-03 8.75877255e+01] [ 1.74360787e-03 9.99998391e-01 4.22452634e-04 2.28144201e+00] [ 1.09722180e-03 -4.24366149e-04 9.99999308e-01 4.75328575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.145336195 meters 0.09664654891493465 Centerline is valid? [False, True] Translation: X:87.59, Y:2.28, Z:0.47 [[ 9.99997995e-01 -1.59820818e-03 -1.20686491e-03 8.75882978e+01] [ 1.59911373e-03 9.99998440e-01 7.49743657e-04 2.28010223e+00] [ 1.20566478e-03 -7.51672067e-04 9.99998991e-01 4.74903451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.175336195 meters 0.09640032014393647 Centerline is valid? [True, True] Translation: X:87.62, Y:2.28, Z:0.47 [[ 9.99990764e-01 -1.67739571e-03 -3.95699711e-03 8.76202069e+01] [ 1.67571801e-03 9.99998505e-01 -4.27259569e-04 2.27683122e+00] [ 3.95770788e-03 4.20624811e-04 9.99992080e-01 4.69307637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.205336195 meters 0.09680890608645058 Centerline is valid? [True, True] Translation: X:87.65, Y:2.28, Z:0.47 [[ 9.99995156e-01 -1.94623302e-03 -2.42905086e-03 8.76495943e+01] [ 1.94560122e-03 9.99998073e-01 -2.62434160e-04 2.27719374e+00] [ 2.42955693e-03 2.57706924e-04 9.99997015e-01 4.70590889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23533619499999 meters 0.08853015321879004 Centerline is valid? [True, True] Translation: X:87.68, Y:2.26, Z:0.47 [[ 9.99997758e-01 -2.11361153e-03 1.31745643e-04 8.76812221e+01] [ 2.11360967e-03 9.99997766e-01 1.42305969e-05 2.26492167e+00] [-1.31775426e-04 -1.39521062e-05 9.99999991e-01 4.74826013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26533619499999 meters 0.09214867653781544 Centerline is valid? [True, True] Translation: X:87.71, Y:2.27, Z:0.47 [[ 9.99999076e-01 5.98399698e-04 -1.22064449e-03 8.77119694e+01] [-5.98561040e-04 9.99999812e-01 -1.31817262e-04 2.26723205e+00] [ 1.22056538e-03 1.32547770e-04 9.99999246e-01 4.71058251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29533619499999 meters 0.10463557218737375 Centerline is valid? [True, False] Translation: X:87.73, Y:2.27, Z:0.47 [[ 9.99977665e-01 4.50168177e-03 4.94002771e-03 8.77269186e+01] [-4.48450710e-03 9.99983882e-01 -3.48222032e-03 2.26659905e+00] [-4.95562393e-03 3.45998896e-03 9.99981735e-01 4.70071060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32533619499999 meters 0.09535250401550752 Centerline is valid? [False, True] Translation: X:87.73, Y:2.26, Z:0.47 [[ 9.99975360e-01 4.76100660e-03 5.15878674e-03 8.77262878e+01] [-4.74699393e-03 9.99985020e-01 -2.72512196e-03 2.26281834e+00] [-5.17168379e-03 2.70056609e-03 9.99982980e-01 4.70174552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35533619499999 meters 0.09767372258208162 Centerline is valid? [True, True] Translation: X:87.76, Y:2.26, Z:0.46 [[ 9.99971782e-01 7.51219480e-03 -4.10668525e-05 8.77565781e+01] [-7.51219499e-03 9.99971783e-01 -4.51708066e-06 2.26341888e+00] [ 4.10317605e-05 4.82545540e-06 9.99999999e-01 4.62045087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.385336195 meters 0.10394193273352163 Centerline is valid? [True, False] Translation: X:87.77, Y:2.26, Z:0.47 [[ 9.99983400e-01 2.08168272e-03 -5.37271376e-03 8.77739189e+01] [-2.05298793e-03 9.99983630e-01 5.34083741e-03 2.26127962e+00] [ 5.38374374e-03 -5.32971864e-03 9.99971304e-01 4.65608273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.415336195 meters 0.1038224190153828 Centerline is valid? [False, False] Translation: X:87.77, Y:2.26, Z:0.47 [[ 9.99984543e-01 -2.93756011e-03 -4.72058272e-03 8.77698200e+01] [ 2.93842365e-03 9.99995667e-01 1.76005291e-04 2.26229386e+00] [ 4.72004524e-03 -1.89873642e-04 9.99988842e-01 4.69553280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.445336195 meters 0.10325560228284499 Centerline is valid? [False, False] Translation: X:87.77, Y:2.26, Z:0.47 [[ 9.99984824e-01 -2.82418162e-03 -4.73020334e-03 8.77699804e+01] [ 2.82628259e-03 9.99995910e-01 4.37533236e-04 2.26116016e+00] [ 4.72894832e-03 -4.50895487e-04 9.99988717e-01 4.69350462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.475336195 meters 0.11017692299794359 Centerline is valid? [False, False] Translation: X:87.77, Y:2.26, Z:0.47 [[ 9.99985995e-01 -2.02261674e-03 -4.89069098e-03 8.77726244e+01] [ 2.03196620e-03 9.99996116e-01 1.90747349e-03 2.25607398e+00] [ 4.88681389e-03 -1.91738449e-03 9.99986221e-01 4.65842977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.505336195 meters 0.11426775889774622 Centerline is valid? [False, False] Translation: X:87.77, Y:2.25, Z:0.46 [[ 9.99987981e-01 -1.04600417e-03 -4.78989292e-03 8.77745205e+01] [ 1.06460911e-03 9.99991893e-01 3.88330644e-03 2.24837346e+00] [ 4.78579214e-03 -3.88835913e-03 9.99980988e-01 4.62314178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.535336195 meters 0.10313303391255765 Centerline is valid? [False, False] Translation: X:87.75, Y:2.25, Z:0.46 [[ 9.99998855e-01 1.49687181e-03 2.21457974e-04 8.77536346e+01] [-1.49561588e-03 9.99983388e-01 -5.56663818e-03 2.24902987e+00] [-2.29786839e-04 5.56630059e-03 9.99984482e-01 4.61324031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.565336195 meters 0.10313303391255765 Centerline is valid? [False, False] Translation: X:87.75, Y:2.25, Z:0.46 [[ 9.99998855e-01 1.49687181e-03 2.21457974e-04 8.77536346e+01] [-1.49561588e-03 9.99983388e-01 -5.56663818e-03 2.24902987e+00] [-2.29786839e-04 5.56630059e-03 9.99984482e-01 4.61324031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.595336195 meters 0.11711692422571744 Centerline is valid? [False, False] Translation: X:87.77, Y:2.24, Z:0.46 [[ 9.99996780e-01 -2.49858853e-03 4.44655813e-04 8.77704831e+01] [ 2.49662157e-03 9.99987333e-01 4.37046607e-03 2.24481513e+00] [-4.55570177e-04 -4.36934186e-03 9.99990351e-01 4.60534546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62533619499999 meters 0.11720933579787751 Centerline is valid? [False, False] Translation: X:87.77, Y:2.24, Z:0.46 [[ 9.99997017e-01 -2.42840417e-03 2.61761252e-04 8.77708616e+01] [ 2.42718921e-03 9.99986721e-01 4.54597043e-03 2.24396523e+00] [-2.72797229e-04 -4.54532153e-03 9.99989633e-01 4.60959560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65533619499999 meters 0.10834033478967448 Centerline is valid? [False, False] Translation: X:87.77, Y:2.24, Z:0.46 [[ 9.99997884e-01 -2.05557874e-03 8.54503503e-05 8.77717018e+01] [ 2.05507708e-03 9.99982729e-01 5.50628714e-03 2.23983139e+00] [-9.67674813e-05 -5.50609988e-03 9.99984837e-01 4.60526106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68533619499999 meters 0.11979782155301576 Centerline is valid? [False, False] Translation: X:87.77, Y:2.24, Z:0.46 [[ 9.99981925e-01 -6.01145865e-03 1.08433840e-04 8.77725281e+01] [ 6.01122784e-03 9.99979900e-01 2.01623579e-03 2.23640355e+00] [-1.20552179e-04 -2.01554753e-03 9.99997962e-01 4.59035863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71533619499999 meters 0.10332041922724912 Centerline is valid? [False, False] Translation: X:87.77, Y:2.23, Z:0.46 [[ 9.99984277e-01 -5.60732017e-03 6.09774375e-05 8.77735156e+01] [ 5.60711480e-03 9.99979887e-01 2.96425263e-03 2.23254869e+00] [-7.75977245e-05 -2.96386412e-03 9.99995605e-01 4.57420636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.745336195 meters 0.10778399532842294 Centerline is valid? [False, False] Translation: X:87.77, Y:2.23, Z:0.46 [[ 9.99986967e-01 -5.10529406e-03 3.68438674e-05 8.77743286e+01] [ 5.10509691e-03 9.99978337e-01 4.15501730e-03 2.22752877e+00] [-5.80556544e-05 -4.15477505e-03 9.99991367e-01 4.56171255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.775336195 meters 0.10573185157433229 Centerline is valid? [False, False] Translation: X:87.76, Y:2.22, Z:0.45 [[ 9.99991058e-01 1.35108916e-03 4.00721169e-03 8.77554169e+01] [-1.34715009e-03 9.99998607e-01 -9.85531455e-04 2.22455446e+00] [-4.00853765e-03 9.80124327e-04 9.99991485e-01 4.54728313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.805336195 meters 0.10087905157566042 Centerline is valid? [False, False] Translation: X:87.76, Y:2.22, Z:0.45 [[ 9.99990751e-01 1.60965211e-03 3.98832278e-03 8.77558626e+01] [-1.60815501e-03 9.99998635e-01 -3.78548957e-04 2.22196458e+00] [-3.98892667e-03 3.72131615e-04 9.99991975e-01 4.54024130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.835336195 meters 0.10830831495303295 Centerline is valid? [False, False] Translation: X:87.76, Y:2.21, Z:0.45 [[ 9.99988853e-01 2.72350190e-03 3.85703906e-03 8.77585714e+01] [-2.73141799e-03 9.99994171e-01 2.04859662e-03 2.21263735e+00] [-3.85143722e-03 -2.05910897e-03 9.99990463e-01 4.50024309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.865336195 meters 0.12002167324192771 Centerline is valid? [False, False] Translation: X:87.76, Y:2.21, Z:0.45 [[ 9.99988476e-01 2.97336946e-03 3.76910933e-03 8.77591471e+01] [-2.98337395e-03 9.99992034e-01 2.65150176e-03 2.21005902e+00] [-3.76119541e-03 -2.66271587e-03 9.99989382e-01 4.49481002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.895336195 meters 0.10863816473611745 Centerline is valid? [False, False] Translation: X:87.76, Y:2.21, Z:0.45 [[ 9.99989068e-01 3.13864830e-03 3.46602720e-03 8.77599938e+01] [-3.14942105e-03 9.99990214e-01 3.10702614e-03 2.20805581e+00] [-3.45624142e-03 -3.11790815e-03 9.99989166e-01 4.49671255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.925336195 meters 0.1025776611420781 Centerline is valid? [False, False] Translation: X:87.76, Y:2.20, Z:0.45 [[ 9.99994193e-01 -8.33393719e-04 3.30431686e-03 8.77609805e+01] [ 8.34770105e-04 9.99999565e-01 -4.15184558e-04 2.20461465e+00] [-3.30396941e-03 4.17940493e-04 9.99994455e-01 4.48757362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.955336195 meters 0.10644845811988496 Centerline is valid? [False, False] Translation: X:87.76, Y:2.20, Z:0.45 [[ 9.99995601e-01 3.23945665e-05 2.96609915e-03 8.77639701e+01] [-3.65775768e-05 9.99999005e-01 1.41022988e-03 2.19804607e+00] [-2.96605052e-03 -1.41033217e-03 9.99994607e-01 4.45067013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98533619499999 meters 0.11587329625563413 Centerline is valid? [False, False] Translation: X:87.77, Y:2.19, Z:0.44 [[ 9.99990236e-01 -3.38441163e-03 2.84136747e-03 8.77656364e+01] [ 3.38711662e-03 9.99993815e-01 -9.47728365e-04 2.18972040e+00] [-2.83814239e-03 9.57343155e-04 9.99995514e-01 4.43106874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01533619499999 meters 0.10266611790356699 Centerline is valid? [False, False] Translation: X:87.77, Y:2.19, Z:0.44 [[ 9.99991211e-01 -3.12121471e-03 2.79943234e-03 8.77657121e+01] [ 3.12201734e-03 9.99995087e-01 -2.82387605e-04 2.18662394e+00] [-2.79853719e-03 2.91124999e-04 9.99996042e-01 4.43463890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04533619499999 meters 0.09668581040236507 Centerline is valid? [False, True] Translation: X:87.76, Y:2.18, Z:0.45 [[ 9.99991555e-01 -1.24350923e-03 3.91702561e-03 8.77570356e+01] [ 1.23519486e-03 9.99996981e-01 2.12432793e-03 2.18343964e+00] [-3.91965541e-03 -2.11947171e-03 9.99990072e-01 4.51887997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07533619499999 meters 0.10958874445041031 Centerline is valid? [True, False] Translation: X:87.76, Y:2.18, Z:0.45 [[ 9.99992205e-01 -8.99817677e-04 3.84460027e-03 8.77574472e+01] [ 8.88506825e-04 9.99995276e-01 2.94270567e-03 2.17983050e+00] [-3.84723001e-03 -2.93926678e-03 9.99988280e-01 4.51678778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10533619499999 meters 0.10896951254553747 Centerline is valid? [False, False] Translation: X:87.78, Y:2.18, Z:0.46 [[ 9.99999576e-01 -8.68462076e-04 -3.04753779e-04 8.77765793e+01] [ 8.67857017e-04 9.99997663e-01 -1.97994964e-03 2.17821481e+00] [ 3.06472578e-04 1.97968432e-03 9.99997993e-01 4.55437996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.135336195 meters 0.1151111587470399 Centerline is valid? [False, False] Translation: X:87.78, Y:2.17, Z:0.45 [[ 9.99999363e-01 7.83165468e-04 -8.12741114e-04 8.77817832e+01] [-7.81918065e-04 9.99998518e-01 1.53399397e-03 2.16565744e+00] [ 8.13941280e-04 -1.53335750e-03 9.99998493e-01 4.48202515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.165336195 meters 0.11702863623920376 Centerline is valid? [False, False] Translation: X:87.78, Y:2.16, Z:0.45 [[ 9.99999103e-01 1.07471835e-03 -7.99562560e-04 8.77822066e+01] [-1.07295386e-03 9.99996996e-01 2.20397796e-03 2.16279101e+00] [ 8.01928813e-04 -2.20311809e-03 9.99997252e-01 4.47351871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.195336195 meters 0.11146377772090175 Centerline is valid? [False, False] Translation: X:87.74, Y:2.16, Z:0.45 [[ 9.99996671e-01 2.57442120e-03 -1.75811267e-04 8.77382556e+01] [-2.57479887e-03 9.99994303e-01 -2.18281916e-03 2.16046042e+00] [ 1.70190770e-04 2.18326457e-03 9.99997602e-01 4.53595524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.225336195 meters 0.11350322366718073 Centerline is valid? [False, False] Translation: X:87.74, Y:2.16, Z:0.45 [[ 9.99996413e-01 2.66624317e-03 -2.53318109e-04 8.77381927e+01] [-2.66673182e-03 9.99994546e-01 -1.94866259e-03 2.15927547e+00] [ 2.48121119e-04 1.94933114e-03 9.99998069e-01 4.54285553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.255336195 meters 0.11396069646870716 Centerline is valid? [False, False] Translation: X:87.74, Y:2.16, Z:0.45 [[ 9.99995703e-01 2.91651464e-03 -2.96280483e-04 8.77386507e+01] [-2.91691396e-03 9.99994826e-01 -1.35642449e-03 2.15672455e+00] [ 2.92322918e-04 1.35728288e-03 9.99999036e-01 4.53696499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.285336195 meters 0.12189711883530677 Centerline is valid? [False, False] Translation: X:87.74, Y:2.15, Z:0.45 [[ 9.99992943e-01 3.73029153e-03 -4.45564526e-04 8.77407636e+01] [-3.73009140e-03 9.99992942e-01 4.49138951e-04 2.14966644e+00] [ 4.47236801e-04 -4.47473785e-04 9.99999800e-01 4.50643898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.315336195 meters 0.11341010211440693 Centerline is valid? [False, False] Translation: X:87.74, Y:2.14, Z:0.45 [[ 9.99996665e-01 2.49283961e-03 6.75467040e-04 8.77353970e+01] [-2.49280889e-03 9.99996892e-01 -4.63243779e-05 2.14199239e+00] [-6.75580420e-04 4.46404132e-05 9.99999771e-01 4.53231509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.345336195 meters 0.11403456830545056 Centerline is valid? [False, False] Translation: X:87.74, Y:2.14, Z:0.45 [[ 9.99996425e-01 2.57586906e-03 7.17301621e-04 8.77352818e+01] [-2.57597980e-03 9.99996670e-01 1.53499374e-04 2.14107041e+00] [-7.16903839e-04 -1.55346580e-04 9.99999731e-01 4.53252435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37533619499999 meters 0.128625290181887 Centerline is valid? [False, False] Translation: X:87.74, Y:2.14, Z:0.45 [[ 9.99993582e-01 3.58247342e-03 -3.81041096e-05 8.77397497e+01] [-3.58244404e-03 9.99993306e-01 7.44882175e-04 2.14401075e+00] [ 4.07723751e-05 -7.44740889e-04 9.99999722e-01 4.50673291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40533619499999 meters 0.13020812884218397 Centerline is valid? [False, False] Translation: X:87.74, Y:2.15, Z:0.45 [[ 9.99993922e-01 3.48645218e-03 -2.96868197e-05 8.77395800e+01] [-3.48643657e-03 9.99993792e-01 5.10847378e-04 2.14501315e+00] [ 3.14676804e-05 -5.10740771e-04 9.99999869e-01 4.50953641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43533619499999 meters 0.12099558447590986 Centerline is valid? [False, False] Translation: X:87.74, Y:2.14, Z:0.45 [[ 9.99993571e-01 3.58350635e-03 1.28963271e-04 8.77393319e+01] [-3.58360102e-03 9.99993304e-01 7.41488423e-04 2.14404201e+00] [-1.26305279e-04 -7.41945808e-04 9.99999717e-01 4.50490336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46533619499999 meters 0.12065546806524667 Centerline is valid? [False, False] Translation: X:87.74, Y:2.14, Z:0.45 [[ 9.99993349e-01 3.64181317e-03 1.98627521e-04 8.77395754e+01] [-3.64198369e-03 9.99992994e-01 8.64971379e-04 2.14367149e+00] [-1.95476065e-04 -8.65689024e-04 9.99999606e-01 4.49521926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.495336195 meters 0.1373627607194427 Centerline is valid? [False, False] Translation: X:87.74, Y:2.14, Z:0.45 [[ 9.99993331e-01 3.64756701e-03 1.84279828e-04 8.77396889e+01] [-3.64772766e-03 9.99992961e-01 8.79064867e-04 2.14363739e+00] [-1.81072083e-04 -8.79731206e-04 9.99999597e-01 4.49369185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.525336195 meters 0.12109657585144668 Centerline is valid? [False, False] Translation: X:87.74, Y:2.14, Z:0.45 [[ 9.99993289e-01 3.66362620e-03 8.08229230e-07 8.77401139e+01] [-3.66362526e-03 9.99992818e-01 9.70132450e-04 2.14320151e+00] [ 2.74597923e-06 -9.70128900e-04 9.99999529e-01 4.49617281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.555336195 meters 0.12695226539919904 Centerline is valid? [False, False] Translation: X:87.74, Y:2.14, Z:0.45 [[ 9.99992969e-01 3.74568706e-03 -1.77591822e-04 8.77407373e+01] [-3.74547184e-03 9.99992269e-01 1.19708230e-03 2.14225567e+00] [ 1.82074345e-04 -1.19640872e-03 9.99999268e-01 4.49422002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.585336195 meters 0.11132352769430097 Centerline is valid? [False, False] Translation: X:87.74, Y:2.14, Z:0.45 [[ 9.99999671e-01 -7.13815588e-04 -3.84704295e-04 8.77408491e+01] [ 7.12501607e-04 9.99993949e-01 -3.40494386e-03 2.14327772e+00] [ 3.87132469e-04 3.40466863e-03 9.99994129e-01 4.50431119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.615336195 meters 0.1175624016791144 Centerline is valid? [False, False] Translation: X:87.74, Y:2.14, Z:0.45 [[ 9.99999558e-01 -5.30785468e-04 -7.76022594e-04 8.77422995e+01] [ 5.28532298e-04 9.99995653e-01 -2.90081302e-03 2.14142065e+00] [ 7.77558930e-04 2.90040159e-03 9.99995492e-01 4.49774550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.645336195 meters 0.10920695208267601 Centerline is valid? [False, False] Translation: X:87.74, Y:2.14, Z:0.45 [[ 9.99999540e-01 -4.56165368e-04 -8.43915380e-04 8.77424628e+01] [ 4.53876778e-04 9.99996225e-01 -2.71007821e-03 2.14054985e+00] [ 8.45148438e-04 2.70969393e-03 9.99995972e-01 4.49906826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.675336195 meters 0.09419334335396402 Centerline is valid? [False, True] Translation: X:87.74, Y:2.14, Z:0.45 [[ 9.99999343e-01 -7.54358548e-04 -8.63418845e-04 8.77414220e+01] [ 7.51511278e-04 9.99994295e-01 -3.29325690e-03 2.14261182e+00] [ 8.65898215e-04 3.29260587e-03 9.99994204e-01 4.52131036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.705336195 meters 0.0993818655711598 Centerline is valid? [True, True] Translation: X:87.77, Y:2.15, Z:0.45 [[ 9.99997064e-01 -2.27638261e-03 -8.30153223e-04 8.77703779e+01] [ 2.27631081e-03 9.99997405e-01 -8.74234484e-05 2.15181123e+00] [ 8.30350079e-04 8.55335051e-05 9.99999652e-01 4.49760692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73533619499999 meters 0.10065129420909127 Centerline is valid? [True, False] Translation: X:87.77, Y:2.15, Z:0.45 [[ 9.99997022e-01 -2.22469011e-03 -1.00347753e-03 8.77711994e+01] [ 2.22470824e-03 9.99997525e-01 1.69562234e-05 2.15157179e+00] [ 1.00343733e-03 -1.91886176e-05 9.99999496e-01 4.49076733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76533619499999 meters 0.10160788179716178 Centerline is valid? [False, False] Translation: X:87.77, Y:2.15, Z:0.45 [[ 9.99997151e-01 -2.12826466e-03 -1.08079709e-03 8.77719089e+01] [ 2.12850170e-03 9.99997711e-01 2.18212945e-04 2.15093499e+00] [ 1.08033020e-03 -2.20512802e-04 9.99999392e-01 4.48080869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79533619499999 meters 0.09016075736359758 Centerline is valid? [False, True] Translation: X:87.77, Y:2.15, Z:0.45 [[ 9.99997431e-01 -1.93950652e-03 -1.17325808e-03 8.77727017e+01] [ 1.94028495e-03 9.99997898e-01 6.62705925e-04 2.14920765e+00] [ 1.17197029e-03 -6.64980677e-04 9.99999092e-01 4.47016015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82533619499999 meters 0.09664703360331203 Centerline is valid? [True, True] Translation: X:87.80, Y:2.16, Z:0.45 [[ 9.99987773e-01 -4.93971615e-03 -2.29700912e-04 8.78007479e+01] [ 4.93971112e-03 9.99987799e-01 -2.24364123e-05 2.16460976e+00] [ 2.29808939e-04 2.13014818e-05 9.99999973e-01 4.52511337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85533619499999 meters 0.08378301955865233 Centerline is valid? [True, True] Translation: X:87.83, Y:2.16, Z:0.46 [[ 9.99986394e-01 -5.15300780e-03 8.11668983e-04 8.78344360e+01] [ 5.15294515e-03 9.99986720e-01 7.92527804e-05 2.15560571e+00] [-8.12066595e-04 -7.50692163e-05 9.99999667e-01 4.57682036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.885336195 meters 0.08914450921881222 Centerline is valid? [True, True] Translation: X:87.86, Y:2.17, Z:0.46 [[ 9.99985119e-01 -5.19849902e-03 1.65479716e-03 8.78649470e+01] [ 5.19823905e-03 9.99986476e-01 1.61362257e-04 2.16517944e+00] [-1.65561362e-03 -1.52757824e-04 9.99998618e-01 4.55619359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.915336195 meters 0.08564303890695064 Centerline is valid? [True, True] Translation: X:87.90, Y:2.16, Z:0.45 [[ 9.99990536e-01 -4.19962362e-03 1.13661136e-03 8.78970947e+01] [ 4.19950054e-03 9.99991176e-01 1.10648115e-04 2.15940943e+00] [-1.13706601e-03 -1.05873868e-04 9.99999348e-01 4.50555084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.945336195 meters 0.08897499221398052 Centerline is valid? [True, True] Translation: X:87.93, Y:2.17, Z:0.45 [[ 9.99993769e-01 -3.49926349e-03 4.65080661e-04 8.79278093e+01] [ 3.49924276e-03 9.99993877e-01 4.53779376e-05 2.16795838e+00] [-4.65236602e-04 -4.37502248e-05 9.99999891e-01 4.49902308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.975336195 meters 0.09760045880299056 Centerline is valid? [True, True] Translation: X:87.96, Y:2.19, Z:0.45 [[ 9.99989628e-01 -2.73441944e-03 -3.64224390e-03 8.79561807e+01] [ 2.73314813e-03 9.99996202e-01 -3.53976719e-04 2.18981687e+00] [ 3.64319799e-03 3.44018255e-04 9.99993304e-01 4.47449012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.005336195 meters 0.09119893641914768 Centerline is valid? [True, True] Translation: X:87.99, Y:2.19, Z:0.44 [[ 9.99985948e-01 -3.40917699e-04 -5.29024248e-03 8.79871302e+01] [ 3.38202075e-04 9.99999811e-01 -5.14213191e-04 2.18774013e+00] [ 5.29041678e-03 5.12416794e-04 9.99985874e-01 4.43336525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.035336195 meters 0.10459346880821162 Centerline is valid? [True, False] Translation: X:87.99, Y:2.19, Z:0.44 [[ 9.99986540e-01 -2.98281435e-04 -5.17982589e-03 8.79872196e+01] [ 2.96079233e-04 9.99999865e-01 -4.25911439e-04 2.18752142e+00] [ 5.17995223e-03 4.24372067e-04 9.99986494e-01 4.42430679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.065336195 meters 0.09921415230057244 Centerline is valid? [False, True] Translation: X:87.99, Y:2.19, Z:0.44 [[ 9.99987752e-01 -6.11389611e-04 -4.91132411e-03 8.79860523e+01] [ 6.05309111e-04 9.99999049e-01 -1.23944831e-03 2.19087264e+00] [ 4.91207722e-03 1.23646026e-03 9.99987171e-01 4.43110084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.095336195 meters 0.10352182883260047 Centerline is valid? [True, False] Translation: X:87.99, Y:2.19, Z:0.44 [[ 9.99982686e-01 7.46113643e-04 -5.83698454e-03 8.79916629e+01] [-7.47640574e-04 9.99999687e-01 -2.59418099e-04 2.19455008e+00] [ 5.83678916e-03 2.63777574e-04 9.99982931e-01 4.39345339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12533619499999 meters 0.09259468719924172 Centerline is valid? [False, True] Translation: X:87.99, Y:2.20, Z:0.44 [[ 9.99984601e-01 -5.51064767e-04 -5.52206452e-03 8.79878765e+01] [ 5.34651458e-04 9.99995437e-01 -2.97334938e-03 2.20442779e+00] [ 5.52367783e-03 2.97035122e-03 9.99980333e-01 4.44488657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15533619499999 meters 0.1038380686955035 Centerline is valid? [True, False] Translation: X:87.99, Y:2.21, Z:0.45 [[ 9.99984267e-01 -9.13133867e-04 -5.53470239e-03 8.79873733e+01] [ 8.92075668e-04 9.99992359e-01 -3.80603257e-03 2.20800306e+00] [ 5.53813551e-03 3.80103532e-03 9.99977440e-01 4.45485840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18533619499999 meters 0.08859142255592174 Centerline is valid? [False, True] Translation: X:87.96, Y:2.20, Z:0.43 [[ 9.99996085e-01 -2.42387632e-03 -1.39804547e-03 8.79639959e+01] [ 2.42964847e-03 9.99988471e-01 4.14191603e-03 2.20294946e+00] [ 1.38798986e-03 -4.14529657e-03 9.99990445e-01 4.34582032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21533619499999 meters 0.08184044453289453 Centerline is valid? [True, True] Translation: X:87.99, Y:2.20, Z:0.44 [[ 9.99929783e-01 -1.18032112e-02 1.05475445e-03 8.79938159e+01] [ 1.18031086e-02 9.99930336e-01 1.03390336e-04 2.19760278e+00] [-1.05590131e-03 -9.09336950e-05 9.99999438e-01 4.36748314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.245336195 meters 0.07084850731491639 Centerline is valid? [True, True] Translation: X:88.03, Y:2.19, Z:0.44 [[ 9.99736654e-01 -2.29273481e-02 9.79515946e-04 8.80252170e+01] [ 2.29272649e-02 9.99737131e-01 9.60253681e-05 2.18698037e+00] [-9.81460069e-04 -7.35424586e-05 9.99999516e-01 4.38500084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.275336195 meters 0.06669483844702648 Centerline is valid? [True, True] Translation: X:88.05, Y:2.19, Z:0.44 [[ 9.99595844e-01 -2.84069280e-02 1.09356456e-03 8.80546351e+01] [ 2.84068276e-02 9.99596439e-01 1.07172022e-04 2.18563317e+00] [-1.09616767e-03 -7.60640079e-05 9.99999396e-01 4.40093066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.305336195 meters 0.05931650903925817 Centerline is valid? [True, True] Translation: X:88.09, Y:2.18, Z:0.44 [[ 9.99269101e-01 -3.81709929e-02 2.05894345e-03 8.80856078e+01] [ 3.81706577e-02 9.99271215e-01 2.01847019e-04 2.17777947e+00] [-2.06514763e-03 -1.23108264e-04 9.99997860e-01 4.42230716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.335336195 meters 0.05044165638164882 Centerline is valid? [True, True] Translation: X:88.12, Y:2.17, Z:0.44 [[ 9.99099631e-01 -4.23703592e-02 2.16320938e-03 8.81170897e+01] [ 4.23699990e-02 9.99101966e-01 2.12056524e-04 2.16701774e+00] [-2.17025165e-03 -1.20210415e-04 9.99997638e-01 4.42310864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.365336195 meters 0.04306444272125504 Centerline is valid? [True, True] Translation: X:88.15, Y:2.16, Z:0.44 [[ 9.98809975e-01 -4.87410050e-02 1.71729756e-03 8.81492078e+01] [ 4.87407874e-02 9.98811447e-01 1.68346631e-04 2.15516859e+00] [-1.72346185e-03 -8.44438593e-05 9.99998511e-01 4.41418017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.395336195 meters 0.047477349209521874 Centerline is valid? [True, True] Translation: X:88.18, Y:2.16, Z:0.44 [[ 9.98717490e-01 -5.06249424e-02 7.00838311e-04 8.81792717e+01] [ 5.06249066e-02 9.98717735e-01 6.87144604e-05 2.15999371e+00] [-7.03418316e-04 -3.31464594e-05 9.99999752e-01 4.38827275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.425336195 meters 0.045880740884080236 Centerline is valid? [True, True] Translation: X:88.21, Y:2.15, Z:0.44 [[ 9.98719379e-01 -5.05902904e-02 -4.72824972e-04 8.82136387e+01] [ 5.05902744e-02 9.98719491e-01 -4.57149002e-05 2.15361162e+00] [ 4.74532246e-04 2.17360117e-05 9.99999887e-01 4.36039174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.455336195 meters 0.045880740884080236 Centerline is valid? [True, True] Translation: X:88.25, Y:2.16, Z:0.44 [[ 9.98728915e-01 -5.04016892e-02 -4.72833591e-04 8.82462068e+01] [ 5.04016732e-02 9.98729027e-01 -4.56261752e-05 2.15663839e+00] [ 4.74532269e-04 2.17365763e-05 9.99999887e-01 4.35948335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48533619499999 meters 0.052870389025438204 Centerline is valid? [True, True] Translation: X:88.28, Y:2.16, Z:0.44 [[ 9.98921815e-01 -4.64092653e-02 1.17781811e-03 8.82754838e+01] [ 4.64091619e-02 9.98922508e-01 1.14981027e-04 2.16397756e+00] [-1.18188520e-03 -6.01955053e-05 9.99999300e-01 4.40734737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51533619499999 meters 0.04812134189165683 Centerline is valid? [True, True] Translation: X:88.31, Y:2.16, Z:0.44 [[ 9.99027078e-01 -4.40513149e-02 2.09243653e-03 8.83072778e+01] [ 4.40509834e-02 9.99029263e-01 2.04262946e-04 2.15821040e+00] [-2.09940337e-03 -1.11890328e-04 9.99997790e-01 4.43139332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54533619499999 meters 0.05364185077662465 Centerline is valid? [True, True] Translation: X:88.34, Y:2.16, Z:0.44 [[ 9.99225395e-01 -3.93085720e-02 1.85643803e-03 8.83372169e+01] [ 3.93083031e-02 9.99227114e-01 1.81170057e-04 2.16116558e+00] [-1.86212475e-03 -1.08056293e-04 9.99998260e-01 4.43000733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57533619499999 meters 0.060083926328650665 Centerline is valid? [True, True] Translation: X:88.37, Y:2.17, Z:0.44 [[ 9.99336748e-01 -3.63894966e-02 1.36720998e-03 8.83666807e+01] [ 3.63893480e-02 9.99337679e-01 1.33411944e-04 2.16906030e+00] [-1.37115925e-03 -8.35715781e-05 9.99999056e-01 4.41982503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60533619499999 meters 0.06507918377515857 Centerline is valid? [True, True] Translation: X:88.40, Y:2.17, Z:0.44 [[ 9.99509524e-01 -3.12675622e-02 1.74642094e-03 8.83974163e+01] [ 3.12673121e-02 9.99511044e-01 1.70342422e-04 2.16985708e+00] [-1.75089321e-03 -1.15652984e-04 9.99998460e-01 4.40930386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.635336195 meters 0.07275124523414508 Centerline is valid? [True, True] Translation: X:88.43, Y:2.17, Z:0.44 [[ 9.99660938e-01 -2.60265937e-02 7.91227808e-04 8.84268383e+01] [ 2.60265407e-02 9.99661249e-01 7.71997352e-05 2.17160314e+00] [-7.92969025e-04 -5.65806370e-05 9.99999684e-01 4.38435900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.665336195 meters 0.07495204977119563 Centerline is valid? [True, True] Translation: X:88.46, Y:2.17, Z:0.44 [[ 9.99743914e-01 -2.26229341e-02 -5.55822598e-04 8.84582974e+01] [ 2.26229075e-02 9.99744068e-01 -5.41387735e-05 2.17219199e+00] [ 5.56905123e-04 4.15505861e-05 9.99999844e-01 4.35521177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.695336195 meters 0.08531454714059414 Centerline is valid? [True, True] Translation: X:88.49, Y:2.18, Z:0.43 [[ 9.99893458e-01 -1.44908260e-02 -1.75751721e-03 8.84872640e+01] [ 1.44905472e-02 9.99894992e-01 -1.71313746e-04 2.18049870e+00] [ 1.75981513e-03 1.45828108e-04 9.99998441e-01 4.34565440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.725336195 meters 0.08490782547020412 Centerline is valid? [True, True] Translation: X:88.52, Y:2.18, Z:0.44 [[ 9.99986440e-01 -5.20062204e-03 2.72621004e-04 8.85182247e+01] [ 5.20061498e-03 9.99986476e-01 2.66192039e-05 2.18246799e+00] [-2.72755754e-04 -2.52010461e-05 9.99999962e-01 4.42776742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.755336195 meters 0.09166098509906144 Centerline is valid? [True, True] Translation: X:88.55, Y:2.19, Z:0.44 [[ 9.99999592e-01 -5.24951216e-04 7.35671255e-04 8.85466637e+01] [ 5.24898599e-04 9.99999860e-01 7.17140471e-05 2.19397204e+00] [-7.35708798e-04 -7.13278650e-05 9.99999727e-01 4.44595552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.785336195 meters 0.10834334622844612 Centerline is valid? [True, False] Translation: X:88.55, Y:2.19, Z:0.44 [[ 9.99999510e-01 -4.46249611e-04 8.83359335e-04 8.85462470e+01] [ 4.46086498e-04 9.99999883e-01 1.84840120e-04 2.19350125e+00] [-8.83441717e-04 -1.84445975e-04 9.99999593e-01 4.44569528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.815336195 meters 0.10269437785681397 Centerline is valid? [False, False] Translation: X:88.55, Y:2.19, Z:0.44 [[ 9.99999447e-01 -3.45922999e-04 9.92739972e-04 8.85462478e+01] [ 3.45488608e-04 9.99999845e-01 4.37705622e-04 2.19249428e+00] [-9.92891230e-04 -4.37362400e-04 9.99999411e-01 4.43862129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.845336195 meters 0.1084019759588684 Centerline is valid? [False, False] Translation: X:88.55, Y:2.19, Z:0.44 [[ 9.99999297e-01 1.41779669e-04 1.17761500e-03 8.85471976e+01] [-1.43574839e-04 9.99998828e-01 1.52446630e-03 2.18827528e+00] [-1.17739749e-03 -1.52463431e-03 9.99998145e-01 4.40980434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87533619499999 meters 0.1120086332700478 Centerline is valid? [False, False] Translation: X:88.55, Y:2.19, Z:0.44 [[ 9.99999157e-01 2.96133563e-04 1.26401951e-03 8.85471791e+01] [-2.98528618e-04 9.99998160e-01 1.89502470e-03 2.18668768e+00] [-1.26345600e-03 -1.89540045e-03 9.99997406e-01 4.40527388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90533619499999 meters 0.11269970550571795 Centerline is valid? [False, False] Translation: X:88.55, Y:2.19, Z:0.44 [[ 9.99999262e-01 2.40542390e-04 1.19072660e-03 8.85470810e+01] [-2.42647787e-04 9.99998407e-01 1.76833308e-03 2.18716792e+00] [-1.19029934e-03 -1.76862070e-03 9.99997728e-01 4.41196031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93533619499999 meters 0.11174960926817877 Centerline is valid? [False, False] Translation: X:88.55, Y:2.19, Z:0.44 [[ 9.99999490e-01 -1.39533638e-04 1.00071306e-03 8.85462487e+01] [ 1.38557863e-04 9.99999515e-01 9.75083236e-04 2.19020524e+00] [-1.00084863e-03 -9.74944081e-04 9.99999024e-01 4.43829333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96533619499999 meters 0.10922447784055524 Centerline is valid? [False, False] Translation: X:88.55, Y:2.19, Z:0.44 [[ 9.99989407e-01 -4.51009592e-03 9.19307077e-04 8.85464856e+01] [ 4.51324042e-03 9.99983872e-01 -3.44762693e-03 2.19058774e+00] [-9.03743123e-04 3.45173946e-03 9.99993634e-01 4.43895344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.995336195 meters 0.10237997283417889 Centerline is valid? [False, False] Translation: X:88.52, Y:2.18, Z:0.44 [[ 9.99995304e-01 -1.83235531e-03 -2.45637724e-03 8.85169840e+01] [ 1.82292813e-03 9.99990986e-01 -3.83459933e-03 2.17835501e+00] [ 2.46338145e-03 3.83010352e-03 9.99989631e-01 4.37410116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.025336195 meters 0.1066981994339294 Centerline is valid? [False, False] Translation: X:88.52, Y:2.17, Z:0.43 [[ 9.99984660e-01 -4.87527041e-03 -2.62895052e-03 8.85202275e+01] [ 4.86119843e-03 9.99973965e-01 -5.33278195e-03 2.16763506e+00] [ 2.65488082e-03 5.31992030e-03 9.99982325e-01 4.32605684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.055336195 meters 0.10649217789546778 Centerline is valid? [False, False] Translation: X:88.52, Y:2.16, Z:0.43 [[ 9.99995196e-01 -1.69209872e-04 -3.09511848e-03 8.85220842e+01] [ 1.69548652e-04 9.99999980e-01 1.09194141e-04 2.16331501e+00] [ 3.09509994e-03 -1.09718390e-04 9.99995204e-01 4.31359789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.085336195 meters 0.09414147410896162 Centerline is valid? [False, True] Translation: X:88.52, Y:2.17, Z:0.44 [[ 9.99994563e-01 -1.39206155e-03 -2.98937525e-03 8.85181424e+01] [ 1.38651342e-03 9.99997314e-01 -1.85722207e-03 2.16962246e+00] [ 2.99195259e-03 1.85306716e-03 9.99993807e-01 4.37577349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.115336195 meters 0.0865092070124259 Centerline is valid? [True, True] Translation: X:88.55, Y:2.16, Z:0.44 [[ 9.99975172e-01 -7.02424715e-03 -5.61643966e-04 8.85494807e+01] [ 7.02421733e-03 9.99975328e-01 -5.50476750e-05 2.16032714e+00] [ 5.62016778e-04 5.11011990e-05 9.99999841e-01 4.41112263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.145336195 meters 0.08889735443644481 Centerline is valid? [True, True] Translation: X:88.58, Y:2.16, Z:0.44 [[ 9.99960035e-01 -8.93413223e-03 3.30245400e-04 8.85799454e+01] [ 8.93412203e-03 9.99960089e-01 3.23603271e-05 2.15846042e+00] [-3.30521331e-04 -2.94085812e-05 9.99999945e-01 4.37830787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.175336195 meters 0.08429515250699186 Centerline is valid? [True, True] Translation: X:88.61, Y:2.14, Z:0.43 [[ 9.99938853e-01 -1.10411715e-02 6.18136454e-04 8.86126110e+01] [ 1.10411362e-02 9.99939043e-01 6.05827582e-05 2.14013567e+00] [-6.18767679e-04 -5.37541250e-05 9.99999807e-01 4.31498915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.205336195 meters 0.083844742310406 Centerline is valid? [True, True] Translation: X:88.65, Y:2.14, Z:0.44 [[ 9.99937475e-01 -1.11604384e-02 7.00297873e-04 8.86452972e+01] [ 1.11603930e-02 9.99937719e-01 6.86762147e-05 2.14271866e+00] [-7.01020714e-04 -6.08563212e-05 9.99999752e-01 4.36765659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23533619499999 meters 0.08168317745123167 Centerline is valid? [True, True] Translation: X:88.68, Y:2.15, Z:0.44 [[ 9.99943472e-01 -1.06118835e-02 6.63999178e-04 8.86772925e+01] [ 1.06118426e-02 9.99943691e-01 6.50492456e-05 2.14665755e+00] [-6.64652084e-04 -5.79993137e-05 9.99999777e-01 4.40912642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26533619499999 meters 0.08209758624009858 Centerline is valid? [True, True] Translation: X:88.71, Y:2.15, Z:0.44 [[ 9.99961009e-01 -8.82956456e-03 1.40604961e-04 8.87080354e+01] [ 8.82956270e-03 9.99961019e-01 1.37751356e-05 2.15225736e+00] [-1.40721109e-04 -1.25331181e-05 9.99999990e-01 4.43523887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29533619499999 meters 0.0874033535086059 Centerline is valid? [True, True] Translation: X:88.74, Y:2.16, Z:0.44 [[ 9.99966064e-01 -8.22716988e-03 4.30194555e-04 8.87387610e+01] [ 8.22715251e-03 9.99966156e-01 4.21291595e-05 2.15699442e+00] [-4.30526599e-04 -3.85884536e-05 9.99999907e-01 4.40974778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32533619499999 meters 0.08205345796328674 Centerline is valid? [True, True] Translation: X:88.77, Y:2.14, Z:0.43 [[ 9.99955153e-01 -9.39106126e-03 -1.22459446e-03 8.87723839e+01] [ 9.39092166e-03 9.99955897e-01 -1.19692278e-04 2.13784018e+00] [ 1.22566449e-03 1.08186840e-04 9.99999243e-01 4.30582748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35533619499999 meters 0.08766322981554414 Centerline is valid? [True, True] Translation: X:88.80, Y:2.14, Z:0.43 [[ 9.99932687e-01 -1.14220594e-02 -2.03894684e-03 8.88022549e+01] [ 1.14216764e-02 9.99934751e-01 -1.99382573e-04 2.14171339e+00] [ 2.04109116e-03 1.76080961e-04 9.99997901e-01 4.30705647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.385336195 meters 0.08309349780770157 Centerline is valid? [True, True] Translation: X:88.83, Y:2.14, Z:0.44 [[ 9.99924481e-01 -1.22485492e-02 -1.00217474e-03 8.88338685e+01] [ 1.22484572e-02 9.99924980e-01 -9.79399481e-05 2.13891713e+00] [ 1.00329918e-03 8.56574574e-05 9.99999493e-01 4.35633683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.415336195 meters 0.08296040820125228 Centerline is valid? [True, True] Translation: X:88.87, Y:2.14, Z:0.44 [[ 9.99918379e-01 -1.27426524e-02 -9.27373136e-04 8.88666032e+01] [ 1.27425738e-02 9.99918806e-01 -9.05496640e-05 2.13821204e+00] [ 9.28451682e-04 7.87251526e-05 9.99999566e-01 4.39439718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.445336195 meters 0.09084400033049743 Centerline is valid? [True, True] Translation: X:88.90, Y:2.15, Z:0.44 [[ 9.99920033e-01 -1.25149561e-02 -1.81730586e-03 8.88966940e+01] [ 1.25146542e-02 9.99921673e-01 -1.77451889e-04 2.14780507e+00] [ 1.81938432e-03 1.54694744e-04 9.99998333e-01 4.37837545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.475336195 meters 0.08575599598391659 Centerline is valid? [True, True] Translation: X:88.93, Y:2.13, Z:0.43 [[ 9.99925076e-01 -1.19804092e-02 -2.51236321e-03 8.89303503e+01] [ 1.19798306e-02 9.99928209e-01 -2.45198450e-04 2.13273769e+00] [ 2.51512043e-03 2.15082393e-04 9.99996814e-01 4.33540639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.505336195 meters 0.08672040031549498 Centerline is valid? [True, True] Translation: X:88.96, Y:2.12, Z:0.43 [[ 9.99960454e-01 -8.66963089e-03 -1.98191408e-03 8.89629386e+01] [ 8.66926444e-03 9.99962403e-01 -1.93409438e-04 2.12140592e+00] [ 1.98351635e-03 1.76220052e-04 9.99998017e-01 4.29974042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.535336195 meters 0.09444050133564713 Centerline is valid? [True, True] Translation: X:88.99, Y:2.13, Z:0.43 [[ 9.99979823e-01 -5.86580800e-03 -2.43840990e-03 8.89925888e+01] [ 5.86524522e-03 9.99982771e-01 -2.37884996e-04 2.12940924e+00] [ 2.43976327e-03 2.23578324e-04 9.99996999e-01 4.30079244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.565336195 meters 0.1035201482573921 Centerline is valid? [True, False] Translation: X:88.99, Y:2.13, Z:0.43 [[ 9.99980464e-01 -5.81300467e-03 -2.29782341e-03 8.89919666e+01] [ 5.81290223e-03 9.99983104e-01 -5.12546783e-05 2.12845813e+00] [ 2.29808253e-03 3.78966541e-05 9.99997359e-01 4.30642299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.595336195 meters 0.10784511689576899 Centerline is valid? [False, False] Translation: X:88.97, Y:2.12, Z:0.43 [[ 9.99997862e-01 1.32426010e-03 1.58843301e-03 8.89698242e+01] [-1.31814350e-03 9.99991737e-01 -3.84559996e-03 2.12247432e+00] [-1.59351246e-03 3.84349796e-03 9.99991344e-01 4.28478141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62533619499999 meters 0.1129057792801483 Centerline is valid? [False, False] Translation: X:88.97, Y:2.12, Z:0.43 [[ 9.99997460e-01 1.51198300e-03 1.67163123e-03 8.89697579e+01] [-1.50633468e-03 9.99993170e-01 -3.37503558e-03 2.12040495e+00] [-1.67672281e-03 3.37250897e-03 9.99992907e-01 4.28136972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65533619499999 meters 0.11574803849882821 Centerline is valid? [False, False] Translation: X:88.97, Y:2.12, Z:0.43 [[ 9.99996781e-01 1.81281920e-03 1.77543151e-03 8.89699103e+01] [-1.80814761e-03 9.99994909e-01 -2.62932094e-03 2.11722987e+00] [-1.78018896e-03 2.62610223e-03 9.99994967e-01 4.27280354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68533619499999 meters 0.12117888145715033 Centerline is valid? [False, False] Translation: X:88.97, Y:2.11, Z:0.43 [[ 9.99996198e-01 2.04041246e-03 1.85516191e-03 8.89701667e+01] [-2.03658888e-03 9.99995803e-01 -2.06060752e-03 2.11486167e+00] [-1.85935862e-03 2.05682148e-03 9.99996156e-01 4.26323392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71533619499999 meters 0.12413409080317543 Centerline is valid? [False, False] Translation: X:88.97, Y:2.11, Z:0.43 [[ 9.99996074e-01 2.08297264e-03 1.87447327e-03 8.89703402e+01] [-2.07931411e-03 9.99995934e-01 -1.95160028e-03 2.11444081e+00] [-1.87853078e-03 1.94769500e-03 9.99996339e-01 4.25814708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.745336195 meters 0.12389420865736452 Centerline is valid? [False, False] Translation: X:88.97, Y:2.11, Z:0.42 [[ 9.99995706e-01 2.13380944e-03 2.00891612e-03 8.89704091e+01] [-2.13009224e-03 9.99996019e-01 -1.85067739e-03 2.11413018e+00] [-2.01285712e-03 1.84639027e-03 9.99996270e-01 4.24720233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.775336195 meters 0.12508006410350708 Centerline is valid? [False, False] Translation: X:88.96, Y:2.11, Z:0.42 [[ 9.99994122e-01 1.42654852e-03 -3.11778994e-03 8.89550095e+01] [-1.40651143e-03 9.99978406e-01 6.41947065e-03 2.10867546e+00] [ 3.12688030e-03 -6.41504771e-03 9.99974535e-01 4.22927121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.805336195 meters 0.1323605856904595 Centerline is valid? [False, False] Translation: X:88.97, Y:2.12, Z:0.43 [[ 9.99983669e-01 4.64177349e-03 3.33415834e-03 8.89675968e+01] [-4.64282601e-03 9.99989175e-01 3.08007764e-04 2.11801122e+00] [-3.33269255e-03 -3.23482651e-04 9.99994394e-01 4.25388870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.835336195 meters 0.1364668072270165 Centerline is valid? [False, False] Translation: X:88.97, Y:2.12, Z:0.43 [[ 9.99984543e-01 4.23579711e-03 3.60151104e-03 8.89661938e+01] [-4.23288209e-03 9.99990708e-01 -8.16624228e-04 2.12268150e+00] [-3.60493663e-03 8.01366834e-04 9.99993181e-01 4.26848057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.865336195 meters 0.14342347058605623 Centerline is valid? [False, False] Translation: X:88.97, Y:2.12, Z:0.43 [[ 9.99984309e-01 4.22067754e-03 3.68349259e-03 8.89660215e+01] [-4.21754658e-03 9.99990739e-01 -8.57351608e-04 2.12288258e+00] [-3.68707708e-03 8.41802853e-04 9.99992848e-01 4.26665047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.895336195 meters 0.13165214577028142 Centerline is valid? [False, False] Translation: X:88.97, Y:2.13, Z:0.43 [[ 9.99985059e-01 3.94867397e-03 3.78020625e-03 8.89656154e+01] [-3.94292247e-03 9.99991060e-01 -1.52772348e-03 2.12587446e+00] [-3.78620493e-03 1.51279560e-03 9.99991688e-01 4.26783291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.925336195 meters 0.12901470469890555 Centerline is valid? [False, False] Translation: X:88.96, Y:2.14, Z:0.43 [[ 9.99988775e-01 2.82064572e-03 3.80704862e-03 8.89635931e+01] [-2.80582329e-03 9.99988485e-01 -3.89315927e-03 2.13550320e+00] [-3.81798600e-03 3.88243367e-03 9.99985175e-01 4.29820926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.955336195 meters 0.13635816989435137 Centerline is valid? [False, False] Translation: X:88.99, Y:2.14, Z:0.43 [[ 9.99999640e-01 2.43808658e-04 8.13290286e-04 8.89851695e+01] [-2.47998515e-04 9.99986679e-01 5.15562046e-03 2.13758613e+00] [-8.12022467e-04 -5.15582030e-03 9.99986379e-01 4.30715290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98533619499999 meters 0.1274366274329139 Centerline is valid? [False, False] Translation: X:88.96, Y:2.15, Z:0.44 [[ 9.99990078e-01 -4.45992726e-04 -4.43215874e-03 8.89619552e+01] [ 4.13793281e-04 9.99973537e-01 -7.26322084e-03 2.14677633e+00] [ 4.43528079e-03 7.26131478e-03 9.99963800e-01 4.39954260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01533619499999 meters 0.12779918629606926 Centerline is valid? [False, False] Translation: X:88.96, Y:2.15, Z:0.44 [[ 9.99989543e-01 -7.39203071e-04 -4.51292523e-03 8.89617964e+01] [ 7.03361786e-04 9.99968243e-01 -7.93834677e-03 2.14972056e+00] [ 4.51864996e-03 7.93508954e-03 9.99958307e-01 4.40688449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04533619499999 meters 0.1277763110379895 Centerline is valid? [False, False] Translation: X:88.96, Y:2.15, Z:0.44 [[ 9.99983735e-01 3.31514737e-03 -4.64097654e-03 8.89620336e+01] [-3.33455065e-03 9.99985707e-01 -4.17938511e-03 2.15199248e+00] [ 4.62705493e-03 4.19479270e-03 9.99980497e-01 4.40926534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07533619499999 meters 0.1187100068054006 Centerline is valid? [False, False] Translation: X:88.95, Y:2.15, Z:0.43 [[ 9.99999418e-01 8.69738702e-04 -6.38491290e-04 8.89494801e+01] [-8.70777458e-04 9.99998295e-01 -1.62842024e-03 2.14881415e+00] [ 6.37073901e-04 1.62897527e-03 9.99998470e-01 4.31925877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10533619499999 meters 0.1010088130421781 Centerline is valid? [False, False] Translation: X:88.95, Y:2.15, Z:0.43 [[ 9.99999182e-01 8.63998659e-04 -9.42769572e-04 8.89505121e+01] [-8.65535507e-04 9.99998295e-01 -1.63095315e-03 2.14896393e+00] [ 9.41358824e-04 1.63176781e-03 9.99998226e-01 4.31481056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.135336195 meters 0.09595082322995242 Centerline is valid? [False, True] Translation: X:88.95, Y:2.16, Z:0.43 [[ 9.99999124e-01 1.48163696e-04 -1.31529770e-03 8.89500462e+01] [-1.52287371e-04 9.99995072e-01 -3.13561879e-03 2.15500759e+00] [ 1.31482664e-03 3.13581634e-03 9.99994219e-01 4.34634727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.165336195 meters 0.09055722787764897 Centerline is valid? [True, True] Translation: X:88.98, Y:2.16, Z:0.44 [[ 9.99985965e-01 -5.28302223e-03 3.98164792e-04 8.89804197e+01] [ 5.28300786e-03 9.99986044e-01 3.71463247e-05 2.15667559e+00] [-3.98355480e-04 -3.50422957e-05 9.99999920e-01 4.39454657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.195336195 meters 0.08052329531883093 Centerline is valid? [True, True] Translation: X:89.01, Y:2.15, Z:0.44 [[ 9.99893109e-01 -1.42932897e-02 3.07763231e-03 8.90111514e+01] [ 1.42924730e-02 9.99897816e-01 2.87191912e-04 2.15285296e+00] [-3.08142275e-03 -2.43174237e-04 9.99995223e-01 4.43666859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.225336195 meters 0.07146247183410634 Centerline is valid? [True, True] Translation: X:89.04, Y:2.14, Z:0.44 [[ 9.99782375e-01 -2.04411563e-02 4.16680218e-03 8.90432042e+01] [ 2.04397125e-02 9.99791012e-01 3.88802539e-04 2.13711143e+00] [-4.17387894e-03 -3.03549687e-04 9.99991243e-01 4.35988599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.255336195 meters 0.07170065743814563 Centerline is valid? [True, True] Translation: X:89.07, Y:2.14, Z:0.43 [[ 9.99703202e-01 -2.39931489e-02 4.22335276e-03 8.90729308e+01] [ 2.39916971e-02 9.99712080e-01 3.94086738e-04 2.14004232e+00] [-4.23159215e-03 -2.92644373e-04 9.99991004e-01 4.33851996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.285336195 meters 0.07399032296936597 Centerline is valid? [True, True] Translation: X:89.10, Y:2.15, Z:0.44 [[ 9.99694901e-01 -2.42958155e-02 4.45175048e-03 8.91035015e+01] [ 2.42942052e-02 9.99704766e-01 4.15436549e-04 2.15004012e+00] [-4.46052954e-03 -3.07158060e-04 9.99990005e-01 4.37007321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.315336195 meters 0.06357897585943491 Centerline is valid? [True, True] Translation: X:89.14, Y:2.15, Z:0.44 [[ 9.99663260e-01 -2.56967964e-02 3.61115578e-03 8.91355561e+01] [ 2.56957480e-02 9.99669753e-01 3.36444511e-04 2.14801455e+00] [-3.61860875e-03 -2.43539868e-04 9.99993423e-01 4.41507476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.345336195 meters 0.07257684896291855 Centerline is valid? [True, True] Translation: X:89.17, Y:2.16, Z:0.44 [[ 9.99658291e-01 -2.60234342e-02 2.46609272e-03 8.91661100e+01] [ 2.60229455e-02 9.99661319e-01 2.30024153e-04 2.16321114e+00] [-2.47124352e-03 -1.65770555e-04 9.99996933e-01 4.40802101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37533619499999 meters 0.07257684896291855 Centerline is valid? [True, True] Translation: X:89.20, Y:2.17, Z:0.44 [[ 9.99663121e-01 -2.58372483e-02 2.46612931e-03 8.91987157e+01] [ 2.58367601e-02 9.99666149e-01 2.29630913e-04 2.16605455e+00] [-2.47123902e-03 -1.65836763e-04 9.99996933e-01 4.40649183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40533619499999 meters 0.06664931333513623 Centerline is valid? [True, True] Translation: X:89.23, Y:2.16, Z:0.44 [[ 9.99699313e-01 -2.44640927e-02 1.67080924e-03 8.92305217e+01] [ 2.44638677e-02 9.99700703e-01 1.55018102e-04 2.15649689e+00] [-1.67410154e-03 -1.14097034e-04 9.99998592e-01 4.36219067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43533619499999 meters 0.07418986693782544 Centerline is valid? [True, True] Translation: X:89.26, Y:2.16, Z:0.43 [[ 9.99756290e-01 -2.20356849e-02 1.33744404e-03 8.92595218e+01] [ 2.20355385e-02 9.99757180e-01 1.24108237e-04 2.16346302e+00] [-1.33985409e-03 -9.46066906e-05 9.99999098e-01 4.32445547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46533619499999 meters 0.07094565102736827 Centerline is valid? [True, True] Translation: X:89.29, Y:2.16, Z:0.43 [[ 9.99798886e-01 -2.00035124e-02 1.43046665e-03 8.92908652e+01] [ 2.00033429e-02 9.99799904e-01 1.32681639e-04 2.16321820e+00] [-1.43283452e-03 -1.04040840e-04 9.99998968e-01 4.33504757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.495336195 meters 0.07638210686557981 Centerline is valid? [True, True] Translation: X:89.32, Y:2.18, Z:0.44 [[ 9.99900816e-01 -1.38629989e-02 2.48506374e-03 8.93199825e+01] [ 1.38624688e-02 9.99903885e-01 2.30409645e-04 2.17832891e+00] [-2.48801906e-03 -1.95937673e-04 9.99996886e-01 4.38210045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.525336195 meters 0.08232677318538328 Centerline is valid? [True, True] Translation: X:89.35, Y:2.19, Z:0.43 [[ 9.99976133e-01 -6.87810511e-03 6.51356724e-04 8.93501077e+01] [ 6.87806721e-03 9.99976344e-01 6.04021941e-05 2.18807081e+00] [-6.51756768e-04 -5.59206772e-05 9.99999786e-01 4.34829972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.555336195 meters 0.0884170493626682 Centerline is valid? [True, True] Translation: X:89.38, Y:2.20, Z:0.43 [[ 9.99993669e-01 -3.43003283e-03 -9.47268434e-04 8.93792143e+01] [ 3.42995142e-03 9.99994114e-01 -8.75475144e-05 2.19676253e+00] [ 9.47563149e-04 8.42978754e-05 9.99999548e-01 4.31680370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.585336195 meters 0.09387352520456849 Centerline is valid? [True, True] Translation: X:89.41, Y:2.21, Z:0.43 [[ 9.99998579e-01 -2.88601052e-04 -1.66112664e-03 8.94084310e+01] [ 2.88346272e-04 9.99999947e-01 -1.53614967e-04 2.20555337e+00] [ 1.66117088e-03 1.53135769e-04 9.99998609e-01 4.29928216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.615336195 meters 0.10038021110457117 Centerline is valid? [True, False] Translation: X:89.41, Y:2.21, Z:0.43 [[ 9.99998862e-01 -6.18413182e-04 -1.37607615e-03 8.94069273e+01] [ 6.16994571e-04 9.99999278e-01 -1.03109645e-03 2.20895743e+00] [ 1.37671280e-03 1.03024624e-03 9.99998522e-01 4.31414307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.645336195 meters 0.10455878684405195 Centerline is valid? [False, False] Translation: X:89.41, Y:2.21, Z:0.43 [[ 9.99998942e-01 -9.22451321e-04 -1.12456611e-03 8.94056240e+01] [ 9.20310870e-04 9.99997767e-01 -1.90239093e-03 2.21242410e+00] [ 1.12631846e-03 1.90135397e-03 9.99997558e-01 4.32783542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.675336195 meters 0.1123599874905581 Centerline is valid? [False, False] Translation: X:89.40, Y:2.21, Z:0.43 [[ 9.99999003e-01 -1.10026402e-03 -8.85074467e-04 8.94048411e+01] [ 1.09809326e-03 9.99996397e-01 -2.44939119e-03 2.21474674e+00] [ 8.87766255e-04 2.44841685e-03 9.99996609e-01 4.32861409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.705336195 meters 0.11515290389003296 Centerline is valid? [False, False] Translation: X:89.40, Y:2.22, Z:0.43 [[ 9.99998944e-01 -1.21010381e-03 -8.04760566e-04 8.94045355e+01] [ 1.20789889e-03 9.99995531e-01 -2.73471202e-03 2.21600022e+00] [ 8.08066255e-04 2.73373706e-03 9.99995937e-01 4.32951691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73533619499999 meters 0.1195266953417326 Centerline is valid? [False, False] Translation: X:89.40, Y:2.22, Z:0.43 [[ 9.99998421e-01 -1.62338015e-03 -7.22310984e-04 8.94038905e+01] [ 1.62056067e-03 9.99991132e-01 -3.88702969e-03 2.22088625e+00] [ 7.28614706e-04 3.88585301e-03 9.99992185e-01 4.33612833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76533619499999 meters 0.1112059022577583 Centerline is valid? [False, False] Translation: X:89.41, Y:2.22, Z:0.43 [[ 9.99998581e-01 -2.99386133e-04 -1.65760208e-03 8.94098382e+01] [ 2.94396749e-04 9.99995428e-01 -3.00942738e-03 2.22467612e+00] [ 1.65849548e-03 3.00893512e-03 9.99994098e-01 4.29359849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79533619499999 meters 0.11534687244380823 Centerline is valid? [False, False] Translation: X:89.41, Y:2.23, Z:0.43 [[ 9.99998535e-01 -7.88877826e-04 -1.51935219e-03 8.94086822e+01] [ 7.82404271e-04 9.99990634e-01 -4.25662506e-03 2.22988219e+00] [ 1.52269591e-03 4.25543008e-03 9.99989786e-01 4.30885404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82533619499999 meters 0.10515205437284343 Centerline is valid? [False, False] Translation: X:89.40, Y:2.22, Z:0.42 [[ 9.99997679e-01 1.11793186e-03 1.84203202e-03 8.93967573e+01] [-1.12510893e-03 9.99991763e-01 3.89986253e-03 2.22286222e+00] [-1.83765707e-03 -3.90192596e-03 9.99990699e-01 4.19494521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85533619499999 meters 0.1090989850740933 Centerline is valid? [False, False] Translation: X:89.40, Y:2.23, Z:0.42 [[ 9.99997966e-01 7.53685420e-04 1.87095513e-03 8.93965741e+01] [-7.59296213e-04 9.99995212e-01 2.99999537e-03 2.22688530e+00] [-1.86868512e-03 -3.00140987e-03 9.99993750e-01 4.19435384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.885336195 meters 0.10449060699285223 Centerline is valid? [False, False] Translation: X:89.39, Y:2.24, Z:0.42 [[ 9.99998107e-01 -6.01746940e-04 1.85032954e-03 8.93940407e+01] [ 6.01438117e-04 9.99999805e-01 1.67453423e-04 2.23820275e+00] [-1.85042994e-03 -1.66340247e-04 9.99998274e-01 4.23631300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.915336195 meters 0.10113336887473294 Centerline is valid? [False, False] Translation: X:89.39, Y:2.24, Z:0.43 [[ 9.99997401e-01 -1.37971120e-03 1.81493986e-03 8.93923340e+01] [ 1.38239399e-03 9.99997953e-01 -1.47775158e-03 2.24480113e+00] [-1.81289728e-03 1.48025670e-03 9.99997261e-01 4.26676457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.945336195 meters 0.11007635894284351 Centerline is valid? [False, False] Translation: X:89.39, Y:2.25, Z:0.43 [[ 9.99997274e-01 -1.46413636e-03 1.81878307e-03 8.93922306e+01] [ 1.46719847e-03 9.99997507e-01 -1.68341161e-03 2.24570322e+00] [-1.81631379e-03 1.68607554e-03 9.99996929e-01 4.26834640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.975336195 meters 0.10108463805089488 Centerline is valid? [False, False] Translation: X:89.39, Y:2.25, Z:0.43 [[ 9.99997533e-01 -1.36434532e-03 1.75301058e-03 8.93930977e+01] [ 1.36698003e-03 9.99997937e-01 -1.50264577e-03 2.24528361e+00] [-1.75095683e-03 1.50503839e-03 9.99997335e-01 4.25360877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.005336195 meters 0.09457447540060629 Centerline is valid? [False, True] Translation: X:89.39, Y:2.25, Z:0.43 [[ 9.99997263e-01 -1.65270554e-03 1.65612511e-03 8.93929731e+01] [ 1.65633751e-03 9.99996221e-01 -2.19408903e-03 2.24820920e+00] [-1.65249267e-03 2.19682612e-03 9.99996222e-01 4.26108043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.035336195 meters 0.08668404434528494 Centerline is valid? [True, True] Translation: X:89.42, Y:2.25, Z:0.43 [[ 9.99984501e-01 -5.24276380e-03 1.87404822e-03 8.94246077e+01] [ 5.24242669e-03 9.99986241e-01 1.84753134e-04 2.24608956e+00] [-1.87499106e-03 -1.74925710e-04 9.99998227e-01 4.27649859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.065336195 meters 0.07888137563867126 Centerline is valid? [True, True] Translation: X:89.46, Y:2.25, Z:0.43 [[ 9.99896168e-01 -1.43928342e-02 -7.06146318e-04 8.94551838e+01] [ 1.43927886e-02 9.99896416e-01 -6.95928251e-05 2.24752436e+00] [ 7.07074811e-04 5.94221845e-05 9.99999748e-01 4.27948988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.095336195 meters 0.07921536770142905 Centerline is valid? [True, True] Translation: X:89.48, Y:2.25, Z:0.42 [[ 9.99816255e-01 -1.90421608e-02 -2.20288168e-03 8.94846208e+01] [ 1.90417283e-02 9.99818666e-01 -2.17124710e-04 2.24853103e+00] [ 2.20661674e-03 1.75138140e-04 9.99997550e-01 4.23397401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12533619499999 meters 0.07606370007231966 Centerline is valid? [True, True] Translation: X:89.52, Y:2.24, Z:0.42 [[ 9.99610055e-01 -2.78298651e-02 -2.28816192e-03 8.95151698e+01] [ 2.78294214e-02 9.99612661e-01 -2.25531896e-04 2.23948093e+00] [ 2.29355215e-03 1.61765728e-04 9.99997357e-01 4.17292339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15533619499999 meters 0.0676539150470344 Centerline is valid? [True, True] Translation: X:89.55, Y:2.23, Z:0.42 [[ 9.99496147e-01 -3.17164178e-02 -1.23295579e-03 8.95464937e+01] [ 3.17162919e-02 9.99496904e-01 -1.21528899e-04 2.23121727e+00] [ 1.23618996e-03 8.23628809e-05 9.99999233e-01 4.19909829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18533619499999 meters 0.0680809311923379 Centerline is valid? [True, True] Translation: X:89.58, Y:2.23, Z:0.43 [[ 9.99318439e-01 -3.69092853e-02 6.02268879e-04 8.95760086e+01] [ 3.69092562e-02 9.99318620e-01 5.93549962e-05 2.23480663e+00] [-6.04049255e-04 -3.70852457e-05 9.99999817e-01 4.25458858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21533619499999 meters 0.059642709933347256 Centerline is valid? [True, True] Translation: X:89.61, Y:2.22, Z:0.43 [[ 9.99197217e-01 -4.00612988e-02 -1.20760189e-04 8.96074349e+01] [ 4.00612977e-02 9.99197224e-01 -1.18976655e-05 2.22449846e+00] [ 1.21139882e-04 7.05030433e-06 9.99999993e-01 4.25661219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.245336195 meters 0.05487248776916655 Centerline is valid? [True, True] Translation: X:89.64, Y:2.22, Z:0.43 [[ 9.99185332e-01 -4.02846128e-02 2.41291676e-03 8.96404186e+01] [ 4.02841556e-02 9.99188236e-01 2.37787507e-04 2.21810146e+00] [-2.42053721e-03 -1.40391475e-04 9.99997061e-01 4.30395223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.275336195 meters 0.05943980754601926 Centerline is valid? [True, True] Translation: X:89.67, Y:2.23, Z:0.43 [[ 9.99231598e-01 -3.90524588e-02 3.33445658e-03 8.96711928e+01] [ 3.90515812e-02 9.99237142e-01 3.27911153e-04 2.22603473e+00] [-3.34471860e-03 -1.97443384e-04 9.99994387e-01 4.32371860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.305336195 meters 0.0672857917052183 Centerline is valid? [True, True] Translation: X:89.70, Y:2.24, Z:0.43 [[ 9.99422266e-01 -3.38669487e-02 2.85711789e-03 8.97004571e+01] [ 3.38662841e-02 9.99426333e-01 2.80671414e-04 2.23602015e+00] [-2.86498434e-03 -1.83749294e-04 9.99995879e-01 4.30448802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.335336195 meters 0.06463324619573402 Centerline is valid? [True, True] Translation: X:89.73, Y:2.23, Z:0.43 [[ 9.99536151e-01 -3.04026110e-02 1.77902593e-03 8.97314183e+01] [ 3.04023479e-02 9.99537727e-01 1.74745395e-04 2.23262211e+00] [-1.78351625e-03 -1.20577774e-04 9.99998402e-01 4.27473401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.365336195 meters 0.07386474877194074 Centerline is valid? [True, True] Translation: X:89.76, Y:2.24, Z:0.42 [[ 9.99706198e-01 -2.41365432e-02 -2.22375009e-03 8.97604453e+01] [ 2.41361169e-02 9.99708658e-01 -2.18362110e-04 2.24418388e+00] [ 2.22837272e-03 1.64625262e-04 9.99997504e-01 4.21984993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.395336195 meters 0.07277403213256224 Centerline is valid? [True, True] Translation: X:89.79, Y:2.25, Z:0.42 [[ 9.99777969e-01 -2.08325791e-02 -3.16486511e-03 8.97908996e+01] [ 2.08316990e-02 9.99782948e-01 -3.10772872e-04 2.24775580e+00] [ 3.17065237e-03 2.44774353e-04 9.99994944e-01 4.23795450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.425336195 meters 0.07701710469957947 Centerline is valid? [True, True] Translation: X:89.82, Y:2.26, Z:0.43 [[ 9.99871184e-01 -1.59406684e-02 -1.87355581e-03 8.98202926e+01] [ 1.59403515e-02 9.99872928e-01 -1.83972597e-04 2.25796867e+00] [ 1.87625038e-03 1.54083760e-04 9.99998228e-01 4.29067341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.455336195 meters 0.0789097659855564 Centerline is valid? [True, True] Translation: X:89.85, Y:2.26, Z:0.43 [[ 9.99900341e-01 -1.40902772e-02 -8.78513411e-04 8.98512791e+01] [ 1.40902069e-02 9.99900724e-01 -8.62294008e-05 2.26037676e+00] [ 8.79641192e-04 7.38423716e-05 9.99999610e-01 4.29147900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48533619499999 meters 0.08445592080630239 Centerline is valid? [True, True] Translation: X:89.88, Y:2.26, Z:0.43 [[ 9.99962342e-01 -8.67715310e-03 1.45793379e-04 8.98817478e+01] [ 8.67715111e-03 9.99962353e-01 1.43125894e-05 2.26298393e+00] [-1.45912083e-04 -1.30469792e-05 9.99999989e-01 4.26949115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51533619499999 meters 0.08811712269107203 Centerline is valid? [True, True] Translation: X:89.91, Y:2.27, Z:0.43 [[ 9.99986224e-01 -4.27939590e-03 3.03952136e-03 8.99120067e+01] [ 4.27850838e-03 9.99990803e-01 2.98433654e-04 2.27001581e+00] [-3.04077052e-03 -2.85424926e-04 9.99995336e-01 4.31036805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54533619499999 meters 0.08944533321216254 Centerline is valid? [True, True] Translation: X:89.94, Y:2.27, Z:0.43 [[ 9.99988817e-01 -3.34037654e-03 3.34793464e-03 8.99431833e+01] [ 3.33929469e-03 9.99994371e-01 3.28677250e-04 2.27382002e+00] [-3.34901370e-03 -3.17493834e-04 9.99994342e-01 4.31317450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57533619499999 meters 0.08918295220211293 Centerline is valid? [True, True] Translation: X:89.98, Y:2.27, Z:0.43 [[ 9.99993611e-01 -3.41942485e-03 1.04213646e-03 8.99756676e+01] [ 3.41932003e-03 9.99994149e-01 1.02348220e-04 2.27000419e+00] [-1.04248033e-03 -9.87841682e-05 9.99999452e-01 4.25157776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60533619499999 meters 0.08725159653204742 Centerline is valid? [True, True] Translation: X:90.01, Y:2.27, Z:0.42 [[ 9.99989051e-01 -4.67886717e-03 -7.57410753e-05 9.00063756e+01] [ 4.67886662e-03 9.99989054e-01 -7.43066459e-06 2.26687771e+00] [ 7.57750134e-05 7.07620084e-06 9.99999997e-01 4.23429657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.635336195 meters 0.086657824141376 Centerline is valid? [True, True] Translation: X:90.04, Y:2.27, Z:0.42 [[ 9.99967399e-01 -7.94429450e-03 -1.44549591e-03 9.00358859e+01] [ 7.94409767e-03 9.99968435e-01 -1.41861724e-04 2.26600735e+00] [ 1.44657728e-03 1.30373939e-04 9.99998945e-01 4.24434587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.665336195 meters 0.08376918930911265 Centerline is valid? [True, True] Translation: X:90.07, Y:2.26, Z:0.42 [[ 9.99949131e-01 -9.83259865e-03 -2.24862505e-03 9.00667576e+01] [ 9.83212729e-03 9.99951639e-01 -2.20580404e-04 2.26407181e+00] [ 2.25068518e-03 1.98460416e-04 9.99997448e-01 4.24670786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.695336195 meters 0.08550415113112177 Centerline is valid? [True, True] Translation: X:90.10, Y:2.26, Z:0.42 [[ 9.99923528e-01 -1.22921072e-02 -1.35712773e-03 9.00967514e+01] [ 1.22919377e-02 9.99924442e-01 -1.33187218e-04 2.26144886e+00] [ 1.35866234e-03 1.16495304e-04 9.99999070e-01 4.23550385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.725336195 meters 0.08671641242355707 Centerline is valid? [True, True] Translation: X:90.13, Y:2.26, Z:0.42 [[ 9.99924296e-01 -1.22653917e-02 -9.81039806e-04 9.01283098e+01] [ 1.22653032e-02 9.99924774e-01 -9.61439360e-05 2.26061154e+00] [ 9.82145249e-04 8.41039069e-05 9.99999514e-01 4.22407550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.755336195 meters 0.08630738952994124 Centerline is valid? [True, True] Translation: X:90.16, Y:2.25, Z:0.42 [[ 9.99934531e-01 -1.14411333e-02 1.82958395e-04 9.01606737e+01] [ 1.14411302e-02 9.99934548e-01 1.80176016e-05 2.25396237e+00] [-1.83152562e-04 -1.59231712e-05 9.99999983e-01 4.21567999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.785336195 meters 0.08741375867646642 Centerline is valid? [True, True] Translation: X:90.19, Y:2.25, Z:0.42 [[ 9.99946148e-01 -1.03349296e-02 9.43080826e-04 9.01906574e+01] [ 1.03348470e-02 9.99946590e-01 9.24646125e-05 2.25227702e+00] [-9.43986071e-04 -8.27130371e-05 9.99999551e-01 4.23795270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.815336195 meters 0.09075195970996487 Centerline is valid? [True, True] Translation: X:90.22, Y:2.26, Z:0.42 [[ 9.99953691e-01 -9.62334776e-03 8.68553542e-05 9.02208023e+01] [ 9.62334706e-03 9.99953694e-01 8.56598498e-06 2.25819078e+00] [-8.69337658e-05 -7.72974908e-06 9.99999996e-01 4.24792512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.845336195 meters 0.09144591692545795 Centerline is valid? [True, True] Translation: X:90.25, Y:2.26, Z:0.43 [[ 9.99965376e-01 -8.11020557e-03 -1.86295339e-03 9.02513257e+01] [ 8.10987942e-03 9.99967098e-01 -1.82558841e-04 2.26002323e+00] [ 1.86437269e-03 1.67444193e-04 9.99998248e-01 4.25191790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87533619499999 meters 0.091595860641854 Centerline is valid? [True, True] Translation: X:90.28, Y:2.26, Z:0.42 [[ 9.99971002e-01 -7.24570543e-03 -2.34414908e-03 9.02836691e+01] [ 7.24518711e-03 9.99973727e-01 -2.29524793e-04 2.25966213e+00] [ 2.34575056e-03 2.12534339e-04 9.99997226e-01 4.23563682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90533619499999 meters 0.09293100032123419 Centerline is valid? [True, True] Translation: X:90.32, Y:2.25, Z:0.42 [[ 9.99971058e-01 -7.39812024e-03 -1.77521702e-03 9.03163326e+01] [ 7.39782343e-03 9.99972621e-01 -1.73705631e-04 2.25200409e+00] [ 1.77645351e-03 1.60567862e-04 9.99998409e-01 4.19569210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93533619499999 meters 0.09237282757522713 Centerline is valid? [True, True] Translation: X:90.35, Y:2.24, Z:0.42 [[ 9.99967518e-01 -8.03741267e-03 -6.01788441e-04 9.03488649e+01] [ 8.03737872e-03 9.99967698e-01 -5.88197171e-05 2.24494830e+00] [ 6.02241760e-04 5.39810049e-05 9.99999817e-01 4.20324948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96533619499999 meters 0.09563220541327443 Centerline is valid? [True, True] Translation: X:90.38, Y:2.25, Z:0.42 [[ 9.99968708e-01 -7.90081769e-03 -4.00592380e-04 9.03797764e+01] [ 7.90080265e-03 9.99968787e-01 -3.91140044e-05 2.24875871e+00] [ 4.00888909e-04 3.59477791e-05 9.99999919e-01 4.20825108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.995336195 meters 0.09177260269134195 Centerline is valid? [True, True] Translation: X:90.41, Y:2.24, Z:0.42 [[ 9.99972765e-01 -7.38000099e-03 -7.46720411e-05 9.04121502e+01] [ 7.38000047e-03 9.99972767e-01 -7.22347751e-06 2.24420717e+00] [ 7.47233168e-05 6.67220108e-06 9.99999997e-01 4.22478457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.025336195 meters 0.09321073095848324 Centerline is valid? [True, True] Translation: X:90.44, Y:2.25, Z:0.43 [[ 9.99978784e-01 -6.44382107e-03 9.53430481e-04 9.04445536e+01] [ 6.44373502e-03 9.99979235e-01 9.33015838e-05 2.24594721e+00] [-9.54011901e-04 -8.71559509e-05 9.99999541e-01 4.26524020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.055336195 meters 0.09435091088697918 Centerline is valid? [True, True] Translation: X:90.48, Y:2.24, Z:0.42 [[ 9.99981267e-01 -6.12092003e-03 -2.66571864e-05 9.04775907e+01] [ 6.12091996e-03 9.99981267e-01 -2.49970146e-06 2.24229040e+00] [ 2.66719875e-05 2.33648813e-06 1.00000000e+00 4.24187703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.085336195 meters 0.09535198890988743 Centerline is valid? [True, True] Translation: X:90.51, Y:2.24, Z:0.42 [[ 9.99977232e-01 -6.68792449e-03 -8.97927767e-04 9.05090034e+01] [ 6.68784849e-03 9.99977632e-01 -8.76162451e-05 2.24047328e+00] [ 8.98493654e-04 8.16090455e-05 9.99999593e-01 4.21663070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.115336195 meters 0.09382974375669609 Centerline is valid? [True, True] Translation: X:90.54, Y:2.23, Z:0.42 [[ 9.99963253e-01 -8.57123320e-03 1.63377333e-04 9.05408225e+01] [ 8.57123070e-03 9.99963266e-01 1.59661292e-05 2.23246061e+00] [-1.63508181e-04 -1.45651977e-05 9.99999987e-01 4.23818889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.145336195 meters 0.09214438911639396 Centerline is valid? [True, True] Translation: X:90.57, Y:2.23, Z:0.43 [[ 9.99957467e-01 -9.08351186e-03 1.59838564e-03 9.05734640e+01] [ 9.08327382e-03 9.99958734e-01 1.56120819e-04 2.22983605e+00] [-1.59973781e-03 -1.41595604e-04 9.99998710e-01 4.26319524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.175336195 meters 0.0949490411656568 Centerline is valid? [True, True] Translation: X:90.61, Y:2.23, Z:0.43 [[ 9.99956081e-01 -9.10242570e-03 2.23184504e-03 9.06050544e+01] [ 9.10196198e-03 9.99958553e-01 2.17843295e-04 2.22877163e+00] [-2.23373544e-03 -1.97519559e-04 9.99997486e-01 4.26480497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.205336195 meters 0.09848902217972177 Centerline is valid? [True, True] Translation: X:90.64, Y:2.23, Z:0.43 [[ 9.99960190e-01 -8.12922269e-03 3.67885101e-03 9.06357817e+01] [ 8.12795675e-03 9.99966903e-01 3.58933435e-04 2.22923550e+00] [-3.68164710e-03 -3.29017604e-04 9.99993169e-01 4.28951452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23533619499999 meters 0.09804183923563317 Centerline is valid? [True, True] Translation: X:90.67, Y:2.23, Z:0.43 [[ 9.99965362e-01 -7.44945637e-03 3.71230283e-03 9.06681345e+01] [ 7.44816303e-03 9.99972196e-01 3.62095273e-04 2.22970352e+00] [-3.71489703e-03 -3.34432894e-04 9.99993044e-01 4.29460239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26533619499999 meters 0.09804183923563317 Centerline is valid? [True, True] Translation: X:90.70, Y:2.23, Z:0.43 [[ 9.99965891e-01 -7.37803228e-03 3.71232374e-03 9.07006803e+01] [ 7.37673925e-03 9.99972726e-01 3.61880782e-04 2.23273957e+00] [-3.71489246e-03 -3.34483594e-04 9.99993044e-01 4.29390506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29533619499999 meters 0.10078083747577565 Centerline is valid? [True, False] Translation: X:90.70, Y:2.23, Z:0.43 [[ 9.99970040e-01 -6.89643862e-03 3.51550140e-03 9.07022842e+01] [ 6.89132817e-03 9.99975183e-01 1.46373688e-03 2.22819949e+00] [-3.52550873e-03 -1.43946656e-03 9.99992749e-01 4.27369093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32533619499999 meters 0.08791956657140794 Centerline is valid? [False, True] Translation: X:90.70, Y:2.22, Z:0.43 [[ 9.99972874e-01 -6.53546782e-03 3.39693185e-03 9.07032570e+01] [ 6.52757946e-03 9.99975985e-01 2.32812520e-03 2.22446876e+00] [-3.41206566e-03 -2.30588830e-03 9.99991520e-01 4.26180650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35533619499999 meters 0.10541398925846311 Centerline is valid? [True, False] Translation: X:90.71, Y:2.21, Z:0.42 [[ 9.99980401e-01 -5.36017365e-03 3.23525009e-03 9.07054697e+01] [ 5.34429269e-03 9.99973726e-01 4.89757137e-03 2.21390570e+00] [-3.26141692e-03 -4.88018526e-03 9.99982773e-01 4.23528331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.385336195 meters 0.10613165678719061 Centerline is valid? [False, False] Translation: X:90.71, Y:2.21, Z:0.42 [[ 9.99982786e-01 -4.92547416e-03 3.18873212e-03 9.07060638e+01] [ 4.90649588e-03 9.99970366e-01 5.93238433e-03 2.20933300e+00] [-3.21785743e-03 -5.91663671e-03 9.99977319e-01 4.22771968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.415336195 meters 0.09925752686967192 Centerline is valid? [False, True] Translation: X:90.72, Y:2.21, Z:0.43 [[ 9.99986061e-01 -5.27764554e-03 -1.57377696e-04 9.07210986e+01] [ 5.27744605e-03 9.99985303e-01 -1.24215216e-03 2.21010280e+00] [ 1.63931021e-04 1.24130429e-03 9.99999216e-01 4.33486998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.445336195 meters 0.09897439539795315 Centerline is valid? [True, True] Translation: X:90.75, Y:2.21, Z:0.45 [[ 9.99971665e-01 -4.23633515e-03 6.22282759e-03 9.07521883e+01] [ 4.23253394e-03 9.99990848e-01 6.23891826e-04 2.21092362e+00] [-6.22541366e-03 -5.97535818e-04 9.99980443e-01 4.47231369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.475336195 meters 0.10081114370838098 Centerline is valid? [True, False] Translation: X:90.75, Y:2.21, Z:0.45 [[ 9.99972134e-01 -4.07865752e-03 6.25263901e-03 9.07519796e+01] [ 4.07244489e-03 9.99991202e-01 1.00601100e-03 2.20913441e+00] [-6.25668717e-03 -9.80519435e-04 9.99979946e-01 4.47560860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.505336195 meters 0.0996136697361617 Centerline is valid? [False, True] Translation: X:90.75, Y:2.21, Z:0.45 [[ 9.99973438e-01 -3.80474437e-03 6.21669757e-03 9.07526096e+01] [ 3.79449297e-03 9.99991423e-01 1.65997295e-03 2.20630348e+00] [-6.22296002e-03 -1.63633964e-03 9.99979298e-01 4.46559467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.535336195 meters 0.10644035811496802 Centerline is valid? [True, False] Translation: X:90.76, Y:2.19, Z:0.44 [[ 9.99981921e-01 -1.99100004e-03 5.67400841e-03 9.07580712e+01] [ 1.96126778e-03 9.99984343e-01 5.24083497e-03 2.19321664e+00] [-5.68435407e-03 -5.22961197e-03 9.99970169e-01 4.39211610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.565336195 meters 0.11082827747820588 Centerline is valid? [False, False] Translation: X:90.74, Y:2.19, Z:0.44 [[ 9.99991043e-01 1.31462009e-03 4.02318012e-03 9.07377207e+01] [-1.30145440e-03 9.99993796e-01 -3.27332727e-03 2.18918008e+00] [-4.02745834e-03 3.26806197e-03 9.99986550e-01 4.41568980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.595336195 meters 0.1012659751384326 Centerline is valid? [False, False] Translation: X:90.74, Y:2.19, Z:0.44 [[ 9.99976371e-01 5.71312932e-03 3.82321068e-03 9.07381860e+01] [-5.71814566e-03 9.99982803e-01 1.30243420e-03 2.18811583e+00] [-3.81570396e-03 -1.32426510e-03 9.99991843e-01 4.42040432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62533619499999 meters 0.10584081795587674 Centerline is valid? [False, False] Translation: X:90.75, Y:2.19, Z:0.45 [[ 9.99999036e-01 7.09544089e-04 1.19386208e-03 9.07487777e+01] [-7.17882942e-04 9.99975250e-01 6.99890100e-03 2.18992960e+00] [-1.18886650e-03 -6.99975130e-03 9.99974795e-01 4.53684318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65533619499999 meters 0.1032184661477798 Centerline is valid? [False, False] Translation: X:90.73, Y:2.19, Z:0.46 [[ 9.99995179e-01 2.32958726e-03 -2.05289558e-03 9.07253424e+01] [-2.33523484e-03 9.99993484e-01 -2.75294036e-03 2.18793971e+00] [ 2.04646899e-03 2.75772108e-03 9.99994103e-01 4.60926250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68533619499999 meters 0.10861907294376269 Centerline is valid? [False, False] Translation: X:90.75, Y:2.17, Z:0.45 [[ 9.99995062e-01 -7.70843669e-04 3.04673433e-03 9.07516676e+01] [ 7.53931701e-04 9.99984325e-01 5.54810714e-03 2.17358622e+00] [-3.05096329e-03 -5.54578271e-03 9.99979968e-01 4.49260040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71533619499999 meters 0.10333487316098794 Centerline is valid? [False, False] Translation: X:90.75, Y:2.17, Z:0.45 [[ 9.99984481e-01 -4.65618487e-03 3.05896793e-03 9.07525074e+01] [ 4.64938049e-03 9.99986710e-01 2.22776400e-03 2.16921985e+00] [-3.06930015e-03 -2.21350712e-03 9.99992840e-01 4.47751375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.745336195 meters 0.1115268146017268 Centerline is valid? [False, False] Translation: X:90.75, Y:2.17, Z:0.45 [[ 9.99985659e-01 -4.50053203e-03 2.90283782e-03 9.07531190e+01] [ 4.49291673e-03 9.99986462e-01 2.62460586e-03 2.16747133e+00] [-2.91461065e-03 -2.61152601e-03 9.99992342e-01 4.47517384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.775336195 meters 0.09967895020482533 Centerline is valid? [False, True] Translation: X:90.73, Y:2.17, Z:0.46 [[ 9.99971148e-01 -7.50085771e-03 -1.20028961e-03 9.07253081e+01] [ 7.48657951e-03 9.99905983e-01 -1.14880620e-02 2.17142158e+00] [ 1.28634708e-03 1.14787445e-02 9.99933290e-01 4.60446547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.805336195 meters 0.10357671690805144 Centerline is valid? [True, False] Translation: X:90.75, Y:2.16, Z:0.45 [[ 9.99952965e-01 -9.21587048e-03 3.02233705e-03 9.07465380e+01] [ 9.21880975e-03 9.99957045e-01 -9.60032288e-04 2.16463779e+00] [-3.01335969e-03 9.87849483e-04 9.99994972e-01 4.54728918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.835336195 meters 0.10279923355210996 Centerline is valid? [False, False] Translation: X:90.75, Y:2.15, Z:0.45 [[ 9.99963958e-01 -8.05341749e-03 2.68807295e-03 9.07488719e+01] [ 8.04689640e-03 9.99964676e-01 2.42799798e-03 2.15111506e+00] [-2.70753167e-03 -2.40627983e-03 9.99993440e-01 4.52778266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.865336195 meters 0.09153569889102439 Centerline is valid? [False, True] Translation: X:90.75, Y:2.15, Z:0.45 [[ 9.99968105e-01 -7.52683481e-03 2.67121809e-03 9.07492836e+01] [ 7.51665447e-03 9.99964526e-01 3.80091476e-03 2.14506939e+00] [-2.69973218e-03 -3.78071491e-03 9.99989209e-01 4.52215435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.895336195 meters 0.08892108378538298 Centerline is valid? [True, True] Translation: X:90.78, Y:2.14, Z:0.46 [[ 9.99959383e-01 -7.39244658e-03 5.15593824e-03 9.07837230e+01] [ 7.39006890e-03 9.99972578e-01 4.80053626e-04 2.13647627e+00] [-5.15934563e-03 -4.41931389e-04 9.99986593e-01 4.56308067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.925336195 meters 0.09314431015776926 Centerline is valid? [True, True] Translation: X:90.81, Y:2.14, Z:0.45 [[ 9.99967330e-01 -7.06804990e-03 3.92197853e-03 9.08145131e+01] [ 7.06667263e-03 9.99974964e-01 3.64914732e-04 2.14002792e+00] [-3.92445958e-03 -3.37187471e-04 9.99992242e-01 4.53327540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.955336195 meters 0.09253804672705311 Centerline is valid? [True, True] Translation: X:90.84, Y:2.14, Z:0.45 [[ 9.99987963e-01 -4.79646946e-03 1.03307938e-03 9.08448904e+01] [ 4.79637274e-03 9.99988493e-01 9.60798432e-05 2.13871136e+00] [-1.03352833e-03 -9.11236530e-05 9.99999462e-01 4.50316732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98533619499999 meters 0.09757677956871755 Centerline is valid? [True, True] Translation: X:90.88, Y:2.15, Z:0.45 [[ 9.99999338e-01 -1.79630857e-04 1.13629338e-03 9.08752075e+01] [ 1.79510896e-04 9.99999978e-01 1.05672763e-04 2.14763998e+00] [-1.13631233e-03 -1.05468716e-04 9.99999349e-01 4.53039902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01533619499999 meters 0.10293153645441237 Centerline is valid? [True, False] Translation: X:90.88, Y:2.14, Z:0.45 [[ 9.99999271e-01 4.86103748e-04 1.10565812e-03 9.08765700e+01] [-4.87862891e-04 9.99998615e-01 1.59132411e-03 2.14138699e+00] [-1.10488304e-03 -1.59186235e-03 9.99998123e-01 4.50829300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04533619499999 meters 0.11033332396328648 Centerline is valid? [False, False] Translation: X:90.84, Y:2.13, Z:0.45 [[ 9.99999593e-01 5.44393473e-04 -7.18928496e-04 9.08400146e+01] [-5.44798912e-04 9.99999693e-01 -5.63873984e-04 2.13444861e+00] [ 7.18621306e-04 5.64265426e-04 9.99999583e-01 4.47182615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07533619499999 meters 0.10983651772165932 Centerline is valid? [False, False] Translation: X:90.88, Y:2.13, Z:0.45 [[ 9.99999596e-01 2.42142715e-05 8.98351419e-04 9.08784139e+01] [-2.59591029e-05 9.99998113e-01 1.94229851e-03 2.13298314e+00] [-8.98302693e-04 -1.94232104e-03 9.99997710e-01 4.48046847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10533619499999 meters 0.10918718001195904 Centerline is valid? [False, False] Translation: X:90.85, Y:2.13, Z:0.46 [[ 9.99988863e-01 3.88489015e-03 -2.68001734e-03 9.08535504e+01] [-3.89948138e-03 9.99977486e-01 -5.46088186e-03 2.13479666e+00] [ 2.65874208e-03 5.47127172e-03 9.99981498e-01 4.56701545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.135336195 meters 0.10925133222978181 Centerline is valid? [False, False] Translation: X:90.86, Y:2.13, Z:0.47 [[ 9.99976494e-01 3.56914751e-03 -5.85436019e-03 9.08645469e+01] [-3.54711161e-03 9.99986602e-01 3.77008980e-03 2.13492285e+00] [ 5.86773776e-03 -3.74923511e-03 9.99975756e-01 4.68287920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.165336195 meters 0.11282877862717754 Centerline is valid? [False, False] Translation: X:90.88, Y:2.14, Z:0.47 [[ 9.99989401e-01 4.59624898e-03 2.70857679e-04 9.08811737e+01] [-4.59503631e-03 9.99980113e-01 -4.31952969e-03 2.14195180e+00] [-2.90705926e-04 4.31823930e-03 9.99990634e-01 4.67741590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.195336195 meters 0.12021820967898438 Centerline is valid? [False, False] Translation: X:90.88, Y:2.14, Z:0.47 [[ 9.99987229e-01 5.05122947e-03 1.63320470e-04 9.08824251e+01] [-5.05067554e-03 9.99982026e-01 -3.23072615e-03 2.13729258e+00] [-1.79636674e-04 3.22986002e-03 9.99994768e-01 4.65868324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.225336195 meters 0.11162400593873716 Centerline is valid? [False, False] Translation: X:90.88, Y:2.13, Z:0.46 [[ 9.99985008e-01 5.47518510e-03 7.50527779e-05 9.08835081e+01] [-5.47500816e-03 9.99982627e-01 -2.18382932e-03 2.13279923e+00] [-8.70083437e-05 2.18338566e-03 9.99997613e-01 4.64136434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.255336195 meters 0.10796063800701873 Centerline is valid? [False, False] Translation: X:90.88, Y:2.13, Z:0.46 [[ 9.99982097e-01 5.98381452e-03 -9.92872753e-06 9.08845884e+01] [-5.98382048e-03 9.99981788e-01 -7.85667414e-04 2.12690252e+00] [ 5.22725862e-06 7.85712760e-04 9.99999691e-01 4.62083479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.285336195 meters 0.10878088868713655 Centerline is valid? [False, False] Translation: X:90.88, Y:2.13, Z:0.46 [[ 9.99983919e-01 5.66819608e-03 -1.82753052e-04 9.08848266e+01] [-5.66847102e-03 9.99982747e-01 -1.54077072e-03 2.13027909e+00] [ 1.74016508e-04 1.54178188e-03 9.99998796e-01 4.62653931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.315336195 meters 0.10551360889759101 Centerline is valid? [False, False] Translation: X:90.88, Y:2.13, Z:0.46 [[ 9.99985334e-01 5.40837486e-03 -2.85933019e-04 9.08847396e+01] [-5.40898052e-03 9.99983035e-01 -2.16163236e-03 2.13302933e+00] [ 2.74237250e-04 2.16314727e-03 9.99997623e-01 4.63446994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.345336195 meters 0.10437920227438255 Centerline is valid? [False, False] Translation: X:90.90, Y:2.14, Z:0.47 [[ 9.99998444e-01 -1.67427485e-03 -5.55508392e-04 9.08995930e+01] [ 1.67540505e-03 9.99996515e-01 2.04035043e-03 2.13890695e+00] [ 5.52090349e-04 -2.04127795e-03 9.99997764e-01 4.69804759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37533619499999 meters 0.10072828553065932 Centerline is valid? [False, False] Translation: X:90.88, Y:2.14, Z:0.47 [[ 9.99984658e-01 1.83074774e-03 5.22794792e-03 9.08776795e+01] [-1.81225296e-03 9.99992091e-01 -3.54022274e-03 2.13687677e+00] [-5.23438783e-03 3.53069406e-03 9.99980067e-01 4.66790354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40533619499999 meters 0.1055250620884424 Centerline is valid? [False, False] Translation: X:90.92, Y:2.14, Z:0.47 [[ 9.99985976e-01 1.45465702e-03 5.09242335e-03 9.09206594e+01] [-1.45370909e-03 9.99998925e-01 -1.89841967e-04 2.13525888e+00] [-5.09269404e-03 1.82436403e-04 9.99987016e-01 4.65547348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43533619499999 meters 0.09809086949434422 Centerline is valid? [False, True] Translation: X:90.92, Y:2.13, Z:0.46 [[ 9.99986773e-01 1.76914387e-03 4.82950011e-03 9.09218972e+01] [-1.77320179e-03 9.99998078e-01 8.36083599e-04 2.13107936e+00] [-4.82801168e-03 -8.44636218e-04 9.99987988e-01 4.64325534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46533619499999 meters 0.09133526837844562 Centerline is valid? [True, True] Translation: X:90.95, Y:2.13, Z:0.46 [[ 9.99991038e-01 -1.13633655e-03 4.07836201e-03 9.09529132e+01] [ 1.13492990e-03 9.99999296e-01 3.47205004e-04 2.12510020e+00] [-4.07875368e-03 -3.42573238e-04 9.99991623e-01 4.63263557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.495336195 meters 0.08274247915202558 Centerline is valid? [True, True] Translation: X:90.98, Y:2.12, Z:0.46 [[ 9.99978682e-01 -6.26892768e-03 1.82644676e-03 9.09840124e+01] [ 6.26865403e-03 9.99980340e-01 1.55514093e-04 2.11978361e+00] [-1.82738576e-03 -1.44061415e-04 9.99998320e-01 4.61958521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.525336195 meters 0.08647447035128135 Centerline is valid? [True, True] Translation: X:91.01, Y:2.13, Z:0.46 [[ 9.99960579e-01 -8.70420630e-03 1.75443396e-03 9.10130045e+01] [ 8.70395767e-03 9.99962109e-01 1.49299371e-04 2.12908131e+00] [-1.75566701e-03 -1.34022966e-04 9.99998450e-01 4.62489014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.555336195 meters 0.07949382987869513 Centerline is valid? [True, True] Translation: X:91.04, Y:2.12, Z:0.46 [[ 9.99918309e-01 -1.25598684e-02 2.37183160e-03 9.10443793e+01] [ 1.25594246e-02 9.99921107e-01 2.01933417e-04 2.12088237e+00] [-2.37418074e-03 -1.72128081e-04 9.99997167e-01 4.62748407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.585336195 meters 0.07831645009938072 Centerline is valid? [True, True] Translation: X:91.08, Y:2.12, Z:0.46 [[ 9.99912590e-01 -1.26457175e-02 3.85978026e-03 9.10775418e+01] [ 1.26445420e-02 9.99920001e-01 3.28803928e-04 2.11542782e+00] [-3.86362944e-03 -2.79970034e-04 9.99992497e-01 4.62085478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.615336195 meters 0.07829211266340698 Centerline is valid? [True, True] Translation: X:91.11, Y:2.12, Z:0.46 [[ 9.99920362e-01 -1.18492852e-02 4.34324475e-03 9.11102174e+01] [ 1.18477904e-02 9.99929744e-01 3.69730839e-04 2.11545769e+00] [-4.34732066e-03 -3.18243541e-04 9.99990500e-01 4.61676062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.645336195 meters 0.08397470974675814 Centerline is valid? [True, True] Translation: X:91.14, Y:2.12, Z:0.46 [[ 9.99948559e-01 -9.41244890e-03 3.77948899e-03 9.11393863e+01] [ 9.41130102e-03 9.99955661e-01 3.21383897e-04 2.12315337e+00] [-3.78234643e-03 -2.85797456e-04 9.99992806e-01 4.61436864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.675336195 meters 0.0833923144640529 Centerline is valid? [True, True] Translation: X:91.17, Y:2.13, Z:0.46 [[ 9.99956013e-01 -8.30952734e-03 4.35020412e-03 9.11714400e+01] [ 8.30799521e-03 9.99965420e-01 3.70148630e-04 2.12650647e+00] [-4.35312944e-03 -3.33990873e-04 9.99990469e-01 4.62958519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.705336195 meters 0.08448106947397807 Centerline is valid? [True, True] Translation: X:91.20, Y:2.13, Z:0.47 [[ 9.99965328e-01 -7.07644706e-03 4.38931532e-03 9.12020367e+01] [ 7.07487690e-03 9.99974903e-01 3.73147457e-04 2.13313567e+00] [-4.39184572e-03 -3.42080653e-04 9.99990297e-01 4.65151126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73533619499999 meters 0.08785895926281609 Centerline is valid? [True, True] Translation: X:91.23, Y:2.14, Z:0.46 [[ 9.99976577e-01 -6.48966777e-03 2.17476548e-03 9.12332609e+01] [ 6.48928062e-03 9.99978927e-01 1.85029526e-04 2.13635930e+00] [-2.17592043e-03 -1.70912529e-04 9.99997618e-01 4.61239604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76533619499999 meters 0.09071659639278194 Centerline is valid? [True, True] Translation: X:91.26, Y:2.14, Z:0.46 [[ 9.99983803e-01 -5.60938475e-03 9.63638100e-04 9.12639972e+01] [ 5.60930792e-03 9.99984264e-01 8.24097412e-05 2.13882072e+00] [-9.64085204e-04 -7.70030636e-05 9.99999532e-01 4.58086743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79533619499999 meters 0.09283456669449146 Centerline is valid? [True, True] Translation: X:91.29, Y:2.14, Z:0.45 [[ 9.99992056e-01 -3.80396281e-03 -1.19102768e-03 9.12947419e+01] [ 3.80384513e-03 9.99992760e-01 -1.01053503e-04 2.13855413e+00] [ 1.19140346e-03 9.65222150e-05 9.99999286e-01 4.53114351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82533619499999 meters 0.09574911740260708 Centerline is valid? [True, True] Translation: X:91.32, Y:2.14, Z:0.46 [[ 9.99996246e-01 -1.63207213e-03 2.20076089e-03 9.13242851e+01] [ 1.63166471e-03 9.99998651e-01 1.86909635e-04 2.14248251e+00] [-2.20106297e-03 -1.83318029e-04 9.99997561e-01 4.58419101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85533619499999 meters 0.09362431381150958 Centerline is valid? [True, True] Translation: X:91.36, Y:2.14, Z:0.46 [[ 9.99989122e-01 -4.00158142e-04 4.64706898e-03 9.13554130e+01] [ 3.98329841e-04 9.99999843e-01 3.94349906e-04 2.14268867e+00] [-4.64722605e-03 -3.92494550e-04 9.99989125e-01 4.63112402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.885336195 meters 0.10848068070186268 Centerline is valid? [True, False] Translation: X:91.36, Y:2.14, Z:0.46 [[ 9.99981422e-01 4.02269771e-03 4.57965541e-03 9.13557640e+01] [-4.04564498e-03 9.99979254e-01 5.01250805e-03 2.14147366e+00] [-4.55939660e-03 -5.03094259e-03 9.99976950e-01 4.62858922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.915336195 meters 0.09099098871842788 Centerline is valid? [False, True] Translation: X:91.32, Y:2.14, Z:0.46 [[ 9.99992321e-01 1.90869010e-03 3.42279436e-03 9.13165944e+01] [-1.90658845e-03 9.99997992e-01 -6.17174279e-04 2.14377205e+00] [-3.42396548e-03 6.10643679e-04 9.99993952e-01 4.61373954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.945336195 meters 0.09587215765384444 Centerline is valid? [True, True] Translation: X:91.35, Y:2.15, Z:0.46 [[ 9.99998328e-01 1.45318253e-03 1.11048582e-03 9.13471314e+01] [-1.45328857e-03 9.99998939e-01 9.46845341e-05 2.15207370e+00] [-1.11034705e-03 -9.62982321e-05 9.99999379e-01 4.55587811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.975336195 meters 0.09308102381171 Centerline is valid? [True, True] Translation: X:91.38, Y:2.15, Z:0.45 [[ 9.99999691e-01 7.85169002e-04 -4.31383260e-05 9.13775759e+01] [-7.85169160e-04 9.99999692e-01 -3.63168461e-06 2.14975932e+00] [ 4.31354612e-05 3.66555437e-06 9.99999999e-01 4.52356834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.005336195 meters 0.0930128779790174 Centerline is valid? [True, True] Translation: X:91.41, Y:2.15, Z:0.45 [[ 9.99996715e-01 -7.26647044e-04 -2.45813863e-03 9.14070436e+01] [ 7.26140230e-04 9.99999715e-01 -2.07064316e-04 2.14854130e+00] [ 2.45828839e-03 2.05278682e-04 9.99996957e-01 4.46252939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.035336195 meters 0.0892972957066347 Centerline is valid? [True, True] Translation: X:91.44, Y:2.15, Z:0.45 [[ 9.99994061e-01 -1.93284411e-03 -2.85329594e-03 9.14368926e+01] [ 1.93216571e-03 9.99998104e-01 -2.40499175e-04 2.14614117e+00] [ 2.85375538e-03 2.34984706e-04 9.99995900e-01 4.45877248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.065336195 meters 0.08471962382819201 Centerline is valid? [True, True] Translation: X:91.47, Y:2.15, Z:0.45 [[ 9.99977769e-01 -6.53941093e-03 1.30328002e-03 9.14673107e+01] [ 6.53927340e-03 9.99978613e-01 1.09757571e-04 2.14722122e+00] [-1.30396989e-03 -1.01232626e-04 9.99999145e-01 4.54363161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.095336195 meters 0.07927146177813793 Centerline is valid? [True, True] Translation: X:91.50, Y:2.14, Z:0.47 [[ 9.99904718e-01 -1.18984336e-02 6.99874508e-03 9.14970400e+01] [ 1.18945976e-02 9.99929083e-01 5.89471913e-04 2.14499893e+00] [-7.00526255e-03 -5.06168491e-04 9.99975335e-01 4.65450700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12533619499999 meters 0.0800596561126417 Centerline is valid? [True, True] Translation: X:91.53, Y:2.15, Z:0.46 [[ 9.99866502e-01 -1.46745931e-02 7.18564587e-03 9.15266265e+01] [ 1.46706207e-02 9.99892197e-01 6.05219213e-04 2.14601631e+00] [-7.19375259e-03 -4.99720533e-04 9.99974000e-01 4.64857190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15533619499999 meters 0.06893457454704918 Centerline is valid? [True, True] Translation: X:91.56, Y:2.13, Z:0.46 [[ 9.99766904e-01 -2.07663607e-02 5.90722499e-03 9.15592299e+01] [ 2.07637815e-02 9.99784286e-01 4.97611665e-04 2.12850243e+00] [-5.91628430e-03 -3.74839345e-04 9.99982428e-01 4.60330716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18533619499999 meters 0.06893457454704918 Centerline is valid? [True, True] Translation: X:91.59, Y:2.13, Z:0.46 [[ 9.99768414e-01 -2.06935769e-02 5.90721599e-03 9.15917318e+01] [ 2.06909958e-02 9.99785795e-01 4.97718622e-04 2.13110511e+00] [-5.91625021e-03 -3.75377175e-04 9.99982428e-01 4.60087194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21533619499999 meters 0.0659129604719689 Centerline is valid? [True, True] Translation: X:91.62, Y:2.13, Z:0.46 [[ 9.99703722e-01 -2.37992706e-02 5.10516709e-03 9.16229208e+01] [ 2.37973856e-02 9.99716710e-01 4.29677211e-04 2.12828422e+00] [-5.11394685e-03 -3.08060277e-04 9.99986876e-01 4.58217965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.245336195 meters 0.05899438962636266 Centerline is valid? [True, True] Translation: X:91.65, Y:2.12, Z:0.45 [[ 9.99576580e-01 -2.90433501e-02 1.77341862e-03 9.16547080e+01] [ 2.90431308e-02 9.99578148e-01 1.49315252e-04 2.11845482e+00] [-1.77700712e-03 -9.77463996e-05 9.99998416e-01 4.52597824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.275336195 meters 0.05465037271505668 Centerline is valid? [True, True] Translation: X:91.69, Y:2.11, Z:0.45 [[ 9.99504983e-01 -3.14598613e-02 2.56568005e-04 9.16859160e+01] [ 3.14598568e-02 9.99505016e-01 2.15899876e-05 2.11158156e+00] [-2.57120226e-04 -1.35077075e-05 9.99999967e-01 4.49508523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.305336195 meters 0.053091174491596484 Centerline is valid? [True, True] Translation: X:91.72, Y:2.10, Z:0.45 [[ 9.99361343e-01 -3.57324043e-02 -3.17865559e-04 9.17164440e+01] [ 3.57323976e-02 9.99361394e-01 -2.68419331e-05 2.10401309e+00] [ 3.18621694e-04 1.54666918e-05 9.99999949e-01 4.48860577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.335336195 meters 0.05299361450307699 Centerline is valid? [True, True] Translation: X:91.75, Y:2.10, Z:0.45 [[ 9.99313363e-01 -3.70452856e-02 6.70003926e-04 9.17468711e+01] [ 3.70452558e-02 9.99313587e-01 5.68775841e-05 2.10322976e+00] [-6.71651073e-04 -3.20180631e-05 9.99999774e-01 4.50502267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.365336195 meters 0.058934348693244896 Centerline is valid? [True, True] Translation: X:91.78, Y:2.11, Z:0.45 [[ 9.99262568e-01 -3.82175037e-02 3.70701816e-03 9.17774012e+01] [ 3.82166094e-02 9.99269430e-01 3.11808455e-04 2.10632053e+00] [-3.71622647e-03 -1.69908852e-04 9.99993080e-01 4.54545567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.395336195 meters 0.05030548143360145 Centerline is valid? [True, True] Translation: X:91.81, Y:2.09, Z:0.46 [[ 9.99334734e-01 -3.59969923e-02 5.85714939e-03 9.18097731e+01] [ 3.59947232e-02 9.99351859e-01 4.92402144e-04 2.08992988e+00] [-5.87107812e-03 -2.81248095e-04 9.99982726e-01 4.60005841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.425336195 meters 0.05846955165603295 Centerline is valid? [True, True] Translation: X:91.84, Y:2.10, Z:0.46 [[ 9.99422842e-01 -3.33870570e-02 6.26802108e-03 9.18394902e+01] [ 3.33844076e-02 9.99442446e-01 5.26879853e-04 2.09781273e+00] [-6.28211729e-03 -3.17321590e-04 9.99980217e-01 4.59671471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.455336195 meters 0.06901088845472665 Centerline is valid? [True, True] Translation: X:91.87, Y:2.10, Z:0.46 [[ 9.99635143e-01 -2.65379209e-02 5.03180476e-03 9.18690261e+01] [ 2.65361277e-02 9.99647766e-01 4.22813828e-04 2.10358512e+00] [-5.04125298e-03 -2.89134948e-04 9.99987251e-01 4.57677708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48533619499999 meters 0.07215758320015139 Centerline is valid? [True, True] Translation: X:91.90, Y:2.10, Z:0.45 [[ 9.99835871e-01 -1.79447295e-02 2.49347687e-03 9.18999406e+01] [ 1.79442626e-02 9.99838967e-01 2.09509199e-04 2.10327096e+00] [-2.49683492e-03 -1.64731209e-04 9.99996869e-01 4.54677250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51533619499999 meters 0.08281642489034521 Centerline is valid? [True, True] Translation: X:91.93, Y:2.12, Z:0.45 [[ 9.99890837e-01 -1.47407031e-02 1.01291138e-03 9.19285158e+01] [ 1.47406244e-02 9.99891347e-01 8.51220351e-05 2.11584309e+00] [-1.01405608e-03 -7.01817967e-05 9.99999483e-01 4.51837356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54533619499999 meters 0.0820397337017826 Centerline is valid? [True, True] Translation: X:91.96, Y:2.11, Z:0.45 [[ 9.99957934e-01 -9.16184238e-03 4.37212566e-04 9.19592278e+01] [ 9.16182722e-03 9.99958029e-01 3.66615274e-05 2.10985919e+00] [-4.37530103e-04 -3.26543192e-05 9.99999904e-01 4.52335609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57533619499999 meters 0.08616211574648114 Centerline is valid? [True, True] Translation: X:91.99, Y:2.11, Z:0.45 [[ 9.99978432e-01 -6.40151050e-03 1.46818452e-03 9.19884494e+01] [ 6.40133635e-03 9.99979504e-01 1.23288918e-04 2.11328789e+00] [-1.46894366e-03 -1.13887916e-04 9.99998915e-01 4.53309753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60533619499999 meters 0.09118766184668846 Centerline is valid? [True, True] Translation: X:92.02, Y:2.11, Z:0.45 [[ 9.99990533e-01 -2.83431342e-03 3.30161152e-03 9.20184051e+01] [ 2.83341212e-03 9.99995947e-01 2.77633611e-04 2.11163739e+00] [-3.30238504e-03 -2.68276156e-04 9.99994511e-01 4.54886315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.635336195 meters 0.08995553525406493 Centerline is valid? [True, True] Translation: X:92.05, Y:2.10, Z:0.46 [[ 9.99983819e-01 -8.68302258e-04 5.62208727e-03 9.20500596e+01] [ 8.65661512e-04 9.99999514e-01 4.72125574e-04 2.10423516e+00] [-5.62249448e-03 -4.67251110e-04 9.99984084e-01 4.58636028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.665336195 meters 0.09364437285969522 Centerline is valid? [True, True] Translation: X:92.08, Y:2.11, Z:0.46 [[ 9.99981791e-01 7.10458435e-05 6.03435655e-03 9.20809125e+01] [-7.41049235e-05 9.99999869e-01 5.06721788e-04 2.10783847e+00] [-6.03431976e-03 -5.07159737e-04 9.99981665e-01 4.58701569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.695336195 meters 0.09141306172424755 Centerline is valid? [True, True] Translation: X:92.11, Y:2.10, Z:0.46 [[ 9.99981458e-01 1.05274452e-03 5.99799917e-03 9.21135411e+01] [-1.05578285e-03 9.99999316e-01 5.03413355e-04 2.10020382e+00] [-5.99746511e-03 -5.09736606e-04 9.99981885e-01 4.59085003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.725336195 meters 0.09206060550473345 Centerline is valid? [True, True] Translation: X:92.15, Y:2.10, Z:0.46 [[ 9.99980573e-01 1.70037557e-03 5.99679093e-03 9.21459288e+01] [-1.70342164e-03 9.99998423e-01 5.02877694e-04 2.09959963e+00] [-5.99592639e-03 -5.13082989e-04 9.99981893e-01 4.59395270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.755336195 meters 0.09385999933623121 Centerline is valid? [True, True] Translation: X:92.18, Y:2.09, Z:0.45 [[ 9.99989797e-01 2.79281294e-03 3.55050539e-03 9.21777521e+01] [-2.79388711e-03 9.99996053e-01 2.97618273e-04 2.09322675e+00] [-3.54966018e-03 -3.07534948e-04 9.99993653e-01 4.54993635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.785336195 meters 0.08981811915239103 Centerline is valid? [True, True] Translation: X:92.21, Y:2.08, Z:0.46 [[ 9.99988125e-01 1.94223946e-03 4.46969061e-03 9.22104327e+01] [-1.94393271e-03 9.99998040e-01 3.74516787e-04 2.08102593e+00] [-4.46895445e-03 -3.83201117e-04 9.99989941e-01 4.55676136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.815336195 meters 0.09143880351834062 Centerline is valid? [True, True] Translation: X:92.24, Y:2.08, Z:0.46 [[ 9.99981738e-01 1.02758627e-03 5.95556115e-03 9.22410874e+01] [-1.03057503e-03 9.99999345e-01 4.98795121e-04 2.08088040e+00] [-5.95504470e-03 -5.04923665e-04 9.99982141e-01 4.57160811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.845336195 meters 0.10238152999672649 Centerline is valid? [True, False] Translation: X:92.24, Y:2.08, Z:0.46 [[ 9.99978532e-01 -2.81933168e-03 5.91495581e-03 9.22415232e+01] [ 2.83564074e-03 9.99992196e-01 -2.75068599e-03 2.07597668e+00] [-5.90715456e-03 2.76739963e-03 9.99978723e-01 4.56668772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87533619499999 meters 0.088843868237472 Centerline is valid? [False, True] Translation: X:92.24, Y:2.07, Z:0.46 [[ 9.99980175e-01 -2.51238692e-03 5.77382405e-03 9.22421861e+01] [ 2.52380429e-03 9.99994873e-01 -1.97100103e-03 2.07249824e+00] [-5.76884253e-03 1.98553395e-03 9.99981389e-01 4.56219911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90533619499999 meters 0.09401194279614476 Centerline is valid? [True, True] Translation: X:92.27, Y:2.07, Z:0.45 [[ 9.99991371e-01 -1.09768848e-03 4.00659542e-03 9.22726154e+01] [ 1.09633880e-03 9.99999342e-01 3.39044923e-04 2.06779128e+00] [-4.00696495e-03 -3.34649411e-04 9.99991916e-01 4.51728612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93533619499999 meters 0.09339978324604897 Centerline is valid? [True, True] Translation: X:92.30, Y:2.06, Z:0.45 [[ 9.99998135e-01 6.16594219e-04 1.83008594e-03 9.23039087e+01] [-6.16878341e-04 9.99999798e-01 1.54690086e-04 2.05909355e+00] [-1.82999019e-03 -1.55818738e-04 9.99998313e-01 4.48816704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96533619499999 meters 0.09414186174010185 Centerline is valid? [True, True] Translation: X:92.33, Y:2.06, Z:0.45 [[ 9.99994629e-01 2.51776073e-03 2.09817028e-03 9.23345177e+01] [-2.51813831e-03 9.99996814e-01 1.77332520e-04 2.06004091e+00] [-2.09771711e-03 -1.82615051e-04 9.99997783e-01 4.49763048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.995336195 meters 0.09726550199025011 Centerline is valid? [True, True] Translation: X:92.37, Y:2.06, Z:0.46 [[ 9.99937374e-01 8.91988603e-03 6.75903048e-03 9.23651441e+01] [-8.92394876e-03 9.99960018e-01 5.71160787e-04 2.06088886e+00] [-6.75366555e-03 -6.31442258e-04 9.99976994e-01 4.58167997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.025336195 meters 0.10564292886965607 Centerline is valid? [True, False] Translation: X:92.36, Y:2.06, Z:0.46 [[ 9.99935076e-01 9.09478871e-03 6.86499044e-03 9.23649965e+01] [-9.10237365e-03 9.99957995e-01 1.07443861e-03 2.05872497e+00] [-6.85493029e-03 -1.13685656e-03 9.99975858e-01 4.57852542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.055336195 meters 0.09717129297758163 Centerline is valid? [False, True] Translation: X:92.35, Y:2.06, Z:0.45 [[ 9.99987776e-01 3.84941679e-03 3.10312371e-03 9.23528624e+01] [-3.86794522e-03 9.99974596e-01 5.98717158e-03 2.05831657e+00] [-3.07999776e-03 -5.99910110e-03 9.99977262e-01 4.52495742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.085336195 meters 0.11504956122351474 Centerline is valid? [True, False] Translation: X:92.35, Y:2.06, Z:0.45 [[ 9.99987388e-01 3.84643305e-03 3.22938033e-03 9.23528154e+01] [-3.86568484e-03 9.99974669e-01 5.97652355e-03 2.05836895e+00] [-3.20631023e-03 -5.98893194e-03 9.99976926e-01 4.51641940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.115336195 meters 0.11634649126903777 Centerline is valid? [False, False] Translation: X:92.35, Y:2.06, Z:0.45 [[ 9.99993352e-01 -7.80519480e-04 3.56180150e-03 9.23516164e+01] [ 7.78521557e-04 9.99999539e-01 5.62282416e-04 2.06288391e+00] [-3.56223873e-03 -5.59505738e-04 9.99993499e-01 4.52097342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.145336195 meters 0.11889223883532818 Centerline is valid? [False, False] Translation: X:92.35, Y:2.06, Z:0.45 [[ 9.99993403e-01 -7.76880006e-04 3.54833295e-03 9.23516586e+01] [ 7.74849632e-04 9.99999535e-01 5.73543696e-04 2.06283530e+00] [-3.54877688e-03 -5.70790488e-04 9.99993540e-01 4.52097758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.175336195 meters 0.124566742783781 Centerline is valid? [False, False] Translation: X:92.35, Y:2.06, Z:0.46 [[ 9.99986344e-01 -2.61703294e-03 4.52357254e-03 9.23450902e+01] [ 2.62166869e-03 9.99996044e-01 -1.01917308e-03 2.06180310e+00] [-4.52088744e-03 1.03101847e-03 9.99989249e-01 4.57157851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.205336195 meters 0.11666786071674937 Centerline is valid? [False, False] Translation: X:92.39, Y:2.06, Z:0.46 [[ 9.99983638e-01 -2.29356966e-03 5.24053887e-03 9.23859867e+01] [ 2.28992057e-03 9.99997132e-01 7.02215640e-04 2.06404198e+00] [-5.24213442e-03 -6.90203733e-04 9.99986022e-01 4.58675705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23533619499999 meters 0.11644721163212306 Centerline is valid? [False, False] Translation: X:92.39, Y:2.06, Z:0.46 [[ 9.99985582e-01 -2.06166284e-03 4.95845373e-03 9.23868123e+01] [ 2.05412542e-03 9.99996728e-01 1.52472731e-03 2.06055270e+00] [-4.96158098e-03 -1.51452004e-03 9.99986544e-01 4.58857244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26533619499999 meters 0.09955864319559557 Centerline is valid? [False, True] Translation: X:92.39, Y:2.06, Z:0.46 [[ 9.99986917e-01 -1.86163592e-03 4.76439197e-03 9.23872672e+01] [ 1.85026031e-03 9.99995430e-01 2.39092582e-03 2.05684497e+00] [-4.76882123e-03 -2.38207918e-03 9.99985792e-01 4.59414454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29533619499999 meters 0.10625860021402043 Centerline is valid? [True, False] Translation: X:92.39, Y:2.06, Z:0.46 [[ 9.99987677e-01 -1.82747964e-03 4.61583511e-03 9.23876093e+01] [ 1.81599596e-03 9.99995249e-01 2.49085356e-03 2.05639636e+00] [-4.62036516e-03 -2.48244052e-03 9.99986245e-01 4.59686568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32533619499999 meters 0.10012376853345467 Centerline is valid? [False, False] Translation: X:92.39, Y:2.05, Z:0.46 [[ 9.99988837e-01 -1.66657382e-03 4.42145563e-03 9.23883785e+01] [ 1.65325524e-03 9.99994091e-01 3.01420659e-03 2.05415841e+00] [-4.42645290e-03 -3.00686314e-03 9.99985683e-01 4.59175783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35533619499999 meters 0.09706231681445966 Centerline is valid? [False, True] Translation: X:92.39, Y:2.05, Z:0.46 [[ 9.99989623e-01 -1.44916617e-03 4.31891127e-03 9.23887867e+01] [ 1.43356762e-03 9.99992447e-01 3.61259634e-03 2.05151186e+00] [-4.32411390e-03 -3.60636741e-03 9.99984148e-01 4.59005626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.385336195 meters 0.0855193991249681 Centerline is valid? [True, True] Translation: X:92.42, Y:2.04, Z:0.46 [[ 9.99984471e-01 -3.56932620e-03 4.27997434e-03 9.24207628e+01] [ 3.56783849e-03 9.99993572e-01 3.55182779e-04 2.03900276e+00] [-4.28121459e-03 -3.39907006e-04 9.99990778e-01 4.61030097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.415336195 meters 0.09992016730462534 Centerline is valid? [True, True] Translation: X:92.45, Y:2.06, Z:0.46 [[ 9.99990241e-01 -3.06996809e-03 3.17691772e-03 9.24501325e+01] [ 3.06914531e-03 9.99995255e-01 2.63830028e-04 2.06005027e+00] [-3.17771260e-03 -2.54077031e-04 9.99994919e-01 4.58192105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.445336195 meters 0.08598458113873905 Centerline is valid? [True, True] Translation: X:92.48, Y:2.05, Z:0.45 [[ 9.99999450e-01 -1.00201975e-03 3.09665303e-04 9.24816384e+01] [ 1.00201184e-03 9.99999498e-01 2.57159600e-05 2.04907517e+00] [-3.09690915e-04 -2.54056575e-05 9.99999952e-01 4.54937887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.475336195 meters 0.0877980633009367 Centerline is valid? [True, True] Translation: X:92.51, Y:2.06, Z:0.46 [[ 9.99997964e-01 1.18053345e-03 1.63674369e-03 9.25117407e+01] [-1.18075723e-03 9.99999294e-01 1.35769168e-04 2.05638556e+00] [-1.63658226e-03 -1.37701488e-04 9.99998651e-01 4.56094174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.505336195 meters 0.09241076520435883 Centerline is valid? [True, True] Translation: X:92.54, Y:2.07, Z:0.46 [[ 9.99993356e-01 2.69133464e-03 2.45875290e-03 9.25408704e+01] [-2.69184468e-03 9.99996356e-01 2.04153913e-04 2.06557119e+00] [-2.45819449e-03 -2.10771138e-04 9.99996956e-01 4.57130704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.535336195 meters 0.09742997511029976 Centerline is valid? [True, True] Translation: X:92.57, Y:2.08, Z:0.46 [[ 9.99974363e-01 6.99135996e-03 1.54742966e-03 9.25706450e+01] [-6.99156676e-03 9.99975550e-01 1.28276690e-04 2.07841654e+00] [-1.54649499e-03 -1.39092359e-04 9.99998795e-01 4.55965721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.565336195 meters 0.1025887344850336 Centerline is valid? [True, False] Translation: X:92.57, Y:2.09, Z:0.46 [[ 9.99978035e-01 6.38962089e-03 1.76158918e-03 9.25697797e+01] [-6.38603688e-03 9.99977543e-01 -2.03270665e-03 2.08746800e+00] [-1.77453785e-03 2.02141242e-03 9.99996382e-01 4.56286335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.595336195 meters 0.10701509007131182 Centerline is valid? [False, False] Translation: X:92.55, Y:2.09, Z:0.45 [[ 9.99961761e-01 6.65618498e-03 5.67197600e-03 9.25546641e+01] [-6.68599854e-03 9.99963848e-01 5.25364142e-03 2.08636619e+00] [-5.63680174e-03 -5.29136335e-03 9.99970114e-01 4.46744762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62533619499999 meters 0.10950018447520653 Centerline is valid? [False, False] Translation: X:92.55, Y:2.09, Z:0.45 [[ 9.99964256e-01 6.21094355e-03 5.73687223e-03 9.25544854e+01] [-6.23430494e-03 9.99972311e-01 4.06327992e-03 2.09167436e+00] [-5.71147658e-03 -4.09890009e-03 9.99975289e-01 4.46565583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65533619499999 meters 0.10252062647808546 Centerline is valid? [False, False] Translation: X:92.55, Y:2.10, Z:0.45 [[ 9.99981577e-01 1.54177885e-03 5.87102540e-03 9.25539114e+01] [-1.53383573e-03 9.99997903e-01 -1.35719833e-03 2.09638452e+00] [-5.87310558e-03 1.34816813e-03 9.99981844e-01 4.46763774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68533619499999 meters 0.09041622830566498 Centerline is valid? [False, True] Translation: X:92.53, Y:2.10, Z:0.45 [[ 9.99985174e-01 -4.43376103e-03 3.16118084e-03 9.25318524e+01] [ 4.42715028e-03 9.99988005e-01 2.09516627e-03 2.10009102e+00] [-3.17043238e-03 -2.08114018e-03 9.99992809e-01 4.49611188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71533619499999 meters 0.08729049678079777 Centerline is valid? [True, True] Translation: X:92.56, Y:2.11, Z:0.45 [[ 9.99889820e-01 -1.36123658e-02 5.92040592e-03 9.25609435e+01] [ 1.36092788e-02 9.99907232e-01 5.61396586e-04 2.10649113e+00] [-5.92749863e-03 -4.80762277e-04 9.99982317e-01 4.54077321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.745336195 meters 0.0840856270211991 Centerline is valid? [True, True] Translation: X:92.59, Y:2.10, Z:0.45 [[ 9.99810229e-01 -1.84712904e-02 6.19003165e-03 9.25909726e+01] [ 1.84680077e-02 9.99829279e-01 5.87062733e-04 2.10430649e+00] [-6.19981869e-03 -4.72633774e-04 9.99980669e-01 4.53784125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.775336195 meters 0.07270647499706662 Centerline is valid? [True, True] Translation: X:92.62, Y:2.09, Z:0.46 [[ 9.99579349e-01 -2.81164143e-02 7.11285026e-03 9.26232563e+01] [ 2.81123215e-02 9.99604543e-01 6.74755757e-04 2.09061438e+00] [-7.12900914e-03 -4.74513188e-04 9.99974476e-01 4.55390408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.805336195 meters 0.06869777953220396 Centerline is valid? [True, True] Translation: X:92.65, Y:2.09, Z:0.46 [[ 9.99435312e-01 -3.26408088e-02 7.97711780e-03 9.26543499e+01] [ 3.26358049e-02 9.99467024e-01 7.56684596e-04 2.09004524e+00] [-7.99756498e-03 -4.95917645e-04 9.99967896e-01 4.56960750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.835336195 meters 0.06235317571130286 Centerline is valid? [True, True] Translation: X:92.69, Y:2.09, Z:0.46 [[ 9.99238723e-01 -3.81096690e-02 8.34433208e-03 9.26855827e+01] [ 3.81043846e-02 9.99273451e-01 7.91419160e-04 2.08983744e+00] [-8.36843024e-03 -4.72861031e-04 9.99964872e-01 4.56984262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.865336195 meters 0.058417013470403636 Centerline is valid? [True, True] Translation: X:92.72, Y:2.09, Z:0.45 [[ 9.99203891e-01 -3.92911246e-02 6.91312940e-03 9.27175427e+01] [ 3.92875257e-02 9.99227732e-01 6.55680593e-04 2.08759282e+00] [-6.93355304e-03 -3.83558851e-04 9.99975889e-01 4.53141261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.895336195 meters 0.06082629963524469 Centerline is valid? [True, True] Translation: X:92.75, Y:2.09, Z:0.45 [[ 9.99157164e-01 -4.06058182e-02 6.01069577e-03 9.27481327e+01] [ 4.06031223e-02 9.99175191e-01 5.69910813e-04 2.08575410e+00] [-6.02887978e-03 -3.25377457e-04 9.99981773e-01 4.49261821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.925336195 meters 0.0666160437135199 Centerline is valid? [True, True] Translation: X:92.78, Y:2.09, Z:0.45 [[ 9.99121794e-01 -4.15089947e-02 5.71357710e-03 9.27789788e+01] [ 4.15065732e-02 9.99138084e-01 5.41800285e-04 2.09396586e+00] [-5.73114206e-03 -3.04173466e-04 9.99983531e-01 4.48185272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.955336195 meters 0.05838356818169587 Centerline is valid? [True, True] Translation: X:92.81, Y:2.09, Z:0.45 [[ 9.99043201e-01 -4.33829495e-02 5.53185112e-03 9.28106356e+01] [ 4.33807097e-02 9.99058476e-01 5.24313313e-04 2.08997615e+00] [-5.54938901e-03 -2.83836023e-04 9.99984562e-01 4.50800211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98533619499999 meters 0.05727038567291489 Centerline is valid? [True, True] Translation: X:92.84, Y:2.09, Z:0.45 [[ 9.99007440e-01 -4.41872934e-02 5.62303273e-03 9.28434204e+01] [ 4.41849914e-02 9.99023224e-01 5.33010108e-04 2.09155983e+00] [-5.64109256e-03 -2.84027411e-04 9.99984049e-01 4.50876099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01533619499999 meters 0.061891278611748 Centerline is valid? [True, True] Translation: X:92.87, Y:2.09, Z:0.45 [[ 9.98971917e-01 -4.44841277e-02 8.73331064e-03 9.28746575e+01] [ 4.44785945e-02 9.99009995e-01 8.26881233e-04 2.09171955e+00] [-8.76144771e-03 -4.37585748e-04 9.99961522e-01 4.52785722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04533619499999 meters 0.05332930351151736 Centerline is valid? [True, True] Translation: X:92.91, Y:2.08, Z:0.46 [[ 9.99009615e-01 -4.32946613e-02 1.02645272e-02 9.29081772e+01] [ 4.32869594e-02 9.99062208e-01 9.71428320e-04 2.07892004e+00] [-1.02969588e-02 -5.26146062e-04 9.99946846e-01 4.55380229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07533619499999 meters 0.05332930351151736 Centerline is valid? [True, True] Translation: X:92.94, Y:2.08, Z:0.46 [[ 9.99012874e-01 -4.32193991e-02 1.02645742e-02 9.29406135e+01] [ 4.32116984e-02 9.99065467e-01 9.70931224e-04 2.08185576e+00] [-1.02969447e-02 -5.26423109e-04 9.99946846e-01 4.55020124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10533619499999 meters 0.06091724770394269 Centerline is valid? [True, True] Translation: X:92.97, Y:2.09, Z:0.45 [[ 9.99151954e-01 -4.00210035e-02 9.67948241e-03 9.29694704e+01] [ 4.00140133e-02 9.99198700e-01 9.14827107e-04 2.08753770e+00] [-9.70833854e-03 -5.26736353e-04 9.99952734e-01 4.54290925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.135336195 meters 0.06906535919002375 Centerline is valid? [True, True] Translation: X:93.00, Y:2.10, Z:0.45 [[ 9.99383967e-01 -3.47667607e-02 4.79146258e-03 9.29978548e+01] [ 3.47649875e-02 9.99395413e-01 4.52881161e-04 2.09923629e+00] [-4.80431093e-03 -2.86027035e-04 9.99988418e-01 4.47147244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.165336195 meters 0.07139275528602007 Centerline is valid? [True, True] Translation: X:93.03, Y:2.11, Z:0.45 [[ 9.99555103e-01 -2.96325856e-02 3.39201795e-03 9.30281926e+01] [ 2.96316680e-02 9.99560834e-01 3.20465852e-04 2.10624431e+00] [-3.40002452e-03 -2.19812128e-04 9.99994196e-01 4.46825973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.195336195 meters 0.07521577556508689 Centerline is valid? [True, True] Translation: X:93.06, Y:2.11, Z:0.45 [[ 9.99606232e-01 -2.78411005e-02 3.50047387e-03 9.30575673e+01] [ 2.78401126e-02 9.99612334e-01 3.30643235e-04 2.11216548e+00] [-3.50832233e-03 -2.33059451e-04 9.99993819e-01 4.47128622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.225336195 meters 0.0799169140835816 Centerline is valid? [True, True] Translation: X:93.09, Y:2.12, Z:0.45 [[ 9.99653071e-01 -2.60274689e-02 4.03828550e-03 9.30872730e+01] [ 2.60261393e-02 9.99661190e-01 3.81443150e-04 2.11766503e+00] [-4.04684529e-03 -2.76209835e-04 9.99991773e-01 4.47104345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.255336195 meters 0.0797793937022908 Centerline is valid? [True, True] Translation: X:93.12, Y:2.11, Z:0.45 [[ 9.99706132e-01 -2.31399657e-02 7.22431028e-03 9.31181990e+01] [ 2.31356356e-02 9.99732102e-01 6.82392645e-04 2.11216680e+00] [-7.23816545e-03 -5.15053102e-04 9.99973671e-01 4.51306772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.285336195 meters 0.0768092174177982 Centerline is valid? [True, True] Translation: X:93.15, Y:2.11, Z:0.45 [[ 9.99701111e-01 -2.26243176e-02 9.26434920e-03 9.31505338e+01] [ 2.26171742e-02 9.99743816e-01 8.75123866e-04 2.10774661e+00] [-9.28177491e-03 -6.65328901e-04 9.99956702e-01 4.53460166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.315336195 meters 0.07677389719616506 Centerline is valid? [True, True] Translation: X:93.18, Y:2.11, Z:0.45 [[ 9.99685445e-01 -2.42045899e-02 6.56881459e-03 9.31810072e+01] [ 2.42010337e-02 9.99706920e-01 6.20321938e-04 2.11012279e+00] [-6.58190404e-03 -4.61154709e-04 9.99978233e-01 4.48513736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.345336195 meters 0.07716072602695542 Centerline is valid? [True, True] Translation: X:93.21, Y:2.11, Z:0.45 [[ 9.99648253e-01 -2.59524377e-02 5.46266566e-03 9.32102304e+01] [ 2.59500059e-02 9.99663109e-01 5.15576665e-04 2.11234852e+00] [-5.47420581e-03 -3.73639107e-04 9.99984947e-01 4.46153206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37533619499999 meters 0.07358580439986209 Centerline is valid? [True, True] Translation: X:93.24, Y:2.10, Z:0.44 [[ 9.99551880e-01 -2.97261922e-02 3.52037719e-03 9.32421852e+01] [ 2.97252050e-02 9.99558053e-01 3.32429206e-04 2.10268363e+00] [-3.52870323e-03 -2.27636304e-04 9.99993748e-01 4.41414364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40533619499999 meters 0.07625839837007217 Centerline is valid? [True, True] Translation: X:93.27, Y:2.10, Z:0.44 [[ 9.99508853e-01 -3.12204842e-02 2.70812329e-03 9.32729568e+01] [ 3.12199042e-02 9.99512507e-01 2.56222810e-04 2.10120535e+00] [-2.71480250e-03 -1.71549618e-04 9.99996300e-01 4.37675352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43533619499999 meters 0.0712764061660792 Centerline is valid? [True, True] Translation: X:93.31, Y:2.09, Z:0.44 [[ 9.99411126e-01 -3.41946427e-02 2.85084594e-03 9.33054719e+01] [ 3.41940142e-02 9.99415178e-01 2.68913575e-04 2.08592403e+00] [-2.85837411e-03 -1.71273352e-04 9.99995900e-01 4.37571664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46533619499999 meters 0.07166027913207418 Centerline is valid? [True, True] Translation: X:93.34, Y:2.09, Z:0.44 [[ 9.99395189e-01 -3.44487075e-02 4.74788316e-03 9.33372918e+01] [ 3.44469663e-02 9.99406427e-01 4.48049569e-04 2.08504139e+00] [-4.76049967e-03 -2.84228413e-04 9.99988628e-01 4.42667480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.495336195 meters 0.06848376267283021 Centerline is valid? [True, True] Translation: X:93.37, Y:2.08, Z:0.45 [[ 9.99441470e-01 -3.29425086e-02 5.61601195e-03 9.33687418e+01] [ 3.29400509e-02 9.99457189e-01 5.29584080e-04 2.08276498e+00] [-5.63040935e-03 -3.44296572e-04 9.99984090e-01 4.45893018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.525336195 meters 0.08234570798384312 Centerline is valid? [True, True] Translation: X:93.40, Y:2.10, Z:0.45 [[ 9.99632944e-01 -2.62509970e-02 6.69797736e-03 9.33963119e+01] [ 2.62473517e-02 9.99655279e-01 6.31579768e-04 2.09942961e+00] [-6.71224803e-03 -4.55543775e-04 9.99977369e-01 4.47896609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.555336195 meters 0.08088800184212468 Centerline is valid? [True, True] Translation: X:93.43, Y:2.10, Z:0.45 [[ 9.99748516e-01 -2.14898073e-02 6.41038477e-03 9.34272517e+01] [ 2.14863729e-02 9.99768959e-01 6.04162667e-04 2.09706901e+00] [-6.42188705e-03 -4.66274812e-04 9.99979271e-01 4.47802278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.585336195 meters 0.09612663495000254 Centerline is valid? [True, True] Translation: X:93.46, Y:2.11, Z:0.45 [[ 9.99936070e-01 -1.00723313e-02 5.13839390e-03 9.34557380e+01] [ 1.00699745e-02 9.99949179e-01 4.84331936e-04 2.11437005e+00] [-5.14301111e-03 -4.32557477e-04 9.99986681e-01 4.45551856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.615336195 meters 0.10050627638393936 Centerline is valid? [True, False] Translation: X:93.46, Y:2.12, Z:0.45 [[ 9.99997719e-01 1.54496517e-03 -1.47464270e-03 9.34554671e+01] [-1.55494662e-03 9.99975727e-01 -6.79175208e-03 2.12327443e+00] [ 1.46411388e-03 6.79402958e-03 9.99975848e-01 4.50816493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.645336195 meters 0.10176060165310538 Centerline is valid? [False, False] Translation: X:93.48, Y:2.12, Z:0.45 [[ 9.99982215e-01 1.71249633e-03 -5.71288246e-03 9.34779101e+01] [-1.69550778e-03 9.99994131e-01 2.97724636e-03 2.12384447e+00] [ 5.71794745e-03 -2.96750717e-03 9.99979249e-01 4.53908513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.675336195 meters 0.1161817288091532 Centerline is valid? [False, False] Translation: X:93.48, Y:2.13, Z:0.45 [[ 9.99984134e-01 1.43259232e-03 -5.44791519e-03 9.34773250e+01] [-1.42147076e-03 9.99996899e-01 2.04475890e-03 2.12780858e+00] [ 5.45082760e-03 -2.03698240e-03 9.99983069e-01 4.53215618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.705336195 meters 0.11586621066134156 Centerline is valid? [False, False] Translation: X:93.43, Y:2.13, Z:0.45 [[ 9.99983091e-01 1.82927949e-03 -5.52005909e-03 9.34341112e+01] [-1.82371038e-03 9.99997823e-01 1.01375108e-03 2.12682140e+00] [ 5.52190151e-03 -1.00366695e-03 9.99984251e-01 4.52425261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73533619499999 meters 0.12492798979177877 Centerline is valid? [False, False] Translation: X:93.47, Y:2.13, Z:0.46 [[ 9.99993576e-01 8.60861963e-04 -3.47936725e-03 9.34706560e+01] [-8.60259276e-04 9.99999615e-01 1.74710063e-04 2.13440510e+00] [ 3.47951631e-03 -1.71715783e-04 9.99993932e-01 4.56509264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76533619499999 meters 0.11531283314678899 Centerline is valid? [False, False] Translation: X:93.47, Y:2.14, Z:0.46 [[ 9.99994354e-01 2.79226686e-04 -3.34874024e-03 9.34696469e+01] [-2.83127617e-04 9.99999282e-01 -1.16447741e-03 2.14044720e+00] [ 3.34841269e-03 1.16541896e-03 9.99993715e-01 4.57534370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79533619499999 meters 0.11210070057506702 Centerline is valid? [False, False] Translation: X:93.47, Y:2.14, Z:0.46 [[ 9.99994260e-01 1.44388083e-04 -3.38510428e-03 9.34696263e+01] [-1.49453817e-04 9.99998869e-01 -1.49627278e-03 2.14192509e+00] [ 3.38488441e-03 1.49677010e-03 9.99993151e-01 4.57773825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82533619499999 meters 0.10941107102924306 Centerline is valid? [False, False] Translation: X:93.47, Y:2.14, Z:0.46 [[ 9.99993158e-01 2.03338349e-04 -3.69363097e-03 9.34707362e+01] [-2.08126260e-04 9.99999139e-01 -1.29592337e-03 2.14111697e+00] [ 3.69336428e-03 1.29668325e-03 9.99992339e-01 4.57155407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85533619499999 meters 0.09517976704727141 Centerline is valid? [False, True] Translation: X:93.45, Y:2.14, Z:0.45 [[ 9.99986189e-01 -5.25556822e-03 -2.97782505e-05 9.34529593e+01] [ 5.25560516e-03 9.99985184e-01 1.41774034e-03 2.14220208e+00] [ 2.23267783e-05 -1.41787726e-03 9.99998995e-01 4.48354144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.885336195 meters 0.09077677194343564 Centerline is valid? [True, True] Translation: X:93.48, Y:2.14, Z:0.45 [[ 9.99960415e-01 -8.78690767e-03 -1.39921764e-03 9.34838722e+01] [ 8.78672817e-03 9.99961387e-01 -1.34381911e-04 2.14366405e+00] [ 1.40034442e-03 1.22082046e-04 9.99999012e-01 4.46343863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.915336195 meters 0.09360119370757543 Centerline is valid? [True, True] Translation: X:93.51, Y:2.15, Z:0.44 [[ 9.99891769e-01 -1.41740405e-02 -3.94305201e-03 9.35129803e+01] [ 1.41726549e-02 9.99899491e-01 -3.79103255e-04 2.15035996e+00] [ 3.94802912e-03 3.23178709e-04 9.99992154e-01 4.39277023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.945336195 meters 0.08911917845904596 Centerline is valid? [True, True] Translation: X:93.54, Y:2.15, Z:0.44 [[ 9.99839773e-01 -1.77814844e-02 -2.06108279e-03 9.35443521e+01] [ 1.77811138e-02 9.99841884e-01 -1.97997571e-04 2.14631605e+00] [ 2.06427759e-03 1.61317498e-04 9.99997856e-01 4.41519924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.975336195 meters 0.08801160347066837 Centerline is valid? [True, True] Translation: X:93.57, Y:2.15, Z:0.45 [[ 9.99710230e-01 -2.40426879e-02 1.18532705e-03 9.35737349e+01] [ 2.40425696e-02 9.99710929e-01 1.13949604e-04 2.15264486e+00] [-1.18772406e-03 -8.54182767e-05 9.99999291e-01 4.47875744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.005336195 meters 0.07830412653911345 Centerline is valid? [True, True] Translation: X:93.60, Y:2.15, Z:0.45 [[ 9.99615859e-01 -2.75440891e-02 3.07523318e-03 9.36045653e+01] [ 2.75433097e-02 9.99620567e-01 2.95531375e-04 2.14802501e+00] [-3.08220647e-03 -2.10715750e-04 9.99995228e-01 4.52709791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.035336195 meters 0.07282123114028013 Centerline is valid? [True, True] Translation: X:93.63, Y:2.15, Z:0.46 [[ 9.99420579e-01 -3.37310620e-02 4.55204626e-03 9.36343407e+01] [ 3.37294182e-02 9.99430906e-01 4.37420291e-04 2.14917599e+00] [-4.56421037e-03 -2.83628969e-04 9.99989544e-01 4.55168911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.065336195 meters 0.069443772834313 Centerline is valid? [True, True] Translation: X:93.67, Y:2.15, Z:0.45 [[ 9.99294443e-01 -3.73819968e-02 3.63351089e-03 9.36652599e+01] [ 3.73809732e-02 9.99301026e-01 3.49235862e-04 2.14696572e+00] [-3.64402630e-03 -2.13165283e-04 9.99993338e-01 4.52313681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.095336195 meters 0.06150823169773748 Centerline is valid? [True, True] Translation: X:93.70, Y:2.13, Z:0.45 [[ 9.99004158e-01 -4.45053805e-02 3.15650549e-03 9.36970188e+01] [ 4.45046434e-02 9.99009131e-01 3.03406784e-04 2.13160553e+00] [-3.16688104e-03 -1.62625487e-04 9.99994972e-01 4.47967989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12533619499999 meters 0.058642058248922775 Centerline is valid? [True, True] Translation: X:93.73, Y:2.13, Z:0.45 [[ 9.98840721e-01 -4.79511156e-02 4.23134477e-03 9.37273927e+01] [ 4.79498222e-02 9.98849663e-01 4.06649442e-04 2.12701008e+00] [-4.24597659e-03 -2.03285792e-04 9.99990965e-01 4.50357692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15533619499999 meters 0.05708423706756463 Centerline is valid? [True, True] Translation: X:93.76, Y:2.13, Z:0.45 [[ 9.98818024e-01 -4.84180505e-02 4.27163711e-03 9.37589573e+01] [ 4.84167355e-02 9.98827138e-01 4.10780726e-04 2.13141222e+00] [-4.28651627e-03 -2.03476470e-04 9.99990792e-01 4.52170117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18533619499999 meters 0.06086539455859729 Centerline is valid? [True, True] Translation: X:93.79, Y:2.14, Z:0.45 [[ 9.98900173e-01 -4.67988704e-02 2.88264507e-03 9.37880502e+01] [ 4.67982654e-02 9.98904323e-01 2.77012201e-04 2.14486221e+00] [-2.89245048e-03 -1.41804746e-04 9.99995807e-01 4.50519404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21533619499999 meters 0.05786344943888548 Centerline is valid? [True, True] Translation: X:93.82, Y:2.14, Z:0.45 [[ 9.98954727e-01 -4.56912565e-02 1.32786972e-03 9.38200572e+01] [ 4.56911264e-02 9.98955607e-01 1.28102672e-04 2.14344407e+00] [-1.33233608e-03 -6.72969064e-05 9.99999110e-01 4.47185105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.245336195 meters 0.05917542751160109 Centerline is valid? [True, True] Translation: X:93.85, Y:2.14, Z:0.44 [[ 9.99035298e-01 -4.39043897e-02 -9.36931228e-04 9.38512491e+01] [ 4.39043247e-02 9.99035736e-01 -8.98204513e-05 2.14125159e+00] [ 9.39971291e-04 4.85984685e-05 9.99999557e-01 4.41314274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.275336195 meters 0.06305210180966533 Centerline is valid? [True, True] Translation: X:93.88, Y:2.14, Z:0.44 [[ 9.99053872e-01 -4.34745644e-02 -1.15033001e-03 9.38821421e+01] [ 4.34744664e-02 9.99054532e-01 -1.10063924e-04 2.14237788e+00] [ 1.15402739e-03 5.99498060e-05 9.99999332e-01 4.40652954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.305336195 meters 0.05922501233244232 Centerline is valid? [True, True] Translation: X:93.91, Y:2.14, Z:0.45 [[ 9.99043195e-01 -4.37310551e-02 5.38549443e-04 9.39149024e+01] [ 4.37310334e-02 9.99043339e-01 5.20331315e-05 2.14151224e+00] [-5.40309698e-04 -2.84320222e-05 9.99999854e-01 4.46630371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.335336195 meters 0.05963564022347663 Centerline is valid? [True, True] Translation: X:93.95, Y:2.15, Z:0.45 [[ 9.99037671e-01 -4.38110542e-02 2.07909051e-03 9.39462708e+01] [ 4.38107329e-02 9.99039829e-01 1.99848211e-04 2.14545654e+00] [-2.08584979e-03 -1.08569412e-04 9.99997819e-01 4.49269150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.365336195 meters 0.05718898371919131 Centerline is valid? [True, True] Translation: X:93.98, Y:2.14, Z:0.45 [[ 9.98983868e-01 -4.48750563e-02 4.17852116e-03 9.39784099e+01] [ 4.48737729e-02 9.98992585e-01 4.00428320e-04 2.13986761e+00] [-4.19228089e-03 -2.12515423e-04 9.99991190e-01 4.51933565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.395336195 meters 0.056443682010316264 Centerline is valid? [True, True] Translation: X:94.01, Y:2.13, Z:0.45 [[ 9.98944022e-01 -4.56901897e-02 4.82165993e-03 9.40117421e+01] [ 4.56884906e-02 9.98955629e-01 4.61992923e-04 2.13192471e+00] [-4.83773287e-03 -2.41210704e-04 9.99988269e-01 4.50988987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.425336195 meters 0.06117510358839629 Centerline is valid? [True, True] Translation: X:94.04, Y:2.14, Z:0.45 [[ 9.98949610e-01 -4.56228364e-02 4.27010100e-03 9.40428213e+01] [ 4.56215041e-02 9.98958713e-01 4.08935336e-04 2.13819579e+00] [-4.28431139e-03 -2.13697365e-04 9.99990799e-01 4.49410579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.455336195 meters 0.06236109261699618 Centerline is valid? [True, True] Translation: X:94.07, Y:2.14, Z:0.45 [[ 9.98998568e-01 -4.46264497e-02 3.21563985e-03 9.40746602e+01] [ 4.46256890e-02 9.99003730e-01 3.07959863e-04 2.14312313e+00] [-3.22617936e-03 -1.64151319e-04 9.99994782e-01 4.48772361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48533619499999 meters 0.059073463584733275 Centerline is valid? [True, True] Translation: X:94.11, Y:2.14, Z:0.45 [[ 9.99059319e-01 -4.32316043e-02 3.39195654e-03 9.41072879e+01] [ 4.32307504e-02 9.99065061e-01 3.24677549e-04 2.14006787e+00] [-3.40282160e-03 -1.77735304e-04 9.99994195e-01 4.49375430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51533619499999 meters 0.05816977346628004 Centerline is valid? [True, True] Translation: X:94.14, Y:2.13, Z:0.44 [[ 9.99198199e-01 -4.00118149e-02 1.41875063e-03 9.41387229e+01] [ 4.00116625e-02 9.99199204e-01 1.35655584e-04 2.12867951e+00] [-1.42304232e-03 -7.87802444e-05 9.99998984e-01 4.44374744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54533619499999 meters 0.06760902553477696 Centerline is valid? [True, True] Translation: X:94.17, Y:2.14, Z:0.44 [[ 9.99274191e-01 -3.80931575e-02 5.03548833e-05 9.41682697e+01] [ 3.80931573e-02 9.99274192e-01 5.05538893e-06 2.13775231e+00] [-5.05109111e-05 -3.13354320e-06 9.99999999e-01 4.42645023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57533619499999 meters 0.06829262267461005 Centerline is valid? [True, True] Translation: X:94.20, Y:2.14, Z:0.45 [[ 9.99327022e-01 -3.66519767e-02 1.46142320e-03 9.42002862e+01] [ 3.66518110e-02 9.99328087e-01 1.39986903e-04 2.14151164e+00] [-1.46557205e-03 -8.63288875e-05 9.99998922e-01 4.46410242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60533619499999 meters 0.06963693698487991 Centerline is valid? [True, True] Translation: X:94.23, Y:2.14, Z:0.45 [[ 9.99396499e-01 -3.46712098e-02 2.13188158e-03 9.42314423e+01] [ 3.46708539e-02 9.99398764e-01 2.03717774e-04 2.13962966e+00] [-2.13766296e-03 -1.29680676e-04 9.99997707e-01 4.46916139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.635336195 meters 0.06694495323041441 Centerline is valid? [True, True] Translation: X:94.26, Y:2.13, Z:0.44 [[ 9.99466895e-01 -3.26334192e-02 9.93172051e-04 9.42633082e+01] [ 3.26333409e-02 9.99467386e-01 9.49477816e-05 2.12885013e+00] [-9.95741544e-04 -6.24866423e-05 9.99999502e-01 4.44417864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.665336195 meters 0.08080755932710508 Centerline is valid? [True, True] Translation: X:94.29, Y:2.15, Z:0.44 [[ 9.99514353e-01 -3.11372595e-02 1.23659562e-03 9.42916764e+01] [ 3.11371371e-02 9.99515115e-01 1.18095246e-04 2.14509221e+00] [-1.23967317e-03 -7.95338458e-05 9.99999228e-01 4.42212769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.695336195 meters 0.07571326939949205 Centerline is valid? [True, True] Translation: X:94.32, Y:2.13, Z:0.44 [[ 9.99618713e-01 -2.75810962e-02 1.30846567e-03 9.43241794e+01] [ 2.75809560e-02 9.99619565e-01 1.25104622e-04 2.13385237e+00] [-1.31141841e-03 -8.89681869e-05 9.99999136e-01 4.41797678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.725336195 meters 0.07965069811583074 Centerline is valid? [True, True] Translation: X:94.35, Y:2.14, Z:0.44 [[ 9.99735092e-01 -2.30158893e-02 1.18682088e-04 9.43544893e+01] [ 2.30158881e-02 9.99735099e-01 1.13384372e-05 2.13582078e+00] [-1.18911613e-04 -8.60385990e-06 9.99999993e-01 4.41354689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.755336195 meters 0.08352960357438267 Centerline is valid? [True, True] Translation: X:94.38, Y:2.14, Z:0.44 [[ 9.99798712e-01 -2.00618628e-02 2.37976577e-04 9.43839580e+01] [ 2.00618580e-02 9.99798740e-01 2.26438970e-05 2.14090915e+00] [-2.38382961e-04 -1.78650867e-05 9.99999971e-01 4.41970924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.785336195 meters 0.09188115557175874 Centerline is valid? [True, True] Translation: X:94.41, Y:2.15, Z:0.44 [[ 9.99900340e-01 -1.41151503e-02 2.68748927e-04 9.44134048e+01] [ 1.41151439e-02 9.99900376e-01 2.56464461e-05 2.14676314e+00] [-2.69084157e-04 -2.18504604e-05 9.99999964e-01 4.41729499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.815336195 meters 0.08706548046338952 Centerline is valid? [True, True] Translation: X:94.44, Y:2.14, Z:0.44 [[ 9.99956166e-01 -9.34974215e-03 4.98701602e-04 9.44448243e+01] [ 9.34971955e-03 9.99956289e-01 4.76434253e-05 2.13667066e+00] [-4.99125257e-04 -4.29786168e-05 9.99999875e-01 4.42724770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.845336195 meters 0.0999886490443085 Centerline is valid? [True, True] Translation: X:94.47, Y:2.15, Z:0.44 [[ 9.99972372e-01 -7.17769312e-03 1.93303989e-03 9.44735889e+01] [ 7.17734945e-03 9.99974225e-01 1.84663385e-04 2.14948008e+00] [-1.93431553e-03 -1.70784180e-04 9.99998115e-01 4.43581157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87533619499999 meters 0.09963259255050295 Centerline is valid? [True, True] Translation: X:94.51, Y:2.15, Z:0.44 [[ 9.99976083e-01 -6.73488807e-03 1.57334447e-03 9.45056523e+01] [ 6.73465952e-03 9.99977311e-01 1.50514316e-04 2.14991864e+00] [-1.57432247e-03 -1.39914776e-04 9.99998751e-01 4.43337751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90533619499999 meters 0.10392795495462737 Centerline is valid? [True, False] Translation: X:94.51, Y:2.15, Z:0.44 [[ 9.99986497e-01 -5.16490557e-03 5.73968910e-04 9.45115537e+01] [ 5.16374174e-03 9.99984646e-01 2.01100874e-03 2.14635263e+00] [-5.84346768e-04 -2.00801776e-03 9.99997813e-01 4.39117210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93533619499999 meters 0.09635607557893995 Centerline is valid? [False, True] Translation: X:94.51, Y:2.15, Z:0.44 [[ 9.99986870e-01 -5.09273672e-03 5.68781696e-04 9.45116431e+01] [ 5.09148214e-03 9.99984649e-01 2.18581699e-03 2.14556190e+00] [-5.79904755e-04 -2.18289235e-03 9.99997449e-01 4.38978615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96533619499999 meters 0.10361951607946464 Centerline is valid? [True, False] Translation: X:94.53, Y:2.14, Z:0.44 [[ 9.99992153e-01 -4.71172569e-04 3.93350757e-03 9.45291245e+01] [ 4.84638819e-04 9.99994023e-01 -3.42322012e-03 2.14465363e+00] [-3.93187114e-03 3.42509959e-03 9.99986404e-01 4.39937545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.995336195 meters 0.10361951607946464 Centerline is valid? [False, False] Translation: X:94.53, Y:2.14, Z:0.44 [[ 9.99992153e-01 -4.71172569e-04 3.93350757e-03 9.45291245e+01] [ 4.84638819e-04 9.99994023e-01 -3.42322012e-03 2.14465363e+00] [-3.93187114e-03 3.42509959e-03 9.99986404e-01 4.39937545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.025336195 meters 0.1071440692137256 Centerline is valid? [False, False] Translation: X:94.53, Y:2.14, Z:0.44 [[ 9.99992089e-01 -2.90406736e-04 3.96706526e-03 9.45292298e+01] [ 3.02254601e-04 9.99995495e-01 -2.98628354e-03 2.14267973e+00] [-3.96618015e-03 2.98745898e-03 9.99987672e-01 4.39533225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.055336195 meters 0.10335809173936156 Centerline is valid? [False, False] Translation: X:94.53, Y:2.14, Z:0.44 [[ 9.99992428e-01 -2.05400485e-04 3.88615917e-03 9.45297780e+01] [ 2.16170097e-04 9.99996137e-01 -2.77105704e-03 2.14169180e+00] [-3.88557499e-03 2.77187613e-03 9.99988609e-01 4.38909912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.085336195 meters 0.11562467843084447 Centerline is valid? [False, False] Translation: X:94.55, Y:2.14, Z:0.44 [[ 9.99998452e-01 -1.50868264e-03 9.05763815e-04 9.45546844e+01] [ 1.50280769e-03 9.99978055e-01 6.45220391e-03 2.13929201e+00] [-9.15478266e-04 -6.45083273e-03 9.99978774e-01 4.38897118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.115336195 meters 0.10264422216512455 Centerline is valid? [False, False] Translation: X:94.53, Y:2.15, Z:0.44 [[ 9.99998006e-01 1.49488778e-03 -1.32398447e-03 9.45332010e+01] [-1.49758714e-03 9.99996797e-01 -2.04017846e-03 2.14522737e+00] [ 1.32093039e-03 2.04215718e-03 9.99997042e-01 4.41325142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.145336195 meters 0.09990793565838459 Centerline is valid? [False, True] Translation: X:94.53, Y:2.15, Z:0.44 [[ 9.99998300e-01 1.31424143e-03 -1.29327485e-03 9.45328371e+01] [-1.31743672e-03 9.99996074e-01 -2.47295299e-03 2.14720504e+00] [ 1.29001971e-03 2.47465259e-03 9.99996106e-01 4.41859570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.175336195 meters 0.09530430177611732 Centerline is valid? [True, True] Translation: X:94.56, Y:2.14, Z:0.44 [[ 9.99997836e-01 -2.06439189e-03 -2.57483840e-04 9.45639715e+01] [ 2.06438550e-03 9.99997869e-01 -2.50898742e-05 2.14329358e+00] [ 2.57535087e-04 2.45582740e-05 9.99999967e-01 4.42649424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.205336195 meters 0.09940325120897417 Centerline is valid? [True, True] Translation: X:94.59, Y:2.15, Z:0.44 [[ 9.99955582e-01 -9.42304827e-03 -1.98215535e-04 9.45932858e+01] [ 9.42304465e-03 9.99955602e-01 -1.92046335e-05 2.14987039e+00] [ 1.98387701e-04 1.73359866e-05 9.99999980e-01 4.39454640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23533619499999 meters 0.0939685338135978 Centerline is valid? [True, True] Translation: X:94.62, Y:2.15, Z:0.44 [[ 9.99896058e-01 -1.44079920e-02 -5.32050900e-04 9.46247612e+01] [ 1.44079666e-02 9.99896199e-01 -5.16921964e-05 2.14689895e+00] [ 5.32740453e-04 4.40210519e-05 9.99999857e-01 4.37917093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26533619499999 meters 0.08154349639331171 Centerline is valid? [True, True] Translation: X:94.66, Y:2.14, Z:0.44 [[ 9.99668431e-01 -2.57476994e-02 -2.91314485e-04 9.46568991e+01] [ 2.57476922e-02 9.99668473e-01 -2.83396915e-05 2.13611560e+00] [ 2.91947588e-04 2.08296192e-05 9.99999957e-01 4.37366120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29533619499999 meters 0.0715069968340312 Centerline is valid? [True, True] Translation: X:94.69, Y:2.12, Z:0.44 [[ 9.99323410e-01 -3.67729219e-02 -6.89144185e-04 9.46878383e+01] [ 3.67728843e-02 9.99323647e-01 -6.70235718e-05 2.12415399e+00] [ 6.91142733e-04 4.16364049e-05 9.99999760e-01 4.36393572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32533619499999 meters 0.0660516470601873 Centerline is valid? [True, True] Translation: X:94.72, Y:2.12, Z:0.44 [[ 9.99137256e-01 -4.15217922e-02 -8.27270771e-04 9.47197012e+01] [ 4.15217398e-02 9.99137597e-01 -8.03639333e-05 2.11666155e+00] [ 8.29894185e-04 4.59448781e-05 9.99999655e-01 4.35743494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35533619499999 meters 0.05699582878781306 Centerline is valid? [True, True] Translation: X:94.75, Y:2.10, Z:0.44 [[ 9.98813241e-01 -4.86709282e-02 1.80290014e-03 9.47525070e+01] [ 4.86706908e-02 9.98814864e-01 1.75321731e-04 2.09977529e+00] [-1.80929653e-03 -8.73652713e-05 9.99998359e-01 4.39897481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.385336195 meters 0.05422836917744043 Centerline is valid? [True, True] Translation: X:94.78, Y:2.10, Z:0.45 [[ 9.98657819e-01 -5.14331023e-02 6.09891906e-03 9.47836148e+01] [ 5.14304375e-02 9.98676403e-01 5.93076806e-04 2.09932730e+00] [-6.12135033e-03 -2.78610714e-04 9.99981226e-01 4.49767195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.415336195 meters 0.05091806093668448 Centerline is valid? [True, True] Translation: X:94.82, Y:2.10, Z:0.45 [[ 9.98680483e-01 -5.08665988e-02 7.06270825e-03 9.48154790e+01] [ 5.08630107e-02 9.98705403e-01 6.86851201e-04 2.09934730e+00] [-7.08850268e-03 -3.26714284e-04 9.99974823e-01 4.51874445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.445336195 meters 0.05632643270660634 Centerline is valid? [True, True] Translation: X:94.84, Y:2.11, Z:0.45 [[ 9.98850046e-01 -4.77215813e-02 4.60830224e-03 9.48443516e+01] [ 4.77200219e-02 9.98860650e-01 4.47813601e-04 2.10633425e+00] [-4.62442215e-03 -2.27390352e-04 9.99989281e-01 4.46804574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.475336195 meters 0.062218493941342407 Centerline is valid? [True, True] Translation: X:94.87, Y:2.11, Z:0.44 [[ 9.99074029e-01 -4.29388870e-02 2.70865251e-03 9.48749225e+01] [ 4.29383306e-02 9.99077690e-01 2.63255536e-04 2.10926081e+00] [-2.71745819e-03 -1.46706753e-04 9.99996297e-01 4.42394240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.505336195 meters 0.06495191556266677 Centerline is valid? [True, True] Translation: X:94.91, Y:2.11, Z:0.44 [[ 9.99195699e-01 -4.00271546e-02 2.40441241e-03 9.49057711e+01] [ 4.00267082e-02 9.99198583e-01 2.33493990e-04 2.11268793e+00] [-2.41183158e-03 -1.37065476e-04 9.99997082e-01 4.42192514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.535336195 meters 0.07859424469991888 Centerline is valid? [True, True] Translation: X:94.93, Y:2.13, Z:0.44 [[ 9.99388117e-01 -3.49735592e-02 4.90796847e-04 9.49339990e+01] [ 3.49735400e-02 9.99388237e-01 4.76558892e-05 2.13087812e+00] [-4.92163292e-04 -3.04618262e-05 9.99999878e-01 4.38215584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.565336195 meters 0.07815592378355728 Centerline is valid? [True, True] Translation: X:94.96, Y:2.14, Z:0.44 [[ 9.99563721e-01 -2.95356775e-02 1.06863474e-04 9.49634219e+01] [ 2.95356766e-02 9.99563727e-01 1.04763372e-05 2.13964408e+00] [-1.07126278e-04 -7.31548160e-06 9.99999994e-01 4.40510094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59533619499999 meters 0.08190746266305152 Centerline is valid? [True, True] Translation: X:94.99, Y:2.15, Z:0.44 [[ 9.99649810e-01 -2.64137620e-02 1.60349030e-03 9.49932712e+01] [ 2.64135461e-02 9.99651089e-01 1.55683886e-04 2.15051107e+00] [-1.60704302e-03 -1.13275502e-04 9.99998702e-01 4.42393180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62533619499999 meters 0.08617742551547021 Centerline is valid? [True, True] Translation: X:95.02, Y:2.16, Z:0.45 [[ 9.99753428e-01 -2.15873716e-02 5.20280868e-03 9.50232546e+01] [ 2.15850334e-02 9.99766888e-01 5.05141159e-04 2.15538195e+00] [-5.21250051e-03 -3.92713806e-04 9.99986338e-01 4.46206798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65533619499999 meters 0.0887734586704909 Centerline is valid? [True, True] Translation: X:95.05, Y:2.16, Z:0.45 [[ 9.99794503e-01 -1.95234053e-02 5.45790812e-03 9.50537021e+01] [ 1.95208017e-02 9.99809311e-01 5.29904935e-04 2.15698328e+00] [-5.46721291e-03 -4.23253299e-04 9.99984965e-01 4.46469916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68533619499999 meters 0.08850209306378376 Centerline is valid? [True, True] Translation: X:95.09, Y:2.16, Z:0.45 [[ 9.99810823e-01 -1.88863360e-02 4.65013556e-03 9.50856997e+01] [ 1.88844383e-02 9.99821571e-01 4.51674753e-04 2.16000960e+00] [-4.65783632e-03 -3.63774109e-04 9.99989086e-01 4.45233249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71533619499999 meters 0.08799140085120395 Centerline is valid? [True, True] Translation: X:95.12, Y:2.16, Z:0.44 [[ 9.99805442e-01 -1.93998368e-02 3.56711034e-03 9.51176127e+01] [ 1.93987235e-02 9.99811767e-01 3.46416038e-04 2.16123349e+00] [-3.57315931e-03 -2.77151252e-04 9.99993578e-01 4.42562119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.745336195 meters 0.07993566873355155 Centerline is valid? [True, True] Translation: X:95.15, Y:2.15, Z:0.44 [[ 9.99739525e-01 -2.26629631e-02 2.69652685e-03 9.51492594e+01] [ 2.26623397e-02 9.99743142e-01 2.61540566e-04 2.15217316e+00] [-2.70176151e-03 -2.00362834e-04 9.99996330e-01 4.41353878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.775336195 meters 0.07425572116836422 Centerline is valid? [True, True] Translation: X:95.18, Y:2.15, Z:0.44 [[ 9.99683240e-01 -2.50679238e-02 2.24046003e-03 9.51800116e+01] [ 2.50674994e-02 9.99685737e-01 2.17342337e-04 2.15001259e+00] [-2.24520426e-03 -1.61110761e-04 9.99997467e-01 4.41944767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.805336195 meters 0.07013580691904694 Centerline is valid? [True, True] Translation: X:95.21, Y:2.15, Z:0.44 [[ 9.99511207e-01 -3.11723059e-02 2.37384578e-03 9.52095110e+01] [ 3.11718468e-02 9.99514013e-01 2.30147457e-04 2.14947062e+00] [-2.37986635e-03 -1.56037806e-04 9.99997156e-01 4.41213837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.835336195 meters 0.06610505855126268 Centerline is valid? [True, True] Translation: X:95.24, Y:2.14, Z:0.44 [[ 9.99317105e-01 -3.67190569e-02 4.12721262e-03 9.52397461e+01] [ 3.67177157e-02 9.99325597e-01 4.00297641e-04 2.13956858e+00] [-4.13912776e-03 -2.48482461e-04 9.99991403e-01 4.43524609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.865336195 meters 0.06507139205564838 Centerline is valid? [True, True] Translation: X:95.27, Y:2.14, Z:0.44 [[ 9.99256979e-01 -3.82906073e-02 4.39534157e-03 9.52713632e+01] [ 3.82891004e-02 9.99266613e-01 4.26518790e-04 2.13613943e+00] [-4.40844974e-03 -2.57908203e-04 9.99990249e-01 4.43327815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.895336195 meters 0.061932302813481444 Centerline is valid? [True, True] Translation: X:95.30, Y:2.13, Z:0.44 [[ 9.99154440e-01 -4.10112270e-02 2.91288240e-03 9.53030417e+01] [ 4.10105768e-02 9.99158672e-01 2.82620685e-04 2.12716289e+00] [-2.92202233e-03 -1.62922725e-04 9.99995718e-01 4.40202255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.925336195 meters 0.06278956264535245 Centerline is valid? [True, True] Translation: X:95.33, Y:2.13, Z:0.44 [[ 9.99052024e-01 -4.34570304e-02 2.55750225e-03 9.53323644e+01] [ 4.34565375e-02 9.99055288e-01 2.48005312e-04 2.13132892e+00] [-2.56586372e-03 -1.36630016e-04 9.99996699e-01 4.40079202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.955336195 meters 0.06142522824651163 Centerline is valid? [True, True] Translation: X:95.36, Y:2.14, Z:0.44 [[ 9.99034424e-01 -4.38599436e-02 2.55425390e-03 9.53633843e+01] [ 4.38594528e-02 9.99037680e-01 2.47849972e-04 2.13512519e+00] [-2.56266658e-03 -1.35582475e-04 9.99996707e-01 4.40429265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98533619499999 meters 0.0642980062271636 Centerline is valid? [True, True] Translation: X:95.39, Y:2.14, Z:0.44 [[ 9.99105376e-01 -4.22485056e-02 1.87384540e-03 9.53929318e+01] [ 4.22482383e-02 9.99107128e-01 1.82005101e-04 2.14067570e+00] [-1.87986174e-03 -1.02675608e-04 9.99998228e-01 4.38584551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01533619499999 meters 0.0662232249294616 Centerline is valid? [True, True] Translation: X:95.42, Y:2.14, Z:0.44 [[ 9.99185805e-01 -4.02903222e-02 2.10188926e-03 9.54241226e+01] [ 4.02899823e-02 9.99188008e-01 2.03848890e-04 2.14240820e+00] [-2.10839568e-03 -1.18997836e-04 9.99997770e-01 4.39239042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04533619499999 meters 0.07166835231998231 Centerline is valid? [True, True] Translation: X:95.45, Y:2.15, Z:0.44 [[ 9.99394250e-01 -3.46323990e-02 3.42499277e-03 9.54543827e+01] [ 3.46314644e-02 9.99400096e-01 3.31824398e-04 2.14905102e+00] [-3.43442998e-03 -2.13010880e-04 9.99994080e-01 4.42612423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07533619499999 meters 0.07170837155009153 Centerline is valid? [True, True] Translation: X:95.48, Y:2.15, Z:0.44 [[ 9.99564996e-01 -2.93880757e-02 2.48207118e-03 9.54844132e+01] [ 2.93875687e-02 9.99568063e-01 2.40473533e-04 2.15207672e+00] [-2.48806614e-03 -1.67426889e-04 9.99996891e-01 4.41006476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10533619499999 meters 0.07980601843426546 Centerline is valid? [True, True] Translation: X:95.51, Y:2.17, Z:0.44 [[ 9.99691512e-01 -2.46783748e-02 2.80349806e-03 9.55129002e+01] [ 2.46777099e-02 9.99695422e-01 2.71517930e-04 2.16643799e+00] [-2.80934480e-03 -2.02250258e-04 9.99996033e-01 4.41288028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.135336195 meters 0.08066560315197321 Centerline is valid? [True, True] Translation: X:95.54, Y:2.18, Z:0.44 [[ 9.99764621e-01 -2.12769362e-02 4.24197812e-03 9.55427932e+01] [ 2.12753822e-02 9.99773569e-01 4.11135441e-04 2.17602249e+00] [-4.24976531e-03 -3.20788963e-04 9.99990918e-01 4.43604953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.165336195 meters 0.09338993905258197 Centerline is valid? [True, True] Translation: X:95.57, Y:2.20, Z:0.44 [[ 9.99784484e-01 -2.03700348e-02 4.00579956e-03 9.55724040e+01] [ 2.03686420e-02 9.99792462e-01 3.88207272e-04 2.19707174e+00] [-4.01287600e-03 -3.06530911e-04 9.99991901e-01 4.41882394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.195336195 meters 0.08922489424711628 Centerline is valid? [True, True] Translation: X:95.61, Y:2.19, Z:0.44 [[ 9.99792951e-01 -2.00662492e-02 3.37650530e-03 9.56051111e+01] [ 2.00652579e-02 9.99798619e-01 3.27215746e-04 2.19457339e+00] [-3.38239133e-03 -2.59397547e-04 9.99994246e-01 4.40409090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.225336195 meters 0.08024876726945444 Centerline is valid? [True, True] Translation: X:95.64, Y:2.19, Z:0.44 [[ 9.99783031e-01 -2.04628612e-02 3.89389217e-03 9.56381421e+01] [ 2.04615466e-02 9.99790570e-01 3.77125503e-04 2.18554410e+00] [-3.90079374e-03 -2.97368622e-04 9.99992348e-01 4.41309650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.255336195 meters 0.07939223667031169 Centerline is valid? [True, True] Translation: X:95.67, Y:2.19, Z:0.44 [[ 9.99750213e-01 -2.19545023e-02 4.18462075e-03 9.56684687e+01] [ 2.19529991e-02 9.99758922e-01 4.04800620e-04 2.18866901e+00] [-4.19249912e-03 -3.12834531e-04 9.99991163e-01 4.41947907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.285336195 meters 0.08995896969404098 Centerline is valid? [True, True] Translation: X:95.70, Y:2.21, Z:0.44 [[ 9.99738414e-01 -2.25726700e-02 3.68475386e-03 9.56981903e+01] [ 2.25715068e-02 9.99745167e-01 3.56978126e-04 2.20742230e+00] [-3.69187281e-03 -2.73714299e-04 9.99993148e-01 4.39953422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.315336195 meters 0.08537944842434521 Centerline is valid? [True, True] Translation: X:95.73, Y:2.21, Z:0.44 [[ 9.99727013e-01 -2.32313325e-02 2.49087758e-03 9.57306508e+01] [ 2.32308033e-02 9.99730099e-01 2.41198273e-04 2.21079732e+00] [-2.49580865e-03 -1.83267342e-04 9.99996869e-01 4.37580093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34533619499999 meters 0.0829047784810039 Centerline is valid? [True, True] Translation: X:95.76, Y:2.21, Z:0.44 [[ 9.99703613e-01 -2.41479030e-02 3.09259635e-03 9.57624634e+01] [ 2.41470933e-02 9.99708372e-01 2.98883892e-04 2.21114439e+00] [-3.09891188e-03 -2.24118094e-04 9.99995173e-01 4.37392744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37533619499999 meters 0.07825896289918577 Centerline is valid? [True, True] Translation: X:95.79, Y:2.21, Z:0.44 [[ 9.99686227e-01 -2.49388049e-02 2.34595718e-03 9.57948162e+01] [ 2.49383412e-02 9.99688965e-01 2.26730289e-04 2.20623198e+00] [-2.35088189e-03 -1.68154867e-04 9.99997223e-01 4.37079269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40533619499999 meters 0.07738400735792081 Centerline is valid? [True, True] Translation: X:95.82, Y:2.21, Z:0.43 [[ 9.99582387e-01 -2.88931667e-02 4.86071304e-04 9.58241969e+01] [ 2.88931474e-02 9.99582505e-01 4.67951188e-05 2.20863112e+00] [-4.87220431e-04 -3.27314467e-05 9.99999881e-01 4.33061349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43533619499999 meters 0.06880190590313769 Centerline is valid? [True, True] Translation: X:95.86, Y:2.21, Z:0.44 [[ 9.99464508e-01 -3.25066994e-02 3.74333798e-03 9.58555880e+01] [ 3.25055731e-02 9.99471489e-01 3.61358825e-04 2.20716483e+00] [-3.75310617e-03 -2.39485974e-04 9.99992928e-01 4.39822098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46533619499999 meters 0.06694041449519642 Centerline is valid? [True, True] Translation: X:95.89, Y:2.21, Z:0.44 [[ 9.99422732e-01 -3.36345982e-02 4.78718442e-03 9.58870950e+01] [ 3.36327687e-02 9.99434152e-01 4.62178214e-04 2.21246259e+00] [-4.80002078e-03 -3.00905146e-04 9.99988435e-01 4.41868947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.495336195 meters 0.0675232875332797 Centerline is valid? [True, True] Translation: X:95.92, Y:2.22, Z:0.44 [[ 9.99375922e-01 -3.51226967e-02 3.76325147e-03 9.59166952e+01] [ 3.51215775e-02 9.99382981e-01 3.63096226e-04 2.21928083e+00] [-3.77368239e-03 -2.30698297e-04 9.99992853e-01 4.38186441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.525336195 meters 0.06921631160872974 Centerline is valid? [True, True] Translation: X:95.95, Y:2.22, Z:0.44 [[ 9.99300867e-01 -3.72277886e-02 3.44515150e-03 9.59470043e+01] [ 3.72268634e-02 9.99306785e-01 3.32300359e-04 2.21667289e+00] [-3.45513408e-03 -2.03815852e-04 9.99994010e-01 4.36135770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.555336195 meters 0.06721530963433398 Centerline is valid? [True, True] Translation: X:95.98, Y:2.22, Z:0.44 [[ 9.99220557e-01 -3.92662443e-02 4.05476205e-03 9.59771406e+01] [ 3.92649795e-02 9.99228757e-01 3.91100038e-04 2.21718461e+00] [-4.06699187e-03 -2.31585049e-04 9.99991703e-01 4.39011526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.585336195 meters 0.06484714287326393 Centerline is valid? [True, True] Translation: X:96.01, Y:2.22, Z:0.44 [[ 9.99183948e-01 -4.02024668e-02 3.89865753e-03 9.60079193e+01] [ 4.02013041e-02 9.99191530e-01 3.76171594e-04 2.22166516e+00] [-3.91062861e-03 -2.19133502e-04 9.99992329e-01 4.38891982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.615336195 meters 0.05988815134813239 Centerline is valid? [True, True] Translation: X:96.04, Y:2.22, Z:0.44 [[ 9.99150481e-01 -4.10947534e-02 3.08837086e-03 9.60401312e+01] [ 4.10940277e-02 9.99155239e-01 2.98119669e-04 2.22097094e+00] [-3.09801308e-03 -1.70952813e-04 9.99995187e-01 4.36923109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.645336195 meters 0.06064721682113664 Centerline is valid? [True, True] Translation: X:96.07, Y:2.22, Z:0.44 [[ 9.99160352e-01 -4.08276133e-02 3.42005589e-03 9.60717102e+01] [ 4.08267227e-02 9.99166187e-01 3.29851696e-04 2.22277389e+00] [-3.43067126e-03 -1.89945063e-04 9.99994097e-01 4.36638660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.675336195 meters 0.06122331231650805 Centerline is valid? [True, True] Translation: X:96.10, Y:2.22, Z:0.43 [[ 9.99194478e-01 -4.00125453e-02 3.06444769e-03 9.61042369e+01] [ 4.00118264e-02 9.99199163e-01 2.95556233e-04 2.22091223e+00] [-3.07381952e-03 -1.72704007e-04 9.99995261e-01 4.34254756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.705336195 meters 0.0664112604773173 Centerline is valid? [True, True] Translation: X:96.13, Y:2.23, Z:0.43 [[ 9.99143525e-01 -4.13127907e-02 2.33894296e-03 9.61341701e+01] [ 4.13123759e-02 9.99146254e-01 2.25408562e-04 2.23151755e+00] [-2.34625836e-03 -1.28588214e-04 9.99997239e-01 4.32002516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73533619499999 meters 0.06365524463930054 Centerline is valid? [True, True] Translation: X:96.17, Y:2.23, Z:0.44 [[ 9.99111187e-01 -4.19692504e-02 3.92647243e-03 9.61658401e+01] [ 4.19680872e-02 9.99118880e-01 3.78210185e-04 2.23494574e+00] [-3.93888594e-03 -2.13087490e-04 9.99992220e-01 4.35756479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76533619499999 meters 0.058103106472034864 Centerline is valid? [True, True] Translation: X:96.20, Y:2.23, Z:0.44 [[ 9.99068739e-01 -4.28222448e-02 5.28306558e-03 9.61980488e+01] [ 4.28201524e-02 9.99082667e-01 5.08602120e-04 2.23254487e+00] [-5.29999873e-03 -2.81906806e-04 9.99985915e-01 4.38673205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79533619499999 meters 0.06238752043447839 Centerline is valid? [True, True] Translation: X:96.23, Y:2.23, Z:0.43 [[ 9.99064975e-01 -4.32002796e-02 1.70614686e-03 9.62289197e+01] [ 4.32000616e-02 9.99066428e-01 1.64418879e-04 2.23134472e+00] [-1.71165699e-03 -9.05594942e-05 9.99998531e-01 4.31458747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82533619499999 meters 0.06432672311202199 Centerline is valid? [True, True] Translation: X:96.26, Y:2.23, Z:0.43 [[ 9.99086303e-01 -4.27342854e-02 5.82556927e-04 9.62599273e+01] [ 4.27342598e-02 9.99086473e-01 5.63312097e-05 2.23408786e+00] [-5.84432020e-04 -3.13846009e-05 9.99999829e-01 4.29122328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85533619499999 meters 0.062028642374182034 Centerline is valid? [True, True] Translation: X:96.29, Y:2.24, Z:0.43 [[ 9.99193507e-01 -4.01242744e-02 1.54202178e-03 9.62910338e+01] [ 4.01240930e-02 9.99194693e-01 1.48430532e-04 2.23776382e+00] [-1.54673565e-03 -8.64385988e-05 9.99998800e-01 4.32159054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.885336195 meters 0.062028642374182034 Centerline is valid? [True, True] Translation: X:96.32, Y:2.24, Z:0.43 [[ 9.99195407e-01 -4.00769430e-02 1.54200723e-03 9.63226226e+01] [ 4.00767613e-02 9.99196593e-01 1.48582021e-04 2.24071165e+00] [-1.54672309e-03 -8.66638166e-05 9.99998800e-01 4.31858480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.915336195 meters 0.0599110227615645 Centerline is valid? [True, True] Translation: X:96.35, Y:2.25, Z:0.43 [[ 9.99296395e-01 -3.74971890e-02 8.22085735e-04 9.63529385e+01] [ 3.74971366e-02 9.99296732e-01 7.90774000e-05 2.24819182e+00] [-8.24472769e-04 -4.81958997e-05 9.99999659e-01 4.31190187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.945336195 meters 0.06932885516750975 Centerline is valid? [True, True] Translation: X:96.38, Y:2.26, Z:0.43 [[ 9.99337077e-01 -3.63555529e-02 1.91826720e-03 9.63831191e+01] [ 3.63552655e-02 9.99338912e-01 1.84528773e-04 2.26079912e+00] [-1.92370771e-03 -1.14667331e-04 9.99998143e-01 4.30596340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.975336195 meters 0.06948117618648934 Centerline is valid? [True, True] Translation: X:96.42, Y:2.26, Z:0.43 [[ 9.99317477e-01 -3.67971052e-02 3.24870695e-03 9.64152879e+01] [ 3.67962842e-02 9.99322739e-01 3.12137523e-04 2.25921674e+00] [-3.25799248e-03 -1.92384138e-04 9.99994674e-01 4.32161672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.005336195 meters 0.0664569354718082 Centerline is valid? [True, True] Translation: X:96.45, Y:2.25, Z:0.43 [[ 9.99272369e-01 -3.80578808e-02 2.51609033e-03 9.64481456e+01] [ 3.80573924e-02 9.99275526e-01 2.41737134e-04 2.25115684e+00] [-2.52346749e-03 -1.45805401e-04 9.99996805e-01 4.30535579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.035336195 meters 0.06034197810194228 Centerline is valid? [True, True] Translation: X:96.48, Y:2.25, Z:0.43 [[ 9.99248479e-01 -3.87509724e-02 9.15992597e-04 9.64812798e+01] [ 3.87509076e-02 9.99248898e-01 8.84032927e-05 2.24829408e+00] [-9.18730306e-04 -5.28413113e-05 9.99999577e-01 4.28484138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.065336195 meters 0.07043236223869641 Centerline is valid? [True, True] Translation: X:96.51, Y:2.27, Z:0.43 [[ 9.99265933e-01 -3.82986275e-02 8.99729189e-04 9.65105519e+01] [ 3.82985651e-02 9.99266337e-01 8.65803997e-05 2.26596294e+00] [-9.02385001e-04 -5.20585070e-05 9.99999591e-01 4.26087609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09533619499999 meters 0.0679059841110101 Centerline is valid? [True, True] Translation: X:96.54, Y:2.27, Z:0.43 [[ 9.99324358e-01 -3.67121320e-02 1.74572751e-03 9.65416126e+01] [ 3.67118954e-02 9.99325877e-01 1.67414392e-04 2.26718118e+00] [-1.75069682e-03 -1.03212313e-04 9.99998462e-01 4.28498094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12533619499999 meters 0.07664675633506499 Centerline is valid? [True, True] Translation: X:96.57, Y:2.28, Z:0.43 [[ 9.99435831e-01 -3.35715768e-02 9.83872600e-04 9.65703043e+01] [ 3.35715003e-02 9.99436314e-01 9.42099042e-05 2.27950357e+00] [-9.86480780e-04 -6.11266746e-05 9.99999512e-01 4.27934647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15533619499999 meters 0.0685958461822659 Centerline is valid? [True, True] Translation: X:96.60, Y:2.27, Z:0.43 [[ 9.99502386e-01 -3.15432881e-02 2.93803912e-05 9.66024415e+01] [ 3.15432880e-02 9.99502387e-01 3.04180173e-06 2.27285685e+00] [-2.94617196e-05 -2.11353394e-06 1.00000000e+00 4.28415420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18533619499999 meters 0.07353117254151934 Centerline is valid? [True, True] Translation: X:96.63, Y:2.28, Z:0.43 [[ 9.99627568e-01 -2.72772363e-02 -8.23526730e-04 9.66320423e+01] [ 2.72771805e-02 9.99627905e-01 -7.89515294e-05 2.28044124e+00] [ 8.25373880e-04 5.64586380e-05 9.99999658e-01 4.25927858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21533619499999 meters 0.0809312065407945 Centerline is valid? [True, True] Translation: X:96.66, Y:2.29, Z:0.42 [[ 9.99669986e-01 -2.56841125e-02 -4.95300106e-04 9.66607682e+01] [ 2.56840923e-02 9.99670108e-01 -4.70952092e-05 2.29291419e+00] [ 4.96346309e-04 3.43583335e-05 9.99999876e-01 4.24208618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.245336195 meters 0.07292676467559739 Centerline is valid? [True, True] Translation: X:96.69, Y:2.29, Z:0.43 [[ 9.99653530e-01 -2.63202728e-02 2.52011384e-04 9.66924461e+01] [ 2.63202675e-02 9.99653561e-01 2.43609861e-05 2.28749694e+00] [-2.52565265e-04 -1.77195387e-05 9.99999968e-01 4.26891643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.275336195 meters 0.07939788341712707 Centerline is valid? [True, True] Translation: X:96.72, Y:2.30, Z:0.43 [[ 9.99625981e-01 -2.73054868e-02 1.51949113e-03 9.67224689e+01] [ 2.73052967e-02 9.99627130e-01 1.45703316e-04 2.29819575e+00] [-1.52290306e-03 -1.04158664e-04 9.99998835e-01 4.27679376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.305336195 meters 0.07344093149464723 Centerline is valid? [True, True] Translation: X:96.76, Y:2.29, Z:0.43 [[ 9.99595708e-01 -2.84265858e-02 5.90967783e-04 9.67551697e+01] [ 2.84265572e-02 9.99595882e-01 5.68937308e-05 2.28867931e+00] [-5.92346257e-04 -4.00715497e-05 9.99999824e-01 4.25877524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.335336195 meters 0.07657759925805896 Centerline is valid? [True, True] Translation: X:96.79, Y:2.29, Z:0.43 [[ 9.99569764e-01 -2.93141265e-02 9.84590052e-04 9.67854910e+01] [ 2.93140476e-02 9.99570247e-01 9.44294251e-05 2.29436228e+00] [-9.86935037e-04 -6.55264785e-05 9.99999511e-01 4.25276523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.365336195 meters 0.0751058098351462 Centerline is valid? [True, True] Translation: X:96.82, Y:2.30, Z:0.43 [[ 9.99531091e-01 -3.05425461e-02 2.17963450e-03 9.68173692e+01] [ 3.05421630e-02 9.99533458e-01 2.08802623e-04 2.29576755e+00] [-2.18499497e-03 -1.42133961e-04 9.99997603e-01 4.27289068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.395336195 meters 0.07131808312221072 Centerline is valid? [True, True] Translation: X:96.85, Y:2.29, Z:0.43 [[ 9.99550313e-01 -2.99697796e-02 9.91726431e-04 9.68501698e+01] [ 2.99696998e-02 9.99550803e-01 9.52572083e-05 2.29489189e+00] [-9.94135788e-04 -6.54926290e-05 9.99999504e-01 4.26464487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.425336195 meters 0.0827497278580952 Centerline is valid? [True, True] Translation: X:96.88, Y:2.31, Z:0.42 [[ 9.99572935e-01 -2.92215572e-02 -2.18268974e-04 9.68795536e+01] [ 2.92215535e-02 9.99572959e-01 -2.02724296e-05 2.31216111e+00] [ 2.18768156e-04 1.38856135e-05 9.99999976e-01 4.22591402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.455336195 meters 0.07754484462099084 Centerline is valid? [True, True] Translation: X:96.91, Y:2.31, Z:0.42 [[ 9.99620165e-01 -2.75594118e-02 -6.68317498e-05 9.69115640e+01] [ 2.75594114e-02 9.99620167e-01 -6.16537096e-06 2.30601126e+00] [ 6.69762789e-05 4.32118545e-06 9.99999998e-01 4.22720220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48533619499999 meters 0.0844061245517316 Centerline is valid? [True, True] Translation: X:96.94, Y:2.31, Z:0.42 [[ 9.99661872e-01 -2.60024021e-02 1.30317566e-04 9.69407517e+01] [ 2.60024007e-02 9.99661880e-01 1.24473408e-05 2.31416026e+00] [-1.30597164e-04 -9.05456241e-06 9.99999991e-01 4.20951864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51533619499999 meters 0.07742312251178482 Centerline is valid? [True, True] Translation: X:96.97, Y:2.31, Z:0.42 [[ 9.99635595e-01 -2.69669689e-02 -1.20795013e-03 9.69725563e+01] [ 2.69668494e-02 9.99636322e-01 -1.15130388e-04 2.31005508e+00] [ 1.21061554e-03 8.25138250e-05 9.99999264e-01 4.18646786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54533619499999 meters 0.07660869630434088 Centerline is valid? [True, True] Translation: X:97.00, Y:2.31, Z:0.42 [[ 9.99597426e-01 -2.83574233e-02 -9.17855572e-04 9.70027097e+01] [ 2.83573548e-02 9.99597846e-01 -8.75460311e-05 2.31266109e+00] [ 9.19969032e-04 6.14828312e-05 9.99999575e-01 4.18724195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57533619499999 meters 0.07079664230166174 Centerline is valid? [True, True] Translation: X:97.03, Y:2.31, Z:0.42 [[ 9.99526765e-01 -3.06272319e-02 -2.86670494e-03 9.70338418e+01] [ 3.06265725e-02 9.99530859e-01 -2.73639296e-04 2.30865540e+00] [ 2.87374086e-03 1.85712454e-04 9.99995854e-01 4.16587459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60533619499999 meters 0.06912186045781686 Centerline is valid? [True, True] Translation: X:97.07, Y:2.30, Z:0.41 [[ 9.99420402e-01 -3.31638807e-02 -7.68229918e-03 9.70655024e+01] [ 3.31592192e-02 9.99449813e-01 -7.33398026e-04 2.30381019e+00] [ 7.70239480e-03 4.78233908e-04 9.99970222e-01 4.06295664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.635336195 meters 0.07140982630564921 Centerline is valid? [True, True] Translation: X:97.09, Y:2.30, Z:0.40 [[ 9.99346149e-01 -3.52599784e-02 -8.00053220e-03 9.70948790e+01] [ 3.52549860e-02 9.99378058e-01 -7.64233278e-04 2.30486821e+00] [ 8.02250318e-03 4.81674933e-04 9.99967703e-01 4.02974805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.665336195 meters 0.0629168365039976 Centerline is valid? [True, True] Translation: X:97.13, Y:2.30, Z:0.41 [[ 9.99187087e-01 -4.01370174e-02 -3.76632818e-03 9.71261797e+01] [ 4.01359458e-02 9.99194164e-01 -3.59726260e-04 2.29525528e+00] [ 3.77773147e-03 2.08268690e-04 9.99992843e-01 4.12082817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.695336195 meters 0.0623859519324699 Centerline is valid? [True, True] Translation: X:97.16, Y:2.30, Z:0.42 [[ 9.99099469e-01 -4.24063088e-02 -1.39827977e-03 9.71554067e+01] [ 4.24061631e-02 9.99100445e-01 -1.33683410e-04 2.29960512e+00] [ 1.40269096e-03 7.42673445e-05 9.99999013e-01 4.16237521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.725336195 meters 0.05836272984686129 Centerline is valid? [True, True] Translation: X:97.19, Y:2.30, Z:0.42 [[ 9.98887765e-01 -4.71230012e-02 1.62951977e-03 9.71852730e+01] [ 4.71228101e-02 9.98889091e-01 1.55543257e-04 2.29858684e+00] [-1.63503919e-03 -7.85827059e-05 9.99998660e-01 4.21105588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.755336195 meters 0.05020676124759439 Centerline is valid? [True, True] Translation: X:97.22, Y:2.29, Z:0.43 [[ 9.98588754e-01 -5.29267811e-02 4.38813387e-03 9.72174344e+01] [ 5.29254490e-02 9.98598378e-01 4.19212104e-04 2.28640265e+00] [-4.40417091e-03 -1.86376538e-04 9.99990284e-01 4.25825178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.785336195 meters 0.04796977028056449 Centerline is valid? [True, True] Translation: X:97.25, Y:2.28, Z:0.43 [[ 9.98460970e-01 -5.52106998e-02 5.24114657e-03 9.72492398e+01] [ 5.52088308e-02 9.98474704e-01 5.00719231e-04 2.28388677e+00] [-5.26079733e-03 -2.10591035e-04 9.99986140e-01 4.26944527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.815336195 meters 0.04176850976319881 Centerline is valid? [True, True] Translation: X:97.28, Y:2.27, Z:0.42 [[ 9.98316720e-01 -5.78681359e-02 3.87367855e-03 9.72822712e+01] [ 5.78671346e-02 9.98324225e-01 3.70151395e-04 2.27282439e+00] [-3.88860710e-03 -1.45369648e-04 9.99992429e-01 4.24381107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84533619499999 meters 0.043728674736742495 Centerline is valid? [True, True] Translation: X:97.31, Y:2.28, Z:0.42 [[ 9.98349697e-01 -5.74225689e-02 -7.29436561e-04 9.73122050e+01] [ 5.74225334e-02 9.98349963e-01 -6.95085312e-05 2.27544907e+00] [ 7.32224322e-04 2.75077258e-05 9.99999732e-01 4.16879235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87533619499999 meters 0.04705784965413587 Centerline is valid? [True, True] Translation: X:97.34, Y:2.28, Z:0.41 [[ 9.98454700e-01 -5.55427220e-02 -1.79373574e-03 9.73406134e+01] [ 5.55425034e-02 9.98456309e-01 -1.71471353e-04 2.28359853e+00] [ 1.80049075e-03 7.15778056e-05 9.99998377e-01 4.14465421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90533619499999 meters 0.05794728581267146 Centerline is valid? [True, True] Translation: X:97.37, Y:2.30, Z:0.42 [[ 9.98735943e-01 -5.02617879e-02 5.18525868e-04 9.73689016e+01] [ 5.02617690e-02 9.98736077e-01 4.93969509e-05 2.30031211e+00] [-5.20353270e-04 -2.32724829e-05 9.99999864e-01 4.16573091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93533619499999 meters 0.06010361832561094 Centerline is valid? [True, True] Translation: X:97.40, Y:2.30, Z:0.42 [[ 9.98986824e-01 -4.49791603e-02 1.48351205e-03 9.73996079e+01] [ 4.49789995e-02 9.98987923e-01 1.41594119e-04 2.30037488e+00] [-1.48837941e-03 -7.47237717e-05 9.99998890e-01 4.19178518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96533619499999 meters 0.06340701485185896 Centerline is valid? [True, True] Translation: X:97.43, Y:2.30, Z:0.42 [[ 9.99115419e-01 -4.20290639e-02 1.39162551e-03 9.74300912e+01] [ 4.20289194e-02 9.99116386e-01 1.32935339e-04 2.30372642e+00] [-1.39598300e-03 -7.43292303e-05 9.99999023e-01 4.19211908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.995336195 meters 0.06650694606679446 Centerline is valid? [True, True] Translation: X:97.46, Y:2.31, Z:0.42 [[ 9.99306180e-01 -3.71820812e-02 2.15691697e-03 9.74604004e+01] [ 3.71817230e-02 9.99308499e-01 2.05919751e-04 2.30860635e+00] [-2.16308198e-03 -1.25578990e-04 9.99997653e-01 4.20908380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.025336195 meters 0.0702506760967843 Centerline is valid? [True, True] Translation: X:97.49, Y:2.32, Z:0.42 [[ 9.99416502e-01 -3.41439004e-02 9.21341700e-04 9.74901675e+01] [ 3.41438337e-02 9.99416925e-01 8.79932034e-05 2.32170495e+00] [-9.23808921e-04 -5.64837218e-05 9.99999572e-01 4.18577761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.055336195 meters 0.06752127370314205 Centerline is valid? [True, True] Translation: X:97.52, Y:2.32, Z:0.42 [[ 9.99458811e-01 -3.28916578e-02 4.74178646e-04 9.75209967e+01] [ 3.28916399e-02 9.99458923e-01 4.53829252e-05 2.32251572e+00] [-4.75414798e-04 -2.97618512e-05 9.99999887e-01 4.17860744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.085336195 meters 0.07225001813200006 Centerline is valid? [True, True] Translation: X:97.55, Y:2.33, Z:0.42 [[ 9.99530855e-01 -3.06202242e-02 6.86927098e-04 9.75509167e+01] [ 3.06201862e-02 9.99531090e-01 6.58159955e-05 2.32608330e+00] [-6.88620291e-04 -4.47512826e-05 9.99999762e-01 4.17258787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.115336195 meters 0.08246916444516553 Centerline is valid? [True, True] Translation: X:97.58, Y:2.33, Z:0.42 [[ 9.99603736e-01 -2.81324456e-02 9.67492494e-04 9.75802305e+01] [ 2.81323694e-02 9.99604202e-01 9.22662269e-05 2.33390457e+00] [-9.69705237e-04 -6.50118088e-05 9.99999528e-01 4.16155267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.145336195 meters 0.07905139761240228 Centerline is valid? [True, True] Translation: X:97.61, Y:2.33, Z:0.42 [[ 9.99627012e-01 -2.73028147e-02 6.26974954e-04 9.76115311e+01] [ 2.73027825e-02 9.99627208e-01 5.99484663e-05 2.33093003e+00] [-6.28377984e-04 -4.28079455e-05 9.99999802e-01 4.15922783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.175336195 meters 0.079902624124951 Centerline is valid? [True, True] Translation: X:97.64, Y:2.33, Z:0.42 [[ 9.99587129e-01 -2.86312970e-02 2.41238748e-03 9.76408547e+01] [ 2.86308246e-02 9.99590027e-01 2.30167983e-04 2.33465375e+00] [-2.41798848e-03 -1.61004310e-04 9.99997064e-01 4.17863990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.205336195 meters 0.07500029579935749 Centerline is valid? [True, True] Translation: X:97.67, Y:2.33, Z:0.42 [[ 9.99525666e-01 -3.04813479e-02 4.39658929e-03 9.76719071e+01] [ 3.04797952e-02 9.99535295e-01 4.19734902e-04 2.33121215e+00] [-4.40734026e-03 -2.85528667e-04 9.99990247e-01 4.21138219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23533619499999 meters 0.0677513275368703 Centerline is valid? [True, True] Translation: X:97.70, Y:2.32, Z:0.42 [[ 9.99354631e-01 -3.57060199e-02 3.92447412e-03 9.77032486e+01] [ 3.57048234e-02 9.99362309e-01 3.74545793e-04 2.32115918e+00] [-3.93534506e-03 -2.34181417e-04 9.99992229e-01 4.20287262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26533619499999 meters 0.05896671531090379 Centerline is valid? [True, True] Translation: X:97.74, Y:2.31, Z:0.42 [[ 9.99251539e-01 -3.86361551e-02 1.89995632e-03 9.77357367e+01] [ 3.86358797e-02 9.99253339e-01 1.81437196e-04 2.30804396e+00] [-1.90554773e-03 -1.07894914e-04 9.99998179e-01 4.16538898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29533619499999 meters 0.05832475730037111 Centerline is valid? [True, True] Translation: X:97.77, Y:2.30, Z:0.42 [[ 9.99009358e-01 -4.44093776e-02 2.84784323e-03 9.77669743e+01] [ 4.44087829e-02 9.99013406e-01 2.71776697e-04 2.29507927e+00] [-2.85710300e-03 -1.45038212e-04 9.99995908e-01 4.16996867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32533619499999 meters 0.06405779897274277 Centerline is valid? [True, True] Translation: X:97.80, Y:2.30, Z:0.42 [[ 9.99015931e-01 -4.41725180e-02 3.99467625e-03 9.77962322e+01] [ 4.41713455e-02 9.99023897e-01 3.81302653e-04 2.30370286e+00] [-4.00762013e-03 -2.04477201e-04 9.99991949e-01 4.18654242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35533619499999 meters 0.05866480449247725 Centerline is valid? [True, True] Translation: X:97.83, Y:2.30, Z:0.42 [[ 9.99070719e-01 -4.28812431e-02 4.34710058e-03 9.78276746e+01] [ 4.28798427e-02 9.99080150e-01 4.14883925e-04 2.29854030e+00] [-4.36089264e-03 -2.28095392e-04 9.99990465e-01 4.20664070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.385336195 meters 0.07274023027559867 Centerline is valid? [True, True] Translation: X:97.86, Y:2.31, Z:0.42 [[ 9.99304937e-01 -3.72158416e-02 2.15043893e-03 9.78564196e+01] [ 3.72154859e-02 9.99307243e-01 2.05188867e-04 2.31331115e+00] [-2.15658547e-03 -1.25016618e-04 9.99997667e-01 4.16158197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.415336195 meters 0.06796543943470625 Centerline is valid? [True, True] Translation: X:97.89, Y:2.31, Z:0.42 [[ 9.99560715e-01 -2.96343314e-02 4.29085518e-04 9.78876120e+01] [ 2.96343165e-02 9.99560806e-01 4.09337447e-05 2.30744864e+00] [-4.30110110e-04 -2.82001070e-05 9.99999907e-01 4.16035215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.445336195 meters 0.071515762230043 Centerline is valid? [True, True] Translation: X:97.92, Y:2.32, Z:0.42 [[ 9.99660161e-01 -2.60662279e-02 3.37160143e-04 9.79171156e+01] [ 2.60662185e-02 9.99660218e-01 3.20796084e-05 2.31564013e+00] [-3.37881776e-04 -2.32802166e-05 9.99999943e-01 4.15111406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.475336195 meters 0.08460465476685998 Centerline is valid? [True, True] Translation: X:97.95, Y:2.34, Z:0.41 [[ 9.99814232e-01 -1.92674153e-02 5.18360388e-04 9.79453693e+01] [ 1.92673922e-02 9.99814365e-01 4.94286500e-05 2.33520303e+00] [-5.19216525e-04 -3.94320148e-05 9.99999864e-01 4.14230498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.505336195 meters 0.08860685498931659 Centerline is valid? [True, True] Translation: X:97.97, Y:2.34, Z:0.42 [[ 9.99872174e-01 -1.59709784e-02 7.50406093e-04 9.79747582e+01] [ 1.59709291e-02 9.99872454e-01 7.15826035e-05 2.34194509e+00] [-7.51453626e-04 -5.95887708e-05 9.99999716e-01 4.15010478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.535336195 meters 0.09391597889324678 Centerline is valid? [True, True] Translation: X:98.00, Y:2.35, Z:0.42 [[ 9.99947613e-01 -1.01497979e-02 1.32427888e-03 9.80042582e+01] [ 1.01496393e-02 9.99948483e-01 1.26401194e-04 2.35174712e+00] [-1.32549360e-03 -1.12953619e-04 9.99999115e-01 4.15868799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.565336195 meters 0.0955165623454746 Centerline is valid? [True, True] Translation: X:98.03, Y:2.36, Z:0.42 [[ 9.99980964e-01 -5.78889998e-03 2.13553615e-03 9.80340050e+01] [ 5.78847784e-03 9.99983226e-01 2.03803724e-04 2.36194762e+00] [-2.13668012e-03 -1.91438341e-04 9.99997699e-01 4.16609258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59533619499999 meters 0.09584699977817375 Centerline is valid? [True, True] Translation: X:98.07, Y:2.37, Z:0.42 [[ 9.99984474e-01 -5.22599901e-03 1.93391998e-03 9.80650503e+01] [ 5.22565147e-03 9.99986329e-01 1.84717769e-04 2.36955828e+00] [-1.93485888e-03 -1.74608909e-04 9.99998113e-01 4.15470353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62533619499999 meters 0.09769312506570613 Centerline is valid? [True, True] Translation: X:98.09, Y:2.38, Z:0.41 [[ 9.99977651e-01 -6.68546386e-03 -4.09966800e-05 9.80942078e+01] [ 6.68546371e-03 9.99977652e-01 -3.91118450e-06 2.38192285e+00] [ 4.10219119e-05 3.63701527e-06 9.99999999e-01 4.11070092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65533619499999 meters 0.08700383742105225 Centerline is valid? [True, True] Translation: X:98.13, Y:2.37, Z:0.41 [[ 9.99932939e-01 -1.15773961e-02 2.86650688e-04 9.81257123e+01] [ 1.15773887e-02 9.99932979e-01 2.73921338e-05 2.37281057e+00] [-2.86948606e-04 -2.40716304e-05 9.99999959e-01 4.12197989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68533619499999 meters 0.08595218414308117 Centerline is valid? [True, True] Translation: X:98.16, Y:2.37, Z:0.41 [[ 9.99880397e-01 -1.54329678e-02 1.00801695e-03 9.81561035e+01] [ 1.54328786e-02 9.99880901e-01 9.61470626e-05 2.37306967e+00] [-1.00938073e-03 -8.05789598e-05 9.99999487e-01 4.12896484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71533619499999 meters 0.07911762970538631 Centerline is valid? [True, True] Translation: X:98.19, Y:2.37, Z:0.41 [[ 9.99688784e-01 -2.49387576e-02 6.26583108e-04 9.81865722e+01] [ 2.49387250e-02 9.99688980e-01 5.97745500e-05 2.36860588e+00] [-6.27878931e-04 -4.41297634e-05 9.99999802e-01 4.11091624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.745336195 meters 0.07022042878896641 Centerline is valid? [True, True] Translation: X:98.22, Y:2.36, Z:0.41 [[ 9.99402075e-01 -3.45633145e-02 9.32353344e-04 9.82169559e+01] [ 3.45632464e-02 9.99402509e-01 8.90222875e-05 2.36378742e+00] [-9.34873176e-04 -5.67439005e-05 9.99999561e-01 4.10068698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.775336195 meters 0.06511810236102186 Centerline is valid? [True, True] Translation: X:98.25, Y:2.36, Z:0.41 [[ 9.99248978e-01 -3.86350375e-02 2.96879429e-03 9.82480384e+01] [ 3.86343661e-02 9.99253374e-01 2.83189263e-04 2.36011205e+00] [-2.97751874e-03 -1.68279096e-04 9.99995553e-01 4.12786749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.805336195 meters 0.06511810236102186 Centerline is valid? [True, True] Translation: X:98.28, Y:2.36, Z:0.41 [[ 9.99249856e-01 -3.86123248e-02 2.96877951e-03 9.82787885e+01] [ 3.86116528e-02 9.99254252e-01 2.83344225e-04 2.36300132e+00] [-2.97750613e-03 -1.68502193e-04 9.99995553e-01 4.12494108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.835336195 meters 0.057988025909963443 Centerline is valid? [True, True] Translation: X:98.31, Y:2.36, Z:0.42 [[ 9.98959035e-01 -4.52997105e-02 5.36495371e-03 9.83105503e+01] [ 4.52976143e-02 9.98973405e-01 5.11642214e-04 2.35589465e+00] [-5.38262332e-03 -2.68090009e-04 9.99985478e-01 4.16518019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.865336195 meters 0.04956297440894352 Centerline is valid? [True, True] Translation: X:98.34, Y:2.35, Z:0.42 [[ 9.98826872e-01 -4.82456787e-02 4.15148722e-03 9.83424300e+01] [ 4.82444486e-02 9.98835480e-01 3.95990315e-04 2.34787627e+00] [-4.16575755e-03 -1.95239556e-04 9.99991304e-01 4.15265180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.895336195 meters 0.04779744542243797 Centerline is valid? [True, True] Translation: X:98.37, Y:2.35, Z:0.41 [[ 9.98537603e-01 -5.39787728e-02 2.99123389e-03 9.83724145e+01] [ 5.39781604e-02 9.98542076e-01 2.85153232e-04 2.34649765e+00] [-3.00226512e-03 -1.23274922e-04 9.99995486e-01 4.12510605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.925336195 meters 0.043105558770052343 Centerline is valid? [True, True] Translation: X:98.40, Y:2.34, Z:0.41 [[ 9.98224331e-01 -5.94800234e-02 3.21133997e-03 9.84022545e+01] [ 5.94793458e-02 9.98229489e-01 3.06182433e-04 2.34139004e+00] [-3.22386600e-03 -1.14630354e-04 9.99994797e-01 4.12638138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.955336195 meters 0.0363736277175131 Centerline is valid? [True, True] Translation: X:98.43, Y:2.33, Z:0.41 [[ 9.98063838e-01 -6.21500665e-02 2.43797906e-03 9.84324388e+01] [ 6.21496841e-02 9.98066813e-01 2.32374864e-04 2.33477409e+00] [-2.44770810e-03 -8.04053202e-05 9.99997001e-01 4.11333730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98533619499999 meters 0.031534202821121085 Centerline is valid? [True, True] Translation: X:98.46, Y:2.32, Z:0.41 [[ 9.97752603e-01 -6.69903406e-02 1.42745898e-03 9.84632155e+01] [ 6.69902146e-02 9.97753623e-01 1.35968119e-04 2.32494168e+00] [-1.43336092e-03 -4.00367611e-05 9.99998972e-01 4.08106698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01533619499999 meters 0.031861630792054396 Centerline is valid? [True, True] Translation: X:98.49, Y:2.32, Z:0.41 [[ 9.97633156e-01 -6.87184916e-02 2.41972190e-03 9.84916026e+01] [ 6.87181345e-02 9.97636088e-01 2.30502378e-04 2.32033039e+00] [-2.42984167e-03 -6.36780399e-05 9.99997046e-01 4.10042297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04533619499999 meters 0.0335473663281685 Centerline is valid? [True, True] Translation: X:98.52, Y:2.32, Z:0.41 [[ 9.97676272e-01 -6.80699997e-02 2.92087933e-03 9.85188843e+01] [ 6.80694757e-02 9.97680545e-01 2.78554826e-04 2.32395284e+00] [-2.93306570e-03 -7.90848159e-05 9.99995695e-01 4.11487359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07533619499999 meters 0.03715076219341726 Centerline is valid? [True, True] Translation: X:98.55, Y:2.33, Z:0.41 [[ 9.97896774e-01 -6.47722733e-02 2.56516451e-03 9.85474436e+01] [ 6.47718577e-02 9.97900068e-01 2.44877294e-04 2.33293385e+00] [-2.57563910e-03 -7.82117910e-05 9.99996680e-01 4.11993159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10533619499999 meters 0.03943674679180615 Centerline is valid? [True, True] Translation: X:98.58, Y:2.34, Z:0.41 [[ 9.98033269e-01 -6.26520308e-02 2.07761582e-03 9.85760913e+01] [ 6.26517537e-02 9.98035429e-01 1.98231122e-04 2.33807147e+00] [-2.08595378e-03 -6.76749798e-05 9.99997822e-01 4.10835925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.135336195 meters 0.04363392242784295 Centerline is valid? [True, True] Translation: X:98.61, Y:2.34, Z:0.41 [[ 9.98316292e-01 -5.79674792e-02 2.08639360e-03 9.86062032e+01] [ 5.79671886e-02 9.98318469e-01 1.99502472e-04 2.34037237e+00] [-2.09444992e-03 -7.82241961e-05 9.99997804e-01 4.09438061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.165336195 meters 0.04699129531810744 Centerline is valid? [True, True] Translation: X:98.63, Y:2.34, Z:0.41 [[ 9.98453036e-01 -5.55376731e-02 2.66482728e-03 9.86345901e+01] [ 5.55371910e-02 9.98456587e-01 2.54643248e-04 2.34420458e+00] [-2.67485665e-03 -1.06252303e-04 9.99996417e-01 4.10085024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.195336195 meters 0.05511377727495232 Centerline is valid? [True, True] Translation: X:98.66, Y:2.35, Z:0.41 [[ 9.98688761e-01 -5.10454171e-02 3.88903969e-03 9.86634809e+01] [ 5.10443546e-02 9.98696318e-01 3.72034238e-04 2.35418443e+00] [-3.90296026e-03 -1.73032891e-04 9.99992368e-01 4.12833235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.225336195 meters 0.05050481136874865 Centerline is valid? [True, True] Translation: X:98.69, Y:2.35, Z:0.41 [[ 9.98779779e-01 -4.92476776e-02 3.69049462e-03 9.86942486e+01] [ 4.92467084e-02 9.98786582e-01 3.53089184e-04 2.35030035e+00] [-3.70340533e-03 -1.70913625e-04 9.99993128e-01 4.13680328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.255336195 meters 0.05731486679156646 Centerline is valid? [True, True] Translation: X:98.72, Y:2.36, Z:0.41 [[ 9.98943790e-01 -4.58964000e-02 2.19678386e-03 9.87224287e+01] [ 4.58960486e-02 9.98946199e-01 2.10130979e-04 2.35891147e+00] [-2.20411314e-03 -1.09085338e-04 9.99997565e-01 4.10251409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.285336195 meters 0.05922985416818917 Centerline is valid? [True, True] Translation: X:98.75, Y:2.36, Z:0.41 [[ 9.99018437e-01 -4.41879220e-02 3.09666030e-03 9.87530346e+01] [ 4.41872149e-02 9.99023224e-01 2.96416856e-04 2.36002215e+00] [-3.10673360e-03 -1.59293110e-04 9.99995161e-01 4.10808116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.315336195 meters 0.056336085983683115 Centerline is valid? [True, True] Translation: X:98.78, Y:2.35, Z:0.41 [[ 9.99054750e-01 -4.31016893e-02 5.64371181e-03 9.87838845e+01] [ 4.30993236e-02 9.99070646e-01 5.40179482e-04 2.35356995e+00] [-5.66174945e-03 -2.96428715e-04 9.99983928e-01 4.14121523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34533619499999 meters 0.06373778697621002 Centerline is valid? [True, True] Translation: X:98.81, Y:2.36, Z:0.41 [[ 9.99052465e-01 -4.32263714e-02 5.06483588e-03 9.88133572e+01] [ 4.32244670e-02 9.99065268e-01 4.84924812e-04 2.36181357e+00] [-5.08106315e-03 -2.65540498e-04 9.99987056e-01 4.11184975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37533619499999 meters 0.06424901204595518 Centerline is valid? [True, True] Translation: X:98.84, Y:2.35, Z:0.41 [[ 9.99045425e-01 -4.35942371e-02 2.78937646e-03 9.88433312e+01] [ 4.35936613e-02 9.99049309e-01 2.66929679e-04 2.35381033e+00] [-2.79836122e-03 -1.45075742e-04 9.99996074e-01 4.06656250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40533619499999 meters 0.056106859694320076 Centerline is valid? [True, True] Translation: X:98.87, Y:2.34, Z:0.41 [[ 9.99072534e-01 -4.30209706e-02 1.80791855e-03 9.88745030e+01] [ 4.30207278e-02 9.99074165e-01 1.72985581e-04 2.34302525e+00] [-1.81368672e-03 -9.50471712e-05 9.99998351e-01 4.07379059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43533619499999 meters 0.06258859764144208 Centerline is valid? [True, True] Translation: X:98.90, Y:2.36, Z:0.41 [[ 9.99213468e-01 -3.96256366e-02 1.50147277e-03 9.89030762e+01] [ 3.96254652e-02 9.99214592e-01 1.43769120e-04 2.35596884e+00] [-1.50599044e-03 -8.41594837e-05 9.99998862e-01 4.07155231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46533619499999 meters 0.06385285116587672 Centerline is valid? [True, True] Translation: X:98.93, Y:2.36, Z:0.41 [[ 9.99290563e-01 -3.75841036e-02 2.40948649e-03 9.89330570e+01] [ 3.75836564e-02 9.99293458e-01 2.30610229e-04 2.36002759e+00] [-2.41645136e-03 -1.39889313e-04 9.99997071e-01 4.08563027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.495336195 meters 0.07013198569327166 Centerline is valid? [True, True] Translation: X:98.96, Y:2.36, Z:0.41 [[ 9.99446843e-01 -3.29672970e-02 4.37793424e-03 9.89624582e+01] [ 3.29657757e-02 9.99456393e-01 4.19213878e-04 2.36028482e+00] [-4.38937472e-03 -2.74659988e-04 9.99990329e-01 4.11398581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.525336195 meters 0.08110705869484477 Centerline is valid? [True, True] Translation: X:98.99, Y:2.37, Z:0.41 [[ 9.99629006e-01 -2.67779792e-02 4.97900190e-03 9.89907844e+01] [ 2.67759356e-02 9.99641347e-01 4.76669208e-04 2.36881575e+00] [-4.98998041e-03 -3.43174932e-04 9.99987491e-01 4.12219707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.555336195 meters 0.07918976556201529 Centerline is valid? [True, True] Translation: X:99.02, Y:2.37, Z:0.41 [[ 9.99715526e-01 -2.34824291e-02 4.17635635e-03 9.90218712e+01] [ 2.34809616e-02 9.99724204e-01 4.00073837e-04 2.36972213e+00] [-4.18459923e-03 -3.01895163e-04 9.99991199e-01 4.11101370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.585336195 meters 0.08406960719369634 Centerline is valid? [True, True] Translation: X:99.05, Y:2.38, Z:0.40 [[ 9.99846686e-01 -1.75089516e-02 2.03085346e-04 9.90513041e+01] [ 1.75089481e-02 9.99846706e-01 1.94323153e-05 2.38294872e+00] [-2.03394454e-04 -1.58735253e-05 9.99999979e-01 4.04250691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.615336195 meters 0.09118415651923568 Centerline is valid? [True, True] Translation: X:99.08, Y:2.40, Z:0.40 [[ 9.99934875e-01 -1.13725880e-02 -9.54260315e-04 9.90791925e+01] [ 1.13725059e-02 9.99935327e-01 -9.14134871e-05 2.39659021e+00] [ 9.55238207e-04 8.05552026e-05 9.99999541e-01 4.00776731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.645336195 meters 0.09291988108036951 Centerline is valid? [True, True] Translation: X:99.11, Y:2.40, Z:0.40 [[ 9.99961832e-01 -8.70064629e-03 -7.95349609e-04 9.91092925e+01] [ 8.70058840e-03 9.99962146e-01 -7.62248420e-05 2.40034810e+00] [ 7.95982707e-04 6.93019231e-05 9.99999681e-01 4.01507705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.675336195 meters 0.09573394570265219 Centerline is valid? [True, True] Translation: X:99.14, Y:2.41, Z:0.40 [[ 9.99986678e-01 -5.13860277e-03 4.87992714e-04 9.91387507e+01] [ 5.13858061e-03 9.99986796e-01 4.66418540e-05 2.40658382e+00] [-4.88225945e-04 -4.41336427e-05 9.99999880e-01 4.04015047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.705336195 meters 0.09815356441997579 Centerline is valid? [True, True] Translation: X:99.17, Y:2.42, Z:0.41 [[ 9.99993180e-01 -3.50882276e-03 1.15230409e-03 9.91680564e+01] [ 3.50869787e-03 9.99993838e-01 1.10386457e-04 2.41581030e+00] [-1.15268432e-03 -1.06342617e-04 9.99999330e-01 4.05159116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73533619499999 meters 0.10380034738658306 Centerline is valid? [True, False] Translation: X:99.17, Y:2.42, Z:0.40 [[ 9.99990458e-01 -4.15576930e-03 1.34631417e-03 9.91675630e+01] [ 4.15831194e-03 9.99989566e-01 -1.89133703e-03 2.42444689e+00] [-1.33844017e-03 1.89691738e-03 9.99997305e-01 4.04849656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76533619499999 meters 0.10216354891309688 Centerline is valid? [False, False] Translation: X:99.17, Y:2.43, Z:0.40 [[ 9.99998185e-01 -1.89041044e-03 2.36425153e-04 9.91737825e+01] [ 1.89049236e-03 9.99998153e-01 -3.46745575e-04 2.43112975e+00] [-2.35769225e-04 3.47191906e-04 9.99999912e-01 4.00553596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79533619499999 meters 0.09590375893152098 Centerline is valid? [False, True] Translation: X:99.13, Y:2.43, Z:0.40 [[ 9.99997555e-01 -1.89354418e-03 -1.14236171e-03 9.91346637e+01] [ 1.89375348e-03 9.99998190e-01 1.82167050e-04 2.43051469e+00] [ 1.14201470e-03 -1.84329956e-04 9.99999331e-01 3.97916420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82533619499999 meters 0.09092254448967937 Centerline is valid? [True, True] Translation: X:99.17, Y:2.43, Z:0.40 [[ 9.99967991e-01 -7.99166402e-03 -3.87691392e-04 9.91655962e+01] [ 7.99165071e-03 9.99968066e-01 -3.58503855e-05 2.43083653e+00] [ 3.87965516e-04 3.27509438e-05 9.99999924e-01 3.97884127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85533619499999 meters 0.0925773160144025 Centerline is valid? [True, True] Translation: X:99.19, Y:2.44, Z:0.40 [[ 9.99931029e-01 -1.17445870e-02 -3.71129196e-05 9.91948178e+01] [ 1.17445869e-02 9.99931030e-01 -3.37314737e-06 2.43645144e+00] [ 3.71499761e-05 2.93703881e-06 9.99999999e-01 3.97357909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.885336195 meters 0.08198302737004197 Centerline is valid? [True, True] Translation: X:99.23, Y:2.43, Z:0.40 [[ 9.99793900e-01 -2.02964249e-02 4.60747356e-04 9.92263863e+01] [ 2.02964073e-02 9.99794006e-01 4.27334218e-05 2.43167492e+00] [-4.61519780e-04 -3.33730984e-05 9.99999893e-01 3.97432041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.915336195 meters 0.07765797979983781 Centerline is valid? [True, True] Translation: X:99.26, Y:2.43, Z:0.40 [[ 9.99589407e-01 -2.86251495e-02 1.27197416e-03 9.92556316e+01] [ 2.86250227e-02 9.99590213e-01 1.17743582e-04 2.43344976e+00] [-1.27482334e-03 -8.12849486e-05 9.99999184e-01 3.96861650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.945336195 meters 0.06426894911232711 Centerline is valid? [True, True] Translation: X:99.29, Y:2.42, Z:0.40 [[ 9.99347411e-01 -3.60767304e-02 1.79484811e-03 9.92879314e+01] [ 3.60764897e-02 9.99349018e-01 1.66290770e-04 2.42127829e+00] [-1.79967893e-03 -1.01430431e-04 9.99998375e-01 3.98791726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.975336195 meters 0.06540406646289718 Centerline is valid? [True, True] Translation: X:99.32, Y:2.43, Z:0.40 [[ 9.99228952e-01 -3.91803757e-02 2.52985022e-03 9.93171651e+01] [ 3.91799076e-02 9.99232145e-01 2.34320402e-04 2.42757727e+00] [-2.53708842e-03 -1.35020431e-04 9.99996772e-01 3.99373033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.005336195 meters 0.05078727918136145 Centerline is valid? [True, True] Translation: X:99.35, Y:2.41, Z:0.40 [[ 9.99035138e-01 -4.39014794e-02 1.20509850e-03 9.93487863e+01] [ 4.39013766e-02 9.99035864e-01 1.11640536e-04 2.41492551e+00] [-1.20883781e-03 -5.86273352e-05 9.99999268e-01 3.98086752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.035336195 meters 0.055296848244786465 Centerline is valid? [True, True] Translation: X:99.38, Y:2.42, Z:0.39 [[ 9.98964308e-01 -4.55000918e-02 -2.30821210e-04 9.93770919e+01] [ 4.55000881e-02 9.98964334e-01 -2.15771001e-05 2.42311287e+00] [ 2.31563916e-04 1.10523675e-05 9.99999973e-01 3.94049112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.065336195 meters 0.05279694313827035 Centerline is valid? [True, True] Translation: X:99.41, Y:2.42, Z:0.39 [[ 9.98852375e-01 -4.78942760e-02 -2.66104497e-04 9.94069083e+01] [ 4.78942711e-02 9.98852411e-01 -2.48445556e-05 2.42120298e+00] [ 2.66989030e-04 1.20711624e-05 9.99999964e-01 3.93394536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09533619499999 meters 0.05028965194090945 Centerline is valid? [True, True] Translation: X:99.44, Y:2.42, Z:0.39 [[ 9.98753904e-01 -4.99051250e-02 -3.43603689e-04 9.94370933e+01] [ 4.99051169e-02 9.98753963e-01 -3.21092715e-05 2.42093795e+00] [ 3.44777963e-04 1.49216779e-05 9.99999940e-01 3.93128347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12533619499999 meters 0.048056230949549375 Centerline is valid? [True, True] Translation: X:99.47, Y:2.42, Z:0.39 [[ 9.98702382e-01 -5.09075642e-02 -1.40424543e-03 9.94660614e+01] [ 5.09074292e-02 9.98703368e-01 -1.31707196e-04 2.42190806e+00] [ 1.40912953e-03 6.00497653e-05 9.99999005e-01 3.91324138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15533619499999 meters 0.043929264498439057 Centerline is valid? [True, True] Translation: X:99.50, Y:2.42, Z:0.39 [[ 9.98662301e-01 -5.16877196e-02 -1.41024677e-03 9.94951283e+01] [ 5.16875839e-02 9.98663295e-01 -1.32560334e-04 2.42114771e+00] [ 1.41521343e-03 5.94907601e-05 9.99998997e-01 3.91684235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18533619499999 meters 0.048609896584495445 Centerline is valid? [True, True] Translation: X:99.52, Y:2.43, Z:0.39 [[ 9.98658208e-01 -5.17858016e-02 1.20940970e-04 9.95224905e+01] [ 5.17858007e-02 9.98658215e-01 1.07939996e-05 2.42643976e+00] [-1.21337669e-04 -4.51649136e-06 9.99999993e-01 3.92576252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21533619499999 meters 0.047243639870093834 Centerline is valid? [True, True] Translation: X:99.55, Y:2.43, Z:0.39 [[ 9.98666354e-01 -5.16267729e-02 -4.35264528e-04 9.95515577e+01] [ 5.16267595e-02 9.98666449e-01 -4.18764733e-05 2.42531027e+00] [ 4.36846027e-04 1.93493278e-05 9.99999904e-01 3.92154582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.245336195 meters 0.048623566928921655 Centerline is valid? [True, True] Translation: X:99.58, Y:2.43, Z:0.39 [[ 9.98707872e-01 -5.08062329e-02 -1.14560147e-03 9.95801518e+01] [ 5.08061420e-02 9.98708528e-01 -1.08331639e-04 2.42752946e+00] [ 1.14962588e-03 4.99880700e-05 9.99999338e-01 3.91190702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.275336195 meters 0.05365106551387011 Centerline is valid? [True, True] Translation: X:99.61, Y:2.43, Z:0.39 [[ 9.98953541e-01 -4.57207232e-02 -1.19963983e-03 9.96097678e+01] [ 4.57206213e-02 9.98954259e-01 -1.12214416e-04 2.43407177e+00] [ 1.20351584e-03 5.72487101e-05 9.99999274e-01 3.90561518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.305336195 meters 0.05752350531271051 Centerline is valid? [True, True] Translation: X:99.64, Y:2.44, Z:0.39 [[ 9.99057551e-01 -4.34046296e-02 -2.19000067e-04 9.96382400e+01] [ 4.34046261e-02 9.99057575e-01 -2.06540311e-05 2.44115840e+00] [ 2.19690157e-04 1.11289497e-05 9.99999976e-01 3.91748629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.335336195 meters 0.05592190862930896 Centerline is valid? [True, True] Translation: X:99.67, Y:2.44, Z:0.39 [[ 9.99261654e-01 -3.84120293e-02 -8.14331449e-04 9.96686092e+01] [ 3.84119800e-02 9.99261985e-01 -7.61861415e-05 2.43802942e+00] [ 8.16656924e-04 4.48498064e-05 9.99999666e-01 3.92183131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.365336195 meters 0.07125133879731328 Centerline is valid? [True, True] Translation: X:99.70, Y:2.46, Z:0.39 [[ 9.99346117e-01 -3.61256839e-02 -1.50763532e-03 9.96956602e+01] [ 3.61255119e-02 9.99347251e-01 -1.41183557e-04 2.45771979e+00] [ 1.51175157e-03 8.66271413e-05 9.99998854e-01 3.88365660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.395336195 meters 0.07097874676636899 Centerline is valid? [True, True] Translation: X:99.73, Y:2.46, Z:0.39 [[ 9.99460319e-01 -3.27541033e-02 -2.49782623e-03 9.97264597e+01] [ 3.27536214e-02 9.99463429e-01 -2.33597859e-04 2.46041421e+00] [ 2.50413725e-03 1.51658936e-04 9.99996853e-01 3.87362350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.425336195 meters 0.0699526466356741 Centerline is valid? [True, True] Translation: X:99.76, Y:2.46, Z:0.39 [[ 9.99511019e-01 -3.11527926e-02 -2.68802269e-03 9.97560606e+01] [ 3.11522281e-02 9.99514620e-01 -2.51626801e-04 2.46317836e+00] [ 2.69455686e-03 1.67765864e-04 9.99996356e-01 3.87373535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.455336195 meters 0.07630146104042604 Centerline is valid? [True, True] Translation: X:99.78, Y:2.47, Z:0.39 [[ 9.99564149e-01 -2.94899253e-02 -1.36262896e-03 9.97831594e+01] [ 2.94897782e-02 9.99565074e-01 -1.27883020e-04 2.47402286e+00] [ 1.36580758e-03 8.76436565e-05 9.99999063e-01 3.87656788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48533619499999 meters 0.0730152741576991 Centerline is valid? [True, True] Translation: X:99.81, Y:2.47, Z:0.39 [[ 9.99571282e-01 -2.92774890e-02 -2.83861699e-04 9.98128852e+01] [ 2.92774826e-02 9.99571322e-01 -2.67489096e-05 2.47029103e+00] [ 2.84523155e-04 1.84266859e-05 9.99999959e-01 3.89495261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51533619499999 meters 0.07267915459308903 Centerline is valid? [True, True] Translation: X:99.84, Y:2.47, Z:0.39 [[ 9.99588305e-01 -2.85821096e-02 2.50653110e-03 9.98426579e+01] [ 2.85816110e-02 9.99591435e-01 2.34525328e-04 2.46945211e+00] [-2.51221025e-03 -1.62788078e-04 9.99996831e-01 3.94609854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54533619499999 meters 0.07242104935749025 Centerline is valid? [True, True] Translation: X:99.87, Y:2.47, Z:0.40 [[ 9.99595365e-01 -2.81246613e-02 4.25549768e-03 9.98727220e+01] [ 2.81232185e-02 9.99604385e-01 3.98507872e-04 2.47277937e+00] [-4.26502203e-03 -2.78668331e-04 9.99990866e-01 3.98586996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57533619499999 meters 0.06902050528376462 Centerline is valid? [True, True] Translation: X:99.91, Y:2.47, Z:0.39 [[ 9.99579003e-01 -2.89863968e-02 1.26693773e-03 9.99051327e+01] [ 2.89862694e-02 9.99579803e-01 1.18844122e-04 2.46656639e+00] [-1.26985023e-03 -8.20702906e-05 9.99999190e-01 3.92715834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60533619499999 meters 0.07276479529676534 Centerline is valid? [True, True] Translation: X:99.93, Y:2.47, Z:0.39 [[ 9.99543940e-01 -3.01789842e-02 -1.06799370e-03 9.99341737e+01] [ 3.01788945e-02 9.99544508e-01 -1.00055120e-04 2.47009232e+00] [ 1.07052680e-03 6.77786203e-05 9.99999425e-01 3.86923289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.635336195 meters 0.06750903545400355 Centerline is valid? [True, True] Translation: X:99.96, Y:2.46, Z:0.38 [[ 9.99415739e-01 -3.41150990e-02 -2.08361075e-03 9.99648506e+01] [ 3.41147658e-02 9.99417903e-01 -1.95244453e-04 2.46278939e+00] [ 2.08905867e-03 1.24048487e-04 9.99997810e-01 3.84495847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.665336195 meters 0.061893359865159085 Centerline is valid? [True, True] Translation: X:100.00, Y:2.46, Z:0.39 [[ 9.99340799e-01 -3.62784879e-02 -1.35565863e-03 9.99953904e+01] [ 3.62783488e-02 9.99341716e-01 -1.27027655e-04 2.45948483e+00] [ 1.35937459e-03 7.77628614e-05 9.99999073e-01 3.86382246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.695336195 meters 0.061893359865159085 Centerline is valid? [True, True] Translation: X:100.02, Y:2.46, Z:0.39 [[ 9.99334838e-01 -3.64423486e-02 -1.35552791e-03 1.00023619e+02] [ 3.64422078e-02 9.99335754e-01 -1.28422380e-04 2.46226038e+00] [ 1.35930752e-03 7.89385285e-05 9.99999073e-01 3.86162901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.725336195 meters 0.06183351677214416 Centerline is valid? [True, True] Translation: X:100.05, Y:2.46, Z:0.38 [[ 9.99209099e-01 -3.96756851e-02 -2.64878707e-03 1.00053427e+02] [ 3.96751651e-02 9.99212600e-01 -2.48606165e-04 2.46298083e+00] [ 2.65656503e-03 1.43318478e-04 9.99996461e-01 3.81817119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.755336195 meters 0.05949917979059151 Centerline is valid? [True, True] Translation: X:100.08, Y:2.46, Z:0.38 [[ 9.99157544e-01 -4.08848583e-02 -3.55391500e-03 1.00083390e+02] [ 4.08839242e-02 9.99163847e-01 -3.35119088e-04 2.45717422e+00] [ 3.56464468e-03 1.89538773e-04 9.99993629e-01 3.80751706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.785336195 meters 0.05751440418026796 Centerline is valid? [True, True] Translation: X:100.11, Y:2.44, Z:0.38 [[ 9.99110518e-01 -4.20206955e-02 -3.52609812e-03 1.00113429e+02] [ 4.20197853e-02 9.99116724e-01 -3.31860906e-04 2.44260436e+00] [ 3.53692863e-03 1.83399836e-04 9.99993728e-01 3.82353312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.815336195 meters 0.060796981156319076 Centerline is valid? [True, True] Translation: X:100.14, Y:2.44, Z:0.38 [[ 9.99123066e-01 -4.16608111e-02 -4.18048992e-03 1.00141835e+02] [ 4.16595274e-02 9.99131787e-01 -3.93712772e-04 2.44110789e+00] [ 4.19326276e-03 2.19210277e-04 9.99991184e-01 3.81373177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84533619499999 meters 0.061682961673890264 Centerline is valid? [True, True] Translation: X:100.17, Y:2.45, Z:0.38 [[ 9.99156642e-01 -4.08578792e-02 -4.07900033e-03 1.00170709e+02] [ 4.08566445e-02 9.99164944e-01 -3.85601385e-04 2.44512307e+00] [ 4.09134899e-03 2.18621918e-04 9.99991606e-01 3.81589773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87533619499999 meters 0.0625002251989749 Centerline is valid? [True, True] Translation: X:100.20, Y:2.45, Z:0.38 [[ 9.99283445e-01 -3.77944638e-02 -2.04353738e-03 1.00200446e+02] [ 3.77941484e-02 9.99285527e-01 -1.92721756e-04 2.45031517e+00] [ 2.04936114e-03 1.15349905e-04 9.99997893e-01 3.83727742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90533619499999 meters 0.06670416844920726 Centerline is valid? [True, True] Translation: X:100.23, Y:2.45, Z:0.38 [[ 9.99408770e-01 -3.43601686e-02 -1.22049004e-03 1.00230237e+02] [ 3.43600535e-02 9.99409512e-01 -1.15138192e-04 2.44865807e+00] [ 1.22372553e-03 7.31340151e-05 9.99999249e-01 3.83690797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93533619499999 meters 0.06743907232117198 Centerline is valid? [True, True] Translation: X:100.26, Y:2.44, Z:0.38 [[ 9.99449181e-01 -3.31713135e-02 -9.99640486e-04 1.00259884e+02] [ 3.31712355e-02 9.99449679e-01 -9.45265522e-05 2.44425104e+00] [ 1.00222593e-03 6.13151752e-05 9.99999496e-01 3.84865196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96533619499999 meters 0.07197079891435199 Centerline is valid? [True, True] Translation: X:100.29, Y:2.44, Z:0.39 [[ 9.99514678e-01 -3.11397693e-02 8.50843729e-04 1.00289682e+02] [ 3.11397124e-02 9.99515038e-01 8.01513818e-05 2.44202175e+00] [-8.52926998e-04 -5.36174535e-05 9.99999635e-01 3.89718176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.995336195 meters 0.07757094291557469 Centerline is valid? [True, True] Translation: X:100.32, Y:2.45, Z:0.39 [[ 9.99555589e-01 -2.97823255e-02 1.27983861e-03 1.00317065e+02] [ 2.97821957e-02 9.99556405e-01 1.20368611e-04 2.45159633e+00] [-1.28285574e-03 -8.21987136e-05 9.99999174e-01 3.89759311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.025336195 meters 0.07283633499409933 Centerline is valid? [True, True] Translation: X:100.35, Y:2.45, Z:0.39 [[ 9.99659344e-01 -2.60937438e-02 -5.59379583e-04 1.00348245e+02] [ 2.60937183e-02 9.99659500e-01 -5.27728081e-05 2.44792542e+00] [ 5.60566154e-04 3.81585375e-05 9.99999842e-01 3.86418029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.055336195 meters 0.07729475530994565 Centerline is valid? [True, True] Translation: X:100.38, Y:2.45, Z:0.38 [[ 9.99701657e-01 -2.43702589e-02 -1.63906525e-03 1.00376944e+02] [ 2.43700376e-02 9.99702995e-01 -1.54870516e-04 2.45279152e+00] [ 1.64235268e-03 1.14880229e-04 9.99998645e-01 3.83841640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.085336195 meters 0.08755266447785823 Centerline is valid? [True, True] Translation: X:100.41, Y:2.46, Z:0.38 [[ 9.99771108e-01 -2.12956797e-02 -2.05542549e-03 1.00405409e+02] [ 2.12953260e-02 9.99773210e-01 -1.93805740e-04 2.45979921e+00] [ 2.05908656e-03 1.49990424e-04 9.99997869e-01 3.82571502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.115336195 meters 0.08579023728637285 Centerline is valid? [True, True] Translation: X:100.44, Y:2.45, Z:0.38 [[ 9.99811347e-01 -1.90726380e-02 -3.67493696e-03 1.00437007e+02] [ 1.90714915e-02 9.99818062e-01 -3.46777051e-04 2.45256197e+00] [ 3.68088230e-03 2.76625101e-04 9.99993187e-01 3.81191493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.145336195 meters 0.08647986616401353 Centerline is valid? [True, True] Translation: X:100.47, Y:2.45, Z:0.38 [[ 9.99817820e-01 -1.87768746e-02 -3.42866232e-03 1.00465017e+02] [ 1.87758727e-02 9.99823665e-01 -3.24152256e-04 2.45410247e+00] [ 3.43414429e-03 2.59717075e-04 9.99994070e-01 3.81382101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.175336195 meters 0.08064660553429003 Centerline is valid? [True, True] Translation: X:100.49, Y:2.44, Z:0.39 [[ 9.99829728e-01 -1.84507120e-02 2.93623075e-04 1.00493639e+02] [ 1.84507050e-02 9.99829771e-01 2.63613392e-05 2.44470544e+00] [-2.94059477e-04 -2.09392979e-05 9.99999957e-01 3.87986216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.205336195 meters 0.08206372567099214 Centerline is valid? [True, True] Translation: X:100.52, Y:2.44, Z:0.39 [[ 9.99833533e-01 -1.80837603e-02 2.42562216e-03 1.00523311e+02] [ 1.80832569e-02 9.99836458e-01 2.29285092e-04 2.43963992e+00] [-2.42937180e-03 -1.85383775e-04 9.99997032e-01 3.91125419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23533619499999 meters 0.08850934887536686 Centerline is valid? [True, True] Translation: X:100.55, Y:2.45, Z:0.39 [[ 9.99826370e-01 -1.84899789e-02 2.31308626e-03 1.00552174e+02] [ 1.84895218e-02 9.99829030e-01 2.18837429e-04 2.44704612e+00] [-2.31673709e-03 -1.76031573e-04 9.99997301e-01 3.90587323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26533619499999 meters 0.08378063172243051 Centerline is valid? [True, True] Translation: X:100.58, Y:2.44, Z:0.39 [[ 9.99816120e-01 -1.90123311e-02 2.50130119e-03 1.00582998e+02] [ 1.90117982e-02 9.99819231e-01 2.36680538e-04 2.44112819e+00] [-2.50534889e-03 -1.89082783e-04 9.99996844e-01 3.90857134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29533619499999 meters 0.07870366531844931 Centerline is valid? [True, True] Translation: X:100.61, Y:2.43, Z:0.39 [[ 9.99813560e-01 -1.92747371e-02 1.15319590e-03 1.00614272e+02] [ 1.92746239e-02 9.99814221e-01 1.09158373e-04 2.43113594e+00] [-1.15508566e-03 -8.69106041e-05 9.99999329e-01 3.88527186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32533619499999 meters 0.0780443401631543 Centerline is valid? [True, True] Translation: X:100.64, Y:2.43, Z:0.39 [[ 9.99818424e-01 -1.90452995e-02 -6.29480525e-04 1.00644547e+02] [ 1.90452656e-02 9.99818621e-01 -5.97776712e-05 2.42835336e+00] [ 6.30504834e-04 4.77781932e-05 9.99999800e-01 3.86061801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35533619499999 meters 0.0851323196795168 Centerline is valid? [True, True] Translation: X:100.67, Y:2.43, Z:0.38 [[ 9.99813573e-01 -1.90590674e-02 -3.09381074e-03 1.00672119e+02] [ 1.90582498e-02 9.99818332e-01 -2.93546754e-04 2.43127231e+00] [ 3.09884342e-03 2.34529411e-04 9.99995171e-01 3.80503496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.385336195 meters 0.08585531725322967 Centerline is valid? [True, True] Translation: X:100.70, Y:2.43, Z:0.38 [[ 9.99807162e-01 -1.95279375e-02 -2.07324585e-03 1.00700663e+02] [ 1.95275688e-02 9.99809299e-01 -1.97930764e-04 2.43088951e+00] [ 2.07671566e-03 1.57407145e-04 9.99997831e-01 3.81416177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.415336195 meters 0.08484524252633349 Centerline is valid? [True, True] Translation: X:100.73, Y:2.43, Z:0.39 [[ 9.99799119e-01 -1.99629796e-02 1.78921902e-03 1.00729874e+02] [ 1.99627080e-02 9.99800711e-01 1.69524495e-04 2.42959269e+00] [-1.79224666e-03 -1.33772784e-04 9.99998385e-01 3.88642292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.445336195 meters 0.08456663920055799 Centerline is valid? [True, True] Translation: X:100.76, Y:2.43, Z:0.39 [[ 9.99814705e-01 -1.91865577e-02 1.55908676e-03 1.00759132e+02] [ 1.91863504e-02 9.99815914e-01 1.47811622e-04 2.43141904e+00] [-1.56163575e-03 -1.17871048e-04 9.99998774e-01 3.87934007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.475336195 meters 0.0874893659012574 Centerline is valid? [True, True] Translation: X:100.79, Y:2.43, Z:0.39 [[ 9.99833580e-01 -1.82318267e-02 6.41856118e-04 1.00788181e+02] [ 1.82317914e-02 9.99833785e-01 6.08017527e-05 2.43296865e+00] [-6.42857959e-04 -4.90894472e-05 9.99999792e-01 3.86166178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.505336195 meters 0.09148175256924101 Centerline is valid? [True, True] Translation: X:100.82, Y:2.43, Z:0.39 [[ 9.99874874e-01 -1.57632458e-02 1.32517172e-03 1.00817636e+02] [ 1.57630928e-02 9.99875747e-01 1.25810361e-04 2.43234669e+00] [-1.32699024e-03 -1.04905814e-04 9.99999114e-01 3.88662594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.535336195 meters 0.09006344633910254 Centerline is valid? [True, True] Translation: X:100.85, Y:2.44, Z:0.39 [[ 9.99881423e-01 -1.51698706e-02 2.64851769e-03 1.00846937e+02] [ 1.51692573e-02 9.99884909e-01 2.51508048e-04 2.43540047e+00] [-2.65202822e-03 -2.11302178e-04 9.99996461e-01 3.90323163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.565336195 meters 0.08956879409592879 Centerline is valid? [True, True] Translation: X:100.88, Y:2.44, Z:0.39 [[ 9.99878851e-01 -1.54013573e-02 2.25417178e-03 1.00877382e+02] [ 1.54009133e-02 9.99881376e-01 2.14204338e-04 2.43868838e+00] [-2.25720342e-03 -1.79462083e-04 9.99997436e-01 3.88768677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59533619499999 meters 0.07904982202903177 Centerline is valid? [True, True] Translation: X:100.91, Y:2.43, Z:0.38 [[ 9.99840460e-01 -1.78521343e-02 -5.97196624e-04 1.00909493e+02] [ 1.78521035e-02 9.99840637e-01 -5.67848021e-05 2.42657000e+00] [ 5.98115182e-04 4.61145267e-05 9.99999820e-01 3.83736975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62533619499999 meters 0.08273071872754345 Centerline is valid? [True, True] Translation: X:100.94, Y:2.43, Z:0.38 [[ 9.99749923e-01 -2.23005563e-02 -1.66631119e-03 1.00938289e+02] [ 2.23003228e-02 9.99751304e-01 -1.58579967e-04 2.42854218e+00] [ 1.66943320e-03 1.21381033e-04 9.99998599e-01 3.80651263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65533619499999 meters 0.07683108291686153 Centerline is valid? [True, True] Translation: X:100.97, Y:2.42, Z:0.38 [[ 9.99688145e-01 -2.49630599e-02 -6.76601333e-04 1.00969753e+02] [ 2.49630220e-02 9.99688373e-01 -6.43301961e-05 2.42031771e+00] [ 6.77996364e-04 4.74201205e-05 9.99999769e-01 3.83317103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68533619499999 meters 0.06512826093748848 Centerline is valid? [True, True] Translation: X:101.00, Y:2.40, Z:0.39 [[ 9.99507714e-01 -3.13667529e-02 6.75047939e-04 1.01002054e+02] [ 3.13667167e-02 9.99507941e-01 6.41450891e-05 2.40289098e+00] [-6.76727799e-04 -4.29394740e-05 9.99999770e-01 3.87393285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71533619499999 meters 0.06612298356659416 Centerline is valid? [True, True] Translation: X:101.03, Y:2.41, Z:0.39 [[ 9.99351570e-01 -3.59065203e-02 2.67613415e-03 1.01031496e+02] [ 3.59059675e-02 9.99355140e-01 2.54345604e-04 2.40551574e+00] [-2.68354108e-03 -1.58091493e-04 9.99996387e-01 3.89211927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.745336195 meters 0.06719931903909773 Centerline is valid? [True, True] Translation: X:101.06, Y:2.41, Z:0.39 [[ 9.99325942e-01 -3.65703812e-02 3.20443849e-03 1.01058877e+02] [ 3.65695929e-02 9.99331062e-01 3.04272228e-04 2.40840347e+00] [-3.21342227e-03 -1.86882120e-04 9.99994819e-01 3.89417316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.775336195 meters 0.0616829694773031 Centerline is valid? [True, True] Translation: X:101.09, Y:2.40, Z:0.39 [[ 9.99336432e-01 -3.63977380e-02 1.37855899e-03 1.01088733e+02] [ 3.63975930e-02 9.99337380e-01 1.30144180e-04 2.39717492e+00] [-1.38238248e-03 -7.98815912e-05 9.99999041e-01 3.86879211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.805336195 meters 0.06172254364740654 Centerline is valid? [True, True] Translation: X:101.12, Y:2.39, Z:0.39 [[ 9.99345805e-01 -3.61657498e-02 -9.79661939e-07 1.01118520e+02] [ 3.61657498e-02 9.99345805e-01 -1.34690435e-06 2.39290096e+00] [ 1.02773285e-06 1.31059300e-06 1.00000000e+00 3.85106784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.835336195 meters 0.06261380824896229 Centerline is valid? [True, True] Translation: X:101.15, Y:2.39, Z:0.38 [[ 9.99336532e-01 -3.63924118e-02 -1.44510160e-03 1.01146870e+02] [ 3.63922495e-02 9.99337573e-01 -1.38502806e-04 2.38671824e+00] [ 1.44918477e-03 8.58204162e-05 9.99998946e-01 3.83424157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.865336195 meters 0.0645356930604733 Centerline is valid? [True, True] Translation: X:101.17, Y:2.39, Z:0.38 [[ 9.99388406e-01 -3.49286622e-02 -1.67431654e-03 1.01174822e+02] [ 3.49284423e-02 9.99389803e-01 -1.60435756e-04 2.39363776e+00] [ 1.67889868e-03 1.01856366e-04 9.99998585e-01 3.79863739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.895336195 meters 0.059859569550046385 Centerline is valid? [True, True] Translation: X:101.20, Y:2.39, Z:0.38 [[ 9.99414240e-01 -3.40996122e-02 -2.89720558e-03 1.01204917e+02] [ 3.40989514e-02 9.99418423e-01 -2.77186146e-04 2.39068703e+00] [ 2.90497257e-03 1.78232109e-04 9.99995765e-01 3.77261303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.925336195 meters 0.06985780369901368 Centerline is valid? [True, True] Translation: X:101.23, Y:2.40, Z:0.37 [[ 9.99485664e-01 -3.16302334e-02 -5.28534055e-03 1.01234095e+02] [ 3.16280017e-02 9.99499582e-01 -5.05306052e-04 2.39735665e+00] [ 5.29867861e-03 3.37881395e-04 9.99985905e-01 3.71485738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.955336195 meters 0.07656914377583628 Centerline is valid? [True, True] Translation: X:101.26, Y:2.40, Z:0.38 [[ 9.99656275e-01 -2.58403186e-02 -4.42819419e-03 1.01264693e+02] [ 2.58386955e-02 9.99666036e-01 -4.23368511e-04 2.39642193e+00] [ 4.43765531e-03 3.08804227e-04 9.99990106e-01 3.76883908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98533619499999 meters 0.07665731304734523 Centerline is valid? [True, True] Translation: X:101.30, Y:2.40, Z:0.38 [[ 9.99775349e-01 -2.08344700e-02 -3.89567618e-03 1.01295560e+02] [ 2.08331759e-02 9.99782896e-01 -3.72474905e-04 2.39702531e+00] [ 3.90259073e-03 2.91231921e-04 9.99992342e-01 3.80857901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01533619499999 meters 0.10045551924829643 Centerline is valid? [True, False] Translation: X:101.30, Y:2.40, Z:0.38 [[ 9.99994168e-01 -3.32978665e-03 -7.59060171e-04 1.01296350e+02] [ 3.32762128e-03 9.99990441e-01 -2.83633920e-03 2.40170966e+00] [ 7.68497320e-04 2.83379680e-03 9.99995689e-01 3.77115642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04533619499999 meters 0.0969646093701723 Centerline is valid? [False, True] Translation: X:101.29, Y:2.41, Z:0.38 [[ 9.99998041e-01 -1.94177512e-03 3.83633965e-04 1.01289922e+02] [ 1.94257588e-03 9.99995912e-01 -2.09808981e-03 2.40677300e+00] [-3.79558378e-04 2.09883094e-03 9.99997725e-01 3.81008668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07533619499999 meters 0.1043139039681776 Centerline is valid? [True, False] Translation: X:101.29, Y:2.41, Z:0.38 [[ 9.99998095e-01 1.83730030e-03 6.59105174e-04 1.01289463e+02] [-1.83753062e-03 9.99998251e-01 3.49018901e-04 2.41473020e+00] [-6.58462769e-04 -3.50229362e-04 9.99999722e-01 3.80144192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10533619499999 meters 0.10671466369910197 Centerline is valid? [False, False] Translation: X:101.29, Y:2.42, Z:0.38 [[ 9.99998321e-01 1.70288870e-03 6.77294548e-04 1.01289335e+02] [-1.70288493e-03 9.99998550e-01 -6.14604173e-06 2.41632903e+00] [-6.77304032e-04 4.99267674e-06 9.99999771e-01 3.80303477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.135336195 meters 0.10224758249336499 Centerline is valid? [False, False] Translation: X:101.29, Y:2.41, Z:0.38 [[ 9.99998091e-01 1.88726237e-03 5.06035288e-04 1.01289613e+02] [-1.88749797e-03 9.99998110e-01 4.65496763e-04 2.41425898e+00] [-5.05155817e-04 -4.66451015e-04 9.99999764e-01 3.80921595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.165336195 meters 0.11395060555906422 Centerline is valid? [False, False] Translation: X:101.31, Y:2.41, Z:0.38 [[ 9.99993696e-01 -3.38617990e-03 1.06825431e-03 1.01311785e+02] [ 3.38094673e-03 9.99982459e-01 4.86315350e-03 2.41457702e+00] [-1.08470309e-03 -4.85951114e-03 9.99987604e-01 3.80633963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.195336195 meters 0.10166947541079495 Centerline is valid? [False, False] Translation: X:101.29, Y:2.42, Z:0.38 [[ 9.99989847e-01 -4.34038287e-03 -1.21103309e-03 1.01293734e+02] [ 4.33193893e-03 9.99966880e-01 -6.89012483e-03 2.42157431e+00] [ 1.24089876e-03 6.88480876e-03 9.99975529e-01 3.78490868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.225336195 meters 0.09557784225113929 Centerline is valid? [False, True] Translation: X:101.29, Y:2.42, Z:0.38 [[ 9.99999047e-01 3.47089413e-05 -1.37999337e-03 1.01294126e+02] [-3.80999349e-05 9.99996980e-01 -2.45730317e-03 2.42117051e+00] [ 1.37990392e-03 2.45735341e-03 9.99996029e-01 3.78685687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.255336195 meters 0.09878869447503384 Centerline is valid? [True, True] Translation: X:101.32, Y:2.43, Z:0.37 [[ 9.99974569e-01 -6.82188810e-03 -2.07906420e-03 1.01322739e+02] [ 6.82150448e-03 9.99976715e-01 -1.91548092e-04 2.43334924e+00] [ 2.08032251e-03 1.77360875e-04 9.99997820e-01 3.74577980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.285336195 meters 0.09317891681324167 Centerline is valid? [True, True] Translation: X:101.35, Y:2.43, Z:0.37 [[ 9.99942155e-01 -1.04791309e-02 -2.42370490e-03 1.01353513e+02] [ 1.04786202e-02 9.99945073e-01 -2.23312550e-04 2.42980736e+00] [ 2.42591189e-03 1.97902549e-04 9.99997038e-01 3.74346081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.315336195 meters 0.07791416162315436 Centerline is valid? [True, True] Translation: X:101.39, Y:2.41, Z:0.37 [[ 9.99837370e-01 -1.74077656e-02 -4.71203046e-03 1.01385658e+02] [ 1.74059119e-02 9.99848411e-01 -4.34134392e-04 2.41086596e+00] [ 4.71887348e-03 3.52046602e-04 9.99988804e-01 3.72707374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34533619499999 meters 0.07823413958790217 Centerline is valid? [True, True] Translation: X:101.41, Y:2.41, Z:0.37 [[ 9.99755153e-01 -2.13312387e-02 -5.88324675e-03 1.01414400e+02] [ 2.13284143e-02 9.99772376e-01 -5.42414492e-04 2.41234271e+00] [ 5.89347796e-03 4.16801359e-04 9.99982546e-01 3.69710084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37533619499999 meters 0.08580160355293122 Centerline is valid? [True, True] Translation: X:101.44, Y:2.43, Z:0.37 [[ 9.99530526e-01 -3.00940786e-02 -5.75098863e-03 1.01442867e+02] [ 3.00915251e-02 9.99547007e-01 -5.30048402e-04 2.42611793e+00] [ 5.76433479e-03 3.56743540e-04 9.99983322e-01 3.65369958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40533619499999 meters 0.05630440762556188 Centerline is valid? [True, True] Translation: X:101.48, Y:2.40, Z:0.38 [[ 9.99287362e-01 -3.76679694e-02 -2.42754451e-03 1.01475901e+02] [ 3.76675368e-02 9.99290301e-01 -2.23712104e-04 2.39875517e+00] [ 2.43424846e-03 1.32113056e-04 9.99997028e-01 3.75533884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43533619499999 meters 0.054953833151787444 Centerline is valid? [True, True] Translation: X:101.50, Y:2.40, Z:0.38 [[ 9.99172831e-01 -4.06650245e-02 -9.96260790e-05 1.01504917e+02] [ 4.06650238e-02 9.99172836e-01 -9.28449091e-06 2.40170172e+00] [ 9.99212260e-05 5.22551420e-06 9.99999995e-01 3.78654635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46533619499999 meters 0.05022093761640787 Centerline is valid? [True, True] Translation: X:101.54, Y:2.40, Z:0.38 [[ 9.98987054e-01 -4.49831576e-02 1.17531691e-03 1.01536494e+02] [ 4.49830611e-02 9.98987744e-01 1.08392214e-04 2.39531413e+00] [-1.17900301e-03 -5.54130665e-05 9.99999303e-01 3.81394609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.495336195 meters 0.05012137479822981 Centerline is valid? [True, True] Translation: X:101.56, Y:2.40, Z:0.38 [[ 9.98925258e-01 -4.63499321e-02 1.11990827e-04 1.01564129e+02] [ 4.63499313e-02 9.98925264e-01 9.90392495e-06 2.39534634e+00] [-1.12329513e-04 -4.70251363e-06 9.99999994e-01 3.79479002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.525336195 meters 0.04783009156085893 Centerline is valid? [True, True] Translation: X:101.59, Y:2.40, Z:0.38 [[ 9.98907700e-01 -4.67267499e-02 1.32307598e-04 1.01592480e+02] [ 4.67267489e-02 9.98907709e-01 1.10194797e-05 2.39730854e+00] [-1.32677984e-04 -4.82513919e-06 9.99999991e-01 3.79196684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.555336195 meters 0.05282374864833575 Centerline is valid? [True, True] Translation: X:101.62, Y:2.41, Z:0.38 [[ 9.98980717e-01 -4.51381355e-02 -2.75085922e-04 1.01619528e+02] [ 4.51381301e-02 9.98980755e-01 -2.57686077e-05 2.41244335e+00] [ 2.75968689e-04 1.33254780e-05 9.99999962e-01 3.77097575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.585336195 meters 0.05374961047354429 Centerline is valid? [True, True] Translation: X:101.65, Y:2.42, Z:0.37 [[ 9.99057927e-01 -4.33618940e-02 -1.73325566e-03 1.01648480e+02] [ 4.33616804e-02 9.99059427e-01 -1.60669527e-04 2.41748859e+00] [ 1.73859235e-03 8.53612861e-05 9.99998485e-01 3.74928854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.615336195 meters 0.05374961047354429 Centerline is valid? [True, True] Translation: X:101.68, Y:2.42, Z:0.37 [[ 9.99049979e-01 -4.35446325e-02 -1.73313626e-03 1.01675894e+02] [ 4.35444169e-02 9.99051479e-01 -1.61958920e-04 2.42019502e+00] [ 1.73854479e-03 8.63366472e-05 9.99998485e-01 3.74726182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.645336195 meters 0.0633628267474454 Centerline is valid? [True, True] Translation: X:101.70, Y:2.44, Z:0.37 [[ 9.99242627e-01 -3.87675312e-02 -3.35430400e-03 1.01703938e+02] [ 3.87667053e-02 9.99248240e-01 -3.10917549e-04 2.43526499e+00] [ 3.36383588e-03 1.80646754e-04 9.99994326e-01 3.72016283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.675336195 meters 0.06311457081617725 Centerline is valid? [True, True] Translation: X:101.73, Y:2.44, Z:0.38 [[ 9.99398164e-01 -3.46649684e-02 -1.28412254e-03 1.01733964e+02] [ 3.46648440e-02 9.99398987e-01 -1.19005503e-04 2.43965721e+00] [ 1.28747609e-03 7.44199741e-05 9.99999168e-01 3.76384863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.705336195 meters 0.06790511894432728 Centerline is valid? [True, True] Translation: X:101.76, Y:2.45, Z:0.38 [[ 9.99454402e-01 -3.30247638e-02 -5.12571469e-04 1.01761652e+02] [ 3.30247436e-02 9.99454533e-01 -4.77702772e-05 2.45121362e+00] [ 5.13869480e-04 3.08166725e-05 9.99999867e-01 3.76820538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73533619499999 meters 0.07203434624069327 Centerline is valid? [True, True] Translation: X:101.79, Y:2.47, Z:0.38 [[ 9.99545780e-01 -3.00493851e-02 2.29507175e-03 1.01789847e+02] [ 3.00489754e-02 9.99548405e-01 2.12781151e-04 2.46664811e+00] [-2.30042925e-03 -1.43719947e-04 9.99997344e-01 3.79352723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76533619499999 meters 0.0729024924551738 Centerline is valid? [True, True] Translation: X:101.82, Y:2.47, Z:0.38 [[ 9.99564651e-01 -2.92987411e-02 3.47742497e-03 1.01818069e+02] [ 2.92977982e-02 9.99570676e-01 3.21792380e-04 2.47256936e+00] [-3.48536014e-03 -2.19771393e-04 9.99993902e-01 3.80796225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79533619499999 meters 0.06861422640793065 Centerline is valid? [True, True] Translation: X:101.85, Y:2.47, Z:0.38 [[ 9.99603103e-01 -2.81448956e-02 1.22517599e-03 1.01847850e+02] [ 2.81447773e-02 9.99603851e-01 1.13634117e-04 2.47200834e+00] [-1.22788886e-03 -7.91067106e-05 9.99999243e-01 3.76894001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82533619499999 meters 0.0709459783679167 Centerline is valid? [True, True] Translation: X:101.88, Y:2.48, Z:0.37 [[ 9.99637013e-01 -2.68024601e-02 -2.73311366e-03 1.01877975e+02] [ 2.68018657e-02 9.99640733e-01 -2.53868356e-04 2.47769170e+00] [ 2.73893604e-03 1.80523660e-04 9.99996233e-01 3.69607141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85533619499999 meters 0.07670655516851961 Centerline is valid? [True, True] Translation: X:101.90, Y:2.49, Z:0.37 [[ 9.99637126e-01 -2.67422808e-02 -3.23530848e-03 1.01904898e+02] [ 2.67414457e-02 9.99642338e-01 -3.01116543e-04 2.48799667e+00] [ 3.24220388e-03 2.14490450e-04 9.99994721e-01 3.67685650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.885336195 meters 0.07430601192133465 Centerline is valid? [True, True] Translation: X:101.93, Y:2.49, Z:0.37 [[ 9.99607734e-01 -2.78844161e-02 -2.61503174e-03 1.01934279e+02] [ 2.78838716e-02 9.99611139e-01 -2.44478484e-04 2.49091372e+00] [ 2.62083200e-03 1.71465374e-04 9.99996551e-01 3.69183747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.915336195 meters 0.06483779139503651 Centerline is valid? [True, True] Translation: X:101.96, Y:2.48, Z:0.37 [[ 9.99506113e-01 -3.14130929e-02 -8.65126558e-04 1.01964998e+02] [ 3.14130348e-02 9.99506486e-01 -8.06780459e-05 2.48323246e+00] [ 8.67233953e-04 5.34619494e-05 9.99999623e-01 3.73410985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.945336195 meters 0.06196587657985848 Centerline is valid? [True, True] Translation: X:102.00, Y:2.48, Z:0.38 [[ 9.99419472e-01 -3.40597374e-02 8.08446197e-04 1.01995226e+02] [ 3.40596877e-02 9.99419798e-01 7.52553626e-05 2.48438377e+00] [-8.10540313e-04 -4.76762498e-05 9.99999670e-01 3.76019575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.975336195 meters 0.06400475343395964 Centerline is valid? [True, True] Translation: X:102.02, Y:2.49, Z:0.38 [[ 9.99227062e-01 -3.90735430e-02 4.30540909e-03 1.02023563e+02] [ 3.90721777e-02 9.99236311e-01 4.00798850e-04 2.49332048e+00] [-4.31778173e-03 -2.32267349e-04 9.99990651e-01 3.79542124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.005336195 meters 0.057645720070034996 Centerline is valid? [True, True] Translation: X:102.05, Y:2.48, Z:0.38 [[ 9.99022804e-01 -4.39744745e-02 4.43661992e-03 1.02054591e+02] [ 4.39730725e-02 9.99032631e-01 4.13109057e-04 2.48411739e+00] [-4.45049433e-03 -2.17613559e-04 9.99990073e-01 3.79239103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.035336195 meters 0.05132424604819405 Centerline is valid? [True, True] Translation: X:102.08, Y:2.48, Z:0.38 [[ 9.98936537e-01 -4.59780480e-02 3.43705278e-03 1.02084932e+02] [ 4.59772182e-02 9.98942437e-01 3.20075705e-04 2.47674463e+00] [-3.44813434e-03 -1.61709191e-04 9.99994042e-01 3.77969326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.065336195 meters 0.052150474283996606 Centerline is valid? [True, True] Translation: X:102.11, Y:2.48, Z:0.37 [[ 9.98784412e-01 -4.92831541e-02 9.32207702e-04 1.02113261e+02] [ 4.92830946e-02 9.98784846e-01 8.67112638e-05 2.48117453e+00] [-9.35348331e-04 -4.06637783e-05 9.99999562e-01 3.72521937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09533619499999 meters 0.04888066341915751 Centerline is valid? [True, True] Translation: X:102.14, Y:2.48, Z:0.37 [[ 9.98648146e-01 -5.19728375e-02 -8.38925196e-04 1.02144007e+02] [ 5.19727899e-02 9.98648498e-01 -7.84270899e-05 2.47846991e+00] [ 8.41867466e-04 3.47197850e-05 9.99999645e-01 3.69491470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12533619499999 meters 0.041776473834950076 Centerline is valid? [True, True] Translation: X:102.17, Y:2.47, Z:0.37 [[ 9.98565759e-01 -5.35355537e-02 -6.08506139e-04 1.02173417e+02] [ 5.35355289e-02 9.98565944e-01 -5.71050888e-05 2.47477506e+00] [ 6.10690660e-04 2.44464883e-05 9.99999813e-01 3.70454554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15533619499999 meters 0.039080077846577056 Centerline is valid? [True, True] Translation: X:102.20, Y:2.47, Z:0.37 [[ 9.98486064e-01 -5.50034107e-02 4.52689381e-04 1.02203066e+02] [ 5.50033976e-02 9.98486166e-01 4.11446097e-05 2.47157024e+00] [-4.54267178e-04 -1.61828654e-05 9.99999897e-01 3.72615015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18533619499999 meters 0.042124116436781905 Centerline is valid? [True, True] Translation: X:102.23, Y:2.48, Z:0.37 [[ 9.98479925e-01 -5.51118284e-02 7.24430963e-04 1.02230815e+02] [ 5.51117941e-02 9.98480188e-01 6.72865637e-05 2.47516529e+00] [-7.27038250e-04 -2.72595930e-05 9.99999735e-01 3.72553270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21533619499999 meters 0.04695932260566917 Centerline is valid? [True, True] Translation: X:102.26, Y:2.48, Z:0.37 [[ 9.98494224e-01 -5.48426930e-02 1.25053173e-03 1.02258908e+02] [ 5.48425900e-02 9.98495006e-01 1.16561169e-04 2.47682255e+00] [-1.25504221e-03 -4.78032547e-05 9.99999211e-01 3.73239338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.245336195 meters 0.04287901182049562 Centerline is valid? [True, True] Translation: X:102.29, Y:2.47, Z:0.37 [[ 9.98489525e-01 -5.49146608e-02 1.74590501e-03 1.02287293e+02] [ 5.49144608e-02 9.98491049e-01 1.62295895e-04 2.47013932e+00] [-1.75218295e-03 -6.61753187e-05 9.99998463e-01 3.74666666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.275336195 meters 0.04225841826379421 Centerline is valid? [True, True] Translation: X:102.32, Y:2.47, Z:0.37 [[ 9.98480698e-01 -5.50599222e-02 2.16828902e-03 1.02315201e+02] [ 5.50596126e-02 9.98483049e-01 2.02283433e-04 2.47178606e+00] [-2.17613754e-03 -8.25909491e-05 9.99997629e-01 3.74768027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.305336195 meters 0.04344366025116688 Centerline is valid? [True, True] Translation: X:102.34, Y:2.48, Z:0.38 [[ 9.98490177e-01 -5.48247873e-02 3.40728496e-03 1.02342235e+02] [ 5.48240153e-02 9.98495982e-01 3.19610490e-04 2.47662671e+00] [-3.41968292e-03 -1.32326891e-04 9.99994144e-01 3.75278553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.335336195 meters 0.044392483458801 Centerline is valid? [True, True] Translation: X:102.37, Y:2.47, Z:0.38 [[ 9.98523311e-01 -5.41567227e-02 4.27168940e-03 1.02371408e+02] [ 5.41555014e-02 9.98532434e-01 4.01142376e-04 2.47453639e+00] [-4.28714496e-03 -1.69214533e-04 9.99990796e-01 3.75494107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.365336195 meters 0.04705714286291712 Centerline is valid? [True, True] Translation: X:102.40, Y:2.47, Z:0.37 [[ 9.98558154e-01 -5.35785447e-02 3.30942008e-03 1.02399387e+02] [ 5.35778062e-02 9.98563629e-01 3.11463539e-04 2.47335811e+00] [-3.32135429e-03 -1.33702989e-04 9.99994475e-01 3.74047681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.395336195 meters 0.049103416872571436 Centerline is valid? [True, True] Translation: X:102.43, Y:2.47, Z:0.37 [[ 9.98618731e-01 -5.25410948e-02 -2.53251890e-04 1.02428616e+02] [ 5.25410904e-02 9.98618763e-01 -2.41210111e-05 2.46671190e+00] [ 2.54169434e-04 1.07815630e-05 9.99999968e-01 3.69087409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.425336195 meters 0.04968953051822694 Centerline is valid? [True, True] Translation: X:102.46, Y:2.47, Z:0.37 [[ 9.98658805e-01 -5.17697438e-02 -6.95767146e-04 1.02457724e+02] [ 5.17697097e-02 9.98659047e-01 -6.68474782e-05 2.46741055e+00] [ 6.98294832e-04 3.07381595e-05 9.99999756e-01 3.68364251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.455336195 meters 0.0511348789363189 Centerline is valid? [True, True] Translation: X:102.49, Y:2.47, Z:0.37 [[ 9.98758544e-01 -4.98034291e-02 9.94909307e-04 1.02487480e+02] [ 4.98033603e-02 9.98759038e-01 9.38081862e-05 2.46996055e+00] [-9.98346632e-04 -4.41419007e-05 9.99999501e-01 3.69903439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48533619499999 meters 0.049385222494436054 Centerline is valid? [True, True] Translation: X:102.52, Y:2.47, Z:0.37 [[ 9.98842936e-01 -4.80044172e-02 2.89223912e-03 1.02517407e+02] [ 4.80038273e-02 9.98847114e-01 2.73079357e-04 2.46718014e+00] [-2.90201371e-03 -1.33924840e-04 9.99995780e-01 3.71643514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51533619499999 meters 0.05576919312224209 Centerline is valid? [True, True] Translation: X:102.54, Y:2.47, Z:0.37 [[ 9.98891002e-01 -4.69082539e-02 4.04751227e-03 1.02544458e+02] [ 4.69070899e-02 9.98899184e-01 3.82100018e-04 2.47352972e+00] [-4.06098034e-03 -1.91819248e-04 9.99991736e-01 3.72761440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54533619499999 meters 0.05783947753676948 Centerline is valid? [True, True] Translation: X:102.58, Y:2.47, Z:0.38 [[ 9.99030790e-01 -4.37383019e-02 4.94390639e-03 1.02575020e+02] [ 4.37365226e-02 9.99042991e-01 4.67510121e-04 2.46703193e+00] [-4.95962313e-03 -2.50827732e-04 9.99987670e-01 3.75694071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57533619499999 meters 0.05816335288603725 Centerline is valid? [True, True] Translation: X:102.61, Y:2.46, Z:0.37 [[ 9.99233722e-01 -3.90939948e-02 1.90490047e-03 1.02605579e+02] [ 3.90937223e-02 9.99235532e-01 1.80096416e-04 2.46352146e+00] [-1.91048492e-03 -1.05488762e-04 9.99998169e-01 3.70349894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60533619499999 meters 0.05855839953471587 Centerline is valid? [True, True] Translation: X:102.64, Y:2.46, Z:0.37 [[ 9.99332887e-01 -3.65182767e-02 4.43554878e-04 1.02635704e+02] [ 3.65182617e-02 9.99332985e-01 4.18739182e-05 2.46495073e+00] [-4.44788183e-04 -2.56481304e-05 9.99999901e-01 3.67358756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.635336195 meters 0.06676211930644724 Centerline is valid? [True, True] Translation: X:102.66, Y:2.47, Z:0.37 [[ 9.99508042e-01 -3.12726533e-02 2.38634948e-03 1.02664417e+02] [ 3.12722034e-02 9.99510880e-01 2.25631351e-04 2.47339893e+00] [-2.39223836e-03 -1.50893944e-04 9.99997127e-01 3.70178375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.665336195 meters 0.0661796709036776 Centerline is valid? [True, True] Translation: X:102.69, Y:2.47, Z:0.37 [[ 9.99571474e-01 -2.90442717e-02 3.64664156e-03 1.02694975e+02] [ 2.90432056e-02 9.99578098e-01 3.44984713e-04 2.47245745e+00] [-3.65512286e-03 -2.38926718e-04 9.99993291e-01 3.72735582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.695336195 meters 0.07698319098839258 Centerline is valid? [True, True] Translation: X:102.72, Y:2.48, Z:0.37 [[ 9.99687396e-01 -2.48967151e-02 2.29452439e-03 1.02723398e+02] [ 2.48962823e-02 9.99690016e-01 2.17029511e-04 2.48074501e+00] [-2.29921645e-03 -1.59836540e-04 9.99997344e-01 3.70926741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.725336195 meters 0.07275917135591878 Centerline is valid? [True, True] Translation: X:102.75, Y:2.47, Z:0.37 [[ 9.99732329e-01 -2.30974685e-02 1.33321309e-03 1.02754695e+02] [ 2.30973206e-02 9.99733213e-01 1.26197189e-04 2.47442735e+00] [-1.33577224e-03 -9.53697590e-05 9.99999103e-01 3.69808743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.755336195 meters 0.07520828047341621 Centerline is valid? [True, True] Translation: X:102.79, Y:2.47, Z:0.37 [[ 9.99788213e-01 -2.04136027e-02 2.61030886e-03 1.02785812e+02] [ 2.04130268e-02 9.99791602e-01 2.47078779e-04 2.47399130e+00] [-2.61480865e-03 -1.93742146e-04 9.99996563e-01 3.71271803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.785336195 meters 0.0818840901484326 Centerline is valid? [True, True] Translation: X:102.81, Y:2.48, Z:0.37 [[ 9.99781449e-01 -2.04922917e-02 4.13757217e-03 1.02813368e+02] [ 2.04908461e-02 9.99789964e-01 3.91470163e-04 2.48072154e+00] [-4.14472525e-03 -3.06602252e-04 9.99991364e-01 3.72249758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.815336195 meters 0.07586224433534189 Centerline is valid? [True, True] Translation: X:102.84, Y:2.47, Z:0.37 [[ 9.99760370e-01 -2.14877748e-02 4.18072778e-03 1.02843639e+02] [ 2.14863077e-02 9.99769064e-01 3.95509207e-04 2.47347520e+00] [-4.18826091e-03 -3.05586028e-04 9.99991183e-01 3.72280600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84533619499999 meters 0.07379406392473324 Centerline is valid? [True, True] Translation: X:102.87, Y:2.47, Z:0.37 [[ 9.99719112e-01 -2.33596715e-02 4.00293751e-03 1.02874422e+02] [ 2.33583375e-02 9.99727085e-01 3.79686566e-04 2.46808098e+00] [-4.01071440e-03 -2.86077951e-04 9.99991916e-01 3.70831648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87533619499999 meters 0.07057416861924966 Centerline is valid? [True, True] Translation: X:102.91, Y:2.46, Z:0.37 [[ 9.99671058e-01 -2.54389141e-02 3.26158572e-03 1.02905220e+02] [ 2.54380394e-02 9.99676353e-01 3.09390483e-04 2.46114332e+00] [-3.26840067e-03 -2.26320365e-04 9.99994633e-01 3.69144319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90533619499999 meters 0.07585617650230907 Centerline is valid? [True, True] Translation: X:102.93, Y:2.47, Z:0.37 [[ 9.99666287e-01 -2.57520346e-02 2.03631357e-03 1.02932199e+02] [ 2.57516952e-02 9.99668352e-01 1.92747654e-04 2.46814261e+00] [-2.04060187e-03 -1.40244805e-04 9.99997908e-01 3.66258471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93533619499999 meters 0.0704527934289186 Centerline is valid? [True, True] Translation: X:102.96, Y:2.46, Z:0.37 [[ 9.99693051e-01 -2.47476263e-02 1.16544965e-03 1.02962266e+02] [ 2.47475142e-02 9.99693727e-01 1.10473201e-04 2.45893516e+00] [-1.16782665e-03 -8.15973098e-05 9.99999315e-01 3.66565663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96533619499999 meters 0.06917776543335402 Centerline is valid? [True, True] Translation: X:102.99, Y:2.46, Z:0.37 [[ 9.99701822e-01 -2.43744016e-02 1.46825497e-03 1.02991725e+02] [ 2.43742243e-02 9.99702895e-01 1.38543463e-04 2.45837278e+00] [-1.47119566e-03 -1.02714576e-04 9.99998913e-01 3.67423817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.995336195 meters 0.07908615928387235 Centerline is valid? [True, True] Translation: X:103.02, Y:2.47, Z:0.37 [[ 9.99717278e-01 -2.37614248e-02 8.70940895e-04 1.03017995e+02] [ 2.37613619e-02 9.99717656e-01 8.24405954e-05 2.47243278e+00] [-8.72653896e-04 -6.17225458e-05 9.99999617e-01 3.65023021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.025336195 meters 0.07075555731179141 Centerline is valid? [True, True] Translation: X:103.05, Y:2.46, Z:0.37 [[ 9.99708430e-01 -2.41293155e-02 9.11734887e-04 1.03047822e+02] [ 2.41292473e-02 9.99708844e-01 8.57962788e-05 2.46418662e+00] [-9.13539635e-04 -6.37717866e-05 9.99999581e-01 3.65067529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.055336195 meters 0.07657593382573012 Centerline is valid? [True, True] Translation: X:103.08, Y:2.47, Z:0.36 [[ 9.99636802e-01 -2.68733801e-02 2.02131390e-03 1.03076162e+02] [ 2.68730450e-02 9.99638836e-01 1.92760918e-04 2.47230310e+00] [-2.02576402e-03 -1.38372048e-04 9.99997939e-01 3.64499752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.085336195 meters 0.06881817251284138 Centerline is valid? [True, True] Translation: X:103.11, Y:2.46, Z:0.37 [[ 9.99507880e-01 -3.11228058e-02 3.92036728e-03 1.03107932e+02] [ 3.11215771e-02 9.99515536e-01 3.74036639e-04 2.46198490e+00] [-3.93010908e-03 -2.51844556e-04 9.99992245e-01 3.66641372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.115336195 meters 0.06392256411085291 Centerline is valid? [True, True] Translation: X:103.14, Y:2.45, Z:0.37 [[ 9.99460844e-01 -3.25941163e-02 3.95542188e-03 1.03138990e+02] [ 3.25928771e-02 9.99468640e-01 3.77377828e-04 2.45457796e+00] [-3.96562043e-03 -2.48255784e-04 9.99992106e-01 3.67692408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.145336195 meters 0.06765644958180987 Centerline is valid? [True, True] Translation: X:103.17, Y:2.45, Z:0.37 [[ 9.99413025e-01 -3.42169366e-02 1.67521018e-03 1.03168097e+02] [ 3.42167169e-02 9.99414424e-01 1.59670846e-04 2.45282828e+00] [-1.67969266e-03 -1.02256931e-04 9.99998584e-01 3.65872349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.175336195 meters 0.06011470281736638 Centerline is valid? [True, True] Translation: X:103.20, Y:2.45, Z:0.36 [[ 9.99413778e-01 -3.42221263e-02 -9.72838138e-04 1.03197448e+02] [ 3.42220507e-02 9.99414250e-01 -9.42285959e-05 2.44616356e+00] [ 9.75493000e-04 6.08808410e-05 9.99999522e-01 3.62467614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.205336195 meters 0.06813460394668643 Centerline is valid? [True, True] Translation: X:103.22, Y:2.46, Z:0.36 [[ 9.99427969e-01 -3.37904540e-02 -1.39319284e-03 1.03224300e+02] [ 3.37903003e-02 9.99428936e-01 -1.33732804e-04 2.46168899e+00] [ 1.39691613e-03 8.65798996e-05 9.99999021e-01 3.58466498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23533619499999 meters 0.06828759125237431 Centerline is valid? [True, True] Translation: X:103.25, Y:2.47, Z:0.36 [[ 9.99475744e-01 -3.23697408e-02 -6.60842171e-04 1.03253617e+02] [ 3.23697059e-02 9.99475962e-01 -6.34111890e-05 2.46871824e+00] [ 6.62548468e-04 4.19866786e-05 9.99999780e-01 3.56518111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26533619499999 meters 0.07961866843456289 Centerline is valid? [True, True] Translation: X:103.28, Y:2.48, Z:0.36 [[ 9.99557952e-01 -2.96742967e-02 1.82644423e-03 1.03281941e+02] [ 2.96740266e-02 9.99559614e-01 1.74791321e-04 2.48176235e+00] [-1.83082670e-03 -1.20516100e-04 9.99998317e-01 3.60834275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29533619499999 meters 0.07299026750005488 Centerline is valid? [True, True] Translation: X:103.31, Y:2.47, Z:0.36 [[ 9.99603032e-01 -2.80673908e-02 2.44943103e-03 1.03313444e+02] [ 2.80669003e-02 9.99606019e-01 2.34433435e-04 2.47277631e+00] [-2.45504593e-03 -1.65592436e-04 9.99996973e-01 3.64538074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32533619499999 meters 0.07796333910698733 Centerline is valid? [True, True] Translation: X:103.34, Y:2.48, Z:0.36 [[ 9.99672530e-01 -2.55653158e-02 1.11715065e-03 1.03342082e+02] [ 2.55652122e-02 9.99673151e-01 1.06931094e-04 2.48012000e+00] [-1.11951924e-03 -7.83358839e-05 9.99999370e-01 3.64002298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35533619499999 meters 0.07228586512856688 Centerline is valid? [True, True] Translation: X:103.37, Y:2.48, Z:0.36 [[ 9.99702672e-01 -2.43791768e-02 -4.71902671e-04 1.03371710e+02] [ 2.43791581e-02 9.99702783e-01 -4.54309143e-05 2.47839806e+00] [ 4.72869982e-04 3.39128167e-05 9.99999888e-01 3.60980549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.385336195 meters 0.07809059970542882 Centerline is valid? [True, True] Translation: X:103.40, Y:2.50, Z:0.35 [[ 9.99752207e-01 -2.20081566e-02 -3.34144882e-03 1.03399163e+02] [ 2.20072092e-02 9.99757761e-01 -3.20038276e-04 2.49661481e+00] [ 3.34768284e-03 2.46423009e-04 9.99994366e-01 3.53397459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.415336195 meters 0.08185404554108112 Centerline is valid? [True, True] Translation: X:103.43, Y:2.51, Z:0.35 [[ 9.99771825e-01 -2.09870263e-02 -3.98028649e-03 1.03426545e+02] [ 2.09856724e-02 9.99779704e-01 -3.81626458e-04 2.50858593e+00] [ 3.98741885e-03 2.98010392e-04 9.99992006e-01 3.50616579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.445336195 meters 0.08442947456754916 Centerline is valid? [True, True] Translation: X:103.45, Y:2.52, Z:0.35 [[ 9.99788800e-01 -2.01830279e-02 -3.87313789e-03 1.03454211e+02] [ 2.01817397e-02 9.99796259e-01 -3.71403581e-04 2.51891326e+00] [ 3.87984482e-03 2.93158480e-04 9.99992430e-01 3.50673241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.475336195 meters 0.07762841626231069 Centerline is valid? [True, True] Translation: X:103.49, Y:2.51, Z:0.36 [[ 9.99746150e-01 -2.24395032e-02 -2.02598123e-03 1.03485413e+02] [ 2.24391556e-02 9.99748192e-01 -1.94169056e-04 2.51254451e+00] [ 2.02982813e-03 1.48658458e-04 9.99997929e-01 3.57347437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.505336195 meters 0.07762841626231069 Centerline is valid? [True, True] Translation: X:103.51, Y:2.52, Z:0.36 [[ 9.99742152e-01 -2.26169413e-02 -2.02582340e-03 1.03512874e+02] [ 2.26165907e-02 9.99744193e-01 -1.95814416e-04 2.51533169e+00] [ 2.02973391e-03 1.49946707e-04 9.99997929e-01 3.57144307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.535336195 meters 0.07585437860607792 Centerline is valid? [True, True] Translation: X:103.54, Y:2.52, Z:0.36 [[ 9.99654910e-01 -2.62422890e-02 1.18487125e-03 1.03541816e+02] [ 2.62421726e-02 9.99655608e-01 1.13628344e-04 2.51821446e+00] [-1.18744506e-03 -8.24955362e-05 9.99999292e-01 3.62581333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.565336195 meters 0.0663069659924818 Centerline is valid? [True, True] Translation: X:103.57, Y:2.51, Z:0.36 [[ 9.99583480e-01 -2.87344758e-02 2.68267666e-03 1.03572796e+02] [ 2.87338874e-02 9.99587063e-01 2.57615062e-04 2.51352578e+00] [-2.68897132e-03 -1.80424031e-04 9.99996368e-01 3.64068213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59533619499999 meters 0.0656341059248378 Centerline is valid? [True, True] Translation: X:103.60, Y:2.53, Z:0.36 [[ 9.99392952e-01 -3.46978106e-02 3.12872806e-03 1.03601194e+02] [ 3.46970396e-02 9.99397831e-01 3.00408373e-04 2.52588103e+00] [-3.13726755e-03 -1.91668409e-04 9.99995060e-01 3.59026666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62533619499999 meters 0.06440356030049157 Centerline is valid? [True, True] Translation: X:103.63, Y:2.53, Z:0.36 [[ 9.99280009e-01 -3.78851005e-02 2.04496546e-03 1.03630612e+02] [ 3.78847778e-02 9.99282095e-01 1.96348529e-04 2.52798750e+00] [-2.05093605e-03 -1.18734098e-04 9.99997890e-01 3.56163056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65533619499999 meters 0.052589155687242 Centerline is valid? [True, True] Translation: X:103.66, Y:2.51, Z:0.36 [[ 9.99027171e-01 -4.40969657e-02 -4.12330456e-04 1.03662937e+02] [ 4.40969531e-02 9.99027255e-01 -3.95246345e-05 2.50878179e+00] [ 4.13672280e-04 2.13036669e-05 9.99999914e-01 3.55651739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68533619499999 meters 0.048452846068061 Centerline is valid? [True, True] Translation: X:103.69, Y:2.51, Z:0.35 [[ 9.98746258e-01 -4.99187596e-02 -3.74554806e-03 1.03692319e+02] [ 4.99177594e-02 9.98753267e-01 -3.60104745e-04 2.50672617e+00] [ 3.75885434e-03 1.72683900e-04 9.99992921e-01 3.51159433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71533619499999 meters 0.05053088063260985 Centerline is valid? [True, True] Translation: X:103.72, Y:2.52, Z:0.35 [[ 9.98644961e-01 -5.18801755e-02 -4.08519304e-03 1.03720207e+02] [ 5.18790014e-02 9.98653301e-01 -3.92909551e-04 2.51669113e+00] [ 4.10007573e-03 1.80441408e-04 9.99991578e-01 3.47881079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.745336195 meters 0.04846389677695496 Centerline is valid? [True, True] Translation: X:103.75, Y:2.52, Z:0.35 [[ 9.98560879e-01 -5.35121286e-02 -3.55279898e-03 1.03749642e+02] [ 5.35112508e-02 9.98567188e-01 -3.41727874e-04 2.52080989e+00] [ 3.56599507e-03 1.51121369e-04 9.99993630e-01 3.46392092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.775336195 meters 0.04578670943515899 Centerline is valid? [True, True] Translation: X:103.78, Y:2.52, Z:0.35 [[ 9.98537032e-01 -5.38846405e-02 -4.49896004e-03 1.03777634e+02] [ 5.38832279e-02 9.98547149e-01 -4.34698702e-04 2.51792683e+00] [ 4.51584730e-03 1.91644263e-04 9.99989785e-01 3.45726473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.805336195 meters 0.04736653288548069 Centerline is valid? [True, True] Translation: X:103.81, Y:2.52, Z:0.34 [[ 9.98613931e-01 -5.22574726e-02 -6.27489839e-03 1.03806942e+02] [ 5.22547014e-02 9.98633607e-01 -6.04887525e-04 2.51882978e+00] [ 6.29793430e-03 2.76156167e-04 9.99980130e-01 3.44723401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.835336195 meters 0.050332357668791704 Centerline is valid? [True, True] Translation: X:103.83, Y:2.53, Z:0.35 [[ 9.98664352e-01 -5.13509571e-02 -5.70887542e-03 1.03834060e+02] [ 5.13486434e-02 9.98680636e-01 -5.51219198e-04 2.52550610e+00] [ 5.72964897e-03 2.57339955e-04 9.99983552e-01 3.45134957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.865336195 meters 0.06031870720309416 Centerline is valid? [True, True] Translation: X:103.86, Y:2.54, Z:0.35 [[ 9.98846419e-01 -4.79849918e-02 -1.80853969e-03 1.03861705e+02] [ 4.79847541e-02 9.98848053e-01 -1.74628647e-04 2.54381062e+00] [ 1.81483590e-03 8.76448664e-05 9.99998349e-01 3.49294097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.895336195 meters 0.05095461995612334 Centerline is valid? [True, True] Translation: X:103.89, Y:2.53, Z:0.35 [[ 9.98876784e-01 -4.73598398e-02 -1.48833608e-03 1.03891546e+02] [ 4.73596761e-02 9.98877890e-01 -1.45009519e-04 2.53434079e+00] [ 1.49353363e-03 7.43595276e-05 9.99998882e-01 3.51761908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.925336195 meters 0.051332249063550585 Centerline is valid? [True, True] Translation: X:103.92, Y:2.54, Z:0.35 [[ 9.98844443e-01 -4.80561602e-02 -6.19277428e-04 1.03920076e+02] [ 4.80561315e-02 9.98844635e-01 -6.11264619e-05 2.53500990e+00] [ 6.21499439e-04 3.12957493e-05 9.99999806e-01 3.51568146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.955336195 meters 0.05317774133040473 Centerline is valid? [True, True] Translation: X:103.95, Y:2.54, Z:0.35 [[ 9.98785642e-01 -4.92664252e-02 -2.46622341e-04 1.03947993e+02] [ 4.92664207e-02 9.98785672e-01 -2.43077149e-05 2.53717193e+00] [ 2.47520415e-04 1.21279967e-05 9.99999969e-01 3.51599901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98533619499999 meters 0.04707698185792851 Centerline is valid? [True, True] Translation: X:103.98, Y:2.53, Z:0.35 [[ 9.98632646e-01 -5.22676849e-02 -9.62615359e-04 1.03979156e+02] [ 5.22676192e-02 9.98633109e-01 -9.33239059e-05 2.52829218e+00] [ 9.66177394e-04 4.28826860e-05 9.99999532e-01 3.51687559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01533619499999 meters 0.04624736441420513 Centerline is valid? [True, True] Translation: X:104.01, Y:2.53, Z:0.35 [[ 9.98579500e-01 -5.32533964e-02 -1.74880472e-03 1.04008319e+02] [ 5.32531787e-02 9.98581028e-01 -1.70863087e-04 2.52898142e+00] [ 1.75542226e-03 7.74909657e-05 9.99998456e-01 3.50092476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04533619499999 meters 0.0465466056952056 Centerline is valid? [True, True] Translation: X:104.04, Y:2.53, Z:0.35 [[ 9.98591258e-01 -5.30206803e-02 -2.07520130e-03 1.04037689e+02] [ 5.30203730e-02 9.98593410e-01 -2.02867703e-04 2.52826079e+00] [ 2.08303853e-03 9.25539679e-05 9.99997826e-01 3.48864620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07533619499999 meters 0.04802388986047351 Centerline is valid? [True, True] Translation: X:104.07, Y:2.53, Z:0.35 [[ 9.98617342e-01 -5.25041701e-02 -2.59169668e-03 1.04065349e+02] [ 5.25036907e-02 9.98620698e-01 -2.52728407e-04 2.52968193e+00] [ 2.60139124e-03 1.16305329e-04 9.99996610e-01 3.48062479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10533619499999 meters 0.04829852442234648 Centerline is valid? [True, True] Translation: X:104.09, Y:2.53, Z:0.35 [[ 9.98718536e-01 -5.05282319e-02 -2.86079425e-03 1.04094813e+02] [ 5.05276402e-02 9.98722624e-01 -2.78789847e-04 2.52908124e+00] [ 2.87122670e-03 1.33883405e-04 9.99995869e-01 3.48391305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.135336195 meters 0.056873456897601773 Centerline is valid? [True, True] Translation: X:104.12, Y:2.54, Z:0.35 [[ 9.98925701e-01 -4.62610279e-02 -2.71319588e-03 1.04123146e+02] [ 4.62604806e-02 9.98929376e-01 -2.64172343e-04 2.54098046e+00] [ 2.72251195e-03 1.38374798e-04 9.99996284e-01 3.47953893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.165336195 meters 0.06360754627254579 Centerline is valid? [True, True] Translation: X:104.15, Y:2.55, Z:0.35 [[ 9.99203131e-01 -3.98477091e-02 -2.29395842e-03 1.04152861e+02] [ 3.98473011e-02 9.99205756e-01 -2.23316076e-04 2.55250984e+00] [ 2.30103509e-03 1.31730070e-04 9.99997344e-01 3.48458589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.195336195 meters 0.062167587806910486 Centerline is valid? [True, True] Translation: X:104.18, Y:2.55, Z:0.35 [[ 9.99296516e-01 -3.73663531e-02 -3.19838427e-03 1.04182564e+02] [ 3.73655470e-02 9.99301616e-01 -3.11434295e-04 2.55399046e+00] [ 3.20778774e-03 1.91705828e-04 9.99994837e-01 3.47397511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.225336195 meters 0.06475553476191832 Centerline is valid? [True, True] Translation: X:104.21, Y:2.56, Z:0.34 [[ 9.99414637e-01 -3.38934446e-02 -4.64954932e-03 1.04212496e+02] [ 3.38917042e-02 9.99425409e-01 -4.52619313e-04 2.55824126e+00] [ 4.66221855e-03 2.94773216e-04 9.99989088e-01 3.44837115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.255336195 meters 0.07011639643371001 Centerline is valid? [True, True] Translation: X:104.24, Y:2.57, Z:0.35 [[ 9.99438841e-01 -3.32779068e-02 -3.81878668e-03 1.04239775e+02] [ 3.32767259e-02 9.99446107e-01 -3.72385963e-04 2.56554514e+00] [ 3.82906371e-03 2.45100278e-04 9.99992639e-01 3.45941364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.285336195 meters 0.06385248557799 Centerline is valid? [True, True] Translation: X:104.27, Y:2.56, Z:0.35 [[ 9.99427562e-01 -3.37771576e-02 -1.91093778e-03 1.04269170e+02] [ 3.37768603e-02 9.99429381e-01 -1.87629320e-04 2.55793427e+00] [ 1.91618495e-03 1.22976436e-04 9.99998157e-01 3.51558090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.315336195 meters 0.061080301133115085 Centerline is valid? [True, True] Translation: X:104.30, Y:2.56, Z:0.35 [[ 9.99383835e-01 -3.50671550e-02 -1.49801136e-03 1.04299657e+02] [ 3.50669747e-02 9.99384954e-01 -1.46461485e-04 2.55785608e+00] [ 1.50222600e-03 9.38405144e-05 9.99998867e-01 3.51882096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34533619499999 meters 0.058766980098791444 Centerline is valid? [True, True] Translation: X:104.33, Y:2.56, Z:0.35 [[ 9.99266886e-01 -3.82840436e-02 1.52039501e-04 1.04329193e+02] [ 3.82840418e-02 9.99266897e-01 1.47419235e-05 2.56078284e+00] [-1.52492421e-04 -8.91042939e-06 9.99999988e-01 3.52636598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37533619499999 meters 0.05769711917306926 Centerline is valid? [True, True] Translation: X:104.36, Y:2.56, Z:0.35 [[ 9.99211883e-01 -3.96847938e-02 8.54888983e-04 1.04358611e+02] [ 3.96847370e-02 9.99212247e-01 8.32991696e-05 2.56308879e+00] [-8.57521252e-04 -4.93074756e-05 9.99999631e-01 3.52867388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40533619499999 meters 0.060157213921297914 Centerline is valid? [True, True] Translation: X:104.39, Y:2.57, Z:0.35 [[ 9.99124616e-01 -4.18324423e-02 2.22218750e-04 1.04386678e+02] [ 4.18324385e-02 9.99124640e-01 2.14494023e-05 2.56888370e+00] [-2.22921510e-04 -1.21346736e-05 9.99999975e-01 3.50077524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43533619499999 meters 0.056636403133988295 Centerline is valid? [True, True] Translation: X:104.42, Y:2.56, Z:0.35 [[ 9.99107191e-01 -4.22190194e-02 -1.54132288e-03 1.04415320e+02] [ 4.22188347e-02 9.99108376e-01 -1.52184850e-04 2.56489308e+00] [ 1.54637369e-03 8.69761219e-05 9.99998801e-01 3.49340241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46533619499999 meters 0.06178493288328843 Centerline is valid? [True, True] Translation: X:104.44, Y:2.57, Z:0.35 [[ 9.99140188e-01 -4.13709846e-02 -2.70670582e-03 1.04442977e+02] [ 4.13704171e-02 9.99143843e-01 -2.65332608e-04 2.57340602e+00] [ 2.71536552e-03 1.53126923e-04 9.99996302e-01 3.47795248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.495336195 meters 0.06295167783157665 Centerline is valid? [True, True] Translation: X:104.47, Y:2.58, Z:0.35 [[ 9.99180253e-01 -4.02815663e-02 -4.02700631e-03 1.04472079e+02] [ 4.02803023e-02 9.99188341e-01 -3.94513450e-04 2.57849354e+00] [ 4.03962938e-03 2.31981017e-04 9.99991814e-01 3.46074486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.525336195 meters 0.05921110347707781 Centerline is valid? [True, True] Translation: X:104.50, Y:2.58, Z:0.35 [[ 9.99171854e-01 -4.04635797e-02 -4.27848478e-03 1.04500042e+02] [ 4.04621462e-02 9.99180983e-01 -4.21115728e-04 2.57803629e+00] [ 4.29202048e-03 2.47650306e-04 9.99990759e-01 3.46381333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.555336195 meters 0.06403250101318655 Centerline is valid? [True, True] Translation: X:104.53, Y:2.59, Z:0.34 [[ 9.99147778e-01 -4.11019845e-02 -3.78739677e-03 1.04526708e+02] [ 4.11008667e-02 9.99154933e-01 -3.72517316e-04 2.59070065e+00] [ 3.79950737e-03 2.16534559e-04 9.99992758e-01 3.43838190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.585336195 meters 0.055391152823542206 Centerline is valid? [True, True] Translation: X:104.56, Y:2.58, Z:0.35 [[ 9.99115421e-01 -4.18896416e-02 -3.69225208e-03 1.04556148e+02] [ 4.18885802e-02 9.99122222e-01 -3.64373419e-04 2.58273693e+00] [ 3.70427457e-03 2.09387905e-04 9.99993117e-01 3.45256643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.615336195 meters 0.0606194060785426 Centerline is valid? [True, True] Translation: X:104.58, Y:2.59, Z:0.34 [[ 9.99028448e-01 -4.39236113e-02 -3.58840242e-03 1.04584876e+02] [ 4.39226251e-02 9.99034873e-01 -3.53208382e-04 2.58600793e+00] [ 3.60045335e-03 1.95253167e-04 9.99993499e-01 3.43968410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.645336195 meters 0.05590931983380697 Centerline is valid? [True, True] Translation: X:104.62, Y:2.58, Z:0.35 [[ 9.98937646e-01 -4.60556639e-02 -1.56689865e-03 1.04615286e+02] [ 4.60554782e-02 9.98938872e-01 -1.54358451e-04 2.58058609e+00] [ 1.57234505e-03 8.20302014e-05 9.99998761e-01 3.48210761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.675336195 meters 0.05214278769712133 Centerline is valid? [True, True] Translation: X:104.64, Y:2.58, Z:0.35 [[ 9.98899225e-01 -4.68970706e-02 -1.00150660e-03 1.04644450e+02] [ 4.68969939e-02 9.98899726e-01 -9.99207717e-05 2.57933089e+00] [ 1.00509066e-03 5.28431325e-05 9.99999494e-01 3.49378186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.705336195 meters 0.054804499094896715 Centerline is valid? [True, True] Translation: X:104.67, Y:2.58, Z:0.35 [[ 9.98818465e-01 -4.85704972e-02 -1.60657250e-03 1.04672136e+02] [ 4.85703044e-02 9.98819754e-01 -1.58875490e-04 2.58178003e+00] [ 1.61239301e-03 8.06560578e-05 9.99998697e-01 3.47021940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73533619499999 meters 0.05021961628331733 Centerline is valid? [True, True] Translation: X:104.70, Y:2.57, Z:0.35 [[ 9.98725719e-01 -5.03891075e-02 -2.80627388e-03 1.04702191e+02] [ 5.03885240e-02 9.98729653e-01 -2.78291796e-04 2.57380237e+00] [ 2.81673181e-03 1.36533176e-04 9.99996024e-01 3.45705986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76533619499999 meters 0.0492141115863277 Centerline is valid? [True, True] Translation: X:104.73, Y:2.57, Z:0.34 [[ 9.98695756e-01 -5.09334197e-02 -3.54604581e-03 1.04731527e+02] [ 5.09324901e-02 9.98702036e-01 -3.52035194e-04 2.57478183e+00] [ 3.55937353e-03 1.70967111e-04 9.99993651e-01 3.43803867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79533619499999 meters 0.05034579801368112 Centerline is valid? [True, True] Translation: X:104.76, Y:2.58, Z:0.34 [[ 9.98768994e-01 -4.94863530e-02 -3.40561483e-03 1.04761293e+02] [ 4.94854902e-02 9.98774786e-01 -3.37200150e-04 2.57631267e+00] [ 3.41812902e-03 1.68256535e-04 9.99994144e-01 3.43946333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82533619499999 meters 0.0540359052929424 Centerline is valid? [True, True] Translation: X:104.79, Y:2.58, Z:0.35 [[ 9.98862576e-01 -4.76112114e-02 -2.59368708e-03 1.04789950e+02] [ 4.76107037e-02 9.98865934e-01 -2.57172076e-04 2.58093985e+00] [ 2.60298995e-03 1.33392295e-04 9.99996603e-01 3.45148452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85533619499999 meters 0.05982518265963014 Centerline is valid? [True, True] Translation: X:104.82, Y:2.59, Z:0.35 [[ 9.99089193e-01 -4.25784657e-02 -2.80336830e-03 1.04818565e+02] [ 4.25778540e-02 9.99093113e-01 -2.77541593e-04 2.58786937e+00] [ 2.81264326e-03 1.57927400e-04 9.99996032e-01 3.46161399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.885336195 meters 0.06845561819105825 Centerline is valid? [True, True] Translation: X:104.85, Y:2.61, Z:0.35 [[ 9.99383744e-01 -3.50851976e-02 -1.07731174e-03 1.04846029e+02] [ 3.50851027e-02 9.99384323e-01 -1.06839945e-04 2.60606464e+00] [ 1.08039696e-03 6.89765112e-05 9.99999414e-01 3.47919158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.915336195 meters 0.07376387670412728 Centerline is valid? [True, True] Translation: X:104.87, Y:2.62, Z:0.35 [[ 9.99518782e-01 -3.10188183e-02 1.94064131e-04 1.04874636e+02] [ 3.10188152e-02 9.99518801e-01 1.91646117e-05 2.61954853e+00] [-1.94565211e-04 -1.31357500e-05 9.99999981e-01 3.47918623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.945336195 meters 0.08166349182564428 Centerline is valid? [True, True] Translation: X:104.90, Y:2.64, Z:0.34 [[ 9.99702609e-01 -2.43141510e-02 -1.87481419e-03 1.04903279e+02] [ 2.43138453e-02 9.99704358e-01 -1.85698548e-04 2.63682439e+00] [ 1.87877502e-03 1.40059381e-04 9.99998225e-01 3.42741294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.975336195 meters 0.07820108830880416 Centerline is valid? [True, True] Translation: X:104.93, Y:2.64, Z:0.34 [[ 9.99747917e-01 -2.22273096e-02 -3.16990418e-03 1.04934379e+02] [ 2.22264251e-02 9.99752913e-01 -3.13993177e-04 2.63540698e+00] [ 3.17610016e-03 2.43458387e-04 9.99994927e-01 3.41651409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.005336195 meters 0.08613144512521216 Centerline is valid? [True, True] Translation: X:104.96, Y:2.65, Z:0.34 [[ 9.99782199e-01 -2.07425567e-02 -2.30229279e-03 1.04962654e+02] [ 2.07420860e-02 9.99784834e-01 -2.28149435e-04 2.64835581e+00] [ 2.30652982e-03 1.80345389e-04 9.99997324e-01 3.43951061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.035336195 meters 0.08562307172482676 Centerline is valid? [True, True] Translation: X:104.99, Y:2.65, Z:0.35 [[ 9.99737979e-01 -2.28777889e-02 -7.61113609e-04 1.04991549e+02] [ 2.28777380e-02 9.99738267e-01 -7.54980075e-05 2.65484213e+00] [ 7.62641628e-04 5.80656678e-05 9.99999708e-01 3.47054893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.065336195 meters 0.07265602439212224 Centerline is valid? [True, True] Translation: X:105.02, Y:2.64, Z:0.35 [[ 9.99671980e-01 -2.56001724e-02 -7.50103641e-04 1.05022933e+02] [ 2.56001238e-02 9.99672260e-01 -7.43278085e-05 2.64447105e+00] [ 7.51760607e-04 5.51006814e-05 9.99999716e-01 3.47733067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09533619499999 meters 0.0762216880715527 Centerline is valid? [True, True] Translation: X:105.05, Y:2.65, Z:0.35 [[ 9.99432244e-01 -3.36919218e-02 -2.10298989e-04 1.05051640e+02] [ 3.36919181e-02 9.99432266e-01 -2.09475395e-05 2.65235396e+00] [ 2.10885358e-04 1.38502701e-05 9.99999978e-01 3.45841098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12533619499999 meters 0.06398866600792123 Centerline is valid? [True, True] Translation: X:105.08, Y:2.64, Z:0.35 [[ 9.99075620e-01 -4.29718235e-02 1.15195857e-03 1.05083602e+02] [ 4.29717203e-02 9.99076282e-01 1.14133078e-04 2.63774791e+00] [-1.15579899e-03 -6.45259338e-05 9.99999330e-01 3.48873155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15533619499999 meters 0.05135085514398824 Centerline is valid? [True, True] Translation: X:105.12, Y:2.63, Z:0.35 [[ 9.98853044e-01 -4.78373193e-02 2.04609907e-03 1.05115469e+02] [ 4.78370041e-02 9.98855135e-01 2.02703289e-04 2.62549998e+00] [-2.05345335e-03 -1.04591548e-04 9.99997886e-01 3.51147666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18533619499999 meters 0.047154193647533205 Centerline is valid? [True, True] Translation: X:105.15, Y:2.62, Z:0.35 [[ 9.98363185e-01 -5.71820760e-02 1.07752164e-03 1.05145831e+02] [ 5.71819940e-02 9.98363765e-01 1.06759232e-04 2.62231191e+00] [-1.08186328e-03 -4.49696506e-05 9.99999414e-01 3.46658938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21533619499999 meters 0.039816247453726514 Centerline is valid? [True, True] Translation: X:105.18, Y:2.61, Z:0.35 [[ 9.98151451e-01 -6.07755677e-02 -1.05315068e-04 1.05176758e+02] [ 6.07755669e-02 9.98151457e-01 -1.04366955e-05 2.61458391e+00] [ 1.05754684e-04 4.01681977e-06 9.99999994e-01 3.45439938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.245336195 meters 0.036859167277850144 Centerline is valid? [True, True] Translation: X:105.21, Y:2.61, Z:0.35 [[ 9.97934299e-01 -6.42427781e-02 1.93392037e-05 1.05206143e+02] [ 6.42427780e-02 9.97934299e-01 1.66058782e-06 2.60933572e+00] [-1.94059355e-05 -4.14753369e-07 1.00000000e+00 3.46387680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.275336195 meters 0.03926839262022489 Centerline is valid? [True, True] Translation: X:105.23, Y:2.61, Z:0.35 [[ 9.97875883e-01 -6.51413104e-02 -5.76749110e-04 1.05233513e+02] [ 6.51412880e-02 9.97876049e-01 -5.76314910e-05 2.61232398e+00] [ 5.79278314e-04 1.99388951e-05 9.99999832e-01 3.46663918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.305336195 meters 0.03820138386487416 Centerline is valid? [True, True] Translation: X:105.26, Y:2.61, Z:0.35 [[ 9.97999881e-01 -6.32150852e-02 2.99467664e-04 1.05263184e+02] [ 6.32150792e-02 9.97999926e-01 2.95423033e-05 2.61447161e+00] [-3.00736225e-04 -1.05523431e-05 9.99999955e-01 3.47435043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.335336195 meters 0.042688885077732594 Centerline is valid? [True, True] Translation: X:105.29, Y:2.62, Z:0.35 [[ 9.98056011e-01 -6.23157807e-02 9.71067249e-04 1.05290239e+02] [ 6.23157169e-02 9.98056482e-01 9.57958107e-05 2.62131898e+00] [-9.75149553e-04 -3.50968329e-05 9.99999524e-01 3.47681463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.365336195 meters 0.03932514938059516 Centerline is valid? [True, True] Translation: X:105.32, Y:2.62, Z:0.35 [[ 9.98091367e-01 -6.17516210e-02 6.00348314e-04 1.05319460e+02] [ 6.17515969e-02 9.98091547e-01 5.85225908e-05 2.61798536e+00] [-6.02816442e-04 -2.13384255e-05 9.99999818e-01 3.48043904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.395336195 meters 0.04370407063684118 Centerline is valid? [True, True] Translation: X:105.35, Y:2.62, Z:0.34 [[ 9.98185281e-01 -6.02104554e-02 -9.19645718e-04 1.05347020e+02] [ 6.02103963e-02 9.98185704e-01 -9.18538813e-05 2.62381267e+00] [ 9.23507773e-04 3.63149591e-05 9.99999573e-01 3.43366728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.425336195 meters 0.04370407063684118 Centerline is valid? [True, True] Translation: X:105.37, Y:2.63, Z:0.34 [[ 9.98174542e-01 -6.03882205e-02 -9.19532915e-04 1.05374429e+02] [ 6.03881605e-02 9.98174965e-01 -9.29861334e-05 2.62670840e+00] [ 9.23470002e-04 3.72874899e-05 9.99999573e-01 3.43163996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.455336195 meters 0.041089380359849964 Centerline is valid? [True, True] Translation: X:105.40, Y:2.62, Z:0.34 [[ 9.98193479e-01 -6.00726416e-02 -1.02756883e-03 1.05403845e+02] [ 6.00725666e-02 9.98194007e-01 -1.03800381e-04 2.62378212e+00] [ 1.03194861e-03 4.18841664e-05 9.99999467e-01 3.42933700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48533619499999 meters 0.045206715430942665 Centerline is valid? [True, True] Translation: X:105.43, Y:2.63, Z:0.34 [[ 9.98241829e-01 -5.92579867e-02 -1.32006703e-03 1.05430691e+02] [ 5.92578634e-02 9.98242700e-01 -1.32414411e-04 2.63068647e+00] [ 1.32559388e-03 5.39572524e-05 9.99999120e-01 3.41329151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51533619499999 meters 0.04514714302316339 Centerline is valid? [True, True] Translation: X:105.46, Y:2.63, Z:0.34 [[ 9.98470792e-01 -5.52241431e-02 -2.52405451e-03 1.05460821e+02] [ 5.52236815e-02 9.98473976e-01 -2.52259790e-04 2.63029962e+00] [ 2.53413357e-03 1.12486450e-04 9.99996783e-01 3.40683397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54533619499999 meters 0.04816671158647834 Centerline is valid? [True, True] Translation: X:105.49, Y:2.63, Z:0.34 [[ 9.98590940e-01 -5.29996543e-02 -2.67804830e-03 1.05488545e+02] [ 5.29991255e-02 9.98594523e-01 -2.68072809e-04 2.63442352e+00] [ 2.68849213e-03 1.25760860e-04 9.99996378e-01 3.41304868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57533619499999 meters 0.05804705429352155 Centerline is valid? [True, True] Translation: X:105.52, Y:2.65, Z:0.34 [[ 9.98821264e-01 -4.85023492e-02 -1.89836845e-03 1.05515958e+02] [ 4.85020764e-02 9.98823064e-01 -1.89547677e-04 2.65165394e+00] [ 1.90532770e-03 9.72494391e-05 9.99998180e-01 3.41673034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60533619499999 meters 0.05691150678378938 Centerline is valid? [True, True] Translation: X:105.55, Y:2.66, Z:0.34 [[ 9.99091575e-01 -4.25608149e-02 -2.14500190e-03 1.05546140e+02] [ 4.25604522e-02 9.99093870e-01 -2.14460734e-04 2.65716485e+00] [ 2.15218587e-03 1.22973661e-04 9.99997676e-01 3.40292802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.635336195 meters 0.06193547339770294 Centerline is valid? [True, True] Translation: X:105.57, Y:2.67, Z:0.34 [[ 9.99179416e-01 -4.04619352e-02 -1.82394196e-03 1.05574862e+02] [ 4.04616692e-02 9.99181075e-01 -1.82524798e-04 2.66524266e+00] [ 1.82983359e-03 1.08575285e-04 9.99998320e-01 3.40269183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.665336195 meters 0.06018564645585984 Centerline is valid? [True, True] Translation: X:105.61, Y:2.66, Z:0.35 [[ 9.99284140e-01 -3.78301024e-02 3.01065822e-04 1.05606033e+02] [ 3.78300950e-02 9.99284185e-01 3.01002144e-05 2.66120492e+00] [-3.01989009e-04 -1.86893182e-05 9.99999954e-01 3.45596449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.695336195 meters 0.05932336070011829 Centerline is valid? [True, True] Translation: X:105.64, Y:2.66, Z:0.35 [[ 9.99272075e-01 -3.81402098e-02 8.02627396e-04 1.05635670e+02] [ 3.81401584e-02 9.99272396e-01 7.92550705e-05 2.65998674e+00] [-8.05066206e-04 -4.85850427e-05 9.99999675e-01 3.46961386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.725336195 meters 0.05741257261785038 Centerline is valid? [True, True] Translation: X:105.67, Y:2.66, Z:0.34 [[ 9.99203376e-01 -3.98993650e-02 -8.09073316e-04 1.05666081e+02] [ 3.98993123e-02 9.99203702e-01 -8.11084936e-05 2.65718577e+00] [ 8.11665230e-04 4.87624116e-05 9.99999669e-01 3.44460127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.755336195 meters 0.058500889055047335 Centerline is valid? [True, True] Translation: X:105.69, Y:2.66, Z:0.34 [[ 9.99166749e-01 -4.07849519e-02 -1.54777062e-03 1.05693599e+02] [ 4.07847598e-02 9.99167943e-01 -1.55517006e-04 2.66207982e+00] [ 1.55282554e-03 9.22619683e-05 9.99998790e-01 3.41892026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.785336195 meters 0.05931006284294477 Centerline is valid? [True, True] Translation: X:105.72, Y:2.67, Z:0.34 [[ 9.99161877e-01 -4.09141123e-02 -1.25685956e-03 1.05721212e+02] [ 4.09139841e-02 9.99162664e-01 -1.27524898e-04 2.66780290e+00] [ 1.26102471e-03 7.59948847e-05 9.99999202e-01 3.40056697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.815336195 meters 0.056252279088837655 Centerline is valid? [True, True] Translation: X:105.75, Y:2.66, Z:0.34 [[ 9.99212621e-01 -3.96392863e-02 -1.69283095e-03 1.05750729e+02] [ 3.96390546e-02 9.99214049e-01 -1.70258972e-04 2.66499146e+00] [ 1.69824941e-03 1.03022695e-04 9.99998553e-01 3.40618393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84533619499999 meters 0.06103146426393387 Centerline is valid? [True, True] Translation: X:105.78, Y:2.67, Z:0.34 [[ 9.99230841e-01 -3.91371687e-02 -2.45115118e-03 1.05777866e+02] [ 3.91366808e-02 9.99233836e-01 -2.46727947e-04 2.66991045e+00] [ 2.45892943e-03 1.50608252e-04 9.99996965e-01 3.39692293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87533619499999 meters 0.061524844509904725 Centerline is valid? [True, True] Translation: X:105.81, Y:2.67, Z:0.34 [[ 9.99261614e-01 -3.82978201e-02 -3.08285630e-03 1.05807954e+02] [ 3.82970452e-02 9.99266351e-01 -3.10009548e-04 2.67002073e+00] [ 3.09246725e-03 1.91716354e-04 9.99995200e-01 3.40324911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90533619499999 meters 0.06473606821743072 Centerline is valid? [True, True] Translation: X:105.84, Y:2.68, Z:0.34 [[ 9.99333446e-01 -3.63778887e-02 -3.05160032e-03 1.05836287e+02] [ 3.63771208e-02 9.99338086e-01 -3.06765120e-04 2.67780598e+00] [ 3.06073990e-03 1.95552211e-04 9.99995297e-01 3.40273611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93533619499999 meters 0.06454766332120981 Centerline is valid? [True, True] Translation: X:105.86, Y:2.69, Z:0.34 [[ 9.99355082e-01 -3.57716446e-02 -3.13194507e-03 1.05864384e+02] [ 3.57708277e-02 9.99359969e-01 -3.16482370e-04 2.68545852e+00] [ 3.14126162e-03 2.04245998e-04 9.99995045e-01 3.38156670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96533619499999 meters 0.06758747016171705 Centerline is valid? [True, True] Translation: X:105.89, Y:2.69, Z:0.34 [[ 9.99383163e-01 -3.50481188e-02 -2.21885915e-03 1.05891346e+02] [ 3.50477077e-02 9.99385615e-01 -2.23924749e-04 2.69343814e+00] [ 2.22534405e-03 1.46020697e-04 9.99997513e-01 3.38489575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.995336195 meters 0.0725316543722856 Centerline is valid? [True, True] Translation: X:105.92, Y:2.70, Z:0.34 [[ 9.99437677e-01 -3.35298467e-02 -2.81031798e-04 1.05919456e+02] [ 3.35298400e-02 9.99437716e-01 -2.85662477e-05 2.70086554e+00] [ 2.81831600e-04 1.91272330e-05 9.99999960e-01 3.42150580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.025336195 meters 0.06955120558517267 Centerline is valid? [True, True] Translation: X:105.95, Y:2.70, Z:0.34 [[ 9.99435434e-01 -3.35942228e-02 -4.91946102e-04 1.05948560e+02] [ 3.35942018e-02 9.99435554e-01 -5.08048776e-05 2.69768501e+00] [ 4.93375176e-04 3.42496583e-05 9.99999878e-01 3.43315401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.055336195 meters 0.06775350215077942 Centerline is valid? [True, True] Translation: X:105.98, Y:2.70, Z:0.34 [[ 9.99409789e-01 -3.43449045e-02 -7.07427293e-04 1.05977332e+02] [ 3.43448616e-02 9.99410039e-01 -7.26687917e-05 2.69922541e+00] [ 7.09505741e-04 4.83294093e-05 9.99999747e-01 3.42270429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.085336195 meters 0.07155203098824874 Centerline is valid? [True, True] Translation: X:106.00, Y:2.72, Z:0.34 [[ 9.99341063e-01 -3.62825483e-02 -1.00847472e-03 1.06004754e+02] [ 3.62824636e-02 9.99341569e-01 -1.02123984e-04 2.71756164e+00] [ 1.01151603e-03 6.54667432e-05 9.99999486e-01 3.37314842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.115336195 meters 0.06822911931676162 Centerline is valid? [True, True] Translation: X:106.03, Y:2.72, Z:0.33 [[ 9.99294984e-01 -3.75016989e-02 -1.77716990e-03 1.06033729e+02] [ 3.75014373e-02 9.99296557e-01 -1.80340105e-04 2.72054197e+00] [ 1.78268283e-03 1.13566536e-04 9.99998405e-01 3.34955950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.145336195 meters 0.06740347322524376 Centerline is valid? [True, True] Translation: X:106.06, Y:2.72, Z:0.34 [[ 9.99199179e-01 -3.99535584e-02 -2.17129259e-03 1.06063651e+02] [ 3.99531747e-02 9.99201529e-01 -2.19825626e-04 2.71966599e+00] [ 2.17834170e-03 1.32899552e-04 9.99997619e-01 3.36410085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.175336195 meters 0.060237229067218574 Centerline is valid? [True, True] Translation: X:106.09, Y:2.71, Z:0.34 [[ 9.99142954e-01 -4.13558676e-02 -1.74633773e-03 1.06094955e+02] [ 4.13556211e-02 9.99144475e-01 -1.77005828e-04 2.70913202e+00] [ 1.75216392e-03 1.04633245e-04 9.99998459e-01 3.41166496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.205336195 meters 0.05792096789789589 Centerline is valid? [True, True] Translation: X:106.13, Y:2.71, Z:0.35 [[ 9.99007695e-01 -4.45315720e-02 7.51199085e-04 1.06125362e+02] [ 4.45315274e-02 9.99007977e-01 7.60221966e-05 2.70758228e+00] [-7.53839266e-04 -4.24947168e-05 9.99999715e-01 3.48279403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23533619499999 meters 0.0545975528627367 Centerline is valid? [True, True] Translation: X:106.16, Y:2.71, Z:0.35 [[ 9.98924132e-01 -4.63024612e-02 2.58077446e-03 1.06155143e+02] [ 4.63019405e-02 9.98927456e-01 2.61184936e-04 2.71131855e+00] [-2.59009997e-03 -1.41409070e-04 9.99996636e-01 3.49620107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26533619499999 meters 0.053828402912906345 Centerline is valid? [True, True] Translation: X:106.18, Y:2.72, Z:0.35 [[ 9.98766790e-01 -4.94519112e-02 4.40532733e-03 1.06183101e+02] [ 4.94504240e-02 9.98776480e-01 4.45941618e-04 2.72409820e+00] [-4.42198999e-03 -2.27546374e-04 9.99990197e-01 3.45016251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29533619499999 meters 0.05193489288728252 Centerline is valid? [True, True] Translation: X:106.21, Y:2.73, Z:0.34 [[ 9.98696910e-01 -5.09121766e-02 3.52586586e-03 1.06212368e+02] [ 5.09112347e-02 9.98703119e-01 3.56429208e-04 2.72646706e+00] [-3.53943982e-03 -1.76458564e-04 9.99993721e-01 3.41530171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32533619499999 meters 0.05056780675975209 Centerline is valid? [True, True] Translation: X:106.24, Y:2.72, Z:0.34 [[ 9.98604198e-01 -5.28108016e-02 8.21997564e-04 1.06241509e+02] [ 5.28107510e-02 9.98604535e-01 8.31739323e-05 2.72091117e+00] [-8.25242977e-04 -3.96475293e-05 9.99999659e-01 3.38614543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35533619499999 meters 0.050597161732677476 Centerline is valid? [True, True] Translation: X:106.27, Y:2.72, Z:0.34 [[ 9.98522255e-01 -5.43200446e-02 -1.62469654e-03 1.06269418e+02] [ 5.43198470e-02 9.98523573e-01 -1.65541667e-04 2.72116119e+00] [ 1.63129003e-03 7.70437708e-05 9.99998666e-01 3.37521219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.385336195 meters 0.052488953498930464 Centerline is valid? [True, True] Translation: X:106.30, Y:2.74, Z:0.33 [[ 9.98560630e-01 -5.34535037e-02 -4.40349206e-03 1.06296361e+02] [ 5.34520487e-02 9.98570317e-01 -4.47536936e-04 2.73547640e+00] [ 4.42111888e-03 2.11517093e-04 9.99990204e-01 3.30913859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.415336195 meters 0.04931066358404867 Centerline is valid? [True, True] Translation: X:106.32, Y:2.74, Z:0.33 [[ 9.98604075e-01 -5.25908886e-02 -4.90924023e-03 1.06324763e+02] [ 5.25890680e-02 9.98616113e-01 -4.99284761e-04 2.73672299e+00] [ 4.92870422e-03 2.40415429e-04 9.99987825e-01 3.30677108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.445336195 meters 0.05175266106540434 Centerline is valid? [True, True] Translation: X:106.35, Y:2.74, Z:0.33 [[ 9.98729069e-01 -5.00730902e-02 -5.73863278e-03 1.06354734e+02] [ 5.00705640e-02 9.98745512e-01 -5.83136189e-04 2.74436408e+00] [ 5.76063316e-03 2.95058484e-04 9.99983364e-01 3.30424632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.475336195 meters 0.052459746436904466 Centerline is valid? [True, True] Translation: X:106.38, Y:2.75, Z:0.33 [[ 9.98771365e-01 -4.92229573e-02 -5.73239491e-03 1.06383157e+02] [ 4.92204102e-02 9.98787770e-01 -5.84653068e-04 2.74984661e+00] [ 5.75422428e-03 3.01783914e-04 9.99983399e-01 3.29959367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.505336195 meters 0.05749137948196824 Centerline is valid? [True, True] Translation: X:106.41, Y:2.76, Z:0.33 [[ 9.98871455e-01 -4.73902163e-02 -3.15963592e-03 1.06410075e+02] [ 4.73894339e-02 9.98876438e-01 -3.22083398e-04 2.76362086e+00] [ 3.17134947e-03 1.71986555e-04 9.99994956e-01 3.32735277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.535336195 meters 0.060224292048538686 Centerline is valid? [True, True] Translation: X:106.44, Y:2.77, Z:0.34 [[ 9.98904801e-01 -4.67846556e-02 -6.27409160e-04 1.06437532e+02] [ 4.67846244e-02 9.98904998e-01 -6.43388272e-05 2.77166179e+00] [ 6.29732216e-04 3.49152615e-05 9.99999801e-01 3.36458154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.565336195 meters 0.05766054346649235 Centerline is valid? [True, True] Translation: X:106.47, Y:2.77, Z:0.34 [[ 9.98833130e-01 -4.82854264e-02 9.46706868e-04 1.06468077e+02] [ 4.82853567e-02 9.98833577e-01 9.63830457e-05 2.77184756e+00] [-9.50256504e-04 -5.05585004e-05 9.99999547e-01 3.39204452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59533619499999 meters 0.053342949757077 Centerline is valid? [True, True] Translation: X:106.50, Y:2.77, Z:0.34 [[ 9.98714464e-01 -5.06893503e-02 -1.00695552e-04 1.06497990e+02] [ 5.06893495e-02 9.98714469e-01 -1.04303951e-05 2.76903428e+00] [ 1.01094815e-04 5.31279439e-06 9.99999995e-01 3.37036184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62533619499999 meters 0.05118075544439295 Centerline is valid? [True, True] Translation: X:106.53, Y:2.77, Z:0.34 [[ 9.98417756e-01 -5.62298081e-02 4.40071757e-04 1.06526667e+02] [ 5.62297939e-02 9.98417853e-01 4.46374958e-05 2.77088324e+00] [-4.41885457e-04 -1.98217242e-05 9.99999902e-01 3.35348277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65533619499999 meters 0.038865634351787824 Centerline is valid? [True, True] Translation: X:106.56, Y:2.76, Z:0.34 [[ 9.98120524e-01 -6.12192695e-02 2.76059931e-03 1.06558149e+02] [ 6.12187249e-02 9.98124335e-01 2.81415684e-04 2.75749133e+00] [-2.77264941e-03 -1.11886400e-04 9.99996150e-01 3.39933372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68533619499999 meters 0.044474733719883176 Centerline is valid? [True, True] Translation: X:106.59, Y:2.76, Z:0.34 [[ 9.97988723e-01 -6.33643615e-02 1.86179408e-03 1.06585289e+02] [ 6.33641181e-02 9.97990457e-01 1.89493222e-04 2.76450160e+00] [-1.87005984e-03 -7.11411583e-05 9.99998249e-01 3.38121240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71533619499999 meters 0.03775531957848893 Centerline is valid? [True, True] Translation: X:106.62, Y:2.75, Z:0.34 [[ 9.97674494e-01 -6.81501499e-02 -1.07771553e-03 1.06616843e+02] [ 6.81500706e-02 9.97675075e-01 -1.10140666e-04 2.75121511e+00] [ 1.08271603e-03 3.64381437e-05 9.99999413e-01 3.35272372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.745336195 meters 0.03436072377822287 Centerline is valid? [True, True] Translation: X:106.65, Y:2.75, Z:0.34 [[ 9.97501165e-01 -7.06486608e-02 4.38566651e-04 1.06647434e+02] [ 7.06486480e-02 9.97501261e-01 4.45928799e-05 2.74542209e+00] [-4.40621215e-04 -1.34973087e-05 9.99999903e-01 3.37128237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.775336195 meters 0.035889719650525155 Centerline is valid? [True, True] Translation: X:106.67, Y:2.75, Z:0.34 [[ 9.97455911e-01 -7.12764870e-02 1.16938244e-03 1.06674701e+02] [ 7.12763964e-02 9.97456596e-01 1.18999843e-04 2.74853123e+00] [-1.17489012e-03 -3.53477308e-05 9.99999309e-01 3.37011960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.805336195 meters 0.02950659003251253 Centerline is valid? [True, True] Translation: X:106.71, Y:2.74, Z:0.34 [[ 9.97334022e-01 -7.29706389e-02 3.67861304e-04 1.06705168e+02] [ 7.29706304e-02 9.97334089e-01 3.64845349e-05 2.73945364e+00] [-3.69542918e-04 -9.54419668e-06 9.99999932e-01 3.35765028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.835336195 meters 0.03030606681232477 Centerline is valid? [True, True] Translation: X:106.73, Y:2.74, Z:0.34 [[ 9.97301667e-01 -7.34059737e-02 9.73410510e-04 1.06733384e+02] [ 7.34059118e-02 9.97302142e-01 9.91778810e-05 2.74078101e+00] [-9.78064636e-04 -2.74561800e-05 9.99999521e-01 3.35774108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.865336195 meters 0.029740963145341998 Centerline is valid? [True, True] Translation: X:106.76, Y:2.74, Z:0.34 [[ 9.97266466e-01 -7.37810907e-02 3.99330283e-03 1.06762865e+02] [ 7.37800476e-02 9.97274455e-01 4.08099729e-04 2.73632946e+00] [-4.01252894e-03 -1.12358102e-04 9.99991943e-01 3.41131301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.895336195 meters 0.031740105147637504 Centerline is valid? [True, True] Translation: X:106.79, Y:2.74, Z:0.34 [[ 9.97351205e-01 -7.26310768e-02 3.91156550e-03 1.06790496e+02] [ 7.26300633e-02 9.97358869e-01 4.00730627e-04 2.73859972e+00] [-3.93034004e-03 -1.15571924e-04 9.99992270e-01 3.41104364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.925336195 meters 0.04180131224076922 Centerline is valid? [True, True] Translation: X:106.82, Y:2.75, Z:0.34 [[ 9.97775916e-01 -6.66512905e-02 9.09047712e-04 1.06819165e+02] [ 6.66512333e-02 9.97776330e-01 9.31529880e-05 2.74951585e+00] [-9.13235057e-04 -3.23566568e-05 9.99999582e-01 3.35348324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.955336195 meters 0.045846827353217504 Centerline is valid? [True, True] Translation: X:106.85, Y:2.75, Z:0.34 [[ 9.98332311e-01 -5.77232565e-02 7.88831141e-04 1.06849487e+02] [ 5.77232106e-02 9.98332622e-01 8.08714871e-05 2.75316680e+00] [-7.92184027e-04 -3.52027526e-05 9.99999686e-01 3.35691602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98533619499999 meters 0.04706253280162091 Centerline is valid? [True, True] Translation: X:106.88, Y:2.76, Z:0.34 [[ 9.98593950e-01 -5.30064661e-02 6.61422864e-04 1.06879654e+02] [ 5.30064328e-02 9.98594169e-01 6.78473034e-05 2.75623137e+00] [-6.64089361e-04 -3.26922401e-05 9.99999779e-01 3.35665378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01533619499999 meters 0.05827352219788517 Centerline is valid? [True, True] Translation: X:106.91, Y:2.77, Z:0.33 [[ 9.99019263e-01 -4.42770387e-02 -2.34943638e-04 1.06907473e+02] [ 4.42770343e-02 9.99019291e-01 -2.40823250e-05 2.77130529e+00] [ 2.35779521e-04 1.36560991e-05 9.99999972e-01 3.32721794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04533619499999 meters 0.07073860211761326 Centerline is valid? [True, True] Translation: X:106.94, Y:2.79, Z:0.33 [[ 9.99251931e-01 -3.85925112e-02 2.48939330e-03 1.06935112e+02] [ 3.85919943e-02 9.99255019e-01 2.55346336e-04 2.79121727e+00] [-2.49739321e-03 -1.59084667e-04 9.99996869e-01 3.34471417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07533619499999 meters 0.07224295927333843 Centerline is valid? [True, True] Translation: X:106.96, Y:2.80, Z:0.33 [[ 9.99295098e-01 -3.74560752e-02 2.51965656e-03 1.06964600e+02] [ 3.74555423e-02 9.99298262e-01 2.58341217e-04 2.79631565e+00] [-2.52756487e-03 -1.63784009e-04 9.99996792e-01 3.33067598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10533619499999 meters 0.06457955591749556 Centerline is valid? [True, True] Translation: X:107.00, Y:2.78, Z:0.33 [[ 9.99267435e-01 -3.82641410e-02 -6.70250707e-04 1.06995295e+02] [ 3.82641026e-02 9.99267659e-01 -6.99513828e-05 2.78468622e+00] [ 6.72436485e-04 4.42535970e-05 9.99999773e-01 3.27726559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.135336195 meters 0.07084244435776249 Centerline is valid? [True, True] Translation: X:107.02, Y:2.79, Z:0.33 [[ 9.99213547e-01 -3.96368650e-02 -1.09864293e-03 1.07023138e+02] [ 3.96367645e-02 9.99214148e-01 -1.13164639e-04 2.79134733e+00] [ 1.10226505e-03 6.95289895e-05 9.99999390e-01 3.26192757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.165336195 meters 0.06491929640901366 Centerline is valid? [True, True] Translation: X:107.06, Y:2.78, Z:0.33 [[ 9.99084592e-01 -4.27739106e-02 -6.08070277e-04 1.07055179e+02] [ 4.27738804e-02 9.99084777e-01 -6.25144042e-05 2.77906416e+00] [ 6.10187742e-04 3.64476528e-05 9.99999813e-01 3.29009770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.195336195 meters 0.057615422526835366 Centerline is valid? [True, True] Translation: X:107.09, Y:2.77, Z:0.33 [[ 9.99018211e-01 -4.42933707e-02 -8.43592172e-04 1.07085788e+02] [ 4.42933122e-02 9.99018566e-01 -8.79297651e-05 2.76971494e+00] [ 8.46658947e-04 5.04779452e-05 9.99999640e-01 3.30074168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.225336195 meters 0.05489126000999612 Centerline is valid? [True, True] Translation: X:107.12, Y:2.77, Z:0.33 [[ 9.98947427e-01 -4.58364465e-02 -1.74877617e-03 1.07115494e+02] [ 4.58361989e-02 9.98948953e-01 -1.81379436e-04 2.76702073e+00] [ 1.75525191e-03 1.01031269e-04 9.99998454e-01 3.28643679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.255336195 meters 0.06408785889242041 Centerline is valid? [True, True] Translation: X:107.14, Y:2.78, Z:0.32 [[ 9.99018116e-01 -4.42006228e-02 -3.01821185e-03 1.07143118e+02] [ 4.41998832e-02 9.99022659e-01 -3.11362084e-04 2.78410247e+00] [ 3.02902443e-03 1.77651751e-04 9.99995397e-01 3.21201107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.285336195 meters 0.06177825140923592 Centerline is valid? [True, True] Translation: X:107.17, Y:2.78, Z:0.32 [[ 9.99092988e-01 -4.24373981e-02 -3.50256493e-03 1.07173503e+02] [ 4.24363915e-02 9.99099105e-01 -3.61253870e-04 2.78462225e+00] [ 3.51474017e-03 2.12289992e-04 9.99993801e-01 3.20136588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.315336195 meters 0.06177825140923592 Centerline is valid? [True, True] Translation: X:107.20, Y:2.79, Z:0.32 [[ 9.99085304e-01 -4.26179342e-02 -3.50237161e-03 1.07200939e+02] [ 4.26169221e-02 9.99091420e-01 -3.63126987e-04 2.78760178e+00] [ 3.51466514e-03 2.13534539e-04 9.99993801e-01 3.19933513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34533619499999 meters 0.06363140893428815 Centerline is valid? [True, True] Translation: X:107.23, Y:2.79, Z:0.32 [[ 9.99247031e-01 -3.86281675e-02 -3.63816320e-03 1.07230830e+02] [ 3.86270538e-02 9.99253626e-01 -3.75934274e-04 2.78984180e+00] [ 3.64996942e-03 2.35119682e-04 9.99993311e-01 3.21892125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37533619499999 meters 0.05792860413756667 Centerline is valid? [True, True] Translation: X:107.26, Y:2.78, Z:0.33 [[ 9.99316078e-01 -3.68181278e-02 -3.43545400e-03 1.07262081e+02] [ 3.68171238e-02 9.99321957e-01 -3.55044317e-04 2.78293401e+00] [ 3.44619668e-03 2.28317959e-04 9.99994036e-01 3.26271336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40533619499999 meters 0.06602676175741257 Centerline is valid? [True, True] Translation: X:107.29, Y:2.80, Z:0.33 [[ 9.99423775e-01 -3.38374084e-02 -2.67348514e-03 1.07290836e+02] [ 3.38367896e-02 9.99427334e-01 -2.76358281e-04 2.79522147e+00] [ 2.68130538e-03 1.85736882e-04 9.99996388e-01 3.29367322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43533619499999 meters 0.07426560566466299 Centerline is valid? [True, True] Translation: X:107.32, Y:2.81, Z:0.33 [[ 9.99453374e-01 -3.29805940e-02 -2.28789206e-03 1.07317805e+02] [ 3.29801377e-02 9.99455979e-01 -2.36870977e-04 2.81111254e+00] [ 2.29445955e-03 1.61286502e-04 9.99997355e-01 3.27978113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46533619499999 meters 0.07444350862527235 Centerline is valid? [True, True] Translation: X:107.35, Y:2.82, Z:0.32 [[ 9.99430509e-01 -3.36794688e-02 -2.08590628e-03 1.07346323e+02] [ 3.36790889e-02 9.99432675e-01 -2.16993802e-04 2.82101617e+00] [ 2.09203113e-03 1.46618803e-04 9.99997801e-01 3.24165025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.495336195 meters 0.06954060852803366 Centerline is valid? [True, True] Translation: X:107.38, Y:2.82, Z:0.32 [[ 9.99392763e-01 -3.48433319e-02 -2.19997691e-04 1.07376077e+02] [ 3.48433277e-02 9.99392787e-01 -2.28606513e-05 2.82445116e+00] [ 2.20660647e-04 1.51813178e-05 9.99999976e-01 3.24094710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.525336195 meters 0.07364585844359581 Centerline is valid? [True, True] Translation: X:107.40, Y:2.83, Z:0.32 [[ 9.99369627e-01 -3.54955870e-02 6.41325852e-04 1.07403163e+02] [ 3.54955520e-02 9.99369832e-01 6.60229641e-05 2.83456928e+00] [-6.43265233e-04 -4.32171300e-05 9.99999792e-01 3.24190889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.555336195 meters 0.07243416864508422 Centerline is valid? [True, True] Translation: X:107.43, Y:2.84, Z:0.33 [[ 9.99254633e-01 -3.85533963e-02 1.95286680e-03 1.07431849e+02] [ 3.85530746e-02 9.99256533e-01 2.02160864e-04 2.83540392e+00] [-1.95920889e-03 -1.26721160e-04 9.99998073e-01 3.30392737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.585336195 meters 0.062042434587900396 Centerline is valid? [True, True] Translation: X:107.46, Y:2.83, Z:0.33 [[ 9.99170510e-01 -4.06851782e-02 1.73447915e-03 1.07462665e+02] [ 4.06849275e-02 9.99172009e-01 1.79597312e-04 2.82532421e+00] [-1.74034996e-03 -1.08881180e-04 9.99998480e-01 3.32872564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.615336195 meters 0.060483216931976065 Centerline is valid? [True, True] Translation: X:107.49, Y:2.83, Z:0.33 [[ 9.99033022e-01 -4.39527743e-02 -1.08335892e-03 1.07491933e+02] [ 4.39526782e-02 9.99033608e-01 -1.12396332e-04 2.82830919e+00] [ 1.08725210e-03 6.46711213e-05 9.99999407e-01 3.29858228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.645336195 meters 0.05816905947784661 Centerline is valid? [True, True] Translation: X:107.52, Y:2.83, Z:0.33 [[ 9.98957974e-01 -4.56117965e-02 -1.59094664e-03 1.07522074e+02] [ 4.56115913e-02 9.98959236e-01 -1.65013400e-04 2.83114812e+00] [ 1.59681740e-03 9.22758431e-05 9.99998721e-01 3.28212140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.675336195 meters 0.05824495666218065 Centerline is valid? [True, True] Translation: X:107.55, Y:2.84, Z:0.33 [[ 9.98732165e-01 -5.03374246e-02 4.54054611e-04 1.07550247e+02] [ 5.03374084e-02 9.98732268e-01 4.68880200e-05 2.84105868e+00] [-4.55839213e-04 -2.39726414e-05 9.99999896e-01 3.27702611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.705336195 meters 0.05207825558152633 Centerline is valid? [True, True] Translation: X:107.58, Y:2.84, Z:0.33 [[ 9.98584629e-01 -5.31802145e-02 7.76809117e-04 1.07581272e+02] [ 5.31801680e-02 9.98584930e-01 8.04634037e-05 2.83700983e+00] [-7.79988939e-04 -3.90386788e-05 9.99999695e-01 3.27960767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73533619499999 meters 0.048066624382654057 Centerline is valid? [True, True] Translation: X:107.61, Y:2.83, Z:0.32 [[ 9.98208191e-01 -5.97868948e-02 -2.43607902e-03 1.07611821e+02] [ 5.97864556e-02 9.98211158e-01 -2.52787862e-04 2.82894739e+00] [ 2.44683466e-03 1.06690385e-04 9.99997001e-01 3.24232185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76533619499999 meters 0.04056872127646191 Centerline is valid? [True, True] Translation: X:107.64, Y:2.82, Z:0.32 [[ 9.97784432e-01 -6.64391569e-02 -3.47355666e-03 1.07643366e+02] [ 6.64383044e-02 9.97790470e-01 -3.60367675e-04 2.81973386e+00] [ 3.48982425e-03 1.28792041e-04 9.99993902e-01 3.23161990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79533619499999 meters 0.03762730767449904 Centerline is valid? [True, True] Translation: X:107.67, Y:2.82, Z:0.32 [[ 9.97615536e-01 -6.89764657e-02 -2.34313677e-03 1.07673782e+02] [ 6.89760846e-02 9.97618284e-01 -2.43164018e-04 2.81974409e+00] [ 2.35432868e-03 8.09638016e-05 9.99997225e-01 3.24811113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82533619499999 meters 0.035934357635295226 Centerline is valid? [True, True] Translation: X:107.70, Y:2.82, Z:0.33 [[ 9.97492407e-01 -7.07727184e-02 -3.46916665e-04 1.07703425e+02] [ 7.07727101e-02 9.97492467e-01 -3.61641924e-05 2.82306905e+00] [ 3.48606198e-04 1.15212748e-05 9.99999939e-01 3.27638196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85533619499999 meters 0.03644218950613819 Centerline is valid? [True, True] Translation: X:107.73, Y:2.83, Z:0.33 [[ 9.97491063e-01 -7.07922493e-02 -1.91170212e-04 1.07730349e+02] [ 7.07922467e-02 9.97491081e-01 -2.04315178e-05 2.82614605e+00] [ 1.92136975e-04 6.84688758e-06 9.99999982e-01 3.27846745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.885336195 meters 0.034739404750080596 Centerline is valid? [True, True] Translation: X:107.76, Y:2.82, Z:0.33 [[ 9.97495658e-01 -7.07277332e-02 -5.47042995e-06 1.07760228e+02] [ 7.07277332e-02 9.97495658e-01 -1.75861136e-06 2.82100747e+00] [ 5.58111271e-06 1.36729608e-06 1.00000000e+00 3.30552414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.915336195 meters 0.0360381094791227 Centerline is valid? [True, True] Translation: X:107.79, Y:2.82, Z:0.33 [[ 9.97526411e-01 -7.02920316e-02 3.00868051e-04 1.07788014e+02] [ 7.02920255e-02 9.97526456e-01 3.06864217e-05 2.82233273e+00] [-3.02280851e-04 -9.46189142e-06 9.99999954e-01 3.31980139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.945336195 meters 0.03278797436199294 Centerline is valid? [True, True] Translation: X:107.82, Y:2.82, Z:0.33 [[ 9.97617307e-01 -6.89877274e-02 -6.33436412e-04 1.07817322e+02] [ 6.89876986e-02 9.97617508e-01 -6.72926735e-05 2.81809991e+00] [ 6.36569623e-04 2.34330155e-05 9.99999797e-01 3.32048349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.975336195 meters 0.038419163670467896 Centerline is valid? [True, True] Translation: X:107.85, Y:2.83, Z:0.33 [[ 9.97753965e-01 -6.69299980e-02 -2.72027240e-03 1.07845133e+02] [ 6.69294721e-02 9.97757669e-01 -2.83988146e-04 2.82771175e+00] [ 2.73317998e-03 1.01283903e-04 9.99996260e-01 3.26611518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.005336195 meters 0.04136824948267565 Centerline is valid? [True, True] Translation: X:107.87, Y:2.83, Z:0.32 [[ 9.97835698e-01 -6.56603277e-02 -3.55554167e-03 1.07872958e+02] [ 6.56594207e-02 9.97842023e-01 -3.71357679e-04 2.83433872e+00] [ 3.57225236e-03 1.37099143e-04 9.99993610e-01 3.23740759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.035336195 meters 0.047690247140296724 Centerline is valid? [True, True] Translation: X:107.90, Y:2.85, Z:0.32 [[ 9.98040766e-01 -6.23638144e-02 -5.03825441e-03 1.07901202e+02] [ 6.23619523e-02 9.98053461e-01 -5.26003059e-04 2.84502583e+00] [ 5.06125081e-03 2.10777115e-04 9.99987170e-01 3.20833861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.065336195 meters 0.050581933140706886 Centerline is valid? [True, True] Translation: X:107.93, Y:2.85, Z:0.32 [[ 9.98227765e-01 -5.92676586e-02 -5.35479740e-03 1.07930510e+02] [ 5.92655109e-02 9.98242098e-01 -5.59016878e-04 2.85287695e+00] [ 5.37851581e-03 2.40671365e-04 9.99985507e-01 3.21373940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09533619499999 meters 0.05678453667899683 Centerline is valid? [True, True] Translation: X:107.96, Y:2.87, Z:0.33 [[ 9.98663575e-01 -5.14611298e-02 -4.77661864e-03 1.07959724e+02] [ 5.14593320e-02 9.98674966e-01 -4.98596453e-04 2.86553214e+00] [ 4.79594779e-03 2.52128513e-04 9.99988468e-01 3.25588112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12533619499999 meters 0.05665254669406429 Centerline is valid? [True, True] Translation: X:107.99, Y:2.87, Z:0.33 [[ 9.98849258e-01 -4.77845264e-02 -4.09868325e-03 1.07989965e+02] [ 4.77831718e-02 9.98857640e-01 -4.27838805e-04 2.86820427e+00] [ 4.11444515e-03 2.31498388e-04 9.99991509e-01 3.29198605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15533619499999 meters 0.06311092547751496 Centerline is valid? [True, True] Translation: X:108.02, Y:2.88, Z:0.33 [[ 9.99096005e-01 -4.24243175e-02 -2.71127373e-03 1.08018038e+02] [ 4.24237045e-02 9.99099669e-01 -2.83226482e-04 2.88169957e+00] [ 2.72084838e-03 1.67948171e-04 9.99996284e-01 3.32337260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18533619499999 meters 0.06247600167593309 Centerline is valid? [True, True] Translation: X:108.05, Y:2.89, Z:0.33 [[ 9.99145358e-01 -4.12259629e-02 -2.99547280e-03 1.08046533e+02] [ 4.12252087e-02 9.99149831e-01 -3.13097470e-04 2.88876107e+00] [ 3.00583389e-03 1.89340892e-04 9.99995465e-01 3.30982122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21533619499999 meters 0.06675420763062531 Centerline is valid? [True, True] Translation: X:108.07, Y:2.91, Z:0.33 [[ 9.99125007e-01 -4.17009845e-02 -3.20126845e-03 1.08072678e+02] [ 4.17001245e-02 9.99130115e-01 -3.34943346e-04 2.90570058e+00] [ 3.21245118e-03 2.01156980e-04 9.99994820e-01 3.25797818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.245336195 meters 0.060360605706069645 Centerline is valid? [True, True] Translation: X:108.10, Y:2.90, Z:0.33 [[ 9.98956417e-01 -4.56466205e-02 -1.56953514e-03 1.08102721e+02] [ 4.56464186e-02 9.98957646e-01 -1.64180214e-04 2.90428097e+00] [ 1.57539340e-03 9.23652208e-05 9.99998755e-01 3.30240192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.275336195 meters 0.0572389218932285 Centerline is valid? [True, True] Translation: X:108.13, Y:2.90, Z:0.33 [[ 9.98808335e-01 -4.87843328e-02 -1.41393188e-03 1.08133562e+02] [ 4.87841723e-02 9.98809333e-01 -1.47798529e-04 2.90392105e+00] [ 1.41945861e-03 7.86449058e-05 9.99998989e-01 3.32122781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.305336195 meters 0.051887286545146134 Centerline is valid? [True, True] Translation: X:108.16, Y:2.90, Z:0.34 [[ 9.98400417e-01 -5.65377362e-02 -3.01242254e-04 1.08163920e+02] [ 5.65377292e-02 9.98400463e-01 -3.15170656e-05 2.90020145e+00] [ 3.02542309e-04 1.44350985e-05 9.99999954e-01 3.35973977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.335336195 meters 0.044634380838957384 Centerline is valid? [True, True] Translation: X:108.19, Y:2.90, Z:0.34 [[ 9.98157114e-01 -6.06702436e-02 1.22348105e-03 1.08194859e+02] [ 6.06701324e-02 9.98157863e-01 1.27860784e-04 2.89560065e+00] [-1.22898458e-03 -5.33963939e-05 9.99999243e-01 3.39458462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.365336195 meters 0.0417101341303389 Centerline is valid? [True, True] Translation: X:108.22, Y:2.90, Z:0.34 [[ 9.97712083e-01 -6.75464548e-02 2.84164383e-03 1.08223930e+02] [ 6.75458826e-02 9.97716125e-01 2.96953502e-04 2.90020922e+00] [-2.85521203e-03 -1.04332757e-04 9.99995918e-01 3.39700411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.395336195 meters 0.036129304403223504 Centerline is valid? [True, True] Translation: X:108.25, Y:2.90, Z:0.34 [[ 9.97502758e-01 -7.05987893e-02 2.01445351e-03 1.08253881e+02] [ 7.05985079e-02 9.97504790e-01 2.10531964e-04 2.89654304e+00] [-2.02429033e-03 -6.77888027e-05 9.99997949e-01 3.37747890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.425336195 meters 0.02681813980823911 Centerline is valid? [True, True] Translation: X:108.29, Y:2.88, Z:0.34 [[ 9.96982569e-01 -7.76234686e-02 5.95092111e-04 1.08285919e+02] [ 7.76234453e-02 9.96982747e-01 6.21866469e-05 2.88359811e+00] [-5.98123710e-04 -1.58059031e-05 9.99999821e-01 3.36581312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.455336195 meters 0.023249095907078726 Centerline is valid? [True, True] Translation: X:108.32, Y:2.88, Z:0.34 [[ 9.96454999e-01 -8.41258399e-02 5.26740797e-04 1.08315309e+02] [ 8.41258226e-02 9.96455138e-01 5.49155148e-05 2.88204483e+00] [-5.29493387e-04 -1.04083364e-05 9.99999860e-01 3.35521967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48533619499999 meters 0.02084968614641498 Centerline is valid? [True, True] Translation: X:108.34, Y:2.88, Z:0.33 [[ 9.96322314e-01 -8.56831424e-02 -4.95821044e-04 1.08343926e+02] [ 8.56831265e-02 9.96322437e-01 -5.31413460e-05 2.88282469e+00] [ 4.98550949e-04 1.04624115e-05 9.99999876e-01 3.33819942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51533619499999 meters 0.020677614258301117 Centerline is valid? [True, True] Translation: X:108.37, Y:2.88, Z:0.33 [[ 9.96235694e-01 -8.66471463e-02 -2.59117474e-03 1.08372241e+02] [ 8.66467319e-02 9.96239063e-01 -2.71995187e-04 2.88123752e+00] [ 2.60499710e-03 4.64544915e-05 9.99996606e-01 3.32047440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54533619499999 meters 0.02063375708795748 Centerline is valid? [True, True] Translation: X:108.40, Y:2.88, Z:0.34 [[ 9.96326494e-01 -8.56342105e-02 -5.46343439e-04 1.08401086e+02] [ 8.56341912e-02 9.96326644e-01 -5.87668897e-05 2.87744045e+00] [ 5.49368981e-04 1.17653307e-05 9.99999849e-01 3.39228774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57533619499999 meters 0.02330669816617026 Centerline is valid? [True, True] Translation: X:108.43, Y:2.88, Z:0.34 [[ 9.96468668e-01 -8.39570821e-02 1.18368444e-03 1.08428508e+02] [ 8.39569942e-02 9.96469371e-01 1.23918319e-04 2.88479960e+00] [-1.18990911e-03 -2.41021343e-05 9.99999292e-01 3.41209651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60533619499999 meters 0.02753288926712625 Centerline is valid? [True, True] Translation: X:108.45, Y:2.90, Z:0.34 [[ 9.96676705e-01 -8.14090802e-02 2.84724039e-03 1.08454724e+02] [ 8.14085585e-02 9.96680770e-01 2.98808084e-04 2.89693804e+00] [-2.86211544e-03 -6.60253201e-05 9.99995902e-01 3.41914027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.635336195 meters 0.03616862759269051 Centerline is valid? [True, True] Translation: X:108.48, Y:2.92, Z:0.34 [[ 9.97306670e-01 -7.32229011e-02 4.22042864e-03 1.08483200e+02] [ 7.32216786e-02 9.97315591e-01 4.43668508e-04 2.91738113e+00] [-4.24158598e-03 -1.33446693e-04 9.99990996e-01 3.41128684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.665336195 meters 0.03795000312189933 Centerline is valid? [True, True] Translation: X:108.51, Y:2.92, Z:0.34 [[ 9.97622338e-01 -6.88011553e-02 4.00904465e-03 1.08512751e+02] [ 6.88000166e-02 9.97630383e-01 4.21410876e-04 2.92244517e+00] [-4.02853830e-03 -1.44586565e-04 9.99991875e-01 3.41279625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.695336195 meters 0.04628718252931041 Centerline is valid? [True, True] Translation: X:108.54, Y:2.93, Z:0.34 [[ 9.98146552e-01 -6.07438641e-02 3.69383886e-03 1.08542219e+02] [ 6.07428422e-02 9.98153373e-01 3.88321997e-04 2.93203538e+00] [-3.71060589e-03 -1.63227991e-04 9.99993102e-01 3.43861906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.725336195 meters 0.05085939159763362 Centerline is valid? [True, True] Translation: X:108.57, Y:2.94, Z:0.34 [[ 9.98524321e-01 -5.42660617e-02 2.09168771e-03 1.08571627e+02] [ 5.42657197e-02 9.98526506e-01 2.19938324e-04 2.94442417e+00] [-2.10054081e-03 -1.06106826e-04 9.99997788e-01 3.42443121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.755336195 meters 0.05634889316157837 Centerline is valid? [True, True] Translation: X:108.60, Y:2.96, Z:0.34 [[ 9.98671015e-01 -5.15188489e-02 1.41848078e-03 1.08599856e+02] [ 5.15186890e-02 9.98672019e-01 1.49072145e-04 2.95772303e+00] [-1.42427709e-03 -7.57957604e-05 9.99998983e-01 3.39646565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.785336195 meters 0.060743742160435446 Centerline is valid? [True, True] Translation: X:108.63, Y:2.97, Z:0.34 [[ 9.98866599e-01 -4.75385003e-02 2.36803980e-03 1.08629593e+02] [ 4.75380431e-02 9.98869397e-01 2.49016790e-04 2.96812408e+00] [-2.37720037e-03 -1.36162576e-04 9.99997165e-01 3.40993098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.815336195 meters 0.058997807313856704 Centerline is valid? [True, True] Translation: X:108.66, Y:2.97, Z:0.34 [[ 9.98938062e-01 -4.59484505e-02 3.38943250e-03 1.08659126e+02] [ 4.59475052e-02 9.98943792e-01 3.56282796e-04 2.96917433e+00] [-3.40222319e-03 -2.00168478e-04 9.99994192e-01 3.42941013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84533619499999 meters 0.06256070865455089 Centerline is valid? [True, True] Translation: X:108.69, Y:2.98, Z:0.34 [[ 9.99020965e-01 -4.41603913e-02 2.64038320e-03 1.08686803e+02] [ 4.41598109e-02 9.99024441e-01 2.77724186e-04 2.98076519e+00] [-2.65007176e-03 -1.60853461e-04 9.99996476e-01 3.40404513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87533619499999 meters 0.07175249814421183 Centerline is valid? [True, True] Translation: X:108.71, Y:3.00, Z:0.34 [[ 9.99043617e-01 -4.36499012e-02 2.55672446e-03 1.08712724e+02] [ 4.36493560e-02 9.99046877e-01 2.68682754e-04 2.99762909e+00] [-2.56601556e-03 -1.56826415e-04 9.99996695e-01 3.37549888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90533619499999 meters 0.06716169452093734 Centerline is valid? [True, True] Translation: X:108.74, Y:3.00, Z:0.34 [[ 9.99011071e-01 -4.41624708e-02 5.15323335e-03 1.08742121e+02] [ 4.41602601e-02 9.99024313e-01 5.42050774e-04 2.99684688e+00] [-5.17214371e-03 -3.13946600e-04 9.99986575e-01 3.41304593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93533619499999 meters 0.06670903611450024 Centerline is valid? [True, True] Translation: X:108.77, Y:3.00, Z:0.34 [[ 9.98973403e-01 -4.50733052e-02 4.53174713e-03 1.08771406e+02] [ 4.50716013e-02 9.98983645e-01 4.77465160e-04 2.99784567e+00] [-4.54866219e-03 -2.72721896e-04 9.99989618e-01 3.41209013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96533619499999 meters 0.062117103806166016 Centerline is valid? [True, True] Translation: X:108.80, Y:2.99, Z:0.34 [[ 9.98959006e-01 -4.54936313e-02 3.35173120e-03 1.08801198e+02] [ 4.54927024e-02 9.98964609e-01 3.52906603e-04 2.99453334e+00] [-3.36431585e-03 -2.00059919e-04 9.99994321e-01 3.39944699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.995336195 meters 0.06436534467442738 Centerline is valid? [True, True] Translation: X:108.83, Y:3.00, Z:0.34 [[ 9.98956335e-01 -4.55566886e-02 3.29079337e-03 1.08827553e+02] [ 4.55557908e-02 9.98961736e-01 3.47315288e-04 3.00419548e+00] [-3.30319919e-03 -1.97038113e-04 9.99994525e-01 3.38811075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.025336195 meters 0.06617466960606563 Centerline is valid? [True, True] Translation: X:108.85, Y:3.01, Z:0.34 [[ 9.98971513e-01 -4.52091735e-02 3.47079548e-03 1.08854714e+02] [ 4.52081716e-02 9.98977521e-01 3.66604382e-04 3.01397880e+00] [-3.48382054e-03 -2.09319017e-04 9.99993910e-01 3.37099815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.055336195 meters 0.06865321519728002 Centerline is valid? [True, True] Translation: X:108.88, Y:3.02, Z:0.33 [[ 9.99027233e-01 -4.40931017e-02 6.20913148e-04 1.08883124e+02] [ 4.40930694e-02 9.99027426e-01 6.55466921e-05 3.02419674e+00] [-6.23199421e-04 -3.81049639e-05 9.99999805e-01 3.30310159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.085336195 meters 0.06951369965073263 Centerline is valid? [True, True] Translation: X:108.91, Y:3.03, Z:0.33 [[ 9.99043669e-01 -4.37151851e-02 -8.53857563e-04 1.08911546e+02] [ 4.37151227e-02 9.99044033e-01 -9.16225164e-05 3.02755524e+00] [ 8.57046598e-04 5.42084069e-05 9.99999631e-01 3.28455995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.115336195 meters 0.06451353615159243 Centerline is valid? [True, True] Translation: X:108.94, Y:3.03, Z:0.33 [[ 9.99030512e-01 -4.40226438e-02 2.07753462e-04 1.08941016e+02] [ 4.40226404e-02 9.99030533e-01 2.08819743e-05 3.02777881e+00] [-2.08471332e-04 -1.17158735e-05 9.99999978e-01 3.32268661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.145336195 meters 0.06419033552416772 Centerline is valid? [True, True] Translation: X:108.97, Y:3.04, Z:0.33 [[ 9.99007206e-01 -4.45193978e-02 1.62040358e-03 1.08968966e+02] [ 4.45191787e-02 9.99008515e-01 1.71077296e-04 3.03540879e+00] [-1.62641323e-03 -9.87684153e-05 9.99998673e-01 3.34186314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.175336195 meters 0.0755194884264916 Centerline is valid? [True, True] Translation: X:108.99, Y:3.06, Z:0.33 [[ 9.99021338e-01 -4.42286595e-02 4.37995655e-04 1.08994109e+02] [ 4.42286436e-02 9.99021434e-01 4.59694743e-05 3.06169112e+00] [-4.39600216e-04 -2.65525320e-05 9.99999903e-01 3.29159716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20533619499999 meters 0.07001667941615557 Centerline is valid? [True, True] Translation: X:109.02, Y:3.06, Z:0.32 [[ 9.99075521e-01 -4.28699158e-02 -3.20536771e-03 1.09023968e+02] [ 4.28690411e-02 9.99080642e-01 -3.41116555e-04 3.06448677e+00] [ 3.21704446e-03 2.03390160e-04 9.99994805e-01 3.22181981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23533619499999 meters 0.07001667941615557 Centerline is valid? [True, True] Translation: X:109.05, Y:3.07, Z:0.32 [[ 9.99068004e-01 -4.30447439e-02 -3.20518012e-03 1.09051382e+02] [ 4.30438645e-02 9.99073125e-01 -3.42878107e-04 3.06756616e+00] [ 3.21696842e-03 2.04595207e-04 9.99994805e-01 3.21978985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26533619499999 meters 0.06767502649845077 Centerline is valid? [True, True] Translation: X:109.08, Y:3.07, Z:0.32 [[ 9.99086807e-01 -4.25962219e-02 -3.33387153e-03 1.09079474e+02] [ 4.25952705e-02 9.99092346e-01 -3.55898776e-04 3.07107357e+00] [ 3.34600547e-03 2.13566612e-04 9.99994379e-01 3.21342197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29533619499999 meters 0.07194234274457596 Centerline is valid? [True, True] Translation: X:109.11, Y:3.09, Z:0.33 [[ 9.99087696e-01 -4.27040210e-02 -3.77223925e-04 1.09106059e+02] [ 4.27040087e-02 9.99087767e-01 -4.06552260e-05 3.08727109e+00] [ 3.78615951e-04 2.45091623e-05 9.99999928e-01 3.25070110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32533619499999 meters 0.07199126192975604 Centerline is valid? [True, True] Translation: X:109.13, Y:3.09, Z:0.33 [[ 9.99046859e-01 -4.36423845e-02 8.46366045e-04 1.09133695e+02] [ 4.36423239e-02 9.99047216e-01 9.00121076e-05 3.09487262e+00] [-8.49487984e-04 -5.29889323e-05 9.99999638e-01 3.27155360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35533619499999 meters 0.06791138832593115 Centerline is valid? [True, True] Translation: X:109.16, Y:3.10, Z:0.33 [[ 9.98931267e-01 -4.62185777e-02 -4.07728671e-04 1.09163793e+02] [ 4.62185638e-02 9.98931350e-01 -4.35414639e-05 3.10198103e+00] [ 4.09305377e-04 2.46502961e-05 9.99999916e-01 3.25569516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.385336195 meters 0.06352364776056978 Centerline is valid? [True, True] Translation: X:109.19, Y:3.10, Z:0.32 [[ 9.98844515e-01 -4.80387473e-02 -1.38313224e-03 1.09193666e+02] [ 4.80385888e-02 9.98845470e-01 -1.47623995e-04 3.10355995e+00] [ 1.38862705e-03 8.10096969e-05 9.99999033e-01 3.23396786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.415336195 meters 0.05342233697553911 Centerline is valid? [True, True] Translation: X:109.22, Y:3.10, Z:0.32 [[ 9.98593152e-01 -5.29575586e-02 -2.68602637e-03 1.09223937e+02] [ 5.29569780e-02 9.98596754e-01 -2.86878206e-04 3.09934647e+00] [ 2.69744958e-03 1.44230772e-04 9.99996351e-01 3.21552418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.445336195 meters 0.04903549991548896 Centerline is valid? [True, True] Translation: X:109.25, Y:3.10, Z:0.32 [[ 9.98285471e-01 -5.84814297e-02 -2.45796505e-03 1.09253102e+02] [ 5.84809601e-02 9.98288490e-01 -2.62540665e-04 3.10199209e+00] [ 2.46911198e-03 1.18346375e-04 9.99996945e-01 3.22005293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.475336195 meters 0.05273861894680112 Centerline is valid? [True, True] Translation: X:109.28, Y:3.11, Z:0.32 [[ 9.98150195e-01 -6.07849314e-02 -1.17507775e-03 1.09280624e+02] [ 6.07848256e-02 9.98150885e-01 -1.25591556e-04 3.11279539e+00] [ 1.18053897e-03 5.39323401e-05 9.99999302e-01 3.23056480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.505336195 meters 0.04346670006474462 Centerline is valid? [True, True] Translation: X:109.31, Y:3.11, Z:0.33 [[ 9.97858868e-01 -6.53990235e-02 8.04208763e-04 1.09311015e+02] [ 6.53989756e-02 9.97859192e-01 8.58451295e-05 3.11299564e+00] [-8.08101293e-04 -3.30668946e-05 9.99999673e-01 3.27154328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.535336195 meters 0.04099105206710757 Centerline is valid? [True, True] Translation: X:109.34, Y:3.12, Z:0.33 [[ 9.97704743e-01 -6.77089588e-02 8.61800407e-04 1.09340201e+02] [ 6.77089047e-02 9.97705115e-01 9.18777975e-05 3.11662753e+00] [-8.66043624e-04 -3.33153527e-05 9.99999624e-01 3.26820147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.565336195 meters 0.03922680848743321 Centerline is valid? [True, True] Translation: X:109.37, Y:3.12, Z:0.33 [[ 9.97383390e-01 -7.22890832e-02 8.13556619e-04 1.09368686e+02] [ 7.22890364e-02 9.97383721e-01 8.67948751e-05 3.12247534e+00] [-8.17702450e-04 -2.77565426e-05 9.99999665e-01 3.26040005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59533619499999 meters 0.03042914467504313 Centerline is valid? [True, True] Translation: X:109.40, Y:3.12, Z:0.33 [[ 9.96996846e-01 -7.74157514e-02 2.02259250e-03 1.09399523e+02] [ 7.74154723e-02 9.96998896e-01 2.16041698e-04 3.12025356e+00] [-2.03324752e-03 -5.88129378e-05 9.99997931e-01 3.27090099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62533619499999 meters 0.029694875990600937 Centerline is valid? [True, True] Translation: X:109.43, Y:3.12, Z:0.33 [[ 9.96785552e-01 -8.00907100e-02 2.01024000e-03 1.09427249e+02] [ 8.00904403e-02 9.96787578e-01 2.14437217e-04 3.12416583e+00] [-2.02095669e-03 -5.27469126e-05 9.99997956e-01 3.25888961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65533619499999 meters 0.02785974939232002 Centerline is valid? [True, True] Translation: X:109.46, Y:3.13, Z:0.32 [[ 9.96583468e-01 -8.25864062e-02 9.36055275e-04 1.09455270e+02] [ 8.25863490e-02 9.96583908e-01 9.96868179e-05 3.12524880e+00] [-9.41090399e-04 -2.20408471e-05 9.99999557e-01 3.24027972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68533619499999 meters 0.025114335878354804 Centerline is valid? [True, True] Translation: X:109.48, Y:3.13, Z:0.32 [[ 9.96350944e-01 -8.53471070e-02 -8.17670332e-04 1.09484607e+02] [ 8.53470629e-02 9.96351279e-01 -8.87657540e-05 3.12510446e+00] [ 8.22262781e-04 1.86560816e-05 9.99999662e-01 3.21851310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71533619499999 meters 0.024140731178079255 Centerline is valid? [True, True] Translation: X:109.51, Y:3.13, Z:0.32 [[ 9.96243706e-01 -8.65324824e-02 -3.25703449e-03 1.09512232e+02] [ 8.65317977e-02 9.96249028e-01 -3.50832195e-04 3.12730177e+00] [ 3.27517583e-03 6.76773161e-05 9.99994634e-01 3.17640855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.745336195 meters 0.024452972316919144 Centerline is valid? [True, True] Translation: X:109.54, Y:3.13, Z:0.32 [[ 9.96182523e-01 -8.72014276e-02 -4.03640578e-03 1.09538729e+02] [ 8.72003846e-02 9.96190697e-01 -4.34013087e-04 3.12927510e+00] [ 4.05887644e-03 8.03801156e-05 9.99991759e-01 3.15915465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.775336195 meters 0.0242379515636255 Centerline is valid? [True, True] Translation: X:109.57, Y:3.13, Z:0.32 [[ 9.96149763e-01 -8.75950618e-02 -3.57142118e-03 1.09567069e+02] [ 8.75942435e-02 9.96156163e-01 -3.85226687e-04 3.13154316e+00] [ 3.59143717e-03 7.09075366e-05 9.99993548e-01 3.16999908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.805336195 meters 0.02431938297022963 Centerline is valid? [True, True] Translation: X:109.60, Y:3.14, Z:0.32 [[ 9.96139182e-01 -8.77111368e-02 -3.67235973e-03 1.09595289e+02] [ 8.77102693e-02 9.96145949e-01 -3.96920875e-04 3.13573090e+00] [ 3.69302065e-03 7.32847750e-05 9.99993178e-01 3.16743233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.835336195 meters 0.022928768874485462 Centerline is valid? [True, True] Translation: X:109.62, Y:3.14, Z:0.32 [[ 9.96254105e-01 -8.64073182e-02 -3.39600011e-03 1.09623875e+02] [ 8.64065668e-02 9.96259891e-01 -3.67646330e-04 3.14022510e+00] [ 3.41506604e-03 7.28324554e-05 9.99994166e-01 3.18446192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.865336195 meters 0.027837295502531906 Centerline is valid? [True, True] Translation: X:109.65, Y:3.15, Z:0.32 [[ 9.96363901e-01 -8.51431974e-02 -3.10059121e-03 1.09650513e+02] [ 8.51425655e-02 9.96368722e-01 -3.35470194e-04 3.15005086e+00] [ 3.11789510e-03 7.02581015e-05 9.99995137e-01 3.15779535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.895336195 meters 0.029610120613052245 Centerline is valid? [True, True] Translation: X:109.68, Y:3.15, Z:0.32 [[ 9.96647744e-01 -8.17857970e-02 -2.08735369e-03 1.09680313e+02] [ 8.17855038e-02 9.96649929e-01 -2.25613152e-04 3.15153952e+00] [ 2.09881286e-03 5.41415655e-05 9.99997796e-01 3.19265078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.925336195 meters 0.03433667820923761 Centerline is valid? [True, True] Translation: X:109.71, Y:3.15, Z:0.32 [[ 9.96960029e-01 -7.79058631e-02 -1.17311218e-03 1.09708820e+02] [ 7.79057674e-02 9.96960719e-01 -1.27091206e-04 3.15250186e+00] [ 1.17944791e-03 3.53126480e-05 9.99999304e-01 3.23553655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95533619499999 meters 0.03695078894480519 Centerline is valid? [True, True] Translation: X:109.74, Y:3.16, Z:0.32 [[ 9.97093237e-01 -7.61697947e-02 -1.79984890e-03 1.09736884e+02] [ 7.61695668e-02 9.97094860e-01 -1.94901409e-04 3.15632061e+00] [ 1.80946569e-03 5.72411654e-05 9.99998361e-01 3.22879434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98533619499999 meters 0.04020786691591245 Centerline is valid? [True, True] Translation: X:109.77, Y:3.17, Z:0.32 [[ 9.97296406e-01 -7.34512234e-02 -2.19014367e-03 1.09765286e+02] [ 7.34508797e-02 9.97298808e-01 -2.37069221e-04 3.16705318e+00] [ 2.20164069e-03 7.55603024e-05 9.99997574e-01 3.20983563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01533619499999 meters 0.03750068545138744 Centerline is valid? [True, True] Translation: X:109.79, Y:3.17, Z:0.32 [[ 9.97347679e-01 -7.27355198e-02 -2.67403062e-03 1.09793749e+02] [ 7.27350012e-02 9.97351260e-01 -2.90795687e-04 3.16937229e+00] [ 2.68809898e-03 9.55287831e-05 9.99996382e-01 3.19597267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04533619499999 meters 0.04251450388570338 Centerline is valid? [True, True] Translation: X:109.82, Y:3.17, Z:0.31 [[ 9.97406614e-01 -7.18835267e-02 -3.57848065e-03 1.09821269e+02] [ 7.18825960e-02 9.97413025e-01 -3.88176025e-04 3.17467505e+00] [ 3.59712667e-03 1.29938855e-04 9.99993522e-01 3.14815541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07533619499999 meters 0.03879935777543053 Centerline is valid? [True, True] Translation: X:109.85, Y:3.17, Z:0.32 [[ 9.97406110e-01 -7.19238360e-02 -2.83087274e-03 1.09850493e+02] [ 7.19232493e-02 9.97410122e-01 -3.08649627e-04 3.16802493e+00] [ 2.84574039e-03 1.04243458e-04 9.99995945e-01 3.18676554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10533619499999 meters 0.04177719937321779 Centerline is valid? [True, True] Translation: X:109.88, Y:3.16, Z:0.33 [[ 9.97493941e-01 -7.07495683e-02 5.79351382e-04 1.09879263e+02] [ 7.07495439e-02 9.97494109e-01 6.24898730e-05 3.16462947e+00] [-5.82320723e-04 -2.13444236e-05 9.99999830e-01 3.27728000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.135336195 meters 0.04208929243529343 Centerline is valid? [True, True] Translation: X:109.91, Y:3.16, Z:0.33 [[ 9.97545394e-01 -7.00088709e-02 1.39446383e-03 1.09908305e+02] [ 7.00087288e-02 9.97546367e-01 1.50486828e-04 3.16455053e+00] [-1.40157774e-03 -5.24928024e-05 9.99999016e-01 3.30052368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.165336195 meters 0.045526797233069634 Centerline is valid? [True, True] Translation: X:109.94, Y:3.17, Z:0.33 [[ 9.97777878e-01 -6.66252649e-02 6.16449052e-04 1.09938085e+02] [ 6.66252361e-02 9.97778068e-01 6.70468397e-05 3.17257589e+00] [-6.19546358e-04 -2.58267897e-05 9.99999808e-01 3.27706707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.195336195 meters 0.05380100286199155 Centerline is valid? [True, True] Translation: X:109.97, Y:3.19, Z:0.32 [[ 9.97927124e-01 -6.43489562e-02 -8.16285745e-04 1.09965961e+02] [ 6.43489050e-02 9.97927458e-01 -8.88753556e-05 3.18868615e+00] [ 8.20312994e-04 3.61640342e-05 9.99999663e-01 3.21037686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.225336195 meters 0.05289189026827357 Centerline is valid? [True, True] Translation: X:110.00, Y:3.19, Z:0.31 [[ 9.98189577e-01 -6.00461664e-02 -3.46797506e-03 1.09996232e+02] [ 6.00452170e-02 9.98195587e-01 -3.77344862e-04 3.18884274e+00] [ 3.48437552e-03 1.68426393e-04 9.99993915e-01 3.14852690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.255336195 meters 0.055521630191759604 Centerline is valid? [True, True] Translation: X:110.03, Y:3.19, Z:0.31 [[ 9.98295995e-01 -5.81579623e-02 -4.77048177e-03 1.10025485e+02] [ 5.81561444e-02 9.98307364e-01 -5.19011619e-04 3.18941469e+00] [ 4.79259174e-03 2.40694394e-04 9.99988486e-01 3.13118428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.285336195 meters 0.05693219844339017 Centerline is valid? [True, True] Translation: X:110.06, Y:3.18, Z:0.32 [[ 9.98470610e-01 -5.48426446e-02 -6.98041652e-03 1.10057266e+02] [ 5.48386715e-02 9.98494939e-01 -7.59448836e-04 3.18182122e+00] [ 7.01156075e-03 3.75490573e-04 9.99975348e-01 3.15530530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.315336195 meters 0.0713421788721624 Centerline is valid? [True, True] Translation: X:110.08, Y:3.20, Z:0.32 [[ 9.98662197e-01 -5.13283782e-02 -6.26210903e-03 1.10084421e+02] [ 5.13251121e-02 9.98681766e-01 -6.81270082e-04 3.20018255e+00] [ 6.28882259e-03 3.58955229e-04 9.99980161e-01 3.15026909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34533619499999 meters 0.05997616723650342 Centerline is valid? [True, True] Translation: X:110.11, Y:3.19, Z:0.32 [[ 9.98752782e-01 -4.95661231e-02 -6.00671221e-03 1.10114764e+02] [ 4.95630821e-02 9.98770781e-01 -6.54167709e-04 3.19084120e+00] [ 6.03175320e-03 3.55640648e-04 9.99981746e-01 3.18057726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37533619499999 meters 0.07108436656920514 Centerline is valid? [True, True] Translation: X:110.14, Y:3.21, Z:0.32 [[ 9.98936197e-01 -4.58990130e-02 -4.44475345e-03 1.10142710e+02] [ 4.58973123e-02 9.98946046e-01 -4.83923783e-04 3.21014040e+00] [ 4.46228050e-03 2.79406746e-04 9.99990005e-01 3.15801450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40533619499999 meters 0.0661113406746357 Centerline is valid? [True, True] Translation: X:110.17, Y:3.21, Z:0.32 [[ 9.99036640e-01 -4.37292791e-02 -3.67983867e-03 1.10173975e+02] [ 4.37280991e-02 9.99043389e-01 -4.00571771e-04 3.20662039e+00] [ 3.69383521e-03 2.39273527e-04 9.99993149e-01 3.18697503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43533619499999 meters 0.07951237307344651 Centerline is valid? [True, True] Translation: X:110.20, Y:3.22, Z:0.32 [[ 9.99252509e-01 -3.85276242e-02 -3.16951669e-03 1.10201335e+02] [ 3.85267228e-02 9.99257511e-01 -3.45009692e-04 3.22275064e+00] [ 3.18045577e-03 2.22640709e-04 9.99994918e-01 3.19930838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46533619499999 meters 0.07256429124353449 Centerline is valid? [True, True] Translation: X:110.23, Y:3.22, Z:0.32 [[ 9.99328483e-01 -3.65004913e-02 -3.20895542e-03 1.10232580e+02] [ 3.64995565e-02 9.99333608e-01 -3.49431936e-04 3.21517500e+00] [ 3.21957144e-03 2.32071837e-04 9.99994790e-01 3.23063836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.495336195 meters 0.07525015102290013 Centerline is valid? [True, True] Translation: X:110.26, Y:3.22, Z:0.32 [[ 9.99433261e-01 -3.33826814e-02 -4.33056847e-03 1.10262456e+02] [ 3.33809499e-02 9.99442590e-01 -4.71514197e-04 3.22458209e+00] [ 4.34389498e-03 3.26688482e-04 9.99990512e-01 3.22686190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.525336195 meters 0.07973185242478778 Centerline is valid? [True, True] Translation: X:110.29, Y:3.24, Z:0.32 [[ 9.99474229e-01 -3.21091200e-02 -4.50216816e-03 1.10289972e+02] [ 3.21072340e-02 9.99484309e-01 -4.90565346e-04 3.23797361e+00] [ 4.51559805e-03 3.45755254e-04 9.99989745e-01 3.20311515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.555336195 meters 0.07542216503569153 Centerline is valid? [True, True] Translation: X:110.32, Y:3.24, Z:0.32 [[ 9.99484586e-01 -3.19921824e-02 -2.65740319e-03 1.10317644e+02] [ 3.19915204e-02 9.99488098e-01 -2.91272164e-04 3.24086798e+00] [ 2.66536130e-03 2.06107669e-04 9.99996427e-01 3.22564722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.585336195 meters 0.07681618685795802 Centerline is valid? [True, True] Translation: X:110.35, Y:3.25, Z:0.32 [[ 9.99438803e-01 -3.34480497e-02 -1.81878518e-03 1.10346592e+02] [ 3.34477433e-02 9.99440448e-01 -1.98629168e-04 3.24553464e+00] [ 1.82441123e-03 1.37683438e-04 9.99998326e-01 3.23740344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.615336195 meters 0.07429965933111865 Centerline is valid? [True, True] Translation: X:110.38, Y:3.25, Z:0.32 [[ 9.99256846e-01 -3.85190758e-02 -1.42713424e-03 1.10376205e+02] [ 3.85188924e-02 9.99257860e-01 -1.55735582e-04 3.24723854e+00] [ 1.43207389e-03 1.00648216e-04 9.99998970e-01 3.23788246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.645336195 meters 0.06629838142183264 Centerline is valid? [True, True] Translation: X:110.41, Y:3.24, Z:0.33 [[ 9.99030954e-01 -4.40123043e-02 -2.66477993e-04 1.10407927e+02] [ 4.40122981e-02 9.99030989e-01 -2.91218601e-05 3.24120936e+00] [ 2.67501493e-04 1.73653308e-05 9.99999964e-01 3.25805426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.675336195 meters 0.06942864254563244 Centerline is valid? [True, True] Translation: X:110.44, Y:3.25, Z:0.33 [[ 9.98921838e-01 -4.64237252e-02 4.07081999e-07 1.10436425e+02] [ 4.64237252e-02 9.98921838e-01 -6.59625588e-08 3.24705270e+00] [-4.03580881e-07 8.47897025e-08 1.00000000e+00 3.25681975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70533619499999 meters 0.06735560346989129 Centerline is valid? [True, True] Translation: X:110.47, Y:3.25, Z:0.33 [[ 9.98725091e-01 -5.04794443e-02 -1.33865387e-04 1.10465310e+02] [ 5.04794428e-02 9.98725100e-01 -1.48274138e-05 3.24825415e+00] [ 1.34443202e-04 8.05106000e-06 9.99999991e-01 3.25333879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73533619499999 meters 0.06344559373461049 Centerline is valid? [True, True] Translation: X:110.50, Y:3.25, Z:0.32 [[ 9.98645134e-01 -5.20374135e-02 -6.52564980e-05 1.10495296e+02] [ 5.20374132e-02 9.98645136e-01 -7.28916740e-06 3.24871052e+00] [ 6.55473938e-05 3.88351220e-06 9.99999998e-01 3.24855647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76533619499999 meters 0.06114837956601551 Centerline is valid? [True, True] Translation: X:110.52, Y:3.25, Z:0.32 [[ 9.98481776e-01 -5.50822238e-02 -3.01761518e-04 1.10524454e+02] [ 5.50822164e-02 9.98481822e-01 -3.30514845e-05 3.25394963e+00] [ 3.03123939e-04 1.63796118e-05 9.99999954e-01 3.23310942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79533619499999 meters 0.055614183661250816 Centerline is valid? [True, True] Translation: X:110.55, Y:3.25, Z:0.32 [[ 9.98421667e-01 -5.61609003e-02 -3.57930028e-04 1.10553703e+02] [ 5.61608897e-02 9.98421731e-01 -3.94419007e-05 3.25267399e+00] [ 3.59580211e-04 1.92779794e-05 9.99999935e-01 3.23953489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82533619499999 meters 0.05419389006609981 Centerline is valid? [True, True] Translation: X:110.58, Y:3.26, Z:0.33 [[ 9.98319841e-01 -5.79338745e-02 1.07751021e-03 1.10582944e+02] [ 5.79337812e-02 9.98320421e-01 1.17573683e-04 3.25604066e+00] [-1.08251195e-03 -5.49518998e-05 9.99999413e-01 3.27435936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85533619499999 meters 0.049106066426788025 Centerline is valid? [True, True] Translation: X:110.61, Y:3.25, Z:0.33 [[ 9.98286694e-01 -5.85031625e-02 1.02793477e-03 1.10612511e+02] [ 5.85030789e-02 9.98287222e-01 1.11269767e-04 3.25229807e+00] [-1.03268377e-03 -5.09417791e-05 9.99999465e-01 3.29664419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.885336195 meters 0.050516467112885356 Centerline is valid? [True, True] Translation: X:110.64, Y:3.26, Z:0.33 [[ 9.98290972e-01 -5.84359745e-02 6.09785926e-04 1.10638996e+02] [ 5.84359451e-02 9.98291158e-01 6.60335501e-05 3.26178842e+00] [-6.12602633e-04 -3.02872800e-05 9.99999812e-01 3.27771258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.915336195 meters 0.05811203434438447 Centerline is valid? [True, True] Translation: X:110.67, Y:3.28, Z:0.33 [[ 9.98317191e-01 -5.79714838e-02 1.44690089e-03 1.10665100e+02] [ 5.79713153e-02 9.98318237e-01 1.58154428e-04 3.27849311e+00] [-1.45363600e-03 -7.40095364e-05 9.99998941e-01 3.25988131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.945336195 meters 0.05513714970506477 Centerline is valid? [True, True] Translation: X:110.69, Y:3.28, Z:0.33 [[ 9.98348797e-01 -5.73973110e-02 2.28669115e-03 1.10693988e+02] [ 5.73968889e-02 9.98351408e-01 2.49819419e-04 3.28185182e+00] [-2.29726029e-03 -1.18157959e-04 9.99997354e-01 3.26226449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.975336195 meters 0.05294768848521182 Centerline is valid? [True, True] Translation: X:110.72, Y:3.28, Z:0.32 [[ 9.98326488e-01 -5.78150474e-02 1.28212246e-03 1.10723133e+02] [ 5.78149155e-02 9.98327309e-01 1.39741463e-04 3.28333260e+00] [-1.28805702e-03 -6.53818022e-05 9.99999168e-01 3.24962839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.005336195 meters 0.0500820630288262 Centerline is valid? [True, True] Translation: X:110.75, Y:3.29, Z:0.32 [[ 9.98230958e-01 -5.94067526e-02 -2.40653562e-03 1.10751488e+02] [ 5.94062831e-02 9.98233852e-01 -2.66176301e-04 3.28790416e+00] [ 2.41809799e-03 1.22742088e-04 9.99997069e-01 3.19711543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.035336195 meters 0.05565226958062799 Centerline is valid? [True, True] Translation: X:110.78, Y:3.30, Z:0.32 [[ 9.98122741e-01 -6.11709386e-02 -3.01829071e-03 1.10777609e+02] [ 6.11702101e-02 9.98127294e-01 -3.33169127e-04 3.30402570e+00] [ 3.03301861e-03 1.47914205e-04 9.99995389e-01 3.15363045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.065336195 meters 0.047930712138616036 Centerline is valid? [True, True] Translation: X:110.81, Y:3.30, Z:0.32 [[ 9.98072982e-01 -6.20288676e-02 -1.65610420e-03 1.10807519e+02] [ 6.20286477e-02 9.98074352e-01 -1.83868926e-04 3.30093198e+00] [ 1.66432031e-03 8.07887031e-05 9.99998612e-01 3.19124329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09533619499999 meters 0.04983401781052302 Centerline is valid? [True, True] Translation: X:110.83, Y:3.31, Z:0.32 [[ 9.98026019e-01 -6.27921073e-02 1.10303042e-03 1.10834759e+02] [ 6.27920114e-02 9.98026627e-01 1.21408256e-04 3.31212307e+00] [-1.10847721e-03 -5.19070991e-05 9.99999384e-01 3.22282149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12533619499999 meters 0.04983401781052302 Centerline is valid? [True, True] Translation: X:110.86, Y:3.32, Z:0.32 [[ 9.98014472e-01 -6.29753686e-02 1.10311833e-03 1.10862129e+02] [ 6.29752736e-02 9.98015080e-01 1.20612810e-04 3.31530639e+00] [-1.10852437e-03 -5.09041512e-05 9.99999384e-01 3.22079442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15533619499999 meters 0.048073980227328304 Centerline is valid? [True, True] Translation: X:110.89, Y:3.32, Z:0.32 [[ 9.98004947e-01 -6.31227394e-02 1.28285747e-03 1.10890074e+02] [ 6.31226105e-02 9.98005770e-01 1.40704714e-04 3.31781384e+00] [-1.28918083e-03 -5.94466880e-05 9.99999167e-01 3.22309345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18533619499999 meters 0.04908890620053683 Centerline is valid? [True, True] Translation: X:110.92, Y:3.32, Z:0.32 [[ 9.97920915e-01 -6.44125506e-02 2.20705645e-03 1.10917307e+02] [ 6.44121678e-02 9.97923350e-01 2.44152982e-04 3.32389590e+00] [-2.21819968e-03 -1.01484077e-04 9.99997535e-01 3.22936969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21533619499999 meters 0.04817575325667393 Centerline is valid? [True, True] Translation: X:110.95, Y:3.33, Z:0.32 [[ 9.97839708e-01 -6.56127522e-02 3.29894468e-03 1.10946399e+02] [ 6.56119035e-02 9.97845151e-01 3.64977120e-04 3.32750539e+00] [-3.31578310e-03 -1.47738623e-04 9.99994492e-01 3.23985684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.245336195 meters 0.04017830761731092 Centerline is valid? [True, True] Translation: X:110.98, Y:3.32, Z:0.33 [[ 9.97609640e-01 -6.88673874e-02 5.68243984e-03 1.10976965e+02] [ 6.88649110e-02 9.97625795e-01 6.30539952e-04 3.32308075e+00] [-5.71237220e-03 -2.37712020e-04 9.99983656e-01 3.26692359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.275336195 meters 0.043914289719198654 Centerline is valid? [True, True] Translation: X:111.01, Y:3.33, Z:0.32 [[ 9.97303880e-01 -7.32667011e-02 4.11831549e-03 1.11005776e+02] [ 7.32654375e-02 9.97312372e-01 4.57059095e-04 3.33362915e+00] [-4.14073421e-03 -1.54096622e-04 9.99991415e-01 3.22241151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.305336195 meters 0.03917270210310843 Centerline is valid? [True, True] Translation: X:111.04, Y:3.33, Z:0.32 [[ 9.97191650e-01 -7.48733601e-02 1.67145444e-03 1.11035233e+02] [ 7.48731556e-02 9.97193049e-01 1.84628248e-04 3.33147746e+00] [-1.68058649e-03 -5.89626787e-05 9.99998586e-01 3.17497249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.335336195 meters 0.03805616609371686 Centerline is valid? [True, True] Translation: X:111.06, Y:3.33, Z:0.31 [[ 9.97113707e-01 -7.59147222e-02 -1.10036100e-03 1.11064477e+02] [ 7.59146318e-02 9.97114313e-01 -1.23713038e-04 3.33261221e+00] [ 1.10657734e-03 3.98224657e-05 9.99999387e-01 3.12006438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.365336195 meters 0.036866883508638065 Centerline is valid? [True, True] Translation: X:111.09, Y:3.33, Z:0.31 [[ 9.97115016e-01 -7.57788165e-02 -4.38358768e-03 1.11093396e+02] [ 7.57773936e-02 9.97124639e-01 -4.90015642e-04 3.33033077e+00] [ 4.40811609e-03 1.56425106e-04 9.99990272e-01 3.07886191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.395336195 meters 0.039943118039151175 Centerline is valid? [True, True] Translation: X:111.12, Y:3.34, Z:0.31 [[ 9.97178543e-01 -7.49595790e-02 -4.00193491e-03 1.11120481e+02] [ 7.49583870e-02 9.97186562e-01 -4.47241373e-04 3.33713804e+00] [ 4.02420074e-03 1.46000915e-04 9.99991892e-01 3.08163189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.425336195 meters 0.04107023590599585 Centerline is valid? [True, True] Translation: X:111.15, Y:3.35, Z:0.31 [[ 9.97406324e-01 -7.19236734e-02 -2.75871318e-03 1.11148849e+02] [ 7.19230956e-02 9.97410133e-01 -3.08214188e-04 3.34715068e+00] [ 2.77373638e-03 1.08999589e-04 9.99996147e-01 3.11177614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45533619499999 meters 0.04843652786260859 Centerline is valid? [True, True] Translation: X:111.18, Y:3.36, Z:0.31 [[ 9.97533311e-01 -7.01454200e-02 -2.62943554e-03 1.11175899e+02] [ 7.01448887e-02 9.97536770e-01 -2.93874964e-04 3.36363041e+00] [ 2.64357262e-03 1.08708602e-04 9.99996500e-01 3.08374132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48533619499999 meters 0.04877334856859019 Centerline is valid? [True, True] Translation: X:111.21, Y:3.37, Z:0.31 [[ 9.97876116e-01 -6.51320993e-02 -1.03311484e-03 1.11205849e+02] [ 6.51320147e-02 9.97876649e-01 -1.15365395e-04 3.37126909e+00] [ 1.03843516e-03 4.78315211e-05 9.99999460e-01 3.10522741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51533619499999 meters 0.05464839522201767 Centerline is valid? [True, True] Translation: X:111.23, Y:3.38, Z:0.31 [[ 9.98185149e-01 -6.02183174e-02 4.03101521e-04 1.11234575e+02] [ 6.02183042e-02 9.98185230e-01 4.49896613e-05 3.37964853e+00] [-4.05079187e-04 -2.06339217e-05 9.99999918e-01 3.13837137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54533619499999 meters 0.053418684401941204 Centerline is valid? [True, True] Translation: X:111.26, Y:3.38, Z:0.31 [[ 9.98240210e-01 -5.92985495e-02 4.05553852e-04 1.11263693e+02] [ 5.92985364e-02 9.98240293e-01 4.41465987e-05 3.38126230e+00] [-4.07458025e-04 -2.00201601e-05 9.99999917e-01 3.14357307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57533619499999 meters 0.05246252945997351 Centerline is valid? [True, True] Translation: X:111.29, Y:3.39, Z:0.32 [[ 9.98197431e-01 -5.99980150e-02 1.45831050e-03 1.11292156e+02] [ 5.99978420e-02 9.98198494e-01 1.62118159e-04 3.38662902e+00] [-1.46541011e-03 -7.43304466e-05 9.99998924e-01 3.15523238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60533619499999 meters 0.05958109390319559 Centerline is valid? [True, True] Translation: X:111.32, Y:3.40, Z:0.31 [[ 9.98136433e-01 -6.09932371e-02 1.86718176e-03 1.11318151e+02] [ 6.09929529e-02 9.98138175e-01 2.08803185e-04 3.40152750e+00] [-1.87644098e-03 -9.45291368e-05 9.99998235e-01 3.14394985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.635336195 meters 0.05205998578033723 Centerline is valid? [True, True] Translation: X:111.35, Y:3.40, Z:0.31 [[ 9.97962799e-01 -6.37877457e-02 1.17238024e-03 1.11348185e+02] [ 6.37876355e-02 9.97963486e-01 1.31233241e-04 3.39868737e+00] [-1.17836374e-03 -5.61825295e-05 9.99999304e-01 3.10915028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.665336195 meters 0.05050614933846402 Centerline is valid? [True, True] Translation: X:111.38, Y:3.40, Z:0.31 [[ 9.97877318e-01 -6.51218170e-02 8.49774638e-05 1.11376860e+02] [ 6.51218164e-02 9.97877322e-01 9.18863054e-06 3.39870156e+00] [-8.53954643e-05 -3.63523921e-06 9.99999996e-01 3.09173299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.695336195 meters 0.04936898311542988 Centerline is valid? [True, True] Translation: X:111.41, Y:3.40, Z:0.31 [[ 9.97708708e-01 -6.76559734e-02 -5.86673713e-05 1.11406348e+02] [ 6.76559731e-02 9.97708710e-01 -6.74912337e-06 3.39638124e+00] [ 5.89895658e-05 2.76446106e-06 9.99999998e-01 3.09532466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.725336195 meters 0.0441691050491631 Centerline is valid? [True, True] Translation: X:111.44, Y:3.39, Z:0.31 [[ 9.97621836e-01 -6.89250911e-02 5.91918625e-05 1.11435476e+02] [ 6.89250909e-02 9.97621838e-01 5.44867215e-06 3.39251317e+00] [-5.94266449e-05 -1.35590981e-06 9.99999998e-01 3.11163754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.755336195 meters 0.04500996670086597 Centerline is valid? [True, True] Translation: X:111.46, Y:3.40, Z:0.31 [[ 9.97510456e-01 -7.05161564e-02 -6.00896295e-04 1.11462764e+02] [ 7.05161282e-02 9.97510637e-01 -6.79573506e-05 3.40045364e+00] [ 6.04192538e-04 2.54152876e-05 9.99999817e-01 3.08873588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.785336195 meters 0.04572191294725327 Centerline is valid? [True, True] Translation: X:111.49, Y:3.41, Z:0.31 [[ 9.97452777e-01 -7.13188126e-02 1.25881107e-03 1.11489797e+02] [ 7.13186912e-02 9.97453570e-01 1.41107771e-04 3.40718780e+00] [-1.26566923e-03 -5.09715800e-05 9.99999198e-01 3.10677621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.815336195 meters 0.04316189876168691 Centerline is valid? [True, True] Translation: X:111.52, Y:3.41, Z:0.31 [[ 9.97388857e-01 -7.21719973e-02 2.58272682e-03 1.11518954e+02] [ 7.21714890e-02 9.97392196e-01 2.89608154e-04 3.40530326e+00] [-2.59689318e-03 -1.02452706e-04 9.99996623e-01 3.13542079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84533619499999 meters 0.03966309915476266 Centerline is valid? [True, True] Translation: X:111.55, Y:3.40, Z:0.31 [[ 9.97214505e-01 -7.45679946e-02 1.68704341e-03 1.11549582e+02] [ 7.45677799e-02 9.97215930e-01 1.89885668e-04 3.40045085e+00] [-1.69650596e-03 -6.35576601e-05 9.99998559e-01 3.13410258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87533619499999 meters 0.03839848590105822 Centerline is valid? [True, True] Translation: X:111.58, Y:3.40, Z:0.31 [[ 9.97124797e-01 -7.57769026e-02 6.66502973e-07 1.11578474e+02] [ 7.57769026e-02 9.97124797e-01 -1.14267562e-06 3.40246241e+00] [-5.77998235e-07 1.18989572e-06 1.00000000e+00 3.09833443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90533619499999 meters 0.03795944152608041 Centerline is valid? [True, True] Translation: X:111.61, Y:3.41, Z:0.31 [[ 9.96999231e-01 -7.74091976e-02 -5.90491905e-04 1.11606648e+02] [ 7.74091710e-02 9.96999406e-01 -6.78925238e-05 3.40621839e+00] [ 5.93975585e-04 2.19793052e-05 9.99999823e-01 3.05284151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93533619499999 meters 0.0375988823743554 Centerline is valid? [True, True] Translation: X:111.64, Y:3.41, Z:0.31 [[ 9.96942491e-01 -7.81380761e-02 3.33595278e-04 1.11635446e+02] [ 7.81380683e-02 9.96942546e-01 3.65329621e-05 3.40706021e+00] [-3.35429941e-04 -1.03547717e-05 9.99999944e-01 3.05962899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96533619499999 meters 0.03401983307848023 Centerline is valid? [True, True] Translation: X:111.67, Y:3.40, Z:0.31 [[ 9.96875220e-01 -7.89765072e-02 1.58310000e-03 1.11665477e+02] [ 7.89763239e-02 9.96876476e-01 1.78073123e-04 3.39717160e+00] [-1.59221874e-03 -5.24892653e-05 9.99998731e-01 3.10324602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.995336195 meters 0.038264190774791804 Centerline is valid? [True, True] Translation: X:111.69, Y:3.40, Z:0.31 [[ 9.96965967e-01 -7.78323920e-02 9.89534571e-04 1.11692418e+02] [ 7.78323197e-02 9.96966458e-01 1.11412564e-04 3.40304948e+00] [-9.95204283e-04 -3.40567635e-05 9.99999504e-01 3.09466881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.025336195 meters 0.039435889761146856 Centerline is valid? [True, True] Translation: X:111.72, Y:3.41, Z:0.31 [[ 9.97033575e-01 -7.69616857e-02 9.74782777e-04 1.11721154e+02] [ 7.69616154e-02 9.97034050e-01 1.09482825e-04 3.40920682e+00] [-9.80317603e-04 -3.41371954e-05 9.99999519e-01 3.08486479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.055336195 meters 0.04266688717473346 Centerline is valid? [True, True] Translation: X:111.75, Y:3.42, Z:0.31 [[ 9.97292985e-01 -7.35302645e-02 3.63989883e-05 1.11750663e+02] [ 7.35302644e-02 9.97292986e-01 4.04756020e-06 3.41835372e+00] [-3.65980740e-05 -1.36017616e-06 9.99999999e-01 3.05039223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.085336195 meters 0.04590304201425701 Centerline is valid? [True, True] Translation: X:111.78, Y:3.42, Z:0.30 [[ 9.97476972e-01 -7.09821428e-02 -1.10693542e-03 1.11778942e+02] [ 7.09820469e-02 9.97477585e-01 -1.25753583e-04 3.42437725e+00] [ 1.11306953e-03 4.68637616e-05 9.99999379e-01 3.02061678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.115336195 meters 0.053459836393469434 Centerline is valid? [True, True] Translation: X:111.81, Y:3.43, Z:0.30 [[ 9.97754393e-01 -6.69502052e-02 -1.96002876e-03 1.11808015e+02] [ 6.69498967e-02 9.97756314e-01 -2.22703083e-04 3.42875360e+00] [ 1.97054109e-03 9.09792566e-05 9.99998054e-01 3.01783342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.145336195 meters 0.05499307313166379 Centerline is valid? [True, True] Translation: X:111.84, Y:3.43, Z:0.31 [[ 9.97961671e-01 -6.38158243e-02 -2.07915597e-04 1.11838198e+02] [ 6.38158208e-02 9.97961693e-01 -2.36992409e-05 3.43205285e+00] [ 2.09004187e-04 1.03826296e-05 9.99999978e-01 3.06652056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.175336195 meters 0.0539062762164503 Centerline is valid? [True, True] Translation: X:111.87, Y:3.44, Z:0.31 [[ 9.98080481e-01 -6.19271811e-02 -6.15266462e-04 1.11866919e+02] [ 6.19271496e-02 9.98080670e-01 -7.01623663e-05 3.43745741e+00] [ 6.18430520e-04 3.19259901e-05 9.99999808e-01 3.05413130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20533619499999 meters 0.05913071281680083 Centerline is valid? [True, True] Translation: X:111.89, Y:3.45, Z:0.30 [[ 9.98170689e-01 -6.04336188e-02 -1.74734549e-03 1.11894065e+02] [ 6.04333630e-02 9.98172214e-01 -1.98848951e-04 3.45062177e+00] [ 1.75616887e-03 9.28872300e-05 9.99998454e-01 3.01007062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23533619499999 meters 0.05726925645264189 Centerline is valid? [True, True] Translation: X:111.92, Y:3.45, Z:0.30 [[ 9.98191955e-01 -6.00084837e-02 -3.43553857e-03 1.11922988e+02] [ 6.00074883e-02 9.98197850e-01 -3.92202841e-04 3.45298983e+00] [ 3.45288272e-03 1.85335680e-04 9.99994022e-01 2.96985370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26533619499999 meters 0.055500037668670274 Centerline is valid? [True, True] Translation: X:111.95, Y:3.45, Z:0.30 [[ 9.98168839e-01 -6.04719682e-02 -1.45283267e-03 1.11952508e+02] [ 6.04717893e-02 9.98169893e-01 -1.66793960e-04 3.44751902e+00] [ 1.46026019e-03 7.86331426e-05 9.99998931e-01 3.02719464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29533619499999 meters 0.05615386804192066 Centerline is valid? [True, True] Translation: X:111.98, Y:3.45, Z:0.31 [[ 9.98162497e-01 -6.05938952e-02 -9.70116550e-05 1.11980146e+02] [ 6.05938944e-02 9.98162502e-01 -1.17026175e-05 3.44769944e+00] [ 9.75425034e-05 5.80279995e-06 9.99999995e-01 3.06848739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32533619499999 meters 0.0540777488406721 Centerline is valid? [True, True] Translation: X:112.01, Y:3.45, Z:0.31 [[ 9.98133920e-01 -6.10619687e-02 3.36584266e-04 1.12008760e+02] [ 6.10619596e-02 9.98133977e-01 3.72458065e-05 3.44835904e+00] [-3.38230494e-04 -1.66238080e-05 9.99999943e-01 3.09730004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35533619499999 meters 0.05521278261005425 Centerline is valid? [True, True] Translation: X:112.04, Y:3.46, Z:0.31 [[ 9.98126736e-01 -6.11801690e-02 8.05603502e-05 1.12035575e+02] [ 6.11801685e-02 9.98126739e-01 8.61207637e-06 3.45560363e+00] [-8.09363279e-05 -3.66724787e-06 9.99999997e-01 3.07706869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.385336195 meters 0.05520898793808888 Centerline is valid? [True, True] Translation: X:112.06, Y:3.46, Z:0.31 [[ 9.98097704e-01 -6.16476936e-02 7.31442005e-04 1.12064108e+02] [ 6.16476496e-02 9.98097971e-01 8.25423577e-05 3.45995334e+00] [-7.35139327e-04 -3.72936573e-05 9.99999729e-01 3.06178493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.415336195 meters 0.055064486219453083 Centerline is valid? [True, True] Translation: X:112.09, Y:3.46, Z:0.31 [[ 9.98001570e-01 -6.31618931e-02 1.85490082e-03 1.12092823e+02] [ 6.31616076e-02 9.98003290e-01 2.12153107e-04 3.46059361e+00] [-1.86459711e-03 -9.45706167e-05 9.99998257e-01 3.06592589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.445336195 meters 0.050470578499141286 Centerline is valid? [True, True] Translation: X:112.12, Y:3.46, Z:0.31 [[ 9.97926605e-01 -6.43443037e-02 1.51736363e-03 1.12122516e+02] [ 6.43441152e-02 9.97927755e-01 1.72797414e-04 3.45672771e+00] [-1.52533781e-03 -7.48057163e-05 9.99998834e-01 3.06490709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.475336195 meters 0.04992147499889251 Centerline is valid? [True, True] Translation: X:112.15, Y:3.46, Z:0.30 [[ 9.97690894e-01 -6.79180601e-02 -1.30038444e-04 1.12151763e+02] [ 6.79180587e-02 9.97690903e-01 -1.50313462e-05 3.45757988e+00] [ 1.30759073e-04 6.16467849e-06 9.99999991e-01 3.04327485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.505336195 meters 0.048911616103741035 Centerline is valid? [True, True] Translation: X:112.18, Y:3.46, Z:0.30 [[ 9.97604733e-01 -6.91606828e-02 -1.26388611e-03 1.12180897e+02] [ 6.91605528e-02 9.97605532e-01 -1.46348558e-04 3.45936229e+00] [ 1.27098134e-03 5.85869520e-05 9.99999191e-01 3.02707532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.535336195 meters 0.049855790520836836 Centerline is valid? [True, True] Translation: X:112.21, Y:3.46, Z:0.30 [[ 9.97452857e-01 -7.12199818e-02 -3.93846406e-03 1.12209040e+02] [ 7.12187473e-02 9.97460618e-01 -4.52999638e-04 3.46032285e+00] [ 3.96072543e-03 1.71353307e-04 9.99992142e-01 2.97988530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.565336195 meters 0.04097284014929568 Centerline is valid? [True, True] Translation: X:112.24, Y:3.45, Z:0.30 [[ 9.97373451e-01 -7.23326414e-02 -3.76660537e-03 1.12239355e+02] [ 7.23315145e-02 9.97380551e-01 -4.34728879e-04 3.45098087e+00] [ 3.78818402e-03 1.61142772e-04 9.99992812e-01 3.01410554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59533619499999 meters 0.04602914422327101 Centerline is valid? [True, True] Translation: X:112.27, Y:3.46, Z:0.30 [[ 9.97368886e-01 -7.24739316e-02 -1.68347112e-03 1.12265923e+02] [ 7.24737067e-02 9.97370304e-01 -1.94286570e-04 3.46114771e+00] [ 1.69312481e-03 7.17679874e-05 9.99998564e-01 3.03172627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62533619499999 meters 0.04562231599098459 Centerline is valid? [True, True] Translation: X:112.29, Y:3.46, Z:0.30 [[ 9.97404146e-01 -7.19851200e-02 -1.76409255e-03 1.12294132e+02] [ 7.19848718e-02 9.97405703e-01 -2.03918517e-04 3.46458260e+00] [ 1.77419507e-03 7.64011979e-05 9.99998423e-01 3.03086532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65533619499999 meters 0.0463051533042757 Centerline is valid? [True, True] Translation: X:112.32, Y:3.47, Z:0.30 [[ 9.97451260e-01 -7.12600061e-02 -3.60498837e-03 1.12322568e+02] [ 7.12589627e-02 9.97457762e-01 -4.17190710e-04 3.46812472e+00] [ 3.62555264e-03 1.59239668e-04 9.99993415e-01 3.00064672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68533619499999 meters 0.04689748550758132 Centerline is valid? [True, True] Translation: X:112.35, Y:3.47, Z:0.30 [[ 9.97523748e-01 -7.02318900e-02 -3.72202936e-03 1.12351134e+02] [ 7.02307685e-02 9.97530678e-01 -4.31322524e-04 3.47073896e+00] [ 3.74313106e-03 1.68853478e-04 9.99992980e-01 3.00175594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71533619499999 meters 0.04802577332561186 Centerline is valid? [True, True] Translation: X:112.38, Y:3.47, Z:0.30 [[ 9.97605538e-01 -6.91024726e-02 -2.83515123e-03 1.12379464e+02] [ 6.91018152e-02 9.97609558e-01 -3.29305549e-04 3.47488620e+00] [ 2.85112979e-03 1.32602943e-04 9.99995927e-01 3.01931796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.745336195 meters 0.05062182545205743 Centerline is valid? [True, True] Translation: X:112.41, Y:3.48, Z:0.31 [[ 9.97760992e-01 -6.68777171e-02 -6.12049054e-04 1.12407839e+02] [ 6.68776860e-02 9.97761179e-01 -7.11077674e-05 3.48208707e+00] [ 6.15434311e-04 3.00161320e-05 9.99999810e-01 3.06464245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.775336195 meters 0.05678700008550904 Centerline is valid? [True, True] Translation: X:112.43, Y:3.49, Z:0.31 [[ 9.97806440e-01 -6.61973736e-02 4.64893618e-04 1.12434295e+02] [ 6.61973558e-02 9.97806548e-01 5.34181706e-05 3.49340674e+00] [-4.67410039e-04 -2.25262663e-05 9.99999891e-01 3.07941505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.805336195 meters 0.05544758282918592 Centerline is valid? [True, True] Translation: X:112.46, Y:3.49, Z:0.31 [[ 9.97861058e-01 -6.53649364e-02 8.57208410e-04 1.12463126e+02] [ 6.53648761e-02 9.97861425e-01 9.82500555e-05 3.49481781e+00] [-8.61797314e-04 -4.20085828e-05 9.99999628e-01 3.09616266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.835336195 meters 0.05433212190818997 Centerline is valid? [True, True] Translation: X:112.49, Y:3.50, Z:0.31 [[ 9.97891426e-01 -6.49031381e-02 5.33852186e-04 1.12491453e+02] [ 6.49031145e-02 9.97891568e-01 6.13288713e-05 3.49713988e+00] [-5.36707031e-04 -2.65508852e-05 9.99999856e-01 3.08770008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.865336195 meters 0.056259721818922984 Centerline is valid? [True, True] Translation: X:112.52, Y:3.50, Z:0.31 [[ 9.97893620e-01 -6.48689533e-02 -5.84721987e-04 1.12518402e+02] [ 6.48689244e-02 9.97893791e-01 -6.83177145e-05 3.50373884e+00] [ 5.87922139e-04 3.02435251e-05 9.99999827e-01 3.05582753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.895336195 meters 0.052747645230735996 Centerline is valid? [True, True] Translation: X:112.55, Y:3.50, Z:0.30 [[ 9.97857314e-01 -6.54175111e-02 -1.15301379e-03 1.12548156e+02] [ 6.54173985e-02 9.97857979e-01 -1.35173993e-04 3.50225004e+00] [ 1.15938675e-03 5.94571957e-05 9.99999326e-01 3.04897444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.925336195 meters 0.05149910509448877 Centerline is valid? [True, True] Translation: X:112.58, Y:3.50, Z:0.30 [[ 9.97763009e-01 -6.68338125e-02 -1.49007520e-03 1.12577335e+02] [ 6.68336275e-02 9.97764118e-01 -1.73666676e-04 3.50291523e+00] [ 1.49835037e-03 7.36910542e-05 9.99998875e-01 3.04815594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95533619499999 meters 0.052659813796061446 Centerline is valid? [True, True] Translation: X:112.61, Y:3.51, Z:0.30 [[ 9.97730600e-01 -6.73040843e-02 -1.95181218e-03 1.12605141e+02] [ 6.73037676e-02 9.97732505e-01 -2.27572326e-04 3.50796505e+00] [ 1.96270300e-03 9.56915598e-05 9.99998069e-01 3.03804387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98533619499999 meters 0.05112698062199717 Centerline is valid? [True, True] Translation: X:112.63, Y:3.51, Z:0.30 [[ 9.97684405e-01 -6.79113740e-02 -3.72480194e-03 1.12633330e+02] [ 6.79102201e-02 9.97691341e-01 -4.35545872e-04 3.51200593e+00] [ 3.74578116e-03 1.81585204e-04 9.99992968e-01 3.00984929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01533619499999 meters 0.05415798364123087 Centerline is valid? [True, True] Translation: X:112.66, Y:3.52, Z:0.30 [[ 9.97659603e-01 -6.82353284e-02 -4.38832272e-03 1.12660612e+02] [ 6.82337340e-02 9.97669231e-01 -5.12203457e-04 3.51988268e+00] [ 4.41304492e-03 2.11573052e-04 9.99990240e-01 2.98276435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04533619499999 meters 0.05415798364123087 Centerline is valid? [True, True] Translation: X:112.69, Y:3.52, Z:0.30 [[ 9.97647394e-01 -6.84136084e-02 -4.38812756e-03 1.12687962e+02] [ 6.84120084e-02 9.97657022e-01 -5.13875224e-04 3.52324480e+00] [ 4.41300233e-03 2.12465658e-04 9.99990240e-01 2.98073730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07533619499999 meters 0.051091847992041826 Centerline is valid? [True, True] Translation: X:112.72, Y:3.52, Z:0.30 [[ 9.97575987e-01 -6.94475087e-02 -4.38112855e-03 1.12717170e+02] [ 6.94459212e-02 9.97585585e-01 -5.13621942e-04 3.52294211e+00] [ 4.40622045e-03 2.08125407e-04 9.99990271e-01 2.99048444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10533619499999 meters 0.0492810481067567 Centerline is valid? [True, True] Translation: X:112.75, Y:3.52, Z:0.30 [[ 9.97485209e-01 -7.07313155e-02 -4.50996539e-03 1.12746672e+02] [ 7.07296438e-02 9.97495382e-01 -5.29293229e-04 3.52415738e+00] [ 4.53610725e-03 2.08973922e-04 9.99989690e-01 2.99866513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.135336195 meters 0.04680537060606117 Centerline is valid? [True, True] Translation: X:112.78, Y:3.52, Z:0.30 [[ 9.97205956e-01 -7.46039081e-02 -3.81286716e-03 1.12776427e+02] [ 7.46027444e-02 9.97213232e-01 -4.46714186e-04 3.52482236e+00] [ 3.83556821e-03 1.61015693e-04 9.99992631e-01 3.00246191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.165336195 meters 0.04173183946343553 Centerline is valid? [True, True] Translation: X:112.81, Y:3.52, Z:0.31 [[ 9.96929295e-01 -7.83017659e-02 -9.02894073e-04 1.12807779e+02] [ 7.83017022e-02 9.96929703e-01 -1.05808981e-04 3.52266123e+00] [ 9.08406950e-04 3.47859299e-05 9.99999587e-01 3.05338052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.195336195 meters 0.04026029359115651 Centerline is valid? [True, True] Translation: X:112.84, Y:3.53, Z:0.31 [[ 9.96875496e-01 -7.89870844e-02 5.34909118e-04 1.12836057e+02] [ 7.89870627e-02 9.96875639e-01 6.15403441e-05 3.52628106e+00] [-5.38098761e-04 -1.90971610e-05 9.99999855e-01 3.07439869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.225336195 meters 0.04261682976126961 Centerline is valid? [True, True] Translation: X:112.86, Y:3.53, Z:0.31 [[ 9.96740829e-01 -8.06651511e-02 9.23629001e-04 1.12863318e+02] [ 8.06650857e-02 9.96741256e-01 1.07968892e-04 3.53106815e+00] [-9.29328458e-04 -3.31123902e-05 9.99999568e-01 3.06816532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.255336195 meters 0.040155109604238154 Centerline is valid? [True, True] Translation: X:112.89, Y:3.53, Z:0.31 [[ 9.96609240e-01 -8.22757483e-02 8.50905309e-04 1.12892103e+02] [ 8.22756932e-02 9.96609603e-01 9.95717827e-05 3.53043388e+00] [-8.56212745e-04 -2.92253345e-05 9.99999633e-01 3.06410702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.285336195 meters 0.03630256903094899 Centerline is valid? [True, True] Translation: X:112.92, Y:3.53, Z:0.31 [[ 9.96302375e-01 -8.59089140e-02 1.11133688e-03 1.12922584e+02] [ 8.59088220e-02 9.96302995e-01 1.30327193e-04 3.52868109e+00] [-1.11842453e-03 -3.43716500e-05 9.99999374e-01 3.05868763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.315336195 meters 0.030071212857476517 Centerline is valid? [True, True] Translation: X:112.95, Y:3.52, Z:0.31 [[ 9.96145088e-01 -8.77200303e-02 3.99339807e-04 1.12952682e+02] [ 8.77200190e-02 9.96145168e-01 4.58063085e-05 3.52333881e+00] [-4.01818550e-04 -1.05996338e-05 9.99999919e-01 3.06084334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34533619499999 meters 0.030515694485875995 Centerline is valid? [True, True] Translation: X:112.98, Y:3.52, Z:0.30 [[ 9.95902910e-01 -9.04026720e-02 -2.17974918e-03 1.12980892e+02] [ 9.04023261e-02 9.95905293e-01 -2.56885346e-04 3.52294716e+00] [ 2.19404687e-03 5.87784673e-05 9.99997591e-01 3.01286652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37533619499999 meters 0.026920750424220426 Centerline is valid? [True, True] Translation: X:113.01, Y:3.52, Z:0.30 [[ 9.95685150e-01 -9.27564953e-02 -2.70439516e-03 1.13010740e+02] [ 9.27559687e-02 9.95688821e-01 -3.19786819e-04 3.51860294e+00] [ 2.72239833e-03 6.75581939e-05 9.99996292e-01 3.00390645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40533619499999 meters 0.026632718365076087 Centerline is valid? [True, True] Translation: X:113.04, Y:3.52, Z:0.30 [[ 9.95591801e-01 -9.37701642e-02 -2.03011614e-03 1.13038627e+02] [ 9.37698703e-02 9.95593870e-01 -2.39724725e-04 3.52015569e+00] [ 2.04365022e-03 4.83042432e-05 9.99997911e-01 3.00221246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43533619499999 meters 0.025774818793925503 Centerline is valid? [True, True] Translation: X:113.07, Y:3.52, Z:0.30 [[ 9.95543372e-01 -9.42980064e-02 -1.13114681e-03 1.13067715e+02] [ 9.42979142e-02 9.95544015e-01 -1.34727481e-04 3.51971943e+00] [ 1.13881097e-03 2.74622664e-05 9.99999351e-01 3.01659764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46533619499999 meters 0.024591264928929595 Centerline is valid? [True, True] Translation: X:113.10, Y:3.52, Z:0.30 [[ 9.95601614e-01 -9.36860743e-02 -5.88664953e-04 1.13096638e+02] [ 9.36860487e-02 9.95601787e-01 -7.08395316e-05 3.52044817e+00] [ 5.92712557e-04 1.53782584e-05 9.99999824e-01 3.03311797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.495336195 meters 0.0301244882598654 Centerline is valid? [True, True] Translation: X:113.12, Y:3.53, Z:0.30 [[ 9.95898280e-01 -9.04798859e-02 8.26735118e-05 1.13124459e+02] [ 9.04798854e-02 9.95898283e-01 9.50852593e-06 3.52875810e+00] [-8.31947388e-05 -1.98923475e-06 9.99999997e-01 3.03667677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.525336195 meters 0.03261238531424394 Centerline is valid? [True, True] Translation: X:113.15, Y:3.53, Z:0.30 [[ 9.96083395e-01 -8.84155504e-02 -7.49003675e-04 1.13153192e+02] [ 8.84155085e-02 9.96083676e-01 -8.88465302e-05 3.53379116e+00] [ 7.53925749e-04 2.22750125e-05 9.99999716e-01 3.02113734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.555336195 meters 0.03395777651244711 Centerline is valid? [True, True] Translation: X:113.18, Y:3.53, Z:0.30 [[ 9.96379956e-01 -8.50113615e-02 -2.27770400e-04 1.13182528e+02] [ 8.50113575e-02 9.96379982e-01 -2.72116991e-05 3.53377492e+00] [ 2.29259170e-04 7.75012070e-06 9.99999974e-01 3.03878882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.585336195 meters 0.03798416978512703 Centerline is valid? [True, True] Translation: X:113.21, Y:3.54, Z:0.31 [[ 9.96471215e-01 -8.39301598e-02 9.19498236e-04 1.13209405e+02] [ 8.39300957e-02 9.96471639e-01 1.08125101e-04 3.54033336e+00] [-9.25328871e-04 -3.05699759e-05 9.99999571e-01 3.05416895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.615336195 meters 0.03677907393179276 Centerline is valid? [True, True] Translation: X:113.24, Y:3.54, Z:0.30 [[ 9.96471969e-01 -8.39254935e-02 3.54370014e-04 1.13238508e+02] [ 8.39254843e-02 9.96472032e-01 4.08271802e-05 3.54049660e+00] [-3.56546249e-04 -1.09424657e-05 9.99999936e-01 3.02886180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.645336195 meters 0.035703657337519686 Centerline is valid? [True, True] Translation: X:113.27, Y:3.54, Z:0.30 [[ 9.96341840e-01 -8.54441554e-02 -1.49440473e-03 1.13267448e+02] [ 8.54439835e-02 9.96342960e-01 -1.78646454e-04 3.54127221e+00] [ 1.50420393e-03 5.03050433e-05 9.99998867e-01 2.96937825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.675336195 meters 0.03502163939440006 Centerline is valid? [True, True] Translation: X:113.30, Y:3.54, Z:0.30 [[ 9.96276470e-01 -8.62028108e-02 -1.50659605e-03 1.13296826e+02] [ 8.62026365e-02 9.96277608e-01 -1.80346117e-04 3.54177192e+00] [ 1.51653425e-03 4.98020416e-05 9.99998849e-01 2.95503011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70533619499999 meters 0.03341893528087711 Centerline is valid? [True, True] Translation: X:113.33, Y:3.53, Z:0.30 [[ 9.96072137e-01 -8.85294241e-02 -1.68508720e-03 1.13326342e+02] [ 8.85292108e-02 9.96073561e-01 -2.00895480e-04 3.53026914e+00] [ 1.69625597e-03 5.09269503e-05 9.99998560e-01 2.96534120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73533619499999 meters 0.0335895387615069 Centerline is valid? [True, True] Translation: X:113.35, Y:3.53, Z:0.30 [[ 9.95966030e-01 -8.97023724e-02 -2.26949430e-03 1.13354975e+02] [ 8.97019886e-02 9.95968614e-01 -2.70545055e-04 3.52648120e+00] [ 2.28461363e-03 6.58755327e-05 9.99997388e-01 2.96988868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76533619499999 meters 0.029634180062835136 Centerline is valid? [True, True] Translation: X:113.38, Y:3.52, Z:0.30 [[ 9.95811483e-01 -9.13688541e-02 -3.35011521e-03 1.13384764e+02] [ 9.13680234e-02 9.95817114e-01 -4.00510325e-04 3.51908651e+00] [ 3.37269622e-03 9.27393758e-05 9.99994308e-01 2.96858823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79533619499999 meters 0.029307726228117528 Centerline is valid? [True, True] Translation: X:113.41, Y:3.52, Z:0.29 [[ 9.95794761e-01 -9.15353180e-02 -3.75222669e-03 1.13412869e+02] [ 9.15342742e-02 9.95801825e-01 -4.49335122e-04 3.52196244e+00] [ 3.77760422e-03 1.03988214e-04 9.99992859e-01 2.93977063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82533619499999 meters 0.033416920471875215 Centerline is valid? [True, True] Translation: X:113.44, Y:3.53, Z:0.28 [[ 9.95799449e-01 -9.13150294e-02 -6.70991410e-03 1.13439937e+02] [ 9.13116934e-02 9.95822038e-01 -8.02489919e-04 3.52649248e+00] [ 6.75515972e-03 1.86425401e-04 9.99977166e-01 2.83771578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85533619499999 meters 0.03168991328370005 Centerline is valid? [True, True] Translation: X:113.47, Y:3.52, Z:0.29 [[ 9.95901679e-01 -9.02613504e-02 -5.72135193e-03 1.13470077e+02] [ 9.02588991e-02 9.95918099e-01 -6.85748715e-04 3.51757801e+00] [ 5.75989454e-03 1.66535370e-04 9.99983398e-01 2.87959387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.885336195 meters 0.032356918538120644 Centerline is valid? [True, True] Translation: X:113.50, Y:3.51, Z:0.29 [[ 9.95956932e-01 -8.97447884e-02 -3.95755158e-03 1.13498334e+02] [ 8.97436064e-02 9.95964788e-01 -4.75620605e-04 3.51408207e+00] [ 3.98426649e-03 1.18532688e-04 9.99992056e-01 2.92479912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.915336195 meters 0.03308508371458631 Centerline is valid? [True, True] Translation: X:113.53, Y:3.51, Z:0.30 [[ 9.96058329e-01 -8.86607647e-02 -2.65972645e-03 1.13528819e+02] [ 8.86602250e-02 9.96061877e-01 -3.20373219e-04 3.50502762e+00] [ 2.67765666e-03 8.32984670e-05 9.99996412e-01 2.97831104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.945336195 meters 0.032333077095597865 Centerline is valid? [True, True] Translation: X:113.56, Y:3.50, Z:0.30 [[ 9.96084588e-01 -8.83717396e-02 -2.43498564e-03 1.13557740e+02] [ 8.83712851e-02 9.96087561e-01 -2.93824156e-04 3.50427529e+00] [ 2.45142466e-03 7.74909037e-05 9.99996992e-01 2.97674661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.975336195 meters 0.03335164038890205 Centerline is valid? [True, True] Translation: X:113.59, Y:3.51, Z:0.30 [[ 9.96105706e-01 -8.81356704e-02 -2.35096190e-03 1.13586516e+02] [ 8.81352451e-02 9.96108477e-01 -2.84102080e-04 3.50733432e+00] [ 2.36685260e-03 7.57930994e-05 9.99997196e-01 2.95550699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.005336195 meters 0.03471209769861128 Centerline is valid? [True, True] Translation: X:113.61, Y:3.51, Z:0.29 [[ 9.96180798e-01 -8.72757480e-02 -2.60032619e-03 1.13613870e+02] [ 8.72752264e-02 9.96184188e-01 -3.13602011e-04 3.50834176e+00] [ 2.61777368e-03 8.54602449e-05 9.99996570e-01 2.89358603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.035336195 meters 0.03357285172739335 Centerline is valid? [True, True] Translation: X:113.64, Y:3.50, Z:0.29 [[ 9.96144892e-01 -8.76441779e-02 -3.72187810e-03 1.13644082e+02] [ 8.76431078e-02 9.96151837e-01 -4.49946181e-04 3.49626518e+00] [ 3.74699087e-03 1.22014627e-04 9.99992973e-01 2.87562938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.065336195 meters 0.033672589590430055 Centerline is valid? [True, True] Translation: X:113.67, Y:3.49, Z:0.29 [[ 9.96100999e-01 -8.81034264e-02 -4.53715947e-03 1.13672585e+02] [ 8.81018432e-02 9.96111322e-01 -5.48008245e-04 3.48832973e+00] [ 4.56779732e-03 1.46139449e-04 9.99989557e-01 2.89018666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09533619499999 meters 0.035941911364241706 Centerline is valid? [True, True] Translation: X:113.70, Y:3.48, Z:0.30 [[ 9.96245666e-01 -8.65044617e-02 -3.39864580e-03 1.13702114e+02] [ 8.65035635e-02 9.96251457e-01 -4.10670801e-04 3.47654919e+00] [ 3.42143069e-03 1.15134033e-04 9.99994140e-01 2.95479533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12533619499999 meters 0.04019844506036382 Centerline is valid? [True, True] Translation: X:113.73, Y:3.48, Z:0.30 [[ 9.96475608e-01 -8.38401099e-02 -2.68312155e-03 1.13730163e+02] [ 8.38395404e-02 9.96479215e-01 -3.24220783e-04 3.48293932e+00] [ 2.70085757e-03 9.81264234e-05 9.99996348e-01 2.95485308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15533619499999 meters 0.04341196026174657 Centerline is valid? [True, True] Translation: X:113.76, Y:3.49, Z:0.29 [[ 9.97055932e-01 -7.66138675e-02 -3.12804295e-03 1.13759827e+02] [ 7.66130589e-02 9.97060829e-01 -3.77675928e-04 3.49328164e+00] [ 3.14778431e-03 1.36915085e-04 9.99995036e-01 2.89029533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18533619499999 meters 0.053880758264107854 Centerline is valid? [True, True] Translation: X:113.79, Y:3.51, Z:0.28 [[ 9.97368807e-01 -7.23949836e-02 -3.79870381e-03 1.13787389e+02] [ 7.23937604e-02 9.97376024e-01 -4.58707626e-04 3.50819685e+00] [ 3.82194424e-03 1.82498224e-04 9.99992680e-01 2.83303626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21533619499999 meters 0.0617517975571201 Centerline is valid? [True, True] Translation: X:113.82, Y:3.51, Z:0.28 [[ 9.97935833e-01 -6.40451937e-02 -4.72074457e-03 1.13817878e+02] [ 6.40432111e-02 9.97946964e-01 -5.70113353e-04 3.50712386e+00] [ 4.74756573e-03 2.66604903e-04 9.99988695e-01 2.84497045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.245336195 meters 0.06348355180912386 Centerline is valid? [True, True] Translation: X:113.85, Y:3.51, Z:0.29 [[ 9.98169686e-01 -6.02481595e-02 -5.23811336e-03 1.13848308e+02] [ 6.02456660e-02 9.98183380e-01 -6.32660341e-04 3.50570707e+00] [ 5.26671432e-03 3.15928746e-04 9.99986081e-01 2.86514307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.275336195 meters 0.0715935233831987 Centerline is valid? [True, True] Translation: X:113.88, Y:3.52, Z:0.29 [[ 9.98567658e-01 -5.32018826e-02 -5.67380332e-03 1.13877879e+02] [ 5.31988437e-02 9.98583704e-01 -6.85294405e-04 3.51540261e+00] [ 5.70222648e-03 3.82473053e-04 9.99983669e-01 2.86311605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.305336195 meters 0.06771673680129407 Centerline is valid? [True, True] Translation: X:113.91, Y:3.52, Z:0.29 [[ 9.98778381e-01 -4.92026115e-02 -4.56594828e-03 1.13908284e+02] [ 4.92006016e-02 9.98788765e-01 -5.51529797e-04 3.51587537e+00] [ 4.58755455e-03 3.26208636e-04 9.99989424e-01 2.88389476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.335336195 meters 0.07524476978533798 Centerline is valid? [True, True] Translation: X:113.94, Y:3.53, Z:0.29 [[ 9.99134426e-01 -4.15687739e-02 -1.56061392e-03 1.13937062e+02] [ 4.15685299e-02 9.99135637e-01 -1.88530664e-04 3.53364096e+00] [ 1.56710197e-03 1.23495051e-04 9.99998764e-01 2.89143239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.365336195 meters 0.08528886648515267 Centerline is valid? [True, True] Translation: X:113.97, Y:3.55, Z:0.29 [[ 9.99261956e-01 -3.83728465e-02 -1.75135484e-03 1.13965098e+02] [ 3.83725341e-02 9.99263481e-01 -2.11602097e-04 3.54992709e+00] [ 1.75818471e-03 1.44242002e-04 9.99998444e-01 2.87429475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.395336195 meters 0.0974521634122622 Centerline is valid? [True, True] Translation: X:113.99, Y:3.56, Z:0.29 [[ 9.99384499e-01 -3.49483585e-02 -3.03902139e-03 1.13993144e+02] [ 3.49474023e-02 9.99389086e-01 -3.67187241e-04 3.56404780e+00] [ 3.04999740e-03 2.60755334e-04 9.99995315e-01 2.86536053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.425336195 meters 0.08755697347994118 Centerline is valid? [True, True] Translation: X:114.02, Y:3.55, Z:0.29 [[ 9.99378600e-01 -3.51570351e-02 -2.52937054e-03 1.14023483e+02] [ 3.51563697e-02 9.99381777e-01 -3.07079274e-04 3.55415036e+00] [ 2.53860282e-03 2.17964969e-04 9.99996754e-01 2.89974918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45533619499999 meters 0.07908171150521182 Centerline is valid? [True, True] Translation: X:114.05, Y:3.55, Z:0.29 [[ 9.99286217e-01 -3.77314764e-02 -1.84170451e-03 1.14053839e+02] [ 3.77311291e-02 9.99287903e-01 -2.22919604e-04 3.55079384e+00] [ 1.84880412e-03 1.53270897e-04 9.99998279e-01 2.90229628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48533619499999 meters 0.07409191443010324 Centerline is valid? [True, True] Translation: X:114.08, Y:3.55, Z:0.29 [[ 9.99003581e-01 -4.44980765e-02 -3.43008988e-03 1.14083409e+02] [ 4.44969120e-02 9.99009436e-01 -4.15097715e-04 3.55055472e+00] [ 3.44516321e-03 2.62055697e-04 9.99994031e-01 2.85704038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51533619499999 meters 0.06998969562653566 Centerline is valid? [True, True] Translation: X:114.11, Y:3.55, Z:0.28 [[ 9.98797500e-01 -4.89095663e-02 -3.37773209e-03 1.14114455e+02] [ 4.89084624e-02 9.98803181e-01 -4.08692684e-04 3.54990986e+00] [ 3.39367854e-03 2.43001548e-04 9.99994212e-01 2.84883456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54533619499999 meters 0.07388196471384001 Centerline is valid? [True, True] Translation: X:114.14, Y:3.56, Z:0.28 [[ 9.98577932e-01 -5.32164674e-02 -3.18154272e-03 1.14142749e+02] [ 5.32155095e-02 9.98582977e-01 -3.85045992e-04 3.55870288e+00] [ 3.19752519e-03 2.15191013e-04 9.99994865e-01 2.83323810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57533619499999 meters 0.061966310182080646 Centerline is valid? [True, True] Translation: X:114.18, Y:3.54, Z:0.29 [[ 9.98117898e-01 -6.12009357e-02 -3.88669993e-03 1.14175450e+02] [ 6.11995666e-02 9.98125439e-01 -4.70328578e-04 3.54385177e+00] [ 3.90819862e-03 2.31579021e-04 9.99992336e-01 2.85068765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60533619499999 meters 0.05856085719275266 Centerline is valid? [True, True] Translation: X:114.21, Y:3.54, Z:0.29 [[ 9.97891560e-01 -6.47727008e-02 -4.11478930e-03 1.14206690e+02] [ 6.47711963e-02 9.97900017e-01 -4.97981891e-04 3.54026694e+00] [ 4.13840395e-03 2.30412100e-04 9.99991410e-01 2.86352378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.635336195 meters 0.05241288716898541 Centerline is valid? [True, True] Translation: X:114.24, Y:3.53, Z:0.29 [[ 9.97479651e-01 -7.08524843e-02 -3.77768118e-03 1.14237949e+02] [ 7.08512597e-02 9.97486787e-01 -4.57187475e-04 3.53452309e+00] [ 3.80057993e-03 1.88381733e-04 9.99992760e-01 2.88046164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.665336195 meters 0.0539465461126381 Centerline is valid? [True, True] Translation: X:114.27, Y:3.54, Z:0.28 [[ 9.97130818e-01 -7.56126218e-02 -3.58642385e-03 1.14265886e+02] [ 7.56115477e-02 9.97137255e-01 -4.34321154e-04 3.54413379e+00] [ 3.60899700e-03 1.61899949e-04 9.99993474e-01 2.83619142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.695336195 meters 0.04690233476424879 Centerline is valid? [True, True] Translation: X:114.30, Y:3.54, Z:0.28 [[ 9.96962068e-01 -7.77559961e-02 -4.54306255e-03 1.14295705e+02] [ 7.77542881e-02 9.96972400e-01 -5.51638124e-04 3.54186631e+00] [ 4.57220115e-03 1.96719691e-04 9.99989528e-01 2.82042718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.725336195 meters 0.045296506306729344 Centerline is valid? [True, True] Translation: X:114.32, Y:3.55, Z:0.28 [[ 9.96763188e-01 -8.01492873e-02 -6.26408024e-03 1.14324314e+02] [ 8.01460947e-02 9.96782838e-01 -7.59444555e-04 3.54642552e+00] [ 6.30479662e-03 2.54944808e-04 9.99980092e-01 2.76825953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.755336195 meters 0.04497541057533668 Centerline is valid? [True, True] Translation: X:114.35, Y:3.55, Z:0.28 [[ 9.96704203e-01 -8.09364171e-02 -5.47976927e-03 1.14352782e+02] [ 8.09339756e-02 9.96719242e-01 -6.66209016e-04 3.54898260e+00] [ 5.51571205e-03 2.20513814e-04 9.99984764e-01 2.79046512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.785336195 meters 0.04550009895926477 Centerline is valid? [True, True] Translation: X:114.38, Y:3.55, Z:0.29 [[ 9.96722271e-01 -8.08592579e-02 -2.54858957e-03 1.14382296e+02] [ 8.08587272e-02 9.96725524e-01 -3.10741066e-04 3.54990114e+00] [ 2.56537057e-03 1.03646832e-04 9.99996704e-01 2.88266516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.815336195 meters 0.04615717321921606 Centerline is valid? [True, True] Translation: X:114.41, Y:3.55, Z:0.29 [[ 9.96759284e-01 -8.03950674e-02 -2.75020589e-03 1.14411247e+02] [ 8.03944465e-02 9.96763071e-01 -3.35743193e-04 3.55405842e+00] [ 2.76829577e-03 1.13553864e-04 9.99996162e-01 2.88934483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84533619499999 meters 0.04813211139847108 Centerline is valid? [True, True] Translation: X:114.44, Y:3.57, Z:0.29 [[ 9.96866142e-01 -7.90652267e-02 -2.56591031e-03 1.14439751e+02] [ 7.90646840e-02 9.96869439e-01 -3.12405509e-04 3.56533217e+00] [ 2.58257799e-03 1.08553586e-04 9.99996659e-01 2.87845376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87533619499999 meters 0.041308950015189194 Centerline is valid? [True, True] Translation: X:114.47, Y:3.56, Z:0.29 [[ 9.96894681e-01 -7.87270655e-02 -1.74466425e-03 1.14468759e+02] [ 7.87268116e-02 9.96896205e-01 -2.13819698e-04 3.56406987e+00] [ 1.75608257e-03 7.58038659e-05 9.99998455e-01 2.90052079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90533619499999 meters 0.04674658882440353 Centerline is valid? [True, True] Translation: X:114.49, Y:3.58, Z:0.28 [[ 9.96911212e-01 -7.84880952e-02 -2.76677012e-03 1.14494911e+02] [ 7.84874596e-02 9.96915044e-01 -3.37746064e-04 3.57958670e+00] [ 2.78474380e-03 1.19546079e-04 9.99996115e-01 2.84011748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93533619499999 meters 0.04674658882440353 Centerline is valid? [True, True] Translation: X:114.52, Y:3.58, Z:0.28 [[ 9.96897173e-01 -7.86662125e-02 -2.76660256e-03 1.14522267e+02] [ 7.86655738e-02 9.96901004e-01 -3.39119169e-04 3.58308468e+00] [ 2.78470609e-03 1.20430563e-04 9.99996115e-01 2.83808951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96533619499999 meters 0.042355176620987534 Centerline is valid? [True, True] Translation: X:114.55, Y:3.58, Z:0.28 [[ 9.96805967e-01 -7.96826880e-02 -5.34164358e-03 1.14550727e+02] [ 7.96803223e-02 9.96820253e-01 -6.54579231e-04 3.58005013e+00] [ 5.37681714e-03 2.26864602e-04 9.99985519e-01 2.81864792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.995336195 meters 0.041227825477406686 Centerline is valid? [True, True] Translation: X:114.58, Y:3.58, Z:0.28 [[ 9.96674920e-01 -8.13203082e-02 -5.10985264e-03 1.14580226e+02] [ 8.13181619e-02 9.96687997e-01 -6.26751586e-04 3.58146217e+00] [ 5.14389642e-03 2.09143764e-04 9.99986748e-01 2.82622951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.025336195 meters 0.03813888560752754 Centerline is valid? [True, True] Translation: X:114.61, Y:3.58, Z:0.29 [[ 9.96450161e-01 -8.40983651e-02 -3.81323902e-03 1.14610759e+02] [ 8.40971928e-02 9.96457447e-01 -4.67015203e-04 3.58108947e+00] [ 3.83900563e-03 1.44674677e-04 9.99992621e-01 2.86754433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.055336195 meters 0.038137916740752315 Centerline is valid? [True, True] Translation: X:114.64, Y:3.59, Z:0.29 [[ 9.96371587e-01 -8.50470405e-02 -3.26512557e-03 1.14637974e+02] [ 8.50461843e-02 9.96376930e-01 -4.00431948e-04 3.58565343e+00] [ 3.28735135e-03 1.21292544e-04 9.99994589e-01 2.86999323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.085336195 meters 0.04369624262631758 Centerline is valid? [True, True] Translation: X:114.67, Y:3.60, Z:0.29 [[ 9.96228356e-01 -8.67589629e-02 -1.39499348e-03 1.14665591e+02] [ 8.67588083e-02 9.96229331e-01 -1.71100105e-04 3.59922207e+00] [ 1.40457789e-03 4.94268041e-05 9.99999012e-01 2.86301902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.115336195 meters 0.03692731683642377 Centerline is valid? [True, True] Translation: X:114.70, Y:3.59, Z:0.29 [[ 9.96070349e-01 -8.85392481e-02 -2.15921923e-03 1.14696014e+02] [ 8.85388793e-02 9.96072686e-01 -2.65968231e-04 3.59324964e+00] [ 2.17428792e-03 7.37482183e-05 9.99997634e-01 2.85375699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.145336195 meters 0.035897833655619715 Centerline is valid? [True, True] Translation: X:114.73, Y:3.59, Z:0.28 [[ 9.96041263e-01 -8.88062421e-02 -3.90551282e-03 1.14725303e+02] [ 8.88050382e-02 9.96048911e-01 -4.80929056e-04 3.59293089e+00] [ 3.93279129e-03 1.32195969e-04 9.99992258e-01 2.83778457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.175336195 meters 0.03869558948575052 Centerline is valid? [True, True] Translation: X:114.75, Y:3.60, Z:0.28 [[ 9.96077071e-01 -8.83705489e-02 -4.59508182e-03 1.14752648e+02] [ 8.83688810e-02 9.96087658e-01 -5.65139056e-04 3.59768942e+00] [ 4.62704593e-03 1.56859817e-04 9.99989283e-01 2.82626124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20533619499999 meters 0.0405274195405162 Centerline is valid? [True, True] Translation: X:114.78, Y:3.61, Z:0.29 [[ 9.96247294e-01 -8.65173820e-02 -2.46398179e-03 1.14780345e+02] [ 8.65168953e-02 9.96250337e-01 -3.03640934e-04 3.60531845e+00] [ 2.48101291e-03 8.93254040e-05 9.99996918e-01 2.87256700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23533619499999 meters 0.04098465065153964 Centerline is valid? [True, True] Translation: X:114.81, Y:3.61, Z:0.29 [[ 9.96362969e-01 -8.51972779e-02 -1.50290135e-03 1.14808751e+02] [ 8.51970938e-02 9.96364100e-01 -1.86223681e-04 3.61279025e+00] [ 1.51330270e-03 5.75035522e-05 9.99998853e-01 2.88444981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26533619499999 meters 0.0438399095780815 Centerline is valid? [True, True] Translation: X:114.84, Y:3.63, Z:0.29 [[ 9.96772783e-01 -8.02719413e-02 -6.59681723e-04 1.14837957e+02] [ 8.02719051e-02 9.96773001e-01 -8.12969493e-05 3.62594573e+00] [ 6.64078794e-04 2.80806778e-05 9.99999779e-01 2.88770357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29533619499999 meters 0.04601690021508264 Centerline is valid? [True, True] Translation: X:114.87, Y:3.63, Z:0.29 [[ 9.97059187e-01 -7.66352658e-02 1.12879804e-04 1.14867682e+02] [ 7.66352647e-02 9.97059194e-01 1.38164937e-05 3.63314731e+00] [-1.13606678e-04 -5.12528827e-06 9.99999994e-01 2.90053182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32533619499999 meters 0.05463476697514157 Centerline is valid? [True, True] Translation: X:114.90, Y:3.65, Z:0.29 [[ 9.97583482e-01 -6.94604679e-02 -1.56214968e-03 1.14895212e+02] [ 6.94602515e-02 9.97584701e-01 -1.92428567e-04 3.64757345e+00] [ 1.57174280e-03 8.34562505e-05 9.99998761e-01 2.89260628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35533619499999 meters 0.055467568344691 Centerline is valid? [True, True] Translation: X:114.93, Y:3.66, Z:0.28 [[ 9.97803510e-01 -6.59509446e-02 -6.21512939e-03 1.14925315e+02] [ 6.59474518e-02 9.97822804e-01 -7.65466763e-04 3.65523905e+00] [ 6.25208109e-03 3.53913477e-04 9.99980393e-01 2.82611669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.385336195 meters 0.05580056198310852 Centerline is valid? [True, True] Translation: X:114.95, Y:3.66, Z:0.28 [[ 9.97823759e-01 -6.56014510e-02 -6.64796501e-03 1.14952831e+02] [ 6.55974416e-02 9.97845832e-01 -8.19600183e-04 3.66322737e+00] [ 6.68741113e-03 3.81727039e-04 9.99977566e-01 2.80575041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.415336195 meters 0.05458866004763013 Centerline is valid? [True, True] Translation: X:114.98, Y:3.67, Z:0.28 [[ 9.97795577e-01 -6.62566853e-02 -3.74671361e-03 1.14980751e+02] [ 6.62554153e-02 9.97802589e-01 -4.62196327e-04 3.67358805e+00] [ 3.76910413e-03 2.12937385e-04 9.99992874e-01 2.82686857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.445336195 meters 0.060475370317994805 Centerline is valid? [True, True] Translation: X:115.01, Y:3.69, Z:0.28 [[ 9.97725649e-01 -6.73587285e-02 -2.51631234e-03 1.15007946e+02] [ 6.73581586e-02 9.97728812e-01 -3.10641620e-04 3.68600966e+00] [ 2.53152175e-03 1.40440946e-04 9.99996786e-01 2.83297981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.475336195 meters 0.0578052279143186 Centerline is valid? [True, True] Translation: X:115.04, Y:3.68, Z:0.29 [[ 9.97423249e-01 -7.17334492e-02 -1.08342555e-03 1.15037622e+02] [ 7.17333461e-02 9.97423836e-01 -1.33758495e-04 3.68390671e+00] [ 1.09022943e-03 5.56960927e-05 9.99999404e-01 2.87672340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.505336195 meters 0.05332966272361025 Centerline is valid? [True, True] Translation: X:115.07, Y:3.68, Z:0.29 [[ 9.97191095e-01 -7.48965027e-02 -6.59237775e-04 1.15068921e+02] [ 7.48964653e-02 9.97191312e-01 -8.13442782e-05 3.68075780e+00] [ 6.63478584e-04 3.17412107e-05 9.99999779e-01 2.89564759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.535336195 meters 0.046808042683897176 Centerline is valid? [True, True] Translation: X:115.10, Y:3.68, Z:0.29 [[ 9.96701857e-01 -8.11480269e-02 6.36493950e-04 1.15099099e+02] [ 8.11479934e-02 9.96702060e-01 7.83983931e-05 3.67925786e+00] [-6.40756707e-04 -2.64896171e-05 9.99999794e-01 2.90973264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.565336195 meters 0.042760562577581596 Centerline is valid? [True, True] Translation: X:115.13, Y:3.68, Z:0.29 [[ 9.96496373e-01 -8.36321276e-02 8.03770825e-04 1.15129126e+02] [ 8.36320749e-02 9.96496697e-01 9.89612939e-05 3.68216692e+00] [-8.09231315e-04 -3.13935486e-05 9.99999672e-01 2.88984370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59533619499999 meters 0.035210857535523915 Centerline is valid? [True, True] Translation: X:115.16, Y:3.68, Z:0.29 [[ 9.96191186e-01 -8.71958382e-02 7.80074076e-05 1.15159819e+02] [ 8.71958377e-02 9.96191189e-01 9.43882886e-06 3.67869634e+00] [-7.85333188e-05 -2.60095687e-06 9.99999997e-01 2.86738729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62533619499999 meters 0.03552619355246843 Centerline is valid? [True, True] Translation: X:115.19, Y:3.68, Z:0.29 [[ 9.96078801e-01 -8.84704587e-02 -1.43264788e-05 1.15187810e+02] [ 8.84704587e-02 9.96078801e-01 -2.20333060e-06 3.67947456e+00] [ 1.44652315e-05 9.27220749e-07 1.00000000e+00 2.86795150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65533619499999 meters 0.040035658316654996 Centerline is valid? [True, True] Translation: X:115.22, Y:3.68, Z:0.28 [[ 9.95967727e-01 -8.96971449e-02 -1.64564346e-03 1.15215565e+02] [ 8.96969306e-02 9.95969085e-01 -2.03708245e-04 3.68433010e+00] [ 1.65728206e-03 5.52776701e-05 9.99998625e-01 2.84840561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68533619499999 meters 0.04077619144857307 Centerline is valid? [True, True] Translation: X:115.24, Y:3.69, Z:0.28 [[ 9.95928388e-01 -9.01109440e-02 -2.58135779e-03 1.15242323e+02] [ 9.01104179e-02 9.95931730e-01 -3.19622445e-04 3.68950527e+00] [ 2.59965761e-03 8.57138377e-05 9.99996617e-01 2.81981226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71533619499999 meters 0.03578533494910173 Centerline is valid? [True, True] Translation: X:115.27, Y:3.69, Z:0.28 [[ 9.95930061e-01 -9.00390453e-02 -4.03537236e-03 1.15270817e+02] [ 9.00377551e-02 9.95938227e-01 -5.00622044e-04 3.69130840e+00] [ 4.06405713e-03 1.35248674e-04 9.99991733e-01 2.80004977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.745336195 meters 0.037601007723965296 Centerline is valid? [True, True] Translation: X:115.30, Y:3.70, Z:0.28 [[ 9.96011307e-01 -8.91133408e-02 -4.50426725e-03 1.15297842e+02] [ 8.91117269e-02 9.96021480e-01 -5.58152324e-04 3.69817211e+00] [ 4.53608575e-03 1.54542993e-04 9.99989700e-01 2.77008713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.775336195 meters 0.03722883021121326 Centerline is valid? [True, True] Translation: X:115.33, Y:3.70, Z:0.28 [[ 9.96015874e-01 -8.90900580e-02 -3.91672131e-03 1.15325619e+02] [ 8.90888308e-02 9.96023565e-01 -4.87048389e-04 3.69827715e+00] [ 3.94453789e-03 1.36171804e-04 9.99992211e-01 2.78715432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.805336195 meters 0.0389553305466101 Centerline is valid? [True, True] Translation: X:115.35, Y:3.70, Z:0.29 [[ 9.96036938e-01 -8.89320407e-02 -1.22907269e-03 1.15354241e+02] [ 8.89319186e-02 9.96037695e-01 -1.53779250e-04 3.69805008e+00] [ 1.23787863e-03 4.38660213e-05 9.99999233e-01 2.85736000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.835336195 meters 0.03910098497115013 Centerline is valid? [True, True] Translation: X:115.38, Y:3.70, Z:0.29 [[ 9.96099973e-01 -8.82313507e-02 -2.70433350e-04 1.15382452e+02] [ 8.82313445e-02 9.96100009e-01 -3.47875910e-05 3.70318085e+00] [ 2.72448019e-04 1.07912204e-05 9.99999963e-01 2.87113350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.865336195 meters 0.03813169740774801 Centerline is valid? [True, True] Translation: X:115.41, Y:3.71, Z:0.28 [[ 9.96429452e-01 -8.44292906e-02 -2.02709508e-04 1.15412004e+02] [ 8.44292872e-02 9.96429473e-01 -2.52022451e-05 3.71259655e+00] [ 2.04113536e-04 7.99763995e-06 9.99999979e-01 2.83859865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.895336195 meters 0.047761641978612816 Centerline is valid? [True, True] Translation: X:115.44, Y:3.73, Z:0.28 [[ 9.96675132e-01 -8.14579903e-02 -1.81015611e-03 1.15439491e+02] [ 8.14577155e-02 9.96676773e-01 -2.25159725e-04 3.73043131e+00] [ 1.82248160e-03 7.69599174e-05 9.99998336e-01 2.78097488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.925336195 meters 0.05879858479528546 Centerline is valid? [True, True] Translation: X:115.47, Y:3.75, Z:0.27 [[ 9.96912622e-01 -7.84167354e-02 -4.00489878e-03 1.15466893e+02] [ 7.84153655e-02 9.96920650e-01 -4.98166088e-04 3.74783326e+00] [ 4.03163085e-03 1.82582460e-04 9.99991856e-01 2.71973568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95533619499999 meters 0.047780629396060835 Centerline is valid? [True, True] Translation: X:115.50, Y:3.74, Z:0.28 [[ 9.97218966e-01 -7.42919369e-02 -5.91964902e-03 1.15499204e+02] [ 7.42888722e-02 9.97236492e-01 -7.36228995e-04 3.73802791e+00] [ 5.95798590e-03 2.94417467e-04 9.99982208e-01 2.75595185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98533619499999 meters 0.05560905979063269 Centerline is valid? [True, True] Translation: X:115.53, Y:3.76, Z:0.28 [[ 9.97378926e-01 -7.21759152e-02 -5.09063104e-03 1.15525451e+02] [ 7.21736185e-02 9.97391882e-01 -6.33673256e-04 3.75580943e+00] [ 5.12309002e-03 2.64603090e-04 9.99986842e-01 2.76288407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01533619499999 meters 0.05360965814490897 Centerline is valid? [True, True] Translation: X:115.55, Y:3.76, Z:0.28 [[ 9.97397160e-01 -7.19607495e-02 -4.53383283e-03 1.15553653e+02] [ 7.19589182e-02 9.97407436e-01 -5.65971422e-04 3.75947978e+00] [ 4.56280631e-03 2.38248583e-04 9.99989562e-01 2.78018883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04533619499999 meters 0.0520573827164293 Centerline is valid? [True, True] Translation: X:115.58, Y:3.76, Z:0.28 [[ 9.97331544e-01 -7.29961240e-02 -1.16511419e-03 1.15583081e+02] [ 7.29960039e-02 9.97332223e-01 -1.45337693e-04 3.76324533e+00] [ 1.17261501e-03 5.99011858e-05 9.99999311e-01 2.82889443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07533619499999 meters 0.053003609046259975 Centerline is valid? [True, True] Translation: X:115.61, Y:3.77, Z:0.29 [[ 9.97256781e-01 -7.40086660e-02 1.27643265e-03 1.15610769e+02] [ 7.40085233e-02 9.97257596e-01 1.58688339e-04 3.76849891e+00] [-1.28467647e-03 -6.37861270e-05 9.99999173e-01 2.85601895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10533619499999 meters 0.04766042494457901 Centerline is valid? [True, True] Translation: X:115.64, Y:3.77, Z:0.29 [[ 9.97082821e-01 -7.63074211e-02 1.73964979e-03 1.15640810e+02] [ 7.63071588e-02 9.97084335e-01 2.16722277e-04 3.76763803e+00] [-1.75111507e-03 -8.33423271e-05 9.99998463e-01 2.85017418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.135336195 meters 0.04839984468495901 Centerline is valid? [True, True] Translation: X:115.67, Y:3.77, Z:0.28 [[ 9.96931689e-01 -7.82712961e-02 9.00653465e-04 1.15669175e+02] [ 7.82712268e-02 9.96932095e-01 1.12064958e-04 3.77276586e+00] [-9.06661815e-04 -4.12258566e-05 9.99999588e-01 2.81944201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.165336195 meters 0.043240502934195096 Centerline is valid? [True, True] Translation: X:115.70, Y:3.77, Z:0.28 [[ 9.96583464e-01 -8.25916924e-02 -1.10753513e-04 1.15699936e+02] [ 8.25916914e-02 9.96583470e-01 -1.38457187e-05 3.76824843e+00] [ 1.11518662e-04 4.65109431e-06 9.99999994e-01 2.80383009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.195336195 meters 0.039818242155628555 Centerline is valid? [True, True] Translation: X:115.73, Y:3.77, Z:0.28 [[ 9.96198167e-01 -8.70877033e-02 -2.22370271e-03 1.15729571e+02] [ 8.70873005e-02 9.96200645e-01 -2.77505137e-04 3.76580653e+00] [ 2.23942136e-03 8.27938418e-05 9.99997489e-01 2.77472913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.225336195 meters 0.03538920287475985 Centerline is valid? [True, True] Translation: X:115.76, Y:3.76, Z:0.28 [[ 9.95963528e-01 -8.96907301e-02 -3.49612260e-03 1.15759821e+02] [ 8.96897504e-02 9.95969657e-01 -4.36342985e-04 3.76413002e+00] [ 3.52116795e-03 1.21015336e-04 9.99993793e-01 2.75482129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.255336195 meters 0.033003377229526065 Centerline is valid? [True, True] Translation: X:115.79, Y:3.76, Z:0.27 [[ 9.95435945e-01 -9.53393265e-02 -4.20616085e-03 1.15789522e+02] [ 9.53379587e-02 9.95444824e-01 -5.24962766e-04 3.76431816e+00] [ 4.23705065e-03 1.21560017e-04 9.99991016e-01 2.71421687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.285336195 meters 0.028143074030882915 Centerline is valid? [True, True] Translation: X:115.82, Y:3.76, Z:0.27 [[ 9.95217833e-01 -9.76005693e-02 -3.94900532e-03 1.15819234e+02] [ 9.75993798e-02 9.95225662e-01 -4.93276350e-04 3.76013158e+00] [ 3.97829548e-03 1.05496950e-04 9.99992081e-01 2.73368805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.315336195 meters 0.026608988057704393 Centerline is valid? [True, True] Translation: X:115.85, Y:3.76, Z:0.28 [[ 9.95053042e-01 -9.93055408e-02 -2.80227081e-03 1.15848833e+02] [ 9.93049479e-02 9.95056986e-01 -3.50269691e-04 3.75731748e+00] [ 2.82320287e-03 7.02575652e-05 9.99996012e-01 2.76360610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34533619499999 meters 0.025544891291379827 Centerline is valid? [True, True] Translation: X:115.88, Y:3.76, Z:0.28 [[ 9.95068730e-01 -9.91449073e-02 -2.91701949e-03 1.15877400e+02] [ 9.91442601e-02 9.95073003e-01 -3.65992732e-04 3.75802376e+00] [ 2.93893366e-03 7.49821838e-05 9.99995679e-01 2.77110484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37533619499999 meters 0.030351115756775352 Centerline is valid? [True, True] Translation: X:115.91, Y:3.77, Z:0.27 [[ 9.95315242e-01 -9.65840787e-02 -4.36856530e-03 1.15905192e+02] [ 9.65826081e-02 9.95324822e-01 -5.46856837e-04 3.76592453e+00] [ 4.40095915e-03 1.22367515e-04 9.99990308e-01 2.72188483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40533619499999 meters 0.031074213979893045 Centerline is valid? [True, True] Translation: X:115.93, Y:3.77, Z:0.27 [[ 9.95476973e-01 -9.48972176e-02 -4.48500270e-03 1.15933597e+02] [ 9.48956432e-02 9.95487067e-01 -5.63010122e-04 3.76986326e+00] [ 4.51819028e-03 1.34856395e-04 9.99989784e-01 2.72069567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43533619499999 meters 0.035742650425200015 Centerline is valid? [True, True] Translation: X:115.96, Y:3.78, Z:0.27 [[ 9.95930073e-01 -9.00605074e-02 -3.52065823e-03 1.15962657e+02] [ 9.00595101e-02 9.95936288e-01 -4.41126651e-04 3.78101266e+00] [ 3.54607938e-03 1.22262542e-04 9.99993705e-01 2.72551847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46533619499999 meters 0.03965374441160843 Centerline is valid? [True, True] Translation: X:115.99, Y:3.79, Z:0.27 [[ 9.96206736e-01 -8.69478000e-02 -3.49559476e-03 1.15990849e+02] [ 8.69467970e-02 9.96212860e-01 -4.38154040e-04 3.79083663e+00] [ 3.52045298e-03 1.32561238e-04 9.99993794e-01 2.71407198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.495336195 meters 0.04405541531180355 Centerline is valid? [True, True] Translation: X:116.02, Y:3.80, Z:0.27 [[ 9.96725665e-01 -8.07252545e-02 -4.62416667e-03 1.16020482e+02] [ 8.07234332e-02 9.96736370e-01 -5.79471646e-04 3.80108012e+00] [ 4.65585310e-03 2.04295653e-04 9.99989141e-01 2.71215240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.525336195 meters 0.0475140000080864 Centerline is valid? [True, True] Translation: X:116.05, Y:3.81, Z:0.27 [[ 9.96972964e-01 -7.76097106e-02 -4.65208459e-03 1.16049715e+02] [ 7.76078330e-02 9.96983793e-01 -5.83058798e-04 3.80889095e+00] [ 4.68330396e-03 2.20255655e-04 9.99989009e-01 2.72230825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.555336195 meters 0.055502765790852907 Centerline is valid? [True, True] Translation: X:116.08, Y:3.82, Z:0.27 [[ 9.97329347e-01 -7.28498739e-02 -5.20291323e-03 1.16077944e+02] [ 7.28474608e-02 9.97342881e-01 -6.52070808e-04 3.82357037e+00] [ 5.23659175e-03 2.71310336e-04 9.99986252e-01 2.70885107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.585336195 meters 0.05436944081647519 Centerline is valid? [True, True] Translation: X:116.11, Y:3.83, Z:0.27 [[ 9.97431377e-01 -7.14280582e-02 -5.35542612e-03 1.16106671e+02] [ 7.14254789e-02 9.97445713e-01 -6.71583357e-04 3.82818932e+00] [ 5.38971672e-03 2.87344436e-04 9.99985434e-01 2.69961198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.615336195 meters 0.05889015704261487 Centerline is valid? [True, True] Translation: X:116.13, Y:3.85, Z:0.27 [[ 9.97597090e-01 -6.91965889e-02 -3.44632505e-03 1.16132768e+02] [ 6.91955063e-02 9.97603025e-01 -4.32508863e-04 3.84575002e+00] [ 3.46799243e-03 1.92999377e-04 9.99993968e-01 2.69900707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.645336195 meters 0.05883589319267244 Centerline is valid? [True, True] Translation: X:116.16, Y:3.85, Z:0.28 [[ 9.97713271e-01 -6.75885378e-02 -1.33872874e-04 1.16161438e+02] [ 6.75885361e-02 9.97713280e-01 -1.69587693e-05 3.85492376e+00] [ 1.34712963e-04 7.87171766e-06 9.99999991e-01 2.76352156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.675336195 meters 0.05781555854153296 Centerline is valid? [True, True] Translation: X:116.19, Y:3.86, Z:0.28 [[ 9.97698898e-01 -6.77981833e-02 -5.62009588e-04 1.16189052e+02] [ 6.77981535e-02 9.97699055e-01 -7.19478050e-05 3.85930908e+00] [ 5.65594365e-04 3.36790335e-05 9.99999839e-01 2.76388826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70533619499999 meters 0.0555391699407262 Centerline is valid? [True, True] Translation: X:116.22, Y:3.87, Z:0.27 [[ 9.97571088e-01 -6.95937127e-02 -2.93942873e-03 1.16218600e+02] [ 6.95929249e-02 9.97575405e-01 -3.69575809e-04 3.86511419e+00] [ 2.95802195e-03 1.64114699e-04 9.99995612e-01 2.73182494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73533619499999 meters 0.05126478896739287 Centerline is valid? [True, True] Translation: X:116.25, Y:3.87, Z:0.27 [[ 9.97440870e-01 -7.14293564e-02 -3.09171046e-03 1.16248375e+02] [ 7.14284937e-02 9.97445647e-01 -3.88703367e-04 3.86637524e+00] [ 3.11157797e-03 1.66872403e-04 9.99995145e-01 2.73261061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76533619499999 meters 0.05277601923723263 Centerline is valid? [True, True] Translation: X:116.28, Y:3.88, Z:0.27 [[ 9.97005030e-01 -7.73122796e-02 -1.94441056e-03 1.16275961e+02] [ 7.73119495e-02 9.97006922e-01 -2.44476975e-04 3.87946650e+00] [ 1.95749186e-03 9.34186028e-05 9.99998080e-01 2.71954853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79533619499999 meters 0.04462831783903184 Centerline is valid? [True, True] Translation: X:116.31, Y:3.88, Z:0.27 [[ 9.96709555e-01 -8.10284570e-02 -2.10984140e-03 1.16306801e+02] [ 8.10280768e-02 9.96711784e-01 -2.65216195e-04 3.87608439e+00] [ 2.12439385e-03 9.33871248e-05 9.99997739e-01 2.72149533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82533619499999 meters 0.04008252208470761 Centerline is valid? [True, True] Translation: X:116.34, Y:3.87, Z:0.27 [[ 9.95989347e-01 -8.94401090e-02 -2.38478631e-03 1.16336919e+02] [ 8.94396470e-02 9.95992199e-01 -2.99897216e-04 3.87441244e+00] [ 2.40205140e-03 8.53999865e-05 9.99997111e-01 2.70221377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85533619499999 meters 0.04008252208470761 Centerline is valid? [True, True] Translation: X:116.36, Y:3.88, Z:0.27 [[ 9.95973239e-01 -8.96193101e-02 -2.38458209e-03 1.16364242e+02] [ 8.96188447e-02 9.95976090e-01 -3.01520561e-04 3.87801868e+00] [ 2.40200881e-03 8.66029182e-05 9.99997111e-01 2.70018589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.885336195 meters 0.03307548806942373 Centerline is valid? [True, True] Translation: X:116.40, Y:3.87, Z:0.27 [[ 9.95510357e-01 -9.46225853e-02 -2.38666327e-03 1.16395379e+02] [ 9.46221366e-02 9.95513215e-01 -3.00509675e-04 3.87145562e+00] [ 2.40438982e-03 7.33293160e-05 9.99997107e-01 2.71490234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.915336195 meters 0.023068056610235706 Centerline is valid? [True, True] Translation: X:116.43, Y:3.86, Z:0.27 [[ 9.94556289e-01 -1.04195782e-01 -1.01321488e-03 1.16427331e+02] [ 1.04195706e-01 9.94556805e-01 -1.27618291e-04 3.86143713e+00] [ 1.02099704e-03 2.13509341e-05 9.99999479e-01 2.73538909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.945336195 meters 0.017274337977751172 Centerline is valid? [True, True] Translation: X:116.46, Y:3.86, Z:0.27 [[ 9.93788333e-01 -1.11286599e-01 -2.03364418e-04 1.16456651e+02] [ 1.11286596e-01 9.93788354e-01 -2.58700765e-05 3.85761304e+00] [ 2.04980183e-04 3.07764626e-06 9.99999979e-01 2.73291657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.975336195 meters 0.014492645475274117 Centerline is valid? [True, True] Translation: X:116.49, Y:3.86, Z:0.27 [[ 9.93483320e-01 -1.13975710e-01 -6.55903472e-04 1.16485580e+02] [ 1.13975680e-01 9.93483537e-01 -8.39212080e-05 3.85788895e+00] [ 6.61194281e-04 8.61727616e-06 9.99999781e-01 2.72464013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.005336195 meters 0.012327662818437612 Centerline is valid? [True, True] Translation: X:116.52, Y:3.85, Z:0.27 [[ 9.93170513e-01 -1.16668874e-01 -8.40496265e-04 1.16515561e+02] [ 1.16668825e-01 9.93170868e-01 -1.07258090e-04 3.85497262e+00] [ 8.47270086e-04 8.46586088e-06 9.99999641e-01 2.72373409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.035336195 meters 0.012434032904498583 Centerline is valid? [True, True] Translation: X:116.54, Y:3.85, Z:0.27 [[ 9.93125735e-01 -1.17038633e-01 -1.79798637e-03 1.16544481e+02] [ 1.17038411e-01 9.93127363e-01 -2.28535444e-04 3.85435341e+00] [ 1.81237694e-03 1.65309630e-05 9.99998358e-01 2.71778738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.065336195 meters 0.014601159208601493 Centerline is valid? [True, True] Translation: X:116.57, Y:3.85, Z:0.27 [[ 9.93314113e-01 -1.15332988e-01 -5.03725484e-03 1.16571860e+02] [ 1.15331237e-01 9.93326884e-01 -6.37718954e-04 3.85471145e+00] [ 5.07719069e-03 5.25024072e-05 9.99987110e-01 2.67497296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09533619499999 meters 0.01943601366465323 Centerline is valid? [True, True] Translation: X:116.60, Y:3.87, Z:0.26 [[ 9.93876277e-01 -1.10351308e-01 -5.70399951e-03 1.16598773e+02] [ 1.10348981e-01 9.93892641e-01 -7.22151704e-04 3.86500162e+00] [ 5.74885352e-03 8.82989152e-05 9.99983471e-01 2.64147307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12533619499999 meters 0.022778265569844025 Centerline is valid? [True, True] Translation: X:116.63, Y:3.87, Z:0.26 [[ 9.94227064e-01 -1.07178304e-01 -5.03558643e-03 1.16626560e+02] [ 1.07176441e-01 9.94239811e-01 -6.39216045e-04 3.87419107e+00] [ 5.07509059e-03 9.58296592e-05 9.99987117e-01 2.64063098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15533619499999 meters 0.02464474082766346 Centerline is valid? [True, True] Translation: X:116.66, Y:3.88, Z:0.27 [[ 9.94615680e-01 -1.03552703e-01 -4.06029117e-03 1.16655611e+02] [ 1.03551464e-01 9.94623964e-01 -5.14732763e-04 3.88199917e+00] [ 4.09176487e-03 9.15121830e-05 9.99991625e-01 2.66145924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18533619499999 meters 0.031954504262218256 Centerline is valid? [True, True] Translation: X:116.68, Y:3.90, Z:0.27 [[ 9.95410834e-01 -9.56599255e-02 -2.53964012e-03 1.16684791e+02] [ 9.56594153e-02 9.95414071e-01 -3.21902496e-04 3.89616178e+00] [ 2.55878668e-03 7.74847427e-05 9.99996723e-01 2.68116978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21533619499999 meters 0.03873783999082823 Centerline is valid? [True, True] Translation: X:116.71, Y:3.91, Z:0.27 [[ 9.96092894e-01 -8.82538311e-02 -3.19492110e-03 1.16714362e+02] [ 8.82529857e-02 9.96098011e-01 -4.04905383e-04 3.90561526e+00] [ 3.21818900e-03 1.21362048e-04 9.99994814e-01 2.68936742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.245336195 meters 0.04589395255944813 Centerline is valid? [True, True] Translation: X:116.74, Y:3.92, Z:0.27 [[ 9.96400683e-01 -8.47078997e-02 -3.20179285e-03 1.16742580e+02] [ 8.47070320e-02 9.96405818e-01 -4.05902465e-04 3.91790189e+00] [ 3.22466817e-03 1.33227124e-04 9.99994792e-01 2.68382905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.275336195 meters 0.053638883662518046 Centerline is valid? [True, True] Translation: X:116.77, Y:3.93, Z:0.27 [[ 9.96933891e-01 -7.82280028e-02 -1.78787199e-03 1.16769900e+02] [ 7.82277219e-02 9.96935490e-01 -2.26606580e-04 3.93435729e+00] [ 1.80012002e-03 8.60506265e-05 9.99998376e-01 2.70066490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.305336195 meters 0.05219691827330783 Centerline is valid? [True, True] Translation: X:116.80, Y:3.94, Z:0.27 [[ 9.97146309e-01 -7.54797899e-02 -1.42810300e-03 1.16799864e+02] [ 7.54796077e-02 9.97147329e-01 -1.81108848e-04 3.93910320e+00] [ 1.43769915e-03 7.27993654e-05 9.99998964e-01 2.70751859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.335336195 meters 0.05118571357712453 Centerline is valid? [True, True] Translation: X:116.83, Y:3.94, Z:0.27 [[ 9.97311549e-01 -7.32620987e-02 -1.52962651e-03 1.16829677e+02] [ 7.32618871e-02 9.97312718e-01 -1.93997849e-04 3.94342712e+00] [ 1.53972867e-03 8.14129708e-05 9.99998811e-01 2.70489702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.365336195 meters 0.06042536726119535 Centerline is valid? [True, True] Translation: X:116.86, Y:3.96, Z:0.27 [[ 9.97458546e-01 -7.11893435e-02 -2.92000221e-03 1.16856989e+02] [ 7.11885632e-02 9.97462807e-01 -3.70409093e-04 3.95793133e+00] [ 2.93896278e-03 1.61596954e-04 9.99995668e-01 2.67494531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.395336195 meters 0.05467421529135986 Centerline is valid? [True, True] Translation: X:116.89, Y:3.95, Z:0.27 [[ 9.97350055e-01 -7.26838687e-02 -3.15005422e-03 1.16887371e+02] [ 7.26829679e-02 9.97355015e-01 -3.99649770e-04 3.95344340e+00] [ 3.17077046e-03 1.69635430e-04 9.99994959e-01 2.68600285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.425336195 meters 0.05318620114128955 Centerline is valid? [True, True] Translation: X:116.92, Y:3.96, Z:0.27 [[ 9.97228797e-01 -7.43428496e-02 -2.80470060e-03 1.16917420e+02] [ 7.43421422e-02 9.97232731e-01 -3.55800811e-04 3.95689809e+00] [ 2.82339048e-03 1.46307364e-04 9.99996004e-01 2.68305339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45533619499999 meters 0.054665635425920844 Centerline is valid? [True, True] Translation: X:116.95, Y:3.97, Z:0.27 [[ 9.96913381e-01 -7.84970809e-02 -1.38527060e-03 1.16945090e+02] [ 7.84969122e-02 9.96914341e-01 -1.75802102e-04 3.96735916e+00] [ 1.39479608e-03 6.65200039e-05 9.99999025e-01 2.67624165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48533619499999 meters 0.0441828639428384 Centerline is valid? [True, True] Translation: X:116.98, Y:3.96, Z:0.27 [[ 9.96708999e-01 -8.10584105e-02 -8.39441308e-04 1.16976661e+02] [ 8.10583494e-02 9.96709352e-01 -1.06573155e-04 3.95928586e+00] [ 8.45317653e-04 3.81786963e-05 9.99999642e-01 2.69549233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51533619499999 meters 0.03816259041481941 Centerline is valid? [True, True] Translation: X:117.01, Y:3.95, Z:0.27 [[ 9.96288146e-01 -8.60749838e-02 -1.01307473e-03 1.17007933e+02] [ 8.60748975e-02 9.96288661e-01 -1.28570628e-04 3.95205111e+00] [ 1.02038158e-03 4.08930895e-05 9.99999479e-01 2.69882336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54533619499999 meters 0.043606817575024555 Centerline is valid? [True, True] Translation: X:117.04, Y:3.96, Z:0.27 [[ 9.96076587e-01 -8.84864063e-02 -1.26075642e-03 1.17035669e+02] [ 8.84862744e-02 9.96077383e-01 -1.60146807e-04 3.95894275e+00] [ 1.26998177e-03 4.79588461e-05 9.99999192e-01 2.68602464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57533619499999 meters 0.039538067261302094 Centerline is valid? [True, True] Translation: X:117.07, Y:3.95, Z:0.27 [[ 9.95706069e-01 -9.25330079e-02 -2.65843261e-03 1.17066107e+02] [ 9.25324361e-02 9.95709613e-01 -3.37536752e-04 3.95160086e+00] [ 2.67826020e-03 9.00961464e-05 9.99996409e-01 2.67951521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60533619499999 meters 0.03251836299254422 Centerline is valid? [True, True] Translation: X:117.10, Y:3.95, Z:0.26 [[ 9.95352264e-01 -9.61799720e-02 -4.82520228e-03 1.17096495e+02] [ 9.61781319e-02 9.95363949e-01 -6.12492235e-04 3.95120585e+00] [ 4.86174188e-03 1.45566593e-04 9.99988171e-01 2.62633068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.635336195 meters 0.03511857292996052 Centerline is valid? [True, True] Translation: X:117.12, Y:3.96, Z:0.26 [[ 9.95190434e-01 -9.78474632e-02 -4.67699018e-03 1.17123768e+02] [ 9.78457446e-02 9.95201415e-01 -5.95408067e-04 3.96041764e+00] [ 4.71280641e-03 1.34920825e-04 9.99988886e-01 2.59149399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.665336195 meters 0.03090351463484981 Centerline is valid? [True, True] Translation: X:117.16, Y:3.96, Z:0.26 [[ 9.94969485e-01 -1.00129954e-01 -3.11695138e-03 1.17155064e+02] [ 1.00129203e-01 9.94974364e-01 -3.96400793e-04 3.95512631e+00] [ 3.14097831e-03 8.23088356e-05 9.99995064e-01 2.63414124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.695336195 meters 0.030134000051640797 Centerline is valid? [True, True] Translation: X:117.18, Y:3.95, Z:0.27 [[ 9.94917292e-01 -1.00657796e-01 -2.75513906e-03 1.17184501e+02] [ 1.00657207e-01 9.94921104e-01 -3.51792642e-04 3.95454161e+00] [ 2.77655666e-03 7.26799799e-05 9.99996143e-01 2.65553160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.725336195 meters 0.027763168530302924 Centerline is valid? [True, True] Translation: X:117.21, Y:3.95, Z:0.27 [[ 9.94966766e-01 -1.00153242e-01 -3.23447573e-03 1.17213277e+02] [ 1.00152431e-01 9.94972020e-01 -4.12256552e-04 3.95340087e+00] [ 3.25950168e-03 8.62409614e-05 9.99994684e-01 2.66376338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.755336195 meters 0.02815772185214133 Centerline is valid? [True, True] Translation: X:117.24, Y:3.96, Z:0.27 [[ 9.95029338e-01 -9.95295509e-02 -3.23810166e-03 1.17241811e+02] [ 9.95287300e-02 9.95034603e-01 -4.14062687e-04 3.95838528e+00] [ 3.26323467e-03 8.97203757e-05 9.99994672e-01 2.65583177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.785336195 meters 0.03401850195546678 Centerline is valid? [True, True] Translation: X:117.27, Y:3.97, Z:0.26 [[ 9.95310747e-01 -9.67019995e-02 -2.28920498e-03 1.17269054e+02] [ 9.67015829e-02 9.95313377e-01 -2.92198838e-04 3.97277094e+00] [ 2.30673255e-03 6.94588991e-05 9.99997337e-01 2.64172980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.815336195 meters 0.035846891083438207 Centerline is valid? [True, True] Translation: X:117.30, Y:3.98, Z:0.26 [[ 9.95730287e-01 -9.22717697e-02 -2.66772575e-03 1.17297962e+02] [ 9.22711887e-02 9.95733856e-01 -3.40325014e-04 3.98074804e+00] [ 2.68774724e-03 9.27176983e-05 9.99996384e-01 2.64918363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84533619499999 meters 0.03807419826440719 Centerline is valid? [True, True] Translation: X:117.33, Y:3.99, Z:0.27 [[ 9.95932305e-01 -9.00586002e-02 -2.87948068e-03 1.17327209e+02] [ 9.00579136e-02 9.95936462e-01 -3.67485754e-04 3.98578999e+00] [ 2.90087506e-03 1.06670912e-04 9.99995787e-01 2.65996681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87533619499999 meters 0.04440639041678464 Centerline is valid? [True, True] Translation: X:117.35, Y:4.00, Z:0.27 [[ 9.96077501e-01 -8.84542970e-02 -2.33419872e-03 1.17354642e+02] [ 8.84538407e-02 9.96080232e-01 -2.98223750e-04 3.99519439e+00] [ 2.35142838e-03 9.05851259e-05 9.99997231e-01 2.67332595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90533619499999 meters 0.04546671680319365 Centerline is valid? [True, True] Translation: X:117.38, Y:4.00, Z:0.27 [[ 9.96203374e-01 -8.70213951e-02 -2.47254002e-03 1.17384296e+02] [ 8.70208790e-02 9.96206438e-01 -3.15742992e-04 3.99876705e+00] [ 2.49063668e-03 9.93816275e-05 9.99996893e-01 2.69076156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93533619499999 meters 0.04191328954796152 Centerline is valid? [True, True] Translation: X:117.41, Y:4.00, Z:0.27 [[ 9.96177142e-01 -8.73287302e-02 -2.18976336e-03 1.17412712e+02] [ 8.73283231e-02 9.96179545e-01 -2.81038598e-04 4.00068648e+00] [ 2.20594021e-03 8.87358654e-05 9.99997563e-01 2.68747152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96533619499999 meters 0.041454029901300364 Centerline is valid? [True, True] Translation: X:117.44, Y:4.01, Z:0.27 [[ 9.96080910e-01 -8.84437267e-02 -7.26409244e-04 1.17439305e+02] [ 8.84436821e-02 9.96081175e-01 -9.32974786e-05 4.01171612e+00] [ 7.31814150e-04 2.86855292e-05 9.99999732e-01 2.65437458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.995336195 meters 0.039085968740954435 Centerline is valid? [True, True] Translation: X:117.47, Y:4.01, Z:0.26 [[ 9.95824172e-01 -9.12902954e-02 -5.47767044e-04 1.17468456e+02] [ 9.12902705e-02 9.95824323e-01 -7.02153076e-05 4.01154612e+00] [ 5.51889722e-04 1.99162989e-05 9.99999848e-01 2.63137326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.025336195 meters 0.03946488630644777 Centerline is valid? [True, True] Translation: X:117.50, Y:4.01, Z:0.26 [[ 9.95640172e-01 -9.32737684e-02 -8.07374743e-04 1.17496497e+02] [ 9.32737150e-02 9.95640499e-01 -1.03710185e-04 4.01042182e+00] [ 8.13528432e-04 2.79511849e-05 9.99999669e-01 2.63710468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.055336195 meters 0.03219391225042797 Centerline is valid? [True, True] Translation: X:117.53, Y:4.00, Z:0.27 [[ 9.95280710e-01 -9.70152559e-02 -2.08546205e-03 1.17528710e+02] [ 9.70149091e-02 9.95282892e-01 -2.67078197e-04 3.99693656e+00] [ 2.10153536e-03 6.34968665e-05 9.99997790e-01 2.66899847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.085336195 meters 0.03297678493354014 Centerline is valid? [True, True] Translation: X:117.56, Y:4.00, Z:0.26 [[ 9.95123517e-01 -9.85792779e-02 -3.36327829e-03 1.17556043e+02] [ 9.85783838e-02 9.95129196e-01 -4.31001457e-04 4.00185473e+00] [ 3.38938423e-03 9.73531481e-05 9.99994251e-01 2.63250114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.115336195 meters 0.03182306504542358 Centerline is valid? [True, True] Translation: X:117.58, Y:4.01, Z:0.26 [[ 9.94950548e-01 -1.00179473e-01 -6.12214314e-03 1.17583969e+02] [ 1.00176530e-01 9.94969369e-01 -7.86213121e-04 4.00767927e+00] [ 6.17010731e-03 1.68948119e-04 9.99980950e-01 2.55636920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.145336195 meters 0.03214776119313094 Centerline is valid? [True, True] Translation: X:117.61, Y:4.01, Z:0.26 [[ 9.94989190e-01 -9.98382528e-02 -5.36976976e-03 1.17611432e+02] [ 9.98359777e-02 9.95003669e-01 -6.90741629e-04 4.01300470e+00] [ 5.41190304e-03 1.51184241e-04 9.99985344e-01 2.56242941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.175336195 meters 0.03688181178169465 Centerline is valid? [True, True] Translation: X:117.64, Y:4.02, Z:0.26 [[ 9.95386501e-01 -9.58287959e-02 -4.74922362e-03 1.17639528e+02] [ 9.58269750e-02 9.95397819e-01 -6.10012567e-04 4.02102177e+00] [ 4.78582360e-03 1.52094542e-04 9.99988536e-01 2.57793092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20533619499999 meters 0.0378165406214593 Centerline is valid? [True, True] Translation: X:117.67, Y:4.02, Z:0.26 [[ 9.95663032e-01 -9.28465763e-02 -5.88560091e-03 1.17669552e+02] [ 9.28437280e-02 9.95680406e-01 -7.55922595e-04 4.02442832e+00] [ 5.93036233e-03 2.06203053e-04 9.99982394e-01 2.57766034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23533619499999 meters 0.039865715138513474 Centerline is valid? [True, True] Translation: X:117.70, Y:4.03, Z:0.26 [[ 9.96234366e-01 -8.64644796e-02 -6.40174624e-03 1.17699182e+02] [ 8.64609787e-02 9.96254899e-01 -8.22127452e-04 4.03134726e+00] [ 6.44885587e-03 2.65530375e-04 9.99979171e-01 2.59808196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26533619499999 meters 0.04929238546347398 Centerline is valid? [True, True] Translation: X:117.73, Y:4.05, Z:0.26 [[ 9.96769503e-01 -8.02249209e-02 -3.81063700e-03 1.17726137e+02] [ 8.02236344e-02 9.96776770e-01 -4.89504918e-04 4.05422649e+00] [ 3.83762493e-03 1.82220424e-04 9.99992620e-01 2.60922815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29533619499999 meters 0.05488547800534357 Centerline is valid? [True, True] Translation: X:117.75, Y:4.07, Z:0.26 [[ 9.96956328e-01 -7.78680306e-02 -3.82744735e-03 1.17753831e+02] [ 7.78667148e-02 9.96963657e-01 -4.91833636e-04 4.06819746e+00] [ 3.85412402e-03 1.92305904e-04 9.99992554e-01 2.58977737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32533619499999 meters 0.053817754706365524 Centerline is valid? [True, True] Translation: X:117.78, Y:4.07, Z:0.26 [[ 9.97123985e-01 -7.57010523e-02 -3.62068061e-03 1.17784412e+02] [ 7.56998611e-02 9.97130540e-01 -4.65103101e-04 4.07107494e+00] [ 3.64550001e-03 1.89680438e-04 9.99993337e-01 2.61408282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35533619499999 meters 0.06314191814318328 Centerline is valid? [True, True] Translation: X:117.81, Y:4.08, Z:0.26 [[ 9.97117604e-01 -7.58397494e-02 -2.19462350e-03 1.17810533e+02] [ 7.58393109e-02 9.97120012e-01 -2.82462062e-04 4.08471876e+00] [ 2.20972486e-03 1.15209160e-04 9.99997552e-01 2.62474648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.385336195 meters 0.04892172179127535 Centerline is valid? [True, True] Translation: X:117.84, Y:4.07, Z:0.27 [[ 9.96907774e-01 -7.85727160e-02 -1.10378533e-03 1.17842737e+02] [ 7.85726068e-02 9.96908384e-01 -1.41948734e-04 4.07276623e+00] [ 1.11152615e-03 5.47825054e-05 9.99999381e-01 2.66211137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.415336195 meters 0.04729102127532067 Centerline is valid? [True, True] Translation: X:117.87, Y:4.08, Z:0.26 [[ 9.96709165e-01 -8.10498729e-02 -1.32598193e-03 1.17870867e+02] [ 8.10497174e-02 9.96710045e-01 -1.70609641e-04 4.07787212e+00] [ 1.33544740e-03 6.25777319e-05 9.99999106e-01 2.63503553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.445336195 meters 0.04009387798425119 Centerline is valid? [True, True] Translation: X:117.90, Y:4.07, Z:0.26 [[ 9.96268881e-01 -8.62773622e-02 -2.12906515e-03 1.17901731e+02] [ 8.62769738e-02 9.96271152e-01 -2.73798563e-04 4.07350183e+00] [ 2.14474880e-03 8.90876904e-05 9.99997696e-01 2.59920380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.475336195 meters 0.0402303834061505 Centerline is valid? [True, True] Translation: X:117.93, Y:4.07, Z:0.26 [[ 9.96032515e-01 -8.89403104e-02 -2.97501627e-03 1.17930343e+02] [ 8.89395631e-02 9.96036951e-01 -3.82837797e-04 4.07387423e+00] [ 2.99727585e-03 1.16722246e-04 9.99995501e-01 2.58356912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.505336195 meters 0.039507611055648865 Centerline is valid? [True, True] Translation: X:117.96, Y:4.07, Z:0.26 [[ 9.95633973e-01 -9.32557249e-02 -4.04497165e-03 1.17960047e+02] [ 9.32543792e-02 9.95642180e-01 -5.20428643e-04 4.07029328e+00] [ 4.07587734e-03 1.40945117e-04 9.99991684e-01 2.56827358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.535336195 meters 0.038797987337239506 Centerline is valid? [True, True] Translation: X:117.99, Y:4.07, Z:0.26 [[ 9.95400832e-01 -9.56963453e-02 -4.40365728e-03 1.17989244e+02] [ 9.56947739e-02 9.95410563e-01 -5.66657644e-04 4.07193567e+00] [ 4.43767404e-03 1.42644503e-04 9.99990143e-01 2.55651271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.565336195 meters 0.03592006428980341 Centerline is valid? [True, True] Translation: X:118.02, Y:4.07, Z:0.26 [[ 9.95332351e-01 -9.63995435e-02 -4.54310406e-03 1.18018697e+02] [ 9.63978704e-02 9.95342708e-01 -5.86323784e-04 4.07181591e+00] [ 4.57846685e-03 1.45641474e-04 9.99989508e-01 2.55718469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59533619499999 meters 0.03554247053444136 Centerline is valid? [True, True] Translation: X:118.05, Y:4.08, Z:0.25 [[ 9.95420889e-01 -9.54704054e-02 -4.75970024e-03 1.18046894e+02] [ 9.54685609e-02 9.95432256e-01 -6.13756104e-04 4.07521445e+00] [ 4.79655469e-03 1.56543915e-04 9.99988484e-01 2.54312689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62533619499999 meters 0.037033672823684874 Centerline is valid? [True, True] Translation: X:118.08, Y:4.08, Z:0.25 [[ 9.95565073e-01 -9.39637367e-02 -4.58270230e-03 1.18075748e+02] [ 9.39620038e-02 9.95575608e-01 -5.92467421e-04 4.07998254e+00] [ 4.61809708e-03 1.59239981e-04 9.99989324e-01 2.53527838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65533619499999 meters 0.04078535760556663 Centerline is valid? [True, True] Translation: X:118.11, Y:4.08, Z:0.26 [[ 9.95936024e-01 -8.99744494e-02 -4.00422066e-03 1.18106159e+02] [ 8.99730984e-02 9.95944062e-01 -5.16636299e-04 4.08267051e+00] [ 4.03446386e-03 1.54264562e-04 9.99991850e-01 2.55496695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68533619499999 meters 0.045477186541261504 Centerline is valid? [True, True] Translation: X:118.14, Y:4.09, Z:0.26 [[ 9.96251751e-01 -8.64152787e-02 -3.85345671e-03 1.18135640e+02] [ 8.64140004e-02 9.96259190e-01 -4.97313446e-04 4.08520787e+00] [ 3.88201714e-03 1.62456782e-04 9.99992452e-01 2.58673729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71533619499999 meters 0.047571350151485656 Centerline is valid? [True, True] Translation: X:118.16, Y:4.09, Z:0.26 [[ 9.96417886e-01 -8.44751387e-02 -3.91755762e-03 1.18164312e+02] [ 8.44738014e-02 9.96425572e-01 -5.05884159e-04 4.09089238e+00] [ 3.94628922e-03 1.73141041e-04 9.99992198e-01 2.58668180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.745336195 meters 0.047571350151485656 Centerline is valid? [True, True] Translation: X:118.19, Y:4.09, Z:0.26 [[ 9.96402708e-01 -8.46539860e-02 -3.91732931e-03 1.18191637e+02] [ 8.46526431e-02 9.96410394e-01 -5.07651589e-04 4.09458225e+00] [ 3.94624237e-03 1.74213139e-04 9.99992198e-01 2.58465343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.775336195 meters 0.05279202208662903 Centerline is valid? [True, True] Translation: X:118.22, Y:4.11, Z:0.25 [[ 9.96655221e-01 -8.15250640e-02 -5.65992799e-03 1.18219487e+02] [ 8.15222207e-02 9.96671256e-01 -7.31626020e-04 4.10876162e+00] [ 5.70073340e-03 2.67768993e-04 9.99983715e-01 2.51912547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.805336195 meters 0.053595509808332185 Centerline is valid? [True, True] Translation: X:118.25, Y:4.11, Z:0.25 [[ 9.96800531e-01 -7.96969313e-02 -6.09097267e-03 1.18248575e+02] [ 7.96936029e-02 9.96819096e-01 -7.87602824e-04 4.11378119e+00] [ 6.13436740e-03 2.99671356e-04 9.99981140e-01 2.49701690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.835336195 meters 0.052234940569365125 Centerline is valid? [True, True] Translation: X:118.28, Y:4.11, Z:0.26 [[ 9.97066947e-01 -7.63995643e-02 -4.53980986e-03 1.18279667e+02] [ 7.63976809e-02 9.97077254e-01 -5.87096845e-04 4.10864029e+00] [ 4.57139509e-03 2.38543914e-04 9.99989523e-01 2.55047039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.865336195 meters 0.05373943752537311 Centerline is valid? [True, True] Translation: X:118.31, Y:4.11, Z:0.26 [[ 9.97155585e-01 -7.53038264e-02 -3.17368969e-03 1.18306936e+02] [ 7.53028983e-02 9.97160621e-01 -4.11075771e-04 4.11092736e+00] [ 3.19563397e-03 1.70918469e-04 9.99994879e-01 2.58392659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.895336195 meters 0.05470150146028275 Centerline is valid? [True, True] Translation: X:118.34, Y:4.11, Z:0.26 [[ 9.97240136e-01 -7.42172482e-02 -1.97760148e-03 1.18336085e+02] [ 7.42168834e-02 9.97242091e-01 -2.57344780e-04 4.11324610e+00] [ 1.99124686e-03 1.09863125e-04 9.99998011e-01 2.61335627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.925336195 meters 0.055824659442843136 Centerline is valid? [True, True] Translation: X:118.36, Y:4.12, Z:0.26 [[ 9.97247399e-01 -7.41012892e-02 -2.57364558e-03 1.18363863e+02] [ 7.41006734e-02 9.97250710e-01 -3.33932489e-04 4.11726501e+00] [ 2.59131471e-03 1.42304435e-04 9.99996632e-01 2.59914245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95533619499999 meters 0.05659839640538373 Centerline is valid? [True, True] Translation: X:118.39, Y:4.12, Z:0.26 [[ 9.97360771e-01 -7.25181267e-02 -3.55167821e-03 1.18392996e+02] [ 7.25169451e-02 9.97367074e-01 -4.60502301e-04 4.12241981e+00] [ 3.57572166e-03 2.01730076e-04 9.99993587e-01 2.56774929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98533619499999 meters 0.06295860865208612 Centerline is valid? [True, True] Translation: X:118.42, Y:4.14, Z:0.26 [[ 9.97471468e-01 -7.10127764e-02 -2.80272656e-03 1.18420223e+02] [ 7.10120341e-02 9.97475393e-01 -3.63611806e-04 4.13508314e+00] [ 2.82147186e-03 1.63665089e-04 9.99996006e-01 2.55391096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01533619499999 meters 0.06446559501538629 Centerline is valid? [True, True] Translation: X:118.45, Y:4.14, Z:0.26 [[ 9.97672167e-01 -6.81539627e-02 -2.29882275e-03 1.18449825e+02] [ 6.81534562e-02 9.97674806e-01 -2.98078625e-04 4.13977660e+00] [ 2.31379278e-03 1.40712032e-04 9.99997313e-01 2.56939084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04533619499999 meters 0.0689425117942554 Centerline is valid? [True, True] Translation: X:118.48, Y:4.15, Z:0.26 [[ 9.97900299e-01 -6.47050161e-02 -2.87314215e-03 1.18478596e+02] [ 6.47042103e-02 9.97904417e-01 -3.72610776e-04 4.14631372e+00] [ 2.89123103e-03 1.85924011e-04 9.99995803e-01 2.58873544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07533619499999 meters 0.06824718390350765 Centerline is valid? [True, True] Translation: X:118.51, Y:4.15, Z:0.26 [[ 9.98015274e-01 -6.28672273e-02 -3.63651089e-03 1.18508922e+02] [ 6.28659243e-02 9.98021870e-01 -4.71635359e-04 4.14902105e+00] [ 3.65896780e-03 2.42086674e-04 9.99993277e-01 2.59505973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10533619499999 meters 0.0733979422130241 Centerline is valid? [True, True] Translation: X:118.54, Y:4.16, Z:0.25 [[ 9.98123836e-01 -6.09763341e-02 -5.54027048e-03 1.18537063e+02] [ 6.09732798e-02 9.98139140e-01 -7.18687392e-04 4.16101033e+00] [ 5.57378373e-03 3.79530554e-04 9.99984394e-01 2.54140225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.135336195 meters 0.07445251762693968 Centerline is valid? [True, True] Translation: X:118.57, Y:4.17, Z:0.25 [[ 9.98130360e-01 -6.08247378e-02 -6.01124082e-03 1.18565210e+02] [ 6.08211279e-02 9.98148375e-01 -7.81680099e-04 4.16881371e+00] [ 6.04765574e-03 4.14608192e-04 9.99981627e-01 2.50985004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.165336195 meters 0.07465613293461872 Centerline is valid? [True, True] Translation: X:118.59, Y:4.18, Z:0.25 [[ 9.98065931e-01 -6.19477532e-02 -5.18387542e-03 1.18593002e+02] [ 6.19450867e-02 9.98079332e-01 -6.73529755e-04 4.17737818e+00] [ 5.21564257e-03 3.51111490e-04 9.99986337e-01 2.49771612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.195336195 meters 0.07110435850203045 Centerline is valid? [True, True] Translation: X:118.62, Y:4.18, Z:0.25 [[ 9.97973453e-01 -6.34728745e-02 -4.49245970e-03 1.18623162e+02] [ 6.34708876e-02 9.97983520e-01 -5.83617719e-04 4.17718833e+00] [ 4.52044464e-03 2.97294585e-04 9.99989739e-01 2.51448596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.225336195 meters 0.0663152563032994 Centerline is valid? [True, True] Translation: X:118.65, Y:4.18, Z:0.25 [[ 9.97670501e-01 -6.81086335e-02 -3.84507837e-03 1.18653945e+02] [ 6.81072121e-02 9.97677883e-01 -4.99560844e-04 4.17514142e+00] [ 3.87017405e-03 2.36519550e-04 9.99992483e-01 2.53248062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.255336195 meters 0.06410031869186116 Centerline is valid? [True, True] Translation: X:118.68, Y:4.18, Z:0.25 [[ 9.97504624e-01 -7.05074602e-02 -3.63629968e-03 1.18683537e+02] [ 7.05062043e-02 9.97511229e-01 -4.72565980e-04 4.17778060e+00] [ 3.66056919e-03 2.15005063e-04 9.99993277e-01 2.53761371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.285336195 meters 0.061165995587034776 Centerline is valid? [True, True] Translation: X:118.71, Y:4.18, Z:0.26 [[ 9.97219190e-01 -7.44876870e-02 -2.33929560e-03 1.18712456e+02] [ 7.44871780e-02 9.97221925e-01 -3.04096473e-04 4.18121363e+00] [ 2.35544831e-03 1.29003310e-04 9.99997218e-01 2.55721914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.315336195 meters 0.05985403060068384 Centerline is valid? [True, True] Translation: X:118.74, Y:4.18, Z:0.26 [[ 9.97078167e-01 -7.63659909e-02 -1.83439513e-03 1.18742203e+02] [ 7.63656810e-02 9.97079849e-01 -2.38460061e-04 4.18386120e+00] [ 1.84724866e-03 9.76784875e-05 9.99998289e-01 2.56804257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34533619499999 meters 0.052162662988581486 Centerline is valid? [True, True] Translation: X:118.77, Y:4.18, Z:0.26 [[ 9.96794061e-01 -7.99681320e-02 -2.58812563e-03 1.18773284e+02] [ 7.99675275e-02 9.96797412e-01 -3.36371197e-04 4.17837867e+00] [ 2.60673591e-03 1.28326804e-04 9.99996594e-01 2.57312424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37533619499999 meters 0.04817647166556202 Centerline is valid? [True, True] Translation: X:118.80, Y:4.18, Z:0.26 [[ 9.96620522e-01 -8.20933278e-02 -2.86729345e-03 1.18803318e+02] [ 8.20925941e-02 9.96624637e-01 -3.72854301e-04 4.17838985e+00] [ 2.88822414e-03 1.36210691e-04 9.99995820e-01 2.57262244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40533619499999 meters 0.04059528609129111 Centerline is valid? [True, True] Translation: X:118.83, Y:4.18, Z:0.26 [[ 9.96227574e-01 -8.67084840e-02 -3.50123988e-03 1.18834413e+02] [ 8.67074194e-02 9.96233716e-01 -4.55015232e-04 4.17795789e+00] [ 3.52750689e-03 1.49715246e-04 9.99993767e-01 2.55543429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43533619499999 meters 0.04488257846850012 Centerline is valid? [True, True] Translation: X:118.86, Y:4.19, Z:0.25 [[ 9.95757868e-01 -9.18297763e-02 -5.79306546e-03 1.18862379e+02] [ 9.18269464e-02 9.95774696e-01 -7.53162526e-04 4.19164376e+00] [ 5.83775075e-03 2.18007999e-04 9.99982936e-01 2.45431192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46533619499999 meters 0.0433150969332679 Centerline is valid? [True, True] Translation: X:118.89, Y:4.19, Z:0.24 [[ 9.95541691e-01 -9.40999370e-02 -6.47644358e-03 1.18890349e+02] [ 9.40964421e-02 9.95562730e-01 -8.42931536e-04 4.19190043e+00] [ 6.52702565e-03 2.29763188e-04 9.99978672e-01 2.44203470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.495336195 meters 0.03353224275663476 Centerline is valid? [True, True] Translation: X:118.92, Y:4.18, Z:0.25 [[ 9.95235721e-01 -9.73213191e-02 -5.86686144e-03 1.18922336e+02] [ 9.73185081e-02 9.95252996e-01 -7.63393545e-04 4.17702344e+00] [ 5.91330589e-03 1.88802322e-04 9.99982498e-01 2.52596861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.525336195 meters 0.03630026768018304 Centerline is valid? [True, True] Translation: X:118.95, Y:4.18, Z:0.25 [[ 9.95153585e-01 -9.81414229e-02 -6.13218421e-03 1.18949939e+02] [ 9.81383638e-02 9.95172459e-01 -7.98528761e-04 4.18355573e+00] [ 6.18094959e-03 1.92856234e-04 9.99980879e-01 2.51111060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.555336195 meters 0.03331778717323115 Centerline is valid? [True, True] Translation: X:118.98, Y:4.19, Z:0.25 [[ 9.95194078e-01 -9.77131947e-02 -6.39359217e-03 1.18977642e+02] [ 9.77098486e-02 9.95214595e-01 -8.34393989e-04 4.19151576e+00] [ 6.44452755e-03 2.05667034e-04 9.99979213e-01 2.50706059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.585336195 meters 0.038233045900749316 Centerline is valid? [True, True] Translation: X:119.00, Y:4.21, Z:0.25 [[ 9.95272807e-01 -9.69936097e-02 -4.92746455e-03 1.19003448e+02] [ 9.69916144e-02 9.95284991e-01 -6.42844623e-04 4.20547821e+00] [ 4.96658333e-03 1.61883031e-04 9.99987653e-01 2.48672878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.615336195 meters 0.038910306004015 Centerline is valid? [True, True] Translation: X:119.03, Y:4.21, Z:0.25 [[ 9.95407137e-01 -9.56813004e-02 -3.11790331e-03 1.19031016e+02] [ 9.56804941e-02 9.95412014e-01 -4.07083175e-04 4.21367807e+00] [ 3.14254866e-03 1.06890969e-04 9.99995056e-01 2.49931419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.645336195 meters 0.03642229269040921 Centerline is valid? [True, True] Translation: X:119.06, Y:4.21, Z:0.25 [[ 9.95520148e-01 -9.44658847e-02 -3.97877615e-03 1.19060098e+02] [ 9.44645566e-02 9.95528089e-01 -5.20826027e-04 4.21392436e+00] [ 4.01018370e-03 1.42639479e-04 9.99991949e-01 2.50766844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.675336195 meters 0.03831923465325505 Centerline is valid? [True, True] Translation: X:119.09, Y:4.22, Z:0.25 [[ 9.95555103e-01 -9.41025122e-02 -3.84103821e-03 1.19087080e+02] [ 9.41012738e-02 9.95562503e-01 -5.02283154e-04 4.21990374e+00] [ 3.87125972e-03 1.38603969e-04 9.99992497e-01 2.51279363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70533619499999 meters 0.04230019884021156 Centerline is valid? [True, True] Translation: X:119.11, Y:4.23, Z:0.25 [[ 9.95600037e-01 -9.36467336e-02 -3.29486947e-03 1.19114050e+02] [ 9.36458190e-02 9.95605481e-01 -4.31111272e-04 4.23009888e+00] [ 3.32076226e-03 1.20663649e-04 9.99994479e-01 2.51496434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73533619499999 meters 0.03948716067527977 Centerline is valid? [True, True] Translation: X:119.14, Y:4.24, Z:0.25 [[ 9.95836809e-01 -9.11033442e-02 -3.03819053e-03 1.19143257e+02] [ 9.11025552e-02 9.95841436e-01 -3.97380349e-04 4.23748627e+00] [ 3.06175870e-03 1.18939058e-04 9.99995306e-01 2.52273935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76533619499999 meters 0.044382851475327965 Centerline is valid? [True, True] Translation: X:119.17, Y:4.26, Z:0.25 [[ 9.95977533e-01 -8.94565685e-02 -5.12593212e-03 1.19169206e+02] [ 8.94542992e-02 9.95990702e-01 -6.70740978e-04 4.25511032e+00] [ 5.16538292e-03 2.09506279e-04 9.99986637e-01 2.45947826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79533619499999 meters 0.045138634275201414 Centerline is valid? [True, True] Translation: X:119.20, Y:4.26, Z:0.24 [[ 9.95932950e-01 -8.98911506e-02 -6.09431240e-03 1.19195653e+02] [ 8.98879432e-02 9.95951565e-01 -7.98721354e-04 4.26149185e+00] [ 6.14143796e-03 2.47667707e-04 9.99981111e-01 2.43743840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82533619499999 meters 0.041280560708965734 Centerline is valid? [True, True] Translation: X:119.23, Y:4.26, Z:0.25 [[ 9.95761469e-01 -9.17582588e-02 -6.28635575e-03 1.19225277e+02] [ 9.17548826e-02 9.95781282e-01 -8.23992194e-04 4.25985055e+00] [ 6.33544348e-03 2.43695844e-04 9.99979901e-01 2.45084812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85533619499999 meters 0.04316789445270509 Centerline is valid? [True, True] Translation: X:119.25, Y:4.27, Z:0.25 [[ 9.95667382e-01 -9.28100605e-02 -5.72333497e-03 1.19252307e+02] [ 9.28072780e-02 9.95683808e-01 -7.50439393e-04 4.26579620e+00] [ 5.76828028e-03 2.16020887e-04 9.99983340e-01 2.45564051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.885336195 meters 0.04071885345299923 Centerline is valid? [True, True] Translation: X:119.28, Y:4.27, Z:0.25 [[ 9.95510665e-01 -9.45525760e-02 -4.28098241e-03 1.19281786e+02] [ 9.45510355e-02 9.95519857e-01 -5.61265518e-04 4.26918499e+00] [ 4.31487210e-03 1.53974489e-04 9.99990679e-01 2.47991878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.915336195 meters 0.03544981826177566 Centerline is valid? [True, True] Translation: X:119.31, Y:4.27, Z:0.25 [[ 9.95324640e-01 -9.65593263e-02 -2.27095968e-03 1.19312061e+02] [ 9.65588980e-02 9.95327228e-01 -2.97763353e-04 4.26955167e+00] [ 2.28909984e-03 7.70898374e-05 9.99997377e-01 2.50832337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.945336195 meters 0.040118432875366004 Centerline is valid? [True, True] Translation: X:119.34, Y:4.28, Z:0.25 [[ 9.95246064e-01 -9.73746787e-02 -1.85607603e-03 1.19338751e+02] [ 9.73743932e-02 9.95247792e-01 -2.43835967e-04 4.28009724e+00] [ 1.87099902e-03 6.19425088e-05 9.99998248e-01 2.48259700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.975336195 meters 0.03439630819200008 Centerline is valid? [True, True] Translation: X:119.37, Y:4.28, Z:0.25 [[ 9.95146724e-01 -9.83494063e-02 -3.22353266e-03 1.19368107e+02] [ 9.83485468e-02 9.95151940e-01 -4.24471318e-04 4.27762394e+00] [ 3.24965128e-03 1.05381490e-04 9.99994714e-01 2.46623776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.005336195 meters 0.03366032065415315 Centerline is valid? [True, True] Translation: X:119.40, Y:4.28, Z:0.25 [[ 9.95128519e-01 -9.85260709e-02 -3.44158673e-03 1.19395952e+02] [ 9.85250895e-02 9.95134464e-01 -4.53943785e-04 4.28108509e+00] [ 3.46956687e-03 1.12649766e-04 9.99993975e-01 2.45629084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.035336195 meters 0.03893336193115952 Centerline is valid? [True, True] Translation: X:119.42, Y:4.29, Z:0.24 [[ 9.95240802e-01 -9.73404905e-02 -4.53600811e-03 1.19422247e+02] [ 9.73387763e-02 9.95251127e-01 -5.97690777e-04 4.29021763e+00] [ 4.57264670e-03 1.53316769e-04 9.99989534e-01 2.42951655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.065336195 meters 0.04075191537003172 Centerline is valid? [True, True] Translation: X:119.45, Y:4.29, Z:0.24 [[ 9.95327918e-01 -9.63819541e-02 -5.73181360e-03 1.19449458e+02] [ 9.63792022e-02 9.95344402e-01 -7.55034146e-04 4.29476388e+00] [ 5.77790025e-03 1.99078943e-04 9.99983288e-01 2.41587814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09533619499999 meters 0.041070994463320055 Centerline is valid? [True, True] Translation: X:119.48, Y:4.30, Z:0.24 [[ 9.95603632e-01 -9.33674041e-02 -7.47898941e-03 1.19479740e+02] [ 9.33626380e-02 9.95631683e-01 -9.84648170e-04 4.29858372e+00] [ 7.53825286e-03 2.82061113e-04 9.99971547e-01 2.41569609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12533619499999 meters 0.04242046755640352 Centerline is valid? [True, True] Translation: X:119.51, Y:4.31, Z:0.24 [[ 9.95983599e-01 -8.92620075e-02 -6.99749826e-03 1.19509056e+02] [ 8.92577325e-02 9.96008137e-01 -9.21498265e-04 4.30800097e+00] [ 7.05181999e-03 2.93216330e-04 9.99975093e-01 2.41963811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15533619499999 meters 0.04815779532590812 Centerline is valid? [True, True] Translation: X:119.54, Y:4.32, Z:0.24 [[ 9.96152848e-01 -8.74263458e-02 -6.01146852e-03 1.19535630e+02] [ 8.74231540e-02 9.96170951e-01 -7.92178923e-04 4.32224791e+00] [ 6.05770763e-03 2.63589751e-04 9.99981617e-01 2.40221714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18533619499999 meters 0.05296629189564044 Centerline is valid? [True, True] Translation: X:119.56, Y:4.34, Z:0.24 [[ 9.96316376e-01 -8.57138846e-02 -2.60934127e-03 1.19561672e+02] [ 8.57132756e-02 9.96319786e-01 -3.44552606e-04 4.33572693e+00] [ 2.62927128e-03 1.19628216e-04 9.99996536e-01 2.42925240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21533619499999 meters 0.04975861671343983 Centerline is valid? [True, True] Translation: X:119.59, Y:4.34, Z:0.25 [[ 9.96333615e-01 -8.55275414e-02 -2.09003795e-03 1.19591109e+02] [ 8.55271482e-02 9.96335802e-01 -2.76992324e-04 4.33512783e+00] [ 2.10607011e-03 9.72217787e-05 9.99997778e-01 2.45104173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.245336195 meters 0.05127740184745721 Centerline is valid? [True, True] Translation: X:119.62, Y:4.34, Z:0.24 [[ 9.96399366e-01 -8.46729629e-02 -4.33512676e-03 1.19619271e+02] [ 8.46712711e-02 9.96408776e-01 -5.72635018e-04 4.33660402e+00] [ 4.36804505e-03 2.03512476e-04 9.99990439e-01 2.43668493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.275336195 meters 0.04621844997157838 Centerline is valid? [True, True] Translation: X:119.65, Y:4.33, Z:0.25 [[ 9.96402984e-01 -8.45991807e-02 -4.90638393e-03 1.19649272e+02] [ 8.45970045e-02 9.96415036e-01 -6.49764790e-04 4.33207712e+00] [ 4.94376429e-03 2.32362193e-04 9.99987753e-01 2.45224036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.305336195 meters 0.04965112421714574 Centerline is valid? [True, True] Translation: X:119.68, Y:4.34, Z:0.24 [[ 9.96411133e-01 -8.44857868e-02 -5.19669195e-03 1.19675882e+02] [ 8.44833468e-02 9.96424654e-01 -6.87655669e-04 4.34040501e+00] [ 5.23620911e-03 2.46153837e-04 9.99986261e-01 2.43839148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.335336195 meters 0.05075644068740025 Centerline is valid? [True, True] Translation: X:119.70, Y:4.35, Z:0.24 [[ 9.96454110e-01 -8.39221166e-02 -6.02374002e-03 1.19703150e+02] [ 8.39188178e-02 9.96472275e-01 -7.98758912e-04 4.35419082e+00] [ 6.06952346e-03 2.90421459e-04 9.99981538e-01 2.39959635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.365336195 meters 0.05009892092728431 Centerline is valid? [True, True] Translation: X:119.73, Y:4.36, Z:0.24 [[ 9.96535454e-01 -8.30047152e-02 -5.22549985e-03 1.19730797e+02] [ 8.30022147e-02 9.96549121e-01 -6.93959797e-04 4.36411872e+00] [ 5.26506922e-03 2.57827481e-04 9.99986106e-01 2.39021107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.395336195 meters 0.056538488150623664 Centerline is valid? [True, True] Translation: X:119.76, Y:4.37, Z:0.24 [[ 9.96566921e-01 -8.26760588e-02 -4.36374406e-03 1.19757076e+02] [ 8.26743133e-02 9.96576451e-01 -5.79194115e-04 4.37459647e+00] [ 4.39669005e-03 2.16436152e-04 9.99990311e-01 2.39056980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.425336195 meters 0.05212669374884039 Centerline is valid? [True, True] Translation: X:119.79, Y:4.37, Z:0.24 [[ 9.96554356e-01 -8.28569175e-02 -3.76130763e-03 1.19786175e+02] [ 8.28556156e-02 9.96561436e-01 -5.00927208e-04 4.37131375e+00] [ 3.78987942e-03 1.87555732e-04 9.99992801e-01 2.43262543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45533619499999 meters 0.05120838390615875 Centerline is valid? [True, True] Translation: X:119.81, Y:4.38, Z:0.24 [[ 9.96511713e-01 -8.33688405e-02 -3.74720306e-03 1.19814518e+02] [ 8.33675502e-02 9.96518741e-01 -4.99494897e-04 4.37509659e+00] [ 3.77580039e-03 1.85357377e-04 9.99992854e-01 2.43268700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48533619499999 meters 0.051889237961104145 Centerline is valid? [True, True] Translation: X:119.84, Y:4.38, Z:0.24 [[ 9.96415443e-01 -8.44602682e-02 -4.76748819e-03 1.19841550e+02] [ 8.44581960e-02 9.96426821e-01 -6.34679320e-04 4.38197561e+00] [ 4.80405829e-03 2.29750824e-04 9.99988434e-01 2.39292339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51533619499999 meters 0.048021015573584645 Centerline is valid? [True, True] Translation: X:119.87, Y:4.38, Z:0.23 [[ 9.96232967e-01 -8.63668437e-02 -7.78747208e-03 1.19870812e+02] [ 8.63613600e-02 9.96263337e-01 -1.03834105e-03 4.38462260e+00] [ 7.84805116e-03 3.61892901e-04 9.99969138e-01 2.32495122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54533619499999 meters 0.05131855594398253 Centerline is valid? [True, True] Translation: X:119.90, Y:4.39, Z:0.23 [[ 9.96134730e-01 -8.74901236e-02 -7.81524278e-03 1.19897652e+02] [ 8.74846339e-02 9.96165324e-01 -1.04222476e-03 4.39380576e+00] [ 7.87645823e-03 3.54482626e-04 9.99968917e-01 2.30214083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57533619499999 meters 0.048765490283017486 Centerline is valid? [True, True] Translation: X:119.93, Y:4.39, Z:0.23 [[ 9.96081500e-01 -8.82184360e-02 -6.25728525e-03 1.19927019e+02] [ 8.82149209e-02 9.96101114e-01 -8.36091300e-04 4.39450945e+00] [ 6.30664747e-03 2.80829153e-04 9.99980073e-01 2.33521396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60533619499999 meters 0.04904161421927354 Centerline is valid? [True, True] Translation: X:119.96, Y:4.40, Z:0.24 [[ 9.96027516e-01 -8.88359584e-02 -6.11229618e-03 1.19955155e+02] [ 8.88326181e-02 9.96046234e-01 -8.16365987e-04 4.39720433e+00] [ 6.16065224e-03 2.70151715e-04 9.99980987e-01 2.36201797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.635336195 meters 0.049247818558547235 Centerline is valid? [True, True] Translation: X:119.98, Y:4.40, Z:0.23 [[ 9.95983862e-01 -8.91433750e-02 -8.34294371e-03 1.19982762e+02] [ 8.91371597e-02 9.96018737e-01 -1.11461545e-03 4.40465222e+00] [ 8.40908884e-03 3.66472697e-04 9.99964576e-01 2.32504075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.665336195 meters 0.049247818558547235 Centerline is valid? [True, True] Translation: X:120.01, Y:4.41, Z:0.23 [[ 9.95967747e-01 -8.93232707e-02 -8.34262098e-03 1.20010058e+02] [ 8.93170415e-02 9.96002620e-01 -1.11703005e-03 4.40847147e+00] [ 8.40904913e-03 3.67387674e-04 9.99964576e-01 2.32301349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.695336195 meters 0.048220563039780825 Centerline is valid? [True, True] Translation: X:120.04, Y:4.41, Z:0.23 [[ 9.95944480e-01 -8.96677137e-02 -7.36840815e-03 1.20038343e+02] [ 8.96628550e-02 9.95971685e-01 -9.87772946e-04 4.41309195e+00] [ 7.42729722e-03 3.23094502e-04 9.99972365e-01 2.33805069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.725336195 meters 0.04531479947313481 Centerline is valid? [True, True] Translation: X:120.07, Y:4.41, Z:0.24 [[ 9.95911970e-01 -9.01430752e-02 -5.79430557e-03 1.20067646e+02] [ 9.01400776e-02 9.95928794e-01 -7.76941505e-04 4.41496246e+00] [ 5.84075166e-03 2.51466191e-04 9.99982911e-01 2.37063211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.755336195 meters 0.04844744989458792 Centerline is valid? [True, True] Translation: X:120.10, Y:4.42, Z:0.23 [[ 9.95849533e-01 -9.07967164e-02 -6.29799767e-03 1.20095169e+02] [ 9.07931782e-02 9.95869411e-01 -8.46045736e-04 4.42305004e+00] [ 6.34880141e-03 2.70719026e-04 9.99979810e-01 2.34342145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.785336195 meters 0.04281438295613385 Centerline is valid? [True, True] Translation: X:120.12, Y:4.42, Z:0.23 [[ 9.95675204e-01 -9.26447654e-02 -6.91634933e-03 1.20124174e+02] [ 9.26405473e-02 9.95699185e-01 -9.28464289e-04 4.42404462e+00] [ 6.97262075e-03 2.83714483e-04 9.99975651e-01 2.33183282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.815336195 meters 0.04546879763310338 Centerline is valid? [True, True] Translation: X:120.15, Y:4.44, Z:0.23 [[ 9.95624729e-01 -9.32575562e-02 -5.86752950e-03 1.20151053e+02] [ 9.32545282e-02 9.95641990e-01 -7.88150889e-04 4.43526709e+00] [ 5.91545977e-03 2.37528820e-04 9.99982475e-01 2.32828716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84533619499999 meters 0.0448670214727551 Centerline is valid? [True, True] Translation: X:120.18, Y:4.44, Z:0.24 [[ 9.95602422e-01 -9.35283054e-02 -5.31726669e-03 1.20179491e+02] [ 9.35258138e-02 9.95616598e-01 -7.15880461e-04 4.43702244e+00] [ 5.36091406e-03 2.15430627e-04 9.99985607e-01 2.35082585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87533619499999 meters 0.04103316285735969 Centerline is valid? [True, True] Translation: X:120.21, Y:4.43, Z:0.24 [[ 9.95378378e-01 -9.58825341e-02 -5.33151669e-03 1.20210792e+02] [ 9.58800683e-02 9.95392635e-01 -7.16768428e-04 4.43181055e+00] [ 5.37567802e-03 2.02269610e-04 9.99985530e-01 2.38487927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90533619499999 meters 0.03808871264789724 Centerline is valid? [True, True] Translation: X:120.24, Y:4.43, Z:0.24 [[ 9.95231673e-01 -9.74125514e-02 -4.97110006e-03 1.20239661e+02] [ 9.74104242e-02 9.95244072e-01 -6.68819478e-04 4.43464057e+00] [ 5.01260927e-03 1.81393363e-04 9.99987420e-01 2.38951240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93533619499999 meters 0.039093929299558065 Centerline is valid? [True, True] Translation: X:120.27, Y:4.44, Z:0.24 [[ 9.95119847e-01 -9.86149944e-02 -3.40180815e-03 1.20266923e+02] [ 9.86140043e-02 9.95125655e-01 -4.57952711e-04 4.44387543e+00] [ 3.43038757e-03 1.20251908e-04 9.99994109e-01 2.38910631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96533619499999 meters 0.039236510207383876 Centerline is valid? [True, True] Translation: X:120.30, Y:4.45, Z:0.24 [[ 9.94966218e-01 -1.00209566e-01 5.17578718e-04 1.20295864e+02] [ 1.00209544e-01 9.94966352e-01 6.94676744e-05 4.44837586e+00] [-5.21934735e-04 -1.72516620e-05 9.99999864e-01 2.43608155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.995336195 meters 0.03435297831416364 Centerline is valid? [True, True] Translation: X:120.33, Y:4.44, Z:0.25 [[ 9.94913122e-01 -1.00735041e-01 5.76004662e-04 1.20326292e+02] [ 1.00735014e-01 9.94913288e-01 7.64475172e-05 4.44277045e+00] [-5.80775636e-04 -1.80348006e-05 9.99999831e-01 2.45848708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.025336195 meters 0.03584965113631603 Centerline is valid? [True, True] Translation: X:120.35, Y:4.44, Z:0.24 [[ 9.94905158e-01 -1.00776486e-01 -2.79768957e-03 1.20354402e+02] [ 1.00775822e-01 9.94909087e-01 -3.77444559e-04 4.44459042e+00] [ 2.82148432e-03 9.35820712e-05 9.99996015e-01 2.40867720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.055336195 meters 0.03553656766196789 Centerline is valid? [True, True] Translation: X:120.38, Y:4.45, Z:0.24 [[ 9.94874671e-01 -1.01045895e-01 -3.75712517e-03 1.20382869e+02] [ 1.01044696e-01 9.94881757e-01 -5.08131563e-04 4.44842586e+00] [ 3.78923990e-03 1.25889651e-04 9.99992813e-01 2.38321239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.085336195 meters 0.037283245850833376 Centerline is valid? [True, True] Translation: X:120.41, Y:4.46, Z:0.24 [[ 9.94903466e-01 -1.00763827e-01 -3.70744816e-03 1.20410271e+02] [ 1.00762659e-01 9.94910366e-01 -5.00868818e-04 4.45517147e+00] [ 3.73904806e-03 1.24743789e-04 9.99993002e-01 2.37314414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.115336195 meters 0.03902130866851916 Centerline is valid? [True, True] Translation: X:120.44, Y:4.46, Z:0.23 [[ 9.95070338e-01 -9.90125348e-02 -5.61612821e-03 1.20439443e+02] [ 9.90098296e-02 9.95086166e-01 -7.58378251e-04 4.46259245e+00] [ 5.66362044e-03 1.98587805e-04 9.99983942e-01 2.34117748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.145336195 meters 0.03958811321803195 Centerline is valid? [True, True] Translation: X:120.47, Y:4.47, Z:0.23 [[ 9.95158628e-01 -9.81008308e-02 -5.96095510e-03 1.20468229e+02] [ 9.80977548e-02 9.95176456e-01 -8.06937406e-04 4.46676663e+00] [ 6.01136340e-03 2.18274410e-04 9.99981908e-01 2.33719769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.175336195 meters 0.041510830565026455 Centerline is valid? [True, True] Translation: X:120.50, Y:4.46, Z:0.24 [[ 9.95237547e-01 -9.73571954e-02 -4.87860801e-03 1.20497694e+02] [ 9.73551208e-02 9.95249488e-01 -6.61487688e-04 4.46456962e+00] [ 4.91983271e-03 1.83379912e-04 9.99987881e-01 2.37812979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20533619499999 meters 0.04199637750981855 Centerline is valid? [True, True] Translation: X:120.53, Y:4.47, Z:0.24 [[ 9.95286137e-01 -9.69187316e-02 -3.50199603e-03 1.20525144e+02] [ 9.69176608e-02 9.95292290e-01 -4.74598033e-04 4.47230600e+00] [ 3.53150709e-03 1.32955580e-04 9.99993755e-01 2.39509503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23533619499999 meters 0.04160407143042136 Centerline is valid? [True, True] Translation: X:120.55, Y:4.48, Z:0.24 [[ 9.95399447e-01 -9.57948215e-02 -1.81455104e-03 1.20553545e+02] [ 9.57945298e-02 9.95401099e-01 -2.47183561e-04 4.47992211e+00] [ 1.82988500e-03 7.22223159e-05 9.99998323e-01 2.40295478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26533619499999 meters 0.04248863785531897 Centerline is valid? [True, True] Translation: X:120.58, Y:4.48, Z:0.24 [[ 9.95386352e-01 -9.59117737e-02 -2.63462665e-03 1.20581038e+02] [ 9.59111623e-02 9.95389834e-01 -3.57734958e-04 4.48364761e+00] [ 2.65679158e-03 1.03394390e-04 9.99996465e-01 2.37471184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29533619499999 meters 0.041341667969311144 Centerline is valid? [True, True] Translation: X:120.61, Y:4.48, Z:0.24 [[ 9.95317112e-01 -9.66130880e-02 -3.12387363e-03 1.20610676e+02] [ 9.66122285e-02 9.95322006e-01 -4.25246333e-04 4.48351579e+00] [ 3.15034453e-03 1.21450559e-04 9.99995030e-01 2.37292732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32533619499999 meters 0.044775014846921146 Centerline is valid? [True, True] Translation: X:120.64, Y:4.49, Z:0.24 [[ 9.95294319e-01 -9.68362053e-02 -3.45953290e-03 1.20637175e+02] [ 9.68351537e-02 9.95300322e-01 -4.70587262e-04 4.48952381e+00] [ 3.48884409e-03 1.33368428e-04 9.99993905e-01 2.36187585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35533619499999 meters 0.044876135408127474 Centerline is valid? [True, True] Translation: X:120.67, Y:4.49, Z:0.24 [[ 9.95341951e-01 -9.63514591e-02 -3.28585447e-03 1.20665637e+02] [ 9.63505041e-02 9.95347366e-01 -4.48069391e-04 4.49359012e+00] [ 3.31373873e-03 1.29388527e-04 9.99994501e-01 2.36293216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.385336195 meters 0.04659147635964774 Centerline is valid? [True, True] Translation: X:120.69, Y:4.50, Z:0.24 [[ 9.95404313e-01 -9.57100294e-02 -3.13756026e-03 1.20692748e+02] [ 9.57091571e-02 9.95409250e-01 -4.27331092e-04 4.49844909e+00] [ 3.16405637e-03 1.25073965e-04 9.99994987e-01 2.36474185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.415336195 meters 0.04703383664404288 Centerline is valid? [True, True] Translation: X:120.72, Y:4.50, Z:0.24 [[ 9.95578736e-01 -9.38259802e-02 -4.43466801e-03 1.20721968e+02] [ 9.38242189e-02 9.95588595e-01 -6.03997122e-04 4.50086183e+00] [ 4.47177551e-03 1.85247430e-04 9.99989984e-01 2.35016134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.445336195 meters 0.04407089072220978 Centerline is valid? [True, True] Translation: X:120.75, Y:4.50, Z:0.23 [[ 9.95763864e-01 -9.17988519e-02 -5.22482274e-03 1.20751676e+02] [ 9.17963800e-02 9.95777545e-01 -7.11490615e-04 4.50222760e+00] [ 5.26807518e-03 2.28856830e-04 9.99986097e-01 2.34247772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.475336195 meters 0.048181446538719745 Centerline is valid? [True, True] Translation: X:120.78, Y:4.51, Z:0.23 [[ 9.95823804e-01 -9.11762151e-02 -4.67423763e-03 1.20778139e+02] [ 9.11742265e-02 9.95834753e-01 -6.37214942e-04 4.51083980e+00] [ 4.71286712e-03 2.08383807e-04 9.99988873e-01 2.33610269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.505336195 meters 0.04897352224413548 Centerline is valid? [True, True] Translation: X:120.81, Y:4.51, Z:0.24 [[ 9.95960964e-01 -8.97663704e-02 -1.93832286e-03 1.20806646e+02] [ 8.97660233e-02 9.95962846e-01 -2.65531172e-04 4.51453642e+00] [ 1.95433332e-03 9.04631478e-05 9.99998086e-01 2.38567872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.535336195 meters 0.05145448455924679 Centerline is valid? [True, True] Translation: X:120.83, Y:4.52, Z:0.24 [[ 9.95969960e-01 -8.96627899e-02 -2.10314834e-03 1.20833422e+02] [ 8.96623825e-02 9.95972176e-01 -2.87362189e-04 4.52095800e+00] [ 2.12044292e-03 9.76308164e-05 9.99997747e-01 2.36985220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.565336195 meters 0.047633867431939786 Centerline is valid? [True, True] Translation: X:120.86, Y:4.52, Z:0.23 [[ 9.95791829e-01 -9.15012956e-02 -5.11342076e-03 1.20863470e+02] [ 9.14989068e-02 9.95804931e-01 -6.99672082e-04 4.51594446e+00] [ 5.15599051e-03 2.28855332e-04 9.99986682e-01 2.31673373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59533619499999 meters 0.04866783544444429 Centerline is valid? [True, True] Translation: X:120.89, Y:4.52, Z:0.23 [[ 9.95668224e-01 -9.28398898e-02 -5.05406403e-03 1.20891800e+02] [ 9.28375764e-02 9.95681027e-01 -6.90948174e-04 4.51785126e+00] [ 5.09638321e-03 2.18748086e-04 9.99986989e-01 2.31110390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62533619499999 meters 0.04512294211881862 Centerline is valid? [True, True] Translation: X:120.92, Y:4.51, Z:0.23 [[ 9.95447851e-01 -9.52294720e-02 -3.86317742e-03 1.20922728e+02] [ 9.52281388e-02 9.95455334e-01 -5.28007976e-04 4.51457639e+00] [ 3.89590249e-03 1.57721209e-04 9.99992399e-01 2.34896756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65533619499999 meters 0.041349087967555216 Centerline is valid? [True, True] Translation: X:120.95, Y:4.51, Z:0.24 [[ 9.95381385e-01 -9.59186450e-02 -3.93855084e-03 1.20952462e+02] [ 9.59172581e-02 9.95389164e-01 -5.39961228e-04 4.51381417e+00] [ 3.97218318e-03 1.59692357e-04 9.99992098e-01 2.35614611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68533619499999 meters 0.045395462744863585 Centerline is valid? [True, True] Translation: X:120.98, Y:4.52, Z:0.23 [[ 9.95272237e-01 -9.69812069e-02 -5.27442001e-03 1.20979015e+02] [ 9.69787386e-02 9.95286191e-01 -7.22337705e-04 4.52317518e+00] [ 5.31961059e-03 2.07416064e-04 9.99985829e-01 2.29386193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71533619499999 meters 0.04559265094268985 Centerline is valid? [True, True] Translation: X:121.01, Y:4.53, Z:0.23 [[ 9.95262420e-01 -9.71130432e-02 -4.66609756e-03 1.21006513e+02] [ 9.71111045e-02 9.95273341e-01 -6.40798338e-04 4.52740996e+00] [ 4.70627239e-03 1.84632617e-04 9.99988908e-01 2.27868852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.745336195 meters 0.04207494921390386 Centerline is valid? [True, True] Translation: X:121.04, Y:4.53, Z:0.23 [[ 9.95347349e-01 -9.62829345e-02 -3.64012582e-03 1.21036075e+02] [ 9.62817463e-02 9.95353995e-01 -5.00685036e-04 4.52520633e+00] [ 3.67142120e-03 1.47877853e-04 9.99993249e-01 2.31168381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.775336195 meters 0.04403678249907627 Centerline is valid? [True, True] Translation: X:121.07, Y:4.52, Z:0.23 [[ 9.95516234e-01 -9.45407095e-02 -3.07916684e-03 1.21066258e+02] [ 9.45398533e-02 9.95520988e-01 -4.22750864e-04 4.52395336e+00] [ 3.10534238e-03 1.29751368e-04 9.99995170e-01 2.34340326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.805336195 meters 0.049802982379798875 Centerline is valid? [True, True] Translation: X:121.09, Y:4.53, Z:0.23 [[ 9.95529707e-01 -9.43595062e-02 -4.10926199e-03 1.21093256e+02] [ 9.43579780e-02 9.95538173e-01 -5.64613271e-04 4.53215850e+00] [ 4.14420380e-03 1.74347631e-04 9.99991398e-01 2.31894999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.835336195 meters 0.04268839995403696 Centerline is valid? [True, True] Translation: X:121.12, Y:4.53, Z:0.23 [[ 9.95433686e-01 -9.52700511e-02 -5.94929709e-03 1.21123238e+02] [ 9.52668547e-02 9.95451433e-01 -8.19018306e-04 4.52740078e+00] [ 6.00026423e-03 2.48507590e-04 9.99981967e-01 2.30684482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.865336195 meters 0.045088736957108445 Centerline is valid? [True, True] Translation: X:121.15, Y:4.54, Z:0.23 [[ 9.95408029e-01 -9.55392381e-02 -5.92537510e-03 1.21149859e+02] [ 9.55360746e-02 9.95425634e-01 -8.15297099e-04 4.53532255e+00] [ 5.97616313e-03 2.45466201e-04 9.99982112e-01 2.28340685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.895336195 meters 0.046362208501276675 Centerline is valid? [True, True] Translation: X:121.18, Y:4.54, Z:0.23 [[ 9.95428716e-01 -9.53971424e-02 -4.58868588e-03 1.21177679e+02] [ 9.53952421e-02 9.95439274e-01 -6.31725363e-04 4.53984329e+00] [ 4.62802294e-03 1.91098767e-04 9.99989272e-01 2.29082467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.925336195 meters 0.04259320401770477 Centerline is valid? [True, True] Translation: X:121.21, Y:4.54, Z:0.23 [[ 9.95437428e-01 -9.52944327e-02 -4.82670609e-03 1.21206881e+02] [ 9.52923213e-02 9.95449110e-01 -6.66073151e-04 4.53770588e+00] [ 4.86821334e-03 2.03086117e-04 9.99988130e-01 2.30056634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95533619499999 meters 0.04617271542183603 Centerline is valid? [True, True] Translation: X:121.23, Y:4.54, Z:0.23 [[ 9.95505756e-01 -9.45561887e-02 -5.23618250e-03 1.21233570e+02] [ 9.45536937e-02 9.95519501e-01 -7.22563677e-04 4.54470789e+00] [ 5.28104466e-03 2.24215903e-04 9.99986030e-01 2.28466594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98533619499999 meters 0.04561932823951016 Centerline is valid? [True, True] Translation: X:121.26, Y:4.54, Z:0.23 [[ 9.95561066e-01 -9.40826632e-02 -2.57220965e-03 1.21262587e+02] [ 9.40820560e-02 9.95564383e-01 -3.56314958e-04 4.54349958e+00] [ 2.59432338e-03 1.12734527e-04 9.99996628e-01 2.34455606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.015336195 meters 0.04800472748391493 Centerline is valid? [True, True] Translation: X:121.29, Y:4.55, Z:0.24 [[ 9.95574184e-01 -9.39621837e-02 -1.77553855e-03 1.21289105e+02] [ 9.39618945e-02 9.95575764e-01 -2.45809351e-04 4.54739074e+00] [ 1.79077993e-03 7.78884783e-05 9.99998394e-01 2.35753686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.045336195 meters 0.04430691244389808 Centerline is valid? [True, True] Translation: X:121.32, Y:4.55, Z:0.24 [[ 9.95671345e-01 -9.29201083e-02 -2.10408194e-03 1.21318577e+02] [ 9.29196979e-02 9.95673563e-01 -2.92156382e-04 4.54673289e+00] [ 2.12212596e-03 9.53810795e-05 9.99997744e-01 2.36864102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.075336195 meters 0.051701059034439806 Centerline is valid? [True, True] Translation: X:121.35, Y:4.56, Z:0.23 [[ 9.95798784e-01 -9.15384080e-02 -2.34548521e-03 1.21345483e+02] [ 9.15378963e-02 9.95801540e-01 -3.24807611e-04 4.56198839e+00] [ 2.36537016e-03 1.08742242e-04 9.99997197e-01 2.33376504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105336195 meters 0.05417660735219172 Centerline is valid? [True, True] Translation: X:121.37, Y:4.57, Z:0.23 [[ 9.96002268e-01 -8.92748549e-02 -3.07919594e-03 1.21374587e+02] [ 8.92739634e-02 9.96007017e-01 -4.26046027e-04 4.56910891e+00] [ 3.10493596e-03 1.49450783e-04 9.99995169e-01 2.29871360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.135336195 meters 0.052520785707235805 Centerline is valid? [True, True] Translation: X:121.40, Y:4.57, Z:0.23 [[ 9.96188272e-01 -8.72164646e-02 -1.48857954e-03 1.21404914e+02] [ 8.72162537e-02 9.96189381e-01 -2.06128184e-04 4.56676156e+00] [ 1.50088490e-03 7.55141492e-05 9.99998871e-01 2.34703278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.165336195 meters 0.05408900087829932 Centerline is valid? [True, True] Translation: X:121.43, Y:4.57, Z:0.24 [[ 9.96287816e-01 -8.60778928e-02 -1.08826179e-03 1.21433860e+02] [ 8.60777791e-02 9.96288409e-01 -1.50967594e-04 4.57148908e+00] [ 1.09721758e-03 5.67320158e-05 9.99999396e-01 2.36334833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.195336195 meters 0.06009625571256204 Centerline is valid? [True, True] Translation: X:121.46, Y:4.58, Z:0.23 [[ 9.96419828e-01 -8.44941306e-02 -2.87541554e-03 1.21461203e+02] [ 8.44933315e-02 9.96423965e-01 -3.98485912e-04 4.58359309e+00] [ 2.89880268e-03 1.54105826e-04 9.99995787e-01 2.32068133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.225336195 meters 0.057584578136968906 Centerline is valid? [True, True] Translation: X:121.49, Y:4.59, Z:0.23 [[ 9.96433471e-01 -8.42770766e-02 -4.20865871e-03 1.21489996e+02] [ 8.42753571e-02 9.96442333e-01 -5.84559018e-04 4.58574978e+00] [ 4.24295063e-03 2.27787955e-04 9.99990973e-01 2.29641437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.255336195 meters 0.05931339234771127 Centerline is valid? [True, True] Translation: X:121.52, Y:4.59, Z:0.23 [[ 9.96452112e-01 -8.40557238e-02 -4.22173753e-03 1.21516955e+02] [ 8.40539924e-02 9.96461029e-01 -5.86185313e-04 4.59366726e+00] [ 4.25606916e-03 2.29251699e-04 9.99990917e-01 2.27453636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.285336195 meters 0.05863367046551268 Centerline is valid? [True, True] Translation: X:121.55, Y:4.60, Z:0.23 [[ 9.96433109e-01 -8.43678606e-02 -1.76718040e-03 1.21545729e+02] [ 8.43675556e-02 9.96434672e-01 -2.46546012e-04 4.59909758e+00] [ 1.78168038e-03 9.65739189e-05 9.99998408e-01 2.30680698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31533619500001 meters 0.06051890548152368 Centerline is valid? [True, True] Translation: X:121.57, Y:4.61, Z:0.23 [[ 9.96404251e-01 -8.47180208e-02 -1.19362996e-03 1.21572672e+02] [ 8.47178820e-02 9.96404964e-01 -1.66454971e-04 4.60543916e+00] [ 1.20344055e-03 6.47346389e-05 9.99999274e-01 2.30959254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34533619500002 meters 0.05852045459195364 Centerline is valid? [True, True] Translation: X:121.60, Y:4.60, Z:0.23 [[ 9.96324856e-01 -8.55657606e-02 -3.90926932e-03 1.21602135e+02] [ 8.55642792e-02 9.96332503e-01 -5.44944045e-04 4.60466106e+00] [ 3.94156064e-03 2.08447486e-04 9.99992210e-01 2.27993382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37533619500002 meters 0.05785356014173257 Centerline is valid? [True, True] Translation: X:121.63, Y:4.61, Z:0.23 [[ 9.96142184e-01 -8.76750073e-02 -3.72061249e-03 1.21630935e+02] [ 8.76736833e-02 9.96149114e-01 -5.17794761e-04 4.60743074e+00] [ 3.75168249e-03 1.89597403e-04 9.99992944e-01 2.29127474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40533619500002 meters 0.05612526073927022 Centerline is valid? [True, True] Translation: X:121.66, Y:4.61, Z:0.23 [[ 9.96029127e-01 -8.89983779e-02 -2.29480650e-03 1.21660226e+02] [ 8.89978775e-02 9.96031764e-01 -3.19478925e-04 4.61184565e+00] [ 2.31413328e-03 1.13977407e-04 9.99997316e-01 2.30757028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43533619500002 meters 0.0514962512039769 Centerline is valid? [True, True] Translation: X:121.69, Y:4.61, Z:0.23 [[ 9.95801763e-01 -9.15077947e-02 -2.27407258e-03 1.21690001e+02] [ 9.15073096e-02 9.95804354e-01 -3.16648527e-04 4.61336762e+00] [ 2.29350719e-03 1.07224898e-04 9.99997364e-01 2.30555583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46533619500002 meters 0.053211628573098926 Centerline is valid? [True, True] Translation: X:121.72, Y:4.62, Z:0.23 [[ 9.95712269e-01 -9.24743202e-02 -2.36150740e-03 1.21717393e+02] [ 9.24737990e-02 9.95715064e-01 -3.29199155e-04 4.61786943e+00] [ 2.38183096e-03 1.09410077e-04 9.99997157e-01 2.29309396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49533619500002 meters 0.051833079628014755 Centerline is valid? [True, True] Translation: X:121.75, Y:4.62, Z:0.23 [[ 9.95531317e-01 -9.44137872e-02 -1.85283953e-03 1.21746765e+02] [ 9.44134699e-02 9.95533038e-01 -2.58167978e-04 4.61637577e+00] [ 1.86893758e-03 8.20812975e-05 9.99998250e-01 2.30518668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.525336195 meters 0.04426304717287883 Centerline is valid? [True, True] Translation: X:121.78, Y:4.61, Z:0.23 [[ 9.95425974e-01 -9.55262052e-02 -1.36907788e-03 1.21777382e+02] [ 9.55260314e-02 9.95426914e-01 -1.91968374e-04 4.60978091e+00] [ 1.38115498e-03 6.03077295e-05 9.99999044e-01 2.32910594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.555336195 meters 0.04426304717287883 Centerline is valid? [True, True] Translation: X:121.80, Y:4.61, Z:0.23 [[ 9.95408333e-01 -9.57098583e-02 -1.36900766e-03 1.21804664e+02] [ 9.57096840e-02 9.95409272e-01 -1.92471023e-04 4.61374102e+00] [ 1.38114429e-03 6.05599697e-05 9.99999044e-01 2.32708061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.585336195 meters 0.04368425639338836 Centerline is valid? [True, True] Translation: X:121.83, Y:4.62, Z:0.23 [[ 9.95132783e-01 -9.85327883e-02 -1.42603225e-03 1.21833583e+02] [ 9.85326037e-02 9.95133803e-01 -1.99304375e-04 4.61599592e+00] [ 1.43873092e-03 5.78236460e-05 9.99998963e-01 2.30666438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.615336195 meters 0.039316390912495315 Centerline is valid? [True, True] Translation: X:121.86, Y:4.61, Z:0.23 [[ 9.94837911e-01 -1.01445950e-01 -2.49986754e-03 1.21864392e+02] [ 1.01445392e-01 9.94841048e-01 -3.49142518e-04 4.61487744e+00] [ 2.52238993e-03 9.37401701e-05 9.99996814e-01 2.28324078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.645336195 meters 0.03876536510762613 Centerline is valid? [True, True] Translation: X:121.89, Y:4.62, Z:0.23 [[ 9.94774409e-01 -1.02069748e-01 -2.37519009e-03 1.21893506e+02] [ 1.02069243e-01 9.94777241e-01 -3.33244621e-04 4.61778639e+00] [ 2.39679924e-03 8.90693665e-05 9.99997124e-01 2.28252306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.675336195 meters 0.03913293472223775 Centerline is valid? [True, True] Translation: X:121.92, Y:4.62, Z:0.23 [[ 9.94777547e-01 -1.02046828e-01 -2.01908352e-03 1.21920961e+02] [ 1.02046461e-01 9.94779593e-01 -2.84012794e-04 4.62096635e+00] [ 2.03752569e-03 7.64892226e-05 9.99997921e-01 2.29314238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.705336195 meters 0.03826435712199541 Centerline is valid? [True, True] Translation: X:121.95, Y:4.62, Z:0.23 [[ 9.94933092e-01 -1.00512938e-01 -2.30054291e-03 1.21950835e+02] [ 1.00512461e-01 9.94935747e-01 -3.22270911e-04 4.62176556e+00] [ 2.32128478e-03 8.94047640e-05 9.99997302e-01 2.30846299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.735336195 meters 0.04346576524893561 Centerline is valid? [True, True] Translation: X:121.98, Y:4.63, Z:0.23 [[ 9.95082355e-01 -9.90160013e-02 -2.63389785e-03 1.21978367e+02] [ 9.90153706e-02 9.95085836e-01 -3.69124523e-04 4.63116680e+00] [ 2.65750368e-03 1.06512929e-04 9.99996463e-01 2.29079318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.765336195 meters 0.055613529019247605 Centerline is valid? [True, True] Translation: X:122.01, Y:4.65, Z:0.23 [[ 9.95525964e-01 -9.44663221e-02 -2.04178918e-03 1.22005654e+02] [ 9.44659336e-02 9.95528054e-01 -2.86087025e-04 4.64841639e+00] [ 2.05968400e-03 9.19275400e-05 9.99997875e-01 2.29635200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.795336195 meters 0.05460685685079317 Centerline is valid? [True, True] Translation: X:122.04, Y:4.65, Z:0.23 [[ 9.95993153e-01 -8.94261936e-02 -7.71368889e-04 1.22035277e+02] [ 8.94261366e-02 9.95993451e-01 -1.08090558e-04 4.65328685e+00] [ 7.77944489e-04 3.86769161e-05 9.99999697e-01 2.33280539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825336195 meters 0.06557617259662218 Centerline is valid? [True, True] Translation: X:122.06, Y:4.67, Z:0.23 [[ 9.96159421e-01 -8.75427736e-02 -1.63430040e-03 1.22062334e+02] [ 8.75425154e-02 9.96160758e-01 -2.29024770e-04 4.67230481e+00] [ 1.64807539e-03 8.50744148e-05 9.99998638e-01 2.28708253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.855336195 meters 0.06905914779593632 Centerline is valid? [True, True] Translation: X:122.09, Y:4.68, Z:0.22 [[ 9.96362730e-01 -8.51318666e-02 -3.72491299e-03 1.22091073e+02] [ 8.51305084e-02 9.96369672e-01 -5.21966589e-04 4.67814368e+00] [ 3.75582632e-03 2.02964320e-04 9.99992926e-01 2.23643292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.885336195 meters 0.06215110532773445 Centerline is valid? [True, True] Translation: X:122.12, Y:4.67, Z:0.23 [[ 9.96398766e-01 -8.47140811e-02 -3.60876693e-03 1.22121109e+02] [ 8.47127978e-02 9.96405281e-01 -5.07266361e-04 4.67227734e+00] [ 3.63876704e-03 1.99730833e-04 9.99993360e-01 2.25743730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.915336195 meters 0.07198826484037738 Centerline is valid? [True, True] Translation: X:122.15, Y:4.69, Z:0.23 [[ 9.96441014e-01 -8.42708039e-02 -1.93333351e-03 1.22146210e+02] [ 8.42704347e-02 9.96442883e-01 -2.71762653e-04 4.69004983e+00] [ 1.94935807e-03 1.07872599e-04 9.99998094e-01 2.26202282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.945336195 meters 0.07218532374454815 Centerline is valid? [True, True] Translation: X:122.17, Y:4.70, Z:0.23 [[ 9.96425449e-01 -8.44539973e-02 -1.96112435e-03 1.22174141e+02] [ 8.44536157e-02 9.96427373e-01 -2.76710864e-04 4.69594315e+00] [ 1.97748732e-03 1.10097705e-04 9.99998039e-01 2.25496434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.975336195 meters 0.06143949315958273 Centerline is valid? [True, True] Translation: X:122.20, Y:4.69, Z:0.23 [[ 9.96447737e-01 -8.41634445e-02 -2.90198664e-03 1.22204156e+02] [ 8.41626083e-02 9.96451950e-01 -4.09281007e-04 4.68897880e+00] [ 2.92613675e-03 1.63588368e-04 9.99995705e-01 2.26267696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.005336195 meters 0.07489233507722058 Centerline is valid? [True, True] Translation: X:122.23, Y:4.71, Z:0.22 [[ 9.96505597e-01 -8.34989738e-02 -2.12525270e-03 1.22228622e+02] [ 8.34985236e-02 9.96507856e-01 -2.99816270e-04 4.71162129e+00] [ 2.14286536e-03 1.21313129e-04 9.99997697e-01 2.24275146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.035336195 meters 0.07821604455369069 Centerline is valid? [True, True] Translation: X:122.26, Y:4.72, Z:0.23 [[ 9.96675213e-01 -8.14661205e-02 -1.33857918e-03 1.22256732e+02] [ 8.14659405e-02 9.96676108e-01 -1.88565096e-04 4.72198320e+00] [ 1.34949155e-03 7.88895457e-05 9.99999086e-01 2.25080938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06533619500001 meters 0.06306973673746709 Centerline is valid? [True, True] Translation: X:122.29, Y:4.71, Z:0.23 [[ 9.96758037e-01 -8.03521475e-02 -4.11686413e-03 1.22288540e+02] [ 8.03504359e-02 9.96766508e-01 -5.79744100e-04 4.70932008e+00] [ 4.15013597e-03 2.47072763e-04 9.99991358e-01 2.25263047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09533619500002 meters 0.06702180272180602 Centerline is valid? [True, True] Translation: X:122.32, Y:4.72, Z:0.22 [[ 9.96725701e-01 -8.07079196e-02 -4.91004585e-03 1.22315019e+02] [ 8.07054868e-02 9.96737752e-01 -6.91939267e-04 4.72021742e+00] [ 4.94987304e-03 2.93406010e-04 9.99987706e-01 2.22859382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12533619500002 meters 0.05743702233142701 Centerline is valid? [True, True] Translation: X:122.34, Y:4.72, Z:0.22 [[ 9.96508093e-01 -8.33238060e-02 -5.36313942e-03 1.22344821e+02] [ 8.33209421e-02 9.96522478e-01 -7.55630044e-04 4.72064817e+00] [ 5.40745096e-03 3.06129625e-04 9.99985333e-01 2.22522755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15533619500002 meters 0.05892168672714374 Centerline is valid? [True, True] Translation: X:122.37, Y:4.73, Z:0.22 [[ 9.96350005e-01 -8.51875627e-02 -5.45401253e-03 1.22372666e+02] [ 8.51846281e-02 9.96364887e-01 -7.68558930e-04 4.73114284e+00] [ 5.49965824e-03 3.01155666e-04 9.99984831e-01 2.19786715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18533619500002 meters 0.0509065323577997 Centerline is valid? [True, True] Translation: X:122.40, Y:4.73, Z:0.22 [[ 9.95870137e-01 -9.06794134e-02 -4.46248855e-03 1.22403375e+02] [ 9.06775036e-02 9.95880111e-01 -6.28883679e-04 4.72954321e+00] [ 4.50113040e-03 2.21639154e-04 9.99989845e-01 2.22792858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21533619500002 meters 0.048437814511367375 Centerline is valid? [True, True] Translation: X:122.43, Y:4.73, Z:0.23 [[ 9.95534238e-01 -9.43479240e-02 -3.17030563e-03 1.22432742e+02] [ 9.43469783e-02 9.95539275e-01 -4.46877924e-04 4.73050627e+00] [ 3.19832577e-03 1.45773517e-04 9.99994875e-01 2.25819511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24533619500002 meters 0.04314818168108017 Centerline is valid? [True, True] Translation: X:122.46, Y:4.73, Z:0.23 [[ 9.94719284e-01 -1.02605032e-01 -2.39854004e-03 1.22462592e+02] [ 1.02604515e-01 9.94722172e-01 -3.38052572e-04 4.73066191e+00] [ 2.42056685e-03 9.01663747e-05 9.99997066e-01 2.26585104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.275336195 meters 0.03911500742751779 Centerline is valid? [True, True] Translation: X:122.49, Y:4.73, Z:0.23 [[ 9.94328206e-01 -1.06324653e-01 -2.54715169e-03 1.22492646e+02] [ 1.06324081e-01 9.94331464e-01 -3.59065159e-04 4.73283439e+00] [ 2.57089055e-03 8.62050518e-05 9.99996692e-01 2.25971326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.305336195 meters 0.02879935367086085 Centerline is valid? [True, True] Translation: X:122.52, Y:4.73, Z:0.23 [[ 9.93538985e-01 -1.13484385e-01 -1.25691196e-03 1.22523099e+02] [ 1.13484252e-01 9.93539779e-01 -1.77280133e-04 4.72877133e+00] [ 1.26891055e-03 3.34950101e-05 9.99999194e-01 2.27962705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.335336195 meters 0.022704986088066682 Centerline is valid? [True, True] Translation: X:122.55, Y:4.73, Z:0.23 [[ 9.92693937e-01 -1.20659258e-01 -3.02635617e-04 1.22552690e+02] [ 1.20659251e-01 9.92693983e-01 -4.28008204e-05 4.72578577e+00] [ 3.05588871e-04 5.97232817e-06 9.99999953e-01 2.27726058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.365336195 meters 0.017484577523805403 Centerline is valid? [True, True] Translation: X:122.58, Y:4.72, Z:0.23 [[ 9.92267046e-01 -1.24118957e-01 -7.70553722e-04 1.22582145e+02] [ 1.24118909e-01 9.92267345e-01 -1.09020527e-04 4.72211229e+00] [ 7.78126810e-04 1.25371886e-05 9.99999697e-01 2.28591740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.395336195 meters 0.015268720378979448 Centerline is valid? [True, True] Translation: X:122.61, Y:4.72, Z:0.23 [[ 9.91599111e-01 -1.29335952e-01 -1.84787222e-03 1.22610343e+02] [ 1.29335690e-01 9.91600832e-01 -2.61145164e-04 4.72249212e+00] [ 1.86612709e-03 1.99554831e-05 9.99998259e-01 2.25864679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.425336195 meters 0.013467970525801641 Centerline is valid? [True, True] Translation: X:122.64, Y:4.73, Z:0.23 [[ 9.91411216e-01 -1.30761915e-01 -2.26328988e-03 1.22639550e+02] [ 1.30761523e-01 9.91413799e-01 -3.20763446e-04 4.72565851e+00] [ 2.28580046e-03 2.20572451e-05 9.99997387e-01 2.25593555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.455336195 meters 0.013504459387041999 Centerline is valid? [True, True] Translation: X:122.67, Y:4.74, Z:0.22 [[ 9.91395918e-01 -1.30871204e-01 -2.61940502e-03 1.22666278e+02] [ 1.30870679e-01 9.91399378e-01 -3.71823294e-04 4.73635873e+00] [ 2.64553747e-03 2.58207838e-05 9.99996500e-01 2.23369802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.485336195 meters 0.014590879934718012 Centerline is valid? [True, True] Translation: X:122.69, Y:4.75, Z:0.22 [[ 9.91689049e-01 -1.28634903e-01 -2.42716975e-03 1.22693728e+02] [ 1.28634444e-01 9.91692019e-01 -3.44925662e-04 4.74571244e+00] [ 2.45137435e-03 2.98413690e-05 9.99996995e-01 2.23246187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.515336195 meters 0.01789992030555444 Centerline is valid? [True, True] Translation: X:122.72, Y:4.75, Z:0.22 [[ 9.91894201e-01 -1.27040493e-01 -2.57060389e-03 1.22720505e+02] [ 1.27039975e-01 9.91897531e-01 -3.64583520e-04 4.75383253e+00] [ 2.59609252e-03 3.50588250e-05 9.99996630e-01 2.21090160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.545336195 meters 0.01868063988750404 Centerline is valid? [True, True] Translation: X:122.75, Y:4.76, Z:0.22 [[ 9.92082332e-01 -1.25558906e-01 -2.75824176e-03 1.22748483e+02] [ 1.25558303e-01 9.92086165e-01 -3.91308722e-04 4.75865411e+00] [ 2.78554579e-03 4.18903142e-05 9.99996119e-01 2.22013403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.575336195 meters 0.020149499770862542 Centerline is valid? [True, True] Translation: X:122.78, Y:4.77, Z:0.22 [[ 9.92366317e-01 -1.23275829e-01 -3.48765874e-03 1.22776200e+02] [ 1.23274851e-01 9.92372443e-01 -4.94896251e-04 4.76601067e+00] [ 3.52206517e-03 6.11777578e-05 9.99993796e-01 2.22714822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605336195 meters 0.020130844143613436 Centerline is valid? [True, True] Translation: X:122.80, Y:4.77, Z:0.22 [[ 9.92321260e-01 -1.23596650e-01 -4.73119095e-03 1.22804957e+02] [ 1.23594847e-01 9.92332536e-01 -6.72783314e-04 4.76970817e+00] [ 4.77806848e-03 8.28663643e-05 9.99988582e-01 2.20418363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.635336195 meters 0.01997655657398147 Centerline is valid? [True, True] Translation: X:122.83, Y:4.77, Z:0.22 [[ 9.92249734e-01 -1.24187000e-01 -4.24895752e-03 1.22832245e+02] [ 1.24185553e-01 9.92258829e-01 -6.03795573e-04 4.77345864e+00] [ 4.29104917e-03 7.14568570e-05 9.99990791e-01 2.19764649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.665336195 meters 0.01737683821542217 Centerline is valid? [True, True] Translation: X:122.86, Y:4.77, Z:0.22 [[ 9.92009553e-01 -1.26138035e-01 -2.49862269e-03 1.22861604e+02] [ 1.26137537e-01 9.92012699e-01 -3.56470370e-04 4.77140598e+00] [ 2.52362991e-03 3.84518996e-05 9.99996815e-01 2.23240510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.695336195 meters 0.01697377260279701 Centerline is valid? [True, True] Translation: X:122.89, Y:4.77, Z:0.22 [[ 9.91912055e-01 -1.26919385e-01 -1.39451699e-03 1.22889393e+02] [ 1.26919230e-01 9.91913035e-01 -1.99039922e-04 4.77239508e+00] [ 1.40850160e-03 2.04390747e-05 9.99999008e-01 2.24803415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.725336195 meters 0.01641129738545912 Centerline is valid? [True, True] Translation: X:122.92, Y:4.77, Z:0.23 [[ 9.91801109e-01 -1.27790949e-01 1.84490274e-04 1.22917965e+02] [ 1.27790947e-01 9.91801126e-01 2.50599363e-05 4.77301856e+00] [-1.86180094e-04 -1.27828583e-06 9.99999983e-01 2.26423680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.755336195 meters 0.016499301288383637 Centerline is valid? [True, True] Translation: X:122.95, Y:4.78, Z:0.22 [[ 9.91837996e-01 -1.27504385e-01 -1.46726919e-04 1.22947134e+02] [ 1.27504383e-01 9.91838007e-01 -2.21513108e-05 4.77518549e+00] [ 1.48353724e-04 3.26218639e-06 9.99999989e-01 2.24421390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.785336195 meters 0.017834144821953123 Centerline is valid? [True, True] Translation: X:122.98, Y:4.78, Z:0.22 [[ 9.91959079e-01 -1.26558462e-01 -3.76517782e-04 1.22975054e+02] [ 1.26558451e-01 9.91959150e-01 -5.41485433e-05 4.77890795e+00] [ 3.80343215e-04 6.06163205e-06 9.99999928e-01 2.23567217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81533619500001 meters 0.022001041961048566 Centerline is valid? [True, True] Translation: X:123.00, Y:4.78, Z:0.22 [[ 9.92468297e-01 -1.22499429e-01 -7.54339354e-04 1.23003622e+02] [ 1.22499382e-01 9.92468584e-01 -1.07897722e-04 4.78016556e+00] [ 7.61875520e-04 1.46789632e-05 9.99999710e-01 2.24111543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84533619500002 meters 0.024821686845472837 Centerline is valid? [True, True] Translation: X:123.03, Y:4.78, Z:0.22 [[ 9.92810536e-01 -1.19683744e-01 -1.74374122e-03 1.23033270e+02] [ 1.19683491e-01 9.92812067e-01 -2.49031777e-04 4.78341633e+00] [ 1.76101238e-03 3.85443347e-05 9.99998449e-01 2.23553478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87533619500002 meters 0.031197516819607946 Centerline is valid? [True, True] Translation: X:123.06, Y:4.79, Z:0.22 [[ 9.93552924e-01 -1.13289322e-01 -4.25628663e-03 1.23062040e+02] [ 1.13287758e-01 9.93562034e-01 -6.07563721e-04 4.79230806e+00] [ 4.29771528e-03 1.21461542e-04 9.99990757e-01 2.19918838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90533619500002 meters 0.03239080322944837 Centerline is valid? [True, True] Translation: X:123.09, Y:4.80, Z:0.22 [[ 9.93957416e-01 -1.09662486e-01 -4.77436460e-03 1.23091853e+02] [ 1.09660476e-01 9.93968871e-01 -6.81429599e-04 4.80035544e+00] [ 4.82029705e-03 1.53752907e-04 9.99988370e-01 2.18007688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93533619500002 meters 0.04134967555490902 Centerline is valid? [True, True] Translation: X:123.12, Y:4.82, Z:0.21 [[ 9.94350066e-01 -1.06005936e-01 -5.53958104e-03 1.23118740e+02] [ 1.06003173e-01 9.94365477e-01 -7.90778192e-04 4.81813067e+00] [ 5.59219532e-03 1.99097179e-04 9.99984344e-01 2.11704745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96533619500002 meters 0.04538975277829309 Centerline is valid? [True, True] Translation: X:123.15, Y:4.83, Z:0.21 [[ 9.95007510e-01 -9.95470746e-02 -7.10172398e-03 1.23148373e+02] [ 9.95423697e-02 9.95032808e-01 -1.01379264e-03 4.82719209e+00] [ 7.16736844e-03 3.01808852e-04 9.99974269e-01 2.08946932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99533619500002 meters 0.05590587305290468 Centerline is valid? [True, True] Translation: X:123.18, Y:4.84, Z:0.21 [[ 9.95560968e-01 -9.39422855e-02 -5.76252497e-03 1.23176082e+02] [ 9.39390938e-02 9.95577606e-01 -8.22666204e-04 4.84132882e+00] [ 5.81432396e-03 2.77687989e-04 9.99983058e-01 2.12272664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.025336195 meters 0.05235537621147781 Centerline is valid? [True, True] Translation: X:123.21, Y:4.84, Z:0.22 [[ 9.95769568e-01 -9.17536242e-02 -4.92331662e-03 1.23206349e+02] [ 9.17512665e-02 9.95781708e-01 -7.03100951e-04 4.84071169e+00] [ 4.96706069e-03 2.48405995e-04 9.99987633e-01 2.16801198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.055336195 meters 0.05532483288429824 Centerline is valid? [True, True] Translation: X:123.23, Y:4.85, Z:0.22 [[ 9.96093226e-01 -8.81458938e-02 -5.34669405e-03 1.23234625e+02] [ 8.81430620e-02 9.96107533e-01 -7.63439549e-04 4.85382971e+00] [ 5.39317628e-03 2.89182978e-04 9.99985415e-01 2.15984430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.085336195 meters 0.05746111069440381 Centerline is valid? [True, True] Translation: X:123.26, Y:4.87, Z:0.21 [[ 9.96290284e-01 -8.58339193e-02 -6.18127993e-03 1.23263520e+02] [ 8.58300893e-02 9.96309398e-01 -8.82724557e-04 4.86555717e+00] [ 6.23423499e-03 3.48910091e-04 9.99980506e-01 2.12722132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.115336195 meters 0.06146318432575404 Centerline is valid? [True, True] Translation: X:123.29, Y:4.88, Z:0.21 [[ 9.96461114e-01 -8.37465824e-02 -7.19431586e-03 1.23290881e+02] [ 8.37413391e-02 9.96486996e-01 -1.02751329e-03 4.88271893e+00] [ 7.25509292e-03 4.21415390e-04 9.99973593e-01 2.07349344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.145336195 meters 0.06378349216573674 Centerline is valid? [True, True] Translation: X:123.32, Y:4.89, Z:0.21 [[ 9.96421468e-01 -8.42727789e-02 -6.50824133e-03 1.23318046e+02] [ 8.42684946e-02 9.96442650e-01 -9.30221655e-04 4.89116573e+00] [ 6.56348161e-03 3.78453127e-04 9.99978389e-01 2.07086208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.175336195 meters 0.06162854786756067 Centerline is valid? [True, True] Translation: X:123.35, Y:4.90, Z:0.22 [[ 9.96147405e-01 -8.76619608e-02 -2.39343888e-03 1.23346816e+02] [ 8.76613911e-02 9.96150272e-01 -3.42114077e-04 4.89608777e+00] [ 2.41421518e-03 1.30983868e-04 9.99997077e-01 2.16518357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.205336195 meters 0.05430320472142385 Centerline is valid? [True, True] Translation: X:123.38, Y:4.90, Z:0.22 [[ 9.95630316e-01 -9.33791256e-02 7.82523333e-04 1.23377611e+02] [ 9.33790665e-02 9.95630623e-01 1.11779772e-04 4.89721784e+00] [-7.89542091e-04 -3.82200311e-05 9.99999688e-01 2.23702094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.235336195 meters 0.047546432011250236 Centerline is valid? [True, True] Translation: X:123.41, Y:4.90, Z:0.22 [[ 9.95277935e-01 -9.70634659e-02 7.18340861e-04 1.23408865e+02] [ 9.70634171e-02 9.95278194e-01 1.02586766e-04 4.89613219e+00] [-7.24906421e-04 -3.23777264e-05 9.99999737e-01 2.22926584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.265336195 meters 0.04304341908938647 Centerline is valid? [True, True] Translation: X:123.44, Y:4.90, Z:0.22 [[ 9.94481689e-01 -1.04908477e-01 -6.17570432e-04 1.23437954e+02] [ 1.04908442e-01 9.94481881e-01 -8.83826695e-05 4.89741293e+00] [ 6.23434696e-04 2.31065945e-05 9.99999805e-01 2.18064147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.295336195 meters 0.03533687355434377 Centerline is valid? [True, True] Translation: X:123.47, Y:4.89, Z:0.22 [[ 9.93998704e-01 -1.09388467e-01 -8.59535254e-04 1.23469434e+02] [ 1.09388402e-01 9.93999076e-01 -1.22963508e-04 4.89292038e+00] [ 8.67828038e-04 2.82023798e-05 9.99999623e-01 2.17198958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325336195 meters 0.026115947298289525 Centerline is valid? [True, True] Translation: X:123.50, Y:4.89, Z:0.21 [[ 9.92784712e-01 -1.19879174e-01 -2.73858163e-03 1.23499627e+02] [ 1.19878549e-01 9.92788487e-01 -3.91622081e-04 4.88687631e+00] [ 2.76577965e-03 6.04992217e-05 9.99996173e-01 2.11043083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.355336195 meters 0.02038624914210485 Centerline is valid? [True, True] Translation: X:123.53, Y:4.88, Z:0.21 [[ 9.92146446e-01 -1.24992684e-01 -4.71796384e-03 1.23530634e+02] [ 1.24990890e-01 9.92157660e-01 -6.74426188e-04 4.88394364e+00] [ 4.76526230e-03 7.94270467e-05 9.99988643e-01 2.07611476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.385336195 meters 0.014964143696603668 Centerline is valid? [True, True] Translation: X:123.56, Y:4.88, Z:0.20 [[ 9.91099544e-01 -1.32991540e-01 -5.91131453e-03 1.23560673e+02] [ 1.32988864e-01 9.91117172e-01 -8.45169450e-04 4.87978868e+00] [ 5.97120573e-03 5.15080525e-05 9.99982171e-01 2.03863291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.415336195 meters 0.011907843696446159 Centerline is valid? [True, True] Translation: X:123.59, Y:4.88, Z:0.21 [[ 9.90713249e-01 -1.35864921e-01 -5.28979661e-03 1.23589804e+02] [ 1.35862809e-01 9.90727370e-01 -7.58335635e-04 4.87804160e+00] [ 5.34377750e-03 3.26065358e-05 9.99985721e-01 2.07992777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.445336195 meters 0.01092841175648649 Centerline is valid? [True, True] Translation: X:123.62, Y:4.88, Z:0.21 [[ 9.90434651e-01 -1.37877575e-01 -5.38288497e-03 1.23619086e+02] [ 1.37875413e-01 9.90449279e-01 -7.72575067e-04 4.87693586e+00] [ 5.43799531e-03 2.30176303e-05 9.99985214e-01 2.10409371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.475336195 meters 0.011688203338612332 Centerline is valid? [True, True] Translation: X:123.65, Y:4.89, Z:0.21 [[ 9.90776129e-01 -1.35418023e-01 -4.96202897e-03 1.23646653e+02] [ 1.35416150e-01 9.90788553e-01 -7.13163721e-04 4.88610573e+00] [ 5.01289673e-03 3.46467314e-05 9.99987435e-01 2.11692973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.505336195 meters 0.011688203338612332 Centerline is valid? [True, True] Translation: X:123.67, Y:4.89, Z:0.21 [[ 9.90749765e-01 -1.35610777e-01 -4.96186448e-03 1.23673896e+02] [ 1.35608900e-01 9.90762189e-01 -7.14308581e-04 4.89018522e+00] [ 5.01289566e-03 3.48280739e-05 9.99987435e-01 2.11490638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.535336195 meters 0.013406902653856329 Centerline is valid? [True, True] Translation: X:123.70, Y:4.90, Z:0.21 [[ 9.91044900e-01 -1.33455143e-01 -4.44191252e-03 1.23700151e+02] [ 1.33453619e-01 9.91054854e-01 -6.39029034e-04 4.89951983e+00] [ 4.48746068e-03 4.05171647e-05 9.99989930e-01 2.10304268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56533619500001 meters 0.01957291884193919 Centerline is valid? [True, True] Translation: X:123.73, Y:4.91, Z:0.21 [[ 9.91730436e-01 -1.28260175e-01 -4.47997944e-03 1.23727023e+02] [ 1.28258573e-01 9.91740552e-01 -6.44384532e-04 4.91309035e+00] [ 4.52562616e-03 6.44599830e-05 9.99989757e-01 2.07473009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59533619500002 meters 0.01997699239296937 Centerline is valid? [True, True] Translation: X:123.76, Y:4.92, Z:0.21 [[ 9.92032665e-01 -1.25892037e-01 -4.73150512e-03 1.23755771e+02] [ 1.25890214e-01 9.92043945e-01 -6.82311458e-04 4.91786933e+00] [ 4.77975858e-03 8.12250616e-05 9.99988574e-01 2.09212042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62533619500002 meters 0.024448421284758062 Centerline is valid? [True, True] Translation: X:123.78, Y:4.93, Z:0.21 [[ 9.92621584e-01 -1.21152625e-01 -4.94287739e-03 1.23784051e+02] [ 1.21150582e-01 9.92633885e-01 -7.11803856e-04 4.92949213e+00] [ 4.99270449e-03 1.07719400e-04 9.99987531e-01 2.09136313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65533619500002 meters 0.02656951330292114 Centerline is valid? [True, True] Translation: X:123.81, Y:4.94, Z:0.21 [[ 9.92833169e-01 -1.19423065e-01 -4.52006286e-03 1.23810319e+02] [ 1.19421335e-01 9.92843452e-01 -6.51600791e-04 4.93845215e+00] [ 4.56553097e-03 1.07138937e-04 9.99989572e-01 2.09184448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68533619500002 meters 0.032279363395456964 Centerline is valid? [True, True] Translation: X:123.84, Y:4.95, Z:0.21 [[ 9.93213955e-01 -1.16225887e-01 -4.19318350e-03 1.23837622e+02] [ 1.16224371e-01 9.93222800e-01 -6.04402301e-04 4.95173336e+00] [ 4.23501265e-03 1.12950685e-04 9.99991026e-01 2.07461167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71533619500002 meters 0.031121657841462563 Centerline is valid? [True, True] Translation: X:123.87, Y:4.95, Z:0.21 [[ 9.93309723e-01 -1.15388850e-01 -4.60513313e-03 1.23867052e+02] [ 1.15387004e-01 9.93320390e-01 -6.65450251e-04 4.95251834e+00] [ 4.65115818e-03 1.29625688e-04 9.99989175e-01 2.08072149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74533619500002 meters 0.034057339477335934 Centerline is valid? [True, True] Translation: X:123.89, Y:4.96, Z:0.21 [[ 9.93520940e-01 -1.13600688e-01 -3.32038955e-03 1.23894407e+02] [ 1.13599718e-01 9.93526484e-01 -4.79867852e-04 4.95854772e+00] [ 3.35340827e-03 9.95634435e-05 9.99994372e-01 2.10700695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.775336195 meters 0.03343316414299272 Centerline is valid? [True, True] Translation: X:123.92, Y:4.96, Z:0.21 [[ 9.93559004e-01 -1.13300173e-01 -1.89099901e-03 1.23921478e+02] [ 1.13299855e-01 9.93560802e-01 -2.74653721e-04 4.96414279e+00] [ 1.90994081e-03 5.86347639e-05 9.99998174e-01 2.13304264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.805336195 meters 0.03573365788486053 Centerline is valid? [True, True] Translation: X:123.95, Y:4.98, Z:0.21 [[ 9.93651875e-01 -1.12498522e-01 -1.84092902e-04 1.23948120e+02] [ 1.12498519e-01 9.93651892e-01 -2.70429754e-05 4.97507174e+00] [ 1.85966555e-04 6.16112439e-06 9.99999983e-01 2.14532637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.835336195 meters 0.03391313035602066 Centerline is valid? [True, True] Translation: X:123.98, Y:4.98, Z:0.21 [[ 9.93668111e-01 -1.12350268e-01 -1.04972268e-03 1.23977271e+02] [ 1.12350169e-01 9.93668665e-01 -1.53145552e-04 4.97824141e+00] [ 1.06028248e-03 3.42393315e-05 9.99999437e-01 2.13330490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.865336195 meters 0.03589706843107801 Centerline is valid? [True, True] Translation: X:124.01, Y:4.98, Z:0.21 [[ 9.93798538e-01 -1.11139677e-01 -3.52690235e-03 1.24005611e+02] [ 1.11138563e-01 9.93804789e-01 -5.10872925e-04 4.98401900e+00] [ 3.56183070e-03 1.15729907e-04 9.99993650e-01 2.07804669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.895336195 meters 0.03671242881325012 Centerline is valid? [True, True] Translation: X:124.03, Y:4.99, Z:0.21 [[ 9.93856469e-01 -1.10618738e-01 -3.57968310e-03 1.24034167e+02] [ 1.10617581e-01 9.93862908e-01 -5.20044580e-04 4.98811110e+00] [ 3.61524094e-03 1.20873783e-04 9.99993458e-01 2.08090437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.925336195 meters 0.03877580178032829 Centerline is valid? [True, True] Translation: X:124.06, Y:4.99, Z:0.21 [[ 9.93863004e-01 -1.10614323e-01 -8.94754081e-04 1.24061530e+02] [ 1.10614250e-01 9.93863406e-01 -1.30165026e-04 4.99385944e+00] [ 9.03661455e-04 3.03936517e-05 9.99999591e-01 2.13420509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.955336195 meters 0.03680708659404024 Centerline is valid? [True, True] Translation: X:124.09, Y:5.00, Z:0.21 [[ 9.93761809e-01 -1.11515150e-01 -1.35609280e-03 1.24090055e+02] [ 1.11514983e-01 9.93762733e-01 -1.98033581e-04 5.00052026e+00] [ 1.36971824e-03 4.55735437e-05 9.99999061e-01 2.12452626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.985336195 meters 0.035604542986252694 Centerline is valid? [True, True] Translation: X:124.12, Y:5.01, Z:0.21 [[ 9.93602289e-01 -1.12903568e-01 -2.69742054e-03 1.24118180e+02] [ 1.12902916e-01 9.93605947e-01 -3.93185847e-04 5.00561062e+00] [ 2.72456517e-03 8.61237124e-05 9.99996285e-01 2.08633437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.015336195 meters 0.032527276071025825 Centerline is valid? [True, True] Translation: X:124.15, Y:5.00, Z:0.21 [[ 9.93211132e-01 -1.16315271e-01 -1.55098080e-03 1.24147897e+02] [ 1.16315061e-01 9.93212342e-01 -2.25600152e-04 5.00147301e+00] [ 1.56669402e-03 4.36661561e-05 9.99998772e-01 2.09836238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.045336195 meters 0.03125663117879068 Centerline is valid? [True, True] Translation: X:124.18, Y:5.00, Z:0.21 [[ 9.93030487e-01 -1.17857675e-01 -1.39717284e-04 1.24176373e+02] [ 1.17857673e-01 9.93030497e-01 -2.08919204e-05 4.99917994e+00] [ 1.41205797e-04 4.27955980e-06 9.99999990e-01 2.13348611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.075336195 meters 0.028547612650460023 Centerline is valid? [True, True] Translation: X:124.20, Y:5.00, Z:0.21 [[ 9.92679775e-01 -1.20775292e-01 -4.40467818e-04 1.24204586e+02] [ 1.20775275e-01 9.92679872e-01 -6.46753685e-05 4.99644744e+00] [ 4.45054724e-04 1.10043083e-05 9.99999901e-01 2.13252914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.105336195 meters 0.027509748436888522 Centerline is valid? [True, True] Translation: X:124.23, Y:5.00, Z:0.21 [[ 9.92538848e-01 -1.21921799e-01 -1.30742413e-03 1.24232772e+02] [ 1.21921652e-01 9.92539709e-01 -1.91610771e-04 5.00050591e+00] [ 1.32103190e-03 3.07778234e-05 9.99999127e-01 2.10133571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.135336195 meters 0.027042781724527207 Centerline is valid? [True, True] Translation: X:124.26, Y:5.01, Z:0.21 [[ 9.92437513e-01 -1.22735408e-01 -1.95012082e-03 1.24260178e+02] [ 1.22735085e-01 9.92439428e-01 -2.84850529e-04 5.00652166e+00] [ 1.97033804e-03 4.33481061e-05 9.99998058e-01 2.06560506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.165336195 meters 0.027687659401842993 Centerline is valid? [True, True] Translation: X:124.29, Y:5.01, Z:0.21 [[ 9.92480372e-01 -1.22378757e-01 -2.47999149e-03 1.24289385e+02] [ 1.22378231e-01 9.92483469e-01 -3.63003284e-04 5.00836255e+00] [ 2.50577444e-03 5.67766624e-05 9.99996859e-01 2.05497952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.195336195 meters 0.028193143856484016 Centerline is valid? [True, True] Translation: X:124.32, Y:5.01, Z:0.21 [[ 9.92493075e-01 -1.22268656e-01 -2.80553132e-03 1.24318591e+02] [ 1.22267983e-01 9.92497039e-01 -4.10942581e-04 5.01006881e+00] [ 2.83472692e-03 6.48310102e-05 9.99995980e-01 2.05779602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.225336195 meters 0.028818903714717806 Centerline is valid? [True, True] Translation: X:124.35, Y:5.01, Z:0.21 [[ 9.92569201e-01 -1.21665532e-01 -1.96977280e-03 1.24347850e+02] [ 1.21665197e-01 9.92571154e-01 -2.89178872e-04 5.01160042e+00] [ 1.99032276e-03 4.73772454e-05 9.99998018e-01 2.09699362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.255336195 meters 0.0304089651348936 Centerline is valid? [True, True] Translation: X:124.37, Y:5.02, Z:0.21 [[ 9.92685707e-01 -1.20712592e-01 -1.88602813e-03 1.24374841e+02] [ 1.20712285e-01 9.92687498e-01 -2.76296128e-04 5.01842673e+00] [ 1.90558896e-03 4.66084520e-05 9.99998183e-01 2.09698871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.285336195 meters 0.03527954744081454 Centerline is valid? [True, True] Translation: X:124.40, Y:5.03, Z:0.21 [[ 9.93102836e-01 -1.17220832e-01 -2.45627874e-03 1.24401489e+02] [ 1.17220301e-01 9.93105871e-01 -3.59734136e-04 5.03049190e+00] [ 2.48151317e-03 6.93272579e-05 9.99996919e-01 2.06021252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31533619500001 meters 0.03757232312601416 Centerline is valid? [True, True] Translation: X:124.43, Y:5.04, Z:0.21 [[ 9.93285854e-01 -1.15661376e-01 -2.37860933e-03 1.24429716e+02] [ 1.15660870e-01 9.93288700e-01 -3.49531813e-04 5.03696996e+00] [ 2.40307310e-03 7.20729810e-05 9.99997110e-01 2.05734959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34533619500002 meters 0.033551459988650806 Centerline is valid? [True, True] Translation: X:124.46, Y:5.03, Z:0.21 [[ 9.93542609e-01 -1.13444039e-01 -1.87970152e-03 1.24460376e+02] [ 1.13443720e-01 9.93544386e-01 -2.75555036e-04 5.03358242e+00] [ 1.89882697e-03 6.05353359e-05 9.99998195e-01 2.09554495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37533619500002 meters 0.03418382948346557 Centerline is valid? [True, True] Translation: X:124.49, Y:5.04, Z:0.21 [[ 9.93571987e-01 -1.13164018e-01 -2.93446622e-03 1.24489003e+02] [ 1.13163236e-01 9.93576316e-01 -4.31616782e-04 5.03729182e+00] [ 2.96445962e-03 9.67686499e-05 9.99995601e-01 2.07627220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40533619500002 meters 0.04129533047877396 Centerline is valid? [True, True] Translation: X:124.51, Y:5.05, Z:0.20 [[ 9.93519477e-01 -1.13599523e-01 -3.76778414e-03 1.24514468e+02] [ 1.13598240e-01 9.93526614e-01 -5.53537525e-04 5.04997069e+00] [ 3.80627542e-03 1.21936664e-04 9.99992749e-01 2.02341056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43533619500002 meters 0.03340699220864083 Centerline is valid? [True, True] Translation: X:124.54, Y:5.04, Z:0.21 [[ 9.93334029e-01 -1.15237415e-01 -2.80097522e-03 1.24544527e+02] [ 1.15236712e-01 9.93337974e-01 -4.11524912e-04 5.04493893e+00] [ 2.82973812e-03 8.60065240e-05 9.99995993e-01 2.06241429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46533619500002 meters 0.02994168913328537 Centerline is valid? [True, True] Translation: X:124.57, Y:5.04, Z:0.21 [[ 9.93233801e-01 -1.16061380e-01 -4.04629016e-03 1.24573085e+02] [ 1.16059913e-01 9.93242036e-01 -5.96229341e-04 5.04492978e+00] [ 4.08814468e-03 1.22583051e-04 9.99991636e-01 2.05512338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49533619500002 meters 0.03173857168942438 Centerline is valid? [True, True] Translation: X:124.60, Y:5.05, Z:0.20 [[ 9.93159997e-01 -1.16648813e-01 -5.12581813e-03 1.24599468e+02] [ 1.16646471e-01 9.93173213e-01 -7.54543659e-04 5.05118120e+00] [ 5.17884189e-03 1.51473980e-04 9.99986578e-01 2.02492830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.525336195 meters 0.030453255061082207 Centerline is valid? [True, True] Translation: X:124.63, Y:5.05, Z:0.21 [[ 9.93126045e-01 -1.17001018e-01 -3.37948013e-03 1.24628274e+02] [ 1.16999997e-01 9.93131790e-01 -4.98871300e-04 5.05391006e+00] [ 3.41463760e-03 1.00042915e-04 9.99994165e-01 2.05286544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.555336195 meters 0.03109394892896211 Centerline is valid? [True, True] Translation: X:124.66, Y:5.06, Z:0.21 [[ 9.93069266e-01 -1.17526302e-01 -1.00064395e-03 1.24655471e+02] [ 1.17526212e-01 9.93069770e-01 -1.47844686e-04 5.05914771e+00] [ 1.01108489e-03 2.92181209e-05 9.99999488e-01 2.08145557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.585336195 meters 0.033039370883251235 Centerline is valid? [True, True] Translation: X:124.68, Y:5.06, Z:0.21 [[ 9.92968596e-01 -1.18375162e-01 -8.29721677e-04 1.24682980e+02] [ 1.18375101e-01 9.92968942e-01 -1.22709933e-04 5.06182873e+00] [ 8.38413664e-04 2.36287224e-05 9.99999648e-01 2.07555480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.615336195 meters 0.03082295970544047 Centerline is valid? [True, True] Translation: X:124.71, Y:5.06, Z:0.21 [[ 9.92782859e-01 -1.19925422e-01 -2.98348709e-04 1.24712548e+02] [ 1.19925414e-01 9.92782903e-01 -4.51827327e-05 5.06035142e+00] [ 3.01614056e-04 9.07705010e-06 9.99999954e-01 2.09573061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.645336195 meters 0.025677517706461397 Centerline is valid? [True, True] Translation: X:124.74, Y:5.06, Z:0.21 [[ 9.92130352e-01 -1.25206448e-01 -8.42768268e-04 1.24742516e+02] [ 1.25206388e-01 9.92130710e-01 -1.24519905e-04 5.05637137e+00] [ 8.51726975e-04 1.80200068e-05 9.99999637e-01 2.07582270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.675336195 meters 0.021319865945785575 Centerline is valid? [True, True] Translation: X:124.77, Y:5.06, Z:0.20 [[ 9.91735399e-01 -1.28282095e-01 -2.14552011e-03 1.24771502e+02] [ 1.28281707e-01 9.91737719e-01 -3.18134923e-04 5.05517915e+00] [ 2.16860423e-03 4.02746819e-05 9.99997648e-01 2.04035917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.705336195 meters 0.016896692807811763 Centerline is valid? [True, True] Translation: X:124.80, Y:5.05, Z:0.20 [[ 9.91040621e-01 -1.33507433e-01 -3.77531847e-03 1.24800507e+02] [ 1.33506275e-01 9.91047811e-01 -5.58336379e-04 5.04830646e+00] [ 3.81606316e-03 4.93053267e-05 9.99992718e-01 1.98935447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.735336195 meters 0.015065599865136134 Centerline is valid? [True, True] Translation: X:124.83, Y:5.05, Z:0.20 [[ 9.90822284e-01 -1.35130158e-01 -3.32306321e-03 1.24830602e+02] [ 1.35129266e-01 9.90827855e-01 -4.92720763e-04 5.04542135e+00] [ 3.35916503e-03 3.91556196e-05 9.99994357e-01 2.00937876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.765336195 meters 0.015188655099002552 Centerline is valid? [True, True] Translation: X:124.86, Y:5.04, Z:0.21 [[ 9.90860800e-01 -1.34876491e-01 -1.79092341e-03 1.24860561e+02] [ 1.34876230e-01 9.90862418e-01 -2.66445925e-04 5.04116194e+00] [ 1.81049599e-03 2.24578247e-05 9.99998361e-01 2.05997631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.795336195 meters 0.01704646873673064 Centerline is valid? [True, True] Translation: X:124.89, Y:5.05, Z:0.21 [[ 9.91042479e-01 -1.33540007e-01 -1.36812693e-03 1.24888260e+02] [ 1.33539853e-01 9.91043423e-01 -2.03382365e-04 5.04528005e+00] [ 1.38303288e-03 1.88610942e-05 9.99999043e-01 2.07003140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825336195 meters 0.021487142424575494 Centerline is valid? [True, True] Translation: X:124.92, Y:5.05, Z:0.21 [[ 9.91737787e-01 -1.28277404e-01 -1.03424929e-03 1.24917050e+02] [ 1.28277314e-01 9.91738326e-01 -1.53459967e-04 5.05459848e+00] [ 1.04539011e-03 1.95213272e-05 9.99999453e-01 2.07398000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.855336195 meters 0.0313108371199645 Centerline is valid? [True, True] Translation: X:124.94, Y:5.07, Z:0.20 [[ 9.92715602e-01 -1.20459893e-01 -2.26886533e-03 1.24944149e+02] [ 1.20459439e-01 9.92718193e-01 -3.36134646e-04 5.06792052e+00] [ 2.29283463e-03 6.03798616e-05 9.99997370e-01 2.02205108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.885336195 meters 0.03281514658853838 Centerline is valid? [True, True] Translation: X:124.97, Y:5.07, Z:0.20 [[ 9.93136403e-01 -1.16922104e-01 -3.05075722e-03 1.24974286e+02] [ 1.16921266e-01 9.93141084e-01 -4.52235116e-04 5.07158840e+00] [ 3.08270862e-03 9.24327606e-05 9.99995244e-01 2.01150648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.915336195 meters 0.04257141274980819 Centerline is valid? [True, True] Translation: X:125.00, Y:5.09, Z:0.20 [[ 9.93863151e-01 -1.10524179e-01 -4.52141316e-03 1.25001608e+02] [ 1.10522272e-01 9.93873422e-01 -6.70236411e-04 5.08634953e+00] [ 4.56778970e-03 1.66406414e-04 9.99989554e-01 1.96958760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.945336195 meters 0.04066704274445585 Centerline is valid? [True, True] Translation: X:125.03, Y:5.09, Z:0.20 [[ 9.94110769e-01 -1.08260160e-01 -4.84946475e-03 1.25030930e+02] [ 1.08257938e-01 9.94122579e-01 -7.19215705e-04 5.08787860e+00] [ 4.89882481e-03 1.89987022e-04 9.99987983e-01 1.97540598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.975336195 meters 0.042663081948970505 Centerline is valid? [True, True] Translation: X:125.06, Y:5.09, Z:0.20 [[ 9.94373220e-01 -1.05810035e-01 -5.11238374e-03 1.25059613e+02] [ 1.05807532e-01 9.94386339e-01 -7.58376963e-04 5.09175433e+00] [ 5.16392845e-03 2.13181034e-04 9.99986644e-01 1.96663134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.005336195 meters 0.044355907106766075 Centerline is valid? [True, True] Translation: X:125.09, Y:5.10, Z:0.20 [[ 9.94461681e-01 -1.04954747e-01 -5.51961522e-03 1.25087348e+02] [ 1.04951813e-01 9.94476971e-01 -8.19263506e-04 5.09642312e+00] [ 5.57511582e-03 2.35432537e-04 9.99984431e-01 1.96175709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.035336195 meters 0.046536983208405665 Centerline is valid? [True, True] Translation: X:125.12, Y:5.10, Z:0.20 [[ 9.94639627e-01 -1.03272550e-01 -5.17618174e-03 1.25115971e+02] [ 1.03269947e-01 9.94653069e-01 -7.68324416e-04 5.10002992e+00] [ 5.22785187e-03 2.29661894e-04 9.99986308e-01 1.96732607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06533619500001 meters 0.050127126685990536 Centerline is valid? [True, True] Translation: X:125.14, Y:5.11, Z:0.20 [[ 9.94738687e-01 -1.02321984e-01 -5.01549708e-03 1.25142373e+02] [ 1.02319525e-01 9.94751305e-01 -7.45084577e-04 5.10893761e+00] [ 5.06541079e-03 2.27981174e-04 9.99987145e-01 1.95873718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09533619500002 meters 0.04845956347261885 Centerline is valid? [True, True] Translation: X:125.17, Y:5.11, Z:0.19 [[ 9.94923972e-01 -1.00414282e-01 -6.57741799e-03 1.25172020e+02] [ 1.00410015e-01 9.94945664e-01 -9.76613409e-04 5.11359648e+00] [ 6.64223944e-03 3.11217452e-04 9.99977892e-01 1.92522014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12533619500002 meters 0.05368350123575554 Centerline is valid? [True, True] Translation: X:125.20, Y:5.12, Z:0.19 [[ 9.94965853e-01 -9.99719328e-02 -6.96885590e-03 1.25199342e+02] [ 9.99671238e-02 9.94990202e-01 -1.03589712e-03 5.12067275e+00] [ 7.03750398e-03 3.34025777e-04 9.99975181e-01 1.90557501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15533619500002 meters 0.04806995000217382 Centerline is valid? [True, True] Translation: X:125.23, Y:5.11, Z:0.19 [[ 9.94942134e-01 -1.00235616e-01 -6.55524073e-03 1.25229143e+02] [ 1.00231355e-01 9.94963679e-01 -9.76113744e-04 5.11495584e+00] [ 6.62006780e-03 3.14136029e-04 9.99978038e-01 1.94425884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18533619500002 meters 0.051185683316876014 Centerline is valid? [True, True] Translation: X:125.26, Y:5.12, Z:0.19 [[ 9.94770656e-01 -1.01962061e-01 -5.92276828e-03 1.25257251e+02] [ 1.01958617e-01 9.94788251e-01 -8.81308860e-04 5.12041229e+00] [ 5.98176036e-03 2.72822932e-04 9.99982072e-01 1.94357325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21533619500002 meters 0.04518798383132985 Centerline is valid? [True, True] Translation: X:125.29, Y:5.12, Z:0.19 [[ 9.94571826e-01 -1.03896125e-01 -5.69903745e-03 1.25288125e+02] [ 1.03892969e-01 9.94588122e-01 -8.47922403e-04 5.11797067e+00] [ 5.75629081e-03 2.51229811e-04 9.99983401e-01 1.94690603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24533619500002 meters 0.042394386984728374 Centerline is valid? [True, True] Translation: X:125.32, Y:5.12, Z:0.19 [[ 9.94131138e-01 -1.08084098e-01 -4.59432451e-03 1.25317527e+02] [ 1.08082091e-01 9.94141737e-01 -6.83713254e-04 5.12133563e+00] [ 4.64130828e-03 1.83136436e-04 9.99989212e-01 1.91746678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.275336195 meters 0.04379745396713414 Centerline is valid? [True, True] Translation: X:125.34, Y:5.13, Z:0.19 [[ 9.93989656e-01 -1.09419936e-01 -3.44107466e-03 1.25344861e+02] [ 1.09418816e-01 9.93995604e-01 -5.12609689e-04 5.12725642e+00] [ 3.47650280e-03 1.33010412e-04 9.99993948e-01 1.91566546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.305336195 meters 0.040282559409339024 Centerline is valid? [True, True] Translation: X:125.38, Y:5.12, Z:0.19 [[ 9.93783249e-01 -1.11275031e-01 -3.56665016e-03 1.25375148e+02] [ 1.11273839e-01 9.93789641e-01 -5.31379425e-04 5.12144303e+00] [ 3.60362924e-03 1.31201114e-04 9.99993498e-01 1.93727397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.335336195 meters 0.039397716917830165 Centerline is valid? [True, True] Translation: X:125.40, Y:5.12, Z:0.19 [[ 9.93656562e-01 -1.12295302e-01 -6.03343781e-03 1.25403192e+02] [ 1.12291900e-01 9.93674855e-01 -9.00782391e-04 5.12025088e+00] [ 6.09642907e-03 2.17562137e-04 9.99981393e-01 1.91662618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.365336195 meters 0.039397716917830165 Centerline is valid? [True, True] Translation: X:125.43, Y:5.12, Z:0.19 [[ 9.93636358e-01 -1.12473941e-01 -6.03327664e-03 1.25430430e+02] [ 1.12470536e-01 9.93654651e-01 -9.01862057e-04 5.12447842e+00] [ 6.09642937e-03 2.17557072e-04 9.99981393e-01 1.91460216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.395336195 meters 0.040484579905279476 Centerline is valid? [True, True] Translation: X:125.46, Y:5.13, Z:0.19 [[ 9.93568555e-01 -1.12952626e-01 -7.95178869e-03 1.25458351e+02] [ 1.12946733e-01 9.93600335e-01 -1.18775017e-03 5.12890315e+00] [ 8.03505940e-03 2.81982672e-04 9.99967679e-01 1.87923540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.425336195 meters 0.0415279808460865 Centerline is valid? [True, True] Translation: X:125.49, Y:5.14, Z:0.19 [[ 9.93645705e-01 -1.12364226e-01 -6.51872537e-03 1.25486304e+02] [ 1.12360241e-01 9.93667059e-01 -9.75538027e-04 5.14004287e+00] [ 6.58705825e-03 2.36893618e-04 9.99978277e-01 1.87030253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.455336195 meters 0.04112411873516847 Centerline is valid? [True, True] Translation: X:125.51, Y:5.15, Z:0.18 [[ 9.93630099e-01 -1.12432351e-01 -7.62838930e-03 1.25514915e+02] [ 1.12426888e-01 9.93659343e-01 -1.14262506e-03 5.14514875e+00] [ 7.70848832e-03 2.77710586e-04 9.99970251e-01 1.84603759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.485336195 meters 0.04246811458298881 Centerline is valid? [True, True] Translation: X:125.54, Y:5.15, Z:0.18 [[ 9.93619468e-01 -1.12332011e-01 -1.00931315e-02 1.25541674e+02] [ 1.12322439e-01 9.93670661e-01 -1.51200263e-03 5.15079686e+00] [ 1.01990949e-02 3.68670102e-04 9.99947920e-01 1.79945984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.515336195 meters 0.04328200333802679 Centerline is valid? [True, True] Translation: X:125.57, Y:5.16, Z:0.18 [[ 9.93665474e-01 -1.11962893e-01 -9.65592582e-03 1.25568635e+02] [ 1.11954106e-01 9.93712324e-01 -1.44749741e-03 5.15537669e+00] [ 9.75727849e-03 3.57307662e-04 9.99952333e-01 1.80496402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.545336195 meters 0.04447483476400934 Centerline is valid? [True, True] Translation: X:125.60, Y:5.16, Z:0.19 [[ 9.93892510e-01 -1.10090863e-01 -7.59472406e-03 1.25597083e+02] [ 1.10085358e-01 9.93921483e-01 -1.14030423e-03 5.16138755e+00] [ 7.67409648e-03 2.97271918e-04 9.99970510e-01 1.86920375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.575336195 meters 0.04376451460296805 Centerline is valid? [True, True] Translation: X:125.63, Y:5.17, Z:0.19 [[ 9.94019755e-01 -1.08991257e-01 -6.75524219e-03 1.25625787e+02] [ 1.08986868e-01 9.94042671e-01 -1.01550777e-03 5.16653888e+00] [ 6.82568046e-03 2.73202093e-04 9.99976667e-01 1.89676915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.605336195 meters 0.04511916310194781 Centerline is valid? [True, True] Translation: X:125.65, Y:5.18, Z:0.19 [[ 9.94115903e-01 -1.08221080e-01 -4.66580801e-03 1.25652257e+02] [ 1.08218979e-01 9.94126833e-01 -7.01274974e-04 5.17787960e+00] [ 4.71429768e-03 1.92219627e-04 9.99988869e-01 1.91538403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.635336195 meters 0.0414762049622052 Centerline is valid? [True, True] Translation: X:125.68, Y:5.18, Z:0.19 [[ 9.93936796e-01 -1.09881820e-01 -3.95359635e-03 1.25681678e+02] [ 1.09880322e-01 9.93944647e-01 -5.94735350e-04 5.18064594e+00] [ 3.99500653e-03 1.56706907e-04 9.99992008e-01 1.92369417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.665336195 meters 0.043886764296111616 Centerline is valid? [True, True] Translation: X:125.71, Y:5.19, Z:0.19 [[ 9.93820986e-01 -1.10918162e-01 -4.12423992e-03 1.25708942e+02] [ 1.10916541e-01 9.93829531e-01 -6.20493478e-04 5.18809808e+00] [ 4.16761542e-03 1.59213014e-04 9.99991303e-01 1.90161927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.695336195 meters 0.04029570810704236 Centerline is valid? [True, True] Translation: X:125.74, Y:5.19, Z:0.19 [[ 9.93517173e-01 -1.13537587e-01 -5.73089163e-03 1.25738556e+02] [ 1.13534501e-01 9.93533680e-01 -8.61917705e-04 5.18874500e+00] [ 5.79169391e-03 2.05676119e-04 9.99983207e-01 1.86275763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.725336195 meters 0.03956788759447386 Centerline is valid? [True, True] Translation: X:125.77, Y:5.19, Z:0.18 [[ 9.93321351e-01 -1.15211670e-01 -6.24222393e-03 1.25766101e+02] [ 1.15208039e-01 9.93340941e-01 -9.39406792e-04 5.19241135e+00] [ 6.30888722e-03 2.13978444e-04 9.99980076e-01 1.84243948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.755336195 meters 0.03708034845783994 Centerline is valid? [True, True] Translation: X:125.79, Y:5.19, Z:0.18 [[ 9.92989184e-01 -1.17971333e-01 -7.43272673e-03 1.25794796e+02] [ 1.17966261e-01 9.93016974e-01 -1.11873619e-03 5.19450180e+00] [ 7.51280260e-03 2.34081953e-04 9.99971751e-01 1.82034854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.785336195 meters 0.03903805882338957 Centerline is valid? [True, True] Translation: X:125.82, Y:5.20, Z:0.18 [[ 9.92882063e-01 -1.18846404e-01 -7.79372011e-03 1.25822330e+02] [ 1.18840846e-01 9.92912622e-01 -1.17398784e-03 5.20117262e+00] [ 7.87800730e-03 2.39419172e-04 9.99968939e-01 1.80036891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81533619500001 meters 0.036225927697037245 Centerline is valid? [True, True] Translation: X:125.85, Y:5.20, Z:0.18 [[ 9.92864973e-01 -1.18906173e-01 -8.97030296e-03 1.25851195e+02] [ 1.18898797e-01 9.92905456e-01 -1.35311421e-03 5.20210450e+00] [ 9.06755639e-03 2.76901472e-04 9.99958851e-01 1.81239492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84533619500002 meters 0.03446689800841323 Centerline is valid? [True, True] Translation: X:125.88, Y:5.21, Z:0.18 [[ 9.92855659e-01 -1.18928671e-01 -9.67533730e-03 1.25879874e+02] [ 1.18920075e-01 9.92902755e-01 -1.46099458e-03 5.20626072e+00] [ 9.78042321e-03 2.99964893e-04 9.99952126e-01 1.80806306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87533619500002 meters 0.0368210951678303 Centerline is valid? [True, True] Translation: X:125.91, Y:5.22, Z:0.18 [[ 9.92925632e-01 -1.18377792e-01 -9.24048946e-03 1.25906100e+02] [ 1.18369925e-01 9.92968586e-01 -1.39562856e-03 5.21718762e+00] [ 9.34072718e-03 2.91959328e-04 9.99956332e-01 1.78302822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90533619500002 meters 0.038785905319802194 Centerline is valid? [True, True] Translation: X:125.93, Y:5.22, Z:0.18 [[ 9.93118302e-01 -1.16915192e-01 -6.84666292e-03 1.25933014e+02] [ 1.16910833e-01 9.93141876e-01 -1.03481371e-03 5.22482918e+00] [ 6.92069310e-03 2.27243367e-04 9.99976026e-01 1.83361212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93533619500002 meters 0.037002159039355435 Centerline is valid? [True, True] Translation: X:125.96, Y:5.23, Z:0.19 [[ 9.93255903e-01 -1.15801955e-01 -5.71134086e-03 1.25962067e+02] [ 1.15798894e-01 9.93272303e-01 -8.64846989e-04 5.22842092e+00] [ 5.77306766e-03 1.97647423e-04 9.99983316e-01 1.87129558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96533619500002 meters 0.039787328023717615 Centerline is valid? [True, True] Translation: X:125.99, Y:5.24, Z:0.19 [[ 9.93489987e-01 -1.13775525e-01 -5.72503720e-03 1.25989100e+02] [ 1.13772419e-01 9.93506460e-01 -8.66326921e-04 5.23851715e+00] [ 5.78642824e-03 2.09335791e-04 9.99983237e-01 1.86380264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99533619500002 meters 0.04190740994755473 Centerline is valid? [True, True] Translation: X:126.02, Y:5.25, Z:0.19 [[ 9.93604790e-01 -1.12744048e-01 -6.18873972e-03 1.26015987e+02] [ 1.12740397e-01 9.93624036e-01 -9.36909405e-04 5.24576397e+00] [ 6.25491150e-03 2.33196702e-04 9.99980411e-01 1.85006887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.025336195 meters 0.04253063406755345 Centerline is valid? [True, True] Translation: X:126.04, Y:5.25, Z:0.19 [[ 9.93882852e-01 -1.10292349e-01 -5.69868275e-03 1.26044612e+02] [ 1.10289212e-01 9.93899163e-01 -8.62788264e-04 5.25306911e+00] [ 5.75907496e-03 2.29007230e-04 9.99983390e-01 1.86932692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.055336195 meters 0.04587930816253306 Centerline is valid? [True, True] Translation: X:126.07, Y:5.27, Z:0.19 [[ 9.94041848e-01 -1.08870720e-01 -5.28869535e-03 1.26071549e+02] [ 1.08867997e-01 9.94055893e-01 -8.00918560e-04 5.26676445e+00] [ 5.34445535e-03 2.20376895e-04 9.99985694e-01 1.85642156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.085336195 meters 0.0429297062056356 Centerline is valid? [True, True] Translation: X:126.10, Y:5.27, Z:0.18 [[ 9.93964106e-01 -1.09505375e-01 -6.62789364e-03 1.26099154e+02] [ 1.09501097e-01 9.93986166e-01 -1.00603571e-03 5.26951610e+00] [ 6.69820091e-03 2.74201763e-04 9.99977529e-01 1.83173068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.115336195 meters 0.042893098810834446 Centerline is valid? [True, True] Translation: X:126.13, Y:5.27, Z:0.18 [[ 9.93660552e-01 -1.12162131e-01 -7.63963313e-03 1.26128017e+02] [ 1.12156534e-01 9.93689876e-01 -1.15854630e-03 5.27112798e+00] [ 7.72137112e-03 2.94366984e-04 9.99970146e-01 1.80360519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.145336195 meters 0.03888641872438882 Centerline is valid? [True, True] Translation: X:126.16, Y:5.27, Z:0.19 [[ 9.93417035e-01 -1.14391261e-01 -6.10192302e-03 1.26159100e+02] [ 1.14387733e-01 9.93435751e-01 -9.25305115e-04 5.26730520e+00] [ 6.16771530e-03 2.21228725e-04 9.99980955e-01 1.85077059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.175336195 meters 0.0339078929425208 Centerline is valid? [True, True] Translation: X:126.19, Y:5.26, Z:0.19 [[ 9.92960769e-01 -1.18361805e-01 -4.40382809e-03 1.26189762e+02] [ 1.18360006e-01 9.92970525e-01 -6.67928783e-04 5.26437492e+00] [ 4.45192874e-03 1.41989961e-04 9.99990080e-01 1.89838999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.205336195 meters 0.035642432847447475 Centerline is valid? [True, True] Translation: X:126.22, Y:5.27, Z:0.18 [[ 9.92691797e-01 -1.20550594e-01 -5.52725990e-03 1.26216458e+02] [ 1.20547790e-01 9.92707171e-01 -8.38931149e-04 5.27291344e+00] [ 5.58808419e-03 1.66501104e-04 9.99984373e-01 1.82958447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.235336195 meters 0.03625512430948321 Centerline is valid? [True, True] Translation: X:126.24, Y:5.28, Z:0.18 [[ 9.92559527e-01 -1.21641481e-01 -5.37912831e-03 1.26244245e+02] [ 1.21638840e-01 9.92574091e-01 -8.16737826e-04 5.27659472e+00] [ 5.43853259e-03 1.56349986e-04 9.99985199e-01 1.81658034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.265336195 meters 0.03328719573728279 Centerline is valid? [True, True] Translation: X:126.27, Y:5.27, Z:0.18 [[ 9.92408556e-01 -1.22882948e-01 -5.00383234e-03 1.26274036e+02] [ 1.22880670e-01 9.92421161e-01 -7.61318244e-04 5.27400929e+00] [ 5.05946213e-03 1.40664468e-04 9.99987191e-01 1.83890229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.295336195 meters 0.028836399667655027 Centerline is valid? [True, True] Translation: X:126.30, Y:5.27, Z:0.19 [[ 9.92381849e-01 -1.23095374e-01 -5.07888775e-03 1.26302441e+02] [ 1.23093024e-01 9.92394835e-01 -7.73966535e-04 5.27181531e+00] [ 5.13553367e-03 1.42894689e-04 9.99986803e-01 1.86559410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325336195 meters 0.034095206833677824 Centerline is valid? [True, True] Translation: X:126.33, Y:5.28, Z:0.18 [[ 9.92615620e-01 -1.21125223e-01 -6.55066594e-03 1.26329523e+02] [ 1.21121277e-01 9.92637216e-01 -9.97201319e-04 5.28050225e+00] [ 6.62322103e-03 1.96412580e-04 9.99978047e-01 1.84016080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.355336195 meters 0.03728933577802724 Centerline is valid? [True, True] Translation: X:126.36, Y:5.29, Z:0.18 [[ 9.92816781e-01 -1.19429413e-01 -7.17325941e-03 1.26357410e+02] [ 1.19424637e-01 9.92842668e-01 -1.09203284e-03 5.28849408e+00] [ 7.25233885e-03 2.27524631e-04 9.99973676e-01 1.81995863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.385336195 meters 0.03804471093986235 Centerline is valid? [True, True] Translation: X:126.39, Y:5.29, Z:0.18 [[ 9.93141521e-01 -1.16688362e-01 -7.33119722e-03 1.26386845e+02] [ 1.16683298e-01 9.93168547e-01 -1.11616092e-03 5.29174358e+00] [ 7.41135748e-03 2.53077486e-04 9.99972503e-01 1.81835797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.415336195 meters 0.03664101923279637 Centerline is valid? [True, True] Translation: X:126.41, Y:5.29, Z:0.19 [[ 9.93240323e-01 -1.15955171e-01 -5.29700016e-03 1.26414849e+02] [ 1.15952505e-01 9.93254430e-01 -8.08751298e-04 5.29217473e+00] [ 5.35504777e-03 1.89083964e-04 9.99985644e-01 1.86499838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.445336195 meters 0.03855395474289737 Centerline is valid? [True, True] Translation: X:126.44, Y:5.30, Z:0.19 [[ 9.93335942e-01 -1.15170991e-01 -4.39878325e-03 1.26442041e+02] [ 1.15169146e-01 9.93345669e-01 -6.71143123e-04 5.29973709e+00] [ 4.44680851e-03 1.60066475e-04 9.99990100e-01 1.87566604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.475336195 meters 0.03910208871037146 Centerline is valid? [True, True] Translation: X:126.47, Y:5.31, Z:0.18 [[ 9.93410294e-01 -1.14465328e-01 -5.80305556e-03 1.26470658e+02] [ 1.14462097e-01 9.93427220e-01 -8.86992244e-04 5.30528668e+00] [ 5.86644321e-03 2.16917316e-04 9.99982769e-01 1.83774867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.505336195 meters 0.041241846912139335 Centerline is valid? [True, True] Translation: X:126.50, Y:5.31, Z:0.18 [[ 9.93398848e-01 -1.14499812e-01 -6.96581892e-03 1.26498361e+02] [ 1.14495161e-01 9.93423236e-01 -1.06411111e-03 5.31002138e+00] [ 7.04184689e-03 2.59534187e-04 9.99975172e-01 1.80444419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.535336195 meters 0.03895750878247204 Centerline is valid? [True, True] Translation: X:126.53, Y:5.31, Z:0.18 [[ 9.93440368e-01 -1.14169072e-01 -6.45433818e-03 1.26527785e+02] [ 1.14165070e-01 9.93461305e-01 -9.86401332e-04 5.30536687e+00] [ 6.52475176e-03 2.43070933e-04 9.99978684e-01 1.84794090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56533619500001 meters 0.03944608921344928 Centerline is valid? [True, True] Translation: X:126.56, Y:5.31, Z:0.19 [[ 9.93452544e-01 -1.14122734e-01 -5.29568021e-03 1.26555692e+02] [ 1.14120037e-01 9.93466638e-01 -8.09718422e-04 5.30853531e+00] [ 5.35348890e-03 2.00073607e-04 9.99985650e-01 1.87572215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59533619500002 meters 0.03903395613689281 Centerline is valid? [True, True] Translation: X:126.58, Y:5.31, Z:0.19 [[ 9.93333848e-01 -1.15185187e-01 -4.49881111e-03 1.26584780e+02] [ 1.15183249e-01 9.93344022e-01 -6.88484122e-04 5.31257916e+00] [ 4.54817029e-03 1.65706903e-04 9.99989643e-01 1.88552458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62533619500002 meters 0.04044664720878707 Centerline is valid? [True, True] Translation: X:126.61, Y:5.32, Z:0.18 [[ 9.93111925e-01 -1.17048992e-01 -5.31394910e-03 1.26611791e+02] [ 1.17046314e-01 9.93126124e-01 -8.13257875e-04 5.31784257e+00] [ 5.37261269e-03 1.85677939e-04 9.99985550e-01 1.84091747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65533619500002 meters 0.0361006685657705 Centerline is valid? [True, True] Translation: X:126.64, Y:5.31, Z:0.18 [[ 9.92942113e-01 -1.18485057e-01 -5.22033363e-03 1.26641131e+02] [ 1.18482484e-01 9.92955820e-01 -8.00570219e-04 5.31483351e+00] [ 5.27841627e-03 1.76401791e-04 9.99986054e-01 1.84845509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68533619500002 meters 0.0346214928821981 Centerline is valid? [True, True] Translation: X:126.67, Y:5.31, Z:0.19 [[ 9.92701970e-01 -1.20534604e-01 -3.76929965e-03 1.26671479e+02] [ 1.20533279e-01 9.92709119e-01 -5.77438362e-04 5.31050830e+00] [ 3.81141943e-03 1.18898153e-04 9.99992729e-01 1.87007941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71533619500002 meters 0.03482403625392019 Centerline is valid? [True, True] Translation: X:126.70, Y:5.31, Z:0.19 [[ 9.92606622e-01 -1.21335361e-01 -3.13434022e-03 1.26699706e+02] [ 1.21334448e-01 9.92611566e-01 -4.80626236e-04 5.31058771e+00] [ 3.16949932e-03 9.67693441e-05 9.99994972e-01 1.88471104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74533619500002 meters 0.0309857591089758 Centerline is valid? [True, True] Translation: X:126.73, Y:5.31, Z:0.19 [[ 9.92467188e-01 -1.22442182e-01 -4.09795234e-03 1.26730097e+02] [ 1.22440625e-01 9.92475640e-01 -6.29745823e-04 5.30583467e+00] [ 4.14422533e-03 1.23246221e-04 9.99991405e-01 1.89676314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.775336195 meters 0.03319656653867482 Centerline is valid? [True, True] Translation: X:126.76, Y:5.31, Z:0.19 [[ 9.92489176e-01 -1.22271268e-01 -3.86934195e-03 1.26756943e+02] [ 1.22269880e-01 9.92496712e-01 -5.94128800e-04 5.31348544e+00] [ 3.91295404e-03 1.16562429e-04 9.99992338e-01 1.87555534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.805336195 meters 0.03190677353530015 Centerline is valid? [True, True] Translation: X:126.79, Y:5.31, Z:0.19 [[ 9.92515409e-01 -1.22067800e-01 -3.55189316e-03 1.26786300e+02] [ 1.22066624e-01 9.92521758e-01 -5.46786258e-04 5.31437279e+00] [ 3.59207624e-03 1.09126179e-04 9.99993543e-01 1.86533290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.835336195 meters 0.03503206423325402 Centerline is valid? [True, True] Translation: X:126.81, Y:5.32, Z:0.18 [[ 9.92504946e-01 -1.22141862e-01 -3.91114270e-03 1.26813734e+02] [ 1.22140439e-01 9.92512645e-01 -6.01418429e-04 5.31892753e+00] [ 3.95531696e-03 1.19202077e-04 9.99992171e-01 1.84605055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.865336195 meters 0.03323042035738889 Centerline is valid? [True, True] Translation: X:126.84, Y:5.31, Z:0.19 [[ 9.92581585e-01 -1.21541396e-01 -3.07996986e-03 1.26844062e+02] [ 1.21540506e-01 9.92586359e-01 -4.74971882e-04 5.31349181e+00] [ 3.11486482e-03 9.71072470e-05 9.99995144e-01 1.88559018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.895336195 meters 0.034357380029517395 Centerline is valid? [True, True] Translation: X:126.87, Y:5.31, Z:0.19 [[ 9.92729597e-01 -1.20331460e-01 -2.87855318e-03 1.26872790e+02] [ 1.20330680e-01 9.92733766e-01 -4.43387044e-04 5.31333276e+00] [ 2.91099035e-03 9.37851812e-05 9.99995759e-01 1.89780542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.925336195 meters 0.03598541424926081 Centerline is valid? [True, True] Translation: X:126.90, Y:5.32, Z:0.19 [[ 9.92826322e-01 -1.19510181e-01 -3.63482286e-03 1.26901045e+02] [ 1.19508927e-01 9.92832968e-01 -5.61115516e-04 5.31798509e+00] [ 3.67583098e-03 1.22696476e-04 9.99993237e-01 1.87827904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.955336195 meters 0.03980493233875745 Centerline is valid? [True, True] Translation: X:126.93, Y:5.33, Z:0.18 [[ 9.93165147e-01 -1.16627377e-01 -4.58766102e-03 1.26929669e+02] [ 1.16625354e-01 9.93175728e-01 -7.06849896e-04 5.32637796e+00] [ 4.63879163e-03 1.66981088e-04 9.99989227e-01 1.84625705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.985336195 meters 0.039948743546491305 Centerline is valid? [True, True] Translation: X:126.96, Y:5.33, Z:0.18 [[ 9.93357725e-01 -1.14955405e-01 -5.06802796e-03 1.26958649e+02] [ 1.14952913e-01 9.93370635e-01 -7.81203679e-04 5.32962103e+00] [ 5.12423374e-03 1.93430132e-04 9.99986852e-01 1.83706516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.015336195 meters 0.04450246572646435 Centerline is valid? [True, True] Translation: X:126.99, Y:5.34, Z:0.18 [[ 9.93668270e-01 -1.12146966e-01 -6.81369652e-03 1.26986931e+02] [ 1.12142396e-01 9.93691592e-01 -1.05027156e-03 5.33513302e+00] [ 6.88849771e-03 2.79517276e-04 9.99976235e-01 1.80991515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.045336195 meters 0.04451049603079996 Centerline is valid? [True, True] Translation: X:127.02, Y:5.34, Z:0.18 [[ 9.93743737e-01 -1.11482897e-01 -6.70435996e-03 1.27015370e+02] [ 1.11478443e-01 9.93766313e-01 -1.03551697e-03 5.33878709e+00] [ 6.77800951e-03 2.81646897e-04 9.99976989e-01 1.82280224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.075336195 meters 0.04117233631367337 Centerline is valid? [True, True] Translation: X:127.04, Y:5.34, Z:0.19 [[ 9.93922995e-01 -1.09974137e-01 -4.77180888e-03 1.27044115e+02] [ 1.09971858e-01 9.93934427e-01 -7.38238734e-04 5.34054607e+00] [ 4.82405229e-03 2.08987767e-04 9.99988342e-01 1.86864360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.105336195 meters 0.043251534691896104 Centerline is valid? [True, True] Translation: X:127.07, Y:5.35, Z:0.19 [[ 9.93951199e-01 -1.09770583e-01 -3.38139642e-03 1.27071534e+02] [ 1.09769438e-01 9.93956939e-01 -5.22893911e-04 5.34626320e+00] [ 3.41836081e-03 1.48557044e-04 9.99994146e-01 1.87173943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.135336195 meters 0.045511518697408576 Centerline is valid? [True, True] Translation: X:127.10, Y:5.35, Z:0.19 [[ 9.93844231e-01 -1.10752885e-01 -2.72829903e-03 1.27098727e+02] [ 1.10752143e-01 9.93847969e-01 -4.22138135e-04 5.35053817e+00] [ 2.75826746e-03 1.17374586e-04 9.99996189e-01 1.87562661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.165336195 meters 0.04175646791583872 Centerline is valid? [True, True] Translation: X:127.13, Y:5.35, Z:0.19 [[ 9.93306727e-01 -1.15498259e-01 1.37748837e-03 1.27128992e+02] [ 1.15498074e-01 9.93307681e-01 2.12814627e-04 5.34780110e+00] [-1.39284950e-03 -5.22929468e-05 9.99999029e-01 1.94065471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.195336195 meters 0.03520181814430051 Centerline is valid? [True, True] Translation: X:127.16, Y:5.35, Z:0.20 [[ 9.92922860e-01 -1.18712161e-01 3.40848490e-03 1.27160119e+02] [ 1.18711051e-01 9.92928703e-01 5.26855882e-04 5.34510082e+00] [-3.44692669e-03 -1.18502426e-04 9.99994052e-01 1.96994329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.225336195 meters 0.030327480819452062 Centerline is valid? [True, True] Translation: X:127.19, Y:5.34, Z:0.19 [[ 9.92189358e-01 -1.24726522e-01 1.88993522e-03 1.27189875e+02] [ 1.24726192e-01 9.92191157e-01 2.92132445e-04 5.34130514e+00] [-1.91161368e-03 -5.41262803e-05 9.99998171e-01 1.92445947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.255336195 meters 0.02678845728880428 Centerline is valid? [True, True] Translation: X:127.22, Y:5.33, Z:0.19 [[ 9.91518080e-01 -1.29964339e-01 -1.08082351e-03 1.27220764e+02] [ 1.29964234e-01 9.91518668e-01 -1.67297294e-04 5.33296826e+00] [ 1.09339937e-03 2.54098930e-05 9.99999402e-01 1.88452259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.285336195 meters 0.02415895333031253 Centerline is valid? [True, True] Translation: X:127.25, Y:5.33, Z:0.19 [[ 9.91231935e-01 -1.32129645e-01 -1.00401635e-03 1.27250650e+02] [ 1.32129554e-01 9.91232443e-01 -1.56592563e-04 5.33099281e+00] [ 1.01590410e-03 2.25593165e-05 9.99999484e-01 1.89715459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31533619500001 meters 0.02415895333031253 Centerline is valid? [True, True] Translation: X:127.28, Y:5.34, Z:0.19 [[ 9.91208001e-01 -1.32309076e-01 -1.00396262e-03 1.27277865e+02] [ 1.32308985e-01 9.91208509e-01 -1.56938814e-04 5.33537383e+00] [ 1.01590072e-03 2.27257337e-05 9.99999484e-01 1.89513079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34533619500002 meters 0.02255964864904272 Centerline is valid? [True, True] Translation: X:127.31, Y:5.34, Z:0.19 [[ 9.90882479e-01 -1.34714376e-01 -1.98748640e-03 1.27306002e+02] [ 1.34714028e-01 9.90884471e-01 -3.08547090e-04 5.33582409e+00] [ 2.01093514e-03 3.79916070e-05 9.99997977e-01 1.86614388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37533619500002 meters 0.021827692360018174 Centerline is valid? [True, True] Translation: X:127.33, Y:5.34, Z:0.18 [[ 9.90800722e-01 -1.35279852e-01 -3.64569734e-03 1.27334388e+02] [ 1.35278681e-01 9.90807427e-01 -5.66977326e-04 5.34095244e+00] [ 3.68888461e-03 6.85764144e-05 9.99993194e-01 1.82389106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40533619500002 meters 0.022429094035352135 Centerline is valid? [True, True] Translation: X:127.36, Y:5.35, Z:0.18 [[ 9.90849559e-01 -1.34915044e-01 -3.88353642e-03 1.27362623e+02] [ 1.34913711e-01 9.90857167e-01 -6.04513093e-04 5.34609766e+00] [ 3.92958780e-03 7.50392229e-05 9.99992276e-01 1.80355312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43533619500002 meters 0.022069959755537712 Centerline is valid? [True, True] Translation: X:127.39, Y:5.35, Z:0.18 [[ 9.90929863e-01 -1.34313116e-01 -4.24185739e-03 1.27391310e+02] [ 1.34311517e-01 9.90938938e-01 -6.60916501e-04 5.34764544e+00] [ 4.29219141e-03 8.51915986e-05 9.99990785e-01 1.80379139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46533619500002 meters 0.024051329993787743 Centerline is valid? [True, True] Translation: X:127.42, Y:5.35, Z:0.18 [[ 9.91293002e-01 -1.31596366e-01 -4.53650771e-03 1.27420984e+02] [ 1.31594512e-01 9.91303377e-01 -7.05958767e-04 5.34666427e+00] [ 4.58995702e-03 1.02832465e-04 9.99989461e-01 1.83705842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49533619500002 meters 0.028002531660094282 Centerline is valid? [True, True] Translation: X:127.45, Y:5.36, Z:0.19 [[ 9.91837240e-01 -1.27502069e-01 -1.45354797e-03 1.27447950e+02] [ 1.27501874e-01 9.91838304e-01 -2.26531481e-04 5.35775584e+00] [ 1.47056779e-03 3.93522685e-05 9.99998918e-01 1.88055032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.525336195 meters 0.03003437410931138 Centerline is valid? [True, True] Translation: X:127.48, Y:5.37, Z:0.19 [[ 9.92076562e-01 -1.25634485e-01 -2.66569174e-04 1.27475981e+02] [ 1.25634478e-01 9.92076598e-01 -4.27281987e-05 5.36659045e+00] [ 2.69825174e-04 8.89936543e-06 9.99999964e-01 1.88541908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.555336195 meters 0.0323513130515373 Centerline is valid? [True, True] Translation: X:127.51, Y:5.37, Z:0.18 [[ 9.92390199e-01 -1.23104680e-01 -2.63243874e-03 1.27505520e+02] [ 1.23104024e-01 9.92393687e-01 -4.10298389e-04 5.37063575e+00] [ 2.66292524e-03 8.31122976e-05 9.99996451e-01 1.83609173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.585336195 meters 0.03353964730681513 Centerline is valid? [True, True] Translation: X:127.53, Y:5.37, Z:0.18 [[ 9.92493852e-01 -1.22234094e-01 -3.84458841e-03 1.27532787e+02] [ 1.22232685e-01 9.92501290e-01 -6.00128101e-04 5.37324506e+00] [ 3.88911507e-03 1.25689085e-04 9.99992429e-01 1.82098941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.615336195 meters 0.032396837013986914 Centerline is valid? [True, True] Translation: X:127.56, Y:5.38, Z:0.19 [[ 9.92725192e-01 -1.20398207e-01 -9.82317798e-04 1.27561860e+02] [ 1.20398113e-01 9.92725677e-01 -1.54563333e-04 5.37502950e+00] [ 9.93781249e-04 3.51697052e-05 9.99999506e-01 1.87035703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.645336195 meters 0.03825217032044082 Centerline is valid? [True, True] Translation: X:127.59, Y:5.39, Z:0.19 [[ 9.92906379e-01 -1.18895033e-01 9.44957593e-04 1.27588299e+02] [ 1.18894946e-01 9.92906829e-01 1.47095760e-04 5.38667254e+00] [-9.55743802e-04 -3.37016360e-05 9.99999543e-01 1.88376693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.675336195 meters 0.03866636067007201 Centerline is valid? [True, True] Translation: X:127.62, Y:5.39, Z:0.19 [[ 9.93228361e-01 -1.16175789e-01 -7.80488101e-04 1.27618979e+02] [ 1.16175729e-01 9.93228667e-01 -1.21860469e-04 5.38817294e+00] [ 7.89360392e-04 3.03615002e-05 9.99999688e-01 1.88178211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.705336195 meters 0.04125280471256199 Centerline is valid? [True, True] Translation: X:127.65, Y:5.39, Z:0.18 [[ 9.93494164e-01 -1.13765871e-01 -5.16464681e-03 1.27648240e+02] [ 1.13763213e-01 9.93507565e-01 -8.06522228e-04 5.39446689e+00] [ 5.22287038e-03 2.13728311e-04 9.99986338e-01 1.80216304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.735336195 meters 0.050425751492976255 Centerline is valid? [True, True] Translation: X:127.68, Y:5.41, Z:0.18 [[ 9.93831182e-01 -1.10787164e-01 -5.07801914e-03 1.27675159e+02] [ 1.10784554e-01 9.93844129e-01 -7.93200664e-04 5.41063915e+00] [ 5.13463596e-03 2.25741466e-04 9.99986792e-01 1.77184067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.765336195 meters 0.04749957792201488 Centerline is valid? [True, True] Translation: X:127.70, Y:5.41, Z:0.18 [[ 9.93929815e-01 -1.09930912e-01 -4.32645006e-03 1.27704215e+02] [ 1.09929002e-01 9.93939211e-01 -6.77532688e-04 5.41116744e+00] [ 4.37471015e-03 1.97817602e-04 9.99990411e-01 1.80044610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.795336195 meters 0.04807819149694044 Centerline is valid? [True, True] Translation: X:127.73, Y:5.42, Z:0.18 [[ 9.94225869e-01 -1.07166757e-01 -5.49617604e-03 1.27733219e+02] [ 1.07163640e-01 9.94241025e-01 -8.59371648e-04 5.41878895e+00] [ 5.55661977e-03 2.65419293e-04 9.99984527e-01 1.78537009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825336195 meters 0.04596629237393931 Centerline is valid? [True, True] Translation: X:127.76, Y:5.42, Z:0.18 [[ 9.94396048e-01 -1.05566991e-01 -5.66662225e-03 1.27763063e+02] [ 1.05563651e-01 9.94412153e-01 -8.86248588e-04 5.42162651e+00] [ 5.72851663e-03 2.83092761e-04 9.99983552e-01 1.79061724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.855336195 meters 0.0583016417257618 Centerline is valid? [True, True] Translation: X:127.79, Y:5.44, Z:0.18 [[ 9.94611668e-01 -1.03635226e-01 -2.71466334e-03 1.27789056e+02] [ 1.03634451e-01 9.94615363e-01 -4.24843889e-04 5.43959472e+00] [ 2.74407465e-03 1.41222043e-04 9.99996225e-01 1.82445691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.885336195 meters 0.05199656603598677 Centerline is valid? [True, True] Translation: X:127.82, Y:5.44, Z:0.19 [[ 9.94567906e-01 -1.04084254e-01 -1.07192320e-03 1.27818810e+02] [ 1.04084132e-01 9.94568482e-01 -1.69003849e-04 5.43637806e+00] [ 1.08369167e-03 5.65156083e-05 9.99999411e-01 1.87247989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.915336195 meters 0.053748384698851424 Centerline is valid? [True, True] Translation: X:127.85, Y:5.45, Z:0.19 [[ 9.94320958e-01 -1.06421449e-01 -5.54916464e-04 1.27846135e+02] [ 1.06421417e-01 9.94321112e-01 -8.70602685e-05 5.44810431e+00] [ 5.61030236e-04 2.75108532e-05 9.99999842e-01 1.86208759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.945336195 meters 0.04717283743168506 Centerline is valid? [True, True] Translation: X:127.88, Y:5.45, Z:0.18 [[ 9.93707645e-01 -1.11982303e-01 -2.25409024e-03 1.27876748e+02] [ 1.11981790e-01 9.93710196e-01 -3.53029956e-04 5.44747343e+00] [ 2.27944557e-03 9.83915057e-05 9.99997397e-01 1.80738777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.975336195 meters 0.03965874345891214 Centerline is valid? [True, True] Translation: X:127.91, Y:5.44, Z:0.18 [[ 9.93269615e-01 -1.15802125e-01 -2.31089610e-03 1.27908061e+02] [ 1.15801595e-01 9.93272299e-01 -3.61967501e-04 5.44191168e+00] [ 2.33726569e-03 9.19258656e-05 9.99997264e-01 1.81977335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.005336195 meters 0.03213518997726891 Centerline is valid? [True, True] Translation: X:127.94, Y:5.43, Z:0.19 [[ 9.92320195e-01 -1.23692339e-01 -9.14137832e-04 1.27939572e+02] [ 1.23692259e-01 9.92320616e-01 -1.43226856e-04 5.43445007e+00] [ 9.24833881e-04 2.90551280e-05 9.99999572e-01 1.85850456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.035336195 meters 0.02851274154186347 Centerline is valid? [True, True] Translation: X:127.97, Y:5.43, Z:0.19 [[ 9.91855284e-01 -1.27369413e-01 -3.57352874e-04 1.27969713e+02] [ 1.27369401e-01 9.91855349e-01 -5.61478943e-05 5.43446240e+00] [ 3.61593884e-04 1.01747641e-05 9.99999935e-01 1.87138017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06533619500001 meters 0.026009081675532453 Centerline is valid? [True, True] Translation: X:128.00, Y:5.44, Z:0.18 [[ 9.91161494e-01 -1.32659584e-01 -5.71591175e-04 1.27998069e+02] [ 1.32659554e-01 9.91161659e-01 -8.96334838e-05 5.43887761e+00] [ 5.78429998e-04 1.30142275e-05 9.99999833e-01 1.84894767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09533619500002 meters 0.02427237285208453 Centerline is valid? [True, True] Translation: X:128.03, Y:5.44, Z:0.18 [[ 9.90960090e-01 -1.34155148e-01 -7.04212273e-04 1.28027181e+02] [ 1.34155102e-01 9.90960340e-01 -1.11505394e-04 5.44259358e+00] [ 7.12805456e-04 1.60237255e-05 9.99999746e-01 1.83532267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12533619500002 meters 0.021854814264616496 Centerline is valid? [True, True] Translation: X:128.06, Y:5.44, Z:0.19 [[ 9.90846136e-01 -1.34995371e-01 4.28986563e-04 1.28056650e+02] [ 1.34995355e-01 9.90846229e-01 6.66532247e-05 5.44412073e+00] [-4.34057595e-04 -8.13189701e-06 9.99999906e-01 1.85675551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15533619500002 meters 0.023770015447721844 Centerline is valid? [True, True] Translation: X:128.08, Y:5.45, Z:0.19 [[ 9.90842161e-01 -1.35024479e-01 4.50309690e-04 1.28083001e+02] [ 1.35024461e-01 9.90842263e-01 7.00787428e-05 5.44964782e+00] [-4.55648218e-04 -8.63414979e-06 9.99999896e-01 1.85616700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18533619500002 meters 0.024145714721304546 Centerline is valid? [True, True] Translation: X:128.11, Y:5.45, Z:0.18 [[ 9.90841826e-01 -1.35008694e-01 -2.26468293e-03 1.28111767e+02] [ 1.35008230e-01 9.90844413e-01 -3.57018666e-04 5.45279377e+00] [ 2.29214905e-03 4.79981929e-05 9.99997372e-01 1.81537162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21533619500002 meters 0.02294164278883129 Centerline is valid? [True, True] Translation: X:128.14, Y:5.46, Z:0.18 [[ 9.90917870e-01 -1.34415251e-01 -3.78353323e-03 1.28140256e+02] [ 1.34413954e-01 9.90925090e-01 -5.96366657e-04 5.45867720e+00] [ 3.82935878e-03 8.23907170e-05 9.99992665e-01 1.78949073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24533619500002 meters 0.025905249294425246 Centerline is valid? [True, True] Translation: X:128.17, Y:5.47, Z:0.18 [[ 9.91092421e-01 -1.33113048e-01 -4.09013743e-03 1.28166903e+02] [ 1.33111523e-01 9.91100856e-01 -6.44053092e-04 5.46801379e+00] [ 4.13947058e-03 9.38717138e-05 9.99991428e-01 1.76818508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.275336195 meters 0.026814517611914147 Centerline is valid? [True, True] Translation: X:128.20, Y:5.47, Z:0.18 [[ 9.91453829e-01 -1.30397987e-01 -3.95860279e-03 1.28196629e+02] [ 1.30396537e-01 9.91461726e-01 -6.23190881e-04 5.47074363e+00] [ 4.00606600e-03 1.01676887e-04 9.99991971e-01 1.79291125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.305336195 meters 0.027458843478091337 Centerline is valid? [True, True] Translation: X:128.23, Y:5.47, Z:0.19 [[ 9.91596187e-01 -1.29357234e-01 -1.92540215e-03 1.28225524e+02] [ 1.29356886e-01 9.91598055e-01 -3.04570183e-04 5.47322631e+00] [ 1.94862338e-03 5.29466061e-05 9.99998100e-01 1.85062974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.335336195 meters 0.029261287932409983 Centerline is valid? [True, True] Translation: X:128.25, Y:5.48, Z:0.18 [[ 9.91719478e-01 -1.28412912e-01 -1.61279831e-03 1.28252377e+02] [ 1.28412668e-01 9.91720788e-01 -2.54626820e-04 5.48185899e+00] [ 1.63214298e-03 4.54146439e-05 9.99998667e-01 1.83701464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.365336195 meters 0.032568762632491054 Centerline is valid? [True, True] Translation: X:128.28, Y:5.49, Z:0.18 [[ 9.91901448e-01 -1.26990313e-01 -2.23121693e-03 1.28278122e+02] [ 1.26989841e-01 9.91903955e-01 -3.52332195e-04 5.49395009e+00] [ 2.25789567e-03 6.61369305e-05 9.99997449e-01 1.78421971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.395336195 meters 0.031990772869573934 Centerline is valid? [True, True] Translation: X:128.31, Y:5.50, Z:0.18 [[ 9.91932331e-01 -1.26745364e-01 -2.42148718e-03 1.28306720e+02] [ 1.26744805e-01 9.91935284e-01 -3.83398870e-04 5.49739435e+00] [ 2.45055260e-03 7.33948134e-05 9.99996995e-01 1.77992727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.425336195 meters 0.03222010799806409 Centerline is valid? [True, True] Translation: X:128.34, Y:5.50, Z:0.18 [[ 9.92049788e-01 -1.25820541e-01 -2.53177645e-03 1.28335969e+02] [ 1.25819927e-01 9.92053015e-01 -4.01240932e-04 5.49782015e+00] [ 2.56214081e-03 7.95030542e-05 9.99996715e-01 1.80110250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.455336195 meters 0.035074806401253766 Centerline is valid? [True, True] Translation: X:128.36, Y:5.50, Z:0.18 [[ 9.92139907e-01 -1.25091131e-01 -3.25799652e-03 1.28362786e+02] [ 1.25090111e-01 9.92145250e-01 -5.15871644e-04 5.50359168e+00] [ 3.29693674e-03 1.04273698e-04 9.99994560e-01 1.79284389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.485336195 meters 0.03653685834588492 Centerline is valid? [True, True] Translation: X:128.39, Y:5.51, Z:0.18 [[ 9.92249903e-01 -1.24115753e-01 -5.95057884e-03 1.28391851e+02] [ 1.24112338e-01 9.92267727e-01 -9.41154939e-04 5.51019485e+00] [ 6.02137949e-03 1.95320643e-04 9.99981852e-01 1.75065491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.515336195 meters 0.03613315228907089 Centerline is valid? [True, True] Translation: X:128.42, Y:5.52, Z:0.17 [[ 9.92295015e-01 -1.23704525e-01 -6.91327287e-03 1.28419384e+02] [ 1.23699899e-01 9.92319070e-01 -1.09445596e-03 5.51789782e+00] [ 6.99556166e-03 2.30852036e-04 9.99975504e-01 1.71038501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.545336195 meters 0.03761566266100228 Centerline is valid? [True, True] Translation: X:128.45, Y:5.53, Z:0.17 [[ 9.92337994e-01 -1.23394910e-01 -6.24515218e-03 1.28446251e+02] [ 1.23391128e-01 9.92357623e-01 -9.88892467e-04 5.52553630e+00] [ 6.31944867e-03 2.10719196e-04 9.99980010e-01 1.70760358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.575336195 meters 0.03578415402674444 Centerline is valid? [True, True] Translation: X:128.48, Y:5.53, Z:0.18 [[ 9.92378132e-01 -1.23159657e-01 -4.16427293e-03 1.28475415e+02] [ 1.23157967e-01 9.92386859e-01 -6.60981114e-04 5.52743425e+00] [ 4.21397595e-03 1.43079816e-04 9.99991111e-01 1.76143222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.605336195 meters 0.03829567771324043 Centerline is valid? [True, True] Translation: X:128.50, Y:5.53, Z:0.18 [[ 9.92414869e-01 -1.22896580e-01 -3.02612130e-03 1.28501507e+02] [ 1.22895686e-01 9.92419478e-01 -4.80299686e-04 5.53332618e+00] [ 3.06220891e-03 1.04759296e-04 9.99995306e-01 1.78408526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.635336195 meters 0.035020038490416974 Centerline is valid? [True, True] Translation: X:128.53, Y:5.53, Z:0.18 [[ 9.92404201e-01 -1.23018411e-01 -6.09764761e-04 1.28531359e+02] [ 1.23018374e-01 9.92404388e-01 -9.78800904e-05 5.53312248e+00] [ 6.17174278e-04 2.21243435e-05 9.99999809e-01 1.84839600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.665336195 meters 0.03596392227457794 Centerline is valid? [True, True] Translation: X:128.56, Y:5.54, Z:0.18 [[ 9.92298456e-01 -1.23869174e-01 -4.49238222e-04 1.28558248e+02] [ 1.23869154e-01 9.92298558e-01 -7.19573635e-05 5.54067005e+00] [ 4.54691739e-04 1.57564219e-05 9.99999897e-01 1.82087840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.695336195 meters 0.03325156638743407 Centerline is valid? [True, True] Translation: X:128.59, Y:5.54, Z:0.18 [[ 9.92182377e-01 -1.24790892e-01 -1.16769807e-03 1.28587153e+02] [ 1.24790758e-01 9.92183064e-01 -1.86797295e-04 5.54220824e+00] [ 1.18188085e-03 3.96190569e-05 9.99999301e-01 1.80474723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.725336195 meters 0.03308033280773597 Centerline is valid? [True, True] Translation: X:128.61, Y:5.55, Z:0.18 [[ 9.92168761e-01 -1.24902750e-01 -6.73374064e-04 1.28614719e+02] [ 1.24902705e-01 9.92168989e-01 -1.08542599e-04 5.54559210e+00] [ 6.81658134e-04 2.35863340e-05 9.99999767e-01 1.80967443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.755336195 meters 0.03591693409876927 Centerline is valid? [True, True] Translation: X:128.64, Y:5.55, Z:0.18 [[ 9.92174858e-01 -1.24854512e-01 -6.33446404e-04 1.28642021e+02] [ 1.24854473e-01 9.92175060e-01 -1.01510420e-04 5.55240067e+00] [ 6.41163758e-04 2.16274696e-05 9.99999794e-01 1.80807202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.785336195 meters 0.03603995492625355 Centerline is valid? [True, True] Translation: X:128.67, Y:5.56, Z:0.18 [[ 9.92104534e-01 -1.25407738e-01 -1.22157058e-03 1.28669458e+02] [ 1.25407593e-01 9.92105286e-01 -1.94974502e-04 5.55804761e+00] [ 1.23637794e-03 4.02408610e-05 9.99999235e-01 1.80933191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81533619500001 meters 0.03369204289844569 Centerline is valid? [True, True] Translation: X:128.70, Y:5.56, Z:0.18 [[ 9.92131920e-01 -1.25183373e-01 -1.83768044e-03 1.28697700e+02] [ 1.25183043e-01 9.92133620e-01 -2.94191504e-04 5.56290683e+00] [ 1.86005243e-03 6.18303521e-05 9.99998268e-01 1.79817057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84533619500002 meters 0.03412519003099555 Centerline is valid? [True, True] Translation: X:128.73, Y:5.57, Z:0.18 [[ 9.92203405e-01 -1.24610961e-01 -2.12383733e-03 1.28726043e+02] [ 1.24610518e-01 9.92205676e-01 -3.40176009e-04 5.56840206e+00] [ 2.14967312e-03 7.28713231e-05 9.99997687e-01 1.79347055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87533619500002 meters 0.03853579607493398 Centerline is valid? [True, True] Translation: X:128.75, Y:5.58, Z:0.18 [[ 9.92377126e-01 -1.23226169e-01 -1.71774393e-03 1.28752779e+02] [ 1.23225878e-01 9.92378611e-01 -2.74684402e-04 5.57655684e+00] [ 1.73850064e-03 6.09200146e-05 9.99998487e-01 1.80487392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90533619500002 meters 0.03816642246947492 Centerline is valid? [True, True] Translation: X:128.78, Y:5.58, Z:0.18 [[ 9.92419075e-01 -1.22897401e-01 -7.79565054e-04 1.28781664e+02] [ 1.22897340e-01 9.92419381e-01 -1.25766222e-04 5.58047394e+00] [ 7.89111810e-04 2.90063262e-05 9.99999688e-01 1.83185158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93533619500002 meters 0.03728917057447695 Centerline is valid? [True, True] Translation: X:128.81, Y:5.59, Z:0.18 [[ 9.92484895e-01 -1.22366742e-01 3.36306874e-04 1.28809956e+02] [ 1.22366731e-01 9.92484952e-01 5.26071923e-05 5.58719191e+00] [-3.40216883e-04 -1.10590709e-05 9.99999942e-01 1.84890827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96533619500002 meters 0.0435490168156452 Centerline is valid? [True, True] Translation: X:128.84, Y:5.60, Z:0.18 [[ 9.92486424e-01 -1.22354735e-01 1.33266247e-04 1.28835580e+02] [ 1.22354733e-01 9.92486433e-01 2.06916318e-05 5.60154392e+00] [-1.34796661e-04 -4.23040755e-06 9.99999991e-01 1.81907403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99533619500002 meters 0.040082886721040864 Centerline is valid? [True, True] Translation: X:128.86, Y:5.60, Z:0.18 [[ 9.92452373e-01 -1.22627340e-01 -9.07132914e-04 1.28863830e+02] [ 1.22627257e-01 9.92452787e-01 -1.46694952e-04 5.60363873e+00] [ 9.18275400e-04 3.43485317e-05 9.99999578e-01 1.79770987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.025336195 meters 0.03910104114680764 Centerline is valid? [True, True] Translation: X:128.89, Y:5.61, Z:0.18 [[ 9.92320190e-01 -1.23676754e-01 -2.16826147e-03 1.28892105e+02] [ 1.23676286e-01 9.92322556e-01 -3.48978821e-04 5.60770068e+00] [ 2.19477533e-03 7.81362046e-05 9.99997588e-01 1.76799638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.055336195 meters 0.03490630906542601 Centerline is valid? [True, True] Translation: X:128.92, Y:5.61, Z:0.18 [[ 9.92204347e-01 -1.24593825e-01 -2.62936070e-03 1.28921389e+02] [ 1.24593139e-01 9.92207826e-01 -4.23440937e-04 5.60696664e+00] [ 2.66163039e-03 9.25396335e-05 9.99996454e-01 1.77480493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.085336195 meters 0.032925567520518395 Centerline is valid? [True, True] Translation: X:128.95, Y:5.61, Z:0.18 [[ 9.91965783e-01 -1.26506404e-01 1.20310143e-04 1.28951342e+02] [ 1.26506402e-01 9.91965791e-01 1.92346497e-05 5.61006539e+00] [-1.21776852e-04 -3.86011108e-06 9.99999993e-01 1.82276424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.115336195 meters 0.03186180654810489 Centerline is valid? [True, True] Translation: X:128.98, Y:5.62, Z:0.18 [[ 9.91761136e-01 -1.28093559e-01 1.37439954e-03 1.28979262e+02] [ 1.28093377e-01 9.91762088e-01 2.20442190e-04 5.61724542e+00] [-1.39131458e-03 -4.25745186e-05 9.99999031e-01 1.83510740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.145336195 meters 0.03051331328908769 Centerline is valid? [True, True] Translation: X:129.01, Y:5.62, Z:0.18 [[ 9.91630129e-01 -1.29109184e-01 7.11647221e-04 1.29007652e+02] [ 1.29109136e-01 9.91630384e-01 1.13220201e-04 5.62081726e+00] [-7.20308775e-04 -2.03924042e-05 9.99999740e-01 1.81376788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.175336195 meters 0.03051331328908769 Centerline is valid? [True, True] Translation: X:129.03, Y:5.63, Z:0.18 [[ 9.91605937e-01 -1.29294858e-01 7.11653497e-04 1.29034850e+02] [ 1.29294810e-01 9.91606192e-01 1.13181906e-04 5.62534491e+00] [-7.20313853e-04 -2.02187468e-05 9.99999740e-01 1.81174364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.205336195 meters 0.029538541256858845 Centerline is valid? [True, True] Translation: X:129.06, Y:5.63, Z:0.18 [[ 9.91243058e-01 -1.32049127e-01 4.77308793e-04 1.29062706e+02] [ 1.32049106e-01 9.91243173e-01 7.64455063e-05 5.62571888e+00] [-4.83223645e-04 -1.27478783e-05 9.99999883e-01 1.81005454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.235336195 meters 0.028599848347026342 Centerline is valid? [True, True] Translation: X:129.09, Y:5.63, Z:0.18 [[ 9.90940351e-01 -1.34300077e-01 8.43224563e-04 1.29090945e+02] [ 1.34300010e-01 9.90940709e-01 1.35511838e-04 5.62956926e+00] [-8.53784796e-04 -2.10390808e-05 9.99999635e-01 1.81581310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.265336195 meters 0.02676909251001133 Centerline is valid? [True, True] Translation: X:129.12, Y:5.63, Z:0.18 [[ 9.90882058e-01 -1.34732119e-01 5.84040081e-05 1.29118273e+02] [ 1.34732119e-01 9.90882060e-01 8.05269031e-06 5.63350062e+00] [-5.89564399e-05 -1.10370608e-07 9.99999998e-01 1.80206277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.295336195 meters 0.02784358338970993 Centerline is valid? [True, True] Translation: X:129.14, Y:5.64, Z:0.18 [[ 9.90941469e-01 -1.34294431e-01 -1.01504186e-04 1.29144657e+02] [ 1.34294430e-01 9.90941474e-01 -1.68027210e-05 5.64331222e+00] [ 1.02841220e-04 3.01906616e-06 9.99999995e-01 1.79101404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325336195 meters 0.02966105826931159 Centerline is valid? [True, True] Translation: X:129.17, Y:5.65, Z:0.18 [[ 9.91057483e-01 -1.33435606e-01 6.17912222e-05 1.29171617e+02] [ 1.33435606e-01 9.91057485e-01 9.55041997e-06 5.65212529e+00] [-6.25130194e-05 -1.21986600e-06 9.99999998e-01 1.78365384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.355336195 meters 0.033601844722603545 Centerline is valid? [True, True] Translation: X:129.20, Y:5.66, Z:0.18 [[ 9.91512974e-01 -1.29990412e-01 -2.12494536e-03 1.29200401e+02] [ 1.29989975e-01 9.91515249e-01 -3.43100440e-04 5.66280322e+00] [ 2.15151549e-03 6.39669439e-05 9.99997683e-01 1.75342709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.385336195 meters 0.0375782590277342 Centerline is valid? [True, True] Translation: X:129.23, Y:5.67, Z:0.18 [[ 9.91969058e-01 -1.26468808e-01 -1.74045740e-03 1.29229010e+02] [ 1.26468509e-01 9.91970583e-01 -2.81054190e-04 5.67263849e+00] [ 1.76202713e-03 5.86840073e-05 9.99998446e-01 1.77307766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.415336195 meters 0.039965826415002514 Centerline is valid? [True, True] Translation: X:129.26, Y:5.68, Z:0.18 [[ 9.92196424e-01 -1.24680799e-01 -9.76766505e-04 1.29256389e+02] [ 1.24680704e-01 9.92196904e-01 -1.57963990e-04 5.68457482e+00] [ 9.88839779e-04 3.49473702e-05 9.99999510e-01 1.77586411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.445336195 meters 0.037884544421107405 Centerline is valid? [True, True] Translation: X:129.28, Y:5.69, Z:0.18 [[ 9.92153273e-01 -1.25023767e-01 -9.69787579e-04 1.29283764e+02] [ 1.25023672e-01 9.92153746e-01 -1.58118181e-04 5.68850924e+00] [ 9.81946910e-04 3.56310670e-05 9.99999517e-01 1.77334019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.475336195 meters 0.03780963590847191 Centerline is valid? [True, True] Translation: X:129.31, Y:5.70, Z:0.18 [[ 9.92005728e-01 -1.26189355e-01 -9.39203334e-04 1.29310787e+02] [ 1.26189267e-01 9.92006172e-01 -1.52301289e-04 5.69500039e+00] [ 9.50914305e-04 3.25663709e-05 9.99999547e-01 1.76180791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.505336195 meters 0.036480022832361736 Centerline is valid? [True, True] Translation: X:129.34, Y:5.70, Z:0.17 [[ 9.91855419e-01 -1.27361595e-01 -1.36070969e-03 1.29339599e+02] [ 1.27361411e-01 9.91856351e-01 -2.21429884e-04 5.69885841e+00] [ 1.37783021e-03 4.63245240e-05 9.99999050e-01 1.74207817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.535336195 meters 0.03196694650117849 Centerline is valid? [True, True] Translation: X:129.37, Y:5.70, Z:0.17 [[ 9.91551634e-01 -1.29704329e-01 -1.46440233e-03 1.29369051e+02] [ 1.29704120e-01 9.91552714e-01 -2.37462598e-04 5.69731689e+00] [ 1.48283203e-03 4.55174125e-05 9.99998900e-01 1.73557263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56533619500001 meters 0.03082834363370497 Centerline is valid? [True, True] Translation: X:129.40, Y:5.70, Z:0.17 [[ 9.91300260e-01 -1.31617673e-01 -7.63114719e-04 1.29397037e+02] [ 1.31617616e-01 9.91300554e-01 -1.23944757e-04 5.70189103e+00] [ 7.72789363e-04 2.24271295e-05 9.99999701e-01 1.74092786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59533619500002 meters 0.02913370160222813 Centerline is valid? [True, True] Translation: X:129.43, Y:5.71, Z:0.17 [[ 9.91218066e-01 -1.32235217e-01 -7.70286498e-04 1.29425953e+02] [ 1.32235159e-01 9.91218365e-01 -1.26112490e-04 5.70669238e+00] [ 7.80198635e-04 2.31460208e-05 9.99999695e-01 1.74782778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62533619500002 meters 0.030474811938399893 Centerline is valid? [True, True] Translation: X:129.45, Y:5.72, Z:0.17 [[ 9.91117407e-01 -1.32960833e-01 -2.77516979e-03 1.29451798e+02] [ 1.32960092e-01 9.91121290e-01 -4.50795134e-04 5.71884403e+00] [ 2.81046796e-03 7.78040744e-05 9.99996048e-01 1.70793474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65533619500002 meters 0.030666716126037545 Centerline is valid? [True, True] Translation: X:129.48, Y:5.73, Z:0.17 [[ 9.91100791e-01 -1.33008877e-01 -5.27833405e-03 1.29479309e+02] [ 1.33006197e-01 9.91114835e-01 -8.56984344e-04 5.72661576e+00] [ 5.34542171e-03 1.47306721e-04 9.99985702e-01 1.66224726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68533619500002 meters 0.030935345782873276 Centerline is valid? [True, True] Translation: X:129.51, Y:5.73, Z:0.17 [[ 9.91080092e-01 -1.33171347e-01 -5.06395531e-03 1.29506491e+02] [ 1.33168882e-01 9.91093019e-01 -8.22486938e-04 5.73130303e+00] [ 5.12838245e-03 1.40789164e-04 9.99986840e-01 1.67196291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71533619500002 meters 0.030764729256971185 Centerline is valid? [True, True] Translation: X:129.53, Y:5.74, Z:0.17 [[ 9.90993472e-01 -1.33892744e-01 -2.16157607e-03 1.29534197e+02] [ 1.33892296e-01 9.90995827e-01 -3.51337461e-04 5.73700979e+00] [ 2.18915440e-03 5.87547466e-05 9.99997602e-01 1.73382828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74533619500002 meters 0.03041144420448673 Centerline is valid? [True, True] Translation: X:129.56, Y:5.74, Z:0.17 [[ 9.90919036e-01 -1.34452612e-01 -1.40004329e-03 1.29562973e+02] [ 1.34452423e-01 9.90920024e-01 -2.28628416e-04 5.74308532e+00] [ 1.41807062e-03 3.83130361e-05 9.99998994e-01 1.74815592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.775336195 meters 0.02765546948662867 Centerline is valid? [True, True] Translation: X:129.59, Y:5.75, Z:0.17 [[ 9.90861202e-01 -1.34880168e-01 -1.19133705e-03 1.29591108e+02] [ 1.34880031e-01 9.90861917e-01 -1.95044759e-04 5.75103386e+00] [ 1.20675818e-03 3.25747062e-05 9.99999271e-01 1.74611555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.805336195 meters 0.03163657782023581 Centerline is valid? [True, True] Translation: X:129.62, Y:5.77, Z:0.17 [[ 9.90974971e-01 -1.34047031e-01 -4.16006560e-06 1.29616760e+02] [ 1.34047031e-01 9.90974971e-01 -1.11006681e-06 5.76540608e+00] [ 4.27132201e-06 5.42403975e-07 1.00000000e+00 1.73473627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.835336195 meters 0.03150710928094025 Centerline is valid? [True, True] Translation: X:129.65, Y:5.77, Z:0.17 [[ 9.90993658e-01 -1.33904522e-01 -1.07174581e-03 1.29645147e+02] [ 1.33904411e-01 9.90994237e-01 -1.75773261e-04 5.76877824e+00] [ 1.08563075e-03 3.06786962e-05 9.99999410e-01 1.73050826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.865336195 meters 0.030896593383018447 Centerline is valid? [True, True] Translation: X:129.67, Y:5.77, Z:0.17 [[ 9.90978767e-01 -1.33999808e-01 -2.26588018e-03 1.29673295e+02] [ 1.33999310e-01 9.90981356e-01 -3.70701084e-04 5.77364185e+00] [ 2.29511889e-03 6.37305223e-05 9.99997364e-01 1.71286524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.895336195 meters 0.03011907055378401 Centerline is valid? [True, True] Translation: X:129.70, Y:5.78, Z:0.17 [[ 9.91052874e-01 -1.33428671e-01 -3.31509980e-03 1.29700537e+02] [ 1.33427606e-01 9.91058414e-01 -5.41256840e-04 5.78309917e+00] [ 3.35767673e-03 9.40883156e-05 9.99994359e-01 1.69071974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.925336195 meters 0.032491096408436636 Centerline is valid? [True, True] Translation: X:129.73, Y:5.79, Z:0.17 [[ 9.91128676e-01 -1.32873325e-01 -2.93723852e-03 1.29727392e+02] [ 1.32872486e-01 9.91133025e-01 -4.79785044e-04 5.79403896e+00] [ 2.97494473e-03 8.52505317e-05 9.99995571e-01 1.67801127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.955336195 meters 0.031609068473284055 Centerline is valid? [True, True] Translation: X:129.76, Y:5.80, Z:0.17 [[ 9.91190253e-01 -1.32419012e-01 -2.66210909e-03 1.29755343e+02] [ 1.32418318e-01 9.91193825e-01 -4.36090051e-04 5.80108214e+00] [ 2.69641270e-03 7.97362007e-05 9.99996361e-01 1.68657644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.985336195 meters 0.033226182224454615 Centerline is valid? [True, True] Translation: X:129.78, Y:5.81, Z:0.17 [[ 9.91085256e-01 -1.33188244e-01 -3.30268564e-03 1.29782256e+02] [ 1.33187183e-01 9.91090754e-01 -5.40157274e-04 5.80946892e+00] [ 3.34520380e-03 9.54665150e-05 9.99994400e-01 1.66876560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.015336195 meters 0.03288193411148079 Centerline is valid? [True, True] Translation: X:129.81, Y:5.81, Z:0.17 [[ 9.90968481e-01 -1.34057872e-01 -3.15544832e-03 1.29810166e+02] [ 1.34056903e-01 9.90973501e-01 -5.17322695e-04 5.81472953e+00] [ 3.19631685e-03 8.96408551e-05 9.99994888e-01 1.66545637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.045336195 meters 0.02961144052000643 Centerline is valid? [True, True] Translation: X:129.84, Y:5.82, Z:0.17 [[ 9.90755947e-01 -1.35636616e-01 -2.31555783e-03 1.29838818e+02] [ 1.35636100e-01 9.90758651e-01 -3.79226389e-04 5.81848317e+00] [ 2.34559593e-03 6.16475677e-05 9.99997247e-01 1.68526837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.075336195 meters 0.028607643497823573 Centerline is valid? [True, True] Translation: X:129.87, Y:5.83, Z:0.17 [[ 9.90681105e-01 -1.36183921e-01 -2.21095527e-03 1.29866104e+02] [ 1.36183449e-01 9.90683570e-01 -3.63335769e-04 5.82790969e+00] [ 2.23983755e-03 5.88543663e-05 9.99997490e-01 1.67985315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.105336195 meters 0.030685115209076345 Centerline is valid? [True, True] Translation: X:129.89, Y:5.84, Z:0.17 [[ 9.90694301e-01 -1.36084598e-01 -2.40499139e-03 1.29892634e+02] [ 1.36084041e-01 9.90697218e-01 -3.94487167e-04 5.83859265e+00] [ 2.43630191e-03 6.35352404e-05 9.99997030e-01 1.65685381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.135336195 meters 0.02953826913253391 Centerline is valid? [True, True] Translation: X:129.92, Y:5.84, Z:0.17 [[ 9.90547198e-01 -1.37143309e-01 -2.82139694e-03 1.29920960e+02] [ 1.37142544e-01 9.90551214e-01 -4.63913274e-04 5.84265420e+00] [ 2.85836077e-03 7.25944404e-05 9.99995912e-01 1.65680029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.165336195 meters 0.02848146773028481 Centerline is valid? [True, True] Translation: X:129.95, Y:5.84, Z:0.17 [[ 9.90390219e-01 -1.38272563e-01 -2.81292664e-03 1.29950313e+02] [ 1.38271806e-01 9.90394211e-01 -4.62980854e-04 5.84436586e+00] [ 2.84992381e-03 6.95832643e-05 9.99995937e-01 1.67668894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.195336195 meters 0.02603064598604768 Centerline is valid? [True, True] Translation: X:129.98, Y:5.85, Z:0.17 [[ 9.89995913e-01 -1.41037968e-01 -4.04772058e-03 1.29977993e+02] [ 1.41036427e-01 9.90004184e-01 -6.65176270e-04 5.84559637e+00] [ 4.10107542e-03 8.76457405e-05 9.99991587e-01 1.66858905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.225336195 meters 0.022446159952791773 Centerline is valid? [True, True] Translation: X:130.01, Y:5.85, Z:0.16 [[ 9.89472319e-01 -1.44663699e-01 -4.11620823e-03 1.30005906e+02] [ 1.44662136e-01 9.89480878e-01 -6.76528211e-04 5.85450914e+00] [ 4.17077841e-03 7.39464637e-05 9.99991300e-01 1.61912228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.255336195 meters 0.018755952398417187 Centerline is valid? [True, True] Translation: X:130.03, Y:5.86, Z:0.16 [[ 9.89164317e-01 -1.46805871e-01 -1.41054341e-03 1.30034463e+02] [ 1.46805688e-01 9.89165323e-01 -2.33062045e-04 5.86287163e+00] [ 1.42947550e-03 2.34608625e-05 9.99998978e-01 1.64626699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.285336195 meters 0.019235256346442946 Centerline is valid? [True, True] Translation: X:130.06, Y:5.87, Z:0.17 [[ 9.89233718e-01 -1.46344281e-01 -4.37460493e-05 1.30061289e+02] [ 1.46344281e-01 9.89233719e-01 -7.80087474e-06 5.86788870e+00] [ 4.44166804e-05 1.31490420e-06 9.99999999e-01 1.67436201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31533619500001 meters 0.021147813485505425 Centerline is valid? [True, True] Translation: X:130.09, Y:5.87, Z:0.17 [[ 9.89479809e-01 -1.44667424e-01 1.02205351e-03 1.30089427e+02] [ 1.44667328e-01 9.89480336e-01 1.67776213e-04 5.86867299e+00] [-1.03557360e-03 -1.81534249e-05 9.99999464e-01 1.73320310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34533619500002 meters 0.022637949383001607 Centerline is valid? [True, True] Translation: X:130.12, Y:5.88, Z:0.18 [[ 9.89743114e-01 -1.42853479e-01 1.20515087e-03 1.30116936e+02] [ 1.42853344e-01 9.89743847e-01 1.97977314e-04 5.87574821e+00] [-1.22107241e-03 -2.37868520e-05 9.99999254e-01 1.75525927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37533619500002 meters 0.026529182961029005 Centerline is valid? [True, True] Translation: X:130.14, Y:5.89, Z:0.17 [[ 9.89880532e-01 -1.41895064e-01 1.52397374e-03 1.30143118e+02] [ 1.41894847e-01 9.89881705e-01 2.50558287e-04 5.89024697e+00] [-1.54410671e-03 -3.17787502e-05 9.99998807e-01 1.73103322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40533619500002 meters 0.023829282332833764 Centerline is valid? [True, True] Translation: X:130.17, Y:5.90, Z:0.17 [[ 9.89894538e-01 -1.41805512e-01 -1.40507104e-05 1.30171287e+02] [ 1.41805512e-01 9.89894538e-01 -3.52372760e-06 5.89910304e+00] [ 1.44084054e-05 1.49565052e-06 1.00000000e+00 1.66626944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43533619500002 meters 0.02313146607929699 Centerline is valid? [True, True] Translation: X:130.20, Y:5.90, Z:0.17 [[ 9.89822225e-01 -1.42309383e-01 -4.93995958e-05 1.30198794e+02] [ 1.42309383e-01 9.89822226e-01 -9.54692299e-06 5.90356376e+00] [ 5.02554346e-05 2.41973054e-06 9.99999999e-01 1.65013482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46533619500002 meters 0.02218854673297528 Centerline is valid? [True, True] Translation: X:130.23, Y:5.90, Z:0.17 [[ 9.89632345e-01 -1.43623886e-01 1.77279985e-05 1.30226940e+02] [ 1.43623886e-01 9.89632346e-01 2.49470303e-06 5.90314236e+00] [-1.79024998e-05 7.73252287e-08 1.00000000e+00 1.65580849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49533619500002 meters 0.022041066668816205 Centerline is valid? [True, True] Translation: X:130.26, Y:5.90, Z:0.17 [[ 9.89439799e-01 -1.44939414e-01 -1.20428607e-03 1.30255496e+02] [ 1.44939278e-01 9.89440532e-01 -1.99339760e-04 5.90121586e+00] [ 1.22046164e-03 2.26863377e-05 9.99999255e-01 1.65935932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.525336195 meters 0.022042900934644213 Centerline is valid? [True, True] Translation: X:130.28, Y:5.90, Z:0.17 [[ 9.89454076e-01 -1.44840199e-01 -1.39572746e-03 1.30283986e+02] [ 1.44840015e-01 9.89455060e-01 -2.31950156e-04 5.90372568e+00] [ 1.41460531e-03 2.73468399e-05 9.99998999e-01 1.67220279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.555336195 meters 0.02535252545676916 Centerline is valid? [True, True] Translation: X:130.31, Y:5.91, Z:0.17 [[ 9.89850099e-01 -1.42113759e-01 -6.78606279e-04 1.30311176e+02] [ 1.42113715e-01 9.89850332e-01 -1.12893823e-04 5.91191323e+00] [ 6.87762416e-04 1.53087031e-05 9.99999763e-01 1.69163897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.585336195 meters 0.027747622176176594 Centerline is valid? [True, True] Translation: X:130.34, Y:5.92, Z:0.17 [[ 9.90375700e-01 -1.38404077e-01 -5.32631437e-04 1.30338731e+02] [ 1.38404050e-01 9.90375843e-01 -8.85070369e-05 5.92306475e+00] [ 5.39755044e-04 1.39368707e-05 9.99999854e-01 1.66590066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.615336195 meters 0.03093978724890939 Centerline is valid? [True, True] Translation: X:130.37, Y:5.93, Z:0.16 [[ 9.90622350e-01 -1.36627846e-01 -4.36706538e-04 1.30365304e+02] [ 1.36627827e-01 9.90622446e-01 -7.27164345e-05 5.93229875e+00] [ 4.42546389e-04 1.23682598e-05 9.99999902e-01 1.63959824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.645336195 meters 0.03251513804052072 Centerline is valid? [True, True] Translation: X:130.40, Y:5.94, Z:0.17 [[ 9.91035085e-01 -1.33600031e-01 7.02109595e-04 1.30395204e+02] [ 1.33599982e-01 9.91035333e-01 1.16064471e-04 5.93531690e+00] [-7.11321633e-04 -2.12221332e-05 9.99999747e-01 1.66323852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.675336195 meters 0.037099710089589406 Centerline is valid? [True, True] Translation: X:130.42, Y:5.94, Z:0.17 [[ 9.91418290e-01 -1.30714314e-01 1.88197514e-03 1.30423208e+02] [ 1.30713959e-01 9.91420075e-01 3.11269886e-04 5.93961190e+00] [-1.90651537e-03 -6.25982373e-05 9.99998181e-01 1.69562957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.705336195 meters 0.03979386108371344 Centerline is valid? [True, True] Translation: X:130.45, Y:5.94, Z:0.17 [[ 9.91523394e-01 -1.29923653e-01 1.09701528e-03 1.30450713e+02] [ 1.29923532e-01 9.91524000e-01 1.81143675e-04 5.94450432e+00] [-1.11125183e-03 -3.70800914e-05 9.99999382e-01 1.68834879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.735336195 meters 0.03890005824147423 Centerline is valid? [True, True] Translation: X:130.48, Y:5.95, Z:0.17 [[ 9.91574327e-01 -1.29538200e-01 -4.57740056e-04 1.30479735e+02] [ 1.29538178e-01 9.91574432e-01 -7.70933396e-05 5.94658965e+00] [ 4.63869868e-04 1.71489633e-05 9.99999892e-01 1.65358426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.765336195 meters 0.039243648854676474 Centerline is valid? [True, True] Translation: X:130.51, Y:5.95, Z:0.16 [[ 9.91545991e-01 -1.29754723e-01 5.08460290e-04 1.30507567e+02] [ 1.29754698e-01 9.91546122e-01 8.32482604e-05 5.95204784e+00] [-5.14963684e-04 -1.65693676e-05 9.99999867e-01 1.63505671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.795336195 meters 0.03649145457708681 Centerline is valid? [True, True] Translation: X:130.54, Y:5.95, Z:0.17 [[ 9.91671453e-01 -1.28781841e-01 1.72220678e-03 1.30537644e+02] [ 1.28781540e-01 9.91672947e-01 2.84989219e-04 5.94972186e+00] [-1.74456731e-03 -6.08272319e-05 9.99998476e-01 1.66190654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.825336195 meters 0.042335927074906694 Centerline is valid? [True, True] Translation: X:130.57, Y:5.96, Z:0.17 [[ 9.91942109e-01 -1.26656571e-01 2.99423817e-03 1.30565722e+02] [ 1.26655646e-01 9.91946622e-01 4.97448647e-04 5.95717901e+00] [-3.03312957e-03 -1.14203092e-04 9.99995394e-01 1.68876301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.855336195 meters 0.043150457450685506 Centerline is valid? [True, True] Translation: X:130.59, Y:5.96, Z:0.17 [[ 9.92049079e-01 -1.25813174e-01 3.10983226e-03 1.30594278e+02] [ 1.25812173e-01 9.92053945e-01 5.16254999e-04 5.96050455e+00] [-3.15007304e-03 -1.20895543e-04 9.99995031e-01 1.70461712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.885336195 meters 0.04185061592705971 Centerline is valid? [True, True] Translation: X:130.62, Y:5.96, Z:0.17 [[ 9.92110658e-01 -1.25333764e-01 2.80880341e-03 1.30623076e+02] [ 1.25332944e-01 9.92114628e-01 4.66609702e-04 5.96116722e+00] [-2.84513690e-03 -1.10892857e-04 9.99995946e-01 1.69943177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.915336195 meters 0.04176408620458557 Centerline is valid? [True, True] Translation: X:130.65, Y:5.97, Z:0.17 [[ 9.91946402e-01 -1.26613408e-01 3.37343633e-03 1.30651099e+02] [ 1.26612229e-01 9.91952130e-01 5.61653388e-04 5.96565774e+00] [-3.41740020e-03 -1.30011765e-04 9.99994152e-01 1.67693547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.945336195 meters 0.038103111370206486 Centerline is valid? [True, True] Translation: X:130.68, Y:5.97, Z:0.17 [[ 9.91717045e-01 -1.28367554e-01 4.36727539e-03 1.30681053e+02] [ 1.28365596e-01 9.91726648e-01 7.27112234e-04 5.96521567e+00] [-4.42448101e-03 -1.60481690e-04 9.99990199e-01 1.68008729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.975336195 meters 0.03462930084019178 Centerline is valid? [True, True] Translation: X:130.71, Y:5.96, Z:0.17 [[ 9.91254749e-01 -1.31909629e-01 3.72442554e-03 1.30712231e+02] [ 1.31908226e-01 9.91261739e-01 6.20989909e-04 5.96208735e+00] [-3.77379508e-03 -1.24276830e-04 9.99992871e-01 1.65923767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.005336195 meters 0.03326502595805744 Centerline is valid? [True, True] Translation: X:130.74, Y:5.96, Z:0.16 [[ 9.90862267e-01 -1.34857933e-01 2.30348238e-03 1.30741875e+02] [ 1.34857405e-01 9.90864942e-01 3.83947755e-04 5.95783264e+00] [-2.33421833e-03 -6.97976871e-05 9.99997273e-01 1.64225135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.035336195 meters 0.03136349672591287 Centerline is valid? [True, True] Translation: X:130.77, Y:5.96, Z:0.16 [[ 9.90628591e-01 -1.36578133e-01 1.18681266e-03 1.30771364e+02] [ 1.36577995e-01 9.90629301e-01 1.96961939e-04 5.95779484e+00] [-1.20259209e-03 -3.30236347e-05 9.99999276e-01 1.62491183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06533619500001 meters 0.02940278296822744 Centerline is valid? [True, True] Translation: X:130.80, Y:5.96, Z:0.16 [[ 9.90364580e-01 -1.38480509e-01 1.07119884e-03 1.30799903e+02] [ 1.38480397e-01 9.90365159e-01 1.78553393e-04 5.96105807e+00] [-1.08560418e-03 -2.84929145e-05 9.99999410e-01 1.59782907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09533619500002 meters 0.029341290169490115 Centerline is valid? [True, True] Translation: X:130.83, Y:5.96, Z:0.16 [[ 9.90364902e-01 -1.38465588e-01 2.15444129e-03 1.30828052e+02] [ 1.38465134e-01 9.90367244e-01 3.58837765e-04 5.96371906e+00] [-2.18337476e-03 -5.70653256e-05 9.99997615e-01 1.60767373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12533619500002 meters 0.029341290169490115 Centerline is valid? [True, True] Translation: X:130.86, Y:5.97, Z:0.16 [[ 9.90339654e-01 -1.38646054e-01 2.15437500e-03 1.30855209e+02] [ 1.38645600e-01 9.90341996e-01 3.59234735e-04 5.96842355e+00] [-2.18337452e-03 -5.70697887e-05 9.99997615e-01 1.60565042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15533619500002 meters 0.03101392423896887 Centerline is valid? [True, True] Translation: X:130.88, Y:5.97, Z:0.16 [[ 9.90408953e-01 -1.38148677e-01 2.24706659e-03 1.30883086e+02] [ 1.38148179e-01 9.90411500e-01 3.75817437e-04 5.97138346e+00] [-2.27743927e-03 -6.17847969e-05 9.99997405e-01 1.61291337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18533619500002 meters 0.031242825789106914 Centerline is valid? [True, True] Translation: X:130.91, Y:5.97, Z:0.16 [[ 9.90506012e-01 -1.37451373e-01 2.22708279e-03 1.30912989e+02] [ 1.37450883e-01 9.90508514e-01 3.72074080e-04 5.96993421e+00] [-2.25708656e-03 -6.24271173e-05 9.99997451e-01 1.62297554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21533619500002 meters 0.03169663254582351 Centerline is valid? [True, True] Translation: X:130.94, Y:5.97, Z:0.16 [[ 9.90533859e-01 -1.37255798e-01 1.87605116e-03 1.30941236e+02] [ 1.37255449e-01 9.90535634e-01 3.14111929e-04 5.97279159e+00] [-1.90140921e-03 -5.36402571e-05 9.99998191e-01 1.61142349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24533619500002 meters 0.03172418200654438 Centerline is valid? [True, True] Translation: X:130.97, Y:5.98, Z:0.16 [[ 9.90635497e-01 -1.36521510e-01 1.78609122e-03 1.30969456e+02] [ 1.36521193e-01 9.90637105e-01 2.98548756e-04 5.97894751e+00] [-1.81012657e-03 -5.19136900e-05 9.99998360e-01 1.59188382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.275336195 meters 0.03093570384313854 Centerline is valid? [True, True] Translation: X:131.00, Y:5.98, Z:0.16 [[ 9.90724666e-01 -1.35879116e-01 1.22576124e-03 1.30998525e+02] [ 1.35878967e-01 9.90725423e-01 2.04692588e-04 5.98174924e+00] [-1.24220627e-03 -3.62388245e-05 9.99999228e-01 1.57657364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.305336195 meters 0.034698614849615145 Centerline is valid? [True, True] Translation: X:131.03, Y:5.98, Z:0.16 [[ 9.90855787e-01 -1.34914969e-01 1.66148642e-03 1.31026628e+02] [ 1.34914692e-01 9.90857179e-01 2.78612107e-04 5.98211312e+00] [-1.68388469e-03 -5.19054905e-05 9.99998581e-01 1.58735112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.335336195 meters 0.03840602728768671 Centerline is valid? [True, True] Translation: X:131.05, Y:5.98, Z:0.16 [[ 9.90770419e-01 -1.35521167e-01 2.82681328e-03 1.31054984e+02] [ 1.35520365e-01 9.90774447e-01 4.74414865e-04 5.98474891e+00] [-2.86502762e-03 -8.69454478e-05 9.99995892e-01 1.60973999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.365336195 meters 0.03413277543886051 Centerline is valid? [True, True] Translation: X:131.09, Y:5.98, Z:0.16 [[ 9.90497208e-01 -1.37505694e-01 2.73215285e-03 1.31085001e+02] [ 1.37504950e-01 9.90500973e-01 4.59320947e-04 5.98398469e+00] [-2.76935930e-03 -7.92715757e-05 9.99996162e-01 1.58313188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.395336195 meters 0.031158731338257677 Centerline is valid? [True, True] Translation: X:131.11, Y:5.98, Z:0.16 [[ 9.90340047e-01 -1.38619613e-01 3.34572728e-03 1.31114300e+02] [ 1.38618504e-01 9.90345694e-01 5.62505635e-04 5.98455432e+00] [-3.39140092e-03 -9.32921485e-05 9.99994245e-01 1.58565765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.425336195 meters 0.031923738081981255 Centerline is valid? [True, True] Translation: X:131.14, Y:5.98, Z:0.16 [[ 9.90146982e-01 -1.39972800e-01 4.07060097e-03 1.31142686e+02] [ 1.39971163e-01 9.90155343e-01 6.85621982e-04 5.98307360e+00] [-4.12649572e-03 -1.09099786e-04 9.99991480e-01 1.59774078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.455336195 meters 0.028195372082484182 Centerline is valid? [True, True] Translation: X:131.17, Y:5.97, Z:0.16 [[ 9.89928773e-01 -1.41522466e-01 3.52351713e-03 1.31173013e+02] [ 1.41521251e-01 9.89935040e-01 5.93233584e-04 5.97452077e+00] [-3.57200895e-03 -8.86064438e-05 9.99993616e-01 1.60171098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.485336195 meters 0.03117201750361379 Centerline is valid? [True, True] Translation: X:131.20, Y:5.98, Z:0.16 [[ 9.89923988e-01 -1.41492944e-01 5.49943954e-03 1.31199103e+02] [ 1.41489973e-01 9.89939254e-01 9.27597462e-04 5.98303413e+00] [-5.57535957e-03 -1.40135427e-04 9.99984448e-01 1.62113990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.515336195 meters 0.030021966808390213 Centerline is valid? [True, True] Translation: X:131.23, Y:5.99, Z:0.16 [[ 9.90038243e-01 -1.40681011e-01 5.75587077e-03 1.31227259e+02] [ 1.40677741e-01 9.90054963e-01 9.71221697e-04 5.98825637e+00] [-5.83526087e-03 -1.51823726e-04 9.99982963e-01 1.61180647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.545336195 meters 0.028397065874566675 Centerline is valid? [True, True] Translation: X:131.26, Y:5.99, Z:0.16 [[ 9.90327890e-01 -1.38694390e-01 3.81272316e-03 1.31257312e+02] [ 1.38692937e-01 9.90335223e-01 6.44029242e-04 5.98766494e+00] [-3.86519729e-03 -1.09002346e-04 9.99992524e-01 1.57559034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.575336195 meters 0.029002939790681234 Centerline is valid? [True, True] Translation: X:131.28, Y:5.99, Z:0.16 [[ 9.90335119e-01 -1.38657578e-01 3.22937102e-03 1.31284818e+02] [ 1.38656536e-01 9.90340380e-01 5.45275938e-04 5.98928551e+00] [-3.27378316e-03 -9.22325109e-05 9.99994637e-01 1.57559150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.605336195 meters 0.02824600877384561 Centerline is valid? [True, True] Translation: X:131.31, Y:5.99, Z:0.16 [[ 9.90275242e-01 -1.39066235e-01 3.94036565e-03 1.31313664e+02] [ 1.39064687e-01 9.90283076e-01 6.65565647e-04 5.99239291e+00] [-3.99463512e-03 -1.11127469e-04 9.99992015e-01 1.59035479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.635336195 meters 0.030208195077976008 Centerline is valid? [True, True] Translation: X:131.34, Y:6.00, Z:0.16 [[ 9.90247891e-01 -1.39216323e-01 5.28487765e-03 1.31340147e+02] [ 1.39213532e-01 9.90261982e-01 8.94199484e-04 6.00338611e+00] [-5.35790058e-03 -1.49752670e-04 9.99985635e-01 1.58505175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.665336195 meters 0.031936170035543256 Centerline is valid? [True, True] Translation: X:131.37, Y:6.01, Z:0.16 [[ 9.90278349e-01 -1.39005397e-01 5.12744830e-03 1.31366940e+02] [ 1.39002765e-01 9.90291613e-01 8.67861094e-04 6.01085228e+00] [-5.19830642e-03 -1.46694558e-04 9.99986478e-01 1.57528491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.695336195 meters 0.031561736250850896 Centerline is valid? [True, True] Translation: X:131.40, Y:6.01, Z:0.16 [[ 9.90437919e-01 -1.37863572e-01 5.13462446e-03 1.31395257e+02] [ 1.37860917e-01 9.90451216e-01 8.69149138e-04 6.01483271e+00] [-5.20541905e-03 -1.52974227e-04 9.99986440e-01 1.57092790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.725336195 meters 0.032993422673990164 Centerline is valid? [True, True] Translation: X:131.42, Y:6.02, Z:0.16 [[ 9.90528615e-01 -1.37088208e-01 7.73860358e-03 1.31422954e+02] [ 1.37082139e-01 9.90558815e-01 1.31176085e-03 6.01632924e+00] [-7.84536893e-03 -2.38512328e-04 9.99969196e-01 1.63606567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.755336195 meters 0.03298652205607169 Centerline is valid? [True, True] Translation: X:131.45, Y:6.02, Z:0.16 [[ 9.90488169e-01 -1.37366064e-01 7.98438919e-03 1.31450047e+02] [ 1.37359609e-01 9.90520320e-01 1.35390323e-03 6.02047058e+00] [-8.09468009e-03 -2.44292550e-04 9.99967208e-01 1.64595840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.785336195 meters 0.02926181837606581 Centerline is valid? [True, True] Translation: X:131.48, Y:6.02, Z:0.16 [[ 9.90168556e-01 -1.39745028e-01 6.12837241e-03 1.31478931e+02] [ 1.39741270e-01 9.90187506e-01 1.03932899e-03 6.02441855e+00] [-6.21347885e-03 -1.72724346e-04 9.99980681e-01 1.58560702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81533619500001 meters 0.02774961554546688 Centerline is valid? [True, True] Translation: X:131.51, Y:6.03, Z:0.16 [[ 9.89643855e-01 -1.43417803e-01 6.03112319e-03 1.31508323e+02] [ 1.43414225e-01 9.89662221e-01 1.02390326e-03 6.02544465e+00] [-6.11562073e-03 -1.48350716e-04 9.99981288e-01 1.55021242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84533619500002 meters 0.024585363858902812 Centerline is valid? [True, True] Translation: X:131.54, Y:6.02, Z:0.16 [[ 9.89382247e-01 -1.45217357e-01 5.88961510e-03 1.31537926e+02] [ 1.45213977e-01 9.89399768e-01 9.99819687e-04 6.02337760e+00] [-5.97237499e-03 -1.33949418e-04 9.99982156e-01 1.55074143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87533619500002 meters 0.021484515410181933 Centerline is valid? [True, True] Translation: X:131.57, Y:6.02, Z:0.15 [[ 9.88993656e-01 -1.47900075e-01 4.13722475e-03 1.31568265e+02] [ 1.47898428e-01 9.89002306e-01 7.02918954e-04 6.01902287e+00] [-4.19568658e-03 -8.32933488e-05 9.99991195e-01 1.53280368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90533619500002 meters 0.02158167669595065 Centerline is valid? [True, True] Translation: X:131.60, Y:6.02, Z:0.15 [[ 9.88750444e-01 -1.49569768e-01 1.20155378e-03 1.31596030e+02] [ 1.49569631e-01 9.88751174e-01 2.03961992e-04 6.02113603e+00] [-1.21854426e-03 -2.19515541e-05 9.99999257e-01 1.46258768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93533619500002 meters 0.020910086437964725 Centerline is valid? [True, True] Translation: X:131.62, Y:6.02, Z:0.14 [[ 9.88683141e-01 -1.50015708e-01 9.66885454e-04 1.31624400e+02] [ 1.50015620e-01 9.88683613e-01 1.63306530e-04 6.02429760e+00] [-9.80442349e-04 -1.64104916e-05 9.99999519e-01 1.44737581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96533619500002 meters 0.02036474486494178 Centerline is valid? [True, True] Translation: X:131.65, Y:6.03, Z:0.15 [[ 9.88823850e-01 -1.49071966e-01 2.22299123e-03 1.31653539e+02] [ 1.49071494e-01 9.88826348e-01 3.77706228e-04 6.02581902e+00] [-2.25445771e-03 -4.21003031e-05 9.99997458e-01 1.47827388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.995336195 meters 0.025217414236673785 Centerline is valid? [True, True] Translation: X:131.68, Y:6.03, Z:0.15 [[ 9.89386786e-01 -1.45277760e-01 2.85647034e-03 1.31681318e+02] [ 1.45276960e-01 9.89390908e-01 4.86763185e-04 6.03391894e+00] [-2.89688165e-03 -6.66177360e-05 9.99995802e-01 1.48905678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.025336195 meters 0.030163154009717568 Centerline is valid? [True, True] Translation: X:131.71, Y:6.04, Z:0.15 [[ 9.90146541e-01 -1.40016720e-01 2.26821392e-03 1.31710179e+02] [ 1.40016201e-01 9.90149137e-01 3.86670713e-04 6.04436575e+00] [-2.30001042e-03 -6.52739726e-05 9.99997353e-01 1.48706323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.055336195 meters 0.03335435749185601 Centerline is valid? [True, True] Translation: X:131.74, Y:6.05, Z:0.15 [[ 9.90518612e-01 -1.37368349e-01 1.67819993e-03 1.31738109e+02] [ 1.37368062e-01 9.90520032e-01 2.85872541e-04 6.05482443e+00] [-1.70156048e-03 -5.26310013e-05 9.99998551e-01 1.46761742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.085336195 meters 0.04334294032879413 Centerline is valid? [True, True] Translation: X:131.76, Y:6.07, Z:0.14 [[ 9.91196924e-01 -1.32394611e-01 5.70108642e-04 1.31764309e+02] [ 1.32394577e-01 9.91197088e-01 9.70927453e-05 6.07405707e+00] [-5.77944582e-04 -2.07587378e-05 9.99999833e-01 1.41474570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.115336195 meters 0.04187422602432895 Centerline is valid? [True, True] Translation: X:131.79, Y:6.08, Z:0.14 [[ 9.91499388e-01 -1.30106942e-01 1.07110795e-03 1.31793493e+02] [ 1.30106821e-01 9.91499966e-01 1.82571522e-04 6.07864808e+00] [-1.08575732e-03 -4.16611024e-05 9.99999410e-01 1.43582102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.145336195 meters 0.03914089031838495 Centerline is valid? [True, True] Translation: X:131.82, Y:6.08, Z:0.14 [[ 9.91615846e-01 -1.29213718e-01 1.35249264e-03 1.31821606e+02] [ 1.29213523e-01 9.91616767e-01 2.30391292e-04 6.08250404e+00] [-1.37092409e-03 -5.36993174e-05 9.99999059e-01 1.44273357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.175336195 meters 0.045214549162448305 Centerline is valid? [True, True] Translation: X:131.85, Y:6.10, Z:0.14 [[ 9.91783412e-01 -1.27922473e-01 1.22638860e-03 1.31847392e+02] [ 1.27922312e-01 9.91784169e-01 2.09015603e-04 6.09820111e+00] [-1.24305059e-03 -5.04157434e-05 9.99999226e-01 1.43601595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.205336195 meters 0.03930851604881369 Centerline is valid? [True, True] Translation: X:131.88, Y:6.10, Z:0.15 [[ 9.91600100e-01 -1.29336355e-01 1.16174629e-03 1.31877246e+02] [ 1.29336212e-01 9.91600779e-01 1.98035500e-04 6.09539773e+00] [-1.17760171e-03 -4.61161580e-05 9.99999306e-01 1.45313012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.235336195 meters 0.042519495288118256 Centerline is valid? [True, True] Translation: X:131.90, Y:6.11, Z:0.14 [[ 9.91393573e-01 -1.30906450e-01 1.51126356e-03 1.31903678e+02] [ 1.30906209e-01 9.91394724e-01 2.57724859e-04 6.10608838e+00] [-1.53199657e-03 -5.76729855e-05 9.99998825e-01 1.44283636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.265336195 meters 0.03369704261103465 Centerline is valid? [True, True] Translation: X:131.93, Y:6.11, Z:0.14 [[ 9.90925683e-01 -1.34371876e-01 3.23895078e-03 1.31933824e+02] [ 1.34370784e-01 9.90930969e-01 5.53229048e-04 6.10975442e+00] [-3.28391506e-03 -1.12988516e-04 9.99994602e-01 1.44233971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.295336195 meters 0.03589713701945985 Centerline is valid? [True, True] Translation: X:131.96, Y:6.12, Z:0.14 [[ 9.90671893e-01 -1.36256436e-01 1.83978561e-03 1.31959808e+02] [ 1.36256088e-01 9.90673599e-01 3.13968688e-04 6.12396518e+00] [-1.86540729e-03 -6.03579644e-05 9.99998258e-01 1.39384808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.325336195 meters 0.035424134900005545 Centerline is valid? [True, True] Translation: X:131.99, Y:6.13, Z:0.14 [[ 9.90448061e-01 -1.37883505e-01 8.81420704e-04 1.31987229e+02] [ 1.37883426e-01 9.90448453e-01 1.50264145e-04 6.12779685e+00] [-8.93720720e-04 -2.72955245e-05 9.99999600e-01 1.38977402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.355336195 meters 0.03186277020545531 Centerline is valid? [True, True] Translation: X:132.02, Y:6.13, Z:0.14 [[ 9.90235866e-01 -1.39392457e-01 1.63499177e-03 1.32016548e+02] [ 1.39392187e-01 9.90237214e-01 2.78578515e-04 6.12808484e+00] [-1.65786144e-03 -4.79533593e-05 9.99998625e-01 1.42054476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.385336195 meters 0.02726065986719772 Centerline is valid? [True, True] Translation: X:132.05, Y:6.13, Z:0.15 [[ 9.89564478e-01 -1.44038817e-01 3.86826006e-03 1.32046117e+02] [ 1.44037330e-01 9.89572034e-01 6.61872075e-04 6.13181177e+00] [-3.92325724e-03 -9.77912444e-05 9.99992299e-01 1.47232801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.415336195 meters 0.02435575182989617 Centerline is valid? [True, True] Translation: X:132.07, Y:6.14, Z:0.14 [[ 9.88888567e-01 -1.48617377e-01 3.50389684e-03 1.32073589e+02] [ 1.48616185e-01 9.88894772e-01 5.99517584e-04 6.14234189e+00] [-3.55408400e-03 -7.21203019e-05 9.99993682e-01 1.43662644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.445336195 meters 0.01987302956697931 Centerline is valid? [True, True] Translation: X:132.10, Y:6.14, Z:0.14 [[ 9.88305323e-01 -1.52478624e-01 1.69068880e-03 1.32102915e+02] [ 1.52478353e-01 9.88306768e-01 2.88522437e-04 6.14432740e+00] [-1.71491269e-03 -2.73548167e-05 9.99998529e-01 1.38896679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.475336195 meters 0.018827826450773428 Centerline is valid? [True, True] Translation: X:132.13, Y:6.15, Z:0.14 [[ 9.88028000e-01 -1.54250430e-01 2.73409656e-03 1.32130256e+02] [ 1.54249725e-01 9.88031782e-01 4.68087689e-04 6.14731033e+00] [-2.77357702e-03 -4.07501008e-05 9.99996153e-01 1.39886662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.505336195 meters 0.014144546293745577 Centerline is valid? [True, True] Translation: X:132.16, Y:6.15, Z:0.14 [[ 9.87501900e-01 -1.57569784e-01 3.42927254e-03 1.32159310e+02] [ 1.57568696e-01 9.87507854e-01 5.86977126e-04 6.14920751e+00] [-3.47892343e-03 -3.92950247e-05 9.99993948e-01 1.41020727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.535336195 meters 0.012893993071628527 Centerline is valid? [True, True] Translation: X:132.19, Y:6.16, Z:0.14 [[ 9.87168397e-01 -1.59680039e-01 9.16801252e-04 1.32185744e+02] [ 1.59679962e-01 9.87168823e-01 1.56872581e-04 6.15685017e+00] [-9.30087032e-04 -8.46486561e-06 9.99999567e-01 1.35330325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56533619500001 meters 0.012861434678110815 Centerline is valid? [True, True] Translation: X:132.21, Y:6.16, Z:0.13 [[ 9.87089202e-01 -1.60170769e-01 4.82565535e-04 1.32211835e+02] [ 1.60170748e-01 9.87089320e-01 8.22311688e-05 6.16274607e+00] [-4.89506316e-04 -3.87661613e-06 9.99999880e-01 1.34631522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59533619500002 meters 0.013186790523155793 Centerline is valid? [True, True] Translation: X:132.24, Y:6.17, Z:0.14 [[ 9.87073582e-01 -1.60259530e-01 1.62070368e-03 1.32238532e+02] [ 1.60259289e-01 9.87074913e-01 2.77895638e-04 6.17048801e+00] [-1.64429137e-03 -1.45706229e-05 9.99998648e-01 1.38018262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62533619500002 meters 0.012439506596507503 Centerline is valid? [True, True] Translation: X:132.27, Y:6.18, Z:0.14 [[ 9.86990208e-01 -1.60756647e-01 2.76236399e-03 1.32266924e+02] [ 1.60755951e-01 9.86994073e-01 4.73642853e-04 6.17759686e+00] [-2.80257812e-03 -2.34144081e-05 9.99996072e-01 1.41373271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65533619500002 meters 0.013059499624142717 Centerline is valid? [True, True] Translation: X:132.29, Y:6.19, Z:0.14 [[ 9.87129346e-01 -1.59881298e-01 3.69126861e-03 1.32294252e+02] [ 1.59880045e-01 9.87136247e-01 6.33919502e-04 6.18752673e+00] [-3.74513691e-03 -3.56003520e-05 9.99992986e-01 1.41621239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68533619500002 meters 0.013490791395977461 Centerline is valid? [True, True] Translation: X:132.32, Y:6.19, Z:0.14 [[ 9.87178678e-01 -1.59561358e-01 4.29305911e-03 1.32320208e+02] [ 1.59559656e-01 9.87188012e-01 7.38430901e-04 6.19488336e+00] [-4.35588153e-03 -4.39642077e-05 9.99990512e-01 1.41671938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71533619500002 meters 0.014031480217491284 Centerline is valid? [True, True] Translation: X:132.35, Y:6.21, Z:0.14 [[ 9.87247126e-01 -1.59129765e-01 4.56400397e-03 1.32346936e+02] [ 1.59127833e-01 9.87257674e-01 7.85517622e-04 6.20540150e+00] [-4.63084718e-03 -4.92399510e-05 9.99989276e-01 1.39935218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.745336195 meters 0.014181713698119066 Centerline is valid? [True, True] Translation: X:132.38, Y:6.21, Z:0.14 [[ 9.87292245e-01 -1.58875757e-01 3.53787176e-03 1.32375094e+02] [ 1.58874596e-01 9.87298583e-01 6.08616800e-04 6.21329599e+00] [-3.58963023e-03 -3.88046987e-05 9.99993557e-01 1.37122245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.775336195 meters 0.015806901533060788 Centerline is valid? [True, True] Translation: X:132.40, Y:6.22, Z:0.13 [[ 9.87499794e-01 -1.57619398e-01 5.30401342e-04 1.32401652e+02] [ 1.57619372e-01 9.87499937e-01 9.10244754e-05 6.22363448e+00] [-5.38118515e-04 -6.28512439e-06 9.99999855e-01 1.31193371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.805336195 meters 0.019284214275907544 Centerline is valid? [True, True] Translation: X:132.43, Y:6.24, Z:0.13 [[ 9.87805436e-01 -1.55692805e-01 4.13059168e-04 1.32427777e+02] [ 1.55692789e-01 9.87805523e-01 7.08218414e-05 6.23565515e+00] [-4.19048579e-04 -5.64786614e-06 9.99999912e-01 1.30346408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.835336195 meters 0.019582045773137335 Centerline is valid? [True, True] Translation: X:132.46, Y:6.24, Z:0.13 [[ 9.87937787e-01 -1.54851181e-01 2.03320081e-04 1.32455209e+02] [ 1.54851177e-01 9.87937808e-01 3.46662529e-05 6.24332551e+00] [-2.06235705e-04 -2.76374734e-06 9.99999979e-01 1.30933244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.865336195 meters 0.019655209233383802 Centerline is valid? [True, True] Translation: X:132.48, Y:6.25, Z:0.13 [[ 9.88063526e-01 -1.54038539e-01 1.61173628e-03 1.32483040e+02] [ 1.54038292e-01 9.88064840e-01 2.77176387e-04 6.25265670e+00] [-1.63519580e-03 -2.55987742e-05 9.99998663e-01 1.33670593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.895336195 meters 0.02001217877668421 Centerline is valid? [True, True] Translation: X:132.51, Y:6.26, Z:0.14 [[ 9.88125150e-01 -1.53622065e-01 2.99142901e-03 1.32510361e+02] [ 1.53621207e-01 9.88129677e-01 5.15857523e-04 6.26096063e+00] [-3.03516688e-03 -5.01848577e-05 9.99995393e-01 1.35994106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.925336195 meters 0.020073867994171886 Centerline is valid? [True, True] Translation: X:132.54, Y:6.27, Z:0.14 [[ 9.88104024e-01 -1.53755906e-01 3.09175514e-03 1.32537674e+02] [ 1.53754988e-01 9.88108860e-01 5.33785798e-04 6.26708884e+00] [-3.13706337e-03 -5.20631205e-05 9.99995078e-01 1.36133373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.955336195 meters 0.019258123413483444 Centerline is valid? [True, True] Translation: X:132.56, Y:6.27, Z:0.14 [[ 9.88089099e-01 -1.53850270e-01 3.16658747e-03 1.32564899e+02] [ 1.53849306e-01 9.88094171e-01 5.47321328e-04 6.27363800e+00] [-3.21309216e-03 -5.36249512e-05 9.99994837e-01 1.36384000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.985336195 meters 0.019258123413483444 Centerline is valid? [True, True] Translation: X:132.59, Y:6.28, Z:0.14 [[ 9.88060286e-01 -1.54035208e-01 3.16648408e-03 1.32592022e+02] [ 1.54034243e-01 9.88065358e-01 5.47918403e-04 6.27850169e+00] [-3.21309195e-03 -5.36294351e-05 9.99994837e-01 1.36181711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.015336195 meters 0.01865888965294084 Centerline is valid? [True, True] Translation: X:132.62, Y:6.29, Z:0.14 [[ 9.88011641e-01 -1.54317830e-01 4.35930560e-03 1.32619100e+02] [ 1.54315998e-01 9.88021256e-01 7.55711146e-04 6.28944127e+00] [-4.42370630e-03 -7.39408166e-05 9.99990213e-01 1.35438916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.045336195 meters 0.02142087116797673 Centerline is valid? [True, True] Translation: X:132.64, Y:6.30, Z:0.13 [[ 9.87966328e-01 -1.54609280e-01 4.30167534e-03 1.32644264e+02] [ 1.54607493e-01 9.87975691e-01 7.46788203e-04 6.30045791e+00] [-4.36541105e-03 -7.27303584e-05 9.99990469e-01 1.33077852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.075336195 meters 0.01948041558330362 Centerline is valid? [True, True] Translation: X:132.67, Y:6.31, Z:0.13 [[ 9.87862605e-01 -1.55313270e-01 2.29377523e-03 1.32671543e+02] [ 1.55312766e-01 9.87865268e-01 3.97603219e-04 6.30531398e+00] [-2.32769394e-03 -3.65247770e-05 9.99997290e-01 1.30052054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.105336195 meters 0.020536040663678565 Centerline is valid? [True, True] Translation: X:132.70, Y:6.32, Z:0.13 [[ 9.87828368e-01 -1.55545184e-01 9.00263399e-04 1.32698471e+02] [ 1.55545106e-01 9.87828778e-01 1.56217669e-04 6.31520159e+00] [-9.13605000e-04 -1.42846787e-05 9.99999583e-01 1.26679660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.135336195 meters 0.021108600324897076 Centerline is valid? [True, True] Translation: X:132.72, Y:6.32, Z:0.13 [[ 9.87790844e-01 -1.55784354e-01 6.95506706e-04 1.32724357e+02] [ 1.55784307e-01 9.87791089e-01 1.20495117e-04 6.32404992e+00] [-7.05786580e-04 -1.06749427e-05 9.99999751e-01 1.26906284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.165336195 meters 0.019612957093256212 Centerline is valid? [True, True] Translation: X:132.75, Y:6.33, Z:0.13 [[ 9.87851322e-01 -1.55397792e-01 1.13664720e-03 1.32752691e+02] [ 1.55397668e-01 9.87851976e-01 1.96849380e-04 6.33001677e+00] [-1.15342914e-03 -1.78255968e-05 9.99999335e-01 1.28939093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.195336195 meters 0.023920382818146024 Centerline is valid? [True, True] Translation: X:132.78, Y:6.35, Z:0.13 [[ 9.88091472e-01 -1.53857187e-01 1.79162206e-03 1.32777634e+02] [ 1.53856874e-01 9.88093095e-01 3.11855056e-04 6.34825280e+00] [-1.81827053e-03 -3.24879515e-05 9.99998346e-01 1.27658204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.225336195 meters 0.02107621863303177 Centerline is valid? [True, True] Translation: X:132.81, Y:6.35, Z:0.13 [[ 9.88054405e-01 -1.54101184e-01 1.14783400e-03 1.32805386e+02] [ 1.54101057e-01 9.88055072e-01 1.98907151e-04 6.35382881e+00] [-1.16477504e-03 -1.96486534e-05 9.99999321e-01 1.26788629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.255336195 meters 0.019378378073301557 Centerline is valid? [True, True] Translation: X:132.83, Y:6.36, Z:0.13 [[ 9.87783794e-01 -1.55823721e-01 1.46412005e-03 1.32833251e+02] [ 1.55823515e-01 9.87784879e-01 2.54506762e-04 6.36104433e+00] [-1.48589384e-03 -2.32533216e-05 9.99998896e-01 1.26415574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.285336195 meters 0.019383519447688183 Centerline is valid? [True, True] Translation: X:132.86, Y:6.37, Z:0.13 [[ 9.87663713e-01 -1.56580942e-01 1.67287176e-03 1.32860145e+02] [ 1.56580673e-01 9.87665129e-01 2.91686800e-04 6.36827732e+00] [-1.69790970e-03 -2.61490820e-05 9.99998558e-01 1.25944556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31533619500001 meters 0.018384096891582047 Centerline is valid? [True, True] Translation: X:132.89, Y:6.38, Z:0.12 [[ 9.87550074e-01 -1.57303455e-01 6.89027505e-04 1.32887366e+02] [ 1.57303410e-01 9.87550314e-01 1.19156811e-04 6.37751764e+00] [-6.99193108e-04 -9.28694144e-06 9.99999756e-01 1.24442571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34533619500002 meters 0.01792817443539014 Centerline is valid? [True, True] Translation: X:132.91, Y:6.38, Z:0.12 [[ 9.87462753e-01 -1.57851200e-01 -5.56421285e-04 1.32914654e+02] [ 1.57851170e-01 9.87462910e-01 -9.88380518e-05 6.38357013e+00] [ 5.65047086e-04 9.76714403e-06 9.99999840e-01 1.22732514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37533619500002 meters 0.018915986016945573 Centerline is valid? [True, True] Translation: X:132.94, Y:6.39, Z:0.12 [[ 9.87364088e-01 -1.58465052e-01 -9.92482640e-04 1.32941551e+02] [ 1.58464957e-01 9.87364587e-01 -1.74306025e-04 6.39232075e+00] [ 1.00756363e-03 1.48297904e-05 9.99999492e-01 1.22158071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40533619500002 meters 0.017785527891209758 Centerline is valid? [True, True] Translation: X:132.97, Y:6.40, Z:0.12 [[ 9.87284819e-01 -1.58961261e-01 -6.76002677e-05 1.32969401e+02] [ 1.58961260e-01 9.87284821e-01 -1.29598858e-05 6.40368557e+00] [ 6.88008379e-05 2.04927477e-06 9.99999998e-01 1.22516482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43533619500002 meters 0.018234224440868668 Centerline is valid? [True, True] Translation: X:132.99, Y:6.41, Z:0.12 [[ 9.87266555e-01 -1.59074640e-01 9.17768768e-05 1.32994733e+02] [ 1.59074639e-01 9.87266559e-01 1.55071703e-05 6.41314218e+00] [-9.30750389e-05 -7.10337053e-07 9.99999996e-01 1.21341002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46533619500002 meters 0.016980346132647484 Centerline is valid? [True, True] Translation: X:133.02, Y:6.42, Z:0.12 [[ 9.87125347e-01 -1.59948232e-01 3.35780644e-04 1.33022488e+02] [ 1.59948221e-01 9.87125404e-01 5.77615528e-05 6.42394706e+00] [-3.40696462e-04 -3.31037607e-06 9.99999942e-01 1.21053491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.495336195 meters 0.015237325941038238 Centerline is valid? [True, True] Translation: X:133.05, Y:6.43, Z:0.12 [[ 9.86770494e-01 -1.62114129e-01 1.73231118e-03 1.33048786e+02] [ 1.62113845e-01 9.86772015e-01 3.03697826e-04 6.43297104e+00] [-1.75862990e-03 -1.88484284e-05 9.99998453e-01 1.23159262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.525336195 meters 0.013458688380996304 Centerline is valid? [True, True] Translation: X:133.08, Y:6.44, Z:0.12 [[ 9.86534810e-01 -1.63541635e-01 1.78969442e-03 1.33077533e+02] [ 1.63541335e-01 9.86536433e-01 3.13487701e-04 6.43754287e+00] [-1.81686704e-03 -1.65775148e-05 9.99998349e-01 1.23824641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.555336195 meters 0.011760810601076536 Centerline is valid? [True, True] Translation: X:133.11, Y:6.44, Z:0.12 [[ 9.86113332e-01 -1.66073246e-01 4.16814367e-04 1.33105913e+02] [ 1.66073231e-01 9.86113420e-01 7.21402757e-05 6.44265268e+00] [-4.23006810e-04 -1.91677910e-06 9.99999911e-01 1.21507902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.585336195 meters 0.011114111728812704 Centerline is valid? [True, True] Translation: X:133.13, Y:6.45, Z:0.12 [[ 9.85898297e-01 -1.67345116e-01 3.99148174e-04 1.33132524e+02] [ 1.67345101e-01 9.85898378e-01 6.98451280e-05 6.45038026e+00] [-4.05207779e-04 -2.06470133e-06 9.99999918e-01 1.20437317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.615336195 meters 0.01068527222227397 Centerline is valid? [True, True] Translation: X:133.16, Y:6.46, Z:0.12 [[ 9.85819126e-01 -1.67810615e-01 4.98256897e-04 1.33159787e+02] [ 1.67810593e-01 9.85819252e-01 8.64189716e-05 6.45688939e+00] [-5.05693263e-04 -1.58068969e-06 9.99999872e-01 1.20771744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.645336195 meters 0.010643499894586475 Centerline is valid? [True, True] Translation: X:133.19, Y:6.47, Z:0.12 [[ 9.85648216e-01 -1.68811611e-01 4.84432515e-04 1.33186155e+02] [ 1.68811589e-01 9.85648335e-01 8.49808039e-05 6.46756355e+00] [-4.91825848e-04 -1.98335481e-06 9.99999879e-01 1.19097001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.675336195 meters 0.010722925178521614 Centerline is valid? [True, True] Translation: X:133.21, Y:6.48, Z:0.12 [[ 9.85608692e-01 -1.69039615e-01 -1.05566995e-03 1.33212963e+02] [ 1.69039511e-01 9.85609258e-01 -1.87520232e-04 6.48173808e+00] [ 1.07217642e-03 6.37163923e-06 9.99999425e-01 1.15033561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.705336195 meters 0.011486091266036138 Centerline is valid? [True, True] Translation: X:133.24, Y:6.49, Z:0.11 [[ 9.85712408e-01 -1.68417246e-01 -2.58441006e-03 1.33240327e+02] [ 1.68416624e-01 9.85715796e-01 -4.57768626e-04 6.49243247e+00] [ 2.62458995e-03 1.59705969e-05 9.99996556e-01 1.12750888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.735336195 meters 0.012442853535856438 Centerline is valid? [True, True] Translation: X:133.27, Y:6.50, Z:0.11 [[ 9.85825613e-01 -1.67756127e-01 -2.39642367e-03 1.33266716e+02] [ 1.67755590e-01 9.85828525e-01 -4.24602931e-04 6.50032794e+00] [ 2.43369256e-03 1.65709765e-05 9.99997038e-01 1.12314011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.765336195 meters 0.012372817744135073 Centerline is valid? [True, True] Translation: X:133.29, Y:6.51, Z:0.11 [[ 9.85977061e-01 -1.66867088e-01 -2.14735414e-03 1.33293694e+02] [ 1.66866653e-01 9.85979399e-01 -3.81451203e-04 6.50866301e+00] [ 2.18089860e-03 1.77803384e-05 9.99997622e-01 1.14500650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.795336195 meters 0.012294078895748534 Centerline is valid? [True, True] Translation: X:133.32, Y:6.52, Z:0.11 [[ 9.85904774e-01 -1.67286892e-01 -2.62146667e-03 1.33321034e+02] [ 1.67286245e-01 9.85908259e-01 -4.65872510e-04 6.51629852e+00] [ 2.66246001e-03 2.07706175e-05 9.99996455e-01 1.13468136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.825336195 meters 0.013009487829044486 Centerline is valid? [True, True] Translation: X:133.35, Y:6.53, Z:0.11 [[ 9.86031042e-01 -1.66532487e-01 -3.11696778e-03 1.33347018e+02] [ 1.66531570e-01 9.86035968e-01 -5.53195209e-04 6.53199822e+00] [ 3.16556732e-03 2.63941084e-05 9.99994989e-01 1.11477031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.855336195 meters 0.015499704946621534 Centerline is valid? [True, True] Translation: X:133.37, Y:6.55, Z:0.11 [[ 9.86399436e-01 -1.64351970e-01 -2.14069828e-03 1.33371854e+02] [ 1.64351533e-01 9.86401759e-01 -3.80042750e-04 6.54943201e+00] [ 2.17404933e-03 2.30469106e-05 9.99997636e-01 1.11420034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.885336195 meters 0.015267221866528216 Centerline is valid? [True, True] Translation: X:133.40, Y:6.56, Z:0.11 [[ 9.86545654e-01 -1.63465458e-01 -2.59159381e-03 1.33399958e+02] [ 1.63464810e-01 9.86549058e-01 -4.61254604e-04 6.55812048e+00] [ 2.63213362e-03 3.14143358e-05 9.99996535e-01 1.12244169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.915336195 meters 0.017244444008986556 Centerline is valid? [True, True] Translation: X:133.43, Y:6.57, Z:0.11 [[ 9.86721650e-01 -1.62381682e-01 -3.54619832e-03 1.33425570e+02] [ 1.62380465e-01 9.86728021e-01 -6.30439193e-04 6.57145804e+00] [ 3.60150502e-03 4.62346702e-05 9.99993513e-01 1.08158127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.945336195 meters 0.014936377163847582 Centerline is valid? [True, True] Translation: X:133.45, Y:6.58, Z:0.11 [[ 9.86361579e-01 -1.64543482e-01 -4.03453282e-03 1.33453468e+02] [ 1.64541920e-01 9.86369829e-01 -7.18436210e-04 6.57959496e+00] [ 4.09775545e-03 4.47880980e-05 9.99991603e-01 1.08053780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.975336195 meters 0.015314582298615327 Centerline is valid? [True, True] Translation: X:133.48, Y:6.59, Z:0.11 [[ 9.86203023e-01 -1.65506511e-01 -3.34547685e-03 1.33479506e+02] [ 1.65505442e-01 9.86208697e-01 -5.95663690e-04 6.59040996e+00] [ 3.39792458e-03 3.37507066e-05 9.99994226e-01 1.07101220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.005336195 meters 0.01385048837309777 Centerline is valid? [True, True] Translation: X:133.51, Y:6.60, Z:0.11 [[ 9.86143200e-01 -1.65884063e-01 -2.01674918e-03 1.33506909e+02] [ 1.65883674e-01 9.86145262e-01 -3.60154777e-04 6.60421542e+00] [ 2.04855158e-03 2.06184217e-05 9.99997902e-01 1.10285521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.035336195 meters 0.014062598090533625 Centerline is valid? [True, True] Translation: X:133.53, Y:6.61, Z:0.11 [[ 9.86103710e-01 -1.66107313e-01 -2.79873203e-03 1.33534461e+02] [ 1.66106563e-01 9.86107682e-01 -4.99912868e-04 6.61170153e+00] [ 2.84289034e-03 2.80781756e-05 9.99995959e-01 1.08982845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06533619500001 meters 0.014328972243829098 Centerline is valid? [True, True] Translation: X:133.56, Y:6.62, Z:0.10 [[ 9.85968718e-01 -1.66798206e-01 -6.63670011e-03 1.33561525e+02] [ 1.66794008e-01 9.85991052e-01 -1.18494520e-03 6.62421749e+00] [ 6.74137366e-03 6.13570886e-05 9.99977275e-01 1.02247444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09533619500002 meters 0.01406921088253464 Centerline is valid? [True, True] Translation: X:133.59, Y:6.63, Z:0.10 [[ 9.85951446e-01 -1.66925169e-01 -5.97780708e-03 1.33588579e+02] [ 1.66921759e-01 9.85969566e-01 -1.06848331e-03 6.63419956e+00] [ 6.07229261e-03 5.56465904e-05 9.99981562e-01 1.02330646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12533619500002 meters 0.01455874460057114 Centerline is valid? [True, True] Translation: X:133.61, Y:6.65, Z:0.10 [[ 9.85971832e-01 -1.66824879e-01 -5.38571140e-03 1.33613843e+02] [ 1.66822111e-01 9.85986540e-01 -9.62294329e-04 6.65346750e+00] [ 5.47077359e-03 5.03393567e-05 9.99985034e-01 1.01995582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15533619500002 meters 0.01502272724203851 Centerline is valid? [True, True] Translation: X:133.64, Y:6.67, Z:0.10 [[ 9.85950534e-01 -1.66930732e-01 -5.97282964e-03 1.33639366e+02] [ 1.66927324e-01 9.85968624e-01 -1.06811107e-03 6.66612651e+00] [ 6.06732318e-03 5.60762089e-05 9.99981592e-01 1.00246362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18533619500002 meters 0.01465934532899273 Centerline is valid? [True, True] Translation: X:133.67, Y:6.68, Z:0.10 [[ 9.85805796e-01 -1.67752342e-01 -6.78858559e-03 1.33666227e+02] [ 1.67747949e-01 9.85829168e-01 -1.21549237e-03 6.67955205e+00] [ 6.89628738e-03 5.94681130e-05 9.99976219e-01 9.82680254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21533619500002 meters 0.013576327809480593 Centerline is valid? [True, True] Translation: X:133.69, Y:6.69, Z:0.10 [[ 9.85501363e-01 -1.69567885e-01 -5.81349410e-03 1.33693243e+02] [ 1.69564697e-01 9.85518509e-01 -1.04063792e-03 6.68701367e+00] [ 5.90576480e-03 3.97867242e-05 9.99982560e-01 9.91160493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.245336195 meters 0.011377638373003414 Centerline is valid? [True, True] Translation: X:133.72, Y:6.70, Z:0.10 [[ 9.84986469e-01 -1.72563743e-01 -4.83848888e-03 1.33720953e+02] [ 1.72561562e-01 9.84998352e-01 -8.67798262e-04 6.69566624e+00] [ 4.91565409e-03 1.98323443e-05 9.99987918e-01 1.01392611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.275336195 meters 0.010829402849084234 Centerline is valid? [True, True] Translation: X:133.75, Y:6.70, Z:0.10 [[ 9.84673140e-01 -1.74345795e-01 -4.72773352e-03 1.33747819e+02] [ 1.74343736e-01 9.84684489e-01 -8.47456140e-04 6.70322287e+00] [ 4.80307628e-03 1.02165752e-05 9.99988465e-01 1.00587174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.305336195 meters 0.010598316065543597 Centerline is valid? [True, True] Translation: X:133.78, Y:6.72, Z:0.10 [[ 9.84208913e-01 -1.76915313e-01 -5.81269187e-03 1.33775011e+02] [ 1.76912234e-01 9.84226078e-01 -1.04372724e-03 6.71605922e+00] [ 5.90565425e-03 -1.09065452e-06 9.99982561e-01 9.96526633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.335336195 meters 0.011441640081768371 Centerline is valid? [True, True] Translation: X:133.80, Y:6.73, Z:0.10 [[ 9.84149443e-01 -1.77220756e-01 -6.53278940e-03 1.33801648e+02] [ 1.77216877e-01 9.84171125e-01 -1.17245250e-03 6.72587213e+00] [ 6.63716561e-03 -3.85206775e-06 9.99977974e-01 9.63970044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.365336195 meters 0.01205669860166599 Centerline is valid? [True, True] Translation: X:133.83, Y:6.74, Z:0.09 [[ 9.84317029e-01 -1.76189163e-01 -8.79575905e-03 1.33828633e+02] [ 1.76182072e-01 9.84356327e-01 -1.58077584e-03 6.73857366e+00] [ 8.93667665e-03 6.32952780e-06 9.99960067e-01 9.38578957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.395336195 meters 0.012866219997007785 Centerline is valid? [True, True] Translation: X:133.86, Y:6.75, Z:0.09 [[ 9.84554230e-01 -1.74767715e-01 -1.04505488e-02 1.33856267e+02] [ 1.74757607e-01 9.84609692e-01 -1.87977389e-03 6.74886209e+00] [ 1.06182354e-02 2.44264386e-05 9.99943625e-01 9.18383972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.425336195 meters 0.013192288973663244 Centerline is valid? [True, True] Translation: X:133.88, Y:6.76, Z:0.09 [[ 9.84667924e-01 -1.74194096e-01 -9.24644632e-03 1.33882602e+02] [ 1.74186159e-01 9.84711336e-01 -1.66308890e-03 6.75888250e+00] [ 9.39478078e-03 2.69873230e-05 9.99955868e-01 9.15215364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.455336195 meters 0.011902257397424091 Centerline is valid? [True, True] Translation: X:133.91, Y:6.78, Z:0.10 [[ 9.84768684e-01 -1.73714762e-01 -7.33622254e-03 1.33909036e+02] [ 1.73709735e-01 9.84796010e-01 -1.32171369e-03 6.77639912e+00] [ 7.45428387e-03 2.72089719e-05 9.99972216e-01 9.62509927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.485336195 meters 0.01368796441612191 Centerline is valid? [True, True] Translation: X:133.93, Y:6.80, Z:0.09 [[ 9.85132549e-01 -1.71607047e-01 -8.05499736e-03 1.33933278e+02] [ 1.71600921e-01 9.85165478e-01 -1.45076864e-03 6.79640322e+00] [ 8.18446745e-03 4.69544401e-05 9.99966506e-01 9.24684249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.515336195 meters 0.014045322047557776 Centerline is valid? [True, True] Translation: X:133.96, Y:6.81, Z:0.09 [[ 9.85293621e-01 -1.70710710e-01 -7.37116593e-03 1.33959352e+02] [ 1.70705537e-01 9.85321192e-01 -1.33003444e-03 6.80758541e+00] [ 7.49001713e-03 5.21756126e-05 9.99971948e-01 9.27207891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.545336195 meters 0.014037837483892309 Centerline is valid? [True, True] Translation: X:133.99, Y:6.82, Z:0.10 [[ 9.85584367e-01 -1.69125885e-01 -4.45989781e-03 1.33986430e+02] [ 1.69123970e-01 9.85594457e-01 -8.05899716e-04 6.82103854e+00] [ 4.53194906e-03 4.00065374e-05 9.99989730e-01 9.87269844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.575336195 meters 0.01711496588770323 Centerline is valid? [True, True] Translation: X:134.01, Y:6.84, Z:0.09 [[ 9.85990816e-01 -1.66634089e-01 -7.42912027e-03 1.34012357e+02] [ 1.66628714e-01 9.86018800e-01 -1.34107031e-03 6.83902015e+00] [ 7.54872029e-03 8.43782543e-05 9.99971504e-01 9.35964745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.605336195 meters 0.01935594937907842 Centerline is valid? [True, True] Translation: X:134.04, Y:6.85, Z:0.09 [[ 9.86173787e-01 -1.65456831e-01 -9.23578007e-03 1.34038090e+02] [ 1.65448467e-01 9.86217027e-01 -1.66775724e-03 6.85227092e+00] [ 9.38442539e-03 1.16652826e-04 9.99955959e-01 8.86896651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.635336195 meters 0.020081574934139722 Centerline is valid? [True, True] Translation: X:134.06, Y:6.87, Z:0.09 [[ 9.86312245e-01 -1.64660403e-01 -8.66648852e-03 1.34063460e+02] [ 1.64652984e-01 9.86350312e-01 -1.56759872e-03 6.86926775e+00] [ 8.80631509e-03 1.19178622e-04 9.99961217e-01 8.82046641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.665336195 meters 0.018884034876125895 Centerline is valid? [True, True] Translation: X:134.09, Y:6.88, Z:0.09 [[ 9.86187836e-01 -1.65423597e-01 -8.28165987e-03 1.34091036e+02] [ 1.65416840e-01 9.86222603e-01 -1.49912733e-03 6.88158688e+00] [ 8.41555118e-03 1.08495137e-04 9.99964583e-01 9.04576014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.695336195 meters 0.01865618579340954 Centerline is valid? [True, True] Translation: X:134.12, Y:6.89, Z:0.09 [[ 9.85997127e-01 -1.66511918e-01 -9.13488377e-03 1.34116792e+02] [ 1.66503734e-01 9.86039436e-01 -1.65449414e-03 6.88902525e+00] [ 9.28284864e-03 1.10334212e-04 9.99956907e-01 8.86227351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.725336195 meters 0.01631061298940439 Centerline is valid? [True, True] Translation: X:134.14, Y:6.90, Z:0.09 [[ 9.85544725e-01 -1.69100135e-01 -1.03314670e-02 1.34144374e+02] [ 1.69089784e-01 9.85598871e-01 -1.87365136e-03 6.89628936e+00] [ 1.04995169e-02 9.96216854e-05 9.99944874e-01 8.70695591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.755336195 meters 0.015532489494756002 Centerline is valid? [True, True] Translation: X:134.17, Y:6.91, Z:0.09 [[ 9.85276705e-01 -1.70705560e-01 -9.45659646e-03 1.34170580e+02] [ 1.70696960e-01 9.85322082e-01 -1.71519488e-03 6.90530933e+00] [ 9.61058662e-03 7.57292958e-05 9.99953814e-01 8.62445609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.785336195 meters 0.015278060895275726 Centerline is valid? [True, True] Translation: X:134.20, Y:6.91, Z:0.09 [[ 9.85237058e-01 -1.70946052e-01 -9.24046212e-03 1.34197260e+02] [ 1.70937826e-01 9.85280387e-01 -1.67859789e-03 6.91261061e+00] [ 9.39139578e-03 7.42723445e-05 9.99955897e-01 8.70670919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81533619500001 meters 0.016223045407212703 Centerline is valid? [True, True] Translation: X:134.22, Y:6.93, Z:0.09 [[ 9.85428115e-01 -1.69892120e-01 -8.25217491e-03 1.34222200e+02] [ 1.69885508e-01 9.85462664e-01 -1.50083778e-03 6.92916358e+00] [ 8.38719078e-03 7.70428144e-05 9.99964824e-01 8.86103085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84533619500002 meters 0.016977081460888846 Centerline is valid? [True, True] Translation: X:134.25, Y:6.94, Z:0.09 [[ 9.85500685e-01 -1.69488979e-01 -7.86682485e-03 1.34247789e+02] [ 1.69482952e-01 9.85532080e-01 -1.43138763e-03 6.94061466e+00] [ 7.99561268e-03 7.73407875e-05 9.99968032e-01 8.85479530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87533619500002 meters 0.01631754991237379 Centerline is valid? [True, True] Translation: X:134.27, Y:6.95, Z:0.09 [[ 9.85650486e-01 -1.68631538e-01 -7.51817417e-03 1.34274556e+02] [ 1.68625993e-01 9.85679155e-01 -1.37001218e-03 6.95166496e+00] [ 7.64153483e-03 8.25935880e-05 9.99970800e-01 9.06542557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90533619500002 meters 0.018766459521524823 Centerline is valid? [True, True] Translation: X:134.30, Y:6.97, Z:0.09 [[ 9.85858253e-01 -1.67409819e-01 -7.58007874e-03 1.34300373e+02] [ 1.67404151e-01 9.85887389e-01 -1.38074546e-03 6.96632014e+00] [ 7.70425438e-03 9.22826644e-05 9.99970318e-01 8.83987294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93533619500002 meters 0.018766459521524823 Centerline is valid? [True, True] Translation: X:134.33, Y:6.97, Z:0.09 [[ 9.85827150e-01 -1.67592894e-01 -7.57965688e-03 1.34327379e+02] [ 1.67587213e-01 9.85856284e-01 -1.38306069e-03 6.97144308e+00] [ 7.70424351e-03 9.32052042e-05 9.99970318e-01 8.81964395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96533619500002 meters 0.020076884212333473 Centerline is valid? [True, True] Translation: X:134.35, Y:6.99, Z:0.09 [[ 9.86027286e-01 -1.66363558e-01 -8.56496084e-03 1.34353223e+02] [ 1.66356263e-01 9.86064477e-01 -1.56223295e-03 6.98714179e+00] [ 8.70550227e-03 1.15569438e-04 9.99962100e-01 8.63097028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.995336195 meters 0.020107762797066844 Centerline is valid? [True, True] Translation: X:134.38, Y:7.00, Z:0.09 [[ 9.85991000e-01 -1.66588656e-01 -8.36461309e-03 1.34379900e+02] [ 1.66581702e-01 9.86026474e-01 -1.52620078e-03 6.99572010e+00] [ 8.50197769e-03 1.11428749e-04 9.99963851e-01 8.61504957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.025336195 meters 0.01783584507576051 Centerline is valid? [True, True] Translation: X:134.41, Y:7.01, Z:0.09 [[ 9.85850499e-01 -1.67461468e-01 -7.44650578e-03 1.34407560e+02] [ 1.67455965e-01 9.85878617e-01 -1.36087878e-03 7.00592997e+00] [ 7.56924558e-03 9.46612103e-05 9.99971348e-01 9.01525364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.055336195 meters 0.01908719778386831 Centerline is valid? [True, True] Translation: X:134.43, Y:7.02, Z:0.09 [[ 9.85817592e-01 -1.67647441e-01 -7.61653528e-03 1.34433093e+02] [ 1.67641690e-01 9.85847010e-01 -1.39194990e-03 7.01664306e+00] [ 7.74209537e-03 9.53598484e-05 9.99970025e-01 8.80891496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.085336195 meters 0.018941717733703272 Centerline is valid? [True, True] Translation: X:134.46, Y:7.03, Z:0.09 [[ 9.85751983e-01 -1.67994541e-01 -8.41801297e-03 1.34460076e+02] [ 1.67987511e-01 9.85787920e-01 -1.54038925e-03 7.02932612e+00] [ 8.55715249e-03 1.04320704e-04 9.99963381e-01 8.60518818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.115336195 meters 0.018551405095120103 Centerline is valid? [True, True] Translation: X:134.49, Y:7.04, Z:0.09 [[ 9.85677453e-01 -1.68476836e-01 -7.45076707e-03 1.34486420e+02] [ 1.68471332e-01 9.85705609e-01 -1.36479308e-03 7.04293297e+00] [ 7.57419891e-03 9.00051204e-05 9.99971311e-01 8.73557488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.145336195 meters 0.018063095798398723 Centerline is valid? [True, True] Translation: X:134.51, Y:7.05, Z:0.09 [[ 9.85668511e-01 -1.68579509e-01 -6.20771571e-03 1.34514329e+02] [ 1.68575683e-01 9.85688056e-01 -1.13820007e-03 7.05315912e+00] [ 6.31074844e-03 7.54180488e-05 9.99980084e-01 8.99022677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.175336195 meters 0.017260566635049022 Centerline is valid? [True, True] Translation: X:134.54, Y:7.07, Z:0.09 [[ 9.85640088e-01 -1.68710950e-01 -7.08746059e-03 1.34541755e+02] [ 1.68705958e-01 9.85665566e-01 -1.30072798e-03 7.06558410e+00] [ 7.20531291e-03 8.63528132e-05 9.99974038e-01 9.01707256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.205336195 meters 0.018190889666590496 Centerline is valid? [True, True] Translation: X:134.57, Y:7.08, Z:0.09 [[ 9.85571008e-01 -1.69047085e-01 -8.53640882e-03 1.34567544e+02] [ 1.69039860e-01 9.85607971e-01 -1.56609632e-03 7.07850997e+00] [ 8.67829660e-03 1.00505773e-04 9.99962338e-01 8.64265734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.235336195 meters 0.019800120024913173 Centerline is valid? [True, True] Translation: X:134.59, Y:7.09, Z:0.08 [[ 9.85538327e-01 -1.69231843e-01 -8.64807177e-03 1.34593067e+02] [ 1.69224427e-01 9.85576265e-01 -1.58747712e-03 7.08926293e+00] [ 8.79198595e-03 1.01054554e-04 9.99961345e-01 8.26580883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.265336195 meters 0.017858776347750367 Centerline is valid? [True, True] Translation: X:134.62, Y:7.10, Z:0.08 [[ 9.85345011e-01 -1.70310664e-01 -9.45974448e-03 1.34619633e+02] [ 1.70301816e-01 9.85390414e-01 -1.73905561e-03 7.10028846e+00] [ 9.61772124e-03 1.02558107e-04 9.99953743e-01 8.27685928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.295336195 meters 0.016047913860860085 Centerline is valid? [True, True] Translation: X:134.65, Y:7.11, Z:0.08 [[ 9.85003696e-01 -1.72286824e-01 -9.21790840e-03 1.34646650e+02] [ 1.72278495e-01 9.85046823e-01 -1.69605408e-03 7.11197644e+00] [ 9.37227916e-03 8.25721460e-05 9.99956076e-01 8.44796485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.325336195 meters 0.015769789367362567 Centerline is valid? [True, True] Translation: X:134.67, Y:7.12, Z:0.08 [[ 9.84927018e-01 -1.72728110e-01 -9.15259964e-03 1.34673589e+02] [ 1.72719899e-01 9.84969540e-01 -1.68604395e-03 7.12146787e+00] [ 9.30625904e-03 7.97941581e-05 9.99956693e-01 8.49740631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.355336195 meters 0.01670211021746412 Centerline is valid? [True, True] Translation: X:134.70, Y:7.14, Z:0.08 [[ 9.84999664e-01 -1.72283661e-01 -9.69550534e-03 1.34699041e+02] [ 1.72274430e-01 9.85047376e-01 -1.78558124e-03 7.13601436e+00] [ 9.85815857e-03 8.85092571e-05 9.99951403e-01 8.34229634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.385336195 meters 0.01727459737154254 Centerline is valid? [True, True] Translation: X:134.73, Y:7.15, Z:0.08 [[ 9.85154176e-01 -1.71403943e-01 -9.58843247e-03 1.34726379e+02] [ 1.71394849e-01 9.85200832e-01 -1.76830457e-03 7.14789862e+00] [ 9.74962602e-03 9.86446900e-05 9.99952466e-01 8.33855712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.415336195 meters 0.017809045146998402 Centerline is valid? [True, True] Translation: X:134.75, Y:7.16, Z:0.08 [[ 9.85270582e-01 -1.70729643e-01 -9.65758337e-03 1.34754000e+02] [ 1.70720371e-01 9.85317907e-01 -1.78252541e-03 7.15626967e+00] [ 9.82011976e-03 1.07523626e-04 9.99951776e-01 8.30318912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.445336195 meters 0.01814544683770334 Centerline is valid? [True, True] Translation: X:134.78, Y:7.17, Z:0.08 [[ 9.85330794e-01 -1.70447171e-01 -8.42551968e-03 1.34779692e+02] [ 1.70440104e-01 9.85366811e-01 -1.55507302e-03 7.16990462e+00] [ 8.56728526e-03 9.62148875e-05 9.99963296e-01 8.43730276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.475336195 meters 0.01780759785352763 Centerline is valid? [True, True] Translation: X:134.81, Y:7.18, Z:0.09 [[ 9.85297706e-01 -1.70692204e-01 -7.25273733e-03 1.34806338e+02] [ 1.70686971e-01 9.85324396e-01 -1.33910886e-03 7.18034763e+00] [ 7.37487447e-03 8.14731173e-05 9.99972802e-01 8.58353572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.505336195 meters 0.01867225132894562 Centerline is valid? [True, True] Translation: X:134.83, Y:7.20, Z:0.08 [[ 9.85265366e-01 -1.70849619e-01 -7.90989291e-03 1.34831911e+02] [ 1.70843396e-01 9.85297113e-01 -1.46086613e-03 7.19633491e+00] [ 8.04318307e-03 8.79878380e-05 9.99967649e-01 8.41541676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.535336195 meters 0.015787400398521487 Centerline is valid? [True, True] Translation: X:134.86, Y:7.20, Z:0.08 [[ 9.85030718e-01 -1.72159240e-01 -8.69946032e-03 1.34859743e+02] [ 1.72151739e-01 9.85069129e-01 -1.60944512e-03 7.20152119e+00] [ 8.84665064e-03 8.77256587e-05 9.99960864e-01 8.48724960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56533619500001 meters 0.01695656118944645 Centerline is valid? [True, True] Translation: X:134.89, Y:7.21, Z:0.08 [[ 9.84932654e-01 -1.72716237e-01 -8.76182035e-03 1.34885504e+02] [ 1.72708643e-01 9.84971621e-01 -1.62173313e-03 7.20855262e+00] [ 8.91024404e-03 8.40558071e-05 9.99960299e-01 8.17320768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59533619500002 meters 0.018618879469509554 Centerline is valid? [True, True] Translation: X:134.91, Y:7.22, Z:0.07 [[ 9.84863277e-01 -1.72944065e-01 -1.16049879e-02 1.34911397e+02] [ 1.72930760e-01 9.84931642e-01 -2.14798730e-03 7.21885427e+00] [ 1.18016015e-02 1.08614437e-04 9.99930353e-01 7.47966956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62533619500002 meters 0.018530817549991297 Centerline is valid? [True, True] Translation: X:134.94, Y:7.23, Z:0.07 [[ 9.84908329e-01 -1.72629338e-01 -1.24376837e-02 1.34939515e+02] [ 1.72613995e-01 9.84986851e-01 -2.30486841e-03 7.22704770e+00] [ 1.26488428e-02 1.23165827e-04 9.99919993e-01 7.43764484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65533619500002 meters 0.021702925296621205 Centerline is valid? [True, True] Translation: X:134.96, Y:7.25, Z:0.07 [[ 9.85386246e-01 -1.69841069e-01 -1.29598442e-02 1.34963671e+02] [ 1.69824162e-01 9.85471452e-01 -2.40218239e-03 7.25003188e+00] [ 1.31795457e-02 1.66182810e-04 9.99913132e-01 7.29202403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68533619500002 meters 0.022685491027318268 Centerline is valid? [True, True] Translation: X:134.99, Y:7.26, Z:0.07 [[ 9.85554565e-01 -1.68790006e-01 -1.38611970e-02 1.34990920e+02] [ 1.68770553e-01 9.85652016e-01 -2.56981356e-03 7.25824883e+00] [ 1.40960756e-02 1.93329590e-04 9.99900627e-01 7.10335971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71533619500002 meters 0.022314051596941706 Centerline is valid? [True, True] Translation: X:135.02, Y:7.26, Z:0.07 [[ 9.85659979e-01 -1.68153414e-01 -1.41009208e-02 1.35019568e+02] [ 1.68133171e-01 9.85760816e-01 -2.61749305e-03 7.26376726e+00] [ 1.43402755e-02 2.09125624e-04 9.99897151e-01 7.14994995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.745336195 meters 0.0240489838018197 Centerline is valid? [True, True] Translation: X:135.05, Y:7.27, Z:0.07 [[ 9.85971154e-01 -1.66395923e-01 -1.31636197e-02 1.35046099e+02] [ 1.66378124e-01 9.86058999e-01 -2.44358733e-03 7.27395907e+00] [ 1.33867087e-02 2.19168255e-04 9.99910370e-01 7.19808517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.775336195 meters 0.026481528356640426 Centerline is valid? [True, True] Translation: X:135.07, Y:7.29, Z:0.08 [[ 9.86430780e-01 -1.63745162e-01 -1.19095485e-02 1.35071846e+02] [ 1.63730364e-01 9.86502644e-01 -2.21366818e-03 7.29247985e+00] [ 1.21112785e-02 2.33675722e-04 9.99926628e-01 7.50289036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.805336195 meters 0.028086808526958086 Centerline is valid? [True, True] Translation: X:135.10, Y:7.30, Z:0.07 [[ 9.86622063e-01 -1.62577600e-01 -1.20594218e-02 1.35097743e+02] [ 1.62562342e-01 9.86695729e-01 -2.24144269e-03 7.30370749e+00] [ 1.22633883e-02 2.51048965e-04 9.99924770e-01 7.43885575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.835336195 meters 0.0315585212771631 Centerline is valid? [True, True] Translation: X:135.12, Y:7.31, Z:0.07 [[ 9.87052228e-01 -1.59909991e-01 -1.25177494e-02 1.35124625e+02] [ 1.59893333e-01 9.87131555e-01 -2.32688915e-03 7.31492510e+00] [ 1.27287583e-02 2.95256440e-04 9.99918942e-01 7.16207447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.865336195 meters 0.03362430323639412 Centerline is valid? [True, True] Translation: X:135.15, Y:7.33, Z:0.07 [[ 9.87539757e-01 -1.56915538e-01 -1.19474714e-02 1.35152887e+02] [ 1.56900141e-01 9.87611975e-01 -2.22110473e-03 7.32697086e+00] [ 1.21479917e-02 3.18869271e-04 9.99926160e-01 7.28693716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.895336195 meters 0.040152755083685494 Centerline is valid? [True, True] Translation: X:135.18, Y:7.34, Z:0.07 [[ 9.87758678e-01 -1.55548784e-01 -1.17204902e-02 1.35178752e+02] [ 1.55533859e-01 9.87828156e-01 -2.17989620e-03 7.34161381e+00] [ 1.19169104e-02 3.30278323e-04 9.99928937e-01 6.90199681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.925336195 meters 0.03619683993713427 Centerline is valid? [True, True] Translation: X:135.21, Y:7.35, Z:0.07 [[ 9.87937367e-01 -1.54423562e-01 -1.15378769e-02 1.35206764e+02] [ 1.54409014e-01 9.88004680e-01 -2.14665275e-03 7.34639509e+00] [ 1.17309702e-02 3.39206268e-04 9.99931132e-01 7.47311880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.955336195 meters 0.03537893533200993 Centerline is valid? [True, True] Translation: X:135.23, Y:7.36, Z:0.08 [[ 9.87921486e-01 -1.54541764e-01 -1.13128582e-02 1.35234254e+02] [ 1.54527753e-01 9.87986200e-01 -2.10760674e-03 7.35579353e+00] [ 1.15026610e-02 3.33999432e-04 9.99933786e-01 7.61238129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.985336195 meters 0.03911414618825638 Centerline is valid? [True, True] Translation: X:135.26, Y:7.37, Z:0.07 [[ 9.87883655e-01 -1.54833618e-01 -1.06035062e-02 1.35261389e+02] [ 1.54821334e-01 9.87940512e-01 -1.97470613e-03 7.36946321e+00] [ 1.07813843e-02 3.09130925e-04 9.99941831e-01 7.25284346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.015336195 meters 0.03880481241688091 Centerline is valid? [True, True] Translation: X:135.29, Y:7.37, Z:0.07 [[ 9.87749868e-01 -1.55594165e-01 -1.18597489e-02 1.35288734e+02] [ 1.55578841e-01 9.87821007e-01 -2.20957485e-03 7.37347059e+00] [ 1.20591060e-02 3.37381293e-04 9.99927229e-01 6.91401445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.045336195 meters 0.03514261263457226 Centerline is valid? [True, True] Translation: X:135.32, Y:7.38, Z:0.07 [[ 9.87635866e-01 -1.56274492e-01 -1.23967390e-02 1.35318209e+02] [ 1.56257802e-01 9.87713605e-01 -2.30968296e-03 7.37559981e+00] [ 1.26053723e-02 3.44038542e-04 9.99920490e-01 7.49695528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.075336195 meters 0.0380160247964721 Centerline is valid? [True, True] Translation: X:135.35, Y:7.39, Z:0.07 [[ 9.87523654e-01 -1.56952136e-01 -1.27695218e-02 1.35345453e+02] [ 1.56934487e-01 9.87606150e-01 -2.37884787e-03 7.38879648e+00] [ 1.29846235e-02 3.45190183e-04 9.99915637e-01 6.76727070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.105336195 meters 0.038429812629339116 Centerline is valid? [True, True] Translation: X:135.37, Y:7.39, Z:0.06 [[ 9.87434974e-01 -1.57348943e-01 -1.46110397e-02 1.35372072e+02] [ 1.57325847e-01 9.87542990e-01 -2.72414900e-03 7.39454871e+00] [ 1.48576718e-02 3.91225814e-04 9.99889542e-01 6.41054232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.135336195 meters 0.038307893354029565 Centerline is valid? [True, True] Translation: X:135.40, Y:7.40, Z:0.06 [[ 9.87379604e-01 -1.57731362e-01 -1.42244431e-02 1.35400207e+02] [ 1.57709472e-01 9.87481987e-01 -2.65481418e-03 7.40140730e+00] [ 1.44651288e-02 3.77979961e-04 9.99895303e-01 6.36992095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.165336195 meters 0.03396349643859589 Centerline is valid? [True, True] Translation: X:135.43, Y:7.40, Z:0.07 [[ 9.87303279e-01 -1.58359064e-01 -1.24355466e-02 1.35428916e+02] [ 1.58342384e-01 9.87381539e-01 -2.32086975e-03 7.40361150e+00] [ 1.26461599e-02 3.22328225e-04 9.99919982e-01 6.98810983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.195336195 meters 0.03665145589316704 Centerline is valid? [True, True] Translation: X:135.46, Y:7.41, Z:0.07 [[ 9.87182720e-01 -1.59167062e-01 -1.16671711e-02 1.35456064e+02] [ 1.59152403e-01 9.87251619e-01 -2.18030807e-03 7.41254826e+00] [ 1.18654668e-02 2.95504133e-04 9.99929559e-01 6.79911763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.225336195 meters 0.027733102944757133 Centerline is valid? [True, True] Translation: X:135.49, Y:7.41, Z:0.08 [[ 9.87023463e-01 -1.60182340e-01 -1.12384240e-02 1.35486851e+02] [ 1.60168818e-01 9.87087404e-01 -2.09901756e-03 7.41231351e+00] [ 1.14295323e-02 2.71734494e-04 9.99934644e-01 7.62032754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.255336195 meters 0.03553273188534789 Centerline is valid? [True, True] Translation: X:135.52, Y:7.43, Z:0.07 [[ 9.86909863e-01 -1.60841042e-01 -1.17933183e-02 1.35515120e+02] [ 1.60826208e-01 9.86980285e-01 -2.20181687e-03 7.42727673e+00] [ 1.19939152e-02 2.76320118e-04 9.99928032e-01 6.61044648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.285336195 meters 0.028842301958542305 Centerline is valid? [True, True] Translation: X:135.55, Y:7.42, Z:0.07 [[ 9.86865078e-01 -1.60989612e-01 -1.34038387e-02 1.35545330e+02] [ 1.60970448e-01 9.86956051e-01 -2.50364495e-03 7.42428996e+00] [ 1.36320605e-02 3.13137848e-04 9.99907030e-01 7.01705192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31533619500001 meters 0.03682152220942958 Centerline is valid? [True, True] Translation: X:135.57, Y:7.44, Z:0.06 [[ 9.86845043e-01 -1.60989083e-01 -1.48113780e-02 1.35571642e+02] [ 1.60965674e-01 9.86956126e-01 -2.76707859e-03 7.43847872e+00] [ 1.50636497e-02 3.46554355e-04 9.99886477e-01 5.86422289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34533619500002 meters 0.03846811516748955 Centerline is valid? [True, True] Translation: X:135.60, Y:7.45, Z:0.06 [[ 9.87031859e-01 -1.59901874e-01 -1.41244604e-02 1.35598219e+02] [ 1.59880462e-01 9.87132853e-01 -2.63966710e-03 7.44924757e+00] [ 1.43648066e-02 3.47210273e-04 9.99896761e-01 6.03044338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37533619500002 meters 0.03281724402540766 Centerline is valid? [True, True] Translation: X:135.63, Y:7.45, Z:0.07 [[ 9.87204090e-01 -1.58866782e-01 -1.37633972e-02 1.35627121e+02] [ 1.58846304e-01 9.87299964e-01 -2.57542535e-03 7.45074047e+00] [ 1.39977511e-02 3.56205664e-04 9.99901963e-01 6.86144099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40533619500002 meters 0.03547149070526615 Centerline is valid? [True, True] Translation: X:135.65, Y:7.46, Z:0.07 [[ 9.87663149e-01 -1.56072624e-01 -1.27608984e-02 1.35654938e+02] [ 1.56054793e-01 9.87745515e-01 -2.38741830e-03 7.46016892e+00] [ 1.29771308e-02 3.66565714e-04 9.99915726e-01 6.95393472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43533619500002 meters 0.0373877661631975 Centerline is valid? [True, True] Translation: X:135.68, Y:7.47, Z:0.07 [[ 9.87865529e-01 -1.54750422e-01 -1.31910183e-02 1.35683821e+02] [ 1.54731252e-01 9.87953516e-01 -2.46786184e-03 7.46702236e+00] [ 1.34140156e-02 3.96852857e-04 9.99909949e-01 6.75461595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46533619500002 meters 0.04170173143803155 Centerline is valid? [True, True] Translation: X:135.71, Y:7.48, Z:0.06 [[ 9.88214029e-01 -1.52416685e-01 -1.42192570e-02 1.35710690e+02] [ 1.52394162e-01 9.88316215e-01 -2.66065788e-03 7.47976605e+00] [ 1.44586509e-02 4.62367684e-04 9.99895361e-01 6.46194829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.495336195 meters 0.039437444889221 Centerline is valid? [True, True] Translation: X:135.74, Y:7.49, Z:0.07 [[ 9.88251899e-01 -1.52352140e-01 -1.21247262e-02 1.35739997e+02] [ 1.52335764e-01 9.88326196e-01 -2.26834828e-03 7.49247054e+00] [ 1.23287723e-02 3.94670067e-04 9.99923920e-01 7.13949366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.525336195 meters 0.03804545641705055 Centerline is valid? [True, True] Translation: X:135.77, Y:7.50, Z:0.07 [[ 9.88135494e-01 -1.53106922e-01 -1.21043796e-02 1.35771267e+02] [ 1.53090662e-01 9.88209554e-01 -2.26415059e-03 7.49793282e+00] [ 1.23083207e-02 3.84220071e-04 9.99924176e-01 7.14113408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.555336195 meters 0.037236302216987566 Centerline is valid? [True, True] Translation: X:135.80, Y:7.50, Z:0.07 [[ 9.87864617e-01 -1.54783120e-01 -1.28718441e-02 1.35801821e+02] [ 1.54764876e-01 9.87948398e-01 -2.40764928e-03 7.49847961e+00] [ 1.30893813e-02 3.86322173e-04 9.99914256e-01 6.78738479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.585336195 meters 0.03674713710251138 Centerline is valid? [True, True] Translation: X:135.83, Y:7.50, Z:0.07 [[ 9.87822633e-01 -1.55076814e-01 -1.25549565e-02 1.35832299e+02] [ 1.55059480e-01 9.87902345e-01 -2.34846324e-03 7.50315164e+00] [ 1.27672632e-02 3.73100118e-04 9.99918426e-01 6.78452386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.615336195 meters 0.03613294146209252 Centerline is valid? [True, True] Translation: X:135.86, Y:7.51, Z:0.07 [[ 9.87894166e-01 -1.54660669e-01 -1.20496513e-02 1.35862903e+02] [ 1.54644677e-01 9.87967583e-01 -2.25346396e-03 7.50984964e+00] [ 1.22531872e-02 3.62769462e-04 9.99924861e-01 6.94640242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.645336195 meters 0.037473914549432864 Centerline is valid? [True, True] Translation: X:135.89, Y:7.52, Z:0.07 [[ 9.87933116e-01 -1.54352683e-01 -1.27830950e-02 1.35891837e+02] [ 1.54334659e-01 9.88015738e-01 -2.39057155e-03 7.51811707e+00] [ 1.29988902e-02 3.88850191e-04 9.99915435e-01 6.75779943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.675336195 meters 0.03925127821077388 Centerline is valid? [True, True] Translation: X:135.92, Y:7.53, Z:0.06 [[ 9.87969989e-01 -1.53971905e-01 -1.44205603e-02 1.35920584e+02] [ 1.53948930e-01 9.88075126e-01 -2.69663174e-03 7.52923903e+00] [ 1.46638025e-02 4.44161400e-04 9.99892382e-01 6.39222314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.705336195 meters 0.03633939530639327 Centerline is valid? [True, True] Translation: X:135.95, Y:7.53, Z:0.06 [[ 9.87852950e-01 -1.54636013e-01 -1.53053014e-02 1.35952314e+02] [ 1.54610219e-01 9.87971402e-01 -2.86160504e-03 7.53075591e+00] [ 1.55637073e-02 4.60488974e-04 9.99878772e-01 6.38803721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.735336195 meters 0.03744520627434473 Centerline is valid? [True, True] Translation: X:135.98, Y:7.54, Z:0.06 [[ 9.87870802e-01 -1.54528893e-01 -1.52348088e-02 1.35981013e+02] [ 1.54503316e-01 9.87988163e-01 -2.84888741e-03 7.53515911e+00] [ 1.54920462e-02 4.60504224e-04 9.99879885e-01 6.31621666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.765336195 meters 0.03742124637553331 Centerline is valid? [True, True] Translation: X:136.01, Y:7.54, Z:0.06 [[ 9.87814677e-01 -1.54875039e-01 -1.53585619e-02 1.36010647e+02] [ 1.54849079e-01 9.87933961e-01 -2.87249307e-03 7.53962206e+00] [ 1.56181223e-02 4.59231658e-04 9.99877924e-01 6.24365926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.795336195 meters 0.0343012081912066 Centerline is valid? [True, True] Translation: X:136.04, Y:7.54, Z:0.06 [[ 9.87602762e-01 -1.56281936e-01 -1.47221135e-02 1.36041672e+02] [ 1.56258242e-01 9.87712398e-01 -2.75328850e-03 7.54053404e+00] [ 1.49715033e-02 4.18703752e-04 9.99887833e-01 6.43329946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.825336195 meters 0.0343012081912066 Centerline is valid? [True, True] Translation: X:136.07, Y:7.55, Z:0.06 [[ 9.87602762e-01 -1.56281936e-01 -1.47221135e-02 1.36071179e+02] [ 1.56258242e-01 9.87712398e-01 -2.75328850e-03 7.54605233e+00] [ 1.49715033e-02 4.18703752e-04 9.99887833e-01 6.41120733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.855336195 meters 0.034980655312748916 Centerline is valid? [True, True] Translation: X:136.10, Y:7.55, Z:0.07 [[ 9.87627163e-01 -1.56228369e-01 -1.36119167e-02 1.36099580e+02] [ 1.56208111e-01 9.87720885e-01 -2.54551351e-03 7.55363501e+00] [ 1.38424558e-02 3.87726492e-04 9.99904113e-01 6.50973481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.885336195 meters 0.035932966563533064 Centerline is valid? [True, True] Translation: X:136.13, Y:7.56, Z:0.07 [[ 9.87788576e-01 -1.55293312e-01 -1.25585507e-02 1.36128293e+02] [ 1.55276002e-01 9.87868337e-01 -2.34777204e-03 7.56443859e+00] [ 1.27707879e-02 3.69060853e-04 9.99918382e-01 6.74016816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.915336195 meters 0.038166185060810785 Centerline is valid? [True, True] Translation: X:136.16, Y:7.57, Z:0.06 [[ 9.87936774e-01 -1.54277484e-01 -1.33935895e-02 1.36157827e+02] [ 1.54257699e-01 9.88027475e-01 -2.50419232e-03 7.56920158e+00] [ 1.36195749e-02 4.07919382e-04 9.99907166e-01 6.40767088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.945336195 meters 0.03926249889699464 Centerline is valid? [True, True] Translation: X:136.19, Y:7.57, Z:0.06 [[ 9.87980550e-01 -1.53917689e-01 -1.42750693e-02 1.36187750e+02] [ 1.53895176e-01 9.88083575e-01 -2.66900213e-03 7.57353471e+00] [ 1.45157682e-02 4.40057886e-04 9.99894544e-01 6.13273765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.975336195 meters 0.04004276845669087 Centerline is valid? [True, True] Translation: X:136.22, Y:7.58, Z:0.06 [[ 9.88141142e-01 -1.52812399e-01 -1.50151197e-02 1.36217377e+02] [ 1.52787363e-01 9.88255099e-01 -2.80736895e-03 7.58278545e+00] [ 1.52677694e-02 4.79956220e-04 9.99883326e-01 6.09699099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.005336195 meters 0.04057470026059837 Centerline is valid? [True, True] Translation: X:136.25, Y:7.59, Z:0.06 [[ 9.88219836e-01 -1.52322149e-01 -1.48161401e-02 1.36246768e+02] [ 1.52297718e-01 9.88330780e-01 -2.77016584e-03 7.59225075e+00] [ 1.50652049e-02 4.81068513e-04 9.99886398e-01 6.17376555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.035336195 meters 0.040958918205739506 Centerline is valid? [True, True] Translation: X:136.28, Y:7.60, Z:0.06 [[ 9.88327347e-01 -1.51593591e-01 -1.51141997e-02 1.36276674e+02] [ 1.51568090e-01 9.88442781e-01 -2.82534499e-03 7.60075093e+00] [ 1.53678258e-02 5.01535346e-04 9.99881782e-01 6.20375197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06533619500001 meters 0.03790759123280323 Centerline is valid? [True, True] Translation: X:136.31, Y:7.60, Z:0.06 [[ 9.88259822e-01 -1.51851060e-01 -1.68457407e-02 1.36308446e+02] [ 1.51819424e-01 9.88403232e-01 -3.14861036e-03 7.60050356e+00] [ 1.71285043e-02 5.54134463e-04 9.99853143e-01 6.03575850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09533619500002 meters 0.039729940481393416 Centerline is valid? [True, True] Translation: X:136.34, Y:7.61, Z:0.06 [[ 9.88173794e-01 -1.52364706e-01 -1.72496097e-02 1.36338591e+02] [ 1.52331615e-01 9.88324180e-01 -3.22397438e-03 7.60652785e+00] [ 1.75394262e-02 5.58186088e-04 9.99846017e-01 5.67225311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12533619500002 meters 0.038374793046999985 Centerline is valid? [True, True] Translation: X:136.37, Y:7.61, Z:0.06 [[ 9.88157411e-01 -1.52528697e-01 -1.67310413e-02 1.36369130e+02] [ 1.52497589e-01 9.88298895e-01 -3.12714257e-03 7.61114695e+00] [ 1.70122486e-02 5.38665647e-04 9.99855136e-01 5.79824954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15533619500002 meters 0.03949201606332073 Centerline is valid? [True, True] Translation: X:136.40, Y:7.62, Z:0.06 [[ 9.88074003e-01 -1.53128973e-01 -1.61642515e-02 1.36398129e+02] [ 1.53100012e-01 9.88206080e-01 -3.02149915e-03 7.61740037e+00] [ 1.64362907e-02 5.10717660e-04 9.99864785e-01 5.79245919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18533619500002 meters 0.04054521349670018 Centerline is valid? [True, True] Translation: X:136.43, Y:7.62, Z:0.06 [[ 9.88007507e-01 -1.53605598e-01 -1.56998858e-02 1.36426519e+02] [ 1.53578334e-01 9.88132117e-01 -2.93488990e-03 7.62441175e+00] [ 1.59643770e-02 4.88530938e-04 9.99872442e-01 5.73111027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21533619500002 meters 0.040097872559910604 Centerline is valid? [True, True] Translation: X:136.45, Y:7.63, Z:0.06 [[ 9.87828178e-01 -1.54769121e-01 -1.55566672e-02 1.36454790e+02] [ 1.54742489e-01 9.87950557e-01 -2.90857724e-03 7.63162478e+00] [ 1.58193760e-02 4.65897142e-04 9.99874757e-01 5.72066963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.245336195 meters 0.034814856851859886 Centerline is valid? [True, True] Translation: X:136.49, Y:7.63, Z:0.06 [[ 9.87618649e-01 -1.56206843e-01 -1.44507950e-02 1.36486571e+02] [ 1.56184019e-01 9.87724280e-01 -2.70165458e-03 7.62824885e+00] [ 1.46954180e-02 4.11221203e-04 9.99891932e-01 6.13600125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.275336195 meters 0.0352387833945553 Centerline is valid? [True, True] Translation: X:136.52, Y:7.63, Z:0.06 [[ 9.87564185e-01 -1.56608334e-01 -1.38134409e-02 1.36515938e+02] [ 1.56587515e-01 9.87660711e-01 -2.58275814e-03 7.63268886e+00] [ 1.40474743e-02 3.87627045e-04 9.99901254e-01 6.12880183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.305336195 meters 0.03618734357177732 Centerline is valid? [True, True] Translation: X:136.54, Y:7.64, Z:0.06 [[ 9.87638257e-01 -1.56081295e-01 -1.44673187e-02 1.36544348e+02] [ 1.56058395e-01 9.87744126e-01 -2.70545463e-03 7.63812786e+00] [ 1.47122800e-02 4.14263946e-04 9.99891683e-01 5.98679854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.335336195 meters 0.03627185275729323 Centerline is valid? [True, True] Translation: X:136.57, Y:7.64, Z:0.06 [[ 9.87714694e-01 -1.55429092e-01 -1.61703367e-02 1.36574166e+02] [ 1.55400395e-01 9.87846938e-01 -3.02401876e-03 7.64250410e+00] [ 1.64438381e-02 4.73991063e-04 9.99864679e-01 5.72769237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.365336195 meters 0.040788283787862915 Centerline is valid? [True, True] Translation: X:136.60, Y:7.65, Z:0.05 [[ 9.87759732e-01 -1.55103167e-01 -1.65444715e-02 1.36602285e+02] [ 1.55073077e-01 9.87898156e-01 -3.09418716e-03 7.65450679e+00] [ 1.68241711e-02 4.90711372e-04 9.99858343e-01 5.26708856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.395336195 meters 0.03656737590019663 Centerline is valid? [True, True] Translation: X:136.63, Y:7.66, Z:0.06 [[ 9.87923291e-01 -1.53947051e-01 -1.75463894e-02 1.36632688e+02] [ 1.53913031e-01 9.88078951e-01 -3.28115720e-03 7.66014172e+00] [ 1.78423425e-02 5.40913650e-04 9.99840666e-01 5.74951260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.425336195 meters 0.03984382938471338 Centerline is valid? [True, True] Translation: X:136.66, Y:7.67, Z:0.05 [[ 9.87977460e-01 -1.53571888e-01 -1.77823865e-02 1.36661132e+02] [ 1.53536883e-01 9.88137322e-01 -3.32547589e-03 7.66924014e+00] [ 1.80821394e-02 5.55243036e-04 9.99836351e-01 5.42183775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.455336195 meters 0.039947256920154606 Centerline is valid? [True, True] Translation: X:136.69, Y:7.67, Z:0.06 [[ 9.88290757e-01 -1.51549345e-01 -1.77250148e-02 1.36691003e+02] [ 1.51514229e-01 9.88449517e-01 -3.31534814e-03 7.67205054e+00] [ 1.80227212e-02 5.90935954e-04 9.99837403e-01 5.52907978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.485336195 meters 0.04236605691889769 Centerline is valid? [True, True] Translation: X:136.72, Y:7.68, Z:0.05 [[ 9.88492116e-01 -1.50203879e-01 -1.79480134e-02 1.36718980e+02] [ 1.50167663e-01 9.88654847e-01 -3.35646428e-03 7.68049928e+00] [ 1.82485444e-02 6.22627247e-04 9.99833288e-01 5.46432503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.515336195 meters 0.04743241771772197 Centerline is valid? [True, True] Translation: X:136.75, Y:7.70, Z:0.06 [[ 9.88926789e-01 -1.47433800e-01 -1.69434475e-02 1.36746248e+02] [ 1.47401112e-01 9.89071721e-01 -3.16901175e-03 7.69508091e+00] [ 1.72255043e-02 6.36437602e-04 9.99851427e-01 5.54153325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.545336195 meters 0.05112144775874285 Centerline is valid? [True, True] Translation: X:136.77, Y:7.71, Z:0.06 [[ 9.89375208e-01 -1.44489525e-01 -1.61082522e-02 1.36774270e+02] [ 1.44459587e-01 9.89506114e-01 -3.01299987e-03 7.70915141e+00] [ 1.63745609e-02 6.53995916e-04 9.99865714e-01 5.67459646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.575336195 meters 0.04914312874506165 Centerline is valid? [True, True] Translation: X:136.80, Y:7.72, Z:0.06 [[ 9.89443803e-01 -1.44032414e-01 -1.59882795e-02 1.36804379e+02] [ 1.44002867e-01 9.89572753e-01 -2.99018159e-03 7.71590961e+00] [ 1.62522489e-02 6.56258544e-04 9.99867708e-01 5.85825994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.605336195 meters 0.049598368260785494 Centerline is valid? [True, True] Translation: X:136.84, Y:7.72, Z:0.05 [[ 9.89337052e-01 -1.44646477e-01 -1.70174748e-02 1.36835032e+02] [ 1.44613108e-01 9.89483160e-01 -3.18185520e-03 7.72261299e+00] [ 1.72987489e-02 6.86977308e-04 9.99850129e-01 5.36900566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.635336195 meters 0.04709094733525849 Centerline is valid? [True, True] Translation: X:136.87, Y:7.72, Z:0.05 [[ 9.89015640e-01 -1.46786414e-01 -1.73727317e-02 1.36866352e+02] [ 1.46751961e-01 9.89167988e-01 -3.24855551e-03 7.72168132e+00] [ 1.76613939e-02 6.63389759e-04 9.99843805e-01 5.16010209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.665336195 meters 0.04396604224588742 Centerline is valid? [True, True] Translation: X:136.90, Y:7.73, Z:0.05 [[ 9.88811041e-01 -1.48246338e-01 -1.66057057e-02 1.36896352e+02] [ 1.48215066e-01 9.88950278e-01 -3.10512807e-03 7.72565964e+00] [ 1.68825411e-02 6.09169144e-04 9.99857294e-01 5.47312454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.695336195 meters 0.04413283446246276 Centerline is valid? [True, True] Translation: X:136.93, Y:7.73, Z:0.05 [[ 9.88618306e-01 -1.49535188e-01 -1.65248909e-02 1.36925194e+02] [ 1.49504400e-01 9.88756232e-01 -3.09001638e-03 7.73409715e+00] [ 1.68011550e-02 5.84302863e-04 9.99858680e-01 5.46599930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.725336195 meters 0.045183118394330514 Centerline is valid? [True, True] Translation: X:136.95, Y:7.74, Z:0.05 [[ 9.88211705e-01 -1.51980280e-01 -1.84287790e-02 1.36953926e+02] [ 1.51942418e-01 9.88383341e-01 -3.44571608e-03 7.74339651e+00] [ 1.87383790e-02 6.04983714e-04 9.99824238e-01 4.93375887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.755336195 meters 0.04313096401155244 Centerline is valid? [True, True] Translation: X:136.98, Y:7.74, Z:0.05 [[ 9.87831021e-01 -1.54415394e-01 -1.85946273e-02 1.36982414e+02] [ 1.54377254e-01 9.88005854e-01 -3.47801224e-03 7.74465229e+00] [ 1.89086593e-02 5.65100870e-04 9.99821056e-01 4.77326449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.785336195 meters 0.039561320183178955 Centerline is valid? [True, True] Translation: X:137.01, Y:7.75, Z:0.05 [[ 9.87662153e-01 -1.55580981e-01 -1.78334189e-02 1.37011597e+02] [ 1.55546074e-01 9.87823004e-01 -3.33651088e-03 7.74505734e+00] [ 1.81353590e-02 5.21427215e-04 9.99835405e-01 5.11090728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81533619500001 meters 0.03463986985121738 Centerline is valid? [True, True] Translation: X:137.04, Y:7.75, Z:0.05 [[ 9.87220040e-01 -1.58445676e-01 -1.70751709e-02 1.37041788e+02] [ 1.58414098e-01 9.87367594e-01 -3.19491164e-03 7.74534067e+00] [ 1.73656903e-02 4.49133001e-04 9.99849104e-01 5.45604692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84533619500002 meters 0.03196287542225664 Centerline is valid? [True, True] Translation: X:137.07, Y:7.75, Z:0.06 [[ 9.87077661e-01 -1.59295549e-01 -1.73959800e-02 1.37072705e+02] [ 1.59262909e-01 9.87230841e-01 -3.25475737e-03 7.74815800e+00] [ 1.76923163e-02 4.42163916e-04 9.99843381e-01 5.54246290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87533619500002 meters 0.03579158101748435 Centerline is valid? [True, True] Translation: X:137.10, Y:7.75, Z:0.05 [[ 9.87030167e-01 -1.59440659e-01 -1.87116454e-02 1.37102803e+02] [ 1.59402926e-01 9.87207401e-01 -3.50059100e-03 7.75439269e+00] [ 1.90304113e-02 4.72497888e-04 9.99818794e-01 5.22402767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90533619500002 meters 0.03532859089657556 Centerline is valid? [True, True] Translation: X:137.13, Y:7.76, Z:0.05 [[ 9.87237122e-01 -1.58157485e-01 -1.86835628e-02 1.37131331e+02] [ 1.58119628e-01 9.87413775e-01 -3.49574876e-03 7.76162509e+00] [ 1.90012861e-02 4.96894945e-04 9.99819336e-01 5.05254901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93533619500002 meters 0.03632120181178056 Centerline is valid? [True, True] Translation: X:137.16, Y:7.77, Z:0.05 [[ 9.87401934e-01 -1.57103447e-01 -1.88660449e-02 1.37160134e+02] [ 1.57064644e-01 9.87582014e-01 -3.53044050e-03 7.76826529e+00] [ 1.91864110e-02 5.22775151e-04 9.99815787e-01 5.11078565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96533619500002 meters 0.03584290555038991 Centerline is valid? [True, True] Translation: X:137.19, Y:7.78, Z:0.05 [[ 9.87637517e-01 -1.55286287e-01 -2.14080478e-02 1.37189835e+02] [ 1.55235907e-01 9.87869308e-01 -4.00556395e-03 7.77693220e+00] [ 2.17703625e-02 6.32747520e-04 9.99762797e-01 5.23996301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.995336195 meters 0.03579217188231185 Centerline is valid? [True, True] Translation: X:137.22, Y:7.78, Z:0.05 [[ 9.87675470e-01 -1.55085733e-01 -2.11087790e-02 1.37219857e+02] [ 1.55036704e-01 9.87900815e-01 -3.94966012e-03 7.78416557e+00] [ 2.14659159e-02 6.28346891e-04 9.99769383e-01 5.20040962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.025336195 meters 0.039130968831556305 Centerline is valid? [True, True] Translation: X:137.25, Y:7.79, Z:0.05 [[ 9.87662193e-01 -1.55233801e-01 -2.06363774e-02 1.37248307e+02] [ 1.55186967e-01 9.87877570e-01 -3.86162628e-03 7.79235418e+00] [ 2.09856693e-02 6.11485450e-04 9.99779590e-01 4.73235368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.055336195 meters 0.039006146229857694 Centerline is valid? [True, True] Translation: X:137.28, Y:7.80, Z:0.05 [[ 9.87577389e-01 -1.55613487e-01 -2.18023587e-02 1.37277376e+02] [ 1.55561194e-01 9.87817812e-01 -4.08472721e-03 7.79500337e+00] [ 2.21723969e-02 6.42383287e-04 9.99753956e-01 4.53259258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.085336195 meters 0.03853053809400925 Centerline is valid? [True, True] Translation: X:137.31, Y:7.80, Z:0.05 [[ 9.87525735e-01 -1.55895640e-01 -2.21240286e-02 1.37305689e+02] [ 1.55841851e-01 9.87773320e-01 -4.14553895e-03 7.79757940e+00] [ 2.24997967e-02 6.45976827e-04 9.99746639e-01 4.50183136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.115336195 meters 0.03986903207835678 Centerline is valid? [True, True] Translation: X:137.33, Y:7.80, Z:0.04 [[ 9.87521879e-01 -1.56002645e-01 -2.15339924e-02 1.37332676e+02] [ 1.55951683e-01 9.87756438e-01 -4.03630837e-03 7.80427271e+00] [ 2.19000144e-02 6.27680477e-04 9.99759969e-01 4.38795206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.145336195 meters 0.038208789140863 Centerline is valid? [True, True] Translation: X:137.36, Y:7.81, Z:0.05 [[ 9.87639659e-01 -1.55326748e-01 -2.10120378e-02 1.37362486e+02] [ 1.55278068e-01 9.87862950e-01 -3.93874250e-03 7.80803301e+00] [ 2.13688057e-02 6.27349661e-04 9.99771464e-01 4.72682308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.175336195 meters 0.039236902840796846 Centerline is valid? [True, True] Translation: X:137.39, Y:7.81, Z:0.05 [[ 9.87673571e-01 -1.55225240e-01 -2.01504877e-02 1.37390796e+02] [ 1.55180432e-01 9.87878919e-01 -3.77808485e-03 7.81292778e+00] [ 2.04926961e-02 6.04553161e-04 9.99789820e-01 4.69253974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.205336195 meters 0.038679551946143385 Centerline is valid? [True, True] Translation: X:137.42, Y:7.82, Z:0.05 [[ 9.87684770e-01 -1.55348466e-01 -1.85916656e-02 1.37419997e+02] [ 1.55310339e-01 9.87859578e-01 -3.48620159e-03 7.81740639e+00] [ 1.89075310e-02 5.55790329e-04 9.99821082e-01 5.05018320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.235336195 meters 0.0347619161991135 Centerline is valid? [True, True] Translation: X:137.45, Y:7.82, Z:0.05 [[ 9.87669469e-01 -1.55232426e-01 -2.02956417e-02 1.37451360e+02] [ 1.55186982e-01 9.87877788e-01 -3.80481050e-03 7.81867722e+00] [ 2.06402436e-02 6.08275786e-04 9.99786782e-01 5.23906598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.265336195 meters 0.03783297716434978 Centerline is valid? [True, True] Translation: X:137.48, Y:7.83, Z:0.05 [[ 9.87623401e-01 -1.55396092e-01 -2.12619712e-02 1.37480191e+02] [ 1.55346248e-01 9.87852040e-01 -3.98628918e-03 7.82538084e+00] [ 2.16231354e-02 6.33985020e-04 9.99765992e-01 4.72222784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.295336195 meters 0.038255627887145385 Centerline is valid? [True, True] Translation: X:137.51, Y:7.83, Z:0.04 [[ 9.87391849e-01 -1.56626688e-01 -2.29219967e-02 1.37508088e+02] [ 1.56569044e-01 9.87657658e-01 -4.29936399e-03 7.82537997e+00] [ 2.33124808e-02 6.56281842e-04 9.99728012e-01 4.27961405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.325336195 meters 0.03895564166851777 Centerline is valid? [True, True] Translation: X:137.54, Y:7.83, Z:0.04 [[ 9.87338508e-01 -1.56998565e-01 -2.26742314e-02 1.37535829e+02] [ 1.56942227e-01 9.87598622e-01 -4.25428837e-03 7.83001270e+00] [ 2.30609569e-02 6.41878352e-04 9.99733855e-01 4.18958168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.355336195 meters 0.037910111159302956 Centerline is valid? [True, True] Translation: X:137.56, Y:7.83, Z:0.05 [[ 9.87398427e-01 -1.56784337e-01 -2.15178729e-02 1.37564972e+02] [ 1.56733448e-01 9.87632669e-01 -4.04192835e-03 7.82859674e+00] [ 2.18854653e-02 6.18423287e-04 9.99760293e-01 4.61521072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.385336195 meters 0.03842291689148741 Centerline is valid? [True, True] Translation: X:137.59, Y:7.83, Z:0.05 [[ 9.87524329e-01 -1.55985694e-01 -2.15444492e-02 1.37592668e+02] [ 1.55934457e-01 9.87759108e-01 -4.04837213e-03 7.83048140e+00] [ 2.19122141e-02 6.38343986e-04 9.99759695e-01 4.54000301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.415336195 meters 0.036616156518528196 Centerline is valid? [True, True] Translation: X:137.62, Y:7.83, Z:0.05 [[ 9.87714526e-01 -1.54831203e-01 -2.11497849e-02 1.37621274e+02] [ 1.54781465e-01 9.87940721e-01 -3.97868872e-03 7.83291167e+00] [ 2.15107589e-02 6.56213947e-04 9.99768401e-01 4.98523043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.445336195 meters 0.0434056445393747 Centerline is valid? [True, True] Translation: X:137.65, Y:7.85, Z:0.05 [[ 9.88174787e-01 -1.52084486e-01 -1.95166373e-02 1.37647281e+02] [ 1.52041599e-01 9.88367276e-01 -3.67149560e-03 7.84691138e+00] [ 1.98479831e-02 6.60738656e-04 9.99802791e-01 4.86387604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.475336195 meters 0.046149159617822594 Centerline is valid? [True, True] Translation: X:137.68, Y:7.86, Z:0.05 [[ 9.88454081e-01 -1.50170622e-01 -2.01820064e-02 1.37675637e+02] [ 1.50124354e-01 9.88659831e-01 -3.79698592e-03 7.85771983e+00] [ 2.05233347e-02 7.23335556e-04 9.99789113e-01 4.70224184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.505336195 meters 0.04635343261014415 Centerline is valid? [True, True] Translation: X:137.70, Y:7.86, Z:0.05 [[ 9.88505511e-01 -1.49759881e-01 -2.07082720e-02 1.37703780e+02] [ 1.49711046e-01 9.88722111e-01 -3.89753013e-03 7.86112369e+00] [ 2.10584200e-02 7.52472950e-04 9.99777964e-01 4.61515378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.535336195 meters 0.045437695292956715 Centerline is valid? [True, True] Translation: X:137.73, Y:7.86, Z:0.05 [[ 9.88487463e-01 -1.49796846e-01 -2.12941626e-02 1.37732928e+02] [ 1.49745119e-01 9.88716491e-01 -4.01232395e-03 7.86096798e+00] [ 2.16549232e-02 7.77435005e-04 9.99765202e-01 4.55010720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56533619500001 meters 0.0474972185239738 Centerline is valid? [True, True] Translation: X:137.76, Y:7.86, Z:0.04 [[ 9.88445176e-01 -1.49658935e-01 -2.40486527e-02 1.37761889e+02] [ 1.49592924e-01 9.88737289e-01 -4.53107304e-03 7.86106027e+00] [ 2.44559152e-02 8.81209021e-04 9.99700521e-01 3.93810961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59533619500002 meters 0.04722642968593984 Centerline is valid? [True, True] Translation: X:137.79, Y:7.87, Z:0.04 [[ 9.88467377e-01 -1.49580951e-01 -2.36174398e-02 1.37789510e+02] [ 1.49517123e-01 9.88749097e-01 -4.45568632e-03 7.86642386e+00] [ 2.40182080e-02 8.73088930e-04 9.99711140e-01 4.23551048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62533619500002 meters 0.04896009932156944 Centerline is valid? [True, True] Translation: X:137.82, Y:7.87, Z:0.04 [[ 9.88429971e-01 -1.49859749e-01 -2.34146867e-02 1.37816848e+02] [ 1.49796998e-01 9.88706888e-01 -4.42131384e-03 7.87400626e+00] [ 2.38128390e-02 8.62709333e-04 9.99716062e-01 4.16242008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65533619500002 meters 0.043894490566927166 Centerline is valid? [True, True] Translation: X:137.85, Y:7.87, Z:0.04 [[ 9.88388165e-01 -1.49987714e-01 -2.43417447e-02 1.37846385e+02] [ 1.49919824e-01 9.88687453e-01 -4.60078193e-03 7.87256767e+00] [ 2.47564383e-02 8.98048319e-04 9.99693109e-01 4.46155409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68533619500002 meters 0.046920937555835235 Centerline is valid? [True, True] Translation: X:137.87, Y:7.88, Z:0.04 [[ 9.88651870e-01 -1.48609703e-01 -2.19689875e-02 1.37873599e+02] [ 1.48554051e-01 9.88895569e-01 -4.15300710e-03 7.87837049e+00] [ 2.23422115e-02 8.42296157e-04 9.99750027e-01 4.48173541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71533619500002 meters 0.053256453555842305 Centerline is valid? [True, True] Translation: X:137.90, Y:7.89, Z:0.04 [[ 9.88876059e-01 -1.47389853e-01 -2.00092708e-02 1.37899375e+02] [ 1.47343412e-01 9.89078157e-01 -3.78383074e-03 7.89102567e+00] [ 2.03484310e-02 7.93505396e-04 9.99792634e-01 4.38468529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.745336195 meters 0.053256453555842305 Centerline is valid? [True, True] Translation: X:137.93, Y:7.90, Z:0.04 [[ 9.88848925e-01 -1.47571907e-01 -2.00084052e-02 1.37926326e+02] [ 1.47525411e-01 9.89051010e-01 -3.78840612e-03 7.89633788e+00] [ 2.03483957e-02 7.94413120e-04 9.99792634e-01 4.36445889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.775336195 meters 0.04880197301328402 Centerline is valid? [True, True] Translation: X:137.96, Y:7.90, Z:0.05 [[ 9.88990823e-01 -1.46642418e-01 -1.98280770e-02 1.37955206e+02] [ 1.46596563e-01 9.89189239e-01 -3.75460728e-03 7.89622775e+00] [ 2.01643050e-02 8.06544213e-04 9.99796354e-01 4.90330553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.805336195 meters 0.049562917973035116 Centerline is valid? [True, True] Translation: X:137.98, Y:7.90, Z:0.05 [[ 9.88971706e-01 -1.46678286e-01 -2.05047797e-02 1.37982543e+02] [ 1.46629228e-01 9.89183898e-01 -3.88401959e-03 7.90135776e+00] [ 2.08526992e-02 8.34585473e-04 9.99782210e-01 4.76619599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.835336195 meters 0.05146949484348551 Centerline is valid? [True, True] Translation: X:138.01, Y:7.91, Z:0.05 [[ 9.88898697e-01 -1.47145700e-01 -2.06762980e-02 1.38009228e+02] [ 1.47095893e-01 9.89114477e-01 -3.91778480e-03 7.90794729e+00] [ 2.10277109e-02 8.32893777e-04 9.99778546e-01 4.70353406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.865336195 meters 0.04392330486841099 Centerline is valid? [True, True] Translation: X:138.04, Y:7.90, Z:0.05 [[ 9.88616509e-01 -1.49013712e-01 -2.07921286e-02 1.38039059e+02] [ 1.48963736e-01 9.88834807e-01 -3.94073855e-03 7.90412243e+00] [ 2.11472045e-02 7.98606028e-04 9.99776054e-01 5.19628549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.895336195 meters 0.04724846122034794 Centerline is valid? [True, True] Translation: X:138.07, Y:7.91, Z:0.05 [[ 9.88386826e-01 -1.50695714e-01 -1.95520921e-02 1.38067540e+02] [ 1.50651837e-01 9.88579934e-01 -3.70639989e-03 7.90818910e+00] [ 1.98873445e-02 7.17798229e-04 9.99801970e-01 4.85999068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.925336195 meters 0.041499975555103236 Centerline is valid? [True, True] Translation: X:138.10, Y:7.90, Z:0.05 [[ 9.88267782e-01 -1.51587174e-01 -1.86579489e-02 1.38097633e+02] [ 1.51547357e-01 9.88443666e-01 -3.53797234e-03 7.90359782e+00] [ 1.89786426e-02 6.68901232e-04 9.99819666e-01 5.38294659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.955336195 meters 0.04231463970988708 Centerline is valid? [True, True] Translation: X:138.13, Y:7.90, Z:0.05 [[ 9.88089347e-01 -1.52725635e-01 -1.88234422e-02 1.38125955e+02] [ 1.52685290e-01 9.88268411e-01 -3.57065011e-03 7.90486537e+00] [ 1.91479431e-02 6.54058616e-04 9.99816447e-01 5.16626923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.985336195 meters 0.04307010703359414 Centerline is valid? [True, True] Translation: X:138.15, Y:7.91, Z:0.05 [[ 9.87988244e-01 -1.53366682e-01 -1.89179992e-02 1.38153439e+02] [ 1.53326026e-01 9.88169137e-01 -3.58976907e-03 7.90898011e+00] [ 1.92447339e-02 6.46028006e-04 9.99814594e-01 4.96534721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.015336195 meters 0.039490533182101224 Centerline is valid? [True, True] Translation: X:138.18, Y:7.91, Z:0.05 [[ 9.87798948e-01 -1.54491555e-01 -1.96366615e-02 1.38183736e+02] [ 1.54447892e-01 9.87993894e-01 -3.73014164e-03 7.90635278e+00] [ 1.99771771e-02 6.51789008e-04 9.99800224e-01 5.02233542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.045336195 meters 0.039509208351338386 Centerline is valid? [True, True] Translation: X:138.21, Y:7.91, Z:0.05 [[ 9.87727263e-01 -1.54814779e-01 -2.06697355e-02 1.38212274e+02] [ 1.54766393e-01 9.87943277e-01 -3.93011836e-03 7.90972504e+00] [ 2.10289666e-02 6.82904657e-04 9.99778634e-01 4.91542164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.075336195 meters 0.04156613437591076 Centerline is valid? [True, True] Translation: X:138.24, Y:7.92, Z:0.05 [[ 9.87752631e-01 -1.54572865e-01 -2.12595548e-02 1.38239582e+02] [ 1.54521612e-01 9.87981137e-01 -4.04274353e-03 7.91719639e+00] [ 2.16289375e-02 7.08169896e-04 9.99765816e-01 4.75370564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.105336195 meters 0.045354510397759826 Centerline is valid? [True, True] Translation: X:138.27, Y:7.93, Z:0.05 [[ 9.88071990e-01 -1.52524212e-01 -2.12157333e-02 1.38266809e+02] [ 1.52472676e-01 9.88299448e-01 -4.03539540e-03 7.92573788e+00] [ 2.15829930e-02 7.52441525e-04 9.99766777e-01 4.71168552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.135336195 meters 0.04603208058697155 Centerline is valid? [True, True] Translation: X:138.30, Y:7.93, Z:0.05 [[ 9.88295495e-01 -1.51093634e-01 -2.10410928e-02 1.38295510e+02] [ 1.51042521e-01 9.88519146e-01 -4.00677135e-03 7.92973805e+00] [ 2.14049208e-02 7.81774366e-04 9.99770583e-01 4.79953100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.165336195 meters 0.04984491524716675 Centerline is valid? [True, True] Translation: X:138.32, Y:7.94, Z:0.05 [[ 9.88821535e-01 -1.47496561e-01 -2.18342969e-02 1.38324833e+02] [ 1.47440667e-01 9.89062167e-01 -4.15685470e-03 7.93712346e+00] [ 2.22085988e-02 8.91124154e-04 9.99752962e-01 4.68431090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.195336195 meters 0.05372533926385365 Centerline is valid? [True, True] Translation: X:138.35, Y:7.95, Z:0.04 [[ 9.89176989e-01 -1.44949603e-01 -2.27705240e-02 1.38352008e+02] [ 1.44888133e-01 9.89438545e-01 -4.33532281e-03 7.94866237e+00] [ 2.31584374e-02 9.89222860e-04 9.99731318e-01 4.36009605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.225336195 meters 0.055355423633811233 Centerline is valid? [True, True] Translation: X:138.38, Y:7.96, Z:0.04 [[ 9.89234947e-01 -1.44643800e-01 -2.21898806e-02 1.38378447e+02] [ 1.44585293e-01 9.89483311e-01 -4.22723260e-03 7.95504245e+00] [ 2.25679595e-02 9.73395837e-04 9.99744837e-01 4.29331941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.255336195 meters 0.05259398103767505 Centerline is valid? [True, True] Translation: X:138.41, Y:7.95, Z:0.05 [[ 9.89129710e-01 -1.45515626e-01 -2.11570186e-02 1.38408222e+02] [ 1.45462621e-01 9.89355535e-01 -4.03128706e-03 7.95311947e+00] [ 2.15184287e-02 9.09910438e-04 9.99768038e-01 4.63756552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.285336195 meters 0.04631444938842339 Centerline is valid? [True, True] Translation: X:138.44, Y:7.95, Z:0.05 [[ 9.88926264e-01 -1.46880658e-01 -2.12347848e-02 1.38438225e+02] [ 1.46827471e-01 9.89153822e-01 -4.05099668e-03 7.95038119e+00] [ 2.15994816e-02 8.88287275e-04 9.99766309e-01 5.06101687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31533619500001 meters 0.04779759383474225 Centerline is valid? [True, True] Translation: X:138.47, Y:7.96, Z:0.05 [[ 9.88577419e-01 -1.49363742e-01 -2.01285849e-02 1.38466876e+02] [ 1.49316477e-01 9.88782003e-01 -3.83941741e-03 7.95539970e+00] [ 2.04762523e-02 7.90031956e-04 9.99790027e-01 4.80658308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34533619500002 meters 0.04407402709479839 Centerline is valid? [True, True] Translation: X:138.50, Y:7.95, Z:0.05 [[ 9.88424121e-01 -1.50502412e-01 -1.91515208e-02 1.38496976e+02] [ 1.50459756e-01 9.88609370e-01 -3.65729055e-03 7.95445485e+00] [ 1.94838040e-02 7.33421060e-04 9.99809904e-01 5.12405349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37533619500002 meters 0.043505151389342404 Centerline is valid? [True, True] Translation: X:138.53, Y:7.96, Z:0.05 [[ 9.88070423e-01 -1.52944255e-01 -1.80248158e-02 1.38525574e+02] [ 1.52906880e-01 9.88234607e-01 -3.44195846e-03 7.95781136e+00] [ 1.83391745e-02 6.44779008e-04 9.99831615e-01 5.25723078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40533619500002 meters 0.04572788820444909 Centerline is valid? [True, True] Translation: X:138.55, Y:7.97, Z:0.05 [[ 9.87853165e-01 -1.54328516e-01 -1.81337678e-02 1.38552361e+02] [ 1.54290896e-01 9.88019392e-01 -3.46406814e-03 7.96541461e+00] [ 1.84511188e-02 6.24115394e-04 9.99829569e-01 4.91710977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43533619500002 meters 0.04108616115163984 Centerline is valid? [True, True] Translation: X:138.58, Y:7.96, Z:0.05 [[ 9.87387274e-01 -1.57275413e-01 -1.81883230e-02 1.38583654e+02] [ 1.57238062e-01 9.87554616e-01 -3.47465917e-03 7.96056396e+00] [ 1.85084408e-02 5.70937585e-04 9.99828541e-01 4.93564301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46533619500002 meters 0.04337741353083932 Centerline is valid? [True, True] Translation: X:138.61, Y:7.95, Z:0.05 [[ 9.86990453e-01 -1.59649598e-01 -1.90224117e-02 1.38614637e+02] [ 1.59609097e-01 9.87173591e-01 -3.63845160e-03 7.95263779e+00] [ 1.93592998e-02 5.54967033e-04 9.99812437e-01 5.03554331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.495336195 meters 0.03626642217938314 Centerline is valid? [True, True] Translation: X:138.64, Y:7.95, Z:0.05 [[ 9.86765408e-01 -1.60795770e-01 -2.09463491e-02 1.38643808e+02] [ 1.60746842e-01 9.86987524e-01 -4.01004045e-03 7.95473147e+00] [ 2.13185828e-02 5.89909730e-04 9.99772559e-01 4.65863396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.525336195 meters 0.0364963304748091 Centerline is valid? [True, True] Translation: X:138.67, Y:7.96, Z:0.04 [[ 9.86605980e-01 -1.61576037e-01 -2.24014320e-02 1.38671588e+02] [ 1.61520264e-01 9.86860075e-01 -4.28910336e-03 7.95924541e+00] [ 2.28000952e-02 6.13369815e-04 9.99739856e-01 4.37776077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.555336195 meters 0.036883568608975605 Centerline is valid? [True, True] Translation: X:138.70, Y:7.97, Z:0.04 [[ 9.86640441e-01 -1.61416584e-01 -2.20301365e-02 1.38699073e+02] [ 1.61362483e-01 9.86886170e-01 -4.22344901e-03 7.96545316e+00] [ 2.24229718e-02 6.12188077e-04 9.99748386e-01 4.40042482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.585336195 meters 0.03582522728186461 Centerline is valid? [True, True] Translation: X:138.73, Y:7.97, Z:0.05 [[ 9.86926948e-01 -1.59643797e-01 -2.21146395e-02 1.38727793e+02] [ 1.59588803e-01 9.87174466e-01 -4.24109691e-03 7.96683955e+00] [ 2.25080723e-02 6.56403992e-04 9.99746446e-01 4.74914331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.615336195 meters 0.04037185924485942 Centerline is valid? [True, True] Translation: X:138.75, Y:7.98, Z:0.04 [[ 9.87102636e-01 -1.58546803e-01 -2.21652337e-02 1.38754669e+02] [ 1.58491254e-01 9.87351226e-01 -4.25199065e-03 7.97522155e+00] [ 2.25590102e-02 6.84155506e-04 9.99745279e-01 4.36476908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.645336195 meters 0.0430750619358714 Centerline is valid? [True, True] Translation: X:138.78, Y:7.98, Z:0.04 [[ 9.87397259e-01 -1.56746276e-01 -2.18462394e-02 1.38781953e+02] [ 1.56691844e-01 9.87638644e-01 -4.19214045e-03 7.98032376e+00] [ 2.22332926e-02 7.16180459e-04 9.99752553e-01 4.34284761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.675336195 meters 0.04330911859022047 Centerline is valid? [True, True] Translation: X:138.81, Y:7.98, Z:0.05 [[ 9.87543910e-01 -1.55908767e-01 -2.12009960e-02 1.38810814e+02] [ 1.55857214e-01 9.87771199e-01 -4.07282709e-03 7.98488759e+00] [ 2.15767227e-02 7.17767431e-04 9.99766938e-01 4.53799584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.705336195 meters 0.04047700646221492 Centerline is valid? [True, True] Translation: X:138.84, Y:7.99, Z:0.05 [[ 9.87612080e-01 -1.55460668e-01 -2.13157221e-02 1.38839207e+02] [ 1.55408438e-01 9.87841812e-01 -4.09545404e-03 7.98740034e+00] [ 2.16932435e-02 7.32076819e-04 9.99764406e-01 4.84734957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.735336195 meters 0.04350750701414814 Centerline is valid? [True, True] Translation: X:138.87, Y:7.99, Z:0.04 [[ 9.87703702e-01 -1.54738608e-01 -2.23015670e-02 1.38866296e+02] [ 1.54681218e-01 9.87955135e-01 -4.28627560e-03 7.99476488e+00] [ 2.26962000e-02 7.83936717e-04 9.99742101e-01 4.44154292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.765336195 meters 0.05097509460830865 Centerline is valid? [True, True] Translation: X:138.89, Y:8.01, Z:0.04 [[ 9.87853141e-01 -1.53722126e-01 -2.27085957e-02 1.38892260e+02] [ 1.53662321e-01 9.88113774e-01 -4.36591579e-03 8.00639746e+00] [ 2.31098141e-02 8.23428110e-04 9.99732593e-01 3.68733496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.795336195 meters 0.05239504868878504 Centerline is valid? [True, True] Translation: X:138.92, Y:8.01, Z:0.04 [[ 9.88229301e-01 -1.51175010e-01 -2.34300001e-02 1.38922883e+02] [ 1.51110640e-01 9.88506594e-01 -4.50414272e-03 8.00855502e+00] [ 2.38416235e-02 9.10603503e-04 9.99715333e-01 3.68526975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.825336195 meters 0.04786304057596494 Centerline is valid? [True, True] Translation: X:138.95, Y:8.01, Z:0.04 [[ 9.88372815e-01 -1.50269556e-01 -2.32000025e-02 1.38952579e+02] [ 1.50206066e-01 9.88644627e-01 -4.46536521e-03 8.00623285e+00] [ 2.36075663e-02 9.28664468e-04 9.99720871e-01 4.25153054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.855336195 meters 0.0566795485180375 Centerline is valid? [True, True] Translation: X:138.98, Y:8.02, Z:0.04 [[ 9.88651666e-01 -1.48512376e-01 -2.26264625e-02 1.38978635e+02] [ 1.48451505e-01 9.88910095e-01 -4.35597777e-03 8.01593473e+00] [ 2.30224538e-02 9.47612277e-04 9.99734499e-01 4.23230558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.885336195 meters 0.0536951020462238 Centerline is valid? [True, True] Translation: X:139.01, Y:8.02, Z:0.04 [[ 9.88672979e-01 -1.48416698e-01 -2.23209211e-02 1.39006145e+02] [ 1.48357318e-01 9.88924464e-01 -4.30237033e-03 8.02260999e+00] [ 2.27122486e-02 9.42165305e-04 9.99741600e-01 4.28666225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.915336195 meters 0.050547611451334865 Centerline is valid? [True, True] Translation: X:139.04, Y:8.02, Z:0.05 [[ 9.88719829e-01 -1.48388995e-01 -2.03422325e-02 1.39035624e+02] [ 1.48339650e-01 9.88928696e-01 -3.92200698e-03 8.02448351e+00] [ 2.06990001e-02 8.60206437e-04 9.99785383e-01 4.91697654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.945336195 meters 0.047963360197207296 Centerline is valid? [True, True] Translation: X:139.07, Y:8.02, Z:0.05 [[ 9.88671162e-01 -1.48982888e-01 -1.82601229e-02 1.39066204e+02] [ 1.48943228e-01 9.88839481e-01 -3.52067304e-03 8.02370677e+00] [ 1.85808505e-02 7.61066264e-04 9.99827071e-01 5.21919895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.975336195 meters 0.04891948594132801 Centerline is valid? [True, True] Translation: X:139.09, Y:8.03, Z:0.05 [[ 9.88562407e-01 -1.49711193e-01 -1.81913795e-02 1.39093435e+02] [ 1.49671927e-01 9.88729489e-01 -3.50882872e-03 8.02767434e+00] [ 1.85116643e-02 7.45957343e-04 9.99828366e-01 5.06843325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.005336195 meters 0.045834580826142106 Centerline is valid? [True, True] Translation: X:139.12, Y:8.02, Z:0.05 [[ 9.88310576e-01 -1.51445839e-01 -1.75032387e-02 1.39124241e+02] [ 1.51409696e-01 9.88465316e-01 -3.37971683e-03 8.02312000e+00] [ 1.78131884e-02 6.90049842e-04 9.99841094e-01 5.18122750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.035336195 meters 0.0448034156721545 Centerline is valid? [True, True] Translation: X:139.15, Y:8.02, Z:0.05 [[ 9.88021380e-01 -1.53138258e-01 -1.90375051e-02 1.39153210e+02] [ 1.53095748e-01 9.88204510e-01 -3.67929753e-03 8.02424686e+00] [ 1.93763897e-02 7.20663528e-04 9.99812000e-01 5.04221842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06533619500001 meters 0.04335586407935352 Centerline is valid? [True, True] Translation: X:139.18, Y:8.03, Z:0.05 [[ 9.87769084e-01 -1.54505609e-01 -2.09822321e-02 1.39181733e+02] [ 1.54454201e-01 9.87991613e-01 -4.05875873e-03 8.02759752e+00] [ 2.13573703e-02 7.68322512e-04 9.99771610e-01 4.75895419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09533619500002 meters 0.04355158772766654 Centerline is valid? [True, True] Translation: X:139.21, Y:8.03, Z:0.04 [[ 9.87359085e-01 -1.57037008e-01 -2.14805625e-02 1.39209876e+02] [ 1.56983723e-01 9.87592448e-01 -4.15528879e-03 8.03081605e+00] [ 2.18665754e-02 7.30663465e-04 9.99760631e-01 4.47307236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12533619500002 meters 0.04294872731814643 Centerline is valid? [True, True] Translation: X:139.24, Y:8.03, Z:0.05 [[ 9.87152101e-01 -1.58478256e-01 -2.03806581e-02 1.39240013e+02] [ 1.58430508e-01 9.87362242e-01 -3.94676602e-03 8.02860231e+00] [ 2.07485688e-02 6.67140360e-04 9.99784503e-01 5.01034455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15533619500002 meters 0.037188886483977064 Centerline is valid? [True, True] Translation: X:139.27, Y:8.03, Z:0.05 [[ 9.86857191e-01 -1.60595360e-01 -1.79447622e-02 1.39269801e+02] [ 1.60558695e-01 9.87020177e-01 -3.47495051e-03 8.02526297e+00] [ 1.82699033e-02 5.48092288e-04 9.99832941e-01 5.33803230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18533619500002 meters 0.038603226018243945 Centerline is valid? [True, True] Translation: X:139.30, Y:8.03, Z:0.05 [[ 9.86744841e-01 -1.61308577e-01 -1.77245938e-02 1.39297055e+02] [ 1.61272898e-01 9.86903877e-01 -3.43362259e-03 8.03051604e+00] [ 1.80463432e-02 5.29612762e-04 9.99837011e-01 5.12522700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21533619500002 meters 0.04033628370878255 Centerline is valid? [True, True] Translation: X:139.32, Y:8.04, Z:0.05 [[ 9.86820766e-01 -1.61014405e-01 -1.60977388e-02 1.39323682e+02] [ 1.60984920e-01 9.86951936e-01 -3.11947230e-03 8.03805368e+00] [ 1.63899745e-02 4.86866845e-04 9.99865557e-01 5.24341882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.245336195 meters 0.03982702407018221 Centerline is valid? [True, True] Translation: X:139.35, Y:8.04, Z:0.06 [[ 9.87379752e-01 -1.57651394e-01 -1.50752876e-02 1.39352425e+02] [ 1.57625132e-01 9.87494698e-01 -2.92213218e-03 8.04272780e+00] [ 1.53474448e-02 5.09009944e-04 9.99882091e-01 5.80185660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.275336195 meters 0.0417282525189538 Centerline is valid? [True, True] Translation: X:139.38, Y:8.05, Z:0.06 [[ 9.87654755e-01 -1.55791225e-01 -1.63456267e-02 1.39381780e+02] [ 1.55760093e-01 9.87789833e-01 -3.16854251e-03 8.04828018e+00] [ 1.66396749e-02 5.83429754e-04 9.99861381e-01 5.58973195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.305336195 meters 0.04815089352737591 Centerline is valid? [True, True] Translation: X:139.41, Y:8.06, Z:0.05 [[ 9.88078594e-01 -1.52711725e-01 -1.94890233e-02 1.39410235e+02] [ 1.52666872e-01 9.88270487e-01 -3.77764331e-03 8.05622045e+00] [ 1.98373169e-02 7.57280267e-04 9.99802934e-01 4.75888507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.335336195 meters 0.050408114201121304 Centerline is valid? [True, True] Translation: X:139.44, Y:8.06, Z:0.05 [[ 9.88205652e-01 -1.51800330e-01 -2.01556110e-02 1.39438066e+02] [ 1.51752140e-01 9.88410853e-01 -3.90816392e-03 8.06420429e+00] [ 2.05152853e-02 8.03412570e-04 9.99789217e-01 4.56881164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.365336195 meters 0.047785654889896015 Centerline is valid? [True, True] Translation: X:139.47, Y:8.07, Z:0.05 [[ 9.88220360e-01 -1.51608997e-01 -2.08622232e-02 1.39467021e+02] [ 1.51557229e-01 9.88440189e-01 -4.04971603e-03 8.06700644e+00] [ 2.12350332e-02 8.40191102e-04 9.99774158e-01 4.71998822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.395336195 meters 0.04690841264004392 Centerline is valid? [True, True] Translation: X:139.50, Y:8.07, Z:0.05 [[ 9.88156054e-01 -1.52102488e-01 -2.03087674e-02 1.39496100e+02] [ 1.52053468e-01 9.88364394e-01 -3.94554078e-03 8.07051439e+00] [ 2.06725892e-02 8.10791488e-04 9.99785970e-01 4.81578915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.425336195 meters 0.044585460061435406 Centerline is valid? [True, True] Translation: X:139.53, Y:8.07, Z:0.05 [[ 9.88047633e-01 -1.53160480e-01 -1.74282238e-02 1.39526934e+02] [ 1.53124549e-01 9.88201098e-01 -3.38567430e-03 8.06969747e+00] [ 1.77411414e-02 6.76518570e-04 9.99842385e-01 5.33253924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.455336195 meters 0.044611456379742516 Centerline is valid? [True, True] Translation: X:139.55, Y:8.07, Z:0.05 [[ 9.87961006e-01 -1.53783834e-01 -1.68399327e-02 1.39554760e+02] [ 1.53750309e-01 9.88104303e-01 -3.27542817e-03 8.07437603e+00] [ 1.71433179e-02 6.46850451e-04 9.99852833e-01 5.38186644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.485336195 meters 0.04846269211667732 Centerline is valid? [True, True] Translation: X:139.58, Y:8.08, Z:0.05 [[ 9.87891745e-01 -1.54210979e-01 -1.69962980e-02 1.39581872e+02] [ 1.54176888e-01 9.88037731e-01 -3.30606326e-03 8.08252620e+00] [ 1.73028150e-02 6.45596264e-04 9.99850087e-01 4.96327744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.515336195 meters 0.04429395381960786 Centerline is valid? [True, True] Translation: X:139.61, Y:8.08, Z:0.05 [[ 9.87859887e-01 -1.54296705e-01 -1.80380306e-02 1.39611751e+02] [ 1.54258248e-01 9.88024319e-01 -3.51266492e-03 8.08182153e+00] [ 1.83640055e-02 6.87505774e-04 9.99831131e-01 5.10338430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.545336195 meters 0.04481548945323803 Centerline is valid? [True, True] Translation: X:139.64, Y:8.09, Z:0.05 [[ 9.87816399e-01 -1.54414407e-01 -1.93637089e-02 1.39640150e+02] [ 1.54370046e-01 9.88005893e-01 -3.77412534e-03 8.08646647e+00] [ 1.97142378e-02 7.38966274e-04 9.99805382e-01 4.84796092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.575336195 meters 0.04441044467781338 Centerline is valid? [True, True] Translation: X:139.67, Y:8.09, Z:0.04 [[ 9.87543675e-01 -1.55845303e-01 -2.16732761e-02 1.39668197e+02] [ 1.55790062e-01 9.87781154e-01 -4.22466169e-03 8.08557214e+00] [ 2.20668474e-02 7.95556898e-04 9.99756181e-01 4.34628964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.605336195 meters 0.04574241523082532 Centerline is valid? [True, True] Translation: X:139.70, Y:8.09, Z:0.04 [[ 9.87355973e-01 -1.57006122e-01 -2.18462721e-02 1.39695261e+02] [ 1.56950250e-01 9.87597324e-01 -4.25973232e-03 8.09080356e+00] [ 2.22441239e-02 7.77094304e-04 9.99752267e-01 4.08193722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.635336195 meters 0.04574241523082532 Centerline is valid? [True, True] Translation: X:139.72, Y:8.10, Z:0.04 [[ 9.87326520e-01 -1.57191365e-01 -2.18452927e-02 1.39722207e+02] [ 1.57135427e-01 9.87567856e-01 -4.26475284e-03 8.09626154e+00] [ 2.22440912e-02 7.78034185e-04 9.99752267e-01 4.06169977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.665336195 meters 0.04130044204442436 Centerline is valid? [True, True] Translation: X:139.75, Y:8.10, Z:0.05 [[ 9.87015895e-01 -1.59399229e-01 -1.97866030e-02 1.39752284e+02] [ 1.59353801e-01 9.87213985e-01 -3.86190666e-03 8.09962762e+00] [ 2.01491961e-02 6.58692874e-04 9.99796767e-01 4.74095977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.695336195 meters 0.03973119983516445 Centerline is valid? [True, True] Translation: X:139.78, Y:8.10, Z:0.05 [[ 9.86834699e-01 -1.60594534e-01 -1.91487148e-02 1.39780805e+02] [ 1.60552124e-01 9.87020270e-01 -3.74192311e-03 8.10372181e+00] [ 1.95011021e-02 6.18292726e-04 9.99809644e-01 4.90456064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.725336195 meters 0.041856763655218954 Centerline is valid? [True, True] Translation: X:139.81, Y:8.11, Z:0.05 [[ 9.86592515e-01 -1.62135830e-01 -1.86328463e-02 1.39808765e+02] [ 1.62095930e-01 9.86768283e-01 -3.64212254e-03 8.10681937e+00] [ 1.89768203e-02 5.72982273e-04 9.99819760e-01 4.51894422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.755336195 meters 0.03611334820349469 Centerline is valid? [True, True] Translation: X:139.84, Y:8.10, Z:0.05 [[ 9.86479839e-01 -1.62863386e-01 -1.82494979e-02 1.39839232e+02] [ 1.62825163e-01 9.86648475e-01 -3.57111623e-03 8.10186234e+00] [ 1.85874434e-02 5.51356687e-04 9.99827087e-01 5.05209666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.785336195 meters 0.035273955600687544 Centerline is valid? [True, True] Translation: X:139.87, Y:8.10, Z:0.05 [[ 9.86177565e-01 -1.64858454e-01 -1.65982018e-02 1.39869659e+02] [ 1.64827128e-01 9.86317126e-01 -3.24741822e-03 8.09887198e+00] [ 1.69064550e-02 4.66697066e-04 9.99856967e-01 5.11400289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81533619500001 meters 0.03247498842099273 Centerline is valid? [True, True] Translation: X:139.90, Y:8.10, Z:0.05 [[ 9.86013510e-01 -1.65941710e-01 -1.55147634e-02 1.39898405e+02] [ 1.65914458e-01 9.86135474e-01 -3.03642799e-03 8.10041582e+00] [ 1.58035287e-02 4.19835448e-04 9.99875028e-01 5.48974803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84533619500002 meters 0.031889146740887574 Centerline is valid? [True, True] Translation: X:139.93, Y:8.11, Z:0.06 [[ 9.85809412e-01 -1.67164909e-01 -1.53524371e-02 1.39925809e+02] [ 1.67138356e-01 9.85928869e-01 -3.00572211e-03 8.10633651e+00] [ 1.56388622e-02 3.97088042e-04 9.99877627e-01 5.56970370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87533619500002 meters 0.031649299627613814 Centerline is valid? [True, True] Translation: X:139.95, Y:8.11, Z:0.05 [[ 9.85741049e-01 -1.67437399e-01 -1.67123422e-02 1.39953533e+02] [ 1.67405955e-01 9.85882617e-01 -3.27299243e-03 8.11203520e+00] [ 1.70244290e-02 4.28577388e-04 9.99854982e-01 5.35084590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90533619500002 meters 0.03578247869641703 Centerline is valid? [True, True] Translation: X:139.98, Y:8.12, Z:0.05 [[ 9.85784153e-01 -1.66932573e-01 -1.90557045e-02 1.39981219e+02] [ 1.66891588e-01 9.85968188e-01 -3.73240053e-03 8.11858124e+00] [ 1.94113777e-02 4.99104507e-04 9.99811457e-01 4.53437043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93533619500002 meters 0.034434282586926 Centerline is valid? [True, True] Translation: X:140.01, Y:8.12, Z:0.05 [[ 9.85862269e-01 -1.66429920e-01 -1.94079255e-02 1.40010841e+02] [ 1.66387221e-01 9.86053147e-01 -3.80579183e-03 8.11811402e+00] [ 1.97706436e-02 5.22755776e-04 9.99804405e-01 4.69823943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96533619500002 meters 0.03704061693059857 Centerline is valid? [True, True] Translation: X:140.04, Y:8.12, Z:0.05 [[ 9.86041847e-01 -1.65324932e-01 -1.97267074e-02 1.40039089e+02] [ 1.65280591e-01 9.86238997e-01 -3.86869291e-03 8.11761612e+00] [ 2.00948395e-02 5.54251258e-04 9.99797925e-01 4.53148096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.995336195 meters 0.0363951223382263 Centerline is valid? [True, True] Translation: X:140.07, Y:8.13, Z:0.05 [[ 9.86412080e-01 -1.63091116e-01 -1.98115101e-02 1.40067753e+02] [ 1.63045937e-01 9.86610827e-01 -3.88556095e-03 8.12679798e+00] [ 2.01799509e-02 6.02578019e-04 9.99796182e-01 4.94606502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.025336195 meters 0.03925358558870863 Centerline is valid? [True, True] Translation: X:140.09, Y:8.14, Z:0.05 [[ 9.86716264e-01 -1.61351970e-01 -1.88826908e-02 1.40093605e+02] [ 1.61310582e-01 9.86896737e-01 -3.70487332e-03 8.13910989e+00] [ 1.92330545e-02 6.09680925e-04 9.99814842e-01 4.96788925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.055336195 meters 0.04481861809010623 Centerline is valid? [True, True] Translation: X:140.12, Y:8.15, Z:0.05 [[ 9.87240672e-01 -1.58259540e-01 -1.76003640e-02 1.40120081e+02] [ 1.58223077e-01 9.87397350e-01 -3.45409200e-03 8.15147900e+00] [ 1.79251958e-02 6.25236351e-04 9.99839135e-01 4.95645585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.085336195 meters 0.041429467037022355 Centerline is valid? [True, True] Translation: X:140.15, Y:8.15, Z:0.05 [[ 9.87372389e-01 -1.57423556e-01 -1.77084327e-02 1.40149315e+02] [ 1.57386436e-01 9.87530963e-01 -3.47937024e-03 8.15132917e+00] [ 1.80353604e-02 6.48366997e-04 9.99837139e-01 5.35949365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.115336195 meters 0.043051754010179966 Centerline is valid? [True, True] Translation: X:140.18, Y:8.15, Z:0.05 [[ 9.87474709e-01 -1.56880204e-01 -1.68018187e-02 1.40176439e+02] [ 1.56846695e-01 9.87617441e-01 -3.30214268e-03 8.15451539e+00] [ 1.71118100e-02 6.25472661e-04 9.99853387e-01 5.36038413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.145336195 meters 0.04187229344515367 Centerline is valid? [True, True] Translation: X:140.20, Y:8.16, Z:0.05 [[ 9.87533824e-01 -1.56485472e-01 -1.70071457e-02 1.40204680e+02] [ 1.56451016e-01 9.87680051e-01 -3.34618562e-03 8.15964760e+00] [ 1.73212480e-02 6.43686266e-04 9.99849769e-01 5.45010557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.175336195 meters 0.044089099996923765 Centerline is valid? [True, True] Translation: X:140.23, Y:8.17, Z:0.05 [[ 9.87641241e-01 -1.55837282e-01 -1.67188863e-02 1.40230632e+02] [ 1.55803881e-01 9.87782530e-01 -3.29002463e-03 8.16937833e+00] [ 1.70273323e-02 6.44496634e-04 9.99854817e-01 5.34435836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.205336195 meters 0.04545270867638307 Centerline is valid? [True, True] Translation: X:140.26, Y:8.18, Z:0.05 [[ 9.87884266e-01 -1.54343398e-01 -1.62108766e-02 1.40257640e+02] [ 1.54311780e-01 9.88017051e-01 -3.19099044e-03 8.17836199e+00] [ 1.65091308e-02 6.50800016e-04 9.99863503e-01 5.48563571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.235336195 meters 0.0450691940137019 Centerline is valid? [True, True] Translation: X:140.29, Y:8.18, Z:0.05 [[ 9.87943943e-01 -1.53907525e-01 -1.67104257e-02 1.40286035e+02] [ 1.53873802e-01 9.88085021e-01 -3.29310638e-03 8.18376361e+00] [ 1.70181552e-02 6.82107764e-04 9.99854948e-01 5.45873632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.265336195 meters 0.04584108059165684 Centerline is valid? [True, True] Translation: X:140.31, Y:8.19, Z:0.05 [[ 9.87990959e-01 -1.53541327e-01 -1.72894757e-02 1.40313511e+02] [ 1.53505167e-01 9.88141970e-01 -3.40743986e-03 8.19127800e+00] [ 1.76076394e-02 7.12495927e-04 9.99844720e-01 5.38605533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.295336195 meters 0.04599008330708201 Centerline is valid? [True, True] Translation: X:140.34, Y:8.20, Z:0.05 [[ 9.87858366e-01 -1.54480036e-01 -1.64853713e-02 1.40340488e+02] [ 1.54447278e-01 9.87995687e-01 -3.24972149e-03 8.19866418e+00] [ 1.67894928e-02 6.64143837e-04 9.99858826e-01 5.46260363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.325336195 meters 0.046669254127626056 Centerline is valid? [True, True] Translation: X:140.37, Y:8.21, Z:0.05 [[ 9.87419137e-01 -1.57433724e-01 -1.47672077e-02 1.40368577e+02] [ 1.57407766e-01 9.87529402e-01 -2.91124276e-03 8.20783934e+00] [ 1.50413796e-02 5.50143635e-04 9.99886721e-01 5.48894083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.355336195 meters 0.03979059110997172 Centerline is valid? [True, True] Translation: X:140.40, Y:8.21, Z:0.06 [[ 9.87103800e-01 -1.59438502e-01 -1.43336071e-02 1.40399267e+02] [ 1.59414251e-01 9.87207734e-01 -2.82613641e-03 8.20520253e+00] [ 1.46008427e-02 5.04708752e-04 9.99893275e-01 5.90380549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.385336195 meters 0.04210220469661443 Centerline is valid? [True, True] Translation: X:140.43, Y:8.20, Z:0.06 [[ 9.86359172e-01 -1.64177014e-01 -1.18950285e-02 1.40429182e+02] [ 1.64160655e-01 9.86430828e-01 -2.34549239e-03 8.20462916e+00] [ 1.21186988e-02 3.60802253e-04 9.99926501e-01 6.18752612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.415336195 meters 0.032293558234772236 Centerline is valid? [True, True] Translation: X:140.46, Y:8.21, Z:0.06 [[ 9.85670771e-01 -1.68357149e-01 -1.04404262e-02 1.40458822e+02] [ 1.68344777e-01 9.85726025e-01 -2.05900462e-03 8.20535913e+00] [ 1.06380479e-02 2.71909461e-04 9.99943377e-01 6.34115472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.445336195 meters 0.032357356569461176 Centerline is valid? [True, True] Translation: X:140.49, Y:8.21, Z:0.06 [[ 9.85451858e-01 -1.69598637e-01 -1.09971476e-02 1.40485787e+02] [ 1.69584978e-01 9.85513180e-01 -2.16972137e-03 8.21039615e+00] [ 1.12058157e-02 2.73204937e-04 9.99937176e-01 6.09724967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.475336195 meters 0.03096354434139183 Centerline is valid? [True, True] Translation: X:140.51, Y:8.21, Z:0.06 [[ 9.85200028e-01 -1.70932527e-01 -1.27661787e-02 1.40514559e+02] [ 1.70914193e-01 9.85282690e-01 -2.52163741e-03 8.21230967e+00] [ 1.30093248e-02 3.02396108e-04 9.99915329e-01 5.77607349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.505336195 meters 0.028051704759792594 Centerline is valid? [True, True] Translation: X:140.54, Y:8.21, Z:0.06 [[ 9.85168308e-01 -1.71064371e-01 -1.34308153e-02 1.40544232e+02] [ 1.71044057e-01 9.85259803e-01 -2.65535210e-03 8.21169469e+00] [ 1.36870786e-02 3.18707595e-04 9.99906277e-01 5.99563785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.535336195 meters 0.030455372722000613 Centerline is valid? [True, True] Translation: X:140.57, Y:8.22, Z:0.06 [[ 9.85424715e-01 -1.69493462e-01 -1.44947595e-02 1.40572166e+02] [ 1.69469638e-01 9.85531243e-01 -2.86540897e-03 8.21603982e+00] [ 1.47707065e-02 3.67223166e-04 9.99890840e-01 5.86338571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56533619500001 meters 0.03264533778784782 Centerline is valid? [True, True] Translation: X:140.60, Y:8.22, Z:0.06 [[ 9.85665007e-01 -1.68076691e-01 -1.46533215e-02 1.40598547e+02] [ 1.68052170e-01 9.85773844e-01 -2.89776403e-03 8.22491203e+00] [ 1.49319077e-02 3.93702125e-04 9.99888435e-01 5.80873269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59533619500002 meters 0.04180704650684522 Centerline is valid? [True, True] Translation: X:140.62, Y:8.24, Z:0.05 [[ 9.86260023e-01 -1.64573265e-01 -1.43808079e-02 1.40623707e+02] [ 1.64549267e-01 9.86364764e-01 -2.84450428e-03 8.24320147e+00] [ 1.46528515e-02 4.39069456e-04 9.99892545e-01 5.28118014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62533619500002 meters 0.03996562435572043 Centerline is valid? [True, True] Translation: X:140.65, Y:8.24, Z:0.06 [[ 9.86823533e-01 -1.61100367e-01 -1.50328302e-02 1.40654047e+02] [ 1.61073741e-01 9.86937895e-01 -2.97337407e-03 8.24457358e+00] [ 1.53154814e-02 5.12801310e-04 9.99882580e-01 5.69398765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65533619500002 meters 0.04346639181921546 Centerline is valid? [True, True] Translation: X:140.68, Y:8.25, Z:0.06 [[ 9.87130912e-01 -1.59295775e-01 -1.40505532e-02 1.40680288e+02] [ 1.59272312e-01 9.87230773e-01 -2.78058359e-03 8.25231949e+00] [ 1.43140737e-02 5.06935928e-04 9.99897420e-01 5.70859465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68533619500002 meters 0.04560251860085204 Centerline is valid? [True, True] Translation: X:140.71, Y:8.26, Z:0.06 [[ 9.87752785e-01 -1.55442014e-01 -1.34987301e-02 1.40710549e+02] [ 1.55420001e-01 9.87844871e-01 -2.67112072e-03 8.25612224e+00] [ 1.37498557e-02 5.40434284e-04 9.99905320e-01 5.91855561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71533619500002 meters 0.049319433078822174 Centerline is valid? [True, True] Translation: X:140.74, Y:8.27, Z:0.06 [[ 9.88204442e-01 -1.52354446e-01 -1.54952882e-02 1.40739282e+02] [ 1.52325060e-01 9.88325692e-01 -3.06623195e-03 8.26749924e+00] [ 1.57815455e-02 6.69743332e-04 9.99875239e-01 5.59620422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.745336195 meters 0.05001365279998517 Centerline is valid? [True, True] Translation: X:140.77, Y:8.27, Z:0.06 [[ 9.88354371e-01 -1.51402120e-01 -1.52655271e-02 1.40767200e+02] [ 1.51373452e-01 9.88472023e-01 -3.02289719e-03 8.27286497e+00] [ 1.55472195e-02 6.76898105e-04 9.99878906e-01 5.80878710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.775336195 meters 0.05372593595468537 Centerline is valid? [True, True] Translation: X:140.79, Y:8.29, Z:0.06 [[ 9.88577208e-01 -1.50076647e-01 -1.38601617e-02 1.40793003e+02] [ 1.50052875e-01 9.88674162e-01 -2.74532141e-03 8.28727165e+00] [ 1.41151924e-02 6.34205059e-04 9.99900175e-01 5.67539367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.805336195 meters 0.05456343737564288 Centerline is valid? [True, True] Translation: X:140.82, Y:8.29, Z:0.06 [[ 9.88548928e-01 -1.50242373e-01 -1.40800191e-02 1.40819735e+02] [ 1.50217839e-01 9.88648985e-01 -2.79019376e-03 8.28935075e+00] [ 1.43394020e-02 6.43172997e-04 9.99896979e-01 5.55955940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.835336195 meters 0.05310902440164098 Centerline is valid? [True, True] Translation: X:140.85, Y:8.29, Z:0.05 [[ 9.88273086e-01 -1.51966727e-01 -1.49137943e-02 1.40849945e+02] [ 1.51939390e-01 9.88385393e-01 -2.95583140e-03 8.28556973e+00] [ 1.51897645e-02 6.55175811e-04 9.99884414e-01 5.36909425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.865336195 meters 0.05162596759485303 Centerline is valid? [True, True] Translation: X:140.88, Y:8.29, Z:0.05 [[ 9.88004538e-01 -1.53729677e-01 -1.46362260e-02 1.40879166e+02] [ 1.53703497e-01 9.88112748e-01 -2.90385970e-03 8.28887562e+00] [ 1.49086509e-02 6.19387446e-04 9.99888668e-01 5.37278724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.895336195 meters 0.04521796707920694 Centerline is valid? [True, True] Translation: X:140.91, Y:8.29, Z:0.06 [[ 9.87903673e-01 -1.54447458e-01 -1.38677711e-02 1.40908928e+02] [ 1.54423987e-01 9.88000834e-01 -2.75406808e-03 8.28748220e+00] [ 1.41267282e-02 5.79237468e-04 9.99900045e-01 5.89593859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.925336195 meters 0.04585370792611333 Centerline is valid? [True, True] Translation: X:140.94, Y:8.29, Z:0.06 [[ 9.87894411e-01 -1.54592594e-01 -1.28748477e-02 1.40936096e+02] [ 1.54572375e-01 9.87978159e-01 -2.55695447e-03 8.29341444e+00] [ 1.31153546e-02 5.35905241e-04 9.99913846e-01 5.99221717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.955336195 meters 0.049928020352183085 Centerline is valid? [True, True] Translation: X:140.96, Y:8.30, Z:0.06 [[ 9.88009205e-01 -1.53827698e-01 -1.32230534e-02 1.40962633e+02] [ 1.53806292e-01 9.88097527e-01 -2.62691420e-03 8.30251966e+00] [ 1.34697586e-02 5.61626594e-04 9.99909121e-01 5.72195576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.985336195 meters 0.056358942831606015 Centerline is valid? [True, True] Translation: X:140.99, Y:8.31, Z:0.05 [[ 9.88163678e-01 -1.52840850e-01 -1.31232975e-02 1.40989735e+02] [ 1.52819668e-01 9.88250650e-01 -2.60787672e-03 8.31015036e+00] [ 1.33676974e-02 5.71511081e-04 9.99910485e-01 5.41025899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.015336195 meters 0.05144923980206432 Centerline is valid? [True, True] Translation: X:141.02, Y:8.31, Z:0.06 [[ 9.88239662e-01 -1.52447039e-01 -1.19277035e-02 1.41018282e+02] [ 1.52429472e-01 9.88311501e-01 -2.37360328e-03 8.30789395e+00] [ 1.21501353e-02 5.27555361e-04 9.99926045e-01 6.02347686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.045336195 meters 0.052757931055889926 Centerline is valid? [True, True] Translation: X:141.05, Y:8.32, Z:0.06 [[ 9.88422108e-01 -1.51307536e-01 -1.13033230e-02 1.41045857e+02] [ 1.51291665e-01 9.88486603e-01 -2.25116407e-03 8.31686442e+00] [ 1.15138014e-02 5.15001780e-04 9.99933581e-01 6.17596127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.075336195 meters 0.05296575962117358 Centerline is valid? [True, True] Translation: X:141.07, Y:8.32, Z:0.06 [[ 9.88430732e-01 -1.51219012e-01 -1.17260078e-02 1.41073655e+02] [ 1.51201902e-01 9.88500137e-01 -2.33729222e-03 8.32381724e+00] [ 1.19446034e-02 5.37256768e-04 9.99928516e-01 5.94859987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.105336195 meters 0.048866843555095366 Centerline is valid? [True, True] Translation: X:141.10, Y:8.32, Z:0.06 [[ 9.88381037e-01 -1.51540623e-01 -1.17628471e-02 1.41102187e+02] [ 1.51523398e-01 9.88450884e-01 -2.34723209e-03 8.32389195e+00] [ 1.19826976e-02 5.37613130e-04 9.99928060e-01 6.11160118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.135336195 meters 0.05144997966867249 Centerline is valid? [True, True] Translation: X:141.13, Y:8.33, Z:0.06 [[ 9.88206970e-01 -1.52642614e-01 -1.21332674e-02 1.41128272e+02] [ 1.52624373e-01 9.88281306e-01 -2.42085755e-03 8.33426632e+00] [ 1.23606074e-02 5.40475978e-04 9.99923459e-01 5.82953919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.165336195 meters 0.0512814293858492 Centerline is valid? [True, True] Translation: X:141.16, Y:8.34, Z:0.06 [[ 9.88060846e-01 -1.53611192e-01 -1.18053480e-02 1.41155767e+02] [ 1.53593984e-01 9.88131234e-01 -2.35614392e-03 8.33926275e+00] [ 1.20271632e-02 5.14783116e-04 9.99927539e-01 5.74236321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.195336195 meters 0.04989373468759636 Centerline is valid? [True, True] Translation: X:141.18, Y:8.34, Z:0.06 [[ 9.87938027e-01 -1.54360032e-01 -1.23058983e-02 1.41184591e+02] [ 1.54341356e-01 9.88014524e-01 -2.45890860e-03 8.33987246e+00] [ 1.25379634e-02 5.29940295e-04 9.99921256e-01 5.76012291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.225336195 meters 0.04999767037138468 Centerline is valid? [True, True] Translation: X:141.21, Y:8.35, Z:0.06 [[ 9.87953632e-01 -1.54134381e-01 -1.37918176e-02 1.41212283e+02] [ 1.54110901e-01 9.88049713e-01 -2.75572202e-03 8.34625751e+00] [ 1.40517529e-02 5.97056146e-04 9.99901091e-01 5.60131062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.255336195 meters 0.05227206522334777 Centerline is valid? [True, True] Translation: X:141.24, Y:8.36, Z:0.05 [[ 9.88000265e-01 -1.53615033e-01 -1.60591825e-02 1.41238425e+02] [ 1.53583117e-01 9.88130520e-01 -3.20955834e-03 8.35801838e+00] [ 1.63616047e-02 7.04625200e-04 9.99865892e-01 5.05903295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.285336195 meters 0.054024713960419996 Centerline is valid? [True, True] Translation: X:141.26, Y:8.37, Z:0.05 [[ 9.87977341e-01 -1.53692054e-01 -1.67190249e-02 1.41264685e+02] [ 1.53657441e-01 9.88118522e-01 -3.34316045e-03 8.36690890e+00] [ 1.70341954e-02 7.33964188e-04 9.99854638e-01 4.75302193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31533619500001 meters 0.04816589551533136 Centerline is valid? [True, True] Translation: X:141.29, Y:8.37, Z:0.05 [[ 9.87790499e-01 -1.54895891e-01 -1.66491106e-02 1.41294101e+02] [ 1.54861684e-01 9.87930541e-01 -3.33240194e-03 8.36955596e+00] [ 1.69643402e-02 7.13405666e-04 9.99855841e-01 5.07797067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34533619500002 meters 0.05222727490945121 Centerline is valid? [True, True] Translation: X:141.32, Y:8.38, Z:0.05 [[ 9.87686819e-01 -1.55591103e-01 -1.63143237e-02 1.41320104e+02] [ 1.55558347e-01 9.87821308e-01 -3.26570788e-03 8.38197283e+00] [ 1.66237517e-02 6.87667402e-04 9.99861579e-01 4.78689242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37533619500002 meters 0.04843416906495758 Centerline is valid? [True, True] Translation: X:141.35, Y:8.38, Z:0.05 [[ 9.87555886e-01 -1.56505638e-01 -1.54711992e-02 1.41349180e+02] [ 1.56476281e-01 9.87676859e-01 -3.09761980e-03 8.38443760e+00] [ 1.57653404e-02 6.38196948e-04 9.99875516e-01 5.11354463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40533619500002 meters 0.04858389170080146 Centerline is valid? [True, True] Translation: X:141.38, Y:8.39, Z:0.05 [[ 9.87230358e-01 -1.58651794e-01 -1.43467207e-02 1.41377103e+02] [ 1.58626770e-01 9.87334439e-01 -2.87293849e-03 8.38973025e+00] [ 1.46208083e-02 5.60478131e-04 9.99892953e-01 5.12430510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43533619500002 meters 0.04504935312516909 Centerline is valid? [True, True] Translation: X:141.41, Y:8.39, Z:0.05 [[ 9.86986348e-01 -1.60147328e-01 -1.45183384e-02 1.41405675e+02] [ 1.60121812e-01 9.87092971e-01 -2.91074414e-03 8.39383669e+00] [ 1.47970977e-02 5.48162073e-04 9.99890367e-01 5.18983716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46533619500002 meters 0.040833734816512826 Centerline is valid? [True, True] Translation: X:141.43, Y:8.40, Z:0.05 [[ 9.86572169e-01 -1.62548276e-01 -1.59189680e-02 1.41433921e+02] [ 1.62517867e-01 9.86700431e-01 -3.19427166e-03 8.39875269e+00] [ 1.62264759e-02 5.64262803e-04 9.99868183e-01 5.05661723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.495336195 meters 0.040558423468708235 Centerline is valid? [True, True] Translation: X:141.46, Y:8.40, Z:0.05 [[ 9.86451073e-01 -1.63344665e-01 -1.52578345e-02 1.41461558e+02] [ 1.63316822e-01 9.86568924e-01 -3.06180134e-03 8.40431018e+00] [ 1.55530343e-02 5.28456173e-04 9.99878905e-01 5.10686175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.525336195 meters 0.040558423468708235 Centerline is valid? [True, True] Translation: X:141.49, Y:8.41, Z:0.05 [[ 9.86419722e-01 -1.63533954e-01 -1.52570561e-02 1.41488477e+02] [ 1.63506073e-01 9.86537564e-01 -3.06567871e-03 8.40990479e+00] [ 1.55530016e-02 5.29424603e-04 9.99878905e-01 5.08662483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.555336195 meters 0.039125492331705675 Centerline is valid? [True, True] Translation: X:141.52, Y:8.41, Z:0.05 [[ 9.86264466e-01 -1.64656940e-01 -1.30573675e-02 1.41518389e+02] [ 1.64636625e-01 9.86350800e-01 -2.62320144e-03 8.41479776e+00] [ 1.33110732e-02 4.37449450e-04 9.99911308e-01 5.48198665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.585336195 meters 0.043821446706457504 Centerline is valid? [True, True] Translation: X:141.54, Y:8.43, Z:0.05 [[ 9.86173500e-01 -1.65209261e-01 -1.29509823e-02 1.41544215e+02] [ 1.65189310e-01 9.86258443e-01 -2.60281914e-03 8.42560278e+00] [ 1.32030255e-02 4.27467427e-04 9.99912745e-01 5.08410377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.615336195 meters 0.04009320212539916 Centerline is valid? [True, True] Translation: X:141.57, Y:8.43, Z:0.05 [[ 9.86026330e-01 -1.66071539e-01 -1.31270999e-02 1.41573312e+02] [ 1.66051078e-01 9.86113616e-01 -2.64120124e-03 8.42668537e+00] [ 1.33834403e-02 4.24524876e-04 9.99910348e-01 5.34429505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.645336195 meters 0.036100249749176035 Centerline is valid? [True, True] Translation: X:141.60, Y:8.43, Z:0.06 [[ 9.86065655e-01 -1.65903443e-01 -1.22707581e-02 1.41601276e+02] [ 1.65885516e-01 9.86141920e-01 -2.47175538e-03 8.42956207e+00] [ 1.25107817e-02 4.01772049e-04 9.99921656e-01 5.80575872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.675336195 meters 0.03780047974347098 Centerline is valid? [True, True] Translation: X:141.63, Y:8.44, Z:0.06 [[ 9.86273008e-01 -1.64691953e-01 -1.19211596e-02 1.41628177e+02] [ 1.64674947e-01 9.86344968e-01 -2.40111456e-03 8.43984499e+00] [ 1.21538201e-02 4.05038150e-04 9.99926058e-01 5.77480056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.705336195 meters 0.04051664496133825 Centerline is valid? [True, True] Translation: X:141.65, Y:8.45, Z:0.06 [[ 9.86522359e-01 -1.63217387e-01 -1.15637031e-02 1.41654904e+02] [ 1.63201275e-01 9.86590044e-01 -2.32986279e-03 8.44679416e+00] [ 1.17889085e-02 4.11250644e-04 9.99930424e-01 5.69091266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.735336195 meters 0.04171432530439692 Centerline is valid? [True, True] Translation: X:141.68, Y:8.45, Z:0.06 [[ 9.86712475e-01 -1.62073871e-01 -1.14259401e-02 1.41682827e+02] [ 1.62058032e-01 9.86778537e-01 -2.30491353e-03 8.45463206e+00] [ 1.16484387e-02 4.22621568e-04 9.99932065e-01 5.71383953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.765336195 meters 0.04754414207776133 Centerline is valid? [True, True] Translation: X:141.71, Y:8.47, Z:0.05 [[ 9.87147556e-01 -1.59325300e-01 -1.24559689e-02 1.41709467e+02] [ 1.59306269e-01 9.87226014e-01 -2.51180959e-03 8.47011764e+00] [ 1.26970514e-02 4.95212771e-04 9.99919267e-01 5.35797522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.795336195 meters 0.045696439517000545 Centerline is valid? [True, True] Translation: X:141.74, Y:8.47, Z:0.06 [[ 9.87337547e-01 -1.58177359e-01 -1.20204843e-02 1.41737688e+02] [ 1.58159512e-01 9.87410592e-01 -2.42719483e-03 8.47436693e+00] [ 1.22530808e-02 4.95306656e-04 9.99924806e-01 5.60203295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.825336195 meters 0.0562028448622818 Centerline is valid? [True, True] Translation: X:141.76, Y:8.50, Z:0.05 [[ 9.87746232e-01 -1.55589252e-01 -1.22215080e-02 1.41763521e+02] [ 1.55570618e-01 9.87821693e-01 -2.46674034e-03 8.49623433e+00] [ 1.24564690e-02 5.35205938e-04 9.99922272e-01 5.14898562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.855336195 meters 0.04924545452013602 Centerline is valid? [True, True] Translation: X:141.79, Y:8.50, Z:0.05 [[ 9.87859770e-01 -1.54760614e-01 -1.34991216e-02 1.41794056e+02] [ 1.54737796e-01 9.87951815e-01 -2.72502693e-03 8.49561156e+00] [ 1.37582085e-02 6.03120159e-04 9.99905169e-01 5.33232123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.885336195 meters 0.05131417629696979 Centerline is valid? [True, True] Translation: X:141.82, Y:8.50, Z:0.05 [[ 9.87914250e-01 -1.54367112e-01 -1.40081654e-02 1.41820557e+02] [ 1.54342481e-01 9.88013357e-01 -2.82917938e-03 8.50217268e+00] [ 1.42769868e-02 6.32931625e-04 9.99897878e-01 4.99946760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.915336195 meters 0.0534919663387556 Centerline is valid? [True, True] Translation: X:141.85, Y:8.51, Z:0.05 [[ 9.87848929e-01 -1.54761660e-01 -1.42590743e-02 1.41847287e+02] [ 1.54736170e-01 9.87951628e-01 -2.88062312e-03 8.50804551e+00] [ 1.45330857e-02 6.39225921e-04 9.99894185e-01 4.81514599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.945336195 meters 0.04861459273856048 Centerline is valid? [True, True] Translation: X:141.88, Y:8.50, Z:0.05 [[ 9.87505793e-01 -1.56804412e-01 -1.56423995e-02 1.41877305e+02] [ 1.56773936e-01 9.87629447e-01 -3.16351596e-03 8.50481408e+00] [ 1.59449477e-02 6.71669793e-04 9.99872646e-01 4.80966327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.975336195 meters 0.04812211056858186 Centerline is valid? [True, True] Translation: X:141.91, Y:8.51, Z:0.05 [[ 9.87023428e-01 -1.59984961e-01 -1.37682372e-02 1.41906005e+02] [ 1.59961670e-01 9.87119301e-01 -2.78375569e-03 8.50991823e+00] [ 1.40362517e-02 5.45241875e-04 9.99901338e-01 4.90793680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.005336195 meters 0.04458005302216643 Centerline is valid? [True, True] Translation: X:141.94, Y:8.51, Z:0.05 [[ 9.86799832e-01 -1.61364864e-01 -1.36920337e-02 1.41935014e+02] [ 1.61341950e-01 9.86894679e-01 -2.76925557e-03 8.51257020e+00] [ 1.39594558e-02 5.23601522e-04 9.99902425e-01 5.11818206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.035336195 meters 0.0418998067043542 Centerline is valid? [True, True] Translation: X:141.96, Y:8.52, Z:0.05 [[ 9.86537979e-01 -1.63107574e-01 -1.17785788e-02 1.41964532e+02] [ 1.63090739e-01 9.86608197e-01 -2.38241930e-03 8.51718582e+00] [ 1.20094331e-02 4.29369995e-04 9.99927792e-01 5.48254919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06533619500001 meters 0.04425353162035338 Centerline is valid? [True, True] Translation: X:141.99, Y:8.52, Z:0.06 [[ 9.86463314e-01 -1.63668037e-01 -1.01441711e-02 1.41991372e+02] [ 1.63655570e-01 9.86515403e-01 -2.05275202e-03 8.52481775e+00] [ 1.03433509e-02 3.64814460e-04 9.99946440e-01 5.50843581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09533619500002 meters 0.04197382962727071 Centerline is valid? [True, True] Translation: X:142.02, Y:8.52, Z:0.06 [[ 9.86285925e-01 -1.64769495e-01 -9.54397931e-03 1.42021516e+02] [ 1.64758488e-01 9.86332044e-01 -1.93372999e-03 8.52156503e+00] [ 9.73215234e-03 3.34759070e-04 9.99952585e-01 5.62358672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12533619500002 meters 0.03883940673722278 Centerline is valid? [True, True] Translation: X:142.05, Y:8.52, Z:0.06 [[ 9.86142006e-01 -1.65594382e-01 -1.01215106e-02 1.42050540e+02] [ 1.65582027e-01 9.86193885e-01 -2.05247854e-03 8.52118250e+00] [ 1.03216508e-02 3.48095051e-04 9.99946670e-01 5.74199766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15533619500002 meters 0.03994499505622966 Centerline is valid? [True, True] Translation: X:142.08, Y:8.53, Z:0.05 [[ 9.86003448e-01 -1.66355516e-01 -1.10924665e-02 1.42076015e+02] [ 1.66340700e-01 9.86065769e-01 -2.25162708e-03 8.53193233e+00] [ 1.13124721e-02 3.74983425e-04 9.99935942e-01 5.47139236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18533619500002 meters 0.04216985383690216 Centerline is valid? [True, True] Translation: X:142.10, Y:8.54, Z:0.05 [[ 9.86118606e-01 -1.65475582e-01 -1.37086691e-02 1.42102370e+02] [ 1.65452878e-01 9.86213773e-01 -2.78193942e-03 8.54266597e+00] [ 1.39800213e-02 4.75183468e-04 9.99902162e-01 4.84841566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21533619500002 meters 0.03950901354074368 Centerline is valid? [True, True] Translation: X:142.13, Y:8.54, Z:0.05 [[ 9.86158024e-01 -1.65195587e-01 -1.42396938e-02 1.42131450e+02] [ 1.65171010e-01 9.86260699e-01 -2.89315304e-03 8.54254795e+00] [ 1.45219865e-02 5.01121472e-04 9.99894425e-01 4.95955708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.245336195 meters 0.04236655405872593 Centerline is valid? [True, True] Translation: X:142.16, Y:8.55, Z:0.05 [[ 9.86277343e-01 -1.64598499e-01 -1.28193795e-02 1.42159093e+02] [ 1.64578529e-01 9.86360544e-01 -2.60468440e-03 8.54682142e+00] [ 1.30732573e-02 4.59146586e-04 9.99914436e-01 5.06326884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.275336195 meters 0.043183509432429046 Centerline is valid? [True, True] Translation: X:142.19, Y:8.55, Z:0.05 [[ 9.86248016e-01 -1.64773244e-01 -1.28307653e-02 1.42185638e+02] [ 1.64753237e-01 9.86331368e-01 -2.60826330e-03 8.55270378e+00] [ 1.30851583e-02 4.58484389e-04 9.99914281e-01 5.07463557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.305336195 meters 0.041033088744107014 Centerline is valid? [True, True] Translation: X:142.21, Y:8.56, Z:0.05 [[ 9.86207400e-01 -1.65033949e-01 -1.25999755e-02 1.42213688e+02] [ 1.65014640e-01 9.86287784e-01 -2.56418793e-03 8.56011884e+00] [ 1.28503800e-02 4.49640689e-04 9.99917329e-01 5.27293300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.335336195 meters 0.04067457224748278 Centerline is valid? [True, True] Translation: X:142.24, Y:8.57, Z:0.06 [[ 9.86267619e-01 -1.64872695e-01 -9.65289353e-03 1.42241930e+02] [ 1.64861335e-01 9.86314794e-01 -1.96641575e-03 8.56728325e+00] [ 9.84499996e-03 3.48023267e-04 9.99951476e-01 5.70743730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.365336195 meters 0.03866071848588 Centerline is valid? [True, True] Translation: X:142.27, Y:8.57, Z:0.06 [[ 9.86225965e-01 -1.65163726e-01 -8.90442137e-03 1.42271726e+02] [ 1.65154056e-01 9.86266111e-01 -1.81565103e-03 8.56714357e+00] [ 9.08200872e-03 3.20040886e-04 9.99958706e-01 5.89418994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.395336195 meters 0.042022214389312945 Centerline is valid? [True, True] Translation: X:142.30, Y:8.57, Z:0.06 [[ 9.86125631e-01 -1.65771508e-01 -8.72045644e-03 1.42299217e+02] [ 1.65762259e-01 9.86164141e-01 -1.77788774e-03 8.57199297e+00] [ 8.89452456e-03 3.07698111e-04 9.99960396e-01 5.69124700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.425336195 meters 0.038433578595164455 Centerline is valid? [True, True] Translation: X:142.33, Y:8.57, Z:0.06 [[ 9.85899883e-01 -1.67047049e-01 -9.83385725e-03 1.42329250e+02] [ 1.67035326e-01 9.85948868e-01 -2.00736401e-03 8.56986973e+00] [ 1.00310047e-02 3.36458382e-04 9.99949632e-01 5.78626612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.455336195 meters 0.036852847890354555 Centerline is valid? [True, True] Translation: X:142.36, Y:8.58, Z:0.06 [[ 9.85972734e-01 -1.66584032e-01 -1.03695432e-02 1.42357307e+02] [ 1.66570953e-01 9.86027195e-01 -2.11857052e-03 8.57773273e+00] [ 1.05775716e-02 3.61588080e-04 9.99943991e-01 5.76532636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.485336195 meters 0.04228564321228309 Centerline is valid? [True, True] Translation: X:142.38, Y:8.59, Z:0.05 [[ 9.86142773e-01 -1.65568915e-01 -1.04578466e-02 1.42383264e+02] [ 1.65555556e-01 9.86198151e-01 -2.13642863e-03 8.59074524e+00] [ 1.06672352e-02 3.75469033e-04 9.99943033e-01 5.42073271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.515336195 meters 0.04814405486122235 Centerline is valid? [True, True] Translation: X:142.41, Y:8.60, Z:0.05 [[ 9.86678460e-01 -1.62358562e-01 -1.02622239e-02 1.42410751e+02] [ 1.62345529e-01 9.86731744e-01 -2.09613072e-03 8.60015012e+00] [ 1.04663869e-02 4.02180866e-04 9.99945145e-01 5.36140827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.545336195 meters 0.048824585525875416 Centerline is valid? [True, True] Translation: X:142.44, Y:8.60, Z:0.05 [[ 9.87018803e-01 -1.60273207e-01 -1.03141822e-02 1.42440233e+02] [ 1.60259924e-01 9.87072600e-01 -2.10711591e-03 8.60381594e+00] [ 1.05185608e-02 4.26812971e-04 9.99944587e-01 5.49193832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.575336195 meters 0.049795837581923276 Centerline is valid? [True, True] Translation: X:142.47, Y:8.61, Z:0.06 [[ 9.87701593e-01 -1.55983766e-01 -1.07064641e-02 1.42470159e+02] [ 1.55969203e-01 9.87759497e-01 -2.18712502e-03 8.60882578e+00] [ 1.09165676e-02 4.90348184e-04 9.99940292e-01 5.66467440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.605336195 meters 0.053553920830426725 Centerline is valid? [True, True] Translation: X:142.50, Y:8.62, Z:0.06 [[ 9.88411910e-01 -1.51515042e-01 -9.22432309e-03 1.42498020e+02] [ 1.51504037e-01 9.88454843e-01 -1.88443061e-03 8.62252112e+00] [ 9.40334641e-03 4.65071475e-04 9.99955679e-01 5.94918860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.635336195 meters 0.056993220773036916 Centerline is valid? [True, True] Translation: X:142.52, Y:8.63, Z:0.06 [[ 9.88742918e-01 -1.49360607e-01 -8.87981466e-03 1.42524350e+02] [ 1.49350313e-01 9.88782681e-01 -1.81497228e-03 8.63336431e+00] [ 9.05129230e-03 4.68337893e-04 9.99958927e-01 5.91611604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.665336195 meters 0.060738155835598336 Centerline is valid? [True, True] Translation: X:142.55, Y:8.64, Z:0.06 [[ 9.89311687e-01 -1.45589756e-01 -8.12455427e-03 1.42553797e+02] [ 1.45581015e-01 9.89344941e-01 -1.66023236e-03 8.64341492e+00] [ 8.27969949e-03 4.59706421e-04 9.99965617e-01 5.90624519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.695336195 meters 0.060781440333304175 Centerline is valid? [True, True] Translation: X:142.58, Y:8.65, Z:0.06 [[ 9.89398301e-01 -1.45006186e-01 -8.01303359e-03 1.42582529e+02] [ 1.44997643e-01 9.89430641e-01 -1.64007481e-03 8.64769374e+00] [ 8.16616196e-03 4.60816243e-04 9.99966550e-01 5.89564596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.725336195 meters 0.05900213912818874 Centerline is valid? [True, True] Translation: X:142.61, Y:8.65, Z:0.06 [[ 9.89290941e-01 -1.45669530e-01 -9.15542384e-03 1.42610837e+02] [ 1.45658392e-01 9.89333167e-01 -1.87533479e-03 8.65082494e+00] [ 9.33094360e-03 5.21687401e-04 9.99956330e-01 5.84803030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.755336195 meters 0.06310949085752608 Centerline is valid? [True, True] Translation: X:142.64, Y:8.66, Z:0.06 [[ 9.89175922e-01 -1.46448418e-01 -9.15730698e-03 1.42636318e+02] [ 1.46437307e-01 9.89218174e-01 -1.87595084e-03 8.66323504e+00] [ 9.33330453e-03 5.14674025e-04 9.99956311e-01 5.60987808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.785336195 meters 0.05695168338385857 Centerline is valid? [True, True] Translation: X:142.67, Y:8.67, Z:0.06 [[ 9.88866621e-01 -1.48525423e-01 -9.11067162e-03 1.42666699e+02] [ 1.48514517e-01 9.88908467e-01 -1.86594629e-03 8.66534781e+00] [ 9.28676077e-03 4.92105009e-04 9.99956756e-01 5.76588015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81533619500001 meters 0.058647983316185835 Centerline is valid? [True, True] Translation: X:142.69, Y:8.67, Z:0.06 [[ 9.88638652e-01 -1.50045274e-01 -8.94604920e-03 1.42692950e+02] [ 1.50034812e-01 9.88679015e-01 -1.83313976e-03 8.67437800e+00] [ 9.11982507e-03 4.70094014e-04 9.99958303e-01 5.64454269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84533619500002 meters 0.05649053470756543 Centerline is valid? [True, True] Translation: X:142.72, Y:8.68, Z:0.06 [[ 9.88132865e-01 -1.53365642e-01 -8.51006579e-03 1.42722292e+02] [ 1.53356299e-01 9.88169421e-01 -1.74362542e-03 8.67746658e+00] [ 8.67679901e-03 4.17861384e-04 9.99962269e-01 5.61313204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87533619500002 meters 0.05428759696231199 Centerline is valid? [True, True] Translation: X:142.75, Y:8.68, Z:0.06 [[ 9.87887256e-01 -1.54966126e-01 -8.01676883e-03 1.42752457e+02] [ 1.54957886e-01 9.87919711e-01 -1.64263160e-03 8.67925000e+00] [ 8.17447620e-03 3.80473268e-04 9.99966516e-01 5.62681951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90533619500002 meters 0.047077072752317324 Centerline is valid? [True, True] Translation: X:142.78, Y:8.67, Z:0.06 [[ 9.87368484e-01 -1.58241241e-01 -7.94895773e-03 1.42784507e+02] [ 1.58233246e-01 9.87400419e-01 -1.62883865e-03 8.67477269e+00] [ 8.10655364e-03 3.50474563e-04 9.99967080e-01 5.77040262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93533619500002 meters 0.04828071190008161 Centerline is valid? [True, True] Translation: X:142.81, Y:8.68, Z:0.06 [[ 9.86927302e-01 -1.60975603e-01 -7.83296961e-03 1.42811578e+02] [ 1.60967921e-01 9.86958333e-01 -1.60554704e-03 8.68425707e+00] [ 7.98926853e-03 3.23701375e-04 9.99968033e-01 5.62888445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96533619500002 meters 0.04718561806399665 Centerline is valid? [True, True] Translation: X:142.84, Y:8.69, Z:0.06 [[ 9.86674645e-01 -1.62504374e-01 -8.09153939e-03 1.42839840e+02] [ 1.62496225e-01 9.86707771e-01 -1.65900434e-03 8.69091756e+00] [ 8.25358026e-03 3.22052916e-04 9.99965887e-01 5.54961560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.995336195 meters 0.04023514804182673 Centerline is valid? [True, True] Translation: X:142.87, Y:8.69, Z:0.06 [[ 9.86093822e-01 -1.65959171e-01 -8.74801352e-03 1.42871147e+02] [ 1.65949782e-01 9.86132574e-01 -1.79342603e-03 8.68944586e+00] [ 8.92433658e-03 3.16755387e-04 9.99960127e-01 5.55725125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.025336195 meters 0.03877064091377209 Centerline is valid? [True, True] Translation: X:142.90, Y:8.69, Z:0.06 [[ 9.85851937e-01 -1.67402079e-01 -8.51479641e-03 1.42899746e+02] [ 1.67393232e-01 9.85888663e-01 -1.74631820e-03 8.69222941e+00] [ 8.68697855e-03 2.96291893e-04 9.99962224e-01 5.52558803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.055336195 meters 0.03729772708651038 Centerline is valid? [True, True] Translation: X:142.93, Y:8.69, Z:0.05 [[ 9.85522058e-01 -1.69305708e-01 -9.04713085e-03 1.42927962e+02] [ 1.69295791e-01 9.85563538e-01 -1.85657947e-03 8.69454771e+00] [ 9.23085180e-03 2.98058848e-04 9.99957350e-01 5.43745558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.085336195 meters 0.03719790987180197 Centerline is valid? [True, True] Translation: X:142.96, Y:8.70, Z:0.05 [[ 9.85459128e-01 -1.69675653e-01 -8.97103535e-03 1.42955496e+02] [ 1.69665893e-01 9.85499917e-01 -1.84355444e-03 8.70099711e+00] [ 9.15376089e-03 2.94668830e-04 9.99958060e-01 5.47432631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.115336195 meters 0.0349655541812537 Centerline is valid? [True, True] Translation: X:142.98, Y:8.71, Z:0.06 [[ 9.85285213e-01 -1.70744425e-01 -7.70656533e-03 1.42984603e+02] [ 1.70737245e-01 9.85315321e-01 -1.58492740e-03 8.70521112e+00] [ 7.86401441e-03 2.45807791e-04 9.99969048e-01 5.64507379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.145336195 meters 0.0349184132469797 Centerline is valid? [True, True] Translation: X:143.01, Y:8.71, Z:0.06 [[ 9.84929860e-01 -1.72798807e-01 -7.33097312e-03 1.43012719e+02] [ 1.72792371e-01 9.84957118e-01 -1.50728340e-03 8.70878206e+00] [ 7.48115093e-03 2.17832200e-04 9.99971992e-01 5.60543815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.175336195 meters 0.03230171111267757 Centerline is valid? [True, True] Translation: X:143.04, Y:8.71, Z:0.06 [[ 9.84724013e-01 -1.73983890e-01 -6.94433078e-03 1.43041551e+02] [ 1.73978128e-01 9.84748479e-01 -1.42993859e-03 8.70983814e+00] [ 7.08720545e-03 1.99933199e-04 9.99974865e-01 5.75879532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.205336195 meters 0.03377525263075315 Centerline is valid? [True, True] Translation: X:143.07, Y:8.71, Z:0.05 [[ 9.84500017e-01 -1.75218844e-01 -7.62061478e-03 1.43069121e+02] [ 1.75211947e-01 9.84529488e-01 -1.56873008e-03 8.71445938e+00] [ 7.77759104e-03 2.09192040e-04 9.99969732e-01 5.47021620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.235336195 meters 0.029813547892561347 Centerline is valid? [True, True] Translation: X:143.10, Y:8.71, Z:0.06 [[ 9.84486388e-01 -1.75254429e-01 -8.51096918e-03 1.43098243e+02] [ 1.75245806e-01 9.84523148e-01 -1.75437965e-03 8.71453588e+00] [ 8.68670898e-03 2.35651233e-04 9.99962242e-01 5.57799087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.265336195 meters 0.03265881948282918 Centerline is valid? [True, True] Translation: X:143.13, Y:8.72, Z:0.05 [[ 9.84765333e-01 -1.73616028e-01 -9.73213983e-03 1.43126025e+02] [ 1.73604679e-01 9.84813380e-01 -2.00547397e-03 8.71951282e+00] [ 9.93252395e-03 2.85376229e-04 9.99950631e-01 5.17094962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.295336195 meters 0.03425111420666889 Centerline is valid? [True, True] Translation: X:143.15, Y:8.72, Z:0.05 [[ 9.84966857e-01 -1.72454623e-01 -9.98469653e-03 1.43152998e+02] [ 1.72442611e-01 9.85017416e-01 -2.05822640e-03 8.72466650e+00] [ 1.01900506e-02 3.05497646e-04 9.99948033e-01 5.08532942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.325336195 meters 0.03849065603945088 Centerline is valid? [True, True] Translation: X:143.18, Y:8.73, Z:0.05 [[ 9.85593453e-01 -1.68871342e-01 -9.38161693e-03 1.43179620e+02] [ 1.68860570e-01 9.85638050e-01 -1.93448224e-03 8.73422538e+00] [ 9.57355723e-03 3.22427850e-04 9.99954120e-01 5.19281183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.355336195 meters 0.04566280468687825 Centerline is valid? [True, True] Translation: X:143.21, Y:8.75, Z:0.05 [[ 9.86307639e-01 -1.64702867e-01 -8.37894622e-03 1.43206334e+02] [ 1.64694125e-01 9.86343176e-01 -1.72753637e-03 8.75166100e+00] [ 8.54904662e-03 3.23919107e-04 9.99963404e-01 5.22490279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.385336195 meters 0.04588542686904738 Centerline is valid? [True, True] Translation: X:143.23, Y:8.76, Z:0.05 [[ 9.86653693e-01 -1.62572541e-01 -9.20105661e-03 1.43234920e+02] [ 1.62561902e-01 9.86696522e-01 -1.89754673e-03 8.75816062e+00] [ 9.38713955e-03 3.76480222e-04 9.99955869e-01 5.17359549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.415336195 meters 0.05211469965407629 Centerline is valid? [True, True] Translation: X:143.26, Y:8.77, Z:0.05 [[ 9.87255867e-01 -1.58918263e-01 -8.41658562e-03 1.43262643e+02] [ 1.58909227e-01 9.87291671e-01 -1.73590314e-03 8.76922798e+00] [ 8.58549160e-03 3.76307440e-04 9.99963073e-01 5.15756468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.445336195 meters 0.05211469965407629 Centerline is valid? [True, True] Translation: X:143.29, Y:8.77, Z:0.05 [[ 9.87226379e-01 -1.59101375e-01 -8.41602276e-03 1.43289541e+02] [ 1.59092323e-01 9.87262179e-01 -1.73863111e-03 8.77497063e+00] [ 8.58543957e-03 3.77497889e-04 9.99963073e-01 5.13732310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.475336195 meters 0.04895801792528349 Centerline is valid? [True, True] Translation: X:143.32, Y:8.78, Z:0.06 [[ 9.87492152e-01 -1.57507787e-01 -7.10965047e-03 1.43319157e+02] [ 1.57501276e-01 9.87517689e-01 -1.47010135e-03 8.77556077e+00] [ 7.25245802e-03 3.31934525e-04 9.99973645e-01 5.55019184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.505336195 meters 0.058187888738455665 Centerline is valid? [True, True] Translation: X:143.35, Y:8.79, Z:0.05 [[ 9.88031550e-01 -1.54091608e-01 -7.03078100e-03 1.43345717e+02] [ 1.54085161e-01 9.88056503e-01 -1.45287640e-03 8.79020768e+00] [ 7.17068495e-03 3.52148705e-04 9.99974228e-01 5.37106674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.535336195 meters 0.059435889509178115 Centerline is valid? [True, True] Translation: X:143.37, Y:8.80, Z:0.05 [[ 9.88120977e-01 -1.53472271e-01 -7.94962975e-03 1.43373485e+02] [ 1.53463990e-01 9.88152871e-01 -1.64508443e-03 8.79775503e+00] [ 8.10792431e-03 4.05560530e-04 9.99967048e-01 5.15313615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56533619500001 meters 0.06289141937755563 Centerline is valid? [True, True] Translation: X:143.40, Y:8.81, Z:0.05 [[ 9.88300336e-01 -1.52346320e-01 -7.28318075e-03 1.43398946e+02] [ 1.52339341e-01 9.88327099e-01 -1.50692613e-03 8.81337729e+00] [ 7.42773955e-03 3.79780643e-04 9.99972342e-01 5.04934292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59533619500002 meters 0.0665703714154417 Centerline is valid? [True, True] Translation: X:143.42, Y:8.83, Z:0.05 [[ 9.88404284e-01 -1.51675199e-01 -7.18373276e-03 1.43424539e+02] [ 1.51668388e-01 9.88430316e-01 -1.48676403e-03 8.82602727e+00] [ 7.32612447e-03 3.79978769e-04 9.99973091e-01 4.88454335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62533619500002 meters 0.0650997183056172 Centerline is valid? [True, True] Translation: X:143.45, Y:8.83, Z:0.05 [[ 9.88438917e-01 -1.51377502e-01 -8.56500798e-03 1.43453423e+02] [ 1.51367790e-01 9.88475919e-01 -1.77469688e-03 8.82826724e+00] [ 8.73495331e-03 4.57713127e-04 9.99961745e-01 4.71904118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65533619500002 meters 0.060430284403453105 Centerline is valid? [True, True] Translation: X:143.48, Y:8.82, Z:0.05 [[ 9.88507610e-01 -1.50888281e-01 -9.24290904e-03 1.43483642e+02] [ 1.50876935e-01 9.88550695e-01 -1.91668565e-03 8.82490930e+00] [ 9.42628955e-03 5.00116558e-04 9.99955446e-01 4.85753676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68533619500002 meters 0.06107017070784536 Centerline is valid? [True, True] Translation: X:143.51, Y:8.83, Z:0.05 [[ 9.88476377e-01 -1.51079945e-01 -9.45001005e-03 1.43509790e+02] [ 1.51068092e-01 9.88521416e-01 -1.95978823e-03 8.83177146e+00] [ 9.63762202e-03 5.09609378e-04 9.99953427e-01 4.79347936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71533619500002 meters 0.05987520134909642 Centerline is valid? [True, True] Translation: X:143.54, Y:8.84, Z:0.05 [[ 9.88271142e-01 -1.52518838e-01 -7.62585667e-03 1.43537517e+02] [ 1.52511164e-01 9.88300483e-01 -1.58135108e-03 8.84427425e+00] [ 7.77782366e-03 3.99775365e-04 9.99969672e-01 5.10561759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.745336195 meters 0.059837970393871995 Centerline is valid? [True, True] Translation: X:143.56, Y:8.86, Z:0.05 [[ 9.88151429e-01 -1.53371567e-01 -5.82376406e-03 1.43564665e+02] [ 1.53367103e-01 9.88168544e-01 -1.20814661e-03 8.85608575e+00] [ 5.94015579e-03 3.00657979e-04 9.99982312e-01 5.36126995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.775336195 meters 0.058867977116972434 Centerline is valid? [True, True] Translation: X:143.59, Y:8.87, Z:0.05 [[ 9.87754260e-01 -1.55872917e-01 -6.71976785e-03 1.43592402e+02] [ 1.55867032e-01 9.87777062e-01 -1.39395892e-03 8.86550172e+00] [ 6.85491299e-03 3.29498592e-04 9.99976451e-01 5.01909810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.805336195 meters 0.05470239189676337 Centerline is valid? [True, True] Translation: X:143.62, Y:8.86, Z:0.05 [[ 9.87166337e-01 -1.59507651e-01 -7.74160926e-03 1.43624671e+02] [ 1.59499952e-01 9.87196630e-01 -1.60582282e-03 8.86043613e+00] [ 7.89863160e-03 3.50427925e-04 9.99968744e-01 4.64605446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.835336195 meters 0.047454864665387675 Centerline is valid? [True, True] Translation: X:143.66, Y:8.86, Z:0.05 [[ 9.86840071e-01 -1.61550272e-01 -6.94152863e-03 1.43656410e+02] [ 1.61544132e-01 9.86864438e-01 -1.44000056e-03 8.85641311e+00] [ 7.08298023e-03 2.99687039e-04 9.99974870e-01 5.02065732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.865336195 meters 0.04430834383495091 Centerline is valid? [True, True] Translation: X:143.69, Y:8.86, Z:0.05 [[ 9.86561574e-01 -1.63273686e-01 -6.16149580e-03 1.43685680e+02] [ 1.63268880e-01 9.86580781e-01 -1.27844179e-03 8.86114901e+00] [ 6.28754924e-03 2.55281027e-04 9.99980201e-01 5.22040473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.895336195 meters 0.04170438215438852 Centerline is valid? [True, True] Translation: X:143.71, Y:8.88, Z:0.05 [[ 9.86060847e-01 -1.66225645e-01 -7.28297789e-03 1.43712839e+02] [ 1.66219011e-01 9.86087702e-01 -1.51110510e-03 8.87652131e+00] [ 7.43283935e-03 2.79472194e-04 9.99972337e-01 5.17172447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.925336195 meters 0.04151264527701397 Centerline is valid? [True, True] Translation: X:143.74, Y:8.89, Z:0.05 [[ 9.85495206e-01 -1.69450241e-01 -9.26367031e-03 1.43740731e+02] [ 1.69439647e-01 9.85538690e-01 -1.92236740e-03 8.88599006e+00] [ 9.45545112e-03 3.24850827e-04 9.99955243e-01 4.50006401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.955336195 meters 0.03712318916167391 Centerline is valid? [True, True] Translation: X:143.77, Y:8.88, Z:0.04 [[ 9.85112831e-01 -1.71631658e-01 -9.76141593e-03 1.43770333e+02] [ 1.71619976e-01 9.85161139e-01 -2.02825489e-03 8.88389906e+00] [ 9.96468038e-03 3.22805948e-04 9.99950299e-01 4.49532694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.985336195 meters 0.0337962999803111 Centerline is valid? [True, True] Translation: X:143.80, Y:8.88, Z:0.05 [[ 9.84246559e-01 -1.76577574e-01 -8.89224842e-03 1.43800923e+02] [ 1.76568088e-01 9.84286696e-01 -1.84689359e-03 8.88221337e+00] [ 9.07864180e-03 2.47711352e-04 9.99958758e-01 4.55309559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.015336195 meters 0.030111359459792243 Centerline is valid? [True, True] Translation: X:143.83, Y:8.89, Z:0.05 [[ 9.83835526e-01 -1.78880506e-01 -8.33199949e-03 1.43829671e+02] [ 1.78872256e-01 9.83870784e-01 -1.73117677e-03 8.88546346e+00] [ 8.50728465e-03 2.12829662e-04 9.99963790e-01 4.78797709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.045336195 meters 0.026357157024918636 Centerline is valid? [True, True] Translation: X:143.86, Y:8.89, Z:0.05 [[ 9.83331271e-01 -1.81657833e-01 -7.74872309e-03 1.43858232e+02] [ 1.81650766e-01 9.83361785e-01 -1.61214601e-03 8.89217358e+00] [ 7.91265712e-03 1.77712106e-04 9.99968679e-01 4.97375209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.075336195 meters 0.026319357159918403 Centerline is valid? [True, True] Translation: X:143.89, Y:8.90, Z:0.05 [[ 9.83246772e-01 -1.82095471e-01 -8.18686922e-03 1.43885555e+02] [ 1.82087582e-01 9.83280837e-01 -1.70518815e-03 8.89942825e+00] [ 8.36049866e-03 1.85893518e-04 9.99965033e-01 4.83414207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.105336195 meters 0.030460539270022204 Centerline is valid? [True, True] Translation: X:143.91, Y:8.91, Z:0.04 [[ 9.83438884e-01 -1.80981005e-01 -9.68697983e-03 1.43912289e+02] [ 1.80969907e-01 9.83486564e-01 -2.01750900e-03 8.90758323e+00] [ 9.89214532e-03 2.31044958e-04 9.99951045e-01 4.22272092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.135336195 meters 0.031630587505700164 Centerline is valid? [True, True] Translation: X:143.94, Y:8.91, Z:0.04 [[ 9.83754507e-01 -1.79218341e-01 -1.03853955e-02 1.43941146e+02] [ 1.79205487e-01 9.83809288e-01 -2.16287939e-03 8.91144622e+00] [ 1.06048762e-02 2.66622488e-04 9.99943731e-01 4.15504488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.165336195 meters 0.032867050203094834 Centerline is valid? [True, True] Translation: X:143.97, Y:8.92, Z:0.04 [[ 9.83897566e-01 -1.78440523e-01 -1.02254094e-02 1.43968110e+02] [ 1.78428007e-01 9.83950662e-01 -2.13090494e-03 8.92082078e+00] [ 1.04415381e-02 2.72092772e-04 9.99945449e-01 4.25669824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.195336195 meters 0.03599007131680375 Centerline is valid? [True, True] Translation: X:143.99, Y:8.94, Z:0.04 [[ 9.84276094e-01 -1.76353918e-01 -9.99333325e-03 1.43992928e+02] [ 1.76341852e-01 9.84326781e-01 -2.08294193e-03 8.93690729e+00] [ 1.02040405e-02 2.87947056e-04 9.99947896e-01 4.23808595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.225336195 meters 0.03661696847442262 Centerline is valid? [True, True] Translation: X:144.02, Y:8.94, Z:0.04 [[ 9.84417929e-01 -1.75533346e-01 -1.04587851e-02 1.44020742e+02] [ 1.75520056e-01 9.84473436e-01 -2.18251016e-03 8.94347313e+00] [ 1.06794995e-02 3.12775578e-04 9.99942924e-01 4.09766619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.255336195 meters 0.038202470312122754 Centerline is valid? [True, True] Translation: X:144.05, Y:8.95, Z:0.04 [[ 9.84705689e-01 -1.73965836e-01 -9.51805900e-03 1.44049663e+02] [ 1.73954740e-01 9.84751642e-01 -1.98793879e-03 8.94581422e+00] [ 9.71875767e-03 3.01823159e-04 9.99952726e-01 4.24768896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.285336195 meters 0.03709999558028994 Centerline is valid? [True, True] Translation: X:144.08, Y:8.95, Z:0.05 [[ 9.84973931e-01 -1.72482370e-01 -8.72859231e-03 1.44078808e+02] [ 1.72472964e-01 9.85012562e-01 -1.82474857e-03 8.94666171e+00] [ 8.91251003e-03 2.91883583e-04 9.99960240e-01 4.64542028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31533619500001 meters 0.04467074723280987 Centerline is valid? [True, True] Translation: X:144.10, Y:8.96, Z:0.04 [[ 9.85105475e-01 -1.71739081e-01 -8.53768305e-03 1.44103544e+02] [ 1.71730056e-01 9.85142428e-01 -1.78457871e-03 8.96274022e+00] [ 8.71731571e-03 2.91821469e-04 9.99961961e-01 4.33420661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34533619500002 meters 0.039656408525639085 Centerline is valid? [True, True] Translation: X:144.13, Y:8.97, Z:0.05 [[ 9.85315137e-01 -1.70557845e-01 -8.00636655e-03 1.44131892e+02] [ 1.70549852e-01 9.85347624e-01 -1.67577129e-03 8.96686302e+00] [ 8.17487019e-03 2.85678188e-04 9.99966544e-01 4.81084599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37533619500002 meters 0.04781510822008263 Centerline is valid? [True, True] Translation: X:144.16, Y:8.99, Z:0.04 [[ 9.85939879e-01 -1.66871615e-01 -8.74183694e-03 1.44156458e+02] [ 1.66861950e-01 9.85978573e-01 -1.82872529e-03 8.99055114e+00] [ 8.92442625e-03 3.44333234e-04 9.99960117e-01 4.33754231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40533619500002 meters 0.04747744751824827 Centerline is valid? [True, True] Translation: X:144.19, Y:8.99, Z:0.04 [[ 9.86680348e-01 -1.62344824e-01 -1.02979981e-02 1.44186613e+02] [ 1.62331167e-01 9.86733983e-01 -2.15405663e-03 8.99387793e+00] [ 1.05110847e-02 4.53679294e-04 9.99944654e-01 4.23616167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43533619500002 meters 0.054250910505084814 Centerline is valid? [True, True] Translation: X:144.21, Y:9.01, Z:0.04 [[ 9.86989168e-01 -1.60410224e-01 -1.09974186e-02 1.44212847e+02] [ 1.60394518e-01 9.87050304e-01 -2.30126846e-03 9.00659050e+00] [ 1.12241524e-02 5.07401378e-04 9.99936878e-01 3.90402219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46533619500002 meters 0.0549282361067419 Centerline is valid? [True, True] Translation: X:144.24, Y:9.02, Z:0.04 [[ 9.87316066e-01 -1.58227272e-01 -1.30811374e-02 1.44241955e+02] [ 1.58204861e-01 9.87402517e-01 -2.73720130e-03 9.01550731e+00] [ 1.33494478e-02 6.32983301e-04 9.99910692e-01 3.72887144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.495336195 meters 0.05527950430768427 Centerline is valid? [True, True] Translation: X:144.27, Y:9.02, Z:0.04 [[ 9.87305652e-01 -1.58313420e-01 -1.28222879e-02 1.44268989e+02] [ 1.58291845e-01 9.87388714e-01 -2.68685855e-03 9.02440384e+00] [ 1.30859481e-02 6.23087031e-04 9.99914181e-01 3.74545956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.525336195 meters 0.05054833730829081 Centerline is valid? [True, True] Translation: X:144.30, Y:9.03, Z:0.04 [[ 9.87205245e-01 -1.59118062e-01 -1.03559834e-02 1.44298596e+02] [ 1.59104042e-01 9.87259438e-01 -2.16913394e-03 9.03043301e+00] [ 1.05691908e-02 4.93701572e-04 9.99944023e-01 4.39937013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.555336195 meters 0.048650298920620325 Centerline is valid? [True, True] Translation: X:144.33, Y:9.04, Z:0.05 [[ 9.86777544e-01 -1.61870961e-01 -8.23832725e-03 1.44326520e+02] [ 1.61862182e-01 9.86811864e-01 -1.72579184e-03 9.03824489e+00] [ 8.40903465e-03 3.69499008e-04 9.99964575e-01 4.59902462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.585336195 meters 0.048997360045884585 Centerline is valid? [True, True] Translation: X:144.35, Y:9.05, Z:0.05 [[ 9.86447869e-01 -1.63902414e-01 -7.52328751e-03 1.44354422e+02] [ 1.63895150e-01 9.86476505e-01 -1.57624708e-03 9.04583113e+00] [ 7.67989707e-03 3.21855241e-04 9.99970457e-01 4.52307496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.615336195 meters 0.04703841328119943 Centerline is valid? [True, True] Translation: X:144.38, Y:9.05, Z:0.04 [[ 9.85841508e-01 -1.67525576e-01 -7.19038519e-03 1.44383123e+02] [ 1.67519036e-01 9.85867690e-01 -1.50664724e-03 9.05157899e+00] [ 7.34117039e-03 2.80788992e-04 9.99973014e-01 4.40629289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.645336195 meters 0.04223257334908339 Centerline is valid? [True, True] Translation: X:144.41, Y:9.05, Z:0.05 [[ 9.85559861e-01 -1.69164443e-01 -7.42639027e-03 1.44412094e+02] [ 1.69157509e-01 9.85587801e-01 -1.55666224e-03 9.05298578e+00] [ 7.58269156e-03 2.77954140e-04 9.99971212e-01 4.50183901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.675336195 meters 0.04193828638898067 Centerline is valid? [True, True] Translation: X:144.44, Y:9.06, Z:0.04 [[ 9.84941430e-01 -1.72620012e-01 -9.62865381e-03 1.44440776e+02] [ 1.72608521e-01 9.84988439e-01 -2.01823550e-03 9.05898706e+00] [ 9.83250052e-03 3.25856068e-04 9.99951607e-01 3.90591628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.705336195 meters 0.03970438141414653 Centerline is valid? [True, True] Translation: X:144.47, Y:9.06, Z:0.04 [[ 9.84617446e-01 -1.74361105e-01 -1.12556320e-02 1.44470014e+02] [ 1.74345482e-01 9.84681711e-01 -2.36220116e-03 9.06111318e+00] [ 1.14950910e-02 3.63495887e-04 9.99933863e-01 3.61864416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.735336195 meters 0.03676835036182339 Centerline is valid? [True, True] Translation: X:144.50, Y:9.07, Z:0.04 [[ 9.84096989e-01 -1.77279607e-01 -1.11828985e-02 1.44498127e+02] [ 1.77264379e-01 9.84160472e-01 -2.34638450e-03 9.06543017e+00] [ 1.14217327e-02 3.26740371e-04 9.99934716e-01 3.71049453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.765336195 meters 0.03258452127747606 Centerline is valid? [True, True] Translation: X:144.53, Y:9.07, Z:0.04 [[ 9.83891036e-01 -1.78501862e-01 -9.77317111e-03 1.44526982e+02] [ 1.78490267e-01 9.83939535e-01 -2.05316402e-03 9.07068236e+00] [ 9.98270304e-03 2.75673757e-04 9.99950134e-01 4.20378651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.795336195 meters 0.031172731981085586 Centerline is valid? [True, True] Translation: X:144.56, Y:9.08, Z:0.05 [[ 9.83656282e-01 -1.79889340e-01 -7.75521904e-03 1.44555122e+02] [ 1.79882070e-01 9.83686831e-01 -1.63074906e-03 9.07859061e+00] [ 7.92206121e-03 2.09071702e-04 9.99968598e-01 4.54230900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.825336195 meters 0.03433776294491509 Centerline is valid? [True, True] Translation: X:144.58, Y:9.09, Z:0.04 [[ 9.83684952e-01 -1.79714908e-01 -8.15270034e-03 1.44581951e+02] [ 1.79706870e-01 9.83718711e-01 -1.71405064e-03 9.08512543e+00] [ 8.32800433e-03 2.20989563e-04 9.99965297e-01 4.18460755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.855336195 meters 0.03228127034484762 Centerline is valid? [True, True] Translation: X:144.61, Y:9.09, Z:0.04 [[ 9.83761397e-01 -1.79285720e-01 -8.37527236e-03 1.44611127e+02] [ 1.79277202e-01 9.83797020e-01 -1.76314998e-03 9.08796556e+00] [ 8.55567560e-03 2.33023490e-04 9.99963372e-01 4.28534838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.885336195 meters 0.035284846406056086 Centerline is valid? [True, True] Translation: X:144.64, Y:9.10, Z:0.04 [[ 9.84138280e-01 -1.77221246e-01 -8.02967267e-03 1.44637299e+02] [ 1.77213350e-01 9.84171008e-01 -1.69012535e-03 9.09997172e+00] [ 8.20209716e-03 2.40351864e-04 9.99966333e-01 4.27075000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.915336195 meters 0.03484956142583838 Centerline is valid? [True, True] Translation: X:144.66, Y:9.11, Z:0.04 [[ 9.84395880e-01 -1.75756723e-01 -8.62129286e-03 1.44664688e+02] [ 1.75747559e-01 9.84433594e-01 -1.81518065e-03 9.10784611e+00] [ 8.80612052e-03 2.71685182e-04 9.99961188e-01 4.28737531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.945336195 meters 0.03902960907070134 Centerline is valid? [True, True] Translation: X:144.69, Y:9.12, Z:0.04 [[ 9.84714617e-01 -1.73867777e-01 -1.03498519e-02 1.44690975e+02] [ 1.73854465e-01 9.84768945e-01 -2.17923853e-03 9.12207604e+00] [ 1.05711121e-02 3.46560080e-04 9.99944064e-01 3.89365019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.975336195 meters 0.037957303064460685 Centerline is valid? [True, True] Translation: X:144.72, Y:9.13, Z:0.04 [[ 9.84716115e-01 -1.73846242e-01 -1.05667452e-02 1.44719164e+02] [ 1.73832334e-01 9.84772744e-01 -2.22779690e-03 9.12777300e+00] [ 1.07931368e-02 3.56905532e-04 9.99941689e-01 3.93140186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.005336195 meters 0.03786880315092651 Centerline is valid? [True, True] Translation: X:144.75, Y:9.13, Z:0.04 [[ 9.84564896e-01 -1.74747649e-01 -9.75832442e-03 1.44746250e+02] [ 1.74735833e-01 9.84613201e-01 -2.05724871e-03 9.13495851e+00] [ 9.96767442e-03 3.20365916e-04 9.99950270e-01 4.02471588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.035336195 meters 0.03882915446344642 Centerline is valid? [True, True] Translation: X:144.77, Y:9.14, Z:0.04 [[ 9.84360895e-01 -1.75962855e-01 -8.40844206e-03 1.44773108e+02] [ 1.75954121e-01 9.84396771e-01 -1.77324851e-03 9.14196173e+00] [ 8.58926908e-03 2.66016455e-04 9.99963076e-01 4.02034282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06533619500001 meters 0.03301485202724463 Centerline is valid? [True, True] Translation: X:144.80, Y:9.14, Z:0.04 [[ 9.83825450e-01 -1.79012200e-01 -6.48975926e-03 1.44804017e+02] [ 1.79007064e-01 9.83846837e-01 -1.36861554e-03 9.13901385e+00] [ 6.62992800e-03 1.84766046e-04 9.99978005e-01 4.44085423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09533619500002 meters 0.03350287790345136 Centerline is valid? [True, True] Translation: X:144.83, Y:9.14, Z:0.04 [[ 9.83152962e-01 -1.82681512e-01 -6.14153730e-03 1.44833308e+02] [ 1.82676982e-01 9.83172133e-01 -1.29534262e-03 9.13987518e+00] [ 6.27482347e-03 1.51602431e-04 9.99980302e-01 4.03992820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12533619500002 meters 0.028533403091306277 Centerline is valid? [True, True] Translation: X:144.86, Y:9.14, Z:0.04 [[ 9.82915396e-01 -1.83939328e-01 -6.60667472e-03 1.44863691e+02] [ 1.83934107e-01 9.82937587e-01 -1.39456007e-03 9.13776508e+00] [ 6.75046335e-03 1.55541751e-04 9.99977203e-01 4.17141921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15533619500002 meters 0.027846681047631657 Centerline is valid? [True, True] Translation: X:144.89, Y:9.14, Z:0.04 [[ 9.82719165e-01 -1.84902988e-01 -8.59814116e-03 1.44892483e+02] [ 1.84894165e-01 9.82756759e-01 -1.81681717e-03 9.14250186e+00] [ 8.78581626e-03 1.95674920e-04 9.99961385e-01 3.81507213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18533619500002 meters 0.028381727207379095 Centerline is valid? [True, True] Translation: X:144.92, Y:9.15, Z:0.04 [[ 9.82651544e-01 -1.85231555e-01 -9.23114498e-03 1.44919989e+02] [ 1.85221403e-01 9.82694881e-01 -1.95023478e-03 9.14807071e+00] [ 9.43264394e-03 2.06595586e-04 9.99955490e-01 3.58985502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21533619500002 meters 0.02731095508204382 Centerline is valid? [True, True] Translation: X:144.95, Y:9.15, Z:0.04 [[ 9.82650671e-01 -1.85217121e-01 -9.60606239e-03 1.44948521e+02] [ 1.85206103e-01 9.82697599e-01 -2.03198333e-03 9.15029602e+00] [ 9.81621255e-03 2.17628404e-04 9.99951796e-01 3.71907567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.245336195 meters 0.032758866596229015 Centerline is valid? [True, True] Translation: X:144.97, Y:9.16, Z:0.03 [[ 9.82861281e-01 -1.84085641e-01 -9.80709897e-03 1.44974577e+02] [ 1.84074096e-01 9.82910180e-01 -2.07481391e-03 9.16241960e+00] [ 1.00214409e-02 2.34021374e-04 9.99949757e-01 3.29118810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.275336195 meters 0.03346034758995664 Centerline is valid? [True, True] Translation: X:145.00, Y:9.17, Z:0.04 [[ 9.83405558e-01 -1.81177091e-01 -9.40058692e-03 1.45003779e+02] [ 1.81166353e-01 9.83450455e-01 -1.98855989e-03 9.16728606e+00] [ 9.60529298e-03 2.52490796e-04 9.99953836e-01 3.54809620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.305336195 meters 0.03850837957649494 Centerline is valid? [True, True] Translation: X:145.03, Y:9.18, Z:0.04 [[ 9.84104498e-01 -1.77401526e-01 -8.18752025e-03 1.45030824e+02] [ 1.77393247e-01 9.84138524e-01 -1.73236050e-03 9.17749104e+00] [ 8.36497750e-03 2.52412957e-04 9.99964981e-01 3.71263997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.335336195 meters 0.03850837957649494 Centerline is valid? [True, True] Translation: X:145.06, Y:9.18, Z:0.04 [[ 9.84071727e-01 -1.77583249e-01 -8.18697204e-03 1.45057670e+02] [ 1.77574955e-01 9.84105749e-01 -1.73495060e-03 9.18337687e+00] [ 8.36494441e-03 2.53514640e-04 9.99964981e-01 3.69241179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.365336195 meters 0.04001056826727036 Centerline is valid? [True, True] Translation: X:145.09, Y:9.19, Z:0.04 [[ 9.84892665e-01 -1.73028835e-01 -6.88922053e-03 1.45086548e+02] [ 1.73022857e-01 9.84916729e-01 -1.45894439e-03 9.19202269e+00] [ 7.03774800e-03 2.44911008e-04 9.99975205e-01 4.07971935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.395336195 meters 0.042448911616385386 Centerline is valid? [True, True] Translation: X:145.12, Y:9.20, Z:0.04 [[ 9.85261938e-01 -1.70927572e-01 -6.53284250e-03 1.45115541e+02] [ 1.70922149e-01 9.85283565e-01 -1.38373012e-03 9.19986346e+00] [ 6.67321998e-03 2.46729139e-04 9.99977703e-01 4.08738594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.425336195 meters 0.04713582054318919 Centerline is valid? [True, True] Translation: X:145.14, Y:9.21, Z:0.04 [[ 9.85789257e-01 -1.67822651e-01 -7.42283991e-03 1.45143920e+02] [ 1.67815562e-01 9.85817156e-01 -1.57219249e-03 9.20680437e+00] [ 7.58141244e-03 3.04182412e-04 9.99971214e-01 3.85813482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.455336195 meters 0.04793540267660165 Centerline is valid? [True, True] Translation: X:145.17, Y:9.21, Z:0.04 [[ 9.85867552e-01 -1.67352899e-01 -7.62732862e-03 1.45171890e+02] [ 1.67345381e-01 9.85897006e-01 -1.61796616e-03 9.21333677e+00] [ 7.79053178e-03 3.18702122e-04 9.99969603e-01 3.75223930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.485336195 meters 0.048877615517637536 Centerline is valid? [True, True] Translation: X:145.20, Y:9.22, Z:0.03 [[ 9.85865953e-01 -1.67289554e-01 -9.08448739e-03 1.45199625e+02] [ 1.67278875e-01 9.85907734e-01 -1.92837202e-03 9.22242848e+00] [ 9.27906287e-03 3.81473496e-04 9.99956876e-01 3.32648882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.515336195 meters 0.04862460552619867 Centerline is valid? [True, True] Translation: X:145.23, Y:9.23, Z:0.03 [[ 9.85776750e-01 -1.67792638e-01 -9.47787045e-03 1.45226764e+02] [ 1.67781018e-01 9.85822233e-01 -2.01385296e-03 9.22874879e+00] [ 9.68140511e-03 3.95002670e-04 9.99953056e-01 3.22077646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.545336195 meters 0.047344974986954835 Centerline is valid? [True, True] Translation: X:145.26, Y:9.23, Z:0.03 [[ 9.85645872e-01 -1.68621710e-01 -8.30261002e-03 1.45255581e+02] [ 1.68612826e-01 9.85680782e-01 -1.76366096e-03 9.23200088e+00] [ 8.48111467e-03 3.38418602e-04 9.99963977e-01 3.38384629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.575336195 meters 0.04737482981586136 Centerline is valid? [True, True] Translation: X:145.28, Y:9.24, Z:0.03 [[ 9.85507627e-01 -1.69442082e-01 -8.00615158e-03 1.45283194e+02] [ 1.69433844e-01 9.85540095e-01 -1.70126970e-03 9.23555237e+00] [ 8.17865007e-03 3.20101224e-04 9.99966503e-01 3.35213066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.605336195 meters 0.044457107193828935 Centerline is valid? [True, True] Translation: X:145.31, Y:9.23, Z:0.03 [[ 9.85143640e-01 -1.71501565e-01 -8.90063097e-03 1.45312793e+02] [ 1.71491463e-01 9.85183790e-01 -1.89164592e-03 9.23474164e+00] [ 9.09317758e-03 3.37160719e-04 9.99958599e-01 3.34042463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.635336195 meters 0.03832634043741082 Centerline is valid? [True, True] Translation: X:145.34, Y:9.24, Z:0.04 [[ 9.84797740e-01 -1.73521411e-01 -7.98315930e-03 1.45343342e+02] [ 1.73513352e-01 9.84830056e-01 -1.69653521e-03 9.23634704e+00] [ 8.15644040e-03 2.85559314e-04 9.99966695e-01 3.71968779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.665336195 meters 0.041244705737765966 Centerline is valid? [True, True] Translation: X:145.37, Y:9.25, Z:0.03 [[ 9.84672632e-01 -1.74230118e-01 -7.97957996e-03 1.45369450e+02] [ 1.74222083e-01 9.84704924e-01 -1.69664948e-03 9.24677713e+00] [ 8.15313912e-03 2.80425268e-04 9.99966723e-01 3.44927131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.695336195 meters 0.036811188622205414 Centerline is valid? [True, True] Translation: X:145.40, Y:9.24, Z:0.04 [[ 9.84309574e-01 -1.76258570e-01 -8.22065580e-03 1.45399389e+02] [ 1.76250110e-01 9.84343864e-01 -1.74821763e-03 9.24388644e+00] [ 8.40009044e-03 2.71895861e-04 9.99964682e-01 3.50208127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.725336195 meters 0.035731150007930604 Centerline is valid? [True, True] Translation: X:145.43, Y:9.24, Z:0.04 [[ 9.83819992e-01 -1.79041261e-01 -6.51533161e-03 1.45428790e+02] [ 1.79036008e-01 9.83841546e-01 -1.38561841e-03 9.24481113e+00] [ 6.65813679e-03 1.96720131e-04 9.99977815e-01 3.65642020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.755336195 meters 0.03214329220167473 Centerline is valid? [True, True] Translation: X:145.46, Y:9.25, Z:0.04 [[ 9.83547111e-01 -1.80537556e-01 -6.42432308e-03 1.45457811e+02] [ 1.80532466e-01 9.83568074e-01 -1.36850875e-03 9.24579608e+00] [ 6.56582631e-03 1.86193940e-04 9.99978427e-01 3.82283824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.785336195 meters 0.030040339818530187 Centerline is valid? [True, True] Translation: X:145.49, Y:9.25, Z:0.04 [[ 9.83160351e-01 -1.82593922e-01 -7.42865084e-03 1.45486915e+02] [ 1.82587166e-01 9.83188395e-01 -1.58341423e-03 9.24979691e+00] [ 7.59288511e-03 2.00373786e-04 9.99971154e-01 3.66165836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81533619500001 meters 0.030471334215945063 Centerline is valid? [True, True] Translation: X:145.51, Y:9.26, Z:0.04 [[ 9.83064741e-01 -1.83090992e-01 -7.83601523e-03 1.45514545e+02] [ 1.83083493e-01 9.83095949e-01 -1.66993841e-03 9.25559867e+00] [ 8.00930551e-03 2.07012526e-04 9.99967904e-01 3.50230416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84533619500002 meters 0.02969036947442925 Centerline is valid? [True, True] Translation: X:145.54, Y:9.26, Z:0.03 [[ 9.82973922e-01 -1.83538946e-01 -8.70193614e-03 1.45544513e+02] [ 1.83529695e-01 9.83012413e-01 -1.85681787e-03 9.25535411e+00] [ 8.89490963e-03 2.28139854e-04 9.99960413e-01 3.28167709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87533619500002 meters 0.030275692321559966 Centerline is valid? [True, True] Translation: X:145.57, Y:9.26, Z:0.03 [[ 9.83048984e-01 -1.83165007e-01 -8.07932040e-03 1.45571515e+02] [ 1.83157012e-01 9.83082160e-01 -1.72490589e-03 9.25937354e+00] [ 8.25857816e-03 2.15882798e-04 9.99965874e-01 3.45691276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90533619500002 meters 0.030639069780671862 Centerline is valid? [True, True] Translation: X:145.60, Y:9.27, Z:0.03 [[ 9.83038789e-01 -1.83234244e-01 -7.74286534e-03 1.45599226e+02] [ 1.83226886e-01 9.83069259e-01 -1.65514364e-03 9.26568947e+00] [ 7.91505188e-03 2.08369295e-04 9.99968654e-01 3.48557721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93533619500002 meters 0.030293731673032082 Centerline is valid? [True, True] Translation: X:145.63, Y:9.27, Z:0.03 [[ 9.82939567e-01 -1.83755835e-01 -7.97500682e-03 1.45627831e+02] [ 1.83748034e-01 9.82971896e-01 -1.70635250e-03 9.26792830e+00] [ 8.15275981e-03 2.11849556e-04 9.99966743e-01 3.44199879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96533619500002 meters 0.03268668443382299 Centerline is valid? [True, True] Translation: X:145.66, Y:9.27, Z:0.03 [[ 9.82892694e-01 -1.84035371e-01 -7.27558825e-03 1.45655264e+02] [ 1.84028886e-01 9.82919603e-01 -1.55672973e-03 9.27461516e+00] [ 7.43781165e-03 1.91179883e-04 9.99972321e-01 3.30190027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.995336195 meters 0.029935763364523915 Centerline is valid? [True, True] Translation: X:145.68, Y:9.28, Z:0.04 [[ 9.82971688e-01 -1.83639916e-01 -6.56064318e-03 1.45683563e+02] [ 1.83634620e-01 9.82993565e-01 -1.40596098e-03 9.27715552e+00] [ 6.70726059e-03 1.77258621e-04 9.99977490e-01 3.71161100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.025336195 meters 0.03477930627552295 Centerline is valid? [True, True] Translation: X:145.71, Y:9.29, Z:0.03 [[ 9.83231717e-01 -1.82198434e-01 -7.68904774e-03 1.45710273e+02] [ 1.82191122e-01 9.83261757e-01 -1.64682777e-03 9.28748260e+00] [ 7.86039603e-03 2.18337061e-04 9.99969083e-01 3.23462464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.055336195 meters 0.03502216285927353 Centerline is valid? [True, True] Translation: X:145.74, Y:9.29, Z:0.03 [[ 9.83349904e-01 -1.81524967e-01 -8.46475331e-03 1.45739217e+02] [ 1.81516061e-01 9.83386305e-01 -1.81525738e-03 9.29088475e+00] [ 8.65363702e-03 2.48544493e-04 9.99962526e-01 3.13806549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.085336195 meters 0.035279155471859246 Centerline is valid? [True, True] Translation: X:145.77, Y:9.29, Z:0.03 [[ 9.83771029e-01 -1.79181144e-01 -9.41698392e-03 1.45768825e+02] [ 1.79170021e-01 9.83816054e-01 -2.01871740e-03 9.29312473e+00] [ 9.62629606e-03 2.98714485e-04 9.99953622e-01 3.26444504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.115336195 meters 0.04019970551107202 Centerline is valid? [True, True] Translation: X:145.79, Y:9.31, Z:0.03 [[ 9.84023178e-01 -1.77788077e-01 -9.47545034e-03 1.45794149e+02] [ 1.77776735e-01 9.84068748e-01 -2.03283090e-03 9.30547512e+00] [ 9.68590765e-03 3.15838092e-04 9.99953041e-01 3.05253847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.145336195 meters 0.04547489065368646 Centerline is valid? [True, True] Translation: X:145.82, Y:9.32, Z:0.03 [[ 9.84468403e-01 -1.75374505e-01 -8.10841650e-03 1.45819341e+02] [ 1.75366118e-01 9.84501751e-01 -1.73960688e-03 9.32233767e+00] [ 8.28783294e-03 2.90646486e-04 9.99965613e-01 3.09011739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.175336195 meters 0.04310373479717212 Centerline is valid? [True, True] Translation: X:145.85, Y:9.33, Z:0.03 [[ 9.84494123e-01 -1.75272950e-01 -7.12135891e-03 1.45846960e+02] [ 1.75266460e-01 9.84519845e-01 -1.53029888e-03 9.32650032e+00] [ 7.27933917e-03 2.58434889e-04 9.99973472e-01 3.38718265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.205336195 meters 0.038447782534468 Centerline is valid? [True, True] Translation: X:145.88, Y:9.32, Z:0.04 [[ 9.84288177e-01 -1.76487541e-01 -5.37890572e-03 1.45876613e+02] [ 1.76483859e-01 9.84302856e-01 -1.15544712e-03 9.32418932e+00] [ 5.49839429e-03 1.88002899e-04 9.99984866e-01 3.79128429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.235336195 meters 0.036496732253516 Centerline is valid? [True, True] Translation: X:145.91, Y:9.33, Z:0.04 [[ 9.84023313e-01 -1.77971679e-01 -4.91953469e-03 1.45905916e+02] [ 1.77968608e-01 9.84035596e-01 -1.05855576e-03 9.32650507e+00] [ 5.02939020e-03 1.66120806e-04 9.99987339e-01 3.91909651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.265336195 meters 0.035790790975495784 Centerline is valid? [True, True] Translation: X:145.93, Y:9.33, Z:0.04 [[ 9.83467104e-01 -1.81004235e-01 -5.47015795e-03 1.45934368e+02] [ 1.81000490e-01 9.83482302e-01 -1.17611719e-03 9.32953048e+00] [ 5.59268573e-03 1.66571297e-04 9.99984347e-01 3.64794888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.295336195 meters 0.030582005325026737 Centerline is valid? [True, True] Translation: X:145.97, Y:9.33, Z:0.04 [[ 9.82809282e-01 -1.84564075e-01 -4.69221237e-03 1.45965135e+02] [ 1.84561360e-01 9.82820475e-01 -1.00891806e-03 9.32728645e+00] [ 4.79781242e-03 1.25572938e-04 9.99988483e-01 3.76076488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.325336195 meters 0.030770675406534623 Centerline is valid? [True, True] Translation: X:145.99, Y:9.33, Z:0.04 [[ 9.82450458e-01 -1.86462203e-01 -4.79006808e-03 1.45992769e+02] [ 1.86459387e-01 9.82462128e-01 -1.03186424e-03 9.33333169e+00] [ 4.89846416e-03 1.20602334e-04 9.99987995e-01 3.59724149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.355336195 meters 0.02700669738197459 Centerline is valid? [True, True] Translation: X:146.02, Y:9.33, Z:0.03 [[ 9.81881621e-01 -1.89410321e-01 -5.67564621e-03 1.46022156e+02] [ 1.89406421e-01 9.81898017e-01 -1.22177987e-03 9.33369329e+00] [ 5.80432347e-03 1.24639361e-04 9.99983147e-01 3.44533672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.385336195 meters 0.026193986459062443 Centerline is valid? [True, True] Translation: X:146.05, Y:9.34, Z:0.03 [[ 9.81641750e-01 -1.90632690e-01 -6.21710064e-03 1.46050677e+02] [ 1.90628023e-01 9.81661429e-01 -1.34023993e-03 9.33724379e+00] [ 6.35858144e-03 1.30481868e-04 9.99979776e-01 3.32217745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.415336195 meters 0.024503787947193045 Centerline is valid? [True, True] Translation: X:146.08, Y:9.34, Z:0.03 [[ 9.81509738e-01 -1.91261494e-01 -7.59441251e-03 1.46079593e+02] [ 1.91254541e-01 9.81539106e-01 -1.63826908e-03 9.33909811e+00] [ 7.76755066e-03 1.55511178e-04 9.99969820e-01 3.30047740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.445336195 meters 0.028485578730301483 Centerline is valid? [True, True] Translation: X:146.11, Y:9.35, Z:0.03 [[ 9.81832294e-01 -1.89569739e-01 -8.28615010e-03 1.46106173e+02] [ 1.89561404e-01 9.81867242e-01 -1.78707650e-03 9.34822676e+00] [ 8.47467497e-03 1.83875172e-04 9.99964072e-01 2.93352230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.475336195 meters 0.0295858138390655 Centerline is valid? [True, True] Translation: X:146.13, Y:9.35, Z:0.03 [[ 9.82024476e-01 -1.88594217e-01 -7.75560037e-03 1.46134537e+02] [ 1.88586869e-01 9.82055084e-01 -1.67477333e-03 9.35493624e+00] [ 7.93227934e-03 1.82064010e-04 9.99968522e-01 3.03219728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.505336195 meters 0.0290305879208377 Centerline is valid? [True, True] Translation: X:146.16, Y:9.36, Z:0.03 [[ 9.82503369e-01 -1.86121289e-01 -6.78197561e-03 1.46162487e+02] [ 1.86115612e-01 9.82526760e-01 -1.46435114e-03 9.36009127e+00] [ 6.93601944e-03 1.76498389e-04 9.99975930e-01 3.48914918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.535336195 meters 0.03285481691579203 Centerline is valid? [True, True] Translation: X:146.19, Y:9.37, Z:0.04 [[ 9.82798496e-01 -1.84584612e-01 -5.96964236e-03 1.46188076e+02] [ 1.84580183e-01 9.82816612e-01 -1.28938737e-03 9.37205346e+00] [ 6.10506475e-03 1.65330296e-04 9.99981350e-01 3.50513143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56533619500001 meters 0.03511945203844498 Centerline is valid? [True, True] Translation: X:146.22, Y:9.38, Z:0.04 [[ 9.83355225e-01 -1.81638367e-01 -4.47276395e-03 1.46215781e+02] [ 1.81635850e-01 9.83365387e-01 -9.66022060e-04 9.38362709e+00] [ 4.57382793e-03 1.37528557e-04 9.99989531e-01 3.74076717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59533619500002 meters 0.03829181369886242 Centerline is valid? [True, True] Translation: X:146.24, Y:9.39, Z:0.04 [[ 9.83494918e-01 -1.80887293e-01 -4.18740221e-03 1.46242243e+02] [ 1.80885078e-01 9.83503823e-01 -9.04925642e-04 9.39317475e+00] [ 4.28201563e-03 1.32551194e-04 9.99990823e-01 3.63059263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62533619500002 meters 0.033604438656216734 Centerline is valid? [True, True] Translation: X:146.27, Y:9.39, Z:0.04 [[ 9.83275073e-01 -1.82079572e-01 -4.14238154e-03 1.46272014e+02] [ 1.82077409e-01 9.83283791e-01 -8.96771570e-04 9.39145079e+00] [ 4.23642040e-03 1.27539035e-04 9.99991018e-01 3.73001681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65533619500002 meters 0.03311104056186311 Centerline is valid? [True, True] Translation: X:146.30, Y:9.40, Z:0.04 [[ 9.83049724e-01 -1.83283105e-01 -4.53261904e-03 1.46299286e+02] [ 1.83280528e-01 9.83060164e-01 -9.80943682e-04 9.39540000e+00] [ 4.63562762e-03 1.33575603e-04 9.99989246e-01 3.60644864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68533619500002 meters 0.02961663376116398 Centerline is valid? [True, True] Translation: X:146.33, Y:9.40, Z:0.04 [[ 9.82489130e-01 -1.86258250e-01 -4.79308206e-03 1.46328583e+02] [ 1.86255398e-01 9.82500813e-01 -1.03857722e-03 9.39793674e+00] [ 4.90265060e-03 1.27653423e-04 9.99987974e-01 3.60077223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71533619500002 meters 0.026368723462281057 Centerline is valid? [True, True] Translation: X:146.36, Y:9.40, Z:0.04 [[ 9.81967970e-01 -1.88995400e-01 -4.43218783e-03 1.46357612e+02] [ 1.88992992e-01 9.81977967e-01 -9.59878057e-04 9.40120876e+00] [ 4.53372334e-03 1.04917069e-04 9.99989717e-01 3.62756287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.745336195 meters 0.028378990606492523 Centerline is valid? [True, True] Translation: X:146.38, Y:9.41, Z:0.03 [[ 9.81771861e-01 -1.89996716e-01 -5.02603852e-03 1.46384323e+02] [ 1.89993630e-01 9.81784719e-01 -1.08884995e-03 9.40776693e+00] [ 5.14136573e-03 1.14086942e-04 9.99986777e-01 3.28538182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.775336195 meters 0.02785522175073619 Centerline is valid? [True, True] Translation: X:146.41, Y:9.41, Z:0.03 [[ 9.81682240e-01 -1.90425816e-01 -6.16343254e-03 1.46414429e+02] [ 1.90421173e-01 9.81701579e-01 -1.33698698e-03 9.40672241e+00] [ 6.30524829e-03 1.38848318e-04 9.99980112e-01 3.10901623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.805336195 meters 0.027558335966430692 Centerline is valid? [True, True] Translation: X:146.44, Y:9.41, Z:0.03 [[ 9.81675918e-01 -1.90469742e-01 -5.80254856e-03 1.46442146e+02] [ 1.90465619e-01 9.81693058e-01 -1.26010402e-03 9.41095733e+00] [ 5.93633333e-03 1.31827765e-04 9.99982371e-01 3.22722938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.835336195 meters 0.029380746186980132 Centerline is valid? [True, True] Translation: X:146.47, Y:9.42, Z:0.03 [[ 9.81950674e-01 -1.89079469e-01 -4.67203767e-03 1.46468414e+02] [ 1.89076782e-01 9.81961782e-01 -1.01418166e-03 9.42038995e+00] [ 4.77952337e-03 1.12502514e-04 9.99988572e-01 3.39340856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.865336195 meters 0.03191449094534453 Centerline is valid? [True, True] Translation: X:146.50, Y:9.43, Z:0.03 [[ 9.82285960e-01 -1.87301509e-01 -5.69546357e-03 1.46495690e+02] [ 1.87297488e-01 9.82302460e-01 -1.23611743e-03 9.43309046e+00] [ 5.82619454e-03 1.47474782e-04 9.99983017e-01 3.17685013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.895336195 meters 0.029289195671897434 Centerline is valid? [True, True] Translation: X:146.52, Y:9.44, Z:0.03 [[ 9.82391436e-01 -1.86738755e-01 -5.97527116e-03 1.46524623e+02] [ 1.86734305e-01 9.82409595e-01 -1.29903764e-03 9.43658778e+00] [ 6.11274439e-03 1.60375344e-04 9.99981304e-01 3.32645563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.925336195 meters 0.02968983912423298 Centerline is valid? [True, True] Translation: X:146.55, Y:9.44, Z:0.04 [[ 9.82481538e-01 -1.86313185e-01 -4.17427190e-03 1.46552289e+02] [ 1.86311004e-01 9.82490399e-01 -9.08928204e-04 9.43950776e+00] [ 4.27052737e-03 1.15292391e-04 9.99990875e-01 3.57159884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.955336195 meters 0.032464138909585265 Centerline is valid? [True, True] Translation: X:146.58, Y:9.45, Z:0.03 [[ 9.82434610e-01 -1.86565395e-01 -3.94847759e-03 1.46578908e+02] [ 1.86563448e-01 9.82442539e-01 -8.59076065e-04 9.44683057e+00] [ 4.03942621e-03 1.07344466e-04 9.99991836e-01 3.45702879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.985336195 meters 0.0290057187871975 Centerline is valid? [True, True] Translation: X:146.61, Y:9.45, Z:0.04 [[ 9.82232197e-01 -1.87625510e-01 -4.07182205e-03 1.46608083e+02] [ 1.87623443e-01 9.82240631e-01 -8.87446893e-04 9.44721171e+00] [ 4.16601674e-03 1.07709641e-04 9.99991316e-01 3.57515233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.015336195 meters 0.02758007997194568 Centerline is valid? [True, True] Translation: X:146.64, Y:9.45, Z:0.04 [[ 9.82017518e-01 -1.88781475e-01 -1.77429301e-03 1.46636345e+02] [ 1.88781085e-01 9.82019120e-01 -3.86601719e-04 9.45145632e+00] [ 1.81537290e-03 4.46967025e-05 9.99998351e-01 3.95234221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.045336195 meters 0.02957666664457533 Centerline is valid? [True, True] Translation: X:146.66, Y:9.46, Z:0.04 [[ 9.81954194e-01 -1.89112095e-01 -1.60521601e-03 1.46662608e+02] [ 1.89111776e-01 9.81955505e-01 -3.49987268e-04 9.46015398e+00] [ 1.64243753e-03 4.01062152e-05 9.99998650e-01 3.83040811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.075336195 meters 0.03151725196102775 Centerline is valid? [True, True] Translation: X:146.69, Y:9.47, Z:0.03 [[ 9.81872663e-01 -1.89498804e-01 -4.03455555e-03 1.46689435e+02] [ 1.89496790e-01 9.81880947e-01 -8.79195359e-04 9.46662711e+00] [ 4.12805969e-03 9.87225632e-05 9.99991475e-01 3.12434314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.105336195 meters 0.027390714995714327 Centerline is valid? [True, True] Translation: X:146.72, Y:9.47, Z:0.03 [[ 9.81841186e-01 -1.89656947e-01 -4.25768382e-03 1.46718330e+02] [ 1.89654698e-01 9.81850412e-01 -9.29686122e-04 9.46603549e+00] [ 4.35673004e-03 1.05314386e-04 9.99990504e-01 3.31237792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.135336195 meters 0.030396333113605876 Centerline is valid? [True, True] Translation: X:146.74, Y:9.48, Z:0.03 [[ 9.82036098e-01 -1.88650277e-01 -4.02194615e-03 1.46744528e+02] [ 1.88648262e-01 9.82044328e-01 -8.77889119e-04 9.47557164e+00] [ 4.11534343e-03 1.03385653e-04 9.99991527e-01 3.28626955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.165336195 meters 0.03265155213925957 Centerline is valid? [True, True] Translation: X:146.77, Y:9.49, Z:0.03 [[ 9.82286632e-01 -1.87335093e-01 -4.30518403e-03 1.46770678e+02] [ 1.87332773e-01 9.82296060e-01 -9.39684643e-04 9.48509451e+00] [ 4.40500122e-03 1.16537602e-04 9.99990291e-01 3.18263110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.195336195 meters 0.0328356151326646 Centerline is valid? [True, True] Translation: X:146.80, Y:9.49, Z:0.03 [[ 9.82368857e-01 -1.86898957e-01 -4.49531771e-03 1.46799149e+02] [ 1.86896415e-01 9.82379135e-01 -9.82739275e-04 9.49139856e+00] [ 4.59977926e-03 1.25253696e-04 9.99989413e-01 3.22751861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.225336195 meters 0.03451517024203476 Centerline is valid? [True, True] Translation: X:146.83, Y:9.50, Z:0.03 [[ 9.82469938e-01 -1.86325895e-01 -5.95672317e-03 1.46825023e+02] [ 1.86321426e-01 9.82487981e-01 -1.30154764e-03 9.50141578e+00] [ 6.09492095e-03 1.68866273e-04 9.99981412e-01 2.91641637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.255336195 meters 0.03451517024203476 Centerline is valid? [True, True] Translation: X:146.85, Y:9.51, Z:0.03 [[ 9.82435383e-01 -1.86508016e-01 -5.95630059e-03 1.46851840e+02] [ 1.86503538e-01 9.82453424e-01 -1.30348135e-03 9.50747494e+00] [ 6.09489763e-03 1.69715065e-04 9.99981412e-01 2.89618239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.285336195 meters 0.03177684045366916 Centerline is valid? [True, True] Translation: X:146.88, Y:9.51, Z:0.03 [[ 9.82364538e-01 -1.86885637e-01 -5.80281107e-03 1.46880734e+02] [ 1.86881388e-01 9.82381663e-01 -1.27083459e-03 9.51143283e+00] [ 5.93807592e-03 1.63985445e-04 9.99982356e-01 3.01919714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31533619500001 meters 0.028983370919626494 Centerline is valid? [True, True] Translation: X:146.91, Y:9.51, Z:0.03 [[ 9.82075937e-01 -1.88437977e-01 -4.24053507e-03 1.46910432e+02] [ 1.88435724e-01 9.82085086e-01 -9.28347287e-04 9.51159053e+00] [ 4.33950213e-03 1.12639236e-04 9.99990578e-01 3.23751374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34533619500002 meters 0.030453289208005045 Centerline is valid? [True, True] Translation: X:146.94, Y:9.51, Z:0.03 [[ 9.81675574e-01 -1.90490413e-01 -5.14482963e-03 1.46937873e+02] [ 1.90487122e-01 9.81689048e-01 -1.12665433e-03 9.51461210e+00] [ 5.26523975e-03 1.25985243e-04 9.99986131e-01 2.82870749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37533619500002 meters 0.02814916702579132 Centerline is valid? [True, True] Translation: X:146.97, Y:9.52, Z:0.03 [[ 9.81462195e-01 -1.91556634e-01 -6.16570538e-03 1.46966617e+02] [ 1.91551919e-01 9.81481551e-01 -1.35197806e-03 9.51700028e+00] [ 6.31050645e-03 1.45862660e-04 9.99980078e-01 2.67873042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40533619500002 meters 0.025264836402593797 Centerline is valid? [True, True] Translation: X:147.00, Y:9.52, Z:0.03 [[ 9.81059066e-01 -1.93623473e-01 -5.74972853e-03 1.46996147e+02] [ 1.93619402e-01 9.81075907e-01 -1.26172712e-03 9.51863944e+00] [ 5.88522012e-03 1.24569829e-04 9.99982674e-01 2.76025920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43533619500002 meters 0.025889615948354032 Centerline is valid? [True, True] Translation: X:147.02, Y:9.53, Z:0.03 [[ 9.80890653e-01 -1.94504152e-01 -4.65431307e-03 1.47022924e+02] [ 1.94501495e-01 9.80901690e-01 -1.02113804e-03 9.52563712e+00] [ 4.76403914e-03 9.63539097e-05 9.99988647e-01 2.87943479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46533619500002 meters 0.025863615236769336 Centerline is valid? [True, True] Translation: X:147.05, Y:9.53, Z:0.03 [[ 9.80859823e-01 -1.94645942e-01 -5.19271543e-03 1.47051176e+02] [ 1.94642629e-01 9.80873562e-01 -1.14088573e-03 9.53227096e+00] [ 5.31546606e-03 1.08325197e-04 9.99985867e-01 2.82176451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.495336195 meters 0.025997727604164453 Centerline is valid? [True, True] Translation: X:147.08, Y:9.54, Z:0.03 [[ 9.80889114e-01 -1.94464819e-01 -6.32301772e-03 1.47079442e+02] [ 1.94459904e-01 9.80909484e-01 -1.38896549e-03 9.53562508e+00] [ 6.47241297e-03 1.32847708e-04 9.99979045e-01 2.60420618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.525336195 meters 0.027515467543837463 Centerline is valid? [True, True] Translation: X:147.11, Y:9.54, Z:0.03 [[ 9.81119052e-01 -1.93317931e-01 -5.79508525e-03 1.47107524e+02] [ 1.93313781e-01 9.81136158e-01 -1.27318334e-03 9.53625833e+00] [ 5.93189684e-03 1.28874586e-04 9.99982398e-01 2.63270039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.555336195 meters 0.028995967375780574 Centerline is valid? [True, True] Translation: X:147.14, Y:9.54, Z:0.03 [[ 9.81467080e-01 -1.91571725e-01 -4.75873439e-03 1.47135599e+02] [ 1.91568898e-01 9.81478609e-01 -1.04719120e-03 9.54381410e+00] [ 4.87120824e-03 1.16158184e-04 9.99988129e-01 2.85829048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.585336195 meters 0.028838552739435575 Centerline is valid? [True, True] Translation: X:147.16, Y:9.55, Z:0.03 [[ 9.81637619e-01 -1.90692656e-01 -4.88837629e-03 1.47163968e+02] [ 1.90689658e-01 9.81649782e-01 -1.07657729e-03 9.55087304e+00] [ 5.00396891e-03 1.24645966e-04 9.99987472e-01 2.89789900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.615336195 meters 0.03237411129700912 Centerline is valid? [True, True] Translation: X:147.19, Y:9.56, Z:0.03 [[ 9.81879235e-01 -1.89428894e-01 -5.46457125e-03 1.47189701e+02] [ 1.89425131e-01 9.81894430e-01 -1.20300844e-03 9.56058669e+00] [ 5.59351663e-03 1.46081884e-04 9.99984345e-01 2.65668483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.645336195 meters 0.03186406668163694 Centerline is valid? [True, True] Translation: X:147.22, Y:9.57, Z:0.03 [[ 9.81895170e-01 -1.89386876e-01 -3.80600706e-03 1.47218158e+02] [ 1.89385044e-01 9.81902541e-01 -8.39389389e-04 9.56575978e+00] [ 3.89609733e-03 1.03391574e-04 9.99992405e-01 2.96253829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.675336195 meters 0.03206700099514153 Centerline is valid? [True, True] Translation: X:147.25, Y:9.57, Z:0.03 [[ 9.81875484e-01 -1.89494965e-01 -3.49176838e-03 1.47245434e+02] [ 1.89493426e-01 9.81881688e-01 -7.69603854e-04 9.57164110e+00] [ 3.57433948e-03 9.39880048e-05 9.99993608e-01 2.99979713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.705336195 meters 0.031700907640303234 Centerline is valid? [True, True] Translation: X:147.27, Y:9.57, Z:0.03 [[ 9.81689728e-01 -1.90442871e-01 -4.09773619e-03 1.47274537e+02] [ 1.90440753e-01 9.81698274e-01 -9.04557819e-04 9.57214325e+00] [ 4.19500713e-03 1.07619154e-04 9.99991195e-01 2.85110726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.735336195 meters 0.03311153204006429 Centerline is valid? [True, True] Translation: X:147.30, Y:9.58, Z:0.03 [[ 9.81607567e-01 -1.90856411e-01 -4.51833853e-03 1.47301396e+02] [ 1.90853842e-01 9.81617959e-01 -9.97050174e-04 9.57585244e+00] [ 4.62557566e-03 1.16369727e-04 9.99989295e-01 2.72469073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.765336195 meters 0.031169257876441963 Centerline is valid? [True, True] Translation: X:147.33, Y:9.58, Z:0.03 [[ 9.81655923e-01 -1.90613636e-01 -4.25326308e-03 1.47330305e+02] [ 1.90611351e-01 9.81665131e-01 -9.39940388e-04 9.57751435e+00] [ 4.35444551e-03 1.11977827e-04 9.99990513e-01 2.90056565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.795336195 meters 0.02934139156026543 Centerline is valid? [True, True] Translation: X:147.36, Y:9.58, Z:0.03 [[ 9.81633190e-01 -1.90729660e-01 -4.29844534e-03 1.47358261e+02] [ 1.90727323e-01 9.81642595e-01 -9.50996573e-04 9.58236093e+00] [ 4.40092029e-03 1.13698826e-04 9.99990309e-01 2.95853284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.825336195 meters 0.03001622555600246 Centerline is valid? [True, True] Translation: X:147.39, Y:9.59, Z:0.03 [[ 9.81739949e-01 -1.90151065e-01 -5.40788811e-03 1.47386472e+02] [ 1.90147355e-01 9.81754832e-01 -1.19686242e-03 9.58896714e+00] [ 5.53680495e-03 1.46712026e-04 9.99984661e-01 2.64903503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.855336195 meters 0.03026807935801554 Centerline is valid? [True, True] Translation: X:147.41, Y:9.60, Z:0.03 [[ 9.81869286e-01 -1.89511329e-01 -4.26158799e-03 1.47414532e+02] [ 1.89509014e-01 9.81878527e-01 -9.44211577e-04 9.59515299e+00] [ 4.36330053e-03 1.19483009e-04 9.99990474e-01 2.79662849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.885336195 meters 0.03302548147366183 Centerline is valid? [True, True] Translation: X:147.44, Y:9.60, Z:0.03 [[ 9.81917946e-01 -1.89255258e-01 -4.42656037e-03 1.47441632e+02] [ 1.89252761e-01 9.81927916e-01 -9.80166443e-04 9.60281707e+00] [ 4.53206485e-03 1.24704250e-04 9.99989722e-01 2.54874014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.915336195 meters 0.0321241939353909 Centerline is valid? [True, True] Translation: X:147.47, Y:9.60, Z:0.02 [[ 9.81955537e-01 -1.88965184e-01 -7.44866547e-03 1.47471818e+02] [ 1.88958091e-01 9.81983764e-01 -1.65116194e-03 9.60008706e+00] [ 7.62648068e-03 2.13882005e-04 9.99970895e-01 2.15894717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.945336195 meters 0.032484062687654816 Centerline is valid? [True, True] Translation: X:147.50, Y:9.60, Z:0.02 [[ 9.81979107e-01 -1.88808555e-01 -8.26814315e-03 1.47500955e+02] [ 1.88799799e-01 9.82013886e-01 -1.83414160e-03 9.60341542e+00] [ 8.46573301e-03 2.40064973e-04 9.99964136e-01 2.02351924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.975336195 meters 0.03631052389486522 Centerline is valid? [True, True] Translation: X:147.53, Y:9.61, Z:0.02 [[ 9.82293313e-01 -1.87143552e-01 -8.78285222e-03 1.47528723e+02] [ 1.87133611e-01 9.82332540e-01 -1.94757320e-03 9.60995089e+00] [ 8.99215729e-03 2.69521281e-04 9.99959533e-01 1.85788760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.005336195 meters 0.036701344824961304 Centerline is valid? [True, True] Translation: X:147.56, Y:9.62, Z:0.02 [[ 9.82410727e-01 -1.86528806e-01 -8.72736928e-03 1.47557113e+02] [ 1.86518945e-01 9.82449453e-01 -1.93773865e-03 9.61655722e+00] [ 8.93564325e-03 2.75835530e-04 9.99960038e-01 1.89363827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.035336195 meters 0.039293483911616925 Centerline is valid? [True, True] Translation: X:147.58, Y:9.63, Z:0.02 [[ 9.82696416e-01 -1.85019513e-01 -8.69103715e-03 1.47582559e+02] [ 1.85009675e-01 9.82734805e-01 -1.92960742e-03 9.62788322e+00] [ 8.89799972e-03 2.88292336e-04 9.99960370e-01 1.81210064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06533619500001 meters 0.037290229529548885 Centerline is valid? [True, True] Translation: X:147.61, Y:9.63, Z:0.02 [[ 9.82842645e-01 -1.84250787e-01 -8.48419642e-03 1.47610758e+02] [ 1.84241380e-01 9.82879221e-01 -1.88415369e-03 9.63161846e+00] [ 8.68609717e-03 2.88686549e-04 9.99962233e-01 1.99931603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09533619500002 meters 0.040443658700697965 Centerline is valid? [True, True] Translation: X:147.64, Y:9.64, Z:0.02 [[ 9.83282853e-01 -1.81962764e-01 -6.66214663e-03 1.47638012e+02] [ 1.81956907e-01 9.83305392e-01 -1.48002812e-03 9.63840821e+00] [ 6.82023471e-03 2.43062680e-04 9.99976712e-01 2.20834816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12533619500002 meters 0.04323027956174715 Centerline is valid? [True, True] Translation: X:147.67, Y:9.65, Z:0.03 [[ 9.83541592e-01 -1.80626935e-01 -4.45505972e-03 1.47665328e+02] [ 1.80624300e-01 9.83551667e-01 -9.90134526e-04 9.64574291e+00] [ 4.56062637e-03 1.69146444e-04 9.99989586e-01 2.50698354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15533619500002 meters 0.04330225339800713 Centerline is valid? [True, True] Translation: X:147.69, Y:9.65, Z:0.02 [[ 9.83539569e-01 -1.80627936e-01 -4.84401539e-03 1.47693202e+02] [ 1.80624820e-01 9.83551480e-01 -1.07682552e-03 9.65084912e+00] [ 4.95884328e-03 1.84151098e-04 9.99987688e-01 2.41263093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18533619500002 meters 0.042188230647330356 Centerline is valid? [True, True] Translation: X:147.72, Y:9.65, Z:0.02 [[ 9.83308518e-01 -1.81829379e-01 -6.51430376e-03 1.47722411e+02] [ 1.81823760e-01 9.83330066e-01 -1.44971063e-03 9.65435542e+00] [ 6.66931073e-03 2.41057603e-04 9.99977731e-01 2.04418124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21533619500002 meters 0.03858447691671434 Centerline is valid? [True, True] Translation: X:147.75, Y:9.65, Z:0.02 [[ 9.83012566e-01 -1.83451911e-01 -5.62952884e-03 1.47751884e+02] [ 1.83447743e-01 9.83028665e-01 -1.25246537e-03 9.65488453e+00] [ 5.76375539e-03 1.98464839e-04 9.99983370e-01 2.16566723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.245336195 meters 0.03747130948270853 Centerline is valid? [True, True] Translation: X:147.78, Y:9.66, Z:0.02 [[ 9.82828387e-01 -1.84438430e-01 -5.55217749e-03 1.47780497e+02] [ 1.84434381e-01 9.82844051e-01 -1.23712763e-03 9.65755398e+00] [ 5.68509849e-03 1.91871734e-04 9.99983821e-01 2.20882509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.275336195 meters 0.03688403555146251 Centerline is valid? [True, True] Translation: X:147.81, Y:9.66, Z:0.02 [[ 9.82517559e-01 -1.86053496e-01 -6.58356988e-03 1.47809377e+02] [ 1.86047832e-01 9.82539592e-01 -1.46784627e-03 9.65795756e+00] [ 6.74171599e-03 2.17325829e-04 9.99977251e-01 2.05602120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.305336195 meters 0.037430270214826346 Centerline is valid? [True, True] Translation: X:147.84, Y:9.66, Z:0.02 [[ 9.82346575e-01 -1.86948066e-01 -6.75475514e-03 1.47836984e+02] [ 1.86942128e-01 9.82369775e-01 -1.50558635e-03 9.66381906e+00] [ 6.91713374e-03 2.16259296e-04 9.99976053e-01 1.99409200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.335336195 meters 0.03547961356966597 Centerline is valid? [True, True] Translation: X:147.87, Y:9.67, Z:0.02 [[ 9.82041282e-01 -1.88569089e-01 -6.05143534e-03 1.47866436e+02] [ 1.88564343e-01 9.82059909e-01 -1.35052620e-03 9.66635361e+00] [ 6.19753953e-03 1.85187552e-04 9.99980778e-01 2.06186070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.365336195 meters 0.036180178931653616 Centerline is valid? [True, True] Translation: X:147.89, Y:9.67, Z:0.02 [[ 9.82046805e-01 -1.88553422e-01 -5.62854019e-03 1.47892245e+02] [ 1.88549316e-01 9.82062919e-01 -1.25617531e-03 9.67343917e+00] [ 5.76443676e-03 1.72365544e-04 9.99983371e-01 2.07388898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.395336195 meters 0.033837803678867726 Centerline is valid? [True, True] Translation: X:147.92, Y:9.68, Z:0.02 [[ 9.82043694e-01 -1.88565248e-01 -5.77331791e-03 1.47920784e+02] [ 1.88560919e-01 9.82060648e-01 -1.29013944e-03 9.67642124e+00] [ 5.91302379e-03 1.78351170e-04 9.99982502e-01 2.11439053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.425336195 meters 0.035024364192912355 Centerline is valid? [True, True] Translation: X:147.95, Y:9.68, Z:0.02 [[ 9.82098049e-01 -1.88208677e-01 -7.80486177e-03 1.47948859e+02] [ 1.88200759e-01 9.82129032e-01 -1.74334663e-03 9.67819828e+00] [ 7.99349430e-03 2.43256414e-04 9.99968022e-01 1.64957779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.455336195 meters 0.03546922935921089 Centerline is valid? [True, True] Translation: X:147.98, Y:9.68, Z:0.02 [[ 9.82222725e-01 -1.87550169e-01 -7.96571915e-03 1.47977551e+02] [ 1.87541883e-01 9.82254992e-01 -1.78148417e-03 9.68300924e+00] [ 8.15848505e-03 2.55908274e-04 9.99966686e-01 1.67412347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.485336195 meters 0.03819951503406716 Centerline is valid? [True, True] Translation: X:148.00, Y:9.69, Z:0.02 [[ 9.82650560e-01 -1.85377893e-01 -5.73696063e-03 1.48003756e+02] [ 1.85373559e-01 9.82667287e-01 -1.28293185e-03 9.69219541e+00] [ 5.87535075e-03 1.97192889e-04 9.99982721e-01 2.08031896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.515336195 meters 0.04283754850975218 Centerline is valid? [True, True] Translation: X:148.03, Y:9.70, Z:0.02 [[ 9.83074050e-01 -1.83126372e-01 -5.49044224e-03 1.48029925e+02] [ 1.83122366e-01 9.83089361e-01 -1.22799944e-03 9.70359904e+00] [ 5.62247444e-03 2.01791611e-04 9.99984173e-01 2.04738995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.545336195 meters 0.042542141941118355 Centerline is valid? [True, True] Translation: X:148.06, Y:9.71, Z:0.02 [[ 9.83231567e-01 -1.82266475e-01 -5.88368739e-03 1.48058168e+02] [ 1.82261848e-01 9.83249146e-01 -1.31781773e-03 9.71062269e+00] [ 6.02532460e-03 2.23348259e-04 9.99981823e-01 2.03861880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.575336195 meters 0.04631225187429396 Centerline is valid? [True, True] Translation: X:148.08, Y:9.72, Z:0.02 [[ 9.83579405e-01 -1.80344513e-01 -6.88559721e-03 1.48084956e+02] [ 1.80338135e-01 9.83603468e-01 -1.54129514e-03 9.72328578e+00] [ 7.05066141e-03 2.74250392e-04 9.99975106e-01 1.59243585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.605336195 meters 0.046090999792947056 Centerline is valid? [True, True] Translation: X:148.11, Y:9.73, Z:0.02 [[ 9.83724215e-01 -1.79557082e-01 -6.77665745e-03 1.48112746e+02] [ 1.79550881e-01 9.83747518e-01 -1.51749951e-03 9.72883134e+00] [ 6.93899773e-03 2.76046199e-04 9.99975887e-01 1.56784655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.635336195 meters 0.046504762650022825 Centerline is valid? [True, True] Translation: X:148.14, Y:9.73, Z:0.02 [[ 9.83733014e-01 -1.79500477e-01 -6.99541567e-03 1.48141553e+02] [ 1.79493854e-01 9.83757844e-01 -1.56845616e-03 9.73246210e+00] [ 7.16333367e-03 2.87307987e-04 9.99974302e-01 1.52417199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.665336195 meters 0.04132582054898687 Centerline is valid? [True, True] Translation: X:148.17, Y:9.73, Z:0.02 [[ 9.83513092e-01 -1.80653118e-01 -8.15166735e-03 1.48171534e+02] [ 1.80644154e-01 9.83546819e-01 -1.82901682e-03 9.73149514e+00] [ 8.34796408e-03 3.26310937e-04 9.99965102e-01 1.55689720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.695336195 meters 0.044286072252607896 Centerline is valid? [True, True] Translation: X:148.20, Y:9.75, Z:0.01 [[ 9.82941131e-01 -1.83684779e-01 -9.30780838e-03 1.48197924e+02] [ 1.83673235e-01 9.82985140e-01 -2.08758460e-03 9.74517935e+00] [ 9.53289484e-03 3.42377486e-04 9.99954502e-01 1.04019803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.725336195 meters 0.039821009703830006 Centerline is valid? [True, True] Translation: X:148.23, Y:9.75, Z:0.01 [[ 9.82715562e-01 -1.84880479e-01 -9.45156729e-03 1.48227370e+02] [ 1.84868608e-01 9.82760955e-01 -2.12222527e-03 9.74815185e+00] [ 9.68098932e-03 3.38245714e-04 9.99953081e-01 1.13134071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.755336195 meters 0.04158547704768905 Centerline is valid? [True, True] Translation: X:148.26, Y:9.75, Z:0.01 [[ 9.82328633e-01 -1.86923355e-01 -9.49297046e-03 1.48255087e+02] [ 1.86911478e-01 9.82374449e-01 -2.13118007e-03 9.75404343e+00] [ 9.72401895e-03 3.19174067e-04 9.99952670e-01 7.85708672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.785336195 meters 0.040159404663967654 Centerline is valid? [True, True] Translation: X:148.28, Y:9.76, Z:0.01 [[ 9.82077327e-01 -1.88260612e-01 -9.05906783e-03 1.48284452e+02] [ 1.88249831e-01 9.82119064e-01 -2.03609480e-03 9.75534046e+00] [ 9.28039967e-03 2.94234553e-04 9.99956893e-01 8.73803741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81533619500001 meters 0.03533788226156094 Centerline is valid? [True, True] Translation: X:148.32, Y:9.75, Z:0.01 [[ 9.81533247e-01 -1.91078603e-01 -9.02514397e-03 1.48316407e+02] [ 1.91068032e-01 9.81574703e-01 -2.02729736e-03 9.75143172e+00] [ 9.24622615e-03 2.65443261e-04 9.99957218e-01 1.10179523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84533619500002 meters 0.03375764848625329 Centerline is valid? [True, True] Translation: X:148.34, Y:9.76, Z:0.01 [[ 9.81269180e-01 -1.92452567e-01 -8.53265907e-03 1.48344844e+02] [ 1.92443147e-01 9.81306247e-01 -1.91934624e-03 9.75669359e+00] [ 8.74253477e-03 2.41343543e-04 9.99961754e-01 1.18919913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87533619500002 meters 0.03242350788497621 Centerline is valid? [True, True] Translation: X:148.37, Y:9.76, Z:0.01 [[ 9.80972252e-01 -1.93988152e-01 -7.87643344e-03 1.48371369e+02] [ 1.93980177e-01 9.81003850e-01 -1.77151312e-03 9.76494840e+00] [ 8.07046408e-03 2.09933260e-04 9.99967411e-01 1.22092788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90533619500002 meters 0.030489323484183428 Centerline is valid? [True, True] Translation: X:148.40, Y:9.77, Z:0.01 [[ 9.80853516e-01 -1.94588795e-01 -7.84735881e-03 1.48400148e+02] [ 1.94580880e-01 9.80884885e-01 -1.76715061e-03 9.76848787e+00] [ 8.04122335e-03 2.06369908e-04 9.99967648e-01 1.33488097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93533619500002 meters 0.02978595373267709 Centerline is valid? [True, True] Translation: X:148.43, Y:9.77, Z:0.02 [[ 9.80856221e-01 -1.94607497e-01 -6.99970552e-03 1.48428953e+02] [ 1.94601190e-01 9.80881179e-01 -1.57765036e-03 9.76990112e+00] [ 7.17290199e-03 1.85297150e-04 9.99974257e-01 1.53928471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96533619500002 meters 0.03317285226122194 Centerline is valid? [True, True] Translation: X:148.46, Y:9.78, Z:0.02 [[ 9.81195283e-01 -1.92929804e-01 -5.82299218e-03 1.48455707e+02] [ 1.92925411e-01 9.81212548e-01 -1.31219307e-03 9.77808686e+00] [ 5.96675415e-03 1.64114493e-04 9.99982185e-01 1.72332651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.995336195 meters 0.03446714222663758 Centerline is valid? [True, True] Translation: X:148.48, Y:9.79, Z:0.02 [[ 9.81397553e-01 -1.91902056e-01 -5.69601503e-03 1.48482775e+02] [ 1.91897834e-01 9.81414068e-01 -1.28392006e-03 9.78679161e+00] [ 5.83653618e-03 1.66983061e-04 9.99982953e-01 1.72062321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.025336195 meters 0.038652731005641636 Centerline is valid? [True, True] Translation: X:148.51, Y:9.80, Z:0.01 [[ 9.81642029e-01 -1.90648313e-01 -5.66990286e-03 1.48508950e+02] [ 1.90644106e-01 9.81658388e-01 -1.27837548e-03 9.79731562e+00] [ 5.80962783e-03 1.73973536e-04 9.99983109e-01 1.47229372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.055336195 meters 0.036429874942453776 Centerline is valid? [True, True] Translation: X:148.54, Y:9.80, Z:0.02 [[ 9.81588742e-01 -1.90912981e-01 -5.98120467e-03 1.48537459e+02] [ 1.90908292e-01 9.81606948e-01 -1.35063962e-03 9.79955537e+00] [ 6.12904670e-03 1.83911080e-04 9.99981200e-01 1.53149085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.085336195 meters 0.03419678838830443 Centerline is valid? [True, True] Translation: X:148.57, Y:9.80, Z:0.02 [[ 9.81499676e-01 -1.91356777e-01 -6.40080797e-03 1.48565444e+02] [ 1.91351408e-01 9.81520528e-01 -1.44661061e-03 9.80439021e+00] [ 6.55934316e-03 1.95044227e-04 9.99978468e-01 1.56324377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.115336195 meters 0.034323949535344976 Centerline is valid? [True, True] Translation: X:148.59, Y:9.81, Z:0.01 [[ 9.81274019e-01 -1.92504483e-01 -6.58206419e-03 1.48592476e+02] [ 1.92498836e-01 9.81296075e-01 -1.48695676e-03 9.81169651e+00] [ 6.74519960e-03 1.92072338e-04 9.99977232e-01 1.45415985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.145336195 meters 0.034323949535344976 Centerline is valid? [True, True] Translation: X:148.62, Y:9.82, Z:0.01 [[ 9.81238205e-01 -1.92686970e-01 -6.58158100e-03 1.48619268e+02] [ 1.92681312e-01 9.81260258e-01 -1.48909515e-03 9.81794138e+00] [ 6.74517310e-03 1.93009390e-04 9.99977232e-01 1.43391726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.175336195 meters 0.0326706029301388 Centerline is valid? [True, True] Translation: X:148.65, Y:9.82, Z:0.01 [[ 9.80900610e-01 -1.94395990e-01 -6.64778588e-03 1.48648350e+02] [ 1.94390251e-01 9.80923119e-01 -1.50501776e-03 9.81931542e+00] [ 6.81353628e-03 1.84008078e-04 9.99976771e-01 1.41696134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.205336195 meters 0.03003366479098688 Centerline is valid? [True, True] Translation: X:148.68, Y:9.82, Z:0.02 [[ 9.80743364e-01 -1.95174944e-01 -7.01389168e-03 1.48677722e+02] [ 1.95168566e-01 9.80768426e-01 -1.58911359e-03 9.82135829e+00] [ 7.18915865e-03 1.89621420e-04 9.99974140e-01 1.54541682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.235336195 meters 0.029006069216161716 Centerline is valid? [True, True] Translation: X:148.71, Y:9.83, Z:0.02 [[ 9.80606807e-01 -1.95880687e-01 -6.40671361e-03 1.48705578e+02] [ 1.95875373e-01 9.80627721e-01 -1.45279753e-03 9.82711643e+00] [ 6.56717594e-03 1.69705730e-04 9.99978421e-01 1.63019005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.265336195 meters 0.030584448608844732 Centerline is valid? [True, True] Translation: X:148.73, Y:9.84, Z:0.01 [[ 9.80536353e-01 -1.96239957e-01 -6.19183941e-03 1.48731929e+02] [ 1.96235003e-01 9.80555890e-01 -1.40368199e-03 9.83538817e+00] [ 6.34690309e-03 1.61305594e-04 9.99979845e-01 1.46836873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.295336195 meters 0.02878389718819395 Centerline is valid? [True, True] Translation: X:148.76, Y:9.84, Z:0.01 [[ 9.80495215e-01 -1.96422033e-01 -6.89340132e-03 1.48760649e+02] [ 1.96415884e-01 9.80519430e-01 -1.56471869e-03 9.83884202e+00] [ 7.06645916e-03 1.80225679e-04 9.99975016e-01 1.47008106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.325336195 meters 0.0318030933545649 Centerline is valid? [True, True] Translation: X:148.79, Y:9.85, Z:0.01 [[ 9.80615410e-01 -1.95818263e-01 -6.97313669e-03 1.48786632e+02] [ 1.95811958e-01 9.80640185e-01 -1.58242415e-03 9.84877584e+00] [ 7.14800560e-03 1.86325956e-04 9.99974435e-01 1.26983313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.355336195 meters 0.03203349431366021 Centerline is valid? [True, True] Translation: X:148.82, Y:9.85, Z:0.01 [[ 9.80722475e-01 -1.95254906e-01 -7.67776823e-03 1.48815043e+02] [ 1.95247229e-01 9.80752505e-01 -1.74437445e-03 9.85255121e+00] [ 7.87058810e-03 2.11684262e-04 9.99969004e-01 1.13920216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.385336195 meters 0.03237598827185547 Centerline is valid? [True, True] Translation: X:148.84, Y:9.86, Z:0.01 [[ 9.80711227e-01 -1.95293464e-01 -8.12113035e-03 1.48843473e+02] [ 1.95284865e-01 9.80744825e-01 -1.84642327e-03 9.85934550e+00] [ 8.32535097e-03 2.24874193e-04 9.99965318e-01 1.06692548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.415336195 meters 0.034288395564449126 Centerline is valid? [True, True] Translation: X:148.87, Y:9.87, Z:0.01 [[ 9.81084244e-01 -1.93437052e-01 -7.47086914e-03 1.48870220e+02] [ 1.93429723e-01 9.81112663e-01 -1.69834599e-03 9.87003803e+00] [ 7.65828736e-03 2.21132342e-04 9.99970650e-01 1.17962307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.445336195 meters 0.033545270075569095 Centerline is valid? [True, True] Translation: X:148.90, Y:9.87, Z:0.01 [[ 9.81334377e-01 -1.92180991e-01 -7.02188256e-03 1.48898267e+02] [ 1.92174480e-01 9.81359475e-01 -1.59676301e-03 9.87499680e+00] [ 7.19785848e-03 2.17531801e-04 9.99974071e-01 1.37171136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.475336195 meters 0.042267108108933214 Centerline is valid? [True, True] Translation: X:148.92, Y:9.89, Z:0.01 [[ 9.81866771e-01 -1.89451681e-01 -6.76046165e-03 1.48924135e+02] [ 1.89445579e-01 9.81890018e-01 -1.53763215e-03 9.89024562e+00] [ 6.92933681e-03 2.29010343e-04 9.99975966e-01 1.13173687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.505336195 meters 0.044660245604072245 Centerline is valid? [True, True] Translation: X:148.95, Y:9.90, Z:0.01 [[ 9.82153206e-01 -1.87936128e-01 -7.42237700e-03 1.48951592e+02] [ 1.87928729e-01 9.82181217e-01 -1.68826528e-03 9.90054158e+00] [ 7.60740531e-03 2.63257279e-04 9.99971029e-01 9.87558492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.535336195 meters 0.0455201573147863 Centerline is valid? [True, True] Translation: X:148.98, Y:9.91, Z:0.01 [[ 9.82717769e-01 -1.84946626e-01 -7.78022499e-03 1.48979709e+02] [ 1.84938403e-01 9.82748521e-01 -1.76957656e-03 9.91258233e+00] [ 7.97328182e-03 3.00131944e-04 9.99968168e-01 8.94166928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56533619500001 meters 0.044838554713730085 Centerline is valid? [True, True] Translation: X:149.01, Y:9.92, Z:0.01 [[ 9.82879538e-01 -1.84084306e-01 -7.79630282e-03 1.49007804e+02] [ 1.84076003e-01 9.82910409e-01 -1.77570125e-03 9.92043658e+00] [ 7.98994593e-03 3.10188162e-04 9.99968032e-01 9.21470140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59533619500002 meters 0.047321441964587874 Centerline is valid? [True, True] Translation: X:149.04, Y:9.93, Z:0.01 [[ 9.83207097e-01 -1.82306904e-01 -8.24600544e-03 1.49035197e+02] [ 1.82297557e-01 9.83241616e-01 -1.87763132e-03 9.93005813e+00] [ 8.45012087e-03 3.42873789e-04 9.99964238e-01 9.01093270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62533619500002 meters 0.04618428035986278 Centerline is valid? [True, True] Translation: X:149.06, Y:9.93, Z:0.01 [[ 9.83137654e-01 -1.82648383e-01 -8.93989418e-03 1.49062808e+02] [ 1.82637386e-01 9.83178229e-01 -2.03839041e-03 9.93440159e+00] [ 9.16181804e-03 3.71259469e-04 9.99957961e-01 9.18084127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65533619500002 meters 0.04292755108591282 Centerline is valid? [True, True] Translation: X:149.09, Y:9.94, Z:0.01 [[ 9.82999945e-01 -1.83354527e-01 -9.60343919e-03 1.49091849e+02] [ 1.83341855e-01 9.83046776e-01 -2.19114343e-03 9.93828435e+00] [ 9.84238600e-03 3.93181514e-04 9.99951485e-01 9.17305359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68533619500002 meters 0.04530013966602425 Centerline is valid? [True, True] Translation: X:149.12, Y:9.95, Z:0.00 [[ 9.82624298e-01 -1.85298633e-01 -1.06726642e-02 1.49118123e+02] [ 1.85283080e-01 9.82682168e-01 -2.43673226e-03 9.95082517e+00] [ 1.09393599e-02 4.16928237e-04 9.99940076e-01 3.81624654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71533619500002 meters 0.044606304278404035 Centerline is valid? [True, True] Translation: X:149.15, Y:9.96, Z:0.01 [[ 9.82491988e-01 -1.86063395e-01 -9.48189514e-03 1.49146241e+02] [ 1.86051138e-01 9.82537674e-01 -2.16658726e-03 9.95777569e+00] [ 9.71944177e-03 3.64537251e-04 9.99952699e-01 5.45431065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.745336195 meters 0.04283942122269674 Centerline is valid? [True, True] Translation: X:149.18, Y:9.97, Z:0.01 [[ 9.82294472e-01 -1.87238068e-01 -6.28302211e-03 1.49175240e+02] [ 1.87232714e-01 9.82314538e-01 -1.43501377e-03 9.96662657e+00] [ 6.44059317e-03 2.33218812e-04 9.99979232e-01 1.15200104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.775336195 meters 0.044654095972414286 Centerline is valid? [True, True] Translation: X:149.20, Y:9.98, Z:0.01 [[ 9.82069644e-01 -1.88401832e-01 -6.63058231e-03 1.49201400e+02] [ 1.88395891e-01 9.82091998e-01 -1.51513606e-03 9.97568872e+00] [ 6.79729624e-03 2.38794669e-04 9.99976870e-01 9.46608436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.805336195 meters 0.03716480505714955 Centerline is valid? [True, True] Translation: X:149.23, Y:9.97, Z:0.01 [[ 9.81665207e-01 -1.90429361e-01 -8.37130617e-03 1.49231544e+02] [ 1.90419946e-01 9.81700859e-01 -1.91509363e-03 9.97324738e+00] [ 8.58280852e-03 2.85917117e-04 9.99963126e-01 9.73923381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.835336195 meters 0.03545948730193979 Centerline is valid? [True, True] Translation: X:149.26, Y:9.98, Z:0.01 [[ 9.81477243e-01 -1.91435342e-01 -7.41151248e-03 1.49259197e+02] [ 1.91427979e-01 9.81505196e-01 -1.69699266e-03 9.98112230e+00] [ 7.59930238e-03 2.46788821e-04 9.99971094e-01 1.13099188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.865336195 meters 0.034478994679148826 Centerline is valid? [True, True] Translation: X:149.29, Y:9.99, Z:0.01 [[ 9.81238715e-01 -1.92660822e-01 -7.23816761e-03 1.49287070e+02] [ 1.92653823e-01 9.81265384e-01 -1.65862006e-03 9.98823409e+00] [ 7.42211442e-03 2.33041551e-04 9.99972429e-01 1.16908683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.895336195 meters 0.034041412571671426 Centerline is valid? [True, True] Translation: X:149.31, Y:10.00, Z:0.01 [[ 9.80886248e-01 -1.94442170e-01 -7.37638542e-03 1.49313443e+02] [ 1.94434955e-01 9.80913958e-01 -1.68991274e-03 9.99865510e+00] [ 7.56418972e-03 2.23385004e-04 9.99971366e-01 1.03065652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.925336195 meters 0.032011992153251075 Centerline is valid? [True, True] Translation: X:149.34, Y:10.01, Z:0.01 [[ 9.80578316e-01 -1.95942117e-01 -8.53543229e-03 1.49340666e+02] [ 1.95932493e-01 9.80615432e-01 -1.95771730e-03 1.00069136e+01] [ 8.75357589e-03 2.47326600e-04 9.99961656e-01 8.53702892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.955336195 meters 0.03033935942356092 Centerline is valid? [True, True] Translation: X:149.37, Y:10.01, Z:0.01 [[ 9.80399849e-01 -1.96825510e-01 -8.70942794e-03 1.49369153e+02] [ 1.96815511e-01 9.80438503e-01 -1.99919248e-03 1.00128482e+01] [ 8.93255057e-03 2.45857501e-04 9.99960074e-01 8.81837290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.985336195 meters 0.029614292172745527 Centerline is valid? [True, True] Translation: X:149.40, Y:10.02, Z:0.01 [[ 9.80110948e-01 -1.98327981e-01 -6.96720718e-03 1.49396611e+02] [ 1.98321622e-01 9.80135693e-01 -1.59896400e-03 1.00193332e+01] [ 7.14592775e-03 1.85414288e-04 9.99974450e-01 1.10533245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.015336195 meters 0.030302151210897174 Centerline is valid? [True, True] Translation: X:149.42, Y:10.03, Z:0.01 [[ 9.79955567e-01 -1.99092565e-01 -7.01696605e-03 1.49423477e+02] [ 1.99086130e-01 9.79980672e-01 -1.61091247e-03 1.00268976e+01] [ 7.19721180e-03 1.81642027e-04 9.99974083e-01 9.52601030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.045336195 meters 0.029086737207360287 Centerline is valid? [True, True] Translation: X:149.45, Y:10.04, Z:0.01 [[ 9.79589943e-01 -2.00820689e-01 -8.63675782e-03 1.49451094e+02] [ 2.00810989e-01 9.79627994e-01 -1.98495175e-03 1.00357998e+01] [ 8.85942912e-03 2.10082892e-04 9.99960732e-01 6.52038842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.075336195 meters 0.027933658332673413 Centerline is valid? [True, True] Translation: X:149.48, Y:10.04, Z:0.01 [[ 9.79221980e-01 -2.02683196e-01 -6.62092108e-03 1.49478538e+02] [ 2.02677540e-01 9.79244352e-01 -1.52138795e-03 1.00426272e+01] [ 6.79185935e-03 1.47864523e-04 9.99976924e-01 8.78079629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.105336195 meters 0.02602190302912272 Centerline is valid? [True, True] Translation: X:149.51, Y:10.05, Z:0.01 [[ 9.78990534e-01 -2.03805924e-01 -6.37811122e-03 1.49507460e+02] [ 2.03800686e-01 9.79011300e-01 -1.46759693e-03 1.00463393e+01] [ 6.54334791e-03 1.36900058e-04 9.99978583e-01 1.01159860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.135336195 meters 0.02457566981246123 Centerline is valid? [True, True] Translation: X:149.54, Y:10.05, Z:0.01 [[ 9.78606545e-01 -2.05612022e-01 -7.27506901e-03 1.49535228e+02] [ 2.05605260e-01 9.78633576e-01 -1.67345974e-03 1.00486505e+01] [ 7.46371025e-03 1.41866194e-04 9.99972136e-01 8.20423495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.165336195 meters 0.023402186675229694 Centerline is valid? [True, True] Translation: X:149.56, Y:10.05, Z:0.01 [[ 9.78343158e-01 -2.06845319e-01 -7.72521683e-03 1.49564434e+02] [ 2.06837717e-01 9.78373647e-01 -1.77910705e-03 1.00516244e+01] [ 7.92614853e-03 1.42710997e-04 9.99968577e-01 7.10022246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.195336195 meters 0.021854606190404472 Centerline is valid? [True, True] Translation: X:149.59, Y:10.05, Z:0.01 [[ 9.77878117e-01 -2.09022027e-01 -8.01126630e-03 1.49593001e+02] [ 2.09013927e-01 9.77910924e-01 -1.84463261e-03 1.00516522e+01] [ 8.21987368e-03 1.29359629e-04 9.99966208e-01 5.72517644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.225336195 meters 0.019850905274061827 Centerline is valid? [True, True] Translation: X:149.62, Y:10.06, Z:0.01 [[ 9.77753598e-01 -2.09597222e-01 -8.17959415e-03 1.49621120e+02] [ 2.09588776e-01 9.77787803e-01 -1.88607061e-03 1.00554477e+01] [ 8.39322255e-03 1.29761196e-04 9.99964768e-01 7.55508974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.255336195 meters 0.021094864953238434 Centerline is valid? [True, True] Translation: X:149.65, Y:10.06, Z:0.01 [[ 9.77879605e-01 -2.09038083e-01 -7.38629558e-03 1.49647621e+02] [ 2.09031180e-01 9.77907493e-01 -1.70312058e-03 1.00601114e+01] [ 7.57913086e-03 1.21480799e-04 9.99971271e-01 7.54821009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.285336195 meters 0.022183134214172916 Centerline is valid? [True, True] Translation: X:149.68, Y:10.07, Z:0.01 [[ 9.78046478e-01 -2.08269057e-01 -7.00620500e-03 1.49675030e+02] [ 2.08262825e-01 9.78071564e-01 -1.61575346e-03 1.00651775e+01] [ 7.18908134e-03 1.21149931e-04 9.99974151e-01 8.05745123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31533619500001 meters 0.024909969667108015 Centerline is valid? [True, True] Translation: X:149.70, Y:10.07, Z:0.01 [[ 9.78615491e-01 -2.05569865e-01 -7.26300995e-03 1.49702329e+02] [ 2.05563086e-01 9.78642432e-01 -1.67586282e-03 1.00724602e+01] [ 7.45239661e-03 1.47018571e-04 9.99972220e-01 7.77972471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34533619500002 meters 0.02650991657976041 Centerline is valid? [True, True] Translation: X:149.73, Y:10.08, Z:0.01 [[ 9.78913612e-01 -2.04115394e-01 -8.06512821e-03 1.49729891e+02] [ 2.04106984e-01 9.78946819e-01 -1.86114285e-03 1.00792929e+01] [ 8.27521952e-03 1.75749073e-04 9.99965744e-01 5.93061005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37533619500002 meters 0.03172046879317804 Centerline is valid? [True, True] Translation: X:149.76, Y:10.09, Z:0.00 [[ 9.79510337e-01 -2.01241122e-01 -7.84286339e-03 1.49757075e+02] [ 2.01233075e-01 9.79541716e-01 -1.81016110e-03 1.00872476e+01] [ 8.04669071e-03 1.94827990e-04 9.99967606e-01 4.96017331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40533619500002 meters 0.03089346336208944 Centerline is valid? [True, True] Translation: X:149.79, Y:10.09, Z:0.01 [[ 9.79750908e-01 -2.00108133e-01 -6.70030730e-03 1.49785909e+02] [ 2.00102219e-01 9.79773802e-01 -1.54854232e-03 1.00926870e+01] [ 6.87466147e-03 1.76439386e-04 9.99976354e-01 8.80854948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43533619500002 meters 0.030196963935393374 Centerline is valid? [True, True] Translation: X:149.81, Y:10.10, Z:0.01 [[ 9.80114098e-01 -1.98376912e-01 -4.79124463e-03 1.49813874e+02] [ 1.98373867e-01 9.80125799e-01 -1.10720724e-03 1.00977110e+01] [ 4.91566683e-03 1.34731693e-04 9.99987909e-01 1.31823890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46533619500002 meters 0.03322131364401919 Centerline is valid? [True, True] Translation: X:149.84, Y:10.10, Z:0.01 [[ 9.80354302e-01 -1.97165379e-01 -5.59062351e-03 1.49841443e+02] [ 1.97161214e-01 9.80370229e-01 -1.29220751e-03 1.01034771e+01] [ 5.73565943e-03 1.64567075e-04 9.99983537e-01 1.12946118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.495336195 meters 0.03524070230082576 Centerline is valid? [True, True] Translation: X:149.87, Y:10.11, Z:0.01 [[ 9.80863102e-01 -1.94613617e-01 -5.75457992e-03 1.49870148e+02] [ 1.94609159e-01 9.80879965e-01 -1.33012303e-03 1.01085562e+01] [ 5.90341220e-03 1.84774645e-04 9.99982558e-01 1.06484263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.525336195 meters 0.03902488843695785 Centerline is valid? [True, True] Translation: X:149.90, Y:10.12, Z:0.01 [[ 9.81208837e-01 -1.92844377e-01 -6.34539834e-03 1.49897769e+02] [ 1.92838918e-01 9.81229331e-01 -1.46689258e-03 1.01167092e+01] [ 6.50917295e-03 2.15688205e-04 9.99978792e-01 8.00806410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.555336195 meters 0.04156312962765513 Centerline is valid? [True, True] Translation: X:149.92, Y:10.12, Z:0.01 [[ 9.81597409e-01 -1.90823672e-01 -7.26993031e-03 1.49924987e+02] [ 1.90816449e-01 9.81624295e-01 -1.68101564e-03 1.01237489e+01] [ 7.45711780e-03 2.62858318e-04 9.99972161e-01 6.83009533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.585336195 meters 0.045486019651407784 Centerline is valid? [True, True] Translation: X:149.95, Y:10.14, Z:0.01 [[ 9.82437369e-01 -1.86489254e-01 -6.21084286e-03 1.49952645e+02] [ 1.86483896e-01 9.82456968e-01 -1.43599029e-03 1.01363485e+01] [ 6.36968261e-03 2.52548352e-04 9.99979681e-01 9.19116475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.615336195 meters 0.05022196632200011 Centerline is valid? [True, True] Translation: X:149.98, Y:10.15, Z:0.01 [[ 9.82984296e-01 -1.83624625e-01 -4.88569763e-03 1.49978460e+02] [ 1.83621272e-01 9.82996415e-01 -1.13012034e-03 1.01509081e+01] [ 5.01014118e-03 2.13772531e-04 9.99987426e-01 9.21531304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.645336195 meters 0.047961806091947105 Centerline is valid? [True, True] Translation: X:150.01, Y:10.15, Z:0.01 [[ 9.83132901e-01 -1.82752443e-01 -7.15848227e-03 1.50009064e+02] [ 1.82745223e-01 9.83158910e-01 -1.65569117e-03 1.01506317e+01] [ 7.34050723e-03 3.19586028e-04 9.99973007e-01 6.43551997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.675336195 meters 0.049486724028624585 Centerline is valid? [True, True] Translation: X:150.04, Y:10.16, Z:0.01 [[ 9.83080490e-01 -1.83035312e-01 -7.12915619e-03 1.50036020e+02] [ 1.83028153e-01 9.83106288e-01 -1.64961428e-03 1.01568607e+01] [ 7.31065595e-03 3.16867328e-04 9.99973227e-01 5.16315487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.705336195 meters 0.0474370025750208 Centerline is valid? [True, True] Translation: X:150.07, Y:10.16, Z:0.01 [[ 9.82765389e-01 -1.84762351e-01 -5.92144743e-03 1.50065766e+02] [ 1.84757444e-01 9.82783196e-01 -1.37011331e-03 1.01593591e+01] [ 6.07264438e-03 2.52468454e-04 9.99981529e-01 6.30169375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.735336195 meters 0.046656889548848106 Centerline is valid? [True, True] Translation: X:150.09, Y:10.16, Z:0.01 [[ 9.82426223e-01 -1.86546723e-01 -6.24785746e-03 1.50093190e+02] [ 1.86541289e-01 9.82446057e-01 -1.44660459e-03 1.01641324e+01] [ 6.40804227e-03 2.55698897e-04 9.99979436e-01 5.55556329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.765336195 meters 0.04168261716290593 Centerline is valid? [True, True] Translation: X:150.12, Y:10.16, Z:0.00 [[ 9.81719000e-01 -1.90207061e-01 -7.00564443e-03 1.50124427e+02] [ 1.90200326e-01 9.81743962e-01 -1.62154337e-03 1.01631923e+01] [ 7.18617812e-03 2.59424083e-04 9.99974145e-01 4.96086046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.795336195 meters 0.04053088736471696 Centerline is valid? [True, True] Translation: X:150.15, Y:10.16, Z:0.00 [[ 9.81119265e-01 -1.93284839e-01 -6.77927167e-03 1.50154021e+02] [ 1.93278604e-01 9.81142659e-01 -1.56940037e-03 1.01642813e+01] [ 6.95477393e-03 2.29480774e-04 9.99975789e-01 4.40200476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.825336195 meters 0.036906631518638544 Centerline is valid? [True, True] Translation: X:150.18, Y:10.16, Z:0.00 [[ 9.80847610e-01 -1.94630678e-01 -7.54087433e-03 1.50184182e+02] [ 1.94622986e-01 9.80876566e-01 -1.74786909e-03 1.01640187e+01] [ 7.73685587e-03 2.46765742e-04 9.99970040e-01 4.57465649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.855336195 meters 0.034777236723383016 Centerline is valid? [True, True] Translation: X:150.21, Y:10.16, Z:0.01 [[ 9.80410686e-01 -1.96855437e-01 -6.54395336e-03 1.50214684e+02] [ 1.96849699e-01 9.80432505e-01 -1.51597053e-03 1.01649506e+01] [ 6.71433163e-03 1.98098459e-04 9.99977439e-01 6.34995961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.885336195 meters 0.03278558105567716 Centerline is valid? [True, True] Translation: X:150.24, Y:10.17, Z:0.01 [[ 9.80262586e-01 -1.97639364e-01 -4.89322454e-03 1.50243098e+02] [ 1.97636155e-01 9.80274788e-01 -1.13561308e-03 1.01690065e+01] [ 5.02114649e-03 1.46120930e-04 9.99987383e-01 9.60808718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.915336195 meters 0.03326466382399003 Centerline is valid? [True, True] Translation: X:150.27, Y:10.17, Z:0.01 [[ 9.79955528e-01 -1.99172640e-01 -4.17411625e-03 1.50270914e+02] [ 1.99170315e-01 9.79964410e-01 -9.69621754e-04 1.01744293e+01] [ 4.28360749e-03 1.18826151e-04 9.99990818e-01 9.47793662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.945336195 meters 0.02980353355167166 Centerline is valid? [True, True] Translation: X:150.30, Y:10.17, Z:0.01 [[ 9.79679721e-01 -2.00533494e-01 -3.73658842e-03 1.50301347e+02] [ 2.00531638e-01 9.79686842e-01 -8.68776838e-04 1.01714137e+01] [ 3.83490536e-03 1.01818855e-04 9.99992642e-01 1.08869905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.975336195 meters 0.02906174023055868 Centerline is valid? [True, True] Translation: X:150.33, Y:10.17, Z:0.01 [[ 9.79727798e-01 -2.00288108e-01 -4.25615529e-03 1.50330108e+02] [ 2.00285695e-01 9.79737036e-01 -9.90194037e-04 1.01732876e+01] [ 4.36823706e-03 1.17673606e-04 9.99990452e-01 1.04555456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.005336195 meters 0.03386008346636785 Centerline is valid? [True, True] Translation: X:150.36, Y:10.18, Z:0.01 [[ 9.79862513e-01 -1.99591619e-01 -5.71323339e-03 1.50356620e+02] [ 1.99587261e-01 9.79879156e-01 -1.32869381e-03 1.01829435e+01] [ 5.86347446e-03 1.61648651e-04 9.99982797e-01 5.33125247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.035336195 meters 0.036214207106422695 Centerline is valid? [True, True] Translation: X:150.39, Y:10.19, Z:0.00 [[ 9.80169307e-01 -1.98021494e-01 -7.45768362e-03 1.50385366e+02] [ 1.98014028e-01 9.80197653e-01 -1.73402067e-03 1.01871584e+01] [ 7.65337734e-03 2.22907867e-04 9.99970688e-01 1.82652647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06533619500001 meters 0.036214207106422695 Centerline is valid? [True, True] Translation: X:150.41, Y:10.19, Z:0.00 [[ 9.80133579e-01 -1.98198281e-01 -7.45712673e-03 1.50412126e+02] [ 1.98190801e-01 9.80161921e-01 -1.73641500e-03 1.01935752e+01] [ 7.65334613e-03 2.23984727e-04 9.99970688e-01 1.62403949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09533619500002 meters 0.035199768335251035 Centerline is valid? [True, True] Translation: X:150.44, Y:10.20, Z:0.00 [[ 9.80399716e-01 -1.96890762e-01 -7.10103658e-03 1.50440485e+02] [ 1.96883936e-01 9.80425406e-01 -1.65467114e-03 1.01990454e+01] [ 7.28782614e-03 2.24159084e-04 9.99973418e-01 3.80544524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12533619500002 meters 0.03518184049223603 Centerline is valid? [True, True] Translation: X:150.47, Y:10.21, Z:0.00 [[ 9.80495543e-01 -1.96436293e-01 -6.42446117e-03 1.50468719e+02] [ 1.96430689e-01 9.80516568e-01 -1.49826376e-03 1.02062043e+01] [ 6.59360400e-03 2.07079605e-04 9.99978241e-01 4.59548191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15533619500002 meters 0.03657472634022989 Centerline is valid? [True, True] Translation: X:150.50, Y:10.21, Z:0.01 [[ 9.80625080e-01 -1.95809979e-01 -5.73620519e-03 1.50495919e+02] [ 1.95805502e-01 9.80641839e-01 -1.33743387e-03 1.02135091e+01] [ 5.88704570e-03 1.88340657e-04 9.99982653e-01 5.34621278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18533619500002 meters 0.03723181074218671 Centerline is valid? [True, True] Translation: X:150.52, Y:10.22, Z:0.00 [[ 9.80582877e-01 -1.96011024e-01 -6.07446342e-03 1.50521776e+02] [ 1.96005999e-01 9.80601672e-01 -1.41760593e-03 1.02195543e+01] [ 6.23449537e-03 1.99448833e-04 9.99980545e-01 4.18704291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21533619500002 meters 0.036547648116747405 Centerline is valid? [True, True] Translation: X:150.55, Y:10.22, Z:0.00 [[ 9.80411995e-01 -1.96839060e-01 -6.83410160e-03 1.50550655e+02] [ 1.96832710e-01 9.80435789e-01 -1.59619281e-03 1.02231435e+01] [ 7.01459088e-03 2.19751839e-04 9.99975373e-01 2.98153226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.245336195 meters 0.036904765702407444 Centerline is valid? [True, True] Translation: X:150.58, Y:10.23, Z:0.00 [[ 9.80432807e-01 -1.96733535e-01 -6.88680025e-03 1.50578942e+02] [ 1.96727076e-01 9.80456968e-01 -1.60966518e-03 1.02296150e+01] [ 7.06888642e-03 2.23348473e-04 9.99974990e-01 2.99054921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.275336195 meters 0.03690806685298764 Centerline is valid? [True, True] Translation: X:150.61, Y:10.24, Z:0.00 [[ 9.80673009e-01 -1.95520019e-01 -7.23676711e-03 1.50607098e+02] [ 1.95512845e-01 9.80699680e-01 -1.69268077e-03 1.02364227e+01] [ 7.42804816e-03 2.45085422e-04 9.99972382e-01 2.65058730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.305336195 meters 0.03826747740013663 Centerline is valid? [True, True] Translation: X:150.64, Y:10.24, Z:0.00 [[ 9.81001186e-01 -1.93867922e-01 -7.20423850e-03 1.50635095e+02] [ 1.93860774e-01 9.81027606e-01 -1.68436935e-03 1.02446981e+01] [ 7.39410203e-03 2.55749082e-04 9.99972631e-01 2.43078333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.335336195 meters 0.039954363191567206 Centerline is valid? [True, True] Translation: X:150.66, Y:10.25, Z:0.00 [[ 9.81201317e-01 -1.92885564e-01 -6.25571814e-03 1.50661348e+02] [ 1.92880149e-01 9.81221232e-01 -1.46336518e-03 1.02522497e+01] [ 6.42050548e-03 2.29251996e-04 9.99979362e-01 2.84181929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.365336195 meters 0.04073940358156374 Centerline is valid? [True, True] Translation: X:150.69, Y:10.26, Z:0.00 [[ 9.81260330e-01 -1.92580575e-01 -6.39433031e-03 1.50689525e+02] [ 1.92574899e-01 9.81281135e-01 -1.49757616e-03 1.02596974e+01] [ 6.56303978e-03 2.38124569e-04 9.99978435e-01 2.21076597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.395336195 meters 0.039356584681970994 Centerline is valid? [True, True] Translation: X:150.72, Y:10.27, Z:0.00 [[ 9.81383019e-01 -1.91897081e-01 -7.92972993e-03 1.50717111e+02] [ 1.91888335e-01 9.81415009e-01 -1.85659741e-03 1.02660986e+01] [ 8.13863160e-03 3.00410501e-04 9.99966836e-01 7.16376112e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.425336195 meters 0.04266466960455543 Centerline is valid? [True, True] Translation: X:150.74, Y:10.28, Z:-0.00 [[ 9.81421892e-01 -1.91697480e-01 -7.94650525e-03 1.50742592e+02] [ 1.91688686e-01 9.81454015e-01 -1.86102011e-03 1.02774430e+01] [ 8.15588235e-03 3.03190723e-04 9.99966694e-01 -1.39691658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.455336195 meters 0.04238013249669044 Centerline is valid? [True, True] Translation: X:150.77, Y:10.28, Z:-0.00 [[ 9.81447708e-01 -1.91565788e-01 -7.93382746e-03 1.50771047e+02] [ 1.91557001e-01 9.81479727e-01 -1.86018912e-03 1.02831396e+01] [ 8.14323941e-03 3.05898157e-04 9.99966796e-01 -1.36711557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.485336195 meters 0.04069689172235641 Centerline is valid? [True, True] Translation: X:150.80, Y:10.29, Z:-0.00 [[ 9.81389132e-01 -1.91866785e-01 -7.90625297e-03 1.50798604e+02] [ 1.91858054e-01 9.81420931e-01 -1.85551324e-03 1.02880188e+01] [ 8.11537351e-03 3.04102222e-04 9.99967024e-01 -1.46859560e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.515336195 meters 0.04100672662675928 Centerline is valid? [True, True] Translation: X:150.83, Y:10.30, Z:-0.00 [[ 9.81243007e-01 -1.92623736e-01 -7.63263936e-03 1.50825090e+02] [ 1.92615625e-01 9.81272650e-01 -1.79083606e-03 1.02986270e+01] [ 7.83465779e-03 2.87079761e-04 9.99969267e-01 -1.09638190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.545336195 meters 0.039672969003498114 Centerline is valid? [True, True] Translation: X:150.85, Y:10.30, Z:-0.00 [[ 9.80804945e-01 -1.94861918e-01 -7.10578609e-03 1.50853885e+02] [ 1.94854947e-01 9.80830653e-01 -1.66715732e-03 1.03034861e+01] [ 7.29443829e-03 2.50558567e-04 9.99973364e-01 -1.50887380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.575336195 meters 0.03626262251851512 Centerline is valid? [True, True] Translation: X:150.88, Y:10.31, Z:-0.00 [[ 9.80470579e-01 -1.96513038e-01 -7.75045731e-03 1.50883427e+02] [ 1.96504778e-01 9.80501177e-01 -1.82064119e-03 1.03054840e+01] [ 7.95711224e-03 2.62083228e-04 9.99968307e-01 -2.42727064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.605336195 meters 0.03471959980037166 Centerline is valid? [True, True] Translation: X:150.91, Y:10.31, Z:-0.01 [[ 9.80065231e-01 -1.98460538e-01 -9.24974269e-03 1.50912334e+02] [ 1.98448847e-01 9.80108835e-01 -2.17431317e-03 1.03101045e+01] [ 9.49726989e-03 2.95367964e-04 9.99954856e-01 -5.00647489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.635336195 meters 0.039315848727858795 Centerline is valid? [True, True] Translation: X:150.94, Y:10.32, Z:-0.01 [[ 9.80056720e-01 -1.98503655e-01 -9.22630334e-03 1.50936969e+02] [ 1.98492005e-01 9.80100103e-01 -2.17081771e-03 1.03216951e+01] [ 9.47361610e-03 2.96177031e-04 9.99955080e-01 -7.47558524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.665336195 meters 0.03609513845650609 Centerline is valid? [True, True] Translation: X:150.97, Y:10.32, Z:-0.01 [[ 9.80107797e-01 -1.98215670e-01 -9.96266248e-03 1.50966420e+02] [ 1.98202058e-01 9.80158376e-01 -2.34551717e-03 1.03243169e+01] [ 1.02299053e-02 3.24239462e-04 9.99947621e-01 -6.41153368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.695336195 meters 0.036619212223410365 Centerline is valid? [True, True] Translation: X:150.99, Y:10.33, Z:-0.01 [[ 9.80243527e-01 -1.97469345e-01 -1.13351199e-02 1.50994296e+02] [ 1.97451652e-01 9.80308989e-01 -2.67044577e-03 1.03307337e+01] [ 1.16392511e-02 3.79549029e-04 9.99932190e-01 -8.10544351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.725336195 meters 0.042656156457128266 Centerline is valid? [True, True] Translation: X:151.02, Y:10.35, Z:-0.01 [[ 9.80435580e-01 -1.96555101e-01 -1.05907834e-02 1.51018292e+02] [ 1.96539604e-01 9.80492712e-01 -2.49501845e-03 1.03493445e+01] [ 1.08745946e-02 3.64696487e-04 9.99940803e-01 -1.09172670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.755336195 meters 0.039217859302519184 Centerline is valid? [True, True] Translation: X:151.05, Y:10.35, Z:-0.01 [[ 9.80595668e-01 -1.95796349e-01 -9.79414721e-03 1.51046636e+02] [ 1.95783032e-01 9.80644517e-01 -2.30988056e-03 1.03549160e+01] [ 1.00568429e-02 3.47531041e-04 9.99949368e-01 -7.42631991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.785336195 meters 0.04279291945195079 Centerline is valid? [True, True] Translation: X:151.07, Y:10.37, Z:-0.01 [[ 9.80844072e-01 -1.94597815e-01 -8.75197946e-03 1.51072545e+02] [ 1.94587135e-01 9.80883065e-01 -2.06396006e-03 1.03654159e+01] [ 8.98631056e-03 3.21400385e-04 9.99959571e-01 -6.37666954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81533619500001 meters 0.04108198232466335 Centerline is valid? [True, True] Translation: X:151.10, Y:10.37, Z:-0.00 [[ 9.80869261e-01 -1.94492763e-01 -8.24976540e-03 1.51100604e+02] [ 1.94483247e-01 9.80903905e-01 -1.94815125e-03 1.03691771e+01] [ 8.47112842e-03 3.06440512e-04 9.99964072e-01 -4.42731287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84533619500002 meters 0.04170760731354437 Centerline is valid? [True, True] Translation: X:151.13, Y:10.38, Z:-0.00 [[ 9.81134178e-01 -1.93154010e-01 -8.20079254e-03 1.51127878e+02] [ 1.93144564e-01 9.81168400e-01 -1.93613615e-03 1.03768618e+01] [ 8.42033095e-03 3.15670848e-04 9.99964499e-01 -3.52601611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87533619500002 meters 0.04448500769453921 Centerline is valid? [True, True] Translation: X:151.15, Y:10.39, Z:-0.01 [[ 9.81325658e-01 -1.92160395e-01 -8.62176488e-03 1.51152645e+02] [ 1.92149910e-01 9.81363473e-01 -2.03622530e-03 1.03911899e+01] [ 8.85236698e-03 3.41528793e-04 9.99960759e-01 -5.74105950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90533619500002 meters 0.04499719216686422 Centerline is valid? [True, True] Translation: X:151.18, Y:10.40, Z:-0.01 [[ 9.81402031e-01 -1.91755125e-01 -8.94569808e-03 1.51179493e+02] [ 1.91743801e-01 9.81442735e-01 -2.11491764e-03 1.04029429e+01] [ 9.18523669e-03 3.60302321e-04 9.99957750e-01 -7.01129464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93533619500002 meters 0.046254308423791655 Centerline is valid? [True, True] Translation: X:151.21, Y:10.41, Z:-0.01 [[ 9.81333595e-01 -1.92092930e-01 -9.20229194e-03 1.51206073e+02] [ 1.92080964e-01 9.81376671e-01 -2.17531661e-03 1.04114388e+01] [ 9.44877758e-03 3.67126167e-04 9.99955292e-01 -8.51139965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96533619500002 meters 0.0419665594774039 Centerline is valid? [True, True] Translation: X:151.23, Y:10.41, Z:-0.01 [[ 9.81087955e-01 -1.93291452e-01 -1.02391019e-02 1.51234894e+02] [ 1.93276675e-01 9.81141303e-01 -2.42296757e-03 1.04144836e+01] [ 1.05143447e-02 3.98164727e-04 9.99944643e-01 -7.50963317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.995336195 meters 0.045451558449134725 Centerline is valid? [True, True] Translation: X:151.26, Y:10.43, Z:-0.01 [[ 9.80979407e-01 -1.93851394e-01 -1.00518601e-02 1.51260275e+02] [ 1.93837178e-01 9.81030830e-01 -2.37901717e-03 1.04268249e+01] [ 1.03223605e-02 3.85342651e-04 9.99946649e-01 -9.98203720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.025336195 meters 0.044650218712857334 Centerline is valid? [True, True] Translation: X:151.29, Y:10.43, Z:-0.01 [[ 9.80893818e-01 -1.94402045e-01 -7.42717258e-03 1.51288114e+02] [ 1.94394298e-01 9.80921896e-01 -1.75803017e-03 1.04335163e+01] [ 7.62724087e-03 2.80640928e-04 9.99970873e-01 -5.79781990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.055336195 meters 0.041059390470594946 Centerline is valid? [True, True] Translation: X:151.32, Y:10.44, Z:-0.00 [[ 9.80863289e-01 -1.94599216e-01 -6.19299999e-03 1.51316623e+02] [ 1.94593821e-01 9.80882812e-01 -1.46794473e-03 1.04364555e+01] [ 6.36026814e-03 2.34733565e-04 9.99979746e-01 -1.70407595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.085336195 meters 0.04683676206379887 Centerline is valid? [True, True] Translation: X:151.34, Y:10.45, Z:-0.01 [[ 9.80668046e-01 -1.95544748e-01 -7.24116601e-03 1.51341025e+02] [ 1.95537402e-01 9.80694744e-01 -1.71582302e-03 1.04524352e+01] [ 7.43689363e-03 2.66734023e-04 9.99972310e-01 -8.09011536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.115336195 meters 0.044390965837868876 Centerline is valid? [True, True] Translation: X:151.37, Y:10.46, Z:-0.01 [[ 9.80492538e-01 -1.96401746e-01 -7.79341520e-03 1.51369320e+02] [ 1.96393248e-01 9.80523470e-01 -1.84866796e-03 1.04568462e+01] [ 8.00470812e-03 2.82031018e-04 9.99967922e-01 -8.73339691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.145336195 meters 0.04216126184914705 Centerline is valid? [True, True] Translation: X:151.40, Y:10.46, Z:-0.01 [[ 9.80443747e-01 -1.96632035e-01 -8.11795778e-03 1.51396925e+02] [ 1.96622808e-01 9.80477311e-01 -1.92737579e-03 1.04614603e+01] [ 8.33845723e-03 2.93507894e-04 9.99965191e-01 -8.35536310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.175336195 meters 0.03970272483357753 Centerline is valid? [True, True] Translation: X:151.43, Y:10.46, Z:-0.01 [[ 9.80338949e-01 -1.97164533e-01 -7.85442208e-03 1.51425601e+02] [ 1.97155903e-01 9.80370373e-01 -1.86607115e-03 1.04639828e+01] [ 8.06816575e-03 2.80836553e-04 9.99967412e-01 -6.82503654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.205336195 meters 0.04140960628699905 Centerline is valid? [True, True] Translation: X:151.45, Y:10.47, Z:-0.01 [[ 9.80339578e-01 -1.97184283e-01 -7.25746677e-03 1.51452578e+02] [ 1.97176917e-01 9.80366407e-01 -1.72398424e-03 1.04717489e+01] [ 7.45491922e-03 2.59085056e-04 9.99972178e-01 -6.66348309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.235336195 meters 0.039720833913903374 Centerline is valid? [True, True] Translation: X:151.48, Y:10.48, Z:-0.00 [[ 9.80435055e-01 -1.96735680e-01 -6.49421757e-03 1.51481129e+02] [ 1.96729759e-01 9.80456535e-01 -1.54464666e-03 1.04784546e+01] [ 6.67118517e-03 2.36819879e-04 9.99977719e-01 -3.78969759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.265336195 meters 0.03881231581858613 Centerline is valid? [True, True] Translation: X:151.51, Y:10.49, Z:-0.00 [[ 9.80599576e-01 -1.95898792e-01 -6.93790954e-03 1.51508568e+02] [ 1.95892005e-01 9.80624085e-01 -1.65135982e-03 1.04877363e+01] [ 7.12698059e-03 2.60241729e-04 9.99974569e-01 -3.94460409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.295336195 meters 0.040781544555756416 Centerline is valid? [True, True] Translation: X:151.54, Y:10.50, Z:-0.00 [[ 9.80708549e-01 -1.95356662e-01 -6.82028189e-03 1.51535372e+02] [ 1.95350092e-01 9.80732230e-01 -1.62299592e-03 1.04970745e+01] [ 7.00593333e-03 2.59343276e-04 9.99975425e-01 -4.84911039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.325336195 meters 0.04222045428593553 Centerline is valid? [True, True] Translation: X:151.56, Y:10.50, Z:-0.00 [[ 9.80808199e-01 -1.94868351e-01 -6.45000174e-03 1.51561784e+02] [ 1.94862462e-01 9.80829375e-01 -1.53530429e-03 1.05048698e+01] [ 6.62553339e-03 2.48975819e-04 9.99978020e-01 -4.59748985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.355336195 meters 0.0444455406823399 Centerline is valid? [True, True] Translation: X:151.59, Y:10.52, Z:-0.01 [[ 9.80921813e-01 -1.94272167e-01 -7.12196467e-03 1.51587694e+02] [ 1.94264965e-01 9.80947627e-01 -1.69607568e-03 1.05157583e+01] [ 7.31577464e-03 2.80169417e-04 9.99973200e-01 -5.92934442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.385336195 meters 0.04573030679639472 Centerline is valid? [True, True] Translation: X:151.61, Y:10.52, Z:-0.01 [[ 9.80965475e-01 -1.94025393e-01 -7.80278861e-03 1.51613963e+02] [ 1.94016737e-01 9.80996458e-01 -1.85857422e-03 1.05231794e+01] [ 8.01511858e-03 3.09325557e-04 9.99967831e-01 -8.35839858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.415336195 meters 0.041556623454860844 Centerline is valid? [True, True] Translation: X:151.64, Y:10.52, Z:-0.01 [[ 9.80956065e-01 -1.93997996e-01 -9.48559911e-03 1.51643586e+02] [ 1.93985180e-01 9.81001852e-01 -2.26173970e-03 1.05249388e+01] [ 9.74416327e-03 3.78601616e-04 9.99952453e-01 -8.02638400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.445336195 meters 0.04370832380688157 Centerline is valid? [True, True] Translation: X:151.67, Y:10.54, Z:-0.01 [[ 9.81078675e-01 -1.93366883e-01 -9.68922713e-03 1.51668534e+02] [ 1.93353481e-01 9.81126441e-01 -2.31026817e-03 1.05382803e+01] [ 9.95308629e-03 3.93109042e-04 9.99950390e-01 -9.74060331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.475336195 meters 0.04701661189171507 Centerline is valid? [True, True] Translation: X:151.69, Y:10.55, Z:-0.01 [[ 9.81055059e-01 -1.93510134e-01 -9.20868635e-03 1.51694823e+02] [ 1.93498030e-01 9.81098206e-01 -2.19619006e-03 1.05495494e+01] [ 9.45961069e-03 3.72720706e-04 9.99955187e-01 -1.13631713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.505336195 meters 0.04484414448683173 Centerline is valid? [True, True] Translation: X:151.72, Y:10.56, Z:-0.01 [[ 9.80976721e-01 -1.93964913e-01 -7.89215841e-03 1.51723447e+02] [ 1.93956019e-01 9.81008416e-01 -1.88440914e-03 1.05553357e+01] [ 8.10778307e-03 3.17829875e-04 9.99967081e-01 -8.23594574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.535336195 meters 0.04004045218325519 Centerline is valid? [True, True] Translation: X:151.75, Y:10.56, Z:-0.00 [[ 9.80763180e-01 -1.95091177e-01 -6.55869734e-03 1.51752075e+02] [ 1.95085063e-01 9.80785077e-01 -1.56569910e-03 1.05596723e+01] [ 6.73812656e-03 2.56076148e-04 9.99977266e-01 -4.71778644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56533619500001 meters 0.04061984210811128 Centerline is valid? [True, True] Translation: X:151.78, Y:10.57, Z:-0.01 [[ 9.80279591e-01 -1.97498008e-01 -6.81621365e-03 1.51779569e+02] [ 1.97491461e-01 9.80303257e-01 -1.62732676e-03 1.05683901e+01] [ 7.00335023e-03 2.49091223e-04 9.99975445e-01 -7.14762195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59533619500002 meters 0.03743916015705768 Centerline is valid? [True, True] Translation: X:151.81, Y:10.57, Z:-0.01 [[ 9.79978315e-01 -1.98954973e-01 -7.70846035e-03 1.51807918e+02] [ 1.98946626e-01 9.80008594e-01 -1.84266910e-03 1.05721908e+01] [ 7.92096557e-03 2.72203585e-04 9.99968592e-01 -7.46716522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62533619500002 meters 0.03852844560441221 Centerline is valid? [True, True] Translation: X:151.84, Y:10.58, Z:-0.01 [[ 9.79509489e-01 -2.01286151e-01 -6.71161047e-03 1.51835308e+02] [ 2.01279882e-01 9.79532458e-01 -1.60379800e-03 1.05815421e+01] [ 6.89706263e-03 2.20023198e-04 9.99976191e-01 -7.70524389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65533619500002 meters 0.03637148744917666 Centerline is valid? [True, True] Translation: X:151.86, Y:10.59, Z:-0.00 [[ 9.79133145e-01 -2.03162916e-01 -4.80774988e-03 1.51864254e+02] [ 2.03159721e-01 9.79144937e-01 -1.14894784e-03 1.05875644e+01] [ 4.94090755e-03 1.48231790e-04 9.99987783e-01 -4.27386553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68533619500002 meters 0.03337242915637928 Centerline is valid? [True, True] Translation: X:151.89, Y:10.59, Z:-0.00 [[ 9.78974394e-01 -2.03930860e-01 -4.61951929e-03 1.51892968e+02] [ 2.03927910e-01 9.78985283e-01 -1.10586049e-03 1.05914270e+01] [ 4.74796048e-03 1.40560190e-04 9.99988718e-01 -3.00003116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71533619500002 meters 0.03419047868663147 Centerline is valid? [True, True] Translation: X:151.92, Y:10.60, Z:-0.01 [[ 9.78860631e-01 -2.04444409e-01 -5.86082142e-03 1.51919340e+02] [ 2.04439675e-01 9.78878160e-01 -1.40223582e-03 1.05995742e+01] [ 6.02370936e-03 1.74409012e-04 9.99981842e-01 -5.76111925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.745336195 meters 0.03718793864756653 Centerline is valid? [True, True] Translation: X:151.95, Y:10.61, Z:-0.01 [[ 9.79040685e-01 -2.03527068e-01 -7.48793320e-03 1.51945410e+02] [ 2.03519307e-01 9.79069292e-01 -1.79230771e-03 1.06115277e+01] [ 7.69598860e-03 2.30803192e-04 9.99970359e-01 -1.13707094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.775336195 meters 0.03518470689789393 Centerline is valid? [True, True] Translation: X:151.97, Y:10.61, Z:-0.01 [[ 9.79184168e-01 -2.02697029e-01 -1.05961853e-02 1.51974911e+02] [ 2.02681442e-01 9.79241442e-01 -2.53603926e-03 1.06130077e+01] [ 1.08902714e-02 3.35599381e-04 9.99940643e-01 -1.37935303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.805336195 meters 0.03931728780301864 Centerline is valid? [True, True] Translation: X:152.00, Y:10.62, Z:-0.02 [[ 9.79299590e-01 -2.02112197e-01 -1.10893300e-02 1.52000728e+02] [ 2.02095078e-01 9.79362308e-01 -2.65492593e-03 1.06240825e+01] [ 1.13970648e-02 3.58868856e-04 9.99934987e-01 -1.70925018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.835336195 meters 0.038652889729579185 Centerline is valid? [True, True] Translation: X:152.03, Y:10.63, Z:-0.01 [[ 9.79665574e-01 -2.00414090e-01 -9.46336186e-03 1.52028638e+02] [ 2.00401520e-01 9.79711226e-01 -2.26814991e-03 1.06330060e+01] [ 9.72593105e-03 3.25556283e-04 9.99952649e-01 -1.27179807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.865336195 meters 0.038694927086426446 Centerline is valid? [True, True] Translation: X:152.06, Y:10.64, Z:-0.01 [[ 9.79991256e-01 -1.98899220e-01 -7.49925168e-03 1.52055931e+02] [ 1.98891270e-01 9.80019911e-01 -1.79900720e-03 1.06413287e+01] [ 7.70723710e-03 2.71475634e-04 9.99970262e-01 -7.97241882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.895336195 meters 0.0393035005355623 Centerline is valid? [True, True] Translation: X:152.08, Y:10.65, Z:-0.01 [[ 9.80139239e-01 -1.98216469e-01 -6.10760561e-03 1.52083713e+02] [ 1.98211174e-01 9.80158242e-01 -1.46647934e-03 1.06490428e+01] [ 6.27710033e-03 2.26758268e-04 9.99980273e-01 -5.54296886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.925336195 meters 0.04200304433463237 Centerline is valid? [True, True] Translation: X:152.11, Y:10.66, Z:-0.00 [[ 9.80494148e-01 -1.96483786e-01 -5.03460526e-03 1.52109698e+02] [ 1.96480164e-01 9.80507054e-01 -1.20914468e-03 1.06581516e+01] [ 5.17404330e-03 1.96359213e-04 9.99986595e-01 -4.37672828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.955336195 meters 0.04200304433463237 Centerline is valid? [True, True] Translation: X:152.14, Y:10.66, Z:-0.00 [[ 9.80456992e-01 -1.96669121e-01 -5.03423108e-03 1.52136412e+02] [ 1.96665493e-01 9.80469897e-01 -1.21070276e-03 1.06647464e+01] [ 5.17401987e-03 1.96982447e-04 9.99986595e-01 -4.57918286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.985336195 meters 0.04567934136752505 Centerline is valid? [True, True] Translation: X:152.16, Y:10.68, Z:-0.01 [[ 9.80758378e-01 -1.95098924e-01 -7.02947255e-03 1.52162864e+02] [ 1.95091820e-01 9.80783528e-01 -1.68907730e-03 1.06763541e+01] [ 7.22392805e-03 2.85184114e-04 9.99973866e-01 -1.02792361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.015336195 meters 0.046287312908381194 Centerline is valid? [True, True] Translation: X:152.19, Y:10.68, Z:-0.01 [[ 9.80920267e-01 -1.94273159e-01 -7.30545685e-03 1.52189965e+02] [ 1.94265456e-01 9.80947423e-01 -1.75644799e-03 1.06849720e+01] [ 7.50749978e-03 3.03737522e-04 9.99971772e-01 -1.15717137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.045336195 meters 0.05188275624086098 Centerline is valid? [True, True] Translation: X:152.22, Y:10.70, Z:-0.01 [[ 9.81225577e-01 -1.92720519e-01 -7.42753156e-03 1.52215568e+02] [ 1.92712513e-01 9.81253636e-01 -1.78566014e-03 1.06999020e+01] [ 7.63242570e-03 3.20757132e-04 9.99970821e-01 -1.36951134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.075336195 meters 0.05368272536523336 Centerline is valid? [True, True] Translation: X:152.24, Y:10.71, Z:-0.02 [[ 9.81336939e-01 -1.92012613e-01 -1.04387847e-02 1.52244097e+02] [ 1.91996759e-01 9.81392351e-01 -2.50964460e-03 1.07073312e+01] [ 1.07264268e-02 4.58594126e-04 9.99942365e-01 -1.95732574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.105336195 meters 0.048396308692284444 Centerline is valid? [True, True] Translation: X:152.27, Y:10.71, Z:-0.02 [[ 9.81315683e-01 -1.92067945e-01 -1.13769684e-02 1.52273749e+02] [ 1.92049082e-01 9.81381502e-01 -2.73824273e-03 1.07070960e+01] [ 1.16910750e-02 5.02144209e-04 9.99931531e-01 -1.82837723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.135336195 meters 0.04959974215961436 Centerline is valid? [True, True] Translation: X:152.30, Y:10.71, Z:-0.02 [[ 9.81267860e-01 -1.92303139e-01 -1.15277789e-02 1.52300868e+02] [ 1.92283790e-01 9.81335440e-01 -2.77443220e-03 1.07145359e+01] [ 1.18461500e-02 5.05856145e-04 9.99929704e-01 -1.91608318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.165336195 meters 0.044982430814112774 Centerline is valid? [True, True] Translation: X:152.33, Y:10.72, Z:-0.02 [[ 9.80930044e-01 -1.94075786e-01 -1.05279996e-02 1.52330785e+02] [ 1.94059752e-01 9.80986439e-01 -2.53363038e-03 1.07183997e+01] [ 1.08195412e-02 4.42253162e-04 9.99941369e-01 -1.61558849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.195336195 meters 0.046900642663746585 Centerline is valid? [True, True] Translation: X:152.36, Y:10.73, Z:-0.02 [[ 9.80720869e-01 -1.95145560e-01 -1.02365326e-02 1.52357355e+02] [ 1.95130428e-01 9.80774201e-01 -2.46644778e-03 1.07286630e+01] [ 1.05210434e-02 4.21437814e-04 9.99944563e-01 -1.76877597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.225336195 meters 0.04757708741489958 Centerline is valid? [True, True] Translation: X:152.39, Y:10.73, Z:-0.02 [[ 9.80227907e-01 -1.97646641e-01 -9.43688156e-03 1.52385257e+02] [ 1.97633902e-01 9.80273265e-01 -2.27322285e-03 1.07349664e+01] [ 9.70001755e-03 3.63228750e-04 9.99952888e-01 -1.87683886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.255336195 meters 0.038781856098375506 Centerline is valid? [True, True] Translation: X:152.42, Y:10.73, Z:-0.01 [[ 9.79646108e-01 -2.00617144e-01 -6.80177578e-03 1.52418730e+02] [ 2.00610598e-01 9.79669691e-01 -1.63844103e-03 1.07259957e+01] [ 6.99219293e-03 2.40584070e-04 9.99975525e-01 -9.68358371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.285336195 meters 0.036728346013585586 Centerline is valid? [True, True] Translation: X:152.45, Y:10.73, Z:-0.01 [[ 9.79274239e-01 -2.02427964e-01 -6.69963899e-03 1.52447440e+02] [ 2.02421650e-01 9.79297130e-01 -1.61444824e-03 1.07302301e+01] [ 6.88774670e-03 2.24835594e-04 9.99976254e-01 -9.28271481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31533619500001 meters 0.03660821426799171 Centerline is valid? [True, True] Translation: X:152.47, Y:10.74, Z:-0.01 [[ 9.79147870e-01 -2.03017120e-01 -7.31425973e-03 1.52473993e+02] [ 2.03009608e-01 9.79175158e-01 -1.76306932e-03 1.07373167e+01] [ 7.51987468e-03 2.41440569e-04 9.99971696e-01 -1.10549175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34533619500002 meters 0.036912638555223726 Centerline is valid? [True, True] Translation: X:152.50, Y:10.74, Z:-0.01 [[ 9.78994770e-01 -2.03755085e-01 -7.28736401e-03 1.52500734e+02] [ 2.03747645e-01 9.79021864e-01 -1.75703655e-03 1.07435419e+01] [ 7.49249383e-03 2.35346338e-04 9.99971903e-01 -1.21682821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37533619500002 meters 0.03631616455297946 Centerline is valid? [True, True] Translation: X:152.53, Y:10.75, Z:-0.01 [[ 9.79168774e-01 -2.02927675e-01 -6.99081025e-03 1.52529338e+02] [ 2.02920792e-01 9.79193701e-01 -1.68760088e-03 1.07492312e+01] [ 7.18781828e-03 2.33865327e-04 9.99974140e-01 -1.07885916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40533619500002 meters 0.039823465478275054 Centerline is valid? [True, True] Translation: X:152.56, Y:10.76, Z:-0.01 [[ 9.79301759e-01 -2.02226517e-01 -8.51476670e-03 1.52555152e+02] [ 2.02216285e-01 9.79338732e-01 -2.05492919e-03 1.07582708e+01] [ 8.75440199e-03 2.90571282e-04 9.99961637e-01 -1.45401099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43533619500002 meters 0.03810020353586635 Centerline is valid? [True, True] Translation: X:152.59, Y:10.76, Z:-0.02 [[ 9.79503610e-01 -2.01134048e-01 -1.08523449e-02 1.52585372e+02] [ 2.01117358e-01 9.79563652e-01 -2.61919133e-03 1.07582876e+01] [ 1.11573712e-02 3.82912424e-04 9.99937681e-01 -1.55910127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46533619500002 meters 0.04151567112281545 Centerline is valid? [True, True] Translation: X:152.61, Y:10.77, Z:-0.02 [[ 9.79853201e-01 -1.99477672e-01 -9.81646183e-03 1.52610395e+02] [ 1.99463925e-01 9.79902304e-01 -2.37000188e-03 1.07723073e+01] [ 1.00919360e-02 3.64223924e-04 9.99949009e-01 -1.51251146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.495336195 meters 0.04017515077997821 Centerline is valid? [True, True] Translation: X:152.64, Y:10.78, Z:-0.01 [[ 9.80034901e-01 -1.98613864e-01 -9.17201189e-03 1.52638356e+02] [ 1.98601802e-01 9.80077757e-01 -2.21690890e-03 1.07803103e+01] [ 9.42959368e-03 3.51070005e-04 9.99955479e-01 -1.27427539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.525336195 meters 0.0435237677113251 Centerline is valid? [True, True] Translation: X:152.66, Y:10.79, Z:-0.01 [[ 9.80360389e-01 -1.97036481e-01 -8.37453996e-03 1.52664004e+02] [ 1.97026369e-01 9.80396100e-01 -2.02397406e-03 1.07916991e+01] [ 8.60916304e-03 3.34218789e-04 9.99962885e-01 -1.32197146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.555336195 meters 0.042685855128160984 Centerline is valid? [True, True] Translation: X:152.69, Y:10.79, Z:-0.01 [[ 9.80322931e-01 -1.97232015e-01 -8.15372775e-03 1.52691880e+02] [ 1.97222414e-01 9.80356785e-01 -1.97324216e-03 1.07946123e+01] [ 8.38274885e-03 3.26316667e-04 9.99964811e-01 -1.16936841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.585336195 meters 0.04201037107926666 Centerline is valid? [True, True] Translation: X:152.72, Y:10.80, Z:-0.01 [[ 9.80199427e-01 -1.97838374e-01 -8.31035094e-03 1.52720190e+02] [ 1.97828411e-01 9.80234599e-01 -2.01241575e-03 1.08006903e+01] [ 8.54422658e-03 3.28545243e-04 9.99963443e-01 -1.12890596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.615336195 meters 0.04062628716381342 Centerline is valid? [True, True] Translation: X:152.75, Y:10.81, Z:-0.01 [[ 9.79975614e-01 -1.98975135e-01 -7.52939834e-03 1.52748579e+02] [ 1.98966979e-01 9.80004496e-01 -1.82472478e-03 1.08071666e+01] [ 7.74191908e-03 2.90084147e-04 9.99969989e-01 -1.04004217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.645336195 meters 0.03950421712131901 Centerline is valid? [True, True] Translation: X:152.78, Y:10.81, Z:-0.01 [[ 9.79760646e-01 -2.00035664e-01 -7.40337065e-03 1.52777334e+02] [ 2.00027799e-01 9.79788577e-01 -1.79553653e-03 1.08119911e+01] [ 7.61290933e-03 2.78316092e-04 9.99970983e-01 -9.90669987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.675336195 meters 0.0404913405788414 Centerline is valid? [True, True] Translation: X:152.80, Y:10.82, Z:-0.01 [[ 9.79756234e-01 -2.00068515e-01 -7.09298901e-03 1.52804122e+02] [ 2.00061298e-01 9.79781873e-01 -1.71994282e-03 1.08205006e+01] [ 7.29368846e-03 2.66092112e-04 9.99973365e-01 -9.97923225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.705336195 meters 0.043679141843658086 Centerline is valid? [True, True] Translation: X:152.83, Y:10.83, Z:-0.01 [[ 9.80005643e-01 -1.98814956e-01 -7.84555403e-03 1.52831252e+02] [ 1.98806087e-01 9.80037000e-01 -1.90248969e-03 1.08315733e+01] [ 8.06717664e-03 3.04706738e-04 9.99967413e-01 -1.30567355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.735336195 meters 0.04447350143595513 Centerline is valid? [True, True] Translation: X:152.86, Y:10.84, Z:-0.01 [[ 9.80113428e-01 -1.98235397e-01 -8.96632604e-03 1.52859025e+02] [ 1.98223766e-01 9.80154376e-01 -2.17674034e-03 1.08396260e+01] [ 9.21989069e-03 3.56113529e-04 9.99957432e-01 -1.47345489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.765336195 meters 0.044754416819927444 Centerline is valid? [True, True] Translation: X:152.89, Y:10.85, Z:-0.01 [[ 9.80443824e-01 -1.96572370e-01 -9.44522619e-03 1.52886897e+02] [ 1.96559394e-01 9.80489241e-01 -2.29212025e-03 1.08509880e+01] [ 9.71151017e-03 3.90747206e-04 9.99952766e-01 -1.48481795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.795336195 meters 0.04535337999573434 Centerline is valid? [True, True] Translation: X:152.91, Y:10.86, Z:-0.01 [[ 9.80594758e-01 -1.95816155e-01 -9.48445025e-03 1.52914528e+02] [ 1.95803009e-01 9.80640541e-01 -2.30438850e-03 1.08601920e+01] [ 9.75207292e-03 4.02587387e-04 9.99952366e-01 -1.49985357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.825336195 meters 0.04823548722640934 Centerline is valid? [True, True] Translation: X:152.94, Y:10.87, Z:-0.02 [[ 9.80741480e-01 -1.95050997e-01 -1.00626639e-02 1.52939563e+02] [ 1.95036157e-01 9.80793005e-01 -2.44515604e-03 1.08736330e+01] [ 1.03463205e-02 4.35482659e-04 9.99946381e-01 -1.61020233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.855336195 meters 0.04588485803612475 Centerline is valid? [True, True] Translation: X:152.97, Y:10.88, Z:-0.02 [[ 9.80702598e-01 -1.95247147e-01 -1.00482003e-02 1.52967028e+02] [ 1.95232330e-01 9.80753976e-01 -2.44445159e-03 1.08799016e+01] [ 1.03320846e-02 4.35546462e-04 9.99946528e-01 -1.51958356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.885336195 meters 0.0463178209128305 Centerline is valid? [True, True] Translation: X:152.99, Y:10.89, Z:-0.01 [[ 9.80524901e-01 -1.96208804e-01 -8.54536129e-03 1.52993761e+02] [ 1.96198123e-01 9.80562070e-01 -2.07901429e-03 1.08881871e+01] [ 8.78717807e-03 3.61941428e-04 9.99961327e-01 -1.31839473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.915336195 meters 0.04684153850428738 Centerline is valid? [True, True] Translation: X:153.02, Y:10.90, Z:-0.01 [[ 9.80365889e-01 -1.97018789e-01 -8.14378920e-03 1.53020338e+02] [ 1.97009110e-01 9.80399654e-01 -1.98210238e-03 1.08958574e+01] [ 8.37467953e-03 3.38784903e-04 9.99964874e-01 -1.28252266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.945336195 meters 0.04518425773342459 Centerline is valid? [True, True] Translation: X:153.05, Y:10.91, Z:-0.01 [[ 9.80066598e-01 -1.98475569e-01 -8.76992986e-03 1.53047887e+02] [ 1.98464396e-01 9.80105772e-01 -2.13517869e-03 1.09070450e+01] [ 9.01923968e-03 3.52098484e-04 9.99959264e-01 -1.43713983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.975336195 meters 0.04199806483394296 Centerline is valid? [True, True] Translation: X:153.08, Y:10.91, Z:-0.02 [[ 9.79735296e-01 -2.00063304e-01 -9.66559142e-03 1.53075647e+02] [ 2.00049787e-01 9.79782902e-01 -2.35551958e-03 1.09147306e+01] [ 9.94143424e-03 3.74186172e-04 9.99950513e-01 -1.61017223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.005336195 meters 0.04250100759933561 Centerline is valid? [True, True] Translation: X:153.10, Y:10.93, Z:-0.02 [[ 9.79485889e-01 -2.01310244e-01 -9.03209949e-03 1.53102048e+02] [ 2.01298496e-01 9.79527474e-01 -2.20077245e-03 1.09257734e+01] [ 9.29022763e-03 3.37477510e-04 9.99956788e-01 -1.60445992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.035336195 meters 0.04242413802581645 Centerline is valid? [True, True] Translation: X:153.13, Y:10.93, Z:-0.02 [[ 9.79253721e-01 -2.02459233e-01 -8.50933204e-03 1.53128972e+02] [ 2.02448829e-01 9.79290643e-01 -2.07574651e-03 1.09343779e+01] [ 8.75336329e-03 3.09978188e-04 9.99961641e-01 -1.58716949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06533619500001 meters 0.03847004791556085 Centerline is valid? [True, True] Translation: X:153.16, Y:10.94, Z:-0.01 [[ 9.78708300e-01 -2.05111950e-01 -7.69099023e-03 1.53159092e+02] [ 2.05103540e-01 9.78738485e-01 -1.87519459e-03 1.09387295e+01] [ 7.91209294e-03 2.57819187e-04 9.99968666e-01 -1.32993312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09533619500002 meters 0.033887053070787126 Centerline is valid? [True, True] Translation: X:153.19, Y:10.95, Z:-0.01 [[ 9.78297007e-01 -2.07126021e-01 -5.81189232e-03 1.53188306e+02] [ 2.07121252e-01 9.78314253e-01 -1.41730212e-03 1.09450319e+01] [ 5.97941724e-03 1.82776006e-04 9.99982106e-01 -8.28268461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12533619500002 meters 0.037519161858704436 Centerline is valid? [True, True] Translation: X:153.21, Y:10.96, Z:-0.02 [[ 9.77738888e-01 -2.09713608e-01 -6.84606406e-03 1.53213449e+02] [ 2.09707050e-01 9.77762836e-01 -1.67017294e-03 1.09593398e+01] [ 7.04408501e-03 1.97325136e-04 9.99975171e-01 -1.56580397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15533619500002 meters 0.032634149502361626 Centerline is valid? [True, True] Translation: X:153.24, Y:10.96, Z:-0.01 [[ 9.77416854e-01 -2.11189401e-01 -7.43846289e-03 1.53242578e+02] [ 2.11181686e-01 9.77445137e-01 -1.81671550e-03 1.09604218e+01] [ 7.65436043e-03 2.04821220e-04 9.99970684e-01 -1.48282638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18533619500002 meters 0.029431014783898417 Centerline is valid? [True, True] Translation: X:153.27, Y:10.97, Z:-0.01 [[ 9.77022721e-01 -2.13049111e-01 -6.05627758e-03 1.53271238e+02] [ 2.13044026e-01 9.77041479e-01 -1.48029851e-03 1.09667157e+01] [ 6.23261068e-03 1.56031528e-04 9.99980565e-01 -1.20394865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21533619500002 meters 0.032682205054546824 Centerline is valid? [True, True] Translation: X:153.30, Y:10.98, Z:-0.02 [[ 9.76897081e-01 -2.13578831e-01 -7.49504171e-03 1.53297449e+02] [ 2.13571062e-01 9.76925815e-01 -1.83143576e-03 1.09772529e+01] [ 7.71325564e-03 1.88400230e-04 9.99970235e-01 -1.68097363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.245336195 meters 0.02915592951807368 Centerline is valid? [True, True] Translation: X:153.33, Y:10.98, Z:-0.02 [[ 9.76861001e-01 -2.13674711e-01 -9.25762023e-03 1.53325760e+02] [ 2.13662857e-01 9.76904839e-01 -2.26260986e-03 1.09807544e+01] [ 9.52727650e-03 2.32245742e-04 9.99954588e-01 -1.65223299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.275336195 meters 0.030019874035241194 Centerline is valid? [True, True] Translation: X:153.35, Y:10.99, Z:-0.02 [[ 9.76908537e-01 -2.13435626e-01 -9.74387356e-03 1.53351538e+02] [ 2.13422477e-01 9.76957098e-01 -2.38204019e-03 1.09917263e+01] [ 1.00277587e-02 2.47473768e-04 9.99949690e-01 -1.79703020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.305336195 meters 0.03232768917530969 Centerline is valid? [True, True] Translation: X:153.38, Y:11.01, Z:-0.02 [[ 9.77083709e-01 -2.12648985e-01 -9.37201207e-03 1.53376842e+02] [ 2.12636774e-01 9.77128624e-01 -2.29223964e-03 1.10059302e+01] [ 9.64510369e-03 2.46875602e-04 9.99953454e-01 -1.85323468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.335336195 meters 0.03213954097868087 Centerline is valid? [True, True] Translation: X:153.40, Y:11.01, Z:-0.02 [[ 9.77299824e-01 -2.11690197e-01 -8.50378479e-03 1.53404633e+02] [ 2.11680089e-01 9.77336792e-01 -2.08201769e-03 1.10127152e+01] [ 8.75180449e-03 2.34673599e-04 9.99961675e-01 -1.65048810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.365336195 meters 0.03214273051693132 Centerline is valid? [True, True] Translation: X:153.43, Y:11.02, Z:-0.02 [[ 9.77407704e-01 -2.11177575e-01 -8.84373260e-03 1.53432330e+02] [ 2.11166607e-01 9.77447681e-01 -2.16678406e-03 1.10205172e+01] [ 9.10186212e-03 2.50330426e-04 9.99958546e-01 -1.69836861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.395336195 meters 0.03404938691348053 Centerline is valid? [True, True] Translation: X:153.46, Y:11.03, Z:-0.02 [[ 9.77479354e-01 -2.10838785e-01 -9.00659534e-03 1.53458570e+02] [ 2.10827392e-01 9.77520813e-01 -2.20692065e-03 1.10319531e+01] [ 9.26943886e-03 2.58382362e-04 9.99957004e-01 -1.89475905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.425336195 meters 0.03227265412099515 Centerline is valid? [True, True] Translation: X:153.49, Y:11.04, Z:-0.02 [[ 9.77251015e-01 -2.11952521e-01 -7.52214124e-03 1.53486949e+02] [ 2.11944603e-01 9.77279942e-01 -1.84383971e-03 1.10394809e+01] [ 7.74204423e-03 2.07616988e-04 9.99970008e-01 -1.62888220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.455336195 meters 0.03270763256982281 Centerline is valid? [True, True] Translation: X:153.51, Y:11.05, Z:-0.02 [[ 9.77173441e-01 -2.12289162e-01 -8.08561019e-03 1.53513161e+02] [ 2.12280019e-01 9.77206868e-01 -1.98264178e-03 1.10477415e+01] [ 8.32220717e-03 2.20971410e-04 9.99965345e-01 -1.76748842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.485336195 meters 0.03398817945212822 Centerline is valid? [True, True] Translation: X:153.54, Y:11.06, Z:-0.02 [[ 9.77094096e-01 -2.12619279e-01 -8.95378451e-03 1.53539850e+02] [ 2.12608077e-01 9.77135090e-01 -2.19582291e-03 1.10556160e+01] [ 9.21593131e-03 2.41878689e-04 9.99957503e-01 -2.04921875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.515336195 meters 0.030992362829873676 Centerline is valid? [True, True] Translation: X:153.57, Y:11.06, Z:-0.02 [[ 9.77126555e-01 -2.12478808e-01 -8.74370675e-03 1.53568439e+02] [ 2.12468095e-01 9.77165645e-01 -2.14712326e-03 1.10577921e+01] [ 9.00026804e-03 2.40252437e-04 9.99959468e-01 -1.75566019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.545336195 meters 0.03282691666861714 Centerline is valid? [True, True] Translation: X:153.60, Y:11.07, Z:-0.02 [[ 9.77369232e-01 -2.11395396e-01 -7.83393591e-03 1.53595308e+02] [ 2.11386764e-01 9.77400602e-01 -1.92335937e-03 1.10664774e+01] [ 8.06348299e-03 2.23841903e-04 9.99967465e-01 -1.70134212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.575336195 meters 0.03582314617128167 Centerline is valid? [True, True] Translation: X:153.62, Y:11.08, Z:-0.02 [[ 9.77856129e-01 -2.09083690e-01 -9.02232956e-03 1.53621194e+02] [ 2.09072140e-01 9.77897711e-01 -2.21541410e-03 1.10800305e+01] [ 9.28612237e-03 2.80038504e-04 9.99956844e-01 -1.93018110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.605336195 meters 0.04104846011974123 Centerline is valid? [True, True] Translation: X:153.65, Y:11.10, Z:-0.02 [[ 9.78551752e-01 -2.05785719e-01 -9.41837622e-03 1.53647273e+02] [ 2.05772979e-01 9.78597022e-01 -2.31270083e-03 1.10960711e+01] [ 9.69271573e-03 3.25050111e-04 9.99952972e-01 -2.18272274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.635336195 meters 0.038809052682978226 Centerline is valid? [True, True] Translation: X:153.68, Y:11.10, Z:-0.02 [[ 9.78880231e-01 -2.04221898e-01 -9.32250743e-03 1.53675414e+02] [ 2.04209338e-01 9.78924564e-01 -2.29003800e-03 1.11003642e+01] [ 9.59370743e-03 3.37929859e-04 9.99953922e-01 -1.95705662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.665336195 meters 0.046779735120719944 Centerline is valid? [True, True] Translation: X:153.70, Y:11.11, Z:-0.02 [[ 9.79558881e-01 -2.00932960e-01 -9.50493652e-03 1.53701525e+02] [ 2.00919748e-01 9.79604922e-01 -2.33481126e-03 1.11148911e+01] [ 9.78022314e-03 3.77355654e-04 9.99952101e-01 -2.20613395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.695336195 meters 0.044767344282642535 Centerline is valid? [True, True] Translation: X:153.73, Y:11.12, Z:-0.02 [[ 9.80059203e-01 -1.98515288e-01 -8.69710074e-03 1.53730213e+02] [ 1.98504130e-01 9.80097722e-01 -2.13661004e-03 1.11217648e+01] [ 8.94815838e-03 3.67593923e-04 9.99959897e-01 -1.78218850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.725336195 meters 0.04994043113092852 Centerline is valid? [True, True] Translation: X:153.76, Y:11.14, Z:-0.02 [[ 9.80305779e-01 -1.97275403e-01 -9.11014194e-03 1.53755244e+02] [ 1.97263100e-01 9.80348029e-01 -2.23871813e-03 1.11378306e+01] [ 9.37275372e-03 3.97533475e-04 9.99955996e-01 -2.03512230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.755336195 meters 0.05259161410001031 Centerline is valid? [True, True] Translation: X:153.78, Y:11.15, Z:-0.02 [[ 9.80921552e-01 -1.94116401e-01 -1.05703453e-02 1.53782551e+02] [ 1.94099658e-01 9.80978377e-01 -2.59727913e-03 1.11530941e+01] [ 1.08734546e-02 4.96026667e-04 9.99940759e-01 -2.34449862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.785336195 meters 0.05086533623971708 Centerline is valid? [True, True] Translation: X:153.81, Y:11.16, Z:-0.02 [[ 9.81094265e-01 -1.93336954e-01 -8.65244842e-03 1.53810689e+02] [ 1.93325681e-01 9.81132330e-01 -2.12876583e-03 1.11593687e+01] [ 8.90076598e-03 4.15779463e-04 9.99960301e-01 -1.99384224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81533619500001 meters 0.050159810612812876 Centerline is valid? [True, True] Translation: X:153.84, Y:11.17, Z:-0.02 [[ 9.80989922e-01 -1.93897832e-01 -7.89956853e-03 1.53838489e+02] [ 1.93888443e-01 9.81021656e-01 -1.94486626e-03 1.11658095e+01] [ 8.12675315e-03 3.76259157e-04 9.99966907e-01 -1.85349198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84533619500002 meters 0.04807072921833987 Centerline is valid? [True, True] Translation: X:153.87, Y:11.17, Z:-0.02 [[ 9.80697696e-01 -1.95363639e-01 -8.06710807e-03 1.53867684e+02] [ 1.95353885e-01 9.80730804e-01 -1.98745656e-03 1.11696094e+01] [ 8.29993813e-03 3.73153168e-04 9.99965485e-01 -1.83312813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87533619500002 meters 0.04807072921833987 Centerline is valid? [True, True] Translation: X:153.89, Y:11.18, Z:-0.02 [[ 9.80659653e-01 -1.95554531e-01 -8.06665646e-03 1.53894354e+02] [ 1.95544769e-01 9.80692758e-01 -1.98928952e-03 1.11763587e+01] [ 8.29992615e-03 3.73423491e-04 9.99965485e-01 -1.85337626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90533619500002 meters 0.052610114036384895 Centerline is valid? [True, True] Translation: X:153.92, Y:11.19, Z:-0.02 [[ 9.80418035e-01 -1.96767519e-01 -7.93855242e-03 1.53919526e+02] [ 1.96758094e-01 9.80450108e-01 -1.95895495e-03 1.11928117e+01] [ 8.16881329e-03 3.58620318e-04 9.99966570e-01 -2.13062292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93533619500002 meters 0.04987983363713653 Centerline is valid? [True, True] Translation: X:153.95, Y:11.20, Z:-0.02 [[ 9.80355475e-01 -1.97081233e-01 -7.88225260e-03 1.53946789e+02] [ 1.97071938e-01 9.80387098e-01 -1.94677684e-03 1.12008793e+01] [ 8.11133193e-03 3.55162540e-04 9.99967040e-01 -2.07900097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96533619500002 meters 0.04733504048269182 Centerline is valid? [True, True] Translation: X:153.97, Y:11.21, Z:-0.02 [[ 9.80322948e-01 -1.97183954e-01 -9.24147211e-03 1.53974055e+02] [ 1.97171187e-01 9.80366419e-01 -2.28185586e-03 1.12088276e+01] [ 9.50997428e-03 4.14803640e-04 9.99954693e-01 -2.28709046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.995336195 meters 0.043877995311270915 Centerline is valid? [True, True] Translation: X:154.00, Y:11.21, Z:-0.02 [[ 9.79992108e-01 -1.98836675e-01 -8.91318069e-03 1.54003402e+02] [ 1.98824846e-01 9.80032564e-01 -2.20307051e-03 1.12125315e+01] [ 9.17325854e-03 3.86829933e-04 9.99957850e-01 -2.14140300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.025336195 meters 0.04558236485273765 Centerline is valid? [True, True] Translation: X:154.03, Y:11.22, Z:-0.02 [[ 9.79846387e-01 -1.99551298e-01 -8.96316132e-03 1.54028959e+02] [ 1.99539367e-01 9.79887307e-01 -2.21525257e-03 1.12233892e+01] [ 9.22494453e-03 3.82103686e-04 9.99957376e-01 -2.23365122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.055336195 meters 0.04570598595831102 Centerline is valid? [True, True] Translation: X:154.06, Y:11.23, Z:-0.03 [[ 9.79617541e-01 -2.00602369e-01 -1.04001548e-02 1.54055637e+02] [ 2.00586353e-01 9.79672651e-01 -2.57153174e-03 1.12322709e+01] [ 1.07046026e-02 4.32988484e-04 9.99942610e-01 -2.58112002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.085336195 meters 0.0422460092256128 Centerline is valid? [True, True] Translation: X:154.08, Y:11.24, Z:-0.02 [[ 9.79192075e-01 -2.02690800e-01 -9.96596855e-03 1.54084745e+02] [ 2.02676206e-01 9.79242710e-01 -2.46374657e-03 1.12396564e+01] [ 1.02584808e-02 3.92616423e-04 9.99947303e-01 -2.45358251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.115336195 meters 0.04474861558855314 Centerline is valid? [True, True] Translation: X:154.11, Y:11.25, Z:-0.03 [[ 9.78907298e-01 -2.04095990e-01 -9.23732392e-03 1.54110022e+02] [ 2.04083502e-01 9.78950818e-01 -2.28499878e-03 1.12535643e+01] [ 9.50924489e-03 3.51616572e-04 9.99954724e-01 -2.64671773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.145336195 meters 0.03986344803583871 Centerline is valid? [True, True] Translation: X:154.14, Y:11.26, Z:-0.03 [[ 9.78191705e-01 -2.07503105e-01 -9.13503694e-03 1.54139639e+02] [ 2.07491042e-01 9.78234309e-01 -2.25946779e-03 1.12572248e+01] [ 9.40505313e-03 3.14754323e-04 9.99955722e-01 -2.60140990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.175336195 meters 0.03241239259196381 Centerline is valid? [True, True] Translation: X:154.17, Y:11.25, Z:-0.02 [[ 9.77255224e-01 -2.11878537e-01 -8.92817409e-03 1.54171437e+02] [ 2.11867196e-01 9.77295971e-01 -2.20833749e-03 1.12543168e+01] [ 9.19336788e-03 2.66522135e-04 9.99957705e-01 -2.40906071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.205336195 meters 0.028615702547646844 Centerline is valid? [True, True] Translation: X:154.20, Y:11.26, Z:-0.02 [[ 9.76194661e-01 -2.16706825e-01 -9.06292914e-03 1.54200868e+02] [ 2.16695343e-01 9.76236704e-01 -2.24199535e-03 1.12564813e+01] [ 9.33341976e-03 2.24729350e-04 9.99956417e-01 -2.49074524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.235336195 meters 0.02793831307339846 Centerline is valid? [True, True] Translation: X:154.23, Y:11.26, Z:-0.03 [[ 9.75686260e-01 -2.18956943e-01 -9.70458481e-03 1.54228263e+02] [ 2.18943880e-01 9.75734497e-01 -2.40160893e-03 1.12625396e+01] [ 9.99494713e-03 2.18457377e-04 9.99950025e-01 -2.70920005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.265336195 meters 0.025028305112036266 Centerline is valid? [True, True] Translation: X:154.26, Y:11.27, Z:-0.03 [[ 9.74983985e-01 -2.22075746e-01 -9.41234665e-03 1.54255802e+02] [ 2.22063598e-01 9.75029400e-01 -2.32988104e-03 1.12663149e+01] [ 9.69472477e-03 1.81457139e-04 9.99952989e-01 -2.67944904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.295336195 meters 0.024078358817771477 Centerline is valid? [True, True] Translation: X:154.28, Y:11.27, Z:-0.03 [[ 9.74677953e-01 -2.23455366e-01 -8.40158954e-03 1.54283752e+02] [ 2.23445718e-01 9.74714151e-01 -2.08200068e-03 1.12712558e+01] [ 8.65438245e-03 1.51980958e-04 9.99962539e-01 -2.59432213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.325336195 meters 0.021975104850908176 Centerline is valid? [True, True] Translation: X:154.31, Y:11.27, Z:-0.02 [[ 9.74312262e-01 -2.25089458e-01 -7.09588742e-03 1.54313923e+02] [ 2.25082609e-01 9.74338094e-01 -1.75984242e-03 1.12701740e+01] [ 7.30991540e-03 1.17475195e-04 9.99973275e-01 -2.32591705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.355336195 meters 0.021877837061166312 Centerline is valid? [True, True] Translation: X:154.34, Y:11.28, Z:-0.02 [[ 9.74696872e-01 -2.23446175e-01 -6.14937170e-03 1.54341956e+02] [ 2.23440991e-01 9.74716263e-01 -1.52643388e-03 1.12752200e+01] [ 6.33496842e-03 1.13788629e-04 9.99979927e-01 -1.92972883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.385336195 meters 0.02603599263939591 Centerline is valid? [True, True] Translation: X:154.37, Y:11.29, Z:-0.02 [[ 9.75169125e-01 -2.21360483e-01 -6.68683801e-03 1.54367223e+02] [ 2.21354305e-01 9.75192041e-01 -1.65950721e-03 1.12871733e+01] [ 6.88830053e-03 1.38139809e-04 9.99976266e-01 -2.23995433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.415336195 meters 0.03126593966033953 Centerline is valid? [True, True] Translation: X:154.40, Y:11.30, Z:-0.03 [[ 9.76310683e-01 -2.16219135e-01 -8.16922522e-03 1.54395243e+02] [ 2.16209738e-01 9.76344837e-01 -2.02698190e-03 1.12985270e+01] [ 8.41425313e-03 2.12698036e-04 9.99964577e-01 -2.52636469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.445336195 meters 0.0369421538353307 Centerline is valid? [True, True] Translation: X:154.42, Y:11.31, Z:-0.02 [[ 9.77809223e-01 -2.09347616e-01 -7.91832998e-03 1.54422865e+02] [ 2.09338563e-01 9.77841248e-01 -1.96471714e-03 1.13140282e+01] [ 8.15417851e-03 2.63506719e-04 9.99966719e-01 -2.31537176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.475336195 meters 0.04364408864667447 Centerline is valid? [True, True] Translation: X:154.45, Y:11.33, Z:-0.03 [[ 9.78589842e-01 -2.05649477e-01 -8.37934975e-03 1.54449190e+02] [ 2.05639201e-01 9.78625667e-01 -2.07925123e-03 1.13308629e+01] [ 8.62784366e-03 3.11611344e-04 9.99962731e-01 -2.59637017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.505336195 meters 0.05508670357654314 Centerline is valid? [True, True] Translation: X:154.47, Y:11.35, Z:-0.03 [[ 9.80063429e-01 -1.98426246e-01 -1.01340706e-02 1.54473664e+02] [ 1.98410830e-01 9.80115717e-01 -2.51468716e-03 1.13515372e+01] [ 1.04315418e-02 4.53843562e-04 9.99945487e-01 -3.01016700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.535336195 meters 0.06175334105469232 Centerline is valid? [True, True] Translation: X:154.50, Y:11.37, Z:-0.03 [[ 9.81225836e-01 -1.92599732e-01 -1.00599397e-02 1.54500302e+02] [ 1.92584233e-01 9.81277270e-01 -2.49642511e-03 1.13680515e+01] [ 1.03524010e-02 5.12171046e-04 9.99946281e-01 -3.02957479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56533619500001 meters 0.05744931460993784 Centerline is valid? [True, True] Translation: X:154.53, Y:11.37, Z:-0.03 [[ 9.81674819e-01 -1.90313686e-01 -9.75960869e-03 1.54531039e+02] [ 1.90298987e-01 9.81723194e-01 -2.42182156e-03 1.13712078e+01] [ 1.00421400e-02 5.20197588e-04 9.99949441e-01 -2.71317077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59533619500002 meters 0.06451075008310242 Centerline is valid? [True, True] Translation: X:154.56, Y:11.39, Z:-0.03 [[ 9.82335497e-01 -1.86919385e-01 -8.83821340e-03 1.54556222e+02] [ 1.86907191e-01 9.82375127e-01 -2.19349833e-03 1.13896133e+01] [ 9.09244838e-03 5.02825637e-04 9.99958536e-01 -2.66546173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62533619500002 meters 0.06468382010809856 Centerline is valid? [True, True] Translation: X:154.58, Y:11.40, Z:-0.02 [[ 9.82615829e-01 -1.85529657e-01 -6.69924756e-03 1.54582452e+02] [ 1.85522603e-01 9.82638587e-01 -1.66490788e-03 1.14044280e+01] [ 6.89182894e-03 3.93102989e-04 9.99976174e-01 -2.21540414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65533619500002 meters 0.06031518125374104 Centerline is valid? [True, True] Translation: X:154.61, Y:11.41, Z:-0.02 [[ 9.82482331e-01 -1.86253856e-01 -6.16199009e-03 1.54611002e+02] [ 1.86247894e-01 9.82501589e-01 -1.53261897e-03 1.14088433e+01] [ 6.33962124e-03 3.58113379e-04 9.99979840e-01 -2.08259951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68533619500002 meters 0.060901631674620954 Centerline is valid? [True, True] Translation: X:154.64, Y:11.42, Z:-0.02 [[ 9.81793333e-01 -1.89810744e-01 -7.33028480e-03 1.54638788e+02] [ 1.89802415e-01 9.81820617e-01 -1.82194239e-03 1.14177113e+01] [ 7.54284899e-03 3.97465128e-04 9.99971473e-01 -2.46405111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71533619500002 meters 0.05870572242298986 Centerline is valid? [True, True] Translation: X:154.67, Y:11.42, Z:-0.03 [[ 9.81279571e-01 -1.92426995e-01 -7.89021207e-03 1.54668228e+02] [ 1.92417428e-01 9.81311208e-01 -1.96136928e-03 1.14232960e+01] [ 8.12017394e-03 4.06437298e-04 9.99966948e-01 -2.63949927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.745336195 meters 0.051332750337691635 Centerline is valid? [True, True] Translation: X:154.70, Y:11.42, Z:-0.03 [[ 9.79911972e-01 -1.99284750e-01 -7.62333267e-03 1.54699002e+02] [ 1.99276028e-01 9.79941567e-01 -1.89474712e-03 1.14240785e+01] [ 7.84801476e-03 3.37537929e-04 9.99969147e-01 -2.66313619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.775336195 meters 0.044149679837998626 Centerline is valid? [True, True] Translation: X:154.73, Y:11.42, Z:-0.03 [[ 9.78592267e-01 -2.05682701e-01 -7.19734371e-03 1.54730194e+02] [ 2.05675098e-01 9.78618697e-01 -1.78903205e-03 1.14235661e+01] [ 7.41142807e-03 2.70418551e-04 9.99972498e-01 -2.63866155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.805336195 meters 0.037368342605031545 Centerline is valid? [True, True] Translation: X:154.76, Y:11.42, Z:-0.03 [[ 9.77948129e-01 -2.08710098e-01 -7.58629980e-03 1.54760739e+02] [ 2.08701740e-01 9.77977519e-01 -1.88603123e-03 1.14227899e+01] [ 7.81286442e-03 2.61166743e-04 9.99969445e-01 -2.51716736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.835336195 meters 0.034009575434652065 Centerline is valid? [True, True] Translation: X:154.79, Y:11.43, Z:-0.03 [[ 9.76730284e-01 -2.14303872e-01 -8.47366841e-03 1.54790535e+02] [ 2.14293653e-01 9.76767010e-01 -2.10677645e-03 1.14257002e+01] [ 8.72829011e-03 2.41899000e-04 9.99961878e-01 -2.81738168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.865336195 meters 0.02755779417837339 Centerline is valid? [True, True] Translation: X:154.82, Y:11.42, Z:-0.03 [[ 9.75766716e-01 -2.18665273e-01 -8.05069940e-03 1.54822098e+02] [ 2.18656196e-01 9.75799908e-01 -2.00166279e-03 1.14239973e+01] [ 8.29356588e-03 1.92820625e-04 9.99965589e-01 -2.61854683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.895336195 meters 0.02580804899688882 Centerline is valid? [True, True] Translation: X:154.85, Y:11.43, Z:-0.03 [[ 9.75285889e-01 -2.20812236e-01 -7.70660815e-03 1.54851159e+02] [ 2.20803967e-01 9.75316322e-01 -1.91850975e-03 1.14287229e+01] [ 7.94001115e-03 1.69445837e-04 9.99968463e-01 -2.56198639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.925336195 meters 0.023019423667776515 Centerline is valid? [True, True] Translation: X:154.88, Y:11.43, Z:-0.02 [[ 9.74702956e-01 -2.23398023e-01 -6.88985661e-03 1.54879766e+02] [ 2.23391480e-01 9.74727298e-01 -1.71484254e-03 1.14329668e+01] [ 7.09882375e-03 1.32326821e-04 9.99974794e-01 -2.35144769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.955336195 meters 0.021235383592997 Centerline is valid? [True, True] Translation: X:154.91, Y:11.44, Z:-0.02 [[ 9.74336606e-01 -2.24993250e-01 -6.79820283e-03 1.54908990e+02] [ 2.24986905e-01 9.74360315e-01 -1.69403499e-03 1.14371200e+01] [ 7.00504549e-03 1.21053688e-04 9.99975457e-01 -2.33392070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.985336195 meters 0.022157009598965362 Centerline is valid? [True, True] Translation: X:154.94, Y:11.44, Z:-0.03 [[ 9.74303087e-01 -2.25126011e-01 -7.19539367e-03 1.54935888e+02] [ 2.25118905e-01 9.74329648e-01 -1.79313114e-03 1.14441354e+01] [ 7.41436585e-03 1.27234054e-04 9.99972505e-01 -2.53592017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.015336195 meters 0.024935172725755374 Centerline is valid? [True, True] Translation: X:154.96, Y:11.45, Z:-0.03 [[ 9.74727823e-01 -2.23251465e-01 -8.02837929e-03 1.54962364e+02] [ 2.23242553e-01 9.74760872e-01 -2.00108752e-03 1.14514438e+01] [ 8.27249572e-03 1.58239790e-04 9.99965770e-01 -2.77038665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.045336195 meters 0.02850327864519091 Centerline is valid? [True, True] Translation: X:154.99, Y:11.46, Z:-0.03 [[ 9.75583772e-01 -2.19490807e-01 -7.75169313e-03 1.54990115e+02] [ 2.19482381e-01 9.75614551e-01 -1.93197605e-03 1.14630057e+01] [ 7.98671559e-03 1.83444412e-04 9.99968089e-01 -2.56602693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.075336195 meters 0.0324297116639814 Centerline is valid? [True, True] Translation: X:155.02, Y:11.48, Z:-0.02 [[ 9.76792984e-01 -2.14036377e-01 -7.99350481e-03 1.55017262e+02] [ 2.14027234e-01 9.76825662e-01 -1.99225417e-03 1.14786861e+01] [ 8.23467549e-03 2.35192175e-04 9.99966067e-01 -2.46831126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.105336195 meters 0.035341340354341264 Centerline is valid? [True, True] Translation: X:155.04, Y:11.49, Z:-0.03 [[ 9.77426909e-01 -2.11092996e-01 -8.73979625e-03 1.55044869e+02] [ 2.11081946e-01 9.77465941e-01 -2.17856754e-03 1.14910080e+01] [ 9.00273351e-03 2.84577333e-04 9.99959434e-01 -2.58279240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.135336195 meters 0.04608155997060103 Centerline is valid? [True, True] Translation: X:155.07, Y:11.51, Z:-0.03 [[ 9.78622836e-01 -2.05478666e-01 -8.70991528e-03 1.55070340e+02] [ 2.05467468e-01 9.78661538e-01 -2.17120945e-03 1.15115573e+01] [ 8.97019630e-03 3.35190915e-04 9.99959711e-01 -2.88187853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.165336195 meters 0.044070784024068596 Centerline is valid? [True, True] Translation: X:155.10, Y:11.52, Z:-0.03 [[ 9.79096498e-01 -2.03245191e-01 -7.83834152e-03 1.55099352e+02] [ 2.03236047e-01 9.79127821e-01 -1.95440576e-03 1.15159519e+01] [ 8.07196183e-03 3.20518296e-04 9.99967370e-01 -2.51380696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.195336195 meters 0.054259165272360854 Centerline is valid? [True, True] Translation: X:155.12, Y:11.54, Z:-0.03 [[ 9.79727453e-01 -2.00239420e-01 -6.18803034e-03 1.55123455e+02] [ 2.00233658e-01 9.79746957e-01 -1.54337682e-03 1.15366265e+01] [ 6.37174878e-03 2.73036692e-04 9.99979663e-01 -2.57644795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.225336195 meters 0.05001552277115917 Centerline is valid? [True, True] Translation: X:155.15, Y:11.54, Z:-0.02 [[ 9.79799130e-01 -1.99876433e-01 -6.56321424e-03 1.55151008e+02] [ 1.99869940e-01 9.79821068e-01 -1.63742072e-03 1.15430093e+01] [ 6.75805740e-03 2.92554156e-04 9.99977121e-01 -2.48678485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.255336195 meters 0.05068300042355663 Centerline is valid? [True, True] Translation: X:155.18, Y:11.55, Z:-0.03 [[ 9.79706886e-01 -2.00311874e-01 -7.04064498e-03 1.55177525e+02] [ 2.00304396e-01 9.79732134e-01 -1.75885995e-03 1.15521639e+01] [ 7.25026667e-03 3.12895059e-04 9.99973668e-01 -2.65232329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.285336195 meters 0.05390822315623643 Centerline is valid? [True, True] Translation: X:155.20, Y:11.56, Z:-0.03 [[ 9.79493763e-01 -2.01357302e-01 -6.87055617e-03 1.55204007e+02] [ 2.01350208e-01 9.79517814e-01 -1.71625499e-03 1.15609955e+01] [ 7.07541263e-03 2.97673144e-04 9.99974925e-01 -2.89565273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31533619500001 meters 0.04674602252329482 Centerline is valid? [True, True] Translation: X:155.23, Y:11.56, Z:-0.03 [[ 9.79141499e-01 -2.03029906e-01 -7.79630942e-03 1.55234630e+02] [ 2.03020809e-01 9.79172483e-01 -1.94934270e-03 1.15577846e+01] [ 8.02970651e-03 3.25869289e-04 9.99967708e-01 -2.84052051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34533619500002 meters 0.04431896930551184 Centerline is valid? [True, True] Translation: X:155.26, Y:11.56, Z:-0.03 [[ 9.79008657e-01 -2.03675932e-01 -7.62657385e-03 1.55262989e+02] [ 2.03667235e-01 9.79038312e-01 -1.90834891e-03 1.15622352e+01] [ 7.85539273e-03 3.15006898e-04 9.99969096e-01 -2.72452035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37533619500002 meters 0.046793495477281344 Centerline is valid? [True, True] Translation: X:155.29, Y:11.57, Z:-0.03 [[ 9.78864034e-01 -2.04415189e-01 -6.29555233e-03 1.55289251e+02] [ 2.04409270e-01 9.78884245e-01 -1.57664083e-03 1.15736713e+01] [ 6.48490632e-03 2.56447743e-04 9.99978940e-01 -2.63868444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40533619500002 meters 0.04586038429475004 Centerline is valid? [True, True] Translation: X:155.32, Y:11.58, Z:-0.03 [[ 9.78517825e-01 -2.06013669e-01 -7.82516408e-03 1.55316256e+02] [ 2.06004580e-01 9.78549066e-01 -1.95904716e-03 1.15797534e+01] [ 8.06089749e-03 3.04942923e-04 9.99967464e-01 -2.97256859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43533619500002 meters 0.0444786489795995 Centerline is valid? [True, True] Translation: X:155.34, Y:11.58, Z:-0.03 [[ 9.78319636e-01 -2.06934471e-01 -8.29544648e-03 1.55344645e+02] [ 2.06924271e-01 9.78354754e-01 -2.07898787e-03 1.15840205e+01] [ 8.54610375e-03 3.17385439e-04 9.99963431e-01 -3.08192539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46533619500002 meters 0.043449546121165736 Centerline is valid? [True, True] Translation: X:155.37, Y:11.59, Z:-0.03 [[ 9.77954678e-01 -2.08630092e-01 -8.83927817e-03 1.55372282e+02] [ 2.08618583e-01 9.77994571e-01 -2.21494914e-03 1.15876852e+01] [ 9.10687111e-03 3.22082185e-04 9.99958480e-01 -3.23879482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.495336195 meters 0.03659573039348053 Centerline is valid? [True, True] Translation: X:155.40, Y:11.59, Z:-0.03 [[ 9.77382324e-01 -2.11321166e-01 -8.19495251e-03 1.55402773e+02] [ 2.11311368e-01 9.77416640e-01 -2.05348074e-03 1.15879841e+01] [ 8.44382689e-03 2.75349152e-04 9.99964312e-01 -2.88594072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.525336195 meters 0.036273091190611596 Centerline is valid? [True, True] Translation: X:155.43, Y:11.59, Z:-0.03 [[ 9.77170443e-01 -2.12311896e-01 -7.84754719e-03 1.55429877e+02] [ 2.12302937e-01 9.77201920e-01 -1.96721300e-03 1.15948253e+01] [ 8.08630091e-03 2.56245081e-04 9.99967273e-01 -2.93519915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.555336195 meters 0.037210731410918546 Centerline is valid? [True, True] Translation: X:155.46, Y:11.60, Z:-0.03 [[ 9.76913229e-01 -2.13470641e-01 -8.41600335e-03 1.55457232e+02] [ 2.13460371e-01 9.76949443e-01 -2.11068238e-03 1.16003296e+01] [ 8.67257851e-03 2.65470342e-04 9.99962357e-01 -3.22171056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.585336195 meters 0.0343758708408069 Centerline is valid? [True, True] Translation: X:155.49, Y:11.60, Z:-0.03 [[ 9.76859336e-01 -2.13694804e-01 -8.96488448e-03 1.55486553e+02] [ 2.13683139e-01 9.76900430e-01 -2.25055395e-03 1.16019544e+01] [ 9.23873119e-03 2.82829979e-04 9.99957282e-01 -3.13257489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.615336195 meters 0.03944314139887304 Centerline is valid? [True, True] Translation: X:155.51, Y:11.61, Z:-0.03 [[ 9.76967158e-01 -2.13197467e-01 -9.05608215e-03 1.55512210e+02] [ 2.13185541e-01 9.77009087e-01 -2.27369751e-03 1.16124509e+01] [ 9.33262110e-03 2.90702019e-04 9.99956408e-01 -3.49955455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.645336195 meters 0.03597133786014477 Centerline is valid? [True, True] Translation: X:155.54, Y:11.62, Z:-0.03 [[ 9.77020906e-01 -2.12941201e-01 -9.28404361e-03 1.55540713e+02] [ 2.12928633e-01 9.77064969e-01 -2.33319997e-03 1.16156398e+01] [ 9.56794818e-03 3.02746426e-04 9.99954180e-01 -3.23387028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.675336195 meters 0.04242469566424652 Centerline is valid? [True, True] Translation: X:155.56, Y:11.63, Z:-0.04 [[ 9.77029771e-01 -2.12906939e-01 -9.13575770e-03 1.55564597e+02] [ 2.12894766e-01 9.77072437e-01 -2.29613094e-03 1.16311632e+01] [ 9.41515924e-03 2.98433295e-04 9.99955632e-01 -3.60836325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.705336195 meters 0.04159505594668374 Centerline is valid? [True, True] Translation: X:155.59, Y:11.64, Z:-0.03 [[ 9.77009638e-01 -2.13022072e-01 -8.58864117e-03 1.55592269e+02] [ 2.13011300e-01 9.77047347e-01 -2.16064011e-03 1.16381854e+01] [ 8.85177310e-03 2.81488589e-04 9.99960783e-01 -3.49188737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.735336195 meters 0.03975585204487951 Centerline is valid? [True, True] Translation: X:155.62, Y:11.64, Z:-0.03 [[ 9.77178017e-01 -2.12273845e-01 -7.93334740e-03 1.55621847e+02] [ 2.12264617e-01 9.77210184e-01 -1.99729576e-03 1.16404662e+01] [ 8.17652152e-03 2.67744557e-04 9.99966536e-01 -3.21405544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.765336195 meters 0.03975585204487951 Centerline is valid? [True, True] Translation: X:155.65, Y:11.65, Z:-0.03 [[ 9.77138477e-01 -2.12455797e-01 -7.93293333e-03 1.55648461e+02] [ 2.12446562e-01 9.77170641e-01 -1.99894036e-03 1.16473624e+01] [ 8.17651602e-03 2.67917117e-04 9.99966536e-01 -3.23429366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.795336195 meters 0.042535136693843525 Centerline is valid? [True, True] Translation: X:155.67, Y:11.66, Z:-0.03 [[ 9.77239342e-01 -2.12025921e-01 -6.94819973e-03 1.55674290e+02] [ 2.12018821e-01 9.77264013e-01 -1.75147020e-03 1.16569686e+01] [ 7.16158264e-03 2.38456469e-04 9.99974327e-01 -3.14428311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.825336195 meters 0.041581200455748056 Centerline is valid? [True, True] Translation: X:155.70, Y:11.66, Z:-0.03 [[ 9.77383758e-01 -2.11398105e-01 -5.64183337e-03 1.55702472e+02] [ 2.11393405e-01 9.77400021e-01 -1.42358011e-03 1.16629328e+01] [ 5.81527019e-03 1.98737707e-04 9.99983071e-01 -2.80706427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.855336195 meters 0.040072757149848974 Centerline is valid? [True, True] Translation: X:155.73, Y:11.67, Z:-0.03 [[ 9.77440413e-01 -2.11126600e-01 -5.98308235e-03 1.55730318e+02] [ 2.11121303e-01 9.77458702e-01 -1.51070084e-03 1.16710171e+01] [ 6.16716503e-03 2.13463915e-04 9.99980960e-01 -2.84162790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.885336195 meters 0.038380224004026374 Centerline is valid? [True, True] Translation: X:155.76, Y:11.68, Z:-0.03 [[ 9.77469118e-01 -2.10996210e-01 -5.89268882e-03 1.55758764e+02] [ 2.10991062e-01 9.77486856e-01 -1.48900651e-03 1.16774442e+01] [ 6.07420060e-03 2.12153203e-04 9.99981529e-01 -2.72953463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.915336195 meters 0.04300722271485102 Centerline is valid? [True, True] Translation: X:155.78, Y:11.69, Z:-0.03 [[ 9.77645344e-01 -2.10147524e-01 -6.89922197e-03 1.55784132e+02] [ 2.10140450e-01 9.77669655e-01 -1.74291465e-03 1.16884001e+01] [ 7.11142916e-03 2.54146778e-04 9.99974681e-01 -3.14926163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.945336195 meters 0.04280429827790346 Centerline is valid? [True, True] Translation: X:155.81, Y:11.69, Z:-0.03 [[ 9.77480715e-01 -2.10850078e-01 -8.58463113e-03 1.55812514e+02] [ 2.10839134e-01 9.77518362e-01 -2.17070453e-03 1.16948827e+01] [ 8.84932778e-03 3.11845620e-04 9.99960795e-01 -3.47002163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.975336195 meters 0.03814272590774776 Centerline is valid? [True, True] Translation: X:155.84, Y:11.70, Z:-0.03 [[ 9.77256017e-01 -2.11902419e-01 -8.24880591e-03 1.55841706e+02] [ 2.11892339e-01 9.77290785e-01 -2.08738902e-03 1.16968490e+01] [ 8.50380479e-03 2.92054703e-04 9.99963799e-01 -3.21849103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.005336195 meters 0.03868204659284591 Centerline is valid? [True, True] Translation: X:155.87, Y:11.70, Z:-0.03 [[ 9.76920337e-01 -2.13490092e-01 -6.97401315e-03 1.55868445e+02] [ 2.13482928e-01 9.76945201e-01 -1.76461317e-03 1.17039203e+01] [ 7.18995610e-03 2.35053740e-04 9.99974124e-01 -3.07205613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.035336195 meters 0.035473456333463334 Centerline is valid? [True, True] Translation: X:155.90, Y:11.71, Z:-0.03 [[ 9.76585998e-01 -2.15038983e-01 -6.16634606e-03 1.55897495e+02] [ 2.15033412e-01 9.76605446e-01 -1.56052950e-03 1.17064958e+01] [ 6.35766182e-03 1.98020826e-04 9.99979770e-01 -2.78437865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06533619500001 meters 0.036911068250847515 Centerline is valid? [True, True] Translation: X:155.92, Y:11.71, Z:-0.03 [[ 9.76419252e-01 -2.15814931e-01 -5.41848475e-03 1.55923855e+02] [ 2.15810638e-01 9.76434272e-01 -1.37174626e-03 1.17140395e+01] [ 5.58683754e-03 1.70032802e-04 9.99984379e-01 -2.85922780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09533619500002 meters 0.03383184791841652 Centerline is valid? [True, True] Translation: X:155.95, Y:11.72, Z:-0.02 [[ 9.76119458e-01 -2.17205604e-01 -3.53969317e-03 1.55953076e+02] [ 2.17203780e-01 9.76125870e-01 -8.96352594e-04 1.17170243e+01] [ 3.64987888e-03 1.06112471e-04 9.99993334e-01 -2.46247521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12533619500002 meters 0.038718538542909034 Centerline is valid? [True, True] Translation: X:155.98, Y:11.73, Z:-0.03 [[ 9.76137850e-01 -2.17134137e-01 -2.76851034e-03 1.55978518e+02] [ 2.17133020e-01 9.76141772e-01 -7.01408624e-04 1.17305080e+01] [ 2.85475835e-03 8.35364958e-05 9.99995922e-01 -2.55884495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15533619500002 meters 0.03608290282586742 Centerline is valid? [True, True] Translation: X:156.01, Y:11.73, Z:-0.03 [[ 9.76291280e-01 -2.16424496e-01 -3.97170336e-03 1.56007461e+02] [ 2.16422186e-01 9.76299351e-01 -1.00753263e-03 1.17326269e+01] [ 4.09562615e-03 1.24080596e-04 9.99991605e-01 -2.72008571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18533619500002 meters 0.03580177026499496 Centerline is valid? [True, True] Translation: X:156.04, Y:11.74, Z:-0.03 [[ 9.76678686e-01 -2.14646998e-01 -5.04093913e-03 1.56036571e+02] [ 2.14643261e-01 9.76691680e-01 -1.27750715e-03 1.17377465e+01] [ 5.19765638e-03 1.65710392e-04 9.99986478e-01 -2.81127550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21533619500002 meters 0.04058122766189208 Centerline is valid? [True, True] Translation: X:156.06, Y:11.75, Z:-0.04 [[ 9.76976463e-01 -2.13190506e-01 -8.17302903e-03 1.56062925e+02] [ 2.13180627e-01 9.77010608e-01 -2.07154893e-03 1.17500539e+01] [ 8.42677063e-03 2.81523094e-04 9.99964455e-01 -3.50257297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.245336195 meters 0.041767752310315286 Centerline is valid? [True, True] Translation: X:156.09, Y:11.76, Z:-0.04 [[ 9.77089203e-01 -2.12668052e-01 -8.30599809e-03 1.56089829e+02] [ 2.12657824e-01 9.77124462e-01 -2.10592386e-03 1.17577915e+01] [ 8.56385664e-03 2.91339985e-04 9.99963287e-01 -3.61557652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.275336195 meters 0.04019692208102052 Centerline is valid? [True, True] Translation: X:156.12, Y:11.76, Z:-0.03 [[ 9.77352202e-01 -2.11509273e-01 -6.81920109e-03 1.56118040e+02] [ 2.11502336e-01 9.77375959e-01 -1.73108029e-03 1.17649455e+01] [ 7.03106274e-03 2.49598175e-04 9.99975251e-01 -3.13533842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.305336195 meters 0.04063610663179328 Centerline is valid? [True, True] Translation: X:156.14, Y:11.77, Z:-0.03 [[ 9.77616791e-01 -2.10290563e-01 -6.57942665e-03 1.56144827e+02] [ 2.10284077e-01 9.77638899e-01 -1.67031057e-03 1.17748245e+01] [ 6.78355398e-03 2.49374993e-04 9.99976960e-01 -3.08360332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.335336195 meters 0.043591270176287 Centerline is valid? [True, True] Translation: X:156.17, Y:11.79, Z:-0.03 [[ 9.77651183e-01 -2.10139167e-01 -6.30033718e-03 1.56170509e+02] [ 2.10133216e-01 9.77671454e-01 -1.59965530e-03 1.17851961e+01] [ 6.49581004e-03 2.39994787e-04 9.99978873e-01 -3.26750743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.365336195 meters 0.04433835134405879 Centerline is valid? [True, True] Translation: X:156.20, Y:11.79, Z:-0.03 [[ 9.77678254e-01 -2.10012519e-01 -6.32248231e-03 1.56198624e+02] [ 2.10006511e-01 9.77698667e-01 -1.60714359e-03 1.17919178e+01] [ 6.51900280e-03 2.43506890e-04 9.99978721e-01 -3.38001385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.395336195 meters 0.04421797518029667 Centerline is valid? [True, True] Translation: X:156.23, Y:11.80, Z:-0.03 [[ 9.77548564e-01 -2.10604280e-01 -6.68146606e-03 1.56226560e+02] [ 2.10597577e-01 9.77571364e-01 -1.69947788e-03 1.17984682e+01] [ 6.88952721e-03 2.54221600e-04 9.99976235e-01 -3.46324855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.425336195 meters 0.03989523542763005 Centerline is valid? [True, True] Translation: X:156.26, Y:11.80, Z:-0.04 [[ 9.77185316e-01 -2.12242315e-01 -7.87772032e-03 1.56255422e+02] [ 2.12233039e-01 9.77217027e-01 -2.00499021e-03 1.18010075e+01] [ 8.12378619e-03 2.87334463e-04 9.99966960e-01 -3.59861500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.455336195 meters 0.03778107524510739 Centerline is valid? [True, True] Translation: X:156.28, Y:11.81, Z:-0.04 [[ 9.76699381e-01 -2.14426344e-01 -8.92535461e-03 1.56284106e+02] [ 2.14414533e-01 9.76740114e-01 -2.27100358e-03 1.18063577e+01] [ 9.20471487e-03 3.04362053e-04 9.99957589e-01 -3.80584686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.485336195 meters 0.03858935831393994 Centerline is valid? [True, True] Translation: X:156.31, Y:11.81, Z:-0.04 [[ 9.76488653e-01 -2.15386494e-01 -8.86389180e-03 1.56310347e+02] [ 2.15374880e-01 9.76528838e-01 -2.25602420e-03 1.18144537e+01] [ 9.14176310e-03 2.93922402e-04 9.99958170e-01 -3.93272087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.515336195 meters 0.03496593474646006 Centerline is valid? [True, True] Translation: X:156.34, Y:11.82, Z:-0.04 [[ 9.76176199e-01 -2.16832483e-01 -7.98140847e-03 1.56338811e+02] [ 2.16823111e-01 9.76208794e-01 -2.03178459e-03 1.18181495e+01] [ 8.23207804e-03 2.52825936e-04 9.99966084e-01 -3.56297234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.545336195 meters 0.036452985099686704 Centerline is valid? [True, True] Translation: X:156.37, Y:11.83, Z:-0.04 [[ 9.75899391e-01 -2.18120563e-01 -6.61812549e-03 1.56365522e+02] [ 2.18114142e-01 9.75921810e-01 -1.68566327e-03 1.18257532e+01] [ 6.82645083e-03 2.01530992e-04 9.99976679e-01 -3.55913103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.575336195 meters 0.03464190534324092 Centerline is valid? [True, True] Translation: X:156.39, Y:11.83, Z:-0.03 [[ 9.75703446e-01 -2.19010465e-01 -6.09931319e-03 1.56393991e+02] [ 2.19005018e-01 9.75722493e-01 -1.55525127e-03 1.18314148e+01] [ 6.29185337e-03 1.81683833e-04 9.99980190e-01 -3.45701922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.605336195 meters 0.03224747718870851 Centerline is valid? [True, True] Translation: X:156.42, Y:11.84, Z:-0.03 [[ 9.75602871e-01 -2.19464613e-01 -5.85849346e-03 1.56422296e+02] [ 2.19459589e-01 9.75620446e-01 -1.49499244e-03 1.18359320e+01] [ 6.04376394e-03 1.72816352e-04 9.99981721e-01 -3.39019076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.635336195 meters 0.03151654338677579 Centerline is valid? [True, True] Translation: X:156.45, Y:11.84, Z:-0.03 [[ 9.75466258e-01 -2.20060048e-01 -6.25743963e-03 1.56450146e+02] [ 2.20054320e-01 9.75486311e-01 -1.59819912e-03 1.18406300e+01] [ 6.45574648e-03 1.82012697e-04 9.99979145e-01 -3.43399830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.665336195 meters 0.032146486536857956 Centerline is valid? [True, True] Translation: X:156.48, Y:11.85, Z:-0.04 [[ 9.75383025e-01 -2.20408821e-01 -6.92141936e-03 1.56476270e+02] [ 2.20401823e-01 9.75407562e-01 -1.76741404e-03 1.18468033e+01] [ 7.14075843e-03 1.98412207e-04 9.99974485e-01 -3.58434840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.695336195 meters 0.03350775957964922 Centerline is valid? [True, True] Translation: X:156.50, Y:11.85, Z:-0.04 [[ 9.75337516e-01 -2.20615581e-01 -6.74500295e-03 1.56502966e+02] [ 2.20608940e-01 9.75360820e-01 -1.72262389e-03 1.18528746e+01] [ 6.95884928e-03 1.92131753e-04 9.99975768e-01 -3.66096596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.725336195 meters 0.03141035240043217 Centerline is valid? [True, True] Translation: X:156.53, Y:11.86, Z:-0.03 [[ 9.75343988e-01 -2.20595109e-01 -6.47325947e-03 1.56531112e+02] [ 2.20588976e-01 9.75365451e-01 -1.65560382e-03 1.18572578e+01] [ 6.67901175e-03 1.86853551e-04 9.99977678e-01 -3.46147056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.755336195 meters 0.032687615815110004 Centerline is valid? [True, True] Translation: X:156.56, Y:11.87, Z:-0.04 [[ 9.75597742e-01 -2.19461565e-01 -6.75775603e-03 1.56558570e+02] [ 2.19454846e-01 9.75621125e-01 -1.72935332e-03 1.18673070e+01] [ 6.97253612e-03 2.04130879e-04 9.99975671e-01 -3.52485239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.785336195 meters 0.03387932090817944 Centerline is valid? [True, True] Translation: X:156.59, Y:11.88, Z:-0.04 [[ 9.75928002e-01 -2.17971007e-01 -7.29205851e-03 1.56586426e+02] [ 2.17963133e-01 9.75955217e-01 -1.86733505e-03 1.18753758e+01] [ 7.52374745e-03 2.32984649e-04 9.99971669e-01 -3.73056208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81533619500001 meters 0.03848206659671963 Centerline is valid? [True, True] Translation: X:156.61, Y:11.89, Z:-0.04 [[ 9.76228109e-01 -2.16615810e-01 -7.50127525e-03 1.56611858e+02] [ 2.16607441e-01 9.76256897e-01 -1.92051709e-03 1.18869135e+01] [ 7.73918606e-03 2.50030738e-04 9.99970021e-01 -3.93329926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84533619500002 meters 0.04142944767117324 Centerline is valid? [True, True] Translation: X:156.64, Y:11.90, Z:-0.04 [[ 9.76652578e-01 -2.14685922e-01 -7.72638205e-03 1.56638415e+02] [ 2.14676980e-01 9.76683101e-01 -1.97841972e-03 1.18966726e+01] [ 7.97096564e-03 2.73552360e-04 9.99968194e-01 -4.03232486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87533619500002 meters 0.03940025434710383 Centerline is valid? [True, True] Translation: X:156.67, Y:11.90, Z:-0.04 [[ 9.76822726e-01 -2.13872617e-01 -8.71011739e-03 1.56666341e+02] [ 2.13861215e-01 9.76861507e-01 -2.23092801e-03 1.19016216e+01] [ 8.98571281e-03 3.16464893e-04 9.99959578e-01 -3.99251832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90533619500002 meters 0.04464271274961967 Centerline is valid? [True, True] Translation: X:156.69, Y:11.92, Z:-0.04 [[ 9.77215283e-01 -2.12035110e-01 -9.56046251e-03 1.56691520e+02] [ 2.12021282e-01 9.77261980e-01 -2.44907840e-03 1.19163917e+01] [ 9.86236714e-03 3.66255326e-04 9.99951299e-01 -4.41308829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93533619500002 meters 0.043779070644162546 Centerline is valid? [True, True] Translation: X:156.72, Y:11.92, Z:-0.04 [[ 9.77207359e-01 -2.12114277e-01 -8.56218185e-03 1.56720007e+02] [ 2.12103168e-01 9.77244813e-01 -2.19577287e-03 1.19212492e+01] [ 8.83310257e-03 3.29659513e-04 9.99960933e-01 -4.20172201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96533619500002 meters 0.04198029599901517 Centerline is valid? [True, True] Translation: X:156.75, Y:11.93, Z:-0.04 [[ 9.77131211e-01 -2.12464951e-01 -8.55807897e-03 1.56749007e+02] [ 2.12453854e-01 9.77168633e-01 -2.19607046e-03 1.19262738e+01] [ 8.82927433e-03 3.27652131e-04 9.99960968e-01 -4.05569694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.995336195 meters 0.04188321029050203 Centerline is valid? [True, True] Translation: X:156.78, Y:11.93, Z:-0.04 [[ 9.77076615e-01 -2.12713641e-01 -8.61365310e-03 1.56775456e+02] [ 2.12702391e-01 9.77114527e-01 -2.21236588e-03 1.19344614e+01] [ 8.88712597e-03 3.29506356e-04 9.99960454e-01 -4.10244855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.025336195 meters 0.04705955225772288 Centerline is valid? [True, True] Translation: X:156.80, Y:11.95, Z:-0.04 [[ 9.76996620e-01 -2.13116016e-01 -7.69208314e-03 1.56801092e+02] [ 2.13107060e-01 9.77026857e-01 -1.97530702e-03 1.19468754e+01] [ 7.93634138e-03 2.90631063e-04 9.99968465e-01 -4.41051525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.055336195 meters 0.04172446743269351 Centerline is valid? [True, True] Translation: X:156.83, Y:11.95, Z:-0.04 [[ 9.76593372e-01 -2.14971431e-01 -7.25738350e-03 1.56832003e+02] [ 2.14963504e-01 9.76620303e-01 -1.86441285e-03 1.19451107e+01] [ 7.48850357e-03 2.60700644e-04 9.99971927e-01 -4.13578476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.085336195 meters 0.039135979643671576 Centerline is valid? [True, True] Translation: X:156.86, Y:11.95, Z:-0.04 [[ 9.76388482e-01 -2.15900867e-01 -7.23523569e-03 1.56861175e+02] [ 2.15892999e-01 9.76415255e-01 -1.86070020e-03 1.19484479e+01] [ 7.46632129e-03 2.54729512e-04 9.99972094e-01 -4.04081287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.115336195 meters 0.03589178838766478 Centerline is valid? [True, True] Translation: X:156.89, Y:11.95, Z:-0.04 [[ 9.76016623e-01 -2.17542223e-01 -8.18128272e-03 1.56890234e+02] [ 2.17532209e-01 9.76050872e-01 -2.10535773e-03 1.19519566e+01] [ 8.44335233e-03 2.75171639e-04 9.99964316e-01 -4.09436660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.145336195 meters 0.03640548447652101 Centerline is valid? [True, True] Translation: X:156.92, Y:11.96, Z:-0.04 [[ 9.75876580e-01 -2.18162133e-01 -8.37757435e-03 1.56916567e+02] [ 2.18151658e-01 9.75912500e-01 -2.15554701e-03 1.19602031e+01] [ 8.64603826e-03 2.75966106e-04 9.99962584e-01 -4.24615061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.175336195 meters 0.03493992833085877 Centerline is valid? [True, True] Translation: X:156.94, Y:11.97, Z:-0.04 [[ 9.75720379e-01 -2.18891509e-01 -7.49998941e-03 1.56944721e+02] [ 2.18883118e-01 9.75749173e-01 -1.93199474e-03 1.19661979e+01] [ 7.74100571e-03 2.43465567e-04 9.99970008e-01 -4.06533114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.205336195 meters 0.03551216384847824 Centerline is valid? [True, True] Translation: X:156.97, Y:11.97, Z:-0.04 [[ 9.75900539e-01 -2.18056319e-01 -8.34140840e-03 1.56972647e+02] [ 2.18045897e-01 9.75936147e-01 -2.15014148e-03 1.19744967e+01] [ 8.60953391e-03 2.79514353e-04 9.99962898e-01 -4.18749470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.235336195 meters 0.037273989079121536 Centerline is valid? [True, True] Translation: X:157.00, Y:11.98, Z:-0.05 [[ 9.76052185e-01 -2.17324348e-01 -9.60522530e-03 1.56998877e+02] [ 2.17310489e-01 9.76099390e-01 -2.47631541e-03 1.19824831e+01] [ 9.91381819e-03 3.29696858e-04 9.99950803e-01 -4.51894909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.265336195 meters 0.04387850028532453 Centerline is valid? [True, True] Translation: X:157.03, Y:12.00, Z:-0.05 [[ 9.76386211e-01 -2.15807163e-01 -9.86079938e-03 1.57025127e+02] [ 2.15792482e-01 9.76435939e-01 -2.54202388e-03 1.19956125e+01] [ 1.01770259e-02 3.54110688e-04 9.99948150e-01 -4.83690056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.295336195 meters 0.04254947766040494 Centerline is valid? [True, True] Translation: X:157.05, Y:12.00, Z:-0.04 [[ 9.76661644e-01 -2.14625973e-01 -8.22953784e-03 1.57052499e+02] [ 2.14615685e-01 9.76696266e-01 -2.12396334e-03 1.20037945e+01] [ 8.49361658e-03 3.08205625e-04 9.99963881e-01 -4.38525354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.325336195 meters 0.047092062039987115 Centerline is valid? [True, True] Translation: X:157.08, Y:12.02, Z:-0.04 [[ 9.76744771e-01 -2.14269053e-01 -7.64362674e-03 1.57078014e+02] [ 2.14260169e-01 9.76774636e-01 -1.97250518e-03 1.20173838e+01] [ 7.88874754e-03 2.88909366e-04 9.99968842e-01 -4.47726899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.355336195 meters 0.04401794197976325 Centerline is valid? [True, True] Translation: X:157.11, Y:12.02, Z:-0.04 [[ 9.76740646e-01 -2.14323346e-01 -6.57367157e-03 1.57107082e+02] [ 2.14316763e-01 9.76762735e-01 -1.69837509e-03 1.20210517e+01] [ 6.78491886e-03 2.50023972e-04 9.99976951e-01 -4.22118524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.385336195 meters 0.04119359285726414 Centerline is valid? [True, True] Translation: X:157.14, Y:12.02, Z:-0.04 [[ 9.76434553e-01 -2.15732603e-01 -5.91675005e-03 1.57136922e+02] [ 2.15727289e-01 9.76452455e-01 -1.52967750e-03 1.20229738e+01] [ 6.10742642e-03 2.17225512e-04 9.99981326e-01 -4.15395602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.415336195 meters 0.04119832697106716 Centerline is valid? [True, True] Translation: X:157.16, Y:12.03, Z:-0.04 [[ 9.76245804e-01 -2.16579657e-01 -6.11419226e-03 1.57164850e+02] [ 2.16573992e-01 9.76264925e-01 -1.58184745e-03 1.20277821e+01] [ 6.31166742e-03 2.20096906e-04 9.99980057e-01 -4.23209440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.445336195 meters 0.03951117412126795 Centerline is valid? [True, True] Translation: X:157.19, Y:12.03, Z:-0.04 [[ 9.76027829e-01 -2.17527050e-01 -7.18738857e-03 1.57194798e+02] [ 2.17519240e-01 9.76054260e-01 -1.86055382e-03 1.20287099e+01] [ 7.42000201e-03 2.52557008e-04 9.99972440e-01 -4.33571044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.475336195 meters 0.042260963731333326 Centerline is valid? [True, True] Translation: X:157.22, Y:12.04, Z:-0.04 [[ 9.76174524e-01 -2.16872064e-01 -7.05740604e-03 1.57220860e+02] [ 2.16864518e-01 9.76200002e-01 -1.82673947e-03 1.20373149e+01] [ 7.28560855e-03 2.52715572e-04 9.99973428e-01 -4.41521615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.505336195 meters 0.042067155392542716 Centerline is valid? [True, True] Translation: X:157.25, Y:12.04, Z:-0.04 [[ 9.76314946e-01 -2.16248630e-01 -6.75689266e-03 1.57248589e+02] [ 2.16241685e-01 9.76338296e-01 -1.75085941e-03 1.20443695e+01] [ 6.97563401e-03 2.48268364e-04 9.99975639e-01 -4.32226339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.535336195 meters 0.04539854679170636 Centerline is valid? [True, True] Translation: X:157.28, Y:12.05, Z:-0.04 [[ 9.76792754e-01 -2.14064843e-01 -7.22215264e-03 1.57275404e+02] [ 2.14056852e-01 9.76819412e-01 -1.87092881e-03 1.20539404e+01] [ 7.45523898e-03 2.81558441e-04 9.99972170e-01 -4.45460133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56533619500001 meters 0.04377656147030362 Centerline is valid? [True, True] Translation: X:157.30, Y:12.06, Z:-0.04 [[ 9.77084260e-01 -2.12719615e-01 -7.53094371e-03 1.57304509e+02] [ 2.12710885e-01 9.77113234e-01 -1.95104918e-03 1.20585131e+01] [ 7.77361120e-03 3.04425743e-04 9.99969739e-01 -4.33805334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59533619500002 meters 0.0491787094352625 Centerline is valid? [True, True] Translation: X:157.33, Y:12.07, Z:-0.04 [[ 9.77729420e-01 -2.09759190e-01 -6.80171867e-03 1.57331778e+02] [ 2.09751998e-01 9.77753034e-01 -1.76196502e-03 1.20701272e+01] [ 7.01998942e-03 2.96050955e-04 9.99975316e-01 -4.41732919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62533619500002 meters 0.04949349654391261 Centerline is valid? [True, True] Translation: X:157.36, Y:12.08, Z:-0.04 [[ 9.78330944e-01 -2.06947064e-01 -6.44025087e-03 1.57361544e+02] [ 2.06940554e-01 9.78352096e-01 -1.66848591e-03 1.20763928e+01] [ 6.64612119e-03 2.99582307e-04 9.99977869e-01 -4.25252027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65533619500002 meters 0.05444185994355374 Centerline is valid? [True, True] Translation: X:157.39, Y:12.09, Z:-0.04 [[ 9.78547403e-01 -2.05919720e-01 -6.48452905e-03 1.57386646e+02] [ 2.05913093e-01 9.78568839e-01 -1.68070801e-03 1.20903511e+01] [ 6.69164899e-03 3.09403025e-04 9.99977563e-01 -4.45962769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68533619500002 meters 0.05444185994355374 Centerline is valid? [True, True] Translation: X:157.41, Y:12.10, Z:-0.04 [[ 9.78509544e-01 -2.06099564e-01 -6.48398952e-03 1.57413227e+02] [ 2.06092928e-01 9.78530977e-01 -1.68278927e-03 1.20974337e+01] [ 6.69160673e-03 3.10320974e-04 9.99977563e-01 -4.47987341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71533619500002 meters 0.05514120426333444 Centerline is valid? [True, True] Translation: X:157.44, Y:12.11, Z:-0.04 [[ 9.79012524e-01 -2.03698714e-01 -6.42735018e-03 1.57441638e+02] [ 2.03692150e-01 9.79033569e-01 -1.66687338e-03 1.21073432e+01] [ 6.63213155e-03 3.22689138e-04 9.99977955e-01 -4.44543890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.745336195 meters 0.05831564219584477 Centerline is valid? [True, True] Translation: X:157.47, Y:12.12, Z:-0.04 [[ 9.79356095e-01 -2.02049662e-01 -6.12974125e-03 1.57467935e+02] [ 2.02043656e-01 9.79375226e-01 -1.59026184e-03 1.21176873e+01] [ 6.32462859e-03 3.18957296e-04 9.99979948e-01 -4.37795461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.775336195 meters 0.05936142444333594 Centerline is valid? [True, True] Translation: X:157.49, Y:12.13, Z:-0.05 [[ 9.79458278e-01 -2.01518529e-01 -7.19474697e-03 1.57494988e+02] [ 2.01510236e-01 9.79484629e-01 -1.86702190e-03 1.21258777e+01] [ 7.42338358e-03 3.78854896e-04 9.99972375e-01 -4.63073570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.805336195 meters 0.059742409309943276 Centerline is valid? [True, True] Translation: X:157.52, Y:12.13, Z:-0.05 [[ 9.79433363e-01 -2.01539344e-01 -9.60104627e-03 1.57522980e+02] [ 2.01524554e-01 9.79480288e-01 -2.49373325e-03 1.21329512e+01] [ 9.90662093e-03 5.07598974e-04 9.99950799e-01 -5.17061141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.835336195 meters 0.0541931694186964 Centerline is valid? [True, True] Translation: X:157.55, Y:12.14, Z:-0.05 [[ 9.79355040e-01 -2.02022362e-01 -7.11832322e-03 1.57551547e+02] [ 2.02014247e-01 9.79380838e-01 -1.84870662e-03 1.21376732e+01] [ 7.34502944e-03 3.72537443e-04 9.99972956e-01 -4.61896970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.865336195 meters 0.06072750998943709 Centerline is valid? [True, True] Translation: X:157.58, Y:12.16, Z:-0.05 [[ 9.79270368e-01 -2.02448635e-01 -6.64048764e-03 1.57576136e+02] [ 2.02441568e-01 9.79292821e-01 -1.72672754e-03 1.21553593e+01] [ 6.85255551e-03 3.46622380e-04 9.99976461e-01 -4.83548701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.895336195 meters 0.05819846921843324 Centerline is valid? [True, True] Translation: X:157.61, Y:12.16, Z:-0.05 [[ 9.78806112e-01 -2.04600955e-01 -8.77745515e-03 1.57605311e+02] [ 2.04588686e-01 9.78845369e-01 -2.28322882e-03 1.21590049e+01] [ 9.05892212e-03 4.39070308e-04 9.99958871e-01 -5.32746207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.925336195 meters 0.05326827519921673 Centerline is valid? [True, True] Translation: X:157.64, Y:12.16, Z:-0.05 [[ 9.78056468e-01 -2.08160739e-01 -8.64008979e-03 1.57636628e+02] [ 2.08148998e-01 9.78094549e-01 -2.24650636e-03 1.21593045e+01] [ 8.91845915e-03 3.98784037e-04 9.99960150e-01 -5.24996162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.955336195 meters 0.046864965714319834 Centerline is valid? [True, True] Translation: X:157.67, Y:12.16, Z:-0.05 [[ 9.77565579e-01 -2.10459630e-01 -8.50192831e-03 1.57667515e+02] [ 2.10448347e-01 9.77602478e-01 -2.21073095e-03 1.21604888e+01] [ 8.77677580e-03 3.71917717e-04 9.99961414e-01 -5.04788161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.985336195 meters 0.04543756194367049 Centerline is valid? [True, True] Translation: X:157.70, Y:12.17, Z:-0.05 [[ 9.76487908e-01 -2.15381799e-01 -9.05797641e-03 1.57695278e+02] [ 2.15369201e-01 9.76529856e-01 -2.35554501e-03 1.21684915e+01] [ 9.35272591e-03 3.49352075e-04 9.99956201e-01 -5.32052318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.015336195 meters 0.04518669724577657 Centerline is valid? [True, True] Translation: X:157.72, Y:12.18, Z:-0.05 [[ 9.76001890e-01 -2.17596259e-01 -8.49584850e-03 1.57723273e+02] [ 2.17585258e-01 9.76038817e-01 -2.20961144e-03 1.21756942e+01] [ 8.77308111e-03 3.08013558e-04 9.99961468e-01 -5.36021830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.045336195 meters 0.038798640857195914 Centerline is valid? [True, True] Translation: X:157.76, Y:12.17, Z:-0.05 [[ 9.75213905e-01 -2.21153016e-01 -7.01309163e-03 1.57755063e+02] [ 2.21145610e-01 9.75239095e-01 -1.82416705e-03 1.21742694e+01] [ 7.24286118e-03 2.28038642e-04 9.99973744e-01 -4.97918477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.075336195 meters 0.03514732802202336 Centerline is valid? [True, True] Translation: X:157.79, Y:12.18, Z:-0.05 [[ 9.74548598e-01 -2.24099733e-01 -5.85997048e-03 1.57786179e+02] [ 2.24094615e-01 9.74566201e-01 -1.52424816e-03 1.21750334e+01] [ 6.05251278e-03 1.72266079e-04 9.99981669e-01 -4.81705311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.105336195 meters 0.03219603675747472 Centerline is valid? [True, True] Translation: X:157.81, Y:12.18, Z:-0.05 [[ 9.74169960e-01 -2.25760300e-01 -5.01759062e-03 1.57814358e+02] [ 2.25756567e-01 9.74182872e-01 -1.30567059e-03 1.21809386e+01] [ 5.18281943e-03 1.39191027e-04 9.99986559e-01 -4.67854115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.135336195 meters 0.031077701814080434 Centerline is valid? [True, True] Translation: X:157.84, Y:12.19, Z:-0.05 [[ 9.74126574e-01 -2.25947409e-01 -5.01856925e-03 1.57841193e+02] [ 2.25943666e-01 9.74139491e-01 -1.30806560e-03 1.21879927e+01] [ 5.18434053e-03 1.40307521e-04 9.99986551e-01 -4.61429394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.165336195 meters 0.033213541951393095 Centerline is valid? [True, True] Translation: X:157.87, Y:12.19, Z:-0.05 [[ 9.74200390e-01 -2.25597859e-01 -6.26153782e-03 1.57868354e+02] [ 2.25592032e-01 9.74220496e-01 -1.63106463e-03 1.21946059e+01] [ 6.46808317e-03 1.76430752e-04 9.99979066e-01 -5.00959592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.195336195 meters 0.03532286679424345 Centerline is valid? [True, True] Translation: X:157.90, Y:12.20, Z:-0.05 [[ 9.74268011e-01 -2.25268062e-01 -7.49287894e-03 1.57895440e+02] [ 2.25259701e-01 9.74296800e-01 -1.95262552e-03 1.22016166e+01] [ 7.74015214e-03 2.14536916e-04 9.99970022e-01 -5.31278123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.225336195 meters 0.03661924630572892 Centerline is valid? [True, True] Translation: X:157.92, Y:12.21, Z:-0.05 [[ 9.74642294e-01 -2.23610125e-01 -8.42085992e-03 1.57923856e+02] [ 2.23599503e-01 9.74678637e-01 -2.19448163e-03 1.22085651e+01] [ 8.69834059e-03 2.55934516e-04 9.99962136e-01 -5.42064154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.255336195 meters 0.03706031264461029 Centerline is valid? [True, True] Translation: X:157.95, Y:12.22, Z:-0.05 [[ 9.74859933e-01 -2.22655629e-01 -8.51949309e-03 1.57951148e+02] [ 2.22644715e-01 9.74897122e-01 -2.22080268e-03 1.22164175e+01] [ 8.80010351e-03 2.68151448e-04 9.99961242e-01 -5.39825497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.285336195 meters 0.0363786715567435 Centerline is valid? [True, True] Translation: X:157.98, Y:12.22, Z:-0.05 [[ 9.75283988e-01 -2.20748169e-01 -9.55970308e-03 1.57979283e+02] [ 2.20734334e-01 9.75330787e-01 -2.49210737e-03 1.22237797e+01] [ 9.87400086e-03 3.20357724e-04 9.99951200e-01 -5.33886115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31533619500001 meters 0.04165834068299878 Centerline is valid? [True, True] Translation: X:158.00, Y:12.24, Z:-0.05 [[ 9.75804444e-01 -2.18496574e-01 -8.05818500e-03 1.58004643e+02] [ 2.18486661e-01 9.75837672e-01 -2.10142163e-03 1.22373890e+01] [ 8.32263392e-03 2.89970627e-04 9.99965324e-01 -5.32537476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34533619500002 meters 0.04065268406029931 Centerline is valid? [True, True] Translation: X:158.03, Y:12.24, Z:-0.05 [[ 9.76019388e-01 -2.17568417e-01 -7.08088256e-03 1.58033185e+02] [ 2.17560723e-01 9.76045037e-01 -1.84868790e-03 1.22418126e+01] [ 7.31347638e-03 2.63833302e-04 9.99973221e-01 -5.10230406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37533619500002 meters 0.041775687420276576 Centerline is valid? [True, True] Translation: X:158.06, Y:12.25, Z:-0.05 [[ 9.76397563e-01 -2.15896036e-01 -6.05808093e-03 1.58061277e+02] [ 2.15890364e-01 9.76416328e-01 -1.58293087e-03 1.22480465e+01] [ 6.25695764e-03 2.37688544e-04 9.99980397e-01 -4.92759906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40533619500002 meters 0.0480957525607842 Centerline is valid? [True, True] Translation: X:158.09, Y:12.27, Z:-0.05 [[ 9.76915777e-01 -2.13557051e-01 -5.38062970e-03 1.58086073e+02] [ 2.13552545e-01 9.76930569e-01 -1.40526058e-03 1.22659097e+01] [ 5.55660494e-03 2.23774069e-04 9.99984537e-01 -5.06259132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43533619500002 meters 0.054372572988497306 Centerline is valid? [True, True] Translation: X:158.11, Y:12.28, Z:-0.06 [[ 9.77349031e-01 -2.11519074e-01 -6.96801729e-03 1.58111829e+02] [ 2.11511465e-01 9.77373822e-01 -1.81983052e-03 1.22811995e+01] [ 7.19528656e-03 3.04794054e-04 9.99974067e-01 -5.53801629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46533619500002 meters 0.0494533603538858 Centerline is valid? [True, True] Translation: X:158.14, Y:12.28, Z:-0.05 [[ 9.77477352e-01 -2.10888832e-01 -7.99538451e-03 1.58141433e+02] [ 2.10878773e-01 9.77509986e-01 -2.09058831e-03 1.22808642e+01] [ 8.25644992e-03 3.57445852e-04 9.99965851e-01 -5.46646852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.495336195 meters 0.05242465174814027 Centerline is valid? [True, True] Translation: X:158.17, Y:12.29, Z:-0.06 [[ 9.77835930e-01 -2.09172596e-01 -9.14986794e-03 1.58168486e+02] [ 2.09159351e-01 9.77878645e-01 -2.39199790e-03 1.22891966e+01] [ 9.44780088e-03 4.25201050e-04 9.99955278e-01 -5.75111502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.525336195 meters 0.054167668508423174 Centerline is valid? [True, True] Translation: X:158.19, Y:12.30, Z:-0.06 [[ 9.77934900e-01 -2.08686693e-01 -9.65383471e-03 1.58194903e+02] [ 2.08671919e-01 9.77982443e-01 -2.52433085e-03 1.22981934e+01] [ 9.96807511e-03 4.54147022e-04 9.99950214e-01 -5.88908944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.555336195 meters 0.05631473854581775 Centerline is valid? [True, True] Translation: X:158.22, Y:12.31, Z:-0.06 [[ 9.78004186e-01 -2.08408035e-01 -8.59671239e-03 1.58219865e+02] [ 2.08396294e-01 9.78041883e-01 -2.24963239e-03 1.23082371e+01] [ 8.87678623e-03 4.08626892e-04 9.99960517e-01 -5.77556760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.585336195 meters 0.05381025768659668 Centerline is valid? [True, True] Translation: X:158.25, Y:12.32, Z:-0.06 [[ 9.77906681e-01 -2.08898960e-01 -7.72965388e-03 1.58248247e+02] [ 2.08889471e-01 9.77937161e-01 -2.02424434e-03 1.23155389e+01] [ 7.98197831e-03 3.64878761e-04 9.99968077e-01 -5.55475955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.615336195 meters 0.05214282498636417 Centerline is valid? [True, True] Translation: X:158.28, Y:12.32, Z:-0.06 [[ 9.77725232e-01 -2.09725930e-01 -8.27072226e-03 1.58276210e+02] [ 2.09715083e-01 9.77760137e-01 -2.16738995e-03 1.23214491e+01] [ 8.54134040e-03 3.84616633e-04 9.99963448e-01 -5.61700816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.645336195 meters 0.051811311303725814 Centerline is valid? [True, True] Translation: X:158.30, Y:12.33, Z:-0.06 [[ 9.77380079e-01 -2.11331835e-01 -8.18765158e-03 1.58303897e+02] [ 2.11321265e-01 9.77414304e-01 -2.14515444e-03 1.23273797e+01] [ 8.45606719e-03 3.66406322e-04 9.99964180e-01 -5.70994692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.675336195 meters 0.05221007441960696 Centerline is valid? [True, True] Translation: X:158.33, Y:12.34, Z:-0.06 [[ 9.77167527e-01 -2.12341161e-01 -7.40642869e-03 1.58330980e+02] [ 2.12332538e-01 9.77195541e-01 -1.94086173e-03 1.23351911e+01] [ 7.64965393e-03 3.23921252e-04 9.99970689e-01 -5.66998523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.705336195 meters 0.0483196166258497 Centerline is valid? [True, True] Translation: X:158.36, Y:12.34, Z:-0.06 [[ 9.76715658e-01 -2.14413245e-01 -7.31320276e-03 1.58360991e+02] [ 2.14404897e-01 9.76742990e-01 -1.91626840e-03 1.23395739e+01] [ 7.55399285e-03 3.03662871e-04 9.99971422e-01 -5.58848679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.735336195 meters 0.045090552082528934 Centerline is valid? [True, True] Translation: X:158.39, Y:12.34, Z:-0.06 [[ 9.76261813e-01 -2.16475133e-01 -7.16857754e-03 1.58390690e+02] [ 2.16467167e-01 9.76288091e-01 -1.87846391e-03 1.23447347e+01] [ 7.40523761e-03 2.82110913e-04 9.99972541e-01 -5.56174677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.765336195 meters 0.04115712807077213 Centerline is valid? [True, True] Translation: X:158.42, Y:12.35, Z:-0.05 [[ 9.76014724e-01 -2.17596980e-01 -6.84202429e-03 1.58420256e+02] [ 2.17589735e-01 9.76038670e-01 -1.79513839e-03 1.23474430e+01] [ 7.06869698e-03 2.63327253e-04 9.99974982e-01 -5.38308922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.795336195 meters 0.03989636342959369 Centerline is valid? [True, True] Translation: X:158.45, Y:12.35, Z:-0.05 [[ 9.75521229e-01 -2.19800699e-01 -6.78118909e-03 1.58448580e+02] [ 2.19793640e-01 9.75544767e-01 -1.77853286e-03 1.23515522e+01] [ 7.00627630e-03 2.44534333e-04 9.99975426e-01 -5.43293901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.825336195 meters 0.03700445384951024 Centerline is valid? [True, True] Translation: X:158.48, Y:12.36, Z:-0.05 [[ 9.75117002e-01 -2.21600666e-01 -6.32276070e-03 1.58477391e+02] [ 2.21594554e-01 9.75137476e-01 -1.66029504e-03 1.23575789e+01] [ 6.53348340e-03 2.17892585e-04 9.99978633e-01 -5.26922084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.855336195 meters 0.03906072626834585 Centerline is valid? [True, True] Translation: X:158.50, Y:12.37, Z:-0.06 [[ 9.74928046e-01 -2.22411048e-01 -6.97364142e-03 1.58503780e+02] [ 2.22403633e-01 9.74952958e-01 -1.83124444e-03 1.23678737e+01] [ 7.20626133e-03 2.34368383e-04 9.99974007e-01 -5.54211037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.885336195 meters 0.03692719638350256 Centerline is valid? [True, True] Translation: X:158.53, Y:12.37, Z:-0.06 [[ 9.74879331e-01 -2.22605778e-01 -7.54702296e-03 1.58532857e+02] [ 2.22597084e-01 9.74908510e-01 -1.98371229e-03 1.23723797e+01] [ 7.79924272e-03 2.53934807e-04 9.99969553e-01 -5.52330618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.915336195 meters 0.036906898475695206 Centerline is valid? [True, True] Translation: X:158.56, Y:12.38, Z:-0.05 [[ 9.74927718e-01 -2.22401204e-01 -7.32456278e-03 1.58561031e+02] [ 2.22392999e-01 9.74955200e-01 -1.92660088e-03 1.23789583e+01] [ 7.56959893e-03 2.49365117e-04 9.99971319e-01 -5.48665140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.945336195 meters 0.04069545066993706 Centerline is valid? [True, True] Translation: X:158.59, Y:12.39, Z:-0.05 [[ 9.75201542e-01 -2.21233372e-01 -6.14383811e-03 1.58587177e+02] [ 2.21227577e-01 9.75220872e-01 -1.61579968e-03 1.23890185e+01] [ 6.34906796e-03 2.16543924e-04 9.99979821e-01 -5.41025235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.975336195 meters 0.03972776134033956 Centerline is valid? [True, True] Translation: X:158.62, Y:12.39, Z:-0.05 [[ 9.75301622e-01 -2.20807549e-01 -5.54729750e-03 1.58615711e+02] [ 2.20802807e-01 9.75317377e-01 -1.46075048e-03 1.23941817e+01] [ 5.73292039e-03 1.99813453e-04 9.99983547e-01 -5.17806321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.005336195 meters 0.042972623490711265 Centerline is valid? [True, True] Translation: X:158.64, Y:12.40, Z:-0.05 [[ 9.75397453e-01 -2.20394289e-01 -5.11525167e-03 1.58641856e+02] [ 2.20390254e-01 9.75410848e-01 -1.34658858e-03 1.24043583e+01] [ 5.28625241e-03 1.86107454e-04 9.99986010e-01 -5.24213074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.035336195 meters 0.03892857662612413 Centerline is valid? [True, True] Translation: X:158.67, Y:12.41, Z:-0.05 [[ 9.75447260e-01 -2.20160708e-01 -5.64844222e-03 1.58671588e+02] [ 2.20155773e-01 9.75463592e-01 -1.48876554e-03 1.24056385e+01] [ 5.83761741e-03 2.08675108e-04 9.99982939e-01 -5.14844233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06533619500001 meters 0.04360121022659651 Centerline is valid? [True, True] Translation: X:158.70, Y:12.42, Z:-0.06 [[ 9.75752432e-01 -2.18775041e-01 -6.68379140e-03 1.58698316e+02] [ 2.18768105e-01 9.75775290e-01 -1.76066254e-03 1.24159969e+01] [ 6.90706751e-03 2.55770376e-04 9.99976113e-01 -5.57736972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09533619500002 meters 0.04550833100630828 Centerline is valid? [True, True] Translation: X:158.73, Y:12.43, Z:-0.06 [[ 9.76129139e-01 -2.17065701e-01 -7.37469748e-03 1.58725863e+02] [ 2.17057207e-01 9.76156952e-01 -1.94290131e-03 1.24262333e+01] [ 7.62059945e-03 2.95791350e-04 9.99970919e-01 -5.70883049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12533619500002 meters 0.04782568110860561 Centerline is valid? [True, True] Translation: X:158.75, Y:12.44, Z:-0.06 [[ 9.77211581e-01 -2.12088422e-01 -8.71932676e-03 1.58753947e+02] [ 2.12076351e-01 9.77250400e-01 -2.29707875e-03 1.24374429e+01] [ 9.00814937e-03 3.95568962e-04 9.99959348e-01 -5.82173874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15533619500002 meters 0.06065143125179574 Centerline is valid? [True, True] Translation: X:158.78, Y:12.46, Z:-0.06 [[ 9.78243318e-01 -2.07246594e-01 -9.42658543e-03 1.58778462e+02] [ 2.07232260e-01 9.78288619e-01 -2.48351468e-03 1.24612022e+01] [ 9.73662120e-03 4.75989041e-04 9.99952485e-01 -6.26963105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18533619500002 meters 0.06133226003760907 Centerline is valid? [True, True] Translation: X:158.81, Y:12.47, Z:-0.06 [[ 9.78616075e-01 -2.05481045e-01 -9.38711959e-03 1.58806200e+02] [ 2.05466742e-01 9.78660972e-01 -2.47388112e-03 1.24709387e+01] [ 9.69514326e-03 4.92238960e-04 9.99952880e-01 -6.24361430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21533619500002 meters 0.06368111220680085 Centerline is valid? [True, True] Translation: X:158.83, Y:12.48, Z:-0.06 [[ 9.79176486e-01 -2.02775755e-01 -9.76737549e-03 1.58834568e+02] [ 2.02760138e-01 9.79225052e-01 -2.57390760e-03 1.24828954e+01] [ 1.00863848e-02 5.39875402e-04 9.99948985e-01 -6.27668441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.245336195 meters 0.05892651064707929 Centerline is valid? [True, True] Translation: X:158.86, Y:12.48, Z:-0.06 [[ 9.79059354e-01 -2.03398607e-01 -8.47279611e-03 1.58864095e+02] [ 2.03386855e-01 9.79095904e-01 -2.23542704e-03 1.24839211e+01] [ 8.75036272e-03 4.65360401e-04 9.99961607e-01 -5.84531142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.275336195 meters 0.06281352230377965 Centerline is valid? [True, True] Translation: X:158.89, Y:12.50, Z:-0.06 [[ 9.78789561e-01 -2.04743954e-01 -7.13499371e-03 1.58890552e+02] [ 2.04735661e-01 9.78815492e-01 -1.88176925e-03 1.24970372e+01] [ 7.36912326e-03 3.81068441e-04 9.99972775e-01 -5.86012804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.305336195 meters 0.05665835704650522 Centerline is valid? [True, True] Translation: X:158.92, Y:12.50, Z:-0.06 [[ 9.78017552e-01 -2.08419380e-01 -6.55972558e-03 1.58920853e+02] [ 2.08412453e-01 9.78039496e-01 -1.73000532e-03 1.24992398e+01] [ 6.77623733e-03 3.24847070e-04 9.99976988e-01 -5.82524337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.335336195 meters 0.053456635513446 Centerline is valid? [True, True] Translation: X:158.95, Y:12.50, Z:-0.06 [[ 9.77510401e-01 -2.10776169e-01 -6.84267942e-03 1.58951002e+02] [ 2.10768689e-01 9.77534297e-01 -1.80473573e-03 1.25027871e+01] [ 7.06934910e-03 3.21925382e-04 9.99974960e-01 -5.92036301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.365336195 meters 0.05315070214888974 Centerline is valid? [True, True] Translation: X:158.98, Y:12.51, Z:-0.06 [[ 9.76583035e-01 -2.15026771e-01 -7.00451303e-03 1.58980620e+02] [ 2.15019040e-01 9.76608109e-01 -1.84761280e-03 1.25064117e+01] [ 7.23795044e-03 2.98243656e-04 9.99973761e-01 -6.19714755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.395336195 meters 0.04691401892251141 Centerline is valid? [True, True] Translation: X:159.01, Y:12.50, Z:-0.06 [[ 9.76242098e-01 -2.16555072e-01 -7.43415551e-03 1.59011064e+02] [ 2.16546404e-01 9.76270356e-01 -1.96150907e-03 1.25044415e+01] [ 7.68252038e-03 3.05068087e-04 9.99970442e-01 -6.04442873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.425336195 meters 0.048651505793895045 Centerline is valid? [True, True] Translation: X:159.04, Y:12.51, Z:-0.06 [[ 9.75780416e-01 -2.18623955e-01 -7.49303492e-03 1.59038768e+02] [ 2.18615209e-01 9.75809142e-01 -1.97704838e-03 1.25133372e+01] [ 7.74400211e-03 2.91073688e-04 9.99969972e-01 -6.26654853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.455336195 meters 0.04356012996911177 Centerline is valid? [True, True] Translation: X:159.07, Y:12.52, Z:-0.06 [[ 9.75521359e-01 -2.19810522e-01 -6.43523087e-03 1.59067591e+02] [ 2.19804093e-01 9.75542555e-01 -1.69846445e-03 1.25164873e+01] [ 6.65118192e-03 2.42398268e-04 9.99977851e-01 -5.93513833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.485336195 meters 0.04399568349738545 Centerline is valid? [True, True] Translation: X:159.09, Y:12.52, Z:-0.06 [[ 9.75447964e-01 -2.20123110e-01 -6.86194304e-03 1.59094253e+02] [ 2.20115798e-01 9.75472065e-01 -1.81260240e-03 1.25230803e+01] [ 7.09262943e-03 2.57677259e-04 9.99974814e-01 -6.04589148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.515336195 meters 0.0432063025984798 Centerline is valid? [True, True] Translation: X:159.12, Y:12.52, Z:-0.06 [[ 9.75524824e-01 -2.19773344e-01 -7.14109071e-03 1.59123834e+02] [ 2.19765404e-01 9.75550923e-01 -1.88782677e-03 1.25247037e+01] [ 7.38139163e-03 2.72257192e-04 9.99972720e-01 -6.13421992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.545336195 meters 0.0448944613525704 Centerline is valid? [True, True] Translation: X:159.15, Y:12.53, Z:-0.06 [[ 9.75608267e-01 -2.19406405e-01 -7.02422864e-03 1.59150218e+02] [ 2.19398716e-01 9.75633515e-01 -1.85658572e-03 1.25322407e+01] [ 7.26041968e-03 2.70193630e-04 9.99973606e-01 -6.23459489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.575336195 meters 0.04296500406018731 Centerline is valid? [True, True] Translation: X:159.18, Y:12.54, Z:-0.06 [[ 9.75883887e-01 -2.18179761e-01 -6.94487976e-03 1.59179029e+02] [ 2.18172199e-01 9.75908558e-01 -1.83769410e-03 1.25372795e+01] [ 7.17851526e-03 2.78196367e-04 9.99974195e-01 -6.07381092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.605336195 meters 0.04296500406018731 Centerline is valid? [True, True] Translation: X:159.21, Y:12.54, Z:-0.06 [[ 9.75842046e-01 -2.18366838e-01 -6.94448149e-03 1.59205573e+02] [ 2.18359270e-01 9.75866716e-01 -1.83919922e-03 1.25444859e+01] [ 7.17850846e-03 2.78376018e-04 9.99974195e-01 -6.09405353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.635336195 meters 0.04619309525426154 Centerline is valid? [True, True] Translation: X:159.23, Y:12.56, Z:-0.06 [[ 9.76042554e-01 -2.17487844e-01 -6.32216595e-03 1.59230914e+02] [ 2.17481555e-01 9.76062995e-01 -1.67408150e-03 1.25554323e+01] [ 6.53492461e-03 2.59020307e-04 9.99978614e-01 -6.11755731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.665336195 meters 0.050791142562087076 Centerline is valid? [True, True] Translation: X:159.26, Y:12.57, Z:-0.06 [[ 9.76397317e-01 -2.15927880e-01 -4.84046081e-03 1.59256801e+02] [ 2.15924171e-01 9.76409293e-01 -1.28242962e-03 1.25673442e+01] [ 5.00318323e-03 2.06988352e-04 9.99987463e-01 -5.97159480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.695336195 meters 0.04775632176193714 Centerline is valid? [True, True] Translation: X:159.29, Y:12.57, Z:-0.06 [[ 9.76564862e-01 -2.15144838e-01 -5.81104805e-03 1.59285697e+02] [ 2.15139469e-01 9.76582118e-01 -1.54105267e-03 1.25701926e+01] [ 6.00651514e-03 2.54752099e-04 9.99981928e-01 -6.00808582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.725336195 meters 0.05284443681315093 Centerline is valid? [True, True] Translation: X:159.31, Y:12.58, Z:-0.07 [[ 9.76593097e-01 -2.14971458e-01 -7.29354033e-03 1.59311481e+02] [ 2.14963001e-01 9.76620279e-01 -1.93352878e-03 1.25820513e+01] [ 7.53867289e-03 3.20429540e-04 9.99971532e-01 -6.52864026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.755336195 meters 0.04587501768239141 Centerline is valid? [True, True] Translation: X:159.34, Y:12.58, Z:-0.07 [[ 9.76595499e-01 -2.14902751e-01 -8.83399217e-03 1.59341972e+02] [ 2.14890320e-01 9.76635375e-01 -2.34424398e-03 1.25784339e+01] [ 9.13137374e-03 3.91038718e-04 9.99958232e-01 -6.57143804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.785336195 meters 0.048834839021637266 Centerline is valid? [True, True] Translation: X:159.37, Y:12.59, Z:-0.07 [[ 9.76588642e-01 -2.14958194e-01 -8.22180279e-03 1.59368076e+02] [ 2.14947431e-01 9.76623184e-01 -2.18157758e-03 1.25889097e+01] [ 8.49855119e-03 3.63248503e-04 9.99963821e-01 -6.66611601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81533619500001 meters 0.045792863747933135 Centerline is valid? [True, True] Translation: X:159.40, Y:12.60, Z:-0.06 [[ 9.76529694e-01 -2.15263285e-01 -7.17457901e-03 1.59395816e+02] [ 2.15255081e-01 9.76555998e-01 -1.90589767e-03 1.25952529e+01] [ 7.41664796e-03 3.16801079e-04 9.99972446e-01 -6.37373392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84533619500002 meters 0.051037380364392905 Centerline is valid? [True, True] Translation: X:159.42, Y:12.61, Z:-0.07 [[ 9.76521139e-01 -2.15296552e-01 -7.33892995e-03 1.59421005e+02] [ 2.15287972e-01 9.76548662e-01 -1.94916613e-03 1.26104171e+01] [ 7.58647098e-03 3.23418583e-04 9.99971170e-01 -6.70731028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87533619500002 meters 0.05123303214082646 Centerline is valid? [True, True] Translation: X:159.45, Y:12.62, Z:-0.07 [[ 9.76666310e-01 -2.14623811e-01 -7.71610284e-03 1.59449036e+02] [ 2.14614288e-01 9.76696728e-01 -2.05140816e-03 1.26164572e+01] [ 7.97657344e-03 3.47555322e-04 9.99968126e-01 -6.85936005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90533619500002 meters 0.050433002196745 Centerline is valid? [True, True] Translation: X:159.48, Y:12.62, Z:-0.07 [[ 9.76744863e-01 -2.14271381e-01 -7.56630985e-03 1.59477502e+02] [ 2.14262203e-01 9.76774107e-01 -2.01294869e-03 1.26199350e+01] [ 7.82189284e-03 3.44963080e-04 9.99969349e-01 -6.84727893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93533619500002 meters 0.04668913021943737 Centerline is valid? [True, True] Translation: X:159.51, Y:12.62, Z:-0.07 [[ 9.76922211e-01 -2.13458839e-01 -7.63662243e-03 1.59507866e+02] [ 2.13449454e-01 9.76951993e-01 -2.03310628e-03 1.26185407e+01] [ 7.89459801e-03 3.56153798e-04 9.99968774e-01 -6.61646211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.965336195 meters 0.05124039712034057 Centerline is valid? [True, True] Translation: X:159.53, Y:12.63, Z:-0.07 [[ 9.77297374e-01 -2.11709404e-01 -8.30482500e-03 1.59533226e+02] [ 2.11698247e-01 9.77332577e-01 -2.21038398e-03 1.26332367e+01] [ 8.58453509e-03 4.02085569e-04 9.99963071e-01 -6.89808500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.995336195 meters 0.05204669769504713 Centerline is valid? [True, True] Translation: X:159.56, Y:12.64, Z:-0.07 [[ 9.77549473e-01 -2.10535163e-01 -8.48372545e-03 1.59560537e+02] [ 2.10523474e-01 9.77586194e-01 -2.25822037e-03 1.26437629e+01] [ 8.76900767e-03 4.21498779e-04 9.99961463e-01 -7.02019743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.025336195 meters 0.05214342805143938 Centerline is valid? [True, True] Translation: X:159.59, Y:12.65, Z:-0.07 [[ 9.77696487e-01 -2.09868735e-01 -8.04318421e-03 1.59587857e+02] [ 2.09858200e-01 9.77729487e-01 -2.14167068e-03 1.26514405e+01] [ 8.31352808e-03 4.05975741e-04 9.99965360e-01 -7.00766149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.055336195 meters 0.05237463626735826 Centerline is valid? [True, True] Translation: X:159.62, Y:12.66, Z:-0.07 [[ 9.77602266e-01 -2.10327465e-01 -7.49445211e-03 1.59615363e+02] [ 2.10318328e-01 9.77630921e-01 -1.99606713e-03 1.26575534e+01] [ 7.74663585e-03 3.75139116e-04 9.99969924e-01 -6.96517246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.085336195 meters 0.056215232762477564 Centerline is valid? [True, True] Translation: X:159.64, Y:12.67, Z:-0.07 [[ 9.77600336e-01 -2.10344874e-01 -7.25381941e-03 1.59640615e+02] [ 2.10336308e-01 9.77627179e-01 -1.93280744e-03 1.26687608e+01] [ 7.49808715e-03 3.63771610e-04 9.99971823e-01 -7.12566944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.115336195 meters 0.05708832564648215 Centerline is valid? [True, True] Translation: X:159.67, Y:12.68, Z:-0.07 [[ 9.77593589e-01 -2.10344591e-01 -8.11958215e-03 1.59668028e+02] [ 2.10333843e-01 9.77627222e-01 -2.16538770e-03 1.26788102e+01] [ 8.39340213e-03 4.09046217e-04 9.99964691e-01 -7.34021250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.145336195 meters 0.05665571405167914 Centerline is valid? [True, True] Translation: X:159.70, Y:12.69, Z:-0.08 [[ 9.77500749e-01 -2.10762960e-01 -8.44159394e-03 1.59695201e+02] [ 2.10751342e-01 9.77537107e-01 -2.25304765e-03 1.26857474e+01] [ 8.72683031e-03 4.23278508e-04 9.99961831e-01 -7.51496362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.175336195 meters 0.055427473895061946 Centerline is valid? [True, True] Translation: X:159.72, Y:12.69, Z:-0.07 [[ 9.77455273e-01 -2.11010986e-01 -7.45344336e-03 1.59723236e+02] [ 2.11001926e-01 9.77483619e-01 -1.99060660e-03 1.26911780e+01] [ 7.70565864e-03 3.73038014e-04 9.99970241e-01 -7.32454928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.205336195 meters 0.05619564367619352 Centerline is valid? [True, True] Translation: X:159.75, Y:12.70, Z:-0.07 [[ 9.77426577e-01 -2.11148825e-01 -7.31172013e-03 1.59749376e+02] [ 2.11140112e-01 9.77453856e-01 -1.95243677e-03 1.27003332e+01] [ 7.55912376e-03 3.64566178e-04 9.99971363e-01 -7.33509551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.235336195 meters 0.05472564810073489 Centerline is valid? [True, True] Translation: X:159.78, Y:12.71, Z:-0.08 [[ 9.77174006e-01 -2.12273080e-01 -8.43217517e-03 1.59777927e+02] [ 2.12261517e-01 9.77210300e-01 -2.25362370e-03 1.27072158e+01] [ 8.71839207e-03 4.12356208e-04 9.99961909e-01 -7.53298323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.265336195 meters 0.0544528136422022 Centerline is valid? [True, True] Translation: X:159.80, Y:12.72, Z:-0.08 [[ 9.76955477e-01 -2.13296482e-01 -7.91248310e-03 1.59804747e+02] [ 2.13286335e-01 9.76987445e-01 -2.11458297e-03 1.27151569e+01] [ 8.18142975e-03 3.78228889e-04 9.99966460e-01 -7.54231704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.295336195 meters 0.04949763191963718 Centerline is valid? [True, True] Translation: X:159.83, Y:12.72, Z:-0.07 [[ 9.76384195e-01 -2.15914839e-01 -7.39507162e-03 1.59834819e+02] [ 2.15906051e-01 9.76412142e-01 -1.97625922e-03 1.27175160e+01] [ 7.64734141e-03 3.32947558e-04 9.99970703e-01 -7.44194380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.325336195 meters 0.04911454445320468 Centerline is valid? [True, True] Translation: X:159.86, Y:12.72, Z:-0.08 [[ 9.75871952e-01 -2.18189869e-01 -8.19234523e-03 1.59863183e+02] [ 2.18179163e-01 9.75906276e-01 -2.18950665e-03 1.27233903e+01] [ 8.47268929e-03 3.49279098e-04 9.99964045e-01 -7.74154321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.355336195 meters 0.04771965351058959 Centerline is valid? [True, True] Translation: X:159.89, Y:12.73, Z:-0.08 [[ 9.74856059e-01 -2.22648928e-01 -9.11694696e-03 1.59892199e+02] [ 2.22635861e-01 9.74898628e-01 -2.43676659e-03 1.27281459e+01] [ 9.43064256e-03 3.45737343e-04 9.99955471e-01 -8.15927599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.385336195 meters 0.04658176156224171 Centerline is valid? [True, True] Translation: X:159.92, Y:12.74, Z:-0.08 [[ 9.74491356e-01 -2.24250955e-01 -8.83772374e-03 1.59919844e+02] [ 2.24238722e-01 9.74531377e-01 -2.36443065e-03 1.27354363e+01] [ 9.14286492e-03 3.22357354e-04 9.99958151e-01 -8.17545859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.415336195 meters 0.04014828179100952 Centerline is valid? [True, True] Translation: X:159.95, Y:12.74, Z:-0.08 [[ 9.73983251e-01 -2.26425170e-01 -9.39519836e-03 1.59949134e+02] [ 2.26411449e-01 9.74028511e-01 -2.51323747e-03 1.27384611e+01] [ 9.72025129e-03 3.20670729e-04 9.99952706e-01 -8.09743754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.445336195 meters 0.04116683086150041 Centerline is valid? [True, True] Translation: X:159.98, Y:12.75, Z:-0.09 [[ 9.73758568e-01 -2.27326214e-01 -1.08186664e-02 1.59975115e+02] [ 2.27308063e-01 9.73818599e-01 -2.89515497e-03 1.27472860e+01] [ 1.11935632e-02 3.60011849e-04 9.99937285e-01 -8.56605908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.475336195 meters 0.04307113756027706 Centerline is valid? [True, True] Translation: X:160.00, Y:12.76, Z:-0.09 [[ 9.73676071e-01 -2.27689906e-01 -1.05931496e-02 1.60001243e+02] [ 2.27672514e-01 9.73733631e-01 -2.83580152e-03 1.27563677e+01] [ 1.09605894e-02 3.49383086e-04 9.99939870e-01 -8.68049203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.505336195 meters 0.03956010119403513 Centerline is valid? [True, True] Translation: X:160.03, Y:12.76, Z:-0.08 [[ 9.73714010e-01 -2.27535852e-01 -1.04145678e-02 1.60029476e+02] [ 2.27519028e-01 9.73769642e-01 -2.78844888e-03 1.27605226e+01] [ 1.07758621e-02 3.45639387e-04 9.99941879e-01 -8.33197524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.535336195 meters 0.038544176029547045 Centerline is valid? [True, True] Translation: X:160.06, Y:12.77, Z:-0.08 [[ 9.73696989e-01 -2.27565835e-01 -1.13120993e-02 1.60057473e+02] [ 2.27545955e-01 9.73762624e-01 -3.03152334e-03 1.27677075e+01] [ 1.17051707e-02 3.77762701e-04 9.99931421e-01 -8.43822745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56533619500001 meters 0.04112027179804161 Centerline is valid? [True, True] Translation: X:160.08, Y:12.78, Z:-0.09 [[ 9.73760970e-01 -2.27218619e-01 -1.26993122e-02 1.60083090e+02] [ 2.27193537e-01 9.73843681e-01 -3.40311579e-03 1.27793932e+01] [ 1.31403962e-02 4.28619680e-04 9.99913569e-01 -8.85183187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59533619500002 meters 0.040113940150923115 Centerline is valid? [True, True] Translation: X:160.11, Y:12.79, Z:-0.09 [[ 9.73736883e-01 -2.27321444e-01 -1.27060754e-02 1.60110302e+02] [ 2.27296298e-01 9.73819683e-01 -3.40844927e-03 1.27869893e+01] [ 1.31482399e-02 4.30888873e-04 9.99913465e-01 -8.78434108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62533619500002 meters 0.044841507987079 Centerline is valid? [True, True] Translation: X:160.13, Y:12.80, Z:-0.09 [[ 9.73741593e-01 -2.27301745e-01 -1.26975157e-02 1.60134998e+02] [ 2.27276634e-01 9.73824281e-01 -3.40596356e-03 1.28023954e+01] [ 1.31393306e-02 4.30679741e-04 9.99913583e-01 -9.17720168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65533619500002 meters 0.039458582877806465 Centerline is valid? [True, True] Translation: X:160.16, Y:12.80, Z:-0.09 [[ 9.73733669e-01 -2.27310586e-01 -1.31392063e-02 1.60164492e+02] [ 2.27283655e-01 9.73822210e-01 -3.52757276e-03 1.28039725e+01] [ 1.35971055e-02 4.48589532e-04 9.99907454e-01 -8.83652097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68533619500002 meters 0.04118200356606477 Centerline is valid? [True, True] Translation: X:160.19, Y:12.81, Z:-0.09 [[ 9.73981649e-01 -2.26245060e-01 -1.31499103e-02 1.60190838e+02] [ 2.26217989e-01 9.74070304e-01 -3.53045949e-03 1.28129953e+01] [ 1.36076862e-02 4.63856486e-04 9.99907304e-01 -8.85524632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.715336195 meters 0.040431430993667625 Centerline is valid? [True, True] Translation: X:160.22, Y:12.82, Z:-0.09 [[ 9.74128259e-01 -2.25619333e-01 -1.30403733e-02 1.60218369e+02] [ 2.25592611e-01 9.74215425e-01 -3.50422056e-03 1.28209429e+01] [ 1.34947527e-02 4.71748409e-04 9.99908830e-01 -8.69119927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.745336195 meters 0.042981081859851354 Centerline is valid? [True, True] Translation: X:160.24, Y:12.83, Z:-0.09 [[ 9.74191871e-01 -2.25365774e-01 -1.26675030e-02 1.60244088e+02] [ 2.25340529e-01 9.74274116e-01 -3.40469053e-03 1.28323925e+01] [ 1.31089210e-02 4.62320008e-04 9.99913968e-01 -8.81635510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.775336195 meters 0.042149074418999385 Centerline is valid? [True, True] Translation: X:160.27, Y:12.84, Z:-0.08 [[ 9.74194464e-01 -2.25464627e-01 -1.05284301e-02 1.60271912e+02] [ 2.25447167e-01 9.74251278e-01 -2.83230996e-03 1.28391234e+01] [ 1.08959222e-02 3.85615955e-04 9.99940563e-01 -8.43183735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.805336195 meters 0.04206256563679676 Centerline is valid? [True, True] Translation: X:160.30, Y:12.84, Z:-0.08 [[ 9.74087805e-01 -2.25958223e-01 -9.78924524e-03 1.60299861e+02] [ 2.25943135e-01 9.74136928e-01 -2.63526072e-03 1.28444068e+01] [ 1.01315241e-02 3.55162577e-04 9.99948612e-01 -8.31104699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.835336195 meters 0.04124147601361204 Centerline is valid? [True, True] Translation: X:160.33, Y:12.85, Z:-0.08 [[ 9.73704030e-01 -2.27629029e-01 -9.24593927e-03 1.60328422e+02] [ 2.27615648e-01 9.73747875e-01 -2.48863730e-03 1.28465172e+01] [ 9.56969980e-03 3.18675717e-04 9.99954159e-01 -8.22652333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.865336195 meters 0.03808121389804484 Centerline is valid? [True, True] Translation: X:160.36, Y:12.85, Z:-0.08 [[ 9.73246595e-01 -2.29533483e-01 -1.02686478e-02 1.60357786e+02] [ 2.29517055e-01 9.73300708e-01 -2.76657207e-03 1.28492884e+01] [ 1.06295031e-02 3.35727047e-04 9.99943449e-01 -8.29163355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.895336195 meters 0.03516643754917058 Centerline is valid? [True, True] Translation: X:160.39, Y:12.85, Z:-0.08 [[ 9.73152252e-01 -2.29901624e-01 -1.09516193e-02 1.60386367e+02] [ 2.29882939e-01 9.73213808e-01 -2.95255258e-03 1.28534687e+01] [ 1.13370638e-02 3.55692761e-04 9.99935670e-01 -8.21711411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.925336195 meters 0.040634062536107955 Centerline is valid? [True, True] Translation: X:160.41, Y:12.87, Z:-0.09 [[ 9.73402959e-01 -2.28811839e-01 -1.14813515e-02 1.60411321e+02] [ 2.28791218e-01 9.73470591e-01 -3.09613792e-03 1.28662460e+01] [ 1.18851910e-02 3.86957417e-04 9.99929294e-01 -8.64576181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.955336195 meters 0.0406346645042851 Centerline is valid? [True, True] Translation: X:160.44, Y:12.87, Z:-0.08 [[ 9.73689387e-01 -2.27618280e-01 -1.09039901e-02 1.60439293e+02] [ 2.27599579e-01 9.73750364e-01 -2.94284290e-03 1.28725885e+01] [ 1.12876092e-02 3.83671343e-04 9.99936219e-01 -8.41115483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.985336195 meters 0.04523535578978971 Centerline is valid? [True, True] Translation: X:160.47, Y:12.88, Z:-0.08 [[ 9.74582725e-01 -2.23791573e-01 -1.02880598e-02 1.60466753e+02] [ 2.23774722e-01 9.74636942e-01 -2.77564730e-03 1.28839539e+01] [ 1.06482897e-02 4.02890182e-04 9.99943224e-01 -8.26753473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.015336195 meters 0.046840601624918536 Centerline is valid? [True, True] Translation: X:160.49, Y:12.89, Z:-0.08 [[ 9.75105561e-01 -2.21469546e-01 -1.09719965e-02 1.60494224e+02] [ 2.21450226e-01 9.75167181e-01 -2.96074605e-03 1.28932713e+01] [ 1.13552460e-02 4.57288829e-04 9.99935423e-01 -8.34615529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.045336195 meters 0.05209111600018094 Centerline is valid? [True, True] Translation: X:160.52, Y:12.91, Z:-0.09 [[ 9.76088348e-01 -2.17015734e-01 -1.24783151e-02 1.60521653e+02] [ 2.16990385e-01 9.76167934e-01 -3.36701499e-03 1.29083984e+01] [ 1.29116263e-02 5.78829706e-04 9.99916474e-01 -8.68750473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.075336195 meters 0.056961431458956095 Centerline is valid? [True, True] Translation: X:160.55, Y:12.92, Z:-0.09 [[ 9.76528543e-01 -2.15011406e-01 -1.27318572e-02 1.60547363e+02] [ 2.14984837e-01 9.76611342e-01 -3.43613185e-03 1.29231721e+01] [ 1.31728837e-02 6.18324591e-04 9.99913043e-01 -8.87853818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.105336195 meters 0.055602449242692094 Centerline is valid? [True, True] Translation: X:160.58, Y:12.93, Z:-0.09 [[ 9.77133156e-01 -2.12243280e-01 -1.27900811e-02 1.60575490e+02] [ 2.12216231e-01 9.77216637e-01 -3.45183296e-03 1.29332347e+01] [ 1.32313083e-02 6.58637642e-04 9.99912245e-01 -8.74288017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.135336195 meters 0.06172484317785396 Centerline is valid? [True, True] Translation: X:160.60, Y:12.95, Z:-0.09 [[ 9.77428049e-01 -2.10888051e-01 -1.26743707e-02 1.60600405e+02] [ 2.10861367e-01 9.77509989e-01 -3.42126557e-03 1.29508630e+01] [ 1.31108280e-02 6.71505805e-04 9.99913824e-01 -8.97488560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.165336195 meters 0.055344671052827664 Centerline is valid? [True, True] Translation: X:160.63, Y:12.95, Z:-0.09 [[ 9.77445755e-01 -2.10818311e-01 -1.24674076e-02 1.60629985e+02] [ 2.10792443e-01 9.77525037e-01 -3.36868816e-03 1.29518563e+01] [ 1.28973843e-02 6.64674623e-04 9.99916604e-01 -8.63516566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.195336195 meters 0.05746504647177227 Centerline is valid? [True, True] Translation: X:160.66, Y:12.96, Z:-0.09 [[ 9.77344584e-01 -2.11336882e-01 -1.15882095e-02 1.60656253e+02] [ 2.11314570e-01 9.77413090e-01 -3.13113201e-03 1.29616066e+01] [ 1.19881913e-02 6.11437410e-04 9.99927952e-01 -8.64174815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.225336195 meters 0.05388359739677512 Centerline is valid? [True, True] Translation: X:160.69, Y:12.96, Z:-0.08 [[ 9.77152108e-01 -2.12245688e-01 -1.12038154e-02 1.60685663e+02] [ 2.12224861e-01 9.77216162e-01 -3.02990006e-03 1.29646677e+01] [ 1.15916327e-02 5.82945063e-04 9.99932645e-01 -8.42290703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.255336195 meters 0.056506304423866054 Centerline is valid? [True, True] Translation: X:160.71, Y:12.98, Z:-0.09 [[ 9.76725481e-01 -2.14215801e-01 -1.09053334e-02 1.60711936e+02] [ 2.14196196e-01 9.76786207e-01 -2.94871176e-03 1.29769325e+01] [ 1.12838399e-02 5.44200971e-04 9.99936187e-01 -8.62156669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.285336195 meters 0.05528389733498461 Centerline is valid? [True, True] Translation: X:160.74, Y:12.98, Z:-0.09 [[ 9.76455512e-01 -2.15442536e-01 -1.09154822e-02 1.60740253e+02] [ 2.15422942e-01 9.76516374e-01 -2.95408175e-03 1.29838656e+01] [ 1.12955820e-02 5.33084118e-04 9.99936061e-01 -8.68284455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31533619500001 meters 0.05340613855390516 Centerline is valid? [True, True] Translation: X:160.77, Y:12.99, Z:-0.09 [[ 9.75882935e-01 -2.18014655e-01 -1.10501885e-02 1.60769541e+02] [ 2.17994747e-01 9.75945363e-01 -2.98982773e-03 1.29882451e+01] [ 1.14362064e-02 5.08838823e-04 9.99934475e-01 -8.83052504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34533619500002 meters 0.048986388604203526 Centerline is valid? [True, True] Translation: X:160.80, Y:12.99, Z:-0.09 [[ 9.75109447e-01 -2.21474885e-01 -1.05090903e-02 1.60799496e+02] [ 2.21457079e-01 9.75165974e-01 -2.84342809e-03 1.29915672e+01] [ 1.08778552e-02 4.45341149e-04 9.99940735e-01 -8.68082317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37533619500002 meters 0.04515668463415683 Centerline is valid? [True, True] Translation: X:160.83, Y:13.00, Z:-0.08 [[ 9.74695858e-01 -2.23318331e-01 -9.84418775e-03 1.60829475e+02] [ 2.23302799e-01 9.74745487e-01 -2.66367629e-03 1.29953815e+01] [ 1.01904253e-02 3.98039571e-04 9.99947997e-01 -8.44938957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40533619500002 meters 0.04608289757127393 Centerline is valid? [True, True] Translation: X:160.86, Y:13.00, Z:-0.09 [[ 9.73786108e-01 -2.27306002e-01 -8.52040190e-03 1.60856993e+02] [ 2.27294517e-01 9.73823334e-01 -2.30573818e-03 1.30040877e+01] [ 8.82147432e-03 3.08655173e-04 9.99961042e-01 -8.51933116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43533619500002 meters 0.03640150596509929 Centerline is valid? [True, True] Translation: X:160.89, Y:13.00, Z:-0.08 [[ 9.72998450e-01 -2.30623204e-01 -9.32489052e-03 1.60889819e+02] [ 2.30609599e-01 9.73043085e-01 -2.52348890e-03 1.29983819e+01] [ 9.65549533e-03 3.04941519e-04 9.99953338e-01 -8.35534720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.465336195 meters 0.03640150596509929 Centerline is valid? [True, True] Translation: X:160.92, Y:13.01, Z:-0.08 [[ 9.72954052e-01 -2.30810472e-01 -9.32405764e-03 1.60916315e+02] [ 2.30796846e-01 9.72998681e-01 -2.52656547e-03 1.30057426e+01] [ 9.65545355e-03 3.06269019e-04 9.99953338e-01 -8.37558500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.495336195 meters 0.03687235351320743 Centerline is valid? [True, True] Translation: X:160.94, Y:13.01, Z:-0.09 [[ 9.72606453e-01 -2.32269934e-01 -9.34694025e-03 1.60943216e+02] [ 2.32256313e-01 9.72651321e-01 -2.53235010e-03 1.30113661e+01] [ 9.67950257e-03 2.92094166e-04 9.99953110e-01 -8.57992651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.525336195 meters 0.03508009871609272 Centerline is valid? [True, True] Translation: X:160.97, Y:13.01, Z:-0.08 [[ 9.72286001e-01 -2.33652350e-01 -8.15550300e-03 1.60972248e+02] [ 2.33642025e-01 9.72320174e-01 -2.20992790e-03 1.30147712e+01] [ 8.44611494e-03 2.43213726e-04 9.99964301e-01 -8.37057466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.555336195 meters 0.03273788137483159 Centerline is valid? [True, True] Translation: X:161.00, Y:13.02, Z:-0.08 [[ 9.72269502e-01 -2.33722633e-01 -8.10839295e-03 1.60999475e+02] [ 2.33712406e-01 9.72303282e-01 -2.19998402e-03 1.30197351e+01] [ 8.39800313e-03 2.43945337e-04 9.99964706e-01 -8.18015266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.585336195 meters 0.036054082738670785 Centerline is valid? [True, True] Translation: X:161.03, Y:13.03, Z:-0.08 [[ 9.72865733e-01 -2.31218732e-01 -8.37639448e-03 1.61025090e+02] [ 2.31207731e-01 9.72901754e-01 -2.27196915e-03 1.30324503e+01] [ 8.67473071e-03 2.73633765e-04 9.99962336e-01 -8.23234605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.615336195 meters 0.038506110235916706 Centerline is valid? [True, True] Translation: X:161.05, Y:13.04, Z:-0.08 [[ 9.73312535e-01 -2.29329926e-01 -8.39614188e-03 1.61053115e+02] [ 2.29318803e-01 9.73348704e-01 -2.27735386e-03 1.30426746e+01] [ 8.69463921e-03 2.91183849e-04 9.99962159e-01 -8.39269013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.645336195 meters 0.045412081991056154 Centerline is valid? [True, True] Translation: X:161.08, Y:13.06, Z:-0.09 [[ 9.74161732e-01 -2.25651946e-01 -9.49315495e-03 1.61079793e+02] [ 2.25637550e-01 9.74207917e-01 -2.57512378e-03 1.30560149e+01] [ 9.82938840e-03 3.66574822e-04 9.99951623e-01 -8.77389242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.675336195 meters 0.047278832073335615 Centerline is valid? [True, True] Translation: X:161.11, Y:13.07, Z:-0.09 [[ 9.74645184e-01 -2.23561674e-01 -9.32432351e-03 1.61107563e+02] [ 2.23547687e-01 9.74689711e-01 -2.52955614e-03 1.30666028e+01] [ 9.65383399e-03 3.80988750e-04 9.99953328e-01 -8.77877679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.705336195 meters 0.04619070601332027 Centerline is valid? [True, True] Translation: X:161.14, Y:13.07, Z:-0.09 [[ 9.74714707e-01 -2.23265537e-01 -9.15091625e-03 1.61135484e+02] [ 2.23252027e-01 9.74757588e-01 -2.48521938e-03 1.30738724e+01] [ 9.47478889e-03 3.79419277e-04 9.99955041e-01 -8.67008492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.735336195 meters 0.047508982312361614 Centerline is valid? [True, True] Translation: X:161.16, Y:13.08, Z:-0.09 [[ 9.74697407e-01 -2.23310428e-01 -9.87001259e-03 1.61162110e+02] [ 2.23294717e-01 9.74747293e-01 -2.68022226e-03 1.30815614e+01] [ 1.02192896e-02 4.08484016e-04 9.99947698e-01 -8.94046782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.765336195 meters 0.04802726085141125 Centerline is valid? [True, True] Translation: X:161.19, Y:13.09, Z:-0.09 [[ 9.74663872e-01 -2.23449960e-01 -1.00225793e-02 1.61188925e+02] [ 2.23433736e-01 9.74715313e-01 -2.72460570e-03 1.30882345e+01] [ 1.03779746e-02 4.16192402e-04 9.99946061e-01 -9.01319476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.795336195 meters 0.046532354197503706 Centerline is valid? [True, True] Translation: X:161.22, Y:13.09, Z:-0.09 [[ 9.74469807e-01 -2.24315457e-01 -9.54837110e-03 1.61217683e+02] [ 2.24300757e-01 9.74516508e-01 -2.59727083e-03 1.30925219e+01] [ 9.88765325e-03 3.89255138e-04 9.99951040e-01 -9.01780914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.825336195 meters 0.04415238142665445 Centerline is valid? [True, True] Translation: X:161.25, Y:13.10, Z:-0.09 [[ 9.74320360e-01 -2.24965187e-01 -9.51323782e-03 1.61246183e+02] [ 2.24950609e-01 9.74366727e-01 -2.58943992e-03 1.30963250e+01] [ 9.85191623e-03 3.82935391e-04 9.99951395e-01 -8.92812008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.855336195 meters 0.046706948324531136 Centerline is valid? [True, True] Translation: X:161.27, Y:13.11, Z:-0.09 [[ 9.74275067e-01 -2.25164139e-01 -9.44481000e-03 1.61272078e+02] [ 2.25149770e-01 9.74320772e-01 -2.57185038e-03 1.31053828e+01] [ 9.78136305e-03 3.79192904e-04 9.99952089e-01 -9.06492750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.885336195 meters 0.04572317330984591 Centerline is valid? [True, True] Translation: X:161.30, Y:13.11, Z:-0.09 [[ 9.74272899e-01 -2.25154084e-01 -9.89730532e-03 1.61300571e+02] [ 2.25138285e-01 9.74323087e-01 -2.69701315e-03 1.31105238e+01] [ 1.02504166e-02 3.99364472e-04 9.99947383e-01 -9.12729250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.915336195 meters 0.04700089067706649 Centerline is valid? [True, True] Translation: X:161.33, Y:13.12, Z:-0.09 [[ 9.74402218e-01 -2.24580805e-01 -1.01872350e-02 1.61327611e+02] [ 2.24564035e-01 9.74455380e-01 -2.77603091e-03 1.31150539e+01] [ 1.05504493e-02 4.17284069e-04 9.99944255e-01 -9.24644057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.945336195 meters 0.04834952909162343 Centerline is valid? [True, True] Translation: X:161.36, Y:13.12, Z:-0.09 [[ 9.74659511e-01 -2.23437322e-01 -1.07051819e-02 1.61355918e+02] [ 2.23418736e-01 9.74718195e-01 -2.91705702e-03 1.31248529e+01] [ 1.10863150e-02 4.51399157e-04 9.99938443e-01 -9.37534566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.975336195 meters 0.048876851258825585 Centerline is valid? [True, True] Translation: X:161.38, Y:13.13, Z:-0.10 [[ 9.74790461e-01 -2.22830921e-01 -1.13990357e-02 1.61383622e+02] [ 2.22809770e-01 9.74856984e-01 -3.10918090e-03 1.31339438e+01] [ 1.18052513e-02 4.90983347e-04 9.99930195e-01 -9.53675210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.005336195 meters 0.053475537157145356 Centerline is valid? [True, True] Translation: X:161.41, Y:13.14, Z:-0.10 [[ 9.75219156e-01 -2.20972090e-01 -1.09056735e-02 1.61410492e+02] [ 2.20952620e-01 9.75280008e-01 -2.97409590e-03 1.31444230e+01] [ 1.12932776e-02 4.90758152e-04 9.99936108e-01 -9.71583929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.035336195 meters 0.052561791719675434 Centerline is valid? [True, True] Translation: X:161.44, Y:13.15, Z:-0.10 [[ 9.75357842e-01 -2.20373742e-01 -1.06062670e-02 1.61439386e+02] [ 2.20355260e-01 9.75415387e-01 -2.89524352e-03 1.31488324e+01] [ 1.09835517e-02 4.86751751e-04 9.99939561e-01 -9.59946483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06533619500001 meters 0.05194819208598768 Centerline is valid? [True, True] Translation: X:161.47, Y:13.15, Z:-0.09 [[ 9.75437000e-01 -2.20053063e-01 -9.96532462e-03 1.61467859e+02] [ 2.20036712e-01 9.75487794e-01 -2.72211306e-03 1.31540258e+01] [ 1.03200618e-02 4.62512536e-04 9.99946640e-01 -9.42409230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09533619500002 meters 0.05253973150424019 Centerline is valid? [True, True] Translation: X:161.49, Y:13.16, Z:-0.09 [[ 9.75316638e-01 -2.20605791e-01 -9.51527769e-03 1.61494074e+02] [ 2.20590911e-01 9.75362955e-01 -2.59902727e-03 1.31630491e+01] [ 9.85420983e-03 4.35890757e-04 9.99951351e-01 -9.43817440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12533619500002 meters 0.04646344025548223 Centerline is valid? [True, True] Translation: X:161.52, Y:13.17, Z:-0.09 [[ 9.74820615e-01 -2.22753954e-01 -1.02685997e-02 1.61523730e+02] [ 2.22736733e-01 9.74874595e-01 -2.80575259e-03 1.31662537e+01] [ 1.06355895e-02 4.47911100e-04 9.99943340e-01 -9.48257474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15533619500002 meters 0.05264085873267839 Centerline is valid? [True, True] Translation: X:161.55, Y:13.18, Z:-0.10 [[ 9.74496584e-01 -2.24153387e-01 -1.05672763e-02 1.61548284e+02] [ 2.24135226e-01 9.74553775e-01 -2.88788779e-03 1.31806239e+01] [ 1.09457089e-02 4.45737911e-04 9.99939995e-01 -1.00150377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18533619500002 meters 0.04713956263884074 Centerline is valid? [True, True] Translation: X:161.58, Y:13.18, Z:-0.10 [[ 9.73858675e-01 -2.26918177e-01 -1.03644262e-02 1.61579675e+02] [ 2.26900863e-01 9.73913741e-01 -2.83243184e-03 1.31779577e+01] [ 1.07367874e-02 4.06691059e-04 9.99942276e-01 -9.89040363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.215336195 meters 0.047165864795421404 Centerline is valid? [True, True] Translation: X:161.61, Y:13.18, Z:-0.10 [[ 9.73383947e-01 -2.28888934e-01 -1.15562491e-02 1.61607662e+02] [ 2.28867539e-01 9.73452449e-01 -3.15885038e-03 1.31827052e+01] [ 1.19724849e-02 4.29923962e-04 9.99928235e-01 -1.02223689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.245336195 meters 0.046958563511022504 Centerline is valid? [True, True] Translation: X:161.63, Y:13.19, Z:-0.10 [[ 9.73271989e-01 -2.29353580e-01 -1.17715785e-02 1.61633989e+02] [ 2.29331375e-01 9.73343077e-01 -3.22096028e-03 1.31908819e+01] [ 1.21965232e-02 4.35278129e-04 9.99925525e-01 -1.03140120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.275336195 meters 0.03931390302141027 Centerline is valid? [True, True] Translation: X:161.66, Y:13.19, Z:-0.10 [[ 9.73167990e-01 -2.29848869e-01 -1.06564889e-02 1.61662640e+02] [ 2.29830679e-01 9.73226256e-01 -2.91785646e-03 1.31942481e+01] [ 1.10418408e-02 3.90376418e-04 9.99938961e-01 -9.69547092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.305336195 meters 0.04664053117990768 Centerline is valid? [True, True] Translation: X:161.69, Y:13.21, Z:-0.10 [[ 9.73073106e-01 -2.30275960e-01 -1.00852924e-02 1.61686884e+02] [ 2.30259692e-01 9.73125300e-01 -2.76134189e-03 1.32118399e+01] [ 1.04501238e-02 3.64751220e-04 9.99945329e-01 -1.01660878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.335336195 meters 0.042702937425382906 Centerline is valid? [True, True] Translation: X:161.72, Y:13.21, Z:-0.10 [[ 9.72930852e-01 -2.30833589e-01 -1.10187292e-02 1.61715393e+02] [ 2.30814170e-01 9.72993165e-01 -3.02000323e-03 1.32139516e+01] [ 1.14182663e-02 3.94975485e-04 9.99934731e-01 -1.01486748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.365336195 meters 0.043563541680744756 Centerline is valid? [True, True] Translation: X:161.74, Y:13.22, Z:-0.10 [[ 9.72977891e-01 -2.30635550e-01 -1.10120851e-02 1.61742170e+02] [ 2.30616146e-01 9.73040125e-01 -3.01788992e-03 1.32211536e+01] [ 1.14112333e-02 3.96775552e-04 9.99934811e-01 -1.02013156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.395336195 meters 0.04325033341566329 Centerline is valid? [True, True] Translation: X:161.77, Y:13.23, Z:-0.10 [[ 9.73040356e-01 -2.30374045e-01 -1.09665403e-02 1.61770227e+02] [ 2.30354754e-01 9.73102070e-01 -3.00810489e-03 1.32283625e+01] [ 1.13645524e-02 4.00812760e-04 9.99935341e-01 -1.00921680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.425336195 meters 0.043152180761584724 Centerline is valid? [True, True] Translation: X:161.80, Y:13.24, Z:-0.10 [[ 9.72999808e-01 -2.30538189e-01 -1.11138079e-02 1.61796396e+02] [ 2.30518360e-01 9.73063193e-01 -3.05086297e-03 1.32380613e+01] [ 1.15177778e-02 4.06552316e-04 9.99933586e-01 -1.01779208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.455336195 meters 0.04017145940211613 Centerline is valid? [True, True] Translation: X:161.82, Y:13.25, Z:-0.10 [[ 9.73046896e-01 -2.30268204e-01 -1.25016820e-02 1.61823235e+02] [ 2.30243064e-01 9.73127093e-01 -3.43383494e-03 1.32496759e+01] [ 1.29564285e-02 4.62856853e-04 9.99915955e-01 -1.02615040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.485336195 meters 0.045377040320368586 Centerline is valid? [True, True] Translation: X:161.85, Y:13.27, Z:-0.11 [[ 9.73252184e-01 -2.29309377e-01 -1.40497652e-02 1.61848293e+02] [ 2.29277535e-01 9.73353443e-01 -3.85841803e-03 1.32665952e+01] [ 1.45601588e-02 5.33918242e-04 9.99893853e-01 -1.09080434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.515336195 meters 0.04263501454499387 Centerline is valid? [True, True] Translation: X:161.88, Y:13.27, Z:-0.11 [[ 9.73288443e-01 -2.29190652e-01 -1.34630103e-02 1.61876070e+02] [ 2.29161348e-01 9.73381414e-01 -3.70123946e-03 1.32699245e+01] [ 1.39529335e-02 5.17171994e-04 9.99902519e-01 -1.06446063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.545336195 meters 0.0448477266749283 Centerline is valid? [True, True] Translation: X:161.90, Y:13.28, Z:-0.11 [[ 9.73133311e-01 -2.29869167e-01 -1.31044319e-02 1.61902876e+02] [ 2.29841466e-01 9.73221415e-01 -3.60252681e-03 1.32760896e+01] [ 1.35816236e-02 4.93797015e-04 9.99907644e-01 -1.06714440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.575336195 meters 0.041258602256612494 Centerline is valid? [True, True] Translation: X:161.93, Y:13.28, Z:-0.10 [[ 9.72864670e-01 -2.31002999e-01 -1.31129269e-02 1.61932052e+02] [ 2.30975325e-01 9.72952919e-01 -3.60778528e-03 1.32808171e+01] [ 1.35916697e-02 4.81124270e-04 9.99907513e-01 -1.04806216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.605336195 meters 0.04005502376099912 Centerline is valid? [True, True] Translation: X:161.96, Y:13.29, Z:-0.10 [[ 9.72181024e-01 -2.33945003e-01 -1.15668663e-02 1.61958477e+02] [ 2.33923685e-01 9.72249755e-01 -3.18184611e-03 1.32944451e+01] [ 1.19902599e-02 3.87566425e-04 9.99928039e-01 -1.04642257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.635336195 meters 0.03527193468357577 Centerline is valid? [True, True] Translation: X:161.99, Y:13.30, Z:-0.10 [[ 9.71589983e-01 -2.36407088e-01 -1.11621410e-02 1.61987378e+02] [ 2.36387365e-01 9.71654037e-01 -3.07340502e-03 1.32990371e+01] [ 1.15723141e-02 3.47500436e-04 9.99932978e-01 -1.03252508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.665336195 meters 0.034802230758623584 Centerline is valid? [True, True] Translation: X:162.01, Y:13.30, Z:-0.11 [[ 9.71211813e-01 -2.37950091e-01 -1.12858059e-02 1.62014632e+02] [ 2.37930032e-01 9.71277326e-01 -3.10743189e-03 1.33040536e+01] [ 1.17010610e-02 3.32742410e-04 9.99931485e-01 -1.05085513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.695336195 meters 0.032709448450776966 Centerline is valid? [True, True] Translation: X:162.04, Y:13.31, Z:-0.11 [[ 9.70369923e-01 -2.41334831e-01 -1.18199967e-02 1.62044179e+02] [ 2.41313079e-01 9.70441861e-01 -3.25451721e-03 1.33068666e+01] [ 1.22560480e-02 3.05765806e-04 9.99924845e-01 -1.06925217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.725336195 meters 0.029788237313932233 Centerline is valid? [True, True] Translation: X:162.07, Y:13.31, Z:-0.11 [[ 9.69639683e-01 -2.44178494e-01 -1.32569725e-02 1.62072684e+02] [ 2.44151351e-01 9.69730256e-01 -3.65355791e-03 1.33117875e+01] [ 1.37478076e-02 3.05927000e-04 9.99905448e-01 -1.08969312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.755336195 meters 0.030789275214677805 Centerline is valid? [True, True] Translation: X:162.10, Y:13.32, Z:-0.11 [[ 9.69369800e-01 -2.45250375e-01 -1.32077550e-02 1.62099341e+02] [ 2.45223532e-01 9.69459731e-01 -3.64002269e-03 1.33211502e+01] [ 1.36971036e-02 2.89675729e-04 9.99906148e-01 -1.11468264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.785336195 meters 0.02705901693634411 Centerline is valid? [True, True] Translation: X:162.13, Y:13.33, Z:-0.11 [[ 9.68894296e-01 -2.47193303e-01 -1.18031403e-02 1.62128004e+02] [ 2.47171977e-01 9.68966158e-01 -3.25559270e-03 1.33272788e+01] [ 1.22416042e-02 2.36919661e-04 9.99925041e-01 -1.07462332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81533619500001 meters 0.026335705587802186 Centerline is valid? [True, True] Translation: X:162.16, Y:13.33, Z:-0.11 [[ 9.68701279e-01 -2.47992514e-01 -1.08418118e-02 1.62155249e+02] [ 2.47974570e-01 9.68761926e-01 -2.99049011e-03 1.33339013e+01] [ 1.12447537e-02 2.08397974e-04 9.99936754e-01 -1.06263534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84533619500002 meters 0.0244457594471255 Centerline is valid? [True, True] Translation: X:162.19, Y:13.33, Z:-0.10 [[ 9.68317755e-01 -2.49573761e-01 -8.58275879e-03 1.62185327e+02] [ 2.49562558e-01 9.68355779e-01 -2.36956092e-03 1.33347967e+01] [ 8.90254431e-03 1.52552665e-04 9.99960360e-01 -1.01825857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87533619500002 meters 0.021902126173646785 Centerline is valid? [True, True] Translation: X:162.21, Y:13.34, Z:-0.10 [[ 9.68088033e-01 -2.50478785e-01 -8.12021721e-03 1.62213933e+02] [ 2.50468775e-01 9.68122079e-01 -2.24354386e-03 1.33387640e+01] [ 8.42332171e-03 1.38087100e-04 9.99964514e-01 -9.84322030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90533619500002 meters 0.020689894712707872 Centerline is valid? [True, True] Translation: X:162.24, Y:13.35, Z:-0.10 [[ 9.67879923e-01 -2.51262976e-01 -8.68166052e-03 1.62240829e+02] [ 2.51251548e-01 9.67918848e-01 -2.40063492e-03 1.33468380e+01] [ 9.00633353e-03 1.42245701e-04 9.99959432e-01 -9.89601751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93533619500002 meters 0.0229391861905228 Centerline is valid? [True, True] Translation: X:162.27, Y:13.36, Z:-0.10 [[ 9.67991260e-01 -2.50824656e-01 -8.93941301e-03 1.62267465e+02] [ 2.50812525e-01 9.68032525e-01 -2.47141339e-03 1.33555402e+01] [ 9.27353396e-03 1.50189806e-04 9.99956989e-01 -1.02760640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.965336195 meters 0.025287778496865837 Centerline is valid? [True, True] Translation: X:162.30, Y:13.36, Z:-0.11 [[ 9.68298540e-01 -2.49561879e-01 -1.08077070e-02 1.62295239e+02] [ 2.49544065e-01 9.68358833e-01 -2.98826037e-03 1.33605936e+01] [ 1.12114944e-02 1.96529008e-04 9.99937130e-01 -1.06955443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.995336195 meters 0.027575401038110407 Centerline is valid? [True, True] Translation: X:162.32, Y:13.37, Z:-0.11 [[ 9.68828707e-01 -2.47467675e-01 -1.14317978e-02 1.62322666e+02] [ 2.47447564e-01 9.68896121e-01 -3.16369757e-03 1.33709025e+01] [ 1.18591374e-02 2.36310515e-04 9.99929650e-01 -1.08066221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.025336195 meters 0.026739125767680064 Centerline is valid? [True, True] Translation: X:162.35, Y:13.38, Z:-0.11 [[ 9.69006054e-01 -2.46772859e-01 -1.14203416e-02 1.62351435e+02] [ 2.46752715e-01 9.69073318e-01 -3.16264486e-03 1.33766456e+01] [ 1.18476032e-02 2.46621716e-04 9.99929784e-01 -1.06404791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.055336195 meters 0.029936100548416614 Centerline is valid? [True, True] Translation: X:162.38, Y:13.39, Z:-0.11 [[ 9.69501983e-01 -2.44780025e-01 -1.21919855e-02 1.62378324e+02] [ 2.44756917e-01 9.69578597e-01 -3.37570834e-03 1.33859230e+01] [ 1.26473941e-02 2.88683150e-04 9.99919977e-01 -1.08433655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.085336195 meters 0.031965706423475945 Centerline is valid? [True, True] Translation: X:162.41, Y:13.40, Z:-0.11 [[ 9.70152949e-01 -2.42187143e-01 -1.21919357e-02 1.62406100e+02] [ 2.42163828e-01 9.70229500e-01 -3.37591152e-03 1.33957281e+01] [ 1.26465780e-02 3.22704694e-04 9.99919977e-01 -1.09026488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.115336195 meters 0.03217460938163524 Centerline is valid? [True, True] Translation: X:162.43, Y:13.40, Z:-0.11 [[ 9.70427905e-01 -2.41076019e-01 -1.23302538e-02 1.62434469e+02] [ 2.41052039e-01 9.70506174e-01 -3.41757002e-03 1.34027462e+01] [ 1.27904816e-02 3.44272497e-04 9.99918139e-01 -1.08220635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.145336195 meters 0.03667552006501415 Centerline is valid? [True, True] Translation: X:162.46, Y:13.42, Z:-0.11 [[ 9.71051763e-01 -2.38535876e-01 -1.26138729e-02 1.62460647e+02] [ 2.38510569e-01 9.71133609e-01 -3.49595034e-03 1.34157329e+01] [ 1.30836655e-02 3.86206726e-04 9.99914331e-01 -1.10837311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.175336195 meters 0.03867158334994258 Centerline is valid? [True, True] Translation: X:162.49, Y:13.43, Z:-0.11 [[ 9.71334257e-01 -2.37397589e-01 -1.23347283e-02 1.62486503e+02] [ 2.37373288e-01 9.71412492e-01 -3.41942185e-03 1.34268324e+01] [ 1.27938717e-02 3.93466556e-04 9.99918078e-01 -1.11370885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.205336195 meters 0.039662929325494506 Centerline is valid? [True, True] Translation: X:162.51, Y:13.44, Z:-0.11 [[ 9.71641709e-01 -2.36157987e-01 -1.19077845e-02 1.62514055e+02] [ 2.36135209e-01 9.71714591e-01 -3.30398185e-03 1.34365446e+01] [ 1.23512296e-02 3.98439392e-04 9.99923641e-01 -1.10014668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.235336195 meters 0.04162655995433349 Centerline is valid? [True, True] Translation: X:162.54, Y:13.45, Z:-0.11 [[ 9.71756088e-01 -2.35652728e-01 -1.25657042e-02 1.62539715e+02] [ 2.35627320e-01 9.71837234e-01 -3.48668428e-03 1.34465574e+01] [ 1.30334659e-02 4.27383463e-04 9.99914969e-01 -1.12244763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.265336195 meters 0.04100264475832791 Centerline is valid? [True, True] Translation: X:162.57, Y:13.45, Z:-0.11 [[ 9.71738545e-01 -2.35721800e-01 -1.26266468e-02 1.62566509e+02] [ 2.35696107e-01 9.71820481e-01 -3.50699969e-03 1.34544057e+01] [ 1.30975102e-02 4.31835302e-04 9.99914131e-01 -1.12302782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.295336195 meters 0.037442828246486086 Centerline is valid? [True, True] Translation: X:162.60, Y:13.46, Z:-0.11 [[ 9.71489544e-01 -2.36737897e-01 -1.27763404e-02 1.62595721e+02] [ 2.36711649e-01 9.71573460e-01 -3.55075064e-03 1.34580138e+01] [ 1.32537504e-02 4.25208519e-04 9.99912075e-01 -1.10734889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.325336195 meters 0.03975748831702918 Centerline is valid? [True, True] Translation: X:162.62, Y:13.47, Z:-0.11 [[ 9.71192421e-01 -2.37965534e-01 -1.25572928e-02 1.62622089e+02] [ 2.37940273e-01 9.71273516e-01 -3.49046601e-03 1.34674547e+01] [ 1.30271766e-02 4.02028449e-04 9.99915062e-01 -1.12974960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.355336195 meters 0.03556789195258253 Centerline is valid? [True, True] Translation: X:162.65, Y:13.47, Z:-0.11 [[ 9.70618885e-01 -2.40333081e-01 -1.17893951e-02 1.62652535e+02] [ 2.40310989e-01 9.70690419e-01 -3.27706797e-03 1.34707079e+01] [ 1.22314407e-02 3.47662861e-04 9.99925133e-01 -1.10407367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.385336195 meters 0.034678794917490104 Centerline is valid? [True, True] Translation: X:162.68, Y:13.48, Z:-0.11 [[ 9.70265349e-01 -2.41779215e-01 -1.13120823e-02 1.62679412e+02] [ 2.41758964e-01 9.70331238e-01 -3.14529857e-03 1.34787219e+01] [ 1.17369346e-02 3.16976917e-04 9.99931070e-01 -1.10224785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.415336195 meters 0.034678794917490104 Centerline is valid? [True, True] Translation: X:162.71, Y:13.49, Z:-0.11 [[ 9.70220456e-01 -2.41959341e-01 -1.13112469e-02 1.62705854e+02] [ 2.41939067e-01 9.70286337e-01 -3.14830243e-03 1.34862756e+01] [ 1.17369095e-02 3.17914905e-04 9.99931070e-01 -1.10427162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.445336195 meters 0.03221595227162553 Centerline is valid? [True, True] Translation: X:162.73, Y:13.49, Z:-0.11 [[ 9.69579121e-01 -2.44607237e-01 -9.14478962e-03 1.62734088e+02] [ 2.44594110e-01 9.69622218e-01 -2.54456099e-03 1.34934447e+01] [ 9.48940924e-03 2.30391531e-04 9.99954948e-01 -1.07576407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.475336195 meters 0.026447056315577828 Centerline is valid? [True, True] Translation: X:162.76, Y:13.49, Z:-0.11 [[ 9.68566687e-01 -2.48616519e-01 -8.27035153e-03 1.62764720e+02] [ 2.48605926e-01 9.68601980e-01 -2.30147462e-03 1.34935029e+01] [ 8.58286348e-03 1.73073247e-04 9.99963152e-01 -1.05178190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.505336195 meters 0.024588440882738514 Centerline is valid? [True, True] Translation: X:162.79, Y:13.50, Z:-0.11 [[ 9.67965501e-01 -2.50934100e-01 -8.65254623e-03 1.62793802e+02] [ 2.50922576e-01 9.68004159e-01 -2.41040989e-03 1.34978157e+01] [ 8.98055477e-03 1.62074433e-04 9.99959661e-01 -1.06375661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.535336195 meters 0.020161473253458222 Centerline is valid? [True, True] Translation: X:162.82, Y:13.50, Z:-0.11 [[ 9.67034055e-01 -2.54454815e-01 -9.89357663e-03 1.62824069e+02] [ 2.54439914e-01 9.67084652e-01 -2.75783800e-03 1.34972459e+01] [ 1.02696713e-02 1.49602480e-04 9.99947254e-01 -1.06602359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56533619500001 meters 0.02036740516803427 Centerline is valid? [True, True] Translation: X:162.85, Y:13.51, Z:-0.11 [[ 9.66699473e-01 -2.55706873e-01 -1.03016556e-02 1.62850625e+02] [ 2.55690784e-01 9.66754351e-01 -2.87194788e-03 1.35057566e+01] [ 1.06935472e-02 1.42272105e-04 9.99942812e-01 -1.08832160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59533619500002 meters 0.01838224092527969 Centerline is valid? [True, True] Translation: X:162.88, Y:13.51, Z:-0.11 [[ 9.66341544e-01 -2.57075948e-01 -9.79680912e-03 1.62878168e+02] [ 2.57061443e-01 9.66391195e-01 -2.73363952e-03 1.35141806e+01] [ 1.01703030e-02 1.23247540e-04 9.99948274e-01 -1.06600110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62533619500002 meters 0.018991011017896995 Centerline is valid? [True, True] Translation: X:162.91, Y:13.52, Z:-0.11 [[ 9.66296958e-01 -2.57285901e-01 -8.61131628e-03 1.62906084e+02] [ 2.57274703e-01 9.66335322e-01 -2.40272855e-03 1.35182534e+01] [ 8.93960727e-03 1.06275451e-04 9.99960035e-01 -1.07149693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65533619500002 meters 0.018794533179930788 Centerline is valid? [True, True] Translation: X:162.93, Y:13.52, Z:-0.11 [[ 9.66209119e-01 -2.57611160e-01 -8.74237449e-03 1.62933677e+02] [ 2.57599607e-01 9.66248663e-01 -2.44202980e-03 1.35222665e+01] [ 9.07640179e-03 1.07479227e-04 9.99958803e-01 -1.07461823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68533619500002 meters 0.018938089032718375 Centerline is valid? [True, True] Translation: X:162.96, Y:13.53, Z:-0.11 [[ 9.66241100e-01 -2.57474115e-01 -9.23131300e-03 1.62961546e+02] [ 2.57461215e-01 9.66285189e-01 -2.58001242e-03 1.35294352e+01] [ 9.58436744e-03 1.16208975e-04 9.99954062e-01 -1.07877273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.715336195 meters 0.01919628286521065 Centerline is valid? [True, True] Translation: X:162.99, Y:13.54, Z:-0.11 [[ 9.66244591e-01 -2.57469619e-01 -8.98813418e-03 1.62986458e+02] [ 2.57457387e-01 9.66286387e-01 -2.51224607e-03 1.35397686e+01] [ 9.33193875e-03 1.13382637e-04 9.99956450e-01 -1.08635517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.745336195 meters 0.018723754939890404 Centerline is valid? [True, True] Translation: X:163.01, Y:13.55, Z:-0.11 [[ 9.66383841e-01 -2.56947512e-01 -8.95806576e-03 1.63014036e+02] [ 2.56935318e-01 9.66425352e-01 -2.50615921e-03 1.35499310e+01] [ 9.30125324e-03 1.20268285e-04 9.99956735e-01 -1.08340770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.775336195 meters 0.020609315753078686 Centerline is valid? [True, True] Translation: X:163.04, Y:13.56, Z:-0.11 [[ 9.66478011e-01 -2.56551768e-01 -1.00719403e-02 1.63040670e+02] [ 2.56536335e-01 9.66530481e-01 -2.81743839e-03 1.35574527e+01] [ 1.04576561e-02 1.39173611e-04 9.99945308e-01 -1.12317674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.805336195 meters 0.022405339806612558 Centerline is valid? [True, True] Translation: X:163.07, Y:13.56, Z:-0.11 [[ 9.66849873e-01 -2.55101421e-01 -1.11618728e-02 1.63069571e+02] [ 2.55082339e-01 9.66914285e-01 -3.12504061e-03 1.35607932e+01] [ 1.15897765e-02 1.74248510e-04 9.99932821e-01 -1.13655883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.835336195 meters 0.022866275617568963 Centerline is valid? [True, True] Translation: X:163.10, Y:13.57, Z:-0.11 [[ 9.67420086e-01 -2.52996402e-01 -9.54976275e-03 1.63097137e+02] [ 2.52982312e-01 9.67467204e-01 -2.67564461e-03 1.35690584e+01] [ 9.91601073e-03 1.72551279e-04 9.99950820e-01 -1.08769444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.865336195 meters 0.02410134405451717 Centerline is valid? [True, True] Translation: X:163.12, Y:13.58, Z:-0.11 [[ 9.67670968e-01 -2.52029925e-01 -9.68582282e-03 1.63124404e+02] [ 2.52015365e-01 9.67719423e-01 -2.71549021e-03 1.35797749e+01] [ 1.00575437e-02 1.86724868e-04 9.99949404e-01 -1.09257925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.895336195 meters 0.02811542362088428 Centerline is valid? [True, True] Translation: X:163.15, Y:13.59, Z:-0.11 [[ 9.68262757e-01 -2.49699771e-01 -1.08285720e-02 1.63150091e+02] [ 2.49681432e-01 9.68323277e-01 -3.03541733e-03 1.35932106e+01] [ 1.12435013e-02 2.35388197e-04 9.99936762e-01 -1.13227494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.925336195 meters 0.0292568679261357 Centerline is valid? [True, True] Translation: X:163.18, Y:13.60, Z:-0.11 [[ 9.68568747e-01 -2.48517416e-01 -1.06619326e-02 1.63177422e+02] [ 2.48499535e-01 9.68627396e-01 -2.99143931e-03 1.36017814e+01] [ 1.10708648e-02 2.47929338e-04 9.99938685e-01 -1.13081158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.955336195 meters 0.030137310211899644 Centerline is valid? [True, True] Translation: X:163.21, Y:13.61, Z:-0.11 [[ 9.69139061e-01 -2.46329390e-01 -9.55570554e-03 1.63205885e+02] [ 2.46314902e-01 9.69186138e-01 -2.68294169e-03 1.36074082e+01] [ 9.92214474e-03 2.46430916e-04 9.99950744e-01 -1.10182452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.985336195 meters 0.03010724300307415 Centerline is valid? [True, True] Translation: X:163.23, Y:13.61, Z:-0.11 [[ 9.69365119e-01 -2.45442105e-01 -9.45721044e-03 1.63233752e+02] [ 2.45427874e-01 9.69411218e-01 -2.65510203e-03 1.36132267e+01] [ 9.81959972e-03 2.52700246e-04 9.99951755e-01 -1.09070186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.015336195 meters 0.03165622031313165 Centerline is valid? [True, True] Translation: X:163.26, Y:13.62, Z:-0.11 [[ 9.69701900e-01 -2.44112056e-01 -9.35567762e-03 1.63260813e+02] [ 2.44098042e-01 9.69746995e-01 -2.62913545e-03 1.36226970e+01] [ 9.71444392e-03 2.65775055e-04 9.99952778e-01 -1.09320859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.045336195 meters 0.03504626556161124 Centerline is valid? [True, True] Translation: X:163.29, Y:13.63, Z:-0.11 [[ 9.69938357e-01 -2.43226511e-01 -7.77484388e-03 1.63285389e+02] [ 2.43216803e-01 9.69969490e-01 -2.18516674e-03 1.36349936e+01] [ 8.07285184e-03 2.28504372e-04 9.99967388e-01 -1.09754278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.075336195 meters 0.0339423663910164 Centerline is valid? [True, True] Translation: X:163.31, Y:13.64, Z:-0.11 [[ 9.69841416e-01 -2.43643234e-01 -6.75297616e-03 1.63313650e+02] [ 2.43635906e-01 9.69864906e-01 -1.89984982e-03 1.36401742e+01] [ 7.01236014e-03 1.97285571e-04 9.99975394e-01 -1.07814291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.105336195 meters 0.034665671338987535 Centerline is valid? [True, True] Translation: X:163.34, Y:13.64, Z:-0.11 [[ 9.69620338e-01 -2.44513950e-01 -7.02347462e-03 1.63341427e+02] [ 2.44506050e-01 9.69645754e-01 -1.97553356e-03 1.36449343e+01] [ 7.29332786e-03 1.98235484e-04 9.99973384e-01 -1.09302696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.135336195 meters 0.03452087165512869 Centerline is valid? [True, True] Translation: X:163.37, Y:13.65, Z:-0.11 [[ 9.69322102e-01 -2.45684562e-01 -7.33198322e-03 1.63368478e+02] [ 2.45675979e-01 9.69349811e-01 -2.06314875e-03 1.36503021e+01] [ 7.61414034e-03 1.98563528e-04 9.99970992e-01 -1.10728411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.165336195 meters 0.03139668103636649 Centerline is valid? [True, True] Translation: X:163.40, Y:13.65, Z:-0.11 [[ 9.69101573e-01 -2.46539351e-01 -7.77748250e-03 1.63397884e+02] [ 2.46529707e-01 9.69132760e-01 -2.19025288e-03 1.36540461e+01] [ 8.07739660e-03 2.05197026e-04 9.99967356e-01 -1.10367373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.195336195 meters 0.03457064464713973 Centerline is valid? [True, True] Translation: X:163.42, Y:13.66, Z:-0.12 [[ 9.68964918e-01 -2.46988974e-01 -1.01702408e-02 1.63423983e+02] [ 2.46972512e-01 9.69018255e-01 -2.86365362e-03 1.36632720e+01] [ 1.05624399e-02 2.63009971e-04 9.99944181e-01 -1.18010620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.225336195 meters 0.03205648839734364 Centerline is valid? [True, True] Translation: X:163.45, Y:13.67, Z:-0.12 [[ 9.68985118e-01 -2.46886213e-01 -1.07256143e-02 1.63452988e+02] [ 2.46867868e-01 9.69044436e-01 -3.02270309e-03 1.36682392e+01] [ 1.11398606e-02 2.81144771e-04 9.99937910e-01 -1.16574524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.255336195 meters 0.028622874752829926 Centerline is valid? [True, True] Translation: X:163.48, Y:13.67, Z:-0.11 [[ 9.69044335e-01 -2.46691901e-01 -9.80732453e-03 1.63480973e+02] [ 2.46676528e-01 9.69093926e-01 -2.76639298e-03 1.36720522e+01] [ 1.01866654e-02 2.61520681e-04 9.99948080e-01 -1.12791749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.285336195 meters 0.030146547612859495 Centerline is valid? [True, True] Translation: X:163.51, Y:13.68, Z:-0.11 [[ 9.69026268e-01 -2.46794331e-01 -8.98050706e-03 1.63507432e+02] [ 2.46781448e-01 9.69067852e-01 -2.53284364e-03 1.36806982e+01] [ 9.32781214e-03 2.38169484e-04 9.99956467e-01 -1.12712067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31533619500001 meters 0.0319784290501903 Centerline is valid? [True, True] Translation: X:163.53, Y:13.69, Z:-0.11 [[ 9.68945376e-01 -2.47107000e-01 -9.10986602e-03 1.63533439e+02] [ 2.47093751e-01 9.68988170e-01 -2.56989882e-03 1.36920524e+01] [ 9.46239239e-03 2.39100611e-04 9.99955202e-01 -1.14155964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34533619500002 meters 0.031617823276880695 Centerline is valid? [True, True] Translation: X:163.56, Y:13.70, Z:-0.12 [[ 9.68778419e-01 -2.47737051e-01 -9.73282560e-03 1.63559546e+02] [ 2.47721932e-01 9.68827276e-01 -2.74852358e-03 1.37016903e+01] [ 1.01103380e-02 2.51675969e-04 9.99948858e-01 -1.16300696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37533619500002 meters 0.03178944318963536 Centerline is valid? [True, True] Translation: X:163.59, Y:13.71, Z:-0.12 [[ 9.68728875e-01 -2.47945833e-01 -9.33976687e-03 1.63586027e+02] [ 2.47931923e-01 9.68773868e-01 -2.63718132e-03 1.37103384e+01] [ 9.70200020e-03 2.39087329e-04 9.99952906e-01 -1.16207504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40533619500002 meters 0.03191210258559785 Centerline is valid? [True, True] Translation: X:163.61, Y:13.72, Z:-0.12 [[ 9.68628611e-01 -2.48317165e-01 -9.85901187e-03 1.63612724e+02] [ 2.48301655e-01 9.68678751e-01 -2.78669763e-03 1.37195575e+01] [ 1.02422002e-02 2.51266091e-04 9.99947516e-01 -1.18100845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43533619500002 meters 0.031168796965233135 Centerline is valid? [True, True] Translation: X:163.64, Y:13.73, Z:-0.12 [[ 9.68402772e-01 -2.49113625e-01 -1.17674440e-02 1.63640842e+02] [ 2.49091567e-01 9.68474221e-01 -3.32775475e-03 1.37270473e+01] [ 1.22254552e-02 2.91435848e-04 9.99925224e-01 -1.21234333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.465336195 meters 0.03111594930952209 Centerline is valid? [True, True] Translation: X:163.67, Y:13.74, Z:-0.12 [[ 9.68262133e-01 -2.49671610e-01 -1.15121251e-02 1.63667443e+02] [ 2.49650540e-01 9.68330527e-01 -3.25549478e-03 1.37358335e+01] [ 1.19603468e-02 2.78164084e-04 9.99928434e-01 -1.21182065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.495336195 meters 0.02731916272834959 Centerline is valid? [True, True] Translation: X:163.69, Y:13.74, Z:-0.12 [[ 9.67964484e-01 -2.50842716e-01 -1.10765197e-02 1.63694741e+02] [ 2.50823253e-01 9.68027823e-01 -3.13523807e-03 1.37445221e+01] [ 1.15088309e-02 2.56550389e-04 9.99933738e-01 -1.17722598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.525336195 meters 0.030042641484346898 Centerline is valid? [True, True] Translation: X:163.72, Y:13.76, Z:-0.12 [[ 9.67703735e-01 -2.51855659e-01 -1.08723398e-02 1.63720157e+02] [ 2.51836966e-01 9.67764780e-01 -3.07790536e-03 1.37565747e+01] [ 1.12970554e-02 2.40443448e-04 9.99936157e-01 -1.22355245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.555336195 meters 0.024799756811315125 Centerline is valid? [True, True] Translation: X:163.75, Y:13.76, Z:-0.12 [[ 9.66807860e-01 -2.55335094e-01 -9.30334625e-03 1.63750045e+02] [ 2.55321570e-01 9.66852605e-01 -2.63355529e-03 1.37592635e+01] [ 9.66740365e-03 1.70796985e-04 9.99953255e-01 -1.18585169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.585336195 meters 0.023330936110293007 Centerline is valid? [True, True] Translation: X:163.78, Y:13.77, Z:-0.12 [[ 9.66332078e-01 -2.57154988e-01 -8.58063121e-03 1.63776794e+02] [ 2.57143547e-01 9.66370163e-01 -2.42978973e-03 1.37657999e+01] [ 8.91689853e-03 1.41529812e-04 9.99960234e-01 -1.17990307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.615336195 meters 0.02027471773884071 Centerline is valid? [True, True] Translation: X:163.81, Y:13.77, Z:-0.12 [[ 9.65549529e-01 -2.60059047e-01 -9.13234411e-03 1.63805930e+02] [ 2.60046208e-01 9.65592708e-01 -2.58705844e-03 1.37705322e+01] [ 9.49091283e-03 1.23101604e-04 9.99954953e-01 -1.18445945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.645336195 meters 0.018883379207005654 Centerline is valid? [True, True] Translation: X:163.83, Y:13.77, Z:-0.12 [[ 9.64897198e-01 -2.62435928e-01 -1.00390097e-02 1.63834031e+02] [ 2.62420537e-01 9.64949414e-01 -2.84426329e-03 1.37743057e+01] [ 1.04335734e-02 1.09979365e-04 9.99945563e-01 -1.21772113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.675336195 meters 0.017154123399839908 Centerline is valid? [True, True] Translation: X:163.86, Y:13.78, Z:-0.12 [[ 9.64434669e-01 -2.64177009e-01 -8.73365131e-03 1.63863208e+02] [ 2.64165411e-01 9.64474210e-01 -2.47685599e-03 1.37777411e+01] [ 9.07770985e-03 8.16372072e-05 9.99958793e-01 -1.18470501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.705336195 meters 0.016357817170157444 Centerline is valid? [True, True] Translation: X:163.89, Y:13.78, Z:-0.12 [[ 9.64284516e-01 -2.64717155e-01 -8.95546669e-03 1.63890791e+02] [ 2.64704964e-01 9.64326097e-01 -2.54184266e-03 1.37848589e+01] [ 9.30885960e-03 8.05030354e-05 9.99956668e-01 -1.17658398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.735336195 meters 0.017986158383338367 Centerline is valid? [True, True] Translation: X:163.92, Y:13.80, Z:-0.12 [[ 9.64463504e-01 -2.64033753e-01 -9.81465764e-03 1.63916607e+02] [ 2.64019074e-01 9.64513436e-01 -2.78572755e-03 1.37967460e+01] [ 1.02018953e-02 9.54757299e-05 9.99947955e-01 -1.20678920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.765336195 meters 0.01845385056071404 Centerline is valid? [True, True] Translation: X:163.94, Y:13.81, Z:-0.12 [[ 9.64714447e-01 -2.63132459e-01 -9.34581904e-03 1.63942938e+02] [ 2.63119081e-01 9.64759710e-01 -2.65535060e-03 1.38075577e+01] [ 9.71517860e-03 1.02591765e-04 9.99952801e-01 -1.19894160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.795336195 meters 0.020177273911123703 Centerline is valid? [True, True] Translation: X:163.97, Y:13.82, Z:-0.12 [[ 9.65543145e-01 -2.60073010e-01 -9.40552910e-03 1.63969520e+02] [ 2.60059300e-01 9.65588945e-01 -2.67389251e-03 1.38203896e+01] [ 9.77728219e-03 1.35763271e-04 9.99952192e-01 -1.19503120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.825336195 meters 0.024532585680619442 Centerline is valid? [True, True] Translation: X:163.99, Y:13.83, Z:-0.12 [[ 9.66425887e-01 -2.56792100e-01 -8.87819827e-03 1.63994963e+02] [ 2.56779742e-01 9.66466653e-01 -2.52431368e-03 1.38323166e+01] [ 9.22870638e-03 1.59820629e-04 9.99957402e-01 -1.20463447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.855336195 meters 0.025915678249050004 Centerline is valid? [True, True] Translation: X:164.02, Y:13.84, Z:-0.12 [[ 9.66832799e-01 -2.55287357e-01 -7.91860908e-03 1.64021830e+02] [ 2.55277459e-01 9.66865213e-01 -2.25350532e-03 1.38417762e+01] [ 8.23151908e-03 1.57320452e-04 9.99966108e-01 -1.18553317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.885336195 meters 0.02712813808623891 Centerline is valid? [True, True] Translation: X:164.05, Y:13.85, Z:-0.12 [[ 9.67553444e-01 -2.52562483e-01 -7.24744197e-03 1.64048475e+02] [ 2.52554104e-01 9.67580573e-01 -2.06398692e-03 1.38539580e+01] [ 7.53376971e-03 1.66646436e-04 9.99971607e-01 -1.16733470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.915336195 meters 0.02771154969323645 Centerline is valid? [True, True] Translation: X:164.07, Y:13.86, Z:-0.12 [[ 9.67758542e-01 -2.51775962e-01 -7.22977734e-03 1.64074326e+02] [ 2.51767601e-01 9.67785532e-01 -2.05905971e-03 1.38635223e+01] [ 7.51529565e-03 1.72448920e-04 9.99971745e-01 -1.16764197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.945336195 meters 0.033562001430143776 Centerline is valid? [True, True] Translation: X:164.10, Y:13.88, Z:-0.12 [[ 9.68038047e-01 -2.50714805e-01 -6.66523701e-03 1.64098347e+02] [ 2.50707672e-01 9.68060979e-01 -1.89851899e-03 1.38791875e+01] [ 6.92834269e-03 1.66812557e-04 9.99975985e-01 -1.20159182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.975336195 meters 0.029337568574136136 Centerline is valid? [True, True] Translation: X:164.13, Y:13.88, Z:-0.12 [[ 9.67972920e-01 -2.50975397e-01 -6.30676926e-03 1.64126787e+02] [ 2.50969004e-01 9.67993453e-01 -1.79834580e-03 1.38833645e+01] [ 6.55625191e-03 1.57946442e-04 9.99978495e-01 -1.17419715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.005336195 meters 0.030205624399868826 Centerline is valid? [True, True] Translation: X:164.15, Y:13.89, Z:-0.12 [[ 9.67804594e-01 -2.51609722e-01 -6.84218335e-03 1.64153547e+02] [ 2.51602216e-01 9.67828766e-01 -1.95053498e-03 1.38922804e+01] [ 7.11283543e-03 1.66228223e-04 9.99974690e-01 -1.19571442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.035336195 meters 0.029756026609054638 Centerline is valid? [True, True] Translation: X:164.18, Y:13.90, Z:-0.12 [[ 9.67403294e-01 -2.53175234e-01 -5.75914290e-03 1.64181306e+02] [ 2.53169933e-01 9.67420428e-01 -1.64356773e-03 1.38976747e+01] [ 5.98762313e-03 1.31951013e-04 9.99982065e-01 -1.19005953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06533619500001 meters 0.029164463294647943 Centerline is valid? [True, True] Translation: X:164.21, Y:13.90, Z:-0.12 [[ 9.67078549e-01 -2.54445593e-01 -4.06456333e-03 1.64209299e+02] [ 2.54442965e-01 9.67087086e-01 -1.15966634e-03 1.39038356e+01] [ 4.22585869e-03 8.72888963e-05 9.99991067e-01 -1.16201938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09533619500002 meters 0.03032160552915458 Centerline is valid? [True, True] Translation: X:164.23, Y:13.92, Z:-0.12 [[ 9.66940974e-01 -2.54969605e-01 -3.95636772e-03 1.64234398e+02] [ 2.54967117e-01 9.66949065e-01 -1.12946127e-03 1.39155339e+01] [ 4.11358436e-03 8.33787127e-05 9.99991536e-01 -1.17592903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12533619500002 meters 0.028125289102005516 Centerline is valid? [True, True] Translation: X:164.26, Y:13.90, Z:-0.12 [[ 9.66780852e-01 -2.55286014e-01 -1.27997846e-02 1.64264642e+02] [ 2.55525400e-01 9.66523710e-01 2.32096349e-02 1.39030607e+01] [ 6.44620015e-03 -2.57093007e-02 9.99648677e-01 -1.17913617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15533619500002 meters 0.03232988555143573 Centerline is valid? [True, True] Translation: X:164.29, Y:13.95, Z:-0.12 [[ 9.66943197e-01 -2.54989911e-01 9.99282701e-04 1.64285326e+02] [ 2.54926228e-01 9.66597948e-01 -2.64768928e-02 1.39499770e+01] [ 5.78543591e-03 2.58563947e-02 9.99648926e-01 -1.24333276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18533619500002 meters 0.03105050955270435 Centerline is valid? [True, True] Translation: X:164.32, Y:13.94, Z:-0.12 [[ 9.66908552e-01 -2.55048607e-01 -6.16929494e-03 1.64318273e+02] [ 2.55042543e-01 9.66928224e-01 -1.76371803e-03 1.39403417e+01] [ 6.41509923e-03 1.31921379e-04 9.99979414e-01 -1.22608075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.215336195 meters 0.031665272711424636 Centerline is valid? [True, True] Translation: X:164.35, Y:13.92, Z:-0.12 [[ 9.67095748e-01 -2.53888576e-01 -1.63219418e-02 1.64348364e+02] [ 2.54348013e-01 9.66304598e-01 3.95286141e-02 1.39233192e+01] [ 5.73610390e-03 -4.23794081e-02 9.99085123e-01 -1.21386141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.245336195 meters 0.0332552940787065 Centerline is valid? [True, True] Translation: X:164.37, Y:13.99, Z:-0.12 [[ 9.67496297e-01 -2.52782384e-01 7.20986923e-03 1.64366202e+02] [ 2.52860299e-01 9.66607897e-01 -4.16033849e-02 1.39899082e+01] [ 3.54748627e-03 4.20742105e-02 9.99108190e-01 -1.19776043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.275336195 meters 0.0332552940787065 Centerline is valid? [True, True] Translation: X:164.40, Y:13.97, Z:-0.12 [[ 9.67322454e-01 -2.53512548e-01 -4.31948381e-03 1.64400063e+02] [ 2.53509551e-01 9.67332093e-01 -1.23683176e-03 1.39714740e+01] [ 4.49192769e-03 1.01384729e-04 9.99989906e-01 -1.20088404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.305336195 meters 0.041185258570068946 Centerline is valid? [True, True] Translation: X:164.43, Y:13.96, Z:-0.14 [[ 9.67359174e-01 -2.53054348e-01 -1.34062050e-02 1.64431122e+02] [ 2.53408209e-01 9.66149621e-01 4.83651739e-02 1.39573272e+01] [ 7.13382330e-04 -5.01837370e-02 9.98739748e-01 -1.39176481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.335336195 meters 0.04074583823728825 Centerline is valid? [True, True] Translation: X:164.45, Y:13.99, Z:-0.14 [[ 9.67549402e-01 -2.52679129e-01 1.18817202e-03 1.64450001e+02] [ 2.52656283e-01 9.67507515e-01 9.69590295e-03 1.39915807e+01] [-3.59951767e-03 -9.08106598e-03 9.99952288e-01 -1.38909129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.365336195 meters 0.04315434301005232 Centerline is valid? [True, True] Translation: X:164.47, Y:14.02, Z:-0.14 [[ 9.67103676e-01 -2.54329266e-01 5.20622934e-03 1.64474922e+02] [ 2.54377083e-01 9.67014490e-01 -1.32392113e-02 1.40201118e+01] [-1.66738031e-03 1.41280353e-02 9.99898804e-01 -1.35941977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.395336195 meters 0.041422642488612466 Centerline is valid? [True, True] Translation: X:164.50, Y:14.02, Z:-0.13 [[ 9.66683512e-01 -2.55970914e-01 1.37101048e-03 1.64503982e+02] [ 2.55974023e-01 9.66678749e-01 -3.08150539e-03 1.40162719e+01] [-5.36550943e-04 3.32978352e-03 9.99994312e-01 -1.31299861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.425336195 meters 0.041867145966079204 Centerline is valid? [True, True] Translation: X:164.53, Y:14.01, Z:-0.14 [[ 9.66167811e-01 -2.57914215e-01 1.39172647e-04 1.64534179e+02] [ 2.57886100e-01 9.66070182e-01 1.42534928e-02 1.40066535e+01] [-3.81062895e-03 -1.37353752e-02 9.99898404e-01 -1.37694411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.455336195 meters 0.04032255229605005 Centerline is valid? [True, True] Translation: X:164.56, Y:14.01, Z:-0.13 [[ 9.65786634e-01 -2.59289188e-01 5.02942832e-03 1.64560441e+02] [ 2.59230378e-01 9.65762980e-01 1.00735917e-02 1.40110577e+01] [-7.46920909e-03 -8.42515959e-03 9.99936612e-01 -1.34526162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.485336195 meters 0.04292929678544458 Centerline is valid? [True, True] Translation: X:164.59, Y:14.04, Z:-0.13 [[ 9.64364309e-01 -2.64441020e-01 8.51030885e-03 1.64586797e+02] [ 2.64575234e-01 9.64000573e-01 -2.65111408e-02 1.40401308e+01] [-1.19330947e-03 2.78180150e-02 9.99612292e-01 -1.28791835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.515336195 meters 0.04540800940654484 Centerline is valid? [True, True] Translation: X:164.62, Y:14.02, Z:-0.13 [[ 9.63874156e-01 -2.66356265e-01 9.74979565e-04 1.64619470e+02] [ 2.66335071e-01 9.63832627e-01 9.60711207e-03 1.40200134e+01] [-3.49863160e-03 -9.00037579e-03 9.99953375e-01 -1.33882730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.545336195 meters 0.049799512760589096 Centerline is valid? [True, True] Translation: X:164.64, Y:14.06, Z:-0.12 [[ 9.63627933e-01 -2.67247441e-01 1.07489709e-04 1.64640507e+02] [ 2.66912005e-01 9.62398135e-01 -5.04758564e-02 1.40631063e+01] [ 1.33860956e-02 4.86686355e-02 9.98725276e-01 -1.22060758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.575336195 meters 0.050343178547614324 Centerline is valid? [True, True] Translation: X:164.68, Y:14.01, Z:-0.13 [[ 9.63146867e-01 -2.68727892e-01 -1.15513127e-02 1.64683743e+02] [ 2.68970102e-01 9.62522506e-01 3.47204515e-02 1.40120829e+01] [ 1.78804471e-03 -3.65478519e-02 9.99330304e-01 -1.31654863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.605336195 meters 0.05373289629753513 Centerline is valid? [True, True] Translation: X:164.71, Y:14.04, Z:-0.13 [[ 9.63264599e-01 -2.68554005e-01 -2.44006055e-04 1.64705970e+02] [ 2.68553797e-01 9.63261658e-01 2.41578204e-03 1.40366089e+01] [-4.13726266e-04 -2.39256607e-03 9.99997052e-01 -1.32622511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.635336195 meters 0.05701544447815853 Centerline is valid? [True, True] Translation: X:164.73, Y:14.05, Z:-0.13 [[ 9.63530251e-01 -2.67599029e-01 -4.62826627e-04 1.64730837e+02] [ 2.67576026e-01 9.63467415e-01 -1.15589856e-02 1.40498996e+01] [ 3.53909169e-03 1.10135909e-02 9.99933086e-01 -1.27872540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.665336195 meters 0.0617597024563545 Centerline is valid? [True, True] Translation: X:164.76, Y:14.05, Z:-0.13 [[ 9.63893175e-01 -2.66264163e-01 -3.65272788e-03 1.64760744e+02] [ 2.66283871e-01 9.63870053e-01 6.88625421e-03 1.40492189e+01] [ 1.68719230e-03 -7.61027595e-03 9.99969618e-01 -1.32394820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.695336195 meters 0.06088911967112885 Centerline is valid? [True, True] Translation: X:164.79, Y:14.07, Z:-0.13 [[ 9.63689084e-01 -2.66629282e-01 1.45662111e-02 1.64786637e+02] [ 2.66826991e-01 9.63644166e-01 -1.39024733e-02 1.40723230e+01] [-1.03298378e-02 1.72843201e-02 9.99797253e-01 -1.28468192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.725336195 meters 0.07386621696578323 Centerline is valid? [True, True] Translation: X:164.81, Y:14.09, Z:-0.12 [[ 9.65255832e-01 -2.61213668e-01 -6.97126646e-03 1.64811142e+02] [ 2.61014209e-01 9.65094167e-01 -2.15599447e-02 1.40905207e+01] [ 1.23596809e-02 1.89912628e-02 9.99743252e-01 -1.23501943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.755336195 meters 0.07653495065412004 Centerline is valid? [True, True] Translation: X:164.85, Y:14.07, Z:-0.14 [[ 9.65394894e-01 -2.60546661e-01 -1.13197516e-02 1.64847153e+02] [ 2.60769985e-01 9.64971646e-01 2.87878026e-02 1.40736988e+01] [ 3.42267348e-03 -3.07434490e-02 9.99521448e-01 -1.35321860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.785336195 meters 0.08445720567527339 Centerline is valid? [True, True] Translation: X:164.87, Y:14.10, Z:-0.14 [[ 9.67151812e-01 -2.54178961e-01 -3.22939637e-03 1.64867100e+02] [ 2.54186577e-01 9.67152669e-01 2.21335057e-03 1.41026974e+01] [ 2.56073217e-03 -2.96151522e-03 9.99992336e-01 -1.35866668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81533619500001 meters 0.08509624970155696 Centerline is valid? [True, True] Translation: X:164.89, Y:14.12, Z:-0.13 [[ 9.68057436e-01 -2.50238050e-01 1.56754332e-02 1.64892308e+02] [ 2.50402577e-01 9.68094516e-01 -9.56862734e-03 1.41168005e+01] [-1.27808662e-02 1.31881497e-02 9.99831347e-01 -1.30640730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84533619500002 meters 0.0907640687439337 Centerline is valid? [True, True] Translation: X:164.92, Y:14.12, Z:-0.13 [[ 9.68967849e-01 -2.46876414e-01 1.23831916e-02 1.64920515e+02] [ 2.46851121e-01 9.69046896e-01 3.55500775e-03 1.41225782e+01] [-1.28775409e-02 -3.87883489e-04 9.99917006e-01 -1.31439883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87533619500002 meters 0.09530033884504689 Centerline is valid? [True, True] Translation: X:164.95, Y:14.13, Z:-0.13 [[ 9.69172405e-01 -2.46121287e-01 1.13648896e-02 1.64948709e+02] [ 2.46099929e-01 9.69238969e-01 3.26287675e-03 1.41293460e+01] [-1.18183573e-02 -3.65391575e-04 9.99930094e-01 -1.32824392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90533619500002 meters 0.11143549599103852 Centerline is valid? [True, False] Translation: X:164.92, Y:14.10, Z:-0.13 [[ 9.71217932e-01 -2.38133646e-01 5.30045295e-03 1.64919938e+02] [ 2.38046559e-01 9.71161191e-01 1.34080888e-02 1.41032659e+01] [-8.34051126e-03 -1.17604217e-02 9.99896059e-01 -1.33613193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93533619500002 meters 0.10211697468777672 Centerline is valid? [False, False] Translation: X:164.88, Y:14.09, Z:-0.13 [[ 9.74490036e-01 -2.24429537e-01 7.43030338e-04 1.64882104e+02] [ 2.24409430e-01 9.74437701e-01 1.05628560e-02 1.40857329e+01] [-3.09465365e-03 -1.01266549e-02 9.99943935e-01 -1.30349380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.965336195 meters 0.10672177135610221 Centerline is valid? [False, False] Translation: X:164.88, Y:14.08, Z:-0.13 [[ 9.77413555e-01 -2.11333988e-01 8.29449432e-04 1.64882255e+02] [ 2.11326033e-01 9.77399083e-01 5.68688587e-03 1.40808991e+01] [-2.01253539e-03 -5.38315508e-03 9.99983486e-01 -1.28836494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.995336195 meters 0.11101683993245262 Centerline is valid? [False, False] Translation: X:164.88, Y:14.08, Z:-0.13 [[ 9.80354654e-01 -1.97237472e-01 1.46026353e-03 1.64882141e+02] [ 1.97234324e-01 9.80354220e-01 2.05528867e-03 1.40766203e+01] [-1.83695546e-03 -1.72689772e-03 9.99996822e-01 -1.27741748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.025336195 meters 0.6181290553424683 Centerline is valid? [False, False] Translation: X:164.89, Y:14.07, Z:-0.13 [[ 9.83241911e-01 -1.82291923e-01 2.23578225e-03 1.64885040e+02] [ 1.82291754e-01 9.83244444e-01 2.81106275e-04 1.40670802e+01] [-2.24956388e-03 1.31169196e-04 9.99997461e-01 -1.28852663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.055336195 meters 0.6212991181915538 Centerline is valid? [False, False] Translation: X:164.89, Y:14.06, Z:-0.13 [[ 9.85914122e-01 -1.67220352e-01 3.27065141e-03 1.64888523e+02] [ 1.67225529e-01 9.85917707e-01 -1.37717785e-03 1.40568549e+01] [-2.99430097e-03 1.90471550e-03 9.99993703e-01 -1.30898206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.085336195 meters 0.6238392359133189 Centerline is valid? [False, False] Translation: X:164.89, Y:14.05, Z:-0.13 [[ 9.88411127e-01 -1.51759120e-01 3.55166569e-03 1.64890955e+02] [ 1.51771136e-01 9.88409815e-01 -3.39989173e-03 1.40505090e+01] [-2.99453665e-03 3.89953115e-03 9.99987913e-01 -1.32249617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.115336195 meters 0.6248129748377159 Centerline is valid? [False, False] Translation: X:164.89, Y:14.04, Z:-0.13 [[ 9.90717219e-01 -1.35879456e-01 4.02057151e-03 1.64892748e+02] [ 1.35898358e-01 9.90710791e-01 -4.87495410e-03 1.40436389e+01] [-3.32081747e-03 5.37609004e-03 9.99980035e-01 -1.33204003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.145336195 meters 0.6287184898007286 Centerline is valid? [False, False] Translation: X:164.89, Y:14.04, Z:-0.13 [[ 9.92754095e-01 -1.20074650e-01 4.62443009e-03 1.64894732e+02] [ 1.20104170e-01 9.92738380e-01 -6.74521530e-03 1.40383432e+01] [-3.78091987e-03 7.25175345e-03 9.99966558e-01 -1.34929690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.175336195 meters 0.6237602068739236 Centerline is valid? [False, False] Translation: X:164.90, Y:14.03, Z:-0.14 [[ 9.94563002e-01 -1.03990783e-01 5.50931731e-03 1.64897126e+02] [ 1.04034517e-01 9.94538584e-01 -8.35609013e-03 1.40330707e+01] [-4.61027229e-03 8.88381725e-03 9.99949910e-01 -1.36769627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.205336195 meters 0.6251901663232519 Centerline is valid? [False, False] Translation: X:164.90, Y:14.03, Z:-0.14 [[ 9.96001289e-01 -8.91219424e-02 6.22191551e-03 1.64898563e+02] [ 8.91870251e-02 9.95952918e-01 -1.11112579e-02 1.40268963e+01] [-5.20647802e-03 1.16217413e-02 9.99918911e-01 -1.37721195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.235336195 meters 0.6242315656779212 Centerline is valid? [False, False] Translation: X:164.90, Y:14.02, Z:-0.14 [[ 9.97238478e-01 -7.40064654e-02 6.20174530e-03 1.64899911e+02] [ 7.40846942e-02 9.97160430e-01 -1.35105203e-02 1.40184506e+01] [-5.18426916e-03 1.39326651e-02 9.99889496e-01 -1.38384360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.265336195 meters 0.6241830464197218 Centerline is valid? [False, False] Translation: X:164.90, Y:14.01, Z:-0.14 [[ 9.98202659e-01 -5.96412460e-02 5.86285213e-03 1.64900398e+02] [ 5.97328859e-02 9.98070537e-01 -1.69465395e-02 1.40145653e+01] [-4.84082725e-03 1.72662859e-02 9.99839208e-01 -1.38532134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.295336195 meters 0.7369879477985407 Centerline is valid? [False, False] Translation: X:164.90, Y:14.01, Z:-0.14 [[ 9.98928632e-01 -4.57990440e-02 6.63591263e-03 1.64901827e+02] [ 4.59304909e-02 9.98718921e-01 -2.12345531e-02 1.40132159e+01] [-5.65488927e-03 2.15165938e-02 9.99752499e-01 -1.40183154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.325336195 meters 0.7296172782269175 Centerline is valid? [False, False] Translation: X:164.90, Y:14.00, Z:-0.14 [[ 9.99334089e-01 -3.59973016e-02 5.96431174e-03 1.64903360e+02] [ 3.60529074e-02 9.99304787e-01 -9.49372734e-03 1.39995155e+01] [-5.61841670e-03 9.70243614e-03 9.99937146e-01 -1.40796055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.355336195 meters 0.7205533206924285 Centerline is valid? [False, False] Translation: X:164.90, Y:13.99, Z:-0.14 [[ 9.99499953e-01 -3.10912446e-02 5.76013967e-03 1.64903565e+02] [ 3.11127141e-02 9.99509123e-01 -3.67589836e-03 1.39927032e+01] [-5.64302390e-03 3.85327381e-03 9.99976654e-01 -1.40663289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.385336195 meters 0.7109675922874228 Centerline is valid? [False, False] Translation: X:164.90, Y:13.99, Z:-0.14 [[ 9.99511480e-01 -3.07094601e-02 5.80770755e-03 1.64903500e+02] [ 3.07268122e-02 9.99523547e-01 -2.92250970e-03 1.39890217e+01] [-5.71519176e-03 3.09953433e-03 9.99978865e-01 -1.40740790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.415336195 meters 0.703546134505759 Centerline is valid? [False, False] Translation: X:164.90, Y:13.99, Z:-0.14 [[ 9.99711491e-01 -2.26663972e-02 7.94793891e-03 1.64901966e+02] [ 2.27768850e-02 9.99641166e-01 -1.40979844e-02 1.39911881e+01] [-7.62553640e-03 1.42749463e-02 9.99869030e-01 -1.41633639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.445336195 meters 0.6954794582685584 Centerline is valid? [False, False] Translation: X:164.90, Y:13.98, Z:-0.14 [[ 9.99882756e-01 -1.32741664e-02 7.63349734e-03 1.64902414e+02] [ 1.32993404e-02 9.99906257e-01 -3.25657621e-03 1.39811606e+01] [-7.58955341e-03 3.35771487e-03 9.99965562e-01 -1.41503021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.475336195 meters 0.6867202825371539 Centerline is valid? [False, False] Translation: X:164.90, Y:13.97, Z:-0.14 [[ 9.99937837e-01 -8.25570828e-03 7.49429810e-03 1.64902955e+02] [ 8.23613339e-03 9.99962600e-01 2.63908604e-03 1.39737520e+01] [-7.51580534e-03 -2.57719795e-03 9.99968435e-01 -1.41872709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.505336195 meters 0.6812056156965063 Centerline is valid? [False, False] Translation: X:164.90, Y:13.97, Z:-0.14 [[ 9.99939473e-01 -8.04773569e-03 7.50234726e-03 1.64903224e+02] [ 8.02508485e-03 9.99963164e-01 3.04439861e-03 1.39717261e+01] [-7.52657142e-03 -2.98400736e-03 9.99967223e-01 -1.42355052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.535336195 meters 0.6787838923720545 Centerline is valid? [False, False] Translation: X:164.92, Y:13.97, Z:-0.14 [[ 9.99970947e-01 -3.24399561e-03 6.89794831e-03 1.64923819e+02] [ 3.26292488e-03 9.99990937e-01 -2.73470792e-03 1.39721714e+01] [-6.88901442e-03 2.75713596e-03 9.99972469e-01 -1.40344198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56533619500001 meters 0.6720362488127237 Centerline is valid? [False, False] Translation: X:164.92, Y:13.97, Z:-0.14 [[ 9.99970825e-01 -3.20939059e-03 6.93171857e-03 1.64924035e+02] [ 3.22795563e-03 9.99991229e-01 -2.66874981e-03 1.39718304e+01] [-6.92309271e-03 2.69104723e-03 9.99972414e-01 -1.40951040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59533619500002 meters 0.6738835478560742 Centerline is valid? [False, False] Translation: X:164.92, Y:13.97, Z:-0.14 [[ 9.99970825e-01 -3.15602518e-03 6.95615930e-03 1.64924103e+02] [ 3.17392855e-03 9.99991675e-01 -2.56420905e-03 1.39712924e+01] [-6.94800868e-03 2.58621259e-03 9.99972518e-01 -1.41239746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62533619500002 meters 0.6246284361251484 Centerline is valid? [False, False] Translation: X:164.93, Y:13.97, Z:-0.15 [[ 9.99978339e-01 -1.06972243e-03 6.49435318e-03 1.64930473e+02] [ 1.07152067e-03 9.99999389e-01 -2.73420860e-04 1.39689132e+01] [-6.49405673e-03 2.80373771e-04 9.99978874e-01 -1.47519998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65533619500002 meters 0.6529331576020869 Centerline is valid? [False, False] Translation: X:164.93, Y:13.97, Z:-0.15 [[ 9.99978561e-01 -7.64911316e-04 6.50327550e-03 1.64930686e+02] [ 7.63203008e-04 9.99999674e-01 2.65161902e-04 1.39660885e+01] [-6.50347621e-03 -2.60192898e-04 9.99978818e-01 -1.47927747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68533619500002 meters 0.6365691772510017 Centerline is valid? [False, False] Translation: X:164.93, Y:13.96, Z:-0.15 [[ 9.99978130e-01 -6.45891431e-04 6.58203304e-03 1.64930519e+02] [ 6.42656071e-04 9.99999672e-01 4.93647365e-04 1.39649094e+01] [-6.58234972e-03 -4.89406585e-04 9.99978216e-01 -1.48156986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.715336195 meters 0.6795541294610558 Centerline is valid? [False, False] Translation: X:164.94, Y:13.97, Z:-0.15 [[ 9.99980276e-01 1.42881876e-03 6.11608278e-03 1.64937259e+02] [-1.44469045e-03 9.99995599e-01 2.59144231e-03 1.39657851e+01] [-6.11235316e-03 -2.60022704e-03 9.99977939e-01 -1.54572973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.745336195 meters 0.6836187236853398 Centerline is valid? [False, False] Translation: X:164.94, Y:13.97, Z:-0.15 [[ 9.99980407e-01 1.28632170e-03 6.12624855e-03 1.64937368e+02] [-1.30056123e-03 9.99996461e-01 2.32093017e-03 1.39671943e+01] [-6.12324141e-03 -2.32885226e-03 9.99978541e-01 -1.54849476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.775336195 meters 0.7156029602492552 Centerline is valid? [False, False] Translation: X:164.94, Y:13.97, Z:-0.16 [[ 9.99982927e-01 -4.71035701e-04 5.82439231e-03 1.64942852e+02] [ 4.67801992e-04 9.99999736e-01 5.56550845e-04 1.39668683e+01] [-5.82465292e-03 -5.53816681e-04 9.99982883e-01 -1.60152920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.805336195 meters 0.7190994453587038 Centerline is valid? [False, False] Translation: X:164.94, Y:13.96, Z:-0.16 [[ 9.99982167e-01 -1.70788320e-04 5.96971396e-03 1.64942327e+02] [ 1.64141865e-04 9.99999366e-01 1.11383458e-03 1.39639241e+01] [-5.96990041e-03 -1.11283484e-03 9.99981561e-01 -1.60186948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.835336195 meters 0.7432965285178023 Centerline is valid? [False, False] Translation: X:164.94, Y:13.96, Z:-0.16 [[ 9.99981992e-01 -2.65467164e-04 5.99539708e-03 1.64942388e+02] [ 2.59842352e-04 9.99999525e-01 9.38947915e-04 1.39648424e+01] [-5.99564349e-03 -9.37373149e-04 9.99981587e-01 -1.60476016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.865336195 meters 0.7550783083456083 Centerline is valid? [False, False] Translation: X:164.94, Y:13.96, Z:-0.16 [[ 9.99981832e-01 -2.14759983e-04 6.02403121e-03 1.64942309e+02] [ 2.08566591e-04 9.99999449e-01 1.02872364e-03 1.39643553e+01] [-6.02424882e-03 -1.02744854e-03 9.99981326e-01 -1.60529469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.895336195 meters 0.7674631309850485 Centerline is valid? [False, False] Translation: X:164.94, Y:13.96, Z:-0.16 [[ 9.99982175e-01 3.95519270e-04 5.95758141e-03 1.64942663e+02] [-4.08840065e-04 9.99997419e-01 2.23488822e-03 1.39580476e+01] [-5.95668209e-03 -2.23728408e-03 9.99979756e-01 -1.60671459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.925336195 meters 0.7794467822431457 Centerline is valid? [False, False] Translation: X:164.94, Y:13.96, Z:-0.16 [[ 9.99982118e-01 6.69016266e-04 5.94266166e-03 1.64942890e+02] [-6.85424869e-04 9.99995958e-01 2.75954652e-03 1.39552209e+01] [-5.94079145e-03 -2.76357043e-03 9.99978535e-01 -1.60980627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.955336195 meters 0.7888592259370489 Centerline is valid? [False, False] Translation: X:164.95, Y:13.95, Z:-0.17 [[ 9.99985744e-01 -6.46147445e-04 5.30042192e-03 1.64949262e+02] [ 6.36422986e-04 9.99998112e-01 1.83613907e-03 1.39540355e+01] [-5.30159833e-03 -1.83273959e-03 9.99984267e-01 -1.66344820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.985336195 meters 0.796268706855959 Centerline is valid? [False, False] Translation: X:164.95, Y:13.95, Z:-0.17 [[ 9.99985918e-01 -6.62171313e-04 5.26539562e-03 1.64949997e+02] [ 6.52644022e-04 9.99998147e-01 1.81092845e-03 1.39541343e+01] [-5.26658501e-03 -1.80746652e-03 9.99984498e-01 -1.67386651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.015336195 meters 0.8063377907823875 Centerline is valid? [False, False] Translation: X:164.95, Y:13.96, Z:-0.17 [[ 9.99985659e-01 -8.94430222e-04 5.28036462e-03 1.64950178e+02] [ 8.87089348e-04 9.99998637e-01 1.39239954e-03 1.39564077e+01] [-5.28160282e-03 -1.38769542e-03 9.99985089e-01 -1.67819018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.045336195 meters 0.8259190456348703 Centerline is valid? [False, False] Translation: X:164.95, Y:13.95, Z:-0.17 [[ 9.99985996e-01 -7.31053144e-04 5.24151754e-03 1.64950389e+02] [ 7.22189446e-04 9.99998307e-01 1.69274915e-03 1.39547563e+01] [-5.24274615e-03 -1.68894008e-03 9.99984830e-01 -1.67917213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.075336195 meters 0.8314962329051487 Centerline is valid? [False, False] Translation: X:164.95, Y:13.95, Z:-0.17 [[ 9.99986215e-01 -4.37887436e-04 5.23243995e-03 1.64950472e+02] [ 4.26409178e-04 9.99997501e-01 2.19458646e-03 1.39519629e+01] [-5.23338786e-03 -2.19232505e-03 9.99983903e-01 -1.67980132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.105336195 meters 0.8565223679517485 Centerline is valid? [False, False] Translation: X:164.95, Y:13.95, Z:-0.17 [[ 9.99986202e-01 -4.11529874e-04 5.23695406e-03 1.64950924e+02] [ 3.99708182e-04 9.99997370e-01 2.25820676e-03 1.39515834e+01] [-5.23786961e-03 -2.25608235e-03 9.99983737e-01 -1.68852492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.135336195 meters 0.8782529176976613 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.17 [[ 9.99989556e-01 1.31658141e-03 4.37660294e-03 1.64957393e+02] [-1.33206182e-03 9.99992861e-01 3.53605322e-03 1.39494920e+01] [-4.37191619e-03 -3.54184619e-03 9.99984171e-01 -1.73437741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.165336195 meters 0.8719628378859234 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.17 [[ 9.99989394e-01 1.32000983e-03 4.41249330e-03 1.64957374e+02] [-1.33565931e-03 9.99992822e-01 3.54556631e-03 1.39494443e+01] [-4.40778145e-03 -3.55142230e-03 9.99983979e-01 -1.73687526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.195336195 meters 0.8844155511101753 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99989888e-01 7.97159171e-04 4.42597659e-03 1.64958070e+02] [-8.08522434e-04 9.99996380e-01 2.56620699e-03 1.39546933e+01] [-4.42391490e-03 -2.56975954e-03 9.99986913e-01 -1.75137880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.225336195 meters 0.8844155511101753 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99989888e-01 7.97159171e-04 4.42597659e-03 1.64958070e+02] [-8.08522434e-04 9.99996380e-01 2.56620699e-03 1.39546933e+01] [-4.42391490e-03 -2.56975954e-03 9.99986913e-01 -1.75137880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.255336195 meters 0.8934222588011849 Centerline is valid? [False, False] Translation: X:164.96, Y:13.96, Z:-0.18 [[ 9.99990214e-01 7.31290517e-04 4.36324446e-03 1.64958614e+02] [-7.42025186e-04 9.99996701e-01 2.45913785e-03 1.39552660e+01] [-4.36143172e-03 -2.46235142e-03 9.99987457e-01 -1.75619766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.285336195 meters 0.8922864020520199 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99989930e-01 9.69965087e-04 4.38167569e-03 1.64958593e+02] [-9.82525387e-04 9.99995412e-01 2.86530921e-03 1.39529506e+01] [-4.37887634e-03 -2.86958546e-03 9.99986295e-01 -1.75704246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31533619500001 meters 0.8897568198450466 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99989432e-01 1.13073003e-03 4.45612673e-03 1.64958178e+02] [-1.14473761e-03 9.99994408e-01 3.14214738e-03 1.39513848e+01] [-4.45254890e-03 -3.14721527e-03 9.99985135e-01 -1.75529103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34533619500002 meters 0.9214817470228908 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99989426e-01 1.07333817e-03 4.47157255e-03 1.64958127e+02] [-1.08693278e-03 9.99994792e-01 3.03890974e-03 1.39519636e+01] [-4.46828748e-03 -3.04373790e-03 9.99985385e-01 -1.75557186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37533619500002 meters 0.89805268885137 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99989450e-01 1.06893301e-03 4.46744521e-03 1.64958162e+02] [-1.08246993e-03 9.99994827e-01 3.02880761e-03 1.39520153e+01] [-4.46418451e-03 -3.03361153e-03 9.99985434e-01 -1.75590456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40533619500002 meters 0.935079659173465 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99989827e-01 9.58844720e-04 4.40744050e-03 1.64958386e+02] [-9.71367000e-04 9.99995496e-01 2.83990613e-03 1.39531189e+01] [-4.40469762e-03 -2.84415849e-03 9.99986255e-01 -1.75615994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43533619500002 meters 0.9443380018903552 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99989868e-01 1.09624001e-03 4.36604357e-03 1.64958508e+02] [-1.10973744e-03 9.99994609e-01 3.09023261e-03 1.39516784e+01] [-4.36263239e-03 -3.09504646e-03 9.99985694e-01 -1.75494573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.465336195 meters 0.9718226112337134 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99985100e-01 -3.27492525e-03 4.36753227e-03 1.64958586e+02] [ 3.28081002e-03 9.99993719e-01 -1.34090598e-03 1.39522164e+01] [-4.36311347e-03 1.35521504e-03 9.99989563e-01 -1.75621192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.495336195 meters 0.9838794327519055 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99985806e-01 -3.16279584e-03 4.28776921e-03 1.64959287e+02] [ 3.16769828e-03 9.99994336e-01 -1.13704431e-03 1.39510071e+01] [-4.28414869e-03 1.15061053e-03 9.99990161e-01 -1.76279786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.525336195 meters 0.9690178699602019 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99986217e-01 -3.12507133e-03 4.21886974e-03 1.64959759e+02] [ 3.12960586e-03 9.99994532e-01 -1.06864618e-03 1.39505936e+01] [-4.21550707e-03 1.08183485e-03 9.99990530e-01 -1.76590249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.555336195 meters 0.9791052886704462 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99987181e-01 -2.91605791e-03 4.13939465e-03 1.64960173e+02] [ 2.91886500e-03 9.99995514e-01 -6.72259318e-04 1.39482724e+01] [-4.13741573e-03 6.84333034e-04 9.99991207e-01 -1.76714698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.585336195 meters 1.0487711703429918 Centerline is valid? [False, False] Translation: X:164.96, Y:13.94, Z:-0.18 [[ 9.99988771e-01 -2.57871682e-03 3.97591688e-03 1.64961101e+02] [ 2.57899787e-03 9.99996672e-01 -6.55632323e-05 1.39447115e+01] [-3.97573458e-03 7.58163773e-05 9.99992094e-01 -1.77098964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.615336195 meters 1.1639886125295693 Centerline is valid? [False, False] Translation: X:164.96, Y:13.94, Z:-0.18 [[ 9.99989713e-01 -2.38674871e-03 3.85703587e-03 1.64961881e+02] [ 2.38570399e-03 9.99997116e-01 2.75438195e-04 1.39426815e+01] [-3.85768215e-03 -2.66233616e-04 9.99992524e-01 -1.77567698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.645336195 meters 1.1772373525257953 Centerline is valid? [False, False] Translation: X:164.96, Y:13.94, Z:-0.18 [[ 9.99990385e-01 -2.34980679e-03 3.70259543e-03 1.64963114e+02] [ 2.34852779e-03 9.99997181e-01 3.49742848e-04 1.39421836e+01] [-3.70340682e-03 -3.41043836e-04 9.99993084e-01 -1.78551420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.675336195 meters 1.277950906384544 Centerline is valid? [False, False] Translation: X:164.96, Y:13.94, Z:-0.18 [[ 9.99990360e-01 -2.44013851e-03 3.65055562e-03 1.64963566e+02] [ 2.43945373e-03 9.99997006e-01 1.92024520e-04 1.39431078e+01] [-3.65101325e-03 -1.83117307e-04 9.99993318e-01 -1.78958942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.705336195 meters 1.2735723293694605 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99990190e-01 -2.63097060e-03 3.56340462e-03 1.64964090e+02] [ 2.63157085e-03 9.99996524e-01 -1.63771162e-04 1.39451494e+01] [-3.56296136e-03 1.73146907e-04 9.99993638e-01 -1.79204365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.735336195 meters 0.9779433693585914 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99990025e-01 -2.68111992e-03 3.57233668e-03 1.64964038e+02] [ 2.68204195e-03 9.99996371e-01 -2.53337838e-04 1.39456850e+01] [-3.57164449e-03 2.62916467e-04 9.99993587e-01 -1.79181628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.765336195 meters 1.2608364607841607 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99990335e-01 -2.65898384e-03 3.50146084e-03 1.64964342e+02] [ 2.65973593e-03 9.99996441e-01 -2.10152096e-04 1.39454066e+01] [-3.50088958e-03 2.19463026e-04 9.99993848e-01 -1.79099605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.795336195 meters 1.2672355185459043 Centerline is valid? [False, False] Translation: X:164.96, Y:13.95, Z:-0.18 [[ 9.99989831e-01 -2.90120931e-03 3.45269167e-03 1.64964973e+02] [ 2.90339941e-03 9.99995587e-01 -6.29472009e-04 1.39478757e+01] [-3.45085021e-03 6.39490151e-04 9.99993841e-01 -1.79868050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.825336195 meters 1.2521897477558785 Centerline is valid? [False, False] Translation: X:164.97, Y:13.95, Z:-0.18 [[ 9.99996687e-01 -9.08419538e-06 2.57400661e-03 1.64971840e+02] [ 1.66497468e-06 9.99995846e-01 2.88235021e-03 1.39477103e+01] [-2.57402210e-03 -2.88233637e-03 9.99992533e-01 -1.84485327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.855336195 meters 1.3037031337565408 Centerline is valid? [False, False] Translation: X:164.97, Y:13.95, Z:-0.18 [[ 9.99996655e-01 5.83935055e-05 2.58578762e-03 1.64971544e+02] [-6.61486640e-05 9.99995500e-01 2.99916356e-03 1.39470170e+01] [-2.58560085e-03 -2.99932457e-03 9.99992159e-01 -1.84017611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.885336195 meters 1.3222832058337717 Centerline is valid? [False, False] Translation: X:164.97, Y:13.94, Z:-0.18 [[ 9.99996604e-01 2.71093961e-04 2.59217510e-03 1.64971323e+02] [-2.79810160e-04 9.99994307e-01 3.36273283e-03 1.39448227e+01] [-2.59124872e-03 -3.36344673e-03 9.99990986e-01 -1.83651145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.915336195 meters 1.003063417194889 Centerline is valid? [False, False] Translation: X:164.97, Y:13.94, Z:-0.18 [[ 9.99996706e-01 5.10062992e-04 2.51545141e-03 1.64971713e+02] [-5.19547726e-04 9.99992753e-01 3.77137813e-03 1.39423365e+01] [-2.51350954e-03 -3.77267260e-03 9.99989725e-01 -1.83704115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.945336195 meters 0.9807421327353529 Centerline is valid? [False, False] Translation: X:164.97, Y:13.94, Z:-0.18 [[ 9.99996904e-01 2.99256651e-04 2.47034413e-03 1.64971959e+02] [-3.07706099e-04 9.99994102e-01 3.42068143e-03 1.39444891e+01] [-2.46930590e-03 -3.42143098e-03 9.99991098e-01 -1.83767122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.975336195 meters 0.9957908241578559 Centerline is valid? [False, False] Translation: X:164.97, Y:13.94, Z:-0.18 [[ 9.99997014e-01 3.48232062e-04 2.41874676e-03 1.64972148e+02] [-3.56712966e-04 9.99993788e-01 3.50677586e-03 1.39439642e+01] [-2.41751056e-03 -3.50762819e-03 9.99990926e-01 -1.83670545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.005336195 meters 1.2684043243909786 Centerline is valid? [False, False] Translation: X:164.97, Y:13.94, Z:-0.18 [[ 9.99997209e-01 5.89250877e-04 2.28787281e-03 1.64973109e+02] [-5.98240599e-04 9.99992096e-01 3.93059837e-03 1.39413183e+01] [-2.28553862e-03 -3.93195610e-03 9.99989658e-01 -1.84275009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.035336195 meters 1.3993208661420262 Centerline is valid? [False, False] Translation: X:164.97, Y:13.94, Z:-0.19 [[ 9.99997734e-01 3.16042340e-04 2.10530434e-03 1.64974437e+02] [-3.23382048e-04 9.99993869e-01 3.48686549e-03 1.39440119e+01] [-2.10418943e-03 -3.48753841e-03 9.99991705e-01 -1.85119275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06533619500001 meters 1.4585325727188603 Centerline is valid? [False, False] Translation: X:164.97, Y:13.94, Z:-0.19 [[ 9.99997853e-01 3.57209010e-04 2.04096238e-03 1.64974782e+02] [-3.64473683e-04 9.99993596e-01 3.56017282e-03 1.39435553e+01] [-2.03967758e-03 -3.56090905e-03 9.99991580e-01 -1.85192341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09533619500002 meters 1.1392376955198105 Centerline is valid? [False, False] Translation: X:164.97, Y:13.94, Z:-0.18 [[ 9.99997815e-01 5.04743412e-04 2.02879001e-03 1.64974616e+02] [-5.12461830e-04 9.99992627e-01 3.80572640e-03 1.39420690e+01] [-2.02685414e-03 -3.80675776e-03 9.99990700e-01 -1.84784474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12533619500002 meters 1.1795919465218132 Centerline is valid? [False, False] Translation: X:164.97, Y:13.94, Z:-0.18 [[ 9.99997898e-01 5.22660630e-04 1.98280830e-03 1.64974881e+02] [-5.30267345e-04 9.99992495e-01 3.83774995e-03 1.39418651e+01] [-1.98078758e-03 -3.83879330e-03 9.99990670e-01 -1.84869443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15533619500002 meters 1.2344518646669989 Centerline is valid? [False, False] Translation: X:164.98, Y:13.94, Z:-0.19 [[ 9.99998318e-01 3.87742818e-04 1.79255482e-03 1.64976378e+02] [-3.94232794e-04 9.99993364e-01 3.62158301e-03 1.39431546e+01] [-1.79113868e-03 -3.62228360e-03 9.99991835e-01 -1.86045295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18533619500002 meters 1.129661142919749 Centerline is valid? [False, False] Translation: X:164.98, Y:13.95, Z:-0.19 [[ 9.99998540e-01 4.62819010e-05 1.70799694e-03 1.64977022e+02] [-5.15247906e-05 9.99995287e-01 3.06969665e-03 1.39465837e+01] [-1.70784682e-03 -3.06978017e-03 9.99993830e-01 -1.86489190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.215336195 meters SLAMing on 177.245336195 meters SLAMing on 177.275336195 meters 0.9956753048855091 Centerline is valid? [False, False] Translation: X:164.98, Y:13.95, Z:-0.19 [[ 9.99998920e-01 3.10545480e-05 1.46931788e-03 1.64978949e+02] [-3.54824694e-05 9.99995458e-01 3.01365969e-03 1.39466703e+01] [-1.46921762e-03 -3.01370857e-03 9.99994379e-01 -1.87552454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.305336195 meters 1.0131504196744319 Centerline is valid? [False, False] Translation: X:164.98, Y:13.95, Z:-0.19 [[ 9.99998968e-01 -5.65666349e-05 1.43566558e-03 1.64979105e+02] [ 5.24528025e-05 9.99995894e-01 2.86532897e-03 1.39476045e+01] [-1.43582176e-03 -2.86525071e-03 9.99994864e-01 -1.87547427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3077.94 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%| | 0/5909 [00:00